Vigor VS Series Owner's manual

VS Series PLC
Programming Manual
Version: 2.0 Date: August , 2018
Preface
is a registered trademark of VIGOR ELECTRIC CORP. in Taiwan.
®
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VIGOR
Name of Manual Content
VS Series PLC Product Manual
Introduction to VS Series PLC
Environment, wiring and installation cautions of VS Series PLC
VS Series PLC
Programming Manual
(This book)
Descriptions of VS Series PLC components
The purpose of this book is to give programming inspires for the VS series PLC. For the installation, wiring,
maintenance and safety precautions of VS Series PLC, please refer to the VS Series PLC Product Manual.
Functions of basic instructions and application instruction
Precautions regarding programming
Instructions of optional devices
Precautions of environment, wiring and installment
Trademark
Other products or service names appeared in this book are the property of their companies .

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Table of Contents
1. Introduction of VS series PLC
1-1 The Basic Concept of PLC Users
1-1-1 Introduction of PLC
1-1-2 Conguration of PLC
1-1-3 PLC Operation and Scan Time
1-1-4 PLC Input Signals
1-1-5 PLC Output Signals
1-1-6 Some Improper Diagrams at a PLC Program
1-1-7 Double Coil Output
1-1-8 Conclusion
1-2 The VS Series PLC Products Overview
1-3 Specification Table of All the VS Series Main Units
1-4 Overview of VS series PLC models
2. Component Descriptions
2-1 Table of Components
2-2 External Input (X) and External Output (Y)
2-2-1 External Input (X)
2-2-2 External Output (Y)
2-2-3 External Input/Output Assigned Numbers
2-3 Auxiliary Relay (M)
2-4 Step Relay (S)
2-5-2 Retentive Timers
2-5 Timer (T)
2-5-1 General Timers
2-5-3 Using a Timer in a Subroutine
2-5-4 Methods to Appoint the Set Value of a Timer
2-5-5 Detailed Description about the Output Action and Accuracy of a Timer
2-6 Counter (C)
2-6-1 16- bit Counter
2-6-2 32- bit Counter
2-6-3 Methods to Appoint the Set Value of a Counter
2-7 Software High Speed Counter
2-7-1 1-Phase High Speed Counter
2-7-2 2-Phase High Speed Counter
2-7-3 A/B Phase High Speed Counter
2-7-4 Precautions for Using the Software High Speed Counter
2-8 Data Register (D) and Expansion Register (R)

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2-9 Index Register (V and Z)
2-9-1 Using Index Register in Basic Instruction
2-9-2 Using Index Register in Application Instruction
2-9-3 Demonstration Program Using Index Register
2-10 Mark Pointer and Branch Pointer (P)
2-11 Table Nickname and Table Code (Q)
2-12 Interrupt Pointer (I)
2-13 Numerical System
2-14 Special Relay and Special Register
2-14-1 Table of Special Relay
2-14-2 Instruction Table of Special Register
2-14-3 Error Code Description
2-15 The X0~X7 High Speed Input Function Description
2-15-1 External Interrupt
2-15-2 Pulse Capture
2-15-3 Pulse Measurement
2-15-4 Hardware High Speed Counter
2-16 Expansion Card Related Components
2-16-1 The DIO Expansion Card Related Components
2-16-2 The Communication Expansion Card Related Components
2-16-3 The Special Function Expansion Card Related Components
2-17 Special Function Module
2-17-1 Buffer Memory BFM in the VS-4AD Module
2-17-2 Buffer Memory BFM in the VS-2DA Module
2-17-3 Buffer Memory BFM in the VS-3A Module
2-17-4 Buffer Memory BFM in the VS-6A Module
2-17-5 Buffer Memory BFM in the VS-4TC Module
2-17-6 Buffer Memory BFM in the VS-8TC Module
2-17-7 Buffer Memory BFM in the VS-2PT Module
2-17-8 Buffer Memory BFM in the VS-4PT Module
3. Basic Instruction
3-1 Basic Instruction Table
3-2 The LD, LDI, AND, ANI, OR, ORI, INV, OUT and END Instructions
3-3 The LDP, LDF, ANDP, ANDF, ORP, OPF, MEP and MEF Instructions
3-4 The ANB and ORB Instructions
3-5 The MPS, MRD and MPP Instructions
3-6 The MC and MCR Instructions
3-7 The SET and RST Instructions
3-8 The PLS and PLF Instructions

