Mitsubishi Electronics 700, FR-A700 User Manual
INVERTER
FR-A700
PLC FUNCTION
PROGRAMMING MANUAL
PLC FUNCTION
CC-Link
COMMUNICATION
SEQUENCE
PROGRAMMING
ERROR CODE
LIST
Chapter 1
Chapter 2
Chapter 3
Chapter 4
CONTENTS
1. PLC FUNCTION 1
1.1 Function Block Diagram ...........................................................2
1.2 PLC Function Specifications....................................................3
1.3 System Configuration ...............................................................4
1.4 Wiring of the Inverter and Personal Computer Using
GX Developer for RS-485 Communication..............................5
1.5 Prior to Sequence Program Creation ......................................6
1.5.1 Precautions for sequence program creation .................................................6
1.5.2 Usable main GX Developer functions ...........................................................6
1.5.3 Sequence program execution key.................................................................7
1.5.4 Sequence program write............................................................................... 8
1.5.5 Setting list of built-in PLC function parameter ...............................................9
1.6 Device Map...............................................................................10
1.6.1 I/O device map............................................................................................10
1.6.2 Internal relay (M) device map......................................................................12
1.6.3 Data register (D) device map ......................................................................12
1.6.4 Special relays..............................................................................................12
1.6.5 Special registers..........................................................................................14
1.7 Inverter Status Monitoring, Special Registers for Control ..20
1.7.1 Data that can be read at all times................................................................20
1.7.2 Data that are read by controlling (OFF to ON) the read command .............23
1.7.3 How to write data by controlling (OFF to ON) the write
command....................................................................................................25
1.7.4 Inverter operation status control..................................................................31
1.7.5 Inverter parameter access error (D9150)....................................................33
1.7.6 Inverter status (D9151)................................................................................33
1.8 Inverter Parameter Read/Write Method .................................34
1.8.1 Reading the inverter parameters.................................................................34
1.8.2 Writing the inverter parameters...................................................................36
1.9 User Area Read/Write Method ................................................38
1.9.1 User parameter read/write method.............................................................. 38
1.10 Analog I/O function .................................................................39
1.10.1 Analog input ................................................................................................39
1.10.2 Analog output..............................................................................................39
1.11 Paluse train input function .....................................................40
1.12 PID control ...............................................................................41
1.13 Inverter Operation Lock Mode Setting ..................................43
CONTENTS
I
2. CC-Link COMMUNICATION 45
2.1 System Configuration............................................................. 46
2.1.1 System configuration example.................................................................... 46
2.1.2 Function block diagram............................................................................... 47
2.2 CC-Link Parameters................................................................ 49
2.2.1 CC-Link Extended Setting (Pr. 544)............................................................ 49
2.3 CC-Link I/O Specifications ..................................................... 50
2.4 Buffer Memory......................................................................... 57
2.4.1 Remote output signals
(Master module to inverter(FR-A7NC))....................................................... 57
2.4.2 Remote input signals Pr.544=100
(Inverter(FR-A7NC) to master module)....................................................... 58
2.4.3 Remote registers Pr.544=100
(Master module to inverter(FR-A7NC))....................................................... 59
2.4.4 Remote registers Pr.544=100
(Inverter(FR-A7NC) to master module)...................................................... 60
3. SEQUENCE PROGRAMMING 61
3.1 Overview .................................................................................. 62
3.1.1 Outline of Operation Processings ............................................................... 62
3.2 RUN and STOP Operation Processings................................ 64
3.3 Program Makeup ..................................................................... 64
3.4 Programming Languages.......................................................65
3.4.1 Relay symbolic language (Ladder mode) ................................................... 65
3.4.2 Logic symbolic language (List mode).......................................................... 67
3.5 Operation Processing Method of PLC Function ..................68
3.6 I/O Processing Method ........................................................... 69
3.6.1 What is refresh system? ............................................................................. 69
3.6.2 Response delay in refresh system.............................................................. 70
3.7 Scan Time ................................................................................ 71
3.8 Numerical Values Usable in Sequence Program .................72
3.8.1 BIN (Binary Code)....................................................................................... 73
3.8.2 HEX (HEX Decimal).................................................................................... 74
3.9 Description of devices............................................................ 75
3.9.1 Device List .................................................................................................. 75
3.9.2 Inputs, Outputs X, Y.................................................................................... 76
3.9.3 Internal Relays M........................................................................................ 79
3.9.4 Timers T...................................................................................................... 80
II
3.9.5 100ms, 10ms and 100ms retentive timers ..................................................80
3.9.6 Timer processing method and accuracy .....................................................81
3.10 Counters C ...............................................................................83
3.10.1 Count processing in refresh system............................................................84
3.10.2 Maximum counting speed of counter ..........................................................85
3.11 Data Registers D......................................................................86
3.12 Special Relays, Special Registers .........................................87
3.13 Function List............................................................................89
3.14 How to RUN/STOP the Built-in PLC Function from Outside (Re-
mote RUN/STOP) .....................................................................90
3.15 Watchdog Timer (Operation clog up monitor timer)............92
3.16 Self-diagnostic Function ........................................................93
3.16.1 Error-time operation mode .......................................................................... 94
3.17 Keyword Registration .............................................................95
3.18 Setting of Output (Y) Status at Switching from STOP Status to
RUN Status...............................................................................96
3.19 Instruction Format...................................................................97
3.20 Bit Device Processing Method...............................................99
3.20.1 1-bit processing...........................................................................................99
