DU350 / DU351

User Manual
Rev. E 07/2016
Doc. Code: MU213300

altus
 General Supply Conditions

No part of this document may be copied or reproduced in any form without the prior written consent
of ALTUS Information Systems S.A. who reserves the right to carry out alterations without prior
advice.
According to legislation in force in Brazil, the Consumer Defense Code, we are giving the following
information to clients who use our products, regarding safety of personal and premises.
The industrial automation equipment, built by ALTUS is strong and reliable due to the stringent
quality control it is subjected to. However the electronic industrial control equipment (programmable
controllers, numerical commands, etc.) can cause damage to the machines or processes controlled by
them when there are defective components and programming or installation errors. This can even put
human lives at risk.
The user should consider the possible consequences of the defects and should provide additional
external installations for security so that, if necessary, the security of the system can be maintained
especially during the initial installation and testing.
Equipment manufactured by Altus does not directly expose the environment to hazards, since they do
not issue any kind of pollutant during their use. However, concerning the disposal of equipment, it is
important to point out that any built-in electronics contain materials which are harmful to nature
when improperly discarded. Therefore, it is recommended that whenever discarding this type of
product, it should be forwarded to recycling plants, which guarantee proper waste management.
It is essential to completely read the manuals and/or about the technical characteristics of the product
before its installation or use.
ALTUS warrants its equipment as described in General Conditions of Supply, attached to the
commercial proposals.
ALTUS guarantees that their equipment works in accordance with the clear instructions contained in
their manuals and/or the technical characteristics, not guaranteeing the success of any particular type
of application of the equipment.
ALTUS does not acknowledge any other guarantee, direct or implied, principally when it is dealing
with supply of other companies.
Requests for additional information about the supply and/or characteristics of the equipment and
ALTUS services should be put in writing. The address for ALTUS can be found on the back cover.
ALTUS is not responsible for supplying information about their equipment without formal
registration.

COPYRIGHTS

Ponto Series, MasterTool, PX Series, Quark, ALNET and WebPlc are the registered trademarks of
Altus Sistemas de Informática S.A.
Windows NT, 2000 and XP are the registered trademarks of Microsoft Corporation.

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 Sumary

Table of Contents

1. INTRODUCTION .......................................................................................................................................1

Documents Related to this Manual .............................................................................................................2

Visual Inspection..........................................................................................................................................2
Technical Support ........................................................................................................................................2
Warning Messages Used in this Manual .....................................................................................................3

2. TECHNICAL DESCRIPTION ...................................................................................................................4

General Features..........................................................................................................................................4
Digital Inputs ...............................................................................................................................................5
Transistor Digital Outputs (DU350) ............................................................................................................6
Relay Digital Outputs (DU351) ...................................................................................................................7
Fast Digital Outputs.....................................................................................................................................8
Analog Inputs ...............................................................................................................................................9
Voltage Mode ........................................................................................................................................9
Current Mode ...................................................................................................................................... 10
Analog Outputs .......................................................................................................................................... 10
Voltage Mode ...................................................................................................................................... 11
Current Mode ...................................................................................................................................... 11
Fast Counters ............................................................................................................................................. 12
Local Serial Channel.................................................................................................................................. 12
RS-485 Serial Channel ............................................................................................................................... 13
Software Features ...................................................................................................................................... 13
Compatibility with Other Products ........................................................................................................... 13
Performance ............................................................................................................................................... 14
Memory Map ....................................................................................................................................... 14
Application Times ............................................................................................................................... 14
Language Restrictions .......................................................................................................................... 14
Software Restrictions ........................................................................................................................... 15
Variable Types Restriction ................................................................................................................... 15
Startup Times ...................................................................................................................................... 15
Analog Outputs Times ......................................................................................................................... 15
Analog Inputs Times ............................................................................................................................ 15
Cycle Time .......................................................................................................................................... 15

ii
 Sumary

Fast Inputs Performance....................................................................................................................... 15

Physical Dimensions .................................................................................................................................. 17
Ordering Information ................................................................................................................................ 18
Included Items ..................................................................................................................................... 18
Product Code ....................................................................................................................................... 18
Related Products ........................................................................................................................................ 18

3. CONFIGURATION................................................................................................................................... 19

General ....................................................................................................................................................... 19
Bus 19
Inputs ......................................................................................................................................................... 19
Digital Inputs 0/1/2 .............................................................................................................................. 20
Analog Inputs ...................................................................................................................................... 21
Fast Inputs ........................................................................................................................................... 23
Outputs....................................................................................................................................................... 30
Digital Outputs .................................................................................................................................... 30
Analog Outputs.................................................................................................................................... 31
Fast Outputs......................................................................................................................................... 32
Common Output of Counters Comparator ............................................................................................ 41
Positioning Functions................................................................................................................................. 42
ANALOG_INI and PTO_INI Inicialization Functions .......................................................................... 43
Configuration Structure for COUNT_PTO, PTO, COUNT_ANALOG and REFER_PTO .................... 44
Referencing Operation ......................................................................................................................... 46
Referencing Functions and Positioning ................................................................................................ 47
Error Codes ......................................................................................................................................... 51
Communication.......................................................................................................................................... 53
MODBUS Master ................................................................................................................................ 55
MODBUS Slaves ................................................................................................................................. 59
Generic Communication Protocol ........................................................................................................ 60
HMI – Human Machine Interface ............................................................................................................. 70
Graphics LCD Display ......................................................................................................................... 70
Keyboard ............................................................................................................................................. 71
Editing of Variables ............................................................................................................................. 73
Shortcut Keys ............................................................................................................................................. 74
Special Pages .............................................................................................................................................. 74
RTC (REAL TIME CLOCK).................................................................................................................... 75
Clock Page Display .............................................................................................................................. 76
POU Calls................................................................................................................................................... 77
Time Interruption POUs ........................................................................................................................... 77
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 Sumary

Input and Output Instantaneous Updating (AES) .................................................................................... 77

AES_DIGITAL_INPUT ...................................................................................................................... 77
AES_DIGITAL_OUTPUT .................................................................................................................. 78
AES_ANALOG_INPUT...................................................................................................................... 78
AES_ANALOG_OUTPUT .................................................................................................................. 78
AES_COUNTERS ............................................................................................................................... 78
AES_FAST_OUTPUTS ...................................................................................................................... 78
Navigation through the User Pages via Keyboard (NAVIGATION) ....................................................... 78
Page Enabling (CHANGE_SCREEN)....................................................................................................... 79
Upload ........................................................................................................................................................ 79
Watchdog ................................................................................................................................................... 79
Brownout.................................................................................................................................................... 80
System Error .............................................................................................................................................. 80
Safe State .................................................................................................................................................... 80

4. INSTALLATION....................................................................................................................................... 82

Electrical Installation................................................................................................................................. 82
Connections ......................................................................................................................................... 83
Grounding ........................................................................................................................................... 83
Analog Interfaces ................................................................................................................................. 83
Square Encoders Interface .................................................................................................................... 84
Digital Output Protection ..................................................................................................................... 84
Mechanical Assembly ................................................................................................................................ 85
Programming Installation ......................................................................................................................... 87

5. INITIAL PROGRAMMING ..................................................................................................................... 91

First Steps with MasterTool IEC and DU350/DU351 ............................................................................... 91

MasterTool IEC Startup ....................................................................................................................... 91
Tasks and POUs Concepts ................................................................................................................... 91
Creating the PLC_PRG POU ............................................................................................................... 91
Compiling............................................................................................................................................ 91
Download ............................................................................................................................................ 92
Analyzing the Template ....................................................................................................................... 93
Project Conversion ................................................................................................................................... 94
Simulation Mode ........................................................................................................................................ 94

6. MAINTENANCE....................................................................................................................................... 96

Diagnostics ................................................................................................................................................. 96

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 Sumary

General Diagnostics ............................................................................................................................. 96

Troubleshooting ................................................................................................................................... 96
Fast Inputs Diagnostics ........................................................................................................................ 97
Analog Outputs Diagnostics ................................................................................................................. 97
Analog Inputs Diagnostics ................................................................................................................... 97
MODBUS Diagnostics ......................................................................................................................... 99
Reserved Operands List ............................................................................................................................ 99

7. SPECIAL APPLICATIONS WITH SERIAL RS-232 ............................................................................ 107

RTS/CTS Hardware Handshake in Radio Modems ............................................................................... 107

RTS/CTS Hardware Handshake on RS-485 Converters ........................................................................ 108

8. GLOSSARY ............................................................................................................................................. 110

v
 1. Introduction

1. Introduction
The Duo series of programmable controllers (PLC) with built-in Human Machine Interface (HMI) is
the ideal solution for applications which require control and supervision in a single product and
environment. This solution was designed through a hardware architecture based on 32-bit processors
and high performance. The main product features are the speed of application processing, the high
density of I/O integrated points, the connectivity with other elements of the environment through two
serial ports and the requirements for axes positioning using fast inputs and outputs.
The programming of the product is performed through a single tool, using for that six PLC
programming languages (five of them described in IEC 61131-3: LD, ST, IL, FBD and SFC) plus an
additional language (CFC). MasterTool IEC has an important simulation feature that allows the user
to test the application without the use of equipment, thus allowing for greater agility in the program
development.
In addition to an HMI that supports text and graphics, alphanumeric keypad, 7 function keys, the
innovation of the product is also found in its presentation. The ID Duo allows the client to customize
the brand design in accordance with the application and the company branding.
The DU350 and DU351 models differ in the type of digital outputs available in each one. While the
DU350 comprises 14 normal outputs and 2 configurable transistor fast outputs, the DU351 has 14
relay normal outputs and two configurable transistor fast outputs.

Figure 1-1. DU350/DU351 Controller

The main product features are:
 MasterTool IEC programmer with 6 programming languages, among which 5 are
described by IEC 61131-3 standard, plus one additional language
 20 insulated digital inputs, among which 6 are fast points configurable for 2 two-way

1
 1. Introduction

counters, 4 one-way counters or for positioning functions

 14 insulated digital outputs (relay or transistor)
 2 insulated digital transistor outputs configurable as 2 fast output points – PTO,
PWM/VFO – or for positioning functions
 4 analog inputs – configurable as 0 to 10 V, 0 to 20 mA or 4 to 20 mA
 2 analog outputs – configurable as 0 to 10 V or 0 to 20 mA
 Graphics LCD display with a 128 x 64 dot matrix –configurable by MasterTool IEC
programmer
 Membrane keyboard with 25 keys
 Real-time clock
 One RS-232 serial port for programming and MODBUS Master and Slave and generic protocol
 One RS-485 serial port for MODBUS Master and Slave and generic protocol
 24Vdc insulated power supply
 256 kbytes application memory
 Capacity up to 1250 bytes of retentive memory without battery

Documents Related to this Manual

To get additional information about Duo Series, other documents (manuals and technical
characteristics) may be consulted in addition to this one. The last revision of these documents is
available at www.altus.com.br.
Each product has a document entitled Technical Characteristics (CE), where are the characteristics of
the product concerned. Additionally the product may have Utilization Manuals (the manuals codes
are cited in CT).
For example, the PO2022 module has all the information about characteristics of use and purchase, in
its CE. On the other side, the PO5063 has, in addition to the CT, a Utilization Manual.
The following documents are suggested as source of additional information:
 Technical Characteristics– CE113100
 MasterTool IEC Utilization Manual – MU299606

Visual Inspection
Before the installation, a careful visual inspection of the product is recommended to verify whether
there has been any damage during the freight. Check if the CD-ROM is in perfect condition. In case
of defects, please inform the company or the nearer ALTUS distributor.

WARNING:
Before unpacking the modules, it is important to discharge any static potential accumulated in
the body. To do this, touch (with bare hands) a grounded metal surface before handling the
modules. This procedure ensures that the levels of static electricity supported by the module
will not be exceeded.

It is important to register the serial number of the equipment received, as well as the revision of
software if applicable. This information will be necessary in case there is need to contact Altus
Technical Support.

Technical Support
To contact Altus Technical Support in São Leopoldo/RS please call +55 (51) 3589-9500. For
information on Altus Technical Support centers in other localities, go to our site (www.altus.com.br)
or send an e-mail to [email protected].
If the software is already installed, please have the following information from our assistance upon

2
 1. Introduction

request:
 The models of the used equipment and the configuration of installed system
 The CPU serial number
 The revision of the equipment indicated in the tag in the back of the product
 The executive software version described in the special screen INFORMATION
 The application program content obtained through MasterTool IEC Programmer
 The version of the used programmer

Warning Messages Used in this Manual

In this manual, the warning messages will be presented in the following formats and descriptions:

DANGER:
Reports potential hazard that, if not detected, may be harmful to people, materials,
environment and production.

WARNING:
Reports configuration, application or installation details that must be taken into consideration
to avoid any instance that may cause system failure and consequent impact.

ATTENTION:
Identifies configuration, application and installation details aimed at achieving maximum operational
performance of the system.

3
 2. Technical Description

2. Technical Description
This chapter presents the DU350 and DU351 controllers technical features.

General Features
DU350, DU351
Number of digital input points 20 insulated digital input points:
14 general purpose digital inputs
6 fast digital inputs (fast inputs can be used as counters or general
purpose inputs)
Number of relay/transistor 16 insulated digital output points:
output points 2 fast output points and 14 transistor output points -DU350
2 fast output points and 14 relay output points - DU351
Number of fast output points 2 fast output points: PTO, PWM, frequency or digital output
Fast counters 6 fast points divided into 2 blocks configurable as uni/bidirectional
(2 counters per block)
Analog inputs 4 analog inputs:
0 to 10 V , 0 to 20 mA or 4 to 20 mA
Analog outputs 2 analog outputs:
0 to 10 V or 0 to 20 mA
Real Time Clock RTC Yes, retains data for 15 days without power supply.
Resolution of 1 second and maximum variance of 2 seconds per
day
Display Graphical monochrome LCD display, with a dot-matrix of 128 x 64
pixels, backlight and contrast control.
Keyboard Membrane keyboard with 25 keys
MODBUS protocol Master and Slave RS-232 and RS-485
Field application download Yes, through COM 1, RS-232
Online programming No
RS-232 interface Yes, one port with modem signals: TXD, RXD, RTS, CTS, DTR,
DSR, DCD
RS-485 interface Yes, non-insulated
Watchdog circuit Yes
External power supply voltage 19 to 30 Vdc
24 Vdc input current 350 mA
Power consumption 8.4 W
Maximum power supply 10 ms @ 24 Vdc
interruption
Power supply insulation Yes
Initialization time 10 s
Related standards IEC 61131-3 2003
Weight 600 g
o
Operation temperature 0 to 60 C
Storage temperature -20 to 75°C
Front panel protection IP 54
Back panel protection IP 20
Dimensions 180.1 x 144.1 x 51 mm

Table 2-1. General Features

4
 2. Technical Description
Notes
RTC: In environments with temperature of 25 °C. The retaining time may vary between 10 and 20 days throughout the
temperature range of the product operation.

Digital Inputs

DU350, DU351
Number of inputs 20 digital inputs divided into 3 insulation groups:
I00..I08 - 9 inputs – Group 0
I10..I18 - 9 inputs – Group 1
I20..I21 - 2 inputs – Group 2
Input voltage 14 to 30 Vdc (common reference) for state 1
0 to 5 Vdc (common reference) for state 0
Input current 5 mA (24 Vdc common reference) – general purpose inputs
15 mA (24 Vdc common reference) – fast inputs
Input type “sink” type 1
Input impedance 4.3 K - general purpose inputs
1.5K - fast inputs
Insulation 2000 Vac for one minute between each input group
2000 Vac for one minute between input group and logic circuit
Terminal block configuration The digital inputs are divided in 3 connectors (insulation groups)
insulated among themselves and insulated from the logic circuit.
Each connector is composed of a terminal block for each input and
a terminal block to the reference voltage.

I00 to I08 – input 0 to 8 of the insulation group 0

I10 to I18 – input 0 to 8 of the insulation group 1
I20 to I21 – input 0 to 1 of the insulation group 2
C0 – common of the insulation group 0
C1 – common of the insulation group 1
C2 – common of the insulation group 2

Inputs I00 to I02 and I10 to I12, are fast inputs. Inputs I00 to I02,
belong to Block 0 fast inputs; inputs I10 to I02 belong to the Block
1 fast inputs. Fast inputs can be used as general purpose inputs.
Response time 0.5 ms – general purpose inputs
10 s – fast inputs
Status indication Can be accessed at product standard screens

Table 2-2. Digital Inputs Features

Notes
Response time: the maximum response time for general purpose digital inputs will be the response time plus the
maximum cycle.

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 2. Technical Description

Transistor Digital Outputs (DU350)

DU350
Number of common outputs 14 transistor digital outputs divided into 2 insulation groups:
Q02 to Q07 – 6 outputs – Group 0
Q10 to Q17 – 8 outputs – Group 1
Maximum current per point 0.5 A
Output type Transistor “source” type
Switching time 600 s
Maximum switching frequency 250 Hz, with minimum external load of 12500 
with load
Status indication Can be accessed at product standard screens
Protection TVS diode in all transistor outputs
Operation voltage 10 to 30 Vdc
Insulation 2000 Vac for one minute between each output transistor group
2000 Vac for one minute between output transistor group and logic
circuit
Output impedance 500 m
Terminal block configuration Transistor digital outputs are divided into 2 connectors (insulation
groups). Each connector is made up of a terminal block for each
output, a terminal block to the common contact (supply) and a 0 V
reference terminal block.

Q02 to Q07 – transistor output 2 to 7 of insulation group 0

Q10 to Q17 – transistor output 0 to 7 of insulation group 1
C5 – reference (0 V) insulation group 0 (shared with fast outputs)
C6 – power supply of insulation group 0 (shared with fast outputs)
(maximum 30 Vdc)
C7 – reference (0 V) insulation group 1
C8 – power supply of insulation group 1 (maximum 30 Vdc)

Table 2-3. Transistor Outputs Features

Notes
Maximum current per point: the transistor output has no overload protection. If output protection is necessary, an
external fuse must be used with the product.
Terminal block configuration: the insulation group 0 has two fast transistor outputs (Q00 and Q01).

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 2. Technical Description

Relay Digital Outputs (DU351)

DU351
Number of outputs 14 relay digital outputs divided into 2 insulation groups:
Q02 to Q07 – 6 outputs – Group 0
Q10 to Q17 – 8 outputs – Group 1
Maximum current per point 1A
Output type Normally open relay
Minimum load 5 mA
4
Expected useful life 10x10 operations with rated load
Maximum commutation time 10 ms
Maximum switching frequency 0.5 Hz with maximum rated load
Status indication Can be accessed at product standard screens
Maximum voltage (C6,C8) 30 Vdc insulation group 0
30 Vdc insulation group 1
240 Vac insulation group 1
Insulation 2000 Vac per one minute between each output group
2000 Vac per one minute between output group and logic circuit
Resistance contact < 250 m
Terminal block configuration The relay digital output is divided into 2 connectors (insulation
groups). Each connector is made up of a terminal block for each
output, a terminal block to the common contact to all relays of the
same connector and a 0 V terminal block (only used in transistor
outputs).

Q02 to Q07 – output relay 2 to 7 of insulation group 0

Q10 to Q17 – output relay 0 to 7 of insulation group 1
C5 – not used for relays output
C6 – common relays of insulation group 0, and used for supply
fast outputs. In the output option type SINK (0 Vdc in Pin C6) fast
outputs Q00 and Q01 cannot be used.
The relays of insulation group 0 cannot trigger AC loads
The use of alternated voltage in PIN C6 may cause irreparable
damage to the product.
C7 – Pin not used for relay outputs
C8 – Pin connected to the common of relays of the insulation
group 1

Table 2-4. Relay Outputs Features

Notes
Maximum current per point: the relay output has no overload protection. If output protection is necessary, an external
fuse must be used with the product
Terminal block configuration: the insulation group 0 has two fast transistor outputs (Q00 and Q01).

ATTENTION:
The use of alternated voltage in pin C6 may cause irreparable damage to the product.

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 2. Technical Description

Fast Digital Outputs

DU350, DU351
Number of outputs 2 fast:
Q00 and Q01
Maximum current per point 0.5 A
Output type Transistor “source” type
Maximum frequency of pulse 50 kHz
generation
Minimum pulse bandwidth MINIMUM EXTERNAL LOAD MINIMUM PULSE TIME
@ 24 Vdc No load 20 us
1000  4 us
50  2 us
Status indication Through reserved fixed operands
Protection TVS diode in all transistor outputs
Operation voltage 10 to 30 Vdc
Insulation 2000 Vac per one minute between each output group
2000 Vac per one minute between output group and logic circuit
Output impedance 700 m
Terminal block configuration Fast outputs are located in the connector of digital output
insulation group 0. The connector is made up of a terminal block
for each output, a terminal block to the common contact (power
supply) and a 0 V terminal block reference.

Q00 to Q01 – fast output 0 to 1 of insulation group 0

C5 – 0V insulation group 0 (shared with the transistor outputs Q02
to Q07 (DU350)
C6 – power supply, insulation group 0 (shared with the relay
outputs Q02 to Q07 (DU351) / transistor (DU350)). Maximum
voltage 30 Vdc
Output modes PTO, VFO and PWM
Maximum number of used 2
outputs
Functions performed via PTO VFO/PWM
software Writing of the value (number of Writing of the frequency value to
pulses) to be generated be generated in Hz (1 Hz to 50
Writing of the number of pulses kHz)
to be generated in the Writing of the outputs Duty-
acceleration / deceleration Cycle (0 to 100 %)
Start / end of the outputs Start / end of outputs operations
operations Fast outputs diagnostics
Fast outputs diagnostics
Monitoring of the current state
of fast outputs

Access way to fast outputs In reserved fixed operands

registers

Table 2-5. Fast Outputs Features

Notes
Maximum current per point: the transistor fast output has no overload protection. If output protection is necessary, an
external fuse must be used with the product.
Functions performed via software: variation of 1 in 1 Hz or 1 in 1 % for frequency settings and duty cycle respectively.

ATTENTION:
During the product power on, fast outputs may change the output state for approximately 100 us.

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 2. Technical Description

Analog Inputs

DU350, DU351
Number of inputs 4 non insulated (of logic circuit) analog inputs
Input type Voltage: 0 to 10 Vdc
Current: 0 to 20 mA, 4 to 20 mA
Conversion resolution 12 bits
Terminal block configuration AV0 – voltage input channel 0
AI0 – current input channel 0
C9 – common for inputs 0 and 1
AV1 – voltage input channel 1
AI1 – current input channel 1
AV2 – voltage input channel 2
AI2 – current input channel 2
C10 – common for inputs 2 and 3
AV3 – voltage input channel 3
AI3 – current input channel 3
Configurable parameters Inputs type for each point, voltage or current
Scale limit for each channel, maximum 30000
First order filtering with preset time constants
Protections TVS diode in all analog inputs
Updating Time 60 ms

Table 2-6. Analog Inputs Features

Notes
Updating time: necessary time for the AD to make available a new value of a channel to CPU.

Voltage Mode

DU350, DU351
Precision  0.3% of scale limit @ 25°C
0.015% / ºC of the scale limit
Crosstalk DC at 100 Hz - 30 dB
Input impedance 1.1 M
Maximum / minimum voltage 12 Vdc / -0.3 Vdc
without damage
Filtering Configurable time constant
90 ms, 140 ms, 1 s or 15 s
Scale Range Counting Sensitivity
0 - 10 V 0 - 30.000 2.52 mV
Scale clearance 3%

Table 2-7. Voltage Mode Inputs Features

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 2. Technical Description
Notes
Filtering: the time constant value may vary by 10% of its nominal value. The maximum deviation of the constant time value
is equal to the sampling rate; e.g., by selecting the time constant of 140 ms, the maximum time required for the voltage
value with filter to have 63% of the input value is of 140 ms * 110% + 60 ms = 214 ms
Counting: the scale limit may be modified by software, the maximum value is 30000.
Scale clearance: defines the percentage over limit scale that can be read by analog inputs. This characteristic may be
used to compensate for possible calibration errors of a given sensor which is employed.

Current Mode
DU350, DU51
Precision  0.3% of scale limit @ 25°C
0.015% / ºC of the scale limit
Crosstalk DC @ 100 Hz - 30 Db
Input impedance 124.5 
Maximum/minimum continuous 25 mA / -2 mA
current without damage
Filtering Configurable time constant:
2 ms, 90 ms, 1 s or 15 s
Scale Range Counting Sensitivity
0 - 20 mA 0 - 30.000 5,1 A
4 - 20 mA 0 - 30.000 5,1 A
Diagnostic Current below 3.8 mA (valid only with 4 - 20 mA scale; used to
indicate an open circuit)
Scale clearance 4%

Table 2-8. Current Mode Inputs Features

Notes
Filtering: the time constant value may vary by 10% of its nominal value. The maximum deviation of the constant time value
is equal to the sampling rate; e.g., by selecting the time constant of 1 s, the maximum time required for the current value
with filter to have 63% of the input value is of 1 s * 110% + 60 ms = 1.16 s.
Counting: the scale limit may be modified by software, the maximum value is 30000.
Scale clearance: defines the percentage over limit scale that can be read by analog inputs. This characteristic may be
used to compensate for possible calibration errors of a given sensor which is employed.

Analog Outputs
DU350, DU351
Number of inputs 2 non insulated (of logical circuit) analog outputs
Output type - Voltage: 0 to 10 Vdc
- Current: 0 to 20 mA
Conversion resolution 12 bits
Terminal block configuration C3 – common for AO0 output.
AO0 – analog output 0 (configurable by software as voltage or
current)
C4 – common for AO1 output
AO1 – analog output 1 (configurable by software as voltage or
current))
Protection TVS diode in all analog outputs
Configurable parameters Type of signal in each channel (voltage or current)
Scale limit per channel, maximum 30000

Table 2-9. Analog Outputs Features

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 2. Technical Description

Voltage Mode
DU350, DU351
Precision  0.3% of scale limit @ 25°C
0.015% / ºC of scale limit
Crosstalk DC @ 100 Hz - 30dB
Output impedance 22 
Minimum load impedance 600 
Short circuit protection Yes
Updating time 1 ms
Stabilization time 4 ms
Scale Range Counting Resolution
0 - 10 V 0 - 30.000 2.59 mV
Scale clearance 4%
Over load indication Yes (typically loads with impedance lower than 500 )

Table 2-10. Voltage Mode Outputs Features

Notes
Updating time: maximum time between the end of cycle and the output updating.
Stabilization time: maximum time for output signal stabilization with a resistive load greater than or equal to 600 .
Counting: the scale limit may be modified by software, the maximum value is 30000.
Scale clearance: scale clearance allows DA to reaches voltage values out of range to compensate for eventual offset
errors of the device to be controlled by the analog output.

Current Mode

DU350, DU351
Precision  0.3% of scale limit @ 25°C
0.015% / ºC of the scale limit
Crosstalk DC at 100 Hz - 30dB
Maximum load impedance 600 
Updating time 1 ms
Stabilization time 4 ms
Scale Range Counting Minimum Resolution
0 - 20 mA 0 - 30.000 5.2 A
Scale clearance 4%
Open loop indication Yes (typically loads with impedance greater than 650 )

Table 2-11. Current Mode Outputs Features

Notes
Updating time: maximum time between the end of a cycle and the output updating.
Stabilization time: maximum time for output signal stabilization with a resistive load higher than or equal to 600 .
Counting: the scale limit may be modified by software, the maximum value is 30000.
Scale clearance: scale clearance allows DA to reach voltage values above range to compensate for eventual offset errors
of the devices to be controlled by the analog outputs.

