Nv Series v Series Programming Instructions (LD FBD SFC ST)

6F8C1226Programming Instructions (LD/FBD/SFC/ST) Unied Controller nv Series Integrated Controller vseries 1226.3.1009 P r o g r a m m i n g I n s t r u c t i o n s ( L D / F B D / S F C / S T ) U n i e d C o n t r o l l e r n v s e r i e s & I n t e g r a t e d C o n t r o l l e r V s e r i e s Unied Controller nv series & Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) September 30, 2010 © Toshiba Corporation 2010 All Right Reserved. No part of this document may be reproduced without the prior written consent of Toshiba. Transmission Distribution & Industrial Systems Company Microelectronics & System Components Department - System Components Support Group 1, Toshiba-Cho, Fuchu-Shi, Tokyo, 183-8511, Japan Tel +81-42-333-2206 Third Edition Notes (1) The technical information provided herein describes typical operations and applications of the product and does not guarantee the intellectual property rights or other rights of Toshiba or third parties nor allows license of its use. (2) No part or the whole of this document may be reproduced without prior consent. (3) The information herein may be changed in the future without notice. (4) All possible measures have been taken to prepare the information herein. If you have any question, comment, or nd any error, please contact us. PROSEC, TOSLINE, TOSDIC, CIEMAC are trademarks or registered trademarks of Toshiba Corporation. Microsoft, Windows are registered trademarks of Microsoft Corporation in the U.S. and other countries. DeviceNet is a registered trademark of Open DeviceNet Vender Association Inc. Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) i Restrictions on Application This product is not developed/manufactured for use in systems involving devices that directly affect human life (Note 1). Do not use them for such applications. To use this product for systems that involve devices that significantly affect human safety or maintenance of public functions (Note 2), special considerations (Note 3) are required in system operation, maintenance, and management. In this case, contact one of Toshiba's sales representatives. (Note 1) Devices that directly affect human life include the following. · Medical devices such as life supporting devices and devices for surgical units. (Note 2) Systems that involve devices that significantly affect human safety or maintenance of public functions include the following. · Main unit control systems of nuclear power plants, safety protection systems of nuclear facilities, and other systems that are critical for safety · Operation control systems of mass transportation systems and air traffic control systems (Note 3) Special considerations indicate sufficient discussions with Toshiba's engineers to construct a safe system (e.g. employing fool-proof design, fail-safe design, or redundant design). Disclaimer Toshiba shall not be responsible for any damage caused by fire or earthquake, acts of a third party, other accidents, the user's willful acts or negligence, misuse, or use in abnormal conditions. Toshiba shall not be responsible for any incidental damage (loss of business profits, interruption of business, change or loss of stored memory) caused by use of or being unable to use this product. Toshiba shall not be responsible for any damage caused by failure to observe the information described in the operation manual. Toshiba shall not be responsible for any damage caused by malfunctions due to combination with any connected device. Toshiba shall not be responsible for any damage caused by malfunctions due to combination with any application program created by the customer. Note Use your cellular phone or PHS 1 meter or more away from the product main unit in operation, various transmission cables, and I/O bus cable. Otherwise, the system may malfunction. 6F8C1226 ii Creating control programs for Unified Controller nv series and Integrated Controller V series requires dedicated engineering tools. This manual describes instructions for programming languages which include ladder diagram language (hereinafter referred to as “LD language”), function block diagram (hereinafter referred to as “FBD language), sequential function chart (herein after referred to as “SFC”) and structured text (herein after referred to as “ST”). They are utilized to create control programs for Unified Controller nv series or Integrated Controller V series using engineering tools. The instructions found in this manual can be utilized in the following engineering tools: Engineering tools Use nv-Tool 4 client server version nv-Tool 4 stand alone version For Unified Controller nv series nv-Tool 3 client server version nv-Tool 3 stand alone version For Integrated Controller V series The L controller of Integrated Controller V series offers MCS connection version and DS connection version which are described as follows in this manual: Type V series Model Notation MCS connection version Model2000 L2PU11/L2PU12 L2 Model3000 L3PU11 L3 DS connection version Model2000 L2PU22 L2DS Model3000 P3PU21 L3DS Instruction manuals regarding engineering tools include the following: · Unified Controller nv series Integrated Controller V series Engineering Tool 4 −Setup− 6F8C1291 · Unified Controller nv series Integrated Controller V series Engineering Tool 4 −Basic− 6F8C1290 · Integrated Controller V series Engineering Tool 3 −Setup− 6F8C1011 · Integrated Controller V series Engineering Tool 3 −Basic− 6F8C1006 Introduction Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) iii CONTENTS Chapter 1 For Programming …1 1.1 What are LD, FBD, SFC, and ST Languages?······················ 3 1.2 Data····················································································································· 6 1.2.1 Data Type·························································································· 6 1.2.2 Data Structure·················································································· 8 1.2.3 Real Number Format ···································································· 9 1.2.4 Variables·························································································· 10 1.2.5 Variable Memory Allocation Rules········································· 11 1.2.6 Variable Declaration Examples··············································· 11 1.2.7 Reading and Writing Variable·················································· 15 1.3 Program Structure·················································································· 16 1.3.1 Task ··································································································· 16 1.3.2 POU (Program Organization Unit)········································· 17 1.3.3 Program··························································································· 18 1.3.4 Function ··························································································· 18 1.3.5 Function Block··············································································· 22 1.4 Index Registers ························································································ 25 1.5 System Flags ····························································································· 26 1.6 Handling of REAL Data······································································· 28 1.7 Introduction Behavior when Exceeding Data Boundary······· 30 1.8 Step Counting···························································································· 31 1.9 How to Read Instruction Spec. ····················································· 33 1.10 Instruction List·························································································· 35 Chapter 2 LD/FBD Instructions …51 2.1 Contacts & Coils······················································································ 52 2.2 Execution Control··················································································· 72 2.3 Counters········································································································ 77 2.4 Timers·············································································································· 85 2.5 Flip-Flops··································································································· 104 2.6 Moving·········································································································· 111 2.7 Comparison······························································································ 124 2.8 Selection····································································································· 145 2.9 Type Conversion·················································································· 167 2.10 Numeric Function················································································ 237 2.11 Logical Operation················································································ 259 2.12 Bit Operation··························································································· 278 2.13 Arithmetic Operation········································································· 291 2.14 Data Processing···················································································· 321 6F8C1226 iv 2.15 I/O···················································································································· 333 2.16 Process Operation·············································································· 371 2.17 Program Control··················································································· 451 2.18 String Processing················································································ 465 2.19 Control Statements············································································· 485 2.20 Communication····················································································· 524 2.21 Duplex Control······················································································· 594 2.22 Process Control ···················································································· 603 2.23 Tag Operation························································································· 638 2.24 RAS················································································································ 686 Chapter 3 SFC Instructions …699 Appendix A Using Any Function …731 INDEX …749 1 Chapter 1 For Programming This manual describes the format and handling of the instructions. Read Chapter 1 thoroughly for it provides knowledge required to understand this manual. 1.1 What are LD, FBD, SFC, and ST Languages?·························· 3 1.2 Data························································································································· 6 1.2.1 Data Type······························································································ 6 1.2.2 Data Structure ····················································································· 8 1.2.3 Real Number Format········································································ 9 1.2.4 Variables······························································································10 1.2.5 Variable Memory Allocation Rules·············································11 1.2.6 Variable Declaration Examples ··················································11 1.2.7 Reading and Writing Variable······················································15 1.3 Program Structure·····················································································16 1.3.1 Task·······································································································16 1.3.2 POU (Program Organization Unit) ············································17 1.3.3 Program·······························································································18 1.3.4 Function·······························································································18 1.3.5 Function Block···················································································22 1.4 Index Registers····························································································25 1.5 System Flags·································································································26 1.6 Handling of REAL Data···········································································28 1.7 Introduction Behavior when Exceeding Data Boundary······30 Chapter 1 For Programming 6F8C1226 2 1.8 Step Counting·······························································································31 1.9 How to Read Instruction Spec. ·························································33 1.10 Instruction List ·····························································································35 1.1 What are LD, FBD, SFC, and ST Languages? Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 3 1.1 What are LD, FBD, SFC, and ST Languages? ● LD Language Ladder Diagram is a graphic language for commonly used Boolean operation and described using a combination of contacts and coils. The LD language can be treated in the same manner as electrical relay circuits and must be connected to the left and right power rails. Switch_1 Motor_On ADD_INT EN ENO Done Offset LD Value LD Value SET Switch_3 Switch_2 Switch_4 Horizontal link Right power rail Left power rail Vertical link Note: The characters “LD”, “ST” and “SET” are displayed on the semi-graphic Program Editor, but not displayed on the full-graphic one. ● FBD Language Function block diagram is a graphic language that expresses the flow of signals and data and is described using a combination of function s and function blocks. ADD_TIME Timer_1 Switch2 LD Switch1 LD DelayTime LD AND_BOOL TON preset LD IN PT Q ET T_Value ST Start ST Note: The characters “LD”, “ST” and “SET” are displayed on the semi-graphic Program Editor, but not displayed on the full-graphic one. Chapter 1 For Programming 6F8C1226 4 ● SFC Language Sequential Function Chart is a graphic language suited for sequential control and consists of an SFC structure unit, which shows the control flow, action unit, which shows the action performed at each step, and transition condition unit, which shows the conditions for advancing through the steps. START T0 S1 S1 S2 Action_1 N LED S3 S1_ON S2_ON S3_ON T1 T2 ● ST language Structured text (ST) is a text language similar to C and PASCAL. It supports variables, multipliers, operators, assign statements, IF statements, CASE statements, FOR statements, WHILE statements, REPEAT statements, and call statements of functions and function blocks. It efficiently programs complicated control statements such as arithmetic operations and repeat. (* Initialize *) XO[0]:=XOUT; (* Output value *) XU[0]:=XIN; (* Input value *) XOUT:=B[0]*XIN; (* Conditional statement *) IF RUN THEN FOR XI:=M TO 0 BY -1 DO XOUT:=XOUT+A[XI]*XO[XI]; REPEAT A[XJ]:=A[XJ]+XO[XI]; UNTIL A[XJ]<100 END_REPEAT; END_FOR; ELSE WHILE XIN<100 DO XOUT:=XOUT+A[XI]; IF XOUT>200 THEN EXIT; END_IF; END_WHILE; END_IF; CASE XK OF 0..9: (*Function*) XOUT:=FUN_XOUT(XIN,XK); 10,20: (*Function block*) FBK_XIN_1(XIN,XK); XOUT:= FBK_XIN_1.OUT; END_CASE; Assign statement Free comment IF statement FOR statement Operator WHILE statement EXIT statement CASE statement Function call statement Function block call statement 1.1 What are LD, FBD, SFC, and ST Languages? Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 5 The following operators can be used for structured text (ST): Operation Description Priority (···) Bracket expression 1 ** Power 2 NOT, ~ Bitwise Boolean NOT 3 * Multiply 4 / Divide 4 MOD Remainder 4 + Add 5 - Subtract 5 <, >, <=, >= Comparison 6 =, <> Equality, inequality 7 AND, & Bitwise Boolean AND 8 XOR Bitwise Boolean XOR 9 OR Bitwise Boolean OR 10 Chapter 1 For Programming 6F8C1226 6 1.2 Data 1.2.1 Data Type The following table shows the data types supported by the Unified Controller nv series and Integrated Controller V series and their data range. Notation (Data Type) Data type Bits Constant specification Data range BOOL Boolean 1 ○ 0(FALSE), 1(TRUE) INT Integer 16 ○ -32768 to 32767 DINT Double integer 32 ○ -2147483648 to 2147483647 UINT Unsigned integer 16 ○ 0 to 65535 REAL Real numbers 32 ○ -3.40282310 38 to -1.401298-10 -45 0 1.401298-10 -45 to 3.40282310 38 TIME Duration 32 ○ -2147483648 to 2147483647ms (-596h31m23s648ms to 596h31m23s647ms) DATE D(abbreviation) Date 32 ○ 1998-01-01 to 2097-12-31 *3 TIME_OF_DAY TOD(abbreviation) Time of day 32 ○ 00:00:00.000 to 23:59:59.999 *3 DATE_AND_TIME DT(abbreviation) Date and time of day 64 — 1998-01-01-00:00:00.000 to 2097-12-31-23:59:59.999 *3 STRING Fixed-length character string — Maximum number of characters: 256 Character code system: shift JIS Possibility use only with the retained global variable *2 WORD Bit string of length 16 16 ○ 0000 to FFFF DWORD Bit string of length 32 32 ○ 00000000 to FFFFFFFF PTR *1 Word pointer — — — PTRB *1 Bit pointer — — — *1 Unified Controller and the Integrated Controller supports this data type to enable flexible address handling and provide compatibility with programs on conventional machines. *2 When using string definition instruction DEF_STRING, it may be used in variable scope without retaining specification. Refer to the Define String instruction page for details. *3 In the DATE, TIME_OF_DAY(TOD), and DATE_AND_TIME(DT) types, an asterisk (*) is displayed in the V engineering tool (program monitor, data value monitor) if data exceeding the range above is set. No setting is allowed from the V engineering tool (e.g. data value monitoring). 1.2 Data Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 7 To program constants in one of the data types, do the following: · Specify the data type in <DataType>#. <DataType># can be omitted in the types other than Duration, Date and Time of day. · Constants can be specified in binary (2#), decimal (default), octal (8#), or hexadecimal(16#). If a number is 16 in decimal, the value 2#10000 in binary specification, 8#20 in octal specification, and 16#10 in hexadecimal specification are all equal. · Underscores “_” can be inserted between numbers to make constants easy to read. 2#1_0000 in binary specification, 8#2_0 in octal specification, 16#1_0 in hexadecimal specification are allowed. The following table shows examples of constant specification: Notation (DataType) Data type DataType can be omitted? Example of constant specification BOOL Boolean Yes BOOL#0, BOOL#FALSE,0, FALSE BOOL#1, BOOL#TRUE, 1, TRUE INT Integer Yes INT#15, 15, INT#16#F DINT Double integer Yes DINT#15, 15, DINT#16#F UINT Unsigned integer Yes UINT#15, 15, UINT#16#F REAL Real numbers Yes REAL#15, 15, REAL#16#F, 15.0, 1.5E+1 TIME Duration No d=Day, h=Hour, m=Minute, s=Second, ms=Millisecond A decimal point can be used in the last field. Each effective unit can overflow. <DataType> can be specified in TIME#, T#. TIME#6d_10m, TIME#16d_5h_4m_3s_21ms T#6d_10m, T#12.34s DATE D (abbreviation) Date No DATE#2007-12-10, D#2007-12-10 TIME_OF_DAY TOD(abbreviation) Time of day No TIME_OF_DAY#1:2:3.456, TOD#1:2:3 WORD Bit string of length 16 Yes WORD#4660, 4660, WORD#16#1234, 16#12_34 DWORD Bit string of length 32 Yes DWORD#305419896, 305419896 DWORD#16#1234_5678, 16#12345678 Chapter 1 For Programming 6F8C1226 8 1.2.2 Data Structure 1) Integer (INT)/Unsigned integer (UINT)/Bit string of length 16 (WORD) data 15 0 0 2) Double integer (DINT)/Real numbers (REAL)/Duration (TIME)/Time of day (TOD)/Bit string of length 32 (DWORD) data (H) data (L) 15 0 0 1 3) Date (DATE) year (INT) 15 0 month day 0 1 Example) 1999-10-11<year-month-day> 4) Date and time of day (DT) year (INT) 15 0 month day 0 1 time of day (H) time of day (L) 2 3 5) Fixed-length character string (STRING) VAR length 15 0 1st stri ng 2nd string 0 1 2 3 String l ength (n) 3rd string 4th string 5th string 6th string 4 An example of 6 character data is shown at left. Variables: Variable Data type Dec. SAMPLE STRING[6] VAR 6) Derived data type Array data (ARRAY) data [0] 15 0 data [1] data [2] data [n-1] 2 n-1 0 1 An example of 16 bit data is shown at left. A 32 bit data is stored every 4 bytes as (2) and (3). Variables: Variable Data type Dec. data ARRAY[0..n-1] OF INT VAR 1.2 Data Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 9 7) Derived data type structure (STRUCT) data (INT) 15 0 0 1 data1 (DINT H) data1 (DINT L) 2 3 bit0 bit1 An example of INT+BOOL+DINT. Variables: Variable Data type Dec. data typeSAMPLE VAR Structures: Data type Parent type typeSAMPLE STRUCT Members: Member Data type data INT bit0 BOOL bit1 BOOL data1 DINT 1.2.3 Real Number Format An arbitrary size single word real data is expressed as follows: REAL value SM  2 E  Mantissa Exponent Sign Where S is the sign, M is a decimal less than 1, and E is between -127 and +127. The data format is as follows: 31 30 23 22 Exponent (8 bits) e Mantissa (23 bits) m 0 Sign (1 bit) s From the above formula, a real value is obtained as : S = s M = 1+m · 2 -23 E = e -127 REAL value = (s)(1+m · 2 -23 )·2 e-127 The range of real data is shown in [1.2.1 Data Type]. The following notation is used when the above data range is exceeded: Infinity: Exponent e = 255, Mantissa m=0 NAN: Exponent e = 255, Mantissa m<>0 ●Note For addition/subtraction of real data, if the absolute value of two data differ significantly (difference in exponent ≥24), the result is the value of the data with larger absolute value. Chapter 1 For Programming 6F8C1226 10 1.2.4 Variables Variables used in applications are divided into local variables and global variables. Major classification Minor classification Variable feature Temporary variable A variable that can be used only in the POU in which it is included. The variable value cannot be retained because memory is reset each time the POU is executed. Initialization is required before using the variable. Static variable A variable that can be used only in the POU in which it is included. The variable value is retained because memory is reserved statically. The initial operation varies depending on the setting in "Module Parameter" - "Controller Operation Setting" - "Local Variable Initialization." If "Yes" is set, the variable is initialized to zero when the controller starts up in RUN. If "No" is set, the variable is not initialized when the controller starts up in RUN, and starts from the previous operation result. *1 Local variable Non-tracking type static variable (Unified Controller nv series only) A variable that can be used only in the POU in which it is included. The variable value is retained because memory is reserved statically. In the initialization operation, the variable is initialized to zero when the controller starts up in RUN. In a duplex system, this variable is not tracked. Network variable A variable that can be used if the stations are organically linked via scan transmission, and managed in an integrated fashion. It is used for exchanging information and data between different stations. The scope of the variable is the system in which the variable is used. Only scan memory such as TC-net and FL-net can be network variables. Station global variable A variable that is used globally in the station, and used for referring to information and data of the transmission modules in the station. The scope of the variable is the station in which the variable is used. For a station variable declared as Boolean, available slots are restricted. [Integrated Controller V series] Can be used only in Slot 0 and Slot 1. [Unified Controller nv series] Can be used only in Slot 0. Global variable Controller global variable A variable that is used globally in the controller, and used for exchanging information and data between different programs in the controller. The scope of the variable is the controller in which the variable is used. Controller variables include controller-specific variables (special registers, data registers), user-defined user variables, and I/O variables. *1 The local variable area (e.g. the area storing the previous value of the rising edge detection instruction and instance of the timer instruction) that is automatically generated in the standard function block is initialized to zero. 1.2 Data Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 11 1.2.5 Variable Memory Allocation Rules Variables used within a program are allocated in internal memory in the order of their definition. For example, consecutively defined BOOL type variables are allocated from the least significant bit to optimize memory usage. Variables: Variable Data type Dec. V1 BOOL VAR V2 BOOL VAR V3 INT VAR V4 BOOL VAR 0 1 15 0 V3 2 V2 V4 V1 1.2.6 Variable Declaration Examples The following restrictions apply to variable names: · A variable name must begin with an alphabet and consists of alphanumeric characters or underscore. See the “software model” section in Chapter 1 of V Engineering Tool Basic Instruction for details. · Upper and lower case are not distinguished. · The length must not exceed 20 characters. · Arrays are allowed with brackets used to denote the elements. Array index starts from “0”. · Structures are allowed with period used to denote the elements. · Reserved words may not be used as variable name. Reserved word Description N, R, S, L, D, P, P0, P1, SD, DS, SL, NH, SH, LH, DH Action qualifier ACTION ... END_ACTION Action declaration ARRAY OF Derived data type array variable declaration AT Variable declaration (memory address specification) CASE ... OF ... ELSE ... END_CASE CASE statement CONFIGURATION ... END_CONFIGURATION Configuration declaration CONSTANT Variable declaration (constant declaration) BOOL, SINT, INT, DINT, LINT, USINT, UINT, UDINT, ULINT, REAL, LREAL, TIME, DATE, TIME_OF_DAY, TOD, DATE_AND_TIME, DT, STRING, BYTE, WORD, DWORD, LWORD, PTR, PTRB Data type EN, ENO Function execution control in LD EXIT FOR, WHILE, REPEAT statements FALSE, TRUE FALSE/TRUE or Boolean constants F_EDGE Falling edge detector qualifier FOR ... TO ... BY ... DO ... END_FOR FOR statement FUNCTION ... END_FUNCTION Function Chapter 1 For Programming 6F8C1226 12 Reserved word Description Function, Function block name Function or function block names such as SIN, COS, TAN, TON, CTU. FUNCTION BLOCK ... END_FUNCTION BLOCK Function block declaration IF ... THEN ... ELSEIF ... ELSE ... END_IF IF statement INITIAL_STEP ... END_STEP Initial step declaration PROGRAM ... WITH ... Program allocation PROGRAM ... END_PROGRAM Program declaration R_EDGE Rising edge detector qualifier READ_ONLY, READ_WRITE Access path instruction REPEAT ... UNTIL ... END_REPEAT REPEAT statement RESOURCE ... ON ... END_RESOURCE Resource declaration RETAIN Variable declaration (retained variable specification) RETURN Return from function or function block STEP ... END_STEP Step declaration STRUCT ... END_STRUCT Derived data type structure declaration TASK Task declaration IL language text operator Operators such as LD, ST, AND ST language text operator Operators such as NOT, MOD TRANSITION ... FROM ... TO ... END_TRANSITION Transition declaration TYPE ... END_TYPE Derived data declaration VAR ... END_VAR VAR_TEMP ... END_VAR VAR_INPUT ... END_VAR VAR_OUTPUT ... END_VAR VAR_IN_OUT ... END_VAR VAR_GLOBAL ... END_VAR VAR_EXTERNAL ... END_VAR VAR_ACCESS ... END_VAR Variable declaration WHILE ... DO ... END_WHILE WHILE statement WITH Program or function block task association XI, XJ, XK, XL, XM, XN, XP, XQ Index registers · Static variable Static variables used within POU* are declared using the keyword VAR. Variables: Variable Data type Dec. LOCAL_VAR_1 INT VAR LOCAL_VAR_2 WORD VAR * POU stands for Program Organization Unit. See section [1.3.2 POU (Program Organization Unit)] for details. 1.2 Data Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 13 · Non-tracking type static variable (Unified Controller nv series only) Non-tracking type static variables used within POU are declared using the keyword VAR (Non Tracking). Variables: Variable Date type Dec. LOCAL_NT_VAR_1 INT VAR(NonTracking) LOCAL_NT_VAR_2 WORD VAR(NonTracking) · Temporary variable Temporary variables used within POU are declared using the keyword VAR_TEMP. Variables: Variable Date type Dec. TEMP_VAR_1 INT VAR_TEMP TEMP_VAR_2 WORD VAR_TEMP · Input parameter Represent the input arguments for POU and are declared using the keyword VAR_INPUT. Variables: Variable Date type Dec. INPUT_VAR_1 INT VAR_INPUT INPUT_VAR_2 WORD VAR_INPUT · Output parameter Represent the output arguments for POU and are declared using the keyword VAR_OUTPUT. Variables: Variable Date type Dec. OUTPUT_VAR_1 INT VAR_OUTPUT OUTPUT_VAR_2 WORD VAR_OUTPUT · Input/Output parameter Represent the input/output arguments for POU and are declared using the keyword VAR_IN_OUT. Variables: Variable Date type Dec. INOUT_VAR_1 INT VAR_IN_OUT INOUT_VAR_2 WORD VAR_IN_OUT Chapter 1 For Programming 6F8C1226 14 · Global variable When using global variables, declare them as network, station, I/O and controller variables. Variables: Variable Date type GLOBAL_VAR_1 INT GLOBAL_VAR_2 WORD · Derived data type Array declaration The ARRAY···OF keyword is used to declare arrays to be used within POU. For example, an INT array with ten elements is declared as follows: Variables: Variable Date type Dec. ARRAY_VAR ARRAY[0..9] OF INT VAR · Derived data type structure declaration The STRUCT keyword is used to declare structures to be used within POU. Variables: Variable Date type Dec. data STRUCT_NAME VAR Structures Data type Parent type STRUCT_NAME STRUCT Members: Member Data type VAL1 INT VAL_ARY ARRAY[0..9] OF BOOL VAL2 DINT 1.2 Data Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 15 1.2.7 Reading and Writing Variable The following instructions are used to read from and write to variables. See section [1.3.4 Function] for details. Furthermore, they may be used in combination with Gate instructions. Refer to the [Normally Open Contact] and the [Normally Close Contact] instruction description page for details. Function Instruction Symbol Description Read Load instruction LD LD instruction is used to specify input arguments to function or function block. Store instruction ST ST instruction is used to write the result of function or function block without execution control to a variable. Write Set store instruction SET SET instruction is used to write the result of function with execution control to a variable. ADD_INT SAMPLE1 LD SAMPLE2 LD SAMPLE3 ST ADD_INT EN ENO SAMPLE1 LD SAMPLE2 LD SAMPLE3 SET SIGNAL1 Use ST instruction Use SET instruction SAMPLE1 LD SAMPLE2 ST SIGNAL1 When SIGNAL1=FALSE(OFF) : SAMPLE2=0 When SIGNAL1=TRUE(ON) : SAMPLE2=SAMPLE1 When SIGNAL1=FALSE(OFF) : SAMPLE2=Previous value When SIGNAL1=TRUE(ON) : SAMPLE2=SAMPLE1 SIGNAL2 SAMPLE1 LD SAMPLE2 SET SIGNAL1 ● Combination with function · Function without execution control · Function with execution control ● Combination with gate instruction · Example of normally open contact gate and store instruction · Example of normally open contact gate and SET store instruction Chapter 1 For Programming 6F8C1226 16 1.3 Program Structure 1.3.1 Task The integrated controller control application programs in units called task. This represents a program execution unit. Any program can be executed by including it in a task. [Number of programs that can be registered in each task in the Integrated Controller V series] Controller Task name Priority S3 S2 L3 (L3DS) L2 (L2DS) L1 Execution method Event task EV 1 8 8 8 (16) 8 (16) — Event Super high— speed task SS 2 1 1 1 (—) 1 (—) — Scan Interrupt task IP 3 8 8 8 (32) 8 (32) — Event High—speed task HS 4 1 32 32 (128) 8 (128) — Scan Main task MS 5 256 256 256 (256) 64 (256) 8 Scan Background task BG 6 4 4 4 (4) 1 (4) — Event or scan *1 S3PU21/S3PU45 : 32，S3PU55/S3PU65 : 128 ［Number of programs that can be registered in each task in the Unified Controller nv series］ Controller Task name Priority type1 type2 Execution method Event task EV 8 8 1 Event (select EV or IP) Interrupt task *1 IP 16 16 Event Super high— speed task SS 1 — 2 Scan (select IP, SS, or RIO) RIOt task *2*3 RIO 0 — High—speed task HS 3 128 128 Scan (select HS or RIO) Main task MS 4 256 512 Scan *1 An interrupt task can be selected in Priority 1 or Priority 2. *2 Only type1 can be selected. An RIO task can be selected in Priority 2 or Priority 3. *3 Selection of RIO task in Priority 2 is supported by type1 controller version: V01.50. 1.3 Program Structure Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 17 1.3.2 POU (Program Organization Unit) Programs, functions, and function blocks are referred to as Program Organization Unit (POU). Refer to the subsequent sections for details. [Number of POUs that can be registered in the Integrated Controller V series] Controller POU (Program Organization Unit) Instance S3 S2 L3 (L3DS) L2 (L2DS) L1 Static variable Temporary variable Task registration Function value Argument Program Program instance ○ ○ ○ × ○ Function — × ○ × ○ ○ Function block Function block instance 1 437 2048 (2048) 512 (2048) 64 ○ ○ × × ○ 1 S3PU21 : 437，S3PU45 : 821，S3PU55/S3PU65 : 917 [Number of POUs that can be registered in the Unified Controller nv series] Controller POU (Program Organization Unit) Instance type1 type2 Static variable Temporary variable Task registration Function value Argument Program Program instance ○ ○ ○ × ○ Function — × ○ × ○ ○ Function block Function block instance 940 2000 ○ ○ × × ○ Chapter 1 For Programming 6F8C1226 18 1.3.3 Program A program is a combination of program body, functions, and function blocks. Functions and function blocks may be used in common among several programs and function blocks. Task Function block Program Function block Program Program Program Function Function Function Function block 1.3.4 Function ● What is Function? A function is executed with specific arguments and outputs a function value. In other words it always produces the same operation result for the same input and does not have internal storage. Instructions such as SIN and COS defined by IEC61131—3 are examples of functions. ● Function Execution Control with EN/ENO Functions can have EN input and ENO output. They control the execution of the function. ST language does not support EN input and ENO output. <Example without execution control> <Example with execution control> ADD_INT SAMPLE1 LD SAMPLE2 LD SAMPLE3 ST ADD_INT EN ENO SAMPLE1 LD SAMPLE2 LD SAMPLE3 SET SIGNAL1 SIGNAL2 1.3 Program Structure Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 19 Instructions to store the result to be connected to a function are divided into Store instruction (ST) and Set Store instruction (SET). The following rules apply to these instructions: EN input Function processing ENO output Set Store (SET) instruction action Store (ST) Instruction action Remarks FALSE (OFF) Not executed (Output 0) FALSE(OFF) No data update Update with default value (0) 1 Normal completion TRUE(ON) Yes TRUE (ON) Executed (Outputs operation result) Error completion (Error) Depend on function *2 Update with operation result Update with operation result No — Executed — Not available Update with operation result (*1) When EN input is FALSE(OFF), function output is 0 and if that output is used directly as input to another instruction, the input to that instruction is 0. For example, if a coil instruction is connected to a BOOL output type function, that coil becomes FALSE(OFF). However, if that instruction is a Set Store instruction, 0 is not stored and no data update is performed as shown in the above table. (*2) In the function description, if there is no description of ENO output, the EN input state is output as the ENO output. · When the function output is BOOL variable In case where SAMPLE1＞SAMPLE2: When SIGNAL1=FALSE(OFF) SIGNAL2 ← FALSE(OFF) SIGNAL3 is unchanged When SIGNAL1=TRUE(ON) SIGNAL2 ← TRUE(ON) SIGNAL3 ← TRUE(ON) In case where SAMPLE1＞SAMPLE2 When SIGNAL1=FALSE(OFF) SIGNAL2 ← FALSE(OFF) SIGNAL3 ← FALSE(OFF) When SIGNAL1=TRUE(ON) SIGNAL2 ← TRUE(ON) SIGNAL3 ← TRUE(ON) SAMPLE1 LD SIGNAL1 SAMPLE2 LD SIGNAL2 SIGNAL3 SET SAMPLE1 LD SIGNAL1 SAMPLE2 LD SIGNAL2 GT_INT EN ENO GT_INT EN ENO SIGNAL3 · When the function output is not BOOL variable When SIGNAL1=FALSE(OFF) SIGNAL2 ← FALSE(OFF) SAMPLE3 is unchanged When SIGNAL1=TRUE(ON) SIGNAL2 ← TRUE(ON) SAMPLE3 ← SAMPLE1+SAMPLE2 SAMPLE1 LD SIGNAL1 SAMPLE2 LD SIGNAL2 SAMPLE3 SET ADD_INT EN ENO Chapter 1 For Programming 6F8C1226 20 · Example of execution control with EN,ENO When SIGNAL1=FALSE(OFF) SIGNAL2 ← FALSE(OFF) SAMPLE4 is unchanged When SIGNAL1=TRUE(ON) SIGNAL2 ← TRUE(ON) SAMPLE4 ← (SAMPLE1+SAMPLE2)SAMPLE3 SAMPLE1 LD SI GNAL1 SAMPLE2 LD SIGNAL2 SAMPLE4 SET ADD_INT EN ENO MUL_INT EN ENO SAMPLE3 LD ENO and EN on the same circuit are used connected. When EN is FALSE(OFF), 0 is output. ● User Defined Function The user can define a new function by combining existing functions. This enables program components to be packaged for reuse. SAMPLE1 LD SAMPLE2 LD SAMPLE3 ST USR_FUN DATA1 DATA2 DATA1 LD DATA1 LD MUL_REAL MUL_REAL DATA2 LD DATA2 LD SUB_REAL USR_FUN ST SQRT User defined function block：USR_FUN   USR FUN SAMPLE SAMPLE _   2 2 1 2 1.3 Program Structure Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 21 ● Important · With regard to input arguments, output arguments, I/O arguments, and function return values, when an argument is specified as indicated in the below table (●) and the argument and return value is referenced or updated in the user defined function, it would take longer to process the instruction. For details, refer to the “Run time of Instruction Word” in appendix of each controller functional manual. Data type VAR_IPUT VAR_OUTPUT VAR_IN_OUT Return value BOOL ○ ● ● ○ INT ○ ● ● ○ DINT ○ ● ● ○ UINT ○ ● ● ○ REAL ○ ● ● ○ TIME ○ ● ● ○ DATE ○ ● ● ○ TOD ○ ● ● ○ DT ● ● ● ● WORD ○ ● ● ○ DWORD ○ ● ● ○ STRING ● ● ● ● PTR ● ● ● — PTRB ● ● ● — Derived ARRAY data ● ● ● ● Derived structure ● ● ● ● ● :Longer instruction process time, ○ :Normal instruction process time, —:Cannot be specified Chapter 1 For Programming 6F8C1226 22 ● Function/Function Block Restrictions The following restrictions apply when the function value of a function or output argument of a function block is DT, STRING, PTR or PTRB. Function value and output argument must be stored in a single variable only. Always connect function value and output argument with Store or Set Store instruction. LEFT IN L STRING1 LD NUMBER LD STRING2 ST LEFT IN L STRING1 LD NUMBER LD STRING2 ST LEFT IN L STRING1 LD NUMBER LD STRING2 LD MID IN L STRING3 ST <Supported case> <Unsupported case> ・ Function value is stored in two or more variables · Function value is connected to instructions other than ST/SET 1.3.5 Function Block ● What is Function Block? A function block (FB) is a program organization unit that returns one or more value when executed. More than one instance (copy) of a named FB can be created. An instance requires an identifier (instance name) for identity. The output variables and internal variables are retained from one execution to the next. Therefore, the result of executing an FB with the same argument is not necessary the same. Instructions such as CTU and TON defined by IEC61131-3 are examples of function blocks. 1.3 Program Structure Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 23 When storing data from FB instance output argument to variable, data is read from the FB instance output variable by the LD instruction and the result is stored in the variable by the ST instruction. ● User Defined Function Block The user can define a new function block by combining existing functions and function blocks. This enables program components to be packaged for reuse. SAMPLE1 LD SAMPLE2 LD SAMPLE3 ST USR_FB D CK User defined function block:USR_FB Q notQ SAMPLE4 ST SR CK P D D S1 R Q Q notQ SR_1 USR_FB_1 TON_1 PT IN TON CT Q SIGNAL_2 SIGNAL 1 SAMPLE_2 ST SAMPLE_1 LD BOOL type LD instruction inserted automatically TIME type LD instruction inserted automatically Chapter 1 For Programming 6F8C1226 24 ● Important · With regard to input arguments, output arguments, and I/O arguments, when an argument is specified as indicated in the below table ( ● ) and the argument is referenced or updated in the user defined function block, it would take longer to process the instruction. For details, refer to the “Run time of Instruction Word” in appendix of each controller functional manual. Data type VAR_IPUT VAR_OUTPUT VAR_IN_OUT BOOL ○ ○ ● INT ○ ○ ● DINT ○ ○ ● UINT ○ ○ ● REAL ○ ○ ● TIME ○ ○ ● DATE ○ ○ ● TOD ○ ○ ● DT ● ● ● WORD ○ ○ ● DWORD ○ ○ ● STRING ● ● ● PTR ● ● ● PTRB ● ● ● Derived ARRAY data ● ● ● Derived structure ● ● ● ● :Longer instruction process time, ○ :Normal instruction process time 1.4 Index Registers Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 25 1.4 Index Registers The following eight registers are available as index registers: XI, XJ, XK, XL, XM, XN, XP, XQ These index registers are controlled every the task type. (These become the global registers every task type.) Therefore, they do not overlap, even if the same index registers are used between the different task type. They can be used to specify a memory area that is offset by the index register from the specified variable. This is referred to as index modification. An index modification of a variable is coded as follows: Variables: Variable Data type Dec. TABLE ARRAY[0..3] OF DINT VAR SAMPLE DINT VAR When index register XI=1 and XJ=3, SAMPLE＝TABLE[XI]＋TABLE[XJ] ＝TABLE[1]＋TABLE[3] ＝150＋30 is calculated and the result 180 is stored in SAMPLE TABLE[XI] LD TABLE[XJ] LD SAMPLE ST ADD_DINT 100 150 70 30 3 2 1 0 Array：TABLE ＜Program＞ ● Important · Using index modification to access variables other than INT, UINT, and WORD results in longer instruction process time. ・ INT, UINT, WORD … unchanged ・ Other than INT, UINT, WORD … longer process time For details, refer to the “Run time of Instruction Word” in appendix of each controller functional manual. Chapter 1 For Programming 6F8C1226 26 1.5 System Flags The following list shows the flags that are set when an error occurs within a function or used in operation with carry. Flags that are set when errors occur are described in “Function” and “Error information” of each section. These system flags are controller dependent. Therefore, refer to sections describing variables in controller function manuals. [Integrated Controller V series] The flags below are common to all tasks for Integrated Controllers. Flag Description Supported instruction User carry flag Carry flag used in operations with carry and in shift and rotate instructions. ADC, SBB, SHL, SHR, ROL, ROR Error flag Set to TRUE(ON) when an error occurs during function execution. Set together with the following flags. Boundary error flag Set to TRUE(ON) when the address range is exceeded in an indirect address specification. LD,ST, and instructions specified with pointers. Divide error flag Set to TRUE(ON) when divisor=0 occurs in a divide instruction DIV, MOD BCD error flag Set to TRUE(ON) when BCD data is outside the range from 0 to 9 in BCD related instructions. UINT_TO_BCD_WORD WORD_BCD_TO_UINT etc. Table operation error flag Set to TRUE(ON) when the operation pointer is outside the table size in the table operation instructions. TSET,TRST Encode error flag Set to TRUE(ON) when the encode error occurs in the encode instructions. ENC 1.5 System Flags Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 27 [Unified Controller nv series] In the Unified Controller, the flags include common flags for all tasks for compatibility with the Integrated Controller, and common tasks for each task. System flag Description Common for all tasks For compatibility with the Integrated Controller Common for Priority 1 For EV/IP tasks Common for Priority 2 For SS/IP tasks Common for Priority 3 For HS tasks Common for Priority 4 For MS tasks Flag Description Supported instruction User carry flag Carry flag used in operations with carry and in shift and rotate instructions. ADC, SBB, SHL, SHR, ROL, ROR Error flag Set to TRUE(ON) when an error occurs during function execution. Set together with the following flags. Divide error flag Set to TRUE(ON) when divisor=0 occurs in a divide instruction. DIV, MOD BCD error flag Set to TRUE(ON) when BCD data is outside the range from 0 to 9 in BCD related instructions. UINT_TO_BCD_WORD WORD_BCD_TO_UINT etc. Table operation error flag Set to TRUE(ON) when the operation pointer is outside the table size in the table operation instructions, or an unsupported variable is specified in the table operation instructions or function instructions. TSET, TRST, TMOV, PLN etc. Encode error flag Set to TRUE(ON) when the encode error occurs in the encode instructions. ENC ASC data conversion error flag Set to TRUE(ON) when invalid ASCII code is detected in ASCII data conversion in an instruction handling ASCII data. ASCDEC_TO_DINT, DINT_TO_ASCDEC etc. Chapter 1 For Programming 6F8C1226 28 1.6 Handling of REAL Data In calculations using REAL data (four arithmetic operations such as ADD/SUB/MUL/DIV and functions such as SIN/COS/PID), if "infinity/nonnumeric" is specified in the input data, the calculation result becomes "infinity/nonnumeric," or the result becomes "infinity/nonnumeric" during the calculation, the Integrated Controller and Unified Controller perform the following calculations: Integrated Controller Unified Controller “Infinity/Nonnumeric” is specified in the input data Calculation is done by using the input data as it is, so the calculation result also becomes "infinity/nonnumeric." For a function with EN, the ENO output is set to OFF(FALSE). Calculation is done by limiting the input data to "± maximum value." For a function with EN, the ENO output is set to OFF(FALSE). Calculation result is “Infinity/Nonnumeric” The calculation result is outputted as it is. For a function with EN, the ENO output is set to OFF(FALSE). The calculation result is limited to "± maximum value" and outputted. For a function with EN, the ENO output is set to OFF(FALSE). Result is “Infinity/Nonnumeric” during the calculation Calculation is continued by using the "infinity/nonnumeric" result during the calculation, so the calculation result also becomes "infinity/nonnumeric." For a function with EN, the ENO output is set to OFF(FALSE). Calculation is continued by limiting the result to "± maximum value" during the calculation. For a function with EN, the ENO output is set to OFF(FALSE). Therefore, the range of real data of the Integrated Controller and Unified Controller is as follows: Input/output data Integrated Controller Real data representation Decimal representation S2/S3 L2/L3 Unified Controller +Nonnumeric +NAN (not a number) 7FFF.FFFF : 7F80.0001  +Infinity +INF(infinity) 7F80.0000  +NF +3.4028235E+38 (+Maximum value) Normalized value +3.4028235E+38(+Maximum value) : +1.1754944E-38 7F7F.FFFF : 0080.0000 Unnormalized value +1.1754942E-38 : +1.4012985E-45 007F.FFFF : 0000.0001    +0 0000.0000 +0 Zero -0 8000.0000 +0 -0 +0 Unnormalized value -1.4012985E-45 : -1.1754942E-38 8000.0001 : 807F.FFFF Normalized value -1.1754944E-38 : -3.4028235E38(-Maximum value) 8080.0000 : FF7F.FFFF    -Infinity -INF(infinity) FF80.0000  -Nonnumeric -NAN (not a number) FF80.0001 : FFFF.FFFF  -INF -3.4028235E+38 (-Maximum value) 1.6 Handling of REAL Data Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 29 ● Important · In the Integrated Controller and Unified Controller, the calculation results are different when "infinity" or "nonnumeric" is inputted in a calculation using real data, or when the calculation result becomes "infinity" or "nonnumeric." · When real data is used in the user program and the effect of the difference exists, the validity of calculation result="maximum value" can be ensured by writing the program in the following manner. · When real calculation is needed, real calculation can be used as a function with EN so that a factor resulting in a calculation result of "infinity" or "nonnumeric" can be detected when ENO=FALSE(OFF). · The cautions on handling real data are as follows: · Check if it is within the expected input/output data range. Is the limit processing required before or after the calculation? · In division, is there any division with divisor=0? · In data comparison, is it OK to use "=" (equality)? · When calculation is done as a function with EN and the ENO output is normal (TRUE(ON)), is the calculation result required to be used? 第1 章 プログラミングのために 6F8C1226 30 1.7 Instruction Behavior when Exceeding Data Boundary When the data boundary is exceeded, the message “User task data boundary is exceeded” appears in the error log. In this case, the data read from the variable is treated as 0 and no write to variable is performed. The controller operation after the error depends on information set in the controller parameter. The behavior of each instruction is as follows: Instruction Data read from variable Instruction output Variable write Remarks 0 0 — 0 1 — 0 0 — 1 (when previous data=1 with input=1) 0 0 (other than above) — — — × — — × — — × — — × Previous value is updated as pulse function. — — × — — × — — × — — × — — × — — × Previous value is updated as pulse function. — — × — — × LD 0 — — ST/SET — — × 1.8 Step Counting Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 31 1.8 Step Counting When a constant is used to specify an input argument or for index modification, or the number of words exceeding 64k, there are cases where the step count is changed. This is described below. ● Specification by constant One step if the data structure is a single word constant specification and two steps if the data structure is a two word size constant specification. ● index modification of BOOL variable Increases by one step each time the level of index modification increased (increased by one step for single index specification, by two steps for double index specification). Examples of index modification using BOOL variable BOOL_VAL are shown below: BOOL_VAL 1 step BOOL_VAL[XI] 2 step BOOL_VAL[XI][XJ] 3 step · No index modification · Single index modification · Double index modification ● Index modification of WORD variable For single word data type, double or more index specification results in increase of one step and for double word data type, single or more index specification results in increase of one step. Thereafter, the step is increased by one each time the level of index modification increases as with BOOL variables. Examples of index modification of INT variable INT_VAL and DINT variable DINT_VAL are shown below: INT_VAL 1 step DINT_VAL 1 step · No index modification INT_VAL[XI] 1 step DINT_VAL[XI] 2 step · Single index modification INT_VAL[XI][XJ] 2 step DINT_VAL[XI][XJ] 3 step · Double index modification <INT variable> <Dint variable> ● Note · Currently, only single index modification is allowed. Double index is not allowed (this is currently under development). Chapter 1 For Programming 6F8C1226 32 ● Variables whose word number exceeds 64k The step increases by one when a variable whose word number exceeds 64k (word number≥65536) is used. This variable usually corresponds with a user variable. User variable Word no. +0 +65535 +65536 +81919 <When user variable size is 80kW> Step increases by one when variable whose word number exceeds 64k is specified 1.9 How to Read Instruction Spec. Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 33 1.9 How to Read Instruction Spec. [ST language notation] S AMPLE2 := MOVE_INT(SAMPLE1); ● Arguments: · The following data types are supported for input and output arguments and the instruction symbol depends on the data type. Arg. Operand Type Const. Description Remarks Input — ○ Input Output — See below — Output Moving Move Data LD/FBD language notation EN input Edge execution*3 Index modification Modifier ○ ○ — ST language notation Output := MOVE_□□(Input); Input Output MOVE_□□ Instruction name Remarks *1 Graphical form Program example Whether modification is allowed Description of the operation in a program sample Explanation of the instruction LD, FBD, SFC language notation ST language notation *2 ST language notation ● Function · Input data is output as result. Input Output MOVE_□□ Input Symbol(_□□) Output INT MOVE_INT Input DINT MOVE_DINT INT UNIT MOVE_UINT DINT REAL MOVE_REAL UNIT WORD MOVE_WORD REAL DWORD MOVE_DWORD WORD TIME MOVE_TIME DWORD TOD MOVE_TOD TIME DATE MOVE_DATE TOD DT MOVE_DT DATE STRING MOVE_STRING DT ● Program example [LD/FBD language notation] ･Content of variable SAMPLE1 “1234” is moved to variable sample SAMPLE2 SAMPLE1 1234 LD SAMPLE2 1234 ST MOVE_INT ○ : constant specification allowed， — : constant specification not allowed LD, FBD,SFC language notation *1 The “Remarks” column provides the following information for instructions supported by programmable controller PROSEC T series or Control Station PCS series, or supported exclusively for Integrated Controller or Unified Controller. Instruction unique to T series: :“T compatible instruction” Instruction unique to PCS series: :“PCS compatible instruction” Instruction unique toTOSDIC series: :“TOSDIC compatible instruction” Dedicated instruction for Integrated Controller: :“V dedicated instruction” Dedicated instruction for Unified Controller: : “nv dedicated instruction” Chapter 1 For Programming 6F8C1226 34 *2 A function block is described as follows: [Instance name] (Input argument 1, Input argument 2); [Variable name] : = [Instance name]. Output argument1; [Variable name] : = [Instance name]. Output argument 2; Example: On—delay timer (0.1ms/1ms/10ms/100ms/0.1 min) [Instance name] (IN, PT); [Variable name] : = [Instance name]. Q; [Variable name] : = [Instance name]. ET; ・Refer to “Program example” for the actual program displayed. ・ With regard to the function block name used for the [Instance name], specify “TON”, “TON_100MS”, “TONM_P” for the data type during variable declaration. *3 “Edge execution” is not currently supported. 