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3-9 The OUT and RST Instructions for the Timer or Counter
3-10 Significant Notes for Programming
3-10-1 Convert the Ladder Diagram to the Instruction List
3-10-2 Programming Techniques
4. Sequential Function Chart (SFC) and Step Ladder (STL)
4-1 What is the Sequential Function Chart (SFC)
4-1-1 The Framework of SFC
4-1-2 Basic Components of SFC
4-1-3 State and Action of SFC
4-1-4 Types of SFC
4-2 Compiling the Sequential Function Chart (SFC)
4-2-1 Create the Flowchart of the Sequential Procedures
4-2-2 Convert the Flowchart to the SFC
4-2-3 Use the Ladder Master S to Edit the SFC
4-3 Description the Application Types of SFC
4-3-1 Single Flow, Jump and Repeat Flow During the Flowchart Transfer
4-3-2 Selective Branch and Merge
4-3-3 Simultaneously Parallel Branch and Merge
4-3-4 Special Notices About the SFC
4-4 Precautions About the Composition of the SFC
4-5 STL / SFC Relevant Special Components
4-6-1 The Step Ladder Instruction (STL)
4-6 The Relationship Between the SFC and STL
4-6-2 Compare the Descriptive Methods Between the SFC and STL
4-7 Examples of SFC Applications
4-7-1 Construct the Repeat / Single Run / Single Step Control Modes for a Park Fountain
4-7-2 Filling Bottles
4-7-3 Trafc Lights
4-7-4 Mechanical Double-Decked Parking Space
5 General Rules of Application Instructions
5-1 The Formats of Application Instructions
5-2 Data Process of Application Instructions
5-3 Precautions of Using Application Instruction
6. Application Instructions
6-1 Application Instruction Table
6-2 Program Flow Instructions
6-3 Comparison, Move and Code Exchange Instructions

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6-9 External Setting and Display Instructions
6-4 Arithmetic and Logical Operation Instructions
6-5 Rotary and Shift Instructions
6-6 Data Operation Instructions
6-7 High Speed Processing Instructions
6-8 Handy Instructions
6-10 Serial Communication Instructions
6-11 Handy Instructions
6-12 Floating Point Arithmetic Instructions
6-13 Advanced Data Processing and MBUS Instructions
6-14 Real Time Clock Related Instructions
6-15 Code Conversion and Timer Instructions
6-16 RND, DUTY, CRC and HHCMV Instructions
6-17 Block Data Handling Instructions
6-18 Character String Handling Instructions
6-19 Data Table Handling and Shift Instructions
6-20 In-Line Comparison Instructions
6-21 Handy Instructions and DABIN, BINDA, HSCT Instructions
6-22 Positioning Control Instructions
7-1-1 Fundamental Object about the Communication Function
7-1-2 Notes for Constructing Communication Systems
7. Statement of Communication Functions
7-1 Key Points of Communication Functions
7-2 Structure of Communication System
7-2-1 Main Unit Built-in Communication Port
7-2-2 VS-485-EC Communication Expansion Card
7-2-3 VS-485A-EC Communication Expansion Card
7-2-4 VS-D485-EC Communication Expansion Card
7-2-5 VS-D485A-EC Communication Expansion Card
7-2-6 VS-D232-EC Communication Expansion Card
7-2-7 VS-D52A-EC Communication Expansion Card
7-2-8 VS-ENET-EC Communication Expansion Card

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7-3 Communication Types
7-3-1 Selections of Communication Types
7-3-2 VS Computer Link Slave
7-3-3 VS Computer Link Master
7-3-4 VB Computer Link Slave
7-3-5 MODBUS Slave
7-3-6 MODBUS Master
7-3-7 CPU Link
7-3-8 Non Protocol
7-4 VS Series PLC Communication Protocol
8. Statement of Positioning Control Functions
8-1 Positioning Parameter Setup
8-1-1 Assign the positioning Units
8-1-2 Basic Parameters
8-1-3 Positioning Operation Setting Up
8-2 Special Components Related to Positioning Control Instructions
8-3 Positioning Control Instructions
8-4 Positioning Program Example
8-4-1 Positioning Program Example for the VS1 or VS2 Series PLC
8-4-2 Positioning Program Example for the VSM or VS3 Series PLC
8-4-3 8 Axes Positioning Program Example

