Yaskawa Ladder Works Programming Manual Manuel d'utilisateur

Ladder WorksLadder Editor Programming Manual

1.4 10-MS OFF-DELAY TIMER Instructions (TOFF[10ms]) 1-5 1.4 10-MS OFF-DELAY TIMER Instruction (TOFF[10ms]) [Outline] The TOFF[10ms] is executed while

6.1 BIT ROTATION LEFT Instruction (ROTL) 6-3 [Program Example] The data having MB00000A (bit A of MW00000) as the head address and a bit width of 10

6.2 BIT ROTATION RIGHT Instruction (ROTR) 6-4 6.2 BIT ROTATION RIGHT Instruction (ROTR) [Outline] The ROTR instruction is used to rotate bits to the

6.2 BIT ROTATION RIGHT Instruction (ROTR) 6-5 [Program Example] The data having MB00000 (bit 0 of MW00000) as the head address and a bit width of 10

6.3 MOVE BITS Instruction (MOVB) 6-6 6.3 MOVE BITS Instruction (MOVB) [Outline] The MOVB instruction moves the designated number of bits (Width) from

6.3 MOVE BITS Instruction (MOVB) 6-7 [Program Example] The 10 bits of data starting from MB000000 (bit 0 of MW00000) are transferred to MB000010 ( bi

6.4 MOVE WORD Instruction (MOVW) 6-8 6.4 MOVE WORD Instruction (MOVW) [Outline] The MOVW instruction moves the designated number of words (Width) from

6.4 MOVE WORD Instruction (MOVW) 6-9 [Program Example] The word data MW00000 to MW00009 are transferred to MW00100 to MW00109. Aftertransfer1234H2345

6.5 EXCHANGE Instruction (XCHG) 6-10 6.5 EXCHANGE Instruction (XCHG) [Outline] The XCHG instruction is used to exchange data between data tables 1 (D

6.5 EXCHANGE Instruction (XCHG) 6-11 [Program Example] The contents of MW00000 to MW00009 are exchanged to MW00100 to MW00109. Aftertransfer1031H103

6.6 SET WORDS Instruction (SETW) 6-12 6.6 SET WORDS Instruction (SETW) [Outline] The SETW instruction stores the designated data (Set Data) in all re

1.5 1-S ON-DELAY TIMER Instructions (TON[1s]) 1-6 1.5 1-S ON-DELAY TIMER Instruction (TON[1s]) [Outline] The TON[1s] times while the immediately-prec

6.6 SET WORDS Instruction (SETW) 6-13 [Program Example] The contents of MW00100 to MW00119 are set to 0. 00000Transfer data Transfer destination0000

6.7 BYTE-TO-WORD EXPANSION Instruction (BEXTD) 6-14 6.7 BYTE-TO-WORD EXPANSION Instruction (BEXTD) [Outline] The BEXTD instruction stores the byte se

6.7 BYTE-TO-WORD EXPANSION Instruction (BEXTD) 6-15 [Program Example] The 5 bytes beginning with MW00100 are expanded into five words beginning with

6.8 WORD-TO-WORD COMPRESSION Instruction (BPRESS) 6-16 6.8 WORD-TO-WORD COMPRESSION Instruction (BPRESS) [Outline] The BPRESS instruction stores the

6.8 WORD-TO-WORD COMPRESSION Instruction (BPRESS) 6-17 [Program Example] The 5 bytes beginning with MW00100 are compressed into five words beginning

6.9 BINARY SEARCH Instruction (BSRCH) 6-18 6.9 BINARY SEARCH Instruction (BSRCH) [Outline] The BSRCH instruction uses a binary search method to searc

6.10 SORT Instruction (SORT) 6-19 6.10 SORT Instruction (SORT) [Outline] The SORT instruction sorts data within the designated register range (Data T

6.11 BIT SHIFT LEFT Instruction (SHFTL) 6-20 6.11 BIT SHIFT LEFT Instruction (SHFTL) [Outline] The SHFTL instruction shifts the bit sequence designat

6.12 BIT SHIFT RIGHT Instruction (SHFTR) 6-21 6.12 BIT SHIFT RIGHT Instruction (SHFTR) [Outline] The SHFTR instruction shifts the bit sequence design

6.13 COPY WORD Instruction (COPYW) 6-22 6.13 COPY WORD Instruction (COPYW) [Outline] The COPYW instruction copies the designated number of words (Wid

1.6 1-S OFF-DELAY TIMER Instructions (TOFF[1s]) 1-7 1.6 1-S OFF-DELAY TIMER Instruction (TOFF[1s]) [Outline] The TOFF[1s] times while the immediately

6.14 BYTE SWAP Instruction (BSWAP) 6-23 6.14 BYTE SWAP Instruction (BSWAP) [Outline] The BSWAP instruction swaps the higher-place and lower-place byt

