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Machine Controller MP900/MP2000 Series New Ladder Editor
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1. A 7 A 3 Application to Ladder Program A 9 A 3 1 Conditional Expression of IF Instruction A 9 A 3 2 Conditional Expression of WHILE Instruction A 9 A 3 3 Operational Expression of EXPRESSION Instruction A 10 A 1 Appendix A Expression A 1 1 Operator A 1 Expression The Expression is composed of the operator the operand constant and variable and functions The end of one Expression is shown by the semicolon The expressions can be united by using parentheses Each component of the Expression is explained here A 1 1 Operator m Usable Operator There is the following kinds of usable operators Arithmetic Operator Addition Subtraction Multiplication Division Surplus AND of each bit OR of each bit Logic Operator Only for the Bit Type amp amp Logical product Logical add Logical denial Comparison Operator Equal to a right value Not equal to a right value Greater than a right value Greater than or equal to a right value Less than a right value Less than or equal to a right value A 2 D INFO nop Substitution Operator A right value is substituted for a left value Reserved Word true false Value to logical expression Priority Level and Uniting Rule There is a priority level in the operator and the uniting rule
2. Ee BEA ae a ae a ae ue a cont d Applicable Model Manual Name Manual Number POT Machine Controller MP900 MP2000 Series SIEZ C887 13 1 V V V V New Ladder Editor Programming Manual Machine Controller MP900 MP2000 Series SIEZ C887 13 2 V V V New Ladder Editor User s Manual Machine Controller MP2100 MP2100M SIEPC88070001 y User s Manual Design and Maintenance Machine Controller MP2300 Basic Module SIEPC88070003 y User s Manual Machine Controller MP2300 SIEPC88070004 User s Manual Communications Module Machine Controller MP900 2000 Series SIEPC88070005 V V V V MPE720 Software for Programming Device User s Manual vi CONTENTS About This Manual iii About The Software iii Visual Aids iv Related Manuals v 1 Ladder Program Instructions 1 1 Relay Circuit Instructions 1 4 1 1 1 N O Contact Instruction NOC 1 4 1 1 2 N C Contact Instruction NCC 1 5 1 1 3 10 MS ON DELAY TIMER Instruction TON 10ms 1 6 1 1 4 10 MS OFF DELAY TIMER Instruction TOFF 10ms 1 7 1 1 5 1 S ON DELAY TIMER Instruction TON 1s 1 8 1 1 6 1 S OFF DELAY TIMER Instruction TOF
3. OB00000 When OB00000 is OFF with the set coil instruction OB00000 turns ON 1 1 Relay Circuit Instructions 1 1 11 RESET COIL Instruction R COIL E Outline The R COIL turns OFF the output when the execution condition is satisfied and maintains the OFF state E Format Symbol R COIL gt Full Name Reset Coil HBO 00 007 Category RELAY Icon A E Parameter Coil No e Any bit type register except for and C register e Any bit type register with subscript except for and C regis ters E Program Example Case where the same output destination is designated multiple times NBOOOO00 OBOOOOO MB000001 MBOOOOO2 OBOO000 2 MBOOOOO3 OBOO000 1 17 1 Ladder Program Instructions ee _ s aaAAasass 1 1 11 RESET COIL Instruction R COIL The above example acts as in the graph below MBO000000 MBO000001 MBO000002 MBO000003 OB00000 When OB00000 is ON with the reset coil instruction OB00000 turns OFF 1 2 Numeric Operation Instructions 1 2 Numeric Operation Instructions 1 2 1 STORE Instruction STORE E Outline The STORE instruction stores the contents of Source in the Dest E Format Symbol STORE Full Name Store STORE Zz Category MATH Source Icon amp MWOO001 gt Dest HWOO002 E Parameter Source e Any integer type double le
4. 2 34 2 3 2 Inverter Constant Read Function ICNS RD 2 39 2 4 Other Functions 2 42 2 4 1 Counter Function COUNTER 2 42 2 4 2 First in First out Function FINFOUT 2 44 2 1 2 Standard System Function 2 1 1 Send Message Function MSG SND 2 1 Message Functions 2 1 1 Send Message Function MSG SND E Outline Sends a message to the called station which is on the line and which is designated by the transmission device type Supports a plurality of protocol types The execution command Execute must be held until Complete or Error becomes ON Transmission Devices CPU Module 215IF 217IF 218IF SVB 01 for MP920 Protocols MEMOBUS communication non procedural E Format Symbol MSG SND ee Execute Busy ategory SYSTEM NB000029 NB000031 Icon ya SN te Abort 2 MB000032 2 MBOOOO30 Dev Typ Error MWO0024 WB000033 Pro Typ MWO0025 Cir No MWOO026 Ch No MWOO027 Param MA00008 2 2 2 1 Message Functions E Parameter VO Parameter I O Setting Definition Name Designation B VAL Send message forced interruption instruction Dev Typ REG Type of transmission device CPU module 8 215IF 1 217IF 5 218IF 6 218 02 16 SVB 01 11 Pro Typ REG Transmission protocol MEMOBUS 1 non procedural 2 Cir N REG Line No CPU module 1 2 215IF 1 to 8 217IF 1 to 2
5. P output value 1 130 1 7 DDC Instructions 1 7 5 PD CONTROL Instruction PD E Outline The PD instruction executes a PD control operation according to the contents of a previously set parameter table The input nput to the PD operation must be integer or real number data Double length integer data cannot be used The configurations of the parameter tables for integer and real number data are different Operations are performed by processing each parameter as an integer consisting of the lower place 16 bits Table 1 14 Integer Type PD Instruction Parameters Type Symbol Specifications I O Relay I O Relay input relay output IN Gain of the P offset a gain of 1 is set to 100 I Kp Pai D gain Gain of the differential circuit input a gain of 1 is set IN to 100 T Divergence differential The differential time ms used in the case of diverg IN time ing input T Convergence differential The differential time ms used in the case of con IN time verging input az a orr nN x Input value storage Storage of the present deviation input value RLY Kp Kd d1 d2 UL LL xX Reserved Reserved relay for input Reserved Reserved relay for output 1 131 1 Ladder Program Instructions 1 7 5 PD CONTROL Instruction PD Table 1 15 Real Number Type PD Instruction Parameters A Co f w o eee eesse Kd Td1 Divergence differential The differential time s used in th
6. 1 98 1 6 1 BIT ROTATION LEFT Instruction ROTL 1 98 1 6 2 BIT ROTATION RIGHT Instruction ROTR 1 99 1 6 3 MOVE BITS Instruction MOVB 1 101 1 6 4 MOVE WORD Instruction MOVW 1 103 1 6 5 EXCHANGE Instruction XCHG 1 105 1 6 6 SET WORDS Instruction SETW 1 106 1 6 7 BYTE TO WORD EXPANSION Instruction BEXTD 1 108 1 6 8 WORD TO WORD COMPRESSION Instruction BPRESS 1 110 1 6 9 BINARY SEARCH Instruction BSRCH 1 111 1 6 10 SORT Instruction SORT 1 113 1 6 11 BIT SHIFT LEFT Instruction SHFTL 1 114 1 6 12 BIT SHIFT RIGHT Instruction SHFTR 1 115 1 6 13 COPY WORD Instruction COPYW 1 116 1 6 14 BYTE SWAP Instruction BSWAP 1 118 viii 1 7 DDC Instructions 1 120 1 7 1 DEAD ZONE A Instruction DZA 1 120 1 7 2 DEAD ZONE B Instruction DZB 1 122 1 7 3 UPPER LOWER LIMIT Instruction LIMIT 1 124 1 7 4 PI CONTROL Instruction Pl 1 127 1 7 5 PD CONTROL Instruction PD 1 131 1 7 6 PID CONTROL Instruction PID 1 135
7. A 9 A 3 1 Conditional Expression of IF Instruction A 9 A 3 2 Conditional Expression of WHILE Instruction A 9 A 3 3 Operational Expression of EXPRESSION Instruction A 10 Revision History 1 Ladder Program Instructions This chapter describes in the instructions for relay circuits numeric operations logical operations and comparisons program controls basic functions data manipulation DDC and table data a manipulation 1 1 Relay Circuit Instructions 1 4 1 1 1 N O Contact Instruction NOC 1 4 1 1 2 N C Contact Instruction NCC 1 5 1 1 3 10 MS ON DELAY TIMER Instruction TON 10ms 1 6 1 1 4 10 MS OFF DELAY TIMER Instruction TOFF 10ms 1 7 1 1 5 1 S ON DELAY TIMER Instruction TON 1s 1 8 1 1 6 1 S OFF DELAY TIMER Instruction TOFF 1s 1 10 1 1 7 RISING PULSE Instruction ON PLS 1 11 1 1 8 FALLING PULSE Instruction OFF PLS 1 13 1 1 9 COIL Instruction COIL 1 14 1 1 10 SET COIL Instruction S COIL 1 15 1 1 11 RESET COIL Instruction R COIL 1 17 1 2 Numeric Operation Instructions 1 19 1 2 1 STORE Instruction STORE 1 19 1
8. VI Speed VI Instruction input value change in moderation Z Change to 0 gt VI S the instruction input value changes while accelerating Change to VI gt 0 0 gt 0 gt Time Time 1 Undershoot 1 7 13 PULSE WIDTH MODULATION Instruction PWM E Outline The PWM instruction converts the value of the Input to PWM as an input value between 100 00 and 100 00 with increments of 0 01 and outputs the result to the Output and the parameter table Double length integer and real number operations are not allowed PWMT X 10000 20000 Time of ON output PWMT X 10000 Number of ON outputs Ts x 20000 X input value Ts scan time set value ms When 100 00 is input all ON When 0 is input 50 duty 50 ON When 100 00 is input all OFF When the PWM reset PWMRST is ON all internal operations are reset and PWM opera tions are performed with that instant as the starting point After turning the power ON set PWMRST to ON to clear all internal operations then use the PWM instruction 1 163 1 Ladder Program Instructions 1 7 13 PULSE WIDTH MODULATION Instruction PWM Table 1 30 Integer Type PWM Instruction Parameters E m CVOFF OFF output counting timer Counting timer for OFF output 1 ms W CVOFF OFF output counting timer OFF output counting timer remainder 0 1 ms OUT REM remainder Relay I O Bit Assignmen
9. Real Number Type Operation Number of Data N 20 F00000 to F00080 are used for the parameter table Input F00020 Deviation input value Parameter 400000 lt Head address of parameter table Output MFO0022 lt FGN output value 1 7 10 INVERSE FUNCTION GENERATOR Instruction IFGN E Outline The IFGN instruction generates a function curve according to the contents of a previously set parameter table The input to the IFGN instruction can be integer double length integer or real number data The configuration of the parameter table differs according to the type of data If the data set in the parameter table for the IFGN instruction are X and Y the data must be set so that Y is less than or equal to Y 4 The IFGN instruction searches for an X Y pair within the parameter table in which Y is less than or equal to Y which is less than or equal to Y from input value Y and calculates the output value X Table 1 24 Integer Type IFGN Instruction Parameters 1 147 1 Ladder Program Instructions 1 7 10 INVERSE FUNCTION GENERATOR Instruction IFGN Table 1 25 Double length Integer or Real Type IFGN Instruction Parameters CAR ive omo ee OOO a o Co WN iee e a C w feen o eneee CN ae aia A ae oat L F X2 If the data set in the parameter table for the IFGN instruction are X and Y the data must be set so that X lt Y 4 The IFGN instruction searche
10. 1 166 1 8 1 BLOCK READ Instruction TBLBR 1 166 1 8 2 BLOCK WRITE Instruction TBLBW 1 168 1 8 3 ROW SEARCH Instruction TBLSRL 1 170 1 8 4 COLUMN SEARCH Instruction TBLSRC 1 171 1 8 5 BLOCK CLEAR Instruction TBLCL 1 173 1 8 6 BLOCK MOVE Instruction TBLMV 1 175 1 8 7 QUEUE TABLE READ Instructions QTBLR QTBLRI 1 177 1 8 8 QUEUE TABLE WRITE Instructions QTBLW QTBLWI 1 179 1 8 9 QUEUE POINTER CLEAR Instruction QTBLCL 1 182 1 3 1 Ladder Program Instructions 1 1 1 N O Contact Instruction NOC 1 1 Relay Circuit Instructions 1 1 1 N O Contact Instruction NOC E Outline The NOC sets the value of the bit output to ON if the value of the referenced register is 1 ON and to OFF is the value of the referenced register is 0 OFF E Format Symbol NOC 3 Full Name NO Contact HBO 00 001 Category RELAY Icon 4h E Parameter Relay No e Any bit type register e Any bit type register with subscript E Program Example When MW000100 becomes ON MB000101 becomes ON MBOOO100 NB000101 ON MB000100 OFF ON MB000101 OFF 1 1 Relay Circuit Instructions 1 1 2 N C Contact Instruction NCC E Outline The NCC sets the value of the bit output to OFF when the value of the referenced
11. Head Bit Address e Any bit type register except for and C registers e Any bit type register with subscript except for and C regis ters Number of Rotations e Any integer type register e Any integer type register with subscript e Constant Bit Width e Any integer type register e Any integer type register with subscript e Constant 1 98 1 6 Data Manipulation Instructions E Program Example The data having MB00000A bit A of MW00000 as the head address and a bit width of 10 are rotated five times to the left Head Bit Address MBOOOOOA Number of Rotations 5 Bit Width 10 Rotation symmetry range Bit width 10 F Cc gt 9 4 0 Se cnn 0 0 1 1 1 0 MW00000 1 0 o o Mwoooot gt v F Cc 9 4 0 are 0 1 0 0 0 0 Mwo0000 lt lt H _ _ _ o 1 1 4 Mwoooot 1 6 2 BIT ROTATION RIGHT Instruction ROTR E Outline The ROTR instruction is used to rotate bits to the right the number of times designated in the bit table designated by the leading bit address and bit width e Bit width m _ ______ m 1m 2 m 3 4 3 2 1 0 Ei Head bit address CS Eii IS ate acai p p t gt gt p gt Number of rotations lt 1 99 1 Ladder Program Instructions 1 6 2 BIT ROTATION RIGHT Instruction ROTR E Format Symbol
12. Icon MTBE Search Data SE MA0O0OS Parameter MAOOOOG Output MWO0003 Status NB000003 1 170 1 8 Table Data Manipulation Instructions E Parameter Search Data e Register address e Register address with subscript Parameter e Register address e Register address with subscript Output e Any integer type register except for and C registers e Any integer type register with subscript e Subscript register Status e Any bit type register except for and C registers e Any bit type register with subscript Possible to omit E Program Example The table defined as TABLE1 is searched for data which matchers MW00100 when the type of the searched table is integer with DW00010 to DW00014 as a parameter table TBLSRL Fx Table Name TABLE1 Search Data MA00100 Parameter DA00010 Output MW00011 Status MBO00000 1 8 4 COLUMN SEARCH Instruction TBLSRC E Outline The TBLSRC instruction searches for the row element of the file register table specified by a table name Zable Name row number and column number If there is data that matches the data of the specified register Search Data the instruction reports that column number The type of the data to searched is automatically determined according to the specified table If errors such as invalid table names invalid row numbers invalid column numbers or insufficient storage register data length are found they are reported Upo
13. MW00104 1035H Mwo00005 1036H Mwoo105 2055H ansfer woude 2055H MW00105 1036H Mwo0006 1037H MW00106 2056H MW00006 2056H MW00106 1037H MW00007 1038H MW00107 2057H MW00007 2057H MW00107 1038H Mwo0008 1039H MW00108 2058H Mwoo0008 2058H MW00108 1039H MW00009 1030H MW00109 2059H MW00009 2059H MW00109 1030H 1 6 6 SET WORDS Instruction SETW E Outline The SETW instruction stores the designated data Set Data in all registers designated by the transfer destination register number Dest and the number of destination registers Width The storage process is performed one word at a time in the direction in which the register number increases Transfer data Transfer destination area XXXXX XXXXX VWXXXXX 4 Transfer N XXXXX VWxxxxx 1 destination register no XXXXX VWxxxxx 2 V S 1 0 M D XXXXX VWXxXxxx 3 Number of 3 transfers XXXXX VWxxxxx n 1 XXXXX VWxxxxx n J 1 106 1 6 Data Manipulation Instructions E Format Symbol SETW Full Name Set Word SETW px Category MOVE Dest 9 Icon SET HwO0012 w Set Data WWOO018 Width MWOO014 E Parameter Dest e Any integer type register except for and C registers e Any integer type register with subscript except for and C reg isters Set Data e Any integer type register except for and C registers e Any integer ty
14. Status Status 7 MB000009 MB000010 1 180 1 8 Table Data Manipulation Instructions E Parameter Parameter Name Setting Write Data e Register address except for and C registers e Register address with subscript Parameter e Register address e Register address with subscript Output e Any integer type register except for and C registers e Any integer type register with subscript e Subscript register Status e Any bit type register except for and C registers e Any bit type register with subscript Possible to omit E Program Example Integer form consecutive data for the number of column elements beginning with MW00100 is written in column element data in the table defined as TABLE1 using DW00010 to DW00014 as a parameter table Table Name TABLE Write Data MA00100 Parameter DA00010 Output MW00011 Status MB000000 OTBLWI px Table Name TABLE Write Data MA00100 Parameter DA00010 Output MW00011 Status MB000000 1 181 1 Ladder Program Instructions 1 8 9 QUEUE POINTER CLEAR Instruction QTBLCL 1 8 9 QUEUE POINTER CLEAR Instruction QTBLCL E Outline The QTBLCL instruction returns the queue read and queue write pointers of the file register table specified by a table name Zable Name to their initial state first row Upon normal termination 0 is set in the Output and the Status is turned OFF When an error occurs the corresponding error code is set in the
15. e Register address with subscript Status e Any bit type register except for and C registers e Any bit type register with subscript Possible to omit Table 1 11 OUTS Instruction Parameter Data Type Symbol Name Specifications Input or Output o w RSSEL Module designation 1 Designation of module for performing output FIN aaa MDSEL Module designation2 Module designation2 2 Status Output of a bit equivalence of the status for each word output wo N Number of words Designation of number of words output continuously a Output data 1 Setting output data DE D Method of setting RSSEL and N number of words is the same as for INS 1 74 1 4 Program Control Instructions E Program Example Two words output to LIO 01 mounted at rack 3 slot 10 Source HO30A Dest MW00200 Source 0 Dest MW00201 Source 2 Dest MW00203 Source 1 Dest MW00204 Source 1 Dest MW00205 Parameter MA00200 Status MB000000 D INFOJ Two outputs will be done by using the OUTS instruction because local I O is allocated by default for MP930 1 75 1 Ladder Program Instructions 1 4 6 EXTENSION PROGRAM CALL Instruction XCALL 1 4 6 EXTENSION PROGRAM CALL Instruction XCALL E Outline The XCALL instruction is used to call an extension program Extension programs are table format programs Although a pulurality of XCALL instructions may be used in one draw ing the same ex
16. Dest MW00201 END_IF 1 4 9 IF Instruction IF ELSE END_IF E Outline If the conditional expression in the IF instruction is approved the instruction sequence 1 between IF and ELSE is executed If the conditional expression in the IF instruction is not approved the instruction sequence 2 between ELSE and END IF is executed E Format e At instruction development display ON Symbol IF ELSE IF zj END IF Full Name If Then Else End of If Category CONTROL Icon 5 END ir ase SP MWOO100 gt 100 bec Instruction Sequence 2 END_IF 1 80 1 4 Program Control Instructions e At instruction development display OFF Symbol IF ELSE END_IF Full Name IF Then and IF ELSE END_IF Else and End of If Category CONTROL Icon JIE con EN E Parameter Conditional Expression Description by Expression X INFOJ 1 Eight IF instructions can be nested 2 Ifan instruction is defined after a contact this instruction is regarded as an IF instruction and included in the nest E Program Example MW00011 is set to 0 if MW00010 is positive number and set to 1 if MW00010 is negative number MWwO0010 gt 0 Source 0 Dest MW00011 STORE Source 1 Dest MWO0011 1 81 1 Ladder Program Instructions 1 4 10 FOR Instruction FOR END_FOR 1 4 10 FOR Instruction FOR END_FOR E Outline The instruction sequence surrounded by the FOR instruction and the corresponding
17. Double length Integer Type Operation Input MLOO100 200000 050000 Zone 100000 Output MLOO102 100000 000000 Outside Within dead zone dead zone Real Number Type Operation Input DFO0200 150 0 50 0 Zone 1 000000E 002 Output DFOO202 50 0 0 0 Outside Within dead zone dead zone 1 7 3 UPPER LOWER LIMIT Instruction LIMIT E Outline The LIMIT instruction executes an upper lower limit operation on integer double length integer or real number data The following operation is performed where Input is the input value Lower Limit is the lower limit Upper Limit is the upper limit and Output is the output value e Output Lower Limit Input is less than Lower Limit e Output Input Lower Limit is less than or equal to Input which is less than or equal to Upper Limit e Output Upper Limit Upper Limit is less than Input Y Upper limit B 7 X Lower limit A 1 124 E Format 1 7 DDC Instructions Symbol LIMIT Full Name Limit LIMIT px Category DDC Input WWOOO0 Lower Limit MWOOO08 Upper Limit WWOO009 Output WWOO010 E Parameter Upper Limit Output 1 125 e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant e Any integer type double length integer type and real number type registe
18. E Program Example Integer Type Operation Number of Data N 20 W00000 to W00040 are used for the parameter table Input W00010 lt Deviation input value Parameter 400000 lt Head address of parameter table Output Mi00011 lt IFGN output value Double length Integer Type Operation Number of Data N 20 L00000 to L00080 are used for the parameter table Input 6LO0109 Deviation input value Parameter 400000 Head address of parameter table Output WLO0102 lt IFGN output value Real Number Type Operation Number of Data N 20 F00000 to F00080 are used for the parameter table IFGN ZI Input WFO00200 lt Deviation input value Parameter 400000 lt Head address of parameter table Output MFO0022 lt IFGN output value 1 150 1 7 DDC Instructions 1 7 11 LINEAR ACCELERATOR DECELERATOR 1 Instruction LAU E Outline The LAU instruction performs acceleration and deceleration at a fixed acceleration deceler ation rate upon input of a speed reference Input The operation is performed according to the contents of a previously set parameter table The input to the LAU operation must be integer or real number data Double length data cannot be used The configurations of the parameter tables for integer and real number data are different Operations are performed by processing each parameter as an inte
19. MWOOO1 E Parameter Source A e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant Source B e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant E Program Example If the value of MW00100 is not equal to 100 after the instructions operation are executed SourceA MW00100 SourceA MWO0101 SourceB 100 SourceB MWO00102 Dest MV00103 1 62 1 3 Logical Operation Comparison Instructions 1 3 8 Comparison Instruction gt E Outline This instruction compare Source A with Source B and stores the comparison result in the bit output the result is ON when true E Format Symbol gt Full Name Greater Than or Equal A gt B gt px Category LOGIC Source Icon j MWOO018 SourceB MWO0019 E Parameter Source A e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant Source B e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript
20. Output and the Status is turned ON E Format Symbol QTBLCL Full Name Queue Table Pointer Clear QTBLCL Zz Category TABLE Icon Table Name QIB Output ci MWOOO11 Status MBOOOO11 1 182 1 8 Table Data Manipulation Instructions E Parameter Output e Any integer type register except for and C registers e Any integer type register with subscript e Subscript register Status e Any bit type register except for and C registers e Any bit type register with subscript Possible to omit E Program Example The cue read and cue write pointer of TABLE are reset to initial status QTBLCL J Table Name TABLE1 Output MWO0O11 Status MB000000 1 183 2 Standard System Function This chapter describes the details of standard system functions 2 1 Message Functions 2 2 2 1 1 Send Message Function MSG SND 2 2 2 1 2 Receive Message Function MSG RCV 2 13 2 2 Trace Functions 2 22 2 2 1 Trace Function TRACE 2 22 2 2 2 Data Trace Read Function DTRC RD 2 23 2 2 3 Failure Trace Read Function FTRC RD 2 26 2 2 4 Inverter Trace Read Function ITRC RD 2 31 2 3 Inverter Functions 2 34 2 3 1 Inverter Constant Write Function ICNS WR
21. QDV In deceleration BRY ON At QS ON VI lt V V gt 0 V V QDV In deceleration BRY ON V previous speed output value VI Speed designated input Ts scan time setting If the DVDT operation instruction DVDTF is ON a current acceleration deceleration operation DVDT is performed e If DVDTF is OFF DVDT 0 is output If DVDTF is ON a current acceleration decel eration operation DVDT is output after one of the following operations has been per formed through DVDT operation selection DVDTS After S operates O of either as follows the operation of addition subtraction speed DVDT is output by DVDT operation selection DVDTS now when DVDTF is turn ing on V V V DVDT x If DVDTS is ON DVDT DV 5000 If DVDTS is OFF DVDT V x DVDTK V x DVDTK At V 0 the zero velocity LSP is ON at VI V equality EQU turns ON e When the line is running signal RN is OFF V 0 and DVDT 0 are output Real Type LAU Instruction LV xTs 0 1 ms When VI gt V V gt 0 Acceleration rate ADV AT s x 10000 V V ADV ARY in acceleration is ON When VI lt V V lt 0 V V ADV ARY in acceleration is ON LV x Ts 0 1 ms When VI lt V V gt 0 Decelerationrate BDV BT s x 10000 V V BDV BRY in deceleration is ON At VI gt V V lt 0 V V BDV BRY in deceleration is ON LV x Ts 0 1 ms When QS ON V gt VJ QT s x
22. ROTR Full Name Bit Rotate Right ROTR Zi Category MOVE Head Bit Address Icon ROT MB000002 R Number of Rotations MWOO003 Bit Width i MWOOO04 E Parameter Head Bit Address e Any bit type register except for and C registers e Any bit type register with subscript except for and C regis ters Number of Rotations e Any integer type register e Any integer type register with subscript e Constant Bit Width e Any integer type register e Any integer type register with subscript e Constant E Program Example The data having MB00000 bit 0 of MW00000 as the head address and a bit width of 10 are rotated once to the right Head Bit Address WBOOOO0A Number of Rotations 1 Bit Width 10 Rotation symmetry range Bit width 10 Before lide As dealt as 300 ey AC SO 0 503 Aa a0 te 0 4 gt F c 8Y 4 0 After Jalalalalololal1 ololol 1 1 o 1 o execution 4 gt 1 100 1 6 Data Manipulation Instructions 1 6 3 MOVE BITS Instruction MOVB E Outline The MOVB instruction moves the designated number of bits Width from the beginning of the move source bits Source to the beginning of the move destination bits Dest The move process is performed one bit at a time in the direction in which the relay number increases Unless the move source bits overlap with the move des
23. Y YASKAWA Machine Controller MP900 MP2000 Series New Ladder Editor PROGRAMMING MANUAL Configuration Engineering manager Usermenu User management File transfer Other Controller type Start up Functional setup C Language Ladder Editor Flash Memor Save Data Trace V Use the new ladder editor Use the new ladder editor CAUTION controller folder that was created with the original ladder editor is disabled when the new ladder editor is being used PT 4 1P 192 168 1 1 CPU 1 n Program Comment a C f thisicthe main adder program awithO1 switoh02 switch03 coli04 ready01 teadyO2 ready03 reado DB000000 MB000001 MB0000O2 MB000044 0000 NL 4 snitch read09 DB000009 switch05 normal01 DB000008 awitchOB normal02 DB000005 0007 NL4 Hf MANUAL NO SIEZ C887 13 1C Copyright 2001 YASKAWA ELECTRIC CORPORATION All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is con stantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precauti
24. an overflow error occurs E Format ADD Sourced MWOO003 SourceB MWOO004 Dest MWOOO05 E Parameter Symbol ADD Full Name Add ZI Category MATH Icon 1 21 e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant e Any integer type double length integer type and real number type register except for and C registers e Any integer type double length integer type and real number type register with subscript except for and C registers e Subscript register 1 Ladder Program Instructions 1 2 2 ADDITION Instruction ADD E Program Example Addition of Integer Type Values SourceA MW00100 300 SourceB 12345 Dest MW00101 15345 SourceA MLO0102 100000 SourceB ML00104 200000 Dest MLO0106 300000 Addition of Real Number Type Values SourceA DF00200 10 0 SourceB 1 234560E 000 Dest DF00202 11 23456 Source DF00204 0 15 SourceB DW00206 00006 Dest DF00208 6 15 SourceA DF00210 3 51 SourceB DL00212 100000 Dest DFO0214 100003 51 In the case of double length integer type values an operation using addition a
25. dY Y Y and dX X X TLX Y 12 Ts XX T2 XX REM T1 Ts Y X input value Y output value X previous input value Y previous output value Ts scan time setting Y 0 REM 0 X 0 are output when the LLAG reset RST is ON E Format Symbol LLAG Full Name Phase Lead Lag LLAG zZ Category DDC Icon Input ULAG MWOO022 uag Parameter MA0000S Output Mw00023 E Parameter Input Any integer type and real number type register e Any integer type and real number type register with subscript Subscript register e Constant Parameter e Register address except for and C registers e Register address with subscript except for and C registers Output e Any integer type and real number type register except for and C registers e Any integer type and real number type register with subscript except for and C registers e Subscript register 1 143 1 Ladder Program Instructions 1 7 9 FUNCTION GENERATOR Instruction FGN E Program Example Integer Type Operation MW00100 to MW00105 are used for the parameter table Input W00010 lt Deviation input value Parameter MA00100 Head address of parameter table Output MWO0011 LLAG output value Real Number Type Operation MF00200 to MF00208 are used for the parameter table Input WFO0020 lt Deviation input value Parameter MA00200 Head
