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123

Absolute Encoder Interface Board

Section 2-3

2-3-4

Applicable Inner Board Slots

The Absolute Encoder Interface Board can only be mounted in slot 2 (right
slot) of the CQM1-CPU51/61 CPU Unit.

2-3-5

Names and Functions

The Absolute Encoder Interface Board is provided with port 1 connector CN1
and port 2 connector CN2 to receive binary gray code input from absolute
rotary encoders.

LED Indicators

Slot 1: No

Absolute Encoder

Interface Board

Slot 2: OK

CQM1H-ABS02

CN1
Input from absolute encoder 1

Compatible connector

Socket: XM2D-1501 (OMRON)

Hood: XM2S-1511 (OMRON)

Two Hood sets are provided
as standard accessories.

CN2
Input from absolute encoder 2

Ready (green)

Lit when the Absolute Encoder Interface Board is ready.

Error (red)

Lit when there is an error in the PC Setup for the Absolute
Encoder Interface Board.

Encoder input (orange)

Refer to the following table.

RDY

ERR

IN1

IN2

INC1

INC2

DEC1

DEC2

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Summary of Contents for SYSMAC CQM1H Series

Page 1: ...CQM1H CPU Programmable Controllers CQM1H Inner Boards Cat No W364 E1 05 SYSMAC CQM1H Series PROGRAMMING MANUAL...

Page 2: ...SYSMAC CQM1H Series CQM1H CPU Programmable Controllers CQM1H Inner Boards Programming Manual Revised September 2007...

Page 3: ...iv...

Page 4: ...ome displays and on some OMRON products often means word and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for a...

Page 5: ...vi...

Page 6: ...ions 18 1 5 Pulse Output Function 44 1 6 Communications Functions 47 1 7 Calculating with Signed Binary Data 58 SECTION 2 Inner Boards 63 2 1 High speed Counter Board 64 2 2 Pulse I O Board 87 2 3 Abs...

Page 7: ...NOP 00 227 5 11 END END 01 227 5 12 INTERLOCK and INTERLOCK CLEAR IL 02 and ILC 03 227 5 13 JUMP and JUMP END JMP 04 and JME 05 229 5 14 User Error Instructions FAILURE ALARM AND RESET FAL 06 and SEV...

Page 8: ...Cycle Time 478 SECTION 8 Troubleshooting 497 8 1 Introduction 498 8 2 Programming Console Operation Errors 498 8 3 Programming Errors 499 8 4 User defined Errors 500 8 5 Operating Errors 501 8 6 Erro...

Page 9: ......

Page 10: ...teps and concepts involved in writing a basic ladder program It intro duces the instructions that are used to build the basic structure of the ladder program and control its execution Section 5 indivi...

Page 11: ......

Page 12: ...AS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBL...

Page 13: ...that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nuclear...

Page 14: ...nfirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE...

Page 15: ...xvi...

Page 16: ...ntrollers You must read this section and understand the information contained before attempting to set up or operate a PC system 1 Intended Audience xviii 2 General Precautions xviii 3 Safety Precauti...

Page 17: ...ogramming and operating the PC Be sure to read this manual before attempting to use the PC and keep this man ual close at hand for reference during operation WARNING It is extremely important that a P...

Page 18: ...r measure for such problems external safety measures must be provided to ensure safety in the system When the 24 VDC output service power supply to the PC is overloaded or short circuited the voltage...

Page 19: ...System can have a large effect on the longevity and reliability of the system Improper operating environments can lead to malfunction failure and other unforeseeable problems with the PC System Be su...

Page 20: ...m RUN or MONITOR mode to PROGRAM mode Make sure that the external loads will not produce dangerous conditions when this occurs When operation stops for a fatal error including those produced with the...

Page 21: ...f the DM Area and other prepara tions before starting operation Starting operation without the proper set tings or data may result in an unexpected operation Check the user program for proper executio...

Page 22: ...proper heat dissipation Do not cover the ventilation openings of the Unit For wiring use crimp terminals of the appropriate size as specified in rel evant manuals Do not allow metallic objects or cond...

Page 23: ...1 000 V AC or 75 to 1 500 V DC meet the required safety standards for the PC EN61131 2 6 3 Conformance to EC Directives The CQM1H series PCs comply with EC Directives To ensure that the machine or dev...

Page 24: ...ing and take into consideration that the capacitance suppresses spark dis charge when the contacts are sepa rated and the resistance limits the current that flows into the load when the circuit is clo...

Page 25: ...gh inrush current such as an incandescent lamp suppress the inrush current as shown below OUT COM R OUT COM R Countermeasure 1 Providing a dark current of approx one third of the rated value through a...

Page 26: ...ic PC Operation and I O Processes 12 1 3 1 Startup Mode 12 1 3 2 Hold Bit Status 13 1 3 3 RS 232C Port Servicing Time 13 1 3 4 Peripheral Port Servicing Time 14 1 3 5 Minimum Cycle Time 14 1 3 6 Input...

Page 27: ...nging the PC Setup PC Setup settings are read at various times depending on the setting as described below DM 6550 to DM 6559 Read regularly when the power is ON DM 6600 to DM 6614 Read only when PC s...

Page 28: ...and the settings for port 1 are contained in words DM 6555 to DM 6559 DM 6550 port 2 DM 6555 port 1 00 to 03 Port Settings 0 Standard 1 start bit 7 bit data even parity 2 stop bits 9 600 bps 1 Settin...

Page 29: ...M 01 MONITOR 02 RUN 12 08 to 15 Startup Mode Designation 00 Depends on CPU Unit DIP switch pin 7 and Programming Console switch settings 01 Continue operating mode last used before power was turned OF...

Page 30: ...Time Constant for IR 00008 to IR 00015 Setting same as bits 00 to 03 08 to 11 Input Time Constant for IR 001 Setting same as bits 00 to 03 12 to 15 Not used Set to 0 DM 6621 00 to 07 Input Constant f...

Page 31: ...or High speed Counter 2 00 to 12 BCD DM 6636 00 to 07 First Input Refresh Word for Interval Timer 0 00 to 15 BCD 32 39 08 to 15 Number of Input Refresh Words for Interval Timer 0 00 to 16 BCD DM 6637...

Page 32: ...bit 7 bits 1 bit Odd 02 1 bit 7 bits 1 bit None 03 1 bit 7 bits 2 bit Even 04 1 bit 7 bits 2 bit Odd 05 1 bit 7 bits 2 bit None 06 1 bit 8 bits 1 bit Even 07 1 bit 8 bits 1 bit Odd 08 1 bit 8 bits 1 b...

Page 33: ...t Link peripheral bus or No protocol mode 00 1 2 kbps 01 2 4 kbps 02 4 8 kbps 03 9 6 kbps 04 19 2 kbps 47 08 to 15 Frame Format Host Link or No protocol mode Start Length Stop Parity 00 1 bit 7 bits 1...

Page 34: ...ror Enable 0 Detect low battery voltage as non fatal error 1 Do not detect low battery voltage Word s Bit s Function Page Word Bits Function DM 6613 00 to 07 Servicing Time for Serial Communications B...

Page 35: ...speed Counter 1 Count Fre quency Numeric Range and Counter Reset Mode See note 2 08 to 11 High speed Counter 2 Input Mode See note 1 12 to 15 High speed Counter 2 Count Fre quency Numeric Range and C...

Page 36: ...actor DM 6644 00 to 03 Port 2 Input Mode 0 Differential Phase Mode 1 Pulse Direction Mode 2 Up Down Mode 04 to 07 Port 2 Counter Reset Method 0 Phase Z and software reset 1 Software reset only 08 to 1...

Page 37: ...06 to 07 Analog input 4 Input Signal Range 08 Analog Input 1 Usage Selection 0 Support use input 1 Do not support input 09 Analog Input 2 Usage Selection 10 Analog Input 3 Usage Selection 11 Analog I...

Page 38: ...started and stopped 1 3 3 RS 232C Port Servicing Time The following settings are used to determine the percentage of the cycle time devoted to servicing the RS 232C port Example If DM 6616 is set to...

Page 39: ...n operation will proceed according to the actual cycle time AR 2405 will turn ON if the minimum cycle time is exceeded 1 3 6 Input Time Constants Make the settings shown below to set the time from whe...

Page 40: ...instruction for details 3 Interrupt response time for other interrupts will be improved if interrupt pro cessing is set to 00 when high speed timer processing is not required This includes any time t...

Page 41: ...s 15 0 DM 6639 Bit Output refresh method 00 Cyclic 01 Direct Default The number of input digits for the DSW 87 instruc tion is set to 4 and the output refresh method is cyclic DIP switch settings DM 6...

Page 42: ...nger the cycle time read from Programming De vices will be 999 9 ms The correct maximum and current cycle times will be recorded in the AR area Example If 0230 is set in DM 6618 an FALS 9F error will...

Page 43: ...ow ing 3 types of high speed counter interrupts All can function as target value interrupts or range comparison interrupts A target value interrupt is gener ated when the PV matches the SV and a range...

Page 44: ...t notification from a Serial Communications Board has the lowest When an interrupt with a higher priority is received during interrupt process ing the current processes will be stopped and the newly r...

Page 45: ...tion is being exe cuted Method 2 Execute the instruction again in the main program This is the program section from the main program This is the program section from the interrupt subroutine INT 89 00...

Page 46: ...tate when restarting execution of the main program It is thus necessary to disable interrupts before and enable interrupts after any instructions that should be executed to completion even if an inter...

Page 47: ...e value INT 100 000 000 ADD DM0000 0001 DM0000 INT 200 000 000 Main Program Interrupts disabled Interrupts enabled BSET 1234 DM0000 DM0010 CMP DM0000 DM0010 Interrupt Subroutine Main Program 25506 A 1...

Page 48: ...once for every certain number of signals The INT 89 instruction determines which mode is used In the Input Interrupt Mode signals with a length of 100 s or more can be detected In the Counter Mode si...

Page 49: ...tings See page 26 for more details a Write 1 in the corresponding digit in DM 6628 to indicate that the input will be used as an input interrupt input interrupt or counter mode b Bits in DM 6630 throu...

Page 50: ...put Signal Input Interrupt Mode Wiring Example Counter 0 Input interrupt 0 1 2 3 Counter1 Counter 2 Counter 3 DM 6628 INTERRUPT CONTROL Refresh counter SV decrementing mode Generate interrupt Only whe...

Page 51: ...put signal status within the interrupt routine will not be reliable This includes even the status of the interrupt input bit that activated the interrupt For example IR 00000 would not be ON in interr...

Page 52: ...owing steps to program input interrupts using the Input Interrupt Mode Note The SR words used in the Counter Mode SR 244 to SR 251 all contain binary hexadecimal data not BCD 1 2 3 1 Write the set val...

Page 53: ...s for the Input Interrupt Mode but if the masks are cleared using the same process the Counter Mode will not be maintained and the Input Interrupt Mode will be used instead Interrupt signals received...

Page 54: ...T 93 BCD 24 249 D0000 INC 38 D0000 Sets 10 as the counter mode SV for input interrupt 1 When IR 00100 turns ON Masked interrupts for input interrupts 0 and 1 are cleared Interrupts are enabled in inpu...

Page 55: ...ry to temporarily mask all interrupts and always use INT 89 instructions in pairs to do so using the first INT 89 instruction to mask and the second one to unmask interrupts INT 89 cannot be used to m...

Page 56: ...Sched uled Interrupt Mode in which the interrupt is repeated at a fixed interval Procedure Follow the steps outlined below when using interval timer interrupts 1 2 3 1 Determine whether the timer wil...

Page 57: ...t value by one When the PV reaches 0 the designated subroutine will be called just once and the timer will stop When a word address is used for C2 the time from when the STIM 69 instruction is execute...

Page 58: ...tion to stop the interval timer The specified interval timer will stop Word Function C2 Decrementing counter set value 4 digit BCD 0000 to 9999 C2 1 Decrementing time interval 4 digit BCD unit 0 1 ms...

Page 59: ...depend on the signal type RET 93 MOV 21 0004 DM 0010 MOV 21 0006 DM 0011 SBN 92 023 STIM 69 004 DM 0010 0023 STIM 69 011 000 000 00100 00100 Every 2 4 ms the count is reached for interval timer 1 subr...

Page 60: ...mes the resolution of the counter Select the encoder based on the countable ranges Reset Methods Either of the two methods described below may be selected for resetting the PV of the count i e setting...

Page 61: ...nt value of the count and start the comparison operation The interrupt operation may not work correctly if the comparison operation is started immediately after changing the current value from the pro...

Page 62: ...to indicate that high speed counter 0 will be used b Set the input mode differential phase mode or incrementing mode c Set the reset method phase Z signal software reset or software re set Note High s...

Page 63: ...ts 00 to 03 Instruction Control function CTBL 63 Register a target value comparison table and start comparison Register a range comparison table and start comparison Register a target value comparison...

Page 64: ...not made high speed counter 0 cannot be used in the program Changes in the setting in DM 6642 become effective only when power is turned ON or PC program execution is started Programming Use the foll...

Page 65: ...002 then comparisons will be made by the target matching method if 003 then they will be made by the range comparison method For either of these settings the comparison table will be saved but com pa...

Page 66: ...set F in the leftmost digit Operation Example This example shows a program for using high speed counter 0 in the Incre menting Mode making comparisons by means of the target matching method and changi...

Page 67: ...0006 5535 Note 1 The values given above are theoretical and assume a reasonably short cy cle time The values will actually be those that existed one cycle before the overflow underflow existed 25315 O...

Page 68: ...Set the comparison table with CTBL 63 if necessary 4 Start comparison table operation with INI 61 Without Comparison Table Registered 1 2 3 1 Reset the counter 2 Set the PV with PRV 62 if necessary 3...

Page 69: ...t operations that can be made with combinations of PULS 65 SPED 64 and INI 61 Note A Transistor Output Unit must be used for this application Item Specification Applicable Unit Transistor Output Unit...

Page 70: ...d IR 100 to IR 115 to be used for the pulse output 2 Wire the Transistor Output Unit Wire the terminal corresponding to the bit that will actually be used in the selected word 3 Set the desired IR wor...

Page 71: ...r execut ing SPED 64 again with the frequency set to 0 The frequency can be changed by executing SPED 64 again with a different frequency setting Setting the Number of Pulses The total number of pulse...

Page 72: ...scribed later in this section Note 1 The Programmable Terminal s Programming Console functions can be used but pin 7 on the DIP switch must be ON 2 Turn ON pin 7 of the CPU Unit s DIP Switch when usin...

Page 73: ...l Communications Settings This section explains the PC Setup settings that are shared by the Host Link and no protocol communications modes Make the required PC Setup set tings before attempting to es...

Page 74: ...ink 1 No protocol 2 One to one data link slave 3 One to one data link master 4 NT Link in 1 1 mode 15 0 Bit DM 6645 RS 232C port DM 6650 Peripheral port Link words for 1 1 data link 0 LR 00 to LR 63 1...

Page 75: ...ready the data will be spent immediately If the delay time has not expired the send will be delayed until the time set for the transmission delay has expired Setting Stop bits Data length Stop bits P...

Page 76: ...ew of Host Link Communications Host Link communications were developed by OMRON for the purpose of connecting PCs and one or more host computers by RS 232C cable and con trolling PC communications fro...

Page 77: ...while the CQM1H is in the middle of responding to a command from the computer the response transmission will first be completed before the transmission is executed according to the TXD 48 instruction...

Page 78: ...re to write 10 in the leftmost digits of DM 6645 RS 232C port or DM 6650 peripheral port to specify No protocol communications Other communications parameters are set in the rightmost two digits of DM...

Page 79: ...ll be sent To reset the RS 232C port i e to restore the initial status turn ON SR 25209 To reset the peripheral port turn ON SR 25208 These bites will turn OFF automatically after the reset Receptions...