3.20.2 Digit designation processing .......................................................................99
3.21 Handling of Numerical Value................................................101
3.22 Operation Error......................................................................102
3.23 Instructions List ....................................................................103
3.23.1 How to use the instruction list....................................................................103
3.23.2 Sequence instruction.................................................................................105
3.23.3 Basic instructions ......................................................................................107
3.23.4 Application instructions..............................................................................109
3.24 Description of the Instructions ............................................110
3.25 Sequence Instructions ..........................................................111
3.25.1 Contact Instructions :
Operation start, series connection, parallel connection ... LD, LDI, AND, ANI,
OR, ORI.....................................................................................................111
3.25.2 Contact Instructions : Ladder block series connection, parallel connection ...
ANB, ORB ................................................................................................. 113
3.25.3 Connection Instructions :
Ladder block series connection, parallel connection ... ANB, ORB...........117
3.25.4 Connection Instructions :
Operation result, push, read, pop ... MPS, MRD, MPP.............................120
3.25.5 Output Instructions : Bit device, timer, counter ... OUT.............................123
CONTENTS
III
3.25.6 Output Instructions : Device set, reset ... SET, RST................................. 126
3.25.7 Output Instructions : Leading edge, trailing edge differential outputs ... PLS,
PLF ........................................................................................................... 129
3.25.8 Shift Instructions : Bit device shift ... SFT, SFTP...................................... 131
3.25.9 Master Control Instructions : Master control set, reset ... MC, MCR......... 133
3.25.10End Instruction : Sequence program end ... END..................................... 137
3.25.11Other Instructions : No operation ... NOP ................................................. 138
3.26 Basic Instructions ................................................................. 140
3.26.1 Comparison Operation Instructions .......................................................... 140
3.26.2 Comparison Operation Instructions :
16-bit data comparison ... =, <>, >, <=, <, >=............................................ 142
3.26.3 Arithmetic Operation Instructions.............................................................. 144
3.26.4 Arithmetic Operation Instructions :
BIN 16-bit addition, subtraction ... +, +P, -, -P .......................................... 145
3.26.5 Arithmetic Operation Instructions :
BIN 16-bit multiplication, division ... *, *P, /, /P.......................................... 149
3.26.6 Data Transfer Instructions......................................................................... 153
3.26.7 Data Transfer Instructions :
16-bit data transfer ... MOV, MOVP.......................................................... 153
3.27 Application instructions ....................................................... 155
3.27.1 Logical Operation Instructions .................................................................. 155
3.27.2 Logical Operation Instructions :
16-bit Logical Product ... WAND, WANDP................................................ 156
3.27.3 Logical Operation Instructions :
16-bit Logical Add ... WOR, WORP .......................................................... 159
3.27.4 Logical Operation Instructions :
16-bit Exclusive Logical Add ... WXOR, WXORP..................................... 162
3.27.5 Logical Operation Instructions :
16-bit NOT Exclusive Logical Add ... WXNR, WXNRP............................. 165
3.27.6 Logical Operation Instructions :
BIN 16-bit 2’s complement ... NEG, NEGP............................................... 168
4. ERROR CODE LIST 171
4.1 How to Read the Error Code ................................................ 172
APPENDIX 175
Appendix1Instruction Processing Time ....................................... 176
IV
1. PLC FUNCTION
This manual describes the functions and devices necessary for programming.
1.1 Function Block Diagram ...................................... 2
1.2 PLC Function Specifications............................... 3
1.3 System Configuration .......................................... 4
1.4 Wiring of the Inverter and Personal Computer
Using GX Developer for RS-485 Communication
1.5 Prior to Sequence Program Creation ................. 6
1.6 Device Map............................................................ 10
1.7 Inverter Status Monitoring, Special Registers
for Control .............................................................
1.8 Inverter Parameter Read/Write Method .............. 34
1.9 User Area Read/Write Method ............................. 38
1.10 Analog I/O function .............................................. 39
1.11 Paluse train input function .................................. 40
1.12 PID control ............................................................ 41
1.13 Inverter Operation Lock Mode Setting ............... 43
... 5
20
Chapter 1
Chapter 2
Chapter 3
Chapter 4
1
Function Block Diagram
1.1 Function Block Diagram
How I/O data are transferred to/from the inverter by the built-in PLC function is
explained using function blocks.
(1) I/O data read, write, etc. can be performed by accessing the inverter in the
predetermined method using special relays, special registers, etc.
(2) Operation, parameter read/write, etc. can be performed in accordance with the
created sequence programs (built in the inverter) using input data from the control
input terminals.
With the output signals, output data can be output to outside the inverter from the
control output terminals as not only the inverter's status signals but also pilot lamp
on/off, interlock and other control signals set freely by the user.
Inverter
Input signal
I/O data
Output signal
Special relays,
special registers,
etc.
Built-in sequence program
Inverter CPU
2
PLC Function Specifications
1.2 PLC Function Specifications
The following table indicates the program capacity and devices of the PLC function.
A700 Sequence Section
Control method Repeated operation (by stored program)
I/O control method Refresh
Programming language
PLC instructions 23
Basic instructions 32
Application instructions 18
Number of
instruction
Processing speed PLC instruction 1.9µs to 12µs/step(*2)
Number of I/O points
Number of analog I/O points
Watchdog timer 10 to 2000(ms)
Memory capacity 6k bytes used by sequence and parameters.
Program capacity 1k step
Internal relay (M) 64(M0 to M63)
Latch relay (L) None (Can be set with parameters but will not latch)
Step relay (S) None (Can be set with parameters but will operate as M)
Link relay (B) None
Timer (T)
Counter (C)
Data device (D) 120(D0 to D119)
Devices
Link register (W) None
Annunciator (F) None
File register (R) None
Accumulator (A) None
Index register (Z, V) None
Pointer (P) None
Interrupt pointer (I) None
Special relay (M) 256 (M9000 to 9255) with function limit
Special register (D) 256 (D9000 to 9255) with function limit
*1 These signals use the same terminals as used by the input and output signals given in the
common specifications of the inverter.
One point is always necessary for a sequence start (RUN/STOP).
*2 As inverter control is also performed actually, the scan time is approximately 40ms at 500 steps.