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 2. Technical Description

Fast Counters

DU350, DU351
Number of counters Up to 4 (32-bit) configurable fast counters
Counting modes Unidirectional
Increments or decrements
Bidirectional
A: Increments B: Decrements
A: Counts B: Direction
Square with two countings per period (2x)
Square with four countings per period (4x)
Data format 32-bit unsigned integer
Operation limit 4.294.967.295
Maximum input frequency 40 kHz for Block 0 and 20 kHz for Block 1
Terminal block configuration Block 0
I00 – Input A (bidirectional) or Block 0 counter 0 (unidirectional
mode)
I01 – Input B (bidirectional) or Block 0 counter 1 (unidirectional
mode)
I02 – Configurable input block 0
Block 1
I10 – Input A (bidirectional) or Block 1 counter 2 (unidirectional
mode)
I11 – Input B (bidirectional) or Block 1 counter 3 (unidirectional
mode)
I12 – Configurable input block 1
Configurable parameters Counting mode
Inputs function
Outputs function
Comparison registers

Table 2-12. Fast Counters Features

Local Serial Channel

DU350, DU351
Physical layer RS-232
Protocol MODBUS RTU Master and Slave, communication with
MasterTool IEC programmer and generic protocol
Hardware Signs RTS, CTS, DCD, DTR and DSR
Insulation with logical circuit Yes
Connector RJ45

Table 2-13. RS-232 Serial Channel Features

12
 2. Technical Description

RS-485 Serial Channel

DU350, DU351
Physical layer RS-485
Protocol MODBUS RTU Master and Slave and generic protocol
Internal termination No
Insulation with logical circuit No
Connector RJ45

Table 2-14. RS-485 Serial Channel Features

Software Features

DU350, DU351
Programming language IL, ST, LD, SFC, FBD and CFC
Online programming No
Language conversion Conversion of available language codes
Application memory 256 kbytes
Average memory per IL 1000 instructions each 7 kbytes
instructions
Memory for source code 256 kbytes
download
I Data type memory 128 bytes
Q Data type memory 128 bytes
M Data type memory 6656 bytes
Global memory 6656 bytes
Retain 1250 bytes non-volatile memory
Number of POUs 300
IHM programmer Included in the same application developer’s interface
Simulator PLC simulator for application tests without the equipment
Advanced functions Available libraries for advanced control

Table 2-15. Software Features

Notes
I-type and Q- type data memory: the “No address check” in “Device Settings” is not selected by default. In this case it is
only possible to use the DU350/DU351 digital and analog inputs as well as outputs associated to addresses in the
application. If this option is selected the entire range may be used.
Global Memory: in this area of 6656 bytes it is necessary to use one byte for control, so only 6655 bytes can be declared
(the remaining byte is for control).
Software version: the data in the table refer to the available memory from DU350/DU351 firmware 1.10 version.
Retain: When a retain variable is assigned using an AT to related it with a direct address of %I, %Q or %M, the DU350 and
DU351 controllers do not treat this variable as retain.

Compatibility with Other Products

Code Description
MT8200 MasterTool IEC version 1.0 or above

Table 2-16. Compatibility

13
 2. Technical Description
Notes
Features: Some of the features described in this CT are only available in certain versions of the MasterTool IEC and
DU350/ DU351 software. For more details see the specific features sections.

Performance

Memory Map
DU350 and DU351 controllers have the following storage areas available for the user application:
Memory Type Size
Non-volatile code Application code 256 kbytes
Volatile data Global Operands 6656 bytes
Memory Operands (%M) 6656 bytes
Input Operands (%I) 128 bytes
Output Operands (%Q) 128 bytes
Non Volatile data Retentive Operands 1250 bytes

Table 2-17. Quantity of Operands

Global operands are used in declaration of operands without a user-defined address. For each task
added to the project, the system uses up to 35 bytes of global operands memory. In case of external
library usage (Standard.lib, SysLibTargetVisu .lib, ...) the system allocates the required memory for
the libraries in Global Operands area.

Application Times
The required time for distinct instructions to be executed by DU350 and DU351 controllers is shown
in the following table. All measurements were done in LADDER language:
Instruction Operands Instruction times (us)
Overhead indifferent 26 us

1000 Lines with 10 indifferent 94.4 us

Contacts
1000 Function Calls indifferent 864 us
1000 MUL Instructions BYTE 404 us
WORD 440 us
REAL 1610 us
1000 ADD Instructions BYTE 388 us
WORD 416 us
REAL 1608 us

Table 2-18. Instruction Times

The overhead is calculated by running a program without any instruction.

Language Restrictions
DU350 and DU351 controllers do not support 64-bit type operands. They are: LWORD, LREAL,
LINT, LREAL and ULINT.

ATTENTION:
LREAL may be handled as REAL by checking this option in the MasterTool IEC programmer.
However, this option will only replace these types of variables, causing them to be handled as
REAL, i.e. 32-bit variables.

14
 2. Technical Description

Software Restrictions
DU350 and DU351 controllers do not support breakpoint usage (possibility of freezing the
application currently running for monitoring and debugging) in the “logged-in” mode. The restriction
covers the following functions: Toggle Breakpoint, Breakpoint Dialog, Step Over, Step In and Single
Cycle (Online menu).

Variable Types Restriction

DU350 an DU351 controllers do not support PERSISTENT type variables usage.
When a retain variable is assigned using an AT to related it with a direct address of %I, %Q or %M,
the DU350 and DU351 controllers do not treat this variable as retain.

Startup Times
DU350 and DU351 controllers have a startup time of 10 seconds.

Analog Outputs Times

In DU350 and DU351 controllers, the updating interval of voltage and current analog outputs is equal
to the program cycle time. In case the function AES_ANALOG_OUTPUT is employed, the outputs
are updated at the time the function is called.

Analog Inputs Times

In DU350 and DU351 controllers , the updating interval of voltage and current analog inputs is of 60
ms. In case the function AES_ANALOG_INPUT is employed, the inputs remain with an updating
interval of 60 ms, but the AIx operands are updated with the last reading cycle value of the analog
inputs.

Cycle Time
The CPU cycle time depends on the application and may vary from 1 to 2000 ms.

WARNING:
Communication with the MasterTool IEC programmer is affected by the cycle time. The
bigger the cycle time, the slower data exchange with it. A cycle time which is too close to 2000
ms may cause a communication time-out in MasterTool IEC. In case the long cycle time is
caused by a problem in the application logic, the following procedure is recommended: de-
energize PLC, press ESC, power it up again, wait for the boot screen, and release the ESC key.
Thus the CPU will not start the application, allowing the corrected application to be
downloaded. If the application requires a very high cycle time (but less than 2000 ms), it is
possible to increase the programming interface time-out. In order to do this, it is necessary to
enter “Project”  “Options...”  “Desktop”, and change the values of the fields
“Communication timeout [ms]” and “Communication timeout for download [ms]”. The
MasterTool IEC default timeout is 2000 ms for both fields.

Fast Inputs Performance

Due to the increased frequency at the inputs, the fast inputs need more processing. The required
processing varies according to the counter blocks setup. The table below describes the processing
dedicated to fast counting peripherals, with different counter configurations as well as how much
processing is left for implementation in each case.

15
 2. Technical Description

Block 0 Block 1 Processing (%)

Counter 0 Counter 1 Counter 0 Counter 1 Counters Application
1 Mode 0 - 40 kHz Mode 0 - 20 kHz 19.4% 80.6%
2 Mode 0 - 40 kHz Mode 1 - 20 kHz 19.7% 80.3%
3 Mode 0 - 40 kHz Mode 2 - 10 kHz 29.8% 70.2%
4 Mode 0 - 40 kHz Mode 3 - 20 kHz 29.6% 70.4%
5 Mode 0 - 40 kHz Unit - 20 kHz Unit - 20 kHz 30.3% 69.7%
6 Mode 1 - 40 kHz Mode 0 - 20 kHz 29.1% 70.9%
7 Mode 1 - 40 kHz Mode 1 - 20 kHz 29.1% 70.9%
8 Mode 1 - 40 kHz Mode 2 - 10 kHz 37.3% 62.7%
9 Mode 1 - 40 kHz Mode 3 - 20 kHz 37.9% 62.1%
10 Mode 1 - 40 kHz Unit - 20 kHz Unit - 20 kHz 32.0% 68.0%
11 Mode 2 - 20 kHz Mode 0 - 20 kHz 40.5% 59.5%
12 Mode 2 - 20 kHz Mode 1 - 20 kHz 33.6% 66.4%
13 Mode 2 - 20 kHz Mode 2 - 10 kHz 44.0% 56.0%
14 Mode 2 - 20 kHz Mode 3 - 20 kHz 50.0% 50.0%
15 Mode 2 - 20 kHz Unit - 20 kHz Unit - 20 kHz 44.3% 55.7%
16 Mode 3 - 40 kHz Mode 0 - 20 kHz 37.5% 62.5%
17 Mode 3 - 40 kHz Mode 1 - 20 kHz 45.1% 54.9%
18 Mode 3 - 40 kHz Mode 2 - 10 kHz 49.4% 50.6%
19 Mode 3 - 40 kHz Mode 3 - 20 kHz 47.9% 52.1%
20 Mode 3 - 40 kHz Unit - 20 kHz Unit - 20 kHz 42.2% 57.8%
21 Unit - 40 kHz Mode 0 - 20 kHz 33.3% 66.7%
22 Unit - 40 kHz Mode 1 - 20 kHz 33.6% 66.4%
23 Unit - 40 kHz Mode 2 - 10 kHz 35.7% 64.3%
24 Unit - 40 kHz Mode 3 - 20 kHz 35.3% 64.7%
25 Unit - 40 kHz Unit - 20 kHz Unit - 20 kHz 29.1% 70.9%

Table 2-19. Free Processing for Application

16
 2. Technical Description

Physical Dimensions

Figure 2-1. DU350 and DU351 Dimensional

17
 2. Technical Description

Ordering Information

Included Items
The product package contains the following items:
 DU350 or DU351 modules
 8 connectors
 installation guide

Product Code
The following code should be used to purchase the product:
Code Denomination
DU350 PLC WITH HMI 20DI 16DOT 4AI 2AO
DU351 PLC WITH HMI 20DI 14DOR 2DOT 4AI 2AO

Table 2-20. Duo Series Models

Related Products
The following code should be used to purchase the product:
Code Denomination
AL-1714 Cable RJ45 – RJ45 RS-232 (PICCOLO)
AL-1715 Cable RJ45-CFDB9
PO8500 Expansion cable 0.4 m
PO8501 Expansion cable 1.4 m
PO8525 RS-485 network splitter and termination
FBs-USB-232M9 USB-SERIAL Cable Conversor

Table 2-21. Related Products

Notes
AL-1715: this cable has a serial RJ45 connector and other DB9 RS-232C female IBM/PC standard. It should be used to
communicate the module with MasterTool IEC software and for point-to-point RS-232 communication interface using the
RTU MODBUS protocol.
AL-1714: this cable has a RJ45 connector at each end and is used for point-to-point RS-232 communication interface
between two DU350 or two DU351, using the RTU MODBUS PROTOCOL.
PO8500 and PO8501: these cables have a RJ45 connector at each end. They are used to connect the RS-485 splitter
PO8525 with the RS-485 serial port of DU350 or DU351.
PO8525: this module is used to split and terminate a RS-485 network. Each node in the network must have a PO8525. In
the RJ45 connector of the PO8525 the RS-485 of the DU350 or DU351 communication interface must be connected to.
The PO8525 that are located on the end of the network must be configured as termination, the remaining units as splitters.
FBs-USB-232M9: this module is used to connect the RS-232 communication interface of the DU350 and DU351
controllers to a standard USB interface of a micro-computer.

18
 3. Configuration

3. Configuration
DU350 and DU351 controllers are configured and programmed by the MasterTool IEC software. The
established settings specify the behavior and use of peripherals as well as the special characteristics
of the controllers. The programming stands for the application developed by the user, which is also
called “application”.

General
DU350 and DU351 controllers have some general settings which are carried out by writing into some
special operands. These special operands are previously mapped into a specific memory area. Thus,
they can be used as a global variable (simply by employing the name of the operand in any POU of
the project).They are:
CONTRAST = contrast percentage [0 – 100%];
BACKLIGHT = backlight time [0 – 255s].
The names of the operands and how to access them are better described in the special operands list,
located in the section “Maintenance” - “Diagnostics” - “Reserved Operands List”.

Bus
DU350 and DU351 controllers have Inputs and Outputs described in its configuration tree as bus. In
order to access the configuration tree, open the MasterTool IEC and click “PLC Configuration”,
which is located in the “Resources” tab. Then, the module “PLC Configuration” must be expanded.
In this tab most of the required configurations for implementing the DU350/DU351 controllers can
be viewed and configured.
The “Bus” module may be accessed by clicking on “+” to expand its options.

Figure 3-1. Bus

Inputs
DU350 and DU351 controllers inputs are divided into:
 Digital Inputs
 Analog Inputs
 Fast Inputs
These options are shown in the following figure and will be described in the next chapter.

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 3. Configuration

Figure 3-2. Inputs

Digital Inputs 0/1/2

DU350 and DU351 controllers have 3 digital input blocks with a total of 20 digital inputs. Whenever
there is a need to differentiate the fast inputs, the remaining inputs are defined in this manual as
General Digital Inputs. The 3 blocks are divided into the following structure:
Number of inputs 20 digital inputs divided into insulation groups:
I00..I08 - 9 inputs – Group 0
I10..I18 - 9 inputs – Group 1
I20..I21 - 2 inputs – Group 2

Table 3-1. Inputs Blocks Description

The 3 inputs - I00, I01 and I02 – of Group 0, and the inputs I10, I11 and I12 of Group 1 may also be
used as fast inputs. In case no fast input function is set up, all of the 20 inputs work as common
digital inputs.
All digital inputs are previously assigned to the special operands described below:
BLOCK 0
I00 Digital Input I00
I01 Digital Input I01
I02 Digital Input I02
I03 Digital Input I03
I04 Digital Input I04
I05 Digital Input I05
I06 Digital Input I06
I07 Digital Input I07
I08 Digital Input I08
BLOCK 1
I10 Digital Input I10
I11 Digital Input I11
I12 Digital Input I12
I13 Digital Input I13
I14 Digital Input I14
I15 Digital Input I15
I16 Digital Input I16
I17 Digital Input I17
I18 Digital Input I18
BLOCK 2
I20 Digital Input I20
I21 Digital Input I21

Table 3-2. Digital Inputs Blocks Distribution

20
 3. Configuration

These special operands are previously mapped into a specific memory area. Thus, they can be used as
a global variable. The names of the operands and how to access them are better described in the
special operands list, located in the section “Maintenance” - “Diagnostics” - “Reserved Operands
List”.

Analog Inputs
DU350 and DU351controllers have 4 analog inputs. Each channel may be set up in 3 ways and the
inputs are independent between the channels:
 Voltage: 0 to 10 Vdc
 Current: 0 to 20 mA
 Current: 4 to 20 mA
The analog inputs are available from the pins described in the following table:
Terminal block configuration AV0 – voltage input channel 0
AI0 –current input channel 0
AV1 – voltage input channel 1
AI1 – current input channel 1
C9 – common for inputs 0 and 1

AV2 – voltage input channel 2

AI2 – current input channel 2
AV3 – voltage input channel 3
AI3 – current input channel 3
C10 – common for inputs 2 and 3

Table 3-3. Analog Inputs Pins Description

The inputs configuration is made through the configuration tree. In order to access the configuration
tree, open the MasterTool IEC and click “PLC Configuration”, which is located in the “Resources”
tab. Then the module “PLC Configuration” must be expanded. In this tab most of the required
configurations for implementing the DU350/DU351 controllers can be configured.
The analog input settings are located at the “Bus” module. By expanding this module, the “Inputs”
and “Outputs” modules will appear. In order to set up the analog inputs, the “Inputs” module must
be expanded, and then the “Analog inputs” subnode.
In the option “Channel type”, the user selects the type of input that will be employed in that channel.
The options are: “Voltage: 0 to 10 Vdc”, “Current: 0 to 20 mA”, “Current: 4 to 20 m” or “Disabled
Channel” as previously described.

21
 3. Configuration

Figure 3-3. Analog Inputs

Following the input type configuration, the user must set up the filtering assigned to the respective
analog input in the “Filtering” box, by choosing among the following filtering options: 2 ms, 90 ms,
1 s, 15 s (current inputs) or 90 ms, 140 ms, 1 s, 15 s (for voltage inputs). It is also necessary to set up
the scale limit in the dialog box below, which may vary from 0 to 30000.
The analog inputs values are previously assigned to special operands. They are:
 AI0 = Channel 0 value
 AI1 = Channel 1 value
 AI2 = Channel 2 value
 AI3 = Channel 3 value
These special operands are previously mapped into a specific memory area. Thus, they can be used as
a global variable . The names of the operands and how to access them are better described in the
special operands list, located in the section “Maintenance” - “Diagnostics” - “Reserved Operands
List”.
The analog inputs are updated every 60 ms, which means that the minimum time for the variance
perception of a given input is of 60 ms. The stabilization time of the analog input signal depends on
the selected filter. The update rate is independent from the selected filter as well as from the number
of analog inputs used. It is recommended the use of the largest possible filter, according to the needs
of either the control or monitoring system.
The corresponding value to the scale limit of analog inputs is configurable. This setting does not
change the physical value of the scale limit, which is of 10 V for voltage analog inputs, and of
20 mA for current analog inputs, however, it changes the value which corresponds to the physical
scale limit that will be read by the application. This function is useful to make the reading of analog
inputs effortless for the user. For example: it might be interesting to have a configuration of a 10000
scale limit for a 0 - 10 V analog voltage input (in this case each reading unit corresponds to 1 mV).
The sensitivity of analog inputs is fixed, therefore the increase in the value of the scale limit up to the
peak value (30.000) does not lead to sensitivity improvement, although it may be useful for the
reading data handling within a specific application. Employing a scale limit value lower than 4095
(12-bit) may cause a loss of resolution in the analog input.

22
 3. Configuration

Fast Inputs
DU350 and DU351 controllers have two blocks of 32-bit counters (Block 0 and Block 1). Each block
can operate as one bidirectional counter or as up to two unidirectional counters (Block 0: Counters 0
and 1; Block 1: Counters 2 and 3).
There are 6 terminal blocks of fast inputs, named as I00, I01, I02, I10, I11 and I12, used for counter
handling. These terminal blocks may also be used as common digital inputs, in case the fast inputs
are not used.
These 6 terminal blocks are configured as two counting blocks, called Block 0 and Block 1. Block 0
makes use of the terminal blocks I00 and I01 to perform the counting whereas the terminal block I02
for configurable input. Block 1, in turn, uses the terminal blocks I11 and I10 to perform the counting
and the block I12 is for the configurable input.
Each one of the blocks can be configured independently so that the 2 counting terminal blocks
perform the counting either in the bidirectional mode (using the 2 counting pins for only one counter)
or in the unidirectional mode ( using 1 counting pin for each counter).
In case the block is used as a bidirectional counter, it will have only one counter. Only counter 0 is
used for Block 0, while only counter 2 is used for Block 1.
The block configured as unidirectional block works with only one counter, and uses only one pulse
terminal block, thus allowing the usage of the second terminal block as a common input.
Each of the blocks has an control input. This control input can be used to:
 Clear value
 Freeze
 Preset
 Hold
The control input can also be disabled to be used as a common digital input.

Fast Inputs Configuration

The first step to configure the fast inputs is to open the configuration tree. In order to access the
configuration tree, open the MasterTool IEC and click “PLC Configuration”, which is located in the
“Resources” tab. Then, the module “PLC Configuration” must be expanded. In this tab most of the
required configurations for implementing the DU350/DU351 controllers can be viewed and
configured.
The fast input settings are located at the “Bus” module. By expanding this module, the “Inputs” and
“Outputs” modules will appear. In order to set up the counters, the “Inputs” module must be
expanded and then the “Fast inputs” subnode .The figure below illustrates this procedure:

23
 3. Configuration

Figure 3-4. Fast Inputs

The counting Block 0 is used as an example, with the purpose of describing the setup processes,
considering that the settings are also applied to counting Block 1.
The expansion of “Block 0” brings into view a module named “Disabled”, due to the fact that no
fast input configuration has been carried out in the controller. A click with the right button of the
mouse on “Disabled”, causes a pop-up to appear with the options “Replace element”, “Calculate
addresses” and “Copy”. By selecting the “Replace element” option it is possible to visualize the
“Bidirectional” and “Unidirectional” options for Block 0:

Figure 3-5. Setting Up for Bidirectional Counter

The registers that store the counting number of counters are previously assigned to special operands.
These special operands are previously mapped into a specific memory area. Thus, they can be used as
a global variable. The register that stores the counting number is called:
 CNTx = Counting value
Where “x” is the number of counter.
The names of the operands and how to access them are better described in the special operands list,
24
 3. Configuration

located in the section “Maintenance” - “Diagnostics” - “Reserved Operands List”.

Next, it is described the operation of each one of the configuration options.
Bidirectional
When Block 0 is selected as bidirectional, a window with the counting mode setting will appear on
the right side of the screen. It enables the configuration of the bidirectional counter in the following
modes:

Mode 0: A increments, B decrements – in this mode, a rising edge applied to channel A (I00 or
I10) causes an increment of the counter value, while on channel B (I01 or I11) it causes a decrement
in the counting value.

Figure 3-6. Bidirectional Mode 0

cf – Counting frequency
Block 0 cf  40 kHz
Block 1 cf  20 kHz
pd – Pulse duration pd > 10 s
te – Minimum space te  10 s

Mode 1: A counting, B direction – in this mode, input A (I00 or I10) is responsible for counting,
whereas the direction is determined by input B (I01 or I11).
If the input B signal is at logic level 0 (during a rising edge in input A), the counter is incremented. If
B is at logic level 1 (during a rising edge in input A) the counter is decremented.

25
 3. Configuration

Figure 3-7. Bidirectional Mode 1

fc – Counting frequency
Block 0 cf  40 kHz
Block 1 cf  20 kHz
pd – Pulse duration pd > 10 s
te – Minimum space te  10 s

Mode 2 and Mode 3: Square 4x and Square 2x– In these modes the counting units decode the input
signals in squaring according to the usual standard provided by optical transducers.
The direction of counting is obtained from the phase relationship between signals (the counting is
incremented if the pulse in counting input A is ahead in relation to the pulse in counting input B, and
it is decremented if pulse B is ahead in relation to pulse A), while counting pulses are related to the
status transitions.
In mode 2 (4 x squaring) 4 counting pulses are generated per period of input signals (rising and
falling edges of both counting inputs), where a count is generated at each pulse. Therefore, the
employment of an input signal of 20 kHz will cause the counter to be incremented (or decremented)
at a frequency of 80 kHz.
In mode 3 (2x squaring) 2 counting pulses are generated per period of input signals (rising and falling
edges of only one counting input; the second counting input is used to set the counting direction),
where a count is generated at each pulse. Therefore, an input signal of 40 kHz will cause the counter
to be incremented (or decremented) at a frequency of 80 kHz.

Figure 3-8. Bidirectional Modes 2 and 3

fc – Counting Frequency

26
 3. Configuration

Mode 2
Block 0 cf  20 kHz
Block 1 cf  10 kHz
pd – Pulse duration pd > 20 s
te – Minimum space te  20 s
 – Phase relation  = 9010°

Mode 3
Block 0 cf  40 kHz
Block 1 cf  20 kHz
pd – Pulse duration pd > 10 s
te – Minimum space te  10 s
 – Phase relation  = 9010°
The following figure points out the set up window of the bidirectional counting modes.

Figure 3-9. Bidirectional Counter

Unidirectional
In case the block is selected as unidirectional, two subnodes will be attached (the “Counter 0”
module and the “Counter 1” module). By clicking on one of the counters, it is possible to configure
the counting mode, in the field “Counting Mode” which is located on the right side of the screen.
Unidirectional counters may be configured with the following counting modes:
 Counting Up mode
 Counting Down mode
If one of the block counters is not used, one of them may be disabled by clicking on it with the right
button of the mouse, then selecting the option “Replace element”, and clicking on “Disabled”.

27
 3. Configuration

Figure 3-10. Unidirectional Counter

Configurable Inputs
After configuring the counting type, it is possible to configure the block configurable input to
perform a specific command selected by the user. This setting is done in “Block x Configurable
input” module, where “x” is the block number. By expanding this module, the configurable input is
disabled; to enable it, simply select the function that the configurable input will have for the
respective counter. This setting is done on the upper-right corner of the screen when selecting this
counter. Configurable inputs cannot be used for Counters 1 and 3. If Block 0 is configured as
bidirectional, the counter 0 is used. For Block 1the corresponding counter is Counter 2.
The configurable input of Block 0 is connected to the terminal block I02 and the configurable input
of Block 1 is connected to the terminal block I12.
After defining which counter will be used, it is possible to select the command type which will be
assigned to the configurable input. The command to be performed must be selected in the dialog box
“Command”. The configurable input may be set up as:
 Clear to load the counter with the value 0
 Freeze to pause the counter
 Preset to load the counter with the value which is in the operand CNTx_PRESET, where “x”
corresponds to the counter index
 Hold to copy the counter value onto the operand CNTx_HOLD, where “x” corresponds to the
counter index

28
 3. Configuration

Figure 3-11. Command Inputs

The registers of the configurable inputs are previously assigned to special operands. These special
operands are previously mapped into a specific memory area. Thus, they can be used as a global
variable. The registers are called:
 CNTx_PRESET = Preset value
 CNTx_HOLD = Hold value
 CNTx_CMP0 = Comparator 0 value
 CNTx_CMP1 = Comparator 1 value
Where “x” is the number of counter.
In case the user does not want to use the configurable input terminal block, the commands may also
be performed via software. In order to do this, employ the command byte, which does not require any
configuration in the configuration tree.
The registers of the commands are previously assigned to special operands. These special operands
are previously mapped into a specific memory area. Thus, they can be used as a global variable. The
registers are called:
 CNTx_CLR = Clear the counting register
 CNTx_STOP = Disables the counter counting (freeze the counter value)
 CNTx_LOAD = Load PRESET
 CNTx_AMG = Counting sampling (HOLD)
 CNTx_OVER = Clear overflow and underflow status bits
Where “x” is the number of counter.
Counters Diagnostics
The diagnostics related to the counters are described in the chapter “Diagnostics”- “Fast Inputs”.

29
 3. Configuration

Counter Comparator Outputs

The use of fast output comparators is described in the chapter: “Settings” - “Outputs” - “Fast
Outputs” - “Counter Comparison Fast Outputs”. The use of common comparator outputs is described
in the comparison chapter: “Settings” - “Outputs” - “Counter Comparison Common Output”.

Outputs
DU350 and DU351 controllers outputs are divided into:
 Digital outputs (both can operate as counter comparator outputs)
 Analog outputs
 Fast outputs (both can be used as digital inputs, counter comparator outputs, PWM/VFO outputs
or PTO outputs)
These options are shown in the following figure and are described in the course of this chapter.

