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MELSEC A/Q series Programmable Logic Controllers Programming Manual Art.No.: 87431 06 10 2004 Version D MITSUBISHI ELECTRIC MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION TU DONG HOA ISS WWW.ISSAUTOMATION.VN TEL: 0436369333 HOTLINE 0988999368 DANG KY THANH VIEN CUA WWW.ISSAUTOMATION.VN DE THUONG XUYEN NHAN DUOC TAI LIEU TU DONG HOA ISS WWW.ISSAUTOMATION.VN TEL: 0436369333 HOTLINE 0988999368 DANG KY THANH VIEN CUA WWW.ISSAUTOMATION.VN DE THUONG XUYEN NHAN DUOC TAI LIEU Programming Manual for the MELSEC A and Q series and the MELSEC System Q Order-No.: 87431 Revision Changes / Additions / Correktions A 09/1998 pdp Programming manual for the MELSEC A and Q series based on Melsec Medoc plus B 04/2001 pdp Ch. 5.1.2: Changed bitmap (ladder diagram in GX IEC Developer) for the ORP instruction Changed bitmap for the LDP instruction Ch. 7.6.3: Note for the usage of the CALL instruction Ch. 7.14: Addition of the RSET_K_MD and RSET_K_P_MD instruction Ch. 7.11.13: Note for the usage of the ASC(P) instruction Additional information for System Q CPUs (Q02, Q02H, Q06H,Q12H and Q25H). C 08/2002 pdp-dk Additional information for Q00JCPU, Q00CPU and Q01CPU of the System Q.Q25H). New instructions S.TO and FROM for use in a multi-CPU-System. In chapter 9 now the representation format of the instruction in the GX IEC Developer is shown. Additonal special relays and registers for System Q CPUs with function Version B or later. Separate tables for processing times for A series and Q series/System Q. Addition of an example in Ch. 7.6.10, showing the program modification. Corrections: Ch. 6.5.1: Operating errors Ch. 6.5.2: Operating errors Ch. 6.7.3: Additional information for the COM instruction when used in a multi-CPU system Ch. 6.8.9: Time values for n1 Ch. 7.1.1: Devices MELSEC Q Ch. 7.1.3: Devices MELSEC Q Ch. 7.1.5: Devices MELSEC Q Ch. 7.1.7: Devices MELSEC Q Ch. 7.5.12: Operating errors Ch. 9.5.1: Processing times for the RBMOV and the BMOV instruction D 09/2004 pdp-dk New chapter 10: Instructions for Q4ARCPU New chapter 11: Dedicated instructions for intelligent function modules Ch. 2.8: Summary of the instructions for Q4ARCPU Ch. 2.9: Summary of the dedicated instructions New CPU modules Q12PHCPU and Q25PHCPU TU DONG HOA ISS WWW.ISSAUTOMATION.VN TEL: 0436369333 HOTLINE 0988999368 DANG KY THANH VIEN CUA WWW.ISSAUTOMATION.VN DE THUONG XUYEN NHAN DUOC TAI LIEU 4 TU DONG HOA ISS WWW.ISSAUTOMATION.VN TEL: 0436369333 HOTLINE 0988999368 DANG KY THANH VIEN CUA WWW.ISSAUTOMATION.VN DE THUONG XUYEN NHAN DUOC TAI LIEU About this Manual The texts, illustrations, diagrams, and examples contained in this manual are intended exclusively as support material for the explanation, handling, programming, and operation of the programmable logic controllers of the MELSEC A and Q series and the MELSEC System Q. If you have any questions concerning the programming and operation of the equipment described in this manual, please contact your relevant sales office or department (refer to back of cover). Current information and answers to frequently asked questions are also available through the Internet (www.mitsubishi-automation.com) MITSUBISHI ELECTRIC EUROPE B.V. reserves the right for technical changes and changes to this manual at any time without prior notice. © 09/2004 TU DONG HOA ISS WWW.ISSAUTOMATION.VN TEL: 0436369333 HOTLINE 0988999368 DANG KY THANH VIEN CUA WWW.ISSAUTOMATION.VN DE THUONG XUYEN NHAN DUOC TAI LIEU TU DONG HOA ISS WWW.ISSAUTOMATION.VN TEL: 0436369333 HOTLINE 0988999368 DANG KY THANH VIEN CUA WWW.ISSAUTOMATION.VN DE THUONG XUYEN NHAN DUOC TAI LIEU Contents Programming the MELSEC A and Q 7 Contents 1 Introduction 1.1 Further manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1 1.2 CPU types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2 1.3 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2 1.4 Finding an instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3 1.5 PLC parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3 1.6 Comparison between GX IEC Developer and GX Developer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4 2 Instruction Tables 2.1 Subdivision of instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1 2.2 Overview of instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4 2.2.1 Description of the overview tables . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4 2.3 Sequence instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6 2.3.1 Input instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6 2.3.2 Connection instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7 2.3.3 Output instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-8 2.3.4 Shift instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-8 2.3.5 Master control instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-9 2.3.6 Program termination instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-9 2.3.7 Miscellaneous instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-9 2.4 Application instructions, Part 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-10 2.4.1 Comparison operation instructions . . . . . . . . . . . . . . . . . . . . . . . . . . .2-10 2.4.2 Arithmetic operation instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-15 2.4.3 Data conversion instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-22 2.4.4 Data transfer instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-25 2.4.5 Program branch instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-27 2.4.6 Interrupt program execution control instructions . . . . . . . . . . . . . . . .2-27 2.4.7 Data refresh instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-28 2.4.8 Other convenient instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-29 TU DONG HOA ISS WWW.ISSAUTOMATION.VN TEL: 0436369333 HOTLINE 0988999368 DANG KY THANH VIEN CUA WWW.ISSAUTOMATION.VN DE THUONG XUYEN NHAN DUOC TAI LIEU Contents 8 2.5 Application instructions, Part 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-31 2.5.1 Logical operation instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-31 2.5.2 Rotation instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-35 2.5.3 Shift instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-36 2.5.4 Bit processing instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-37 2.5.5 Data processing instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-38 2.5.6 Structured program instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-41 2.5.7 Data table operation instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-43 2.5.8 Buffer memory access instructions . . . . . . . . . . . . . . . . . . . . . . . . . .2-44 2.5.9 Display instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-45 2.5.10 Debugging and failure diagnosis instructions . . . . . . . . . . . . . . . . . . .2-46 2.5.11 Character string processing instructions . . . . . . . . . . . . . . . . . . . . . .2-47 2.5.12 Special function instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-51 2.5.13 Data control instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-54 2.5.14 File register switching instructions . . . . . . . . . . . . . . . . . . . . . . . . . . .2-55 2.5.15 Clock instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-56 2.5.16 Peripheral device instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-57 2.5.17 Program instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-57 2.5.18 Other instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-58 2.6 Data link instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-60 2.6.1 Network refresh instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-60 2.6.2 Dedicated data link instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-60 2.6.3 A series compatible data link instructions . . . . . . . . . . . . . . . . . . . . .2-61 2.6.4 Read/Write routing information . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-61 2.7 Instructions for System Q CPUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-62 2.7.1 Reading of module informations . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-62 2.7.2 Debugging and failure diagnosis instructions . . . . . . . . . . . . . . . . . . .2-62 2.7.3 Writing to and reading from a file . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-63 2.7.4 Program instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-63 2.7.5 Data transfer instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-64 2.7.6 Instructions for data exchange in a multi-CPU system . . . . . . . . . . . .2-64 2.8 Dedicated instructions for Q4ARCPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-65 2.8.1 Instructions for mode setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-65 2.8.2 Data transfer instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-65 TU DONG HOA ISS WWW.ISSAUTOMATION.VN TEL: 0436369333 HOTLINE 0988999368 DANG KY THANH VIEN CUA WWW.ISSAUTOMATION.VN DE THUONG XUYEN NHAN DUOC TAI LIEU Contents Programming the MELSEC A and Q 9 2.9 Instructions