26. except for and C register Output e Any real number type register with subscript except for and C register E Program Example The arc cosine of the input value 0 5 ACOS 0 5 X 60 0 degrees is calculated Source DFO0200 Dest DFO0202 Y l INFO ARC COSINE Instruction cannot be used for integer type and double length integer type data 1 92 1 5 Basic Function Instructions 1 5 7 ARC TANGENT Instruction ATAN E Outline The ATAN instruction calculates the arc tangent of integer or real number data as the opera tion result The input units and output results for integer and real number data are different This instruction cannot be used for double length integer data Integer Type Data This instruction can be used between 327 68 and 327 67 degrees The Source is used as the input 1 0 01 degrees and the operation result is stored in the Dest Upon output the oper ation result is multiplied by 100 Real Number Type Data The Source is used as the input unit degrees and the arc tangent of the input is stored in the Dest This instruction cannot be used for integer type and double length integer data E Format Symbol ATAN Full Name Arc Tangent ATAN zy Category FUNCTION Icon 4 Source WFOOOO tan Dest MFO0008 E Parameter e Any integer type and real number type register e Any integer type and real number type register with subscript e Subscript register e Con
27. 2 2 ADDITION Instruction ADD 1 21 1 2 3 EXTENDED ADDITION Instruction ADDX 1 23 1 2 4 SUBTRACTION Instruction SUB 1 24 1 2 5 EXTENDED SUBTRACTION Instruction SUBX 1 27 1 2 6 MULTIPLICATION Instruction MUL 1 28 1 2 7 DIVISION Instruction DIV 1 31 1 2 8 MOD Instruction MOD 1 33 1 2 9 REM Instruction REM 1 34 1 2 10 INC Instruction INC 1 35 1 2 11 DEC Instruction DEC 1 36 1 2 12 ADD TIME Instruction TMADD 1 38 1 2 13 SUBTRACT TIME Instruction TMSUB 1 39 1 2 14 SPEND TIME Instruction SPEND 1 41 1 2 15 SIGN INVERSION Instruction INV 1 43 1 2 16 1S COMPLEMENT Instruction COM 1 44 1 1 1 Ladder Program Instructions 1 2 17 ABSOLUTE VALUE CONVERSION Instruction ABS 1 45 1 2 18 BINARY CONVERSION Instruction BIN 1 46 1 2 19 BCD CONVERSION Instruction BCD 1 48 1 2 20 PARITY CONVERSION Instruction PARITY 1 50 1 2 21 ASCII CONVERSION Instruction ASCII 1 51 1 2 22 ASCII CONVERSION 2 Instruction BINASC
28. BIN E Program Example Integer Type Data Source M 00100 00100 Dest MW00101 00100 Double length Integer Type Data Source ML00100 100000 Dest ML00102 100000 Real Number Type Data Source DF00200 Dest DFO0202 1 2 18 BINARY CONVERSION Instruction BIN E Outline The BIN instruction converts a binary coded decimal BCD value in the Source and into a binary value binary conversion and the result is stored in the Dest If the 4 digit BCD value in the integer is abcd the output value Dest of the BIN instruction can be determined by the following formula Dest a x 1000 b x 100 cx 10 d Although the above formula is applicable even if the value in the Source is not in BCD nota tion e g 123FH correct results are obtained in such cases 1 46 E Format BIN Source HWOOO35 Dest MWOOO3S6 E Parameter e Any integer type and double length integer type register Source E Program Example Integer Type Data px 1 2 Numeric Operation Instructions Symbol BIN Full Name Convert to Binary Category MATH Icon BINI e Any integer type and double length integer type register with subscript e Subscript register e Any integer type and double length integer type register except for and C registers e Any integer type and double length integer type register with subscript except for and C registers e Subscript register Source MW00100 Dest MWOO1
29. END _FOR instruction are executed the specified number of times N Max Init 1 Step Variable starts from initial value nit and is incremented by Step on each execution The instruction sequence is ended when Variable gt Max E Format e At instruction development display ON Symbol FOR END_FOR FOR pa Full Name For R End of For Variable MW00100 Category CONTROL Init 1 Icon FoR END Max 39 Step END_FOR e At instruction development display OFF Symbol FOR END_ FOR Full Name For and FOR END_FOR End of For Category CONTROL Icon FO fa 1 82 1 4 Program Control Instructions E Parameter Variable e Any integer type register e Any integer type register with subscript e Subscript register I and J registers Init e Any integer type register e Any integer type register with subscript e Subscript register e Constant Max e Any integer type register e Any integer type register with subscript e Subscript register e Constant Step e Any integer type register e Any integer type register with subscript e Subscript register e Constant E Program Example The high byte and low byte form MW00100 to MW00102 are exchanged Variable I Init 0 Max 2 Step 1 Dest MW00100 i END_FOR 1 83 1 Ladder Program Instructions 1 4 11 EXPRESSION Instruction EXPRESSION 1 4 11 EXPRESSION Instruction EXPRESSION E Outline EXPRESSION instruction is composed by one block I
30. Name PID Control PID Fx Category DDC Input Icon PID MWOO018 Parameter MA00008 Output MWOO013 1 137 1 Ladder Program Instructions 1 7 6 PID CONTROL Instruction PID E Parameter Input e Any integer type and real number type register e Any integer type and real number type register with subscript e Subscript register e Constant Parameter e Register address except for and C registers e Register address with subscript except for and C registers Output e Any integer type and real number type register except for and C registers e Any integer type and real number type register with subscript except for and C registers Subscript register E Program Example Integer Type Operation MW00100 to MW00115 are used for the parameter table Input WO0010 lt Deviation input value Parameter MA00100 Head address of parameter table Output MWO0011 lt PID output value Real Number Type Operation MF00200 to MF00228 are used for the parameter table Input F00020 lt Deviation input value Parameter M400200 lt Head address of parameter table Output MFO0022 PID output value 1 138 1 7 DDC Instructions 1 7 7 FIRST ORDER LAG Instruction LAG E Outline The LAG instruction calculates the first order lag according to the contents of a previously set parameter table The input Input to the LAG operation must be in
31. Parameter e Register address with subscript e Register address with subscript Output e Any integer type register except for and C registers e Any integer type register with subscript e Subscript register Status e Any bit type register except for and C registers e Any bit type register with subscript Possible to omit 1 178 1 8 Table Data Manipulation Instructions E Program Example Column element data element format assumed to be integer from the table defined as TABLE is stored for the number of column elements beginning with MW00100 using DW00010 to DW00014 as a parameter table OTBLR Fz Table Name TABLE Read Data MA00100 Parameter DA00010 Output mwooott Status MB000000 QTBLRI J Table Name TABLEI Read Data MA00100 Parameter DA00010 Output MW00011 Status MB000000 1 8 8 QUEUE TABLE WRITE Instructions QTBLW QTBLWI E Outline The QTBLW QTBLWI instruction writes the contents of the continuous region starting with the specified register Write Data to the file register table column elements specified by table name Zable Name row numbers and column numbers The data is processed assum ing that the type of the table elements in the storage destination register is the same as that of the table elements in the storage source register The QTBLW instruction does not change the queue table write pointer The QTBLWI instruction advances the queue table writ
32. Program Instructions 1 2 4 SUBTRACTION Instruction SUB E Program Example This instruction is used in cases where it is desirable that operation errors do not occur in the addition of integer type values Source MW00100 32767 SourceB 1 Dest MWOO101 32768 inrof In the case of double length integer type values an operation using addition and subtraction instruc 4 tions will be a 32 bit operation However when an addition or subtraction instruction is used in a remainder correction operation where a multiplication instruction x is the immediately pre ceding instruction and a division instruction is the immediately subsequent instruction the opera tion will be a 64 bit operation 1 2 4 SUBTRACTION Instruction SUB E Outline The SUB instruction subtracts integer double length integer and real number values Source B is subtracted to Source A and stored in the Dest If the result of subtracting integer values is smaller than 32768 an underflow error occurs If the result of subtracting double length integer values is smaller than 2147483648 an underflow error occurs E Format Symbol SUB Full Name Subtract SUB Fx Category MATH Source Icon gy MWOOO0S SourceB MwWOOO10 Dest MWOOO11 1 24 1 2 Numeric Operation Instructions E Parameter Source A e Any integer type double length integer type and real number type register e Any integer type double lengt
33. division instruction is the immediately subsequent instruction the opera tion will be a 64 bit operation 1 26 1 2 Numeric Operation Instructions 1 2 5 EXTENDED SUBTRACTION Instruction SUBX E Outline The SUBX instruction subtracts integer values No operation error occurs even if the oper ation results in an underflow E Format SUBX zZ Source WWOOO12 SourceB MWOOO013 Dest WWOOO14 E Parameter Symbol SUBX Full Name Expanded Subtract Category MATH Icon yy 1 27 e Any integer type and double length integer type register e Any integer type and double length integer type register with subscript e Subscript register e Constant e Any integer type and double length integer type register e Any integer type and double length integer type register with subscript e Subscript register e Constant e Any integer type and double length integer type register except for and C registers e Any integer type and double length integer type register with subscript except for and C registers e Subscript register 1 Ladder Program Instructions 1 2 6 MULTIPLICATION Instruction MUL INFO nrof E Program Example This instruction is used in cases where it is desirable that operation errors do not occur in the subtraction of integer type values SourceA MW00100 32768 SourceB 1 Dest MWO0101 32767 In the case of double length integer type values an operat
34. e Connected 215IF for MP920 and MP2000 series via 215 E Format ICNS RD Fz Execute MBOOO044 Abort Dev Typ wwo0040 Cir No MWO0041 St No Mw00042 Ch No Mw00043 Cns Typ MwO0044 Cns No Mw00045 Cns Size wv00046 Dat Adr WA00011 2 MB000045 x MB000046 omplete NB000047 MB000048 Status MWO0047 2 39 Symbol ICNS RD Full Name Inverter Constant Read Category SYSTEM Icon ng RD 2 Standard System Function 2 3 2 Inverter Constant Read Function ICNS RD I O Definition Parameter Parameter VO Setting Name Designation B VAL Inverter constant read execution instruction B VAL Inverter constant read forced interruption instruction Dev Typ REG Type of transmission device 215IF 1 MP930 4 SVB 01 11 Cir No I REG Line No 215IF 1 2 MP930 1 SVB 01 1 to 16 St No REG Slave station No 215IF 1 to 64 MP930 1 to 14 SVB 01 1 to 14 Ch No I REG Transmission buffer channel No 215IF 1 to3 MP930 SVB 01 1 to 8 Cns Typ REG Type of inverter constant 0 direct designation of reference No 1 An 2 Bn 3 Cn 4 Dn 5 En 6 Fn 7 Hn 8 Ln 9 On 10 Tn Cns No REG Inverter constant No 1 to 99 The upper limit will differ according to the type of inverter If Cns Typ 0 designate the reference No I REG Number of inverter constants number of data to be read 1 to 100 Dat Adr Address in Register address of read ou
35. instruction subtracts 1 from the designated integer or double length integer regis ter For integer registers no underflow error occurs even if the result of subtraction is less than 32768 Likewise no underflow error occurs for double length integer registers E Format Symbol DEC Full Name Decrement Dest Icon E Mw00022 z E Parameter Dest e Any integer type and double length integer type register except for and C registers e Any integer type and double length integer type register with subscript except for and C registers e Subscript register 1 36 1 2 Numeric Operation Instructions E Program Example Integer Type SourceA MWO0100 SourceB 1 Dest MWO0100 T equivalent Dest MW00100 Double length Integer Type Source MLO0100 SourceB 1 Dest MLOO100 0 equivalent Dest MLOO100 1 37 1 Ladder Program Instructions 1 2 12 ADD TIME Instruction TMADD 1 2 12 ADD TIME Instruction TMADD E Outline The TMADD instruction adds one time hours minutes seconds to another time The Source is added to the Dest and the result is stored in the Dest The formats of Source and Dest are as follows Table 1 3 Data Format Register Offset Data Contents Data Range BCD Hours minutes Upper byte hours 0 to 23 Lower byte minutes 0 to 59 If the contents of the Dest and Source and the operation result are with the appropriate ranges the operation will b
36. is applied A 1 Expression The priority level and the uniting rule order from which the operand is evaluated of the operator are settled in the next table The table is sequentially shown from the operator with a high priority level The operator of the same line has the same priority level and is evalu ated according to the uniting rule Explanation Uniting Rule expression monadic multiplication division surplus addition subtraction relation relation value AND of each bit OR ofeach bit logical AND logical OR right from left left from right right from left right from left right from left right from left right from left right from left right from left right from left When using IF WHILE and EXPRESSION instruction by hexadecimal describe OxOOOW Descrip tion of HOODOO is error When using the others instruction describe HOAOOO A 3 Appendix A Expression A 1 2 Operand A 1 2 Operand lt q EXAMPLE gt E Constant The constant is either the integer or the real number Integer The integer can use the value within the range which can be expressed by 32 bit integer value 2147483648 to 2147483647 Real number The real number can use the value within the range which can be expressed by 32 bit float type 1 175494351e 38F to 3 402823466e 38F Variable In Expression it is possible to describe by associating the arbitrary variable name permitted by C language w
37. number type register with subscript e Subscript register e Constant Zone e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant Output e Any integer type double length integer type and real number type register except for and C registers e Any integer type double length integer type and real number type register with subscript except for and C registers e Subscript register E Program Example Integer Type Operation Input MWO0100 00050 00150 Zone 100 Output MWO0102 00000 00150 Within Outside dead zone dead zone Double length Integer Type Operation Input WLOO100 200000 050000 Zone 100000 Output MLOO102 200000 o00000 Outside Within dead zone dead zone 1 121 1 Ladder Program Instructions 1 7 2 DEAD ZONE B Instruction DZB Real Number Type Operation Input DFO0200 160 0 50 0 Zone 1 000000E 002 Output DFOO202 150 0 0 0 Outside Within dead zone dead zone 1 7 2 DEAD ZONE B Instruction DZB E Outline The DZB instruction executes a dead zone operation on integer double length integer or real number data The following operation is performed where Input is the input value Zone is the designated dead zone value and Output is the output value e Output Input the absolute value of Zone the absolute value of I
38. received e 82xx Address setting error The data address coil offset input relay offset input register offset or holding regis ter offset setting is out of range e 83xx Data size error The size of the sent or receiv e 84xx Line No setting error ed data is out of range The line No setting is out of range e 85xx Channel No Setting error The channel No setting error e 86xx Station address error The station No setting is out of range e 88xx Transmission unit error An error response was returned from the transmission unit 89xx Device selection error A non applicable device is selected 2 4 2 1 Message Functions Status PARAM01 Output the status of the transmission unit e Bit Assignment FEDCBA 98 7 65 4 3 2 1 0 DANES gt PARAMETER OBB Bee RESULT REQUEST COMMAND Command list is described below M_SEND Send MEMOBUS command completed upon receipt of response M_REC Receive MEMOBUS command accompanies sending of response MR_SEND_ Send MEMOBUS response RESULT Symbol and Meaning of the Result list is described in Table 2 2 Table 2 2 Result List Co f o p SS Command sequence error or INIT_NG The token has not been received yet Not connected to a transmission system RESET_NG Reset state or Out of ring The token could not be received even when the O_RING
39. register e Any real number type register with subscript e Constant Dest e Any real number type register except for and C register e Any real number type register with subscript except for and C register E Program Example The remainder of the division of the real number variable MF00200 by the constant value 1 5 is determined and stored in DF00202 Source MF00200 Base 1 500000E 000 Dest DFOO202 1 34 1 2 Numeric Operation Instructions 1 2 10 INC Instruction INC E Outline The INC instruction adds 1 to the designated integer or double length integer register For integer registers no overflow error occurs even if the result of addition exceeds 32767 Likewise no overflow error occurs for double length integer registers E Format Symbol INC Full Name Increment INC px Category MATH Dest Teen MWOO021 41 E Parameter Dest e Any integer type and double length integer type register except for and C registers e Any integer type and double length integer type register with subscript except for and C registers e Subscript register E Program Example Integer Type SourceA MWO0100 SourceB 1 Dest MWO0100 T equivalent Dest MW00100 1 35 1 Ladder Program Instructions 1 2 11 DEC Instruction DEC Double length Integer Type SourceA MLO0100 SourceB 1 Dest MLOO100 T equivalent Dest ML00100 1 2 11 DEC Instruction DEC E Outline The DEC
40. register e Constant E Program Example If the value of MW00100 is above 100 after the instructions operation are executed SourceA MW00100 SourceA MW00101 SourceB 100 SourceB MW00102 Dest MWO0103 1 63 1 Ladder Program Instructions 1 3 9 Comparison Instruction gt 1 3 9 Comparison Instruction gt E Outline This instruction compare Source A with Source B and stores the comparison result in the bit output the result is ON when true E Format Symbol gt Full Name Greater Than A gt B Category LOGIC SourceA Icon MWOO020 gt SourceB WWOOO021 E Parameter Source A e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant Source B e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant E Program Example If the value of MW00100 is bigger than 100 after the instructions operation are executed SourceA MW00100 SourceA MWO0101 SourceB 100 SourceB MW00102 Dest MWvO0103 1 64 1 3 Logical Operation Comparison Instructions 1 3 10 RANGE CHECK Instruction RCHK E Outline The RCHK instruction checks whether the input value in the Jnput is within the Lower Limit and Upper Li
41. registers e Subscript register 1 Ladder Program Instructions 1 5 3 COSINE Instruction COS E Program Example Integer Type Data Source MW00100 03000 Dest MWO0102 05000 Input X 30 degrees MW00100 30 100 3000 Output SIN X 0 50 MW00102 0 50 10000 5000 Real Number Type Data Source DF00200 Dest DFOO202 1 5 3 COSINE Instruction COS E Outline The COS instruction calculates the cosine of integer or real number values as the operation result The input units and output results for integer and real number values are different This instruction cannot be used for double length integer data Integer Type Data This instruction can be used between 327 68 and 327 67 degrees The Source is used as the input 1 0 01 degrees and the operation result is stored in the Dest Upon output the oper ation result is multiplied by 10 000 Ifa value outside the range of 327 68 to 327 67 is entered the correct result is obtained For example if 360 00 is entered 295 36 degrees is output as a result Real Number Type Data The Source is used as the input unit degrees and the cosine of the input is stored in the Dest 1 88 1 5 Basic Function Instructions E Format Symbol COS Full Name Cosine COS px Category FUNCTION Source MWO0005 Icon Gog Dest MVO0006 E Parameter e Any integer type and real number type register e Any integer type and real number type regi
42. the Dest E Format DIV Source MWOO018 SourceB HWOOO1S Dest MWO0020 E Parameter Symbol DIV Full Name Divide pa Category MATH Icon 1 31 e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant e Any integer type double length integer type and real number type register except for and C registers e Any integer type double length integer type and real number type register with subscript except for and C registers e Subscript register 1 Ladder Program Instructions 1 2 7 DIVISION Instruction DIV E Program Example Division of Real Number Type Values SourceA DF00200 1237 5 SourceB 3 000000E 000 Dest DF00202 412 5 SourceA DF00200 1237 5 SourceB 3 000000E 000 3 0 Dest DF00202 412 5 SourceA DF00200 1287 5 SourceB DW00208 00003 Dest DF00210 412 5 SourceA DF00212 100000 0 SourceB DLO0214 40000 Dest DF00216 2 5 1 32 1 2 Numeric Operation Instructions 1 2 8 MOD Instruction MOD E Outline The MOD instruction outputs the remainder of integer or double length integer division to t
43. the system function ICNS WR are once entered in work memory In order to actually store these in EEPROM it is necessary to bring up the WRITE ENTER command as shown in below Inverter __ ICNS WR function lt gt Work memory lt ra Shared memory Digital EEPROM operator WRITE ENTER command WRITE ENTER Command Using the ICNS WR function by writing the data 0 in the reference number FFFD the WRITE ENTER command is entered for the inverter 2 37 2 Standard System Function 2 3 1 Inverter Constant Write Function ICNS WR E Program Example An example of a program if MP930 that writes 200 in the constant C1 01 is shown below DB000000 DB000001 DB000002 DB000003 DB000004 DB000004 Execute DB000004 Busy DB000006 Abort DB000005 Complete DB000002 Dev Typ 4 Error DB000003 Cir No 1 Status DW00002 St No 1 Ch No 0 Cns Typ 0 Cns No 512 Cns Size 1 Dat Adr DA00001 DB000002 true SB000004 DB000000 STORE a Source 0 Dest DW00003 2 38 Source DWO0002 Dest DW00003 B000004 2 3 2 Inverter Constant Read Function ICNS RD E Outline Reads the inverter constants 2 3 Inverter Functions DB000000 The types and ranges of the inverter constants to be read can be designated Applicable inverters e Connected MP930 via 216 e Connected SVB 01 for MP920 via 216
44. user function 2 43 2 Standard System Function 2 4 2 First in First out Function FINFOUT 2 4 2 First in First out Function FINFOUT E Outline This is a first in first out type block data transfer function The FIFO data table is composed of a 4 word header part and a data buffer 3 words of the header part data size input size output size must be set before this function is referenced e When the data input command n Cmd becomes ON the designated number of data is sequentially stored from the designated input data area to the data area of the FIFO table e When the data output command Out Cmd becomes ON the designated number of data are transferred from the head of the data area of the FIFO table to the designated output data area e When the reset command Reset becomes ON the number amount of data stored is set to zero and the FIFO table empty output 7b Emp becomes ON e If size of available space for data empty size lt input size or if data size lt output size the FIFO table error 7b Err becomes ON E Format Symbol FINFOUT FINEOUT Full Name First in First out In Cmd Tbl Full Category SYSTEM NB000007 MB000010 Icon FIN Out Cmd Tbl Emp FO MB000008 MB000011 Reset Tbl Err MB000003 MB000012 FIFO TbI WA00002 In Data 400003 Out Data MA00004 2 44 2 4 Other Functions E Parameter VO Parameter I O Setting Definition Name Designation Input B VAL Data inp
45. 0001 1 1 9 COIL Instruction COIL E Outline The COIL sets the value of the referenced register to 1 ON when the immediately preced ing value of the bit input is ON and to 0 OFF when the immediately preceding value of the bit input is OFF E Format Symbol COIL 3 Full Name Coil HBO 00 005 aati gat RELAY con 5 E Parameter Coil No e Any bit type register except for and C register e Any bit type register with subscript except and C registers 1 1 Relay Circuit Instructions E Program Example When MB000100 becomes ON MB000101 becomes ON NB000100 NB000101 ON MB000100 OFF 1 ON MB000101 OFF 1 1 10 SET COIL Instruction S COIL E Outline The S COIL turns ON the output when the execution condition is satisfied and maintains the ON state E Format Symbol S COIL Full Name Set Coil Category RELAY MB00000E icon E Parameter Coil No e Any bit type register except for and C register e Any bit type register with subscript except for and C regis ters 1 15 1 Ladder Program Instructions 1 1 10 SET COIL Instruction S COIL E Program Example Case where the same output destination is designated multiple times 2 HBOOOOO00 OBOO000 2 2 HBOOOOO1 0800000 MB000002 0B00000 2 NB000003 0B00000 The above example acts as in the graph below MB000000 MB000001 MB000002 MB000003
46. 00100 OFF ON MB000101 OFF 500 MB000011 QO ei 500s Ts Ts Scan set value IMPORTANT MW00011 works as timer count register Thus it is essential that there is no overlap Set an unused register 1 1 7 RISING PULSE Instruction ON PLS E Outline The ON PLS sets the value of the bit input to ON during one scan when the immediately preceding value of the bit output changes from OFF to ON The designated register is used to store the previous value of the bit output E Format Symbol ON PLS 7 Full Name Rise Pulse t RELAY up000003 paneer Icon E Parameter Register No e Any bit type register except for and C register e Any bit type register with subscript except for and C regis ters 1 Ladder Program Instructions 1 1 7 RISING PULSE Instruction ON PLS E Program Example When IB00001 turns ON from OFF MB000101 turns ON and stays ON during 1 scan MB000100 is used to store the previous value of IB00001 1600001 MBOOO100 NB000101 ON IB00001 OFF ON MB000100 OFF ON MB000101 OFF 4 4 1 scan 1 scan Register status of Rising pulse instruction is shown in Table 1 1 Table 1 1 Register Status with Rising Pulse Instruction 1B00001 MB000100 MB000100 MB000101 Previous value of IB00001 stored IB00001 Note Case of Program Example the instruction is used not for rise detec tion of MB000100
47. 008 01 12 ii WEEB revision number Revision number Date of publication Date of original publication R WEB Date of Publication es Rev Section Revised Content No January 2013 O 1 1 7 4 1 7 5 1 7 6 Revision Information on P D I and Integration adjustment gains of PI PD and PID CONTROL instructions Back cover Back cover Revision Revision Address January 2012 tee ee cee SIEZ C887 13 1B lt 4 gt 6 available on the web 1 7 11 Revision Description of integer type operation of program example Revision Address October 2011 2011 October 2011 6 212 Revision Information on IN OUT of the parameter PARAM02 July 2011 5 169 Addition Notes for binary search instruction BSRCH March 2011 4 P1410 4 10 Revision Outline i 7 11 Revision Units of acceleration deceleration quick stop time in real type LAU instruction parameters 1 Ea 11 1 7 12 Revision Setting of parameter December 2010 Revision Format 2 1 1 2 1 2 Revision Called station Called station number Called CPU Called CPU number Description of called CPU number PARAMO07 Back cover Back cover Revision Revision Address format 2 format March 2010 1 1 3 1 1 4 1 1 5 Anaso oa aaas Description of error of the count 1 1 6 1 7 4 1 7 5 1 7 6 Revision Information on P I and D gains of PI PD and PID CONTROL instructions 1 7 12 Revision S curve acceleration deceleration time Chap
48. 01 H1234 D01234 Double length Integer Data Source ML00100 Dest ML00102 H12345678 D12345678 1 47 1 Ladder Program Instructions 1 2 19 BCD CONVERSION Instruction BCD 1 2 19 BCD CONVERSION Instruction BCD E Outline The BCD instruction converts a binary value in the Source into a BCD value BCD conver sion and the result is stored in the Dest If the 4 digit decimal value in the Source is abcd the output value Dest of the BCD instruction can be determined by the following formula Dest a x 4096 b x 256 c x 16 d Although the above formula is applicable even if the value in the Source cannot be expressed in BCD notation e g numbers greater than 9999 or negative numbers correct results are obtained in such cases E Format Symbol BCD Full Name Convert to BCD BCD Fx Category MATH Source Icon B WWO0037 on Dest MWOO038 E Parameter Source e Any integer type and double length integer type register e Any integer type and double length integer type register with subscript e Subscript register e Any integer type and double length integer type register except for and C registers e Any integer type and double length integer type register with subscript except for and C registers e Subscript register 1 48 1 2 Numeric Operation Instructions E Program Example Integer Type Data Source M 00100 D01234 Dest MW00101 H1234 Double leng