Points 16
Specifications
Points 16
Specifications
Relay symbolic language (ladder mode)
Logic symbolic language (list mode)
128 (X: 64 points, Y: 64 points)
19 points installed, X: 12 points, Y: 7 points (*1)
FR-A7AX, X: 16 points
FR-A7AY, Y: 6 points
FR-A7AR, Y: 3 points
5 points installed, Input: 3 points, Output: 2 points
FR-A7AY output: 2 points
100ms timer: Set time 0.1 to 3276.7s (T0 to T15)
10ms timer: Set time 0.01 to 327.67s
100ms retentive timer: Set time 0.1 to 3276.7s
Normal counter: Setting range 1 to 32767 (C0 to C15)
Interrupt program counter: None
1
PLC FUNCTION
3
System Configuration
1.3 System Configuration
The following shows the system configuration for use of the PLC function.
<System configuration example>
GX Developer:
Programming tool
3-phase AC
power supply
RS-232C/
PU connector
RS-485
converter
FR-A700
Motor
Communication specifications
Set the following setting in communication parameters of the inverter.
Inverter Parameter GX Developer Setting Inverter initial setting
Pr.118 PU communication speed 96 (9600bps) 192 (19200bps)
Pr.119 PU communication stop bit length
Pr.120 PU communication parity check 1 (with odd parity check) 2 (with even parity check)
Pr.122 PU communication check time
interval
0 (data length: 8 bits, stop
bit: 1 bit)
9999 (without
communication check)
REMARKS
•For futher details, refer to the Inverter instruction manual (applied).
POINT
•Support GX Developer ver.8.0 or more
•GX Developer Setting
PLC series ACPU
PLC type A0J2H
[Project data list]→[Parameter]→[PLC parameter]→[A parameter]
→«Memory capacity» tab→"Program capacity"→"Sequence"→"main"
1 (data length: 8 bits, stop
bit: 2 bit)
9999 (without
communication check)
1k step
REMARKS
•Refer to the Inverter instruction manual (applied) for wiring.
•Refer to the GX Developer manuals for the specifications related to GX Developer and the
personal computer that uses GX Developer.
GX Developer Version xx Operating manual
GX Developer Version xx Operating manual (startup)
•The programming tool that can be used is GX Developer only. (The A6GPP, A7PHP, etc.
cannot be used.)
4
Wiring of the Inverter and Personal Computer Using
GX Developer for RS-485 Commun ication
1.4 Wiring of the Inverter and Personal Computer Using GX Developer for RS-485 Communication
PU connector
Personal computer
GX Developer :
Programming tool
RS-232C-RS-485
converter
RS-232C connector
zPersonal computer - inverter connection cable
Make connection after conversion between RS-232C and RS-485.
Examples of commercially available products (as of Sep., '05)
Type Maker
SC-FRPC BEIJERS
REMARKS
When fabricating the cable on the user side, refer to the inverter instruction manual (applied).
1
PLC FUNCTION
5
Prior to Sequence Program Creation
1.5 Prior to Sequence Program Creation
1.5.1 Precautions for sequence program creation
POINT
•Online change of the sequence program and access to other stations are not
allowed.
In addition, program read/write from other stations and all PLC memory clear
cannot be performed.
•Back up the ladder configured with the protective function of GX Developer.
If any of the instructions (refer to page 103) and devices (refer to page 3) that cannot
be used with the built-in PLC function exists in a sequence program, an instruction
code error occurs at the execution of that instruction.
Error code D9008=10
Operation error step D9010
D9011
REMARKS
•Refer to page 22 for the error codes.
1.5.2 Usable main GX Developer functions
z Parameter or sequence program read/write
z Ladder monitor
z Device monitor
z Device test
z All device memory clear
z Remote RUN/STOP
CAUTION
Device test ([Online] - [Debug] - [Device test]) of GX Developer can be performed, but if
devices corresponding to control terminal (e.g. STF, STR) signals are tested, the
devices turn on in the sequence but the inverter does not perform the corresponding
operation.
6
Prior to Sequence Program Creation
1.5.3 Sequence program execution key
The sequence program execution key (STOP/RUN) of the PLC is switched by turning
off/on the SQ signal.
POINT
•For the terminal used for SQ signal input, set "50" in any of Pr.178 to Pr. 189 to
assign the function.
•SQ-SD must be shorted to execute the built-in PLC function.
CAUTION
If the SQ signal is not turned on, the start signal of the inverter is designed to
become valid by the factory setting of
Open (STOP) the SQ signal-SD terminals when writing a sequence program, for
example.
When executing the sequence program, short (RUN) the SQ signal-SD terminals.
Remote run/stop of the built-in PLC function can be executed in any of the following
methods:
• Setting using the built-in PLC function parameter (contact)
• Using GX Developer
• Via CC-Link communication (refer to page 49)
REMARKS
•The validity limit of the SQ signal can be controlled using Pr.415 Inverter operation lock mode
setting. (Refer to page 43.)
CAUTION
The outputs (Y) are cleared by turning the SQ signal off (STOP) after sequence program
execution (SQ signal on).
The other devices retain the device data prior to STOP. When you want to clear the
remaining device data, power off or reset (short RES-SD for 0.1s, then open) the
inverter.
Pr.415 Inverter operation lock mode setting.
1
PLC FUNCTION
7
Prior to Sequence Program Creation
1.5.4 Sequence program write
POINT
Sequence program write can be performed in any operation mode.
When rewriting the PLC function parameters and sequence program using GX
Developer, check the following:
1)Check that the sequence program execution key is in the STOP position (SQ signal
is off) (refer to page 7).
2)Check that the inverter is at a stop.
3)Check that the communication specification setting parameters (Pr.117 to Pr.124) are
set correctly. If any of these parameters is set incorrectly, communication with GX
Developer cannot be made.
REMARKS
Check and set the communication specification parameter (Pr. 117 to Pr. 124) using
the parameter unit (FR-PU04/FR-PU07). (Refer to the FR-PU04/FR-PU07
instruction manual for the handling of the FR-PU04/FR-PU07.) GX Developer and
the FR-PU04/FR-PU07 cannot be connected and used simultaneously.
