Contents

Mitsubishi Electric A172SHCPUN A173UHCPU Programming Manual PDF

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Summary of Content for Mitsubishi Electric A172SHCPUN A173UHCPU Programming Manual PDF

MOTION CONTROLLER (SV13/22SFC)

Programming Manual

type A172SHCPUN, A173UHCPU(-S1), A273UHCPU-S3M

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I

INTORODUCTION

Thank you for choosing the motion controller. Before using the equipment, please read this manual carefully to use it to its optimum. Please forward this manual to the end user.

Safety Instructions

Do not attempt to install, operate, maintain or inspect this product until you have read through these safety instructions carefully and can use the equipment correctly. Do not use this product until you have a full knowledge of the equipment, safety information and instructions. In this manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

! WARNING WARNING Denotes that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION!

CAUTION Denotes that incorrect handling may cause hazardous conditions, resulting in medium or slight injury, or may cause physical damage only.

CAUTION Denotes that incorrect handling may cause hazardous conditions, resulting in medium or slight injury, or may cause physical damage only.

II

SAFETY PRECAUTIONS

1. For Electric Shock Prevention

! WARNING

While power is on or the equipment is running, do not open the front casing and terminal cover. Doing so can cause an electric shock.

Do not run the equipment with the front casing and terminal cover removed. The exposed high-voltage terminals and charging part can cause an electric shock.

If power is off, do not remove the front casing and terminal cover except for wiring or periodic inspection. The controller and servo amplifier insides are charged and can cause an electric shock.

Before starting wiring or inspection, switch power off, wait for more than 10 minutes, and check that there are no residual voltages with a tester or the like. Not doing so can cause an electric shock.

Use the class 3 or higher grounding method to earth the controller, servo amplifiers and servo motors. In addition, do not share grounding with other equipment.

Any person who is involved in the wiring or inspection of this equipment should be fully competent to do the work.

Start wiring after installing the controller, servo amplifiers and servo motors. Not doing so can cause an electric shock or injury.

Operate the switches with dry hands to prevent an electric shock.

Do not subject the cables to scratches, excessive stress, heavy loads or pinching. Doing so can cause an electric shock.

While power is on, do not touch the terminal blocks of the controller, servo amplifiers and servo motors. Doing so can cause an electric shock.

Do not touch the internal power supplies, internal grounds and signal wires of the controller and servo amplifiers. Doing so can cause an electric shock.

2. For fire prevention

CAUTION!

Mount the controller, servo amplifiers, servo motors and regenerative brake resistors to incombustibles. Mounting them directly or near combustibles can cause a fire.

If the controller or servo amplifier has failed, switch power off on the power supply side of the servo amplifier. A continuous flow of large current can cause a fire.

When using a regenerative brake resistor, switch power off with an alarm signal. A regenerative brake transistor failure or the like can overheat the regenerative brake resistor abnormally, causing a fire.

Provide anti-thermal measures such as flame-retarding treatment for the control box inside surfaces, where the servo amplifiers and regenerative brake resistors are installed, and the wires used.

III

3. For injury prevention

CAUTION!

To each terminal, apply only the voltage specified in the A173UHCPU/A172SHCPUN/A171SHCPUN user's manual or the A273UHCPU user's manual and the instruction manuals of the products in use. Not doing so can cause burst, damage, etc.

Ensure that the cables are connected to the correct terminals. Wrong connection can cause burst, damage, etc.

Always make sure that polarity is correct. Wrong connection can cause burst, damage, etc.

While power is on or for some time after power-off, do not touch the servo amplifier radiating fins, regenerative brake resistors, servo motors, etc. as they are hot and you may get burnt.

Switch power off before touching the servo motor shaft and the machine coupled there. Not doing so can cause injury.

Stay away from the machine while it is being test-run or taught, for example. Not doing so can cause injury.

4. Additional Instructions Also note the following points. Incorrect handling can cause a failure, injury, electric shock or the like.

(1) For system construction

CAUTION!

Install earth leakage breakers for the power supplies of the controller and servo amplifiers. When the instruction manuals of the servo amplifiers and like used specify that powering-off magnetic contactors must be installed for error occurrence, install magnetic contactors. To ensure an immediate operation stop and power-off, install an external emergency stop circuit. When using the controller, servo amplifiers, servo motors and regenerative brake resistors, combine them as specified in the A173UHCPU/A172SHCPUN/A171SHCPUN user's manual or the A273UHCPU user's manual and the instruction manuals of the products in use. Not doing so can cause a fire or failure. When the system using the controller, servo amplifiers and servo motors has safety standards (e.g. safety rules for robots), the system must satisfy the safety standards. If the abnormal operations of the controller and servo amplifiers differ from the safety- direction operation of the system, configure up remedial circuits outside the controller and servo amplifiers. Use dynamic brakes with the servo motors if the coasting of the servo motor can cause a problem at an emergency stop, servo-off or power-off in the system. Even if dynamic brakes are used, the coasting distance must be taken into consideration in the system. If a vertical shaft drop can cause a problem at an emergency stop, servo-off or power-off in the system, use the dynamic brakes and electromagnetic brakes together. Use dynamic brakes for only an error which will occur at an emergency stop or servo-off, and do not use them for normal braking.

IV

CAUTION!

The brakes (electromagnetic brakes) built in the servo motors are designed for holding. Do not use them for normal braking.

Configure up the system to ensure that it has such mechanical allowances that the axes can stop if they pass through stroke end limit switches at maximum speeds.

The wires and cables used should have the wire diameters, heat resistance and flex resistance conforming to the system.

The wires and cables used should have the lengths specified in the A173UHCPU/A172SHCPUN/A171SHCPUN user's manual or the A273UHCPU user's manual and the instruction manuals of the products in use.

The parts (other than the controller, servo amplifiers and servo motors) used with the system should be compatible in ratings and characteristics with the controller, servo amplifiers and servo motors.

To ensure that the rotary parts of the servo motors can never be touched during operation, provide the shafts with covers or the like.

Due to its life or mechanical structure (e.g. when a ballscrew and the servo motor are coupled via a timing belt), the electromagnetic brake may not provide sufficient holding force. Install a stopping device to ensure safety on the machine side.

(2) For parameter setting and programming

CAUTION!

Set parameter values which meet the controller, servo amplifier, servo motor and regenerative brake resistor types and system applications. Wrong setting can disable the protective functions.

Set the regenerative brake resistor type and capacity parameter values which match the operation mode, servo amplifiers and servo power supply module. Wrong setting can disable the protective functions.

Set the mechanical brake output and dynamic brake output used/unused parameter values which meet the system applications. Wrong setting can disable the protective functions.

Set the stroke limit input used/unused parameter values which meet the system applications. Wrong setting can disable the protective functions.

Set the servo motor encoder type (incremental, absolute position type, etc.) parameter values which meet the system applications. Wrong setting can disable the protective functions.

Set the servo motor capacity and type (standard, low inertia, pancake, etc.) parameter values which meet the system applications. Wrong setting can disable the protective functions.

Set the servo amplifier capacity and type parameter values which meet the system applications. Wrong setting can disable the protective functions.

The program instructions used in programs should be used under the conditions specified in this manual.

V

CAUTION!

Make the sequence function program capacity, device capacity, latch use range, I/O assignment and error detection-time continued operation enable/disable settings which meet the system applications. Wrong setting can disable the protective functions.

Some devices used in programs are fixed in applications. Use them under the conditions specified in this manual.

If communication stops due to a communication error or the like, the input devices and data registers assigned to a link hold the data right before a communication stop. Always use the error remedying interlock programs specified in the instruction manuals of the products in use.

For programs written for the special function modules, always use the interlock programs specified in the instruction manuals of the special function modules.

(3) For transportation and installation

CAUTION!

Transport the products in the correct method which meets their weights.

Use the hanger of the servo motor to only transport the servo motor. Do not use it to transport the servo motor which is being mounted to a machine.

Do not stack the products over the limit.

When transporting the controller or servo amplifier, do not hold its wires and cables connected.

When transporting the servo motor, do not hold its cables, shaft and detector.

When transporting the controller or servo amplifier, do not hold its front casing. It may drop.

When transporting, installing or removing the controller or servo amplifier, do not hold its edges.

When installing the equipment, choose the place which will bear their weights and mount them in accordance with the A173UHCPU/A172SHCPUN/A171SHCPUN user's manual or the A273UHCPU user's manual and the instruction manuals of the products in use.

Do not stand or rest heavy objects on the product.

Check that the mounting orientation is correct.

Leave the specified clearances between the controller or servo amplifier and the control box inside surface, between the controller and the servo amplifier, and between the controller or servo amplifier and the other equipment.

Do not install or operate the controller, servo amplifiers and servo motors if they are damaged or have parts missing.

Do not block the suction and exhaust ports of the servo motor provided with a cooling fan.

Prevent screws, metal fragments or other conductive bodies or oil or other flammable substance from entering the controller, servo amplifiers and servo motors.

The controller, servo amplifiers and servo motors are precision machines. Do not drop them or give them hard impact.

VI

CAUTION!

Securely fix the controller and servo amplifiers to the machinery in accordance with the A173UHCPU/A172SHCPUN/A171SHCPUN user's manual or the A273UHCPU user's manual and the instruction manuals of the products in use. Insecure fixing may lead to removal during operation.

Always install the servo motor provided with reduction gear in the specified direction. Not doing so can cause oil leakage.

Store and use the equipment under the following environmental conditions.

Conditions Environment

Control unit/servo amplifier Servomotor Ambient temperature

0C to +55C (Non-freezing)

0C to +40C (Non-freezing)

Ambient humidity As in the instruction manual of the corresponding product

80%RH or less (Non-condensing)

Storage temperature

As in the instruction manual of the corresponding product

20C to +65C

Atmosphere Indoors (no direct sunlight)

Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000mm above sea level Vibration As in the instruction manual of the corresponding product

When coupling, do not give impact to the shaft end of the synchronous encoder or servo motor, e.g. do not hit it with a hammer. Doing so can cause a detector failure.

Do not give the servo motor shaft with loading of greater than the permissible. Such loading can cause the shaft to be broken.

When the equipment will not be used for an extended period of time, remove the power supply wires from the controller and servo amplifiers.

Store the controller and servo amplifiers in antistatic vinyl bags.

If they have been stored for an extended period of time, consult the service center or service station.

(4) For wiring

CAUTION!

Wire the equipment correctly and securely. After wiring, recheck for wrong connections, insufficient terminal screw tightening, etc. Improper wiring can cause the servo motors to run away.

After wiring, reinstall the protective covers such as terminal covers.

On the output side of the servo amplifier, do not fit a power capacitor, surge suppressor and radio noise filter (FR-BIF option).

Make correct connections on the output side (terminals U, V, W). Otherwise, the servo motors will run abnormally.

Do not connect a commercial power supply to the servo motors directly. Doing so can cause a failure.

VII

CAUTION!

Mount the surge suppressing diode to the DC relay designed for control output signal, such as a brake signal, in correct orientation. If it is mounted in incorrect orientation, the signal may not be output due to a failure, disabling the protective circuit.

While power is on, do not connect or disconnect the module-to-module connection cables, encoder cables and PLC extension cables.

Servo amplifier

VIN (24VDC)

Control output signal RA

Securely tighten the cable connector fixing screws and fixing mechanisms. Insecure fixing can cause removal during operation.

Do not bundle the power supply wires and cables.

(5) For test operation and adjustment

CAUTION!

Before starting operation, confirm and adjust the programs and parameters. A failure to do so may cause some machines to make unexpected motions.

Never make extreme adjustment changes as they will make operations instable.

Always zero the axes when using the absolute position system function, after making a new startup, or after changing the controller, absolute value-compatible motor or the like.

VIII

(6) For usage

CAUTION!

If any of the controller, servo amplifiers and servo motors has emitted smoke, unusual noise, unusual odor or the like, immediately switch power off. After any program or parameter setting change or maintenance/inspection, always perform test operation before starting actual operation. Any person who is involved in the disassembly or repair of this equipment should be fully competent to do the work. Do not modify the equipment. Install noise filters or shield the wiring, for example, to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the controller and servo amplifiers. As for use with CE mark-compatible installations, refer to the "EMC Installation Guidelines" (data number IB(NA)-67320) for motion controllers, and to the corresponding EMC guideline data for other equipment such as servo amplifiers and inverters. Use the equipment under the following operating conditions.

Item Conditions

Input power As in the specifications of the A173UHCPU/A172SHCPUN/A273UHCPU (32-axes feature)

Input frequency As in the specifications of the A173UHCPU/A172SHCPUN/A273UHCPU (32-axes feature)

Permissible instantaneous power failure time

As in the specifications of the A173UHCPU/A172SHCPUN/A273UHCPU (32-axes feature)

(7) For corrective actions for alarms

CAUTION!

If a self-diagnostic error of the controller or servo amplifier has occurred, confirm the check items and recover in accordance with this manual and the instruction manuals of the products in use, and recover from the error. If it is assumed that a power failure or product failure may result in a hazardous status, use a servo motor provided with electromagnetic brake or provide an external brake mechanism for holding purpose to prevent such hazard. The electromagnetic brake operation circuit should have a double circuit structure so that the electromagnetic brake will also be operated by an external emergency stop signal. Restart operation after removing the cause of alarm occurrence and ensuring safety. When power is restored after an instantaneous power failure, stay away from the machine as it may restart suddenly. (Design the machine so that personal safety is secured if it restarts.)

Servo motor Electromagnetic

brake

Shut off by servo-on signal OFF, alarm or electromagn etic brake signal.

Shut off by emergency stop signal (EMG)

24VDC

RA1 EMG

IX

(8) For maintenance, inspection and parts replacement

CAUTION!

Perform daily inspection and periodic inspection in accordance with the instruction manuals. Start maintenance/inspection after backing up the programs and parameters of the controller and servo amplifiers. When opening or closing the doors and covers, do not put your hands and fingers into their gaps. Change consumables such as batteries periodically in accordance with the A173UHCPU/A172SHCPUN/A171SHCPUN user's manual or the A273UHCPU user's manual and the instruction manuals of the products in use. Do not touch the IC leads and contactor contacts. Do not place the controller and servo amplifiers on metal which may leak electricity or on wood, plastic, vinyl or the like charged with static electricity. Do not test the equipment with a megger (measure insulation resistance) during inspection. After changing the controller or servo amplifier, make correct settings of the new unit. After changing the controller or absolute position-compatible motor, zero the axes in either of the following methods. Not doing so will cause position shifts. (1) After writing the servo data to the PLC using the peripheral software, switch power off,

then on again and perform zeroing operation. (2) Using the backup function of the peripheral software, load the before-replacement

backup data. At the end of maintenance/inspection, check whether the absolute position detecting function detects positions properly. Do not short, recharge, overheat, burn or disassemble the batteries. Since the electromagnetic capacitors emit gas if they fail, keep your face away from the controller and servo amplifiers. The electromagnetic capacitors and fans will deteriorate. Change them periodically to prevent secondary damage. Consult the system service or service station for replacement.

(9) Disposal

CAUTION!

Dispose of this product as general industrial waste.

Do not disassemble the controller, servo amplifier and servo motor parts.

Dispose of the batteries in the method prescribed in the corresponding municipality.

(10) General instruction

All illustrations given in this manual may have been drawn with covers or safety guards removed to provide in-depth description. Before starting operation of the product, always return the covers and guards into original positions as specified and operate the equipment in accordance with this manual.

Revisions

The manual number is given on the bottom left of the back cover.

Print Date Manual Number Revision

Dec., 2000 IB(NA)-0300022-A First edition

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent

licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial

property rights which may occur as a result of using the contents noted in this manual.

2000 Mitsubishi Electric Corporation

I

CONTENTS

1. OVERVIEW ........................................................................................................................................... 1- 1

1.1 Features ............................................................................................................................................ 1- 1

2. SYSTEM CONFIGURATION ..................................................................................................... 2- 1 to 2- 5

2.1 A273UHCPU-S3 System Overall Configuration................................................................................ 2- 1

2.2 A173UHCPU(-S1) System Overall Configuration ............................................................................. 2- 3

2.3 A172SHCPUN System Overall Configuration................................................................................... 2- 4

2.4 Software Package List ...................................................................................................................... 2- 5

3. PERFORMANCE SPECIFICATIONS ........................................................................................ 3- 1 to 3- 7

3.1 SFC Performance Specifications ...................................................................................................... 3- 1

3.2 SCPU Performance Specifications ................................................................................................... 3- 2

3.3 PCPU Performance Specifications ................................................................................................... 3- 3

3.3.1 Motion control specifications ...................................................................................................... 3- 3

3.3.2 Operation control/transition control specifications...................................................................... 3- 4

4. SFC PROGRAMS ..................................................................................................................... 4- 1 to 4-27

4.1 SFC Program Structure..................................................................................................................... 4- 1

4.2 SFC Chart Symbol List...................................................................................................................... 4- 2

4.3 Branch and Coupling Chart List ........................................................................................................ 4- 5

4.4 SFC Program Names........................................................................................................................ 4- 9

4.5 Steps ................................................................................................................................................ 4-10

4.5.1 Motion control step .................................................................................................................... 4-10

4.5.2 Operation control step ............................................................................................................... 4-11

4.5.3 Subroutine call/start step ........................................................................................................... 4-12

4.5.4 Clear step .................................................................................................................................. 4-13

4.6 Transitions........................................................................................................................................ 4-15

4.7 Jump, Pointer ................................................................................................................................... 4-17

4.8 END.................................................................................................................................................. 4-17

4.9 Branches, Couplings ........................................................................................................................ 4-18

4.9.1 Series transition......................................................................................................................... 4-18

4.9.2 Selective branch, selective coupling.......................................................................................... 4-19

4.9.3 Parallel branch, parallel coupling............................................................................................... 4-20

4.10 Y/N Transitions............................................................................................................................... 4-22

4.11 SFC Comments.............................................................................................................................. 4-26

5. OPERATION CONTROL PROGRAMS .................................................................................... 5- 1 to 5-76

5.1 Operation Control Programs ............................................................................................................. 5- 1

5.2 Device Descriptions .......................................................................................................................... 5- 5

5.3 Constant Descriptions ....................................................................................................................... 5- 7

5.4 Binary Operations.............................................................................................................................. 5- 8

5.4.1 Substitution : =............................................................................................................................ 5- 8

5.4.2 Addition : +................................................................................................................................. 5-10

5.4.3 Subtraction : - ............................................................................................................................ 5-11

5.4.4 Multiplication : *.......................................................................................................................... 5-12

II

5.4.5 Division : / .................................................................................................................................. 5-13

5.4.6 Remainder : %........................................................................................................................... 5-14

5.5 Bit Operations................................................................................................................................... 5-15

5.5.1 Bit inversion (complement) : ~................................................................................................... 5-15

5.5.2 Bit logical AND : & ..................................................................................................................... 5-16

5.5.3 Bit logical OR : | ......................................................................................................................... 5-17

5.5.4 Bit exclusive OR : ^.................................................................................................................... 5-18

5.5.5 Bit right shift : >>........................................................................................................................ 5-19

5.5.6 Bit left shift : <<.......................................................................................................................... 5-20

5.5.7 Sign inversion (complement of 2) : -.......................................................................................... 5-21

5.6 Standard Functions .......................................................................................................................... 5-22

5.6.1 Sine : SIN .................................................................................................................................. 5-22

5.6.2 Cosine : COS............................................................................................................................. 5-23

5.6.3 Tangent : TAN ........................................................................................................................... 5-24

5.6.4 Arcsine : ASIN ........................................................................................................................... 5-25

5.6.5 Arccosine : ACOS...................................................................................................................... 5-26

5.6.6 Arctangent : ATAN..................................................................................................................... 5-27

5.6.7 Square root : SQRT................................................................................................................... 5-28

5.6.8 Natural logarithm : LN................................................................................................................ 5-29

5.6.9 Exponential operation : EXP...................................................................................................... 5-30

5.6.10 Absolute value : ABS............................................................................................................... 5-31

5.6.11 Round-off : RND...................................................................................................................... 5-32

5.6.12 Round-down : FIX.................................................................................................................... 5-33

5.6.13 Round-up : FUP....................................................................................................................... 5-34

5.6.14 BCDBIN conversion : BIN .................................................................................................... 5-35

5.6.15 BINBCD conversion : BCD .................................................................................................. 5-36

5.7 Type Conversions ............................................................................................................................ 5-37

5.7.1 Signed 16-bit integral value conversion : SHORT ..................................................................... 5-37

5.7.2 Unsigned 16-bit integral value conversion : USHORT .............................................................. 5-38

5.7.3 Signed 32-bit integral value conversion : LONG ....................................................................... 5-39

5.7.4 Unsigned 32-bit integral value conversion : ULONG................................................................. 5-40

5.7.5 Signed 64-bit floating-point value conversion : FLOAT ............................................................. 5-41

5.7.6 Unsigned 64-bit floating-point value conversion : UFLOAT....................................................... 5-42

5.8 Bit Device Statuses .......................................................................................................................... 5-43

5.8.1 ON (normally open contact) : (None)......................................................................................... 5-43

5.8.2 OFF (normally closed contact) : ! .............................................................................................. 5-44

5.9 Bit Device Controls........................................................................................................................... 5-45

5.9.1 Device set : SET=...................................................................................................................... 5-45

5.9.2 Device reset : RST= .................................................................................................................. 5-47

5.9.3 Device output : DOUT ............................................................................................................... 5-49

5.9.4 Device input : DIN...................................................................................................................... 5-50

5.10 Logical Operations ......................................................................................................................... 5-51

5.10.1 Logical acknowledgement : (None) ......................................................................................... 5-51

5.10.2 Logical negation : ! .................................................................................................................. 5-52

5.10.3 Logical AND : * ........................................................................................................................ 5-53

5.10.4 Logical OR : +.......................................................................................................................... 5-54

5.11 Comparison Operations ................................................................................................................. 5-55

5.11.1 Equal to : == ............................................................................................................................ 5-55

5.11.2 Not equal to : != ....................................................................................................................... 5-56

III

5.11.3 Less than : <............................................................................................................................ 5-57

5.11.4 Less than or equal to: <=......................................................................................................... 5-58

5.11.5 More than : > ........................................................................................................................... 5-59

5.11.6 More than or equal to: >= ........................................................................................................ 5-60

5.12 Motion-Dedicated Functions (CHGV, CHGT) ................................................................................ 5-61

5.12.1 Speed change request : CHGV............................................................................................... 5-61

5.12.2 Torque limit value change request : CHGT ............................................................................. 5-66

5.13 Other Instructions........................................................................................................................... 5-68

5.13.1 Event task enable : EI.............................................................................................................. 5-68

5.13.2 Event task disable : DI............................................................................................................. 5-69

5.13.3 No operation : NOP ................................................................................................................. 5-70

5.13.4 Block move : BMOV ................................................................................................................ 5-71

5.13.5 Time to wait : TIME.................................................................................................................. 5-74

5.14 Comment Statement : // ................................................................................................................. 5-76

6. TRANSITION PROGRAMS ....................................................................................................... 6- 1 to 6- 2

6.1 Transition Programs.......................................................................................................................... 6- 1

7. MOTION CONTROL PROGRAMS ........................................................................................... 7- 1 to 7-12

7.1 Servo Instruction List......................................................................................................................... 7- 1

7.2 Servo Motor/Virtual Servo Motor Shaft Current Value Change......................................................... 7- 5

7.3 Synchronous Encoder Shaft Current Value Change Control (SV22 Only)........................................ 7- 8

7.4 Cam Shaft Within-One-Revolution Current Value Change Control (SV22 Only) ............................. 7-11

8. MOTION DEVICES .................................................................................................................... 8- 1 to 8- 5

8.1 Motion Registers (#0 to #8191)......................................................................................................... 8- 1

8.2 Coasting Timer (FT).......................................................................................................................... 8- 4

9. TASK OPERATIONS ................................................................................................................. 9- 1 to 9- 3

9.1 Task Definitions................................................................................................................................. 9- 1

9.2 Task Execution Status ...................................................................................................................... 9- 3

10. PROGRAMMING INSTRUCTIONS ..................................................................................... 10- 1 to 10- 2

10.1 Task Definitions............................................................................................................................. 10- 1

10.2 SET/RST Response Delays of Motion-Dedicated Bit Devices...................................................... 10- 1

10.3 Cancel Start................................................................................................................................... 10- 2

10.4 Indirect Designation using Motion Devices ................................................................................... 10- 2

10.5 Sequence Programs ..................................................................................................................... 10- 2

11. SFC PARAMETERS ............................................................................................................ 11- 1 to 11- 8

11.1 Task Parameters........................................................................................................................... 11- 1

11.2 Program Parameters..................................................................................................................... 11- 3

12. HOW TO RUN SFC PROGRAM.......................................................................................... 12- 1 to 12- 6

12.1 How to Start SFC Program ........................................................................................................... 12- 1

12.1.1 Automatic start........................................................................................................................ 12- 1

IV

12.1.2 Start from SFC program ......................................................................................................... 12- 1

12.1.3 Start from PLC (Sequence instruction SFCS )..................................................................... 12- 2

12.2 How to End SFC Program............................................................................................................. 12- 4

12.3 Clear Step in the SFC Program .................................................................................................... 12- 4

12.4 How to Change from One SFC Program to Another..................................................................... 12- 4

12.5 How to Manage the Running Programs ........................................................................................ 12- 4

12.6 SCPU to PCPU Interrupt Instruction (Sequence instruction ITP ) .............................................. 12- 5

13. SFC PROGRAM CONTROLLING OPERATIONS............................................................... 13- 1 to 13- 3

13.1 Operation Performed at CPU Power-Off or Key-Reset................................................................. 13- 1

13.2 Operation Performed when CPU Is Put in RUN Mode.................................................................. 13- 1

13.3 Operation Performed when CPU Is Switched from RUN to STOP............................................... 13- 1

13.4 Operation Performed when CPU is set to PAUSE or STEP-RUN ................................................ 13- 1

13.5 Operation Performed when PLC Ready (M2000) Turns OFF/ON ................................................ 13- 2

13.6 Error-Time Operation .................................................................................................................... 13- 3

14. USER FILES ........................................................................................................................ 14- 1 to 14- 2

14.1 Projects ......................................................................................................................................... 14- 1

14.2 User File List ................................................................................................................................. 14- 2

15. ERROR LISTS ..................................................................................................................... 15- 1 to 15- 8

15.1 SFC Program Errors ..................................................................................................................... 15- 1

15.2 SFC Parameter Errors .................................................................................................................. 15- 8

16. LIMIT SWITCH OUTPUT FUNCTION................................................................................. 16- 1 to 16- 8

16.1 Operations..................................................................................................................................... 16- 1

16.2 Limit Output Setting Data .............................................................................................................. 16- 4

APPENDICES .......................................................................................................................APP- 1 to APP- 8

APPENDIX 1 PROCESSING TIMES ................................................................................................. APP- 1

Appendix 1.1 Operation Control/Transition Instruction Processing Times..................................... APP- 1

Appendix 1.2 Motion Operation Cycles (msec) .............................................................................. APP- 8

1. OVERVIEW

1 1

1. OVERVIEW

This is a programming manual for the motion SFC-compatible CPU operating system software packages "SW3RN-SV13 ", "SW3RN-SV22 " designed to run SFC programs on the motion CPU side. Conventionally, a sequence of machine operations were controlled by the PLC CPU, and motion program start and stop control was exercised by the motion CPU under the start and stop commands of the PLC. Hence, a delay or variation of one PLC scan occurred at the worst between when a command condition enabled until a command was issued, limiting the applications where fast response and short tact time are pursued. The motion SFC-compatible CPU operating system allows motion side programs to be written in SFC (Sequential Function Chart), which conforms to IEC1131-3, to control a sequence of machine operations. In addition, it also enables event control which runs a program at an interrupt input from an external sensor. Mainly performing the processings irrelevant to sequential control, the PLC controls ladder programs by constant scan execution.

1.1 Features

(1) Since the motion CPU judges whether a transition condition enabled or not to make a start, there are no response delays or variations affected by PLC scan time.

(2) The SFC step processing system (only active steps are executed) ensures rapid processing and fast response.

(3) The motion CPU can perform not only a motion program start but also numerical operations, device SET/RST, etc., making operations via the PLC unnecessary and improving tact time.

(4) The motion-specific transition condition description allows a command to be given to the servo amplifier immediately after a start condition enables.

(5) The motion-specific transition condition description allows a transition to the next step to be made after a start, without waiting for positioning completion.

(6) You can set programs (written in SFC) which run in fast response to external interrupt inputs (NMI).

(7) You can set programs (written in SFC) which run in a short cycle (1.777ms, 3.555ms, 7.111ms, 14.222ms).

(8) As a sequence of machine operations can be written in correspondence with operation steps, the resultant program is easy for anyone to understand, improving maintainability.

2. SYSTEM CONFIGURATION

2 1

2. SYSTEM CONFIGURATION

2.1 A273UHCPU-S3 System Overall Configuration

The following system configuration assumes use of the A273UHCPU-S3.

A62P A273UH CPU-S3

A278 LX

A240 DY

A221 AM-20

A211 AM-20

A222AM-20 A230P

A270BATCBL MR-J-BAT

Emergency stop input

A6BAT

AC100/200V

Brake output

Battery

Regenerative brake resistor

Three-phase power supply 200V

DBOUT

DBCOM

DB IN+

DB IN-

M

E

M

E

M

E

M

E

M

E

External input signals

Upper limit switch Lower limit switch Stop signal Proximity dog Speed-position change

d1

M

E

d2

M

E

d3

M

E

d8

M

E

Servo amplifier, max. 8 axes/1 network

Termination resistor

Max. 24 axes

MR-H-BN/MR-J2S-B/MR-J2-B (Max. 32 axes including those of ADU)

PLC extension bases: up to 7 bases Base number setting: base 1 to base 7

PLC extension base(A68B/A65B/A62B)

(AC B)

P ow

e r

su p

pl y

m od

ul e

PLC slots

Max. 16 ADU axes

SSCNET1

SSCNET2

SSCNET3

Teaching unit A31TU-E/A30TU-E(SV13 only)

Windows NT/98

Personal computer(IBM PC/AT)

SSCNET4

SSC I/F card/board (A30CD-PCF/A30BD-PCF)

RS422

CPU base unit (A278B/A275B)

C on

tr o

l p ow

e r

su p

pl y

m od

ul e

C P

U m

od ul

e

S er

vo e

xt er

na l

s ig

n a l

D yn

am ic

b ra

ke

m od

u le

S er

vo p

o w

er

su p

pl y

m od

ul e

Motion slots

AC motor drive modules

BRAKE

A62P AI61 AH42 A42XY

Motion extension base unit (A268B)

C o n tr

o l p

o w

e r

su p p ly

m

o d u le

P u ls

e g

e n e ra

to r/

sy n ch

ro n o u

s e n co

d e r

in te

rf a ce

m o d u le

In te

rr up

t in

pu t m

od u

le

A273 EX

8

External interrupt input signals 16 points (I0 to I15)

P Manual pulse generator (MR-HDP01)

E

External input signal TRA Tracking

In pu

t m od

ul e

O ut

pu t

m o

du le

I/O c

om p

os ite

m od

ul e

Motion extension base, up to 4 bases (Base number setting: base 1 to base 4)

Motion extension base connection cable (AC B)

Serial absolute synchronous encoder cable (MR-HSCBL M)

3

Serial absolute synchronous encoder (MR-HENC)(SV22 only)

3

3

Communication cable (A270CDCBL M/ A270BDCBL M)

PLC extension base connection cable(A370C B)

AX AY

SSCNET : Servo System Controller NETwork

2. SYSTEM CONFIGURATION

2 2

POINT

(1) I/O assignment When no I/O assignment is made, the I/O numbers of the PLC extension

base 1 start from X/Y80. When you want to use the PLC extension base 1 at the I/O numbers of

X/Y0 and later, make I/O assignment by setting slots 0 to 7 as "0 free points".

(2) The motion slots accept up to 256 I/O points. (3) The I/O numbers of the I/O modules loaded in the motion slots should be

later than the I/O numbers used with the PLC slots. (4) The motion slots accept one AI61 interrupt input module.

This module is designed for only event/NMI input to the motion CPU and is irrelevant to PLC interrupt programs.

2. SYSTEM CONFIGURATION

2 3

2.2 A173UHCPU(-S1) System Overall Configuration

The following system configuration assumes use of the A173UHCPU(-S1).

Windows NT/98

d1

M

E

d2

M

E

d3

M

E

d8

M

E

Servo amplifier, max. 8 axes/1 network

Termination resistor

MR-H-BN/MR-J2S-B/MR-J2-B Servo amplifier, max. 32 axes

SSCNET1

A173UHCPU A172S ENC

A1S I61

Emergency stop input

A6BAT

Teaching unit A31TU-E/A30TU-E (SV13 only)

Communication cable (A270CDCBL M/ A270BDCBL M)

Personal computer (IBM PC/AT)

SSCNET4

SSC I/F card/board (A30CD-PCF/A30BD-PCF)

RS422

C P

U m

od u

le

In te

rr up

t i np

ut m

od ul

e

External interrupt input signals

16 points (I0 to I15) P

Manual pulse generator (MR-HDP01)

E

External input signals FLS Upper limit switch RLS Lower limit switch STOP Stop signal DOG/CHANGE Proximity dog/speed-position change

TRA Tracking

Brake output Motion network cable

Motion slots

Battery

AC100/200V

P o

w er

s u

pp ly

m

od ul

e

PLC extension base For A1S6 B: up to 1 base For A168B (GOT compatible) : up to 1 base For A6 B : up to 1 base

A172S ENC

A172S ENC

A172S ENC

Pulse generator/ synchronous encoder interface module

P

P

E

E

E

SSCNET3

SSCNET4

Max. 24 axes

SSCNET2

Extension cable A1SC B: For A1S6 B, A168B

A1S NB: For A6 B

CPU base unit A178B-S3 /A178B-S2 /A178B-S1 /A17 B

GOT

(Note)

(Note): The A173UHCPU may be used with 4 channels of SSCNET. When using the SSC I/F card/board (A30CD-PCF/A30BD-PCF), connect it to SSCNET4 and connect the servo amplifiers to SSCNET1 to 3. In this case, up to 24 axes of servo amplifiers can be connected.

