Yaskawa MP900 Programming Manual

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Machine Controller MP2000 Series

USER'S MANUAL LADDER PROGRAMMING

Introduction to Ladder

Programming

Specifications for Ladder

Programs

Ladder Program Development

Flow

Programming

Instructions

Features of the MPE720

Engineering Tool

Troubleshooting

System Registers

CP (Previous) Ladder Instructions

and New Ladder Instructions

Sample Programming

Format for EXPRESSION

Instruction

Precautions

AppA

AppB

AppC

AppD

AppE

MANUAL NO. SIE-C887-1.2D

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

About this Manual

 This manual provides comprehensive information on ladder programming for MP2000-series

Machine Controllers. It provides the following information on MP2000-series Machine Controllers.

• Introduction to Ladder Programming

• Specifications

• Program Development Flow

• Programming

• Instructions

• MPE720 Engineering Tool

• Troubleshooting

 This manual provides information on MP2000-series Machine Controllers and MPE720 version 6.

For information on the MP900-series Machine Controllers and MPE720 version 5, refer to the appropriate manuals for them.

 Read this manual carefully to ensure the proper use of the MP2000-series Machine Controllers.

Keep this manual in a safe place so that it can be referred to whenever necessary.

Using this Manual

 Intended Audience

This manual is intended for the following users.

• Those responsible for designing the MP2000-series Machine Controller system

• Those responsible for writing the MP2000-series Machine Controller ladder programs

 MPE720 Engineering Tool Version Number

In this manual, the operation of the MPE720 is described using screen captures of MPE720 version 6. For this reason, the screen captures and some descriptions may differ for MPE720 version 5.

 Abbreviations

The following abbreviation is used in this manual.

• MP2000: A generic term for the MP2100, MP2100M, MP2101, MP2101M, MP2101T, MP2101TM, MP2200, MP2300, MP2300S, MP2310, MP2400, MP2500/M/B/MB, and MPU-01.

MP2000-series Manuals

 The MP2000 Series includes the MP2100, MP2100M, MP2101, MP2101M, MP2101T, MP2101TM,

MP2200, MP2300, MP2300S, MP2310, MP2400, MPU-01, MP2500/M/B/MB, and MPU-01. There are many manuals available for one or more of these Machine Controllers. A list of the related manuals is provided on the following page. Refer to these manuals as required.

iii

 Related Manuals

The following manuals are related to the MP2000 Series. Refer to these manuals as required.

Manual Name Manual Number Description

Machine Controller MP210/MP210M User’s Manual, Design and Maintenance

Machine Controller MP2200 User’s Manual SIEP C880700 14

Machine Controller MP2300 Basic Module User’s Manual

Machine Controller MP2300S Basic Module User’s Manual

Machine Controller MP2310 Basic Module User’s Manual

Machine Controller MP2400 User’s Manual SIEP C880742 00

Machine Controller MP2500/MP2500M/ MP2500D/MP2500MD User’s Manual

Machine Controller MP2000 Series Built-in SVB/SVB-01 Motion Module User’s Manual

Machine Controller MP2000 Series SVC-01 Motion Module User’s Manual

Machine Controller MP2000 Series SVA-01 Motion Module User’s Manual

Machine Controller MP2000 Series Pulse Output Motion Module PO-01 User’s Manual

Machine Controller MP2000 Series Communication Module User’s Manual

Machine Controller MP2000 Series 262IF-01 FL-net Communication Module User’s Manual

Machine Controller MP2000 Series 263IF-01 EtherNet/IP Communication Module User’s Manual

Machine Controller MP2000 Series I/O Module User’s Manual

Machine Controller MP2000 Series Analog Input/Analog Output Module AI-01/AO-01 User’s Manual

Machine Controller MP2000 Series Counter Module CNTR-01 User’s Manual

Machine Controller MP2000 Series MPU-01 Multiple-CPU Module User’s Manual

Machine Controller MP2000 Series User’s Manual for Motion Programming

Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6 User’s Manual

Machine Controller MP900/MP2000 Series MPE720 Software for Programming Device User’s Manual

Machine Controller MP2000 Series Embedded C-Language Programming Package Development Guide

Machine Controller MP900/MP2000 Series New Ladder Editor User’s Manual

SIEP C880700 01

SIEP C880700 03

SIEP C880732 00

SIEP C880732 01

SIEP C880752 00

SIEP C880700 33

SIEP C880700 41

SIEP C880700 32

SIEP C880700 28

SIEP C880700 04

SIEP C880700 36

SIEP C880700 39

SIEP C880700 34

SIEP C880700 26

SIEP C880700 27

SIEP C880781 05

SIEP C880700 38

SIEP C880700 30

SIEP C880700 05

SIEP C880700 25

SIEZ-C887-13.2

Describes the functions, specifications, setup procedures, and operating methods of the MP2100/MP2100M.

Describes the functions, specifications, setup procedures, and operating methods of the MP2200.

Describes the functions, specifications, setup procedures, and operating methods of the MP2300.

Describes the functions, specifications, setup procedures, and operating methods of the MP2300S.

Describes the functions, specifications, setup procedures, and operating methods of the MP2310.

Describes the functions, specifications, setup procedures, and operating methods of the MP2400.

Describes how to use the MP2500, MP2500M, MP2500D, and MP2500MD Machine Controllers.

Describes the SVB Module that is built into an MP2000-series Machine Controller and the SVB-1 Optional Module.

Describes the SVC-01 SVA Motion Module for MP2000-series Machine Controllers.

Describes the SVA-01 SVA Motion Module for MP2000-series Machine Controllers.

Describes the PO-01 Pulse Output Motion Module for MP2000series Machine Controllers.

Describes the Communications Modules that can be connected to MP2000-series Machine Controllers.

Describes the 262IF-01 FL-net Communications Module for MP2000-series Machine Controllers.

Describes the 263IF-01 EtherNet/IP Communications Module for MP2000-series Machine Controllers.

Describes the I/O Modules that can be connected to MP2000series Machine Controllers.

Describes the AI-01 Analog Input Module and AO-01 Analog Output Module for MP2000-series Machine Controllers.

Describes the CNTR-01 Counter Module for MP2000-series Machine Controllers.

Describes the MPU-01 Multiple-CPU Module for MP2000-series Machine Controllers.

Describes the MP2000-series Machine Controllers.

Describes how to install and operate the MPE720 version 6 Engineering Tool for MP2000-series Machine Controllers.

Describes how to install and operate the MPE720 programming device software for MP900/MP2000-series Machine Controllers.

Describes how to develop, design, and maintain embedded C-language application programs for MP2000-series Machine Controllers.

Describes the operating methods of the New Ladder Editor, which assists MP900/MP2000-series design and maintenance.

instructions that are used

in motion programming for

Manual Name Manual Number Description

Machine Controller MP900/MP2000 Series Distributed I/O Module User’s Manual, MECHATROLINK System

Machine Controller MP900/MP2000 Series User’s Manual, For Linear Servomotors

AC Servo Drives Σ-V Series User’s Manual, Setup, Rotational Motor

AC Servo Drives Σ-V Series User’s Manual, Setup, Linear Motor

AC Servo Drives Σ-V Series User’s Manual, Design and Maintenance, Analog-voltage, Pulse-string Reference, Rotational Motor

AC Servo Drives Σ-V Series User’s Manual, Design and Maintenance, Analog-voltage/ Pulse-string Reference, Linear Motor

AC Servo Drives Σ-V Series User’s Manual, Design and Maintenance, MECHATROLINK-II Communications Reference, Rotational Motor

AC Servo Drives Σ-V Series User’s Manual, Design and Maintenance, MECHATROLINK-II Communications Reference, Linear Motor

AC Servo Drives Σ-V Series User’s Manual, MECHATROLINK-II Commands

AC Servo Drives Σ-V Series User’s Manual, Operation of Digital Operator

SIE-C887-5.1

SIEP C880700 06

SIEP S800000 43

SIEP S800000 44

SIEP S800000 45

SIEP S800000 47

SIEP S800000 46

SIEP S800000 48

SIEP S800000 54

SIEPS 800000 55

Describes MECHATROLINK distributed I/O for MP900/ MP2000-series Machine Controllers.

Describes the connection methods, setting methods, and other information for Linear Servomotors.

Describes the installation, wiring, connections, and trial operation of the

Σ-V Series Servo Drives and Rotational Servomotors.

Describes the installation, wiring, connections, and trial operation

Σ-V Series Servo Drives and Linear Servomotors.

of the

Describes the design and maintenance of the Servo Drives and Rotational Servomotors.

Describes the design and maintenance of the Servo Drives and Linear Servomotors.

Describes the design and maintenance of the TROLINK-II Communications-reference Servo Drives and Rotational Servomotors.

Describes the design and maintenance of the TROLINK-II Communications-reference Servo Drives and Linear Servomotors.

Describes the MECHATROLINK-II communications commands

Σ-V Series Servo Drives with MECHATROLINK-II com-

of the munications references.

Describes operating procedures of the Digital Operator for Series Servo Drives.

Σ-V Series Analog

Σ-V Series MECHA-

Σ-V

IMPORTANT

INFO

EXAMPLE

TERMS

WARNING

CAUTION

PROHIBITED

 Visual Aids

The following visual aids are used to indicate certain types of information for easier reference. Use these to help you understand the different types of information.

• Indicates information that must be remembered. Also indicates alarm displays and other minor precautions that will not result in machine damage.

• Indicates supplemental information and convenient information to remember.

• Indicates concrete examples.

• Indicates definitions of difficult terms or terms that have not been previously explained in this manual.

 Copyrights

• DeviceNet is a registered trademark of the ODVA (Open DeviceNet Venders Association).

• PROFIBUS is a trademark of the PROFIBUS User Organization.

• Ethernet is a registered trademark of the Xerox Corporation.

• MPLINK is a registered trademark of Yaskawa Electric Corporation.

• Microsoft, Windows, Windows NT, and Internet Explorer are trademarks or registered trademarks of the Microsoft Corporation.

• Pentium is a registered trademark of the Intel Corporation.

• MECHATROLINK is a trademark of the MECHATROLINK Members Association.

• Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the ® mark do not appear with product or company names in this manual.

Safety Information

The following signal words and marks are used to indicate safety precautions in this manual. Information marked as shown below is important for safety. Always read this information and heed the precautions that are provided.

Indicates precautions that, if not heeded, could possibly result in loss of life or serious injury.

Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or property damage.

If not heeded, even precautions classified as cautions ( ) can lead to serious results depending on circumstances.

CAUTION

MANDATORY

Indicates prohibited actions. For example, indicates prohibition of open flame.

Indicates mandatory actions. For example, indicates that grounding is required.

CAUTION

Safety Precautions

This section provides important precautions that must be observed in ladder programming. Before you start to program, carefully read all of this manual and all other provided manuals and make sure that you program the MP2000-series Machine Controller correctly. You must be completely familiar with the MP2000-series Machine Controllers, safety information, and all safety precautions before you attempt to use the Machine Controller.

 Storage and Transportation

 If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or

plywood, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used. Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30 minutes or more.

If the electronic products, which include stand-alone products and products installed in machines, are packed with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.

 Other General Precautions

Observe the following general precautions to ensure safe application.

 The MP2000-series Machine Controllers were not designed or manufactured for use in devices or systems

directly related to human life. Users who intend to use products that are described in this manual for special purposes such as devices or systems relating to transportation, medical, space aviation, atomic power control, or underwater use must contact Yaskawa Electric Corporation beforehand.

 The MP2000-series Machine Controllers have been manufactured under strict quality control guidelines. However,

if an MP2000-series Machine Controller is to be installed in any location in which a failure of the MP2000-series Machine Controllers could involve a life and death situation or in a facility where failure may cause a serious accident, safety devices MUST be installed to minimize the likelihood of any serious accident.

 The products shown in illustrations in this manual are sometimes shown without covers or protective guards.

Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.

 The drawings that are presented in this manual are typical examples and may not match the product you received.  If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the

offices listed on the back of this manual.

 Contact your nearest Yaskawa representative or one of the offices listed on the back of this manual to order a new

nameplate whenever a nameplate becomes worn or damaged.

vii

Warranty

( 1 ) Details of Warranty

 Warranty Period

The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory, whichever is sooner.

 Warranty Scope

Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the warranty period above. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life. This warranty does not cover failures that result from any of the following causes.

1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or manuals, or in any separately agreed-upon specifications

2. Causes not attributable to the delivered product itself

3. Modifications or repairs not performed by Yaskawa

4. Abuse of the delivered product in a manner in which it was not originally intended

5. Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Ya sk aw a

6. Events for which Yaskawa is not responsible, such as natural or human-made disasters

( 2 ) Limitations of Liability

1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.

2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.

3. The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license.

4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals.

viii

( 3 ) Suitability for Use

1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products.

2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.

• Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or environments not described in product catalogs or manuals

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations

• Systems, machines, and equipment that may present a risk to life or property

• Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or systems that operate continuously 24 hours a day

• Other systems that require a similar high degree of safety

4. Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa product is properly rated and installed.

5. The circuit examples and other application examples described in product catalogs and manuals are for reference. Check the functionality and safety of the actual devices and equipment to be used before using the product.

6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.

( 4 ) Specifications Change

The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product.

