Omron MX2, RX, LX User Manual

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Drive Programming

Table of Contents

1- Introduction ....................................................................................................................................... 5

1-1 Handling of this Instruction Manual ............................................................................................... 5

1-2 Safety Instruction .......................................................................................................................... 5

1-3 Preparation and System configuration .......................................................................................... 6

2- Specifications .................................................................................................................................... 7

3- Drive Programming Editor................................................................................................................ 8

3.1- Saving and loading programs ...................................................................................................... 9

3.2- Editor ............................................................................................................................................ 9

3.3- Toolbar ....................................................................................................................................... 10

3-3-1 Common Commands .......................................................................................................... 10

3-3-2 Commands for the Flowchart Editor .................................................................................... 11

3-3-3 Commands for the Text Editor ............................................................................................ 11

3.4- Shortcut Keys ............................................................................................................................. 12

3.5- Designer Area ............................................................................................................................ 12

3.6- Toolbox window ......................................................................................................................... 15

3.7- Block Parameters window.......................................................................................................... 16

3.8- Properties window ...................................................................................................................... 17

3.9- Output window ........................................................................................................................... 18

3.10- Creating a program with Flowchart Editor ............................................................................... 18

3.11- Creating a program with Text Editor ........................................................................................ 19

3.12- Run a program ......................................................................................................................... 19

3.13- Comments - Text Editor ........................................................................................................... 19

3.14- #Alias definition - Text Editor ................................................................................................... 20

3.15- #Region definition - Text Editor ............................................................................................... 21

3.16- Conversion from Flowchart to Text .......................................................................................... 21

3.17- Conversion from Text to Flowchart .......................................................................................... 21

3.18- Find & Replace function ........................................................................................................... 22

4- Drive Program structure ................................................................................................................. 23

4.1- Tasks .......................................................................................................................................... 23

4.2- Subroutines ................................................................................................................................ 24

5- Drive Programming user variables ................................................................................................ 25

5.1- Initial Data .................................................................................................................................. 25

U(00) to U(31) or User parameters ............................................................................................... 25

UL(00) to UL(07) or Internal User parameters .............................................................................. 25

5.2- Setting Variables ........................................................................................................................ 25

Set-Freq ........................................................................................................................................ 25

ACCEL .......................................................................................................................................... 25

DECEL .......................................................................................................................................... 26

5.3- Inverter Monitor Variables

FM ................................................................................................................................................. 26

Iout ................................................................................................................................................ 26

Dir.................................................................................................................................................. 26

PIB-FB .......................................................................................................................................... 26

F-CNV ........................................................................................................................................... 26

Tmon ............................................................................................................................................. 27

Vout ............................................................................................................................................... 27

Power ............................................................................................................................................ 27

Run-Time ...................................................................................................................................... 27

On-Time ........................................................................................................................................ 27

UMon(0) to UMon(2) ..................................................................................................................... 27

POS .............................................................................................................................................. 28

ERR-CNT ...................................................................................................................................... 28

ERR(1)-ERR(6) ............................................................................................................................. 28

DCV .............................................................................................................................................. 28

STATUS ........................................................................................................................................ 28

5.4- Terminal Variables ..................................................................................................................... 29

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X(00)-X(11) ................................................................................................................................... 29

Xw ................................................................................................................................................. 29

Y(00)-Y(06) ................................................................................................................................... 29

Yw ................................................................................................................................................. 29

XA(0)-XA(2) .................................................................................................................................. 30

YA(0)-YA(2) .................................................................................................................................. 30

UB(00)-UB(07) .............................................................................................................................. 31

UBw .............................................................................................................................................. 31

TC(0)-TC(7) .................................................................................................................................. 31

TD(0)-TD(7) .................................................................................................................................. 31

TDw ............................................................................................................................................... 31

5.5- Digital input Functions ................................................................................................................ 32

5.6- Digital Output Functions ............................................................................................................. 34

6- Drive Programming Instructions ................................................................................................... 36

6.1- Control Commands .................................................................................................................... 36

Entry .............................................................................................................................................. 36

End ................................................................................................................................................ 36

Call ................................................................................................................................................ 36

Sub ................................................................................................................................................ 36

End Sub ........................................................................................................................................ 36

Go To ............................................................................................................................................ 38

On Trip .......................................................................................................................................... 39

If………. ........................................................................................................................................ 40

Ifs/ Else / End If ............................................................................................................................. 41

Select / Case / End Select ............................................................................................................ 42

For / Next ...................................................................................................................................... 43

While / Wend ................................................................................................................................. 44

Until / Loop .................................................................................................................................... 45

Wait ............................................................................................................................................... 46

6.2- Arithmetic and Logic Commands ............................................................................................... 47

= (Substitution) .............................................................................................................................. 47

Addition ......................................................................................................................................... 47

Subtraction .................................................................................................................................... 48

Multiplication ................................................................................................................................. 48

Division ......................................................................................................................................... 49

Mod ............................................................................................................................................... 49

Abs ................................................................................................................................................ 50

And ................................................................................................................................................ 51

Or. ................................................................................................................................................. 52

XOr ................................................................................................................................................ 53

Not ................................................................................................................................................ 54

Inc ................................................................................................................................................. 55

Dec ................................................................................................................................................ 56

6.3- Input/Output Control Commands ............................................................................................... 57

Var = X(i) ....................................................................................................................................... 57

Var = Xw ....................................................................................................................................... 58

Y(i) = value .................................................................................................................................... 59

Yw = value .................................................................................................................................... 60

func = value .................................................................................................................................. 61

Var = func...................................................................................................................................... 62

Var = UB(i) .................................................................................................................................... 63

Var = UBw ..................................................................................................................................... 64

UB(i) = value ................................................................................................................................. 65

UBw = value .................................................................................................................................. 66

6.4- Timer Control Commands .......................................................................................................... 67

Delay ............................................................................................................................................. 67

Timer Set ...................................................................................................................................... 68

Timer Off ....................................................................................................................................... 69

6.5- Parameter Control Commands .................................................................................................. 70

ChgParam ..................................................................................................................................... 70

MonParam .................................................................................................................................... 71

EepWrt .......................................................................................................................................... 72

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RtcSet ........................................................................................................................................... 73

6.6- Inverter Control Commands ....................................................................................................... 74

Run-FW ......................................................................................................................................... 74

Run-RV ......................................................................................................................................... 74

Stop ............................................................................................................................................... 74

Set-Freq ........................................................................................................................................ 74

Trip ................................................................................................................................................ 76

Accel ............................................................................................................................................. 77

Decel ............................................................................................................................................. 77

7- Troubleshooting .............................................................................................................................. 78

8- Drive Programming Parameters – General Precautions ............................................................. 79

8.1- Parameters list affected by setting order ................................................................................... 79

8.2- Parameters list affected by Rated Current(%) ........................................................................... 79

8.3- Parameters list affected by PID enabled/disabled ..................................................................... 80

9- Insertion Points ( MX2 & RX ) ......................................................................................................... 81

9.1- ‘Frequency’ before ACC/DEC .................................................................................................... 81

9.2- ‘Frequency’ after ACC/DEC ....................................................................................................... 81

9.3- ‘Deviation’ before PID block ....................................................................................................... 81

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Drive Programming

1-Introduction

This Instruction Manual explains how to use the Drive Programming software for the Omron MX2/RX/LX Series Inverter. Be sure to read this Instruction Manual carefully before using Drive Programming, and keep it on hand for future reference.

1-1 Handling of this Instruction Manual

- The contents of this Instruction Manual are subject to change without prior notice.

- No part of this Instruction Manual may be reproduced in any form without the publisher’s permission.

- If you find any incorrect description, missing description or have a question concerning the contents of this Instruction Manual, please contact the publisher.

1-2 Safety Instruction

Be sure to read this Instruction Manual, Inverter Instruction Manual, and appended documents thoroughly before using Drive Programming and the inverter.

Before creating user programs for the inverter, also refer to the Inverter Instruction Manual and configuration software (CX-Drive) Instruction Manual for the necessary related Knowledge, and ensure you understand and follow all safety information, precautions, and operating and handling instructions for the correct use of the inverter.

Always use the inverter strictly within the range of specifications described in the Inverter Instruction Manual and correctly implement maintenance and inspection to prevent fault from occurring.

When using the inverter together with optional products, also read the manuals for those products. Note that this Instruction Manual and the manual for each optional product to be used should be delivered to the end user of the inverter.

In this instruction manual you can find WARNINGS along the instructions WARNING: Indicates that incorrect handling may cause hazardous situation, which may result in

serious personal injury or death.

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Drive Programming

1-3 Preparation and System configuration

To create user programs with Drive Programming function of the inverter, you must prepare the following devices and software:

(1) MX2, RX, LX inverter (2) Personal computer (PC) (Windows System)

-32-bit PC: Windows XP SP3, Windows Vista (any service pack) and Windows 7.

-64-bit PC: Windows Vista (any service pack) and Windows 7. (3) Optional programming software CX-Drive

· MX2 inverter: CX-Drive version 2.0x or higher.

· RX inverter: CX-Drive 2.3x or higher.

· LX inverter: CX-Drive 2.5x or higher. (4) Optional PC-inverter connection cable. For MX2 it is a USB cable, For RX/LX, the converter cable

USB to RJ-45 is required. Item codes:

- Item code name for MX2: AX-CUSBM002-E

- Item code name for RX/LX (2 option cables):

· 3G3AX-PCACN2, or

· USB CONVERTERCABLE

LX:

· Inverter port: Operator-connection port RJ-45. RX:

· Inverter port: Operator-connection port RJ-45. MX2:

· Inverter port: USB connector. The following figure shows the basic system configuration for programming.

Optional programming

software CX-Drive

Windows personal

computer

Optional PC-Inverter cable

MX2, RX or LX

Inverter

MX2: CX-Drive 2.0x or higher RX: CX-Drive 2.3x or higher LX: CX-Drive 2.5x or higher

- For MX2:

· AX-CUSBM002-E

- For RX/LX

(2 options):

· 3G3AX-PCACN2, or

· USB-CONVERTERCABLE

Install CX-Drive on your Windows personal computer, and connect the personal computer to the inverter (MX2, RX or LX) via the PC-inverter connection cable.

After completing these preparations, you can operate Drive Programming Editor to create a user program and download it to the inverter.

The table below lists the main functions of Drive Programming Editor.

Function Description

Programming Editor

Supports the input, editing, saving, reading, and printing of user programs

Compilation Compile and edit a user program Downloading and uploading

Downloads a user program to the inverter Uploads a user program from the inverter

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Drive Programming

2- Specifications

The table below lists the programming-related specifications of the Drive Programming function.