The conguration of programmable controller is shown in Fig. 1-1. Below describes the elements of a PLC briey:
Fig.1-1 Processing Architecture of PLC
Various loads
Human-Machine Interface,
SCADA, other PLC,
Inverter, Thermostat, .....
Programming tool
Programmable controller
Input interface
Program processing unit
Output interface
Programming
interface
Communication
interface
Program memory
for user program Data memory Power
supply
˙˙˙˙˙
Electromagnetic
contactor,
Motor,
Indicator,
Solenoid valve,
˙˙˙˙˙
Power supply Inside of a PLC consists of ordinary electronic circuit that must use low voltage DC power.
Currently, a PLC manufacturer provides with the AC or DC power input model for the customer to choose from.
The AC power model has a power supply circuit within the PLC to convert AC to DC. The DC power model needs to
provide its power from an external DC source (usually DC 24V) then the PLC uses the internal DC to DC circuit to
convert the power to supply the internal circuit require.
Program processing unit The CPU is the core of a PLC, that is responsible for interpreting the user programs
and calculating the results to achieve the purpose of control.
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1. Introduction of VS series PLC
1-1 The Basic Concept of PLC Users
1-1-1 Introduction of PLC
The programmable Logic Controller (PLC) is an industrial computer control system that is easy to maintain, low cost
and saves space. In addition to its programmable features, because it is used in the eld of industrial control, PLC is
also required to have high reliability and resistance to climate.
The concept of PLC was introduced by General Motors in 1968. It has been developed by decades. The initial PLC only
had the simple logic control ability, and thus was named as a programmable logic controller. Since Today's PLC
functions have covered the scopes of mathematical operations, servo control and communication links, the more
correct name for it should be programmable controller (referred to as PC), which means a controller that is
programmable. Due to the fact that it shares the same English abbreviation with the personal computer (referred to as
PC). Therefore, in order to distinguish, the programmable controller is referred to as PLC.
PLC has micro controller at its core. The rapid development of semiconductor technology has substantially increased
PLC's computing speed, program capacity and communication connectivity and decreased its prices. Coupled with the
demands on high reliability and resistance to climate the design requirements, PLC is widely used in the eld of
automatic control, and has become an extremely important part.
1-1-2 Configuration of PLC
Various input components
Peripheral equipment
Handheld programming
device or
PC programming software
This is because the use of external DC power supply can avoid the event of unstable AC power input to damage the
controller (this problem is easy to handle if an external DC power supply is used);This is because the use of external
DC power supply can avoid the event of unstable AC power input to damage the controller (this problem is easy to
handle if an external DC power supply is used); therefore, the use of external power supply increases the stability of
control systems. On the other hand, it lowers the general cost of control systems. It is to kill two birds with one stone.
Small PLCs usually use microcontrollers as the core. Now the semiconductor technology has been able to integrate
CPU, memory and a variety of peripheral circuits into a SOC (System On Chip). This not only improves the overall
performance, but also reduces costs. So now, even small PLCs use high-performance 32-bit CPU chip to produce
controllers with fast execution, large program capacity and diverse functions, the real value for money.
Limit switch,
Proximity switch,
Photoelectric switch,
Button switch,
In the past, user prefers to use the AC power input models. However, since there are many related equipments
inside the control panel also required DC power, the use of an external DC power supply to provide all DC
consumptions is popular in recent years.

