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Machine Controller MP900 Series New Ladder Editor

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 Dest gt Transfer Transfer source oer gt destination Width data area data area Transfer source a b c N g h h When the transfer source and transfer destination overlap 1 E Format Mory GF Source 7 Hyan ig Dasi WVO00OT Width E 1 103 Transfer destination Transfer source Transfer destination DRA o e ae 9 h h When the transfer source and transfer destination overlap 2 Symbol MOVW Full Name Move Word Category MOVE Icon Wo wW 1 Ladder Program Instruction 1 6 4 MOVE WORD Instruction MOVW E Parameter Parameter Name Setting Source e Any integer type register
2. A 8 A 3 2 Conditional Expression of WHILE Instruction A 8 A 3 3 Operational Expression of EXPRESSION Instruction A 9 1 Ladder Program Instructions This chapter describes the details of 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 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 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 I
3. 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 vi 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
4. 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 6 8 WORD TO WORD COMPRESSION Instruction BPRESS 1 110 1 6 9 BINARY SEARCH Instruction BSRCH 1 111 1 2 1 6 10 SORT Instruction SORT 1 113 1 6 11 BIT SHIFT LEFT Instruction S
5. 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 l 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 Address 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 Rec Size I 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 bows Designated record No bitl0 error number of records read fsystemresened i CS Systemes oie 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 2 2 Trace Functions User Register Head address of Old New Number of read records Readout the register into which data is read gt The most recent record No of trace groups are each stored in SW00100 to SW00103 Ta
6. In Expression it is possible to describe by associating the arbitrary variable name permitted by C language with controller s register Controller s bit type register is handled as bool type though the bool type variable does not A 3 Appendix A Expression DE A 1 3 Function 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 The character which can be used is alphabet and underscore _ and figures among ASCII characters e The same variable name as the following function names cannot be used lt EXAMPLE gt Abc OK get input0 OK lab NG Sin NG A 1 3 Function The following arithmetic functions can be used cos sin arctan tan A 4 A 2 Recognizable Expression A 2 Recognizable Expression 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 A The arithmetic operation cannot be used for the operand of the bit type Even if the calculation value exc
7. Init 1 Now 43 Step l END FOR e At instruction development display OFF FOR END FOR W 1 82 Symbol FOR END_FOR Full Name For End of For Category CONTROL Icon FOR aei Symbol FOR END_FOR Full Name For and End of For Category CONTROL Icon Fip 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 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 Var lable T init b bsx flee 1 83 1 Ladder Program Instruction 1 4 11 EXPRESSION Instruction EXPRESSION 1 4 11 EXPRESSION Instruction EXPRESSION E Outline EXPRESSION instruction is composed by one block It 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 Category CONTROL
8. 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 IN Category FUNCTION Source HYOOOS Icon an Desi wvOono4 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 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 1 87 1 Ladder Program Instruction 1 5 3 COSINE Instruction COS E Program Example Integer Type Data Cource MADD IG Dest wane Input X 30 degrees MW00100 30 100 3000 Output SIN X 0 50 MW00102 0 50 10000 5000 Real Number Type Data Eource IF OOpaM Dest DFODEOE 1 5 3 COSINE Instruction COS E Outline The COS instruction calculates the cosine of integer o
9. cannot be set OK can be set 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 i E Write into a single holding register 0 to 32767 0 to 7FFFH Read contents of holding register expanded 0 to 32767 0 to 7FFFH 2 i i 2 Write into holding register expanded 0 to 32767 0 to 7FFFH Discontinuous readout of holding register 0 to 32767 0 to 7FFFH expanded Discontinuous write into holding register 0 to 32767 0 to 7FFFH expanded Change status of a multiple coil 0 to 65535 0 to FFFFH 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 1 2 2 2 Read contents of input register expanded 0 to 32767 0 to 7FFFH 3 i 3 1 2 2 8 2 1 Message F
10. 0 to 23 Lower byte minutes 0 to 59 1 3 Seconds BCD 0000 to 0059 5 4 by converting Year Month Day Houtr 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 Total number of seconds This is the number of records which is obtained 1 0 IN VO IN OU IN OU EE Ca w IN OU the operation will be performed normally After the operation is completed Status is T T T 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 SPEND Full Name Time Spend SPEND Category MATH Source 7 Icon iey WOOO 2E Dest 7 MPOOo2a Status 7 WEOOONS 1 41 1 Ladder Program Instruction 1 2 14 SPEND TIME Instruction SPEND E Parameter ParameterName Name Po Sig E EE Sting integer type register e Any integer type register with subscript 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
11. 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 PARAMO7 The called CPU NO 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 PARAMO9 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 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 OEH OFH and 10H 0 lt Write in Range LO lt Write in Range HI lt Maximum value of MW Address For System Use PARAM 14 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 us
12. 2 1 Message Functions Status PARAMO01 Output the status of the transmission unit e Bit Assignment FEDCBA 98 7 65 4 3 2 1 0 H E i ye 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 e SyS Not connected to a transmission system RESET_NG Reset state Out of ring The token could not be received even when the O_RING_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 e eseese e REQUEST 1 Request 0 Completion of receipt report Called Station 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 B Come foa o Note 1
13. 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 REG Number of inverter constants number of data to be read 1 to 100 Dat Adr Register address of read out destination address of MW or DW put Inverter constants are being read The reading of inverter constants has been completed Occurrence of error 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 The function will not be executed will not be executed Error in number amount bitl2 function will not be executed of the seat Mia data 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 E Configuration of the Data Readout Dat Adr Cns Size User Register Constant data 1 Constant data 2 Constant data 10 2 41 2 3 Inverter Functions Cns Typ Y bn 01 lt _ bn 05 lt _ bn 06 _ bn 14 bn 25
14. 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 down command Up Cmd Down Cmad 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 COUNTER Full Name Counter Up pad TA m po ma i SYSTEM con Daeri d 1 ml er T TER MEQUOOE PETE EDU 1 Gnk frr T wdi tbitgiig Cnt Dala 1 mangan E Parameter I O Parameter I O Setting Definition Name Designation Input Up Cmd B VAL Count up command OFF gt ON Data area for counter B VAL Count down command OFF gt ON process 1 Set value B VAL 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 B VAL Becomes ON when current counter value gt set val
15. 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 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 Table Mase TREBLE Read Date WAIT OR Parameter MO01D Dute wan Status MEIOOOMI Table Aene TABLE ead Daka WOOD Parameter MOOD Outewt umag Skatu WhOn0ed 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 write 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 repor
16. 2 below gt I i N N S Status Output of a bit equivalence of the status for each OU N word input Number of words Designation of number of continuous input words FIN sID1 Input data 1 If there is an error in the output of input data 0 is TS N ID1 IDN T 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 ODH 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 R i g d 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 INFOJ 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 STORE Bouree HITOA fest mrmootoo ETORE a cource li best amanti BTORE tource 1 Deil Wag Loe Parameter BA00T0D Siouan 000000 1 73 1 Ladder Program Instruction 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 pa
17. Full Name Convert ASCII to Binary Category MATH Icon Bert BIN Source e Any integer type register e Any integer type register with subscript 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 Instruction 1 2 23 ASCII CONVERSION 3 Instruction 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 Eource MOGI best mt Source Upper Lower Upper Lower Mwo0100 32H 2 31H 1 _ gt mwo0200 12H 34H Mwo0101 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 T ee ee C es ee E E Format Symbol AND Full Name AND an Category LOGIC Sourced 1 Icon Hraniti A Source 7 Woni Dast 7 Wvoong 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
18. Lower byte gt 10H Lower byte MW00200 MW00101 11H Upper byte OOH Upper byte MW00102 12H Ls 11H Mwo0201 MW00103 13H 0 N ot MW00104 14H 12H MW00202 oH C O oH oo 13H MW00203 oH ooo 14H MW00204 oH oo 1 109 1 Ladder Program Instruction 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 e 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 lee Upper byte Number of bytes VWxxxxx 1 bp G psteasonch VWyyyyy 1 xxH eg d VWxxxxx 2 c e VWyyyyy 2 xxH 00 VWxxxxx 3 d xxH When the number of transfered bytes VWxxxxx 4 e 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 a Category MOVE Source 7 Icon B E ots Dest Wrioo2g Byta Fidth 7 WFOOO 1 E Parameter Source e Any integer type register e Any integer type register with subscript Dest e Any inte
19. 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 1 98 1 6 1 BIT R
20. 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 Instruction 1 7 10 INVERSE FUNCTION GENERATOR Instruction IFGN E Program Example Integer Type Operation Number of Data N 20 W00000 to W00040 are used for the parameter table input adni Deviation input value Parameter Laiogoh Head address of parameter table full MTT a IFGN output value Double length Integer Type Operation Number of Data N 20 L00000 to L00080 are used for the parameter table input omii Deviation input value Peremeler Haigoii Head address of parameter table fuieet SLi IFGN output value Real Number Type Operation Number of Data N 20 F00000 to F00080 are used for the parameter table laau upg Deviation input value Parsmeier JANOU Head address of parameter table Mipu Urma a 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
21. Symbol Specifications IRST ON is input when LAG is reset IN Reserved Reserved relay for input aa I O Reserved relay for output OUT Here the LAG operation is expressed as follows Y 1 Xe 7 1 Txs sie T x dY dt Y X 1 139 1 Ladder Program Instruction 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 TsX 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 a ae Category DDC Input 4 Icon WYO 20 is Parameter Wattia Qutpul 7 WoON 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 Constant Parameter 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 1 140 1 7 DDC Instructions E Program Example Integer Type Operation MW00100 to MW00103 are used for the parameter table impui HERIDO Deviation input value Porseeier WAM 1G0 Head addres
22. 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 MWO0000 Dest H00100 Width 10 Mwo00000 1234H MW00100 1234H MW00001 2345H MW00101 2345H MW00002 3456H An e 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 Table1 and 2 Data Table2 Data Table 1 _ gt DataTable 2 Data Table 1 e Data Table 2 Width Data Table 1 DataTable 2 Data Table 1 DataTable 2 a i i a b j b c k k c d d e m 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 s Full Name Exchange CHG j Category MOVE Date Table 1 7 Icon ANE pss bala Table 2 7 WHOOO10 Width T WWO OOIT E Parameter Data Table 1 e Any integer type register except for and C registers e An
23. except for and C register e Subscript register E Program Example The logical sum of MW00100 and a constant is stored in MW00101 Epurcek BPO 10d HL234 Gourceb KOOFF LHOOFF Cest mPOota LKIZFF i 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 the Exclusive Logical Sum 1 57 1 Ladder Program Instruction 1 3 3 XOR Instruction XOR E Format Symbol XOR Full Name Exclusive OR XOR an Category LOGIC Sourcea 7 Icon nwogga Sourcel 4 HWOORG8 Dest 1 HWO0RGS 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 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 exclusive logical sum of MW00100 and a constant is stored in MW00101 Sources roo 800 CHEEBE Source HOOFF CHDDFF test mrgidl CHEEAA 1 58 1 3 Logical Operation Comparison Instructions 1 3 4 Comp
24. on page 2 3 E Program Example Program example is described in Figure 2 2 Suures I fest Praonit Dest bodili DEDENIE rus Desi Dmitri 2 12 2 1 Message Functions Gource DEPOO Gest Denid2e feurce DEMADI Beat Deniz 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 Protocols MEMOBUS non procedural E Format Symbol MSG RCV Full Name Message Receive Category SYSTEM Icon ACY 2 13 2 Standard System Function 2 1 2 Receive Message Function MSG RCV E Parameter I O Parameter I O Setting Definition Name Designation B VAL Receive message forced interruption instruction Dev Typ REG Type of transmission device CPU module 8 215IF 1 217IF 5 218IF 6 SVB 01 11 Pro Typ Transmission protocol Set up of RTU and ASCII is module configu ration definition MEMOBUS 1 non procedural 2 Line No CPU module 1 215IF 1 to 8 217IF 1 to 24 218IF 1 to 8 SVB 01 1 to 16 Ch No 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 D