Page 80: ...1H data with the standard communications condi tions The data will be as follows 31323132313231323132CR LF 1 6 4 One to one Data Links If a CQM1H is linked one to one by connecting it to another CPU U...

Page 81: ...ink words in the PC designated as the master Note These settings are valid only when pin 5 of the CPU Unit s DIP Switch is OFF Bits 08 to 11 are valid only in the 1 1 Data Link Master Communications P...

Page 82: ...e used for NT Link communications Settings Set the communications mode to NT Link in 1 1 mode by setting DM 6645 to 4000 Be sure that pin 5 of the CPU Unit s DIP Switch is OFF For details on Programma...

Page 83: ...the commu nications ports 1 7 Calculating with Signed Binary Data The CQM1H PCs allow calculations on signed binary data The following instructions manipulate signed binary data Signed data is handled...

Page 84: ...it Hex 2 147 483 647 2 147 483 646 32 768 32 767 32 766 2 1 0 1 2 32 767 32 768 32 769 2 147 483 647 2 147 483 648 7FFF 7FFE 0002 0001 0000 FFFF FFFE 8001 8000 7FFF FFFF 7FFF FFFE 0000 8000 0000 7FFF...

Page 85: ...DOUBLE 2 S COMPLEMENT NEGL DOUBLE BINARY ADD ADBL DOUBLE BINARY SUBTRACT SBBL SIGNED BINARY MULTIPLY MBS DOUBLE SIGNED BINARY MULTIPLY MBSL SIGNED BINARY DIVIDE DBS DOUBLE SIGNED BINARY DIVIDE DBSL A...

Page 86: ...Data Section 1 7 ADB 50 000 001 010 CLC 41 10000 MBS 010 LR00 020 SBBL 020 HR50 030 DBSL 030 DM1000 040 04D2 FF85 X 0 0457 0457 X 04BC 00148BE4 00148BE4 00003039 0 00145BAB 00145BAB FFFFFB2E FFFFFBC7...

Page 87: ...62 Calculating with Signed Binary Data Section 1 7...

Page 88: ...2 2 9 Fixed Duty Factor Pulse Output 105 2 2 10 Variable Duty Factor Pulse Outputs 117 2 2 11 Determining the Status of Ports 1 and 2 120 2 2 12 Precautions When Using Pulse Output Functions 121 2 3...

Page 89: ...ge the bit pattern specified in the comparison table is stored in internal output bits and external output bits A bit pattern can be set for each comparison result and the external output bits can be...

Page 90: ...ulse input 1 Pulse input 2 CN2 Pulse input 3 Pulse input 4 Compatible connector Socket XM2D 1501 OMRON Hood XM2S 1511 OMRON Two Socket Hood sets are provided as standard accessories RDY Operational Gr...

Page 91: ...PV leftmost four digits IR 202 IR 234 00 to 15 Counter 2 PV rightmost four digits IR 203 IR 235 00 to 15 PV leftmost four digits IR 204 IR 236 00 to 15 Counter 3 PV rightmost four digits IR 205 IR 23...

Page 92: ...2 Stop Bit 14 High speed Counter 3 Stop Bit 15 High speed Counter 4 Stop Bit IR 213 AR 06 00 External Output 1 Force set Bit 0 No effect on output status 1 Forces output ON 01 External Output 2 Force...

Page 93: ...Refer to the explanation given above for high speed counter 1 12 to 15 Count frequency Numeric Range Mode and counter reset method of high speed counter 2 Refer to the explanation given above for hig...

Page 94: ...A and phase B with phase difference multiples of 1x 2x or 4x are used together with a phase Z signal for inputs The count is incremented or decremented according to differences in the two phase sig na...

Page 95: ...07FFFFFF Hex an overflow is generated If an overflow occurs the PV of the count will remain at 08388607 BCD or 07FFFFFF Hex and if an underflow occurs it will remain at F8388608 BCD or F8000000 Hex In...

Page 96: ...gistration and comparison execution status will not be changed when the PV is reset If a comparison was being executed before the reset it will continue Checking Methods for High speed Counter Interru...

Page 97: ...tmost bit of the word containing the subroutine number in the comparison table deter mines if target values are valid for incrementing or for decrementing the PV Examples of comparison table operation...

Page 98: ...e comparison table When the PV of the counter first enters between the upper and lower limits of one of the ranges 1 to 16 the corresponding bit pat tern 1 to 16 will be output once to specific bits i...

Page 99: ...al outputs four outputs Internal output bits 8 bits Lower limit 2 to upper limit 2 Lower limit 16 to upper limit 16 Bit pattern 2 Bit pattern 16 IR 208 to IR 211 or IR 240 to IR 243 Bit pattern output...

Page 100: ...he following table shows the relationship between external outputs 1 to 4 and Comparison Results External Output Bits Word Bits Function Slot 1 Slot 2 AR 04 00 to 07 Slot 1 The following 2 digit error...

Page 101: ...h speed counter 2 102 002 High speed counter 3 103 003 High speed counter 4 104 004 Bits Function 00 to 07 Comparison Results Internal Output Bits 08 to 11 Comparison Results External Output Bits for...

Page 102: ...00 kHz Input Modes Differential Phase Mode Up Down Mode Pulse Direction Mode Reset methods Phase Z software reset software reset Numeric Ranges Ring Mode or Linear Mode External output method Sourcing...

Page 103: ...t Port 2 CN2 encoder input Input voltage Input voltage Slot 1 Port 1 IR 201 and IR 200 Port 2 IR 203 and IR 202 Port 3 IR 205 and IR 204 Port 4 IR 207 and IR 206 Data stored as 8 digit hex adecimal or...

Page 104: ...2 Bits 08 to 15 of DM 6643 High speed counter 3 Slot 1 Bits 00 to 07 of DM 6641 Slot 2 Bits 00 to 07 of DM 6644 High speed counter 4 Slot 1 Bits 08 to 15 of DM 6641 Slot 2 Bits 08 to 15 of DM 6644 Co...

Page 105: ...et value comparison table and setting C to 003 registers a range comparison table comparison does not start automatically for these values A control bit or INI 61 must be used to start the comparison...

Page 106: ...cute comparison as the second operand or change the status of the control bit from 0 to 1 2 Once a table has been registered it is retained in the CQM1H throughout the operation i e while a program is...

Page 107: ...Mode Ring Mode 8 digit Hex F8000000 to 07FFFFFF Hex 00000000 to 07FFFFFF Hex The leftmost digit will be F if the number is negative 8 digit BCD F8388608 to 08388607 8 digit Hex F8000000 to 07FFFFFF He...

Page 108: ...0 Stopped 1 Operating Examples The following example illustrates the use of high speed counter 1 on a High speed Counter Board mounted in slot 2 Target value comparison is per formed to turn ON bits...

Page 109: ...utput 2 will be turned ON When the PV reaches 10000 IR 05002 will be turned ON and external output 3 will be turned ON Counter PV Target value 3 10000 Target value 1 2500 Target value 2 7500 PV reset...

Page 110: ...pares DM 0100 to 0100 DM 0000 0003 Three comparison conditions DM 0001 2500 Target value 2 500 DM 0002 0000 DM 0003 0100 Bit pattern 1 DM 0004 7500 Target value 7 500 DM 0005 0000 DM 0006 0201 Bit pat...

Page 111: ...05001 turns ON Subroutine 002 Sets continuous contact pulse output from output position 02 at 100 Hz and starts pulse output Subroutine 003 Sets continuous contact pulse output from output position 02...

Page 112: ...er matches a specified target value or an interrupt subrou tine when the PV falls within a specified comparison range Pulse Outputs 1 and 2 Two 10 Hz to 50 kHz pulses can be output from port 1 and por...

Page 113: ...High speed counter functions Pulse output functions DM 6611 setting Reading PV with PRV 62 High speed counter interrupts with CTBL 63 No trapezoidal acceleration deceleration SPED 64 Identical acceler...

Page 114: ...ut 2 Compatible connector Socket XM2D 1501 OMRON Hood XM2S 1511 OMRON Two Sockets and two Hoods are provided as standard with the Pulse I O Board Ready green Lit when the pulse I O functions are ready...

Page 115: ...n using registered compari son table Comparison stop Stops comparison PV change Changes PV of high speed counter PRV 62 PV read Reads PV of high speed counter Status read Reads status of high speed co...

Page 116: ...overflow underflow 1 Overflow Underflow has occurred AR 06 00 Port 2 High speed Counter 2 Range Comparison Flags ON when meeting first condition When the high speed counter is used in range compariso...

Page 117: ...x Differential phase input 1 Hex Pulse Direction input 2 Hex Up Down pulse input 04 to 07 High speed counter reset method 0 Hex Phase Z signal software reset 1 Hex Software reset 08 to 11 High speed c...

Page 118: ...in uous PULS 0 or 1 Pulse setting PULS 2 or 3 pulse acceler ation deceler ation setting PULS 4 or 5 No pulse setting PLS2 ACC Mode 0 Accel eration Inde pen dent ACC Mode 1 Accel eration Con tinuous AC...

Page 119: ...Specified 13 Number of Pulses Specified Flag Indicates whether or not the number of pulses has been set using PULS 65 0 Not specified 1 Specified 14 Pulse Output Completed Flag Indicates completion of...

Page 120: ...e DM 6611 of the PC Setup Word Bit Function When setting is activated DM 6611 00 to 15 Port Mode Setting ports 1 and 2 0000 Hex High speed Counter Mode 0001 Hex Simple Positioning Mode When power is t...

Page 121: ...umeric Ranges The range of values counted by high speed counters 1 and 2 are determined by the following two modes 1 2 3 1 Ring Mode In Ring Mode the maximum value of the counting range can be set wit...

Page 122: ...built in high speed counter Refer to page 35 for details The Reset Bits of high speed counters 1 and 2 are as follows Reset Bit of high speed counter 1 SR 25201 Reset Bit of high speed counter 2 SR 2...

Page 123: ...Phase Z software reset Software reset Numeric Range Ring Mode Linear Mode REGISTER COMPARISON TABLE CTBL 63 Port specific comparison table registration and comparison start MODE CONTROL INI 61 Port sp...

Page 124: ...Phase Z signal software reset Software reset Interrupts Generated Port 1 AR 0500 to AR 0509 Port 2 AR 0600 to AR 0609 Range Comparison Result Each cycle PV of Counter Port 1 IR 233 to IR 232 Port 2 IR...

Page 125: ...high speed counters 1 and 2 respectively Make these settings when it is necessary to refresh inputs before interrupt execution Programming Use the following steps to program high speed counters 1 and...

Page 126: ...ns set the first operand to the port number and the second operand to 000 execute comparison and execute the INI 61 in struction 2 A table that has been registered will be retained in the CQM1H during...

Page 127: ...de set F Hex in the leftmost digit Reading Status of High speed Counters 1 and 2 There are 2 ways to read the status of high speed counters 1 and 2 Reading the relevant flags in the AR area of the CQM...

Page 128: ...y factor pulse output Linear Mode Z phase signal with software reset and Up Down Mode Other PC Setup settings use the default settings Inputs are not refreshed before interrupt processing Word Bit Nam...

Page 129: ...SBN 92 RET 93 25313 Always ON CTBL 63 001 000 DM 0000 PULS 65 001 004 000 Specifies port 1 saves the comparison table in target value format and begins comparing Sets CW pulses for port 1 Number of p...

Page 130: ...d in the following two modes Continuous Mode Pulse output continues until it is stopped by either a SPED 64 instruction or an INI 61 instruction Independent Mode Pulse output stops automatically when...

Page 131: ...e Target frequency Number of pulses 114 Outputs a specified number of pulses The pulse output accelerates to the target fre quency at a specified rate and decelerates to a stop at another specified ra...

Page 132: ...fic pulse output control without acceleration deceleration MODE CONTROL INI 61 Stop pulse output to a specified port HIGH SPEED COUNTER PV READ PRV 62 Read pulse output status of a specified port Fixe...

Page 133: ...ulse output to a specified port HIGH SPEED COUNTER PV READ PRV 62 Read pulse output status of a specified port Determine port mode Determine pulse output port Mount Board and wire outputs PC Setup DM...

Page 134: ...Set number of output pulses for each port ACCELERATION CONTROL ACC Port specific trapezoidal acceleration deceleration pulse output control with different acceleration deceleration rates MODE CONTROL...

Page 135: ...lse Output with Trapezoidal Acceleration Deceleration and the Same Acceleration Deceleration Rate PLS2 PULSE OUTPUT cannot be used in High speed Counter Mode It is not possible to perform trapezoidal...

Page 136: ...at controls pulse output from ports 1 and 2 Before running the programs check that the settings in the PC Setup are as follows DM 6611 0001 Simple Positioning Mode DM 6643 0000 Fixed duty factor pulse...

Page 137: ...and stopping the motor Note Speed control timing will be accurate when frequency changes are performed as input interrupt processes PULS 65 000 001 05000 DM 0000 SPED 64 000 001 0100 00000 SPED 64 00...

Page 138: ...tor PULS 65 004 001 05000 000 SPED 64 001 001 0100 00005 SPED 64 001 001 0150 00006 SPED 64 001 001 0100 00007 SPED 64 001 001 0000 When IR 05000 turns ON PULS 65 sets port 1 for CW pulse output There...

Page 139: ...se output from port 1 Acceleration rate Approx 500 Hz 4 ms Target frequency 10 000 Hz Number of pulses 100 000 When AR 0514 Pulse Output Completed Flag turns ON a 5 second timer is started SET 05000 0...

Page 140: ...for CW pulse output The total number of pulses is set to 10 000 and the deceleration point is set to 9 100 pulses Starts CW pulse output from port 1 Acceleration rate Approx 1000 Hz 4 ms Target frequ...

Page 141: ...od should not be used except for emergency stops Example 7 Using ACC to Decelerate the Frequency at a Specified Rate The following example shows Mode 3 of ACC used to decrease the fre quency of a puls...

Page 142: ...used at the same time Variable Duty Factor Pulse Outputs Using PWM Frequency Time 20 kHz 5 kHz About 1 kHz 4 ms IR 00000 turns ON T ton CPU Unit Port 1 Port 2 Frequency 91 6 Hz 1 5 kHz 5 9 kHz Duty f...

Page 143: ...cycle Each execution Pulse output status Port 1 AR 05 Port 2 AR 06 HIGH SPEED COUNTER PV READ Pulse I O Board Port 1 pulse output CN1 Port 2 pulse output CN2 PULSE WITH VARIABLE DUTY FACTOR Target 91...

Page 144: ...settings in the PC Setup are as follows DM 6643 1000 variable duty factor pulse setting for port 1 The following diagram shows the duty factor of the pulse output from port 1 as the program is execute...

Page 145: ...odes are stored as two digit hexadecimal 00 Hex Normal 01 and 02 Hex Hardware error 02 Hex PC Setup error 03 Hex PC stopped during pulse output Word Bit Name Function Port 1 Port 2 AR 05 AR 06 12 Dece...

Page 146: ...ween the set frequency and the actual frequency increases as the frequency increases as shown in the examples in the following table 2 3 Absolute Encoder Interface Board 2 3 1 Model Set division ratio...

Page 147: ...0 to 1023 or 12 bits 0 to 4095 The resolution should be set to match that of the encoder con nected Interrupts An interrupt subroutine can be executed when the PV present value of the absolute high sp...

Page 148: ...t from absolute rotary encoders LED Indicators Slot 1 No Absolute Encoder Interface Board Slot 2 OK CQM1H ABS02 CN1 Input from absolute encoder 1 Compatible connector Socket XM2D 1501 OMRON Hood XM2S...

Page 149: ...ed counter attached to port 1 of the Absolute Encoder Interface Board is stored as an 8 digit BCD after each cycle IR 233 00 to 15 PV word leftmost four bits IR 234 00 to 15 Port 2 PV word rightmost f...