3

4

8

1

(Note)

Serial absolute synchronous encoder cable (MR-HSCBL M) Serial absolute synchronous encoder (MR-HENC)

POINT

(1) Use the A168B when using the bus-connection type GOT. (2) Using the A31TU-E teaching unit provided with deadman switch requires

the exclusively used A31TUCBL03M connection cable between the CPU module and A31TU-E connector. The A31TU-E will not operate at all if it is connected directly with the RS422 connector of the CPU, without using the exclusively used cable. Also, after disconnecting the A31TU-E, fit the A31SHORTCON short- circuit connector designed for A31TUCBL.

(3) The motion slots also accept PLC A1S I/O modules. (4) The motion slots accept one A1SI61 interrupt input module.

This module is designed for only event/NMI input to the motion CPU and is irrelevant to PLC interrupt programs.

(5) The motion slots accept up to 256 I/O points. (6) The I/O numbers of the I/O modules loaded in the motion slots should be

later than the I/O numbers used with the PLC slots.

2. SYSTEM CONFIGURATION

2 4

2.3 A172SHCPUN System Overall Configuration

The following system configuration assumes use of the A172SHCPUN.

Windows NT/98

MR-H-BN/MR-J2S-B/MR-J2-B Servo amplifier, max. 8 axes

A172SHCPUN A172S ENC

A1S I61

Emergency stop input

A6BAT

d1

M

E

d2

M

E

d3

M

E

d8

M

E

Termination resistor SSCNET1

Teaching unit A31TU-E/A30TU-E (SV13 only)

Communication cable (A270CDCBL M/ A270BDCBL M)

Personal computer (IBM PC/AT)

SSCNET2

SSC I/F card/board (A30CD-PCF/A30BD-PCF)

RS422

C P

U m

od ul

e

In te

rr up

t in

pu t m

od u

le

P u ls

e g

e n e ra

to r/

sy n ch

ro n o u

s e n co

d e r

in te

rf a ce

m o d

u le

PLC slots

External interrupt input signals

16 points (I0 to I15)P Manual pulse generator (MR-HDP01) Serial absolute synchronous encoder cable (MR-HSCBL M)

E Serial absolute synchronous encoder (MR-HENC)(SV22 only)

CPU base unit(A178B-S1/A17 B)

Motion network cable

Motion slots

Battery

Extension cable

(A1SC B)

AC100/200V P

ow e

r su

p pl

y m

od u

le

PLC extension base For A168B : up to 3 bases For A1S6 B: up to 1 base

II/ O

c om

po si

te

m od

u le

A 1S

X 48

Y 18

A 1S

X 48

Y 58

A 1

S H

42

O ut

pu t

m o

du le

In pu

t m od

ul e

1

1

External input signals FLS Upper limit switch RLS Lower limit switch STOP Stop signal DOG/CHANGE Proximity dog/speed-position change

TRA Tracking

Brake output

8

1

A 1

S X

A 1

S Y

POINT

(1) Use the A168B when setting one or more PLC extension bases. (2) The motion slots also accept PLC A1S I/O modules.

The motion slots accept up to 256 I/O points. (Actually, the maximum points is 64-point modules * 2 = 128 points.)

(3) The I/O numbers of the I/O modules loaded in the motion slots should be later than the I/O numbers used with the PLC slots.

(4) The motion slots accept one A1SI61 interrupt input module. This module is designed for only event/NMI input to the motion CPU and is irrelevant to PLC interrupt programs.

2. SYSTEM CONFIGURATION

2 5

2.4 Software Package List

Operating System Software Package Type

For

A172SHCPUN

For

A173UHCPU(-S1)

For

A273UHCPU-S3 Application

Peripheral

Device

Programming Software

Package Type

(8-axes feature) (32-axes feature) (32-axes feature)

Remarks

For

conveyor/

Assembly

IBM PC/AT SW3RN-SV13D SW3RN-SV13B SW3RN-SV13X With teaching

function

For

automatic

machinery

IBM PC/AT

SW3RNC-GSVE

SW3RN-SV22C SW3RN-SV22A SW3RN-SV22W Without teaching

function

(1) Type definition

(Operating System) S W 3 R N - S V 1 3 X

Indicates motion SFC compatibility.

(Programming software) S W 3 R N - G S V 1 3 P

OS environment: Windows NT/98

Device: IBM PC/AT 100% compatible

Indicates conventional OS or motion SFC compatibility.

(2) OS type/version display On the installation screen of the peripheral, the OS type/version of the connected CPU is displayed as shown below. When the A273UHCPU-S3 is used, this data is also indicated by the CPU front LEDs by performing an indicator reset.

OS version

S V 1 3 W V E R 3 0 0 A U(SFC-compatible OS)

W : A273UH-S3 (32-axes feature) C or D: A172SH (8-axes feature) A or B: A173UH (32-axes feature)

Indicates motion SFC compatibility.

U : With teaching function Blank: Without teaching function

S V 1 3 V E R . 0 0 Z U(Conventional OS)

Indicates conventional OS.

U

U : A273UH (32-axes feature) C or D: A172SH (8-axes feature) A or B: A173UH (32-axes feature)

3. PERFORMANCE SPECIFICATIONS

3 1

3. PERFORMANCE SPECIFICATIONS

3.1 SFC Performance Specifications

Table 3.1 SFC Performance Specification List A173UHCPU(-S1)/A273UHCPU-S3

Item A172SHCPUN 32-axes feature

Code total

(SFC chart + operation control + transition) 287k bytes

Text total

(operation control + transition) 224k bytesProgram capacity

Motion control program

(servo program) 52k bytes Approx. 56k bytes

Code motion control program PCPU SRAMProgram storage

area Text PCPU SRAM

Number of motion SFC programs 256 (No.0 to 255)

Number of motion SFC steps/all programs

(1 step+1 transition)

Max. approx. 7.5k steps

(varies with the number of operation control program/transition program steps)

Motion SFC program name/ program 16 bytes (16 characters)

(SFC program name is used as SFC file name)

Motion SFC chart size/ program Max. 64k bytes (Motion SFC chart comments included)

Motion SFC steps/ program Max. 4094 steps

Number of selective branches/ branch 255

Number of parallel branches/ branch 255

Parallel branch nesting Up to 4 levels

Subroutine call nesting No restrictions

Motion

SFC program

Motion SFC chart comments Max. 80 characters/ symbol

Once execution type 4096(F0 to F4095)Number of operation

control programs Scan execution type 4096(FS0 to FS4095)

4096 with F and FS combined

(F/FS0 to F/FS4095)

Number of transition programs 4096 (G0 to G4095)

Code size/ program Max. approx. 64k bytes (32766 steps)

Text size/ program Max. approx. 64k bytes

Number of blocks (lines)/ program Max. 8192 blocks

(in the case of 4 steps (minimum)/ block)

Number of characters/ block (line) Max. 128 characters (comments included)

Number of operand/ block Max. 64

(Operand : constants, word devices and bit devices)

( ) nesting/ block Up to 32 levels

Indirect device designation nesting Up to 2 levels

Separation of one block CR + LF

Operation control program Calculation expression / bit conditional expressionDescriptive

expression Transition program Calculation expression/bit conditional expression/comparison conditional expression

Operation control

program(F/FS)

Transition program

(G)

Comment statement Part after // is regarded as a comment.

Number of servo programs 4096 (K0 to K4095)

Program steps/all programs 13312 14334

Program steps/1 program Max. 13312 steps/ program

(for constant-speed control/speed change control)

Motion control

program

Positioning points Approx. 800 points/ axis Approx. 400 points/ axis

Number of multi executed programs Max. 256 programs

Number of multi active steps Max. 256 steps/all programs

Normal task Executed in motion main cycle

Event task

Fixed cycle (1.7ms, 3.5ms, 7.1ms, 14.2ms)

16 external interrupt points (inputs from AI61 interrupt input module installed in motion slot)

Executed when 1 interrupt point is provided from PLC.

(PLC dedicated instruction ITP is executed)

Execution can be masked.

Executed

specifications Executed task

NMI task

16 external interrupt points (inputs from AI61 interrupt input module installed in

motion slot)

16 points with event tasks and NMI tasks combined (use SFC parameters to set

tasks)

3. PERFORMANCE SPECIFICATIONS

3 2

3.2 SCPU Performance Specifications

Table 3.2 SCPU Performance Specification List Item A172SHCPUN A173UHCPU(-S1) A273UHCPU-S3

Control method Repeated operation using stored program

I/O control method Refresh mode / direct mode

selectable Refresh mode

(direct mode can be used partially in accordance with the instruction)

Programming language Sequence control-dedicated language (relay symbol language, logic symbolic language, MELSAP II (SFC))

Sequence instructions 26 22

Basic instructions 131

Application instructions 102 249

Dedicated instructions 204

Number of

instructions

Motion-dedicated

instructions 2

Direct mode 0.25 to 1.9s/step Processing speed (PLC instruction) Refresh mode 0.25s/step 0.15s/step

Real I/O points 2048 (X/Y0 to X/Y7FF) 8192 (X/Y0 to X/Y1FFF)

Number of actual I/O points 1024 (X/Y0 to X/Y3FF) 2048 (X/Y0 to X/Y7FF)

(within the range of one extension base) 2048 (X/Y0 to X/Y7FF)

Watchdog timer (WDT) 10 to 2000ms 200ms Stand

ard 192k bytes (A3NMCA-24 equivalent)

Memory capacity (built-in RAM) 192k bytes -S1

768k bytes (A3NMCA-96 equivalent)

Main sequence Max. 30k steps

Sub sequence Max. 30k stepsProgram capacity

Microcomputer program Max. 58k steps

Internal relay (M) points (Note-1) 1000

(M0 to M999)

7144 (M0 to M999)

(M2048 to M8191)

Latch relay (L) points 1048

(M1000 to M2047) 1048

(M1000 to M2047)

Step relay (S) points 0 points

(defaults to none)

Total 2048

(set in

parameters) 0

(defaults to none)

Total 8192

(set in parameters)

Link relay (B) points 1024 (B0 to B3FF) 8192 (B0 to B1FFF)

Annunciator (F) points 256 (F0 to F255) 2048 (F0 to B2047)

Number of points 256 2048

100ms timer T0 to T199 (setting time: 0.1 to 3276.7s)

10ms timer T200 to T255 (setting time: 0.01 to 327.67s)

100ms retentive timer Defaults to none (setting time: 0.1 to 3276.7s)

Timer (T)

(set in

parameters)

S pe

ci fic

a- tio

ns

Extended timer T256 to T2047 (setting time: Depends on D, W, R)

Number of points 256 2048

Normal counter C0 to C255 (setting range: 1 to 32767) Interrupt program counter

C244 to C255 (defaults to none) (setting range: 1 to 32767)

Counter (C)

(set in

parameters)

S pe

ci fic

a- tio

ns

Extended counter C256 to C1023 (count value setting: Depends on D, W, R)

Data register (D) points (Note-1) 1024 (D0 to D1023) 8192 (D0 to D8191)

Link register (W) points 1024 (W0 to W3FF) 8192 (W0 to W1FFF)

File register (R) points Max. 8192 (R0 to R8191) (set in parameter)

Accumulator (A) points 2 (A0, A1)

Index register (V/Z) points 2 (V, Z) 14 (V, V1 to V6, Z, Z1 to Z6)

Pointer (P) points 256 (P0 to P255)

Interrupt pointer (I) points 32 (I0 to I31)

Special relay (M) points 256 (M9000 to M9255)

D e vi

ce s

Special register (D) points 256 (D9000 to D9255) Stand

ard Max. 10 blocks(vary with memory capacity setting)

Number of extended file register blocks Max. 10 blocks

(vary with memory capacity setting) -S1

Max. 47 blocks(vary with memory capacity setting)

Max. 47 blocks (vary with memory cassette and

memory capacity setting)

Number of comment points Max. 4032 (64k bytes) 1 point = 16 bytes (set in increments of 64)

Number of extended comment points (Note-2) Max. 3968 (63k bytes) 1 point = 16 bytes (set in increments of 64)

Self-diagnostic function Detection of watchdog timer, memory, CPU, I/O, battery and other errors

Error-time operation mode Selection of stop or continue

Output mode switching at STOPRUN Selection of before-STOP computation status re-output (default) or after-computation output

Clock function Year, month, day, hour, minute, second, day of week (automatic leap year judgment)

(Note-1) : The positioning-dedicated device range varies with the OS.

(Note-2) : Extended comments are not stored into the internal memory of the CPU.

3. PERFORMANCE SPECIFICATIONS

3 3

3.3 PCPU Performance Specifications

3.3.1 Motion control specifications

Table 3.3 PCPU Performance Specification List (Motion Control Specifications) A273UHCPU-S3

Item A172SHCPUN A173UHCPU(-S1) 32-axis feature

Number of control axes 8 axes (2 to 4 multi axes, 8

independent axes) 32 axes (2 to 4 multi axes, 32 independent axes)

Interpolation function Linear interpolation (max. 4 axes), circular interpolation (2 axes)

Control method PTP (Point To Point), speed control, speed-position control, fixed-pitch feed, constant-speed control,

position follow-up control, speed change control, high-speed oscillation control, current value change

Control unit mm, inch, degree, PULSE

Programming language Dedicated instructions (servo program)

Method

PTP : Absolute method / incremental method selection

Speed-position control / fixed-pitch feed : Incremental method

Constant-speed control / speed change control : Absolute method / incremental method may be mixed

Position follow-up control / current value change : Absolute method

Can be selected per axis.

Control Unit Command Unit Address Setting Range Travel Setting Range

mm 10-1 m

inch 10-5 inch -2147483648 to 2147483647

degree 10-5 degree 0 to 35999999

PULSE 1 PULSE -2147483648 to 2147483647

0 to 2147483647 Position command

Control Unit Speed Setting Range

mm 0.01 to 6000000.00 (mm/min)

inch 0.001 to 600000.000 (inch/min)

degree 0.001 to 2147483.647 (degree/min)

PULSE 1 to 10000000 (PLS/s)

Positioning

Speed command

(command unit)

Automatic trapezoidal acceleration/deceleration

Time-Fixed Acceleration/Deceleration

Acceleration time: 1 to 65535ms

Deceleration time: 1 to 65535ms

Acceleration/deceleration time : 1 to 5000ms(Enabled for

constant-speed control only)

Automatic

trapezoidal

acceleration/decel-

eration Acceleration/decel-

eration control

S-curve acceleration/decel- eration

S-curve ratio : 0 to 100%

Backlash compensation

(0 to 65535) position command unit (0 to 65535 PULSE with unit converted into PULSE) Compensation

Electronic gear Function to compensate for actual travel error against command value

Zeroing function Not in absolute position system : Proximity dog type or count type can be selected. In absolute position system : Data setting type, proximity dog type or count type can be selected.

JOG operation function Available

Manual pulse generator operation

function

One pulse generator can be connected. Up to 3-axes can be operated simultaneously. With smoothing scale factor setting Input scale factor setting : 1 to 100

Three pulse generators can be connected. One A172SENC is required per pulse generator. Up to 3-axes can be operated simultaneously. With smoothing scale factor setting Input scale factor setting : 1 to 100

Three pulse generators can be connected. Up to 3-axes can be operated simultaneously. With smoothing scale factor Input scale factor setting : 1 to 100

M-function With M-code output function

With M-code completion waiting function

Skip function Available Number of output points

32 pointsLimit switch output

function Watch data Motion control data / word device (16-bit integer, 32-bit integer, 64-bit floating-point)

Number of read points

Max. 9 points (A172SENC's TRA input (1 point) + one motion slot PLC input module (8 points))

Max. 11 points(A273EX's TRA input (3 points) + one motion slot PLC input module (8 points))

Specified data fast- read function

Data latch timing Leading edge of TRA input signal

Within 0.8ms from leading edge of input signal to PLC input module

Absolute position system Made compatible by fitting battery to servo amplifier.

(Absolute or incremental system can be specified per axis.)

3. PERFORMANCE SPECIFICATIONS

3 4

3.3.2 Operation control/transition control specifications

Table 3.4 PCPU Performance Specification List (Operation Control/Transition Control Specifications) Item Specifications Remarks

Calculation expression Returns a numeric result. Expressions for calculating indirectly specified data using constants and word devices.

D100+1, SIN(D100F), etc.

Bit conditional

expression

Returns a true or false result. Expression for judging ON or OFF of bit device.

M0, !M0, M1*!M0,

(M1+M2)*(!M3+M4), etc. Expression Condi-

tional

expres-

sion

Comparison conditional expression

Expressions for comparing indirectly specified data and calculation

expressions using constants and word devices.

D100==100,

D10

Accessibility Usable Tasks Device Symbol

Read Write Normal Event NMI

Descripti on

Example

SBUS X X100 Input

PBUS PX PX180

SBUS Y Y000 Output

PBUS PY PY1E0

Internal relay M (Note-

1) M20

Latch relay L L1000

Link relay B B3FF

Annunciator F F0

Timer contact TT TT10

Timer coil TC TC10

Counter contact CT CT0

Counter coil CC CC0

Special M M (Note-

1) M9000

Each device range (points) varies with the CPU. Refer to "3.2 SCPU Performance Specifications".

Inputs X/outputs Y on the PLC slot side are represented as SBUS and those on the motion slot side as PBUS. (In the operation control program/transition program, they are automatically represented as PX/PY according to the system setting information.)

CAUTION 1) Write (e.g. SET, RST, OUT) to the same bit device (16 point increments) cannot be performed from

both the sequence ladder and motion SFC programs. (Write operation cannot be guaranteed.) Hence, the side on which write is performed should be managed by the user. Minimum increments are 16 points.

2) Write to device X is allowed only within the input card non-loaded range and to the free numbers outside the link range. When the A172SHCPUN is used, note that the following read response delay will occur from when the SET/RST/DOUT instruction is executed by the motion CPU.

Read CPU Response Delay Remarks

Motion CPU 1 PLC scan

Do not use for such applications where ON/OFF judgment will be made by the motion CPU right after the SET/RST/ DOUT instruction is executed.

PLC CPU None

3) When the I/O control method is the "direct system" (A172SHCPUN only), performing write to device Y will not provide output to the output card in the PLC slot. Use the "refresh system" to provide output to the PLC slot.

4) Special M has predetermined applications in the system. Do not perform write to other than the user-set device.

(Note-1) : SET/RST is disabled in the following device ranges.

CPU SET/RST Disable Range Remarks

A172SHCPUN M2001 to M2008 A173UHCPU(-S1) /A273UHCPU-S3

M2001 to M2032 Start accepting device

DOUT output is disabled in the following device ranges.

CPU DOUT Output Disable

Range Remarks

Designation including M2000 to M2047

Dedicated device A172SHCPUN

M9000 to M9255 Special M Designation including M2000 to M2127

Dedicated deviceA173UHCPU(-S1) /A273UHCPU-S3

M9000 to M9255 Special M

Specifiable PLC devices

(bit devices)

*The input response of

device X and the output

response of Y differ

between the SBUS (PLC

slot) and PBUS (motion

slot). For details, refer to

the next page.

3. PERFORMANCE SPECIFICATIONS

3 5

Table 3.4 PCPU Performance Specification List (Operation Control/Transition Control Specifications) (Continued) Item Specifications Remarks

Accessibility Usable Tasks

Device Symbol Read Write Normal Event NMI

Descrip-

tion

Example

Data register D D0L

Link register W W1F:F

Timer current value T T0

Counter current value C C10

Special D D D9000

Specifiable PLC device

(word device)

CAUTION

1) Special D has predetermined applications in the system.

Do not perform write to other than the user-set device.

Number of

points

8192 points (#0 to #8191)

(#8000 to #8191 are SFC-dedicated devices)Motion register (#)

Data 16 bits/point

Number of

points 1 point (FT)

Coasting timer (FT)

Data 32 bits/point (-2147483648 to 2147483647)

Accessibility Usable Tasks Device Symbol

Read Write Normal Event NMI

Description

Example

Motion register # #OF

Coasting timer FT FT

Motion device

(word device)

CAUTION

1) The motion device cannot be accessed directly from the sequence ladder.

When you want to read, perform read via the PLC device (after assignment).

A273UH-S3, A173UH(-S1)

and A172SH have the

same specifications.

16-bit integer type (signed) -32768 to 32767 (None)

16-bit integer type (unsigned) 0 to 65535 K10, D100, etc.

32-bit integer type (signed) -2147483648 to 2147483647 L

32-bit integer type (unsigned) 0 to 4294967295 2147283647, W100L, etc.Data type

F 64-bit floating-point type

(double precision real number type) IEEE format 1.23, #10F, etc.

K Decimal constant

Constant H

Hexadecimal constant

The above data type symbol 'L' or '. (decimal point)' provided at the end

indicates the data type. The constant without the data type is regarded as

the applicable minimum type.

K-100, H0FFL, etc.

'K' may be omitted.

Binary operation 6

Bit operation 6

Sign 1

Standard function 15

Type conversion 6

Bit device status 2

Bit device control 4

Logical operation 4

Comparison operation 6

Motion dedicated function 2

Number of instructions

Others 5

57 in total

Input response Direct read control at instruction

execution PBUS

(Input module in motion slot) Response to PLC device

Refresh is made at instruction

execution and in normal task

cycle.

Refresh mode Input response 1 sequence scan

Read response of input

X on motion CPU

SBUS

(Input module

in PLC slot)

Direct mode

(A172SH only) Input response 1 sequence scan

Response to PLC device At instruction execution

PBUS Actual output response

Direct write control at

instruction execution

Response to PLC device At instruction execution Refresh mode

Actual output response Refreshed at PLC's END

Response to PLC device At instruction execution

Write response of

output Y on motion CPU

SBUS Direct mode

(A172SH only) Actual output response Not output

Input X and output Y of

the PBUS are always

under direct control,

independently of the

PLC's I/O control method.

CAUTION

Output Y of the PBUS is

write-enabled from only

the motion CPU.

Do not perform write from

the PLC CPU (output is

not provided to real

output).

3. PERFORMANCE SPECIFICATIONS

3 6

(1) Operation control/transition instruction list Usable

Programs Usable Expressions

Classification Symbol Function Format

N um

be r

of B

as ic

S te

ps

F/FS G

C al

cu la

tio n

ex pr

es si

on

B it

co nd

iti on

al ex

pr es

si on

C om

pa ris

on co

nd iti

on al

ex pr

es si

on

Y /N

tr an

si tio

n' s

co nd

iti on

al ex

pr es

si on

= Substitution (D)=(S) 4 + Addition (S1)+(S2) 4 - Subtraction (S1)-(S2) 4 * Multiplication (S1)*(S2) 4 / Division (S1)/(S2) 4

Binary

operation

% Remainder (S1)%(S2) 4 ~ Bit inversion

(complement) ~(S) 2

& Bit logical AND (S1)&(S2) 4 | Bit logical OR (S1)|(S2) 4 ^ Bit exclusive OR (S1)^(S2) 4

>> Bit right shift (S1)>>(S2) 4

Bit operation

<< Bit left shift (S1)<<(S2) 4

Sign - Sign inversion (complement of 2) -(S) 4

SIN Sine SIN(S) 2 COS Cosine COS(S) 2 TAN Tangent TAN(S) 2 ASIN Arcsine ASIN(S) 2 ACOS Arccosine ACOS(S) 2 ATAN Arctangent ATAN(S) 2 SQRT Square root SQRT(S) 2

LN Natural logarithm LN(S) 2 EXP Exponential operation EXP(S) 2 ABS Absolute value ABS(S) 2 RND Round-off RND(S) 2 FIX Round-down FIX(S) 2 FUP Round-up FUP(S) 2 BIN BCDBIN conversion BIN(S) 2

Standard

function

BCD BINBCD conversion BCD(S) 2

SHORT Converted into 16-bit integer type (signed)

SHORT(S) 2

USHORT Converted into 16-bit integer type (unsigned)

USHORT(S) 2

LONG Converted into 32-bit integer type (signed)

LONG(S) 2

ULONG Converted into 32-bit integer type (unsigned)

ULONG(S) 2

FLOAT

Regarded as signed data and converted into 64-bit floating- point type

FLOAT(S) 2

Type

conversion

UFLOAT

Regarded as unsigned data and converted into 64-bit floating- point type

UFLOAT(S) 2

(None) ON (normally open contact)

(Bit conditional expression) 2 Bit device

status ! OFF (normally closed contact)

!(Bit conditional expression) 2

3. PERFORMANCE SPECIFICATIONS

3 7

Usable

Programs Usable Expressions

Classification Symbol Function Format

N um

be r

of B

as ic

S te

ps

F/FS G

C al

cu la

tio n

ex pr

es si

on

B it

co nd

iti on

al ex

pr es

si on

C om

pa ris

on co

nd iti

on al

ex pr

es si

on

Y /N

tr an

si tio

n' s

co nd

iti on

al ex

pr es

si on

SET(D) 3 SET Device set SET(D)= (conditional

expression) 4

RST(D) 3 RST Device reset RST(D)= (conditional

expression) 4

DOUT Device output DOUT(D),(S) 4

Bit device

control

DIN Device input DIN(D),(S) 4

(None) Logical

acknowledgement (Conditional expression) 0

! Logical negation !(conditional expression) 2

* Logical AND (Conditional expression) * (conditional expression)

4 Logical

operation

+ Logical OR (Conditional expression) +

(conditional expression) 4

== Equal to (Calculation expression)

== (calculation expression) 4

!= Not equal to (Calculation expression) !=

(calculation expression) 4

< Less than (Calculation expression) <

(calculation expression) 4

<= Less than or equal

to

(Calculation expression)

<= (calculation expression) 4

> More than (Calculation expression) >

(calculation expression) 4

Comparison

operation

>= More than or equal

to

(Calculation expression)

>= (calculation expression) 4

CHGV Speed change

request CHGV((S1),(S2)) 4 Motion

dedicated

function CHGT Torque limit value

change request CHGT((S1),(S2)) 4

EI Event task enable EI 1 DI Event task disable DI 1

NOP No operation NOP 1 BMOV Block move BMOV(D),(S),(n) 7

Others

TIME Time to wait TIME(S) 7

(2) Rough calculation expression for operation control/transition program's single- program code size

2 + (1 + total number of basic steps in 1 block + number of 32-bit constants/1 block 1 + number of 64-bit constants/1 block 3) number of blocks (steps)

(1 step = 2 bytes)

4. SFC PROGRAMS

4 1

4. SFC PROGRAMS

4.1 SFC Program Structure

As shown below, an SFC program consists of START, steps, transitions, END and others.

Operation start

Preparations for

positioning

Positioning ready check

Execution of positioning

Positioning completion

check

Operation end

START: Indicates a program entry.

Step (operation control step): When active, runs the specified operation control program.

Transition (shift): Indicates the condition to shift control to the next step.

Step (motion control step): When active, runs the specified servo program.

Transition (WAIT): Indicates the condition to shift control to the next step.

END: Indicates a program end.

SET Y0=X0+X10 D100=W0+W100

Program name

F0

G0

K0

G1

END

!X0

ABS-1 Axis 1, D100 Speed 10000

Y0 M100*

When started, the above SFC program performs the following operations. (1) The step (F0) is activated and the operation specified at the step (F0) is

performed (preparations for positioning). A step in such an active state is called an active step.

(2) Whether the condition specified at the transition (G0) has enabled or not (whether the positioning program can be started or not) is checked. When the condition enables, the active step (F0) is deactivated and the next step (K0) is activated (servo program K0 is started).

(3) At the transition (G1), whether the step (K0) has completed its operation (servo program K0 has completed positioning) is checked. When the operation is completed (condition enables), control transits to the next step.

(4) With the transition of an active step as described in above (1) to (3), control is exercised and ends at END.

Refer to Chapter 9 Task Operations for details of the run timing of the SFC program such as above.

POINT

The number of steps which can be active steps simultaneously is up to 256, with those of all SFC programs combined. Excess of 256 will result in an SFC program error 16120.

4. SFC PROGRAMS

4 2

4.2 SFC Chart Symbol List

Parts acting as SFC program components are shown below. In an SFC program, these parts are connected by directed lines to represent an operation sequence and transition control.

Classification Name Symbol

(Code size (byte)) List Representation Function

START Program name

(0)

Program name

Indicates a program entry with a program name. Specify this program name for a subroutine call. Only one program name may be used with one

program. Program start/end

END END

(8)

END

Indicates a program end (exit). When a subroutine called is made, execution

returns to the call source program. Multiple or no symbols may be set within one

program.

Motion control step

Kn

(8)

CALL Kn Starts a servo program Kn (K0 to K4095).

Once execution operation control step

Fn

(8)

CALL Fn Runs an operation control program Fn (F0 to F4095) once.

Scan execution type operation control step

FSn

(8)

CALL FSn Repeats an operation control program FSn

(FS0 to FS4095) until the next transition condition enables.

Subroutine call/start step

Program name

(8)

GSUB program name

GSUB followed by WAIT performs a "subroutine call" and shifts control to the specified program. When END is executed, control returns to the call source program.

GSUB followed by other than WAIT performs a "subroutine start", starts the specified program, and shifts execution to the next (lower part). The start source and destination programs are run at the same time, and when END is executed, the call destination program ends.

Step

Clear step Program name CLR

(8)

CLR program name

Stops and ends the specified program being run. After an end, restarting the program starts it from the initial (start step).

When the specified program is being "subroutine called", the subroutine program being run is also stopped.

After the specified program has been "subroutine started", the subroutine program being run is not stopped.

When clear is performed on the "subroutine called" subroutine, the specified subroutine being run is stopped, and execution returns to the call source program and shifts to the next.

4. SFC PROGRAMS

4 3

Classification Name Symbol

(Code size (byte)) List Representation Function

Shift (Pre-read transition)

Gn

(8)

SFT Gn

When this transition is preceded by a motion control step, execution does not wait for completion of the motion operation, and shifts to the next step when the transition condition Gn (G0 to G4095) enables.

When this transition is preceded by an operation control step, execution shifts to the next step when the transition condition enables after operation has been performed.

When this transition is preceded by a subroutine call/start step, execution does not wait for completion of the subroutine operation, and shifts to the next step when the transition condition enables.

WAIT Gn

(8)

WAIT Gn

When this transition is preceded by a motion control step, execution waits for completion of the motion operation and shifts to the next step when the transition condition Gn (G0 to G4095) enables.

When this transition is preceded by an operation control step, execution shifts to the next step when the transition condition enables after operation has been performed (same operation is performed as in Shift).

When this transition is preceded by a subroutine call/start step, execution waits for completion of the subroutine operation and shifts to the next step when the transition condition enables.

WAITON

ON bit device

Kn

(14)

WAITON bit device

Prepares for starting the next motion control step, and when the specified bit device turns ON, issues a command immediately.

Always pair this transition with a motion control step one-for-one.

WAITOFF

OFF bit device

Kn

(14)

WAITOFF bit device

Prepares for starting the next motion control step, and when the specified bit device turns OFF, issues a command immediately.

Always pair this transition with a motion control step one-for-one.

Transition

Shift Y/N Gn

Y N

(When condition enables)

(When condition does not enable)

IFBm

IFT1

SFT Gn

:

JMP IFEm

IFT2

SFT Gn+?

:

JMP IFEm

IFEm

When this transition is preceded by a motion control step, execution does not wait for completion of the motion operation, and shifts to the lower step when the transition condition Gn (G0 to G4095) enables, or shifts to the right- connected step when the condition does not enable.

When this transition is preceded by an operation control step, execution shifts to the low step when the transition condition enables after operation has been performed, or shifts to the right-connected step when the condition does not enable.

When this transition is preceded by a subroutine call/start step, execution does not wait for completion of the subroutine operation, and shifts to the lower step when the transition condition enables, or shifts to the right- connected step when the condition does not enable.

4. SFC PROGRAMS

4 4

Classification Name Symbol

(Code size (byte)) List Representation Function

Transition WAIT Y/N Gn

Y N

(When condition enables)

(When condition does not enable)

IFBm

IFT1

WAIT Gn

:

JMP IFEm

IFT2

SFT Gn+?

:

JMP IFEm

IFEm

When this transition is preceded by a motion control step, execution waits for completion of the motion operation, and shifts to the lower step when the transition condition Gn (G0 to G4095) enables, or shifts to the right-connected step when the condition does not enable.

When this transition is preceded by an operation control step, execution shifts to the low step when the transition condition enables after operation has been performed, or shifts to the right-connected step when the condition does not enable (same operation as in Shift).

When this transition is preceded by a subroutine call/start step, execution waits for completion of the subroutine operation, and shifts to the lower step when the transition condition enables, or shifts to the right-connected step when the condition does not enable.

Jump Jump Pn

(14) JMP Pn

Jumps to the specified pointer Pn (P0 to P16383) within its own program.

Pointer Pointer Pn

(8)

Indicates a jump destination pointer (label). This pointer can be set at a step, transition,

branch point or coupling point. P0 to P16383 can be set in a single program.

The same numbers may also be used in other programs.

4. SFC PROGRAMS

4 5

4.3 Branch and Coupling Chart List

The following are branch and coupling patterns which specify step and transition sequences in SFC charts.

Name (Code size (byte))

SFC Symbol List Representation Function

Series transition

(Correspond- ing symbol size)

List representation corresponding to SFC chart symbols shown in 4.2.

Steps and transitions connected in series are processed in order from top to bottom.

Steps and transitions need not be lined up alternately.

When a transition is omitted, unconditional shift transition processing is performed.

Selective branch

((Number of branches + 2) 10)

IFBm IFT1 IFT2

After the step or transition preceding a branch is executed, the route whose transition condition enables first is executed.

Selective branch destinations should always be started by transitions, all of which must be Shift or WAIT. (Using Shift and WAIT together will cause a parallel branch.)

Selective coupling

(8)

IFEm

CALL Kn IFBm IFT1

SFT Gn CALL Fn

: JMP IFEm

IFT2 SFT Gn CALL Fn

: (JMP IFEm)

IFEm CALL Fn

After the route branched by a selective branch has been processed, execution shifts to a coupling point.

A coupling may be preceded and followed by either a step or a transition.

