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Industry Business Division

μGPCsH Series
Programming Manual (Instruction Words)

Industrial Plant

Issuing department

Development Group
Symbol-Date

History

Product
name2010.10.28 First issue

Page

Approved

CheckedCreated―

Onitukaレ

Onituka

Instruction Words[Scope]TOYO DENKI SEIZO K.K.
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NumberIntroduction

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lThank you for purchasing the Toyo Denki FA μGPCsH digital controller.
This instruction word programming manual explains the theory of programming, the relays and registers,
and each of the instruction words. In order to use the μGPCsH correctly, please read this manual carefully.
Please also read the related manuals below.
Name

Manual number

μGPCsH Series TDFlowEditor
Manual: Operation
μGPCsH Series User’s Manual(Hardware)Content
This manual explains the interface of
TDFlowEditor and how to use the program.
μGPCsH Series system configuration,
hardware specifications of each module, etc.

QG18721
QG18720

Caution(1) No part of this manual may be reproduced or duplicated without permission.
(2) The content of this manual is subject to change without prior notice.
(3) We have endeavored to make this manual as complete and accurate as possible. However, if
you notice any errors or ambiguities, please report them to the sales office shown on the back ofthis manual, stating the manual number indicated on the front cover.

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NumberSafety Notice

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lRead this ―Safety Notice‖ carefully before using the product and use the product accordingly. In thismanual, safety-related items are divided into ―Danger‖ and ―Caution‖ as follows.

Danger: Mishandling may cause death or serious injury.

Caution: Mishandling may cause moderate bodily injury, minor injury or damage to property.

Note that items marked
circumstances.

Caution may also result in other serious consequences depending on the

All safety notices contain important information which should be strictly observed. Matters requiring special
attention are shown below, which are also indicated with the marks shown above.

Danger Emergency stop circuits and interlock circuits should be implemented outside the PC. Malfunction of
the PC may result in damage or accidents involving the machinery.

Caution Only perform operations such as changing programs, forced output, start, stop, etc., after ensuringsafety. Incorrect operation may cause the machine to function, resulting in accidents or damage tothe machinery.

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l

Revision History* The manual number is shown at the bottom right of the cover sheet.

Date printed
2010.10* Manual number
QG18719

Details of revisionFirst edition issued

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NumberContents

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lIntroduction ................................................................................................................................ 2
Safety Notice .............................................................................................................................. 3
Revision History......................................................................................................................... 4
Chapter 1

Outline .................................................................................................................... 6

Chapter 2

Programming Method Using the μ-GPC Language ............................................. 7

Chapter 3

Data Types and Range That Can Be Handled .................................................... 10

3.1

Kinds of Data ............................................................................................................................ 10

3.2

Kinds of Data Type .................................................................................................................. 11

3.3

16-Bit Integer Type (i-Form) .................................................................................................... 11

3.4

16-Bit BCD Type (u-Form) ....................................................................................................... 11

3.5

32-Bit Integer Type (w-Form) .................................................................................................. 12

3.6

32-Bit BCD Type (v-Form) ....................................................................................................... 12

3.7

32-Bit Real Number Type (r-Form) ......................................................................................... 13

3.8

Relation Between the Logic Data and the 16-Bit Integer Data (i-Form) ............................. 14

Chapter 4

Kinds of Relays and Registers ........................................................................... 16

4.1

Relation Between the Local Variable, Global Variable and Subprogram .......................... 16

4.2

Number of Relays and Registers That Can Be Used ........................................................... 17

4.3

Outline of the Special Relay ................................................................................................... 24

Chapter 5

Explanation of Instruction Words ....................................................................... 28

Chapter 6

Appendix ............................................................................................................ 117(Appendix 1) Symbols and their Names ....................................................................................................... 117

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Chapter 1 Outline

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In the μGPCsH series, we have developed a new language for the μ-GPC as a control language forapplication programs, without using computer languages (assembly language, C-language, etc.).
The μ-GPC language employs the ladder network that has been conventionally used in sequencers, etc.,
for logic operations, and the DFS (data flow symbol) that has been used in analog computers, etc., fornumerical operations. This is a new programming technique that enables visual programming using
programming tools that run on personal computers.
The μ-GPC language has the following features.
(1) It has an optimized language system that has revolutionized the concept of computer languages.
Rather than defining the processing procedures of the microprocessor, it defines the processing
procedures for the data.
(2) It is a graphic display language which makes a program very easy to understand, thus enabling
programming with minimum errors.
It is possible to program both logic operations and data processing on the same screen.
(3) Since it automatically converts the types of data handled (integers, BCD types, real numbers, etc.),
there is no need to use type conversion instructions in a program. If data is divided, conversion
instructions can be used.
(4) Since you can use a wide range of time series functions for control such as S-letter operations, afunction created using a number of ladder symbols can be defined with a single symbol, making it
easy for anyone to create programs.
Because it automatically measures and adjusts the execution time of a program, you do not need to
pay attention to the time at all.
(5) With three index registers (X, Y and Z), you can make index decorations and you can also create
flexible programs typical of computers. Program loops using jump instructions also help to reduce thenumber of steps.
(6) You can easily prepare structured programs using subprograms.
This is ideal for the reuse and standardization of application programs.
(7) You can create four multi-task programs to achieve efficient systems. Since you can set execution
cycle times independently, the execution cycle can be divided into four.
(8) Since all the program data is stored in the CPU, even if the computer used for development fails, you
can perform maintenance using another computer. The comments in programs can also be recovered,so programs, comments and execution data can be maintained as a set.
(9) Using the many convenient functions of the TDFlowEditor programming tool, you can perform thework required to changeover the system accurately, in a very short time, with few errors. For thedetails of functions such as loader, monitor, debugger, trend, and trace back that can be used whenthe equipment is running, refer to the μGPCsH Series TDFlowEditor Manual: Operation.

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Chapter 2 Programming Method Using
the μ-GPC Language

mbolWith the μGPCsH, the programs loaded on a single CPU are constructed using the concept of a project. A
project is given a name that can be changed freely. Project names should be set appropriately. A single
project can be divided into six parts: IO allocation, Task 1, Task 2, Task 3, Task 4 and subroutine.
(1)

IO Allocation

This defines the hardware related conditions of the CPU; therefore it defines the system configuration.
(2)

Task 1, Task 2, Task 3, and Task 4

The task with the highest priority is made Task 1, which consists of scan time and a number ofsubprograms. Each subprogram is given a program name which can be changed to indicate the processthat it handles within a program. If you do not specify a name, it is called NoName by default.
A subprogram is written on a programming sheet comprising 12 horizontal columns and 19 vertical lines. A
single programming sheet is one page, and more pages can be added successively.
Local symbols can be used within a subprogram, but handover between subprograms can only be effectedby the global memory.
(3)

SubroutineThis is a subroutine that is used in common, similarly to the subprograms in Task 1, Task 2, Task 3, andTask 4. Subroutines are given names using six-digit English alphanumeric codes.
(4)

Programming sheets

Each of the twelve horizontal columns has a part for inserting a symbol and a part for a crosspoint. A
program is made by placing symbols in these parts and entering label names for them.
No END instructions or compilation operations are required and the program is compiled automaticallywhen the editor is closed.
Contacts using ladder symbols and data flow symbols can be placed in columns 1 to 11.
Only coils using ladder symbols can be placed in Column 12.
There is no crosspoint in column 11, and therefore no intersection of addition instructions or laddersymbols can be inserted.
Usually, binary operators (addition, subtraction, multiplication, etc.) are placed at a cross point, but
C-contacts are placed as symbols since they alone can be given a contact name.
Each of the nineteen vertical lines is divided into parts for inserting a label name, symbol and data
comment.
Programs that use crosspoints can extend over multiple rows, but programs exceeding nineteen lines are
divided across multiple pages using a temporary label.

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l(5)

Program comment

In the programming sheet, column 13 can be used for comments as shown in the programming example in
the figure on the next page. If a coil is placed with a ladder symbol, it is applied to the position of comment
at the relevant contact point. The comment is displayed automatically, unless it is input at the contact side.
However, you can only enter a maximum of three 2-byte characters (six 1-byte characters) so thecharacters should be chosen carefully with easy identification in mind. Also, as in the first line, positions forcomments with no symbols entered can be used in their entirety for comments.

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lExplanation of the sample program

The sample problem shown above is explained for reference.
 The first line is a comment line. As shown in this example, the content of the program is written
beforehand.
 The second line is a blank line. Blank lines are inserted where necessary to make the program list easierto read.
 The third and fourth lines are ladder symbols for a HOLD circuit that uses a typical 2-operation switch.
 By turning the input switch I00000 ON, the lamp circuit O00020 is set to light up, and the status is set to
HOLD.
 I00001 is a B-contact input switch that releases the HOLD status. If it is ON, the lamp is turned off.
 The fifth line is a blank line.
 The sixth to ninth lines are the flash circuit of a lamp combining an on-delay timer and an off-delay timer.
The on-time and off-time can be changed independently.
 The setting time of each timer is specified at the bottom of the coil in column 12. In the example above it
is set at 1.0 S (second), but it can be set up to 2 hours, with H representing the hour, M the minutes, andS the seconds. The minimum unit is 10 mS, which is written as 0.01 S.
 The tenth line is a blank line.
 The eleventh to twelfth lines are a circuit that reads numerical data from the 16-bit input module, adds
the constant 123 to it, divides the resulting value by 60 to obtain the remainder, and turns the lamp on if
the remainder exceeds 30.
 Since the results of operations in the process are stored in registers, you can check them while
monitoring the results during debugging. The logic operation symbol is placed to the right of thecomparison instruction symbol.
 The thirteenth line is a blank line.
 The fourteenth to nineteenth lines show an example of a pattern generation circuit that uses a latch relay
and a change ratio limitation function (we call it ARC). It continuously generates triangular waves. The
wave height value can be set from the input module using BCD numerical values. The cycle can bechanged indirectly by changing the alteration ratio parameters of the ARC function. Real number
operations, integer operations and BCD operations are all present in the eighteenth and nineteenth lines
and the patterns are continuously generated by switching the input value of ARC using the C-contact.
 The C-contact at B0000F is for test use, and it directly outputs the input value by turning it on using
debugger.

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Chapter 3 Data Types and Range
That Can Be Handledmbol

The data handled in the μGPCsH is represented by a label name consisting of a 2-digit type plus 4-digit
hexadecimal number. Also, the first digit of the hexadecimal number can be replaced by the index label X,
Y, or Z.
Label examples: IOX123, b0y234, mr02AF

3.1

Kinds of Data

The data handled in the μGPCsH can roughly be divided into two kinds, ―logic data‖ and ―numerical data.‖

3.1.1 Logic Data
 Logic data is a data that represents logic of one bit, namely ―1‖ or ―0.‖
 Logic data is processed using logic operations, etc.
 Logic data is stored in a ―relay,‖ and it can be accessed in a program by specifying a ―relay number.‖ The result of the operation of the comparison operation symbol is logic data.
Points In the μGPCsH, ―relays‖ are what store logic data.
 ―1‖ in logic data corresponds to a relay being ―on‖ while ―0‖ corresponds to ―off.‖

3.1.2 Numerical Data
 Numerical data is data that represents 16 bits (1 word) or 32 bits (2 words) as a single unit.
 Numerical data is stored in a ―register,‖ and it can be accessed in a program by specifying a ―register
number.‖ Logic data is the input condition of the comparison operation symbol.
PointsIn the μGPCsH, ―registers‖ are what store numeric data.
An uppercase character is used as the initial letter of the relay number of logic data.
Example: I00000
A lowercase character is used as the initial letter of the register number of numerical data.
Example: i00000

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lKinds of Data Types

3.2.1 Types of Logic Data
There is no particular distinction between types. The data that can be handled is 1 (on) and 0 (off).

3.2.2 Types of Numerical Data
There are the following types of numerical data, which are explained in 3-3 and thereafter.
(1)16-bit integer type (i-form)(2)

16-bit BCD type (u-form)(3)

32-bit integer type (w-form)(4)32-bit BCD type (v-form)(5)32-bit real number type (r-form)

3.3

16-Bit Integer Type (i-Form)

Represents 16-bit integer value signed data as a single unit (one word).
The range of data that is handled internally is: -32,768 to 32,767 (8000H to 7FFFH).
This kind of numerical data is called ―16-bit integer data.‖

3.4

16-Bit BCD Type (u-Form)

Represents 16-bit BCD (binary coded decimal) 4-digit data as a single unit (one word).
The range of data that is handled internally is: 0000 to 9999 (0000H to 270FH)
This kind of numerical data is called ―16-bit BCD data.‖
Note: The 16-bit BCD data can only be used for data exchanged with an input and output (I/O) unit (I/O
data).

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3.5

32-Bit Integer Type (w-Form)

Represents 32-bit integer value signed data as a single unit (two words).
The range of data that is handled internally is: -2147483648 to 2147483647 (80000000H to 7FFFFFFFH)
This kind of numerical data is called ―32-bit integer data.‖
Note: The 32-bit integer data can only be used for data exchanged with an input and output (I/O) unit (I/O
data).

3.6

32-Bit BCD Type (v-Form)

Represents 32-bit BCD (binary coded decimal) 8-digit data as a single unit (two words).
The range of data that is handled internally is: 00000000 to 99999999 (00000000H to 05F5EOFFH)
This kind of numerical data is called ―32-bit BCD data.‖
Note: The 32-bit BCD data can only be used for data exchanged with an input and output (I/O) unit (I/O
data).

