Benutzeranleitung / Produktwartung 700 Series des Produzenten Mitsubishi Electronics
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INVERTER FR - A 700 HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 FR-A 700 INVERTER PLC FUNCTION PROGRAMM ING MANUAL A PLC FUNCTION Chapter 1 CC-Link COMMUNICA TION Chapter 2 SEQUENC E P.
I CONTENTS CONTENTS 1. PLC FUNCTION 1 1.1 Func tion Bloc k Dia gram ...... .... ..... .... ..... .... .... ..... .... ....... .... ..... .. 2 1.2 PLC Function Specifi cations ...... ....... ....... ....... .......... ....... ....... .3 1.3 Syste m Con figur at ion .
II 2. CC-Link COMMUNICATION 45 2.1 Syst em Co nfi gurati on ...... .... ..... .... ..... .... ....... .... ..... .... .... ..... .... 46 2.1.1 System con figuration exampl e ................... ................. ....................... ......... 46 2.
III CONTENTS 3.9.5 100ms, 10ms and 100ms re tentive timers .................. ...................... .......... 80 3.9.6 Timer pro c essing me thod and accura cy ......... ................. ....................... .... 81 3.10 Count ers C ...... .... .
IV 3.25.6 Output I nstructio ns : Device set, res et ... SET, RST .............. ................. .. 1 26 3.25.7 Output I nstructions : Le ading edge, t railing ed ge differentia l outputs ... PLS, PLF ............... ....................... ........
1 Cha pt e r 1 Cha pt e r 2 Cha pt e r 3 Cha pt e r 4 1. PLC FUNCTION This manua l desc ribes the func tions a nd device s neces sary for programm ing. 1.1 Function Block Diagram ........... ......... ......... ......... 2 1.2 PLC Function Specif ications .
2 Function Block Diagram 1.1 Function Block Diagram How I/O dat a are transferred to/from the inverter by the built-in PLC function is explained using function bloc ks. (1) I/O data read, write, etc. can be performed by ac cessing the inverter in the predetermined method using special relay s, special registers, etc.
3 PLC Funct ion Speci fications 1 PLC FUN CTIO N 1.2 PLC Function Speci fications The follow ing tab le indicates the progr am capacity and device s of the PLC function. *1 These signals use the same terminals as used by the input and output signals given in t he common specifications of the inverter .
4 Syst em Configura tion 1.3 System Configuration The following shows the system configuration for use of the PLC function. <System configura tion example> Communication specifi cations Set the following setting in c ommunication param eters of the inverter .
5 Wiri ng of the I nverter and P ersonal Compu ter Usin g GX Developer f or RS-485 Communic ation 1 PLC FUN CTIO N 1.4 W iring of the Inverter and Personal C omputer U sing GX D evelop er for R S-485 C omm unica tion z Personal computer - inverter connection cable Make connection after c onversion between RS-232C and RS-485.
6 Prior to Sequence Program Creation 1.5 Pri or to Sequence Program Creation 1.5.1 Precautions for sequenc e program creation If any of the instructions (r efer to page 103) and devices (r efer to pag.
7 Prior to Sequence Program Creation 1 PLC FUN CTIO N 1.5.3 Sequence program ex ecution key The sequence program execution key (ST OP/RUN) of the PLC is switched by turning off/on the SQ s ignal. Open (STOP) the S Q signal-SD terminals when writing a sequence program, for example.
8 Prior to Sequence Program Creation 1.5.4 Sequence program write When rewriting the PLC function parameters and sequence program using GX Developer , check the following: 1) Check that the sequence program execution k ey is in the STOP position (SQ si gnal is off) (r efer to page 7) .
9 Function Block Diagram 1 PLC FUN CTIO N 1.5.5 Setting list of buil t-in PLC function parameter The built-in PLC function p arameters are designed to specify the ranges of using the PLC function, e.g. program cap acity , dev ice assignment and various functions.
10 Device Map 1.6 Dev ice Map 1.6.1 I/O device map Device No. Name Remarks Device No. Name Remarks External I/O X00 STF terminal External terminal Y00 R UN terminal External term ina l X01 STR termi n.
11 Device Map 1 PLC FUN CTIO N Device Ma p System I/O X20 Op eratio n mode sett ing read com pletion D9140 Y20 Oper ation m ode setting read com mand D9140 X21 Set frequency read completion ( R AM) D9.
12 Device Map 1.6.2 Internal relay (M) device m ap 1.6. 3 D ata registe r (D) device map 1.6.4 Spec ial rela ys The special relays are i nternal relays wi th special applications and therefore should not be switched on-of f in the program. Device No .
13 Device Map 1 PLC FUN CTIO N Device Ma p M921 1 Inve rter op eration status cont rol f lag (R E S) Control the R ES terminal of the inverter from PLC func ti on M9216 Inverter st atus (RUN) Inverter.
14 Device Map 1.6.5 Special regist ers The special registers are dat a r egisters with special appl ications and therefore dat a should not be written to the special regi sters in the program. Number Name Description Page S p ecial re gisters D9008 Self -diagnost ic error S to res the sel f-diagnos ed error num ber in BIN .
15 Device Map 1 PLC FUN CTIO N Device Ma p S pec ial regis ters for co ntrol D9133 Output frequency monitor S t ores the c urrent out put freque ncy . 0.01Hz un its 20 D9134 Output current monitor S t ores the c urrent out put curren t. 0.01A un its D9135 Output volt age monitor S t ores the c urrent out put voltage.
16 Device Map S p ecial re gisters f or control D9148 Inve rter op eration status con trol Turn on/off the correspond ing bits to con trol the inverter operat ion status. The initial val ue: All "0". W hen M925 5 is off, this device does not fu nction.
17 Device Map 1 PLC FUN CTIO N Device Ma p S p ecial re gisters f or control D9159 Conver ter output voltage peak value 0.1V units — D9160 Input power 0.
18 Device Map S pe cial re gister s for co ntrol D9205 Option input ter minal st atus 1 The inpu t status of the FR-A 7AX is sto red. All of f (0) when a n option i s not fitte d. — D9206 Option input ter minal st atus 2 — D9207 Opt ion output ter minal st atus The outp ut status of t he FR-A 7A Y , FR- A7AR is stored .