Page 150: ...V satisfies con ditions for comparison range 8 08 High speed Counter Comparison Flag Indicates status of comparison operation OFF Stopped ON Comparing Word Bit Name Function Word Bit Function IR 252 0...

Page 151: ...ed to an angle between 0 and 359 CTBL 63 settings are made in 5 units The resolution of the binary gray code inputs to ports 1 and 2 must be one of the three resolutions listed in the following table...

Page 152: ...as origin Check PV of absolute high speed counter 1 or 2 IR 232 IR 233 or IR 234 IR 235 Turn ON Origin Compensation Bit for ab solute high speed counter SR 25201 or SR 25201 The origin compensation 4...

Page 153: ...ters Port 1 IR 233 IR 232 Port 2 IR 235 IR 234 Each execution PRV 62 HIGH SPEED COUNTER PV READ PV read Comparison operation status read Range comparison result read Note For absolute high speed count...

Page 154: ...high speed counter s PV from IR 232 and IR 233 port 1 or IR 234 and IR 235 port 2 to determine the value before origin com pensation 6 Turn ON the Absolute High speed Counter 1 Origin Compensation Bi...

Page 155: ...upper and lower limits registered in the comparison table are all set in one word each 2 To stop comparisons execute INI 61 as shown below Specify port 1 or 2 in P P 001 or 002 To restart comparisons...

Page 156: ...executed Reading Absolute High speed Counter Status There are two ways to read the status of high speed counters 1 and 2 Reading AR area flags Using PRV 62 Reading AR Area Flags The CQM1H words relati...

Page 157: ...program set DM 6643 to 0100 Port 1 360 Mode 8 bit resolution Other PC Setup settings use the default settings Inputs are not refreshed at the time of interrupt processing Word Bit Name Function Count...

Page 158: ...utine number 103 DM 0012 0000 Lower limit 1 0 DM 0013 0000 Upper limit 1 0 DM 0014 FFFF No subroutine number DM 0015 0000 Lower limit 1 0 DM 0016 0000 Upper limit 1 0 DM 0017 FFFF No subroutine number...

Page 159: ...hing format and be gins comparing RET 93 SBN 92 101 Turns ON IR 10000 Turns OFF other bits in IR 100 MOV 21 0001 100 25313 Always ON RET 93 SBN 92 102 Turns ON IR 10001 Turns OFF other bits in IR 100...

Page 160: ...g setting IR 220 to IR 223 and thereby slightly speed up or slow down the speed or timing of a conveyor belt simply by adjusting a control with a screwdriver removing the need for a Pro gramming Devic...

Page 161: ...ion While the power is turned ON the contents of IR 220 to IR 223 are constantly refreshed with the values of the corresponding controls Be sure that these words are not written to from the program or...

Page 162: ...ings in DM 6611 determine the signal ranges The signal ranges that can be used for each of the two analog output points are 10 to 10 V and 0 to 20 mA A separate signal range can be selected for each p...

Page 163: ...nd a CN2 connector for 2 analog outputs LED Indicators Slot 1 No Slot 2 OK CQM1H MAB42 Analog I O Board CN1 Analog inputs 1 to 4 CN2 Analog outputs 1 to 2 Compatible connector Socket XM2D 1501 OMRON H...

Page 164: ...t analog output values 10 to 10 V 0 to 10 V Converted value 12 bit binary data Converted value 12 bit binary data Analog input signal Analog input signal 0 to 5 V or 0 to 20 mA Converted value 12 bit...

Page 165: ...rom the Analog I O Board is stored as a 4 digit Hex Read each cycle 10 to 10 V F800 to 07FF Hex 0 to 20 mA 0000 to 07FF Hex IR 237 00 to 15 Analog output 2 setting Word Bit Function SR 254 15 Inner Bo...

Page 166: ...nals PTs general purpose external devices and Programming Devices excluding Programming Consoles This makes it possible to easily increase the number of serial communications ports for a CQM1H series...

Page 167: ...al purpose devices that have a serial port Both RS 232C and RS 422A 485 ports are provided The RS 422A 485 port enables 1 N connections to general purpose external devices without going through Conver...

Page 168: ...232C and RS 422A 485 This Link Adapter requires a 5 V power supply Power is provided by the RS 232C port on the Serial Communications Board when the Link Adapter is connected to it but must be provid...

Page 169: ...144 Serial Communications Board Section 2 6...

Page 170: ...Inner Board in Slot 2 IR 232 to IR 243 158 3 2 6 Flags Bits for Communications Units 159 3 3 SR Area 160 3 4 TR Area 163 3 5 HR Area 163 3 6 AR Area 164 3 6 1 Shared Flags Bits AR 00 to AR 04 164 3 6...

Page 171: ...IR 19915 Inner Board slot 1 area 256 bits IR 200 to IR 215 IR 20000 to IR 21515 These bits are allocated to the Inner Board mounted in slot 1 of the CQM1H CPU51 61 Can be used as work bits when the C...

Page 172: ...or 1 1 Data Link through the RS 232 port or through a Controller Link Unit Timer Counter area note 3 512 bits TIM CNT 000 to TIM CNT 511 timer counter numbers The same numbers are used for both timers...

Page 173: ...R 001 for inputs and IR 100 for outputs The CPU Unit s 16 input points are allocated to IR 000 I O bits are allocated in one word units even for I O Units that require only 8 bits Note Input and outpu...

Page 174: ...nt I O Units One input word is allocated to each 16 point Input Unit and one output word is allocated to each 16 point Output Unit Input or output points 0 to 15 corre spond to bits 00 to 15 of the al...

Page 175: ...ch settings For example a CQM1 AD041 Analog Input Unit requires either 4 input words or 2 input words The Analog Input Unit requires 4 input words when 4 analog inputs are being used and 2 input words...

Page 176: ...it 16 inputs 1 input word IR 000 1 CQM1 ID111 16 inputs 1 input word IR 001 2 CQM1 ID112 32 inputs 2 input words IR 002 and IR 003 3 CQM1 OD213 32 outputs 2 output words IR 100 and IR 101 4 CQM1 ID111...

Page 177: ...the following diagram The CQM1H does not have a Backplane so it isn t necessary to deal with empty slots when allocating I O words The lowest available I O word addresses are allocated automatically I...

Page 178: ...its 8 CQM1 ID211 1 16 CQM1 ID111 1 CQM1 ID212 1 32 CQM1 ID112 2 CQM1 ID213 2 CQM1 ID214 2 AC Input Units 8 CQM1 IA121 1 CQM1 IA221 1 Relay Output Units 8 CQM1 OC221 1 16 CQM1 OC222 1 CQM1 OC224 1 Tran...

Page 179: ...7M21 2 or 1 2 or 1 CQM1 G7N11 2 or 1 CQM1 G7N01 2 or 1 I O Link Unit CQM1 LK501 2 2 Sensor Units CQM1 SEN01 1 See note Optical Fiber Photoelectric Module E3X MA11 1 Photoelectric Module with Separate...

Page 180: ...R 07 Reception Overflow Flag R Sequence Abort Completion Flag R Protocol macro 08 to 11 Port 2 Error Code 0 Normal operation 1 Parity error 2 Framing error 3 Overrun error 4 FCS error 5 Timeout error...

Page 181: ...08 Port 1 Protocol Macro Executing Flag R No protocol or Protocol macro 09 Step Error Processing Flag R Protocol macro 10 Sequence End Completion Flag R 11 Forced Abort Bit W 12 Port 2 Protocol Macro...

Page 182: ...ed Counter 2 Reset Bit 02 High speed Counter 3 Reset Bit 03 High speed Counter 4 Reset Bit 04 to 07 Not used 08 High speed Counter 1 Comparison Stop Bit 0 1 Starts comparison 1 0 Stops comparison W 09...

Page 183: ...isfied R 12 Counter Operating Flag 0 Stopped 1 Operating R 13 Comparison Flag Indicates whether comparison is in progress 0 Stopped 1 Operating R 14 PV Overflow Underflow Flag 0 Normal 1 Overflow or u...

Page 184: ...00 to 15 Absolute Encoder High speed Counter 2 PV rightmost 4 digits R IR 235 00 to 15 Absolute Encoder High speed Counter 2 PV leftmost 4 digits R IR 236 to IR 243 00 to 15 Not used Word Bits Functio...

Page 185: ...ware Error Flag 1 Error occurred 0 No error 13 and 14 Always 0 15 Error Log Flag 1 Error record recorded 0 No error records recorded IR 191 00 to 07 Polling Node s Node Number 08 to 15 Startup Node s...

Page 186: ...o 07 Not used 08 Peripheral Port Reset Bit Turn ON to reset peripheral port Not valid when Programming Device is connected Automatically turns OFF when reset is complete 52 09 RS 232C Port Reset Bit T...

Page 187: ...when differential monitoring is complete 147 07 STEP 08 Execution Flag Turns ON for 1 cycle only at the start of process based on STEP 08 231 08 HKY Execution Flag Turns ON during execution of HKY 431...

Page 188: ...ery fails SR 25308 Battery Low Flag A setting can be made in the PC Setup DM 6655 so that these errors will not be generated SR 25309 Cycle Time Over Flag A setting can be made in the PC Setup DM 6655...

Page 189: ...s bit ON and then OFF to restart the Communications Unit 12 to 15 Not used AR 02 00 to 07 Network Instruction Completion Code Contains the completion code for network instructions SEND 90 RECV 98 or C...

Page 190: ...Output 3 Force set Bit 03 External Output 4 Force set Bit 04 External Output Force set Enable Bit 0 Force setting of outputs 1 to 4 disabled 1 Force setting of outputs 1 to 4 enabled 05 to 15 Not used...

Page 191: ...speed Counter 1 Range Comparison Flags Bit 00 ON Counter PV satisfies conditions for comparison range 1 Bit 01 ON Counter PV satisfies conditions for comparison range 2 Bit 02 ON Counter PV satisfies...

Page 192: ...Peripheral Port Error Flag Turns ON when a peripheral port communications error occurs 13 Peripheral Port Transmission Enabled Flag Valid only when host link or RS 232C communications are used 14 Per...

Page 193: ...lly turns OFF again when operation is complete 03 Memory Cassette Comparison Results Flag ON Difference found or comparison not possible OFF Contents compared and found to be the same 04 to 11 Not use...

Page 194: ...present time in 2 digits BCD Valid only when a Memory Cassette with a clock is installed See page 170 for details 08 to 15 Date portion of the present time in 2 digits BCD Valid only when a Memory Cas...

Page 195: ...an the cycle time set in DM 6619 06 07 Not used 08 to 15 Code 2 digits hexadecimal showing the word number of a detected I O bus error 00 to 15 BCD Correspond to input words 000 to 015 80 to 95 BCD Co...

Page 196: ...using AR 2113 to simply set the seconds to 00 without going through a complicated procedure When AR 2113 is turned ON the clock time will change as follows If the seconds setting is from 00 to 29 the...

Page 197: ...timer counter numbers or not using interrupt processing will lead to inaccuracy in the high speed timers Interrupt processing can be set in DM 6629 of the PC Setup Conditions Resetting TIM and TIMH 1...

Page 198: ...e front of the CPU Unit When a Controller Link Unit or Serial Communications Board is being used part of the read only area is used for the Controller Link parameters routing table or Serial Communica...

Page 199: ...ttings from being changed accidentally In addition the settings and the program required for different control processes can be easily changed by simply replacing the Memory Cassette The program can b...

Page 200: ...store a program that is too large for the Memory Cassette or read a program that is too large for the CPU Unit Two examples are shown below 1 2 3 1 When a 4 Kword EEPROM Memory Cassette is installed i...

Page 201: ...ions other than UM area 7 2 Kwords Program larger than 3 2 Kwords Memory Cassette 4 Kwords X UM area 3 2 Kwords Program larger than 3 2 Kwords Memory Cassette 8 Kwords X Location Bits Content Meaning...

Page 202: ...s occurred Note If an error occurs while data is being transmitted a non fatal error FAL 9D will be generated and the appropriate AR bit from AR 1412 to AR 1415 will turn ON OFF If this occurs refer t...

Page 203: ...e Use the following procedure 1 2 3 1 Check to see that the CQM1H is in PROGRAM mode If it is in either RUN or MONITOR mode use the Programming Device to change to PRO GRAM mode 2 Turn ON AR 1402 from...

Page 204: ...180 4 3 Basic Ladder Diagrams 181 4 3 1 Basic Terms 181 4 3 2 Mnemonic Code 182 4 3 3 Ladder Instructions 183 4 3 4 OUTPUT and OUTPUT NOT 186 4 3 5 The END Instruction 186 4 3 6 Logic Block Instructio...

Page 205: ...Diagrams Preparing for and inputting the program via the Programming Console are described in the CQM1H Operation Manual and via the CX Programmer in the CX Programmer User Manual The rest of SECTION...

Page 206: ...ons The way the operation of each of the instructions corre sponds to a condition is described below Before we consider these however there are some basic terms that must be explained Note When displa...

Page 207: ...adder diagram without intersecting any vertical lines and the next place where you can draw the same type of horizontal line 4 3 2 Mnemonic Code The ladder diagram cannot be directly input into the PC...

Page 208: ...the left two columns are left blank If the instruction requires no definer or bit operand the operand column is left blank for first line It is a good idea to cross through any blank data col umn spac...

Page 209: ...which correspond in order from the left to a LOAD an AND NOT and an AND instruction Again each of these instructions requires one line of mnemonic code The instruction would have an ON execution cond...

Page 210: ...with each instruction perform ing a logic operation on the execution condition and the status of the operand bit The following is one example Study this example until you are convinced that the mnemon...

Page 211: ...y The length of time that a bit is ON or OFF can be controlled by combining the OUTPUT or OUTPUT NOT instruction with Timer instructions Refer to Exam ples under 5 16 1 TIMER TIM for details 4 3 5 The...

Page 212: ...OR NOT between IR 00002 and IR 00003 is lost and the OR NOT ends up being an OR NOT between just IR 00003 and the result of an AND between IR 00002 and the first OR What we need is a way to do the OR...

Page 213: ...block is coded using a LOAD instruction to code the first condition and then AND LOAD or OR LOAD is used to logically combine the blocks With both AND LOAD and OR LOAD there are two ways to achieve th...

Page 214: ...mit to the number of blocks that can be combined with the first method Combining AND LOAD and OR LOAD Both of the coding methods described above can also be used when using AND LOAD and OR LOAD as lon...

Page 215: ...at the end of the logic blocks they are combining they must as shown below be coded in reverse order i e the logic block instruction for the last two blocks is coded first fol lowed by the one to com...

Page 216: ...ks and each of these then broken into two blocks before it can be coded As shown below blocks a and b require an AND LOAD Before AND LOAD can be used how ever OR LOAD must be used to combine the top a...

Page 217: ...000 00001 00004 00005 00006 00007 Address Instruction Operands 00000 LD 00000 00001 LD 00001 00002 LD 00002 00003 AND NOT 00003 00004 OR LD 00005 AND LD 00006 LD NOT 00004 00007 AND 00005 00008 OR LD...

Page 218: ...cond one is to combine the execution condition of block c with the execution condition resulting from the normally closed condition assigned IR 00003 The rest of the diagram can be coded with OR AND a...

Page 219: ...01001 10000 10000 00006 Block c Block b Block a OR LD LD 00000 AND 00001 OR 10000 AND 00002 AND NOT 00003 LD 01000 AND 01001 OR 00006 LD 00004 AND 00005 AND LD Address Instruction Operands 00000 LD 0...

Page 220: ...xecution condition after completing the top instruc tion line will sometimes be different making it impossible to ensure correct execution of the branch line There are two means of programming branchi...

Page 221: ...t used more than once in the same instruction block Here a new instruc tion block is begun each time execution returns to the bus bar If in a single instruction block it is necessary to have more than...