25. 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 viii Appendix A Expression A 1 Expression A 2 A 1 1 Operator A 2 A 1 2 Operand A 3 A 1 3 Function A 4 A 2 Recognizable Expression A 5 A 2 1 Arithmetic Operator A 5 A 2 2 Comparison Operator A 5 A 2 3 Logic Operator A 5 A 2 4 Substitution Operator A 6 A 2 5 Function A 6 A 2 6 Others A 6 A 3 Application to Ladder Program A 8 A 3 1 Conditional Expression of IF Instruction
26. A of MW00000 as the head address and a bit width of 10 are rotated five times to the left Head Bit Address MBOOQOOOA Number of Rotations Bit Width 10 Rotation symmetry range Bit width 10 F C gt 9 4 0 tek Oo 0 1 1 1 0 MW00000 1 0 0 o Mwoooo1 gt v F c 9 4 0 Aine Oj 1 0 0 0 0 MW00000 o 1 1 1 mwo00001 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 __ Bit wiatn m gt 0 m 1 m 2 m 3 4 3 2 1 Head bit address lt Number of rotations lt 1 99 1 Ladder Program Instruction 1 6 2 BIT ROTATION RIGHT Instruction ROTR E Format Symbol ROTR Full Name Bit Rotate Right Ra TR Category MOVE Head Hil Address 7 Icon HEDOOOO a Number of Rotations 7 GEUTE Bit idih 7 HROGOO4 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 Constant E Program Example The data
27. C register e Any integer type register with subscript except for and C reg ister Status Any bit type register except for and C register e Any bit type register with subscript except for and C regis ter Possible to omit E Program Example The time data in DW0000 to DW0001 is subtracted to the time data in MW00100 to Mwo0101 Eeutee DARDIAO O Dasi WEDHI Siaina Choe to 8 hrs 40 min 32sec 1 hrs 22 min 16sec 7hrs 18 min 16sec MW00100 MW00101 DW00000 DW00001 MW00100 MW00101 Before Execution After Execution MwO0100 moO pwo0000 owo0od 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 Year BCD 0000 to 0099 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 Year BCD 0000 to 0099 Month Day BCD Upper byte month 1 to 12 Lower byte day 1 to 31 2 Hours minutes BCD Upper byte hours
28. 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 Full Name NO Contact 7 Category RELAY MBOO0001 Icon 4 H 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 whedon upiti aT 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 register is 1 ON and to ON when the value of the referenced register is 0 OFF E Format Symbol NCC Full Name NC Contact HEOOOOO Category RELAY Icon 44 E Parameter Relay No Any bit type
29. Instruction 1 7 12 LINEAR ACCELERATOR DECELERATOR 2 Instruction SLAU Relay I O Bit Assignment Co RN tine sunning TON ipa wetietne seaming zor iResened Rewnedenyoripn SN 8 ARV inaccoeraton ON Koinee O Jor e BRY_ Indecsteraion TON rom iore deent four e Ea coinence FONT Konvene oe OUT o o 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 S 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 REMI1 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 ADV x Ts 0 1 ms REM2 ADVS previous value of ADVS AAT 0
30. Integer Type SLAU Instruction Parameters ne Specifications Time for acceleration from 0 to100 0 1 s Time for deceleration from 0 to100 0 1 s Time for quick stop from 100 to 0 0 1 s S curve acceleration time Time spent in the S curve region of acceleration IN 0 01 32 00 s S curve deceleration time Time spent in the S curve region of deceleration IN 0 01 32 00 s 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 ADR Type W DVDT1 Reene pes CS ABMD Speed increase upon Amount of change in speed after hold instruction and OUT iae until stabilization REM1 Remainder of acceleration deceleration rate OUT Remainder For storage of the previous value of the speed desig OU nation input DVDT2 Current acceleration 1000 times of actual acceleration deceleration deceleration speed2 DVDT2 16 L DVDT3 Current acceleration Current acceleration deceleration DCDT2 1000 deceleration speed3 PET ae REM2 Remainder of S curve area acceleration deceleration OU rate W REM Remainder Remainder of the current Remainder of the current speed EUEN Reminder r a coefficient Eemere coefficient 32768 to 32767 of current acceleration deceleration DVDT1 caer e 1 me EE Ww 1 156 1 7 DDC Instructions Relay I O Bit Assignment Sy
31. MW00102 45 100 4500 Real Number Type Data Eoures OFON Pasi DFORDIS 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 LC Category FUNCTION Source MFOOONS Icon x Desi WFOOOEO 1 94 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 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 e 2 7183 to the power of the input value x 1 0 is calculated Source PFORANG Dest OFORI N INFO Maximum value 3 4 E 38 is stored and an operation error 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 a Category FUNCTION Source MFOOOT Icon jp Dest NFOO
32. Message Forced Interruption Command This command forcibly interrupts the sending of the message This 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 01 of E Parameter Details
33. The PD instruction executes a PD control operation according to the contents of a previously set parameter table The input Input 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 Relay I O Relay input relay output Gain of the P offset a gain of 1 is set to 100 D gain Gain of the differential circuit input a gain of 1 is set to 100 Divergence differential The differential time ms used in the case of diverg time ing input IN OUT Reserved relay for input Reserved relay for output A mor Ke To iil ise A a e time verging input C a CE n e E ye I or o i 1 131 1 Ladder Program Instruction 1 7 5 PD CONTROL Instruction PD Table 1 15 Real Number Type PD Instruction Parameters Resened i Resenedgse SSSCS wC i i i i I D gain 0 Gain of the differential circuit input Td1 Divergence differential The differential time s used in the case of diverging IN i input Convergence differential The differential time s used in the case of converg i ing input Upper PD limit Upper limit for the P D offset Lower PD limit Lower limit for the P D offset 14 PD output dead
34. Usn lt sN 1 Xnt 1 Xn a If the X Yn 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 YY x KX IFX gt X Yn Yn Y Ym 4 XxX X X Y4 Y3 Y Output value WO aE E Y1 t s x1 X2 X X3 X4 Input value 1 145 1 Ladder Program Instruction 1 7 9 FUNCTION GENERATOR Instruction FGN E Format Symbol FGN Full Name Function Generator FGN Fal Category DDC Icon j Input 7 FGN CERE Paraneter 7 MADODNE Output 7 MEOO025 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 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 feeui UEAN Deviation input value Parseeier GAN Head address of parameter table Qutpul Siig FGN
35. WNDO100 MPOO ewe 102 Icon Ex HRDO I 1O MFOD I 11 MT00112 praa shana J WROD ED M12 0002 0 E Parameter Conditional Expression Description by Expression E Program Example ENPAES LON HOOUO OO BRO nd saad ii EDO O ETOO LE i EF011 17 WEDD TSO WTO tte Ee 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 multiplied 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 nega
36. 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 DENOONO2 t rue senang oeapyeee Source Dest PIONI 2 3 Inverter Functions DEDOOOOFe moe Source DININI Bert pogga Cm 2 3 2 Inverter Constant Read Function ICNS RD E Outline Reads the inverter constants The types and ranges of the inverter constants to be read can be designated Applicable inverters connected via MP930 SVB 01 CP 215 E Format Symbol ICNS RD Full Name Inverter Constant Read Category SYSTEM Icon p 2 Standard System Function 2 3 2 Inverter Constant Read Function ICNS RD E Parameter Parameter Setting ar aan Name eis B VAL Inverter constant Inverter constant read execution instruction execution instruction B VAL Inverter constant meer eman d eoon a forced interruption instruction Dev Typ REG Type of transmission device 215IF 1 MP930 4 SVB 01 11 Cir No REG Line No 215IF 1 2 MP930 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 Input Output Cns Typ REG Type of inverter constant 0 direct designation of reference No 1 An 2 Bn 3
37. are reported Upon 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 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 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 L TeLSRG mp Category TABLE Table Name 7 Icon TAL Search Data T G EYDI E Parameter Hat gig Dutput 7 NWOOGO4 Status 7 HED 0RO04 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 Possib
38. elapsed from the time data in MW00100 to MW00103 to the time data in DW00000 to DW00003 is stored to MW00100 MW00105 Source Dabo Bert WEE O0 Status WBrri mi 98 yrs 5 mos 11 days 15 hrs 4 min 47 sec 98 yrs 4 mos 2 days 8 hrs 13 min 8 sec MW00100 MW00101 MW00102 MW00103 DW00000 DW00101 DW00102 DW00103 0 yrs 39 days 6 hrs 51 min 39 sec MW00100 MW00101 MW00102 MW00103 Time Data Before Execution After Execution fwwooros PCS 3394299 Decimal janooies INFON In the operation results the year is counted as 365 days and a leap year is not taken into consideration 7 f Also the number of months is not counted Itis counted 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 IHY Fe Category MATH Source 7 Icon inv HVOO0eS Dest 7 Wyong E Parameter Source 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
39. 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 MBOOOO0A Number of Rotations 1 Bit Width 10 Rotation symmetry range Bit width 10 oe 11 1 4 4 o o 1 o o o 1 1 o 1 o 1 4 gt F c 8Y 4 After 4falaflilololil lolololiflalola execution 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 destination 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 Number of transfers m _ m 1m 2 m 3 5 4 3 2 1 0 0 1 1 1 1 Oo 1 0 1 Address of the head J ii T TER J J 7 is transfer source bit Oo 1 1 1 1 Oo 1 0 1 t Address of the head transfer destination bit Transfer source Transfer dest
40. 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 1 55 1 Ladder Program Instruction 1 3 2 OR Instruction OR E Program Example The logical product of MW000100 and a constant is stored in MWO00101 Sources wr 800 HL234 Source HOOFF LHOOFF Coot mwrddidi E0024 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 a a a a a ee ees ees es E Format Symbol OR Full Name Inclusive OR a Category LOGIC Sources 7 Icon vi Hvonnga Source 7 AAEE HEOO0G8 1 56 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 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 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
41. 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 space 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 ROW1 Table element beginning Beginning row number of the target table element row number 1 to 65535 column number ment 1 to 32767 E Format Symbol TBLBR Full Name Table Block Read TELER a Category TABLE Table Mane Icon tL Read Data 7 WAOOON Parameter 7 Handig Output 7 WHOooo Statue 7 WBOOONG1 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 r
42. 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 imut WO Deviation input value Parsmeier BAGG Head address of parameter table Quiet ULM FGN output value Real Number Type Operation Number of Data N 20 F00000 to F00080 are used for the parameter table leeut Fiera Deviation input value Parsmeier EANMO Head address of parameter table Mipu UMi 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 n set so that Y is less than or equal to Y 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 o fw Ec C Ca e x fpe K e D a Cc wo fen o S E Data N 1 1 N Ca w p ee E 2N 1 W 1 147 1 Ladder Program Instruction 1 7 10 INVERSE FUNCTION GENERATO
43. 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 register E Program Example Multiplication of Integer Type Values Sourced WING IG Soureae 3 Beet BRODIE pureed MAUD IEE codhi i Sourcel HAOI 10 Ern Daai ELOCTIHH i rD0DIT 1 29 1 Ladder Program Instruction 1 2 6 MULTIPLICATION Instruction MUL Multiplication of Double length Integer Type Values Euurced E00 EG LI hedad Source L001 OE rooggag Gest BLOOTBA LSREIgo000 SouPt S SLOG A 190000 EnurceB W00 be id000n Beat MLOOViE AOO T EUT Multiplication of Real Number Type Values Sources DFOOR00 Tauren DFID bent prodz Sources fROOTO fo E Sourced proiit ODE I Deel DFaOTOE O 2F fourcek DFOOT10 0 16 Sourcel DLaG212 inoona fest oraoRTS ed ee In the case of double length integer type values an operation using addition and subtraction instruc tions will be a 32 bit
44. relay for input FoB ON is output when input value output value oUr CtoF Reserved Reserved relay for input O y p When the quick stop QS is OFF the quick stop time QT is used as acceleration decelera tion time 1 151 1 Ladder Program Instruction 1 7 11 LINEAR ACCELERATOR DECELERATOR 1 Instruction LAU Table 1 27 Real Type LAU Instruction Parameters i Resened i Resenedse SSSCS iC DF i Le F F 100 input level Scale of the 100 input value oF lv Current speed LAU output also output to the F register DVDT Current acceleration de Scaled with the normal acceleration rate being set to OUT celeration speed 5000 Relay I O Bit Assignment oan ieena PON Kie ne mere IN or Reen en a aa a 8 ARV inaccoeraton ON Koinee O for e _ BRY_ Indecsteraion TON ouput iore deent four e EaU coinence TON op when it aeoe OUT iResened ene o o 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 LVxTs 0 1ms 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 BD
45. set count set as Trace Definition E Format Symbol TRACE ea age Execute 1 Tre End 7 Category SYSTEM e001 HBUEPHIS Icon Lal Reel 1 Error CE wage PE BL Group Ma 1 Sialic 7 Wagon umob E Parameter 1 0 Parameter 1 0 Setting Definition Name Designation 2 22 2 2 Trace Functions Configuration of the trace execution status STATUS is described below Table 2 9 Configuration of the Trace Execution Status Trace data full This becomes ON after one round of reading of the contents in the data trace memory of the designated group has been completed No trace definition The The function will not be executed will not be executed Designated group No bit9 ee function will not be executed error 12 Execution timing error The function will not be executed 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 Full Name Data Trace Read Exeoule 1 boapiete T Category SYSTEM CLT TS i I at con w Crown lin T Error 7 aD Pit bia ee a Aec lis 1 Platus 7 i Leng ts Ei Reo dias T Rec flae T wronaod anionag Selecl 1 Gac Lm 7 LLEDU LLI UIS E Dai iir 4 baniiis 2 23
