Programmable Logic Controller

Transcription

1 Programmable Logic Controller

2 RUN PAU/REM STOP BUILT-IN CNET ON OFF ROM Rom Mode MODE High speed counter (P000 P007) 1 phase 100kpps Ch, 10kpps Ch (Total 4Ch) phase 50kpps 1Ch, 0kpps 1Ch (Total Ch) RS-485 (Ch No.1) Multi-drop communication Modbus communication Input terminal RS-C ( ports) Loader port: (Rx), (Tx), 5 (SG) Ch No.0: 4 (Rx), 7 (Tx), 5 (SG) Extension terminal (Extansion, RTC, Memory modules) Positioning function (P040 P04) - Axes (100kpps) Output terminal PID control (8 loops) CONTENTS Features 4 System configuration 5 CPU specifications [Standard type] 6 CPU [Economic type] 8 Digital I/O specifications (Relay) 9 Digital output specifications (TR output) 11 Wiring diagram 1 Built-in functions 14 Analog module 19 RTD module / Analog timer Data register for special modules Communication interface 4 Extension communication modules 5 Communication specifications 6 Built-in/Communication module setting switch 6 Network configuration 7 Cable connection 9 Product list 0 Dimensions 1 Various base (main) units Standard type Economic type 0 points (I: 1, O: 8) 10 points (I: 6, O: 4) 0 points (I: 18, O: 1) 14 points (I: 8, O: 6) 40 points (I: 4, O: 16) 0 points (I: 1, O: 8) 60 points (I: 6, O: 4) 0 points (I: 18, O: 15) Processing speed 0.1μs / step (Economic type: 0.4μs / step) Program capacity 10 ksteps (Economic type: ksteps) Battery-less backup

3 Dedicated basic function Powerful built-in functions Various extension modules The best partner in price & performance Digital I/O modules: 5 types Special modules: 7 types (Analog I/O, Analog timer, Temperature) Communication modules: 6 types Digital I/O modules G7E-DR10A (6/4) G7E-DR0A (1/8) G7E-TR10A (0/10) G7E-DC08A (8/0) G7E-RY08A (0/8) Special modules G7F-ADHA (AD: Ch / DA: 1Ch) G7F-ADHB (AD: Ch / DA: Ch) G7F-ADA (AD: 4Ch) G7F-DAI (DA: 4Ch, Current) G7F-DAV (DA: 4Ch, Voltage) G7F-ATA (4 points, 0 00) G7F-RDA (4Ch) Communication modules G7L-CUEB: RS-C 1Ch (Ch0) G7L-CUEC: RS-4 1Ch (Ch0) G7L-DBEA: DeviceNet slave (Ch0) G7L-PBEA: Profibus-DP slave (Ch0) G7L-FUEA: Fieldbus interface (Fnet, Ch0) G7L-RUEA: Fieldbus interface (Rnet, Ch0) : Slim type

4 Features Main unit Economic type: 10/14/0/0 points (10/14 points, built-in analog timer points) - Total 70 points are available (up to extension modules can be connected; only one communication module can be applied) Standard type: 0/0/40/60 points DR type, DRT type (DRT types have 4 transistor output points for positioning) - Total 10 points are available (up to extension modules can be connected; only one communication module can be applied) Easy interface with SMART I/O (Rnet, Modbus) due to the increased P area (P000 P6F) High speed processing Basic commands: μs/step Application command: several μs several tens of μs/step Special module processing: several hundreds of μs 1ms/module Economic type: 0.4μs/step (Min.) Battery-less backup Program backup method: User program is automatically backed up in EEPROM (EEPROM backup while online editing) Data backup methods: Supercapacitor (over 000hours at normal temperature) Compact extension modules Various input handling Input filter: Delay time can be set from 0ms to 1000ms (8 points unit) Pulse catch: 10μs (P0, P1), 50μs (P P7) Economic type: 50μs (P0 P) External interrupt: 10μs (P0, P1), 50μs (P P7) Economic type: 50μs (P0 P) Improved high speed counter function (-bit signed counter) 1 Phase: 100kpps Ch, 0kpps Ch (Total 4Ch) Phase: 50kpps 1Ch, 10kpps 1Ch (Total Ch) Additional functions: Ring counter, Comparison output, RPM, Latch counter, Preset function Economic type 1 phase: 0kpps (4Ch), phase: 10kpps (Ch) Positioning function (DRT type only) Control axis: axes (100kpps) Operation mode: Single, Repeated, End, Keep, Cont Additional functions: Return to origin, JOG operation, Speed operation, PWM output Increased No. of communication channels and functions (Total Channels) Supports built-in RS-C/RS-485 (Total Ch) Supports no protocol mode and Communication monitoring for Ch0/1 (KGLWIN) Economic type K7M-DR10UE-14UE: 1 loader port and 1 RS-485 port (Total Ch) K7M-DR0UE-0UE: 1 loader port and 1 RS-C port (Pin No.: 4 (Rx), 7 (Tx), 5 (SG)) Improved PID control function (Standard type only) Relay and PRC auto-tuning PWM output, Anti-derivative kick, Positioning/Velocity algorithm can be assigned Powerful built-in functions 4

5 System configuration System configuration Main modules Product type - K7M-DR(T)0U: DC input 1 points / Relay 8 points / (Relay output 4 points / TR 4 points) - K7M-DR(T)0U: DC input1 8 points / Relay 1 points / (Relay output 8 points / TR 4 points) - K7M-DR(T)40U: DC input 4 points / Relay 16 points / (Relay output 1 points / TR 4 points) - K7M-DR(T)60U: DC input 6 points / Relay 4 points / (Relay output 0 points / TR 4 points) Number of available extension modules Digital I/O: modules Special module: modules Communication I/F: 1 module RTC module (1 module) Memory module (1 module) Standard type: Max. extension modules are connectable Economic type: Max. extension modules are connectable (RTC/Memory module and be added after extension modules) (+, - ) RS-485 (+, - ) Loader port (Rx), (Tx), 5 (SG) RS-C 4 (Rx), 7 (Tx), 5 (SG) Loader (KGLWIN) Various extension modules HMI Extension modules Digital input/output modules Input G7E-DC08A: DC input 8 points Output G7E-TR10A: TR output 10 points G7E-RY08A: Relay output 8 points Input/output hybrid module G7E-DR10A: DC 6 points / Relay 4 points G7E-DR0A: DC 1 points / Relay 8 points Special modules A/D D/A A/D, D/A RTD Analog timer G7F-ADA: 4Ch G7F-DAV: 4Ch (Voltage output) G7F-DAI: 4Ch (Current output) G7F-ADHA: Ch/1Ch G7F-ADHB: Ch/Ch G7F-RDA: 4Ch G7F-ATA: 4 points (0 00) Communication modules G7L-CUEB: RS-C 1Ch G7L-CUEC: RS-4 1Ch G7L-FUEA: Fieldbus interface (Fnet) G7L-RUEA: Fieldbus interface (Rnet) G7L-DBEA: DeviceNet slave G7L-PBEA: Profibus-DP slave Other option modules G7E-RTCA: RTC module G7E-M56B: Memory module 5