49. 02 e When the input is a negative number Source DFO0200 Dest MFOO0202 1 86 1 5 2 SINE Instruction SIN E Outline 1 5 Basic Function Instructions The SIN instruction calculates the sine of an integer or real number value as the operation result The input units and output results for integer and real number values are different This instruction cannot be used for double length integer data Integer Type Data This instruction can be used between 327 68 and 327 67 degrees The Source is used as the input 1 0 01 degree and the operation result is stored in the Dest Upon output the oper ation result is multiplied by 10 000 If a value outside the range of 327 68 to 327 67 is entered the correct result cannot be obtained For example if 360 00 is entered 295 36 degrees will be output as the result Real Number Type Data The Source is used as the input unit degrees and the sine of the input is stored in the Dest E Format Symbol SIN Full Name Sine SIN px Category FUNCTION Source MW00003 Dest MvOO004 E Parameter Dest Output 1 87 Icon con Sin e Any integer type and real number type register e Any integer type and real number type register with subscript e Subscript register e Constant e Any integer type and real number type register except for and C registers e Any integer type and real number type register with subscript except for and C
50. 024 DB000212 true Dest DW00025 2 20 2 1 Message Functions STORE Zz Source DW00001 Dest DWO0027 END_IF Fig 2 3 Program Sample 2 21 2 Standard System Function 2 2 1 Trace Function TRACE 2 2 Trace Functions 2 2 1 Trace Function TRACE E Outline Performs execution control of the traces of the trace data designated by the trace group No The trace is defined as Data Trace Definition screen e Tracing is executed when the trace execution command Execute is set to ON e The trace counter is reset when the trace reset command Reset is set to ON The trace end 7rc End output is also reset at this time The trace end Zrc End output is set to ON when the trace execution count becomes equal to the set count set as Trace Definition E Format Symbol TRACE Full Name Trace Execute Tre End Category SYSTEM MB000013 MB000015 Icon TRA Reset Error CE MB000014 MB000016 Group No Status MWOO001 MWO0002 E Parameter Definition Name Designation 2 22 2 2 Trace Functions Configuration of the trace execution status STATUS is described below Table 2 9 Name Trace data full System reserved No trace definition Designated group No error System reserved Execution timing error System reserved System reserved Configuration of the Trace Execution Status bit 0 This becomes ON after one round of reading of the contents in the data trace memo
51. 03 Source 0 Dest DW00012 SB000035 DB000211 DB000212 B000038 DB000201 DB000201 Execute DB000201 Busy DB000210 Abort DB000208 Complete DB000211 Dev Typ 1 Error DB000212 Pro Typ 1 Cir No 1 Ch No 1 Param DA00000 DB000211 Dest DW00024 DB000212 t rue Dest DW00025 2 12 2 1 Message Functions Source DW00000 Dest DW00026 Source DWO0001 Dest 0W00027 Fig 2 2 Program Sample 2 1 2 Receive Message Function MSG RCV E Outline Receives a message from a calling station which is on the line and which is designated by the transmission device type Supports a plurality of protocol types The execution command Execute must be held until Complete or Error becomes ON Transmission Devices CPU module 215IF 217IF 218IF SVB 01 for MP920 Protocols MEMOBUS non procedural E Format Symbol MSG RCV Full Name Message Receive Execute Busy Category SYSTEM wB000034 we000038 Icon yep R Abort Complete NB000035 MB000037 Dev Typ Error Mw00028 MB000038 Pro Typ Mw00029 Cir No wwo0030 Ch No MWOO031 Param MA00009 2 13 2 Standard System Function 2 1 2 Receive Message Function MSG RCV E Parameter I O Parameter Setting Definition Name Designation VO B VAL Receive message forced interruption instruction Dev Typ REG Type of transmission device CPU module 8 215IF 1 217IF 5 218IF 6 218 02 16 SVB 01 11 Pro Typ REG Tra
52. 0OS 1 103 Transfer destination Dest gt Transfer gt destination Width data area Transfer source Transfer destination Uf h h When the transfer source and transfer destination overlap 2 Symbol MOVW Full Name Move Word Category MOVE Icon Ma 1 Ladder Program Instructions 1 6 4 MOVE WORD Instruction MOVW E Parameter Source e Any integer type register e Any integer type register with subscript Dest e Any integer type register except for and C registers e Any integer type register with subscript except for and C reg isters Width e Any integer type register e Any integer type register with subscript e Constant E Program Example The word data MW00000 to MW00009 are transferred to MW00100 to MW00109 Source HWO0000 Dest M00100 Width 10 Mwo0000 1234H MW00100 1234H MW00001 2345H MW00101 2345H MW00002 3456H After y MW00102 3456H transfer MW00009 9999H MW00109 9999H 1 104 1 6 Data Manipulation Instructions 1 6 5 EXCHANGE Instruction XCHG E Outline The XCHG instruction is used to exchange data between data tables 1 Data Table and 2 Data Table2 Data Table 1 gt DataTable 2 Da
53. 1 52 1 2 23 ASCII CONVERSION 3 Instruction ASCBIN 1 53 1 3 Logical Operation Comparison Instructions 1 55 1 3 1 AND Instruction AND 1 55 1 3 2 OR Instruction OR 1 56 1 3 3 XOR Instruction XOR 1 57 1 3 4 Comparison Instruction lt 1 59 1 3 5 Comparison Instruction lt 1 60 1 3 6 Comparison Instruction 1 61 1 3 7 Comparison Instruction 1 62 1 3 8 Comparison Instruction gt 1 63 1 3 9 Comparison Instruction gt 1 64 1 3 10 RANGE CHECK Instruction RCHK 1 65 1 4 Program Control Instructions 1 68 1 4 1 SUB DRAWING CALL Instruction SEE 1 68 1 4 2 MOTION PROGRAM CALL Instruction MSEE 1 69 1 4 3 FUNCTION CALL Instruction FUNC 1 70 1 4 4 DIRECT INPUT STRING Instruction INS 1 72 1 4 5 DIRECT OUTPUT STRING Instruction OUTS 1 74 1 4 6 EXTENSION PROGRAM CALL Instruction XCALL 1 76 1 4 7 WHILE Instruction WHILE END_WHILE 1 77 1 4 8 IF Instruction IF END_IF 1 79 1 4 9 IF Instruction IF ELSE E
54. 1 7 7 FIRST ORDER LAG Instruction LAG 1 139 1 7 8 PHASE LEAD LAG Instruction LLAG 1 142 1 7 9 FUNCTION GENERATOR Instruction FGN 1 144 1 7 10 INVERSE FUNCTION GENERATOR Instruction IFGN 1 147 1 7 11 LINEAR ACCELERATOR DECELERATOR 1 Instruction LAU 1 151 1 7 12 LINEAR ACCELERATOR DECELERATOR 2 Instruction SLAU 1 155 1 7 13 PULSE WIDTH MODULATION Instruction PWM 1 163 1 8 Table Data Manipulation Instructions 1 166 1 8 1 BLOCK READ Instruction TBLBR 1 166 1 8 2 BLOCK WRITE Instruction TBLBW 1 168 1 8 3 ROW SEARCH Instruction TBLSRL 1 170 1 8 4 COLUMN SEARCH Instruction TBLSRC 1 171 1 8 5 BLOCK CLEAR Instruction TBLCL 1 173 1 8 6 BLOCK MOVE Instruction TBLMV 1 175 1 8 7 QUEUE TABLE READ Instructions QTBLR QTBLRI 1 177 1 8 8 QUEUE TABLE WRITE Instructions QTBLW QTBLWI 1 179 1 8 9 QUEUE POINTER CLEAR Instruction QTBLCL 1 182 2 Standard System Function 2 1 Message Functions 2 2 2 1 1 Send Message Function MSG SND 2 2 2 1 2 Receive Message Function MSG RCV 2 13 2 2 Trace Functions 2 22 2 2 1 Trace F
55. 100 after the instructions operation are executed SourceA MW00100 SourceA MWO0101 SourceB 100 SourceB MW00102 Dest M 00103 1 60 1 3 Logical Operation Comparison Instructions 1 3 6 Comparison Instruction E Outline This instruction compare Source A with Source B and stores the comparison result in the bit output the result is ON when true E Format Symbol Full Name Equal A B Sourced Icon MWO0014 SourceB MWOO015 E Parameter Source A e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant Source B e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant E Program Example If the value of MW00100 is equal to 100 after the instructions operation are executed SourceA M 00100 Source MW00101 SourceB 100 SourceB MW00102 Dest MW00103 1 61 1 Ladder Program Instructions 1 3 7 Comparison Instruction 1 3 7 Comparison Instruction E Outline This instruction compare Source A with Source B and stores the comparison result in the bit output the result is ON when true E Format Symbol Full Name Not Equal A B Sourced Icon MWOOO1E SourceB
56. 10000 V V QDV BRY in deceleration is ON When QS ON V lt VI V V QDV BRY in deceleration is ON Quick stop rate QDV V previous speed output value VI Speed designated input Ts scan time setting ms 1 153 1 Ladder Program Instructions 1 7 11 LINEAR ACCELERATOR DECELERATOR 1 Instruction LAU The current acceleration deceleration DVDT is output after the following operation is car ried out a ADV DVDT x 5000 When the line is running signal RN is OFF V 0 and DVDT 0 are output E Format Symbol LAU Full Name Linear Accelerator LAU z Category DDC Input 9 Icon Mw00028 n Parameter MA0000S Output Mw00029 E Parameter Input e Any integer and real number type register e Any integer and real number type register with subscript e Subscript register e Constant Parameter e Register address except for and C registers e Register address with subscript except for and C registers Output e Any integer and real number type register except for and C registers e Any integer and real number type register with subscript except for and C registers e Subscript register 1 154 1 7 DDC Instructions E Program Example Integer Type Operation MW00100 to MW00111 are used for the parameter table Input Wv00010 lt Deviation input value Parameter M400100 lt Head address of parameter table Output MWO0011 lt LA
57. 2 1 8 Table Data Manipulation Instructions E Program Example The table defined as TABLE is searched for data which matchers MW00100 when the type of the searched table is integer with DW00010 to DW00014 as a parameter table TBLSRC Fx Table Name TABLE1 Search Data MA00100 Parameter DA00010 Output Mmwooo11 Status MBO00000 1 8 5 BLOCK CLEAR Instruction TBLCL E Outline The TBLCL instruction clears the data of the block element of the file register table speci fied by a table name Table Name row number and column number If the element type is a character string space is written If the element type is a numeric value 0 is writte n If both the table element leading row number and the table element leading column number are 0 the entire table is cleared If errors such as invalid table names invalid row numbers invalid column numbers or insufficient storage register data length are found they are reported and data is not written Upon normal termination the number of words cleared is set in the Output and the Sta tus is turned OFF When an error occurs the corresponding error code is set in the Output and the Status is turned ON Table 1 36 Block Clear Instruction Parameters Symbol Name Specifications vO ee ee ct number 0 to 65535 UMN column number 10 to 32767 EA IN L L W RLEN Number of row elements Number of row elements 1 to 32767 W CLEN Number of column
58. 4 218IF 1 to 8 SVB 01 I to 16 Ch No l REG Transmission buffer channel No CPU module 1 2 215IF 1 to 13 217IF 1 218IF I to 10 SVB 01 1 to 8 Head address of set data MW DW W put B VAL Message is being sent Complete B VAL The sending of the message has been completed B VAL Occurrence of error E Parameter Details They adhere to contents functions and so on and are collected into parameter numerical order Table 2 1 is Parameter List Table 2 1 Parameter List Parameter No IN OUT Contents PARAM 00 Process result O I I I I I I I I I PARAM 01 PARAM 02 Called station number Called station number PARAM 03 System reserved PARAM 04 Function code ere PARAM 05 Data address PARAM 06 Data size PARAM 07 Called CPU number N SYS 2 PARAM 08 Coil offset PARAM 09 Input relay offset Po PARAM 10 Input register offset PARAM 11 FIN Holding register offset Register offset 3 2 Standard System Function 2 1 1 Send Message Function MSG SND Table 2 1 Parameter List cont d Parameter No IN OUT SYS SYS Process Result PARAMOO The process result is output to the upper byte The lower byte is for system analysis e 00xx In process BUSY e 10xx End of process COMPLETE e 8xxx Occurrence of error ERROR Error Classification e 81xx Function code error The sending of an unused function code was attempted Or an unused function code was
59. 6 17S COMPLEMENT Instruction COM 1 44 1 2 17 ABSOLUTE VALUE CONVERSION Instruction ABS 1 45 1 2 18 BINARY CONVERSION Instruction BIN 1 46 1 2 19 BCD CONVERSION Instruction BCD 1 48 1 2 20 PARITY CONVERSION Instruction PARITY 1 50 1 2 21 ASCII CONVERSION Instruction ASCII 1 51 1 2 22 ASCII CONVERSION 2 Instruction BINASC 1 52 1 2 23 ASCII CONVERSION 3 Instruction ASCBIN 1 53 vii 1 3 Logical Operation Comparison Instructions 1 55 1 3 1 AND Instruction AND 1 55 1 3 2 OR Instruction OR 1 56 1 3 3 XOR Instruction XOR 1 57 1 3 4 Comparison Instruction lt 1 59 1 3 5 Comparison Instruction lt 1 60 1 3 6 Comparison Instruction 1 61 1 3 7 Comparison Instruction 1 62 1 3 8 Comparison Instruction gt 1 63 1 3 9 Comparison Instruction gt 1 64 1 3 10 RANGE CHECK Instruction RCHK 1 65 1 4 Program Control Instructions 1 68 1 4 1 SUB DRAWING CALL Instruction SEE 1 68 1 4 2 MOTIO
60. 840H 0718H VODO pwo0ced DWO 1 40 1 2 Numeric Operation Instructions 1 2 14 SPEND TIME Instruction SPEND E Outline The SPEND instruction subtracts one time year month day hours minutes seconds from another time data and calculates the elapsed time Source is subtracted from the Dest and the result is stored in the Dest The formats of Source and Dest are as follows Table 1 5 Source Format Register Offset Data Contents Data Range BCD m 1 Month Day BCD Upper byte month 1 to 12 Lower byte day 1 to 31 2 Hours minutes BCD Upper byte hours 0 to 23 Lower byte minutes 0 to 59 Seconds BCD 0000 to 0059 Table 1 6 Dest Format Register Offset Data Contents Data Range BCD I O Year BCD 0000 to 0099 IN OUT Month Day BCD Upper byte month 1 to 12 IN OUT Lower byte day 1 to 31 2 Hours minutes BCD Upper byte hours 0 to 23 IN OUT Lower byte minutes 0 to 59 Seconds BCD 0000 to 0059 IN OUT Total number of seconds This is the number of records which is obtained 4 by converting Year Month Day Hour Minutes Seconds which is the results of operations to seconds Double length integer If the contents of the Dest Source and the operation result are with the appropriate ranges 1 3 5 the operation will be performed normally After the operation is completed Status is turned OFF If the contents of the Dest and Source are outside
61. A Applicable Model anual Name anual Number MP910 MP920 MP930 MP940 MP2100 MP2300 Machine Controller MP930 User s Manual SIEZ C887 1 1 Design and Maintenance Machine Controller MP900 MP2000 Series SIEZ C887 1 2 V User s Manual Ladder Programming Machine Controller MP900 MP2000 Series SIEZ C887 1 3 V V V V User s Manual Motion Programming Machine Controller MP900 Series SIEZ C887 1 6 V V Teach Pendant User s Manual Machine Controller MP920 SIEZ C887 2 1 V User s Manual Design and Maintenance Machine Controller MP900 Series SIEZ C887 2 3 V V V Programming Panel Software User s Manual for Simple Operation Machine Controller MP920 User s Manual SIEZ C887 2 5 V Motion Module Machine Controller MP920 User s Manual SIEZ C887 2 6 V Communications Module Machine Controller MP920 SIEZ C887 2 50 Installation Manual Machine Controller MP910 User s Manual SIEZ C887 3 1 V Design and Maintenance Machine Controller MP940 User s Manual SIEZ C887 4 1 Design and Maintenance Machine Controller MP940 SIEZ C887 4 50 Installation Manual Machine Controller MP900 MP2000 Series SIEZ C887 5 1 V V V MECHATROLINK System User s Manual Machine Controller MP900 Series SIEZ C887 5 2 V 260IF DeviceNet System User s Manual Machine Controller MP900 Series SIEZ C887 12 1 y y MPLoader Server User s Manual for Server Machine Controller MP900 Series SIEZ C887 12 2 V V MPLoader Client User s Manual for Client Nj
62. BLOCK READ Instruction TBLBR E Outline The TBLBR instruction consecutively reads file register table elements in block format that are specified by table name Zable Name row number and column number It then stores the elements in a continuous region starting with the specified register Read Data The type of the element being read is automatically determined according to the specified table The type of the storage destination register is ignored and the read data is stored according to the table element type without converting the data type If errors such as invalid table names invalid row numbers invalid column numbers or insufficient storage register data length are found they are reported and the contents of the storage destination register is retained without reading the data Upon normal termination the number of words transferred is set in the Output and the Status is turned OFF When an error occurs the corresponding error code is set in the Output and the Status is turned ON Table 1 31 List of Error Codes 0001H Referenced table undefined The target table is not defined 0002H Outside row number range The row number of the table element is not within the range of the target table 0003H Outside column number range The column number of the table element is not within the range of the target table 0004H Number of elements incorrect The number of elements of the target is invalid 0005H Insufficient s
63. F 1s 1 10 1 1 7 RISING PULSE Instruction ON PLS 1 11 1 1 8 FALLING PULSE Instruction OFF PLS 1 13 1 1 9 COIL Instruction COIL 1 14 1 1 10 SET COIL Instruction S COIL 1 15 1 1 11 RESET COIL Instruction R COIL 1 17 1 2 Numeric Operation Instructions 1 19 1 2 1 STORE Instruction STORE 1 19 1 2 2 ADDITION Instruction ADD 1 21 1 2 3 EXTENDED ADDITION Instruction ADDX 1 23 1 2 4 SUBTRACTION Instruction SUB 1 24 1 2 5 EXTENDED SUBTRACTION Instruction SUBX 1 27 1 2 6 MULTIPLICATION Instruction MUL 1 28 1 2 7 DIVISION Instruction DIV 1 31 1 2 8 MOD Instruction MOD 1 33 1 2 9 REM Instruction REM 1 34 1 2 10 INC Instruction INC 1 35 1 2 11 DEC Instruction DEC 1 36 1 2 12 ADD TIME Instruction TMADD 1 38 1 2 13 SUBTRACT TIME Instruction TMSUB 1 39 1 2 14 SPEND TIME Instruction SPEND 1 41 1 2 15 SIGN INVERSION Instruction INV 1 43 1 2 1
64. G px Category DDC Input Icon iae Mw0O0020 woj Parameter MADOO04 Output MWOO021 E Parameter Input e Any integer type and real number type register e Any integer type and real number type register with subscript e Subscript register e Constant Parameter e Register address except for and C registers e Register address with subscript except for and C registers Output Any integer type and real number type register except for and C registers e Any integer type and real number type register with subscript except for and C registers e Subscript register 1 140 1 7 DDC Instructions E Program Example Integer Type Operation MW00100 to MW00103 are used for the parameter table Input 00010 Deviation input value Parameter MA00100 Head address of parameter table Output Mi00011 lt AG output value Real Number Type Operation MF00200 to MF00204 are used for the parameter table Input FO0020 lt Deviation input value Parameter MA00200 Head address of parameter table Qutput MFOO022 LAG output value 1 141 1 Ladder Program Instructions 1 7 8 PHASE LEAD LAG Instruction LLAG 1 7 8 PHASE LEAD LAG Instruction LLAG E Outline The LLAG instruction calculates the phase lead lag according to the contents of a previously set parameter table The input Input to the LLAG operation must be integer or r
65. L 1 8 3 ROW SEARCH Instruction TBLSRL E Outline The TBLSRL instruction searches for the column element of the file register table specified by the table name Zable Name row number and column number If there is data that matches the data in the specified register Search Data the instruction reports that row number The type of the data to be searched is automatically determined according to the specified table If errors such as invalid table names invalid row numbers invalid column numbers or insufficient storage register data length are found they are reported Upon normal termination if a matching column element is found 1 is set in the search result the row number is set in the Output and the Status is turned OFF If no matching column element is found 0 is set in the search result When an error occurs the corresponding error code is set in the Output and the Status is turned ON Table 1 34 Row Search Instruction Parameters L ROW1 Table element head row Head row number of the target table element IN number 1 to 65535 2 L ROW2 Table element last row Last row number of the target table element IN number 1 to 65535 UT 4 L COL Table element column Column number of the target table element UMN number 1 to 32767 W FIND Search result Search results O 0 No matching row 1 Matching row exists E Format Symbol TBLSRL Full Name Table Row Search TBLSRL pa Category TABLE Table Name
66. LE MB000001 true OK MW00002 lt 100 OK MW00003 MW00004 OK MB000005 false NG MW00007 MW00010 NG A 3 2 Conditional Expression of WHILE Instruction The Expression is described in the conditional expression description area of the WHILE instruction However only Expression which outputs the result of the bool type can be described Therefore the description of the Expression which includes the substitution oper ator is not recognized lt q EXAMPLE Refer to the example of A 3 1 Conditional Expression of IF Instruction A 9 Appendix A Expression A 3 3 Operational Expression of EXPRESSION Instruction A 3 3 Operational Expression of EXPRESSION Instruction The Expression is described in the conditional expression description area of the EXPRES SION instruction The operational expression can be described according to the description rule of Expression However Expression which outputs the result of the bool type cannot be described lt q EXAMPLE MB000010 MB000001 amp amp MB000005 OK MB000011 MB000010 true OK MW00000 MW00001 MW00005 MW00004 OK MW00003 MW00000 50 OK MW00002 MW00001 amp 300 OK MW00010 MW00003 MW00002 OK MB000001 true NG MW00006 gt 100 NG MW00007 Mw00009 NG A 10 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIEZ C887 13 1B Published in Japan January 2
67. N PROGRAM CALL Instruction MSEE 1 69 1 4 3 FUNCTION CALL Instruction FUNC 1 70 1 4 4 DIRECT INPUT STRING Instruction INS 1 72 1 4 5 DIRECT OUTPUT STRING Instruction OUTS 1 74 1 4 6 EXTENSION PROGRAM CALL Instruction XCALL 1 76 1 4 7 WHILE Instruction WHILE END_WHILE 1 77 1 4 8 IF Instruction IF END_IF 1 79 1 4 9 IF Instruction IF ELSE END_IF 1 80 1 4 10 FOR Instruction FOR END_FOR 1 82 1 4 11 EXPRESSION Instruction EXPRESSION 1 84 1 5 Basic Function Instructions 1 85 1 5 1 SQUARE ROOT Instruction SQRT 1 85 1 5 2 SINE Instruction SIN 1 87 1 5 3 COSINE Instruction COS 1 88 1 5 4 TANGENT Instruction TAN 1 90 1 5 5 ARC SINE Instruction ASIN 1 91 1 5 6 ARC COSINE Instruction ACOS 1 92 1 5 7 ARC TANGENT Instruction ATAN 1 93 1 5 8 EXPONENT Instruction EXP 1 94 1 5 9 NATURAL LOGARITHM Instruction LN 1 95 1 5 10 COMMON LOGARITHM Instruction LOG 1 96 1 6 Data Manipulation Instructions
68. ND_IF 1 80 1 4 10 FOR Instruction FOR END_FOR 1 82 1 4 11 EXPRESSION Instruction EXPRESSION 1 84 1 5 Basic Function Instructions 1 85 1 5 1 SQUARE ROOT Instruction SQRT 1 85 1 5 2 SINE Instruction SIN 1 87 1 5 3 COSINE Instruction COS 1 88 1 5 4 TANGENT Instruction TAN 1 90 1 5 5 ARC SINE Instruction ASIN 1 91 1 5 6 ARC COSINE Instruction ACOS 1 92 1 5 7 ARC TANGENT Instruction ATAN 1 93 1 5 8 EXPONENT Instruction EXP 1 94 1 5 9 NATURAL LOGARITHM Instruction LN 1 95 1 5 10 COMMON LOGARITHM Instruction LOG 1 96 1 6 Data Manipulation Instructions 1 98 1 6 1 BIT ROTATION LEFT Instruction ROTL 1 98 1 6 2 BIT ROTATION RIGHT Instruction ROTR 1 99 1 6 3 MOVE BITS Instruction MOVB 1 101 1 6 4 MOVE WORD Instruction MOVW 1 103 1 6 5 EXCHANGE Instruction XCHG 1 105 1 6 6 SET WORDS Instruction SETW 1 106 1 6 7 BYTE TO WORD EXPANSION Instruction BEXTD 1 108 1 2 1 6 8 WORD TO WORD C
69. Number of column elements 1 to 32767 elements 1 173 1 Ladder Program Instructions 1 8 5 BLOCK CLEAR Instruction TBLCL E Format Symbol TBLCL Full Name Table Block Clear TBLCL Category TABLE Table Name Parameter Icon tea WA00009 Output M OO0005 Status MBOOO0005 E Parameter Parameter e Register address e Register address with subscript Output e Any integer type register except for and C registers e Any integer type register with subscript e Subscript register Status e Any bit type register except for and C registers e Any bit type register with subscript Possible to omit E Program Example The designated block in the table defined as TABLE is cleared using DW00010 to DW00015 as a parameter table TBLCL Zz Table Name TABLE1 Parameter DA00010 Output MW00011 Status MB000000 1 174 1 8 Table Data Manipulation Instructions 1 8 6 BLOCK MOVE Instruction TBLMV E Outline The TBLMV instruction transfers the data of the block elements of the file register table specified by the table name Zable Name row number and column number to another block Block transfer between different tables and data transfer within the same table are both possible If the column element types of the source and destination blocks are different an error is reported and data is not written If errors such as invalid table names invalid row numbers invalid colu
70. OMPRESSION Instruction BPRESS 1 110 1 6 9 BINARY SEARCH Instruction BSRCH 1 111 1 6 10 SORT Instruction SORT 1 113 1 6 11 BIT SHIFT LEFT Instruction SHFTL 1 114 1 6 12 BIT SHIFT RIGHT Instruction SHFTR 1 115 1 6 13 COPY WORD Instruction COPYW 1 116 1 6 14 BYTE SWAP Instruction BSWAP 1 118 1 7 DDC Instructions 1 120 1 7 1 DEAD ZONE A Instruction DZA 1 120 1 7 2 DEAD ZONE B Instruction DZB 1 122 1 7 3 UPPER LOWER LIMIT Instruction LIMIT 1 124 1 7 4 PI CONTROL Instruction Pl 1 127 1 7 5 PD CONTROL Instruction PD 1 131 1 7 6 PID CONTROL Instruction PID 1 135 1 7 7 FIRST ORDER LAG Instruction LAG 1 139 1 7 8 PHASE LEAD LAG Instruction LLAG 1 142 1 7 9 FUNCTION GENERATOR Instruction FGN 1 144 1 7 10 INVERSE FUNCTION GENERATOR Instruction IFGN 1 147 1 7 11 LINEAR ACCELERATOR DECELERATOR 1 Instruction LAU 1 151 1 7 12 LINEAR ACCELERATOR DECELERATOR 2 Instruction SLAU 1 155 1 7 13 PULSE WIDTH MODULATION Instruction PWM 1 163 1 8 Table Data Manipulation Instructions
71. PERE AAAA OES p c A aE S VWyyyyy 1 xxH ee d VWXxXxXxx 2 c e VWyyyyy 2 xxH 00 VWxxxxx 3 d M xxH When the number of transfered bytes VWxxxxx 4 e 0 is an odd number 0 is set xxH V S 1 0 M D E Format Symbol BPRESS Full Name Compress Word to Byte BPRESS Zz Category MOVE Source Icon B MWO0019 rs Dest HWOO020 Byte Width MWOO021 E Parameter Source e Any integer type register e Any integer type register with subscript Dest e Any integer type register except for and C registers e Any integer type register with subscript except for and C reg isters Byte Width e Any integer type register e Any integer type register with subscript Constant 1 110 E Program Example 1 6 Data Manipulation Instructions The five words beginning with MW00100 are compressed into 5 bytes beginning with Mw00200 BPRESS A Source Dest Byte Width 5 MW00100 MW00101 MW00102 MW00103 MW00104 MwO0100 wioo200 10H Lower byte OOH Upper byte 10H Lower byte MW00200 11H 12H Mwo0201 ot AA 13H Cd 12H 14H MW00202 oH oH o 13H oun When the number of transfered 14H EOE ET bytes is an odd number 0 is set 00H 1 6 9 BINARY SEARCH Instruction BSRCH E Outline The BSRCH instruction uses a binary search method to search the designated data Search Data within the designated search range Source The search re
72. Right SHFTR px Category MOVE Head Bit Address Icon SH MB000006 ri Number of Shifts Mwo0030 Bit Width 9 MwOo031 E Parameter Head Bit Address e Any bit type register except for and C registers e Any bit type register with subscript except for and C regis ters Number of Shifts e Any integer type register e Any integer type register with subscript e Constant Bit Width e Any integer type register e Any integer type register with subscript e Constant 1 115 1 Ladder Program Instructions 1 6 13 COPY WORD Instruction COPYW E Program Example A five bit wide section of data with MB000005 bit A of MW00000 as the head is shifted three bits to the right SHFTR Fal Head Bit Address MB000005 Number of Shifts 3 Bit Width 5 5 MW00000 ee ee ee ee ee ee 1 1 1 1 1 ek a he lum Wr Bh ey Bae A a wee a wN MWO0O000 s essere caras 0 0 0 1 Al Wiese ae dete ged Scie oP aes a ee 7 Note The lower three bits are thrown away 0 is entered 1 6 13 COPY WORD Instruction COPYW E Outline The COPYW instruction copies the designated number of words Width from the beginning of the copy source register Source to the beginning of the copy destination register Dest The copy process copies the entire block of data from the copy source to the copy destina tion Even if there is overlap between the copy source and the copy destination the full copy data block is copied to