Item Specification

Language

specification

Programming language Flow Chart and Text language Input device

Windows personal computer (OS: Windows XP-SP3

Windows Vista, Windows 7) Max. program size 1024steps (The internal storage capacity of the inverter is 1024 steps or 6 Kilobytes.) Programming support function (programming software)

-Editing (on Windows) / - Display (on Windows)

-Program syntax check (on Windows)

-Downloading, uploading, and full clearance of program

Execution format

Execution by interpreter in an execution cycle of 2ms per instruction (possible subroutine call with nesting in up to 8 layers)

Input/output-related functions

External input

Contact Signal 24v open – collector input (using intelligent input terminals)

Program run signal input

RX: Assign to the PRG terminal / Always run MX2: Assign to the PRG terminal / Always run

Multifunction terminals

RX: Up to 8 terminals (X(00) to X(07)) MX2: Up to 8 terminals (X(00) to X(07))

General-purpose analog input

XA(0): 0 to 10V (O terminal) XA(1): 4 to 20mA (OI terminal) XA(2): 0 to 10V (O2 terminal) (Only RX)

External Output

General-purpose output terminal

RX: Up to 6 terminals (Y(00) to Y(05)) MX2: Up to 3 terminals (Y(00) to Y(02))

General-purpose analog output

YA (0): Assignable to the

terminal (FM terminal for RX) YA (1): Assignable to the AM terminal YA (2): Assignable to the AMI terminal (Only RX)

Reserved Words

Instructions

(1) Program control instructions

-Loop (For) / - Unconditional branching (Goto) / -Time control (Wait)

-Conditional branching (If Then, Ifs Then Else, Select Case, Until, and While)

-Subroutine (call, sub) / - Others (Entry, End, Sub, End Sub, Inc, and Dec)

(2) Arithmetic instructions

-Arithmetic operation (+,-,*,/) / - Remainder (Mod) / -Substitution (=)

-Absolute value (Abs) / - Logic operation (Or, And, Xor, and Not)

(3) Input/Output control

-General-purpose input/output (bit input, word input, bit output, and word output)

- Reading of inverter input terminal. (4) Timer control: - Delay operation / -Timer control (5) Parameter control: - Rewriting of parameters by reselecting code on the operator’s display

Number of variables

User-defined variable U (00) to U (31) (32 variables) Internal user variable UL (00) to UL (07) (8 variables) Set frequency SET-Freq Acceleration time ACCEL Deceleration time DECEL

Monitoring variable

FM, Iout, Dir, PID-FB, F-CNV, Tmon, Vout, Power, RUN-Time, ONTime, PlsCnt (Only RX), POS, STATUS, DCV, ERR CNT, ERR(1), ERR(2), ERR(3), ERR(4), ERR(5), and ERR(6)

Bit commands

FW, RV, CF1, CF2,CF3,CF4,JG,DB,SET,TCH,FRS,EXT,USP,CS,SFT, AT, RS, STA, STP, F/R, PID, PIDC, UP, DWN, UDC, OPE, SF1, SF2, SF3, SF4, SF5, SF6, SF7, OLR, TL, TRQ1-2, BOK, LAC, PCLR, ADD, F-TM, ATR, KHC, AHD, CP1-3, ORL, ORG, SPD, RS485, HLD, ROK, DISP.

Output Functions

RUN, FA1, FA2, OL, OD, AL, FA3, OTQ, UV, TRQ, RNT, ONT, THM, BRK, BER, ZS, DSE, POK, FA4, FA5, OL2, ODc, OIDc, FBV, NDc, LOG1, LOG2, LOG3, WAC, WAF, FR, OHF, LOC, IRDY, FWR, RVR, MJA, WCO, WCOI, FREF, REF, SETM, EDM.

General-purpose input contact

LX : X(00) to X(06) (7 contacts) RX : X (00) to X (07) (8 contacts) MX2 : X(00) to X(07) (8 contacts)

Extended IO option input contact

LX : X(07) to X(11) (3G3AX-EIO-E expansion card) RX : ----MX2 : -----

General-purpose output contact

LX : Y(00) to Y(03) (4 contacts) RX :Y(00) to Y(05) (6 contacts) MX2 : Y(00) to Y(02) (3 contacts)

Extended output contact

LX: Y(04) to Y(06) (3G3AX-EIO-E expansion card)

MX2 & RX : ----Internal user contact UB (00) to UB (7) (8 contacts) Internal timer contact TD (0) to TD (7) (8 counter contacts)

Internal timer counter TC (0) to TC (7) (8 counters) Inverter input/output Specification by code on the remote operator's display

User Monitor UMon(00) to UMon(02) (3 user monitors) User trip Makes the inverter trip (10 trips)

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Drive Programming

3- Drive Programming Editor

Drive Programming Editor allows the user to design drive programs in an intuitive way. CX-Drive provides a way to create drive programs, compile them, transfer them to and from the drive, start and stop their execution, and other related tasks. You can open this function by clicking on Drive Programming in the workspace of a drive which supports it, or selecting Program | Program Editor from the Drive menu, or with the CX-Drive toolbar

button

Please create a new CX-Drive File by clicking on the menu File | New. The New Drive window will appear (Image 1). Select the Drive Type and press OK button. Then it will appear on the Workspace (Image 2).

Image 1- New Drive window Image 2- CX-Drive Workspace

Making double-click to the Drive Programming option, the Drive Programming Editor will appear.

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Drive Programming

3-1 Saving and loading programs A drive program is automatically saved when the drive document which contains it is saved.

When a CX-Drive document is opened, the drive program which it contains, if any, is automatically loaded. You can display it by opening the Program Editor.

Alternatively, you can export a drive program, to save it independently of other drive information. To do so, use the Program | Export Program command in the Drive menu. Enter the name of the file to be used. The file will be saved with extension driveprogram.

A drive program can be imported with the Program | Import Program command in the Drive menu. 3-2 Editor The Program Editor is the main window of the Drive Programming function.

The window area consists of a toolbar with common commands, and a designer area where the program is displayed as a text.

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3-3 Toolbar The Program Editor window contains the following commands:

3-3-1 Common Commands

Commands

Image

Description

New task (Flowchart)

It allows creating a new Flowchart task for the program, up to the maximum number of tasks allowed. Tasks are parts of the program which are executed independently of each other.

New Task (Text)

It allows creating a new Text task for the program, up to the maximum number of tasks allowed. Tasks are parts of the program which are executed independently of each other.

New Sub

routine

(Flowchart)

It allows creating a new Flowchart subroutine. A subroutine is a part of the program which is called from a task.

New Subroutine

(Text)

It allows creating a new Text subroutine. A subroutine is a part of the program which is called from a task.

Rename Current

Task/Subroutine

It allows to rename the current task/subroutine.

Delete Current Tab

It deletes the current Task or Subroutine.

Undo

It reverts the latest change.

Redo

It recovers the most recently undone change.

Transfer to Drive

It compiles the program and, if there are no errors, transfer it to the drive.

Transfer from Drive

It transfers the program from the drive to the Program Editor.

Start

It starts the program in the drive. CX-Drive will first compare it with the program currently being edited, to make sure that they are the same. If they differ, the program will not be started.

Stop

It stops the program in the drive. This action is done regardless of whether the program in the drive is the same that in the program designer.

Compile

It compiles the program which is currently being designed. Compile errors and warnings will be reported as tool tips in the blocks in the flowchart.

Password

It allows you to set, change or remove the program password.

Help

It displays the Drive Programming help.

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Drive Programming

3-3-2 Commands for the Flowchart Editor

Commands

Image

Description

Zoom in

It increases the zoom level.

Zoom out

It decreases the zoom level.

Zoom Reset

It restores the zoom to its initial value.

Select Mode

It allows the user to select one or more elements of the program, by click-and-drag with the mouse cursor. This mode is active by default.

Pan Mode

It allows the user to move the extent of the view. in any direction while keeping the same scale, by click-and-drag.

Horizontal Align Left

It aligns horizontally the left sides of the selected blocks.

Horizontal Align

Middle

It aligns horizontally the middles of the selected blocks.

Horizontal Align

Right

It aligns horizontally the right sides of the currently selected blocks.

Vertical Align Top

It aligns vertically the top sides of the selected blocks.

Vertical Align Middle

It aligns vertically the middles of the selected blocks.

Vertical Align Bottom

It aligns the bottom sides of the selected blocks.

Orientation

It selects a preferred orientation for connecting the blocks.

Auto-arrange

It arranges the elements of the flowchart automatically in the currently selected orientation.

Show contacts

It toggles display/hide of the contacts of the blocks, which are placeholders for the beginning and ending of arrow connections

Show

It allows you to select a display style of the program. (Text only, Icon Only, Icon and Text, or Name, Icon and Arguments).

3-3-3 Commands for the Text Editor

Commands

Image

Description

Find

It finds a text on the program code.

Replace

It replaces a text on the program code.

Increment

Indentation

It increases the indentation of the selected text.

Decrement

Indentation

It decreases the indentation of the selected text.

Format Selected Text

It applies the automatic formatting to the selected text.

Comment Selected

Text

It transforms the selected rows of text to comments.

Uncomment Selected

Text

It uncomments the selected rows of text.

Convert Text to

Flowchart

It converts current text Task/Subroutine to Flowchart

Convert whole

program to Flowchart

It converts whole program to Flowchart.

Convert Flowchart to

Text

It converts current Flowchart Task/Subroutine to text.

Convert whole

Program to Text

It converts whole program to Text.

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Drive Programming

3-4 Shortcut Keys The following Keyboard shortcuts can be applied to the designer area.

· Ctrl + X: Cut

· Ctrl + C: Copy

· Ctrl + V: Paste

· Ctrl + Z: Undo

· Ctrl + Y: Redo

· Ctrl + A: Select All

· Ctrl + F: Find function

· Ctrl + L: Lock

· Ctrl + P: Pin

· Ctrl + Space: Code Snippets

· Tab: Select Next

· Shift + Tab: Select Previous

· Arrow Keys: Move selected element

· Home, End, Page Up, Page Down: Navigate through the graph

· +: Zoom In

· -: Zoom Out

3-5 Designer Area The designer area will display the current design of the program.

This area may have different pages, organized in tabs. Each tab is either a Task or a Subroutine in Flowchart or Text. The designer is created with one default tab, which is a Text Task. When a program is compiled without error, an icon with a circled green arrow highlights the starting point of each Flow chart task.

With text editor, the output window will indicate if the program is compiled successfully.

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Drive Programming

For programs compiled with errors, a red icon with an exclamation mark identifies the erroneous blocks with Flowchart Editor. Placing the mouse on the error icon displays the compile error, which can also be seen in the Error List.

With Text Editor, in the output window will appear the errors of the program. The error will be showed with a red underline.

A Task or Subroutine may be deleted, or renamed, by right-clicking on the tab title.

Right-clicking on an area which is not an element of the flowchart displays a popup menu which allows you to Paste elements that you have previously copied, or to select all the elements.

Right-clicking on a Flowchart block element it shows a popup menu with more options

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Drive Programming

Right-clicking on a selected Text it shows a popup menu with more options

The available menu commands with Flowchart editor are described below.

• Bring To Front places the element graphically in front of other elements.

• Send To Back places the element graphically in back of other elements.

• Pin fixes the element to its current position in the graph. It will not be moved in click-and-drag operations.

• Lock acts like Pin and, besides, sets the properties of the element as read-only.

• Cut deletes the element and saves it in the clipboard, for further pasting.

• Copy saves the element in the clipboard, for further pasting.

• Paste puts the contents previously copied in the clipboard into the design area. Note that after copying elements, you can also paste them to other contexts; for example, as images in a Microsoft Office application

The available menu commands with Text editor are described below.

• Find looks for the selected text on the program code.

• Replace exchange the selected text on the program code.

• Cut deletes the element and saves it in the clipboard, for further pasting.

• Copy saves the element in the clipboard, for further pasting.

• Paste puts the contents previously copied in the clipboard into the design area. Note that after

copying text elements, you can also paste them to other contexts; for example, as text in a Microsoft Office application.

• Go to Subroutine jumps to the selected text subroutine

• Go to Label jumps to the selected text label.

• Undo reverts the latest change.

• Redo recovers the most recently undone change.

• Help will show the CX-Drive help.

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Drive Programming

3-6 Toolbox window The Toolbox window allows you to add blocks to the Program Designer by drag and drop. It displays

the blocks supported for a particular drive, organized in categories. The Toolbox is displayed when Drive Programming is entered. You can also show or hide it by clicking

on Drive Programming | Toolbox in the View menu. The Toolbox is displayed by default docked at the rightmost side of CX-Drive. You can resize it as

needed to better display its elements. Also, you can toggle its docking by right clicking near the window’s edges.

You can also choose its displays style by right-clicking on it with the mouse. Three styles are available: Large Icons, Small Icons, and List. In any style, placing the mouse cursor on a block will show a short help text for it.