46. stored in block form in the data from MW00100 Tabbe Mame TABLE Erike Bole mani iDP j cabal aot ip Dukes w000 taiu menopop 1 169 1 8 3 ROW SEARCH Instruction TBLSRL 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 Ce hee oe eee number 1 to 65535 COL Table element column Column number of the target table element UMN number 1 to 32767 W FIND Search result Search results OUT 0 No matching row 1 Matching row exists E F
47. the set data is designated For details of the set data refer to ll 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 Source 0 Dent D014 Source 0 fect pEDGDIE Source PPID Beet DEFEFTI fest Donors Derk DRROEES 2 20 2 1 Message Functions bource DPPN Desi DPODIE 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 Z7rc End output is set to ON when the trace execution count becomes equal to the
48. 0 42H B 41H A MW00100 4241H MW00101 44H D 43H C MW00101 4443H MW00102 46H F 45H E MW00100 4645H MW00103 00H 47H G MW00101 0047H T 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 hexadecimal ASCH character codes and stores them in the designated Dest two words E Format Symbol BINASC Full Name Convert Binary to ASCII BIN sE Jf Category MATH Source 7 Icon BIH OEE ASG Dest 7 CLEE 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 Any integer type register with subscript except for and C reg ister 1 52 E Program Example 1 2 Numeric Operation Instructions The 1234H binary is converted to a for digit hexadecimal ASICII code and stored in MW00100 to MW00101 Eource Hbsad fest erbiia Upper Lower MW00100 32H 2 31H 1 MW00101 34H 4 33H 3 MW00100 3231H 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 ASCBIN Z Source T CEEE Dest i LEEG E Parameter Symbol ASCBIN
49. 000 500 Real Number Type Data Cource FORAN Dest DFOREOE 1 89 1 Ladder Program Instruction 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 Category FUNCTION Source MFOOOOI Icon fan Dest WFOOOO 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 p C register E Program Example The tangent of the input value X 45 0 degrees TAN X 1 0 is calculated Eraro DFORpae Dest DFoiii N INFOL TANGENT Instruction cannot be used for integer type and double length integer type data 1 90 1 5 Basic 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 Category FUNCTION Source MFOO003 Icon ett Dest MFOOOS E Parameter e Any real number type register e Any real number type register with
50. 01 s x 100 Inside the S curve area BDVS lt BDV When VI gt V V 2 0 V V ADVS In acceleration ARY ON When VI lt V V S 0 V V ADVS In acceleration ARY 1 ON S character section moderation rate BDVS BDVS BBDVS AADVS 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 DVDTEF 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 is turning on DVDT1 x 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
51. 0100 to MW00105 are used for the parameter table impui uam Deviation input value Parsmeier HANM TOO Head address of parameter table Qytpul URMA a LAG output value Real Number Type Operation MF00200 to MF00208 are used for the parameter table Imu WF Deviation input value Parsmeier WADT200 Head address of parameter table Qutput UPMI 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 w n iero Nanberofpaiworxandy Ec vr eat pe fe aa B Oooo ooo Oooo C aaa S aN TTT R z I I o mi w pn pen Cn w m pen N X1 Y1 X2 Y2 XN YN 1 144 1 7 DDC Instructions Table 1 23 Double length Integer or Real Type FGN Instruction Parameters Symbol Name N Number of data No Reserved 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 Yuti Yn Y Yet x X X
52. 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 PARAM 11 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 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 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 mwoo000 ft Sending side t i i oe Offset Receiving side offset address offset address Offset k y Data Sending side i address data address Sending side Data data address address MWxxxxx 4 ees y Data size Data Data Data size a 4 Fig 2 1 Relationship between the Data Address Size and Offset When transmission protocol is set to non procedural The setting of PARAM04 PARAMO08 PARAMO9 and PARAM10 are not necessary Transmission enabled register is only MW 2 10 2 1 Message Functions E Input EXCUTE Send Message Execution Command When the command becomes ON the message is sent ABOUT Send
53. 1 Relay Circuit Instructions E Program Example When MB000100 becomes ON MB000101 becomes ON LUTE ELTI unitai r ON MB000100 OFF 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 t MEO om 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 The above example acts as in the graph below MBO000000 MBO000001 MBO000002 MBO000003 OBO00000 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 Full Name Reset Coil Category RELAY 7 e ve a Icon F 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 wh
54. 11 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 E Format Symbol TOFF 10ms Full Name Off Delay Timer 10 ms TOF iins J Category RELAY Bel 7 Icon TOFF OEE 10 Count HHOO0Od 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 subscript except for and C reg isters E Program Example CEL iad Count WPI0T ON MB000100 OFF ON MB000101 OFF 500 MB000011 Or e 500s Ts Ts Scan set value IMPORTANT MW00011 works as timer count register Thus it is essential that the
55. 4 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 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 put Output Inverter constants are being written in The write in of inverter constants has been completed Occurrence of error 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 Execution Status STATUS System reserved bit0 to bit7 Execution sequence error The function will not be executed Transmission parameter 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 Transmission error The function will not be executed Inverter response error 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
56. C registers e Subscript register E Program Example Integer Type Data Cource MODI MI LODINA Deri HOCH i bbiaa 1 43 1 Ladder Program Instruction 1 2 16 1S COMPLEMENT Instruction COM Double length Integer Type Data Cource S001 0a iaa0da Desi SLODTHE 1 moggi Real Number Type Data Source DFiprEI Desi DFO EHE 1 2 16 S 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 T Category MATH Source Icon DENERI cim Desi 3 EE 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 44 1 2 Numeric Operation Instructions E Program Example Integer Type Data Cource M001 00 HGS5E fest OIE ABABA Double length Integer Type Data Eource mati Ou HBSBEESSS Desi Titin HAAA ARARA 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
57. CO LTD 27 Hui He Road Shanghai China 200437 Phone 86 21 6553 6060 Fax 86 21 5588 1190 BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO LTD 30 Xue Yuan Road Haidian Beijing P R China Post Code 100083 Phone 86 10 6233 2782 Fax 86 10 6232 1536 SHOUGANG MOTOMAN ROBOT CO LTD 7 Yongchang North Street Beijing Economic Technological Investment amp Development Area Beijing 100076 P R China Phone 86 10 6788 0551 Fax 86 10 6788 2878 YASKAWA ELECTRIC CORPORATION YASKAWA 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 MANUAL NO SIEZ C887 13 1 for ongoing product modifications and improvements Printed in Japan July 2003 01 12 2001 2003 YASKAWA ELECTRIC CORPORATION All rights reserved 03 40
58. Category DDC Inout 4 Icon j WeoiniT A Lower Limit Broong Uppar Limit 7 EE Out put 1 HOOT 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 Output 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 1 125 1 Ladder Program Instruction 1 7 3 UPPER LOWER LIMIT Instruction LIMIT E Program Example Integer Type Operation LT tnput wrao 1 oo Lower Lie it 100 User Limit im Uui pul uraa tot Input MW00100 Output MW0010 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 a T tnput uLg0 rop Lower Lim
59. EHS PWM deviation input value Farameter HAMITI Head address of parameter table fulpul MAMTIOU PWM output value INFOQ PWM reset with the first scan of DWG L SB000001 when used with DWG H 1 165 1 8 1 BLOCK READ Instruction TBLBR 1 8 Table Data Manipulation Instructions 1 8 1 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
60. Example Real Number Type Data fourced DEOOEE ZaureeE 3 0ORIE OGR Pent PFOODPEI Bourcel DFITEO0 Source g 9000E iad Desk DFHR2O2 Sources DFIIOD C1237 T Earca DRMOTO8 EUER Deck frame Cane E Source PFagzier cidit A Dares OLIGI LDD Dest DFE I ii 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 the 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 Category MATH Dest Icon ig Landoi a E Parameter 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 Tautea WPI 100 gt toon Source 1 fest radii ER Daai WAGE a inaani i 1 33 1 Ladder Program Instruction 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 b
61. Format Symbol ABS Full Name Absolute ABE al Category MATH SS Icon ni wWOOOaS Inl Dest Hoss 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 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 Instruction 1 2 18 BINARY CONVERSION Instruction BIN E Program Example Integer Type Data Eource HOD 08 Go1oo fest mnie fog poo Source LODI 0a 1higag Best SLODINE inna Eource DFODTE Peri BRODPOE 1 2 18 BINARY CONVERSION Instruction BIN m 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 c x 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 1 2 Numeric Operation Instructions E Format Symbol BIN Full Nam
62. Full Name First in First out Category SYSTEM Tr Ced T Thl Full 1 7 wea wpaaanio Icon iH Dut Dad 7 Thi Emp 1 i LELE EREI HIJAN I Aeoel T Thl Err 7 WEEDOOa waranai Fifi Tthit o MADEN Tn Bate T H tiii rt Date 7 MAENDY 2 44 2 4 Other Functions E Parameter I O Parameter VO Setting Definition Name Designation Input B VAL Data input command IN CMD FIFO Table Configu Out Cmd B VAL Data output command OUT CMD ration 0 data size B VAL Reset Reset command input size 1 FIFO Tbl ee en 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 3 A 1 3 Function A 4 A 2 Recognizable E
63. HFTL 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 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
64. LOD TI HF GFOFOFO Gest mLitiii Cooo18 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 the 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 Ay Category MATH Source 7 Icon Dest 7 ni MVOOOa 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 MW00101 Eource BCD bagi moi Upper Lower MW00100 42H B 41H A MW00100 4241H MW00101 44H D 43H C MW00101 4443H 1 51 1 Ladder Program Instruction a a a 1 2 22 ASCII CONVERSION 2 Instruction BINASC The character string ABCDEFG is stored in MW00100 to MW00103 Eoures ABCDEFG Dexi E00 Upper Lower MW0010
65. MW00003 MW00004 MW00005 OK A 6 A 2 Recognizable Expression E Array The array can be specified by using and B as well as C language lt q EXAMPLE MW00001 MW00002 100 OK MW00001 Mw00002 MW00100 OK MB00001 MB000020 0 OK A 7 Appendix A Expression A 3 1 Conditional Expression of IF Instruction 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 EXAMPLE 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 substi
66. O LIEDAGE INFO 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 Beires ELOD H LEEETS Peri hoiii fbign 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 an overflow error occurs E Format Symbol ADD Full Name Add a a Category MATH Sources 7 weOooooS sourced T weotoo4 Dest 7 WHOOROG E Parameter 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 integ
67. OFF 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 E Format Symbol TOFF 1s Full Name Off Delay Timer 1s Category RELAY Icon TOFF ts Count 7 wWOOoO8 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 woh igo ATRL Cairt WPIDDI I ON MB000100 OFF ON MB000101 OFF 500 MB000011 Q 0 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 use
68. OT 1 95 1 Ladder Program Instruction 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 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 natural logarithm of the input value x 10 0 Log x 2 3026 is calculated Source BROOZON Best DFOOZO2 X INFOJ LN instruction is input x value is checked execute the following handling When the input is minus LN 1 calculate an absolute value When the input is zero LN 0 take 2 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 9 of the input in the Dest as the operation result This instruction can be used only in a real number operation E Format Symbol LOG Full Name Logarithm Base 10 LOG Category FUNCTION Bource MFOO013 Icon Jag Dest FOOD 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 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 commo
69. OTATION 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 vii 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 Instruct
70. 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 Register Offset Data Contents Contents DataRange BCD DataRange BCD BCD M N 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 be 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 TAD Category MATH Source 7 Icon Fy W oon2 i Dest 4 POLE Statue 4 HEOnOoe E Parameter Source e Any integer type register e Any integer type register with subscript Dest 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 adde
71. R Instruction IFGN Table 1 25 Double length Integer or Real Type IFGN Instruction Parameters ne Name Specifications Number of data Number of pairs of X and Y Reserved 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 Yy The IFGN instruction searches 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 Xnr Xn X X 1 x Y Y E a If the X Yn 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 Rekta y ON e IFY gt Y Xan Xp 1 X Xma a 2 Y Y r Yn Yoel 1 V4 fest esaceesgenisims sates pie Qe Y3 Input X 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 Category DDC Icon Input 7 Pl ho wROooZE FaN Parameter 7 Matti Output T WHOOO 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
72. R maiz Desi Wmoiiii 1 61 1 Ladder Program Instruction 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 a aa Category LOGIC Sourced 7 Icon NWOOO1E Source T HWOOO1 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 fource WEDDIDO Sources Wodi Tourcee 100 Source wrood Geet Wodi 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 baa z Category LOGIC Sources 7 Icon NEOGO A sourcel T TE E Parameter Source A e Any inte