4)Check the PLC series and sequence program capacity in the GX Developer
parameters (refer to page 4).
5) Refer to the GX Developer manual and write the sequence program.
CAUTION
•A sequence program cannot be written with its steps specified. If written,
the sequence program does not run. (The program outside the specified
range is initialized.)
•Do not read the built-in PLC function parameters and sequence program
without writing them to the inverter once using GX Developer. Since the
inverter does not have normal data, always write the built-in PLC function
parameters and sequence program once.
•Since the built-in PLC function parameters and sequence program are
written to the flash ROM, there are restrictions on the number of write times.
(Approximately 100,000 times)
8
Function Block Diagram
1.5.5 Setting list of built-in PLC function parameter
The built-in PLC function parameters are designed to specify the ranges of using the
PLC function, e.g. program capacity, device assignment and various functions.
Item GX Developer Default
Sequence program
capacity
File register capacity None Cannot be set (default)
Comment capacity None Cannot be set (default)
Status latch None Cannot be set (default)
Sampling trace None Cannot be set (default)
Microcomputer program
capacity
Latch range setting L1000 to L2047 Cannot be set (invalid if set)
Link range setting None Cannot be set (default)
I/O assignment None Cannot be set (default)
Internal relay, latch relay,
step relay setting
Watchdog timer setting 200ms 10 to 2000ms
Timer setting
Counter setting Without interrupt counters
Remote run/pause None
Error-time operation mode
STOP → RUN output mode
Print title registration None Cannot be set
Keyword registration None
(100ms timers since only T0 to 7
Operation error: Continued Stop/Continued
Special function module check
Operation status prior to
6k steps 1k step
None Cannot be set (default)
M0 to 999
L1000 to 2047
None for S
100ms: T0 to 199
10ms: T200 to 255
are available)
Fuse blow: Continued
I/O verify error: Stop
error: Stop
STOP is re-output.
L and S cannot be set.
(Operates as M if set)
<M0 to M63>
16 points for 100ms, 10ms and
retentive timers. Timers have
consecutive numbers.
<T0 to T15>
Cannot be set (default)
<C0 to C15>
Can be set using X0 to 1F.
Otherwise invalid. Pause does not
function.
Setting invalid (since there are no
fuses)
Setting invalid
(since there are no I/O modules)
Setting invalid (since there are no
special modules)
Prior to STOP/after operation
execution
Online setting cannot be made but
parameter setting is valid.
REMARKS
•The following functions are not supported.
1. Constant scan, 2. Latch (device data backup for power failure), 3. Pause,
4. Status latch, 5. Sampling trace, 6. Offline switch
•If parameter clear of the inverter is performed, the above built-in PLC function parameters are
not cleared.
•For the built-in PLC function parameter setting operation, refer to the GX Developer
Operating Manual.
Setting Range
<Usable device range>
1
PLC FUNCTION
9
Device Map
1.6 Device Map
1.6.1 I/O device map
Device
No.
X00 STF terminal
X01 STR terminal Y01 SU terminal
X02 RH terminal Y02 OL terminal
X03 RM terminal Y03 IPF terminal
X04 RL terminal Y04 FU terminal
X05 JOG terminal Y05 ABC1 terminal
X06 RT terminal Y06 ABC2 terminal
X07 AU terminal Y07
X08 CS terminal Y08
X09 MRS terminal Y09
External I/O
X0A STOP terminal Y0A
X0B RES terminal Y0B
X0C
X0D Y0D
Empty
X0E Y0E
X0F Y0F
X10 X0 terminal
X11 X1 terminal Y11 DO1 terminal
X12 X2 terminal Y12 DO2 terminal
X13 X3 terminal Y13 DO3 terminal
X14 X4 terminal Y14 DO4 terminal
X15 X5 terminal Y15 DO5 terminal
X16 X6 terminal Y16 DO6 terminal
X17 X7 terminal Y17 RA1 terminal
X18 X8 terminal Y18 RA2 terminal
X19 X9 terminal Y19 RA3 terminal
X1A X10 terminal Y1A
Plug in option I/O
X1B X11 terminal Y1B
X1C X12 terminal Y1C
X1D X13 terminal Y1D
X1E X14 terminal Y1E
X1F X15 terminal Y1F
Name Remarks
External
terminal
16bit
digital
Input
FR-A7AX
Device
No.
Y00 RUN terminal
Empty
Y0C
Y10 DO0 terminal
Empty
Name Remarks
External
terminal
Dgital
output
FR-A7AY
Relay
output
FR-A7AR
10
Device Map
Device
No.
X20
X21
X22
X23
X24
X25
X26
X27
System I/O
X28
X29
X2A
X2B
Operation mode setting
read completion
Set frequency read
completion (RAM)
Set frequency read
completion (E
Operation mode setting
write completion
Set frequency write
completion (RAM)
Set frequency write
completion (E
Alarm definition batch
clear completion
Parameter clear
completion
Parameter read
completion (RAM)
Parameter write
completion (RAM)
Parameter read
completion (EEPROM)
Parameter write
completion (EEPROM)
Name Remarks
D9140 Y20
D9141 Y21
2
PROM)
D9142 Y22
D9143 Y23
D9144 Y24
2
PROM)
D9145 Y25
D9146 Y26
D9147 Y27 Parameter clear command D9147
D9241,
D9242,
D9234
D9243,
D9244,
D9235
X2C
X2D Y2D
System area
X2E Y2E
Device
No.