Page 222: ...o control a group of instructions The INTERLOCK and INTERLOCK CLEAR instructions are always used together When an INTERLOCK instruction is placed before a section of a ladder pro gram the execution co...

Page 223: ...the execution condi tion for the second INTERLOCK instruction If IR 00002 is OFF instructions 2 through 4 will be executed with OFF execution conditions If IR 00002 is ON IR 00003 IR 00005 and IR 000...

Page 224: ...000 was OFF than any of the other versions The other type of jump is created with a jump number of 00 As many jumps as desired can be created using jump number 00 and JUMP instructions using 00 can be...

Page 225: ...ON execution conditions Neither instructions will affect the status of its operand bit when the execution condition is OFF SET will turn ON the operand bit when the execution condition goes ON but un...

Page 226: ...ON When the execution condition at the end of the second instruction line is ON the operand bit of the KEEP instruction is turned OFF The operand bit for the KEEP instruction will maintain its ON or O...

Page 227: ...n debugging operations Work Bit Applications Examples given later in this subsection show two of the most common ways to employ work bits These should act as a guide to the almost limitless num ber of...

Page 228: ...uction DIFU 13 When IR 00000 turns ON IR 22500 will be turned ON for one cycle and then be turned OFF the next cycle by DIFU 13 Assuming the other conditions controlling IR 10000 are not keeping it ON...

Page 229: ...a bit is used Except for instructions for which conditions are not allowed e g INTERLOCK CLEAR and JUMP END see below every instruction line must also have at least one condition on it to determine t...

Page 230: ...gram Execution When program execution is started the CPU Unit scans the program from top to bottom checking all conditions and executing all instructions accordingly as it moves down the bus bar It is...

Page 231: ...the EM or DM area Note The contents of a word used as an indirect must be BCD and must not exceed the addressing range of the DM or EM area If it is not BCD a BCD error will occur If the DM or EM are...

Page 232: ...2 Instruction Format 211 5 3 Data Areas Definer Values and Flags 211 5 4 Differentiated Instructions 213 5 5 Expansion Instructions 214 5 6 Coding Right hand Instructions 215 5 7 Instruction Tables 21...

Page 233: ...PARE CMP 20 280 5 19 2 TABLE COMPARE TCMP 85 282 5 19 3 BLOCK COMPARE BCMP 68 283 5 19 4 DOUBLE COMPARE CMPL 60 284 5 19 5 MULTI WORD COMPARE MCMP 19 285 5 19 6 SIGNED BINARY COMPARE CPS 286 5 19 7 DO...

Page 234: ...BINARY MULTIPLY MBSL 335 5 22 9 SIGNED BINARY DIVIDE DBS 336 5 22 10 DOUBLE SIGNED BINARY DIVIDE DBSL 337 5 23 Special Math Instructions 338 5 23 1 FIND MAXIMUM MAX 338 5 23 2 FIND MINIMUM MIN 340 5...

Page 235: ...FRAME CHECKSUM FCS 385 5 28 7 FAILURE POINT DETECTION FPD 387 5 28 8 INTERRUPT CONTROL INT 89 391 5 28 9 SET PULSES PULS 65 393 5 28 10 SPEED OUTPUT SPED 64 395 5 28 11 PULSE OUTPUT PLS2 398 5 28 12...

Page 236: ...ontains any definers described below or operand bits required by the instruction Other operands required by the instruction are contained in following words one operand per word Some instructions requ...

Page 237: ...address is specified the designated DM word will con tain the address of the DM word that contains the data that will be used as the operand of the instruction If for example DM 0001 was designated as...

Page 238: ...2 0 seconds with the same 80 ms cycle time the move operation will be executed only once during the first cycle in which 00000 has changed from OFF to ON Because the content of HR 10 could very well c...

Page 239: ...H before program execution Example The following example shows how default function code settings can be changed Function Codes for Expansion Instructions The following 18 function codes can be used f...

Page 240: ...it operand is also placed on the same line as the mnemonic All other operands are placed on lines after the instruction line one operand per line and in the same order as they appear in the ladder sym...

Page 241: ...illustrates the points described above Address Instruction Data 00000 LD 00000 00001 AND 00001 00002 OR 00002 00003 DIFU 13 21600 00004 LD 00100 00005 AND NOT 00200 00006 LD 01001 00007 AND NOT 01002...

Page 242: ...have been omitted from the following table and space has been provided so that you can write in the ones you will be using Refer to the next page for details on expansion instructions I P R SFT 10 HR...

Page 243: ...NSFER BSET BLOCK SET ROOT SQUARE ROOT XCHG DATA EXCHANGE SLD ONE DIGIT SHIFT LEFT SRD ONE DIGIT SHIFT RIGHT MLPX 4 TO 16 DECODER DMPX 16 TO 4 ENCODER SDEC 7 SEGMENT DECODER 8 DIST SINGLE WORD DISTRIBU...

Page 244: ...CMND 4 DELIVER COMMAND 412 CMP 20 3 COMPARE 280 CMPL 60 4 DOUBLE COMPARE 284 CNT None 2 COUNTER 235 CNTR 12 3 REVERSIBLE COUNTER 237 COLL 81 4 DATA COLLECT 275 COLM 4 LINE TO COLUMN 314 COM 29 2 COMPL...

Page 245: ...E 4 LINE 313 LOG 3 LOGARITHM 371 MAX 4 FIND MAXIMUM 338 MBS 4 SIGNED BINARY MULTIPLY 334 MBSL 4 DOUBLE SIGNED BINARY MULTIPLY 335 MCMP 19 4 MULTI WORD COMPARE 340 MCRO 99 4 MACRO 383 MIN 4 FIND MINIMU...

Page 246: ...TO SECONDS 311 SEND 90 4 NETWORK SEND 406 SET None 2 SET 224 SFT 10 3 SHIFT REGISTER 261 SFTR 84 4 REVERSIBLE SHIFT REGISTER 266 SIN 4 SINE 362 SLD 74 3 ONE DIGIT SHIFT LEFT 265 SNXT 09 2 STEP START...

Page 247: ...tructions Each of these instructions and each bit address can be used as many times as required Each can be used in as many of these instructions as required The status of the bit operand B assigned t...

Page 248: ...and the last unused one In order to draw ladder diagrams it is not necessary to use AND LD and OR LD instructions nor are they necessary when inputting ladder diagrams directly as is possible from th...

Page 249: ...s to be used to control the status of a single work bit and then that work bit can be used to control other instructions The length of time that a bit is ON or OFF can be controlled by combining the O...

Page 250: ...status Description KEEP 11 is used to maintain the status of the designated bit based on two execution conditions These execution conditions are labeled S and R S is the set input R the reset input KE...

Page 251: ...ution condition is either ON or OFF DIFU 13 will either turn the designated bit OFF or leave it OFF i e if the designated bit is already OFF The designated bit will thus never be ON for longer than on...

Page 252: ...r the last subroutine No instruction written after END 01 will be executed END 01 can be placed anywhere in the program to execute all instructions up to that point as is sometimes done to debug a pro...

Page 253: ...hown below The interlock is in effect while 00000 is OFF Notice that 01000 is not turned ON at the point labeled A even though 00001 has turned OFF and then back ON Precautions There must be an ILC 03...

Page 254: ...o another point JMP 04 defines the point from which the jump will be made JME 05 defines the destination of the jump When the execution condition for JMP 04 is ON no jump is made and the program is ex...

Page 255: ...ON a bit it will remain ON until the next time DIFU 13 or DIFD 14 is executed again In nor mal programming this means the next cycle In a jump this means the next time the jump from JMP 04 to JME 05...

Page 256: ...TART STEP 08 SNXT 09 Limitations All control bits must be in the same word and must be consecutive Description The step instructions STEP 08 and SNXT 09 are used together to set up breakpoints between...

Page 257: ...vely Each step must start with STEP 08 and generally ends with SNXT 09 see example 3 below for an exception When steps are programmed in series three types of execution are possible sequential branchi...

Page 258: ...ther than timer and counter instructions TIM CNT numbers run from 000 through 511 No prefix is required when using a TIM CNT number as a definer in a timer or counter instruction Once defined as a tim...

Page 259: ...ing RUN or MONITOR mode All SVs including those set externally must be in BCD 5 16 1 TIMER TIM Limitations SV is between 000 0 and 999 9 The decimal point is not entered The EM area is available in CQ...

Page 260: ...boundary has been exceeded 5 16 2 COUNTER CNT Limitations Each TIM CNT number can be used as the definer in only one TIMER or COUNTER instruction The EM area is available in CQM1H CPU61 CPU Units only...

Page 261: ...IR 00000 is used to control the times when CNT is operating Because in this example the SV for CNT 001 is 700 the Completion Flag for CNT 002 turns ON when 1 second x 700 times or 11 minutes and 40 s...

Page 262: ...ged from ON to OFF for both II and DI the PV of CNT will not be changed When decremented from 0000 the present value is set to SV and the Com pletion Flag is turned ON until the PV is decremented agai...

Page 263: ...condition for IL 02 is OFF Power interruptions also reset timers If a timer that is not reset under these conditions is desired SR area clock pulse bits can be counted to produce timers using CNT Refe...

Page 264: ...NTER instruction Description TTIM is used to create a timer that increments the PV every 0 1 s to time between 0 1 and 999 9 s TTIM increments in units of 0 1 second from zero TTIM accuracy is 0 0 0 1...

Page 265: ...the SV or the reset input is turned ON Note The timer set value must be BCD between 0000 and 9999 Operation will be as follows if 0000 or 0001 is set If 0000 is set the Completion Flag will turn ON as...

Page 266: ...to specify which of these functions will be performed and which of the three interval timers it will be performed on as shown in the following table Refer to 1 4 5 Interval Timer Interrupts for more d...

Page 267: ...time required from interval timer start up to time up is the content of C2 the content of C2 1 0 1 ms Reading Timer PVs Set C1 006 to 008 to read the PVs of timers 0 to 2 C2 specifies the first of two...

Page 268: ...he value of C comparison with the high speed counter PV can begin immediately or it can be started separately with INI 61 The port specifier P specifies the high speed counter that will be used in the...

Page 269: ...der Interface Board up to 48 target values can be registered A subroutine num ber 1 to 48 is also registered for each target value In either case the corre sponding subroutine is called and executed w...

Page 270: ...least 0 2 ms for interrupt processing when setting the target value for high speed counters 1 and 2 Target Value Comparison Operation The following diagram illustrates the operation of target value c...

Page 271: ...e corresponding range The following diagram shows the structure of a range comparison table for use with the CPU Unit s built in high speed counter 0 or the Pulse I O Board s high speed counters 1 or...

Page 272: ...s on the resolution selected in the PC Setup DM 6643 and or DM 6644 The following table shows the converted values for 5 to 45 TB Ring value lower 4 digits BCD TB 1 Ring value upper 4 digits BCD TB 3...

Page 273: ...able for use with the high speed counter PV Depending on the value of C comparison with the high speed counter PV can begin immediately or it can be started separately with INI 61 Resolution Converted...

Page 274: ...a error occurs in attempting to register a new table The differ entiated form of CTBL 63 is recommended when possible to reduce cycle time Target Value Comparison Up to 48 target values can be registe...

Page 275: ...f points in the ring and the maximum count value ring value max count value 1 Do not change the ring value while a comparison is in progress Target values 1 to 48 and bit patterns 1 to 48 are stored i...

Page 276: ...eset to the first target value in the table and the operation is repeated Range Comparison A range comparison table contains 8 ranges which are defined by an 8 digit lower limit and an 8 digit upper l...

Page 277: ...mpare Bit pattern 1 Bit pattern 2 Bit pattern 16 11 0 see note see note see note Lower limit 1 Upper limit 1 Lower limit 2 Upper limit 2 Lower limit 16 Upper limit 16 IR 208 to IR 211 or IR 240 to IR...

Page 278: ...compared against all the comparison ranges at the same time and the result for each range is output Data format Possible values Linear counting Ring counting BCD F838 8608 to 0838 8607 0000 0001 to 08...

Page 279: ...ferent comparison table is registered The cycle time can be reduced by executing a differentiated variation of CTBL 63 when required Flags ER The specified port and function are not compatible There i...

Page 280: ...dder Symbols Operand Data Areas INI 61 P C P1 P1 First PV word IR SR AR DM EM HR LR C Control data 000 to 003 INI 61 P C P1 Unit Board Function CPU Unit High speed counter 0 IR 00004 to IR 00006 Trans...

Page 281: ...The PV of absolute high speed counters 1 and 2 cannot be changed High speed Counter Board High speed Counters 1 to 4 The following table shows the possible 8 digit values BCD or hexadecimal for the PV...

Page 282: ...V READ PRV 62 Limitations ID and D 1 must be in the same data area DM 6143 to DM 6655 cannot be used for D Description PRV 62 can be used with the functions listed in the following table When the exec...

Page 283: ...lowing table shows the possible 8 digit BCD values for the PV of high speed counter 0 Inner Board Function Port specifier P Slot 1 Slot 2 Pulse I O Board High speed counter 1 or pulse output 1 001 Hig...

Page 284: ...cycle while PRV 62 reads the most up to date values Pulse I O Board The following table shows the function of bits in D for high speed counters 1 and 2 or pulse outputs from ports 1 and 2 on a Pulse...

Page 285: ...e Encoder Inter face Board but the allocated AR words are refreshed just once each cycle while PRV 62 reads the most up to date values Flags ER The specified port and function are not compatible Indir...

Page 286: ...1 is shifted into the register if I is OFF a 0 is shifted in When I is shifted into the register all bits previously in the register are shifted to the left and the leftmost bit of the register is lo...

Page 287: ...condition is ON WSFT 16 shifts data between St and E in word units Zeros are written into St and the content of E is lost Flags ER The St and E words are in different areas or St is greater than E In...

Page 288: ...ero otherwise OFF 5 17 4 ARITHMETIC SHIFT RIGHT ASR 26 Limitations DM 6144 to DM 6655 cannot be used for Wd Description When the execution condition is OFF ASR 25 is not executed When the exe cution c...

Page 289: ...the differentiated form ROL 27 or combine ROL 27 with DIFU 13 or DIFD 14 to shift just one time Flags ER Indirectly addressed EM DM word is non existent Content of EM DM word is not BCD or the EM DM a...

Page 290: ...Description When the execution condition is OFF SLD 74 is not executed When the exe cution condition is ON SLD 74 shifts data between St and E inclusive by one digit four bits to the left 0 is writte...

Page 291: ...very cycle if the undiffer entiated form of SRD 75 is used Use the differentiated form SRD 75 or combine SRD 75 with DIFU 13 or DIFD 14 to shift just one time Flags ER The St and E words are in differ...

Page 292: ...n ON exe cution condition and the reset bit bit 15 is OFF the entire shift register and CY will be set to zero Flags ER St and E are not in the same data area or ST is greater than E Indirectly addres...

Page 293: ...next lower word is designated in C C is also used to reset the register All of any portion of the register can be reset by designating the desired portion with St and E Control Word Bits 00 through 12...

Page 294: ...of the timer or counter You can however easily change the PV of a timer or a counter by using BSET 71 Flags ER Indirectly addressed EM DM word is non existent Content of EM DM word is not BCD or the...

Page 295: ...ned OFF and for each OFF bit in S the corre sponding bit in D is turned ON Precautions TIM CNT numbers cannot be designated as D to change the PV of the timer or counter However these can be easily ch...

Page 296: ...ER N is not BCD S and S N or D and D N are not in the same data area Indirectly addressed EM DM word is non existent Content of EM DM word is not BCD or the EM DM area boundary has been exceeded MVN 2...

Page 297: ...uctions It can also be used to clear words by transferring all zeros Flags ER St and E are not in the same data area or St is greater than E Indirectly addressed EM DM word is non existent Content of...