1.10 Instruction List Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 35 1.10 Instruction List The V series controller instructions are listed below. The following symbols are used in the table. ○ : Supported from the initial version of the respective controller (available) Number :Supported from the specified version of the respective controller (available) — : Not supported by the respective controller (Unavailable) Carefully check the available instruction when programming. ● Important When an unsupported instruction is used during programming, the action depends on the controller as follows: [Integrated Controller S Controller and Unified Controller nv series] POU using unsupported instruction is not downloaded to the controller. If it is downloaded, the engineering tool displays an error message indicating that it is an unsupported message. [Integrated Controller L Controller] POU using unsupported message can be downloaded to the controller, but the program will go into fallback mode or fail when it detects the unsupported instruction. Nv series V series Instruction Symbol t y p e 1 t y p e 2 S 3 S 2 L 3 L 3 D S L 2 L 2 D S L 1 S t e p P a g e Contacts & Coils P.52 Normally Open Contact ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.53 Normally Closed Contact ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.54 Positive transition- sensing Contact ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P.55 Negative transition- sensing Contact ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P.56 Rising Edge Detector ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.57 Falling Edge Detector ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.58 Inverter ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.59 Coil ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.60 Negated Coil ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.61 SET Coil ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.62 RESET Coil ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.63 Positive Transition-sensing Coil ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P.64 Negative Transition-sensing Coil ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P.65 Forced Coil ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.66 Forced Negated Coil ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.67 Forced SET Coil ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.68 Forced RESET Coil ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.69 Forced Positive Transition-sensing Coil ○ ○ ○ ○ ○ ○ ○ ○ — 2 P.70 Forced Negative Transition-sensing Coil ○ ○ ○ ○ ○ ○ ○ ○ — 2 P.71 Chapter 1 For Programming 6F8C1226 36 Instruction nv series V series Contact／Coil Symbol t y p e 1 t y p e 2 S 3 S 2 L 3 L 3 D S L 2 L 2 D S L 1 S t e p P a g e Execution Control P.72 Jump Control Set JCS ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.73 Jump Control Reset JCR ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.73 Jump ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.74 Label LABEL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.74 Conditional Execution Instruction ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.75 End of Conditional Execution Instruction ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.75 Master Control Set MCS ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.76 Master Control Reset MCR ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.76 Counters P.77 Up Counter CTU ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.78 Down Counter CTD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.80 Up Down Counter CTUD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.82 Timers P.85 On-Delay Timer (0.1ms) TON_100us ○ ○ STC — — — — — — 2 P.87 On-Delay Timer (1ms) TON ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.87 On-Delay Timer (10ms) TON_10ms ○ ○ ○ ○ — — — — — 2 P.87 On-Delay Timer (100ms) TON_100ms ○ ○ ○ ○ ○ ○ ○ ○ — 2 P.87 On-Delay Timer (0.1 minute) TONM_P ○ ○ — — ○ ○ ○ ○ — 2 P.87 Off-Delay Timer (0.1ms) TOF_100us ○ ○ STC — — — — — — 2 P.90 Off-Delay Timer (1ms) TOF ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.90 Off-Delay Timer (10ms) TOF_10ms ○ ○ ○ ○ — — — — — 2 P.90 Off-Delay Timer (100ms) TOF_100ms ○ ○ ○ ○ ○ ○ ○ ○ — 2 P.90 Off-Delay Timer (0.1 minute) TOFM_P ○ ○ — — ○ ○ ○ ○ — 2 P.90 Pulse Timer (0.1ms) TP_100us ○ ○ STC — — — — — — 2 P.93 Pulse Timer (1ms) TP ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.93 Pulse Timer (10ms) TP_10ms ○ ○ ○ ○ — — — — — 2 P.93 Pulse Timer (100ms) TP_100ms ○ ○ ○ ○ ○ ○ ○ ○ — 2 P.93 Single Shot (100ms) SS_P ○ ○ ○ ○ ○ ○ ○ ○ — 2 P.96 Single Shot (0.1 minute) SSM_P ○ ○ — — ○ ○ ○ ○ — 2 P.96 Real Time Clock RTC — — ○ ○ — — — — — 2 P.98 Real Time Clock RTC_N ○ ○ — — — — — — — 2 P.100 On/Off-Delay Timer DEL_L — — — — — — — — 2.30 2 P.102 Flip-Flops P104 Set Type Flip-Flop SR ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P105 Reset Type Flip-Flop RS ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P107 Semaphore SEMA ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P109 Moving P.111 Normally Open Contact Gate ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.112 Normally Closed Contact Gate ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.114 1.10 Instruction List Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 37 Instruction nv series V series Contact／Coil Symbol t y p e 1 t y p e 2 S 3 S 2 L 3 L 3 D S L 2 L 2 D S L 1 S t e p P a g e Moving P111 MOVE_INT ○ ○ ○ ○ 1.30 1.10 2.30 ○ — 1 P.116 MOVE_DINT ○ ○ ○ ○ 1.30 1.10 2.30 ○ — 1 P.116 MOVE_UINT ○ ○ ○ ○ 1.30 1.10 2.30 ○ — 1 P.116 MOVE_REAL ○ ○ ○ ○ 1.30 1.10 2.30 ○ — 1 P.116 MOVE_WORD ○ ○ ○ ○ 1.30 1.10 2.30 ○ — 1 P.116 MOVE_DWORD ○ ○ ○ ○ 1.30 1.10 2.30 ○ — 1 P.116 MOVE_TIME ○ ○ ○ ○ 1.30 1.10 2.30 ○ — 1 P.116 MOVE_TOD ○ ○ ○ ○ 1.30 1.10 2.30 ○ — 1 P.116 MOVE_DATE ○ ○ ○ ○ 1.30 1.10 2.30 ○ — 1 P.116 MOVE_DT ○ ○ ○ ○ 1.30 1.10 2.30 ○ — 1 P.116 Move Data MOVE_STRING — — — — — — — — — 1 P.116 Move Table Data TMOV ○ ○ ○ ○ ○ ○ ○ ○ 2.30 1 P.118 XCHG_INT ○ ○ ○ ○ — — — — — 2 P.120 XCHG_DINT ○ ○ ○ ○ — — — — — 2 P.120 XCHG_UINT ○ ○ ○ ○ — — — — — 2 P.120 XCHG_REAL ○ ○ ○ ○ — — — — — 2 P.120 XCHG_WORD ○ ○ ○ ○ — — — — — 2 P.120 XCHG_DWORD ○ ○ ○ ○ — — — — — 2 P.120 XCHG_TIME ○ ○ ○ ○ — — — — — 2 P.120 XCHG_TOD ○ ○ ○ ○ — — — — — 2 P.120 Data Exchange XCHG_DATE ○ ○ ○ ○ — — — — — 2 P.120 TINZ_INT ○ ○ ○ ○ — — — — — 1 P.122 TINZ_DINT ○ ○ ○ ○ — — — — — 1 P.122 TINZ_UINT ○ ○ ○ ○ — — — — — 1 P.122 TINZ_REAL ○ ○ ○ ○ — — — — — 1 P.122 TINZ_WORD ○ ○ ○ ○ — — — — — 1 P.122 TINZ_DWORD ○ ○ ○ ○ — — — — — 1 P.122 TINZ_TIME ○ ○ ○ ○ — — — — — 1 P.122 TINZ_TOD ○ ○ ○ ○ — — — — — 1 P.122 TINZ_DATE ○ ○ ○ ○ — — — — — 1 P.122 Initialize Table Data TINZ_DT — — — — — — — — — 1 P.122 Comparison P.124 GT_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.125 GT_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.125 GT_UINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.125 GT_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.125 GT_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.125 GT_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.125 GT_TIME ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.125 GT_TOD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.125 GT_DATE — — — — — — — — — 1 P.125 Greater Than GT_DT — — — — — — — — — 1 P.125 Chapter 1 For Programming 6F8C1226 38 nv series V series Instruction Symbol t y p e 1 t y p e 2 S 3 S 2 L 3 L 3 D S L 2 L 2 D S L 1 S t e p P a g e Comparison P.124 GE_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.127 GE_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.127 GE_UINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.127 GE_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.127 GE_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.127 GE_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.127 GE_TIME ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.127 GE_TOD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.127 GE_DATE — — — — — — — — — 1 P.127 Greater Than or Equal GE_DT — — — — — — — — — 1 P.127 EQ_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.129 EQ_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.129 EQ_UINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.129 EQ_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.129 EQ_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.129 EQ_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.129 EQ_TIME ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.129 EQ_TOD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.129 EQ_DATE ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.129 Equal EQ_DT — — — — — — — — — 1 P.129 LE_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.131 LE_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.131 LE_UINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.131 LE_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.131 LE_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.131 LE_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.131 LE_TIME ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.131 LE_TOD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.131 LE_DATE — — — — — — — — — 1 P.131 Less Than or Equal LE_DT — — — — — — — — — 1 P.131 LT_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.133 LT_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.133 LT_UINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.133 LT_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.133 LT_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.133 LT_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.133 LT_TIME ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.133 LT_TOD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.133 LT_DATE — — — — — — — — — 1 P.133 Less Than LT_DT — — — — — — — — — 1 P.133 1.10 Instruction List Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 39 nv series V series Instruction Symbol t y p e 1 t y p e 2 S 3 S 2 L 3 L 3 D S L 2 L 2 D S L 1 S t e p P a g e Comparison P.124 NE_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.135 NE_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.135 NE_UINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.135 NE_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.135 NE_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.135 NE_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.135 NE_TIME ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.135 NE_TOD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.135 NE_DATE ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.135 Not Equal NE_DT — — — — — — — — — 1 P.135 Comparison with Hysteresis (greater than) GT_L — — — — — — — — 2.30 2 P.137 Comparison with Hysteresis (less than) LT_L — — — — — — — — 2.30 2 P.139 Comparison with Hysteresis (greater than or equal) GE_L — — — — — — — — 2.30 2 P.141 Comparison with Hysteresis (less than or equal) LE_L — — — — — — — — 2.30 2 P.143 Selection P.145 MAX_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.146 MAX_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.146 MAX_UINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.146 MAX_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.146 MAX_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.146 MAX_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.146 MAX_TIME ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.146 MAX_TOD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.146 MAX_DATE — — — — — — — — — 1 P.146 Maximum MAX_DT — — — — — — — — — 1 P.146 MAXL_INT ○ ○ ○ ○ — — — — — 1 P.148 MAXL_DINT ○ ○ ○ ○ — — — — — 1 P.148 MAXL_UINT ○ ○ ○ ○ — — — — — 1 P.148 MAXL_REAL ○ ○ ○ ○ — — — — — 1 P.148 MAXL_TIME ○ ○ ○ ○ — — — — — 1 P.148 MAXL_TOD ○ ○ ○ ○ — — — — — 1 P.148 MAXL_DATE — — — — — — — — — 1 P.148 Maximum of Table Data MAXL_DT — — — — — — — — — 1 P.148 MIN_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.150 MIN_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.150 MIN_UINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.150 MIN_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.150 MIN_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.150 MIN_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.150 MIN_TIME ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.150 MIN_TOD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.150 MIN_DATE — — — — — — — — — 1 P.150 Minimum MIN_DT — — — — — — — — — 1 P.150 Chapter 1 For Programming 6F8C1226 40 nv series V series Instruction Symbol t y p e 1 t y p e 2 S 3 S 2 L 3 L 3 D S L 2 L 2 D S L 1 S t e p P a g e Selection P.145 MINL_INT ○ ○ ○ ○ — — — — — 1 P.152 MINL_DINT ○ ○ ○ ○ — — — — — 1 P.152 MINL_UINT ○ ○ ○ ○ — — — — — 1 P.152 MINL_REAL ○ ○ ○ ○ — — — — — 1 P.152 MINL_TIME ○ ○ ○ ○ — — — — — 1 P.152 MINL_TOD ○ ○ ○ ○ — — — — — 1 P.152 MINL_DATE — — — — — — — — — 1 P.152 Minimum of Table Data MINL_DT — — — — — — — — — 1 P.152 AVE_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.154 AVE_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.154 AVE_UINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.154 AVE_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.154 Average Value AVE_TIME ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.154 AVEL_INT ○ ○ ○ ○ — — — — — 1 P156 AVEL_DINT ○ ○ ○ ○ — — — — — 1 P.156 AVEL_UINT ○ ○ ○ ○ — — — — — 1 P.156 AVEL_REAL ○ ○ ○ ○ — — — — — 1 P.156 Average of Table Data AVEL_TIME ○ ○ ○ ○ — — — — — 1 P.156 LIMIT_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.158 LIMIT_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.158 LIMIT_UINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.158 LIMIT_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.158 LIMIT_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.158 LIMIT_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.158 LIMIT_TIME ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.158 LIMIT_TOD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.158 LIMIT_DATE — — — — — — — — — 1 P.158 Limiter LIMIT_DT — — — — — — — — — 1 P.158 SEL_BOOL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.161 SEL_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.161 SEL_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.161 SEL_UINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.161 SEL_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.161 SEL_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.161 SEL_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.161 SEL_TIME ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.161 SEL_TOD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.161 SEL_DATE ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.161 Selector SEL_DT — — — — — — — — — 1 P.161 1.10 Instruction List Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 41 nv series V series Instruction Symbol t y p e 1 t y p e 2 S 3 S 2 L 3 L 3 D S L 2 L 2 D S L 1 S t e p P a g e Selection P.145 MUX_BOOL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.163 MUX_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.163 MUX_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.163 MUX_UINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.163 MUX_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.163 MUX_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.163 MUX_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.163 MUX_TIME ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.163 MUX_TOD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.163 MUX_DATE ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.163 Multiplex MUX_DT — — — — — — — — — 1 P.163 MPX_INT ○ ○ ○ ○ — — — — — 1 P.165 MPX_DINT ○ ○ ○ ○ — — — — — 1 P.165 MPX_UINT ○ ○ ○ ○ — — — — — 1 P.165 MPX_WORD ○ ○ ○ ○ — — — — — 1 P.165 MPX_DWORD ○ ○ ○ ○ — — — — — 1 P.165 MPX_REAL ○ ○ ○ ○ — — — — — 1 P.165 MPX_TIME ○ ○ ○ ○ — — — — — 1 P.165 MPX_TOD ○ ○ ○ ○ — — — — — 1 P.165 MPX_DATE ○ ○ ○ ○ — — — — — 1 P.165 Multiplex of Table Data MPX_DT — — — — — — — — — 1 P.165 Type Conversion P.167 INT_TO_DINT ○ ○ ○ ○ 1.30 1.10 2.30 ○ 2.30 1 P.169 INT_TO_UINT ○ ○ 2.50 2.53 — — — — — 1 P.169 DINT_TO_INT ○ ○ ○ ○ 1.30 1.10 2.30 ○ 2.30 1 P.169 DINT_TO_UINT ○ ○ 2.50 2.53 — — — — — 1 P.169 UINT_TO_INT ○ ○ 2.50 2.53 1.30 1.10 2.30 ○ 2.30 1 P.169 Integer-Integer Conversion UINT_TO_DINT ○ ○ 2.50 2.53 1.30 1.10 2.30 ○ 2.30 1 P.169 INT_TO_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.171 DINT_TO_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.171 Integer-Real Numbers Conversion UINT_TO_REAL ○ ○ 2.50 2.53 1.30 1.10 2.30 ○ 1.03 1 P.171 INT_TO_WORD ○ ○ ○ ○ ○ ○ ○ ○ 1.03 1 P.172 INT_TO_DWORD ○ ○ 2.50 2.53 ○ ○ ○ ○ 1.03 1 P.172 DINT_TO_WORD ○ ○ 2.50 2.53 — — — — — 1 P.172 DINT_TO_DWORD ○ ○ ○ ○ ○ ○ ○ ○ 1.03 1 P.172 UINT_TO_WORD ○ ○ ○ ○ ○ ○ ○ ○ 1.03 1 P.172 Integer-Bit String Conversion UINT_TO_DWORD ○ ○ 2.50 2.53 ○ ○ ○ ○ 1.03 1 P.172 INT_TO_BCD_WORD ○ ○ 2.50 2.53 — — — — — 1 P.174 INT_TO_BCD_DWORD ○ ○ 2.50 2.53 — — — — — 1 P.174 DINT_TO_BCD_WORD ○ ○ 2.50 2.53 — — — — — 1 P.174 DINT_TO_BCD_DWORD ○ ○ ○ ○ — — — — — 1 P.174 UINT_TO_BCD_WORD ○ ○ ○ ○ — — — — — 1 P.174 Integer-BCD Conversion UINT_TO_BCD_DWORD ○ ○ 2.50 2.53 — — — — — 1 P.174 Chapter 1 For Programming 6F8C1226 42 nv series V series Instruction Symbol t y p e 1 t y p e 2 S 3 S 2 L 3 L 3 D S L 2 L 2 D S L 1 S t e p P a g e Type Conversion P.167 INT_TO_TIME ○ ○ 2.50 2.53 1.30 1.10 2.30 ○ 2.30 1 P.176 DINT_TO_TIME ○ ○ 2.50 2.53 1.30 1.10 2.30 ○ 2.30 1 P.176 Integer-Duration Conversion UINT_TO_TIME ○ ○ 2.50 2.53 1.30 1.10 2.30 ○ 2.30 1 P.176 REAL_TO_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.177 REAL_TO_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.177 Real Numbers Integer Conversion REAL_TO_UINT ○ ○ 2.50 2.53 — — — — — 1 P.177 REAL_TO_BCD_WORD ○ ○ 2.50 2.53 — — — — — 1 P.179 Real Numbers-BCD Conversion REAL_TO_BCD_DWORD ○ ○ 2.50 2.53 — — — — — 1 P.179 Real Numbers-Duration Conversion REAL_TO_TIME ○ ○ 2.50 2.53 1.30 1.10 2.30 ○ 1.03 1 P.181 WORD_TO_INT ○ ○ ○ ○ ○ ○ ○ ○ 1.03 1 P.183 WORD_TO_DINT ○ ○ 2.50 2.53 ○ ○ ○ ○ 1.03 1 P.183 WORD_TO_UINT ○ ○ ○ ○ ○ ○ ○ ○ 1.03 1 P.183 DWORD_TO_INT ○ ○ 2.50 2.53 — — — — — 1 P.183 DWORD_TO_DINT ○ ○ ○ ○ ○ ○ ○ ○ 1.03 1 P.183 Bit String-Integer Conversion DWORD_TO_UINT ○ ○ 2.50 2.53 — — — — — 1 P.183 WORD_TO_DWORD ○ ○ ○ ○ 1.30 1.10 2.30 ○ 2.30 1 P.185 Bit String-Bit String Conversion DWORD_TO_WORD ○ ○ ○ ○ 1.30 1.10 2.30 ○ 2.30 1 P.185 WORD_BCD_TO_INT ○ ○ 2.50 2.53 — — — — — 1 P.187 WORD_BCD_TO_DINT ○ ○ 2.50 2.53 — — — — — 1 P.187 WORD_BCD_TO_UINT ○ ○ ○ ○ — — — — — 1 P.187 DWORD_BCD_TO_INT ○ ○ 2.50 2.53 — — — — — 1 P.187 DWORD_BCD_TO_DINT ○ ○ ○ ○ — — — — — 1 P.187 BCD-Integer Conversion DWORD_BCD_TO_UINT ○ ○ 2.50 2.53 — — — — — 1 P.187 WORD_BCD_TO_REAL ○ ○ 2.50 2.53 — — — — — 1 P.189 BCD-Real Numbers Conversion DWORD_BCD_TO_REAL ○ ○ 2.50 2.53 — — — — — 1 P.189 WORD_BCD_TO_TIME ○ ○ 2.50 2.53 — — — — — 1 P.191 BCD-Duration Conversion DWORD_BCD_TO_TIME ○ ○ 2.50 2.53 — — — — — 1 P.191 TIME_TO_INT ○ ○ 2.50 2.53 1.30 1.10 2.30 ○ 2.30 1 P.193 TIME_TO_DINT ○ ○ 2.50 2.53 1.30 1.10 2.30 ○ 2.30 1 P.193 Duration-Integer Conversion TIME_TO_UINT ○ ○ 2.50 2.53 — — — — — 1 P.193 Duration-Real Numbers Conversion TIME_TO_REAL ○ ○ 2.50 2.53 1.30 1.10 2.30 ○ 1.03 1 P.195 TIME_TO_BCD_WORD ○ ○ 2.50 2.53 — — — — — 1 P.196 Duration-BCD Conversion TIME_TO_BCD_DWORD ○ ○ 2.50 2.53 — — — — — 1 P.196 TRUNC_INT ○ ○ ○ ○ — — — — — 1 P.198 TRUNC_DINT ○ ○ ○ ○ — — — — — 1 P.198 Truncation TRUNC_UINT ○ ○ 2.50 2.53 — — — — — 1 P.198 NEG_INT ○ ○ ○ ○ — — — — — 1 P.200 NEG_DINT ○ ○ ○ ○ — — — — — 1 P.200 Sign Negative NEG_REAL ○ ○ ○ ○ — — — — — 1 P.200 DEG-RAD Conversion DEG_TO_RAD ○ ○ ○ ○ — — — — — 1 P.202 RAD-DEG Conversion RAD_TO_DEG ○ ○ ○ ○ — — — — — 1 P.203 BIN_INT_P ○ ○ ○ ○ — — — — — 1 P.204 BIN Conversion BIN_DINT_P ○ ○ ○ ○ — — — — — 1 P.204 1.10 Instruction List Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 43 nv series V series Instruction Symbol t y p e 1 t y p e 2 S 3 S 2 L 3 L 3 D S L 2 L 2 D S L 1 S t e p P a g e Type Conversion P.167 DT_TO_TOD ○ ○ 2.50 2.53 — — — — — 1 P.206 Time Data Type Conversion DT_TO_DATE ○ ○ 2.50 2.53 — — — — — 1 P.206 Concatenate Time Data CONCAT_D_TOD ○ ○ 2.50 2.53 — — — — — 1 P.208 ASCII-HEX Conversion ATOH_T ○ ○ ○ ○ — — — — — 1 P.210 HEX-ASCII Conversion HTOA_T ○ ○ ○ ○ — — — — — 1 P.212 ASCII-Real Numbers Conversion ASC_TO_REAL ○ ○ ○ ○ — — — — — 1 P.214 Real Numbers-ASCII Conversion REAL_TO_ASC ○ ○ ○ ○ — — — — — 1 P.216 ASCII (decimal)-Double Integer Conversion ASCDEC_TO_DINT ○ ○ 2.50 2.53 — — — — — 1 P.219 ASCII (hexadecimal)-Double Integer Conversion ASCHEX_TO_DINT ○ ○ 2.50 2.53 — — — — — 1 P.222 Double Integer-ASCII (decimal) Conversion DINT_TO_ASCDEC ○ ○ 2.50 2.53 — — — — — 1 P.225 Double Integer-ASCII (hexadecimal) Conversion DINT_TO_ASCHEX ○ ○ 2.50 2.53 — — — — — 1 P.228 Array-String Conversion ARRAY_TO_STRING — — — — — — — — — 1 P.231 String-Array Conversion STRING_TO_ARRAY — — — — — — — — — 1 P.233 Tag Number Conversion TO_INDEX — ○ — — — 1.1A — 1.18 2.23 1 P.235 Numeric Function P.237 Square Root SQRT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.238 Exponential EXP ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.239 Common Logarithms LOG ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.241 Natural Logarithms LN ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.243 ABS_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.245 ABS_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.245 Absolute Value ABS_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.245 Sine SIN ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.247 Cosine COS ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.249 Tangent TAN ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.251 Arcsine ASIN ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.253 Arccosine ACOS ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.255 Arctangent ATAN ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.257 Logical Operation P.259 AND_BOOL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.260 AND_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.260 Bitwise Boolean AND AND_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.260 Bitwise Boolean AND of Table Data TAND ○ ○ 2.50 2.53 — — — — — 1 P.262 OR_BOOL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.264 OR_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.264 Bitwise Boolean OR OR_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.264 Bitwise Boolean OR of Table Data TOR ○ ○ 2.50 2.53 — — — — — 1 P.266 NOT_BOOL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.268 NOT_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.268 Bitwise Boolean NOT NOT_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.268 Bitwise Boolean NOT of Table Data TNOT ○ ○ 2.50 2.53 — — — — — 1 P.269 XOR_BOOL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.271 XOR_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.271 Bitwise Boolean XOR XOR_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.271 Chapter 1 For Programming 6F8C1226 44 nv series V SERIES Instruction Symbol t y p e 1 t y p e 2 S 3 S 2 L 3 L 3 D S L 2 L 2 D S L 1 S t e p P a g e Logical Operation P.259 Bitwise Boolean XOR of Table Data TXOR ○ ○ 2.50 2.53 — — — — — 1 P.273 Bitwise Boolean NOT XOR of Table Data TXNR ○ ○ 2.50 2.53 — — — — — 1 P.275 TEST_WORD ○ ○ ○ ○ — — — — — 1 P.277 Test TEST_DWORD ○ ○ ○ ○ — — — — — 1 P.277 Bit Opeation P.278 SHR_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.279 Shift Bits Right SHR_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.279 SHL_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.281 Shift Bits Left SHL_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.281 ROR_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.283 Rotate Bits Right ROR_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.283 ROL_WORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.285 Rotate Bits Left ROL_DWORD ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.285 SFA_WORD_P ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.287 Arithmetic Shift SFA_DWORD_P ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.287 SFL_WORD_P ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.289 Logical Shift SFL_DWORD_P ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.289 Arithmetic Operation P.291 ADD_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.292 ADD_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.292 ADD_UINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.292 Add ADD_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.292 ADC_INT ○ ○ ○ ○ — — — — — 1 P.294 Add with Carry ADC_DINT ○ ○ ○ ○ — — — — — 1 P.294 SUB_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.296 SUB_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.296 SUB_UINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.296 Subtract SUB_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.296 SBB_INT ○ ○ ○ ○ — — — — — 1 P.298 Subtract with Carry SBB_DINT ○ ○ ○ ○ — — — — — 1 P.298 MUL_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.300 MUL_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.300 MUL_UINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.300 MUL_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.300 Multiply MUL_INT_DINT ○ ○ ○ ○ — — — — — 1 P.302 DIV_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.303 DIV_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.303 DIV_UINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.303 Divide DIV_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.303 MOD_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.305 MOD_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.305 Remainder MOD_UINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.305 1.10 Instruction List Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 45 nv series V SERIES Instruction Symbol t y p e 1 t y p e 2 S 3 S 2 L 3 L 3 D S L 2 L 2 D S L 1 S t e p P a g e Arithmetic Operation P.291 INC_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.307 INC_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.307 INC_UINT — — — — — — — — — 1 P.307 INC_REAL — — — — — — — — — 1 P.307 Increment INC_TIME — — — — — — — — — 1 P.307 DEC_INT ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.309 DEC_DINT ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.309 DEC_UINT — — — — — — — — — 1 P.309 DEC_REAL — — — — — — — — — 1 P.309 Decrement DEC_TIME — — — — — — — — — 1 P.309 EXPT_INT ○ ○ ○ ○ — — — — — 1 P.311 EXPT_DINT ○ ○ ○ ○ — — — — — 1 P.311 EXPT_UINT ○ ○ ○ ○ — — — — — 1 P.311 Power EXPT_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.311 ADD_T_T — — — — — — — — — 1 P.313 ADD_TOD_T — — — — — — — — — 1 P.313 ADD_DT_T — — — — — — — — — 1 P.313 ADD_D_INT — — — — — — — — — 1 P.313 ADD_D_DINT — — — — — — — — — 1 P.313 Add Time Data ADD_D_UINT — — — — — — — — — 1 P.313 SUB_T_T — — — — — — — — — 1 P.315 SUB_D_D — — — — — — — — — 1 P.315 SUB_TOD_T — — — — — — — — — 1 P.315 SUB_TOD_TOD — — — — — — — — — 1 P.315 SUB_DT_T — — — — — — — — — 1 P.315 SUB_DT_DT — — — — — — — — — 1 P.315 SUB_D_D_INT — — — — — — — — — 1 P.315 SUB_D_D_DINT — — — — — — — — — 1 P.315 SUB_D_D_UINT — — — — — — — — — 1 P.315 SUB_D_INT — — — — — — — — — 1 P.315 SUB_D_DINT — — — — — — — — — 1 P.315 Subtract Time Data SUB_D_UINT — — — — — — — — — 1 P.315 MUL_T_INT — — — — — — — — — 1 P.317 MUL_T_DINT — — — — — — — — — 1 P.317 Multiply Time Data MUL_T_UINT — — — — — — — — — 1 P.317 DIV_T_INT — — — — — — — — — 1 P.319 DIV_T_DINT — — — — — — — — — 1 P.319 Divide Time Data DIV_T_UINT — — — — — — — — — 1 P.319 Data Processing P.321 Set Carry SETC ○ ○ ○ ○ — — — — — 1 P.322 Reset Carry RSTC ○ ○ ○ ○ — — — — — 1 P.323 Chapter 1 For Programming 6F8C1226 46 nv series V SERIES Instruction Symbol t y p e 1 t y p e 2 S 3 S 2 L 3 L 3 D S L 2 L 2 D S L 1 S t e p P a g e Data Processing P.321 ENC_WORD_INT ○ ○ 2.50 2.53 — — — — — 1 P.324 ENC_WORD_DINT ○ ○ 2.50 2.53 — — — — — 1 P.324 ENC_DWORD_INT ○ ○ 2.50 2.53 — — — — — 1 P.324 Encode ENC_DWORD_DINT ○ ○ 2.50 2.53 — — — — — 1 P.324 DEC_INT_WORD ○ ○ 2.50 2.53 — — — — — 1 P.326 DEC_INT_DWORD ○ ○ 2.50 2.53 — — — — — 1 P.326 DEC_DINT_WORD ○ ○ 2.50 2.53 — — — — — 1 P.326 Decode DEC_DINT_DWORD ○ ○ 2.50 2.53 — — — — — 1 P.326 BC_WORD ○ ○ 2.50 2.53 — — — — — 1 P.328 Bit Counter BC_DWORD ○ ○ 2.50 2.53 — — — — — 1 P.328 TSET_INT ○ ○ 2.50 2.53 — — — — — 1 P.329 TSET_DINT ○ ○ 2.50 2.53 — — — — — 1 P.329 TSET_WORD ○ ○ 2.50 2.53 — — — — — 1 P.329 Table Bit Set TSET_DWORD ○ ○ 2.50 2.53 — — — — — 1 P.329 TRST_INT ○ ○ 2.50 2.53 — — — — — 1 P.331 TRST_DINT ○ ○ 2.50 2.53 — — — — — 1 P.331 TRST_WORD ○ ○ 2.50 2.53 — — — — — 1 P.331 Table Bit Reset TRST_DWORD ○ ○ 2.50 2.53 — — — — — 1 P.331 I/O P.333 I/O Memory Read MREAD — — ○ ○ 1.35 1.10 2.10 ○ — 1 P.334 I/O Memory Write MWRITE — — ○ ○ 1.35 1.10 2.10 ○ — 1 P.337 I/O Memory Read (nv) MREAD_N 1.20 1.70 — — — — — — — 2 P.340 I/O Memory Write (nv) MWRITE_N 1.20 1.70 — — — — — — — 2 P.343 ASC Module String Data Input ASCREAD — — — — — — — — — 1 P.346 ASC Module String Data Output ASCWRITE — — — — — — — — — 1 P.349 State Change Detection Read GET_IP_INF ○ ○ 2.06 2.52 — — — — — 1 P.352 Direct I/O IO_T — — 2.50 2.53 — — — — — 1 P.355 I/O Node State Read GET_SIO_STS ○ ○ — — — — — — — 1 P357 I/O Module State Read GET_IO_STS ○ ○ — — — — — — — 1 P.361 I/O Fallback Request IOFB_REQ ○ ○ — — — — — — — 1 P.365 I/O Fallback Recovery Request IORC_REQ ○ ○ — — — — — — — 1 P.367 Drive Device State Read GET_DRV_STS 1.20 — — — — — — — — 1 P.369 Process Operation P.371 DB_INT ○ ○ ○ ○ — — — — — 1 P.372 DB_DINT ○ ○ ○ ○ — — — — — 1 P.372 Dead Band DB_REAL ○ ○ ○ ○ — — — — — 1 P.372 Derivative DIF2 ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P.374 Integrator INTG ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P.377 Super Two Degrees of Freedom PID PID2 ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P.380 MV Calculation MVS ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P.385 Fix MV MVF ○ ○ 2.50 2.53 ○ ○ ○ ○ ○ 1 P.388 PLN_INT ○ ○ ○ ○ — — — — — 1 P.390 Polygonal Line Function PLN_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.390 Polygonal Line Function (high-speed version) PLN_REAL2 1.20 — — — — — — — — 1 P.393 1.10 Instruction List Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 47 nv series V SERIES Instruction Symbol t y p e 1 t y p e 2 S 3 S 2 L 3 L 3 D S L 2 L 2 D S L 1 S t e p P a g e Process Operation P.371 ILNL_INT ○ ○ 2.50 2.53 — — — — — 1 P.395 Inverse Polygonal Line Function ILNL_REAL ○ ○ 2.50 2.53 ○ ○ ○ ○ ○ 1 P.395 Inverse Polygonal Line Function (high—speed version) ILNL_REAL2 1.20 — — — — — — — — 1 P.399 Dead Time DT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.402 Moving Average (high—speed version) MAV ○ ○ 2.50 2.53 ○ ○ ○ ○ ○ 1 P.406 Moving Average (low-speed version) MAV_N ○ 1.32/ 3.10 — — — — — — — 1 P.410 DLM_INT ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P.414 DLM_DINT ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P.414 Rate Limiter DLM_REAL ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P.414 Lag/Lead Filter LAG2 ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P.416 Engineering Unit Conversion UNT ○ ○ 2.50 2.53 ○ ○ ○ ○ ○ 1 P.418 Percent Conversion PCT ○ ○ 2.50 2.53 ○ ○ ○ ○ ○ 1 P.420 Essential Succession PID PID3 ○ ○ 2.50 2.53 — — — — — 2 P.422 Estimate with Reset RSM_L — — — — — — — — 2.30 2 P.430 Parameter Structure — P.433 Program Control P.451 Return RETURN ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.452 User Defined Function — ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.453 User Defined Function Block — ○ ○ ○ ○ ○ ○ ○ ○ ○ 2/3 P.454 Program Enable EN_P ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.456 Program Disable DIS_P ○ ○ ○ ○ ○ ○ ○ ○ — 1 P.458 Event Program Startup START_P ○ ○ — — ○ ○ ○ ○ — 1 P.460 Interrupt Enable EI_T ○ ○ ○ ○ — — — — — 1 P.463 Interrupt Disable DI_T ○ ○ ○ ○ — — — — — 1 P.464 String Processing P.465 String Length LEN — — — — — — — — — 1 P.466 Leftmost extract string LEFT — — — — — — — — — 1 P.467 Rightmost extract string RIGHT — — — — — — — — — 1 P.469 Extract String MID — — — — — — — — — 1 P.471 Concatenate string CONCAT_STRING — — — — — — — — — 1 P.473 Insert String INSERT — — — — — — — — — 1 P.475 Delete String DELETE — — — — — — — — — 1 P.477 Replace String REPLACE — — — — — — — — — 1 P.479 Find String FIND — — — — — — — — — 1 P.481 Define String DEF_STRING — — — — — — — — — 1 P.483 Control Statements P.485 IF IF ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.486 THEN THEN ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.488 ELSE (IFstatement) ELSE ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.490 ELSEIF ELSEIF ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.492 END_IF END_IF ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.494 CASE CASE ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.495 ： ： ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.497 . .： . .： ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.499 Chapter 1 For Programming 6F8C1226 48 nv series V SERIES Instruction Symbol t y p e 1 t y p e 2 S 3 S 2 L 3 L 3 D S L 2 L 2 D S L 1 S t e p P a g e Control Statements P.485 , , ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.501 . . , . . , ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.503 ELSE (CASE statement) ELSE ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.505 END_CASE END_CASE ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.507 FOR_DO FOR_DO ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.509 EXIT (FOR statement) EXIT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.511 END_FOR END_FOR ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.513 WHILE WHILE ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.514 DO DO ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.515 EXIT (WHILE statement) EXIT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.516 END_WHILE END_WHILE ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.518 REPEAT REPEAT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.519 UNTIL UNTIL ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.520 EXIT (REPEAT statement) EXIT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.521 END_REPEAT END_REPEAT ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.523 Communication P.524 Socket Communication Send USEND_T — — ○ ○ ○ ○ ○ ○ 1.20 2 P.525 Socket Communication Send USEND_N ○ ○ — — — — — — — 2 P.542 Socket Communication Receive URCV_T — — ○ ○ ○ ○ ○ ○ 1.20 2 P.558 Socket Communication Receive URCV_N ○ ○ — — — — — — — 2 P.570 Communication FB (XMIT_T) XMIT_T — — 2.50 2.50 — — — — — 2 P.590 Communication FB (XMIT_N) XMIT_N 1.20 — — — — — — — — 2 P.592 Duplex Control P.594 Duplex Online-Standby Change DUPLEX_CHG ○ ○ ○ ○ 1.37 1.10 2.35 ○ — 1 P.595 Duplex Self-System Down DUPLEX_DOWN ○ ○ ○ ○ 1.37 1.10 2.35 ○ — 1 P.597 Partial Equalizer (variable specification) EQUALIZE_VAR — — 2.50 2.53 — — — — — 1 P.599 Partial Equalizer (address specification) EQUALIZE_ADDR — — 2.50 2.53 — — — — — 1 P.601 Process Control P.603 Current Output PID PID_P — ○ — — — 1.10 — ○ 2.00 2 P.605 Current Output Sample PI SPI_P — ○ — — — — — — — 2 P.612 Pulse Output PID PIDP_P — ○ — — — 1.10 — ○ 2.00 2 P.618 Pulse Output Sample PI SPIP_P — ○ — — — — — — — 2 P.623 Feed Forward FFD_P — ○ — — — — — — — 2 P.629 Double Cross Limit DCL_P — ○ — — — 1.10 — ○ 2.00 2 P.633 Tag Operation P.638 Change Adjuster Mode CMLP_P — ○ — — — 1.10 — ○ — 1 P.639 Change Push Button Mode CMPB_P — ○ — — — 1.10 — ○ — 1 P.641 Change Sequence Mode CMSQ_P — ○ — — — 1.10 — ○ — 1 P.643 Set SV SSV_P — ○ — — — 1.10 — ○ — 1 P.645 Reset SV RSV_P — ○ — — — 1.10 — ○ — 1 P.649 Set MV SMV_P — ○ — — — 1.10 — ○ — 1 P.651 1.10 Instruction List Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 49 nv series V SERIES Instruction Symbol t y p e 1 t y p e 2 S 3 S 2 L 3 L 3 D S L 2 L 2 D S L 1 S t e p P a g e Tag Operation P.638 Reset MV RMV_P — ○ — — — 1.10 — ○ — 1 P.655 Shut CV SCV_P — ○ — — — 1.10 — ○ — 1 P.657 Push Button ON PB_P — ○ — — — 1.10 — ○ — 1 P.661 Push Button Lock LB_P — ○ — — — 1.10 — ○ — 1 P.664 Action Timer ACT_P — ○ — — — 1.10 — ○ — 1 P.666 Action Counter ACC_P — ○ — — — 1.10 — ○ — 1 P.670 Self Step Jump SJ_P — ○ — — — 1.10 — ○ — 1 P.674 Reset Jump RJ_P — ○ — — — 1.10 — ○ — 1 P.678 Reset Jump2 RJ_P2 — 1.60 — — — — — — — 1 P.682 SFC Initialize INI_STEP — 1.60 — — — — — — — 1 P.684 RAS P.686 Cyclic Trace DATALOGC ○ ○ 2.17 2.52 — — — — — 2 P.687 Calendar Data Acquisition GET_CLND ○ ○ — — — — — — — 1 P.689 Interlock Diagnosis DIAG_D ○ — 2.75 — — — — — — 2 P.691 Interlock Diagnosis with First Fault Diagnosis Permission Input DIAG_D2 1.50 — 2.7J/ 3.7E — — — — — — 2 P.694 SFC P.699 Step ○ ○ ○ ○ ○ ○ ○ ○ ○ 1 P.701 Initial Step ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P.703 Transition ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P.704 Divergence/Conver— gence of Sequence ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P.706 Divergence/Conver— gence of Simultaneous Sequences ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P.707 Link ○ ○ ○ ○ ○ ○ ○ ○ ○ 2 P.708 Action (BOOL type) ○ ○ ○ ○ ○ ○ ○ ○ ○ 3 P.710 Action (User defined type) ○ ○ ○ ○ ○ ○ ○ ○ ○ 3/5 P.710 Sequence — ○ — — — ○ — ○ — 2 P.717 Phase Step — ○ — — — ○ — ○ — 5 P.720 Chapter 1 For Programming 6F8C1226 50 nv series V SERIES Instruction Symbol t y p e 1 t y p e 2 S 3 S 2 L 3 L 3 D S L 2 L 2 D S L 1 S t e p P a g e SFC P.699 Phase End Step — ○ — — — ○ — ○ — 1 P.723 Answer Step — ○ — — — ○ — ○ — 3 P.725 Phase Step 2 — 1.60 — — — — — — — 4 P.727 Answer Step 2 — 1.60 — — — — — — — 3 P.729 2 Ph2 51 Chapter 2 LD/FBD Instructions 2.1 Contacts & Coils··························································································52 2.2 Execution Control ······················································································72 2.3 Counters ···········································································································77 2.4 Timers·················································································································85 2.5 Flip—Flops······································································································ 104 2.6 Moving··············································································································111 2.7 Comparison································································································· 124 2.8 Selection········································································································ 145 2.9 Type Conversion······················································································ 167 2.10 Numeric Function···················································································· 237 2.11 Logical Operation···················································································· 259 2.12 Bit Operation······························································································· 278 2.13 Arithmetic Operation············································································· 291 2.14 Data Processing······················································································· 321 2.15 I/O························································································································ 333 2.16 Process Operation·················································································· 371 2.17 Program Control······················································································· 451 2.18 String Processing···················································································· 465 2.19 Control Statements················································································· 485 2.20 Communication························································································· 524 2.21 Duplex Control··························································································· 594 2.22 Process Control························································································ 603 2.23 Tag Operation····························································································· 638 2.24 RAS···················································································································· 686 Chapter 2 LD/FBD Instructions 6F8C1226 52 2.1 Contacts & Coils No. Instruction Remarks 1 Normally Open Contact 2 Normally Closed Contact 3 Positive Transition-sensing Contact 4 Negative Transition-sensing Contact 5 Rising Edge Detector 6 Falling Edge Detector 7 Inverter 8 Coil 9 Negated Coil 10 SET Coil 11 RESET Coil 12 Positive Transition-sensing Coil 13 Negative Transition-sensing Coil 14 Forced Coil 15 Forced Negated Coil 16 Forced SET Coil 17 Forced RESET Coil 18 Forced Positive Transition-sensing Coil 19 Forced Negative Transition-sensing Coil 2.1 Contacts & Coils Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 53 Normally Open Contact Contacts & Coils Normally Open Contact LD/FBD language notation Variable (BOOL) Input Output EN input Edge execution Index modification Modifier — — ○ ● Function · Normally open contact of variable (BOOL). Input Condition Output FALSE(OFF) Regardless of variable (BOOL) state FALSE(OFF) Variable (BOOL)=FALSE(OFF) FALSE(OFF) TRUE(ON) Variable (BOOL)=TRUE(ON) TRUE(ON) ● Program example SIGNAL2 SIGNAL3 SIGNAL1 · Coil SIGNAL3 is TRUE(ON) only when states of SIGNAL1 and SIGNAL2 are both TRUE(ON). SIGNAL1 SIGNAL2 SIGNAL3 ● Error information · When there is a boundary error due to index modification, the value of variable (BOOL) is treated as FALSE(OFF) and the data boundary is exceeded. Chapter 2 LD/FBD Instructions 6F8C1226 54 Normally Closed Contact Contacts & Coils Normally Closed Contact LD/FBD language notation Variable (BOOL) Input Output EN input Edge execution Index modification Modifier — — ○ ● Function · Relay coil b contact (normally closed contact) corresponding to variable (BOOL). Input Condition Output FALSE(OFF) Regardless of variable (BOOL) state FALSE(OFF) Variable (BOOL) = FALSE(OFF) TRUE(ON) TRUE(ON) Variable (BOOL) = TRUE(ON) FALSE(OFF) ● Program example SIGNAL2 SIGNAL3 SIGNAL1 · Coil SIGNAL3 is TRUE(ON) only when states of both SIGNAL1, SIGNAL2 are FALSE(OFF). SIGNAL1 SIGNAL2 SIGNAL3 ● Error information · When there is a boundary error due to index modification, the value of variable (BOOL) is treated as FALSE(OFF) and the data boundary is exceeded. 2.1 Contacts & Coils Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 55 Positive Transition—sensing Contact Contacts & Coils Positive Transition—sensing Contact LD/FBD language notation Variable (BOOL) P Input Output EN input Edge execution Index modification Modifier — — ○ ● Function · The output is kept TRUE(ON) for one scan time only when the input is TRUE(ON) and the variable (BOOL) changes from FALSE(OFF) to TRUE(ON). Input Condition Output FALSE (OFF) Regardless of variable (BOOL) state FALSE(OFF) Variable (BOOL) = FALSE(OFF) → FALSE(OFF) FALSE(OFF) Variable (BOOL) = TRUE(ON) → FALSE(OFF) FALSE(OFF) Variable (BOOL) = FALSE(OFF) → TRUE(ON) TRUE(ON) TRUE (ON) Variable (BOOL) = TRUE(ON) → TRUE(ON) FALSE(OFF) ● Program example P SIGNAL2 SIGNAL3 SIGNAL1 · When the SIGNAL1 is TRUE(ON) and SIGNAL2 changes from FALSE(OFF) to TRUE (ON), coil SIGNAL3 keeps TRUE(ON) for one scan time only. t t t : 1 scan time SIGNAL2 SIGNAL3 SIGNAL1 ● Error information · When there is a boundary error due to index modification, the value of variable (BOOL) is treated as FALSE(OFF) and the data boundary is exceeded. Chapter 2 LD/FBD Instructions 6F8C1226 56 Negative Transition—sensing Contact Contacts & Coils Negative Transition—sensing Contact LD/FBD language notation Variable (BOOL) N Input Output EN input Edge execution Index modification Modifier — — ○ ● Function · The output is kept TRUE(ON) for one scan time when the input is TRUE(ON) and variable (BOOL) changes from TRUE(ON) to FALSE(OFF). Input Condition Output FALSE(OFF) Regardless of variable (BOOL) state FALSE(OFF) Variable (BOOL) = FALSE(OFF) → FALSE(OFF) FALSE(OFF) Variable (BOOL) = TRUE(ON) → FALSE(OFF) TRUE(ON) Variable (BOOL) = FALSE(OFF) → TRUE(ON) FALSE(OFF) TRUE(ON) Variable (BOOL) = TRUE(ON) → TRUE(ON) FALSE(OFF) ● Program example N SIGNAL2 SIGNAL3 SIGNAL1 · When the SIGNAL1 is TRUE(ON) and SIGNAL2 changed from TRUE(ON) to FALSE (OFF), coil SIGNAL3 keeps TRUE(ON) for one scan time only. t t t : 1 scan time SIGNAL2 SIGNAL3 SIGNAL1 ● Error information · When there is a boundary error due to index modification, the value of variable (BOOL) is treated as FALSE(OFF) and the data boundary is exceeded. 2.1 Contacts & Coils Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 57 Rising Edge Detector Contacts & Coils Rising Edge Detector LD/FBD language notation Input Output EN input Edge execution Index modification Modifier — — — ● Function · The output is kept TRUE(ON) for one scan time, when the input changes from FALSE(OFF) to TRUE(ON). Input Condition Output FALSE(OFF) Regardless of previous input state FALSE(OFF) Previous input = FALSE(OFF) TRUE(ON) TRUE(ON) Previous input = TRUE(ON) FALSE(OFF) ● Program example ↑ SIGNAL2 SIGNAL1 · The coil SIGNAL2 keeps TRUE(ON) for one scan time only when SIGNAL1 changes from FALSE(OFF) to TRUE(ON). t t t t：1 scan time SIGNAL2 SIGNAL1 Chapter 2 LD/FBD Instructions 6F8C1226 58 Falling Edge Detector Contacts & Coils Falling Edge Detector LD/FBD language notation Input Output EN input Edge execution Index modification Modifier — — — ● Function · The output is kept TRUE(ON) for one scan time, when the input changes from TRUE(ON) to FALSE(OFF). Input Condition Output Previous input = FALSE(OFF) FALSE(OFF) FALSE(OFF) Previous input = TRUE(ON) TRUE(ON) TRUE(ON) Regardless of previous input state FALSE(OFF) ● Program example ↓ SIGNAL2 SIGNAL1 · The coil SIGNAL2 keeps TRUE(ON) for one scan time only when the SIGNAL1 changes from TRUE(ON) to FALSE(OFF). t t t t : 1 scan time SIGNAL2 SIGNAL1 2.1 Contacts & Coils Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 59 Inverter Contacts & Coils Inverter LD/FBD language notation I Input Output EN input Edge execution Index modification Modifier — — — ● Function · When the input is TRUE(ON), output is FALSE(OFF). When the input is FALSE (OFF), the output is TRUE(ON). Input Condition Output FALSE(OFF) — TRUE(ON) TRUE(ON) — FALSE(OFF) ● Program example I SIGNAL2 SIGNAL1 · When the SIGNAL1 is TRUE(ON), coil SIGNAL2 is FALSE(OFF). When the SIGNAL1 is FALSE(OFF), coil SIGNAL2 is TRUE(ON). SIGNAL2 SIGNAL1 Chapter 2 LD/FBD Instructions 6F8C1226 60 Coil Contacts & Coils Coil LD/FBD language notation Variable (BOOL) Input EN input Edge execution Index modification Modifier — — ○ ● Function · Relay coil of a variable (BOOL) that stores the input state in the variable (BOOL). Input Action Output FALSE(OFF) Variable (BOOL)=FALSE(OFF) — TRUE(ON) Variable (BOOL)=TRUE(ON) — ● Program example SIGNAL2 SIGNAL3 SIGNAL1 · The coil SIGNAL3 is TRUE(ON) only when the state of both SIGNAL1 and SIGNAL2 are TRUE(ON). SIGNAL2 SIGNAL3 SIGNAL1 ● Error information · When there is a boundary error due to index modification, the value of variable (BOOL) is unchanged and the data boundary is exceeded. 2.1 Contacts & Coils Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 61 Negated Coil Contacts & Coils Negated Coil LD/FBD language notation Variable (BOOL) Input EN input Edge execution Index modification Modifier — — ○ ● Function · The negated coil of a variable (BOOL) that stores the negated input state in the variable (BOOL). Input Action Output FALSE(OFF) Variable (BOOL)=TRUE(ON) — TRUE(ON) Variable (BOOL)=FALSE(OFF) — ● Program example SIGNAL2 SIGNAL3 SIGNAL1 · The coil SIGNAL 3 is FALSE(OFF) only when the state of both SIGNAL1 and SIGNAL2 are TRUE(ON). SIGNAL2 SIGNAL3 SIGNAL1 ● Error information · When there is a boundary error due to index modification, the value of variable (BOOL)is unchanged and the data boundary is exceeded. Chapter 2 LD/FBD Instructions 6F8C1226 62 SET Coil Contacts & Coils SET Coil LD/FBD language notation Variable (BOOL) S Input EN input Edge execution Index modification Modifier — — ○ ● Function · Set coil of a variable (BOOL) that sets variable (BOOL) to TRUE(ON) when the input state is TRUE(ON). Input Action Output FALSE(OFF) Variable (BOOL)=unchanged — TRUE(ON) Variable (BOOL)=TRUE(ON) — ● Program example SIGNAL2 SIGNAL3 SIGNAL1 S · The coil SIGNAL3 is set when the state of both SIGNAL1 and SIGNAL2 are TRUE(ON). Then, SIGNAL3 remains TRUE(ON) even when SET coil input is FALSE(OFF). SIGNAL2 SIGNAL3 SIGNAL1 ● Error information · When there is a boundary error due to index modification, the value of variable (BOOL) is unchanged and the data boundary is exceeded. 2.1 Contacts & Coils Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 63 RESET Coil Contacts & Coils RESET Coil LD/FBD language notation Variable (BOOL) R Input EN input Edge execution Index modification Modifier — — ○ ● Function · Reset coil of a variable (BOOL) that resets variable (BOOL) to FALSE(OFF) when the input state is TRUE(ON). Input Action Output FALSE(OFF) Variable (BOOL)=unchanged — TRUE(ON) Variable (BOOL)=FALSE(OFF) — ● Program example SIGNAL2 SIGNAL3 SIGNAL1 R · The coil SIGNAL3 is reset when the state of both SIGNAL1 and SIGNAL2 are TRUE(ON). Then, SIGNAL3 remains FALSE(OFF) even when RESET coil input is FALSE(OFF). SIGNAL2 SIGNAL3 SIGNAL1 ● Error information · When there is a boundary error due to index modification, the value of variable (BOOL) is unchanged and the data boundary is exceeded. Chapter 2 LD/FBD Instructions 6F8C1226 64 Positive Transition-sensing Coil Contacts & Coils Positive Transition-sensing Coil LD/FBD language notation Variable (BOOL) P Input EN input Edge execution Index modification Modifier — — ○ ● Function · When the input changes from FALSE(OFF) to TRUE(ON), variable (BOOL) is kept to TRUE(ON) for one scan time only. Input Action Output FALSE(OFF) Variable (BOOL)=FALSE(OFF) — When previous input=FALSE(OFF), variable (BOOL)=TRUE(ON) — TRUE(ON) When previous Input=TRUE(ON), variable (BOOL)=FALSE(OFF) — ● Program example SIGNAL2 SIGNAL1 P · The SIGNAL2 is kept to TRUE(ON) only when the SIGNAL1 changes from FALSE(OFF) to TRUE(ON). t t t t : 1 scan time SIGNAL2 SIGNAL1 ● Error information · When there is a boundary error due to index modification, the value of variable (BOOL) is unchanged and the data boundary is exceeded. However, the input state for pulse operation is saved. 2.1 Contacts & Coils Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 65 Negative Transition-sensing Coil Contacts & Coils Negative Transition-sensing Coil LD/FBD language notation Variable (BOOL) N Input EN input Edge execution Index modification Modifier — — — ● Function · When the input changed from TRUE(ON) to FALSE(OFF), the variable (BOOL) is kept to TRUE(ON) for one scan time only. Input Action Output When previous Input=FALSE(OFF),variable (BOOL)=FALSE(OFF) — FALSE(OFF) When previous Input=TRUE(ON), variable (BOOL)=TRUE(ON) — TRUE(ON) Variable (BOOL)=FALSE(OFF) — ● Program example SIGNAL2 SIGNAL1 N · The SIGNAL2 is TRUE(ON) for only one scan time, only when SIGNAL1 changes from TRUE(ON) to FALSE(OFF). t t t t : 1 scan time SIGNAL2 SIGNAL1 ● Error information · When there is a boundary error due to index modification, the value of variable (BOOL) is unchanged and the data boundary is exceeded. However, the input state for pulse operation is saved. Chapter 2 LD/FBD Instructions 6F8C1226 66 Forced Coil Contacts & Coils Forced Coil LD/FBD language notation Input Variable (BOOL) EN input Edge execution Index modification Modifier — — ○ ● Function · A coil that retains the state of a variable (BOOL) when forced, regardless of the input state. · The operation as forced coil is not guaranteed when the same variable is used as coil in more than one place. Input Action Output FALSE(OFF) Variable (BOOL)=retains previous state — TRUE(ON) Variable (BOOL)=retains previous state — ● Program example SIGNAL2 SIGNAL1 · The forced set state of SIGNAL2 is retained regardless of the state of SIGNAL1. · If the state of SIGNAL2 just before being forced set is TRUE(ON), the forced coil retains the TRUE(ON) state (see Ex. 1). · If the state of SIGNAL2 just before being forced set is FALSE(OFF), the forced coil retains the FALSE(OFF) state (see Ex. 2). SIGNAL1 SIGNAL2 Set forced Ex.1 Ex.2 Set forced Reset forced Reset f orced ● Error information · When there is a boundary error due to index modification, the value of variable (BOOL) is unchanged and the data boundary is exceeded. 2.1 Contacts & Coils Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 67 Forced Negated Coil Contacts & Coils Forced Negated Coil LD/FBD language notation Input Variable (BOOL) EN input Edge execution Index modification Modifier — — ○ ● Function · A negated coil that retains the state of a variable (BOOL) when forced, regardless of the input state. · The operation as forced negated coil is not guaranteed when the same variable is used as coil in more than one place. Input Action Output FALSE(OFF) Variable (BOOL)=retains previous state — TRUE(ON) Variable (BOOL)=retains previous state — ● Program example SIGNAL2 SIGNAL1 · The forced set state of SIGNAL2 is retained regardless of the state of SIGNAL1. · If the state of SIGNAL2 just before being forced set is FALSE(OFF), the forced negated coil retains the FALSE(OFF) state (see Ex. 1). · If the state of SIGNAL2 just before being forced set is TRUE(ON), the forced negated coil retains the TRUE(ON) state (see Ex. 2). Ex.1 Ex.2 Set forced Set forced Reset forced Reset forced SIGNAL2 SIGNAL1 ● Error information · When there is a boundary error due to index modification, the value of variable (BOOL) is unchanged and the data boundary is exceeded. Chapter 2 LD/FBD Instructions 6F8C1226 68 Forced SET Coil Contacts & Coils Forced SET Coil LD/FBD language notation S Input Variable (BOOL) EN input Edge execution Index modification Modifier — — ○ ● Function · A SET coil that retains the state of a variable (BOOL) when forced, regardless of the input state. · The operation as forced SET coil is not guaranteed when the same variable is used as coil in more than one place. Input Action Output FALSE(OFF) Variable (BOOL) = retains previous state — TRUE(ON) Variable (BOOL) = retains previous state — ● Program example SIGNAL2 SIGNAL1 S · The forced set state of SIGNAL2 is retained regardless of the state of SIGNAL1. · If the state of SIGNAL2 just before being forced set is FALSE(OFF), the forced SET coil retains the FALSE(OFF) state (see Ex. 1). · If the state of SIGNAL2 just before being forced set is TRUE(ON), the forced SET coil retains the TRUE(ON) state (see Ex. 2). SIGNAL1 SIGNAL2 Ex.1 Ex.2 Set forced Reset forced Set forced Reset forced ● Error information · When there is a boundary error due to index modification, the value of variable (BOOL) is unchanged and the data boundary is exceeded. 2.1 Contacts & Coils Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 69 Forced RESET Coil Contacts & Coils Forced RESET Coil LD/FBD language notation R Input Variable (BOOL) EN input Edge execution Index modification Modifier — — ○ ● Function · A RESET coil that retains the state of a variable (BOOL) when forced, regardless of the input state. · The operation as forced RESET coil is not guaranteed when the same variable is used as coil in more than one place. Input Action Output FALSE(OFF) Variable (BOOL) = retains previous state — TRUE(ON) Variable (BOOL) = retains previous state — ● Program example SIGNAL2 SIGNAL1 R · The forced set state of SIGNAL2 is retained regardless of the state of SIGNAL1. · If the state of SIGNAL2 just before being forced set is TRUE(ON), the forced RESET coil retains the TRUE(ON) state (see Ex. 1). · If the state of SIGNAL2 just before being forced set is FALSE(OFF), the forced RESET coil retains the FALSE(OFF) state (see Ex. 2). SIGNAL1 SIGNAL2 Ex.1 Ex.2 Reset forced Set forced Set forced Reset forced ● Error information · When there is a boundary error due to index modification, the value of variable (BOOL) is unchanged and the data boundary is exceeded. Chapter 2 LD/FBD Instructions 6F8C1226 70 Forced Positive Transition-sensing Coil Contacts & Coils Forced Positive Transition-sensing Coil LD/FBD language notation P Input Variable (BOOL) EN input Edge execution Index modification Modifier — — ○ ● Function · A forced positive transition—sensing coil that retains the state of a variable (BOOL) when forced, regardless of the input state. · The operation as forced positive transition—sensing coil is not guaranteed when the same variable is used as coil in more than one place. Input Action Output FALSE(OFF) Variable (BOOL) = retains previous state — TRUE(ON) Variable (BOOL) = retains previous state — ● Program example SIGNAL2 SIGNAL1 P · The forced set state of SIGNAL2 is retained regardless of the state of SIGNAL1. · If the state of SIGNAL2 just before being forced set is FALSE(OFF), the forced positive transition—sensing coil retains the FALSE(OFF) state (see Ex. 1). · If the state of SIGNAL2 just before being forced set is TRUE(ON), the forced positive transition—sensing coil retains the TRUE(ON) state (see Ex. 2). SIGNAL1 SIGNAL2 Ex.1 Ex.2 t t t : 1 scan time Set forced Reset forced Set forced Reset forced ● Error information · When there is a boundary error due to index modification, the value of variable (BOOL) is unchanged and the data boundary is exceeded. However, the input state for pulse operation is saved. 2.1 Contacts & Coils Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 71 Forced Negative Transition-sensing Coil Contacts & Coils Forced Negative Transition-sensing Coil LD/FBD language notation N Input Variable (BOOL) EN input Edge execution Index modification Modifier — — ○ ● Function · A forced negative transition-sensing coil that retains the state of a variable (BOOL) when forced, regardless of the input state. · The operation as forced negative transition-sensing coil is not guaranteed when the same variable is used as coil in more than one place. Input Action Output FALSE(OFF) Variable (BOOL) = retains previous state — TRUE(ON) Variable (BOOL) = retains previous state — ● Program example SIGNAL2 SIGNAL1 N · The forced set state of SIGNAL2 is retained regardless of the state of SIGNAL1. · If the state of SIGNAL2 just before being forced set is TRUE(ON), the forced negative transition—sensing coil retains the TRUE(ON) state (see Ex. 1). · If the state of SIGNAL2 just before being forced set is FALSE(OFF), the forced negative transition—sensing coil retains the FALSE(OFF) state (see Ex. 2). SIGNAL2 SIGNAL1 Ex.1 Ex.2 t t t : 1 scan time t Set forced Set forced Reset forced Reset forced ● Error information · When there is a boundary error due to index modification, the value of variable (BOOL) is unchanged and the data boundary is exceeded. However, the input state for pulse operation is saved. Chapter 2 LD/FBD Instructions 6F8C1226 72 2.2 Execution Control No. Instruction Remarks 1 Jump Control Set JCS 2 Jump Control Reset JCR 3 Jump 4 Label LABEL 5 Conditional Execution Instruction 6 End of Conditional Execution Instruction 7 Master Control Set MCS 8 Master Control Reset MCR 2.2 Execution Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 73 Jump Control Set/Reset Execution Control Jump Control Set/Reset LD/FBD language notation Condition input JCS Circuit P JCR EN input Edge execution Index modification Modifier — — — ● Function · When the input to JCS is TRUE(ON), instructions between JCS and JCR are skipped and instructions are executed from JCR. · When the input to JCS is FALSE(OFF), instructions between JCS and JCR are executed. · JCS and JCR must be used as pair. JCS must always be described before JCR. · The JCS-JCR combination may be nested. Input Action Output FALSE(OFF) Jump not performed — TRUE(ON) Jump performed — ● Program example SIGNAL1 JCS JCR Circuit A Circuit B · When the SIGNAL1 is FALSE(OFF), Circuit A and Circuit B instructions are executed. · When the SIGNAL1 is TRUE(ON), Circuit A is not executed and instructions are executed from Circuit B. Chapter 2 LD/FBD Instructions 6F8C1226 74 Jump/Label Execution Control Jump/Label LD/FBD language notation Condition input Circuit P Label Label LABEL: EN input Edge execution Index modification Modifier — — — ● Function · When the input to jump instruction is TRUE(ON), instructions between Jump and Label are skipped and instructions are executed from Label instruction. · When the input to jump instruction is FALSE(OFF), instructions between jump and label are executed. · Jump and Label instructions must be used as pair. The Jump—Label instructions may be nested. Input Action Output FALSE(OFF) Jump not performed — TRUE(ON) Jump performed — ● Program example SIGNAL1 Circuit A Circuit B JMP_A LABEL： JMP_A · When the SIGNAL1 is FALSE(OFF), Circuit A and Circuit B instructions are executed. · When the SIGNAL1 is TRUE(ON), Circuit A is not executed and instructions are executed from Circuit B. 2.2 Execution Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 75 Conditional Execution Instruction/End of Conditional Execution Instruction Execution Control Conditional Execution Instruction/End of Conditional Execution Instruction LD/FBD language notation Condition input Circuit P EN input Edge execution Index modification Modifier — — — ● Function · When the input to Conditional execution instruction is FALSE(OFF), instructions between Conditional execution instruction and End of conditional execution instruction are skipped and instructions are executed from End of conditional execution instruction. · When the input to Conditional execution instruction is TRUE(ON), instructions between Conditional execution instruction and End of conditional execution instruction are executed. · Conditional execution instruction and End of conditional execution instruction must be used as pair. · The Conditional execution instruction and end of conditional execution instruction may be nested. Input Action Output FALSE(OFF) Jump performed — TRUE(ON) Jump not performed — ● Program example SIGNAL1 Circuit A Circuit B · When SIGNAL1 is TRUE(ON), Circuit A and Circuit B instructions are executed. · When SIGNAL1 is FALSE(OFF), Circuit A is not executed and instructions are executed from Circuit B. Chapter 2 LD/FBD Instructions 6F8C1226 76 Master Control Set/Reset Execution Control Master Control Set/Reset LD/FBD language notation Condition input MCS Circuit P MCR EN input Edge execution Index modification Modifier — — — ● Function · When input to MCS is FALSE(OFF), the power rail input between MCS and MCR is reset to FALSE(OFF). · When input to MCS is TRUE(ON), normal operation is performed. · MCS and MCR must be used as pair. MCS must always come before MCR. MCS— MCR combination cannot be nested. Input Action Output FALSE(OFF) Power rail input FALSE(OFF) — TRUE(ON) Normal operation — ● Program example Circuit A1 Circui t A2 SIGNAL1 MCS MCR Circuit B MOVE_INT SAMPLE1 ST 1234 LD MOVE_INT EN ENO 5678 LD SIGNAL2 SIGNAL3 SAMPLE2 SET · When SIGNAL1 is FALSE(OFF): Circuit A1, Circuit B : Normal operation Circuit A2 : Operates as SIGNAL2 input=FALSE(OFF) with SIGNAL3=FALSE(OFF) and SAMPLE2=previous value. · When SIGNAL1 is TRUE(ON), Circuit A1, Circuit A2 and Circuit B operate normally. 