About this Manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii Using this Manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii MP2000-series Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii Warranty - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - viii

1 Introduction to Ladder Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-1

1.1 What Is a Ladder Program?- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.2 Features of Ladder Programming for MP2000-series Machine Controllers - - - - - 1-3

1.2.1 Types of Ladder Drawings and Their Different Execution Timing - - - - - - - - - - - - - - - - - - - - - 1-3

1.2.2 Program Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.2.3 Programming Complicated Numeric Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.2.4 Communications Control with External Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.2.5 Complete Synchronization with Motion Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

2 Specifications for Ladder Programs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-1

2.1 MP2000-series Machine Controller Specifications - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.1 Applicable Machine Controllers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.2 Machine Controller Program Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3

2.2 Engineering Tool Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.2.1 Applicable Engineering Tool- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.2.2 MPE720 Version 6 Engineering Tool Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.3 Ladder Programming Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

3 Ladder Program Development Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1

3.1 Ladder Program Design Procedures - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.1.1 Connecting the Hardware - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3

3.1.2 Installing MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4

3.1.3 Communications Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4

3.1.4 System Startup- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4

3.1.5 Creating a Project- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5

3.1.6 Creating Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6

3.1.7 Transferring Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9

3.1.8 Checking the Operation of the Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11

3.1.9 Saving the Ladder Programs to Flash Memory - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14

4 Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-1

4.1 Ladder Program Editor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2

4.2 Ladder Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.2.1 Types of Ladder Drawings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.2.2 Controlling the Execution of Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.3 User Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7

4.3.1 What Is a User Function? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7

4.3.2 Creating User Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9

4.3.3 Calling a User Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12

4.4 Registers (Variables)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13

4.4.1 What Are Registers? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13

4.4.2 Register Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14

4.4.3 Data Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-17

4.4.4 Index Registers (i, j)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19

4.5 Table Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21

4.5.1 What Is Table Data? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21

4.5.2 Creating Table Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21

4.6 Transferring Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-23

4.7 Setting the High-speed/Low-speed Scan Times- - - - - - - - - - - - - - - - - - - - - - - 4-24

4.8 Advanced Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25

4.8.1 Motion Programs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25

4.8.2 C-language Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26

4.8.3 Security - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-27

4.8.4 Tracing- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28

5 Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-1

5.1 How to Read the Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4

5.2 Relay Circuit Instructions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

5.2.1 NO Contact (NOC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

5.2.2 NC Contact (NCC)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6

5.2.3 10-ms ON-Delay Timer (TON[10ms]) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

5.2.4 10-ms OFF-Delay Timer (TOFF[10ms]) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9

5.2.5 1-s ON-Delay Timer (TON[1s]) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11

5.2.6 1-s OFF-Delay Timer (TOFF[1s]) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13

5.2.7 Rising-edge Pulses (ON-PLS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15

5.2.8 Falling-edge Pulses (OFF-PLS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17

5.2.9 Coil (COIL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19

5.2.10 Set Coil (S-COIL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20

5.2.11 Reset Coil (R-COIL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21

5.3 Numeric Operation Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22

5.3.1 Store (STORE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22

5.3.2 Add (ADD (+)) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24

5.3.3 Extended Add (ADDX (++)) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26

5.3.4 Subtract (SUB (−))- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28

5.3.5 Extended Subtract (SUBX (− −)) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30

5.3.6 Multiply (MUL (x)) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32

5.3.7 Divide (DIV (÷)) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34

5.3.8 Integer Remainder (MOD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36

5.3.9 Real Remainder (REM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38

5.3.10 Increment (INC)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40

5.3.11 Decrement (DEC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42

5.3.12 Add Time (TMADD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-44

5.3.13 Subtract Time (TMSUB) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-46

5.3.14 Spend Time (SPEND) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-48

5.3.15 Invert Sign (INV) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-51

5.3.16 One’s Complement (COM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-52

5.3.17 Absolute Value (ABS)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-53

5.3.18 Binary Conversion (BIN)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-54

5.3.19 BCD Conversion (BCD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55

5.3.20 Parity Conversion (PARITY) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-56

5.3.21 ASCII Conversion 1 (ASCII) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-57

5.3.22 ASCII Conversion 2 (BINASC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-59

5.3.23 ASCII Conversion 3 (ASCBIN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-61

5.4 Logic Operations and Comparison Instructions - - - - - - - - - - - - - - - - - - - - - - - 5-63

5.4.1 Inclusive AND (AND) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-63

5.4.2 Inclusive OR (OR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-65

5.4.3 Exclusive OR (XOR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-67

5.4.4 Less Than (<)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-69

5.4.5 Less Than or Equal (≤) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-70

5.4.6 Equal (=) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-71

5.4.7 Not Equal (≠) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-72

5.4.8 Greater Than or Equal (≥) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-73

5.4.9 Greater Than (>)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-74

5.4.10 Range Check (RCHK) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-75

5.5 Program Control Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-77

5.5.1 Call Sequence Program (SEE)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-77

5.5.2 Call Motion Program (MSEE)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-78

5.5.3 Call User Function (FUNC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-80

5.5.4 Direct Input String (INS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-81

5.5.5 Direct Output String (OUTS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-84

5.5.6 Call Extended Program (XCALL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-87

5.5.7 WHILE Construct (WHILE, END_WHILE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-88

5.5.8 FOR Construct (FOR, END_FOR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-91

5.5.9 IF Construct (IF, END_IF) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-93

5.5.10 IF-ELSE Construct (IF, ELSE, END_IF)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-95

5.5.11 Expression (EXPRESSION)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-97

5.6 Basic Function Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-99

5.6.1 Square Root (SQRT)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-99

5.6.2 Sine (SIN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-101

5.6.3 Cosine (COS)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-103

5.6.4 Tangent (TAN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-105

5.6.5 Arc Sine (ASIN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-106

5.6.6 Arc Cosine (ACOS)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-107

5.6.7 Arc Tangent (ATAN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-108

5.6.8 Exponential (EXP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-109

5.6.9 Natural Logarithm (LN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-110

5.6.10 Common Logarithm (LOG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-111

5.7 Data Shift Instructions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-112

5.7.1 Bit Rotate Left (ROTL)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-112

5.7.2 Bit Rotate Right (ROTR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-114

5.7.3 Move Bit (MOVB) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-116

5.7.4 Move Word (MOVW)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-118

5.7.5 Exchange (XCHG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-120

5.7.6 Table Initialization (SETW)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-122

5.7.7 Byte-to-word Expansion (BEXTD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-124

5.7.8 Word-to-byte Compression (BPRESS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-126

5.7.9 Binary Search (BSRCH) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-128

5.7.10 Sort (SORT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-130

5.7.11 Bit Shift Left (SHFTL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-132

5.7.12 Bit Shift Right (SHFTR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-134

5.7.13 Copy Word (COPYW) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-136

5.7.14 Byte Swap (BSWAP)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-138

xii

5.8 DDC Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-139

5.8.1 Dead Zone A (DZA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-139

5.8.2 Dead Zone B (DZB) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-141

5.8.3 Upper/Lower Limit (LIMIT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-143

5.8.4 PI Control (PI) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-145

5.8.5 PD Control (PD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-150

5.8.6 PID Control (PID) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-156

5.8.7 First-order Lag (LAG)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-161

5.8.8 Phase Lead Lag (LLAG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-164

5.8.9 Function Generator (FGN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-167

5.8.10 Inverse Function Generator (IFGN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-172

5.8.11 Linear Accelerator/Decelerator 1 (LAU) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-177

5.8.12 Linear Accelerator/Decelerator 2 (SLAU) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-184

5.8.13 Pulse Width Modulation (PWM)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-194

5.9 Table Manipulation Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-197

5.9.1 Read Table Block (TBLBR)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-197

5.9.2 Write Table Block (TBLBW) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-200

5.9.3 Search for Table Row (TBLSRL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-203

5.9.4 Search for Table Column (TBLSRC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-206

5.9.5 Clear Table Block (TBLCL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-209

5.9.6 Move Table Block (TBLMV) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-212

5.9.7 Read Queue Table (QTBLR and QTBLRI) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-215

5.9.8 Write Queue Table (QTBLW and QTBLWI)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-219

5.9.9 Clear Queue Table Pointers (QTBLCL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-223

5.10 System Function Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-225

5.10.1 Counter (COUNTER) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-225

5.10.2 First-in First-out (FINFOUT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-228

5.10.3 Trace (TRACE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-232

5.10.4 Read Data Trace (DTRC-RD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-234

5.10.5 Read Inverter Trace (ITRC-RD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-238

5.10.6 Send Message (MSG-SND) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-241

5.10.7 Receive Message (MSG-RCV) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-253

5.10.8 Write Inverter Parameter (ICNS-WR)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-261

5.10.9 Read Inverter Parameter (ICNS-RD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-266

5.10.10 Write SERVOPACK Parameter (MLNK-SVW)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-270

5.10.11 Write Motion Register (MOTREG-W) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-275

5.10.12 Read Motion Register (MOTREG-R) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-278

5.11 C-language Control Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-281

5.11.1 Call C-language Function (C-FUNC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-281

5.11.2 C-language Task Control (TSK-CTRL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-283

6 Features of the MPE720 Engineering Tool - - - - - - - - - - - - - - - - - - - - - - - - - - 6-1

6.1 Ladder Program Runtime Monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.2 Searching/Replacing- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3

6.3 Cross References- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4

6.4 Checking for Multiple Coils - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5

6.5 Forcing Coils ON and OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5

6.6 Viewing Called Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6

6.7 Register Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6

6.8 Tuning Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7

6.9 Enabling and Disabling Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8

6.10 Compiling for MPE720 Version 5 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9

7 Troubleshooting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-1

7.1 Basic Flow of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2

xiii

7.2 Indicator Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3

7.3 Problem Classifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4

7.3.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4

7.3.2 Error Checking Flowchart for MP2000-series Machine Controllers - - - - - - - - - - - - - - - - - - - 7-5

7.4 Detailed Troubleshooting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6

7.4.1 Operation Errors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6

7.4.2 I/O Errors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9

7.4.3 Watchdog Timer Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10

7.4.4 Module Synchronization Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10

7.4.5 System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11

Appendix A System Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-1

A.1 System Service Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2

A.2 System Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-6

A.3 System Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-7

A.4 Overview of User Operation Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - A-9

A.5 System Service Execution Status- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-11

A.6 Detailed User Operation Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-11

A.7 System I/O Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-12

A.8 CF Card-related System Registers

(MP2200-series CPU-02 and CPU-03 only)- - - - - - - - - - - - - - - - - - - - - - A-13

A.9 Interrupt Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-14

A.9.1 Interrupt Status List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-14 A.9.2 Details on Interrupting Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-14

A.10 Module Information- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-15

A.11 MPU-01 System Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-16

A.12 Motion Program Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-17

Appendix B CP (Previous) Ladder Instructions and New Ladder Instructions - - - B-1

B.1 Correspondence between CP (Previous) Ladder Instructions and New Ladder

Instructions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-2

xiv

B.2 Converting CP (Previous) Ladder Programs to New Ladder Programs - - - - - - B-3

Appendix C Sample Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-1

C.1 Jogging from the Control Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-2

C.2 Motion Program Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-3

C.3 Simple Synchronized Operation of Two Axes with a Virtual Axis- - - - - - - - - - - C-4

C.4 Transferring Project Files to Different Models - - - - - - - - - - - - - - - - - - - - - - - - C-6

Appendix D Format for EXPRESSION Instruction - - - - - - - - - - - - - - - - - - - - - - D-1

D.1 Elements That You Can Use in Numeric Expressions - - - - - - - - - - - - - - - - - - D-2

D.2 National Limitations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-5

D.2.1 Arithmetic Operators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-5 D.2.2 Comparison Operators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-5 D.2.3 Logic Operators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-5 D.2.4 Substitution Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-6 D.2.5 Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-6 D.2.6 Others - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-6

Appendix E Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-1

E.1 General Precautions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-2

E.2 Precautions on Motion Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-2

Index - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Index-1

Revision History

Introduction to Ladder Programming

This chapter gives an overview of ladder programming and describes its features.

1.1 What Is a Ladder Program? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.2 Features of Ladder Programming for MP2000-series Machine Controllers - - - - - 1-3

1.2.1 Types of Ladder Drawings and Their Different Execution Timing - - - - - - - - - - - - - - - - - - - - - 1-3

1.2.2 Program Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.2.3 Programming Complicated Numeric Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.2.4 Communications Control with External Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.2.5 Complete Synchronization with Motion Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1-1

1.1 What Is a Ladder Program?

Switch

Lamp

Ladder Program

Illustration of a Circuit

Timer

Execution is

repeated at a

fixed interval.

Ladder Programming Example

1.1 What Is a Ladder Program?

A ladder program uses ladder instructions and registers to symbolically represent electrical circuits that consist of switches, timers, lamps, and other devices.

Ladder programming allows you to easily program large, complex circuits.

Each of the ladder programs that you create is executed in a single scan and then executed repeatedly at fixed intervals.

1-2

1.2 Features of Ladder Programming for MP2000-series Machine Controllers

Introduction to Ladder Programming

Interrupt signal

Power ON

High-speed

scan cycle

Low-speed scan cycle

Processed during idle time of the high-speed scan.

High-speed

scan cycle

High-speed

scan cycle

Interrupt signal

DWG.A

→ Executed only when power is turned ON.

DWG.H

→ Executed in the high-speed scan cycle.

DWG.L

→ Executed in the low-speed scan cycle.

DWG.I

→ Executed only when an interrupt signal is detected.

On standby while drawings of higher priority are processed.

↓

1.2.1 Types of Ladder Drawings and Their Different Execution Timing

1.2 Features of Ladder Programming for MP2000-series Machine Controllers

This section describes the features of ladder programming.

1.2.1 Types of Ladder Drawings and Their Different Execution Timing

Ladder programs are managed in units of drawings (DWG). These are called ladder drawings. In the MP2000-series Machine Controllers, ladder drawings are executed at various times, as illustrated in the following figure. Processing can be executed at the appropriate time by programming it in the appropriate ladder drawing.

 Drawing Execution Timing

 The drawings with lower numbers have higher execution priority.

Priority Ladder Drawing Execution Timing (Processing Example)

1 (High) DWG.A

)

2 (

3 (

)

4 (Low) DWG.L

DWG.H

DWG.I

This drawing is executed only once when the power supply is turned ON (e.g., for data initialization).

This drawing is executed when an interrupt signal is detected (e.g., for interrupt processing for external signals).

This drawing is executed every high-speed scan cycle (e.g., for motion control).

This drawing is executed every low-speed scan cycle (e.g., for touch panel display processing).

1-3

1.2 Features of Ladder Programming for MP2000-series Machine Controllers

1.2.2 Program Modules

The main program can be separated into modular units to suit different processing requirements, such as child drawings, grandchild drawings, and functions, to make the program easier to read.

H: Main program

# Automatic operation processing

H: Main program

SEE instruction

Automatic operation processing drawing

# Manual operation processing

# Difference numeric processing

# Manual operation processing

# Difference numeric processing

END

Modularization

SEE instruction

Manual operation

processing c drawing

Manual operation

processing d drawing

1.2.3 Programming Complicated Numeric Operations

Complicated calculations written over several lines can be written easily within a single EXPRESSION instruction. Variables, structures, and basic functions, such as those for sine and cosine calculations, can be programmed using familiar C-like expressions. You can display the current value inside expressions in the same way as you can for other ladder language instructions.

FUNC

instruction

FUNC

instruction

Difference numeric processing function

1-4

1.2 Features of Ladder Programming for MP2000-series Machine Controllers

Introduction to Ladder Programming

MP2000-series Machine Controller

• MSG-SND instruction (Send Message)

• MSG-RCV instruction (Receive Message)

Ladder Program

Touch Panel

PLC

Registers

External Device

INFO

1.2.4 Communications Control with External Devices

The MSG-SND and MSG-RCV ladder instructions support various protocols and can be used to control communications with many external devices, such as a touch panels or host PLCs. This allows external devices to access registers in the Machine Controller.