Page 298: ...the control word C Single word Distribution When bits 12 to 15 of C 0 to 8 DIST 80 can be used for a single word dis tribute operation The entire contents of C specifies an offset Of When the executi...

Page 299: ...how to use DIST 80 to create a stack between DM 0001 and DM 0005 DM 0000 acts as the stack pointer Flags ER The offset or stack length in the control word is not BCD Indirectly addressed EM DM word i...

Page 300: ...DM 0000 Of to IR 001 The content of 010 is 0005 so the content of DM 0005 DM 0000 5 is copied to IR 001 when IR 00001 is ON FIFO Stack Operation When bits 12 to 15 of C 9 COLL 81 can be used for an F...

Page 301: ...other 3 digits of C specify the number of words in the stack 000 to 999 The content of SBs is the stack pointer When the execution condition is ON COLL 81 copies the data from the word indicated by th...

Page 302: ...h of the stack an attempt was made to write to a word beyond the end of the stack EQ ON when the content of S is zero otherwise OFF 5 18 8 MOVE BIT MOVB 82 Limitations The rightmost two digits and the...

Page 303: ...D 83 is not executed When the execution condition is ON MOVD 83 copies the content of the specified digit s in S to the specified digit s in D Up to four digits can be transferred at one time The firs...

Page 304: ...ce bits must be in the same data area The specified destination bits must be in the same data area DM 6144 to DM 6655 cannot be used for D First digit in S 0 to 3 Number of digits 0 to 3 0 1 digit 1 2...

Page 305: ...the same data area The specified destination bits are not all in the same data area Indirectly addressed EM DM word is non existent Content of EM DM word is not BCD or the EM DM area boundary has been...

Page 306: ...P 20 Results The following example shows how to save the comparison result immediately If the content of HR 09 is greater than that of 010 10200 is turned ON if the two contents are equal 10201 is tur...

Page 307: ...le The following example shows the comparisons made and the results provided for TCMP 85 Here the comparison is made during each cycle when IR 00000 is ON CD Compare data IR SR DM EM HR TIM CNT LR TB...

Page 308: ...and the corresponding bit in R that is set for each true compar ison are shown below The rest of the bits in R will be turned OFF CB CD CB 1 Bit 00 CB 2 CD CB 3 Bit 01 CB 4 CD CB 5 Bit 02 CB 6 CD CB...

Page 309: ...status of these flags Be sure to access them before the desired status is changed R LR 05 001 0210 DM 0010 0000 DM 0011 0100 LR 0500 0 DM 0012 0101 DM 0013 0200 LR 0501 0 DM 0014 0201 DM 0015 0300 LR...

Page 310: ...the same data area TB2 and TB2 15 must be in the same data area DM 6144 to DM 6655 cannot be used for R Description When the execution condition is OFF MCMP 19 is not executed When the execution condi...

Page 311: ...ags in the SR area IR 100 0100 DM 0200 0100 DM 030000 0 IR 101 0200 DM 0201 0200 DM 030001 0 IR 102 0210 DM 0202 0210 DM 030002 0 IR 103 ABCD DM 0203 0400 DM 030003 1 IR 104 ABCD DM 0204 0500 DM 03000...

Page 312: ...s turned ON and the other bits 10001 and 10002 are turned OFF 5 19 7 DOUBLE SIGNED BINARY COMPARE CPSL Comparison result Flag status GR SR 25505 EQ SR 25506 LE SR 25507 Cp1 Cp2 0 0 1 Cp1 Cp2 0 1 0 Cp1...

Page 313: ...1 Cp1 equals Cp2 1 Cp2 LE ON if Cp1 1 Cp1 is less than Cp2 1 Cp2 GR ON if Cp1 1 Cp1 is greater than Cp2 1 Cp2 Example In the following example the content of 103 102 is less than that of DM 0021 DM 0...

Page 314: ...ZCP and the operation which accesses the EQ LE and GR flags may change the status of these flags Be sure to access them before the desired status is changed Flags ER Indirectly addressed EM DM word i...

Page 315: ...506 10001 Greater Than above range Equal within range Less Than below range Address Instruction Operands Address Instruction Operands 00000 LD 00000 00001 OUT TR 0 00002 ZCP 002 0010 AB1F 00003 AND 25...

Page 316: ...UL 5 20 Conversion Instructions 5 20 1 BCD TO BINARY BIN 23 Limitations DM 6144 to DM 6655 cannot be used for R Description When the execution condition is OFF BIN 23 is not executed When the exe cut...

Page 317: ...rically equivalent BCD bits and outputs the BCD bits to R Only the content of R is changed the content of S is left unchanged BCD 24 can be used to convert binary to BCD so that displays on the Pro gr...

Page 318: ...5 20 4 DOUBLE BINARY TO DOUBLE BCD BCDL 59 Limitations If the content of S exceeds 05F5E0FF the converted result would exceed 99999999 and BCDL 59 will not be executed When the instruction is not exe...

Page 319: ...l be turned ON in each of consecutive words beginning with R See examples below The following is an example of a one digit decode operation from digit number 1 of S i e here Di would be 0001 The first...

Page 320: ...xample The following program converts digits 1 to 3 of data from DM 0020 to bit posi tions and turns ON the corresponding bits in three consecutive words starting with HR 10 Digit 0 is not converted S...

Page 321: ...1100 0 HR 1200 1 DM 0020 01 HR 1001 0 HR 1101 0 HR 1201 0 DM 0020 02 HR 1002 0 HR 1102 0 HR 1202 0 DM 0020 03 HR 1003 0 HR 1103 0 HR 1203 0 DM 0020 04 1 HR 1004 0 HR 1104 0 HR 1204 0 DM 0020 05 1 HR...

Page 322: ...Undefined digit designator or S plus number of digits exceeds a data area Content of a source word is zero Indirectly addressed EM DM word is non existent Content of EM DM word is not BCD or the EM DM...

Page 323: ...verted and the half of D to receive the first 7 segment display code rightmost or leftmost 8 bits are designated in Di If multiple digits are designated they will be placed in order starting from the...

Page 324: ...hown below Specifies the first digit of S to be converted 0 to 3 Number of digits to be converted 0 to 3 0 1 digit 1 2 digits 2 3 digits 3 4 digits First half of D to be used 0 Rightmost 8 bits 1st ha...

Page 325: ...0 1 1 3 0 0 1 1 0 0 1 1 0 0 1 1 4 0 1 0 0 0 0 1 1 0 1 0 0 5 0 1 0 1 0 0 1 1 0 1 0 1 6 0 1 1 0 0 0 1 1 0 1 0 1 7 0 1 1 1 0 0 1 1 0 1 1 1 8 1 0 0 0 0 0 1 1 1 0 0 0 9 1 0 0 1 0 0 1 1 1 0 0 1 A 1 0 1 0 0...

Page 326: ...igits in S may be converted in order from the designated first digit The first digit the number of digits to be converted and the half of D to receive the first ASCII code rightmost or leftmost 8 bits...

Page 327: ...already even The status of the parity bit does not affect the meaning of the ASCII code When odd parity is designated the leftmost bit of each ASCII character will be adjusted so that there is an odd...

Page 328: ...of bytes to be converted and the digit of D to receive the first hexadecimal value are designated in Di If multiple bytes are designated they will be con verted in order starting from the designated h...

Page 329: ...racter should be adjusted so that there is an odd or even number of ON bits 0 1 2 3 D Di 0011 S Di 0030 Di 0133 Di 0023 1st byte 2nd byte S 1st byte 2nd byte S 1 1st byte 2nd byte 0 1 2 3 D S 1st byte...

Page 330: ...rts a 4 digit hexadecimal value to its 4 digit BCD equivalent Shex SBCD SCL 66 can convert the hexadecimal value according to a specified linear relationship The conversion line is defined by two poin...

Page 331: ...same data area or other setting error EQ ON when the result R is 0000 Example When 00000 is turned ON in the following example the BCD source data in DM 0100 0100 is converted to hexadecimal accordin...

Page 332: ...he 4 digit BCD value on the line defined by the x intercept P1 0 and the slope P1 2 P1 1 and places the results in R The result is rounded off to the nearest integer If the result is negative then CY...

Page 333: ...ed to BCD according to the parameters in DM 0000 to DM 0002 The result 0018 is then written to LR 00 and CY is turned ON because the result is negative 5 20 12 BCD TO SIGNED BINARY SCALING SCL3 Limita...

Page 334: ...the result If the result is greater than the upper limit in P1 3 then the upper limit is writ ten to R If the result is less than the lower limit in P1 4 then the lower limit is written to R Note The...

Page 335: ...01 is ON then the source word is negative When 00100 is turned ON the BCD source data in LR 02 is converted to signed binary according to the parameters in DM 0000 to DM 0004 The result is then writ t...

Page 336: ...R S and S 1 or R and R 1 are not in the same data area S and or S 1 do not contain BCD Number of seconds and or minutes exceeds 59 Indirectly addressed EM DM word is non existent Content of EM DM word...

Page 337: ...ER S and S 1 or R and R 1 are not in the same data area S and or S 1 do not contain BCD or exceed 36 000 000 seconds Indirectly addressed EM DM word is non existent Content of EM DM word is not BCD o...

Page 338: ...t BCD or the EM DM area boundary has been exceeded S and S 15 are not in the same data area EQ ON when the content of D is zero otherwise OFF Example The following example shows how to use LINE to mov...

Page 339: ...area boundary has been exceeded D and D 15 are not in the same data area EQ ON when the content of S is zero otherwise OFF Example The following example shows how to use COLM to move the contents of...

Page 340: ...execution and UF SR 25405 will be turned on Note Refer to 1 7 Calculating with Signed Binary Data for more details Flags ER Indirectly addressed EM DM word is non existent Content of EM DM word is no...

Page 341: ...tent of R will also be 8000 0000 after execution and UF SR 25405 will be turned on Note Refer to 1 7 Calculating with Signed Binary Data for more details Flags ER Indirectly addressed EM DM word is no...

Page 342: ...the instructions that affect CY 5 21 3 BCD ADD ADD 30 Limitations DM 6144 to DM 6655 cannot be used for R Description When the execution condition is OFF ADD 30 is not executed When the execution con...

Page 343: ...N SUB 31 subtracts the contents of Su and CY from Mi and places the result in R If the result is negative CY is set and the 10 s com plement of the actual result is placed in R To convert the 10 s com...

Page 344: ...e result in HR 10 is subtracted from zero note that CLC 41 is again required to obtain an accurate result the result is placed back in HR 10 and HR 1100 is turned ON to indicate a negative result If C...

Page 345: ...CY 1 negative result Second Subtraction 0000 HR 10 7577 CY 0 HR 10 2423 0000 10000 7577 CY 1 negative result In the above case the program would turn ON HR 1100 to indicate that the value held in HR 1...

Page 346: ...e shown below the program Flag ER Md and or Mr is not BCD Indirectly addressed EM DM word is non existent Content of EM DM word is not BCD or the EM DM area boundary has been exceeded CY ON when there...

Page 347: ...the result is 0 Example When IR 00000 is ON with the following program the content of IR 216 is divided by the content of HR 09 and the result is placed in DM 0017 and DM 0018 Example data and calcul...

Page 348: ...mbers the first contained in LR 00 through LR 02 and the second in DM 0010 through DM 0012 The result is placed in HR 10 through HR 13 The rightmost 8 digits of the two numbers are added using ADDL 54...

Page 349: ...ction see 5 18 4 BLOCK SET BSET 71 to create an 8 digit constant Flags ER Mi M 1 Su or Su 1 are not BCD Indirectly addressed EM DM word is non existent Content of EM DM word is not BCD or the EM DM ar...

Page 350: ...0001 00000 LD 00003 00001 OUT TR 0 00002 CLC 41 00003 SUBL 55 HR 00 120 DM 0100 00004 AND 25504 00005 BSET 71 0000 DM 0000 DM 0001 00006 CLC 41 00007 SUBL 55 DM 0000 DM 0100 DM 0100 00008 LD TR 0 000...

Page 351: ...scription When the execution condition is OFF DIVL 57 is not executed When the execution condition is ON DIVL 57 the eight digit content of Dd and D 1 is divided by the content of Dr and Dr 1 and the...

Page 352: ...BCD or the EM DM area boundary has been exceeded EQ ON when the result is 0 Example The following example shows how to take the square root of an eight digit number The result is a four digit number...

Page 353: ...is not BCD or the EM DM area boundary has been exceeded CY ON when the result is greater than FFFF EQ ON when the result is 0 OF ON when the result exceeds 32 767 7FFF UF ON when the result is below...

Page 354: ...of the actual result is placed in R SBB 51 can also be used to subtract signed binary data The Overflow and Underflow Flags SR 25404 and SR 25405 indicate whether the result has exceeded the lower or...

Page 355: ...t would have to be converted to its 2 s complement Note For signed binary calculations the status of the UF and OF flags indicate whether the result has exceeded the signed binary data range 32 768 80...

Page 356: ...d to divide signed binary data but DBS can be used Refer to 5 22 9 SIGNED BINARY DIVIDE DBS for details Description When the execution condition is OFF DVB 53 is not executed When the exe cution condi...

Page 357: ...word is non existent Content of EM DM word is not BCD or the EM DM area boundary has been exceeded CY ON when the result is greater than FFFF FFFF EQ ON when the result is 0 OF ON when the result exce...

Page 358: ...value in Mi and Mi 1 and places the result in R and R 1 If the result is negative CY is set and the 2 s complement of the actual result is placed in R 1 and R Use NEGL to convert the 2 s comple ment t...

Page 359: ...F Note 1 For unsigned binary data CY indicates that the result is negative Take the 2 s complement using NEGL to obtain the absolute value of the true result UF and OF can be ignored 2 For signed bina...

Page 360: ...d to multiply the signed binary con tents of DM 0010 with the signed binary contents of DM 0012 and output the result to DM 0100 and DM 0101 5 22 8 DOUBLE SIGNED BINARY MULTIPLY MBSL Limitations Md an...

Page 361: ...BSL is used to multiply the signed binary con tents of IR 101 and IR 100 with the signed binary contents of DM 0021 and DM 0020 and output the result to LR 24 through LR 01 5 22 9 SIGNED BINARY DIVIDE...

Page 362: ...de the signed binary contents of DM 0010 with the signed binary contents of DM 0020 and output the result to LR 21 and LR 02 5 22 10 DOUBLE SIGNED BINARY DIVIDE DBSL Limitations Dd and Dd 1 must be in...

Page 363: ...Example In the following example DBSL is used to divide the signed binary con tents of IR 101 and IR 100 with the signed binary contents of DM 0021 and DM 0020 and output the result to LR 24 through L...

Page 364: ...rch range is IR 014 then 0100 is written in D 1 If bit 14 of C is ON and more than one address contains the same maximum value the position of the lowest of the addresses will be output to D 1 The pos...

Page 365: ...the first word in the search range is IR 014 then 0100 is written in D 1 If bit 14 of C is ON and more than one address contains the same minimum value the position of the lowest of the addresses will...

Page 366: ...in D N 1 AVG calculates the average value of the values stored in D 2 to D N 1 and writes the average to D The following diagram shows the function of words D to D N 1 Precautions The average value is...

Page 367: ...annot be used for D If bit 14 of C is OFF setting for BCD data all data within the range R1 to R1 N 1 must be BCD MOV 21 040 0000 00001 Address Instruction Operands 00000 LD 00001 00001 MOV 21 0000 04...

Page 368: ...ightmost byte of R1 The leftmost byte of R1 will not be added if bit 12 is ON The bytes will be added in this order when bit 12 is OFF 1 2 3 4 The bytes will be added in this order when bit 12 is ON 2...

Page 369: ...function is a series of line segments which can approximate a curve determined by the operator The BCD or hexadecimal value of S specifies x Flags ER Indirectly addressed EM DM word is non existent C...