73. S speed 2 DVDT2 ABMD 0 velocities LSP turn on in turning on with V 0 and agreement EQU is turned on by VI V When line in operation RN is Open V 0 DVDT1 0 DVDT2 0 DVDT3 0 ABMD 0 REM 0 REM2 0 and REM3 0 are output 1 159 1 Ladder Program Instructions 1 7 12 LINEAR ACCELERATOR DECELERATOR 2 Instruction SLAU Real Type SLAU Instruction LV xTs 0 1 ms Outside S character section AT s x 10000 ADVS gt ADV VI gt V V gt 0 V V ADV Acceleration rate ADV LV x Ts 0 1 ms Outside S character section BT s x 10000 BDVS lt BDV VI lt V V gt 0 V V BDV Moderation rate BDV LV x Ts 0 1 ms QS ON V gt VD QT s x 10000 V V QDV Rapid stop rate QDV S character section acceleration rate ADVS ADVS AADVS ADV xTs 0 1 ms Value last time of ADVS ADVS AAT s x 10000 In ADVS lt ADV in S character section VI gt V V gt 0 V V ADVS AADVS S character section moderation rate BDVS BDVS BBDVS BDV x Ts 0 1 ms Value last time of BDVS BDVS BBT s x 10000 Outside S character section BDVS gt BDV VI lt V V gt 0 V V BDVS BBDVS V Speed output value last time VI Speed instruction input Ts Scanning time setting value After S operates O as follows addition subtraction speed DVDT is output now S is accelerating In S character section DVD
74. Search Data 1234 Result pwooood MW00100 0 Dwo0000 00002 MW00101 00321 MW00102 01234 Offset number of MW00100 is stored in DW00000 DW00000 00102 00100 l l tof MW00199 99765 MW00102 MW00100 1 112 1 6 Data Manipulation Instructions 1 6 10 SORT Instruction SORT E Outline The SORT instruction sorts data within the designated register range Data Table Width in ascending order E Format Symbol SORT Full Name Sort SORT zZ Category MOVE Data Table Icon HWO0026 sort Width HWO0027 E Parameter Parameter Name Setting Data Table e Any integer type and double length integer type register except for and C registers e Any integer type and double length integer type register with subscript except for and C registers Width e Any integer type register except for and C registers e Any integer type register with subscript except for and C reg isters e Constant E Program Example The data in registers MW00100 to MW00119 are sorted in ascending order Data Table MV00100 Width 20 1 113 1 Ladder Program Instructions 1 6 11 BIT SHIFT LEFT Instruction SHFTL 1 6 11 BIT SHIFT LEFT Instruction SHFTL E Outline The SHFTL instruction shifts the bit sequence designated by the leading bit address Head Bit Address and bit width Bit Width to the left the designated number of bits Number of Shifts E Format Symbol SHFTL Ful
75. T ADVS Outside S character section DVDT ADV Moderation inside In S character section DVDT BDVS Outside S character section DVDT BDV It was output to operate O as follows maintenance per hour degree rise ABMD DVDTX DVDT ABMD 2x AADVS BBDVS e When line in operation RN is Open V 0 DVDT 0 and ABMD 0 are output 1 160 1 7 DDC Instructions E Format Symbol SLAU Full Name S Curve Linear Accelerator SLAU z Category DDC Input Icon WWOOOs0 N Parameter HADOOOS Output MWOOO031 E Parameter Input e Any integer and real number type register e Any integer and real number type register with subscript e Subscript register e Constant Parameter e Register address except for and C registers e Register address with subscript except for and C registers Output e Any integer and real number type register except for and C registers e Any integer and real number type register with subscript except for and C registers e Subscript register E Program Example Integer Type Operation MW00100 to MW000121 are used for the parameter table Input 00010 Deviation input value Parameter MAQ0100 Head address of parameter table Output MWO0011 SLAU output value 1 161 1 Ladder Program Instructions 1 7 12 LINEAR ACCELERATOR DECELERATOR 2 Instruction SLAU Real Number Type Operation MF00200 to MF00218 ar
76. U output value Real Number Type Operation MF00200 to MF00212 are used for the parameter table Input FO0020 lt Deviation input value Parameter MA00200 Head address of parameter table Qutput MFOO022 LAU output value 1 7 12 LINEAR ACCELERATOR DECELERATOR 2 Instruction SLAU E Outline The SLAU instruction performs acceleration and deceleration at a variable acceleration deceleration rate upon input of a speed reference Input The operation is performed according to the contents of the previously set parameter table Positive and negative values can be entered for speed reference input Always set a value so that the linear acceleration or deceleration time AT or BT is greater than or equal to the S curve acceleration or deceleration time AAT or BBT The input to the SLAU operation must be integer or real number data Double length inte ger data cannot be used The configurations of the parameter tables for integer and real number data are different 1 155 1 Ladder Program Instructions 1 7 12 LINEAR ACCELERATOR DECELERATOR 2 Instruction SLAU Table 1 28 Integer Type SLAU Instruction Parameters Tw oor ipativel ase 00 nt 2 w AT Accelerationtime Time for acceleration from 0 to100 0 1 s IN w BT Decelerationtime Time for deceleration from 0 to100 0 1 s Ww o QT Time for quick stop from 100 to 0 0 1 s AAT BBT V S curve acce
77. _NG token monitor time was exceeded REC_NG Data receive error error detected by a program of a lower rank 2 5 2 Standard System Function 2 1 1 Send Message Function MSG SND PARAMETER One of the error codes of Table 2 3 is indicated if RESULT 4 FMT_NG Otherwise this indicates the address of the called station Table 2 3 Error Codes List Co e S 06 eses e REQUEST 1 Request 0 Completion of receipt report Called Station Number PARAM02 Serial 1 to 254 Message is sent to the station of designated device address 2 6 2 1 Message Functions Function Code PARAM04 The MEMOBUS function code to be sent is set Refer to Table 2 4 Table 2 4 Function Codes Function Code wma o o E ae ae ES Note 1 cannot be set OK can be set Write into holding register expanded 2 Only MW MB can be used as the sending receiving register dur ing master operation The MB MW IB and IW registers can be used respectively as the coil holding register input relay and input registers during slave operation 2 7 2 Standard System Function 2 1 1 Send Message Function MSG SND Data Address The set contents will differ according to the function code as Table 2 5 Table 2 5 Address Setting Range Function Code Data Address Setting Range Read coil status 0 to 65535 0 to FFFFH 02H Read input relay status 0 to 65535 0 to FFFFH i 03H Read conte
78. a of the register with the designated number become the input to the function REG Designates the input to be the contents of an integer type regis ter The number of the integer type register is designated when referencing the function The contents integer data of the register with the designated number become the input to the function Double L VAL Designates the input to be of a double length integer type length Inte When reference the function the contents double length inte ger Type ger data of the register with the designated number become Input the input to the function L REG Designates the input to be the contents of a double length inte ger type register When reference the function the contents double length integer data of the register with the designated number become the input to the function Real Num F VAL Designates the input to be of a real number type The contents ber Type real number data of the register with the designated number Input become the input to the function F REG Designates the input to be the contents of a real number type register The number of the real number type register is designated when referencing the function The contents real number data of the register with the designated number become the input to the function Address Hands over the address of the designated register an arbitrary Input integer register to the function Only 1 input is allowed in the case of a
79. address of parameter table Output MFO0022 LLAG output value 1 7 9 FUNCTION GENERATOR Instruction FGN E Outline The FGN instruction generates a function curve according to the contents of a previously set parameter table The input to the FGN instruction can be integer double length integer or real number data The configuration of the parameter table differs according to the type of data Table 1 22 Integer Type FGN Instruction Parameters Co WN ieee Nankerotpasorxanay C e a Ca e E C K e TS SS EE e y Cw pa fea C e A 1 144 1 7 DDC Instructions Table 1 23 Double length Integer or Real Type FGN Instruction Parameters Co WN iere Nankerotpavorxey SY fw feen Renda C o p pe S A e E a If the data set in the parameter table for the FGN instruction are X and Y the data must be set so that X lt Y 4 The FGN instruction searches for an X Y pair within the parameter table for which X lt X lt Y and computes the output value Y according to the following formula Youtt Yn Y Y 4 X X 1sn lt sN 1 Xnti Xn i j If the X Y pair which satisfies X lt X lt Y for an input value X does not exist in the parameter table the result will be as follows IFX lt X Y Y X X 1 X X 1 IFX gt X Yn Yn Y Yout x x r X X n s ae Y4 Y3 Y Output value y2 Y1 x1 X2 X X3 X4 Input value 1 145 1 Ladder Progr
80. al Integration adjustment Gain a integration circuit input gain oF Tt Integration time Integration time s tn Upper integration limit Upper limit for the I offset to F te Lower integration limit Lower limit for the I offset 12 F fu Upper PI limit Upper limit for the P I offset Ea F ae Lower PI limit Lower limit for the P I offset DEERD IN OUT IN N N IN N poor ai i ca co ca ca 16 F DB PI output dead band Width of the dead band for the P I offset 00 tt aS PI output PI offset output also output to the A register Relay I O Bit Assignment 0 IRST Integration reset ON is input when integration is reset N i 1to7 Reserved Reserved relay for input BtoF Reserved Reserved relay for output Here the PI operation is expressed as follows 1 TixS X deviation input value xX Kp i x Y output value The following operation is performed within the PI instruction Ti 5 Y KpxX KixX IREM Ts Yr Yt previous output value Ts scan time setting 1 128 1 7 DDC Instructions Block Diagram LIMIT DB Input a Output X Kp IMT T gt ae ay Ki gt Ts Ti gt Z ke When the P I offset reaches the upper or lower PI limit UL LL or the PI dead band DB When the present P offset and the I offset are the same in sign dive
81. am Instructions 1 7 9 FUNCTION GENERATOR Instruction FGN E Format Symbol FGN Full Name Function Generator FGN Zj Category DDC Icon Input FGN MwO0024 Fon Parameter HADOOOE Output MWOOO25 E Parameter e Any integer type double length integer and real number type register e Any integer type register with subscript e Any integer type double length integer and real number type register with subscript e Subscript register e Constant Parameter e Register address except for and C registers e Register address with subscript except for and C registers e Any integer type double length integer and real number type register except for and C registers e Any integer type double length integer and real number type register with subscript except for and C registers e Subscript register E Program Example Integer Type Operation Number of Data N 20 W00000 to W00040 are used for the parameter table Input 00010 Deviation input value Parameter 400000 lt Head address of parameter table Output MWv00011 lt FGN output value 1 146 1 7 DDC Instructions Double length Integer Type Operation Number of Data N 20 L00000 to L00080 are used for the parameter table Input WL00100 lt Deviation input value Parameter 400000 lt Head address of parameter table Output MLO0102 lt FGN output value
82. and real number type register with subscript e Subscript register Constant e Register address except for and C registers e Register address with subscript except for and C registers e Any integer type and real number type register except for and C registers e Any integer type and real number type register with subscript except for and C registers e Subscript register 1 133 1 Ladder Program Instructions 1 7 5 PD CONTROL Instruction PD E Program Example Integer Type Operation MW00100 to MW00109 are used for the parameter table Input 00010 _ lt Deviation input value Parameter MA00100 Head address of parameter table Output MW 00011 lt PD output value Real Number Integer Type Operation MF00200 to MF00218 are used for the parameter table Input F00020 Deviation input value Parameter MA00200 Head address of parameter table Output MFO0022 Pp output value 1 134 1 7 DDC Instructions 1 7 6 PID CONTROL Instruction PID E Outline The PID instruction executes a PID control operation according to the contents of a previ ously set parameter table The input Input to the PID operation must be integer or real number data Double length integer data cannot be used The configurations of the parameter tables for integer and real number data are different Operations are perform
83. ation ARY ON When VI lt V V S 0 V V ADVS In acceleration ARY 4 ON S character section moderation rate BDVS BDVS BBDVS BDV x Ts 0 1 ms REM2 In BDVS lt BDV in S character section BBT 0 01 s x 100 At VI gt V V lt 0 V V BDVS Moderation inside BRY turning on At VI lt V V gt 0 V V BDVS BRY turning on when being accelerating BBDVS V Speed output value last time VI Speed instruction input Ts Scanning time setting Addition subtraction speed 1 DVDT1 is operated now when DVDT1 operation instruc tion DVDTF is turning on When DVDTF is turning off DVDT1 0 is output After S operates O of either as follows the operation of addition subtraction speed 1 DVDT1 is output by DVDT1 operation selection DVDTS now when DVDTF is turning on V V When DVDTS ist DVDT1 x en is turning on ADV 5000 When DVDTS is turning off DVDT V X DVDTK V X DVDTK DVDTK DVDT coefficient Addition subtraction speed 2 DVDT2 is output as follows now S is accelerating In S character section DVDT2 ADVS Outside S character section DVDT2 ADV The moderation inside In S character section DVDT2 BDVS Outside S character section DVDT2 BDV It was output to operate O as follows maintenance per hour degree rise ABMD DVDT2 xX DVDT2 Present value last time of addition subtraction 2 X AADVS BBDV
84. but is used for rise detection of IB00001 MB000100 is used only for storing the previous value of IB00001 1 1 Relay Circuit Instructions 1 1 8 FALLING PULSE Instruction OFF PLS E Outline The OFF PLS sets the value of the bit input to ON for one scan when the immediately pre ceding value of the bit output changes from ON to OFF The designated register is used to store the previous value of the bit output E Format Symbol OFF PLS 9 Full Name Fall Pulse NB000004 Category RELAY Icon E Parameter Register No e Any bit type register except for and C register e Any bit type register with subscript except for and C regis ters E Program Example When IB00001 turns OFF MB000101 turns ON and stays ON during 1 scan MB000100 is used to store the previous value of IB00001 1B00001 MBOOO100 NB000101 ON IB00001 OFF ON MB000100 OFF ON MB000101 OFF t ii 1 scan 1 scan 1 13 1 Ladder Program Instructions 1 1 9 COIL Instruction COIL Register status of Falling pulse instruction is shown in Table 1 2 Table 1 2 Register Status with Falling Pulse Instruction 1B00001 MB000100 MB000100 MB000101 Previous value of IB00001 stored IB00001 Note Case of Program Example the instruction is used not for fall detec tion of MB000100 but is used for fall detection of IB00001 MB000100 is used only for storing the previous value of IB0
85. ce e Any integer type and double length integer type register e Any integer type and double length integer type register with subscript e Subscript register e Any integer type and double length integer type register except for and C registers e Any integer type and double length integer type register with subscript except for and C registers e Subscript register 1 44 1 2 Numeric Operation Instructions E Program Example Integer Type Data Source M 00100 H5555 Dest MW00101 HAAAA Double length Integer Type Data Source M 00100 H55555555 Dest MW00101 HAAAAAAAA 1 2 17 ABSOLUTE VALUE CONVERSION Instruction ABS E Outline The ABS instruction determines the absolute value of the contents of the Source and the result is stored in the Dest E Format Symbol ABS Full Name Absolute ABS Fx Category MATH Icon Source Mw00033 In Dest MWO0034 E Parameter Source e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Any integer type double length integer type and real number type register except for and C registers e Any integer type double length integer type and real number type register with subscript except for and C registers e Subscript register 1 45 1 Ladder Program Instructions 1 2 18 BINARY CONVERSION Instruction
86. cript except for and C reg isters E Program Example NB000100 NB000101 Set 500 Count MWOO011 ON MBO000100 OFF ON MBO000101 OFF 500 MBO000011 0 eheeeneeee 500s Ts Ts Scan set value IMPORTANT MW00011 works as timer count register Thus it is essential that there is no overlap Set an unused register 1 1 5 1 S ON DELAY TIMER Instruction TON 1s E Outline The TON 1s times while the immediately preceding value of the bit input is ON The value of the bit output is set to ON when the timer value reaches the set value The timer stops when the immediately preceding value of the bit input is set to ON during timing When the bit input is set to OFF again timing restarts from the beginning 0 A value equal to the actual timed time 1 s Unit is stored in the timer value register The maximum error of the count is 1 s or less 1 8 IMPORTANT E Format Set MWOOO05 Count MWOOOO08 E Parameter Set set value Count timer value E Program Example MB000100 MBO000100 MBO000101 MBO000011 ON OFF ON OFF 0 Set 500 Count MWOO0011 1 1 Relay Circuit Instructions Symbol TON 1s Full Name On Delay Timer 1s Category RELAY Icon ERI 1s e Any integer type register e Any integer type register with subscript 0 to 65535 1 sec unit e Constant e Any integer type register except for and C registers e Any int
87. d Length A Record is composed of the data for the selected items Word length of 1 record Bn x 1 word Wn x 1 word Ln x 2 words Fn x 2 words Bn Number of bit type register selected points Wn Number of word type register selected points Ln Number of double length integer type register selected points Fn Number of real number type register selected points Maximum of record length 32 words e g when there are 16 double length integer type or real number type registers Minimum of record length 1 words e g when there is one bit type or integer type register Number of Records The Number of Records is the following Maximum Number of Records 32512 Record Length 0 to 1015 Number of records when the record length is the maximum Number of records when the record length is the 0 to 32511 minimum 2 2 3 Failure Trace Read Function FTRC RD E Outline Reads the failure trace data and stores them in the user register The data in the trace buffer can be read out upon designating the number of records needed Either the failure occur rence data or the restoration data are designated for readout Enables the reset initializa tion of the failure trace buffer E Format Symbol FTRC RD FIRC RD Fa Full Name Failure Trace Read Execute Complete Category SYSTEM NB000020 MB000022 Icon ny Reset Error RD NB000021 MB000023 Type Status MwO0010 MWO0012 Rec Size Rec Size MWOOO11 MW00013 Dat A
88. dr Rec Len MAD0006 MWO0014 2 26 2 2 Trace Functions E Parameter I O Parameter I O Setting Definition Name Designation Type REG Type of data read 1 Occurrence data 2 Restoration data Rec Size I REG Number of read record Occurrence data 1 to 64 Restoration data 450 Dat Adr Address in Head register address for reading address of MW or put DW Output Complete B VAL Completion of failure trace read Input B VAL Failure trace readout instruction B VAL Failure trace buffer reset instruction Failure trace read execution status Table 2 12 Failure Trace Reading Execution Status STATUS Swenveseved ben SSS The function will not be executed Swensen ono S Error in the designated bit11 The function will not be executed number of records Sytemresened a SCSC S syseomreseved ons SSS The function will not be executed E Failure Occurrence Data Readout Failure occurrence data readout is described in Figure 2 6 The readout will always be started from the most recent record Failure Occurrence Trace Memory User Register Head address of Old the register into Number of Readout which data is read read records Most recent New record gt Fig 2 6 Failure Occurrence Data Readout 2 27 2 Standard System Function 2 2 3 Failure Trace Read Function FTRC RD E Readout Data Configuration Failure Occurrence Data Data Configuration Dat Ad
89. dress in Designation of the No of the head register for readout put address of MW or DW Output Complete B VAL Completion of trace read REG Number of records read REG Length in words of 1 record that is read Table 2 10 Configuration of the Data Trace Read Execution Status STATUS Ssma own iS Designated record No bitl0 error Error in the designated bit11 The function is not executed number of records read Data storage error The function is not executed Address input error The function is not executed 2 24 E Readout of Data Readout of Data is described in Figure 2 4 Record No 0 No of the head record to be read N Fig 2 4 Data Read Data Trace Memory User Register gt lt Old Number of Readout read records New gt 2 2 Trace Functions Head address of the register into which data is read The most recent record No of trace groups are each stored in SW00100 to SW00103 Table 2 11 Newest Records Number Sworo eooo SwO0t08 SwO0T06 SW00107 E Configuration of the Read Data Configuration of the read data is described in Figure 2 5 Dat Adr gt 1 to 32 words 1 to 32 words 1 to 32 words Record 1 ITEM1 ITEM16 Record 2 Record n Old Trace data Max 32512 words Fig 2 5 Configuration of the Read Data 2 25 2 Standard System Function 2 2 3 Failure Trace Read Function FTRC RD Recor
90. dress with subscript Output e Any integer type register except for and C registers e Any integer type register with subscript Subscript register Status e Any bit type register except for and C registers e Any bit type register with subscript Possible to omit E Program Example There are tables defined as TABLE1 and TABLE2 The designated block in TABLE is transferred to the designated block in TABLE2 using DW00010 to DW00019 as a parameter table TBLMY za Src Table Name TABLE1 Dest Table Name TABLE2 Parameter DA00010 Output Mwooo11 Status MBooooo0 1 176 1 8 Table Data Manipulation Instructions 1 8 7 QUEUE TABLE READ Instructions QTBLR QTBLRI E Outline The QTBLR QTBLRI instruction consecutively reads file register table column elements specified by table name Table Name row numbers and column numbers and stores the elements in the continuous region starting with the specified register Read Data The type of the element being read is automatically determined according to the specified table The type of the storage destination register is ignored and the read data is stored according to the table element type without converting the data type The QTBLR instruction does not change the queue table read pointer The QTBLRI instruc tion advances the queue table read pointer by one row If errors such as invalid table names invalid row numbers invalid column numbers insuff
91. ds needed The readout can be performed upon designating just the necessary items in the record Applicable inverters e Connected MP930 via 216 e Connected SVB 01 for MP920 via 216 e Connected 215IF for MP920 and MP2000 series via 215 E Format Symbol ITRC RD ITRC RD Full Name Inverter Trace Read Execute Busy Category SYSTEM MB000024 MB000026 Icon IRC Abort Complete RD NB000025 MB000027 Dev Typ Error MWOO015 MB000028 Cir No Status MWOOO16 wwWO0021 St No Rec Size mMWOO017 Mw00022 Ch No Rec Len MWOO018 Mw00023 Rec Size MWOOO19 Select mwooo20 Dat Adr MAOO007 2 31 2 Standard System Function 2 2 4 Inverter Trace Read Function ITRC RD E Parameter I O Parameter VO Setting Definition Name Designation Input B VAL Inverter trace read instruction B VAL Inverter trace read forced interruption instruction Dev Typ REG Type of transmission device 215IF 1 MP930 4 SVB 01 11 Cir No I REG Line No 215IF 1 MP930 1 SVB 01 1 to 16 St No I REG Slave station No 215IF 1 to 64 MP930 1 to 14 SVB 01 1 to 14 Ch No I REG Transmission buffer channel No No designation 215IF I to3 MP930 1 SVB 01 1 to 8 REG Number of records to be read 1 to 64 Select REG Items to be read 0001H to FFFFH Bits 0 to F correspond to trace data items to 26 Dat Adr Head address of data buffer register address of MW or DW put Output B VAL The reading of inverter trace data is in
92. e 217IF SVB 01 Co poa e O ooh mees orekon e 09H Read contents of holding register 1 to 508 1 to 252 expanded 1 to 01FCH 1 to OOFCH words words Read contents of input register 1 to 508 1 to 252 expanded 1 to 01FCH 1 to OOFCH words words Write into holding register 1 to 507 1 to 252 expanded 1 to 0O1FBH 1 to OOFBH words words ODH Discontinuous readout of holding 1 to 508 1 to 252 register expanded 1 to 01FCH 1 to OOFCH words words Discontinuous write into holding 1 to 254 1 to 126 register expanded 1 to OOFEH 1 to 007EH words words OFH Change status of a multiple coil 1 to 800 1 to 0320H bits Write into a plurality of holding reg 1 to 100 1 to 0064H words ister Called CPU Number PARAMO7 PARAMO7 sets the called CPU number Set the called CPU number to 1 if the called device is an MP2000 Series Machine Control ler If the called device is a Yaskawa Controller but not in the MP2000 Series and it consists of more than one CPU Module set the destination CPU number In all other cases set 0 2 9 2 Standard System Function 2 1 1 Send Message Function MSG SND Coil Offset PARAMO08 Set the offset word address of the coil This is valid in the case of function codes 01H 05H and OFH Input Relay Offset PARAMOQ9 Set the offset word address of the input relay This is valid in the case of function code 02H Input Register Offset PARAM10 Set the offse
93. e case of diverging IN time input Td2 Convergence differential The differential time s used in the case of converg IN time ing input K Relay I O Bit Assignment oor Resend F F 8toF Reserved Reserved relay for output Here the PD operation is expressed as follows Kp KdxTd xs X deviation input value Y output value The following operation is performed within the PD instruction Td Y Kp xX Kd x X X x X previous input value Ts scan time setting 1 132 Block Diagram gt Kd gt Td Ts 1 7 DDC Instructions LIMIT DB Input k lt Output X gt Kp gt gt gt y a When the change in deviation output X X and the previous deviation input X are the same in sign diverging in the differential D operation The divergence differential time Td1 is used as the differential time When the change in deviation output X X and the previous deviation input X are opposite in sign converging in the differential D operation The convergence differential time Td2 is used as the differential time E Format PD Input MWOOO1G Parameter MA00002 Output WWOOO1 E Parameter Symbol PD Full Name PD Control pa Category DDC Icon Po e Any integer type and real number type register Input Parameter Output e Any integer type
94. e performed normally After the operation is completed the Sta tus is turned OFF If the contents of the Dest and Source are outside the data ranges the operation is not performed In this case 9999H is stored in the column second of the Dest and the Status is turned ON E Format Symbol TMADD Full Name Time Add THADD pa Category MATH S 9 Icon ource o HWOOO022 Dest HWOO024 Status NB000001 E Parameter Source e Any integer type register e Any integer type register with subscript Dest e Any integer type register except for and C register e Any integer type register with subscript except for and C reg ister Status e Any bit type register except for and C register e Any bit type register with subscript except for and C register Possible to omit 1 38 1 2 Numeric Operation Instructions E Program Example The time data in DW0000 to DW00101 is added to the time data in MW00100 to MW00101 THADD z Source DWO000O0 Dest MW0O0100 Status DB000100 8 hrs 40 min 32 sec 1 hrs 22 min 16sec 10 hrs 2 min 48 sec MW00100 MW00101 DW00000 DW00001 MW00100 MW00101 1 2 13 SUBTRACT TIME Instruction TMSUB E Outline The TMSUB instruction subtracts one time hours minutes seconds from another time The Source is subtracted from the Dest and the result is stored in the Dest The formats of Source and Dest are as follows Table 1 4 Data Format Re
