Durus System Manual - GFK2470A

GE
Intelligent Platforms
Programmable Control Products
DURUS Controllers
System Manual, GFK-2470A
May 2011
GFL-002
Warnings, Cautions, and Notes

as Used in this Publication
Warning
Warning notices are used in this publication to emphasize that hazardous voltages,
currents, temperatures, or other conditions that could cause personal injury exist in this
equipment or may be associated with its use.
In situations where inattention could cause either personal injury or damage to equipment,
a Warning notice is used.
Caution
Caution notices are used where equipment might be damaged if care is not taken.
Note:
Notes merely call attention to information that is especially significant to

understanding and operating the equipment.
This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein
which are not present in all hardware and software systems. GE Intelligent Platforms assumes
no obligation of notice to holders of this document with respect to changes subsequently made.
GE Intelligent Platforms makes no representation or warranty, expressed, implied, or statutory
with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.
* indicates a trademark of GE Intelligent Platforms, Inc. and/or its affiliates. All other
trademarks are the property of their respective owners.
Copyright 2011 GE Intelligent Platforms, Inc.
All Rights Reserved
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directly.
General Contact Information

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If you have technical problems that cannot be resolved with the information in this guide, please
contact us by telephone or email, or on the web at www.ge-ip.com/support.
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iii
DURUS Controllers System ManualMay 2011
GFK-2470A
Contents
QuickStart Guide: Getting Started with DURUS ......................................................... 0-1
Introduction.................................................................................................................... 1-1
Overview of DURUS Controller Modules .......................................................................... 1-2
General Specifications ............................................................................................. 1-3
Functional Specifications ......................................................................................... 1-4
I/O Specifications ..................................................................................................... 1-5
Controllers and Expansion Modules ................................................................................. 1-7
DURUS Controller Module Identification.................................................................. 1-7
DURUS-10 Controllers ............................................................................................. 1-8
I/O Expansion Option Modules .............................................................................. 1-10
Communications Option Modules .......................................................................... 1-10
Programming Software and Cables ....................................................................... 1-10
Accessories ............................................................................................................ 1-10
Comparison of DURUS Controller Features .......................................................... 1-11
Module Description ......................................................................................................... 1-13
Module Dimensions................................................................................................ 1-13
Programming Features ................................................................................................... 1-14
Programming Formats ........................................................................................... 1-14
Program Transfer ............................................................................................................ 1-16
Communications Features .............................................................................................. 1-17
MODBUS RTU ....................................................................................................... 1-17
Profibus-DP ............................................................................................................ 1-17
DeviceNet ............................................................................................................... 1-17
Data Link and Remote I/O .............................................................................................. 1-18
Data Link Operation ............................................................................................... 1-18
Remote I/O Operation ............................................................................................ 1-18
Installation...................................................................................................................... 2-1
Examination ...................................................................................................................... 2-1
Environmental Guidelines ................................................................................................. 2-2
External Protection Devices ..................................................................................... 2-3
Mounting Instructions ........................................................................................................ 2-3
DIN Rail Installation.................................................................................................. 2-5
Panel Mounting ........................................................................................................ 2-7
Connecting an Expansion Module ........................................................................... 2-7
Field Wiring ....................................................................................................................... 2-8
Power Wiring ............................................................................................................ 2-9
Over-Current Protection ........................................................................................... 2-9
Field Wiring for 12-Point and 20-Point, 12/24VDC Input Modules......................... 2-10
Field Wiring for Analog Expansion Module ............................................................ 2-10
Sensor Wiring ......................................................................................................... 2-11
GFK-2470A
Contents
Field Wiring for 10-Point and 20-Point, 24VAC or 100/240VAC Modules ............. 2-11
Relay Output Wiring ............................................................................................... 2-11
Transistor Output Wiring ........................................................................................ 2-12
I/O Link or Remote I/O Wiring ................................................................................ 2-12
Precautions for Operation ............................................................................................... 2-12
Transferring Programs.................................................................................................. 3-1

Installing a Memory Option Module .................................................................................. 3-2
Connecting the Programming Computer .......................................................................... 3-4
Compatible Controllers for Transferring Programs with Programmer Cable ........... 3-5
Transferring Programs using the Durus Software ............................................................ 3-6
Function Blocks............................................................................................................. 4-1

Programming Elements .................................................................................................... 4-2
Memory Usage in Function Block Mode ........................................................................... 4-3
Example Memory Usage .......................................................................................... 4-3
Contacts and Coils ............................................................................................................ 4-4
Input Contacts .......................................................................................................... 4-4
Keypad Inputs (Z Memory)....................................................................................... 4-4
Normal Outputs ........................................................................................................ 4-5
Auxiliary Relays (M Memory) ................................................................................... 4-6
Auxiliary Relays (N Memory).................................................................................... 4-7
Timers and Timer Status Bits (T Memory) ............................................................... 4-8
Counters and Counter Status Bits (C Memory) ....................................................... 4-8
PWM Output Instruction ........................................................................................... 4-9
HMI Instructions ..................................................................................................... 4-12
DATALINK/Remote I/O .......................................................................................... 4-16
Shift ........................................................................................................................ 4-22
AQ (Analog Output)................................................................................................ 4-23
AS (Add Subtract) .................................................................................................. 4-24
MD (Multiply-Divide) ............................................................................................... 4-26
PID (Proportional-Integral-Differential)................................................................... 4-28
MX (Multiplexer) ..................................................................................................... 4-29
AR (Analog-Ramp) ................................................................................................. 4-31
DR (Data-Register) ................................................................................................ 4-36
Logic Blocks .................................................................................................................... 4-38
AND ........................................................................................................................ 4-38
AND (Edge) ............................................................................................................ 4-39
NAND ..................................................................................................................... 4-40
NAND (Edge) ......................................................................................................... 4-41
OR .......................................................................................................................... 4-42
NOR ....................................................................................................................... 4-43
XOR........................................................................................................................ 4-44
NOT ........................................................................................................................ 4-44
Positive Input Differential (One-Shot) .................................................................... 4-45
vi
GFK-2470A
Contents
Negative Input Differential (One-Shot) ................................................................... 4-45
SET Output (Latch) ................................................................................................ 4-46
RESET Output (Unlatch) ........................................................................................ 4-47
Pulse Output (Flip/Flop) ......................................................................................... 4-48
Function Blocks............................................................................................................... 4-49
Counters ................................................................................................................. 4-49
Timers .................................................................................................................... 4-64
Real Time Clock Instructions ................................................................................. 4-80
Compare Functions ................................................................................................ 4-93
MODBUS Functions ............................................................................................... 4-99
Keypad Operations in Ladder Logic Mode ................................................................. 5-1

Keypad Overview .............................................................................................................. 5-2
Backlight Display Control .................................................................................................. 5-3
Startup Screen .................................................................................................................. 5-4
Controller Main Menu in Ladder Mode ............................................................................. 5-7
Edit Ladder Logic ..................................................................................................... 5-8
Edit Function Blocks................................................................................................. 5-8
Run / Stop the Controller.......................................................................................... 5-8
Clear the Current Program ....................................................................................... 5-8
Write a Program ....................................................................................................... 5-9
Read a Program ....................................................................................................... 5-9
Change the Controller Setup.................................................................................. 5-10
Set the Real-time Clock ......................................................................................... 5-11
DURUS System Errors........................................................................................... 5-12
Enter Analog Gain and Offset ................................................................................ 5-13
Set or Change a Password .................................................................................... 5-14
Change the Display Language ............................................................................... 5-15
View Point States ............................................................................................................ 5-16
Expansion Inputs and Outputs ............................................................................... 5-17
Display the Applications HMI Screens ........................................................................... 5-18
Change a Preset .................................................................................................... 5-19
Ladder Logic Editing on the Keypad ............................................................................... 5-20
Keypad Functions in Ladder Mode ........................................................................ 5-20
Ladder Logic Entry Example .................................................................................. 5-21
Function Block Editing on the Controller ........................................................................ 5-27
Function Block Editing Examples ........................................................................... 5-34
Software Operation in Ladder Logic Mode ................................................................. 6-1

Using the Ladder Logic Programming Software ............................................................... 6-2
File Menu Functions ................................................................................................. 6-3
Edit Menu Functions ................................................................................................ 6-4
Operation Menu Functions ....................................................................................... 6-8
View Menu Functions ............................................................................................. 6-14
Editing Ladder Logic with the Programming Software.................................................... 6-16
GFK-2470A
Contents
vii
Contents
Enter or Edit an Instruction..................................................................................... 6-17
Using the Ladder Logic Software in Keypad Mode ........................................................ 6-19
Button Functions in Keypad Mode ......................................................................... 6-19
Using the Computer Keyboard for Keypad Operations ......................................... 6-20
Keypad Operations in Function Block Mode .............................................................. 7-1

Keypad Overview .............................................................................................................. 7-2
Startup Screen .................................................................................................................. 7-3
Controller Main Menu in Function Block Mode ................................................................. 7-4
Edit Function Blocks................................................................................................. 7-5
Edit Parameters ....................................................................................................... 7-5
Run / Stop the Controller.......................................................................................... 7-5
Clear the Current Program ....................................................................................... 7-5
Write a Program ....................................................................................................... 7-5
Read a Program ....................................................................................................... 7-6
Change the Controller Setup.................................................................................... 7-6
Set the Real-time Clock ........................................................................................... 7-7
DURUS System Errors............................................................................................. 7-8
Enter Analog Gain and Offset .................................................................................. 7-9
Set or Change a Password .................................................................................... 7-10
Change the Display Language ............................................................................... 7-11
View Point States ............................................................................................................ 7-12
Expansion Inputs and Outputs ............................................................................... 7-13
Display the Applications HMI Screens ........................................................................... 7-14
Change a Preset .................................................................................................... 7-15
Edit Logic on the Controller ............................................................................................ 7-16
Keypad Functions in Function Block Mode ............................................................ 7-16
Editing Coils and Contacts ..................................................................................... 7-17
Editing Logic Blocks ............................................................................................... 7-19
Editing Function Blocks .......................................................................................... 7-20
Editing Parameters................................................................................................. 7-21
Software Operation in Block Diagram Mode ............................................................... 8-1

Using the Block Diagram Programming Software ............................................................ 8-2
File Menu Functions ................................................................................................. 8-3
Edit Menu Functions ................................................................................................ 8-4
Operation Menu Functions ..................................................................................... 8-10
View Menu Functions ............................................................................................. 8-13
Using Simulation Mode ................................................................................................... 8-16
Changing the State of a Component ...................................................................... 8-18
Changing Function Block Parameters ................................................................... 8-18
Simulating a Data Link Function ............................................................................ 8-19
Using Monitor Mode ........................................................................................................ 8-20
viii
GFK-2470A
Contents
Programming in Block Diagram Mode ............................................................................ 8-22

Program Editing ..................................................................................................... 8-23
Program Elements ................................................................................................. 8-24
Programming Steps ............................................................................................... 8-25
Alignment ............................................................................................................... 8-35
MODBUS Communications .......................................................................................... 9-1

MODBUS Communications Overview .............................................................................. 9-2
Unicast or Broadcast Messages .............................................................................. 9-2
Messages and Responses ....................................................................................... 9-2
MODBUS Message Format ..................................................................................... 9-4
MODBUS Operation................................................................................................. 9-4
MODBUS Commands .............................................................................................. 9-7
Register Addresses for MODBUS Communications .............................................. 9-10
MODBUS Slave Operation with Built-in RS-485 Port ..................................................... 9-31
Configuration .......................................................................................................... 9-31
Hardware Installation ............................................................................................. 9-33
MODBUS Slave Communications Module ..................................................................... 9-34
Module Specifications ............................................................................................ 9-34
Module Dimensions................................................................................................ 9-35
Communications Parameters ................................................................................. 9-35
LEDs on the MODBUS Module .............................................................................. 9-36
Bus Termination ..................................................................................................... 9-37
Power Wiring .......................................................................................................... 9-37
MODBUS Wiring .................................................................................................... 9-37
Examples ........................................................................................................................ 9-38
Example 1 .............................................................................................................. 9-38
Example 2 .............................................................................................................. 9-41
Example 3 .............................................................................................................. 9-43
Example 4 .............................................................................................................. 9-45
PROFIBUS Communications ...................................................................................... 10-1

Overview ......................................................................................................................... 10-2
Influence on Cycle Scan Time ............................................................................... 10-2
The PROFIBUS Expansion Module................................................................................ 10-3
Specifications: PROFIBUS-DP Expansion Module ............................................... 10-4
Operation................................................................................................................ 10-5
Installation ....................................................................................................................... 10-6
Power Supply Connection ...................................................................................... 10-6
PROFIBUS-DP Bus Connection ............................................................................ 10-8
Startup .......................................................................................................................... 10-10
Setting the Station Address.................................................................................. 10-10
LED Status Displays ............................................................................................ 10-10
GFK-2470A
Contents
ix
Contents
The GSD File ................................................................................................................ 10-11

PROFIBUS Functions Defined in the GSD File ................................................... 10-13
Reading and Writing Durus Controller Data......................................................... 10-14
Control Commands ....................................................................................................... 10-15
Byte 0: Activate the Service ................................................................................. 10-15
Read or Write Controller Run / Stop Status Command ....................................... 10-16
Read / Write Coils Command............................................................................... 10-17
Read / Write Function Blocks Command Basic Format ....................................... 10-18
DeviceNet Communications ....................................................................................... 11-1

Overview ......................................................................................................................... 11-2
Network Parameters .............................................................................................. 11-2
DeviceNet Features of the Module ........................................................................ 11-2
Operation................................................................................................................ 11-3
Configuration .......................................................................................................... 11-3
Module Description ................................................................................................ 11-3
Setting the Station Address.................................................................................... 11-4
Setting the Communications Rate ......................................................................... 11-4
Power Supply Connection ...................................................................................... 11-4
LED Status Displays .............................................................................................. 11-5
Device Profile .................................................................................................................. 11-6
Object Classes ....................................................................................................... 11-6
I/O Assembly Data Definitions ........................................................................................ 11-7
Parameter Configuration ........................................................................................ 11-8
DeviceNet Information .................................................................................................... 11-9
Message Types ...................................................................................................... 11-9
DeviceNet Services ................................................................................................ 11-9
DeviceNet Objects ................................................................................................. 11-9
DeviceNet Object Class Definitions .............................................................................. 11-10
Identity Object ...................................................................................................... 11-10
Router Object ....................................................................................................... 11-12
DeviceNet Object ................................................................................................. 11-13
Connection Object................................................................................................ 11-15
Assembly Object .................................................................................................. 11-18
Class Attributes .................................................................................................... 11-18
Instance 6, 7, 110 Attributes (Input assembly, default is 6) ................................. 11-18
Instance 36, 37, 100 Attributes (Output assemble, default is 36) ........................ 11-18
Class Service ....................................................................................................... 11-18
Instance Services ................................................................................................. 11-18
Control Supervisor Object .................................................................................... 11-19
Instance Attributes ............................................................................................... 11-19
Interface Object .................................................................................................... 11-20
Instance Attributes ............................................................................................... 11-20
x
GFK-2470A
Contents
Durus Controller Extended Object ....................................................................... 11-21
Instance Service ................................................................................................... 11-25
Application Examples .................................................................................................. A-1

Example 1: Lighting Control for Staircase ........................................................................ A-2
Additional Devices for Stair Lighting Application...................................................... A-2
Wiring Diagram for Stair Lighting Application .......................................................... A-2
Ladder Logic for Stair Lighting Application .............................................................. A-3
Example 2: Automatic Control of Entry Door .................................................................... A-4
Inputs and Outputs for Door Opener Application ..................................................... A-4
Wiring Diagram for Door Opener Application........................................................... A-4
Ladder Logic for Door Opener Application............................................................... A-5
Example 3: Ventilation System Control ............................................................................ A-6
Inputs and Outputs for Ventilation System Application ............................................ A-6
Wiring Diagram for Ventilation System Application ................................................. A-6
Ladder Logic for Ventilation System Application ..................................................... A-7
Example 4: Plant Gate Control ......................................................................................... A-8
Inputs and Outputs for Gate Control Application ..................................................... A-8
Wiring Diagram for Gate Control Application ........................................................... A-8
Ladder Logic for Gate Control Application ............................................................... A-9
Example 5: Counting Products for Packing .................................................................... A-10
Inputs and Outputs for Packing Application ........................................................... A-10
Wiring Diagram for Packing Application................................................................. A-10
Ladder Logic for Packing Application..................................................................... A-11
GFK-2470A
Contents
xi
QuickStart Guide: Getting Started with DURUS
This chapter provides a simple guide to connecting, programming, installing and operating your new
DURUS controller. It is not intended to provide complete instructions for programming and installing
the system. Many steps refer to other sections in the manual for more detailed information.
Install DURUS Development Software

Install the DURUS Development Software from CD or from the free Internet download available on
the Support website.
Connect Power to the DURUS Controller

Always switch off power before wiring, connecting, installing, or removing any module.
Connect power to the controller using wiring diagrams below for AC or DC supply for the applicable
models. See Chapter 2, Installation for complete wiring and installation instructions.
Connect the Programming Cable

Remove the plastic connector cover from the controller using a flathead screwdriver. Insert the
plastic connector of the programming cable into the controller as shown in the figure below. Connect
the opposite end of the cable to an RS232 serial port on the computer.
GFK-2470A
Quick Start-1
Establish Communication between the Programming Software and the Controller

1. Open the DURUS Development Software and select New Ladder Document.
2. In the Operation menu, select Link Com Port.
3. Select the correct Com Port number where the programming cable is connected to the computer,
then press the Link button.
The DURUS Controller will begin to detect the connected smart relay to complete its connection.
Quick Start-2
DURUS ControllersSystem Manual May 2011
GFK-2470A
Write a Simple Program

1. Write a simple one rung program by clicking on the leftmost cell at line 001 of the programming
grid, then click on the M contact icon on the ladder toolbar, as shown below. Select M01 and
press the OK button. See Chapter 4, Function Blocks for complete instruction set definitions.
Note:
If the ladder toolbar is not visible at the bottom of the screen, select View>>Ladder Toolbar
from the menu to enable.
GFK-2470A
Quick Start-3
2. Use the A key on your keyboard (or the A icon on the ladder toolbar) to draw the horizontal
circuit line from the M contact to the right most cell, as shown below.
3. Select the Q coil icon from the ladder toolbar and drop it on the right most cells. Select Q01
from the dialog and press OK as shown below. See Chapter 4, Function Blocks for complete
instruction set definitions.
Quick Start-4
GFK-2470A
4. Test the simple program. From the Operation menu, select the Write function and write the
program to the connected smart relay as shown below.
5. Select the RUN icon from the toolbar, and select No when the pop-up message asks Do you
want to read program from module?, as shown below.
GFK-2470A
Quick Start-5
6. On the Input Status dialog, click on M01 to activate the contact M01 which will turn ON the
Output Q01 as shown below. The highlighted circuit will show active and the first Output (Q01)
on the connected smart relay will be ON. See Chapter 6, Software Operation in Ladder Logic
Mode or Chapter 8, Software Operation in Function Block Mode for more detailed software
information.
Quick Start-6
GFK-2470A
Chapter Introduction
This chapter describes the DURUS controller family of products. It lists the available modules, and
gives their specifications.
Chapter 2, Installation, describes module installation and wiring.
Chapter 3, Transferring Programs, explains how to set up a DURUS controller to transfer
programs and data with a Memory Option Module or programmer.
Chapter 4, Program Functions, defines the coils, contacts, logic blocks, and function blocks that
can be used in an application program.
Chapter 5, Keypad Operations in Ladder Logic Mode, explains how to navigate the controller
LCD screens and make changes using the keypad, in Ladder Logic mode.
Chapter 6, Software Operation in Ladder Logic Mode, explains how use the programming
software for programming, simulation, and emulation in Ladder Logic mode.
Chapter 7, Keypad Operations in Function Block Diagram Mode, explains how to navigate the
controller LCD screens and make changes using the keypad, in Block Diagram mode.
Chapter 8, Software Operations in Function Block Diagram Mode, explains how use the
programming software for programming, simulation, and emulation in Block Diagram mode.
Chapter 9, MODBUS Communications, describes the MODBUS features that can be incorporated
into a DURUS controller system.
Chapter 10, Profibus Communications, describes how a Profibus-DP Expansion Module can be
used to add Profibus slave communications to a DURUS controller.
Chapter 11, DeviceNet Communications, describes how a DeviceNet Expansion Module can be
used to add DeviceNet slave communications to a DURUS controller.
Appendix A, Application Examples, provides sample applications for DURUS controllers.
GFK-2470A
1-1
Overview of DURUS Controller Modules

Key Features
Programmable Relay, AC or DC Inputs,

Analog Inputs, Relay or DC Outputs
Models available for 12VDC, 24VDC,

24VAC, and 100240VAC power. AC models
support 50/60Hz operation
Select models expandable up to 44 I/O
Analog Inputs, 12-bit resolution, 010VDC
265VAC / 30VDC Relay Outputs, 8A

Resistive Load (Isolated)
Available with or without Keypad / Display
Built-in Real-Time Clock
1-2
10-Point, 12-Point, 20-Point and 24-Point

models
IC210DDR012-AA
Analog Input Expansion, 12-bit resolution,

010VDC or 020mA
4-line, 16-character LCD backlit display

31 custom user screens
8 programming keys
Retentive Flash memory
Multi-language support:
o English
o French
o German
o Spanish
o Portuguese
o Chinese
o Italian
o Russian
o Turkish
Program from front of controller or software
Software supports simulator mode
Windows-based programming
DURUS Controllers May 2011
GFK-2470A
General Specifications
Item
Installation
Environmental
Specifications
Specification
Enclosure Type
IP20
Installation method
Panel-mount or DIN rail (35mm) installation
Mounting Orientation
In accordance with Mounting Instructions in chapter 2.
Operation temperature
-20C 55C (-4F 131F)
Storage temperature
-40C 70C (-40F 158 F)
Maximum humidity
90% (relative, non-condensing)
Maximum vibration
1G according to IEC60068-2-6
Vibration
0.075mm amplitude/1.0g acceleration
Shock
IEC60068-2-27 standard
15g peak, 11ms duration
EMI/EMC
IEC/EN 61131-2: 2007
Maximum
Noise
Weights
Controllers 10-point: 230 grams

Controllers 20 and 24-point: 345 grams
Expansion Units 8-point: 190 grams
Agency Approvals
UL, C-UL, CE
Certification by Underwriter's Laboratories to UL508 and CSA
C22.2 No 142 - M1987
CE Mark Declaration of Conformity to EMC and Low Voltage
Directives
Dimension
GFK-2470A
729059.6 mm (WLH) DIN rail

7210659.6 mm (WLH) Direct installation
Chapter 1 Introduction
1-3
Item
Specification
Power Supply
Input Power Voltage Range
24VDC Models: 20.4 to 28.8VDC

12VDC Models: 10.4 to 14.4VDC
AC Models: 85 265VAC, 50/60Hz
24VAC Models: 20.4 28.8VAC, 50/60Hz
Power Consumption
24VDC:
12-point: 125mA
20-point: 185mA
12VDC:
12-point: 195mA
20-point: 265mA
100240VAC:
24VAC:
100mA
290mA
Wire Size (all terminals)
14 AWG (2.08mm2)
Backlight life
Approximately 50,000 hours. Backlight remains on for 10

seconds by default. Backlight option can be enabled to remain
on continually.
Functional Specifications
Programming
Programming languages
Ladder/Function Block Diagram
Program Memory
300 Lines or 260 Function Blocks
Programming storage media
Flash
Execution Speed
10ms/cycle
LCD Display
4 lines x 16 characters
Timers
Maximum Number
Ladder: 31; FBD: 250
Timing ranges
0.01 second9999 minutes
Counters
Maximum Number
Highest count
999999
Resolution
Real Time Clock

Maximum number
Resolution
1 minute
Time span available
week, year, month, day, hour, minute
Compare Instructions (Analog, Analog*gain + Offset, Timer, Counter, Temperature Input (AT), Analog Output
(AQ), AS, MD, PI, MX, AR and DR Values)
Maximum Number
Compare versus other inputs
Analog, Timer, Counter, Temperature Input (AT), Analog Output

(AQ), Analog*gain + Offset, AS, MD, PI, MX, AR, DR, or Numeric
values
1-4
GFK-2470A
I/O Specifications
Discrete Inputs
Current consumption
4mA @12VDC
3.2mA @24VDC
1.3mA @100-240VAC
3.3mA @ 24VAC
Input Signal OFF Threshold
24VDC: < 5VDC

12VDC: < 2.5VDC
100240VAC : < 40VAC
24VAC: <6VAC
Input Signal ON Threshold
24VDC: > 15VDC

12VDC: > 7.5VDC
100240VAC : > 79VAC
24VAC: >14VAC
Input On Delay
24, 12VDC: 5ms

240VAC: 25ms
120VAC: 50ms
24VAC: 5ms
Input Off Delay
24, 12VDC: 3ms

240VAC: 90ms
120VAC: 50ms
Transistor device compatibility

High Speed Input frequency
Standard Input frequency
Required protection
Analog Inputs
Resolution
Voltage Range acceptable
Input Signal OFF Threshold

Input Signal ON Threshold
Isolation
Short circuit protection
Total number available
GFK-2470A
24VAC: 3ms
NPN, 3-wire device only
1kHz
< 40 Hz
Inverse voltage protection required
Controller: 12 bit
Expansion Module: 12 bit
Controller:
Analog input: 0-10VDC,
24VDC when used as discrete input
Expansion Module: Analog input 0-10VDC voltage or
020mA current
< 5VDC (as 24VDC discrete input)
> 9.8VDC (as 24VDC discrete input)
None
Yes
In Controller: A1 to A4
In Expansion Module: A5 to A8
1-5
1
Relay Outputs
Contact material
Current rating
HP rating
Maximum Load
Maximum operating time
Life expectancy (rated load)
Minimum load
Transistor Outputs
PWM max. output frequency
Standard max. output frequency
Voltage specification
Current capacity
Maximum Load
Minimum Load
1-6
Ag Alloy
8 Amp
1/3HP@120V 1/2HP@250V
Resistive: 8A/point
Inductive: 4A/point
15ms (normal condition)
100k operations
16.7mA
0.5kHz (1ms on, 1ms off)
100Hz
10-28.8VDC
1A
Resistive: 0.5A/point
Inductive: 0.3A/point
0.2mA
GFK-2470A
Controllers and Expansion Modules

Several types of DURUS controllers are available, with and without the operator LCD/keypad. All
DURUS controllers can be easily connected to various types of expansion modules for additional I/O
and communications protocols.
DURUS controllers can support up to eight expansion units, including one Communications module.
Note:
Versions 3.x and later series support a maximum of nine expansion units.
The analog input and communication modules must be connected to the far right side of all
expansion modules.
DURUS Controller Module Identification

IC210
DAR
010
Controller family: DURUS
Controller Type:
D = Expandable, with LCD/Keypad
B = Expandable, without LCD/Keypad
N = Not expandable; without LCD/Keypad.
No cover
Power Source:
A = 24VAC
D = 12VDC
Output Type:
R = Relay
D = Transistor
Voltage of DC Power Source

0 = 24V
1 = 12V
Total Point Count
GFK-2470A
1-7
DURUS-10 Controllers
Part Number
Description
IC210DAR010
10 points, AC Power Source, 6 AC in/4out (Relay 8 Amp), Expandable, with

LCD/Keypad
IC210BAR010
10 points, AC Power Source, 6 AC in/4out (Relay 8 Amp), Expandable, without

LCD/Keypad
IC210NAR010
10 points, AC Power Source, 6 AC in/4out (Relay 8 Amp), Not Expandable and

without LCD/Keypad. No cover.
Part Number
Description
IC210DAR012
12 points, 24VAC Power Source, (8) 24VAC in /(4) out (Relay 8 Amp),
Expandable, with LCD/Keypad
IC210DDR112
12 points, 12VDC Power Source, (6) 12VDC in /(4) out (Relay 8 Amp), (2) analog
inputs, Expandable, with LCD/Keypad
IC210DDR012
IC210BDR012
IC210NDR012
inputs, Not Expandable and without LCD/Keypad. No cover.
IC210DDD012
12 points, 24V DC Power Source, (6) 24VDC in/(4) out (Transistor), (2) analog
IC210BDD012
12 points, 24VDC Power Source, (6) 24VDC in/(4) out (Transistor), (2) analog
IC210NDD012
12 points, 24VDC Power Source, (6) 24VDC in/(4) out (Transistor), (2) analog
inputs, Not Expandable and without LCD/Keypad. No cover.
1-8
GFK-2470A
1
Part Number
Description
IC210DAR020
20 points, AC Power Source, (12) AC in/8 out (Relay, 8 Amp), Expandable, with
LCD/Keypad
IC210BAR020
20 points, AC Power Source, (12) AC in/8 out (Relay, 8 Amp), Expandable, with
LCD/Keypad
IC210NAR020
20 points, AC Power Source, (12) AC in/8 out (Relay, 8 Amp), Not Expandable,
without LCD/Keypad. No cover.
Part Number
Description
IC210MDR124
24 points, 12V DC Power Source, (12) 12VDC in/8 out (Relay, 8 Amp), (4) analog
inputs, Expandable, with LCD/Keypad. Includes an RS-485, two-wire serial port.
IC210DDR024
IC210BDR024
inputs, Expandable, without LCD/Keypad
IC210NDR024
inputs, not expandable, without LCD/Keypad. No cover.
IC210DDD024
IC210BDD024
inputs, Expandable, without LCD/Keypad
IC210NDD024
inputs, not expandable, without LCD/Keypad. No cover.
IC210MDR024
IC210MDD024
GFK-2470A
1-9
1
I/O Expansion Option Modules
Part Number
Description
IC210EAR008
Expansion module, 120/230VAC Power Source, (4) AC in/(4) out (Relay, 8 Amp)
IC210EAR208
Expansion module, 24VAC Power Source, (4) 24VAC in/(4) out (Relay, 8 Amp)
IC210EDR008
Expansion module, 24VDC Power Source, (4) 24VDC in/(4) out (Relay, 8 Amp)
IC210EDD008
Expansion module, 24VDC Power Source, (4) 24VDC in/(4) out (Transistor)
IC210EAI004
Analog expansion module, 24VDC power source, (4) Analog input Voltage or
Current
IC210EAO002
Analog expansion module, 24VDC power source, (2) Analog out 010VDC or
020mA
Communications Option Modules

Part Number
Description
IC210EMS001
Modbus RTU slave communications expansion module, 24V DC power source
IC210EPS001
Profibus-DP slave communications expansion module, 24V DC power source
IC210EDS001
DeviceNet slave communications expansion module, 24V DC power source
Programming Software and Cables

Part Number
Description
IC646DUR001
DURUS Programming and Simulation Software
IC646DUR101
DURUS Programming and Simulation Software. Includes Programming Cable.
IC210CBL001
PC to DURUS Programming Cable
IC210CBL002
PDA to DURUS Programming Cable
Accessories
Part Number
IC210TMP001
1-10
Description
DURUS Portable Memory Pack
GFK-2470A
1
Comparison of DURUS Controller Features
Part Number
IC210DAR010
Power
Source
85
265VAC
85
265VDC
85
265VAC
85
265VDC
85
265VAC
85
265VDC
24VAC
IC210DDR112
12VDC
IC210DDR012
24VDC
IC210BDR012
24VDC
IC210NDR012
24VDC
IC210DDD012
24VDC
IC210BDD012
24VDC
IC210NDD012
24VDC
IC210DAR020
IC210DDR024
85
265VAC
85
265VDC
85
265VAC
85
265VDC
85
265VAC
85
265VDC
24VDC
IC210BDR024
24VDC
(12) 24VDC
IC210NDR024
24VDC
(12) 24VDC
IC210DDD024
24VDC
(12) 24VDC
IC210BDD024
24VDC
(12) 24VDC
IC210NDD024
24VDC
(12) 24VDC
IC210DAR010
IC210BAR010
IC210NAR010
IC210BAR020
IC210NAR020
GFK-2470A
Analog Analog RTC LCD

Inputs Outputs
Key
Yes Yes
Discrete
Outputs
(4) Relay,
8-amp
(6) AC or DC
(4) Relay,
8-amp
Yes
No
Yes
(6) AC or DC
(4) Relay,
8-amp
Yes
No
No
Yes
No
No
Yes
Yes
Yes
1KHz in
Yes
Yes
Yes
1KHz in
Yes
No
Yes
1KHz in
Yes
No
No
1KHz in
Yes
Yes
Yes
Yes
No
Yes
Yes
No
No
1KHz in,
PWM Out
1KHz in,
PWM Out
1KHz in,
PWM Out
Yes
Yes
Yes
(12) AC or DC (8) Relay,

8-amp
Yes
No
Yes

8-amp
Yes
No
No
Yes
Yes
Yes
1KHz in
Yes
No
Yes
1KHz in
Yes
No
No
1KHz in
Yes
Yes
Yes
Yes
No
Yes
Yes
No
No
1KHz in,
PWM Out
1KHz in,
PWM
1KHz in,
PWM
(8) 24AC
(4) Relay,
8-amp
(6) 12VDC
(4) Relay,
8-amp
(6) 24VDC
(4) Relay,
8-amp
(6) 24VDC
(4) Relay,
8-amp
(6) 24VDC
(4) Relay,
8-amp
(6) 24VDC
(4) 24VDC
(Transistor)
(6) 24VDC
(4) 24VDC
(Transistor)
(6) 24VDC
(4) 24VDC
(Transistor)
8-amp
(12) 24VDC
(8) Relay,
8-amp
(8) Relay,
8-amp
(8) Relay,
8-amp
(8) 24VDC
(Transistor)
(8) 24VDC
(Transistor)
(8) 24VDC
(Transistor)
Expandable
Yes
Motion
Discrete
Inputs
(6) AC or DC
1-11
1
Part Number
Analog Analog RTC

Inputs Outputs
4
Yes
Power
Source
IC210MDR024 24VDC
Discrete
Inputs
(12) 24VDC
Discrete
Outputs
(8) Relay,
8-amp
IC210MDD024 24VDC
(12) 24VDC
(8) 24VDC
(Transistor)
IC210MDR124 12VDC
(12) 12VDC
(8) Relay, 8A
1-12
LCD
Key
Yes
Expandable
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Motion
1KHz in,
Modbus
Slave
1KHz in,
PWM and
Modbus
Slave
1KHz in,
Modbus
Slave
GFK-2470A
Module Description
1. Power Supply terminals
2. LCD display
3. Input terminals
4. Retractable mounting feet
5. DELete key
6. SELect key
7. Arrow keys
8. OK key
9. ESCape key
10. Communications port for computer or Memory
Option module
11. Output terminals
DURUS controllers provide a custom operator interface through their LCD and keypad. Up to 31
unique screen displays can be created for each application program. Operators can monitor timers,
counters, and other system functions. In Run mode, operators can edit the Preset Value of a Timer,
Counter, or Compare instruction. To prevent unauthorized access, the program can be protected
using a password. Displays can include information such as timer and counter values, operator
messages,
Module Dimensions
GFK-2470A
1-13
Programming Features
Programs can be created using the programming software or directly in the controller, using the
keypad and LCD.
Programming Formats
DURUS Controllers provide two different programming formats, ladder logic and function block
diagram.
Ladder Logic Format

Basic Instructions:
Normal Output
Set Coil
Reset Coil
Differential instruction
Pulse output
Function Block Instructions:
Timers
Counters
Real-time Clock
Analog Compare
HMI Display
PWM output
Data Link/Remote IO
Shift
Add-Subtract
Multiply-Divide
PID
Multiplexer
Analog Ramp
Data Register
1-14
Ladder Format in the Software

This example includes a Timer function block.
Ladder Format on the Controller LCD

This example shows a Timer function block.
GFK-2470A
Function Block Diagram Format

Basic Instructions:
NOT, AND, OR, NAND, NOR
XOR
Set Coil
Reset Coil
Differential instruction
Pulse output
Function Block Instructions:
Timers
Counters
Real-time Clock
Analog Compare
HMI
PWM output
Add-Subtract
Multiply-Divide
PID
Multiplexer
Analog Ramp
Data Register
GFK-2470A
Function Block Diagram Format in the Software
Block Diagram Format on the Controller LCD
1-15
Program Transfer
Programs can be easily stored and transferred between modules using the optional Memory Pack
(IC210TMP001). The same controller port can also be used for a cable connection to a computer
RS-232 port.
Controller and Memory Pack
1-16
Controller with RS-232 Cable
GFK-2470A
Communications Features
DURUS controllers provide the communications features listed below.
MODBUS RTU
DURUS controllers with built-in RS-485 ports can communicate with a controller or other device
using MODBUS RTU slave protocol.
DURUS controllers that do not have built-in RS-485 ports can implement MODBUS RTU
communications via a MODBUS RTU Slave Communications Expansion Module, 24VDC
(IC210EMS001). This module provides an RS-485 interface with communications rates up to
57,600bps.
Chapter 9 describes the MODBUS RTU features provided by this module.
Profibus-DP
Chapter 10 describes the Profibus-DP features that can be incorporated into a DURUS controller
system by including a Profibus-DP Slave Communications Expansion Module, 24VDC
(IC210EPS001).
The Profibus-DP Slave Communications Expansion Module, 24VDC (IC210EPS001) always
operates as network slave.
The GSD file can set up five different operating modules:
Read / write 14 bytes:
Status of all coils, Run/Stop status of controller, function block values
Read 7 bytes:
Coils (I, X, Q, Y)
Read 2 bytes :
Coils (M)
Write 2 bytes:
Coils (M)
Write 3 bytes:
Coils (Q, Y)
DeviceNet
Chapter 11 describes the DeviceNet features that can be incorporated into a DURUS controller
system by including a DeviceNet Slave Communications Expansion Module, 24VDC
(IC210EDS001).
The DeviceNet Slave Communications Expansion Module operates as a DeviceNet Group II Only
Slave device, interfacing the DURUS controller to a DeviceNet communications bus. If a DeviceNet
Communications Expansion Module is installed in the controller, it must be the only communications
module present.
GFK-2470A
1-17
Data Link and Remote I/O

The Datalink function on DURUS controller models IC210MDR024, IC210MDD024 and
IC210MDD124 can be linked to additional controllers of the same type via their RS-485 terminals.
Data Link Operation

Data Link operation uses MODBUS protocol to connect up to eight additional units to the controller
as independent slaves via the controllers RS-485 port. Each slave has its own application logic
program and I/O.
ID =0
ID =1
8 9
ID =7
16
57
64
W Memory
Each controller on the Data Link network writes 8 bits of data to a specific area of W memory.
Coil Type
Function Mode
Coil Number
Select Address (Number of bits to
be masked)
From (Node data)
To (Mapped data from Node)
L 1 (L1 is assigned to Node ID 0 being

programmed) L2 to L8 (Address of
remote Nodes ID 1 to ID 7)
1 for Send (Broadcast out from ID 0)
2 for Receive (Receive from other
Nodes (ID 1 to ID 7)
I01 08, X01 08, Q01 08,
Y01 08, M01 - 08
1 to 8
W01 to W64
I01 08, X01 08, Q01 08, Y01
08, M01 - 08
Each controller can read the W memory areas of the other controllers.
Remote I/O Operation