Page 370: ...s 14 and 15 determine respectively the output and input forms 0 specifies BCD and 1 specifies BIN Input data x Result data S DM 0000 D DM 0100 0 101 100 10 1 10 1 10 2 10 3 10 4 0 3 0 0 5 0 0 0 APR 00...

Page 371: ...tion with 12 line segments The block of data is continuous as it must be from DM 0000 to DM 0026 C to C 2 12 2 The input data is taken from IR 010 and the result is output to IR 011 Word Coordinate C...

Page 372: ...sed in floating point format the following formula applies Real number 1 s 2e 127 1 f s Sign e Exponent f Mantissa X Y 1F20 0F00 0726 0402 0 0 0005 0014 001A 05F0 x y Instruction Mnemonic Function cod...

Page 373: ...it dis play in the CX Programmer standard decimal numbers input in the display are automatically converted to the floating point format shown above IEEE754 format and written to I O Memory Data writte...

Page 374: ...normal numbers express real numbers with very small absolute values The sign bit will be 0 for a positive number and 1 for a negative number The exponent e will be 0 and the real exponent will be 126...

Page 375: ...g infinity by infinity The value of the result may not be correct if an overflow occurs when convert ing a floating point number to an integer Precautions in Handling Special Values The following prec...

Page 376: ...1 DM 0000 DM 0200 DM 0001 DM 0201 DM 0201 DM 0204 DM 0202 DM 0202 DM 0206 DM 0204 DM 0204 DM 0208 DM 0206 DM 0208 DM 0210 DM 0210 DM 0212 DM 0204 DM 0202 DM 0214 DM 0214 DM 0216 DM 0216 DM 0218 DM 021...

Page 377: ...ate tan 1 y x ATAN outputs the result in radians so DEG is used to convert to degrees The result is then output to DM 0219 and DM 0218 as floating point data 4 The data is converted back from floating...

Page 378: ...the range of 32 768 to 32 767 EQ ON if the result is 0000 5 24 2 FLOATING TO 32 BIT FIXL Limitations The content of S 1 and S must be floating point data and the integer portion must be in the range...

Page 379: ...ndition is OFF FLT is not executed When the exe cution condition is ON FLT converts the 16 bit signed binary value in S to 32 bit floating point data IEEE754 format and places the result in R 1 and R...

Page 380: ...its bits The result will not be exact if a number greater than 16 777 215 the maximum value that can be expressed in 24 bits is converted by FLTL Example Conversions A signed binary value of 16 777 21...

Page 381: ...result will be output as 0 The various combinations of augend and addend data will produce the results shown in the following table Note 1 The results could be zero including underflows a numeral or...

Page 382: ...he Underflow Flag SR 25405 will turn ON and the result will be output as 0 The various combinations of minuend and subtrahend data will produce the results shown in the following table Note 1 The resu...

Page 383: ...er than the maximum value that can be expressed as floating point data the Overflow Flag SR 25404 will turn ON and the result will be output as If the absolute value of the result is less than the min...

Page 384: ...n When the execution condition is OFF F is not executed When the execu tion condition is ON F divides the 32 bit floating point number in Dd 1 and Dd by the 32 bit floating point number in Dr 1 and Dr...

Page 385: ...ssed as a 32 bit floating point value The result will be output as 0 5 24 9 DEGREES TO RADIANS RAD Limitations The source data in S 1 and S must be in IEEE754 floating point data format DM 6143 to DM...

Page 386: ...RADIANS TO DEGREES DEG Limitations The source data in S 1 and S must be in IEEE754 floating point data format DM 6143 to DM 6655 cannot be used for R Description When the execution condition is OFF DE...

Page 387: ...the exe cution condition is ON SIN calculates the sine of the angle in radians expressed as a 32 bit floating point value in S 1 and S and places the result in R 1 and R The floating point source dat...

Page 388: ...o 65 535 in radians in S 1 and S If the absolute value of the angle exceeds 65 535 an error will occur and the instruction won t be executed For information on converting from degrees to radians see 5...

Page 389: ...1 and S If the absolute value of the angle exceeds 65 535 an error will occur and the instruction won t be executed For information on converting from degrees to radians see 5 24 9 DEGREES TO RADIANS...

Page 390: ...e sine function it returns the angle that produces a given sine value between 1 and 1 When the execution condition is OFF ASIN is not executed When the execution condition is ON ASIN computes the angl...

Page 391: ...ed for R Description ACOS calculates the arc cosine of a 32 bit floating point number and places the result in the specified result words The arc cosine function is the inverse of the cosine function...

Page 392: ...DM area boundary has been exceeded ON if the source data is not recognized as floating point data ON if the absolute value of the source data exceeds 1 0 EQ ON if both the exponent and mantissa of th...

Page 393: ...ting point number in S 1 and S and places the result in R 1 and R The floating point source data must be in IEEE754 format The result is output to words R 1 and R as an angle in radians within the ran...

Page 394: ...the result is greater than the maximum value that can be expressed as floating point data the Overflow Flag SR 25404 will turn ON and the result will be output as The following diagram shows the relat...

Page 395: ...ce and places the result in R 1 and R If the absolute value of the result is greater than the maximum value that can be expressed as floating point data the Overflow Flag SR 25404 will turn ON and the...

Page 396: ...t data format DM 6143 to DM 6655 cannot be used for R Description When the execution condition is OFF LOG is not executed When the execution condition is ON LOG calculates the natural base e logarithm...

Page 397: ...floating point value The result will be output as 5 25 Logic Instructions 5 25 1 COMPLEMENT COM 29 Limitations DM 6144 to DM 6655 cannot be used for Wd Description When the execution condition is OFF...

Page 398: ...ents of I1 and I2 bit by bit and places the result in R Example Flags ER Indirectly addressed EM DM word is non existent Content of EM DM word is not BCD or the EM DM area boundary has been exceeded E...

Page 399: ...M 6144 to DM 6655 cannot be used for R Description When the execution condition is OFF XORW 36 is not executed When the execution condition is ON XORW 36 exclusively OR s the contents of I1 and I2 bit...

Page 400: ...I1 and I2 bit by bit and places the result in R Flags ER Indirectly addressed EM DM word is non existent Content of EM DM word is not BCD or the EM DM area boundary has been exceeded EQ ON when the r...

Page 401: ...5 26 2 BCD DECREMENT DEC 39 Limitations DM 6144 to DM 6655 cannot be used for Wd Description When the execution condition is OFF DEC 39 is not executed When the execution condition is ON DEC 39 decre...

Page 402: ...the subroutine 5 27 1 SUBROUTINE ENTER SBS 91 Description A subroutine can be executed by placing SBS 91 in the main program at the point where the subroutine is desired The subroutine number used in...

Page 403: ...of nesting The following diagram illustrates program execution flow for various execution conditions for two SBS 91 Flags ER A subroutine does not exist for the specified subroutine number A subrouti...

Page 404: ...4 is placed within a subroutine the operand bit will not be turned OFF until the next time the subroutine is executed i e the operand bit may stay ON longer than one cycle Flags There are no flags dir...

Page 405: ...Control Bits and Flags The following control bits and flags are used during data tracing The Tracing Flag will be ON during tracing operations The Trace Completed Flag will turn ON when enough data h...

Page 406: ...ed for the message it can be stopped at any point by inputting OD When OD is encountered in a message no more words will be read and the words that normally would be used for the mes sage can be used...

Page 407: ...cleared 5 28 3 I O REFRESH IORF 97 Limitations St must be less than or equal to E Description To refresh I O words specify the first St and last E I O words to be refreshed When the execution conditi...

Page 408: ...s can be managed with just one subroutine thereby greatly reducing the num ber of steps in the program and making the program easier to understand Using Macros To use a macro call a subroutine by mean...

Page 409: ...rk bits when MCRO 99 is not used The first input word and the first output word can be specified not only with I O bits but also with other bits such as HR bits work bits etc or with DM words Subrouti...

Page 410: ...D or the EM DM area boundary has been exceeded EQ ON when the result is 0 5 28 6 FRAME CHECKSUM FCS Limitations The 3 rightmost digits of C must be BCD between 001 and 999 DM 6143 to DM 6655 cannot be...

Page 411: ...When bit 12 is OFF the bytes will be ORed in this order 1 2 3 4 When bit 12 is ON the bytes will be ORed in this order 2 3 4 5 Conversion to ASCII The byte frame checksum calculation yields a 2 digit...

Page 412: ...ch must use a different D It is used to monitor the time between the execution of FPD and the execution of a diagnostic output If the time exceeds T an FAL 06 non fatal error will be generated with th...

Page 413: ...inning at D 3 The CY Flag SR 25504 is turned ON An error processing program sec tion can be executed using the CY Flag if desired 4 If bit 15 of C is ON a preset message with up to 8 ASCII characters...

Page 414: ...re is bit 14 of D indicates whether the input condition is normally open or closed Refer to the following table Words D 5 to D 8 contain information in ASCII that are displayed on a Pe ripheral Device...

Page 415: ...cceptable value has been stored in T Example In the following example the FPD is set to display the bit address and message ABC when a monitoring time of 123 4 s is exceeded FPD is executed and begins...

Page 416: ...ation on these functions Mask Unmask I O Interrupts CC 000 This function is used to mask and unmask I O interrupt inputs 00000 to 00003 Masked inputs are recorded but ignored When an input is masked t...

Page 417: ...rupt processing Masked inputs are recorded but ignored Refer to page 30 for details The control data D is not used for this function Set D to 0000 Flags ER A counter s SV is incorrect CC 003 only Indi...

Page 418: ...meters set in C and N will apply to the next SPED 64 or ACC instruction in which the same port output location is specified Note The bit between 00 and 15 that is output as the contact pulse is specif...

Page 419: ...the deceleration point are set Set N 000 when C 004 or 005 Use these settings to change the out put destination for continuous mode pulse outputs from port 1 or port 2 Frequency Changes The number of...

Page 420: ...etermines the output mode Note Settings of 002 and 003 can be specified only for ports 1 and 2 of a Pulse I O Board P 001 or P 002 In independent mode the pulse output will continue until one of the f...

Page 421: ...requency output from the CQM1H PLB21 Pulse I O Board is gen erated by dividing the 500 kHz basic clock pulse by an integer value which results in a difference between the set frequency and actual freq...

Page 422: ...64 is executed while interval timer 0 is operating Indirectly addressed EM DM word is non existent Content of EM DM word is not BCD or the EM DM area boundary has been exceeded There is an error in th...

Page 423: ...hough T1 and T2 will vary slightly depending on the operating condi tions the number of pulses output will be accurate 2 PLS2 will not operate if pulses are already being output from the spec ified po...

Page 424: ...CD or the EM DM area boundary has been exceeded There is an error in the operand settings PLS2 is executed without a Pulse I O Board installed The PC Setup is not set for pulse output The target frequ...

Page 425: ...from port 1 or 2 The acceleration rate frequency after acceleration deceleration point deceleration rate and frequency after deceleration can all be controlled PULS 65 Operand Settings PULS 65 must b...

Page 426: ...is decreased by the amount set in C 2 every 4 08 ms C must be BCD from 0001 to 0200 10 Hz to 2 kHz 4 The content of C 3 specifies the frequency after deceleration C 3 must be BCD from 0000 to 5000 0...

Page 427: ...ed EM DM word is non existent Content of EM DM word is not BCD or the EM DM area boundary has been exceeded There is an error in the operand settings ACC is executed without a Pulse I O Board installe...

Page 428: ...hen P 001 and pulses are output from port 2 when P 002 F specifies the frequency of the pulse output as shown in the following table D specifies the duty factor of the pulse output i e the percentage...

Page 429: ...of the search is written to C 1 For example if the lowest address containing the comparison data is IR 114 and the first word in the search range is IR 014 then 0100 is written in C 1 If none of addre...

Page 430: ...ith the number of bits set by the input range parameter P1 1 00 to 15 Proportional band width This parameter specifies the proportional band width input range ratio from 0 1 to 999 9 It must be BCD fr...

Page 431: ...ationship between the sampling period and PID processing PID processing is performed only when the sampling period 100 ms in this case has elapsed Flags ER There is an error in the parameter settings...

Page 432: ...of retries up to 15 is reached Destination node N n number of send words n S 15 0 n D 15 0 Source node C 2 SEND 90 S D C C n number of send words 000 to 3DE Hex 0 to 990 words C 1 1 Always 1 Always 1...

Page 433: ...her networks in which destination nodes are connected Only one network instruction may be executed at one time To ensure that a second network instruction isn t executed until the first is completed p...

Page 434: ...a area boundary S Source node beginning send word D Destination node beginning receive word C Source node first control data word SEND 90 S D C D D 1 0 0 0 0 15 1211 8 7 6 5 4 3 2 1 0 Area code Word a...

Page 435: ...ource node beginning receive word C Source node first control data word Destination node M Source node C 2 RECV 98 S D C C 1 1 Always 1 Always 1 0 Response required 1 Response not required Destination...

Page 436: ...uction may be executed at one time To ensure that a second network instruction isn t executed until the first is completed program the Network Instruction Enabled Flag AR 0209 as a normally open condi...

Page 437: ...t mounted Description When the execution condition is OFF CMND is not executed When the execution condition is ON CMND transmits the FINS command beginning at word S to the specified node on the Contr...

Page 438: ...a response is received or the specified number of retries up to 15 is reached Be sure to indicate that no response is required when issuing command does not generate a response When the destination no...

Page 439: ...hat a second network instruction isn t executed until the first is completed program the Network Instruction Enabled Flag AR 0209 as a normally open condi tion Never change the control data C through...

Page 440: ...1 8 0 0 0 0 C 2 DM 0302 15 0 CMND DM 0100 DM 0200 DM 0300 00000 Address Instruction Operands 00000 LD 00000 00001 AND AR 0209 00002 SEND 90 DM 0100 DM 0200 DM 0300 AR 0209 0 0 0 8 0 3 0 0 C 3 DM 0303...

Page 441: ...read with RXD 47 AR 09 Contains the number of bytes received in 4 digit BCD This word is cleared to 0000 after data is read with RXD 47 SR 25209 Turn ON the RS 232C Port Reset Bit to reset the RS 232C...

Page 442: ...N 2 1 must be in the same data area DM 6144 to DM 6655 cannot be used for S or N N must be BCD from 0000 to 0256 0000 to 0061 in host link mode Description When the execution condition is OFF TXD 48 i...

Page 443: ...e ON when the CQM1H is capable of transmitting data through that port The following diagram shows the format for host link command TXD sent from the CQM1H The CQM1H automatically attaches the prefixes...

Page 444: ...e Serial Communications Board is specified but a Serial Communications Board is not installed There is an error in the communications settings PC Setup or the op erand settings Indirectly addressed EM...

Page 445: ...ted and will be turned OFF when the change has been completed Application Example This example shows a program that transfers the contents of DM 0100 through DM 0104 to the PC Setup area for Serial Co...

Page 446: ...n t IR 000 IR 001 IR 002 or IR 003 The specified source words exceed the data area The built in RS 232C port or the peripheral port has been specified but pin 5 on the DIP switch is ON A port on the S...

Page 447: ...ay Data won t be stored in the specified word and the contents of the word will be retained When the communications sequence does require receive words specify words that are not used for any other pu...

Page 448: ...or will occur and the Error Flag will turn ON if any other constant or a word address is given and PMCR will not be executed First Receive Word R These words contain received data Specify a word addre...

Page 449: ...n twice in the program Description When the execution condition is OFF 7SEG 88 is not executed When the execution condition is ON 7SEG 88 reads the source data either 4 or 8 digit converts it to 7 seg...

Page 450: ...g executed Hardware The 7 segment display is connected to an Output Unit as shown in the dia gram below For 4 digit display the data outputs D0 to D3 are connected to output points 0 through 3 and lat...