6 CPU specifications [Standard type] Item K7M-DR0U K7M-DR0U K7M-DR40U K7M-DR60U Remark K7M-DRT0U K7M-DRT0U K7M-DRT40U K7M-DRT60U CPU operation method Cyclic execution of stored program, Time-driven interrupt, Interrupt task operation I/O control method Scan synchronized batch processing method (refresh method), Direct method by command Program language Ladder Diagram, Instruction List Numbers of Basic 0 instruction Application 77 Processing speed Basic command: 0.1μs/step Program capacity 10kstep I/O Points 0 points 0 points 40 points 60 points P P000 P6F I/O relay M M000 M191F Aux. relay K K000 K1F Keep relay L L000 L6F Link relay F F000 F6F Special relay Memory device 100ms: T000 T191 T 10ms: T19 T50 Timer 1ms: T51 T55 C C000 C55 Counter S S00.00 S99.99 ( steps) Step relay D D0000 D4999 Data register Operation mode RUN, STOP, PAUSE Self-diagnostic functions Detect errors of scan time, Memory, I/O, Power supply Data backup method Set by parameter Built-in functions Max. extension stage PID Control function Cnet I/F Function High speed counter Capacity Mode Additional function (except RTC/Memory pack) Control by command, Auto-tuning, PWM output Forced output, Set scan time anti-windup Delta MV function, SV-Lamp function MASTER-K dedicated protocol support Modbus protocol support RS-C 1 port User-defined protocol support RS port No protocol support 1 Phase: 100kHz Ch / 0kHz Ch Phase: 50kHz 1Ch / 10kHz 1Ch It has 4 different counter functions 1 phase, up-down by program 1 phase, up-down by B-phase input phase, up-down by 1 phase phase, up-down by phase difference Internal/External preset function Latch counter function Comparison output function RPM function RTC/Memory module must be connected to the last extension terminal. 6

7 Built-in functions Specification Sitioning function Item K7M-DR0U K7M-DR0U K7M-DR40U K7M-DR60U Remark K7M-DRT0U K7M-DRT0U K7M-DRT40U K7M-DRT60U Basic function Positioning Return to origin Jog Pulse catch External interrupt Input filter No, of axis: axes Control method: PTP/speed Control unit: Pulse Positioning data: 0 data per each axis (Step No: 1 0) Operation mode: End, Keep, Cont Control method: Single, Repeated, Operation Positioning method: Absolute method/incremental method Address range: -,147,48,648,147,48,647 Speed: Max. 100kpps (Speed: 5 100,000pps) Acceleration/Deceleration processing (Operation pattern: Trapezoidal method) Origin detection when approximate origin turns off Origin detection after deceleration when approximate origin turns on Speed setting range: 5 100,000pps (High/Low) Pulse width: 10μs points (P0000 P0001) / 50μs 6 points (P000 P0007) 8 points: 10μs points (P0000 P0001) / 50μs 6 points (P000 P0007) 0, 1,, 5, 10, 0, 50, 100, 00, 500, 1000ms set by user Weight (g) DRT Type only CPU Operation mode RUN PAU/REM STOP [Mode key] Mode key position RUN STOP STOP PAU/REM PAU/REM RUN RUN PAU/REM PAU/REM STOP PLC operates continuously when changed from Remote RUN to Local RUN. Remote RUN/Remote STOP control is available in KGLWIN. Operation mode Local RUN Local STOP Remote STOP Local RUN Local PAUSE Local STOP RUN Mode (Local RUN/Remote RUN): operating mode; initialization of data area is executed when the first scan starts. STOP Mode (Local STOP/Remote STOP): program is not operated; program transferring in KGLWIN is available only in Remote STOP mode. PAU (PAUSE): program operation is temporarily stopped; if it returns to RUN mode, the operation will continue from the state before it stopped. REM (Remote): changeable mode to Remote RUN/STOP in KGLWIN 7

8 CPU [Economic type] Item K7M-DR10UE K7M-DR14UE K7M-DR0UE K7M-DR0UE Remark CPU operation method Cyclic execution of stored program, Time-driven interrupt, Interrupt task operation I/O control method Scan synchronized batch processing method (refresh method), Direct method by command Program language Ladder Diagram, Instruction List Numbers of Basic 0 instruction Application 65 Processing speed Basic command: 0.4μs/step Program capacity kstep I/O points 10 points 14 points 0 points 0 points P P000 P6F I/O relay M M000 M191F Aux relay K K000 K1F Keep relay L L000 L6F Link relay F F000 F6F Special relay Memory device 100ms: T000 T191 T 10ms: T19 T50 Timer 1ms: T51 T55 C C000 C55 Counter S S00.00 S99.99 ( Steps) Step relay D D0000 D4999 Data register Operation mode RUN, STOP, PAUSE Self-diagnostic function Detect errors of scan time, Memory, I/O, Power supply Data backup method Set by parameter Max. extension stage (except RTC/Memory pack) Built-in analog timer points None Input filter 0,, 5, 10, 0, 50, 100, 00, 500, 100ms set by user Interrupt 4 points (P0 P), 50μs Pulse catch 4 points (P0 P), 50μs Built-in RS-485 Built-in RS-C Built-in function MASTER-K dedicated protocol (LG protocol) Cnet I/F Modbus protocol User-defined protocol No protocol support Weight (g) Type Item Remark G7E-DR10A DC 4V input 6 points / Relay output 4 points G7E-DR0A DC 4V input 1 points / Relay output 8 points Digital I/O module G7E-TR10A TR input 10 points G7E-DC08A DC 4V input 8 points G7E-RY08A Relay output 8 points Cnet interface module G7L-CUEB RS-C 1Ch G7L-CUEC RS-4 1Ch RTC module G7E-RTCA RTC module Memory module G7M-M56B Memory module Special function modules are available after October, 00. 8