73. RACTION Instruction SUB 3 z Q WW Subtraction of Real Number Type Values Sourced FODE DA Fourel 1 c22080 E4008 Daal FOCHA Teurcak DFM 0 15 Sourcell DRM 206 OE Deit primis EAEE Sources FONE Source GLOOT I iebeag Best fenOR i i da 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 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 Symbol SUBX Full Name Expanded Subtract SUEN na Category MATH Sourced 1 Icon p HWOO012 l sourcah 7 LIURE Dest 7 MOO 4 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 Constan
74. T utemi DFOOEEE Ga ib Within Outside 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 nput 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 Input 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 Category DDC Input 4 Icon nt HWOOOO4 Zone 7 HWOO008 Qutput 7 HHO0O8 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 e Subscript register e Constant Output e Any integer type double length integer type and real n
75. TA ie ERA W W W W W W W W W W W W 1 0 OUT OUT OUT 1 127 1 Ladder Program Instruction 1 7 4 PI CONTROL Instruction PI Relay I O Bit Assignment IRST Integration reset ON is input when integration is reset 1to7 Reserved Reserved relay for input IN 8toF Reserved Reserved relay for output OUT Table 1 13 Real Number Type PI Instruction Parameters n RY feo oy N Pon omer U Integration adjustment Gain of the integration circuit input gain oa i nN Oc A Relay I O Bit Assignment RA IRST Integration reset ON is input when integration is reset nm 1to7 Reserved Reserved relay for input Reserved Reserved relay for output Here the PI operation is expressed as follows Kp Kix X Tix S X deviation input value Y output value The following operation is performed within the PI instruction f Ti P Y KpxX KixX IREM Ts Yr Y previous output value Ts scan time setting 1 128 1 7 DDC Instructions Block Diagram LIMIT DB Input a Output x gt Kp LIMIT F o gt y Ki gt Ts Ti gt z1 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 diverging the I offset is not renewed but is kept at the previous value Oppos
76. UB 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 Category MATH Sourcea 7 Icon HeOOROS Source 1 HwO0010 Dest 7 EUNTES 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 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 register E Program Example Subtraction of Integer Type Values fouiroed MPO WELA EI SourosE 17345 fest Wiii 09005 4 Tource SLO EE sources SLOO De imagon Dari LOI BE 100000 1 25 1 Ladder Program Instruction 1 2 4 SUBT
77. V In deceleration BRY ON When VI lt V V gt 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 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 V V QDV In deceleration BRY ON At QS ON VI lt V V gt 0 V V QDV In deceleration BRY ON 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 If DVDTS is ON DVDT ADV x 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 x Ts 0 1 ms Acceleration rate ADV AT s x 10000 LV x Ts 0 1 ms Decelerationrate BDV BT s x 10000 LV x Ts 0 1 ms uick stop rate QDV Q p rate QDV ST x 10000 V previous spe
78. W ow CVON ON output counting timer Counting timer for ON output 1 ms Y CVON ON output counting timer ON output counting timer remainder 0 1 ms REM remainder N OUT OUT OUT OFFCNT OFF output set timer Set timer for OFF output 1 ms OUT CVOFF OFF output counting timer Counting timer for OFF output 1 ms OUT OUT IN OUT UT W CVOFF OFF output counting timer OFF output counting timer remainder 0 1 ms REM remainder Relay I O Bit Assignment M a PWM reset ON is input when PWM is reset RST 2to7 j Reserved Reserved relay for input FIN ae PWM output PWM is output 2 value output ON 1 OFF 0 ee OUT Reserved Reserved relay for output IN E Format Symbol PWM Full Name Pulse Width Modulation PM mp Category DDC Input Icon aw WUD OOD nun Parameter 7 WAg0o10 Output 7 HHOO0 Se 1 164 1 7 DDC Instructions E Parameter Input 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 Output 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 Hmong eo paon Teul
79. W W Output B VAL Message is being received Complete B VAL The receiving of the message has been completed B VAL Occurrence of error E Parameter Details Cc They adhere to contents functions and so on and are collected into parameter numerical order Table 2 7 is Parameter List Wi Pan f Table 2 7 Parameter List Contents Process result Called station System reserved Function code o Data address Called CPU Coil offset Input register offset Holding register offset Register offset OU OU OU SY OU OU OU OU IN IN IN N 2 14 2 1 Message Functions Table 2 7 Parameter List Eeo 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 an 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
80. YASKAWA Machine Controller MP900 Series New Ladder Editor PROGRAMMING MANUAL y YASKAWA MANUAL NO SIEZ C887 13 1 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 precaution 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 Machine Controllers E This manual is written for readers with a working knowledge of Microsoft Windows 95 NT Refer to Windows documentation provided with your computer for informa tion on basic operations such as opening and closing windows and mouse opera tions E Intended Audience This manual is intended for the follo
81. a a ee E a ol1 ol4 P A e MW00000 1 OO o 0 Oe ee new ee ene 3 e E A A 0 is entered 3 MWOOOOT ie irane ae ce nse are oe eS Sacer EE dh de a E 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 Shifis E Format Symbol SHFTR Full Name Bit Shift Right SHETH il Category MOVE Head Blt Address 7 Icon al HEGOO00E R Number of Shifls 7 HOON 0 Bit Width 3 BWOO0S i 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 Instruction 1 6 13 COPY WORD Instruction COPYW E Program Example A five bit wide section of data with MB0005 bit A of MW00000 as the head is shifted three bits to the right SHFTR fa Head Bit Address MBOQO005 Number of Shifts 3 Bit Width 5 MWO0000 eee eee eee Mwooo0o f Note The lower three bits are thrown away 0 is entered 1 6 13 COPY WORD Ins
82. al 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 Input 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 user function E Program Example Mame FoR THPUT HEOOOd00 OUTPUT OB00000 THPUT Tote OUTPUT woo z0 THPUTE BEDOOOG N OUTPUT BENOOO I THPUT4 BLOOOE OUTPUTA BLOO7O BORESS baga nai 1 71 1 Ladder Program Instruction 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 CCD Category CONTROL Parameter Icon PiN Waoo100 5 Status 2 HEDD 00N E Parameter Parameter e Register address except for and C registers e Register address with subscript Status 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 Symbol Name Specifications Input or Output RSSEL Module designation 1 Designation of module for performing input lt For MDSEL Module designation 2 details refer to 1 and
83. arison 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 Sources 7 Icon Me00018 Source 7 WoON I i 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 smaller than 100 after the instructions operation are executed Sourcea WEDDIDO SourceA Wodi Tourcee 10D Source wd 102 Geel mdi 1 59 1 Ladder Program Instruction 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 m Format Symbol lt Full Name Less Than or Equal A lt B Category LOGIC a Icon Sourced 7 lt WRDOO1 Sourceb 7 wROOO1a E Parameter Source A e Any integer type double length integer type and real number type register e Any integer type double length
84. band Width of the dead band for the P D offset 16 PD output PD offset output also output to the A register Input stored Present deviation input value stored Relay I O Bit Assignment Oto7 Reserved Reserved relay for input 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 e X previous input value Ts scan time setting 1 132 1 7 DDC Instructions Block Diagram Jz gt Kd gt Td Ts LIMIT DB Input a Output xX i Kp p gt y 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 Symbol PD Full Name PD Control a E Category DDC Input 1 Icon pp NWOT E Parameter 7 NAD0O0 Output 7 NAOOGT E Parameter Input e Any integer type and real number type register e Any integer type and real number typ
85. 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 Table fisme TABLET Duie maid Status SBNOOODE 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 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
86. ble 2 11 Newest Records Number swa swo swo Swoot07 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 A old Trace data Max 32512 words y New Fig 2 5 Configuration of the Read Data 2 25 2 Standard System Function 2 2 3 Failure Trace Read Function FTRC RD Record 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 Number of records when the record length is the 0 to 1015 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 b
87. d to store the previous value of the bit output E Format Symbol ON PLS Full Name Rise Pulse Cat RELAY weoonoos a 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 11 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 IBO0001 Lapina waa ON IB00001 OFF ON MBO000100 OFF ON MB000101 OFF t 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 IB00001 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 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 3 Full Name Fall Puls
88. d to the time data in MW00100 to MW00101 Eoarce DAKPI O Beri wR Status DDPE TOO 8 hrs 40 min 32 sec 1 hrs 22 min 16sec 10 hrs 2 min 48 sec MW00100 MW00101 DW00000 DW00001 MW00100 MW00101 Before Execution After Execution wwvO0 00 MWO0 T01 pwvoo00d DWO 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 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 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 Instruction 1 2 13 SUBTRACT TIME Instruction TMSUB E Format Symbol TMSUB Full Name Time Sub THUE po a Category MATH Source 7 Icon Y Hyoga OU Dest AVODOFE Status 7 WEODOoG E Parameter Source e Any integer type register e Any integer type register with subscript Dest e Any integer type register except for and
89. ddition subtraction speed DVDT is output now S is accelerating In S character section DVDT 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 2x AADVS BBDVS ABMD 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 Category DDC ao Icon Input 1 HWOOS0 N Parameter 1 HADOOOS Output 7 HWOOOST E Parameter Input e Any integer double length integer type and real number type register e Any integer double length 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 double length integer type and real number type register except for and C registers e Any integer 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 MW00100 to MW000121 are used for the parameter table newt EODD Deviation input value Paraseter Migi Head address of parameter table fut
90. ddress PARAM 06 I Data size PARAM 07 Called CPU PARAM 08 Coil offset PARAM 09 Input relay offset Po PARAM 10 Input register offset PARAM 11 Holding register offset PARAM 12S For system use 2 3 2 Standard System Function 2 1 1 Send Message Function MSG SND Table 2 1 Parameter List D PARAM 14 PARAM 16 MEMOBUS Non procedural System reserved System reserved System reserved System reserved System reserved System reserved 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 81xx Function code error The sending of an unused function code was attempted Or an unused function code was received 82xx Address setting error The data address coil offset ter offset setting is out of ran 83xx Data size error input relay offset input register offset or holding regis ge The size of the sent or received data is out of range 84xx Line No setting error The line No setting is out of range 85xx Channel No Setting error The channel No setting error 86xx Station address error The station No setting is out of range 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
91. e 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 A 1 Expression Substitution Operator A right value is substituted for a left value Reserved Word true false Value to logical expression m Priority Level and Uniting Rule There is a priority level in the operator and the uniting rule is applied 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 right from left monadic left from right multiplication division right from left surplus addition subtraction right from left relation right from left relation value right from left AND of each bit right from left OR of each bit right from left logical AND right from left logical OR right from left A 1 2 Operand 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 17549435 1e 38F to 3 402823466e 38F E Variable
92. e Convert to Binary Category MATH Source 7 Icon BIN NOOO BCD HHDOOSE 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 Eourte HOBIE IFEI besi mon Ee Eoures EL DI HI LHI 2045876 Dari 0010 OP 45678 1 47 1 Ladder Program Instruction 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 Bci a Category MATH Source 1 Icon Ben OTER BIN Desi 4 HWOO0S8 E Parameter Source e Any integer type and doub
93. e E Category RELAY Icon za 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 Lapana i LE unitai ON IB00001 OFF ON MB000100 OFF ON MB000101 OFF t t 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 IBO0001 MBO000100 MBO000100 MBO000101 Previous value of IBO0001 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 IB00001 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 4 Full Name Coil t RELAY wEooOo0S Coleeoy Icon of 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
94. e 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 MW00001 MW00002 OK ML00003 MW00002 OK MF00006 MW00002 343 OK MB000010 MBO00011 OK MW00001 MF00012 OK MBO000102 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 arctan and when the register of the real number and the real 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 EXAMPLE MwW00001 sin MW00002 OK MF00001 cos MF00002 3 14 OK MW00001 arctan MF00002 OK A 2 6 Others lt q EXAMPLE gt E Parentheses Two or more expressions can be united by using and MW00001 MW00002
95. 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 fource WA Fidth too Search Baie fied Resuli ee Mwo0100 0 DW00000 00002 MW00101 00321 MW00102 01234 Offset number of MW00100 is stored in DW00000 DW00000 00102 00100 l l TT MW00199 99765 Mwo0102 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 ORT Category MOVE Date Table 7 Icon S wWOOOZE a Width wHOOO27 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 fo