Page 451: ...be used Set Values for Selecting Logic and Number of Digits C Note Do not set C to values other than 000 to 007 7SEG 88 S O C S First source word O Output word C Control data Leftmost 4 digits Rightmo...

Page 452: ...0120 and DM 0121 change the display will also change 5 31 2 DIGITAL SWITCH INPUT DSW 87 Limitations DM 6144 to DM 6655 cannot be used for R Description DSW 87 is used to read the value set on a digit...

Page 453: ...ther case output point 5 will be turned ON when one round of data is read but there is no need to connect output point 5 unless required for the application 1 3 5 7 9 11 13 15 COM 0 2 4 6 8 10 12 14 C...

Page 454: ...in the PC Setup in PRO GRAM mode before executing the program Digital Switch Settings PC Setup Do not make any changes to bits 0 to 7 They are not related to DSW 87 Using the Instruction 1 3 5 7 9 11...

Page 455: ...on Example This example shows a program for reading 4 digits in BCD from the digital switch Assume that the digital switch is connected to IR 000 input and IR 100 output and assume the default status...

Page 456: ...eft and the most significant digit of D 1 is lost 2 The bits of D 2 and bit 4 of OW indicate key input When one of the keys on the keypad 0 to F is being pressed the corresponding bit in D 2 00 to 15...

Page 457: ...no need to connect it The inputs can be connected to the input terminals on the CPU Unit or a DC Input Unit with 8 or more input points and the outputs can be connected from a Transistor Output Unit w...

Page 458: ...digit 5 Input and output bits not used here can be used as ordinary input and out put bits With this instruction one key input is read in 3 to 12 cycles More than one cycle is required because the ON...

Page 459: ...on the ten key keypad the corresponding BCD digit is shifted into the least significant digit of D1 The other digits of D1 D1 1 are shifted left and the most significant digit of D1 1 is lost 2 The f...

Page 460: ...on will proceed as shown below when the program is executed Note 1 While one key is being pressed input from other keys will not be accepted 1 3 5 7 9 11 13 15 COM 0 2 4 6 8 10 12 14 COM ID212 0 V 0 9...

Page 461: ...inputting numbers from the 10 key is shown Assume that the 10 key is connected to IR 000 The 10 key information input to IR 000 using TKY 18 is converted to BCD and stored in DM 1000 and DM 1001 Key...

Page 462: ...0 6 5 8 AR AREA READ RJ 450 6 5 9 IR SR AREA WRITE WR 451 6 5 10 LR AREA WRITE WL 451 6 5 11 HR AREA WRITE WH 452 6 5 12 PV WRITE WC 452 6 5 13 TC STATUS WRITE WG 453 6 5 14 DM AREA WRITE WD 453 6 5 1...

Page 463: ...Not valid Valid Valid EM AREA WRITE 454 WJ Not valid Valid Valid AR AREA WRITE 455 R Valid Valid Valid SV READ 1 455 R Valid Valid Valid SV READ 2 456 R Valid Valid Valid SV READ 3 457 W Not valid Val...

Page 464: ...mal data has not been specified Correct the data and transfer the command again 16 Command not supported The operand specified in an SV Read or SV Change command does not exist in the pro gram Check s...

Page 465: ...t The error will be cleared auto matically if communications restart normally The Communications Error Flags are as follows Peripheral port AR 0812 Built in RS 232C port AR 0804 Serial Communications...

Page 466: ...A5 A8 WC 00 01 13 14 15 18 A3 A4 A5 A8 WG 00 01 13 14 15 18 A3 A4 A5 A8 WD 00 01 13 14 15 18 23 A3 A4 A5 A8 WE 00 01 13 14 15 18 A3 A4 A5 A8 WJ 00 01 13 14 15 18 A3 A4 A5 A8 R 00 13 14 15 16 18 23 R...

Page 467: ...h between the host computer and the PC each time a frame is transmitted The transmission right is passed from the transmitting Unit to the receiving Unit when either a terminator the code that marks t...

Page 468: ...fies the PC communicating with the host computer Specify the Host Link node number set for the PC in the PC Setup DM 6648 and DM 6653 for CPU Unit DM 6553 and DM 6558 for Serial Communica tions Board...

Page 469: ...en transmit ted the next frame will then be sent This procedure is repeated until the entire command has been transmitted Dividing Responses PC to Host Computer As each frame is received by the host c...

Page 470: ...8 bit data is the result of an EXCLUSIVE OR performed on the data from the beginning of the frame until the end of the text in that frame i e just before the FCS Calcu lating the FCS each time a frame...

Page 471: ...host computer to the PC but it is also possible for commands to be sent from the PC to the host computer In Host Link Mode any data can be transmitted from the PC to the host computer To send a comma...

Page 472: ...from the specified word Command Format Response Format An end code of 00 indicates normal completion Parameters Read Data Response The contents of the number of words specified by the command are ret...

Page 473: ...ded when reading more than 30 words of data Parameters Read Data Response The number of present values specified by the command is returned in hexa decimal as a response The PVs are returned in order...

Page 474: ...ters Read Data Response The contents of the number of words specified by the command are returned in hexadecimal as a response The words are returned in order starting with the specified beginning wor...

Page 475: ...R words starting from the specified word Command Format Response Format An end code of 00 indicates normal completion Parameters Read Data Response The contents of the number of words specified by the...

Page 476: ...e LR area in hexadecimal starting with the specified beginning word Note If data is specified for writing which exceeds the allowable range an error will be generated and the writing operation will no...

Page 477: ...l become the last word for writing data and the com mand will not be executed because HR 100 is beyond area boundary 6 5 12 PV WRITE WC Writes the PVs present values of timers counters starting from t...

Page 478: ...number of timers counters to be written in order from the beginning word as ON i e 1 or OFF i e 0 When a Completion Flag is ON it indicates that the time or count is up Note If data is specified for...

Page 479: ...two spaces to specify the cur rent bank Only the CQM1H CPU61 CPU Unit has an EM area and it has only one bank i e bank 0 Response Format Parameters Write Data Command Specify in order the contents of...

Page 480: ...be executed because AR 28 is beyond the writable range 6 5 17 SV READ 1 R Searches for the first instance of a TIM TIMH 15 TTIM CNT and CNTR 12 instruction with the specified TC number in the user s p...

Page 481: ...on at the specified program address in the user s program This can only be done with a program of less than 10 000 Command Format Response Format An end code of 00 indicates normal completion Paramete...

Page 482: ...user s program With this command program addresses can be specified for a program of up to 99 999 steps Command Format Response Format An end code of 00 indicates normal completion Operand Classificat...

Page 483: ...ond word of the instruction The program is searched from the beginning and it may therefore take approximately 10 sec onds to produce a response Command Format Response Format An end code of 00 indica...

Page 484: ...ify the name of the instruction in four characters for changing the SV In TC number specify the timer counter number used for the instruc tion Instruction name Classification OP1 OP2 OP3 OP4 T I M Spa...

Page 485: ...Response Format An end code of 00 indicates normal completion Operand Classification Constant or word address OP1 OP2 OP3 OP4 C I O Space IR or SR 0000 to 0252 L R Space Space LR 0000 to 0063 H R Spac...

Page 486: ...de of 00 indicates normal completion Instruction name Classification TC number range OP1 OP2 OP3 OP4 T I M Space TIMER 0000 to 0511 T I M H HIGH SPEED TIMER T T I M TOTALIZING TIMER C N T Space COUNTE...

Page 487: ...mat An end code of 00 indicates normal completion 15 14 13 12 11 10 9 8 0 0 0 0 9 8 0 0 1 0 1 1 x 163 x 162 This area is different from that of STATUS WRITE Bit Bit 1 FALS generated 1 Fatal error gene...

Page 488: ...rmal completion Parameters Error Clear Command Specify 01 to clear errors and 00 to not clear errors BCD Fatal errors can be cleared only when the PC is in PROGRAM mode RUN mode 7 6 5 4 3 2 1 0 0 0 0...

Page 489: ...12 11 10 9 8 0 0 0 0 0 0 x 163 x 162 7 6 5 4 x 161 3 2 1 0 x 160 FAL FALS No 01 to FF ON Cycle time overrun Error code F8 ON I O Unit overflow Error code E1 15 14 13 12 11 10 9 8 0 0 0 0 0 0 0 0 0 x 1...

Page 490: ...t An end code of 00 indicates normal completion Parameters Name Word address Bit Command In Name specify the area i e IR SR LR HR AR or TC that is to be forced reset Specify the name in four character...

Page 491: ...ce Space HR 0000 to 0099 A R Space Space AR 0000 to 0027 T I M Space Completion Flag timer 0000 to 0511 Always 00 T I M H Completion Flag high speed timer T T I M Completion Flag totalizing timer C N...

Page 492: ...icates normal completion 6 5 29 FORCED SET RESET CANCEL KC Cancels all forced set and forced reset bits including those set by FORCED SET FORCED RESET and MULTIPLE FORCED SET RESET If multiple bits ar...

Page 493: ...rs other than the carriage return CHR 13 For the response the same characters as specified by the command will be returned unaltered if the test is successful M M x 100 x 101 x 161 x 160 x 161 x 160 N...

Page 494: ...block from the beginning Command Format Response Format An end code of 00 indicates normal completion Parameters Program Command Program data up to the maximum memory size 6 5 34 COMPOUND COMMAND QQ R...

Page 495: ...ion 128 max Single read information Total read information 128 max Read area Read word address Data format Data break R Q Q x 100 x 101 x 161 x 160 M R Node No Header code Sub header code End code Ter...

Page 496: ...on Flag has been specified then bit data ON or OFF is returned If Word has been specified then word data is returned If PV has been specified for timers counters however then the PV is returned follow...

Page 497: ...D converts the specified data into ASCII code and transmits it to the host computer with this format Response Format Parameters Characters Response The frame can contain up to 122 characters TXD 48 do...

Page 498: ...ain an understanding of the precise timing of CQM1H operation 7 1 CPU Unit Operation 474 7 2 Power Interruptions 475 7 2 1 Operation at Power Interruption 475 7 2 2 Startup Operation after a Power Int...

Page 499: ...am End of program Check cycle time setting Minimum cycle time Wait until minimum cycle time expires Compute cycle time Refresh input bits and output terminals Service RS 232C port Service peripheral p...

Page 500: ...nterruptions 7 2 1 Operation at Power Interruption The following processing is performed if CPU Unit power is interrupted The following processing will be performed if the power supply falls below 85...

Page 501: ...ge or less Power supply voltage AC 0 to 10 ms DC 0 to 5 ms Power interruption not detected op eration continues Operation will continue or stop depending on whether or not the power interrup tion is d...

Page 502: ...pin 7 on the DIP switch on the CPU Unit is ON DM 6600 Startup Mode is set to 0202 Hex RUN mode or 0201 Hex MONITOR mode The Programming Console is connected and its mode selector is set to RUN or MONI...

Page 503: ...lmost instantaneous except for standby processing I O refresh Input Unit s input information is read to input bits Output information results of executing program is written to Output Unit s output bi...

Page 504: ...read from the PC via a Peripheral De vice 2 The maximum and current cycle time are stored in AR 26 and AR 27 3 The cycle time can vary with actual operating conditions and will not nec essarily agree...

Page 505: ...D NOT AND AND NOT OR OR NOT AND LD OR LD 0 375 Any OUT OUT NOT 0 563 Without direct outputs or for operands other than IR 10000 to IR 11515 when direct outputs are used SET RSET 0 938 Direct outputs T...

Page 506: ...sferring DM to DM 23 BIN 37 8 When converting a word to a word 1 5 72 0 When converting DM to DM 24 BCD 35 8 When converting a word to a word 1 5 70 0 When converting DM to DM 25 ASL 18 0 When shiftin...

Page 507: ...MLB 34 3 Constant word word 1 875 36 7 Word word word 87 3 DM DM DM 53 DVB 35 1 Word constant word 1 875 37 5 Word word word 88 1 DM DM DM 54 ADDL 44 5 Word word word 1 875 96 7 DM DM DM 55 SUBL 44 5...

Page 508: ...tting DM to a stack via DM 81 COLL 48 9 When setting a constant a word to a word 1 875 51 3 When setting a word a word to a word 105 1 When setting DM DM to DM 45 9 When setting a word constant to FIF...

Page 509: ...max OFF execution time s Code Mnemonic ON execution time s Conditions OFF execution time s 17 ASFT 47 1 Shifting a word 1 875 72 6 Shifting 10 words 1 85 ms Shifting 1 024 words via DM 12 3 ms Shiftin...

Page 510: ...on via word 112 0 Stopping comparison via DM 136 0 Changing PV via word 154 0 Changing PV via DM High speed counters 1 and 2 or pulse output from ports 1 and 2 on Pulse I O Board 267 2 Starting compar...

Page 511: ...63 CTBL Built in high speed counter 0 or pulse output from an output bit 1 875 189 3 Target table with 1 target in words and start 210 5 Target table with 1 target in DM and start 1 18 ms Target table...

Page 512: ...ms Range table in DM and start 414 8 Target table with 1 target in words 436 4 Target table with 1 target in DM 5 40 ms Target table with 48 targets in words 5 42 ms Target table with 48 targets in DM...

Page 513: ...1 875 77 0 4 digits DM designation 69 1 8 digits word designation 87 9 8 digits DM designation 89 INT 39 8 Set masks via word 1 875 60 6 Set masks via DM 37 5 Clear interrupts via word 54 9 Clear inte...

Page 514: ...rd word 105 0 DM DM DM DBSL 67 5 Word word word 1 875 123 0 DM DM DM DEG 105 2 Word word 1 875 140 0 DM DM EXP 1 08 ms Word word 1 875 1 12 ms DM DM FCS 57 9 Computing one word results to word 1 875 1...

Page 515: ...n 458 5 Word word when sampling 673 0 DM DM when sampling PLS2 619 0 Words for control words 1 875 639 8 DM for control words PMCR 182 0 Constant for port sequence number DM for I O word 1 875 728 0 D...

Page 516: ...s Board port 1 or 2 word designation 317 0 Serial Communications Board port 1 or 2 port DM designa tion TAN 1 10 ms Word word 1 875 1 14 ms DM DM TTIM 41 8 Set value specified in word Reset 40 0 IL 39...

Page 517: ...ndard can be achieved by using input inter rupts and direct output refreshing Maximum I O Response Time The CQM1H takes longest to respond when it receives the input signal just after the input refres...

Page 518: ...s proceed from the master to the slave The following conditions are taken as examples for calculating the I O response times Input ON delay 8 ms Master cycle time 10 ms Slave cycle time 15 ms Output O...

Page 519: ...slave executes communica tions servicing Master Input point Input bit CPU processing I O refresh Cycle time Input ON delay One to one link communications Master to Slave CPU processing Slave Instructi...

Page 520: ...bles with CQM1H 51 61 CPU Units the timing of interrupt processing can be de layed up to 1 ms Mask Processing Interrupts are masked during processing of the operations described below Until the proces...

Page 521: ...errupt response time i e the time from when the interrupt input turns ON until the start of the interrupt processing routine when input interrupts are used under the conditions shown below Number of h...

Page 522: ...software errors that can occur during operation 8 1 Introduction 498 8 2 Programming Console Operation Errors 498 8 3 Programming Errors 499 8 4 User defined Errors 500 8 5 Operating Errors 501 8 5 1...

Page 523: ...to SR 25307 For the most recent errors both the type of error and time of occurrence will be recorded in the PC s error log area Details are provided starting on page 504 There are flags and other in...

Page 524: ...within the proper range NO END INSTR There is no END 01 in the program Write END 01 at the final address in the program LOCN ERR An instruction is in the wrong place in the program Check instruction...

Page 525: ...r will be recorded in the PC s error log area The time of occurrence will also be recorded if a Memory Cassette with a clock RTC is used The FAL numbers can be set arbitrarily to indicate particular c...