Figure 3-12. Outputs

Digital Outputs
DU350 and DU351 controllers have 2 digital output blocks with a total of 16 digital outputs divided
into 2 insulation groups. DU350 has 16 transistor outputs (2 fast and 14 normal). DU351 has 14 relay
outputs and 2 transistor fast outputs. The outputs distribution can be seen in the table below.
DU350
Number of common outputs 16 transistor digital outputs divided into 2 insulation groups:
Q00 to Q07 – 8 outputs – Group 0
Q10 to Q17 – 8 outputs – Group 1

Table 3-4. DU350 Common Outputs

DU351
Number of outputs 2 transistor digital outputs:
Q00 to Q01 – 2 outputs – Group 0
14 relay digital outputs divided into 2 insulation groups:
Q02 to Q07 – 6 outputs – Group 0
Q10 to Q17 – 8 outputs – Group 1

Table 3-5. DU351 Common Outputs

The Q00 and Q01outputs can be used as normal outputs, fast outputs (PWM/VFO or PTO) or counter
comparison outputs. The Q02 and Q03 outputs can be configured as normal outputs or counter
comparator outputs. If such outputs are being used for a special function, it is not possible to use

30
 3. Configuration

them as a common digital output.

All digital outputs are previously allocated to special operands. They are:
BLOCK 0
Q00 Digital Output Q00
Q01 Digital Output Q01
Q02 Digital Output Q02
Q03 Digital Output Q03
Q04 Digital Output Q04
Q05 Digital Output Q05
Q06 Digital Output Q06
Q07 Digital Output Q07
BLOCK 1
Q10 Digital Output Q10
Q11 Digital Output Q11
Q12 Digital Output Q12
Q13 Digital Output Q13
Q14 Digital Output Q14
Q15 Digital Output Q15
Q16 Digital Output Q16
Q17 Digital Output Q17

Table 3-6. Digital Outputs Operands

These special operands are previously mapped into a specific memory area. Thus, they can be used as
a global variable. The names of the operands and how to access them are better described in the
special operands list, located in the section “Diagnostics” - “Reserved Operands List”.

Analog Outputs
DU350 and DU351 controllers have 2 analog outputs. Each channel can be configured individually
as an output of:
 Voltage: 0 to 10 Vdc
 Current: 0 to 20 mA
The analog outputs are available from the pins described in the following table.
Terminal block configuration C3 –common for channel 0 output
AO0 – analog output channel 0
C4 – common for channel 1 output
AO1 – analog output for channel 1

Table 3-7. Analog Outputs Pins Description

The analog outputs setup is made via the configuration tree. In order to access the configuration tree,
open the MasterTool IEC and click “PLC Configuration”, which is located in the “Resources” tab.
Then the module “PLC Configuration” must be expanded. In this tab most of the required
configurations for implementing the DU350/DU351 controllers can be configured.
The analog output settings are located at the “Bus” module. By expanding this module, the “Inputs”
and “Outputs” modules will appear. In order to set up the analog outputs, the “Outputs” module
must be expanded, and then the “Analog outputs” subnode.
In the option “Channel type”, the user selects the output type to be used in that channel. The outputs
may be set up as: current analog outputs (0 - 20 mA), voltage analog outputs (0 - 10 V) or as
“Disabled Channel”.

31
 3. Configuration

Figure 3-13. Analog Outputs

After the output type configuration, the user must set up the scale limit in the dialog box below,
which may vary from 0 to 30000.
The analog outputs values are previously assigned to special operands. They are:
 AO0 = Channel 0 value
 AO1 = Channel 1 value
These special operands are previously mapped into a specific memory area. Thus, they can be used as
a global variable. The names of the operands, and how to access them are better described in the
special operands list, located in the section “Diagnostics” - “Reserved Operands List”.
The corresponding value to the scale limit of analog outputs is configurable. This setting does not
change the physical value of the scale limit, which is of 10 V for voltage analog inputs, and of
20 mA for current analog inputs, however, it changes the value which corresponds to the physical
scale limit that will be read by the application. This function is useful to make the reading of analog
inputs effortless for the user. For example: it might be interesting to have a configuration of a 100
scale limit for a 0 V 10 V analog voltage input (in this case each reading unit corresponds to 1 mV).
The sensitivity of analog inputs is fixed, therefore the increase in the value of the scale limit up to the
peak value (30.000) does not lead to sensitivity improvement, although it may be useful for the
reading data handling within a specific application. Employing a scale limit value less than 4095
(12-bit) may cause a loss of resolution in the analog input.

Fast Outputs
DU350 and DU351 controllers have 2 (two) fast outputs. They are located in the connector of digital
output insulation group 0.
The fast outputs are found in the pins described in the table below:
Terminal block configuration Q00 to Q01 – fast output 0 to 1 of insulation group 0
C5 – Reference (0 V), insulation group 0 (shared with the Q02 to
Q07 transistor outputs(DU350))
C6 – Power supply, insulation group 0 ( shared with the Q02 to
Q07 relay outputs (DU351)/transistor(DU350)). Maximum voltage
30 Vdc.

Table 3-8. Fast Outputs Pins Description

Q00 and Q01 fast outputs can be configured as:
 PTO (“Pulse Train Output”)
 VFO (“Variable Frequency Output”)

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 3. Configuration

 PWM (“Pulse Width Modulation” )

 Counter comparison fast outputs
In case none of the special settings described above is used, the Q00 and Q01 fast outputs may be
utilized as a transistor normal output.

WARNING:
A shielded cable is recommended for fast outputs, in the event of lengths greater than 1 meter
or when other cables are close to the fast output cable.

The configuration of the fast outputs is made through the configuration tree. In order to access the
configuration tree, open the MasterTool IEC and click “PLC Configuration”, which is located in the
“Resources” tab. Then the module “PLC Configuration” must be expanded. In this tab most of the
required configurations for implementing the DU350/DU351 controllers can be configured.
Fast outputs settings are located on the “Bus” module. By expanding this module, the “Inputs” and
“Outputs” modules will appear. In order to set up the fast outputs, the “Outputs” module must be
expanded, and then the “Fast outputs” subnode.
The 2 fast outputs are shown, thus enabling the setup in 4 distinct modes:
 PTO
 VFO/PWM
 Comparator counter 0 or 2
 Comparator counter 1 or 3
In addition, in the disabled mode, the outputs work as common digital outputs. The following figure
exhibits the description of each one of the fast output settings.

Figure 3-14. Fast Outputs

PTO
The PTO output generates a pulse train (duty cycle of 50%) containing the total pulse number,
number of pulses in acceleration/deceleration and frequency configurable via software.
Below, there is an example of the PTO output operation configured to generate a total of 20.000

33
 3. Configuration

pulses (5.000 during acceleration/deceleration). The vertical axis represents the frequency, and the
horizontal axis represents the time.

Figure 3-15. PTO Output Example

In the acceleration phase, the output frequency goes from 0 Hz up to the frequency defined by the
user. From that point on, the steady state starts, and here is where the complementary total number
of pulses, that was configured to those pulses of acceleration/deceleration, is generated.
After completing the number of pulses of the steady state, the fast output enters in the deceleration
phase, where the pulse train frequency varies from the default value up to 0 Hz, then completing the
fast output action. Thus, the new position, which is represented by the total number of user-defined
pulses, is reached.
The main use of PTO outputs is on projects involving positioning control. Due to its characteristic of
generating only a specified number of programmed pulses, this output is of great value in this type of
application.
Another important aspect of PTO outputs is that they enable the start-up of motors with smooth
acceleration. This implies that the motor does not accelerate in a single step, going from resting
directly to the nominal speed, but it accelerates step-by-step to achieve the target speed. Therefore, it
is possible to run huge systems, taking them out of the resting status smoothly.
Next, it is shown how the function parameters may be calculated as from the project data.
Acceleration Profiles
Profile is the way in which the variation of the output signal frequency occurs in relation to time.
The PTO outputs may be configured with a trapezoidal-type profile or an s-type profile.
The PTO outputs parameters are: total pulse number; number of pulses in acceleration/deceleration;
permanent frequency. These parameters do not require configuration at each new PTO output trigger.
At the triggering of a new pulse train, if the operand of number of pulses in acceleration/deceleration
(Fx_PLS_RMP) or the operand of frequency scheme (Fx_FREQ) is changed, the controller
recalculates the distribution of pulses for a new ramp generation. The time used for their calculation
is inversely proportional to the number of ramp pulses used. This time may vary from 1ms to 3,5 ms.

Trapezoidal Type Profile

In this type of profile the motor is accelerated in linearly, which means in constant acceleration.

34
 3. Configuration

Figure 3-16. Graph Generated by PTO Output Using Trapezoidal Type Profile
The chart in Figure 3-17 shows an actual curve acquisition generated by a PTO output configured
with the trapezoidal profile, 5000000 total pulses, 1000000 pulses in acceleration/deceleration and 50
kHz steady state frequency.
To calculate the number of frequency steps to be performed during acceleration/deceleration for a
trapezoidal profile, the following expression is used:

Where the “divs” integer portion is the number of ramp steps, and Fx_PLS_RMP is the number of
pulses in the ramp (acceleration/deceleration) configured by the user.
Under the above expression, and with values that vary from 0 to 10000 pulses in
acceleration/deceleration ramps, it is obtained an amount of 0 to 100 steps in the ramp. The amount
of steps in the ramp will be limited to 100 for values greater than 10000 ramp pulses, however, the
number of pulses by step will grow proportionately to the number of ramp pulses.
Due to rounding that occurs during the calculation of the profile, some pulses of the ramp may not
happen during the ramp, and are offset during the steady state. In the worst cases the error by step
will be of one pulse.
S type Profile
The value of acceleration is smaller at both the beginning and the end of the profile, being at its peak
at mid-point, and 3.6 times higher than the acceleration of an equivalent trapezoidal-type profile. The
acceleration and deceleration curves are symmetrical.

Figure 3-17. Graph Generated by a PTO Output, Using the S Type Profile
The chart in Figure 3-17 shows an actual curve acquisition generated by a PTO output configured
with the S-type profile, 20000000 total pulses, 5000000 pulse acceleration/deceleration and 50 kHz
of steady state frequency.
To calculate the number of frequency steps to be performed during acceleration/deceleration for a
trapezoidal profile, the following expression is used:

35
 3. Configuration

divs3 + 2 * divs2 + divs + 4 * Fx_PLS_RMP = 0

Where the integer portion of the complex roots of “divs” is the number of ramp steps, and
Fx_PLS_RMP is the number of pulses in the ramp (acceleration/deceleration) configured by the user.
Under the above expression, and with values that vary from 0 to 10000 pulses in
acceleration/deceleration ramps, it is obtained an amount of 0 to 256000 steps in the ramp. The
amount of ramp steps will be limited to 100 for values greater than 256000 ramp pulses, however, the
number of pulses by step will grow proportionately to the number of ramp pulses.
Due to rounding that occurs during the calculation of the profile, some pulses of the ramp may not
happen during the ramp, and are offset during the steady state. In the worst cases the error by step
will be of one pulse.
Soft Stop
Each PTO output has a smooth stop command, which is also known as softstop. The soft stop is the
early slowdown of the system triggered by a command, thus causing a soft stop before the end of the
pulse train.
A soft stop can be performed at any time of the pulse train, including during acceleration ramp.
When a softstop is generated during deceleration, the pulse train will not change its behavior because
the system is already slowing down. See Figure 3 18.
The Fx_PTO_SOFTSTOP operand is responsible the soft stop.
In case of error in the number of pulses during acceleration due to rounding during a soft stop, the
Fx_PTO_REG status can be triggered for some cycles while this compensation is being executed
even if the target speed has not been reached yet.

Figure 3-18. Complete Pulse Train (blue) and Soft Stops Examples (red)
Internal Pulse Counter
Each fast output has two pulse counters, one relative and one absolute. Both counters show
information about the number of pulses generated by a PTO-type output in real-time.
The relative counter is reset at each new trigger of the pulse train, and its value grows constantly
along the pulse train.
The absolute counter holds the absolute value of pulses generated by the PTO output and its value
rises or falls according to the Fx_PTO_CNT_DIR command. The value of this counter is reset via
Fx_PTO_CNT_CLR command thus defining a new reference for this counter.
The PTO counting and control pulses registers are:
Fx_PTO_CNT_REL: Fx output relative pulse counter. This counter has only the positive orientation,
and is reset at each new trigger of a pulse train.
Fx_PTO_CNT_ABS: Fx output absolute pulse counter. This counter is incremented or decremented
depending on the status of the Fx_PTO_CNT_DIR operand.
Fx_PTO_CNT_DIR: Defines the direction of the absolute counter. If it is FALSE the counter counts

36
 3. Configuration

in the positive direction; if it is TRUE the counter counts in the negative direction. This register is
read once at every trigger, and the changes in its value during a pulse train do not influence the
counting direction.
Fx_PTO_CNT_CLR: Resets the Fx output absolute pulse counter.
Fx_PTO_CNT_CMP0: Comparator 0 of Fx output absolute pulse counter. This operand must be
configured with the desired comparison value.
Fx_PTO_CNT_CMP1: Comparator 1of Fx output absolute pulse counter. This operand must be
configured with the desired comparison value.
Fx_PTO_CNT_DG: Variable containing the PTO pulse counter diagnoses. The diagnoses are: Bit 0 –
Fx_PTO_CNT_MAX_CMP0 and Bit 1 – Fx_PTO_CNT_MAX_CMP1.
Fx_PTO_CNT_MAX_CMP0: Signals that the Fx absolute pulse counter is greater than the
comparator 0.
Fx_PTO_CNT_MAX_CMP1: Signals that the Fx absolute pulse counter is greater than the
comparator 1.
Calculation of the Frequency State
In general, the motors which are used for positioning have a specified resolution. This means that
they specify the number of steps necessary to complete a round. One of the step motor parameters,
for instance, is the angle developed at each step. Thus the number of steps per round may be
calculated by dividing 360 by this amount.
360
p

where: p = number of steps per revolution
= angle developed at each step

On the other hand, the servos hold this data directly in their driver features.
To calculate the frequency state it is necessary to know the nominal motor speed. Step motors, in
general, do not have this parameter properly defined. Manufacturers define a torque curve for speed.
Thus, it is up to the designer to identify the application type as well as the torque speed, and in
accordance to this, define the best target speed. In servomotors this feature is clearly defined. In a
torque x speed chart it is evident a speed range in which the torque remains constant. These speeds
are usually defined in RPM (revolutions per minute).
With this data it is possible to calculate the output frequency state as:
pV
f 
60
where: p = number of steps per round
f =PTO output state frequency (Hz)
V = motor target speed (RPM)

Calculation of Acceleration Parameters

The maximum acceleration to which the motor shall be subjected is directly proportional to the motor
torque and inversely proportional to the motor inertia plus the load inertia.
T
A  95.5  106 
J
where: A = acceleration (rpm/s)
T = motor torque
J = total inertia in g.m² = Jm (motor inertia) + Jc (load inertia)

For a linear acceleration (trapezoidal profile), the acceleration time may be calculated as follows:

37
 3. Configuration

V
t
A
where: t = acceleration time

This is the required time calculated, taking into consideration the motor parameters, in order to get
maximum acceleration. This is also the minimum time in which the motor must remain in the
acceleration phase. From this value on, it is possible to calculate the number of steps during the
acceleration phase. This parameter is passed on to the Fx_PLS_RMP register.
5.5  f  t
N
10
where: N = number of pulses in acceleration/deceleration phase

For an S-type profile, the maximum acceleration is 3.6 times higher than the acceleration required for
the trapezoidal profile. Thus, for an S profile, the acceleration time must be 3.6 times greater than the
one calculated for a trapezoidal profile in the same frequency state, so that maximum acceleration
does not exceed the acceleration calculated according to the motor parameters.
PTO Configuration
To configure the PTO output, after following the steps described above, right-click on the subnode
“Fast Output 0 Disabled ” (output 0). A window appears with the options “Replace element ”
“Calculate address ” and “Copy”. Within the item “Replace element” there are the following
options: “Fast Output 0 Disabled ”, “PTO”, “VFO/PWM”, “Comparison Counter 0” and
“Comparison Counter 1”.
By clicking on “PTO”, the “PTO” tab is shown on the right side of the page, where the configuration
of the PTO curve type is done (“Trapeze” or “ S curve”).

Figure 3-19. PTO

It is also necessary to configure some PTO special operands. They are:
 Fx_FREQ = frequency value for PTO/VFO/PWM [1  50.000] Hz
 Fx_PLS_TOT = total pulse value for PTO [1  4294967295]
 Fx_PLS_RMP = ramp pulse value for PTO [1  ((PLS_TOT-1)/2)]
Where “x” is the output number.
In PTO outputs the duty cycle is fixed in 50%.
The special operands for frequency, total pulse and ramp pulse are previously mapped into a specific
memory area. Thus, they can be used as a global variable. The names of the operands is best
38
 3. Configuration

described in the special operands list, located in the section “Diagnostics” - “Reserved Operands
List”.
In order to start or stop the pulse generation, two special operands must be used:
 Fx_PTO_START = Triggers the pulse train (PTO) in the correspondent fast.
 Fx_PTO_STOP = Stops the pulse train (PTO) in the correspondent fast. If there is a trigger in
standby, it will be rejected.
 Fx_PTO_SOFTSTOP = Starts the deceleration curve to perform a smooth stop. If this bit is set
during the acceleration, a symmetrical deceleration (previous step) will be
generated. If the bit is set during the steady state, the deceleration curve will
be advanced.
Where “x” is the output number. The logic value 1 enables the operand function.
When the Fx_PTO_START,Fx_PTO_STOP and Fx_PTO_SOFTSTOP are enabled, the system
identifies them, performs a reset (logical value 0) and executes the command.
Fx_PTO_STOP is prior to Fx_PTO_SOFTSTOP. Thus, when both of them go through reset in the
same cycle, only the Fx_PTO_STOP command will be followed, and an abruptly stop will occur.
During the execution of a pulse train it is possible to write on the Fx_PTO_START operand and
prepare a new pulse train which will run at the end of the first trigger. It is also possible to put a
single new trigger in the line. This trigger will use the frequency values, the number of total pulses
and ramp pulses which are configured at the time the new trigger is executed.

WARNING:
The Fx_PTO_STOP command stops the pulse train ,which was started by the
Fx_PTO_START command, abruptly.

VFO/PWM
The variable frequency fast outputs (VFO), and the pulse width modulation (PWM) are used
primarily for interconnection with frequency-voltage converters allowing, for example, the
implementation of two additional analog outputs. The difference between these outputs is a
parameter to be controlled. In VFO the duty cycle is constant and the frequency is variable whereas
in PWM modulation the frequency is constant and the duty cycle is variable.
The following figure illustrates output behavior in both modes:

Figure 3-20. VFO/PWM

To configure the VFO/PWM output, expand the subnode “Fast Output” (previously described),
right-click on the subnode “Fast Output 0 Disabled ” (output 0). Then, select the options “Replace
element”and finally, the option “VFO/PWM”.

39
 3. Configuration

Figure 3-21. Configuring to VFO/PWM

In addition, the required parameters to the signal generation must be configured. These parameters
are assigned to special operands:
 Fx_FREQ = Frequency value for PTO/VFO/PWM [1 – 50000] Hz
 Fx_DUTY = Duty Cycle value for VFO/PWM [0 - 100] %
 Fx_DUTY_HR = High-resolution Duty Cycle value for VFO / PWM [0.00 to 100.00]%
 Fx_DUTY_SRC = Defines the duty parameter source. Fx_DUTY or Fx_DUTY_HR
Where “x” is the output number.
To use the high-resolution duty it is necessary to set Fx_DUTY_SRC first, and choose
Fx_DUTY_HR as the source of duty
The high-resolution duty allows for the use of a duty with a resolution up to two decimal places.
The special operands for frequency and duty cycle configuration are previously mapped into a
specific memory area. Thus, they can be used as a global variable . The names of the operands is best
described in the special operands list, located in the section “Diagnostics” - “Reserved Operands
List”.
In order to either start or stop the PTO/PWM pulse generation, the following special operands must
be used:
 Fx_VFO = 0 (FALSE)  Disables the VFO/PWM on the corresponding fast output
1 (TRUE)  Enables the VFO/PWM on the corresponding fast output
Where “x” is the output number.
Counters Comparator Fast Output
To configure the counter comparator output, expand the subnode “Fast Output” (previously
described), right-click on the subnode “Fast Output 0 Disabled ” (output 0). Then, select the options
“Replace element ”, and finally, the option “Counter Comparator 0” or “Counter Comparator 1”. The
fast output 1 configuration is performed in the same way, though the counter comparators 2 or 3 may
be linked to this output.
After clicking on “Counter Comparator 0”, select the comparison logic to be employed (on the right
side of the MasterTool IEC programmer). The following options are available to configure the
comparison type:
 Counter > Comparator 0
 Counter < Comparator 1
40
 3. Configuration

 Comparator 0 < Counter < Comparator 1

When the comparator holds the logic value 1 (comparison is TRUE), the fast output is set up to 1
(high level). When the logic value is 0 (comparison is FALSE), the fast output is set up to 0 (low
level). The comparators value is configured in special operands. They are:
 CNTx_CMP0 = Comparator 0 value
 CNTx_CMP1 = Comparator 1 value
Where “x” is the output number.
The Comparator 0 and Comparator 1 special operands are previously mapped into a specific memory
area. Thus, they can be used as a global variable . The operands name is best described in the
reserved operands list in the “Diagnostics”-“Reserved Operands List”.

Figure 3-22. Configuring Counter Comparator Output

Common Output of Counters Comparator

DU350 and DU351 controllers have 2 (two) common outputs which can be configured as counter
comparison outputs.
The configuration of the common outputs as Counters Comparison Output is performed via the
configuration tree. In order to access the configuration tree, open the MasterTool IEC and click “PLC
Configuration”, which is located in the “Resources” tab. Then the module “PLC Configuration” must
be expanded. In this tab most of the required configurations for implementing the DU350/DU351
controllers can be configured.
The common outputs settings as Counters Comparison Outputs are located at the “Bus” module. By
expanding this module, the “Inputs” and “Outputs” modules will appear. In order to set up the
common outputs as Counters Comparison Output, the “Counter Common Output” module must be
expanded.
The 2 common outputs are shown, then it is possible to configure the outputs as counter comparison
outputs. The pins that receive the comparison outputs of both Block 0 and Block 1 counters are
respectively the Q02 and Q03 outputs. If the output is not configured as a comparator output, it may
be used as a common digital output.
Common comparison outputs are checked and updated every 1 ms.

41
 3. Configuration

Figure 3-23. Configuring the Counter Common Output

Positioning Functions
To facilitate positioning operations by using the Duo fast inputs, fast outputs, and analog outputs, a
set of function blocks, which are responsible for the axes positioning is available. No configuration
for the fast inputs and outputs or the analog outputs in the configuration tree is necessary.
The following functions are available in the DuoMotionLib.lib library. In addition to this library, the
SysDuoHwConfig.lib and SysDuoMotionLib.lib, both of which have internal use functions of the
DuoMotionLib library, should also be added to the project.
This library uses a common set of functions that perform boot, referencing of the axes, and a set of
specific positioning functions that should be used for each type of control output.
There are four types of positioning:
1. Use of PTO fast outputs to position the motor connected to the axis, without the return of
another type to validate the motion. It uses the PTO_MOTION function for positioning.
2. Use of PTO fast outputs to position the motor connected to the axis without the return of another
type to validate the motion, but during the referencing it uses the input 0 of the encoder to
reference. It uses the PTO _MOTION function for positioning.
3. Use of PTO fast outputs to position the motor connected to the axis, being the control closed
through a fast counting input connected to an encoder which is also connected to the axis. It uses
the PTO_MOTION function for positioning
4. Use of voltage analog outputs to position the motor connected to the axis, being the control
closed through a fast counting input connected to an encoder which is also connected to the axis.
It uses the ANALOG_MOTION function for positioning.
For each controlled axis an s_MOVE structure, which is described below, must be created. This
structure is responsible for describing the physical patterns of the axis to be positioned. The
CONTROL_TYPE_BYTE parameter indicates which of these types of motion will be performed.
After initializing the structure for some determined input and output, the positioning function must be
called with the same type used in this data structure.
ANALOG_INI and PTO_INI initialization functions do not perform movements, and must be called
from within the program PLC_PRG or by a functional call within this block. On the other hand, the
ANALOG_MOTION and PTO_MOTION positioning functions should be called within programs by
time interruption.

ATTENTION:
This feature is available only as from the executive software version (1.11) and Mastertool IEC
(1.04).

42
 3. Configuration

ANALOG_INI and PTO_INI Inicialization Functions

Figure 3-24. ANALOG_INI and PTO_INI Function Blocks

Inputs
SMOVE: it is an instance of the S_MOVE configuration structure used to define the machine
parameters. Previously, the POS_INI function must be run, which checks parameters and
consistence, and checks if there is some kind of error.
Outputs
EXEC_BOOL: initialization performed successfully. In case some error or inconsistence exists in the
parameters of the movement structure, then the output will not be turned on and there will be an error
code in the CODIGO_ERRO_INT output.
CODIGO_ERRO_INT: indicates the type of error that causes the termination of the function with an
error. The cause may be consulted in Error Codes table (...Insert link).
Operation
To use the position control functionalities, first it is necessary to perform the initialization through
the ANALOG_INI or PTO_INI functions depending on the type of the desired control. These
functions perform the consistency of the S_MOVE structure parameters, and of the hardware
configuration.
Before performing an initialization function it is necessary to fill in an S_MOVE structure type in
accordance to the limits of the table below, and then perform the function which matches the type of
control chosen.
The PTO_INI function performs the initialization of controls type 1(COUNT_PTO), 2 (PTO), and 4
(REFER_PTO), while the ANALOG_INI function initializes only controls type 3
(COUNT_ANALOG).
When an initialization function is executed successfully, that is, the S_MOVE structure carries all the
correct values, the EXEC_BOOL output will be TRUE and the CODIGO_ERRO_INT output will
show the value 0, indicating that there are no errors at startup.
Any change in the structure S_MOVE parameters should be performed when the system is stopped,
and followed by calling their respective initialization function. The system is stopped when the
ANALOG_MOTION and PTO_MOTION positioning functions are with the
EXECUTANDO_BOOL output in FALSE.
The positioning functions check for correct initialization, so it is possible to run a positioning
function only when the ANALOG_INI or the PTO_INI functions are executed successfully,
otherwise an error is returned.