2.3 Counters Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 77 2.3 Counters No. Instruction Remarks 1 Up Counter CTU 2 Down Counter CTD 3 Up Down Counter CTUD Chapter 2 LD/FBD Instructions 6F8C1226 78 Up Counter Counters Up Counter LD/FBD language notation Instance name CTU Count up command Reset command Preset value Count up status Current value CU R PV Q CV EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( CU, R, PV ); [Variable name]: = [Instance name]. Q; [Variable name]: = [Instance name]. CV; ● Arguments Arg. Operand Type Const. Description CU BOOL ○ Count up command R BOOL ○ Reset command Input PV INT ○ Preset value Q BOOL — Count up status Output CV INT — Current value ● Instance structure Name Type Description Remarks Q BOOL Count up status CV INT Current value Can be accessed from the user program. ● Function · When the Reset command R is TRUE(ON), the current value CV is initialized to “0”. However, count up at the rising edge of the count up command is not performed while R=TRUE(ON). · When the Reset command R is FALSE(OFF), count up is performed at the rising edge of the count up input. · When the current value CV reaches a preset value PV, count up status Q is set to TRUE(ON). Input Output CU R Action Q CV  TRUE(ON) Not executed 0 FALSE(OFF) →TRUE(ON) CV=CV+1 until PV is reached. Otherwise FALSE(OFF) — When CV<PV FALSE(OFF) When CV=PV TRUE(ON) Current CV 2.3 Counters Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 79 ● Program example [LD/FBD language notation] Up_Ctr CTU SAMPLE1 LD SIGNAL1 SIGNAL2 SIGNAL3 SAMPLE2 ST SIGNAL1 SAMPLE2 SIGNAL2 SIGNAL3 SAMPLE1 CU R PV Q CV [ST language notation] Up_Ctr( SIGNAL1, SIGNAL2, SAMPLE1); SIGNAL3 := Up_Ctr.Q; SAMPLE2 := Up_Ctr.CV; · While SIGNAL2 is TRUE(ON), SAMPLE2 becomes “0” because current value CV is initialized. · When SIGNAL2 is FALSE(OFF), count up is performed when SIGNAL1 changes from FALSE(OFF) to TRUE(ON). · When the preset value of SAMPLE1 is equal to the current value, SIGNAL3 becomes TRUE(ON) because count up status Q becomes TRUE(ON). ○ Remark · Positive transition—sensing contact or rising edge detector need not be programmed prior to number up input CU because number up input CU detects the rising edge with Up counter instruction. ● Error information · If preset value PV is less than “0”, Up Counter instruction is executed with “0” as the limit. Chapter 2 LD/FBD Instructions 6F8C1226 80 Down Counter Counters Down Counter LD/FBD language notation Instance name CTD Count down command Load command Preset value Count down status Current value CD LD PV Q CV EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( CD, LD, PV ); [Variable name] : =[Instance name]. Q; [Variable name : =[Instance name]. CV; ● Arguments Arg. Operand Type Const. Description CD BOOL ○ Count down command LD BOOL ○ Reset command Input PV INT ○ Preset value Q BOOL — Count down status Output CV INT — Current value ● Instance structure Name Type Description Remarks Q BOOL Count down status CV INT Current value Can be accessed from the user program. ● Function · When the Load command LD is TRUE(ON), the current value CV is initialized with preset value PV. However, while LD = TRUE(ON), count down is not performed at the rising edge of the Count Down command. · When the Load command LD is FALSE(OFF), count down is performed at the rising edge of the count down input. · When the current value CV reaches “0”, the count down status Q is set to TRUE(ON). Input Output CD LD Action Q CV  TRUE(ON) Not executed PV FALSE(OFF) →TRUE(ON) CV=CV-1 until 0 is reached Otherwise FALSE(OFF) — When CV>0 FALSE(OFF) When CV=0 TRUE(ON) Current CV 2.3 Counters Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 81 ● Program example [LD/FBD language notation] Dn_Ctr CTD SAMPLE1 LD SIGNAL1 SIGNAL2 SIGNAL3 SAMPLE2 ST SIGNAL1 SAMPLE2 SIGNAL2 SIGNAL3 SAMPLE1 CD LD PV Q CV [ST language notation] Dn_Ctr (SIGNAL1, SIGNAL2, SAMPLE1); SIGNAL3 := Dn_Ctr.Q; SAMPLE2 := Dn_Ctr.CV; · While SIGNAL2 is TRUE(ON), SAMPLE2 becomes preset value PV because current value CV is initialized. · When SIGNAL2 is FALSE(OFF), count down is performed when SIGNAL1 changes from FALSE(OFF)→TRUE(ON). The current value is stored in SAMPLE2. · When SAMPLE2 which is the current value becomes “0”, SIGNAL3 becomes TRUE(ON) because the count down status Q becomes TRUE(ON). ○ Remark · Positive transition—sensing contact or rising edge detector need not be programmed prior to number down input CU because count down input CD detects the rising edge with Down Counter instruction. ● Error information If preset value PV is less than “0”, Down Counter instruction is executed with “0” as the limit. Chapter 2 LD/FBD Instructions 6F8C1226 82 Up Down Counter Counters Up Down Counter LD/FBD language notation Instance name CTUD Reset command Preset value CU CD R LD PV QU QD CV Count down command Load command Count up command Count down status Count up status Current value EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( CU, CD, R, LD, PV ); [Variable name] : = [Instance name]. QU; [Variable name] : = [Instance name]. QD; [Variable name] : = [Instance name]. CV; ● Arguments Arg. Operand Type Const. Description CU BOOL ○ Count d command CD BOOL ○ Count down command R BOOL ○ Reset command LD BOOL ○ Load command Input PV INT ○ Preset value QU BOOL — Count up status QD BOOL — Count down status Output CV INT — Current value ● Instance structure Name Type Description Remarks QU BOOL Count up status QD BOOL Count down status CV INT Current value Can be accessed from the user program. ● Function · When the Reset command R is TRUE(ON), current value CV is initialized to “0”. · When the Load command LD is TRUE(ON) and the Reset command R is FALSE(OFF), the current value CV is initialized with preset value PV. · While R= TRUE(ON) or LD= TRUE(ON), count at the rising edge of the count up command and count down command are not performed. 2.3 Counters Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 83 · When the Reset command R and Load command LD are FALSE(OFF), count up is performed at the rising edge of the count up input. · When the Reset command R and Load command LD are FALSE(OFF), count down is performed at the rising edge of the count down input. · When the current value CV reaches a preset value PV, count up status QU is set to TRUE(ON). · When the current value CV reaches “0”, count down status QD is set to TRUE(ON). · When both the count up input CU and count down input CD are TRUE(ON), count operation is not performed. Input Output CU CD R LD Action QU QD CV TRUE(ON)  0   FALSE(OFF) TRUE(ON) Not executed PV TRUE(ON) TRUE(ON) — When CV<PV FALSE(OFF) When CV>0 FALSE(OFF) FALSE(OFF) →TRUE(ON) FALSE(OFF) CV=CV+1 until PV is reached FALSE(OFF) FALSE(OFF) →TRUE(ON) FALSE(OFF) FALSE(OFF) CV=CV -1 until 0 is reached When CV=PV TRUE(ON) When CV=0 TRUE(ON) Current CV ● Program example [LD/FBD language notation] Ud_Ctr CTUD SAMPLE1 LD SIGNAL1 SIGNAL2 SIGNAL5 SAMPLE2 ST SIGNAL1 SAMPLE2 SIGNAL2 SIGNAL5 SAMPLE1 CU CD R SIGNAL6 LD PV QU QD CV SIGNAL3 SIGNAL4 SIGNAL3 SIGNAL4 SIGNAL6 [ST language notation] Ud_Ctr( SIGNAL1, SIGNAL2, SIGNAL3, SIGNAL4, SAMPLE1); SIGNAL5 := Ud_Ctr.QU; SIGNAL6 := Ud_Ctr.QD; SAMPLE2 := Ud_Ctr.CV; · While SIGNAL3 is TRUE(ON), SAMPLE2 becomes “0” because current value CV is initialized. Chapter 2 LD/FBD Instructions 6F8C1226 84 · While SIGNAL3 is FALSE(OFF) and SIGNAL4 is TRUE(ON), SAMPLE2 becomes preset value PV because current value CV is initialized. · Count up is performed when SIGNAL1 changes from FALSE(OFF) to TRUE(ON) and count down is performed when SIGNAL2 changes from FALSE(OFF) to TRUE(ON). The current value is stored in SAMPLE2. However, count is not performed when SIGNAL1 and SIGNAL2 are both TRUE(ON). · When SAMPLE2 which is the current value reaches the preset value PV, SIGNAL5 becomes TRUE(ON). · When SAMPLE2 which is the current value reaches “0”, SIGNAL6 becomes TRUE(ON). ○ Remark · Positive transition-sensing contact or rising edge detector need not be programmed prior to count up input CU or count down input CD because count up input CU and number down input CD detect the rising edge with Up Down Counter instruction. ● Error information · If preset value PV is less than “0”, Up Down Counter instruction is executed with “0” as the limit. 2.4 Timers Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 85 2.4 Timers No. Instruction Remarks 1 On-Delay Timer (0.1ms) TON_100us 2 On-Delay Timer (1ms) TON 3 On-Delay Timer (10ms) TON_10ms 4 On-Delay Timer (100ms) TON_100ms 5 On-Delay Timer (0.1 minute) TONM_P PCS compatible instruction 6 Off-Delay Timer (0.1ms) TOF_100us 7 Off-Delay Timer (1ms) TOF 8 Off-Delay Timer (10ms) TOF_10ms 9 Off-Delay Timer (100ms) TOF_100ms 10 Off-Delay Timer (0.1 minute) TOFM_P PCS compatible instruction 11 Pulse Timer (0.1ms) TP_100us 12 Pulse Timer (1ms) TP 13 Pulse Timer (10ms) TP_10ms 14 Pulse Timer (100ms) TP_100ms 15 Single Shot (100ms) SS_P PCS compatible instruction 16 Single Shot (0.1 minute) SSM_P PCS compatible instruction 17 Real Time Clock RTC V dedicated instruction 18 Real Time Clock RTC_N nv dedicated instruction 19 On/Off-Delay Timer (REAL) DEL_L TOSDIC compatible instruction Chapter 2 LD/FBD Instructions 6F8C1226 86 ● Important ・ For Integrated Controller V series, change the preset time in the timer stop state (*1). ・ If it is changed in the time up state (Preset time (PT)≤ Duration (CT)), the output may change in a controller in which "PT change support in time up state" has not been done. “PT change support in time up state” Timer setting value Not supported Supported PT >ET Restarts clock until ET≤PT; Output (Q) changes depending on the relation between PT and ET. PT<ET Limits ET to PT. Holds both Output (Q) and Duration (ET). New setting value (PT) becomes effective upon restart after the timer stops. *1 : Timer stop state Timer instruction Timer activation command IN TON*** FALSE(OFF) TOF*** TRUE(ON) TP*** FALSE(OFF) SS*** FALSE(OFF) “OT change support in time up state” version in the [Integrated Controller V series] Version Controller Not supported Supported S2PU22/32/72 Up to V02.03 V02.04 - S2PU22A/32A/72A/72D N/A V02.50 -，V03.70 - S2 S2PU82 N/A V02.00 -，V03.00 - S3PU** Up to V02.05 V02.06 -，V02.10 - S3 S3PU**A N/A V02.50 -，V03.70 - L1 L1PU1*H，LC5** Up to V02.49 V02.50 - L2PU1* Up to V03.00 V03.10 - L2 L2PU22 Up to V03.0D V03.10 - L3PU11 Up to V03.00 V03.10 - L3 L3PU21 Up to V03.0K V03.10 - 2.4 Timers Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 87 On—Delay Timer (0.1ms/1ms/10ms/100ms/0.1min) Timers On—Delay Timer (0.1ms/1ms/10ms/100ms/0.1min) *1 LD/FBD language notation TON Instance name Timer activation command Preset time Time up status Duration PT IN Q ET TON_□□ Instance name Timer activation command Preset time Time up status Duration PT IN Q ET TONM_P Instance name Timer activation command Preset time Tim up status Duration PT IN Q ET *1) PCS compatible instruction EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( IN, PT ); [Variable name] : = [Instance name]. Q; [Variable name] : = [Instance name]. ET; ● Arguments ・ TON (1ms unit) Arg. Operand Type Const. Description IN BOOL ○ Timer activation command Input PT TIME ○ Preset time Q BOOL — Time up status Output ET TIME — Duration ・ TON_□□／TONM_P[□□ indicates 100us (0.1ms unit), 10ms (10ms unit) or 100ms (100ms unit)]. Arg. Operand Type Const. Description IN BOOL ○ Timer activation command Input PT DINT ○ Preset time Q BOOL — Time up status Output ET DINT — Duration Chapter 2 LD/FBD Instructions 6F8C1226 88 ● Instance structure · TON (1ms unit) Name Type Description Remarks Q BOOL Time up status ET TIME Duration Can be accessed from the user program. · TON_□□/TONM_P[□□ indicates 100us (0.1ms unit), 10ms (10ms unit) or 100ms (100ms unit)] Name Type Description Remarks Q BOOL Time up status ET DINT Duration Can be accessed from the user program. ● Function · When timer activation command IN is TRUE(ON), time up status Q set to TRUE(ON). · Duration ET is added. · When timer activation command IN is FALSE(OFF)m duration ET is cleared to “0”. · The setting range of preset time PT is as follows: TON_100us (0.1ms timer) : 0 to 21474836470.1ms [59h39m8s364.7ms (2.48551348day)] TON (1ms timer) : 0 to 2147483647ms [596h31m23s647ms (24.8551348day)] TON_10ms (10ms timer) : 0 to 214748364710ms [5965h13m56s470ms (248.551348day)] TON_100ms (100ms timer) : 0 to 2147483647100ms [59652h19m24s700ms (2485.51348day)] TONM_P (0.1min timer) : 0 to 21474836470.1 min [3579139h24m42s (149130.8088day)] · The data type of PT/ET is TIME for TON, and DINT for TON_100us/ TON_10ms/ TON_100ms/ TONM_P. Output Input IN Action Q ET FALSE(OFF) Not executed FALSE(OFF) 0 Duration<Preset time FALSE(OFF) TRUE(ON) Executed Duration≥Preset time TRUE(ON) Current ET 2.4 Timers Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 89 ● Program example [LD/FBD language notation] Ondelay_1 TON IN Q PT ET SAMPLE1 LD SIGNAL1 SIGNAL2 SAMPLE2 ST SIGNAL1 SAMPLE2 SIGNAL2 SAMPLE1 [ST language notation] Ondelay_1( SIGNAL1, SAMPLE1); SIGNAL2 := Ondelay_1.Q; SAMPLE2 := Ondelay_1.ET; · After SIGNAL1 becomes TRUE(ON), SIGNAL2, which is time up status, is set to TRUE(ON) after the preset time specified with SAMPLE1 elapses. Duration is stored to SAMPLE2 · The content of duration after duration ET reaches the preset time specified with SAMPLE1 is held as long as SIGNAL1 is TRUE(ON). · When SIGNAL1 is FALSE(OFF), duration ET is cleared, SAMPLE2 becomes “0” , and SIGNAL2, which is time up status, is set to FALSE(OFF). ● Error information · If preset time PT is less than “0”, Off-Delay timer instruction takes an absolute value for operation. · For the Integrated Controller V series L controller, the internal timer minimum unit is 100ms, so update is made in units of 100ms even if TON instruction of 1ms unit is used. Chapter 2 LD/FBD Instructions 6F8C1226 90 Off-Delay Timer (0.1ms/1ms/10ms/100ms/0.1min) Timers Off-Delay Timer(0.1ms /1ms/10ms/100ms/0.1min) *1 LD/FBD language notation TOF Instance name Timer activation command Preset time Time up status Duration PT IN Q ET TOF_□□ Instance name Timer activation command Preset time Time up status Duration PT IN Q ET TOFM_P Instance name Preset time Time up status Duration PT IN Q ET (1*) CS-compatible instruction Timer activation command EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( IN, PT ); [Variable name] : = [Instance name]. Q; [Variable name] : = [Instance name]. ET; ● Arguments ・ TOF (1ms unit) Arg. Operand Type Const. Description IN BOOL ○ Timer activation command Input PT TIME ○ Preset time Q BOOL — Time up status Output ET TIME — Duration ・ TOF_□□／TOFM_P[□□ indicates 100us(0.1ms unit), 10ms (10ms unit) or 100ms (100ms unit)] Arg. Operand Type Const. Description IN BOOL ○ Timer activation command Input PT DINT ○ Preset time Q BOOL — Time up status Output ET DINT — Duration 2.4 Timers Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 91 ● Instance structure · TOF (1ms unit) Name Type Description Remarks Q BOOL Time up status ET TIME Duration Can be accessed from the user program. · TOF_□□/TOFM_P[□□ indicates 100us (0.1ms unit), 10ms (10ms unit) or 100ms (100ms unit)] Name Type Description Remarks Q BOOL Time up status ET DINT Duration Can be accessed from the user program. ● Function · After timer activation command IN becomes FALSE(OFF), time up status Q is set to FALSE(OFF) after preset time elapses. · Duration ET is added. · The setting range of preset time PT is as follows: TOF_100us (0.1ms timer) : 0 to 21474836470.1ms [59h39m8s364.7ms (2.48551348day)] TOF (1ms timer) : 0 to 2147483647ms [596h31m23s647ms (24.8551348day)] TOF_10ms (10ms timer) : 0 to 214748364710ms [5965h13m56s470ms (248.551348day)] TOF_100ms (100ms timer) : 0 to 2147483647100ms [59652h19m24s700ms (2485.51348day)] TOFM_P (0.1 min timer) : 0 to 21474836470.1 min [3579139h24m42s (149130.8088day)] · The data type of PT/ET is TIME for TOF, and DINT for TOF_100us/TOF_10ms/TOF_ 100ms/TOFM_P. Output Input IN Action Q ET Duration<Preset time TRUE(ON) FALSE(OFF) Executed DurationPreset time FALSE(OFF) Current ET TRUE(ON) Not executed TRUE(ON) 0 Chapter 2 LD/FBD Instructions 6F8C1226 92 ● Program example [LD/FBD language notation] Offdelay_1 TOF IN Q PT ET SAMPLE1 LD SIGNAL1 SIGNAL2 SAMPLE2 ST SIGNAL1 SAMPLE2 SIGNAL2 SAMPLE1 [ST language notation] Offdelay_1( SIGNAL1, SAMPLE1); SIGNAL2 := Offdelay_1.Q; SAMPLE2 := Offdelay_1.ET; · After SIGNAL1 becomes FALSE(OFF), SIGNAL2 is set to FALSE(OFF) after the preset time specified with SAMPLE1 elapses. Duration is stored to SAMPLE2. · The content of duration ET after duration reaches the preset time specified with SAMPLE1 is held as long as SIGNAL1 is FALSE(OFF). · When SIGNAL1 is TRUE(ON), duration ET is cleared, SAMPLE2 becomes “0”, and SIGNAL2, which is time up status, is set to TRUE(ON). ● Error information · If preset time PT is less than “0”, Pulse Timer instruction takes an absolute value for operation. · For the Integrated Controller V series L controller, the internal timer minimum unit is 100ms, so update is made in units of 100ms even if TOF instruction of 1ms unit is used. 2.4 Timers Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 93 Pulse Timer (0.1ms/1ms/10ms/100ms) Timers Pulse Timer (0.1ms/1ms/10ms/100ms) LD/FBD language notation TP Instance name Timer activation command Preset time Time up status Duration PT IN Q ET TP_□□ Instance name Timer activation command Preset time Time up status Duration PT IN Q ET EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( IN, PT ); [Variable name]:=[Instance name]. Q; [Variable name]:=[Instance name]. ET; ● Arguments · TP (1ms unit) Arg. Operand Type Const. Description IN BOOL ○ Timer activation command Input PT TIME ○ Preset time Q BOOL — Time up status Output ET TIME — Duration · TP_□□[□□ indicates 100us(0.1ms unit), 10ms (10ms unit) or 100ms (100ms unit)] Arg. Operand Type Const. Description IN BOOL ○ Timer activation command Input PT DINT ○ Preset time Q BOOL — Time up status Output ET DINT — Duration Chapter 2 LD/FBD Instructions 6F8C1226 94 ● Instance structure · TP (1ms unit) Name Type Description Remarks Q BOOL Time up status ET TIME Duration Can be accessed from the user program. · TP_□□ [□□ indicates 100us(0.1ms unit), 10ms (10ms unit) or 100ms (100ms unit)] Name Type Description Remarks Q BOOL Time up status ET DINT Duration Can be accessed from the user program. ● Function · After timer activation command IN becomes TRUE(ON), time up status Q is set to TRUE(ON) until the preset time elapses. · Duration ET is added. · When timer activation command becomes FALSE(OFF) after the preset time elapses, duration ET is cleared. · The setting range of preset time PT is as follows: TP_100us (0.1mstimer) ：0 to 21474836470.1ms [59h39m8s364.7ms (2.48551348day)] TP (1mstimer) ：0 to 2147483647ms [596h31m23s647ms (24.8551348day)] TP_10ms (10mstimer) ：0 to 214748364710ms [5965h13m56s470ms (248.551348day)] TP_100ms (100mstimer) ：0 to 2147483647100ms [59652h19m24s700ms (2485.51348day)] · The data type of PT/ET is TIME for TP and DINT for TP_100us/TP_10ms/TP_100ms. Output Input IN Action Q ET FALSE(OFF) Not executed FALSE(OFF) 0 Duration<Preset time TRUE(ON) TRUE(ON) Executed Duration≥Preset time FALSE(OFF) Current ET 2.4 Timers Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 95 ● Program example [LD/FBD language notation] Plstimer_1 TP IN Q PT ET SAMPLE1 LD SIGNAL1 SIGNAL2 SAMPLE2 ST SIGNAL1 SAMPLE2 SIGNAL2 SAMPLE1 [ST language notation] Plstimer_1( SIGNAL1, SAMPLE1); SIGNAL2 := Plstimer_1.Q; SAMPLE2 := Plstimer_1.ET; · After SIGNAL1 becomes TRUE(ON), SIGNAL2 is set to TRUE(ON) until the preset time specified with SAMPLE1 elapses. After duration reaches the preset time, SIGNAL2 becomes FALSE(OFF). Duration is stored to SAMPLE2. · Duration ET is still updated even if SIGNAL1 becomes FALSE(OFF) before duration ET reaches the preset time specified with SAMPLE1. · The content of duration after duration ET reaches the preset time specified with SAMPLE1 is held as long as SIGNAL1 is TRUE(ON). When SIGNAL1 becomes FALSE(OFF), duration is cleared to “0” and “0” is stored to SAMPLE2 as the result. ● Error information · If preset time PT is less than “0”, Pulse Timer instruction takes an absolute value for operation. · For the Integrated Controller V series L controller, the internal timer minimum unit is 100ms, so update is made in units of 100ms even if TP instruction of 1ms unit is used. Chapter 2 LD/FBD Instructions 6F8C1226 96 Timers Single Shot (100ms/0.1min) PCS compatible instruction LD/FBD language notation SS_P Instance name Timer activation command Preset time Time up status Duration PT IN Q ET SSM_P Instance name Timer activation command Preset time Time up status Duration PT IN Q ET EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( IN, PT ); [Variable name] : = [Instance name]. Q; [Variable name] : = [Instance name]. ET; ● Arguments Arg. Operand Type Const. Description IN BOOL ○ Timer activation command Input PT DINT ○ Preset time Q BOOL — Time up status Output ET DINT — Duration ● Instance structure Name Type Description Remarks Q BOOL Time up status ET DINT Duration Can be accessed from the user program. ● Function · After Timer activation command IN becomes TRUE(ON), time up status Q is set to TRUE(ON) until preset time elapses. · Duration ET is added. · If timer activation command becomes FALSE(OFF) before the timer expires, the time up status also becomes FALSE(OFF). · After preset time has elapsed, duration ET is cleared when Timer activation command becomes FALSE(OFF). Single Shot (100ms/0.1min) 2.4 Timers Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 97 · The setting range of preset time PT is as follows: SS_P (100ms timer) ：0 to 2147483647100ms [59652h19m24s700ms (2485.51348day)] SSM_P (0.1min timer) ：0 to 21474836470.1 min [3579139h24m42s (149130.8088day)] Output Input IN Action Q ET FALSE(OFF) Not executed FALSE(OFF) 0 Duration<Preset time TRUE(ON) TRUE(ON) Executed Duration≥Preset time FALSE(OFF) Current ET ● Program example [LD/FBD language notation] SS_1 SS_P IN Q PT ET SAMPLE1 LD SIGNAL1 SIGNAL2 SAMPLE2 ST SIGNAL1 SAMPLE2 SIGNAL2 SAMPLE1 [ST language notation] SS_1( SIGNAL1, SAMPLE1); SIGNAL2 := SS_1.Q; SAMPLE2 := SS_1.ET; · After SIGNAL1 becomes TRUE(ON), SIGNAL2 is TRUE(ON) until preset time specified with SAMPLE1 elapses. After the duration reaches a preset time, SIGNAL2 becomes FALSE(OFF). Duration is stored in SAMPLE2. · When SIGNAL1 becomes FALSE(OFF) before duration ET reaches the preset time specified with SAMPLE1, SAMPLE2 which is the duration becomes “0”. SIGNAL2 which is the time up status also becomes FALSE(OFF). · After duration ET has reached the preset time specified with SAMPLE1, its content is retained while SIGNAL1 is TRUE(ON). When SIGNAL1 becomes FALSE(OFF), duration is cleared to “0” and “0” is stored in SAMPLE2. ● Error information · When preset time PT is less than “0”, the Pulse timer instruction operates on the absolute value. When preset time PT=0, the time up status becomes TRUE(ON) for just one scan. Chapter 2 LD/FBD Instructions 6F8C1226 98 Real Time Clock Timers Real Time Clock V dedicated instruction LD/FBD language notation Instance name RTC Date and time of day update command Preset date and time of day Output Current date and time of day PDT IN Q CDT EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( IN, PDT, CDT ); [Variable name] : = [Instance name]. Q; ● Arguments Arg. Operand Type Const. Description IN BOOL ○ Date and time of day update command Input PDT DT — Preset date and time of day Q BOOL — Output Output CDT DT — Current date and time of day ● Instance structure Name Type Description Remarks Q BOOL Output Can be accessed from the user program. ● Function · When the Date and time of day update command IN changes from FALSE(OFF) to TRUE(ON), the calendar is updated with the specified preset date and time of day PDT. (The millisecond part of PDT is ignored, and the calendar is updated with the PDT value). · When Date and time of day update command IN is TRUE(ON), the current calendar content is output to current date and time of day CDT. · The state of Date and time of day update command IN is output to Output Q. Output Input IN Action Q CDT FALSE(OFF) Not executed FALSE(OFF) Not updated Previous input = FALSE(OFF) : Update calendar (PDT→CDT) TRUE(ON) Executed Previous input＝TRUE(ON) : Current date and time of day→CDT TRUE(ON) CDT 2.4 Timers Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 99 ● Program example [LD/FBD language notation] RTC_1 RTC IN Q PDT CDT SAMPLE1 LD SIGNAL1 SIGNAL2 SAMPLE2 ST [ST language notation] RTC_1( SIGNAL1, SAMPLE1, SAMPLE2); SIGNAL2 := RTC_1.Q; · When SIGNAL1 changes from FALSE(OFF) to TRUE(ON), the calendar is updated with the preset date and time of day specified with SAMPLE1. · While SIGNAL1 is TRUE(ON), the current time is output to SAMPLE2. · SIGNAL2 becomes TRUE(ON) when SIGNAL1 is TRUE(ON) and SIGNAL2 becomes FALSE(OFF) when SIGNAL1 is FALSE(OFF). ● Error information · The calendar is not updated when the content of preset date and time of day PDT is abnormal. Chapter 2 LD/FBD Instructions 6F8C1226 100 Real Time Clock Timers Real Time Clock nv dedicated instruction LD/FBD language notation Instance name RTC_N Date and time of day update command Preset date/time Output complete Current date/time PDT IN Q CDT EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( IN, PDT, CDT ); [Variable name] : = @[Instance name]. Q; ● Argument Arg. Operand Type Const. Description IN BOOL ○ Date and time of day update command Input PDT DT — Preset date/time Q BOOL — Output complete Output CDT DT — Current date/time ● Instance structure Name Type Description Remarks Q BOOL Output complete Can be accessed from the user program. ● Function · When the date and time of day command IN changes from FALSE(OFF) to TRUE(ON), the calendar is updated with the specified preset date and time of day PDT. · When the date and time of day command IN is TRUE(ON), the current calendar content is output to the current date and time of day CDT. · When date and time of day update is complete, output Q is set to TRUE(ON). Output Input IN Action Q CDT FALSE(OFF) Not executed FALSE(OFF) revious input=FALSE(OFF) : Calendar is updated FALSE(OFF) Not updated TRUE(ON) Executed Previous input=TRUE(ON) : Current date/timeCDT TRUE(ON) Current CDT 2.4 Timers Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 101 ● Program example [LD/FBD language notation] RTC_1 RTC_N IN Q PDT CDT SAMPLE1 LD SIGNAL1 SIGNAL2 SAMPLE2 ST [ST language notation] RTC_1( SIGNAL1, SAMPLE1, SAMPLE2); SIGNAL2 :=@RTC_1.Q; · When SIGNAL1 changes from FALSE(OFF) to TRUE(ON), the calendar is updated with the preset date and time of day specified with SAMPLE1. After the calendar is updated, completion output SIGNAL2 becomes TRUE(ON). · Current day/time is output to SAMPLE2, after SIGNAL1 becomes TRUE(ON) and the calendar is updated. ● Error information · The calendar is not updated when the content of preset date and time of day PDT is abnormal. Completion output outputs the state of Date and time of day update command IN. Chapter 2 LD/FBD Instructions 6F8C1226 102 On/Off-Delay Timer timers On/Off-Delay Timer TOSDIC compatible instruction LD/FBD language notation Instance name DEL_L Input flag On-delay time Result output On-delay elapsed time H1 U1 Y ON Off-delay time H2 OFF Off-delay elapsed time EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( U1, H1, H2 ); [Variable name] : = [Instance name]. Y; [Variable name] : = [Instance name]. ON; [Variable name] : = [Instance name]. OFF; ● Arguments Arg. Operand Type Const. Description U1 BOOL ○ Input flag H1 REAL ○ On-delay time(≥0)[sec] Input H2 REAL ○ Off-delay time(≥0)[sec] Y BOOL — Result output ON REAL — On-delay elapsed time[sec] Output OFF REAL — Off-delay elapsed time[sec] ● Instance structure Name Type Description Remarks Y BOOL Result output ON REAL On-delay elapsed time[sec] OFF REAL Off-delay elapsed time[sec] Can be accessed from the user program. ● Function · After input flag U1 becomes TRUE(ON), result output is set to TRUE(ON) after on-delay time H1. After input flag U1 becomes FALSE(OFF), result output is set to FALSE(OFF) after off-delay time H2. · After input flag U1 becomes TRUE(ON), result output Y is set to TRUE(ON) after on-delay time H1. · After input flag U1 becomes FALSE(OFF), result output Y is set to FALSE(OFF) after off-delay time H2. 2.4 Timers Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 103 · When the input becomes OFF during on-delay, off-delay time measurement starts while continuing on-delay. · When the input becomes ON during off-delay, off-delay is stopped, the output is inversed, and then on-delay is started. · When the input becomes OFF during on-delay and becomes ON again during off-delay, off-delay is stopped and on-delay is started again. · If off-delay is shorter than on-delay (off-delay is stopped during on-delay operation), there is no output. →Time Input U1 OutputY ：On-delay time ：Off-delay time Input becomes OFF during on-delay Normal operation Input becomes ON during off-delay Input is changed during on/off-delay Off-delay is stopped during on-delay On/Off delay time is measured at the same time On-delay is stopped output is inversed On-delay is started again, off-delay is stopped ● Program example [LD/FBD language notation] DEL_1 DEL_L U1 Y H1 ON H2 OFF DP11LD S1 S2 DP12LD ON_TIME ST OFF_TIME ST [ST language notation] DEL_1( S1, DP11, DP12); S2 := DEL_1.Y; ON_TIME := DEL_1.ON; OFF_TIME := DEL_1.OFF; · S2, where ON change of S1 is delayed for DP11 [sec] and OFF change of S1 is delayed for DP12 [sec], is output. ● Error information · If on/off-delay time is a negative number, On/Off-Delay Timer instruction takes an absolute value for operation. · When on/off—delay time =0, Input U1=Output Y. · If on/off-delay time is nonnumeric, nonnumeric abnormal is set to TRUE(ON), and the instruction itself is not processed. Chapter 2 LD/FBD Instructions 6F8C1226 104 2.5 Flip-Flops No. Instruction Remarks 1 Set Type Flip-Flop SR 2 Reset Type Flip-Flop RS 3 Semaphore SEMA 2.5 Flip-Flops Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 105 Set Type Flip-Flop Flip—Flops Set Type Flip-Flop LD/FBD language notation Instance name SR Set input Reset input Output R S1 Q1 EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( S1, R ); [Variable name] : = [Instance name]. Q1; ● Arguments Arg. Operand Type Const. Description S1 BOOL ○ Set input Input R BOOL ○ Reset input Output Q1 BOOL — Output ● Instance structure Name Type Description Remarks Q1 BOOL Output Can be accessed from the user program. ● Function ・ When set input S1 is TRUE(ON), output Q1 is set to TRUE(ON) regardless of the input state of reset input R. ・ When set input S1 is FALSE(OFF) and reset input R is TRUE(ON), output Q1 is reset to FALSE(OFF). ・ Output Q1 is unchanged when set input S1 and reset input R are both FALSE(OFF). Input Output S1 R Action Q1 FALSE(OFF) FALSE(OFF) Not executed Retain previous value FALSE(OFF) TRUE(ON) FALSE(OFF) TRUE(ON)  Executed TRUE(ON) Chapter 2 LD/FBD Instructions 6F8C1226 106 ● Program example [LD/FBD language notation] FF_1 SR S1 Q1 R SIGNAL1 SIGNAL2 SIGNAL3 SIGNAL1 SIGNAL2 SIGNAL3 [ST language notation] FF_1 ( SIGNAL1, SIGNAL2); SIGNAL3 := FF_1.Q1; ・ When SIGNAL1 is TRUE(ON), SIGNAL3 becomes TRUE(ON). ・ When SIGNAL1 is FALSE(OFF) and SIGNAL2 is TRUE(ON), SIGNAL3 becomes FALSE(OFF). ・ When SIGNAL1 and SIGNAL2 are both FALSE(OFF), SIGNAL3 retains the previous value. 2.5 Flip-Flops Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 107 Reset Type Flip-Flop Flip—Flop Reset Type Flip-Flop LD/FBD language notation Instance name RS Set input Reset input Output R1 S Q1 EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( S, R1 ); [Variable name] : = [Instance name] . Q1; ● Argument Arg. Operand Type Const. Description S BOOL ○ Set input Input R1 BOOL ○ Reset input Output Q1 BOOL — Output ● Instance structure Name Type Description Remarks Q1 BOOL Output Can be accessed from the user program. ● Function · When reset input R1 is TRUE(ON), output Q1 is reset to FALSE(OFF) regardless of the input state of set input S. · When reset input R1 is FALSE(OFF) and set input S is TRUE(ON), output Q1 is set to TRUE(ON). · Output Q1 is unchanged when set input S and reset input R1 are both FALSE(OFF). Input Output S R1 Action Q1 FALSE(OFF) FALSE(OFF) Not executed Retains previous value * TRUE(ON) FALSE(OFF) TRUE(ON) FALSE(OFF) Executed TRUE(ON) Chapter 2 LD/FBD Instructions 6F8C1226 108 ● Program example [LD/FBD language notation] FF_1 RS S Q1 R1 SIGNAL1 SIGNAL2 SIGNAL3 SIGNAL1 SIGNAL2 SIGNAL3 [ST language notation] FF_1( SIGNAL1, SIGNAL2); SIGNAL3 := FF_1.Q1; · When SIGNAL2 is TRUE(ON), SIGNAL3 is reset to FALSE(OFF). · When SIGNAL2 is FALSE(OFF) and SIGNAL1 is TRUE(ON), SIGNAL3 becomes TRUE(ON). · When SIGNAL1 and SIGNAL2 are both FALSE(OFF), SIGNAL3 retains the previous value. 2.5 Flip-Flops Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 109 Semaphore Flip—Flop Semaphore LD/FBD language notation Instance name SEMA Test and set command Release command Semaphore status output CLAIM RELEASE BUSY EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( CLAIM, RELEASE ); [Variable name] := [Instance name]. BUSY; ● Argument Arg. Operand Type Const. Description CLAIM BOOL ○ Test and set command Input RELEASE BOOL ○ Release command Output BUSY BOOL — Semaphore status output ● Instance structure Name Type Description Remarks BUSY BOOL Semaphore status output Can be accessed from the user program. X BOOL Internal variable Cannot be accessed from the user program. ● Function · Initially, resets internal variable X to FALSE(OFF). · State of internal variable X is output to semaphore status output BUSY. · After internal variable X is output to semaphore status output BUSY, internal variable X is set to TRUE(ON) when test and set command CLAIM is TRUE(ON). · When test and set command CLAIM is FALSE(OFF) and release command RELEASE is TRUE(ON) after internal variable X is output to semaphore status output BUSY, semaphore state output BUSY and internal variable X are reset to FALSE(OFF) Input Output CLAIM RELEASE Action BUSY FALSE(OFF) FALSE(OFF) BUSY=Internal variable Xn—1 TRUE(ON)  BUSY=Internal variable Xn—1 Internal variable Xn＝TRUE(ON) Previous Xn—1 FALSE(OFF) TRUE(ON) Semaphore state output = FALSE(OFF) Internal variable Xn = FALSE(OFF) FALSE(OFF) Chapter 2 LD/FBD Instructions 6F8C1226 110 ● Program example [LD/FBD language notation] SEMA_1 SEMA CLAIM BUSY RELEASE SIGNAL1 SIGNAL2 SIGNAL3 SIGNAL1 SIGNAL2 X SEMA_1 Execution timing SIGNAL3 [ST language notation] SEMA_1 ( SIGNAL1, SIGNAL2); SIGNAL3 := SEMA_1.BUSY; · The state of internal variable X after executing previous SEMA_1 is output to SIGNAL3. Except when SIGNAL1= FALSE(OFF) and SIGNAL2 = TRUE(ON). · When SIGNAL1 is TRUE(ON), internal variable X is set to TRUE(ON). · When SIGNAL1 is FALSE(OFF) and SIGNAL2 is TRUE(ON), internal variable X and SIGNAL3 become FALSE(OFF). 2.6 Moving Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 111 2.6 Moving No. Instruction Remarks 1 Normally Open Contact Gate 2 Normally Closed Contact Gate 3 Move Data MOVE 4 Move Table Data TMOV 5 Data Exchange XCHG 6 Initialize Table Data TINZ Chapter 2 LD/FBD Instructions 6F8C1226 112 Normally Open Contact Gate Moving Normally Open Contact Gate LD/FBD language notation Inaput Variable (BOOL) Output EN input Edge execution Index modification Modifier — — ○ ● Arguments · The following data types are supported for input and output: Arg. Operand Type Const. Description Remarks Input — ○ Input Output — See below — Output Input Output INT INT DINT DINT UINT UINT REAL REAL WORD WORD DWORD DWORD TIME TIME TOD TOD DATE DATE Input Variable Output ● Function ♦ Combination of Normally Open Contact Gate instruction and ST instruction or function and function block input. · When variable (BOOL) is TRUE(ON), input data is output as the result. · When variable (BOOL) is FALSE(OFF), output is set to “0”. Variable (BOOL) Action Output FALSE(OFF) 0 TRUE(ON) Executed Input data 2.6 Moving Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 113 ♦ Combination of Normally Open Contact Gate instruction and SET instruction · When variable (BOOL) is TRUE(ON), input data is output as the result. · When variable (BOOL) is FALSE(OFF), previous value is retained. Variable (BOOL) Action Output FALSE(OFF) Retain previous value TRUE(ON) Executed Input data ● Program example ♦ Normally Open Contact Gate instruction + ST instruction SIGNAL1 SAMPLE1 LD SAMPLE2 ST · When SIGNAL1 is TRUE(ON), content of SAMPLE1 is moved to SAMPLE2. · When SIGNAL1 is FALSE(OFF), “0” is moved to SAMPLE2. ♦ Normally Open Contact Gate instruction + SET instruction SIGNAL1 SAMPLE1 LD SAMPLE2 SET · When SIGNAL1 is TRUE(ON), content of SAMPLE1 is moved to SAMPLE2. · When SIGNAL1 is FALSE(OFF), SAMPLE2 retains the previous value. ● Error information · When there is a boundary error due to index modification, Normally Open Contact Gate instruction is executed with the value of variable (BOOL) reset to FALSE(OFF) and the data boundary is exceeded. Chapter 2 LD/FBD Instructions 6F8C1226 114 Normally Closed Contact Gate Moving Normally Closed Contact Gate LD/FBD language notation Input Variable (BOOL) Output EN input Edge execution Index modification Modifier — — ○ ● Arguments · The following data types are supported for input and output: Arg. Operand Type Const. Description Remarks Input — ○ Input Output — See below — Output Input Output INT INT DINT DINT UINT UINT REAL REAL WORD WORD DWORD DWORD TIME TIME TOD TOD DATE DATE Variable Input Output ● Function ♦ Combination of Normally Closed Contact Gate instruction and ST instruction or function and function block input · When variable (BOOL) is FALSE(OFF), input data is output as result. · When variable (BOOL) is TRUE(ON), output is set to “0”. Variable (BOOL) Action Output FALSE(OFF) Input data TRUE(ON) Executed 0 2.6 Moving Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 115 ♦ Combination of Normally Closed Contact Gate instruction and SET instruction · When variable (BOOL) is FALSE(OFF), input data is output as result. · When variable (BOOL) is TRUE(ON), previous value is retained. Variable (BOOL) Action Output FALSE(OFF) Input data TRUE(ON) Executed Retain previous value ● Program example ♦ Normally Closed Contact Gate instruction + ST instruction SIGNAL1 SAMPLE1 LD SAMPLE2 ST · When SIGNAL1 is FALSE(OFF), content of SAMPLE1 is moved to SAMPLE2. · When SIGNAL1 is TRUE(ON), “0” is moved to SAMPLE2. ♦ Normally Closed Contact Gate instruction + SET instruction SIGNAL1 SAMPLE1 LD SAMPLE2 SET · When SIGNAL1 is FALSE(OFF), content of SAMPLE1 is moved to SAMPLE2. · When SIGNAL1 is TRUE(ON), SAMPLE2 retains the previous value. ● Error information · When there is a boundary error due to index modification, Normally Closed Contact Gate instruction is executed with the value of variable (BOOL) reset to FALSE(OFF) and the data boundary is exceeded. Chapter 2 LD/FBD Instructions 6F8C1226 116 Move Data Moving Move Data LD/FBD language notation Input Output MOVE_□□ EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := MOVE_ □□ ( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input Output — See below — Output Input Output MOVE_ □□ Input Symbol(_ □□ ) Output INT MOVE_INT INT DINT MOVE_DINT DINT UINT MOVE_UINT UINT REAL MOVE_REAL REAL WORD MOVE_WORD WORD DWORD MOVE_DWORD DWORD TIME MOVE_TIME TIME TOD MOVE_TOD TOD DATE MOVE_DATE DATE DT MOVE_DT DT STRING MOVE_STRING STRING ● Function · Input data is output as result. · The following variables can be specified for input and output for MOVE_DT and MOVE_STRING instructions: Controller Instruction Variable Integrated Controller V series MOVE_STRING Unified Controller nv series MOVE_DT MOVE_STRING Variables other than direct I/O variables 2.6 Moving Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 117 ● Program example [LD/FBD language notation] SAMPLE1 1234 LD SAMPLE2 1234 ST MOVE_INT [ST language notation] SAMPLE2 := MOVE_INT( SAMPLE1 ); · Content of SAMPLE1 1234 is moved to SAMPLE2. ● Error information · During MOVE_DT, MOVE_STRING instructions, if the input table or output table exceeds the specified range, table transfer is not performed and the data boundary is exceeded. · During MOVE_DT, MOVE_STRING instructions, table transfer is not performed if direct I/O variable is specified for input table or output table. Controller Instruction Variable Integrated Controller V series MOVE_STRING Transfer is not executed. Error flag is set to TRUE(ON). Unified Controller nv series MOVE_DT MOVE_STRING Transfer is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 118 Move Table Data Moving Move Table Data LD/FBD language notation Input table Output table TMOV Transfer word number TBL N EN input Edge execution Index modification Modifier ○ ○ — ST language notation TMOV( TBL, N, output table ); ● Arguments Arg. Operand Type Const. Description Remarks TBL PTR — Input table Input N UINT ○ Transfer word number 1≤N≤1024 Output — PTR — Output table ● Function · N data words starting at input table are transferred as block to output table. · One to 1024 words may be transferred. If N=0, no table transfer is performed. · When transferring 2W length data such as DINT, REAL, TIME, TOD, DATE or DWORD, up to 512 data can be transferred by specifying transfer words  2. · Following operation is performed if input table and output table overlap. Controller Action S controller The content of input table is transferred to output table. Integrated Controller L controller Overlapped data of input and output tables cannot be transferred. Unified Controller nv series The content of input table is transferred to output table. · Direct I/O variable cannot be specified for input table or output table. Batch transfer Output table Input table N word N word 2.6 Moving Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 119 ● Important · Move Table Data instruction (TMOV) is to transfer memory images as block at high speed. It is recommended to convert input table and output table to variables declared by array and structure. ● Program example [LD/FBD language notation] ARRAY1 LD ARRAY2 ST TMOV TBL N 8 LD 1234 2345 3456 4567 5678 6789 7890 8901 ARRAY1 ARRAY2 1234 2345 3456 4567 5678 6789 7890 8901 8 words [ST language notation] TMOV( ARRAY1, 8, ARRAY2); · The eight words source data starting from ARRAY1 are transferred as block to destination starting at ARRAY2. ● Error information · If the number of transfer words exceed 1024, operation is performed with 1024 as the limit. · If the input table or output table exceeds the specified range, table transfer is not performed and the data boundary is exceeded. · The following operation is performed if direct I/O variable is specified for input and output tables. Controller Action S controller Table transfer is not executed. Error flag is set to TRUE(ON) Integrated Controller V series L controller Table transfer is not executed. Error flag and table operation error flag are set to TRUE(ON). Unified Controller nv series Table transfer is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 120 Data Exchange Moving Data Exchange LD/FBD language notation Input 1 Output 1 XCHG_□□ Input 2 Output 2 Instance name IN1 IN2 OUT1 OUT2 EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( IN1, IN2 ); [Variable name] : = [Instance name]. OUT1; [Variable name] : = [Instance name]. OUT2; ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description IN1 ○ Input1 Input IN2 ○ Input2 OUT1 — Output1 Output OUT2 See below — Output2 Input 1,2 Symbol (_ □□ ) Output 1,2 INT XCHG_INT INT DINT XCHG_DINT DINT UINT XCHG_UINT UINT REAL XCHG_REAL REAL WORD XCHG_WORD WORD DWORD XCHG_DWORD DWORD TIME XCHG_TIME TIME TOD XCHG_TOD TOD DATE XCHG_DATE DATE ● Instance structure Name Type Description Remarks OUT1 See above Output1 OUT2 See above Output2 Can be accessed from the user program. Input 1 Output 1 Input 2 Output 2 XCHG_□□ IN1 IN2 OUT1 OUT2 2.6 Moving Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 121 ● Function · Input data IN1 is output to OUT2 and IN2 is output to OUT1. Input data IN1 Input data IN2 Output data OUT1 Output data OUT2 ● Program example [LD/FBD language notation] SAMPLE1 1234 LD SAMPLE1 5678 ST XCHG_INT IN1 OUT1 IN2 OUT2 SAMPLE2 5678 LD Xchg_1 SAMPLE2 1234 ST [ST language notation] Xchg_1( SAMPLE1, SAMPLE2); SAMPLE1 := Xchg_1.OUT1; SAMPLE2 := Xchg_1.OUT2; · Contents of SAMPLE1 and SAMPLE2 are exchanged. Chapter 2 LD/FBD Instructions 6F8C1226 122 Initialize Table Data Moving Initialize Table Data LD/FBD language notation Initialization data Output table TINZ_□□ Count IN N EN input Edge execution Index modification Modifier ○ ○ — ST language notation TINZ_ □□ ( IN, N, Output table ); ● Argument · The following data types are supported for input arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks IN See below ○ Initialization data Input N UINT ○ Count 1≤N≤1024 Output — PTR — Output table Initialization data Symbol(_ □□ ) INT TINZ_INT DINT TINZ_DINT UINT TINZ_UINT REAL TINZ_REAL WORD TINZ_WORD DWORD TINZ_DWORD TIME TINZ_TIME TOD TINZ_TOD DATE TINZ_DATE DT TINZ_DT Initialization data Output table TINZ_ □□ IN N Count ● Function · An N word block starting at output table is initialized with initialization data IN. · One to 1024 words may be transferred. If N=0, no table initialization is performed. · Direct I/O variable cannot be specified for output table. 2.6 Moving Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 123 Initi al izati on data IN Output table N words ● Program example [LD/FBD language notation] SAMPLE1 LD ARRAY1 ST TINZ_INT IN N 8 LD 1234 SAMPLE1 ARRAY1 1234 1234 1234 1234 1234 1234 1234 1234 8 words [ST language notation] TINZ_INT( SAMPLE1, 8, ARRAY1); · Eight words block starting at variable ARRAY1 is initialized with content of SAMPLE1 1234. ● Error information · If the number of transfer words exceed 1024, operation is performed with 1024 as the limit. · If the input table or output table exceeds the specified range, table transfer is not performed and the data boundary is exceeded. · The following operation is performed if direct I/O variable is specified for input and output tables: Controller Action S controller Table transfer is not executed. Error flag is set to TRUE(ON). Integrated Controller V series L controller Table transfer is not executed. Error flag and table operation error flag are set to TRUE(ON). Unified Controller nv series Table transfer is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 124 2.7 Comparison No. Instruction Remarks 1 Greater Than GT 2 Greater Than or Equal GE 3 Equal EQ 4 Less Than or Equal LE 5 Less Than LT 6 Not Equal NE 7 Comparison with Hysteresis (greater than) GT_L TOSDIC compatible instruction 8 Comparison with Hysteresis (less than) LT_L TOSDIC compatible instruction 9 Comparison with Hysteresis (greater than or equal) GE_L TOSDIC compatible instruction 10 Comparison with Hysteresis (less than or equal) LE_L TOSDIC compatible instruction 2.7 Comparison Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 125 Greater Than Comparison Greater Than LD/FBD language notation Input 1 Output GT_□□ Input 2 Input n EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := GT_ □□ ( Input1, Input2, ———, Inputn ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — See below ○ Input1･･･n 2n15 Output — BOOL — Output Input 1…n Symbol (_ □□ ) INT GT_INT DINT GT_DINT UINT GT_UINT REAL GT_REAL WORD GT_WORD DWORD GT_DWORD TIME GT_TIME TOD GT_TOD DATE GT_DATE DT GT_DT Input 1 Output GT_□□ Input 2 Input n ● Function · Compares the value of input data and outputs the comparison result. Input Condition Output Input1>Input2>···>Input n is satisfied TRUE(ON) Input data Input 1···Input n Input1>Input2>···>Input n is not satisfied FALSE(OFF) Chapter 2 LD/FBD Instructions 6F8C1226 126 · Up to 15 input data are allowed. · Input1 to n must have the same data type. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series Input data up to INF compare the magnitude relation. NAN input data do not compare the magnitude relation. Unified Controller nv series INF and NAN input data is limited by the maximum value to compare the magnitude relation. ● Program example [LD/FBD language notation] SAMPLE1 7777 LD GT_INT SAMPLE2 6666 LD SAMPLE3 5555 LD SAMPLE4 4444 LD SIGNAL1 1 ST [ST language notation] SIGNAL1 := GT_INT( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · Compares the data in SAMPLE1 to 4 and outputs TRUE(ON) to SIGNAL1 because the condition SAMPLE1 ≥ SAMPLE2 ≥ SAMPLE3 ≥ SAMPLE4 is satisfied. ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series FALSE(OFF) is output as the result if NAN is input. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.7 Comparison Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 127 Greater Than or Equal Comparison Greater Than or Equal LD/FBD language notation Input 1 Output GE_□□ Input 2 Input n EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := GE_ □□ ( Input1, Input2, ———, Inputn ); ● Arguments. · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — See below ○ Input1···n 2n15 Output — BOOL — Output Input 1…n Symbol(_ □□ ) INT GE_INT DINT GE_DINT UINT GE_UINT REAL GE_REAL WORD GE_WORD DWORD GE_DWORD TIME GE_TIME TOD GE_TOD DATE GE_DATE DT GE_DT Input 1 Output GE_□□ Input 2 Input n Chapter 2 LD/FBD Instructions 6F8C1226 128 ● Function · Compares the value of input data and outputs the comparison result. Input Condition Output Input1≥Input2≥···≥Input is satisfied TRUE(ON) Input data Input 1···Input n Input1≥Input2≥···≥Input n is not satisfied FALSE(OFF) · Up to 15 input data are allowed. · Input1 to n must have the same data type. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series Input data up to INF compare the magnitude relation. NAN input data do not compare the magnitude relation. Unified Controller nv series INF and NAN input data are limited by the maximum value to compare the magnitude relation. ● Program example [LD/FBD language notation] SAMPLE1 7777 LD GE_INT SAMPLE2 6666 LD SAMPLE3 6666 LD SAMPLE4 5555 LD SIGNAL1 1 ST [ST language notation] SIGNAL1 := GE_INT( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · Compares the data in SAMPLE1 to 4 and outputs TRUE(ON) to SIGNAL1 because the condition SAMPLE1 ≥ SAMPLE2 ≥ SAMPLE3 ≥ SAMPLE4 is satisfied. ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series FALSE(OFF) is output as the result if NAN is input. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.7 Comparison Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 129 Equal Comparison Equal LD/FBD language notation Input 1 Output EQ_□□ Input 2 Input n EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := EQ_ □□ ( Input1, Input2, ———, Inputn ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — See below ○ Input1···n 2≤n≤15 Output — BOOL — Output Input 1…n Symbol (_□□) INT EQ_INT DINT EQ_DINT UINT EQ_UINT REAL EQ_REAL WORD EQ_WORD DWORD EQ_DWORD TIME EQ_TIME TOD EQ_TOD DATE EQ_DATE DT EQ_DT Input 1 Output EQ_□□ Input 2 Input n Chapter 2 LD/FBD Instructions 6F8C1226 130 ● Function · Compares the value of input data and outputs the comparison result. Input Condition Output Input1 = Input2 =···= Input n is satisfied TRUE(ON) Input data Input 1···Input n Input1 = Input2 =···= Input n is not satisfied FALSE(OFF) · Up to 15 input data are allowed. · Input1 to n must have the same data type. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series Input data up to INF compare the magnitude relation. NAN input data do not compare the magnitude relation. Unified Controller nv series INF and NAN input data are limited by the maximum value to compare the magnitude relation. ● Program example [LD/FBD language notation] SAMPLE1 1234 LD EQ_INT SAMPLE2 1234 LD SAMPLE3 1234 LD SAMPLE4 1234 LD SIGNAL1 1 ST [ST language notation] SIGNAL1 := EQ_INT( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · Compares the data in SAMPLE1 to 4 and outputs TRUE(ON) to SIGNAL1 because the condition SAMPLE1=SAMPLE2=SAMPLE3=SAMPLE4 is satisfied. ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series FALSE(OFF) is output as the result if NAN is input. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.7 Comparison Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 131 Less Than or Equal Comparison Less Than or Equal LD/FBD language notation Input 1 Output LE_□□ Input 2 Input n EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := LE_ □□ ( Input1, Input2, ———, Inputn ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — See below ○ Input1···n 2≤n≤15 Output — BOOL — Output Input 1…n Symbol (_ □□ ) INT LE_INT DINT LE_DINT UINT LE_UINT REAL LE_REAL WORD LE_WORD DWORD LE_DWORD TIME LE_TIME TOD LE_TOD DATE LE_DATE DT LE_DT Input 1 Output LE_□□ Input 2 Input n Chapter 2 LD/FBD Instructions 6F8C1226 132 ● Function · Compares the value of input data and outputs the comparison result. Input Condition Output Input1≤Input2≤···≤Input n is satisfied TRUE(ON) Input data Input 1···Input n Input1≤Input2≤···≤Input n is not satisfied FALSE(OFF) · Up to 15 input data are allowed. · Input1 to n must have the same data type. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series Input data up to INF compare the magnitude relation. NAN input data do not compare the magnitude relation. Unified Controller nv series INF and NAN input data are limited by the maximum value to compare the magnitude relation. ● Program example [LD/FBD language notation] SAMPLE1 1111 LD LE_INT SAMPLE2 2222 LD SAMPLE3 2222 LD SAMPLE4 3333 LD SIGNAL1 1 ST [ST language notation] SIGNAL1 := LE_INT (SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · Compares the data in SAMPLE1 to 4 and outputs TRUE(ON) to SIGNAL1 because the condition SAMPLE1 ≤ SAMPLE2 ≤ SAMPLE3 ≤ SAMPLE4 is satisfied. ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series When NAN is input, the result is FALSE(OFF). Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.7 Comparison Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 133 Less Than Comparison Less Than LD/FBD language notation Input 1 Output LT_□□ Input 2 Input n EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := LT_ □□ ( Input1, Input2, ———, Inputn ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — See below ○ Input1···n 2≤n≤15 Output — BOOL — Output Input 1…n Symbol(_ □□ ) INT LT_INT DINT LT_DINT UINT LT_UINT REAL LT_REAL WORD LT_WORD DWORD LT_DWORD TIME LT_TIME TOD LT_TOD DATE LT_DATE DT LT_DT Input 1 Output LT_□□ Input 2 Input n Chapter 2 LD/FBD Instructions 6F8C1226 134 ● Function · Compares the value of input data and outputs the comparison result. Input Condition Output Input1<Input2<…<Input n is satisfied TRUE(ON) Input data Input1···Inputn Input1<Input2<…<Input n is not satisfied FALSE(OFF) · Up to 15 input data are allowed. · Input1 to n must have the same data type. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series Input data up to INF compare the magnitude relation. NAN input data do not compare the magnitude relation. Unified Controller nv series INF and NAN input data are limited by the maximum value to compare the magnitude relation. ● Program example [LD/FBD language notation] SAMPLE1 1111 LD LT_INT SAMPLE2 2222 LD SAMPLE3 3333 LD SAMPLE4 4444 LD SIGNAL1 1 ST [ST language notation] SIGNAL1 := LT_INT( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · Compares the data in SAMPLE1 to 4 and outputs TRUE(ON) to SIGNAL1 because the condition SAMPLE1 < SAMPLE2 < SAMPLE3 < SAMPLE4 is satisfied. ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series When NAN is input, the result is FALSE(OFF). Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.7 Comparison Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 135 Not Equal Comparison Not Equal LD/FBD language notation Input 1 Output NE_□□ Input 2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := NE_ □□ ( Input1, Input2 ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — See below ○ Input1, Input2 Input number =2 Output — BOOL — Output Input 1, 2 Symbol(_ □□ ) INT NE_INT DINT NE_DINT UINT NE_UINT REAL NE_REAL WORD NE_WORD DWORD NE_DWORD TIME NE_TIME TOD NE_TOD DATE NE_DATE DT NE_DT Input 1 Output NE_□□ Input 2 ● Function · Compares the value of input data and outputs the comparison result. Input Condition Output Input1≠Input2 is satisfied TRUE(ON) Input data Input1, Input2 Input1≠Input2 is not satisfied FALSE(OFF) · Number of input data must be 2. · Input 1 and Input 2 must have the same data type. Chapter 2 LD/FBD Instructions 6F8C1226 136 · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series Input data up to INF compare the magnitude relation. NAN input data do not compare the magnitude relation. Unified Controller nv series INF and NAN input data are limited by the maximum value to compare the magnitude relation. ● Program example [LD/FBD language notation] SAMPLE1 1111 LD NE_INT SAMPLE2 2222 LD SIGNAL1 1 ST [ST language notation] SIGNAL1 := NE_INT( SAMPLE1, SAMPLE2); · Compares the data in SAMPLE1 and SAMPLE2 and outputs TRUE(ON) to SIGNAL1 because the condition SAMPLE1≠SAMPLE2 is satisfied. ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series When NAN is input, the result is FALSE(OFF). Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.7 Comparison Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 137 Comparison with Hysteresis (greater than) Comparison Comparison with Hysteresis (greater than) TOSDIC compatible instruction LD/FBD language notation Input data Output GT_L U1 Y U2 H1 H2 H3 Comparison data Coefficient Bias Hysteresis width Instance name EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( U1, U2, H1, H2, H3 ); [Variable name] : = [Instance name]. Y; ● Arguments Arg. Operand Type Const. Description Remarks U1 REAL ○ Input data U2 REAL ○ Comparison data H1 REAL ○ Coefficient H2 REAL ○ Bias Input H3 REAL ○ Hysteresis width (≥0) Output — BOOL — Output ● Instance structure Name Type Description Remarks Y BOOL Result output Can be accessed from the user program. ● Function · Compares the size with hysteresis and outputs the result. When U1 is greater than U2 and the value determined by H1 to H3, the output is TRUE(ON). When U1>H1U2+H2: TRUE(ON) When U1≤H1U2+H2-H3: FALSE(OFF) The previous value is retained for the cases other than above (within the hysteresis width). Chapter 2 LD/FBD Instructions 6F8C1226 138 →U1 Ｙ H3 H1U2+H2-H3 H1U2H2 Included Not included TRUE(ON) FALSE(OFF) ● Program example [LD/FBD language notation] IND01.PV 80 LD DP0 0 LD DP0 0 LD DP11 75 LD S1 1 ST DP12 15 LD GT_L U1 Y U2 H1 H2 H3 GT_L_1 DP0=0 DP11=75 DP12=15 [ST language notation] GT_L_1( IND01.PV, DP0, DP0, DP11, DP12); S1 := GT_L_1.Y; · Output S1 is obtained as below by the value of IND01.PV: →IND01.PV S1 60 75 Included Not included TRUE(ON) FALSE(OFF) ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series When NAN is input, the result is FALSE(OFF). · When the hysteresis width (H3) is negative, absolute value is taken for operation. 2.7 Comparison Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 139 Comparison with Hysteresis (less than) Comparison Comparison with Hysteresis (less than) TOSDIC compatible instruction LD/FBD language notation Output LT_L Input data Comparison data Coefficient Bias Hysteresis width Instance name U1 Y U2 H1 H2 H3 EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( U1, U2, H1, H2, H3 ); [Variable name] : = [Instance name]. Y; ● Arguments Arg. Operand Type Const. Description Remarks U1 REAL ○ Input data U2 REAL ○ Comparison data H1 REAL ○ Coefficient H2 REAL ○ Bias Input H3 REAL ○ Hysteresis width (≥0) Output — BOOL — Output ● Instance structure Name Type Description Remarks Y BOOL Result output Can be accessed from the user program. ● Function · Compares the size with hysteresis and outputs the result. When U1 is less than U2 and the value determined by H1 to H3, the output is TRUE(ON). When U1<H1U2+H2:TRUE(ON) When U1≥H1U2+H2+H3:FALSE(OFF) The previous value is retained for the cases other than above (within the hysteresis width). Chapter 2 LD/FBD Instructions 6F8C1226 140 →U1 Ｙ H3 H1U2+H2 H1U2+H2+H3 Included Not included TRUE(ON) FALSE(OFF) ● Program example [LD/FBD language notation] IND01.PV 80 LD DP0 0 LD DP0 0 LD DP11 75 LD S1 1 ST DP12 15 LD LT_L U1 Y U2 H1 H2 H3 LT_L_1 DP0=0 DP11=75 DP12=15 [ST language notation] LT_L_1( IND01.PV, DP0, DP0, DP11, DP12); S1 := LT_L_1.Y; · Output S1 is obtained as below by the value of IND01.PV: 60 75 Included Not included TRUE(ON) FALSE(OFF) →IND01.PV S1 ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series When NAN is input, the result is FALSE(OFF). · When the hysteresis width (H3) is negative, absolute value is taken for operation. 2.7 Comparison Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 141 Comparison with Hysteresis (greater than or equal) Comparison Comparison with Hysteresis (greater than or equal) TOSDIC compatible instruction LD/FBD language notation Output GE_L Input data Comparison data Coefficient Bias Hysteresis width Instance name U1 Y U2 H1 H2 H3 EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( U1, U2, H1, H2, H3 ); [Variable name] : = [Instance name]. Y; ● Arguments Arg. Operand Type Const. Description Remarks U1 REAL ○ Input data U2 REAL ○ Comparison data H1 REAL ○ Coefficient H2 REAL ○ Bias Input H3 REAL ○ Hysteresis width (≥0) Output — BOOL — Output ● Instance structure Name Type Description Remarks Y BOOL Result output Can be accessed from the user program. ● Function · Compares the size with hysteresis and outputs the result. When U1 is greater than or equal to U2 and the value determined by H1 to H3, the output is TRUE(ON). When U1≥H1U2+H2:TRUE(ON) When U1<H1U2+H2-H3:FALSE(OFF) The previous value is retained for the cases other than above (within the hysteresis width). Chapter 2 LD/FBD Instructions 6F8C1226 142 →U1 H3 H1＊U2＋H2－H3 H1＊U2＋H2 Included Not included TRUE(ON) FALSE(OFF) S1 ● Program example [LD/FBD language notation] IND01.PV 80 LD DP0 0 LD DP0 0 LD DP11 75 LD S1 1 ST DP12 15 LD GE_L U1 Y U2 H1 H2 H3 GE_L_1 DP0=0 DP11=75 DP12=15 [ST language notation] GE_L_1( IND01.PV, DP0, DP0, DP11, DP12); S1 := GE_L_1.Y; · Output S1 is obtained as below by the value of IND01.PV: →IND01.PV S1 60 75 TRUE(ON) FALSE(OFF) Included Not included ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series When NAN is input, the result is FALSE(OFF). · When the hysteresis width (H3) is negative absolute value is taken for operation. 2.7 Comparison Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 143 Comparison with Hysteresis (less than or equal) Comparison Comparison with Hysteresis (less than or equal) TOSDIC compatible instruction LD/FBD language notation Output LE_L Input data Comparison data Coefficient Bias Hysteresis width Instance name U1 Y U2 H1 H2 H3 EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( U1, U2, H1, H2, H3 ); [Variable name] : = [Instance name]. Y; ● Arguments Arg. Operand Type Const. Description Remarks U1 REAL ○ Input data U2 REAL ○ Comparison data H1 REAL ○ Coefficient H2 REAL ○ Bias Input H3 REAL ○ Hysteresis width (≥0) Output — BOOL — Output ● Instance structure Name Type Description Remarks Y BOOL Result output Can be accessed from the user program. ● Function · Compares the size with hysteresis and outputs the result. When U1is less than or equal to U2 or the value determined by H1 to H3, the output is TRUE(ON). When U1≤H1U2+H2: TRUE(ON) When U1>H1U2+H2+H3: FALSE(OFF) The previous value is retained for the cases other than above (within the hysteresis width). Chapter 2 LD/FBD Instructions 6F8C1226 144 →U1 Ｙ H3 H1U2+H2 H1U2+H2+H3 Not included Included TRUE(ON) FALSE(OFF) ● Program example [LD/FBD language notation] IND01.PV 80 LD DP0 0 LD DP0 0 LD DP11 75 LD S1 1 ST DP12 15 LD LE_L U1 Y U2 H1 H2 H3 LE_L_1 DP0=0 DP11=75 DP12=15 [ST language notation] LE_L_1( IND01.PV, DP0, DP0, DP11, DP12); S1 := LE_L_1.Y; · Output S1 is obtained as below by the value of IND01.PV: S1 60 75 TRUE(ON) FALSE(OFF) →IND01.PV Not included Included ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series When NAN is input, the result is FALSE(OFF). · When the hysteresis width (H3) is negative, absolute value is taken for operation. 2.8 Selection Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 145 2.8 Selection No. Instruction Remarks 1 Maximum MAX 2 Maximum of Table Data MAXL 3 Minimum MIN 4 Minimum of Table Data MINL 5 Average Value AVE 6 Average of Table Data AVEL 7 Limiter LIMIT 8 Selector SEL 9 Multiplex MUX 10 Multiplex of Table Data MPX Chapter 2 LD/FBD Instructions 6F8C1226 146 Maximum Selection Maximum LD/FBD language notation Input 1 Output MAX_□□ Input 2 Input n EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := MAX_ □□ ( Input1, Input2, ———, Inputn ); ● Arguments ・ The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input1･･･n 2≤n≤15 Output — See below — Output Input 1···n Symbol(_□□) Output INT MAX_INT INT DINT MAX_DINT DINT UINT MAX_UINT UINT REAL MAX_REAL REAL WORD MAX_WORD WORD DWORD MAX_DWORD DWORD TIME MAX_TIME TIME TOD MAX_TOD TOD DATE MAX_DATE DATE DT MAX_DT DT Input 1 Output MAX_□□ Input 2 Input n 2.8 Selection Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 147 ● Function · The maximum value of input data Input 1 to Input n is obtained and output as result. · Up to 15 input data are allowed. · Input1 to n must have the same data type. · The following operation is performed when the input data is REAL: Controller Action Integrated Controller V series Input data up to INF compare the magnitude relation. NAN input data do not compare the magnitude relation. Unified Controller nv series INF and NAN input data are limited by the maximum value to compare the magnitude relation. ● Program example [LD/FBD language notation] SAMPLE1 -1111 LD MAX_INT SAMPLE2 6666 LD SAMPLE3 -5555 LD SAMPLE4 4444 LD SAMPLE5 6666 ST [ST language notation] SAMPLE5 := MAX_INT( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · The maximum value of input data SAMPLE1 to SAMPLE4 is obtained and the maximum value 6666 is stored in SAMPLE5 ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 148 Maximum of Table Data Selection Maximum of Table Data LD/FBD language notation Input table Output MAXL_□□ Number TBL N EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output : = MAXL_ □□ ( TBL, N ); ● Arguments · The following data types are supported for output arguments and the instruction symbol depends on the data type. Arg. Operand Type Const. Description Remarks TBL PTR — Input table Input N UINT ○ Number 1≤N≤256 Output — See below — Output Symbol(_ □□ ) Output MAXL_INT INT MAXL_DINT DINT MAXL_UINT UINT MAXL_REAL REAL MAXL_TIME TIME MAXL_TOD TOD MAXL_DATE DATE MAXL_DT DT Input table Output MAXL_□□ TBL N Number ● Function · The maximum value is obtained out of N data starting from the variable specified with input table TBL and the result is output. Also, the table pointer of the maximum value is output to index register XL. · The allowed range of number N is 1 ≤ N ≤ 256. · If number N=0, the top data of the input table is output as result and index register XL is set to 0. · If there is more than one maximum, the one with the smallest table pointer No. is output to index register XL. 2.8 Selection Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 149 · Direct I/O variable cannot be specified for the input table. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series Input data up to INF compare the magnitude relation. NAN input data do not compare the magnitude relation. Unified Controller nv series INF and NAN input data are limited by the maximum value to compare the magnitude relation. ● Program example [LD/FBD language notation[ 2 ARRAY1 LD MAXL_INT TBL N 6 LD SAMPLE1 100 ST ARRAY1 -98 65 23 -51 100 -125 199 100 SAMPLE1 2 Index register XL Pointer 1 3 4 5 6 7 8 100 [ST language notation] SAMPLE1 := MAXL_INT( ARRAY1, 6); · The maximum value is obtained from six data in input table ARRAY1 and the maximum value “100” is stored in SAMPLE1. Also, the table pointer “2” of the maximum value is output to index register XL. ● Error information · When the input table exceeds the variable area, the maximum of table data is not processed and the data boundary is exceeded. · If N exceeds 256, N is limited to 256. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. Unified Controller nv series NAN and INF data are limited by the maximum value. · The following operation is performed when direct I/O variable is specified for the input table: Controller Action Integrated Controller V series S Controller Error flag is set to TRUE(ON) and the result is 0. Unified Controller nv series Error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 150 Minimum Selection Minimum LD/FBD language notation Input 1 Output MIN_□□ Input 2 Input n EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := MIN_ □□ ( Input1, Input2, ———, Inputn ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input1…n 2≤n≤15 Output — See below — Output Input 1···n Symbol(_ □□ ) Output INT MIN_INT INT DINT MIN_DINT DINT UINT MIN_UINT UINT REAL MIN_REAL REAL WORD MIN_WORD WORD DWORD MIN_DWORD DWORD TIME MIN_TIME TIME TOD MIN_TOD TOD DATE MIN_DATE DATE DT MIN_DT DT Input 1 Output MIN_□□ Input 2 Input n ● Function · The minimum value of input data Input 1 to Input n is obtained and output as result. · Up to 15 input data are allowed. · Input1 to n must have the same data type. · The following operation is performed when the input data type is REAL: 2.8 Selection Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 151 Controller Action Integrated Controller V series Input data up to INF compare the magnitude relation. NAN input data do not compare the magnitude relation. Unified Controller nv series INF and NAN input data are limited by the maximum value to compare the magnitude relation. ● Program example [LD/FBD language notation] SAMPLE1 -1111 LD MIN_INT SAMPLE2 6666 LD SAMPLE3 -5555 LD SAMPLE4 4444 LD SAMPLE5 -5555 ST [ST language notation] SAMPLE5 := MIN_INT( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · The minimum value of input data SAMPLE1 to SAMPLE4 is obtained and the minimum value -5555 is stored in SAMPLE5. ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 152 Minimum of Table Data Selection Minimum of Table Data LD/FBD language notation Input table Output MINL_□□ Number TBL N EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := MINL_ □□ ( TBL, N ); ● Arguments · The following data types are supported for output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks TBL PTR — Input table Input N UINT ○ Number 1≤N≤256 Output — See below — Output Symbol(_ □□ ) Output MINL_INT INT MINL_DINT DINT MINL_UINT UINT MINL_REAL REAL MINL_TIME TIME MINL_TOD TOD MINL_DATE DATE MINL_DT DT Input table Output MINL_□□ TBL N Number ● Function · The minimum value is obtained out of N data starting from the variable specified with input table TBL and the minimum value is output as result. Also, the table pointer of the minimum value is output to index register XL. · The allowed range of number N is 1 ≤ N ≤ 256. · If number N=0, the top data of the input table is output as result and index register XL is set to 0. · If there is more than one minimum, the one with the smallest table pointer No. is output to index register XL. 2.8 Selection Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 153 · Direct I/O variables cannot be specified for the input table. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series Input data up to INF compare the magnitude relation. NAN input data do not compare the magnitude relation. Unified Controller nv series INF and NAN input data are limited by the maximum value to compare the magnitude relation. ● Program example [LD/FBD language notation] 2 ARRAY1 LD MINL_INT TBL N 6 LD SAMPLE1 -100 ST ARRAY1 98 65 23 -51 -100 -125 199 -100 SAMPLE1 2 Index registerXL pointer 1 3 4 5 6 7 8 -100 [ST language notation] SAMPLE1 := MINL_INT( ARRAY1, 6); · The minimum value is obtained from six data in input table ARRAY1 and the minimum value “-100” is stored in SAMPLE1. Also, the table pointer “2” of the minimum value is output to index register XL. ● Error information · When the input table exceeds the variable area, the minimum of table data is not processed and the data boundary is exceeded. · If N exceeds 256, N is limited to 256. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller If NAN data is entered as input, the result is NAN. Unified Controller nv series NAN and INF data are limited by the maximum value. · The following operation is performed when direct I/O variable is specified for the input table: Controller Action Integrated Controller V series S Controller Error flag is set to TRUE(ON) and the result is 0. Unified Controller nv series Error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 154 Average Value Selection Average Value LD/FBD language notation Input 1 Output AVE_□□ Input 2 Input n EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := AVE_ □□ ( Input1, Input2, ———, Inputn ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input1···n 2≤n≤15 Output — See below — Output Input 1···n Symbol(_ □□ ) Output INT AVE_INT INT DINT AVE_DINT DINT UINT AVE_UINT UINT REAL AVE_REAL REAL TIME AVE_TIME TIME Input 1 Output AVE_□□ Input 2 Input n ● Function · The minimum value of input data Input 1 to Input n is obtained and output as result. · Up to 15 input data are allowed. · Input1 to n must have the same data type. Input1 + Input2 + ··· + Inputn Output = n 2.8 Selection Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 155 ● Program example [LD/FBD language notation] SAMPLE1 -1111 LD AVE_INT SAMPLE2 6666 LD SAMPLE3 -5555 LD SAMPLE4 4444 LD SAMPLE5 1111 ST [ST language notation] SAMPLE5 := AVE_INT( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · The average value of input data SAMPLE1 to SAMPLE4 is obtained and the average value “1111” is stored in SAMPLE5. ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF is input or when it is INF during summation operation, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 156 Average of Table Data Selection Average of Table Data LD/FBD language notation Input table Output AVEL_□□ Number TBL N EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := AVEL_ □□ ( TBL, N ); ● Arguments · The following data types are supported for output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks TBL PTR — Input table Input N UINT ○ Number 1N256 Output — See below — Output Symbol(_□□) Output AVEL_INT INT AVEL_DINT DINT AVEL_UINT UINT AVEL_REAL REAL AVEL_TIME TIME Input table Output AVEL_□□ TBL N Number ● Function · The average value is obtained from N data starting from the variable specified with input table TBL and the result is output. · The allowed range of number N is 1 ≤ N ≤ 256. · If number N=0, the top data of the input table is output as result. · Direct I/O variable cannot be specified for the input table. TBL[0]+TBL[1] + ··· + TBL[N-1] Output = n 2.8 Selection Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 157 ● Program example [LD/FBD language notation] 2 ARRAY1 LD AVEL_INT TBL N 6 LD SAMPLE1 -10 ST ARRAY1 98 65 23 -51 -100 -125 199 -10 SAMPLE1 pointer 1 3 4 5 6 7 8 -100 [ST language notation] SAMPLE1 := AVEL_INT( ARRAY1, 6); · The average value is obtained from six data in input table ARRAY1 and the average value “-10” is stored in SAMPLE1. ● Error information · When the input table exceeds the variable area, the average of table data is not processed and the data boundary is exceeded. · If N exceeds 256, N is limited to 256. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller If NAN data is entered as input, the result is NAN. If INF is input or when it is INF during summation operation, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · The following operation is performed when direct I/O variable is specified for the input table: Controller Action Integrated Controller V series S Controller Error flag is set to TRUE(ON) and the result is 0. Unified Controller nv series Error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 158 Limiter Selection Limiter LD/FBD language notation Minimum Output LIMIT_□□ Input value Maximum MN IN MX EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := LIMIT_ □□ ( MN, IN, MX ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks MN ○ Minimum IN ○ Input value Input MX ○ Maximum Output — See below — Output Minimum, Input value, Maximum Symbol(_□□) Output INT LIMIT_INT INT DINT LIMIT_DINT DINT UINT LIMIT_UINT UINT REAL LIMIT_REAL REAL WORD LIMIT_WORD WORD DWORD LIMIT_DWORD DWORD TIME LIMIT_TIME TIME TOD LIMIT_TOD TOD DATE LIMIT_DATE DATE DT LIMIT_DT DT Minimum Output LIMIT_□□ MN IN MX Input value Maximum 2.8 Selection Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 159 ● Function · If input value IN is within maximum MX and minimum MN (minimum MN ≤ input value IN ≤ maximum MX) the input value is output as result. · If IN is greater than maximum MX, maximum MX is output as result. · If IN is less than minimum MN, minimum MN is output as result. · When minimum MN≥ maximum MX, maximum MX is output as result. · Input data cannot have mixed data types. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series Input data up to INF compare the magnitude relation. NAN input data do not compare the magnitude relation. Unified Controller nv series INF and NAN input data are limited by the maximum value to compare the magnitude relation. OUT = MIN{MAX(IN, MN), MX} ● Program example [LD/FBD language notation] SAMPLE1 1000 LD LIMIT_INT MN IN MX SAMPLE2 2500 LD SAMPLE3 4000 LD SAMPLE4 2500 ST [ST language notation] SAMPLE4 := LIMIT_INT (SAMPLE1, SAMPLE2, SAMPLE3); · Checks whether the input value “2500” in SAMPLE2 is between minimum “1000” in SAMPLE1 and maximum “4000” in SAMPLE3. Because SAMPLE2 is between the maximum and minimum, “2500” is stored in SAMPLE4 as result. ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN (see “Important”). Unified Controller nv series NAN and INF data are limited by the maximum value. Chapter 2 LD/FBD Instructions 6F8C1226 160 · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. ● Important · Error processing is updated from the following controller versions. Controller S3 S2 S2PU82 L3 L3DS L2 L2DS L1 Version V02.75 V02.68 V02.01 — — — — V02.40 The input data IN is limited to + Infinity or - Infinity INF before LIMIT processing. The condition is as follows: · The Input value IN is REAL type. · The value NAN or INF is set as the data MN, IN and MX. Input data MN, IN, MX Hex. Limited data MN, IN, MX +NAN 16#7F80_0001 to 16#7FFF_FFFF +INF 16#7F80_0000 + Maximum +MAX 16#7F7F_FFFF : +MIN 16#0000_0001 16#0000_0000 0 16#8000_0000 -MIN 16#8000_0001 : -MAX 16#FF7F_FFFF Input data -INF 16#FF80_0000 -NAN 16#FF80_0001 to 16#FFFF_FFFF -MAX 2.8 Selection Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 161 Selector Selection Selector LD/FBD language notation Select input Output SEL_□□ G IN0 IN1 Input 0 Input 1 EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := SEL_ □□ (G, IN0, IN1 ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks G BOOL ○ Select input IN0 ○ Input0 Input IN1 ○ Input1 Output — See below — Output Input 0, Input 1 Symbol(_□□) Output BOOL SEL_BOOL BOOL INT SEL_INT INT DINT SEL_DINT DINT UINT SEL_UINT UINT REAL SEL_REAL REAL WORD SEL_WORD WORD DWORD SEL_DWORD DWORD TIME SEL_TIME TIME TOD SEL_TOD TOD DATE SEL_DATE DATE DT SEL_DT DT Select input Output SEL_□□ G IN0 IN1 Input 0 Input 1 Chapter 2 LD/FBD Instructions 6F8C1226 162 ● Function · Input 0 or Input 1 is selected depending on the status of select input G. When select input G = FALSE(OFF), Input 0 is selected and output as result. When select input G = TRUE(ON), Input 1 is selected and output as result. · Input 0 and Input 1 must have the same data type. ● Program example [LD/FBD language notation] SIGNAL1 1 LD SEL_INT SAMPLE1 1000 LD SAMPLE2 2000 LD SAMPLE3 2000 ST G IN0 IN1 [ST language notation] SAMPLE3 := SEL_INT (SIGNAL1, SAMPLE1, SAMPLE2); · Because select input SIGNAL1 is TRUE(ON), “2000” is stored in SAMPLE3 as result. 2.8 Selection Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 163 Multiplex Selection Multiplex LD/FBD language notation Input point Output MUX_□□ K Input 0 Input (n-1) EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := MUX_ □□ ( K, Input0, ———, Input(n—1) ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks K UINT ○ Input point No. 0K(n-1) Input — ○ Input0…(n-1) 1n14 Output — See below — Output Input 0 ··· (n-1) Symbol(_ □□ ) Output BOOL MUX_BOOL BOOL INT MUX_INT INT DINT MUX_DINT DINT UINT MUX_UINT UINT WORD MUX_WORD WORD DWORD MUX_DWORD DWORD REAL MUX_REAL REAL TIME MUX_TIME TIME TOD MUX_TOD TOD DATE MUX_DATE DATE DT MUX_DT DT Input point No. Output MUX_□□ K Input 0 Input (n-1) Chapter 2 LD/FBD Instructions 6F8C1226 164 ● Function · Selects input data specified with input point No. K. Input 0 is selected if input point No. K=0 and Input (n-1) is selected if input point No. K =(n-1). · Up to 14 input data are allowed. · Input 0 to (n-1) must have the same data type. ● Program example [LD/FBD language notation] SAMPLE1 2 LD MUX_INT K SAMPLE2 1234 LD SAMPLE3 5678 LD SAMPLE4 -9876 LD SAMPLE5 -9876 ST Input point No. 0 1 2 1234 5678 -9876 -9876 Result K=2 [ST language notation] SAMPLE5 := MUX_INT (SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · Because the input point No. specified by SAMPLE1 is “2”, -9876 which is the content of SAMPLE4 is stored in SAMPLE5. ● Error information · When input point No. K. Input number, operation is performed with K limited to (Input number-1). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.8 Selection Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 165 Multiplex of Table Data Selection Multiplex of Table Data LD/FBD language notation Input table Output MPX_□□ TBL K N Selection Table word number EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := MPX_ □□ ( TBL, K, N ); ● Arguments · The following data types are supported for output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks TBL PTR — Input table K UINT ○ Selection point No. 0≤K≤(N-1) Input N UINT ○ Table word number 1≤N≤256 Output — See below — Output Symbol(_□□) Output MPX_INT INT MPX_DINT DINT MPX_UINT UINT MPX_WORD WORD MPX_DWORD DWORD MPX_REAL REAL MPX_TIME TIME MPX_TOD TOD MPX_DATE DATE MPX_DT DT Input table Output MPX_□□ TBL K N Selection point N Table word number Chapter 2 LD/FBD Instructions 6F8C1226 166 ● Function · The K (selection pointer No.) data is selected from N word data specified with input table TBL and result is output. · Table word number may be from one to 256. When the table word number is 0, the result is the top data of the input table. · Direct I/O variable cannot be specified for the input table. Pointer 0 1 2 3 4 1234 2345 3456 4567 5678 Input table N word N=5 Selection point K=3 Output 4567 ● Program example [LD/FBD language notation] ARRAY1 LD MPX_INT TBL K N SAMPLE1 2 LD SAMPLE2 6 LD SAMPLE3 -200 ST Selection point No. 0 1 2 -100 100 -200 -200 Result K=2 3 200 4 -300 5 300 [ST language notation] SAMPLE3 := MPX_INT( ARRAY1, SAMPLE1, SAMPLE2); · From the six input table specified with variable ARRAY1, “-200” which is the K data (specified by selection pointer No. K=2 in SAMPLE1) is stored in SAMPLE3. ● Error information · When the input table exceeds the variable area, the multiplex of table data is not processed and the data boundary is exceeded. · If table word number N exceeds 256, N is limited to 256. · When selection point No. K ≥ Table word number, operation is performed with K limited to (Table word number-1). Also, the specific register table operation error flag is set TRUE(ON). · The following operation is performed when direct I/O variable is specified for the input table: Controller Action Integrated Controller V series S Controller Error flag is set to TRUE(ON) and the result is 0. Unified Controller nv series Error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 167 2.9 Type Conversion No. Instruction Remarks INT_TO_DINT INT_TO_UINT DINT_TO_INT DINT_TO_UINT UINT_TO_INT 1 Integer-Integer Conversion UINT_TO_DINT INT_TO_REAL DINT_TO_REAL 2 Integer-Real Numbers Conversion UINT_TO_REAL INT_TO_WORD INT_TO_DWORD DINT_TO_WORD DINT_TO_DWORD UINT_TO_WORD 3 Integer-Bit String Conversion UINT_TO_DWORD INT_TO_BCD_WORD INT_TO_BCD_DWORD DINT_TO_BCD_WORD DINT_TO_BCD_DWORD UINT_TO_BCD_WORD 4 Integer-BCD Conversion UINT_TO_BCD_DWORD INT_TO_TIME DINT_TO_TIME 5 Integer-Duration Conversion UINT_TO_TIME REAL_TO_INT REAL_TO_DINT 6 Real Numbers-Integer Conversion REAL_TO_UINT REAL_TO_BCD_WORD 7 Real Numbers-BCD Conversion REAL_TO_BCD_DWORD 8 Real Numbers-Duration Conversion REAL_TO_TIME WORD_TO_INT WORD_TO_DINT WORD_TO_UINT DWORD_TO_INT DWORD_TO_DINT 9 Bit String-Integer Conversion DWORD_TO_UINT WORD_TO_DWORD 10 Bit String-Bit String Conversion DWORD_TO_WORD WORD_BCD_TO_INT WORD_BCD_TO_DINT WORD_BCD_TO_UINT DWORD_BCD_TO_INT DWORD_BCD_TO_DINT 11 BCD-Integer Conversion DWORD_BCD_TO_UINT Chapter 2 LD/FBD Instructions 6F8C1226 168 No. Instruction Remarks WORD_BCD_TO_REAL 12 BCD-Real Numbers Conversion DWORD_BCD_TO_REAL WORD_BCD_TO_TIME 13 BCD-Duration Conversion DWORD_BCD_TO_TIME TIME_TO_INT TIME_TO_DINT 14 Duration-Integer Conversion TIME_TO_UINT 15 Duration-Real Numbers Conversion TIME_TO_REAL TIME_TO_BCD_WORD 16 Duration-BCD Conversion TIME_TO_BCD_DWORD 17 Truncation TRUNC 18 Sign Negative NEG 19 DEG-RAD Conversion DEG_TO_RAD 20 RAD-DEG Conversion RAD_TO_DEG BIN_INT_P PCS compatible instruction 21 BIN Conversion BIN_DINT_P PCS compatible instruction DT_TO_TOD 22 Time Data Type Conversion DT_TO_DATE 23 Concatenate Time Data CONCAT_D_TOD 24 ASCII-HEX Conversion ATOH_T T compatible instruction 25 HEX-ASCII Conversion HTOA_T T compatible instruction 26 ASCII-Real Numbers Conversion ASC_TO_REAL 27 Real Numbers-ASCII Conversion REAL_TO_ASC 28 ASCII (decimal)-Double Integer Conversion ASCDEC_TO_DINT 29 ASCII (hexadecimal)-Double Integer Conversion ASCHEX_TO_DINT 30 Double Integer-ASCII (decimal) Conversion DINT_TO_ASCDEC 31 Double Integer-ASCII (hexadecimal) Conversion DINT_TO_ASCHEX 32 Array-String Conversion ARRAY_TO_STRING 33 String-Array Conversion STRING_TO_ARRAY 34 Tag Number Conversion TO_INDEX 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 169 Integer-Integer Conversion Type Conversion Integer—Integer Conversion LD/FBD language notation EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := □□ _TO_ □□ (Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input Output — See below — Output Input Output □□_TO_□□ Input Symbol( □□ ) Output INT INT_TO_DINT INT INT INT_TO_UINT INT DINT DINT_TO_INT DINT DINT DINT_TO_UINT DINT UNIT UINT_TO_INT UNIT UNIT UINT_TO_DINT UNIT Input Output □□_TO_□□ Chapter 2 LD/FBD Instructions 6F8C1226 170 ● Function · The entered integer data is converted to specified integer data. · The conversion range and limits are shown below: Instruction Input Output Limit INT_TO_DINT -32768 to 32767 -32768 to 32767 — 0 to 32767 0 to 32767 — INT_TO_UINT Input<0 0 ○ -32768 to 32767 -32768 to 32767 — Input<-32768 -32768 ○ DINT_TO_INT Input>32767 32767 ○ 0 to 65535 0 to 65535 — Input<0 0 ○ DINT_TO_UINT Input>65535 65535 ○ 0 to 32767 0 to 32767 — UINT_TO_INT Input>32767 32767 ○ UINT_TO_DINT 0 to 65535 0 to 65535 — ● Program example [LD/FBD language notation] ♦ Normal execution SAMPLE1 1234 LD DINT_TO_INT SAMPLE2 1234 ST · Input data “-1234” in SAMPLE1 is converted to INT and the result “-1234” is stored in SAMPLE2. ♦ Limit execution SAMPLE1 40000 LD DINT_TO_INT SAMPLE2 32768 ST · Because input data “-40000” in SAMPLE1 exceeds the valid data range for INT, the result “-32768” is stored in SAMPLE2. [ST language notation] SAMPLE2 := DINT_TO_INT(SAMPLE1); ● Error information · If the conversion result of the input data exceeds the valid range of the output data type, the limit of the output data type is output. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 171 Integer-Real Numbers Conversion Type Conversion Integer-Real Numbers Conversion LD/FBD language notation EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := □□ _TO_REAL( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — See below ○ Input Output — REAL — Output Input Output □□_TO_REAL Input Symbol( □□ _) INT INT_TO_REAL DINT DINT_TO_REAL UINT UINT_TO_REAL ● Function · The entered integer data is converted to REAL data. · If input is DINT, integer data between 16777215 and 16777215 is converted precisely to REAL. ● Program example [LD/FBD language notation] SAMPLE1 1234 LD INT_TO_REAL SAMPLE2 1234.0 ST [ST language notation] SAMPLE2 := INT_TO_REAL( SAMPLE1); · Input data “1234” in SAMPLE1 is converted to REAL and the result “1234.0” is stored in SAMPLE2. Input Output □□_TO_ REAL Chapter 2 LD/FBD Instructions 6F8C1226 172 Integer-Bit String Conversion Type Conversion Integer-Bit String Conversion LD/FBD language notation EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := □□ _TO_ □□ ( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input Output — See below — Output Input Output □□_TO_ □□ Input Symbol( □□ ) Output INT INT_TO_WORD WORD INT INT_TO_DWORD DWORD DINT DINT_TO_WORD WORD DINT DINT_TO_DWORD DWORD UNIT UINT_TO_WORD WORD UNIT UINT_TO_DWORD DWORD ● Function · The entered integer data is converted to specified bit string data. · The conversion range and limits are shown below: Instruction Input Output Limit INT_TO_WORD -32768 to 32767 16#8000 to16#7FFF — INT_TO_DWORD -32768 to 32767 16#FFFF8000 to16#00007FFF — -32768 to 32767 16#8000 to16#7FFF — Input<-32768 16#8000 ○ DINT_TO_WORD Input>32767 16#7FFF ○ DINT_TO_DWORD -2147483648 to 2147483647 16#80000000 to16#7FFFFFFF — UINT_TO_WORD 0 to 65535 16#0 to16#FFFF — UINT_TO_DWORD 0 to 65535 16#0 to16#0000FFFF — Input Output □□_TO_□□ 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 173 ● Program example [LD/FBD language notation] SAMPLE1 -1234 LD INT_TO_WORD SAMPLE2 16#FB2E ST [ST language notation] SAMPLE2 := INT_TO_WORD( SAMPLE1); · Input data “-1234” in SAMPLE1 is converted to WORD and the result 16#FB2E is stored in SAMPLE2. ● Error information · If the conversion result of the input data exceeds the valid range of the output data type, the limit of the output data type is output. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 174 Integer-BCD Conversion Type Conversion Integer-BCD Conversion LD/FBD language notation EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := □□ _TO_BCD_ □□ ( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input Output — See below — Output Input Symbol( □□ ) Output INT INT_TO_BCD_WORD WORD INT INT_TO_BCD_DWORD DWORD DINT DINT_TO_BCD_WORD WORD DINT DINT_TO_BCD_DWORD DWORD UNIT UINT_TO_BCD_WORD WORD UNIT UINT_TO_BCD_DWORD DWORD ● Function · The entered integer data is converted to BCD data. · The conversion range and limits are shown below: Instruction Input Output Limit BCD error 0 to 9999 16#0 to16#9999 — — Input<0 16#0 ○ TRUE(ON) INT_TO_BCD_WORD Input>9999 16#9999 ○ TRUE(ON) 0 to 32767 16#0 to16#32767 — — INT_TO_BCD_DWORD Input<0 16#0 ○ TRUE(ON) 0 to 9999 16#0 to16#9999 — — Input<0 16#0 ○ TRUE(ON) DINT_TO_BCD_WORD Input>9999 16#9999 ○ TRUE(ON) Input Output □□_TO_BCD_□□ Input Output □□_TO_BCD_□□ 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 175 Instruction Input Output Limit BCD error 0 to 99999999 16#0 to16#99999999 — — Input<0 16#0 ○ TRUE(ON) DINT_TO_BCD_DWORD Input>99999999 16#99999999 ○ TRUE(ON) 0 to 9999 16#0 to16#9999 — — UINT_TO_BCD_WORD Input>9999 16#9999 ○ TRUE(ON) UINT_TO_BCD_DWORD 0 to 65535 16#0 to16#65535 — — ● Program example [LD/FBD language notation] Normal execution SAMPLE1 1234 LD UINT_TO_BCD_WORD SAMPLE2 16#1234 ST · The input data “1234” in SAMPLE1 is converted to BCD and the result 16#1234 is stored in SAMPLE2. Limit execution SAMPLE1 12345 LD UINT_TO_BCD_WORD SAMPLE2 16#9999 ST · Because input data “12345” in SAMPLE1 exceeds the valid range, the result 16#9999 is stored in SAMPLE2. [ST language notation] SAMPLE2 := UINT_TO_BCD_WORD( SAMPLE1); ● Error information · If the BCD data after conversion exceeds the valid range of the output data, the conversion result is limited by: WORD: 16#0 or 16#9999 DWORD: 16#0 or 16#99999999 Also the specific register BCD error flag and error flags are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 176 Integer-Duration Conversion Type Conversion Integer-Duration Conversion LD/FBD language notation EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := □□ _TO_TIME( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — See below ○ Input Output — TIME — Output Input Output □□_TO_TIME Input Symbol( □□ _) INT INT_TO_TIME DINT DINT_TO_TIME UINT UINT_TO_TIME ● Function · The entered integer data is converted to TIME data. · Input data is converted as ms unit. ● Program example [LD/FBD language notation] SAMPLE1 1234 LD INT_TO_TIME SAMPLE2 T#1234ms ST [ST language notation] SAMPLE2 := INT_TO_TIME( SAMPLE1); · Input data “1234” in SAMPLE1 is converted to TIME and the result T#1234ms is stored in SAMPLE2. Input Output □□_TO_TIME 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 177 Real Numbers-Integer Conversion Type Conversion Real Numbers-Integer Conversion LD/FBD language notation EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := REAL_TO_ □□ ( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — REAL ○ Input Output — See below — Output Symbol(_ □□ ) Output REAL_TO_INT INT REAL_TO_DINT DINT REAL_TO_UINT UINT ● Function · The entered REAL data is converted to fixed point integer data. · Fractions are rounded according to IEC60559. 2.6 → 3 3.4 → 3 -2.4 → -2 · The range of integer data after conversion is as follows. If the conversion result exceeds this range, the limit of the output data type is output. INT conversion : -32768 to 32767 DINT conversion: : -2147483648 to 2147483647 UNIT conversion : 0 to 65535 Input Output REAL_TO_□□ Input Output REAL_TO_□□ Chapter 2 LD/FBD Instructions 6F8C1226 178 ● Program example [LD/FBD language notation] ♦ Normal execution SAMPLE1 4.567 LD REAL_TO_INT SAMPLE2 5 ST · Input data “4.567” in SAMPLE1 is converted to INT and the result “5” is stored in SAMPLE2. ♦ Limit execution SAMPLE1 54321.0 LD REAL_TO_INT SAMPLE2 32767 ST · Input data “54321.0” in SAMPLE1 is converted to INT, but the result “32767” is stored in SAMPLE2 because the valid data range of SAMPLE2 is exceeded. [ST language notation] SAMPLE2 := REAL_TO_INT( SAMPLE1); ● Error information · If the conversion result of the input data exceeds the valid range of the output data type, the limit of the output data type is output. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series When NAN is input, the result is 0. When INF is input, the result is the maximum value. Unified Controller nv series NAN and INF data are limited by the maximum value. ・ When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 179 Real Numbers-BCD Conversion Type Conversion Real Numbers-BCD Conversion LD/FBD language notation Input Output REAL_TO_BCD_□□ EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := REAL_TO_BCD_ □□ ( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — REAL ○ Input Output — See below — Output Input Output REAL_TO_BCD_□□ Symbol(_ □□ ) Output REAL_TO_BCD_WORD WORD REAL_TO_BCD_DWORD DWORD ● Function · The entered REAL data is rounded at the first decimal place and the result is converted to BCD data. · The conversion range and limits are shown below: Instruction Input Output Limit BCD error 0.0 to 9999.0 16#0 to16#9999 — — Input<0.0 16#0 ○ TRUE(ON) REAL_TO_BCD_WORD Input>9999.0 16#9999 ○ TRUE(ON) 0.0 to 99999995.0 16#0 to16#99999992 — — Input<0.0 16#0 ○ TRUE(ON) REAL_TO_BCD_DWORD Input>99999995.0 16#99999999 ○ TRUE(ON) Chapter 2 LD/FBD Instructions 6F8C1226 180 ● Program example [LD/FBD language notation] ♦ Normal execution SAMPLE1 1234.0 LD REAL_TO_BCD_WORD SAMPLE2 16#1234 ST · Converts input data “1234.0” in SAMPLE1 to BCD and stores the result 16#1234 in SAMPLE2. ♦ Limit execution SAMPLE1 12345.0 LD REAL_TO_BCD_WORD SAMPLE2 16#9999 ST · Stores the result 16#9999 in SAMPLE2 because input data “12345.0” in SAMPLE1 exceeds the valid range. [ST language notation] SAMPLE2 := REAL_TO_BCD_WORD(SAMPLE1); ● Error information · If the BCD data after conversion exceeds the valid range of the output data, the conversion result is limited by: WORD：16#0 or 16#9999 DWORD：16#0 or 16#99999999 Also, the special register BCD error flag and error flag are set to TRUE(ON). · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series When NAN is input, the result is 0. When + INF is input the result is maximum value and when - INF is input, the result is 0. BCD error flag and error flag are set to TRUE(ON). Unified Controller nv series NAN and INF data is limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 181 Real Numbers-Duration Conversion Type Conversion Real Numbers-Duration Conversion LD/FBD language notation Input Output REAL_TO_TIME EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := REAL_TO_TIME(Input ); ● Arguments Arg. Operand Type Const. Description Remarks Input — REAL ○ Input Output — TIME — Output ● Function · The entered REAL data is rounded at the first decimal place and the result is converted to TIME data. · Input data is converted as ms unit. · After conversion, the range of duration data is from T# -2147483648ms to T#2147483647ms. If the conversion result exceeds this range, the limit of the output data type is output. ● Program example [LD/FBD language notation] ♦ Normal execution SAMPLE1 4.567 LD REAL_TO_TIME SAMPLE2 T#5ms ST · Input data “4.567” in SAMPLE1 is converted to elapsed time and the result T#5ms is stored in SAMPLE2. ♦ Limit execution SAMPLE1 3.4E+20 LD REAL_TO_TIME SAMPLE2 T#2147483647ms ST · Converts input data 3.4E+20 in SAMPLE1 to elapsed time, but stores the result T#2147483647ms in SAMPLE2 because valid data range of SAMPLE2 is exceeded. [ST language notation] SAMPLE2 := REAL_TO_TIME( SAMPLE1); Chapter 2 LD/FBD Instructions 6F8C1226 182 ● Error information · If the conversion result of the input data exceeds the valid range of the output data type, the limit of the output data type is output. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series When NAN is input, the result is 0. When INF is input, the result is the maximum value. Unified Controller nv series NAN and INF data is limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 183 Bit String-Integer Conversion Type Conversion Bit String-Integer Conversion LD/FBD language notation EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := □□ _TO_ □□ ( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input Output — See below — Output Input Output □□_TO_□□ Input Symbol( □□ ) Output WORD WORD_TO_INT INT WORD WORD_TO_DINT DINT WORD WORD_TO_UINT UINT DWORD DWORD_TO_INT INT DWORD DWORD_TO_DINT DINT DWORD DWORD_TO_UINT UINT Input Output □□_TO_□□ Chapter 2 LD/FBD Instructions 6F8C1226 184 ● Function · The entered bit string data is converted to integer data. · The conversion range and limits are shown below: Instruction Input Output Limit 16#0 to16#7FFF 0 to 32767 — WORD_TO_INT 16#8000 to16#FFFF -32768 to -1 — 16#0 to16#7FFF 0 to 32767 — WORD_TO_DINT 16#8000 to16#FFFF -32768 to -1 — WORD_TO_UINT 16#0 to16#FFFF 0 to 65535 — 16#0 to16#7FFF 0 to 32767 — 16#7FFF<Input≤16#7FFFFFFF 32767 ○ 16#7FFFFFFF<Input<16#FFFF8000 -32768 ○ DWORD_TO_INT 16#FFFF8000≤Input≤16#FFFFFFFF -32768 to -1 — 16#0 to16#7FFFFFFF 0 to 2147483647 — DWORD_TO_DINT 16#80000000 to16#FFFFFFFF -2147483648 to -1 — 16#0 to16#FFFF 0 to 65535 — DWORD_TO_UINT Input>16#FFFF 0 to 65535 (low order word is treated as UINT data) ○ ● Program example [LD/FBD language notation] SAMPLE2 1234 ST WORD_TO_INT SAMPLE1 16#FB2E LD [ST language notation] SAMPLE2 := WORD_TO_INT(SAMPLE1); · The input data 16#FB2E in SAMPLE1 is converted to INT and the result “-1234” is stored in SAMPLE2. ● Error information · If the conversion result of the input data exceeds the valid range of the output data type, the limit of the output data type is output. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 185 Bit String-Bit-String Conversion Type Conversion Bit String-Bit String Conversion LD/FBD language notation EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := □□ _TO_ □□ ( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input Output — See below — Output Input Output Input Symbol( □□ ) Output WORD WORD_TO_DWORD DWORD DWORD DWORD_TO_WORD WORD ● Function · The entered bit string data is converted to specified bit string data. · The conversion range and limits are shown below: Instruction Input Output Limit WORD_TO_DWORD 16#0 to16#FFFF 16#0 to16#FFFF — 16#0 to16#FFFF 16#0 to16#FFFF — DWORD_TO_WORD Input>16#FFFF Low order 16 bits are output ○ Input Output □□_TO_□□ □□_TO_□□ Chapter 2 LD/FBD Instructions 6F8C1226 186 ● Program example [LD/FBD language notation] Normal execution SAMPLE1 16#00001234 LD DWORD_TO_WORD SAMPLE2 16#1234 ST · The input data 16#00001234 in SAMPLE1 is converted to WORD and the result “1234” is stored in SAMPLE2. Limit execution SAMPLE1 16#00012345 LD DWORD_TO_WORD SAMPLE2 16#2345 ST · Because the input data 16#00012345 in SAMPLE1 exceeds the valid data range for WORD variable, the result 16#2345 is stored in SAMPLE2. If EN is used, ENO is reset to FALSE(OFF). [ST language notation] SAMPLE2 := DWORD_TO_WORD( SAMPLE1); ● Error information · If the conversion result of the input data exceeds the valid range of the output data type, the low order 16 bits of the input data is output. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 187 BCD-Integer Conversion Type Conversion BCD-Integer Conversion LD/FBD language notation Input Output EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := □□ _BCD_TO_ □□ ( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input Output — See below — Output Input Output Input Symbol( □□ ) Output WORD WORD_BCD_TO_INT INT WORD WORD_BCD_TO_DINT DINT WORD WORD_BCD_TO_UINT UNIT DWORD DWORD_BCD_TO_INT INT DWORD DWORD_BCD_TO_DINT DINT DWORD DWORD_BCD_TO_UINT UNIT ● Function · The entered BCD data is converted to integer data. · Data between 16#A and 16#F is invalid in each digit of input data. · The conversion range and limits are shown below. The result is 0 if 16#A to16#F is present in each digit. Instruction Input Output Limit BCD error 16#0 to16#9999 0 to 9999 — — WORD_BCD_TO_INT Each digit input>16#9 0 — TRUE(ON) 16#0 to16#9999 0 to 9999 — — WORD_BCD_TO_DINT Each digit input>16#9 0 — TRUE(ON) 16#0 to16#9999 0 to 9999 — — WORD_BCD_TO_UINT Each digit input>16#9 0 — TRUE(ON) □□_BCD_TO_□□ □□_BCD_TO_□□ Chapter 2 LD/FBD Instructions 6F8C1226 188 Instruction Input Output Limit BCD error 16#0 to16#32767 0 to 32767 — — Input>16#32767 32767 ○ TRUE(ON) DWORD_BCD_TO_INT Each digit input>16#9 0 — TRUE(ON) 16#0 to16#99999999 0 to 99999999 — — DWORD_BCD_TO_DINT Each digit input>16#9 0 — TRUE(ON) 16#0 to16#65535 0 to 65535 — — Input>16#65535 65535 ○ TRUE(ON) DWORD_BCD_TO_UINT Each digit input>16#9 0 — TRUE(ON) ● Program example [LD/FBD language notation] ♦ Normal execution SAMPLE1 16#1234 LD WORD_BCD_TO_UINT SAMPLE2 1234 ST · The input data 16#00001234 in SAMPLE1 is converted to WORD and the result”1234” is stored in SAMPLE2. ♦ Invalid data input SAMPLE1 16#1A39 LD WORD_BCD_TO_UINT SAMPLE2 0 ST · Stores the result “0” in SAMPLE2 because the input data 16#1A39 in SAMPLE1 contains invalid data A. [ST language notation] SAMPLE2 := WORD_BCD_TO_UINT( SAMPLE1); ● Error information · If the input BCD data contains invalid data between 16#A and 16#F, the conversion result is “0”. Also the specific register BCD error flag and error flag are set to TRUE(ON). · If the conversion result of the input data exceeds the valid range of the output data type, the limit of the output data type is output. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 189 BCD-Real Numbers Conversion Type Conversion BCD-Real Numbers Conversion LD/FBD language notation Input Output EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := □□ _BCD_TO_REAL( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — See below ○ Input Output — REAL — Output Input Output Input Symbol( □□ _) WORD WORD_BCD_TO_REAL DWORD DWORD_BCD_TO_REAL ● Function · The entered BCD data is converted to REAL data. · Data between 16#A and 16#F is invalid in each digit of input data. · The conversion range is shown below. The result is 0 if 16#A to16#F is present in each digit. Instruction Input Output BCD error 16#0 to16#9999 0.0 to 9999.0 — WORD_BCD_TO_REAL Each digit input>16#9 0.0 TRUE(ON) 16#0 to16#99999999 0.0 to 100000000.0 — DWORD_BCD_TO_REAL Each digit input>16#9 0.0 TRUE(ON) □□_BCD_TO_REAL □□_BCD_TO_REAL Chapter 2 LD/FBD Instructions 6F8C1226 190 ● Program example [LD/FBD language notation] ♦ Normal execution SAMPLE1 16#1234 LD WORD_BCD_TO_REAL SAMPLE2 1234.0 ST · Input data 16#1234 in SAMPLE1 is converted to REAL and the result “1234.0” is stored in SAMPLE2. ♦ Invalid data input SAMPLE1 16#1A39 LD WORD_BCD_TO_REAL SAMPLE2 0.0 ST · Stores the result 0.0 in SAMPLE2 because the input data 16#1A39 in SAMPLE1 contains invalid data A. [ST language notation] SAMPLE2 := WORD_BCD_TO_REAL( SAMPLE1); ● Error information · If the input BCD data contains invalid data between 16#A and 16#F, the conversion result is “0”. Also, the special register BCD error flag and error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 191 BCD-Duration Conversion Type Conversion BCD-Duration Conversion LD/FBD language notation Input Output EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := □□ _BCD_TO_TIME( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — See below ○ Input Output — TIME — Output Input Output Input Symbol( □□ _) WORD WORD_BCD_TO_TIME DWORD DWORD_BCD_TO_TIME ● Function · The entered BCD data is converted to TIME data. · Input data is converted as ms unit. · Data between 16#A and 16#F is invalid in each digit of input data. · The conversion range is shown below. The result is 0 if 16#A to 16#F is present in each digit. Instruction Input Output BCD error 16#0 to16#9999 T#0ms to T#9999ms — WORD_BCD_TO_TIME Each digit input>16#9 T#0ms TRUE(ON) 16#0 to16#99999999 T#0ms to T#99999999ms — DOWRD_BCD_TO_TIME Each digit input>16#9 T#0ms TRUE(ON) □□_BCD_TO_TIME □□_BCD_TO_TIME Chapter 2 LD/FBD Instructions 6F8C1226 192 ● Program example [LD/FBD language notation] ♦ Normal execution SAMPLE1 16#1234 LD WORD_BCD_TO_TIME SAMPLE2 T#1234ms ST · Input data 16#1234 in SAMPLE1 is converted to elapsed time and the result T#1234ms is stored in SAMPLE2. ♦ Invalid data input SAMPLE1 16#1A39 LD WORD_BCD_TO_TIME SAMPLE2 T#0ms ST · Stores the result T#0ms in SAMPLE2 because the input data 16#1A39 in SAMPLE1 contains invalid data A. [ST language notation] SAMPLE2 := WORD_BCD_TO_TIME( SAMPLE1); ● Error information · If the input BCD data contains invalid data between 16#A and 16#F, the conversion result is “0”. Also the special register BCD error flag and error flag is set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 193 Duration-Integer Conversion Type Conversion Duration-Integer Conversion LD/FBD language notation Input Output EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := TIME_TO_ □□ ( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — TIME ○ Input Output — See below — Output Input Output Symbol(_ □□ ) Output TIME_TO_INT INT TIME_TO_DINT DINT TIME_TO_UINT UINT ● Function · The entered TIME data is converted to specified integer data. · Converts with output in ms unit. · The conversion range and limits are shown below: Instruction Input Output Limit -T#32768ms to T#32767ms -32768 to 32767 — Input<-T#32768ms -32768 ○ TIME_TO_INT Input>T#32767ms 32767 ○ TIME_TO_DINT -T#2147483648ms to T#2147483647ms -2147483648 to 2147483647 — T#0ms to T#65535ms 0 to 65535 — Input<T#0ms 0 ○ TIME_TO_UINT Input>T#65535ms 65535 ○ TIME _TO_□□ TIME _TO_□□ Chapter 2 LD/FBD Instructions 6F8C1226 194 ● Program example [LD/FBD language notation] ♦ Normal execution SAMPLE1 T#1234ms LD TIME_TO_INT SAMPLE2 1234 ST · Converts input data -T#1234ms in SAMPLE1 to INT and stores the result “-1234” in SAMPLE2. ♦ Limit execution SAMPLE1 T#40000ms LD TIME_TO_INT SAMPLE2 32768 ST · Stores the result “-32768” in SAMPLE2 because input data -T#40000ms in SAMPLE1 exceeds the valid data range for INT. [ST language notation] SAMPLE2 := TIME_TO_INT( SAMPLE1); ● Error information · If the conversion result of the input data exceeds the valid range of the output data type, the limit of the output data type is output. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 195 Duration-Real Numbers Conversion Type Conversion Duration-Real Numbers Conversion LD/FBD language notation Input Output TIME_TO_REAL EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := TIME_TO_REAL( Input ); ● Arguments Arg. Operand Type Const. Description Remarks Input — TIME ○ Input Output — REAL — Output ● Function · The entered TIME data is converted to REAL data. · Converts with output in ms unit. · TIME data between -T#16777215ms and T#16777215ms will be accurate when converted to REAL. ● Program example [LD/FBD language notation] SAMPLE1 T#1234ms LD TIME_TO_REAL SAMPLE2 1234.0 ST [ST language notation] SAMPLE2 := TIME_TO_REAL( SAMPLE1); · Input data T#1234ms in SAMPLE1 is converted to REAL and the result “1234.0” is stored in SAMPLE2. Chapter 2 LD/FBD Instructions 6F8C1226 196 Duration-BCD Conversion Type Conversion Duration-BCD Conversion LD/FBD language notation Input Output EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := TIME_TO_BCD_ □□ ( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — TIME ○ Input Output — See below — Output Input Output Symbol(_ □□ ) Output TIME_TO_BCD_WORD WORD TIME_TO_BCD_DWORD DWORD ● Function · The entered TIME data is converted to BCD data. · The conversion range and limits are shown below: Instruction Input Output Limit BCD error T#0ms toT#9999ms 16#0 to16#9999 — — Input<T#0ms 16#0 ○ TRUE(ON) TIME_TO_BCD_WORD Input>T#9999ms 16#9999 ○ TRUE(ON) T#0ms to T#99999999ms 16#0 to 16#99999999 — — Input<T#0ms 16#0 ○ TRUE(ON) TIME_TO_BCD_DWORD Input>T#99999999ms 16#99999999 ○ TRUE(ON) TIME _TO_BCD_□□ TIME _TO_BCD_□□ 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 197 ● Program example [LD/FBD language notation] ♦ Normal execution SAMPLE1 T#1234ms LD TIME_TO_BCD_WORD SAMPLE2 16#1234 ST · Converts input data T#1234ms in SAMPLE1 to BCD and stores the result 16#1234 in SAMPLE2. ♦ Limit execution SAMPLE1 T#12345ms LD TIME_TO_BCD_WORD SAMPLE2 16#9999 ST · Stores the result 16#9999 in SAMPLE2 because input data T#12345ms in SAMPLE1 exceeds the valid range. [ST language notation] SAMPLE2 := TIME_TO_BCD_WORD( SAMPLE1); ● Error information · If the BCD data after conversion exceeds the valid range of the output data, the conversion result is limited by: WORD： 16#0 or 16#9999 DWORD： 16#0 or 16#99999999 Also the special register BCD error flag and error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 198 Truncation Type Conversion Truncation LD/FBD language notation Input Output TRUNC_□□ EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := TRUNC_ □□ ( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — REAL ○ Input Output — See below — Output Symbol(_□□) Output TRUNC_INT INT TRUNC_DINT DINT TRUNC_UINT UINT Input Output Input Output ● Function · The entered REAL data is converted for fixed point integer data. Fractions are truncated. 2.6 → 2 -1.5 → -1 -2.4 → -2 · The range of integer data after conversion is as follows. If the conversion result exceeds this range, the limit of the output data type is output. INT conversion : -32768 to 32767 DINT conversion : -2147483648 to 2147483647 UINT conversion : 0 to 65535 TRUNC_□□ 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 199 ● Program example [LD/FBD language notation] ♦ Normal execution SAMPLE1 4.567 LD TRUNC_INT SAMPLE2 4 ST · Input data 4.567 in SAMPLE1 is converted to INT and the result “4” is stored in SAMPLE2. ♦ Limit execution SAMPLE1 54321.0 LD TRUNC_INT SAMPLE2 32767 ST · Input data 54321.0 in SAMPLE1 is converted to INT, but the result “32767” is stored in SAMPLE2 because the valid data range of SAMPLE2 is exceeded. [ST language notation] SAMPLE2 := TRUNC_INT( SAMPLE1); ● Error information · If the conversion result of the input data exceeds the valid range of the output data type, the limit of the output data type is output. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series When NAN is input, the result is 0. When INF is input, the result is the maximum value. Unified Controller nv series NAN and INF data is limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 200 Sign Negative Type Conversion Sign Negative LD/FBD language notation Input Output NEG_□□ EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := NEG_ □□ ( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input Output — See below — Output Input Symbol Output INT NEG_INT INT DINT NEG_DINT DINT REAL NEG_REAL REAL Input Output ● Function · The sign of the input data is negated and the result is output. ● Program example [LD/FBD language notation] ♦ Normal execution SAMPLE1 1234 LD NEG_INT SAMPLE2 1234 ST · The sign of the input data 1234 in SAMPLE1 is inverted and the result “-1234” is stored in SAMPLE2. NEG_□□ 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 201 ♦ Limit execution SAMPLE1 32768 LD NEG_INT SAMPLE2 32767 ST · The sign of the input data -32768 in SAMPLE1 is inverted, but the result “32767” is stored in SAMPLE2 because the valid data range of SAMPLE2 is exceeded. [ST language notation] SAMPLE2 := NEG_INT( SAMPLE1); ● Error information · If the conversion result of the input data exceeds the valid range of the output data type, the limit of the output data type is output. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. Unified Controller nv series NAN and INF data is limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 202 DEG-RAD Conversion Type Conversion DEG-RAD Conversion LD/FBD language notation Input Output DEG_TO_RAD EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := DEG_TO_RAD( Input ); ● Arguments Arg. Operand Type Const. Description Remarks Input — REAL ○ Input Output — REAL — Output ● Function · The entered angle data is converted to radian data. Output = Angle ·  / 180 ● Program example [LD/FBD language notation] SAMPLE1 90.0 LD DEG_TO_RAD SAMPLE2 1.57079 ST [ST language notation] SAMPLE2 := DEG_TO_RAD( SAMPLE1); · The input data 90 in SAMPLE1 is converted to radian and the result “1.57079” is stored in SAMPLE2. ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data is limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 203 RAD-DEG Conversion Type Conversion RAD-DEG Conversion LD/FBD language notation Input Output RAD_TO_DEG EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := RAD_TO_DEG( Input ); ● Arguments Arg. Operand Type Const. Description Remarks Input — REAL ○ Input Output — REAL — Output ● Function · The entered radian data is converted to angle data. Output = Radian data  180 /  ● Program example [LD/FBD language notation] SAMPLE1 1.57079 LD RAD_TO_DEG SAMPLE2 90.0 ST [ST language notation] SAMPLE2 := RAD_TO_DEG( SAMPLE1); · The input data “1.57079” in SAMPLE1 is converted to angle and the result “90” is stored in SAMPLE2. ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data is limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 204 BIN Conversion Type Conversion BIN Conversion PCS compatible instruction LD/FBD language notation Input Output BIN_□□_P EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := BIN_ □□ _P( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input Output — See below — Output Input Output Input Symbol(_ □□ ) Output WORD BIN_INT_P INT DWORD BIN_DINT_P DINT ● Function · The entered BCD data is converted to INT data. · The valid range of input data and the limit of output data are as follows. Input data between 16#A and 16#F are invalid. BIN_INT_P : 16#0 to 16#9999 [When each digit>9; limit each digit to 9] BIN_DINT_P : 16#0 to16#99999999 [When each digit>9; limit each digit to 9] BIN_□□_P 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 205 Instruction Input Output Limit Valid input : Each digit 16#0 to 16#9 0 to 9999 — BIN_INT_P Invalid input : Each digit > 16#9 Limit each digit: 9 ○ Valid input : Each digit 16#0 to 16#9 0 to 99999999 — BIN_DINT_P Invalid input : Each digit > 16#9 Limit each digit: 9 ○ ● Program example [LD/FBD language notation] ♦ Normal execution SAMPLE1 16#1234 LD BIN_INT_P SAMPLE2 1234 ST · The input data 16#1234 in SAMPLE1 is converted to BIN and the result “1234” is stored in SAMPLE2. ♦ Limit execution SAMPLE1 16#1A39 LD BIN_INT_P SAMPLE2 1939 ST · Stores the result “1939” in SAMPLE2 because the input data 16#1A39 in SAMPLE1 contains invalid data A. [ST language notation] SAMPLE2 := BIN_INT_P( SAMPLE1); ● Error information · If the input BCD data contains invalid data between 16#A and 16#F, the abnormal digit is limited to “9”. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 206 Time Data Type Conversion Type Conversion Time Data Type Conversion LD/FBD language notation Input Output DT_TO_□□ EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := DT_TO_ □□ ( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — T ○ Input Output — See below — Output Input Output Symbol(_ □□ ) Output DT_TO_TOD TOD DT_TO_DATE DATE ● Function · The entered DT data is converted to specified TOD data or DATE data. · Direct I/O variable cannot be specified for the input (Unified Controller nv series). ● Program example ♦ DT_TO_TOD [LD/FBD language notation] SAMPLE1 DT#1999-8-24-17:34:56 LD DT_TO_TOD SAMPLE2 TOD#17:34:56 ST [ST language notation] SAMPLE2 := DT_TO_TOD( SAMPLE1); · The time of day data is extracted from input data DT#1999-8-24-17:34:56 in SAMPLE1 and the result TOD#17:34:56 is stored in SAMPLE2. DT_TO_□□ 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 207 ♦ DT_TO_DATE [LD/FBD language notation] SAMPLE1 DT#1999-8-24-17:34:56 LD DT_TO_DATE SAMPLE2 DATE#1999-8-24 ST [ST language notation] SAMPLE2 := DT_TO_DATE( SAMPLE1); · The date data is extracted from input data DT#1999-8-24-17:34:56 in SAMPLE1 and the result DATE#1999-8-24 is stored in SAMPLE2. ● Error information · When the input exceeds the variable area, the time data type conversion is not processed and the data boundary is exceeded. · The following operation is performed if direct I/O variable is specified for the input (Unified Controller nv series): Controller Action Unified Controller nv series Error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 208 Concatenate Time Data Type Conversion Concatenate Time Data LD/FBD language notation Input 1 Output CONCAT_D_TOD Input 2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation CONCAT_D_TOD ( Input1, Input2, Output ); ● Arguments Arg. Operand Type Const. Description Remarks — DATE ○ Input1 (Date data) Input — TOD ○ Input2 (Time of day data) Output — DT — Output ● Function · The date data Input 1 is concatenated with time of day data Input 2 and the result is output. · Direct I/O variable cannot be specified for the output (Unified Controller nv series). ● Program example [LD/FBD language notation] SAMPLE3 DT#1999-8-24-17:34:56 ST CONCAT_D_TOD SAMPLE2 TOD#17:34:56 LD SAMPLE1 DATE#1999-8-24 LD [ST language notation] CONCAT_D_TOD ( SAMPLE1, SAMPLE2, SAMPLE3); · The date data DATE#1999-8-24 in SAMPLE1 is concatenated with time data TOD#17:34:56 in SAMPLE2 and the result DT#1999-8-24-17:34:56 is stored in SAMPLE3. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 209 ● Error information · When the output exceeds the variable area, concatenate time data is not processed and the data boundary is exceeded. · The following operation is performed if direct I/O variable is specified for the output- (Unified Controller nv series): Controller Action Unified Controller nv series Concatenation of time data is not executed. Error flag and table operation error flag are set to TRUE (ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 210 ASCII-HEX Conversion Type Conversion ASCII-HEX Conversion T compatible instruction LD/FBD language notation Source table Destination table ATOH_T Table size TBL N EN input Edge execution Index modification Modifier ○ ○ — ST language notation ATOH_T ( TBL, N, destination table); ● Arguments Arg. Operand Type Const. Description Remarks TBL PTR — Source table Input N UINT ○ Table size 1≤N≤64 Output — PTR — Destination table ● Function · The N word ASCII data starting at variable specified with source table TBL is converted to WORD and the result is stored in destination table. · Conversion is performed from low order byte of the source table and stored from the highest digit of the destination table. · Valid ASCII data is “0”(16#30) to “9”(16#39) and “A”(16#41) to “F”(16#46). · If the table size is odd, only the high order byte is updated in the final data of the destination table. · Table size N is the size of the source table and may be between 1 and 64. · If N=0, no conversion is performed. · Direct I/O variable cannot be specified for source table or destination table (Integrated Controller, S Controller and Unified Controller). 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 211 ● Program example [LD/FBD language notation] F 8 7 0 “B” (16#42) “A” (16#41) “1” (16#31) “0” (16#30) “3” (16#33) “2” (16#32) “5” (16#35) “4” (16#34) “7” (16#37) “6” (16#36) “9” (16#39) “8” (16#38) “F” (16#46) “E” (16#45) “D” (16#44) “C” (16#43) “1” (16#31) “0” (16#30) F 0 16#0123 16#4567 16#89AB 16#CDEF 16#01 Conversion 9 words ARRAY1 LD SAMPLE2 9 LD ATOH_T TBL N ARRAY2 ST Source table (ASCII data) ARRAY1 Destination table (WORD) ARRAY2 Because N=9, only the high order byte is updated for the final word of the destination table. Low order byte is previous value. [ST language notation] ATOH_T ( ARRAY1, SAMPLE2, ARRAY2); · The nine words ASCII data starting at source table ARRAY1 is converted to WORD and the result is stored in ARRAY2. · Because the table size is odd, only the top byte of the destination table ARRAY2[4] is updated and the low order byte retains the previous value. ● Error information · When the source table and destination table exceed the variable area, the ASCII—HEX conversion is not processed and the data boundary is exceeded. · The following operation is performed when there are invalid data (ASCII codes other than “0”to“9”and “A”to“F”): Controller Action Integrated Controller V series S Controller ASCII—HEX conversion is not executed. Error flag is set to TRUE(ON). Unified Controller nv series ASCII—HEX conversion is not executed. Error flag and ASCII data conversion error flag are set to TRUE(ON). · If table size N exceeds 64, it is limited to N=64. · The following operation is performed when direct I/O variable is specified for the source table or destination table: Controller Action Integrated Controller V series S Controller ASCII—HEX conversion is not executed. Error flag is set to TRUE(ON). Unified Controller nv series ASCII—HEX conversion is not executed. Error flag and ASCII data conversion error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 212 HEX-ASCII Conversion Type Conversion HEX-ASCII Conversion T compatible instruction LD/FBD language notation Source table Destination table HTOA_T Table size TBL N EN input Edge execution Index modification Modifier ○ ○ — ST language notation HTOA_T ( TBL, N, destination table ); ● Arguments Arg. Operand Type Const. Description Remarks TBL PTR — Source table Input N UINT ○ Table size 1≤N≤32 Output — PTR — Destination table ● Function · The N word WORD data starting at variable specified with source table TBL is converted to ASCII data and the result is stored in destination table. · Conversion is performed from top of the source table and stored from the low order byte of the destination table. · Table size N is the size of the source table and may be between 1 and 32. · If N=0, no conversion is performed. · Direct I/O variable cannot be specified for the source table or destination table (Integrated Controller, S Controller, Unified Controller). 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 213 ● Program example [LD/FBD language notation] Source table (WORD) Destination table (ASCII data) ARRAY1 ARRAY2 F 0 16#0123 16#4567 16#89AB 16#CDEF Conversion F 8 7 0 “B”(16#42) “A”(16#41) “1”(16#31) “0”(16#30) “3”(16#33) “2”(16#32) “5”(16#35) “4”(16#34) “7”(16#37) “6”(16#36) “9”(16#39) “8”(16#38) “F”(16#46) “E”(16#45) “D”(16#44) “C”(16#43) 8 words ARRAY1 LD SAMPLE2 4 LD HTOA_T TBL N ARRAY2 ST [ST language notation] HTOA_T ( ARRAY1, SAMPLE2, ARRAY2); · The four words WORD data starting at source table ARRAY1 is converted to ASCII and the result is stored in variable ARRAY2. ● Error information · When the source table and destination table exceed the variable area, HEX-ASCII conversion is not processed and the data boundary is exceeded. · If table size N exceeds 32, it is limited to N=32. · The following operation is performed if direct I/O variable is specified for the source table or destination table: Controller Action Integrated Controller V series S Controller HEX-ASCII conversion is not executed. Error flag is set to TRUE(ON). Unified Controller nv series HEX-ASCII conversion is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 214 ASCII-Real Numbers Conversion Type Conversion ASCII-Real Numbers Conversion LD/FBD language notation Input string Output ASC_TO_REAL Converted N EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := ASC_TO_REAL ( Input string, N ); ● Arguments Arg. Operand Type Const. Description Remarks — STRING — Input string Input N UINT ○ Converted characters 1≤N≤64 Output — REAL — Output ● Function · N characters from the beginning of the entered input string are converted to REAL. · The input string may be expressed in numerical or exponential format. Numerical format：123.456 Exponential format：-123.456E+2 · The valid range of converted characters is 1 ≤ N ≤ 64. If N=0, no conversion is performed. · The following characters may be converted. However, spaces are valid only when they are at the beginning of the string. A space character is also counted as one character. +, -, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, E, e, .(period), (space) · The entered character string is analyzed as follows: · Direct I/O variable cannot be specified for the input string (Integrated Controller, S Controller, Unified Controller). SP e +  Number . Number . E +  Number 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 215 ● Program example [LD/FBD language notation] ♦ When the input string is specified in numerical format: SAMPLE3 162.25 ST ASC_TO_REAL SAMPLE2 6 LD SAMPLE1 162.25 LD N · Six characters (specified by SAMPLE2) starting from the beginning of string “162.25” in SAMPLE1 are converted to REAL and the result “162.25” is stored in SAMPLE3. ♦ When the input string is specified in exponential format: SAMPLE3 0.125 ST ASC_TO_REAL SAMPLE2 7 LD SAMPLE1 12.5E-23 LD N · Seven characters (specified by SAMPLE2) starting from the beginning of string “12.5E-23” in SAMPLE1 are converted to REAL and the result “0.125” is stored in SAMPLE3. [ST language notation] SAMPLE3 := ASC_TO_REAL (SAMPLE1, SAMPLE2); ● Error information · When the input string exceeds the variable area, ASCII-real numbers conversion is not processed and the data boundary is exceeded. · If there is a character code that cannot be converted within N characters from the beginning of the input string, “0” is output as the result. · When the number of input characters is greater than the converted characters N, N is limited to the number of entered characters. · If the converted data exceeds the range of REAL data, “0” is output as the result. · If converted characters N exceeds 64, it is limited to N=64. · The following operation is performed if direct I/O variable is specified for the input string: Controller Action Integrated Controller V series S Controller Error flag is set to TRUE(ON) and the result is 0. Unified Controller nv series Error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 216 Real Numbers-ASCII Conversion Type Conversion Real Numbers-ASCII Conversion LD/FBD language notation Input data Output REAL_TO_ASC Output char SIZE Decimal characte N EN input Edge execution Index modification Modifier ○ ○ — ST language notation REAL_TO_ASC (Input data, SIZE, N, Output ); ● Arguments Arg. Operand Type Const. Description Remarks — REAL ○ Input data SIZE UINT ○ Output characters Input≥0 : 0≤SIZE≤9 Input<0 : 0≤SIZE≤10 Input N UINT ○ Decimal characters 0≤N≤7 Output — REAL — Output ● Function · The entered REAL data is converted to fixed point decimal string format specified by SIZE and N and the result is output. · SIZE specifies the number of output characters including the decimal characters N and the valid range depends on whether the input data is positive or negative. Input data ≥ 0 :0 ≤ SIZE ≤ 9 Input data < 0 :0 ≤ SIZE ≤ 10 · N specifies the number of decimal characters in the output string and the valid range is 0 ≤ N ≤ 7. Largest value that can be converted: ±9999999.0 (Positive: SIZE=9, N=1 specified, Negative: SIZE=10, N=1 specified) Smallest value that can be converted: ±0.0000001 (Positive: SIZE=9, N=7 specified, Negative: SIZE=10, N=7 specified) · If the converted result cannot be stored in the output string format specified by SIZE and N, an error flag in the specific register is set to TRUE(ON) to indicate that characters are truncated. · When SIZE=0, the result is NULL. . N SIZE · Direct I/O variable cannot be specified for the output string (Integrated Controller, S Controller, Unified Controller). 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 217 ● Program example [LD/FBD language notation] ♦ Normal execution SAMPLE4 162.2 ST REAL_TO_ASC SAMPLE2 5 LD SAMPLE1 162.25 LD SAMPLE3 1 LD SIZE N · REAL data 162.25 in SAMPLE1 is converted to string using output characters “5” in SAMPLE2 and decimal characters 1 in SAMPLE3 and the result “162.2” is stored in SAMPLE4. ♦ Abnormal execution SAMPLE4 -12.3 ST REAL_TO_ASC SAMPLE2 5 LD SAMPLE1 -12.345 LD SAMPLE3 2 LD SIZE N · REAL data -12.345 in SAMPLE1 is converted to string using output characters “5” in SAMPLE2 and decimal characters 2 in SAMPLE3 and the result “-12.3” is stored in SAMPLE4. The error flag in specific register is set to TRUE(ON) to indicate that characters are truncated. [ST language notation] REAL_TO_ASC ( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); Chapter 2 LD/FBD Instructions 6F8C1226 218 ● Error information · When the output exceeds the variable area, real numbers-ASCII conversion is not processed and the data boundary is exceeded. · If the converted result cannot be stored within SIZE, an error flag in the specific register is set to TRUE(ON) to indicate that characters are truncated. · No conversion is performed when SIZE is greater than the defined string size. · The following operation is performed when the input data is NAN: Controller Action Integrated Controller V series Not converted when NAN is input. Unified Controller nv series NAN and INF data is limited by the maximum value. · If SIZE and N specifying the output string format exceed the valid range, they are limited by the maximum valid value. · When |input data| > 9999999, input data is limited to ±9999999. · The following operation is performed when direct I/O variable is specified for the output string: Controller Action Integrated Controller V series S Controller Real Numbers-ASCII conversion is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Real Numbers-ASCII conversion is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 219 ASCII (decimal)-Double Integer Conversion Type Conversion ASCII(decimal)-Double Integer Conversion LD/FBD language notation Conversion table Output ASCDEC_TO_DINT Table size TBL N EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := ASCDEC_TO_DINT ( TBL, N ); ● Arguments Arg. Operand Type Const. Description Remarks TBL PTR — Conversion table Input N UINT ○ Table size 1≤N≤64 Output — DINT — Output ● Function · From conversion table TBL consisting of decimal ASCII data (including end code CR), the number of words specified by table size N are converted to DINT and the result is output. · Valid ASCII data are “0”(16#30) to “9”(16#39), “-”(16#2D), “+”(16#2B) and CR(16#0D). · The content of the conversion table that is subject to conversion starts with a number, “+” or “—” and ends with end code CR. · Table size N is from 1 to 64. When N=0, the result is output as 0. · The range of data to be converted is from -2147483648 to 2147483647. · The data format of the conversion table is as follows: 1) 12345678 0 “2” (16#32) “1” (16#31) 1 “4” (16#34) “3” (16#33) 2 “6” (16#36) “5” (16#35) 3 “8” (16#38) “7” (16#37) 4  CR (16#0D) 5   2) -876543210 0 “8” (16#38) “-” (16#2D) 1 “6” (16#36) “7” (16#37) 2 “4” (16#34) “5” (16#35) 3 “2” (16#32) “3” (16#33) 4 “0” (16#30) “1” (16#31) 5  CR(16#0D) 3) +135792468 0 “1” (16#31) “+” (16#2B) 1 “5” (16#35) “3” (16#33) 2 “9” (16#39) “7” (16#37) 3 “4” (16#34) “2” (16#32) 4 “8” (16#38) “6” (16#36) 5  CR (16#0D) · Direct I/O variable cannot be specified for the conversion table (Integrated Controller, S Controller, Unified Controller). Chapter 2 LD/FBD Instructions 6F8C1226 220 ● Program example [LD/FBD language notation] ♦ Normal execution SAMPLE2 -1234 ST ASCDEC_TO_DINT SAMPLE1 3 LD TBL1 LD TBL N TBL1 structure 0 "1"(16#31) "- " (16#2D) 1 "3" (16#33) "2" (16#32) 2 CR(16#0D) "4" (16#34) · Starting with conversion table TBL1, the 3 words ASCII data specified by SAMPLE1 is converted to DINT and the result “-1234” is stored in SAMPLE2. ♦ Abnormal execution SAMPLE2 0 ST ASCDEC_TO_DINT SAMPLE1 3 LD TBL1 LD TBL N TBL1 structure 0 "1" (16#31) "-" (16#2D) 1 "3" (16#33) "2" (16#32) 2 "5" (16#35) "4" (16#34) · Because no CR code is detected when converting the 3 words ASCII data specified by SAMPLE1 starting with conversion TBL1 to DINT, the result “0” is stored in SAMPLE2 and the special register error flag is set to TRUE(ON). [ST language notation] SAMPLE2 := ASCDEC_TO_DINT (TBL1, SAMPLE1); ● Error information · When the conversion table exceeds the variable area, ASCII (decimal) -double integer conversion is not processed and the data boundary is exceeded. · The following operation is performed if an ASCII code other than the specified character is present before the CR code, if “+” or “-” is present anywhere other than the beginning of data, or if the CR code is not present. Controller Action Integrated Controller V series S Controller Result is 0. Error flag is set to TRUE(ON). Unified Controller nv series Result is 0. Error flag and ASCII data conversion error flag are set to TRUE(ON). 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 221 · The following operation is performed if the conversion result exceeds the maximum value of DINT type. Controller Action Integrated Controller V series S Controller Result is the limit value. Error flag is set to TRUE(ON). Unified Controller nv series Result is the limit value. Error flag and ASCII data conversion error flag are set to TRUE(ON). · If table size exceeds 64, it is limited to N=64. · The following operation is performed when direct I/O variable is specified for the conversion table: Controller Action Integrated Controller V series S Controller Error flag is set to TRUE(ON) and the result is 0. Unified Controller nv series Error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 222 ASCII(Hexadecimal) -Double Integer Conversion Type Conversion ASCII (Hexadecimal) -Double Integer Conversion LD/FBD language notation Conversion table Output ASCHEX_TO_DINT Table size TBL N EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := ASCHEX_TO_DINT ( TBL, N ); ● Arguments Arg. Operand Type Const. Description Remarks TBL PTR — Conversion table Input N UINT ○ Table size 1N≤64 Output — DINT — Output ● Function · From conversion table TBL consisting of hexadecimal ASCII data (including end code CR), the numbers of words specified by table size N are converted to DINT and the result is output. · Valid ASCII data are as follows: “0” (16#30) to “9” (16#39), “A”(16#41) to “F”(16#46), “a”(16#61) to “f”(16#66) and CR(16#0D) · The content of the conversion table that is subject to conversion starts with a number, “A” to “F”, or “a” to “f” and ends with end code CR. · Table size N is from 1 to 64. When N=0, the result is output as 0. · The data to be converted is from 0 to FFFFFFFF. · The data format of the conversion table is as follows: 1) 12345678 0 “2” (16#32) “1” (16#31) 1 “4” (16#34) “3” (16#33) 2 “6” (16#36) “5” (16#35) 3 “8” (16#38) “7” (16#37) 4  CR (16#0D) 5   2) ABCDef01 0 “B” (16#42) “A” (16#41) 1 “D” (16#44) “C” (16#43) 2 “f” (16#66) “e” (16#65) 3 “1” (16#31) “0” (16#30) 4  CR (16#0D) 5   · Direct I/O variable cannot be specified for the conversion table (Integrated Controller, S Controller, Unified Controller). 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 223 ● Program example [LD/FBD language notation] ♦ Normal execution SAMPLE2 109364 ST ASCHEX_TO_DINT SAMPLE1 3 LD TBL1 LD TBL N TBL１ structure 0 "A" (16#41) "1" (16#31) 1 "3" (16#33) "B" (16#42) 2 CR(16#0D) "4" (16#34) · Starting with conversion table TBL1, the 3 words ASCII data specified by SAMPLE1 is converted to DINT and the result “109364” is stored in SAMPLE2. ♦ Abnormal execution SAMPLE2 0 ST ASCHEX_TO_DINT SAMPLE1 3 LD TBL1 LD TBL N TBL1 structure 0 "1" (16#31) "0" (16#30) 1 "3" (16#33) "2" (16#32) 2 "5" (16#35) "4" (16#34) · Because no CR code is detected when converting the 3 words ASCII data specified by SAMPLE1 starting with conversion TBL1 to DINT, the result “0” is stored in SAMPLE2 and the special register error flag is set to TRUE(ON). [ST language notation] SAMPLE2 := ASCHEX_TO_DINT( TBL1, SAMPLE1); ● Error information · When the conversion table exceeds the variable area, ASCII(hexadecimal)-double integer conversion is not processed and the data boundary is exceeded. · The following operation is performed if an ASCII code other than the specified character is present before the CR code or if the CR code is not present: Controller Action Integrated Controller V series S Controller Result is 0. Error flag is set to TRUE(ON). Unified Controller nv series Result is 0. Error flag and ASCII data conversion error flag are set to TRUE(ON). Chapter 2 LD/FBD Instructions 6F8C1226 224 · The following operation is performed if the conversion result exceeds the maximum value of DINT type: Controller Action Integrated Controller V series S Controller Result is the limit value. Error flag is set to TRUE(ON). Unified Controller nv series Result is the limit value. Error flag and ASCII data conversion error flag are set to TRUE(ON). · If the table size exceeds 64, it is limited to N=64. · The following operation is performed if direct I/O variable is specified for the conversion table: Controller Action Integrated Controller V series S Controller Error flag is set to TRUE(ON) and the result is 0. Unified Controller nv series Error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 225 Double Integer-ASCII (decimal) Conversion Type Conversion Double Integer-ASCII (decimal) Conversion LD/FBD language notation Conversion Destination DINT_TO_ASCDEC Table size IN N EN input Edge execution Index modification Modifier ○ ○ — ST language notation DINT_TO_ASCDEC ( IN, N, Destination table ); ● Arguments Arg. Operand Type Const. Description Remarks IN DINT — Conversion data Input N UINT ○ Table size 1≤N≤64 Output — PTR — Destination table ● Function · Conversion data IN is converted to decimal ASCII data and the result is output with end code CR appended at the end of converted ASCII data. Also, the number of converted character codes is output to index register XL. (XL contains the number of character codes including the end code CR. · Table size N is from 1 to 64. No operation is performed when N=0. · The range of data to be converted is from -2147483648 to 2147483647. · The data format of the destination table is as follows: 1) 1234567890 0 "2" (16#32) "1" (16#31) 1 "4" (16#34) "3" (16#33) 2 "6" (16#36) "5" (16#35) 3 "8" (16#38) "7" (16#37) 4 "0" (16#30) "9" (16#39) 5  CR(16#0D) 2) -876543210 0 "8" (16#38) "-" (16#2D) 1 "6" (16#36) "7" (16#37) 2 "4" (16#34) "5" (16#35) 3 "2" (16#32) "3" (16#33) 4 "0" (16#30) "1" (16#31) 5  CR(16#0D) · Direct I/O variable cannot be specified for the destination table (Integrated Controller, S Controller, Unified Controller). Chapter 2 LD/FBD Instructions 6F8C1226 226 ● Program example [LD/FBD language notation] ♦ Normal execution TBL1 ST DINT_TO_ASCDEC SAMPLE2 3 LD SAMPLE1 -1234 LD IN N TBL1 structure 0 "1" (16#31) "-" (16#2D) 1 "3" (16#33) "2" (16#32) 2 CR(16#0D) "4" (16#34) · Content -1234 of conversion table SAMPLE1 is converted to ASCII (decimal) and the result is stored in a 3 words area specified by SAMPLE2 starting from destination table TBL1. The number of characters “6” is stored in index register XL. ♦ Abnormal execution TBL1 ST DINT_TO_ASCDEC SAMPLE2 3 LD SAMPLE1 -12345 LD IN N TBL1 structure 0 "1" (16#31) "4" (16#34) 1  CR(16#0D) 2   Content of TBL1 is unchanged. · Because the content of conversion data SAMPLE1 cannot be converted to ASCII (decimal) and stored in 3 words area specified by SAMPLE2 and starting with destination table TBL1 (four words are required), the contents of storage destination table TBL1 and index register XL are unchanged. Also, the special register error flag is set to TRUE(ON). [ST language notation] DINT_TO_ASCDEC ( SAMPLE1, SAMPLE2, TBL1); 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 227 ● Error information · When the destination table exceeds the variable area, the double integer-ASCII (decimal) conversion is not processed and the data boundary is exceeded. · The following operation is performed if the conversion result cannot be stored in area with number of words specified by “N”: Controller Action Integrated Controller V series S Controller Destination table and index register XL are not updated. Error flag is set to TRUE(ON). Unified Controller nv series Destination table and index register XL are not updated. Error flag and ASCII data conversion error flag are set to TRUE(ON). · If table size exceeds 64, it is limited to N=64. · The following operation is performed if direct I/O is specified for the destination table: Controller Action Integrated Controller V series S Controller Double integer-ASCII (decimal) conversion is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Double integer-ASCII (decimal) conversion is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 228 Double Integer-ASCII (hexadecimal) Conversion Type Conversion Double Integer-ASCII (hexadecimal) Conversion LD/FBD language notation Conversion Destination table DINT_TO_ASCHEX Table size IN N EN input Edge execution Index modification Modifier ○ ○ — ST language notation DINT_TO_ASCHEX ( IN, N, Destination table ); ● Arguments Arg. Operand Type Const. Description Remarks IN DINT — Conversion data Input N UINT ○ Table size 1≤N≤64 Output — PTR — Destination table ● Function · Conversion data IN is converted to hexadecimal ASCII data and the result is output with end code CR appended at the end of converted ASCII data. Also, the number of converted character codes is output to index register XL (XL contains the number of character codes including the end code CR). · Table size N is from 1 to 64. No operation is performed when N=0. · The range of data to be converted is from -2147483648 to 2147483647. · The data format of the storage destination table is as follows: 1) 305419896 0 "2" (16#32) "1" (16#31) 1 "4" (16#34) "3" (16#33) 2 "6" (16#36) "5" (16#35) 3 "8" (16#38) "7" (16#37) 4 0 CR(16#0D) 5   2) -87654321 0 "A" (16#41) "F" (16#46) 1 "6" (16#36) "C" (16#43) 2 "0" (16#30) "8" (16#38) 3 "F" (16#46) "4" (16#34) 4 0 CR(16#0D) 5   · Direct I/O variable cannot be specified for the destination table (Integrated Controller, S Controller, Unified Controller). 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 229 ● Program example [LD/FBD language notation] ♦ Normal execution TBL1 ST DINT_TO_ASCHEX SAMPLE2 3 LD SAMPLE1 332340 LD IN N TBL1 structure 0 "1" (16#31) "5" (16#35) 1 "3" (16#33) "2" (16#32) 2 CR(16#0D) "4" (16#34) · Content 332340 of conversion table SAMPLE1 is converted to ASCII (hexadecimal) and the result is stored in a 3 words area specified by SAMPLE2 starting from destination table TBL1. The number of characters “6” is stored in index register XL. ♦ Abnormal execution TBL1 ST DINT_TO_ASCHEX SAMPLE2 2 LD SAMPLE1 4660 LD IN N TBL1 structure 0 "1" (16#31) "4" (16#34) 1  CR(16#0D) 2   Content of TBL1 is unchanged. · Because the content of conversion data SAMPLE1 cannot be converted to ASCII (hexadecimal) and stored in 2 words area specified by SAMPLE2 and starting with destination table TBL1 (three words are required), the contents of destination table TBL1 and index register XL are unchanged. Also, the special register error flag is set to TRUE(ON). [ST language notation] DINT_TO_ASCHEX ( SAMPLE1, SAMPLE2, TBL1); ● Error information · When the destination table exceeds the variable area, the double integer-ASCII (hexadecimal) conversion is not processed and the data boundary is exceeded. · The following operation is performed if the conversion result cannot be stored in area with number of words specified by “N”: Controller Action Integrated Controller V series S Controller Destination table and index register XL are not updated. Error flag is set to TRUE(ON). Unified Controller nv series Destination table and index register XL are not updated. Error flag and ASCII data conversion error flag are set to TRUE(ON). Chapter 2 LD/FBD Instructions 6F8C1226 230 · if the table size exceeds 64, it is limited to N=64. · The following operation is performed when direct I/O is specified for the destination table: Controller Action Integrated Controller V series S Controller Double integer-ASCII (hexadecimal) conversion is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Double integer-ASCII (hexadecimal) conversion is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 231 Array-String Conversion Type Conversion Array-String Conversion LD/FBD language notation Array data Destination string variable ARRAY_TO_STRING Table size IN N EN input Edge execution Index modification Modifier ○ ○ — ST language notation ARRAY_TO_STRING ( IN, N, Destination string variable ); ● Arguments Arg. Operand Type Const. Description Remarks IN PTR — Array data Input N UINT ○ Table size 1≤N≤129 Output — STRING — Destination string variable ● Function · An N word shift JIS character code starting from input array data IN is output as STRING. · The data to be converted is N words starting from IN and ends with CR code (16#0D). · The table size N indicates the conversion size of the array data. No operation is performed when N=0. · The range of table size N is from 1 to 129 (up to 256 bytes + CR code). · The data formats of the source and destination table are as follows: 0 1 2 3 4 5 “2” (16#32) “1” (16#31) “4” (16#34) “3” (16#33) “6” (16#36) “5” (16#35) “8” (16#38) “7” (16#37) CR (16#0D)   0 1 2 3 4 5 “8” (16#38) “-” (16#2D) “6” (16#36) “7” (16#37) “4” (16#34) “5” (16#35) “2” (16#32) “3” (16#33) “CR” (16#0D) “1” (16#31)   0 1 2 3 4 5 “2” (16#32) “1” (16#31) “4” (16#34) “3” (16#33) “6” (16#36) “5” (16#35) “8” (16#38) “7” (16#37) 41    STRING length=8 VAR length=6 7 6 0 1 STRING length=9 VAR length=6 2 3 4 5 6 7 “8” (16#38) “-” (16#2D) “6” (16#36) “7” (16#37) “4” (16#34) “5” (16#35) “2” (16#32) “3” (16#33)  “1” (16#31)   Ex. when character string is declared as follows： Var. Data type Dec. A STRING [12] VAR <Source> <Destination> Character code storage area word count as STRING [12] Number of Stored character Stored character codes 1) 12345678 2) -87654321 N=5 N=5 · Direct I/O variable cannot be specified for the input string and destination string (Integrated Controller, S Controller, Unified Controller). Chapter 2 LD/FBD Instructions 6F8C1226 232 ● Program example [LD/FBD language notation] SAMPLE2 ST ARRAY_TO_STRING SAMPLE1 3 LD TBL1 LD IN N TBL1 structure 0 "1" (16#31) "5" (16#35) 1 "3" (16#33) "2" (16#32) 2 CR(16#0D) "4" (16#34) <Variable declaration> Variable Data type Dec. SAMPLE2 STRING [12] VAR SAMPLE2 result 0 "1" (16#31) "5" (16#35) 1 "3" (16#33) "2" (16#32) 2  "4" (16#34) String length=5 VAR length=6 3 4   5   6   7 3 "7" (16#37) "6" (16#36) [ST language notation] ARRAY_TO_STRING( TBL1, SAMPLE1, SAMPLE2); · Starting with source array data TBL1, 3 words array data specified by SAMPLE1 is stored in STRING SAMPLE2. The data up to the end code CR in the source are converted. ● Error information · When the array data and destination string exceed the variable area, the array—string conversion is not processed and the data boundary is exceeded. · If the source data cannot be stored in the destination STRING variable (INT((number of character codes up to CR+1)/2) > VAR length), the result is unchanged. · If there is no CR code in the N word array starting with the source data, the result is unchanged (data format error). · If the array data contains invalid 2 byte character code, it is replaced with “??” in the result. · If N>129, the operation is limited to N=129. · The following operation is performed when direct I/O variable is specified for the source array and output string. Controller Action Integrated Controller V series S Controller Array—string conversion is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Array—string conversion is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 233 String-Array Conversion Type Conversion String-Array Conversion LD/FBD language notation Input string Destination array STRING_TO_ARRAY Converted characters IN L P Start of converted characters EN input Edge execution Index modification Modifier ○ ○ — ST language notation STRING_TO_ARRAY ( IN, L, P, Destination array ); ● Arguments Arg. Operand Type Const. Description Remarks IN STRING — Input string L UINT ○ Converted characters Input P UINT ○ Start of converted characters Output — PTR — Destination array ● Function · L character codes from the P character of the input string IN are stored in the specified array. · CR code (16#0D) is appended at the end of the converted character code. · No operation is performed when L=0. · The data formats of the input string and destination are as follows: 0 1 2 3 4 5 “3” (16#33) “2” (16#32) “5” (16#35) “4” (16#34)  CR (16#0D)       0 1 2 3 4 5 “6” (16#36) “7” (16#37) “4” (16#34) “5” (16#35) CR (16#0D) “3” (16#33)       0 1 2 3 4 5 “2” (16#32) “1” (16#31) “4” (16#34) “3” (16#33) “6” (16#36) “5” (16#35) “8” (16#38) “7” (16#37)     STRING length=8 VAR length=6 7 6 0 1 STRING length=9 VAR length=6 2 3 4 5 6 7 “8” (16#38) “-” (16#2D) “6” (16#36) “7” (16#37) “4” (16#34) “5” (16#35) “2” (16#32) “3” (16#33)  “1” (16#31)   Ex. when string variable is declared as follows: Var. Data type Dec. A STRING[12] VAR <Input string> <Destination array> Character code storage area words as STRING[12] Number of Stored character Stored character code 1) “12345678” 2) “-87654321” When L=4, P=2 When L=5, P=3 · Direct I/O variable cannot be specified for the input string and destination array (Integrated Controller, S Controller, Unified Controller). Chapter 2 LD/FBD Instructions 6F8C1226 234 ● Program example [LD/FBD language notation] TBL1 ST STRING_TO_ARRAY SAMPLE2 3 LD SAMPLE1 LD IN L TBL1 result 0 "1" (16#31)  1 "3" (16#33) "2" (16#32) 2 CR(16#0D)  SAMPLE1 structure 0 "1" (16#31) "5" (16#35) 1 "3" (16#33) "2" (16#32) 2  "4" (16#34) String length=5 VAR length=6 3 4   5   6   7 3   SAMPLE3 2 LD P <Variable declaration> Variable Data type Dec. SAMPLE1 STRING [12] VAR [ST language notation] STRING_TO_ARRAY ( SAMPLE1, SAMPLE2, SAMPLE3, TBL1); · In the source input string SAMPLE1, 3 characters specified by SAMPLE2 from character start position 2 specified by SAMPLE3 are output to destination array TBL1 with end code CR appended. ● Error information · When the input string and destination array exceed the variable area, the string—array conversion is not processed and the data boundary is exceeded. · When the conversion character position P=0, L characters from the beginning are stored in the array. · When conversion character position P > storage character count, only CR code is stored in the array. · The following operation is performed when direct I/O variable is specified for the input string and destination array: Controller Action Integrated Controller V series S Controller String—array conversion is not executed. Error flag is set to TRUE(ON). Unified Controller nv series String—array conversion is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO is reset to FALSE(OFF) when the above error occurs. 2.9 Type Conversion Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 235 Tag Number Conversion Type Conversion Tag Number Conversion LD/FBD language notation Tag variable Tag TO_INDEX Tag type TAG TYPE EN input Edge execution Index modification Modifier ○ ○ — ST language notation Tag number := TO_INDEX ( TAG, TYPE ); ● Arguments Arg. Operand Type Const. Description Remarks TAG PTR — Tag variable (parameter) Input TYPE UINT ○ Tag type 0 : PV､ 1 : LP､ 2 : PB､ 3 : SQ Output — DINT — Tag number ● Function · The variable specified with tag variable TAG is converted to an array number within the type specified with tag type TYPE, and the result is output. · The range of the tag type is from 0 to 3 (from 0 to 2 for the MCS type tag controller (model1000) because SQ is not included. · Direct I/O variable cannot be specified for the tag variable. · Array type notation (e.g. PV_PARA[0]) and Tag No. notation (e.g. FIC101) can be specified for tag variable. · This instruction is useful when processes using tags are standardized (user FB) and tag variables are switched. For details, refer to "Program example”. ● Note · For the DS type tag controller, tag numbers of PV and LP are different, so no extension is required (e.g. FIC101. TAG). For the MCS type tag controller (model 1000), tag numbers of PV and LP are common, so Tag No. notation without extension (e.g. FIC101) is not interpreted correctly. Therefore, specify tag numbers with extension (e.g. FIC101.PVP and FIC101.ALP for LP, FIC101.TAG for PV). Chapter 2 LD/FBD Instructions 6F8C1226 236 ● Program example [LD/FBD language notation] User FB(TAG_FB) caller Variable Data type Val Dec. PV1 REAL 0 VAR PV2 REAL 0 VAR TAG_FB_1 TAG_FB VAR TAG_FB_2 TAG_FB VAR IND01.TAG: PV_PARA[0] IND02.TAG: PV_PARA[1] User FB(TAG_FB) Variable Data type Val Dec. TAG PTR VAR_INPUT OUT REAL VAR_OUTPUT IND01.RH=200.0 IND01.RL=0.0 IND01.PV=24.0 IND02.RH=100.0 IND02.RL=-100.0 IND02.PV=24.0 IND01.TAG LD TAG_FB TAG OUT PV1 12 ST TAG_FB_1 IND02.TAG LD TAG_FB TAG OUT PV2 62 ST TAG_FB_2 TAG{INT}[0] LD 0 LD TO_INDEX TAG TYPE XI ST PV_DATA[XI]. PV LD PV_PARA[XI]. RH LD PCT IN PV_RH OUT ST IND01: 0 IND02: 1 IND01: 24.0 IND02: 24.0 IND01:12.0 IND02:62.0 [ST language notation] TAG_FB_1 ( IND01.TAG); XI := TO_INDEX ( TAG{INT}[0], 0); PV1 := TAG_FB_1.OUT; OUT := PCT ( PV_DATA[XI].PV, PV_PARA[XI].RH); TAG_FB_2 (IND02.TAG); PV2 := TAG_FB_2.OUT; · The user function block (TAG_FB) that has tag No. (TAG) as an input argument is executed twice. · If IND01.TAG is specified, XI=0 in TAG_FB. If IND02.TAG is specified, XI=1. The specified tag variable is accessed in each case. ● Error information · If anything other than 0 to 3 (0 to 2 for the MCS type tag controller (model1000)) is specified for tag type TYPE, or if tag variable TAG is out of range, a table operation error occurs and the result output is "-1". · The following operation is performed if direct I/O is specified for the tag variable: Controller Action Integrated Controller V series S Controller Table operation error flag is set to TRUE(ON) and the result is -1. Unified Controller nv series Error flag and table operation error flag are set to TRUE(ON) and the result is -1. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.10 Numeric Function Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 237 2.10 Numeric Function No. Instruction Remarks 1 Square Root SQRT 2 Exponential EXP 3 Common Logarithms LOG 4 Natural Logarithms LN 5 Absolute Value ABS 6 Sine SIN 7 Cosine COS 8 Tangent TAN 9 Arcsine ASIN 10 Arccosine ACOS 11 Arctangent ATAN Chapter 2 LD/FBD Instruction 6F8C1226 238 Square Root Numeric Function Square Root LD/FBD language notation Input Output SQRT EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := SQRT( Input ); ● Arguments Arg. Operand Type Const. Description Input — REAL ○ Input Output — REAL — Output ● Function · The square root of the input REAL data is obtained and the result is output.   input input of sign Output   ● Program example [LD/FBD language notation] SAMPLE1 3.0 LD SQRT SAMPLE2 1.732051 ST [ST language notation] SAMPLE2 := SQRT (SAMPLE1); · The square root of the input data “3” in SAMPLE1 is obtained and the result “1.732051” is stored in SAMPLE2. ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.10 Numeric Function Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 239 Exponential Numeric Function Exponential LD/FBD language notation Input Output EXP EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := EXP( Input ); ● Arguments Arg. Operand Type Const. Description Input — REAL ○ Input Output — REAL — Output ● Function · The exponential of the input REAL data is obtained and the result is output.   input exp Output  88.7228 0 1 3.40282E+38 Input data Result output ● Program example [LD/FBD language notation] SAMPLE1 3.0 LD EXP SAMPLE2 20.08553 ST [ST language notation] SAMPLE2 := EXP (SAMPLE1); · The exponential of the input data “3” in SAMPLE1 is obtained and the result “20.08553” is stored in SAMPLE2. Chapter 2 LD/FBD Instruction 6F8C1226 240 ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.10 Numeric Function Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 241 Common Logarithms Numeric Function Common Logarithms LD/FBD language notation Input Output LOG EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := LOG( Input ); ● Arguments Arg. Operand Type Const. Description Input — REAL ○ Input Output — REAL — Output ● Function · The common logarithm of the input REAL data is obtained and the result is output. · If the input data is “0”, the result is “0”. Output=log( | input | ) 0 -3.40282E+38 38.53184 Input data Result output 3.40282E+38 ● Program example [LD/FBD language notation] SAMPLE1 3.0 LD LOG SAMPLE2 0.4771213 ST [ST language notation] SAMPLE2 := LOG( SAMPLE1); · The common logarithm of the input data “3” in SAMPLE1 is obtained and the result “0.4771213” is stored in SAMPLE2. Chapter 2 LD/FBD Instruction 6F8C1226 242 ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.10 Numeric Function Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 243 Natural Logarithms Numeric Function Natural Logarithms LD/FBD language notation Input Output LN EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := LN( Input ); ● Arguments Arg. Operand Type Const. Description Input — REAL ○ Input Output — REAL — Output ● Function · The natural logarithm of the input REAL data is obtained and the result is output. · If the input data is “0”, the result is “0”. Output＝ln ( | input | ) 0 -3.40282E+38 88.7228 Input data Result output 3.40282E+38 ● Program example [LD/FBD language notation] SAMPLE1 3.0 LD LN SAMPLE2 1.098612 ST [ST language notation] SAMPLE2 := LN( SAMPLE1); · The natural logarithm of the input data “3” in SAMPLE1 is obtained and the result “1.098612” is stored in SAMPLE2. Chapter 2 LD/FBD Instruction 6F8C1226 244 ● Error information · The following operation is performed if the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.10 Numeric Function Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 245 Absolute Value Numeric Function Absolute Value LD/FBD language notation Input Output ABS_□□ EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := ABS_ □□ ( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Input — ○ Input Output — See below — Output Input Symbol(_ ) Output INT ABS_INT INT DINT ABS_DINT DINT REAL ABS_REAL REAL ● Function · The absolute value of the input data is obtained and the result is output. · For INT data, the absolute value of the maximum negative value is the maximum positive value. Input data Result output ABS_INT —32768 32767 ABS_DINT —2147483648 2147483647 Input Output ABS_□□ □□ Chapter 2 LD/FBD Instruction 6F8C1226 246 ● Program example [LD/FBD language notation] SAMPLE1 -1234 LD ABS_INT SAMPLE2 1234 ST [ST language notation] SAMPLE2 := ABS_INT (SAMPLE1); · The absolute value of the input data “-1234” in SAMPLE1 is obtained and the result “1234” is stored in SAMPLE2. ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.10 Numeric Function Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 247 Sine Numeric Function Sine LD/FBD language notation Input Output SIN EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := SIN( Input ); ● Arguments Arg. Operand Type Const. Description Input — REAL ○ Input Output — REAL — Output ● Function · The sine of the input REAL data is obtained and the result is output. · The input data must be in radians. Output = Sin (input) -4 0 Input data Resul t output -2 - -3  2 3 4 1.0 -1.0 ● Program example [LD/FBD language notation] SAMPLE1 1.047198 LD SIN SAMPLE2 0.8660254 ST [ST language notation] SAMPLE2 := SIN (SAMPLE1); · The sine of the input data “1.047198” in SAMPLE1 is obtained and the result “0.8660254” is stored in SAMPLE2. Chapter 2 LD/FBD Instruction 6F8C1226 248 ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.10 Numeric Function Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 249 Cosine Numeric Function Cosine LD/FBD language notation Input Output COS EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := COS( Input ); ● Arguments Arg. Operand Type Const. Description Input — REAL ○ Input Output — REAL — Output ● Function · The cosine of the input REAL data is obtained and the result is output. · The input data must be in radians. Output = Cos (input) 0 Input data Result output -2 - -3  2 3 1.0 -1.0 ● Program example [LD/FBD language notation] SAMPLE1 1.047198 LD COS SAMPLE2 0.5 ST [ST language notation] SAMPLE2 := COS( SAMPLE1); · The cosine of the input data “1.047198” in SAMPLE1 is obtained and the result “0.5” is stored in SAMPLE2. Chapter 2 LD/FBD Instruction 6F8C1226 250 ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.10 Numeric Function Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 251 Tangent Numeric Function Tangent LD/FBD language notation Input Output TAN EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := TAN( Input ); ● Arguments Arg. Operand Type Const. Description Input — REAL ○ Input Output — REAL — Output ● Function · The tangent of the input REAL data is obtained and the result is output. · The input data must be radians. Output＝Tan (input) 0 Result output -2 - -3  2 3 4 -Infinity +Infinity Input data -4 ● Program example [LD/FBD language notation] SAMPLE1 1.047198 LD TAN SAMPLE2 1.732051 ST [ST language notation] SAMPLE2 := TAN( SAMPLE1); · The tangent of the input data “1.047198” in SAMPLE1 is obtained and the result “1.732051” is stored in SAMPLE2. Chapter 2 LD/FBD Instruction 6F8C1226 252 ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.10 Numeric Function Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 253 Arcsine Numeric Function Arcsine LD/FBD language notation Input Output ASIN EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := ASIN( Input ); ● Arguments Arg. Operand Type Const. Description Input — REAL ○ Input Output — REAL — Output ● Function · The arcsine of the input REAL data is obtained and the result is output. · The output data is in radians. · Input data must be between -1.000000 and +1.000000. · If Input data > 1.000000, Input data is assumed to be 1.000000. · If Input data < -1.000000, Input data is assumed to be -1.000000 Output = Asin (input) -2.0 0 Input data Result output -1.0 -0.5 -1.5 0.5 1.0 1.5 2.0 1.0 2.0 -1.0 -2.0 Chapter 2 LD/FBD Instruction 6F8C1226 254 ● Program example [LD/FBD language notation] SAMPLE1 0.5 LD ASIN SAMPLE2 0.5235988 ST [ST language notation] SAMPLE2 := ASIN( SAMPLE1); · The arcsine of the input data “0.5“ in SAMPLE1 is obtained and the result “0.5235988” is stored in SAMPLE2. ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.10 Numeric Function Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 255 Arccosine Numeric Function Arccosine LD/FBD language notation Input Output ACOS EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := ACOS( Input ); ● Arguments Arg. Operand Type Const. Description Input — REAL ○ Input Output — REAL — Output ● Function · The arccosine of the input REAL data is obtained and the result is output. · The output data is in radians. · Input data must be between -1.000000 and +1.000000. · If Input data > 1.000000, Input data is assumed to be 1.000000. · If Input data < -1.000000, Input data is assumed to be -1.000000. Output = Acos (input) -2.0 0 Input data Result ouput -1.0 -0.5 -1.5 0.5 1.0 1.5 2.0 3.0 4.0 2.0 1.0 Chapter 2 LD/FBD Instruction 6F8C1226 256 ● Program example [LD/FBD language notation] SAMPLE1 0.5 LD ACOS SAMPLE2 1.047198 ST [ST language notation] SAMPLE2 := ACOS( SAMPLE1); · The arccosine of the input data “0.5” in SAMPLE1 is obtained and the result “1.047198” is stored in SAMPLE2. ● Error information ・ The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.10 Numeric Function Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 257 Arctangent Numeric Function Arctangent LD/FBD language notation Input Output ATAN EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := ATAN( Input ); ● Arguments Arg. Operand Type Const. Description Input — REAL ○ Input Output — REAL — Output ● Function · The arctangent of the input REAL data is obtained and the result is output. · The output data is in radians. Output = Atan (input data) 0 Input data Result output 1.0 2.0 -1.0 -2.0 ● Program example [LD/FBD language notation] SAMPLE1 0.5 LD ATAN SAMPLE2 0.4636476 ST [ST language notation] SAMPLE2 := ATAN( SAMPLE1); · The arctangent of the input data “0.5” in SAMPLE1 is obtained and the result “0.4636476” is stored in SAMPLE2. Chapter 2 LD/FBD Instruction 6F8C1226 258 ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.11 Logical Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 259 2.11 Logical Operation No. Instruction Remarks 1 Bitwise Boolean AND AND 2 Bitwise Boolean AND of Table Data TAND 3 Bitwise Boolean OR OR 4 Bitwise Boolean OR of Table Data TOR 5 Bitwise Boolean NOT NOT 6 Bitwise Boolean NOT of Table Data TNOT 7 Bitwise Boolean XOR XOR 8 Bitwise Boolean XOR of Table Data TXOR 9 Bitwise Boolean NOT XOR of Table Data TXNR 10 Test TEST Chapter 2 LD/FBD Instructions 6F8C1226 260 Bitwise Boolean AND Logical Operation Bitwise Boolean AND LD/FBD language notation Input 1 Output AND_□□ Input 2 Input n EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := AND_ □□ ( Input1, Input2 , … , Inputn ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input1…n 2≤n≤15 Output — See below — Output Input 1…n Symbol(_ ) Output BOOL AND_BOOL BOOL WORD AND_WORD WORD DWORD AND_DWORD DWORD ● Function · The Bitwise Boolean AND of input data Input 1 to Input n is obtained and the result is output. · Up to 15 input data are allowed. · Input 1 to n must have the same data type. Input 1 Output AND_□□ Input 2 Input n □□ 2.11 Logical Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 261 ● Program example [LD/FBD language notation] SAMPLE1 16#79AF LD AND_WORD SAMPLE2 16#9584 LD SAMPLE3 16#13E6 LD SAMPLE4 16#F2E7 LD SAMPLE5 16#1084 ST 15 0 0 1 1 1 1 0 0 1 1 0 1 0 1 1 1 1 SAMPLE1 1 0 0 1 0 1 0 1 1 0 0 0 0 1 0 0 SAMPLE2 0 0 0 1 0 0 1 1 1 1 1 0 0 1 1 0 SAMPLE3 0 0 0 1 0 0 0 0 1 0 0 0 0 1 0 0 SAMPLE5 1 1 1 1 0 0 1 0 1 1 1 0 0 1 1 1 SAMPLE4 [ST language notation] SAMPLE5 := AND_WORD( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · The Bitwise Boolean AND of input data in SAMPLE1 to SAMPLE4 is obtained and the result “16#1084” is stored in SAMPLE5. Chapter 2 LD/FBD Instructions 6F8C1226 262 Bitwise Boolean AND of Table Data Logical Operation Bitwise Boolean AND of Table Data LD/FBD language notation Input table 1 Output table TAND TBL1 TBL2 N Table word number Input table 2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation TAND( TBL1, TBL2 , N, Output table ); ● Arguments Arg. Operand Type Const. Description Remarks TBL1 PTR — Input table 1 TBL2 PTR — Input table 2 Input N UINT ○ Table word number 1≤N≤64 Output — PTR — Output table ● Function · The Bitwise Boolean AND of N word data starting from Input table 1 and Input table 2 is obtained and the result is stored in the specified output table. · Table word number N must be between 1 and 64. · If table word number N is 0, no operation is performed. · Direct I/O variable cannot be specified for the input table or output table. ● Program example [LD/FBD language notation] TABLE1 LD TAND TABLE2 LD TABLE3 ST 3 LD TBL1 TBL2 N TABLE1 16#F035 16#5555 16#00FF 0 1 2 16#236B 16#AAAA 16#0F0F 0 1 2 TABLE2 16#2021 16#00AA 16#0505 0 1 2 TABLE3 [ST language notation] TAND (TABLE1, TABLE2, 3, TABLE3); · The Bitwise Boolean AND of 3 words data starting from input tables TABLE1 and TABLE2 is obtained and the result is stored in output table TABLE3. 