for special function modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-66 2.9.1 Instructions for serial communication modules . . . . . . . . . . . . . . . . .2-66 2.9.2 Instructions for PROFIBUS/DP interface modules . . . . . . . . . . . . . . .2-67 2.9.3 Instructions for ETHERNET interface modules . . . . . . . . . . . . . . . . .2-68 2.9.4 Instruction for MELSECNET/10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-68 2.9.5 Instructions for CC-Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-69 3 Configuration of Instructions 3.1 The structure of an instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1 3.1.1 Source of data (s) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1 3.1.2 Destination of data (d) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2 3.1.3 Number (n) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2 3.2 Notation of instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3 3.2.1 16/ 32-bit and pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3 3.2.2 MELSEC and IEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3 3.2.3 Further characteristics of the instruction notation . . . . . . . . . . . . . . . .3-5 3.2.4 Specification of the notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5 3.3 Programming of dedicated instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6 3.4 Programming of variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-7 3.4.1 Programming with the GX IEC Developer . . . . . . . . . . . . . . . . . . . . . .3-7 3.4.2 Programming with the GX Developer . . . . . . . . . . . . . . . . . . . . . . . . . .3-8 3.5 Data types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-9 3.5.1 Processing of data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-11 3.5.2 Addressing of arrays and registers in the GX IEC Developer . . . . . .3-19 3.5.3 Usage of character string data (STRING) . . . . . . . . . . . . . . . . . . . . .3-22 3.6 Index qualification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-24 3.6.1 Index qualification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-24 3.6.2 Special characteristics of the System Q and QnA CPUs . . . . . . . . . .3-26 3.6.3 Special characteristics of the AnA, AnAS, and AnU CPUs . . . . . . . .3-28 3.7 Indirect Designation (GX Developer only) . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-29 3.8 Operation errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-31 3.8.1 Verification of the device range . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-31 3.8.2 Verification of the device data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-33 TU DONG HOA ISS WWW.ISSAUTOMATION.VN TEL: 0436369333 HOTLINE 0988999368 DANG KY THANH VIEN CUA WWW.ISSAUTOMATION.VN DE THUONG XUYEN NHAN DUOC TAI LIEU Contents 10 3.9 Execution conditions of the instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-34 3.9.1 Execution condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-34 3.9.2 EN input and ENO output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-35 3.10 Number of program steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-37 3.10.1 For a System Q and QnA CPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-37 3.10.2 For an AnA, AnAS, and AnU CPU . . . . . . . . . . . . . . . . . . . . . . . . . . .3-38 4 Layout and Structure of the Chapters 4.1 Overview of the instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2 4.2 The CPU table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2 4.3 Devices MELSEC A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3 4.4 Devices MELSEC Q . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-4 4.5 Representation format of the instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-4 4.5.1 Representation in the GX IEC Developer . . . . . . . . . . . . . . . . . . . . . .4-4 4.5.2 Representation in the GX Developer . . . . . . . . . . . . . . . . . . . . . . . . . .4-5 4.6 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5 4.7 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6 4.8 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6 4.9 Operation Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6 4.10 Program Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-7 5 Sequence Instructions 5.1 Input Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4 5.1.1 LD, LDI, AND, ANI, OR, ORI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4 5.1.2 LDP, LDF, ANDP, ANDF, ORP, ORF . . . . . . . . . . . . . . . . . . . . . . . . .5-8 5.2 Connection Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-11 5.2.1 ANB, ORB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-11 5.2.2 MPS, MRD, MPP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-14 5.2.3 INV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-17 5.2.4 MEP, MEF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-19 5.2.5 EGP, EGF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-21 TU DONG HOA ISS WWW.ISSAUTOMATION.VN TEL: 0436369333 HOTLINE 0988999368 DANG KY THANH VIEN CUA WWW.ISSAUTOMATION.VN DE THUONG XUYEN NHAN DUOC TAI LIEU [...]