Y28
Y29
Y2A
Y2B
Y2C
X2F Y2F
X30 RY0
Y30 RX0
X31 RY1 Y31 RX1
X32 RY2 Y32 RX2
X33 RY3 Y33 RX3
X34 RY4 Y34 RX4
X35 RY5 Y35 RX5
X36 RY6 Y36 RX6
X37 RY7 Y37 RX7
X38 RY8 Y38 RX8
FR-A7NC
X39 RY9 Y39 RX9
X3A RYA Y3A RXA
X3B RYB Y3B RXB
CC-Link I/O remote I/O
X3C RYC Y3C RXC
X3D RYD Y3D RXD
X3E RYE Y3E RXE
X3F RYF Y3F RXF
Name Remarks
Operation mode setting
read command
Set frequency read
command (RAM)
Set frequency read
command (E
2
PROM)
Operation mode setting
write command
Set frequency write
command (RAM)
Set frequency write
command (E
2
PROM)
Alarm definition batch
clear command
Parameter read request
(RAM)
Parameter write request
(RAM)
Parameter read request
(EEPROM)
Parameter write request
(EEPROM)
System area
D9140
D9141
D9142
D9143
D9144
D9145
D9146
D9241,
D9242,
D9234
D9243,
D9244,
D9235
FR-A7NC
Device Map
1
PLC FUNCTION
11
Device Map
1.6.2 Internal relay (M) device map
Device No. Description
M0 to M63
Use freely on user side.
1.6.3 Data register (D) device map
Data
Register (D)
D0 to D99 Use freely on user side. —
D100 to D119
Inverter Pr.
Number
Pr.506 to
Pr.515
Parameter Name
User parameters. Use freely on user side. 38
Reference
Page
1.6.4 Special relays
The special relays are internal relays with special applications and therefore should
not be switched on-off in the program.
Number Name Description
M9008 Self-diagnostic error Turned on by self-diagnosed error.
M9010 Operation error flag
M9011 Operation error flag
M9036 Normally ON
M9037 Normally OFF
M9038
M9039
M9200
M9201
M9202
M9203
M9204
M9205
M9206
M9207
M9208
M9209
M9210
12
On only for 1 scan after
RUN
Off only for 1 scan after
RUN
Inverter operation status
control flag (STF)
Inverter operation status
control flag (STR)
Inverter operation status
control flag (RH)
Inverter operation status
control flag (RM)
Inverter operation status
control flag (RL)
Inverter operation status
control flag (JOG)
Inverter operation status
control flag (RT)
Inverter operation status
control flag (AU)
Inverter operation status
control flag (CS)
Inverter operation status
control flag (MRS)
Inverter operation status
control flag (STOP)
Turned on by an instruction execution error.
Turned off when error is removed.
Turned on by an instruction execution error.
Remains on after normal status is restored.
M9036 and M9037 are turned on and off independently
of STOP or RUN.
M9038 and M9039 change depending on the STOP or
RUN status. In other than the STOP status, M9038 is on
for one scan only and M9039 is off for one scan only.
Control the STF terminal of the inverter from PLC
function
Control the STR terminal of the inverter from PLC
function
Control the RH terminal of the inverter from PLC
function
Control the RM terminal of the inverter from PLC
function
Control the RL terminal of the inverter from PLC function
Control the JOG terminal of the inverter from PLC
function
Control the RT terminal of the inverter from PLC function
Control the AU terminal of the inverter from PLC
function
Control the CS terminal of the inverter from PLC
function
Control the MRS terminal of the inverter from PLC
function
Control the STOP terminal of the inverter from PLC
function
Device Map
Number Name Description
M9211
M9216 Inverter status (RUN) Inverter running
M9217 Inverter status (FWD) Forward running
M9218 Inverter status (REV) Reverse running
M9219 Inverter status (SU) Up to frequency
M9220 Inverter status (OL) Overload alarm
M9221 Inverter status (IPF) Instantaneous power failure/undervoltage
M9222 Inverter status (FU) Output frequency detection
M9223 Inverter status (ALM) Alarm output
M9224 Inverter status (LF) Minor fault output
M9225 Inverter status (DO0) Status of output terminal function set in Pr. 313 is stored *1
M9226 Inverter status (DO1) Status of output terminal function set in Pr. 314 is stored *1
M9227 Inverter status (DO2) Status of output terminal function set in Pr. 315 is stored *1
M9228 Inverter status (DO3) Status of output terminal function set in Pr. 316 is stored *1
M9229 Inverter status (DO4) Status of output terminal function set in Pr. 317 is stored *1
M9230 Inverter status (DO5) Status of output terminal function set in Pr. 318 is stored *1
M9231 Inverter status (DO6) Status of output terminal function set in Pr. 319 is stored *1
M9232 Inverter status (RA1) Status of output terminal function set in Pr. 320 is stored *1
M9233 Inverter status (RA2) Status of output terminal function set in Pr. 321 is stored *1
M9234 Inverter status (RA3) Status of output terminal function set in Pr. 322 is stored *1
M9255
*1. Even if the FR-A7AY, FR-A7AR is not mounted, Pr. 313 to Pr. 322 are accessible during
Inverter operation status
control flag (RES)
Inverter operation status
control selection
PLC function operation, and status of output terminal functions are stored in each device.
(virtual output terminal)
Control the RES terminal of the inverter from PLC
function
Select the inverter status control command from M9200
to M9211 or D9148.
OFF: Special relay selection
ON : Special register selection
Device Map
13
1
PLC FUNCTION
Device Map
1.6.5 Special registers
The special registers are data registers with special applications and therefore data
should not be written to the special registers in the program.
Number Name Description Page
D9008
D9010
D9011
D9014
Self-diagnostic
error
Operation error
step
Operation error
step
I/O control
method
Stores the self-diagnosed error number in BIN. (Refer
to page 22 for the error codes.)
22
Stores the step number in BIN, at which an instruction
execution error occurred. After that, data is updated
—
each time operation error occurs.
Stores the step number in BIN, at which an instruction
error occurred. Since data is stored into D9011 when
M9011 turns from off to on, D9011 data is not updated
—
unless M9011 is cleared by the user program.
3 (fixed): Both input and output refreshes —
Stores the operating status of the PLC function.