In Remote I/O Mode operation, two controllers of the same type are linked as a master and slave.
The inputs of the slave are mapped to the X (expansion) inputs of the master, and the outputs of the
slave are mapped to the Y (expansion) outputs of the master. The modules are connected via their
RS-485 terminals, and exchange data using MODBUS RTU protocol. No application programming is
needed to transfer the data. In this type of system, the slave controller module does not run an
application program. It is controlled by the application program in the master.
Master
1-18
Slave
GFK-2470A
Chapter Installation
This chapter describes the basic installation steps for DURUS controller modules:
Installation Environment
Mounting Instructions
Field Wiring
I/O Link or Remote I/O Wiring
Inspection and Maintenance
WARNING
Compliance with the installation instructions and other information in this user
manual is absolutely necessary. Failure to comply could lead to improper
operation, equipment damage, or in extreme cases, even death, serious bodily
injury, or damage to property.
Examination
Every DURUS controller is tested and examined before shipment.
After unpacking the DURUS controller module, check to be sure that the model number matches the
model number that was ordered. Look the module over for damage that may have occurred during
shipment. If there is any sign of damage, do not connect the DURUS controller to a power supply.
GFK-2470A
2-1
Environmental Guidelines
Ambient temperature within -20C to 55C (-4 to 131F).
Relative humidity less than 90%.
There should be no combustible, corrosive or flammable gases
The environment should not have excessive dust, salty air or conductive materials (iron powder,
etc) that could cause internal short circuits.
The controller should not be installed where it will be exposed to direct sunlight.
The controller should not be exposed to water, oil or chemicals.
Provide adequate ventilation space.
Avoid excessive vibration. If vibration cannot be avoided, an anti-rattle mounting device should
be installed to reduce vibration.
Locate the PLC equipment as far away from high voltage equipment and power generation
equipment as possible.
Take appropriate measures when installing systems in locations:
2-2
subject to static electricity or other forms of noise,
subject to strong electromagnetic fields,
close to power supplies.
When installing models with no cover, ensure that no wiring or foreign materials can fall onto the
exposed circuits and components. Damage to equipment, fire, or damage to property could
result.
GFK-2470A
External Protection Devices

The following external protection device should be installed:
Emergency-Stop circuit
Protection circuit
Operation circuit for high-voltage components
Mounting Instructions
The wiring for a DURUS controller is open and exposed. For models with no cover, all electrical
components are exposed. It is required that the DURUS controller be installed in an enclosure or
cabinet to prevent accidental contact or exposure to the electrical circuits and components.
For improved EMI/EMC performance and to meet the requirements for CE Marking, the Durus
modules are to be mounted within an RF protected enclosure with wiring not to exceed three meters.
External wiring to the enclosure is to be routed through metal conduit.
Durus modules are to be installed by trained professionals for use only in industrial environments.
DURUS modules can be mounted on a DIN rail, or panel-mounted for greater resistance to
mechanical vibration and shock. Modules must be mounted in an upright position on a vertical
surface or horizontal DIN rail. The diagrams below show correct mounting orientation. Modules must
not be mounted on a horizontal surface or in a rotated orientation.
Always disconnect power before wiring, connecting, installing, or removing any module.
GFK-2470A
Chapter 2 Installation
2-3
2-4
GFK-2470A
DIN Rail Installation

Always switch off power before wiring, connecting, installing, or removing any module.
DURUS controllers and expansion modules snap easily onto a DIN rail. With the retractable
mounting tabs pushed in: (1) Place the module over the DIN rail so that the upper mounting tab
hooks behind the rail. (2) Pivot the module downward until it clicks into place, with the lower tab(s)
secured around the rail.
To remove a module from the DIN rail: (1) pull out the retractable mounting tab(s) to release the DIN
rail, and (2) pull the module away from the rail.
Installing Module on a DIN Rail
Removing Module from a DIN Rail
To add an expansion module (with the expansion connector installed), press the latch on the
expansion module and slide it on the DIN rail to connect it to the master unit.
Connector
DC 24V
I1
I2
I3
I4
I5
I6 A1 A2
Input 8 x DC(A1,A2 0
~ 10V)
Input X1 X2 X3 X4
4 AC
L
Latch
AC 100~240V
Run
Output 4 x Relay / 8A
Y1
Y2
DIN Rail
Q1
GFK-2470A
Q2
Q3
Q4
Y3
Y4
2-5
Mounting Clamps
For modules installed on a DIN rail, mounting clamps should be installed at each end of the
equipment to hold it in place.
Mounting Clamp
DIN Rail
2-6
GFK-2470A
Panel Mounting
For panel mounting, extend the modules retractable mounting tabs and use M4 screws to mount the
unit on the panel as shown below.
Connecting an Expansion Module

To connect an expansion module (with the expansion connector installed), (1) press the latch on the
Expansion module and (2) plug it into the master module as shown below. (3) Mount the Expansion
unit on the panel with two screws.
Latch
+ DC 24V
I1 I2 I3 I4 I5 I6 A1 A2
Input X1 X2 X3 X4
4AC
Input 8 x DC(A1,A2 ~010V)
N AC 100~240V
Run
Q1
Q2
Y1
Q3
Q4
Y3
Y2
Y4
Connector
GFK-2470A
2-7
Field Wiring
Use 0.75 3.5mm2 cable as the external wire.
The I/O signal wires must not be routed parallel to power wires or high-current wires, or located
in the high-current cable trays to prevent signal interference.
Firmly fasten wires with lock screws to ensure good contact.
Tighten the lock screws using 4 6kgf.cm torque.
Sensors should be connected using 3-wire cable only.
Use appropriate fusing between output terminals and loads to avoid short circuits on the load
side.
CAUTION
Improper wiring and installation can lead to death, serious bodily injury or damage to property.
The DURUS controller should only be installed and wired by properly experienced and certified
personnel.
Be sure that the wiring of the DURUS controller meets all applicable regulations and codes
including local and national standards and codes.
Be sure to properly size cables for the required current rating.
Always separate AC wiring, DC wiring with high-frequency switching cycles, and low-voltage
wiring.
2-8
GFK-2470A
Power Wiring
Connect power to the DURUS Controller as shown below.
Over-Current Protection
DURUS modules do not include internal protective fusing for outputs. External fusing should be
installed between the each power source and load.
GFK-2470A
2-9
Field Wiring for 12-Point and 20-Point, 12/24VDC Input Modules

(1)
(2)
Fuse (2A)
Surge absorber (36V DC)
Field Wiring for Analog Expansion Module
2-10
GFK-2470A
Sensor Wiring
Use 3-wire, PNP only.
Field Wiring for 10-Point and 20-Point, 24VAC or 100/240VAC Modules
(1)
(3)
Fuse (2A)
Surge absorber (400V AC)
Relay Output Wiring
(4)
Fuse or short circuit protective device
GFK-2470A
2-11
2
Transistor Output Wiring
I/O Link or Remote I/O Wiring

In accordance to EIA RS-485 standard, DATA LINK can connect up to eight modules. Remote I/O
can only connect two modules, a master and slave.
The power supply and the I/O supply must share the same power source.
Termination (6) should be added at the first and last device on a multidrop link. Only short-circuit
the first and the last modules.
Precautions for Operation

WARNING
To ensure safe operation, complete system-level functional and safety testing
must be conducted. Do not operate the DURUS controller until all testing is
complete and safe operation is confirmed. Testing should include potential fault
conditions.
When power is On, never contact the terminals, exposed conductors, or electrical
components.
Failure to observe the above precautions could result in improper operation,
equipment and property damage, personal injury, or death.
Use of safety protection such as an emergency stop and interlock circuit is highly
recommended so that the DURUS controller can be shut down immediately.
2-12
GFK-2470A
Chapter Transferring Programs
This chapter explains how to transfer programs using a programming cable or optional Memory
Option module.
The Memory compartment on the front of a Durus controller module provides a port for transferring
application programs. The compartment can be used for either a Memory Option module
(IC210TMP001) or a programmer cable (IC210TCM001).
The same controller port can also be used for a cable connection to a computer RS-232 port.
Controller and Memory Pack
GFK-2470A
Controller with RS-232 Cable
3-1
Installing a Memory Option Module

A Memory Option module can be used to transfer programs from one controller to another. See the
list of compatible controller types on the next page.
To install a Memory Option module:

1. Be sure that power to the Durus Controller module is turned OFF.
2. Remove the cover of the memory compartment on controller module with a flathead screwdriver.
3. Plug the Memory Option module into the slot, and power up the controller.
From the display keypad on the face of the Durus controller, select either WRITE (to the
Memory module) or READ (from the Memory module) to transfer the program to or from the
Memory module.
For modules with no keypad or display (catalog numbers starting with IC210Nxxxxx), when
power is applied to the controller, the program in the Memory module is automatically
downloaded and executed.
4. Remove power to the controller, and take the Memory module out of the controller port.
5. The Memory Pack can now be used to copy the same program to a compatible DURUS
controller. Power to the controller must be OFF when installing or removing the Memory module.
Compatible Controllers for Transferring Programs Using a Memory Pack

Programs in different types of controllers may not be compatible. See the table below.
3-2
Programs can be transferred from:
10/12 point controller to a 20-point controller
AC controller to a DC controller
Controller with relay outputs to a controller with transistor outputs
Controller without built-in MODBUS to a controller with built-in MODBUS
Programs cannot be transferred from:
20 point controller to a 10/12 point controller
DC controller to an AC controller
Controller with transistor outputs to a controller with relay outputs
Controller with built-in MODBUS to a controller without built-in MODBUS.
GFK-2470A
2.1
2.1
MDD024
MDR024
NDD024
2.1
NAR020
BDD024
BAR020
DDD024
DAR020
NDR024
2.1
BDR024
DDR024
NAR010
2.1
BAR010
NDD012
DAR010
BDD012
DDR012
DDD012
Transfer
To
NDR012
Transfer
From
BDR012
Controller models without a keypad or display (catalog numbers IC200Nxxxxx) require version
2.1 or later firmware to receive programs from controllers with catalog numbers IC200Dxxxxx.
DDR012
BDR012
NDR012
DDD012
2.1
2.1
2.1
BDD012
NDD012
DAR010
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
BAR010
NAR010
DDR024
BDR024
NDR024
DDD024
BDD024
NDD024
2.1
2.1
2.1
2.1
2.1
2.1
DAR020
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
BAR020
NAR020
MDR024
MDD024
GFK-2470A
Chapter 3 Transferring Programs
3-3
Connecting the Programming Computer

A communications cable (IC210TCM001) can be attached for monitoring the controller or for
exchanging programs and data. See the list of compatible controllers for exchanging data on the
next page.
1. Be sure that power to the Durus controller is turned OFF.

2. Remove the cover of the memory compartment of the controller with a flathead screwdriver. Do
not discard the cover.
3. Insert programmer cable into the slot
4. Connect the other end of the programmer cable with the RS-232 communication port on the
computer.
5. Instructions for reading and writing a program are located later in this manual.
3-4
GFK-2470A
Compatible Controllers for Transferring Programs with Programmer

Cable
MDD024
MDR024
NAR020
BAR020
DAR020
NDD024
BDD024
DDD024
NDR024
BDR024
DDR024
NAR010
BAR010
DAR010
NDD012
BDD012
DDD012
NDR012
BDR012
DDR012
Transfer
From
Transfer
To
DDR012
BDR012
NDR012
DDD012
BDD012
NDD012
DAR010
BAR010
NAR010
DDR024
BDR024
NDR024
DDD024
BDD024
NDD024
DAR020
BAR020
NAR020
MDR024
MDD024
GFK-2470A
Chapter 3 Transferring Programs
3-5
Transferring Programs using the Durus Software

To transfer programs using the programming software, first establish communication as described
on page 3-4. Then, from the Operation menu, select either Read or Write:
3-6
GFK-2470A
Chapter Function Blocks
This chapter describes the elements of ladder logic and block diagram application programs
for a DURUS Controller.
Programming Elements
Memory Usage in Function Block Mode
Contacts and Coils
Input Contacts
Keypad Inputs
Normal Outputs
Auxiliary Relays
Timers and Timer Status Bits
Counters and Counter Status Bits
Positive Input Differential Instruction
Negative Input Differential Instruction
PWM Output
HMI Instruction
Datalink / Remote I/O
Shift
GFK-2470A
Logic Blocks
AND
AND (Edge)
NAND
NAND (Edge)
OR
NOR
XOR
NOT
Pulse
Set / Reset
Function Blocks
Counters
Timers
Real-Time Clock Instructions
Compare Functions
PWM Output Instruction
HMI Instructions
Datalink / Remote I/O
MODBUS Functions
4-1
Programming Elements
General SET RESET Pulse
N.O
N.C. Analog Analog
Output Output Output Output Contact Contact Input Output
-[
()
()
Quantity
and
Designations
(P)
Input Contact
12 (I1IC /
i1iC)
Keypad Inputs
4 (Z1Z4)
Expansion Input
Contact
12 (X1XC /
x1xC)
Auxiliary Contact
15 (M1MF /
m1mF)
Output Coil
8 (Q1Q8 /
q1q8)
Expansion Input Coil
12 (X01X0C/
x01x0C)
Expansion Output
Coil
12 (Y1YC /
y1xC)
31 (C1C1F /
c1c1F)
31 (T1T1F /
t1t1F)
D
positive
d
negative
Counter
Timer
Differential (oneshot)
RTC
31 (R01R1F /
r01r1F)
Analog Comparator
31 (G01G1F /
g01g1F)
HMI
31 (H0H1F)
PWM, PLSY
2 P01P02)
DATA-LINK
8 (L01L08)
SHIFT
1 (S01)
Analog Input
8 (A01A08)
Analog Input
Parameter
8 (V01V08)
AT
4 (T01T04)
Temperature Input
Analog Output
AQ
4 (AQ01
AQ08)
Add-Subtract
AS
AS
31 (AS0
AS1F)
Multiply-Divide
MD
MD
31 (MD01
MD1F)
PID
PID
PID
15 (PID01
PID0F)
Data Multiplexer
MX
MX
15 (MX01
MX1F)
Analog Ramp
AR
AR
15 (AR01
AR0F)
Data Register
DR
DR
240 (DR01
DRF0)
4-2
GFK-2470A
Memory Usage in Function Block Mode

In Function Block Diagram edit mode, the logic blocks and function blocks share system
memory, as shown below. So, for example, a Logic Block uses one unit of memory. A Mode 7
Timer uses 1 function block unit plus 2 Timer units.
Function
Block
Timer
Counter
RTC
Comparator
Analog
Comparator
Total Memory
99
31
31
31
31
Logic Block
Timer Mode 06
Timer Mode 7
Counter Mode 08
RTC Mode 04
Compare Mode 08
1
1
1
Example Memory Usage

When the Function Block Diagram program contains:
Two AND Logic Blocks
One OR Logic Block
Two Timers Mode 1
One Counter Mode 1
One RTC mode 1 Function Block
The total Function Blocks used are 2+1+2+1+1=7. The remainder is 99 (total memory) 7
(Function Blocks) = 92.
The timers used are 2 (Function Blocks) + 2 (Timers ) = 4. The remainder is 31 (total timers)
4 = 27.
The number of counters used is 1, and the remainder is 31 (total timers) 1 = 30.
The number RTC functions used is 1, and the remainder is 31 - 1=30.
The compare function is not used, so the remainder is 31.
GFK-2470A
Chapter 4 Function Blocks
4-3
Contacts and Coils

Input Contacts
The controller assigns digital inputs to I (input) memory. The number of digital inputs available
(6, 8, or 12) depends on the controller model. Expansion inputs are assigned to X memory.
Ladder Diagram Format for Input Contacts
In the example below, when input I1 is activated, output point Q1 turns on.
Function Block Format for Inputs
Keypad Inputs (Z Memory)

The controller assigns keypad inputs to Z memory. The number of Z inputs available is 4.
Digital outputs are assigned to Q memory. Depending on the controller model, the number of
digital Q output points is either 4 or 8.
4-4
GFK-2470A
4
Normal Outputs
8 digital output points are available. Expansion outputs are assigned to Y memory.
A Normal output turns On when the preceding input goes On.

Timing Diagram for Norma Output
I1
Q1
OFF
OFF
ON
OFF
ON
OFF
Ladder Diagram Format for Normal Output

LCD Format:
I1 [Q1
Software Example:
GFK-2470A
4-5
4
Auxiliary Relays (M Memory)
Auxiliary relays are digital internal memory bits used to control a ladder logic program. The
auxiliary relays are not physical inputs or outputs that can be wired to any external device;
switches, sensors, relays, lamps, etc. The controller provides 63 Auxiliary Relays.
Because auxiliary relays are internal bits in the CPU, they can be programmed as digital inputs
(contacts) or digital outputs (coils). In the first rung of this example, auxiliary relay M01 is being
used as an output coil. It will energize when input I02 turns on. In the second rung, auxiliary
relay M1 is being used as an input and when energized, it will turn on outputs Q02 and Q03.
4-6
GFK-2470A
4
The state of auxiliary relays M01M3F will be retained if M Keep is active when the controller
powers down. M Keep can be set by the two ways below.
Auxiliary Relays (N Memory)

Auxiliary relays assigned to N memory are similar to those assigned to M memory, except they
are not retained when the PLC powers down.
In the first rung of this example, auxiliary relay N01 is used as an output coil and will energize
when input I03 turns on. In the second rung auxiliary relay N01 is being used as an input and
when energized, will turn on outputs Q04 and Q05.
GFK-2470A
4-7
4
Timers and Timer Status Bits (T Memory)
Timer Status Bits are assigned to T memory. Each Timer Status Bit shows the relationship
between the timers Preset Value and its Current Value. A Timer Status bit is set to 1 when the
Current Value is equal to or greater than the Preset Value.
In this example, when input I3 turns on, timer T1 will start. If the timer is configured as an On
Delay timer, when the timer reaches the preset of 5 seconds, timer status contact T1 turns on.
When T1 turns on, output Q4 turns on. Turning off I3 will reset the timer.
Counters and Counter Status Bits (C Memory)

Counter Status Bits are assigned to C memory. Each Counter Status Bit shows the
relationship between the counters Preset Value and its Current Value. A Counter Status bit is
set to 1 when the Current Value is equal to or greater than the Preset Value.
In this example, the counter has been configured as an Up counter. Each time the input
contact I4 transitions from off to on, the counter (C1) increments by one. When the counter
reaches the preset of 2 counts, the counter status contact C1 turns on. When C1 turns on,
output Q5 turns on. When M2 turns on counter C1 will reset. If M9 is turned on, the counter will
change from an Up Counter to a Down counter.
4-8
GFK-2470A
4
PWM Output Instruction
DURUS controllers with DC transistor outputs can provide Pulse-Width Modulated (PWM)
outputs on terminals Q1 and Q2. The PWM instruction can output up to eight stages. It also
provides a PLSY (Pulse) output on Q1. The pulse number and frequency of the PLSY output
can be changed.
PWM Mode
P01 and P02 both can work under this mode. Each PWM has eight group preset stages that
contain Width and Period. The eight group preset value can be constant or other data code.
The stage can be changed when the PWM is running, then the output pulse changes. Each
PWM has 10 parameters for proper configuration. The table below describes each
configuration parameter, and lists each compatible memory type for configuring PWM.
Symbol
Description
Enable
Select3
Select2
Select1
Stage
Output PWM
Display PWM mode

(1)
OFF
OFF
Display preset stages

as operating (08)
ON
OFF
OFF
OFF
Preset stage 1
Input selected stage 1

(I01g1F)
ON
OFF
OFF
ON
Preset stage2

(I01g1F)
ON
OFF
ON
OFF
Preset stage 3

(I01g1F)
ON
OFF
ON
ON
Preset stage 4
Current number of
pulses (0)
ON
ON
OFF
OFF
Preset stage5
Period of preset stage

(132767 ms)
ON
ON
OFF
ON
Preset stage 6
Width of preset stage

(032767 ms)
ON
ON
ON
OFF
Preset stage7
Output port (Q01

Q02)
ON
ON
ON
ON
Preset stage8
PWM code (P01P02)
GFK-2470A
4-9
4
Ladder Diagram Format for the PWM Instruction
In the following example, the stage can be changed when P01 is running by changing the
values of M01, M02 and M03. Parameter displays the current number of pulses when P01
is running, but equals 0 when P01 is disabled.
Function Block Format for the PWM Instruction
Enable Input
Shift Input
4-10
GFK-2470A
PLSY Mode
Only P01 functions in this mode; the output is Q01. PLSY has six configuration parameters.
Symbol
Description
PLSY mode (2)
Current number of PLSY (0)
Preset frequency of PLSY (11000Hz)
Preset pulse number of PLSY (032767)

If is 0, PLSY will continue to generate pulses as long as it is
enabled
Output port (Q01)
PWM code (P01)
The preset frequency and pulse number could be constant or other data code (C01). They are
variable if the preset are other data code. The PLSY will stop output when it has output the
number of pulses specified by parameter . PLSY will run again if it is enabled for a second
time.
In the example below, the frequency is other data code (C01), so the waves frequency will
change following the current value of C01. Frequency is 1000 if the current value of C01 is
greater than 1000. So, pulse number is the same. If the current value of preset other data is
greater than its upper limit, it equals its upper limit.
GFK-2470A
4-11
4
HMI Instructions
The DURUS controller provides up to 31 HMI instructions that can be used in a program. Each
HMI instruction can be used to set up a custom 4-line by 16-character display on the
controllers LCD screen. Displays can include information such as timer and counter values,
input and output status, and text. There are three kinds of text in HMI. They are Multi
Language, Chinese (fixed) and Chinese (edit), Multi Language is shown in the example.
In Run mode, the Target Value of a Timer, Counter, or Compare instruction can be edited
using HMI.
Each HMI instruction is configured separately using the EditHMI/Text menu selection from
the client software. In the following example, HMI instruction H1 is configured to display the
value T01, and some descriptive text.
Note: A phone number can be displayed on the screen to alert an operator to call for help.
The phone number field does not dial a modem or allow for a modem connection.
4-12
GFK-2470A
4
Each HMI instruction has a choice of two operation modes, described in the table below.
Symbol
Description
Display mode
1: Display
2: No Display
HMI character output terminal (H01H1F)
Ladder Diagram Format for the HMI Instruction
The Chinese (fixed) and Chinese (edit) characters are shown below. The total number of
Chinese (edit) characters is 60.
GFK-2470A
4-13
4
HMI Function Instruction
The HMI can display the following information:
Character, built-in Chinese, user-defined Chinese and GSM telephone number. This
information cannot be edited through keypad.
Function current value (T, C, R, G and DR, used with or without units). This
information cannot be edited through keypad.
Preset value of function (T, C, R, G and DR). This information can be edited through
keypad.
State of coil (I, X, Z, M, AQ, AT and N (only FBD)). The state of M and N can be
edited through keypad.
HMI Status
1. HMI scanning state, press SEL at IO interface.
2. HMI running state. HMI is enabled at IO interface.
3. HMI edit preparing state, press SEL when HMI is scanning or running state, flicker
cursor will show if there is edited content.
4. HMI editing state, press SEL again under status 3.
4-14
GFK-2470A
4
Keypad Instruction
ESC
Terminate operation
SEL
Select status 3 if there is edited content at status 1 or 2

Select status 4
Change preset type under status 4
Under status 4, change data and number, function preset data; change coil state
(SEL+ )
Not in status 4, move cursor up and down

Under status 2, find the nearest enabled HMI
Under status 1, find the nearest HMI whose mode is 1
GFK-2470A
Move cursor left and right
OK
Validate editing and store automatic
4-15
4
DATALINK/Remote I/O
The DATALINK function is available on 20-point transistor output models. It can be used to
connect up to eight additional units of the same type via the controllers RS-485 terminals (see
chapter 2). Each connected unit operates as an independent slave.
ID =0
ID =1
8 9
ID =7
16
57
64
W Memory
Each slave has its own application logic program and I/O linked to one master controller. Each
controller ID is associated with a set of eight I/O points in W memory.
Controller ID
Memory Location
W1W8
W9W16
W17W24
W25W32
W33W40
W41W48
W49W56
W57W64
Each controller module can write to its set of eight bits as shown above. Each module can
read any or all of the W data.
The baud rate and communication format can be set using the OperationModule System Set
menu selection from the client software. They can also be set using the keypad.
The two bytes of keypad data select the baud rate and communication format as described
below:
High byte:
0: 8, N, 2 (Modbus RTU Slave, 8bits data, no parity bit, 2 stop bits)
1: 8, E, 1 (Modbus RTU Slave, 8bits data, Even parity bit, 1 stop bits)
2: 8, O, 1 (Modbus RTU Slave, 8bits data, Odd parity bit, 1 stop bits)
3: 8, N, 1 (Modbus RTU Slave, 8bits data, no parity bits, 1 stop bits)
Low byte:
4-16
4800bps
9600bps
19200bps
38400bps
57600bps
115200bps
GFK-2470A
4
The following table lists, for different baud rates, the time required to transmit a byte, TB , and
the Receive-Complete timer period TC
4800bps
9600bps
19200bps
38400bps
57600bps
115200bps
2.29ms
1.15ms
0.57ms
0.29ms
0.19ms
0.10ms
7.5ms
4ms
2ms
1ms
1ms
1ms
B
C
Data Link
Up to eight additional units can be configured as independent Slave nodes, each running its
own logic program and with its I/O linked to one Master controller. The Master controllers ID
must be 00, and Slave nodes IDs should start with 01 and be continuous. If nodes IDs are not
continuous, the Master will not communicate with nodes that are after the first broken node.
For example, if the nodes IDs are 01, 02, 04 and 05. The Master thinks there are only two
Slave nodes with IDs 01 and 02, and communicates only with them.
V-type valid (20VR-D, 20VT-D)
Max. 8 points I/O sent per station
Max 78 (=56) points I/O received per station
ID must be set to 0,1,2 (Max. to 7). Max. 8 per station.
ID Set = 02
Remote I/O = S
ID Set = 01
Remote I/O = S
ID Set = 00
Remote I/O = M
16
37
64
GFK-2470A
4-17
4
Ladder Diagram Format for the DataLink / Remote I/O Function
Symbol
Note:
Description
Type
of Points
Range
Send or Receive mode:

1= send
2= receive
Inputs
I01I0C
i01i0C
Number of send/receive points

(18)
Outputs
Q01Q08
q01q08
Type of send/receive points
Auxiliary Coil
M01M3F
m01m3F
Send/receive memory list location
Expansion
inputs
X01X0C
x01x0C
Data link output terminal (L1L8)
Expansion
outputs
Y01Y0C
y01y0C
Only the Mode 1 Send Data Link instruction (L01L08) is allowed per Master
controller. All other Data Link instructions must be Mode 2 Receive instruction.
The Controller ID determines the Mode 2 Receive memory

range. Each controller ID is allocated a range of eight I/O
points (Wxx Wxx) that can be read into the Master
controller using a Data Link instruction. The following table
shows the memory range of Wxx locations associated with
each controller ID.
The Data Link instruction below is setup for Mode 1 Send
where the Master controller is sending five I/O points of
Inputs to each connected Slave controller. The starting
Input is I03 with the resulting range of 5 sending inputs
equal to I03 I07.
4-18
Controller ID
Memory List
Location
W01W08
W09W16
W17W24
W25W32
W33W40
W41W48
W49W56
W57W64
GFK-2470A
4
Block Diagram Format for the Datalink / Remote I/O Function
Notes:
1. Only one unit can be set up for Send mode. That unit will operate as the Master. The other
units on the link must be set up for Receive mode, and will operate as the Slaves.
2. Set the send/receive points. Selectable points are:
3. In Receive mode, the memory range is determined by the controller ID and cannot be
changed.
Example 1, DATALINK Mode 1, Send Data
In this example, the Mode parameter is set to 1 (Send). Parameter 2, the Send/receive point,
is set to 5. Parameter 3 is set to start from I3, the state of actual sending terminal I3I7 is sent
to memory list; the controller ID = 3. For parameter 4, the state of corresponding memory list
position is W9W13- and relationship of sending terminal is as below:
Example 2, DATALINK Mode 2, Receive Data

Set parameter 1 to 2 . Set parameter 2 to 5. Set parameter 3 to start from I3. Set parameter 4
to start from W17. When enabling the Datalink, the state ON/OFF of I3I7 is controlled by
the state of parameter 4, memory list position W17W21, which is independent of the actual
state of input terminal.
The DATA LINK mode between Master and Slave nodes is Master reads W Table information
from each Slave in sequence, then broadcast the whole W Table to all of Slave nodes.
The Master reads W Table information from Slave one first whose ID is 01. The time required
for this operation is:
T
1S
is the scan time of Slave one;
T is the scan time of the Master.

M
GFK-2470A
4-19
4
Therefore, the time that the Master reads from each Slave is:
TiS is the scan time of Slave i. So TiR is the time that the Master reads from Slave i.
Therefore, the total time that the Master reads from n Slave nodes is:
The time of Master broadcasting is:
If the max ID of Slave node is less than 7, the time of DATA LINK is:
If the max ID is equal to 7, the time of DATA LINK is:
Data Link Communication Period, T
4-20
GFK-2470A
4
Remote I/O
Up to two additional units can be configured as Remote I/O nodes and linked to one master
controller.
The Master can run its programming, but the Slave cannot. The Master writes its state of
expansion output coil Y to the Slaves output coil Q. The Slave writes its state of input coil I to
the Masters expansion input coil X.
The time that the Master writes to the Slave is:
The time that the Slave writes to the Master is:
TS is the Slaves scan time; TM is the Masters scan time.
Do not use expansion DI/DO modules when the Remote I/O function is enabled.
GFK-2470A
4-21
4
Shift
Example Timing Diagram for the Shift Function
In this example, the Shift output type is Q, and the Shift Number is 5:
Function Block Format for the Shift Function

Enable Input
1
2
3
Ladder Diagram Format for the Shift Function
Shift Code (1 group)
S HI F T 0 1
T YP E : Q
N U M: 5
4-22
Shift Output Type (Q or Y)

Shift Number (1 to 8)
GFK-2470A
4
AQ (Analog Output)
The DURUS controller provides four analog outputs, AQ01AQ04. The default Output Mode of
the analog outputs is 0-10V voltage, corresponding to a value of 0 in the Output Mode register.
The output modes of AQ01AQ04 are selected by the values of corresponding Output Mode
registers, DRD0-DRD3 as shown below.
OutputRegisters
Register
Mode Registers
Output Registers
Function
DRD0
Selects the output mode of AQ01
DRD1
DRD2
DRD3
DRD4
Analog output value for AQ01. Range: 04095.
DRD5
DRD6
DRD7
AQ Output Modes
Output Mode
Register Value*
AQ Output Mode
Output Range
010V Voltage mode,

AQ value is 0 in STOP mode
01000
020mA Current mode,

AQ value is 0 in STOP mode
0500
010V Voltage mode,

AQ retains its value in STOP mode
01000
020mA Current mode,

AQ retains its value in STOP mode
0500
* A value outside the range of 03 will be handled as 0.

AQ display
AQ displays the preset value in STOP mode, and displays the current value in RUN mode.
Overflow
The value will be judged if its over-flow when writing AQ preset value or current value through
PC communication. So output mode information should have been written before preset value.
GFK-2470A
4-23
4
AS (Add Subtract)
The DURUS controller provides 31 AS instructions that can be used throughout a program.
The ADD-SUB Addition and/or Subtraction function enables simple operations to be carried
out on integers. There are six parameters for configuration. The table below describes each
configuration parameter, and lists each compatible memory type for configuring AS.
Symbol
Description
The result of Add-Sub computing
V1: first compute data
V2: second compute data
V3: third compute data
Error output coil (M, N, NOP)
AS code (AS01AS1F)
AS current value is the result of the computation shown in the following formula:
Formula: AS=V1+V2-V3
The table below describes detail information of each parameter of AS.
AS current value
Range: -3276832767, if the compute result is bigger than 32767, AS current value is
32767; And the same AS current value is -32768 if the compute result is less than 32768.
Operand V1V3
Range: -32767832767, they can be constant or other data code. The value of
decoding from other data code also follows the same rule as ASs current value.
Error Output coil
The output coil will be set to 1 if an invalid value is calculated, or the result is overflow.
The Error output coil can be M, N or NOP. The output coil is set to when the wrong thing
happens if the output coil selects M or N, but it will do nothing if the output coil is NOP. The
output coil turns OFF when the result is right or the function is disabled. The current value has
no meaning when the output coil is ON.
4-24
GFK-2470A
4
Configuration Example for AS Function
GFK-2470A
4-25
4
MD (Multiply-Divide)
The DURUS controller includes a total of 31 MD instructions that can be used throughout a
program. The MUL-DIV Multiplication and Division function enables simple operations to be
carried out on integers. The table below describes the configuration parameters and lists each
compatible memory type for configuring MD.
Symbol
Description
The result of MUL-DIV computing
V1: first compute data
V2: second compute data
V3: third compute data
MD code (MD01MD1F)
MD current value is the result of the following computation:

Formula: MD=V1*V2/V3
The table below describes detail information of each parameter of MD.
MD current
value
Range: -3276832767, if the compute result is bigger than 32767, MD current value is 32767;
and the same, MD current value is -32768 if the compute result is less than -32768.
Operand
V1V3
Range: -32767832767, they can be constant or other data code. The value of decoding from
other data code also follows the same rule as ASs current value.
Error Output
coil
The output coil will be set to 1 when the function yields an invalid result, V3 is 0, or the result is
overflow.
The Error output coil can be M, N or NOP. The output coil is set to when the wrong thing
happens if the output coil selects M or N, but it will do nothing if the output coil selects NOP.
The output coil turns OFF when the function produces a valid result or the function is disabled.
The current value has no meaning when the output coil is ON.
4-26
GFK-2470A
4
Configuration Example for MD Function
GFK-2470A
4-27
4
PID (Proportional-Integral-Differential)
The DURUS controller includes a total of 15 PID instructions that can be used throughout a
program. The PID function enables simple operations to be carried out on integers. There are
nine configuration parameters. The table below describes each configuration parameter, and
lists each compatible memory type for configuring PID.
Symbol
Description
The result of PID operation
Preset target value
measure value
sampling time
Proportion
Integral time
Differential time
PID code (PID01PID0F)
PID current value is the result of compute. The parameters from to can be constant or
other data code. The value decoded from other data code must follow the rule of each
parameter. This means that parameter will be the maximum if the value decoded from other
data code is bigger than its maximum, and parameter will be the minimum if the value
decoded is less than its minimum. The table below describes detail information of each
parameter of PID.
PID
Current value, range: -3276832767
SV
Target value, range: -3276832767
PV
Determine value, range: -3276832767
Ts
Sampling time, range: 132767 (0.01s)
Kp
Proportion plus, range: 132767 (%)
Ti
Integral time, range: 032767 (0.1s)
Td
Differential time, range: 032767 (0.01s)
Output coil
The coil is set to 1 when either TS or Kp is 0.
The Error output coil can be M, N or NOP. The output coil is set if the function yields an invalid
result, if the coil type is M or N, but it will do nothing if the coil type is NOP. The output coil
turns OFF when the function result is valid or the function is disabled. The current value has
no meaning when the output coil is ON.
4-28
GFK-2470A
4
Configuration Example for PID Function
MX (Multiplexer)
The DURUS controller includes a total of 15 MX instructions that can be used throughout a
program. This special function transmits 0 or one of 4 preset values to MX current value
memory. The MX function enables simple operations to be carried out on integers. There are
seven configuration parameters. The table below describes each configuration parameter, and
lists each compatible memory type for configuring MX.
Symbol
Description
Operation data 1: V0 (-3276832767)
Selection bit 1: S1
Selection bit 2: S2
MX code (MX01MX0F)
MX current value is the content of MX memory. The parameters from to can be constant
or other data code. The value decoded from other data code also must follow the rule of each
parameter. This means that parameter will be the maximum if the value decoded from other
data code is bigger than its maximum, and parameter will be the minimum if the value
decoded is less than its minimum.
GFK-2470A
4-29
4
Parameter Details for MX Function
Output MX
MX current value is one of the four parameters according the state of S1 and S2
when the function is enabled. MX current value is 0 when the function is disabled.
S1and S2
S10,S20: output value 1 V0;

parameter
V0V3: The data will be transmitted to MX current value, range: -3276832767
Configuration Example for MX Function
4-30
GFK-2470A
4
AR (Analog-Ramp)
The DURUS controller includes a total of 30 AR instructions that can be used throughout a
program.
AR Mode 1
In mode 1, the AR function enables simple operations to be carried out on integers. Analog
Ramp instruction allows AR current level to be changed by step from starting level to target
level at a specified rate. The table below describes each configuration parameter, and lists
each compatible memory type for configuring AR.
Symbol
Description
AR current value
Preset level 1
Preset level 2
Preset max level (MaxL)
start/stop level (StSp)
stepping rate (rate)
Proportion (A)
Excursion (B)
Level selection coil (Sel)
Stop selection coil (St)
AR code (AR01AR0F)
AR_current value = (AR_current_level B)/A

The parameters from to can be constant or other data code.
Parameters for AR Mode 1 Function
AR current value
Compute follow above formula, range: 032767
Level1, Level2, MaxL
Range:-1000020000. It equals MaxL if either level1 or level2 is bigger than

MaxL
StSp
Start/stop level, range: 020000
Rate
The number of current level increment per second, range: 110000
Proportion, range: 010.00
Excursion, range-1000010000
Sel
Selection level Sel = 0: target level = Level1

Sel = 1: target level = Level2
St
Selection stop coil. The Sts state becomes from 0 to 1 will startup the current
level decrease to start/stop level (StSp + excursion B), and then keep this
level for 100ms. Then AR current level is set to B, which will make AR current
value equal to 0.
Error Output coil
The output coil turns ON when A is 0.

The output coil can be M, N or NOP. If the output coil is of type M or N, it will be
set if the function yields an invalid result, but it will do nothing if the output coil is
NOP. The current value has no meaning if the coil is set.
GFK-2470A
4-31
4
AR will keep the current level at StSp + Offset "B" for 100ms when its enabled. Then the
current level runs from StSp + Offset "B" to selection level at enactment Rate. If St is set, the
current level decreases from current level to level StSp + B at enactment Rate. Then AR holds
the level StSp + Offset "B" for 100ms. After 100ms, AR current level is set to offset "B", which
makes AR current value equals 0.
Timing Diagram for AR Mode 1
Configuration Example for AR Mode 1 Function
4-32
GFK-2470A
4
AR Mode 2
In mode 2, four output levels can be preset. Only one of the four preset levels can be target
level. The current level will switch to target level at a rate designated by the user. There are 12
configuration parameters. The table below describes the parameters and lists compatible
memory types for configuring AR mode 2.
Symbol
Description
AR current value
Level 0: 032767
Level 1: 032767
Level 2: 032767
Level 3: 032767
MaxL (max level): 032767
Ta (acceleration time): 0.132767
AR mode
Level selection coil (Sel1)
Level selection coil (Sel2)
AR code (AR01AR0F)
The parameters from to can be constant or other data code.