2.11 Logical Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 263 ● Error information · When the input table and output table exceed the variable area the bitwise Boolean AND of table data is not processed and the data boundary is exceeded. · If N exceeds 64, it is limited to N=64. · The following operation is performed when direct I/O variable is specified for the input table and output table: Controller Action Integrated Controller V series S Controller Bitwise Boolean AND of table data is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Bitwise Boolean AND of table data is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 264 Bitwise Boolean OR Logical Operation Bitwise Boolean OR LD/FBD language notation Input 1 Output OR_□□ Input 2 Input n EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := OR_ □□ ( Input1, Input2 , … , Inputn ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input1 ··· n 2≤n≤15 Output — See below — Output Input 1…n Symbol(_ ) Output BOOL OR_BOOL BOOL WORD OR_WORD WORD DWORD OR_DWORD DWORD Input 1 Output OR_ Input 2 Input n ● Function · The Bitwise Boolean OR of input data Input 1 to Input n is obtained and the result is output. · Up to 15 input data are allowed. · Input 1 to n must have the same data type. □□ □□ 2.11 Logical Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 265 ● Program example [LD/FBD language notation] SAMPLE1 16#1234 LD OR_WORD SAMPLE2 16#9876 LD SAMPLE3 16#2345 LD SAMPLE4 16#8765 LD SAMPLE5 16#BF77 ST 15 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 SAMPLE1 1 0 0 1 1 0 0 0 0 1 1 1 0 1 1 0 SAMPLE2 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 1 SAMPLE3 1 0 1 1 1 1 1 1 0 1 1 1 0 1 1 1 SAMPLE5 1 0 0 0 0 1 1 1 0 1 1 0 0 1 0 1 SAMPLE4 [ST language notation] SAMPLE5 := OR_WORD( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · The Bitwise Boolean OR of input data in SAMPLE1 to SAMPLE4 is obtained and the result “16#BF77” is stored in SAMPLE5. Chapter 2 LD/FBD Instructions 6F8C1226 266 Bitwise Boolean OR of Table Data Logical Operation Bitwise Boolean OR of Table Data LD/FBD language notation Input table 1 Output table TOR TBL1 TBL2 N Table word number Input table 2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation TOR( TBL1, TBL2 , N, Output table ); ● Arguments Arg. Operand Type Const. Description Remarks TBL1 PTR — Input table 1 TBL2 PTR — Input table 2 Input N UINT ○ Table word number 1≤N≤64 Output — PTR — Output table ● Function · The Bitwise Boolean OR of N word data starting from Input table 1 and Input table 2 is obtained and the result is stored in the specified output table. · Table word number N must be between 1 and 64. · If table word number N is 0, no operation is performed. · Direct I/O variable cannot be specified for the input table or output table. 2.11 Logical Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 267 ● Program example [LD/FBD language notation] TABLE1 LD TOR TABLE2 LD TABLE3 ST 3 LD TBL1 TBL2 N TABLE1 16#F035 16#5555 16#00FF 0 1 2 16#236B 16#AAAA 16#0F0F 0 1 2 TABLE2 16#F37F 16#AAFF 16#5F5F 0 1 2 TABLE3 ＋ ＋ ＋ [ST language notation] TOR (TABLE1, TABLE2, 3, TABLE3); · The Bitwise Boolean OR of 3 words data starting from input tables TABLE1 and TABLE2 is obtained and the result is stored in output table TABLE3. ● Error information · When the input table and out table exceed the variable area, bitwise Boolean OR of table data is not processed and the data boundary is exceeded. · If N exceeds 64, it is limited to N=64 · The following operation is performed when direct I/O variable is specified for the input table and output table: Controller Action Integrated Controller V series S Controller Bitwise Boolean OR of table data is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Bitwise Boolean OR of table data is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 268 Bitwise Boolean NOT Logical Operation Bitwise Boolean NOT LD/FBD language notation Input Output NOT_□□ EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := NOT_ □□ ( Input ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input Output — See below — Output Input Symbol(_ ) Output BOOL NOT_BOOL BOOL WORD NOT_WORD WORD DWORD NOT_DWORD DWORD Input Output NOT_ ● Function · The Bitwise Boolean NOT of input data is obtained and the result is output. ● Program example [LD/FBD language notation] SAMPLE1 16#1234 LD NOT_WORD SAMPLE2 16#EDCB ST [ST language notation] SAMPLE2 := NOT_WORD(SAMPLE1); · The Bitwise Boolean NOT of input data “16#1234” in SAMPLE1 is obtained and the result “16#EDCB” is stored in SAMPLE2. □□ □□ 2.11 Logical Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 269 Bitwise Boolean NOT of Table Data Logical Operation Bitwise Boolean NOT of Table Data LD/FBD language notation Input table Output table TNOT TBL N Table word number EN input Edge execution Index modification Modifier ○ ○ — ST language notation TNOT( TBL , N, Output table ); ● Arguments Arg. Operand Type Const. Description Remarks TBL PTR — Input table Input N UINT ○ Table word number 1≤N≤1024 Output — PTR — Output table ● Function · The Bitwise Boolean NOT of N word data starting from the input table is obtained and the result is stored in the specified output table. · Table word number N must be between 1 and 1024. · If table word number N is 0, no operation is performed. · Direct I/O variable cannot be specified for input table or output table. ● Program example [LD/FBD language notation] TABLE1 LD TNOT TABLE2 ST 3 LD TBL N TABLE1 16#F035 16#5555 16#00FF 0 1 2 16#0FCA 16#FF00 16#AAAA 0 1 2 TABLE2 [ST language notation] TNOT( TABLE1, 3, TABLE2); · The Bitwise Boolean NOT of 3 words data starting from input table TABLE1 is obtained and the result is stored in output table TABLE2. Chapter 2 LD/FBD Instructions 6F8C1226 270 ● Error information · When the input table and output table exceed the variable area, the bitwise Boolean NOT of table data is not processed and the data boundary is exceeded. · If N exceeds 1024, it is limited to N=1024. · The following operation is performed when direct I/O variable is specified for the input table and output table: Controller Action Integrated Controller V series S Controller Bitwise Boolean NOT of table data is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Bitwise Boolean NOT of table data is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.11 Logical Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 271 Bitwise Boolean XOR Logical Operation Bitwise Boolean XOR LD/FBD language notation Input 1 Output XOR_□□ Input 2 Input n EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := XOR_ □□ ( Input1, Input2 , … putn ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input1 … n 2≤n≤15 Output — See below — Output Input 1 … n Symbol(_ ) Output BOOL XOR_BOOL BOOL WORD XOR_WORD WORD DWORD XOR_DWORD DWORD Input 1 Output XOR_ Input 2 Input n ● Function · The Bitwise Boolean XOR of input data Input 1 to Input n is obtained and the result is output. · Up to 15 input data are allowed. · Input 1 to n must have the same data type. □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 272 ● Program example [LD/FBD language notation] SAMPLE1 16#1234 LD XOR_WORD SAMPLE2 16#9876 LD SAMPLE3 16#2345 LD SAMPLE4 16#8765 LD SAMPLE5 16#2E62 ST 15 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 SAMPLE1 1 0 0 1 1 0 0 0 0 1 1 1 0 1 1 0 SAMPLE2 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 1 SAMPLE3 0 0 1 0 1 1 1 0 0 1 1 0 0 0 1 0 SAMPLE5 1 0 0 0 0 1 1 1 0 1 1 0 0 1 0 1 SAMPLE4 [ST language notation] SAMPLE5 := XOR_WORD( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · The Bitwise Boolean XOR of input data in SAMPLE1 to SAMPLE4 is obtained and the result “16#2E62” is stored in SAMPLE5. 2.11 Logical Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 273 Bitwise Boolean XOR of Table Data Logical Operation Bitwise Boolean XOR of Table Data LD/FBD language notation Input table 1 Output table TXOR TBL1 TBL2 N Table word number Input table 2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation TXOR( TBL1, TBL2, N, Output table ); ● Arguments Arg. Operand Type Const. Description Remarks TBL1 PTR — Input table1 TBL2 PTR — Input table2 Input N UINT ○ Table word number 1≤N≤64 Output — PTR — Output table ● Function · The Bitwise Boolean XOR of N word data starting from Input table 1 and Input table 2 is obtained and the result is stored in the specified output table. · Table word number N must be between 1 and 64. · If table word number N is 0, no operation is performed. · Direct I/O variable cannot be specified for input table or output table. Chapter 2 LD/FBD Instructions 6F8C1226 274 ● Program example [LD/FBD language notation] TABLE1 LD TXOR TABLE2 LD TABLE3 ST 3 LD TBL1 TBL2 N TABLE1 16#F035 16#5555 16#00FF 0 1 2 16#236B 16#AAAA 16#0F0F 0 1 2 TABLE2 16#D35E 16#AA55 16#5A5A 0 1 2 TABLE3    [ST language notation] TXOR (TABLE1, TABLE2, 3, TABLE3); · The Bitwise Boolean XOR of 3 words data starting from Input table TABLE1 and TABLE2 is obtained and the result is stored in output table TABLE3. ● Error information · When the input table and output table exceed the variable area, the bitwise Boolean XOR of table data is not processed and the data boundary is exceeded. · If N exceeds 64, it is limited to N=64. · The following operation is performed when direct I/O variable is specified for the input table and output table: Controller Action Integrated Controller V series S Controller Bitwise Boolean XOR of table data is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Bitwise Boolean XOR of table data is not executed. Error flag and table operation error flag are set to TRUE(ON). ・ When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.11 Logical Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 275 Bitwise Boolean NOT XOR of Table Data Logical Operation Bitwise Boolean NOT XOR of Table Data LD/FBD language notation Input table 1 Output table TXNR TBL1 TBL2 N Table word number Input table 2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation TXNR( TBL1, TBL2 , N, Output table ); ● Arguments Arg. Operand Type Const. Description Remarks TBL1 PTR — Input table1 TBL2 PTR — Input table2 Input N UINT ○ Table word number 1≤N≤64 Output — PTR — Output table ● Function · The Bitwise Boolean NOT XOR of N word data starting from Input table 1 and Input table 2 is obtained and the result is stored in the specified output table. · Table word number N must be between 1 and 64. · If table word number N is 0, no operation is performed. · Direct I/O variable cannot be specified for input table or output table. Chapter 2 LD/FBD Instructions 6F8C1226 276 ● Program example [LD/FBD language notation] TABLE1 LD TXNR TABLE2 LD TABLE3 ST 3 LD TBL1 TBL2 N TABLE1 16#F035 16#5555 16#00FF 0 1 2 16#236B 16#AAAA 16#0F0F 0 1 2 TABLE2 16#2CA1 16#55AA 16#A5A5 0 1 2 TABLE3    [ST language notation] TXNR( TABLE1, TABLE2, 3, TABLE3); · The Bitwise Boolean NOT XOR of 3 words data starting from Input table TABLE1 and TABLE2 is obtained and the result is stored in output table TABLE3. ● Error information · When the input table and output table exceed the variable area, the bitwise Boolean NOT XOR of table data is not processed and the data boundary is exceeded. · If N exceeds 64, it is limited to N=64. · The following operation is performed when direct I/O variable is specified for the input table and output table. Controller Action Integrated Controller V series S Controller Bitwise Boolean NOT XOR of table data is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Bitwise Boolean NOT XOR of table data is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.11 Logical Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 277 Test Logical Operation Test LD/FBD language notation Input 1 Output TEST_□□ Input 2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := TEST_ □□ ( Input1, Input2 ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input1, 2 Input number=2 Output — See below — Output Input 1,2 Symbol(_ ) output WORD TEST_WORD DWORD TEST_DWORD BOOL Input 1 Output TEST_ Input 2 ● Function · The Bitwise Boolean AND of input data Input 1 and Input 2 is obtained and FALSE(OFF) is output if the result is 0 and TRUE(ON) is output otherwise. · Input 1 and Input 2 must have the same data type. ● Program example [LD/FBD language notation] SAMPLE1 16#1234 LD TEST_WORD SAMPLE2 16#98C3 LD SIGNAL1 1 ST [ST language notation] SIGNAL1 := TEST_WORD( SAMPLE1, SAMPLE2); · Input data SAMPLE1 and SAMPLE2 are tested and the result TRUE(ON) is output to SIGNAL1. □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 278 2.12 Bit Operation No. Instruction Remarks 1 Shift Bits Right SHR 2 Shift Bits Left SHL 3 Rotate Bits Right ROR 4 Rotate Bits Left ROL 5 Arithmetic Shift SFA_WORD_P SFA_DWORD_P PCS compatible instruction 6 Logical Shift SFL_WORD_P SFL_DWORD_P PCS compatible instruction 2.12 Bit Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 279 Shift Bits Right Bit Operation Shift Bits Right LD/FBD language notation Input Output SHR_□□ Shift number IN N EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := SHR_ □□ ( IN, N ); ● Arguments The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks IN See below ○ Input Input N UINT ○ Shift number Output — See below — Output Input Symbol (_ ) Output WORD SHR_WORD WORD DWORD SHR_DWORD DWORD Input Output Shift number SHR_ ● Function · Right shifts the input data by shift number N and outputs the result. · Empty bits after shifting are padded with “0”. · The bit that is shifted out last is input to the specific register carry flag. · The shift number N is as follows. The data is not shifted when shift number N=0. Symbol Shift number SHR_WORD MOD(N/16) SHR_DWORD MOD(N/32) □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 280 ● Program example [LD/FBD language notation] SAMPLE1 16#9876 LD SHR_WORD IN N SAMPLE2 18 LD SAMPLE3 16#261D ST 0 is entered SAMPLE1 SAMPLE3 CF 1 F E D C B A 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 0 1 1 1 0 1 1 0 F E D C B A 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 0 1 1 1 0 1 0 0 [ST language notation] SAMPLE3 := SHR_WORD( SAMPLE1, SAMPLE2); · Right shifts the input data “16#9876” in SAMPLE1 by shift number (=MOD(18/16)) specified by SAMPLE2 and stores the result “16#261D” in SAMPLE3. The bit data TRUE(ON) shifted out last is stored in specific register carry flag. 2.12 Bit Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 281 Shift Bits Left Bit Operation Shift Bits Left LD/FBD language notation Input Output SHL_□□ IN N Shift number EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := SHL_ □□ ( IN, N ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks IN See below ○ Input Input N UINT ○ Shift number Output — See below — Output Input Symbol (_ ) Output WORD SHL_WORD WORD DWORD SHL_DWORD DWORD Input Output SHL_ IN N Shift number ● Function · Left shifts the input data by shift number N and outputs the result. · Empty bits after shifting are padded with “0”. · The bit that is shifted out last is input to the specific register carry flag. · The shift number N is as follows. The data is not shifted when shift number N=0. Symbol Shift number SHL_WORD MOD(N/16) SHL_DWORD MOD(N/32) □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 282 ● Program example [LD/FBD language notation] SAMPLE1 16#9876 LD SHL_WORD IN N SAMPLE2 18 LD SAMPLE3 16#61D8 ST 0 is entered SAMPLE1 SAMPLE3 CF 0 F E D C B A 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 0 1 1 1 0 1 1 0 F E D C B A 9 8 7 6 5 4 3 2 1 0 1 0 0 0 0 1 1 1 0 1 1 0 0 0 1 0 [ST language notation] SAMPLE3 := SHL_WORD( SAMPLE1, SAMPLE2); · Left shifts the input data “16#9876” in SAMPLE1 by shift number (=MOD(18/16)) specified by SAMPLE2 and stores the shift result “16#61D8” in SAMPLE3. The last shifted bit FALSE(OFF) is stored in specific register carry flag. 2.12 Bit Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 283 Rotate Bits Right Bit Operation Rotate Bits Right LD/FBD language notation Input Output ROR_□□ IN N Rotate number EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := ROR_ □□ ( IN, N ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks IN See below ○ Input Input N UINT ○ Rotate number Output — See below — Output Input Symbol(_ ) Output WORD ROR_WORD WORD DWORD ROR_DWORD DWORD Input Output ROR_ IN N Rotate number ● Function · Right rotates the input data by rotate number N and outputs the result. · The last bit data rotated from the least significant bit is input to the specific register carry flag. · Rotate number N is as follows. No bit is rotated if rotate number N=0. Symbol Rotate number ROR_WORD MOD(N/16) ROR_DWORD MOD(N/32) □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 284 ● Program example [LD/FBD language notation] SAMPLE1 16#9876 LD ROR_WORD IN N SAMPLE2 18 LD SAMPLE3 16#A61D ST SAMPLE1 SAMPLE3 CF １ F E D C B A 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 0 1 1 1 0 1 1 0 F E D C B A 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 0 1 1 1 0 1 0 1 CF 1 [ST language notation] SAMPLE3 := ROR_WORD( SAMPLE1, SAMPLE2); · Right rotates the input data “16#9876” in SAMPLE1 by rotate number (=MOD(18/16)) specified by SAMPLE2 and stores the rotated result “16#A61D” in SAMPLE3. The last bit data TRUE(ON) rotated from the least significant bit is stored in specific register carry flag. 2.12 Bit Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 285 Rotate Bits Left Bit Operation Rotate Bits Left LD/FBD language notation Input Output ROL_□□ IN N Rotate number EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := ROL_ □□ ( IN, N ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks IN See below ○ Input Input N UINT ○ Rotate number Output — See below — Output Input Symbol(_ ) Output WORD ROL_WORD WORD DWORD ROL_DWORD DWORD Input Output ROL_ IN N Rotate number ● Function · Rotates input data left by N bits and outputs the result. · The last bit data rotated from the most significant bit is input to specific register carry flag. · Rotate number N is as follows. No bit is rotated if rotate number N=0. Symbol Rotate number ROL_WORD MOD(N/16) ROL_DWORD MOD(N/32) □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 286 ● Program example [LD/FBD language notation] SAMPLE1 16#9876 LD ROL_WORD IN N SAMPLE2 18 LD SAMPLE3 16#61DA ST SAMPLE1 SAMPLE3 CF 0 F E D C B A 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 0 1 1 1 0 1 1 0 F E D C B A 9 8 7 6 5 4 3 2 1 0 1 0 0 0 0 1 1 1 0 1 1 0 1 0 1 0 CF 0 [ST language notation] SAMPLE3 := ROL_WORD( SAMPLE1, SAMPLE2); · Left rotates the input data “16#9876” in SAMPLE1 by rotate number (=MOD(18/16)) specified by SAMPLE2 and stores the rotated result “16#61DA” in SAMPLE3. The last bit data FALSE(OFF) rotated from the most significant bit is stored in specific register carry flag. 2.12 Bit Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 287 Arithmetic Shift Bit Operation Arithmetic Shift PCS compatible instruction LD/FBD language notation Input Output SFA_□□_P IN N Shift number EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := SFA_ □□ _P( IN, N ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks IN See below ○ Input Input N INT ○ Shift number Output — See below — Output Input Symbol(_ ) Output WORD SFA_WORD_P WORD DWORD SFA_DWORD_P DWORD Input Output SFA_ _P IN N Shift number ● Function · Arithmetic shifts the input data by shift number N and outputs the result. · If shift right is specified, the most significant bit is fixed as sign and the state of the most significant bit is inserted in most significant bit-1. · If shift left is specified, the most significant bit is fixed as sign and the bits starting from the most significant bit-1 are shifted left. · If shift left is specified, the most significant bit is fixed as sign and the bits starting from the most significant bit-1 are shifted left. Symbol Shift number Shift direction SFA_WORD_P MOD(N/16) SFA_DWORD_P MOD(N/32) N<0: Left N>0: Right □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 288 ● Program example [LD/FBD language notation] ♦ Shift right SAMPLE1 16#9876 LD SFA_WORD_P IN N SAMPLE2 18 LD SAMPLE3 16#E61D ST State of most significant bit is entered SAMPLE1 SAMPLE3 F E D C B A 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 0 1 1 1 0 1 1 0 F E D C B A 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 0 1 1 1 0 1 1 1 Fixed · Arithmetic shifts right input data “16#9876” in SAMPLE1 by shift number (=MOD(18/16)) specified by SAMPLE2 and stores the shift result 16#E61D in SAMPLE3. ♦ Shit left SAMPLE1 16#9876 LD SFA_WORD_P IN N SAMPLE2 -18 LD SAMPLE3 16#E1D8 ST 0 is entered SAMPLE1 SAMPLE3 F E D C B A 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 0 1 1 1 0 1 1 0 F E D C B A 9 8 7 6 5 4 3 2 1 0 1 0 0 0 0 1 1 1 0 1 1 0 0 0 1 1 Fixed · Arithmetic left shifts input data “16#9876” in SAMPLE1 by shift number (=MOD(18/16)) specified by SAMPLE2 and stores the shift result “16#E1D8” in SAMPLE3. [ST language notation] SAMPLE3 := SFA_WORD_P( SAMPLE1, SAMPLE2); 2.12 Bit Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 289 Logical Shift Bit Operation Logical Shift LD/FBD language notation Input Output SFL_□□_P IN N Shift number EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := SFL_ □□ _P( IN, N ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks IN See below ○ Input Input N INT ○ Shift number Output — See below — Output Input Symbol(_ ) Output WORD SFL_WORD_P WORD DWORD SFL_DWORD_P DWORD Input Output SFL_ _P IN N Shift number ● Function · Logical shifts the input data by shift number N and outputs the result. · Shift number N specifies the shift number and shift direction. No shift is performed if shift number=0. Symbol Shift number Shift direction SFL_WORD_P MOD(N/16) SHL_DWORD_P MOD(N/32) N<0: Left N>0: Right □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 290 ● Program example [LD/FBD language notation] ♦ Shift right SAMPLE1 16#9876 LD SFL_WORD_P IN N SAMPLE2 18 LD SAMPLE3 16#261D ST SAMPLE1 SAMPLE3 F E D C B A 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 0 1 1 1 0 1 1 0 F E D C B A 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 0 1 1 1 0 1 0 0 0 is entered · Logical shifts right input data “16#9876” in SAMPLE1 by shift number (=MOD(18/16)) specified by SAMPLE2 and stores the shift result “16#261D” in SAMPLE3. ♦ Shift left SAMPLE1 16#9876 LD SFL_WORD_P IN N SAMPLE2 -18 LD SAMPLE3 16#61D8 ST 0 is entered SAMPLE1 SAMPLE3 F E D C B A 9 8 7 6 5 4 3 2 1 0 1 0 0 1 1 0 0 0 0 1 1 1 0 1 1 0 F E D C B A 9 8 7 6 5 4 3 2 1 0 1 0 0 0 0 1 1 1 0 1 1 0 0 0 1 0 · Logical shifts left input data “16#9876” in SAMPLE1 by shift number (=MOD(18/16)) specified by SAMPLE2 and stores the shift result “16#61D8” in SAMPLE3. [ST language notation] SAMPLE3 := SFL_WORD_P( SAMPLE1, SAMPLE2); 2.13 Arithmetic Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 291 2.13 Arithmetic Operation No. Instruction Remarks 1 Add ADD 2 Add with Carry ADC 3 Subtract SUB 4 Subtract with Carry SBB 5 Multiply MUL 6 Divide DIV 7 Remainder MOD 8 Increment INC 9 Decrement DEC 10 Power EXPT 11 Add Time Data ADD 12 Subtract Time Data SUB 13 Multiply Time Data MUL 14 Divide Time Data DIV Chapter 2 LD/FBD Instructions 6F8C1226 292 Add Arithmetic Operation Add LD/FBD language notation Input 1 Output ADD_□□ Input 2 Input n EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := ADD_ □□ ( Input1, Input2, …, Inputn ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input1…n 2≤n≤15 Output — See below — Output Input 1 … n Symbol(_ ) Output INT ADD_INT INT DINT ADD_DINT DINT UINT ADD_UINT UINT REAL ADD_REAL REAL Input 1 Output ADD_ Input 2 Input n ● Function · Input data Input 1 to Input n are added and the result is output. · Up to 15 input data are allowed. · Input 1 to n must have the same data type. · Output = Input 1 + Input 2 +...+ Input n ● Important With ADD_REAL, if the absolute value of addend and augend differ significantly (difference in exponent  24), the result is the value of the data with larger absolute value. □□ □□ 2.13 Arithmetic Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 293 ● Program example [LD/FBD language notation] SAMPLE1 12765 LD ADD_INT SAMPLE2 -32653 LD SAMPLE3 7654 LD SAMPLE4 11234 LD SAMPLE5 -1000 ST [ST language notation] SAMPLE5 := ADD_INT( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · The input data in SAMPLE1 to SAMPLE4 are added and the result -1000 is stored in SAMPLE5. ● Error information · If an overflow occurs, the limit value is output as result. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. In case of INF input or if an overflow occurs, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 294 Add with Carry Arithmetic Operation Add with Carry LD/FBD language notation Input 1 Output ADC_□□ Input 2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := ADC_□□( Input1, Input2 ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input1,2 Output — See below — Output Input I, 2 Symbol(_ ) Output INT ADC_INT INT DINT ADC_DINT DINT Input 1 Output ADC_ Input 2 ● Function · Input data Input 1 and Input 2 are added with carry including the specific register S register carry flag and the result is output. · The carry flag is processed as follows: When there is carry from most significant bit (carry out): carry flag is set to TRUE (ON) When there is no carry from most significant bit (no carry out): carry flag is reset to FALSE (OFF) · When EN is used, ENO output is set as follows: Carry from most significant bit (carry out) or carry from most significant bit—1 to most significant bit: ENO output is reset to FALSE(OFF). · Input 1 and input 2 must have the same data type. Output=Input 1+Input 2+carry flag □□ □□ 2.13 Arithmetic Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 295 ● Program example [LD/FBD language notation] ♦ When there is no carry out (CF), or overflow (OV) and input carry flag (input CF)= FALSE(OFF) SAMPLE1 7856 LD ADC_INT SAMPLE2 2717 LD SAMPLE3 10573 ST SAMPLE1 SAMPLE2 ＋)Input CF 0 0 0 0 1 1 1 1 0 1 0 1 1 0 0 0 0 7856 0 0 0 0 1 0 1 0 1 0 0 1 1 1 0 1 2717 0 0 1 0 1 0 0 1 0 1 0 0 1 1 0 1 10573 SAMPLE3 0 0 CF OV · The input data “7856” in SAMPLE1 and “2717” in SAMPLE2 are added with carry and the result “10573” is stored in SAMPLE3. Also, the specific register carry flag is reset to FALSE(OFF). ♦ When there is carry out (CF) and overflow (OV), and input carry flag (input CF)= FALSE(OFF) SAMPLE1 -32768 LD ADC_INT SAMPLE2 -10000 LD SAMPLE3 22768 ST 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -32768 1 1 0 1 1 0 0 0 1 1 1 1 0 0 0 0 -10000 SAMPLE1 SAMPLE2 ＋) Input CF 0 0 1 0 1 1 0 0 0 1 1 1 1 0 0 0 0 22768 SAMPLE3 1 0 CF OV · The input data “-32768” in SAMPLE1 and “-10000” in SAMPLE2 are added with carry and the result “22768” is stored in SAMPLE3. Also, the specific register carry flag is set to TRUE(ON). [ST language notation] SAMPLE3 := ADC_INT( SAMPLE1, SAMPLE2); ● Error information · When EN is used, ENO output is reset to FALSE(OFF) if overflow or carry occurs. Chapter 2 LD/FBD Instructions 6F8C1226 296 Subtract Arithmetic Operation Subtract LD/FBD language notation Input 1 Output SUB_□□ Input 2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := SUB_□□( Input1, Input2 ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input1, 2 Output — See below — Output Input 1,2 Symbol(_ ) Output INT SUB_INT INT DINT SUB_DINT DINT UINT SUB_UINT UINT REAL SUB_REAL REAL Input 1 Output SUB_ Input 2 ● Function · Input data of Input1 and Input2 are subtracted and the result is output. · Input1 and Input2 must have the same data type. Output＝Input1-Input2 ● Important With SUB_REAL, if the absolute value of subtrahend and minuend differs significantly (difference in exponent  24), the result is the value of the data with larger absolute value. □□ □□ 2.13 Arithmetic Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 297 ● Program example [LD/FBD language notation] SAMPLE1 4378 LD SUB_INT SAMPLE2 2345 LD SAMPLE3 2033 ST [ST language notation] SAMPLE3 := SUB_INT( SAMPLE1, SAMPLE2); · Input data in SAMPLE1 and SAMPLE2 are subtracted and the result “2033” is stored in SAMPLE3. ● Error information · If an overflow occurs, the limit value is output as result. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. In case of INF input or if an overflow occurs, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 298 Subtract with Carry Arithmetic Operation Subtract with Carry LD/FBD language notation Input 1 Output SBB_□□ Input 2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := SBB_□□( Input1, Input2 ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input1, 2 Output — See below — Output Input 1,2 Symbol(_ ) Output INT SBB_INT INT DINT SBB_DINT DINT Input 1 Output SBB_ Input 2 ● Function · Input data Input 2 is subtracted from Input 1 with carry including the specific register carry flag and the result is output. · Carry flag is processed as follows: When there is borrow to the most significant bit (borrow in): carry flag is set to TRUE(ON). When there is no borrow to the most significant bit (no borrow in): carry flag is reset to FALSE(OFF). · When EN is used, ENO output is set as follows: · When there is borrow to the most significant bit (borrow in) or when there is borrow from the most significant bit to most significant bit-1: ENO output=FALSE(OFF). · Input 1 and input 2 must have the same data type. Output=Input 1-Input 2-carry flag □□ □□ 2.13 Arithmetic Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 299 ● Program example [LD/FBD language notation] ♦ When there is no borrow in (CF) or overflow (OV), and input carry flag (input CF)= FALSE(OFF). SAMPLE1 23648 LD SBB_INT SAMPLE2 10335 LD SAMPLE3 13313 ST 0 1 0 1 1 1 0 0 0 1 1 0 0 0 0 0 23648 0 0 1 0 1 0 0 0 0 1 0 1 1 1 1 1 10335 SAMPLE1 SAMPLE2 -) Input CF 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 1 13313 SAMPLE3 0 0 CF OV · Input data “10335” in SAMPLE2 is subtracted from “23648” in SAMPLE1 with carry and the result “13313” is stored in SAMPLE3. Also, the specific register carry flag is reset to FALSE(OFF). ♦ When there is borrow in (CF), overflow (OV), and input carry flag (input CF)= FALSE(OFF) SAMPLE1 10000 LD SBB_INT SAMPLE2 -28000 LD SAMPLE3 -27536 ST 0 0 1 0 0 1 1 1 0 0 0 1 0 0 0 0 10000 1 0 0 1 0 0 1 0 1 0 1 0 0 0 0 0 -28000 SAMPLE1 SAMPLE2 －) Input CF 0 1 0 0 1 0 1 0 0 0 1 1 1 0 0 0 0 -27536 SAMPLE3 1 0 CF OV · Input data “-28000” in SAMPLE2 is subtracted from “10000” in SAMPLE1 with carry and the result “-27536” is stored in SAMPLE3. Also, the specific register carry flag is set to TRUE(ON). [ST language notation] SAMPLE3 := SBB_INT( SAMPLE1, SAMPLE2); ● Error information · When EN is used, when borrow in or underflow occurs, ENO output is reset to FALSE(OFF). Chapter 2 LD/FBD Instructions 6F8C1226 300 Multiply Arithmetic Operation Multiply LD/FBD language notation Input 1 Output MUL_□□ Input 2 Input n EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := MUL_□□( Input1, Input2, ——, Inputn ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type. Arg. Operand Type Const. Description Remarks Input — ○ Input1 ··· n 2≤n≤15 Output — See below — Output Input 1 ··· n Symbol(_ ) Output INT MUL_INT INT DINT MUL_DINT DINT UINT MUL_UINT UINT REAL MUL_REAL REAL Input 1 Output MUL_ Input 2 Input n ● Function · Input data Input 1 to Input n are multiplied and the result is output. · Up to 15 input data are allowed. · Input 1 to n must have the same data type. Output=Input 1 * Input 2 * ··· * Input n □□ □□ 2.13 Arithmetic Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 301 ● Program example [LD/FBD language notation] SAMPLE1 12 LD MUL_INT SAMPLE2 -32 LD SAMPLE3 21 LD SAMPLE4 3 LD SAMPLE5 -24192 ST [ST language notation] SAMPLE5 := MUL_INT( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · Input data in SAMPLE1 to SAMPLE4 are multiplied and the result “-24192” is stored in SAMPLE5. ● Error information · If an overflow occurs, the limit value is output as result. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. In case of INF input or if an overflow occurs, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 302 Multiply Arithmetic Operation Multiply LD/FBD language notation Input 1 Output MUL_INT_DINT Input 2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := MUL_INT_DINT( Input1, Input2 ); ● Arguments Arg. Operand Type Const. Description Remarks Input — INT ○ Input1, 2 Output — DINT — Output ● Function · INT input data Input 1 and Input 2 are multiplied and the result is output as DINT. · The number of input data is fixed at 2. · Input 1 and input 2 must have the same data type. Output=Input 1 * Input 2 ● Program example [LD/FBD language notation] SAMPLE1 129 LD MUL_INT_DINT SAMPLE2 -3265 LD SAMPLE5 -421185 ST [ST language notation] SAMPLE5 := MUL_INT_DINT( SAMPLE1, SAMPLE2); · The input data “129” in SAMPLE1 is multiplied with “3265” in SAMPLE2 and the result “-421185” is stored in SAMPLE5. 2.13 Arithmetic Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 303 Divide Arithmetic Operation Divide LD/FBD language notation Input 1 Output DIV_□□ Input 2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := DIV_□□( Input1, Input2 ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type. Arg. Operand Type Const. Description Remarks Input — ○ Input1, 2 Output — See below — Output Input 1, 2 Symbol(_ ) Output INT DIV_INT INT DINT DIV_DINT DINT UINT DIV_UINT UINT REAL DIV_REAL REAL Input 1 Output DIV_ Input 2 ● Function · Input data Input 1 is divided with Input 2 and the result is output. · Input 1 and Input 2 must have the same data type. Output=Input 1/ Input 2 □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 304 ● Program example [LD/FBD language notation] SAMPLE1 24378 LD DIV_INT SAMPLE2 2345 LD SAMPLE3 10 ST [ST language notation] SAMPLE3 := DIV_INT( SAMPLE1, SAMPLE2); · The input data “24378” in SAMPLE1 is divided by “2345” in SAMPLE2 and the result “10” is stored in SAMPLE3. ● Error information · If divided by 0 error occurs, the limit is output as operation result. Also error flag and divide error flag are set to TRUE(ON). · If the operation result exceeds the valid data range, the limit value is output. · The following operation is performed when the input data type is REAL. Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. In case of INF input or if an overflow occurs, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.13 Arithmetic Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 305 Remainder Arithmetic Operation Remainder LD/FBD language notation Input1 Output MOD_□□ Input2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := MOD_□□( Input1, Input2 ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input1, 2 Output — See below — Output Input 1,2 Symbol(_ ) Output INT MOD_INT INT DINT MOD_DINT DINT UINT MOD_UINT UINT Input 1 Output MOD_ Input 2 ● Function · Input data Input 1 is divided by Input 2 and the remainder is output. · Input 1 and Input 2 must have the same data type. Output=MOD (Input 1/ Input 2) □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 306 ● Program example [LD/FBD language notation] SAMPLE1 24378 LD MOD_INT SAMPLE2 2345 LD SAMPLE3 928 ST [ST language notation] SAMPLE3 := MOD_INT( SAMPLE1, SAMPLE2); · The input data “24378” in SAMPLE1 is divided by “2345” in SAMPLE2 and the remainder “928” is stored in SAMPLE3. ● Error information · If divided by 0 error occurs, the remainder “0” is output as operation result. Also, error flag and divide error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.13 Arithmetic Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 307 Increment Arithmetic Operation Increment LD/FBD language notation Output INC_□□ Input_Output 1 V V Input_Output 1 EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := INC_□□( V ); ● Arguments · The following data types are supported for input/output and output arguments and the instruction symbol depends on the data type. Arg. Operand Type Const. Description Remarks I/O — — Input/Output1 Output — See below — Output Input_Output 1 Symbol(_ ) Output INT INC_INT INT DINT INC_DINT DINT UINT INC_UINT UINT REAL INC_REAL REAL Input_ Output 1 Output INC_ V V Input_Output 1 ● Function · The input/output data Input_Output 1 is incremented and the result is output. · The result is not limited even if the result exceeds the data range. · Direct I/O variable cannot be specified for Input/Output 1 (Unified Controller). Output=Input_Output 1+1 □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 308 ● Program example [LD/FBD language notation] SAMPLE1 999 LD INC_INT V V SAMPLE1 ST SAMPLE2 1000 ST · The input data “999” in SAMPLE1 is incremented and the result “1000” is stored in SAMPLE1 and SAMPLE2. SAMPLE1 32767 LD INC_INT V V SAMPLE1 ST SAMPLE2 -32768 ST · The input data “32767” in SAMPLE1 is incremented and the result “-32768” is stored in SAMPLE1 and SAMPLE2. [ST language notation] SAMPLE2 := INC_INT( SAMPLE1 ); ● Error information ・ The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · The following operation is performed when direct I/O variable is specified for the Input/Output1: Controller Action Unified Controller nv series Increment is not executed and the result is 0. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.13 Arithmetic Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 309 Decrement Arithmetic Operation Decrement LD/FBD language notation Output DEC_□□ V V Input_Output 1 Input_Output 1 EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := DEC_□□( V ); ● Arguments · The following data types are supported for input/output and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input/ Output — — Input/Output1 Output — See below — Output Input_Output 1 Symbol(_ ) Output INT DEC_INT INT DINT DEC_DINT DINT UINT DEC_UINT UINT REAL DEC_REAL REAL Input_Output 1 Output DEC_ V V Input_Output 1 ● Function · The input/output data Input_Output 1 is decremented and the result is output. · The result is not limited even if the result exceeds the data range. · Direct I/O variable cannot be specified for the Input/Output1 (Unified Controller). Output=Input_Output 1 - 1 □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 310 ● Program example [LD/FBD language notation] SAMPLE1 999 LD DEC_INT V V SAMPLE1 ST SAMPLE2 998 ST · The input data “999” in SAMPLE1 is decremented and the result “998” is stored in SAMPLE1 and SAMPLE2. SAMPLE1 -32768 LD DEC_INT V V SAMPLE1 ST SAMPLE2 32767 ST · The input data “-32768” in SAMPLE1 is decremented and the result “32767” is stored in SAMPLE1 and SAMPLE2. [ST language notation] SAMPLE2 := DEC_INT( SAMPLE1 ); ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · The following operation is performed when direct I/O variable is specified for the Input/Output1: Controller Action Unified Controller nv series Decrement is not executed and the result is 0. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.13 Arithmetic Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 311 Power Arithmetic Operation Power LD/FBD language notation Input 1 Output EXPT_□□ Input 2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := EXPT_□□( Input1, Input2 ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input1 REAL ○ Input1 Input Input2 See below ○ Input2 Output — REAL — Output Input 2 Symbol(_ ) INT EXPT_INT DINT EXPT_DINT UINT EXPT_UINT REAL EXPT_REAL Input 1 Output EXPT_ Input 2 ● Function · Input data Input 1 is raised to the Input 2 power and the result is output. Output=(Input 1) Input 2 □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 312 ● Program example [LD/FBD language notation] SAMPLE1 12.45 LD EXPT_INT SAMPLE2 2.5 LD SAMPLE3 546.91946 ST [ST language notation] SAMPLE3 := EXPT_INT( SAMPLE1, SAMPLE2); · SAMPLE1 is raised to the SAMPLE2 power and the result “546.91946” is stored in SAMPLE3. ● Error information · If the operation result exceeds the valid data range, the limit value is output. · If Input 1=Input 2=0, or Input1=0 and Input2<0, “0” is output as the result and the specific register error flag is set to TRUE(ON). · If Input 1 < 0 and Input 2 has decimal fractions (example: Input 1=—2, Input 2=—2.5), the result is “0” and the specific register error flag is set to TRUE(ON). · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. In case of INF input or if an overflow occurs, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.13 Arithmetic Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 313 Add Time Data Arithmetic Operation Add Time Data LD/FBD language notation Input Output ADD_□□ Input 2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := ADD_□□( Input1, Input2 ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ *1 Input1, 2 Output — See below — Output Note: For constant specification of input 1, constant specification is not allowed for DT type. Input 1 Output 2 Symbol(_ ) Output TIME TIME ADD_T_T TIME TOD TIME ADD_TOD_T TOD DT TIME ADD_DT_T DT DATE INT ADD_D_INT DATE DATE DINT ADD_D_DINT DATE DATE UINT ADD_D_UINT DATE Input 1 Output ADD_ Input 2 ● Function · Input data Input 1 is added and Input 2 and the result is output. · The number of input data is fixed at two. · In case of addition of DT type and integer data, integer data is assumed to be number of days. Output=Input1+Input2 □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 314 ● Program example When TIME+TIMETIME [LD/FBD language notation] SAMPLE1 T#12345ms LD ADD_T_T SAMPLE2 T#3456ms LD SAMPLE3 T#15801ms ST [ST language notation] SAMPLE3 := ADD_T_T( SAMPLE1, SAMPLE2); · The input data “T#12345ms” in SAMPLE1 is added with “T#3456ms” in SAMPLE2 as time data and the result “T#15801ms” is stored in SAMPLE3. When DATE+INTDATE [LD/FBD language notation] SAMPLE1 D#1999-6-29 LD ADD_D_INT SAMPLE2 5 LD SAMPLE3 D#1999-7-4 ST [ST language notation] SAMPLE3 := ADD_D_INT( SAMPLE1, SAMPLE2); · The input data “D#1999-6-29” in SAMPLE1 is added to input data “5” in SAMPLE2 as time data and the result “D#1999-7-4” is stored in SAMPLE3. ● Error information · If an overflow occurs, the limit value is output as result. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.13 Arithmetic Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 315 Subtract Time Data Arithmetic Operation Subtract Time Data LD/FBD language notation Input 1 Output SUB_□□ Input 2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := SUB_□□( Input1, Input2 ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type. Arg. Operand Type Const. Description Remarks Input — ○ *1 Input1, 2 Output — See below — Output * For constant specification of input 1, constant specification is not allowed for DT type. Input 1 Input 2 Symbol(_ ) Output TIME TIME SUB_T_T TIME DATE DATE SUB_D_D TIME TOD TIME SUB_TOD_T TOD TOD TOD SUB_TOD_TOD TIME DT TIME SUB_DT_T DATE DT DT SUB_DT_DT TIME DATE DATE SUB_D_D_INT INT DATE DATE SUB_D_D_DINT DINT DATE DATE SUB_D_D_UINT UINT DATE INT SUB_D_INT DATE DATE DINT SUB_D_DINT DATE DATE UINT SUB_D_UINT DATE Input 1 Output SUB_ Input 2 ● Function · Input data Input 2 is subtracted from Input 1 and the result is output. · The number of input data is fixed at two. · For subtraction of integer type data, integer data is assumed to be number of days. Output=Input1-Input2 □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 316 ● Program example When TIME-TIMETIME [LD/FBD language notation] SAMPLE1 T#12345ms LD SUB_T_T SAMPLE2 T#3456ms LD SAMPLE3 T#8889ms ST [ST language notation] SAMPLE3 := SUB_T_T( SAMPLE1, SAMPLE2); · The input data “T#3456ms” in SAMPLE2 is subtracted from “T#12345ms” in SAMPLE1 as time data and the result T#8889ms is stored in SAMPLE3. When DATE—INTDATE [LD/FBD language notation] SAMPLE1 D#1999-7-4 LD SUB_D_INT SAMPLE2 5 LD SAMPLE3 D#1999-6-29 ST [ST language notation] SAMPLE3 := SUB_D_INT( SAMPLE1, SAMPLE2); · The input data “5” in SAMPLE2 is subtracted from input data “D#1999-7-4” in SAMPLE1 as time data and the result “D#1999-6-29” is stored in SAMPLE3. ● Error information · If an overflow occurs, the limit value is output as result. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.13 Arithmetic Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 317 Multiply Time Data Arithmetic Operation Multiply Time Data LD/FBD language notation Input1 Output MUL_□□ Input2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := MUL_□□( Input1, Input2 ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input1 TIME ○ Input1 Input Input2 See below ○ Input2 Output — TIME — Output Input 2 Symbol(_ ) INT MUL_T_INT DINT MUL_T_DINT UINT MUL_T_UINT Input 1 Output MUL_ Input 2 ● Function · Input data Input 1 is multiplied with Input 2 as time data and the result is output. Output=Input1Input2 □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 318 ● Program example [LD/FBD language notation] SAMPLE1 T#12345ms LD MUL_T_INT SAMPLE2 3 LD SAMPLE3 T#37035ms ST [ST language notation] SAMPLE3 := MUL_T_INT( SAMPLE1, SAMPLE2); · The input data “T#12345” in SAMPLE1 is multiplied with 3 in SAMPLE2 as time data and the result “T#37035ms” is stored in SAMPLE3. ● Error information · If the operation result exceeds the valid data range, the limit value is output. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.13 Arithmetic Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 319 Divide Time Data Arithmetic Operation Divide Time Data LD/FBD language notation Input1 Output DIV_□□ Input2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := DIV_□□( Input1, Input2 ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input1 TIME ○ Input1 Input Input2 See below ○ Input2 Output — TIME — Output Input 2 Symbol(_ ) INT DIV_T_INT DINT DIV_T_DINT UINT DIV_T_UINT Input 1 Output DIV_ Input 2 ● Function · Input data Input 1 is divided by Input 2 as time data and the result is output. Output=Input1/Input2 □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 320 ● Program example [LD/FBD language notation] SAMPLE1 T#12345ms LD DIV_T_INT SAMPLE2 3 LD SAMPLE3 T#4115ms ST [ST language notation] SAMPLE3 := DIV_T_INT( SAMPLE1, SAMPLE2); · The input data “T#12345” in SAMPLE1 is divided by Input data 3 in SAMPLE2 as time data and the result “T#4115ms” is stored in SAMPLE3. ● Error information · If the operation result exceeds the valid data range, the limit value is output. · If divided by 0 error occurs, the limit is out put as operation result. Also the error flag and divide error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.14 Data Processing Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 321 2.14 Data Processing No. Instruction Remarks 1 Set Carry SETC 2 Reset Carry RSTC 3 Encode ENC 4 Decode DEC 5 Bit Counter BC 6 Table Bit Set TSET 7 Table Bit Reset TRST Chapter 2 LD/FBD Instructions 6F8C1226 322 Set Carry Data Processing Set Carry LD/FBD language notation Input Output SETC EN input Edge execution Index modification Modifier — — — ST language notation Output := SETC( Input ); ● Arguments Arg. Operand Type Const. Description Remarks Input — BOOL ○ Input Output — BOOL — Output ● Function · When the input is TRUE(ON), the specific register carry flag is set to TRUE(ON). · When the input is FALSE(OFF), the specific register carry flag is unchanged. · The state of the input is output as the result. Input Action Output FALSE(OFF) Not executed (carry flag retains previous value). FALSE(OFF) TRUE(ON) Executed (carry flag =TRUE(ON)) TRUE(ON) ● Program example [LD/FBD language notation] SIGNAL1 1 LD SETC SIGNAL2 1 ST [ST language notation] SIGNAL2 := SETC( SIGNAL1); · When SIGNAL1 is TRUE(ON), the carry flag is set to TRUE(ON) and TRUE(ON) is output to SIGNAL2. 2.14 Data Processing Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 323 Reset Carry Data Processing Reset Carry LD/FBD language notation Input Output RSTC EN input Edge execution Index modification Modifier — — — ST language notation Output := RSTC( Input ); ● Arguments Arg. Operand Type Const. Description Remarks Input — BOOL ○ Input Output — BOOL — Output ● Function · When the input is TRUE(ON), the specific register carry flag is reset to FALSE(OFF). · When the input is FALSE(OFF), the specific register carry flag is unchanged. · The state of the input is output as the result. Input Action Output FALSE(OFF) Not executed (carry flag retains previous value). FALSE(OFF) TRUE(ON) Executed (carry flag=FALSE(OFF)) TRUE(ON) ● Program example [LD/FBD language notation] SIGNAL1 1 LD RSTC SIGNAL2 1 ST [ST language notation] SIGNAL2 := RSTC( SIGNAL1); · When SIGNAL1 is TRUE(ON), the carry flag is reset to FALSE(OFF) and TRUE(ON) is output to SIGNAL2. Chapter 2 LD/FBD Instructions 6F8C1226 324 Encode Data Processing Encode LD/FBD language notation Input data Bit No. output ENC_ EN input Edge execution Index modification Modifier ○ ○ — ST language notation Bit No. output := ENC_ □□ ( Input data ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Input data Output — See below — Bit No. output Input data Symbol(_ ) Bit No. output WORD ENC_WORD_INT INT WORD ENC_WORD_DINT DINT DWORD ENC_DWORD_INT INT DWORD ENC_DWORD_DINT DINT Input data Bit No. output ENC_ ● Function · Searches the input data from the most significant bit and outputs the number of the first bit that is TRUE(ON). · he output bit number depends on the data type of the input data as follows: WORD :0 to 15 DWORD :0 to 31 · If the input data has no TRUE(ON) bit, “-1” is output. The error flag and encode error flag are set to TRUE(ON). □□ □□ □□ 2.14 Data Processing Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 325 ● Program example [LD/FBD language notation] SAMPLE1 16#1234 LD SAMPLE2 12 ST ENC_WORD_INT Bit no. 15 12 8 4 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 WORD Bit search direction [ST language notation] SAMPLE2 := ENC_WORD_INT( SAMPLE1); · Encodes the input data SAMPLE1 and stores “12” as the result in SAMPLE2. ● Error information · If input data=0, an encode error occurs with -1 output as the result and the specific register encode error flag is set to TRUE(ON). · When EN is used, ENO is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 326 Decode Data Processing Decode LD/FBD language notation Bit No. input Result output DEC_□□ M M Target data Target data EN input Edge execution Index modification Modifier ○ ○ — ST language notation Result output := DEC_ □□ ( Bit No. input, M ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — ○ Bit No. input Output — — Result output I/O M See below — Target data Bit no. input Target data Symbol(_ ) Result output INT WORD DEC_INT_WORD INT INT DWORD DEC_INT_DWORD INT DINT WORD DEC_DINT_WORD DINT DINT DWORD DEC_DINT_DWORD DINT Bit No. input Result output DEC_ M M Target data Target data ● Function · Of the target data, the bit specified with bit No. input is set to TRUE(ON). The operation result is output. · The input bit number depends on the data type of the target data as follows: WORD: 0 to 15 … Bit No. position=MOD (Bit No. input/16) DWORD: 0 to 31 … Bit No. position=MOD (Bit No. input/32)) · Direct I/O variable cannot be specified for the target data (Unified Controller). □□ □□ 2.14 Data Processing Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 327 ● Program example [LD/FBD language notation] SAMPLE1 12 LD SAMPLE3 16#1234 ST DEC_INT_WORD SAMPLE2 16#0234 LD SAMPLE2 ST M M Bit No. 15 12 8 4 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 WORD Bit No. input [ST language notation] SAMPLE3 := DEC_INT_WORD( SAMPLE1, SAMPLE2); · Of the content “16#0234” in target data SAMPLE2, the 12th bit specified with bit No. input SAMPLE1 is set to TRUE(ON). As the result of this decode operation, the content of target data SAMPLE2 is “16#1234” and the result “16#1234” is stored in SAMPLE3. ● Error information · When bit No. input < 0, no decode operation is performed. Controller Action Unified Controller nv series Error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When EN is used, ENO is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 328 Bit Counter Data Processing Bit Counter LD/FBD language notation Input data Bit count output BC_ EN input Edge execution Index modification Modifier ○ ○ — ST language notation Bit count output := BC_ □□ ( Input data ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks Input — See below ○ Input data Output — INT — Bit count output Input data Symbol(_ ) WORD BC_WORD DWORD BC_DWORD Input data Bit count output BC_ ● Function · Counts the number of bits in the input data that are TRUE(ON) and output the result. ● Program example [LD/FBD language notation] Bit No. 15 12 8 4 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 WORD SAMPLE1 16#1234 LD SAMPLE2 5 ST BC_WORD [ST language notation] SAMPLE2 := BC_WORD( SAMPLE1); · Counts the number of bits in input data SAMPLE1 and stores “5” as the result in SAMPLE2. □□ □□ □□ 2.14 Data Processing Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 329 Table Bit Set Data Processing Table Bit Set LD/FBD language notation Bit pointer Target table TSET_□□ N Table size EN input Edge execution Index modification Modifier ○ ○ — ST language notation TSET_ □□ ( Bit pointer, N, Target Table ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks — See below ○ Bit pointer Input N UINT ○ Table size 1≤N≤64 Output — PTR — Target table Bit pointer Symbol(_ ) INT TSET_INT DINT TSET_DINT WORD TSET_WORD DWOD TSET_DWORD Bit pointer Target table TSET_ N Table size ● Function · The bit position specified with bit pointer in the N word table starting with the target table is set to TRUE(ON). · The table size must be between 1 and 64 words (1024 bits). · If table size N=0, no table set is performed. · If the bit pointer points outside the target table, no table bit set is performed and the error flag and table operation error flag are set to TRUE(ON). · Direct I/O variable cannot be specified for the target table. □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 330 ● Program example [LD/FBD language notation] SAMPLE1 88 LD TBL1 ST TSET_INT SAMPLE2 6 LD N 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 1 5 Bit pointer=88 Set to TRUE (ON) Target table TBL1 [ST language notation] TSET_INT( SAMPLE1, SAMPLE2, TBL1); · In the “6” word (which is specified with table size SAMPLE2) table data starting with target table TBL1, the bit position specified with bit pointer in input data SAMPLE1 is set to TRUE(ON). ● Error information · When the target table exceeds the variable area, the table bit set is not processed and the data boundary is exceeded. · If the bit pointer points outside the target table, the error flag and table operation error flag are set to TRUE(ON). · If table size N > 64, operation is performed with N=64. · The following operation is performed when direct I/O variable is specified for the target table: Controller Action Integrated Controller V series S Controller Table bit set is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Table bit set is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO is reset to FALSE(OFF) when the above error occurs. 2.14 Data Processing Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 331 Table Bit Reset Data Processing Table Bit Reset LD/FBD language notation Bit pointer Target table TRST_□□ N Table size EN input Edge execution Index modification Modifier ○ ○ — ST language notation TRST_ □□ ( Bit pointer, N, Target table ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description Remarks — See below ○ Bit pointer Input N UINT ○ Table size 1≤N≤64 Output — PTR — Target table Bit pointer Symbol(_ ) INT TRST_INT DINT TRST_DINT WORD TRST_WORD DWORD TRST_DWORD Bit pointer Target table TRST_ N Table size ● Function · The bit position specified with bit pointer in the N word table starting with the target table is reset to FALSE(OFF). · The table size must be between 1 and 64 words (1024 bits). · If table size N=0, no table reset is performed. · If the bit pointer points outside the target table, no table bit reset is performed and error flag and table operation error flag are set to TRUE(ON). · Direct I/O variable cannot be specified for the target table. □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 332 ● Program example [LD/FBD language notation] SAMPLE1 88 LD TBL1 ST TRST_INT SAMPLE2 6 LD N 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 1 5 Bit pointer=88 Reset to FALSE(OFF) Target table TBL1 [ST language notation] TRST_INT( SAMPLE1, SAMPLE2, TBL1); · In the 6 word (which is specified with table size SAMPLE2) table data starting with target table TBL1, the bit position specified with bit pointer in input data SAMPLE1 is reset to FALSE(OFF). ● Error information · When the target table exceeds the variable area, the table bit reset is not processed and the data boundary is exceeded. · If the bit pointer points outside the target table, the error flag and table operation error flag are set to TRUE(ON). · If table size N > 64, operation is performed with N=64. · The following operation is performed when direct I/O variable is specified for the target table. Controller Action Integrated Controller V series S Controller Table bit reset is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Table bit reset is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO is reset to FALSE(OFF) when the above error occurs. 