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l32-Bit Real Number Type (r-Form)

Represents 32-bit floating-point format data as a single unit (two words).
The range of data that is handled internally is: -6.2573187 × 1038 to 6.2573187 × 1038
This kind of numerical data is called ―32-bit real number data.‖
Reference: The 32-bit real number data is handled internally as follows.
The user can ignore it.
(-1)S × 2e-127 × 1.fs: Value of the code parte: Value of the exponent partf: Value of the mantissa part (normalized to a 23-bit binary number)
31 30

23 22

S Exponent part0
Mantissa part

1-bit 8-bit 23-bit

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Relation between the Logic Data and the 16-Bit Integer Data (i-Form) l

The ―logic data‖ handled in the μGPCsH can be assembled into a group of 16 bits that is associated with asingle unit of ―16-bit integer (i-form) data.‖
In this case, the logic data and 16-bit integer data, the relay and register that store these data, and therelay number and register number have the following relationship.
Example: Continuous relay numbers (from I00120 to I0012F in the figure below) correspond to the input
relays that contain 16 units of logic data. Meanwhile, register number i00012 corresponds to the
input register that contains 1 unit of 16-bit integer data. The relation between both can beillustrated as in the figure below. This figure represents how the content of input register i00012:
5AA5 (hexadecimal) is expanded in input registers from I00120 to I0012F.

Input relay number value
I001201

I001210I00122

1

I001230I001240I00125

1

I001260I00127

1

I001280I001291

I0012A

0

I0012B

1

I0012C1

I0012D

0

I0012E

1

I0012F

0

Input register bit number
i00012

Input register value

F E D C0 1 0 1B A 9 81 0 1 07 6 5 41 0 1 0

5

A

A

14

3 2 1 00 1 0 1

5

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Likewise, the correspondence between the input relays that are put into groups of 16 bits and the inputlregister is as follows.
Input relay number

Input register number

I00000, I00001,

toI0000F

i00000I00010, I00011,

toI0001F

i00001

I00020, I00021,

toI0002F

i00002

Aside from these, each kind of relay such as output relays, link relays, auxiliary relays, etc., can likewise
be associated with the output register, link register, auxiliary register, etc.
PointsCorrespondence between the relay number and the register number

Example: Relay number I00123 represents bit number 3 of register number i00012.
Note: The range of relay numbers and register numbers depends on the kinds of relays and registers.
Some registers are meaningless when expanded in relays, and hence they cannot be expanded (kr,mr, mi, etc.)

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lChapter 4 Kinds of Relays and Registers
4.1

Relation between the Local Variable, Global Variable and Subprogram

OutputInput

CPUPower supply

Example of μGPCsH system
configuration

NoName2

Local variable

NoName3
NoName4

Task 4

Task 3

Local variable

Global variable

Local variable

Task 2

NoName1

Task 1

Local variable Local variable:

A variable that can be accessed within a single subprogram only (it cannot be
accessed from other subprograms). The number used should be set with
― RelayRegisterUse‖ in each subprogram. It is prepared by dividing it depending on
the processing function.
Example: mi, B0, etc.

 Global variable:

A variable that can be accessed from any subprogram within a single project.
Example: G0, fi, RI, etc.

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lNumber of Relays and Registers That Can Be Used

(1) Global variable
The maximum number of variables that can be used in any subprogram within a project is shown in thetable below.
Number used
Kind
(Maximum)
Input relay
8,192 Contact
Input register
512 Input data
Output relay
8,192 Coil, contact
Output register(512) Output data
32,768 System
Announce relay
Announce register
2,048 information
131,072 Coil, contact
Global relay
1,048,576 Global data
Global register
32,76865,536 Coil, contact
Retain relay
65,536
Retain register
Retain data
32,76865,536 Coil, contact
4,096
Network data
Network relay
2,048
Network register
4,096
Network data
2,048
*1: The total number of inputs and outputs.
Name

Data number
I00000 to I01FFF
ix0000 to ix01FF
O00000 to O01FFF
ox0000 to ox01FF
Z00000 to Z07FFF
z00000 to z007FF
G00000 to G1FFFF
g00000 to gFFFFF
gr0000 to grFFFE
RI0000 to RIFFFF
ri0000 to riFFFF
rr0000 to rrFFFE
FI0000 to FIFFFF
fi0000 to fi0FFF
fr0000 to fr0FFE
ei0000 to ei0FFF
er0000 to er0FFE

Data
direction
Load
Store

Remarks
*1
*3
*1
*3

Load
Load
Store
Load
Store
Load
Store
Load
Store

*2

*2

*2
*2

*2: Odd numbers cannot be used.
*3: X is replaced with u (BCD 4-digit), v (BCD 8-digit) or w (32-bit integer) representing the type of I/Oregister.

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lLocal variable

The maximum number that can be used in each subprogram is shown in the table below.
Name
Auxiliary relay
Auxiliary register

Number used
Kind
(Maximum)6144 Coil, contact
384 Auxiliary data

Data number

Set coil
Latch relay
Latch register

512
Reset coil
32 Latch contact

On differential
relay
On differential
registerOff differential
relay
Off differential
register
On timer
On timer register

Off timer
Off timer register

512

32
512

Coil
Differential contact
Coil

Differential contact
32
512 Coil, instantaneouscontact
Timing contact
32
512 Elapsed time
512 Coil, instantaneouscontact
Timing contact
32
512 Elapsed time

18

B00000 to B017FF
b00000 to b0017F
LS0000 to LS01FF
ls0000 to ls001F
LR0000 to LR01FF
lr0000 to lr001F
LC0000 to LC01FF
lc0000 to lc001F
US0000 to US01FF
us0000 to us001F
UC0000 to UC01FF
uc0000 to uc001F
DS0000 to DS01FF
ds0000 to ds001F
DC0000 to DC01FF
dc0000 to dc001F
TS0000 to TS01FF
ts0000 to ts001F
TD0000 to TD01FF
td0000 to td001F
tn0000 to tn01FF
TR0000 to TR01FF
tr0000 to tr001F
TC0000 to TC01FF
tc0000 to tc001F
tf0000 to tf01FF

Data
Remarks
direction
Load
Store
Load
Store
Load
Store
Load
Load
Store
Load
Load
Store
Load
Load
Store
Load
Load
Load
Store
Load
Load

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NumberCounterReset
Coil
256 Preset
Coil
Up coil
Down coilCounter register
Operation data
Constant data
Pattern data
Stack register

16 Zero detection
contact
256 Current count value
8192 Integer
4096 Real number
8192 Integer
4096 Real number
10 Integer
10 Real number
4096 Coil, contact
256 Integer
128 Real number

NR0000 to NR00FF
nr0000 to nr000F
NP0000 to NP00FF
np0000 to np000F
NU0000 to NU00FF
nu0000 to nu000F
ND0000 to ND00FF
nd0000 to nd000F
NZ0000 to NZ00FF
nz0000 to nz000F
N00000 to n000FF
mi0000 to mi1FFF
mr0000 to mr0FFF
ki0000 to ki1FFF
kr0000 to kr0FFF
pi0000 to pi0009
pr0000 to pr0009
SI0000 to SIFFFF
si0000 to si00FF
sr0000 to sr00FF

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Load
Store
Load
Store
Load
Store
Load
Store

mbo
l

Load
Load
Load
Store
Load
Load
Load
Store

*1
*1

*2
Load
Index register
3 Integer
indx_x, indx_y, indx_z
Store*1: The number of patterns that can be used varies depending on the setting of the number of points ofpattern data.
*2: Odd numbers cannot be used.

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For ease of handling, the global register and stack register have a shared object relationship. The sharedobject relationship between the relays, integer registers and real number registers of the global memory is
shown in the table below. sr0000 represents live line data, and sr0002 represents the first argument.
(3)

Shared structure of registers

Relay name
G00000G00001G00002G0000F
G00010G00011
G00012Integerregister
g00000Real number
register

g00001gr0000G0001F
G00020g00002G0002F
G00030g00003G0003F

Relay name
SI0000SI0001SI0002gr0002SI000F
SI0010SI0011SI0012Integerregister
si0000Real number
register

si0001sr0000SI001F
SI0020si0002SI002F
SI0030si0003sr0002SI003F

Note: Since the shared object relationship allows operations from any register, special care should betaken when using it.

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CPU announce register

Register
Relay
z00000Z00000Z00001Z00002Name
CPU RUN
Serious failure

RUN/STOP lever
UnusedContent
A relay that turns on when the CPU is running
A relay that turns on when the CPU isexperiencing serious failure
A relay that turns on when the CPU isexperiencing minor failure
Task 1 scan time register (BCD) msec
Task 3 scan time register (BCD) msec
Year (H) and month (L) display (BCD)
Day (H) and time (L) display (BCD)
Minutes (H) and seconds (L) display (BCD)
Normally 0
A counter that increases in 0.25 ms increments
A counter that increases in 1 s increments
A counter that increases whenever a systemtask starts
FL-net code switch value (00h to FFh ―255‖)
CPU slot implementation information (Normally0)
IO1 slot implementation information (With
implementation: 0, With no implementation: 1)
IO2 slot implementation information (With
implementation: 0, With no implementation: 1)
IO3 slot implementation information (With
implementation: 0, With no implementation: 1)
IO4 slot implementation information (With
implementation: 0, With no implementation: 1)
IO5 slot implementation information (With
implementation: 0, With no implementation: 1)
IO6 slot implementation information (With
implementation: 0, With no implementation: 1)
IO7 slot implementation information (With
implementation: 0, With no implementation: 1)
IO8 slot implementation information (With
implementation: 0, With no implementation: 1)
IO9 slot implementation information (With
implementation: 0, With no implementation: 1)
Normally 1
Normally 1
Tool I/F USB connection: 0, USB notconnected: 1
CPU implementation information (Normally 1)
Cell voltage normal or no battery: 2, Cell
voltage down: 0
RUN: 1, STOP: 0
Normally 0

Operation switch ENT
Operation switch D
Operation switch U
Operation switch L
Operation switch R
Unused

ENT button press: 1, ENT button release: 0
DU lever D: 1, Neutral or U: 0
DU lever U: 1, Neutral or D: 0
LR lever L: 1, Neutral or R: 0
LR lever R: 1, Neutral or L: 0
Normally 0

CPU version

CPU version register 1.00 = 100

Minor failurez00003z00004z00005z00006z00007z00008z00009z0000A
z0000B

—
—
—
—
—
—
—
—
—

Scan time 1
Scan time 2
Clock register (year, month)
Clock register (day, time)
Clock register (minutes, seconds)
Unused0.25 ms counter1 sec counter
System task counterz0000Cz0000D—
Z000D0Code switch information
CPU implementation information

Z000D1IO1 implementation information

Z000D2IO2 implementation information

Z000D3IO3 implementation information

Z000D4IO4 implementation information

Z000D5IO5 implementation information

Z000D6IO6 implementation information

Z000D7IO7 implementation information

Z000D8IO8 implementation information

Z000D9IO9 implementation information

Z000DA Unused
Z000DB Unused
Z000DC USB connection
Z000DD CPU implementation
Z000DE Cell voltage

z0000Ez0000Ez0000F

Z000DF
Z000E0to
Z000E7Z000E8Z000E9Z000EA
Z000EB
Z000EC
Z000ED
to
Z000EF—

21

Page
Number(4)
CPU announce register (Continued 1)
RegisterRelay
Namez00010—
IO initialization error
toz00017z00018—
IO online check error
toz0001F

Symbol22/119Sy
QG18719

mbo
lContent
IO initialization error or blown Tr output module fuse
Z001X0 to Z001XF: Slot number
Z0010X to Z0017X: Unit number (Basic unit: 0)
IO online check error or loss of external power to Tr
output module
Z001X0 to Z001XF: Slot number
Z0018X to Z0017X: Unit number (Basic unit: 0)
Changed the IO module information
Z002X0 to Z002XF: Slot number
Z0020X to Z0027X: Unit number (Basic unit: 0)
IO allocation and actual configuration differ
Z003X0 to Z003XF: Slot number
Z0030X to Z0037X: Unit number (Basic unit: 0)
Unusedz00020toz00027z00030toz00037z00038toz0004Fz00050toz000FFz00100toz0012Fz00130—

IO configuration change—

IO setting malfunction—

Unused—UnusedUnused (Can be used as control relay for functions
when transplanting past applications)—

UnusedUnused—Amount of local memoryusedz00131—

Amount of local memoryusedz00132z00133z00134———z00135z00136z00137———z00138z00139z0013Az0013Bz0013Ctoz0013Fz00140z00141toz0014F—————

Number of codes used (L)Number of codes used (H)Number of systemdefinitions used
UnusedUnusedNumber of generalpurpose files used
IP address
IP address
IP address
IP address
UnusedLocal memory words used (Variable part: b0, mi, mr
etc.)
Maximum131,072 words (Displayed only in L)
Local memory words used (Parameter part: ki, kr
etc.)
Maximum 65,536 words
Code words used (L) Maximum 327,680 words
Code words used (H) Maximum 327,680 words
System definition words used Maximum 8,192
words
UnusedUnusedGeneral-purpose information words used Maximum
131,072 words
Local module IP address (LL)
Local module IP address (LH)
Local module IP address (HL)
Local module IP address (HH)
Unused——For self-diagnosis
UnusedSelf-diagnosis register (use prohibited)
Unused22

Page
Number(4)

Symbol23/119Sy
QG18719

mbol

CPU announce register (Continued 2)

Registerz00150z00151z00152z00153z00154

Relay
—
—
—
—
—

Name
Execution time register
Scan time register
Execution time register
Scan time register
Execution time register

Content
IO refresh execution time (Unit ms) (BCD)
IO refresh startup period (Unit ms) (BCD)
Task 1 execution time (Unit ms) (BCD)
Task 1 startup time (Unit ms) (BCD)
Task 2 execution time (Unit ms) (BCD)

z00155z00156z00157z00158z00159z0015Az0015B
z0015C
z0015D
z0015Ez0015Fzr0160zr0162zr0164zr0166zr0168zr016Atozr016E
zr016Fzr0170zr0172
zr0174zr0176zr0178zr017Atozr017Fz00180