9 Digital I/O specifications (Relay) Digital input specifications Model Main unit Extension module K7M-DR0U K7M-DR0U K7M-DR40U K7M-DR60U Specification K7M-DRT0U K7M-DRT0U K7M-DRT40U K7M-DRT60U G7E-DR10A G7E-DC08A G7E-DR0A Input points 1 points 18 points 4 points 6 points 6 points 8 points 1 points Insulation method Photocoupler Rated input voltage DC 4V Rated input current 7mA Operating voltage range DC V (ripple rate 5%) Max. simultaneous input points 100% Simultaneous on On Voltage/On current DC 19V or higher / 5.7mA or higher Off Voltage/Off current DC 6V or lower / 1.8mA or lower Input impedance Approximate.kΩ Response time Off On On Off 0, 1,, 5, 10, 0, 50, 100, 00, 500, 1000ms (default: 10ms), Set by user 0, 1,, 5,1 0, 0, 50, 100, 00, 500, 1000ms (default: 10ms) Common terminal 1 points/com 18 points/com 1 points/com 18 points/com 6 points/com 4 points/com 1 points/com Operating indicator LED Digital output specifications (Relay) Model Main unit Extension module Specification K7M-DR0U K7M-DR0U K7M-DR40U K7M-DR60U G7E-DR10A G7E-RY08A G7E-DR0A Output points Insulation method Relay insulation Rated load voltage/current DC 4V/A (Register load), AC 0V/A (COS Ψ = Δ 1)/1point 5A/COM Min. load voltage/current DC 5V/1mA Max. load voltage/current AC 50V, DC 110V Off leakage current 0.1mA (AC 0V, 60Hz) Max. on/off frequency 1,00/hr Surge absorber Mechanical None 0 million times or more Rated load voltage/current: 100,000 or more Service life AC 00V/1.5A, AC 40V/1A (COS Ψ = Δ 0.7) 100,000 or more Electrical AC 00V/1A, AC 40V/0.5A (COS Ψ = Δ 0.5) 100,000 or more Response time Off On On Off Operation indication DC 4V/1A, DC 100V/0.1A (L/R = 7ms) 100,000 or more 10ms or less 1ms or less LED 9

10 Digital I/O specifications (Relay) Input circuit diagram Input No. P000~P001 (Basic module) Input No. P00~P0 R R C Internal circuit COM R R Internal circuit COM Output circuit diagram L Internal circuit Relay COM L Connection display of Digital input part According to external equipment type, refer to the following connection between DC input part and external devices. External equipment (I/Os) Input part External equipment (I/Os) Input part Relay output type Relay 7mA IN CON PNP Current output type + Power (for sensor) Output 0V 7mA Uses the same power in input power and power for sensor IN CON- NPN Open collector output type Sensor + Output 0V Power (for sensor) 7mA IN CON+ Voltage output type + Output 0V Power (for sensor) Uses the same power in input power and power for sensor CON+ IN NPN Current output type Constant current circuit + Output 0V 7mA Power (for sensor) Uses the same power in input power and power for sensor IN CON+ 1 0

11 Digital output specifications (TR output) Main module Model Main module Extension unit Specification K7M-DRT0U K7M-DRT0U K7M-DRT40U K7M-DRT60U G7E-TR10A Relay output points 4 points 8 points 1 points 0 points 0 points TR output points 4 points 4 points 4 points 4 points 0 points Insulation method Photocoupler Rated load voltage DC 1/4V Input operation voltage range DC V Max. load current 0.1A/point 0.5A/point, 4A/COM Surge absorber Zener diode Clamp diode Off leakage current 0.1mA or less Off voltage drop DC 0.V (0.1A) or less DC 1.5A or less Inrush current 4A, 10ms or less Response time Off On On Off 0.ms or less ms or less 0.ms or less ms or less Common method 1point/COM 10 points/com Operation indication LED Circuit diagram P40, P41 4V Output wiring Internal circuit R TR1 AC110V ~40V P40 P41 P4 FG COM0 COM1 COM P4 COM P R P4, P4 P/C 4V Internal circuit R R TR1 DC1V/4V L L L L P40 P4 of K7M-DRT U type are for positioning control TR output (These can be used as general TR output). TR parts would be damaged, when used for AC load. 1 1

12 Wiring diagram I/O Part (Main module) K7M-DR0U K7M-DR0U K7M-DR40U 4V OUT DC5/1/4V AC110/0V DC5/1/4V AC110/0V DC5/1/4V AC110/0V K7M-DR60U I/O Part (Extension module) G7E-DR10A DC5/1/4V AC110/0V DC5/1/4V AC110/0V 1

13 I/O Part (Extension module) G7E-DR0A G7E-RY08A (Output) G7E-TR10A G7E-DC08A G7E-TR10A PROGRAMMABLE LOGIC CONTROLLER Q00 Q0 Q04 Q06 Q08 COM0 Q04 Q05 Q06 Q07 Q08 P 00 I0 I01 IN 4VDC 7mA I0 COM0 DC1/4V L L L L L L L L L L G7E-DC08A PROGRAMMABLE 05 LOGIC CONTROLLER COM0 I04 I05 I06 I07 DC5/1/4V AC110/0V K7M-DRxxS/DC: PLC operating power is DC 4V. I/O allocation method Addressing to each module for data output. Items Main Extension #1 Extension # Extension # Special Type Input Output Input Output Input Output Input Output Area P000 P0F P040 P07F P080 P08F P090 P09F P100 P10F P110 P11F P10 P1F P10 P1F - Remark 64 points 64 points 16 points 16 points 16 points 16 points 16 points 16 points A/D, A/T, Communication Basically, I/O area is a fixed-point type. Special and communication modules have nothing to do with I/O allocation. Rest area can be used as internal relays. Example) Input Output DRT0U (1/8) P B P040 P047 No allocation of I/O point + DR10A + ADHB + (6/4) P080 P085 P090 P DR0A (1/8) P B P110 P117 1