19 Device Map 1 PLC FUN CTIO N Device Ma p Number Name Descripti on Page S p ecia l registers for control D9234 Sec ond para met er changi ng (RAM) Whe n setti ng the calib ration( bias/gai n) parameter s.
20 Inverter Status Monitoring, Sp ecial Registers for Control 1.7 Inverter St atus Monitoring, S pecial Registers for Control Y ou c an assign the data for grasping and changing the inverter's operation status to D9133 - D9147 and r ead/write them from the user sequence.
21 Inverter Status Monitoring, S pecial Registers for Control 1 PLC FUN CTIO N (2) Error history (error codes and err or definitions) The inverter stores the error codes of the errors that occurred. The error codes of up to ei ght error s are stored in the order as s hown below and are always read-enabled (write-disabled).
22 Inverter Status Monitoring, Sp ecial Registers for Control <Alarm definition read prog ram example> The following program reads the latest al arm definition of the inv erter to D0. <Regarding the err or No. and det ails of the self-diagnosti c errors> During execution of a sequence program, any of the following error No.
23 Inverter Status Monitoring, S pecial Registers for Control 1 PLC FUN CTIO N 1.7.2 Data that are read by c ontrolling (OFF to ON) the read command Y ou c an read the operation mode and set frequency of the inverter .
24 Inverter Status Monitoring, Sp ecial Registers for Control (2) S et frequ ency (RAM) (D9141) The frequency set to the RAM is read to D9141. The unit is 0.01Hz. (For example, 6000 indicates 60.00Hz.) When the speed is set, the speed is either 1r/min or 0.
25 Inverter Status Monitoring, S pecial Registers for Control 1 PLC FUN CTIO N 1 . 7 . 3 How to write data by controll ing (OFF to ON) the wri t e command Y ou c an write the operation mode and set frequency to the inverter , batch-clear the alarm definitions, and clear all p arameters .
26 Inverter Status Monitoring, Sp ecial Registers for Control (1) O perati on mode se tting write (D9143) Data are as follows: The operation mode switching method is as shown below when the Pr .79 Oper atio n mode sele ctio n value is "0". When Pr .
27 Inverter Status Monitoring, S pecial Registers for Control 1 PLC FUN CTIO N (2) S et freque ncy (RAM ) (D9144 ) The D9144 data is written to the RAM as a set frequency . The unit is 0.01Hz. (For example, 6000 indicates 60.00Hz.) When the speed is set, the speed is either 1r/min or 0.
28 Inverter Status Monitoring, Sp ecial Registers for Control (3) Set frequ ency ( EEPROM ) (D9145 ) The D9145 data is written to the E EPROM as a set frequency . The unit is 0.01Hz. (For example, 6000 indicates 60.00Hz.) When the speed is set, the speed is either 1r/min or 0.
29 Inverter Status Monitoring, S pecial Registers for Control 1 PLC FUN CTIO N (4) Alarm definition batch clear (D9 146) Writing H9696 to D9146 batc h-clears the alarm definitions. At completion of clear , the write completion signal (X26) turns on, and at the same time, 0 is set to D9150.
30 Inverter Status Monitoring, Sp ecial Registers for Control (5) Param eter clear (D91 47) Writing H9696 or H9966 to D9147 clears all parameters. Writing H5A5A or H55AA to D9147 clears the parameters other than the communication parameters (Refer to the In verter i nstruct ion ma nual (applied ) ).
31 Inverter Status Monitoring, S pecial Registers for Control 1 PLC FUN CTIO N 1.7. 4 Inverter opera tion st atus co ntr ol (1) Inverter ope ration st atus cont rol (D9148) Device for inverter operation status control. The operation of the inverter c an be controlled by turning on/off (1, 0) bit s b0 to b1 1 of D9148.
32 Inverter Status Monitoring, Sp ecial Registers for Control (2) Inverter operation st atus control enable/disable setting (D9149) Y ou can enable or disable D9148 "inv erter operation status control". The c ontrols of the corresponding bits of D9148 are enabled by turning on/of f (1, 0) bits b0 to b1 1 of D9149.
33 Inverter Status Monitoring, S pecial Registers for Control 1 PLC FUN CTIO N 1.7.5 Inverter parameter acc e ss error (D9150) If any value outside the setting range is written during parameter write, set frequency write, parameter clear , etc.
34 Inverter Parameter Read/ Write Method 1.8 Inverter Parameter R ead/Write Method 1.8.1 Reading the inverter para meters When reading the parameter , the parameter description is stored to D9242(D9244) by storing the parameter number to D9241(D9243) and turning Y28 (Y2A) on.
35 Inverter Parameter Read/Write Method 1 PLC FUN CTIO N Inverter p arameter dat a read timing chart Y28(Y2A) Parameter r ead command X28(X2A) Parameter re ad completion D9242(D9243) Parameter read data User sequence processing Inverter parameter 1) Read command is turned on in user sequen ce.
36 Inverter Parameter Read/ Write Method 1.8.2 Writing the inverter parameters Parameter writing is performed when the p arameter number is stored to D9241 (D9243) and parameter writing value to D9242 (D9244), and turns ON the Y29 (Y2B). When writing is completed, X29 (X2B) turn s ON to notify the compl etion.
37 Inverter Parameter Read/Write Method 1 PLC FUN CTIO N Inverter p arameter dat a write timing chart Y29(Y2B) X29(X2B) Parameter write completion Inverter parameter D9242(D9244) Parameter write data User sequence data Parameter write command 1) In user sequenc e, user data are stored into parameter wr ite data area (D9242(D9244)).
38 User Area Read/Write Metho d 1.9 User Area Read/W rite Method Inverter parameters Pr.506 to P r.515 can be used as user parameters. Since this parameter area and the devices used with the PLC function, D1 10 to D1 19, are accessible to each other , the values set in Pr .
39 Analog I/O functio n 1 PLC FUN CTIO N 1.10 Analog I/O function 1.10.1 Analog input Analog input value of t ermianl 1, 2, 4 can be read from D9245 to D9247. Actual read processing is performed at the END processing of the sequence. 1.10.2 Analog output Analog output from each terminal can be performed by setting value on D9251 to D9254.