Click on any category title to display the blocks which belong to that category.

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Drive Programming

3-7 Block Parameters window The Block Parameters window allows the user to edit drive program parameters which act as variables

of the program. The parameters are organized in categories. Block parameters is displayed when Drive Programming is entered. You can also show or hide it by clicking on Drive Programming | Block Parameters in the View menu.

Block Parameters is displayed by default docked at the rightmost side of CX-Drive. You can resize it as needed to better display its elements. Also, you can toggle its docking by right clicking near the window’s edges.

To change the value of a block parameter, place the cursor at its row and click on the edition box to the right of its name. Enter the new value. CX-Drive will warn you if the value exceeds the valid range. At the lower part of the window, a help text for the block parameters is displayed.

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Drive Programming

3-8 Properties window The Properties window allows the user to edit the properties of the drive program block which is

currently selected in the Flowchart Program Editor. Properties are displayed when Drive Programming is entered. You can also show or hide it by clicking

on Drive Programming | Properties in the View menu. Properties are displayed by default docked at the rightmost side of CX-Drive. You can resize it as

needed to better display its elements. Also, you can toggle its docking by right clicking near the window’s edges.

To change one block command argument, place the cursor at its row and click on the edition box to the right of its name.

▪ If the block argument has options, a second click of the mouse will unfold the available options for you to select.

▪ If the block argument does not have options, clicking on its current value will enable you to change it by typing a new one. CX-Drive will warn you if the value exceeds the valid range.

If the block argument can have both an option and a custom value, clicking on the unfold sign at the right of the cell will unfold the available options, whereas clicking anywhere in the cell text, you will be able to edit it.

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Drive Programming

3-9 Output window It shows the compilation errors and warnings of the currently edited drive program after it is compiled.

Errors will prevent the program to be correctly compiled. Warnings will allow compilation, but advise customer of abnormal conditions.

· The Error(s) button toggles displaying error in the list.

· The

Warning(s) button toggles displaying warnings in the list.

· The

Message(s) button toggles displaying informative message in the list.

Messages in the list show the following information:

· Date: The date and time when the error was generated.

· Component: Identifies the element with an error.

· Description: The text of the error or warning message. The list is automatically cleared every time a Compile is done.

3-10 Creating a program with Flowchart Editor

Follow the steps described below to create a drive program.

1. Open the Program Editor. The Drive Programming auxiliary windows (Toolbox, Block Parameters, Properties and Error List) will be displayed automatically.

2. Select on the menu “New Tab” New Task (flowchart) or New Subroutine(flowchart).

3. Drag each block of the program from the Toolbox window to the Flowchart Program Editor.

4. After dragging a block, edit its properties by clicking on it and edit the arguments in the Properties window.

5. Connect the blocks accordingly.

6. Edit the drive program variables in the Block Parameters window.

7. You may now compile the program, transfer it to the drive, export it, etc. Alternatively, you can connect to a drive which has a program and transfer it, following the simple

steps described below.

1. Open the Program Editor. The auxiliary Drive Programming windows (Toolbox, Block Parameters and Properties) will be displayed automatically.

2. Click the Transfer from Drive button in the program Editor Toolbar. The program will be transferred from the drive and automatically displayed in the Program Editor designer area.

3. You may now edit the program, compile it, transfer it to the drive, export it, etc.

When a drive program is present, you can also transfer it from and to the drive with the Transfer to Drive and Transfer from Drive buttons of the CX-Drive toolbar. In this case, a message dialog will ask you whether to transfer the parameters, the program or both.

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Drive Programming

3-11 Creating a program with Text Editor

Follow the steps described below to create a drive program:

1. Open the program Editor. The Drive Programming auxiliary windows (Toolbox, Block Parameters, Properties and Error List) will be displayed automatically.

2. The three ways to edit the code are:

a. Manual typing b. Calling code snippets (Ctrl+Space) c. Drag & Drop commands from Toolbox window (like Flowchart Editor)

3. You may now compile the program, transfer it to the drive, export it, etc.

Note 1

: The Text editor is supported from CX-Drive version 2.50.

Note 2: Text and Flowchart Tasks/Subroutines can be used simultaneously within same program.

3-12 Run a program

After transferring the program to the device, you can run the program with the command or setting the next inverter parameters:

· MX2 and RX:

Parameter

Value

Description

A017 – Drive Programming Selection

0: Disabling

Drive Programming program will be stopped.

1: PRG terminal

Drive Programming program will run by digital input. Set terminal to PRG function.

2: Always

Drive Programming program will be always running.

· LX:

Parameter

Value

Description

F025 – Drive Programming function selection

0: Disable

Drive Programming program will be disabled.

1: Enable

Drive Programming program will be Enabled.

F026 – Drive Programming RUN trigger selection

0: TRM(‘PRG’ terminal)

Drive Programming program will run by terminal. Set terminal to PRG

function. 1: PARAM (setting F025=enable)

Drive Programming program will run if

F025 = enable

3-13 Comments – Text Editor

Only it is possible to add comments in a Text editor task or subroutine. To add a comment in a text line press the character “’” follow by the comment. The comment will be showed in a green color format.

· Examples

Note

: if you convert a Text task or subroutine to Flowchart, the comments will be lost.

Page 20

Drive Programming

3-14 #Alias definition – Text Editor

Only it is possible to define an alias in a Text editor task and before the command ‘entry’. It’s not possible to define an alias in a subroutine.

Alias definitions are user-friendly names given to parameters, variables, commands and numerical constants. There are two kinds of alias definition:

· Local alias

: this alias definition only can be used in the current task and his subroutines, and not in the other tasks and subroutines that the program could have. This is the format for a local alias definition inside a task:

· Examples

· Global alias

: this alias definition can be used in all the tasks and subroutines. This is the

format for a global alias definition:

· Examples

Note 1: The alias will be lost converting a text task/subroutine to flowchart. CX-Drive will show a

message advising about this issue. Note 2: reserved words cannot be used like an alias. A compilation error will appear.

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Drive Programming

3-15 #Region definition – Text Editor

A Region definition can be only defined in a text task or subroutine. It is useful to define code regions to clarify the program source code.

· Examples

3-16 Conversion from Flowchart to Text

There are two options to convert from Flowchart program to text:

Command

Image

Description

Convert Flowchart to text

It converts current Flowchart Task/Subroutine to text.

Convert whole program to text

It converts whole program to text.

3-17 Conversion from Text to Flowchart

There are two option to convert from Text to Flowchart:

Command

Image Description

Convert Text to Flowchart

It converts current Flowchart Task/Subroutine to text.

Convert whole program to

Flowchart

It converts whole program to text.

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Drive Programming

3-18 Find & Replace function

Function only available in text mode. It allows look for an exchange code inside your text program. To use Find function press the

icon or the shortcut keys ‘Ctrl + F’.

To use Replace function press the

icon or the shortcut keys ‘Ctrl+F’

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Drive Programming

4- Drive Program structure

The programming language is a Flowchart/Text language. The inverter can process five parallel tasks. The processing is as following diagram.

+ >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> Command Execution >>>>>>>>>>>>>>>>>>>>>>>>>>>> -

<<<<<<< Command Execution <<<<<<

Task 1

Task 2

Task 3

Task 4

Task 5

Elapsed time

line Code line Code line Code line Code line Code 1 Entry Entry Entry Entry Entry 2 [ms] 2

top

4 3 Process A 7 Process B 12 Process C 15 Process D 20 Process E 6 4 | 8 | 13

Goto top

16 | 21 | 8

Goto top

9 | 11

top

17 | 22 | 10

| top

| Goto top

12 Process C 18

| Goto top

23 | 12

3 Process A 6

| top

| Goto 11

| top

| Goto top

14 4 | 7 Process B 11

| top

15 Process D 19

| top

16 5

| Goto top

8 | 12 Process C 16 | 20 Process E 18

top

9 | 13

Goto top

17 | 21 | 20

3 Process A 10

| Goto top

| top

| Goto top

22 | 22

4 | 6

| top

12 Process C 14

| top

23 | 24

| Goto top

7 Process B 13

|Goto top

15 Process D 24

| Goto top

26 2

top

8 | 11

top

16 | 19

top

28 3 Process A 9 | 12 Process C 17 | 20 Process E 30

4 | 10

Goto top

21 | 32 [ms]

Inside each task, subroutines can be associated, but maximum nesting (call inside a subroutine call) is 8 level depth.

4-1 Tasks

When Drive Programming it’s open, an empty task appears by default:

With the right mouse click we can Delete Current Task or Rename Current Task.

Every task must begin with Entry and must finish with the End Control Commands.

Flowchart

Text

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Drive Programming

4-2 Subroutines

Subroutines are useful to organize your program into parts of code that you can reuse in other programs or in the same program. For insert a subroutine press the button

or and a new

subroutine will appear. Like on Tasks, you can delete or rename a subroutine. Every subroutine must begin with the Sub block, and end with the EndSub Control Command.

Flowchart

Text

The subroutine is executed via the call command with the subroutine name.

Flowchart

Text

It is only possible to call a subroutine that is associated with the task. To be used with other task, a copy of the subroutine is necessary on the task.

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Drive Programming

5- Drive Programming user variables 5-1 Initial Data U(00) to U(31) or User parameters

U(00) to

U(31)

Description Range of values Default Unit Data size Attribute

User variable 0 to 65535

Data

stored in P100 to P131

Unsigned

1-word

R/W

User variables are the general-purpose functions that can be used as unsigned 1-word. The data written from a drive program to the user-defined variables is not stored in the inverter’s EEPROM. The variables will restore the initial settings when the inverter power is turned off. The user-defined variables correspond to inverter parameters “P100” to “P131”. You can also change the settings of user-defined variables from the digital operator. The changes made from the digital operator will be stored in EEPROM. This is also possible to emulate from drive programming by using the EepWrt command.

The variables P129 to P131 (U(29) to U(31)) are saved at power down of the inverter automatically. This function may not work under heavy load (motor output current) or too small inverter (low capacity in DC bus). In case of trouble it is recommended to disable the inverter output to preserve the energy in the capacitors.

UL(00) to UL(07) or Internal User parameters.

UL(00)

–

UL(07)

Description Range of values Default Unit Data size Attribute

Internal user variable

−

231−

0 -

Signed 2-word

R/W

Internal user variables are the general-purpose functions that can be used as unsigned 2-word variables, for example, to temporarily store arithmetic operation results. The initial values can be set via the initial program data.

5-2 Setting Variables

Set-Freq

Description Range of values Default Unit Data size Attribute Output frequency setting

0 to 40000 0

0.01 Hz

Unsigned

1-word

R/W

When A001=7 (Freq. ref. from Drive Programming), it becomes the frequency set point of the inverter. Always reflects the reading of parameter F001, regardless the setting of A001. This variable is not stored in the inverter EEPROM. It will be restored to initial setting after power cycle. When the inverter receives an operation command (FW=1 or RV=1), it accelerates the motor up to the frequency that was set last.

ACCEL

Description Range of values Default Unit Data size Attribute Acceleration time setting

1 to 360000 Note 1

0.01 sec

Unsigned

2-word

R/W

This variable can be used to read and write the motor acceleration time in the inverter. It is enabled only when the setting of accel/decel time input selection (P031) is “03” (PRG). (Please note that it does not correspond to the setting of inverter parameter “F002”). The data written to this variable is not stored in the inverter’s EEPROM. It restores initial value after power cycle.

Note 1: By default (when the inverter power is turned on), the acceleration time follows the setting of the inverter parameter “F002”, “F202”, or “F302”. For details, refer to the Inverter Instruction Manual. Note 2: When a program writes a value to this variable, the value is reflected in the inverter in a 40-ms cycle, which conforms to the standard inverter specifications.