6.14 BYTE SWAP Instruction (BSWAP) 6-24 12H13H 44H14H 54H34H 12H34H44H 13H54H 14HMW00100MW00101MW00102MW00100MW00102MW00101Upper LowerAfter swapBefore

7 DDC Instructions 7-1 7 DDC Instructions 7.1 DEAD ZONE A Instruction (DZA)･･･････････････････････････････････････7-2 7.2 DEAD ZONE B Instruction (D

7.1 DEAD ZONE A Instruction (DZA) 7-2 7.1 DEAD ZONE A Instruction (DZA) [Outline] The DZA instruction executes a dead zone operation on integer, doub

7.1 DEAD ZONE A Instruction (DZA) 7-3 [Program Example] Integer type operation Double-length integer type operation Real number type operation

7.2 DEAD ZONE B Instruction (DZB) 7-4 7.2 DEAD ZONE B Instruction (DZB) [Outline] The DZB instruction executes a dead zone operation on integer, doub

7.2 DEAD ZONE B Instruction (DZB) 7-5 [Program Example] Integer type operation Double-length integer type operation Real number type operation

7.3 UPPER/LOWER LIMIT Instruction (LIMIT) 7-6 7.3 UPPER/LOWER LIMIT Instruction (LIMIT) [Outline] The LIMIT instruction executes an upper/lower limit

7.3 UPPER/LOWER LIMIT Instruction (LIMIT) 7-7 [Parameter] Parameter Name Setting Input · Any integer type, double-length integer type and real numb

7.3 UPPER/LOWER LIMIT Instruction (LIMIT) 7-8 [Program Example] Integer type operation Input (MW00100) Output (MW0010) -100 > MW00100 -00100 (un

1.7 RISING PULSE Instructions (ON – PLS) 1-8 1.7 RISING PULSE Instruction (ON – PLS) [Outline] The ON-PLS sets the value of the bit input to ON durin

7.4 PI CONTROL Instruction (PI) 7-9 7.4 PI CONTROL Instruction (PI) [Outline] The PI instruction executes a PI control operation according to the con

7.4 PI CONTROL Instruction (PI) 7-10 Here, the PI operation is expressed as follows: Y 1 X = Kp + Ki× Ti×S X : deviation input value Y : output val

7.4 PI CONTROL Instruction (PI) 7-11 [Program Example] Integer type operation MW00100 to MW00111 are used for the parameter table. Real number type

7.5 PD CONTROL Instruction (PD) 7-12 7.5 PD CONTROL Instruction (PD) [Outline] The PD instruction executes a PD control operation according to the co

7.5 PD CONTROL Instruction (PD) 7-13 Here, the PD operation is expressed as follows: Y X = Kp + Kd×Td×S X : deviation input value Y : output value Th

7.5 PD CONTROL Instruction (PD) 7-14 [Program Example] Integer type operation MW00100 to MW00109 are used for the parameter table. Real number intege

7.6 PID CONTROL Instruction (PID) 7-15 7.6 PID CONTROL Instruction (PID) [Outline] The PID instruction executes a PID control operation according to

7.6 PID CONTROL Instruction (PID) 7-16 Table of Real Type PID Instruction Parameters ADR Type Symbol Name Specification I/O 0 W RLY Relay I/O

7.6 PID CONTROL Instruction (PID) 7-17 InputX OutputYLIMIT DB Ki Ts/Ti Z -1I LIMITZ -1+-++Kd Td/Ts +++Kp [Format] Symbol : PID Full Name : PID Co

7.6 PID CONTROL Instruction (PID) 7-18 [Program Example] Integer type operation MW00100 to MW00115 are used for the parameter table. Real number type

1.8 FALLING PULSE Instructions (OFF – PLS) 1-9 1.8 FALLING PULSE Instruction (OFF – PLS) [Outline] The OFF-PLS sets the value of the bit input to ON

7.7 FIRST-ORDER LAG Instruction (LAG) 7-19 7.7 FIRST-ORDER LAG Instruction (LAG) [Outline] The LAG instruction calculates the first-order lag accordi

7.7 FIRST-ORDER LAG Instruction (LAG) 7-20 [Format] Symbol : LAG Full Name : First Order Lag Category : DDC Icon : [Parameter] Parameter Name Set

7.8 PHASE LEAD/LAG Instruction (LLAG) 7-21 7.8 PHASE LEAD/LAG Instruction (LLAG) [Outline] The LLAG instruction calculates the phase lead/lag accordi

7.8 PHASE LEAD/LAG Instruction (LLAG) 7-22 [Format] Symbol : LLAG Full Name : Phase Lead Lag Category : DDC Icon : [Parameter] Parameter Name Sett

7.9 FUNCTION GENERATOR Instruction (FGN) 7-23 7.9 FUNCTION GENERATOR Instruction (FGN) [Outline] The FGN instruction generates a function curve accor

7.9 FUNCTION GENERATOR Instruction (FGN) 7-24 [Format] Symbol : FGN Full Name : Function Generator Category : DDC Icon : [Parameter] Parameter Name

7.9 FUNCTION GENERATOR Instruction (FGN) 7-25 Real number type operation (number of data: N=20) #F00000 to #F00080 are used for the parameter table.