Parallel branch

(Number of branches 22 + number of coupling points 2 + 12)

PABm PAT1 PAT2

Multiple routes (steps) connected in parallel are executed simultaneously.

Each parallel branch destination may be started by either a step or transition.

Parallel coupling

(8)

PAEm

SFT Gn PABm PAT1

CALL Fn SET Gn

: JMP PAEm

PAT2 CALL Fn SET Gn

: (JMP PAEm)

PAEm CALL Fn

:

Execution waits at the coupling point for executions of the routes branched by a parallel branch to be completed, and shifts to the next when executions of all routes are completed. A coupling may be preceded and followed by either a step or a transition.

When this coupling is preceded by an FS step, scans are executed during waiting. After waiting is complete, scans are not executed.

CALL Fn JMP Pn

Basic type

Jump transition

(Correspond- ing symbol size)

CALL Fn Pn

JMP Pn

1) Normal jump After the step or transition preceding

this jump transition is executed, execution shifts to the pointer Pn specified within its own program.

The jump destination may either be a step or transition.

When a jump takes place from an FS step to a transition, scans are executed during waiting for the transition condition of the jump destination to enable.

2) Coupling jump When a jump to the other route within a

parallel branch takes place after the parallel branch, a "coupling jump" takes place and execution waits at the jump destination.

4. SFC PROGRAMS

4 6

Combining the basic type branches/couplings provides the following application types, which are defined as in the basic types.

Name SFC Symbol List Representation Function

Selective

branch

|

Parallel branch

IFBm IFT1 IFT2

PABm PAT1PAT1

After a selective branch, a parallel branch

can be performed.

Parallel

coupling

|

Selective

coupling

PAEm IFEm

CALL Kn

IFBm

IFT1

SFT Gn

PABm

PAT1

CALL Fn

:

JMP PAEm

PAT2

CALL Fn

:

(JMP IFEm)

PAEm

JMP IFEm

IFT2

SET Gn

CALL Fn

:

(JMP IFEm)

IFEm

SET Gn

The selective coupling point can be the

same as the coupling point of a parallel

coupling for selective branchparallel

branch. Note that in an SFC chart, this

type is displayed in order of a parallel

coupling a selective coupling, as shown

on the left.

In this case, you cannot set a pointer (Pn)

between the parallel coupling point

(PAEm) and the selective coupling point

(IFEm).

Parallel branch

|

Selective

branch

PABm PAT1 PAT2

IFBm IFT1IFT1

After a parallel branch, a selective branch

can be performed.

Appli-

cation

type

Selective

coupling

|

Parallel

coupling

IFEm PAEm

SFT Gn

PABm

PAT1

CALL Fn

IFBm

IFT1

SET Gn

CALL Fn

:

JMP IFEm

IFT2

SFT Gn

CALL Fn

:

(JMP IFEm)

IFEm

JMP PAEm

PAT2

CALL Fn

:

CALL Kn

(JMP PAEm)

PAEm

SET Gn

The parallel coupling point can be the

same as the coupling point of a selective

coupling for parallel branchselective

branch.

Note that in an SFC chart, this type is

displayed in order of a selective coupling

a parallel coupling, as shown on the

left.

In this case, you cannot set a pointer (Pn)

between the selective coupling point

(IFEm) and the parallel coupling point

(PAEm).

4. SFC PROGRAMS

4 7

Name SFC Symbol List Representation Function

Selective

branch

|

Selective

branch

IFBm IFT1 IFT2

IFBm+1 IFT2IFT1

After a selective branch, a selective

branch can be performed.

Selective

coupling

|

Selective

coupling

IFEm+1 IFEm

CALL Kn

IFBm

IFT1

SFT Gn

IFBm+1

IFT1

SET Gn

:

JMP IFEm+1

IFT2

SFT Gn

:

(JMP IFEm+1)

IFEm+1

JMP IFEm

IFT2

SFT Gn

CALL Fn

:

(JMP IFEm)

IFEm

SET Gn

:

The two selective coupling points for

selective branchselective branch can be

the same.

Note that in an SFC chart, this type is

displayed in order of a selective coupling

a selective coupling, as shown on the

left.

In this case, you cannot set a pointer (Pn)

between the selective coupling point

(IFEm+1) and the selective coupling point

(IFEm).

Parallel branch

|

Parallel branch

PABm PAT1 PAT2

PABm+1 PAT2PAT1

After a parallel branch, a parallel branch

can be performed.

A parallel branch can be nested up to four

levels.

Appli-

cation

type

Parallel

coupling

|

Parallel

coupling

PAEm+1 PAEm

SFT Gn

PABm

PAT1

CALL Fn

PABm+1

PAT1

CALL Fn

:

JMP PAEm+1

PAT2

CALL Fn

:

(JMP PAEm+1)

PAEm+1

JMP PAEm

PAT2

CALL Fn

:

CALL Kn

JMP PAEm

PAEm

SET Gn

:

The two parallel coupling points for parallel

branchparallel branch can be the same.

Note that in an SFC chart, this type is

displayed in order of a parallel coupling a parallel coupling, as shown on the left.

In this case, you cannot set a pointer (Pn)

between the parallel coupling point

(PAEm+1) and the parallel coupling point

(PAEm).

4. SFC PROGRAMS

4 8

Name SFC Symbol List Representation Function

Selective

coupling

|

Parallel branch

IFEm PABm

PAT1 PAT2

:

(JMP IFEm)

IFEm

PABm

PAT1

CALL Fn

:

JMP PAEm

PAT2

CALL Fn

:

(JMP PAEm)

PAEm

:

The selective coupling point and parallel

branch point can be the same.

Note that in an SFC chart, this type is

displayed in order of a selective coupling

a parallel branch, as shown on the left.

In this case, you cannot set a pointer (Pn)

between the selective coupling point

(IFEm) and the parallel branch point

(PABm).

Parallel

coupling

|

Selective

branch

PAEm IFBm

IFT1 IFT2

:

JMP PAEm

PAEm

IFBm

IFT1

SET Gn

:

JMP IFEm

IFT2

SET Gn

:

(JMP IFEm)

IFEm

:

The parallel coupling point and selective

branch point can be the same.

Note that in an SFC chart, this type is

displayed in order of a parallel coupling a selective branch, as shown on the left.

Execution waits at the parallel coupling

point and shifts to the selective branch.

In this case, you cannot set a pointer (Pn)

between the parallel coupling point

(PAEm) and the selective branch point

(IFBm).

Selective

coupling

|

Selective

branch

IFEm IFBm+1

IFT1 IFT2

:

(JMP IFEm)

IFEm

IFBm+1

IFT1

SET Gn

:

JMP IFEm+1

IFT2

SET Gn

:

(JMP IFEm+1)

IFEm+1

The selective coupling point and selective

branch point can be the same.

Note that in an SFC chart, this type is

displayed in order of a selective coupling

a selective branch, as shown on the

left.

In this case, you cannot set a pointer (Pn)

between the selective coupling point

(IFEm) and the selective branch point

(IFBm+1).

Appli-

cation

type

Parallel

coupling

|

Parallel branch

PAEm PABm+1

PAT1 PAT2

:

(JMP PAEm)

PAEm

PABm+1

PAT1

CALL Fn

:

JMP PAEm+1

PAT2

CALL Fn

:

(JMP PAEm+1)

PAEm+1

:

The parallel coupling point and parallel

branch point can be the same.

Note that in an SFC chart, this type is

displayed in order of a parallel coupling a parallel branch, as shown on the left.

Execution waits at the parallel coupling

point and shifts to the parallel branch.

In this case, you cannot set a pointer (Pn)

between the parallel coupling point

(PAEm) and the parallel branch point

(PABm+1).

4. SFC PROGRAMS

4 9

4.4 SFC Program Names

Set "SFC program names" to SFC program No. 0 to No. 255 individually. (Make this setting in the "SFC program management window" on the SFC program edit screen.) Set an SFC program name within 16 characters. Specify this SFC program name for a "subroutine call/start step (GSUB)" and "clear step (CLR)". SFC programs correspond to No. 0 to No. 255 and saved in a one program-for-one file format. The preset "SFC program name" is used as the file name of the SFC program file for user file management. (Refer to Chapter 14 for full information.)

POINT

(1) You can set an SFC program to any of No. 0 to No. 255. There are no specific programs which have special roles.

(2) You cannot use "$" in the first character of an SFC program name. (3) You cannot use " / : ; , . * ? < > |" in SFC program names.

4. SFC PROGRAMS

4 10

4.5 Steps

4.5.1 Motion control step

Name Symbol Function

Motion control

step

Kn Starts a servo program Kn.

Specifying range: K0 to K4095

[Operations] (1) The start acceptance flag of the axis specified in the specified servo program

Kn (n = 0 to 4095) turns ON. (2) The specified servo program Kn (n = 0 to 4095) starts.

Execution timing

Transition condition enables

Start acceptance flag (M200n)

v

t

[Errors] (1) The absence of the specified servo program Kn will result in an SFC program

error 16200 and stop the SFC program running at the point of error detection.

[Instructions] (1) To make a current value change in the SFC program, specify the CHGA

instruction in the servo program and call it at the motion control step. (2) If the servo program has stopped due to a major/minor error which occurred at

or during a start of the servo program specified at the motion control step, the SFC program continues running. To stop the SFC program at error detection, provide an error detection condition at the transition (transition condition).

4. SFC PROGRAMS

4 11

4.5.2 Operation control step

Name Symbol Function

Operation

control step

Fn/FSn Runs an operation control program Fn/FSn.

Specifying range: F0 to F4095/FS0 to FS4095

[Operations] (1) Once execution type operation control step Fn

Fn runs the specified operation control program Fn (n = 0 to 4095) once. (2) Scan execution type operation control step FSn

FSn repeats the specified operation control program FSn (n =0 to 4095) until the next transition condition enables.

[Errors] (1) The absence of the specified operation control program Fn/FSn will result in an

SFC program error 16201 and stop the SFC program running at the point of error detection.

[Instructions] (1) For operation expressions that may be described in operation control programs,

refer to Chapter 5 Operation Control Programs. (2) The SFC program continues running if an operation or similar error occurs

during execution of the operation control program.

4. SFC PROGRAMS

4 12

4.5.3 Subroutine call/start step

Name Symbol Function

Subroutine

call/start step

Program name Calls/starts the SFC program of the specified program

name.

(1) Calls/starts the SFC program of the specified program name.

(2) Control varies with the type of the transition coupled next to the subroutine call/start step. (a) For WAIT

A subroutine call is performed. When the subroutine call step is executed, control shifts to the specified program as shown below, and when END of the called program is executed, control returns to the call source program.

(b) For other than WAIT A subroutine start is performed. When the subroutine start step is executed, control starts the specified program and then shifts to the next as shown below. Hence, the start source and destination SFC programs are run in parallel. The started program ends when END is executed.

MAIN

SUB

WAIT

END

SUB

END

1)

2)

5)

3)

4)

For WAIT For other than WAIT

MAIN

SUB

Shift

END

SUB

END

1)

2)

2)

3)

[Errors] (1) The absence of the specified SFC program at a subroutine call/start will result

in an SFC program error 16005 and stop the call/start source SFC program running at the point of error detection.

(2) If the called/started SFC program is already starting at a subroutine call/start, an SFC program error 16006 will occur and the call/start source SFC program running is stopped at the point of error detection.

(3) Calling/starting its own program at a subroutine call/start will result in an SFC program error 16110 and stop the call/start source SFC program running at the point of error detection.

(4) When the subroutine to be called/started at a subroutine call/start in the SFC program 2 which was called/started from the SFC program 1 is the SFC program 1 (main program), an SFC program error 16111 will occur and the call/start source SFC program 2 running is stopped at the point of error detection.

4. SFC PROGRAMS

4 13

[Instructions]

(1) There are no restrictions on the depth of subroutine call/start nesting.

(2) For a subroutine start, the start source SFC program continues processing if the start destination SFC program stops due to an error.

(3) For a subroutine call, the call source SFC program stops running as soon as the call destination SFC program stops due to an error.

4.5.4 Clear step

Name Symbol Function

Clear step Program name CLR Stops the running SFC program of the specified program

name.

[Operations] (1) Stops the specified SFC program running.

(2) After stopped, the clear-specified SFC program will not start automatically if it has been set to start automatically.

(3) The specified program may be its own program.

(4) If the specified program is being subroutine called, the subroutine program called is also stopped. (See below)

MAIN

SUB

WAIT

END

SUB

END

If the program has been "subroutine called" as shown on the left When the main program (MAIN) is cleared Even if the subroutine (SUB) is running, both the main program(MAIN) and subroutine (SUB) stop running. When the subroutine (SUB) is cleared If the subroutine (SUB) is running, the subroutine (SUB) stops running and execution returns to the main program (MAIN).

(5) When the specified program has been subroutine started, the subroutine program started continues processing. (See below)

MAIN

SUB

Shift

END

SUB

END

If the program has been "subroutine started" as shown on the left When the main program (MAIN) is cleared Even if the subroutine (SUB) is running, the main program (MAIN) stops running but the started subroutine (SUB) continues processing. When the subroutine (SUB) is cleared If the subroutine (SUB) is running, only the subroutine (SUB) stops running.

4. SFC PROGRAMS

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(6) When the servo program started from the specified program is starting, the servo program continues processing.

[Errors] (1) The absence of the SFC program specified at the clear step will result in an

SFC program error 16203.

[Instructions] (1) When the SFC program specified at the clear step is not starting, an error does

not occur specifically and this step is ignored.

(2) If the SFC program running is stopped by the clear step, the output is held.

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4.6 Transitions

You can describe conditional and operation expressions at transitions. The operation expression described here is repeated until the transition condition enables, as at the scan execution type operation step. For the conditional/operation expressions that can be described in transition conditions, refer to Chapter 6 Transition Programs.

(1) Combinations with motion control steps (a) Motion control step + shift

Kn

Gn

[Operations] Does not wait for the servo program Kn started at

the motion control step to complete its operation, and shifts to the next step when the transition condition Gn enables.

(b) Motion control step + WAIT

Kn

Gn

[Operations] Waits for the servo program Kn started at the

motion control step to complete its operation, and shifts to the next step when the transition condition Gn enables.

The operation completion condition of the servo program Kn is not needed in the transition condition Gn.

An error stop of the started servo program Kn at/during a start is also regarded as an operation completion.

(c) WAITON/WAITOFF + motion control step

ON M0

Kn

OFF M0

Kn

[Operations] Prepares for the start of the motion control step

next to WAITON/WAITOFF, and makes a start immediately when the specified bit turns ON/OFF. When the motion control step is executed without being used with WAITON/WAITOFF, preparations for a start are made after the transition condition preceding the motion control step enables. This will cause a variation of delay/starting time between when the transition condition enables and when a start is made, but a combination with WAITON/WAITOFF can eliminate the variation of the above delay/starting time.

Specifiable bit devices

A172SHCPUN A173UHCPU(-S1)/ A273UHCPU-S3

X X0 to X7FF X0 to X1FFF Y Y0 to Y7FF Y0 to Y1FFF M M0 to M2047 M0 to M8191

Special M M9000 to M9255 M9000 to M9255 L L0 to L2047 L0 to L8191 B B0 to B3FF B0 to B1FFF F F0 to F255 F0 to F2047

TC (timer coil) TC0 to TC255 TC0 to TC2047 TT (timer contact) TT0 to TT255 TT0 to TT2047 CC (counter coil) CC0 to CC255 CC0 to CC1023

CT (counter contact) CT0 to CT255 CT0 to CT1023

4. SFC PROGRAMS

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[Instructions] Always pair a transition with a motion control step one-for-one. If the step

following WAITON/WAITOFF is not a motion control step, an SFC program error 16102 will occur and the SFC program running will stop at the point of error detection.

An error will not occur if the jump destination immediately after WAITON/WAITOFF is a motion control step. (Left below)

A pointer may exist immediately after WAITON/WAITOFF. (Right below)

ON M0

Kn

Pn

Pn

ON M0

Kn

Pn

If a servo program specified at a motion control step could not be started due to a major/minor error, an SFC program continues running and execution shifts to the next, independently of the WAITON/WAITOFF bit device status. To stop the SFC program at error detection, provide an error detection condition at the next transition (transition condition).

(2) Combination with operation control step

Fn

Gn

Fn

Gn

[Operations] At an operation control step, both Shift and

WAIT perform the same operation, and after an operation control program Fn is run, execution shifts to the next step when the transition condition Gn enables.

(3) Combination with subroutine call/start step Refer to the section of 4.5 (3) Subroutine call/start step.

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4.7 Jump, Pointer

Pn Pn

Jump Pointer

[Operations] Setting a jump will cause a jump to the pointer Pn specified in its own program. You can set pointers at steps, transitions, branch points and coupling points. You can set pointers Pn, P0 to P16383, in a single program.

[Instructions] You cannot make a jump setting which will exit from within parallel branch-parallel

coupling. (Bad example 1 given below) You cannot make a jump setting from outside parallel branch-parallel coupling to

within parallel branch-parallel coupling. (Bad example 2 given below) You cannot make a setting where a label and a jump will continue. (Bad example

3 given below)

Pn

Pn

Pn

Pn

Bad example 1 Bad example 2

Pn

Bad example 3

Pn

4.8 END

END

[Operations] Ends a program. Making a subroutine call will return to the call source SFC program.

[Instructions] END may be set a multiple number of times within a single program. END cannot be specified between a parallel branch and a parallel coupling. The output is held after the SFC program is ended by END.

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4.9 Branches, Couplings

4.9.1 Series transition

Shifts execution to the subsequent step or transition connected in series.

(1) To start a servo program or subroutine and shift execution to the next without waiting for operation completion Set Shift at a transition. In this case, the transition (shift) may be omitted. When you omitted the transition, an unconditional shift transition is performed.

Starts servo program K1.

Without waiting for servo program K1 to complete operation, shifts to next when condition set at transition G1 enables.

Starts servo program K2.

K1

G1

K2

POINT

When a subroutine start is made, it own program and a subroutine program are processed in parallel.

(2) To start a servo program or subroutine and proceed to the next step on operation completion Set WAIT at a transition.

Shifts to next when start axis in servo program K1 stops (start acceptance flag turns OFF) and condition set at transition G1 enables.

Starts servo program K1.

Starts servo program K2.

K1

G1

K2

POINT

(1) The above start acceptance flag of the axis started in the next servo program K2 is not included in interlocks. To use it as an interlock, the user should set it in the transition condition G1.

(2) WAIT must be set to proceed to the next step on operation completion. However, when there are specifically no conditions to be set as interlocks, set "NOP (No Operation)" in the transition program (Gn).

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4.9.2 Selective branch, selective coupling

(1) Selective branch Executes only the route whose condition was judged to have enabled first among the conditions of multiple transitions connected in parallel. Transitions must be all Shifts or WAITs.

(Example) For WAIT

Max. number of selective branches = 255

After start axis in servo program K1 has stopped (start acceptance flag has turned OFF), conditions of transitions G1 to G255 are judged, and execution shifts to route whose condition enables.

Starts servo program K1.K1

G1

K2

G2

K3

G3

K4

G255

K255

POINT

(1) Transition condition judgment is not always executed from left to right.

(2) Using Shift and WAIT together will cause a parallel branch.

(2) Selective coupling Recoupling of routes into a single route after their processing completions following a selective branch will be a selective coupling. However, you can also make a setting where no coupling will be made as shown below.

END

Jump transition (normal jump)

Program END

IFB1

IFE1

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4.9.3 Parallel branch, parallel coupling

(1) Parallel branch Simultaneously executes multiple steps connected in parallel. A parallel branch destination may be started by either a step or a transition.

G255G1 G3G2

After operation completion of preceding step, steps K2 to F10 connected in parallel are executed when condition set at transition G0 enables. Thereafter, routes are executed simultaneously up to parallel coupling point.

Max. number of parallel branches = 255

WAIT GO

K2 K3 F1 F10

G0

POINT

"Shift" or "WAIT" can be set to a transition preceding a parallel branch. "WAITON" and "WAITOFF" cannot be set.

(2) Parallel coupling A parallel branch must be coupled by a parallel coupling. A jump setting to another branch route can be made within parallel branch- parallel coupling. In this case, a jump destination is a midway parallel coupling point (coupling jump). You cannot set a jump to exit from within parallel branch-parallel coupling.

Coupling jump

Parallel coupling point

PAB1

G1

K2

ON M100

K3

ON M100

K100

K5

F10

G11

F1

G12

K4

F12

PAE1

Parallel branch point

After servo program K3 has completed stopping, execution waits until condition set at transition G3 enables and servo program K4 completes starting. On completion of waiting, execution shifts to the next (lower part).

4. SFC PROGRAMS

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POINT

The number of parallel branches need not match that of couplings at a parallel coupling point. (In the example of the diagram in Section 4.9.3 (2), the number of parallel branches is 3 and that of couplings is 2.)

When a WAIT transition is set right after a parallel coupling, the stop completions of the axes are not included in the waiting conditions if the parallel coupling is preceded by motion control steps. To perform a parallel coupling on stop completions, set WAIT transitions before a parallel coupling.

( )

If this is WAIT, stop completions of axes started in K2 to K5 are not included in waiting conditions.

Parallel coupling

G1

K2 K3 K4 K5

( )

Parallel coupling

When you want to perform a coupling on stop completions of axes started in K2 to K5, set WAIT transition in each route to make parallel coupling.G2 G4G3

K2 K3 K4

G1

G5

K5

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4.10 Y/N Transitions

When you want to branch to routes when a transition condition enables and does not enable, "Shift Y/N transition" or "WAIT Y/N transition" will be useful.

Name Symbol Function

Shift Y/N

transition Gn

(When condition enables)

Y N

(When condition does not enable)

WAIT Y/N

transition Gn

(When condition enables)

Y N

(When condition does not enable)

When a transition condition set at Gn enables,

execution shifts to the lower step. When that

condition does not enable, execution shifts to the

right-connected step.

Differences between "Shift Y/N" and "WAIT Y/N"

are the same as those between "Shift" and

"WAIT".

A Y/N transition is designed to describe the following two-route selective branch program easily.

G0 and G1 programs should be different only in

acknowledgement/negation of the conditional expressions.

IFB1

G0 G1

(Example 1)

[G 0] M0

[G 1] !M0

(Example 2)

[G 0] D0!=K100

[G 1] D0==K100

As a G0 program, set the G0 program shown in above (Example 1) or (Example 2).

The SFC program list codes after conversion are the same as in the conventional description (different only in SFC chart representation). Therefore, "automatic search for free G number automatic generation of program whose conditional expression part is logically negated" is performed during program editing to occupy two G programs. Using "Program editor" to delete a Y/N transition does not delete the automatically generated G program (G1 below). Use "Program use list" to delete that program.

IFB1

G0

IFB1

G0 G1

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(1) Automatic free G number search feature (a) When not set to automatic numbering

Searches for a free number forward, starting with the "set G number + 1" at the "Shift Y/N" or "WAIT Y/N" symbol. When no free numbers are found after a search up to 4095, a search is made from 0 to the "set G number - 1".

(b) When set to automatic numbering Searches for a free number forward (or backward) in the automatic numbering range, starting with the "automatically numbered G number + 1 (or -1)" at the "Shift Y/N" or "WAIT Y/N" symbol. (The searching method is as in the automatic numbering setting.)

(2) Automatic logical NOT program generation feature Automatically generates a program which logically negates the conditional expression block (last block) of the transition program set at "Shift Y/N" or "WAIT Y/N". The basic is as described below.

Conditional expression//(bit conditional expression or comparison conditional expression)

!Conditional expression//(bit conditional expression or comparison conditional expression)

Examples are given below.

M0

D0!=K100 //Data register D0 is not K100

//Bit device ON

(Example 2)

(Example 1)

!(M0)

!(D0!=K100) //Data register D0 is K100

//Bit device OFF

(Example 2)

(Example 1)

POINT

For the instructions usable in the conditional expressions of "Shift Y/N" or "WAIT Y/N" transition programs, refer to "Section 3.3.2 (1) Operation control/transition instruction list".

4. SFC PROGRAMS

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(3) Instructions for SFC charts Any SFC chart that will be meaningless to or conflict with the definition of Y/N transitions will result in an error at the time of editing (or SFC chart conversion). Their patterns and instructions will be given below. (a) When "Shift Y/N" or "WAIT Y/N" is connected as a selective branch or

parallel branch: Error

"Shift Y/N" used as selective branch "WAIT Y/N" used as selective branch

"Shift Y/N" and "WAIT Y/N" used as parallel branch

"Shift (or WAIT) Y/N" used with other step/transition as parallel branch or selective branch

(b) When a coupling precedes "Shift Y/N" or "WAIT Y/N: Provide "coupling- branch continuation" in between.

Direct coupling with "Shift Y/N" or "WAIT Y/N" is not allowed.

"Provide "coupling-branch continuation" in between.

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(c) The following patterns may be set. End (END) from "Shift Y/N" or "WAIT

Y/N"

Jump from "Shift Y/N" or "WAIT Y/N"

END

P1 P2

Continuation from "Shift Y/N" or "WAIT Y/N" to "Shift Y/N" or "WAIT Y/N" (selective branch-selective branch)

END

When there are two or more connection lines from Y/N side of "Shift Y/N" or "WAIT Y/N", selective branchselective branch or parallel branch continues.

4. SFC PROGRAMS

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4.11 SFC Comments

A comment can be set to each symbol of the step/transition in an SFC chart. Comments are shown in an SFC chart by changing the display mode to "Comment display" on the SFC program edit screen. Since SFC comments are stored into the CPU code area, performing read from PLC displays the SFC chart with comments.

Classification Name Symbol Comment Setting

START Program name

Program

start/end

END END

Comment setting cannot be made.

Motion control step Kn

Once execution type

operation control step Fn

Scan execution type

operation control step FSn

Subroutine call/start

step Program

Step

Clear step Program name CLR

Shift (preread

transition) Gn

WAIT Gn

WAITON ON bit device

WAITOFF OFF bit device

Shift Y/N Gn

Transition

WAIT Y/N Gn

Max. 80 characters

Displayed in 20 characters 4 lines

Jump Jump Pn

Pointer Pointer Pn

Max. 64 characters

Displayed in 16 characters 4 lines

4. SFC PROGRAMS

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POINT

(1) SFC comments are stored into the CPU code area. The CPU code area stores the SFC chart codes, operation control (F/FS) program codes, transition (G) program codes and SFC comments. Be careful not to set too many comments to avoid code area overflow. (Refer to "3.1 SFC Performance Specifications" for the code area sizes.)

(2) You cannot use "," in comment statements.

5. OPERATION CONTROL PROGRAMS

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5. OPERATION CONTROL PROGRAMS

5.1 Operation Control Programs

(1) Operation control programs (a) In operation control programs, you can set assignment operation express-

ions, motion-dedicated functions and bit device control commands.

(b) You can set multiple blocks in a single operation control program.

(c) There are no restrictions on the number of blocks that may be set in a single operation control program. However, one program is within 64k bytes.

(d) The maximum number of characters in one block is 128.

(e) You cannot set transition conditions. Transition conditions may be set only in transition programs.

An operation control program example is given below.

#0=D0+(D1+D2) #5//Assignment expression (four arithmetic operations) W0:F=SIN(#10F)//Assignment expression (standard function) CHGV(K2,K10)//Motion-dedicated function SET M100=M0+X0//Bit device control (SET=) RST M10=!X0//Bit device control (RST=) DIN D0,X0//Bit device control (DIN)

1 program

Comment

1 block

*

(2) Priorities of operators and functions Operators and functions have the following priorities. Using parentheses allows an operation sequence to be specified freely.

Priority Item (Operator, Function)

Calculation within parentheses ((...))

Standard function (SIN, COS, etc.),

Type conversion (USHORT, LONG, etc.)

Bit inversion (~), logical negation (!), sign inversion (-)

Multiplication (*), division (/), remainder (%)

Addition (+), subtraction (-)

Bit left shift (<<), bit right shift (>>)

Comparison operators: Less than (<), less than or equal to (<=),

more than (>), more than or equal to (>=)

Comparison operators: Equal to (==), not equal to (!=)

Bit logical AND (&)

Bit exclusive OR (^)

Bit logical OR (|)

Logical AND (*)

Logical OR (+)

High

Low

Assignment (=)

5. OPERATION CONTROL PROGRAMS

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(3) Instruction structure Many of the instructions usable in operation control programs can be divided into instruction and data parts.

The instruction and data parts are used for the following purposes. Instruction part.......... Indicates the function of that instruction. Data part................... Indicates the data used in the instruction.

"Assignment: =" structure example

D0 = #0

Data part: Source (S)

Instruction part

Data part: Destination (D)

(a) Source (S) 1) The source is the data used in an operation. 2) It varies with the device specified in each instruction, as described below.

Bit or word device Specify the device which stores the data used in operation. The data must have been stored in the specified device until the operation is executed. Changing the data stored in the specified device during program run allows changing the data used in that instruction.

Constant Specify the numerical value used in an operation. As the constant is set during program creation, it cannot be changed during program run.

(b) Destination (D) 1) As the destination data, after-operation data is stored. 2) To the destination data, always set the device for storing the data.

(4) How to specify data There are the following six different data usable in each instruction.

Data usable in each instruction Numerical data Integer data 16-bit integer type data

32-bit integer type data

64-bit floating-point type data

Bit data

Batch bit data

Logical data

5. OPERATION CONTROL PROGRAMS

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(a) 16-bit integer type data The 16-bit integer type data is 16-bit integral value data. Word devices are used in increments of 1 point. Data ranges are as indicted below.

Decimal Representation Hexadecimal Representation

Data range K-32768 to K32767 H0000 to HFFFF

(b) 32-bit integer type data The 32-bit integer type data is 32-bit integral value data. Word devices are used in increments of 2 points: (specified device number), (specified device number+1). Data ranges are as indicted below.

Decimal Representation Hexadecimal Representation

Data range K-2147483648L to K2147483647L H00000000L to HFFFFFFFFL

(c) 64-bit floating-point type data The 64-bit floating-point type data is IEEE-formatted, 64-bit floating-point value data. Word devices are used in increments of 4 points: (specified device number), (specified device number+1), (specified device number+2), (specified device number+3). 1) The internal bit locations are as shown below.

b63b62 b52b51 b0

(+3)

b62 to b52 (11 bits) Bias exponent field

b63 (1 bit) Sign bit field

(Specified device number+0)(+2) (+3)

b51 to b0 (52 bits) Decimal field

2) The represented value is as follows. (The bias value is H3FF.) (-1)[Sign bit field]

*(1.0+[decimal field]) *2 ([Bias exponent field]-[bias value])

3) Data ranges are as indicted below.

Decimal Representation Hexadecimal Representation

Data range

K-1.79E+308 to K-2.23E-308,

K0.0,

K2.23E-308 to K1.79E+308

H0000000000000000,

H0010000000000000 to H7FE1CCF385EBC89F,

H8000000000000000,

H8010000000000000 to HFFE1CCF385EBC89F

5. OPERATION CONTROL PROGRAMS

5 4

4) A round-off error may be produced in a 64-bit floating-point type data operation. Especially when using 64-bit floating-point type data in a comparison operation, note that a round-off error may cause an intended operation. Example) In the following transition program, the result of the comparison

operation may not become true depending on the value of #200F due to a round-off error.

#100F=SQRT(#200F)

#300F=#100F*#100F

#200F==#300F

(d) Bit data The bit data is the data where a contact/coil or similar device is handled in increments of 1 bit. It is used in device set (SET=) and device reset (RST=).

SET M0

Example

Bit data

(e) Batch bit data The batch bit data is the data where bit data is handled in increments of 16/32 points. It is used in device input (DIN) and device output (DOUT). As indicated below, whether the bit data is handled in increments of 16 or 32 points is governed by the data type of the word device used as an input destination/output source.

Increments of 16 Points Increments of 32 Points

Program example DIN #0, M0

DOUT M0, D0

DIN #0L, M0

DOUT M0, DOL

Used devices

(Specified device number) to

(specified device number+15)

M0 to M15 in the above program

example

(Specified device number) to

(specified device number+31)

M0 to M31 in the above program

example

(f) Logical data The logical data is a value returned by a bit or comparison conditional expression and indicates whether the result is true or false. Normally, it is used in the conditional expression of a transition program. In an operation control program, the logical data is used in a bit conditional expression set to device set (SET=) or device reset (RST=).

SET M0 = X10

Example 1

Bit data

RST M5 = !X10 M100

Example 2

D0 == K100

Example 3 (transition program)

Logical data

Bit data

Logical data

Logical data

*

5. OPERATION CONTROL PROGRAMS

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5.2 Device Descriptions

Word and bit device descriptions are indicated below.

(1) Word device descriptions

Device Descriptions Device Number (n) Specifying Ranges

16-bit integer type 32-bit integer type

(n is even number)

64-bit floating-point

type

(n is even number)

A172SHCPUN A173UHCPU(-S1)

/A273UHCPU-S3

Data register Dn DnL DnF 0 to 1023 0 to 8191

Link register Wn WnL Wn:F 0 to 3FF 0 to 1FFF

Timer current value Tn 0 to 255 0 to 2047

Counter current value Cn 0 to 255 0 to1023

Special register Dn DnL DnF 9000 to 9255

Motion device #n #nL #nF 0 to 8191

Coasting timer FT

(a) For differentiation, the 32-bit floating-point type is ended by L and the 64-bit floating-point type by F (:F for the link register).

(b) The timer current value T and counter current value C may be used only as a 16-bit integer type.

(c) For the 32-bit integer type and 64-bit floating-point type, specify the device number with an even number. (You cannot use an odd number for setting).

(d) The coasting timer FT is incremented per 888s. (The coasting timer is a 32-bit integer type.)

(2) Bit device descriptions

Device Number (n) Specifying Ranges

Device Description A172SHCPUN

A173UHCPU(-S1)

/A273UHCPU-S3

Input relay Xn/PXn 0 to 7FF 0 to 1FFF

Output relay Yn/PYn 0 to 7FF 0 to 1FFF

Internal relay Mn 0 to 2047 0 to 8191

Latch relay Ln 0 to 2047 0 to 8191

Link relay Bn 0 to 3FF 0 to 1FFF

Annunciator Fn 0 to 255 0 to 2047

Timer contact TTn 0 to 255 0 to 2047

Timer coil TCn 0 to 255 0 to 2047

Counter contact CTn 0 to 255 0 to 1023

Counter coil CCn 0 to 255 0 to 1023

Special relay Mn 9000 to 9255

(a) When using the device in DIN or DOUT as batch bit data, specify n as a multiple of 16.