—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—

Scan time register
Execution time register
Scan time register
Execution time register
Scan time register
Priority register
Priority register
Priority register
Priority register
Priority register
Bank register
Scan time register
Scan time register
Scan time register
Scan time register
Scan time register
UnusedTask 2 startup time (Unit ms) (BCD)
Task 3 execution time (Unit ms) (BCD)
Task 3 startup time (Unit ms) (BCD)
Task 4 execution time (Unit ms) (BCD)
Task 4 startup time (Unit ms) (BCD)
IO refresh task priority in RTOS
Task 1 task priority in RTOS
Task 2 task priority in RTOS
Task 3 task priority in RTOS
Task 4 task priority in RTOS
Bank register of the currently used program 1 or 2
IO refresh startup time (Real number: Unit s)
Task 1 startup time (Real number: Unit s)
Task 2 startup time (Real number: Unit s)
Task 3 startup time (Real number: Unit s)
Task 4 startup time (Real number: Unit s)
Unused

—
—
—
—
—
—
—

Program switching register
Execution time register
Execution time register
Execution time register
Execution time register
Execution time register
UnusedWhen switching programs: 1
IO refresh execution time (Real number: Unit s)
Task 1 execution time (Real number: Unit s)
Task 2 execution time (Real number: Unit s)
Task 3 execution time (Real number: Unit s)
Task 4 execution time (Real number: Unit s)
Unused—Location of IO error

z00181—

Location of IO error

z00182z00183z00184z00185z00186z00187z00188z00189z0018A

—
—
—
—
—
—
—
—
—

Location of IO error
Location of IO error
Location of IO error
Location of IO error
System count register
System count register
System count register
System count register
System count register"00US" system configuration definition abnormality(No definition, implementation)"00US" system configuration definition abnormality(With definition, with no implementation)"00US" I/O module malfunction (IO ID Er)"00US" I/O module malfunction (IODef Er)"00US" common module malfunction (IOFaltEr)"00US" memory bus access malfunction (BusAccEr)
Flnet data transfer task start count
Flnet data transfer task startup period (μs)
NULL task start count
NULL task startup period (μs)
IO refresh OS period

23

Page
Number

4.3

Outline of the Special Relay(1)

Latch relay/register

Symbol
24/119Sy
QG18719

mbo
l

B00000
B00001LS0000LR0000LC0000
B00002

When set coil LS0000 is turned on, latch contact LC0000 is turned on, and O00020 remains on.
When reset coil LR0000 is turned on, latch contact LC0000 is turned off, and O00020 remains off.
The latch contact LC0000 is delayed for one scan from latch coil.
The latch coil is usually turned off when the power supply is opened.
To retain the latch coil even when the power supply is open, transfer it with the memory transfer definition
using the retain memory, or use the SET RESET function (set the retain relay as the parameter).
To achieve the same functions within the subroutine, use the SET RESET function using SI0000 in thesubroutine.

24

Page
Number(2)

Symbol25/119Sy
QG18719mbolOn/off differential relay/register

B00010US0000UC0000
B00011

B00020DS0000DC0000
B00021

When coil US0000 is turned on, after a delay of one scan, differential contact UC0000 is turned on for one
scan.
When coil DS0000 is turned off, after a delay of one scan, differential contact DC0000 is turned on for one
scan.
There is also a USUC function and DSDC function to achieve the same functions.

25

Page
Number(3)

Symbol26/119Sy
QG18719mbolOn/off timer relay/register

B00050TS0000TD0000
B00051

B00060TR0000TC0000
B00061

When coil TS0000 is turned on, after the set time has lapsed, timing contact TD0000 is turned on. TD0000
is turned off within one scan after TS0000 is turned off. (The timer setting value is input at the bottom of
the TS coil.)
Here, S stands for second, M for minute and H for hour, and the setting range is from 0.01 seconds to 2
hours.
When coil TR0000 is turned on, timing contact TC0000 is turned on within one scan after TR0000 is turned
ON. It is turned off after the set time has lapsed. (The timer setting value is input at the bottom of the TR
coil.)
Here, S stands for second, M for minute and H for hour, and the setting range is from 0.01 seconds to 2
hours.

26

Page
Number(4)

Symbol27/119Sy
QG18719

mbo
lCounter relay/register

n00000NR0000NP0000
NU0000
ND0000
NZ0000The initial value of the counter is 0. Next, the up coil is turned on and the counter value increases by one.
The zero detection contact is turned off with 0 initially, but since 1 has been added, it is no longer 0, so it isturned off.
In addition, the up coil is turned on and the counter value increases by 1, to 2.
The preset coil is turned on and the counter value becomes 15.
The preset value is set at the bottom of the NP coil.
The down coil is turned on, and the counter value decreases by 1.
The reset coil is turned on, the counter value becomes 0, and the zero detection contact is turned on.

27

Page
NumberSymbol28/119Sy
QG18719mbo
lChapter 5 Explanation of Instruction Words
How to read the table
The name of eachsymbolKind

Classified
according to theoperation of eachsymbolNote

A drawing of each symbol
Name

SymbolExecution time

Function

The execution
time of eachsymbolThe function ofeach symbol

Example of use

An example of use within the actual
circuit or a trend graphNote: Relay and Reg that are displayed in the symbol column hereafter are explained below.
The figure on the left shows a relay. Here it is represented by the word RELAY for the sake ofsimplicity. All relays can be set as G0, I0, B0, etc.
The figure on the left shows a register. Here it is represented by the word REG for the sake ofsimplicity. All registers can be set as g0, mi, kr, etc.

28

Page
NumberKind

Name

LD language

A-contact

Function

Symbol29/119Sy
QG18719

mbo
Execution l time

Symbol0.10 [μs]If RELAY is on, the input logic value is output.
If it is off, the output logic value is turned off.

RELAY

A

B

On

On

On

On

Off

Off

Off

X

Off
X: Not applicable

Exampleof useWhen both relay B00000 and relay B00001 are on, relay B00010 is turned on. Otherwise, relay B00010 isturned off.

29

Page
NumberKind

Name

LD language

B-contact

Function

Symbol30/119Sy
QG18719

mbo
Execution l time

Symbol0.12 [μs]If RELAY is off, the input logic value is output.
If it is on, the output logic value is turned off.

RELAY

A

B

Off

On

On

Off

Off

Off

On

X

Off
X: Not applicable

Example ofuse

When relay B00000 is off and relay B00001 is off, relay B00010 is turned on. Otherwise, relay B00010 isturned off.

30

Page
NumberKind

Name

LD language

Logical reversal

Function

Logically reverses the input value.

A

SymbolSymbol31/119Sy
QG18719

mbo
Execution l time

0.10 [μs]

B
A

B

On

Off

Off

On

Example ofuse

When relay B00000 is on, relay B00001 is turned off.
When relay B00000 is off, relay B00001 is turned on.

31

Page
NumberKind

Name

LD language

Coil

Function

SymbolSymbol32/119Sy
QG18719

mbo
Execution l time

0.22 [μs]Outputs the input logic value to RELAY.

A

RELAY

On

On

Off

Off

Example ofuse

When relay I00000 is on, both relay O00020 and relay B00000 are turned on.
When relay I00000 is off, both relay O00020 and relay B00000 are turned off.

32

Page
NumberSymbol33/119Sy
QG18719

mbo
l

Kind
Data flow
language(Basic)Function

Name

SymbolExecution time

Load
Integer 0.16 [μs]Real number 0.20 [μs]Store
Load: The data in REG is set to the output numerical value.
Store: The input numerical value is output to REG.

D1 = REG

REG = D2

Exampleof useThe data in register ki0000 (2) is loaded and stored in register mi0000.
Next, the data in register mi0000 is loaded and stored in register mr0000.
Since register mr0000 is a register of the real number type, it is converted from an integer to a real
number and the data (2.0) is stored.

33

Page
NumberKind

Name

Data flow
language(Basic)Store & load
Store

Function

SymbolSymbol34/119Sy
QG18719

mbo
Execution l time
Integer 0.19 [μs]Real number 0.14 [μs]The input numerical value is output to REG, and the data of REG is set as the output
numerical value.
It is used when data during an operation must be retained in REG.

REG = D1
D2 = REG

Example ofuse

The data in register mi0000 and the data in register mi0001 are added and the result is stored in register
mi0002.
Next, the data in register mi0003 is subtracted from the data in register mi0002 and the result is stored inregister mi0004.
The addition data during an operation is stored in register mi0002.

34

Page
NumberKind

Name

Data flow
language(Basic)Addition

Function

SymbolSymbol35/119Sy
QG18719

mbo
Executionl time
Integer 0.24 [μs]Real number 0.15 [μs]Two input numerical values are added and the result is output.
The operation can be performed even if the types of value are different. However, aninteger is converted to a real number, which is then subject to a real number
operation.

D3 = D1 + D2

Type conversion
If the type of the register being used in one operation block is the integer type or the 16-bit BCD type, thedata is converted to the 16-bit integer type before the operation, whereas if a register of the real number
type, 32-bit integer type or 32-bit BCD type is used, it is converted to the real number type before theoperation. (After this, type conversion is also carried out for subtraction, multiplication, division,
remainder, priority given to a higher-level, and priority given to a lower-level.)

Example ofuse

The data in register mi0000 and the data in register mr0000 are added and the result is stored in register
mr0001.
Although the data in register mi0000 is an integer, since the data in register mr0000 is a real number,addition is performed after type conversion of the integer/real number.

35

Page
NumberKind

Name

Data flow
language(Basic)Subtraction

Function

SymbolSymbol36/119Sy
QG18719

mbo
Executionl time
Integer 0.28 [μs]Real number 0.18 [μs]Subtraction is performed using two input numerical values and the result is output.
The operation can be performed even if the types of value are different. However, aninteger is converted to a real number, which is then subject to a real number
operation.

D3 = D1 - D2

Example ofuse

The data in register mr0000 is subtracted from the data in register mi0000 and the result is stored inregister mr0001.
Although the data in register mi0000 is an integer, since the data in register mr0000 is a real number,subtraction is performed after type conversion of the integer/real number.

36

Page
NumberKind

Name

Data flow
language(Basic)Multiplication

Function

SymbolSymbol37/119Sy
QG18719

mbo
Executionl time
Integer 0.26 [μs]Real number 0.23 [μs]Two input numerical values are multiplied and the result is output.
The operation can be performed even if the types of value are different. However, aninteger is converted to a real number, which is then subject to a real number
operation.

D3 = D1 * D2

Example ofuse

The data in register mi0000 and the data in register mr0000 are multiplied and the result is stored inregister mr0001.
Although the data in register mi0000 is an integer, since the data in register mr0000 is a real number,
multiplication is performed after type conversion of the integer/real number.

37

Page
NumberKind

Name

Data flow
language(Basic)Division

Function

SymbolSymbol38/119Sy
QG18719

mbo
Executionl time
Integer 0.69 [μs]Real number 0.38 [μs]Division is performed using two input numerical values and the result is output.
The operation can be performed even if the types of value are different. However, aninteger is converted to a real number, which is then subject to a real number
operation.

D3 = D1 / D2

Example ofuse

The data in register mi0000 and the data in register mr0000 are divided and the result is stored in register
mr0001.
Although the data in register mi0000 is an integer, since the data in register mr0000 is a real number,division is performed after type conversion of the integer/real number.

38

Page
NumberKind

Name

Data flow
language(Basic)Remainder

Function

SymbolSymbol39/119Sy
QG18719

mbo
Executionl time

0.64 [μs]Division is performed using two input numerical values and the result (remainder) is
output.

D3 = D1 % D2

Note: Only operations with integers are valid.

Example ofuse

The data in register mi0000 is divided by the data in register mi0001 and the result (remainder) is stored
in register mi0002.

39

Page
NumberKind

Name

Data flow
language(Basic)Priority given to aupper-level

Function

SymbolSymbol40/119Sy
QG18719

mbo
Executionl time
Integer 0.33 [μs]Real number 0.40 [μs]Two input numerical values are compared and the larger numerical value is output.
The operation can be performed even if the types of value are different. However, aninteger is converted to a real number, which is then subject to a real number
operation.

If D1 > D2 then D3 = D1
If D1 ≤ D2 then D3 = D2

Example ofuse

The data in register mi0000 and the data 100.0 in register kr0000 are compared and the larger data isstored in register mr0001.
Although the data in register mi0000 is an integer, since the data in register kr0000 is a real number,comparison is performed after type conversion of the integer/real number.
It serves as a limiter for which the lower limit value is the data in register kr0000 (100.0).

40

Page
NumberKind

Name

Data flow
language(Basic)Priority given to alower-level

Function

SymbolSymbol41/119Sy
QG18719

mbo
Executionl time
Integer 0.40 [μs]Real number 0.28 [μs]Two input numerical values are compared and the smaller numerical value is output.
The operation can be performed even if the types of value are different. However, aninteger is converted to a real number, which is then subject to a real number
operation.

If D1 > D2 then D3 = D2
If D1 ≤ D2 then D3 = D1

Example ofuse

The data in register mi0000 and the data 100.0 in register kr0000 are compared and the smaller data isstored in register mr0001.
Although the data in register mi0000 is an integer, since the data in register kr0000 is a real number,comparison is performed after type conversion of the integer/real number.
It serves as a limiter for which the upper limit value is the data in register kr0000 (100.0).

41

Page
NumberKind

Name

Data flow
language(Basic)Product ofnumerical values

Function

Symbol42/119Sy
QG18719

mbo
Executionl time

Symbol0.33 [μs]A logical multiplication operation is performed using two input numerical values andthe result is output.

D3 = D1 & D2

Note: Only operations with integers are valid.