7.10 INVERSE FUNCTION GENERATOR Instruction (IFGN) 7-26 7.10 INVERSE FUNCTION GENERATOR Instruction (IFGN) [Outline] The IFGN instruction generates a

7.10 INVERSE FUNCTION GENERATOR Instruction (IFGN) 7-27 X1 X2XX3X4Y1 Y2 Y Y3 Y4 ↑ OutPutvalue Y Input value X → [Format] Symbol : IFGN Full Name

7.10 INVERSE FUNCTION GENERATOR Instruction (IFGN) 7-28 #L00000 to #L00080 are used for the parameter table. Real number type operation (number of da

1.9 COIL Instruction (COIL) 1-10 1.9 COIL Instruction (COIL) [Outline] The COIL sets the value of the referenced register to 1 (ON) when the immediat

7.11 LINEAR ACCELERATOR/DECELERATOR 1 Instruction (LAU) 7-29 7.11 LINEAR ACCELERATOR/DECELERATOR 1 Instruction (LAU) [Outline] The LAU instruction pe

7.11 LINEAR ACCELERATOR/DECELERATOR 1 Instruction (LAU) 7-30 Table of Real Type LAU Instruction Parameters ADR Type Symbol Name Specification I/

7.11 LINEAR ACCELERATOR/DECELERATOR 1 Instruction (LAU) 7-31 [Program Example] Integer type operation MW00100 to MW000106 are used for the parameter t

7.12 LINEAR ACCELERATOR/DECELERATOR 2 Instruction (SLAU) 7-32 7.12 LINEAR ACCELERATOR/DECELERATOR 2 Instruction (SLAU) [Outline] The SLAU instruction

7.12 LINEAR ACCELERATOR/DECELERATOR 2 Instruction (SLAU) 7-33 BIT Symbol Name Specification I/O 0 RN Line is running "ON" is input while

7.12 LINEAR ACCELERATOR/DECELERATOR 2 Instruction (SLAU) 7-34 [Format] Symbol : SLAU Full Name : S-Curve Linear Accelerator Category : DDC Icon : [

7.13 PULSE WIDTH MODULATION Instruction (PWM) 7-35 7.13 PULSE WIDTH MODULATION Instruction (PWM) [Outline] The PWM instruction converts the value of

7.13 PULSE WIDTH MODULATION Instruction (PWM) 7-36 [Parameter] Parameter Name Setting Input · Any integer type register · Any integer type registe

8 Table Data Manipulation Instructions 8-1 8 Table Data Manipulation Instructions 8.1 BLOCK READ Instruction (TBLBR)････････････････････････････････

8.1 BLOCK READ Instruction (TBLBR) 8-2 8.1 BLOCK READ Instruction (TBLBR) [Outline] The TBLBR instruction consecutively reads file register table ele

1.10 SET COIL Instructions (S-COIL) 1-11 1.10 SET COIL Instruction (S-COIL) [Outline] The S-COIL turns ON the output when the execution condition is

8.1 BLOCK READ Instruction (TBLBR) 8-3 [Program Example] From the table defined as TABLE1, with DW00010 to DW00013 as a parameter table, data (elemen

8.2 BLOCK WRITE Instruction (TBLBW) 8-4 8.2 BLOCK WRITE Instruction (TBLBW) [Outline] The TBLBW instruction writes the contents of a continuous regio

8.2 BLOCK WRITE Instruction (TBLBW) 8-5 [Program Example] From the table defined as TABLE1, with DW00010 to DW00013 as a parameter table, area (eleme

8.3 ROW SEARCH Instruction (TBLSRL) 8-6 8.3 ROW SEARCH Instruction (TBLSRL) [Outline] The TBLSRL instruction searches for the column element of the f

8.3 ROW SEARCH Instruction (TBLSRL) 8-7 [Parameter] Parameter Name Setting Table Name Table name Search Data · Register address · Register addre

8.4 COLUMN SEARCH Instruction (TBLSRC) 8-8 8.4 COLUMN SEARCH Instruction (TBLSRC) [Outline] The TBLSRC instruction searches for the row element of th

8.4 COLUMN SEARCH Instruction (TBLSRC) 8-9 [Parameter] Parameter Name Setting Table Name Table name Search Data · Register address · Register ad

8.5 BLOCK CLEAR Instruction (TBLCL) 8-10 8.5 BLOCK CLEAR Instruction (TBLCL) [Outline] The TBLCL instruction clears the data of the block element of

8.5 BLOCK CLEAR Instruction (TBLCL) 8-11 [Program Example] The designated block in the table defined as TABLE1 is cleared using DW00010 to DW00013 as