Page 26

Drive Programming

DECEL

Description Range of values Default Unit Data size Attribute Deceleration time setting

1 to 360000 Note 1

0.01 sec

Unsigned

2-word

R/W

This variable can be used to read and write the motor deceleration time in the inverter. The deceleration time setting using this variable is enabled only when the setting of accel/decel time input selection (P031) is “03” (PRG). (The setting of this variable does not correspond to the setting of inverter parameter “F003”). The data written to this variable is not stored in the inverter’s EEPROM. This variable will restore the initial setting when the inverter power is turned off.

Note 1: By default (when the inverter power is turned on), the deceleration time follows the deceleration (1) time setting “F003”, “F203” or “F303”. For details, refer to the Inverter Instruction Manual. Note 2: When a program writes a value to this variable, the value is reflected in the inverter in a 40-ms cycle, which conforms to the standard inverter specifications.

5-3 Inverter Monitor Variables (This units does not always corresponds with the display units)

Description Range of values Default Unit Data size Attribute

(d001)

Output frequency monitor

0 to 40000 -

0.01

Unsigned

1-word

The data monitored with this variable corresponds to the data monitored by the output frequency monitor (d001). This variable is read-only.

Iout

Description Range of values Default Unit Data size Attribute

(d002) Output current monitor 0 to 9999 -

0.01% Unsigned

1-word

The data monitored with this variable corresponds to the data monitored by the output current monitor (d002). The monitored data indicates the ratio of present output current to rated current of the inverter. This variable is read-only. For details, refer to the Inverter Instruction Manual.

Dir

Description Range of values Default Unit Data size Attribute

(d003)

Rotation direction monitor

0: Stop 1: Normal rotation 2:Reverse rotation

- -

Unsigned

1-word

The data monitored with this variable corresponds to the data monitored by the rotation direction monitor (d003). This variable is read-only.

PID-FB

Description Range of values Default Unit Data size Attribute

(d004)

Process variable (PV), PID feedback monitoring

0 to 9990000 0

0.01% Unsigned

2-word

The data monitored with this variable corresponds to the data monitored by the process variable (PV), PID feedback monitor (d004). This variable is read-only.

F-CNV

Description Range of values Default Unit Data size Attribute

(d007)

Scaled output frequency monitor

0 to 3996000 - 0.01

Unsigned

2-word

The data monitored with this variable corresponds to the data monitored by the scaled output frequency monitor (d007). This variable is read-only.

Page 27

Drive Programming

mon

Description Range of values Default Unit Data size Attribute

(d012) Torque monitor -200 to 200 - %

Unsigned

1-word

The data monitored with this variable corresponds to the data monitored by the torque monitor (d012). This variable is read-only.

Vout

Description Range of values Default Unit Data size Attribute

(d013)

Output Voltage monitor

0 to 6000 - 0.1v

Unsigned

1-word

The data monitored with this variable corresponds to the data monitored by the output voltage monitor function (d013). This variable is read only.

Power

Description Range of values Default Unit Data size Attribute

(d014) Power monitor 0 to 9999 -

0.1 Kw

Unsigned

1-word

The data monitored whit this variable corresponds to the data monitored by the power monitor (d014). This variable is read only.

RUN

Time

Description Range of values Default Unit Data size Attribute

(d016) Run Time monitor 0 to 999999 - Hour

Unsigned

2-word

The data monitored with this variable corresponds to the data monitored by the cumulative operation RUN time monitor (d016). This variable is read only.

On-Time

Description Range of values Default Unit Data size Attribute

(d017)

Power-on time monitor

0 to 999999 - Hour

Unsigned

2-word

The data monitored with this variable corresponds to the data monitored by the cumulative power-on time monitor (d017). This variable is read-only.

UMon(0)

Umon(2)

Description Range of values Default Unit Data size Attribute

(d025

d027)

User Parameter monitor 0 to 2

- 2

to 2

-1 0 -

Signed 2-word

R/W

The data monitored with these variables corresponds to the data monitored on d025, d026 and d027. These are monitors available for the user Drive Programming application

Page 28

Drive Programming

POS

Description Range of values Default Unit Data size Attribute

(d030)

Current Position monitor

- (2

- 1) to 2

- 1

[- (2

- 1) to 2

- 1]

- 1

Signed

2-word

The data referenced with this variable corresponds to the data monitored by the current position monitor (d030). With RX when “03” (high-resolution absolute position control) has been selected for control pulse setting (P012), the range in brackets “[]” applies.

ERR

CNT

Description Range of values Default Unit Data size Attribute

(d080) Trip counter monitor 0 to 65535 -

Nº of times

Unsigned

1-word

The data monitored with this variable corresponds to the data monitored by the trip counter monitor (d080).

ERR(1)

ERR(6)

Description Range of values Default Unit Data size Attribute

(d081-

d086)

Trip monitor 1 to 6

0 to 127 - -

Unsigned

1-word

The data monitored with these variables correspond to the data monitored by trip monitors 1 to 6 (d081 to d086).

DCV

Description Range of values Default Unit Data size Attribute

(d102) DC voltage monitor 0 to 9999 -

0.1

Vdc

Unsigned

1-word

The data referenced with this variable corresponds to the data monitored by the DC voltage monitor (d102).

STATUS

Description Range of values Default Unit Data size Attribute

Inverter status monitor - - -

Unsigned

1-word

This variable can be used to reference inverter status information. The information is reflected with the following bit weights:

Bit 9

to 15

Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Reserve

Under

voltage

Reset

Over voltage suppression

Over current

suppression

Overload

suppression

Retry Reverse Trip Run

Page 29

Drive Programming

5-4 Terminal Variables Input/Output Control Instructions

X(00)

- X(11)

Description Range of Values Data Size Attribute

Input terminal 0 to 11

0: Off 1: On

bit R

See table below for each inverter function number:

Input

Inverter function number

MX2 RX LX

X(00) – MI1 56 56 49 X(01) – MI2 57 57 50 X(02) – MI3 58 58 51 X(03) – MI4 59 59 52 X(04) – MI5 60 60 53 X(05) – MI6 61 61 54 X(06) – MI7 62 62 55 X(07) – MI8 63 63 56

X(08) – MI9 -- -- 57 X(09) – MI10 -- -- 58 X(10) – MI11 -- -- 59 X(11) – MI12 -- -- 60

Description Range of Values Data Size Attribute

Input terminal (word) 0 to 65535

Unsigned

1-word

Instruction to access contact inputs by word. Each bit reflects one of the inputs.

Y(00)

- Y(06)

Description Range of Values Data Size Attribute

Output terminal 0 to 6

0: Off 1: On

bit R/W

See table below for each inverter function number:

Output

Inverter function number

MX2 RX LX

Y(00) – MO1 44 44 35 Y(01) – MO2 45 45 36 Y(02) – MO3 46 46 37 Y(03) – MO4 -- 47 38 Y(04) – MO5 -- 48 39 Y(05) – MO6 -- 49 40 Y(06) – MO7 -- -- 41

Description Range of Values Data Size Attribute

Output terminal (word) 0 to 65535

Unsigned

1-word

R/W

This variable can be used to change the digital output terminals in units of word. Each output is one bit.

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Drive Programming

XA(0)

–

XA(2)

Description Range of Values Data Size Attribute

XA(0)

General-purpose analog input (O terminal)

0 to 10000

Unsigned

1- word (0.01%)

XA(1)

General-

purpose analog input

(OI terminal)

XA(2)

General-purpose analog

input

(O2 terminal) only for RX and LX

These variables can be used to monitor the analog input to the O and OI and O2 terminals. Terminals [O]-[L], [OI]-[L], [O2]-[L]. Associated parameters (A011 to A015, A101 to A105, A111 to A114). XA(2) is only available for Rx and LX.

YA(0)

–

YA(2)

Description Range of Values Data Size Attribute

YA(0)

General-

purpose analog output

(EO terminal for MX2) (FM terminal for RX and LX)

0 to 10000

Unsigned

1-word

(0.01%)

R/W

YA(1)

General-

purpose analog output

(AM terminal)

YA(2)

General-

purpose analog output

(AMI terminal) only for RX and LX

With this variables we can monitor the analog outputs (any multifunction assigned to them), or write analog output if YA(0) to YA(2) are assigned to analog multifunction parameters (C027, C028 and C029). Value is reflected as a data range from 0% to 100.00%. YA(2) is only available for RX and LX.

Page 31

Drive Programming

UB(00)

– UB(07)

Description Range of Values Data Size Attribute

Internal user contact (bit access)

0: Off 1: On

bit R/W

These variables can be used as bit variable for the user.

UBw

Description Range of Values Data Size Attribute

Internal user contact (word access) 0 to 255

Unsigned

1-word

R/W

The bit variables reflected as single word.

TC(0)

- TC(7)

Description Range of Values Data Size Attribute Timer counters (0 to 7) (Unit: 10ms)

0 to

231−

Unsigned

2-word

R/W

The timer counters “TC(0)” to “TC(7)” operate as 31-bit-free-running timer counters. They start with the user program startup and are incremented in a 10-ms cycle.

When a timer-start instruction (timer set) or delay operation instruction (delay on or delay off) is executed, the timer counter corresponding to the instruction operates as the counter for output to a specified timer contact. In this case, the counter is cleared to zero when the instruction is executed, start counting, and then stops counting upon reaching the specified count. When a timer-stop instruction (timer off) is executed, the timer counter corresponding to the instruction is cleared to zero and operates as a 31-bi-free-running timer counter that is incremented in a 10-ms cycle.

TD(0)

- TD(7)

Description Range of Values Unit Attribute Timer contact output 0 – 7 (bit access)

0: Off 1: On

Unsigned

1-word

The data in timer contact output variables “TD(0)” to “TD(7)” change only when these variables are specified in the timer-start instruction (timer set) or delay operation instruction (delay on or delay off). A timer contact output variable is set to “0”(off) when the counter corresponding to the contact output is cleared to zero, the variable is set to “1”(on) when the counter stops counting (the timing action selected finish). While a timer counter variable “TC(k)” is being used for a free-running timer counter, timer contact output variable “TD(k)” corresponding to the timer counter variable retains its status.

TDw

Description Range of Values Unit Attribute

Timer contact output (word access) 0 to 255

Unsigned

1-word

It access to the timer counter outputs as word.

Page 32

Drive Programming

5-5 Digital input Functions

These variables correspond to the settings available for the digital multifunction input terminals. Setting the variable to 1 will simulate the function as if the terminal was closed in a digital input. It is interesting to note that the multifunction does not need to be configured in order to use the function.