40 Paluse t rain input functio n 1.1 1 Paluse train input function Pulse train (the number of sampli ng pulses) from terminal JOG is stored to D9236. When the sampling p uls es overflow , make adjustment with the setting of Pr .
41 PID cont rol 1 PLC FUN CTIO N 1.12 PID control With PLC function, PID set point/PID deviation value, PID process value can be set by setting Pr . 128. Performing the PID operation using the v alue of D9248 and D9249 as PID set point/ PID deviation value, PID process value, mani pulated variable is stored to D9250.
42 PID cont rol Device No. Name Setting Range Descr iption D924 8 PID set point / PID deviati on -10 0 to 100 % Set the PID s et point or PID devi ation (0 .01% un it s) D924 9 PID measure men t value 0 to 100% Set the P ID me asure ment value (0.0 1% units) D925 0 PID mani pulated va riable -100 to 100% Stores the PID manipul ated variabl e (0.
43 Inverter Operation Lock Mode Setting 1 PLC FUN CTIO N 1.13 Inverter Operation Lock Mode Setting Y ou c an disable a sequence program from being executed until the sequence program execution key is set to RUN (SQ signal is turned on).
44 MEMO.
45 Cha pt e r 1 Cha pt e r 2 Cha pt e r 3 Cha pt e r 4 2. CC-Link COMMUNICA TION 2.1 Syste m Con fig urat ion . .... ..... .... ....... .... ..... .... ..... ... 46 2.2 CC-Li nk P ara meter s .... .... ..... .... ..... ...... ..... .... ..... ... 49 2.
46 Syst em Configura tion 2.1 System Configuration 2.1.1 System configuration example (1) PLC side Mount the "Control & Communication Link system master/local module" on the main base unit or extension base unit of t he PLC CPU that will ac t as the master station.
47 Syst em Configura tion 2 CC-Link COMMUNICATION 2.1.2 Function block diagram How I/O data are transferred to/from the inverter in CC-Link will be described us ing function blocks. (1) Between the master station and inverter in the CC-Link system, link refresh is always made at 3.
48 Syst em Configura tion POINT The difference bet ween CC-Link co mmunication ( Pr . 544 = 100, 1 12, 1 14, 1 18) with PLC fu nction and n ormal CC-Link communication ( Pr . 544 =1, 2, 12, 14, 18) is indicated below. I/O (RX, RY) I/O (RX, RY) RWw RWr RWw RWr PLC CPU CC-Link mas ter module Inverter Pr.
49 CC-Link Parameters 2 CC-Link COMMUNICATION 2.2 CC-Link Parameters 2.2.1 CC-Link Extended Setting (Pr . 544) Remote register function can be extended. *1 The program use d for conv ention al series inv erter ( FR-A5NC) can be us ed. *2 When usin g doubl e, quad ruple and o ctuple setting s of t he CC- Link Ver .
50 CC-Li nk I/O Spec ificat ions 2.3 CC-Link I/O Specificati ons 2.3.1 I/O signal when CC-Link Ve r.1 one station is occupied (Pr. 544 = 100) The device point s usable in CC-Link comm unication are 32.
51 CC-Link I /O Specifica tions 2 CC-Link COMMUNICATION ("n" indica tes a val ue determi ned ac cordin g to the station nu mber se tting. ) *1 Signal names a re initial values. Using Pr . 180 to Pr . 186, Pr . 188, and Pr . 189 , you can change in put sign al function s.
52 CC-Li nk I/O Spec ificat ions 2.3.2 I/O signal when CC-Link Ve r.2 double setting is selected (Pr. 544 = 112) The device point s usable in CC-Link comm unication are 32 input (RX) points (12 points.
53 CC-Link I /O Specifica tions 2 CC-Link COMMUNICATION ("n" indica tes a val ue determi ned ac cordin g to the station nu mber se tting. ) *1 Signal names a re initial values. Using Pr . 180 to Pr . 186, Pr . 188, and Pr . 189 , you can change in put sign al function s.
54 CC-Li nk I/O Spec ificat ions 2. 3 .3 I/O signal when CC-Link Ver.2 qu adruple setting is selected (Pr. 544 = 114) The device point s usable in CC-Link comm unication are 32 input (RX) points (12 p.
55 CC-Link I /O Specifica tions 2 CC-Link COMMUNICATION 2.3.4 I/O signal whe n CC-Link Ver.2 octuple se tting is selected (Pr. 54 4 = 118 ) The device point s usable in CC-Link commu nication are 32 i.
56 CC-Li nk I/O Spec ificat ions ("n" indica tes a va lue determ ined ac cordin g to the station nu mber set ting. ) D906 2 RWw n+10 Regist ers desi gned to read d ata rece ived from the master station D9078 R Wrn+ 10 Regist ers desi gned to write dat a to be sent to th e maste r st ati on.
57 Buffer Memory 2 CC-Link COMMUNICATION 2.4 Buffer Me mory 2.4.1 Remote output signals (Master module to inverter(FR-A7NC)) • Input states to the remote device st ation are stored. • T wo words are used for each station. (Do not use address 16n (n = 2(X - 1) + 1, X = station No.
58 Buffer Memory 2.4.2 Remote input signals Pr .544 =100 (Inverte r(FR-A7NC) to master m odule) • Input states from the remote devic e station are stored. • T wo words are used for each station. (Do not use address En (n = 2(X - 1) + 1, X = station No.
59 Buffer Memory 2 CC-Link COMMUNICATION 2.4.3 Remote registers Pr .544= 100 (Master module to inverter(FR-A7NC)) • Data to be sent to the remote registers (RWW) of the remote device station are stored. • Four words are used for each station. Correspondences between Master S tation Buf fer Memory Addresses and S tation Numbers Sta t i on No.
60 Buffer Memory 2.4.4 Rem ote r egi ster s P r . 544 =100 (Inverter(FR-A7NC) to master module) • Data sent from the remote registers (R WR) of the remote device station are stored. • Four words are used for each station. Correspondences between Master S tation Buf fer Memory Addresses and S tation Numbers Sta t i on No.