8.6 BLOCK MOVE Instruction (TBLMV) 8-12 8.6 BLOCK MOVE Instruction (TBLMV) [Outline] The TBLMV instruction transfers the data of the block elements o

1.11 RESET COIL Instructions (R-COIL) 1-12 1.11 RESET COIL Instruction (R-COIL) [Outline] The R-COIL turns OFF the output when the execution conditio

8.6 BLOCK MOVE Instruction (TBLMV) 8-13 [Parameter] Parameter Name Setting Src Table Name Table name Dest Table Name Table name Parameter · Regi

8.7 QUEUE TABLE READ Instructions (QTBLR,QTBLRI) 8-14 8.7 QUEUE TABLE READ Instructions (QTBLR, QTBLRI) [Outline] The QTBLR/QTBLRI instruction consec

8.7 QUEUE TABLE READ Instructions (QTBLR,QTBLRI) 8-15 [Parameter] Parameter Name Setting Table Name Table name Read Data · Register address (exce

8.8 QUEUE TABLE WRITE Instructions (QTBLW, QTBLWI) 8-16 8.8 QUEUE TABLE WRITE Instructions (QTBLW, QTBLWI) [Outline] The QTBLW/QTBLWI instruction wri

8.8 QUEUE TABLE WRITE Instructions (QTBLW, QTBLWI) 8-17 [Parameter] Parameter Name Setting Table Name 表名称 Write Data · Register address (except f

8.9 QUEUE POINTER CLEAR Instructions (QTBLCL) 8-18 8.9 QUEUE POINTER CLEAR Instruction (QTBLCL) [Outline] The QTBLCL instruction returns the queue re

9 Standard System Function 9-1 9 Standard System Function 9.1 Counter Function (COUNTER)･････････････････････････････････････････9-2 9.2 First-in Fi

9.1 Counter Function (COUNTER) 9-2 9.1 Counter Function (COUNTER) [Outline] Increments or decrements the current value when the count up/down command

9.1 Counter Function (COUNTER) 9-3 The forms of parameter input and output are shown in below. Input Data Form Input Designation Description Bit inp

9.2 First-in First-out Function (FINFOUT) 9-4 9.2 First-in First-out Function (FINFOUT) [Outline] This is a first-in first-out type block data transf

2 Numeric Operation Instructions 2-1 2 Numeric Operation Instructions 2.1 STORE Instruction (STORE)･･･････････････････････････････････････････2-2 2.

9.3 Trace Function (TRACE) 9-5 9.3 Trace Function (TRACE) [Outline] Performs execution control of the traces of the trace data designated by the trac

9.4 Data Trace Read Function (DTRC-RD) 9-6 9.4 Data Trace Read Function (DTRC-RD) [Outline] Reads out the trace data of the main controller unit and

9.4 Data Trace Read Function (DTRC-RD) 9-7 9.4.1 Readout of Data Readout of Data is described Figure 9.1. Data Trace MemoryNumber ofread recordsOldNew

9.4 Data Trace Read Function (DTRC-RD) 9-8 Record Length A Record is composed of the data for the selected items. Word length of 1 record = Bn 1 wor

9.5 Failure Trace Read Function (FTRC-RD) 9-9 9.5 Failure Trace Read Function (FTRC-RD) [Outline] Reads the failure trace data and stores them in the

9.5 Failure Trace Read Function (FTRC-RD) 9-10 9.5.1 Failure Occurrence Data Readout Failure occurrence data readout is described in figure 9.3. The

9.5 Failure Trace Read Function (FTRC-RD) 9-11 Table 9.4 Bit Configuration No. Bit Configuration of ① Bit Configuration of ② 7 Defined flag (1 = de

9.5 Failure Trace Read Function (FTRC-RD) 9-12 Record Configuration Record composition is shown in figure 9.9. Register Designation No.2 words1 word

9.6 Inverter Trace Read Function (ITRC-RD) 9-13 9.6 Inverter Trace Read Function (ITRC-RD) [Outline] Reads out the trace data of the inverter and sto

9.6 Inverter Trace Read Function (ITRC-RD) 9-14 Table 9.5 Configuration of the Inverter Trace Read Execution Status (STATUS) Name Bit Name Remarks

2.1 STORE Instruction (STORE) 2-2 2.1 STORE Instruction (STORE) [Outline] The STORE instruction stores the contents of Source in the Dest. [Format]

9.7 Send Message Function (MSG-SND) 9-15 9.7 Send Message Function (MSG-SND) [Outline] Sends a message to the called station which is on the line and

9.7 Send Message Function (MSG-SND) 9-16 9.7.1 Parameters They adhere to contents-functions and so on and are collected into parameter numerical order

9.7 Send Message Function (MSG-SND) 9-17 Status (PARAM01) Output the status of the transmission unit. Bit Assignment RESULTCOMMANDREQUESTPARAMETERF