E.g. FW := 1 will generate a RUN Forward command (as used in some examples). Please refer to the inverter user manual for details about the individual functions. Values: · 0: Off

· 1: On

Function

Description

MX2 RX LX Usage

Comment

FW Forward √ x x R/W C001-C009 = 00 RV Reverse √ √ x R/W C001-C009 = 01

CF1-CF4 Multi-speed 1-4 √ √ x R/W

C001-C009 = 02-

05 JG Jogging √ √ x R/W C001-C009 = 06 DB External Brake √ √ x R/W C001-C009 = 07 SET Second control √ √ √ R/W C001-C009 = 08 2CH 2nd acceleration/deceleration time √ √ x R/W C001-C009 = 09 FRS Free run √ √ √ R/W C001-C009 = 11 EXT External trip √ √ √ R/W C001-C009 = 12 USP Unattended start protection √ √ x R/W C001-C009 = 13 CS Change from commercial power √ √ x R/W C001-C009 = 14 SFT Software lock √ √ √ R/W C001-C009 = 15 AT Change of analog input √ √ x R/W C001-C009 = 16 SET3 3rd control x √ x R/W C001-C009 = 17 RS System reset √ √ √ R/W C001-C009 = 18 STA Start of 3 wires √ √ x R/W C001-C009 = 20 STP Stop of 3 wires √ √ x R/W C001-C009 = 21 F/R Forward/Reverse of 3 wires √ √ x R/W C001-C009 = 22 PID Switch PID √ √ x R/W C001-C009 = 23 PIDC Reset of PID integration √ √ x R/W C001-C009 = 24 CAS Control gain switching x √ x R/W C001-C009 = 26 UP Increasing speed from remote √ √ x R/W C001-C009 = 27 DWN Decreasing speed from remote √ √ x R/W C001-C009 = 28 UDC Clear data from remote operation √ √ x R/W C001-C009 = 29 OPE Change to operator √ √ x R/W C001-C009 = 31

SF1-SF7 Multi-speed bit 1-7 √ √ x R/W

C001-C009 = 32-

38 OLR Overload protection switch √ √ x R/W C001-C009 = 39 TL Torque Limit Enable √ √ x R/W C001-C009 = 40

TRQ1-2 Torque Limit Selection 1-2 √ √ x R/W

C001-C009 = 41-

42 PPI P/PI switching x √ x R/W C001-C009 = 43 BOK Brake Confirmation √ √ x R/W C001-C009 = 44 ORT Orientation x √ x R/W C001-C009 = 45 LAC LAD Cancel √ √ x R/W C001-C009 = 46 PCLR Clear Position Deviation √ √ x R/W C001-C009 = 47

STAT

Pulse train position command input permission

x √ x R/W C001-C009 = 48

ADD Add Setting Frequency √ √ x R/W C001-C009 = 50 F-TM Forced Terminal Block √ √ x R/W C001-C009 = 51 ATR Torque reference input permission √ √ x R/W C001-C009 = 52 KHC Integrated power clear √ √ x R/W C001-C009 = 53 SON Servo ON x √ x R/W C001-C009 = 54 FOC Preliminary excitation x √ x R/W C001-C009 = 55 X(00) – X(07)

Drive Programming (MI1-MI8) √ √

x R/W

C001-C009 = 56-

63 AHD Analog command on hold √ √ x R/W C001-C009 = 65

CP1-3 Position command selection 1-3 √ √ x R/W

C001-C009 = 66-

68 ORL Origin return limit signal √ √ x R/W C001-C009 = 69 ORG Origin return start signal √ √ x R/W C001-C009 = 70

Page 33

Drive Programming

FOT Forward driving stop x √ x R/W C001-C009 = 71 ROT Reverse driving stop x √ x R/W C001-C009 = 72 SPD Speed/Position switching √ √ x R/W C001-C009 = 73 PCNT Pulse counter x √ x R/W C001-C009 = 74 PCC Pulse counter clear x √ x R/W C001-C009 = 75 GS1 GS1 input √ x x R/W C001-C009 = 77

Function

Description

MX2 RX LX Usage

Comment

GS2 GS2 input √ x x R/W C001-C009 = 78 RS485 Inverter communication start terminal √ x x R/W C001-C009 = 81 PRG Executing Drive Program √ x x R/W C001-C009 = 82

HLD

HOLD Acceleration / deceleration stopping

√

x x R/W C001-C009 = 83

ROK Operation OK signal √ x x R/W C001-C009 = 84 DISP Display limitation terminal √ x x R/W C001-C009 = 86 UP Upward RUN x x √ R/W C001-C009 = 00 DOWN Downward RUN x x √ R/W C001-C009 = 01 SPD1 Multi-speed 1 setting x x √ R/W C001-C009 = 02 SPD2 Multi-speed 2 setting x x √ R/W C001-C009 = 03 SPD3 Multi-speed 3 setting x x √ R/W C001-C009 = 04 OLR Change OL-level x x √ R/W C001-C009 = 32 TL Torque Limit enable x x √ R/W C001-C009 = 33 TRQ1 Change Torque Limit 1 x x √ R/W C001-C009 = 34 TRQ2 Change Torque Limit 2 x x √ R/W C001-C009 = 35 PCLR Clear the current position x x √ R/W C001-C009 = 40 KHC Kwh clear x x √ R/W C001-C009 = 46

X(00)-X(11) Drive Programming x x √ R/W

C001-C009 =49-

60 EMP Em-Power Operation x x √ R/W C001-C009 = 61 INS1 Inspection 1 x x √ R/W C001-C009 = 62 INS2 Inspection 2 x x √ R/W C001-C009 = 63 COK Contactor check signal x x √ R/W C001-C009 = 64 BOK Brake check signal x x √ R/W C001-C009 = 65

FP1-FP6 Floor position 1 to 6 x x √ R/W

C001-C009 = 66-

71 PAL Auto learning data latch trigger x x √ R/W C001-C009 = 72 TCL Torque bias latch trigger x x √ R/W C001-C009 = 73 LVS Leveling signal x x √ R/W C001-C009 = 74 NFS Near floor signal x x √ R/W C001-C009 = 75 PRG Program run x x √ R/W C001-C009 = 76 CMC Control Mode change x x √ R/W C001-C009 = 77

Note:The LX inverter functions are available for the digital multifunction input terminals P140-P144 (Multi-Input [Ex.IN1-5]  3G3AX-EIO-E: LX extra I/O board)

Page 34

Drive Programming

5-6 Digital Output Functions

These variables correspond to the settings available for the digital multifunction output terminals. The variable can read and used as it would be for an external device connected to the digital output configured for the function. It is interesting to note that digital outputs are not required to be assigned in order to use the function within the program (in other words, no waste of digital outputs required).

Fun

ction

Description

MX2 RX LX Usage

Comment

RUN Running √ √ √ R C021 - C026 = 00 FA1 Reaching constant speed √ √ √ R C021 - C026 = 01 FA2 Greater than setting frequency √ √ √ R C021 - C026 = 02 OL Overload preannounce √ √ √ R C021 - C026 = 03 OD PID deviation overrate √ √ x R C021 - C026 = 04 AL Trip signal √ √ √ R C021 - C026 = 05 FA3 Only the setting frequency √ √ √ R C021 - C026 = 06 OTQ Over torque/under torque √ √ √ R C021 - C026 = 07 IP Signal during m. power interruption x √ √ R C021 - C026 = 08 UV Under voltage signal √ √ √ R C021 - C026 = 09 TRQ Torque limitation signal √ √ √ R C021 - C026 = 10 RNT RUN time over √ √ √ R C021 - C026 = 11 ONT ON time over √ √ √ R C021 - C026 = 12 THM Thermal warning √ √ √ R C021 - C026 = 13 ZS 0 Hz detection signal x x √ R C021 - C026 = 14 POK Positioning complete x x √ R C021 - C026 = 16 FA4 Set frequency overreached 2 x x √ R C021 - C026 = 17 FA5 Set frequency reached 2 x x √ R C021 - C026 = 18 BRK Brake open √ √ x R C021 - C026 = 19 BER Brake error √ √ x R C021 - C026 = 20 ZS Zero speed signal √ √ x R C021 - C026 = 21 DSE Speed deviation overrate √ √ x R C021 - C026 = 22 POK Positioning operation complete √ √ x R C021 - C026 = 23 FA4 Greater than setting frequency 2 √ √ x R C021 - C026 = 24 FA5 Only the setting frequency 2 √ √ x R C021 - C026 = 25 OL2 Overload preannounce 2 √ √ x R C021 - C026 = 26 ODc Analog O break detection √ √ x R C021 - C026 = 27 OIDc Analog OI break detection √ √ x R C021 - C026 = 28 O2Dc Analog 2 disconnection detection x √ x R C021 - C026 = 29 WAC Capacitor life warning x X √ R C021 - C026 = 30 FBV PID feedback comparison √ √ x R C021 - C026 = 31 NDc Communication break detection √ √ x R C021 - C026 = 32 LOG1 Result of logic operation 1 √ √ x R C021 - C026 = 33 LOG 2 Result of logic operation 2 √ √ x R C021 - C026 = 34 LOG 3 Result of logic operation 3 √ √ x R C021 - C026 = 35 LOG 4 Result of logic operation 4 x √ x R C021 - C026 = 36 LOG 5 Result of logic operation 5 x √ x R C021 - C026 = 37 LOG 6 Result of logic operation 6 x √ x R C021 - C026 = 38 WAC Condenser life-span preannounce √ √ x R C021 - C026 = 39 WAF Fan life-span preannounce √ √ x R C021 - C026 = 40 FR Start contact signal √ √ x R C021 - C026 = 41 OHF Cooling fan over heat preannounce √ √ x R C021 - C026 = 42 LOC Low electricity signal √ √ x R C021 - C026 = 43 Y(00) Drive Programming (MO1) √ √ x R C021 - C026 = 44 Y(01) Drive Programming (MO2) √ √ x R C021 - C026 = 45 Y(02) Drive Programming (MO3) √ √ x R C021 - C026 = 46 Y(03) Drive Programming (MO4) x √ x R C021 - C026 = 47 Y(04) Drive Programming (MO5) x √ x R C021 - C026 = 48 Y(05) Drive Programming (MO6) x √ x R C021 - C026 = 49 IRDY Operation setup complete √ √ x R C021 - C026 = 50 FWR Forward running signal √ √ x R C021 - C026 = 51 RVR Reverse running signal √ √ x R C021 - C026 = 52 MJA Serious failure signal √ √ x R C021 - C026 = 53 WCO Window comparator O √ √ x R C021 - C026 = 54 WCOI Window comparator OI √ √ x R C021 - C026 = 55 WCO2 Window comparator O2 x √ x R C021 - C026 = 56 MPS Magnet pole position search x x √ R C021 - C026 = 57

Page 35

Drive Programming

Function

Description

MX2 RX LX Usage

Comment

FREF Command frequency sel. mode √ x x R C021 - C026 = 58 REF Command operation mode √ x x R C021 - C026 = 59 SETM Setting motor √ x x R C021 - C026 = 60 EDM STO operation monitor signal √ x x R C021 - C026 = 62 IRDY Inverter ready x x √ R C021 - C026 = 44 FWR Forward rotation x x √ R C021 - C026 = 45 RVR Reverse rotation x x √ R C021 - C026 = 46 MJA Major failure X x √ R C021 - C026 = 47 OL2 Overload advance signal 2 x x √ R C021 - C026 = 19 TH-C Thermal warning (CTL) x x √ R C021 - C026 = 20 NDc Network disconnection x x √ R C021 - C026 = 23 WAF Cooling-fan speed drop x x √ R C021 - C026 = 31 FR Starting contact signal x x √ R C021 - C026 = 32 OHF Heat sink overheat warning x x √ R C021 - C026 = 33 LOC Low-current indication signal x x √ R C021 - C026 = 34 Y(00) Drive Programming (MO1) x x √ R C021 - C026 = 35 Y(01) Drive Programming (MO2) x x √ R C021 - C026 = 36 Y(02) Drive Programming (MO3) x x √ R C021 - C026 = 37 Y(03) Drive Programming (MO4) x x √ R C021 - C026 = 38 Y(04) Drive Programming (MO5) x x √ R C021 - C026 = 39 Y(05) Drive Programming (MO6) x x √ R C021 - C026 = 40 Y(06) Drive Programming (MO7) x x √ R C021 - C026 = 41 CON Contactor control signal x x √ R C021 - C026 = 51 BRK Brake Control signal x x √ R C021 - C026 = 52 UPS UPS protect direction search status x x √ R C021 - C026 = 54 UPD UPS protect direction x x √ R C021 - C026 = 55 GMON Gate suppress monitor x x √ R C021 - C026 = 56 SEQ SEQ error x x √ R C021 - C026 = 58

Note:The LX inverter functions are available for the digital multifunction output terminals P145-P147 (Multi-Output [Ex.OUT1-3]  3G3AX-EIO-E: LX extra I/O board)

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Drive Programming

6- Drive Programming Instructions 6-1 Control Commands

Entry

Command

Description

Arguments

It indicates the beginning of the task. ---

Format

---

Note

: It is compulsory to have Entry at the begging of each task.