. The table below provides detailed information for each parameter of AR mode 2.
Parameters for AR Mode 2 Function
Sel1
Sel2
S1=0, S2=0: Target level = Level 0;

MaxL
MaxL is used as target level if the selected level is bigger than MaxL.
Ta
The result of MaxL divided by Ta is the change rate from current level to target
level.
Output coil
The output coil turns ON when A is 0. The output coil can be M, N or NOP. If
the output coil is of type M or N, it will be set if the function yields an invalid
result, but it will do nothing if the output coil is NOP. The current value has no
meaning if the coil is set.
AR will vary from 0 to current level at the designated rate when its enabled. Then the current
level will change to a new level based on Sel1 and Sel2. When AR is disabled, current outputs
go to 0 immediately, as shown in the following timing diagram.
GFK-2470A
4-33
4
Timing Diagram for AR Mode 2
Configuration Example for AR Mode 2 Function
4-34
GFK-2470A
4
AR Mode 2 is displayed as follows in FBD mode:
FBD display
Parameter display
Program display
SEL+/
Enable Input
GFK-2470A
4-35
4
DR (Data-Register)
The DURUS controller includes a total of 240 DR instructions that can be used throughout a
program. The DR function is transferring data. When DR is enabled, it sends data from
prevention registers to current register. This means that DR is a temp register. It can be sign or
unsigned by setting the bit DR_SET through operation>>module system set menu selection
from the DURUS Client software. DR is signed if the DR_SET is ON, else DR is unsigned.
There are two parameters for proper configuration. The table below describes each
configuration parameter, and lists each compatible memory type for configuring DR.
Symbol
Description
Preset value, range: DR_SET = 0, 065535

DR_SET = 1,-3276832767
DR code (DR01DRF0)
The parameter can be a constant or other data code. The value decoded from other data
code also must follow the rule of parameter range. This means that parameter will be the
maximum if the value decoded from other data code is bigger than its maximum, and
parameter will be the minimum if the value decoded is less than its minimum. The maximum
and the minimum is difference depending on DR_SET as shown in the table above.
Configuration Example for DR Function
4-36
GFK-2470A
4
The data registers from DR65 to DRF0 are retained when the DURUS powers down. The last
40 registers, DRC9 to DRF0, are used as shown below. The content of DRC9 is PLSYs
current number of pulses. DRCADRCD can be used to store temperature in Fahrenheit units
(-148 to 1112.0). DRD0DRD3 are the output mode registers of AQ01AQ04. DRE4DRE7
can be used to store the values of Analog input (current) A05 A08 (values in the range of 0
2000 corresponding to the current values of 020mA).
No.
Function Description
DRC9
PLSY output pulse number
DRCA
AT01 current degrees Fahrenheit
DRCB
DRCC
DRCD
DRCE
Reserved
DRCF
Reserved
DRD0
AQ01 output mode
DRD1
AQ02 output mode
DRD2
AQ03 output mode
DRD3
AQ04 output mode
0 = Voltage mode; DR value is 0 in STOP mode

1 = Current mode; DR value is 0 in STOP mode
2 = Voltage mode; DR value is retained in STOP
mode
3 = Current mode; DR value is retained in STOP
mode
DRD4
AQ01 output value
DRD5
AQ02 output value
DRD6
AQ03 output value
DRD7
AQ04 output value
DRD8
0=Relay states displayed in Original screen.

1=Relay states hidden in Original screen.
DRD9
DRE3
Reserved
Range: 04095.
DRE4
A05 input electrical current :02000
DRE5
A06 input electrical current: 02000
DRE6
A07input electrical current: 02000
DRE7
A08 input electrical current: 02000
DRE8
A01 current value: 04095
DRE9
DREA
DREB
DREC
DRED
DREE
DREF
DRF0
Reserved
GFK-2470A
Used as normal registers when no AT01AT04

inputs are present. (Not connected with extension
module 4PT.)
Used as normal registers when no A05A08 analog

inputs are present. (4AI extension module is not
connected.)
Used as normal registers when no A01 and A02

analog inputs (AC type) are present.
analog inputs (AC type or 12-point DC-type) are
present.
analog input s are present. (4AI extension module is
not connected.)
4-37
Logic Blocks
Function Block programming provides a set of blocks for performing the logical operations
AND, NAND, NAND (EDGE), OR, NOR, XOR, NOT, Pulse, Set, and Reset. The same
operations can also be performed in ladder logic by combining contacts and coils as shown in
this section.
AND
The output of the AND function is high (1) if all the inputs are high, as shown in the chart
below. The default state for no connection is high.
Input1
Input2
Input3
Output
0
0
0
0
1
1
1
1
0
0
1
1
0
0
1
1
0
1
0
1
0
1
0
1
0
0
0
0
0
0
0
1
Function Block
Equivalent Ladder
Logic
Block Diagram
output
I01 And I02 And I03
Note: The input terminal is NOP which is equivalent to High
4-38
GFK-2470A
AND (Edge)
The output of AND (Edge) is high if the inputs are all 1 and at least one input has transitioned
from zero. The output remains high for at least one output scan time. The output is then reset
to zero and remains at zero for at least one output cycle before the next high. Default state for
no connection is high (1).
Timing Diagram for AND (Edge)
Function Block
Equivalent Ladder Logic
Block Diagram
output
I01 And I02 And I03 And D
GFK-2470A
4-39
NAND
The output of the NAND function is high if at least one input is low, as shown in the table
below. The output is low if all the inputs are high. The default state for no connection is high
(1).
Input1
Input2
Input3
Output
Function Block
Equivalent Ladder
Logic
Block Diagram
output
Not(I01 And I02 And I03)

4-40
GFK-2470A
NAND (Edge)
The output of the NAND (EDGE) function is high when at least one input transitions to zero
after all inputs were 1 previously. The output then resets to zero. The output remains at zero
for at least one period before the next high. The default state for no connection is high (1).
Timing Diagram for NAND (Edge)
Function Block
Equivalent Ladder
Logic
Block Diagram
output
Not (I01 And I02 And I03) And d

Note: The input terminal is NOP which is equivalent to Low
GFK-2470A
4-41
OR
The output of the OR function is high if at least one input is 1, as shown in the table below.
The default state for no connection is low (0).
Function Block
Input1
Input2
Input3
Output
Equivalent Ladder
Logic
Block Diagram
output
I01 or I02 or I03
4-42
GFK-2470A
NOR
The output of the NOR function is high (1) if all the inputs are low (0), as shown in the table
below. The default state for no connection is low (0).
Function Block
Input1
Input2
Input3
Output
Block Diagram
output
Not ( I01 or I02 or I03 )

GFK-2470A
4-43
XOR
The output of the XOR function is high (1) if the two inputs differ in states (one is 1 and the
other is 0), as shown in the table below. The default state for no connection is low (0).
Function Block
Input1
Input2
Output
Block Diagram
output
I01 Xor I02

NOT
The output of the NOT function is inverted to input state, as shown in the table below. The
default state for no connection is high (1).
Function Block
Input
Output
Equivalent Ladder
Logic
Block Diagram
output
Not I01
4-44
GFK-2470A
4
Positive Input Differential (One-Shot)
A positive input differential instruction, or One-Shot, holds its status ON for one CPU scan
when the preceding series contact transitions from OFF to ON. This transition from OFF to ON
is called a Positive Input Differential.
one complete scan period
Negative Input Differential (One-Shot)

A negative input differential instruction, or One-Shot, holds its status ON for one CPU scan
when the preceding series contact transitions from ON to OFF. This transition from ON to OFF
is called a Negative Input Differential.
one complete scan period
GFK-2470A
4-45
4
SET Output (Latch)
A Set Output turns on either an output (Q) or auxiliary (M) coil when the preceding input
contact transitions from Off to On. The output remains On (set) even if the preceding input
contact goes Off. It remains On until it is set to 0 using a Reset instruction.
Timing Diagram for Set Output (Latch)
I1
Q1
OFF
ON
OFF
OFF
ON
Ladder Diagram Format for Set Output (Latch)

LCD Format:
I1 Q1
Software Example:
4-46
GFK-2470A
RESET Output (Unlatch)

A Reset Output turns Off an output (Q) or auxiliary (M) coil when the preceding input contact
transitions from Off to On. The output remains Off (reset) even if the preceding input contact
goes Off.
Timing Diagram for Reset Output (Unlatch)
I1
Q1
OFF
ON
ON
OFF
OFF
Ladder Diagram Format for Reset Output (Unlatch)

LCD Format:
I1Q1
Software Example:
Function Block Format for Set/Reset Output

The RS function block combines the Set and Reset functions.
Function Block
Equivalent Ladder
Logic
Block Diagram with

Inputs
I01 I02 Bxx

0
0
holding
0
1
0
1
0
1
1
1
0
Logic
Table
GFK-2470A
4-47
Pulse Output (Flip/Flop)

The Pulse Output turns ON either an output (Q) or Auxiliary (M) contact when the preceding
input contact transitions from Off to On. The output remains On until the preceding input
contact transitions from Off to On again. In this example, when pushbutton I3 is pressed and
released, motor Q4 turns On and stays On. When pushbutton I3 is pressed again, motor Q4
turns Off and stays Off. The Pulse output changes state from On to off each time the
pushbutton is pressed.
Timing Diagram for Pulse Output (Flip/Flop)
I1
OFF
ON
i1 is opposite to I1 in phase
i1
Q1
ON
OFF
ON OFF
OFF
ON
ON OFF
OFF
Ladder Diagram Format for Pulse Output (Flip/Flop)

LCD Format:
I1PQ1
Software Example:
Function Block Format for Pulse Output (Flip/Flop)
Note: The input terminal is NOP which is equivalent to Low.
4-48
GFK-2470A
Function Blocks
This section describes the Counter, Timer, Real-Time Clock, Compare, PWM, HMI, and
Datalink functions of the DURUS controller.
Counters
The DURUS controller provides 31 individual counters, each of which can count in any of eight
different modes. Six general counters are available with all controller types. Controllers that
have DC outputs support two additional High-speed Counters.
Ladder Diagram Format for Counters
Counting Mode (1-8)
Use (I1 gF) to RESET the counting value

ON: Resets the counter to zero and OFF
OFF: The counter continues to count
Current Counting Value, range: 0999999
Use (I1 gF) to select up or down counting

OFF: Selects up counting (0, 1, 2, 3, 4.)
ON: Selects down counting ( .3, 2, 1, 0)
Target (Setting) Value, range: 0999999

Code of the counter (C1 C1F) 31 counters).
The setting value of the counter can be a constant or the current value of the timer, counter
analog input A1A8, or analog gain value V1V8.
Compatible Instructions
Inputs
Range
Keypad Inputs
I01-I0C / i01-i0C
Z01-Z04 / z01-z04
Outputs
Auxiliary coil
Expansion inputs
Expansion outputs
RTC
Counter
Timer
Analog comparator
Normal closed contact
Q01-Q08 / q01-q08
M01-M0F / m01-m0F
X01-X0C /x01-x0C
Y01-Y0C / y01-y0C
R01-R1F / r1-r1F
C01-1CF / c01-c1F
T01-T1F / t01-t1F
G01-G1F / g01-g1F
Lo
The uppercase (I1) is Contact a while the lowercase (i1) is Contact b.
GFK-2470A
4-49
4
Counter Mode 0: Internal Coil
Mode 0 Counter (Internal Coil) used as internal auxiliary coils. No counter preset value. In the
example below shows the relationship among the numbered block diagram for a mode 0
counter, the ladder diagram view, and the software Edit Contact/Coil dialog box.
Timing Diagram for Counter Mode 0
4-50
GFK-2470A
4
Function Block Format for Counter Mode 0
Counting Input
Up/Down Counting
Reset
Counting Parameter
Ladder Diagram Format for Counter Mode 0
GFK-2470A
4-51
4
Counter Mode 1: Count Up or Down to Preset, Non-Retentive
Counter Mode 1 counts either up from zero to a
Preset Value or down from the Preset Value to zero,
and then stops. The rising edge produces count
pulses. If the count direction is Up, the output is On
when the Current Value is equal to the Target Value
and a reset sets the counter to zero. If the count
direction is Down, the output is on when the Current
Value is equal to zero and a reset sets the Current
Value to the Target Value. The Current Value is nonretentive. It resets when the controller loses power.

Counting Input
Up/Down Counting
Reset
Counting Parameter
4-52
GFK-2470A
Counter Mode 2: Continuous Count Up or Down, Non-Retentive

Counter Mode 2 counts either up from zero to a Preset
Value or down from the Preset Value to zero. The counter
continues incrementing and sets a Status Bit after reaching
the Preset Value when counting up, or zero when counting
down. The rising edge produces count pulses. If the count
direction is Up, the output is On when the Current Value is
equal to the Target Value and a reset sets the counter to
zero. If the count direction is Down, the output is on when
the Current Value is equal to zero and a reset sets the
Current Value to the Target Value. The Current Value is
non-retentive. It resets when the controller loses power.

Counting Input
Up/Down Counting
Reset
Counting Parameter
GFK-2470A
4-53
4
Counter Mode 3, Fixed Count Up or Down, Retentive
Counter Mode 3 is similar to the Counter Mode 1
except that Counter Mode 3 retains the Current Value
after power is removed and continues counting when
power is restored.

Counting Input
Up/Down Counting
Reset
Counting Parameter
4-54
GFK-2470A
4
Counter Mode 4, Continuous Count Up or Down, Retentive

Counter Mode 4 is similar to the Counter Mode 2
except that Counter Mode 4 retains the Current Value
after power is removed and continues counting when
power is restored.
GFK-2470A
4-55
4
Counting Input
Up/Down Counting
Reset
Counting Parameter
Counter Mode 5, Continuous Count Up or Down, Non-Retentive

Counter Mode 5 is a general counter that will count either
up or down past the Target Value. The rising edge produces
the count pulses. When counting up, the output is On when
the Current Value reaches the Target Value. When counting
down, the output is Off while the Current Value is less than
the Target Value, and the Current Value is held when it
reaches the Target Value. With this counter, the C1 Status
Bit is set when the Current Value reaches the Target Value
for any state of the Direction Bit. The counter is always
reset to zero, regardless of the state of the Direction Bit or
the counting direction. This counter is non-retentive; the
Current Value is lost if power is removed.
4-56
GFK-2470A
4

Counting Input
Up/Down Counting
Reset
Counting Parameter
GFK-2470A
4-57
4
Counter Mode 6, Continuous Count Up or Down, Retentive
Counter Mode 6 is similar to the Counter Mode 5, except
that Counter Mode 6 will retain the count value after the
power is removed and continue counting when the power
is restored.
4-58
GFK-2470A
4
Counting Input
Up/Down Counting
Reset
Counting Parameter
GFK-2470A
4-59
4
Counter Mode 7, High-Speed Counter: Count Up to Target Value (Only
on DC Power Supply Models)
DC power supply modules have two 1 KHz High-speed
input terminals, I1 and I2. These inputs can be used as
either DC inputs or as High-Speed Counter inputs
connected to an input device such as an encoder. Counter
Mode 7 is a High-Speed Up Counter that operates at
speeds up to 1KHz at 24VDC. The coil (C1-CF) that is
specified by parameter 6 will turn On when the count
reaches the Preset Value (parameter 5), and remain On.
The counter is reset when either the Reset input
(parameter 3) is active, or when the preceding ladder logic
rung is inactive.
Counting mode(7)high speed counting
High speed counting input terminal: only I1, I2

available.
Use I1gF to reset counting value.
ON: counter is reset to zero and OFF

OFF: counter continues to count.
4-60
Counter Current value: 0999999

Counter Preset value: 0999999
Code of Counter (C1C1F, Total: 31 Groups)
GFK-2470A
4
High counting input
Enable Input
Reset
Counter Parameter
Note: High speed input terminal I1, I2
Counter Mode 8, High-Speed Counter: Frequency Comparison (Only

on DC Power Supply Models)
DC power supply modules have two 1 KHz Highspeed input terminals, I1 and I2. These inputs
can be used as either DC inputs or as
High-Speed Counter inputs connected to an input
device such as an encoder.
Counter Mode 8 is a High-Speed Up-Counter
that operates at speeds up to 1KHz at 24VDC.
The High-Speed Counter counts the pulses of I1
or I2 for a period specified by the Counting
Interval parameter, and compares the count with
the On and Off Preset values.
The coil (C1-CF) that is specified by parameter 6
will turn On when the count reaches the Preset
On Value (parameter 4), and remain On until the
count reaches the Preset Off Value (parameter
5). The counter is reset when the preceding
ladder logic rung is inactive.
GFK-2470A
4-61
4
As shown in the diagram, the output will be delayed for one interval.
Counting Mode (8)Frequency Comparison
Code of Counter (C1C1F Total: 31 Groups)
High speed counting input terminal: only I1, I2 available.

Counting interval: (099.99S)
Counter on Preset value (000000999999)
Counter off Preset value (000000999999)
Enable Input
Reset
Counter Parameter
High counting input
4-62
GFK-2470A
4
Example:
If the Counting Interval is 5 seconds, the Counter countd the number of high-speed inputs for a
duration of 5 seconds. For each pulse received, the Counter increments its accumulator.
At the end of the 5-second interval, the Counter compares its accumulator value with the On and
Off Preset values, and decides the Counter Coil output. Also, at the end of the 5-second interval,
the Counter sets its Accumulator to zero and starts counting for the next 5 seconds.
GFK-2470A
4-63
4
Timers
The DURUS controller includes a total of 31 separate timers. Each timer has a choice of eight
operation modes. Modes 06 are general-purpose timer modes. Mode 7 can be used for a
pulse timer.
Retentiveness of Timers
For most timers and timer types, the current value of the timer is not retained if controller
power is removed. However, for DURUS controllers with revision 2.1 or later firmware, timers
T0E and T1F are retentive for Timer Types 1, 2, 3, and 4 if M Keep is active.
To set M Keep, go to the Operation menu and select Module System Set.
Ladder Diagram Format for Timers
Timer Mode (0-7)
ON = timer value is reset to zero
Example:
1: 0.0099.99s
2: 0.0999.9s
3: 09999s
4: 09999m
OFF = timer continues timing
4-64
Timer Units:
Timer Current Value

Timer Preset Value
Timer Code (T01T1F) total: 31
GFK-2470A
4
The preset value of the timer can be a constant or the current value of another function. The
other function can be timer, counter, analog input A1A8, analog gain + offset value, V01
V08, AS01AS1F, MD01MD1F, PID01PID0F, MX01MX0F, AR01AR0F and DR01DRF0.
Compatible Instructions
Inputs
Keypad Inputs
Outputs
Auxiliary coil
Expansion inputs
Expansion outputs
RTC
Counter
Timer
Analog comparator
Normal closed contact
Range
I01-I0C / i01-i0C
Z01-Z04 / z01-z04
Q01-Q08 / q01-q08
M01-M3F / m01-m3F
X01-X0C /x01-x0C
Y01-Y0C / 0y1-y0C
R01-R0F / r01-r1F
C01-C1F / c01-c1F
T01-T1F / t01-t1F
G01-G1F / g01-g1F
High/Low
Note: The uppercase

(I1) is Contact a while
the lowercase (i1) is
Contact b.
Timer Mode 0, Internal Coil

The Mode 0 Timer (available on DURUS
Controllers with revision 2.1 or later firmware)
can be used for internal auxiliary coils. This
type of timer has no preset value.
GFK-2470A
4-65
4
Timing Diagram for Timer Mode 0
Function Block Format for Timer Mode 0
Ladder Diagram Format for Timer Mode 0
4-66
GFK-2470A
4
Timer Mode 1, On-Delay Mode Timer
In Mode 1, the Timer will increment up to the Preset Value then
stop. The Current Value of the timer is normally non-retentive; it is
reset to zero if power is lost. For DURUS controllers with firmware
revision 2.1 or later, timers T0E and T1F are retentive for Timer
Mode 1.
The Timer Status Bit T01 is On when the Current Value is equal to
the Preset Value.
The time 't' is the preset value. When the present value reaches
the preset value, it will stop. The timer status bit T01 will be ON
when the current value reaches the preset value.
Enable Input
Timing Parameter
GFK-2470A
4-67
Timer Mode 2, On Delay with Reset Input

Timer Mode 2 is an On-Delay Timer. In Mode
2, the Timer will increment up to the Preset
Value then stop timing when the current time is
equal to the Preset value. The Current Value of
the timer is normally non-retentive; it is reset to
zero if power is lost or if the Reset input is set
to 1. For DURUS controllers with firmware
revision 2.1 or later, timers TE and TF are
retentive for Timer Mode 2.
The Timer Status Bit T1 is On when the
Current Value is equal to the Preset Value.
Timing Diagrams for Timer Mode 2
4-68
GFK-2470A
4
Enable Input
Reset
Timing Parameter
GFK-2470A
4-69
4
Timer Mode 3, Off Delay with Reset
Timer Mode 3 is an Off-Delay Timer. In Mode 3, the
Timer will increment up to the Preset Value then stop
timing. The Current Value of the timer is normally nonretentive; it is reset to zero if power is lost or if the
Reset input is set to 1. The Timer Status Bit T1 is On
when the rung is true; the timer only starts incrementing
when the rung changes to false. The Timer Status Bit
goes Off when the timers Current Value reaches the
Preset Value. For DURUS controllers with firmware
revision 2.1 or later, timers T0E and T1F are retentive
for Timer Mode 3.
4-70
GFK-2470A
4
Enable Input
Reset
Timing Parameter
GFK-2470A
4-71
4
Timer Mode 4, Off Delay with Reset
Timer Mode 4 is an Off-Delay Timer with a Reset
input parameter. In Mode 4, the Timer increments
up to the Preset Value, then stops. The Current
Value of the timer is normally non-retentive; it is
reset to zero if power is lost or if the Reset input is
set to 1. The Timer Status Bit T1 goes On and the
Current Value starts incrementing when the rung
transitions from true to false. When the Current
Value reaches the Preset Value, the Timer Status
Bit goes Off and the Preset Value is reset to zero. If
the Reset input goes On, the Present Value resets
to zero and the timer output goes Off.
If the Enable input transitions from Off to On while
the timer is incrementing, the Current Value is
cleared to zero. When the Enable input transitions
from Off to On, the output is Off and the Current
Value is held. When the Enable input goes from Off
to On, the output goes On and the Current Value
starts incrementing.
For DURUS controllers with firmware revision 2.1
or later, timers TE and TF are retentive for Timer
Mode 4.
4-72
GFK-2470A
4
Enable Input
Reset
Timing Parameter
GFK-2470A
4-73
Timer Mode 5, Flash without Reset Input

Timer Mode 5 is a Flash Timer. In Mode 5, the
Timer increments up to the Preset Value then
sets its Status Bit. The Current Value of the timer
is non-retentive; it resets to zero if power is lost.
The Timer Status Bit T1 goes On and timing
starts when the rung transitions to true. The timer
stops incrementing when the rung changes to
false. The Timer Status Bit goes Off when the
timers Current Value reaches the Preset Value.
The Timer Status Bits Flash sequence continues
as long as the rung remains true.
1. The time 't' is the Preset value.

2. The output state goes from On to Off if the Current Value reaches the Preset Value while
the Enable is On. The Current Value resets to zero. This operation is repeated until the
Enable state changes to Off.
3. The output goes Off and the Current Value resets to zero when the Enable input goes Off.
4-74
GFK-2470A
4
Enable Input
Timing Parameter
GFK-2470A
4-75
Timer Mode 6, Flash with Reset Input

Timer Mode 6 is a Flash Timer with a Reset input.
In Mode 6, the Timer will increment up to the
Preset Value then set its Status Bit. The Current
Value of the timer is non-retentive; it is reset to zero
if power is lost or if the Reset input goes to 1. The
Timer Status Bit T1 goes On and timing starts
when the rung is true. The Timer Status Bit goes
Off when the timers Current Value reaches the
Preset Value. Timing continues until the Reset
Input goes to 1 or power is removed.
4-76
GFK-2470A
4
Enable Input
Reset
Timing Parameter
GFK-2470A
4-77
Timer Mode 7, Cascaded Flash Timer without Reset

Timer Mode 7 is a special mode that connects two
timers, t1 and t2, in series. It occupies two of the
modules 15 timers. In Timer Mode 7, the Timer Status
Bit of the first timer is used as the enable input for the
second timer, and vice-versa.
The first timer increments until its Current Value
reaches its Preset Value. It then flashes its Timer
Status Bit to On. That starts the second timer, which
increments up to its Preset Value (which can be
different than the Preset of the first timer). When
timer 2 flashes its Timer Status Bit On, it enables the
first timer. This type of timer can be combined with a
counter to count completed timing cycles.
The Current Value is non-retentive; it is reset to zero if
power is lost.
Note: To create a Mode 7 timer in Ladder Diagram,
set the Output Type to P.
4-78
GFK-2470A
4
Enable Input
Timing Parameter
GFK-2470A
4-79
Real Time Clock Instructions

The DURUS controller provides 31 individual Real Time Clock (RTC) instructions, each of
which can operate in any one of five different modes. The initial values for the Real Time Clock
can be supplied from the controller keypad or from the software.
The Real Time Clock should retain its time for up to approximately ten days when the
controller is powered down.
RTC Modes
Mode 0 = internal coil
Mode 1 = daily
Mode 2 = weekly
Mode 3 = year-month-day
Mode 4 = 30-second adjustment
RTC Mode 0: Internal Coil

RTC Mode 0 (available on DURUS Controllers with revision 2.1 or later firmware) can be used
as an internal auxiliary coil. This type of RTC has no preset value.
Timing Diagram for RTC Mode 0
4-80
GFK-2470A
4
Function Block Format for RTC Mode 0
Enable Input
Ladder Diagram Format for RTC Mode 0
GFK-2470A
4-81
4
RTC Mode 1, Daily
The Daily Mode 1 allows the Rxx coil to active based on a fixed time across a defined set of
days per week. The configuration dialog below (example 1) allows for selection of the number
of days per week (i.e. Mon-Fri) and the Day and Time for the Rxx coil to activate ON, and the
Day and Time for the Rxx coil to deactivate OFF.
4-82
GFK-2470A
4
Timing Diagram Examples for RTC Mode 1
Example 1:
Day
Time
ENABLE
Monday
8:00
17:00
RTC Mode 1 = daily
TU-FR
First day = Tuesday

Second day = Friday
08:00
Hour on (08), Minute On (00)
17:00
Hour off (17), Minute Off (00)
Tuesday
8:00
17:00
Wednesday
8:00
17:00
Friday
8:00
17:00
Saturday
Sunday
Rn Output
If ENABLE fails, the output goes OFF:

Day
Time
ENABLE
Monday
8:00
17:00
Tuesday
8:00
17:00
Wednesday
8:00
17:00
Friday
8:00
17:00
Saturday
Sunday
Rn Output
Example 2:
Day
Time
ENABLE
Monday
8:00 17:00
RTC Mode 1 = daily
FR-TU
First day = Friday

Second day = Tuesday
08:00
17:00
Tuesday
8:00
17:00
Friday
8:00 17:00
Saturday
8:00 17:00
Sunday
8:00 17:00
Rn Output
GFK-2470A
4-83
4
Example 3:
Day
Time
Monday
8:00 17:00
SU-SU
RTC Mode 1 = daily

First day = Sunday
Second day = Sunday
17:00
8:00
Tuesday
8:00 17:00
Friday
8:00 17:00
Saturday
8:00
17:00
Sunday
8:00
17:00
ENABLE
Rn Output
Enable Input
RTC Parameter

Ladder diagram format for RTC mode 1 is described and illustrated at the start of the Real
Time Clock Instructions section.
4-84
GFK-2470A
RTC Mode 2, Weekly

In this mode, the RTC remains On over a span of days, going On at the first specified time and
day and remaining on until the second specified time and day.
Example Timing Diagrams for RTC Mode 2

Example 1:
Day
Time
ENABLE
Monday
8:00
17:00
RTC Mode 2 = range of days
TU-SA
First day (on) = Tuesday

Second day (off) = Saturday
08:00
17:00
Tuesday
8:00
17:00
Friday
8:00
17:00
Saturday
8:00
17:00
Sunday
8:00
17:00
Friday
8:00
17:00
Saturday
8:00
17:00
Sunday
8:00
17:00
Rn Output
If ENABLE is unavailable, the output goes OFF.

Day
Time
ENABLE
Monday
8:00
17:00
Tuesday
8:00
17:00
Rn Output
GFK-2470A
OFF
4-85
4
Example 2:
Day
Time
ENABLE
Monday
8:00 17:00
RTC Mode 2 = Range of Days
TU-SA
First day (on) = Tuesday

17:00
08:00
Tuesday
8:00 17:00
Friday
8:00 17:00
Saturday
8:00
17:00
Sunday
8:00
17:00
Rn Output
Example 3:
Day
Time
ENABLE
Monday
8:00 17:00
SA-TU
First day (on) = Saturday

Second day (off) = Tuesday
08:00
17:00
Tuesday
8:00 17:00
Friday
8:00 17:00
Saturday
8:00
17:00
Sunday
8:00
17:00
Rn Output
Example 4:
In this example, because the start time comes before the end time, the RTC goes On and Off
the same Saturday.
Day
Time
ENABLE
Monday
8:00
17:00
SA-SA

08:00
17:00
Tuesday
8:00
17:00
Friday
8:00
17:00
Saturday
8:00
17:00
Sunday
8:00
17:00
Rn Output
4-86
GFK-2470A
4
Example 5:
In this example, because the start time comes after the end time, the RTC goes On one
Saturday and Off the next Saturday. The result is that the RTC is always On except from 8:00
to 17:00 on Saturday.
Monday
8:00
17:00
Day
Time
ENABLE
SA-SA

17:00
08:00
Tuesday
8:00
17:00
Friday
8:00
17:00
Saturday
8:00
17:00
Sunday
8:00
17:00
Rn Output
Enable Input
RTC Parameter

Ladder diagram format for RTC mode 2 is described and illustrated at the start of the Real
Time Clock Instructions section.
GFK-2470A
4-87
RTC Mode 3: Year, Month, Day Operation

Example 1:
In this example, because the same day is specified for both On and Off, the RTC does not go
on.
//
//
Year-Month-Day
Time
ENABLE
2000/01/01
0:00
RTC Mode 3 = Year, Month. Day, Time
03/05/23
RTC goes On May 23, 2003
03/05/23
RTC goes Off May 23, 2003
2003/05/23
0:00
2004/12/22
0:00
2099/12/30
0:00
Rn Output
4-88
GFK-2470A
4
Example 2:
//
//
Year-Month-Day
Time
ENABLE
03/05/23
RTC goes On May 23, 2003
04/12/22
RTC goes Off December 22, 2004
2000/01/01
0:00
2003/05/23
0:00
2004/12/22
0:00
2099/12/30
0:00
2003/05/23
0:00
2004/12/22
0:00
2099/12/30
0:00
Rn Output
If ENABLE fails, the output goes OFF:

Year-Month-Day
Time
2000/01/01
0:00
ENABLE
Rn Output
Example 3:
//
//
Year-Month-Day
Time
ENABLE
03/05/23
RTC goes Off May 23, 2003
04/12/22
RTC goes On Dec 22, 2004
2000/01/01
0:00
2003/05/23
0:00
2004/12/22
0:00
2099/12/30
0:00
Rn Output
GFK-2470A
4-89
4
RTC mode 3 = Year-Month-Day

Set RTC Year ON
Set RTC Year OFF
Display RTC Present time: Year-Month-Day
Set RTC month ON
Set RTC Day ON
Set RTC month OFF
Set RTC Day OFF
RTC Number (1 to 31)
Enable Input
RTC Parameter
4-90
GFK-2470A
4
RTC Mode 4: 30 Second Adjustment Mode
Symbol
Description
RTC adjustment week
RTC mode 4
RTC present hour
RTC present minute
RTC adjustment hour
RTC adjustment minute
RTC adjustment second
RTC code (R01R1F, total 31 group)

Example 1: Begin Thursday, At 08:00:20 (hour:minutes:seconds)
At the specified On time of 08:00:20, if the R output is off, the function takes effect. The RTC is
set to 8:00:00, and the Rn output is turned On. When RTC goes to 08:00:20 again, the Rn
output is turned Off. There the On duration of the Rn output is 20 seconds.
GFK-2470A
4-91
4
Example 2: Begin Thursday, At 08:00:40 (hour:minutes:seconds)
At the specified On time of 08:00:40, the function takes effect. The Rn output is turned On for
one scan time when the RTC is set to 08:01:00.
Enable Input
RTC Parameter
4-92
GFK-2470A
4
Compare Functions
The DURUS controller provides 31 individual Compare instructions. They can be used to
compare analog values, timers, counters and RTC values to each other, or to a specified
parameter value.
If input parameters are configured as DR, V, T, A, AQ or C, the input value will be divided
by 100. (For example, if DR= 65000 then in Analog comparator function will treat that as
650.00.)
The ON or OFF state of the output terminal (G1 through G1F) depends on the comparison of
inputs of Ax and Ay. There are eight Compare modes:
Compare mode 0:
Can be used as internal auxiliary coil
Compare mode 1:
If AY - AX AY + , turn output terminal On
Compare mode 2:
If AX AY, turn output terminal On
Compare mode 3:
If AX AY, turn output terminal On
Compare mode 4:
If AX , turn output terminal On
Compare mode 5:
If AX , turn output terminal On
Compare mode 6:
If = AX, turn output terminal On
Compare mode 7:
If AX, turn output terminal On
Ladder Diagram Format for Compare Functions
GFK-2470A
Compare Mode (07)
AX analog input value (0.0099.99), the

current value of a timer or counter, or a
constant. Supports data types DR, AS, MD
and PID.
AY analog input value (0.0099.99), the

current value of a timer or counter, or a
constant. Supports data types DR, AS,
MD, V and PID.
Reference comparative value: could be

constant, or the present value of the timer,
counter or analog input.,
Output terminal (G1G1F)
4-93
Compare Mode 0, Internal Auxiliary Coil

The Mode 0 Analog Comparator instruction (available on DURUS controllers with revision 2.1
firmware or later) can be used as an internal auxiliary coil. For Mode 0, there is no preset
value.
Timing Diagram for Compare Mode 0
Ladder Diagram Format for Compare Mode 0
Function Block Format for Compare Mode 0

Enable Input
4-94
GFK-2470A
Compare Mode 1, Output is On if: Ay Ref Ax Ay + Ref

Enable Input
Analog Input
Analog Input
Reference
Compare Mode 2, Output is On if: Ax Ay

Enable Input
Analog Input
Analog Input
Reference
GFK-2470A
4-95
4
Compare Mode 3, Output is On if: Ax Ay
Enable Input
Analog Input
Analog Input
Reference
Compare Mode 4, Output is On if: Ref Ax

Analog Input
Reference
Enable Input

Analog Input
Reference
Enable Input
4-96
GFK-2470A
4
Compare Mode 6, Output is On if: Ref = Ax


GFK-2470A
4-97
Compare Examples
Example 1: Compare Analog Signals. This example uses Analog Compare Mode 4 to
compare the value of analog input A1 to a constant value (N) of 2.50. Status coil G1 turns On
if A1 is 250 or less.
Example 2: Compare Timer/Counter Preset Value. The Compare function can be used to
compare Timer, Counter, and RTC values to a constant value or to each other. In the example
below, a Mode 5 Compare function compares the value of Counter C1 to a constant value (N)
of 15 counts (the decimal point is ignored). Status coil G1 turns On if C1 is < 15 counts.
4-98
GFK-2470A
4
MODBUS Functions
The 15 MODBUS function blocks, MU01MU0F, carry out Modbus RTU master
communications on an RS-485 port.
Remote IO and Date Link communications have higher priority than MODBUS. MODBUS is
executed when the system setting for Remote IO is No and ID is not equal to 0. For details on
configuring a DURUS controller with built-in RS-485 port or MODBUS Slave Expansion unit,
refer to Chapter 9, MODBUS Communications.
MODBUS takes control of the communication port, and releases the port when disabled and
one MODBUS period is completed. There can be a number of communication requests in one
program, but only one request can control the communication port at a time. The other
functions must keep their enable states to execute their requests.
The following table lists MODBUS function modes and their corresponding communication
function code:
Mode
Communication Function Code (hex)
03 (read register)
06 (write single register)
10 (write multiple registers)
01 (read coil)
05 (write single coil)
The coils used by the MODBUS function:

Received (M3D)
M3D is set to ON after received, then check-up for error. Transferring data to target
address if there is no error.
Error flag (M3E)
Communication error flag
Time out flag (M3F)
M3F is set to 1 when the time from after sending to start receiving is longer than
setting, and M3D also be set to 1. M3F is automatically reset if M3D reset.
The timeout period depends on the communication baud rate as shown in the table below:
Baud rate (bps)
Timeout (ms)
4800, 9600, 19200, 38400
125
57600
100
115200
80
There are five parameters in MODBUS function as shown below.