14 Built-in functions Pulse catch function Min. 10μs Using pulse catch function, a very short pulse signal can be taken as valid input signal which can t be executed by general digital input. Input image data Time Pulse catch setting Input point: 8 points (P000 P007) Input signal shorter than scan time can be detected. Input filter function An input signal is valid after the setting time after an input filter signal becomes on. The input image data turn off after the setting time after an input filter signal becomes off. Input on/off delay time (Filter time) Input signal Setting Input image data Input signal Input image data Time Useable input point: All input points Setting input filter time: 8-point unit Assignment by group (Extension Input) Setting range: 0 1s (0, 1,, 5, 10, 0, 50, 100, 00, 500, 1000ms) Any input signal shorter than assigned on/off filter time from KGLWIN is ignored. Using input filter function, malfunction by noise can be prevented effectively. Interrupt function MK10S can perform interrupt function using input points without any special interrupt module. Input point: Max. 8 points (P000 P007) Rising, Falling, Rising & Falling 1 4

15 High speed counter function Using HSC function, High speed pulses which are generated from encoder of pulse generator can be counted. Function Function Description 4 counter modes are available as follows. 1-phase operation mode: Increment count by program Counter mode 1-phase+direction mode: Increment/decrement count by B-phase state -phase CW/CCW mode: Increment/decrement count by input pulse -phase multiplication mode: Increment/decrement count by phase difference Latch counter Counter latch function in power off or counter disable Preset function Change current value to preset value Ring counter function When counter value reaches set value, it rotates to 0 Comparison output When counter value reaches set value, turns on output contact point of executes interrupt program. RPM function Calculates the RPM(Rotate per minute) of input pulse Item Point 1-phase 4 points, -phase points Input signal A-phase, B-phase, Preset input (P4 P7) Counting range -,147,48,648,147,48,647 (Binary bit) Counting speed Ch0, Ch1(1-phase 100kpps / -phase 50kpps) Ch, Ch (1-phase 0kpps / -phase 10kpps) Additional function Ring counter, Preset, Comparison output, RPM Input 1) A/B-phase input Item Rated input voltage/current DC 4V (7mA) On guaranted voltage 0.4V 8.8V Off guaranted voltage Below 6V ) Preset input Item Rated input voltage/current DC 4V (7mA) On guaranted Voltage 0.4V 8.8V Off guaranted Voltage Below 6V On delay time Below 00μs Off delay time Below 00μs Input terminal diagram Counter input Preset input P00 P0 P04 P06 P08 P01 P0 P05 P07 Common terminel 9 P10 COM0 P COM1 P0F P11 P 4G 4V No. Terminal No. Name Use 1 phase phase 1 phase phase 1 P000 Ch0 Counter input Ch0 A-phase input Counter input terminal A-phase input terminal P001 Ch1 Counter input Ch0 B-phase input Counter input terminal B-phase input terminal P00 Ch Counter input Ch A-phase input Counter input terminal A-phase input terminal 4 P00 Ch Counter input Ch B-phase input Counter input terminal B-phase input terminal 5 P004 Ch0 Preset 4V Ch0 Preset 4V Preset input terminal Preset input terminal 6 P005 Ch1 Preset 4V Preset input terminal 7 P006 Ch Preset 4V Ch Preset 4V Preset input terminal Preset input terminal 8 P007 Ch Preset 4V Preset input terminal 9 COM 0 Input Common Common terminal Common terminal Refer to user s manual regarding detail specifications. 1 5

16 Built-in functions Positioning control The position of servo or stepping motor can be controlled by positioning function. Output Phase Direction Phase Signal name Pulse output (forward pulse, reverse pulse) Rated load Load Max. loaded Max. voltage voltage voltage range current drop during On DC 1/4V DC V 100mA DC 0.V Forward direction Reverse direction K10S Main unit Direction Drive Motor P40, P41 P4, P4 Output terminal diagram 6 AC V P40 P41 P4 P FG COM0 COM1 COM P4 COM 1 4 Direction output 5 COM0~ Phase output Motor Motor drive No. Terminal No. Name Usage 1 P040 Positioning(Ch0) Pulse output terminal P041 Positioning(Ch1) Pulse output terminal P04 Direction pulse Direction (Ch0) output terminal 4 P04 Direction pulse Direction (Ch1) output terminal 5 COM Common Common terminal 6 P 4V External 4V supply terminal Item No. of control axis axes Control method PTP (point-to-point), speed control Control unit Pulse Positioning data 0 data per each axis (operation step number: 1 0) Positioning method absolute/incremental method Address range -,147,48,648,147,48,647 Speed Max. 100kpps, Speed range in setting: 5 100,000pps (unit of pulse) Positioning Acceleration/ Operation pattern: Trapezoidal method Deceleration method Acceleration/deceleration time: ms (unit of 1ms) Backlash compensation 0 1,000pulses Bias speed 5 100,000pps Speed limit 5 100,000pps Operation mode End, Keep, Continuous operation Operation method Single, Repeat operation Speed High/Low Speed setting range: 5 100,000pps Dwell time Setting range: 0 10,000ms Origin return 1 Origin detection when approximate origin turns off Method Origin detection after deceleration when approximate origin turns on Origin detection by approximate origin JOG Speed High/Low Speed setting range: 5 100,000pps PWM output Period setting range: 1 0,000ms Duty setting range: 0 100% 1 6

17 Positioning control - wiring Wiring with DC5V Signal Pulse Common Direction Common +4V Input K7M-DRT U ** Ch0 Ch1 P40 P41 COMO COM1 P4 P4 COM COM P P Max. m DC5V * Note 4) Stepping motor driver CW- CW+ CCW- CCW+ * Note ) Origin point Approximiate origin point Lowear limit Upper limit Emergency stop P04 P06 P05 P07 P00 P0 P01 P0 Input point TIMING * Note 1) COM Common COMO (input) DC4V Wiring with DC4V K7M-DRT Signal Pulse Common Direction Common +4V Input U ** Ch0 Ch1 P40 P41 COMO COM1 P4 P4 COM COM P P Max. m DC4V K, 1/W K, 1/W * Note ) * Note 4) Stepping motor driver CW- CW+ CCW- CCW+ * Note ) Origin point Approximiate origin point Lowear limit Upper limit Emergency stop P04 P06 P05 P07 P00 P0 P01 P0 Input point TIMING * Note 1) COM Common COMO (input) DC4V Note) 1. In case of VEXTA RK series, TIMING output turns on when a motor rotates at every 7. degree. For exact return to origin, we suggest you to configure AND operation using TIMING output and the DOG sensor. It may be different to each system features to return to origin by the DOG sensor without TIMING output signal (The rated input for the origin of K10S is DC4V.). Using DC4V, wire a proper resistor to driver in series.. Input points for origin point, approximate origin point, and upper/lower limit signal are fixed but if they re not used, you are able to use them as general input points. You can use emergency stop with the command (POSCTR). 4. Positioning phase of K10S is as follows: Set the input mode of a step motor driver to 1 phase input mode because motor operation is determined by rotating direction input. Pulse input On Off Rotating direction input On Off cw ccw cw Motor operation ccw The maximum connection cable between PLC and driver equipment is m. Please refer to user s manual for the connection with other servo drivers. 1 7