End

Command

Description

Arguments

It indicates the end of the task. ---

Format

---

Note

: It is compulsory to have End at the end of each task.

Call Command

Description

Arguments

It jumps to a subroutine

• Subroutine: Subroutines are identified by a name or alias defined by the user.

Format

call <subroutine>

Note

: After the execution of the subroutine ends, the next instruction line after the call is executed.

Sub Command

Description

Arguments

It indicates the beginning of the subroutine.

---

rmat

--- Note

: It is compulsory to have

Sub

at the beginning of each subroutine.

End Sub

Command

Description

Arguments

It indicates the end of a subroutine. ---

Format

---

Note

: It is compulsory to have

End Sub

at the end of each subroutine.

Page 37

Drive Programming

Example

Flowchart

Main

Main:RunFW

Main:RunRV

Text

Main Main:RunFW Main:RunRV

A forward and reverse run at 60Hz is repeated continuously between two limits X(01) and X(02).

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Drive Programming

Go To

Command

Description

Arguments

Use this instruction to branch processing unconditionally to the step labeled with label name.

• Label: A name that is used to identify a particular function block in the task.

Format

GoTo <label>

Note

: The instruction must also be connected to the next program block you want to be executed. This

is necessary to make clear the flow of the program.

Example

Flowchart

Text

Change parameter P100 in order to test the GoTo function with this sample. When P100=1, P101 starts counting. When P100<>1 stops counting.

Page 39

Drive Programming

On Trip

Command

Description

Arguments

This instruction makes conditional branching in case a trip in the inverter occurs.

• Label: A name that is used to identify a particular function block in the task.

Format

On Trip goto <label>

Note

: The

On Trip

instruction works as a trigger arming. The instruction is executed once, if any trip

occurs the program jumps immediately to the designated label, then the On trip trigger is disarmed.

Example

Flowchart

Text

When the digital input is set to ON value, then P100 parameter is incrementing every second. If a trip is generated (like by external trip input) then P103 increments count. And then goes to the beginning of the task.

Page 40

Drive Programming

Command

Description

Arguments

Jump to a label when a condition is satisfied.

•

Condition

: A comparison between two variables or constant with the format<Left hand value><Comparison><Right Hand Value>

-Left hand value: any variable or constant(range -128 to 127)

-Comparison

: =, <, >, <=, >=, <>

-Right hand value: any variable or constant(range -128 to 127)

• Label: A name that is used to identify a particular function block in the task.

Format

If <condition> GoTo <label>

Example

Flowchart

Text

Change parameter P100 in order to test the GoTo function with this sample. When P100 = 1, P101 starts counting. When P100<>1 stops counting.

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Drive Programming

Ifs/ Else / End If

Command

Description

Arguments

This instruction executes different portion of code based on a condition. When the condition is met, this instruction executes <instruction set 1>. When the condition is not met, this instruction executes <instruction set 2>.

•

Condition

: A comparison between two variables or constant with the format <Left hand Value><Comparison><Right hand Value>

-Left hand value: any variable or constant (range -128 to 127)

-Comparison

: =, <, >, <=, >=, <>

-Right hand value: any variable or constant (range -128 to 127)

• Instruction set 1: One or more instructions, until Else instruction. It can contain nested instructions (up to 8 levels)

• Instruction set 2: One or more instructions, until End If instruction. It can contain nested instructions (up to 8 levels)

Format

Ifs <condition> Then <instruction set 1> Else <instruction set 2> Endif

Example

Flowchart

Text

The example changes the value of P103 based on the value of parameter P100 and P101. If P100 is bigger than P101 then P103=10. If not P103=20.

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Drive Programming

Select / Case / End Select

Command

Description

Arguments

This instruction allows multiple program sections to be executed depending on a variable value. For a particular CASE section it Executes <instruction set n> when <conditional variable> matches <conditional value n> If <conditional variable> doesn’t match any of the CASE section the <instruction set if no other> (Case Else) is executed. This instruction is convenient when multiple choices have to be done from parameter value. It makes simple some if/then structures. This instruction is recommended to organize program by using subroutine calls as instruction set.

• Conditional variable: the instruction select variable.

• Conditional value x: variable value.

• Instruction set x: One or more instructions, until next case or end select. It can contain nested instructions (up to 8 levels).

Format

Select <conditional variable> Case <conditional value 1> <instruction set 1> Case <conditional value 2> <instruction set 2> … Case Else <instruction set if no other> End select

Example

Flowchart

Text

The P101 parameter is set to 100, 200, 300 or 500 depending on the value of the P100 parameter (1, 2, 3 or any other, respectively).

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Drive Programming

For / Next

Command

Description

Arguments

Executes <instruction set> repeatedly until <variable> reaches <end value>. Each cycle <incremental value> is added to <variable>.

•

Variable

: any variable

• Start value: Initial value, it is the value assigned to the variable in the first loop. (Constant value from -128 to 127)

• End value: Value that exits the loop. (Constant value from -128 to 127)

• Incremental value: The variable will be incremented by this value each loop. (Constant value from -128 to 127)

• Instruction set: One or more instructions, until Next instruction. It can contain nested instructions (up to 8 levels)

Format

For <variable><start value><end value><incremental value> <instruction set> Next

Example

Flowchart

Text

This example make the variable U(00) P(100) count from 1 to 8 each second.

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Drive Programming

While / Wend

Command

Descri

ption

Arguments

Executes <instruction set> while a condition is met.

•

Condition

: A comparison between two variables or constants with the format <Left hand value><Comparison><Right Hand Value>

- Left hand value: any variable or constant (range -128 to 127).

- Comparison

: =, <, >, <=, >=, <>

- Right hand value: any variable or constant (range -128 to 127).

• Instruction set: One or more instructions, until Wend instruction. It can contain nested instructions (up to 8 levels)

Format

While <condition> <instruction set> Wend

Example

Flowchart

Text

The code will increment P101 parameter every second while the digital input X(00) is closed (whilewend loop). If it is open, P101 is not increased (GoTo-label loop loop; the while – wend portion is

not executed). Digital input has to be configured in the multifunction input.

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Drive Programming

Until / Loop

Command

Desc

ription

Arguments

Executes <instruction set> until a <condition> is met.

•

Condition

: A comparison between two variables or constants with the format <Left hand value><Comparison><Right Hand Value>

-Left hand value: any variable or constant (range -128 to 127)

-Comparison: =,<,>,<=,>=,<>

-Right hand value: any variable or constant (range -128 to 127)

• Instruction set: One or more instructions, until Loop instruction. It can contain nested instructions (up to 8 levels)

Format

Until <condition> <instruction set> Loop

Example

Flowchart

Text

This code will increment while the digital input is closed. If it is open, then it will stay in the until-loop portion. The check of the input is every second because of this structure. Digital input has to be configured in the multifunction input.

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Drive Programming

Wait

Command

Description

Arguments

This instruction makes the program wait for a number of seconds or until a condition is met.

•

Value

: any variable or constant (time in

10 x ms).

• Condition: A comparison between two variables or constant with the format <Left hand value><Comparison><Right Hand Value>

-Wait Time value from 0 to 32767 * 10ms

-Left hand value: any variable or constant (range -128 to 127)

-Comparison: =, <, >, <=, >=, <>.

-Right hand value: any variable or constant (range -128 to 127)

Format

Wait <value> or <condition> NOTE: WaitTime is not accurate way to measure time, please use internal timers or external Real Time Clock in LCD for accurate time measurement.

Example Wait Time: wait during a time period.

Flowchart

Text

The P100 parameter is increased every second.

Example Wait condition: wait for condition.

Flowchart

Text

The program waits until the digital input is closed (you need to set one of the multifunction inputs for this), and then P100 parameter is increased.

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Drive Programming

6-2 Arithmetic and Logic Commands

= (Substitution)

Command

Des

cription

Arguments

Assigns <value> to <result>.

• Result: any variable.

• Value: any variable or constant (range -2147483648 to 2147483647).

Format

Warning

: Drive programming does not control overflow/underflow. The application should take care.

Example

Flowchart

Text

The P100 and P101 parameters are set to 200.

+ (Addition)

Command

Description

Arguments

Adds <value 1> and <value 2>.

•

Result

: any variable.

• Value 1: any variable or constant (range

-128 to 127)

• Value 2: any variable or constant (range

-2147483648 to 2147483647).

Format

Warning

: Drive Programming does not control overflow/underflow. The application should take care.

Example

Flowchart

Text

The P102 parameter calculation result is 700.

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Drive Programming

- (Subtraction)

Command

Description

Arguments

Subtracts <value 2> from <value 1>.

•

Result

: any variable.

• Value 1: any variable or constant (range

-128 to 127).

• Value 2: any variable or constant (range

-2147483648 to 2147483647).

Format

Warning

: Drive Programming does not control overflow/underflow. The application should take care.

Example

Flowchart

Text

The P102 parameter calculation result is 300.

*(Multiplication)

Command

Description

Arguments

Multiplies <value 1> by <value 2>.

•

Result

: any variable.

• Value 1: any variable or constant (range

-128 to 127).

• Value 2: any variable or constant (range

-2147483648 to 2147483647).

Format

Warning

: Drive Programming does not control overflow/underflow. The application should take care.

Example

Flowcha

rt Text

The P102 parameter is set to 1000.

Page 49

Drive Programming

/(Division)

Command

Description

Arguments

Divides <value 1> by <value 2>.

•

Result

: any variable.

• Value 1: any variable or constant (range

-128 to 127)

• Value 2: any variable or constant (range

-2147483648 to 2147483647).

Format

Warning

: Drive Programming does not control overflow/underflow. The application should take care.

Example

Flowchart

Text

The P102 parameter calculation result is 250.

% (Mod)

Command

Description

Arguments

Remainder of division.

•

Result

: Any variable.

• Value 1: any variable or constant (range

-128 to 127).

• Value 2: any variable or constant (range

-2147483648 to 2147483647)

Format

Warning

: Drive Programming does not control overflow/underflow. The application should take care.

Example

Flowchart

Text

The P102 parameter calculation result is 0.

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Drive Programming

Abs

Command

Description

Arguments

Absolute value.

• Result: any variable.

• Value: any variable or constant (range -2147483648 to 2147483647).

Format

Warning

: Drive Programming does not control overflow/underflow. The application should take care.

Example

Flowchart

Text

The UL(01) variable is set to 200.

Page 51

Drive Programming

And

Command

Description

Arguments

And (logical product).

Value 1

Value 2

Result

0 0 0 0 1 0 1 0 0 1 1 1

• Result: any variable.

• Value 1: any variable or constant (range

-128 to 127).

• Value 2: any variable or constant (range -2147483648 to 2147483647).

Format

Warning

: Drive Programming does not control overflow/underflow. The application should take care.

Example

Flowchart

Text

The initial P104 parameter calculation result is 4, as 6 in binary format is 00000110 and 12 in binary format is 00001100, so the result of the and operation is 00000100 that is 4 in decimal format If P102 and P103 are changed by the user, then P104 will recalculate accordingly.

Page 52

Drive Programming

Command

Description

Arguments

Or (logical addition).

Value 1

Value 2

Result

0 0 0 0 1 1 1 0 1 1 1 1

• Result: any variable.

• Value 1: any variable or constant (range -128 to 127).

• Value 2: any variable or constant (range -2147483648 to 2147483647).

Format

Warn

ing

: Drive programming does not control overflow/underflow. The application should take care.