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(3) Indirect designation of device numbers In the above word/bit device descriptions, device numbers (n) can be specified indirectly. (a) Using word device to specify device number (n) indirectly

1) You cannot use the word device with which the device number was specified indirectly.

2) You can use the 16- and 32-bit integer type word devices for indirect designation. You cannot use the 64-bit floating-point type. (Description examples)

Good Example Bad Example

#(D10) #(D(D5))

D(#10L)F D(#4F)

(b) Using operation expression to specify device number indirectly 1) Device numbers can be specified indirectly by calculation expressions

which use the following data and operators.

16-bit integer type word device

32-bit integer type word device

16-bit integer type constant Usable data

32-bit integer type constant

Addition: +

Subtraction: -

Multiplication: *

Division: /

Remainder: %

Usable operators

Sign inversion: -

2) You cannot use the word device with which the device number was specified indirectly.

3) Only one operator may be used. (Description examples)

Good Example Bad Example

#(D10-K5) #(D(D5)F+K20)

D(#10L%H6L)F D(#4L<

(Note) : When you want to use the result of calculation other than the above to specify the device number indirectly, describe it in two blocks as shown below.

D0=SHORT(ASIN(#0F))

W0=#(D0)

5. OPERATION CONTROL PROGRAMS

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5.3 Constant Descriptions

The constant descriptions of the 16-bit integer type, 32-bit integer type and 64-bit floating-point type are indicated below.

16-Bit Integer Type 32-Bit Integer Type 64-Bit Floating-Point Type

Decimal

representation K-32768 to K32767 K-2147483648L to K2147483647L

K-1.79E+308 to K-2.23E-308,

K0.0,

K2.23E-308 to K1.79E+308

Hexadecimal

representation H0000 to HFFFF H00000000L to HFFFFFFFFL

(1) The 32-bit integer type is ended by L and the 64-bit floating-point type is provided with a decimal point and exponent part (E) to denote their data types explicitly.

(2) The constant without the data type is regarded as the applicable minimum type.

(3) The constant in decimal representation is headed by K and the one in hexadecimal representation by H. K can be omitted.

(4) The 64-bit floating-point type cannot be represented in hexadecimal.

5. OPERATION CONTROL PROGRAMS

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5.4 Binary Operations

5.4.1 Substitution : =

F/FS G Format Number of Basic Steps

(D)=(S) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S) (D)

(Note): T and C are write-disabled and cannot be used at (D).

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Word device/constant/calculation

expression to be assigned

(D) Word device which will store

the operation result

Data type of (D)

(3) Functions (a) The data value specified at (S) is assigned to the specified word device.

(b) When (S) and (D) differ in data type, the data at (S) is converted into the data type of (D) and the resultant data is assigned. (When (D) is a 16- or 32-bit integer type and (S) is a 64-bit floating-point type, the fraction part of (S) is discarded.)

(4) Errors (a) An operation error will occur if:

1) The data at (S) is outside the data type range of (D); or 2) (D) or (S) is an indirectly specified device and its device number is

outside the range.

(5) Program examples (a) Program which assigns the D0 value to #0

#0 = D0

1 2 3#0 1 2 3D0

5. OPERATION CONTROL PROGRAMS

5 9

(b) Program which assigns K123456.789 to D0L

D0L = K123456.789

123456.789123456

D0D1

D0L

The 64-bit floating-point type is converted into the 32-bit integer type and the result is assigned.

(c) Program which assigns the result of adding K123 and #0 to W0

W0 = K123 + #0

5 7 9W0

1 2 3

4 5 6#0

+

5. OPERATION CONTROL PROGRAMS

5 10

5.4.2 Addition : +

F/FS G Format Number of Basic Steps

(S1)+(S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1) Augend data

(S2) Addend data

Data type of (S1) or

(S2) which is greater

(3) Functions (a) The data specified at (S2) is added to the data specified at (S1).

(b) When (S1) and (S2) differ in data type, the data of the smaller data type is converted into that of the greater type before operation is performed.

(4) Errors (a) An operation error will occur if:

1) (S1) or (S2) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which assigns the result of adding K123 and #0 to W0

W0 = K123 + #0

5 7 9W0

1 2 3

4 5 6#0

+

(b) Program which assigns the result of adding #0F and #10 to D0L

D0L = #0F + #10

12468.789 1 2 3 4 5.7 8 9

#2#3 #1 #0

#10

+

1 2 3

12468

D0D1

DOL

The 64-bit floating-point type data are used for addition, and the result is converted into the 32-bit integer type and then assigned.

5. OPERATION CONTROL PROGRAMS

5 11

5.4.3 Subtraction : -

F/FS G Format Number of Basic Steps

(S1)-(S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1) Minuend data

(S2) Subtracted data

Data type of (S1) or (S2)

which is greater

(3) Functions (a) The data specified at (S2) is subtracted from the data specified at (S1).

(b) When (S1) and (S2) differ in data type, the data of the smaller data type is converted into that of the greater type before operation is performed.

(4) Errors (a) An operation error will occur if:

1) (S1) or (S2) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which assigns the result of subtracting #0 from K123 to W0

W0 = K123 - #0

- 3 3 3W0

1 2 3

4 5 6#0

-

(b) Program which assigns the result of subtracting #10 from #0F to D0L

D0L = #0F - #10

12222.789 1 2 3 4 5.7 8 9

#2#3 #1 #0

#10

-

1 2 3

12222

D0D1

D0L

The 64-bit floating-point type data are used for subtraction, and the result is converted into the 32-bit integer type and then assigned.

5. OPERATION CONTROL PROGRAMS

5 12

5.4.4 Multiplication : *

F/FS G Format Number of Basic Steps

(S1)*(S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1) Multiplicand data

(S2) Multiplier data

Data type of (S1) or (S2)

which is greater

(3) Functions (a) The data specified at (S1) is multiplied by the data specified at (S2).

(b) When (S1) and (S2) differ in data type, the data of the smaller data type is converted into that of the greater type before operation is performed.

(4) Errors (a) An operation error will occur if:

1) (S1) or (S2) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which assigns the result of multiplying K123 by #0 to W0

W0 = K123 * #0

5 6 0 8 8W0

1 2 3

4 5 6#0

*

(b) Program which assigns the result of multiplying #0F by #10 to D0L

D0L = #0F * #10

1518532.047 1 2 3 4 5.7 8 9

#2#3 #1 #0

#10

*

1 2 3

1518532

D0D1

D0L

The 64-bit floating-point type data are used for multiplication, and the result is converted into the 32-bit integer type and then assigned.

5. OPERATION CONTROL PROGRAMS

5 13

5.4.5 Division : /

F/FS G Format Number of Basic Steps

(S1)/(S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1) Dividend data

(S2) Divisor data

Data type of (S1) or (S2)

which is greater

(3) Functions (a) The data specified at (S1) is divided by the data specified at (S2) to find a

quotient.

(b) When (S1) and (S2) differ in data type, the data of the smaller data type is converted into that of the greater type before operation is performed.

(4) Errors (a) An operation error will occur if:

1) (S2) is 0; or 2) (S1) or (S2) is an indirectly specified device and its device number is

outside the range.

(5) Program examples (a) Program which divides K123 by #0 and assigns a quotient to W0

W0 = K123 / #0

3W0

4 5 6

1 2 3#0

/

(b) Program which divides #0F by #10 and assigns a quotient to D0L

D0L = #0F / #10

100.3722683 1 2 3 4 5.7 8 9

#2#3 #1 #0

#10

/

1 2 3

100

D0D1

D0L

The 64-bit floating-point type data are used for division, and the quotient is converted into the 32-bit integer type and then assigned.

5. OPERATION CONTROL PROGRAMS

5 14

5.4.6 Remainder : %

F/FS G Format Number of Basic Steps

(S1)%(S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1) Dividend data

(S2) Divisor data

Data type (integer type)

of (S1) or (S2) which is

greater (Integer type)

(3) Functions (a) The data specified at (S1) is divided by the data specified at (S2) to find a

remainder.

(b) When (S1) and (S2) differ in data type, the data of the smaller data type is converted into that of the greater type before operation is performed.

(4) Errors (a) An operation error will occur if:

1) (S2) is 0; or 2) (S1) or (S2) is an indirectly specified device and its device number is

outside the range.

(5) Program examples (a) Program which divides K123 by #0 and assigns a remainder to W0

W0 = K123 % #0

87W0

4 5 6

1 2 3#0

%

5. OPERATION CONTROL PROGRAMS

5 15

5.5 Bit Operations

5.5.1 Bit inversion (complement) : ~

F/FS G Format Number of Basic Steps ~ (S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Data whose bits will be inverted Data type of (S)

(Integer type)

(3) Functions (a) The bit inverted value of the data specified at (S) is found.

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which finds the bit inverted value of #0 and assigns the value to D0

D0 = #0

0 0 1 0 0 1 0 1 0 0 1 1 0 1 0 0#01 1 0 1 1 0 1 0 1 1 0 0 1 0 1 1D0

b15 b0 b15 b0

5. OPERATION CONTROL PROGRAMS

5 16

5.5.2 Bit logical AND : &

F/FS G Format Number of Basic Steps

(S1)&(S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1)

(S2) Data which will be ANDed bit-by-bit

Data type of (S1) or (S2)

which is greater (Integer

type)

(3) Functions (a) The bit-by-bit logical product of the data specified at (S1) and the data

specified at (S2) is found.

(b) When (S1) and (S2) differ in data type, the data of the smaller data type is converted into that of the greater type before operation is performed. At this time, note that signed data is converted.

(4) Errors (a) An operation error will occur if:

1) (S1) or (S2) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which ANDs #0 and #1 and assigns the result to D0

D0 = #0 & #1

0 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0D0

0 0 1 0 0 1 0 1 0 0 1 1 0 1 0 0#0

0 0 1 0 1 0 0 1 0 0 1 0 0 1 0 0#1

&

b15 b0

b15 b0

b15 b0

5. OPERATION CONTROL PROGRAMS

5 17

5.5.3 Bit logical OR : |

F/FS G Format Number of Basic Steps

(S1) | (S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1)

(S2) Data which will be ORed bit-by-bit

Data type of (S1) or (S2)

which is greater (Integer

type)

(3) Functions (a) The bit-by-bit logical add of the data specified at (S1) and the data specified

at (S2) is found.

(b) When (S1) and (S2) differ in data type, the data of the smaller data type is converted into that of the greater type before operation is performed. At this time, note that signed data is converted.

(4) Errors (a) An operation error will occur if:

1) (S1) or (S2) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which ORs #0 and #1 and assigns the result to D0

D0 = #0 | #1

0 0 1 0 1 1 0 1 0 0 1 1 0 1 0 0D0

0 0 1 0 0 1 0 1 0 0 1 1 0 1 0 0#0

0 0 1 0 1 0 0 1 0 0 1 0 0 1 0 0#1

|

b15 b0

b15 b0

b15 b0

5. OPERATION CONTROL PROGRAMS

5 18

5.5.4 Bit exclusive logical OR : ^

F/FS G Format Number of Basic Steps

(S1)^(S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1)

(S2)

Data which will be

EXCLUSIVE ORed bit-by-bit

Data type of (S1) or (S2)

which is greater

(Integer type)

(3) Functions (a) The bit-by-bit exclusive logical add of the data specified at (S1) and the data

specified at (S2) is found.

(b) When (S1) and (S2) differ in data type, the data of the smaller data type is converted into that of the greater type before operation is performed. At this time, note that signed data is converted.

(4) Errors (a) An operation error will occur if:

1) (S1) or (S2) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which EXCLUSIVE ORs #0 and #1 and assigns the result to D0

D0 = #0 ^ #1

0 0 0 0 1 1 0 0 0 0 0 1 0 0 0 0D0

0 0 1 0 0 1 0 1 0 0 1 1 0 1 0 0#0

0 0 1 0 1 0 0 1 0 0 1 0 0 1 0 0#1

^

b15 b0

b15 b0

b15 b0

5. OPERATION CONTROL PROGRAMS

5 19

5.5.5 Bit right shift : >>

F/FS G Format Number of Basic Steps

(S1) >> (S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1) Data to be right-shifted

(S2) Number of right shifts

Data type of (S1)

(Integer type)

(3) Functions (a) The data specified at (S1) is shifted to the right by the number of times

specified at (S2).

(b) If the most significant bit of (S1) is 1, 1 enters the most significant bit of the right shift result. If the most significant bit of (S1) is 0, 0 enters the most significant bit of the right shift result.

(c) When (S1) is a 16-bit integer type and (S2) is a negative number or not less than 16, the result is 0.

(d) When (S1) is a 32-bit integer type and (S2) is a negative number or not less than 32, the result is 0.

(4) Errors (a) An operation error will occur if:

1) (S1) or (S2) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which shifts #0 two bit positions to the right and assigns the result

to D0

D0 = #0 >> K2

0 0 1 0 0 1 0 1 0 0 1 1 0 1 0 0#00 0 0 0 1 0 0 1 0 1 0 0 1 1 0 1D0

b15 b0 b15 b0

5. OPERATION CONTROL PROGRAMS

5 20

5.5.6 Bit left shift : <<

F/FS G Format Number of Basic Steps

(S1) << (S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1) Data to be left-shifted

(S2) Number of left shifts

Data type of (S1)

(Integer type)

(3) Functions (a) The data specified at (S1) is shifted to the left by the number of times

specified at (S2).

(b) 0 enters the least significant bit of the left shift result.

(c) When (S1) is a 16-bit integer type and (S2) is a negative number or not less than 16, the result is 0.

(d) When (S1) is a 32-bit integer type and (S2) is a negative number or not less than 32, the result is 0.

(4) Errors (a) An operation error will occur if:

1) (S1) or (S2) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which shifts #0 one bit position to the left and assigns the result to

D0

D0 = #0 << K1

0 0 1 0 0 1 0 1 0 0 1 1 0 1 0 0#00 1 0 0 1 0 1 0 0 1 1 0 1 0 0 0

b15 b0

D0

b15 b0

5. OPERATION CONTROL PROGRAMS

5 21

5.5.7 Sign inversion (complement of 2) : -

F/FS G Format Number of Basic Steps

- (S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Data whose sign will be inverted Data type of (S)

(3) Functions (a) The sign-inverted value of the data specified at (S) is found.

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which assigns the sign-inverted value of #0 to D0

D0 = - #0

1 2 3#0- 1 2 3D0

5. OPERATION CONTROL PROGRAMS

5 22

5.6 Standard Functions

5.6.1 Sine : SIN

F/FS G Format Number of Basic Steps

SIN(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Angle data on which SIN (sine)

operation will be performed Floating-point type

(3) Functions (a) SIN (sine) operation is performed on the data specified at (S).

(b) The data specified at (S) is in an angle (degree) unit.

(c) If (S) is an integer type, it is converted into a floating-point type before operation is performed.

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which performs the SIN operation of D0 and assigns the result to

#0F

#0F = SIN(D0)

0.70710678118655

#2#3 #1 #0

4 5D0

5. OPERATION CONTROL PROGRAMS

5 23

5.6.2 Cosine : COS

F/FS G Format Number of Basic Steps

COS(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Angle data on which COS (cosine)

operation will be performed Floating-point type

(3) Functions (a) COS (cosine) operation is performed on the data specified at (S).

(b) The data specified at (S) is in an angle (degree) unit.

(c) If (S) is an integer type, it is converted into a floating-point type before operation is performed.

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which performs the COS operation of D0 and assigns the result to

#0F

#0F = COS(D0)

0.5

#2#3 #1 #0

6 0D0

5. OPERATION CONTROL PROGRAMS

5 24

5.6.3 Tangent : TAN

F/FS G Format Number of Basic Steps

TAN(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Angle data on which TAN (tangent)

operation will be performed Floating-point type

(3) Functions (a) TAN (tangent) operation is performed on the data specified at (S).

(b) The data specified at (S) is in an angle (degree) unit.

(c) If (S) is an integer type, it is converted into a floating-point type before operation is performed.

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range; or

2) (S) is 90+(180*n). (n is an integer)

(5) Program examples (a) Program which performs the TAN operation of D0 and assigns the result to

#0F

#0F = TAN(D0)

0.57735026918963

#2#3 #1 #0

3 0D0

5. OPERATION CONTROL PROGRAMS

5 25

5.6.4 Arcsine : ASIN

F/FS G Format Number of Basic Steps

ASIN(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) SIN value data on which SIN

-1 (arcsine)

operation will be performed Floating-point type

(3) Functions (a) SIN

-1 (arcsine) operation is performed on the SIN value data specified at (S)

to find an angle.

(b) The SIN value specified at (S) must be within the range -1.0 to 1.0.

(c) The operation result is in an angle (degree) unit.

(d) If (S) is an integer type, it is converted into a floating-point type before operation is performed.

(4) Errors (a) An operation error will occur if:

1) (S) is outside the range -1.0 to 1.0; or 2) (S) is an indirectly specified device and its device number is outside the

range.

(5) Program examples (a) Program which performs the SIN

-1 (arcsine) operation of D0 and assigns the

result to #0F

#0F = ASIN(D0)

90.0

#2#3 #1 #0

1D0

5. OPERATION CONTROL PROGRAMS

5 26

5.6.5 Arccosine : ACOS

F/FS G Format Number of Basic Steps

ACOS(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) COS value data on which COS

-1 (arccosine)

operation will be performed Floating-point type

(3) Functions (a) COS

-1 (arccosine) operation is performed on the COS value data specified

at (S) to find an angle.

(b) The COS value specified at (S) must be within the range -1.0 to 1.0.

(c) The operation result is in an angle (degree) unit.

(d) If (S) is an integer type, it is converted into a floating-point type before operation is performed.

(4) Errors (a) An operation error will occur if:

1) (S) is outside the range -1.0 to 1.0; or 2) (S) is an indirectly specified device and its device number is outside the

range.

(5) Program examples (a) Program which performs the COS

-1 (arccosine) operation of D0F and

assigns the result to #0F

#0F = ACOS(D0F)

60.0

#2#3 #1 #0

0.5

D2D3 D1 D0

5. OPERATION CONTROL PROGRAMS

5 27

5.6.6 Arctangent : ATAN

F/FS G Format Number of Basic Steps

ATAN(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) TAN value data on which TAN

-1 (arctangent)

operation will be performed Floating-point type

(3) Functions (a) TAN

-1 (arccosine) operation is performed on the TAN value data specified at

(S) to find an angle.

(b) The operation result is in an angle (degree) unit.

(c) If (S) is an integer type, it is converted into a floating-point type before operation is performed.

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which performs the TAN

-1 (arctangent) operation of D0F and

assigns the result to #0F

#0F = ATAN(D0F)

45.0

#2#3 #1 #0

1.0

D2D3 D1 D0

5. OPERATION CONTROL PROGRAMS

5 28

5.6.7 Square root : SQRT

F/FS G Format Number of Basic Steps

SQRT(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Data on which square root

operation will be performed Floating-point type

(3) Functions (a) The square root of the data specified at (S) is found.

(b) Only a positive number may be specified at (S). (Operation cannot be performed with a negative number.)

(c) If (S) is an integer type, it is converted into a floating-point type before operation is performed.

(4) Errors (a) An operation error will occur if:

1) (S) is a negative number; or 2) (S) is an indirectly specified device and its device number is outside the

range.

(5) Program examples (a) Program which finds the square root of D0F and assigns the result to #0F

#0F = SQRT(D0F)

3.0

#2#3 #1 #0

9.0

D2D3 D1 D0

5. OPERATION CONTROL PROGRAMS

5 29

5.6.8 Natural logarithm : LN

F/FS G Format Number of Basic Steps

LN(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Data on which natural logarithm

operation will be performed Floating-point type

(3) Functions (a) The base e natural logarithm of the data specified at (S) is found.

(b) Only a positive number may be specified at (S). (Operation cannot be performed with a negative number.)

(c) If (S) is an integer type, it is converted into a floating-point type before operation is performed.

(4) Errors (a) An operation error will occur if:

1) (S) is 0 or a negative number; or 2) (S) is an indirectly specified device and its device number is outside the

range.

(5) Program examples (a) Program which finds the natural logarithm of D0F and assigns the result to

#0F

#0F = LN(D0F)

2.3025850929940

#2#3 #1 #0

10.0

D2D3 D1 D0

5. OPERATION CONTROL PROGRAMS

5 30

5.6.9 Exponential operation : EXP

F/FS G Format Number of Basic Steps

EXP(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Data on which exponential

operation will be performed Floating-point type

(3) Functions (a) Exponential operation is performed on the base e data specified at (S).

(b) If (S) is an integer type, it is converted into a floating-point type before operation is performed.

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which performs exponential operation of D0F and assigns the

result to #0F

#0F = EXP(D0F)

442413.39200892

#2#3 #1 #0

13.0

D2D3 D1 D0

5. OPERATION CONTROL PROGRAMS

5 31

5.6.10 Absolute value : ABS

F/FS G Format Number of Basic Steps

ABS(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Data on which absolute value

conversion will be performed Data type of (S)

(3) Functions (a) The absolute value of the data specified at (S) is found.

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which finds the absolute value of D0F and assigns the result to

#0F

#0F = ABS(D0F)

33.0

#2#3 #1 #0

-33.0

D2D3 D1 D0

5. OPERATION CONTROL PROGRAMS

5 32

5.6.11 Round-off : RND

F/FS G Format Number of Basic Steps

RND(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Data whose fractional portion

will be rounded off Data type of (S)

(3) Functions (a) The rounded-off fractional portion value of the data specified at (S) is found.

(b) If (S) is a negative number, the absolute value of (S) is found and its fractional portion is rounded off and signed.

(c) If (S) is an integer type, its value is returned unchanged, with no conversion processing performed.

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which finds the rounded-off fractional portion value of D0F and

assigns the result to #0F

#0F = RND(D0F)

34.0

#2#3 #1 #0

33.54

D2D3 D1 D0

(b) Program which finds the rounded-off fractional portion value of D4F and assigns the result to #0F (when D4F is a negative number)

#0F = RND(D4F)

-33.0

#2#3 #1 #0

-33.44

D6D7 D5 D4

5. OPERATION CONTROL PROGRAMS

5 33

5.6.12 Round-down : FIX

F/FS G Format Number of Basic Steps

FIX(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Data whose fractional portion

will be rounded down Data type of (S)

(3) Functions (a) The largest integer not greater than the data specified at (S) is found.

(b) If the (S) value is positive, the absolute value will be smaller, and if it is negative, the absolute value will be greater.

(c) If (S) is an integer type, its value is returned unchanged, with no conversion processing performed.

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which finds the rounded-down fractional portion value of D0F and

assigns the result to #0F

#0F = FIX(D0F)

33.0

#2#3 #1 #0

33.54

D2D3 D1 D0

(b) Program which finds the rounded-down fractional portion value of D4F and assigns the result to #0F (when D4F is a negative number)

#0F = FIX(D4F)

-34.0

#2#3 #1 #0

-33.54

D6D7 D5 D4

5. OPERATION CONTROL PROGRAMS

5 34

5.6.13 Round-up : FUP

F/FS G Format Number of Basic Steps

FUP(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Data whose fractional

portion will be rounded up Data type of (S)

(3) Functions (a) The smallest integer not less than the data specified at (S) is found.

(b) If the (S) value is positive, the absolute value will be greater, and if it is negative, the absolute value will be smaller.

(c) If (S) is an integer type, its value is returned unchanged, with no conversion processing performed.

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which finds the rounded-up fractional portion value of D0F and

assigns the result to #0F

#0F = FUP(D0F)

34.0

#2#3 #1 #0

33.54

D2D3 D1 D0

(b) Program which finds the rounded-up fractional portion value of D4F and assigns the result to #0F (when D4F is a negative number)

#0F = FUP(D4F)

-33.0

#2#3 #1 #0

-33.54

D6D7 D5 D4

5. OPERATION CONTROL PROGRAMS

5 35

5.6.14 BCDBIN conversion : BIN

F/FS G Format Number of Basic Steps

BIN(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) BCD data which will be

converted into BIN data

Data type of (S)

(Integer type)

(3) Functions (a) The BCD data specified at (S) is converted into BIN data.

(b) If (S) is a 16-bit integer type, the data range is 0 to 9999.

(c) If (S) is a 32-bit integer type, the data range is 0 to 99999999.

(4) Errors (a) An operation error will occur if:

1) A value other than 0 to 9 is in any digit of (S); or 2) (S) is an indirectly specified device and its device number is outside the

range.

(5) Program examples (a) Program which converts the BCD data of D0 into BIN data and assigns the

result to #0

b15 b0

#0 = BIN(D0)

0 0 1 0 0 1 1 1 0 0 0 0 1 1 1 1#0

B I N 9 9 9 9

1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1D0

B C D 9 9 9 9

Thousands Hundreds Tens Units

b15 b0

5. OPERATION CONTROL PROGRAMS

5 36

5.6.15 BINBCD conversion : BCD

F/FS G Format Number of Basic Steps

BCD(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) BIN data which will be

converted into BCD data

Data type of (S)

(Integer type)

(3) Functions (a) The BIN data specified at (S) is converted into BCD data.

(b) If (S) is a 16-bit integer type, the data range is 0 to 9999.

(c) If (S) is a 32-bit integer type, the data range is 0 to 99999999.

(4) Errors (a) An operation error will occur if:

1) The data is other than 0 to 9999 when (S) is a 16-bit integer type; 2) The data is other than 0 to 99999999 when (S) is a 32-bit integer type; or 3) (S) is an indirectly specified device and its device number is outside the

range.

(5) Program examples (a) Program which converts the BIN data of D0 into BCD data and assigns the

result to #0

#0 = BCD(D0)

0 0 1 0 0 1 1 1 0 0 0 0 1 1 1 1D0

B I N 9 9 9 9

1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1#0

B C D 9 9 9 9 b15 b0 b15 b0

Thousands Hundreds Tens Units

5. OPERATION CONTROL PROGRAMS

5 37

5.7 Type Conversions

5.7.1 Signed 16-bit integral value conversion : SHORT

F/FS G Format Number of Basic Steps

SHORT(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Data which will be converted

into signed 16-bit integral value 16-bit integer type

(3) Functions (a) The data specified at (S) is converted into a signed 16-bit integral value.

(b) The data range of (S) is -32768 to 32767.

(c) When (S) is a 64-bit floating-point type, its fractional portion is rounded down before conversion is made.

(d) If (S) is a 16-bit integer type, its value is returned unchanged, with no conversion processing performed.

(4) Errors (a) An operation error will occur if:

1) The (S) data is outside the range -32768 to 32767; or 2) (S) is an indirectly specified device and its device number is outside the

range.

(5) Program examples (a) Program which converts the data of D0L into a signed 16-bit integral value

and assigns the result to #0

#0 = SHORT(D0L)

K-30000L

D1 D0

(HFFFF8AD0)

K-30000#0

(H8AD0)

5. OPERATION CONTROL PROGRAMS

5 38

5.7.2 Unsigned 16-bit integral value conversion : USHORT

F/FS G Format Number of Basic Steps

USHORT(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Data which will be converted

into unsigned 16-bit integral value 16-bit integer type

(3) Functions (a) The data specified at (S) is converted into an unsigned 16-bit integral value.

(b) The data range of (S) is 0 to 65535.

(c) When (S) is a 64-bit floating-point type, its fractional portion is rounded down before conversion is made.

(d) If (S) is a 16-bit integer type, its value is returned unchanged, with no conversion processing performed.

(4) Errors (a) An operation error will occur if:

1) The (S) data is outside the range 0 to 65535; or 2) (S) is an indirectly specified device and its device number is outside the

range.

(5) Program examples (a) Program which converts the data of D0L into an unsigned 16-bit integral

value and assigns the result to #0

#0 = USHORT(D0L)

K60000L

D1 D0

(H0000EA60)

K-5536#0

(HEA60)

Unsigned value is K60000

5. OPERATION CONTROL PROGRAMS

5 39

5.7.3 Signed 32-bit integral value conversion : LONG

F/FS G Format Number of Basic Steps

LONG(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Data which will be converted

into signed 32-bit integral value 32-bit integer type

(3) Functions (a) The data specified at (S) is converted into a signed 32-bit integral value.

(b) The data range of (S) is -2147483648 to 2147483647.

(c) When (S) is a 64-bit floating-point type, its fractional portion is rounded down before conversion is made.

(d) If (S) is a 32-bit integer type, its value is returned unchanged, with no conversion processing performed.

(4) Errors (a) An operation error will occur if:

1) The (S) data is outside the range -2147483648 to 2147483647; or 2) (S) is an indirectly specified device and its device number is outside the

range.

(5) Program examples (a) Program which converts the data of D0 into a signed 32-bit integral value

and assigns the result to #0L

#0L = LONG(D0)

K-1L

#1 #0

(HFFFFFFFF)

K-1D0

(HFFFF)

5. OPERATION CONTROL PROGRAMS

5 40

5.7.4 Unsigned 32-bit integral value conversion : ULONG

F/FS G Format Number of Basic Steps

ULONG(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Data which will be converted

into unsigned 32-bit integral value 32-bit integer type

(3) Functions (a) The data specified at (S) is converted into an unsigned 32-bit integral value.

(b) The data range of (S) is 0 to 4294967295.

(c) When (S) is a 64-bit floating-point type, its fractional portion is rounded down before conversion is made.

(d) If (S) is a 32-bit integer type, its value is returned unchanged, with no conversion processing performed.

(4) Errors (a) An operation error will occur if:

1) The (S) data is outside the range 0 to 4294967295; or 2) (S) is an indirectly specified device and its device number is outside the

range.

(5) Program examples (a) Program which converts the data of D0 into an unsigned 32-bit integral

value and assigns the result to #0L

#0L = ULONG(D0)

K65535L

#1 #0

(H0000FFFF)

K-1D0

(HFFFF)

Unsigned value is K65535

5. OPERATION CONTROL PROGRAMS

5 41

5.7.5 Signed 64-bit floating-point value conversion : FLOAT

F/FS G Format Number of Basic Steps

FLOAT(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Data which will be converted

into signed 64-bit floating-point value 64-bit floating-point type

(3) Functions (a) The data specified at (S) is converted into a signed 64-bit floating-point value.

(b) If (S) is a 64-bit floating-point type, its value is returned unchanged, with no conversion processing performed.

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which converts the data of D0L into a signed 64-bit floating-point

value and assigns the result to #0F

#0F = FLOAT(D0L)

K - 1.0

#2#3 #1 #0

K-1L

D0D1

(HFFFFFFFF)

5. OPERATION CONTROL PROGRAMS

5 42

5.7.6 Unsigned 64-bit floating-point value conversion : UFLOAT

F/FS G Format Number of Basic Steps

UFLOAT(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Data which will be converted into

unsigned 64-bit floating-point value 64-bit floating-point type

(3) Functions (a) The data specified at (S) is converted into an unsigned 64-bit floating-point

value.

(b) If (S) is a 64-bit floating-point type, its value is returned unchanged, with no conversion processing performed.

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which converts the data of D0L into an unsigned 64-bit floating-

point value and assigns the result to #0F

#0F = UFLOAT(D0L)

K4294967295.0

#2#3 #1 #0

K-1L

D0D1

(HFFFFFFFF)

Unsigned value is K4294967295

5. OPERATION CONTROL PROGRAMS

5 43

5.8 Bit Device Statuses

5.8.1 ON (normally open contact) : (None)

F/FS G Format Number of Basic Steps

(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Bit device used in bit

conditional expression Logical type (true/false)

(3) Functions (a) True is returned when the bit device specified at (S) in a bit conditional

expression is ON (1), or false is returned when that bit device is OFF (0).

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which sets M100 when either of M0 and X0 is ON (1)

SET M100 = M0 + X0

1M100

0

1X0

+

M0 (False)

(True)

(True)

5. OPERATION CONTROL PROGRAMS

5 44

5.8.2 OFF (normally closed contact) : !

F/FS G Format Number of Basic Steps

!(S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Bit device used in bit

conditional expression Logical type (true/false)

(3) Functions (a) True is returned when the bit device specified at (S) in a bit conditional

expression is OFF (0), or false is returned when that bit device is ON (1).

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which resets M100 when M0 is OFF (0)

RST M100 = !M0

0M100 0!M0 (True)

5. OPERATION CONTROL PROGRAMS

5 45

5.9 Bit Device Controls

5.9.1 Device set : SET=

F/FS G Format Number of Basic Steps

SET(D)=(S) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(D) (S)

(Note) PX, TT and CT are write-disabled and cannot be used at (D).

At (D), you cannot use M2001 to M2032 with the A273UH-S3 or M2001 to M2008 with the

A172SH.

(2) Data to be set

Data to be Set Description Data Type of Result

(D) Bit data for device set

(S) Condition data which determines whether

device set will be performed or not

Bit logical type

(true/false)

(3) Functions (a) If the data specified at (S) is true, the bit data specified at (D) is set.

(b) (S) can be omitted. At this time, the format is "SET(D)" and device set is made unconditionally.

(c) When this instruction is set as a transition condition in the last block of a transient program, whether the data specified at (S) is true or false is returned as logical type data. In this case, (S) cannot be omitted.

(4) Errors (a) An operation error will occur if:

1) (D) or (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which sets M100 when either of M0 and X0 is 1

SET M100 = M0 + X0

1M100

0

1X0

+

M0

(True)

5. OPERATION CONTROL PROGRAMS

5 46

(b) Program which sets M100 when #0 is equal to D0

SET M100 = #0 = = D0

1M100

1 0 0

D0

= =

#0

(True)

1 0 0

(c) Program which sets Y0 unconditionally

SET Y0

1Y0

5. OPERATION CONTROL PROGRAMS

5 47

5.9.2 Device reset : RST=

F/FS G Format Number of Basic Steps

RST(D)=(S) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(D) (S)

(Note) PX, TT and CT are write-disabled and cannot be used at (D).