1.2.4 Communications Control with External Devices

Instead of using a ladder program, the Machine Controller can also communicate with external devices by using I/O message communications or automatic reception. Refer to Chapter 6 Ethernet Communications in the Machine Controller MP2310 Basic Module User’s Manual (Manual No.: SIEP C880732 01) for details.

1.2.5 Complete Synchronization with Motion Control

Ladder programs that are started in the high-speed scan are processed in complete synchronization with motion control processing. This allows you to call and process a motion program that performs complicated motion control synchronously with a ladder program.

Sequence Control

Motion control is processed in

Ladder Program (High-speed Scan)

Start of a Motion

Program

complete synchronization with

the high-speed scan.

Motion Program

Setting motion

parameters

Motion Control

(Motion Module)

Completely

synchronized

control

Position

control

Speed

Motion parameters

control

Torque control

1-5

Specifications for Ladder Programs

This chapter gives the specifications for ladder programs.

2.1 MP2000-series Machine Controller Specifications - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.1 Applicable Machine Controllers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.2 Machine Controller Program Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3

2.2 Engineering Tool Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.2.1 Applicable Engineering Tool - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.2.2 MPE720 Version 6 Engineering Tool Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.3 Ladder Programming Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2-1

2.1 MP2000-series Machine Controller Specifications

INFO

2.1.1 Applicable Machine Controllers

2.1 MP2000-series Machine Controller Specifications

2.1.1 Applicable Machine Controllers

You can use ladder programs with the following MP2000-series Machine Controllers.

• MP2100

• MP2100M

• MP2101

• MP2101M

• MP2101T

• MP2101TM

• MP2200 with CPU-01

• MP2200 with CPU-02

• MP2200 with CPU-03

• MP2200 with CPU-04

• MP2300

• MP2300S

• MP2310

• MP2500

• MP2500B

• MP2500M

• MP2500MB

• MPU-01

The MP2400 supports only motion programs and sequence programs. You cannot use ladder programs with it.

2-2

Specifications for Ladder Programs

2.1.2 Machine Controller Program Specifications

Machine Controller

Program Capacity

Applicable Models

Startup Processing

Interrupt Processing

High-speed Scan Processing

Low-speed Scan Processing

Ladder Programs

User Functions

Maximum Number of Steps

MP2100 and MP2100M

5.5 MB 7.5 MB 11.5 MB

Applicable

64 drawings max. including parent drawings, operation error drawings, child drawings, and grandchild drawings

200 drawings max. including parent drawings, operation error drawings, child drawings, and grandchild drawings

500 drawings max. including parent drawings, operation error drawings, child drawings, and grandchild drawings

500 drawings max.

1,000 steps per drawing

MP2300 MP2300S

NA Applicable

MP2200 with CPU-01

2.1 MP2000-series Machine Controller Specifications

2.1.2 Machine Controller Program Specifications

MP2101, MP2101M,

MP2310

MP2200 with CPU-02

MP2101T, MP2101TM, MP2200 with CPU-03, MP2200 with CPU-04, and MPU-01

Applicable Models

Number of Programs

Number of Groups

Number of Tasks

Motion Programs

Number of Parallel Forks per Task

Applicable Models

Number of Programs

Number of Tasks

Sequence Programs

M Registers

S Registers

I Registers

O Registers

C Registers

D Registers

Accessible Registers

# Registers

Capacity of Table Data Backed Up by a Battery

∗ 1. This is the total capacity for ladder programs and motion programs. ∗ 2. This is supported only for version 2.66 or higher. ∗ 3. The # registers can be used only when ladder programs are used.

Applicable

256 programs max. including motion programs and sequence programs

8 groups (Up to 16 axes can be set in one group.)

16 tasks max. (This is the number of simultaneously executable motion programs.)

8 (4 main program forks × 2 subprogram forks)

NA Applicable Applicable NA Applicable NA Applicable

256 programs max. including motion programs and sequence programs

16 tasks max. (This is the number of simultaneously executable sequence programs.)

Applicable (65,535 words)

These registers are backed up with a battery.

Applicable (8,192 words)

These registers are backed up with a battery.

Applicable (32,768 words + motion monitor parameters)

Applicable (32,768 words + motion setting parameters)

Applicable (16,384 words)

Applicable (Can be specified to between 0 and 16,384 words.) These registers are unique to each drawing (DWG). They can be used within each drawing.

Applicable (Can be specified to between 0 and 16,384 words.) These are internal registers that are unique to each drawing (DWG). They can be referenced within each drawing.

None 1 MB 3 MB

2-3

2.2 Engineering Tool Specifications

INFO

2.2.1 Applicable Engineering Tool

2.2 Engineering Tool Specifications

This section gives the specifications for programs for the Engineering Tool.

2.2.1 Applicable Engineering Tool

You can create ladder programs with the following Engineering Tool.

• MPE720 version 5 for all MP2000-series Machine Controllers except for the MP2400

• MPE720 version 6 for all MP2000-series Machine Controllers

In addition to the Engineering Tool, you can also use the following Support Tools to monitor Machine Controller information and transfer data.

• MPLOGGER (Control Information Monitoring Tool)

• MPLoader (Data Transfer Tool)

• MPLoadMaker (Automatic Transfer Data Creation Tool) You can install the Engineering Tool and Support Tools in one PC to use them.

2.2.2 MPE720 Version 6 Engineering Tool Specifications

The following table shows the relationship between the Engineering Tool and the Machine Controller.

Machine Controller

MP2100 Applicable

MP2100M Applicable

MP2101 Applicable

MP2101M Applicable

MP2101T Applicable

MP2101TM Applicable

MP2200 with CPU-01 Applicable

MP2200 with CPU-02 Applicable

MP2200 with CPU-03 Applicable

MP2200 with CPU-04 Applicable

MP2300 Applicable

MP2300S Applicable

MP2310 Applicable

MPU-01 Applicable

MPE720 Version 6

(CPMC-MPE770)

Remarks

–

Applicable with MPE720 version 6.24 or higher

–

Applicable with MPE720 version 6.20 or higher

Applicable with MPE720 version 6.22 or higher

–

Applicable with MPE720 version 6.04 or higher

Applicable with MPE720 version 6.23 or higher

The following table shows the relationship between the Engineering Tool and the programs.

Program

Ladder Programs Applicable

Motion Programs Applicable

Sequence Programs Applicable

MPE720 Version 6

(CPMC-MPE770)

Remarks

–

2-4

Specifications for Ladder Programs

2.3 Ladder Programming Instructions

The following table lists the ladder programming instructions.

Refer to the reference sections for details on individual instructions.

Type Symbol Function Reference

NOC NO Contact

NCC NC Contact

TON[10 ms] 10-ms ON-Delay Timer

TOFF[10 ms] 10-ms OFF-Delay Timer

TON[1 s] 1-s ON-Delay Timer

TOFF[1 s] 1-s OFF-Delay Timer

ON-PLS Rising-edge Pulses

OFF-PLS Falling-edge Pulses

COIL Coil

Relay Circuit Instructions

S-COIL Set Coil

R-COIL Reset Coil

STORE Store

ADD Add

ADDX Extended Add

SUB Subtract

SUBX Extended Subtract

MUL Multiply

DIV Divide

MOD Integer Remainder

REM Real Remainder

INC Increment

DEC Decrement

TMADD Add Time

TMSUB Subtract Time

SPEND Spend Time

INV Invert Sign

COM One’s Complement

Numeric Operation Instructions

ABS Absolute Value

BIN Binary Conversion

BCD BCD Conversion

PARITY Parity Conversion

ASCII ASCII Conversion 1

BINASC ASCII Conversion 2

ASCBIN ASCII Conversion 3

AND Inclusive AND

OR Inclusive OR

XOR Exclusive OR

< Less Than ≤ Less Than or Equal

= Equal

≠ Not Equal ≥ Greater Than or Equal

> Greater Than

Logic Operation Instructions

RCHK Range Check

2.3 Ladder Programming Instructions

5.2.1

5.2.2

5.2.3

5.2.4

5.2.5

5.2.6

5.2.7

5.2.8

5.2.9

5.2.10

5.2.11

5.3.1

5.3.2

5.3.3

5.3.4

5.3.5

5.3.6

5.3.7

5.3.8

5.3.9

5.3.10

5.3.11

5.3.12

5.3.13

5.3.14

5.3.15

5.3.16

5.3.17

5.3.18

5.3.19

5.3.20

5.3.21

5.3.22

5.3.23

5.4.1

5.4.2

5.4.3

5.4.4

5.4.5

5.4.6

5.4.7

5.4.8

5.4.9

5.4.10

2-5

2.3 Ladder Programming Instructions

Type Symbol Function Reference

SEE Call Sequence Subprogram

MSEE Call Motion Program

FUNC Call User Function

INS Direct Input String

OUTS Direct Output String

XCALL Call Extended Program

WHILE END_WHILE

FOR END_FOR

IF END_IF

Program Control Instructions

IF ELSE END_IF

EXPRESSION Expression

SQRT Square Root

SIN Sine

COS Cosine

TAN Tangent

ASIN Arc Sine

ACOS Arc Cosine

ATAN Arc Tangent

EXP Exponential

LN Natural Logarithm

Basic Function Instructions

LOG Common Logarithm

ROTL Bit Rotate Left

ROTR Bit Rotate Right

MOVB Move Bit

MOVW Move Word

XCHG Exchange

SETW Table Initialization

BEXTD Byte-to-word Expansion

BPRESS Word-to-byte Compression

BSRCH Binary Search

SORT Sort

SHFTL Bit Shift Left

Data Manipulation Instructions

SHFTR Bit Shift Right

COPYW Copy Word

BSWAP Byte Swap

DZA Dead Zone A

DZB Dead Zone B

LIMIT Upper/Lower Limit

PI PI Control

PD PD Control

PID PID Control

LAG First Order Lag

LLAG Phase Lead Lag

FGN Function Generator

DDC Instructions

IFGN Inverse Function Generator

LAU Linear Accelerator/Decelerator 1

SLAU Linear Accelerator/Decelerator 2

PWM Pulse Width Modulation

WHILE construct

FOR construct

IF construct

IF ELSE construct

5.5.1

5.5.2

5.5.3

5.5.4

5.5.5

5.5.6

5.5.7

5.5.8

5.5.9

5.5.10

5.5.11

5.6.1

5.6.2

5.6.3

5.6.4

5.6.5

5.6.6

5.6.7

5.6.8

5.6.9

5.6.10

5.7.1

5.7.2

5.7.3

5.7.4

5.7.5

5.7.6

5.7.7

5.7.8

5.7.9

5.7.10

5.7.11

5.7.12

5.7.13

5.7.14

5.8.1

5.8.2

5.8.3

5.8.4

5.8.5

5.8.6

5.8.7

5.8.8

5.8.9

5.8.10

5.8.11

5.8.12

5.8.13

2-6

2.3 Ladder Programming Instructions

Specifications for Ladder Programs

Type Symbol Function Reference

TBLBR Read Table Block

TBLBW Write Table Block

TBLSRL Search Table Row

TBLSRC Search Table Column

TBLCL Clear Table Block

TBLMV Move Table Block

QTBLR Read Queue Table

QTBLRI

QTBLW Write Queue Table

Table Manipulation Instructions

QTBLWI

QTBLCL Clear Queue Table Pointer

COUNTER Counter

FINFOUT First-in First-out

TRACE Trace

DTRC-RD Read Data Trace

ITRC-RD Read Inverter Trace

MSG-SND Send Message

MSG-RCV Receive Message

ICNS-WR Write Inverter Parameters

ICNS-RD Read Inverter Parameters

MLNK-SVW Write SERVOPACK Parameters

MOTREG-W Write Motion Register

Standard System Function Instructions

MOTREG-R Read Motion Register

Read Queue Table with Pointer Increment

Write Queue Table with Pointer Increment

5.9.1

5.9.2

5.9.3

5.9.4

5.9.5

5.9.6

5.9.7

5.9.8

5.9.9

5.10.1

5.10.2

5.10.3

5.10.4

5.10.5

5.10.6

5.10.7

5.10.8

5.10.9

5.10.10

5.10.11

5.10.12

C-FUNC Call User C-language Function

Instructions

TSK-CTRL Control User C-language Task

C-language Control

5.11.1

5.11.2

2-7

Ladder Program Development Flow

This chapter describes the development flow for ladder programs.

3.1 Ladder Program Design Procedures - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.1.1 Connecting the Hardware - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3

3.1.2 Installing MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4

3.1.3 Communications Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4

3.1.4 System Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4

3.1.5 Creating a Project - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5

3.1.6 Creating Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6

3.1.7 Transferring Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9

3.1.8 Checking the Operation of the Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11

3.1.9 Saving the Ladder Programs to Flash Memory - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14

3-1

3.1 Ladder Program Design Procedures

Creating a Project

Create a project before you start ladder program development.

c Preparation for Devices to Be Connected

Assemble and wire all devices to be connected.

Install MPE720 on a PC.

System Startup

Perform self configuration and start the system.

Transferring Ladder Programs

Transfer the ladder programs that you created to the MP2000-series Machine Controllers.

Checking the Operation of the Ladder Programs

Check the operation of the ladder programs.

Saving the Ladder Programs to Flash Memory

Save the debugged ladder programs to flash memory.

Creating Ladder Programs

Enter the ladder programs in the Ladder Editor.

Refer to 3.1.1 Connecting the Hardware. Refer to 3.1.2 Installing MPE720 Version 6. Refer to 3.1.3 Communications Settings.

Refer to 3.1.4 System Startup.

Refer to 3.1.5 Creating a Project.

Refer to 3.1.6 Creating Ladder Programs.

Refer to 3.1.7 Transferring Ladder Programs.

Refer to 3.1.8 Checking the Operation of the Ladder Programs.

Refer to 3.1.9 Saving the Ladder Programs to Flash Memory.

3.1 Ladder Program Design Procedures

This section describes the design procedures for ladder programs as outlined below.

 The above flowchart is an example of the ladder program design process. Settings to interface the external devices

must be completed to use programs on the actual system.

3-2

Ladder Program Development Flow

3.1.1 Connecting the Hardware

Virtual I/O Devices* (Entered on MPE720.)

SW1

SW2 SW3

MB00000 MB00001

Lamp 1 Lamp 2

MB00010 MB00011

Ethernet cable

PC running MPE720

24-VDC

power supply

Machine Controller

MB00002

DC24V

DC 0V

MP2300

YASKAWA

TEST

RDY

ALM

RUN

ERR

BAT

MON

CNFG

INT

SUP

STOP

SW1

OFF ON

BATTERY

CPU I/O

M-I/II

218IF-01

ERR

COL

RUN

STRX

INIT

TEST

ONOFF

PORT

10Base-T

Optional Module

The flow of ladder program development that is described in this chapter is based on the following system configuration.

3.1 Ladder Program Design Procedures

3.1.1 Connecting the Hardware

∗ In this chapter, M registers in the Machine Controller are used to simulate virtual I/O devices in the example system.

In practice, the input and output signals would be connected to I/O Modules on the Machine Controller, and the ladder program would be created using I and O registers.

3-3

3.1 Ladder Program Design Procedures

3.1.2 Installing MPE720 Version 6

Install MPE720 version 6 on a PC. Refer to the Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6 User’s Manual (SIEP C880700 30) for the installation procedure.

3.1.3 Communications Settings

After you install MPE720 version 6 on the PC, set up communications between the MP2000-series Machine Controller and the PC. Refer to the Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6 User’s Manual (SIEP C880700 30) for the communications setup procedure.

3.1.4 System Startup

Set up the system by performing self configuration. Self configuration automatically recognizes the Modules that are installed in the MP2000-series Machine Controller and the devices that are connected through the MECHATROLINK connector. This allows you to quickly and easily set up the system. You can perform self configuration by using the DIP switch on the Machine Controller or by using the MPE720. Refer to the user’s manual for your Machine Controller for details on self configuration.

3-4

Ladder Program Development Flow

3.1.5 Creating a Project

Use the following procedure to create a project.

1. Double-click the following icon on the PC desktop to start MPE720 version 6.

2. When MPE720 version 6 starts, select New on the Start Tab Page.

3.1 Ladder Program Design Procedures

3.1.5 Creating a Project

3. Specify the file name, file storage location, and Machine Controller model, and then click the Create

Button.

Specify the file storage location.

Specify the file name.

Specify the model of the MP2000-series Machine Controller.

3-5

3.1 Ladder Program Design Procedures

3.1.6 Creating Ladder Programs

Start the Ladder Editor and use the following procedure to create a ladder program.

1. In the pane on the left, expand the tree under Ladder program. Right-click High-speed and select

New from the menu.

Expand.

Right-click.

Select.

2. Click the OK Button.

3-6

3.1 Ladder Program Design Procedures

Ladder Program Development Flow

3.1.6 Creating Ladder Programs

3. Create the ladder program in the Ladder Editor that you started.

Ladder programs are entered by inserting rungs, then instructions, and finally parameters for the instructions. The following example shows how to insert an NO Contact instruction.

c Right-click the tab with the row number, and select Insert Rung.

Right-click.

Select.

d Drag the instruction to insert (here, the NO Contact instruction under the relay instructions) from the Ladder

Instructions Pane to the inserted rung.

Drag and drop.

e Click the portion of the instruction with a question mark and enter the parameter (MB00000) from the key-

board.

 The types and number of instruction parameters depend on the instruction. Refer to Chapter 5 Instructions for

details on individual instructions.

3-7

3.1 Ladder Program Design Procedures

IMPORTANT

3.1.6 Creating Ladder Programs

f Repeat steps 1 to 3 until you have created the entire ladder program. The following figures show examples of

a ladder program and its timing chart.

 The ladder program example that is shown above uses M registers for switches and lamps.

When you enter a ladder program for an actual system, use the appropriate I and O registers.

AND Circuit Operation

SW1 (MB00000)

SW2 (MB00001)

Lamp 1 (MB00010)

Timer Circuit Operation

SW3 (MB00002)

Timer (DW00000)

Lamp 2 (MB00011)

OFF

5 s

3-8

4. While displaying the ladder program, select Compile - Compile from the menu bar to compile the pro-

gram. When the compilation is finished, the ladder program will be saved automatically.

If an error is displayed in the Output Pane during compilation, the ladder program will not be saved.

Ladder Program Development Flow

3.1.7 Transferring Ladder Programs

Use the following procedure to transfer the ladder program to the MP2000-series Machine Controller. This procedure is not necessary if you created the ladder program online.

1. Select Communications Setting on the Start Tab Page.

3.1 Ladder Program Design Procedures

3.1.7 Transferring Ladder Programs

2. Select the desired communications port in the Communications Setting Box, and then click the Con-

nection Button.

3. Wait for the MPE720 to go online, and then select Transfer − Write into controller.

3-9

3.1 Ladder Program Design Procedures

INFO

3.1.7 Transferring Ladder Programs

4. Click the Individual Button, then select the Program Check Box. Click the Start Button.

• When an individual transfer is selected, the same file in the Machine Controller will be overwritten with the selected project file data.

• When a batch transfer is selected, the RAM in the MP2000-series Machine Controller will be cleared before the transfer, and all project file data will be written in the RAM.

5. Click the CPU STOP Button. The transfer will start.

3-10

3.1.8 Checking the Operation of the Ladder Programs

Ladder Program Development Flow

Double-click.

3.1.8 Checking the Operation of the Ladder Programs

This section provides procedures to check the ladder program that was created in 3.1.6 Creating Ladder Programs. Confirm that your program operates correctly by manipulating registers with the Register List, and by checking the runtime monitor in the Register List and Ladder Editor.

( 1 ) Preparations for Checking Operation

1. Open the ladder program that was transferred.

3.1 Ladder Program Design Procedures

2. Click the Register List 1 Tab, and then enter “MB000000” in the Register Box.

If the Register List 1 Tab is not visible, select View − Register List − Register List 1 from the menu bar. The tab will be displayed and the register list will be opened.

Enter “MB000000.”

Click.

3-11

3.1 Ladder Program Design Procedures

Input ON.

Confirm that the contact changes to blue.

Confirm that the coil changes to blue.

Confirm that the contact changes to blue.

Input ON.

Confirm that the register is ON.

3.1.8 Checking the Operation of the Ladder Programs

( 2 ) Confirming the Operation of the 0000th Line (AND Circuit)

1. Set MB000000 to ON in the Register List. Confirm that the NO contact for MB000000 in the Ladder

Editor changes to blue.

 When a coil or contact is highlighted in blue, it means that it is ON.

2. Set MB000001 to ON in the Register List. Confirm the following points.

• In the Ladder Editor, the NO contact for MB000001 and coil for MB000010 must be blue.

• In the Register List, MB000010 must be ON.

If no problems occur in the above procedure, then this concludes checking the operation of the 0000th line.

3-12

3.1.8 Checking the Operation of the Ladder Programs

Ladder Program Development Flow

( 3 ) Confirming the Operation of the 0001st Line (Timer Circuit)

Set MB000002 to ON in the Register List. Confirm the following points.

c The DW00000 timer must increment every second.

Confirm that the value

increments every second.

3.1 Ladder Program Design Procedures

Input ON.

dAfter five seconds, the coil for MB000011 must turn blue in the Ladder Editor.

eIn the Register List, MB000011 must be ON for step d.

Confirm that the coil changes to blue.

If no problems occur in the above procedure, then this concludes checking the operation of the 0001st line.

Confirm that the register is ON.

3-13

3.1 Ladder Program Design Procedures

3.1.9 Saving the Ladder Programs to Flash Memory

Use the following procedure to save the data from the RAM in the MP2000-series Machine Controller to the flash memory in the MP2000-series Machine Controller.

1. Select Transfer − Save to flash from the following window.

2. Click the Start Button.

3. Click the CPU STOP Button. The transfer will start.

4. Click the Yes Button in the following dialog box. The Machine Controller will switch to RUN Mode.

3-14

Programming

This chapter describes ladder programming methods and the elements that are necessary for ladder programming.

4.1 Ladder Program Editor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2

4.2 Ladder Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.2.1 Types of Ladder Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.2.2 Controlling the Execution of Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.3 User Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7

4.3.1 What Is a User Function? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7

4.3.2 Creating User Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9

4.3.3 Calling a User Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12

4.4 Registers (Variables) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13

4.4.1 What Are Registers? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13

4.4.2 Register Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14

4.4.3 Data Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-17

4.4.4 Index Registers (i, j) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19

4.5 Table Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21

4.5.1 What Is Table Data? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21

4.5.2 Creating Table Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21

4.6 Transferring Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-23

4.7 Setting the High-speed/Low-speed Scan Times - - - - - - - - - - - - - - - - - - - - - - - 4-24

4.8 Advanced Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25

4.8.1 Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25

4.8.2 C-language Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26

4.8.3 Security - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-27

4.8.4 Tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28

4-1

4.1 Ladder Program Editor

Ladder Pane Variables PaneLadder Program Editing Tab Page

4.1 Ladder Program Editor

On the MPE720 version 6 Engineering Tool, the following panes are displayed to edit a ladder program. These panes are used to create and edit ladder programs.

 Ladder Pane

Ladder programs are displayed by drawing. Refer to 4.2 Ladder Drawings for details on drawings.

 Ladder Program Editing Tab Page

This tab page is used to edit ladder programs.

 Variables Pane

This pane displays variables. Refer to 4.4 Registers (Variables) for details on variables. In addition to the panes and tab page that were just described, various other panes, tab pages, and tool bars also exist. Refer to the Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6 User’s Manual (SIEP C880700 30) for details on MPE720 version 6.

4-2

Programming

4.2 Ladder Drawings

Ladder programs are managed as drawings (ladder drawings) that are identified by their drawing numbers (DWG numbers). The ladder drawings form the basis of the ladder programs.

4.2.1 Types of Ladder Drawings

( 1 ) Types and Priorities of Drawings

There are the following types of ladder drawings: parent drawings, child drawings, grandchild drawings, and operation error drawings.

• Parent Drawings

These drawings are automatically executed by the system when the execution conditions that are listed in the following table are met.

• Child Drawings

These drawings are executed when they are called from a parent drawing with a Call Program (SEE) instruction.

• Grandchild Drawings

These drawings are executed when they are called from a child drawing with a Call Program (SEE) instruction.

• Operation Error Drawings

These drawings are automatically executed by the system when an operation error occurs.

There are also five different types of drawings based on their role. The following table gives the priority and parent drawing execution conditions for each type of drawing.

4.2 Ladder Drawings

4.2.1 Types of Ladder Drawings

Priority* Drawing Type Role Parent Drawing Execution Condition

DWG.A

DWG.I

DWG.H

DWG.L

–

Functions User functions

∗ Drawings with lower numbers have higher priority.

Startup processing

Interrupt processing

High-speed scan processing

Low-speed scan processing

Power ON (Processed once when the power supply is turned ON.)

External interrupt (Executed when a DI interrupt or counter match interrupt is received from an Optional Module.)

Started at fixed intervals. (Executed every high-speed scan.)

Started at fixed intervals. (Executed every low-speed scan.)

Function call (Executed when called with a FUNC instruction from a drawing.)

The breakdown of the number of drawings in each category is given in the following table.

Drawing

Parent drawings 1 drawing 1 drawing 1 drawing 1 drawing

Operation error drawings 1 drawing 1 drawing 1 drawing 1 drawing

Child drawings

Grandchild drawings

DWG.A DWG.I DWG.H DWG.L

Total of 62 drawings max.

Number of Drawings

Total of 62 drawings max.

Total of 198 drawings max.

Total of 498 drawings max.

Maximum Number

of Drawings

200

500

4-3

4.2 Ladder Drawings

DWG.X YY .ZZ

Parent drawing type (A, I, H, or L)

Child drawing number (01 to 99)

Grandchild drawing number (01 to 99)

DWG.X 00

Parent drawing type (A, I, H, or L) of the drawing where the error occurs

Drawing name:

The following notation is used for operation error drawings.

Parent

drawing

A01 A01.01

A01.02

A02 A02.01

Child

drawings

Grandchild

drawings

Functions

FUNC01

FUNC02

FUNC03

Fixed value (00)

4.2.1 Types of Ladder Drawings

( 2 ) Hierarchical Configuration of Drawings

Each process program is organized in a parent-child-grandchild hierarchy. The parent drawing first must call a child drawing, and then the child drawing must call a grandchild drawing. This is called the hierarchical configuration of drawings. A parent drawing cannot call a child drawing with a different drawing type. Similarly, a child drawing cannot call a grandchild drawing from a different drawing type. A parent drawing cannot call a grandchild drawing directly. You can call functions from any drawing regardless of the drawing type or hierarchy. The hierarchy of drawings is shown below using DWG.A drawings as an example.

4-4

Programming

4.2.2 Controlling the Execution of Drawings

Power ON

DWG.A Startup drawing

DWG.H High-speed scan process drawings

DWG.L Low-speed scan process drawings

Every high-speed scan

Batch outputs Batch outputs

Batch inputs Batch inputs

Every low-speed scan

Operation error Interrupt signal

DWG.X00 Operation error drawing

X: A, H, or L

Execution is continued from

the point before the error.

DWG.I Interrupt process drawing

Execution is continued from the point before the interrupt.

Background*

DWG.L

DWG.H

High-speed scan High-speed scan

Low-speed scan

High-speed scan High-speed scan

: Execution in progress

( 1 ) Controlling the Execution of Drawings

Drawings are executed based on their priorities, as shown in the following figure.

4.2 Ladder Drawings

4.2.2 Controlling the Execution of Drawings

 The parent drawing of each drawing is automatically called and executed by the system.

( 2 ) Scheduling the Execution of Scan Process Drawings

All scan process drawings are not executed at the same time. The following figure shows how execution time is allocated to them based on their priority levels.

∗ This time is used to execute internal system processing, such as self-diagnosis.

The low-speed scan is executed during the time that is not used by the high-speed scans. Set the time of the high-speed scan to approximately twice the total execution time of the high-speed drawings (DWG.H).

4-5

4.2 Ladder Drawings

Execution is started by the system program when the execution condition is met.

Parent Drawing

H01

H02

H00

H01.01

FUNC 01

Child Drawings Grandchild Drawings

Function

Execution is automatically started by the system.

An operation error occurs.

SEE H01

SEE H02

END

SEE

H01.H01

FUNC

4.2.2 Controlling the Execution of Drawings

( 3 ) Execution Processing of Drawings

The execution processing for drawings is executed by calling the drawings from the top to the bottom, following the hierarchy of the drawings. The hierarchy of drawings is shown below using DWG.A drawings as an example.

 The parent drawing is automatically called and executed by the system.

Child drawings and grandchild drawings are executed by calling them from a parent drawing or a child drawing using the Call Program (SEE) instruction.

 You can call functions from any drawing. You can also call functions from other functions.

4-6

 If an operation error occurs, the operation error drawing for the drawing type will be started automatically.

Programming

4.3 User Functions

Program Number

Function Input Definition

• Number of inputs

• Data type

• Comments

Function Input Definition

• Number of inputs

• Data types

• Comments

Function Address Definition

• Presence of definition

• Comments

IMPORTANT

4.3.1 What Is a User Function?

( 1 ) Overview of User Functions

A user function contains a function definition (program number and I/O definitions) and processing instructions that are defined by the user. The following figure shows an example of a function definition.

4.3 User Functions

4.3.1 What Is a User Function?

The processing to be performed by a function is created using a ladder program. Functions are executed when they are called from a parent, child, or grandchild drawing with the FUNC instruction. You can call a user function freely from any drawing. You can also simultaneously call the same function from different types or different levels of drawings. You can also call user functions from other user functions. The use of functions provides the following advantages.

• Easy user program modularization

• Easy user programming and program maintenance

User functions can be called from any programs, any number of times.

When you call a user function, consider what values could be in the variables in each function, and perform initialization as needed.

Refer to 4.4.2 ( 3 ) Precautions When Using Local Registers within a User Function for details.

4-7

4.3 User Functions

XB000000 to XB00000F

XW00001

XW00002

XW00003

XW00015

XW00016

YB000000 to YB00000F

YW00001

YW00002

YW00003

YW00015

YW00016

X Registers

(Function Input Registers)

Y Registers

(Function Output Registers)

Z Registers # Registers D Registers

AW00000

AW00001

AW00002

AW00003

A Registers

(Function External Registers)

MW00100

MW00101

MW00102

MW00103

Address Inputs

MA00100

Registers within a User Function

Bit data inputs (16 bits max.)

Data inputs

• Word data

• Long data

• Float data (16 words max.)

Bit data outputs (16 bits max.)

Data outputs

• Word data

• Long data

• Float data (16 words max.)

IMPORTANT

INFO

4.3.1 What Is a User Function?

( 2 ) Relationship between I/O Data for a Function and Registers in the Function

The X, Y, Z, and D registers are initialized to different values when a function is called.

Refer to 4.4.2 ( 3 ) Precautions When Using Local Registers within a User Function for details.

4-8

The S, M, I, O, and C registers can also be accessed from within a function.

Programming

4.3.2 Creating User Functions

Select.

Enter “FUNC01.”

This section describes how to create a user function that has, as an example, the following specifications.

Function Definition Item Name Remarks

Program Number FUNC01

Function Input Value IN Integer data

Function Output Value 1 OUT1 Integer data

Function Output Value 2 OUT2 Integer data

Processing Details

Multiply the function input value (IN) by 2 and output it to function output value 1 (OUT1). Multiply the function input value (IN) by 3 and output it to function output value 2 (OUT2).

 Procedure to Create a User Function

1. In the pane on the left, expand the tree under Ladder program. Right-click Function and select New

from the menu.

4.3 User Functions

4.3.2 Creating User Functions

2. Enter “FUNC01” in the Program No. Box.

4-9

4.3 User Functions

Enter.

4.3.2 Creating User Functions

3. Select Function input definition under I/O definition and enter the following information.

4. Select Function output definition under I/O definition and enter the following information.

Enter.

5. Click the OK Button. This concludes setting the function definition.

Click.

4-10

4.3 User Functions

Programming

4.3.2 Creating User Functions

6. Create the following ladder program in the drawing of the FUNC01 user function that was created in

step 5.

7. Compile the user function to conclude the creation of the user function.

4-11

4.3 User Functions

Input defined in the user function

Output defined in the user function

Program number of the user function to call

XB000000 to XB00000F

XW00001

XW00002

XW00016

YB000000 to YB00000F

YW00003

YW00016

X Registers

(Function Input Registers)

Y Registers

(Function Output Registers)

Registers within the FUNC01 User Function

DW00001

Values that are set Undefined values

DW00002

YW00001

YW00002

DW00000

×2

×3

IN OUT1

OUT2

4.3.3 Calling a User Function

You can call a user function by using a FUNC instruction in the ladder drawing. This section describes how to call the user function that was created in the previous section from the high-speed drawing (DWG.H).

 Example for Calling the FUNC01 User Function from DWG.H

Program a FUNC instruction in DWG.H as shown below.

This diagram shows a conceptual image of what the programming shown above accomplishes.

In this example, when DW00000 in DWG.H is set to 10, DW00001 becomes 20 and DW00002 becomes 30, demonstrating that the user function was called correctly.

4-12

Programming

4.4 Registers (Variables)

Ladder programs User functions

Motion programs/

sequence programs

S registers

8,192 words

M registers

65,535 words

I registers

32,768 words +

Monitor parameters

O registers

32,768 words +

Setting parameters

C registers

16,384 words

Global Registers

4.4.1 What Are Registers?

Registers are areas that store data within the Machine Controller. Variables are registers with labels (variable names). There are two kinds of registers: global registers that are shared between all programs, and local registers that are used only by a specific program.

( 1 ) Global Registers

Global registers are variables that are shared by ladder programs, user functions, motion programs, and sequence programs. Memory space for global registers is reserved by the system for each register type.

4.4 Registers (Variables)

4.4.1 What Are Registers?

( 2 ) Local Registers

Local registers can be used within a specific drawing. They cannot be used in other drawings.

Parent drawing

# registers D registers

Child drawing

H01

# registers

D registers

Local Registers

User function

X registers Y registers Z registers # registers

D registers

FUNC01

User function

FUNC02

X registers Y registers Z registers # registers

D registers

4-13

4.4 Registers (Variables)

4.4.2 Register Types

( 1 ) Global Registers

Global registers are variables that are shared by ladder programs, user functions, motion programs, and sequence programs. In other words, the operation results of a ladder program can be used by other user functions, motion programs, or sequence programs.

Typ e Name

System registers

(S registers)

Data registers

(M registers)

Input registers

(I registers)

Output registers

(O registers)

Constant registers

(C registers)

Designation

Method

SBnnnnnh, SWnnnnn, SLnnnnn, SFnnnnn, SAnnnnn

MBnnnnnh, MWnnnnn, MLnnnnn, MFnnnnn, MAnnnnn

IBhhhhh, IWhhhh, ILhhhh, IFhhhh

OBhhhhh, OWhhhh, OLhhhh, OFhhhh

CBnnnnnh, CWnnnnn, CLnnnnn, CFnnnnn, CAnnnnn

Usable Range Description

These registers are prepared by the system. They report the

SW00000 to

SW08191

MW00000 to

MW65534

IW0000 to

IW7FFF

IW8000 to

IWFFFF

OW0000 to

OW0FFF

OW8000 to

OWFFFF

CW00000 to

CW16383

status of the Machine Controller and other information. The system clears the registers from SW00000 to SW00049 to 0 at startup. They have a battery backup.

These registers are used as interfaces between programs. They have a battery backup.

These registers are used for input data.

These registers store the motion monitor parameters. These registers are used for Motion Modules.

These registers are used for output data.

These registers store the motion setting parameters. These registers are used for Motion Modules.

These registers can be read in programs but they cannot be written. The values are set from the MPE720.

 n: decimal digit, h: hexadecimal digit

4-14

4.4 Registers (Variables)

Programming

IMPORTANT

4.4.2 Register Types

( 2 ) Local Registers

Local registers are valid within only one specific program. The local registers in other programs cannot be accessed. You specify the usable range of local registers from the MPE720.

Type Name Designation Method Description

#Bnnnnnh, #Wnnnn,

# # registers

D D registers

 n: decimal digit, h: hexadecimal digit

#Lnnnnn, #Fnnnnn, #Annnnn

DBnnnnnh, DWnnnn, DLnnnnn, DFnnnnn, DAnnnnn

These registers can be read in programs but they cannot be written. The values are set from the MPE720.

These registers can be used for general purposes within a program. By default, 32 words are reserved for each program. The default values after startup depend on the setting of the D

 Local Registers within a User Function

In addition to the # registers and D registers, there are local registers that can be used only within user functions.

Type Name Designation Method Description

These registers are used for inputs to functions.

Bit inputs: XB000000 to XB00000F Integer inputs: XW00001 to XW00016 Double-length integers: XL00001 to XL00015 Real numbers: XF00001 to XF00015

These registers are used for outputs from functions.

Bit outputs: YB000000 to YB00000F Integer outputs: YW00001 to YW00016 Double-length integers: YL00001 to YL00015 Real numbers: YF00001 to YF00015

These are internal registers that are unique within each function. You can use them for internal processing in functions.

These are external registers that use the address input values as the base addresses. When the address input value of an M or D register is provided by the source of the function call, then the registers of the source of the function call can be accessed from inside the function by using that address as the base.

X Function input registers

Function output

registers

Function internal

registers

Function external

registers

XBnnnnnh, XWnnnnn, XLnnnnn, XFnnnnn

YBnnnnnh, YWnnnnn, YLnnnnn, YFnnnnn

ZBnnnnnh, ZWnnnnn, ZLnnnnn, ZFnnnnn

ABnnnnnh, AWnnnnn, ALnnnnn, AFnnnnn

 n: decimal digit, h: hexadecimal digit

User functions can be called from any programs, any number of times.

When you call a user function, consider what values could be in the local registers, and perform initialization as needed.

Refer to 4.4.2 ( 3 ) Precautions When Using Local Registers within a User Function for details.

4-15

4.4 Registers (Variables)

4.4.2 Register Types

( 3 ) Precautions When Using Local Registers within a User Function

When you call a user function, consider what values should be in the local registers, and perform initialization as needed.

Name Precaution

X registers (function input registers)

Y registers (function output registers)

Z registers (function internal registers)

# registers These are constant registers. Their values cannot be changed.

D registers

If input values are not set, the values will be uncertain. Do not use X registers that are outside of the range that is specified in the input definitions.

If output values are not set, the values will be uncertain. Always set the values of the range of Y registers that is specified in the output definitions.

When the function is called, the previously set values will be lost and the values will be uncertain. These registers are not appropriate for instructions if the previous value must be retained. Use them only after initializing them within the function.

When the function is called, the previously set values are preserved. If a previous value is not necessary, initialize the value or use a Z register instead. D registers retain the data until the power is turned OFF. The default values after startup depend on the setting of the D Register Clear when Start Option. For details, refer to  Setting the D Register Clear When Start Option.

 Setting the D Register Clear When Start Option

1. Select File − Environment Setting from the MPE720 Version 6 Window.

2. Select Setup − System Setting.

3. Select Enable or Disable for the D Register Clear when Start Option.

Set Values Disable: The initial values will be uncertain. Enable: The initial values will be 0.

4-16

Programming

4.4.3 Data Types

IMPORTANT

( 1 ) List of Data Types

There are various data types that you can use depending on the purpose of the application: bit, integer, double-length integer, real number, and address.

Symbol Data Type Range of Values Remarks

B Bit 1 (ON) or 0 (OFF) Used in relay circuits and to determine ON/OFF status.

W Integer -32,768 to 32,767 (8000 to 7FFF hex)

Double-length

integer

Single-preci-

sion real number

A Address 0 to 32,767 Used only as pointers for addressing.

The MP3000-series Machine Controllers do not have separate registers for each data type. As shown in the following figure, the same address will access the same register even if the data type is different.

For example, MB001003, a bit address, and the MW00100, an integer address, have different data types, but they both access the same register, MW00100.

Used for numeric operations. The values in parentheses on the left are for logical operations.

-2,147,483,648 to 2,147,483,647 (80000000 to 7FFFFFFF hex)

±(1.175E-38 to 3.402E+38) or 0 Used for numeric operations.

Used for numeric operations. The values in parentheses on the left are for logical operations.

4.4 Registers (Variables)

4.4.3 Data Types

Data Types and Register Designations

One word is allocated for each register address.

Integer data type

Address data type

MA00101

A continuous data area is addressed, with the specified register address (00101) as the first address.

MW00100

MW00101

MW00102

MW00103

[MB00103B]

An extra digit that specifies the bit (3) is appended to the end of the register address (00100).

MB001003

Bit data type

0123456789ABCDEF

Double-length integer or

The addressed register (00102) and the following register (00103) are combined as a 2-word area. Therefore the register addresses are specified at intervals of 2.

Bit data type

ML00100

MF00100

ML00102

MF00102

real number data type

4-17

4.4 Registers (Variables)

4.4.3 Data Types

( 2 ) Precautions for Operations Using Different Data Types

If you perform an operation using different data types, the results will be different depending on the data type of the storage register, as described below.

[ a ] Storing Real Number Data in an Integer Register

MW00100 = MF00200: The real number data is converted to integer data and stored in the destination register. (00001) (1.234)

 There may be rounding error due to storing a real number in an integer register.

Whether numbers are rounded or truncated when converting a real number to an integer can be set in the properties of the drawing. (See below.)

MW00100 = MF00200 + MF00202: (0124) (123.48) (0.02) The result of the operation may be different depending on the value of the variable. (0123) (123.49) (0.01)

[ b ] Storing Real Number Data in a Double-length Integer Register

ML00100 = MF00200: The real number data is converted to integer data and stored in the destination register. (65432) (65432.1)

[ c ] Storing Double-length Integer Data in an Integer Register

MW00100 = ML00200: The lower 16 bits of the double-length integer data are stored without change. (-00001) (65535)

[ d ] Storing Integer Data in a Double-length Integer Register

ML00100 = MW00200: The integer data is converted to double-length integer data and stored in the destination register. (0001234) (1234)

 Setting for Real Number Casting

The casting method (truncating or rounding) can be set in the detailed definitions in the Program Property Dialog Box. The method to use for real number casting is set for each drawing.

4-18

Programming

4.4.4 Index Registers (i, j)

If i = 2, DB000000 = MB00000i.

DB000000 = MB00002

Using an index is the same as adding the value of i or j to the register address.

For example, if i = 2, MB00000i is the same as MB00002.

Equivalent

If i = 30, DW000000 = MW00001i.

DW000000 = MW00031

Using an index is the same as adding the value of i or j to the register address.

For example, if i = 30, MW00001i is the same as MW00031.

Equivalent

There are two index registers, i and j, that are used to modify relay and register addresses. The functions of i and j are identical. There are index registers for each program type, as shown in the following figure.

4.4 Registers (Variables)

4.4.4 Index Registers (i, j)

DWG.A

i and j registers

DWG.H DWG.L

i and j registers i and j registers i and j registers

∗ Motion programs and sequence programs have separate i and j registers for each task.  Functions reference the i and j registers that belong to the calling drawing.