9.7 Send Message Function (MSG-SND) 9-18 REQUEST 1 = Request 0 = Completion of receipt report Called Station # (PARAM02) Serial 1～254 : Message is

9.7 Send Message Function (MSG-SND) 9-19 Data Address The set contents will differ according to the function code as Table 9.10. Table 9.10 Address

9.7 Send Message Function (MSG-SND) 9-20 0DH Discontinuous readout of holding register (expanded) 1 to 508 (1 to 01FCH) words 1 to 252 (1 to 00FCH)

9.7 Send Message Function (MSG-SND) 9-21 9.7.2 Input EXCUTE (Send Message Execution Command) When the command becomes "ON", the message is

9.7 Send Message Function (MSG-SND) 9-22 9.7.3 Program Example Program example is described Figure 9.11.

9.7 Send Message Function (MSG-SND) 9-23 Figure 9.11 Program Sample

9.8 Receive Message Function (MSG-RCV) 9-24 9.8 Receive Message Function (MSG-RCV) [Outline] Receives a message from a calling station which is on th

TABLE OF CONTENTS 1 TABLE OF CONTENTS 1 Relay Circuit Instructions 1.1 N.O. Contact Instruction (NOC)････････････････････････････････････････1-2 1.2 N

2.1 STORE Instruction (STORE) 2-3 [Program Example] Notes: When a double-length integer type data is stored in an integer type register, the lo

9.8 Receive Message Function (MSG-RCV) 9-25 9.8.1 Parameters They adhere to contents-functions and so on and are collected into parameter numerical or

9.8 Receive Message Function (MSG-RCV) 9-26 Status (PARAM01) Output the status of the transmission unit. See 5.5.1."Parameters" of "

9.8 Receive Message Function (MSG-RCV) 9-27 Input Relay Offset (PARAM09) Set the offset word address of the input relay. This is valid in the case

9.8 Receive Message Function (MSG-RCV) 9-28 CH-NO (Channel No.) Designate the channel No. of the transmission unit. However, the channel number sho

9.8 Receive Message Function (MSG-RCV) 9-29 9.8.4 Program Example Program example is described Figure 9.12.

9.8 Receive Message Function (MSG-RCV) 9-30 Figure 9.12 Program Sample

9.9 Inverter Constant Write Function (ICNS-WR) 9-31 9.9 Inverter Constant Write Function (ICNS-WR) [Outline] Writes the inverter constants. The types

9.9 Inverter Constant Write Function (ICNS-WR) 9-32 Table 9.14 Configuration of Inverter Constant Write Execution Status (STATUS) Name Bit No. Rema

9.9 Inverter Constant Write Function (ICNS-WR) 9-33 9.9.2 Method of Writing to an EEPROM Procedures for writing constants to an EEPROM (inverter inter

9.9 Inverter Constant Write Function (ICNS-WR) 9-34 9.9.3 Program Example An example of a program (if MP930) that writes "200" in the consta

2.2 ADDITION Instruction (ADD) 2-4 2.2 ADDITION Instruction (ADD) [Outline] The ADD instruction adds integer, double-length integer, and real number

9.9 Inverter Constant Write Function (ICNS-WR) 9-35

9.10 Inverter Constant Read Function (ICNS-RD) 9-36 9.10 Inverter Constant Read Function (ICNS-RD) [Outline] Reads the inverter constants. The types

9.10 Inverter Constant Read Function (ICNS-RD) 9-37 Table 9.15 Configuration of Inverter Constant Read Execution Status (STASTUS) Name Bit No. Rema

A-1 Appendix Expression Outline It is necessary to describe the conditional expression and the operational expression in IF, WHILE, and the EXPRESSI

A-2 ･ Substitution operator = A right value is substituted for a left value ･ Reserved word true/false Value to logical expression ○ Priority leve

A-3 in C language. The bool type variable takes only either of value of true or false. It can be used only for the logical expression. The fo

A-4 ○ Comparison operator This operator can be used for the operand of the integer type and the real type. The register of the bit type should come

A-5 MW00001 = MF00012 OK MB000102 = MW00010 OK MB000102 = true OK MW00010 = MB000101 NG MW00010 = true NG ○ Function The

A-6 3. Application to ladder program The use of Expression in the ladder program is divided into three kinds of the following. ① Conditional express

A-7 MW00003 = MW00000/50; OK MW00002 = MW00001 & 300; OK MW00010 = MW00003 – MW00002; OK MB000001 == true; NG MW00006 >= 100;

2.2 ADDITION Instruction (ADD) 2-5 [Program Example ] Addition of integer type values Addition of real number type values Notes: In the case of

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2.3 EXTENDED ADDITION Instruction (ADDX) 2-6 2.3 EXTENDED ADDITION Instruction (ADDX) [Outline] The ADDX instruction adds integer values. Source B is

2.4 SUBTRACTION Instruction (SUB) 2-7 2.4 SUBTRACTION Instruction (SUB) [Outline] The SUB instruction subtracts integer, double-length integer, and r

2.4 SUBTRACTION Instruction (SUB) 2-8 [Program Example] Subtraction of integer type values Subtraction of real number type values Notes: In the

2.5 EXTENDED SUBTRACTION Instruction (SUBX) 2-9 2.5 EXTENDED SUBTRACTION Instruction (SUBX) [Outline] The SUBX instruction subtracts integer values.