At (D), you cannot use M2001 to M2032 with the A273UH-S3 or M2001 to M2008 with the

A172SH.

(2) Data to be set

Data to be Set Description Data Type of Result

(D) Bit data for device reset

(S) Condition data which determines whether

device reset will be performed or not

Bit logical type

(true/false)

(3) Functions (a) If the data specified at (S) is true, the bit data specified at (D) is reset.

(b) (S) can be omitted. At this time, the format is "RST(D)" and device reset is made unconditionally.

(c) When this instruction is set as a transition condition in the last block of a transient program, whether the data specified at (S) is true or false is returned as logical type data. In this case, (S) cannot be omitted.

(4) Errors (a) An operation error will occur if:

1) (D) or (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which resets M100 when either of M0 and X0 is 1

RST M100 = M0 + X0

0M100

0

1X0

+

M0

(True)

5. OPERATION CONTROL PROGRAMS

5 48

(b) Program which resets M100 when #0 is equal to D0

RST M100 = #0 != D0

0M100

1 0 0

D0

!=

#0

(True)

2 0 0

(c) Program which resets Y0 unconditionally

RST Y0

0Y0

5. OPERATION CONTROL PROGRAMS

5 49

5.9.3 Device output : DOUT

F/FS G Format Number of Basic Steps

DOUT(D), (S) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(D) (S)

(Note) PX, TT, CT and special M cannot be used at (D). At (D), you cannot use the range including M2000 to M2127 with the A273UH-S3 or the range

including M2000 to M2047 with the A172SH.

(2) Data to be set

Data to be Set Description Data Type of Result

(D) Output destination bit data

(S) Output source data Batch bit

(3) Functions (a) The data specified at (S) is output to the bit data specified at (D).

(b) Specify a multiple of 16 as the device number of the bit data specified at (D).

(c) If the type of (S) is a 16-bit integer type, 16 points of the (S) data, starting at the least significant bit, are output in order to the bit devices headed by the one specified at (D).

(d) If the type of (S) is a 32-bit integer type, 32 points of the (S) data, starting at the least significant bit, are output in order to the bit devices headed by the one specified at (D).

(4) Errors (a) An operation error will occur if:

1) (D) or (S) is an indirectly specified device and its device number is outside the range.

2) (D) is an indirectly specified device and its device number is not a multiple of 16.

(5) Program examples (a) Program which outputs the data of D0 to Y0-YF

DOUT Y0, D0

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

YF Y0

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

b15 b0

D0

5. OPERATION CONTROL PROGRAMS

5 50

5.9.4 Device input : DIN

F/FS G Format Number of Basic Steps

DIN(D), (S) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(D) (S)

(Note) : T and C are write-disabled and cannot be used at (D).

(2) Data to be set

Data to be Set Description Data Type of Result

(D) Input destination data

(S) Input source bit data

Data type of (D)

(Integer type)

(3) Functions (a) The bit data specified at (S) is input to the data specified at (D).

(b) Specify a multiple of 16 as the device number of the bit data specified at (S).

(c) If the type of (D) is a 16-bit integer type, 16 points of the (D) data, starting at the least significant bit, are input in order to the bit devices headed by the one specified at (S).

(d) If the type of (D) is a 32-bit integer type, 32 points of the (D) data, starting at the least significant bit, are input in order to the bit devices headed by the one specified at (S).

(4) Errors (a) An operation error will occur if:

1) (D) or (S) is an indirectly specified device and its device number is outside the range.

2) (S) is an indirectly specified device and its device number is not a multiple of 16.

(5) Program examples (a) Program which inputs the data of X0-XF to D0

DIN D0, X0

0 0 1 0 0 1 1 1 0 0 0 0 1 1 1 10 0 1 0 0 1 1 1 0 0 0 0 1 1 1 1D0

YF Y0b15 b0

5. OPERATION CONTROL PROGRAMS

5 51

5.10 Logical Operations

5.10.1 Logical acknowledgement : (None)

F/FS G Format Number of Basic Steps

(S)

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Data which will be logically acknowledged Logical type (true/false)

(3) Functions (a) Whether the logical type data specified at (S) is true or false is returned

unchanged. (Logical acknowledgement)

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which sets M100 when either of M0 and X0 is ON (1)

SET M100 = M0 + X0

1M100

0

1X0

+

M0 (False)

(True)

(True)

5. OPERATION CONTROL PROGRAMS

5 52

5.10.2 Logical negation : !

F/FS G Format Number of Basic Steps

! (S) 2

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Data which will be logically negated Logical type (true/false)

(3) Functions (a) The data specified at (S) is logically negated.

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which sets M100 when "either of M0 and X0 is not ON (1)" (i.e.

when M0 and X0 are both OFF (0))

SET M100 = !(M0 + X0)

1M100

0

0X0

+

M0 (False)

(False)

(True) (False)!

5. OPERATION CONTROL PROGRAMS

5 53

5.10.3 Logical AND : *

F/FS G Format Number of Basic Steps

(S1)*(S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1)

(S2) Data which will be ANDed Logical type (true/false)

(3) Functions (a) The data specified at (S1) and the data specified at (S2) are ANDed.

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which sets M100 when M0 and X0 are both 1

SET M100 = M0 X0

1M100

1

1X0

*

M0

(True)

*

5. OPERATION CONTROL PROGRAMS

5 54

5.10.4 Logical OR : +

F/FS G Format Number of Basic Steps

(S1)+(S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1)

(S2) Data which will be ORed Logical type (true/false)

(3) Functions (a) The data specified at (S1) and the data specified at (S2) are ORed.

(4) Errors (a) An operation error will occur if:

1) (S1) or (S2) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which sets M100 when either of M0 and X0 is 1

SET M100 = M0 + X0

1M100

0

1X0

+

M0

(True)

5. OPERATION CONTROL PROGRAMS

5 55

5.11 Comparison Operations

5.11.1 Equal to : ==

F/FS G Format Number of Basic Steps

(S1)==(S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1)

(S2) Data which will be compared Logical type (true/false)

(3) Functions (a) The data specified at (S1) and the data specified at (S2) are compared, and

the result is true if they are equal.

(b) When (S1) and (S2) differ in data type, the data of the smaller data type is converted into that of the greater type before comparison is performed.

(4) Errors (a) An operation error will occur if:

1) (S1) or (S2) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which compares whether #0 and D0 are equal or not

#0 = = D0

(True)

1 0 0

D0

= =

#0

1 0 0

5. OPERATION CONTROL PROGRAMS

5 56

5.11.2 Not equal to : !=

F/FS G Format Number of Basic Steps

(S1)!=(S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1)

(S2) Data which will be compared Logical type (true/false)

(3) Functions (a) The data specified at (S1) and the data specified at (S2) are compared, and

the result is true if they are not equal.

(b) When (S1) and (S2) differ in data type, the data of the smaller data type is converted into that of the greater type before comparison is performed.

(4) Errors (a) An operation error will occur if:

1) (S1) or (S2) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which compares whether #0 and D0 are unequal or not

#0 != D0

(True)

1 0 0

D0

!=

#0

2 0

5. OPERATION CONTROL PROGRAMS

5 57

5.11.3 Less than : <

F/FS G Format Number of Basic Steps

(S1)<(S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1)

(S2) Data which will be compared Logical type (true/false)

(3) Functions (a) The result is true if the data specified at (S1) is less than the data specified

at (S2).

(b) When (S1) and (S2) differ in data type, the data of the smaller data type is converted into that of the greater type before comparison is performed.

(4) Errors (a) An operation error will occur if:

1) (S1) or (S2) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which compares whether #0 is less than D0 or not

#0 < D0

(True)

1 0

D0

<

#0

2 0

5. OPERATION CONTROL PROGRAMS

5 58

5.11.4 Less than or equal to: <=

F/FS G Format Number of Basic Steps

(S1)<=(S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1)

(S2) Data which will be compared Logical type (true/false)

(3) Functions (a) The result is true if the data specified at (S1) is less than or equal to the

data specified at (S2).

(b) When (S1) and (S2) differ in data type, the data of the smaller data type is converted into that of the greater type before comparison is performed.

(4) Errors (a) An operation error will occur if:

1) (S1) or (S2) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which compares whether #0 is less than or equal to D0 or not

#0 <= D0

(True)

1 0

D0

<=

#0

2 0

5. OPERATION CONTROL PROGRAMS

5 59

5.11.5 More than : >

F/FS G Format Number of Basic Steps

(S1)>(S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1)

(S2) Data which will be compared Logical type (true/false)

(3) Functions (a) The result is true if the data specified at (S1) is greater than the data

specified at (S2).

(b) When (S1) and (S2) differ in data type, the data of the smaller data type is converted into that of the greater type before comparison is performed.

(4) Errors (a) An operation error will occur if:

1) (S1) or (S2) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which compares whether #0 is greater than D0 or not

#0 > D0

(True)

4 0 0

D0

>

#0

2 0

5. OPERATION CONTROL PROGRAMS

5 60

5.11.6 More than or equal to: >=

F/FS G Format Number of Basic Steps

(S1)>=(S2) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1)

(S2) Data which will be compared Logical type (true/false)

(3) Functions (a) The result is true if the data specified at (S1) is greater than or equal to the

data specified at (S2).

(b) When (S1) and (S2) differ in data type, the data of the smaller data type is converted into that of the greater type before comparison is performed.

(4) Errors (a) An operation error will occur if:

1) (S1) or (S2) is an indirectly specified device and its device number is outside the range.

(5) Program examples (a) Program which compares whether #0 is greater than or equal to D0 or not

#0 >= D0

(True)

4 0 0

D0

>=

#0

2 0

5. OPERATION CONTROL PROGRAMS

5 61

5.12 Motion-Dedicated Functions (CHGV, CHGT)

5.12.1 Speed change request : CHGV

F/FS G Format Number of Basic Steps

CHGV((S1), (S2)) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1) Axis number to which speed

change request will be given

(S2) Specified speed

(3) Functions (a) A speed change is made in the following procedure.

1) The speed changing flag (M2021 to M2028/M2061 to M2092) corresponding to the axis specified at (S1) is turned ON.

2) The speed of the axis specified at (S1) is changed to the speed specified at (S2).

3) The speed changing flag is turned OFF.

(b) The axis number that may be set at (S1) is within the following range.

A172SHCPUN A173UHCPU(-S1)/

A273UHCPU-S3(32-axis feature) 1 to 8 1 to 32

For interpolation control, set any one of the interpolation axes. When linear interpolation control is exercised, a speed change varies as described below with the positioning speed designation method set in the servo program.

Positioning Speed Designation Method

Operation

Combined speed designation

A speed change is made so that the combined speed becomes the speed specified at (S2).

Longest axis designation

A speed change is made so that the longest axis speed becomes the speed specified at (S2).

Reference axis speed designation

A speed change is made so that the reference axis speed becomes the speed specified at (S2).

(c) Operation varies with the sign of the specified speed set at (S2).

Sign of Specified Speed Operation Positive Speed change

0 Temporary stop Negative Return

5. OPERATION CONTROL PROGRAMS

5 62

(d) The specified speed that may be set at (S2) is within the following range. 1) Real mode

mm inch degree PULSE

Setting range Unit Setting range Unit Setting range Unit Setting range Unit

Speed change

request

0 to

600000000

10 -2

mm/min

0 to

600000000

10 -3

inch/min

0 to

2147483647

10 -3

degree/min

0 to

10000000 PLS/s

Return request -1 to

-600000000

10 -2

mm/min

-1 to

-600000000

10 -3

inch/min

-1 to

-2147483647

10 -3

degree/min

-1 to

-10000000 PLS/s

2) Virtual mode

PULSE

Setting range Unit

Speed change

request 0 to 10000000 PLS/s

Return request -1 to -10000000 PLS/s

(e) Specifying a negative speed and making a speed change request during starting allows the axis to start deceleration at that point and return in the opposite direction upon completion of deceleration. Operation varies with the servo instruction as described below.

Control Mode Servo Instruction Operation

Linear control

ABS-1 INC-1

ABS-2 INC-2

ABS-3 INC-3

ABS-4 INC-4

Circular

interpolation

control

ABS circular INC circular

Fixed-pitch feed FEED-1 FEED-2 FEED-3

On completion of deceleration, the axis reverses its

moving direction, returns to the positioning starting

point at the absolute value of the specified speed,

and stops (waits) there.

For circular interpolation, the axis returns in the

circular path.

Constant-speed

control

CPSTART1 CPSTART2

CPSTART3 CPSTART4

On completion of deceleration, the axis reverses its

moving direction, returns to the preceding point at

the absolute value of the specified speed, and stops

(waits) there.

Speed control (I) VF VR

Speed

control (II) VVF VVR

On completion of deceleration, the axis reverses its

moving direction at the absolute value of the specified

speed.

The axis does not stop until a stop command is input.

Speed/position

control VPF VPR VPSTART

Position follow-

up control PFSTART

Speed change

control VSTART

JOG operation

The axis cannot return.

The speed change request is regarded as a normal

speed change request.

Minor error 305 will occur and the axis will be

controlled at the speed limit value.

High-speed

oscillation OSC

A speed change cannot be made. Minor error 310

will occur.

Zeroing ZERO A speed change cannot be made. Minor error 301

will occur. Reference) Minor error 301: A speed change was made during zeroing.

Minor error 305: The preset speed is outside the range 0 to speed limit value. Minor error 310: A speed change was made during high-speed oscillation.

5. OPERATION CONTROL PROGRAMS

5 63

[Controls] (a) If a speed change is made to a negative speed, control varies with the

control mode during starting as indicated in the table in Section 5.12.1(3)(e).

(b) The returning command speed is the absolute value of a new speed.

(c) When the axis is waiting at the return position 1) Signal states

Start acceptance (M200n) ON (unchanged from before execution of CHGV execution)

Positioning start completion (M16m0) ON (unchanged from before execution of CHGV execution)

Positioning completion (M16m1) OFF In-position (M16m2) ON Command in-position (M16m3) OFF Speed change "0" accepting flag (-) ON

2) Make a speed change to a positive speed for a restart. 3) Turn ON the stop command to terminate positioning. 4) A negative speed change made again will be ignored.

(d) While the axis is returning in the speed control mode 1) Make a speed change to a positive speed to change the moving direction

again. 2) Turn ON the stop command to make a stop. 3) A speed change is made in the opposite direction if a negative speed

change is made again.

(4) Errors (a) An operation error will occur and a speed change will not be made if:

1) The specified axis number at (S1) is outside the range; or 2) (S2) is an indirectly specified device and its device number is outside the

range.

(b) A minor error will occur and a speed change will not be made if: 1) The axis specified at (S1) is zeroing; or 2) The axis specified at (S1) is decelerating (minor error 303).

(c) A minor error will occur and the axis to be controlled at the speed limit value if: 1) The absolute value of the speed specified at (S2) is greater than the

speed limit value. (Minor error 305)

POINT

If, during constant-speed control, the absolute value of a negative new speed is higher than the speed specified in the servo program, return control is exercised at the speed specified in the program (speed clamp control for a speed change during constant-speed control). At this time, an error will not occur.

5. OPERATION CONTROL PROGRAMS

5 64

(5) Program examples (a) Program which changes the positioning speed of axis 2

CHGV(K2,K10)

(b) Return program which changes the positioning speed of axis 1 to a negative value

CHGV(K1,K-1000)

The following operation will be performed when a return request is made in constant-speed control.

CPSTART2 Axis 1 Axis 2 Speed 1000 ABS-2 Axis 1, 10000 Axis 2, 0 ABS-2 Axis 1, 10000 Axis 2, 10000 ABS-2 Axis 1, 20000 Axis 2, 10000 CPEND

P1

P2

P3

[Servo program]

Axis 2

Starting point P1 Axis 1

P2 P3

[Locus]

-1000 1000

Start request SVST

Start acceptance M200n

Speed change request CHGV

New speed

Combined speed

Command in-position (OFF)

Speed change "0" accepting flag

Waiting at point P1Return operation to point P1

Negative speed change

If a speed change to a negative speed is made during execution of position- ing to P2 as shown above, the axis returns to P1 along the program- specified locus and waits at P1.

5. OPERATION CONTROL PROGRAMS

5 65

POINT

Speed changing instructions (1) A speed change may be invalid if it is made from when a servo program

start request is made until the "positioning start completion signal" status changes to ON. When making a speed change at almost the same timing as a start, always create a program which will execute the speed change after the "positioning start completion signal" has turned ON.

(2) A return request, which is made while the axis is at a stop waiting for FIN using the M code FIN waiting function during constant-speed control, will be ignored.

(3) In the above example, if a return request is given right before P2 and the axis passes through P2 during deceleration, the axis will return to P2.

(4) The speed change "0" acceptance flag is not available for the posi- tioning-dedicated devices on the A172SHCPUN.

(5) There will be a delay of time equivalent to an operation cycle at the maximum in the response time from when the CHGV instruction is executed until the speed begins to change actually.

Starting point

Axis 2

Axis 1P1

P2 P3

Return request was given here.

5. OPERATION CONTROL PROGRAMS

5 66

5.12.2 Torque limit value change request : CHGT

F/FS G Format Number of Basic Steps

CHGT((S1), (S2)) 4

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S1) (S2)

(2) Data to be set

Data to be Set Description Data Type of Result

(S1) Axis number to which torque limit

value change request will be given

(S2) Specified torque limit value

(3) Functions (a) The torque limit value of the axis specified at (S1) is changed to the torque

limit value axis specified at (S2).

(b) In the real mode, any axis that has completed a servo startup can be changed in torque limit value any time, independently of the status, starting, stopping, servo ON or servo OFF.

(c) The axis number that may be set at (S1) is within the following range.

A172SHCPUN A173UHCPU(-S1)/

A273UHCPU-S3(32-axes feature)

1 to 8 1 to 32

(d) The torque limit value that may be set at (S2) is within the range 1 to 500[%].

(e) The torque limit value specified here and the one specified in the servo program have the following relationships.

At start

At a normal start, the torque limit value is given to the servo of the start axis according to "P. torque" set in the servo program or the "torque limit value" of the specified parameter block. For an interpolation start, the torque limit value is given to the number of axes to be interpolated.

Executing the CHGT instruction gives the preset torque limit value to only the specified axis.

Thereafter, the torque limit value given to the servo at a servo program start or JOG start is made valid only when it is lower than the torque limit value specified in CHGT. This torque limit value clamp processing is performed per axis.

5. OPERATION CONTROL PROGRAMS

5 67

During start

1) If the following torque limit value has been set, it will not be changed to higher than the torque limit value specified in the CHGT instruction. Torque limit value at a midway point in constant-speed control or speed

change control Torque limit value at the point of switching to position control in speed/

position changing control Torque limit value in speed control II

2) The CHGT instruction accepts a torque limit value which is higher than the torque limit value set in the servo program or parameter block.

(4) Errors (a) An operation error will occur and a torque limit value change will not be

made if: 1) The specified axis number at (S1) is outside the range; or 2) (S2) is an indirectly specified device and its device number is outside the

range.

(b) A minor error will occur and a torque limit value change will not be made if: 1) The torque limit value specified at (S2) is outside the range 1 to 500[%]

(minor error 311); or 2) The CHGT instruction is executed for any axis that has not yet been

started (minor error 312).

(5) Program examples (a) Program which changes the torque limit value of axis 2

CHGT(K2,K10)

POINT

(1) In the virtual mode, the CHGT instruction is invalid (ignored). When changing the torque limit value during operation in the virtual mode, set the "torque limit value setting device" in the output module parameter of the machine mechanism program.

(2) There will be a delay of time equivalent to an operation cycle at the maximum in the response time from when the CHGT instruction is executed until the torque limit value is changed actually.

5. OPERATION CONTROL PROGRAMS

5 68

5.13 Other Instructions

5.13.1 Event task enable : EI

F/FS G Format Number of Basic Steps

EI 1

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(2) Data to be set There are no data to be set.

(3) Functions (a) The execution of an event task is enabled.

(b) This instruction is usable with a normal task only.

(4) Errors (a) An operation error will occur if:

1) This instruction is used with other than a normal task.

(5) Program examples (a) Enables the execution of an event task.

EI

5. OPERATION CONTROL PROGRAMS

5 69

5.13.2 Event task disable : DI

F/FS G Format Number of Basic Steps

DI 1

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(2) Data to be set There are no data to be set.

(3) Functions (a) The execution of an event task is disabled.

(b) If an external interrupt or PLC interrupt occurs after execution of the DI instruction, the corresponding event task is executed once at the execution of the EI instruction. (If two or more external interrupts or PLC interrupts occur during DI, the corresponding event task is executed only once at the execution of the EI instruction.)

(c) During DI, a fixed-cycle event task is not executed.

(d) The execution of an NMI task cannot be disabled.

(e) The DI status is established at power-on or when a reset is made with the RUN/STOP switch.

(4) Errors (a) An operation error will occur if:

1) This instruction is used with other than a normal task.

(5) Program examples (a) Program which disables the execution of an event task.

DI

5. OPERATION CONTROL PROGRAMS

5 70

5.13.3 No operation : NOP

F/FS G Format Number of Basic Steps

NOP 1

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(2) Data to be set There are no data to be set.

(3) Functions (a) This is a no-operation instruction and does not affect the preceding

operations.

(4) Errors (a) There are no operation errors for no operation: NOP.

5. OPERATION CONTROL PROGRAMS

5 71

5.13.4 Block transfer : BMOV

F/FS G Format Number of Basic Steps

BMOV(D), (S), (n) 7

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(D) (S) (n)

(Note) : When a 32-bit integer type constant is specified at (D) or (S), the number specified is the

absolute address of the PCPU memory. Specify the absolute address with an even number.

(2) Data to be set

Data to be Set Description Data Type of Result

(D) Transfer destination device starting number

(S) Transfer source device starting number

(n) Number of words to be transferred

(3) Functions (a) n words of data in word devices, starting with the one specified at (S), are

batch-transferred to n words of word devices, starting with the one specified at (D).

(b) Data can be transferred if the word devices of the transfer source and destination overlap. Data are transferred from the devices, starting with the one at (S), for transfer of data from devices of larger numbers to those of smaller numbers, or starting with the one at (S)+(n-1) for transfer of data from devices of smaller numbers to those of larger numbers.

(c) Specifying Nn (cam number) at (D) or (S) enables batch-transfer of cam data. In the motion controller, the cam data of the same cam number must already have been registered. The number of transferred words specified at (n) should match the resolution of the specified cam number. Operations performed at write and read of cam data are as described below.

At cam data write

For A172SHCPUN The cam data storage area is rewritten.

For A173UHCPU(-S1)/A273UHCPU-S3 The cam data is stored into the extended file register (block 10 and later) but this instruction rewrites the cam data import area in the PCPU. The extended file register contents are not changed. Therefore, turning the cam data/limit switch output data batch-change request flag (M2056) OFF, then ON, or powering on the controller and resetting it with the key returns the cam data import area to the extended file register contents.

5. OPERATION CONTROL PROGRAMS

5 72

Transfer of data to the cam data area is also executed during cam operation. Be careful not to perform write while operation is being performed with the same cam number.

At cam data read

The cam data in the currently set status are read.

(d) The word devices that may be set at (D), (S) and (n) are as indicated below.

Word Devices Cam Number

DesignationData to Be Set

Dn Wn #n Nn

(D)

(S)

(n) (Note) Nn indicates the cam number.

You cannot use T, C and special D. You cannot specify the device numbers indirectly.

(e) The cam number that may be set as Nn is within the following range.

A172SHCPUN A173UHCPU(-S1)

/A273UHCPU-S3

1 to 64

101 to 164

201 to 264 1 to 64

301 to 364

(4) Errors (a) An operation error will occur if:

1) The cam data of the cam number specified at (D) or (S) are not yet registered to the motion controller;

2) The resolution of the cam number specified at (D) or (S) differs from the number of transferred words specified at (n);

3) The PCPU memory address specified at (D) or (S) is outside the SRAM range;

4) (S) to (S)+(n-1) is outside the device range; 5) (D) to (D)+(n-1) is outside the device range; or 6) (n) is 0 or a negative number.

(b) When conversion is made in program editing of the peripheral software, an error will occur if: 1) (S) to (S)+(n-1) is outside the device range; 2) (D) to (D)+(n-1) is outside the device range; 3) (n) is 0 or a negative number; or 4) The 32-bit integer type constant (PCPU memory absolute address

specified) specified at (D) or (S) is an odd number.

when (n) specified is a word device

when (n) specified is a constant

5. OPERATION CONTROL PROGRAMS

5 73

(5) Program examples (a) Program which batch-transfers 5 words of data in devices, starting with D0,

to 5 words of devices, starting with #10

BMOV #10,D0,K5

Batch transfer 12 34 56 78 90

D0 D1 D2 D3 D4

12 34 56 78 90

#10 #11 #12 #13 #14

(b) Program which batch-transfers 2048 words of data in devices, starting with #0, to the data area of cam No. 2 (resolution 2048)

BMOV N2,#0,K2048

0th stroke ratio First stroke ratio Second stroke ratio : 2047th stroke ratio

H0000 H0005 H000A

: H0000

Cam data of cam No. 2

H0000 H0005 H000A

: H0000

#0 #1 #2

#2047 :

Batch transfer

5. OPERATION CONTROL PROGRAMS

5 74

5.13.5 Time to wait : TIME

F/FS G Format Number of Basic Steps

TIME(S) 7

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(S)

(2) Data to be set

Data to be Set Description Data Type of Result

(S) Waiting time (0 to 2147483647)ms Logical type (true/false)

(3) Functions (a) A wait state continues for the time specified at (S).

The result is false when the elapsed time is less than the preset time, or the result is true and execution transits when the preset time has elapsed.

(b) When a 16-bit integer type word device is used to specify any of 32768 to 65535ms at (S), convert it into an unsigned 16-bit integral value with USHORT. (Refer to the program example.)

(4) Errors (a) An operation error will occur if:

1) (S) is an indirectly specified device and its device number is outside the range; or

2) Data (device data when device is indirectly specified) at (S) is outside the range 0 to 2147483647.

(5) Program examples (a) Program which sets a wait of 60 seconds (when constant is specified)

TIME K60000

(b) Program for a case where there may be a wait of 32768 to 65535ms for 16- bit integer type indirect designation (#0)

TIME USHORT(#0)

(c) Program which SETS (RSTs) a bit device when the specified time has elapsed

SET M100 = TIME K60000

5. OPERATION CONTROL PROGRAMS

5 75

POINT

(1) When the waiting time setting is indirectly specified with a word device, the value imported first is used as the device value for exercising control. The set time cannot be changed if the device value is changed during a wait state.

(2) The TIME instruction is equivalent to a conditional expression, and therefore may be set on only the last line of a transition (G) program.

(3) When the transition program (Gn) of the same number having the TIME instruction setting is used in multiple SFC programs, avoid running them at the same time. (If they are run simultaneously, the waiting time in the program run first will be illegal.)

5. OPERATION CONTROL PROGRAMS

5 76

5.14 Comment Statement : //

F/FS G Format Number of Basic Steps

//

(1) Usable data

Usable Data Word device Constant

Data to be Set Bit device 16-bit

integer type

32-bit integer type(L)

64-bit floating-

point type(F)

Coasting timer

16-bit integer

type (K/H)

32-bit integer

type (K/H,L)

64-bit floating-

point type (K)

Calculation expression

Bit conditional expression

Compar- ison

conditional expression

(2) Data to be set There are no data to be set.

(3) Functions (a) A character string from after // to a block end is a comment.

(4) Errors (a) There are no operation errors for comment: //.

(5) Program examples (a) Example which has commented an assignment program

D0=D1//Assigns the D0 value (16-bit integer data) to D1.

6. TRANSITION PROGRAMS

6 1

6. TRANSITION PROGRAMS

6.1 Transition Programs

(1) Transition programs (a) In transition programs, you can set assignment operation expressions,

motion-dedicated functions, bit device control commands and transition conditions.

(b) You can set multiple blocks in a single transition program.

(c) There are no restrictions on the number of blocks that may be set in a single transition program. Note that one program is within 64k bytes.

(d) The maximum number of characters in one block is 128.

(e) You must set a transition condition in the last block of a transition program. The transition program is repeated until the transition condition enables, and when the transition condition has enabled, it shifts to the next step. The transition condition may be set only in the last block.

(f) As a special transition program, you can create a program where only no operation (NOP) is set in one block. Use this program when you want to proceed to the next step on completion of a servo program run and there are no special conditions to be set as interlocks. For more information, refer to "4.9 Branches, Couplings". A transition program example is given below.

Comment

#0=D0+(D1+D2)*#5//Assignment expression (four arithmetic operations) W0:F=SIN(#10F)//Assignment expression (standard function) CHGV(K2,K10)//Motion-dedicated function SET M100=M0+X0//Bit device control (SET=) RST M10=D100>K10//Bit device control (RST=) DIN D0,X0//Bit device control (DIN) D0>K100//Standby until transition condition enables

Transition condition

1 program

1 block

What can be set as a transition condition in the last block are bit conditional expressions, comparison conditional expressions and device set (SET=)/device reset (RST=) which return logical data values (true/false). In the case of device set (SET=)/device reset (RST=), whether the bit or comparison conditional expression specified at (S) is true or false is a transition condition, and when the transition condition enables, device set/reset is carried out and execution shifts to the next step. Transition condition description examples are given below.

Classification Description Example

M0 Bit conditional expression

!M0+X10*M100

Comparison conditional

expression (D0>K100)+(D100L!=K20L)

Device set (SET=) SET Y0=M100

Device reset (RST=) RST M10=D0==K100

6. TRANSITION PROGRAMS

6 2

POINT

(1) A transition program differs from an operation control program in that a transition condition is set in the last block. Other settings are the same as those of the operation control program.

(2) When setting device set (SET=)/device reset (RST=) in the last block as a transition condition, you cannot omit the bit or comparison conditional expression to be specified at (S).

(3) You cannot set only the bit or comparison conditional expression in other than the last block. You can set device set (SET=)/device reset (RST=) in other than the last block.

7. MOTION CONTROL PROGRAMS

7 1

7. MOTION CONTROL PROGRAMS

7.1 Servo Instruction List

Table 7.2 lists servo instructions used in servo programs. Refer to Sections 7.2 to 7.4 for details of the present value change control (CHGA, CHGA-E, CHGA-C) which are newly available. For other servo instructions, refer to the "Motion Controller (SV13/SV22) Programming Manual (Real Mode)".

(1) Guide to servo instruction list

Table 7.1 Guide to Servo Instruction List

1 a

xi s

ABS-1

INC-1

ABS-2

1 a

xi s

Absolute 1-axis positioning

Incremental 1-axis positioning

C N 2 u

P o

si tio

n in

g C

o nt

ro l

In st

ru ct

io n

S ym

bo l

P o

si tio

n in

g

Number of Steps

Virtual enable

Number of indirect words

Positioning Data

Common Circular OSC Parameter block Others

P ar

am et

er b

lo ck

N o.

A xi

s

A d d re

ss /tr

a ve

l

D w

el l t

im e

M c

od e

T or

qu e

lim it

va lu

e

C om

m an

d s

p ee

d

A ux

ili a ry

p oi

nt

R ad

iu s

C en

tr al

p oi

nt

P itc

h

S ta

rt in

g an

gl e

A m

pl itu

de

F re

qu en

cy

*1 R

ef er

en ce

a xi

s N

o.

C on

tr ol

u ni

t

S pe

ed li

m it

va lu

e

A cc

el er

at io

n tim

e

D ec

el er

at io

n tim

e

S u

d de

n s

to p

d e

ce le

ra tio

n t

im e

T or

qu e

lim it

va lu

e

S T

O P

in p

u t-

tim e

de ce

le ra

tio n

p

ro ce

ss in

g

C ir

cu la

r in

te rp

o la

tio n

e rr

o r

p e

rm is

si b

le r

a n

g e

S -p

at te

rn r

at io

R ep

ea t c

on di

tio n

P ro

gr am

N o.

C om

m an

d s

pe ed

(c

on st

a nt

s p

ee d)

C a n ce

l

S ta

rt

S ki

p F

IN a

cc e

le ra

tio n/

d ec

el er

at io

n

N u

m be

r of

S te

ps

1 2 2

4 to17

520

1) 2)

3) 4) 5) 6) 7) 8)

1(B) *2

1(B) *2

1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 112 2 2

2 2 2 2 2 2

2 22

Number Description

Instruction symbol Gives the servo instructions usable in servo programs. 1)

Processing Gives the processing outlines of the servo instructions.

(1) Indicates positioning data which can be set in servo instructions.

(a) : Item which must be set (if this data is not set, servo instruction cannot be executed)

(b) : Item which is set when required (when this data is not set, default value is used for control)

(2) Allows direct or indirect designation (except axis number)

(a) Direct designation: Set with numerical value.

(b) Indirect designation: Set with word device (D, W).

Servo program run is controlled using the preset word device contents.

Each setting item may either be 1- or 2-word data.

For 2-word data, set the first device number.

2)

(3) Number of steps

As there are more setting items, there are more number of instruction steps. (The number of steps is displayed when a

servo program is created.)

(The instruction + item comprise the minimum steps, and one item increases the number of steps by 1.)

3) Items common to the servo instructions

4) Items set in circular interpolation starting servo programs

5) Items set for high-speed oscillation

6) Set when changing the parameter block (default value when not set) data set in the servo program to exercise control.

(The parameter block data are not changed.)

7) Setting items other than the common, circular and parameter block items (Items to be set vary with the servo instruction.)

8) Indicates the number of steps of each servo instruction.

7. MOTION CONTROL PROGRAMS

7 2

(2) Servo instruction list Table 7.2 indicates the servo instructions available for servo programs and the positioning data set in servo instructions.

Table 7.2 Servo Instruction List Positioning Data

Common Circular OSC *1 Parameter block Others

Processing P

ar am

et er

b lo

ck N

o.

A xi

s

A dd

re ss

/t ra

ve l

C om

m an

d sp

e ed

D w

el l t

im e

M c

o de

T or

qu e

lim it

va lu

e

A u

xi lia

ry p

oi nt

R ad

iu s

C en

tr al

p oi

nt

P itc

h

S ta

rt in

g an

gl e

A m

pl itu

de

F re

qu en

cy

R ef

e re

nc e

a xi

s N

o.