Example

Flowchart

Text

The initial P104 parameter calculation result is 14, as 6 in binary format is 00000110 and 12 in binary format is 00001100, so the result of the operation is 00001110 that is 14 in decimal format. If P102 and P103 are changed by the user, then P104 will recalculate accordingly.

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Drive Programming

XOr

Command

Description

Arguments

XOr(exclusive-or)

Value 1

Value 2

Result

0 0 0 0 1 1 1 0 1 1 1 0

• Result: any variable.

• Value 1: any variable or constant (range -128 to 127).

• Value 2: any variable or constant (range -2147483648 to 2147483647).

Format

Warning

: Drive Programming does not control overflow/underflow. The application should take care.

Example

Flowchart

Text

The initial P104 parameter calculation result is 10, as 6 in binary format is 00000110 and 12 in binary format is 00001100, so the result of the XOr operation is 00001010 that is 10 in decimal format. If P102 and P103 are changed by the user, then P104 will recalculate accordingly.

Page 54

Drive Programming

Not

Command

Description

Arguments

Not (negation)

Value 1

Result

0 1 1 0

•

Result

: any variable, except variables

with bit data size (Note 1)

• Value: any variable or constant, except variables with bit data size (Note 1) (range -2147483648 to 2147483647).

Format

Note:

Unexpected result will be obtained with instructions like UB(1) = Not UB(0). Please use XOr command to negate variables with bit data size in Drive Programming as shown on the next examples:

· Example 1: UB(1) = UB(0) Xor 1

· Example 2: UB(2) = X(00) Xor 1

Warning

: Drive Programming does not control overflow/underflow. The application should take care.

Example

Flowchart

Text

The initial P104 parameter calculation result is 65523, as 12 in binary format is 0000000000001100, so the result of the not operation is 1111111111110011 that is 65523 in decimal format. If P103 is changed by the user, then P104 will recalculate accordingly.

Page 55

Drive Programming

Inc

Command

Description

Arguments

Increments a value by 1.

• Value: any variable.

Format

Inc<value>

Warning

: Drive Programming does not control overflow/underflow. The application should take care.

Example

Flowchart

Text

The P102 parameter is incremented by 1 every second.

Page 56

Drive Programming

Dec

Command

Description

Arguments

Decrements a value by 1.

• Value: any variable.

Format

Dec<value>

Warning

: Drive Programming does not control overflow/underflow. The application should take care.

Example

Flowchart

Text

The P102 parameter is decremented by 1 every second.

Page 57

Drive Programming

6-3 Input/Output Control Commands

For memory optimization, use Input/Output Control Commands (4 bytes) instead of the Equal Arithmetic Command “=” (8 bytes).

Var = X(i)

Command

Description

Arguments

Instruction to access contact inputs. Reflects the state of the input.

• Variable: any variable (the value of the variable will be 0 or 1).

• i: Number of the contact input (range 0 to 11).

Format

<variable>=X(i)

Note

: The inputs have to be assigned to digital multifunction input (by the multifunction 56 to 63).

X(02) is not necessarily input 2 (depends where MF 58 is). X(00) = MI1

X(01) = MI2 X(02) = MI3 X(03) = MI4 X(04) = MI5 X(05) = MI6 X(06) = MI7 X(07) = MI8 X(08) = MI9 X(09) = MI10 X(10) = MI11 X(11) = MI12 Note

: more details in chapter 5-4 Terminal Variables.

Example

Flowchart

Text

The state of the input terminal X(01) is monitored on the d025 parameter

Page 58

Drive Programming

Var = Xw

Command

Description

Arguments

Instruction to access contact inputs by word. Each bit reflects one of the inputs.

• Variable: any variable.

Format

<variable> = Xw

Note

: The inputs have to be assigned to digital multifunction input (by the multifunction 56 to 63 for

MX2 and RX or 49 to 60 on LX) Xw = 1  bit 0

Xw = 2  bit 1 Xw = 4  bit 2 Xw = 8  bit 3 Xw = 16 bit 4 Xw = 32 bit 5 Xw = 64 bit 6 Xw = 128  bit 7 (only for RX and LX) Xw = 256  bit 8 (only for LX with extension I/O) Xw = 512  bit 9 (only for LX with extension I/O) Xw = 1024  bit 10 (only for LX with extension I/O) Xw = 2048  bit 11 (only for LX with extension I/O)

Example

Flowchart

Text

This example acquires the state of the X(02) - X(05) input terminals and outputs it to Y(00) -Y(03) output terminals. To cut X(00) - X(01), the U(00) value is divided by 4. To cut X(06) - X(07), the U(00) value is masked by 15.

Page 59

Drive Programming

Y(i) = va

lue

Command

Description

Arguments

Instruction to access digital outputs.

• i: Number of the contact output (range 0 to 6)

• Value: any variable or constant.

For

mat

Y(i)=<value>

Note

: The inputs have to be assigned to digital multifunction output (by the multifunction 44 to 49 for MX2 and RX and 35 to 41 for LX). Y(00) = MO1 Y(01) = MO2 Y(02) = MO3 Y(03) = MO4 Y(04) = MO5 Y(05) = MO6 Y(06) = MO7 Note

: more details in chapter 5-4 Terminal Variables

Example

Flowchart

Text

To test this example, initialize the user variables with the following value: U(00) = 1000, U(01) = 2000, U(02) = 3000. Y(00) – Y(01) are sequentially turned on every 10Hz step of the output frequency.

Page 60

Drive Programming

Yw = value

Command

Description

Arguments

Instruction to access digital outputs by word. Each bit reflects one of the outputs.

• Value: any variable or constant

Format

Yw = <value>

Note

: The inputs have to be assigned to digital multifunction input (by the multifunction 44 to 49 for MX2 and RX, 35 to 41 for LX). Yw = 1  bit 0 Yw = 2  bit 1 Yw = 4  bit 2 Yw = 8  bit 3 (only if expanded I/O board used) Yw = 16  bit 4 (only if expanded I/O board used) Yw = 32  bit 5 (only if expanded I/O board used, and enough outputs) Yw = 64  bit 6 (only if expanded I/O board for LX is used)

Example

Flowchart

Text

This example acquires the state of the X(02)-X(05) input terminals and outputs it to Y(00)-Y(03) output terminals. To cut X(00) – X(01), the U(00) value is divided by 4. To cut X(06) – X(07), the U(00) value is masked by 15.

Page 61

Drive Programming

func = value

Command

Description

Arguments

Assigns the value of a variable to a command of a terminal input.

• Function: any function of input terminal.

• Value: any variable or constant.

Format

Example

Flowchart

Text

A forward and reverse run at 60Hz is repeated continuously.

Page 62

Drive Programming

Var = func

Command

Description

Arguments

A terminal output status is assigned to a variable.

• Variable: any variable.

• Function: any function of output terminal.

Format

Example

Flowchart

Text

The value of P100 is set to “1” if the ZS (zero speed signal) is on, otherwise is set to “0”.

Page 63

Drive Programming

Var = UB(i)

Command

Description

Arguments

Assigns the value of an internal user contact to a variable.

• Variable: any variable (value of the variable will be 0 or 1).

• i: Number of the user contact (range 0 to 7)

Format

<variable> = UB(i)

Example

Flowchart

Text

The internal user contacts are cleared on the loop’s 1

instruction. The status of the X(00) – X(02) input terminals are stored in the UB(0) – UB(2) internal user contacts and monitored on the d025 parameter. Finally, the status of the X(02) input terminal is set tot the Y(00) output terminal.

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Drive Programming

r = UBw

Command

Description

Arguments

Assigns the value of the internal user contact as word (all together) to a word variable. .

• Variable: any variable.

Format

<variable> = UBw

Note

: UBw = 1  bit 0 UBw = 2  bit 1 UBw = 4  bit 2 UBw = 8  bit 3 UBw = 16  bit 4 UBw = 32  bit 5 UBw = 64  bit 6 UBw = 128  bit 7

Example

Flowchart

Text

The internal user contacts are cleared on the loop’s 1st instruction. The status of the X(00) – X(02) input terminals are stored in the UB(0) – UB(2) internal user contacts and monitored on the d025 parameter. Finally the status of the X(02) input terminal is set to the Y(00) output terminal.

Page 65

Drive Programming

UB(i) = value

Command

Description

Arguments

Assigns a value to an internal user contact control.

• i: Number of the user contact (range 0 to 7).

• Value: any variable or constant.

Format

UB(i) = <value>

Example

Flowchart

Text

The internal user contacts are cleared on the loop’s 1st instruction. The status of the X(00)-X(02) input terminals are stored in the UB(0)-UB(2) internal user contacts and monitored on the d025 parameter. Finally, the status of the X(02) input terminal is set to the Y(00) output terminal.

Page 66

Drive Programming

UBw = value

Command

Description

Arguments

Assigns a value to the internal user contact controls. Instruction to access internal user contact by word.

• Value: any variable or constant.

Format

UBw = <value>

Note

: UBw = 1  bit 0 UBw = 2  bit 1 UBw = 4  bit 2 UBw = 8  bit 3 UBw = 16  bit 4 UBw = 32  bit 5 UBw = 64  bit 6 UBw = 128 bit 7

Example

Flowchart

Text

Page 67

Drive Programming

6-4 Timer Control Commands

Delay

Command

Description

Arguments

This instruction sets the count of the timer in <value 2> and starts the timer counter. When the timer output “TD (K)” is turned on/off, <value 1> is turned on/off. It is important to note, that meantime counting proceeds, the <value 1> remains unchanged from original value.

• Value 1: any variable.

• Value 2: any variable or constant (time in 10 x ms)

• K: number of timer.

Format

Delay on/off <value 1>TD(k)<value 2>

Timing chart

Example

Flowchart

Text

Sample program that activates/deactivates the FW instruction with Delay On/Delay Off instruction.

Page 68

Drive Programming

Timer Set

Command

Description

Arguments

Sets <value> in the timer and starts the counter. The timer starts from 0 and increments until <value>. Associated timer contact reflects status (“1” = finish timing)

• Value: any variable or constant (time in 10 x ms)

• K: number of timer (range 0 to 7)

Format

Timer set TD(k) <value>

Note

: Timer value can be check in variable TC(k). Completion of timer can be checked in variable TD(k) (when it becomes “1”).

Timing chart

Example

Flowchart

Text

This program will set the timer TD(0) to an increasing value each timer execution, taking longer time on each loop.

Page 69

Drive Programming

Timer Off

Command

Description

Arguments

Clears the timer counter (up counter) to zero, and starts it in free-running mode.

• k: number of timer (range 0 to 7)

Format

Timer off TD(k)

Timing chart

Example

Flowchart

Text

This example uses a fixed timer execution. But it is cancelled when digital input X(01) is OFF.

Page 70

Drive Programming

6-5 Parameter Control Commands

ChgParam

Command

Description

Arguments

Changes the parameter’s inverter setting specified by display code to a value. Any inverter parameter can be changed.

• Parameter: parameter code (Fxxx, Axxx, bXXX, Cxxx, Hxxx, Pxxx)

• Value: any variable or constant.

Format

ChgParam <parameter><value>

Note

: The same rules to parameter writing from operator panel or communications apply: Some parameters can not be written in certain mode of inverter (e.g. some parameters can not be changed during RUN condition). This instruction does not fix the parameter in EEPROM (EepWrt to be used for this purpose)

Example

Flowchart

Text

The F002 (acceleration time setting 1) value is increased by 1 every second.

Page 71

Drive Programming

MonParam

Command

Description

Arguments

Assigns the inverter’s parameter content specified by display code to a variable.

• Parameter: parameter code (Fxxx, Axxx, bxxx, Cxxx, dxxx, Hxxx, Pxxx).

• Variable: any variable

Format

MonParam<parameter><variable>

Example

Flowchart

Text

The value of the F001 parameter (output frequency setting) is monitored on the d025 parameter (user parameter monitor).