Symbol
Description
MODBUS mode (15)
Communication address: slave ID, range: 0127

Communication content: address and data length:
1address is constant, range: 0000ffff; length must be 1 word

2DR code, get address and length from this DR and the next
GFK-2470A
DR code, store sending/receiving data from this DR
MODBUS code (MU01MU0F)
4-99
4
Examples:
Mode
1
Read
register
2
Write
single
register
3
Write
register
4
Read
coil
4-100
Display
Address is constant: 0003,
Length 1,
Send: 01 03 00 03 00 01 CRC16;
Receive:
01 03 02 data1 data2
CRC16
Data storage:
DRE0= (data1<<8) | data2
Address is DR03=0001,
Length is DR04=0002,
Send: 01 03 00 01 00 02 CRC16;
Receive:
data3 data4 CRC16,
Data storage:
DRE0= (data1<<8) | data2,
Address is constant: 0003,

Length 1,
Data storage: DRE0=1234(hex:
04D2)
Send:
01 06 00 03 04 D2 CRC16
Receive:
01 06 00 03 04 D2 CRC16
Address: DR03=0001,
04D2)
Send: 01 06 00 01 04 D2 CRC16
Receive:
01 06 00 01 04 D2 CRC16
Address: 0003, Length 1,

04D2)
Send:
01 10 00 03 00 01 02 04 D2
CRC16
Receive:
01 10 00 03 00 01 CRC16
Address: DR03=0001
Length: DR04=0002
04D2), DRE1=5678(hex: 162E)
Send: 01 10 00 01 00 02 04 04 D2
16 2E CRC16
Receive:
01 10 00 01 00 02 CRC16
Address: 0003
Length 10H,
Send: 01 01 00 03 00 10 CRC16
Receive:
CRC16
Data storage:
Address: DR03=0001
Length: DR04=0016
Send: 01 01 00 01 00 10 CRC16;
Max value in DR04 is 400.
Receive:
CRC16
Data storage:
GFK-2470A
4
5
Write
single
coil
GFK-2470A
Address: 0003,
Data storage:
DRE0=65280(hex: FF00),
Send: 01 05 00 03 FF 00 CRC16;
Receive:
01 05 00 03 FF 00 CRC16
Address: DR03=0001,
Data storage:
DRE0=65280(hex: FF00),
Send: 01 05 00 01 FF 00 CRC16;
Receive:
01 05 00 01 FF 00 CRC16
4-101
Chapter Keypad Operations in Ladder Logic Mode
5
Most DURUS controllers include a built-in LCD display and keypad. The keypad and display
are used for changing timer/counter set points, changing the controller mode, uploading and
downloading with the Memory Option module, and updating the Real Time Clock. Although
logic programming can be performed using the keypad and display, it is recommended that
logic changes be made only using the DURUS programming software.
This chapter explains how to navigate the controller LCD screens and make changes using
the built-in keypad, in Ladder Logic mode.
Startup Screen
Controller Main Menu in Ladder Mode
Editing Ladder Logic
Change the Display Language
Editing Function Blocks

Run/Stop the Controller
Clear the Current Program
Write a Program
Change the Controller Setup
Set the Real-time Clock
Enter Analog Gain and Offset
Set or Change a Password
View Point States
Display the Applications HMI Screens
Ladder Logic Editing on the Controller
Function Block Editing on the Controller
GFK-2470A
5-1
Keypad Overview
Select (SEL) Used to select the available memory and instruction types for
editing. Holding the Select button will display all H HMI/Text messages on
the LCD.
OK Used to accept the selection displayed of an instruction or function. It is
also used to select any of the Main Menu options on the LCD.
Note:
Press the SEL and OK simultaneously to insert a rung above the

current active cursor position.
Escape Used to exit a selected display screen and go to the previous screen. When in a
ladder display screen, press the ESC to display the main menu.
Delete Used to delete an instruction or rung from the ladder program.
The four navigation buttons () are used to move the cursor throughout the functions of
the DURUS display or active program. The four buttons also can be set programmable input
coils Z01Z04 (= Z01, =Z02, =Z03, =Z04);
5-2
GFK-2470A
Backlight Display Control

By default, the backlight turns off after 10 seconds. The backlight can be set to remain on all
the time. To change the backlight setting, press ESC => SET => BACKLIGHT => OK on the
front of the display.
When Back Light is selected,

the display will remain on
continually. If this is not
selected, the backlight will
remain on for 10 seconds.
GFK-2470A
Chapter 5 Keypad Operations in Ladder Logic Mode
5-3
Startup Screen
By default, the controller LCD screen shows:
Use the module keypad to navigate and edit the display:
From this screen, the keypad actions are:

ESC
Return to Main Menu
SEL+
or
In Ladder Edit Mode, if DRD8 value is 0, display the state of relays

(I/Z/QX/Y MNTCRGAATAQ)Original Screen
SEL+
or
When displaying A05A08 or AQ01AQ04 values, select voltage or current

mode.
When displaying AT01AT04 value, select Celsius or Fahrenheit display.
SEL
If the HMI function is enabled, HMI screens that have been created using the
programming software are displayed if the SEL button is pressed for 3
seconds.
SEL+OK
Set the Real Time Clock (RTC)
5-4
GFK-2470A
Expansion Display State
Other Display States

Coils M, N, T, C, R, G status: (T/C/T/G display only Ladder mode)
Analog Input A01A04: 09.99V
Expansion Analog Input A05A08: 09.99V or 020.00mA
Expansion Temperature Analog Input AT01AT04: -100600C or -1481112.0F

GFK-2470A
5-5
Expansion Analog Output AQ01AQ04: 010.00V or 020.00mA
Hidden I/O Interface Functions

There are 14 I/O interfaces. Bits 013 of the DRD8 data register correspond to these I/O
interfaces. When a bit is set to 1, the corresponding I/O interface is hidden, meaning you
cannot display the I/O interface by pressing SEL+ or . The table below lists the DRD8
bits and their corresponding I/O interface.
Bit
I/O Interface
I/Z/Q
I01I0C, Z01Z04, Q01Q08
X/Y
X01X0C, Y01Y0C
M1
M01M1F
M2
M20M3F
N1
N01N1F
N2
N20N3F
T01T1F
C01C1F
R01R1F
G01G1F
10
A1
A01A04
11
A5
A05A08
12
AT
AT01AT04
13
AQ
AQ01AQ04
5-6
DRD8 Value
0=Displayed
1=Not displayed
GFK-2470A
Controller Main Menu in Ladder Mode

Pressing the ESC button from the initial screen displays the Main Menu.
The controller permits more operations in Stop mode than in Run mode, as shown below. If
the program in the controller is modified, the controller automatically saves changes to its
internal EEPROM, not to the optional Memory Module. Saving a program to the Memory
Module must be selected from the Main Menu.
Use the Up arrow and Down arrow keys to select items from the Main Menu.
Press OK to confirm a selection.
Use the ESC key to go back to the initial screen.
Main Menu with the Controller in Stop mode:

Menu
>
Description
LADDER
Ladder edit
FUN.BLOCK
Ladder function block (timer/counter/RTC ) edit
FBD
FBD display
PARAMETER
FBD block or LADDER function block parameter display
RUN
RUN or STOP
DATA REGISTER
Clear the user program and the password
CLEAR PROG.
Clear the user program and the password
WRITE
Save user program to PM05 (3rd)
READ
Read user Program from PM05
SET
System setting
RTC SET
RTC setting
ANALOG SET
Analog setting
PASSWORD
Password setting
LANGUAGE
Select the language
INITIAL
Initially set Edit method
Main Menu with the Controller in Run mode:

>
LADDER
FUN.BLOCK
(FBD)
PARAMETER
STOP
DATA REGISTER
WRITE
RTC SET
PASSWORD
LANGUAGE
GFK-2470A
5-7
Edit Ladder Logic

Select Ladder and press OK. See Ladder Logic Editing on the Controller later in this chapter
for instructions.
Edit Function Blocks

Select FUNction BLOCK from the menu to edit Timers, Counters, Analog Compare Functions,
and other Function Blocks. See Function Block Editing on the Controller later in this chapter
for instructions.
Run / Stop the Controller

Select RUN or STOP from the menu to set the controller mode.
L ADDE R
F U N . B L OC K
> R UN
C L E A R P R OG .
Selecting RUN places the controller in Run mode. Selecting STOP places the controller in
Stop mode.

In Stop mode, select Clear Program from the menu to clear
the program and passwords. This function can only be used in
Stop mode.
5-8
L ADDE R
F U N . B L OC K
R UN
> C L E A R P R OG .
GFK-2470A
Write a Program
Select Write from the menu (by scrolling down) to write the program from the controller to the
Memory Option Module.
F U N . B L OC K
R UN
C L E A R P R OG .
> WR I T E
Read a Program
In Stop mode, select Read from the menu (by scrolling down) to read the program from the
Memory Option Module to the controller.
R UN
C L E A R P R OG .
WR I T E
> R E AD
GFK-2470A
5-9

In Stop mode, select Set from the menu (by scrolling down) to change the setup parameters
for the controller.
C L E A R P R OG .
WR I T E
R E AD
> S ET
Select the setup parameters:
Set ID Number (00 to 99)
I D S ET
00
R E MO T E I / O N
B A C K L I GHT
M KE E P
I / O N U MB E R : 0
I / O A L A R M:
C KEE P
Z SET
5-10
Select Remote I/O: None, Master, Slave

Turn on the LCD screen backlight
Make M instruction status retentive
Number of Expansion modules (0 to 3)
Alarm if Expansion Number not matched
Save Counter Current Value during Run/Stop
Enable Z inputs
GFK-2470A

Select RTC Set from the menu (by scrolling down) to set the Real-time Clock.
WR I T E
R E AD
S ET
>RTC S ET
Controller version
RT C S E T V X . X
03 . 06 . 23
MO 0 9 : 3 7
Set the Controller RTC
Use the keypad to enter the time and date:

SEL
Begin to input the value
SEL + /
Move the Cursor
SEL + /
1. Year = 00~99,Month = 01~12,Day = 01~31

2.Week TUWETHFRSASUMO
3. Hour = 00~23 or Minute = 00~59
SEL then SEL
Daylight saving setting: NO EUROPE USA OTHER NO
OK
Save the RTC Time, finish the original screen setting, then display the
initial programming screen,
ESC
1. Press SEL to cancel the changes.

2. Return to main menu.
GFK-2470A
5-11
DURUS System Errors

After power-on the DURUS controller monitors its running state. If a system error occurs, the
error code will be displayed on the LCD display. Depending on the error type, the DURUS
controller will either stop or display a warning. The following table lists error types.
Error Code
Description
Error Action
ROM ERROR
System ROM/Flash memory

check error.
Stop DURUS Controller
Vpd ERROR
Power down circuits check

error.
PROG ERROR
Ladder/FBD code invalid in

EEPROM.
LOGIC ERROR
FBD code logic check error.
EXT. ERROR
Expansion I/O error. When the

I/O alarm in Set of the main
function is disabled, the alarm
cannot appear.
COMM ERROR
RS485 type communication

error.
Warning only
RTC ERROR
RTC check or work error.
Warning only
EMPTY PACK
Memory pack was found to be

empty when read from memory
pack was attempted.
Warning only
MEM ERROR
Memory pack check error

occurred when write to memory
pack was attempted.
Warning only
5-12
GFK-2470A

In Stop mode, select Analog Set from the menu (by scrolling down) to enter or change gain
and offset values for analog inputs.
R E AD
S ET
RTC S ET
> A N A L OG S E T
A 1 = GA I N : 0 1 0
OF F S E T : + 0 0
A 2 = GA I N : 0 1 0
OF F S E T : + 0 0
A 3 = GA I N : 0 1 0
OF F S E T : + 0 0
A 4 = GA I N : 0 1 0
OF F S E T : + 0 0
A 5 = GA I N : 0 1 0
OF F S E T : + 0 0
A 6 = GA I N : 0 1 0
OF F S E T : + 0 0
A 7 = GA I N : 0 1 0
OF F S E T : + 0 0
A 8 = GA I N : 0 1 0
OF F S E T : + 0 0
For example, for input A1, the Gain is set to 100 and the Offset is set to +10. If input A1 has an
analog voltage of 6.80 volts, the HMI text (voltage x Gain + Offset) for input A1 will be equal to:
(6.80V * 100) + 10 = 690. So the input value will be displayed as 690.
GFK-2470A
5-13

Select Password from the menu (by scrolling down) to enter or change the controller
password.
S ET
RTC S ET
A N A L OG S E T
> P A S S W OR D
Set the Password
If a password is set, the password must be used to enter either Ladder Logic or Function Block
mode. In addition, the password is required to use the ESC button to exit the homepage while
the controller is in Run mode. If the password is forgotten, the only way to recover is to clear
the program.
Valid range for the password is 0001FFFE.
P A S S WOR D
P A S S WOR D
0123
****
OK
Clear (Remove) the Password

If a password is set, if can be removed by entering either 0000 or FFFF as the new password.
Either of those values removes password protection from the controller.
P A S S WOR D
0123
5-14
P A S S WOR D
OK
0000
GFK-2470A

Select Language from the menu (by scrolling down) to change the display language.
RTC S ET
A N A L OG S E T
P A S S WO R D
> L A N GU A GE
GFK-2470A
5-15
View Point States

From the initial screen, use the SELect and Arrow keys to display the point states.
1 2 3 4 5 6 7 8 9 AB C
SEL +
RUN
SEL +
A1 = 6
A2 = 1
A3 = 4
A4 = 1
WE 0 9 : 2 4
.
.
.
.
8 3V
3 3V
8 7V
5 4V
SEL +
Analog Input
Values
SEL +
1 2 3 4 5 6 7 8 9 AB C
DEF
G Table States:
analog comparator
SEL +
SEL +
1 2 3 4 5 6 7 8 9 AB C
DEF
R Table States:
RTC
SEL +
SEL +
1 2 3 4 5 6 7 8 9 AB C
DEF
C Table States:
Counter
SEL +
SEL +
1 2 3 4 5 6 7 8 9 AB C
DEF
T Table States:
Timer
SEL +
SEL +
1 2 3 4 5 6 7 8 9 AB C
DEF
M Table States:
Auxiliary coil
SEL +
SEL +
1 2 3 4 5 6 7 8 9 AB C
03 .10:04
SEL +
RTC in Year, Month,

Date Format
SEL +
1 2 3 4 5 6 7 8 9 AB C
RUN
5-16
WE 0 9 : 2 4
GFK-2470A
Expansion Inputs and Outputs

When viewing expansion inputs and outputs, in addition to showing the individual point states,
the display also shows the status of the expansion module.
Expansion
Input On/Off
States
= On
Point
Numbers
=Off
1 2 3 4 5 6 7 8 9 ABC
Expansion
Output On / Off
States
03 . 10 . 04
Real-Time Clock
Day, Date: Month
Expansion Module
Status
= On
=Not linked
= Not Set
GFK-2470A
5-17

From the initial screen, pressing the SEL button for three seconds displays any HMI screens
that have been created using the programming software. The content of these screens
depends on the application. Example HMI screens are shown below.
1 2 3 4 5 6 7 8 9 ABC
Press SEL
for 3
seconds
RUN
WE 0 9 : 2 4
ESC
H1
Display H1
Up
Arrow
Down
Arrow
T 1 = 1 0 0 0 Mi n
C1= 0 0 4 0 0 0
C2 = 0 0 2 0 0 0
SEL
Up / Down
Arrow move
Cursor
Display H2. If target

value is displayed, it
can be modified.
ESC
> T 1 = 1 0 0 0 Mi n
C1= 0 0 4 0 0 0
C2 = 0 0 2 0 0 0
T 1 = 1 0 0 0 Mi n
>C1= 0 0 4 0 0 0
C2 = 0 0 2 0 0 0
OK
ESC
T 1 = 1 0 0 0 Mi n
>C1= 0 0 4 0 0 0
C2 = 0 0 2 0 0 0
Up / Down
Arrow
T 1 = 1 0 0 0 Mi n
>C1= 1 0 4 0 0 0
C2 = 0 0 2 0 0 0
OK
ESC
T 1 = 1 0 0 0 Mi n
>C1= 1 0 4 0 0 0
C2 = 0 0 2 0 0 0
T 1 = 1 0 0 0 Mi n
>C1= 0 0 4 0 0 0
C2 = 0 0 2 0 0 0
5-18
GFK-2470A
Change a Preset
If the HMI screens have been set up in the programming software to include changing Presets,
they can be modified using the controller keypad. The following example shows how to modify
the Preset Value of C1 in Run mode. In this example, the Preset Value 000010 of counter
mode 7 is used as the Current Value of T2.
1. In the HMI screen, press SEL.
T1=00 . 00Se c
T1=00 . 05Se c
C1=000010
000000
2. Press the Down arrow to move the cursor to the C1 Preset Value position.
T1=00 . 00Se c
T1=00 . 05Se c
C1=000010
000000
3. Press SEL three times. The Preset Value changes from 000000 to A1 to T1.
T1=00 . 00Se c
T1=00 . 05Se c
C 1 =T1
000000
4. Press the Up arrow.
T1=00 . 00Se c
T1=00 . 05Se c
C 1 =T2
000000
5. Press OK to save the setting.
GFK-2470A
5-19
Ladder Logic Editing on the Keypad

Ordinarily, ladder logic programs are created using the programming software, then stored to
the controller. The program presently in the controller can be edited using the keypad as
described below. For information about program functions, please refer to chapter 3.
Select Ladder from the Main Menu. In Ladder mode, the 16 horizontal positions on the screen
are grouped into eight columns as shown below. Each double column contains a character
representing a program element (such as I for input), and a digit.
Keypad Functions in Ladder Mode

Press
SEL
Description
Ix ix space Ix (column 1, 3, or 5.)
Qx space Qx (column 8).
space
(for all except line 1, column 2, 4, or 6)
x : Digital: 1~F
SEL +
Up Arrow
or
Down Arrow
1...F,
I X Q Y M D T C R G I
Q Y M T C R G H L P Q (Cursor in column 8)
( P ( Cursor at column 7 when column 8 Q, Y, or M)
( P ( Cursor at column 7 when column 8 is set as T)
SEL + /
Confirm the input data and move the cursor
Arrow keys
Move the cursor
DEL
Delete an instruction
ESC
Cancel the instruction or action during editing.

Return to Main Menu from the program.
OK
Confirm the data and automatically save, the cursor moves to next input
position.
When the cursor is on Column 8, press OK to automatically enter the function
block and set the parameters.
SEL+DEL
Delete a line of an instruction.
SEL+ESC
Display the number of the lines and controller Run/Stop mode
SEL+/
Skip up/ down every 4-line program.
SEL+OK
Insert a line of space
5-20
GFK-2470A
Ladder Logic Entry Example

Initial Screen, with cursor at
Ladder
Step 1:
Press OK to place the display in
Ladder Edit mode.
Step 2:
Press SEL with cursor located at
character or digit, press the button
to show I1.
Step 3:
Press Up Arrow twice.
(Press SEL + Up / Down
and the digit at the cursor position
will change from I to Q).
Step 4:
Press SEL to start /end modifying
parameter.
Step 5:
Press Right Arrow.
(Press SEL + Right / Left Arrow if
cursor is located on the digit
position in a column).
Step 6:
Press Up Arrow three times.
(Press SEL + Up / Down Arrow,
the digit will change from 1 to 4)
GFK-2470A
Column
1 2 3
Line 1 > L A D D
2
F U N .
3
R U N
4
C L E A
Column
Line 1
2
3
4
6 7
E R
B L O C K
R
P R O G .
6 7
Column 1 2
Line 1 I 1
2
3
4
6 7
Column
1 2
Line 1 Q 1
6 7
6 7
6 7
2
3
4
Column
1 2
Line 1 q 1
2
3
4
Column
1 2
Line 1 q 1
2
3
4
Column 1
2 3
Line 1 q 4
4 5
6 7 8
2
3
4
5-21
Ladder Logic Example, continued

3
6 7
6 7
6 7
Column
1 2 3 4 5 6 7
Step 8:
Press OK in Column 5 to move the
Line 1 q 4 M 1 I 3
cursor to the character in column 8.
2
3
4
Step 7:
Press Left Arrow
(Press SEL + Left / Right Arrow
to move the cursor to the position).
Column
1 2
Line 1 q 4
2
3
4
Automatically Link
OR
Press OK to move the cursor to

character in column 3.
OR
Column
1 2
Line 1 q 4
2
3
4
Automatically Link
Column
1 2
Line
1
q 4
Press Right Arrow to move the
2
cursor to the link location in column
2.
3
4
Repeat steps1 to 7, and add M1 and I3 instructions to columns 3 and 5.
Step 9:
Press SEL
(with the cursor located at
character and digit, press SEL
to show ( Q1)
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
2
3
4
Auto Add -(
Step 10:
Press OK to save the input
program data. The cursor will not
move.
5-22
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
2
3
4
GFK-2470A

Step 11:
Press Right Arrow twice to move
the cursor to column 1, and line 2.
Column
Line 1
2
3
4
6 7
Step 12:
Press Right Arrow twice to move
the cursor to column 2.
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
2
3
4
Change Wire to
Step 13:
Press SEL to display vertical line.
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
2
3
4
Step 14:
Press OK to move the cursor to
character in column 3.
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
2
3
4
Repeat steps 1 to 7 and key in r 3 , at Line 2 and column 3 to 6.

Column
1 2 3 4 5 6 7 8
Step 15:
Press OK in column 5 to move the
Line 1 q 4 M 1 I 3 ( Q 1
cursor to the character position in
r 3 (
2
column 8.
3
4
Step 16:
Press SEL with the cursor located
on a digit or character to display
Q1.
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
r 3 ( Q 1
2
3
4
GFK-2470A
5-23
Step 17:
Press Up Arrow four times.
(Press SEL + Up/ /Down Arrow)
The character Q the cursor location
changes to C.
Step 18:
Press Right Arrow key.
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
r 3 ( C 1
2
3
4
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
r 3 ( C 1
2
3
4
Step 19 :
Press Up Arrow key seven times.
(Press SEL + Up / Down Arrow).
The digit 1 at the cursor location
changes to 7)
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
r 3 ( C 7
2
3
4
Auto Enter Function

Block Edit
Column
1
Step 20:
Press OK to automatically switch to
Line 1
Function Block view and counter
2 I 1
input parameter.
3
4 I 1
Step 21:
Press ESC to return to Ladder
Logic mode.
5-24
0 0 0 0
6 7
C 7
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
r 3 ( C 7
2
3
4
GFK-2470A
Delete A Program Element

Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
r 3 ( C 7
2
3
4
Press DEL to delete the element at Column
1 2 3 4 5 6 7 8
the cursor location.
Line 1 q 4 M 1 I 3 ( Q 1
2
r 3
3
4
Display the Present Line and the Controller Operating Mode

Press SEL and EXC at the same
Column
1
time. Line 4 displays line number
Line 1 q 4
where the cursor is located and the
2
controller operating mode.
3
4 S T
6 7
M 1 I 3 ( Q 1
r 3 ( C 7
O P
L I N E 0 0 2
Delete A Line
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
r 3 ( C 7
2
3
4
Press SEL and DEL at the same
time.
To cancel, press ESC.
To accept, press OK.
GFK-2470A
Column
1
Line 1 q 4
2
3 C L
4 E S
6 7
M 1 I 3
r 3
E A R
L n
C
?
O
( Q 1
( C 7
0 0 2
K
?
5-25
Insert a Line
Column
1 2 3 4 5 6 7 8
line 1 q 4 M 1 I 3 ( Q 1
r 3 ( C 7
2
3
4
Press SEL and OK at the same
time.
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
2
r 3 ( C 7
3
4
Move Up or Down Four Lines

Column
1 2 3 4 5 6 7 8
line 1 q 4 M 1 I 3 ( Q 1
r 3 ( C 7
2
3
4
5
Press SEL and Up Arrow or Down
Arrow at the same time.
5-26
Column
1 2 3 4 5 6 7 8
line 1 q 4 M 1 I 3 ( Q 1
r 3 ( C 7
2
3
4
5
GFK-2470A
Function Block Editing on the Controller

Choosing Function Blocks
Select FUNction BLOCK from the menu to edit Timers, Counters, Analog Compare Functions,
and other Function Blocks.
L ADDE R
> F U N . B L OC K
R UN
C L E A R P R OG .
Press OK to place the display in Function Block edit mode.
The screen shows the function blocks in the current program. Function Block formats are
shown on pages 5-29 through 5-33. Use the keys to move the cursor and edit the function
parameters.
In the Function Block or Parameter submenu, you can also choose the function block type
using the following method:
In the Ladder mode Function block submenu, with the cursor positioned as shown below:
Figure A
Figure B
Press SEL. The cursor will change to edit mode as shown below.
Figure C
Figure D
In Figure C , press to change the Function block number.

In Figure D ,press to change Function block type (TCRGASMD
PIMXARMUT).
GFK-2470A
5-27
5
After pressing , you can choose any function block type such as G02 as shown below:
To leave the Choose Function Block mode, press OK.

You can choose function block type the same way in the Parameter submenu.
Setting Preset Values

In ladder mode, when you choose A01A08/AT01AT04/AQ01AQ04, a dialog box will pop
up to help you find the corresponding DR register.
5-28
GFK-2470A
Timer Format
Timer Type: 0, 1, 2, 3, 4, 5, 6, 7.
Type 7 cannot be selected here. It
must be selected in Ladder Logic
edit mode as type P.
Preset Timebase Value:
1 = 0.01 second
2 = 0.1 second
3 = 1 second
4 = 1 minute
Reset Input
Current Value
2
1
6 8 . 0 1
I1
T1
Timer Number ( T1 to TF )
Preset Value:
00.00 to 99.99 or
000.0 to 999.9 or
0000 to 9999 or
Current Value: V1 to V8, A1 to A8, T1 to TF, C1 to CF
Counter Format, Types 1 to 6
Counter Type: 1, 2, 3, 4, 5, 6.
Up / Down
Counter set input
Current Value
I6
0 1 2 3 3 3 C1
I8
Counter Number ( C1 to CF )
Reset Input
Preset Value:
000000 to 999999 or
If an Up Counter is selected, when the Reset Input is On, the Current Value clears to 0.
If the selected Counter Type is type 1, 2, 3, or 4 and down counting is selected, when the
Reset Input is Off, the Current Value is set to the Reset Value.
GFK-2470A
5-29
Counter Format, Type 7

Counter Type: 7
Current Value
High-speed Set
I1
6 8 0 1 2 3 C1
I4
Input: I1 or I2
Reset Input
Preset Value:
000000 to 999999 or
Counter Format, Type 8
Preset Time Interval:

00.00 to 99.99 seconds or
Counter Type: 8

Current Status (On / Off)
High-speed Set
Input: I1 or I2
I 2 6 8 . 0 1
0 1 2 3 1 4 C1
1 1 1 4 1 4
Preset to Off Counter Value:

000000 to 999999 or
Preset to On Counter Value:
000000 to 999999 or
5-30
GFK-2470A
Real Time Clock Format, Types 1 and 2

Week On / Off setting
Current Value
RTC Type: 1 or 2
S AMO
1
0 1 : 2 3
1 1 : 1 4
Preset On Value (On time setting):
R1
RTC Number ( R1 to RF )
Preset Off Value (Off time setting):
00:00 to 23:59
00:00 to 23:59
Real Time Clock Format, Type 3

Year On / Off setting
Current Value
RTC Type: 3
6 8 6 1
3
0 1 . 2 3
1 1 . 1 4
Preset On Value (Month and Date):
R1
Preset Off Value (Month and Date):
01.01 to 12.31
01.01 to 12.31
Real Time Clock Format, Type 4

Week Set (On)
Current Value
RTC Type: 4
SU
0 7 : 1 1 R1
: 20
Preset On Value (Time):

00:00 to 23:59
GFK-2470A
Preset On Value (Seconds):

00 to 59
5-31
Analog Comparator Format

Analog 1, Current Value: 00.00 to 99.99V
Analog 1 set input A1 to A8 or
select Current Value: T1 to TF,
C1 to CF, C1 to C8
Analog 2 set input A1 to A8 or
Analog 2, Current Value: 00.00 to 99.99V
A1
A2
G1
1 1 . 2 3 V
Analog Instruction Number

( G1 to GF )
select Current Value: T1 to TF,

Compare Value:
C1 to CF, C1 to C8
00:00V to 99.99V or Current Value:

V1 to V8, A1 to A8, T1 to TF, C1 to CF
HMI Format
Select Type 1 or 2
H1
HMI Number H1 to HF
PWM Format
When Selected Number is 1, Input 3 is Off, Input 2 is Off, Input 1 is Off.
When Selected Number is 2, Input 3 is Off, Input 2 I Off, Input 1 is On..
When Selected Number is 8, Input 3 is On, Input 2 is On, Input 1 is On.
Select Number 1 to 8
Set Input 1
Set Input 2
Set Input 3
5-32
1
I 1
I 2 0 6 8 0 1
I 3 0 0 1 2 3
Current Selected Value (0 to 8)
P 1
PWM Number 1
Preset Pulse Period:
Preset Pulse Width:
00001 to 32767
00001 to 32767
GFK-2470A
5
Data Link Format, Type 1
Type 1: Send Status from
Send Instruction I, M, Q, X, Y
Ix, Mx, Qx, Xx, Yx to Wxx
8 1 0 1 0 8
L1
W0 1 0 8
Select Instruction
Number range
1 to 8
Data Link Instruction

Number ( L1 to L8 )
When Own ID = 0: W01 to W08; ID = 1: W09 to W16;

ID = 2: W17 to W24; ID = 3: W25 to W32;
ID = 4: W33 to W40; ID = 5: W41 to W48;
ID = 6: W49 to W56; ID = 7: W57 to W64;
IC = 8: W01 to W08, Wxx is not selected
Data Link Format, Type 2

Type 2: Receive Status from Wxx
Receive Instruction I, M, Q, X, Y
to Ix, Mx, Qx, Xx, Yx

Select Receive
Instruction
Number range
1 to 8
8 X0 1 0 8
L1
W1 7 2 4
Data Link Instruction

Number ( L1 to L8 )
Select Receive: W01 to W08; W09 to W16; W17 to

W24; W25 to W32; W33 to W40; W41 to W48; W49
to W56; W57 to W64
GFK-2470A
5-33
Function Block Editing Examples

Initial Screen, with cursor at
Ladder
Press OK to place the display in

Function Block Edit mode.
Line 3 is current Run mode value
Never press to move the

position. Use the , , and SEL
keys to select a different function.
Column
1 2
Line 1
L A
2 > F U
3
R U
4
C L
Column
Line 1
2
3
4
Column
Line 1
2
3
4
D D E R
N . B L O C K
N
E A R
P R O G .
3
1
1
0 0 . 0 0
6 7
1
1
0 0 . 0 0
6 7
T 1
6 7
T 1
Preset the Target Value

The example screens below illustrate how to change the value of a timer preset.
Press to move the highlight

cursor to the Preset area of the
display.
Press SEL, then enter the new

value
Column
Line 1
2
3
4
Column
Line 1
2
3
Press three times

(Press SEL then , . The 0
changes to 3)
Press OK to save the change.
5-34
1
1
0 0 . 0 3
4
Column
Line 1
2
3
4
1
1
0 0 . 0 0
4
Column
Line 1
2
3
1
1
0 0 . 0 0
1
1
0 0 . 0 3
6 7
T 1
6 7
T 1
6 7
T 1
6 7
T 1
GFK-2470A
Column
Line 1
2
3
4
Press .
6 7
1
1
0 0 . 0 3
T 1
Repeating the steps above gives the following display:

Column
1 2 3 4 5 6 7 8
Line 1
1
2
1
Press .
3
3 3 . 3 3
T 1
4
Change Additional Presets

The current value of the timer, counter, analog input (A1 to A8) and analog gain value (V1 to
V8) is set as their preset value.
Press to move the highlight

cursor to the Preset area of the
display.
Press SEL, then enter the new

value
Column
Line 1
2
3
4
Column
Line 1
2
3
Column
Line 1
2
3
GFK-2470A
6 7
T 1
6 7
T 1
6 7
1
1
V 1
4
Column
Line 1
2
3
1
1
0 0 . 0 0
Press SEL to choose other function

types, or press to change the
value at the cursor location (see
next step).
1
1
0 0 . 0 0
T 1
6 7
1
1
A 1
T 1
5-35
Column
Line 1
2
3
1
1
T 1
4
Column
Line 1
2
3
T 1
1
1
C 1
6 7
6 7
T 1
Changing the Value at the Cursor Location
With the correct function type

displayed, press to change the
preset value at the cursor location.
Column
Line 1
2
3
To save the value at the cursor

location, press OK.
Column
Line 1
2
3
4
1
1
A 3
6 7
T 1
1
1
A 3
6 7
T 1
Delete a Function Block

Press SEL and DEL
simultaneously.
To cancel, press ESC
To delete, press OK
5-36
Column
1
Line 1
2
2
3 C L
4 E S
E A R
C
?
6 7
B L O C K
O K
?
GFK-2470A
Chapter Software Operation in Ladder Logic Mode
The programming software has two separate programming modes: Ladder Logic and Function
Block Diagram. After the Ladder Logic or Function Block Diagram mode is selected on the
software startup screen, all software operations continue in that mode.
This chapter explains how use the programming software for programming, simulation, and
emulation in Ladder Logic mode. Similar instructions for using Function Block Diagram mode
are in chapter 7.
Using the Ladder Logic Programming Software
Edit menu functions

Operation menu functions
View menu functions
Editing Ladder Logic with the Programming Software
File menu functions
Enter or edit an Instruction
Using the Ladder Logic Software in Keypad Mode
Button Functions in Keypad Mode

Using the Computer Keyboard for Keypad Operations
GFK-2470A
6-1
Using the Ladder Logic Programming Software

The main Ladder Logic toolbar functions are shown below. Functions that are not currently
accessible are grayed out on the software screen. Functions can also be selected using the
pulldown menus as described on the following pages.
Create new Program File
Open existing Program File
Save the current Program File
Print a Program
Print Preview
Use Controller Keypad for programming / editing
Use the software for Ladder Logic programming / editing
Program / edit the HMI function
Edit Ladder screen using Instruction Symbol
Use Software to monitor instructions and functions

Test and debug the program
Place the controller in Run mode
Place the controller in Stop mode
End Monitor / Simulation mode and start Program mode
Read the program from the controller
Write a program to the controller
Open the online help
6-2
GFK-2470A
File Menu Functions

Select File or select the appropriate buttons to access the File functions:
Open an existing ladder logic program, or select New to create a new application program.
GFK-2470A
Chapter 6 Software Operation in Ladder Logic Mode
6-3
Edit Menu Functions

Select Edit or use the appropriate tools to access the Edit functions.
Select Model:
Select the controller type to program or edit.
KeyPad:
Switch the display to keypad mode.
I1
M1
6-4
(T 1
(C 1
GFK-2470A
Ladder:
Switch to the softwares ladder logic display to create or edit the current
Ladder Logic program. This is the recommended method.
Clear Comments: Remove any Ladder Logic comments on the program screen.
Find:
Replace:
GFK-2470A
Search for an element or instruction in the program.
Replace a program instruction.
6-5
6
HMI/Text:
Use this function to program or edit the HMI; display custom messages,
change the Timer/Counter/RTC/Analog Preset Value and set instruction M to
On/Off in Run Mode. This screen has a tab for each custom screen that can
be set up.
Click on the Text Input characters at the bottom of the window to enter text in
the LCD format area at the top of the tab, as illustrated above.
The Display box must be checked to enable a page to be displayed on the
controller.
If the HMI screen should show Timer/Counter/Analog/Coil Status, select the
items to display on each line. When the HMI is enabled, it shows the current
value. For A1 to A4, it equals (input value * Gain + Offset). For A5 to A8, it
equals (input value*10). During system operation, items on the HMI screen can
be edited as appropriate.
If the HMI screen should show the current status of I, M, X, and/or Z coils,
select them from the dropdown lists.
6-6
GFK-2470A
Analog Display Set: Click on this to enter the Gain and Offset for individual
analog inputs in the following window:
If the HMI screen should include a phone number, type it in the Phone Number
field and click Add. If Error Message HMI Text has been enabled, the controller
will automatically send a message.
Symbol
This screen can be used to assign labels to individual program elements.

Depending on the selection for Display Enable, the program will display the
contact /coil only, the symbol only, or both.
GFK-2470A
6-7
Operation Menu Functions

Use the Operation menu or the Main Menu buttons to access the Operation functions.
Monitor:
Select Monitor to view the current status of all the program instructions and
functions when the software is linked with the controller.
Caution
The controller will be in Run mode.
In the diagram above, the numbers indicate:

(1) Display All Active instruction status (On or Off).
(2) In Ladder Monitor Mode, the pink color shows the "On" or active condition.
(3) Input Status Tool: can force inputs or internal memory relays On or Off.
6-8
GFK-2470A
Simulator:
Use this Mode to test and debug the program.

Caution When using simulation, the virtual controller is in Run mode. If the
programmer is linked to the controller, the controller itself is also in Run mode.
Simulator in Keypad Mode
In this mode, the screen shows the controller and I/O with simulation tools.
In the diagram above, the numbers indicate:

(1) Inputs I1 to IC: Use the computer keyboard keys 1 to 9, A, B, C to change
the On/Off status.
(2) When Outputs Q1 to Q8 are On, their color is red.
(3) For analog inputs A1 to A4, click on the cursor key symbols, or use the Tab
key to move the cursor. Use the Space key to select.
(4) Expansion Analog Inputs A5 to A8.
(5) High Speed Input Tool: Use the On/Off button to enable or disable High
Speed Inputs I1 and I2 inputs. When the status goes from Off to On, the
current count value is added to the I1 / I2 input value. Use Set to set or change
the input value (1 1000).
(6) for Expansion Inputs X1 to XC, use the computer keyboard keys
"Ctrl+X"+"1~9, A, B, C" to change On/Off status.
(7) When Expansion Outputs Y1 to YC are On, their color is red.
GFK-2470A
6-9
6
Simulator in Ladder Logic Mode
In this mode, the screen shows the Ladder Logic program and simulation tools.
In the illustration above, numbers indicate:

(1) Display active instruction status (On or Off).
(2) In Ladder Simulator Mode, green color represents "On" condition.
(3) When cursor is on T, C, R, G, H, P, or L, it displays the current value.
(4) Input Status Tool: used to force Instructions On or Off.
(5) High Speed Input Tool: use On/Off button to enable/disable the High Speed
Inputs.
(6) Expansion Analog Input Tool: used for A5 to A8.
(7) Analog Input Tool A1 to A4: use On/Off to set a value. On is -> 9.80V, Off
is -> 4.90V. Inputs A1 to A4 can also be used as normal inputs.
Normally, the range of Analog inputs is 010 V. However, these inputs can be
used to turn inputs 09 to 0C ON and OFF once it goes above or below the
voltage range specified above.
Run !
Places the controller in Run Mode.

Caution: The controller will be in Monitor Mode when linked with the
programmer software.
Stop !
Places the controller in Stop Mode.

Caution: The controller will be in Program Mode when linked with the
programmer software.
6-10
GFK-2470A
Quit
Ends Monitor/Simulation mode and places the controller in Program mode.