18 Built-in functions PID Control Features PID function is integrated into the main unit. And, all the PID functions can be performed with instruction (PID8, PID8AT). P operation, PI operation and on/off operation can be selected easily. Manual output (user-defined forced output) is available. By proper parameter setting, it can keep stable operation regardless of external disturbance. The operation scan time (the interval that PID controller gets sampling data from an actuator) is changeable for optimizing the system characteristics. PWM (pulse width modulation) output is available P, I, and D value are automatically calculated by auto-tuning. System Manual MV Set value Present value SV PID calculation PV MV Manipulation value Automated MV D/A converting module Control object A/D converting module Sensor Item No. of PID loop 8 loops Proportional value 1 10,000 (100-time scaled up), D area PID Integral value 1 0,000 (100-time scaled up), D area Differential value 1 0,000 (100-time scaled up), D area Setting value 0 4,000, D area Present value 0 4,000, D area Manipulation value 0 4,000, D area Manual operation value 0 4,000, D area Control action P, PI, PID, P_PWM, PI_PWM, PID_PWM, On-Off Scan time (0.1 second unit), D area Processing type Velocity type, Position type Example Auto-tuning: P, I and D values calculated automatically PID operation 1 8

19 Analog module A/D D/A Hybrid module A/D Module D/A Module Item G7F-ADHA G7F-ADHB G7F-ADA G7F-DAI G7F-DAV Voltage DC 0 10V (input resistance: more than 1MΩ) DC 0 0mA (input resistance 50Ϊ) Input range Current DC 4 0mA (input resistance 50Ϊ) Classified by parameter Digital output 1 bits (0 4,000) Analog input Voltage/current selection Set by jumper pin for V/I selection upper part of product (Up: V, Down: I) Set by dip S/W for V/I selection on left side of product (left: V, Right: I) V/I selected by KGLWIN parameter Short the V and I terminal when current input is used. Set by input terminal (When current input is used, short the V and I terminal) No. of channel Ch/module 4Ch/module Absolute V DC +1V DC ±15V max. Input I DC +4mA DC +5mA V DC 0 10V (External load resistance kω 1MΩ) - Analog output Common Output range DC 0 0mA (load resistance 510Ϊ) DC 4 0mA (load resistance 510Ϊ) Digital input 1 bits (0 4,000) 1 bits (0 4,000) Voltage/current selection Separated from terminal No. of channel 1Ch/module Ch/module 4Ch/module Absolute V DC +1V max. output I DC +4mA Max. resolution V DC 0 10V:.5mV (1/4000) DC 0 0mA: 5μA I DC 0 0mA: 5μA (1/4000) (1/4000) DC 4 0mA: 6.5μA (1/00) DC 0 10V (load resistance kω 1MΩ) DC +4mA DC +1V DC 4 0mA: 6.5μA (1/00) Accuracy ±0.5% (full scale) 0.5%.5mV (1/4000) Max. conversion speed 1ms/Ch+scan time 500ms/Ch+scan time 1ms/Ch+scan time Insulation I DC 0 0mA (External load resistance 510Ϊ) DC 4 0mA (External load resistance 510Ϊ) Classified by parameter Photocoupler insulation between I/O terminal and PLC power supply (Non-insulation between channels). Connect terminal 9 points terminals 8 points terminals points/16 points terminals 16 points terminal 8 points terminals Internal current consumption 0mA 0mA 100mA 0mA 15mA External power V DC V supply I 80mA 95mA 100mA 80mA 90mA Weight 40g 180g 00g 80g 160g Caution for wiring - -core, shielded twisted pair cable is recommended. Size: AWG (0.mm) or higher. - Wiring with high voltage or generation line, it makes induction failure which may cause malfunction or be out of order. 1 9

20 Analog module Names of parts and functions G7F-ADHA G7F-ADHB V ChO Ch1 V+ V- I+ I- Input Output V0+ I0 + V1+ I1 + V0- I0 - V1- I1 - Output Ch0 Ch1 6 G7F-ADHA PROGRAM MEABL LOGIC CONTROLLER PWR 7 6 G7F-ADHB PROGRAMMABLE LOGIC CONTROLLER PWR 7 Input select ChO Ch1 Ch0 (Input) Ch1 (Input) V 0 I 0 Com0 V 1 I 1 Com1 Input Ch0 Ch1 Input 4V V0 Com0 I1 4G I0 V1 Com 1 5 No. Name G7F-ADHA/G7F-ADHB 1 PWR LED Indicate the operating status. When current input is used, Short the V and I terminal. Analog input terminal Voltage input Ch0 ( Input ) V0 I0 COM0 Current input Ch0 ( Input ) V0 I0 COM0 Connect upper parts by jumper pins. Jumper pin of analog input Jumper pin of analog input (V/I) Input select Ch0 Ch1 Voltage input Current input Right: Ch1 Left: Ch0 Connect upper parts by jumper pins Connect lower parts by jumper pins Dip switch of analog input S/W to choose voltage or current. Input select Ch0 Ch1 Terminal to output analog signal. Voltage output Right: Current Left: Voltage Current output 4 Analog Output terminal V+ V- I+ I- Output V+ V- I+ I- Output G7F-ADHB has output channels so it can select voltage/current respectively. 5 External power input terminal External voltage 4VDC needs to this terminal. 6 Extension cable The cable is used to connect while an analog mixture module is used. 7 Extension cable connector The connector connects extension cable when an extension module is used. 0