Page 72

Drive Programming

EepWrt

Command

Description

Arguments

The command allows write into EEPROM the next ChgParam executed just after this command. (if two ChgParam follows an EepWrt, only for the first one will be saved).

---

Format

EepWrt

Note

: Limitation of EepWrt:

-If this command is executed in more than one task, ChgParam is executed in the sequence it is detected. For the second invocation of the command, a waiting time of typically 10 ms will occur before each ChgParam is executed. For example, when ChgParam is detected in task 1,2 and 3 at the same time, and the one in task 1 is executed at first, is necessary to wait 10 ms for task 2 and 20 ms for task 3. But when Eepwrt is not executed, ChgParam doesn’t need this waiting time.

Example: (only F002 is stored in EEPROM)

Flowchart

Text

On executing the program, only F002 parameter is saved permanently from U(02). After power off and on again, F003 will have the old value. The initial values of the U(02) and U(03) variables can be set on the program variables list or the P102, P103 parameters.

Page 73

Drive Programming

RtcSet

Command

Description

Arguments

This statement sets 6 bytes data of time to a variable. This data corresponds with year, month, day, day of week, hour and minute. The variable value in hexadecimal corresponds to the year, month, day, day of a week, hour and minute (in decimal). RtcSet on: updates the 6 bytes data continuously. RtcSet off: updates the 6 bytes data only once.

• User variable: any user or internal user variable (U(xx) or UL(xx)).

Format

RtcSet on/off <user variable>

Note

• RtcSet on U(<k>): It will set U(<k>) with 2 bytes for year and 2 bytes for month, U(<k+1>) with 2 bytes for Month’s day and 2 bytes for week’s day(00 for Sunday, 06 for Saturday), and U(<k+2>) with 2 bytes for hour and 2 bytes for minutes.

• RtcSet on UL(<k>): It will set UL(<k>) with 2 bytes for year, 2 bytes for month, 2 bytes for month’s day and 2 bytes for week’s day (00 for Sunday, 06 for Saturday), and UL(<k+1>) with 2 bytes for hour, 2 bytes for minutes and 4 bytes of padding(0000).

• If the watch LCD operator is not attached, RtcSet instruction sets 000000000000h

Example

Flowchart

Text

After executing the program (with the watch LCD operator attached), the hexadecimal value of the first 2 bytes of U(00) will correspond with the current year and the hexadecimal value of the last 2 bytes of U(00) will correspond to the current month.

I.e. if the example program runs on July 5

(Monday) of 2010 at 02:29 P.M., then U(00), U(01) and

U(02) will display the following values:

Parameter…

…display in decimal

format…

Which converted to

hexadecimal format

results in…

…which means

U(00) 4103 1007

‘10’ for 2010

‘07’ for July

U(01) 1281 0501

‘05 for 5

day of month

‘01’ for Monday

U(02) 5161 1429

‘14’ for 2 p.m.

‘29’ for 29 minutes

Page 74

Drive Programming

6-6 Inverter Control Commands

Run FW

Command

Description

Arguments

Makes the inverter run the motor in forward direction (starts the inverter output). This command is a shortcut of the func = value command.

---

Format

FW = 1 for RX and MX2 or UP =1 for LX

Note

: The instruction is available since CX-Drive v2.10.

Run RV

Command

Description

Arguments

Makes the inverter run the motor in reverse direction (starts the inverter output). This command is a shortcut of the func = value command.

---

Format

RV = 1 for RX and MX2 or DOWN=1 for LX

Note

: This instruction is available since CX-Drive v2.10.

Stop

Command

Description

Arguments

Makes the inverter decelerate and stop the motor (stop the inverter output).

---

Format

Stop

Set Freq

Command

Description

Arguments

It sets the frequency of the inverter. This command is a shortcut of the ‘=’ command. Units: 0.01Hz.

• Value: any variable or constant (range from 0 to 40000).

Format

Set-Freq = <value>

Note

: This instruction is available since CX-Drive v2.10.

Page 75

Drive Programming

Example

Flowchart

Text

This program will run the motor in forward direction at 10Hz if general input contact Xw is 1. If general input contact Xw is 2, it will run in reverse direction at 15Hz. For other values the motor will stop.

Page 76

Drive Programming

Trip

Command

Description

Arguments

This instruction makes inverter trip.

• Value: any variable or constant (range 0 to 9).

Format

Trip<value>

Example

Flowchart

Text

This sample program will throw a user trip on the inverter when digital input X(01) is set to ON.

Page 77

Drive Programming

Accel

Command

Description

Arguments

It sets the acceleration time of the inverter. This command is a shortcut of the ‘=’ command. Units: 10 ms.

• Value: any variable or constant (range from 1 to 360000).

Format

Accel =<value>

Note:

Parameters P031 for MX2 and RX or A053 on LX must be set to value 3 (Drive programming)

for the command to become effective.

Decel

Command

Description

Arguments

It sets the deceleration time of the inverter. This command is a shortcut of the ‘=’ command. Units: 10ms

• Value: any variable or constant (range from 1 to 360000).

Format

Decel = <value>

Note

: Parameters P031 for MX2 and RX or A053 on LX must be set to value 3 (Drive programming) for the command to become effective

Example

Flowchart

Text

This sample program will set the Acceleration to 10 seconds and deceleration to 20 seconds if digital input X(00) is set to ON.

Page 78

Drive Programming

7- Drive Programming specific trips and Troubleshooting

The table below shows how to handle the specific errors to Drive Programming function. For details on other errors in the inverter, refer to the inverter instruction manual.

Factor

code

Error (causing

inverter trip)

Possible cause Checking method Corrective action

E43 Invalid instruction

The PRG terminal was turned on without a program downloaded to the inverter.

By uploading the program, you can check if really a program is in the inverter or not.

Recreate the program, and then download it to the inverter

E44 Nesting count error

Subroutines are nested in more than eight layers.

Read the program to check the number of nesting layers (some times difficult to recognize)…

Correct the program so that the number of layers will be eight or less.

For-Next loop statements are nested in more than eight layers. If statements are nested in more than eight layers.

E45 Instruction error 1

The jump destination of a GoTo instruction is a next instruction to end a for or other loop.

Check whether each GoTo instruction jumps to an instruction that ends a loop.

Correct the jump destinations of GoTo instructions. As general recommendation, never jump a Goto out of the current level it is.

The variable “U(ii)” referenced via another variable is not found.

Check the numerical value specified in “U(ii)”.

Correct the value of variable “U(ii)” or limit the range of values of

variable “U(ii)”. An arithmetic instruction caused:

-Overflow,

-underflow, or

-division by zero

Check the program for the instruction causing overflow, underflow, or division by zero (not in early MX2 firmware).

Correct the program so

that no arithmetic

instruction causes

overflow, underflow, or

division by zero. A ChgParam instruction

caused:

- reference to a non existing parameter.

-writing of a value out of the setting range

-change of a parameter value (during inverter operation) that cannot be updated during inverter operation, or Change of a parameter value of which updating is restricted by software lock (when software lock is enabled).

-Check the parameters and the values to be written.

-If the error has occurred during inverter operation, check whether the parameter in question can be updated during inverter operation.

-Check the setting of software lock selection (b031).

-Correct the parameters

or the values to be

written to parameters so

that they will be within

the setting range.

-Disable software lock.

-If the parameter to be

updated is the one that

cannot be updated

during inverter

operation, change the

setting of software lock

selection (b031) to “10”

to switch to the mode

enabling parameter

updating during inverter

operation.

E50 to E59

User trip 0 to 9 These trips are generated

from the user application. The cause is determined by the Drive Programming logic

Check with the drive program documentation to recognize the trip conditions

Check the drive

program documentation

to recognize

countermeasures

Page 79

Drive Programming

8- Drive Programming Parameters – General Precautions 8-1 Parameters list affected by setting order

Parameter

Description

A003 Base frequency setting A004 Maximum frequency setting A203 Base frequency setting, 2nd motor A204 Maximum frequency setting, 2nd motor B015 Free setting, electronic thermal frequency (1) B017 Free setting, electronic thermal frequency (2) B019 Free setting, electronic thermal frequency (3) B049 Dual Rating Selection B050 Controlled deceleration on power loss B051 DC bus voltage trigger level of control deceleration B052 Over-voltage threshold of control deceleration B060 Maximum-limit level of window comparators O B061 Minimum-limit level of window comparators O B062 Hysteresis width of windows comparators O B063 Maximum-limit level of window comparators OI B064 Minimum-limit level of window comparators OI B065 Hysteresis width of window comparator (OI) B079 Watt-hour display gain setting B082 Start frequency adjustment B100 Free setting V/f freq. (1) B102 Free setting V/f freq. (2) B104 Free setting V/f freq. (3) B106 Free setting V/f freq. (4) B108 Free setting V/f freq. (5) B110 Free setting V/f freq. (6) B112 Free setting V/f freq. (7) P070 Low-speed zero-return frequency

Note: this parameter list only affect MX2 and RX.

8-2 Parameters list affected by Rated Current (%)

Param

eter Description

B012 Level of electronic thermal setting B016 Free setting, electronic thermal current (1) B018 Free setting, electronic thermal current (2) B020 Free setting, electronic thermal current (3) B022 Overload restriction level setting B025 Overload restriction level 2 setting B028 Current level of active freq. matching restart setting B126 Brake release current setting B212 Level of electronic thermal setting, 2nd motor B222 Overload restriction operation mode, 2nd motor C030 Digital current monitor reference value C039 Low load detection level C041 Overload level setting C111 Overload setting (2) C241 Overload level setting, 2nd motor

Note: this parameter list affect MX2. RX and LX.

Page 80

Drive Programming

8-3 Parameters list affected by PID enabled/disabled

Parameter

Description

A011 Pot./O-L input active range start frequency A012 Pot./O-L input active range end frequency A020 Multi-speed 0 setting A021 Multi-speed 1 setting A022 Multi-speed 2 setting A023 Multi-speed 3 setting A024 Multi-speed 4 setting A025 Multi-speed 5 setting A026 Multi-speed 6 setting A027 Multi-speed 7 setting A028 Multi-speed 8 setting A029 Multi-speed 9 setting A030 Multi-speed 10 setting A031 Multi-speed 11 setting A032 Multi-speed 12 setting A033 Multi-speed 13 setting A034 Multi-speed 14 setting A035 Multi-speed 15 setting A101 [OI] input active Range start frequency A102 [OI] input active Range end frequency A145 ADD frequency A220 Multi-speed 0 setting, 2nd motor F001 Output frequency setting

These parameters are affected by A071 / A075. Note

: this parameter list only affect MX2 and RX.

Page 81

Drive Programming

9 Insertion Point ( MX2 & RX )

The Gain/Bias can be applied to any reference

9-1 ‘Frequency’ before ACC/DEC

Para

meter

Description

Range

A901 Insertion Point 0: Disable; 1: Enable A902 Insertion Point ‘Frequency’ before ACC/Dec Gain 0 to 1000% A903 Insertion Point ‘Frequency’ before ACC/DEC Bias -100 to +100%

9-2 ‘Frequency’ after ACC/DEC

Parameter

Description

Range

A901 Insertion Point 0: Disable; 1: Enable A904 Insertion Point ‘Frequency’ after ACC/Dec Gain 0 to 1000% A905 Insertion Point ‘Frequency’ after ACC/DEC Bias -100 to +100%

9-3 ‘Deviation’ before PID block

Parameter

Description

Range

A901 Insertion Point 0: Disable; 1: Enable A906 Insertion Point ‘Deviation’ before PID block Gain 0 to 1000% A907 Insertion Point ‘Deviation’ before PID block Bias -100 to +100%

Page 82

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Omron MX2, RX, LX User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual