Yaskawa MP900 Programming Manual
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
1
2
3
4
5
6
7
AppA
AppB
AppC
AppD
AppE
MANUAL NO. SIE-C887-1.2D
Copyright © 1998 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or
transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to
the use of the information contained herein. Moreover, because Yaskawa is 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/MP210M
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
iv
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 Analog
Σ-V Series MECHA-
Σ-V Series MECHA-
Σ-V
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
vi
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.
ix
Contents
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
x
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
xi
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
xv
Introduction to Ladder Programming
1
1
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
1
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
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
c
d
SEE instruction
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
1
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
2
2
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
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
*
1
5.5 MB 7.5 MB 11.5 MB
Applicable
64 drawings max. including parent drawings, operation error drawings, child drawings, and grandchild drawings
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
*2
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
*3
*3
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 6.24 or higher
Applicable with MPE720 version 6.24 or higher
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 6.04 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
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
2
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
5.9.7
5.9.8
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
3
3
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
e
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.
d
System Startup
Perform self configuration and start the system.
g
Transferring Ladder Programs
Transfer the ladder programs that you created to
the MP2000-series Machine Controllers.
h
Checking the Operation of the Ladder Programs
Check the operation of the ladder programs.
i
Saving the Ladder Programs to Flash Memory
Save the debugged ladder programs to flash memory.
f
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
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
TX
RUN
ERR
BAT
MON
CNFG
INT
SUP
STOP
SW1
OFF ON
BATTERY
CPU I/O
M-I/II
218IF-01
ERR
COL
RX
RUN
STRX
TX
INIT
TEST
ONOFF
PORT
10Base-T
Optional Module
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
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