Example ofuse

A logical multiplication operation is performed using the data in register mi0000 and the data in register
ki0001 (3) and the result is stored in register mi0001.
If the data in register mi0000 is (10), then (2) is stored in register mi0001.

mi0000

0000

0000

0000

1010

(10)

ki0000

0000

0000

0000

0011

(3)

mi0001

0000

0000

0000

0010

(2)

42

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NumberKind

Name

Data flow
language(Basic)Sum ofnumerical values

Function

Symbol43/119Sy
QG18719

mbo
Executionl time

Symbol0.32 [μs]A logical sum operation is performed using two input numerical values and the result
is output.

D3 = D1 | D2

Note: Only operations with integers are valid.

Example ofuse

A logical sum operation is performed using the data in register mi0000 and the data in register ki0001 (3)and the result is stored in register mi0001.
If the data in register mi0000 is (10), then (11) is stored in register mi0001.

mi0000

0000

0000

0000

1010

(10)

ki0000

0000

0000

0000

0011

(3)

mi0001

0000

0000

0000

1011

(11)

43

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NumberKind

Name

Data flow
language(Basic)Exclusive OR ofnumerical values

Function

Symbol44/119Sy
QG18719

mbo
Executionl time

Symbol0.31 [μs]An exclusive OR operation is performed using two input numerical values and theresult is output.

D3 = D1 ˆ D2

Note: Only operations with integers are valid.

Example ofuse

An exclusive OR operation is performed using the data in register mi0000 and the data in register ki0001(3) and the result is stored in register mi0001.
If the data in register mi0000 is (10), then (9) is stored in register mi0001.

mi0000

0000

0000

0000

1010

(10)

ki0000

0000

0000

0000

0011

(3)

mi0001

0000

0000

0000

1001

(9)

44

Page
NumberKind

Name

Data flow
language(Basic)a-contact

Function

SymbolSymbol45/119Sy
QG18719

mbo
Executionl time
Integer 0.34 [μs]Real number 0.36 [μs]If RELAY is on, the input numerical value is output.
If it is off, the output numerical value is 0.

If RELAY = on then D2 = D1
If RELAY = off then D2 = 0

Example ofuse

When relay I00000 is on, the data in register mi0000 is stored in register mi0001.
When relay I00000 is off, (0) is stored in register mi0001.

45

Page
NumberKind

Name

Data flow
language(Basic)b-contact

Function

Symbol46/119Sy
QG18719

mbo
Executionl time

SymbolInteger 0.50 [μs]Real number 0.38 [μs]If RELAY is off, the input numerical value is output.
If it is on, the output numerical value is 0.

If RELAY = on then D2 = 0
If RELAY = off then D2 = D1

Example ofuse

When relay I00000 is off, the data in register mi0000 is stored in register mi0001.
When relay I00000 is on, (0) is stored in register mi0001.

46

Page
NumberKind

Name

Data flow
language(Basic)c-contact

Function

Symbol47/119Sy
QG18719

mbo
Executionl time

SymbolInteger 0.39 [μs]Real number 0.33 [μs]Depending on the logical value of RELAY, either of the two input numerical values isselected and output.

If RELAY = on then D3 = D1
If RELAY = off then D3 = D2

If RELAY = on then D3 = D2
If RELAY = off then D3 = D1

Example ofuse

When relay I00000 is off, the data in register mi0001 is selected and stored in register mi0002.
When relay I00000 is on, the data in register mi0000 is selected and stored in register mi0002.

When relay I00000 is off, the data (3) in register ki0000 is selected and stored in register mi0003.
When relay I00000 is on, the data (6) in register ki0001 is selected and stored in register mi0003.

47

Page
NumberKind

Name

Data flow
language(Basic)Compare highFunction

SymbolSymbol
48/119Sy
QG18719

mbo
Executionl time
Integer 0.17 [μs]Real number 0.13 [μs]A comparison of two input numerical values is performed and the result is output asa logical value.

If D1 > D2 then B = onIf D1 ≤ D2 then B = off

Example ofuse

If the data in register mi0000 is greater than the data in mi0001, relay O00020 is turned on.
Otherwise, relay O0020 is turned off.

It can change the logic in combination with logical reversal.
If the data in register mi0002 is equal to the data in mi0003 or smaller than the data in mi0003, then relay
O00021 is turned on. Otherwise, relay O00021 is turned off.

48

Page
NumberKind

Name

Data flow
language(Basic)Compare low

Function

SymbolSymbol49/119Sy
QG18719

mbo
Executionl time
Integer 0.17 [μs]Real number 0.13 [μs]A comparison of two input numerical values is performed and the result is output asa logical value.

If D1 < D2 then B = onIf D1 ≥ D2 then B = off

Example ofuse

If the data in register mi0000 is smaller than the data in mi0001, relay O00020 is turned on.
Otherwise, relay O0020 is turned off.

It can change the logic in combination with logical reversal.
If the data in register mi0002 is equal to the data in mi0003 or greater than the data in mi0003,
then relay O00021 is turned on. Otherwise, relay O00021 is turned off.

49

Page
NumberKind

Name

Data flow
language(Basic)Compare equal

Function

SymbolSymbol50/119Sy
QG18719

mbo
Executionl time
Integer 0.18 [μs]Real number 0.11 [μs]A comparison of two input numerical values is performed and the result is output asa logical value.

If D1 = D2 then B = onIf D1  D2 then B = off
Note: If a real number is in the register used, then in some cases the relay may not be turned on since thenumerical value is too small to register.

Example ofuse

If the data in register mi0000 is equal to the data in mi0001, relay O00020 is turned on.
Otherwise, relay O0020 is turned off.

It can change the logic in combination with logical reversal.
If the data in register mi0002 is not equal to the data in mi0001, relay O00020 is turned on.
Otherwise, relay O00021 is turned off.

50

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NumberKind

Name

Data flow
language(Basic)Load local
constant(Integer, real
number)Function

SymbolSymbol51/119Sy
QG18719

mbo
Execution l time
Integer 0.24 [μs]Real number 0.21 [μs]A local constant (integer or real number) is loaded.

The constant is held in the program (instead of the parameter).
The load local constant (integer) can only be used within the operation block of i-form.
An integer and real number cannot both be present within a single operation block.

Example ofuse

The integer value (10) is loaded in register mi0000.
The real number value (5.0000) is loaded in register mr0000.

51

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NumberSymbolSymbol52/119Sy
QG18719

mbo
Executionl time

Kind

Name

Data flow
language(Function 1)

Code conversion

Function

The positive/negative sign of input numerical values is reversed and output.

Integer 0.18 [μs]Real number 0.12 [μs]D2 = - (D1)

Example ofuse

The sign of the data (-10) in register ki0000 is converted to positive and (10) is stored in register mi0000.

The sign of the data (5.0000) in register kr0000 is converted to negative and (-5.0000) is stored in register
mr0000.

52

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NumberSymbolSymbol53/119Sy
QG18719

mbo
Executionl time

Kind

Name

Data flow
language(Function 1)

Absolute value
conversion

Function

Obtains the absolute value of the input numerical value and outputs it.

Integer 0.30 [μs]Real number 0.20 [μs]If D1 < 0 then D2 = -(D1)If D1 ≥ 0 then D2 = D1

Example ofuse

The sign of the data (10) in register ki0000 is converted to an absolute value and (10) is stored in register
mi0000.

The sign of the data (-5.0000) in register kr0000 is converted to an absolute value and (5.0000) is stored
in register mr0000.

53

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NumberSymbol54/119Sy
QG18719

mbo
Executionl time

Kind

Name

SymbolData flow
language(Function 1)

1’s complement

Function

A complement operation is performed using the input numerical value and the result is
output.

0.19 [μs]D2 = NOT (D1)

Note: Only operations with integers are valid.

Example ofuse

A one’s complement operation is performed using the data in register mi0000 and the result is stored inregister mi0001.
If the data in register mi0000 is (10), then (-11) is stored in register mi0002.

mi0000

0000

0000

0000

1010

(10)

mi0001

1111

1111

1111

0101

(-11)

54

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NumberKind

Name

Data flow
language(Function 1)

Increment

Function

SymbolSymbol55/119Sy
QG18719

mbo
Executionl time
Integer 0.19 [μs]Real number 0.14 [μs]1 is added to the input numerical value and the result is output.

D2 = D1 + 1(D2 = D1 + +)Example ofuse(1) is added to the data (10) in register ki0000 and the result (11) is stored in register mi0000.

55

Page
NumberKind

Name

Data flow
language(Function 1)

Decrement

Function

SymbolSymbol56/119Sy
QG18719

mbo
Executionl time
Integer 0.23 [μs]Real number 0.16 [μs]1 is subtracted from the input numerical value and the result is output.

D2 = D1‐1(D2 = D1 ‐ ‐)Example ofuse(1) is added to the data (10) in register ki0000 and the result (9) is stored in register mi0000.

56

Page
NumberKind

Name

Data flow
language(Function 1)

Half

Function

SymbolSymbol57/119Sy
QG18719

mbo
Executionl time

0.20 [μs]The result of multiplying the input numerical value by one half is output.

D2 = D1 / 2

Note: Only operations with integers are valid.

Example ofuse

The data (10) in register ki0000 is halved and the result (5) is stored in register mi0000.
This instruction is used when the data in an integer register is signed and multiplied by one half.

57

Page
NumberKind

Name

Data flow
language(Function 1)

Two times

Function

SymbolSymbol58/119Sy
QG18719

mbo
Executionl time

0.17 [μs]The result of multiplying the input numerical value by two is output.

D2 = D1 * 2

Note: Only operations with integers are valid.

Example ofuse

The data (10) in register ki0000 is multiplied by 2 and the result (20) is stored in register mi0000.
This instruction is used when the data in an integer register is signed and multiplied by 2.

58

Page
NumberSymbolSymbol59/119Sy
QG18719

mbo
Executionl time

Kind

Name

Data flow
language(Function 1)

Second power

Function

The result of obtaining the second power of the input numerical value is output.

Integer 0.25 [μs]Real number 0.14 [μs]D2 = D1 * * 2(D2 = D12)

Example ofuse

The data (10) in register ki0000 is multiplied by itself and the result (100) is stored in register mi0000.

59

Page
NumberKind

Name

Data flow
language(Function 1)

Square root

Function

Symbol60/119Sy
QG18719

mbo
Executionl time

SymbolInteger 0.36 [μs]Real number 0.33 [μs]The square root of the input numerical value is output.

D2 = SQRT (D1)

Note: When the input value is a negative value, the output also takes a negative value.

Example ofuse

The square root of the data (9) in register ki0000 is obtained and the result (3) is stored in register
mi0000.

60

Page
NumberKind

Name

Data flow
language(Function 1)

Exponentialfunction

Function

SymbolSymbol61/119Sy
QG18719

mbo
Executionl time

3.60 [μs]An exponential operation is performed using the input numerical value and the result
is output.

D2 = D3 * * D1
(D2 = D3D1)

Note: Only operations with real numbers are valid.

Example ofuse

An exponential operation is performed using the data (4.0000) in register kr0000 with the data (3.0000) in
register kr0001 as its exponent and the result (64) is stored in register mr0000.

61

Page
NumberKind

Name

Data flow
language(Function 1)

Bit count

Function

Symbol62/119Sy
QG18719

mbo
Executionl time

Symbol0.73 [μs]Reads the input numerical value as a 16-bit binary number, and outputs the numberof bits that are on.

Note: Only operations with integers are valid.

Example ofuse

The data (1234) in register ki0000 is read as a 16-bit binary number, the number of bits that are on (bitsthat are 1) is calculated, and the result (5) is stored in register mi0000.

ki0000mi0001

0000
0+ 1

0001
+2

1010
+2

62

1010

(1234)=5

Page
NumberSymbol63/119Sy
QG18719

mbo
Executionl time

Kind

Name

SymbolData flow
language(Function 1)

Gray code binary

Function

The input numerical value (Gray code) is converted and the result is output as abinary number.

16.1 [μs]Since in the Gray code, only one bit changes as the numerical value changes, it is used in positioning
control, etc.

The bit pattern of 0 to 15 is as follows.
D2

D1

D2

D1

D2

D1

D2

D1

Integer

Gray

Integer

Gray

Integer

Gray

Integer

Gray

0000

0000

0100

0110

1000

1100

1100

1010

0001

0001

0101

0111

1001

1101

1101

1011

0010

0011

0110

0101

1010

1111

1110

1001

0011

0010

0111

0100

1011

1110

1111

1000

Note: Only operations with integers are valid.

Example ofuse

Gray code conversion is performed using the data in register mi0000 and the result is stored in mi0001.
If the data in register mi0000 is (10), then (12) is stored in register mi0001.

10

Input



1010

Gray code



1100



Integer

12Output63

Page
NumberSymbolSymbol64/119Sy
QG18719

mbo
Executionl time

Kind

Name

Data flow
language(Function 2)

Insensitive band

FunctionIf the input numerical value is within the range of the insensitive band, 0 is output.
If the input numerical value is out of the range of the insensitive band, then theinsensitive value (absolute value) is subtracted from it and the result is output.

Integer 0.27 [μs]Real number 0.21 [μs]If -D3 < D1 < +D3 then D2 = 0
If +D3 ≤ D1 then D2 = D1 – D3
If -D3 ≥ D1 then D2 = D1 + D3

Example ofuse

If the data in register mi0000 is greater than the data obtained by sign conversion from the data (-10) in
register ki0000, and is smaller than the positive data (10), then (0) is stored in register mi0001.
If the data in register mi0000 is equal to, or greater than the data (10) in register ki0000, then the result ofsubtracting the data (10) in register ki0000 from the data in register mi0000 is stored in register mi0001.
If the data in register mi0000 is equal to, or smaller than the data obtained by sign conversion from thedata (-10) in register ki0000, then the result of adding the data (-10) in register ki0000 and the data inregister mi0000 is stored in register mi0001.