C on

tr ol

u ni

t

S pe

e d

lim it

va lu

e

A cc

e le

ra tio

n ti

m e

D e ce

le ra

tio n

tim e

S u

dd en

s to

p d

e ce

le ra

tio n

ti m

e

T or

qu e

lim it

va lu

e S

T O

P in

pu t-

tim e

de ce

le ra

tio n

pr oc

es si

ng C

ir cu

la r

in te

rp o la

tio n

er ro

r p er

m is

si b le

ra n g

e

S -p

at te

rn r

at io

R ep

e at

c on

di tio

n

P ro

g ra

m N

o .

C om

m an

d sp

ee d

(c on

st an

t sp

ee d)

C an

ce l

S ta

rt

S ki

p

F IN

a cc

e le

ra tio

n/ de

ce le

ra tio

n

W A

IT -O

N /O

F F

Virtual enable Number of steps 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 1 2 1 2

P os

iti o

ni ng

C o

nt ro

l

Instruction Symbol

Number of indirect words 1 2 2 1 1 1 2 2 2 1 2 2 2 1 1 2 1 1 1 1 1 2 1 1/ 1(B) 2

*2 1(B)

*2 1(B) 1 B

N um

be r

of S

te ps

ABS-1 Absolute 1-axis positioning

1 a

xi s

INC-1 Incremental 1-axis positioning 4 to 17

ABS-2 Absolute 2-axis linear interpolation

2 a

xe s

INC-2 Incremental 2-axis linear interpolation

5 to 20

ABS-3 Absolute 3-axis linear interpolation

3 a

xe s

INC-3 Incremental 3-axis linear interpolation

7 to 21

ABS-4 Absolute 4-axis linear interpolation

Li ne

ar c

on tr

ol

4 a

xe s

INC-4 Incremental 4-axis linear interpolation

8 to 22

ABS Absolute auxiliary point- specified circular interpolation

A ux

ili ar

y po

in t-

sp ec

ifi ed

INC Incremental auxiliary point- specified circular interpolation

7 to 22

ABS Absolute radius-specified circular interpolation less than CW 180

ABS Absolute radius-specified circular interpolation CW 180 or more

ABS Absolute radius-specified circular interpolation less than CCW 180

ABS Absolute radius-specified circular interpolation CCW 180 or more

INC Incremental radius-specified circular interpolation less than CW 180

INC Incremental radius-specified circular interpolation CW 180 or more

INC Incremental radius-specified circular interpolation less than CCW 180

R ad

iu s-

sp ec

ifi ed

INC Incremental radius-specified circular interpolation CCW 180 or more

6 to 21

ABS Absolute central point-specified circular interpolation CW

ABS Absolute central point-specified circular interpolation CCW

INC Incremental central point- specified circular interpolation CW

C irc

ul ar

in te

rp ol

at io

n co

nt ro

l

C e

n tr

al p

oi n

t- sp

e ci

fie d

INC Incremental central point- specified circular interpolation CCW

7 to 22

: Item which must be set, : Item which is set when required

*1 Only when reference axis speed is specified.

*2 (B) indicates a bit device.

7. MOTION CONTROL PROGRAMS

7 3

Table 7.2 Servo Instruction List (Continued) Positioning Data

Common Circular OSC *1 Parameter block Others

Processing

P ar

am et

er b

lo ck

N o.

A xi

s

A dd

re ss

/t ra

ve l

C om

m an

d sp

e ed

D w

el l t

im e

M c

o de

T or

qu e

lim it

va lu

e

A u

xi lia

ry p

oi nt

R ad

iu s

C en

tr al

p oi

nt

P itc

h

S ta

rt in

g an

gl e

A m

pl itu

de

F re

qu en

cy

R ef

e re

nc e

a xi

s N

o.

C on

tr ol

u ni

t

S pe

e d

lim it

va lu

e

A cc

e le

ra tio

n ti

m e

D e ce

le ra

tio n

tim e

S u

dd en

s to

p d

e ce

le ra

tio n

ti m

e

T or

qu e

lim it

va lu

e S

T O

P in

pu t-

tim e

de ce

le ra

tio n

pr oc

es si

ng C

ir cu

la r

in te

rp o la

tio n

er ro

r p er

m is

si b le

ra n g

e

S -p

at te

rn r

at io

R ep

e at

c on

di tio

n

P ro

g ra

m N

o .

C om

m an

d sp

ee d

(c on

st an

t sp

ee d)

C an

ce l

S ta

rt

S ki

p

F IN

a cc

e le

ra tio

n/ de

ce le

ra tio

n

W A

IT -O

N /O

F F

Virtual enable Number of steps 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 1 2 1 2

P os

iti o

ni ng

C o

nt ro

l

Instruction Symbol

Number of indirect words 1 2 2 1 1 1 2 2 2 1 2 2 2 1 1 2 1 1 1 1 1 2 1 1/

1(B) 2 *2 1(B) *2

1(B) 1 B

N um

be r

of S

te ps

1 ax

is

FEED-1 1-axis fixed-pitch feed start 4 to 17

2 ax

es

FEED-2 2-axis linear interpolation fixed-pitch feed start 5 to 19

F ix

e d-

pi tc

h fe

ed

3 ax

es

FEED-3 3-axis linear interpolation fixed-pitch feed start 7 to 21

F or

w ar

d ro

ta tio

n

VF Speed control (I) forward rotation start

S pe

e d

co nt

ro l (

I) R

ev er

se ro

ta tio

n

VR Speed control (I) reverse rotation start

3 to 15

F or

w ar

d ro

ta tio

n

VVF Speed control (II) forward rotation start

S pe

e d

co nt

ro l (

II) R

ev er

se ro

ta tio

n

VVR Speed control (II) reverse rotation start

3 to 16

F or

w ar

d ro

ta tio

n

VPF Speed-position control forward rotation start

R ev

er se

ro ta

tio n

VPR Speed-position control reverse rotation start

4 to 18

S p

e e

d -p

o si

tio n

co n

tr o

l

R es

ta rt

VPSTART Speed-position control restart 2 to 4

VSTART Speed switching control start 1 to 13

VEND Speed switching control end 1

ABS-1 4 to 9

ABS-2 5 to 10

ABS-3

Speed switching control end point address

7 to 12

INC-1 4 to 9

INC-2 5 to 10

INC-3

Travel up to speed switching control end point

7 to 12

VABS Speed switching point absolute designation

S pe

e d

sw itc

hi n

g co

nt ro

l

VINC Speed switching point incremental designation

4 to 6

P o

si tio

n fo

llo w

-u p

co n

tr ol

PFSTART Position follow-up control start 4 to 16

CPSTART1 1-axis constant-speed control start 3 to 15

CPSTART2 2-axis constant-speed control start 3 to 17

CPSTART3 3-axis constant-speed control start

C o

n st

a n

t- sp

e e

d

co n

tr ol

CPSTART4 4-axis constant-speed control start

4 to 17

: Item which must be set, : Item which is set when required *1 Only when reference axis speed is specified. *2 (B) indicates a bit device.

7. MOTION CONTROL PROGRAMS

7 4

Table 7.2 Servo Instruction List (Continued) Positioning Data

Common Circular OSC *1 Parameter block Others

Processing

P ar

am et

er b

lo ck

N o.

A xi

s

A dd

re ss

/t ra

ve l

C om

m an

d sp

e ed

D w

el l t

im e

M c

o de

T or

qu e

lim it

va lu

e

A u

xi lia

ry p

oi nt

R ad

iu s

C en

tr al

p oi

nt

P itc

h

S ta

rt in

g an

gl e

A m

pl itu

de

F re

qu en

cy

R ef

e re

nc e

a xi

s N

o.

C on

tr ol

u ni

t

S pe

e d

lim it

va lu

e

A cc

e le

ra tio

n ti

m e

D e ce

le ra

tio n

tim e

S u

dd en

s to

p d

e ce

le ra

tio n

ti m

e

T or

qu e

lim it

va lu

e S

T O

P in

pu t-

tim e

de ce

le ra

tio n

pr oc

es si

ng C

ir cu

la r

in te

rp o la

tio n

er ro

r p er

m is

si b le

ra n g

e

S -p

at te

rn r

at io

R ep

e at

c on

di tio

n

P ro

g ra

m N

o .

C om

m an

d sp

ee d

(c on

st an

t sp

ee d)

C an

ce l

S ta

rt

S ki

p

F IN

a cc

e le

ra tio

n/ de

ce le

ra tio

n

W A

IT -O

N /O

F F

Virtual enable Number of steps 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 1 2 1 2

P os

iti o

ni ng

C o

nt ro

l

Instruction Symbol

Number of indirect words 1 2 2 1 1 1 2 2 2 1 2 2 2 1 1 2 1 1 1 1 1 2 1 1/ 1(B) 2

*2 1(B) *2

1(B) 1 B

N um

be r

of S

te ps

ABS-1 2 to 10

ABS-2 3 to 11

ABS-3 4 to 12

ABS-4 5 to 13

ABS 5 to 14

ABS

ABS

ABS

ABS

4 to 13

ABS

ABS

Constant-speed control passing point absolute designation

5 to 14

INC-1 2 to 10

INC-2 3 to 11

INC-3 4 to 12

INC-4 5 to 13

INC 5 to 14

INC

INC

INC

INC

4 to 13

ABS

INC

Constant-speed control passing point incremental designation

5 to 14

C on

st an

t- sp

ee d

co nt

ro l

CPEND Constant-speed control end 1 to 2

FOR-TIMES

FOR-ON

FOR-OFF

Repeat range start setting 2

R ep

et iti

on o

f s am

e co

nt ro

l (

us ed

in s

pe ed

s w

itc hi

ng co

nt ro

l, co

ns ta

nt -s

pe ed

c on

tr ol

)

NEXT Repeat range end setting 3

S im

u lta

n e

o u

s

s ta

rt

START Simultaneous start 2 to 3

Zeroing ZERO Zeroing start 2

H ig

h- sp

ee d

os ci

lla tio

n

OSC High-speed oscillation start 5 to 10

Servo CHGA Servo/virtual servo current value change

Enco der

CHGA-E Encoder current value change

C ur

re nt

v al

ue c

ha ng

e

Cam CHGA-C Cam shaft current value change

3

: Item which must be set, : Item which is set when required *1 Only when reference axis speed is specified. *2 (B) indicates a bit device.

7. MOTION CONTROL PROGRAMS

7 5

7.2 Servo Motor/Virtual Servo Motor Shaft Current Value Change

In the real mode, the current value of the specified axis is changed. In the virtual mode, the current value of the specified virtual servo motor shaft is changed.

Items Set on Peripheral Device

Common Circular Parameter block Others

Servo

Instruction

Positioning

Method

Number of

Control

Axes P

ar am

et er

b lo

ck N

o.

A xi

s

A dd

re ss

/t ra

ve l

C om

m an

d sp

ee d

D w

el l t

im e

M c

od e

T or

qu e

lim it

va lu

e

A ux

ili ar

y po

in t

R ad

iu s

C en

tr al

p oi

nt

C on

tr ol

u ni

t

S pe

ed li

m it

va lu

e

A cc

el er

at io

n tim

e

D ec

el er

at io

n tim

e

S ud

de n

st op

d ec

el er

a tio

n tim

e

T or

qu e

lim it

va lu

e S

T O

P in

p ut

-t im

e d

e ce

le ra

tio n

p ro

ce ss

in g

C ir

cu la

r in

te rp

ol a

tio n

e rr

o r

p e

rm is

si bl

e r

a n

g e

S -p

at te

rn r

at io

C an

ce l

S ta

rt

S pe

ed C

ha ng

e

CHGA-C Absolute 1 Disable

: Item which must be set

: Item which is set when required

[Controls] Control using CHGA instruction (1) Executing the CHGA instruction changes the current value in the following

procedure. (a) The start acceptance flag (M2001 to M2008/M2001 to M2032)

corresponding to the specified axis is turned ON.

(b) The current value of the specified axis is changed to the specified address.

(c) Start acceptance is turned OFF on completion of the current value change.

(2) In the real mode, the current value of the specified axis is changed.

(3) In the virtual mode, the current value of the specified virtual servo motor shaft is changed.

(4) The axis number used can be set within the following range.

A172SHCPUN A173UHCPU(-S1)/

A273UHCPU-S3(32-axis feature)

Axis 1 to axis 8 Axis 1 to axis 32

[Program example] A program for exercising current value change control in the real mode will be described under the following conditions. (1) System configuration

The current value change control of axis 2 is performed.

A172SHCPUN A172S ENC

A1S X10

M

Axis 1

M

A172B

M M M M M M

MR- -B MR- -B MR- -B MR- -B MR- -B MR- -B MR- -B MR- -B

Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

7. MOTION CONTROL PROGRAMS

7 6

(2) In the real mode, the current value of the specified axis is changed. (a) The current value change control conditions are indicated below.

Item Setting

Servo program number No.10

Control axis Axis 2

New address 50

(3) Operation timing

Start acceptance flag

CHGA instruction

Current value change completion

(4) The axis number used can be set within the following range.

CHGA Axis 2, 50

Current value change control Used axis .......... Axis 2 New address ..... 50

7. MOTION CONTROL PROGRAMS

7 7

POINT

(1) Current value changing instructions When PLC ready (M2000) or PCPU ready (M9074) is OFF, a minor error

100 occurs and a current value change is not made. This change is made only during a stop. If a current value change is

made while the specified axis is starting, a minor error 101 (start acceptance signal of the corresponding axis is ON) occurs and the current value change is not made.

If the servo of the corresponding axis is not READY, a major error 1004 occurs and the current value change is not made.

If the corresponding axis is in a servo error, a major error 1005 occurs and the current value change is not made.

For SV22 Set the virtual servo motor shaft's current value change program within

the virtual mode program number range set in "program mode assignment".

Set the servo motor (output) shaft's current value change program within the real mode program number range.

If a virtual servo motor shaft current value change is executed in the real mode, a servo program error 903 occurs and the current value change is not made.

If a servo motor (output) shaft current value change is executed in the virtual mode, a servo program error 904 occurs and the current value change is not made.

If a current value change is made during mode changing, a servo program error 907 (realvirtual changing) or 908 (virtualreal switching) occurs and the current value change is not made.

7. MOTION CONTROL PROGRAMS

7 8

7.3 Synchronous Encoder Shaft Current Value Change Control (SV22 Only)

The current value of the synchronous encoder shaft specified in the virtual mode is changed.

Items Set on Peripheral Device

Common Circular Parameter block Others

Servo

Instruction

Positioning

Method

Number of

Control

Axes P

ar am

et er

b lo

ck N

o.

A xi

s

A dd

re ss

/t ra

ve l

C om

m an

d sp

ee d

D w

el l t

im e

M c

od e

T or

qu e

lim it

va lu

e

A ux

ili ar

y po

in t

R ad

iu s

C en

tr al

p oi

nt

C on

tr ol

u ni

t

S pe

ed li

m it

va lu

e

A cc

el er

at io

n tim

e

D ec

el er

at io

n tim

e

S ud

de n

st op

d ec

el er

a tio

n tim

e

T or

qu e

lim it

va lu

e S

T O

P in

p ut

-t im

e d

e ce

le ra

tio n

p ro

ce ss

in g

C ir

cu la

r in

te rp

ol a

tio n

e rr

o r

p e

rm is

si bl

e r

a n

g e

S -p

at te

rn r

at io

C an

ce l

S ta

rt

S pe

ed C

ha ng

e

CHGA-E Absolute 1 Disable

: Item which must be set

: Item which is set when required

[Controls] Control using CHGA-E instruction (1) Executing the CHGA-E instruction changes the current value of the

synchronous encoder shaft in the following procedure. (a) The synchronous encoder shaft current value changing flag (M2031/M2101

to M2112) corresponding to the specified synchronous encoder shaft is turned ON.

(b) The current value of the specified synchronous encoder shaft is changed to the specified address.

(c) The synchronous encoder shaft current value changing flag is turned OFF on completion of the current value change.

(2) The axis number used can be set within the following range.

A172SHCPUN A173UHCPU(-S1) A273UHCPU-S3

(32-axes feature)

Axis 1 Axis 1 to axis 4 Axis 1 to axis 12

[Program example] A program for exercising the current value change control of the synchronous encoder shaft will be described under the following conditions.

(1) System configuration The current value change control of the synchronous encoder P1 axis is performed.

P1 axis

M

Axis 1

M M M M M M M

MR- -B MR- -B MR- -B MR- -B MR- -B MR- -B MR- -B MR- -B

Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

A172SHCPUN A172S ENC

A1S X10

A172B

7. MOTION CONTROL PROGRAMS

7 9

(2) Current value change control conditions (a) The current value change control conditions are indicated below.

Item Setting

Servo program number No.10

Control axis. 1

New address Indirect designation

using D10, D11

(3) Operation timing

Synchronous encoder shaft current value changing flag

CHGA-E instruction

Current value change completion

(4) Servo program

CHGA-C Axis 2, 0

Cam shaft within-one-revolution current value change control

Output shaft number ..... 1 New address ................. 0

7. MOTION CONTROL PROGRAMS

7 10

POINT

(1) Synchronous encoder current value changing instructions The current value change of a synchronous encoder is executed if

operation is being performed in the virtual mode (during pulse input from the synchronous encoder). When the current value is changed, the feed current value of the synchronous encoder continues from the new value.

The current value change of the synchronous encoder does not affect the current value of the output module.

Set the synchronous encoder shaft's current value change program within the virtual mode program number range set in "program mode assignment".

When PLC ready (M2000) or PCPU ready (M9074) is OFF, a minor error 100 occurs and a current value change is not made.

If a synchronous encoder current value change is executed in the real mode, a servo program error 903 or 905 occurs and the current value change is not made. (903 when the current value change servo program is set to within the virtual mode program number range, or 905 when it is set to within the real mode program number range.)

If a current value change is made during mode changing, a servo program error 907 (realvirtual changing) or 908 (virtualreal switching) occurs and the current value change is not made.

7. MOTION CONTROL PROGRAMS

7 11

7.4 Cam Shaft Within-One-Revolution Current Value Change Control (SV22 Only)

Items Set on Peripheral Device

Common Circular Parameter block Others

Servo

Instruction

Positioning

Method

Number of

Control

Axes

P ar

am et

er b

lo ck

N o.

A xi

s

A dd

re ss

/t ra

ve l

C om

m an

d sp

ee d

D w

el l t

im e

M c

od e

T or

qu e

lim it

va lu

e

A ux

ili ar

y po

in t

R ad

iu s

C en

tr al

p oi

nt

C on

tr ol

u ni

t

S pe

ed li

m it

va lu

e

A cc

el er

at io

n tim

e

D ec

el er

at io

n tim

e

S ud

de n

st op

d ec

el er

a tio

n tim

e

T or

qu e

lim it

va lu

e S

T O

P in

p ut

-t im

e d

e ce

le ra

tio n

p ro

ce ss

in g

C ir

cu la

r in

te rp

ol a

tio n

e rr

o r

p e

rm is

si bl

e r

a n

g e

S -p

at te

rn r

at io

C an

ce l

S ta

rt

S pe

ed C

ha ng

e

CHGA-C Absolute 1 Disable

: Item which must be set

: Item which is set when required

[Controls] Control using CHGA-C instruction (1) Executing the CHGA-C instruction changes the within-one-revolution current

value of the specified cam shaft to the specified address.

(2) The cam shaft may be starting.

(3) The axis number used can be set within the following range.

A172SHCPUN A173UHCPU(-S1)/

A273UHCPU-S3(32-axes feature)

Axis 1 to axis 8 Axis 1 to axis 32

[Program example] A program for exercising the within-one-revolution current value change control of the cam shaft will be described under the following conditions.

(1) Current value change control conditions (a) The current value change control conditions are indicated below.

Item Setting

Servo program number No.10

Output shaft number 2

New address 0

7. MOTION CONTROL PROGRAMS

7 12

(2) Servo program

CHGA-C Axis 2, 0

Cam shaft within-one-revolution current value change control

Output shaft number ..... 1 New address ................. 0

POINT

(1) Cam shaft within-one-revolution current value changing instructions If a new within-one-revolution current value is outside the range 0 to (one-

revolution pulse count - 1), a minor error 6120 occurs and a current value change is not made.

Set the cam shaft within-one-revolution current value change program within the virtual mode program number range set in "program mode assignment".

When PLC ready (M2000) or PCPU ready (M9074) is OFF, a minor error 100 occurs and a current value change is not made.

If a cam shaft within-one-revolution current value change is executed in the real mode, a servo program error 903 or 905 occurs and the current value change is not made. (903 when the current value change servo program is set to within the virtual mode program number range, or 905 when it is set to within the real mode program number range.)

If a current value change is made during mode changing, a servo program error 907 (realvirtual changing) or 908 (virtualreal switching) occurs and the current value change is not made.

8. MOTION DEVICES

8 1

8. MOTION DEVICES

The motion registers (#0 to #8191) and coasting timer (FT) are available as motion CPU (PCPU)-dedicated devices. They can be used in operation control (F/FS) programs or transition (G) programs. They cannot be accessed directly from the PLC. When using them on the PLC side, assign them to the PLC devices.

8.1 Motion Registers (#0 to #8191)

Motion Device Item A172SHCPUN/A173UHCPU(-S1)/A273UHCPU-S3

Number of points 8192 points (#0 to #8191)

Data size 16 bits/point

Latch Latched with the exception of SFC-dedicated devices.

(All points are cleared by latch clear operation.)

Usable tasks Normal, event, NMI

Motion register (#)

Access Read and write enabled in whole range

(1) Motion register list (a) Common to all Operating Systems.

Device Number Application Remarks

#0

User devices

(8000 points) Cleared by latch clear.

#8000 Cleared at power-on or key-reset only.

(66 points)

#8066

#8191

SFC dedicated devices

(192 points) Not cleared

(126 points)

POINT

The motion registers (#) cannot be set as indirectly specified devices of mechanical system programs.

8. MOTION DEVICES

8 2

(2) SFC-dedicated devices (#8000 to #8191) The SFC-dedicated devices are indicated below. The device's refresh cycle is indicated when the signal direction is "status", or its import cycle when the signal direction is "command".

Signal DirectionDevice

Number Signal Name

Status Command Refresh Cycle Import Cycle

#8000 Seventh error information in past

(Oldest error information)

#8008 Sixth error information in past

#8016 Fifth error information in past

#8024 Fourth error information in past

#8032 Third error information in past

#8040 Second error information in past

#8048 First error information in past

#8056 Latest error information

SFC error history

(8 errors)

(64 points)

At error

occurrence

#8064

#8191

User unusable

(128 points)

8. MOTION DEVICES

8 3

(3) SFC error history devices The error information which occurred after power-on of the CPU is stored as a history of up to eight past errors. The latest error is stored in #8056 to #8063. All errors, including the SFC control errors and the conventional minor, major, servo, servo program and mode changing errors, have been integrated into this history. At error occurrence, the "SFC error detection signal M2039" is also set. The error information is as indicated below.

Description NO. Signal Name

SFC control errors Conventional errors

+0

Error SFC

program

number

0 to 255 : SFC program number in error

-1 : Independent of SFC program -1

1 Error type

1 :F/FS

2 :G

-2 :SFC chart

-1 :K or other

(not any of F/FS, G and SFC chart)

3: Minor/major error

(Output module in real mode/virtual mode (SV22 only))

4: Minor/major error (virtual servo motor shaft) (SV22 only)

5: Minor/major error (synchronous encoder shaft) (SV22 only)

6: Servo error

7: Servo program error

8: Mode change error (SV22 only)

9: Manual pulse generator axis setting error

10: Test mode request error

11: PCPU WDT error

12: Personal computer link communication error

2 Error program

number

0 to 4095 : F/FS, G, K program number

0 to 255 : GSUB program number

-1 : Independent of F/FS, G, K, GSUB

0 to 4095 : Servo program number when error type is "3 (in

real mode)", "4" or "7"

-1 : Others (including no start, JOG, manual pulse

generator or test mode zeroing/servo startup/servo

diagnostic start)

3

Error block

number/SFC

list line

number/axis

number

0 to 8191 : F/FS or G program's block number

(line number) when error type is "1"

or "2"

0 to 8188 : SFC list line number when error

type is "-2"

-1 : Independent of block when error

type is "-1" or error type is "1" or "2"

1 to 32: Corresponding axis number when error type is any of

"3" to "6"

-1 : Others

4 Error code 16000 and later

(Refer to "15. Error List".)

Conventional error code (less than 16000) when error type is

any of "3" to "6"

Error code stored in D9190 when error type is "7"

Error code stored in D9193 (A273UH-S3)/D9195 (A172SH)

when error type is "8"

-1 when error type is "9" or "10"

Error code stored in D9184 when error type is "11"

Error code stored in D9196 when error type is "12"

5 Year

/month

6 Day/

hour

7

Error

occurr

ence

time Minute/

second

The PLC clock data (D9025, D9026, D9027) are set.

(BCD code, year in its lower 2 digits)

8. MOTION DEVICES

8 4

(4) SFC error detection signal (M2039) (Refresh cycle UH: 10ms, SH: PLC scan time) The SFC error detection signal (M2039) turns ON when any of the errors detected by the motion CPU occurs. At error occurrence, data are set to the error devices in the following procedure. (a) The error code is set to the corresponding axis or error devices.

(b) The error detection signal of the corresponding axis or error is turned ON.

(c) Error information is set to the above "SFC error history devices (#8000 to #8063)".

(d) The SFC error detection signal (M2039) is turned ON.

In the user program, when the "SFC error detection signal (M2039)" turns ON, read the error history, and then reset the "SFC error detection signal (M2039)". After that, at occurrence of a new error, "SFC error detection signal (M2039)" turns ON again.

POINT

Resetting the "SFC error detection signal (M2039)" will not reset (clear to zero) the "SFC error history devices (#8000 to #8063)". After power-on, they always manage the error history continuously.

Set the clock data and clock data read request (M9028) in the user program.

8.2 Coasting Timer (FT)

Motion Device Item A273UHCPU-S3/A172SHCPUN

Number of points 1 point (FT)

Data size 32 bits/point (-2147483648 to 2147483647)

Latch No latch. Cleared to zero at power-on or key-reset.

Usable tasks Normal, event, NMI

Access Read only enabled

Coasting timer (FT)

Timer specifications 888s timer

(Current value (FT) is incremented by 1 per 888s.)

9. TASK OPERATIONS

9 1

9. TASK OPERATIONS

9.1 Task Definitions

When to execute SFC program processing can be set only once in the program parameter (refer to Chapter 11 SFC Parameters) per program. These processing timing brackets are called tasks. Roughly classified, there are the following three different tasks.

Task Type Description

Normal task Executed in motion main cycle (free time).

Event task 1. Executed in fixed cycle (1.7ms, 3.5ms, 7.1ms, 14.2ms).

2. Executed when the input set to the event task factor among external interrupts

(16 points of AI61) turns ON.

3. Executed by an interrupt from the PLC.

NMI task Executed when the input set to the NMI task factor among external interrupts (16

points of AI61) turns ON.

(1) Normal task [Operations] An SFC program is run in the main cycle (free time) of the motion side CPU (PCPU) processing. The processing is outlined as follows.

Normal task execution cycle

SFC program run SFC program run

SFC program running cycle

System main control

PBUS's X (PX) is refreshed to PLC device.

PBUS's actual X (PX) read PBUS's actual Y (PY) write

[Points] (a) The SFC program which includes motion control steps should be set to a

normal task.

(b) During execution of an event or NMI task, the execution of the normal task is suspended. Note that since the normal task allows the event task disable instruction (DI) to be described in an operation control step, the event task can be disabled in the area enclosed by the event task disable instruction (DI) and event task enable instruction (EI).

9. TASK OPERATIONS

9 2

(2) Event task [Operations] An event task runs an SFC program at occurrence of an event. There are the following events. (a) Fixed cycle

An SFC program is run periodically in any of 1.7ms, 3.5ms, 7.1ms and 14.2ms cycles.

(b) External interrupt (16 points of I0 to I15) Among 16 points of the AI61 (16-point interrupt module) loaded in the motion slot, an SFC program is run when the input set for an event task turns ON.

(c) PLC interrupt An SFC program is run when the ITP instruction is executed in the sequence program.

[Points] (a) You can set plural events to one SFC program. However, you cannot set

plural fixed cycles.

(b) Multiple SFC programs can be run by one event.

(c) Motion control steps cannot be executed during the event task.

(d) The event task cannot be executed when it is disabled by the normal task. The event that occurred during event task disable is executed the moment the event task is enabled.

[Errors] An attempt to execute a motion control step in an SFC program set to the event task will result in an SFC program error 16113 and stop the SFC program that is running.

(3) NMI task [Operations] An SFC program is run as soon as the input set to the NMI task factor among the external interrupts (16 points of the AI61) turns ON.

[Points] (a) Among the normal, event and NMI tasks, the NMI task has the highest

priority.

(b) If the event task is disabled (DI) by the normal task, the interruption of the NMI task is executed, without being masked.

[Errors] During an NMI task, a motion control step cannot be executed. Presence of a motion control step during an NMI task will result in an SFC program error 16113 and stop the SFC program which is running.

9. TASK OPERATIONS

9 3

9.2 Task Execution Status

The following example gives how the SFC programs run by multiple tasks are executed.

3.5ms NMI interrupt NMI interrupt

NMI task-run program

3.5ms event task-run program

Normal task-run program

When there are programs which are run by the NMI task, 3.5ms fixed-cycle even task and normal task, (1) The 3.5ms fixed-cycle event task run its program at intervals of 3.5ms; (2) The NMI task runs its program with the highest priority when an NMI interrupt is

input; and (3) The normal task runs its program at free time.

as shown above.

[Points] A single SFC program can be run partially by another task by setting the area to be executed by another task as a subroutine and setting a subroutine running task as another task. Example) No. 0 Main SFC program Normal task

No. 1 Subroutine Event task (3.5ms cycle)

10. PROGRAMMING INSTRUCTIONS

10 1

10. PROGRAMMING INSTRUCTIONS

10.1 Task Definitions

Note the following points when SET/RST/DOUT of the bit devices which are enabled for SET/RST/DOUT from a sequence program, e.g. M devices, is executed in an SFC program. (1) The bit devices which are SET/RST/DOUT in an SFC program should not be

SET/RST/OUT in a sequence program.

(2) Reversely, the bit devices which are SET/RST/OUT in a sequence program should not be SET/RST/DOUT in an SFC program.

(3) The above exclusive control should be exercised for each bit device in increments of consecutive 16 points, starting with the device number which begins with a multiple of 16.

[Points] (1) The user should predetermine how to use bit devices, e.g.

M112 to M127: SET/RST executed on the SFC program side M128 to M143: SET/RST executed on the sequence program side

(2) Care should be taken since the first command device of each axis does not begin with a multiple of 16.

10.2 SET/RST Response Delays of Motion-Dedicated Bit Devices

When command devices among the following motion-dedicated bit devices are SET/RST in an SFC program, there will be a delay in refresh time as indicated below. There will also be a refresh delay when devices are SET/RST in an SFC program and their results are used in the SFC program.

10ms END(Note)

A172SHCPUN M2000 to M2015 M2016 to M2047

A173UHCPU(-S1)

A273UHCPU-S3(32-axes feature) M2000 to M2047 M2048 to M2095

(Note): END indicates a "sequence program scan time".

10. PROGRAMMING INSTRUCTIONS

10 2

10.3 Cancel Start

When a cancel start has been set in the setting items of the servo program which was started at the motion control step of an SFC program, the cancel of the running servo program is valid but the servo program specified to start after a cancel is ignored, without being started. The following example shows an SFC program which exercises control equivalent to a cancel start.

Selective branch

Providing transition G1 with cancel device condition specified in servo program K0 will cancel run of servo program K0 and allow servo program K1 to start.

G0 G1

K1

K0

10.4 Indirect Designation using Motion Devices

The motion registers #0 to #8191 cannot be used to make indirect designation in servo and mechanical system programs. When using the motion register values in servo or mechanical system programs, assign them to PLC devices.

10.5 Sequence Programs

(1) You cannot use the SVST, CHGV, CHGA and CHGT (DSFRP and DSFLP also included when the A172SHCPUN is used) motion-dedicated instructions in sequence programs. Doing so will cause an error (INSTRUCT CODE ERR.) in the PLC.

(2) When reading and using 2-word monitor data, such as a feed current value, or 2-word data written with an SFC program, always import it into a user device once using the "DMOV(P)" instruction, and perform magnitude comparison or similar operation using the device that imported the data.

11. SFC PARAMETERS

11 1

11. SFC PARAMETERS

Two different SFC parameters are available: "task parameters" designed to control the tasks (normal task, event task, NMI task) and "program parameters" to be set per SFC program. Their details will be explained below.

11.1 Task Parameters

No. Item Setting Item Initial Value Remarks

1

Number of

consecutive

transitions

Normal task 1 to 30 3

2 Interrupt setting

Set whether the event task

or NMI task is used for

external interrupt inputs

(I0 to I15).

Event task

These parameters are imported when PLC

ready (M2000) turns from OFF to ON and

used for control thereafter.

When setting/changing the values of these

parameters, turn PLC ready (M2000) OFF.

(1) Number of consecutive transitions

[Description] With "execution of active step judgment of next transition condition transition processing performed when condition enables (transition of active step)" defined as a single basic operation of SFC program running control in the execution cycle of the corresponding task, this operation is performed for the number of active steps to terminate processing once. The same operation is then repeated in the next cycle to perform processing. In this case, the transition destination step is executed in the next cycle when the transition condition enables.

Consecutive transition control indicates that transition destination steps are executed one after another in the same one execution cycle when their transition conditions have enabled (single basic operation is performed consecutively). Set the number of consecutive transitions in this case. Control exercised is common to the SFC programs run by normal tasks.

POINT

Set the number of consecutive transitions to each of the SFC programs run by event and NMI tasks.

[Errors] These parameters are imported and checked when PLC ready (M2000) turns from OFF to ON. When the value that was set is outside the setting range, the following SFC error is set and the initial value is used to exercise control.