Page 526: ...and the ERR ALM indicator will flash Caution Although PC operation continues even when non fatal errors are generated investigate the cause of errors and take the appropriate action as soon as possib...

Page 527: ...e hardware Turn the power OFF and then power up again If the error persists replace the Inner Board 03 Hex The PC Setup DM 6611 DM 6612 DM 6643 DM 6644 settings are incorrect Correct the settings 04 H...

Page 528: ...O BUS ERR C0 An error has occurred during data transfer between the CPU Unit and an I O Unit An I O Unit or the End Cover is not connected properly An Inner Board was connected or removed during comm...

Page 529: ...x You can store the most recent 10 error log records and discard older records This is achieved by shifting the records as shown below so that the oldest record record 0 is lost whenever a new record...

Page 530: ...log turn ON SR 25214 from a Programming Device or using an instruction After the error log has been cleared SR 25214 will turn OFF automatically 8 7 Troubleshooting Flowcharts Use the following flowc...

Page 531: ...or not lit Replace the Power Supply Unit Is power being supplied Is voltage adequate See note Are there any loose terminal screws or bro ken wires Connect power supply Is Power indicator lit Set suppl...

Page 532: ...s cause and clear the error Is the ERR ALM indicator lit Determine the cause of the error with a Peripheral Device End RUN indicator not lit Replace the CPU Unit Correct the power supply No Yes Is a f...

Page 533: ...kly as possible to ensure proper operation It may to necessary to stop PC operation to remove certain non fatal errors Identify the error eliminate its cause and clear the error ERR ALM indicator flas...

Page 534: ...indicator operat ing normally Check the voltage at the IR 10500 terminals Wire correctly Replace terminal connector Operation OK Is terminal block making prop er contact Disconnect the external wires...

Page 535: ...Wire correctly Is input wiring correct Tighten the terminal screws Check input devices LS1 and LS2 Return to start Are the IR 00002 and IR 00003 input indi cators operating normally Replace the Output...

Page 536: ...ed Is the installation envi ronment okay Install surge pro tectors or other noise reducing equipment at noise sources Consider constructing an instrument panel or cabinet End Yes No Yes No No No No Ye...

Page 537: ......

Page 538: ...T Turns the operand bit OFF when the execution condition is ON and does not affect the status of the operand bit when the execution condition is OFF 224 SET SET Turns the operand bit ON when the execu...

Page 539: ...rd of data one bit to right with CY 264 29 COM COMPLEMENT Inverts bit status of one word of data 372 30 ADD BCD ADD Adds two four digit BCD values and content of CY and outputs result to specified res...

Page 540: ...ce words to con secutive destination words 271 71 BSET BLOCK SET Copies content of one word or constant to several consecutive words 272 72 ROOT SQUARE ROOT Computes square root of eight digit BCD val...

Page 541: ...CMPL DOUBLE COMPARE Compares two eight digit hexadecimal values 284 61 INI MODE CONTROL Starts and stops counter operation compares and changes counter PVs and stops pulse output 255 62 PRV HIGH SPEED...

Page 542: ...es the natural base e exponential of a 32 bit floating point number 370 FCS FCS CALCULATE Checks for errors in data transmitted by a Host Link command 385 FIX FLOATING TO 16 BIT Converts the integer p...

Page 543: ...2 bit floating point value 362 SQRT SQUARE ROOT Calculates the square root of a 32 bit floating point number 369 SRCH DATA SEARCH Searches the specified range of memory for the specified data Outputs...

Page 544: ...ertical arrows in the table indicate the flags that are turned ON and OFF according to the result of the instruc tion Although ladder diagram instructions TIM and CNT are executed when ER is ON other...

Page 545: ...56 325 DIVL 57 326 BINL 58 293 BCDL 59 293 XFER 70 271 BSET 71 272 ROOT 72 327 XCHG 73 273 SLD 74 265 SRD 75 266 MLPX 76 294 DMPX 77 296 SDEC 78 298 DIST 80 273 COLL 81 275 MOVB 82 277 MOVD 83 278 SFT...

Page 546: ...E 25404 OF 25405 UF Page 7SEG 88 424 ACC 400 ACOS OFF OFF 366 ADBL 332 APR 344 ASFT 17 268 ASIN OFF OFF 365 ATAN OFF OFF 367 AVG 341 BCMP 68 283 BCNT 67 385 CMND 412 CMPL 60 284 COLM 314 COS OFF OFF 3...

Page 547: ...65 393 PWM 402 RAD 360 RXD 47 415 SBBL 333 SCL 66 305 SCL2 307 SCL3 308 SEC 311 SIN OFF OFF 362 SPED 64 395 SQRT 369 SRCH 403 STIM 69 241 STUP 419 SUM 342 TAN OFF OFF 364 TKY 18 434 TTIM 239 TXD 48 4...

Page 548: ...rmation Can be used as work bits when a Con troller Link Unit is not mounted MACRO operand area note 1 Input area 64 bits IR 096 to IR 099 IR 09600 to IR 09915 Used when the MACRO instruction MCRO 99...

Page 549: ...R area 448 bits AR 00 to AR 27 AR 0000 to AR 2715 These bits serve specific functions such as flags and control bits TR area 8 bits TR 0 to TR 7 These bits are used to temporarily store ON OFF status...

Page 550: ...r Code 0 Normal operation 1 Parity error 2 Framing error 3 Overrun error 4 FCS error 5 Timeout error 6 Checksum error 7 Command error All modes 12 Communications Error Flag 13 Transmission Enabled Fla...

Page 551: ...e 07 Port 2 08 Port 1 Protocol Macro Executing Flag No protocol or Protocol macro 09 Step Error Processing Flag Protocol macro 10 Sequence End Completion Flag 11 Forced Abort Bit 12 Port 2 Protocol Ma...

Page 552: ...son Stop Bit 10 High speed Counter 3 Comparison Stop Bit 11 High speed Counter 4 Comparison Stop Bit 12 High speed Counter 1 Stop Bit 0 Continues operation 1 Stops operation 13 High speed Counter 2 St...

Page 553: ...peed Counter 4 Comparison Stop Bit 12 High speed Counter 1 Stop Bit 0 Continues operation 1 Stops operation 13 High speed Counter 2 Stop Bit 14 High speed Counter 3 Stop Bit 15 High speed Counter 4 St...

Page 554: ...00 4 digit BCD IR 221 00 to 15 Analog SV 2 0000 to 0200 4 digit BCD IR 222 00 to 15 Analog SV 3 0000 to 0200 4 digit BCD IR 223 00 to 15 Analog SV 4 0000 to 0200 4 digit BCD Word Bits Function IR 090...

Page 555: ...Function Page SR 244 00 to 15 Input Interrupt 0 Counter Mode SV SV when input interrupt 0 is used in Counter Mode 4 digit hexadecimal 0000 to FFFF Can be used as work bits when input interrupt 0 is no...

Page 556: ...itialize PC Setup DM 6600 through DM 6655 Automatically turns OFF again when reset is complete Only effective if the PC is in PROGRAM mode 2 11 Forced Status Hold Bit OFF Bits that are forced set rese...

Page 557: ...Execution Flag Turns ON for 1 cycle only at the start of process based on STEP 08 231 08 HKY Execution Flag Turns ON during execution of HKY 431 09 7SEG 88 Execution Flag Turns ON during execution of...

Page 558: ...er Flag A setting can be made in the PC Setup DM 6655 so that these errors will not be generated AR Area These bits mainly serve as flags related to CQM1H operation The flags in AR 05 and AR 06 relate...

Page 559: ...ed Counter 2 Reset Bit 02 High speed Counter 3 Reset Bit 03 High speed Counter 4 Reset Bit 04 to 07 Not used 08 High speed Counter 1 Comparison Stop Bit 0 1 Starts comparison 1 0 Stops comparison 09 H...

Page 560: ...ns for comparison range 2 Bit 02 ON Counter PV satisfies conditions for comparison range 3 Bit 03 ON Counter PV satisfies conditions for comparison range 4 Bit 04 ON Counter PV satisfies conditions fo...

Page 561: ...g error 3 Overrun error 04 RS 232C Port Error Flag Turns ON when a communications error occurs at the CPU Unit s built in RS 232C port 05 RS 232C Port Transmission Enabled Flag Valid only when host li...

Page 562: ...emory Cassette installed 1 EEPROM 4 Kword Memory Cassette installed 2 EEPROM 8 Kword Memory Cassette installed 3 Flash memory 16 Kword Memory Cassette installed 4 EPROM type Memory Cassette installed...

Page 563: ...id only when a Memory Cassette with a clock is installed See page 170 for details AR 18 00 to 07 Seconds portion of the present time in 2 digits BCD Valid only when a Memory Cassette with a clock is i...

Page 564: ...BCD Correspond to input words 000 to 015 80 to 95 BCD Correspond to output words 100 to 115 F0 hexadecimal Inner Board mounted in slot 1 cannot be identified F1 hexadecimal Inner Board mounted in slo...

Page 565: ......

Page 566: ...To set the time use a Programming Device as follows Note The time can be set easily using menu operations from a Programming Device such as a Programming Console Refer to the CQM1H Operation Manual fo...

Page 567: ...re When AR 2113 is turned ON the clock time will change as follows If the seconds setting is from 00 to 29 the seconds will be reset to 00 and the minute setting will remain the same If the seconds se...

Page 568: ...odel Sheet no IR_____ Unit no Model IR_____ Unit no Model 00 00 01 01 02 02 03 03 04 04 05 05 06 06 07 07 08 08 09 09 10 10 11 11 12 12 13 13 14 14 15 15 IR_____ Unit no Model IR_____ Unit no Model 00...

Page 569: ......

Page 570: ...of system Produced by Verified by Authorized by PC Chart no Address Instruction Function code Operands 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 2 0 2 1 2 2 2 3...

Page 571: ...Sheet Appendix F 3 4 3 5 3 6 3 7 3 8 3 9 4 0 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 5 0 5 1 5 2 5 3 5 4 5 5 5 6 5 7 5 8 5 9 6 0 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 9 7 0 7 1 7 2 7 3 Address Instruction Fun...

Page 572: ...547 Program Coding Sheet Appendix F 7 4 7 5 7 6 7 7 7 8 7 9 8 0 8 1 8 2 8 3 8 4 8 5 8 6 8 7 8 8 8 9 9 0 9 1 9 2 9 3 9 4 9 5 9 6 9 7 9 8 9 9 Address Instruction Function code Operands...

Page 573: ......

Page 574: ...Chart no FAL No FAL contents Corrective measure FAL No FAL contents Corrective measure 00 35 01 36 02 37 03 38 04 39 05 40 06 41 07 42 08 43 09 44 10 45 11 46 12 47 13 48 14 49 15 50 16 51 17 52 18 53...

Page 575: ...50 List of FAL Numbers Appendix G FAL No FAL contents Corrective measure FAL No FAL contents Corrective measure 70 85 71 86 72 87 73 88 74 89 75 90 76 91 77 92 78 93 79 94 80 95 81 96 82 96 83 97 84 9...

Page 576: ...s 381 and 387 for details Right digit Left digit 0 1 8 9 2 3 4 5 6 7 A B C D E F 0 0 P p P p 1 1 A Q a q 1 A Q a q 2 2 B R b r 2 B R b r 3 3 C S c s 3 C S c s 4 4 D T d t 4 D T d t 5 5 E U e u 5 E U e...

Page 577: ......

Page 578: ...nal data is corrupted or erased basic instruction A fundamental instruction used in a ladder diagram baud rate The data transmission speed between two devices in a system measured in bits per second B...

Page 579: ...nd data and executing the in structions contained in the programs In a PC System the central processing unit executes the program processes I O signals communicates with external devices etc CH See wo...

Page 580: ...ll I O devices that are used to control or obtain feedback from the controlled system controlled system The devices that are being controlled by a PC System count pulse The signal counted by a counter...

Page 581: ...assume such default conditions upon the appli cation of power definer A number used as an operand for an instruction but that serves to define the instruction itself rather that the data on which the...

Page 582: ...the time and nature of errors that have occurred in the system even parity A communication setting that adjusts the number of ON bits so that it is always even See parity event processing Processing t...

Page 583: ...ified calculation range The frame checksum can be calculated on both the sending and receiving end of a data transfer to confirm that data was transmitted correctly function code A two digit number us...

Page 584: ...h is available in a range of specifications I O word A word in the IR area that is allocated to a Unit in the PC System and is used to hold I O status for that Unit IBM PC AT or compatible A computer...

Page 585: ...an interrupt inverse condition See normally closed condition JIS An acronym for Japanese Industrial Standards jump A type of programming where execution moves directly from one point in a pro gram to...

Page 586: ...A number assigned to a message generated with the MESSAGE instruction mnemonic code A form of a ladder diagram program that consists of a sequential list of the in structions without using a ladder d...

Page 587: ...m can actually be changed while it is being executed operand The values designated as the data to be used for an instruction An operand can be input as a constant expressing the actual numeric value t...

Page 588: ...mputer that serves as a connection to an external device positive delay A delay set for a data trace in which recording data begins after the trace signal by a specified amount Power Supply Unit A Uni...

Page 589: ...vices so that it agrees with the status of output bits held in memory and of updating input bits in mem ory so that they agree with the status of inputs from external devices relay based control The f...

Page 590: ...tions rung See instruction line scan The process used to execute a ladder diagram program The program is ex amined sequentially from start to finish and each instruction is executed in turn based on e...

Page 591: ...hen called from the main program or activated by an interrupt subroutine number A definer used to identify the subroutine that a subroutine call or interrupt acti vates subtract count input An input s...

Page 592: ...sitive or negative delay UM area The memory area used to hold the active program i e the program that is be ing currently executed Unit In OMRON PC terminology the word Unit is capitalized to indicate...

Page 593: ...for work words Parts of other areas not required for special purposes may also be used as work words write protect switch A switch used to write protect the contents of a storage device e g a floppy...

Page 594: ...bits controlling 223 check levels program checks 499 checksum calculating frame checksum 385 clock reading the clock 171 541 setting the clock 171 541 communication errors 502 communications Host Link...

Page 595: ...arithmetic 519 floating point data 348 exponents 370 floating point math instructions 347 372 logarithms 371 square roots 369 Frame Check Sequence See also frames FCS frame checksum calculating with...

Page 596: ...XZ 471 HR area 163 I I O bits 148 I O points refreshing 382 I O refresh operations types 475 I O response time one to one link communications 493 See also timing I O words allocating 148 incrementing...

Page 597: ...04 229 JMP 04 and JME 05 198 KEEP 11 225 in controlling bit status 201 ladder instructions 183 LD 184 222 LD NOT 184 222 LOG 371 MAX 338 MBS 60 334 MBSL 60 335 MCMP 19 285 MCRO 99 383 MIN 340 MLB 52 3...

Page 598: ...nterrupts absolute high speed counters programming 129 control 391 counter mode 27 high speed counter overflows and overflows 43 programming 39 high speed counter 0 34 overflows and overflows 42 high...

Page 599: ...EPROMs 175 storing DM and UM data 174 types 174 writing data 177 messages programming 381 minimum cycle time PC Setup settings 14 mnemonic code converting 182 199 momentary power interruption 475 MSG...

Page 600: ...fixed duty factor 105 flags and control bits 94 from ports 1 and 2 105 functions 105 variable duty factor 117 PV CNTR 12 237 timers and counters 234 R radians converting radians to degrees 361 respon...

Page 601: ...and counters 234 SYSMAC WAY See also Host Link T TIM CNT timer counter area 172 TIM CNT numbers 233 time reading the time 171 541 setting the time 171 541 timer counter area 172 timers conditions whe...

Page 602: ...ng example instruction Page 478 EM removed from PMCR Page 491 I O BUS ERR description expanded Pages 513 and 514 Echoback flags and bits added Page 529 Table added on clock accuracy 03 December 2003 P...

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