96. e design and mainte nance for the MP910 Machine Con troller Describes the design and mainte nance for the MP920 Machine Con troller Describes the design and mainte nance for the MP930 Machine Con troller Describes the design and mainte nance for the MP940 Machine Con troller Describes the functions specifica tions and usage of the MP920 Motion Modules SVA 01 SVB 01 and PO 01 Describes the functions specifica tions and usage of the MP920 Com munications Modules 217IF 215IF and 218IF Describes the functions specifica tions and operating methods of the MP920 DeviceNet Module 260IF CONTENTS About This Manual iii About The Software iii Visual Aids iv Related Manuals vV 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 TOFF 1s 1 10 1 1 7 RISING PULSE Instructio
97. e 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 e Subscript register 1 133 1 Ladder Program Instruction 1 7 5 PD CONTROL Instruction PD E Program Example Integer Type Operation MW00100 to MW00109 are used for the parameter table imut amp 8iiaif Deviation input value Parameter HANM T00 Head address of parameter table Mipu UEAN a PD output value Real Number Integer Type Operation MF00200 to MF00218 are used for the parameter table input 00022 Deviation input value Parameter Mai t6 Head address of parameter table filet RT PD 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 performed by processing each parameter as an integer consisting of the lower place 16 bits Table 1 16 I
98. e 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 Register Record No of read record N New Old Number of read records Readout Old New gt Fig 2 10 Failure Restoration Data Head address of the register into which data is read Readout Data Configuration Failure Restoration Data Data configuration is described in Figure 2 11 Dat Adr 58 words Record 1 ATime 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 A Register Designation No 1 word Year and month of occurrence 1 word Day and hour of occurrence te 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 Functi
99. e 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 ae Category DDC Input 1 Icon f WWOOGG 4 HWOOOO2 Output 7 E 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 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 Treat AOD go MISO Ds 0i Duteud MINOT EZ KIISU eo Within Outside dead zone dead zone Double length Integer Type Operation Treat ELODIE Egg000 LELLI forme Joobi Duteud LOOT NE SWG000 4FNIDON Within Outside dead zone dead zone 1 121 1 Ladder Program Instruction 1 7 2 DEAD ZONE B Instruction DZB Real Number Type Operation Lrg DFOCENI 150 0 Hd forme DODDNME O0
100. eal 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 MW000111 are used for the parameter table Imu aapa Deviation input value Parseeier WAN 00 Head address of parameter table Qutpul Wenge a LAU output value Real Number Type Operation MF00200 to MF00212 are used for the parameter table input FODD Deviation input value Peremet r Miji Head address of parameter table futeut EFON 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 Instruction 1 7 12 LINEAR ACCELERATOR DECELERATOR 2 Instruction SLAU Table 1 28
101. ed by the system 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 2 17 2 Standard System Function 2 1 2 Receive Message Function MSG RCV E Input EXCUTE 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 SVB 01 11 PRO TYP Transmission Protocol Designates transmission protocol In non procedural transmission a response is 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
102. ed output value VI Speed designated input Ts scan time setting ms 1 153 When VI gt V V gt 0 V V ADV ARY in acceleration is ON When VI lt V V lt 0 V V ADV ARY in acceleration is ON When VI lt V V gt 0 V V BDV BRY in deceleration is ON At VI gt V V lt 0 V V BDV BRY in deceleration is ON When QS ON V gt VI V V QDV BRY in deceleration is ON When QS ON V lt VI V V QDV BRY in deceleration is ON 1 Ladder Program Instruction 1 7 11 LINEAR ACCELERATOR DECELERATOR 1 Instruction LAU The current acceleration deceleration DVDT is output after the following operation is car ried out 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 LAL Category DDC Input 1 Icon WROOO E Ju Parameter 7 MADDOOG Quteuk 7 COUTRE E Parameter Input e Any integer double length integer type and real number type register e Any integer double length integer type and real number type register with subscript e Subscript register Constant Parameter e Register address except for and C registers e Register address with subscript except for and C registers Output e Any integer double length integer type and real number type register except for and C registers e Any integer double length integer type and r
103. eeds 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 B MW00001 MW00002 MW00003 OK MW00001 MwW00002 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 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 MBOO00011 0 NG MB000010 MB000011 NG A 2 3 Logic Operator This operator can be used only for the operand of the bit type lt q EXAMPLE MB000010 MB000011 amp amp MBO000012 OK MB000010 MB000011 OK MB000010 MW000020 gt 50 amp amp MBO000011 OK MB000010 MW00001 MW00002 NG MB000010 MW00001 NG A 5 Appendix A Expression A 2 4 Substitution Operator A 2 4 Substitution Operator lt q EXAMPLE gt If it is a difference of the real type or the integer type even if a right left type is different substitution is possibl
104. egisters 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 1 167 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 TELGA Table Mame FABLE Reed Dein Manii OR Paraeeler Dinji Dula son tatwaj SEN00RDE 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 Zable 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 a
105. ely 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 en Full Name PID Control PID Fa Category DDC Input 7 Icon Pip WHOOG18 Fa r met er sy Mangai Output 7 wwOoG a 1 137 1 Ladder Program Instruction 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 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 E Program Example Integer Type Operation MW00100 to MW00115 are used for the para
106. er type and real number type register with subscript except for and C registers e Subscript register 1 Ladder Program Instruction 1 2 2 ADDITION Instruction ADD E Program Example Addition of Integer Type Values Sources HOD Source 02900 Gent EWODITI Bouress EIE 11 bigo0 oures ELONI Phigags Gest Looi ETTI DIE Addition of Real Number Type Values fourced HPigti Tourcah PHBEDERNIO Deri DFad2OF 1124456 ource DFGGS04 ERF Touros priizge tanie Dest DPHIZOE i Sources DFMO 3 51 Teuree DLS 8ooobn Dest pri iid a aii 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 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 ADDxX is much the same as the ADD E Format Symbol ADDX Full Name Expanded Add Category MATH Icon Sourc
107. ere the same output destination is designated multiple times 1 17 1 Ladder Program Instructions 1 1 11 RESET COIL Instruction R COIL The above example acts as in the graph below MBO000000 MB000001 MB000002 MB000003 yo y a 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 Category MATH Source 7 Icon gt wvOooo _ Dast Havoni 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 1 Ladder Program Instruction 1 2 1 STORE Instruction STORE E Program Example Source 02946 Dest BAO E2346 Touros 1770587 Beat MLITIOO CORSabES a Gource 2eeE FOOD beet OFOO TEM Source 12an e000 Deal CPOE Oooo Source PSG Eri Dead DLITIO
108. erger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 300 Fax 49 6196 569 398 Motoman Robotics Europe AB Box 504 838525 Tors s Sweden Phone 46 486 48800 Fax 46 486 41410 Motoman Robotec GmbH Kammerfeldstrafe 1 85391 Allershausen Germany Phone 49 8166 90 100 Fax 49 8166 90 103 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 Kfpa Bldg 1201 35 4 Youido dong Yeongdungpo Ku Seoul 150 010 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park Singapore 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road Room 1805 Harbour Ring Plaza Shanghai 20000 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YATEC ENGINEERING CORPORATION 4F No 49 Wu Kong 6 Rd Wu Ku Industrial Park Taipei Taiwan Phone 886 2 2298 3676 Fax 886 2 2298 3677 YASKAWA ELECTRIC HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong Phone 852 2803 2385 Fax 852 2547 5773 BEIJING OFFICE Room No 301 Office Building of Beijing International Club 21 Jianguomenwai Avenue Beijing 100020 China Phone 86 10 6532 1850 Fax 86 10 6532 1851 TAIPEI OFFICE 9F 16 Nanking E Rd Sec 3 Taipei Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 SHANGHAI YASKAWA TONGUJI M amp E
109. es 7 of MVOODOE SeureeB 7 MVOODOF Dest 7 CEE 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 registers e Any integer type and double length integer type register with subscript except for and C registers e Subscript register 1 23 1 Ladder Program Instruction 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 fourced Wajit 93767 EourceH Dect aoe ia C 49700 nrof In the case of double length integer type values an operation using addition and subtraction instruc Y 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 S
110. et PID output PID offset output also output to the A register 28 oF JX Input value storage Present deviation input value stored Relay I O Bit Assignment o IRST Integration reset ON is input when integration is reset Dgan 0 Gain of the differentiation circuit input IN Integration time Integration time ms Td1 Divergence differential The differential time s used in the case of diverging IN time input N OJ amp oa oo nm z a lt a a a a 1to7 Reserved Reserved relay for input Reserved Reserved relay for output Here the PID operation is expressed as follows 1 Kp Kix Tixs Kdx TdXS Y X X deviation input value Y output value The following opertion is performed within the PID instruction Y KpxX KixX IREM l Yi Kdx X X x x s X previous input value Yi previous I output value Ts scan time setting 1 136 1 7 DDC Instructions Block Diagram gt z1 7 ee dTs LIMIT DB Input tyt a Output x o gt Kp TLIMIT on T gt gt y Ki gt Ts Ti gt 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 Opposit
111. ewt met SLAU output value 1 161 1 Ladder Program Instruction 1 7 12 LINEAR ACCELERATOR DECELERATOR 2 Instruction SLAU Real Number Type Operation MF00200 to MF00218 are used for the parameter table inputi Fodor Deviation input value Parsmalar SA00208 Head address of parameter table futeyt Fihi SLAU output value Speed v Vi 100 Acceleration i Deceleration 0 S curv Straight Sicurve S curve ri section line area s ction section ime H gt lt j t AAT AAT BBT iBBT k gt AT i BT N 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 VI de and acceleration inside When input value VI 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 overshoo
112. ger 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 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 above 100 after the instructions operation are executed Source WEDDIDO sourced SPO 10 Tourcee 100 Source ero 102 Geel modi 1 63 1 Ladder Program Instruction 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 Source 7 Icon Leet gt Sourceb 7 Woni E Parameter Source A 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 Constant E Program Example If t
113. ger 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 1 110 1 6 Data Manipulation Instructions E Program Example The 5 bytes beginning with MW00100 are compressed into five words beginning with MW00200 BPRESS A Source MW00100 Dest HWO0200 Byte Width 5 MW00100 10H Lower byte _ 10H Lower byte MW00200 OOH Upper byte ew 11H Upper byte MW00101 11H 12H MW00201 ee A oe MW00102 12H 14H MW00202 00H 00H MW00103 13H On When the number of transfered MW00104 14H OECO 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 result offset from the lead ing register number of the search range for the matching data is stored in the designated reg ister Result E Format Symbol BSRCH Full Name Binary Data Search BSRCH zi Category MOVE Source 7 Icon ig wenoo2 EH Width WHOOGES Search Data 7 weO0Ges Result T WHO DO 6 1 111 1 Ladder Program Instruction 1 6 9 BINARY SEARCH Instruction BSRCH E Parameter e Any integer type and double length type register with subscript
114. ger type register with subscript e Subscript register Status Any bit type register except for and C registers 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 Hawe TABLET Frika Dala MAOPIOD Farsmeter ADDO TD Nutewt manner Status mBOMOOE OTBLAT J Table Heme TABLET Frite Deta Obi Parasalar PAODIIO uteut mO talua momon 1 181 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 Output and the Status is turned ON E Format Symbol QTBLCL Full Name Queue Table Pointer Clear OTBLCL Category TABLE Icon Table Name 7 Output 7 rol ENTAR Elatus 7 HEGOOG 1 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
115. he most recent record Inverter Trace Memory User Register 2 2 Trace Functions Head address of the register into which data is read gt lt Old Number of Readout read records Most recent gt New record gt Readout Data Configuration Data Configuration Dat Adr gt 1 to 16 words Record 1 ITEM1 Old ITEM16 1 to 16 words Record 2 Trace data Max 1920 words 1 to 16 words Record n y New 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 connected via MP930 SVB 01 CP 215 E Format Symbol ICNS WR Full Name Inverter Constant Write Category SYSTEM Icon Ef 2 34 2 3 Inverter Functions E Parameter I O Parameter VO Setting Definition Name Designation B VAL Inverter constant write forced interruption instruction Dev Typ 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 to 14 SVB 01 1 to 1
116. he value of MW00100 is bigger than 100 after the instructions operation are executed tources WEDDIOD Sources P0101 Taurcee 100 Sourcel wo 102 esi Wmodidi 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 nput is within the Lower Limit and Upper Limit and then outputs the result to the bit output The contents of the Input are retained Bit output OFF Upper limit gT y a Bit output ON Input Lower limit oa Bit output OFF Ifthe 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 Category LOGIC i Input S Icon HH uijo CHE Lower Limit woos Upoer Limit WOOO 1 65 1 Ladder Program Instruction 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 subscrip