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 333 2.15 I/O No. Instruction Remarks 1 I/O Memory Read MREAD V dedicated instruction 2 I/O Memory Write MWRITE V dedicated instruction 3 Special Module Data Input (nv) MREAD_N nv dedicated instruction 4 Special Module Data Output (nv) MWRITE_N nv dedicated instruction 5 ASC Module String Data Input ASCREAD V dedicated instruction 6 ASC Module String Data Output ASCWRITE V dedicated instruction 7 Read State Change GET_IP_INF 8 Direct I/O IO_T T compatible instruction 9 I/O Node State Read GET_SIO_STS nV dedicated instruction 10 I/O Module State Read GET_IO_STS nv dedicated instruction 11 I/O Fallback Request IOFB_REQ nv dedicated instruction 12 I/O Fallback Recovery Request IORC_REQ nv dedicated instruction 13 Drive Device State Read GET_DRV_STS nv dedicated instruction Chapter 2 LD/FBD Instructions 6F8C1226 334 I/O Memory Read I/O I/O Memory Read V dedicated instruction LD/FBD language notation Completion output Bus/Unit/Slot Transfer word number Transfer destination variable Extended memory top addres Execution enabled input MREAD T N P TADDR E EN input Edge execution Index modification Modifier — — — ST language notation Completion output:= MREAD( E, T, TADDR, P, N ); ● Arguments Arg. Operand Type Const. Description Valid range E BOOL ○ Execution enabled input T WORD ○ Bus/Unit/Slot TADDR WORD ○ Extended memory top address 0 to 7FFFH P PTR — Transfer destination variable Input N UINT ○ Transfer word number 1 to 256 Output — BOOL — Completion output [I/O argument supplementary description] · Bus/Unit/Slot data structure 15 11 12 8 Bus Unit Slot 7 0 Range 16#00 to 16#0A Range 16#0 to 16#7(0 in case of base unit) Range 16#0 to 16#3(0 in case of base unit) · Extended memory top address 15 Extended memory top address(16#0000 to 16#7FFF) 0 · Transfer word number 15 Transfer word number (1 to 256) 0 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 335 ● Function · If execution enabled input E is FALSE(OFF), no data is input from the special module. · If execution enabled input E is TRUE(ON), data is transferred from special module internal extended memory specified by the input argument to the CPU module. · Input arguments specify the transfer source (special module slot location and special module internal extended memory top address), transfer destination (CPU module internal variable), and transfer word number. · If an execution error is detected, the specific register error flag is set. · 1 to 256 words may be transferred. · Direct I/O variable cannot be specified for the transfer destination variable. ● Program example [LD/FBD language notation[ 15 0 Special module internal extended address N=200W 16#0000 TADDR=16#0100 16#01C8 16#7FFF N=200W 15 0 TransferdestinationvariableSAMPLE3 Transfer IO specification : SAMPLE1 Bus : Channel 1 Unit : 1 Slot : 6 SIGNAL1 1 LD MREAD SIGNAL2 1 ST E SAMPLE1 16#1_1_06 LD SAMPLE2 16#0100 LD SAMPLE3 1234 LD SAMPLE4 200 LD T TADDR P N [ST language notation] SIGNAL2 := MREAD( SIGNAL1, SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · SAMPLE1 specifies the special module slot location (Bus: Channel 1, Unit: 1, Slot: 6). · SAMPLE2 specifies the read top address of the extended memory in special module (16#0100). · SAMPLE3 specifies the transfer destination variable. · SAMPLE4 specifies the transfer word number (specify 200). · When SIGNAL1 is TRUE(ON), the data specified with the above input argument is transferred. Upon normal completion, SIGNAL2 is set to TRUE(ON). Chapter 2 LD/FBD Instructions 6F8C1226 336 ● Error information · When the module cannot be accessed because the specified special module is not installed or is abnormal. · When the specified module is not a special module. · When the transfer word number exceeds 256. · When the transfer source special module extended address is outside 0 to 7FFF. · When the range specified by the transfer destination variable exceeds the allowed area. · When direct I/O variable is specified for transfer destination variable. · If the above error occurs, specific register error flag is set to TRUE(ON) without performing any operation. 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 337 I/O Memory Write I/O I/O Memory Write V dedicated instruction LD/FBD language notation Completion output Bus/Unit/Slot Transferred words Transfer destination variable Extended memory top address Execution enabled input MWRITE T N P TADDR E EN input Edge execution Index modification Modifier — — — ST language notation Completion output := MWRITE( E, T, TADDR, P, N ); ● Arguments Arg. Operand Type Const. Description Valid range E BOOL ○ Execution enabled input T WORD ○ Bus/Unit/Slot TADDR WORD ○ Extended memory top address 0 to 7FFFH P PTR — Transfer destination variable Input N UINT ○ Transfer words 1 to 256 Output — BOOL — Completion output [I/O argument supplementary description] · Bus/Unit/Slot data structure 15 11 12 8 Bus Unit Slot 7 0 Range 16#00 to 16#0A Range 16#0 to 16#7 (0 in case of base unit) Range 16#0 to 16#3 (0 in case of base unit) · Extended memory top address 15 Extended memory top address (16#0000 to 16#7FFF) 0 · Transfer word number 15 Transfer word number (1 to 256) 0 Chapter 2 LD/FBD Instructions 6F8C1226 338 ● Function · If execution enabled input E is FALSE(OFF), no data is output to special module. · If execution enabled input E is TRUE(ON), data is transferred from transfer source variable in the CPU module specified by input argument to the special module internal extended memory. · Input arguments specify the transfer source (CPU module internal variable), transfer destination (special module slot location and special module internal extended memory top address), and transfer word number. · If an execution error is detected, the specific register error flag is set. · 1 to 256 words may be transferred. · Direct I/O variable cannot be specified for transfer source variable. ● Program example [LD/FBD language notation] 15 0 Special module internal extended address N=200W 16#0000 TADDR=16#0100 16#01C8 16#7FFF N=200W 15 0 Transfer source variable SAMPLE3 Transfer IO specification : SAMPLE1 Bus : Channel 1 Unit : 1 Slot : 6 SIGNAL1 1 LD MWRITE SIGNAL2 1 ST E SAMPLE1 16#1_1_06 LD SAMPLE2 16#0100 LD SAMPLE3 1234 LD SAMPLE4 200 LD T TADDR P N [ST language notation] SIGNAL2 := MWRITE( SIGNAL1, SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · SAMPLE1 specifies the special module slot location (Bus: Channel 1, Unit: 1, Slot: 6). · SAMPLE2 specifies the special module internal extended memory write top address (16#0100). · SAMPLE3 specifies the transfer source variable. · SAMPLE4 specifies the transfer word number (specify 200). · When SIGNAL1 is TRUE(ON), the data specified with the above input argument is transferred. Upon normal completion, SIGNAL2 is set to TRUE(ON). 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 339 ● Error information · When the module cannot be accessed because the specified special module is not installed or is abnormal. · When the specified module is not a special module. · When the transfer word number exceeds 256. · When the range specified by the transfer source variable exceeds the allowed area. · When the transfer destination special module extended address is outside 0 to 7FFF. · When direct I/O variable is specified for the transfer source variable. · If the above error occurs, specific register error flag is set to TRUE(ON) without performing any operation. Chapter 2 LD/FBD Instructions 6F8C1226 340 I/O Memory Read（nv） I/O I/O Memory Read (nv) nv dedicated instruction LD/FBD language notation Completion output Basic unit slot/ node/unit/slot Transfer word number Transfer destination variable Extended memory address Execution request MREAD_N Error Status REQ DONE T ERROR TADDR STATUS P N Instance name EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( REQ, T, TADDR, P, N); [Variable name]:= @[Instance name].DONE; [Variable name]:= @[Instance name].ERROR; [Variable name]:= @[Instance name].STATUS; ● Arguments Arg. Operand Type Const. Description Valid range REQ BOOL ○ Execution request T DWORD ○ Basic unit slot / node / unit / slot TADDR WORD ○ Extended memory address 0 to 32KW P PTR — Transfer destination variable Input N UINT ○ Transfer word number 1 to 256 DONE BOOL — Completion output ERROR BOOL — Error Output STATUS INT — Status [Input argument supplementary description] · Basic unit slot / node / unit / slot data structure 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Slot Unit Node Basic unit slot Setting value Allowable range Valid range Remarks Basic unit slot 0 to 255 0 0: I/O directly under the controller Node 0 to 255 3 to 34 NX-I/O 1 Unit 0 to 255 G3-I/O 1 to 7 NX-I/O 0 to 15 Slot 0 to 255 G3-I/O 0 to 11 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 341 · Extended memory address 15 Extended memory address (16#0000 to 16#7FFF) 0 · Transfer word number 15 Transfer word number (1 to 256) 0 ● Instance structure Name Type Description Remarks DONE BOOL Completion output ERROR BOOL Error STATUS INT Status Can be accessed from the user program. TIMECNT DINT Time count RESERVE DWORD Reserved Cannot be accessed from the user program. ● Function · This function block reads data from an arbitrary memory address for the I/O module with memory of NX-I/O and G3-I/O. · When execution request REQ changes from FALSE(OFF) to TRUE(ON), data for transfer word number is read from extended memory address TADDR of the specified basic unit slot / node / unit / slot to transfer destination variable P. · For transfer word number, 1 to 256 words can be specified. · When it is completed normally, completion output DONE becomes TRUE(ON) for one scanning time. · When it is completed with an error, error ERROR becomes TRUE(ON) for one scanning time. · When transfer is completed with or without an error, the details are output to status STATUS. · Direct I/O variable cannot be specified for the transfer destination variable. · For MREAD_N, MWRITE_N and XMIT_N instructions, up to the maximum requests can be made simultaneously per controller. (Maximum request number:type1=48, type2=24) · The status values are as follows: Completion status Status STATUS DONE ERROR Content Description -5000 FALSE TRUE Extended instruction request number exceeded More than 48 or 24 extended instructions are requested simultaneously. -5001 FALSE TRUE Instruction specification abnormal The number of transfer word is more than 256, or direct I/O is specified for the transfer destination variable. -5002 FALSE TRUE Extended memory specification address abnormal When 0≤Extended memory address specification≤16#7FFF: (TADDR+N-1)≥16#8000 -5003 FALSE TRUE Boundary abnormal The specification range of transfer destination variable exceeds the area. -5005 FALSE TRUE Module abnormal I/O is installed in the specified basic unit slot/node/unit/ slot but it is in degeneration or specified as hot-swap. -5104 FALSE TRUE I/O access abnormal Access error in the specified I/O module. -5119 FALSE TRUE I/O uninstalled I/O is not installed in the specified basic unit slot/node/unit/slot. Chapter 2 LD/FBD Instructions 6F8C1226 342 ● Program example [LD/FBD language notation] 15 0 Extended address in special module N=200W 16#0000 TADDR=16#0100 16#01C8 16#7FFF N=200W 15 0 Transfer destination variable SAMPLE3 Transfer IO specification：SAMPLE1 Basic unit slot：0 Node：3 Unit：2 Slot：3 SIGNAL1 1 LD MREAD_N SIGNAL2 1 ST REQ SAMPLE1 16#00030203 LD SAMPLE2 16#0100 LD SAMPLE3 1234 LD SAMPLE4 200 LD T TADDR P N DONE ERROR STATUS SIGNAL3 0 ST SIGNAL5 8 ST MREAD_N_1 [ST language notation] MREAD_N_1( SIGNAL1, SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); SIGNAL2 := @MREAD_N_1.DONE; SIGNAL3 := @MREAD_N_1.ERROR; SIGNAL5 := @MREAD_N_1.STATUS; · The installation slot location of the special module is specified with SAMPLE1 (Basic unit slot :0, Node :3, Unit ：2, Slot :3). · The read top address of the extended memory in special module is specified with SAMPLE2 (16#0100). · The destination variable is specified with SAMPLE3. · Transfer word number is specified with SAMPLE4 (200 specified). · When SIGNAL1 is TRUE(ON), transfer operation is performed with the data specified in the input arguments above. When it is completed normally, SIGNAL2 becomes TRUE(ON). ● Error information The following operation is performed when direct I/O variable is specified for the destination: Controller Action Unified Controller nv series Special module data input is not executed. Error flag and table operation error flag are set to TRUE(ON). 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 343 I/O Memory Write（nv） I/O I/O Memory Write (nv) nv dedicated instruction LD/FBD language notation Completion output Basic unit slot/node/unit/slot Transfer word number Transfer source variable Extended memory address Execution permission input MWRITE_N Error Status T REQ DONE ERROR TADDR STATUS P N Instance name EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( REQ, T, TADDR, P, N); [Variable name]:= @[Instance name].DONE; [Variable name]:= @[Instance name].ERROR; [Variable name]:= @[Instance name].STATUS; ● Arguments Arg. Operand Type Const. Description Valid range REQ BOOL ○ Execution permission input T DWORD ○ Basic unit slot / node / unit / slot TADDR WORD ○ Memory top address 0 to 32KW P PTR — Transfer source variable Input N UINT ○ Transfer word number 1 to 256 DONE BOOL — Completion output ERROR BOOL — Error Output STATUS INT — Status [Input argument supplementary description] · Basic unit slot / node / unit / slot data structure 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Slot Unit Node Basic unit slot Setting value Allowable range Valid range Remarks Basic unit slot 0 to 255 0 0 : I/O directly under the controller Node 0 to 255 3 to 34 NX-I/O 1 Unit 0 to 255 G3-I/O 1 to 7 NX-I/O 0 to 15 Slot 0 to 255 G3-I/O 0 to 11 · Extended memory address 15 Extended memory address (0 to 16#7FFF)) 0 Chapter 2 LD/FBD Instructions 6F8C1226 344 · Transfer word number 15 Transfer word number (1 to 256) 0 ● Function · This function block writes data to an arbitrary memory address for the I/O module with memory of NX-I/O and G3-I/O. · When execution request REQ changes from FALSE(OFF) to TRUE(ON), data for transfer word number is written to extended memory address TADDR of the specified basic unit slot / node / unit / slot from transfer destination variable P. · For transfer word number, 1 to 256 words can be specified. · When it is completed normally, completion output DONE becomes TRUE(ON) for one scanning time. · When it is completed with an error, error ERROR becomes TRUE(ON) for one scanning time. · When transfer is completed with or without an error, the details are output to status STATUS. · Direct I/O variable cannot be specified for transfer source variable. · For MREAD_N, MWRITE_N and XMIT_N instructions, up to the maximum requests can be made simultaneously per controller. (Maximum request number : type1=48, type2=24) The status values are as follows. Completion status Status STATUS DONE ERROR Content Description -5000 FALSE TRUE Extended instruction request number exceeded More than 48 or 24 extended instructions are requested simultaneously. -5001 FALSE TRUE Instruction specification abnormal The number of transfer word is more than 256, or direct I/O is specified for the transfer destination variable. -5002 FALSE TRUE Extended memory specification address abnormal When 0≤Extended memory address specification≤ 16#7FFF: (TADDR+N-1)≥16#8000 -5003 FALSE TRUE Boundary abnormal The specification range of transfer destination variable exceeds the area. -5005 FALSE TRUE Module abnormal I/O is installed in the specified basic unit slot/node/unit/slot but it is in degeneration or specified as hot-swap. -5104 FALSE TRUE I/O access abnormal Access error in the specified I/O module. -5119 FALSE TRUE I/O uninstalled I/O is not installed in the specified basic unit slot/node/unit/slot. ● Instance structure Name Type Description Remarks DONE BOOL Completion output ERROR BOOL Error STATUS INT Status Can be accessed from the user program. TIMECNT DINT Time count Cannot be accessed from the user 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 345 RESERVE DWORD Reserved program. ● Program example [LD/FBD language notation] 15 0 Extended address in special module N=200W 16#0000 TADR=16#0100 16#01C8 16#7FFF N=200W 15 0 Transfer destination variable Transfer IO specification : SAMPLE1 Channel : 0 Node : 3 Unit : 2 Slot : 3 SIGNAL1 1 LD MWRITE_N SIGNAL2 1 ST REQ SAMPLE1 16#00030203 LD SAMPLE2 16#0100 LD SAMPLE3 1234 LD SAMPLE4 200 LD T TADDR P N DONE STATUSR ERROR SIGNAL3 0 ST SIGNAL5 8 ST MWRITE_N_1 [ST language notation] MWRITE_N_1( SIGNAL1, SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); SIGNAL2 := @MWRITE_N_1.DONE; SIGNAL3 := @MWRITE_N_1.ERROR; SIGNAL5 := @MWRITE_N_1.STATUS; · The installation slot location of the special module is specified with SAMPLE1 (Basic unit slot :0, Node :3, Unit ：2, Slot :3). · The write top address of the extended memory in special module is specified with SAMPLE2 (16#0100). · The transfer source variable is specified with SAMPLE3. · Transfer word number is specified with SAMPLE4 (200 specified). · When SIGNAL1 changes FALSE(OFF) to TRUE(ON), transfer operation is performed with the data specified in the input arguments above. When it is completed normally, SIGNAL2 becomes TRUE(ON). ● Error information · The following operation is performed when direct I/O variable is specified for the transfer source: Controller Action Unified Controller nv series Special module data output is not executed. Error flag and table operation error flag are set to TRUE(ON). Chapter 2 LD/FBD Instructions 6F8C1226 346 ASC Module String Data Input I/O ASC Module String Data Input V dedicated instruction LD/FBD language notation Completion output Bus/Unit/Slot Transfer word number Transfer destination variable Extended memory top address Execution enabled input ASCREAD E T TADDR P N CODE End code specification EN input Edge execution Index modification Modifier — — — ST language notation Completion output := ASCREAD( E, T, TADDR, P, N, CODE ); ● Arguments Arg. Operand Type Const. Description Valid range E BOOL ○ Execution enabled input T WORD ○ Bus/Unit/Slot TADDR WORD ○ Extended memory top address 0 to 7FFFH P STRING — Transfer destination variable N UINT ○ Transfer word number 1 to 129 Input CODE WORD ○ End code specification Output — BOOL — Completion output [Input argument supplementary description] · Bus/Unit/Slot data structure 15 11 12 8 Bus Unit Slot 7 0 Range 16#00 to16#0A Range 16#0 to 16#7 (0 in case of basic unit) Range 16#0 to 16#3 (0 in case of basic unit) · Extended memory top address 15 Extended memory top address (16#0000 to 16#7FFF) 0 · Transfer word number 15 Transfer word number (1 to 129) 0 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 347 ● Function · If execution enabled input E is FALSE(OFF), no string data is input from the ASC module. · If execution enabled input E is TRUE(ON), data is transferred from ASC module internal extended memory specified by the input argument to the STRING variable in the CPU module. · The store target data is N words starting from TADDR and the data from the beginning up to the specified end code is stored. · The low order byte (16#00 to 16#FF) of the CODE input data is used as the end code. · For input arguments, specify the transfer source (ASC module slot location and ASC module internal extended memory top address), transfer destination (CPU module internal variable), transfer word number, and end code. · If a double-byte code in the data read from ASC module is invalid, the invalid double-byte code is stored in STRING variable replaced by “??”. · If an execution error is detected, the specific register error flag is set. · One to 129 words may be specified for transfer word number. · Direct I/O variable cannot be specified for transfer destination variable. ● Important · Specify the same code for the end code in the ASC module and the end code specification CODE in this instruction. ● Program example [LD/FBD language notation] SIGNAL1 1 LD ASCREAD SIGNAL2 1 ST E SAMPLE1 16#1_1_06 LD SAMPLE2 16#0080 LD SAMPLE3 LD SAMPLE4 5 LD T TADDR P N 15 0 Extended address in ASC modul e “2“ 16#0000 TADDR=16#0080 16#0085 16#7FFF VAR length=6 15 0 Transfer destination variable SAMPLE3 Transfer Variables: Variable Data type Dec. SAMPLE3 STRING[12] VAR SAMPLE5 16#000D LD CODE “1“ “4“ “3“ “6“ “5“ “8“ “7“ “CR“ ““ “2“ “1“ “4“ “3“ “6“ “5“ “8“ “7“ Stri ng length=8 * * * * IO specification: SAMPLE1 Bus: Channel 1 Unit: 1 Sl ot: 6 Chapter 2 LD/FBD Instructions 6F8C1226 348 [ST language notation] SIGNAL2 := ASCREAD( SIGNAL1, SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4, SAMPLE5); · SAMPLE1 specifies the ASC module slot location. (Bus: Channel 1, Unit: 1, Slot: 6) · SAMPLE2 specifies the read top address of the extended memory in ASC module. (16#0080) · SAMPLE3 specifies the transfer destination STRING variable. · SAMPLE4 specifies the transfer word number. (5 specified) · SAMPLE5 specifies the end code. ("CR" specified) · When variable SIGNAL1 is TRUE(ON), the content specified with the above input argument is transferred and the character data up to the specified end code is stored in the STRING variable. Upon normal completion, SIGNAL2 is set to TRUE(ON). ● Error information · When the ASC module cannot be accessed because the specified ASC module is not installed or is abnormal. · When the specified module is not a special module. · When the transfer word number exceeds 129. · When the transfer source ASC module extended address is not between 0 and 7FFF. · When the range specified by the transfer destination variable exceeds the allowed area. · When direct I/O variable is specified for transfer destination variable. · If the above error occurs, the specific register error flag is set to TRUE(ON) without performing any operation. 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 349 ASC Module String Data Output I/O ASC Module String Data Output V dedicated instruction LD/FBD language notation Completion output Bus/Unit/Slot Transfer source variable Extended memory top address Execution enabled input ASCWRITE E T TADDR P N CODE Transfer word number End code specification EN input Edge execution Index modification Modifier — — — ST language notation Completion output := ASCWRITE( E, T, TADDR, P, N, CODE ); ● Arguments Arg. Operand Type Const. Description Valid range E BOOL ○ Execution enabled input T WORD ○ Bus/Unit/Slot TADDR WORD ○ Extended memory top address 0 to 7FFFH P STRING — Transfer source variable N UINT ○ Transfer word number 1 to 129 Input CODE WORD ○ End code specification Output — BOOL — Completion output [Input argument supplementary description] · Bus/Unit/Slot data structure 15 11 12 8 Bus Unit Slot 7 0 Range 16#00 to 16#0A Range 16#0 to 16#7 (0 in case of basic unit) Range 16#0 to 16#3 (0 in case of basic unit) · Extended memory top address 15 Extended memory address (16#0000～16#7FFF) 0 · Transfer word number 15 Transfer word number (1 to129) 0 Chapter 2 LD/FBD Instructions 6F8C1226 350 ● Function · If execution enabled input E is FALSE(OFF), no data is output to ASC module. · If execution enabled input E is TRUE(ON), data is transferred from transfer source variable in the CPU module specified by input argument to the ASC module internal extended memory. · The storage target data is output with the valid character code stored in STRING variable appended with the end code specified with end code specification CODE. · The low order byte (16#00 to 16#FF) of the CODE input data is used as the end code. · For input arguments, specify the transfer source (CPU module internal variable), transfer destination (special module slot location and ASC module internal extended memory top address), transfer word number, and end code. · If an execution error is detected, the specific register Error Flag is set. · One to 129 words (up to 256 bytes + end code) can be specified as transfer word number. Normally, the transfer word number N is specified as INT ((string declaration byte size+2)/2). By specifying this way, the application program need not be aware of the actual number of character code bytes stored in the STRING variable. · Direct I/O variable cannot be specified for transfer source variable. ● Important · Specify the same code for the end code in the ASC module and the end code specification CODE in this instruction. ● Program example [LD/FBD language notation] 15 0 Transfer source variable SAMPLE3 Transfer IO specification : SAMPLE1 Bus : Channel 1 Unit : 1 Slot : 6 SIGNAL1 1 LD SIGNAL2 1 ST SAMPLE1 16#1_1_06 LD SAMPLE3 LD SAMPLE4 5 LD SAMPLE2 16#0240 LD SAMPLE5 16#000D LD ASCWRITE E T P N TADDR CODE “2” “1” “4” “3” “6” “5” “8” “7” “” “” VAR length=6 String length=8 15 0 Extended address in ASC module 16#0000 TADDR=16#0240 16#0245 16#7FFF “2” “1” “4” “3” “6” “5” “8” “7” “CR” “” Variable : Variable Data type Dec. SAMPLE3 STRING[12] VAR 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 351 [ST language notation] SIGNAL2 := ASCWRITE (SIGNAL1, SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4, SAMPLE5); · SAMPLE1 specifies the ASC module slot location (Bus: Channel 1, Unit: 1, Slot: 6). · SAMPLE2 specifies the ASC module internal extended memory write top address (16#0240). · SAMPLE3 specifies the transfer source STRING variable. · SAMPLE4 specifies the transfer word number (5 specified). · SAMPLE5 specifies the end code ("CR" specified). · When SIGNAL1 is TRUE(ON), transfer is performed with the end code specified with the above input argument appended. Upon normal completion, SIGNAL2 is set to TRUE(ON). ● Error information · When the ASC module cannot be accessed because the specified ASC module is not installed or is abnormal. · When the specified module is not a special module. · When the transfer word number exceeds 129. · When the range specified by the transfer source variable exceeds the allowed area. · When the transfer destination special module extended address is not between 0 and 7FFF. · When INT (string declaration byte size+2)/2)>N. · When direct I/O variable is specified for transfer source variable. · If the above error occurs, the specific register error flag is set to TRUE(ON) without performing any operation. Chapter 2 LD/FBD Instructions 6F8C1226 352 State Change Detection Read I/O State Change Detection Read LD/FBD language notation Destination table GET_IP_INF EN input Edge execution Index modification Modifier ○ ○ — ST language notation GET_IP_INF( Destination table ); ● Arguments Arg. Operand Type Const. Description Valid range Output — PTR — Destination table ● Function · This is a dedicated instruction for I/O interruption task. · When GET_IP_INF instruction is used in the I/O interruption task, the activation factor (I/O module (I/O), TC-net transmission module (TC-net) and START_P) of the I/O interruption task can be obtained. · The obtained result is transferred to the specified destination table. · For destination table specification, static variable, non—tracking type / static variable (Unified Controller), temporary variable, user variable, special register (SW) or system variable (ZW), and data register (D) are valid. If other variable is specified, state change detection information is not read. · The structure of state change detection information varies depending on the activation factor as shown below. [Integrated Controller - S Controller] State change detection information [W] I/O TC-net Remarks +0 Activation factor=0 Activation factor =1 Indicates whether IP task activation is via I/O or TN. +1 — State change occurrence slot TN slot to detect the state change. +2 +3 — Point No. The number in the “No.” column of the V tool state change notification tab in the TN module that detects the state change. +4 +5 — State change bit history Changed bit information of the state change point of the TN module that detects the state change. +6 +7 — State change data TN scan memory data of the state change point of the TN module that detects the state change. +8 +9 — IP task No. The number of IP task activated. 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 353 [Unified Controller nv series] State change detection information [W] I/O TC—net START_P Remarks +0 Activation factor =0 Activation factor =1 Activation factor =2 Indicates whether IP task activation is via I/O, TN, START_P. +1 — State change occurrence slot — TN slot to detect the state change. +2 +3 Point No. Point No. — The number in the “No.” column of the V tool state change notification tab in the TN module or controller that detects the state change. +4 +5 — State change bit history — Changed bit information of the state change point of the TN module that detects the state change. +6 ON interruption status +7 OFF interruption status State change data — I/O: Change bit information of the state change point of the I/O module that detects the state change. TC-net: TN scan memory data of the state change point of the TN module that detects the state change. +8 +9 IP task No. IP task No. IP task No. The number of IP task activated. ● Program example [LD/FBD language notation] I/O state change notification Point No. 0 I/O-1 Word No.0 Point No.1 I/O-1 Word No.1 TC-net100 state change notification Point No.0 Block No.1 Word No.0 Point No.1 Block No.2 Word No.6 Point No.2 Block No.2 Word No.8 I/O interruption event processing program (IP6) Controller I/O interruption registration information I/O interruption event processing program (IP3) IP0 IP1 IP2 IP3 IP4 IP5 IP6 IP15 Info ST /* IP6 Program */ /* When Info point No.=1*/ /* When Info point No.=2*/ Interruption processing for point No.=2 Interruption processing for point No.=1 GET_IP_INF /* State change detection information →Info*/ Info ST /* IP3 Program */ /* When Info activation factor=I/O*/ /* When Info activation factor=TC-net*/ /* State change detection information →Info*/ Interruption processing from TC-net 100 module Interruption processing from I/O-1 module word No.= 1 GET IP INF Chapter 2 LD/FBD Instructions 6F8C1226 354 [ST language notation] GET_IP_INF(Info); ♦ When the same I/O interruption task (IP3) is set from the setting screen of I/O state change notification or TC-net100 state change notification: · Using the I/O interruption program, state change detection information is read to variable Info with GET_IP_INF instruction. Interruption processing from the I/O module and interruption processing from TC-net100 can be programmed and executed as different cases depending on the activation factor read. ♦ When the same I/O interruption task (IP6) is set with multiple point number settings from the setting screen of TC—net100 state change notification: · Using the I/O interruption program, state change detection information is read to variable Info with GET_IP_INF instruction. Interruption processing by TC-net100 point number can be programmed and executed as different cases depending on the point number read. ● Error information · If any variable other than static variable, non—tracking type / static variable (unified controller), temporary variable, user variable, special register (SW) or system variable (ZW), or data register (D) is specified, state change detection information is not read, and table operation error and error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 355 Direct I/O I/O Direct I/O T compatible instruction LD/FBD language notation Execution output IO_T N Batch I/O specification Word number EN input Edge execution Index modification Modifier ○ ○ — ST language notation Execution output:= IO_T( Batch I/O specification, N ); ● Arguments Arg. Operand Type Const. Description Valid range — PTR — Batch I/O specification Input N UINT ○ Word number 1≤N≤64 Output — BOOL — Execution output ● Function · Performs data I/O of N words, which is specified by a batch I/O variable or by direct notation (%IQ), with the corresponding I/O module as follows and sets the execution output to TRUE(ON). (1) When the corresponding I/O module is an input module: Stores the content input from the input module in batch output variable (Data input). (2) When the corresponding I/O module is an output module: Outputs the content of the batch I/O variable to the I/O module (Data output). · Performs direct I/O with the I/O module (such as digital I/O, TL-S20, TL-F10, TC-net) assigned to the batch I/O variable. However, model 2000 TL-F10 module supports only synchronous mode. Only I/O synchronized with scan is performed even with this instruction. · One to 64 words may be specified for word number N. If N > 64: N=64 is assumed. If N=0: Not executed · Direct I/O instruction must be specified in I/O module units. Therefore, I/O of multiple I/O modules cannot be processed with a single direct I/O instruction. In such case, I/O is performed only for the first module and the execution output is reset to FALSE(OFF). · No I/O is performed if the I/O module corresponding to the specified batch I/O variable is not installed or if there is an I/O fallback. Chapter 2 LD/FBD Instructions 6F8C1226 356 Batch I/O variable I/O (1) 4W I/O (2) 4W I/O (3) 4W I/O (1) 0W I/O (1) 1W I/O (1) 2W I/O (1) 3W I/O (2) 0W I/O (2) 1W I/O (2) 2W I/O (2) 3W I/O (3) 0W I/O (3) 1W I/O (3) 2W I/O (3) 3W Case 1 Case 2 Case 3 [Specification example] Case 1: Specify 4W from beginning of I/O(1) Normal I/O possible Case 2: Specify 2W from I/O(1)2W Normal I/O possible Case 3: Specify 5W from I/O(2)2W to I/O(3)2W I/O(2) 2-3Wnormal I/O possible I/O(3) 0-2Wno I/O performed ● Program example [LD/FBD language notation] IO_T SIGNAL1 1 ST SAMPLE1 1234 LD SAMPLE2 4 LD N SAMPLE1：4W output module [ST language notation] SIGNAL1 := IO_T( SAMPLE1, SAMPLE2); · Outputs 4W from a batch I/O SAMPLE1 to a 4W output module. ● Error information · No I/O is performed when anything other than batch I/O variable or direct notation (%IQ) is used for batch I/O specification input. · When I/O of multiple I/O modules is specified with a single direction I/O instruction, I/O is performed only for the first module. · If word number N exceeds 64, it is limited to N=64. · When I/O is specified only for the even number words of an I/O module set up scan access 2W, I/O is performed only for the specified even number words. · When EN is used, ENO is reset to FALSE(OFF) when the above error occurs. 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 357 I/O Node State Read I/O I/O Node State Read nv dedicated instruction LD/FBD language notation BASESLOT NODE I/O node state GET_SIO_STS Basic unit slot I/O node number EN input Edge execution Index modification Modifier ○ ○ — ST language notation I/O node state := GET_SIO_STS( BASESLOT, NODE ); ● Arguments Arg. Operand Type Const. Description Valid range BASESLOT UINT ○ Basic unit slot 0 Input NODE UINT ○ I/O node number 3 to 34 Output — BOOL — I/O node state ● Function · I/O node state specified with basic unit slot (BASESLOT) and I/O node number (NODE) is read. The output (I/O node state) varies depending on the task using this instruction. I/O node state output value Task TRUE(ON) FALSE(OFF) Event task - I/O fallback task (EV4) I/O node abnormal is not detected upon EV4 startup, so it is not the target of I/O node fallback. (Normal, or abnormal detection has been done) I/O node abnormal is detected upon EV4 startup, so it is the target of I/O node fallback. Event task - I/O fallback recovery task (EV6) I/O node abnormal recovery is detected upon EV6 startup, so it is the target of I/O node fallback recovery. I/O node abnormal recovery is not detected upon EV6 startup, so it is not the target of I/O node fallback recovery. (Normal, or abnormal detection has been done) Other than above Specified I/O node state is normal. Specified I/O node state is abnormal. · Therefore, in event task - I/O fallback task (EV4), the abnormal I/O node can be identified with this instruction and special register (SW), or system variable (ZW) I/O fallback information. In event task - I/O fallback recovery task (EV6), the I/O node that recovered can be identified with this instruction and special register (SW), or system variable (ZW) I/O fallback recovery information. Chapter 2 LD/FBD Instructions 6F8C1226 358 · I/O fallback information and I/O fallback recovery information is referenced by the following special register (SW) or system variable (ZW). See the function manuals of controllers for data structure details. Controller I/O fallback information type1 type2 TC—net I/O SW[340..346] ZW[300..306] I/O fallback information G3—I/O SW[680..691] ZW[320..331] TC—net I/O SW[350..356] ZW[310..316] I/O fallback recovery information G3—I/O SW[700..711] ZW[340..351] · For basic unit slot (BASESLOT), "0" (I/O directly under the controller) is specified. · For I/O node number (NODE), I/O node number (3 to 34) is specified. 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 359 ● Program example [LD/FBD language notation] [ST language notation] (* Event task - I/O fallback task (EV4):[Example for type1] *) IF S[340].B[1] AND NOT(S[340].B[3]) THEN (* I/O node abnormal of one unit *) ELSEIF S[340].B[1] AND S[340].B[3] THEN (* I/O node abnormal of multiple units *) FOR XI := 3 TO 34 BY 1 DO Z1 := DINT_TO_UINT( XI); Indicates the I/O node where the following information is abnormal. Describes the processing related to the node. 1) SW[345]：I/O node fallback information(Main slot No.), 2) SW[346]：I/O node fallback information (Node No.). IF S[340].B[1] S[340].B[3] VAL1 THEN ELSEIF S[340].B[1] S[340].B[3] VAL1 THEN FOR_DO INDEX ： XI MIN：3 MAX：34 STEP ：1 GET_SIO_STS BASESLOT NODE DINT_TO_UINT XI 0 /* I/O node abnormal of one unit*/ /*I/O node abnormal of multiple units*/ NODE_OK END_FOR ENDIF NODE_OK Describes the processing related to the I/O node No. /*Searches for I/O node abnormal detection in nodes 3 to 34*/ Indicates the I/O node where the following information is abnormal. Describes the processing related to the node. 1) SW[355] :I/O node fallback recovery information(Main slot No.), 2) SW[356] :I/O node fallback recovery information (Node No.). IF S[350].B[1] S[350].B[3] VAL1 THEN ELSEIF S[350].B[1] S[350].B[3] VAL1 THEN FOR_DO INDEX ：XI MIN ： 3 MAX ：34 STEP ：1 GET_SIO_STS BASESLOT NODE DINT_TO_UINT XI 0 /* I/O node abnormal recovery of one unit*/ /*I/O node abnormal recovery of multiple units*/ NODE_OK END_FOR ENDIF NODE_OK Describes the processing related to the I/O node No. /*Searches for I/O node abnormal recovery Event task - I/O fallback task (EV4) : [Example for type1] Event task - I/O fallback recovery task (EV6): [Example for type 1] detection in nodes 3 to 34*/ Chapter 2 LD/FBD Instructions 6F8C1226 360 NODE_OK := GET_SIO_STS( 0, Z1) IF NODE_OK = FALSE THEN (* processing related to the I/O node No. *) END_IF END_FOR; END_IF; (* Event task - I/O fallback recovery task (EV6):[Example for type1] *) IF S[350].B[1] AND NOT(S[350].B[3]) THEN (* I/O node abnormal recovery of one unit *) ELSEIF S[350].B[1] AND S[350].B[3] THEN (* I/O node abnormal recovery of multiple units *) FOR XI := 3 TO 34 BY 1 DO Z1 := DINT_TO_UINT( XI); NODE_OK := GET_SIO_STS( 0, Z1) IF NODE_OK THEN (* processing related to the I/O node No. *) END_IF END_FOR; END_IF; ♦ Description of operation for I/O fallback task (EV4) When I/O node fallback of multiple units is detected in I/O fallback task (EV4), it can be determined if the specified I/O node is a target of fallback by using GET_SIO_STS instruction in EV4 task. GET_SIO_STS instruction output becomes FALSE(OFF) if the specified I/O node is a target of fallback, or TRUE(ON) otherwise. ♦ Description of operation for I/O fallback recovery task (EV6) When I/O node fallback recovery of multiple units is detected in I/O fallback recovery task (EV6), It can be determined if the specified I/O node is a target of fallback recovery by using GET_SIO_STS instruction in EV6 task. GET_SIO_STS instruction output becomes TRUE(ON) if the specified I/O node is a target of fallback recovery, or FALSE(OFF) otherwise. ♦ Description of operation for tasks other than I/O fallback task (EV4) / I/O fallback recovery task (EV6) When GET_SIO_STS instruction is used in a task other than I/O fallback task (EV4) / I/O fallback recovery task (EV6), the specified I/O node state can be determined. GET_SIO_STS instruction output becomes TRUE(ON) if the specified I/O node is normal, or FALSE(OFF) otherwise. ● Error information If the specified I/O node is not registered, or if basic unit slot number or I/O node number exceeds the specification range, the result is set to FALSE(OFF). When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 361 I/O Module State Read I/O I/O Module State Read nv dedicated instruction LD/FBD language notation I/O module state GET_IO_STS Basic unit slot I/O node number Unit number Slot number BASESLOT NODE UNIT SLOT EN input Edge execution Index modification Modifier ○ ○ — ST language notation I/O module state := GET_IO_STS( BASESLOT, NODE, UNIT, SLOT ); ● Arguments Arg. Operan d Type Const . Description Valid range BASESL OT UINT ○ Basic unit slot 0 NODE UINT ○ I/O node number 3 to 34 UNIT UINT ○ Unit number 1 to 7 Input SLOT UINT ○ Slot number 0 to 15 Output — BOOL — I/O module state (1：Normal, 0：Abnormal) ● Function · I/O module state specified with basic unit slot (BASESLOT), I/O node number (NODE), unit number (UNIT), and slot number (SLOT) is read. The output (I/O module state) varies depending on the task using this instruction. I/O module state output value Task TRUE(ON) FALSE(OFF) Event task - I/O fallback task (EV4) I/O abnormal is not detected upon EV4 startup, so it is not the target of I/O node fallback. (Normal, or abnormal detection has been done) I/O abnormal is detected upon EV4 startup, so it is the target of I/O fallback. Event task - I/O fallback recovery task (EV6) I/O abnormal recovery is detected upon EV6 startup, so it is the target of I/O fallback recovery. I/O abnormal recovery is not detected upon EV6 startup, so it is not the target of I/O fallback recovery. (Normal, or abnormal detection has been done) Other than above Specified I/O module state is normal. I/O module serious failure occurred, or I/O fallback occurred due to an I/O fallback request. Chapter 2 LD/FBD Instructions 6F8C1226 362 · Therefore, in event task - I/O fallback task (EV4), the I/O module that was abnormal this time can be identified with this instruction and special register (SW), or system variable (ZW) I/O fallback information. · In event task - I/O fallback recovery task (EV6), the I/O node that recovered can be identified with this instruction and special register (SW), or system variable (ZW) I/O fallback recovery information. I/O fallback information and I/O fallback recovery information is referenced by the following special register (SW) or system variable (ZW). See the function manuals of controllers for data structure details. Controller I/O fallback information type1 type2 TC—net I/O SW[340..346] ZW[300..306] I/O fallback information G3—I/O SW[680..691] ZW[320..331] TC—net I/O SW[350..356] ZW[310..316] I/O fallback recovery information G3—I/O SW[700..711] ZW[340..351] · For basic unit slot (BASESLOT), "0" (I/O directly under the controller) is specified. · For I/O node number (NODE), I/O node number (3 to 34) is specified. · For unit number (UNIT), unit number (1 to 7) is specified. · For slot number (SLOT), slot number (0 to 15) is specified. ● Program example [LD/FBD language notation] S[340].B[0] S[340].B[2] VAL1 /* Searches for I/O module abnormal detection in nodes 3 to 34 of slot 0 to 15 */ /* I/O module abnormal of one unit*/ Describes the processing related to the I/O module. IF THEN ELSEIF S[340].B[0] S[340].B[2] VAL1 THEN FOR_DO GET_IO_STS BASESLOT NODE UNIT SLOT DINT_TO_UINT END_FOR ENDIF IO_OK FOR_DO DINT_TO_UINT END_FOR Indicates the I/O module where the following information is abnormal. Describes the processing related to the I/O module. 1) SW[341] to SW[344]: I/O fallback information (Main slot No./node No./unit No./slot No.) /* I/O module abnormal of multiple units */ INDEX ： XI MIN ： 3 MAX ：34 STEP ：1 INDEX ： XJ MIN ： 0 MAX：15 STEP ：1 XI 0 XJ 0 IO_OK Event task - I/O fallback task (EV4) :[Example for type1] 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 363 [ST language notation] (* Event task — I/O fallback task (EV4):[Example for type1] *) IF S[340].B[0] AND NOT(S[340].B[2]) THEN (* I/O module abnormal of one unit *) ELSEIF S[340].B[0] AND S[340].B[2] THEN (* I/O module abnormal of multiple units *) FOR XI := 3 TO 34 BY 1 DO FOR XJ := 0 TO 15 BY 1 DO Z1 := DINT_TO_UINT( XI); Z2 := DINT_TO_UINT( XJ); IO_OK := GET_IO_STS( 0, Z1, 1, Z2) IF IO_OK = FALSE THEN (* processing related to the I/O module *) END_IF END_FOR; END_FOR; END_IF; [LD/FBD language notation] /*Searches for I/O module abnormal recovery detection in nodes 3 to 34 of slot 0 to 15*/ /* I/O module abnormal recovery of one unit*/ Describes the processing related to the I/O module. IF THEN ELSEIF S[350].B[0] S[350].B[2] VAL1 THEN FOR_DO GET_IO_STS BASESLOT NODE UNIT SLOT DINT_TO_UINT IO_OK END_FOR ENDIF IO_OK FOR_DO DINT_TO_UINT END_FOR Indicates the I/O module where the following information is abnormal recovery. Describes the processing related to the I/O module. 1)SW[351] to SW[354]: I/O fallback recovery information (Main slot No./node No./unit No./slot No.) /* I/O module abnormal recovery of multiple units*/ S[350].B[0] S[350].B[2] VAL1 INDEX ： XI MIN ： 3 MAX：34 STEP：1 INDEX： XJ MIN ： 0 MAX：15 STEP：1 X 0 XJ 0 Event task － I/O fallback recovery task （EV6）:[Example for type1] Chapter 2 LD/FBD Instructions 6F8C1226 364 [ST language notation] (* Event task - I/O fallback recovery task (EV6):[Example for type1] *) IF S[350].B[0] AND NOT(S[350].B[2]) THEN (* I/O module abnormal recovery of one unit *) ELSEIF S[350].B[0] AND S[350].B[2] THEN (* I/O module abnormal recovery of multiple units *) FOR XI := 3 TO 34 BY 1 DO FOR XJ := 0 TO 15 BY 1 DO Z1 := DINT_TO_UINT( XI); Z2 := DINT_TO_UINT( XJ); IO_OK := GET_IO_STS( 0, Z1, 1, Z2) IF IO_OK THEN (* processing related to the I/O module *) END_IF END_FOR; END_FOR; END_IF; ♦ Description of operation for I/O fallback task (EV4) When I/O fallback of multiple units is detected in I/O fallback task (EV4), it can be determined if the specified I/O module is a target of fallback by using GET_SIO_STS instruction in EV4 task. GET_SIO_STS instruction output becomes FALSE(OFF) if the specified I/O module is a target of fallback ♦ Description of operation for I/O fallback recovery task (EV6) When I/O module fallback recovery of multiple units is detected in I/O fallback recovery task (EV6), it can be determined if the specified I/O module is a target of fallback recovery by using GET_SIO_STS instruction in EV6 task. GET_SIO_STS instruction output becomes TRUE(ON) if the specified I/O module is a target of fallback recovery, or FALSE(OFF) otherwise. ♦ Description of operation for tasks other than I/O fallback task (EV4) / I/O fallback recovery task (EV6) When GET_SIO_STS instruction is used in a task other than I/O fallback task (EV4) / I/O fallback recovery task (EV6), the specified I/O module state can be determined. GET_SIO_STS instruction output becomes TRUE(ON) if the specified I/O module is normal, or FALSE(OFF) otherwise. ● Error information · If the specified I/O module is not registered, or if basic unit slot number or I/O node number exceeds the specification range, or if unit number or slot number exceeds the specification range, the result is set to FALSE(OFF). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 365 I/O Fallback Request I/O I/O Fallback Request nv dedicated instruction LD/FBD language notation Execution output IOFB_REQ Basic unit slot I/O node number Unit number Slot number BASESLOT NODE UNIT SLOT EN input Edge execution Index modification Modifier ○ ○ — ST language notation Execution output := IOFB_REQ( BASESLOT, NODE, UNIT, SLOT ); ● Arguments Arg. Operand Type Const. Description Valid range BASESLOT UINT ○ Basic unit slot 0 NODE UINT ○ I/O node number 3 to 34 UNIT UINT ○ Unit number 1 to 7 Input SLOT UINT ○ Slot number 0 to 15 Output — BOOL — Execution output ● Function · A fallback request is made to the I/O module specified with basic unit slot (BASESLOT), I/O node number (NODE), unit number (UNIT), and slot number (SLOT). · For basic unit slot (BASESLOT), “0”(I/O directly under the controller) is specified. · For I/O node number (NODE), I/O node number (3 to 34) is specified. · For unit number (UNIT), unit number (1 to 7) is specified. · For slot number (SLOT), slot number (0 to 15) is specified. Chapter 2 LD/FBD Instructions 6F8C1226 366 ● Program example [LD/FBD language notation] IOFB_REQ NODE BASESLOT SAMPLE1 0 LD SAMPLE2 3 LD SIGNAL1 UNIT SAMPLE3 1 LD SLOT SAMPLE4 5 LD [ST language notation] SIGNAL1 := IOFB_REQ( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); ・ The basic unit slot CPU is specified with SAMPLE1, I/O node number =3 is specified with SAMPLE2, unit number =1 is specified with SAMPLE3, and slot number =5 is specified with SAMPLE4. ・A fallback request of the I/O module specified with BASESLOT, NODE, UNIT, and SLOT is made. ● Error information ・ If the specified I/O module is not registered, or if basic unit slot number or I/O node number exceeds the specification range, or if unit number or slot number exceeds the specification range, the result is set to FALSE(OFF). ・When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 367 I/O Fallback Recovery Request I/O I/O Fallback Recovery Request nv dedicated instruction LD/FBD language notation Execution output IORC_REQ Basic unit slot I/O node number Unit number Slot number BASESLOT NODE UNIT SLOT EN input Edge execution Index modification Modifier ○ ○ — ST language notation Execution output := IORC_REQ( BASESLOT, NODE, UNIT, SLOT ); ● Arguments Arg. Operand Type Const. Description Valid range BASESLO T UINT ○ Basic unit slot 0 NODE UINT ○ I/O node number 3 to 34 UNIT UINT ○ Unit number 1 to 7 Input SLOT UINT ○ Slot number 0 to 15 Output — BOOL — Execution output ● Function · A fallback recovery request is made to the I/O module specified with basic unit slot (BASESLOT), I/O node number (NODE), unit number (UNIT), and slot number (SLOT). · For basic unit slot (BASESLOT), “0”(I/O directly under the controller) is specified. · For I/O node number (NODE), I/O node number (3 to 34) is specified. · For unit number (UNIT), unit number (1 to 7) is specified. · For slot number (SLOT), slot number (0 to 15) is specified. Chapter 2 LD/FBD Instructions 6F8C1226 368 ● Program example [LD/FBD language notation] IORC_REQ NODE BASESLOT SAMPLE1 0 LD SAMPLE2 3 LD SIGNAL1 UNIT SAMPLE3 1 LD SLOT SAMPLE4 5 LD [ST language notation] SIGNAL1 := IORC_REQ( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · The basic unit slot CPU is specified with SAMPLE1, I/O node number ＝3 is specified with SAMPLE2, unit number ＝1 is specified with SAMPLE3, and slot number ＝5 is specified with SAMPLE4. · A fallback recovery request of the I/O module specified with BASESLOT, NODE, UNIT, and SLOT is made. ● Error information · If the specified I/O module is not registered, or if basic unit slot number or I/O node number exceeds the specification range, or if unit number or slot number exceeds the specification range, the result is set to FALSE(OFF). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.15 I/O Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 369 Drive Device State Read I/O Drive Device State Read nv dedicated instruction LD/FBD language notation Drive device state GET_DRV_STS Drive network ID DRV EN input Edge execution Index modification Modifier ○ ○ — ST language notation Execution output := GET_DRV_STS(DRV); ● Arguments Arg. Operand Type Const. Description Valid range Input DRV UINT ○ Drive network ID 35 to 254 Output — WORD — Drive device state ● Function · Reads the state of drive device specified by the drive network ID (DRV). · Numbers 35 to 254 are specified for the drive network ID (DRV). · The drive device state is as follows: Drive device state Description =16#0000 Normal ≠16#0000 Abnormal 0 0 0 0 0 15 5 4 Node state 0: Normal (healthy) 1: Down (unhealthy) ALARM (minor failure) state 0:No / 1: Yes FAULT (major failure) state 0:No / 1: Yes 14 Drive network ID specification 0:Normal / 1: Abnormal Chapter 2 LD/FBD Instructions 6F8C1226 370 ● Program example [LD/FBD language notation] GET_DRV_STS DRV SAMPLE1 35 LD SAMPLE2 16#0000 ST [ST language notation] SAMPLE2 := GET_DRV_STS( SAMPLE1 ); Reads the drive device state of the drive network ID 35 specified by SAMPLE1 and stores in SAMPLE2. ● Error information · When the drive network ID is out of range (DRV＜35 or DRV＞254) , the result is 16#8000. · When the drive device of the specified drive network ID is other than drive (loop) and drive (bus), the result is 16#8000. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 371 2.16 Process Operation No. Instruction Remarks 1 Dead Band DB 2 Derivative DIF2 3 Integrator INTG 4 Super Two Degrees of Freedom PID PID2 5 MV Calculation MVS 6 Fix MV MVF 7 Polygonal Line Function PLN 8 Polygonal Line Function (high-speed version) PLN_REAL2 nv dedicated instruction 9 Inverse Polygonal Line Function ILNL 10 Inverse Polygonal Line Function (high-speed version) ILNL_REAL2 nv dedicated instruction 11 Dead Time DT 12 Moving Average (high-speed version) MAV 13 Moving Average (low speed version) MAV_N 14 Rate Limiter DLM 15 Lag/Lead Filter LAG2 16 Engineering Unit Conversion UNT 17 Percent Conversion PCT 18 Essential Succession PID PID3 19 Estimate with Reset RSM_L TOSDIC compatible instruction Parameter structure (the parameter structures allowed for function are described). Chapter 2 LD/FBD Instructions 6F8C1226 372 Dead Band Process Operation Dead Band LD/FBD language notation Data input Output DB_□□ Dead band width IN H EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := DB_ □□ ( IN, H); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description IN See below ○ Data input Input H See below ○ Dead band width Output — See below — Output Data input, dead band width Symbol(_ ) Output INT DB_INT INT DINT DB_DINT DINT REAL DB_REAL REAL Data input Output DB_ Dead band width ● Function · For data specified with data input IN and dead band width H, if data input IN is outside the dead band width H, the result of subtracting dead band width H from data input IN is output. · For data specified with data input IN and dead band width H, if data input IN is inside the dead band width H, “0” is output. Condition Action When data IN ≥ 0 Result=IN-|H| |IN| > |H| When data IN < 0 Result=IN+|H| |IN| ≤ |H| Result=0 □□ □□ 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 373 ● Program example [LD/FBD language notation] SAMPLE1 140 LD DB_INT IN H SAMPLE3 40 ST SAMPLE2 -100 LD Dead band width H H H Data input IN Resul t output [ST language notation] SAMPLE3 := DB_INT( SAMPLE1, SAMPLE2); · Performs dead band operation of the input data 140 in SAMPLE1 and dead band width 100 in SAMPLE2 and stores the difference 40 between the input data and dead band width in SAMPLE3 because the data input exceeds the dead band width. ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 374 Derivative Process Operation Derivative LD/FBD language notation Execution flag Output DIF2 Data input Rate time (S) Instance name E IN T OUT EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( E, IN, T ); [Variable name]:= [Instance name]. OUT; ● Arguments Arg. Operand Type Const. Description E BOOL ○ Execution flag IN REAL ○ Data input Input T REAL ○ Rate time (sec) Output OUT REAL — Output ● Instance structure Name Type Description Remarks OUT REAL Derivative result output Can be accessed from the user program. B4X REAL Previous input(Xn-1) B4Y REAL Previous output (Yn-1) Cannot be accessed from the user program. ● Function · When execution flag E is FALSE(OFF), Output OUT becomes “0”. · When execution flag E is TRUE(ON), Output OUT becomes T1 · S 1+T1 · S . · The unit of rate time T is seconds. The absolute value of the input data is used as rate time T. · Differentiation is performed by backward difference method. 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 375 Execution flag E DIF2 instance preprocessing Action FALSE(OFF) X n-1 = Data input IN Yn-1 = 0 TRUE(ON) — Yn-1=T/(CT+T)-( IN-Xn-1+Yn-1) Xn-1=IN Result = Yn-1 CT : Control cycle Xn-1 : Previous input Yn-1 : Previous output ● Important · The scan cycle of the task using this instruction must be in constant scan mode (Integrated Controller and S Controller only). ● Program example [LD/FBD language notation] DIF2 SAMPLE3 150.0 ST SAMPLE1 1000.0 LD SAMPLE2 0.1 LD E IN T SIGNAL1 DIF2_01 OUT [ST language notation] DIF2_01( SIGNAL1, SAMPLE1, SAMPLE2); SAMPLE3 := DIF2_01.OUT; Control cycle CT = 0.5 sec. Instance content (DIF2_01) (before → after operation) B4X(X n-1 )：100.0 → 1000.0 B4Y(Y n-1 )：0.0 → 150.0 · When the SIGNAL1 is TRUE(ON), performs differential operation using input data 1000.0 in SAMPLE1, rate time 0.1 in SAMPLE2, and instance variable DIF2_01, and stores the differential result 150.0 in SAMPLE3. Chapter 2 LD/FBD Instructions 6F8C1226 376 ● Error information · The following operation is performed when the input data type is REAL: Controller Action S Controller Up to V02.5* L Controller If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Integrated Controller V series S Controller After V02.60 Unified Controller nv series NAN and INF data are limited by the maximum value. · If the scan cycle of the task using this instruction is in floating scan mode, no operation is performed and the error flag is set to TRUE(ON) (Integrated Controller and S Controller only). 