2.6 MULTIPLICATION Instruction (MUL) 2-10 2.6 MULTIPLICATION Instruction (MUL) [Outline] The MUL instruction multiplies integer, double-length intege

2.6 MULTIPLICATION Instruction (MUL) 2-11 Multiplication of double-length integer type values Multiplication of real number type values Notes: I

2.7 DIVISION Instruction (DIV) 2-12 2.7 DIVISION Instruction (DIV) [Outline] The DIV instruction divides integer, double-length integer, and real num

TABLE OF CONTENTS 2 3 Logical Operation/ Comparison Instructions 3.1 AND Instruction (AND)･･･････････････････････････････････････････････3-2 3.2 OR In

2.7 DIVISION Instruction (DIV) 2-13 [Program Example] Real number type data

2.8 MOD Instruction (MOD) 2-14 2.8 MOD Instruction (MOD) [Outline] The MOD instruction outputs the remainder of integer or double-length integer divi

2.9 REM Instruction (REM) 2-15 2.9 REM Instruction (REM) [Outline] The REM instruction outputs the remainder of real number division to the Dest. He

2.10 INC Instruction (INC) 2-16 2.10 INC Instruction (INC) [Outline] The INC instruction adds 1 to the designated integer or double-length integer re

2.10 INC Instruction (INC) 2-17 Double-length integer type ⇔equivalent

2.11 DEC Instruction (DEC) 2-18 2.11 DEC Instruction (DEC) [Outline] The DEC instruction subtracts 1 from the designated integer or double-length int

2.11 DEC Instruction (DEC) 2-19 Double-length integer type ⇔equivalent

2.12 ADD TIME Instruction (TMADD) 2-20 2.12 ADD TIME Instruction (TMADD) [Outline] The TMADD instruction adds one time (hours/minutes/seconds) to ano

2.12 ADD TIME Instruction (TMADD) 2-21 [Program Example] The time data in DW0000 to DW00101 is added to the time data in MW00100 to MW00101. 8 hrs 40

2.13 SUBTRACT TIME Instruction (TMSUB) 2-22 2.13 SUBTRACT TIME Instruction (TMSUB) [Outline] The TMSUB instruction subtracts one time (hours/minutes/

TABLE OF CONTENTS 3 6 Data Manipulation Instructions 6.1 BIT ROTATION LEFT Instruction (ROTL)･･･････････････････････････････6-2 6.2 BIT ROTATION RIGHT

2.13 SUBTRACT TIME Instruction (TMSUB) 2-23 [Program Example] The time data in DW0000 to DW0001 is subtracted to the time data in MW00100 to MW00101.

2.14 SPEND TIME Instruction (SPEND) 2-24 2.14 SPEND TIME Instruction (SPEND) [Outline] The SPEND instruction subtracts one time (year/month/day/hours

2.14 SPEND TIME Instruction (SPEND) 2-25 [Program Example] The time elapsed from the time data in MW00100 to MW00103 to the time data in DW00000 to D

2.15 SIGN INVERSION Instruction (INV) 2-26 2.15 SIGN INVERSION Instruction (INV) [Outline] The INV instruction inverts the sign of the contents of th

2.15 SIGN INVERSION Instruction (INV) 2-27 [Program Example] Integer type data Double-length integer type data Real number type data

2.16 1’S COMPLEMENT Instruction (COM) 2-28 2.16 1’S COMPLEMENT Instruction (COM) [Outline] The COM instruction determines the 1’s complement of the c

2.17 ABSOLUTE VALUE CONVERSION Instruction (ABS) 2-29 2.17 ABSOLUTE VALUE CONVERSION Instruction (ABS) [Outline] The ABS instruction determines the a

2.17 ABSOLUTE VALUE CONVERSION Instruction (ABS) 2-30 [Program Example] Integer type data Double-length integer type data Real number type data

2.18 BINARY CONVERSION Instruction (BIN) 2-31 2.18 BINARY CONVERSION Instruction (BIN) [Outline] The BIN instruction converts a binary coded decimal

2.19 BCD CONVERSION Instruction (BCD) 2-32 2.19 BCD CONVERSION Instruction (BCD) [Outline] The BCD instruction converts a binary value in the Source

TABLE OF CONTENTS 4 9 STANDARD SYSTEM FUNCTION 9.1 Counter Function (COUNTER)････････････････････････････････････････9-2 9.2 First-in First-out Functi