117. ination Transfer source Transfer destination a gt QlSajaQ gt ojaa oja ojo ojajojoj ov 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 HOVE A Category MOVE wedoo0ds B best 7 MBODOOO Width 7 MPOOOO6 1 101 1 Ladder Program Instruction 1 6 3 MOVE BITS Instruction MOVB E Parameter Parameter Name Setting Source e Any bit type register e Any bit type register with subscript Dest e Any bit type register except for and C registers e 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 of data starting from MB000000 bit 0 of MW00000 are transferred to MB000010 bit 0 of MW0000 Source MBO00000 Dest MB000010 Width 10 _ _ Transfer range gt MW00000 1 0 0 1 17 0 1 1 0 0 1 0 0 0 0 1 MW00001 0 0 0 0 0 0 0 1 1 1 0 0 1 0 1 0 After transfer y Transfer range MW00000 1 0 0 1111 0 1 1 0 0 1 0 0 0 0 1 MW00001 0 0 0 0 0 0111 0 0 141 0 0 0 01
118. 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 Configuration of the Write in Data Cns Typ i Inverter Constants bn 01 Acceleration time 1 User Register Dat Adr gt Constant data 1 bn 05 ASR proportional gain 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 Constants written with 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 d 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
119. ine 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 END IF wwOoTO0 gt 100 Full Name If Then Else Pea ih ETT oe End of If l Instruction Sequence Category CONTROL a on Icon y EMD iF ase SP ELSE eee 1 4 Program Control Instructions e At instruction development display OFF Symbol IF ELSE END IF Full Name IF Then and F ELSE END_IF Else and End of If Category CONTROL Icon di E Parameter Conditional Expression Description by Expression E Program Example MW00011 is set to 0 if MW00010 is positive number and set to 1 if MW00010 is negative number LLIE ENEL Eoures 0 best WIDE Source Disi wb 1 81 1 Ladder Program Instruction 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 END_FOR instruction are executed by the number of times Variable starts from initial value Init 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 Variable MW00100
120. 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 integer consist ing of the lower place 16 bits Table 1 26 Integer Type LAU Instruction Parameters Relay I O Relay input relay output IN OUT 100 input level Scale of the 100 input value Acceleration time Time for acceleration from 0 to 100 0 1 s Deceleration time Time for deceleration from 0 to 100 0 1 s Quick stop time Time for quick stop from 100 to 0 0 1 s Current speed LAU output also output to the A register IM REM DVDT Current acceleration de Scale with the normal acceleration rate being set to celeration speed 5000 OUT i i OUT Reserved i i OUT OUT ZARS instruction input Scaling coefficient of the current acceleration DVDT 32768 to 32767 Relay I O Bit Assignment Symbol Specifications RN Lineisrunning ON is input while the line is running IN Quick stop OFF is input upon quick stop DVDTF DVDT operation non Closed entered in DVDT operation non execution IN execution ato m om pour RN S D IN 8 ARY OUT 9 BRY In deceleration ON is output during deceleration OUT ON is output upon attainment of a speed of 0 UT VDTS DVDT operation selec Selection DVDT operation method tion Reserved Reserved
121. integer type and real number type register with subscript e Subscript register 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 Constant E Program Example If the value of MW00100 is under 100 after the instructions operation are executed Jureet WEDDIOO Sources Wmodid Tourcee 100 SourceR BPO 102 Dei add 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 ma Category LOGIC SourcesA T Icon MNOQOT 4 Source 7 WROOOTS 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 Sourced WEDDIOD Sources W0 Tourcee 100 SouFcE
122. ion 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 VWXXXXX a Lower byte m a Lower byte VWyyyyy Number of b Upper byte b Upper byte transfers vwxxxxx 1 PN b VWyyyyy 1 Number of bytes Sa er tratt d 00H J VWxxxxx 2 e c VWyyyyy 2 f 00H d VWyyyyy 3 00H V S 1 0 M D e VWyyyyy 4 00H Meee VWyyyyy 5 00H E Format Symbol BEXTD Full Name Extend Byte toWord L BeEXTO Category MOVE Source f Icon Jg MEOD TE ao Dest T wenooTT Byle Width 3 MRDOOIA 1 108 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 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 Hi00100 Dest Hv00200 Byte Width 5 MW00100 10H
123. ion 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 Function TRACE
124. it 100000 liser Lisit Tago Dui pul MLO TOF 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 tnput HFOOTOp Lower Limit 1 00000REe007 leser Limit ago nbEo2 Qutoul MFUOTOF 100 0 gt MF00200 100 0 under the lower limit 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 Input MF00200 Output MF00202 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 Name Specifications Relay I O Relay input relay output IN OUT N P gain Gain of the P offset a gain of 1 is set to 100 I Integration adjustment Gain of the integration circuit input a gain of 1 is set gain to 100 Upper integration limit Lower integration limit be AEA EMEA Ee e pa ERTAN CN CCW e ER
125. itely 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 Category DDC Input 7 Icon PI MEOGO 14 Parameter 7 MADOOOT Output 7 MeOOOTE 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 e Subscript register 1 129 1 Ladder Program Instruction 1 7 4 PI CONTROL Instruction P1 Program Example Integer Type Operation MW00100 to MW00111 are used for the parameter table Tred woof Deviation input value Pereeeler NADIE Head address of parameter table futput MEDDO P output value Real Number Type Operation MF00200 to MF00220 are used for the parameter table Tred Fooro Deviation input value Parameter WADE2ED Head address of parameter table Dutpui wFORREE P output value 1 130 1 7 DDC Instructions 1 7 5 PD CONTROL Instruction PD E Outline
126. le 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 Creurce HOD M AET FETS Dest OIE tarzad Eource LOO ba ol Desi SLODINE 1 49 1 Ladder Program Instruction 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 w Category MATH Source 7 Icon mio TEE 7 Dast E 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 Eire OI HFOFH beri TOE arts Double length Integer Type Data Course W
127. le to omit 1 172 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 Tabie Mame FABLE1 fearch Dais BA001 be Parameter A D DID zipu mont PMisiunl BBovbiti 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 Zable 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 L ROW Table element head row Head row number of the target table element IN OY bee os D UMN column number 10 to 32767 RLEN Number of row elements Number of row e
128. lements 1 to 32767 W CLEN Number of column Number of column elements 1 to 32767 elements 1 173 1 8 5 BLOCK CLEAR Instruction TBLCL E Format Symbol TBLCL Full Name Table Block Clear Category TABLE Table Name Parameter 7 Icon E MATOS a Quteut POO00S Status 7 MEOOUODS E Parameter Table Name Table name 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 Table Mase TABLE Poremeier DOOD Duten moon Status SBONDOR 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 Ifthe 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 r
129. length integer type register with subscript except for and C registers e Subscript register E Program Example Integer Type Sources woo Eourced Dect Watina i equivalent Deri MPOOT DD 1 35 1 Ladder Program Instruction 1 2 11 DEC Instruction DEC Double length Integer Type Sourced BLOGG foureeH Dect MLDb 0a T equivalent F feet WLODIDD 1 2 11 DEC Instruction DEC E Outline The DEC 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 Lz Category MATH Dest Icon i MVOOD22 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 fourcea woo 10G Sourcei Beet MADE 0 T equivalent Deri WFOOIDO Double length Integer Type fourced Wititi Eourced Beet LOGO T equivalent feet MOOD 1 37 1 Ladder Program Instruction 1 2 12 ADD TIME Instruction TMADD 1 2 12 ADD TIME Instruction TMADD E
130. lure 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 Adr gt 1 to 5 words Record 1 Time of occurrence old 5 words Record 2 Trace data s 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 Day and hour of occurrence 1 word Minutes and seconds 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 01 83 07D0 1 word 1 word Data address 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 System reserved 0 Data Type Bit 0 Integer 1 Double length int 2 0 NO contact designation oana 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 Failur
131. mbol Specifications 0 RN Lineisrunning ON is input while the line is running IN Quick stop OFF is input upon quick stop DVDTF Non execution of Input of OFF into non execution of DVDT1 opera DVDT1 operation tion 3 VDTS DVDT1 operation se Selection DVDT1 operation method lection Reserved Reserved relay for input O G RN QS D ON is output when input value output value Olojo Glale g 4 4 5 Reserved Reserved relay for output OU Work relay System internal work relay Work relay System internal work relay F Work relay System internal work relay When the quick stop QS is OFF the quick stop time is used for the acceleration deceleration time EE OU OU OU 3 Table 1 29 Real Type SLAU Instruction Parameters e SSSSS d Scale of the 100 input Time for acceleration from 0 to 100 s Time for deceleration from 100 to 0 s Time for quick stop from 100 to 0 s V 0 AAT S curve acceleration time Time spent in the S curve area during acceleration s Ba S curve deceleration time Time spent in the S curve area during deceleration s Current speed SLAU output also output to the F register U T DVDT Current acceleration de Scaled with the normal acceleration rate being set UT celeration 18 F ABMD Speed increase upon Amount of change in speed after hold instruction OUT holding until stabilization 1 157 1 Ladder Program
132. meter table input Eiin Deviation input value Peramet r BANH Head address of parameter table futewt EHD PID output value Real Number Type Operation MF00200 to MF00228 are used for the parameter table input Fodor Deviation input value Parameter BANGS Head address of parameter table Dute Fiji a 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 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 18 Integer Type LAG Instruction Parameters Type Symbol Specifications VO Relay I O Relay input relay output we W First order lag time con First order lag time constant ms IN stant ae T Y LAG output LAG output also output to the A register OU U RLY 0 nN Reserved Reseed o Reserve ou Table 1 19 Real Type LAG Instruction Parameters Relay I O Relay input relay output a e l First order lag time con First order lag time constant s stant LAG output LAG output also output to the F register OUT W W F F
133. n 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 16 1S COMPLEMENT Instruction COM
134. n error occurs the corresponding error code is set in the Output and the Status is turned ON Table 1 33 Block Write Instruction Parameters ROW1 Table element beginning Beginning row number of the target table row number element 1 to 65535 COL1 Table element beginning Beginning column number of the target table column number element 1 to 32767 W REN Number of row elements of row elements Number of Number of row elements 1 to 32767 elements 1 to Number of row elements 1 to 32767 EEE amber efron cements 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 Category TABLE Table Nene Icon t Write Data T ERN MAODONS u Faraneter 7 WADOODS Output 7 MPOOOH2 Status MEODDOG E Parameter Table Name o Name Table name 0 E Table name 0 E Sena 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 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
135. n logarithm of the input value x 10 Logj9 x 1 0 is calculated Source BDFOOZON Best DFOOZO2 N INFO 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 Instruction 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 _ m 1 m 2 m 3 4 3 2 141 0 Pee a gt Number of rotations Head bit address 4 E Format Symbol ROTL Full Name Bit Rotate Left TB Category MOVE Head Bit Addresa 7 Icon Agm LE A L Humber of Rotations weoooo Bit Pidth 7 woont 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 1 98 1 6 Data Manipulation Instructions E Program Example The data having MBOO0000A bit
136. n program This instruction can be referred only from DWGH It is not possible to refer from DWG A and DWGLL E Format Symbol MSEE Full Name Call Motion Program EF Category MOTION Progran Mo Icon fil Data WagdI0G E Parameter Program No e Direct specification Numerical value of 1 256 Motion 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 MPM001 VEL X 6000 Y 6000 MSEE MOV X 1000 Y 1000 Program No 1 S X 2000 Data DA00000 END 1 69 1 Ladder Program Instruction 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 ee Name User Function Maia FUNCT Category CONTROL Icon FUNG LAPUT realy CUTPUT Brealy Pn TROE ADDRESS 7 waga 100 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 I
137. nd 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 ROW Table element correspond Corresponding row number of the target table IN ing row number element 0 to 65535 COL Table element beginning Beginning column number of the target table IN UMN column number element 1 to 32767 W CLEN Number of column Number of column elements continuously read out IN elements 1 to 32767 L L L RPTR Read pointer Read pointer of the queue after execution WPTR _ Write pointer Write pointer of the queue after execution os ee 1 177 1 8 7 QUEUE TABLE READ Instructions QTBLR QTBLRI E Format Symbol QTBLR QTBLRI are STELEI I Full Name Queue Table Read Table Hane 1 Table Mame f Raad Date Tsai Heed Data cea Queue Table Read Porseeter 1 Parameter Rees sage TABLE MARDDIT con taut 1 Mateut t A r cect MEEDDOT EPIIT a ae Maku 4 stalus 7 oes wpe oooo i CDLL E Parameter e Register address with subscript e Register address with subscript Output e Any integer type register except for and C registers
138. nstruction 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 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