... are listed below in detail: PLC Type CPU Type AnA/AnU A2 A, A2 A-S1, A2 U, A2 U-S1, A3 A, A3 U AnAS/AnUS A2 AS, A2 AS-S1, A2 AS-S30, A2 AS-S60, A2 US, A2 US-S1 AnN A1 , A2 , A2 C A3 M, A3 N AnS A1 S, A1 S-S1, A2 S, A2 S-S1 QnA Q 2A/ Q2 AS, Q 2A- S1 /Q2 AS-S Q 3A Q 4A, Q4 AR A Series Q Series Q (single processor types) System Q Q00J Q (multi processor types) Q0 0, Q0 1 (restricted use in a multi-CPU System) Q0 2, Q0 2H, Q0 6H, Q1 2H, Q1 2PH,... stations in object networks, Read data sent via SEND instruction, Data requests to different stations (write/ read operations with clock data, RUN/STOP operations),Read and write data from and to special function modules in remote I/O stations Ch 8.6 A series compautible data link instructions Read and write data from and to object stations in different networks, Read and write data from and to local... values in data tables Ch 7.6 Data table operation instructions Write to and read data from a data table, delete and insert data blocks in a data table Ch 7.7 Buffer memory access instructions Buffer memory access of special function modules or remote modules Ch 7.8 Display instructions Output ASCII characters to the outputs of a module or to an LED display Ch 7.9 Debugging and failure diagnosis instructions... DANG KY THANH VIEN CUA WWW.ISSAUTOMATION.VN DE THUONG XUYEN NHAN DUOC TAI LIEU TU DONG HOA ISS WWW.ISSAUTOMATION.VN TEL: 0436369333 HOTLINE 0988999368 Further manuals Introduction 1 Introduction This manual describes the programming and processing of the sequence and application instructions that are provided by the CPUs of the MELSEC A and Q series 1.1 Further manuals QCPU/QnACPU Programming Manual... instructions are available within the GX IEC Developer dialog box that can actually be processed by the CPU 1–2 Programming the MELSEC A and Q DANG KY THANH VIEN CUA WWW.ISSAUTOMATION.VN DE THUONG XUYEN NHAN DUOC TAI LIEU TU DONG HOA ISS WWW.ISSAUTOMATION.VN TEL: 0436369333 HOTLINE 0988999368 Finding an instruction Introduction 1.4 Finding an instruction Advanced If you are already familiar with the programming... parameters Via parameters several functions, device ranges, etc are set up For the programming of the functions described in this manual, the parameter settings can remain preset or customised to the user´s needs Refer to the according hardware manuals of the CPUs and programming manuals for detailed descriptions of the PLC parameter settings Example: GX IEC Developer Programming the MELSEC A and Q. .. divides, increments, and decrements BIN and BCD data, floating point data, and BIN block data, links character strings Ch 6.2 Data conversion instruction Converts data types, e.g BCD → BIN, BIN → BCD Ch 6.3 Data transfer instruction Transmits designated data Ch 6.4 Program branch instruction Program jump commands Ch 6.5 Program execution control instruction Enables and disables program interrupts Ch 6.6... reset, and test bits Ch 7.4 Data processing instructions Search, encode, and decode data at specified devices Disunite and unite data Ch 7.5 Structured program instructions Repeated operation, subroutine program calls, subroutine calls between program files, switching between main and subprogram parts, micro computer program calls, index qualification of entire ladders, store index qualification values... A- 32 Comparision between QnA /Q2 AS CPU and MELSEC System Q CPU A- 41 Overview of special relays A- 43 A. 4.1 Table of diagnostic special relays (Q series and System Q) A- 43 A. 4.2 Table of special relays (M) (A series) A- 64 A. 4.3 Table of link relays (A series only) A- 70... instructions Failure checks, setting and resetting status latch, sampling trace, program trace Ch 7.10 Character string processing instructions Character string (ASCII code) processing Ch 7.11 Special function instructions Trigonometrical functions, square root and exponential calculation with BCD data and floating point data Ch 7.12 Data control instructions Upper and lower limit control and storage of checked