61 Cha pt e r 1 Cha pt e r 2 Cha pt e r 3 Cha pt e r 4 3. SEQUENCE PROGRAMMING 3.1 Overv iew .. ..... .... .... ..... ...... ..... .... ..... .... ..... ...... ..... ... 62 3.2 RUN and STOP Opera tion Processings ........... .. 64 3.3 Program Makeup .
62 Overview 3.1 Over view 3.1.1 Outline of Operation Process ings This section outlines processings perform ed from when the inverter is powered on until a sequence program is executed. The built-in PLC function processings are roughly classified into the following three types.
63 Overview 3 SEQUENCE PROGRAMMING Fig 3.1 Operation Processings of Built-in PLC functi on Sequenc e program op eration p r oces sing Step 0 to Until execution of END instruction Power on I/O ref resh.
64 RUN and STOP Operation Processings 3.2 RUN and STOP Operation Processings The built-in PL C function has two di fferent operation s tatuses: RUN st atus and STOP status. This section explains the operation processings of the built-in PLC function in each operating status .
65 Progr amming Lang uages 3 SEQUENCE PROGRAMMING 3.4 Programming Lan guages The built-in PLC function has two different programming methods: one that uses ladders and the other that uses dedicated instructions . • Programming that uses ladders is performed in the relay symbolic language.
66 Progr amming Langu ages (2) Sequence program operation method Sequence program operation repeat s execution from a ladder bl oc k at step 0 to an END instruction. In a single ladder block, operation i s performed from the left hand side vertic al bus to the right, and from the top to the bottom.
67 Progr amming Lang uages 3 SEQUENCE PROGRAMMING 3.4.2 Logic symbolic language (List mode) The logic symbolic l anguage uses dedicated instructions for programming contact s, coils, etc.
68 Operation Processing Me thod of P LC Functi on 3 . 5 Operation Proc essing Me thod of PLC Functi on The operation processing method is the repeated operation of a stored program. (1) S tored program system 1) In a stored program s ystem, a sequence program to be operated is stored in the internal memory beforehand.
69 I/O Processing M ethod 3 SEQUENCE PROGRAMMING 3.6 I/O Processing Method The control system is a refresh system. 3.6.1 What is ref resh syst em? In the refresh system, control input termi nal change.
70 I/O Processing Met hod 3.6.2 Response delay in refres h system This section describes a delay of an output change in response to an input change. An output change in response to an input change has a del ay of up to two scans as shown in Fig. 2.6. Fig 3.
71 Scan Time 3 SEQUENCE PROGRAMMING 3.7 Scan Ti me (1) Scan time A scan time is a time from when s equence program operation is executed from step 0 until step 0 is executed again. The scan time of each s can is not equal, and changes depending on whether the used instructions are executed or not.
72 Numerica l Values Usable in Sequence Pro gram 3.8 Numerical V alues Usable i n Sequence Pr ogram The built-in PLC function represents numer ical values, alphabet s and other data in two statuses: 0 (OFF) and 1 (ON). The data represented by these 0s and 1s are called BIN (binary code).
73 Numeric al Values Usabl e in Sequen ce Program 3 SEQUENCE PROGRAMMING 3.8.1 BIN (Bin ary Co de) (1) Binary code BIN is a numerical value represented by 0s (OFF) and 1s (ON). In the decimal code, a number is incremente d from 0 to 9, and at this point, a carry occurs and the number is incremented to 10.
74 Numerica l Values Usable in Sequence Pro gram the range -32768 to 32767. Therefore, each register of the built -in PLC function can store any value between -32768 and 32767. 3.8.2 HEX (HEX De cimal ) (1) HEX HEX represents four bit s of BIN data as one digit.
75 Description of devices 3 SEQUENCE PROGRAMMING 3.9 Description of devices 3.9.1 Device List The following table i ndicates the device nam es usable with the built-in PLC function and their ranges of use.
76 Description of devices 3.9.2 Inputs, Outputs X, Y Inputs and outputs are devices designed to transfer data between the inverter and external devices. Inputs provide ON/OFF data gi v en to the corresponding control input terminals from outside the inverter .
77 Description of devices 3 SEQUENCE PROGRAMMING (1) Input s X (a) Inputs are designed to give commands and data from external dev ices, such as pushbuttons, selec t switches, limit switch es and digital switches, to the inverter (built-in PLC function).
78 Description of devices (2) O ut puts Y (a) Outputs are designed to output the control results of a program to outside the inverter (signal lamps , digital in dicators, magnetic switches (contactors), solen oids, et c.). (b) An output c an be exported to outside the inverter as equivalent to one N/O contact.
79 Description of devices 3 SEQUENCE PROGRAMMING 3.9.3 Internal Relays M Internal relays are auxiliary relays that are used in the PLC function and cannot latch data (backup for power failure). All internal relays are turned of f when: • Power is switched from off to on; or • Res et is performed.
80 Description of devices 3.9. 4 T imers T The timers of the PLC function are count up timers. The count up timer starts timin g the present value when its coil turns on, and the contact of that timer turns on when the present value reaches the set ting (time-out).
81 Description of devices 3 SEQUENCE PROGRAMMING (2) 100ms retentive timers 1) A 100ms retentive timer is designed to time the ON period of the timer coil . When its coil turns on, the timer start s timing the present value and maintains the present value and contact ON/OFF state i f the c oil turns off.
82 Description of devices (2) Present value update timing and accuracy in refresh system 1) The timer accuracy is +2 scan times independently of the used timer and scan time. 2) The follow ing shows the present value update timing and accuracy when the 10ms timer is used in a program where the scan time is 10ms or more.
83 Counte rs C 3 SEQUENCE PROGRAMMING 3.10 Counters C The counters of the built-in PLC function are up counters. An up counter stop s counting and it s contact turns on when the count value reaches the setting.
84 Counters C 3.10.1 Count processing in refre sh system The counter counts on the leading edge of the input condition of the counter imported at an input refresh. Fig 3.19 Counter Counting Method Ladder exampl e Counting meth od REMARKS Refer to pa ge 85 f or the maxi mum co unting speed of the co unte r .