64Symbol
65/119Sy
QG18719

Page
NumberKind

Name

Data flow
language(Function 2)

Pattern

Function

mbo
Executionl time

SymbolInteger 1.70 [μs]Real number 1.50 [μs]Approximation conversion is performed using the input numerical value by line
segmentation with pattern memory and the result is output.

The pattern data is set beforehand by the pattern data in the tool. The horizontal axis data must be
arranged from the smaller data to the larger data.
The horizontal axis corresponds to the input value of a function. Even if data that deviates from thepattern data is input, it is converted by extending the line of the pattern data, and is then output.

Graph
If the input is smaller than P1, it is converted to an approximation straight line obtained by extendingstraight line P1-P2 and the result is output. If it is greater than P6, it is likewise converted to an
approximation straight line obtained by extending straight line P5-P6 and the result is output.
OutputInput

Output

P1/Q1

-10

-3

P2/Q2

-6

-1

P3/Q3

-4

1

P4/Q4

-1

2

P5/Q5

1

5

P6/Q6

5

6

P6

P5

P3

P4

Input
P2
P1

65

Page
NumberKind

Name

Data flow
language(Function 2)

Differential
compensation

Function

Symbol
66/119Sy
QG18719

mbo
Executionl time

Symbol1.40 [μs]Three averages are taken of the time differential values of the input numerical value
and the result is output.

Settings of the function argument(1) Differential gain: Differential coefficient in second units (When the change in input is 1.0 per second,
1.0 is output.)
For the sake of safety, averaging is performed to prevent rapid changes.
In addition to krxxxx, mrxxxx can also be used as the operation parameter, in which case each parametershould be set in the user program.

Note: Only operations with real numbers are valid.

Graph
When the function argument is set as shown at right, theresulting trend graph is as shown below.

Differential compensation
Differential gain kr0000

10.000

Where the input value is constant (gradient = 0), the differential value is also 0, and so the output is 0.
The output value changes only where the input value is always changing.
Note: In the trend graph below, the rapidly changing part is not shown.

Input
Output

Time

66

Page
NumberKind

Name

Data flow
language(Function 2)

Phase
compensation

Function

SymbolSymbol67/119Sy
QG18719

mbo
Executionl time

1.47 [μs]Phase compensation is performed using the input numerical value and the result is
output.

Settings of the function argument(1) Reset: Input and output short-circuit reset command.
(2) Phase gain (A): Advanced phase or lagged phase is set depending on whether or not the value isgreater than 1.0.
(3) Time gain (T): Time coefficient in seconds

In addition to krxxxx, mrxxxx can also be used as the operation parameter, in which case each parametershould be set in the user program.
When reset is on, the input and output are short-circuited so that an arbitrary value can be preset.
Note: Only operations with real numbers are valid.

Graph
When the function argument is set as shown at right, the resulting trend graph is as shown below.
Depending on the time gain, the output value approaches the input value so that the size of the curvechanges. When the gain is small, a small arc is drawn, and when it is large, a large arc is drawn.
Scan time: 10 ms
Trend sampling time: Example at 100 ms

Phase gain (A) < Time gain (T)Reset
G00000Phase gain (A1)kr0000Time gain
kr00010.50001.0000Phase gain (A) > Time gain (T)Reset
G00000Phase gain (A1)kr0000Time gain
kr00012.00000.500067

Page
NumberSymbolSymbol
68/119Sy
QG18719

mbo
Executionl time

Kind

Name

Data flow
language(Function 2)

PI compensation

Function

PI compensation (proportioning, integration) is performed using the input numericalvalue and the result is output.

2.53 [μs]Settings of the function argument(1) Reset: Input and output short-circuit reset command.
(2) Hold: Integration hold switch (stops integration)(3) Proportioning gain:(4) Integral gain: Integral coefficient in second units(5) Upper limit value: Designate the upper limit value to be output(6) Lower limit value: Designate the lower limit value to be output.
In addition to krxxxx, mrxxxx can also be used as the operation parameter, in which case each parametershould be set in the user program.
When reset is on, the input and output are short-circuited so that an arbitrary value can be preset.

Note: Only operations with real numbers are valid.

Graph
PI compensation
When the function argument is set as shown at right,
the resulting trend graph is as shown below.
Depending on the proportioning gain, the output value
at the start changes, and depending on the integral
gain, the gradient of the output value changes.

Reset
Hold
Proportioning gain
Integral gain
Upper limit value

G00000G00001kr0000kr0001kr00020.10003.000030.000Lower limit value

kr0003-30.000

Time

Input
Output68

Page
NumberSymbolSymbol69/119Sy
QG18719

mbo
Executionl time

Kind

Name

Data flow
language(Function 2)

Limitation on thechange ratio in astraight line form

Function

Time rate of change limitation is performed on the input numerical value and theresult is output.

1.08 [μs]Settings of the function argument(1) Reset: Input and output short-circuit reset command.
(2) Maximum rising ratio: (> 0.0: Positive value): Limitation value of the rising ratio of output per second(Example: 10.0 = Permits a rise of 10 or less per second)(3) Maximum falling ratio: (< 0.0: Negative value): Limitation value of the falling ratio of output per
second(Example: -10.0 = Permits a fall of 10 or less per second)
In addition to krxxxx, mrxxxx can also be used as the operation parameter, in which case each parametershould be set in the user program.
When reset is on, the input and output are short-circuited so that an arbitrary value can be preset.

Note: Only operations with real numbers are valid.

Graph
When the function argument is set as shown at right,
the resulting trend graph is as shown below.
Depending on the rising or falling ratio, the gradient of
the output value can be set (if the step input has been
added).

Limitation on the change ratio in a straightline form
Reset
G00000Maximum rising ratio

kr00000.1000Maximum falling ratio

kr0001-0.1000

Input
Output69

Page
NumberKind

Name

Data flow
language(Function 2)

S-form change
ratio limitation(S-ARC)

Function

SymbolSymbol70/119Sy
QG18719

mbo
Executionl time

4.01 [μs]S-form change ratio limitation is performed on the input numerical value and theresult is output.

Settings of the function argument(1) Reset: Input and output short-circuit reset command.
(2) Maximum rising ratio: (> 0.0): Limitation value of the rising ratio of output per second(3) Maximum falling ratio: (< 0.0): Limitation value of the falling ratio of output per second(4) Increasing-rising ratio (> 0.0): Acceleration increasing value per second when acceleration starts(5) Decreasing-rising ratio (> 0.0): Acceleration decreasing value per second when acceleration ceases(6) Decreasing-decreasing ratio (> 0.0): Deceleration value per second when acceleration finishes(7) Increasing-decreasing ratio (< 0.0): Deceleration increasing value per second when deceleration
starts(8) S-form acceleration/deceleration ceasing coefficient (> 0.0): Change ratio limitation value when theacceleration/deceleration has ceased
Usually, it should be set at twice the value obtained by choosing the largest of the absolute values of (4)to (7).
When reset is on, the input and output are short-circuited so that an arbitrary value can be preset.
Note: Only operations with real numbers are valid.

Graph
When the function argument is set as shownat right, the resulting trend graph is as shown
below.
Although the graph is the same as ARC, since
the curve before the straight line (B1 to 4) isalso set, an S-shaped waveform is output.
Note: If the input value is changed while
accelerating or decelerating,overshooting may occur.

S-form change ratio limitation
Reset
Maximum rising ratio
Maximum falling ratio
Increasing-rising ratio
Decreasing-rising ratio
Decreasing-decreasing ratio
Increasing-decreasing ratio
S-form acceleration/
deceleration ceasing coefficient

G00000kr0000kr0001kr0002kr0003kr0004kr000510.000-10.000
0.020-0.0200.0020-0.0020kr00060.0040Time
Input
Output70

Page
NumberSymbolSymbol71/119Sy
QG18719

mbo
Execution l time

Kind

Name

Data flow
language(Function 3)

Trigonometricfunction
Inversetrigonometricfunction

Function

A trigonometric function (inverse trigonometric function) operation is performed using
the input numerical value and the result is output.

SIN
COS
TAN
ASIN
ACOS
ATAN

sin function

D2 = sin (D1)

cos function

D2 = cos (D1)tan function

D2 = tan (D1)asin function

D2 = sin-1 (D1)acos function

D2 = cos-1 (D1)atan function

D2 = tan-1 (D1)

7.4 [μs]
7.1 [μs]
7.3 [μs]
7.2 [μs]
7.2 [μs]
9.3 [μs]

Note: Only operations with real numbers are valid.

Example ofuse

mr0001 = SIN (mr0000)
The sine of the data in register mr0000 is obtained and the result is stored in register mr0001.

71

Page
NumberKind

Name

Data flow
language(Function 2)

Unconditional
subroutine

Function

Symbol72/119Sy
QG18719

mbo
Executionl time

Symbol6.64 [μs]Executes subroutines unconditionally.

By double clicking on the symbol, a window for setting an argument appears and you can set anargument for the subroutine. In the subroutine, exchange of data is performed by the stack registers(sr0000, si0000, SI0000). The stack registers are set in the window for setting an argument. The actual
data flow is as follows.
Input data
Integer data
Real data
Relay/coil
Invoker

Stack register
si0000sr0000SI0000SubroutineOutput data
Integer data
Real data
Relay/coil
Invoker

Example ofuse

Subroutine AAAA is executed unconditionally. Registers mi0000 and mi0001 are conventionally used,
and to use these data as well, the data in register mi0000 is passed to stack register si0000 of subroutine
AAAA. When the data calculated in subroutine AAAA is stored in stack register si0000, the data is stored
in register mi0001.
However, if they are not used in subroutine AAAA, the data in mi0000 is stored in mi0001.

72

Page
NumberKind

Name

SymbolSymbol73/119Sy
QG18719

mbo
Execution l time

Jump instruction
LD language
Label instruction

Function

Jump: Jumps to the designated circuit or designated label
Label: Used to label the destination of a jump.

This is regarded as one of the logic circuits.
XXXX stands for the circuit number or label name (4 digits).
Note 1: A jump cannot be performed between subprograms or subroutines.
Note 2: You can also create a program that loops at one point, but it must not be a permanent loop.
Note 3: Place a register store to the right of the label.

Example ofuse

When relay B00000 is ON, a jump is made to the line of label ABCD, and the programs between it andlabel ABCD are not executed.
When relay B00000 is on, the data (10.000) in register kr0000 is stored in register mr0000 and 1 is stored
in register mi0000.
When relay B00000 is off, the data in register kr0000 (10.000) is not stored in register mr0000 and 0 isstored in register mi0000.

73

Page
NumberKind

Name

SymbolSymbol74/119Sy
QG18719

mbo
Execution l time

Connective(Store)0.16 [μs]Connective(Load)

0.16 [μs]LD language

Function

Performs storing and loading of the result of logical and numerical operations, to andfrom the intermediate memory.

It is used when there are twelve or more logical codes or numerical codes arranged in series.
It must be placed between networks.
Ten sets of symbols can be inserted into a single circuit. Loading must be performed after storing.

Example of
use

74

Page
NumberKind

Name

LD language

Termination ofprocessing of a
subroutine
program

Function

SymbolSymbol75/119Sy
QG18719

mbo
Execution l time

2.00 [μs]Terminates processing of the subroutine program.

This is used to terminate a subroutine program under a certain condition.

Example ofuse
Invoker program

Subroutine program

When relay I00000 is off, the data ki0000 (5) in stack register si0002 isstored in stack register si0008 and data (5) is loaded in register mi0000.
The data z0009 in stack register si0006 is stored in stack register si000A
and loaded in register mi0001.
However, when relay I00000 is on, although the data (5) in stack register
si0002 is stored as it is in stack register si0008, the data in stack register
si0006 when I0000 is turned on is stored in si000A and remains there.
(Since z00009 is a millisecond counter, if the relay is turned on when it is100, then 100 is stored in si000A. If I0000 is turned on, then the data in
si0006 is stored there.)

75

Argument

Label

Value

si0002ki0000

5

SI0040I00000si0006z00009si0008mi0000si000A

mi0001

Page
NumberKind

Name

Data flow
language(Function 2)(Arithmetic)
average

Function

SymbolSymbol
76/119Sy
QG18719

mbo
Executionl time

The arithmetic average value of the data of the input numerical value is obtained
from the start address set by the argument and the result is output.

Settings of the function argument(1) Start of buffer addresses (mrXXXX): If the input is smaller than 1, it is regarded as 1 and the value ofthe first data is returned.

Example ofuse

Argument of arithmetic average

Buffer start address: mr0000

If the setting above is made, the arithmetic average reads the data (5.0000) in register kr0000 and theargument, and the result (12,000) of the operation (mr0000 + mr0001 + mr0002 + mr0003 + mr0004)/5 isstored in register gr0000.

76

Page
NumberKind

Name

Data flow
language(Function 2)

FilterFunction

Symbol77/119Sy
QG18719

mbo
Executionl time

Symbol2.42 [μs]Frequency limitation is performed using the input numerical value and the result is
output.

Settings of the function argument(1) Reset: Input and output short-circuit reset command.
(2) Lower limit frequency (>0.0: Positive value): Lower limit frequency of 3 db decrease(3) Upper limit frequency (>0.0: Positive value): Upper limit frequency of 3 db decrease
Note: Only operations with real numbers are valid.

Graph
When the function argument is set as shown at right, theresulting trend graph is as shown below.

FilterReset

G00000Lower limit frequency

kr00000.0001

Upper limit frequency

kr00010.0500Time

Input
Output77

Page
NumberKind

Name

Data flow
language(Function 2)

PID
compensation

Function

SymbolSymbol78/119Sy
QG18719

mbo
Executionl time

2.36 [μs]PID compensation is performed using the input numerical value and the result is
output.