B15 B12B11 B8B7 B4B3 B0
D9015
CPU operating
status
Special registers
D9016 Program number
Minimum scan
D9017
time
(10ms units)
D9018
Scan time
(10ms units)
Maximum scan
D9019
time
(10ms units)
D9062 to
D9093
Remote registers
Remote run/stop
using GX Developer
RUN
0
STOP
1
Invalid
Remote run/stop using
sequence parameter setting
RUN
0
STOP
1
Shorting/
opening SQ-SD
0
RUN
STOP
1
Stores the number that indicates which sequence
program is currently in execution.
1 (fixed): Main program (RAM)
Stores the scan time at every END that is smaller than
D9017 data, i.e. stores the minimum scan time in BIN.
Stores and updates the scan time at every END in
BIN.
Stores the scan time at every END that is greater than
D9019 data, i.e. stores the maximum scan time in
BIN.
Special registers for communication with the master
station in CC-Link.
—
—
—
—
—
50
14
Device Map
Number Name Description Page
D9133
D9135
Output frequency
monitor
Output current
monitor
Output voltage
monitor
Stores the current output frequency.
0.01Hz units
Stores the current output current.
0.01A units
Stores the current output voltage.
0.1V units
20D9134
D9136 Error history 1, 2
D9137 Error history 3, 4
D9138 Error history 5, 6
Store the errors that occurred in the inverter in order
of occurrence.
21
D9139 Error history 7, 8
D9140
D9141
D9142
D9143
D9144
Special registers for control
D9145
D9146
Operation mode
setting read
Set frequency
read (RAM)
Set frequency
2
read (E
PROM)
Operation mode
setting write
Set frequency
write (RAM)
Set frequency
2
write (E
PROM)
Alarm definition
batch clear
Stores the current operation mode. 23
Reads and stores the set frequency (RAM). 24
Reads and stores the set frequency (EEPROM). 24
Sets a new operation mode. 26
Sets the running frequency (RAM). 27
Sets the running frequency (EEPROM). 28
Write H9696 to clear the error history. 29
H9696 write: Parameter clear
H9966 write: All clear
H5A5A write:Parameter clear except communication
D9147 Parameter clear
H55AA write:All clear except communication
parameters
30
parameters
During GX Developer communication, perform
clearing by H5A5A or H55AA.
Device Map
1
15
PLC FUNCTION
Device Map
Number Name Description Page
Turn on/off the corresponding bits to control the
inverter operation status.
The initial value: All "0". When M9255 is off, this
device does not function.
D9148
D9149
D9150
Inverter operation
status control
Inverter operation
status control
enable/disable
setting
Inverter
parameter
access error
B15 B12B11 B8B7 B4 B3 B0
Invalid
Enable/disable the inverter operation status control
using D9148 and M9200 to M9211 by turning on/off
the corresponding bits.
Bit image is the same as D9148.
The initial value: All "0" (invalid)
Stores the error No. when an error occurs because
the data stored in the parameter or special register is
not reflected on the inverter.
0:OFF
1:ON
STF
STR
RH
RM
RL
JOG
RT
AU
CS
MRS
STOP
RES
Stores the running status and operating status of the
inverter.
Special registers for control
D9151 Inverter status
B15 B8B7 B4 B3 B0
0:OFF
1:ON
Inverter running(RUN)
Forward running
Reverse running
Up to frequency(SU)
Overload alarm(OL)
Instantaneous power failure
/undervoltage(IPF)
Output frequency
detection(FU)
Alarm output(ALM)
Minor fault output(LF)
31
32
33
33
16
D9152
D9153
D9154
D9155
D9156
D9157
D9158
Frequency
setting
0.01Hz units —
Running speed 1(0.1)r/min unit —
Motor torque
Converter output
voltage
Regenerative
brake duty
0.1% units —
0.1V units —
0.1% units —
Electronic thermal
relay function load
0.1% units —
factor
Output current
peak value
0.01A/0.1A units —
Device Map
Number Name Description Page
D9159
D9160
D9161
D9162
D9163
D9164
D9165
Converter output
voltage peak value
Input power
Output power
Input terminal
status
Output terminal
status
Load meter
Motor excitation
current
0.1V units —
0.01kW
/0.1kW units —
0.01kW
/0.1kW units —
Input terminal status
B15 B12B11 B8B7 B4 B3 B0
Output terminal status
B15 B7 B4B3 B0
0.1%
units —
details
details
0:OFF
1:ON
STF
STR
AU
RT
RL
RM
RH
JOG
MRS
STOP
RES
CS
0:OFF
1:ON
RUN
SU
IPF
OL
FU
ABC1
ABC2
—
—
0.01A/0.1A units *7 —
D9166 Position pulse —
Special registers for control
D9167
Cumulative
energization time
1h units —
D9169 — Always 0 —
D9170
Actual operation
time
1h unit —
D9171 Motor load factor 0.1% units —
D9172
Cumulative power
1kW
unit —
D9179 Torque command 0.1% units —
D9180
Torque current
command
0.1% units —
D9181 Motor output 0.01kW units —
D9182 Feedback pulse
D9197
D9198
Power saving
effect
Cumulative
saving power
1 unit —
—
Variable according to parameters
—
D9199 PID set point 0.1% units —
D9200
PID measured
value
0.1% units —
D9201 PID deviation 0.1% units —
Device Map
1
PLC FUNCTION
17
Device Map
Number Name Description Page
The input status of the FR-A7AX is stored.
All off (0) when an option is not fitted.
B15
D9205
D9206
Special registers for control
D9207
Option input
terminal status 1
Option input
terminal status 2
Option output
terminal status
D9205
D9206
B12B11 B8 B7 B4 B3 B0
B15
B12B11 B8 B7 B4 B3 B0
The output status of the FR-A7AY, FR-A7AR is stored.
All off (0) when an option is not fitted.