95. e pointer by one row If errors such as invalid table names invalid row numbers invalid column numbers insuffi cient storage register data length or full queue buffers are found they are reported data is not written and the queue table write pointer does not advance Upon normal termination the number of words transferred is set in the Output and the Status is turned OFF When an error occurs the corresponding error code is set in the Output and the Status is turned ON The pointer value does not change 1 179 1 Ladder Program Instructions 1 8 8 QUEUE TABLE WRITE Instructions QTBLW QTBLWI Table 1 39 Queue Table Write Instruction Parameters a a Table element Corresponding row number of the target table corresponding row num element 0 to 65535 ber COL Table element Beginning column number of the target table IN UMN beginning column number element 1 to 32767 W Reserved 4 RPTR Read pointer Read pointer of the queue after execution our Ea ee WPTR _ Write pointer Write pointer of the queue after execution CLEN Number of column Number of column elements to be continuously elements write 1 to 32767 E Format Symbol QTBLW QTBLWI Full Name Queue Tale White Queue Table Pointer Table Name Table Name Cl Write Data Write Data car MA00015 MA00017 Category TABLE Parameter Parameter HA00016 MA00018 Icon TBL GTB Output Output W gt WI wWwO00039 MwO0010
96. e used for the parameter table Input F00020 lt lt Deviation input value Parameter MA00200 lt Head address of parameter table Output MFO0022 lt SLAU output value Speed V Vi 100 Acceleration Deceleration gt 0 S curve Straight S curve S curve Straight Ti section line area section section line area section E AT AAT BT BBT Acceleration Acceleration Deceleration Deceleration start completed start completed Note Please note the following when you use integer type SLAU instruc tion Please do not change input value VI before reaching input value VD de and acceleration inside When input value VT is changed in the de and acceleration over shooting undershoot might be generated Refer to the figure below Please make the application program when you change input value VI in the de and acceleration by either the undermentioned e Please use real type SLAU instruction e Please use the LIMIT instruction together when you use inte ger SLAU instruction The output value of integer type SLAU instruction is limited and that is please assume the output value of the LIMIT instruction to be a input value of the LIMIT instruction and limit overshooting undershoot I will encourage the use of one real type SLAU instruction from the easiness of making the application program 1 162 1 7 DDC Instructions Overshooting Speed
97. eal number data Double length integer data cannot be used The configurations of the parameter tables for integer and real number data are different Operations are performed by processing each parameter as an integer consisting of the lower place 16 bits Table 1 20 Integer Type LLAG Instruction Parameters eT fc en et RY Reay vo o 0 Relay O Relay input relay output o input relay output Relay input relay output IOUT OUT Ee lead time Phase lead time constant ms constant Cw i Prhaseiag imecorsant Peteno N SO itt E RT oT Reminder Renwintsond OUT nputstored mese o Relay I O Bit Assignment o er eea PONT e e a er feeen en o a sor Reen enee o o _ Table 1 21 Real Number Type LLAG Instruction Parameters Sua EA Oo w i ea C Phase lead time constant Phase lead time constant s Phase lag time constant Phase lag time constant s Zak sia LLAG output LLAG output may also be output to the F register 8 w x Input preservation Input value stored Relay I O Bit Assignment 0 IRST LLAG reset ON is input when LLAG is reset 1to7 Reserved Reserved relay for input 8toF Reserved Reserved relay for output 1 142 1 7 DDC Instructions Here the LLAG operation is expressed as follows a L T2 S vie TX dY dt Y T2 X dX dt X X 44Tixs Co The following operation is performed within the LLAG instruction with dt Ts
98. eal type is input the output value is returned by the real number When the register of the integer type is input because the argument of tan is a real number is treated as a real type lt 4 EXAMPLE B MW00001 sin MW00002 OK MF00001 cos MF00002 3 14 OK MW00001 atan MF00002 OK A 2 6 Others E Parentheses Two or more expressions can be united by using and lt 4 EXAMPLE B MW00001 MW00002 MW00003 MW00004 MW00005 OK A 7 Appendix A Expression A 2 6 Others E Array The array can be specified by using and J B as well as C language lt q EXAMPLE MW00001 MW00002 100 OK MW00001 MW00002 MW00100 OK MB00001 MB000020 0 OK A 8 A 3 Application to Ladder Program A 3 Application to Ladder Program The use of Expression in the ladder program is divided into three kinds of the following e Conditional expression of IF instruction e Conditional expression of WHILE instruction e Operational expression of EXPRESSION instruction The use example is explained as follows A 3 1 Conditional Expression of IF Instruction The Expression is described in the conditional expression description area of the IF instruc tion and the ELSE instruction However only Expression which outputs the result of the bool type can be described Therefore the description of the Expression which includes the substitution operator is not recognized lt EXAMP
99. ed by processing each parameter as an integer consisting of the lower place 16 bits Table 1 16 Integer Type PID Instruction Parameters Gain of the P correction a gain of 1 is set to 100 3 WwW K Gain of the differentiation circuit input a gain of 1 is set to 100 Integration time Integration time ms p i d i ing input verging input L z L 7 L T T T i i Ti OUT z K 2 W K i Gain of the integration circuit input a gain of 1 is set to 100 U L z s z C feeen eneo O f 1 135 1 Ladder Program Instructions 1 7 6 PID CONTROL Instruction PID Table 1 17 Real Number Type PID Instruction Parameters Sue eee ee ee Go Higgins Gain of the integration circuit Dgain o Gain of the differentiation circuit input Integration time Integration time ms Divergence differential The differential time s used in the case of diverging time input oO N time ing input N N N N O PID output PID offset output also output to the A register Input value storage Present deviation input value stored Relay I O Bit Assignment 0 IRST Integration reset ON is input when integration is reset 1to7 Reserved Reserved relay for input Reserved Reserved relay for output N N oj Here the PID operation is expressed as follows 1 Kp Kix g Kdx Tdx Y X X deviation input value Y output value The following op
100. ed only for the operand of the bit type lt q EXAMPLE B MB000010 MB000011 amp amp MB000012 OK MB000010 MB000011 OK MB000010 MW000020 gt 50 amp amp MB000011 OK MB000010 MW00001 MW00002 NG MB000010 MW00001 NG A 6 A 2 Recognizable Expression A 2 4 Substitution Operator If it is a difference of the real type or the integer type even if a right left type is different substitution is possible However the rounding error is caused when substituting from the real type to the integer type Substitution for the bit type register can do only a logical value bit type register or true false In the case to substitute the values other than a logical value for the bit type register the values are compared with 0 Or 0 0 and the truth is converted into the substituted code The substitution of the bit type excluding the bit type register is assumed to be impossible lt q EXAMPLE MW00001 MW00002 OK ML00003 MW00002 OK MF00006 MW00002 343 OK MBO000010 MBO00011 OK MW00001 MF00012 OK MB000102 MW00010 OK MB000102 true OK MW00010 MBO000101 NG MW00010 true NG A 2 5 Function The argument and the return value to the function depend on the specification of controller s function That is the output value is returned by the integer when the register of the integer and the integer type is input to sin cos and atan and when the register of the real number and the r
101. eger type register with subscript except for and C reg isters NB000101 500s Ts Ts Scan set value MW00011 works as timer count register Thus it is essential that there is no overlap Set an unused register 1 9 1 Ladder Program Instructions 1 1 6 1 S OFF DELAY TIMER Instruction TOFF 1s 1 1 6 1 S OFF DELAY TIMER Instruction TOFF 1s E Outline The TOFF 1s times while the immediately preceding value of the bit input is OFF The value of the bit output is set to OFF when the timer value reaches the set value The timer stops when the immediately preceding value of the bit input is set to ON during timing When the bit input is set to OFF again timing restarts from the beginning 0 A value equal to the actual timed time 1 s Unit is stored in the timer value register The maximum error of the count is 1 s or less E Format Symbol TOFF 1s Full Name Off Delay Timer 1s TOFLis A Category RELAY Set 9 Icon TOF MWOOO07 Eri Count MWOO008 E Parameter Set set value e Any integer type register e Any integer type register with subscript 0 to 65535 1 sec unit e Constant Count timer value e Any integer type register except for and C registers e Any integer type register with subscript except for and C reg isters 1 10 1 1 Relay Circuit Instructions E Program Example MBOOO100 NB000101 Set 500 Count MWO0011 ON MB0
102. er E Program Example Multiplication of Integer Type Values SourceA MW00100 01234 SourceB 3 Dest M O0101 03702 SourceA MWO0102 00010 SourceB NW00103 10000 Dest MLOO104 100000 1 29 1 Ladder Program Instructions 1 2 6 MULTIPLICATION Instruction MUL A Q WY Multiplication of Double length Integer Type Values SourceA MLO0100 SourceB ML00102 Dest MLO0104 SourceA MLO0106 SourceB MLO00108 Dest MLO0112 Multiplication of Rea SourceA DF00200 SourceB DF00100 Dest DFO0202 SourceA DF00204 SourceB DWO0206 Dest DF00208 SourceA DF00210 SourceB DLO0212 Dest DFO0214 100000 009000 900000000 100000 100000 10000000000 Number Type Values 0 15 00002 0 3 0 15 100000 15000 0 In the case of double length integer type values an operation using addition and subtraction instruc tions will be a 32 bit operation However when an addition or subtraction instruction is used in a remainder correction operation where a multiplication instruction x is the immediately pre ceding instruction and a division instruction is the immediately subsequent instruction the opera tion will be a 64 bit operation 1 30 1 2 7 DIVISION Instruction DIV E Outline 1 2 Numeric Operation Instructions The DIV instruction divides integer double length integer and real number values Source A is divided by Source B and stored in
103. ertion is performed within the PID instruction Ti Ts Td Ts Y KpXX KixX IREM Yi Kd X X X x X previous input value Yi previous I output value Ts scan time setting 1 136 PID output dead band Width of the dead band for the P I D offset SIN o IN 1 7 DDC Instructions Block Diagram gt 71 Sone a eas LIMIT DB Input tyt Output x Kp TLIMIT P p o Ki Ts Ti gt Z e When the P I D offset reaches the upper or lower PID limit UL LL or the PID dead band DB When the present P offset and the I offset are the same in sign diverging the I offset is not renewed but is kept at the previous value Oppositely if the P and I offsets are oppo site in sign converging towards 0 the I offset is renewed with the present value When the change in deviation output X X and the previous deviation input X are the same in sign diverging in the differential D operation The divergence differential time Td1 is used as the differential time When the change in deviation output X X and the previous deviation input X are opposite in sign converging in the differential D operation The convergence differential time Td2 is used as the differential time When the integration reset IRST is ON Yi 0 and IREM 0 are output E Format Symbol PID Full
104. espectively as the coil holding register input relay and input registers during slave 00H 02H 03H 04H i 05H i i 06H i i 07H OBH i i OCH ODH i OEH i i OFH i OK OK OK OK OK OK OK OK OK OK OK OK K operation 2 1 Message Functions Data Address PARAM05 The data address requested by the sending side is output Data Size PARAM06 The data size number of bits or number of words of the requested read or write is output Called CPU Number PARAMO7 PARAMO07 outputs the called CPU number If the called device is an MP2000 Series Machine Controller 1 is output If the called device is a Yaskawa Controller but not in the MP2000 Series and it consists of more than one CPU Module the called CPU number is output In all other cases 0 is output Coil Offset PARAMO08 Set the offset word address of the coil This is valid in the case of function codes 01H 05H and OFH Input Relay Offset PARAMOQ9 Set the offset word address of the input relay This is valid in the case of function code 02H Input Register Offset PARAM10 Set the offset word address of the input register This is valid in the case of function codes 04H and OAH Holding Register Offset PARAM11 Set the offset word address of the holding register This is valid in the case of function codes 03H 06H 09H OBH 0DH OEH and 10H Write in Range LO PARAM12 Write in Range HI PARAM13 Set the write allowable
105. ession The Expression is described by combining the operand and the operator There are some restric tions in the description method The restriction is explained as follows A 2 1 Arithmetic Operator This operator can be used for the operand of the integer type and the real type The monadic minus can be used only once The bit operation can use only the integer type The arithmetic operation cannot be used for the operand of the bit type Even if the calculation value exceeds the range of the register the type conversion is not automatically done Therefore the user should allocate an appropriate type in the variable lt q EXAMPLE MW00001 MW00002 MW00003 OK MW00001 MW00002 345 OK MF00002 MW00004 MF00002 ML00018 MW00008 OK MW00001 MW00002 amp 4096 OK MB000010 MB000011 MB000012 NG MW00001 MB000011 MW00001 NG A 2 2 Comparison Operator This operator can be used for the operand of the integer type and the real type The register of the bit type should come left In the case to do the comparison which uses on or for the operand of the integer bit type the comparison object should be an expression of true false lt q EXAMPLE B MB000010 MW00002 MW00003 OK MB000010 MF00002 lt 99 99 OK MB000010 MW00002 gt MW00003 OK MB000010 MB000011 true OK MB000010 MBO00011 0 NG MB000010 MB000011 NG A 2 3 Logic Operator This operator can be us
106. f the 100 input value 0 0 4 oF fat Acceleration time Time for acceleration from 0 to 100 s a 6 F JBT Deceleration time Time for deceleration from 0 to 100 s a Quick stop time Time for quick stop from 100 to 0 s iv Current Current speed o LAU output also output to the F register as 12 Fy rense acceleration de Scaled with the normal acceleration rate being set to OUT celeration speed 5000 Relay I O Bit Assignment EO O E a Ene sunning TON Binpawhiletetne snag N To eo OFF is input upon quick stop DEE zor fema kemea IN 9 BRY In deceleration ON is output during deceleration CtoF Reserved Reserved relay for input When the quick stop QS is OFF the quick stop time QT is used as acceleration deceleration time The following operations are performed inside integer type LAU instructions Integer Type LAU Instruction LV x Ts 0 1 ms REM When VI gt V V 20 Acceleration rate ADV AT 0 1 s x 1000 V V ADV In acceleration ARY ON When VI lt V V S 0 V V ADV In acceleration ARY ON LV x Ts 0 1 ms REM When VI gt V V lt 0 Deceleration rate BDV BT 0 1 s x 1000 V V BDV In deceleration BRY ON When VI lt V V 0 V V BDV In deceleration BRY ON 1 152 1 7 DDC Instructions LV x Ts 0 1 ms REM When QS ON VI gt V Quick stop rate QDV QT 0 1 s x 1000 V V
107. for 100 registers from MW00100 to MW00199 is stored in MW00200 Source 0 Dest I Source 0 Dest MW00200 1 lt 100 1 lt 100 SourceA MW00200 SourceB MW00100i Dest MW00200 SourceA I SourceB 1 Dest I END_WHILE 1 78 1 4 8 IF Instruction IF END_IF E Outline 1 4 Program Control Instructions If the conditional expression in the IF instruction is approved the instruction sequence between IF and END _IF is executed If the conditional expression in the IF instruction is not approved the instruction sequence between IF and END IF is not executed E Format e At instruction development display ON MWO0100 gt 100 Instruction Sequence iets Ieee END_IF e At instruction development display OFF IF END_IF E Parameter Symbol IF END_IF Full Name If Then End of If Category CONTROL Icon END ie Symbol IF END_ IF Full Name IF Then and End of If Category CONTROL Icon F mo Conditional Expression Description by Expression 1 Eight IF instructions can be nested A INFO 4 included in the nest 1 79 2 Ifan instruction is defined after a contact this instruction is regarded as an IF instruction and 1 Ladder Program Instructions 1 4 9 IF Instruction IF ELSE END_IF E Program Example If MB000108 is ON MW00201 is added to MW00200 and MW00201 is incremented MB000100 true SourceA MW00200 SourceB MWO0201 Dest mW00200
108. ger consist ing of the lower place 16 bits Table 1 26 Integer Type LAU Instruction Parameters o Name Seaton 10 ome pate Sete 00 paras dR Time for acceleration from 0 to 100 0 1 s Time for deceleration from 0 to 100 0 1 s ie a ae QT Quick stop time Time for quick stop from 100 to 0 0 1 s Ei l L rm Q v our EE celeration speed 5000 Reserves rerea TS W W Previous speed instruction For storage of the previous value of the speed U instruction input W DVDTK DVDT coefficient Scaling coefficient of the current acceleration IN DVDT 32768 to 32767 Relay I O Bit Assignment Quick stop OFF is input upon quick stop 2 DVDTF DVDT operation non Closed entered in DVDT operation non execution execution DVDTS DVDT operation selec Selection DVDT operation method tion or feen ena e fa inacceraion ON r oupurdngacseion foor RLY V T BT T IM REM 0 OUT Current speed LAU output also output to the A register OUT OUT OUT UT ON is output when input value output value Reserved Reserved relay for input OUT When the quick stop QS is OFF the quick stop time QT is used as acceleration decelera tion time 1 151 1 Ladder Program Instructions 1 7 11 LINEAR ACCELERATOR DECELERATOR 1 Instruction LAU Table 1 27 Real Type LAU Instruction Parameters PAD Type Specifications mo ee oF Jv 100 input level Scale o
109. gister Status e Any bit type register except for and C registers e Any bit type register with subscript Possible to omit 1 167 1 Ladder Program Instructions 1 8 2 BLOCK WRITE Instruction TBLBW E Program Example From the table defined as TABLE1 with DW00010 to DW00015 as a parameter table data element type is integer type from the starting table element position to the end position are stored in block form in the area starting from MW00100 TBLBR z Table Name TABLE1 Read Data MA00100 Parameter DA00010 Output MWw00011 Status MBO00000 1 8 2 BLOCK WRITE Instruction TBLBW E Outline The TBLBW instruction writes the contents of a continuous region starting with the speci fied register Write Data to the file register table elements in block format that are specified by table name Table Name row number and column number The data is processed assuming that the type of the table elements in the storage destination register is the same as that of the table elements in the storage source register If errors such as invalid table names invalid row numbers invalid column numbers or insufficient storage register data length are found they are reported and the contents of the storage destination register is retained without writing the data Upon normal termination the number of words transferred is set in the Output and the Status is turned OFF When an error occurs the corresponding e
110. gister Offset Data Contents Data Range BCD Hours minutes Upper byte hours 0 to 23 Lower byte minutes 0 to 59 If the contents of the Dest and Source are with the appropriate ranges the operation will be performed normally After the operation is completed the Status is turned OFF If the con tents of the Dest and Source are outside the data ranges the operation is not performed In this case 9999H is stored in the column second of the Dest and the Status is turned ON 1 39 1 Ladder Program Instructions 1 2 13 SUBTRACT TIME Instruction TMSUB E Format Symbol TMSUB Full Name Time Sub THSUB z Category MATH Source Icon nWOoo24 Q1 Dest MWOO0026 Status MBOOOOO2 E Parameter Source e Any integer type register e Any integer type register with subscript Dest e Any integer type register except for and C register e Any integer type register with subscript except for and C reg ister Status e Any bit type register except for and C register e Any bit type register with subscript except for and C register Possible to omit E Program Example The time data in DW0000 to DW0001 is subtracted to the time data in MW00100 to Mwo00101 TWSUB zj Source DWO0000 Dest MW0O0100 Status DB000100 8 hrs 40 min 32sec 1 hrs 22 min 16 sec 7hrs 18 min 16 sec MW00100 MW00101 DW00000 DW00001 MW00100 MW00101 Before Execution After Execution MW00100 0
111. h integer type and real number type register with subscript e Subscript register e Constant Source B e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant Dest e Any integer type double length integer type and real number type register except for and C registers e Any integer type double length integer type and real number type register with subscript except for and C registers e Subscript register E Program Example Subtraction of Integer Type Values SourceA MWO0100 03000 SourceB 12345 Dest MWO0101 09345 SourceA MLO0102 100000 SourceB MLO0104 200000 Dest MLOO106 100000 1 25 1 Ladder Program Instructions 1 2 4 SUBTRACTION Instruction SUB Subtraction of Real Number Type Values SourceA DF00200 10 0 SourceB 1 234560E 000 Dest DFO0202 8 76544 SourceA DF00204 0 15 SourceB DWO0206 00008 Dest DFO0208 5 85 SourceA DF00210 3 51 SourceB DL00212 100000 Dest DFO0214 99996 49 In the case of double length integer type values an operation using addition and subtraction instruc A Q WW tions will be a 32 bit operation However when an addition or subtraction instruction is used in a remainder correction operation where a multiplication instruction x is the immediately pre ceding instruction and a
112. he Dest Always execute the MOD immediately after the division instruction If the MOD is executed somewhere else the operation results obtained before the next entry instruction cannot be guaranteed E Format Symbol MOD Full Name Integer Remainder HOD Zz Category MATH Dest Icon MO MLOOOO1 von E Parameter Dest e Any integer type and double length integer type register except for and C registers e Any integer type and double length integer type register with subscript except for and C registers e Subscript register E Program Example The quotient of an integer type division is stoned in MW00101 and the remainder is stored in MW00102 SourceA MW00100 00010 SourceB 3 Dest MWO0101 00003 Dest MW00102 00001 1 33 1 Ladder Program Instructions 1 2 9 REM Instruction REM 1 2 9 REM Instruction REM E Outline The REM instruction outputs the remainder of real number division to the Dest Here the remainder refers to the remainder obtained by repeatedly subtracting the Base designated by the Source Thus the n is the number of times subtraction is repeated Dest Source Base xn 0 lt Dest lt Base E Format Symbol REM Full Name Real Remainder Category MATH Source Icon Bey MFOOOO1 FEM Base MFOOOO2 Dest WFOOOOS E Parameter Source e Any real number type register e Any real number type register with subscript e Constant Base e Any real number type
113. he lower place byte of the first word and the second character is stored in the higher place byte of the first word Other characters are stored in the same way If the number of characters is odd the higher place byte of the last word in the storage register is set to 0 Up to 32 characters can be entered E Format Symbol ASCII Full Name Convert Character to ASCII ASCII N Category MATH Icon Source ASCII Dest asci WWOOO041 E Parameter Dest e Any integer type register except for and C register e Any integer type register with subscript except for and C reg ister E Program Example The character string ABCD is stored in MW00100 to MWO0101 ASCII A Source ABCD Dest MWO0100 Upper Lower MW00100 42H B 41H A MW00100 4241H MW00101 44H D 43H C MW00101 4443H 1 51 1 Ladder Program Instructions 1 2 22 ASCII CONVERSION 2 Instruction BINASC The character string ABCDEFG is stored in MW00100 to MW00103 ASCII A Source ABCDEFG Dest MW00100 Upper Lower MW00100 42H B 41H A MW00100 4241H Mwo0101 44H D 43H C MW00101 4443H Mwo0102 46H F 45H E MW00100 4645H MW00103 00H 47H G MW00101 0047H es 0 is entered in the extra byte 1 2 22 ASCII CONVERSION 2 Instruction BINASC E Outline The BINASC instruction converts the 16 bit binary data stored in the Source into four digit hexadecima
114. i cient storage register data length or empty queue buffers are found they are reported data is not read and the queue table read pointer does not advance The contents of the storage des tination register are retained Upon normal termination the number of words transferred is set in the Output and the Status is turned OFF When an error occurs the corresponding error code is set in the Output and the Status is turned ON The pointer value does not change Table 1 38 Queue Table Read Instruction Parameters L ROW Table element correspond Corresponding row number of the target table IN ing row number element 0 to 65535 2 L COL Table element beginning Beginning column number of the target table IN UMN column number element 1 to 32767 Reserved oe ee E RPTR Read pointer Read pointer of the queue after execution Be j WPTR _ Write pointer Write pointer of the queue after execution 4 W CLEN Number of column Number of column elements continuously read out elements 1 to 32767 1 177 1 Ladder Program Instructions 1 8 7 QUEUE TABLE READ Instructions QTBLR QTBLRI E Format Symbol QTBLR QTBLRI LBL Le TeLRI am z SIERI Z Full Name Queue Table Read Table Name Table Name Read Data Read Data Queue Table Read MA00011 MA00013 J Parameter Parameter Category TABLE MA00012 MA00014 Icon TBL GTB Output Output R RI mMWO0007 MwO0008 Status Status MBO00007 MB000008 E
115. ic Function Instructions 1 5 5 ARC SINE Instruction ASIN E Outline The ASIN instruction uses the Source as the input and stores the arc sine unit degrees of the input in the Dest This instruction can be used in a real number operation E Format Symbol ASIN Full Name Arc Sine ASIN Zi Category FUNCTION Icon 4 Source MF00003 sin Dest MFO0004 E Parameter Source e Any real number type register Input e Any real number type register with subscript e Constant e Any real number type register except for and C register e Any real number type register with subscript except for and C register E Program Example The arc sine of the input value 0 5 ASIN 0 5 6 30 0 degrees is calculated Source DFO0200 Dest DFO0202 X INFOJ ARC SINE Instruction cannot be used for integer type and double length integer type data 1 91 1 Ladder Program Instructions 1 5 6 ARC COSINE Instruction ACOS 1 5 6 ARC COSINE Instruction ACOS E Outline The ACOS instruction uses the Source as the input and stores the arc cosine unit degrees of the input in the Dest This instruction can be used in a real number operation E Format Symbol ACOS Full Name Arc Cosine ACOS px Category FUNCTION Source MF00005 Icon cod Dest MFOOO00G E Parameter Any real number type register e Any real number type register with subscript e Constant Dest e Any real number type register
116. ied by approximately 181 02 If the input is a negative value the square root of the absolute value is calculated first and then the negative value of the square root is output as the operation result The maximum error of the output value is 2 Real Number Type Data The square root of Source is stored in Dest If the input is a negative value the square root of the absolute value is calculated first and then the negative value of the square root is out put as the operation result This instruction can be used in a real number operation E Format Symbol SQRT Full Name Square Root SORT Z Category FUNCTION Source MWO0001 Icon cal Dest MY O0002 1 85 1 Ladder Program Instructions 1 5 1 SQUARE ROOT Instruction SQRT E Parameter Source e Any integer type and real number type register Input e Any integer type and real number type register with subscript e Subscript register e Constant Dest e Any integer type and real number type register except for Output and C registers e Any integer type and real number type register with subscript except for and C registers e Subscript register E Program Example Integer Type Data e When the input is a positive number Source MWO0100 00064 Dest MWO0102 01448 e When the input is a negative number Source MW00100 00064 Dest MWO0102 01448 Real Number Type Data e When the input is a positive number Source DF00200 Dest MF002
117. integer data of the register with the designated number become the input to the function I REG Designates the input to be the contents of an integer type register The number of the integer type register is desig nated when referencing the function The contents integer data of the register with the designated number become the input to the function Double length L VAL Designates the input to be of a double length integer type Integer Type register Input When reference the function the contents double length integer data of the register with the designated number become the input to the function L REG Designates the input to be the contents of a double length integer type register When reference the function the con tents double length integer data of the register with the designated number become the input to the function Real Number F VAL Designates the input to be of a real number type The con Type Input tents real number data of the register with the designated number become the input to the function F REG Designates the input to be the contents of a real number type register The number of the real number type register is designated when referencing the function The contents real number data of the register with the designated number become the input to the function Hands over the address of the designated register an arbi trary integer register to the function Only 1 input is allowed in the case of a