Settings of the function argument(1) Reset: Input and output short-circuit reset command.
(2) Hold: Integration stop switch(3) Zero clear: Designates a relay that commands the zero reset.
(4) Proportioning gain:(5) Integral gain: Integral coefficient in second units system (the time until the output value reaches the
input value: Seconds)(6) Differential gain: Differential coefficient in second units (When the change in input is 1.0 per second,
1.0 is output.)(7) MAX limit value: Designate the upper limit value to be output(8) MIN limit value: Designate the lower limit value to be output
When reset is on, the input and output are short-circuited so that an arbitrary value can be preset.
Note: Only operations with real numbers are valid.

Graph
When the function argument is set as shown at right,
the resulting trend graph is as shown below.

FilterReset
HoldZero clear
Proportioning gain
Integral gain
Differential gain
MAX limit
MIN limit

G00000G00001G00002kr0000kr0001kr0002kr0003kr00040.10003.00000.010030.000-30.000

Time

Input
Output78

Page
NumberSymbol79/119Sy
QG18719

mbo
Executionl time

Kind

Name

SymbolData flow
language(Function 2)

Temporary delay

Function

Outputs a temporary delay response for the input numerical value.

1.70 [μs]Settings of the function argument(1) Reset: Input and output short-circuit reset command.
(2) Time constant: T seconds
The reset switch must be set to on when starting the operation.
Note: Only operations with real numbers are valid.

Graph
When the function argument is set as shown at right, theresulting trend graph is as shown below.

FilterReset

G00000During the period when the input is changed by the time
constant, the output values are plotted to draw an arc.

Time constant

kr00001.0000

OutputInput
Output

Time
T

79

Page
NumberKind

Name

Data flow
language(Function 2)

Delay(Time delay)

Function

Symbol80/119Sy
QG18719

mbo
Executionl time

Symbol1.57 [μs]The delay time set is added to the input numerical value and the result is output.

Settings of the function argument(1) Reset: Input and output short-circuit reset command.
(2) Delay time: T (seconds)(3) Sampling time: ΔT (seconds) The number of samples (T/ΔT) is valid when it is 1000 or less.
The delay is canceled when the reset switch is turned on.

Note: Only operations with real numbers are valid.

Graph
When the function argument is set as shown at right, theresulting trend graph is as shown below.
The input waveform is delayed by T (seconds) according to
the delay time and is then output.

Delay
Reset
Delay time
Sampling time

G00000kr0000kr00015.00001.0000

Time

Input
T

Output80

Page
NumberSymbol81/119Sy
QG18719

mbo
Executionl time

Kind

Name

SymbolData flow
language(Function 2)

Constant
frequency pulse

Function

The input numerical value is turned on/off at the intervals set and is then output.

1.39 [μs]Settings of the function argument(1) Reset: Input and output short-circuit reset command.
(2) On time (seconds): Specifies the time that output is on.
(3) Off time (seconds): Specifies the time that output is off.
Note: Only operations with real numbers are valid.

Graph
When the function argument is set as shown at right, theresulting trend graph is as shown below.
The input waveform is output according to the on/off time.

Constant frequency pulse
Reset
G00000On timekr0000
Off time
kr00015.00003.0000

Input
Output

Time

T On
T Off

81

Page
NumberSymbol82/119Sy
QG18719

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Executionl time

Kind

Name

SymbolData flow
language(Function 2)

Variable setting
pattern

Function

Approximation conversion is performed using the input numerical value by line
segmentation with pattern memory and the result is output.

2.00 [μs]Settings of the function argument(1) Number of points (≥2: integer): Number of input patterns(2) Start of the pattern buffer (mrXXXX): Start address of the input buffer
In the pattern, an initial value was set beforehand using the pattern data, but here the real number value
in a circuit can be changed.
By accumulating the data obtained through process control, it can be applied to learning control.
Note: Only operations with real numbers are valid.

Graph
OutputP4, Q4

P3, Q3P2, Q2Input
P1, Q182

P1/Q1mr0000mr0001P2/Q2

mr0002mr0003P3/Q3mr0004mr0005P4/Q4mr0006mr0007

Page
NumberSymbol83/119Sy
QG18719

mbo
Executionl time

Kind

Name

SymbolData flow
language(Function 2)

Upper and lower
limiters

Function

Upper and lower limiters are added to the input numerical value and it is then output.

0.72 [μs]Settings of the function argument(1)

Upper limit value: Designate the upper limit value to be output(2)

Lower limit value: Designate the lower limit value to be output.

Note: Only operations with real numbers are valid.

Graph
Upper and lower limiters
Upper limit value
kr0000Lower limit value
kr0001

When the function argument is set as shown at right, theresulting trend graph is as shown below.
The input waveform is output according to the upper andlower limit values.

10.000-10.000

Upper limit
value

Time

Lower limit
value
Input
Output83

Page
NumberKind

Name

Data flow
language(Function 2)

Hysteresis

Function

Symbol84/119Sy
QG18719

mbo
Executionl time

Symbol1.27 [μs]Hysteresis (2-gain amplifier during rising and falling) is added to the input numericalvalue and it is then output.

Settings of the function argument:(1) Reset: Output value = Input value × G1
(2) Low side gain: G1 (0.0 < G1 < G2)(3) High side gain: G2 (0.0 < G1 < G2)
When the input data is rising, G1 is valid, and when it is falling G2 is valid.
The output remains at a certain value when switching from rising to falling, or from falling to rising.
The reset switch must be set to on when starting the operation.
Note: Only operations with real numbers are valid.

Graph
The output data is plotted as the curve shown in the figure below according to the history of changes in
the input data.
Output

G2
G1

Input

0
G1
G2

84

Page
NumberKind

Name

Data flow
language(Function 3)

ScalingFunction

Symbol85/119Sy
QG18719

mbo
Executionl time

Symbol0.92 [μs]Scaling (sum of product operation) is added to the input numerical value and it isthen output.

Settings of the function argument:(1) Gain: Multiplication coefficient of the sum of product operation(2) Offset: Addition coefficient of the sum of product operation
Output = Input * Gain + Offset
Note: Only operations with real numbers are valid.

Graph
When the function argument is set as shown at right, the resulting
trend graph is as shown below.
The input waveform is output according to the gain offset.

Scaling
Gain
Offsetkr0000kr00011.00005.0000

OffsetTime

Input
Output85

Page
NumberKind

Name

Data flow
language(Function 3)

Backlash

Function

SymbolSymbol86/119Sy
QG18719

mbo
Executionl time

0.81 [μs]Backlash (a kind of integral compensation) is added to the input numerical value andit is then output.

Settings of the function argument(1) Reset: Input and output short-circuit reset command.
(2) Width of backlash: W
The reset switch must be set to on when starting the operation.
Note: Only operations with real numbers are valid.

Graph
When the function argument is set as shown at right,
the resulting trend graph is as shown below.

Backlash
Reset
Width of backlash

G00001kr000020.000Input
W

Output

W
2
Time

86

Page
NumberKind

Name

Data flow
language(Function 3)

Backlashcompensation

Function

SymbolSymbol87/119Sy
QG18719

mbo
Executionl time

0.95 [μs]Backlash compensation (a kind of differential compensation) is performed using the
input numerical value and it is then output.

Settings of the function argument(1) Reset: Input and output short-circuit reset command.
(2) Width of backlash: W
The reset switch must be set to on when starting the operation.
Note: Only operations with real numbers are valid.

Graph
Backlash compensation
Reset
G00001
Width of backlash
kr0000

When the function argument is set as shown at right, theresulting trend graph is as shown below.

W
2
W
2
W
2

W
2

Time

W
2

Input

W
2

87

Output20.000Page
NumberKind

Name

Data flow
language(Function 2)

Conditional
subroutine

Function

SymbolSymbol88/119Sy
QG18719

mbo
Executionl time

A subroutine is executed according to the logical condition of the input.

The subroutine is executed when the input is on and not executed when off.
The other content is the same as that of the unconditional subroutine.

Example ofuse

When relay B00000 is on, subroutine AAAA is executed.
When relay B00000 is off, subroutine AAAA is not executed.

88

Page
NumberSymbol89/119Sy
QG18719

mbo
Executionl time

Kind

Name

SymbolData flow
language(Function 3)

Binary Gray code

Function

The input numerical value is read as integer data, converted to a Gray code and isthen output.

Note: This performs the reverse operation of the Gray code conversion.

Be careful not to

confuse them.

Example ofuse

The data in register mi0000 is read as a 16-bit integer, converted to a Gray code and is then output.
If the data in register mi0000 is (10), then (15) is stored in register mi0001.

10

Input

D1

D2

D1

D2

D1

D2

D1

D2

Integer

Gray

Integer

Gray

Integer

Gray

Integer

Gray

0000

0000

0100

0110

1000

1100

1100

1010

0001

0001

0101

0111

1001

1101

1101

1011

0010

0011

0110

0101

1010

1111

1110

1001

0011

0010

0111

0100

1011

1110

1111

1000



1010



1111



15

Gray code

Integer

Output89

Page
NumberKind

Name

Data flow
language(Function 3)

Division andremainder

Function

Symbol90/119Sy
QG18719

mbo
Executionl time

SymbolThe division and remainder of the input numerical value is output.

Settings of the function argument(1) Divisor (integer): Number that divides the input numerical value(2) Remainder (integer): Register that stores the remainder

Example ofuse

If the argument of DIVMOD is set as shown on the right,
the remainder when the data in register mi0000 is divided
by the divisor ki0000 (7) is stored in register mi0002. Also,
the quotient is stored in register mi0001.

DIVMOD
Parameter
Divisor (integer)
Remainder (integer)

Label
ki0000mi0002

Value
7

If the data in register mi0000 is (10), then (1) is stored in register mi0001 as the quotient, and (3) is stored
in register mi0002 as the remainder.

90

Page
NumberKind

Name

SymbolSymbol91/119Sy
QG18719

mbo
Executionl time

On timer (TSTD)
Data flow
language(Function 3)

Function

Off timer (TRTC)
Combines the on timer relay (TS, TD) and the off timer relay (TR, TC) in one line,
and performs the same operation.

TSTD: If the input bit is turned on, the coil is turned on after the time set by the argument elapses.

 Allows the content of two lines to be condensed into one.

Settings of the function argument(1)

Timer value (real number): Sets the time for turning the coil on after the designated time elapses.

TRTC: If the input bit is turned off, the coil is turned off after the time set by the argument elapses.

 Allows the content of two lines to be condensed into one.

Settings of the function argument(1) Timer value (real number): Sets the time for turning the coil off after the designated time elapses.

91

Page
NumberSymbol92/119Sy
QG18719mbo
lExampleof useAfter relay B00000 is turned on, relay B00001 is turned on after the time set by TSTD elapses.

B00000
B00001
Setting time

Within one scan

After relay B00010 is turned off, relay B00011 is turned off after the time set by TRTC elapses.

B00010
B00011

Setting time

Within one scan

92

Page
NumberKind

Data flow
language(Function 3)

Function

Name

SymbolSymbol93/119Sy
QG18719

mbo
Executionl time

On differential(USUC)Off differential(DSDC)
Combines the on differential relay (US, UC) and the off differential relay (DS, DC) in
one line, and performs the same operation but without a one scan delay.

USUC: If the input bit is turned on, one scan is turned on without a one scan delay.

 Allows the content of two lines to be condensed into one.

DSDC: If the input bit is turned off, one scan is turned on without a one scan delay.

 Allows the content of two lines to be condensed into one.

93

Page
NumberSymbol
94/119Sy
QG18719mbo
lExample ofuse

When B00000 is turned on, after a delay for one scan, B00001 is turned off for one scan, but B00002 isturned on for one scan immediately after B00000 is turned on without a one scan delay.

B00000US0000UC0000
B00001B00002

When B00010 is turned on, after a delay for one scan, B00011 is turned on for one scan, but B00012 isturned on for one scan immediately after B00010 is turned on without a one scan delay. When B00010 isturned on, B00012 is turned on for one scan without a one scan delay.

B00010DS0000DC0000
B00011
B0001294

Page
NumberKind

Name

SymbolSymbol95/119Sy
QG18719

mbo
Executionl time

Data flow
language(Function 4)

Set
Reset

Function

Set: When the input bit is turned on, the designated output bit remains on.
Reset: When the input bit is turned off, the designated output bit remains off.

Set:
Note: When set is on, the contact set by the argument is turned off when reset is turned on.
Settings of the function argument(1) Set coil: Designates the relay to remain on.
Reset:
Note: When reset is on, the contact set by the argument is not turned on, even when set is turned on.
Settings of the function argument(1) Reset coil: Designates the relay to remain off.

Example ofuse

If B00000 = on, then B00010 = on, and the value in mi0001 is stored in mi0002.
If B0001 = on, then B00010 = off, and the value in mi0000 is stored in mi0002.
B00000 (Set coil)
B00001 (Reset coil)
B00010 (Output)
If B00000 = on, then B00010 = on. (Even when B00000 = off, B00010 is not turned off.)If B00001 = on, then B00010 = off. (Even when B00000 = on, B00010 is not turned on.)If B00001 = off, then B00000 = on, therefore B00010 = on.

95

Page
NumberKind

Name

Data flow
language(Function 4)

Counter(UPDOWN)

Function

SymbolSymbol96/119Sy
QG18719

mbo
Executionl time

Combines the counters (NR, NP, NU, ND, NZ, n0) in one line, and performs thesame operation.