85 Counte rs C 3 SEQUENCE PROGRAMMING 3.10.2 Maximum counting spee d of counter The maximum counting speed of the counter is determined by the scan time, and the counter can count only when the ON/OFF period of the input conditi on is longer than the scan time.
86 Data Registers D 3.1 1 Dat a Registers D (1) Data registers are memories that can store numerical dat a (-32768 to 32767 or H0000 to HFFFF) in the built-in PLC function. One point of data register c onsists of 16 bits and allows data to be read/wri tten in units of 16 bit s .
87 Special Relays, Special Registers 3 SEQUENCE PROGRAMMING 3.12 S p ecial Relays , Special Regist ers S pecial relays and s pecial registers are internal relays and data registers, respectively , whose applications are predetermined by the built-in PLC functions.
88 Special Relays, Sp ecial Registers T able3.4 S pecial Relay Application List Item S pecial Relay Application /Description Initia l process ing fla g (1 s can ON) M9038 (1) T his re lay tur ns on fo r one sc an when t he built -in PLC f unct ion switches from STOP to RUN.
89 Func tion Lis t 3 SEQUENCE PROGRAMMING 3.13 Function L ist Function De scription Remote RUN/STOP • This func tion per forms re mote RUN/STOP from outsid e the inver ter wh en SQ -SD are shor ted ( PLC fun ction in RUN status (P .
90 How to RUN/S TOP the Bui lt-in PLC Func tion from Outside (Remote RUN/STOP) 3.14 How to RUN/STOP the Built-in PLC Function from Out sid e (Remote RUN/STOP) The built-in PLC function is RUN/STOPped by shorting/opening SQ-SD. Remote RUN/ST OP is to RUN/ST O P the built-in PLC function from outside the inverter with SQ-SD shorted ( RUN status).
91 How to RUN / STOP the Built-in PLC Function from Outsi de (Remo te RUN/STOP) 3 SEQUENCE PROGRAMMING 2) Method using GX Developer RUN/ST OP can be perfo rmed by remot e RUN/ST OP operation from GX Devel oper . For example, this meth od can be used to ST OP the function for sequence program write in a place where the inverter is out of reach.
92 Watchdo g Time r ( Oper at ion cl og up moni tor t imer ) 3.1 5 W atchdog T imer (Operation clog up monitor timer) (1) W atchdog timer A watchdog timer is the internal timer of the built-in PLC function designed to detect hardware or sequence program faults.
93 Self- diagno stic F unction 3 SEQUENCE PROGRAMMING 3.16 Self-d iagnostic Fun ction The self-diagnostic function diagnoses faults by the built-in PLC function its el f. (1) Self-diagnostic timing The self-diagnostic function is performed at po w er-on, at reset, at execution of any instruction, or at execution of the END instruction.
94 Self- diagnost ic Fu nction 3.16.1 Error-time operation mode The built-in PLC function allows you to set whether the sequence program operation will be stopped or continued at occurrence of an operation error . Use the built-in PLC function parameter to set whether operation will be stopped or continued.
95 Keyword Re gistrat ion 3 SEQUENCE PROGRAMMING 3.17 Keyword Registrati on The keyword is designed to inhibit the read and rewrite of the program and comment s in the built-in PLC function using GX Developer .
96 Setting of O utput (Y) S tatus at Switching from STOP Statu s t o RUN Stat us 3.18 Settin g of Outp ut (Y) St atus at Swi tching from STOP St atu s to R UN St atu s When the RUN status is switched to the STOP status, the outputs (Y) in the RUN status are stored into the built-in PLC function.
97 Instruct ion Forma t 3 SEQUENCE PROGRAMMING 3.19 Instruction For mat (1) Many of the instructions can be divided into an instruction p art and a device, and their applications are as described below . (2) The instruction format can be roughly classified as follows according to the instruction part and device combinations.
98 Instruction Format (3) Source (S) The source contains the data to be us ed for operation. The data changes depending on the specified device. (4) Destination (D) The destination stores the data resulting from operation.
99 Bit Device Processing M ethod 3 SEQUENCE PROGRAMMING 3.20 Bit Device Processing Method As the processing met hod when the bit device (X, Y , M) is specified, 1-bit proc essing and 16-bit processing using digit designation processing are available. 3.
100 Bit Device Processing M ethod Fig 3.26 Ladder Example and Processing (b) When there is digit designation on the destination (D) side, the number of points specified by digit designation is the t arget on the destination side.
101 Handlin g of Numerical Val ue 3 SEQUENCE PROGRAMMING 3.21 Handling of Numerical V alue The built-in PLC function has instructions that handle numerical values indicated in 16 bits. The most significant bit of the 16 bits is used to judge whether the value is positive or negative.
102 Operation Error 3.22 Operat ion Error When a basic instruction is used, an operation error will occur in the following case. (a) If any error described in the description of the corresponding instruction occurs.
103 Instructions List 3 SEQUENCE PROGRAMMING 3.23 Instructions List 3.23.1 How to use th e instruction lis t 1)....... Classifies the instruction by application. 2)....... Indicates the instruction symbol used for programming. The instructions are based on 16-bit data instructions.
104 Instructions List 4) ....... Indicates the operation. 5) ....... Indicates the condition of executi on for each instruction as described below: 6) ....... Indicates the number of program steps required for each instruction. The number of steps that changes depending on conditi ons is two.
105 Instructions List 3 SEQUENCE PROGRAMMING 3.23. 2 Sequ enc e ins tru ctio n Classi ficat ion Instruction Symbol Symbol Proc essing Executi on Conditi on Number of Steps Reference p age Cont acts Lo.
106 Instructions List Master contr ol Master control start 5 133 Master control rese t 3 Program end — Mus t be writte n at the end of sequence progr am to r eturn t o step 0.
107 Instructions List 3 SEQUENCE PROGRAMMING 3.23.3 Basic i nstructions Clas sific atio n Instruct ion Sym bol Sym bol Processing Executi on Conditi on Number of Steps Reference p age 16-bit dat a com.