Input interface The PLC reads external signals through its input interface to in order to operate as a reference
for the program.
In general, in order to prevent noise interference, the internal circuit of PLC inputs will isolate by photocouplers.
The acceptable voltage of the input photocoupler is not high, so special attention should be paid to the external
wiring. High voltage will damage the photocoupler and cause the input interface break down.
Output interface The PLC sends the computed result to its output interface, then to drive components and
reach the control action concretely.
In order to avoid interference from noises, at the output interface of a PLC has the isolation circuit. Typically, the
outputs are relays (by mechanically magnetic isolation) or transistors with photocouplers.
The relay output is the dry contact of switch which with the advantage of intuitive no current direction limit and
accepts AC or DC signal. The disadvantages are shorter life of contact, which is not a durable part and will affect the
controller's life. Also, the movement of its contact is slow (about 5 ~ 10ms) which is not suited for the fast response
output.
The transistor is a semiconductor contactless switch, which has advantages and disadvantages just opposite to a
relay.
According to the characteristics of the control objectives, should choose an appropriate output type when designing
the control system. In addition, for the purpose of the system reliability, may choose the transistor output type if it is
possible.
Data memory The data memory in PLC is responsible for storing the data.
Both the operating system and the user program must have data workspace. Typically, SRAM (static random access
memory) is used as the data work area.
However, a part of the PLC data memory area must have latched feature to preserve the relevant parameter settings
and specic operating results when power is missing. There are two components can cooperate with the SRAM to
latch, one is the lithium battery, the other is the non-volatile (such as EEPROM, Flash ROM, FRAM, etc.) memory.
Regarding their advantages and disadvantages, please refer to the description of program memory.
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Program memory The memory for the PLC user to store the compiled control program, can let the CPU to
interpret and compute then produces the control procedures.
The program memory must have the ability to preserve its contents, in order to continue work after the power is
resumption. At present, there are two ways.
The rst way is to use the SRAM (static random access memory) cooperated with a lithium battery. The advantages
of this method are more exible and less restrictive. But, the disadvantage is once the battery is exhausted, all the
program and settings will disastrously disappear.
The second method is to use non-volatile memory (such as EEPROM, Flash ROM, FRAM, etc.). By the no battery
required characteristic of those semiconductor components to preserve the program. Its advantages are stable and
reliable; but usually with higher cost, has the restriction on the number of writing times and slower in writing.
A control system which is composed by a small PLC usually got less care from the owner. Therefore, it is a better
choice to use battery-free non-volatile memory to store the user program.
Communication interface An interface which is responsible for linking PLC with the surrounding equipment for
data transmission.
Programming device The PLC manufacturer provides a device for users to program and debug.
Nowadays, the common communication interfaces are the RS-232, RS-422 and RS-485, also the use of Ethernet is
gradually increased.
In addition to protocol with their own products, the PLC manufacturers usually provide communication protocol with
MODICON's MODBUS to facilitate connecting with peripherals.
With the increasing complexity of automatic control systems, PLC manufacturers also pay attention to the
communication capacity to link with more peripherals. Therefore, higher level of PLC can provide several
communication interfaces to make it work with more peripherals and complete complex control demands.
Common programming devices include handheld programming device and PC programming software.
The handheld programming device usually uses the simple-text of Instruction List (IL), in fact it is an important part in
the programming development of a PLC. However, with the progress of the times and the popularity of personal
computers. The software at PC which can provide graphical interface and has become the best choice for PLC
programming.
Peripheral equipment Various devices are linked with the PLC to complete the control system together.
A PLC is often linked with peripheral equipments, such as the computer, human-machine interface (HMI), inverter,
thermostat, servo drive, power meter and other PLC.
The most commonly peripheral equipment which PLC operates with are:
1. A computer or human-machine interface connected to a PLC for machine settings and monitoring
2. A computer or human-machine interface connected with multiple PLCs that becomes a local network team and its
monitor.
3. Linking several PLCs for proceeding decentralized control.
4 Linking PLC to a variety of peripheral equipment of specic use, for extending control areas.
Programming interface The communication interface for to link the programming device with the PLC.
The user uses the programming device to write a control program and through the programming interface to load to
the PLC. Furthermore, monitoring and debugging to complete the program's calibration test.
Generally, the programming interface is a serial communication interface, the RS-232, RS-422 or RS-485 port is
popular. Recently there have been some PLC introduced with the USB interface to provide faster communication link.