Settings of the function argument(1) Reset coil: Sets the relay so that the current count value is 0.
(2) Preset coil: Sets the relay that makes the current count the value set by the count preset value.
(3) Upcoil: Sets the current count value to be incremental.
(4) Downcoil: Sets the current count value to be decremental.
(5) Zero detection contact: Sets the relay that communicates that the current count value is zero.
(6) Present value of count: Sets the register to store the current value.
(7) Count preset value: Sets the value to be set to the current count value when the preset coil is turnedon.

Example ofuse Allows the content of five lines to be condensed into one.

96

Page
NumberSymbolSymbol97/119Sy
QG18719

mbo
Executionl time

Kind

Name

Data flow
language(Function 4)

Data transfer(MOVW/MOVW
D)

FunctionTransfers the designated data to the designated label in units of words.

Settings of the function argument(1) Label of transferor: Designates the start address from which the data is transmitted.
(2) Label of transferee: Designates the start address where the data is received.
(3) Offset of transferor: Designates the number of the label of the transferor from which the data istransmitted (for MOVW only).
(4) Offset of transferee: Designates the number of label of the transferee where the data is received (for
MOVW only).
(5) Number to be transferred: Designates the number of data to be transferred.

Example of
use

MOVW

With the setting as shown at right, five-word data istransferred from mi000A to b00004.

Parameter
Transferor label
Transferee label
Transferor offset
Offset of transferee
Number to be transferred

mi000A  b00004
mi000B  b00005
mi000C  b00006
mi000D  b00007
mi000E  b00008

97

Label
mi0000b00000ki0000ki0001ki0002

Value

10
4
5

Page
NumberSymbol98/119Sy
QG18719

mbo

Kind

Name

SymbolExecutionl time

Integer conversion
Data flow language(Function 3)
Real number
conversion
Function

Converts the designated data to the designated type and outputs the result.

TODINT (The real number input is converted to a 32-bit integer.)
Settings of the function argument(1) Transferor (2 points used: even address): Designates the address where the input real number datais converted to a 32-bit integer and is output.
(2) Transferee (2 points used: even address +1): Designates the address where the sign is output when
the input real number data is converted to a 32-bit integer.

TOREAL (The 32-bit integer input is converted to a real number.)
Settings of the function argument(1) Transferor (2 points used: even address): Designates the address where the input 32-bit integer datais converted to a real number and is output.
(2) Transferee (2 points used: even address +1): Designates the address where the sign is output when
the input 32-bit integer data is converted to a real number.

Example ofuse

If TODINT is set as shown at right and the data in the input
real number register mr0000 is (-12.5600), then:mi0010 = -13 and mi0011 = -1

When TOREAL is set as shown at right, then:mr0011 = 131082

TODINT
Parameter
Transferee(even address)
Transferee(even address +1)

TOREAL
Parameter
Transferor(even address)
Transferor(even address +1)

mr0011 = ki0000 + ki0001 * 65536= 10 + 2 * 65536= 10 + 131072= 131082

98

Label

Value

mi0010mi0011

Label

Value

ki000010ki0001

2

Symbol
99/119Sy
QG18719

Page
NumberKind

Name

Data flow language(Function 4)

Channel open

mbo
l timeExecution

SymbolA function for setting the destination of message communications. This setting isused in M_SEND (transmitting messages) and M_RECV (receiving messages),
Function
which are explained later in this document.
Settings of the function argument(1)

Communication station number (slot number): Designates theslot number (0 to 9) of the Ethernet module (CPU module) used
for communication. Set to 0 for communication with the local
CPU module.

(2)

Channel number: Designates the channel number in thecommunications module. (Connection number: 1 to 9)(3)

Station number (L): The IP address of the communication target(lower 16 bits)(4)

Station number (H): The IP address of the communication
target (upper 16 bits)(5)

Module type number: 0 (Not used)(6)

Communications mode: Sets the communication conditions of the connection.

(7)

Communications submode: (Not used in the μGPCsH)(8)

Communication target port number: Sets the port number of the communication target.

(9)

Local port number: Sets the local port number.

(10) Error flag: Turned on for one scan if open processing finishes abnormally.
(11) Status: Displays details of the error.
(12) Connection number: After open request, H: slot number, L: channel number is entered.

Input relay

Normal flag

Operation of the instructions(1)

As a result of the input relay (B00000) starting up, open processing of the module designated by
the station number (slot number) is started. (Open processing is not completed within one scan.)(2)

If open processing is completed normally, the normal flag is turned on and the connection number
is output to the connection number. In this state, M_SEND and M_RECV can now be used.

(3)

If open processing is not completed normally, the error flag is turned on for one scan, and the error
code is output to status.

(4)

When the input relay is turned off, close processing is performed. (Close processing is also notcompleted within one scan.)(5)

When close processing is completed, the normal flag is turned off. (Close processing is notcompleted abnormally.)

99

Page
Number100/119 SymbolSy
QG18719

mbo
lThere are two open methods for receiving, the passive method and active method. For
communicating, open processing is used for receiving and open processing is used for sending.

Precautions(1)(2)

In order to send data, the communication target must be ready for receiving, therefore open
processing for the passive method must be completed first.

(3)

If the input relay is turned on ( off in the open state, close processing is performed.

(4)

When reopen is performed after close processing has finished, the communication target must be
closed first, before performing the reopen process.

Function details(1)

Station number (L), (H)

Sets the IP address of the communication target. The IP address is set as a hexadecimal or decimal number.
The station number (L) is set in the lower 16 bits while the station number (H) is set in the upper 16 bits.
Example:Set as follows when the IP address is 172.16.0.1.
Station number (L) = 0001(h) or 1
Station number (H) = AC10(h) or -21488(2)

Communication mode

The communication conditions of the connection to be set to channel open are set respectively with one word
data representing bit information. The one word content is as follows.
0082: UDP/IP
0002: TCP/IP active open
C002: TCP/IP passive open
8002: TCP/IP passive open

Bit details
15
*

14
*

13

12

11

10

9

8

7

6

5

4

3

2

1
1

0
0

1: Fixed
Open method
00: Active
11: Fullpassive
10: Unpassive node

Communication protocol
0: TCP/IP
1: UDP/IP

100

Page
Number(a)

101/119 SymbolSy
QG18719mbo
Communication protocollSets whether to use TCP/IP or UDP/IP as the communication protocol for each connection.

(b)

Open method
When TCP/IP is used for open, after open processing of the node that performs the
Fullpassive/Unpassive open (passive open) is completed, the node that performs Active open is
opened.

(i)

Active open method
Performs active open processing of other nodes that are open for passive TCP connection.

(ii)

Fullpassive open method
Opens passive TCP connections only for the specific nodes set in the communication address settingarea. The nodes stand by for active open requests from other nodes set in the communication address
setting area.

(iii)

Unpassive open method
Opens passive TCP connections for all other nodes connected to the network. The nodes stand by for
active open requests from all other nodes in the network.

(3)

Error status

Name

Code

Content

Abnormal parameters

177 (B1h)

When there is no Ethernet module in the slot specified with thecommunication station number (slot number)

Abnormal channel open

193 (C1H)

When an inconsistent value is set in the communication mode

Abnormal port
designation

200 (C8h)

When an inconsistent value is set for the IP address, local port
number or communication target port number

101

Page
Number102/119 SymbolSy
QG18719

mbo
l timeExecution

Kind

Name

SymbolData flow language(Function 4)

Message transmittal

Function

Performs message transmittal with the communication target set with M_OPEN.

Settings of the function argument(1) Connection number: Sets the connection number opened with M_OPEN.
(2) Transmittal data storage variable: Sets the size of the data where the transmission data is stored.
(3) Transmittal data storage variable size: Sets the size of the data where the transmission data isstored. (In word units)(4) Error flag: Turned on for one scan if message transmission is not performed normally.
(5) Status: Outputs the status if message transmission is not performed normally.

Input relay

Normal flag

Operation of the instructions(1) When the input relay starts up (off  on), a message is sent to stations with connection numbers set
in connection number. (The transmission process is not completed within one scan.)(2) If message transmission is performed normally, the normal flag is turned on for one scan.
(3) If message transmission is not completed normally, the error flag is turned on for one scan, and theerror code is output to status.
Precautions(1) The amount of data that can be transmitted in a single message is 512 words.
(2) The input relay is disabled while messages are being transmitted (from the startup of the input relay
to the startup of the normal flag or error flag.)(3) Do not change the transmittal data storage variable while messages are being transmitted. If it ischanged, the sent data is not guaranteed.
(4) When the number of data designated by the transmittal data storage variable size exceeds thevariable size designated by the transmittal data storage variable, the data in excess of the latter may
be indefinite. You must input the designated variable size as the transmittal data storage variablesize.
(5) The program should be created so that the ON flag is input to the input relay after the normal flag of
M_OPEN has been turned on.

102

Page
Number103/119 SymbolSy
QG18719mbol
In the versatile communications mode of UDP/IP, no delivery confirmation or flow control is
performed. When the receive procedure cannot keep pace, the receive buffer becomes full and thesubsequent data is lost. Therefore, the amount of sent data at the transmitting side does not matchthe amount of received on the receiving side. Also, when the receive buffer is full, about 10
seconds are required for releasing the buffer, and hence receiving may stop during this time.

Precautions when using M_SEND
(1)

(2)

In Full Passive open, if an open request is received from a target where the IP address and port
number do not match, once a connection is established, the Full Passive side sends a close
request to the Active side. Consequently, at the Active side, when opening is completed normallyand the data has been sent, Error Status C7h (compulsory close) occurs.

(3)

When the port number of the transmitting side does not match that of the receiving side, atransmittal error occurs, and the transmitting side performs compulsory close. The Error Status
C7h: (compulsory close) also occurs.

Error status
Name
Abnormal parameters
Abnormal channel
open
Abnormal port
designationCode
177 (B1h)

Content
When there is no Ethernet module in the slot specified with thecommunication station number (slot number)

193 (C1H)

When an inconsistent value is set in the communication mode

200 (C8h)

When an inconsistent value is set for the IP address, local port
number or communication target port number

103

Page
NumberKind

Name

Data flow language(Function 4)

Message receiving

Function

104/119 SymbolSy
QG18719

mbo
l timeExecution

SymbolPerforms message receiving with the communication target set with M_OPEN.

Settings of the function argument(1) Connection number: Sets the connection number opened with M_OPEN.
(2) Transmittal data storage variable: Sets the size of the data where the transmission data is stored.
(3) Transmittal data storage variable size: Sets the size of the data where the transmission data isstored. (In word units)(4) Error flag: Turned on for one scan if message transmission is not performed normally.
(5) Status: Outputs the status if message transmission is not performed normally.

Input relay

Normal flag

Operation of the instructions(1) When the input relay starts up (off  on), a message is received from stations with connection
numbers set in connection number. (The receiving process is not completed within one scan.)(2) If message receiving is performed normally, the normal flag is turned on.
(3) If message receiving is not completed normally, the error flag is turned on for one scan, and the error
code is output to status.

104

Page
Number105/119 SymbolSy
QG18719mbolPrecautions(1) The amount of data that can be transmitted in a single message is 512 words.

(2) Keep the input relay on while messages are being received (from the startup of the input relay to thestartup of the normal flag or error flag.) Turning the input relay off means that receiving is paused.
(3) After receiving is paused, starting up the input relay (off  on) restarts receiving. Even if theconnection number, receiving data storage variable, and receiving data storage variable size havechanged, receiving restarts with input values from before the pause. Changes are not reflected in theprocess of receiving messages.
(4) When the message receiving process is finished, if the input relay remains on in the next scan, a
new message receiving process starts.
(5) Maintain the receiving data storage variable throughout the message receiving process. If it isoverwritten, the received data is not guaranteed.
(6) When the number of data designated by the receiving data storage variable size exceeds thevariable size designated by the receiving data storage variable, it may overwrite other variable areas.
You must input the designated variable size as the receiving data storage variable size.
(7) The program should be created so that any input to the input relay is made after the normal flag of
M_OPEN is turned on.
Precautions when using M_RECV
The precautions are the same as for M_SEND. Refer to ―Precautions when using M_SEND.‖
Error status
Name

Code

Content

Abnormal parameters

177 (B1h)

When there is no Ethernet module in the slot specified withthe communication station number (slot number)

Abnormal channel open

193 (C1H)

When an inconsistent value is set in the communication mode

Abnormal port designation

200 (C8h)

When an inconsistent value is set for the IP address, local port
number or communication target port number

Channel close

199 (C7H)

When the communication target is closed

105

Page
NumberKind

Name

Data flow
language(Function 4)

MatrixFunction

106/119 SymbolSy
QG18719

mbo
Executionl time

SymbolA function for inputting a matrix.

Settings of the function argument(1) Input register: Connects external equipment which switches output data using a strobe.
(2) Output register: Strobe output (connected to the strobe input of external equipment.)(3) Name of the foremost matrix input register: Designates the start of the register name where the data
input by the strobe output is stored sequentially.

Example ofuse
Input register: i00000 (Register name for data input of one word)
Output register: o00001 (Output register name for generating strobe pulses)
Name of the first matrix input register: mi0010
i00000 data input by the strobe output of o00001 (000010 to 00001F) is stored sequentially from mi0010
to mi001F.
関 数のる with a function
Scantime存of在す
a taskタ スク の スキ ャン タ イム

i00000 = 1 O00010 = ON mi0010 = 1

O00010i00000 = 2 O00011 = ON mi0011 = 2
i00000 = 3 O00012 = ON mi0012 = 3

O00011



O00012i00000 = 16 O0001F = ON mi001F = 16i00000 = 17 O00010 = ON mi0010 = 17i00000 = 18 O00011 = ON mi0011 = 18

O0001F
Transfers
i0 000
0→ mi00 10
i00000へto
転mi0010送Transfers
i0 000
0→ mi00 11
i00000へto
転mi0011
送i0 000
0→ mi00 12
Transfers
i00000へ to
転mi0012送106Transfers
i0 000
0→ mi00 1F
i00000へto転
mi001F送Transfers
i0 000
0→ mi00 10
i00000mi0010
へto転
送

Page
NumberKind

Name

Data flow
language(Function 4)

FREAD

Function

Symbol107/119 SymbolSy
QG18719

mbo
Executionl time

Reads files saved in a CompactFlash card.