For example, a function called by DWG.H will reference the i and j registers for DWG.H.

The operation for each register data type is described next.

[ a ] Attaching an Index to a Bit Register

[ b ] Attaching an Index to an Integer Register

DWG.I

i and j registers

Motion

program*

Sequence

program*

i and j registers

[ c ] Attaching an Index to a Double-length Integer or a Real Number Register

Double-length Integer

If j = 0, ML00000j is ML00000.

If j = 1, ML00000j is ML00001.

Real Number

If j = 0, MF00000j is MF00000.

If j = 1, MF00000j is MF00001.

Upper word

MW00001

MW00002 MW00001

Upper word

MW00001

MW00002 MW00001

Lower word

MW00000

Lower word

MW00000

Using an index is the same as adding the value of i or

j to the register address.

For example, if j = 1, ML00000j is the same as ML00001.

Similarly, if j = 1, MF00000j is the same as MF00001.

In the case of double-length integers and real numbers, the

one-word area of the register address and the one-word

area of the register address + 1 are used together. Be

careful of overlapping areas when indexing

double-length integer or real number register

addresses. For example, when using ML00000j with

both j = 0 and j = 1, the one-word area of MW00001 will

overlap.

4-19

4.4 Registers (Variables)

4.4.4 Index Registers (i, j)

A programming example that uses indexed registers is shown below. This example uses index j to find the total of the values in 50 registers from ML00100 to ML00198.

4-20

Programming

4.5 Table Data

Data

Table data

Read Queue Table Instruction

Registers

Write Queue Table Instruction

TBL1

Creating Table Data

Set the table

definition information.

Set the column attributes.

End of Creating Table Data

Table Definition

Information

Description

Table Name This is the name of the table.

Table Type Select an array-type or record-type table.

Number of Columns This is the number of columns in the table.

(10,000 columns max.)

Number of Rows This is the number of rows in the table. (10,000 rows max.)

Table Comment This is a comment for the table.

Table Data Storage Location

Column Attribute Description

Column Name This is the name of the column.

Data Type

The data type can be integer, double-length integer, real number, or text string.

Size This is the length of the data type.

Display Type

The display type can be binary, decimal, hexadecimal, real number, or text string.

Column Comment This is a comment for the column.

Select normal or battery backup. Refer to 2.1.2 Machine Controller Program Specifications for details on the maximum size of tables and which models have battery backup storage.

INFO

4.5.1 What Is Table Data?

Table data is data that is managed in tabular form. The data is stored separately from the registers. Data can be copied from a table to registers or from registers to a table by executing table data manipulation instructions in the ladder program. Tables can also be used to hold data when there is not a sufficient range of registers.

4.5 Table Data

4.5.1 What Is Table Data?

4.5.2 Creating Table Data

Use the following procedure to create table data. The table definition information and column attributes that are set for table data are listed in the following table.

You can select one of the following table types when you create table data.

• Array type: Specifies a table where all columns have the same attributes.

• Record type: Specifies a table where each column has a different attribute. You can select one of the following table data storage locations.

• Normal: Refer to 2.1.2 Machine Controller Program Specifications for the maximum program size. The maximum size per

• Battery backup: Refer to 2.1.2 Machine Controller Program Specifications for the maximum size of table data that can be

table is 5 MB.

backed up with the battery. The maximum size per table is 3 MB.

4-21

4.5 Table Data

INFO

4.5.2 Creating Table Data

 Procedure to Create Table Data

1. Select File - Open − Define Data Table − Data Table Map in the Module Configuration Definitions

Window. The Table Data Store Target Dialog Box will be displayed.

2. Select File − Create New from the menu bar. The Table Definition Dialog Box will be displayed. Set the

table definition information and click the OK Button.

3. The Data Table Column Attribute Dialog Box will be displayed. Set the table data column attributes,

and then save them.

 If the table is set to an array-type table, set only one row of column attributes.

The Table Data Store Target Dialog Box that was displayed in step 1 will show the table that you created. This concludes the creation of the data table.

4-22

When a table is created, the contents are initialized to 0. Select the table that was created in the Table Data Store Target Dialog Box, and click the Tabl e D a t a Button to read or write table data. Use the table instructions to perform operations on the table data from a ladder program.

Programming

4.6 Transferring Data

IMPORTANT

You can perform one of the four operations that are shown in the following figure to transfer data.

4.6 Transferring Data

Hard disk in PC

Data can be read from

and written to projects.

MPE720 version 6

Project

Data can be written to

the Machine Controller.

Data can be read from

the Machine Controller.

Data can be saved

to flash memory.

MP2000-series

Machine Controller

Flash memory

c Writing Data to a Machine Controller

You can transfer the project data that was created offline to RAM in the Machine Controller.

d Reading Data from the Machine Controller.

You can transfer data from the Machine Controller to a project on the hard disk of the PC.

RAM

e Reading Data from and Writing Data to Projects

You can transfer data between projects on the hard disk of the PC.

f Saving Data to Flash Memory

You can transfer the data in RAM in the Machine Controller to flash memory.

Always save the data to flash memory after you transfer it to the MP2000-series Machine Controller.

Failure to save the data to flash memory will result in losing the data that was transferred when the power is turned OFF and ON again, causing the Machine Controller to run on the data that was last saved in the flash memory.

4-23

4.7 Setting the High-speed/Low-speed Scan Times

( 1 ) What Are the Scan Times?

With an MP2000-series Machine Controller, both the high-speed scan and low-speed scan can be set. The high-speed scan time is the cycle at which high-speed drawings are executed. The low-speed scan time is the cycle at which lowspeed drawings are executed. The following table shows the possible set values and default values for each scan time.

Item Possible Set Values Default

High-speed Scan Time 0.5 to 32 ms (in 0.5-ms increments) 10.0 ms

Low-speed Scan Time 2.0 to 300.0 ms (in 0.5-ms increments) 200.0 ms

 The possible set values and default values depend on the model. Refer to the user’s manual for the Module you are

using for details.

( 2 ) Scan Time Set Value Precautions

Observe the following precautions when setting the high-speed scan time and low-speed scan time.

• Set the scan set value so that it is 1.25 times greater than the maximum value.

 If the scan set value is too close to the maximum value, the refresh rate of the MPE720 window will noticeably

drop and can cause communications timeout errors to occur. If the maximum value exceeds the scan set value, a watchdog error may occur and cause the Machine Controller system to shut down.

• If you are using MECHATROLINK-II or MECHATROLINK-III, set values that are an integral multiple of the communications cycle. If you change the communications cycle, check the scan time set values.

• Do not change the scan set value while the Servo is ON. Never change the scan set values while an axis is in motion (i.e., while the motor is rotating). Doing so may cause the motor to rotate out of control.

• After changing or setting the scan times, make sure to save the data to flash memory.

( 3 ) Checking and Setting the Scan Times

You can check the current and maximum values of the scan times and the set values of the scan times, and you can set the scan times in the following dialog box of MPE720 Version 6.0.

Select File − Environment Setting − Setup − Scan Time Setting.

4-24

Programming

4.8 Advanced Programming

MP2000-series Machine Controller

Ladder Programs

MSEE Instruction

Motion Programs

M-EXECUTOR

Program Definition

You can call motion programs without a ladder program.

Called.

You can call up to 16 programs at the same time.

Motion parameters

You can create up to 256 programs.

SVR

Built-in

SVB

SVB-01

SVA-01

PO-01

4.8.1 Motion Programs

A motion program is written in a text-based motion language. In addition to basic motion control and operations, motion programs can also be used to easily program complex movements, such as linear interpolation and circular interpolation. You can execute motion programs either by placing MSEE instructions in ladder programming in high-speed drawings, or by registering the motion programs in the Program Definition Tab Page for the M-EXECUTOR.

4.8 Advanced Programming

4.8.1 Motion Programs

For details on motion programs, refer to the Machine Controller MP2000 Series User’s Manual for Motion Programming (Manual No.: SIEP C880700 38).

4-25

4.8 Advanced Programming

4.8.2 C-language Programs

You can use the MP2000-series Machine Controller Embedded C-language Programming Package to use C-language functions and C-language tasks in addition to ladder programs and motion programs. You can call C-language functions and start and stop C-language tasks from the ladder programs. The following configuration is for using C-language programming.

MP2000

Ladder language

Function called.

C-language

function

User-defined

C-language task A

Task started and stopped.

Function called.

Task started and stopped.

Motion language

Can be accessed from ladder-language or C-language programming.

Table data

Global variables

Can be accessed only from C-language programming.

External signal

Registers

Can be accessed from ladder-language, motion-language, or C-language programming.

User-defined

C-language task B

Local task made dormant.

Automatically started at start of H or L scan.

For details on C-language programming, refer to the Machine Controller MP2000 Series Embedded C-Language Programming Package Development Guide (Manual No.: SIEP C880700 25).

4-26

Programming

4.8.3 Security

MPE720 version 6 has the following security features. You can use these security features for data protection by specifying access privileges for individual projects and program drawings.

 User Administration (User Name and Password Setting)

You can register and change the name of the users who can open projects. If the setting is performed while the Machine Controller is online, the setting will provide access privileges to the Machine Controller.

 Project Password Setting

You can set a password for opening a project file.

 Program Password Setting

You can set a password for opening ladder programs and motion programs. A password can be set for each program.

4.8 Advanced Programming

4.8.3 Security

 Online Security Setting

You can set a security key (i.e., a password) and privilege levels for reading data from a Machine Controller. This allows you to restrict the ability to read the program data from the Machine Controller or the ability to open the programs to users who have the specified level of privilege or a higher privilege.

Refer to the Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6 User’s Manual (SIEP C880700 30) for detailed setting procedures for security.

4-27

4.8 Advanced Programming

4.8.4 Tracing

MPE720 version 6 has three trace modes.

 Realtime Tracing

You can monitor specified registers on a graph in real time.

 Data Tracing

You can have the Machine Controller collect data for specified registers during a specified time period, and perform operations on that data and plot it on a graph. This allows you to analyze register data that is acquired during specific time periods to debug ladder programs.

 XY Tracing

This trace mode acquires the position data of the X axis and Y axis every scan, and displays the data in a 2-dimensional graph.

All three modes support exporting the trace data to CSV files. Use tracing to check operation and to debug the ladder programs and motion programs.

Data Tracing Display Example

4-28

Refer to the Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6 User’s Manual (SIEP C880700 30) for detailed setting procedures for tracing.

Instructions

This chapter describes the ladder programming instructions in detail.

5.1 How to Read the Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-4

5.2 Relay Circuit Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-5

5.2.1 NO Contact (NOC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

5.2.2 NC Contact (NCC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6

5.2.3 10-ms ON-Delay Timer (TON[10ms]) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

5.2.4 10-ms OFF-Delay Timer (TOFF[10ms]) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9

5.2.5 1-s ON-Delay Timer (TON[1s]) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11

5.2.6 1-s OFF-Delay Timer (TOFF[1s]) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13