43
 3. Configuration

Configuration Structure for COUNT_PTO, PTO, COUNT_ANALOG and REFER_PTO

Structure variable Unity Allowed values Variable description
Variables for PTO, COUNT_PTO and COUNT_ANALOG
TIPO_CONTROLE_BYTE 1 – COUNT_PTO Control type.
2 – PTO COUNT_PTO, control through a fast output with an
3 – COUNT_ANALOG encoder for feedback on the fast input.
4 – REFER_PTO PTO, control through a fast output without feedback.
COUNT_ANALOG, control through an analog output
with an encoder for feedback on the fast input.
REFER_PTO, control through a fast output without
feedback, but using its clear input for resetting during
referencing.
SAIDA_BYTE 0 – Fast output F0 / Indicates that the PTO or analog output will be used for
Analog output AO0 the function of positioning and referencing. The output
1 – Fast output F1 / type depends on the type of control chosen.
Analog output AO1
ENTRADA_BYTE 0 – Counter 0 (CNT0) Indicates that the counter will be used used for the
1 – Counter 2 (CNT2) function of positioning and referencing.
For the PTO control type, this parameter is not relevant.
MODO_ENCODER_BYTE 0 – A increments and B Sets the configuration of the fast counter input. For
decrements more details on the counting modes, see chapter
1 – A increments or “Configuration” – “Input” – “Fast inputs”.
decrements and B gives For the PTO control type, this parameter is not relevant
the direction
2 – Square 2X
3 – Square 4X
CONFIRMACOES_WORD 1 to 65.535 Number of cycles of confirmations of position within the
error range to validate a complete movement.
PERFIL_BYTE 0 – Trapezoidal Profile Defines the acceleration/deceleration profile that will be
1 – S Profile used.
AMOSTRAGEM_TIME time t#1ms to t#1s Positioning function calling time.
For the PTO or COUNT_PTO control type, this
parameter is not relevant.
REFER_SENTIDO_BOOL FALSE – Positive Indicates whether the search direction of referencing
search direction zone is done with a logic level "0" or "1”.
TRUE – Negative
search direction
REFER_VELOCIDADE_INICIA um/s 1 to 2.000.000.000 Indicates the searching initial speed of the referencing
L_DWORD zone. This parameter allows the speed is different from
that configured in the field
VELOCIDADE_REGIME_DWORD.
REFER_PERCENTUAL_VELO % 1 to 100 It is the percentage compared with the initial speed that
CIDADE_INICIAL_BYTE will be used to complete the search for the zero
machine. In case the initial velocity is set to10 mm/s
and this parameter is 20, the final speed of the search
for zero is 2 mm/s, which corresponds to 20% of initial
value
REFER_TEMPO_INVERSAO_ time t#0ms to t#1m Sets the time after which it will reverse the direction of
ZONA_TIME search if it starts in the opposite direction to the signal
search. As the deceleration time is also relevant in this
direction the total time for reversal depends on the
deceleration time plus this parameter.
VELOCIDADE_REGIME_DWO um/s 1 to 2.000.000.000 Defines the target speed (speed after acceleration) of
RD the axis. The unit is length per second.
TENSAO_VELOCIDADE_REGI mV 1 to 10.000 Voltage that, applied to the servo control, sets the
ME_WORD maximum speed.
For the PTO or COUNT_PTO control type, this
parameter is not relevant
TENSAO_MAXIMA_WORD mV 1 to 10.000 Maximum voltage to be supplied to the servo control.
It is recommended to use at least 10% higher than
TENSAO_VELOCIDADE_REGIME_WORD to allow
“overshoot”.
For the PTO or COUNT_PTO control type, this

44
 3. Configuration
parameter is not relevant.
KP_REAL 0 to 50 Proportional gain of positioning loop.
For the PTO or COUNT_PTO control type, this
parameter is not relevant.
KI_REAL 0 to 50 Integral gain of the positioning loop, activated only at
the end to correct the error in the steady state.
For the PTO or COUNT_PTO control type, this
parameter is not relevant.
TEMPO_ACELERACAO_TIME time t#0s to t#10m Motor acceleration / deceleration time.
LIMITE_DE_PARADA_DINT um 1 to 10.000.000 Tolerance range around the stop position.
In case of sliding greater than the allowable the control
loop opens.
For the PTO or COUNT_PTO control type, this
parameter is not relevant.
ERRO_MAXIMO_DINT um 0 to 10.000.000 Maximum error allowed for the displacement of an axis
to a position.
FIM_CURSO_SW_POSITIVO_ um 1 to 2.000.000.000 Software limit switch in the positive direction of the axis.
DINT When the current value of the position is greater than
the value specified in this parameter is perfomed a soft
stop. This parameter should be set so that this value
will allow stopping before the physical positive limit of
the axis.
FIM_CURSO_SW_NEGATIVO um -1 to -2.000.000.000 Software limit switch in the positive direction of the axis.
_DINT When the current value of the position is less than the
value specified in this parameter is made a soft stop.
This parameter should be set so that this value will
allow stopping before the physical negative limit of the
axis.
TIMEOUT_TIME time t#1s to t#10h Timeout for implementation of axis referencing. If the
reference is not completed after the time set in this
parameter a soft stop of the output is performed without
the completion of the positioning.
COMPENSACAO_DE_FOLGA um -10.000.000 to Clearance for systems with indirect measurement.
_DINT 10.000.000 The compensation signal is used to differentiate
between the situation in which the measurement system
counts, but the axis, due to the clearance, does not
move (use the + sign) and the one in which the axis
moves , but the measuring system, due to the
clearance, starting late count (using sign -).
If the value of play is different from zero and the
functions PTO_MOTION and ANALOG_MOTION try to
use a relative motion, functions will return error
NUMERO_PULSOS_MOTOR_ pulses 1 to 1.000.000 Sets the number of pulses required for a stepper motor
DINT or other motor executes a turn in the axis.
For the COUNT_ANALOG control type, this parameter
is not relevant.
DESLOCAMENTO_MOTOR_DI um 1 to 10.000.000 Sets the displacement in unit of length which
NT corresponds to a turn of the motor.
For the COUNT_ANALOG control type, this parameter
is not relevant.
NUMERO_PULSOS_ENCODE pulses 1 to 1.000.000 Sets the number of pulses generated by an encoder
R_DINT when it performs a turn in the axis. Should be filled with
the nominal number of pulses of the encoder.
DESLOCAMENTO_ENCODER um 1 to 10.000.000 Sets the displacement in unit of length which
_DINT corresponds to a turn of the encoder.

Table 3-9. Variables of an S_MOVE Structure

ATTENTION:
The maximum error should be greater than or equal to the ratio
(DESLOCAMENTO_ENCODER_DINT / NUMERO_PULSOS_ENCODER_DINT), ), the same as
the resolution m / pulse, and this resolution must have a value of at least 1.

45
 3. Configuration

Referencing Operation

Encoder output zero

Speed Initial position before referencing

Axis

Zero machine position

Figure 3-25. Referencing Diagram
The figure 3-25 shows the diagram for the referencing of an axis. In it is represented the axis
acceleration profile for the movement and the entries of the referencing zone sensors,
REFER_SENSOR_ZONA_BOOL, as well as the output of the encoder that indicates passage by
zero. The referencing zone is the axis range where the zero encoder pulse is analysed by the
referencing input. In this way a referencing begins shifting the axis towards declared parameter
REFER_SENTIDO_BOOL of the S_MOVE structure. The axis is accelerated until it reaches the
speed of search for the REFER_VELOCIDADE_INICIAL_DWORD referencing zone. When
finding a rising edge in REFER_SENSOR_ZONA_BOOL a soft axis stop is performed decelerating
until it stops.
If during this movement a zero has been detected in the referencing zone, this zero shall be
considered the position zero of the machine. Otherwise the machine keeps moving in the same
direction but with a percentage of initial speed declared in
REFER_PERCENTUAL_VELOCIDADE_INICIAL_BYTE. When finding a zero coming from the
output of the encoder this point is the zero of the machine and a soft stop is performed.
When COMPENSACAO_DE_FOLGA_DINT (configured in the S_MOVE structure) is greater than
zero, after reaching the zero of the machine, a shift of the size of the backslash of the system will be
generated in order to ensure that the slack will be compensated at the end of the reference.
At the end of this process if the axis is stopped within the ERRO_MAXIMO_DWORD tolerance of
error, no movement is performed. In case is out, new movements must be executed to stay within the
maximum error range around zero.
Before the referencing triggering, the REFER_SENSOR_ZONA_BOOL input is tested and in case it
is “TRUE” the referencing will initiate the search in the opposite direction to
REFER_SENTIDO_BOOL, in order to leave the referencing zone. After detecting a falling edge of
the referencing sensor, the axis remains with the initial speed of seacrch,
REFER_VELOCIDADE_INICIAL_DWORD, for a determined time interval, which was defined in
REFER_TEMPO_INVERSAO_ZONA_TIME. Only after that, it starts to slow down. By ceasing
this movement, the search continues normally, in the search direction defined in the
REFER_SENTIDO_BOOL parameter of the function.
It is recommended that the zone sensor is mounted in a way that, after a rising edge, it remains in
status “1” up to the end of the axis. Otherwise the axis may be positioned outside the zone, but
opposite to the search direction. In this case the axis will be stopped abruptly by the end of the course
located on this side of the axis.
In the case of a control using only the PTO output, the counter goes to zero to indicate the zero of the
machine on the REFER_SENSOR_ZONA_BOOL rising edge. This is because the encoder not being
used, there is no indication of passage through the zero of the encoder.

46
 3. Configuration

Mechanical Assembly of an Axis

Figure 3-26. Mounting of the Axis

Referencing Functions and Positioning

The DU350 and DU351 motion libraries have two positioning and referencing functions. One uses a
fast output configured to generate pulse train (PTO) as an actuator, and the other function uses an
analog output.
PTO_MOTION Function
PTO_MOTION function uses a fast output set as PTO to act on the system. This function may be
configured to use a two-way counter associated with an encoder or an internal pulse counter as
feedback control loop. The differentiation of the behavior desired is made through the
TIPO_CONTROLE_BYTE parameter of the SMOV structure. In this case when this parameter is
equal to 1 (COUNT_PTO) the loop is closed by the use of a fast counter. If it is set to 2 (PTO) the
control is performed by using the absolute counter of the PTO output.
In addition, there is another way of configuration that combine the characteristics of the other two
modes that involve the PTO output. For this case the TIPO_CONTROLE_BYTE parameter should
be 4 (REFER_PTO). In this configuration the behavior is identical to that of the configuration as
PTO for positioning, but if the axis has a position statement of zero through an encoder, for example,
this mode should be used, and the position counter will go to zero on the zeroing position pulse when
the axis is referenced.
To select the type of control that should be used, the type of drive used should also be taken into
consideration. If the triggering servo holds the position control, which means that the control loop is
closed within the driver itself, the control to be used is the direct PTO. If this system has information
passing through zero, the REFER_PTO type should be used to increase referencing accuracy.
However, if the system uses a driver with combinational logic, such as the drivers for triggering step
motors, which are coupled to an encoder axis, the COUNT_PTO control type must be used.
This function should be periodically called through a POU triggered by time interruption, which must
be configured as shown in “Configuration” – “POUS triggered by time interruption”. In order to
obtain accurate control, it is recommended to use the shortest possible time to call this function.
After setting this control module through the PTO_INI function, and periodically calling the
PTO_MOTION function, it will monitor the function inputs periodically. In case either a referencing
or a positioning is requested through the inputs, the function runs the state machine responsible for
each function. During execution both a new positioning and referencing will not be allowed, unless
the motion is completed or in case of an enforced break through emergency stop
(EMERGENCIA_BOOL) or soft stop (SOFTSTOP_BOOL). While running, the
EXECUTANDO_BOOL output stays on. If there is any error, the ERRO_BOOL output is triggered,
and the respective error is placed into the CODIGO_ERRO_INT variable.
Usually this type of function does not need CONFIRMACOES_WORD greater than 1. But in
systems with large inertia it is necessary to increase the number of confirmations in order to ensure
the placement within ERRO_MAXIMO_DINT. If the value of the error is very small the axis may be
47
 3. Configuration

not correctly positioned. The number of confirmations is used only for the COUNT_PTO type.
In case the positioning is not closed properly, there is the TIMEOUT_TIME parameter that stops the
movement after a set time even if the movement has not been completed successfully.
ANALOG_MOTION Function
ANALOG_MOTION function uses an analog output to act on the system, and the control is fed
through an encoder. This analog output, ranging from 0 to 10 Volts, has an associated digital output
to define the direction of motion, where FALSE sets the positive direction, and TRUE the negative
direction
The analog control is proportional-integral, and the gains are set by the parameters
KP_REAL(proportional gain), and KI_REAL (integral gain), in the S_MOVE structure. However,
integral control is activated only at the end of the theoretical profile route, with the purpose of
correcting the characteristic error of a system that uses only one proportional control. If there is no
need for an integral control, the KI_REAL parameter must be set to zero.
This function must be periodically called by a POU triggered by time interruption, and which must
be configured as described in the chapter “Configuration – POUs triggered by time interruption”. For
a more accurate control, it is recommended to use the shortest possible time for calling the function
(1 ms).
After setting this control module with the ANALOG_INI function, and periodically calling the
ANALOG_MOTION function, the control loop starts in open, signaled as FALSE in
CLOSED_LOOP_BOOL.To close the control loop it is necessary to force its closing through the
CLOSE_LOOP_BOOL command, and also trigger a new positioning via DISP_POS_BOOL
command or trigger a new referencing via DISP_REFER_BOOL command.
When the control loop is closed, the stop limit is being checked. This check is to ensure that in case
of loss of control or undue movement, generated by factors outside the system, the loop will open,
which prevents accidents. The LIMITE_DE_PARADA_DINT parameter of the S_MOVE structure
is responsible for setting the value of the stop limit.
The open control loop can occur in the following ways: by the emergency control command
(EMERGENCIA_BOOL), by passing the stop limit (LIMITE_DE_PARADA_DINT) ,by the
triggering of one limit switch by hardware (FIM_CURSO_HW_POSITIVO_BOOL or
FIM_CURSO_HW_NEGATIVO_BOOL), by restarting the control module with erroneous values in
the structure S_MOVE, by the bursting of the current position or by an attempt to trigger a
positioning with a value (POSICAO_DINT) which is out of range.
By triggering a position or a referencing, the EXECUTANDO_BOOL output will be set, and it will
be cleaned only at the end of the positioning, which may happen due to a successfully completed
positioning or due to some exception, such as bumping into one limit switch.
The monitoring error between the theoretical profile generated by the positioning module and the
current average position through the encoder is shown at the
ERRO_ACOMPANHAMENTO_DWORD output ,and its signal is reported at the
SINAL_ERRO_ACOMPANHAMENTO_BOOL output. With this data it is possible to see the
behavior of the system in relation to gains defined in S_MOVE structure. If the monitoring error is
increasing constantly, this is a sign that the proportional gain does not carry a value which is suitable
enough to cause the real position to track the theoretical position with a constant error. So, the
proportional gain should be increased.
Another important information for the control calibration is the SATURADO_BOOL output. This
output is set when the control theoretical signal exceeds the maximum voltage of the analog output
which is set in TENSAO_MAXIMA_WORD parameter in the S_MOVE structure. The saturation of
the signal leads the monitoring error to increase steadily as described above.
The completion of a positioning occurs when the axis position is detected, and the number of
consecutive confirmations is set at the CONFIRMACOES_WORD parameter of the S_MOVE
structure. If the system can not find a position and an emergency stop is not triggered, the control will

48
 3. Configuration

open after the timeout and an error code will be generated.

The reasons why the system can not find the final position are: ERRO_MAXIMO_DINT too small
for the system dynamics, time of ANALOG_MOTION function call very large, or very small integral
gain for a system that requires a relatively high torque to work with proportional control only.

Figure 3-27. PTO_MOTION Function Block

Figure 3-28. ANALOG_MOTION Function Block

Backslash Compensation
The positioning functions have a backslash compensation for systems that use indirect measurement,
where the motor is connected to the encoder through a system.
To use the backslash compensation it is necessary to configure the
COMPENSACAO_DE_FOLGA_DINT parameter in the S_MOVE structure. When there is no need
for backslash compensation, this parameter must be set to zero.
The compensation signal is used to differentiate between the situation in which the measurement
system counts, but the axis does not move due to the backslash (use a positive sign), and one in
which the axis shifts, and the measurement system starts the counting late (use minus sign) because
of the backslash.
The backslash compensation work only when the motion is absolute. In case of a relative motion and
non-zero compensation, the function returns an error code.
Inputs
DISP_REFER_BOOL: Input used to trigger a new referencing. The input is sensitive to level. After

49
 3. Configuration

the function is energized it remains running the EXECUTANDO_BOOL output enabled until the
referencing is completed. After completing, the REFERENCIADO_BOOL output is turned on and a
new referencing or positioning can be performed.
DISP_POS_BOOL: Input used to trigger a new placement. The input is sensitive to level. When the
function is performed with this input turned on, if a positioning is not in progress then a new
positioning will be executed. After the function is energized it remains running with the
EXECUTANDO_BOOL output activated until the positioning is completed. After completing, the
POSICIONADO_BOOL output is turned on and a new positioning or referencing may be performed.
SMOVE: Is an instance of the S_MOVE configuration structure used to define the machine
parameters. Previously the POS_INI function must be executed, which verifies the parameters and
consistence and checks if there is some type of error. Any change in this structure should be
performed when the system is stationary, that is, when EXECUTANDO_BOOL is FALSE.
REFER_SENSOR_ZONA_BOOL: Input for the referencing zone sensor. The referencing zone is
always indicated by logical level “1” in this input.
POSICAO_DINT: Indicates the new position for the next movement. In the case of absolute
movement this value must be the new position. In case of relative movement , this value represents
the displacement relative to the current position. For the analog control, in referencing, the value of
this parameter is used as the absolute position for a new position performed automatically at the end
of the referencing.
MODO_POSICIONAMENTO_BOOL: Indicates whether the movement to be performed for the next
trigger is absolute or relative. When this input is FALSE, the movement is absolute and the
positioning is performed in a way that the axis is positioned at the value indicated by the
POSICAO_DINT input. When this input is TRUE, the movement is relative and the positioning will
be performed in a way that the axis is positioned at the current value plus the value of the
POSICAO_DINT input.
AUTO_MANUAL_BOOL: This entry is used to bypass the state of physical limit switch inputs
FIM_CURSO_HW_POSITIVO_BOOL and FIM_CURSO_HW_NEGATIVO_BOOL. When this
input is FALSE the limit switch inputs are treated normally. If this input is TRUE then the limit
switch inputs will be ignored and movements may be performed even if the axis is on its physical
limits. This inputs exists only to enable the axis to be removed from the physical limit in case of stop
due to the limit switch sensor. In this case the input must be triggered and must beware of the
direction in which the motion shall be carried out in order to avoid damage to the equipment. This in
input is interpreted only if the DISP_POS_BOOL input is triggered, so it is not interpreted in the case
of an attempt at referencing. After a completed referencing, if the input is TRUE, the error output
does not remain on even if the axis same is over one limit switch by hardware.
FIM_CURSO_HW_POSITIVO: This input is used to indicate the physical limit in the positive side
of the axis. When this input is triggered, it indicates to the functions that the motion shall not
continue in this direction, or it may cause damages in the structure of this axis. Thus, when this active
sensor is detected, an abrupt stop is performed in the axis so that it will stop immediately without
deceleration. If it is stopped, it is only possible to move the axis through a positioning with the
AUTO_MANUAL_BOOL input on or through a forced shift.
FIM_CURSO_HW_NEGATIVO: This input is used to indicate the physical limit in the negative side
of the axis. When this input is triggered, it indicates to the functions that the motion shall not
continue in this direction, or it may cause damages in the structure of this axis. Thus, when this active
sensor is detected, an abrupt stop is performed in the axis so that it will stop immediately without
deceleration. If it is stopped, it is only possible to move the axis through a positioning with the
AUTO_MANUAL_BOOL input on or through a forced shift.
EMERGENCIA_BOOL: This input is used for emergency. The emergency stop generates an
abruptly stop in the axis and cannot be bypassed in the function, in a way that it can be activated in
case the security mechanisms like the limit switchess come to fail.
SOFTSTOP_BOOL: If a positioning is in progress and the system is accelerating or in target speed,

50
 3. Configuration

this input starts a soft stop.

SAIDA_SENTIDO_IN_BOOL: Digital output used to indicate the direction of movement performed
by the motor. It must be declared the same parameter that in SAIDA_SENTIDO_OUT_BOOL.
CLOSE_LOOP_BOOL: Closes the control loop in case it is open. This input is used when an abrupt
stop (emergency or limit switch by hardware) has been performed, and therefore the control loop has
been opened. All the triggering of both DISP_REFER_BOOL and DISP_POS_BOOL close the loop
automatically. This input is used only in the analog control.
Outputs
EXECUTANDO_BOOL: Execution of the function successfully performed.
REFERENCIADO_BOOL: Finalization of the axis referencing in the last cycle of the application
program.
POSICIONADO_BOOL: Finalization of the axis referencing in the last cycle of the application
program
ERRO_BOOL: An error occurred during the execution of the function. The error can be seen in the
output COD_ERRO of the function. This bit remains only one cycle with the error value and requires
constant verification.
CODIGO_ERRO_INT: Indicates the type of error that causes the termination of the execution of the
function with the error. This bit remains only one cycle with the error value and requires constant
verification. The cause may be consulted in Error Codes table (Table 3-10).
SAIDA_SENTIDO_OUT_BOOL: Digital output used to indicate the direction of movement
performed by the motor. When the movement happens in the positive direction of the axis the output
will be set to the logic state “0”. When the movement happens in the negative direction of the axis
the output will be set to the logic state “1”.
POSICAO_ATUAL_DINT: the current position in the unit of length set by the user, according;
CLOSED_LOOP_BOOL: CLOSED_LOOP_BOOL:Indicates whether the control loop is closed.
Normally this output is used to define the moment when the brake should be activated. When the
loop is opened it is recommended to disconnect the servo through its enabling input. This output is
used only for analog control.
SATURACAO_BOOL: Indicates that the control theoretical signal has exceeded the maximum
voltage declared in the S_MOVE structure. This output is used only for analog control.
ERRO_ACOMPANHAMENTO_DWORD: Displays the value of the difference between the
theoretical position and the real position of the system. This data, as well as the
SATURACAO_BOOL variable, are important to set the value of the KP_REAL proportional gain,
which should be used in control. When in target speed, this value should be around a “constant”
value. If this value is constantly increasing, the output signal is saturating and the maximum rotation
of the motor is not enough to make the system follow the theoretical profile . This output is used only
for analog control.
SINAL_ERRO_ACOMPANHAMENTO_BOOL: Indicates what the signal of the variable
ERRO_ACOMPANHAMENTO_DWORD is.

Error Codes
Function Error Function Error Function Error Description
Code
General error codes
COD_ERRO_EMERGENCIA 1 When abrupt stop occurs due to emergency input
triggering.

51
 3. Configuration

COD_ERRO_FIM_CURSO_HW_POSITIVO 2 When abrupt stop occurs due to logical state "1" in

the positive limit switch input.
COD_ERRO_FIM_CURSO_HW_NEGATIVO 3 When abrupt stop occurs due to logical State "1" in
the negative limit switch input.
COD_ERRO_FIM_CURSO_SW_POSITIVO 4 When soft stop occurs due to the current position
greater than the configured value at the positive
software limit.
COD_ERRO_FIM_CURSO_SW_NEGATIVO 5 When soft stop occurs due to the current position less
than the configured value at the negative software
limit.
COD_ERRO_NAO_INICIALIZADO 6 Attempt to run a positioning or referencing without first
having executed an initialization using the
ANALOG_INI function or PTO_INI function.
COD_ERRO_INTERTRAVAMENTO 7 Returns this error when trying to run a function when
another is still running using the same resource (for
example the same PTO output).
COD_ERRO_TIMEOUT 8 When a motion exceeded timeout established by the
user
COD_ERRO_SOFTSTOP 9 When soft stop occurs due to the soft stop input
triggering.
COD_ERRO_POSICAO_ATUAL 10 Failure in the calculation of the current position due to
the variables overflow.
COD_ERRO_POSICAO 11 Position parameter outside of the range.
Referencing error codes
COD_ERRO_BUSCA 80 Internal error of the function in the search by zero
states machine.
COD_ERRO_BUSCA_INV 81 Internal error of the function in the search by zero
states machine.
PTO_MOTION function error codes
COD_ERRO_ESTADO_PTO 110 Internal error of the function in the positioning states
machine.
COD_ERRO_ESTADO_COUNT_PTO 140 Internal error of the function in the positioning states
machine.
ANALOG_MOTION function code errors
COD_ERRO_LIMITE_DE_PARADA 170 The axis displacement supposed to be stopped, but
exceeded the stop limit.
COD_ERRO_ESTADO_COUNT_ANALOG_PO 171 Internal error of the function in the positioning states
S machine.
COD_ERRO_ESTADO_COUNT_ANALOG_RE 172 Internal error of the function in the referencing states
FER_1 machine.
COD_ERRO_ESTADO_COUNT_ANALOG_RE 173 Internal error of the function in the referencing states
FER_2 machine.
Errors in the SMOVE structure parameters
COD_ERRO_PARAM_ERRO_MAXIMO 200 Maximum error value is smaller than the resolution of
the motor or encoder. This code is also used to
indicate that the maximum error variable has a value
less than zero.
COD_ERRO_PARAM_PERFIL 201 Invalid profile type.
COD_ERRO_PARAM_MODO_ENCODER 202 Invalid encoder mode value.
COD_ERRO_ PARAM_SAIDA 203 Invalid output value.
COD_ERRO_ PARAM_ENTRADA 204 Invalid counter value.
COD_ERRO_ PARAM_TIPO_CONTROLE 205 Invalid value of the positioning control type.
COD_ERRO_ 206 Target speed value outside the speed range or in the
PARAM_VELOCIDADE_REGIME case of control using the PTO output, the frequency is
out of range. In this case the frequency is calculated
as:
(VELOCIDADE*NUMERO_PULSOS_MOTOR_DINT/
DESLOCAMENTO_MOTOR_DINT)
COD_ERRO_ 207 Value of pulse number per turn of the motor is outside
PARAM_NUMERO_PULSOS_MOTOR the range.
COD_ERRO_ 208 Value of displacement per turn of the stepper motor is
PARAM_DESLOCAMENTO_MOTOR outside the range.
COD_ERRO_ 209 Value of pulse number per turn of the encoder is
PARAM_NUMERO_PULSOS_ENCODER outside the range.

52
 3. Configuration

COD_ERRO_ 210 Value of displacement per turn of the encoder is

PARAM_DESLOCAMENTO_ENCODER outside the range.
COD_ERRO_TEMPO_ACELERACAO 211 Acceleration time value outside the allowed range.
COD_ERRO_PARAM_COMPENSACAO_DE_ 212 Value of backslash compensator non-zero and out of
FOLGA range or non-zero and less than the maximum error
(ERRO_MAXIMO_DWORD). This code is also
generated when a relative motion with backslash
compensation non-zero is triggered.
COD_ERRO_PARAM_FIM_CURSO_SW_POS 213 Value of positive software limit is outside the allowed
ITIVO range.
COD_ERRO_PARAM_FIM_CURSO_SW_NEG 214 Value of negative software limit is outside the allowed
ATIVO range.
COD_ERRO_PARAM_TIMEOUT 215 Time value for timeout is outside the allowed range.
COD_ERRO_PARAM_REFER_PERCENTUAL 216 Parameter of speed percentage in the zone outside
_VELOCIDADE_INICIAL the range of 1 to 100%.
COD_ERRO_PARAM_TEMPO_INVERSAO_Z 217 The inversion time to leave the referencing zone is
ONA out of range.
COD_ERRO_PARAM_REFER_VELOCIDADE_ 218 Initial search speed greater than target speed set up
INICIAL in the structure, outside the speed range or in the
case of control using the PTO output, the frequency is
out of range. In this case the frequency is calculated
as:
(VELOCIDADE*NUMERO_PULSOS_MOTOR_DINT/
DESLOCAMENTO_MOTOR_DINT)
COD_ERRO_PARAM_CONFIRMACOES 219 Positioning confirmations value outside the allowed
range.
Errors in the parameters of the structure SMOVE specific of the analog control
COD_ERRO_PARAM_AMOSTRAGEM 220 Sampling time outside the allowed range.
COD_ERRO_PARAM_TENSAO_VELOCIDAD 221 Target speed voltage outside the allowed range or
E_REGIME greater than the maximum voltage.
COD_ERRO_PARAM_TENSAO_MAXIMA 222 Maximum voltage outside the allowed range.
COD_ERRO_PARAM_KP 223 Proportional gain outside the allowed range.
COD_ERRO_PARAM_KI 224 Integral gain outside the allowed range.
COD_ERRO_PARAM_LIMITE_DE_PARADA 225 Value of stop limit outside the allowed range or
smaller than the maximum error.