Settings of the function argument(1) Attribute (CSV digit)
0: Reads the file as a binary file.
Other than 0: Reads the file as a CSV file and specifies number of digits of the first row of the CSV
file.
(2) File name storage variable
Specifies the variable name where the file name is stored. The data is ASCII code.
(3) Read data storage variable
Specifies the variable name where the read data is stored.
(4) Read data storage variable size
Specifies the available area for the variable that stores the read data.
(5) Error flag
Turns on when an error occurs.
(6) Status
Stores an error code when an error occurs.
(7) Read file size
The size of the read file is stored (in word units).

Example ofuse
By switching Z000E8 on, a value is stored in g00000~.
The actual process is performed in the background so when reading finishes, B00000 is turned on.

Read complete

107

Page
Number108/119 SymbolSy
QG18719

mbol
You can enter a file name in ASCII code by double-clicking the constant data input ki variable area.

Status list
(1) Abnormal file name (Code: 65)
The file name storage variable includes characters that are not allowed in a file name.
(2) File being processed (Code: 35)
Another program (another place) is currently executing the file function.

108

Page
NumberKind

Name

Data flow
language(Function 4)

FWRITE

Function

Symbol109/119 SymbolSy
QG18719

mbo
Executionl time

Saves data in the PLC as files in a CompactFlash card.

Settings of the function argument(1) Attribute (CSV digit)
0: Reads the file as a binary file.
Other than 0: Reads the file as a CSV file and specifies number of digits of the first row of the CSV
file.
(2) File name storage variable
Specifies the variable name where the file name is stored. The data is ASCII code.
(3) Write data storage variable
Specifies the variable name where the written data is stored.
(4) Write data storage variable size
The size of the write file is stored (in word units).
(5) Error flag
Turns on when an error occurs.
(6) Status
Stores an error code when an error occurs.

Example ofuse
By switching Z000E8 on, the g00000~ data generates the stored file.
The actual process is performed in the background so when writing finishes, B00000 is turned on.

Write completion

109

Page
Number110/119 SymbolSy
QG18719

mbol
You can enter a file name in ASCII code by double-clicking the constant data input ki variable area.

Status list
(1) Abnormal file name (Code: 65)
The file name storage variable includes characters that are not allowed in a file name.
(2) File being processed (Code: 35)
Another program (another place) is currently executing the file function.
(3) Abnormal file access (Code: 66)
An abnormality occurred during file access (Code: 66)

110

Page
NumberKind

Name

Data flow
language(Function 4)

POKEKI

Function

Symbol111/119 SymbolSy
QG18719

mbo
Executionl time

Saves the ki (constant data) value as an application program. (When reset is
performed, it becomes written data.)

Settings of the function argument(1) ki start offset (Integer)
Specifies the start of the ki area to write.
(2) Write size (Integer)
Specifies the size of ki to write file (in word units).
(3) Write data (Integer)
Specifies the variable where the written data for writing ki is stored.

Example ofuse
By switching Z000E8 on, ki0000~ changes to 1, 2, 3.
When writing finishes, B00000 is turned on.

Write
completion

111

Page
NumberKind

Name

SymbolData flow
language(Function 4)

Versatilecommunications

FunctionA function for versatile communications.

112/119 SymbolSy
QG18719

mbo
Executionl time(1)Settings of the function argument
0000
Transmittal request: Starts sending data. When sending finishes, this must turned off by theapplication.
0001
Transmittal data length: Designates the length of the data sent in bytes.
0002
Transmittal data address: Designates the start address of the data sent.
0003
Receiving data address: Designates the start address of the receiving data.
0004
Parameter address: Designates the start address of the parameters for port initialization.
0005(Not used) -0006(Not used)
0007
Transmittal completed: Turned on when the data has been sent. (1 scan)
0008(Not used) -0009(Not used)
000A Receiving completed: Turned on when the data has been received. (1 scan)000B: (Not used) 000C:(Not used)
000D Receiving data length: Stores the received data length.
000E
RS-485 post number: Stores the circuit number of the versatile communications module.
(2)Port initialization parameter details
0000
Post number of versatile communications module number (unit number, slot number) Exampleof unit 1, slot 2: 102h
0001
Port no (1:CH1 2:CH2 3:CH3)0002(Not used) to 0002: (Not used)
000D Frame detection
0:No (Receiving completed if the data is received.)
1:Variable-length (Receiving completed when data enclosed in a start code and end code is
detected.)
2:Fixed (Receiving completed when the received data reaches the number of bytes received.)
000E
Designates the number of receiving bytes when the number of receiving bytes is fixed. ―0‖ is
specified when the length is variable.
000F
Designates the number of bytes in the start code when the number of bytes in the start code isvariable.
0010
Designates the start code when start code 1 is variable length.
0011:Start code 2, 0012:Start code 3, 0013:Start code 4, 0014:Start code 5
0015
Designates the number of bytes in the end code when the number of bytes in the end code isvariable.
0016
Designates the end code when end code 1 is variable length.
0017:End code 2,0018:End code 3,0019:End code 4,001A:End code 5
001B: …(Not used) to 001F: (Not used)

112

Page
NumberKind

Name

Data flow
language(Function4)
SHPC-115-Z Only

Motor side
cancellation(Modern control)

Function

Input signal
Variable
B1
B2
E1
E2
E3
E4
E5
E6
Jn
Dn
Tf

Type
Relay
Relay
Real
Real
Real
Real
Real
Real
Real
Real
Real

113/119 SymbolSy
QG18719

mbo
Executionl time

SymbolI consider inertia coefficient Jn and dumping coefficient Dn from the torque order ofthe motor and real motor turn speed and control it to minimize a difference with thevalue that I found.

Contents
Stop switch
Power Con reshuffling switch
Torque speed order Tref
Feed forward Ffwd1
Feed forward Ffwd2
Motor angular velocity Omegam
Speed deviation Dw for FCAN output
Power Con coefficient Zn
Inertia set point
Dumping set point
Time constant filter

Range/Unit

Remarks%%%%%
0.0~16.0
0.0~31.999
0.0~0.999
ms(Note 1)
(Note 2)
Default=10.0ms(Note 3)

Output signal

Variable
Type
Contents
Range/Unit
Remarks
U1
Real
MCAN Output1
%
U2
Real
MCAN Output2%（Note 1） A inertia set point (inertia [kgm2] X rating speed [rad/s] / rating torque of the Jn )= motor axis
conversion)[Nm]（Note 2） A dumping set point (dumping of the Dn )= motor axis conversion)[Nm / s/rad] X rating speed[rad/s] / rating torque[Nm]（Note 3） When Tf set the value that is shorter than the double of the practice (operation) period, I do not
become the right operation result. Please set it so that Tf becomes the value that is longer than double ofsample time.

113

Page
NumberKind

Name

Data flow language(Function4)
SHPC-115-Z Only

flexible side
cancellation(Modern control)

Function

Symbol114/119 SymbolSy
QG18719

mbo
Executionl time

From the torque order of the motor, real motor turn speed and rotary speed of the loadside, I twist Inertia coefficient Jln and dumping coefficient Dln of the load side andconsider various set points of the axis and control it to minimize a difference with the valuethat demanded it.

Input signal
Variable
Type
Contents
Range/Unit
Remarks
B1
Relay
A stop switch
E1
Real
Motor angular velocity Omegam
―
E2
Real
Load angular velocity Omegal
―
Dv
Real
Torsion axis dumping set point
Dv:0.13~300.0
Default=1.00 (Note 1)
Dv/Kc
Real
Time constant torsion axis delay
1~1000ms
Default=10ms(Note 1)
JlReal
0.0~0.999
Default=1.0(Note 2)
A load Inertia set point
Dl
Real
A load dumping set point
0.0~0.999
Default=0.0(Note 3)
Kf(=1/Tf)Real
Tf: Time constant filter
Tf:1~1000[ms]Default=10.0ms(Note 4)
Lfc
Real
FCAN output bottom value
%
Hfc
Real
FCANoutput upper limit value%(Note 1)Dumping [Nm / the s/rad] X rating speed [rad/s]/ rating torque of the torsion axis dumping set point Dv=
torsion axis[Nm]The spring constant [Nm/rad] X rating speed [rad/s]/ rating torque of the torsion axis spring constant set point Kc=
torsion axis[Nm](Note 2) Inertia [kgm2] X rating speed [rad/s]/ rating torque of the load Inertia set point (Jln)= load[Nm](Note 3)Dumping of the load dumping set point (Dln)= load[Nm / s/rad] X rating speed [rad/s]/ rating torque[Nm](Note 4)When Tf which is a reciprocal number of Kf set the value that is shorter than the double of the practice(operation) period, I do not become a right operation result. Please set it so that Tf which is a reciprocal number ofKf becomes the value that is longer than double of sample time.

114

Page
Number115/119 SymbolSy
QG18719

mbo

Kind

Name

Data flow
language(Function4)
SHPC-115-Z Only

Feed forward(Modern control)

Function

Input signal
Variable
B1
B2
E1
E2
Jn
Dn
Tf
Hd
Ld

SymbolExecution
ltime

I compensate you for delay (a difference) of the real rotary speed in consideration of
Inertia coefficient Jn and dumping coefficient Dn for a motor rotary speed order value.

Type
Relay
Relay
Real
Real
Real
Real
Real
Real
Real

Contents
A stop switch
A Power Con reshuffling switch
Motor speed order Wref
A Power Con coefficient Zn
Inertia set point
Dumping set point
Time constant filter
The output upper limit value
The output bottom value

Range/Unit

Remarks%%
Default=1.0(Note1)
0.000～31.999
Default=0.0(Note2)
0.0～0.999(Tf：1～1000[ms]) (Note3)-163.0%～163.0%-163.0%～163.0%

Output signal

Variable
Type
Contents
Range/Unit
RemarksU1
RealFFW Doutput%（Note 1） A Inertia set point (Inertia [kgm2] X rating speed [rad/s] / rating torque of the Jn )= motor axis
conversion)[Nm]（Note 2） A dumping set point (dumping of the Dn )= motor axis conversion)[Nm / s/rad] X rating speed[rad/s] / rating torque[Nm]（Note 3） When Tf which is a reciprocal number of Kf set the value that is shorter than the double of thepractice (operation) period, I do not become a right operation result. Please set it so that Tf which is areciprocal number of Kf becomes the value that is longer than double of sample time.

115

Page
Number116/119 SymbolSy
QG18719

mbo

Kind

Name

Data flow
language(Function4)
SHPC-115-Z Only

Function

Input signal
Variable

Executionltime

SymbolPower Con
coefficient（Reciprocal
number of thetorque outbreakcoefficient） block
I output electricity uniformity and the torque order that I converted so that it is it at theturn speed that is higher than base turn speed by inputting a torque order and real
motor turn speed.

E1
wR

Type
Real
Real

Znt
Tf
Output signal

Contents

Range/Unit

Input Wm
Rating (a base) speed%
100.0～40000.0

RealA gain（The reciprocal number of thetorque outbreak coefficient）

0.001～15.999

Real

A delay gain (Tf)： Time constant delay)

1～10000[ms]Variable

Remarks（Note1）

Type
Contents
Range/Unit
Remarks
Real
PCTQ Output―（Note 1） When Tf which is a reciprocal number of Kf set the value that is shorter than the double of thepractice (operation) period, I do not become a right operation result.
Please set it so that Tf which is a reciprocal number of Kf becomes the value that is longer than double ofsample time.
U1

116

Page
Number

Chapter 6 Appendix(Appendix 1)

117/119 SymbolSy
QG18719mbo
lSymbols and their Names(1)
LD language
Table 6.1
A-contact

B-contact

Logicalreversal

Label

Jump

Return(2)
Data flow language (Basic)
Table 6.2
LoadStore & load

Coil

Connector
load

Connector
store

Store

a-contactb-contactc-contactc-contact

Compare highCompare low

Compareequal

Priority given
to aupper-level

Priority given
to a lower-level

Logicalmultiplication

Logical sum

Exclusive OR

Addition

Subtraction

Multiplication

Division

Remainder

Local
constant:
integer

Local constant:real number(3)
Data flow language (Function 1)
Table 6.3
Absolute
Code
1’s
value
conversion
complement
conversion

Two times

SquareExponent

Increment

Decrement

Half

Square root

Bit countGray code
binary117

Page
Number118/119 SymbolSy
QG18719mbo
l(4)
Data flow language (Function 2)
Table 6.4
Insensitive
Differential
Patternband
compensation

Phase
compensation

PI
compensation

ARC

S-ARC

Arithmetic
average

Filter

PID
compensation

Temporary
delay

Delay

Constant
frequency
pulse

Variablesetting
patternUpper andlower limiters

Hysteresis

Unconditional
subroutine

Conditional
subroutine

Cosecant

SecantCotangent

Backlashcorrection(5)
Data flow language (Function 3)
Table 6.5
Sine
CosineTangent

On timer

Off timer

On differential

Off differential

Backlash

Scaling

Binary Gray
conversion

Division andremainder

Integerconversion

Real number
conversion

118

Page
Number(6)
Data flow language (Function 6)
Table 6.6
Message
Message
Channel opentransmittal
receiving

119/119 SymbolSy
QG18719mbolMatrix

Data transfer

Data transfer

Counter

Versatilecommunications

Motor side
cancellation

Flexible side
cancellation

Feed forward

Power Con
coefficient

119

Set

Reset

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