108 Instructions List BIN 16-bit addi tion/ subtr action (S) + ( D) → (D) 5 145 5 (S1) + ( S2) → (D) 7 7 (S) - (D) → (D) 5 5 (S1) - (S2 ) → (D ) 7 7 BIN 16 bit mul tipli cat ion /di vis io n (.
109 Instructions List 3 SEQUENCE PROGRAMMING 3.23.4 Application instructions Clas sific atio n Instruction Sym bol Sym bol Process ing Executi on Conditi on Number of Steps Reference p age Logica l pr.
11 0 Description of the Instructions 3.24 Description of the Instructions In Chapter 6, the instructions are described in the following format. Descriptio n 1) Indicates the section number , instruction outlines and instruction symbols. 2) The devices usable with the instructions are marked.
111 Sequence Instructions 3 SEQUENCE PROGRAMMING 3.25 Sequence Instructions Sequence instructions are used for relay control circuits, etc. 3.25. 1 Contac t Inst ruct ions : Operation start, se ries connection, paral lel connection .
11 2 Sequence I nstructions Functions (1) LD is an N/O contact operation start instruction, and LDI is an N/C contact operation start instruction. Each of them imp or ts the ON/OFF dat a of the specified device and uses it as an operation result.
11 3 Sequence Instructions 3 SEQUENCE PROGRAMMING Program Examples , , , , , 3.25.2 Contact Instructions : Ladder block serie s connection, parallel connection .
11 4 Sequence I nstructions Block A Block B Use OR or O RI to connect contacts in parall el. Block A Block B.
11 5 Sequence Instructions 3 SEQUENCE PROGRAMMING Functions (1) ANDs blocks A and B and uses the resultant value as an operation result. (2) The symbol of ANB is not a contac t s ymbol but a connection symbol. (3) ANB can be written up to seven instructions (eight blocks) consecutively .
11 6 Sequence I nstructions Program Examples Though there are the following two dif ferent program c oding methods for connecting ladder blocks in series consecutively , use the coding example 1. Though there are the following two dif ferent program c oding methods for connecting ladder blocks in parall el c onsecutively , use the coding example 1.
11 7 Sequence Instructions 3 SEQUENCE PROGRAMMING 3.25.3 Connection Instructions : Ladder block se ries connecti on, paral lel connection ... ANB, ORB Usable Devices Digit Desig natio n Error Flag Bit devices Word (16-bit) devices Constants L evel X YMT CDKHN ( M 9010,M901 1) Block A Block B Use OR or O RI to connect contacts in para llel.
11 8 Sequence I nstructions Functions (1) ANDs blocks A and B and uses the resultant value as an operatio n result. (2) The symbol of ANB is not a cont act symbol but a connection symbol. (3) ANB can be written up to seven instructions (eight blocks) consecutively .
11 9 Sequence Instructions 3 SEQUENCE PROGRAMMING Program Examples Though there are the following two dif ferent program coding methods for connecting ladder blocks in series consecutively , use the coding example 1.
120 Sequence I nstructions 3.25.4 Connection Instructions : Operation result, push, re ad, pop ... MPS, MRD, MPP Functions (1) S tores the operation result (ON/OFF) immediately before itself. (2) The MPS instruction can be used consecutively up to 12 times.
121 Sequence Instructions 3 SEQUENCE PROGRAMMING POINT (1) L adders d iffer as shown below b etwee n when MPS, MR D and M PP are used and wh en th ey are not us ed. (2) Use the sa me numb er of MP S and MP P instru ctio ns. If t hey di ffer in the numb er of used instr uctio ns, ope rati on wil l be perf orme d as de scribe d belo w .
122 Sequence I nstructions Program Example , , 1) Program using MPS, MRD and MPP MPS MRD MPP 1) 2) 3) 4) 5) 6) 7) 8) 9) 10) 1) 2) 3) 4) 5) 6) 7) 8) 9) 10) Coding ・.
123 Sequence Instructions 3 SEQUENCE PROGRAMMING 3.25.5 Output Instructions : B it device, timer , counter ... OUT Functions (1) Outputs the operation result up to OUT instruction to the specified device.
124 Sequence I nstructions (1) When the operation result up to the OUT instruction is ON, the coil of the timer turns on and the timer times up to the setting, and when the timer times out (timing value ≥ setting), the contac t operates as indicated below .
125 Sequence Instructions 3 SEQUENCE PROGRAMMING Program Examples 1) Program that outputs to the output module. 2) Program that turns on Y10 and Y14 10s after X0 has turned on. 3) Program that turns on Y0 when X0 turns on 10 times and turns off Y0 when X1 turns on.
126 Sequence I nstructions 3.25.6 Output Inst ructions : Devi ce set, reset ... SET , RST Functions (1) T ur ns on the specified device when the SET input turns on. (2) The device turned on is held on if the SET input turns of f. It can be turned off by the RST instruction.
127 Sequence Instructions 3 SEQUENCE PROGRAMMING (3) The function of RST (D) is the same as that of the following ladder . Execution Condi tions The SET and RST instructions are executed every scan. Program Examples , 1) Program that sets (turns on) Y8 when X8 turns on and resets (turns of f) Y8 when X9 turns on.
128 Sequence I nstructions 2) Program that resets the data regis ter contents to 0. 3) Program that resets the 100ms retentive timer and counter . Stores X10 to 1F conten ts into D8 when X0 turn s on . Resets D8 contents to 0 w hen X5 tu rns on. Coding When T5 is set as rete ntive timer, T5 turns on when ON period o f X4 reaches 30 min utes.
129 Sequence Instructions 3 SEQUENCE PROGRAMMING 3.25.7 Output Instructions : Leading edge, trailing edge diffe rential outputs ... PLS, PLF Functions (1) Turns the specified device on when the PLS command turns from OFF to ON, and turns it off except when the PLS command turns from OFF to ON.
130 Sequence I nstructions (1) T ur ns the specified dev ice on one scan when the PLF command turns from ON to OFF , and turns it off except when the PLF command turns from ON to OFF . When there is one PLF instruction for the device specified at during one scan, the specified device turns on for one scan.