139. nstruction 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 2 17 ABSOLUTE VALUE CONVERSION Instruction ABS 1 45 1 2 18 BINARY CONVERSION Instruction BIN 1 46 1 1 1 Ladder Program Instructions reer nnn eee ee eee 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 1 3 Logical Operation Comparison Instructions 1 55 1 3 1 AND Instruction AND 1 55 1 3 2 OR I
140. nstructions 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 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 re
141. nteger Type PID Instruction Parameters Name Specifications Relay input relay output Gain of the P correction a gain of 1 is set to 100 Gain of the integration circuit input a gain of 1 is set to 100 Gain of the differentiation circuit input a gain of 1 is set to 100 Integration time ms The differential time ms used in the case of diverg ing input The differential time ms used in the case of con verging input Upper limit for the I correction value Lower limit for the I correction value Upper limit for the P I D offset Lower limit for the P I D offset Width of the dead band for the P I D offset PID offset output also output to the A register I offset stored 14 wo IREM remainder I remainder stored X Input value storage Present deviation input value stored oi Reserved relay for output 1 135 1 Ladder Program Instruction 1 7 6 PID CONTROL Instruction PID Table 1 17 Real Number Type PID Instruction Parameters Resened iReader SSSCS dC i I F amp Convergence differential The differential time s used in the case of converg IN time ing input Upper integration limit Upper limit for the I offset IN Lower integration limit Lower limit for the I offset IN Upper PID limit Upper limit for the P I D offset IN Lower PID limit Lower limit for the P I D offset IN PID output dead band Width of the dead band for the P I D offs
142. on 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 records needed The readout can be performed upon designating just the necessary items in the record Applicable inverters MP930 SVB 01 connected via 215IF Symbol ITRC RD Full Name Inverter Trace Read Category SYSTEM Icon i E Format 2 31 2 Standard System Function 2 2 4 Inverter Trace Read Function ITRC RD E Parameter Definition Name Designation Inverter trace read forced interruption instruction Type of transmission device 215IF 1 MP930 4 SVB 01 11 215IF 1 MP930 1 SVB 01 1 to 16 Slave station No 215IF 1 to 64 MP930 1tol4 SVB 01 1 to 14 Ch No REG Transmission buffer channel No No designation 215IF 1 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 Address in Head address of data buffer register address of MW or DW put Output B VAL The reading of inverter trace data is in progress Table 2 14 Configuration of the Inverter Trace Read Execution Status STATUS error Error in the designated bitl1 The function will not be executed number of records Swem ome 2 32 E Readout of Inverter Trace Data The readout will always be started from t
143. 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 Numeric Operation Instructions 1 2 7 DIVISION Instruction DIV E Outline The DIV instruction divides integer double length integer and real number values Source A is divided by Source B and stored in the Dest E Format Symbol DIV Full Name Divide a Category MATH Sources 1 Icon gy WHOO01E Fill fourca T WOON eet 4 WOOD EH 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 register 1 31 1 Ladder Program Instruction 1 2 7 DIVISION Instruction DIV E Program
144. ormat Symbol TBLSRL Full Name Table Row Search TELSAL Fej Category TABLE Table Name Icon TEL Search Data 7 a MAD OOOS Parametar 7 WADDOOG Output 7 WHOS Status 7 MENDOOOS 1 170 1 8 Table Data Manipulation Instructions E Parameter e Register address with subscript e Register address with subscript Output e Any integer type register except for and C registers p y integ e Any integer type register with subscript e Subscript register Status e Any bit type register except for and C registers Any bit type register with subscript Possible to omit 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 Table Hams TABLET Eearch Dais Wijil bi Poreeelear Aj Dit ripu moot Pisiun BBjobtti 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 Table 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
145. ow numbers invalid column 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 L ROW1 Table element head row Head row number of the transfer source table IN number element 1 to 65535 L Table element head col Head column number of the transfer source IN umn number table element 1 to 32767 W Number of row elements Number of transfer row elements to be transferred 1 to 32767 W CLEN Number of column Number of transfer column elements to be elements transferred 1 to 32767 L ROW2 Table element head Head row number of the transfer destination row number table element 1 to 65535 L COL Table element head Head column number of the transfer destination UMN2 column number table element 1 to 32767 eat i M 1 175 1 8 6 BLOCK MOVE Instruction TBLMV E Format Symbol TBLMV Full Name Table Block Move aE ty Category TABLE Src Table Name 7 Icon L Dest Table Name 7 Mv Parameter T MAD GOTO Out put 7 MODOONE Statue 7 WEIG00RE E Parameter Dest Table Name Table name Parameter e Register address e Register address with subscript Output e Any integer type regis
146. pe 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 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 Tb Err becomes ON E Format Symbol FINFOUT
147. r and C reg isters e Constant E Program Example The data in registers MW00100 to MW00119 are sorted in ascending order Data Table Mi00100 Width 20 1 113 1 Ladder Program Instruction 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 m Full Name Bit Shift Left SHFTL a Category MOVE Head Bit Address 7 Icon i gt WeO00005 L Nuaber of Shifts T ELTETE Blt Width 1 H oooRS 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 MBOO00A bit A of MW00000 as the head is shifted five bits to the left SHFTL z Head Bit Address MBOOOO0A Number of Shifts 5 Bit Width 10 1 114 1 6 Data Manipulation Instructions A Mwoo000 1141 o0 o0 o 4 ttt ttt ee 3 MWO0004 iccie cee es aie nce ake a aie
148. r 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 Category FUNCTION Source MNOOO05 Icon cos Dest MPOOOO 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 Cource Waima coenoo Dest Watiiit fosoo0 Input X 60 degrees MW00100 60 100 6000 Output COS X 0 50 MW00102 0 50 10
149. rameter table OUTS can only be used for LIO modules E Format Symbol OUTS Full Name Direct Output String OUTS Category CONTROL Parameter 1 Icon GUT Bani iai Status 7 HD00 O00 E Parameter Parameter e Register address except for and C registers e Register address with subscript Status 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 eo RSSEL Module designation 1 Designation of module for performing output MDSEL Module designation 2 Status Output of a bit equivalence of the status for each word output Output data 1 Setting output data Output data N Method of setting RSSEL and N number of words is the same as for INS cow KARS se HE Tes woo 1 74 1 4 Program Control Instructions E Program Example Two words output to LIO 01 mounted at rack 3 slot 10 Source HOERA Deri WTikii ource Dest mInetor source I Dasi WORMZ Source Dest Iikiji Source Devt maniiag Puramelar WWIOTDE Stalun wBaOOond DQ INFO 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 Instruction 1 4 6 EXTENSION PROGRAM CALL Instruction XCALL 1 4 6 EXTENSION PROGRAM CALL Instruction XCALL E Outline The XCALL inst
150. range e 88xx Transmission unit error An error response was returned from the transmission unit Refer to E 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 PARAMO1 on page 2 5 for details Called Station 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 Read coil status Read input relay status Read contents of holding register Read contents of input register Change status of single coil Write into a single holding register Unused CEST Loop back test Read contents of holding register expanded Read contents of input register expanded Write into holding register expanded Unused OOS Discontinuous readout of holding register expanded Discontinuous write into holding register expanded Change status of a multiple coil Ooo Ee MEE PEE Write into a plurality of holding register Unused System reserved System reserved Unused Note 1 cannot be output OK can be output 2 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 16
151. re 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 1 8 IMPORTANT E Format 7 weno Count 7 WHOOOOE E Parameter e Any integer type register e Any integer type register with subscript 0 to 65535 1 sec unit Set set value Count timer value E Program Example UAE son MBO000100 MBO000101 MBO000011 ON OFF ON OFF 0 Count WPI0011 1 1 Relay Circuit Instructions Symbol TON 1s Full Name On Delay Timer 1s Category RELAY Icon Tif As e Constant e Any integer type register except for and C registers e Any integer type register with subscript except for and C reg isters 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 T
152. register e Any bit type register with subscript E Program Example When MB000100 becomes ON MB000101 becomes OFF HEPNI IOG HBEHITOT 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 E Format Symbol TON 10ms Full Name On Delay Timer 10ms Category RELAY Icon Tok 10 Ween weOOOO i ET wooo 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 register with subscript except for and C reg isters 1 1 Relay Circuit Instructions E Program Example whoa TOn Set Jid Count PIDOT ON MB000100 OFF ON MB000101 OFF 500 5 gt MB0000
153. rise ABMD DVDT2 X DVDT2 Present value last time of addition subtraction 2 x AADVS BBDVS 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 Instruction 1 7 12 LINEAR ACCELERATOR DECELERATOR 2 Instruction SLAU Real Type SLAU Instruction LV x Ts 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 1ms Outside S character section BT s x 10000 BDVS lt BDV VI lt V V gt 0 V V BDV Moderation rate BDV LVxTs 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 e After S operates O as follows a
154. ruction 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 extension program cannot be called more than once E Format Symbol XCALL SSS Full Name Call Extended Program Category CONTROL Wane WCTBL Icon oy TAI E Parameter 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 b Name ILKTBL 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 Full Name While Do End of While 1 lt 100 Category CONTROL I END WHILE i WE BE e At instruction development display OFF Symbol WHILE END_WHILE Full Name While Do and WHILE END WHILE 3 End of While Category CONTROL Icon bs E Parameter Conditional E
155. s of parameter table Gipu MENAI LAG output value Real Number Type Operation MF00200 to MF00204 are used for the parameter table impui Wpro Deviation input value Parsmeter Alij Head address of parameter table Duiput UPMI a LAG output value 1 141 1 Ladder Program Instruction 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 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 20 Integer Type LLAG Instruction Parameters Relay I O Relay input relay output IN OUT constant N Phase lag time constant Phase lag time constant ms IN LLAG output LLAG output may also be output to the A register w x Input stored Input value stored Relay I O Bit Assignment PoP RST eree PONT Rinputwhen FLAG IN Pre Reen __ Reevadrekyiorip SN eor Reen eener ro OUT _ Table 1 21 Real Number Type LLAG Instruction Parameters eea ese O Y X W Yooo LLAG output LLAG output may also be output to the F register xo Input preservation Input value stored IRST LLAG rese
156. so 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 gt Indicates application examples INFO Indicates supplemental information Related Manuals E Refer to the following related manuals as required MP900 Series Machine Controller New Ladder Editor User s Manual MP900 Series Machine Controller User s Manual Ladder Programming MP900 Series Machine Controller User s Manual Motion Programming MP900 Series Machine Controller User s Manual MECHATROLINK MP910 Machine Controller User s Manual Design and Maintenance MP920 Machine Controller User s Manual Design and Maintenance MP930 Machine Controller User s Manual Design and Maintenance MP940 Machine Controller User s Manual Design and Maintenance MP920 Machine Controller User s Manual Motion Module MP920 Machine Controller User s Manual Communications Module MP920 Machine Controller User s Manual DeviceNet SIEZ C887 13 2 SIEZ C887 1 2 SIEZ C887 1 1 SIEZ C887 4 1 SIEZ C887 2 5 SIEZ C887 2 6 SIEZ C887 5 2 Describes the operating methods of the MP900 New Ladder Editor Describes the instructions used in MP900 ladder logic programming Describes the motion programming language used for MP900 Machine Controllers Describes MECHATROLINK Mod ules used for MP900 Machine Con trollers Describes th
157. 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 arc sine of the input value 0 5 ASIN 0 5 0 30 0 degrees is calculated Source Fagri Best DFoorO2 N INFO ARC SINE Instruction cannot be used for integer type and double length integer type data 1 91 1 Ladder Program Instruction 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 Category FUNCTION Source MFOOODOS Icon m Dest MFOOD0E 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 p C register E Program Example The arc cosine of the input value 0 5 ACOS 0 5 X 60 0 degrees is calculated Source DFOOZOO Best DFOOZO2 ARC COSINE Instruction cannot be used for integer type and double length integer type data A Q QW 1 92 1 5 Basic Function Instructions 1 5 7 ARC TANGENT Instruction ATAN E O
158. t 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 27 1 Ladder Program Instruction 1 2 6 MULTIPLICATION Instruction MUL Q INFO nop 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 purces woe Carte Sourceo Cent BADD IO 937071 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 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 z Category MATH fourced 7 Icon WOOO 6 x Sourceb 7 WWOOOTE Dest 7 WROOO1 1 28 1 2 Numeric Operation Instructions E Parameter Source A e Any integer type double length integer type and real number type