Error Factor Error Code

Name Definition Error Processing Corrective Action

17000

Normal task

consecutive

transition count

error

The normal task's consecutive

transition count of the SFC

program run by the normal task is

outside the range 1 to 30.

The initial value of 3 is used

for control.

Turn PLC ready (M2000)

OFF, make correction to set

the value of within the range,

and write it to the CPU.

11. SFC PARAMETERS

11 2

(2) Interrupt setting

[Description] Set whether 16 interrupt input points (I0 to I15) of the AI61 interrupt input module loaded in the motion slot are used as NMI or event task inputs. Setting can be made freely per point. All points default to event tasks.

[Errors] None.

11. SFC PARAMETERS

11 3

11.2 Program Parameters

Set the following parameters per SFC program.

No. Item Setting Range Initial Value Remarks

1 Start setting Automatically started or not Not

Only one of normal, event and NMI tasks Normal task When you have set the event task, further set the event which will be enabled. Always set any one of the following 1 to 3.

1. Fixed cycle One or none of 1.7ms, 3.5ms, 7.1ms and 14.2ms.

2. External interrupt (make selection from those set to event task) More than one interrupt can be set from among I0, I1, I2, I3, I4, I5, I6, I7, I8, I9, I10, I11, I12, I13, I14 and I15.

3. PLC interrupt OR may also be used to set 1 to 3.

The same event may be shared among multiple SFC

programs.

2 Executed task

When you have set the NMI task, further set the interrupt input which will be enabled.

1. External interrupt (make selection from those set to NMI task) More than one interrupt can be set from among I0, I1, I2, I3, I4, I5, I6, I7, I8, I9, I10, I11, I12, I13, I14 and I15.

None

3

Number of

consecutive

transitions

1 to 10

Set the number of consecutive transitions to the program

set to the event or NMI task.

1

4 END

operation

End/continue Set the operation mode of the END step to the program set to the event or NMI task.

End

These parameters are imported when PLC ready (M2000) turns from OFF to ON and used for control thereafter. When setting/changing the values of these parameters, turn PLC ready (M2000) OFF.

POINT The settings of "executed task", "number of consecutive transitions" and "END operation" are invalid for the subroutine called program. For the subroutine called program, "executed task" and "number of consecutive transitions" depend on the call source program setting. "END operation" is controlled as "end".

11. SFC PARAMETERS

11 4

(1) Start setting

[Description] The following control is governed by "automatically started or not" setting.

Program run by normal task

No. Item When "automatically started" When "not automatically started" In the main cycle after PLC ready (M2000) has turned from OFF to ON, the program is run from the initial (first) step in accordance with the normal task's consecutive transition count.

The program is started by the SFC start instruction

( SFCS ) from the PLC or by a subroutine call/start

( GSUB ) made from within the SFC program.

When started by the SFCS instruction

In the main cycle after execution of the SFCS

instruction, the program is run from the initial (first)

step in accordance with the normal task's

consecutive transition count.

When subroutine started

In the (next) main cycle after execution of GSUB ,

the program is run from the first step in accordance

with the normal task's consecutive transition count.

When subroutine called

The program is run in the same cycle from the first

step.

1 Start control

After that, in the motion main cycle, the program is run continuously by the number of consecutive transitions of the normal task.

(The settings of "executed task" and "number of consecutive transitions" of the subroutine called program are

invalid. The normal task is used for control.)

2 End

control

Ends its own program.

The program is started when it is started again by the SFC start instruction ( SFCS ) from the PLC or by a

subroutine call/start ( GSUB ) made from within the SFC program.

Program run by event task No. Item When "automatically started" When "not automatically started"

At occurrence of a valid event after PLC ready (M2000)

has turned from OFF to ON, the program is run from

the initial (first) step in accordance with the number of

consecutive transitions of the corresponding program.

The program is started by the SFC start instruction

( SFCS ) from the PLC or by a subroutine call/start

( GSUB ) made from within the SFC program.

When started by the SFCS instruction

At occurrence of a valid event after execution of the

SFCS instruction, the program is run from the initial

(first) step in accordance with the number of

consecutive transitions of the corresponding program.

When subroutine started

At occurrence of a valid event after execution of

GSUB, the program is run from the first step in

accordance with the number of consecutive

transitions of the corresponding program.

When subroutine called

The program is run immediately from the first step.

1 Start control

After that, at occurrence of a valid event, the program is run continuously by the number of consecutive transitions of the corresponding program.

(The subroutine called program is controlled in accordance with the "executed task" and "number of consecutive

transitions" of the call source program.)

2 End

control As specified for END operation.

11. SFC PARAMETERS

11 5

Program run by NMI task No. Item When "automatically started" When "not automatically started"

At occurrence of a valid event after PLC ready (M2000)

has turned from OFF to ON, the program is run from

the initial (first) step in accordance with the number of

consecutive transitions of the corresponding program.

The program is started by the SFC start instruction

( SFCS ) from the PLC or by a subroutine call/start

( GSUB ) made from within the SFC program.

When started by the SFCS instruction

At occurrence of a valid event after execution of the

SFCS instruction, the program is run from the initial

(first) step in accordance with the number of

consecutive transitions of the corresponding program.

When subroutine started

At occurrence of a valid event after execution of

GSUB , the program is run from the first step in

accordance with the number of consecutive

transitions of the corresponding program.

When subroutine called

The program is run immediately from the first step.

1 Start control

After that, at occurrence of a valid event, the program is run continuously by the number of consecutive

transitions of the corresponding program.

(The subroutine called program is controlled in accordance with the "executed task" and "number of consecutive

transitions" of the call source program.)

2 End

control As specified for END operation.

[Errors] None.

POINT

When you want to automatically restart the program run by the normal task from the initial step at end of a single cycle operation, write the program so that it is not ended by END but it returns to the starting step by a jump.

11. SFC PARAMETERS

11 6

(2) Executed task

[Description] Set the timing (task) to run a program. Specify whether the program will be run by only one of the "normal task (main cycle), event task (fixed cycle, external interrupt, SCPU interrupt) and NMI task (external interrupt)".

When you have set the event task, you can set multiple events out of the "fixed cycle, external interrupt (for event task) and SCPU interrupt". Note that multiple fixed cycles cannot be set to a single SFC program.

Example) Interrupt setting: Inputs for event task I6, I7, I8, I9, I10, I11, I12, I13, I14 and I15 SFC program No. 10 - event: Fixed cycle (3.5ms) SFC program No. 20 - event:

Fixed cycle (1.7ms) + external interrupt (I6) SFC program No. 30 - event:

External interrupts (I7, I15) + SCPU interrupt

When you have set the NMI task, you can set multiple interrupt inputs out of the external interrupts (for NMI task).

Example) Interrupt setting: Inputs for NMI task I0, I1, I2, I3, I4, I5 SFC program No. 10 - NMI: I0 SFC program No. 20 - NMI: I1 + I2 SFC program No. 30 - NMI: I5

[Errors] This parameter is imported when PLC ready (M2000) turns from OFF to ON, and is checked at an SFC program start (automatic start, start from PLC or subroutine start). When the value is unauthorized, either of the following SFC errors is set and the initial value is used for control.

Error Factor Error Code

Name Definition Error Processing Corrective Action

17010 Executed task

setting is illegal

Among the normal, event and

NMI tasks, more than one or none

of them has been set.

17011

Executed task

setting is illegal

(event)

Two or more fixed cycles of the

event task have been set.

The initial value (normal task)

is used for control.

Turn PLC ready (M2000) OFF,

make correction, and write a

correct value to the CPU.

POINT

(1) Since the executed task setting can be made per SFC program number, multiple programs need not be written for single control (machine operation) to divide execution timing-based processings. For example, this can be achieved easily by subroutine starting the areas to be run in fixed cycle and to be run by external interrupt partially in an SFC program run by the normal task.

(2) The executed task of the subroutine called program is controlled like that of the call source program. Hence, this setting is invalid but it is recommended to make the same setting as the call source program.

11. SFC PARAMETERS

11 7

(3) Number of consecutive transitions

[Description] Set the number of consecutive transitions to each program run by the event or NMI task. Refer to Section 11.1 for the "number of consecutive transitions".

[Errors] This parameter is imported when PLC ready (M2000) turns from OFF to ON, and is checked at an SFC program start (automatic start, start from PLC or subroutine start). When the value is unauthorized, either of the following SFC errors is set and the initial value is used for control.

Error Factor Error Code

Name Definition Error Processing Corrective Action

17001

Event task

consecutive

transition count

error

The set number of consecutive

transitions of the SFC program

started by the event task is

outside the range 1 to 10.

17002

NMI task

consecutive

transition count

error

NMI task consecutive transition

count error

The initial value of 1 is used

for control.

Turn PLC ready (M2000)

OFF, make correction to set

the value within the range,

and write it to the CPU.

POINT

The number of consecutive transitions of the subroutine called program is the same as that of the call source program. Hence, this setting is invalid but it is recommended to make the same setting as the call source program.

(4) END operation

[Description] Set the operation to be performed at execution of the END step to the program run by the event or NMI task. This varies the specifications for the following items.

NO. Item When "Ended" When "Continued"

1 Control at END

execution Ends its own program.

Ends the run of its own program with the

event/interrupt made this time.

2 Restart after END

execution

Started by the SFC start instruction ( SFCS ) from

the PLC again or started by a subroutine call/start (

GSUB ) made from within the SFC program.

Restarted at occurrence of the next valid event/interrupt, and run from the initial (first) step in accordance with the number of consecutive transitions of the corresponding program.

Thereafter, at occurrence of a valid event/interrupt,

the program is controlled in accordance with the

number of consecutive transitions of the

corresponding program.

3 Restart after end by

clear step CLR

Started by the SFC start instruction ( SFCS ) from the PLC again or started by a subroutine call/start (

GSUB ) made from within the SFC program.

POINT

The END operation of the subroutine called program is controlled as an "end".

11. SFC PARAMETERS

11 8

The following operation example assumes that the END operation is "continued". Program parameters

Automatically started Executed task = event 3.5ms Number of consecutive transitions = 2 END operation "Continued"

F20 1) After M2000 has turned from OFF to ON, program is run at 3.5ms intervals (first time) following event task enable.

2) Program is run in 3.5ms cycle (second time).

3) Program is run in 3.5ms cycle (third time).

F1

F2

F3

F4

END

5) Program is run in 3.5ms cycle (fifth time).

6) Program is run in 3.5ms cycle (sixth time).

4) Program is run in 3.5ms cycle (fourth time).

12. HOW TO RUN SFC PROGRAM

12 1

12. HOW TO RUN SFC PROGRAM

12.1 How to Start SFC Program

An SFC program runs while PLC ready M2000 is ON. An SFC program may be started by any of the following three methods.

(1) Automatic start (2) Start from SFC program (3) Start from PLC

Set the starting method in the program parameter per SFC program. Refer to Chapter 11 SFC Parameters for parameter setting.

12.1.1 Automatic start

[Operations] An automatic start is made by turning PLC ready M2000 ON.

12.1.2 Start from SFC program

[Operations] A start is made by executing a subroutine call/start step in the SFC program. For details of the subroutine call/start step, refer to Chapter 4 SFC Programs.

12. HOW TO RUN SFC PROGRAM

12 2

12.1.3 Start from PLC (Sequence instruction SFCS )

The SFC program can be started by executing the following instruction in the sequence program.

SFC program start request instruction (SFCS)

Usable Devices

Bit devices Bit devices Const

-ants

Point

-ers Level

Carry

Flag Error Flag

X Y M L S B F T C D W R A

0

A

1 Z V K H P I N

D ig

it D

es ig

na tio

n

N um

be r

of S

te ps

S ub

se t

Index

M

9012

M

9010

M

9011

(D)

N 13

Sequence program

[Execution condition] SFCS n

Execution command

Settings Setting Range

SFC program

number to be

started

0 to 255

A172SHCPUN

A173UHCPU

(-S1)

/A273UHCPU-S3

n SFC program number to be

started When specified

indirectly

(1 word) D0 to D1023

W0 to W3FF

R0 to R8191

D0 to D8191

W0 to W1FFF

R0 to R8191

[Controls] A request to start the specified SFC program is given on the leading edge (OFFON) of the SFCS instruction execution command in the sequence program. The SFC program to be started may be run by any of the normal task, event task and NMI task.

(1) This instruction is always valid in any of the real mode, virtual mode and mode changing status.

SFCS instruction

Execution instruction

12. HOW TO RUN SFC PROGRAM

12 3

[Errors] At occurrence of any of the following errors, an SFC error is set to the SFC- dedicated devices "SFC error history devices (#8000 to #8039)" and SFC error detection M2039, and the SFC program is not started.

#8056 Error SFC program

number

Started SFC program

number M2039

SFC error

detection signal (ON)

#8057 Error type -1

#8058 Error program number -1

#8059 Error block number -1

#8060 Error code * (indicated below)

#8061 Year/month ??

#8062 Day/hour ??

#8063

Error

occurrence

time Minute/

second ??

Error Factor Error Code

Corrective Action Definition Error Factor Corrective Action

16000 PLC ready OFF

(SFCS)

At a start made by SFCS , PLC

ready (M2000) or PCPU ready

(M9074) is OFF.

Provide ON of PLC ready

(M2000) and PCPU ready

(M9074) as start interlocks.

16001

SFC program

number error

(SFCS)

At an SFC program start made by

SFCS , the SFC program

number specified is outside the

range 0 to 255.

Check the SFC program

number, and correct it to a

correct sequence program.

16002 No SFC program

(SFCS)

At an SFC program start made by

SFCS , the specified SFC

program does not exist.

Check the SFC program

number, and correct it to a

correct sequence program, or

create an SFC program not

yet created.

16003 Double start error

(SFCS)

At an SFC program start made by

SFCS , the same SFC program

is already starting.

The specified SFC program

does not start.

Double start should be

managed on the user side.

Provide the user's starting

signal as a start interlock in

the sequence program.

12. HOW TO RUN SFC PROGRAM

12 4

12.2 How to End SFC Program

[Operations]

(1) The SFC program is ended by executing END set in itself. (2) The SFC program is stopped by turning OFF the PLC ready signal M2000. (3) The program can be ended by the clear step.

For details of the clear step, refer to the section of the clear step in Chapter 4 SFC Programs.

[Points] (1) Multiple ENDs can be set in a single SFC program.

12.3 Clear Step in the SFC Program

Executing the clear step set in the SFC program stops the run of the SFC program specified in the clear step.

12.4 How to Change from One SFC Program to Another

Use a subroutine start to stop the SFC program which is running and switch it to another SFC program.

END

MAIN

SUB

SFC program changing example using subroutine start

12.5 How to Manage the Running Programs

There are no specific information that indicates which SFC program is running. Use a user program (SFC program/sequence program) to manage the running program.

12. HOW TO RUN SFC PROGRAM

12 5

12.6 SCPU to PCPU Interrupt Instruction (Sequence instruction ITP )

Executing the following instruction in a sequence program generates an interruption to the motion CPU.

PCPU interrupt instruction (ITP)

Usable Devices

Bit devices Bit devices Cons

-tants

Point-

ers Level

Carry

Flag Error Flag

X Y M L S B F T C D W R A

0

A

1 Z V K H P I N

D ig

it D

es ig

na tio

n

N um

be r

of S

te ps

S ub

se t

Index

M

9012

M

9010

M

9011

(D)

N 13

Sequence program

[Execution condition] ITP

Execution command

[Controls] An interruption to the motion CPU (PCPU) is generated on the leading edge (OFFON) of the ITP instruction execution command in the sequence program. When an interruption is generated by the SCPU, the motion CPU processes the active step of the SFC program to be executed at a "PLC interrupt".

(1) This instruction is always valid in any of the real mode, virtual mode and mode changing status.

ITP instruction

Execution instruction

IT to PCPU generated Event task executed

(2) When the motion side is in the DI (interrupt disable) status, event processing stands by until the EI (interrupt enable) instruction is executed.

12. HOW TO RUN SFC PROGRAM

12 6

[Errors] At occurrence of the following error, an SFC error is set to the SFC-dedicated devices "SFC error history devices (#8000 to #8039)" and SFC error detection M2039, and the SFC program's active step to be executed at a "PLC interrupt" is not processed.

#8056 Error SFC program number -1 M2039 SFC error

detection signal (ON)

#8057 Error type -1

#8058 Error program number -1

#8059 Error block number -1

#8060 Error code * (indicated below)

#8061 Year/month ??

#8062 Day/hour ??

#8063

Error

occurrence

time Minute/

second ??

Error Factor Error Code

Name Definition Error Processing Corrective Action

16004 PLC ready OFF

(ITSP)

ITP was executed with PLC

ready (M2000) or PCPU ready

(M9074) OFF.

ITP was executed with PLC

ready (M2000) or PCPU

ready (M9074) OFF.

ITP was executed with PLC

ready (M2000) or PCPU

ready (M9074) OFF.

13. SFC PROGRAM CONTROLLING OPERATIONS

13 1

13. SFC PROGRAM CONTROLLING OPERATIONS

13.1 Operation Performed at CPU Power-Off or Key-Reset

When the CPU is powered off or a key reset operation is performed, SFC programs run as described below.

(1) When the CPU is powered off or a key reset operation is performed, SFC programs stop running.

(2) At CPU power-off or key-reset, the contents of the motion registers #0 to #7999 are held. Initialize them in SFC programs as required.

(3) After CPU power-on or key reset processing, SFC programs run as described below. The SFC programs set to start automatically are run from the beginning by

turning PLC ready M2000 ON in the sequence program. The other SFC programs are also run from the beginning when started.

13.2 Operation Performed when CPU Is Put in RUN Mode

When the CPU is set to the RUN mode, the following operation is performed.

(1) When PLC ready M2000 is ON The SFC programs set to start automatically run from the initial step. The output states are governed by the PLC side "STOPRUN time output

mode" parameter setting.

(2) When PLC ready M2000 is OFF The SFC programs do not run until M2000 is turned ON. The output states are governed by the PLC side "STOPRUN time output

mode" parameter setting.

13.3 Operation Performed when CPU Is Switched from RUN to STOP

(1) When the CPU is placed in the STOP mode, SFC programs stop.

(2) When SFC programs are stopped in the STOP mode, all outputs turn OFF.

13.4 Operation Performed when CPU is set to PAUSE or STEP-RUN

When the CPU is set to PAUSE or STEP-RUN, SFC programs continue processing without stopping.

13. SFC PROGRAM CONTROLLING OPERATIONS

13 2

13.5 Operation Performed when PLC Ready (M2000) Turns OFF/ON

[M2000 OFFON] If there is no fault when PLC ready (M2000) turns from OFF to ON, the PCPU ready flag M9074 turns ON. When this PCPU ready flag M9074 turns ON, SFC programs can be run.

[M2000 ONOFF] When PLC ready (M2000) turns OFF, SFC programs stop running and the PCPU ready flag M9074 turns OFF. Since outputs are held, turn OFF necessary outputs in the sequence program after the PCPU ready flag M9074 has turns OFF.

[Points] (1) While the PCPU ready flag M9074 is ON, the outputs Y of the PBUS do not

provide data to actual outputs if write is performed from the sequence program. However, while the PCPU ready flag M9074 is OFF, the outputs Y of the PBUS provide data to actual outputs when write is performed from the sequence program.

POINT

When the PLC ready signal M2000 turns OFF, SFC programs stop but outputs Y in the SFC programs do not turn OFF. Turn them OFF as required in the sequence program.

(2) SFC program run governed by RUN/STOP and M2000 ON/OFF

PLC Ready M2000 Is ON PLC Ready M2000 Is OFF

SFC programs Run SFC programs stop

RUN Outputs

Turn ON/OFF according to

program Outputs held

SFC programs SFC programs stop STOP

Outputs All outputs turn OFF

SFC programs

SFC programs set to start

automatically restart from

beginning

SFC programs remain stoppedSTOP

RUN

Outputs As set in sequence parameter

"STOPRUN time output mode"

As set in sequence parameter

"STOPRUN time output mode"

13. SFC PROGRAM CONTROLLING OPERATIONS

13 3

13.6 Error-Time Operation

Outputs are held if SFC programs stop due to error occurrence. To turn OFF outputs at error occurrence, run the following SFC program.

P0

ERROR

G0

F0

G1

F1

P0

Processing for SFC program B

Outputs which must be turned OFF are turned OFF. SFC error detection signal M2039 is turned OFF.

Whether error occurred in corresponding SFC program or not is judged by SFC error detection signal M2039 and #8056 (latest error SFC program number).

Processing for SFC program A

At SCPU WDT ERROR occurrence, all SFC programs running stop and all outputs turn OFF.

14. USER FILES

14 1

14. USER FILES

This chapter provides a user file list and directory structure.

14.1 Projects

User files are managed on a "project" basis. When you set a "project name", a "project name" folder is created as indicated on the next page, and under that, sub folders (SFC, GLIST, GCODE, FLIST, FCODE) classified by file types are created. Also, under the SFC sub folders, initial files of the "project file (project name.prj)" and an editing folder (temp) are created.

POINT

(1) Set the "project name" on the project management screen. (2) The "project name" is restricted to 256 characters in length. (3) The "project path name" + "project name" are restricted to 256 characters

in length. ((Example) "C: Usr ...... project name ")

14. USER FILES

14 2

14.2 User File List

A user file list is indicated below.

Project name folder

SFC

Project file Information file of correspondence between SFC program numbers (0 to 255) and SFC program names (SFC files)

SFC chart file SFC chart edit information and comment information file of one SFC program

SFC list file

SFC code file

Text file after conversion of SFC chart of one SFC program into list

File after conversion of list file of one SFC program into internal codes (including comment information)

(1)

(2)

(3)

(4)

SFC program name.sfc

SFC program name.txt

SFC program name.cod ( 256 pcs.)

( 256 pcs.)

( 256 pcs.)

Project file name.prj ( 1 pc.)

(5)

GLIST

G list file g0000.bin to g4095.bin List file of transition programs (G0 to G4095)

(6)

GCODE

G code file g0000.cod to g4095.cod File after conversion of transition program (G0 to G4095) list file fn.bin (0 n 4095) into internal codes

(7)

FLIST

F/FS list file f0000.bin to f4095.bin List file of operation control programs (F/FS0 to F/FSG4095)

(8)

FCODE

F/FS code file f0000.cod to f4095.cod File after conversion of operation control program (F/FS0 to F/FS4095) list file fn.bin (0 n 4095) into internal codes

(9a) SFC program conversion file (control code) sfcprog.cod File where SFC code, G code and F/FS code files are combined and converted into CPU's SFC program code memory storage format

svcamprm3.bin(Note)

svcamprm4.bin(Note)

Cam data file of cam No. 201 to No. 264

Cam data file of cam No. 301 to No. 364

(9b) SFC program conversion file (text) sfcprog.bin File where G list and F/FS list files are combined and converted into CPU's SFC program text memory storage format

(Note) The above two files are always updated simultaneously.

(10) SFC parameter file sfcprm.bin SFC control parameter setting information file

(11) K code file svprog.bin Servo program (K0 to K4095) internal code file (file size is fixed in length)

(12) PLC type file gsvp.cnf CPU type information file

(13) System setting data file svsystem.bin System setting data information file

High speed read setting file svlatch.bin

(14) Servo data file svdata.bin Parameter information file

svls.bin Limit switch setting data information file

(15) Mechanical system program editing file (Note): For 32-axes feature only

svedtda1.bin Mechanical system program edit information file (pages 1 to 8)

svedtda2.bin(Note)

svedtda3.bin(Note)

svedtda4.bin(Note)

Mechanical system program edit information file (pages 9 to 16)

Mechanical system program edit information file (pages 17 to 24)

Mechanical system program edit information file (pages 25 to 32)

(16) Mechanical system program conversion file

svmchprm.bin File after conversion of mechanical system program edit information file svedtdan.bin into internal codes

(17) Cam data conversion file

(Note): For 32-axes feature only

svcamprm.bin Cam data file of cam No. 1 to No. 64

svcamprm2.bin(Note) Cam data file of cam No. 101 to No. 164

(18) Backup data file svbackup.bin Information file 1 for backup and load

Information file 2 for backup and load

(19) Motion device file modevice.bin #0 to #8191 read file (16KB) For write, only user device range (#0 to #7999) is written.

temp Program editing temporary directory

: Indicates a new file. (The other files are the same as in the conventional structure.)

: Indicates the file (data) stored in CPU memory.

Folder of user-set "project name"

Sub folders (fixed)

For SV22 only

svbackup2.bin

*

*

*

*

*

*

*

*

*

15. ERROR LISTS

15 1

15. ERROR LISTS

Eight errors that occurred in the past during SFC control are stored into the "error history devices (#8000 to #8039)" of the motion registers. The "error codes" in them indicate the following definitions. The conventional minor errors, major errors, servo errors, servo program errors, mode change errors (SV22 only) and similar errors remain unchanged.

15.1 SFC Program Errors

Table 15.1 SFC Program Start Errors (16000 to 16099)

Error FactorError

Code Name Definition Error Processing Corrective Action

16000 PLC ready OFF (SFCS)

At a start made by SFCS , PLC

ready (M2000) or PCPU ready

(M9074) is OFF.

Provide ON of PLC ready (M2000)

and PCPU ready (M9074) as start

interlocks.

16001 SFC program number error

(SFCS)

At an SFC program start made by

SFCS , the SFC program number

specified is outside the range 0 to

255.

Check the SFC program number,

and correct it to a correct sequence

program.

16002 No SFC program (SFCS)

At an SFC program start made by

SFCS , the specified SFC program

does not exist.

Check the SFC program number,

and correct it to a correct sequence

program, or create an SFC program

not yet created.

16003 Double start error (SFCS)

At an SFC program start made by

SFCS , the same SFC program is

already starting.

The specified SFC

program does not start.

Double start should be managed on

the user side. Provide the user's

starting signal as a start interlock in

the sequence program.

16004 PLC ready OFF (ITSP)

ITP was executed with PLC ready

(M2000) or PCPU ready (M9074)

OFF.

The SFC program's

active step to be

executed at a "PLC

interrupt" is not

processed.

Provide ON of PLC ready (M2000)

and PCPU ready (M9074) as

ITP execution interlocks.

16005 No SFC program

At an SFC program start made by

automatic start setting or GSUB ,

the specified SFC program does

not exist.

Check the SFC program number,

and correct it to a correct program,

or create an SFC program not yet

created.

16006 Double start error

At an SFC program start made by

automatic start setting or GSUB ,

the same SFC program is already

starting.

The specified SFC

program does not start.

When started by

GSUB , the start

source SFC program

being run also stops.

Double start should be managed on

the user side.

Provide the user's starting signal as

a transition condition.

15. ERROR LISTS

15 2

Table 15.2 SFC Interpreter Detection Errors (16100 to 16199)

Error FactorError

Code Name Definition Error Processing Corrective Action

16100

The code exists but is

grammatically erroneous.

Though not within branch-

coupling, a label/jump code within

selective branch-coupling or a

label/jump code within parallel

branch-coupling exists.

16101

Selective branch destinations are

all headed by other than SFT or

WAIT transitions.

16102

WAITON/WAITOFF is not

followed by a motion control step.

(However, this is permitted to a

pointer (Pn) or jump (Pn).)

16103

SFC program error

(grammatical error)

A parallel branch is followed by an

END step without a parallel

coupling.

16104 SFC code error An impossible code is used.

The internal code is corrupted.

16105 Jump code error 1 Internal code (list code) error in

jump destination information

16106 Jump code error 2

Internal code (label information)

error in jump destination

information

16107 Jump code error 3 Internal code (label number) error

in jump destination information

16108 Jump code error 4 Internal code (label address) error

in jump destination information

16109 Jump destination error The specified pointer does not

exist at the jump destination.

The SFC program code is

corrupted.

Turn PLC ready (M2000) OFF and

write the SFC program again, or

change the battery (A6BAT) if it has

reached the end of its life.

16110 GSUB setting error 1 Its own program was

called/started by GSUB.

16111 GSUB setting error 2 The main program was

called/started by GSUB.

GSUB cannot call its own or main

program.

Correct the SFC program.

16112 Parallel branch nesting

excess

Nesting of parallel branches

within a parallel branch route

exceeded four levels.

The nesting of parallel branch is up

to four levels.

Subroutine the branch destination

processing and correct the

program.

16113 Executed task error

An attempt was made to execute

a motion control step K with an

event or NMI task.

Motion control steps cannot be set

in SFC programs run by the event

and NMI tasks.

Correct the SFC program or change

the "executed task" setting of the

SFC parameter to a normal task.

16120 Simultaneously active step

count excess

The number of simultaneously

active steps exceeded 256 during

execution.

The corresponding SFC

program No. being run

stops.

For the subroutine

called program, the call

source program being

run also stops.

The max. number of simultaneously

active steps is 256.

Reexamine the SFC program.

15. ERROR LISTS

15 3

Table 15.3 SFC Program Run Errors (16200 to 16299)

Error FactorError

Code Name Definition Error Processing Corrective Action

16200 No specified program (Kn)

The servo program (Kn) specified

at the motion control step does not

exist.

Create the specified servo program.

16201 No specified program

(Fn/FSn)

The program (Fn/FSn) specified at

the operation control step does not

exist.

Create the specified operation

control program.

16202 No specified program (Gn) The program (Gn) specified at the

transition does not exist.

Create the specified transition

program.

16203 No specified program

(SFC)

The SFC program specified at the

clear step does not exist.

Correct the specified SFC program

name or create the specified SFC

program.

16204

No setting of operation

expression/conditional

expression

The program (Gn) specified at the

transition does not have a

conditional expression setting.

Always set a conditional expression

in the last block of the transition

program.

16205 Fn/FSn program code error Internal code error in the operation

program (Fn/FSn)

16206 Gn program code error

Internal code error in the transition

program (Gn)

The corresponding SFC

program being run

stops.

For the subroutine

called program, the call

source program being

run also stops.

The SFC program code is

corrupted.

Turn PLC ready (M2000) OFF and

write the SFC program again, or

change the battery (A6BAT) if it has

reached the end of its life.

15. ERROR LISTS

15 4

Table 15.4 Operation Control/Transition Execution Errors (16300 to 16599)

Error FactorError

Code Name Definition Error Processing Corrective Action

16301 Event task enable (EI)

execution error

Event task enable was executed in

other than the normal task.

Event task enable may be executed

in the normal task only. Correct the

program.

16302 Event task disable (DI)

execution error

Event task disable was executed in

other than the normal task.

Event task disable may be

executed in the normal task only.

Correct the program.

16303 Block transfer (BMOV)

execution error

The cam data of the cam No.

specified at (D) or (S) is not yet

registered to the motion controller.

The resolution of the cam No.

specified at (D) or (S) differs from

the number of transferred words

specified at (n).

The PCPU memory address

specified at (D) or (S) is outside the

SRAM range.

(S) to (S)+(n-1) is outside the

device range.

(D) to (D)+(n-1) is outside the

device range.

(n) is 0 or a negative number.

Correct the program so that cam

data is that of the already

registered cam No.

Correct the program to match (n)

with the cam resolution.

Correct the program to specify the

PCPU memory address with an

even number.

Change (n) so that the block

transfer range is within the device

range.

Change (n) to a positive number.

16304 Time to wait (TIME)

execution error

The device number which indirectly

specifies (S) is illegal.

The (S) data is outside the range 0

to 2147483647.

Correct the program so that the

device number which indirectly

specifies (S) is proper.

Correct the program so that the (S)

data is within the range 0 to

2147483647.

16308 Speed change request

(CHGV) execution error

16309

Torque limit value change

request (CHGT) execution

error

The specified axis number is

outside the range.

Correct the program so that the

specified axis number is within the

range.

16316 Assignment (=) execution

error

The (S) data is outside the range of

the data type of (D).

The device number which indirectly

specifies (D) is illegal.

Correct the program so that the (S)

data is within the range of the data

type of (D).

Correct the program so that the

device number which indirectly

specifies (D) is proper.

16320 Operation (/) execution error

16321 Remainder (%) execution

error

The divisor is 0. Correct the program so that the

divisor is other than 0.

16332 Device set (SET) execution

error

16333 Device reset (RST)

execution error

16334 Device set (SET=)

execution error

16335 Device reset (RST=)

execution error

16336 Device output (DOUT)

execution error

The device number which indirectly

specifies (D) is illegal.

(D) is a device which is write-

disabled.

The block processing in

execution is stopped

and the next block is

executed.

Correct the program so that the

device number which indirectly

specifies (D) is proper.

Correct the program to set a write-

enabled device at (D).

15. ERROR LISTS

15 5

Table 15.4 Operation Control/Transition Execution Errors (16300 to 16599) (Continued)

Error FactorError

Code Name Definition Error Processing Corrective Action

16337 Device input (DIN)

execution error

The device number which indirectly

specifies (D) is illegal.

Correct the program so that the

device number which indirectly

specifies (D) is proper.

16380

Signed 16-bit integral value

conversion (SHORT)

execution error

The (S) data is outside the signed

16-bit integral value range.

Correct the program so that the (S)

data is within the signed 16-bit

integral value range.

16381

Unsigned 16-bit integral

value conversion

(USHORT) execution error

The (S) data is outside the

unsigned 16-bit integral value

range.

Correct the program so that the (S)

data is within the unsigned 16-bit

integral value range.

16382

Signed 32-bit integral value

conversion (LONG)

execution error

The (S) data is outside the signed

32-bit integral value range.

Correct the program so that the (S)

data is within the signed 32-bit

integral value range.

16383

Unsigned 32-bit integral

value conversion (ULONG)

execution error

The (S) data is outside the

unsigned 32-bit integral value

range.

Correct the program so that the (S)

data is within the unsigned 32-bit

integral value range.

16398 Tangent (TAN) execution

error

(S) is 90+(180*n).

(n is an integer)

Correct the program so that (S) is

not 90+(180*n). (n is an integer)

16399 Arcsine (ASIN) execution

error

16400 Arccosine (ACOS)

execution error

(S) is outside the range -1.0 to 1.0. Correct the program so that (S) is

within the range -1.0 to 1.0.

16402 Square root (SQRT)

execution error

(S) is a negative number. Correct the program so that (S) is a

positive number.