131 Sequence Instructions 3 SEQUENCE PROGRAMMING 3.25.8 Shift Instructi ons : Bit device shift ... SFT , SFTP Functions (1) Shift s the ON/OFF status of the device preceding the one specified at to the specified device, and turns off the preceding devi ce.
132 Sequence I nstructions Program Example 1) Program that shifts the Y7 - B dat a when X8 turns on. SFT Execu tes shi ft s when X8 tur ns on. Program in orde r of larger to smaller device numbers.
133 Sequence Instructions 3 SEQUENCE PROGRAMMING 3.25.9 Maste r Control Instr uctions : Ma ster cont rol set, rese t ... MC, MC R Functions (1) The master control instructions are designed to create an ef ficient ladder switching sequence program by switching on/of f the common bus of the ladder .
134 Sequence I nstructions (1) When the MC ON/OFF command is on at the start of master control, the operation results between MC and MCR are as performed by the instruc tions (ladder). (2) If the MC instruction is off, the scan between the MC and MCR instructions is executed, and therefore, the scan time does not become short.
135 Sequence Instructions 3 SEQUENCE PROGRAMMING (1) This instr uction is designe d to r eset t he mast er contr ol and indicate s the e nd of the master control r ange. (2) Do not provide a contact ins truction in front of the MCR instruction. The master control instructions can be nested.
136 Sequence I nstructions Note the following when nesting the instructions . (1) The instructions can be nested to a level of eight (N0 to 7). When nes ting them, use MC from lower to higher nesting (N) numbers and MCR from higher to lower numbers.
137 Sequence Instructions 3 SEQUENCE PROGRAMMING 3.25.10 End Instruction : Sequence program end ... END Functions (1) Indicates the end of a program. Execution terminates scanning at this step and returns to step 0. (2) The END instruction cannot be used halfway through the sequence program.
138 Sequence I nstructions 3.25.1 1 O ther Instructions : No operation ... NOP Functions (1) No-operation instruction that has no influence on the preceding operation. (2) Use NOP to: 1) Provide space for debugging of a seq uence program. 2) Delete an instruction wi thout changing the number of step s.
139 Sequence Instructions 3 SEQUENCE PROGRAMMING Program Examples 1) Contact short-circuit (AND, ANI) 2) Contact short-circuit (LD, LDI) .......Note that if LD or LDI is replaced by NOP , the ladder will be completely changed. NOP Before change Replaced by NOP.
140 Basic Instructions 3.26 Basic Instructi ons The basic instructions can handle numerical dat a represented in 16 bits . 3.26.1 Comparison Operation Instructions (1) The comparis on operation instruction is handled as a cont act, comp ares the magnitudes of two pieces of data (e.
141 Basic Instructions 3 SEQUENCE PROGRAMMING CAUTION The c omparison inst ruction regards the s pecifi ed data as BIN valu es. Hence , if the value whos e most signi ficant bit (b 15) is 1 (8 to F) is sp ecified for com parison of hex adecimal data, it is regarded as a negative BIN value.
142 Basic Instructions 3.26.2 Comparison Operation Instructions : 16-bit data comparis on ... =, <>, >, <=, <, >= Functions (1) Handled as an N/O contact and performs 16-bit comparison operation. (2) The comparison operation results are as indicated below .
143 Basic Instructions 3 SEQUENCE PROGRAMMING Program Examples 1) Program that compares the X0-F data an d D 3 data. 2) Program that compares the BCD value 100 and D3 dat a. 3) Program that compares the BIN value 100 and D3 dat a. 4) Program that compares the D0 and D3 dat a.
144 Basic Instructions 3.26.3 Arithmetic Oper ation Instructions The arithm etic op erati on inst ructions ar e instru ction s whi ch perform the additio n, subtr action, mul tiplic atio n, an d divi sion of two BIN d ata.
145 Basic Instructions 3 SEQUENCE PROGRAMMING 3.26.4 Arithmetic Opera tion Instructions : BIN 16-bit addition, subtraction .. . +, +P , -, -P Usable Devices Digit Designation Error Flag Bit devices W .
146 Basic Instructions Functions (1) Performs the addition of BIN data specifies at and the BIN data specified at , and stores the addition result into the device specified at . (2) Performs the addition of BIN data specified at and the BIN data specified at , and stores the addition result into the device specified at .
147 Basic Instructions 3 SEQUENCE PROGRAMMING Functions (1) Performs the subtraction of BIN data specifies at and the BIN dat a specified at , and stores the subtracti on result into the device specified at .
148 Basic Instructions Execution Condi tions Addition/subtraction command. Program Examples Program which adds the content of A0 to the content of D3 and outputs the result to Y38 to 3F when X5 turns on. Program which outputs the difference between the set value and present value timer T3 to Y40 to 53 in BCD.
149 Basic Instructions 3 SEQUENCE PROGRAMMING 3.26.5 Arithmetic Opera tion Instructions : BIN 16-bit multiplication, div ision ... *, *P , /, /P Usable Devices Digit Desi gnat ion Error Flag Bit devic.
150 Basic Instructions Functions (1) Performs the multiplication of BIN dat a specified at and the BIN data s pecified at , and stores the multiplication result into the device specified at . (2) When is a bit device, specify the bits, beginning with the lower bits.
151 Basic Instructions 3 SEQUENCE PROGRAMMING (1) Performs the division of BIN data specified at and the BIN data specified at , and stores the result into the device specified at .
152 Basic Instructions Operation Er rors In the following case, operation error occurs and the error flag tur ns on. • A1 or V has been specified at . • The divisor is 0. Program Examples 1) Program which stores the multiplication result of 5678 and 1234 in BIN to D3 and 4 when X5 turns on.
153 Basic Instructions 3 SEQUENCE PROGRAMMING 3.26.6 Data T ransfer Instruct ions The data transfer instructions are designed to transfer data. The da ta mov ed by the d ata tra nsfer in struct ion is m ainta ined unti l new dat a is tran sferr ed. 3.
154 Basic Instructions Program Examples 1) Program that stores the input X0-B data into D8. 2) Program that stores 155 into D8 in binary when X8 turns on. MOV MOV P Transf e r command Execute d every scan. Executed every scan . Execute d only once. Executed o nly once.