5.2.7 Rising-edge Pulses (ON-PLS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15

5.2.8 Falling-edge Pulses (OFF-PLS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17

5.2.9 Coil (COIL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19

5.2.10 Set Coil (S-COIL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20

5.2.11 Reset Coil (R-COIL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21

5.3 Numeric Operation Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22

5.3.1 Store (STORE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22

5.3.2 Add (ADD (+)) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24

5.3.3 Extended Add (ADDX (++)) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26

5.3.4 Subtract (SUB (−)) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28

5.3.5 Extended Subtract (SUBX (− −)) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30

5.3.6 Multiply (MUL (x)) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32

5.3.7 Divide (DIV (÷)) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34

5.3.8 Integer Remainder (MOD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36

5.3.9 Real Remainder (REM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38

5.3.10 Increment (INC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40

5.3.11 Decrement (DEC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42

5.3.12 Add Time (TMADD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-44

5.3.13 Subtract Time (TMSUB) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-46

5.3.14 Spend Time (SPEND) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-48

5.3.15 Invert Sign (INV) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-51

5.3.16 One’s Complement (COM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-52

5.3.17 Absolute Value (ABS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-53

5.3.18 Binary Conversion (BIN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-54

5.3.19 BCD Conversion (BCD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55

5.3.20 Parity Conversion (PARITY) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-56

5.3.21 ASCII Conversion 1 (ASCII) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-57

5.3.22 ASCII Conversion 2 (BINASC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-59

5.3.23 ASCII Conversion 3 (ASCBIN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-61

5-1

5.4 Logic Operations and Comparison Instructions - - - - - - - - - - - - - - - - - - - 5-63

5.4.1 Inclusive AND (AND) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-63

5.4.2 Inclusive OR (OR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-65

5.4.3 Exclusive OR (XOR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-67

5.4.4 Less Than (<) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-69

5.4.5 Less Than or Equal (≤) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-70

5.4.6 Equal (=) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-71

5.4.7 Not Equal (≠) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-72

5.4.8 Greater Than or Equal (≥) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-73

5.4.9 Greater Than (>) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-74

5.4.10 Range Check (RCHK) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-75

5.5 Program Control Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-77

5.5.1 Call Sequence Program (SEE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-77

5.5.2 Call Motion Program (MSEE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-78

5.5.3 Call User Function (FUNC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-80

5.5.4 Direct Input String (INS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-81

5.5.5 Direct Output String (OUTS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-84

5.5.6 Call Extended Program (XCALL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-87

5.5.7 WHILE Construct (WHILE, END_WHILE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-88

5.5.8 FOR Construct (FOR, END_FOR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-91

5.5.9 IF Construct (IF, END_IF) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-93

5.5.10 IF-ELSE Construct (IF, ELSE, END_IF) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-95

5.5.11 Expression (EXPRESSION) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-97

5.6 Basic Function Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-99

5.6.1 Square Root (SQRT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-99

5.6.2 Sine (SIN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-101

5.6.3 Cosine (COS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-103

5.6.4 Tangent (TAN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-105

5.6.5 Arc Sine (ASIN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-106

5.6.6 Arc Cosine (ACOS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-107

5.6.7 Arc Tangent (ATAN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-108

5.6.8 Exponential (EXP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-109

5.6.9 Natural Logarithm (LN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-110

5.6.10 Common Logarithm (LOG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-111

5.7 Data Shift Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-112

5.7.1 Bit Rotate Left (ROTL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-112

5.7.2 Bit Rotate Right (ROTR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-114

5.7.3 Move Bit (MOVB) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-116

5.7.4 Move Word (MOVW) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-118

5.7.5 Exchange (XCHG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-120

5.7.6 Table Initialization (SETW) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-122

5.7.7 Byte-to-word Expansion (BEXTD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-124

5.7.8 Word-to-byte Compression (BPRESS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-126

5.7.9 Binary Search (BSRCH) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-128

5.7.10 Sort (SORT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-130

5.7.11 Bit Shift Left (SHFTL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-132

5.7.12 Bit Shift Right (SHFTR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-134

5.7.13 Copy Word (COPYW) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-136

5.7.14 Byte Swap (BSWAP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-138

5-2

5.8 DDC Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-139

5.8.1 Dead Zone A (DZA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-139

5.8.2 Dead Zone B (DZB) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-141

5.8.3 Upper/Lower Limit (LIMIT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-143

5.8.4 PI Control (PI) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-145

5.8.5 PD Control (PD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-150

5.8.6 PID Control (PID) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-156

Instructions

5.8.7 First-order Lag (LAG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-161

5.8.8 Phase Lead Lag (LLAG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-164

5.8.9 Function Generator (FGN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-167

5.8.10 Inverse Function Generator (IFGN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-172

5.8.11 Linear Accelerator/Decelerator 1 (LAU) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-177

5.8.12 Linear Accelerator/Decelerator 2 (SLAU) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-184

5.8.13 Pulse Width Modulation (PWM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-194

5.9 Table Manipulation Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-197

5.9.1 Read Table Block (TBLBR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-197

5.9.2 Write Table Block (TBLBW) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-200

5.9.3 Search for Table Row (TBLSRL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-203

5.9.4 Search for Table Column (TBLSRC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-206

5.9.5 Clear Table Block (TBLCL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-209

5.9.6 Move Table Block (TBLMV) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-212

5.9.7 Read Queue Table (QTBLR and QTBLRI) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-215

5.9.8 Write Queue Table (QTBLW and QTBLWI) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-219

5.9.9 Clear Queue Table Pointers (QTBLCL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-223

5.10 System Function Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-225

5.10.1 Counter (COUNTER) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-225

5.10.2 First-in First-out (FINFOUT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-228

5.10.3 Trace (TRACE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-232

5.10.4 Read Data Trace (DTRC-RD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-234

5.10.5 Read Inverter Trace (ITRC-RD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-238

5.10.6 Send Message (MSG-SND) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-241

5.10.7 Receive Message (MSG-RCV) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-253

5.10.8 Write Inverter Parameter (ICNS-WR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-261

5.10.9 Read Inverter Parameter (ICNS-RD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-266

5.10.10 Write SERVOPACK Parameter (MLNK-SVW) - - - - - - - - - - - - - - - - - - - - - - - - - - 5-270

5.10.11 Write Motion Register (MOTREG-W) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-275

5.10.12 Read Motion Register (MOTREG-R) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-278

5.11 C-language Control Instructions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-281

5.11.1 Call C-language Function (C-FUNC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-281

5.11.2 C-language Task Control (TSK-CTRL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-283

5-3

5.1 How to Read the Instructions

This chapter describes each instruction using the following format.

( 1 ) Operation

The operation performed by the instruction is described. Figures are used to show the operation performed by the instruction.

( 2 ) Format

This area shows how the instruction

appears in a ladder program.

Icon:

Shows the icon used in the MPE720.

Key entry:

Shows the shortcut key combination used in the Ladder Editor.

Parameter Name

The name of the parameter that appears in the ladder programs is given.

B W L F A Index Constant

{{{

Applicable Data Types

{{

×: This data type cannot be used.

{: All registers with this data type can be used.

( 3 ) Programming Example

This section gives a ladder programming example that uses the instruction.

( 4 ) Additional Information

This section contains additional information about the instruction. It is omitted if there is no additional information that is required for the instruction.

5-4

Instructions

5.2 Relay Circuit Instructions

1 (ON)

0 (OFF)

OFF

Output of the NOC instruction

Relay address

Bit

Relay address

Icon:

Key entry: ][

5.2.1 NO Contact (NOC)

( 1 ) Operation

The NOC instruction outputs ON whenever the bit with the specified relay address is 1 (ON). The NOC instruction outputs OFF when the bit is 0 (OFF).

( 2 ) Format

5.2 Relay Circuit Instructions

5.2.1 NO Contact (NOC)

Parameter Name

Relay address

B W L F A Index Constant

{

ЧЧЧЧЧЧ

Applicable Data Types

( 3 ) Programming Example

The DB000001 output coil is ON whenever the DB000000 relay in the NOC instruction is ON.

5-5

5.2 Relay Circuit Instructions

Relay address

Icon:

Key entry: ]/

5.2.2 NC Contact (NCC)

( 1 ) Operation

The NCC instruction outputs OFF whenever the bit with the specified relay address is 1 (ON). The NCC instruction outputs ON when the bit is 0 (OFF).

Relay address

Output of the NCC instruction

( 2 ) Format

Bit

1 (ON)

0 (OFF)

OFF

Parameter Name

Relay address { ЧЧЧЧЧЧ

B W L F A Index Constant

Applicable Data Types

( 3 ) Programming Example

The DB000001 coil is ON whenever the DB000000 relay in the NCC instruction is OFF.

5-6

Instructions

5.2.3 10-ms ON-Delay Timer (TON[10ms])

Icon:

Key entry: [ON

Set value

Count value

( 1 ) Operation

The timer counts the time whenever the timer bit input is 1 (ON). The bit output is set to 1 (ON) when the count value equals the set value. If the bit input changes to 0 (OFF) during counting, the timer will stop counting. If the bit input changes to 1 (ON) again, the timer starts counting again from the beginning (i.e., from 0). The actual counted time (in units of 10 ms) is stored in the Count register.

5.2 Relay Circuit Instructions

5.2.3 10-ms ON-Delay Timer (TON[10ms])

 The counting error is 10 ms or less.

( 2 ) Format

Bit input →

Bit input

Bit output

Set value

1 (ON) 0 (OFF)

Timer

→ Bit output

The set value and count value are in units of 10 ms.

Count value

Parameter Name

Set value (Set)

Count value (Count)

∗ C and # registers cannot be used.

Applicable Data Types

B W L F A Index Constant

× ×

{

ЧЧЧЧ ЧЧЧЧЧ

{

5-7

5.2 Relay Circuit Instructions

DB000000

DB000001

ON OFF

DW00001500

500 ms - Ts

(Ts: Scan time set value)

5.2.3 10-ms ON-Delay Timer (TON[10ms])

( 3 ) Programming Example

In the following programming example, the set value of the TON instruction is 50, and the count value is stored in the DW00001 register. The DB000001 coil will turn ON after the DB000000 relay stays ON for 500 ms.

The timing chart is shown below.

5-8

Instructions

5.2.4 10-ms OFF-Delay Timer (TOFF[10ms])

Bit input

Count value

Set value

Bit output

1 (ON) 0 (OFF)

Timer

Bit input →

The set value and count value are in units of 10 ms.

→ Bit output

Set value

Count value

Icon:

Key entry: [OFF

( 1 ) Operation

The timer counts the time whenever the timer bit input is 0 (OFF). The bit output is set to 0 (OFF) when the count value equals the set value. If the bit input changes to 0 (OFF) during counting, the timer will stop counting. If the bit input changes to 1 (ON) again, the timer starts counting again from the beginning (i.e., from 0). The actual counted time (in units of 10 ms) is stored in the Count register.

5.2 Relay Circuit Instructions

5.2.4 10-ms OFF-Delay Timer (TOFF[10ms])

 The counting error is 10 ms or less.

( 2 ) Format

Parameter Name

Set value (Set)

Count value (Count)

∗ C and # registers cannot be used.

B W L F A Index Constant

× ×

{

Applicable Data Types

ЧЧЧЧ ЧЧЧЧЧ

{

5-9

5.2 Relay Circuit Instructions

5.2.4 10-ms OFF-Delay Timer (TOFF[10ms])

( 3 ) Programming Example

In the following programming example, the set value of the TOFF instruction is 50, and the count value is stored in the DW00001 register. The DB000001 coil will turn OFF after the DB000000 relay stays OFF for 500 ms.

The timing chart is shown below.

DB000000

DB000001

DW00001500

ON OFF

500 ms - Ts

(Ts: Scan time set value)

5-10

Instructions

5.2.5 1-s ON-Delay Timer (TON[1s])

( 1 ) Operation

5.2 Relay Circuit Instructions

5.2.5 1-s ON-Delay Timer (TON[1s])

 The counting error is 1 s or less.

( 2 ) Format

Bit input

Bit output

Bit input →

Set value

1 (ON) 0 (OFF)

Timer

→ Bit output

The set value and count value are in units of 1 s.

Count value

Icon:

Parameter Name

Set value (Set)

Count value (Count)

∗ C and # registers cannot be used.

B W L F A Index Constant

× ×

{

Set value

Count value

Applicable Data Types

ЧЧЧЧ ЧЧЧЧЧ

Key entry: [SON

{

5-11

5.2 Relay Circuit Instructions

DB000000

DB000001

ON OFF

DW0000150

5 s - Ts

(Ts: Scan time set value)

5.2.5 1-s ON-Delay Timer (TON[1s])

( 3 ) Programming Example

In the following programming example, the set value of the TON instruction is 5, and the count value is stored in the DW00001 register. The DB000001 coil will turn ON after the DB000000 relay stays ON for 5 s.

The timing chart is shown below.

5-12

Instructions

5.2.6 1-s OFF-Delay Timer (TOFF[1s])

( 1 ) Operation

The timer counts the time whenever the timer bit input is 0 (OFF). The bit output is set to 1 (ON) when the count value equals the set value. If the bit input changes to 0 (OFF) during counting, the timer will stop counting. If the bit input changes to 1 (ON) again, the timer starts counting again from the beginning (i.e., from 0). The actual counted time (in units of 1 s) is stored in the Count register.

5.2 Relay Circuit Instructions

5.2.6 1-s OFF-Delay Timer (TOFF[1s])

 The counting error is 1 s or less.

( 2 ) Format

Bit input

Bit output

1 (ON) 0 (OFF)

TimerBit input →

Set value

→ Bit output

The set value and count value are in units of 1 s.

Count value

Icon:

Set value

Count value

Parameter Name

Set value (Set) × { ××××{ Count value (Count) × {* ЧЧЧЧЧ

∗ C and # registers cannot be used.

B W L F A Index Constant

Applicable Data Types

Key entry: [SOFF

5-13

5.2 Relay Circuit Instructions

5.2.6 1-s OFF-Delay Timer (TOFF[1s])

( 3 ) Programming Example

In the following programming example, the set value of the TOFF instruction is 5, and the count value is stored in the DW00001 register. The DB000001 coil will turn OFF after the DB000000 relay stays OFF for 5 s.

The timing chart is shown below.

DB000000

DB000001

DW0000150

ON OFF

5 s - Ts

(Ts: Scan time set value)

5-14

Instructions

5.2.7 Rising-edge Pulses (ON-PLS)

Bit input

Bit output

1 (ON) 0 (OFF)

Previous Value

1 (ON) 0 (OFF)

1 scan 1 scan

Previous Value Register

Icon:

Key entry: ]P

( 1 ) Operation

The ON-PLS instruction sets the bit output to 1 (ON) for only one scan when the bit input changes from 0 (OFF) to 1 (ON). The previous value of the bit input is saved in the Previous Value Register of the ON-PLS instruction.

The following table shows the relationship between the bit input of the ON-PLS instruction, the Previous Value Register, and the bit output.

5.2 Relay Circuit Instructions

5.2.7 Rising-edge Pulses (ON-PLS)

Bit Input Previous Value Register ON-PLS Instruction Bit Output

0 (OFF) 0 (OFF) → 0 (OFF) 0 (OFF) 1 (ON) → 0 (OFF)

1 (ON) 0 (OFF) → 1 (ON) 1 (ON) 1 (ON) → 0 (OFF)

In the third row of the table, notice how the bit input changes from 0 (OFF) in the Previous Value Register to 1 (ON), causing the ON-PLS instruction to set the bit output to 1 (ON).

( 2 ) Format

Parameter Name

Previous Value Register

B W L F A Index Constant

ЧЧЧЧЧЧ

Applicable Data Types

∗ C and # registers cannot be used.  The Previous Value Register holds the previous value of the bit input. Do not use other instructions to set the value

of this register.

5-15

5.2 Relay Circuit Instructions

DB000000

DB000002

ON OFF

1 scan 1 scan

DB000001

5.2.7 Rising-edge Pulses (ON-PLS)

( 3 ) Programming Example

The DB000002 output coil turns ON for only one scan if the status of DB000001 changes when the DB000000 relay changes from OFF to ON.

The timing chart is shown below.

5-16

Instructions

5.2.8 Falling-edge Pulses (OFF-PLS)

Bit input

Bit output

1 (ON) 0 (OFF)

Previous Value

1 (ON) 0 (OFF)

1 scan 1 scan

Previous Value Register

Icon:

Key entry: ]N

( 1 ) Operation

The OFF-PLS instruction sets the bit output to 1 (ON) for only one scan when the bit input changes from 1 (ON) to 0 (OFF). The previous value of the bit input is saved in the Previous Value Register of the OFF-PLS instruction.

The following table shows the relationship between the bit input of the OFF-PLS instruction, the Previous Value Register, and the bit output.

5.2 Relay Circuit Instructions

5.2.8 Falling-edge Pulses (OFF-PLS)

Bit Input Previous Value Register OFF-PLS Instruction Bit Output

0 (OFF) 0 (OFF) → 0 (OFF) 0 (OFF) 1 (ON) → 1 (ON)

1 (ON) 0 (OFF) → 0 (OFF) 1 (ON) 1 (ON) → 0 (OFF)

In the second row of the table, notice how the bit input changes from 1 (ON) in the Previous Value Register to 0 (OFF), causing the OFF-PLS instruction to set the bit output to 1 (ON).

( 2 ) Format

Parameter Name

Previous Value Register

B W L F A Index Constant

ЧЧЧЧЧЧ

Applicable Data Types

∗ C and # registers cannot be used.  The Previous Value Register holds the previous value of the bit input. Do not use other instructions to set the value

of this register.

5-17

5.2 Relay Circuit Instructions

5.2.8 Falling-edge Pulses (OFF-PLS)

( 3 ) Programming Example

The DB000002 output coil turns ON for only one scan if the status of DB000001 changes when the DB000000 relay changes from ON to OFF.

The timing chart is shown below.