118. ion tion DVDTS DVDT1 operation se Selection DVDT1 operation method lection 4to7 Reserved Reserved relay for input A O an e a maceri OV i ouanc e ERr meeen FONT i orne dooi oU B EQU Coincidence ON is output when input value output value oU o feo wey syen menos O fon oU When the quick stop QS is OFF the quick stop time is used for the acceleration deceleration time ejeje S 4 4 4 Table 1 29 Real Type SLAU Instruction Parameters Symbol Name Specifications Relay I O Relay input relay output OUT Reserved 100 input level Scale of the 100 input Acceleration time Time for acceleration from 0 to 100 s 5 LV IN nN Deceleration time Time for deceleration from 100 to 0 s N nN BBT IN V 0 O S curve acceleration time Time spent in the S curve area during acceleration F S curve deceleration time Time spent in the S curve area during deceleration teed F I O cai as n N Time for quick stop from 100 to 0 s N our U U Ve Current speed SLAU output also output to the F register T F DVDT Current acceleration de Scaled with the normal acceleration rate being set T celeration F ABMD Speed increase upon hold Amount of change in speed after hold instruction UT ing until stabilization 1 157 1 Ladder Program Instructions 1 7 12 LINEAR ACCELERATOR DECELERATOR 2 Instruction SLAU Relay I O Bi
119. ion using addition and subtraction instruc tions will be a 32 bit operation However when an addition or subtraction instruction is used in a remainder correction operation where a multiplication instruction x is the immediately pre ceding instruction and a division instruction is the immediately subsequent instruction the opera tion will be a 64 bit operation 1 2 6 MULTIPLICATION Instruction MUL E Outline The MUL instruction multiplies integer double length integer and real number values Source B is multiplied to Source A and stored in the Dest E Format Symbol MUL Full Name Multiply MUL zZ Category MATH Sourced Icon MWOOO15 x SourceB MVOO016 Dest MWOOO1 1 28 1 2 Numeric Operation Instructions E Parameter Source A e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant Source B e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant Dest e Any integer type double length integer type and real number type register except for and C registers e Any integer type double length integer type and real number type register with subscript except for and C registers e Subscript regist
120. ith controller s register Controller s bit type register is handled as bool type though the bool type variable does not exist in C language The bool type variable takes only either of value of true or false It can be used only for the logical expression The following limitations are installed in the variable name which can be used e It is started from characters other than the numerical value e The character which can be used is alphabet and underscore ASCII characters e The same variable name as the following function names cannot be used Abc OK and figures among get input0 OK lab NG Sin NG A 4 A 1 Expression A 1 3 Instructions Available in EXPRESSION Instruction Reserved MB000010 MB000011 MB000010 MB000011 true gt Greater than or equal to a right MB000010 MW00020 gt MW00021 value Greater than a right value MB000010 MW00020 gt MW00021 Less than a right value MB000010 MW00020 lt MW00021 Less than or equal to a right value MB000010 MW00020 lt MW00021 A right value is substituted MW00001 Mw00002 for a left value true true MB000010 MB000011 true false MB000010 MB000011 false sin SIN MW00001 sin MW00002 cos COS MF00002 cos MF00004 atan MW00001 atan MF00002 tan TAN MW00001 tan MWw00002 sa zs ABs a0 ERP a0 A 5 Appendix A Expression A 2 1 Arithmetic Operator A 2 Recognizable Expr
121. l ASCII character codes and stores them in the designated Dest two words E Format Symbol BINASC Full Name Convert Binary to ASCII BINASC N Category MATH Icon Source BIN HWOo042 Ase Dest MWOO043 E Parameter Source e Any integer type register e Any integer type register with subscript e Constant e Any integer type register except for and C register e Any integer type register with subscript except for and C reg ister 1 52 1 2 Numeric Operation Instructions E Program Example The 1234H binary stored in MW00200 is converted to a for digit hexadecimal ASICII code and stored in MW00100 to MW00101 Source MW00200 Dest MW00100 Upper Lower MW00100 32H 2 31H 1 MW00100 3231H MW00101 34H 4 33H 3 MW00101 3433H 1 2 23 ASCII CONVERSION 3 Instruction ASCBIN E Outline The ASCBIN instruction converts four digit hexadecimal ASCII character codes in the Source into 16 bit binary data and stores it in the Dest E Format Symbol ASCBIN Full Name Convert ASCII to Binary ASCBIN Zl Category MATH Source Icon MWO0044 BIN Dest MWO0045 E Parameter Source e Any integer type register e Any integer type register with subscript Dest e Any integer type register except for and C register e Any integer type register with subscript except for and C reg ister 1 53 1 Ladder Program Instructions 1 2 23 ASCII CONVERSION 3 In
122. l Name Bit Shift Left SHFTL pa Category MOVE Head Bit Address Icon SH NB000005 aj Number of Shifts Hw00028 Bit Width q MHO0029 E Parameter Head Bit Address e Any bit type register except for and C registers e Any bit type register with subscript except for and C regis ters Number of Shifts e Any integer type register e Any integer type register with subscript e Constant Bit Width e Any integer type register e Any integer type register with subscript e Constant E Program Example A ten bit wide section of data with MBOOO0A bit A of MW00000 as the head is shifted five bits to the left SHFTL ya Head Bit Address MBOOOOOA Number of Shifts 5 Bit Width 10 1 114 1 6 Data Manipulation Instructions A lt mMwoo0o00 114 o o0 o 4 ct tt ttt 3 MWVO0004 i e areis em ai Ge etek a aR ND aed es OR E oli1liol4 A 4 a MW00000 1 OLO O o O a ee nee ee ele eee ee 0 is entered 3 MWOQ004 b dice cee seed ad hate ae Ea ae a a Be ds ae 1lololo a Note The upper five bits are thrown away 1 6 12 BIT SHIFT RIGHT Instruction SHFTR E Outline The SHFTR instruction shifts the bit sequence designated by the leading bit address Head Bit Address and bit width to Bit Width the right the designated number of bits Number of Shifts E Format Symbol SHFTR Full Name Bit Shift
123. le The logical product of MW000100 and a constant is stored in MW00101 SourceA MW00100 H1234 SourceB HOOFF HOOFF Dest MW00101 H0034 1 3 2 OR Instruction OR E Outline The OR instruction outputs the logical sum OR of Source A and Source B to the Dest Table 1 8 1 bit Truth Table for the Logical Sum E Format OR z Sourced MWOO004 SourceB MWOO005 Dest MWOO006 1 56 l T Symbol OR Full Name Inclusive OR Category LOGIC Icon vV 1 3 Logical Operation Comparison Instructions E Parameter Source A e Any integer type and double length integer type register e Any integer type and double length integer type register with subscript e Subscript register e Constant Source B e Any integer type and double length integer type register e Any integer type and double length integer type register with subscript e Subscript register e Constant e Any integer type and double length integer type register except for and C register e Any integer type and double length integer type register with subscript except for and C register e Subscript register E Program Example The logical sum of MW00100 and a constant is stored in MW00101 SourceA MWO0100 H1234 SourceB HOOFF HOOFF Dest MW O0101 H12FF 1 3 3 XOR Instruction XOR E Outline The XOR instruction outputs the exclusive logical sum XOR of Source A and Source B to the Dest Table 1 9 1 bit Truth Table for
124. leration time Time spent in the S curve area during acceleration 0 01 s Loe dee S curve deceleration time Time spent in the S curve area during deceleration 0 01 s W TAEA Current speed SLAU output also output to the A register DVDT1 Current acceleration Scaled with the normal acceleration rate being set to OUT deceleration speed1 5000 DVDT1 Reene ABMD Speed increase upon Amount of change in speed after hold instruction and OU holding until stabilization REM1 Remainder of acceleration deceleration rate Reserved Reserved register UT Ez ee hd Reserved register W VIM Remainder For storage of the previous value of the speed desig OUT nation input L DVDT2 Current acceleration 1000 times of actual acceleration deceleration UT deceleration speed2 DVDT2 DVDT3 Current acceleration Current acceleration deceleration DCDT2 1000 deceleration speed3 DVDT3 REM2 Remainder of S curve area acceleration deceleration rate REM3 Remainder of the current speed DVDTK DVDT1 coefficient Scaling coefficient 32768 to 32767 of current acceleration deceleration DVDT1 IN IN IN IN O O O O O O O 7 10 12 13 14 16 18 20 1 156 1 7 DDC Instructions Relay I O Bit Assignment RN ON is input while the line is running 1 Quick stop OFF is input upon quick stop 2 DVDTF Non execution of Input of OFF into non execution of DVDT1 opera DVDT1 operat
125. mit and then outputs the result to the bit output The contents of the Input are retained Bit output OFF Upper limit Sat She a eee T dh Bit output ON Lower limit n err Bit output OFF If the Input value Input is greater than the Lower Limit and less than the Upper Limit the result Bit Output ON e In the cases other than the above the result Bit Output OFF E Format Symbol RCHK Full Name Range Check RCHK px Category LOGIC Input Icon 1A HINOOO22 E Lower Limit HINOOO23 Upper Limit WOOO 24 1 65 1 Ladder Program Instructions 1 3 10 RANGE CHECK Instruction RCHK E Parameter Input e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant Lower Limit e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant Upper Limit e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant E Program Example Integer Type Data DB000000 Input MWOO100 Lower Limit 1000 Upper Limit 1000 1 66 1 3 Logical Operation Compa
126. mn numbers or unmatched storage destination element type are found they are reported and data is not writ ten Upon normal termination the number of words transferred is set in the Output and the Status is turned OFF When an error occurs the corresponding error code is set in the Output and the Status is turned ON Table 1 37 Inter Table Block Transfer Instruction Parameters ae Symbol Name y oO Specifications cations ROW1 element head row e row number of the transfer source table number element 1 to 65535 COL Table element head col Head column number of the transfer source UMN1 umn number table element 1 to 32767 RLEN Number of row elements Number of transfer row elements to be transferred 1 to 32767 5 W CLEN Number of column Number of transfer column elements to be IN elements transferred 1 to 32767 ROW2 Table element head Head row number of the transfer destination row number table element 1 to 65535 COL Table element head Head column number of the transfer destination UMN2 column number table element 1 to 32767 1 175 1 Ladder Program Instructions 1 8 6 BLOCK MOVE Instruction TBLMV E Format Symbol TBLMV Full Name Table Block Move TBLHY z Category TABLE Src Table Name Icon JBL Dest Table Name av Parameter WA00010 Output 9 MWOOO08 Status HBOOOOOE E Parameter Parameter Name Setting Parameter e Register address e Register ad
127. n Status STATUS ete SS error Designated type error The function will not be executed Designated No error The function will not be executed function will not be executed Error in number amount bit12 ee function will not be executed of the eee data The function will not be executed The function will not be executed Address input error The function will not be executed Note In the case of an inverter response error the error codes from the inverter are indicated in bit 0 to bit 7 01H 1 function code error 02H 2 reference No error 03H 3 write in count error 21H 33 write in data upper lower limit error 22H 34 write in error during running during UV Numbers in are of decimal expressions E Configuration of the Write in Data Cns Typ Inverter Constants bn 01 Acceleration time 1 User Register Dat Adr gt Constant data 1 bn 05 ASR proportional gain lt Cns No Constant data 2 bn 06 ASR integration time Cns Size Constant data 10 bn 14 PG dividing ratio bn 25 AO optional output gain 2 36 2 3 Inverter Functions Em Method of Writing to an EEPROM Procedures for writing constants to an EEPROM inverter internal constant storage memory are shown in below Writing of a inverter constant to work memory WRITE ENTER command l Constants written with
128. n command Up Cimd Down Cmd changes from OFF to ON When the counter reset command Reset becomes ON the current counter value is set to 0 Also the current counter value and the set value are compared and the comparison result is output The current value will not be incremented neither decremented if a counter error current value gt set value occurs E Format Symbol COUNTER Full Name Counter Category SYSTEM Up Cmd 2 Cnt Up MBOOOOO1 MBO00004 Icon ggu TER Down Cmd Cnt Zero NB000002 MB000005 Reset Cnt Err NB000003 MB000006 Cnt Data MA00001 E Parameter I O Parameter VO Setting Definition Name Designation Up Cmd B VAL Count up command OFFON Data area for counter B VAL Count down command OFF gt ON Process 1 Set value PUN 2 Current value Cnt Data Address in Head address of data area for counter pro 3 Work flag put cess MW or DW register Output Cnt Up B VAL Becomes ON when current counter value set value B VAL Becomes ON when current counter value 0 Cnt Err B VAL Becomes ON when current counter value gt set value 2 42 2 4 Other Functions The forms of parameter input and output are shown in below Input Data Input Desig Description Form nation Bit Input B VAL Designates the output to be of a bit type The bit type data become the input to the function Integer I VAL Designates the input to be of an integer type The contents Type Input integer dat
129. n normal termination if a matching row element is found 1 is set in the search result the row number is set in the Output and the Status is turned OFF If no matching col umn element is found 0 is set in the search result When an error occurs the corresponding error code is set in the Output and the Status is turned ON 1 171 1 Ladder Program Instructions 1 8 4 COLUMN SEARCH Instruction TBLSRC Table 1 35 Column Search Instruction Parameters L ROW1 Table element row Row number of the target table element IN number 1 to 65535 2 L COL Table element head Head column number of the target table IN UMN1 column number element 1 to 32767 COL Table element last column Last column number of the target table IN UMN2 number element 1 to 32767 W FIND Search result Search results OUT 0 No matching column 1 Matching column exists E Format Symbol TBLSRC Full Name Table Column Search TELSRC pal Category TABLE Table Name Icon TBU Search Data Se HAOOOO Parameter HAODOOOS Output MWOOO04 Status HBOOOOO4 E Parameter Parameter Name Setting e Register address with subscript e Register address with subscript Output e Any integer type register except for and C registers e Any integer type register with subscript e Subscript register Status e Any bit type register except for and C registers e Any bit type register with subscript Possible to omit 1 17
130. n unused function code was attempted Or an unused function code was received e 82xx Address setting error The data address coil offset input relay offset input register offset or holding regis ter offset setting is out of range e 83xx Data size error The size of the sent or received data is out of range e 84xx Line No setting error The line No setting is out of range e 85xx Channel No Setting error The channel No setting error e 86xx Station address error The station No setting is out of range e 88xx Transmission unit error An error response was returned from the transmission unit Refer to ll Parameter Details on page 2 14 e 89xx Device selection error A non applicable device is selected 2 15 2 Standard System Function 2 1 2 Receive Message Function MSG RCV Status PARAM01 Output the status of the transmission unit See Status PARAM0O1 on page 2 5 for details Called Station Number PARAM02 The station number of sending side is output Function Code PARAM04 Output the MEMOBUS function code received Refer to Table 2 8 Table 2 8 Function Codes Function Code Setting Unused ae Pe Ce CS esonero CS Readsonensoripaer OR messe CS Witeinoasingletolingrasse OR fumes Cd E x a T a EC x 10H Write into a plurality of holding register sorte umes SSCS Note 1 cannot be output OK can be output 2 The MB MW IB and IW registers can be used r
131. nd subtraction instruc A Q WW tions will be a 32 bit operation However when an addition or subtraction instruction is used in a remainder correction operation where a multiplication instruction x is the immediately pre ceding instruction and a division instruction is the immediately subsequent instruction the opera tion will be a 64 bit operation 1 22 1 2 Numeric Operation Instructions 1 2 3 EXTENDED ADDITION Instruction ADDX E Outline The ADDX instruction adds integer values Source B is added to Source A and stored in the Dest No operation error occurs even if the operation results in an overflow Otherwise the ADDX is much the same as the ADD E Format ADDX Fx Source MWOOOOE SourceB MWOOOO Dest MWOOO0OS E Parameter Symbol ADDX Full Name Expanded Add Category MATH Icon 1 23 e Any integer type and double length integer type register e Any integer type and double length integer type register with subscript e Subscript register e Constant e Any integer type and double length integer type register e Any integer type and double length integer type register with subscript e Subscript register e Constant e Any integer type and double length integer type register except for and C registers e Any integer type and double length integer type register with subscript except for and C registers e Subscript register 1 Ladder
132. ne 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC CHINA CO LTD 12F Carlton Bld No 21 HuangHe Road HuangPu District Shanghai 200003 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei 104 Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 Y YASKAWA YASKAWA ELECTRIC CORPORATION In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice for ongoing product modifications and improvements 2001 2013 YASKAWA ELECTRIC CORPORATION All rights reserved MANUAL NO SIEZ C887 13 1C Published in Japan January 2013 01 12 1 12 7 7
133. ngth integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant e Any integer type double length integer type and real number type register except for and C registers e Any integer type double length integer type and real number type register with subscript except for and C registers e Subscript register 1 Ladder Program Instructions 1 2 1 STORE Instruction STORE E Program Example Source 12345 Dest MW00100 12345 Source 1234567 Dest MLOO100 1234567 Source 1 234560E 000 Dest DFO0100 1 23456 Source 1 234567E 000 Dest DW00100 00001 Source 1 234567E 005 Dest DLO0100 123456 INFOQ When a double length integer type data is stored in an integer type register the lower 16 bits are stored as they are Be careful since an operation error will not occur even if the data to be stored exceeds the integer range 32768 to 32767 STORE Fa Source ML00100 65535 Dest MW00200 00001 1 20 1 2 2 ADDITION Instruction ADD E Outline 1 2 Numeric Operation Instructions The ADD instruction adds integer double length integer and real number values Source B is added to Source A and stored in the Dest If the result of adding integer values is greater than 32767 an overflow error occurs If the result of adding double length integer values is greater than 2147483647
134. nput is greater than or equal to the absolute value of Zone Input is greater than or equal to 0 e Output Input the absolute value of Zone the absolute value of Input is greater than or equal to the absolute value of Zone Input is less than or equal to 0 e Output 0 the absolute value of Input is less than the absolute value of Zone 1 122 1 7 DDC Instructions E Format Symbol DZB Full Name Dead Zone B DZB px Category DDC Input Icon Mwooo04 74 Zone MWOOOO05 Output HWOOOO6 E Parameter Input e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant Zone e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript Subscript register e Constant Output e Any integer type double length integer type and real number type register except for and C registers e Any integer type double length integer type and real number type register with subscript except for and C registers e Subscript register E Program Example Integer Type Operation Input MWO0100 00150 00050 Zone 100 Output MW00102 00050 00000 Outside Within dead zone dead zone 1 123 1 Ladder Program Instructions 1 7 3 UPPER LOWER LIMIT Instruction LIMIT
135. nsmission protocol Set up of RTU and ASCII is module configu ration definition MEMOBUS 1 non procedural 2 Cir N I REG Line No CPU module 1 215IF 1 to 8 217IF 1 to 24 218IF 1 to 8 SVB 01 I to 16 Ch No I REG Transmission buffer channel No CPU module 1 215IF 1 to 13 217IF 1 218IF 1 to 10 SVB 01 1 to 8 Address in Head address of set data MW DW W put Complete B VAL The receiving of the message has been completed Output B VAL Message is being received B VAL Occurrence of error E Parameter Details They adhere to contents functions and so on and are collected into parameter numerical order Table 2 7 is Parameter List Parameter No PARAM 00 PARAM 01 PARAM 02 PARAM 03 PARAM 04 PARAM 05 PARAM 06 PARAM 07 PARAM 08 PARAM 09 PARAM 10 Table 2 7 Parameter List PN ies Tae O Called station number Called station number iN C CS 2 14 2 1 Message Functions Table 2 7 Parameter List cont d PARAM 11 Register offset PARAM 12 Register offset PARAM 13 Register offset PARAM 14 For system use PARAM 15 System reserved PARAM 16 System reserved Applicable only for 218IF Process Result PARAMOO The process result is output to the upper byte The lower byte is for system analysis e 00xx In process BUSY e 10xx End of process COMPLETE e 8xxx Occurrence of error ERROR Error Classification e 81xx Function cord error The sending of a
136. nstall it on another computer This software is not to be copied for any reason other than when installing it on the com puter Store the floppy disks containing the software in a safe place This software is not to be decompiled disassembled or reverse engineered This software is not to be given to rent to exchanged with or otherwise released to a third party without the prior permission of Yaskawa Corporation E Trademarks e Windows and Windows 95 98 2000 NT are registered trademarks of Microsoft Corpora tion e Pentium is a registered trademark of Intel Corporation Ethernet is a registered trademark of Xerox Corporation Visual Aids The following aids are used to indicate certain types of information for easier refer ence IMPORTANT Indicates important information that should be memorized Also indicates low level precautions that if not heeded may cause an alarm to sound but will not result in the device being damaged lt q EXAMPLE amp Indicates application examples INFO Indicates supplemental information Related Manuals The MP900 series Machine Controllers consists of four models the MP910 MP920 MP930 and MP940 The MP2000 series Machine Controllers consists of two models the MP2100 and MP2300 Manuals have been produced on these products line The following table shows related manuals for the MP900 and MP2000 series Refer to the following related manuals as reuqired i nN i AR
137. nted in days 1 42 1 2 Numeric Operation Instructions 1 2 15 SIGN INVERSION Instruction INV E Outline The INV instruction inverts the sign of the contents of the Source and the result is stored in the Dest E Format Symbol INV Full Name Inverse INY px Category MATH Source Icon INY MWOO029 my Dest MWOo030 E Parameter Source e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant e Any integer type double length integer type and real number type register except for and C registers e Any integer type double length integer type and real number type register with subscript except for and C registers e Subscript register E Program Example Integer Type Data Source MW00100 00100 Dest MWO0101 00100 1 43 1 Ladder Program Instructions 1 2 16 1S COMPLEMENT Instruction COM Double length Integer Type Data Source MLO0100 100000 Dest ML00102 100000 Real Number Type Data Source DF00200 Dest DF00202 1 2 16 1S COMPLEMENT Instruction COM E Outline The COM instruction determines the 1 s complement of the contents of the Source and the result is stored in the Dest E Format Symbol COM Full Name Complement COM Zl Category MATH Source Icon M Mwooo31 cdm Dest MWOO032 E Parameter Sour
138. nts of holding register 0 to 32767 0 to 7FFFH 01H 2 04H Read contents of input register 05H Change status of single coil 06H Write into a single holding register 08H Loop back test 2 2 2 09H Read contents of holding register expanded 0 to 32767 0 to 7FFFH OAH Read contents of input register expanded 0 to 32767 0 to 7FFFH OBH Write into holding register expanded 0 to 32767 0 to 7FFFH H ODH Discontinuous readout of holding register 0 to 32767 0 to 7FFFH 3 expanded OEH Discontinuous write into holding register 0 to 32767 0 to 7FFFH expanded Change status of a multiple coil 0 to 65535 0 to FFFFH l Write into a plurality of holding register 0 to 32767 0 to 7FFFH 1 Request for readout from write in to coil or relay Set the head bit address of the data 2 Request for continuous readout from write in to a register Set head word address of the data 3 Request for discontinuous readout from write in to a register Set head word address of the data 2 8 2 1 Message Functions m Data Size PARAM06 Set the size in number of bits or number of words of the data that is requested for readout or write in The setting range will differ according to the transmission module and the func tion code to be used Refer to Table 2 6 Table 2 6 Serial Data Size Setting Range Function Code Data Address Data Address Setting Range Range Reta Adress Seine Range CPU Modul
139. of data starting from MB000000 bit 0 of MW00000 are transferred to MB000010 bit 0 of MW0000 Source MBOO0000 Dest MBOO0010 Width 10 _ _ Transfer range gt Mwoo000 1 0 01 1 Oo 1 1 0 0 1 0 0 0 Oo 1 MW00001 0 0 07 0 0 0 0 After transfer Y a Transfer range gt mwooooo olo fol1 1folo ofololo MW00001 0 0 0 0 0 0 1 1 0 0 1 0 0 0 Oo 1 1 102 1 6 Data Manipulation Instructions 1 6 4 MOVE WORD Instruction MOVW E Outline The MOVW instruction moves the designated number of words Width from the beginning of the move source registers Source to the beginning of the move destination registers Dest The move process is performed one word at a time in the direction in which the reg ister number increases Unless the move source registers overlap with the move destination registers the move source word table is stored If there is overlap between them the move source bit table may not be stored Source gt Transfer source data area Transfer source c Y h h When the transfer source and transfer destination overlap 1 E Format Move A Source HWOOOOE Dest MWOOOO Width MWOO
140. on Program No e Indirect specification Register of integer type Dest e Register address except for and C registers Work Register E Program Example DWG H Motion program DWG H MPMO01 VEL X 6000 Y 6000 i MOV X 1000 Y 1000 MSEE Lea MVS X 2000 Program No 1 Data DAO00000 END 1 69 1 Ladder Program Instructions 1 4 3 FUNCTION CALL Instruction FUNC 1 4 3 FUNCTION CALL Instruction FUNC E Outline The FUNC instruction is used to call a user function or system function from a drawing sub drawing or user function The user function to be called must be defined in advance Sys tem functions do not have to be defined by the user because they are already defined by the system E Format Symbol FUNC a e a Category CONTROL Name FUNC1 Icon INPUT Arealy OUTPUT Brealy runo MB000100 MB000200 ADDRESS MA00100 E Parameter INPUT Input parameter the data type depends on function definition ADRESS Address parameter Address type register OUTPUT Output parameter the data type depends on function definition 1 70 1 4 Program Control Instructions The forms of parameter input and output are shown below Input Data Input Designa Description Form tion Bit Input B VAL Designates the output to be of a bit type The bit type data become the input to the function Integer Type I VAL Designates the input to be of an integer type The contents Input
141. on has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication About This Manual E This manual describes the programming instructons of the New Ladder Editor a programming software application that aids in the design and maintenance of MP900 series and MP2000 series Machine Controllers E This manual is written for readers with a working knowledge of Microsoft Windows 95 98 2000 NT Refer to Windows documentation provided with your computer for information on basic operations such as opening and closing windows and mouse operations E Intended Audience This manual is intended for the following users Those responsible for designing the MP900 and MP2000 System Those responsible for writing MP900 and MP2000 motion programs Those responsible for writing MP900 and MP2000 ladder logic programs E Description of Technical Terms In this manual the terms are defined as follows e PLC Machine Controller e MPE720 MPE720 Engineering Tool Read this manual carefully to ensure the proper use of the New Ladder Editor Also keep this manual in a safe place so that it can be referred to whenever necessary About The Software E Precautions This software is to be installed on one and only one computer You must purchase another copy of the software to i
142. or will not occur even if the operation results of EXP instruction in an overflow 1 5 9 NATURAL LOGARITHM Instruction LN E Outline The LN instruction uses the Source as the input x and stores the natural logarithm Log of the input in the Dest as the operation result This instruction can be used only in a real number operation E Format Symbol LN Full Name Natural Logarithm LN Zz Category FUNCTION Source MFO0011 Icon In Dest MF00012 1 95 1 Ladder Program Instructions 1 5 10 COMMON LOGARITHM Instruction LOG E Parameter Source e Any real number type register Input e Any real number type register with subscript e Constant Any real number type register except for and C register e Any real number type register with subscript except for and C register E Program Example The natural logarithm of the input value x 10 0 Log x 2 3026 is calculated Source DF00200 10 0 Dest DFOO202 2 3026 A INFO LN instruction is input x value is checked execute the following handling When the input is minus LN 1 calculate an absolute value e When the input is zero LN 0 take co for solution 1 5 10 COMMON LOGARITHM Instruction LOG E Outline The LOG instruction uses the Source as the input x and stores the common logarithm Log 19 of the input in the Dest as the operation result This instruction can be used only in a real number operation E Format S
143. pace in storage destina There is not enough space for storing tion 0006H Incorrect element type The type of the specified element is a malfunction 0007H Cue buffer error An attempt is made to read the cue buffer when it is empty or the buffer is written to by pointer advance when it is full 0008H Cue table error The specified table is not a table of the cue type 0009H System error An unexpected error is detected internally in the sys tem during instruction execution 1 166 1 8 Table Data Manipulation Instructions Table 1 32 Block Read PI Instruction Parameters L ROW1 Table element beginning Beginning row number of the target table element IN row number 1 to 65535 2 L COL1 Table element beginning Beginning column number of the target table ele IN column number ment 1 to 32767 RLEN Number of row elements Number of row elements 1 to 32767 CLEN Number of column ele Number of column elements 1 to 32767 ments E Format Symbol TBLBR Full Name Table Block Read TBLBR px Category TABLE Table Name Icon TBL Read Data BA HADOOO1 Parameter HA00002 Output MWOOO01 Status HBOOOO001 E Parameter Read Data e Register address except for and C registers e Register address with subscript Parameter e Register address e Register address with subscript Output e Any integer type register except for and C registers e Any integer type register with subscript e Subscript re
144. pe register with subscript except for and C reg isters Width e Any integer type register e Any integer type register with subscript e Constant E Program Example The contents of MW00100 to MWO00119 are set to 0 Dest M0000 Set Data 0 Width 20 Transfer data Transfer destination 00000 00000 MW00100 00000 MW00101 00000 MW00102 00000 MW00103 00000 MW00118 00000 MW00119 1 107 1 Ladder Program Instructions 1 6 7 BYTE TO WORD EXPANSION Instruction BEXTD 1 6 7 BYTE TO WORD EXPANSION Instruction BEXTD E Outline The BEXTD instruction stores the byte sequence stored in the transfer source registers Source one byte at a time in the word sequence in the transfer destination registers Dest The higher place bytes of the transfer destination registers are set to 0 Source Dest t VWXxXXXx a Lower byte m a Lower byte VWyyyyy Number of Upper byte b Upper byte transfers VWxxxxx 1 Pal b VWyyyyy 1 Number of bytes eee ca a re OR Oe A d 00H ak VWxxxxx 2 e c VWyyyyy 2 f 00H d VWyyyyy 3 00H V S 1 0 M D e VWyyyyy 4 00H E VWyyyyy 5 00H E Format Symbol BEXTD Full Name Extend Byte toWord BEXTD ZI Category MOVE Source Icon B MWOO016 eto Dest MWOOO1 Byte Width MWOO018 1 108 1 6 Data Manipulation Instructions E Parameter Source e Any integer type register e Any integer type
145. progress Table 2 14 Configuration of the Inverter Trace Read Execution Status STATUS Transmission parameter bit9 The function will not be executed error Error in the designated bit11 The function will not be executed number of records Swem pa S S 2 32 2 2 Trace Functions E Readout of Inverter Trace Data The readout will always be started from the most recent record Inverter Trace Memory User Register Head address of Old the register into Number of which data is read Readout read records Most recent gt New record d Readout Data Configuration Data Configuration Dat Adr gt 1 to 16 words Record1 ITEM1 A old ITEM16 1 to 16 words Record 2 Trace data Max 1920 words 1 to 16 words Record n yNew Record Length A record is composed of the data of the selected items Word length of 1 record 1 to 16 words Number of Records Maximum number of records 120 2 33 2 Standard System Function 2 3 1 Inverter Constant Write Function ICNS WR 2 3 Inverter Functions 2 3 1 Inverter Constant Write Function ICNS WR E Outline Writes the inverter constants The types and ranges of the inverter constants to be written can be designated Applicable inverters e Connected MP930 via 216 e Connected SVB 01 for MP920 via 216 e Connected 215IF for MP920 and MP2000 series via 215 E Format Symbol ICNS WR Full Name Inverter Cons
146. r e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript Subscript register e Constant e Any integer type and double length integer register except for and C registers e Any integer type and double length integer register with sub script except for and C registers except for and C regis ters e Subscript register 1 Ladder Program Instructions 1 7 3 UPPER LOWER LIMIT Instruction LIMIT E Program Example Integer Type Operation LIMIT ZI Input wwOO100 Lower Limit 100 Upper Limit 100 Output MWO0102 100 gt MW00100 00100 under the lower limit 100 lt MW00100 lt 100 Value of MW00100 within the upper and lower limit MW00100 gt 100 00100 above the upper limit Double length Integer Type Operation apa ODDO Input MLOO100 Lower Limit 100000 Upper Limit 100000 Output MLO0102 Input MLO0100 Output ML00102 100000 lt ML00100 lt 100000 Value of ML00100 within the upper and lower limit ML00100 gt 100000 100000 above the upper limit 1 126 1 7 DDC Instructions Real Number Type Operation LIMIT px Input MFOO200 Lower Limit 1 000000E 002 Upper Limit 1 000000E 002 Output MFOO202 Input MF00200 O
147. r gt 1 to 5 words Record 1 ATime of occurrence old 5 words Record 2 Trace data Max 320 words 5 words Record n ylime of occurrence new Fig 2 7 Data Configuration Record Configuration 2 words Register Designation No 1 word Year and month of occurrence 1 record 5 words 1 word Minutes and seconds of occurrence 1 word Day and hour of occurrence Fig 2 8 Record Configuration Structure of Register Designation No 2 words Contain the failure detection relay information F 8 7 0 Example MB020001 hexadecimal expression 1 word 01 83 1 word Data address 07D0 Fig 2 9 Structure of Register Designation No Table 2 13 Bit Configuration No Bit Configuration of Bit Configuration of Defined flag 1 defined 0 unde System reserved 0 fined System reserved 0 Data Type Bit 0 Integer 1 Double length int 2 0 NO contact designation ouble lengtti integer 2 Real Number 3 1 NC contact designation Bit Address 0 to F 2 28 2 2 Trace Functions Number of Records The Number of Records is the following Minimum number of records 0 no failure restoration data E Failure Restoration Data Failure restoration data is described in Figure 2 10 The number amount of restoration data is stored in SW00093 ring counter for 1 to 9999 Failure Restoration Trace Data User Regis
148. range for the request for write in A request which is outside of this range will cause an error This is valid in the case of function code OBH 0EH OFH and 10H 0 lt Write in Range LO lt Write in Range HI lt Maximum value of MW Address For System Use PARAM14 The channel No being used is stored Make sure that this will be set to 0000H by the user program on the first scan after turning on the power This parameter must not be changed by the user program thereafter since this parameter will then be used by the system 2 17 2 Standard System Function 2 1 2 Receive Message Function MSG RCV When Non procedural is set for Transmission Protocol PARAM04 has no function The settings of PARAM08 PARAMO9 and PARAM 10 are not necessary The message receivable register is only MW Input EXECUTE Receive Message Exection Command When the command becomes ON the message is receive This must be held until COM PLETE completion of process or ERROR occurrence of error becomes ON ABORT Receive Message Forced Interruption Command This command forcibly interrupts the receiving of the message This has priority over EXE CUTE receive message execution command DEV TYP Transmission Device Type Designates transmission device type CPU Module 8 215IF 1 217IF 5 218IF 6 218 02 16 SVB 01 11 PRO TYP Transmission Protocol Designates transmission protocol In non procedural transmission a response i
149. register is 1 ON and to ON when the value of the referenced register is 0 OFF E Format Symbol NCC 9 Full Name NC Contact HBO 00 002 Category RELAY Icon 4 E Parameter Relay No e Any bit type register e Any bit type register with subscript E Program Example When MB000100 becomes ON MB000101 becomes OFF MBOOO100 NB000101 ON MB000100 OFF ON MB000101 OFF 1 Ladder Program Instructions 1 1 3 10 MS ON DELAY TIMER Instruction TON 10ms 1 1 3 10 MS ON DELAY TIMER Instruction TON 10ms E Outline The TON 10ms is executed while the immediately preceding value of the bit input is ON The value of the bit output is set to ON when the timer value reaches the set value The timer stops when the immediately preceding value of the bit input is set to OFF during tim ing When the bit input is set to ON again timing restarts from the beginning 0 A value equal to the actual timed time 10 ms Unit is stored in the timer value register The maximum error of the count is 10 ms or less E Format Symbol TON 10ms Full Name On Delay Timer 10ms TONL1Oms A Category RELAY Set 2 Icon TON MWOOO0T To Count MWOOO02 E Parameter Set set value e Any integer type register e Any integer type register with subscript 0 to 65535 in 0 01 sec unit e Constant Count timer value e Any integer type register except for and C registers e Any integer type
150. register with subscript Dest e Any integer type register except for and C registers e Any integer type register with subscript except for and C reg isters Byte Width e Any integer type register e Any integer type register with subscript e Constant E Program Example The 5 bytes beginning with MW00100 are expanded into five words beginning with MWO00200 Source Mi00100 Dest Hi00200 Byte Width 5 MW00100 10H Lower byte gt 10H Lower byte MW00200 MW00101 11H Upper byte 00H Upper byte MW00102 12H Ls 11H MW00201 MWw00103 13H ts WN oH MW00104 14H 12H MW00202 OOH OOH o 13H MW00203 oH 14H MW00204 oH oo 1 109 1 Ladder Program Instructions 1 6 8 WORD TO WORD COMPRESSION Instruction BPRESS 1 6 8 WORD TO WORD COMPRESSION Instruction BPRESS E Outline The BPRESS instruction stores the lower place bytes of the word sequence stored in the transfer source registers Source in the byte sequence of the transfer destination registers Dest The higher place bytes of the transfer source registers are ignored This function is the reverse of that of the BEXTD instruction In the case of BPRESS VWxxxxx to VWyyyyy B N Source Dest VWXXxXxx a Lower byte a Lower byte VWyyyyy Number of xxH Upper byte b Upper byte transfers Upper by a Upper byte Number of bytes VWXxxxxx 1 b
151. register with subscript except for and C reg isters 1 1 Relay Circuit Instructions E Program Example MB000100 MBO00101 Set 500 Count MWO0011 ON MB000100 OFF ON MBO000101 OFF MBO000011 0 5 00s Ts Ts Scan set value IMPORTANT MW00011 works as timer count register Thus it is essential that there is no overlap Set an unused register 1 1 4 10 MS OFF DELAY TIMER Instruction TOFF 10ms E Outline The TOFF 10ms is executed while the immediately preceding value of the bit input is OFF The value of the bit output is set to OFF when the timer value reaches the set value The timer stops when the immediately preceding value of the bit input is set to ON during timing When the bit input is set to OFF again timing restarts from the beginning 0 A value equal to the actual timed time 10 ms Unit is stored in the timer value register The maximum error of the count is 10 ms or less E Format Symbol TOFF 10ms Full Name Off Delay Timer 10 ms TOF 10ms Z Category RELAY 9 Icon TOF Hwooo0s To Count HWOOO04 1 Ladder Program Instructions 1 1 5 1 S ON DELAY TIMER Instruction TON 1s E Parameter Set set value e Any integer type register e Any integer type register with subscript 0 to 65535 0 01 sec unit e Constant Count timer value e Any integer type register except for and C registers e Any integer type register with subs
152. rging the I offset is not renewed but is kept at the previous value Oppositely if the P and I offsets are oppo site in sign converging towards 0 the I offset is renewed by the present value e When the integration reset IRST is ON Yi 0 and IREM 0 are output E Format Symbol PI Full Name PI Control Input Icon PI WWOO014 i Parameter MA00001 Output WWOOO1S E Parameter Input e Any integer type and real number type register e Any integer type and real number type register with subscript Subscript register e Constant Parameter e Register address except for and C registers e Register address with subscript except for and C registers Output e Any integer type and real number type register except for and C registers e Any integer type and real number type register with subscript except for and C registers e Subscript register 1 129 1 Ladder Program Instructions 1 7 4 PI CONTROL Instruction PI Program Example Integer Type Operation MW00100 to MW00111 are used for the parameter table Input WW00010 Deviation input value Parameter M400100 lt Head address of parameter table Output MWO0011 PI output value Real Number Type Operation MF00200 to MF00220 are used for the parameter table Input WFO0020 Deviation input value Parameter MA00200 Head address of parameter table Output MF00022 lt
153. rison Instructions Double length Integer Type Data DB000000 Input MLO0100 Lower Limit 100000 Upper Limit 100000 Real Number Type Data DB000O0O00 Input DF00100 Lower Limit 1 050000E 001 Upper Limit 1 050000E 001 10 5 lt DF00100 lt 10 5 1 67 1 Ladder Program Instructions 1 4 1 SUB DRAWING CALL Instruction SEE 1 4 Program Control Instructions 1 4 1 SUB DRAWING CALL Instruction SEE E Outline The SEE instruction is used to call a sub drawing from a drawing or to call a sub sub draw ing from a sub drawing Calling is not possible between drawings of different types For example SEE H01 cannot be specified in DWG L E Format Symbol SEE Full Name Call Program SEE A Category CONTROL Name HO1 Icon s E Parameter E Program Example SEE A01 DWG A DWG A01 i Start of execution of SEE child drawing A01 gt Name A01 End of execution of child drawing A01 END 1 68 1 4 Program Control Instructions 1 4 2 MOTION PROGRAM CALL Instruction MSEE E Outline MSEE instruction is used in referring to the motion program This instruction can be referred only from DWG H It is not possible to refer from DWG A and DWGL E Format Symbol MSEE Full Name Call Motion Program MSEE Fx Category MOTION Icon M Program No a Data WA00100 E Parameter Program No e Direct specification Numerical value of 1 256 Moti
154. rror code is set in the Output and the Status is turned ON Table 1 33 Block Write Instruction Parameters a a E row number element 1 to 65535 column number element 1 to 32767 RLEN Number of row elements Number of row elements 1 to 32767 5 W CLEN Number of column Number of column elements 1 to 32767 elements 1 168 1 8 Table Data Manipulation Instructions E Format Symbol TBLBW Full Name Table Block Write TBLBW z Category TABLE Table Name Icon Write Data aw HA00003 Parameter HAdO004 Output MWOO002 Status NB000002 E Parameter Write Data e Register address except for and C registers e Register address with subscript Parameter e Register address e Register address with subscript Output e Any integer type register except for and C registers e Any integer type register with subscript e Subscript register Status e Any bit type register except for and C registers e Any bit type register with subscript Possible to omit E Program Example From the table defined as TABLE1 with DW00010 to DW00015 as a parameter table area element type is integer type from the starting table element position to the end position are stored in block form in the data from MW00100 TBLBW z Table Name TABLE1 Write Data MA00100 Parameter DA00010 Output MW00011 Status MB000000 1 169 1 Ladder Program Instructions 1 8 3 ROW SEARCH Instruction TBLSR
155. ry of the designated group has been completed bit8 The function will not be executed bit9 The function will not be executed bit 10 to bit 12 bit13 The function will not be executed bit 15 2 2 2 Data Trace Read Function DTRC RD E Outline Reads out the trace data of the main controller unit and stores this data in the user registers The data in the trace memory can be read out upon designating the record number and the number of records The readout can be performed by designating just the necessary items in the record E Format Symbol DTRC RD DTRC RD a Full Name Data Trace Read Execute Complete Category SYSTEM wB000017 MB000018 Icon mS Group No Error RD wwoo003 MB000019 Rec No Status wwoooo4 MW00007 Rec Size Rec Size wwo0005 mwooo08 Select Rec Len wwoo006 Mwo0003 Dat Adr MA00005 2 23 2 Standard System Function 2 2 2 Data Trace Read Function DTRC RD E Parameter VO Parameter I O Setting Definition Name Designation Input B VAL Designation of the execution of data trace read REG Designation of the data trace group No 1 to 4 Rec No REG Designation of the head record No for readout 0 to maximum number of records 1 Rec Size REG Designation of the number of records requested for readout 1 to maximum number of records Select REG Item to be read out 0001H to FFFFH Bits 0 to F correspond to data designations 1 to 16 of the trace definition Dat Adr Ad
156. s for an X Y pair within the parame ter table for which Y lt Y lt Y and computes the output value Y according to the follow ing formula Xn 7 Xn X X 4 Y Yn Ynti Yn d If the X Y pair which satisfies Y lt Y lt Y for an input value Y does not exist in the parameter table the result will be as follows e IFX lt Y _ X X X X T Y Y Y Y IFY gt Y Xn Xn 1 X Xnt1 4 Y Y Ht yy 1 Y eee eee Or aa Y3 Input Y value Y2 Y1 X1 X2 X X3 X4 Ouput value 1 148 1 7 DDC Instructions E Format Symbol IFGN Full Name Inverse Function Generator IFGN z Category DDC Icon Input a e MWO0026 Fan Parameter MA00007 Output MWOO02 E Parameter Input e Any integer type double length integer and real number type register e Any integer type register with subscript e Any integer type double length integer and real number type register with subscript e Subscript register e Constant Parameter e Register address except for and C registers e Register address with subscript except for and C registers Output e Any integer type double length integer and real number type register except for and C registers e Any integer type double length integer and real number type register with subscript except for and C registers e Subscript register 1 149 1 Ladder Program Instructions 1 7 10 INVERSE FUNCTION GENERATOR Instruction IFGN
157. s has priority over EXE CUTE send message forced interruption command DEV TYP Transmission Device Type Designates transmission device type CPU Module 8 215IF 1 217IF 5 218IF 6 SVB 01 11 PRO TYP Transmission Protocol Designates transmission protocol In non procedural transmission a response is not received from the other station MEMOBUS Setting 1 Non procedural Setting 2 CIR NO Circuit No Designate the Circuit No CPU Module 1 2 215IF 1 to 8 217IF 1 to 24 218IF 1 to 8 SVB 01 1 to 16 CH NO Channel No Designate the channel No of the transmission unit However the channel number should be set so as not to be duplicated on a single line CPU Module 1 215IF 1 to 13 217IF 1 218IF 1 to 10 SVB 01 1 to 8 PARAM Set Data Head Address The head address of the set data is designated For details of the set data refer to ll Param eter Details on page 2 3 BUSY In Process Indicates that the process is being executed Keep EXECUTE set to ON COMPLETE Completion of Process Becomes ON for only 1 scan upon normal completion 2 11 2 Standard System Function 2 1 1 Send Message Function MSG SND ERROR Occurrence of Error Becomes ON for only 1 scan upon occurrence of error Refer to PARAMO00 and PARAM Ol of E Parameter Details on page 2 3 E Program Example Program example is described in Figure 2 2 580000
158. s not sent to the called station MEMOBUS Setting 1 Non procedural Setting 2 CIR NO Circuit No Designate the circuit No CPU Module 1 2 215IF 1 to 8 217IF 1 to 24 218IF 1 to 8 SVB 01 1 to 16 CH NO Channel No Designate the channel No of the transmission unit However the channel number should be set so as not to be duplicated on a single line CPU Module 1 215IF 1 to 13 217IF 1 218IF 1 to 10 SVB 01 1 to 8 PARAM Setting Data Head Address The head address of the set data is designated For details of the set data refer to E Param eter Details on page 2 14 2 18 2 1 Message Functions E Output BUSY In Process Indicates that the process is being executed Keep EXECUTE set to ON COMPLETE Completion of Process Becomes ON for only 1 scan upon normal completion ERROR Occurrence of Error Becomes ON for only 1 scan upon occurrence of error Refer to PARAMO00 and PARAMO1 of M Parameter Details on page 2 14 2 19 2 Standard System Function 2 1 2 Receive Message Function MSG RCV E Program Example Program example is described in Figure 2 3 B000003 Source 0 Dest DWO0014 STORE a Source 0 Dest DW00012 Source 32767 Dest DW00013 MSG RCY Zz Execute B000004 Busy DB000210 Abort DB000208 Complete DB000211 Dev Typ 1 Error DB000212 Pro Typ 1 Cir No 1 Ch No 1 Param DA00000 DB000211 Dest DW00
159. stant Dest e Any integer type and real number type register except for Output and C registers e Any integer type and real number type register with subscript except for and C registers e Subscript register 1 93 1 Ladder Program Instructions 1 5 8 EXPONENT Instruction EXP E Program Example Integer Type Data Source MW00100 00100 Dest MW00102 04500 Input X 1 00 MW00100 1 00 100 100 Output X 45 degrees MW00102 45 100 4500 Real Number Type Data Source DFO0200 Dest DFO0202 1 5 8 EXPONENT Instruction EXP E Outline The EXP instruction uses the Source as the input x and stores the natural logarithmic base e to the power of the input e in the Dest as the operation result This instruction can be used only in a real number operation E Format Symbol EXP Full Name Exponential EXP Fx Category FUNCTION Source MF00009 Icon x Dest MFO0010 1 94 1 5 Basic Function Instructions INFO nrof E Parameter Source e Any real number type register Input e Any real number type register with subscript e Constant e Any real number type register except for and C register e Any real number type register with subscript except for and C register E Program Example e 2 7183 to the power of the input value x 1 0 is calculated Source DFOO200 1 0 Dest DFO0202 2 7183 Maximum value 3 4 E 38 is stored and an operation err
160. ster with subscript e Subscript register e Constant Dest e Any integer type and real number type register except for Output and C registers e Any integer type and real number type register with subscript except for and C registers e Subscript register E Program Example Integer Type Data Source MW00100 06000 Dest MWO0102 05000 Input X 60 degrees MW00100 60 100 6000 Output COS X 0 50 MW00102 0 50 10000 500 Real Number Type Data Source DF00200 Dest DFO0202 1 89 1 Ladder Program Instructions 1 5 4 TANGENT Instruction TAN 1 5 4 TANGENT Instruction TAN E Outline The TAN instruction uses the Source as the input unit degrees and stores the tangent of the input in the Dest This instruction can be used in a real number operation E Format Symbol TAN Full Name Tangent TAN z Category FUNCTION Source MFOOO01 Icon ian Dest MF00002 E Parameter Source e Any real number type register Input e Any real number type register with subscript e Constant Dest e Any real number type register except for and C register Output e Any real number type register with subscript except for and C register E Program Example The tangent of the input value X 45 0 degrees TAN X 1 0 is calculated Source DFO0200 Dest DFO0202 NS INFOJ TANGENT Instruction cannot be used for integer type and double length integer type data 1 90 1 5 Bas
161. struction ASCBIN E Program Example The for byte ASCII code stored in MW00100 to MW00101 is converted to two byte binary data and the result is stored in MW00200 Source MW00100 Dest MW00200 Source Upper Lower Upper Lower MW00100 32H 2 31H 1 mwo0200 12H 34H MW00101 34H 4 33H 3 1 54 1 3 Logical Operation Comparison Instructions 1 3 Logical Operation Comparison Instructions 1 3 1 AND Instruction AND E Outline The AND instruction outputs the logical product AND of Source A and Source B to the Dest Table 1 7 1 bit Truth Table for the Logical Product ee Ea E E a E Format AND Source A MWOOOO1 zl SourceB Mwo0002 Dest MWOO003 E Parameter Symbol AND Full Name AND Category LOGIC Icon A 1 55 e Any integer type and double length integer type register e Any integer type and double length integer type register with subscript e Subscript register e Constant e Any integer type and double length integer type register e Any integer type and double length integer type register with subscript e Subscript register e Constant e Any integer type and double length integer type register except for and C register e Any integer type and double length integer type register with subscript except for and C register e Subscript register 1 Ladder Program Instructions 1 3 2 OR Instruction OR E Program Examp
162. sult offset from the lead ing register number of the search range for the matching data is stored in the designated reg ister Result Note 1 Before executing the BSRCH instruction sort the data within the E Format search range in ascending order 2 If there are two or more words with identical data the first register number that matches the data will be stored 3 If no matching data is found 1 will be stored BSRCH Zl Source Width Search Data Result MwO0022 9 MWOO023 MvOOo24 9 MWOO0025 1 111 Symbol BSRCH Full Name Binary Data Search Category MOVE Icon ER 1 Ladder Program Instructions 1 6 9 BINARY SEARCH Instruction BSRCH E Parameter Source e Any integer type and double length integer type register e Any integer type and double length type register with subscript Width e Any integer type and double length integer type register e Any integer type and double length type register with subscript Search Data e Any integer type and double length integer type register e Any integer type and double length type register with subscript e Constant Result e Any integer type register except for and C registers e Any integer type register with subscript except for and C reg isters E Program Example Data matching with 01234 are searched for in registers MW00100 to MW00199 and the result is stored in register DW00000 BSRCH pa Source MW00100 Width 100
163. t PWM PWM reset ON is input when PWM is reset I RST PWM i UT U U REM remainder U U U OFFCNT OFF output set timer Set timer for OFF output 1 ms ER Reserved Reserved relay for input I I O T T N N PWM output PWM is output 2 value output ON 1 OFF 0 OU O OU 9toF j Reserved Reserved relay for output OUT E Format Symbol PWM Full Name Pulse Width Modulation Input Icon PW MWOO082 pwn Parameter MA00010 Dutput Nw00033 1 164 1 7 DDC Instructions E Parameter e Any integer type register e Any integer type register with subscript e Subscript register e Constant Parameter e Register address except for and C registers e Register address with subscript except for and C registers e Any integer type register except for and C registers e Any integer type register with subscript except for and C reg isters e Subscript register e Constant E Program Example MW00100 is used as PWM input and MW00200 to MW00207 as a parameter table B000003 MB002000 TT may Input MW00100 lt PWM deviation input value Parameter MA00200 lt Head address of parameter table Output M 00300 lt PWM output value INFO PWM reset with the first scan of DWG L SB000001 when used with DWG H 1 165 1 Ladder Program Instructions 1 8 1 BLOCK READ Instruction TBLBR 1 8 Table Data Manipulation Instructions 1 8 1