B15 B12B11 B8B7 B4 B3 B0
0:OFF
1:ON
Y0
Y1
Y2
Y3
Y4
Y5
Y6
RA1
RA2
RA3
0:OFF
1:ON
X0
X1
X2
X3
X4
X5
X6
X7
X8
X9
X10
X11
X12
X13
X14
X15
0:OFF
1:ON
DY
—
—
—
18
Device Map
Number Name Description Page
D9234
D9235
D9236
D9237
D9238
D9239
D9240
D9241
D9242
D9243
D9244
D9245 Terminal 1 input
Special registers for control
D9247 Terminal 4 input
D9248
D9250
D9251
D9252
D9253 AM0 output
D9254 AM1 output
D9255
Second
parameter
changing (RAM)
Second
parameter
changing
(EEPROM)
Pulse train input
sampling pulse
Pulse train input
cumulative count
value L
Pulse train input
cumulative count
value H
Reset request of
pulse train input
count
Count start of the
pulse train input
Parameter
number (RAM)
Parameter
description
(RAM)
Parameter
number
(EEPROM)
Parameter
description
(EEPROM)
PID set point /
PID deviation
PID
measurement
value
PID manipulated
variable
Ter m in a l F M
output
Ter m in a l A M
output
PID operation
control
When setting the calibration(bias/gain) parameters.
H00: Frequency(toruque)
H01: Parameter-set analog value
H02: Analog value input from terminal
The number of pulses counted in count cycle is
stored. (0 to 32767)
The cumulative value of the number of sampling
pulses is stored. (0 to 99999999)
The sampling pulses and cumulative count value are
cleared. Automatically changes to "0" after reset.
(1: count clear)
Start counting the sampling pulses and cumulative
count value. (0: count stop, 1: count start)
Set the number of parameter read or written of the
inverter.
The parameter description of the inverter (RAM value)
specified by D9241 is stored. Set the parameter
setting for parameter write.
Set the number of parameter read or written of the
inverter.
The parameter description of the inverter (EEPROM
value) specified by D9243 is stored. Set the
parameter setting for parameter write.
Analog input value of terminal 1 (0.1% increments) is
stored.
Analog input value of terminal 2 (0.1% increments) is
stored.
Analog input value of terminal 4 (0.1% increments) is
stored.
Set the PID set point or PID deviation (0.01% units)
Set the PID measurement value (0.01% units)
Stores the PID manipulated variable (0.01% units)
When Pr. 54 is set to "70", pulse train can be output
from terminal FM. High speed pulse train output can
be performed. (0.1% increments)
When Pr. 158 is set to "70", analog output can be
performed from terminal AM. (0.1% increments)
Analog output can be performed from terminal AM0
and AM1 of the FR-A7AY. (0.1% increments)
Setting 1 starts PID control. 41
34, 36
40
34, 36
39D9246 Terminal 2 input
41D9249
39
Device Map
1
PLC FUNCTION
19
Inverter Status Monitoring, Special Registers for Control
1.7
Inverter Status Monitoring, Special Registers for Control
You can assign the data for grasping and changing the inverter's operation status to
D9133 - D9147 and read/write them from the user sequence. (Refer to page 14 for the
list.)
1.7.1 Data that can be read at all times
The following data can always be read. They are automatically refreshed every time
the END instruction is executed.
(1) Operation monitor
The following data devices are always read-enabled (write-disabled) to allow you to
monitor the output frequency, output current and output voltage of the inverter. Note
the setting units.
Device
No.
D9133
D9135
Name
Output frequency
monitor
Output current
monitor
Output voltage
monitor
CAUTION
The frequency can be set in increments of 0.01Hz but actual operation is performed in
increments of 0.1Hz.
Setting
Unit
0.01Hz Device data 6000 → 60.00Hz
0.01A Device data 200 → 2.00A
0.1V Device data 1000 → 100.0V
Data Example
Data Access Enable
Condition
AlwaysD9134
20
Inverter Status Monitoring, Special Registers
r
for Control
(2) Error history (error codes and error definitions)
The inverter stores the error codes of the errors that occurred.
The error codes of up to eight errors are stored in the order as shown below and are
always read-enabled (write-disabled).
<Error code storing method details>
b15 to b8 b7 to b0
D9136 Error history 2 Error history 1
D9137 Error history 4 Error history 3
D9138 Error history 6 Error history 5
D9139 Error history 8 Error history 7
Data
Description
H00 No alarm
H10 E.OC1
H11 E.OC2
H12 E.OC3
H20 E.OV1
H21 E.OV2
H22 E.OV3
H30 E.THT
H31 E.THM
H40 E.FIN
H50 E.IPF
H51 E.UVT
H52 E.ILF
H60 E.OLT
H70 E.BE
H80 E.GF
H81 E.LF
Older
Data
Description
H90 E.OHT
H91 E.PTC
HA0 E.OPT
HA3 E.OP3
HB0 E.PE
HB1 E.PUE
HB2 E.RET
HB3 E.PE2
HC0 E.CPU
HC1 E.CTE
HC2 E.P24
HC4 E.CDO
HC5 E.IOH
HC6 E.SER
HC7 E.AIE
HC8 E.USB
HD0 E.OS
HD1 E.OSD
Newe
HDA E.MB6
HDB E.MB7
HDC E.EP
HFD E.13
Data
Description
HD2 E.ECT
HD3 E.OD
HD5 E.MB1
HD6 E.MB2
HD7 E.MB3
HD8 E.MB4
HD9 E.MB5
HF1 E.1
HF2 E.2
HF3 E.3
HF6 E.6
HF7 E.7
HFB E.11
1
Refer to the Inverter instruction manual (applied) for alarm definition details.
PLC FUNCTION
21
Inverter Status Monitoring, Special Registers
for Control
<Alarm definition read program example>
The following program reads the latest alarm definition of the inverter to D0.
Alarm definition read request
Stores only the lower 8 bits
of error history 1, 2 (D9136)
into D0.