Warning: If linked with the controller in Monitor mode, the programmer
software will be in Program mode and the controller will be in Run mode.
Read:
Reads the program from the controller. The computer must be linked with the
controller.
Write:
Writes the program to the controller. The computer must be linked with the
controller.
RTC Set:
When linked with the controller, the Real-time Clock value can be set. If not
linked with the controller, the computer will display its own clock value.
Analog Display Set:
Enter Gain and Offset values for Analog inputs.
For example, for input A1, the Gain is set to 100 and the Offset is set to +10. If
input A1 has an analog voltage of 6.80 volts, the HMI text (voltage x Gain +
Offset) for input A1 will be equal to: (6.80V * 100) + 10 = 690. So the input
value will be displayed as 690.
GFK-2470A
6-11
6
Password:
In Password mode, the correct password is required to enter program edit

mode, or to use the ESC button to exit the Home page in Run Mode. When
the software is linked with the controller, the password can be set or
changed. The numbers 0000 and FFFF both select No Password mode. Any
other number from A000 to FFFE becomes the password. If the password is
forgotten, the only way to recover is using Clear Program, which also clears
the password.
Set Password
Change Password
Language:
6-12
Select the controller language when linked to the controller.
GFK-2470A
Module System Set:
When linked with the controller, the ID value and Remote I/O, Expand
I/O, M Keep, C Keep, and Back Light mode can be read or set.
Remote I/O: Sets the controller mode in
multidrop operation.
No Expansion I/O: Controller does not
control slaves but Data Link function is
available
Controller ID
Sets the controller ID
in a multidrop serial
network.
Expansion I/O System: Module is a

controller (master) or a slave
M Keep: If set, M values and Timers E and
F (14, 15) are retained if power is lost.
Number of Analog
Expansion modules
C Keep: If set, Counters in modes 3, 4, and

5 are retained if power is lost.
Back Light: If set, display is always lit.
Otherwise, it only lights when controller keys
are pressed.
Alarming active for

Expansion modules
Z Set: If set, Z inputs are valid.
Link Com Port:
Sets the computer serial port address to link with the controllers (COM1COM8).
GFK-2470A
6-13
View Menu Functions

The View menu controls what appears on the software screens.
I/O:
In Ladder Logic Edit screen and in Program Mode, displays or hides

instructions used in the program.
Function:
Moving the cursor onto a function displays the Current and Preset Value.
Capacity:
Displays the controller s available program memory.
Input Status Tool: Can be used by the controller in Monitor or Simulation Mode. In Simulation
mode, can turn I , X, and M points On or Off. In Monitor mode, can turn only
M points On or Off.
6-14
GFK-2470A
Simulation Analog Tool: Can be used by the controller in Simulation or Ladder Logic mode for
A01A04. The controller can use the analog inputs as discrete inputs.
On >= 9.80V, Off <= 4.90V
If A1 >= 9.80V Input I9 is On, if A1 <= 4.90V Input I9 is Off,
if A2 >= 9.80V Input IA is On, if A2 <= 4.90V Input IA is Off,
if A3 >= 9.80V Input IB is On, if A3 <= 4.90V Input IB is Off,
if A4 >= 9.80V Input IC is On, if A4 <= 4.90V Input IC is Off.
Expansion Analog Tool: Like the Analog Simulation tool, described above for analog inputs
A05A08. Can be used by the controller in Monitoring or Simulation Mode.
High Speed Input Tool: Can be used by the controller in Simulation Mode to simulate the High
Speed 1K Hz Input I1 and I2 for Counter function type 7 and 8. When Input
I1/I2 status Off to On, the current count value is added to the I1/I2 Input
Value.
Temperature Input Tool: Can be used by the controller in Monitoring or Simulation mode for
temperature inputs AT01AT04.
GFK-2470A
6-15
Editing Ladder Logic with the Programming Software

Use the tools in the Ladder Toolbar to edit a ladder logic program using the programming
software.
Input: I, i
Expanded input:
Output / relay
Expanded output / relay
Internal relay
Timer
Counter
Real-time Clock
Analog Comparator
Differential
HMI/Text display
PWM
Data Link
Connect instructions
Connect rungs
Delete instruction or rung
Insert instruction or rung
Edit program comment
6-16
GFK-2470A
Enter or Edit an Instruction

To add an instruction to the Ladder Logic program, either drag and drop it from the Ladder
Tools, or use keyboard commands.
To modify an instruction in a Ladder Logic program, double-click on the instruction or press the
keyboard Space key. Enter the parameters of the function. Examples:
Use the A and L keys to complete parallel and serial circuits. The rightmost column is for
output coils.
GFK-2470A
6-17
Adding Comments to a Program

To add comments to a program, click on the N icon in the Ladder toolbar. Drag the icon to the
line number for the comment and release.
Enter the comment(s) and press OK.
6-18
GFK-2470A
Using the Ladder Logic Software in Keypad Mode

Select KeyPad from the Edit Menu or toolbar to use the software to edit a program in keypad
mode. The software screen displays a representation of the controller.
I/O Number: I1 to IC,

Q1 to Q8
Display Z Input Status. If valid:
Up Arrow sets Z1 On
Left Arrow sets Z2 On
Down Arrow sets Z3 On
Right Arrow sets Z4 On
Controller Run or
Stop Mode
Display Week, Hour, Minute. If

software is not linked to controller,
displays computer RTC value.
Button Functions in Keypad Mode

When using the software to emulate the controller, clicking on the graphic keypad performs the
same functions as using the actual controller keypad.
Click on the virtual controller buttons to control edit operations.
Left-Click On
Function Performed
Right-Click on SEL,
then Left-Click On
Function Performed
DELete
Delete an instruction
DELete
SELect
Select an instruction
SELect
ESCape
Cancel Edit mode
ESCape
Show the line number
OK
OK and set value
OK
Insert one rung of

space (not possible if
line 200 has a rung.
Left Arrow
Move cursor left
Left Arrow
Right Arrow
Move cursor right
Right Arrow
Up Arrow
Move cursor up
Up Arrow
Page up
Down Arrow
Move cursor down
Down Arrow
Page down
GFK-2470A
Delete one line
6-19
6
Using the Computer Keyboard for Keypad Operations
The computer keyboard can also be used to perform the keypad functions.
Controller Keypad
6-20
Computer Keyboard
Up Arrow
Down Arrow
Left Arrow
Right Arrow
SELect
DELete
ESCape
OK
GFK-2470A
Chapter Keypad Operations in Function Block Mode
7
This chapter explains how navigate the controller LCD screens and make changes using the
controller keypad, in Function Block mode.
Startup Screen
Controller Main Menu in Function Block Mode
Edit Parameters
Run/Stop the Controller
Write a Program
Read a Program
View Point States
Edit Logic on the Controller
Editing Coils and Contacts
Editing Logic Blocks
Edit Parameters
GFK-2470A
7-1
Keypad Overview
Select (SEL) Used to select the available memory and instruction types for editing. Holding the
Select button will display all H HMI/Text messages on the LCD.
OK Used to accept the selection displayed of an instruction or function. It is also used to select any
of the Main Menu options on the LCD.
Note:
Press the SEL and OK simultaneously to insert a rung above the current active cursor
position.
Escape Used to exit a selected display screen and go to the previous screen. When in a ladder
display screen, press the ESC to display the main menu.
Delete Used to delete an instruction or rung from the ladder program.
The four navigation buttons () are used to move the cursor throughout the functions of the
display or active program. The four buttons also can be set programmable input coils Z01Z04 (=
Z01, =Z02, =Z03, =Z04);
7-2
GFK-2470A
Startup Screen
By default, the controller LCD screen shows:
Input On / Off
States
= On
Point
Numbers
=Off
Output On /
Off States
Run / Stop
Mode
Real-Time Clock
Day, Date: Month
Use the module keypad to navigate and edit the display:
ESC
Return to Main Menu
SEL+
or
In Function Block Mode, if DRD8 value is 0, display the state of relays

(I/Z/QI/YMNAATAQ)Original Screen) For details on display states, refer to
Startup Screen in chapter 5.
SEL+
or
When displaying A05A08 or AQ01AQ04 values, select voltage or current mode.
SEL
SEL + OK
GFK-2470A
When displaying AT01AT04 value, select Celsius or Fahrenheit display.

H Functions are displayed if the SEL button is pressed for 3 seconds.
If Mode 2 is selected for HMI, the H Function is not displayed.
Set Real Time Clock (RTC).
Chapter 7 Keypad Operations in Function Block Mode
7-3
Controller Main Menu in Function Block Mode

Pressing the ESC button from the initial screen displays the Main Menu.
The controller permits more operations in Stop mode than in Run mode, as shown below. If the
program in the controller is modified, the controller automatically saves changes to its internal
EEPROM, not to the optional Memory Module. Saving a program to the Memory Module must be
selected from the Main Menu.
Use the Up arrow and Down arrow keys to select items from the Main Menu.
Press OK to confirm a selection.
Use the ESC key to go back to the initial screen.
Main Menu with the Controller in Stop mode:
> F U N B L OC K
P A R A ME T E R
RUN
C L E A R P R OG .
WR I T E
RE ADP
SET
RT C S E T
A N A L OG S E T
P A S S WO R D
L A N GU A G E
I N I T I AL
Clear program AND password

Save Program to Memory Module
Read Program from Memory Module
Select the Language

Set initial Edit Method
Main Menu with the Controller in Run mode:
> F U N B L OC K
P A R A ME T E R
S T OP
WR I T E
RT C S E T
P A S S WO R D
L A N GU A G E

OK
ESC
7-4
Move the Cursor to select the Main Menu Items

Confirm to enter the selected items
Back to original screen
GFK-2470A
7
Select FUNctionBLOCK and press OK. See Function Block Editing on the Controller later in this
chapter for instructions.
Edit Parameters
Select PARAMETER from the menu to edit block parameters. See Parameter Editing on the
Controller later in this chapter for instructions.
Run / Stop the Controller

Select RUN or STOP from the menu to set the controller mode.
F U N B L OC K
P A R A ME T E R
> R UN
C L E A R P R OG .
Selecting RUN places the controller in Run mode. Selecting STOP places the controller in Stop
mode.

In Stop mode, select Clear Program from the menu to clear the program and passwords. This
function can only be used in Stop mode.
F U N B L OC K
P A R A ME T E R
R UN
> C L E A R P R OG .
Write a Program
Select Write from the menu (by scrolling down) to write the program from the controller to the
Memory Option Module.
P A R A ME T E R
R UN
C L E A R P R OG .
> WR I T E
GFK-2470A
7-5
Read a Program
In Stop mode, select Read from the menu (by scrolling down) to read the program from the Memory
Option Module to the controller.
R UN
C L E A R P R OG .
WR I T E
> R E AD
In Stop mode, select Set from the menu (by scrolling down) to change the setup parameters for the
controller.
C L E A R P R OG .
WR I T E
R E AD
> S ET
Select the setup parameters:
Set ID Number (00 to 99)
I D SET
00
R E MO T E I / O N
B A C K L I GHT
M KE E P
I / O N U MB E R : 0
I / O A L A R M:
C KEE P
Z SET
7-6
Select Remote I/O: None, Master, Slave

Turn on the LCD screen backlight
Make M instruction status retentive
Number of Expansion modules (0 to 3)
Alarm if Expansion Number not matched
Save Counter Current Value during Run/Stop
Enable Z inputs
GFK-2470A

Select RTC Set from the menu (by scrolling down) to set the Real-time Clock.
WR I T E
R E AD
S ET
>RTC S ET
Controller version
RT C S E T V X . X
03 . 06 . 23
MO 0 9 : 3 7
Set the Controller RTC
Use the keypad to enter the time and date:

SEL
Begin to input the value
SEL + /
Move the Cursor
SEL + /
1. Year = 00-99,Month = 01-12,Day = 01-31

2.Week TUWETHFRSASUMO
3. Hour = 00-23 or Minute = 00-59
SEL then SEL
Daylight saving setting: NO EUROPE USA OTHER NO
OK
Save the RTC Time, finish the original screen setting, then display the initial programming screen,
ESC
GFK-2470A
1.
Press SEL to cancel the changes.
2.
Return to main menu.
7-7
DURUS System Errors

After power-on the DURUS controller monitors its running state. If a system error occurs, the error
code will be displayed on the LCD display. Depending on the error type, the DURUS controller will
either stop or display a warning. The following table lists error types.
Error Code
Description
Error Action
ROM ERROR
System ROM/Flash memory check

error.
Vpd ERROR
Power down circuits check error.
PROG ERROR
Ladder/FBD code invalid in

EEPROM.
LOGIC ERROR
FBD code logic check error.
EXT. ERROR
Expansion I/O error. When the I/O

alarm in Set of the main function is
disabled, the alarm cannot appear.
COMM ERROR
RS485 type communication error.
Warning only
RTC ERROR
RTC check or work error.
Warning only
EMPTY PACK
Memory pack was found to be

empty when read from memory
pack was attempted.
Warning only
MEM ERROR
Memory pack check error occurred

when write to memory pack was
attempted.
Warning only
7-8
GFK-2470A

In Stop mode, select Analog Set from the menu (by scrolling down) to enter or change gain and
offset values for analog inputs.
R E AD
S ET
RTC S ET
> A N A L OG S E T
A 1 = GA I N : 0 1 0
OF F S E T : + 0 0
A 2 = GA I N : 0 1 0
OF F S E T : + 0 0
A 3 = GA I N : 0 1 0
OF F S E T : + 0 0
A 4 = GA I N : 0 1 0
OF F S E T : + 0 0
A 5 = GA I N : 0 1 0
OF F S E T : + 0 0
A 6 = GA I N : 0 1 0
OF F S E T : + 0 0
A 7 = GA I N : 0 1 0
OF F S E T : + 0 0
A 8 = GA I N : 0 1 0
OF F S E T : + 0 0
For example, for input A1, the Gain is set to 100 and the Offset is set to +10. If input A1 has an
analog voltage of 6.80 volts, the HMI text (voltage x Gain + Offset) for input A1 will be equal to:
(6.80V * 100) + 10 = 690. So the input value will be displayed as 690.
GFK-2470A
7-9

Select Password from the menu (by scrolling down) to enter or change the controller password.
S ET
RTC S ET
A N A L OG S E T
> P A S S W OR D
Set the Password
If a password is set, the password must be used to enter either Ladder Logic or Function Block
mode. In addition, the password is required to use the ESC button to exit the homepage while the
controller is in Run mode. If the password is forgotten, the only way to recover is to clear the
program.
Valid range for the password is 0001FFFE.
P A S S WOR D
P A S S WOR D
0123
****
OK
Clear (Remove) the Password

If a password is set, if can be removed by entering either 0000 or FFFF as the new password. Either
of those values removes password protection from the controller.
P A S S WOR D
0123
7-10
P A S S WOR D
OK
0000
GFK-2470A

Select Language from the menu (by scrolling down) to change the display language.
RTC S ET
A N A L OG S E T
P A S S WO R D
> L A N GU A GE
GFK-2470A
7-11
View Point States

From the initial screen, use the SELect and Arrow keys to display the point states.
1 2 3 4 5 6 7 8 9 AB C
Down
Arrow
Down
Arrow
RUN
WE 0 9 : 2 4
A1 = 6
A2 = 1
A3 = 4
A4 = 1
.
.
.
.
8 3V
3 3V
8 7V
5 4V
Up
Arrow
Analog Input
Values
Up
Arrow
1 2 3 4 5 6 7 8 9 AB C
Down
Arrow
DEF
N Table States
Up
Arrow
1 2 3 4 5 6 7 8 9 AB C
Down
Arrow
DEF
M Table States
Up
Arrow
1 2 3 4 5 6 7 8 9 AB C
03 .10:04
Down
Arrow
RTC in Year, Month,

Date Format
Up
Arrow
1 2 3 4 5 6 7 8 9 AB C
RUN
7-12
WE 0 9 : 2 4
GFK-2470A
Expansion Inputs and Outputs

When viewing expansion inputs and outputs, in addition to showing the individual point states, the
display also shows the status of the expansion module.
Expansion
Input On/Off
States
= On
Point
Numbers
=Off
1 2 3 4 5 6 7 8 9 ABC
Expansion
Output On / Off
States
03 . 10 . 04
Real-Time Clock
Day, Date: Month
Expansion Module
Status
= On
=Not linked
= Not Set
GFK-2470A
7-13

From the initial screen, pressing the SEL button for three seconds displays any HMI screens that
have been created using the programming software. The content of these screens depends on the
application. Example HMI screens are shown below.
1 2 3 4 5 6 7 8 9 ABC
Press SEL
for 3
seconds
RUN
WE 0 9 : 2 4
ESC
H1
Display H1
Up
Arrow
Down
Arrow
T0 1=1 0 0 0
C12 = 0 0 4 0
C9 9 = 0 0 2 0
SEL
Up / Down
Arrow move
Cursor
Display H2. If target

value is displayed, it
can be modified.
ESC
>T0 1 = 1 0 0 0
C12 = 0 0 4 0
C9 9 = 0 0 2 0
T0 1=1 0 0 0
>C12 = 0 0 4 0
C9 9 = 0 0 2 0
OK
ESC
T0 1=1 0 0 0
C12 = 0 0 4 0
C9 9 = 0 0 2 0
Up / Down
Arrow
T0 1=1 0 0 0
C12 = 1 0 4 0
C9 9 = 0 0 2 0
OK
ESC
T0 1=1 0 0 0
>C12 = 1 0 4 0
C9 9 = 0 0 2 0
T0 1=1 0 0 0
>C12 = 0 0 4 0
C9 9 = 0 0 2 0
7-14
GFK-2470A
Change a Preset
If the HMI screens have been set up in the programming software to include changing Presets, they
can be modified using the controller keypad. The following example shows how to modify the Preset
Value of C1 in Run mode. In this example, the Preset Value 000010 of counter mode 7 is used as
the Current Value of T2.
1. In the HMI screen, press SEL.
T1=00 . 00Se c
T1=00 . 05Se c
C1=000010
000000
2. Press the Down arrow to move the cursor to the C1 Preset Value position.
T1=00 . 00Se c
T1=00 . 05Se c
C1=000010
000000
3. Press SEL three times. The Preset Value changes from 000000 to A1 to T1.
T1=00 . 00Se c
T1=00 . 05Se c
C 1 =T1
000000
4. Press the Up arrow.
T1=00 . 00Se c
T1=00 . 05Se c
C 1 =T2
000000
5. Press OK to save the setting.
GFK-2470A
7-15
Edit Logic on the Controller

Select FUN(ction) Block from the Main Menu to place the screen in Function Block mode.
There are three basic types of blocks that can be included in the application program:
Coils and Contacts: Inputs, Analog Inputs, Keypad Inputs, Outputs, M Markers, N Markers, High
and Low Status, Expansion Inputs, Expansion Outputs, HMI Instructions, Datalink Outputs, PWM
Outputs, Shift Outputs, and High-speed Pulse Inputs.
Logic Blocks: AND, AND (edge), NAND, NAND (Edge), OR, NOR, XOR, NOT, and Pulse.
Function Blocks: Timers, Counters, RTC, and Analog Compares.
Keypad Functions in Function Block Mode

Press

Description
Move the cursor
is Bxx, press to enter Bxx screen
Modify the code-(Q : 01-08 , Y : 01-0C , M ,N , H : 01- - - 0F , L : 0108 , P : 01 ,S : 01)

Modify output coil type- (QYMNHL PSQ )
OK
confirm the output coil (as Q,Y,M,N,)the cursor move to .

When is H,L,P,S, enter H,L,P,S setting screen (6)(7) (8)
ESC
7-16
Back to Main Menu
GFK-2470A
Editing Coils and Contacts
Input Terminal
Input
Keypad Input
Expansion Input
Output
Expansion Output
Auxiliary coil
Knob
HMI
PWM
SHIFT
I/O LINK
Logic /Function Block
Normal ON
Normal OFF
No Connection
GFK-2470A
I
Z
X
Q
Y
M
N
B
Hi
Lo
Nop
Output Coil
Q
Y
M
N
H
P
S
L
Range
I01-I0C(12)
Z01 Z04 (4)
X01-X0C(12)
Q01-Q08(8)
Y01-Y0C(12)
M01-M0F(15)
N01-N0F(15)
H01-H1F(31)
P01(1)
S01(1)
L01-L08(8)
B01-B99(99)
7-17
Coils and Contacts, Example
Original Screen
N O P
Step 1:
Press Left Arrow key
to move the cursor.
Step 2:
Press Up Arrow twice.
Press Up / Down
arrow to change
Q to M.
Q 0
Step 5:
Press OK to confirm
coil M09.
7-18
Q 0
Step 6:
Press Left Arrow to go
to B01.
Step 3:
Press Right Arrow to
select value.
Step 4:
Press Down Arrow six
times.
Press Up / Down
Arrow to modify
1 to 9.
N O P
B 0
GFK-2470A
Editing Logic Blocks

The basic format of a Logic block is shown below.
Move the cursor next output screen

If is Bxx, Press to enter Bxx Screen.
ESC
Back to Main Menu
Logic Block Editing Example

Step 1:
Press Left or Down

Arrow.
M 0
N O P
Step 2:
O R
Press Down Arrow once.
M 0
N O P
Step 3:
O R
Press Left Arrow.

Enter B02 screen
GFK-2470A
M 0
N O P
O R
7-19

There are four types of function blocks: Timers, Counters, Real Time Clock Comparator R, and
Analog Comparator G.
Move the cursor Output coil / Function block screen
OK
1.enter the parameter setting screen of the function block
ESC
1.Back to Main Menu
Function Block Editing Example

Step 1:
Press Down Arrow
twice.
Q 0
Step 2:
Press OK.
Enter Parameter
setting screen
2 :R
O N
S
F
B 0
O F
7-20
D D
T U
GFK-2470A
Editing Parameters
Select PARAMETER from the main menu to edit parameters.
display the previous / next Function Block Parameter
move the cursor

move the cursor from to
move the cursor from to

SEL then

OK
ESC
modify the setting value (000000-999999)

modify the time unit(0.01s0.1s1s1min)
Save the modified data after press SEL
Cancel the modified data after press SEL
Return to Main Menu.
GFK-2470A
7-21
Parameter Editing Example

Take timer (mode 1) as an example: Analog input A4 is set as Preset Value. Time units are seconds.
Step 1:
Press Up/ Down

Arrow to move the
cursor to default
location.
Step 2:
0 11
0 11
0 11
01 1
Press SEL twice.
Step 3:
Press Up Arrow
three times to
change to A2 to A4
in turn.
Step 4:
Press OK to save the

data.
7-22
GFK-2470A
Setting Preset Values

In FBD mode, when you choose A01A08/AT01AT04/AQ01AQ04, a dialog box will pop up to help
you find the corresponding DR register.
In FBD mode, a tool tip will appear, as the following picture shows:
GFK-2470A
7-23
Chapter Software Operation in Block Diagram Mode
The programming software has two separate programming modes: Ladder Logic and Function
Block Diagram. After the Ladder Logic or Function Block Diagram mode is selected on the
software startup screen, all software operations continue in that mode.
This chapter explains how use the programming software for programming, simulation, and
emulation in Function Block Diagram mode. Similar instructions for using Ladder Logic mode
are in chapter 6.
Using the Block Diagram Programming Software
File Menu Functions
Edit Menu Functions
View Menu Functions
Using Simulation Mode
Using Monitor Mode
Programming in Block Diagram Mode
Program Editing
Program Elements
Programming Steps
GFK-2470A
8-1
Using the Block Diagram Programming Software

The main Block Diagram toolbar functions are shown below. Functions that are not currently
accessible are grayed out on the software screen. Functions can also be selected using the
pulldown menus as described on the following pages.
Create new FBD file
Open existing program file
Close the current file
Save the current program file
Print a program
Print Preview
Select COM port
Monitor mode
Simulation mode
Run mode
Stop Simulation
Stop Monitoring
Read program from controller
Write program to controller
Display version
Choose Display mode

Zoom controls
Right align selected components
Left align selected components
Down align selected components
Up align selected components
Auto-align all components
Redo
Undo
Paste
Copy
Cut
Find
Display all component parameters
Mark components
Set HMI text
Switch display to FBD
Switch display to keypad
8-2
GFK-2470A
File Menu Functions

Select File or use the appropriate buttons to access the file functions:
New
Create a new file. Select a controller model in the dialog box to create a new
FBD program.
Open
Select an existing program file to open.
Close
Close a program file. A file cannot be closed during Emulation mode or

Supervising mode.
GFK-2470A
Chapter 8 Software Operation in Block Diagram Mode
8-3
Edit Menu Functions

Select Edit or use the appropriate buttons to access the Edit Functions:
Select Model:
Select the controller type to program or edit.
KeyPad:
Switch to the keypad method to create or edit a program. This places the
software into keypad mode.
In Keypad mode, all the component tools are idle and the Function Block
Diagram functions are disabled. The program edited under FBD mode can be
browsed and edited.
8-4
GFK-2470A
In Keypad mode, the software displays the following controller screens.

Operation
Display
Go to the Emulation mode home screen to

select Emulation mode
Press ESC to display the Main Menu.
Press OK to display the program
Press the left key twice to view the

program
To view parameters, press left arrow and

down arrow. The cursor stops at P. Press
OK
To change parameters, press 'SEL' key,

the cursor changes to __
To change the units (seconds).
GFK-2470A
8-5
8
FBD:
Switch to the FBD mode. After switching back to Function Block Diagram mode,
the software will query whether the components should be aligned again.
Choosing Yes returns the diagram to the default alignment:
Choosing No aligns the components in the upper left corner of the FBD screen.
Find:
8-6
Locate a label or symbol in the program.
GFK-2470A
HMI/Text:
Use this function to program or edit the HMI, display custom messages,
change the Timer/Counter/RTC/Analog Preset Value and set instruction M to
On/Off in Run Mode.
The Text Block to edit: H01 H1F
Component Function Block that can be

added to program
LCD Text Display
Parameters of the selected components

Units or no units
Authorizes display of text messages

when operator presses SEL for three
seconds
Edit Analog Gain and Offset

Add telephone number
If selected, controller will display the

entered Mobile Number and
message
Edit the HMI / Text

Delete the edited content.
Sets up display language

Cancel the HMI / Text edit
Available characters
Edit Chinese
In the parameters window, select the Units item to include units. When Units are selected, the
Preset Value and Current Value can be entered. When Units are not selected, only the current
information appears.
Select Mobile message to display the message that is associated with the HMI / Text item.
The first line displays the phone number and the other lines display the message text:
1 3 00 5 1 0 0 1 0 1
ME S S A G E
CO N T E N T
GFK-2470A
8-7
Analog Display Set

Set the Gain and Offset for individual analog inputs on this screen:
Analog Gain
(0 to 999)
Symbol:
Analog Offset
(-50 to +50)
The Symbol setting window appears when selected from the Edit menu, or
with the toolbar icon. Double click in the Symbol fields to enter text or other
identifying information for each program component. Click OK to save.
8-8
GFK-2470A
Parameters List: To display and modify all the parameters of the components under FBD
mode. Double click the component in the list to modify the parameters.
GFK-2470A
8-9

Run:
Put the controller in Run mode. If the software is linked to the controller, the
software is in supervision mode. If the software is not linked to the controller,
the software is in Simulation mode.
Stop:
Put the controller in Stop mode. If the software is linked to the controller, the
controller is set to Stop mode and the software goes to program edit mode.
Quit:
Stop the application program. If the program is currently either simulating or

supervising the controller, the control program is stopped but the operating
mode of the controller is not changed.
Read:
Read the program from the controller. This can only be done in FBD mode.
Write:
Write the program from the computer to the controller. The controller must be
stopped.
Module System Setting:
When linked with the controller, the ID value and Remote I/O,
Expand I/O, M Keep, C Keep, Back Light mode, and Z input setting can be
read or set.
Remote I/O: Sets the controller mode in
multidrop operation.
Controller ID
Sets the controller ID
in a multidrop serial
network.
No Expansion I/O: Controller does not

control slaves but Data Link function is
available
Expansion I/O System: Module is a
controller (master) or a slave
M Keep: If set, M values and Timers E and
F (14, 15) are retained if power is lost.
Number of Analog
Expansion modules
Alarming active for

Expansion modules
C Keep: If set, Counters in modes 3, 4, and

5 are retained if power is lost.
Back Light: If set, display is always lit.
Otherwise, it only lights when controller keys
are pressed.
Z Set: If set, Z inputs are valid.
8-10
GFK-2470A
RTC Set:
When linked with the controller, the Real-time Clock value can be set. If not
linked with the controller, the computer will display its own clock value.
Day of the Week

Hour (0 to 23)
Minute (0 to 59)
Year (0 to 99)
Month (1 to 12)
Day of the Month (1 to 31)
Password:
In Password mode, the correct password is required to enter program edit

mode, or to use the ESC button to exit the Home page in Run Mode.
When the software is linked with the controller, the password can be set or
changed. The numbers 0000 and FFFF both select No Password mode. Any
other number from A000 to FFFE becomes the password. If the password is
forgotten, the only way to recover is using Clear Program, which also clears
the password.
Set Password
Change Password
GFK-2470A
8-11
8
Language:
Select the controller language when linked to the controller.
Link Com Port:
Selecting COM: Sets the computer serial port address to link with the
controllers (COM1-COM8).
Mode: Selects whether to link to one controller or to multiple units.
8-12
GFK-2470A
View Menu Functions

Input Status Tool:
Display/hide the input and output state tool. The tool is only available in
the FBD edit window.
Data Link Status Tool:
Display/hide Data Link state tool. The tool is only available in

the window containing 'Data Link' Function.
High Speed Input Tool:
Display/hide High Speed Input Tool in the Keypad Edit window.

Can be used by the controller in Simulation Mode to simulate
the High Speed 1K Hz Input I1 and I2 for Counter function type
7 and 8. When Input I1/I2 status Off to On, the current count
value is added to the I1/I2 Input Value.
GFK-2470A
8-13
8
Simulation Analog Tool: Display/hide Analog Simulation Tool in the Analog Compare
window. The controller can use the analog inputs as discrete inputs. On >=
9.80V, Off <= 4.90V
If A1 >= 9.80V Input I9 is On, if A1 <= 4.90V Input I9 is Off,
if A2 >= 9.80V Input IA is On, if A2 <= 4.90V Input IA is Off,
if A3 >= 9.80V Input IB is On, if A3 <= 4.90V Input IB is Off,
if A4 >= 9.80V Input IC is On, if A4 <= 4.90V Input IC is Off.
Expansion Analog Tool: Like the Analog Simulation tool, described above. Can be used by
the controller in Simulation Mode.
8-14
GFK-2470A
Text Editing
For Function Block Diagram, the LCD display text can be edited as described for the following
example:
Editing data for text component H01(LCD display). When the controller is in Run mode, the
actual states or values are displayed.
Editing Data for
Text Component H01,
(Counter in mode 8)
C1=10 . 00
C1=###
#C1
C1=10 . 00
C 1 = OF F
OF F
Controller LCD Display

for Component H01
Editing Data for

Text Component H02
T2=10 . 00Se c
T2=## . ##Se c
# T 1 # # ..
..
T2=10 . 00Se c
T 2 =0 0 . 0 0 S e c
00 .00

for Component H02
Editing Data for

Text Component H03
I 1=# ##
#I1
M1 = # # #
# M1
I 1 = OF F
OF F
M1 = O F F
OF F

for Component H03
GFK-2470A
8-15
Using Simulation Mode

When the software is not connected to the controller, click the Simulation mode button to put
the software in Simulation mode. In this mode, the software can run through and check the
operation of an application program. An example FBD program is shown below.
8-16
GFK-2470A
Simulator: Simulates the operation of the controller.

This example shows an analog interface in FBD mode. In the example, the counter I01
simulates the operation of the High-speed input. The Input Status tool shows the states of I, Q,
X , Y, M and N in the circuit diagram. The states of I and X (inputs and expansion inputs) are
directly controlled.
Function Block Diagram components that are On are highlighted in green.

Controller Simulation Interface
Analog Inputs that are
On are shown in red
Analog inputs for

voltage comparison.
Use the cursor (mouse
icon)to move the cursor
on the display, and use
the and + keys to
change the digit value at
the cursor location.
Analog Outputs that are

On are shown in red
Expansion Analog Inputs
that are On are shown in red
GFK-2470A
Expansion Analog
Outputs that are On are
shown in red
8-17
Changing the State of a Component

In Simulation mode, the states of the components can be changed by clicking on them.
Clicking the corresponding button on the 'Input Status Tool' panel will also change the state.
To change the parameters of high-speed input components, left-click on the component to

display this dialog box:
Changing Function Block Parameters

In Simulation mode, the parameters of a Function Block are displayed in real time. To change
a Preset value, double click on the component.
8-18
GFK-2470A
Simulating a Data Link Function

If the program has Data Link component, its function can be simulated on the Data Link tool
panel. The program cannot be edited during Simulation mode; press ESC or click on the Stop
button.
When you switch the mode to Keypad interface, the FBD program is available under Keypad.
The Simulation screen is shown below:
On this screen you can:

(1) Click Inputs to change their status.
(2) Click External Inputs to change their status.
(3) Display External Output states
(4) Display Output states.
(5) Click the buttons on the analog modules to change analog values.
GFK-2470A
8-19
Using Monitor Mode

Monitor mode can be used to check system operation while the software is connected to the
controller.
States cannot be modified in this mode.

To exit Monitor mode, use the stop or exit command or click on the Stop Monitoring button.
In Keypad mode, the screen is similar to the one in Simulation mode. The program cannot be
modified, but parameters can be changed. In FBD mode, the display shows the diagram and
Input Status Tool:
Components that are On are shown in red. The Input Status Tool window displays the status
of I, Q, X, Y, M, N points in the controller.
8-20
GFK-2470A
In Emulation mode, the display shows the system components:

States of the
Controller inputs
States of the
Controller
Analog inputs
States of the
Controller outputs
States of the
Expansion inputs
GFK-2470A
States of the
Expansion outputs
8-21
Programming in Block Diagram Mode

Select
Connect
Components
Logic
Functions
Cut
Delete
Comment
Timer
Counter
Real Time Clock
Analog
Set / Reset
Pulse
NOT
XOR
Not OR
OR
Not AND (Edge)
Not AND
AND (Edge)
AND
Shift
Data Link
PWM
HMI / Text
External Output
External Input
Low Status
High Status
N Marker
Marker
Output
Z Input
High Speed Input
V Input
Analog Input
Input
8-22
GFK-2470A
Program Editing
In the Function Block display area, add program components and set up logical connections.
Add comments wherever they are needed.
Select program components from the toolbar and click in the display area to add a component
to the program. The components parameters are displayed as the mouse stops on the
component.
GFK-2470A
8-23
Program Elements
(1) Function Name
(2) Connector
(3) Parameters
(4) Input
(5) Output
(6) Number
(7) Parameter Output
(8) Parameter Input
For all models, the maximum number of logic blocks and function blocks is 99. Blocks are
numbered as they are added to the program.
Timer mode 7 uses two timers.
The maximum number of Counters in mode 7 and mode 8 that can be used in a program
is two (two mode 7 counters, or two mode 8 counters, or one of each).
The input pin cannot be connected with the output of the same component.
Any input pin only can be connected to an input state.
The output pins can connect with more than one input pin except in the case of high speed
input components.
The output pin on a high speed component can only connect with high speed input pins on
counter mode 7 and 8. Once connected, the output cannot be connected with the other
input pins.
8-24
Blocks cannot be linked in a closed loop.
GFK-2470A
Programming Steps
Select program functions from the toolbar and click in the program window to place the
component in the program.
The software assigns each block a number. For example, the first input (x) component is
marked X01. Click the mouse again to add X02.
Block Diagram Contacts and Coils

In Block Diagram mode, the following Contacts and Coils can be created. After entering a
Contact or Coil in the Block Diagram window, double-click on the block to edit its parameters.
Input
Analog Input
GFK-2470A
8-25
8
V Input: Analog input with a
value equal to (analog input x
gain) = offset
Keypad Input
Output
Marker: Auxiliary Marker
N Marker
High Status
8-26
GFK-2470A
Low Status input
Expansion Input
Expansion Output
HMI Instruction
DataLink Output
GFK-2470A
8-27
8
PWM Output
Shift Output
High Speed Input: high speed

pulse input
8-28
GFK-2470A
Block Diagram Basic Logic Blocks

To insert a logic block, clock on its icon in the toolbar:
The software adds the selected logic block in the program window, and assigns its number.
Clicking on the block opens a box that shows the name of the Logic Block. A Symbol
(descriptive name) can be entered for each block.
See chapter 4 for descriptions of the basic logic blocks.

AND
NAND (Edge)
XOR
AND (Edge)
OR
NOT
NAND
NOR
Pulse
GFK-2470A
8-29
8
Block Diagram Function Blocks
Select the function block from the toolbar.
Click in the program window to add it to the program. Each Block that is added to the program
is numbered (for example, the first Block is B01. Each block has a box where parameters can
be specified. A Symbol (descriptive name) can be entered for each block. See chapter 3 for
detailed explanations of the Function Block types and parameters.
Timer
Counter
8-30
GFK-2470A
Real-time Clock
Analog Compare
If you double-click a Function Block, you can modify its setting and symbol. When not in
simulation or monitoring, you can change the functions mode number. Changing the mode of
a function will sometimes change its pins. If the pins have been linked, the editing rules are:
1. Same number of pins or more: retains the original links, the added pin has no link.
2. Fewer pins: deletes the link as the pin is cut.
3. If the current link is illegal when changing the mode, the illegal link is deleted.
GFK-2470A
8-31
Adding Comments
Select 'Comment' and click the mouse at any position. Use the Set Comment window to enter
comments:
Selecting Components, Links, and Comments

Program components, links and components can be selected by:
1.
Clicking the left mouse key an individual item.
2.
Pressing 'Ctrl' and clicking to select multiple items.
3.
Dragging the mouse while pressing the left mouse button to draw a selection box.
4.
Edit-->Select all to select all components, links and comments.
Moving Components, Links, and Comments

Use the mouse to drag selected components to a different position.
Links can be moved only when the link and the corresponding components are selected
together. If only components are selected, links between them are adjusted automatically.
8-32
GFK-2470A
Adding Lines
Click the connection icon in the toolbar, then use the mouse to select the pins to be
connected.
Click
Drag
Click
An input pin must be connected to an output pin.
Any output pin, except the output of High Speed Input components, can connect to more
than one input pin.
The output pin of a High Speed Input component can only be connected to the Cnt input of
a mode 7 or mode 8 Counter, and vice-versa.
The output pins of an Analog Input can connect with the Ax or Ay pin of Analog Compare
functions, and vice-versa.
Deleting Components, Links, and Comments

Selected items can be deleted using the keyboard Delete key, or with Edit-->Delete.
Splitting Lines
Click the Scissor icon in the toolbar to unlink two components. Then click on the link line to be
cut. The link will disconnect to two parts. The cut place shows the original link data.
Before cut
After cut
Recover
Click the left key--> under

Split status
Click 1.2.3.4 with the left key-->
Recover
GFK-2470A
8-33
Changing a Connection
1. Select the link.
2. Move the mouse to the pin to be changed. Press the left mouse key to move.
3. Stop at the target pin.
Adjusting Lines
1. Select the link.
2. Use the mouse to drag the red corners of the link to the new position.
Before dragging
8-34
After dragging
GFK-2470A
Cut, Copy, Paste

The Cut and Copy commands place the selected items on the clipboard. The contents of the
clipboard can be pasted back into the program. The default position for pasted items is below
and to the right of the original location. To paste the contents of the clipboard in a different
position in the program, use the right mouse key to begin the paste operation then click on the
paste position. If a link is selected with the components before it and after it, it can be pasted.
A broken link can only be pasted if all its elements (1, 2, 3, and 4 below, were selected).
Alignment
Automatic: the default alignment.
Up:
Aligns the selected components (shown with handles) upward to

the level of the top component. For example:
The selected three components are aligned up:
GFK-2470A
8-35
8
Down: Aligns the selected components downward to the level of the lowest
selected component. For example:
The selected three components are aligned down:
Left:
Aligns the selected components with the leftmost selected

component. See below.
Right: Aligns the selected components with the rightmost selected

component. For example:
Original Diagram
8-36
Selected Components
Left-Aligned
Selected
Components
Right-Aligned
GFK-2470A
Chapter MODBUS Communications
This chapter describes the MODBUS features available in a Durus controller system.
Controllers that have a RS-485 two-wire serial port provide built-in MODBUS slave
communications capability.
MODBUS slave communications can be implemented on other DURUS controllers by adding a
MODBUS RTU Slave Communications Expansion Module, 24VDC (IC210EMS001).
MODBUS Communications Overview

-
Unicast or Broadcast Messages
Messages and Responses
MODBUS Message Format
MODBUS Operation
MODBUS Commands
Register Addresses for MODBUS Communications
MODBUS Slave Operation with Built-in RS-485 Port
IC210EMS001 MODBUS Slave Communications Module
Examples
GFK-2470A
9-1
MODBUS Communications Overview

This section is a quick reference to MODBUS communications. For details on implementing
MODBUS communications for DURUS, refer to the section that applies to the specific module.
On a MODBUS serial line, the Master operates as the client and the slaves operate as
servers. The Master issues explicit commands to one of the slaves and processes responses.
Slaves do not typically transmit data without a request from the master, and they do not
communicate with other slaves.
The MODBUS Master does not have a specific address on the bus; only slaves have
addresses.
A MODBUS network has one master device and one or more (up to 247) slave devices. A
serial network interconnects these devices. If there is only one slave, a point-to-point
connection is used. A multidrop connection is needed for two or more slaves.
Unicast or Broadcast Messages

The master can issue requests in two modes:
Unicast: the master sends a message to a single slave by specifying its unique address (1
247) on the serial bus. After receiving and processing the request, the slave returns a reply
message to the master. In unicast mode, a MODBUS transaction consists of two messages: a
request from the master and a reply from the slave.
Broadcast: the master sends a message to all slaves by specifying the broadcast address 0.
Broadcast requests are always write messages. Slaves do not respond to a broadcast
message.
Messages and Responses

MODBUS is a query-response protocol. The MODBUS Master sends a query to a MODBUS
Slave, which responds. A slave cannot send a query; it can only respond.
After powerup, the Master goes into idle mode. The Master can only send messages while it is
in idle mode. After sending a request, the Master waits for a reply. A Response timeout starts.
If no reply is received within this time, an error is generated and the Master goes back to the
idle state. The response timeout must be set long enough for any slave to process the request
and return the response.
The query/response transaction completes when the master receives a valid response. After
receiving a reply from the slave, the Master checks the reply.
9-2
GFK-2470A
9
Normal Response
After the slave performs the function requested by the query, it sends back a normal response
for that function. This indicates that the request was successful.
Error Response
If the slave receives a query, but for some reason it cannot perform the requested function, it
sends back an error response to the master, indicating the reason the request could not be
processed. For certain types of errors, no error message is sent.
Broadcast Messages
The MODBUS master sends a broadcast message addressed to all slaves by using address 0.
Slaves do not respond to broadcast messages. However, the Master expects a delay so that
the slaves can process the request. This delay is called the Turnaround Delay. The master
goes into a Waiting Turnaround Delay state.
The Turnaround Delay must be long enough for any slave to be able to process the request
and receive a new one. Therefore, the Turnaround Delay should be shorter than the Response
Timeout. Typically, the response timeout is 1s to several seconds at 9800 bps and the
turnaround delay is 100ms to 200ms.
All slaves that receive the broadcast message perform the requested function. When a
broadcast message is sent to all slaves, they do not send responses. Instead of waiting for a
response, the master instead waits a specified length of time for the slaves to process the
request, before the master sends another message.
Master
Broadcast Message
Slave Turnaround Time
Slaves
GFK-2470A
Chapter 9 MODBUS Communications
(No Response)
9-3
MODBUS Message Format