Table 3-10. Error Codes of the Motion Functions

Communication
In order to configure the ports, open the MasterTool IEC and click “PLC Configuration”, located in
the “Resources” tab. Then, the module “PLC Configuration” must be expanded.
COM port settings are located in the communication module. By expanding this module, the
“COM1”and “COM2”modules will be shown. In order to configure COM1, for example, click on
“COM1” module. A tab with the port settings will pop up on the right side. There, the following may
be set:
 Parity
 No parity
 Odd
 Even
 Always 1
 Always 0

 Stop Bits
 1 Stop Bit

53
 3. Configuration

 2 Stop Bits

 Modem Signals
 No RTS/CTS
 With RTS/CTS
 With RTS without CTS
 RTS always on

 Delay
 5 to 1000 ms

 Baud Rate (bps – bits per second)

 1200
 2400
 4800
 9600
 19200
 38400
 57600
 115200

ATTENTION:
The time defined in the delay field indicates the minimum time between the reception of a
MODBUS package and the sending of another (delay between frames). This definition refers to the
minimum amount of time, which may vary according to the POUs runtime employed. E.g., if there is
a 20 ms runtime POU, the delay between frames may be of approximately 20 ms, even though it is
configured as 5 ms.

ATTENTION:
Always is added a time of 30 ms at the time defined on the field delay, to the COM2, because the
manner as the serial interface is build. In this case when a time is configured to 15 ms on this field,
the real delay will be 45 ms.

The MODBUS protocol configuration in both ports is shown in the following:

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 3. Configuration

Figure 3-29. Configuring COM1

ATTENTION:
For the relation between CPU cycle time and communication with MasterTool IEC, see the warning
message, in the chapter “Technical Description” - “Performance” - “Cycle Time”.

ATTENTION:
Ixx reserved operands(digital inputs), Qxx (digital outputs), AIx (analog inputs) and AOx (analog
outputs) are mapped into I and Q operands, which are accessible via MODBUS. To check the
memory address used for each operand, use the of Operands Reserved List table in this manual.

MODBUS Master
The two COM ports may be configured as MODBUS Master or Slave. To configure COM1 as
MODBUS Master, open the MasterTool IEC, then click “PLC Configuration” located at “Resources”
tab. Then, the module “PLC Configuration” must be expanded.
COM port settings are located in the communication module. By expanding this module, “COM1”
and “COM2” modules will appear. In order to configure COM1, the “COM1” module must be
expanded. Similarly, the “COM2 module” must be expanded to configure the communication
interface of COM2.
By expanding this block, COM1 port will be disabled for MODBUS. To enable it, it is necessary to
click with the right mouse button on the “MToolIEC” module, then select the option “Replace
element” and then choose “MODBUS Master” to enable COM1 as MODBUS Master. For the COM2
Port configuration, the same procedure must be performed, except that for this interface the
“MToolIEC” option is not available.
By clicking on the enabled module “MODBUS Master” two dialog boxes containing the following
options will appear on the right side:
 Timeout (ms) – defines the time interval the master will wait for a slave to reply. If the response
time is greater than the value configured in the time-out field, the controller indicates a
communication error in the respective operand (if there is no more Fail Try). In case of time-out
the controller retransmits the packet to a particular slave the number of times defined in the Fail
Try before performing a new defined MODBUS relationship. The time-out may be configured
with values from 1ms to 10 s (10000 ms).
 Fail Try – defines the number of times the Master will retransmit the package in case there is no
reply from the Slave (after the configured time). The fail try may be configured from 1 to 10.
After these two configurations, it is necessary to enable the desired MODBUS relations.

55
 3. Configuration

Figure 3-30. MODBUS Master

56
 3. Configuration

MODBUS Relation
A MODBUS relation is a MODBUS protocol message addressed to a particular slave module. It It is
allowed the use of 32 MODBUS relations, distributed to both COM ports (the limit is 16 relations
for each COM port). The relations treatment is done sequentially as soon as they are added to the
configuration tree.
MODBUS relations may be added to the Master by clicking the right mouse button on “MODBUS
Master module” and by selecting the option “Append MODBUS Relation”. Thus, the subnode keys
“MODBUS Relation” will be added to the MODBUS Master.
If the operand COMx_DR is TRUE, the relations of the x port communication are disabled. Where
“x” is the communication port number, which may hold the values 1 or 2.
The following configuration parameters must be adjusted for each relation:
MODBUS Function Read Coils Reads a variable number of digital outputs
Devices Address 1 – 247 Slave address
Quantity 1 – 2000 Quantity to be read
MODBUS Address 1 – 65535 Initial reading MODBUS address on slave
Polling 0 – 10000 ms Time interval between the relation trigger and a new trigger
Type: %M %MX0 - %MX3186 Writing address range of command response value
MasterTool Type: %Q %QX0 - %QX63 Writing address range of command response value
IEC Operand Type: %I Writing is not allowed in the Writing address range of command response value
inputs

Table 3-11. Read Coils Function

MODBUS Function Read Discrete Inputs Reads a variable number of digital inputs
Devices Address 1 – 247 Slave address
Quantity 1 – 2000 Quantity to be read
MODBUS Address 1 – 65535 Initial reading MODBUS address on slave
Polling 0 – 10000 ms Time interval between the relation trigger and a new trigger
Type: %M %MX0 - %MX3186 Writing address range of command response value
MasterTool Type: %Q %QX0 - %QX63 Writing address range of command response value
IEC Operand Type: %I Writing is not allowed in the Writing address range of command response value
inputs

Table 3-12. Read Discrete Inputs Function

MODBUS Function Read Holding Registers Reads a variable number of registers
Devices Address 1 – 247 Slave address
Quantity 1 – 123 Quantity to be read
MODBUS Address 1 – 65535 Initial reading MODBUS address on slave
Polling 0 – 10000 ms Time interval between the relation trigger and a new trigger
Type: %M %MW0 - %MW3186 Writing address range of command response value
MasterTool Type: %Q %QW0 - %QW63 Writing address range of command response value
IEC Operand Type: %I Writing is not allowed in the Writing address range of command response value
inputs

Table 3-13. Read Holding Registers Function

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 3. Configuration

MODBUS Function Read Input Registers Reads a variable number of input registers
Devices Address 1 – 247 Slave address
Quantity 1 – 123 Quantity to be read
MODBUS Address 1 – 65535 Initial reading MODBUS address on slave
Polling 0 – 10000 ms Time interval between the relation trigger and a new trigger
Type: %M %MW0 - %MW3186 Writing address range of command response value
MasterTool Type: %Q %QW0 - %QW63 Writing address range of command response value
IEC Operand Type: %I Writing is not allowed in the Writing address range of command response value
inputs

Table 3-14. Read Input Registers Function

MODBUS Function Write Single Coil Forces one single coil
Devices Address 1 – 247 Slave address
Quantity 1–1 Quantity to be written
MODBUS Address 1– 65535 Initial writing MODBUS address on slave
Polling 0 – 10000 ms Time interval between the relation trigger and a new trigger
Type: %M %MW0 - %MW3186 Address range to read the value to be sent
MasterTool
Type: %Q %QW0 - %QW63 Address range to read the value to be sent
IEC Operand
Type: %I %IW0 - %IW63 Address range to read the value to be sent

Table 3-15. Write Single Coil

MODBUS Function Write Single Register Preset o one single register
Devices Address 1 – 247 Slave address
Quantity 1–1 Quantity to be written
MODBUS Address 1 – 65535 Initial writing MODBUS address on slave
Polling 0 – 10000 ms Time interval between the relation trigger and a new trigger
Type: %M %MW0 - %MW3186 Address range to read the value to be sent
MasterTool
Type: %Q %QW0 - %QW63 Address range to read the value to be sent
IEC Operand
Type: %I %IW0 - %IW63 Address range to read the value to be sent

Table 3-16. Write Single Register Function

MODBUS Function Write Multiple Coils Forces a variable amount of coils
Devices Address 1 – 247 Slave address
Quantity 1 – 1968 Quantity to be written
MODBUS Address 1 – 65535 Initial writing MODBUS address on slave
Polling 0 – 10000 ms Time interval between the relation trigger and a new trigger
Type: %M %MX0 - %MX3186 Address range to read the value to be sent
MasterTool
Type: %Q %QX0 - %QX63 Address range to read the value to be sent
IEC Operand
Type: %I %IX0 - %IX63 Address range to read the value to be sent

Table 3-17. Write Multiple Coils Function

MODBUS Function Write Multiple Registers Preset of a variable amount of registers
Devices Address 1 – 247 Slave address
Quantity 1 – 120 Quantity to be written
MODBUS Address 1 – 65535 Initial writing MODBUS address on slave
Polling 0 – 10000 ms Time interval between the relation trigger and a new trigger
Type: %M %MW0 - %MW3186 Address range to read the value to be sent
MasterTool
Type: %Q %QW0 - %QW63 Address range to read the value to be sent
IEC Operand
Type: %I %IW0 - %IW63 Address range to read the value to be sent

Table 3-18. Write Multiple Registers Function

58
 3. Configuration

Figure 3-31. MODBUS Relation

MODBUS Slaves
The two COM ports may be configured as MODBUS Master or Slave. To configure COM1 as
MODBUS Slave, open the MasterTool IEC, then click “PLC Configuration” located in the
“Resources” tab. Then, the module “PLC Configuration” must be expanded.
COM port configurations are located in the Communication module. By expanding this module,
“COM1” and “COM2” modules will appear. In order to configure COM1, the “COM1” module must
be expanded. Similarly, “COM2 module” must be expanded to configure the communication
interface of COM2.
By expanding this block, COM1 port will be disabled for MODBUS. To enable it, it is necessary to
click with the right button of the mouse on the “MToolIEC” module, then select the option “Replace
element”, and then select “MODBUS Slave” to enable COM1 as MODBUS Slave. For the COM2
Port configuration, the same procedure must be performed, except that for this interface the
“MToolIEC” option is not available.
By clicking on the enabled module “MODBUS Slave” a dialog box referring to the MODBUS Slave
will appear on the right side:

Figure 3-32. MODBUS Relation

The only parameter to be configured in the MODBUS Slave is the address, which stands for the slave
address. The relation between the MODBUS operands and the MasterTool IEC operands is fixed,
and described in the table below.

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 3. Configuration

Coils
1 – 1024 %QX0.0 - %QX63.15
1025 – 2048 %MX2872.8 - %MX2936.7
Input
1 – 1024 %IX0.0 - %IX63.15
1025 – 2048 %MX2936.8 - %MX3000.7
Holding Register
1 – 2000 %MW0 - %MW1999
Input Register
1 – 870 %MW2000 - %MW2869

Table 3-19. MODBUS Slave Data Area

Relations between MODBUS operands and MasterTool IEC operands indicate in which memory
position each one of the MODBUS operand values are present, thus allowing for the protocol to be
used in a simple way. In the following tables are some usage examples:
MasterTool IEC Operands
MODBUS
Address Holding Input
Coil Input
Register Register
1 %QX0.0 %IX0.0 %MW0 %MW2000
16 %QX0.15 %IX0.15 %MW15 %MW2015
17 %QX1.0 %IX1.0 %MW16 %MW2016
1024 %QX63.15 %IX63.15 %MW1023 -
1025 %MX2872.8 %MX2936.8 %MW1024 -
2048 %MX2936.7 %MX3000.7 - -

Table 3-20. MODBUS Address and MasterTool IEC Address

Reserved MasterTool MODBUS
Description Size MODBUS function
Operand IEC Operand Address
AO0 Analog Output %QW3 49 16 Write Multiple Coils
AO1 Analog Output %QW4 65 16 Write Multiple Coils
AI0 Analog Input %IW4 65 16 Read Discrete Inputs
AI1 Analog Input %IW5 81 16 Read Discrete Inputs
AI2 Analog Input %IW6 97 16 Read Discrete Inputs
AI3 Analog Input %IW7 113 16 Read Discrete Inputs

Table 3-21. Analog I/O MODBUS Address for Direct Access

Generic Communication Protocol

Communication ports (COM1 and COM2) may be configured to support a generic communication
protocol, that it is able to send and receive frames with up to 256 characters. In order to do this, the
“Generic Protocol” element must be selected. The following figure illustrates this PLC
Configuration.

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 3. Configuration

Figure 3-33. “Generic Protocol” Option for Communication Ports

ATTENTION:
This feature is available only as from the executive version (1.02) and Mastertool IEC (1.01).

To select this option in the communication port, it is necessary to replace the element currently
configured. By pressing the right mouse button on the desired port, a submenu appears and the
command “Replace element” may be performed. The following figure illustrates this procedure.

Figure 3-34. Replace Element Procedure on the Communication Port

UartLib Library
In order to use all the resources of the generic protocol communication functions, the library UartLib
(extension “.lib”) must be added.
To include UartLib in the Project, select the “Insert” menu in the Library Manager, where the
command “Additional Library…” (shortcut key “Ins”) is available. The following figure shows this
selection.

61
 3. Configuration

Figure 3-35. Library Inclusion Procedure

Next, select the library to be included in the project by pressing the “Open” Button (see in the next
figure).

Figure 3-36. UartLib Library Inclusion

SerialCommunicationLib Library

The generic protocol operates through a specific library (“extension.lib”) called

SerialCommunicationLib, which must be added to the project so that it can be used.
The procedure is the same as of the Uart library inclusion.

62
 3. Configuration

Figure 3-37. Communication Library Inclusion

After the inclusion, the library is shown as in the next figure.

Figure 3-38. Loaded Communication Library

This library is formed by three function blocks: ENVIAR_DADOS, LER_DADOS, and MESTRE.
Function block is POU type (Program Organization Unit), which is a encapsulated software element,
which can be reused. It defines behavior (internal logic), data structure (instance), and external
interface (input/output parameters).
ENVIAR_DADOS
This function block has three inputs (VAR_INPUT) and two outputs (VAR_OUTPUT) as shown in
the next figure.

63
 3. Configuration

Figure 3-39. Declaration of the I/O of ENVIAR_DADOS Function Block

Inputs Description
The PORTA_SERIAL input is of the structure type (sPORTA). Structure is a cluster of elements of
different data types. The sPORTA is formed by the following elements:
 PORTA (BYTE type), which allows the user to select the type of the communication port.
Option “1” is equivalent to RS-232, and option “2” to RS-485
 BAUDRATE (DWORD type), where the communication speed is defined by accepting a range
value from 1200 to 115200. The “bps” unit is implicit
 PARIDADE (BYTE type), which enables the following configurations: 0 – no parity; 1- ODD; 2
– EVEN; 3 – FORCED_0; 4 – FORCED_1
 STOPBITS (BYTE type), which allows the options 1 or 2 stop bits (1 – 1 stop bit and 2 – 2 stop
bits)
 DELAY (TIME type) defines the minimum time interval between the receipt and a new sending.
This input is not used for this function block
The BUFFER input (POINTER TO BYTE) configures the buffer memory address. In this case, the
MasterTool IEC ADR function must be used
The QUANTIDADE input (WORD) defines the number of bytes to be sent/received and may vary
from 1 to 256
Outputs Description
The outputs are activated in accordance with the behavior described in the following section
(operation). They remain in their states for the period of a cycle, and are cleared in the next cycle.
Operation
When the function block is called, it checks whether the channel is not being used by another
instance. If it is not in use, the next step to be performed is checking the configuration. If any of the
parameters of the sPORTA structure has changed in relation to the last setting, the channel is
reconfigured. If any problem occurs, the ERRO output is enabled and the implementation of the
instance is terminated.
If the port opening is successful, the instance signalizes that it is using the serial port. Then, data is
ready to be sent, and the process is initialized. If startup fails, the ERRO output is enabled, and the
instance is terminated by releasing the communication channel. In the case the startup is successful,
the instance releases the processing because it does not lock the application until the end of the
sending. Thus, it is necessary to process the function block with a POOLING according to the user
needs regarding the recognition of the end of writing. It is flagged by the PRONTO output.
To implement protocols that require silence in the line to signalize the end of the package, the POU

64
 3. Configuration

GET_TIME (DU35x .lib library) must be used to create a delay as a protocol requirement.
LER_DADOS
This function block has three inputs (VAR_INPUT), four outputs (VAR_OUTPUT) and one input/
output parameter (VAR_IN_OUT) as shown in next figure:

Figure 3-40. Declaration of the I/O of LER_DADOS Function Block

Inputs Description
Just like it was shown in the function block described above, the PORTA_SERIAL is of the
structure type (sPORTA). The sPORTA is formed by the following elements:
 PORTA (BYTE type), which allows the user to select the type of the communication port.
Option “1” is equivalent to RS-232, and option “2” to RS-485
 BAUDRATE (DWORD type), where the communication speed is defined by accepting a range
value from 1200 to 115200. The “bps” unit is implicit
 PARIDADE (BYTE type), which enables the following configurations: 0 – no parity; 1- ODD; 2
– EVEN; 3 – FORCED_0; 4 – FORCED_1
 STOPBITS (BYTE type), which allows the options 1 or 2 stop bits (1 – 1 stop bit and 2 – 2 stop
bits)
 DELAY (TIME type) defines the minimum time interval between the receipt and a new sending.
This input is not used for this function block
The BUFFER input (POINTER TO BYTE) configures the buffer memory address. In this case, the
MasterTool IEC ADR function must be used.
The QUANTIDADE input (WORD) defines the number of bytes to be sent/copied and may vary
from 1 to 256.
The RESET variable (BOOL type) acts as an I/O parameter (VAR_IN_OUT). It clears the status
machines and the internal data of the BUFFERS.
Outputs Description
The outputs are activated in accordance with the behavior described in the following section
(operation). They remain in their states for the period of a cycle and are cleared in the next cycle.

Operation
When the function block is called, it checks whether the channel is not being used by another

65
 3. Configuration

instance. If it is not in use, the next step to be performed is checking the configuration. If any of the
parameters of the sPORTA structure has changed in relation to the last setting, the channel is
reconfigured. If any problem occurs, the ERRO output is enabled and the implementation of the
instance is terminated
If the port opening is successful, the instance signalizes that it is using the serial port. Then, data is
ready to be sent, and the process is initialized. If startup fails (FRAMMING, parity error,
STOPBITS...), the ERRO output is enabled and the instance is terminated by releasing the
communication channel. In the case the startup is successful, the instance releases the processing
because it does not lock the application until a FRAME receiving. Thus, it is necessary to process the
function block with a POOLING according to the user needs regarding the recognition of the end of
writing. It is flagged by the PRONTO output.
With such signals, the amount of bytes read and copied to the user buffer is quantified at QTD_LIDO
output. If there are bytes that were not copied at UART BUFFER, this amount is expressed in the
QTD_REST output. The READY signal will remain active until all bytes received by UART are
consumed by the user, which means that the remaining amount must be ZERO.

NOTE:
1- In the function blocks LER_DADOS and ENVIAR_DADOS the sPORTA structure delay must
not be used. Thus the blocks can operate individually, with no time interval between sending and
receiving. If these two functions are in use together to implement a protocol, the delay should be
controlled in the application.

NOTE:
The function blocks LER_DADOS and ENVIAR_DADOS must not be disabled during data
transmission and reception, always it must wait until PRONTO output sets a value that inform the
operation was finishing. In case that this condition is not respected, the function block maybe does
not release the serial port to a new transmition or reception. It is necessary to write a FALSE value
in PORTA_OCUP[x] (x = 0 to COM1 and x = 1 to COM2) global variable to release the serial port
manually.

MESTRE
This function block has six inputs (VAR_INPUT), four outputs (VAR_OUTPUT) and one
input/output parameter (VAR_IN_OUT) as shown in the next figure:

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 3. Configuration

Figure 3-41. Declaration of the I/O of MESTRE Function Block

Inputs Description
The PORTA_SERIAL input is of the structure type (sPORTA). The sPORTA is formed by the
following elements:
 PORTA (BYTE type), which allows the user to select the type of the communication port.
Option “1” is equivalent to RS-232 and option “2” to RS-485
 BAUDRATE (DWORD type), where the communication speed is defined by accepting a range
value from 1200 to 115200. The “bps” unit is implicit
 PARIDADE (BYTE type), which enables the following configurations: 0 – no parity; 1- ODD; 2
– EVEN; 3 – FORCED_0; 4 – FORCED_1
 STOPBITS (BYTE type), which allows the options 1 or 2 stop bits (1 – 1 stop bit and 2 – 2 stop
bits)
 DELAY (TIME type) defines the minimum time interval between the receipt and a new sending.
This input varies from 5 ms (T#5ms) to 1 second (T#1000ms)
The TIME_OUT input (TIME type) defines de maximum time interval between the end of the
sending action and the moment of the receiving action. This input may vary from100 ms (T#100ms)
to 10 seconds (T#10000ms).
The BUFFER_WR input (POINTER TO BYTE) defines the memory address of the writing buffer.
In this case, the MasterTool IEC ADR function must be used.
The QUANTIDADE_WR input (WORD) defines the number of bytes to be sent and may vary from
1 to 256.
The BUFFER_RD input (POINTER TO BYTE) defines the memory address of the reading buffer.
In this case, the MasterTool IEC ADR function must be used.
The QUANTIDADE_RD input (WORD) defines the number of bytes to be received and copied to
the BUFFER and can vary from 1 to 256.
The RESET variable (BOOL) acts as an I/O parameter (VAR_IN_OUT). It clears de status machines
and the internal data of the BUFFERS.

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 3. Configuration

Outputs Description
The outputs are activated in accordance with the behavior described in the following section. They
remain in their states for the period of a cycle, and are cleared in the next cycle
Operation
When the function block is called, it checks whether the channel is not being used by another
instance. If it is not in use, the next step to be performed is checking the configuration. If any of the
parameters of the sPORTA structure has changed in relation to the last setting, the channel is
reconfigured. If any problem occurs, the ERRO output is enabled and the implementation of the
instance is terminated. If the port opening is successful, the instance signalizes that it is using the
serial port.
Then, data is ready to be sent, and the process is initialized. If startup fails, the ERRO output is
enabled and the instance is terminated by releasing the communication channel. In the case the
startup is successful, the instance releases the processing because it does not lock the application until
the end of the sending .Thus, it is necessary to process the function block with a POOLING
according to the user needs. This value must be lower than the lowest DELAY of the others devices
connected to the net.
With such signals, the amount of bytes read and copied to the user buffer is quantified at QTD_LIDO
output. If there are bytes that were not copied at UART BUFFER, this amount is expressed in the
QTD_REST output. The PRONTO signal will remain active until all bytes received by UART are
consumed by the user, which means that the remaining amount must be ZERO.
When the sending is complete, the receiving is released and the process is initialized. If data
receiving fails (FRAMMING, parity errors, STOPBITS, response higher than 256 bytes...) the ERRO
output is enabled and the instance is terminated by releasing the communication channel.
In the case the startup is successful, the instance releases the processing because it does not lock the
application waiting for a FRAME receipt. The function must be processed with a POOLING. The
package receipt is flagged by the PRONTO output. With such signals, the amount of bytes read and
copied to the user buffer is quantified at QTD_LIDO output. If there are bytes that were not copied at
UART BUFFER, this amount is expressed in the QTD_REST output. The PRONTO signal will
remain active until all bytes received by UART are consumed by the user, which means that the
remaining amount must be ZERO .

NOTES:
1- In the function block MESTRE there is no indication that the requisition frame has just been sent,
there are only indications that the response packet was received by the UART (PRONTO on), and
the response packet was copied to the application BUFFER of the user (PRONTO off). Therefore, it
is not possible to use MODEM signals, since there is no way to know the exact moment you should
turn the RTS off.
2-The silence interval time to end a package is of 5 characters.

NOTE:
The serial UART used does not detect errors when the communication occurs with fewer bits. For
instance: a computer configured with 8 data bits and communicating with a Duo with 8 data bits and
without parity. In this case the functions of communication will indicate error. The byte received
should be made to check that the frame is as expected. The same happens if this computer was
configured for 5 data bits, for example.

MODEM Signals
MODEM signals may be accessed through special variables. The following figure illustrates the
declaration of global variables in the reserved operands library focusing on the assignment of
MODEM RTS and CTS signs to the % MB6373 and MB6374% memory position respectively.

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 3. Configuration

Figure 3-42. MODEM Signals

ATTENTION:
The reserved variables are listed in the chapter Diagnostic (Reserved Operands List).

Best Programming Practices

The function blocks are designed to be used with only one instance. The input and output BUFFERS
may be changed in accordance to the users’ needs. Thus the creation of multiple instances may lead
to unwanted behavior.
Another point which must be taken into account is the fact that the MESTRE function block was
designed to facilitate the development of applications. Hence its simplicity, and the lack of MODEM
signal control. If these signals are required, the use of the function blocks ENVIAR_DADOS and
LER_DADOS is recommended.
BUFFER Overflow
The Duo BUFFER is able to receive 256 bytes, as well as the sending BUFFER. In case of trying to
write over 256 bytes, the function block will signalize an error through the proper output and will not
transmit anything. On the other hand, the receiving function block, that is able to receive more than
256 bytes, will be able to copy to the BUFFER and will indicate the BUFFER overflow via
PRONTO and ERRO outputs.
Priority Management
The MESTRE and ENVIAR_DADOS function blocks hold preference over the LER_DADOS
function block. Thus, these blocks can stop the LER_DADOS block instances and take control of the
channel. The MESTRE and ENVIAR_DADOS function blocks do not interrupt each other; each
block must complete its action (whether successful or not) before the other is able to start its process.
The use of multiple instances must be controlled in accordance with its outcome. For by interrupting
the processing of one of them before its completion, the channel may remain allocated to that given
instance and the others will not be able to act on it.

ATTENTION:
Special attention should be given when configuring cyclical task assignments in
KEYBOARD_USAGE (concerning its execution interval). Unexpected behavior may occur if a
communication request is made before the serial is reconfigured.

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 3. Configuration

ATTENTION:
The processing task of MAINTARGETVISU_PAINT_CODE display may consume up to 30 ms. Due
to this feature in a communication instance in which the pooling of a master request is less than that
time, a loss of parts of the package in which the processing is running is likely. To prevent loss of
packets, it is recommended , for generic communication the master pooling time to be greater than
30 ms. The time of the MAIN task must also be added to the master pooling time when the main
task is greater than 1ms (large amount of codes and loops may increase runtime). The time may be
measured by output triggering and immediate updating with the AES blocks, or via timers in its own
application.

HMI – Human Machine Interface

DU350 and DU351 controllers have a monochrome graphics LCD display with a 128 x 64 dot matrix
with backlight and contrast control as well as a membrane keyboard with 25 keys used to perform the
user interface.