21 Names of parts and functions G7F-ADA G7F-DAI G7F-DAV V 4G Input 4V 4G Input 5 G7F-DAI PROGRAMMEABL LOGIC CONTROLLER G7F- ADA PR OG RAMM EABL LOGIC CONTROLLER Input select Ch Ch Ch1 Ch0 PWR Ch0 Ch1 Ch Ch V0 COM0 V1 Com1 V Com V Com I0 I1 I I 6 5 4V 4V 4G Ch0 Ch1 Ch Ch I+ I+ I+ I+ I- PWR I- I- I- 6 5 G7F-DAV PROGRAMMABLE LOGIC CO NTRO LLER PWR V0+ V1+ V+ V+ V0- V1- V- V- 6 No. Name G7F-ADA G7F-DAI/G7F-DAV 1 PWR LED Indicate the operating status. Analog input terminal. Analog input terminal Voltage input Ch0 V0 Com0 I0 Current input Ch0 V0 Com0 I0 When current input is used, short the V and I terminal Jumper pin of analog input (V/I). - Jumper pin of analog input Input select Ch Ch Ch 1 ChO Voltage input Ch Ch Ch 1 ChO Current input Ch Ch Ch 1 ChO V I Connect left parts by jumper pin Connect right parts by jumper pin 4 External power input terminal External voltage 4VDC needs to this terminal. 5 Extension cable The cable is used to connect while an analog mixture module is used. 6 Extension cable connector The connector connects extension cable when an extension module is used. 1

22 RTD module / Analog timer (G7F-RDA) Item Connectable RTD Pt100 (JIS C , DIN ) JPt100 (KS C , JIS C ) Temperature input range Pt100: (18.48 to 1.59Ω) JPt100: (17.14 to 17.8Ω) Digital output Digital conversion value: 0 4,000 Detected temperature value: (10-time scaled up value) Burnout detection Each of three wires at every channel has detection function Accuracy ±0.5% (Full scale) Maximum conversion speed 40scan/module Number of temperature 4 channels/module input device points Insulation method Photocoupler insulation between the input terminal and PLC power supply (Non-insulation between channels) Connection terminal block Two 8-point terminal blocks Internal current consumption 5mA V DC V External power supply I 70mA Weight 40g Names of parts and functions G7F-RDA G7F-ATA 4V A b B 4G B A b Input Ch Ch 1 Ch0 Ch1 Ch Ch 4 G7F-RDA PROGRAMMABLE LOGIC CONTROLLER PWR 5 4 G7F- ATA PROGRAMMABLE LOGIC CONTROLLER PWR 5 Ch0 A B Ch1 b A B b 1 No. Name G7F-ATA G7F-RDA 1 RUN LED Indicate the operation status Timer volume Timer setting per channel by adjustment of variable resister - RTD input terminal - Terminal block which connects Pt100Ω or JPt Ω External power input External voltage 4VDC needs to this terminal 4 Extension cable This cable is used to connect while an extension module is used 5 Extension cable This connector connects the extension cable when an extension connector module is used. (G7F-ATA) Item Specification Channels 4 Output value range 8 bits (0 00) Setting type Setting by variable resistance Accuracy of timer ±.0% (Accuracy about max. value) Internal current consumption 50mA Weight 00g

23 Data register for special modules Data register for special extension modules. Data register D4980 Analog RTD Extension Hybrid module A/D module D/A module timer input module position G7F-ADHA G7F-ADHB G7F-ADA G7F-DAI G7F-DAV G7F-ATA G7F-RDA Ch0 A/D Ch0 A/D Ch0 A/D Ch0 D/A Ch0 D/A Ch0 A/T Ch0 Conversion value Conversion value Conversion value Conversion value Conversion value Conversion value Temp value D4981 Ch1 A/D Ch1 A/D Ch1 A/D Ch1 D/A Ch1 D/A Ch1 A/T Ch1 Special Module Conversion value Conversion value Conversion value Conversion value Conversion value Conversion value Temp value D498 #1 Ch0 D/A Ch0 D/A Ch A/D Ch D/A Ch D/A Ch A/T Ch Conversion value Conversion value Conversion value Conversion value Conversion value Conversion value Temp value D498 - Ch1 D/A Ch A/D Ch D/A Ch D/A Ch A/T Ch Conversion value Conversion value Conversion value Conversion value Conversion value Temp value D4984 Ch0 A/D Ch0 A/D Ch0 A/D Ch0 D/A Ch0 D/A Ch0 A/T Ch0 Conversion value Conversion value Conversion value Conversion value Conversion value Conversion value Temp value D4985 Ch1 A/D Ch1 A/D Ch1 A/D Ch1 D/A Ch1 D/A Ch1 A/T Ch1 Special Module Conversion value Conversion value Conversion value Conversion value Conversion value Conversion value Temp value D4986 # Ch0 D/A Ch0 D/A Ch A/D Ch D/A Ch D/A Ch A/T Ch Conversion value Conversion value Conversion value Conversion value Conversion value Conversion value Temp value D Ch1 D/A Ch A/D Ch D/A Ch D/A Ch A/T Ch Conversion value Conversion value Conversion value Conversion value Conversion value Temp value D4988 Ch0 A/D Ch0 A/D Ch0 A/D Ch0 D/A Ch0 D/A Ch0 A/T Ch0 Conversion value Conversion value Conversion value Conversion value Conversion value Conversion value Temp value D4989 Ch1 A/D Ch1 A/D Ch1 A/D Ch1 D/A Ch1 D/A Ch1 A/T Ch1 Special Module Conversion value Conversion value Conversion value Conversion value Conversion value Conversion value Temp value D4990 # Ch0 D/A Ch0 D/A Ch A/D Ch D/A Ch D/A Ch A/T Ch Conversion value Conversion value Conversion value Conversion value Conversion value Conversion value Temp value D Ch1 D/A Ch A/D Ch D/A Ch D/A Ch A/T Ch Conversion value Conversion value Conversion value Conversion value Conversion value Temp value In RTD module, following data register are allocated. Extension position Temp. value Digital conversion Ch0 Ch1 Ch Ch Ch0 Ch1 Ch Ch Special module #1 D4980 D4981 D498 D498 D4780 D4781 D478 D478 Special module # D4984 D4985 D4986 D4987 D4784 D4785 D4786 D4787 Special module # D4988 D4989 D4990 D4991 D4788 D4789 D4790 D4791 Offset/Gain value is fixed and unchangeable. Analog input is set up to current initially. Max. modules are extendible. Various ranges of input/output Module G7F-DAV G7F-DAI G7F-ADA G7F-ADHA G7F-ADHB G7F-RDA Channels 4Ch 4Ch 4Ch Input: Ch Output: 1Ch Input: Ch Output: Ch 4Ch Range of Input/output DC 0 10V DC 4 0mA, DC 0 0mA DC 0 10V, DC 4 0mA, DC 0 0mA DC 0 10V, DC 4 0mA, DC 0 0mA DC 0 10V, DC 4 0mA, DC 0 0mA Pt100, JPt100