Each MODBUS serial message consists of a sequence of message fields: a Device Address,
a Function Code, optional Data fields and an error check field. The diagram below shows the
basic format of a MODBUS message frame.
MODBUS Frame
Device
Address
Data
(optional)
Function
Code
Error
Check
The Device Address field identifies the slave that will receive the data transfer.
The Function Code field is a predefined number that identifies the MODBUS query type.
A 16-bit error check (Cyclic Redundancy Check) is included as the final field of each MODBUS
query and response to ensure accurate transmission of data. This error check is applied to the
entire message frame, as shown above. It is independent of any parity checking that is done, if
configured, on the individual characters within the message.
MODBUS Operation
RTU Mode Requests
The MODBUS Master sends a request to a slave, and the slave then sends a response. The
format of the request is shown below. The data length depends on the command.
Slave Address
1byte
Function Code
Function Code
Data
N bytes
CRC16 Check
2 bytes
Signal Interval
Signal Interval.
An interval of 10ms should be maintained
between command signal and request.
SLAVE Addresses for MODBUS RTU

The MODBUS Master can direct queries to up to 99 slaves, or broadcast queries to all slaves.
Examples:
9-4
00H:
Broadcast request to all slaves
01H:
direct request to slave 1
0FH:
10H:
63H:
direct request to slave 99 (maximum)
GFK-2470A
9
Supported MODBUS Function Codes
Durus controllers support the following MODBUS function codes:
01H : Read Coils Status
03H : Read register data
05H : Write single coil
06H : Write a word to register memory
08H : Loopback check
10H : Write register data.
CMS (Checksum and time-out definition)

CRC CHECK:
CRC check code is from Slave Address to end of the data. The calculation method is:
(1) Load a 16-bit register with FFFF hex (all 1s). Call this the CRC register.
(2) Perform an Exclusive OR on the first 8-bit byte of the message with the low-order byte
of the 16-bit CRC register, putting the result in the CRC register.
(3) Shift the CRC register one bit to the right (toward the LSB), Zero-filling the MSB. Extract
and examine the LSB.
(4) (If the LSB was 0): Repeat Steps (3) (another shift).
(If the LSB was 1): Exclusive OR the CRC register with the polynomial value A001 hex
(1010 0000 0000 0001).
(5) Repeat Steps (3) and (4) until eight shifts have been performed. When this is done, a
complete 8-bit byte will have been processed.
(6) Repeat Steps (2) through (5) for next 8-bit byte of the message, Continue doing this
until all bytes have been processed. The final content of the CRC register is the CRC
value.
(7) Placing the CRC into the message:
When the 16-bit CRC (two 8-bit bytes) is transmitted in the message, the low-order byte
will be transmitted first, followed by the high-order byte. For example, if the CRC value
is 1241 hex, the CRC-16 is (Low) put 41h, if the CRC-16 is (High) put12h.
GFK-2470A
9-5
9
Application Logic to Perform a CRC Check
UWORD ch_sum ( UBYTE long , UBYTE *rxdbuff ) {
BYTE i = 0;
UWORD wkg = 0xFFFF;
while ( long-- ) {
wkg ^= rxdbuff++;
for ( i = 0 ; i < 8; i++ ) {
if ( wkg & 0x0001 ) {
wkg = ( wkg >> 1 ) ^ 0xa001;
}
else {
wkg = wkg >> 1;
}
}
}
return( wkg );
}
TIME-OUT& RETRY
PC-LINK
PC-LINK
500ms
500ms
PC-LINK
If the Durus controller times out or detects a checksum error, PC-LINK retries a maximum of
two times. After two retries, if the error still exists, a Communication error is reported. The
default value of time-out is 500ms. When writing a function blocks preset value, the timeout
value is 1000ms.
When the MODBUS Communications Module responds with an error, wait before resetting
(MODBUS transfer 64 bytes data time); if baud rate is 4800bps, the time is 147ms; if baud rate
is 9600bps, the time is 73ms; if baud rate is 19200bps, the time is 37ms; if the baud rate is
38400bps, the time is 18ms; if baud rate is 57600bps, the time is 12ms.
9-6
GFK-2470A
9
MODBUS Commands
Read Coils, Command 01
The MODBUS master can issue MODBUS RTU command 01 to read the value of one or more
coils in the slave Durus controller. Up to 960 contiguous states of coils in a remote device can
be read.
Master Command
Normal Slave Response
Error Slave Response
Slave Address
01H
Address
01H
Address
01H
Function Code
01H
Function Code
01H
Function Code
81H
*Register
Address
High
05H
Byte Count
02H
Exception Code
51H
Low
40H
Outputs status M8-1
45H
CRC-16
Low
81H
Number of
Coils
High
00H
Outputs status MF-9
34H
High
ACH
Low
10H
CRC-16
Low
3AH
CRC-16
Low
3CH
High
BBH
High
DEH
Read Registers, Command 03

The MODBUS master can issue MODBUS RTU command 03 to read the value of one to
approximately 61 contiguous registers in the slave Durus controller.
Note: Some DURUS memory areas, for example the Current Values Registers, are not
contiguous. A block read that crosses the separated memory areas will result in the
MODBUS masters request being rejected with a MODBUS Exception response.
Master Command
Slave Address
01H
Slave Address
01H
Slave Address
01H
Function Code
03H
Function Code
03H
Function Code
83H
00H
Exception Code
52H
CRC-16
Low
C0H
High
CDH
*Register
Address
High
00H
Data (byte)
Low
00H
Send the data
Data Length
High
00H
CRC-16
Low
13H
Low
04H
High
07H
CRC-16
GFK-2470A
Low
High
9-7
Write Single Coil, Command 05

The MODBUS master can issue MODBUS RTU command 05 to write the value of one coil in
the slave Durus controller.
A value of 0xFF00 requests the coil to be ON.
A value of 0x0000 requests the coil to be OFF.
Master Command
Slave Address
01H
Slave Address
01H
Slave Address
01H
Function Code
05H
Function Code
05H
Function Code
85H
High
05H
Coil Address
High
05H
Exception Code
52H
Low
02H
Low
02H
CRC-16
Low
C3H
High
FFH
High
FFH
High
6DH
Low
00H
Low
00H
Low
2DH
Low
2DH
High
36H
High
36H
Coil Address
Coil Value
CRC-16
Coil Value
CRC-16
Preset Single Register, Command 06

The MODBUS master can issue MODBUS RTU command 06 to write a value to one register
in the slave Durus controller.
Master Command
Slave Address
01H
Slave Address
01H
Slave Address
01H
Function Code
06H
Function Code
06H
Function Code
86H
High
01H
Exception Code
52H
Low
02H
CRC-16
Low
C3H
High
17H
High
9DH
Low
70H
Low
27H
High
E2H
*Register
Address
High
01H
Low
02H
*Register
Address
Write Data
High
17H
Write Data
Low
70H
Low
27H
High
E2H
CRC-16
9-8
CRC-16
GFK-2470A
Loopback Check Diagnostic, Command 08

The MODBUS master can issue MODBUS RTU command 08 to test the slave Durus
controllers ability to communicate. The content of the Data word is not meaningful.
Master Command
Slave Address
01H
Slave Address
01H
Slave Address
01H
Function Code
08H
Function Code
08H
Function Code
88H
High
00H
Check Code
High
00H
Exception Code
51H
Low
00H
Low
00H
CRC-16
Low
87H
High
A5H
High
A5H
High
FCH
Low
37H
Low
37H
Low
DAH
Low
DAH
High
8DH
High
8DH
Check Code
Data
CRC-16
Data
CRC-16
Write Registers, Command 10H

The MODBUS master can issue MODBUS RTU command 10 to write a group of 1 to
approximately 59 contiguous registers in the slave Durus controller.
Note: Some DURUS memory areas are not contiguous. A block read that crosses the
separated memory areas will result in the MODBUS masters request being rejected
with a MODBUS Exception response.
Master Command
Address
01H
Slave Address
01H
Slave Address
01H
Function Code
10H
Function Code
10H
Function Code
90H
High
00H
Exception Code
52H
Low
00H
CRC-16
Low
ACH
High
00H
High
3DH
Low
13H
High
81H
Low
C4H
*Register
Address
High
00H
Low
00H
*Register
Address
Data Length
High
00H
Data Length
Low
13H
Byte Counters
26H
Data Content
CRC-16
CRC-16
Low
High
GFK-2470A
9-9
Exception Codes
If an error occurs, the controller returns an Exception Code (see below) and an error Function
Code to the master. The error Function Code is the sum of the command Function Code
plus 80H.
Exception Code (hex)
Description
51
Frame error (Function Code error, Register Encoding error, Data

Quantity Error)
52
Run mode and command disable
53
Secret mode and command disable
54
Data value over range
55
Reserved
56
Reserved
57
Other Durus slave error
58
Commands do not match Durus edit mode
59
Reserved
20
08H diagnostics function has returned an error
Register Addresses for MODBUS Communications

This section shows register address and bit assignments in the DURUS controller that can be
read or written by the MODBUS Master.
Note: The following tables use the MODBUS addressing convention, which is 0-based.
However, some MODBUS masters are 1-based, requiring I/O addresses configured for
access from the master to be configured as 1 + the address shown.
9-10
GFK-2470A
Coil Status Addresses (00xxH)

The MODBUS Master can access addresses 0000H through 000FH below using the
read/write MODBUS command numbers 03, 06, and 10. Each register address has a length
of 1 in the commands, although some registers do not use all 16 available bits. Addresses
0D10H through 0D16H contain function block data, and can be accessed only by
command 03.
Notes: Z registers cannot be written.
R10, G10, T10, C10, M10, N10, H10 and P02 can be used only on DURUS controllers
with release 3 firmware or later.
Register
Address
Bit Offset in the Register

15
14
13
12
11
10
Applicable for DURUS Controllers and Expansion Modules

0000H
R10
RF
RE
RD
RC
RB
RA
R9
R8
R7
R6
R5
R4
R3
R2
R1
0001H
G10
GF
GE
GD
GC
GB
GA
G9
G8
G7
G6
G5
G4
G3
G2
G1
0002H
T10
TF
TE
TD
TC
TB
TA
T9
T8
T7
T6
T5
T4
T3
T2
T1
0003H
C10
CF
CE
CD
CC
CB
CA
C9
C8
C7
C6
C5
C4
C3
C2
C1
0004H
M10 MF
ME
MD
MC
MB
MA
M9
M8
M7
M6
M5
M4
M3
M2
M1
0005H
Z4
Z3
Z2
Z1
IC
IB
IA
I9
I8
I7
I6
I5
I4
I3
I2
I1
0006H
XC
XB
XA
X9
X8
X7
X6
X5
X4
X3
X2
X1
0007H
Q8
Q7
Q6
Q5
Q4
Q3
Q2
Q1
0008H
YC
YB
YA
Y9
Y8
Y7
Y6
Y5
Y4
Y3
Y2
Y1
0009H
N10
NF
NE
ND
NC
NB
NA
N9
N8
N7
N6
N5
N4
N3
N2
N1
Applicable for DURUS Controllers Only

000AH
H10
HF
HE
HD
HC
HB
HA
H9
H8
H7
H6
H5
H4
H3
H2
H1
000BH
W16 W15 W14 W13 W12 W11 W10
W9
W8
W7
W6
W5
W4
W3
W2
W1
000CH
W32 W31 W30 W29 W28 W27 W26 W25 W24 W23 W22 W21 W20 W19 W18 W17
000DH
000EH
000FH
P2
P1
L8
L7
L6
L5
L4
L3
L2
L1
0010H
B16
B15
B14
B13
B12
B11
B10
B9
B8
B7
B6
B5
B4
B3
B2
B1
0011H
B32
B31
B30
B29
B28
B27
B26
B25
B24
B23
B22
B21
B20
B19
B18
B17
0012H
B48
B47
B46
B45
B44
B43
B42
B41
B40
B39
B38
B37
B36
B35
B34
B33
0013H
B64
B63
B62
B61
B60
B59
B58
B57
B56
B55
B54
B53
B52
B51
B50
B49
0014H
B80
B79
B78
B77
B76
B75
B74
B73
B72
B71
B70
B69
B68
B67
B66
B65
0015H
B96
B95
B84
B93
B92
B91
B90
B89
B88
B87
B86
B85
B84
B83
B82
B81
0016H
B99
B98
B97
GFK-2470A
9-11
9
Control Register Addresses (01xxH)
The master can read or write controller status or configuration data in the registers listed
below. Each register address has a length of 1 in the commands.
Register
Address
15
14
13
12
11

10
9
8
7
6
5

0100H
Register 0100H is accessible using MODBUS commands 03, 06, and 10.
Bit 0 = Controller operating mode: 0 = Stop Mode. 1 = Run Mode
Bits 1 15 not used.
0101H
(read
only)
Register 0101H is accessible using

command 03 only.
0102H
A
Z
I1
I0
Language
MODBUS commands 03, 06, and 10.
A = Alarm at Expansion I/O Number:
0 = alarm; 1 = no alarm
Z = Z set: 0 = disable; 1 = enable
I1, I0 = Expansion I/O Number: 0 to 3
Language:
1 = English
2 = French
3 = Spanish
4 = Italian
5 = German
6 = Portuguese
7 = Chinese
P
command 03 only.
P = Password Protection
0 = Password off
1 = Password on
0103H
(read
only)
9-12
Model Type (Voltage Models)

30 = IC210MDR024
34 = IC210MDD024
70 = IC210MDR124
74 = IC210MDD124
S1 S2 B
D1 D0
S1 = M coil state at power down:
0 = retain; 1 = dont retain
S2 = Counter value at power down:
B = Backlight On or Off:
0 = Auto on/off; 1 = always on
D1, D0 = Communications mode
0 = data link
1 = remote I/O master
2 = remote I/O slave
Error
Error: 0 = No error
1 = ROM error
2 = RAM error
3 = EEPROM error
4 = Program error
5 = Watchdog error
6 = Expansion error
7 = Communications error
GFK-2470A
9
Register
Address

15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
Registers 0104 through 010B are used for analog configuration. They can be read using
command 03 or written using command 10.
Gain has a range of 0 to 999. Offset has a range of -50 to~50 (complement)
0104H
Analog 1 Gain: High
Analog 1 Gain: Low
0105H
Analog 1 Offset
0106H
Analog 2 Gain: High
Analog 2 Gain: Low
0107H
Analog 2 Offset
0108H
Analog 3 Gain: High
Analog 3 Gain: Low
0109H
Analog 3 Offset
010AH
Analog 4 Gain: High
Analog 4 Gain: Low
010BH
Analog 4 Offset
The least significant bit of register 0110 can be written to clear code using MODBUS command
06 or 10.
0110H
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
Registers 120H through 012BH can be accessed using MODBUS commands 03 and 10.
0120H
Analog 1 Gain: High
Analog 1 Gain: Low
0121H
Analog 1 Offset
0122H
Analog 2 Gain: High
Analog 2 Gain: Low
0123H
Analog 2 Offset
0124H
Analog 3 Gain: High
Analog 3 Gain: Low
0125H
Analog 3 Offset
0126H
Analog 4 Gain: High
Analog 4 Gain: Low
0127H
Analog 4 Offset
0128H
Analog 1 Gain: High
Analog 1 Gain: Low
0129H
Analog 5 Offset
012AH
Analog 2 Gain: High
Analog 2 Gain: Low
012BH
Analog 6 Offset
012CH
Analog 3 Gain: High
Analog 3 Gain: Low
012DH
Analog 7 Offset
012EH
Analog 4 Gain: High
Analog 4 Gain: Low
012FH
Analog 8 Offset
GFK-2470A
9-13
Current Values Registers (02xxH)

The master can use MODBUS command 03 to read current function values in the registers
listed below. For the Real-Time Clock current values (0220H 022AH) only, MODBUS
command 10 can also be used to write clock data.
Register
Address
Length
Description

0200H
1
Timer 1 Current Value
------------------020EH
1
Timer F Current Value
Registers 0210 through 021E contain the counter current value. Range is 0 to 999999 decimal, 0
to 0F423F hexadecimal.
0210H
2
Counter 1 Value, Middle
Counter 1 Value, Low
00
Counter 1 Value, High
0211H
2
Counter 2 Current Value, see Counter 1 format
------------------021EH
2
Counter F Current Value, see Counter 1 format
Registers 0220 through 0223 contain the Real Time Clock Current Value.
0220H
1
Current Year
Current Month
0221H
1
Current Day
Current Week
0222H
1
Current Hour
Current Minute
0223H
1
Current Second
00
0224H
1
00
Current Year
0225H
1
00
Current Month
0226H
1
00
Current Day
0227H
1
00
Current Week
0228H
1
00
Current Hour
0229H
1
00
Current Minute
022AH
1
00
Current Second
Registers 0230 through 0237 contain the analog values.
0230H
1
Analog 1 High Value
Analog 1 Low Value
------------------0237H
1
Analog 8 High Value
Analog 8 Low Value
Register 0260 contains the PWM current values.
0260H
1
00
Pulse Width High
Period Time High
9-14
PWM Run Number

Pulse Width Low
Period Time Low
GFK-2470A
Chinese Character Registers (03xxH)

Registers 0300 through 033B can be used to write characters in Chinese language
applications, with MODBUS commands 03 and 10.
Register
Address
Usable
Comm
Length
Description

0300H
0301H
------033BH
GFK-2470A
10H
10H
------10H
03H
10H
Character 5
Character 6
------Character 64
9-15
Preset Values Registers (04xxH)

The master can read or write Preset values in the registers listed below using MODBUS
commands 03 and 10.
Register
Address
Length
Description

0400H
1
Timer 1 Preset Value
------------------040EH
1
Timer F Preset Value
Registers 0410041E contain Counter Preset value. Range is 0999999 decimal, 00F423F hex.
0410H
2
Preset Data Format for Counter Modes 1 to 7
Counter 1 Preset, Middle
Counter 1 Preset, Low
00
Counter 1 Preset, High
5
Preset Data Format for Counter Mode 8
Fixed Timer High
Fixed Timer Low
Counter ON Preset, Middle
Counter ON Preset, Low
00
Counter ON Preset, High
Counter OFF Preset, Middle
Counter OFF Preset, Low
00
Counter OFF Preset, High
------------------041EH
2/5
Counter F Preset, see Counter 1 formats
Registers 0420 through 042E contain the Real Time Clock Preset Value.
0420H
3
RTC Mode 1 or RTC Mode 2
Turn On Week (00-06)
Turn Off Week (00-06)
Turn On Time, Hour (00-23)
Turn On Time, Minute (00-59)
Turn Off Time, Hour (00-23)
Turn Off Time, Minute(00-59)
RTC Mode 3
Turn On Year (00-99)
Turn Off Year (00-99)
Turn On Month (01-12)
Turn On Day (01 to 31)
Turn Off Month (01-12)
Turn Off Day (01-31)
RTC Mode 4: 30-second adjustment
00
Round time: week
Round time: hour
Round time: minute
00
Round time: second
------------------042EH
3
RTC Preset F, See RTC Preset 1 formats
Registers 0430 through 043E contain the analog values.
0430H
1
Analog 1 High Value
Analog 1 Low Value
------------------------043EH
1
Analog 8 High Value
Analog 8 Low Value
9-16
GFK-2470A
Preset Values Registers (04xxH) (continued)

Registers 0460 to 046E contain the PWM Preset values. Pulse Width range is 00000 to
32767. Period Time range is 00001 to 32767. They can be accessed using MODBUS
commands 03 and 10.
Register Address
Length
0460H
10
Description
Pulse Width 1 High
Pulse Width 1 Low
0461H
Period Time 1 High
Period Time 1 Low
0462H
Pulse Width 2 High
Pulse Width 2 Low
0463H
Period Time 2 High
Period Time 2 Low
0464H
Pulse Width 3 High
Pulse Width 3 Low
0465H
Period Time 3 High
Period Time 3 Low
0466H
Pulse Width 4 High
Pulse Width 4 Low
0467H
Period Time 4 High
Period Time 4 Low
0468H
Pulse Width 5 High
Pulse Width 5 Low
0469H
Period Time 5 High
Period Time 5 Low
046AH
Pulse Width 6 High
Pulse Width 6 Low
046BH
Period Time 6 High
Period Time 6 Low
046CH
Pulse Width 7 High
Pulse Width 7 Low
046DH
Period Time 7 High
Period Time 7 Low
046EH
Pulse Width 8 High
Pulse Width 8 Low
046FH
Period Time 8 High
Period Time 8 Low
GFK-2470A
9-17
Coil Addresses (05xxH)

The master use MODBUS command 01 or 05 to read or write Coil values in the registers listed
below. Starting address and quantity of coils are multiples of 10H.
Register Address
Length
Description

0500H-050FH
10H
R1 RF
050FH reserved
0510H-051FH
10H
G1 GF
051FH reserved
0520H-052FH
10H
T1 T1F
052FH reserved
0530H-053FH
10H
C1 C1F
053FH reserved
0540H-054FH
10H
M1 MF
054FH reserved
0550H-055FH
10H
I1 IC, Z1 - ZF
Z1 to Z4 cannot be written
0560H-056FH
10H
X1 XC
056CH 056FH reserved
0570H-057FH
10H
Q1 Q8
0578H - 057FH reserved
0580H-058FH
10H
Y1 YC
058CH - 058FH reserved
0590H-059FH
10H
N1 NF
059FH reserved
9-18
05A0H-05AFH
10H
H1 HF
05B0H-05BFH
10H
W1 W16
05C0H-05CFH
10H
W17 W32
05D0H-05DFH
10H
W33 W48
05E0H-05EFH
10H
W49 W64
05F0H-05FFH
10H
L1 L8, P1
0A5FH reserved
05F9H - 05FFH reserved
GFK-2470A
Coil Status Registers (06xxH)

For DURUS controllers with firmware versions 3.0 or later.
Note: All registers in this table have a length of 1.

Register Usable
Address Comm

0600H
0601H
0602H
0603H
0604H
0605H
0606H
0607H
0608H
0609H
060AH
060BG
060CH
060DH
060EH
060FH
0610H
0611H
0612H
0613H
0614H
0615H
03H
06H
10H
R10
G10
T10
C10
M10
M20
M30
N10
N20
N30
H10
R0F
R1F
G0F
G1F
T0F
T1F
C0F
C1F
M0F
M1F
M2F
M3F
N0F
N1F
N2F
N3F
H0F
R0E
R1E
G0E
G1E
T0E
T1E
C0E
C1E
M0F
M1E
M2E
M3E
N0E
N1E
N2E
N3E
H0E
R0D
R1D
G0D
G1D
T0D
T1D
C0D
C1D
M0D
M1D
M2D
M3D
N0D
N1D
N2D
N3D
H0D
R0C
R1C
G0C
G1C
T0C
T1C
C0C
C1C
M0C
M1C
M2C
M3C
N0C
N1C
N2C
N3C
I0C
X0C
Y0C
H0C
R0B
R1B
G0B
G1B
T0B
T1B
C0B
C1B
M0B
M1B
M2B
M3B
N0B
N1B
N2B
N3B
I0B
X0B
Y0B
H0B
R0A
R1A
G0A
G1A
T0A
T1A
C0A
C1A
M0A
M1A
M2A
M3A
N0A
N1A
N2A
N3A
I0A
X0A
Y0A
H0A
R9
R19
G09
G19
T09
T19
C09
C19
M09
M19
M29
M39
N09
N19
N29
N39
I09
X09
Y09
H09
R8
R18
G08
G18
T08
T18
C08
C18
M08
M18
M28
M38
N08
N18
N28
N38
I08
X08
Y08
Q08
H08
R7
R17
G07
G17
T07
T17
C07
C17
M07
M17
M27
M37
N07
N17
N27
N37
I07
X07
Y07
Q07
H07
R6
R16
G06
G16
T06
T16
C06
C16
M06
M16
M26
M36
N06
N16
N26
N36
I06
X06
Y06
Q06
H06
R5
R15
G05
G15
T05
T15
C05
C15
M05
M15
M25
M35
N05
N15
N25
N35
I05
X05
Y05
Q05
H05
R4
R14
G04
G14
T04
T14
C04
C14
M04
M14
M24
M34
N04
N14
N24
N34
I04
X04
Y04
Q04
Z04
H04
R3
R13
G03
G13
T03
T13
C03
C13
M03
M13
M23
M33
N03
N13
N23
N33
I03
X03
Y03
Q03
Z03
H03
R2
R12
G02
G12
T02
T12
C02
C12
M02
M12
M22
M32
N02
N12
N22
N32
I02
X02
Y02
Q02
Z02
H02
R1
R11
G01
G11
T01
T11
C01
C11
M01
M11
M21
M31
N01
N11
N21
N31
I01
X01
Y01
Q01
Z01
H01
H16
L06
W06
W16
W26
W36
H15
L05
W05
W15
W25
W35
H14
L04
W04
W14
W24
W34
H13
L03
S03
W03
W13
W23
W33

0616H
0617H
0618H
0619H
061AH
061BH
061CH
0620H
0621H
0622H
0623H
0624H
03H
(FBD
only)
GFK-2470A
W10
W20
W30
W40
H1F
W0F
W1F
W2F
W3F
H1E
W0E
W1E
W2E
W3E
H1D
W0D
W1D
W2D
W3D
H1C
W0C
W1C
W2C
W3C
H1B
W0B
W1B
W2B
W3B
H1A
W0A
W1A
W2A
W3A
H19
W09
W19
W29
W39
H18
L08
W08
W18
W28
W38
H12
L02
S02
W02
W12
W22
W32
H11
L01
S01
W01
W11
W21
W31
B16
B32
B48
B64
B80
B15
B14
B13
B12
B11
B10 B09 B08 B07 B06 B05 B04 B03 B02
B01
B17
B33
B49
B65
H17
L07
W07
W17
W27
W37
9-19
9
Register Usable
F
Address Comm
0625H
B96
03H
(FBD B112
0626H
only)
0627H
B128
0628H
B144
0629H
B160
06AH
B176
062BH
B192
062CH
B208
062DH
B242
062EH
B240
062FH
B256
0630H
-
0
B81
B97
B113
B129
B145
B161
B177
B193
B209
B225
B241
B257
Control Registers (07xxH)

Register Usable
Addr.
Comm.

15
14
13
12
11
10

0100H
0101H
03H
06H
10H
00
RUN / STOP:
01
S1=0, STOP
S1=1, RUN
03H
Brand ID
V-Type Model
30=20VR-D
70=20VR-12D
34=20VT-D
74=20VT-12D

0102H
9-20
03H
06H
10H
I1
I0
L2
L1
L0
STATUS1:
A = Alarm at Expansion I/O no. unmatched
0 = alarm; 1 = no alarm
Z = Z set:
0 = Z disable; 1 = Z enable
I1, I0 = Expansion I/O Number: 0 to 3
L1, L2, L3 = Language:
1 = English
2 = French
3 = Spanish
4 = Italian
5 = German
6 = Portuguese
7 = Chinese
S1
S2
B = Backlight On or Off:
0 = Auto on/off; 1 = always on
S1 = M coil state at power down:
S2 = Counter value at power down:
D1, D0 = Communications mode
0 = data link
1 = remote I/O master
2 = remote I/O slave
GFK-2470A
D1
D0
9
Register Usable
Addr.
Comm.
0103H
(read
only)
03H
0104H
03H
10H
0105H

15
14
13
12
11
10
PA
PA = Password Protection
0 = Password off
1 = Password on
Error:
Analog 3 Gain: High

Analog 3 Offset
Analog 4 Gain: High
Analog 4 Gain: Low
010BH
Analog 4 Offset
0110H
06H
10H
0120H
03H
10H
Analog 1 Gain: Low

Analog 1 Offset
Analog 2 Gain: Low
Analog 2 Offset
Analog 3 Gain: High
Analog 3 Gain: Low

Analog 3 Offset
Analog 4 Gain: High
Analog 4 Gain: Low

Analog 4 Offset
Analog 1 Gain: High
0129H
Analog 1 Gain: Low

Analog 5 Offset
Analog 2 Gain: High
012BH
Analog 2 Gain: Low

Analog 6 Offset
Analog 3 Gain: High
012DH
012FH
Analog 2 Gain: High
0127H
012EH
Analog 1 Gain: High
0125H
012CH
Clear code
0123H
012AH
Analog 3 Gain: Low

Analog 7 Offset
Analog 4 Gain: High
Analog 4 Gain: Low

Analog 8 Offset
Analog configuration:
Gain range: 0999
Offset range: -5050, complement
GFK-2470A
Analog 3 Gain: Low
0109H
0128H
Analog 2 Gain: Low

Analog 2 Offset
010AH
0126H
Analog 1 Gain: Low
Analog 2 Gain: High
0108H
0124H
Error
Analog 1 Offset
0107H
0121H
0 = No error
1 = ROM error
2 = RAM error
3 = EEPROM error
4 = Program error
5 = Program logic error
6 = Watchdog error
7 = Expansion error
8 = Communication error
9 = RTC error
Analog 1 Gain: High
0106H
0122H
9-21
9
Current Value Registers (08xxH 11xxH)
Each register address has a length of 1 in the commands.
Description
Register Usable
Address Comm.
Comments

Timer Current Values (08xxH)
0800H
0801H
081EH
081FH
------08F9H
03H

Timer 1F Current Value

------Timer FA Current Value
Scale: 00009999
FBD mode only
Counter Current Values (09xxH0AxxH)

0900H
0901H
0902H
0903H
093CH
093DH
093EH
093FH
.
0AF2H
0AF3H
9-22
03H
C01 current value

Middle byte
00
C01 current value

Low byte
C01 current value
High byte
C02 current value
Low byte
C02 current value
High byte
C02 current value

Middle byte
00
Scale: 00009999
C1F current value

Middle byte
00
C1F current value

Low byte
C1F current value
High byte
C20 current value
Low byte
C20 current value
High byte
C20 current value

Middle byte
00
FBD mode only
.
CFA current value
Middle byte
00
CFA current value

Low byte
CFA current value
High byte
GFK-2470A
9
Description
Register Usable
Address Comm.
Comments
RTC, Analog, PWM, AT, AQ, Current Value (0BxxH)

RTC Current Value (0B0xH)
0B00H
0B01H
0B02H
0B03H
0B04H
0B05H
0B06H
0B07H
0B08H
0B09H
0B0AH
03H
10H
Current Year
Current Day
Current Hour
Current Second
00
00
00
00
00
00
00
Current Month
Current Week
Current Minute
00
Current Year
Current Month
Current Day
Current Week
Current Hour
Current Minute
Current Second
Scale:
Year: 00009999
Month: 012
Day: 0131
Week: 0006
Hour: 1123
Minute: 0059
Second: 0059
Analog Current Value (0B1xH)

0B10H
0B11H
0B12H
0B13H
0B14H
0B15H
0B16H
0B17H
03H
A01 Current Value

A02 Current Value
A03 Current Value
A04 Current Value
A05 Current Value
A06 Current Value
A07 Current Value
A08 Current Value
Scale: 00009999
PWM Current Value (0B2xH)

0B20H
0B21H
0B22H
0B20H
0B21H
0B22H
0B23H
0B24H
0B25H
03H
03H
03H
00
P01 PWM current run number

P01 current PW value (032767)
P01 current PT value (132767)
00
00
PLSY frequency (000132767)
PLSYpulse number (00032767)
00
03H
P02 current PW value (032767)
P02 current PT value (132767)
P01: mode 1
PWM mode
P01: mode 2
PLSY mode
P02:
PWM mode only
AT (Analog Temperature) Current Value (0B3xH)

0B30H
0B31H
0B32H
0B33H
03H
AT01 Current Value

AT02 Current Value
AT03 Current Value
AT04 Current Value
Scale: -10006000
AQ (Analog Output) Current Value (0B4xH)

0B40H
0B41H
0B42H
0B43H
GFK-2470A
03H
AQ01 Current Value

AQ02 Current Value
AQ03 Current Value
AQ04 Current Value
Scale:
Voltage Mode:
01000
Current Mode:
0500
9-23
9
Description
Register Usable
Address Comm.
Comments
AS (Add-Subtract) Current Value (CxxH)

0C00H
0C01H
0C1EH
0C1FH
.
0CF9H
03H
AS01 Current Value

AS02 Current Value
AS1F Current Value

AS20 Current Value
ASFA Current Value
Scale:
-3276832767
FBD mode only
MD (Multiply-Divide) Current Value (0DxxH)

0D00H
0D01H
.
0D1EH
0D1FH
.
0DF9H
03H
MD01 Current Value

MD02 Current Value
MD1F Current Value

MD20 Current Value
MDFA Current Value
Scale:
-3276832767
FBD mode only
PID (PID Control) Current Value (0ExxH)

0E00H
0E01H
.
0E0EH
0E0FH
.
0E1DH
03H
PID01 Current Value

PID02 Current Value
PID0F Current Value

PID10 Current Value
PID1E Current Value
Scale:
-3276832767
FBD mode only
MX (Data Multiplexer) Current Value (0FxxH)

0F00H
0F01H
0F1EH
0F1FH
0FF9H
03H
MX01 Current Value

MX02 Current Value
MX1F Current Value

MX20 Current Value
MXFA Current Value
Scale:
-3276832767
FBD mode only
AR (Analog RAM Control) Current Value (10xxH)

1000H
1001H
100EH
100FH
101DH
03H
AR01 Current Value

AR02 Current Value
AR0F Current Value

AR10 Current Value
AR1E Current Value
Scale:
-032767
FBD mode only
DR (Data Register) Current Value (11xxH)

1100H
1101H
11EFH
9-24
03H
DR01 Current Value

DR01 Current Value
DRF0 Current Value
Scale:
Signed:
-3276832767
Unsigned: 065535
GFK-2470A
9
Preset Value Registers (12xxH 26xxH)
Each register address has a length of 1 in the commands.
Description
Register Usable
Address Comm.
Comments

Timer Current Values (08xxH)
1200H
1201H
121EH
121FH
------12F9H
03H
06H
10H

Timer 02 Presett Value
Timer 1F Preset Value

------Timer FA Preset Value
Scale:
0000009999
FBD mode only
Counter Current Values (09xxH0AxxH)

1300H
1301H
133CH
133DH
133EH
133FH
.
14F2H
14F3H
GFK-2470A
03H
06H
10H
C01 preset value

Middle byte
00
C01 preset value

Low byte
C01 preset value
High byte
Scale:
0000009999
Cant read or write
mode 8.
C1F preset value

Middle byte
00
C1F preset value

Low byte
C1F current value
High byte
C20 preset value
Low byte
C20 preset value
High byte
C20 preset value

Middle byte
00
FBD mode only
.
CFA preset value
Middle byte
00
CFA preset value

Low byte
CFA preset value
High byte
9-25
9
Description
Register Usable
Address Comm.
Comments
RTC Preset Value (15xxH17xxH))

1500H
1501H
1502H
155AH
155BH
155CH
155DH
155EH
155FH
17EBH
17ECH
17EDH
03H
06H
10H
RTC01 Preset Value
Note 3.
RTC1F Preset Value
RTC20 Preset Value
FBD mode only.
RTCFA Preset Value
Analog Preset Value (18xxH)

1800H
181EH
181FH
18F9H
03H
06H
10H
Analog01 Comparative Preset Value
Analog1F Comparative Preset Value

Analog20 Comparative Preset Value
AnalogFA Comparative Preset Value
Scale: 00009999
FBD mode only.
PWM Preset Value (19xxH)

1900H
1901H
1902H
1903H
190EH
190FH
1910H
1911H
1912H
1913H
191CH
191DH
191EH
191FH
9-26
03H
06H
10H
P01 PWM mode PW1 preset value

(or PLSY mode frequency value)
P01 PWM PT1 preset value
(or PLSY mode pulse number value)
P01 PWM PW2 preset value
(or PLSY mode 0)
P01 PWM PT2 preset value
(or PLSY mode 0)

(or PLSY mode 0)
P01 PWM mode PT8 preset value
(or PLSY mode 0

Scale:
P01P02 PWM
mode
PW18: 032767
PT18: 132767
P01 PLSY Mode
Frequency:
00011000
Pulse Number:
0000032767
GFK-2470A
9
Register Usable
Address Comm.
Description
Comments
AS (Add-Subtract) Preset Value (1AxxHCxxH)

1A00H
1A01H
1A02H
1A5AH
1A5BH
1A5CH
1A5DH
1A5EH
1A5FH
1CEBH
1CECH
1CEDH
03H
06H
10H
AS01 V1 Preset Value

AS1F V1 Preset Value

ASFA V1 Preset Value

Scale:
-3276832767
FBD mode only.
MD (Multiply-Divide) Current Value (1DxxH1FxxH)

1D00H
1D01H
1D02H
.
1D5AH
1D5BH
1D5CH
1D5DH
1D5EH
1D5FH
1FEBH
1FECH
1FEDH
03H
06H
10H
MD01 V1 Preset Value

MD1F V1 Preset Value

MD20 V2Preset Value
MDFA V1 Preset Value

Scale:
-3276832767
FBD mode only.
PID Preset Value (20xxH)

2000H
2001H
2002H
2003H
2004H
2005H
2054H
2055H
2056H
2057H
2058H
2059H
GFK-2470A
03H
06H
10H
03H
06H
10H
PI01 SV Preset Value

PI01 PV Preset Value
PI01 Ts Preset Value
PI01 Kp Preset Value
PI01 Ti Preset Value
PI01 Td Preset Value
PI0F SV Preset Value

PI0F PV Preset Value
PI0F Ts Preset Value
PI0F Kp Preset Value
PI0F Ti Preset Value
PI0F Td Preset Value
Scale:
SV: -3276832767
PV: -3276832767
Ts: 132767
Kp: 132767
Ti: 132767
Td: 132767
9-27
9
Register Usable
Address Comm.
03H
205AH
06H
205BH
10H
205CH
205DH
205EH
205FH
20AEH
20AFH
20B0H
20B1H
20B2H
20B3H
Description
Comments
PT10 SV Preset Value

PT10 PV Preset Value
PT10 Ts Preset Value
PT10 Kp Preset Value
PT10 Ti Preset Value
PT10 Td Preset Value
PI1E SV Preset Value

PI1E PV Preset Value
PI1E Ts Preset Value
PI1E Kp Preset Value
PI1E Ti Preset Value
PI1E Td Preset Value
FBD mode only.
MX (Data Multiplexer) Current Value (21xxH24xxH)

2100H
2101H
2012H
2103H
2178H
2179H
217AH
217BH
217CH
217DH
217EH
217FH
24E4H
24E5H
24E6H
24E7H
03H
06H
10H
MX01 V1 Preset Value

MX1F V1 Preset Value

Scale:
-3276832767
FBD mode only.
MXFA V1 Preset Value

AR (Analog RAM Control) Preset Value (25xxH)

2500H
2501H
2502H
2503H
2504H
2505H
2506H
2564H
2565H
2566H
2567H
2568H
2569H
9-28
03H
06H
10H
03H
06H
10H
03H
AR01 Level1 Preset Value

AR01 MAXL Preset Value
AR01 StSp Preset Value
AR01 Rate Preset Value
AR01 A Preset Value
AR01 B Preset Value
AR0F MAXL Preset Value

AR0F StSp Preset Value
AR0F Rate Preset Value
AR0F A Preset Value
AR0F B Preset Value
Scale:
LEVEL1:
-1000020000
LEVEL2:
-1000020000
MAXL:
-1000020000
StSp: 020000
Rate: 010000
A: 001000
B: -1000010000
FBD mode only.