16403 BCDBIN conversion

(BIN) execution error

Any digit of (S) has a value other

than 0 to 9.

Correct the program so that each

digit of (S) is 0 to 9.

16404 BINBCD conversion

(BCD) execution error

The (S) value is outside the range

where BIN data can be converted

into BCD data.

Correct the program so that the (S)

value is within the range.

16405 Natural logarithm (LN)

execution error

(S) is 0 or a negative number. Correct the program so that (S) is a

positive number.

16462

Indirectly specified 16-bit

motion device (#(n)) read

error

The indirectly specified device

number is outside the range.

16463

Indirectly specified 32-bit

motion device (#(n)L) read

error

16464

Indirectly specified 64-bit

motion device (#(n)F) read

error

The indirectly specified device

number is outside the range or an

odd number.

16465

Indirectly specified 16-bit

data register (D(n)) read

error

The indirectly specified device

number is outside the range.

16466

Indirectly specified 32-bit

data register (D(n)L) read

error

16467

Indirectly specified 64-bit

data register (D(n)F) read

error

The indirectly specified device

number is outside the range or an

odd number.

The block processing in

execution is stopped

and the next block is

executed.

Correct the program so that the

indirectly specified device number

is proper.

15. ERROR LISTS

15 6

Table 15.4 Operation Control/Transition Execution Errors (16300 to 16599) (Continued)

Error FactorError

Code Name Definition Error Processing Corrective Action

16468

Indirectly specified 16-bit

link register (W(n)) read

error

The indirectly specified device

number is outside the range.

16469

Indirectly specified 32-bit

link register (W(n)L) read

error

16470

Indirectly specified 64-bit

link register (W(n):F) read

error

The indirectly specified device

number is outside the range or an

odd number.

16471

Indirectly specified 16-bit

timer present value (T(n))

read error

16472

Indirectly specified 16-bit

counter present value

(C(n)) read error

16486 Indirectly specified input

relay (X(n)) read error

16487 Indirectly specified output

relay (Y(n)) read error

16488

Indirectly specified

internal/latch relay

(M(n)/L(n)) read error

16489 Indirectly specified link

relay (B(n)) read error

16490 Annunciator (F(n)) read

error

16491 Timer contact (TT(n)) read

error

16492 Timer coil (TC(n)) read error

16493 Counter contact (CT(n))

read error

16494 Counter coil (CC(n)) read

error

The indirectly specified device

number is outside the range.

16516

Indirectly specified 16-bit

batch input relay (X(n)) read

error

16517

Indirectly specified 32-bit

batch input relay (X(n)) read

error

16518

Indirectly specified 16-bit

batch output relay (Y(n))

read error

16519

Indirectly specified 32-bit

batch output relay (Y(n))

read error

16520

Indirectly specified 16-bit

batch internal/latch relay

(M(n)/L(n)) read error

The indirectly specified device

number is outside the range or is

not a multiple of 16.

The block processing in

execution is stopped

and the next block is

executed.

Correct the program so that the

indirectly specified device number

is proper.

15. ERROR LISTS

15 7

Table 15.4 Operation Control/Transition Execution Errors (16300 to 16599) (Continued)

Error FactorError

Code Name Definition Error Processing Corrective Action

16521

Indirectly specified 32-bit

batch internal/latch relay

(M(n)/L(n)) read error

16522

Indirectly specified 16-bit

batch link relay (B(n)) read

error

16523

Indirectly specified 32-bit

batch link relay (B(n)) read

error

16524

Indirectly specified 16-bit

batch annunciator (F(n))

read error

16525

Indirectly specified 32-bit

batch annunciator (F(n))

read error

16526

Indirectly specified 16-bit

batch timer contact (TT(n))

read error

16527

Indirectly specified 32-bit

batch timer contact (TT(n))

read error

16528

Indirectly specified 16-bit

batch timer coil (TC(n))

read error

16529

Indirectly specified 32-bit

batch timer coil (TC(n))

read error

16530

Indirectly specified 16-bit

batch counter contact

(CT(n)) read error

16531

Indirectly specified 32-bit

batch counter contact

(CT(n)) read error

16532

Indirectly specified 16-bit

batch counter coil (CT(n))

read error

16533

Indirectly specified 32-bit

batch counter coil (CC(n))

read error

The indirectly specified device

number is outside the range or is

not a multiple of 16.

The block processing in

execution is stopped

and the next block is

executed.

Correct the program so that the

indirectly specified device number

is proper.

15. ERROR LISTS

15 8

15.2 SFC Parameter Errors

Table 15.5 PLC Ready (M2000) OFFON Errors (17000 to 17009)

Error FactorError

Code Name Definition Error Processing Corrective Action

17000 Normal task consecutive

transition count error

The normal task's consecutive

transition count of the SFC program

started by the normal task is

outside the range 1 to 30.

The initial value of 3 is

used for control.

17001 Event task consecutive

transition count error

The set number of consecutive

transitions of the SFC program

started by the event task is outside

the range 1 to 10.

17002 NMI task consecutive

transition count error

The set number of consecutive

transitions of the SFC program

started by the NMI task is outside

the range 1 to 10.

The initial value of 1 is

used for control.

Turn PLC ready (M2000) OFF,

make correction to set the value

within the range, and write it to the

CPU.

Table 15.6 SFC Program Start Errors (Error Code 17010 to 17019)

Error FactorError

Code Name Definition Error Processing Corrective Action

17010 Executed task setting is

illegal

Among the normal, event and NMI

tasks, more than one or none of

them has been set.

17011 Executed task setting is

illegal (event)

Two or more fixed cycles of the

event task have been set.

The initial value

(normal task)

is used for control.

Turn PLC ready (M2000) OFF,

make correction, and write a correct

value to the CPU.

16. LIMIT SWITCH OUTPUT FUNCTION

16 1

16. LIMIT SWITCH OUTPUT FUNCTION

The limit switch output function is designed to output the ON/OFF signal corresponding to the data range of the watch data set per output device. You can set up to 32 points of output devices.

16.1 Operations

(1) The limit switch output function provides an ON output to an output device while the watch data value is in the ON output region set with (ON Value) and (OFF Value).

(a) The (ON Value), (OFF Value) and watch data value are handled as signed data. The ON output region where an ON output is provided to the output device is governed by the magnitude relationship between (ON Value) and (OFF Value) as indicated below.

Relationship between (ON Value) and

(OFF Value) ON Output Region

(ON Value) < (OFF Value) (ON Value) (watch data value) < (OFF Value)

(ON Value) > (OFF Value) (ON Value) (watch data value)

(Watch data value) < (OFF Value)

(ON Value) = (OFF Value) Output OFF in whole region

1) If (ON Value) < (OFF Value)

OFF

OFF Value

ON Value

Output device

(ON Value) (watch data value) < (OFF Value)

OFFON

ON region setting

Watch data value

2) If (ON Value) > (OFF Value)

ON

ON Value

OFF Value

Output device

(ON Value) (watch data value)

ONOFF

ON region setting

Watch data value

(Watch data value) < (OFF Value)

16. LIMIT SWITCH OUTPUT FUNCTION

16 2

3) If (ON Value) = (OFF Value)

ON Value

ON Value

Output device

ON region setting

Watch data value

OFF in whole region

OFF Value

(b) The limit switch outputs are controlled on the basis of each watch data in the PCPU ready status (M9047: ON) after PLC ready (M2000) has turned from OFF to ON. When the PCPU ready flag (M9047) turns OFF, all points turn OFF. When (ON Value) and (OFF Value) are specified with word devices, the word device contents are imported to the internal area when PLC ready (M2000) turns from OFF to ON. Thereafter, in each motion operation cycle, the word device contents are imported to control the limit switch outputs.

(c) You can set multiple outputs (up to 32 points) to one piece of watch data. In each setting, the output device may be the same. If multiple ON region settings have been made to the same output device, the logical add of the output results in the regions is output.

OFF Value

ON Value

OFFOutput device ON

ON region setting No. 1

Watch data value

OFF Value

ON Value ON region setting No. 2

ONOFF

(2) You can set an output enable/disable bit to enable/disable the limit switch outputs point-by-point. Limit switch output control is exercised when the output enable/disable bit is ON, and the output is OFF when it is OFF. When there is no setting, the outputs are always enabled.

(3) You can set a forced output bit to forcibly provide (turn ON) the limit switch outputs point-by-point. The output is ON when the forced output bit is ON. This setting overrides OFF (disable) of the "output enable/disable bit". When there is no setting, no forced outputs are always provided.

16. LIMIT SWITCH OUTPUT FUNCTION

16 3

(4) When multiple pieces of watch data, ON region, output enable/disable bit and forced output bit are set to the same output device, the logical add of the output results of the settings is output.

Output device

ON region setting

Watch data value

M9074 ON

Output device

Enable/disable bit

Forced output bit

Output OFF Output control based on ON Value and OFF Value

Output OFF Output control based on ON Value and OFF Value

Output OFF

Output OFF

OFF Value

ON Value

Without output enable/disable bit and forced output bit settings

With output enable/disable bit and forced output bit settings

Output ON (Forced output)

Output ON (Forced output)

(5) The conventional limit output function cannot be used. The following settings and devices are all invalid.

"Limit output module" in system settings "Limit output used/unused" setting in fixed parameters "Limit switch output enable" of each axis command device Limit switch output disable setting registers

A172SHCPUN : D1008 to D1011 A173UHCPU (-S1) : D760 to D775 A273UHCPU-S3 : D760 to D775

Limit switch output status registers

A172SHCPUN : D9180 to D9183 A173UHCPU (-S1) : D776 to D791 A273UHCPU-S3 : D776 to D791

"Limit switch output used/unused" setting in mechanical system output module parameters

16. LIMIT SWITCH OUTPUT FUNCTION

16 4

16.2 Limit Output Setting Data

Limit output data are listed below. You can set up to 32 points of output devices. (The following items No. 1 to No. 6 are set together as one point.)

No. Item Setting Range Import

Cycle

Refresh

Cycle Remarks

1 Output device Bit device (X, Y, M, L, B) Operation

cycle

2 Watch data

Motion control data/

word device (D, W, #, absolute address)

(16-bit integer type/32-bit integer type/

64-bit floating-point type)

Operation

cycle

ON Value Word device (D, W, #)/constant (K, H) Operation

cycle

3 ON region

setting OFF Value Word device (D, W, #)/constant (K, H)

Operation

cycle

4 Output enable/disable

bit

Bit device (X, Y, M, L, B, F, TT, TC, CT, CC, special M)/

none (default)

Operation

cycle

ON: Enable

OFF: Disable

None: Always enable

5 Forced output bit Bit device (X, Y, M, L, B, F, TT, TC, CT, CC, special M)/

none (default)

Operation

cycle

None: No forced

output always provided

(OFF status)

(1) Output device

(a) Set the bit device which outputs the ON/OFF signal in response to the preset watch data.

(b) As the output device, you can use the following devices.

Device Number Setting Range

Item A172SHCPUN

A173UHCPU (-S1)

/A273UHCPU-S3

Input relay (Note-1)

X0 to X7FF X0 to X1FFF

Output relay (Note-2)

Y0 to Y7FF Y0 to Y1FFF

Internal relay (Note-3)

M0 to M2047 M0 to M8191

Latch relay (Note-3)

L0 to L2047 L0 to L8191

Link relay B0 to B3FF B0 to B1FFF

(Note-1): As PX is write-disabled, it cannot be used as the output device.

For X, only the free numbers within the input card non-loading range and

outside the link range may be used.

Note that when the A172SHCPUN is used, there will be a read response

delay as indicated below.

Read CPU Response Delay

Motion CPU 1 sequence scan

PLC CPU None

16. LIMIT SWITCH OUTPUT FUNCTION

16 5

(Nore-2): Note the following points when setting Y as the output device.

When Y is set, response will be as indicated below.

Y Classification Response

PLC device PBUS

Actual output Motion operation cycle

PLC device Motion operation cycle Refresh system

Actual output Motion operation cycle + PLC scan time

PLC device Motion operation cycleSBUS Direct system

(A172SHCPUN

only) Actual output Not provided

When the STOPRUN time output mode of the PLC is set to "before

operation", performing the following operation to change the output device

setting may cause the ON/OFF status of the previously set output device to be

output continuously, resulting in an unexpected output status.

If such operation must be performed, set the STOPRUN time output mode of

the PLC to "after 1 scan run".

Key switch RUN STOP

Limit output setting data rewritten on peripheral device

Key switch STOP RUN

(Note-3): As the output devices, M2001 to M2032 cannot be used with the

A173UHCPU

(-S1)/A273UHCPU-S3, and M2001 to M2008 with the A172SHCPUN.

While PCPU ready (M9074) is ON, do not perform write from the

sequence ladder to the 16-point range which begins with a multiple of 16,

including the output device.

Such write operation will not be guaranteed.

The other devices in this range should be used in motion SFC operation

control/transition control programs (SET/RST/DOUT).

(Device range example: When the output device is M10, M0 to M15 are in

the corresponding range.)

16. LIMIT SWITCH OUTPUT FUNCTION

16 6

(2) Watch data

(a) This data is used to perform the limit switch output function. This data is comparison data to output the ON/OFF signal. The output device is ON/OFF-controlled according to the ON region setting.

(b) As the watch data, motion control data or any word device data can be used.

1) Motion control data

Axis Number Setting Range Item Unit

Data Type A172SHCPUN

A173UHCPU (-S1) /A273UHCPU-S3

Feed current value

Real current value

Position command

unit

Deviation counter value PULSE

32-bit integer

type

Motor current (Command output voltage: ACF)

0.1% (0.01V)

16-bit integer

type

Motor speed 0.1r/min

Cam shaft within-one-revolution current value

Feed current value (temporary)

After-differential current value (temporary)

1 to 8 1 to 32

After-differential encoder current value

Encoder current value

PULSE

32-bit integer

type

1 1 to 12

2) Word device data

Device Number Setting Range

Item A172SHCPUN

A173UHCPU (-S1)

/A273UHCPU-S3

Data register D0 to D1023 D0 to D8191

Link register W0 to W3FF W0 to W1FFF

Motion device #0 to #8191 #0 to #8191

Absolute

address *1 H0 to HFFFFFFFF H0 to HFFFFFFFF

*1 If the specified absolute address is outside the SRAM range of the motion

controller, limit switch output control for the corresponding watch data is not

exercised.

3) When you have set any device data, specify the following data type as the data type to be compared.

Data Type Remarks

16-bit integer type Specify the absolute address as an even number.

32-bit integer type Specify the device number as an even number.

Specify the absolute address as a multiple of 4.

64-bit floating-point type Specify the device number as an even number.

Specify the absolute address as a multiple of 8.

16. LIMIT SWITCH OUTPUT FUNCTION

16 7

(3) ON region setting

(a) Set the data range where the output device is turned ON/OFF in response to the watch data.

(b) The following devices can be used as the ON Value and OFF Value of the data range. The data type of the device/constant to be set is the same as the type of the watch data.

Device Number Setting Range

Item A172SHCPUN

A173UHCPU (-S1)

/A273UHCPU-S3

Data register D0 to D1023 D0 to D8191

Link register W0 to W3FF W0 to W1FFF

Motion device #0 to #8191 #0 to #8191

Constant Hn/Kn Hn/Kn

(4) Output enable/disable bit

(a) Set the status of the output enable/disable bit when you want to disable the limit switch outputs during operation.

1) The following control is exercised.

Output Enable/Disable Bit Status Control

Without setting (always enable)

ON (enable)

Limit switch outputs are turned ON/OFF on the

basis of the ON region setting (ON Value, OFF

Value).With setting

OFF (disable) Limit switch outputs are turned OFF.

(b) Usable devices

Device Number Setting Range

Item A172SHCPUN

A173UHCPU (-S1)

/A273UHCPU-S3

Input relay X0 to X7FF X0 to X1FFF

Output relay Y0 to Y7FF Y0 to Y1FFF

Internal relay M0 to M2047 M0 to M8191

Latch relay L0 to L2047 L0 to L8191

Link relay B0 to B3FF B0 to B1FFF

Annunciator F0 to F255 F0 to F2047

Timer contact TT0 to TT255 TT0 to TT2047

Timer coil TC0 to TC255 TC0 to TC2047

Counter contact CT0 to CT255 CT0 to CT1023

Counter coil CC0 to CC255 CC0 to CC1023

Special relay M9000 to M9255 M9000 to M9255

16. LIMIT SWITCH OUTPUT FUNCTION

16 8

(5) Forced output bit

(a) Set the "forced output bit" when you want to forcibly provide the limit switch outputs during operation. This setting overrides OFF (disable) of the above "output enable/disable bit".

1) The following control is exercised.

Forced Output Bit Control

Without setting

ON (enable)

Limit switch outputs are turned ON/OFF on the

basis of the "output enable/disable bit" and ON

region setting (ON Value, OFF Value).With setting

OFF (disable) Limit switch outputs are turned ON.

(b) Usable devices

Device Number Setting Range

Item A172SHCPUN

A173UHCPU (-S1)

/A273UHCPU-S3

Input relay X0 to X7FF X0 to X1FFF

Output relay Y0 to Y7FF Y0 to Y1FFF

Internal relay M0 to M2047 M0 to M8191

Latch relay L0 to L2047 L0 to L8191

Link relay B0 to B3FF B0 to B1FFF

Annunciator F0 to F255 F0 to F2047

Timer contact TT0 to TT255 TT0 to TT2047

Timer coil TC0 to TC255 TC0 to TC2047

Counter contact CT0 to CT255 CT0 to CT1023

Counter coil CC0 to CC255 CC0 to CC1023

Special relay M9000 to M9255 M9000 to M9255

APPENDICES

APP 1

APPENDICES

APPENDIX 1 PROCESSING TIMES

Appendix 1.1 Operation Control/Transition Instruction Processing Times

(1) Operation instructions

Classification Symbol Instruction Operation Expression A172SHCPUN/

A173UHCPU(-S1) Unit (s)

A273UHCPU-S3 Unit (s)

#0=#1 16.9 20.9

D0=D1 24.6 27.9

#0L=#2L 24.3 30.1

D0L=D2L 38.9 51.6

#0F=#4F 26.0 32.0

= Substitution

D0F=D4F 42.9 55.7

#0=#1+#2 21.3 25.4

D0=D1+D2 30.1 33.0

#0L=#2L+#4L 30.5 37.1

D0L=D2L+D4L 45.8 60.9

#0F=#4F+#8F 37.3 41.7

+ Addition

D0F=D4F+D8F 55.8 68.3

#0=#1#2 21.2 25.4

D0=D1D2 30.1 33.0

#0L=#2L#4L 30.6 36.5

D0L=D2LD4L 45.3 59.5

#0F=#4F#8F 37.6 41.7

Subtraction

D0F=D4FD8F 55.6 67.6

#0=#1 #2 21.1 25.4

D0=D1 D2 30.2 33.0

#0L=#2L #4L 30.9 36.5

D0L=D2L D4L 46.8 59.5

#0F=#4F #8F 38.0 41.7

Multiplication

D0F=D4F D8F 56.7 67.6

#0=#1/#2 25.4 32.7

D0=D1/D2 34.1 41.7

#0L=#2L/#4L 34.8 44.9

D0L=D2L/D4L 51.1 69.0

#0F=#4F/#8F 43.7 44.3

/ Division

D0F=D4F/D8F 61.1 70.1

#0=#1%#2 24.0 32.5

D0=D1%D2 32.9 40.1

#0L=#2L%#4L 34.2 43.6

Binary operation

% Remainder

D0L=D2L%D4L 51.0 66.7

#0=~#1 18.8 22.6

D0=~D1 26.7 31.1

#0L=~#2L 26.4 32.4 ~ Bit inversion (complement)

D0L=~D2L 41.8 54.9

#0=#1 20.8 25.2

D0=D1&D2 28.5 32.7

#0L=#2LL 30.6 36.2 & Bit logical AND

D0L=D2L&D4L 46.1 59.2

#0=#1|#2 20.8 25.2

D0=D1|D2 29.1 32.7

#0L=#2L|#4L 30.0 36.2

Bit operation

| Bit logical OR

D0L=D2L|D4L 45.5 59.2

APPENDICES

APP 2

Classification Symbol Instruction Operation Expression A172SHCPUN/

A173UHCPU(-S1) Unit (s)

A273UHCPU-S3 Unit (s)

#0=#1^#2 21.2 25.2

D0=D1^D2 29.4 32.7

#0L=#2L^#4L 30.3 36.2 ^ Bit exclusive OR

D0L=D2L^D4L 45.7 59.7

#0=#1>>#2 21.4 25.6

D0=D1>>D2 30.2 33.2

#0L=#2L>>#4L 30.8 37.7 >> Bit right shift

D0L=D2L>>D4L 46.9 61.8

#0=#1<<#2 21.8 25.6

D0=D1<

#0L=#2L<<#4L 31.7 36.8

Bit operation

<< Bit left shift

D0L=D2L<

#0=#1 18.5 22.4

D0=D12 26.4 29.4

#0L=#2L 26.1 31.8

D0L=D2L 41.5 53.3

#0F=#4F 27.8 35.5

Sign Sign inversion (Complement of 2)

D0F=D4F 44.6 59.2

#0F=SIN (#4F) 59.6 68.1 SIN Sine

D0F=SIN (D4F) 76.4 92.2

#0F=COS (#4F) 61.2 88.5 COS Cosine

D0F=COS (D4F) 77.9 111.1

#0F=TAN (#4F) 90.7 98.1 TAN Tangent

D0F=TAN (D4F) 108.0 121.0

#0F=ASIN (#4F) 86.2 72.3 ASIN Arcsine

D0F=ASIN (D4F) 103.5 95.9

#0F=ACOS (#4F) 89.5 75.1 ACOS Arccosine

D0F=ACOS (D4F) 107.0 100.3

#0F=ATAN (#4F) 70.9 86.9 ATAN Arctangent

D0F=ATAN (D4F) 88.9 110.5

#0F=SQRT (#4F) 45.1 70.0 SQRT Square root

D0F=SQRT (D4F) 62.2 94.0

#0F=LN (#4F) 55.8 78.3 LN Natural logarithm

D0F=LN (D4F) 73.8 102.0

#0F=EXP (#4F) 47.0 85.3 EXP Exponential operation

D0F=EXP (D4F) 65.3 108.7

#0F=ABS (#4F) 30.0 37.6 ABS Absolute value

D0F=ABS (D4F) 47.0 62.0

#0F=RND (#4F) 41.1 53.5 RND Round-off

D0F=RND (D4F) 59.1 77.9

#0F=FIX (#4F) 31.3 46.1 FIX Round-down

D0F=FIX (D4F) 48.4 70.6

#0F=FUP (#4F) 30.2 48.2 FUP Round-up

D0F=FUP (D4F) 46.7 71.7

#0=BIN (#1) 21.1 25.0

DO=BIN (D1) 29.0 33.5

#0L=BIN (#2L) 29.2 35.5 BIN BCDBIN conversion

D0L=BIN (D2L) 44.9 56.8

#0=BCD (#1) 31.6 55.4

DO=BCD (D1) 39.4 63.9

#0L=BCD (#2L) 45.6 106.1

Standard function

BCD BINBCD conversion

D0L=BCD (D2L) 62.5 128.7

APPENDICES

APP 3

Classification Symbol Instruction Operation Expression A172SHCPUN/

A173UHCPU(-S1) Unit (s)

A273UHCPU-S3 Unit (s)

#0=SHORT (#2L) 22.8 26.9

#0=SHORT (#4F) 31.0 47.5

D0=SHORT (D2L) 33.5 39.9 SHORT

Conversion into 16-bit integer type (signed)

D0=SHORT (D4F) 42.2 57.7

#0=USHORT (#2L) 23.3 27.0

#0=USHORT (#4F) 30.4 47.1

D0=USHORT (D2L) 33.9 39.9 USHORT

Conversion into 16-bit integer type (unsigned)

D0=USHORT (D4F) 41.5 57.2

#0L=LONG (#2) 24.4 28.5

#0L=LONG (#4F) 35.4 50.4

D0L=LONG (D2) 40.6 50.2 LONG

Conversion into 32-bit integer type (signed)

D0L=LONG (D4F) 52.2 74.5

#0L=ULONG (#2) 25.9 28.8

#0L=ULONG (#4F) 47.2 62.9

D0L=ULONG (D2) 41.6 50.1 ULONG

Conversion into 32-bit integer type (unsigned)

D0L=ULONG (D4F) 55.9 72.0

#0F=FLOAT (#4) 26.6 32.2

#0F=FLOAT (#4L) 29.3 35.7

D0F=FLOAT (D4) 42.6 55.9 FLOAT

Conversion into 64-bit floating-point type (signed)

D0F=FLOAT (D4L) 45.7 58.8

#0F=UFLOAT (#4) 26.8 32.3

#0F=UFLOAT (#4L) 29.3 36.5

D0F=UFLOAT (D4) 43.4 54.7

Type conversion

UFLOAT Conversion into 64-bit floating-point type (unsigned)

D0F=UFLOAT (D4L) 45.8 60.1

SET M1000 = M0 39.5 39.7

SET M1000 = X100 39.8 42.0(None) ON (normally open contact) (when condition enables)

SET M1000 = PX0 50.8 44.5

SET M1000 = !M0 41.3 41.3

SET M1000 = !X100 42.1 43.6

Bit device status

! OFF (normally closed contact) (when condition enables) SET M1000 = !PX0 47.7 46.1

SET M1000 28.3 33.2

SET Y100 29.9 34.5SET Device set

SET PY0 28.6 31.9

RST M1000 28.4 32.5

RST Y100 29.5 33.3RST Device reset

RST PY0 27.6 31.6

DOUT M0, #0 29.6 33.9

DOUT M0, #0L 34.5 37.9

DOUT Y100, #0 31.7 35.3

DOUT Y100, #0L 38.3 40.4

DOUT PY0, #0 36.4 38.8

DOUT Device output

DOUT PY0, #0L 45.7 49.1

DIN #0, M0 26.8 30.8

DIN #0L, M0 32.5 33.9

DIN #0, X0 16.7 15.3

DIN #0L, X0 30.5 34.1

DIN #0, PX0 34.1 36.1

Bit device control

DIN Device input

DIN #0L, PX0 42.2 45.9

APPENDICES

APP 4

Classification Symbol Instruction Operation Expression A172SHCPUN/

A173UHCPU(-S1) Unit (s)

A273UHCPU-S3 Unit (s)

SET M1000 = M0 M1 52.5 55.4

SET M1000 = X100 X101 53.7 58.1Logical AND

SET M1000 = PX0 PX1 47.2 63.4

SET M1000 = M0+M1 53.1 55.4

SET M1000 = X100+X101 55.5 58.1

Logical operation

+ Logical OR

SET M1000 = PX0+PX1 47.4 63.4

SET M1000 = #0==#1 40.1 40.5

SET M1000 = D0==D1 41.1 42.3

SET M1000 = #0L==#2L 43.3 45.3

SET M1000 = D0L==D2L 45.6 51.3

SET M1000 = #0F==#4F 45.9 49.4

== Equal to (when condition enables)

SET M1000 = D0F==D4F 49.4 57.3

SET M1000 = #0!=#1 39.5 40.5

SET M1000 = D0!=D1 41.9 42.3

SET M1000 = #0L!=#2L 43.5 45.3

SET M1000 = D0L!=D2L 45.8 51.3

SET M1000 = #0F!=#4F 46.2 49.4

!= Not equal to (when condition enables)

SET M1000 = D0F!=D4F 49.7 57.3

SET M1000 = #0<#1 39.9 40.5

SET M1000 = D0

SET M1000 = #0L<#2L 43.4 45.3

SET M1000 = D0L

SET M1000 = #0F<#4F 46.6 49.4

< Less than (when condition enables)

SET M1000 = D0F

SET M1000 = #0<=#1 39.8 40.5

SET M1000 = D0<=D1 41.3 42.3

SET M1000 = #0L<=#2L 42.3 45.3

SET M1000 = D0L<=D2L 45.2 51.3

SET M1000 = #0F<=#4F 44.9 49.4

<= Less than or equal to (when condition enables)

SET M1000 = D0F<=D4F 48.9 57.3

SET M1000 = #0>#1 38.7 40.5

SET M1000 = D0>D1 41.1 42.3

SET M1000 = #0L>#2L 42.4 45.3

SET M1000 = D0L>D2L 44.8 51.4

SET M1000 = #0F>#4F 44.7 49.9

> More than (when condition enables)

SET M1000 = D0F>D4F 49.1 57.3

SET M1000 = #0=>#1 39.7 40.5

SET M1000 = D0=>D1 41.0 42.3

SET M1000 = #0L=>#2L 43.5 45.3

SET M1000 = D0L=>D2L 45.0 51.3

SET M1000 = #0F=>#4F 45.7 49.4

Comparison operation

=> More than or equal to (when condition enables)

SET M1000 = D0F=>D4F 49.5 57.8

CHGV (K1, #0) 18.4 22.9

CHGV (K1, D0) 21.0 27.6

CHGV (K1, #0L) 20.0 25.3 CHGV Speed change request

CHGV (K1, D0L) 28.7 37.4

CHGT (K1, #0) 17.9 22.1

CHGT (K1, D0) 20.5 24.7

CHGT (K1, #0L) 20.8 26.0

Motion-dedicated function

CHGT Torque limit value change request

CHGT (K1, D0L) 30.1 38.1

APPENDICES

APP 5

Classification Symbol Instruction Operation Expression A172SHCPUN/

A173UHCPU(-S1) Unit (s)

A273UHCPU-S3 Unit (s)

EI Event task enable EI 5.3 7.6

DI Event task disable DI 5.5 6.8

NOP No operation NOP 1.5 1.7

BMOV #0, #100, K10 25.5 29.4

BMOV D0, D100, K10 33.8 38.4

BMOV #0, #100, K100 71.6 85.4

BMOV D0, D100, K100 138.1 168.0

BMOV N1, #0, K512 54.3 64.5

BMOV Block move

BMOV N1, D0, K512 53.5 64.7

Others

TIME Time to wait

APPENDICES

APP 6

(2) Transition conditional expressions

Classification Symbol Instruction Operation Expression

A172SHCPUN/ A173UHCPU(-S1) Single Operation

Expression Processing Time

(s)

A273UHCPU-S3 Single Operation

Expression Processing Time

(s)

M0 24.7 20.7

X100 22.3 17.7(None) ON (normally open contact) (when condition enables)

PX0 25.9 17.5

!M0 26.4 22.4

!X100 24.1 19.3

Bit device status

! OFF (normally closed contact) (when condition enables) !PX0 27.6 19.5

M0 M1 31.8 26.7

X100 X101 29.9 23.8Logical AND

PX0 PX1 36.2 23.4

M0+M1 31.8 27.1

X100+X101 30.0 24.0

Logical operation

+ Logical OR

PX0+PX1 36.2 24.0

#0==#1 9.5 8.8

D800==D801 19.2 16.6

#0L==#2L 25.0 19.1

D800L==D802L 38.4 29.3

#0F==#4F 29.7 22.2

== Equal to (when condition enables)

D800F==D804F 44.3 33.4

#0!=#1 9.5 8.8

D800!=D801 19.2 16.2

#0L!=#2L 25.0 19.3

D800L!=D802L 38.4 29.6

#0F!=#4F 29.9 22.0

!= Not equal to (when condition enables)

D800F!=D804F 44.5 33.2

#0<#1 9.5 8.8

D800

#0L<#2L 25.0 19.1

D800L

#0F<#4F 29.9 22.0

< Less than (when condition enables)

D800F

#0<=#1 9.5 8.8

D800<=D801 19.2 16.5

#0L<=#2L 25.0 19.3

D800L<=D802L 38.4 29.3

#0F<=#4F 29.9 22.2

<= Less than or equal to (when condition enables)

D800F<=D804F 44.5 33.3

#0>#1 9.5 8.8

D800>D801 19.2 16.1

#0L>#2L 25.0 19.1

D800L>D802L 38.6 29.1

#0F>#4F 29.9 22.1

> More than (when condition enables)

D800F>D804F 44.5 33.3

#0>=#1 9.5 8.8

D800>=D801 19.2 16.1

#0L>=#2L 25.0 19.3

D800L>=D802L 38.4 29.2

#0F>=#4F 29.9 22.2

Comparison operation

>= More than or equal to (when condition enables)

D800F>=D804F 44.5 33.0

APPENDICES

APP 7

(3) Processing time taken when F and G are combined (program described in F/G is NOP)

F Alone G Alone F+G GSUB CLR JMP/Coupling

F G F

G

SUB

(Note)

CLR

(Note)

P

P

A172SHCPUN

A173UHCPU(-S1) s 48 40 51 103 48 37

A273UHCPU-S3 s 43 35 48 109 48 37

Parallel Branch (2 Pcs.) Parallel Branch (5 Pcs.)

F

G

F

G

F

G

F

G

F

G

F

G

F

G

At branch At coupling At branch At coupling

A172SHCPUN

A173UHCPU(-S1) s 111 75 232 140

A273UHCPU-S3 s 118 80 252 152

Selective Branch (2 Pcs.) Selective Branch (5 Pcs.)

F F

G G

F F F F F

G G G G G

A172SHCPUN

A173UHCPU(-S1) s 142 185

A273UHCPU-S3 s 163 227

(Note) Varies greatly with the started/cleared program.

POINT

Long processing time may cause a PCPU WDT error or servo fault. Especially for SFC programs run by event/NMI tasks, take care so that the processing time will not be too long.

APPENDICES

APP 8

Appendix 1.2 Motion Operation Cycles (msec)

CPU A172SHCPUN A173UHCPU(-S1) A273UHCPU-S3

OS type SV13 SV22 SV13 SV22 SV13 SV22

Set axis count 1 to 8 1 to 6 7 to 8 1 to 17

18 to

29

30 to

32 1 to 10

11 to

18

19 to

32 1 to 10

11 to

21

22 to

32 1 to 6 7 to 13

14 to

32 Operation

cycle 3.5ms 3.5ms 7.1ms 3.5ms 7.1ms 14.2ms 3.5ms 7.1ms 14.2ms 3.5ms 7.1ms 14.2ms 3.5ms 7.1ms 14.2ms

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IB (NA) 0300022-A (0012)

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