The PLC systems use microcomputer technology to achieve the purpose of simulating traditional relay control panel.
The microcomputer rst reads the external inputs and then sequentially scans and executes the user program, so as to
calculate the control result that the user wants to achieve. Finally, it outputs the result to drive the external loads and
performs the real control action. The PLC execution order is shown in Fig. 1-2.
The PLC will sequentially execute the cycle ( ① receive external inputs; ② process the user program; ③ output the
computed results). Then, the time spent for one cycle is called a “Scan Time”.
Fig. 1-2 PLC operation order and scan time
Loads the status (ON/OFF) form external input components via
the input interface and stores that into the data memory.
One cycle of
“Scan Time”
The CPU uses the status in the data memory and the rule of user
program to compute the results, then stores all the results into the
data memory.
User program
Transmits the operation result from the data memory to the
output part, via the output interface to control external loads.
The PLC processes user program by the Sequential Scan (in the Ladder Diagram scans from left to right then from top
to bottom), as shown in Fig. 1-3. Therefore, must pay extra attention to the procedural order of the program.
Fig. 1-3 PLC makes the sequential scan at the Ladder Diagram
The “Scan Time” and “Sequential Scan” are the basic and the most important concepts. A PLC user must fully
understand those meanings, and pay attention about the inuences when designing the PLC program.
Y0
Y25
X0
Y0
Y20
M0
M100
M105
X1
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1-1-3 PLC Operation and Scan Time
① To receive the
external inputs
② To process the
user program
③ To output the
computed results

Fig. 1-4 PLC cannot read input signal which is swap over too fast
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1-1-4 PLC Input Signals
PLC's input endpoint is a window for PLC to accept control signals from outside, and is used to interface with a variety
of switches and sensing elements. In recent years, the PLC functions have been tending to more developed
diversication, detecting elements connected with the input points are also Therefore, it is necessary for more diverse.
users to further understand the interface of PLC input point. Here are a few things to note:
1. As the PLC's work environment is often lled with a variety of noises and interfering sources, in order to work properly,
photocouplers are often used at input endpoint to isolate noises.
2. The reaction speeds of different photocouplers are varied. The High-speed photocouplers can transmit signals faster,
but the cost is higher. Therefore, high-speed photocouplers are often used at the input points of PLC which need
high-speed responses. In the rest of case, general photocouplers are used.
3. In order to prevent noise interferences, the input circuit of a PLC in addition to photocouplers, also added with lters.
Filters are divided into analog lters (composed of RC circuit) and digital lters (lter time is adjustable).
According to functional requirements the PLC inputs can be divided into high-speed and general inputs. The general
inputs are usually used in receiving signals which are not too fast, and often connected to the mechanical switchs
(signal may have bounce in action). Thus, approximately 10ms lter circuits are added with in the general inputs.
The high-speed inputs are usually designed for multiple functional inputs, those can be used as general inputs (need
longer lter time) and can also process high-speed signals (need tiny lter time). Therefore, digital lters are used
with high-speed inputs, they adjust lter time according to different needs (higher speed does not always mean better).
4. There is a time delay between the PLC's CPU received and the external signal input. The delay time is accumulated
with the aforementioned photocoupler and added lter.
5. In order to meet multiple requirements, the current PLCs are usually designed with some high-speed input
endpoints to execute some functions which require high speeds, such as high-speed counting, external
interruption, pulse capture, frequency meter and pulse measurement.
These signals usually require rapid responses and are relatively susceptible to noises. Therefore, in use, extra
attention should be paid to its wiring. To avoid interfering sources, isolation cables can be used to avoid any
interference.
6. There is certain amount of drive current at the PLC input endpoint, when using sensing elements, one must pay
attention, especially when using two-wire sensing elements.
7. PLC cannot read input signals which change too fast. For PLC, regardless of input signals, ON or OFF, its duration
must be longer than the scan time; otherwise, PLC is likely failed to read correct signals, as shown in Fig.1-4.
When input signal changes too fast to be read normally, the interrupt input function or pulse wave capture function
can be employed.
User program processing User program processing User program processing
ON OFF ON OFF
This ON signal is unreadable This ON signal is readable This OFF signal is unreadable
Input signal
Output the computed
results
Receive the external
inputs
One cycle of
“Scan Time” Time