GFK-2470A
9
Register Usable
Address Comm.
06H
256AH
10H
256BH
256CH
256DH
03H
25CBH
06H
25CCH
10H
25CDH
25CEH
25CFH
25D0H
25D1H
Description
Comments

AR10 MAXL Preset Value
AR10 StSp Preset Value
AR10 Rate Preset Value
AR1E Level1 Preset Value

AR1E Level2 Preset Value
AR1E MAXL Preset Value
AR1E StSp Preset Value
AR1E Rate Preset Value
AR1E A Preset Value
AR1E B Preset Value
DR (Data Register) Preset Value (26xxH)

2600H
2601H
26EFH
03H
06H
10H
DR01 Preset Value

DR02 Preset Value
DRF0 Preset Value
Scale:
Signed:
-3276832767
Unsigned: 065535
AQ (Analog Output) Preset Value (27xxH)

2700H
2701H
2702H
2703H
GFK-2470A
03H
06H
10H
AQ01 Preset Value

AQ02 PresetValue
AQ03 PresetValue
AQ04 PresetValue
Scale:
Voltage mode:
01000
Current mode:
0500
9-29
Coil Addresses, bit (2BxxH-2DxxH)

Register Address
Data Length
Usable Comm.
Content
Comments

2B00H2B1FH
10H (Read)
2B20H2B3FH
01H
05H
R01R1F
2B1FH, reserved;
G01G1F
2B3FH, reserved;
2B40H2B5FH
T01T1F
2B5FH, reserved;
2B60H2B7FH
C01C1F
2B7FH, reserved;
2B80H2BBFH
M01M3F
2BBFH, reserved;
2BC0H2BFFH
N01N3F
2BFFH, reserved;
2C00H2C0FH
I01I0C
2C0CH2C0FH, reserved;
2C10H2C1FH
X01X0C
2C1CH2C1FH reserved;
2C20H2C2FH
Y01Y0C
2C2CH2C2FH, reserved;
2C30H2C3FH
Q01Q08
2C38H2C3FH, reserved;
2C40H2C4FH
Z01Z04
Z01Z04 cant be written;


2C50H2C6FH
10H (Read)
H01H31
2C6FH, reserved;
L01L08
2C80H2C8FH
P01, P02, S01
2C90H2CCFH
W01W64
2D00H2E0FH
B001B260
2C70H2C7FH
01H
05H
2E04H2E0FH, reserved; FBD only
Notes:
For command 01H (read word coil status), the starting address and the number of coils
must be a multiple of 10H.
9-30
Z cannot be written. Reserved addresses cannot be written.
GFK-2470A
MODBUS Slave Operation with Built-in RS-485 Port

The DURUS controller can be controlled by a PC or other device using MODBUS RTU slave
mode via RS-485. For details on MODBUS RTU operation in a DURUS system, refer to
MODBUS Operation on page 9-4.
Configuration
DURUS Development Software
To use the built-in port, the following settings must be selected in the OperationModule
System Set dialog box. They can also be set using the keypad.
Remote I/O setting must be No.
Set ID must be non-zero to specify that the unit will be a slave.
You can also set Communication Mode and Baud Rate in the Module System Set dialog box.
The following table lists the communications options available. Maximum frame length is
128 bytes.
8/N/2 Data 8bit, No Parity, 2 Stop bit.
Comm. Mode
8/E/1 Data 8bit, Even Parity, 1 Stop bit.

8/O/1 Data 8bit, Odd Parity, 1 Stop bit.
Baud Rate
GFK-2470A
4800 bps
9600 bps
19200 bps
38400 bps
57600 bps
115200 bps
9-31
9
Keypad Settings
Set Communication Format and Baud Rate
Press ESC to enter main menu.
Press UP/DOWN to choose SET menu, and press OK to enter it.
Press UP/DOWN makes the LCD to display the options as shown below.
System Settings
Remote I/O must be set to N.
ID Set must be non-zero.
Communications Settings
To set Comm. Mode, change the high bit; to set Baud Rate, change the low bit.
Content
High bit
Low bit
Data
Meaning
8/E/1 Data 8bit, Even Parity, 1 Stop bit.
8/O/1 Data 8bit, Odd Parity, 1 Stop bit.
4800 bps
9600 bps
19200 bps
38400 bps
57600 bps
115200 bps
Default Communication Parameter Values

Baud rate
38400bps
Data bit
Stop bit
Parity
No
Frame length maximum
128 bytes
Changes to communication parameter settings take effect after a power cycle.
9-32
GFK-2470A
9
Hardware Installation
DURUS
DURUS
DURUS
DURUS
A bus segment must be terminated at both ends with an impedance of 120 Ohms, 0.25 Watts.
GFK-2470A
9-33
MODBUS Slave Communications Module

The MODBUS RTU Slave Communications Expansion Module, 24VDC (IC210EMS001)
allows a Durus controller to communicate with a controller or other device using MODBUS
RTU Slave protocol.
For details on MODBUS RTU operation in a DURUS system, refer to MODBUS Operation on
page 9-4.
Power Supply
Terminal
Retractable
Mounting Feet
2-pin DIP Switch for

termination
Voltage/Operating
Mode LED
RS-485-B
terminal
Shield
terminal
8-pin DIP switch
RS-485-A
terminal
Retractable
Mounting Feet
Module Specifications
Ports
One, RS-485, two-wire
Topology
Master/Slave
Baud Rates
Selectable: 4.8Kbps 57.6Kbps
Slave Addresses
0199
Maximum Data Length
64 bytes
Commands Supported
0x01
0x03
0x05
0x06
0x08
0x10
For operation, see MODBUS

Commands on page 9-7.
9-34
Read coils
Read registers
Write single coil
Write single Register
Diagnostics (sub-function 00 00 only)
Write multiple registers
GFK-2470A
9
Module Dimensions
Communications Parameters
Baud rate, stop bits and parity bit can be selected using the eight-position DIP switch on the
front of the module. The maximum frame length is 64 bytes. The address of the module is the
number of the slave Durus controller.
Controller
(PLC / HMI / Computer)
RS-485 Interface
Slave Durus Controller

Address 01H

Address 02H

Address 63H
Modbus Module
Modbus Module
Modbus Module
Port A
Port B
Port A
Port B
120 Ohm
Watt
Port A
Port B
120 Ohm
Watt
A bus segment must be terminated at both ends with an impedance of 120 Ohms, 0.25 Watts.
Built-in termination can be selected using the two-position DIP switch on the front of the
module.
GFK-2470A
9-35
Setting the DIP Switch on the MODBUS Module

For the EMS001 module, baud rates can be configured using the DIP switch.
Remove power before changing the DIP switch settings.
Set the eight-position DIP switch to select the communications parameters. The ON switch
position = 1. After changing switch positions, restart the module.
Switches 13 select communications baud rate. Switch 6 disables switches 15.
Baud Rate
1
Disable
Description
off
off
off
off
4.8Kbps
on
off
off
off
9.6Kbps
off
on
off
off
19.2Kbps
on
on
off
off
38.4Kbps
off
57.6Kbps
on
38.4Kbps
on
*
* Can be on or off.
Switches 45 select stop and parity check bits.
Stop and
Parity Check
4
Disable
Not Used
7
Description
off
off
off
2 stop bits, no parity bit
off
on
off
1 stop bit, no parity bit
on
off
off
1 stop bits, 1 odd parity bit
on
on
on
1 stop bits, 1 even parity bit
on
Settings of switches 15 are invalid.
Communication settings are:

baud rate 38.4kbps, 2 stop bits, no parity bit.
* Can be on or off.
LEDs on the MODBUS Module

LED
9-36
Description
RUN (green)
ON: Connected with Durus CPU

Flashing (2Hz): Not connected with CPU
ERR (red)
ON: Connected with CPU, but error in setting I/O number

Flashing (2Hz): MODBUS error (CRC, command, parity, etc)
Flashing (5Hz): Error communicating with CPU
OFF: Communications OK
COM (yellow)
ON: Module sending or receiving data

OFF: Not communicating
GFK-2470A
9
Bus Termination
The first and last station in a bus segment must be terminated. If the MODBUS Expansion
module is at the end of a bus segment, set the two-position termination DIP switch on the front
of the module to the On position.
SW2 1
SW2 2
Termination
Off
Off
Off
On
On
On
Power Wiring
In the diagram:
(1) Quick-blowing fuse, circuit breaker or surge protector

(2) Surge absorber
MODBUS Wiring
GFK-2470A
9-37
Examples
This section contains sample logic for performing MODBUS read/write functions. For details on
MODBUS functions, refer to Chapter 4.
Example 1
In this example, the master reads a register in the slave device that is assigned ID2.
System Settings
ID: Must be non-zero.
Remote I/O should be set to No.
9-38
GFK-2470A
9
Ladder Logic
The program before run
The program in run state
Operation
When Z01 is enabled, the MU instruction starts to send the read command.
Master command:
02 03 00 0A 00 01 (A4 3B)
Slave address + 03H (read function code) + 000A (data address)+ 0001(Data length) +
A43B(CRC)
GFK-2470A
9-39
9
Slave response:
02 03 02 00 00 (FC 44)
Slave address + 03H (read function code)+02 (Data length)+0000 (returned data)+FC44
(CRC)
DR01 is the read register address: 0A
DR02 is the register length: 1
DR03 is the address store the data response by slave unit: 0000
9-40
GFK-2470A
Example 2
In this example, the master writes a value to a single register in the slave device that is
assigned ID2.
System Settings
Same as Example 1 on page 9-38.
Ladder Logic
GFK-2470A
9-41
Operation
When Z01 is enabled, the MU instruction starts to send the write single register command.
Master command:
02 06 00 0A 00 0F (E9 FF)
Slave address + 03H (write function code) + 000A (data address)+ 000F(Write Data) +
E9FF(CRC)
Slave response:
02 06 00 0A 00 0F (E9 FF)
Slave address + 03H (write function code) + 000A (data address)+ 000F(Write Data) +
E9FF(CRC)
DR01 is the write register address : 0A
DR02 is the write data register : 0F
9-42
GFK-2470A
Example 3
In this example, the master reads a coil in the slave device that is assigned ID2.
System Settings
Ladder Logic
GFK-2470A
9-43
9
Operation
When Z01 is enabled, the MU instruction starts to send the read coil command.
Master command :
02 01 05 10 00 10 (3C FC)
Slave address + 01H (read coil function code) + 510H (data address)+ 0010H(length) +
3CFC(CRC)
Slave response :
02 01 02 01 00 FC 6C
DR01 is the write register address : 510H (1296)

DR02 is the write coil length : 10H (16)
DR03 is the read coil data from slave unit : 01 00 (see above blue color)
9-44
GFK-2470A
Example 4
In this example, the master writes a value to a single coil in the slave device that is
assigned ID2.
System Settings
Ladder Logic
GFK-2470A
9-45
9
The program on run status
Operation
When Z01 is enabled, the MU instruction starts to send the write single coil command.
Master command:
02 05 05 10 FF 00 (8D 00)
Slave address + 05H (write coil function code) + 510H (data address)+ FF00H( write data) +
3CFC(CRC)
Slave response:
02 05 05 10 FF 00 (8D 00)
DR01 is the write register address: 510H (1296)

DR02 is the force on coil: FF 00H (65280)
9-46
GFK-2470A
Chapter PROFIBUS Communications
10
This chapter describes the PROFIBUS-DP features that can be incorporated into a DURUS
controller system by including a PROFIBUS-DP Slave Communications Expansion Module,
24VDC (IC210EPS001).
Overview
The PROFIBUS Expansion Module
Specifications
Operation
Installation
Startup
The GSD File
Control Commands
GFK-2470A
10-1
10
Overview
The PROFIBUS-DP Slave Communications Expansion Module, 24VDC (IC210EPS001)
always operates as network slave (2 below).
Influence on Cycle Scan Time

Communication between the controller and the PROFIBUS interface extends the cycle scan
time of the controller by as much as 100ms. This should be taken into account when you
calculate the response times of the controller.
10-2
GFK-2470A
10
The PROFIBUS Expansion Module
1. Terminating Resistor Switch. Used if last slave on the Network.

2. 24VDC power supply terminals
3. POWer LED
4. BUS LED
5. Connector
6. DIP switch (address setting switch )
7. PROFIBUS DP connection, 9-pole socket
GFK-2470A
Chapter 10 PROFIBUS Communications
10-3
10
Specifications: PROFIBUS-DP Expansion Module
Item
Specification
Power supply voltage
DC24V
Ambient
Operation temperature
0 55 degrees C
Storage temperature
-40 70 degrees C
Operation humidity
90% (relative, non-condensing)
Environmental gas
No corrosive gas exists
Vibration resistance
0.075mm amplitude/1.0g acceleration
Impact resistance
15g peak, 11ms duration
Degree of protection
IP20
Installation method
Direct installation or DIN Rail (35mm) installation
Function
Slave
Connection
9-pole socket
Interface
RS-485
Baud rate
Auto search, up to 12M
Bus termination
On communication module 1
Station address
Set using switch on module
Services
As input module: read data: coil
Main setup
Installation
PROFIBUS-DP
As output module: write data: coil

As command control module: read/write coil
status, controller status.
10-4
Controller Synchronization
Via command from PROFIBUS master
Slave output
synchronization
Via command from PROFIBUS master
GFK-2470A
10
Operation
The following data can be transferred if appropriate module in GSD file is selected.
Data that can be read by the PROFIBUS-DP master
All coils: I1-IC, X1-XC, M1-MF, Q1-Q8, Y1-YC, T1-T1F, C1-C1F, G1-GF, R1-RF
T1-T1Fs current value and preset value
C1-C1Fs current value and preset value
G1-GFs current value and preset value
RTCs current value and R1-RFs preset value
PWMs current value and preset value
Controllers Run/Stop status
Data that can be written by the PROFIBUS-DP master
Coils: M1-MF, Q1-Q8, Y1-YC, T1-T1F, C1-C1F, G1-GF, R1-RF

T1-T1Fs preset value
C1-C1Fs preset value
G1-GFs preset value
RTCs current value and R1-RFs preset value
PWMs preset value
Controllers Run/Stop status
GFK-2470A
10-5
10
Installation
1. Connect the expansion connector to the PROFIBUS-DP Slave expansion module.
2. Connect the expansion module to the controller module. See chapter 2 for additional
installation instructions.
There can be at most three I/O expansion modules and one 4AI expansion modules between
the PROFIBUS-DP Expansion module and the controller.
The number of I/O modules in the setup menu of the controller must match the number of
connected modules.
Power Supply Connection

The module requires an external source of 24VDC power.
Electrical Isolation
The following electrical isolation is provided for the PROFIBUS-DP Expansion module:
10-6
1.
24VDC power supply of module
2.
5VDC power supply of internal circuits

GFK-2470A
10
3.
photocoupler isolation between Durus controller and power supply
4.
photocoupler isolation between PROFIBUS DP fieldbus and power supply
GFK-2470A
10-7
10
PROFIBUS-DP Bus Connection
Use a 9-pole PROFIBUS-DP plug and cable to connect the PROFIBUS Expansion Module to
the PROFIBUS-DP field bus.
Pin
Signal name
Description
Unused
Unused
RxD/TxD-P (B- Line)
Unused
DGND (2M)
Data reference potential
VP (2 P5)
+5V DC
Unused
RxD/TxD-N (A-Line)
Unused
Send/receive data (positive)
Send/receive data (negative)
Bus Termination
The first and last station in a bus segment must be terminated. If the PROFIBUS-DP
Expansion module is at the end of a bus segment, set the termination switches on the front of
the module to the On position.
SW2 1
SW2 2
Termination
Off
Off
Off
On
On
On
PROFIBUS Cable Types

The type of cable used determines the maximum available length of the bus line and the data
transfer rate. Cable type B should not be used because it is obsolete. Cable type A allows all
transfer rates up to 12M bit/s to be used.
Parameter
Cable type A
Cable type B
Impedance
135165 Ohms (f=3MHz-20MHz)
100130 Ohms (f>100KHz)
Capacitance
<30Pf/m)
<60Pf/m
Resistor
<110/KM
-----
Core cross-section
>0.34mm2 (22A WG)
>0.22mm2 (24 AWG)
10-8
GFK-2470A
10
Data Transfer Rate
The PROFIBUS-DP Expansion module can automatically detect the baud rate used in the
PROFIBUS-DP network at powerup, if there is at least one master station that can send valid
telegrams in the network. The data rate can be 9.6K bps to 12Mbps.
GFK-2470A
Baud Rate Kbps
Maximum Length, Type A Cable (m)
9.6
1200
19.2
1200
45.45
1200
93.75
1200
187.5
1000
500
400
1500
200
3000
100
6000
100
12000
100
10-9
10
Startup
Before switching on the PROFIBUS-DP Expansion module, be sure it is properly connected to
the power supply, to the bus, and to the Durus controller. Before the module can communicate
it must be assigned a Station Address as described below.
Setting the Station Address

Every PROFIBUS-DP station must be given a unique Station Address. Use the DIP switches
on the front of the PROFIBUS-DP Expansion module to set its address. SW1-1 is the lowest
bit and SW1-7 is highest bit. SW1-8 is not used. The default address is 0.
SW1_7
SW1-6
SW1-5
SW1-4
SW1-3
SW1-2
SW1-1
address
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
OFF
OFF
OFF
OFF
ON
OFF
OFF
---
---
---
---
---
---
---
---
ON
ON
ON
ON
ON
OFF
ON
125
ON
ON
ON
ON
ON
ON
OFF
126
LED Status Displays

The PROFIBUS-DP Expansion module has two dual-color LEDs (Green/Red) for quick
diagnostics.
POW
BUS
10-10
On green
Power supply present and communication with the controller

correct
Flashing yellow
4Hz
Hardware verification failure. Return module for repair
Flashing yellow,
2Hz
Expansion IO number setting wrong in the controller.

Compare the actual expansion number with the setting.
Flashing red, 2Hz
Connection to controller failure. Check the connection to the

controller.
Flashing red, 1Hz
Communication error with controller. Check the connection to

the controller.
Off
No Power supply present. Check the power connection.
On green
Data exchange on PROFIBUS DP fieldbus
Off
Data exchange aborted
GFK-2470A
10
The GSD File

The GSD file is required for network configuration in PROFIBUS DP fieldbus. The GSD file
contains standard PROFIBUS DP station descriptions.
#Profibus_DP
; Release
GSD_Revision
=1
Hardware_Release
="HW_V1.0"
Software_Release
="SW_V1.0"
Revision
="V1.0"
; Name
Vendor_Name
="TAIAN-TECH"
Model_Name
="Durus PROFIBUS_DP"
;
Ident_Number
=0x7200
Protocol_Ident
=0
Station_Type
=0
FMS_supp
=0
9.6_supp
19.2_supp
45.45_supp
93.75_supp
187.5_supp
500_supp
1.5M_supp
3M_supp
6M_supp
12M_supp
=1
=1
=1
=1
=1
=1
=1
=1
=1
=1
MaxTsdr_9.6
= 60
MaxTsdr_19.2
= 60
MaxTsdr_93.75
= 60
MaxTsdr_187.5
= 60
MaxTsdr_500
= 100
MaxTsdr_1.5M
= 150
MaxTsdr_3M
= 250
MaxTsdr_6M
= 450
MaxTsdr_12M
= 800
;<Model definition unit>
Implementation_Type ="SPC3"
Slave_Family
=2@TAIAN@Durus
GFK-2470A
;(the same with DURUS)

;profibus dp
;dp slave
;pure dp device
;2:SWITCH taian:firstfile
10-11
10
Durus :secondfile
Bitmap_Device
="Durus"
Bitmap_Diag
="Durus"
;Bitmap_SF
="SF_STAT"
; OrderNumber
="IC210EPS001"
Freeze_Mode_supp
=1
Sync_Mode_supp
=1
Auto_Baud_supp
=1
Set_Slave_Add_supp = 0
Redundancy
=0
Repeater_Ctrl_Sig
=0
Fail_Safe
=0
Min_Slave_Intervall
=10
24V_Pins
=0
;supported
;supported
;Supported
;can not change via profibus
;not supported
;NOT CONNECTED
;a poll cycle of 1ms(10*100us)
;NOT CONNECTED
Modular_Station
=1
Max_Module
=5
Modul_Offset
=1
Max_Input_Len
=23
Max_Output_Len
=19
Max_Data_Len
=42
Max_Diag_Data_Len =10
Max_User_Prm_Data_Len =0
; Diagnostics unit
Unit_Diag_Bit(0)
= "not connected with DURUS"
; Module-Definitions:
Module
=" Control commands, 14 bytes" 0XBD
1
EndModule
Module
=" Inputs, 7 bytes"
0X96
2
EndModule
Module
=" Inputs, 2 byte"
0X91
3
EndModule
Module
=" Outputs, 2 bytes " 0XA1
4
EndModule
Module
="Outputs, 3 byte"
0XA2
5
EndModule
10-12
GFK-2470A
10
PROFIBUS Functions Defined in the GSD File
The GSD file for the PROFIBUS-DP Expansion module defines five different operating
modules, which can be selected network configuration tools. These modules are described in
detail starting on the next page.
Operating Module
Control
Command
Input /
Output
Module 1
Input / Output
(Byte)
Input / Output
14 bytes
Module 2
Input 7 bytes
Module 3
Input 2 bytes
Module 4
Output 2 bytes
Module 5
Output 3 bytes
Service
Status of all coils
Code
(hex)
0XBD
Run/Stop status of basic unit

Value of function block
Coil (I, X, Q, Y)
0X96
Coil (M)
0X91
Coil (M)
0XA1
Coil (Q, Y)
0XA2
Diagnostics Data
Number
Name
Length
Diagnostics
Reserved
0x00
Reserved
0x00
GFK-2470A
Value and meaning

0x04: Length of user data is 4 bytes
0x00: PROFIBUS interface is connected with Controller
0x01: PROFIBUS interface is not connected with Controller
10-13
10
Reading and Writing Durus Controller Data
By selecting input and output modules in the network configuration, the PROFIBUS-DP
Master can read or write Durus Controller data. See the bit definitions at the bottom of the
page.
Input Module 2 reads 7 bytes of data in the I (input) X (expansion input), Q (output), and Y
(expansion output) tables:
Byte
Contains
Description
0
1
2
3
4
5
6
COIL (I_L)
COIL (I_H)
COIL (X_L)
COIL (X_H)
COIL (Q)
COIL (Y_L)
COIL (Y_H)
Inputs 1 - 8
Inputs 9 - 12
Expanded Inputs 1 - 8
Expanded Inputs 9 - 12
Outputs 1 - 8
Expanded Outputs 1 - 8
Expanded Outputs 9-12
Input Module 3 reads 2 bytes of data in the M (internal coils) table:
Byte
Contains
Description
0
1
COIL (M_L)
COIL (M_H)
Internal coils 18
Internal coils 915
Output Module 4 sets or clears bits in 2 bytes of data in the M (internal coils) table:
Byte
Contains
Description
0
1
COIL (M_L)
COIL (M_H)
Internal coils 18
Internal coils 914
Output Module 5: sets or clears bits in 3 bytes of data in the Q (output) and Y (expansion
output) tables.
Byte
Contains
Description
0
1
2
COIL (Q)
COIL (Y_L)
COIL (Y_H)
Outputs 18
Expanded Outputs 18
Expanded Outputs 912
Bit Definitions
Within each type of coils table (I, X, Q, Y, M), the bits assignments are:
Byte1
Bits
7
0
0
0
10-14
6
0
0
15
5
0
0
14
4
0
0
13
3
0
12
12
Byte0
Bits
2
0
11
11
1
0
10
10
0
0
9
9
7
8
8
8
6
7
7
7
5
6
6
6
4
5
5
5
3
4
4
4
2
3
3
3
1
2
2
2
0
1
1
1
Coils Q
Coils I, X, Y
Coils M
GFK-2470A
10
Control Commands
The Command Control module allows extended data exchange services on the PROFIBUSDP network. If this module is selected through network configuration tools, the PROFIBUS
Master can read or write the following Durus controller data:
Run/stop status of the controller
Coil states
Function block values
The control command itself has 14 bytes.
byte 0: activate the required services
byte 1: specify the service type
byte 2: specify the service index
byte 3: specify the service data length
byte 4~13: represent specific transferred data
Data formats are shown on the following pages.
Byte 0: Activate the Service

The basic format of byte 0 for all commands is shown below.
7
0 = Read
1 = Write
Toggle Bit
Function Code:
0 = Read / write status of controller (Run / Stop)
1 = Read / write coils
2 = Read / write function block values
3 to 31 = Reserved
To send a command, bit 7 must be toggled (either 0 to 1, or 1 to 0).

The I/O data is refreshed after the Control Commands data exchange is complete.
GFK-2470A
10-15
10
Read or Write Controller Run / Stop Status Command
For a Read / Write Controller Run / Stop Status command, the complete format is:
Send Data (hex)

Byte
0
Command
Response
Meaning
Master
Read
00H/80H
Write
40H/C0H
Slave
Read successful
82H/02H
Write successful
81H/01H
Command rejected
80H/00H
Type
00H
00H
Index
00H
00H
Length
01H
01H
Data
Read
00
See below
Write
See below
00
Bit 0 of the data read or written using the Read or Write Controller Run/Stop Status command
indicates the controller state. Stop = 0, 1 = Run. All other bits are 0.
Bit
Value
Description
Stop
Run
10-16
GFK-2470A
10
Read / Write Coils Command
For a Read / Write Coils command, the complete format of the 14 bytes is:
Send Data (hex)

Byte
0
Meaning
Command
Response
Master
Read
01H/81H
Write
41H/C1H
Slave
Read successful
82H/02H
Write successful
81H/01H
Command rejected
80H/00H
Type
Table: coil status
Table: coil status
Index
Table: coil status
Table: coil status
Length
Table: coil status
Table: coil status
Coil Status
(low byte)
Read
00
Table: coil status
Write
Table: coil status
00
Coil Status
(high byte)
Read
00
Table: coil status
Write
Table: coil status
00
Data in the Coil Status table is:
Type
0
1
2
3
4
5
6
7
8
GFK-2470A
Meaning
Index
Length
Byte4
R1-R8
Byte 5
R9-RF
Byte 4
G1-G8
Byte 5
G9-GF
Byte 4
T1-T8
Byte 5
T9-T1F
Byte 4
C1-C8
Byte 5
C9-C1F
Byte 4
M1-M8
Byte 5
M9-MF
Byte 4
I1-I8
Byte 5
I9-IC
Byte 4
X1-X8
Byte 5
X9-XC
Byte 4
Q1-Q8
Byte 5
00H
Byte 4
Y1-Y8
Byte 5
Y9-YC
10-17
10
Read / Write Function Blocks Command Basic Format
For a Read / Write Function Blocks command, the complete format of the 14 bytes is:
Send Data (hex)

Byte
0
Meaning
Command
Response
1
2
3
4 - 13
Type
Index
Length
Data
Master
Read
Write
Read successful
Write successful
Command rejected
02H/82H
42H/C2H
See Types below

00H
01H
00
Read
Write
Slave
82H/02H
81H/01H
80H/00H
See Types below
00H
01H
00
Response
Possible responses to a Read/Write Function Blocks are:
Read Successful. The command is valid and the slave returns the requested data.
Write Successful. The command is valid and the slave supplies the data to the
controller.
Command Rejected. The command is invalid and is rejected by the slave. Invalid
commands may be caused by: 1) Command code error, 2) Toggle bit error, 3) Type
code error, 4) Index error, 5) Length error.
Types of Read / Write Function Block Commands

The following command types can be used with a Read/Write Function Blocks command.
Command and data formats are detailed on the following pages.
Value (hex)
00H
80H
01H
81H
02H
82H
03H
83H
04H
84H
10-18
Definition
Timer current value
Timer preset value
Counter current value
Counter preset value
RTC current value
RTC preset value
Comparator current value
Comparator preset value
PWM current value
PWM preset value
GFK-2470A
10
Read / Write Function Blocks Command: Read Timer Current Value
If a Read / Write Function Blocks command is used to read the Current Value of one or more
of the controller Timer function(s), the complete format of the 14 bytes is:
Send Data (hex)

Byte
0
Meaning
Command
Response
1
2
3
4 - 13
Master
Read
Write
Read successful
Command rejected
Type
Index
Length
Data
Slave
02H/82H
42H/C2H
00H
See Index below
See Length below
00H
82H/02H
80H/00H
00H
See Index below
See Length below
See below
Timer Current Value definitions are:

Index
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Meaning
Timer 1 Current Value High byte
Timer 1 Current Value Low byte
Timer A Current Value High byte
Timer A Current Value Low byte
Timer B Current Value High byte
Timer B Current Value Low byte
Timer C Current Value High byte
Timer C Current Value Low byte
Timer D Current Value High byte
Timer D Current Value Low byte
Timer E Current Value High byte
Timer E Current Value Low byte
Timer F Current Value High byte
Timer F Current Value Low byte
Length
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Read / Write Function Blocks Command: Timer Preset Value

If a Read / Write Function Blocks command is used to read or write the Preset Value of one or
more of the controller Timer function(s), the complete format of the 14 bytes is:
GFK-2470A
10-19
10
Send Data (hex)
Byte
0
Meaning
Command
Read
Write
Read successful
Write successful
Command rejected
Response
1
2
3
4 - 13
Master
Type
Index
Length
Data
Slave
02H/82H
42H/C2H
80H
See Index below.
See Length below
See below
82H/02H
81H/01H
80H/00H
80H
See Index below.
See Length below
See below
Timer Preset Value definitions are:

Index
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Meaning
Timer 1 Preset Value High byte
Timer 1 Preset Value Low byte
Timer A Preset Value High byte
Timer A Preset Value Low byte
Timer B Preset Value High byte
Timer B Preset Value Low byte
Timer C Preset Value High byte
Timer C Preset Value Low byte
Timer D Preset Value High byte
Timer D Preset Value Low byte
Timer E Preset Value High byte
Timer E Preset Value Low byte
Timer F Preset Value High byte
Timer F Current Value Low byte
Length
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Read / Write Function Blocks Command: Read Counter Current Value

If a Read / Write Function Blocks command is used to read the current value of one or more
controller counter(s), the complete format of the 14 bytes is:
Send Data (hex)

Byte
10-20
Meaning
Master
Slave
GFK-2470A
10
0
Command
Response
1
2
3
4 - 13
Read
Read successful
Command rejected
Type
Index
Length
Data
02H/82H
01H
See Index below
See Length below
See below
82H/02H
80H/00H
01H
See Index below
See Length below
See below
Timer Current Value (CV) definitions are:

Index
0
Meaning
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
GFK-2470A
Length Index
00H
Counter 1 CV High byte
Counter 1 CV Middle byte
Counter 1 CV Low byte
00H
00H
00H
00H
00H
00H
00H
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Meaning
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
00H
00H
Counter A CV High byte
Counter A CV Middle byte
Counter A CV Low byte
00H
Counter B CV High byte
Counter B CV Middle byte
Counter B CV Low byte
00H
Counter C CV High byte
Counter C CV Middle byte
Counter C CV Low byte
00H
Counter D CV High byte
Counter D CV Middle byte
Counter D CV Low byte
00H
Counter E CV High byte
Counter E CV Middle byte
Counter E CV Low byte
00H
Counter F CV High byte
Counter F CV Middle byte
Counter F CV Low byte
Length
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
10-21
10
Read / Write Function Blocks Command: Counter Preset Value

If a Read / Write Function Blocks command is used to read or write the Preset Value of one of
more controller counter(s), the complete format of the 14 bytes is:
Send Data (hex)

Byte
Meaning
Command
Response
1
2
3
4 - 13
Master
Read
Write
Read successful
Write successful
Command rejected
Slave
02H/82H
42H/C2H
Type
Index
Length
Data
81H
See Index below.
See Length below
See below
82H/02H
81H/01H
80H/00H
81H
See Index below.
See Length below
See below
Counter Preset Value (PV) definitions are:

Index Bytes
---
10-22
Meaning, Modes 1 to 7
Length
Meaning, Mode 8
Length
Byte 4
00H
T_H
Byte 5
Counter 1 PV High byte
T_L
Byte 6
Counter 1 V Middle byte
00H
Byte 7
Counter 1 PV Low byte
Counter 1 On High byte
Byte 8
00H
Counter 1 On Middle byte
Byte 9
00H
Counter 1 On Low byte
Byte 10 00H
00H
Byte 11 00H
Counter 1 Off High byte
Byte 12 00H
Counter 1 Off Middle byte
Byte 13 00H
Counter 1 Off Low byte
---
---
---
---
Byte 4
00H
T_H
Byte 5
Counter F PV High byte
T_L
Byte 6
Counter F PV Middle byte
00H
Byte 7
Counter F V Low byte
Counter F On High byte
Byte 8
00H
Counter F On Middle byte
Byte 9
00H
Counter F On Low byte
Byte 10 00H
00H
Byte 11 00H
Counter F Off High byte
Byte 12 00H
Counter F Off Middle byte
Byte 13 00H
Counter F Off Low byte
---
GFK-2470A
10
Read / Write Function Blocks Command: Read / Write Real Time Clock
Current Value
If a Read / Write Function Blocks command is used to read or write the Current Value of one
or more of the controller Real Time Clock(s), the complete format of the 14 bytes is:
Send Data (hex)

Byte
0
Meaning
Command
Read
Write
Read successful
Write successful
Command rejected
Response
1
2
3
4 - 13
Master
Type
Index
Length
Data
Slave
02H/82H
42H/C2H
02H
See Index below
See Length below
00H
82H/02H
81H/01H
80H/00H
02H
See Index below
See Length below
See below
Real Time Clock byte definitions are:
Index
Meaning
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Byte 9
Byte 10
Length
Year
Month
Day
Week
Hour
Minute
Second
1
1
1
1
1
1
Read / Write Function Blocks Command: Read / Write Real Time Clock
Preset Value
more Real Time Clock function(s), the complete format of the 14 bytes is:
Send Data (hex)

Byte
0
Meaning
Command
Response
1
2
3
4 - 13
Type
Index
Length
Data
GFK-2470A
Read
Write
Read successful
Write successful
Command rejected
Master
Slave
02H/82H
42H/C2H
82H
See Index below.
See Length below
See below
82H/02H
81H/01H
80H/00H
82H
See Index below.
See Length below
See below
10-23
10
Real Time Clock Preset Value definitions are:
Index Bytes
---
Meaning, Modes 1, 2
Length
Meaning, Mode 3
Length
Byte 4
R1: On Week
R1: On Year
Byte 5
R1: Off Week
R1: Off Year
Byte 6
R1: On Hour
R1: On Month
Byte 7
R1: Off Hour
R1: Off Month
Byte 8
R1: On Minute
R1: On Day
Byte 9
R1: Off Minute
R1: Off Day
---
---
---
---
Byte 4
RF: On Week
R1: On Year
Byte 5
RF: Off Week
R1: Off Year
Byte 6
RF: On Hour
R1: On Month
Byte 7
RF: Off Hour
R1: Off Month
Byte 8
RF: On Minute
R1: On Day
Byte 9
RF: Off Minute
R1: Off Day
---
Read / Write Function Blocks Command: Read Comparator Current Value

If a Read / Write Function Blocks command is used to read the Current Value of one or more
Analog Comparator function(s), the complete format of the 14 bytes is:
Send Data (hex)

Byte
0
Meaning
Command
Response
1
2
3
4 - 13
Master
Read
Write
Read successful
Command rejected
Type
Index
Length
Data
Slave
02H/82H
42H/C2H
03H
See Index below
See Length below
00H
82H/02H
80H/00H
03H
See Index below
See Length below
See below
Comparator definitions are:
Index
10-24
Meaning
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Byte 9
Byte 10
Byte 10
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Byte 9
Byte 10
Byte 10
A1 Comparator Value, High

A1 Comparator Value, Low
Length
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
GFK-2470A
10
Read / Write Function Blocks Command: Read / Write Comparator Preset

Value
more Analog Comparator function(s), the complete format of the 14 bytes is:
Send Data (hex)

Byte
0
Meaning
Command
Response
1
2
3
4 - 13
Master
Read
Write
Read successful
Write successful
Command rejected
Type
Index
Length
Data
Slave
02H/82H
42H/C2H
83H
See Index below.
See Length below
See below
82H/02H
81H/01H
80H/00H
83H
See Index below.
See Length below
See below
Comparator Preset Value definitions are:

Index
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
GFK-2470A
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Meaning
G1 Preset Value High byte
G1 Preset Value Low byte
G2 Preset Value High byte
G2 Preset Value Low byte
G 3 Preset Value High byte
G 3 Preset Value Low byte
G A Preset Value High byte
G A Preset Value Low byte
G B Preset Value High byte
G B Preset Value Low byte
G C Preset Value High byte
G C Preset Value Low byte
G D Preset Value High byte
G D Preset Value Low byte
G E Preset Value High byte
G E Preset Value Low byte
G F Preset Value High byte
G F Current Value Low byte
Length
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
10-25
10
Read / Write Function Blocks Command: Read PWM Current Value
If a Read / Write Function Blocks command is used to read the current value of one or more
controller PWM function(s), the complete format of the 14 bytes is:
Send Data (hex)

Byte
0
Meaning
Command
Response
1
2
3
4 - 13
Master
Read
Write
Read successful
Command rejected
Type
Index
Length
Data
Slave
02H/82H
42H/C2H
04H
See Index below
See Length below
00H
82H/02H
80H/00H
04H
See Index below
See Length below
See below
PWM definitions are:
Index
Meaning
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Length
PW1 Run Num

PW High
PW Low
PT High
PT Low
1
1
1
1
Read / Write Function Blocks Command: Read / Write PWM Preset Value
more controller PWM function(s), the complete format of the 14 bytes is:
Send Data (hex)

Byte
0
Meaning
Command
Response
1
2
3
4 - 13
10-26
Type
Index
Length
Data
Master
Read
Write
Read successful
Write successful
Command rejected
Slave
02H/82H
42H/C2H
84H
See Index below.
See Length below
See below
82H/02H
81H/01H
80H/00H
84H
See Index below.
See Length below
See below
GFK-2470A
10
PWM Preset Value definitions are:
Index
0
GFK-2470A
Meaning
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Length
PW 1 High
PW 1 Low
PT 1 High
PT 1 Low
PW 2 High
PW 2 Low
PT 2 High
PT 2 Low
PW 3 High
PW 3 Low
PT 3 High
PT 3 Low
PW 4 High
PW 4 Low
PT 4 High
PT 4 Low
PW 5 High
PW 5 Low
PT 5 High
PT 5 Low
PW 6 High
PW 6 Low
PT 6 High
PT 6 Low
PW 7 High
PW 7 Low
PT 7 High
PT 7 Low
PW 8 High
PW 81 Low
PT 8 High
PT 8 Low
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
10-27
Chapter DeviceNet Communications
11
This chapter describes the DeviceNet features that can be incorporated into a Durus
controller system by including a DeviceNet Slave Communications Expansion Module,
24VDC (IC210EDS001).
Overview
Device Profile
I/O Assembly Data Definitions
DeviceNet Information
DeviceNet Object Class Definitions
GFK-2470A
11-1
11
Overview
The DeviceNet Slave Communications Expansion Module (IC210EDS001) operates as a
DeviceNet Group II Only Slave device, interfacing the Durus controller to a DeviceNet
communications bus. If a DeviceNet Communications Expansion Module is installed in the
controller, it must be the only communications module present.
Network Parameters
Group 2 Slave only
Baud rate and MAC ID set by an 8-bit DIP switch. Not set from network.
Standard DeviceNet Baud rates: 125K, 250K, 500K;
Network MAC ID: 0 to 63;
Powered by the network.
DeviceNet Features of the Module
Predefined master slave connection
Predefined explicit message connection
Predefined poll IO message connection
Explicit and I/O message fragment
Duplicate MAC ID check
UCMM incapable device
The following are not supported:
11-2
Bit-strobe I/O message
Change of state and cyclic I/O message
Device communication faulted message
Device heartbeat message
Device shutdown message
GFK-2470A
11
Operation
The DeviceNet Master can access the following Durus controller data:
Read and write controller coils states
Read Current Value of Timer, Counter, RTC, Analog, PWM
Read and write Preset Value of Timer, Counter, RTC, Analog, PWM
Read and set Durus controller Run/Stop mode.
Read Durus controller ID number
Configuration
Detailed EDS configuration file.
DeviceNet MAC ID and communication baud rate can be configured.
I/O Assembly can be configured.
Module Description
Power Supply
Terminal
Retractable
Mounting Feet
2-pin DIP Switch for

termination
LEDs
V+
CAN_H
Shield
CAN_L
V-
8-pin DIP switch
Retractable
Mounting Feet
GFK-2470A
Chapter 11 DeviceNet Communications
11-3
11
Setting the Station Address

Every DeviceNet station must be given a unique network ID from 0 to 63. Use DIP
switches 1 6 on the lower front of the DeviceNet Expansion module to set its address.
The default address is 0.
address
SW 1
SW 2
SW 3
SW 4
SW 5
SW 6
OFF
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
---
---
---
---
---
---
---
63
ON
ON
ON
ON
ON
ON
Setting the Communications Rate

Use DIP switches 7 and 8 on the lower front of the DeviceNet Expansion module to set its
baud rate. The default communications rate is 125k baud.
Baud Rate
SW 7
SW 8
125k
OFF
OFF
250k
ON
OFF
500k
OFF
ON
Power Supply Connection

The module can draw power from the network, or from an external source of 24VDC
power.
1A quick-blowing fuse, circuit
breaker, or circuit protector
+
24V
Surge absorber
11-4
GFK-2470A
11
LED Status Displays

Network
Status
(NS)
On green
Online, connected, link ok. The device is

allocated to a Master.
Flashing green
Online, Not allocated to a master.
Flashing red
and green
Communication Faulted and Received an

Identify Comm. Fault Request - Long Protocol.
The device has detected a Network access error
and is in the Communication Faulted state.
Flashing red
I/O Connections have TimedOut.
On red
Critical Link Failure The module has detected an

error that prevents communicating on the
network (Duplicate MAC ID, or bus off).
Off
Not receiving power.