(The latest error information
is stored into D0.)
<Regarding the error No. and details of the self-diagnostic errors>
During execution of a sequence program, any of the following error No. is stored into
D9008 due to an operation error.
At occurrence of a self-diagnostic error, the P.RUN indication (LED) flickers.
Error No. Error Name Details
10 INSTRCT CODE ERR.
11 PARAMETER ERR
22 WDT ERR
24 END NOT EXECUTE END instruction was not executed.
CAUTION
1. For the LD, AND, OR, logical comparison operation and OUT instructions,
device checks are always made. For the other instructions (SET, RST, MOV,
etc.), however, device checks are made when the execution condition holds.
2. Operation at error stop
The outputs (Y) are cleared.
The other devices hold the states prior to an error stop.
When you want to clear them, power off or reset (short RES-SD (0.1s), then
open) the inverter.
There is an instruction code that cannot be decoded.
Unusable device is specified.
Main program capacity setting is over 1k step.
Unusable function is set.
Scan time is longer than the time that can be monitored
by the watchdog timer.
22
Inverter Status Monitoring, Special Registers
for Control
1.7.2 Data that are read by controlling (OFF to ON) the read command
You can read the operation mode and set frequency of the inverter.
Device
No.
Name
D9140 Operation mode setting read Y20 X20
D9142 Set frequency read (EEPROM) Y22 X22
Data are stored into the above data devices as soon as the read completion turns from
off to on after the read command has turned from off to on.
If the read command remains on, data is not refreshed. (Data is not updated.)
Turn the device off once, then on again to refresh data.
Data read timing chart
3) In user sequence, ON of read completion
1) Read command is turned
on in user sequence.
Y2n(n=0 to 2)
Read command
X2n(n=0 to 2)
Read completion
D914n(n=0 to 2)
Read data
is confirmed and data is read from special
register and processed.
Read
Command
Write
Completion
4) After completion of read,
read command is turned off.
Data Access
Enable Condition
AlwaysD9141 Set frequency read (RAM) Y21 X21
User sequence
processing
2) Inverter CPU stores inverter data
into special register and turns on
read completion.
5) Inverter CPU confirms that
read command is off and
turns off read completion.
(1) Operation mode setting read (D9140)
Data Setting Operation Mode
H0000
H0001
H0002
NET operation mode
External operation mode
PU operation mode
REMARKS
When the Pr. 79 "operation mode selection" setting is other than "0", the operation mode is as
set. However, when Pr. 79 = "3" or "4", the operation mode is "H0002" (PU operation mode).
<Operation mode setting read program example>
The following program reads the operation mode data to D0.
Operation mode read setting request
Turns on operation mode
read request pulse.
Stores operation mode data to D0
when operation mode setting read
completion signal turns on.
Turns on operation mode setting
read command. (Until operation
mode setting read completion
signal turns on)
1
PLC FUNCTION
23
Inverter Status Monitoring, Special Registers
for Control
(2) Set frequency (RAM) (D9141)
The frequency set to the RAM is read to D9141. The unit is 0.01Hz.
(For example, 6000 indicates 60.00Hz.)
When the speed is set, the speed is either 1r/min or 0.1r/min.
<Set frequency (RAM) read program example>
The following program reads the set frequency (RAM) to D0.
Set frequency read (RAM) setting request
Turns on set frequency
read (RAM) request pulse.
Stores data to D0 when set
frequency read (RAM)
completion signal turns on.
Turns on set frequency read (RAM)
command. (Until set frequency read
(RAM) completion signal turns on)
REMARKS
The read frequency is not the command value of the external signal.
(3) Set frequency (EEPROM) (D9142)
The frequency set to the EEPROM is read to D9142. The unit is 0.01Hz.
(For example, 6000 indicates 60.00Hz.)
When the speed is set, the speed is either 1r/min or 0.1r/min.
<Set frequency read (EEPROM) program example>
The following program reads the set frequency (E
The following program reads the set frequency (E2PROM) to D0.
2
PROM) to D0.
Set frequency read
(E
Stores data to D0 when set frequency
read (E
turns on.
Turns on set frequency read (E
command. (Until set frequency read
(E
2
PROM) setting request
2
PROM) completion signal
2
PROM) completion signal turns on)
2
PROM)
REMARKS
The read frequency is not the command value of the external signal.
24
Inverter Status Monitoring, Special Registers
for Control
1.7.3 How to write data by controlling (OFF to ON) the write command
You can write the operation mode and set frequency to the inverter, batch-clear the
alarm definitions, and clear all parameters.
Device
No.
Name
D9143 Operation mode setting write Y23 X23 Pr.79 =0, 2
D9144 Set frequency write (RAM) Y24 X24 PU operation mode
D9145
Set frequency write
2
(E
PROM)
D9146 Alarm definition batch clear Y26 X26 Always
D9147 All parameter clear Y27 X27 As set in Pr. 77
The above data are written as soon as the write completion turns on after the write
command has turned from off to on.
(Alarm definition batch clear (D9146) and all parameter clear (D9147) turn on at
completion of clear.)
To write the data again, the write command must be turned off once, then on again.
Data write timing chart
1) In user sequence, user
data is stored into write
data area (D914n).
2) In user sequence, write
command is turned on.
Write
Command
Y25 X25
Write
Completion
Data Access
Enable Condition
(PU LED on) or CCLink operation mode
(PU and EXT LEDs
flicker slowly)
4) After confirmation of write
completion, write command
is turned off.
Y2n(n=3 to 7)
Write command
X2n(n=3 to 7)
Write completion
D914n(n=3 to 7)
Write data
User data
3) Turns on when inverter CPU completes data
write to inverter.
Alarm definition clear and parameter
clear turn on at completion of clear.
0 written to D9150 indicates normal completion.
Any value other than 0 indicates abnormal completion.
5) Inverter CPU confirms that
write command is off and
turns off write completion.
1
PLC FUNCTION
25
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