24 Communication interface Provides three communication channels : Built-in three communication channels 1 Loader port: Pin No. (Rx), (Tx), 5 (SG) RS-C port: Pin No. 4 (Rx), 7 (Tx), 5 (SG) +, -: RS-485 port Provides various functions : Various and easy communication interface with dedicated mode, Modbus, User-defined mode, No protocol mode Built-in communication function External communication function via extension module RV SV RS-485 (Ch No.1) Used in multi-drop communication Communication device (Measuring device etc.) (+, -) RS-4/485 (Ch No.0) Used in multi-drop communication Pin No.,, 5 (Loader port) RS-C (Ch No.0) Used in modem access Access for KGLWIN, HMI etc. Pin No. 4, 5, 7 Communication devices (PC, HMI etc.) Fieldbus interface (Ch No.0) - Fnet - Rnet * - Profibus-DP slave - DeviceNet slave RS-C (Ch No.0) This is used in case of not using extension communication modules. * Rnet is a dedicated protocol for LGIS SMART I/Os. 4

25 Extension communication modules Cnet modules (G7L-CUEB, G7L-CUEC) Item Interface Dedicated mode KGLWIN mode Modbus mode User-defined mode Data bit Stop bit Start bit Parity bit Synchronization Transmission speed Setting method Distance Max. number of stations Weight Communication mode Data structure A dial-up modem is not available in KGLWIN mode. G7L-CUEB: RS-C (Modem) G7L-CUEC: RS-4/485 Supports 1-to-1, 1-to-N and high-speed link Supports remote programming and mounting via KGLWIN Supports master and slave function with Modbus protocol (ASCII, RTU) Supports user-defined communication 7 or 8 1 or 1 or EVEN/ODD/NONE Asynchronous method 1,00 /,400 / 4,800 / 9,600 / 19,00 / 8,400 / 57,600bps Communication parameter setting in KGLWIN Max. 15m (CUEB), Max. 500m (CUEC) Max. stations 180g Fnet/Rnet module (G7L-FUEA/RUEA) Item Transmission speed Communication Repeater (up to 6) Segment Max. number of stations Setting method Cable Weight Rnet is a dedicated protocol for LGISSMART I/Os. 1Mbps Max. 750m Max. 5.5km Max. 64 stations Communication parameter setting in KGLWIN Shielded twisted pair cable 0g Pnet module (G7L-PBEA) Item Network type Protocol Media access Transmission and speed Network Max. Node Segment Interface Setting method Cable Weight Profibus-DP (Slave) EN50170/DIN1945 Token passing & Poll 100m ( kbps) / 400m (500kbps) / 00m (1.5Mbps) / 100m ( 1Mbps) 17 stations stations RS-485 (electric) Communication parameter setting in KGLWIN Shielded twisted pair cable 10g Dnet module (G7L-DBEA) Item Network structure Protocol Max. extension & speed Channel Diagnosis function Setting method Cable Trunk/drop line Peer explicit message, Predefined explicit message Predefined I/O message (poll, bit strobe, COS, cyclic) Speed Network distance Drop cable Total drop cable 500kbps 100m or less 6m or less 9m or less 50kbps 50m or less 6m or less 78m or less 15kbps 500m or less 6m or less 156m or less 64 stations CRC error check/scan list Communication parameter setting in KGLWIN 5 lines (signal lines, power lines, shield 1 line) Only 1 communication module is available and the built-in Cnet is not available with it. RS-485 communication (Ch No.1) is available. 5

26 Communication specifications Built-in (Ch0, Ch1) Communi -cation module (Ch0) Item Dedicated Modbus User-defined No protocol Cnet Fnet Rnet Dnet It is LGIS dedicated protocol for easy communication with LG products. (Supports high-speed link) It supports Modbus, Modicon PLC s communication protocol. (It supports ASCII mode and RTU mode) User-defined protocol allows users to communicate with other devices. No protocol communication is useful when communication between K10S and other devices which do not have protocol (It communicates with other devices by frames which are set by total size of communication bytes or user-defined code). RS-C: Communication using a modem RS-4/485: Support all the built-in functions LGIS dedicated network between LGIS PLCs for high speed link LGIS dedicated network with SMART I/Os DeviceNet interface (slave) Remarks Please refer to K10S user s manual regarding LG protocol. In case of using the built-in communication Ch No.0 (4, 5, 7), a communication module is not available and vice versa. Pnet Profibus-DP interface (slave) Loader port - KGLWIN connection - HMI connection Built-in/Communication module setting switch Structure Built-in Cnet Bult-in Cnet ON ROM Mode OFF PWRO RUNO ERRO Terminal block cover Dip switch Built-in/Communication module setting switch ON Switch OFF Contents Set for using built-in RS-C (Using pin No of loader port) ROM Mode Built-in/Communication module setting switch ON Switch OFF Can t use the built-in RS-C (Set for communication module) ROM Mode ROM mode function ROM mode on: when power on, the program saved in the flash memory operates ROM mode off: when power on, it starts to drive a program saved in RAM Ch0: No. 4, 5, 7 of 9 Pin (communication module is not available in case of using the built-in Ch0 of Cnet) Ch1: RS-485 (communication module available simultaneously) 6

27 Network configuration Remote communication using a modem Extension communication module (G7L-CUEB) G7L-CUEB G7L-CUEB Modem Remote 1: 1 communication Modem External Module (G7L-CUEB) is needed on remote communication by modem (built-in function is not connectable with a modem). Dedicated mode and user-defined mode are available. Multi-drop communication ( Ways) Built-in function / Communication module (G7L-CUEC) External RS-4/485 (Max. Ch) Built-in function G7L-CUEC G7L-CUEC Multi-drop communication is available using built-in function or communication module (G7L-CUEC). Both are available by simple and easy setting on Ch0/Ch1 (communication parameter in KGLWIN). RS-485 (Max. Ch) Networking is available by DeveiceNet / Profibus-DP slave Fnet (Max. 64Ch) LG PLC G7L-FUEA Set up Master in Fieldbus of Ch0 (communication parameter in KGLWIN). Communication is available by parameter setting without programming. DeviceNet / Profibus-DP slave LG PLC or other PLC G7L-DBEA (PBEA) Set up Slave in Fieldbus of Ch0 (Communication parameter in KGLWIN). Communication is available by parameter setting without programming. 7