159. t ON is input when LLAG is reset IN Reserved Reserved relay for input IN U BIT Symbol Specifications 1 0 o Reserved Reserved relay for output OUT 1 142 1 7 DDC Instructions Here the LLAG operation is expressed as follows 1 T2 S ie TX dY dt Y T2 X dX dt X x 7 detxs 7 pees The following operation is performed within the LLAG instruction with dt Ts dY Y Y and dX X X TLX Y T2 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 ra Category DDC Input 1 Icon iaa WWDOH22 Paraneler HADDOOS Dutput 7 TL a 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 e Subscript register 1 143 1 Ladder Program Instruction 1 7 9 FUNCTION GENERATOR Instruction FGN E Program Example Integer Type Operation MW0
160. t e Subscript register e Constant Upper Limit e Any integer type double length integer type and real number type register 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 Triput Ea Lower Lielt m41 Upper Limiti 1008 1 66 1 3 Logical Operation Comparison Instructions Double length Integer Type Data Tnpull iaia ewer Liaii mmaand Uerer Lisit magaan Real Number Type Data Ineul O Lower Limiti 0 050000E 08 Upper Limit 1030101E iH 1 67 1 Ladder Program Instruction 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 DWGL E Format Symbol SEE Full Name Call Program E SEE g F Category CONTROL Nane HO1 Icon sgl 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 motio
161. ted 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 8 8 QUEUE TABLE WRITE Instructions QTBLW QTBLWI Table 1 39 Queue Table Write Instruction Parameters 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 UMN beginning column number element 1 to 32767 CLEN Number of column Number of column elements to be continuously elements write 1 to 32767 A o OOOO OOOO OOo OOO RPTR Read pointer Read pointer of the queue after execution Our WPTR Write pointer Write pointer of the queue after execution our a cee e E Format Symbol QTBLW QTBLWI Full Name Queue Table White Table Hana 1 Table Wena T Queue Table Pointer rite Pete qasg0ts Frites Deis Dasi Clear Parameter 7 AAE l con alee MADDOTE MADDOTA Icon output 7 Output 7 ki LLLE MEGOOTO ftatus 1 Status 7 ATE MBBOOO Te 1 180 1 8 Table Data Manipulation Instructions E Parameter e Register address with subscript e Register address with subscript Output e Any integer type register except for and C registers e Any inte
162. ter 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 There are tables defined as TABLE and TABLE2 The designated block in TABLE is transferred to the designated block in TABLE2 using DW00010 to DW00019 as a parameter table Ere Table Mame TAOLIT Teak Table Hams TADLEZ Parnisaiar DADE Ia Gudput TITEN ri atum TOTEE 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 Zable 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 insuffi cient storage register data length or empty queue buffers are fou
163. ting 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 Speed 4 Speed Vi vI PR Instruction input value change in moderation J Change to 0 gt VI S the instruction input value changes while accelerating 0 Change to VI gt 0 gt 0 gt Time Time Undershoot 1 7 13 PULSE WIDTH MODULATION Instruction PWM E Outline The PWM instruction converts the value of the Jnput 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 Instruction 1 7 13 PULSE WIDTH MODULATION Instruction PWM A D 5 7 R Table 1 30 Integer Type PWM Instruction Parameters W W W W W
164. tive 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 va Category FUNCTION Source wmOOOD Icon p Dect NWO0002 1 85 1 Ladder Program Instruction 1 5 1 SQUARE ROOT Instruction SQRT 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 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 registers e Subscript register E Program Example Integer Type Data e When the input is a positive number Eource WDN Dest Mao Erara WADbIMG Dest Mano LEDIGA 01g biagah piii Real Number Type Data e When the input is a positive number Source FORE Dest HFODEOE e When the input is a negative number Erurce DFOHIG Dest MFODEOE 1 86 1 5 Basic Function Instructions 1 5 2 SINE Instruction SIN E Outline 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
165. tline The BSWAP instruction swaps the higher place and lower place bytes of the designated reg ister Dest VWXxXXxx VWXxXXxx Upper Lower Upper Lower V S 1 0 M D E gt b a Before swap After swap E Format Symbol BSWAP Full Name Byte Swap BSYAP Ze Category MOVE Dast 7 Icon H Wongas 7 E Parameter e Any integer type register except for and C registers e Any integer type register with subscript except 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 1 Init B Has F iep 1 Best BaO0Iiii END FOR P Upper Lower Upper Lower MW00100 12H 34H gt 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 ml MW00102 54H 14H Before swap After swap 1 119 1 Ladder Program Instruction 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 absolut
166. 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 SV 01 Protocols MEMOBUS non procedural E Format Symbol MSG SND Full Name Message Send Category SYSTEM Icon oa 2 2 2 1 Message Functions E Parameter I O Parameter VO 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 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 24 218IF 1 to 8 SVB 01 1 to 16 Ch No REG Transmission buffer channel No CPU module 1 2 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 Output 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 PARAM 00 OUT Process result PARAM 01 OUT Status PARAM 02 N Called station PARAM 03 YS System reserved PARAM 04 Function code Po PARAM 05 Data a
167. truction COPYW E Outline The COPY W 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 Desi 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 the copy destination E Format Symbol COPYW Full Name Copy Word E Category MOVE Source 7 Icon Oa IRER wW Dest 1 OIDE Width 1 EENI 1 116 1 6 Data Manipulation Instructions E Parameter Parameter Name Setting 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 cory Source MH00000 Dest MWOO100 Width 10 mMwoo000 1032H MW00100 1032H MW00001 1133H MW00101 1133H MW00002 1234H a MW00102 1234H transfer MW00008 1841H MW00108 1841H MW00009 1842H MW00109 1842H 1 117 1 Ladder Program Instruction 1 6 14 BYTE SWAP Instruction BSWAP 1 6 14 BYTE SWAP Instruction BSWAP E Ou
168. tution oper ator is not recognized lt q EXAMPLE Refer to the example of A 3 1 Conditional Expression of IF Instruction A 8 A 3 Application to Ladder Program 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 9 Machine Controller MP900 Series New Ladder Editor PROGRAMMING MANUAL IRUMA BUSINESS CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 42 962 5696 Fax 81 42 962 6138 YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 1 847 887 7000 Fax 1 847 887 7370 MOTOMAN INC HEADQUARTERS 805 Liberty Lane West Carrollton OH 45449 U S A Phone 1 937 847 6200 Fax 1 937 847 6277 YASKAWA ELETRICO DO BRASIL COMERCIO LTD A Avenida Fagundes Filho 620 Bairro Saude Sao Paulo SP Brazil CEP 04304 000 Phone 55 11 5071 2552 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH Am Kronb
169. uction 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 VWXxXXXX 4 Transfer N XXXXX VWxxxxx 1 destination register no XXXXX VWXxxxx 2 V S 1 0 M D XXXXX VWxxxxx 3 gt Number of transfers XXXXX VWxxxxx n 1 XXXXX VWxxxxx n J 1 106 1 6 Data Manipulation Instructions E Format Symbol SETW Full Name Set Word aE Category MOVE Dest Icon BET wnonot Ww Set Dala 7 WROOG19 Width 7 WROD 14 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 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 contents of MW00100 to MW00119 are set to 0 Dest Mi00100 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 Instruct
170. ue 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 data 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 ty
171. uffer 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 Full Name Failure Trace Read Coaplate Category SYSTEM FA ERDEI Icon E COCO LUUL Emaar Reset f Error t BEDDI WEDREG23 Tree ius 1 i Hisiu S k mooie EDDIE RecLice fiec Size T ETO CELTIE Dal de To Ree Leh T madiniy LOTET 2 26 2 2 Trace Functions E Parameter VO Parameter Setting Definition Name eae B VAL Failure trace buffer reset instruction Type I REG Type of data read 1 Occurrence data 2 Restoration data Rec Size REG Number of read record Occurrence data to 64 Restoration data 450 Dat Adr om register address for reading address of MW or put DW Table 2 12 Failure Trace Reading Execution Status STATUS fSywenvesoned own Error in the designated bit11 a function will not be executed number of records a a Systomresened a SSCS 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 Fai
172. umber 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 Subscript register E Program Example Integer Type Operation Inet EDDI P OOTEE CODOER Tors 00 Duteui BOOT LOGSE Canon Within Outside dead zone dead zone 1 123 1 Ladder Program Instruction 1 7 3 UPPER LOWER LIMIT Instruction LIMIT Double length Integer Type Operation Trei ELODIE Eggooo biagoo forme ojbi futewt Eiwit M0000 Cenngos Within Outside dead zone dead zone Real Number Type Operation Treal DFOOEPI CIBER 8 G50 D fore DODDME ORF Buteut DFOOEEE ho 0 o 0 Within Outside 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 nput 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 X Lower limit A 1 124 1 7 DDC Instructions E Format Symbol LIMIT Full Name Limit LIMIT a
173. unctions E 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 aa 5 3 217IF SVB 01 oon oms e E O a 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 O1FCH 1 to OOFCH words words Write into holding register 1 to 507 1 to 252 expanded 1 to 01FBH 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 Change status of a multiple coil 1 to 800 1 to 0320H bits 10H Write into a plurality of holding reg 1 to 100 1 to 0064H words Called CPU PARAMO07 Set the called CPU No Coil Offset PARAMO08 Set the offset word address of the coil This is valid in the case of function codes 01H 05H and OFH 2 9 2 Standard System Function 2 1 1 Send Message Function MSG SND Input Relay Offset PARAMO9 Set the offset word address of the input relay This is valid in the case of function code
174. utline 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 Zz Category FUNCTION Icon al Source NFOOOO tan Dest WFOOOOR 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 1 93 1 Ladder Program Instruction 1 5 8 EXPONENT Instruction EXP E Program Example Integer Type Data Cource WADHUNG idit Dest MAO 04600 Input X 1 00 MW00100 1 00 100 100 Output X 45 degrees
175. wing users e Those responsible for designing the MP900 System Those responsible for writing MP900 motion programs Those responsible for writing MP900 ladder logic programs E Description of Technical Terms In this manual the terms are defined as follows e PLC Machine Controller e CP 717 CP 717 Engineering Tool E 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 install 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 are registered trademarks of Microsoft Corporation 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 Al
176. xpression A 5 A 2 1 Arithmetic Operator A 5 A 2 2 Comparison Operator A 5 A 2 3 Logic Operator A 5 A 2 4 Substitution Operator A 6 A 2 5 Function A 6 A 2 6 Others A 6 A 3 Application to Ladder Program A 8 A 3 1 Conditional Expression of IF Instruction A 8 A 3 2 Conditional Expression of WHILE Instruction A 8 A 3 3 Operational Expression of EXPRESSION Instruction A 9 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 E 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 E amp Logical product Logical add Logical denial Comparison Operator Equal to a right value Not equal to a right valu
177. xpression Description by Expression 7 1 7 1 Ladder Program Instruction 1 4 7 WHILE Instruction WHILE END_WHILE E Program Example The total for 100 registers from MW00100 to MW00199 is stored in MW00200 STORE oures T Dest 1 i TTORE Touros i Dasi WPiOz00 Source MPN TOO SourceS MOTO Gert moro fourped J fourci Get EM AHILE 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 WOO100 gt 100 2 l hetnet EEE END IF e At instruction development display OFF IF END_IF 4 E Parameter Symbol IF END_IF Full Name If Then End of If Category CONTROL Icon jp gt EMBL BE Symbol IF END_ IF Full Name IF Then and End of If Category CONTROL Icon el 1 7 Conditional Expression Description by Expression 9 1 Ladder Program Instruction 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 WHODDIBO t rue Eourenk WEFENM Source WAPITI Bert NEREDE 1 4 9 IF Instruction IF ELSE END_IF E Outl
178. y 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 e Any integer type register e Any integer type register with subscript e Constant 1 105 1 Ladder Program Instruction 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 MI00100 Width 10 Mwoo0000 1031H Mwo0100 2050H MW00000 2050H Mwo0100 1031H Mwoo0001 1032H Mwoo101 2051H Mwo0001 2051H Mwoo101 1032H Mwo0002 1033H Mwo0102 2052H MW00002 2052H Mwo0102 1033H Mwo0003 1034H Mwo0103 2053H MW00003 2053H Mwo0103 1034H MW00004 1035H MW00104 2054H After MW00004 2054H MW00104 1035H Mwo0005 1036H Mwoo105 2055H tansfer Mmwoooos 2055H Mwo0105 1036H MW00006 1037H MW00106 2056H MW00006 2056H MW00106 1037H MW00007 1038H MW00107 2057H MW00007 2057H MW00107 1038H Mwoo0008 1039H MW00108 2058H Mwoo0008 2058H MW00108 1039H MW00009 1030H MWw00109 2059H MW00009 2059H MW00109 1030H 1 6 6 SET WORDS Instruction SETW E Outline The SETW instr
179. y 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 a Category MATH Source Icon Seay WFOOOO1 Base 7 WFODORS Dest 7 WFODOOS E Parameter Source e Any real number type register e Any real number type register with subscript Constant e Any real number type register 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 remainder of the division of the real number variable MF00200 by the constant value 1 5 is determined and stored in DF00202 fource POOPED Bise GODRITE 0DD Deri DFOCPIS 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 p ET Category MATH best 7 Icon WHOOGE TY 1 J E Parameter Dest e Any integer type and double length integer type register except for and C registers e Any integer type and double

Machine Controller MP900 Series New Ladder Editor

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