Duplicate MAC_ID test not yet completed.
Module
Status
(MS)
GFK-2470A
On green
Module is operating in a normal condition.
Flashing green
Device in Standby. Not connected with

controller. User-defined.
Flashing red
and green
Self Testing
Flashing red
Recoverable Fault. Module may need replacing.

Error communicating with controller.
On red
Unrecoverable fault, such as a hardware error.

Module may need to be replaced
Off
No power to the module
11-5
11
Device Profile
Device Name: Durus DeviceNet Slave Communications Expansion Module
Device Type Code: 0C Hex (Communications Adapter)
Object Classes
The DeviceNet Slave Communications Expansion Module supports the following
DeviceNet object classes.
Object
Class
Required
or
Optional
Object Behavior
Object
Interface
Instances
Identity
Required
Support reset
operation, nonsupport
heartbeat message
Router
Router
Required
No effect
Identity,
DeviceNet,
Connection,
Assembly,
Application
DeviceNet
Required
Configure net port

instance (such as
node ID, baud rate
Router
Connection
Required
Define and handle

communication data in
detail
Router,
Assembly
2: I/O
connection
and Explicit
connection
Assembly
Optional
Define I/O assembly

data format and
content
Router,
Connection,
Application
1 or more
Control
Optional
Define control and

monitoring parameters
Router,
Assemble
Interface
Optional
Define communication
module parameters
Router
Application
Optional
Communication with
Durus controller
Router,
Assemble
1 or more
11-6
GFK-2470A
11
I/O Assembly Data Definitions

I/O Assemblies are sets of data of different types. Contents of the I/O Assemblies are
listed below. In each assembly, for each bit, 1 = on and 0 = off. For bits representing the
controller run state, 1 = running, 0 = stopped.
The default I/O Assemblies are 6 (inputs) and 36 (outputs).
Base input assembly 6, data length 8 bytes
This assembly includes 8 output points (Q), 8 input points ( I ), and 16 internal coils (M).
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Q8
Q7
Q6
Q5
Q4
Q3
Q2
Q1
I8
I7
I6
I5
I4
I3
I2
I1
Z4
Z3
Z2
Z1
IC
IB
IA
I9
M8
M7
M6
M5
M4
M3
M2
M1
Reserved MF
ME
MD
MC
MB
MA
M9
Reserved
Reserved
Reserved, all bits should be set to 0
Base input assembly 7, data length 8 bytes

This assembly includes 8 output points (Q), 12 input points ( I ), 12 expansion outputs (Y)
and 12 expansion inputs (X).
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Q8
Q7
Q6
Q5
Q4
Q3
Q2
Q1
I8
I7
I6
I5
I4
I3
I2
I1
Z4
Z3
Z2
Z1
IC
IB
IA
I9
Y8
Y7
Y6
Y5
Y4
Y3
Y2
Y1
Reserved
YC
YB
YA
Y9
X8
X4
X3
X2
X1
Reserved
XC
XB
XA
X9
Reserved
GFK-2470A
X7
X6
X5
11-7
11
Extend input assembly 110, data length 8 bytes

This assembly includes 8 output points (Q), 12 input points ( I ), 12 external outputs (Y),
12 external inputs (X), and the controller run/stop status.
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Q8
Q7
Q6
Q5
Q4
Q3
Q2
Q1
I8
I7
I6
I5
I4
I3
I2
I1
Z4
Z3
Z2
Z1
IC
IB
IA
I9
Y8
Y7
Y6
Y5
Y4
Y3
Y2
Y1
Reserved
YC
YB
YA
Y9
X8
X4
X3
X2
X1
Reserved
XC
XB
XA
X9
Reserved
X7
X6
X5
Running
Base output assembly 36, data length 4 bytes

This assembly includes 8 output points (Q) and 15 internal coils (M).
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Q8
Q7
Q6
Q5
Q4
Q3
Q2
Q1
M8
M7
M6
M5
M4
M3
M2
M1
Reserved MF
ME
MD
MC
MB
MA
M9
Reserved
Base output assembly 37, data length 4 bytes

This assembly includes 8 output points (Q) and 12 external outputs (Y).
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Q8
Q7
Q6
Q5
Q4
Q3
Q2
Q1
Y8
Y7
Y6
Y5
Y4
Y3
Y2
Y1
Reserved
YC
YB
YA
Y9
Reserved
Expansion output assembly 100, data length 4 bytes

This assembly includes eight output points (Q), 12 external outputs (Y), and the run/stop
state of the controller.
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Q8
Q7
Q6
Q5
Q4
Q3
Q2
Q1
Y8
Y7
Y6
Y5
Y4
Y3
Y2
Y1
Reserved
YC
YB
YA
Y9
Reserved
Run
Parameter Configuration
Refer to EDS file.
11-8
GFK-2470A
11
DeviceNet Information
Message Types
As a Group II slave device, the communication module supports the following message
types:
Communication module consumed message type

CAN Identity Field
Group2 Message Type
10xxxxxx111
Duplicate MAC ID check

message
10xxxxxx110
Predefine master/slave
connection message
10xxxxxx101
Source poll IO request

message
10xxxxxx100
Source explicit request

message
Remark
xxxxxx is device MAC ID
DeviceNet Services
As a Group II only slave device, the DeviceNet Expansion Communication module
supports the following class services and instance services:
Service name
Service code
Reset
0x05
Get Attribute Single
0x0E
Set Attribute Single
0x10
Allocate Master Slave Connection Set
0x4B
Release Master Slave Connection Set
0x4C
DeviceNet Objects
Class code
Object class name
Instance number
01hex
Identity
02hex
Router
03hex
DeviceNet
04hex
Assembly
05hex
Connection
29hex
Control
64hex
Interface
65hex
Durus expansion
GFK-2470A
11-9
11
DeviceNet Object Class Definitions

Identity Object
Object Class code: 01Hex
This object provides identification of and general information about the device. There is
only one instance of this object.
Class Attributes
ID
Access
Rule
Get
Description
Revision of this class
Default
Value
Data Type
UINT
Byte
Number
2
Instance Attributes
ID
Access
Rule
Get
Vendor ID
UINT
326
Get
Device Type
UINT
0x0C
Get
Product Code
UINT
0x02 (slave)
Get
Revision
STRUCT
Major
USINT
0x01
Minor
USINT
0x01
Description
Default
Value
Data Type
Byte
Number
Get
Status
WORD
0x00
Get
Serial Number
UDINT
0x12345678
Get
Product Name
Short
String
15
16
USINT
0x00
Get
State of the device:
Durus-DNET
Module
0 = no device
1 = device self-testing
2 = Standby
3 = Operational
4 = Recoverable fault
5 = Fatal fault
11-10
Get
Device Configuration
UINT
0x00
Get/Set
Heartbeat interval in
seconds, nominal
USINT
0x00
GFK-2470A
11
Class Service
Service
code
Service name
Description of service
0x0E
Returns the contents of the specified attribute
Instance Service
Service
code
Service name
0x0E
0x10
Modifies an attribute
0x05
Reset
Invokes the Reset service for the device.
GFK-2470A
11-11
11
Router Object
Class code: 02Hex
The Message Router Object provides a messaging connection point through which a
Client may address a service to any object class or instance residing in the physical
device.
Class Attributes
ID
Access
Rule
Get
Description
Default
Value
Data Type
UINT
Byte
Number
2
Instance Attributes (none)

Class Service
Service
code
Service name
0x0E
Instance Service (none)
11-12
GFK-2470A
11
DeviceNet Object
Class code: 03Hex
The DeviceNet Object provides the configuration and status of a DeviceNet port. There
can only be one DeviceNet object per physical connection to the DeviceNet
communication link.
Class Attributes
Access
Rule
ID
1
Get
Description
Data
Type
UINT
Default
Value
2
Byte
Number
2
Instance Attributes
ID
Access
Rule
Description
Data
Type
Default
Value
Byte
Number
Get
Mac ID, range 0-63
USINT
63
Get
Baud Rate, range 0-2
USINT
Get/Set
Bus Off Interrupt
BOOL
Get/Set
Bus Off Counter, range 0255
USINT
Get
Allocation Master/Slave
Connection Set
STRUCT
Choice: which predefined

Master/Slave connections
are allocated to the Master
BYTE
0x00
Master MAC ID
USINT
0xFF
Get
Actual MAC ID Switch

Value, range 0-63
USINT
Get
Actual Baud rate switch

value, range 0-2
USINT
Class Service
Service
code
Service name
0x0E
GFK-2470A
11-13
11
Instance Service
Service
code
Service name
0x0E
0x10
Instance Service
Service
code
11-14
Service name
0x4B
Allocate
Master/Slave
connection set
Requests use of the predefined Master/Slave

connection set.
0x4C
Release
Master/Slave
connection set
Indicates that the specified connections within

the predefined Master/Slave connection set
should be released (deleted).
GFK-2470A
11
Connection Object
Class code: 05Hex
The Connection Class allocates and manages the internal resources associated with both
I/O and Explicit Messaging Connections.
Class Attributes
ID
Access
Rule
Get
Description
Data
Type
UINT
Default
Value
2
Byte
Number
2
Instance Attributes 1 (Explicit message connection)

ID
Access
Rule
Description
Data
Type
Default Value
Byte
Number
Get
State of the object:

00 = non existent
03 = established
05 = deferred delete
USINT
00
Get
Instance Type:
0 = Explicit connection
1 = I/O connection
USINT
00
Get
Transport Class Trigger
BYTE
0x83
Get
Produced connection ID. Placed in

CAN identifier field when the
connection transmits.
UINT
10******011
(****** is the
MAC ID).
Get
Consumed connection ID, denotes

the message to be received.
UINT
10******100
(****** is the
MAC ID).
Get
Initial Comm. Characteristics
BYTE
0x21
Get
Produced Connection Size,

maximum number of bytes.
UINT
40
Get
Consumed Connection Size.

UINT
40
Get/Set
Expected Packet Rate
UINT
2500 (ms)
Get/Set
Watchdog Timeout Action:

1 = auto-delete
3 = deferred delete
USINT
Get
Produced Connection Path Length,

number of bytes
USINT
Get
Produced Connection Path:

Application object whose data will be
produced by this connection object
SEG
No
Get
Consumed Connection Path length,

number of bytes in the consumed
connection path attribute.
USINT
10
Get
Consumed Connection Path:

Application object that is to receive
the data consumed by this
connection object.
SEG
No
11
Get
Production inhibit time: minimum

time between new data production.
UINT
GFK-2470A
11-15
11
Instance Attributes 2 (Poll I/O message connection)
11-16
ID
Access
Rule
Get
State of the object:

00 = non existent
01 = configuring
03 = established
04 = timed out
USINT 00
Get
Instance Type:
0 = Explicit connection
1 = I/O connection
USINT 00
Get
Transport Class Trigger
BYTE
0x83
Get
Produced connection ID.

Placed in CAN identifier field
when the connection
transmits.
UINT
01111******
(****** is the
MAC ID).
Get
Consumed connection ID,

denotes the message to be
received.
UINT
10******101
(****** is the
MAC ID).
Get
Initial Comm. Characteristics
BYTE
0x01
Get
Produced Connection Size,

UINT
Get
Consumed Connection Size,

UINT
Get/Set
Expected Packet Rate
UINT
0 (ms)
Get/Set
Watchdog Timeout Action:

0 = transition to timeout
2 = auto-reset
USINT 0
Get
Produced Connection Path

Length, number of bytes
USINT 6
Get
Produced Connection Path:

Application object whose data
will be produced by this
connection object. Input
assembly default is 6.
SEG
Get
Consumed Connection Path

Length, number of bytes in
the consumed connection
path attribute.
USINT 6
10
Get
Consumed Connection Path:

Application object that is to
receive the data consumed by
this connection object. Output
assembly default is 36.
SEG
20, 04, 24,

06, 30, 03
11
Get
Production inhibit time:

minimum time between new
data production.
UINT
Description
Data
Type
Default
Value
20, 04, 24,

06, 30, 03
Byte
Number
GFK-2470A
11
Common Service
Service
code
Optional Operation
Service Name
Class
Instance
0x05
Yes
(reset all
connections
to non-exist
state)
Yes
Used to track the
inactivity/watchdog timer
associated with a Connection
Object. When a Connection in
the Timed Out state or Deferred
Delete State receives a Reset
request, it also transitions back
to the Established state.
Reset
0x0E
Yes
Yes
Get attribute single
0x10
No
Yes
Get attribute single
GFK-2470A
11-17
11
Assembly Object
Class code: 04hex
Assembled controlling I/O states in the controller.
Class Attributes
Attributes
ID
Access
Rule
Get
Data
type
Name
Revision UINT
Description of
Attributes
and Semantics
Revision of
this class
Default
value
Byte number
Instance 6, 7, 110 Attributes (Input assembly, default is 6)

Attributes
ID
Access
Rule
Get
Name
Data
Data type
STRUCT of: WORD
Description of Attributes
Controller, status data
Instance 36, 37, 100 Attributes (Output assemble, default is 36)

Attributes
ID
Access
Rule
Name
Get/Set
Data
Data type
STRUCT of: WORD
Description of Attributes
Controller, control data
Class Service
Service
code
Service name
0x0E
Instance Services
Service
code
11-18
Service name
0x0E
0x10
GFK-2470A
11
Control Supervisor Object

Class code: 29Hex
This object includes the Run/Stop state and fault state of the Durus controller.
Instance Attributes
ID
Access
Rule
Default
Value
Byte
Number
Get/Set
Run State
0 = Stop, 1 = Run
BOOL
Get
Running State
0 = Stopping, 1 = Running
BOOL
Get
Ready State
0 = Not Ready, 1 = Ready
BOOL
Get
Fault State
0 = Not faulted, 1 = Faulted
BOOL
Get
Fault Reset State

0 = No operation,
1 = Faulted reset
BOOL
Get
Fault Code that indicates the

cause of the last transition to
the Faulted state.
UINT
Description
Data
Type
Instance Services
Service
code
Service name
0x0E
0x10
GFK-2470A
11-19
11
Interface Object
Class code: 64Hex
The class describes the parameters of the DeviceNet Communication Module.
Instance Attributes
ID
Access
Rule
Get/Set
Input Assembly Configure

6, 7, 110
USINT
Get/Set
Output Assembly Configure

36, 37, 100
USINT
36
Get
Baud Rate
USINT
Get
Node MAC ID
USINT
63
Get
Software version
USINT
1.1
Description
Data
Type
Default
Value
Byte
Number
Instance Services
Service
code
11-20
Service name
0x0E
0x10
GFK-2470A
11
Durus Controller Extended Object

Class code: 65Hex
This object includes the controllers coils data and function block values.
Instance Attributes
ID
1
2
Access
Rule
Get
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get
Get
Get / Set
0A
Get / Set
0B
Get / Set
0C
Get / Set
0D
Get
Description
Controller ID Number
R Coils (RTC Blocks) current states:
Byte 2, Bits
Byte 1, Bits
Data
Type
USINT
UINT
Default Bytes
Value
1
1
0
2
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
-- F E D C B A 9 8 7 6 5 4 3 2 1
G Coils (Analog Blocks) current states. See

bit assignments for R Coils above.
T Coils (Timer Blocks) current states. See
bit assignments for R Coils above.
C Coils (Counter Blocks) current states.
See bit assignments for R Coils above.
M Coils current states. See bit assignments
for R Coils above.
I Coils (Input Points) current states
Byte 2, Bits
Byte 1, Bits
-- -- -- -- C B A 9 8 7 6 5 4 3 2 1
X Coils (Extended Inputs) current states.

See bit assignments for I Coils above.
Q Coils (Output Points) current states
Byte 2, Bits
Byte 1, Bits
-- -- -- -- -- -- -- -- 8 7 6 5 4 3 2 1
0E
0F
GFK-2470A
Y Coils (Extended Outputs) current states.

See bit assignments for I Coils above.
N Coils current states. See bit assignments
for R Coils above.
RTC Current Value. Read Only.
Byte 1 = Year, Byte 2 = Month,
Byte 3 = Day, Byte 4 = Week,
Byte 5 = Hour, Byte 6 = Minute
Byte 8 = Second
PWM Current Value, running. Read Only
Byte 1 = Current running number
Byte 2 = Current PW Value low byte
Byte 3 = Current PW Value high byte
Byte 4 = Current PT Value low byte
Byte 5 = Current PT Value high byte
Reserved
Reserved
UINT
UINT
11-21
11
ID
10
Access
Rule
Get
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
20
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
21
22
23
24
25
26
27
28
29
2A
2B
2C
2D
2E
2F
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
11-22
Get
Description
Byte 1 = Timer Current Value low byte
Byte 2 = Timer Current Value high byte
Timer 2 Current Value. See Timer 1 format
Timer A Current Value. See Timer 1 format
Timer B Current Value. See Timer 1 format
Timer C Current Value. See Timer 1 format
Timer D Current Value. See Timer 1 format
Timer E Current Value. See Timer 1 format
Timer F Current Value. See Timer 1 format
Reserved
Counter 1 Current Value
Byte 1 = Counter Value low byte
Byte 2 = Counter Value middle byte
Byte 3 = Counter Value high byte
Byte 4 = 00
Counter 2 Current Value. See Counter 1.
Counter 5Current Value. See Counter 1.
Counter A Current Value. See Counter 1.
Counter B Current Value. See Counter 1.
Counter C Current Value. See Counter 1.
Counter D Current Value. See Counter 1.
Counter E Current Value. See Counter 1.
Counter F Current Value. See Counter 1.
Reserved
Data
Type
UINT
Default
Value
Bytes
2
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
2
2
2
2
2
2
2
2
2
2
2
2
2
2
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
4
4
4
4
4
4
4
4
4
4
4
4
4
4
GFK-2470A
11
ID
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F
40
41
42
43
44
45
46
47
48
49
4A
4B
4C
4D
4E
4F
Access
Rule
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
GFK-2470A
Description
Timer 1 Preset Value.
Byte 1 = Preset Value low byte
Byte 2 = Preset Value high byte.
Timer 2 Preset Value. See Timer 1.
Timer A Preset Value. See Timer 1.
Timer B Preset Value. See Timer 1.
Timer C Preset Value. See Timer 1.
Timer D Preset Value. See Timer 1.
Timer E Preset Value. See Timer 1.
Timer F Preset Value. See Timer 1.
Reserved
Counter 1 Preset Value
In Mode 1 to Mode 7:
Byte 1 = Counter Preset Value low byte
Byte 2 = Counter Preset Value middle
Byte 3 = Counter Preset Value high byte
Byte 4 = 00
In Mode 8:
Byte 1 = Period Time low byte
Byte 2 = Period Time high byte
Byte 3 = Counter ON Value low byte
Byte 4 = Counter ON Value middle byte
Byte 5 = Counter ON Value high byte
Byte 6 = Counter OFF Value low byte
Byte 7 = Counter OFF Value middle byte
Byte 7 = Counter OFF Value high byte
Counter 2 Preset Value. See Counter 1.
Counter 5Preset Value. See Counter 1.
Counter A Preset Value. See Counter 1.
Counter B Preset Value. See Counter 1.
Counter C Preset Value. See Counter 1.
Counter D Preset Value. See Counter 1.
Counter E Preset Value. See Counter 1.
Counter F Preset Value. See Counter 1.
Reserved
Data
Type
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
Default
Value
Bytes
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
UINT
4
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
4/8
4/8
4/8
4/8
4/8
4/8
4/8
4/8
4/8
4/8
4/8
4/8
4/8
4/8
11-23
11
ID
50
11-24
Access
Rule
Get / Set
51
52
53
54
55
56
57
58
59
5A
5B
5C
5D
5E
5F
60
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
61
62
63
64
65
66
67
68
69
6A
6B
6C
6D
6E
6F
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Description
RTC 1 Preset Value
Mode 1 and Mode 2:
Byte 1 = On week, Byte 2 = Off week
Byte 3 = On hour, Byte 4 = On minute
Byte 5 = Off hour, Byte 6 = Off minute
Mode 3:
Byte 1 = On year, Byte 2 = Off year
Byte 3 = On month, Byte 4 = On day
Byte 5 = Off month, Byte 6 = Off day
RTC 2 Preset Value. See RTC Preset 1.
RTC A Preset Value. See RTC Preset 1.
RTC B Preset Value
RTC C Preset Value
RTC D Preset Value
RTC E Preset Value
RTC F Preset Value
Reserved
Analog 1 Preset Value:
Byte 1 = low byte, Byte 2 = high byte
Analog 2 Preset Value. See Analog 1.
Analog A Preset Value. See Analog 1.
Analog B Preset Value. See Analog 1.
Analog C Preset Value. See Analog 1.
Analog D Preset Value. See Analog 1.
Analog E Preset Value. See Analog 1.
Analog F Preset Value. See Analog 1.
Reserved
Data
Type
UINT
Default
Value
Bytes
6
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
6
6
6
6
6
6
6
6
6
6
6
6
6
6
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
2
2
2
2
2
2
2
2
2
2
2
2
2
2
GFK-2470A
11
ID
70
Access
Rule
Get / Set
71
72
73
74
75
76
77
78
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get
79
7A
7B
7C
7D
7E
7F
Get
Get
Get
Get
Get
Get
Get
Description
PWM 1 Preset Value
Byte 1 = Preset PW Value low byte
Byte 2 = Preset PW Value high byte
Byte 3 = Preset PT Value low byte
Byte 4 = Preset PT Value high byte
PWM 2 Preset Value. See PWM 1.
Analog input 1 Current Value:
Byte 1 = low byte, Byte 2 = high byte
Analog input 2 Current Value. See A1
Data
Type
UINT
Default
Value
Bytes
4
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
4
4
4
4
4
4
4
2
UINT
UINT
UINT
UINT
UINT
UINT
UINT
2
2
2
2
2
2
2
Instance Service
Service
code
Service name
0x0E
0x10
GFK-2470A
11-25
Appendix Application Examples
A
This appendix provides sample applications for DURUS controllers.
Lighting Control for Staircase
Automatic Entry Door
Ventilation Control
Plant Gate Control
Counting Products for Packaging
GFK-2470A
A-1
Example 1: Lighting Control for Staircase

This example application uses a DURUS Controller to automate lighting for a staircase.
Additional Devices for Stair Lighting Application

Q1
Lamp H1
I1 (no terminal)
Switch B1
I2 (no terminal)
Infrared sensor at stairs
Wiring Diagram for Stair Lighting Application
Switch
A-2
Switch
Infrared
Sensor
GFK-2470A
Ladder Logic for Stair Lighting Application
Block Diagram for Stair Lighting Application
GFK-2470A
Appendix A Application Examples
A-3
Example 2: Automatic Control of Entry Door

This example application automates the opening of an entrance door.
Inputs and Outputs for Door Opener Application

MC1
Main door open contact
MC2
Main door close contact
S1
Closing limit switch (normally-closed contact)
S2
Opening limit switch (normally-closed contact)
B1
Outdoor infrared sensor (normally-open contact)
B2
Indoor infrared sensor (normally-open contact)
Wiring Diagram for Door Opener Application
A-4
GFK-2470A
Ladder Logic for Door Opener Application
Block Diagram for Door Opener Application
GFK-2470A
A-5
Example 3: Ventilation System Control

This example application automates a ventilation system that provides fresh air and
removes waste air.
In this application, the ventilation system is completely controlled by an airflow monitor. If
there is no airflow in the room after a designated period of time, a warning occurs so that
an operator can shut off the system.
Inputs and Outputs for Ventilation System Application

MC1
Main contact
MC2
Main contact
S0
Stop switch (normally-closed contact)
S1
Start switch (normally-closed contact)
S2
Air flow monitor
S3
Air flow monitor
H1
Operation indicator
H2
Alarm light
Wiring Diagram for Ventilation System Application
A-6
GFK-2470A
Ladder Logic for Ventilation System Application
Block Diagram for Ventilation System Application
GFK-2470A
A-7
Example 4: Plant Gate Control

This example application automates the opening of a rolling gate that normally blocks the
truck entrance to a plant.
In this example, a guard controls the operation of the plant gate. The system includes a
stop switch that can be activated at any time, regardless of the position of the gate. An
alarm light is activated for 5 seconds before the gate operates. A damper on the gate
stops the gate when it is closing.
Inputs and Outputs for Gate Control Application

MC1
Main electromagnetic contact
MC2
Main electromagnetic contact
S0
Stop switch (normally-closed contact)
S1
Open switch (normally-open contact)
S2
Close switch (normally-open contact)
S3
Open safe damper (normally-closed contact)
S4
Close safe damper (normally-closed contact)
Wiring Diagram for Gate Control Application
A-8
GFK-2470A
Ladder Logic for Gate Control Application
Block Diagram for Gate Control Application
GFK-2470A
A-9
Example 5: Counting Products for Packing

This example application counts finished products on an assembly line. When the count
reaches 12, the counter triggers the packing operation, which takes 5 seconds. When the
packing is finished, a new cycle starts.
In this application, a transducer produces a pulse signal when it detects the arrival of a
product. When the count reaches 12, a counter generates an output. A Type 3 or Type 4
counter is used with timer TE or TF so that the count value will be retained if power is lost
during operation. This type of retentive counter requires a DURUS controller with revision
2.1 or later firmware.
The application also includes a timer with a five-second delay.
Inputs and Outputs for Packing Application

I1
Count sensor
S1
Resets the count value to 0
M1
Packing
Wiring Diagram for Packing Application
A-10
GFK-2470A
Ladder Logic for Packing Application
Block Diagram for Packing Application
GFK-2470A
A-11
Index
A
Agency Approvals, 1-1
Analog Comparator Format on the
Controller, 5-1
Analog Compares, 1-1
Analog Display Set, 8-1
Analog Gain and Offset, 5-1, 7-1
Analog Inputs, 1-1
AND (EDGE) Logic Diagram, 4-1
AND Logic Diagram, 4-1
Approvals, 1-1
AQ (analog outputs), 4-1
AR (Analog-Ramp), 4-1
AS (add-subtract), 4-1
Assembly Object, 11-1
B
Backlight
control, 5-1
life, 1-1
Block Diagram Format, 1-1

Block Diagram Mode, 8-1
Bus Termination, 9-1, 10-1
C
C memory, 4-1
Cascaded Flash Timer without Reset, 4-1
Clear the Current Program, 5-1
Clear the Current Program, 7-1
CMS (Checksum and time-out definition),
9-1
Coil Addresses, 9-1
Coil Status Addresses, 9-1
Coil Status Registers, 9-1
Coils Address, 9-1
Coils and Contacts, 7-1
Comments, 8-1
Communications Features, 1-1
Communications Option Modules, 1-1
Compare Functions, 4-1
Comparison of Module Features, 1-1
Configuration
analog gain and offset, 5-1, 6-1, 7-1
backlight display, 5-1
language, 5-1, 6-1, 7-1, 8-1
Link Com Port, 6-1, 8-1
M Keep, 4-1
Module System Setting, 5-1, 6-1, 8-1
password, 5-1, 6-1, 7-1, 8-1
real time clock, 5-1, 6-1, 7-1, 8-1
Connection Object, 11-1
GFK-2470A
Control Registers, 9-1

Control Supervisor Object, 11-1
Controller Main Menu in Function Block
Mode, 7-1
Controller Main Menu in Ladder Mode, 5-1
Controller Setup, 5-1, 7-1
Controllers and Expansion Modules, 1-1
Count Up or Down
Continuous, Non-Retentive, 4-1
Continuous, Retentive, 4-1
Fixed, Retentive, 4-1
to Preset, Non-Retentive, 4-1
Counter Format on the Controller, 5-1

Counters, 1-1
Current Value Registers, 9-1
Current Values Registers, 9-1
D
Data Link, 1-1
Data Link Format on the Controller, 5-1
Data Link Function, 8-1
DATALINK Function, 4-1
Description, 1-1
DeviceNet, 1-1
DeviceNet Features, 11-1
DeviceNet Object, 11-1
DeviceNet Object Class Definitions, 11-1
DeviceNet Objects, 11-1
DeviceNet Services, 11-1
DeviceNet Slave Communications
Expansion Module (IC210EDS001),
11-1
Dimensions, 1-1
DIN Rail Installation, 2-1
Discrete Inputs, 1-1
Display Language, 5-1, 7-1
DR (Data-Register), 4-1
Durus Controller Extended Object, 11-1
DURUS Controllers
part numbers, 1-1
DURUS-10 Controllers, 1-1

E
Edit Function Blocks, 5-1
Edit Ladder Logic, 5-1
Editing on the Controller, 7-1
Electrical Isolation, 10-1
Exception Codes, 9-1
Expansion Inputs and Outputs, 5-1, 7-1
Index-1
Index
Expansion Module Installation, 2-1
Expansion Modules, 1-1
F
Features, 1-1
Field Wiring, 2-1
Flash with Reset Input, 4-1
Flash without Reset Input, 4-1
Frequency Comparison, 4-1
Function Block Editing on the Controller, 51
Function Block Mode, 7-1
Function Blocks, 7-1
M
M memory, 4-1
MD (multiply-divide), 4-1
Memory Option Module Installation, 3-1
Memory usage
Function Block mode, 4-1
MODBUS
Getting started. See QuickStart Guide

GSD File, 10-1
H
High-Speed Counter, 4-1
HMI instructions, 4-1, 6-1
HMI/Text, 4-1, 6-1
HMI Screens, 5-1, 7-1
Commands, 9-1
examples, 9-1
Function Codes, 9-1
message formats, 9-1
register addresses, 9-1
slave, communications expansion module,
9-1
slave, with built-in RS-485 port, 9-1
MODBUS Functions, 4-1

MODBUS RTU, 1-1
MODBUS RTU Slave Communications
Built-in RS-485 port, 9-1
Expansion Module, 24VDC
(IC210EMS001), 9-1
I
I/O Assembly Data Definitions, 11-1
I/O Expansion Option Modules, 1-1
I/O Link Wiring, 2-1
I/O Specifications, 1-1
Identity Object, 11-1
Input contacts, 4-1
Installation Environment, 2-1
Installation, Expansion Module, 10-1
Interface Object, 11-1
K
Keypad Functions in Function Block Mode,
7-1
Keypad Functions in Ladder Mode, 5-1
Keypad Mode, 6-1
Keypad overview
function block operation, 7-1
ladder operation, 5-1
L
Ladder Logic Editing on the Controller, 5-1
Ladder Logic Editing with the
Programming Software, 6-1
Index-2
Ladder Logic Format, 1-1

Ladder Logic Programming Software, 6-1
Ladder Logic Software in Keypad Mode, 61
Languages, 1-1
Logic Blocks, 7-1
Loopback Check, Command, 9-1
Monitor Mode, 8-1

Mounting Clamps, 2-1
Mounting Instructions, 2-1
MX (Multiplexer), 4-1
N
N memory, 4-1
NAND (EDGE) Logic Diagram, 4-1
NAND Logic Diagram, 4-1
Negative Input Differential logic diagram,
4-1
NOR logic diagram, 4-1
Normal Output, 4-1
NOT logic diagram, 4-1
O
Off Delay with Reset, 4-1
On Delay with Reset Input, 4-1
On-Delay Mode Timer, 4-1
OR logic diagram, 4-1
Over-current Protection, 2-1
GFK-2470A
Index
P
Panel Mounting, 2-1
Password, 5-1, 7-1
Phone number, 4-1
PID (Proportional-Integral-Differential), 4-1
Point States, 5-1, 7-1
Positive Input Differential logic diagram, 41
Power Supply, 1-1
Preset, 5-1, 7-1
Preset Single Register, Command, 9-1
Preset Value Registers, 9-1
Preset Values Registers, 9-1
Profibus Cable Types, 10-1
Profibus Functions, 10-1
Profibus-DP, 1-1
Profibus-DP Bus Connection, 10-1
Profibus-DP Slave Communications
Expansion Module, 24VDC
(IC210EPS001), 10-1
Program Editing, 8-1
Program Elements, 8-1
Program Transfer, 1-1
Programming, 1-1
Programming Computer, Connecting, 3-1
Programming elements, 4-1
Programming Software and Cables, 1-1
Protection Devices, 2-1
Pulse Output (Flip/Flop), 4-1
PWM Format on the Controller, 5-1
PWM Output Instruction, 4-1
PLSY mode, 4-1
PWM mode, 4-1
Broadcast, 9-1
RTU Mode, 9-1

Run / Stop the Controller, 5-1, 7-1
S
SET Output (Latch), 4-1
Set the Real-time Clock, 5-1
Simulation Mode, 8-1
SLAVE Addresses, 9-1
Specifications, 1-1
SR Logic Diagram; Set/Reset Coil, 4-1
Startup Screen, 5-1, 7-1
System errors, 5-1, 7-1
T
T memory, 4-1
Technical Support. See page iii
Text Editing, 8-1
Timer Format on the Controller, 5-1
Timers, 1-1, 4-1
Transistor Outputs, 1-1
R
Read / Write Coils Command, 10-1
Read / Write Function Blocks Command,
10-1
Read a Program, 5-1, 7-1
Read Coils, Command, 9-1
Read Registers, Command, 9-1
Reading and Writing Durus Controller
Data, 10-1
Real Time Clock Format on the Controller,
5-1
Real Time Clock Instructions, 4-1
Real Time Clock: 30 Second Modify Mode,
4-1
Real Time Clocks, 1-1
Real-time Clock, 7-1
Register Addresses, 9-1
Relay Outputs, 1-1
GFK-2470A
Remote I/O, 1-1

Remote I/O Wiring, 2-1
RESET Output (Unlatch), 4-1
Router Object, 11-1
RTC Mode 1, Daily, 4-1
RTC Mode 2, Weekly, 4-1
RTC Mode 3: Year, Month, Day Operation,
4-1
RTU Message Types
Index
Wiring, 1-1
Write a Program, 5-1, 7-1
Write Registers, Command, 9-1
Write Single Coil, Command, 9-1
X
XOR logic diagram, 4-1
Z
Z memory, 4-1
Index-3

Durus System Manual - GFK2470A

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Programmable Control Products

Warnings, Cautions, and Notes

Notes merely call attention to information that is especially significant to

General Contact Information

International Americas Direct Dial

1-780-420-2010 (if toll free 800 option is unavailable)

Technical Support Email

Customer Care Email

Primary language of support

Europe, the Middle East, and Africa

EMEA Direct Dial

+352-26-722-780 (if toll free 800 option is unavailable or if

Technical Support Email

Customer Care Email

Primary languages of support

English, French, German, Italian, Czech, Spanish

Technical Support Email

Customer Care Email

DURUS Controllers System ManualMay 2011

Transferring Programs.................................................................................................. 3-1

Function Blocks............................................................................................................. 4-1

DURUS Controllers System ManualMay 2011

Keypad Operations in Ladder Logic Mode ................................................................. 5-1

Software Operation in Ladder Logic Mode ................................................................. 6-1

Keypad Operations in Function Block Mode .............................................................. 7-1

Software Operation in Block Diagram Mode ............................................................... 8-1

DURUS Controllers System ManualMay 2011

Programming in Block Diagram Mode ............................................................................ 8-22

MODBUS Communications .......................................................................................... 9-1

PROFIBUS Communications ...................................................................................... 10-1

The GSD File ................................................................................................................ 10-11

DeviceNet Communications ....................................................................................... 11-1

DURUS Controllers System ManualMay 2011

Application Examples .................................................................................................. A-1

QuickStart Guide: Getting Started with DURUS

Install DURUS Development Software

Connect Power to the DURUS Controller

Connect the Programming Cable

Establish Communication between the Programming Software and the Controller

2. In the Operation menu, select Link Com Port.

DURUS ControllersSystem Manual May 2011

Write a Simple Program

QuickStart Guide: Getting Started with DURUS

DURUS ControllersSystem Manual May 2011

QuickStart Guide: Getting Started with DURUS

DURUS ControllersSystem Manual May 2011

Overview of DURUS Controller Modules

Programmable Relay, AC or DC Inputs,

Models available for 12VDC, 24VDC,

Select models expandable up to 44 I/O

Analog Inputs, 12-bit resolution, 010VDC

265VAC / 30VDC Relay Outputs, 8A

Available with or without Keypad / Display

Built-in Real-Time Clock

10-Point, 12-Point, 20-Point and 24-Point

Analog Input Expansion, 12-bit resolution,

4-line, 16-character LCD backlit display

DURUS Controllers May 2011

Panel-mount or DIN rail (35mm) installation

In accordance with Mounting Instructions in chapter 2.

-20C 55C (-4F 131F)

-40C 70C (-40F 158 F)

90% (relative, non-condensing)