28 Network configuration 1,04 points control is available in networking with SMART I/O G7L-RUEA +, - RS-485 SMART I/O SMART I/O (Rnet) RS-485 (Modbus) Max. 64Ch Rnet Rnet <Modbus> Set master in Modbus of Ch0 (communication parameter in KGLWIN) Easy programming is available using Modcom command. <Rnet> Set up Master in Fieldbus of Ch0 (communication parameter in KGLWIN). Easy communication is available by parameter setting without programming. Remote connection in KGLWIN : Remote connection in KGLWIN is available in both built-in communication and communication module (dedicated protocol). KGLWIN s connectable to any channel in network (program unload/download/monitoring are usable). You can connect to any channel using KGLWIN (program upload/download/monitor, etc). Master 0Ch Loader port Master 0Ch TM/TC switch: ON Slave 1Ch Remote 원거리1: 1:1 1 communication 통신 TM/TC switch: ON Cable modem Slave 1Ch Cable modem Built-in RS-485 Max. Ch Slave 1Ch Remote network by modem is available through G7L-CUEB (TM/TC switch ON ). In method of connection select dial-up or cable modem and then choose baud rate and phone nomber. (in case of a dial-up modem). 8

29 Cable connection Diagram Loader cable (Download cable) KGLWIN (PC) Cnet (External) Download Program Upload PLC (K10S) 9Pin (Male) 9Pin (Female) (Rx) (Rx) (Tx) (Tx) 5 (SG) 5 (SG) 1) G7L-CUEC Others RXA + (485+) RXB - (485 - ) TXA TXB ) G7L-CUEB Others ) Modbus protocol K10S (G7L-CUEB) 5 1, 5 Quntum (9pin) Cnet (Built-in) 1) K10S (9pin, CPU) PC (HMI) 5 5 ) K10S K10S 4 (Rx) 7 (Tx) 4 (Rx) 7 (Tx) 5 (SG) 5 (SG) ) K10S RS485(+) Others (K10S,...) RS485(+) RS485(- ) RS485(- ) 4) Modbus protocol K10S (CPU) Quntum (9pin) , 5 8 Modbus (RS-) Modbus (RS-485) SDA SDB RDA RDB SMART I/O (9pin, Male) Modbus SMART I/O #1, # (9pin, Male) pin connecter (Top view) Rnet Cable Rnet MASTER module (9pin, Female) #0Ch 6 7 Rnet SMART I/O #1, # (9pin, Male) #1Ch 8 9 #Ch 8 9 Pnet Cable Pnet MASTER module (9pin, Female) #0Ch (A) 8 (B) Pnet SMART I/O #1, # (9pin, Male) #1Ch 8 #Ch 8 9

30 Product list K10S Type Item Remarks Basic Extension K7M-DR10UE AC 110/0V, DC 4V Input 6 points/relay output 4 points Economic K7M-DR14UE AC 110/0V, DC 4V Input 8 points/relay output 6 points K7M-DR0UE AC 110/0V, DC 4V Input 1 points/relay output 8 points K7M-DR0UE AC 110/0V, DC 4V Input 18 points/relay output 1 points K7M-DR0U AC 110/0V, DC 4V Input 1 points/relay output 8 points K7M-DR0U AC 110/0V, DC 4V Input 18 points/relay output 1 points K7M-DR40U AC 110/0V, DC 4V Input 4 points/relay output 16 points K7M-DR60U AC 110/0V, DC 4V Input 6 points/relay output 4 points K7M-DRT0U AC 110/0V, DC 4V Input 1 points/relay output 4 points/tr output 4 points Standard K7M-DRT0U AC 110/0V, DC 4V Input 18 points/relay output 8 points/tr output 4 points Position K7M-DRT40U AC 110/0V, DC 4V Input 4 points/relay output 1 points/tr output 4 points control K7M-DRT60U AC 110/0V, DC 4V Input 6 points/relay output 0 points/tr output 4 points K7M-DT0U AC 110/0V, DC 4V Input 1 points/tr output 8 points K7M-DT0U AC 110/0V, DC 4V Input 18 points/tr output 1 points K7M-DT40U AC 110/0V, DC 4V Input 4 points/tr output 16 points K7M-DT60U AC 110/0V, DC 4V Input 6 points/tr output 4 points G7E-DR10A DC 4V Input 6 points/relay input 4 points G7E-DR0A DC 4V Input 1 points/relay input 8 points Input G7E-TR10A TR output 10 points / G7E-DC08A DC 4V Input 8 points output G7E-RY08A Relay input 8 points Slim type G7E-DR08A DC 4V input 4 points/relay output 4 points G7F-ADHA A/D: Ch D/A: 1Ch G7F-ADHB A/D: Ch D/A: 1Ch Slim type G7F-ADA A/D: 4Ch G7F-ADB A/D: 4Ch Slim type Special G7F-DAI D/A: 4Ch (Current output) G7F-DAIA D/A: 4Ch (Current output) G7F-DAV D/A: 4Ch (Voltage output) Slim type G7F-ATA 4 points (0 00) G7F-RDA 4Ch Slim type G7L-CUEB RS-C 1Ch G7L-CUEC RS-4C 1Ch Communi- G7L-DBEA DeviceNet slave interface module cation G7L-PBEA Profibus-DP slave interface module G7L-FUEA Fieldbus interface module (Fnet) G7L-RUEA Fieldbus interface module (Rnet) RTC G7E-RTCA RTC module Memory G7M-M56B Memory module (56K) Program back-up Due on the market soon. 0

31 Dimensions Main unit Unit 10/14 points 0/0 points 40 points 60 points A B Extension unit Standard Slim 1

32 00-08 Safety Instructions For your safety, please read user's manual thoroughly before operating. Contact the nearest authorized service facility for examination, repair, or adjustment. Please contact qualified service technician when you need maintenance. Do not disassemble or repair by yourself! Any maintenance and inspection shall be performed by the personnel having expertise concerned. LG Industrial Trading (Shanghai) Co., Ltd China Address: Room , 17th Floor Xinda Commerical Building No 18, Xian Xia Road Shanahai Tel: Fax: Room 0, F LG Industrial Systems Shanghai Office China Address: Room , 17th Floor Xinda Commerical Building No 18, Xian Xia Road Shanahai, China Tel: Fax: [email protected] LG Industrial Systems Guangzhou Office China Address: Room 0, F, Zheng Sheng Building, No 5-6, Tian He Bei Road, Guangzhou, China Tel: Fax: in this catalog are subject to change without notice due to continuous product development and improvement. [email protected] MASTER-K 10S Series / (01) Printed in Korea STAFF