Graphics LCD Display

The MasterTool IEC development tool used in DU351and DU350 controllers programming, has an
integrated HMI programming interface, which provides easy and friendly integration between the
application and the HMI.
In order to add a new screen, click on the folder “Visualizations”, next right-click on
“Visualizations” (inside the “Visualizations” tab). Then, select the option “Add object”, type in the
name of the screen in uppercase, and then click OK.
In the “Visualizations” tab, the screens are sorted in alphabetical order. After the product
energization the startup screen will come first. To get a different screen at the startup, the function
block functions NAVIGATION or CHANGE_SCREEN should be used.
In order to use the HMI, the MAINTARGETVISU_PAINT_CODE function must be added. This
function is responsible for the screens updating.
It is recommended to use a task of “Cyclical” type, with a 500 ms time period for the
MAINTARGETVISU_PAINT_CODE function call. If more frequent updating of the screen is
required, the task period should be reduced. By reducing the time between the updating function calls
of the MAINTARGETVISU_PAINT_CODE, it is likely to occur a loss in the processing capability
of the other cycles. The MAINTARGETVISU_PAINT_CODE function may consume between 15 and
30 ms depending on the complexity of the screen to be designed.
To display contrast control, the reserved operand CONTRAST is used. This operand may be loaded
with integer values between 0 and 100, having equivalence with 0% (lowest possible contrast) and
100% (highest contrast possible). The control of the time during which the backlight will remain lit
after some key being pressed may be modified through the BACKLIGHT operand. This operand may
be loaded with integer values between 0 and 255. The BACKLIGHT operand value represents time
in seconds.
The DU350 and DU351 display is a monochrome Graphics LCD display with a 128 x 64 dot matrix.
Due to restrictions in the display resolution, the following items available in the IEC MasterTool
software cannot be displayed clearly:
“Polygon” function: It works properly, but the color-fill functionality of this function has no effect,
and the element remains unfilled even though this option is set.
“Visualization” function: this function operation runs properly, but it is not recommended for
DU350 and DU351 because it takes too much memory space.

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 3. Configuration

“Trend” function: not supported by the product.

“Scrollbar” function: not supported by the product.
“Button” function: this function works properly in both the MasterTool IEC and the HMI. However,
in supervisory mode it is possible to associate the Button with a mouse click, while in the HMI the
association of the Button with any other key must be done by performing actions in Visualization
(Extras – Keyboard usage).
“Rounded Rectangle” function: not supported by the product.
“PIE” function: not supported by the product.
“WMF file” function: not supported by the product.
“Table” function: this function works properly in the MasterTool IEC. In the HMI of DU350 and
DU351 controllers, the tables are properly shown, but they cannot be edited via keyboard.
“Bitmap” function: not supported by the product.
“Alarm Table” function: not supported by the product.
“ActiveX Element” function: not supported by the product.
“Scroll bar” function: not supported by the product.
“Line width” configuration: this configuration works only when associated with a Rectangle-type
object.
“Colors” configuration: the HMI has a monochrome Graphics LCD display with a 128 x 64 dot
matrix, therefore all colors may be converted into black/white.

ATTENTION:
Some items available in the software may not appear in the PLC as displayed by the MasterTool
IEC, consequently demanding adjustments in the size of objects, guidelines and content displayed.

Keyboard
The keyboard of DU350 and DU351 controllers has 25 keys membrane type.
The action of a button may be associated with any screen (Visu) or it may be performed through the
use of the function isKeyPressed().
To perform the handling of a key in relation to the enabled screen, select the desired screen and click
on the menu “Extras”– “Keyboard functions”. It causes the pop up of a window containing the
button actions that will occur when the screen is enabled. To change the screen while pressing a
button, select the option “Zoom ” in the field “Action”, then select the desired key in the field “Key”
and type in the name of the screen that must be enabled while pressing the selected key on the field
“Expression” .
The table below shows the association of the keys with the key names in the MasterTool IEC
software. For instance: the use of “Up Arrow” to enable a screen must be selected from the option
“VK_UP ” from the field “Key”, “ Zoom”, from the field “Action”, and then typing in the name of
the key to be enabled in the field “Expression”.
To associate keys and screens, POU MAINTARGETVISU_INPUT_CODE must be added to the
project. This POU is set internally, and used to update the keyboard; we recommend the use of a
“Cyclical”- type task with a time period of 20 ms to call MAINTARGETVISU_INPUT_CODE
POU. The treatment of the keyboard identifies the pressing of only one key at a time; if two keys
are pressed simultaneously the system understands that there is no key pressed. Thus, the keyboard
should be used by pressing just one key at a time. If a key remains pressed the keyboard treatment
will consider only once pressing regardless of the time it remains pressed.
Other options in the “Action” field are shown in the MasterTool IEC Programming Manual
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 3. Configuration

(MU299608).
The use of keys via isKeyPressed() function, which is located in the SysLibTargetVisu .lib library, is
performed through the key code. The function returns TRUE only if the key whose code was passed
on as a parameter is pressed. Otherwise it returns FALSE. E.g., isKeyPressed (16 # 24,0, 5, 0),
returns TRUE if the main key is pressed. It is important to point out that the isKeyPressed input
parameters in both DU350 and DU351 controllers are necessarily: key code, 0 and 0.

ATTENTION:
To use the keyboard on a screen or with the isKeyPressed () function, the sampling is used. So, once
the key is read, it can not be read again. Therefore, the two features can not be used for the same
key.

ATTENTION:
When the function ControleTelas () is used (present in the navigation logic), the MAIN, UP, and
DOWN keys cannot be used with the functions IsKeyPressed or in Screens

ATTENTION:
Whenever a key is pressed, its register remains when there is a change in the module. If this is done
in the stop mode then an event may be registered as it goes to the “Run” module status.

The table with associations between acronyms and keyboard buttons in the HMI is shown below.
Keyboard position Overlay symbol MasterTool IEC symbol Key code
1 F1 F1 16#70
2 F2 F2 16#71
3 F3 F3 16#72
4 F4 F4 16#73
5 F5 F5 16#74
6 F6 F6 16#75
7 F7 F7 16#76
8 Main VK_HOME 16#24
9 7 [abc] 7 16#37
10 8 [def] 8 16#38
11 9 [ghi] 9 16#39
12 Up arrow VK_UP 16#26
13 -+ Not supported (by symbol) 16#2E
.
14 4 [jkl] 4 16#34
15 5 [mno] 5 16#35
16 6 [pqrs] 6 16#36
17 Left arrow VK_LEFT 16#25
18 Right arrow VK_RIGHT 16#27
19 Esc VK_ESCAPE 16#1B
20 Enter key VK_RETURN 16#0D
21 0 0 16#30
22 1 [tuv] 1 16#31
23 2 [wxzy] 2 16#32
24 3 [%$/] 3 16#33

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 3. Configuration

25 Down arrow VK_DOWN 16#28

Table 3-22. Code Table for Keyboard Usage

Notes
13: The function of 13 key is changing the variable signal value between “+” and “-“ or adding the decimal point “.” for real
variables. When it is editing strings this key is used to insert the “+”, “-“ and “-“.
Momentaneous Function Key (KEY_PRESSED)
Through the KEY_PRESSED function it is possible to read the current status of each key of either
the DU350 or the DU351 controller. The usage of this function allows the user to perform continuous
actions through the keyboard without the need to press and release a particular key several times, so
its operation is different from the isKeyPressed function.
This function has a single parameter, which must be completed with the key code of interest. The key
codes are in Table 3 22.
The return of the KEY_PRESSED function is a variable of BOOL type, where TRUE indicates that
the key was pressed at the same moment that the function was performed, and FALSE indicates that
the key was not pressed.
It is possible to read the status of a particular key with up to three keys pressed at the same time. If
more than three keys are pressed at the same time, then the return of function might be not as
expected.
Example of the use of the KEY_PRESSED function:
LEFT_BOOL := KEY_PRESSED(16#25);
When the arrow to the left (VK_LEFT) is pressed, LEFT_BOOL is TRUE, otherwise it is FALSE.

Editing of Variables
For edit a variable by HMI it is necessary to select the field ‘Text input of variable Textdisplay’, as it
is showed in Figure 3-43, in the object when the variable is showing. The fields ‘Min’ and
‘Max’must be filled to editing numerical variables. These fields have no effect in variable that is
editing when these variables are booleans or strings.

Figure 3-43. Editing of Variables

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 3. Configuration

The navigation among the editing objects of the same screen is doing through right and left keys, and
it will do the background of the object to stay black. The object can clear pressing the Esc key.
To call the editing of object selected it just press any of numerical keys, and this action will open the
edition screen with the value of key pressed in the field of editing variable. This edition is able to be
doing in another way, pressing Enter key upon the selected object, however when the edition screen
is showed the variable will maintain the current value until it is edited.
Use numerical keys to edit variables and left key to erase any character. If Esc key will press, the
edition will be canceled and the main screen will show again. Press Enter key to confirm an edition.
Editing of Variables type BOOL: to edit variables of type BOOL, just press in the edit screen the
key 0 to 'FALSE' or key 1 to 'TRUE'.
Editing of variables type DATE, TIME_OF_DAY, DATE_AND_TIME: its operation is made
possible by using the key “3” for the special characters “-” and “:”. It is not necessary to mention the
type when this editing occurs via the controller interface as in a PC supervisory.
Editing of variables type TIME: the operation is made possible by using the keys “5” and “6” for
the characters “m” and “s”. It is not necessary to mention the type when this editing occurs via the
controller interface, as in a PC supervisory.

ATTENTION:
The maximum number of editing object in the same screens is 12 objects.

For details about formats and separations of the variable types described above, check the
MasterTool IEC Programming Manual.

Shortcut Keys
DU350 and DU351 controllers have 5 keystrokes that perform special operations. They are:
[MAIN + UP ARROW ] = display/hide the Special Pages (the browsing between pages is made
with the keys upwards and downwards);
[MAIN + DOWN ARROW] = toggle between MODBUS Protocol and Programming Protocol
(COM1 Port);
[PRESSING ESC ON INITIALIZATION] = starts the controller without loading the user
application, thus enabling the application rewriting in case of serious failure or a watchdog action. To
return to current application, just de-energize and energize the controller without pressing ESC.
The functions of special key sequences are previously configured. The user does not need to perform
any special configuration to be able to use them

Special Pages
DU350 and DU351 controllers comprise 7 special pages previously included in the CPU to make the
use and the diagnostic of peripherals easy:
1- DIGITAL INPUTS – displays the status of the 20 digital inputs present in the CPU
2- DIGITAL OUTPUTS – displays the status of the 16 digital outputs present in the CPU
3- ANALOG – displays the values of the registers of the 4 analog inputs and the 2 analog outputs
4- INFORMATION – displays the model information (Model), software version (version) and
serial number (Serial Number)
5- COUNTER – displays the values of the registrars of the 4 counters present in the CPU

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 3. Configuration

6- CONTRAST – contrast adjustment page of the graphical display

7- BACKLIGHT – backlight adjustment page of the graphical display
To enable and disable the special pages, press MAIN + UP ARROW simultaneously.
To browse through the special pages use UP ARROW and DOWN ARROW.
To change the contrast value, as well as the backlight time value through the special pages, select the
page of interest and press LEFT ARROW to decrease, or RIGHT ARROW to increase the value by
one unit.

RTC (REAL TIME CLOCK)

DU350 and DU351 controllers have an internal clock that may be used through the standard .lib.
library. The RTC functional block returns the current date and time as from the value which has been
previously configured in the format DT # 1970-01-01-00: 00: 00.
Resolution = 1 second.
Maximum variation = 2 seconds per day.

Figure 3-44. RTC Function Block

The clock is used via function block in the format RTC (EN, PDT, Q CDT), where EN and PDT are
input variables, EN is of BOOL type, and PDT is of DT type. Q and CDT are output variables, Q is
of BOOL type, and CDT is of DT type. When EN is FALSE, both outputs Q and CDT are given the
values FALSE and DT # 1970-01-01-00: 00: 00, respectively.
In the first EN input rising edge the functional block checks for the occurrence of date and time loss
in the real-time clock. In case it has happened, the functional block loads the real-time clock with the
PDT value. If the clock did not lose time and date, it will not be updated with the value of the PDT
variable.
To update time and date in the real-time clock with the value of the PDT variable when the clock is
not signalizing date and time loss (FALHA_RTC), a falling edge followed by a rising edge must
occur.
While the EN input signal is enabled, CDT is updated with the date and time of the real-time clock.
The diagnostic of clock loss is mapped in a special operand known as:
FALHA_RTC - Indicates information loss when TRUE.
After the handling of the FALHA_RTC operand, the value FALSE may be assigned to it.
The Clock special operand is previously mapped in a specific area of the memory. Thus, it may be
used as a global variable. The name of the operand is best described in the special operands list , in
the section “Diagnostics”-“Reserved Operands List”.

ATTENTION:
Use dates from the year 2000 up to the year 2105.

ATTENTION:
It is not possible the use of the RTC function block in POUs started via time interruption.

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 3. Configuration

Clock Page Display

To display the value of the clock on a application page the CDT output variable (which was used in
the RTC function block instance) must be declared in the field ‘Variables’ ‘Textdisplay’ of the
object where the clock is shown.

Figure 3-45. Clock Variable Declaration

In the field ‘Text’ ‘Content’, the clock value can be displayed using %s only. Then the desired text
will be included, and instead of %s the date and time will be shown.

Figure 3-46. Object Configuration for Clock Display

In addition to displaying the clock value in the date and time format, it is also possible to view it in
either data or hour format only. In order to do this, the conversion functions DT_TO_DATE and
DT_TO_TOD are used respectively.

ATTENTION:
Use %s in lower case. Nothing will be displayed if this declaration is in upper case.

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 3. Configuration

ATTENTION:
Do not use %t in the pages, for this is used by the MasterTool IEC to display the computer system
time where the programmer is running in online mode.

POU Calls
Each user-defined POU must be linked to a task. A task has priority and range of activation. If two
tasks are "ready" to be performed, when the time interval which is defined for each task is past, the
task of higher priority runs in first place. If during the execution of a given task, a second higher-
priority task becomes "ready" after the time interval defined for that task, it will be performed only
after the full execution of the lower-priority task. Each task priority must be set to values 0 - 31 (0 –
higher; 31 - lower).

Time Interruption POUs

If it is required that a given cyclical task holds an accurate range of execution (without being delayed
by other less important tasks), it must be configured to be triggered from the external TIMER_INT
event. The range of this time-interruption driven task must be configured in the settings tree as
follows: open the "Resources" tab and select “PLC Configuration”. Expand the settings tree by
clicking on “+” next to "PLC Configuration ", and then expand the external events “option” again by
clicking on “+”. Select “Timer event”, and enter the desired interval in the interval in milliseconds
(MS). The range must be an integer between 1 and 1000, which corresponds to the time between
calls of this task.
In order to create and configure a new task, click “Task configuration”, which is located in the
“Resources” tab, click on “+”, next to the phrase “Task configuration”, right-click on “System
events” and select the option "Insert task". Change the name of the task as well as its settings as
described above. To relate a POU to a task, right-click on the task, and select the option “Includes
program call”, then select the desired POU in the field “Call”.
Whenever time-interruption driven tasks (TIMER_INT) are employed, a meticulous check must be
performed for another POU of that same type in the common memory addresses (present in the same
DWORDmemory, e.g.: Q00 and Q01 operands share the same BYTE (%QB0) and DWORD
(%QD0) in memory which is used in time-interruption driven POUs. If this condition occurs when
assigning any value to these other POU operands, the function “EXT_EVENT_OFF” must be
employed to disable the time-interruption driven task momentarily. To re-enable the task triggered by
time-interruption, the function “EXT_EVENT_ON” should be used.

ATTENTION:
When MasterTool IEC is used in the application simulation mode, the time interruption feature is
not available.

Input and Output Instantaneous Updating (AES)

In case of using either a high-cycle time or a routine performed by time-interruption driven POUs,
the AES functions may be used to update the operand values of inputs and outputs as well as of their
respective diagnostics during a routine processing.

AES_DIGITAL_INPUT
This function updates the normal digital input operands with the current value of the Ixx digital input.

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 3. Configuration

AES_DIGITAL_OUTPUT
This command updates the normal digital outputs with the current value of the Qxx digital output
operand.

AES_ANALOG_INPUT
This function updates the value operands of the AIx, AIx_DG and AIx_OPN analog input and analog
input diagnostics. The update rate of the analog inputs is 60 ms, that is, by employing the
AES_ANALOG_INPUT command, the analog input values are updated with the read values (and
processed by the corresponding filter) in the last complete cycle of 60 ms.

AES_ANALOG_OUTPUT
This function updates the analog outputs with the current value of the AOx operands, and updates
the AOx_DG, AOx_ERR diagnostic operands.

AES_COUNTERS
This function updates the counter with the control operands value CNTx_PRESET, CNTx_CMP0,
CNTx_CMP1, CNTx_CMD, CNTx_CLR, CNTx_STOP, CNTx_LOAD, CNTx_AMG,
CNTx_OVER and updates both the value and the diagnostic operands of the counters CNTx,
CNTx_HOLD, CNTx_DG, CNTx_OVERFLOW, CNTx_UNDERFLOW, CNTx_DIR,
CNTx_MAX_CMP0, CNTx_MAX_CMP1, CNTx_EQ_CMP0, CNTx_EQ_CMP1, CNTx_ZERO.

AES_FAST_OUTPUTS
This function updates the fast outputs with the control operands value Fx_FREQ, Fx_PLS_TOT,
Fx_PLS_RMP, Fx_DUTY, PTO_CMD, VFO_CMD, Fx_PTO_START, Fx_PTO_STOP, Fx_VFO
and updates the fast output diagnostic operands , Fx_PTO_DG, VFO_DG, Fx_PTO_ON,
Fx_PTO_ACE, Fx_PTO_REG, Fx_PTO_DES, Fx_PTO_PRM, Fx_PTO_ERR, Fx_VFO_ON,
Fx_VFO_PRM, Fx_VFO_ERR.
This AES function returns TRUE if it was successfully executed; otherwise it is FALSE . This
situation occurs only if the function has been called in a time-interruption driven POU during a
previous call in another POU (in the main cycle), and if there is some alteration in the operands
employed for the PTO fast output control and configuration.
If the operands used for PTO control and configuration are changed only in the main loop or changed
in the timer-driven POU, the handling of the AES_FAST_OUTPUTS return function is not
necessary (it always returns TRUE for these conditions).

Navigation through the User Pages via Keyboard (NAVIGATION)

The NAVIGATION function block, which is defined in the Navigation .lib library, enables
navigation by the use of the Up and Down directional keys or by using the block control inputs.
Page List (VISU_LIST):
The NAVIGATION Function block has an ARRAY [0..30] OF STRING(10) input . This array
comprises 30 string positions of up to 10 characters. Thus, it is possible to use up to 30 pages with
navigation through the function block; each page must contain up to 10 characters. There is no need
for every application page to be on the page list which is used by navigation. In this case the
navigation using the function block will be restricted to the pages which are added to the list.
"MAIN" key, directional up and down:
By pressing the DU350 and DU351 controllers "MAIN" key, the function block enables the added
page at position 0 in the page list. By pressing the directional up key, the function block enables the

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 3. Configuration

next page of the list as to the last page enabled by the NAVIGATION function block employed. By
pressing the directional key down, the function block enables the previous page as to the last page
enabled by the NAVIGATION function block employed.
Control inputs ENABLE_UPDW, UP, DOWN:
The ENABLE_UPDW control input enables the use of the UP and DOWN inputs. The UP input
behaves the same way as the UP directional key and DOWN behaves the same way as the DOWN
directional key.
Example of use:
In the project template as well as in the chapter “Initial Programming”-“Analyzing the template", an
example of the utilization of the NAVIGATION function block is shown:

Page Enabling (CHANGE_SCREEN)

The CHANGE_SCREEN function, defined in the Navigation .lib library, enables a given page
defined in VISU_NAME input when the ENABLE input is TRUE. This function is used to enable a
screen due to any user-defined internal logic.
Page to be enabled (VISU_NAME)
The CHANGE_SCREEN Function block has a STRING (10) input . This input must contain the
name of the user page to be enabled when the ENABLE input is TRUE. The page name must have a
maximum of 10 characters.
ENABLE input
When the ENABLE input is TRUE, the VISU_NAME page is enabled. When it is FALSE, the
VISU_NAME page remains updated until another page is enabled.

Upload
DU350 and DU351 controllers enable the recording of a project in the product memory, which can
be recovered and reused through the MasterTool IEC software.
To store a project in the product memory the DU350/DU351 must be in the “logged” mode, and
“stop” state. In the “Online” menu the option “Source code download” should be selected.
To retrieve the previously stored project the option "Open" in the "File" menu must be selected. On
the file selection page, click on the "PLC ..." button. On the next screen, the DU35x controller must
be selected in the “Configuration” field.

ATTENTION:
The size of memory area used to store a project in DU350/DU351 is 256kB.

ATTENTION:
Upload retrieves the last project stored in the controller as described in the preceding paragraphs. If
the loading occurs only with the purpose to run a given application, it will not be possible to recover
it via the Upload procedure.

Watchdog
DU350 and DU351 controllers comprise a watchdog system that indicates to the user that a cycle
time greater than 2 seconds has occurred. Whenever a watchdog is identified, the CPU displays a
page informing that the system entered the watchdog status. In this case, the physical outputs go to

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 3. Configuration

the safety State and the CPU remains locked until it is restarted (de-energized and energized again).
The WATCHDOG operand is set when there is a watchdog and this operand may be read at the next
system startup. If the operand value is TRUE, it means that there was a watchdog action in the
previous execution. The operand may be cleared by writing the value FALSE, which facilitates the
execution of check applications, and watchdog diagnostic treatment.
If the application is continuously generating watchdog, in order to write a new application, press
ESC when restarting the PLC, as stated in the chapter "Configuration"-"HMI- Human-Machine
Interface"-"Keyboard"-"Shortcut keys". Such action prevents the application to run and allows
communication with the IEC MasterTool software, so that you can write a new application.
The special operand watchdog indication has been previously mapped in a specific area of the
memory. Thus, it may be used as a global variable.

Brownout
DU350 and DU351 controllers have a brownout system that informs the user when the voltage level
in the PLC power supply is below 19 V. There are two ways to diagnose such voltage fall:
1 – If the PLC remains with the voltage below 19 V for more than three seconds, the PLC displays a
page indicating a brownout . The physical outputs go to a safe state and the PLC remains locked until
it is restarted (de-energized and re-energized).
2 – If the PLC power has a voltage drop which takes it to below 19 V, and then returns to a value
greater than 19 V in less than three seconds, the CP is rebooted, and a page signaling that the
controller was restarted via brownout is displayed during the boot, and the BROWNOUT special
operand is set TRUE, thus indicating that the application is running after a brownout reset. The user
may change the BROWNOUT operand value to FALSE during the application execution, facilitating
the execution of verification applications and brownout diagnostic treatment.
The special operand BROWNOUT has been previously mapped in a specific area of the memory.
Thus, it may be used as a global variable. The name of the operand is better described in the list of
special operands in the chapter “Diagnostics”-“Reserved Operands List”.

System Error
DU350 and DU351 controllers comprise an error identification system that alerts the user whenever
there is a critical error event in the system. To identify the error, the controller displays a page
reporting the error, then the physical outputs go to a safe State and the controller remains locked until
it is restarted (de-energized and re-energized).
If the application is generating the error it is necessary to press the ESC key when restarting the PLC
to reprogram the controller, as stated in the chapter "Configuration" - "HMI Human-Machine
Interface" - "Keyboard" - "Short keys", thus preventing the application to run, and enabling
communication with the IEC MasterTool software, so that you can write a new application. If this
procedure does not solve the problem, it is recommended that the user contacts support.
The system errors are identified by the pages containing the information: ERROR + "error number".

Safe State
While the DU350 and DU351 controller are in the safe state , the digital outputs (common and fast)
will be forced to the logic level 0 (FALSE). The analog outputs will be forced to 0 V or 0 A,
depending on the way the output is operating. If the analog outputs are disabled, they will be forced
to 0 V in case of safe state.
The input goes into the safe state in case of:
- Brownout

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 3. Configuration

- Watchdog
- Error indication
- Controller programming
- Stop (via MasterTool IEC software)

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 4. Installation

4. Installation

Electrical Installation

DANGER:
When performing any electrical panel installation, make sure that its main power supply be
de-energized.

Figure 4-1. DU350/DU351 Connection Example

Diagram Notes
1 – Typical usage of “sink” digital inputs. C0, C1 and C2 are the common (0 V) to their respective
input group I00 to I08, I10 to I18 and I20 to I21.
2 – 24 V power supply with the 24 V, 0 V and ground protection pins.
3 – Example of an analog output configured for voltage mode output.
4 – Example of an analog output configured for current mode output.
5 – Typical usage of digital output transistor types (DU350) and fast outputs (DU350 and DU351). In
order to use the relay digital output (DU351) it is not necessary to connect C5 and C7 pins; but only
common, C6 and C8.
6 – Example of two analog inputs configured for current mode input.
7 – Example of two analog inputs configured for voltage mode input. The connection of a 0 to 10 V
signal in a current input pin may cause damage to the product.

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 4. Installation

Connections
The correct connection of the DU350 and DU351 controllers and system modules ensure the
equipment safety, and its proper operation. For that purpose, the following must be checked:
 The cables’ diameter and insulation voltage must be consistent with the application.
 The cables on mounting panel terminals must be safely and firmly connected.
 The system power supply pins and grounding parts must be strong and well connected, ensuring
good current flow.
 The connection between equipment and mounting panel ground must be strong and with the
correct cable diameter to ensure proper grounding and noise insulation. It is recommended to use
1.5 mm2 cables.
 It is recommended to identify all cables with plastic rings or similar, to make easy the assembly
and maintenance operations.

ATTENTION:
To fix cables at the product terminals blocks an appropriate screwdriver should be used due the size
of the fixing screw diameter. The terminals of digital and analog inputs must be screwed with a
screwdriver with a maximum width of 2.5 mm at its end.

Grounding
The terminal block must be directly connected to the panel grounding bar through a 1.5 mm2
cable.

Analog Interfaces
Shielded cable: it is recommended the use of shielded cables at the analog inputs and outputs. The
shield must be connected to the grounding in only one of the cable ends, preferably grounded on the
side of the closet. If the end is connected to the DU350/DU351 for grounding the shield, a terminal
should be used as close as possible to the analog inputs and outputs.
Common analog input: analog inputs 0 (AV0 or AI0) and 1 (AV1 or AI1) share the same common
terminal block (C9). Similarly, the analog inputs 2 (AV0 or AI0) and 3 (AV0 or AI0) share the same
common terminal block (C10). To use two outputs which share the same common terminal block, the
two commons of the analog input signals must be connected into a terminal chart. As well as the
respective DU350/DU351 common must be connected to the same terminal chart:

Figure 4-2. Analog Inputs Connection

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 4. Installation
Diagram Notes
1 – Each analog input channel has two input terminals AVx and AIx. On the use of the channel as an
input voltage only the corresponding AVx terminal should be used. On the use of the channel as
current input, the corresponding AIx terminal should be used.
2 – Channel 0 and channel 1 share the same common terminal. The connection should be made with
a proper terminal chart (as closer as possible of the equipment).

Square Encoders Interface

In order to employ encoder signal handling, the encoder must fulfill the functional requirements of
fast inputs and the timing of fast inputs in the squaring mode, observing the characteristics of the fast
input blocks to be used. The encoder signals A and B must be connected to either the I00 and I01
(Block 0) or the I10 and I11 (Block 1) terminals. Optionally the clear value signal connected to either
the I02 (Block 0) or the I12 (Block 1) terminal may be used. The encoder 0 V must be connected to
C0 (Block 0) or C1 (Block 1):

Figure 4-3. Encoder’s Connection Example

The configurable input may be used as clear value if it is connected to the encoder reference output
position.