DB000000

DB000001

DB000002

ON OFF

1 scan 1 scan

5-18

Instructions

5.2.9 Coil (COIL)

Coil address

1 (ON)

0 (OFF)

1 (ON)

0 (OFF)

Bit input

Bit value

Coil address

Icon:

Key entry: @

( 1 ) Operation

The COIL instruction sets the value of the bit at the coil address to 1 (ON) whenever the bit input is 1 (ON). The value of the bit at the coil address is set to 0 (OFF) whenever the bit input is 0 (OFF).

( 2 ) Format

5.2 Relay Circuit Instructions

5.2.9 Coil (COIL)

Parameter Name

Coil address

∗ C and # registers cannot be used.

B W L F A Index Constant

ЧЧЧЧЧЧ

Applicable Data Types

( 3 ) Programming Example

The DB000000 coil turns ON when the DB000001 relay turns ON.

If there are no instructions on the left side, the DB000000 coil is OFF because there is no input.

5-19

5.2 Relay Circuit Instructions

Bit input

Coil address

1 (ON) 0 (OFF)

Bit value

5.2.10 Set Coil (S-COIL)

( 1 ) Operation

The S-COIL instruction sets the value of the bit at the coil address to 1 (ON) when the bit input is 1 (ON). The set coil stays in the ON state.

( 2 ) Format

Icon:

Coil address

Parameter Name

Coil address

∗ C and # registers cannot be used.

B W L F A Index Constant

ЧЧЧЧЧЧ

Applicable Data Types

( 3 ) Programming Example

The DB000001 set coil stays in the ON state when the DB000000 relay turns ON.

The timing chart is shown below.

Key entry: @S

5-20

DB000000

DB000001

ON OFF

Instructions

5.2.11 Reset Coil (R-COIL)

DB000000

DB000001

ON OFF

DB000002

( 1 ) Operation

The R-COIL instruction sets the bit at the reset coil address to 1 (ON) when the bit input is 1 (ON). The set coil is changed to OFF.

5.2 Relay Circuit Instructions

5.2.11 Reset Coil (R-COIL)

Bit input

Coil address

Bit value

( 2 ) Format

Parameter Name

Coil address

∗ C and # registers cannot be used.

( 3 ) Programming Example

1 (ON) 0 (OFF)

Coil address

Applicable Data Types

B W L F A Index Constant

ЧЧЧЧЧЧ

Icon:

Key entry: @R

In the following programming example, the reset coil is used to turn OFF the set coil that was turned ON in the first line. The DB000001 reset coil in the second line turns ON if the DB000002 relay turns ON while the DB000001 set coil is ON, therefore turning OFF the DB000001 set coil.

The timing chart is shown below.

5-21

5.3 Numeric Operation Instructions

5.3.1 Store (STORE)

5.3 Numeric Operation Instructions

5.3.1 Store (STORE)

( 1 ) Operation

The input data is stored in the output register.

( 2 ) Format

Parameter Name

Input data (Src)

Output register (Dest)

∗ C and # registers cannot be used.

Input data

Input data Output register

Applicable Data Types

B W L F A Index Constant

× {{{{{{

{* {* {* {*

Output register

Icon:

Key entry: ;

{ ×

5-22

Instructions

( 3 ) Programming Examples

INFO

In the following programming examples, the input data is stored in the output register.

• Storing the Input Data, an Integer Value of 12345, in the MW00000 Output Register

• Storing the Input Data, a Real Value of 123.45, in the MW00000 Output Register

5.3 Numeric Operation Instructions

5.3.1 Store (STORE)

• Storing the Double-length Integer 89ABCDEF Hex in the MW00000 Output Register The lower word of the double-length integer –12,817 (CDEF hex) is stored in MW00000.

• Storing the Input Data, an Integer Value of 1234, in the MF00000 Output Register

5-23

5.3 Numeric Operation Instructions

Input data A

Output data

Input data B

Input data A

Output data

Icon:

Key entry: +

5.3.2 Add (ADD (+))

( 1 ) Operation

Input data A and input data B are added and the result is stored in the output data. An operation error occurs if the result produces an overflow or underflow.

( 2 ) Format

Parameter Name

Input data A (SrcA)

Input data B (SrcB)

Output data (Dest)

∗ C and # registers cannot be used.

B W L F A Index Constant

× × ×

Applicable Data Types

{{{ {{{

{* {* {*

× × ×

{{ {{ {

5-24

5.3 Numeric Operation Instructions

Instructions

INFO

5.3.2 Add (ADD (+))

( 3 ) Programming Examples

In the following programming examples, input data A and input data B are added and the result is stored in the output data.

• Storing the Output Data in MW00000 When Input Data A Is 100 and Input Data B Is 200 100 + 200 → MW00000 = 300

• Storing the Output Data in MW00000 When Input Data A Is 10.5 and Input Data B Is 10

10.5 + 10 → MW00000 = 20 (when truncating below the decimal point is set)

• Storing the Output Data in ML00000 When Input Data A in MW00002 Is 20,000 and Input Data B in MW00003 Is 30,000 MW00002 (20,000) + MW00003 (30,000) → ML00000 = 32,767*

∗ In the example given above, an overflow error occurs because both input data A and B are integers, which lim-

its the result to a number within the range for integers.

( 4 ) Additional Information

With integer operations, an overflow operation error occurs if the result exceeds 32,767 and an underflow operation error occurs if the result is less than -32,768. With double-length integer operations, an overflow operation error occurs if the result exceeds 2,147,483,647 and an underflow operation error occurs if the result is less than -2,147,483,648.

When performing operations with different data types, the result of the operation will depend on the data type of the output register. Refer to 4.4.2 ( 3 ) Precautions When Using Local Registers within a User Function for details. Normally, addition and subtraction instructions (+, –, ++, and – –) involving double-length integers are performed as 32-bit operations. However, these instructions are performed as 64-bit operations if they are used to correct the remainder produced by an immediately preceding MUL instruction (×) and are immediately followed by a DIV instruction (÷).

5-25

5.3 Numeric Operation Instructions

Output data (See notes.)

32,767 (7FFF hex)

−32,768 (8000 hex)

32,767

-32,768

Input data B

Output data

Input data A

Icon:

Key entry: ++

5.3.3 Extended Add (ADDX (++))

( 1 ) Operation

Input data A and input data B are added and the result is stored in the output data. Overflows are not treated as operation errors. Operation continues from the maximum value in the negative direction. Underflows are not treated as operation errors. Operation continues from the maximum value in the positive direction.

Input data A

 Output Data Behavior

Extended Add

Input data B

Output data

 In the example shown above, the output data is integer data. With double-length integers, adding 1 to

 Unlike operations for the ADD, SUB, or EXPRESSION instructions, overflows and underflows do not occur.

( 2 ) Format

Parameter Name

Input data A (SrcA) ×

Input data B (SrcB)

Output data (Dest)

2,147,483,647 (7FFFFFFF hex) results in -2,147,483,648 (80000000 hex).

Applicable Data Types

B W L F A Index Constant

{{

× ×

{{

{* {*

×× ×× ××

{{ {{ {

5-26

∗ C and # registers cannot be used.

5.3 Numeric Operation Instructions

Instructions

INFO

5.3.3 Extended Add (ADDX (++))

( 3 ) Programming Examples

In the following programming examples, input data A and input data B are extended-added and the result is stored in the output data.

• Storing the Output Data in MW00000 When Input Data A Is 32,760 and Input Data B Is 10 32,760 ++ 10 → MW00000 = -32,766

• Storing the Output Data in ML00000 When Input Data A in MW00002 Is 20,000 and Input Data B in MW00003 is 30,000 20,000 ++ 30,000 → ML00000 = -15,536*

∗ In the example given above, ML00000 does not equal 50,000 because both input data A and B are integers,

which limits the result to a number within the range for integers.

• Storing the Output Data in ML00000 When Input Data A Is 2,147,483,647 and Input Data B Is 2 2,147,483,647 ++ 2 → ML00000 = -241,783,647

• Storing the Output Data in MW00000 When Input Data A Is -32,768 and Input Data B Is -1

-32,768 ++ -1 → MW00000 = 32,767

5-27

5.3 Numeric Operation Instructions

Input data A

Output data

Input data B

−

5.3.4 Subtract (SUB (−))

( 1 ) Operation

Input data B is subtracted from input data A and the result is stored in the output data. An operation error occurs if the result produces an overflow or underflow.

( 2 ) Format

Icon:

Input data B

Input data A

Parameter Name

Input data A (SrcA)

Input data B (SrcB)

Output data (Dest)

∗ C and # registers cannot be used.

B W L F A Index Constant

× × ×

{{{ {{{

{* {* {*

Output data

Applicable Data Types

× × ×

Key entry: −

{{ {{ {

( 3 ) Programming Examples

In the following programming examples, input data B is subtracted from input data A and the result is stored in the output data.

• Storing the Output Data in MW00000 When Input Data A Is 100 and Input Data B Is 200

100 – 200 → MW00000 = -100

5-28

5.3 Numeric Operation Instructions

Instructions

INFO

5.3.4 Subtract (SUB (−))

• Storing the Output Data in MW00000 When Input Data A Is 10.5 and Input Data B Is 10

10.5 – 10 → MW00000 = 0 (when truncating below the decimal point is set)

• Storing the Output Data in ML00000 When Input Data A in MW00002 Is -20,000 and Input Data B in MW00003 Is 30,000

-20,000 – 30,000 → ML00000 = -32,768*

∗ In the example given above, an underflow error occurs because both input data A and B are integers, which

limits the result to a number within the range for integers.

( 4 ) Additional Information

5-29

5.3 Numeric Operation Instructions

-1

32,767

-32,768

-1

Output data

32,767 (7FFF hex)

-32,768 (8000 hex)

Input data B

Output data

Input data A

Icon:

Key entry: − −

5.3.5 Extended Subtract (SUBX (− −))

( 1 ) Operation

Input data B is subtracted from input data A and the result is stored in the output data. Overflows are not treated as operation errors. Operation continues from the maximum value in the negative direction. Underflows are not treated as operation errors. Operation continues from the maximum value in the positive direction.

Extended Subtract

Input data A

− −

 Output Data Behavior

Input data B

Output data

 In the example shown above, the output data is integer data. With double-length integers, subtracting 1 from -

 Unlike operations for the ADD, SUB, or EXPRESSION instructions, overflows and underflows do not occur.

( 2 ) Format

Parameter Name

Input data A (SrcA) ×

Input data B (SrcB)

Output data (Dest)

2,147,483,647 (80000000 hex) results in 2,147,483,647(7FFFFFFF hex).

Applicable Data Types

B W L F A Index Constant

{{

× ×

{{

{* {*

×× ×× ××

{{ {{ {

5-30

∗ C and # registers cannot be used.

5.3 Numeric Operation Instructions

Instructions

INFO

5.3.5 Extended Subtract (SUBX (− −))

( 3 ) Programming Examples

In the following programming examples, input data B is extended-subtracted from input data A and the result is stored in the output data.

• Storing the Output Data in MW00000 When Input Data A Is -32,760 and Input Data B Is 10

-32,768 – – 10 → MW00000 = 32,766

• Storing the Output Data in ML00000 When Input Data A in MW00002 Is -20,000 and Input Data B in MW00003 Is 30,000

-20,000 – –30,000 → ML00000 = 15,536*

∗ In the example given above, ML00000 does not equal -50,000 because both input data A and B are integers,

which limits the result to a number within the range for integers.

• Storing the Output Data in ML00000 When Input Data A Is -2,147,483,648 and Input Data B Is 2

-2,147,483,648 – – 2 → ML00000 = 241,783,646

• Storing the Output Data in MW00000 When Input Data A Is 32,767 and Input Data B Is -1 32,767 – – -1 → MW00000 = -32,768

5-31

Yaskawa MP900 Programming Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

About this Manual

Using this Manual

MP2000-series Manuals

Safety Information

Safety Precautions

Warranty

Contents

Introduction to Ladder Programming

1.1 What Is a Ladder Program?

1.2 Features of Ladder Programming for MP2000-series Machine Controllers

1.2.1 Types of Ladder Drawings and Their Different Execution Timing

1.2.2 Program Modules

1.2.3 Programming Complicated Numeric Operations

1.2.4 Communications Control with External Devices

1.2.5 Complete Synchronization with Motion Control

Specifications for Ladder Programs

2.1 MP2000-series Machine Controller Specifications

2.1.1 Applicable Machine Controllers

2.1.2 Machine Controller Program Specifications

2.2 Engineering Tool Specifications

2.2.1 Applicable Engineering Tool

2.2.2 MPE720 Version 6 Engineering Tool Specifications

2.3 Ladder Programming Instructions

Ladder Program Development Flow

3.1 Ladder Program Design Procedures

3.1.1 Connecting the Hardware

3.1.2 Installing MPE720 Version 6

3.1.3 Communications Settings

3.1.4 System Startup

3.1.5 Creating a Project

3.1.6 Creating Ladder Programs

3.1.7 Transferring Ladder Programs

3.1.8 Checking the Operation of the Ladder Programs

3.1.9 Saving the Ladder Programs to Flash Memory

Programming

4.1 Ladder Program Editor

4.2 Ladder Drawings

4.2.1 Types of Ladder Drawings

4.2.2 Controlling the Execution of Drawings

4.3 User Functions

4.3.1 What Is a User Function?

4.3.2 Creating User Functions

4.3.3 Calling a User Function

4.4 Registers (Variables)

4.4.1 What Are Registers?

4.4.2 Register Types

4.4.3 Data Types

4.4.4 Index Registers (i, j)

4.5 Table Data

4.5.1 What Is Table Data?

4.5.2 Creating Table Data

4.6 Transferring Data

4.7 Setting the High-speed/Low-speed Scan Times

4.8 Advanced Programming

4.8.1 Motion Programs

4.8.2 C-language Programs

4.8.3 Security

4.8.4 Tracing

Instructions

5.1 How to Read the Instructions

5.2 Relay Circuit Instructions

5.2.1 NO Contact (NOC)

5.2.2 NC Contact (NCC)

5.2.3 10-ms ON-Delay Timer (TON[10ms])

5.2.4 10-ms OFF-Delay Timer (TOFF[10ms])

5.2.5 1-s ON-Delay Timer (TON[1s])

5.2.6 1-s OFF-Delay Timer (TOFF[1s])

5.2.7 Rising-edge Pulses (ON-PLS)

5.2.8 Falling-edge Pulses (OFF-PLS)

5.2.9 Coil (COIL)

5.2.10 Set Coil (S-COIL)

5.2.11 Reset Coil (R-COIL)

5.3 Numeric Operation Instructions

5.3.1 Store (STORE)

5.3.2 Add (ADD (+))

5.3.3 Extended Add (ADDX (++))