2.20 PARITY CONVERSION Instruction (PARITY) 2-33 2.20 PARITY CONVERSION Instruction (PARITY) [Outline] The PARITY instruction counts the number of bi

2.21 ASCII CONVERSION Instruction ( ASCII ) 2-34 2.21 ASCII CONVERSION Instruction (ASCII) [Outline] The ASCII instruction converts the specified cha

2.22 ASCII CONVERSION 2 Instruction (BINASC) 2-35 2.22 ASCII CONVERSION 2 Instruction (BINASC) [Outline] The BINASC instruction converts the 16-bit b

2.22 ASCII CONVERSION 3 Instruction (ASCBIN) 2-36 2.23 ASCII CONVERSION 3 Instruction (ASCBIN) [Outline] The ASCBIN instruction converts four-digit h

3 Logical Operation/ Comparison Instructions 3-1 3 Logical Operation/ Comparison Instructions 3.1 AND Instruction ( AND )･･･････････････････････････

3.1 AND Instruction (AND) 3-2 3.1 AND Instruction (AND) [Outline] The AND instruction outputs the logical product (AND) of Source A and Source B to t

3.2 XOR Instruction (OR) 3-3 3.2 OR Instruction (OR) [Outline] The OR instruction outputs the logical sum (OR) of Source A and Source B to the Dest.

3.3 XOR Instruction (XOR) 3-4 3.3 XOR Instruction (XOR) [Outline] The XOR instruction outputs the exclusive logical sum (XOR) of Source A and Source

3.4 Comparison Instruction (<) 3-5 3.4 Comparison Instruction (<) [Outline] This instruction compare Source A with Source B and stores the comp

3.5 Comparison Instruction (<=) 3-6 3.5 Comparison Instruction (<=) [Outline] This instruction compare Source A with Source B and stores the co

1 Relay Circuit Instructions 1-1 1 Relay Circuit Instructions 1.1 N.O. Contact Instruction (NOC)･････････････････････････････････････････1-2 1.2 N.C

3.6 Comparison Instruction (=) 3-7 3.6 Comparison Instruction (=) [Outline] This instruction compare Source A with Source B and stores the comparison

3.7 Comparison Instruction (!=) 3-8 3.7 Comparison Instruction (!=) [Outline] This instruction compare Source A with Source B and stores the comparis

3.8 Comparison Instruction (>=) 3-9 3.8 Comparison Instruction (>=) [Outline] This instruction compare Source A with Source B and stores the co

3.9 Comparison Instruction (>) 3-10 3.9 Comparison Instruction (>) [Outline] This instruction compare Source A with Source B and stores the com

3.10 RANGE CHECK Instruction (RCHK) 3-11 3.10 RANGE CHECK Instruction (RCHK) [Outline] The RCHK instruction checks whether the input value in the Inp

3.10 RANGE CHECK Instruction (RCHK) 3-12 [Program Example] Integer type data Input (MW00100) Output (DB000000) -1000>MW00100 OFF -1000<=MW001

4 Program Control Instructions 4-1 4 Program Control Instructions 4.1 SUB-DRAWING CALL Instruction (SEE)･････････････････････････････････4-2 4.2 FUN

4.1 SUB-DRAWING CALL Instruction (SEE) 4-2 4.1 SUB-DRAWING CALL Instruction (SEE) [Outline] The SEE instruction is used to call a sub-drawing from a

4.2 FUNCTION CALL Instruction (FUNC) 4-3 4.2 FUNCTION CALL Instruction (FUNC) [Outline] The FUNC instruction is used to call a user function or syste

4.2 FUNCTION CALL Instruction (FUNC) 4-4 [Program Example]

1.1 N.O. Contact Instruction (NOC) 1-2 1.1 N.O. Contact Instruction (NOC) [Outline] The NOC sets the value of the bit output to ON if the value of th

4.3 INPUT STRAIGHT Instruction (INS) 4-5 4.3 DIRECT INPUT STRING Instruction (INS) [Outline] The INS instruction continuously performs direct input t

4.3 INPUT STRAIGHT Instruction (INS) 4-6 Method of setting MDSEL d：Data offset (0≦d≦7)FC840a b c d Hexadecimal: abcdHa:Input module typeb：Rack number

4.4 OUTPUT STRAIGHT Instruction (OUTS) 4-7 4.4 DIRECT OUTPUT STRING Instruction (OUTS) [Outline] The OUTS instruction continuously performs direct ou

4.4 OUTPUT STRAIGHT Instruction (OUTS) 4-8 [Program Example] Two words output to LIO-01 mounted at rack 3, slot 10. Notes: Two outputs will be

4.5 EXTENSION PROGRAM CALL Instruction (XCALL) 4-9 4.5 EXTENSION PROGRAM CALL Instruction (XCALL) [Outline] The XCALL instruction is used to call an

4.6 WHILE Instruction (WHILE, END_WHILE) 4-10 4.6 WHILE Instruction (WHILE, END_WHILE) [Outline] Instruction between WHILE and END_WHILE is repeatedl

4.6 WHILE Instruction (WHILE, END_WHILE) 4-11 [Program Example] The total for 100 registers, from MW00100 to MW00199, is stored in MW00200.