164. t Assignment Co fin iesu TON koene CARO SSS d e AR Inaccelraton ON oeeo O for e ferv in decseraton ONTI ovpu rne decet four e Ea feonedene TONT apr when inp vae ope OUT CtoF Reserved Reserved relay for output The following operations are performed inside integer type SLAU instructions Integer Type SLAU Instruction LV x Ts 0 1 ms REM1 Acceleration rate ADV AT 0 1s x 1000 LV x Ts 0 1 ms REM1 BT 0 1s x 1000 Deceleration rate BDV Outside S curve area ADVS gt ADV When VI gt V V 2 0 V V ADV In acceleration ARY ON When VI lt V V lt 0 V V ADV In acceleration ARY ON Outside S curve area BDVS gt BDV At VI gt V V lt 0 V V BDV In deceleration BRY ON When VI lt V V gt 0 V V BDV In deceleration BRY ON LV x Ts 0 1 ms REM1 When QS ON VI gt V Quick stop rate QDV QT 0 1 s x 1000 1 158 V V QDV In deceleration BRY ON When QS ON VI lt V V V QDV In deceleration BRY ON NOTE The quick stop rate is not S curve movement but linear movement same as the quick stop rate of SLAU 1 7 DDC Instructions Acceleration rate in the S curve area ADVS ADVS AADVS AADVS ADV x Ts 0 1 ms REM2 ADV previous value of ADVS AAT 0 01 s x 100 Inside the S curve area BDVS lt BDV When VI gt V V 2 0 V V ADVS In acceler
165. t considers on a par with a coil type component and an input line has the Instruction of Enable Disable command In the block Expression box for an operation formula description is prepared and the description of the operation formula to 1000 lines is possible E Format Symbol EXPRESSION Full Name Expression EXPRESSION pa Category CONTROL MOO 100 MWOO101 MNO0102 Icon m MWOO110 MW00111 MW00112 pr MWOO120 MW00121 MW00122710 E Parameter Conditional Expression Description by Expression E Program Example EXPRESSION z MBOOO1OO MWOO101 MW00102 MWOO110 MWOO111 MWOO112 MWOO120 MWOO121eMWO0122 10 1 84 1 5 Basic Function Instructions 1 5 Basic Function Instructions 1 5 1 SQUARE ROOT Instruction SQRT E Outline The SQRT instruction calculates the square root of an integer or real number value as the operation result The input units and output results for integer and real number values are different This instruction cannot be used for double length integer data Integer Type Data The square root of Source is stored in Dest The operation result of the SQRT instruction slightly differs from the square root in mathematical terms To be more precise the opera tion result is expressed by the following formula 32768 sign A SQRT A 32768 sign A sign of the Source A absolute value of the Source In other words the operation result is equal to the mathematical square root multipl
166. t destination address of MW or DW put Inverter constant read execution status Table 2 16 Configuration of Inverter Constant Read Execution Status STASTUS The function will not be executed error Designated type error The function will not be executed Designated No error The function will not be executed Error in number amount bit12 The function will not be executed of the designated data The function will not be executed The function will not be executed Address input error The function will not be executed Note In the case of an inverter response error the error codes from the inverter are indicated in bit0 to bit7 01H 1 function code error 02H 2 reference No error Numbers in are of decimal expressions 2 40 m Configuration of the Data Readout Dat Adr gt Cns Size User Register Constant data 1 Constant data 2 Constant data 10 2 41 2 3 Inverter Functions Cns Typ bn 01 lt _ bn 05 lt _ _ bn 06 lt bn 14 bn 25 Inverter Constants Acceleration time 1 ASR proportional gain ASR integration time PG dividing ratio AO optional output gain lt Cns No 2 Standard System Function 2 4 1 Counter Function COUNTER 2 4 Other Functions 2 4 1 Counter Function COUNTER E Outline Increments or decrements the current value when the count up dow
167. t word address of the input register This is valid in the case of function codes 04H and OAH Holding Register Offset PARAM11 Set the offset word address of the holding register This is valid in the case of function codes 03H 06H 09H OBH 0DH OEH and 10H For System Use PARAM12 The channel No being used is stored Make sure that this will be set to OOOOH by the user program on the first scan after turning on the power This parameter must not be changed by the user program thereafter since this parameter will then be used by the system Relationship between the Data Address Size and Offset Relationship between the data address size and offset are described in Figure 2 1 MSG SND MSG RCV ae t Sending side j i i a Offset Receiving side offset address offset address Offset f Data Sending side address data address Sending side Data data address address Data size Data Data Data size y Fig 2 1 Relationship between the Data Address Size and Offset When transmission protocol is set to non procedural The setting of PARAM04 PARAM08 PARAMO09 and PARAM10 are not necessary Transmission enabled register is only MW 2 10 2 1 Message Functions E Input EXECUTE Send Message Execution Command When the command becomes ON the message is sent ABORT Send Message Forced Interruption Command This command forcibly interrupts the sending of the message Thi
168. ta N Method of Setting RSSEL Designates the rack slot where the target module is mounted Hexadecimal expression xxyyH xx rack number 01H lt xx lt 04H yy slot number 00H lt yy lt 0DH 1 72 1 4 Program Control Instructions INFO The rack number 1 slot number 3 with tixation in MP930 Method of Setting MDSEL F Cc 8 4 0 i i i Hexadecimal a c a abcdH a Input module type 0 Discrete input module b Rack number 1 lt b lt 4 1 Register input module c Slot number 1 lt c lt 9 d Data offset 0 lt d lt 7 X INFOL The input module type 0 rack number 1 slot number 3 data offset 0 with fixation in MP930 E Program Example Data input from LIO mounted at rack 2 slot 4 Source H0204 Dest NW00100 Source 0 Dest MW00101 Source 1 Dest MW00103 Parameter MA00100 Status MB000000 1 73 1 Ladder Program Instructions 1 4 5 DIRECT OUTPUT STRING Instruction OUTS 1 4 5 DIRECT OUTPUT STRING Instruction OUTS E Outline The OUTS instruction continuously performs direct output to a single module according to the contents of a previously set parameter table OUTS can only be used for LIO modules E Format Symbol OUTS Full Name Direct Output String OUTS zZ Category CONTROL Parameter Icon QUT HADO100 s Status HB002000 E Parameter ParameterName Name Ps Setting S E e Register D oo E except for and C registers
169. ta Table 1 2 Data Table 2 Width Data Table 1 DataTable 2 Data Table 1 DataTable 2 a i i a b j j b c k k c d l d e m gt m e f n n f g o o g h p p h Before executing the XCHG instruction After executing the XCHG instruction E Format Symbol XCHG Full Name Exchange XCHG z Category MOVE Data Table 1 Icon ye MWOO009 vcr Data Table 2 MWO0010 Width 3 MWOOO11 E Parameter Data Table 1 e Any integer type register except for and C registers e Any integer type register with subscript except for and C reg isters Data Table 2 e Any integer type register except for and C registers e Any integer type register with subscript except for and C reg isters Width e Any integer type register e Any integer type register with subscript Constant 1 105 1 Ladder Program Instructions 1 6 6 SET WORDS Instruction SETW E Program Example The contents of MW00000 to MW00009 are exchanged to MW00100 to MW00109 Data Table 1 MV00000 Data Table 2 MN00100 Width 10 MW00000 1031H MW00100 2050H Mwo0000 2050H MW00100 1031H Mwo0001 1032H MW00101 2051H Mwo0001 2051H Mwoo101 1032H MW00002 1033H MW00102 2052H MW00002 2052H MW00102 1033H MW00003 1034H MW00103 2053H MW00003 2053H MW00103 1034H MW00004 1035H MW00104 2054H Atter MW00004 2054H
170. tant Write Category SYSTEM Icon ICN ICNS WR ys Execute Busy MB000039 NB000041 Abort NB000040 Dev Typ MWO0032 Cir No MWO0033 St No MWO0034 Ch No MWOO035 Cns Typ Mwoooss Cns No MWO0037 Cns Size mwooo3s Dat Adr MA00010 i NB000042 MB000043 Status MwO0039 2 34 2 3 Inverter Functions E Parameter VO Parameter I O Setting Definition Name Designation B VAL Inverter constant write forced interruption instruction Dev Typ l REG Type of transmission device 215IF 1 MP930 4 SVB 01 11 Cir N I REG Line No 215IF 1 2 MP930 1 SVB 01 1 to 16 St No I REG Slave station No 215IF 1 to 64 MP930 1 to 14 SVB 01 1 to 14 Ch No I REG Transmission buffer channel No 215IF 1 to3 MP930 1 SVB 01 1 to 8 Cns Typ REG Type of inverter constant 0 direct designation of reference No 1 An 2 Bn 3 Cn 4 Dn 5 En 6 Fn 7 Hn 8 Ln 9 On 10 Tn Cns No I REG Inverter constant No 1 to 99 The upper limit will differ according to the type of inverter If Cns Typ 0 designate the reference No REG Number of inverter constants number of data to be written to 100 Dat Adr Register address of set data address of MW DW or W ut I REG Inverter constant write execution status 2 35 2 Standard System Function 2 3 1 Inverter Constant Write Function ICNS WR Table 2 15 Configuration of Inverter Constant Write Executio
171. teger or real number data Double length integer data cannot be used The configurations of the parameter tables for integer and real number data are different Operations are performed by processing each parameter as an integer consisting of the lower place 16 bits Table 1 18 Integer Type LAG Instruction Parameters RLY Relay vie Relay input relay output IN OUT asm First order lag time con First order lag time constant ms stant 2 w fy LAG output LAG output also output to the A register Relay I O Bit Assignment o er eee O o er Reena ene o eor iResened reene ro So _ Table 1 19 Real Type LAG Instruction Parameters EEC S time con First n oa lag time constant s stant ERRAR LAG output LAG output also output to the F register our e Relay I O Bit Assignment tto7 Reserved Reserved relay for input 8toF Reserved Reserved relay for output Here the LAG operation is expressed as follows Y 1 gt ae 1 TXS sie TX dY dt Y X 1 139 1 Ladder Program Instructions 1 7 7 FIRST ORDER LAG Instruction LAG The following operation is performed within the LAG instruction with dt Ts and dY Y Y TX Y TsXx X REM T Ts X input value Y Y output value Y previous output value Ts scan time setting Y 0 and REM 0 are output when the LAG reset RST is ON E Format Symbol LAG Full Name First Order Lag LA
172. tension program cannot be called more than once E Format Symbol XCALL Full Name Call Extended Program XCALL Zl Category CONTROL Name MCTBL Icon x CAL E Parameter Name MCTBL Constant table M register IOTBL I O conversion table ILKTBL Interlock table ASMTBL Parts composition table E Program Example DWG x xx Expansion Conversion Program XCALL gt Name ILKTBL lt 4 XCALL ILKTBL XPEND The converted ladder program cannot be viewed at the Editor 1 76 1 4 Program Control Instructions 1 4 7 WHILE Instruction WHILE END_WHILE E Outline Instruction between WHILE and END_ WHILE is repeatedly executed as long as the condi tion specified by WHILE instruction is satisfied When the condition is no longer satisfied instruction sequence is not executed and the program proceeds with the instruction immedi ately after END WHILE E Format e At instruction development display ON Symbol WHILE END_WHILE WHILE ya Full Name While Do End of While 1 lt 100 Category CONTROL Icon END_WHILE We an e At instruction development display OFF Symbol WHILE END_WHILE Full Name While Do and WHILE END_ WHILE 4 End of While Category CONTROL Icon WH END E Parameter Conditional Expression Description by Expression 1 77 1 Ladder Program Instructions 1 4 7 WHILE Instruction WHILE END_WHILE E Program Example The total
173. ter gt lt lt Head address of the Old Old register into which Number of Readout data is read Record No of read records read record New gt New Fig 2 10 Failure Restoration Data E Readout Data Configuration Failure Restoration Data Data configuration is described in Figure 2 11 Dat Adr gt 8 words Record 1 Time of restoration old 8 words Record 2 Trace data 8 words Record n yiime of restoration new Fig 2 11 Data Configuration 2 29 2 Standard System Function 2 2 3 Failure Trace Read Function FTRC RD Record Configuration Record composition is shown in Figure 2 12 _ 2 words Register Designation No 1 word Year and month of occurrence 1 word Day and hour of occurrence 1 record 8 words 1 word Minutes and seconds of occurrence 1 word Year and month of restoration 1 word Day and hour of restoration 1 word Minutes and seconds of restoration Yy Fig 2 12 Record Configuration Number of Record The Number of Records is the following Minimum number of records 0 no failure restoration data Maximum number of records 450 2 30 2 2 Trace Functions 2 2 4 Inverter Trace Read Function ITRC RD E Outline Reads out the trace data of the inverter and stores this data in the user registers The data in the trace buffer can be read out upon designating the number of recor
174. ter2 Partly revised Ea 1 1 Addition Type of transmission device in Dev Type 218 02 16 Revision Instructions Available in EXPRESSION instruction Back cover Back cover Revision Address January 2008 1 1 1 2 22 1 2 23 22 1 2 23 Revision Program example Addition Information on the nesting of IF instructions Revision arctan gt atan Revision Address Auo oe 2005 a chapters Addition MP2000 series Revision CP 717 to MPE720 Windows 95 to Windows 95 98 2000 NT Revision Address oe il 2003 El Ga Revision Address November 2002 rama Spf Revision Address Machine Controller MP900 MP2000 Series New Ladder Editor PROGRAMMING MANUAL IRUMA BUSINESS CENTER SOLUTION CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 4 2962 5151 Fax 81 4 2962 6138 YASKAWA AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 800 YASKAWA 800 927 5292 or 1 847 887 7000 Fax 1 847 887 7310 YASKAWA ELETRICO DO BRASIL LTDA Avenida Fagundes Filho 620 Sao Paulo SP CEP 04304 000 Brazil Phone 55 11 3585 1100 Fax 55 11 5581 8795 YASKAWA EUROPE GmbH HauptstraBe 185 Eschborn 65760 Germany Phone 49 6196 569 300 Fax 49 6196 569 398 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 1236 735000 Fax 44 1236 458182 YASKAWA ELECTRIC KOREA CORPORATION 9F Kyobo Securities Bldg 26 4 Yeouido dong Yeongdeungpo gu Seoul 150 737 Korea Pho
175. th Integer Type Data Source HL00100 D12845678 Dest ML00102 H12845678 1 49 1 Ladder Program Instructions 1 2 20 PARITY CONVERSION Instruction PARITY 1 2 20 PARITY CONVERSION Instruction PARITY E Outline The PARITY instruction counts the number of bits in the Source that are set to ON or 1 and the result is stored in the Dest E Format Symbol PARITY Full Name Count ON Bit PARITY J Category MATH Source Icon 0101 HwO0039 ry Dest MWOO040 E Parameter Source e Any integer type and double length integer type register e Any integer type and double length integer type register with subscript e Subscript register e Any integer type and double length integer type register except for and C registers e Any integer type and double length integer type register with subscript except for and C registers e Subscript register E Program Example Integer Type Data PARITY Fal Source M 00100 HFOFO Dest MW00101 00008 Double length Integer Type Data PARITY Zz Source MLOO100 HFOFOFOFO Dest ML00102 00016 1 50 1 2 Numeric Operation Instructions 1 2 21 ASCII CONVERSION Instruction ASCII E Outline The ASCII instruction converts the specified characters character string in Source to the corresponding ASCII character codes and stores them in the designated Dest It recognizes uppercase and lowercase characters separately The first character is stored in t
176. the Exclusive Logical Sum 1 57 1 Ladder Program Instructions 1 3 3 XOR Instruction XOR E Format Symbol XOR Full Name Exclusive OR XOR Zl Category LOGIC Source Icon MWOO00 SourceB HWOO0OS Dest WWOOO0OS E Parameter Source A e Any integer type and double length integer type register e Any integer type and double length integer type register with subscript e Subscript register e Constant Source B e Any integer type and double length integer type register e Any integer type and double length integer type register with subscript e Subscript register e Constant Dest e Any integer type and double length integer type register except for and C register e Any integer type and double length integer type register with subscript except for and C register e Subscript register E Program Example The exclusive logical sum of MW00100 and a constant is stored in MWO00101 Source MW00100 H5555 SourceB HOOFF HOOFF Dest MW00101 H5544 1 58 1 3 Logical Operation Comparison Instructions 1 3 4 Comparison Instruction lt E Outline This instruction compare Source A with Source B and stores the comparison result in the bit output the result is ON when true E Format Symbol lt Full Name Less Than A lt B Category LOGIC Sourced Icon MWOO010 lt SourceB MWOOO11 E Parameter Source A e Any integer type double length integer type and real number
177. the copy destination E Format Symbol COPYW Full Name Copy Word copyy N Category MOVE Icon Source HWOOO32 W 9 1 116 1 6 Data Manipulation Instructions E Parameter Source e Any integer type register e Any integer type register with subscript Dest e Any integer type register except for and C registers e Any integer type register with subscript except for and C reg isters Width e Any integer type register e Any integer type register with subscript e Constant E Program Example The word data of MW00000 to MW00009 are transferred to MW00100 to MW00109 Source MI00000 Dest HV00100 Width 10 Mwoo000 1032H MW00100 1032H MW00001 1133H MW00101 1133H Mwoo002 1234H a MW00102 1234H transfer MW00008 1841H MW00108 1841H MW00009 1842H MW00109 1842H 1 117 1 Ladder Program Instructions 1 6 14 BYTE SWAP Instruction BSWAP 1 6 14 BYTE SWAP Instruction BSWAP E Outline The BSWAP instruction swaps the higher place and lower place bytes of the designated reg ister Dest VWXxXXXxXx VWXxXXXxx Upper Lower Upper Lower V S 1 0 M D a b gt b a Before swap After swap E Format Symbol BSWAP Full Name Byte Swap BSWAP A Category MOVE Dest Icon B MWOOO035 oie E Parameter Dest e Any integer type register except for and C registers e Any integer type register with subscript e
178. the data ranges the operation is not performed In this case 9999H is stored in the column second of the Dest and the Status is turned ON E Format Symbol SPEND Full Name Time Spend SPEND Zz Category MATH Source Icon ay MWOOOZE 2 Dest MWO0028 Status HBOOOOOS 1 41 1 Ladder Program Instructions 1 2 14 SPEND TIME Instruction SPEND E Parameter Source e Any integer type register e Any integer type register with subscript Dest e Any integer type register except for and C register e Any integer type register with subscript except for and C reg ister Status e Any bit type register except for and C register e Any bit type register with subscript except for and C register Possible to omit E Program Example The time elapsed from the time data in MW00100 to MW00103 to the time data in DW00000 to DW00003 is stored to MW00100 MW00105 SPEND ZI Source DwWO0000 Dest MW00100 Status DB000100 98 yrs 5 mos 11 days 15 hrs 4 min 47sec 98 yrs 4 mos 2 days 8 hrs 13 min 8 sec MW00100 MW00101 MW00102 MW00103 DW00000 DW00101 DW00102 DW00103 Oyrs 39 days 6 hrs 51 min 39 sec MW00100 MW00101 MW00102 MW00103 O07 C 3394299 Decimal ODT ae pwo0o00 wooo pwo0002 pw000s INFOQ In the operation results the year is counted as 365 days and a leap year is not taken into consideration Also the number of months is not counted Itis cou
179. tination bits the move source bit table is stored If there is overlap between them the move source bit table may not be stored Source gt Dest gt Transfer source Transfer data area gt destination Width data area lt Number of transfers mn m 1m 2 m 3 5 4 3 2 1 0 Oo 1 1 1 1 Oo 1 0 1 Address of the head transfer source bit ee ee ae ee ee ee ol1 4 1111011 01 1 be Address of the head transfer destination bit Transfer source Transfer destination Transfer source Transfer destination c a a b f f 9 9 h h h When the transfer source and When the transfer source and transfer destination overlap 1 transfer destination overlap 2 E Format Symbol MOVB Full Name Move Bit WOvB A Category MOVE Source Icon MO WB000003 g Dest HB000004 Width HWOO005 1 101 1 Ladder Program Instructions 1 6 3 MOVE BITS Instruction MOVB E Parameter Source Any bit type register e Any bit type register with subscript Dest e Any bit type register except for and C registers Any bit type register with subscript except for and C regis ters Width e Any integer type register e Any integer type register with subscript e Constant E Program Example The 10 bits
180. type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant Source B e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant E Program Example If the value of MW00100 is smaller than 100 after the instructions operation are executed SourceA MW00100 Source MW00101 SourceB 100 SourceB MWO0102 Dest MW00103 1 59 1 Ladder Program Instructions 1 3 5 Comparison Instruction lt 1 3 5 Comparison Instruction lt E Outline This instruction compare Source A with Source B and stores the comparison result in the bit output the result is ON when true E Format Symbol lt Full Name Less Than or Equal A lt B lt Zz Category LOGIC Source Icon lt MYOOO12 SourceB MWOO013 E Parameter Source A e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant Source B e Any integer type double length integer type and real number type register e Any integer type double length integer type and real number type register with subscript e Subscript register e Constant E Program Example If the value of MW00100 is under
181. unction TRACE 2 22 2 2 2 Data Trace Read Function DTRC RD 2 23 2 2 3 Failure Trace Read Function FTRC RD 2 26 2 2 4 Inverter Trace Read Function ITRC RD 2 31 2 3 Inverter Functions 2 34 2 3 1 Inverter Constant Write Function ICNS WR 2 34 2 3 2 Inverter Constant Read Function ICNS RD 2 39 2 4 Other Functions 2 42 2 4 1 Counter Function COUNTER 2 42 2 4 2 First in First out Function FINFOUT 2 44 Appendix A Expression A 1 Expression A 2 A 1 1 Operator A 2 A 1 2 Operand A 4 A 1 3 Instructions Available in EXPRESSION Instruction A 5 A 2 Recognizable Expression A 6 A 2 1 Arithmetic Operator A 6 A 2 2 Comparison Operator A 6 A 2 3 Logic Operator A 6 A 2 4 Substitution Operator A 7 A 2 5 Function A 7 A 2 6 Others A 7 A 3 Application to Ladder Program
182. user function Address Input E Program Example Name INPUT MB000000 INPUT2 1 0010 INPUTS MBOO0001 INPUT4 MLOO011 ADRESS MA00100 F30 OUTPUT OBO0000 OUTPUT2 MWOo020 OUTPUTS MB000021 OUTPUT4 MLOO201 1 71 1 Ladder Program Instructions 1 4 4 DIRECT INPUT STRING Instruction INS 1 4 4 DIRECT INPUT STRING Instruction INS E Outline The INS instruction continuously performs direct input to a single module according to the contents of a previously set parameter table INS can only be used for LIO modules E Format Symbol INS Full Name Direct Input String Icon Parameter IN HA00100 Status MB002000 E Parameter ParameterName Name Po Sting E D e Register address Sing a S o for and C registers e Register address with subscript Status e Any bit type register except for and C registers e Any bit type register with subscript Possible to omit Table 1 10 INS Instruction Parameter Data Type Symbol Name Specifications Input or Ewe RSSEL Module Module designation 1 1 Module designation 1 Designation of module for performing input lt For EA MDSEL Module Module designaton2 2 details refer to 1 and 2 below gt KEE Output of a bit equivalence of the status for each word input EAE Number of words Designation of number of continuous input words a Input data 1 If there is an error in the output of input data 0 is ones ks ae Input da
183. ut command IN CMD FIFO Table Configu Out Cmd B VAL Data output command OUT CMD aP data size Input size FIFO Tbl Head address of FIFO table MW or DW 2 output size put address 3 number of data In Data Address in Head address of input data MW or DW stored put address data Out Data Address in Head address of output data MW or DW put address Output TbI Full B VAL FIFO table is full Tbl Emp B VAL FIFO table is empty Tbl Err B VAL FIFO table error 2 45 Appendix A Expression It is necessary to describe the conditional expression and the operational expression in IF WHILE and the EXPRESSION instruction in the ladder instruction Those expressions can be described by using Expression This appendix describes the use rule of the Expression A 1 Expression A 2 A 1 1 Operator A 2 A 1 2 Operand A 4 A 1 3 Instructions Available in EXPRESSION Instruction A 5 A 2 Recognizable Expression A 6 A 2 1 Arithmetic Operator A 6 A 2 2 Comparison Operator A 6 A 2 3 Logic Operator A 6 A 2 4 Substitution Operator A 7 A 2 5 Function A 7 A 2 6 Others
184. utput MF00202 100 0 lt MF00200 lt 100 0 Value of MF00200 within the upper and lower limit MF00200 gt 100 0 100 0 above the upper limit 1 7 4 Pl CONTROL Instruction PI E Outline The PI instruction executes a PI control operation according to the contents of a previously set parameter table The input Input to the PI operation must be integer or real number data Double length integer data cannot be used The configurations of the parameter tables for integer and real number data are different Operations are performed by processing each parameter as an integer consisting of the lower place 16 bits Table 1 12 Integer Type PI Instruction Parameters Relay I O Relay input relay output IN OUT Gain of the P offset a gain of 1 is set to 100 IN Integration adjustment Gain of the integration circuit input a gain of 1 is set gain to 100 Ww RLY W Kp W Ki j wt w fur W ILL ion limi W UL W LL W W Y W Yi W we EALAN EARANN fw Ce Ow fa ioernegeionim Toveren e fw p o fw fw ew ow 1 127 1 Ladder Program Instructions 1 7 4 PI CONTROL Instruction PI Relay I O Bit Assignment 0 IRST Integration reset ON is input when integration is reset 1to7 Reserved Reserved relay for input 8toF Reserved Reserved relay for output Table 1 13 Real Number Type PI Instruction Parameters PF ae Yi oF Pgain Gain Gain of the P offset 0 P offset KE Mall n
185. xcept for and C reg isters 1 118 1 6 Data Manipulation Instructions E Program Example The upper and lower bytes of MW00100 to MW00102 are swapped Variable I Init 0 Max 2 Step 1 Dest MW00100i Upper Lower Upper Lower MW00100 12H 34H MW00100 34H 12H Before swap After swap Upper Lower Upper Lower MW00101 13H 44H MW00101 44H 13H Before swap After swap Upper Lower Upper Lower MW00102 14H 54H MW00102 54H 14H Before swap After swap 1 119 1 Ladder Program Instructions 1 7 1 DEAD ZONE A Instruction DZA 1 7 DDC Instructions 1 7 1 DEAD ZONE A Instruction DZA E Outline The DZA instruction executes a dead zone operation on integer double length integer or real number data The following operation is performed where nput is the input value Zone is the designated dead zone value and Output is the output value e Output Input absolute value of Input is greater than or equal to the absolute value of Zone Output 0 absolute value of Input is less than the absolute value of Zone E Format Symbol DZA Full Name Dead Zone A DZA Zi Category DDC Icon Input MWOOO01 x4 MWOOO02 Output MWOO003 1 120 1 7 DDC Instructions E Parameter Input e Any integer type double length integer type and real number type register e Any integer type double length integer type and real
186. ymbol LOG Full Name Logarithm Base 10 LOG pa Category FUNCTION Source MF00013 Icon log Dest MFOO014 1 96 1 5 Basic Function Instructions E Parameter Source e Any real number type register Input e Any real number type register with subscript e Constant e Any real number type register except for and C register e Any real number type register with subscript except for and C register E Program Example The common logarithm of the input value x 10 Logj9 x 1 0 is calculated Source DFO0200 Dest DFO0202 X INFOJ LOG instruction is input x value is checked execute the following handling e When the input is minus LOG 1 calculate an absolute value e When the input is zero LOG 0 take 2 for solution 1 97 1 Ladder Program Instructions 1 6 1 BIT ROTATION LEFT Instruction ROTL 1 6 Data Manipulation Instructions 1 6 1 BIT ROTATION LEFT Instruction ROTL E Outline The ROTL instruction is used to rotate bits to the left the number of times designated in the bit table designated by the leading bit address and bit width Bitwidth m gt m 1 m 2 m 3 4 3 2 1 0 Head bit address D2 E v E E gt Number of rotations gt E Format Symbol ROTL Full Name Bit Rotate Left ROTL z Category MOVE Head Bit Address Icon ROT MBOOOO01 na Number of Rotations MWOO001 Bit Width MWO0002 E Parameter
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