Digital Output Protection

To activate inductive loads, a protection diode should be used as close as possible to the load so that
there is no occurrence of eventual voltage peaks coming from sudden variation in the inductive load.

Figure 4-4. Digital Output Protection Circuit

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 4. Installation

Mechanical Assembly
For the correct installation and operation of this product, the panel must be cut according to the
following dimensions shown below. Dimensions in mm.

Figure 4-5. Panel Cut for Installation

The side tab settings should be collected for the controller installation in the panel.

Figure 4-6. Side Tabs

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 4. Installation

The controller must be installed in the panel, docking first the top.

Figure 4-7. Installation on the Panel

After duly docked, the tabs must be opened (spinning, like described in the following figure) and the
fixing bolts shall be tight using a proper tool.

Figure 4-8. Mechanical Fixing

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 4. Installation

After these steps, the controller is mounted in the panel and you may start the field connection
wiring. The terminal blocks located at the back of the equipment are identified by the interfaces to
which they belong. The terminal blocks are of the screw type and they are detachable in order to
facilitate the connection. The field wiring must be connected to the equipment without power
sourcing in order to avoid electric shocks. After the connections are checked, the equipment can be
powered.
DU350 and DU351 modules have a protective film on the overlay to protect them from damage
during transportation, and when being handled in the installation phase. Once the module is installed,
this film may be removed allowing for better visualization of the keyboard, and display.

Programming Installation
To perform the installation of MasterTool IEC development software, first you have to download the
setup file on the Altus site (www.altus.com.br).
After the download of the software, close all the active programs on your desktop, and then double-
click the installation file. The following installation page will be displayed:

Figure 4-9. Extracting Files

Please wait while the installer extracts the requested files to perform the installation.
Then the following pages appear:

Figure 4-10. Language Selection

The language in which the MasterTool IEC will be installed is selected on the first page. Select the
desired option and click “OK”.
The next page will be shown indicating the installation start. Click “Next” to continue.

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 4. Installation

Figure 4-11. Welcome Page

The next page shown refers to the license agreement. Read the license carefully, and select the option
“I agree with these terms and conditions”.

Figure 4-12. License Page

Click “Next” to continue. A page asking for the registration information will appear. After filling out
the fields correctly, click “Next” to continue.

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 4. Installation

Figure 4-13. Register Page

On the next page the options to select the components to be installed, and the path to the software
installation are offered. It is recommended the default path “C:\Program file\Program Altus\
MasterTool IEC”. Click “Next” to continue.

Figure 4-14. Components Selection

At this point the MasterTool IEC installation has started. Please wait while the requested files are
installed on your computer. This may take several minutes depending on the computer's
configuration.
After the installation is complete, the next page is shown, where the decision must be made whether
the MasterTool IEC should initialize automatically after the completion of the installer. Click
“Finish” to complete the installation procedure.

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 4. Installation

Figure 4-15. Installation Complete

MasterTool IEC is installed and ready to be used. To execute the MasterTool IEC click on the
“MasterTool IEC” shortcut inside the group “Altus S.A”  "MasterTool IEC", that was created at
the Start menu during the installation.

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 5. Initial Programming

5. Initial Programming

First Steps with MasterTool IEC and DU350/DU351

MasterTool IEC Startup

It is recommended that the project is started from the project template. To create a new project from
the template, click on the File menu, and then click “New from template ...” Select the project
Template_DU350_DU351 .pro and then click “Open”.

Tasks and POUs Concepts

The Template_DU350_DU351.pro template has a set of configured tasks as shown in the following
table:
Task name POU called by task Activation interval
MAIN PLC_PRG(); 1 ms
NAVIGATION SCREEN_CONTROL(); 20 ms
VISUALIZATION MAINTARGETVISU_PAINT_CODE 500 ms
KEYBOARD_USAGE MAINTARGETVISU_INPUT_CODE 20 ms

Table 5-1. Template POUs Times

The POU “SCREEN_CONTROL” is already included in the Template_DU350_DU351.pro. The
MAINTARGETVISU_PAINT_CODE, and MAINTARGETVISU_INPUT_CODE POUs are already
defined. To compile the project without errors, the PLC_PRG POU must be added, because it is
called by the MAIN task. The PLC_PRG POU is called every 1 ms (if when a period of 1ms of the
MAIN task is complete, another POU is running, the PLC_PRG POU will be executed only after the
end of the actual POU). For more information about Configuring tasks and POUs check the chapter
“Configuration” - “POU calls” or use the MasterTool IEC Programming Manual.

Creating the PLC_PRG POU

In order to add the “PLC_PRG” POU, follow these steps: click on the “POUs” tab, then right-click
on the word “POUs” (inside the “POUs” tab), select the option “Add object...”, select the option
“Program” in the field “POU type” , select the language in the “Language POU”, type “PLC_PRG ”
in the field “Name of the new POU”, and then click “OK” to confirm the adding of “PLC_PRG
POU”.
Each POU must have at least a logic to be compiled correctly; if the POU uses ST language, simply
write “;” in the first command line.

Compiling
In order to perform the full compilation of the project, click on the “Project” menu, and then on
“Compile All”.

WARNING:
Before performing a compilation, or if any problem occurs during the compilation, it is
recommended to click on the “Project” menu “Clean All” to remove any previous
compilation.

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 5. Initial Programming

Download
To download the Project, the communication interface should be properly configured. To configure
the communication interface follow these steps: click on the “Communication” menu and select the
option “Communication parameters ...”. A new connection must be created, and to do that, press the
button “New”. The page in Figure 5.1 is shown so that you may set the connection name. By
clicking OK, the connection is created. The connection parameters must be configured as shown in
Figure 5 2. The communication port on the computer to be used must be configured in order to allow
the connection of the serial which is connected to the PLC. To edit the parameters it is necessary to
double click on the value, and then change this value by using the Up and Down keys on the
keyboard.

Figure 5-1. New Connection

Figure 5-2. Communication Parameters

WARNING:
The timeout for download must be of 8000 ms at the maximum. The default value is 2000 ms.
It is not recommended to change this value without previous analysis. To configure this item,
click on Project Options..., select Desktop and configure the communication timeout for
download [ms].

After configuring the COM port, click on the “Communication” menu and select “Login”. Thus, the
Project will be sent to the controller. To start up the execution, click on the “Communication” menu
and select “Run”.

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 5. Initial Programming

WARNING:
During the download, the PLC takes its physical outputs to safety mode, as described in
chapter “Configuration” – “Safe State”.

Analyzing the Template

DU350 and DU351 controllers must go through some basic configurations, which are necessary for
their proper operation. These configurations are already implemented in
Template_DU350_DU351.pro. These are:
Configuring the Display
To ensure correct display visualization, the backlight time and contrast of the PLC HMI screen must
be configured. This configuration is performed by both the CONTRAST and BACKLIGHT
operands, or by the special pages (see “Configuration” –“Special Pages”).
Page Browsing
In order to browse through the project pages by using the up and down directional arrows in DU350
and DU351 controllers, the NAVIGATION function block (instantiated as ScreenControl) should be
included. This function block must be “fed” by a list with the name of all the pages comprised in the
project (or the screens through which you want to navigate by using the keys). This list must have a
maximum of 10 pages, and the name of each one must be less than 30 characters long. Another
feature of the use of this function block is that by pressing the D350 and DU351 controller MAIN
key, the “MAIN” page is enabled (the “MAIN” page must be set at position 0 in the list).
In the template case, only one page is added to the list, because there is only one page in the project.
This implementation is performed in the following code lines.
(* Add MAIN page as main page *)
VisuList[0] := 'MAIN';
Obs: To add a new page on the list, add the following line on the code:
VisuList[x] := 'PAGE_NAME'; (* Line for adding a new page on the
list *)
Where “x” is the number of the page and “PAGE_NAME” is the name of the respective page added
to the list (the name of the pages must be written in upper case letters).
(* Enables the browsing automatic control only by the keyboard *)
ScreenControl(ENABLE_UPDW := FALSE, VISU_LIST := VisuList, UP :=
FALSE , DOWN := FALSE);
Tasks Configuration
DU350 and DU351 controllers use Tasks (with intervals, activation type and priority defined) to call
the POU routines . The provided template presents four tasks previously configured in the
“Resources” tab, in sub item “Task Configuration”. These are:
MAIN – This task calls the “PLC_PRG POU” created by the user with an activation range of 1ms.
NAVIGATION –This task is used to call the “SCREEN_CONTROL(); ” which is responsible for
page configurations, and for the Navigation function block. It is recommended to use it as cyclical-
type with 200ms interval.
VISUALIZATION –This task is required for display use. It is recommended to use it as cyclical-
type with a 500ms interval function. The called function is internal, and named
MAINTARGETVISU_PAINT_CODE.
KEYBOARD_USAGE – This task is required for keyboard use (using “Keyboard functions ...”
from the “Extras” menu. This option is available during a visualization edit). It is recommended to
use it as cyclical-type with a range of 20 ms. The called function is internal and named
MAINTARGETVISU_INPUT_CODE. In case of using “Keyboard functions ...” and there is the need

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 5. Initial Programming

to get faster response from the keys, the range of activation of this task may be reduced to obtain the
desired result. However, if the application has a long-cycle task it is recommended to call the
MAINTARGETVISU_INPUT_CODE POU created by a time-interruption driven POU.
The following figure exhibits tasks configuration:

Figure 5-3. Tasks Configuration

Project Conversion
DU350 and DU351 Modules have some features which were implemented starting from version 1.10
of the software. For this reason, the MasterTool IEC installer, as from version 1.03 has the
configuration of devices for this version “DU350 and DU351 v1.10 ...”. There is also a model project
using this device “Model_DU350_DU351_v110”.
When there are projects using a device of versions previous to the 1.10, and if you want to convert
them to the device of the 1.10 or higher versions, it must be changed in “Device Settings”on the
“Resources” tab. As shown in Figure 5 4, select the “DU350 and DU351 v1.10 ...” device of the open
project and the new settings will be loaded.

Figure 5-4. Changing the Device Configuration

Changing the device will not change the CP settings. This is to avoid the loss of the settings. In case
the settings must be updated to match the new device settings, the menu Extras  Default setting
must be selected

Simulation Mode
The MasterTool IEC has an impotant recourse of simulation that allows the users to test their
applications without to use any equipament, it gives more agility at program development. However,
there are some specific features with hardware of DU350/DU351 dependency cannot be simulated.

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 5. Initial Programming

The following features are not able in simulation mode:

 Fast Inputs and Outputs
 Serial Ports
 Keyboard
 Time Interruption POUs
 Real Time Clock
It is also unable the following functions:
 Motion Functions
 Generic Communication Functions
 Screen Navigation Functions
 Real Time Clock Functions

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6. Maintenance

Diagnostics
DU350 and DU351 controllers contain a series of special operands that provide diagnostic data from
several devices in the controller.
For quick access to information, status and diagnostics of inputs and outputs, special pages may be
consulted, as described in the “Configuration”-“Special Screens” chapter.

General Diagnostics
DU350 and DU351 controllers have some general diagnostics which are available through special
registers. These special operands are previously mapped into a specific area of memory. Thus, they
may be employed as a global variable.
BROWNOUT = Indicates a brownout (indicates that the PLC was rebooted due to a power supply
voltage failure).
FALHA_RTC = Indicates loss of the clock information.
FALHA_RETENTIVAS = Indicates a writing error in the retentive variables.
WATCHDOG = Indicates a watchdog in the previous execution.
TAM_APLICATIVO = Size of the user application (number of used bytes).
SOFT_H = Executive version (number before the point).
SOFT_L = Executive version (number after the point).
MODELO = Controller model (350 for DU350 and 351 for DU351).
The BROWNOUT, FALHA_RTC, WATCHDOG, TAM_APLICATIVO, SOFT_H and SOFT_L
operands may be changed through the application and may be used as handled diagnostic
signalization.
The names of the operands and how to access them are better described in the special operands list,
located in the section “Diagnostics” - “Reserved Operands List”.

Troubleshooting
The next table contains the symptoms of some problems as well as their possible causes and
solutions. If the problem persists, contact Altus Technical Support.
Symptom Possible Cause Solutions
De-energize and energize the PLC.
Check the power supply source operation.
Check if the power supply voltage gets to the PLC terminal block
Power supply failure or
Do not turn on with the correct polarization.
incorrect.
Check if the power supply voltage gets to the PLC.
Check if the application screen has proper contrast and backlight
time.
Do not Check the communication cables connection.
Connection or configuration
communicate Check the COM port settings in MasterTool IEC.
Check if the PLC is in Run mode.
Application in Stop mode.
Do not switch Check if the application has more than one screen
Only one screen set up or
screen Check if the keyboard is properly configured for the screen
keyboard not set up.
commutation.

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Check if the visualizations are with the function keys properly set up.
Check if the application uses the isKeyPressed() function, and the
Do not KeyPressed() properly, or if there is a conflict in the keyboard
respond to Keyboard not setup. usage.
the keyboard Check if the MAINTARGETVISU_INPUT_CODE function is called
periodically by some task in the application.
Check if the shortcut keys are responding.
Check if the application has a proper value for the display contrast.
Do not display Application with improper Check if there are configured visualizations for the current
the user contrast value or with no application.
visualization visualizations. Check if the MAINTARGETVISU_PAINT_CODE function is called
periodically by some task in the application.

Table 6-1. Troubleshooting Table

Fast Inputs Diagnostics

DU350 and DU351 controllers have the following special reserved operands for fast input
diagnostics, where “ x” is the fast input number which can vary from 0 to 3:
CNTx_OVERFLOW TRUE in case of overflow in counter x
CNTx_UNDERFLOW TRUE in case of underflow in counter x
CNTx_DIR Counter x direction
(FALSE- progressive / TRUE- regressive)
CNTx_MAX_CMP0 TRUE in case counter x is greater than CNTx_CMP0
CNTx_MAX_CMP1 TRUE in case counter x is greater than CNTx_CMP1
CNTx_EQ_CMP0 TRUE in case counter x is equal to CNTx_CMP0
CNTx_EQ_CMP1 TRUE in case counter x is equal to CNTx_CMP1
CNTx_ZERO TRUE in case counter x is equal to ZERO

Table 6-2. Fast Inputs Diagnostics

The special operands of fast input diagnostics are previously mapped into a specific area of memory.
Thus, they may be employed as a global variable. The names of the operands are better described in
the special operands list in the section “Diagnostics” - “Reserved Operands List”.

Analog Outputs Diagnostics

DU350 and DU351 controllers have the following special reserved operands for analog output
diagnostics:
AO0_DG Short-circuit diagnostics (voltage mode) or open loop (current
mode) in channel 0 of analog output
AO1_DG Short-circuit diagnostics (voltage mode) or open loop (current
mode) in channel 1 of analog output

Table 6-3. Analog Outputs Diagnostics

The special operands of analog outputs diagnostics are previously mapped into a specific region of
memory. Thus, they can be used as a global variable. The names of the operands are better described
in the special operands list in the section “Diagnostics” - “Reserved Operands List”.

Analog Inputs Diagnostics

The current analog inputs may be configured to be used in the range of 4 mA to 20 mA or 0 mA-20
mA. When used as current analog input in the range of 4 mA - 20 mA, the inputs are diagnosed as
open current input diagnostic (AIx_DG).
This diagnostics is enabled when the channel current input is less than or equal to 3.8 mA.
AI0_DG Channel 0 diagnostics of analog input in current 4-20 mA mode
with open loop

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AI1_DG Channel 1 diagnostics of analog input in current 4-20 mA mode

with open loop
AI2_DG Channel 2 diagnostics of analog input in current 4-20 mA mode
with open loop
AI3_DG Channel 3 diagnostics of analog input in current 4-20 mA mode
with open loop

Table 6-4. Analog Inputs Diagnostics

The special operands of analog inputs diagnostics are previously mapped into a specific area of
memory. Thus, they may be employed as a global variable. The names of the operands are better
described in the special operands list in the section “Diagnostics” - “Reserved Operands List”.
Fast Outputs Diagnostics

PTO
DU350 and DU351 controllers have the following special reserved operands for PTO diagnostics,
where “ x” is the fast output number which can vary from 0 to 1:
Diagnostic Description
Fx_PTO_DG Diagnostic Operand
Fx_PTO_ON Bit 0 - PTO output in progress
Fx_PTO_ACE Bit 1 - PTO output in acceleration
Fx_PTO_REG Bit 2 - PTO output in steady state
Fx_PTO_DES Bit 3 - PTO output in deceleration
Fx_PTO_PRM Bit 4 - PTO output not parameterized
Fx_PTO_ERR Bit 5 - PTO output with parameterization error
Fx_PTO_CNT_DG Diagnostic Operand
Fx_PTO_CNT_MAX_CMP0 Bit 0 - PTO pulse counter greater than the comparator 0
Fx_PTO_CNT_MAX_CMP1 Bit 1 - PTO pulse counter greater than the comparator 1

Table 6-5. Fast Outputs Diagnostics

The Fx_PTO_ON, Fx_PTO_ACE, Fx_PTO_REG, Fx_PTO_DES, Fx_PTO_PRM and
Fx_PTO_ERR diagnostic operands are of BOOL type and together make up the Fx_PTO_DG, which
is of BYTE type
The Fx_PTO_CNT_MAX_CMP0 and Fx_PTO_CNT_MAX_CMP1 diagnostic operands are of
BOOL type and together make up the Fx_PTO_CNT_DG, which is of BYTE type
The special operands of PTO diagnostics are previously mapped into a specific area of memory.
Thus, they may be employed as a global variable. The names of the operands are better described in
the special operands list in the section “Diagnostics” - “Reserved Operands List”.
VFO/PWM
DU350 and DU351 controllers have the following special reserved operands for VFO/PWM
diagnostics, where “ x” is the fast output number which can vary from 0 to 1:
Diagnostic Description
Fx_VFO_DG Diagnostic Operand
Fx_VFO_ON Bit 0 - Output in progress
Fx_VFO_PRM Bit 1 - VFO/PWM output not parameterized
Fx_VFO_ERR Bit 2 - VFO/PWM output with parameterization error

Table 6-6. VFO/PWM Diagnostics

The Fx_VFO_ON,_Fx_VFO_PRM and Fx_VFO_ERR diagnostic operands are of BOOL type and
together make up the Fx_VFO_DG, which is of BYTE type.
The special operands of VFO/PWM diagnostics are previously mapped into a specific area of
memory. Thus, they may be employed as a global variable. The names of the operands are better
described in the special operands list in the section “Diagnostics” - “Reserved Operands List”.

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MODBUS Diagnostics
Each MODBUS relationship has an operand error counter and one operand which informs the
communication status of the previous cycle.
If the communication port is configured as MODBUS Slave, the COMx_DE operand indicates the
status of the last MODBUS communication performed at the x communication port. The COMx_CE
operand indicates the number of errors that occurred at the x communication port.
If the communication port is configured as MODBUS Master, the COMx_Ry operand indicates the
status of the last MODBUS communication of the y relation of x communication port. The
COMx_Cy operand indicates the number of errors that occurred in the relation y of the
communication port x.
By assigning TRUE for the CLR_ALL_COM operand, 0 will be assigned to all of the error counters
(COMx_CE and COMx_Cy).
Table 6-7 describes the reserved operands related to the MODBUS Protocol diagnostics, where “x” is
the COM port number and “y” is the relation number.
CLR_ALL_COM Clear all error counter of MODBUS communication
COMx_DE Diagnostics in slave mode
COMx_CE Error counter in slave mode
COMx_Cy Error counter of relation y
COMx_Ry Relation y diagnostics

Table 6-7. MODBUS Diagnostics

Table 6-8 shows the error code that may be assumed by the communication status operands:
Code Description
Master
1 Requested command does not accept broadcast
2 Communication failure
3 MODBUS address not found in the table
4 Sent command not implemented
5 Response receiving of another address
6 CRC Error Master response
Slave
7 Received command not implementated
9 CRC error in the received packet
10 Address for another slave or broadcast
11 Invalid limit of the command address
12 MODBUS address not found in the table
13 Invalid host address
General Communication Diagnostics (Master / Slave)
0 Indicates that the communication is ok
14 Reception error
15 Parity error
16 Framing error (baudrate, stopbits,...)
17 CTS timeout

Table 6-8. MODBUS Error Codes

Reserved Operands List

DU350 and DU351 controllers hold a special operands list employed for CPU diagnostics and
configuration. The special operands are previously mapped into a specific area of memory. Thus,
they may be used as a global variable.
To access the special operands on MasterTool IEC, double-click “DU35x.lib library...” located at the

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“Resources” tab. Then, in order to show the special operands list, double-click “Global Variables...”
In this list are described all the special operands. The following table presents these operands with
their memory addresses and functionalities.
Name Address Type Description
MODEM
1 RTS %MB6373 BYTE RTS pin of COM0 port
2 CTS %MB6374 BYTE CTS pin of COM0 port
3 DCD %MB6375 BYTE DCD pin of Com0 port
4 DTR %MB6376 BYTE DTR pin of Com0 port
5 DSR %MB6377 BYTE DSR pin of Com0 port
COM1
6 CLR_ALL_COM %MB6378 BOOL Clear COMs diagnostics
7 COM1_DE %MB6379 BYTE Diagnostics in slave mode
8 COM1_CE %MB6380 BYTE Counter in slave mode
9 COM1_DR %MW3191 WORD Disable relations
10 COM1_C0 %MB6384 BYTE Counter of relation 0
11 COM1_R0 %MB6385 BYTE Diagnostics of relation 0
12 COM1_C1 %MB6386 BYTE Counter of relation 1
13 COM1_R1 %MB6387 BYTE Diagnostics of relation 1
14 COM1_C2 %MB6388 BYTE Counter of relation 2
15 COM1_R2 %MB6389 BYTE Diagnostics of relation 2
16 COM1_C3 %MB6390 BYTE Counter of relation 3
17 COM1_R3 %MB6391 BYTE Diagnostics of relation 3
18 COM1_C4 %MB6392 BYTE Counter of relation 4
19 COM1_R4 %MB6393 BYTE Diagnostics of relation 4
20 COM1_C5 %MB6394 BYTE Counter of relation 5
21 COM1_R5 %MB6395 BYTE Diagnostics of relation 5
22 COM1_C6 %MB6396 BYTE Counter of relation 6
23 COM1_R6 %MB6397 BYTE Diagnostics of relation 6
24 COM1_C7 %MB6398 BYTE Counter of relation 7
25 COM1_R7 %MB6399 BYTE Diagnostics of relation 7
26 COM1_C8 %MB6400 BYTE Counter of relation 8
27 COM1_R8 %MB6401 BYTE Diagnostics of relation 8
28 COM1_C9 %MB6402 BYTE Counter of relation 9
29 COM1_R9 %MB6403 BYTE Diagnostics of relation 9
30 COM1_C10 %MB6404 BYTE Counter of relation 10
31 COM1_R10 %MB6405 BYTE Diagnostics of relation 10
32 COM1_C11 %MB6406 BYTE Counter of relation 11
33 COM1_R11 %MB6407 BYTE Diagnostics of relation 11
34 COM1_C12 %MB6408 BYTE Counter of relation 12
35 COM1_R12 %MB6409 BYTE Diagnostics of relation 12
36 COM1_C13 %MB6410 BYTE Counter of relation 13
37 COM1_R13 %MB6411 BYTE Diagnostics of relation 13
38 COM1_C14 %MB6412 BYTE Counter of relation 14
39 COM1_R14 %MB6413 BYTE Diagnostics of relation 14
40 COM1_C15 %MB6414 BYTE Counter of relation 15
41 COM1_R15 %MB6415 BYTE Diagnostics of relation 15
COM2
42 COM2_DE %MB6419 BYTE Diagnostics in slave mode
43 COM2_CE %MB6420 BYTE Counter in slave mode
44 COM2_DR %MW3211 WORD Disable relations
45 COM2_C0 %MB6424 BYTE Counter of relation 0
46 COM2_R0 %MB6425 BYTE Diagnostics of relation 0
47 COM2_C1 %MB6426 BYTE Counter of relation 1
48 COM2_R1 %MB6427 BYTE Diagnostics of relation 1

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49 COM2_C2 %MB6428 BYTE Counter of relation 2

50 COM2_R2 %MB6429 BYTE Diagnostics of relation 2
51 COM2_C3 %MB6430 BYTE Counter of relation 3
52 COM2_R3 %MB6431 BYTE Diagnostics of relation 3
53 COM2_C4 %MB6432 BYTE Counter of relation 4
54 COM2_R4 %MB6433 BYTE Diagnostics of relation 4
55 COM2_C5 %MB6434 BYTE Counter of relation 5
56 COM2_R5 %MB6435 BYTE Diagnostics of relation 5
57 COM2_C6 %MB6436 BYTE Counter of relation 6
58 COM2_R6 %MB6437 BYTE Diagnostics of relation 6
59 COM2_C7 %MB6438 BYTE Counter of relation 7
60 COM2_R7 %MB6439 BYTE Diagnostics of relation 7
61 COM2_C8 %MB6440 BYTE Counter of relation 8
62 COM2_R8 %MB6441 BYTE Diagnostics of relation 8
63 COM2_C9 %MB6442 BYTE Counter of relation 9
64 COM2_R9 %MB6443 BYTE Diagnostics of relation 9
65 COM2_C10 %MB6444 BYTE Counter of relation 10
66 COM2_R10 %MB6445 BYTE Diagnostics of relation 10
67 COM2_C11 %MB6446 BYTE Counter of relation 11
68 COM2_R11 %MB6447 BYTE Diagnostics of relation 11
69 COM2_C12 %MB6448 BYTE Counter of relation 12
70 COM2_R12 %MB6449 BYTE Diagnostics of relation 12
71 COM2_C13 %MB6450 BYTE Counter of relation 13
72 COM2_R13 %MB6451 BYTE Diagnostics of relation 13
73 COM2_C14 %MB6452 BYTE Counter of relation14
74 COM2_R14 %MB6453 BYTE Diagnostics of relation 14
75 COM2_C15 %MB6454 BYTE Counter of relation 15
76 COM2_R15 %MB6455 BYTE Diagnostics of relation 15
General Configurations
77 STATUS_CP %MB6460 BYTE Brownout/RTC/Retain
78 TAM_APLICATIVO %MD1616 DWORD User application size
79 CONTRASTE %MB6468 BYTE Contrast percentage
80 BACKLIGHT %MB6469 BYTE Backlight configuration
81 SOFT_H %MB6470 BYTE Number before the dot
82 SOFT_L %MB6471 BYTE Number after the dot
83 MODEL %MW3231 WORD PLC model
PLC Status
84 BROWNOUT %MX3230.0 BOOL Indicates the occurrence of a brownout in the PLC
85 WATCHDOG %MX3230.1 BOOL Indicates the occurrence of a watchdog in the last
execution
86 FALHA_RETENTIVAS %MX3230.2 BOOL Indicates an error in the retain variables
87 FALHA_RTC %MX3230.3 BOOL Indicates the loss of information from the RTC
Unidirectional or Bidirectional - Counter 0
88 CNT_B0_EXT_EVENT %MB6472 BYTE Rising edge counter in the control pin of block 0
_CNT counter
89 CNT0 %MD1619 DWORD Counting value
90 CNT0_PRESET %MD1620 DWORD Load PRESET value
91 CNT0_HOLD %MD1621 DWORD Sampling value
92 CNT0_CMP0 %MD1622 DWORD Comparator 0 value
93 CNT0_CMP1 %MD1623 DWORD Comparator 1 value
94 CNT0_CMD %MB6496 BYTE Commands
95 CNT0_DG %MB6497 BYTE Diagnostics
Counter 0 Commands
96 CNT0_CLR %MX3248.0 BOOL Clear counting register
97 CNT0_STOP %MX3248.1 BOOL Disable counting
98 CNT0_LOAD %MX3248.2 BOOL Load PRESET