4.7 IF Instruction (IF, END_IF) 4-12 4.7 IF Instruction (IF, END_IF) [Outline] If the conditional expression in the IF instruction is approved, the i

4.8 IF Instruction (IF, ELSE, END_IF) 4-13 4.8 IF Instruction (IF, ELSE, END_IF) [Outline] If the conditional expression in the IF instruction is app

4.8 IF Instruction (IF, ELSE, END_IF) 4-14 [Program Example] MW00011 is set to 0 if MW00010 is positive number, and set to 1 if MW00010 is negative n

1.2 N.C. Contact instruction (NCC) 1-3 1.2 N.C. Contact instruction (NCC) [Outline] The NCC sets the value of the bit output to OFF when the value of

4.9 FOR Instruction (FOR, END_FOR) 4-15 4.9 FOR Instruction (FOR, END_FOR) [Outline] The instruction sequence surrounded by the FOR instruction and t

4.9 FOR Instruction (FOR, END_FOR) 4-16 [Program Example] The high byte and low byte, form MW00100 to MW00102, are exchanged.

4.10 EXPRESSION Instruction (EXPRESSION) 4-17 4.10 EXPRESSION Instruction (EXPRESSION) [Outline] EXPRESSION instruction is composed by one block. It

5 Basic Function Instructions 5-1 5 Basic Function Instructions 5.1 SQUARE ROOT Instruction (SQRT)････････････････････････････････････5-2 5.2 SINE I

5.1 SQUARE ROOT Instruction (SQRT) 5-2 5.1 SQUARE ROOT Instruction (SQRT) [Outline] The SQRT instruction calculates the square root of an integer or

5.1 SQUARE ROOT Instruction (SQRT) 5-3 [Program Example] Integer type data • When the input is a positive number • When the input is a negative numbe

5.2 SINE Instruction (SIN) 5-4 5.2 SINE Instruction (SIN) [Outline] The SIN instruction calculates the sine of an integer or real number value as the

5.2 SINE Instruction (SIN) 5-5 [Program Example] Integer type data Input X = 30 degrees (MW00100 = 30*100 = 3000) Output SIN (X) = 0.50 (MW00102 = 0.

5.3 COSINE Instruction (COS) 5-6 5.3 COSINE Instruction (COS) [Outline] The COS instruction calculates the cosine of integer or real number values as

5.3 COSINE Instruction (COS) 5-7 [Program Example] Integer type data Input X = 60 degrees (MW00100 = 60*100 = 6000) Output COS (X) = 0.50 (MW00102 =

1.3 10-MS ON-DELAY TIMER Instructions (TON[10ms]) 1-4 1.3 10-MS ON-DELAY TIMER Instruction (TON[10ms]) [Outline] The TON[10ms] is executed while the

5.4 TANGENT Instruction (TAN) 5-8 5.4 TANGENT Instruction (TAN) [Outline] The TAN instruction uses the Source as the input (unit = degrees) and store

5.5 ARC SINE Instruction (ASIN) 5-9 5.5 ARC SINE Instruction (ASIN) [Outline] The ASIN instruction uses the Source as the input and stores the arc si

5.6 ARC COSINE Instruction (ACOS) 5-10 5.6 ARC COSINE Instruction (ACOS) [Outline] The ACOS instruction uses the Source as the input and stores the a

5.7 ARC TANGENT Instruction (ATAN) 5-11 5.7 ARC TANGENT Instruction (ATAN) [Outline] The ATAN instruction calculates the arc tangent of integer or re

5.7 ARC TANGENT Instruction (ATAN) 5-12 [Program Example] Integer type data Input X = 1.00 (MW00100 = 1.00*100 = 100) Output X = 45 degrees (MW00102

5.8 EXPONENT Instruction (EXP) 5-13 5.8 EXPONENT Instruction (EXP) [Outline] The EXP instruction uses the Source as the input (x) and stores the natu

5.9 NATURAL LOGARITHM Instruction (LN) 5-14 5.9 NATURAL LOGARITHM Instruction (LN) [Outline] The LN instruction uses the Source as the input (x) and

5.10 COMMON LOGARITHM Instruction (LOG) 5-15 5.10 COMMON LOGARITHM Instruction (LOG) [Outline] The LOG instruction uses the Source as the input (x) a

6 Data Manipulation Instructions 6-1 6 Data Manipulation Instructions 6.1 BIT ROTATION LEFT Instruction (ROTL)････････････････････････････････6-2 6.

6.1 BIT ROTATION LEFT Instruction (ROTL) 6-2 6.1 BIT ROTATION LEFT Instruction (ROTL) [Outline] The ROTL instruction is used to rotate bits to the le