155 Application instructions 3 SEQUENCE PROGRAMMING 3.27 Application instructi ons Application instructions are used when special processing is requi red. 3.27.1 Logical Operation Inst ructions (1) The logical operation instructions are inst ructions which perform the logical operations such as logical add and logical product.
156 Application instructions 3.27.2 Logical Operation I nstructions : 16-bit Logical Product ... W AND, W ANDP Functions (1) ANDs the 16-bit data of the device specified at and the 16-bit data of the device specified at on a bit-by-bit basi s, and stores the result into the device specified at .
157 Application instructions 3 SEQUENCE PROGRAMMING (2) ANDs the 16-bit data of the device specified at and the 16-bit data of the device specified at on a bit-by- bit basis, and stores the result into the device specified at . (3) More than the digit designation of a bit device is regarded as 0 for operati on.
158 Application instructions 2) Program that ANDs the X10-1B and D33 data and outputs the result to Y0-B when XA turns on. 3) Program that ANDs the X10-1B and D33 data and outputs the result to Y0-B when XA turns on. ANDs X10 -1B data and D33 data and stor es result t o D33.
159 Application instructions 3 SEQUENCE PROGRAMMING 3.27.3 Logical Operation Inst ructions : 16-bit Logical Add ... WOR, WORP Functions (1) ORs the 16-bit data of the device spec ified at and the 16-bit data of the device specified at on a bit-by-bit basis, and stores the result into the device specified at .
160 Application instructions (2) ORs the 16-bit data of the device specified at and the 16-bit data of the dev ice specified at on a bit-by-bit basis, and stores the result into the device specified at . (3) More than the digit designation of a bit device is regarded as 0 for operati on.
161 Application instructions 3 SEQUENCE PROGRAMMING 2) Program that ORs the X10-1B and D33 data and outputs the result to Y0-F when XA turns on. 3) Program that OR s the D10 and D20 data and stores the result into D33 when XA turns on. 4) Program that ORs the X10-1B and D33 data and outputs the result to Y0-B when XA turns on.
162 Application instructions 3.27.4 Logical Operation I nstructions : 16-bit Exclusi ve Lo gical Add ... WXOR, WXORP Usable Devices Digit Designation Error Flag Bit devices Word (16-bit) device s Cons.
163 Application instructions 3 SEQUENCE PROGRAMMING Functions (1) Performs the exclusi ve OR of the 16-bit data of device spec ified at and the 16-bit data of device specified at per bit, and stores the result into the device specified at .
164 Application instructions Program Examples 1) Program which performs exc lusive OR of the data of D10 and that of D20, and stores the result to D10 when XA turns on. 2) Program which performs the exclusive OR of the data of X10 to 1B and data of D33, and sends the result to the Y30 to 3B when XA turns on.
165 Application instructions 3 SEQUENCE PROGRAMMING 3.27.5 Logical Operation Inst ructions : 16-bit NOT Exclusi v e Logical Add ... WXNR, WXNRP Usable Devices Digit Designat ion Error Flag Bit devices.
166 Application instructions Functions (1) Performs the exclusive NOR of the 16-bit data of device specifi ed at and the 16-bit data of device specified at per bit, and s tores the result into the device specified at .
167 Application instructions 3 SEQUENCE PROGRAMMING Program Examples 1) Program which compares the bit p attern of the 16-bit data of X 30 to 3F and tha t of the 16-bit data of D99 and stores the number of the same bit patterns and the number of different bit patterns to D7 and 8, res pectively , when XC turns on.
168 Application instructions 3.27.6 Logical Operation I nstructions : BIN 16-bit 2’s complement ... NEG , NEGP Functions (1) Reverses the sign of the 16-bit data of device specified at and stores the result in device specified at . (2) Used to reverse the positive sign to the negative sign and vice versa.
169 Application instructions 3 SEQUENCE PROGRAMMING Execution Condi tions Program Examples 1) Program which c alculates "D10 - D20" when XA turns on, and obtains the absolute value when the result is negative. NEG NEG NEGP 2's complement execution command Executed every scan.
170 MEMO.
171 Cha pt e r 1 Cha pt e r 2 Cha pt e r 3 Cha pt e r 4 4. ERROR CODE LIST 4.1 How t o Re ad the E rr or C ode ..... ..... .... ..... ...... ..... 172.
172 How to Read the Error Code When the built-in PLC function is in the RUN status or if an alarm occu rs during RUN, the self-diagnostic function displays the error and stores the error code and error step into the special registers. This chapter describes the error definitions and c orrective actions.
173 How to Read the Error C ode 4 ERROR CODE LIST “OPERA TI ON ERROR” [Che cked at instru cti on executi on] 50 Run (S top) Divide d by zero Read the er ror step by use of periph eral dev ice, and chec k and correct th e program at that step.
174 MEMO.
175 APPENDIX Appendix1Instr uction Processi ng Ti me ............ ........ 176.
176 Instruction Processing Time Appendix1 Instruction Processing Time Instru ctio n Condi tion (Devic e) Numbe r of Ste p s Proc ess ing Time ( µ s) LD 1 2.6 LDI 1 2.7 AND 1 2.8 ANI 1 2.8 OR 1 2.7 ORI 1 2.8 ORB 1 2.0 ANB 1 2.0 MPS 1 1.9 MRD 1 1.9 MPP 1 2.
177 Instruction Processing Time OR<> 7 8.2 OR> 5 7.5 OR> 7 8.2 OR<= 5 7.5 OR<= 7 8.2 OR< 5 7.5 OR< 7 8.2 OR>= 5 7.6 OR>= 7 8.2 +5 1 0 . 3 +P 5 10.7 +7 1 0 . 3 +P 7 10.7 -5 1 0 . 3 -P 5 10.7 -7 1 0 . 4 -P 7 10.8 *7 1 0 . 8 *P 7 1 1.
REVISIONS *The manual number is given on the bottom left of the back cover Print Date *Manual Number Revision Sep., 20 05 I B(NA)- 060026 2ENG-A First editi on.
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