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99 CNT0_AMG %MX3248.3 BOOL Counting sampling (HOLD)

100 CNT0_OVER %MX3248.4 BOOL Clear overflow and underflow bit
Counter 0 Diagnostics
101 CNT0_OVERFLOW %MX3248.8 BOOL Counting overflow
102 CNT0_UNDERFLOW %MX3248.9 BOOL Counting underflow
103 CNT0_DIR %MX3248.10 BOOL Counting direction (0- progressive / 1- regressive)
104 CNT0_MAX_CMP0 %MX3248.11 BOOL Counter greater than CNT0_CMP0
105 CNT0_MAX_CMP1 %MX3248.12 BOOL Counter greater than CNT0_CMP1
106 CNT0_EQ_CMP0 %MX3248.13 BOOL Counter equal to CNT0_CMP0
107 CNT0_EQ_CMP1 %MX3248.14 BOOL Counter equal to CNT0_CMP1
108 CNT0_ZERO %MX3248.15 BOOL Counter equal to ZERO
Unidirectional – Counter 1
109 CNT1 %MD1626 DWORD Counting value
110 CNT1_PRESET %MD1627 DWORD Load PRESET value
111 CNT1_HOLD %MD1628 DWORD Sampling value
112 CNT1_CMP0 %MD1629 DWORD Comparator 0 value
113 CNT1_CMP1 %MD1630 DWORD Comparator 1 value
114 CNT1_CMD %MB6524 BYTE Commands
115 CNT1_DG %MB6525 BYTE Diagnostics
Counter 1 Commands
116 CNT1_CLR %MX3262.0 BOOL Clear counting register
117 CNT1_STOP %MX3262.1 BOOL Disable counting
118 CNT1_LOAD %MX3262.2 BOOL Load PRESET
119 CNT1_AMG %MX3262.3 BOOL Counting sampling (HOLD)
120 CNT1_OVER %MX3262.4 BOOL Clear overflow and underflow bits
Counter 1 Diagnostics
121 CNT1_OVERFLOW %MX3262.8 BOOL Counting overflow
122 CNT1_UNDERFLOW %MX3262.9 BOOL Counting underflow
123 CNT1_DIR %MX3262.10 BOOL Counting direction (0- progressive / 1- regressive)
124 CNT1_MAX_CMP0 %MX3262.11 BOOL Counter greater than CNT1_CMP0
125 CNT1_MAX_CMP1 %MX3262.12 BOOL Counter greater than CNT1_CMP1
126 CNT1_EQ_CMP0 %MX3262.13 BOOL Counter equal to CNT1_CMP0
127 CNT1_EQ_CMP1 %MX3262.14 BOOL Counter equal to CNT1_CMP1
128 CNT1_ZERO %MX3262.15 BOOL Counter equal to ZERO
Unidirectional or Bidirectional - Counter 2
129 CNT_B1_EXT_EVENT %MB6474 BYTE Rising edge counter in the control pin of block 1
_CNT counter
130 CNT2 %MD1633 DWORD Counting value
131 CNT2_PRESET %MD1634 DWORD Load PRESET value
132 CNT2_HOLD %MD1635 DWORD Sampling value
133 CNT2_CMP0 %MD1636 DWORD Comparator 0 value
134 CNT2_CMP1 %MD1637 DWORD Comparator 1 value
135 CNT2_CMD %MB6552 BYTE Commands
136 CNT2_DG %MB6553 BYTE Diagnostics
Counter 2 Commands
137 CNT2_CLR %MX3276.0 BOOL Clear counting register
138 CNT2_STOP %MX3276.1 BOOL Disable counting
139 CNT2_LOAD %MX3276.2 BOOL Load PRESET
140 CNT2_AMG %MX3276.3 BOOL Counting sampling (HOLD)
141 CNT2_OVER %MX3276.4 BOOL Clear overflow and underflow bits
Counter 2 Diagnostics
142 CNT2_OVERFLOW %MX3276.8 BOOL Counting overflow
143 CNT2_UNDERFLOW %MX3276.9 BOOL Counting underflow
144 CNT2_DIR %MX3276.10 BOOL Counting direction
145 CNT2_MAX_CMP0 %MX3276.11 BOOL Counter greater than CNT2_CMP0

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 6. Maintenance

146 CNT2_MAX_CMP1 %MX3276.12 BOOL Counter greater than CNT2_CMP1

147 CNT2_EQ_CMP0 %MX3276.13 BOOL Counter equal to CNT2_CMP0
148 CNT2_EQ_CMP1 %MX3276.14 BOOL Counter equal to CNT2_CMP1
149 CNT2_ZERO %MX3276.15 BOOL Counter equal to ZERO
Unidirectional – Counter 3
150 CNT3 %MD1640 DWORD Counting value
151 CNT3_PRESET %MD1641 DWORD Load PRESET value
152 CNT3_HOLD %MD1642 DWORD Sampling value
153 CNT3_CMP0 %MD1643 DWORD Comparator 0 value
154 CNT3_CMP1 %MD1644 DWORD Comparator 1 value
155 CNT3_CMD %MB6580 BYTE Commands
156 CNT3_DG %MB6581 BYTE Diagnostics
Counter 3 Commands
157 CNT3_CLR %MX3290.0 BOOL Clear counting register
158 CNT3_STOP %MX3290.1 BOOL Disable counting
159 CNT3_LOAD %MX3290.2 BOOL Load PRESET
160 CNT3_AMG %MX3290.3 BOOL Counting sampling (HOLD)
161 CNT3_OVER %MX3290.4 BOOL Clear overflow and underflow bits
Counter 3 Diagnostics
162 CNT3_OVERFLOW %MX3290.8 BOOL Counting overflow
163 CNT3_UNDERFLOW %MX3290.9 BOOL Counting underflow
164 CNT3_DIR %MX3290.10 BOOL Counting direction
165 CNT3_MAX_CMP0 %MX3290.11 BOOL Counter greater than CNT3_CMP0
166 CNT3_MAX_CMP1 %MX3290.12 BOOL Counter greater than CNT3_CMP1
167 CNT3_EQ_CMP0 %MX3290.13 BOOL Counter equal to CNT3_CMP0
168 CNT3_EQ_CMP1 %MX3290.14 BOOL Counter equal to CNT3_CMP1
169 CNT3_ZERO %MX3290.15 BOOL Counter equal to ZERO
Fast Output - F0
170 F0_FREQ %MD1647 DWORD Frequency value for PTO/VFO/PWM
171 F0_PLS_TOT %MD1648 DWORD Total pulses value for PTO
172 F0_PLS_RMP %MD1649 DWORD Ramp pulses value for PTO
173 F0_DUTY %MB6600 DWORD Duty Cycle value for VFO/PWM
174 F0_DUTY_HR %MD1646 REAL Duty Cycle high-resolution value for VFO/PWM
175 F0_PTO_CNT_CMP0 %MD1570 DWORD Comparator 0 of F0 fast output
176 F0_PTO_CNT_CMP1 %MD1571 DWORD Comparator 1 of F0 fast output
Fast Output- F1
177 F1_FREQ %MD1652 DWORD Frequency value for PTO/VFO/PWM
178 F1_PLS_TOT %MD1653 DWORD Total pulses value for PTO
179 F1_PLS_RMP %MD1654 DWORD Ramp pulses value for PTO
180 F1_DUTY %MB6620 DWORD Duty Cycle value for VFO/PWM
181 F1_DUTY_HR %MD1651 REAL Duty Cycle high-resolution value for VFO/PWM
182 F1_PTO_CNT_CMP0 %MD1572 DWORD Comparator 0 of F1 fast output
183 F1_PTO_CNT_CMP1 %MD1573 DWORD Comparator 1 of F1 fast output
Fast Output - Commands and Diagnostics
184 PTO_CMD %MB6628 BYTE Operand mounted by the commands for PTO of F0
and F1 outputs. The commands are described
below.
185 VFO_CMD %MB6629 BYTE Operand mounted by the commands for VFO/PWM
of F0 and F1 outputs. The commands are described
below.
186 F0_PTO_DG %MB6630 BYTE Operand mounted by the diagnostics for PTO of F0
output. The diagnostics are described below.
187 F1_PTO_DG %MB6631 BYTE Operand mounted by the diagnostics for PTO of F1
output. The diagnostics are described below.
188 VFO_DG %MB6632 BYTE Operand mounted by the diagnostics for VFO/PWM
of F0 and F1 outputs. The diagnostics are described
below.

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 6. Maintenance

189 PTO_CNT_CMD %MB6276 BYTE Commands for counters of PTO at F0 and F1 fast
outputs.
190 F0_PTO_CNT_DG %MB6277 BYTE Operand mounted by the diagnostics for PTO pulse
counters of F0 output. The diagnostics are
described below.
191 F1_PTO_CNT_DG %MB6278 BYTE Operand mounted by the diagnostics for PTO pulse
counters of F1 output. The diagnostics are
described below.
192 F0_PTO_CNT_REL %MD1565 DWORD PTO relative pulse counter at F0 fast output.
193 F0_PTO_CNT_ABS %MD1566 DWORD PTO absolute pulse counter at F0 fast output.
194 F1_PTO_CNT_REL %MD1567 DWORD PTO relative pulse counter at F1 fast output.
195 F1_PTO_CNT_ABS %MD1568 DWORD PTO absolute pulse counter of F1 fast output.
PTO Commands - F0
196 F0_PTO_START %MX3314.0 BOOL Start the train of pulses (PTO) in the F0 output
197 F0_PTO_STOP %MX3314.1 BOOL Stop the train of pulses (PTO) in the F0 output
198 F0_PTO_SOFTSTOP %MX3314.4 BOOL Start a soft stop at the F0 output
199 F0_PTO_CNT_DIR %MX3138.0 BOOL Define the counting direction of the pulse counter of
F0 output.
200 F0_PTO_CNT_CLR %MX3138.1 BOOL Reset the absolute counter of F0 output.
PTO Commands - F1
201 F1_PTO_START %MX3314.2 BOOL Start the train of pulses (PTO) in the F1 output
202 F1_PTO_STOP %MX3314.3 BOOL Stop the train of pulses (PTO) in the F0 output
203 F1_PTO_SOFTSTOP %MX3314.5 BOOL Start a soft stop at the F1 output
204 F1_PTO_CNT_DIR %MX3138.2 BOOL Define the counting direction of the pulse counter of
F1 output
205 F1_PTO_CNT_CLR %MX3138.3 BOOL Reset the absolute counter of F1 output.
VFO/PWM Commands - F0
206 F0_VFO %MX3314.8 BOOL 0 -> Disable VFO/PWM in the F0 output (stopped
output) 1 -> Enable VFO/PWM in the F0 output
207 F0_VFO_DUTY_SRC %MX3314.10 BOOL Select the duty source, F0_DUTY or F0_DUTY_HR
VFO/PWM Commands - F1
208 F1_VFO %MX3314.9 BOOL 0 -> Disable VFO/PWM in the F1 output (stopped
output) 1 -> Enable VFO/PWM in the F1 output
209 F1_VFO_DUTY_SRC %MX3314.11 BOOL Select the duty source, F1_DUTY or F1_DUTY_HR
PTO Diagnostic - F0
210 F0_PTO_ON %MX3315.0 BOOL PTO output in operation
211 F0_PTO_ACE %MX3315.1 BOOL PTO output in acceleration
212 F0_PTO_REG %MX3315.2 BOOL PTO output in target velocity
213 F0_PTO_DES %MX3315.3 BOOL PTO output in deceleration
214 F0_PTO_PRM %MX3315.4 BOOL PTO output not parameterized
215 F0_PTO_ERR %MX3315.5 BOOL PTO output with parameterization error
216 F0_PTO_CNT_MAX_C %MX3138.8 BOOL Indicates that the pulse counter is greater than the
MP0 comparator 0 at the F0 output.
217 F0_PTO_CNT_MAX_C %MX3138.9 BOOL Indicates that the pulse counter is greater than the
MP1 comparator 1 at the F0 output.
PTO Diagnostic - F1
218 F1_PTO_ON %MX3315.8 BOOL PTO output in operation
219 F1_PTO_ACE %MX3315.9 BOOL PTO output in acceleration
220 F1_PTO_REG %MX3315.10 BOOL PTO output in target velocity
221 F1_PTO_DES %MX3315.11 BOOL PTO output in deceleration
222 F1_PTO_PRM %MX3315.12 BOOL PTO output not parameterized
223 F1_PTO_ERR %MX3315.13 BOOL PTO output with parameterization error
224 F1_PTO_CNT_MAX_C %MX3139.0 BOOL Indicates that the pulse counter is greater than the
MP0 comparator 0 at the F1 output.
225 F1_PTO_CNT_MAX_C %MX3139.1 BOOL Indicates that the pulse counter is greater than the
MP1 comparator 1 at the F1 output.
VFO/PWM Diagnostic - F0
226 F0_VFO_ON %MX3316.0 BOOL Output in operation
227 F0_VFO_PRM %MX3316.1 BOOL Output not parameterized

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 6. Maintenance

228 F0_VFO_ERR %MX3316.2 BOOL Output with parameterization error

VFO/PWM - F1 Diagnostic - F1
229 F1_VFO_ON %MX3316.3 BOOL Output in operation
230 F1_VFO_PRM %MX3316.4 BOOL Output not parameterized
231 F1_VFO_ERR %MX3316.5 BOOL Output with parameterization error
Analog Outputs Diagnostic
232 AO0_DG %MB6640 BYTE Channel 0 diagnostics of analog output
233 AO1_DG %MB6641 BYTE Channel 1 diagnostics of analog output
234 AO0_ERR %MX3320.0 BOOL Channel 0 in short-circuit (voltage) or open loop
(current)
235 AO1_ERR %MX3320.8 BOOL Channel 1 in short-circuit (voltage) or open loop
Analog Inputs Diagnostic
236 AI0_DG %MB6648 BYTE Channel 0 diagnostics of analog input
237 AI1_DG %MB6649 BYTE Channel 1 diagnostics of analog input
238 AI2_DG %MB6650 BYTE Channel 2 diagnostics of analog input
239 AI3_DG %MB6651 BYTE Channel 3 diagnostics of analog input
240 AI0_OPN %MX3324.0 BOOL Analog input in current 4-20 mA mode with open
loop
241 AI1_OPN %MX3324.8 BOOL Analog input in current 4-20 mA mode with open
loop
242 AI2_OPN %MX3325.0 BOOL Analog input in current 4-20 mA mode with open
loop
243 AI3_OPN %MX3325.8 BOOL Analog input in current 4-20 mA mode with open
loop
Digital Inputs Block 0
244 I00 %IX0.0 BOOL Digital Input I00
245 I01 %IX0.1 BOOL Digital Input I01
246 I02 %IX0.2 BOOL Digital Input I02
247 I03 %IX0.3 BOOL Digital Input I03
248 I04 %IX0.4 BOOL Digital Input I04
249 I05 %IX0.5 BOOL Digital Input I05
250 I06 %IX0.6 BOOL Digital Input I06
251 I07 %IX0.7 BOOL Digital Input I07
252 I08 %IX0.8 BOOL Digital Input I08
Digital Inputs Block 1
253 I10 %IX1.0 BOOL Digital Input I10
254 I11 %IX1.1 BOOL Digital Input I11
255 I12 %IX1.2 BOOL Digital Input I12
256 I13 %IX1.3 BOOL Digital Input I13
257 I14 %IX1.4 BOOL Digital Input I14
258 I15 %IX1.5 BOOL Digital Input I15
259 I16 %IX1.6 BOOL Digital Input I16
260 I17 %IX1.7 BOOL Digital Input I17
261 I18 %IX1.8 BOOL Digital Input I18
Digital Inputs Block 2
262 I20 %IX2.0 BOOL Digital Input I20
263 I21 %IX2.1 BOOL Digital Input I21
Analog Inputs
264 AI0 %IW4 WORD Channel 0 value
265 AI1 %IW5 WORD Channel 1 value
266 AI2 %IW6 WORD Channel 2 value
267 AI3 %IW7 WORD Channel 3 value
Digital Outputs Block 0
268 Q00 %QX0.0 BOOL Digital Output Q00
269 Q01 %QX0.1 BOOL Digital Output Q01
270 Q02 %QX0.2 BOOL Digital Output Q02

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 6. Maintenance

271 Q03 %QX0.3 BOOL Digital Output Q03

272 Q04 %QX0.4 BOOL Digital Output Q04
273 Q05 %QX0.5 BOOL Digital Output Q05
274 Q06 %QX0.6 BOOL Digital Output Q06
275 Q07 %QX0.7 BOOL Digital Output Q07
Digital Outputs Block 1
276 Q10 %QX1.0 BOOL Digital Output Q10
277 Q11 %QX1.1 BOOL Digital Output Q11
278 Q12 %QX1.2 BOOL Digital Output Q12
279 Q13 %QX1.3 BOOL Digital Output Q13
280 Q14 %QX1.4 BOOL Digital Output Q14
281 Q15 %QX1.5 BOOL Digital Output Q15
282 Q16 %QX1.6 BOOL Digital Output Q16
283 Q17 %QX1.7 BOOL Digital Output Q17
Analog Outputs
284 AO0 %QW3 WORD Channel 0 value
285 AO1 %QW4 WORD Channel 1 value

Table 6-9. Reserved Operands

The following reserved operands groups are declared in the configuration tree: Digital Inputs Block
0, Digital Inputs Block 1, Digital Inputs Block 2, Analog Inputs, Digital Outputs Block 0, Digital
Outputs Block 1, and Analog Output.

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 7. Special Applications with Serial RS-232

7. Special applications with Serial RS-232

This chapter describes how the RS-232 serial interface (COM1) may be used in special applications
requiring the use of control signals (RTS, CTS, DTR and DSR), as well as of normal data signals
(TXD and RXD).

RTS/CTS Hardware Handshake in Radio Modems

Usually, a radio has its carrier switched (on) only when it is transmitting; and off when it is not
transmitting. This happens due to the following reasons:
 to save energy while the radio is not transmitting
 to avoid overheating transmitter
 to allow another radio to use the same frequency while it is not transmitting
In handheld radio transceivers (walkie-talkies), for example, usually there is a PTT button (push to
talk) that must be pressed before the operator can talk (and released after that). In the event of data
transmission via radio modems, the controller RTS output should be used to trigger the radio PTT
and turn the carrier on. After the PTT connection, hypothetically, the controller may start the data
transfer through its TXD output. However, in practice, there is a stabilizing delay. As a result, when
triggering the RTS (PTT radio), the carrier is on, but only after a while it will be stable and
recognized by the radio(s) receiver(s). This period of time varies according to each modem-radio
model. Finally, in order forthat the controller to synchronize the time of the data transmission start up
(TXD), the modem radio returns an output (CTS), which is turned on in the controllers CTS input.
Therefore, the data transmission protocol between the radio and the modem controller, called the
RTS/CTS handshake, occurs as follows:
1. When the controller wants to transmit, the RTS output is turned on. This output must be
connected to the RTS radio modem input. Note that in the controller, RTS is an output, and in
the radio modem, RTS is an input.
2. When the radio modem RTS realizes that the RTS input was turned on, it turns the carrier on
(PTT) and, after a typical time of this kind of radio, it turns the CTS output on.
3. When the controller realizes that the CTS is on, it starts the data transmission via TXD output,
which is connected to the radio modem TXD input. Note that in the modem radio, CTS is an
output and in the CTS controller it is an input, as well as the TXD, which is an output on the
controller and an input in the radio modem.
4. If the driver does not receive the CTS radio modem return in 1 second after the RTS output was
turned on and requesting the transmission, the transmission process is aborted and an error is
signaled (CTS timeout).
5. If the PLC received the CTS return before 1 second, the data transmission is started via TXD.
The RTS output is turned off as soon as the data transmission ends. When the radio modem
realizes that, it turns off the carrier (PTT), and its CTS output.

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 7. Special Applications with Serial RS-232

The following figure shows the timing of the RTS, CTS, and TXD signals during data transmission.
In addition, the DCD item (carrier detection) illustrates what happens in a radio DCD signal
receiving that data transmission. The RXD item illustrates what happens in a radio signal RXD
receiving that data transmission.

TRANSMITTER SIDE:
RTS
CTS
TXD

RECEIVER SIDE::
DCD
RXD

Figure 7-1. RTS, CTS and TXD Signals Timing

The following figure illustrates how the PLC and the modem radio must be connected.

PLC MODEM RADIO

RTS RTS
CTS CTS
TXD TXD
RXD RXD
GND GND
Figure 7-2. PLC and ModemDCD
Radio Connection

ATTENTION:
Some modern and smart radio modems do not require the RTS/CTS handshake, since their PLC
interconnection cable renders both the RTS and the CTS signals unnecessary. These radio modems
manage automatically the carrier activation / deactivation (PTT) and analyze the data signal (TXD).
This management is done via microchip or another smart circuit installed in the radio modem.

RTS/CTS Hardware Handshake on RS-485 Converters

RS-485 converters are installed on buses where two or more pieces of equipment with an RS-485
interface can coexist sharing the same physical layer for transmission and reception. Thus, only one
of the converters can perform the data transmission at any given moment in order to avoid colliding
data.
Similarly to the radio modems situation, the RTS signal should be used to enable the RS-485
converter transmitter. When the RS-485 converter is not operating, the transmitter must be disabled
or kept in “high impedance”.
Usually, the main difference between radio modems and RS-485 converters is the carrier stabilization
time. In modems, time is considerable (around a few milliseconds). In RS-485converters, the data
transmission via TXD may be started as soon as the RTS signal is activated. This action causes the

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 7. Special Applications with Serial RS-232

CTS test to be dismissed (whereas it is necessary in the case of radio modems).

However, to avoid the creation of another handshake type, the RTS/CTS handshake described for
radio modems is used. Most of the RS-485 converters enable the CTS output immediately after
receiving the RTS input, or they even interconnect their RTS and CTS pins. If the converter does not
hold a CTS pin, a cable connection may be provided.
There are two recommended methods of interconnection between the controller and the RS-485
converter. The following figure exhibits these two methods.

PLC RS-485 CONV.

RTS RTS
The converter has
CTS CTS
a CTS output
TXD TXD
RXD RXD
GND GND

PLC RS-485 CONV.

RTS RTS
The converter
CTS
does not have a
TXD TXD
CTS output
RXD RXD
GND GND

Figure 7-3. PLC and RS-485 Converter Connection

The figure below shows the timing of RTS, CTS, and TXD signals during data transmission.

RTS
CTS
TXD

Figure 7-4. RTS, CTS and TXD Signals Timing

ATTENTION:
Some modern and smart RS-232 to RS-485 converters do not require the RTS/CTS handshake,
since their PLC interconnection cable renders both the RTS and the CTS signals unnecessary. These
converters manage automatically the carrier activation / deactivation and analyze the data signal
(TXD). This management is done via microchip or another smart circuit installed in the RS-232 to
RS-485 converter.

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 8. Glossary

8. Glossary
AES Function for instantaneous updating of digital or analog inputs and outputs.
Application Program Program downloaded into the PLC and has the instructions that define how the machinery or process will
work.
ARRAY Used to declare a data structure that holds a series of elements of the same size and type.
Backlight Display background lighting.
Bit Basic information unit, it may be at 1 or 0 logic level.
Brownout Electronic circuit to check the integrity of the power supply operation. Used for triggering a security logic in
case of power failures.
Bus Set of electrical signals that are part of a logic group with the function of transferring data and control
between different elements of a subsystem.
Byte Information unit composed by eight bits.
CPU Central Processing Unit. It controls the data flow, interprets and executes the program instructions as well
as monitors the system devices.
Crosstalk Is interference between two signals theoretically insulated.
Cycle Complete application program implementation of a programmable controller.
Diagnostics Procedures to detect and isolate failures. It also relates to the data set used for such tasks, and serves for
analysis and correction or problems.
Duty Cycle Percentage of time that a periodic square wave signal is at logical level 1 considering the same period of
time.
DWord Double Word.
Encoder Normally refers to position measurement transducer.
Firmware The operating system of a PLC. It controls the PLC basic functions and executes the application programs.
Function block A function block is a POU that provides one or more values during its use. Unlike the function, the
function block does not provide any return value.
Handshake Process by which two machines report to each other that it was recognized and is ready to start the
communication.
Hardware Physical equipment used to process data where normally programs (software) are executed).
HMI Human Machine Interface.
IEC International Electrotechnical Commission. It is an international standards for preparing and publishing
international standards for electrical, electronic and related technology.
IEC 61131-3 Third part of the generic standard for operation and usage of programmable controllers.
Interface Normally used to refer to a device that adapts electrically or logically the transferring of signals between
two equipments.
Interruption Priority event that temporarily halts the normal execution of a program. The interruptions are divided into
two generic types: hardware and software. The former is caused by a signal coming from a peripheral,
while the later is caused within a program.
Kbytes Memory size unit. Represents 1024 bytes.
®
MasterTool IEC The Altus WINDOWS based programming software that allows application software development for
PLCs from the Ponto, Grano, Piccolo, AL-2000, AL-3000 and Quarks series. Throughout this manual, this
software is referred by its code or as MasterTool Programming.
Menu Set of available options for a program, they may be selected by the user in order to activate or execute a
specific task.
MODBUS Data communication protocol for industrial networks created for networks with master-slave architecture.
Module (hardware) Basic element of a system with very specific functionality. It’s normally connected to the system by
connectors and may be easily replaced.
Module (software) Part of a program capable of performing a specific task. It may be executed independently or in conjunction
with other modules through information sharing by parameters.
NAVIGATION Function block for browsing in the user screens via Up arrow and Down arrow keys.
Operands Elements on which software instructions work. They may represent constants, variables or set of variables.
Programmable Also know as PLC. Equipment controlling a system under the command of an application program. It is
Controller composed of a CPU, a power supply and I/O modules.
PLC See Programmable Controller.
POU Program Organization Unit, is a subdivision of the application program that can be written in any of the
available languages.
Programming Language Set of rules, conventions and syntaxes utilized when writing a program.
PTO Pulse Train Output.

110
 8. Glossary

PWM Pulse Width Modulation.

RS-232 It is a standard for serial data change between two points (point to point).
RS-485 It is a standard for serial data change between two or more points (multipoint).
RTC Real Time Clock.
Safe state Condition in which the PLC changes its analog and digital outputs to a known state.
Software Computer programs, procedures and rules related to the operation of a data processing system.
Task A task is a unit of time in processing a IEC program. It is defined by a name, a priority and a given type of
condition that will trigger its startup.
Timeout Maximum preset time to a communication to take place. When exceeded, then retry procedures are started
or diagnostics are activated.
Upload Reading a program or configuration from the PLC.
VFO Variable Frequency Output.
Watchdog Electronic circuit that checks the equipment operation integrity.
Word Information unit composed by 16 bits.

111