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 377 Integrator Process Operation Integrator LD/FBD language notation Execution flag Output INTG Data input Integral time (S) Initial value Instance name E OUT IN T INI EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( E, IN, T, INI ); [Variable name]:= [Instance name]. OUT; ● Arguments Arg. Operand Type Const. Description E BOOL ○ Execution flag IN REAL ○ Data input T REAL ○ Integral time (sec) Input INI REAL ○ Initial value Output OUT REAL — Output ● Instance structure Name Type Description Remarks OUT REAL Integral result output Can be accessed from the user program. B4Y REAL Previous output (Yn-1) Cannot be accessed from the user program. ● Function When execution flag E is FALSE(OFF), initial value INI is output. When execution flag E is TRUE(ON), integration is performed. The unit of integral time T is seconds. The absolute value of the input data is used as integral time T. Chapter 2 LD/FBD Instructions 6F8C1226 378 Execution flag E INTG instance preprocessing Action FALSE(OFF) — Result = INI Yn-1 = INI TRUE(ON) — In case T=0 : Yn-1 In case T ≠ 0 : IN* CT / T + Yn-1 Result = Yn-1 CT :Control cycle Yn-1 :Previous output ● Important · The scan cycle of the task using this instruction must be in constant scan mode(Integrated Controller and S Controller only). ● Program example [LD/FBD language notation] INTG SAMPLE4 50.0 ST SAMPLE1 100.0 LD SAMPLE2 1.0 LD SAMPLE3 0.0 LD E IN T SIGNAL1 INI INTG_01 OUT [ST language notation] INTG_01( SIGNAL1, SAMPLE1, SAMPLE2, SAMPLE3); SAMPLE4 := INTG_01.OUT; Control cycle CT = 0.5 sec. Instance content(INTG_01) (before→after operation) B4Y(Y n-1 ):0.0 → 50.0 · When SIGNAL1 is TRUE(ON), performs integration operation using input data 1000.0 in SAMPLE1, integral time 1.0 in SAMPLE2, initial value 0.0 in SAMPLE3, and instance variable INTG_01, and stores the integration result 50.0 in SAMPLE4. 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 379 ● Error information · The following operation is performed when the input data type is REAL: Controller Action S Controller Up to V02.5* L Controller If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Integrated Controller V series S Controller After V02.60 Unified Controller nv series NAN and INF data are limited by the maximum value. · If the scan cycle of the task using this instruction is in floating scan mode, no operation is performed and the error flag is set to TRUE(ON). (Integrated Controller and S Controller only). Chapter 2 LD/FBD Instructions 6F8C1226 380 Super Two Degrees of Freedom PID Process Operation Super Two Degrees of Freedom PID LD/FBD language notation Execution flag △MV output PID2 SV input PV input PV parameter variable Instance name LP parameter variable E D_MV SV PV PV_P LP_P EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( E, SV, PV, PV_P, LP_P ); [Variable name]:= [Instance name] . D_MV; ● Arguments Arg. Operand Type Const. Description E BOOL ○ Execution flag SV REAL ○ SV input[Engineering value] PV REAL ○ PV input[Engineering value] PV_P PTR — PV parameter variable Input LP_P PTR — LP parameter variable Output D_MV REAL — PID2 result output (△MV)[%] · Pointers to tag table are placed in PV parameter variable and LP parameter table. · The following symbols are referenced by PV_P and LP_P. The structures of the PV/LP parameters are described at the end of this section. Operand Symbol Type R/W Description RH REAL R PV range high [Engineering unit] PV_P (PV_PARA) RL REAL R PV range low [Engineering unit] KP REAL R Proportional gain TI REAL R Integral time [minute] TD REAL R Rate time [minute] ALP REAL R 2DOF proportionality coefficient LP_P (LP_PARA) CDR BOOL R Control direction (reverse=0/direct=1) R=Read only, W=Write only, RW=Read/Write 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 381 ● Instance structure Name Type Description Remarks D_MV REAL MV difference output (AMV)[%] Can be accessed from the user program. B4SV REAL SV previous value (SV n-1 ) [%] SVF REAL SV calculation intermediate value [%] B4E REAL Deviation previous value (E n-1 ) [%] B4D REAL Differential previous value (D n-1 ) [%] B4PV REAL PV previous value (PV n-1 ) [%] Cannot be accessed from the user program. ● Function · When the execution flag E is FALSE(OFF), initializes the PID2 instance area. · When execution flag E is TRUE(ON), performs two degrees of freedom PID operation. · Super two degrees of freedom PID (where |=1.0 and ¸=0) is used for PID operation. · Backward difference method is used for operation of the derivative term. (q=0.1). · The following variable can be specified for PV parameter and LP parameter: Controller Variable SController Variable other than direct I/O variable Integrated Controller V series LController Tag parameter variable of PV/LP type1 Variable other than direct I/O variable Unified Controller nv series type2 Tag parameter variable of PV/LP Chapter 2 LD/FBD Instructions 6F8C1226 382 Execution flag E PID2 instance preprocessing Action FALSE(OFF) Initialization SVn-1 = SVn SVF = SVn en-1 = SVF-PVn Dn-1 = 0 PVn-1 = PVn TRUE(ON) No initialization SVF = SVn · CT/(CT+TI)+α(SVn÷SVn-1) · TI/(CT+TI)+SVFTI/(CT+TI) ∆MV = (SVF÷PVn) ÷en-1 en = SVF÷PVn When TI<>0: ∆MV = ∆MV+CT· en / TI When TD<>0: ∆D = (÷PVn+PVn-1) TD/(CT+0.1·TD) ÷Dn-1·CT/(CT+0.1·TD) ∆MV = ∆MV+∆D Dn = Dn+∆D When TD = 0: Dn = 0 ∆MV = ∆MV·Kp When CDR = 1: ∆MV = ÷ ∆MV Kp : Proportional gain TI : Integral time TD : Rate time CT : Control cycle α : Two degrees of freedom α coefficient SVn : Current setting value (%) SVn-1 : Previous setting value (%) en : Current deviation en-1 : Previous deviation PVn : Current process value(%) PVn-1 : Previous process value(%) AMV : Output AD : Differential term Dn : Current differential term Dn-1 : Previous differential term The input setting values and process values are in engineering unit and are converted to percent before calculation. ● Important · The scan cycle of the task using this instruction must be in constant scan mode (Integrated Controller and S Controller only). 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 383 ● Program example [LD/FBD language notation] PI D2 SAMPLE4 －73.61369 ST SAMPLE1 500. 0 LD SAMPLE2 0.0 LD PV_PARA [n].TAG LD E SV PV PV_P SIGNAL1 Control cycle CT=0.5 sec. PID2_01 LP_PARA [m] .TAG LD LP_P D_MV [ST language notation] PID2_01( SIGNAL1, SAMPLE1, SAMPLE2, PV_PARA[n].TAG, LP_PARA[m].TAG); SAMPLE4 := PID2_01.D_MV · When SIGNAL1 is TRUE(ON), performs two degrees of freedom PID operation using SV input data 500.0 in SAMPLE1, PV input data 0.0 in SAMPLE2, PV parameter variable PV_P, and LP parameter variable LP_P and stores the result in SAMPLE4. ● Error information · When the PV parameter and LP parameter exceed the variable area, the super two degrees of freedom PID is not processed and the data boundary is exceeded. · The following operation is performed when the input data type is REAL: Controller Action S Controller Up to V02.5* L Controller If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Integrated Controller V series S Controller After V02.60 Unified Controller nv series NAN and INF data are limited by the maximum value. · If RH=RL, the divide error flag is set to TRUE(ON) and 0 is output. · The following operation is performed if the PV parameter or LP parameter specification is invalid: Chapter 2 LD/FBD Instructions 6F8C1226 384 Controller Action S Controller Super two degrees of freedom PID is not executed when direct I/O variable is specified. Error flag is set to TRUE(ON). Integrated Controller V series L Controller When variables other than PV/LP tag parameters are specified, the table operation error flag is set to TRUE(ON) and the result is 0. type1 Super two degrees of freedom PID is not executed when direct I/O variable is specified. Error flag and table operation error flag are set to TRUE(ON). Unified Controller nv series type2 When variables other than PV/LP tag parameters are specified, error flag and table operation error flag are set to TRUE(ON) and the result is 0. · If the scan cycle of the task using this instruction is in floating scan mode, no operation is performed and the error flag is set to TRUE(ON) (Integrated Controller and S Controller only). 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 385 MV Calculation Process Operation MV Calculation LD/FBD language notation Execution flag Output MVS MV difference input MV initial value MV input Instance name LP parameter variable E OUT IN MV0 MV LP_P EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( E, IN, MV0, MV, LP_P ); [Variable name]:= [Instance name]. OUT; ● Arguments Arg. Operand Type Const. Description E BOOL ○ Execution flag IN REAL ○ MV difference input (ΔMV) [%] MV0 REAL ○ MV initial value[%] MV REAL ○ MV input[%] Input LP_P PTR — LP parameter variable Output OUT REAL — Output (MV) [%] · A pointer to tag table is placed in LP parameter variable. · The following symbols are referenced by LP_P. The structures of the LP parameters are described at the end of this section. Operand Symbol Type R/W Description DMV REAL R MV rate limit [%] MH REAL R MV high limit [%] LP_P (LP_PARA) ML REAL R MV low limit [%] R=Read only, W=Write only, RW=Read/Write ● Instance structure Name Type Description Remarks OUT REAL Output (MV) [%] Can be accessed from the user program. MVW REAL MV work [%] Cannot be accessed from the user program. Chapter 2 LD/FBD Instructions 6F8C1226 386 ● Function · When the execution flag is FALSE(OFF), performs MV operation and outputs the result. · When the execution flag is TRUE(ON), performs tracking operation and outputs the result. · The MVS instruction does not set output in MV of LP tag data. Store instruction must be used to set the output of the MVS instruction to MV of the LP tag data. · The following variables can be specified for the LP parameter: Controller Variable S Controller Variable other than direct I/O variable Integrated Controller V series L Controller LP tag parameter variable type1 Variable other than direct I/O variable Unified Controller nv series type2 LP tag parameter variable Execution flag E MVS instance preprocessing Action FALSE(OFF) MVW=MVW+IN MV rate limit When |MVW-MV|>DMV When in increase direction Work=MV+DMV when in decrease direction work=MV-DMV When |MVW-MV|≤ DMV work=MVW TRUE(ON) MVW=MV0 work=MVW MV high limit When work<MH work=MH MV low limit When work<ML work=ML Result output=work ML :MV low limit MH :MV high limit DMV :MV rate limit MVW :MV work work :MV calculation work ● Program example [LD/FBD language notation] ＜Before operation ＞ Instance (MVS_01) 50.0 MVW ＜After operation＞ Instance (MVS_01) 60.0 MVW LP_DATA[m].MV 50.0 LD MVS LP_DATA[m].MV 60.0 ST SIGNAL1 0 LD SAMPLE1 10.0 LD E MV IN MV0 SAMPLE2 50.0 LD LP_P LP_PARA [m].TAG LD MVS_01 OUT LP parameter(LP_P) 125.0 MH -25.0 ML 100.0 DMV 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 387 [ST language notation] MVS_01( SIGNAL1, SAMPLE1, SAMPLE2, LP_DATA[m].MV, LP_PARA[m].TAG); LP_DATA[m].MV := MVS_01.OUT · When the SIGNAL1 is FALSE(OFF), MV operation is performed against the MV difference input 10.0 in SAMPLE1 using the MV input and LP parameter LP_P, and the result 60.0 is stored in LP_DATA[m].MV. ● Error information · When the LP parameter exceeds the variable area, the MV calculation is not processed and the data boundary is exceeded. · The following operation is performed when the input data type is REAL: Controller Action S Controller Up to V02.5* L Controller If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Integrated Controller V series S Controller After V02.60 Unified Controller nv series NAN and INF data are limited by the maximum value. · The following operation is performed if the LP parameter specification is invalid: Controller Action S Controller MV calculation is not executed when direct I/O variable is specified. Error flag is set to TRUE(ON). Integrated Control V series L Controller When variables other than LP tag parameters are specified, the table operation error flag is set to TRUE(ON) and the result is 0. type1 MV calculation is not executed when direct I/O variable is specified. Error flag and table operation error flag are set to TRUE(ON). Unified Controller nv series type2 When variables other than LP tag parameters are specified、error flag and table operation error flag are set to TRUE(ON) and the result is 0. Chapter 2 LD/FBD Instructions 6F8C1226 388 Fix MV Process Operation Fix MV LD/FBD language notation Execution flag Output MVF MV fixed value LP data variable LP data variable E IN LP_D LP_D EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := MVF( E, IN, LP_D ); ● Arguments Arg. Operand Type Const. Description E BOOL ○ Execution flag Input IN REAL ○ MV fixed value[%] Input/O utput LP_D PTR — LP data variable Output — REAL — Output · A pointer to tag table is placed in LP data variable. · The following symbols are referenced by LP_D. The structure of the LP data is described at the end of this section. Operand Symbol Type R/W Description MV REAL W MV value[%] LP_D (LP_DATA) SMV BOOL W SEQ-MV operation R : Read only, W: Write only, RW=Read/Write ● Function · When execution flag E is TRUE(ON), registers the MV fixed value (set SMV flag). · When execution flag E is FALSE(OFF), unregisters the MV fixed value (reset SMV flag). · The following variables can be specified for the LP data: Controller Variable S Controller Variable other than direct I/O variable Integrated Controller V series L Controller LP tag data variable type1 Variable other than direct I/O variable Unified Controller nv series type2 LP tag data variable ● Important · When the MVF instruction is used, the LP data variable SMV flag is used exclusively (ON when E input is TRUE and OFF when FALSE). To use the SMV flag in other applications, the MVF instruction must be removed or processing must be stopped by resetting EN to OFF. 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 389 ● Program example [LD/FBD language notation] MVF SAMPLE3 80.0 ST SIGNAL1 0 LD SAMPLE1 80.0 LD E IN LP_DATA [m].SV LD LP_DATA [m].SV ST LP_D LP_D [ST language notation] SAMPLE3 := MVF( SIGNAL1, SAMPLE1, LP_DATA[m].SV); · When SIGNAL1 is TRUE(ON), stores the MV input 80.0 specified with SAMPLE1 in LP data MV and sets the SMV flag. When SIGNAL1 is FALSE(OFF), the SMV flag is reset. · Input value SAMPLE1 is output to SAMPLE3 unchanged. ● Error information · When the LP data exceeds the variable area, the fix MV is not processed and the data boundary is exceeded. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · The following operation is performed if the LP data specification is invalid: Controller Action S Controller When direct I/O variable is specified, the result is 0. Error flag is set to TRUE(ON). Integrated Controller V series L Controller When variables other than LP tag parameters are specified, the table operation error flag is set to TRUE(ON) and the result is 0. type1 When direct I/O variable is specified, the error flag and table operation error flag are set to TRUE(ON) and the result is 0. Unified Controller nv series type2 When variables other than LP tag parameters are specified, the error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 390 Polygonal Line Function Process Operation Polygonal Line Function LD/FBD language notation IN TBL Data input Output PLN_□□ Polygonal line table EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := PLN_ □□ ( IN, TBL ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description IN See below ○ Data input Input TBL PTR — Polygonal line table Output — See below — Output Input Symbol(_ ) Output INT PLN_INT INT REAL PLN_REAL REAL Data input Output PLN_ IN TBL Polygonal line table □□ □□ 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 391 ● Function · With the input data IN as X axis input, outputs the Y axis approximation result using the function table specified with the polygonal line table TBL. · The size and structure of the polygonal line table are as follows. Different table formats are used for INT data and REAL data. 0 15 Number of points n X n Y 0 X 1 Y 1 X n-1 Y n-1 [PLN_INT] Maximum points:40 Table top address:Point n [PLN_REAL] Maximum points:11 When less than 11 points: Add 2 end codes (H80000000) 0 31 X 0 Y 0 X 1 Y 1 When less than 11 points, end code(H80000000) When less than 11 points, end code(H80000000) 11 points maximum 40 points maximum <Polygonal line table : polygonal line parameter typeP_PARA> Integrated Controller : S2/S3/L1/L2/L3 Unified Controller : type1 <Polygonal line table : polygonal line parameter typeP_PARA_DS> Integrated Controller : L2DS/L3DS Unified Controller : type2 0 31 Y 0 Y 1 When less than 11 points, end code(H80000000) 11 points maximum X 0 X 1 When less than 11 points, end code(H80000000) 11 points maximum · Data must be stored in the polygonal table such that X 0 < X 1 <…X n-1. · When data input IN ≤ X0, the corresponding Y value is Y 0 and when data input IN ≥ Y n-1 , the Y value is Y n-1. · Direct I/O variable cannot be specified for polygonal line table. Output= (IN - X n-1 ) - (Y n -Y n-1 ) / (X n -X n-1 ) + Y n-1 Where X n-1 and X n are values enclosing input data IN (X n-1 ≤ IN < X n ) and Y n-1 and Y n correspond to X n-1 and X n. Chapter 2 LD/FBD Instructions 6F8C1226 392 ● Program example [LD/FBD language notation] SAMPLE2 : Polygonal line table X0 Y0 X1 Y1 X2 Y2 X3 Y3 X4 Y4 PLN_REAL SAMPLE3 80 ST SAMPLE1 40 LD SAMPLE2 -100 LD IN TBL -100 50 -50 -100 0 0 50 100 100 -100 IN SAMPLE3:80 100 100 -100 -100 X Y Variable declaration Variable Data type Dec. SAMPLE1 REAL VAR SAMPLE2 typeP_PARA VAR [ST language notation] SAMPLE3 := PLN_REAL( SAMPLE1, SAMPLE2); · For input data in SAMPLE1, calculates the Y corresponding to input data 40 based on polygonal line table specified with SAMPLE2 and stores the result “80” in SAMPLE3. ● Error information · When the polygonal line table exceeds the variable area, the polygonal line function is not processed and the data boundary is exceeded. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · The following operation is performed when direct I/O variable is specified for the polygonal line table. Controller Action Integrated Controller V series Error flag is set to TRUE(ON) and the result is 0. Unified Controller nv series Error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 393 Polygonal Line Function (high-speed version) Process Operation Polygonal Line Function (high speed-version) nv dedicated instruction LD/FBD language notation Data input Output PLN_REAL2 Polygonal line table IN TBL EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := PLN_REAL2 ( IN, TBL ); ● Arguments Arg. Operand Type Const. Description IN See below ○ Data input Input TBL PTR — Polygonal line table Output — See below — Output ● Function · With the input data IN as X axis input, the Y axis approximation result is output using the function table specified with the polygonal line table TBL. · The size and structure of the polygonal line table are as follows: Polygonal line table data type Item Data type Point count DINT Point data REAL 0 31 Number of pointsn X0 Y0 X1 Y1 Xn-1 Yn-1 Maximum points:11, Table top address: Point n 11 points maximum · Data must be stored in the polygonal line table such that X 0 < X 1 <…X n-1. · When data input IN ≤ X0, the corresponding Y value is Y 0 and when data input IN ≥X n-1 , the Y value is Y n-1. · Direct I/O variable cannot be specified for the polygonal line table. Output = (IN-X n-1 ) - (Y n -Y n-1 )/(X n -X n-1 )+Y n-1 Where X n-1 and X n are values enclosing input data IN (X n-1 ≤ IN<X n ) and Y n-1 and Y n correspond to X n-1 and X n. Chapter 2 LD/FBD Instructions 6F8C1226 394 · When point count ＝0 is specified, Result ＝ Input data. ● Program example [LD/FBD language notation] SAMPLE2 : Polygonal line table PLN_REAL2 SAMPLE3 80 ST SAMPLE1 40 LD SAMPLE2 5 LD IN TBL IN SAMPLE3:80 100 100 -100 -100 X Y Structure declaration：type PLN_REAL2 Member Data type NUM DINT POINT typeP_PARA Variable declaration Variable Data type Dec. SAMPLE1 REAL VAR SAMPLE2 type PLN_REAL2 VAR -100 50 -50 -100 0 0 50 100 100 -100 X0 Y0 X1 Y1 X2 Y2 X3 Y3 X4 Y4 NUM 5 [ST language notation] SAMPLE3 := PLN_REAL2 ( SAMPLE1, SAMPLE2); ・ For input data in SAMPLE1, the Y corresponding to input data 40 is calculated based on polygonal line table specified with SAMPLE2. The result "80" is stored to SAMPLE3. ● Error information · When the polygonal line table exceeds the variable area, polygonal line function is not processed and the data boundary is exceeded. · The following operation is performed when the input data type is REAL: Controller Action Unified Controller nv series NAN and INF data are limited by the maximum value. · The following operation is performed when direct I/O variable is specified for the polygonal line table: Controller Action Unified Controller nv series Error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When the specified number of points exceeds 11, the point number is limited to 11. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 395 Inverse Polygonal Line Function Process Operation Inverse Polygonal Line Function LD/FBD language notation IN TBL Data input Output ILNL_□□ Polygonal line table EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := ILNL_ □□ ( IN, TBL ); ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Argu. Operand Type Const. Description IN See below ○ Data input Input TBL PTR — Polygonal line table Output — See below — Output Input Symbol(_ ) Output INT ILNL_INT INT REAL ILNL_REAL REAL Data input Output ILNL_ IN TBL Polygonal line table ● Function · With the input data IN as Y axis input, outputs the X axis approximation result using the function table specified with the polygonal line table TBL. □□ □□ Chapter 2 LD/FBD Instructions 6F8C1226 396 · The size and structure of the polygonal line table are as follows. 0 15 Number of points n Xn Y0 X1 Y1 Xn-1 Yn-1 [ILNL_INT] Maximum points: 40 Table top address: Point n [ILNL_REAL] Maximum points: 11 When less than 11 points: Add 2 end codes (H80000000) 0 31 X0 Y0 X1 Y1 When less than 11 points: End code (H80000000) When less than 11 points: End code (H80000000) 11 points maximum 40 points maximum <Polygonal line table: polygonal line parameter typeP_PARA> Integrated Controller : S2/S3/L1/L2/L3 Unified Controller : type1 <Polygonal line table: polygonal line parameter typeP_PARA_DS> Integrated Controller : L2DS/L3DS Unified Controller : type2 0 31 Y0 Y1 When less than 11 points: End code (H80000000) 11 points maximum X0 X1 When less than 11 points: End code (H80000000) 11 points maximum 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 397 · Data must be stored in the polygonal table such that X 0 < X 1 <… X n-1. · If data input IN intersects the polygonal line at two or more places, the one with the smallest X value has priority. X Y a Output · If data input IN is outside the range of Y axis on the polygonal line table, the X value for the maximum (or minimum) Y value on the polygonal line table is output. X Y (X0,Y0) (X1,Y1) (X2, Y2) (X3,Y3) (X4,Y4) (X5,Y5) a b Output X5 when input val ue is a Output X2 when input val ue is b X5 X2 · Direct I/O variable cannot be specified for the polygonal line table. X n -X n-1 f(x)=(IN-Y n-1 )- Y n -Y n-1 +X n-1 · Where Y n-1 and Y n are values enclosing input data IN (Y n-1 ≤ IN < Y n ) and X n-1 and X n correspond to Y n-1 and Y n. Chapter 2 LD/FBD Instructions 6F8C1226 398 ● Program example [LD/FBD language notation] X0 Y0 X1 Y1 X2 Y2 X3 Y3 X4 Y4 ILNL_REAL SAMPLE3 40 ST SAMPLE1 80 LD SAMPLE2 -100 LD IN TBL SAMPLE2：Polygonal line table IN SAMPLE3:40 100 100 -100 -100 X Y -100 50 -50 -100 0 0 50 100 100 -100 Variable declaration Variable Data type Dec. SAMPLE1 REAL VAR SAMPLE2 typeP_PARA VAR [ST language notation] SAMPLE3 := ILNL_REAL( SAMPLE1, SAMPLE2); · For input data in SAMPLE1, calculates the X corresponding to input data “80” based on polygonal line table specified with SAMPLE2 and stores the result “40” in SAMPLE3. ● Error information · When the polygonal line table exceeds the variable area, inverse polygonal line function is not processed and the data boundary is exceeded. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · The following operation is performed when direct I/O is specified for the polygonal line table: Controller Action Integrated Controller V series Error flag is set to TRUE(ON) and the result is 0. Unified Controller nv series Error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 399 Inverse Polygonal Line Function (high-speed version) Process Operation Inverse Polygonal Line Function (high-speed version) nv dedicated instruction LD/FBD language notation Data input Output ILNL_REAL2 Polygonal line table IN TBL EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := ILNL_REAL2 ( IN, TBL ); ● Arguments Arg. Operand Type Const. Description IN See below ○ Data input Input TBL PTR — Polygonal line table Output — See below — Output ● Function · With the input data IN as Y axis input, the X axis approximation result is output using the function table specified with the polygonal line table TBL. · The size and structure of the polygonal line table are as follows: Polygonal line table data type Item Data type Point count DINT Point data REAL 0 31 Number of points n X0 Y0 X1 Y1 Xn-1 Yn-1 Maximum points: 11, Table top address: Points n 11 points maximum · Data must be stored in the polygonal line table such that X0 < X1 <･･･ X n-1. · If data input IN intersects the polygonal line at two or more places, the one with the smallest X value has priority. Chapter 2 LD/FBD Instructions 6F8C1226 400 X Y a Output · If data input IN is outside the range of Y axis on the polygonal line table, the X value for the maximum (or minimum) Y value on the polygonal line table is output. X Y (X0,Y0) (X1,Y1) (X2,Y2) (X3,Y3) (X4,Y4) (X5,Y5) a b Output X5 when input value is a Output X2 when input value is b X5 X2 · Direct I/O variable cannot be specified for the polygonal line table. X n -X n-1 f(x)=(IN-Y n-1 ) - Y n -Y n-1 +X n-1 Where Y n-1 and Y n are values enclosing input data IN (Y n-1 ≤ IN<Y n ) and X n-1 and X n correspond to Y n-1 and Y n. · When point count =0 is specified, result = Input data. 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 401 ● Program example [LD/FBD language notation] SAMPLE2: Polygonal line table ILNL_REAL2 SAMPLE3 80 ST SAMPLE1 80 LD SAMPLE2 5 LD IN TBL Structure declaration：type ILNL_REAL2 Member Data type NUM DINT POINT typeP_PARA Variable declaration Variable Data type Dec. SAMPLE1 REAL VAR SAMPLE2 type ILNL_REAL2 VAR -100 50 -50 -100 0 0 50 100 100 -100 X0 Y0 X1 Y1 X2 Y2 X3 Y3 X4 Y4 NUM 5 IN SAMPLE3:40 100 100 -100 -100 X Y [ST language notation] SAMPLE3 := ILNL_REAL2 ( SAMPLE1, SAMPLE2); · For input data in SAMPLE1, the X corresponding to input data “80” is calculated based on polygonal line table specified with SAMPLE2. The result “40” is stored to SAMPLE3. ● Error information · When the polygonal line table exceeds the variable area, inverse polygonal line function is not processed and the data boundary is exceeded. · The following operation is performed when the input data type is REAL: Controller Action Unified Controller nv series NAN and INF data are limited by the maximum value. · The following operation is performed when direct I/O variable is specified for the polygonal line table. Controller Action Unified Controller nv series Error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When the specified number of points exceeds 11, the point number is limited to 11. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 402 Dead Time Process Operation Dead Time LD/FBD language notation Execution flag Output DT Data input Sample number Sampling time Work Work E IN I T M M EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := DT( E, IN, I, T, M ) ; ● Arguments Arg. Operand Type Const. Description E BOOL ○ Execution flag IN REAL ○ Data input I INT ○ Sample number Input T INT ○ Sampling cycle (0.1 sec. unit) Input/ Output M PTR — Work (6+I-2 words) Output — REAL — Output ● Function · When execution fag E is FALSE(OFF), data input IN is output as the result. · When the execution flag is TRUE(ON)ON, dead time operation is performed for data input IN and the result is output. · Sampling cycle is set in 0.1 second units. · Sampling number must be between 1 and 256. · If sampling cycle T > scan time, linear interpolation is performed between samples. · If sample number I ≤ 0, no dead time operation is performed. · If the sample number is changed during dead time operation, the result is unpredictable. · Specify the data save area used by the DT instruction for work. The size of the work depends on the sample number I (6+I-2 words). · Direct I/O variable cannot be specified for work. 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 403 0 15 Timer counter Sample data counter Current output [2 words] Previous difference [2 words] Sample value (I-2 words) Maximum number of words: 518 words (6+256-2 words) Execution flag E Action FALSE(OFF) Result output =Data input IN TRUE(ON) Result output=Dead time operation result ● Important · If the sample number is changed during dead time operation, the result is unpredictable. Do not write to work, the result is unpredictable. ● Program example [LD/FBD language notation] DT SAMPLE4 20 ST SIGNAL1 1 LD SAMPLE1 160 LD E M IN I 3 LD SAMPLE2 10 LD SAMPLE3 5 LD T M SAMPLE3 ST Arg. declaration Variable Data type Comment Dec. SIGNAL1 BOOL Execution flag VAR SAMPLE1 REAL Data input VAR SAMPLE2 INT Sampling cycle VAR SAMPLE3 ARRAY[0..11] OF INT Work VAR SAMPLE4 REAL Result output VAR Chapter 2 LD/FBD Instructions 6F8C1226 404 5 1 15 5 Timer counter Sample data counter Current output Previous difference <Before execution> SAMPLE3 : Work area 80 20 40 Sample value 0 2 20 10 <After execution> SAMPLE3 : Work area 80 160 40 Scan cycle (0.5[s]) Sampling cycle (10[0.1s]) Input X Output Y Dead time (number of samples =3) Timer counter Sample data counter Current output Previous difference Sample value [ST language notation] SAMPLE4 := DT( SIGNAL1, SAMPLE1, 3, SAMPLE2, SAMPLE3); · When the execution flag in SIGNAL1 is TRUE(ON), dead time operation is performed using data input in SAMPLE1, sample number 3, sampling cycle in SAMPLE2, and work specification in SAMPLE3. The result is stored in SAMPLE4. 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 405 ● Error information · When the work exceeds the variable area, the dead time is not processed and the data boundary is exceeded. · The following operation is performed when the input data type is REAL: Controller Action S Controller Up to V02.5* L Controller If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Integrated Controller V series S Controller After V02.60 Unified Controller nv series NAN and INF data are limited by the maximum value. · When the specified number of sample exceeds 256, it is limited to 256. · The following operation is performed when direct I/O variable is specified for the work: Controller Action Integrated Controller V series Error flag is set to TRUE(ON) and the result is 0. Unified Controller nv series Error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 406 Moving Average (high-speed version) Process Operation Moving Average (high-speed version) LD/FBD language notation Execution flag Output MAV Data input Sample number Sampling cycle Work Work E IN I T M M EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := MAV( E, IN, I, T, M ); ● Important · Read “Notes on Moving Average Instruction（MAV／MAV_N）” provided after the Moving Average (low-speed version) section before using this instruction. ● Arguments Arg. Operand Type Const. Description E BOOL ○ Execution flag IN REAL ○ Data input I INT ○ Sample number Input T INT ○ Sampling cycle (0.1 sec. unit) Input/ Output M PTR — Work (6+I-2 words) Output — REAL — Output ● Function · When execution flag E is FALSE(OFF), data input IN is output as the result. · When the execution flag is TRUE(ON), moving average operation is performed for data input IN and the result is output. · Sampling cycle is set in 0.1 second units. · Sample number must be between 1 and 256. · When sampling cycle T > scan time, the output at sampling cycle is output once more (retained). · When sample number I ≤ 0, no moving average operation is performed. · If the sample number is changed during moving average operation, the result is unpredictable. · Specify the data save area used by the MAV instruction for work. The size of the work depends on the sample number I (6+I-2 words). · Direct I/O variable cannot be specified for work variable. 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 407 0 15 Timer counter Sample data counter Current output [2 words] Total sample value [2 words] Sample value (I-2 words) Maximum number of words : 518 words (6+256-2 words) Execution flag E Action FALSE(OFF) Result output =Data input IN TRUE(ON) Result output=Moving average operation result ● Important · If the sample number is changed during moving average operation, the result is unpredictable. Do not write to work. The result is unpredictable. ● Program example [LD/FBD language notation] MAV SAMPLE4 93.333 ST SIGNAL1 1 LD SAMPLE1 160 LD E M IN I 3 LD SAMPLE2 10 LD SAMPLE3 5 LD T M SAMPLE3 0 ST Arg. declaration Variable Data type Comment Dec. SIGNAL1 BOOL Execution flag VAR SAMPLE1 REAL Data input VAR SAMPLE2 INT Sampling cycle VAR SAMPLE3 ARRAY[0..11] OF INT Work VAR SAMPLE4 REAL Result output VAR Chapter 2 LD/FBD Instructions 6F8C1226 408 5 1 46.667 140 Timer counter Sample data counter Current output Total sample value <Before execution> SAMPLE4:Work area 80 20 40 Sample value 0 2 93.333 280 <After execution> SAMPLE4 Work area 80 160 40 Output Y ((8)+(9)+(10))／3 ((7)+(8)+(9))／3 ((6)+(7)+(8))／3 ((5)+(6)+(7))／3 ((4)+(5)+(6))／3 ((3)+(4)+(5))／3 ((2)+(3)+(4))／3 Scan cycle (0.5[s]) Sampling cycle (10[0.1s]) Input X (2) (10) (9) (8) (7) (6) (5) (4) (3) (1) Timer counter Sample data counter Current output Total sample value Sample value [ST language notation] SAMPLE4 := MAV( SIGNAL1, SAMPLE1, 3, SAMPLE2, SAMPLE3); · When the execution flag in SIGNAL1 is TRUE(ON), moving average operation is performed using data input in SAMPLE1, sample number 3, sampling cycle in SAMPLE2, and work specification in SAMPLE3. The result is stored in SAMPLE4. ● Error information · When the work exceeds the variable area, the moving average is not processed and the data boundary is exceeded. · The following operation is performed when the input data type is REAL: Controller Action S Controller Up to V02.5* L Controller If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Integrated Controller v series S Controller After V02.60 Unified Controller nv series NAN and INF data are limited by the maximum value. 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 409 · When the specified number of sample exceeds 256, it is limited to 256. · The following operation is performed when direct I/O variable is specified for the work. Controller Action Integrated Controller V series Error flag is set to TRUE(ON) and the result is 0. Unified Controller nv series Error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 410 Moving Average (low-speed version) Process Operation Moving Average (low-speed version) LD/FBD language notation Execution flag Output MAV_N Data input Sample number Sampling cycle Work Work E IN I T M M EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := MAV_N( E, IN, I, T, M ); ● Important · Read “Notes on Moving Average Instruction（MAV／MAV_N）” provided after the Moving Average (low-speed version) section before using this instruction. ● Arguments Arg. Operand Type Const. Description E BOOL ○ Execution flag IN REAL ○ Data input I INT ○ Sample number Input T INT ○ Sampling cycle (0.1s unit) Input/ Output M PTR — Work (6+I-2 words) Output — REAL — Output ● Function · When execution flag E is OFF, data input IN is output as the result. · When execution flag E is ON, moving average operation is performed for data input IN and the result is output. · Sampling cycle is set in 0.1 second units. · Sample number must be between 1 and 256. · When sampling cycle T > scan time, the output at sampling cycle is output once more (retained). · When sample number I ≤ 0, no moving average operation is performed. · If the sample number is changed during moving average operation, the result becomes undefined. 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 411 · Specify the data save area used by the MAV instruction for work. The size of the work depends on the sample number (6+I-2 words). · Direct I/O variable cannot be specified for work. 0 15 Timer counter Sample data counter Current output ［2 words］ Total sample value ［2 words］ Sample value (I-2 words) Maximum number of words: 518 words (6+256-2 words) Execution flag E Action FALSE(OFF) Result output = Data input IN TRUE(ON) Result output = Moving average operation result ● Program example [LD/FBD language notation] MAV_N SAMPLE4 93.333 ST SIGNAL1 1 LD SAMPLE1 160 LD E M IN I 3 LD SAMPLE2 10 LD SAMPLE3 5 LD T M SAMPLE3 0 ST Arg. declaration Variable Data type Comment Dec. SIGNAL1 BOOL Execution flag VAR SAMPLE1 REAL Data input VAR SAMPLE2 INT Sampling cycle VAR SAMPLE3 ARRAY[0..11] OF INT Work VAR SAMPLE4 REAL Result output VAR [ST language notation] SAMPLE4 := MAV_N( SIGNAL1, SAMPLE1, 3, SAMPLE2, SAMPLE3); · When the execution flag in SIGNAL1 is TRUE(ON), moving average operation is performed using data input in SAMPLE1, sample number 3, sampling cycle in SAMPLE2, and work specification in SAMPLE3. The result is stored in SAMPLE4. Chapter 2 LD/FBD Instructions 6F8C1226 412 ● Error information · When the work exceeds the variable area, the moving average is not processed and the data boundary is exceeded. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series Unified Controller nv series NAN and INF data are limited by the maximum value. · When the specified number of sample exceeds 256, it is limited to 256. · The following operation is performed when direct I/O variable is specified for the work: Controller Action Integrated Controller V series Error flag is set to TRUE(ON) and the result is 0. Unified Controller nv series Error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 413 Notes on Moving Average Instruction（MAV/MAV_N） The moving average instructions are available in two types – “moving average (high-speed version):MAV” and “moving average (low-speed version): MAV_N”. Notes on using the moving average instructions are provided below. Read thoroughly before using the moving average instructions. ● Important · The moving average (low-speed version) and moving average (high-speed version) instructions differ in the summation operation to calculate the moving average. The following table provides summation operation algorithm, advantages and disadvantages. Take these items in consideration to use the instructions. Moving average (high-speed version): MAV Moving average (low-speed version):MAV_N Remarks Algorithm <Summation formula> Total sample value+latest sample value (input value)-oldest sample value <Summation formula> Σ(Sample value) Advantage Short execution time since summation is not performed for all the samples. Operation error is not accumulated since all the samples are summated every time. Disadvantage Operation error may be accumulated in the total value depending on the input value. The result may differ from the expectation value. Long execution time since summation is performed for all the samples. Support controller Unified Controller nv series Integrated Controller V series Unified Controller nv series See below nv series V series Instruction Symbol T y p e 1 T y p e 2 S 3 S 2 L 3 L 3 D S L 2 L 2 D S L 1 Moving average (high-speed version) MAV ○ ○ 2.50 2.53 ○ ○ ○ ○ ○ Moving average (low-speed version) MAV_N ○ 1.32/ 3.10 Not supported (*1) (*1) ・ Integrated Controller V series does not support “moving average (low-speed version):MAV_N”. If accuracy is required for the moving average result, implement the function equivalent to the moving average (low-speed version) with the user defined function block. The sample program of the user defined function block [ufb_mav.fbk] equivalent to the moving average (low-speed version) can be downloaded from Toshiba website Integrated Controller V series - FAQ. ・ To use the downloaded user function block [ufb_mav.fbk], read “Execute import/export of library” found in the instruction manual below: Unified Controller nv series Integrated Controller V series Engineering Tool 4 −Basic−(6F8C129) ・ User defined function block [ufb_mav.fbk] is a sample program and proper operation is not guaranteed. Check the operation thoroughly before incorporating and using the sample program. Chapter 2 LD/FBD Instructions 6F8C1226 414 Rate Limiter Process Operation Rate Limiter LD/FBD language notation Execution flag Outpu DLM_□□ Data input Rate limit Instance name E OUT IN D EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( E, IN, D ); [Variable name]:= [Instance name] . OUT; ● Arguments · The following data types are supported for input and output arguments and the instruction symbol depends on the data type: Arg. Operand Type Const. Description E BOOL ○ Execution flag IN See below ○ Data input Input D See below ○ Rate limit Output OUT See below — Output Data input Rate limit Symbol(_ ) Output Instance (OUT/B4Y) INT DLM_INT INT INT DINT DLM_DINT DINT DINT REAL DLM_REAL REAL REAL Execution flag Output DLM_ Data input E IN Rate limit D Instance name OUT ● Instance structure Name Type Description Remarks OUT See above Output Can be accessed from the user program. B4Y See above Previous output (Yn-1) Cannot be accessed from the user program. □□ □□ 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 415 ● Function · When execution flag E is FALSE(OFF), data input IN is output as the result. · When the execution flag E is TRUE(ON), the rate limit is calculated for data input IN and the result is output. Execution flag E Action FALSE(OFF) Result output = IN TRUE(ON) Difference = IN - Y n-1 When +|D| ≥ Difference ≥ –|D|: Y n =IN When +|D| < Difference: Y n = Y n-1 + |D| When –|D| > Difference: Y n = Y n-1 - |D| IN :Data input Y n-1 : Previous output Y n :Current output D :Rate limit ● Program example [LD/FBD language notation] <Before operation> Instance(DLM_01) 50.0 B4Y <After operation> Instance(DLM_01) 100.0 B4Y DLM_REAL SAMPLE3 100 ST SIGNAL1 1 LD SAMPLE1 120 LD E IN D SAMPLE2 50 LD DLM_01 OUT [ST language notation] DLM_01( SIGNAL1, SAMPLE1, SAMPLE2); SAMPLE3 := DLM_01.OUT; · When SIGNAL1 is TRUE(ON), rate limit is calculated for data input “120” in SAMPLE1 using the rate limit 50 in SAMPLE2 and previous output 50 stored in instance variable DLM_01, and the result “100” is stored in SAMPLE3. ● Error information The following operation is performed when the input data type is REAL: Controller Action S Controller Up to V02.5* L Controller If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Integrated Controller V series S Controller After V02.60 Unified Controller nv series NAN and INF data are limited by the maximum value. Chapter 2 LD/FBD Instructions 6F8C1226 416 Lag/Lead Filter Process Operation Lag/Lead Filter LD/FBD language notation Execution flag Output LAG2 Data input Lead time (s) Lag time (s) Instance name E OUT IN T1 T2 EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( E, IN, T1, T2 ); [Variable name]:=[Instance name]. OUT; ● Arguments Arg. Operand Type Const. Description E BOOL ○ Execution flag IN REAL ○ Data input T1 REAL ○ Lead time (second) Input T2 REAL ○ Lag time (second) Output OUT REAL — Output ● Instance structure Name Type Description Remarks OUT REAL Output Can be accessed from the user program. B4X REAL Previous input(Xn-1) B4Y REAL Previous output (Yn-1) Cannot be accessed from the user program. ● Function · When execution flag E is FALSE(OFF), data input IN is output as the result. · When the execution flag E is TRUE(ON), (1+T1-s) -X/(1+T2-s) is calculated for data input IN and the result is output. · The absolute values of lead time T1 and lag time T2 are used for the operation. 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 417 Execution flag E LAG2 instance preprocessing Action FALSE(OFF) Xn-1=Xn Yn-1=Xn TRUE(ON) — Yn= CT-Xn/(CT+T2)+T1- (Xn-Xn-1)/(CT+T2) +T2-Yn-1/(CT+T2) CT :Control cycle X n-1 :Previous input X n :Current input Y n-1 :Previous output Y n :Current output ● Important · The scan cycle of the task using this instruction must be in constant scan mode(Integrated Controller and S Controller only). ● Program example [LD/FBD language notation] LAG2 SAMPLE4 712.0 ST SIGNAL1 1 LD SAMPLE1 1000.0 LD E IN T1 SAMPLE2 1.0 LD SAMPLE3 2.0 LD T2 <Before operation>Instance (LAG2_01) 1000.0 640.0 B4X B4Y 1000.0 712.0 B4X B4Y LAG2_01 <After operation>Instance (LAG2_01) OUT [ST language notation] LAG2_01( SIGNAL1, SAMPLE1, SAMPLE2, SAMPLE3); SAMPLE4 := LAG2_01.OUT; · When SIGNAL1 is TRUE(ON), lag/lead filter operation is performed for data input 1000.0 in SAMPLE1 using the lead time 1.0 in SAMPLE2, lag time 2.0 in variable SAMPLE3, and instance variable LAG2_01, and the result “712.0” is stored in SAMPLE4. ● Error information · The following operation is performed when the input data type is REAL： Controller Action S Controller Up to V02.5* L Controller If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Integrated Controller V series S Controller After V02.60 Unified Controller nv series NAN and INF data are limited by the maximum value. · If the scan cycle of the task using this instruction is in floating scan mode, no operation is performed and the error flag is set to TRUE(ON) (Integrated Controller and S Controller only). Chapter 2 LD/FBD Instructions 6F8C1226 418 Engineering Unit Conversion Process Operation Engineering Unit Conversion LD/FBD language notation IN PV_RH Data input Output UNT PV parameter EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := UNT( IN, PV_RH ); ● Arguments Arg. Operand Type Const. Description IN REAL ○ Data input [%] Input PV_RH PTR — PV parameter (RH) Output — REAL — Output [Engineering unit] ● Function · Converts data input IN to engineering units from range high limit (RH) and range low limit (RL) of PV parameter table and outputs the result. · The structure of the PV parameters is described at the end of this section. · The following variables can be specified for the PV parameter： Controller Variable S Controller Variable other than direct I/O variable Integrated Controller V series L Controller PV tag parameter variable type1 Variable other than direct I/O variable Unified Controller nv series type2 PV tag parameter variable Output = (RH - RL)/100-Input + RL 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 419 ● Program example [LD/FBD language notation] UNT SAMPLE2 60.0 ST SAMPLE1 80.0 LD PV_PARA[n] .RH 100.0 LD IN PV parameter PV_PARA[n].RH = 100.0 PV_PARA[n].RL = -100.0 PV_RH [ST language notation] SAMPLE2 := UNT( SAMPLE1, PV_PARA[n].RH); · Performs engineering unit conversion of the data input “80.0” in SAMPLE1 using RH100.0 and RL-100.0 in the PV parameter variable and stores the result “60.0” in SAMPLE2. ● Error information · When the PV parameter exceeds the variable area, the engineering unit conversion is not processed and the data boundary is exceeded. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · The following operation is performed if the PV parameter specification is invalid: Controller Action S Controller When direct I/O variable is specified, error flag is set to TRUE(ON) and the result is 0. Integrated Controller V series L Controller When variable other than PV tag parameter is specified, error flag and table operation error flag are set to TRUE(ON) and the result is 0. type1 When direct I/O variable is specified, error flag and table operation error flag are set to TRUE(ON) and the result is 0. Unified Controller nv series type2 When variable other than PV tag parameter is specified, error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 420 Percent Conversion Process Operation Percent Conversion LD/FBD language notation IN PV_RH Data input Output PCT PV parameter EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := PCT( IN, PV_RH ); ● Arguments Arg. Operand Type Const. Description IN REAL ○ Data input [Engineering unit] Input PV_RH PTR — PV parameter (RH) Output — REAL — Output [%] ● Function · Converts data input IN to % from range high limit (RH) and range low limit (RL) of PV parameter table and outputs the result. · The structure of the PV parameters is described at the end of this section. · The following variables can be specified for the PV parameter: Controller Variable S Controller Variable other than direct I/O variable Integrated Controller V series L Controller PV tag parameter variable type1 Variable other than direct I/O variable Unified Controller nv series type2 PV tag parameter variable Output = 100/(RH-RL) - (Input-RL) ● Program example [LD/FBD language notation] PCT SAMPLE2 90.0 ST SAMPLE1 80.0 LD PV_PARA[n].RH 100.0 LD IN PV parameter PV_PARA[n].RH = 100.0 PV_PARA[n].RL = -100.0 PV_RH [ST language notation] SAMPLE2 := PCT( SAMPLE1, PV_PARA[n].RH); 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 421 · Performs reverse engineering unit conversion of the data input “90.0” in SAMPLE1 using RH100.0 and RL-100.0 in the PV parameter variable and stores the result “80.0” in SAMPLE2. ● Error information · When the PV parameter exceeds the variable area the percent conversion is not processed and the data boundary is exceeded. · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · If RH=RL, the divide error flag is set to TRUE(ON) due to zero divide and the output is as follows: Controller Action Integrated Controller V series Output = (+Infinity when Input ≥ RL, -Infinity when Input < RL) Unified Controller nv series Output = (+Maximum when Input ≥ RL, -Minimum when Input < RL) · The following operation is performed if the PV parameter specification is invalid: Controller Action S Controller When direct I/O variable is specified, error flag is set to TRUE(ON) and the result is 0. Integrated Controller V series L Controller When variable other than PV tag parameter is specified, error flag and table operation error flag are set to TRUE(ON) and the result is 0. type1 When direct I/O variable is specified, error flag and table operation error flag are set to TRUE(ON) and the result is 0. Unified Controller nv series type2 When variable other than PV tag parameter is specified, error flag and table operation error flag are set to TRUE(ON) and the result is 0. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 422 Essential Succession PID Process Operation Essential Succession PID LD/FBD language notation Execution control input Execution output PID3 LP parameter PV data/setting Manipulated value Instance name PV data/setting E Q LP_P PV_D MV PV_D EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( E, LP_P, PV_D ); [Variable name]:=[Instance name]. Q; [Variable name]:=[Instance name]. MV; ● Arguments Arg. Operand Type Const. Description E BOOL ○ Execution control input Input LP_P PTR — LP parameter Q BOOL — Execution output Output MV REAL — Manipulated value Input/ Output PV_D PTR — PV data/setting · The structures of the PV_D and LP_P parameters are described at the end of this section. ● Parameter Structure ♦ PV data/setting Name Type Description Unit PVC REAL Process measurement input (Range: 0.0 to 100.0) % ASV REAL Auto mode setting (Range: 0.0 to 100.0) % CSV REAL Cascade mode setting (Range: 0.0 to 100.0) % MMV REAL Manual mode manipulated value input (Range: -25.0 to 125.0) % TMV REAL MV tracking input (Range: -25.0 to 125.0) % MODE DWORD Mode setting TR 31 MODE 2 1 0 Operation mode specification MODE: bits <1-0> 00: Manual mode 01: Auto mode 10: Cascade mode 11: (Auto mode) Tracking specification TR: Bit <2> 0 : No 1 : Yes 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 423 ♦ LP parameter Name Type Description Unit Kp REAL Proportional gain TI REAL Integral time min. TD REAL Rate time min. GP REAL Gap (Range: 0.0 to 10.0) % ISV REAL Auto mode setting initial value (Range: 0.0 to 100.0) % FT REAL Process input filter coefficient (Range: 0.1 to < 1) DSV REAL Setting ASV rate-of-change limit % /At DMMV REAL Manual mode manipulated value MMV rate-of-change limit % /At STS DWORD Status DR 31 IMODE 2 1 0 Initial mode specification IMODE: bits <1 to 0> 00: Manual mode 01: Auto mode 10: Cascade mode 11: (Auto mode) Polarity D/R specification DR: bit <2> 0: Direct 1: Reverse MH REAL Manipulated value high limit (Range: -25.0 to 125.0) When MH < ML, MH=ML is assumed. % ML REAL Manipulated value low limit (Range: -25.0 to 125.0) % DMV REAL Manipulated value rate-of-change limit %/Δt N REAL Control cycle setting (Range: N ≥ 1) PID operation is performed every N scan. When N ≤ 0, N=1 is assumed. ● Instance structure Name Type Description Unit Remarks Q BOOL Execution output Can be accessed from the user program. MV REAL Manipulated value (Range: -25.0 to 125.0) % B4E REAL Previous error (e n-1 ) B4D REAL Previous derivative term (D n-1 ) B4PV REAL Previous PV (PV n-1 ) B4SV REAL Previous SV (SV n-1 ) MVN REAL Current manipulated value C REAL Internal counter Counts the number of scans. Decrements internal counter each scan starting from C=N. When C ≤ 0, PID operation is performed and C is set equal to N once more. DT0 REAL Control cycle (Δt) Sec. Cannot be accessed from the user program. * In Function - [Algorithm], this is denoted with the symbol in parentheses in the Description column. Chapter 2 LD/FBD Instructions 6F8C1226 424 ● Function · Performs essential succession (pre-derivative real PID algorithm) PID operation as follows for PV data/setting stored in PV_D based on the parameter specified with LP_P and outputs the manipulated value MV as the result. · The execution control input E and execution output Q are set as follows: Execution control input E Action Execution output Q FALSE(OFF) Initialized FALSE(OFF) C≤ 0 Executed TRUE(ON) TRUE(ON) C>0 Not executed FALSE(OFF) ・ Direct I/O variables cannot be specified for PV_D data/setting and LP parameter variables. [Operation expression] · Digital filter 1.0) FT (0.0 PV FT PVC FT) (1 PVn 1 n < s - + ÷ = ÷ · PID ΔMVn = Kp • (ΔPn+ Δln +ΔDn) (See Gap operation and integration control) MVn = MVn-1 ± ΔMVn (Direct specification: Subtraction, Reverse specification: Addition) where ( ) MV MV L (fixed) 0.1 η ΔD D D TD η Δt D Δt PV PV TD ΔD N setting scan scheduled Δt 0) Δ 0, TI (When TI Δt e ΔI operation) Gap (See PV SV e e e ΔP 1 n 1 n n 1 n n 1 n n 1 n n n n n n 1 n n n n ÷ = = + = - + - ÷ ÷ - = - = = = - = ÷ = ÷ = ÷ ÷ ÷ ÷ ÷ ÷ (When Tl=0, ∆l=0) 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 425 [Function block] ＋ Gap ope. 1 ＋ ΔPn － + + Kp － +SVn en 1 TI･s I ntegration enable control (Speed type) TD･s 1+η･TD･s 1 1+T･s PID operation MVn=MVn-1 ± ΔMVn ΔDn (η=0.1) (Speed type) PV n ΔIn DSV H / L DMV MVS DMMV Speed position convert ΔMVn High low limit er Rate limiter MVCn Manipulated value MV *2 Manual mode manipulated input MMV Cont rol polarity D／R *1 Output tracking input TMV Output tracking command TR Process measurement PVC Filter coefficient FT Cascade mode CSV Auto mode ASV MVC n Rate limiter （Speed type） Manual mode *1 The control polarity D/R specification in the speed to positional format conversion specification is performed as follows: · Direct specification: subtraction · Reverse specification: addition *2 The switching of output polarity of manipulated valued output MV is performed with external logic (ladder circuit). [Gap operation and integration control] (Gap ope) Error e GP(%) GP(%) (SV-PV) Gradient=1 (Differentiation control) When |SVn - PVn| < |GP| ΔMVn=0 (Integration control) Ln=MVn - MV when reverse is specified Ln-1-ΔIn > 0 Integration disabled L n-1-ΔIn s 0 Integration enabled when direct is specified Ln-1-ΔIn < 0 Integration disabled L n-1-ΔIn > 0 Integration enabled [Supplementary description] · For the initial value of the manipulated value, the final value MV up to the previous time is output. · MV tracking This function is valid only in auto mode and cascade mode (This specification is invalid in manual mode). Chapter 2 LD/FBD Instructions 6F8C1226 426 · When tracking directive TR is 1, the high and low limits of manipulated value MV are valid, but the differential limit of MV is invalid. In this case, the internal MV n is set as MV n =MV. When the tracking directive changes to 0, addition/subtraction of ΔMV is started from the MV n at that point. · Auto mode Changing of ASV is valid in auto mode and manual mode. When auto mode is entered, SV n is approached to ASV while limiting the rate-of-change. SV n =SV n-1 ±|DSV| Also, MMV is equal to MV so that switching from auto mode to manual mode is bumpless. Therefore, MMV cannot be changed during auto mode. Both the high/low limit and rate limiter of manipulated value MV are valid. · Cascade mode Changing of CSV is valid in all modes. SV n becomes equal to CSV when cascade mode is entered. In this case, both the high/low limit and rate limiter of manipulated value MV are valid. Also, ASV is equal to SV n and MMV is equal to MV so that switching from cascade mode to auto mode and to manual mode is bumpless. Therefore, ASV and MMV cannot be changed during cascade mode. ● Manual mode Changing of MMV is valid only in manual mode. When manual mode is entered, MV is approached to MMV while limiting the rate-of-change. MV=MV±|DMMV| Both the high / low limit and rate limiter of manipulated value MV are invalid. Also, MV n is equal to MV so that switching from manual mode to auto mode or cascade mode is bumpless. When switching to auto mode or cascade mode, addition/subtraction of ΔMV is started from the MV n at that point. · Direct polarity DR specification Direct specification: MV is decreased when error (en) is increased. MVn=MV n-1 -ΔMV Reverse specification: MV is increased when error (en) is decreased. MVn = MV n-1 +ΔMV · Rate limiter of manual mode manipulated value setting MMV input DMMV MV is approached to MMV with rate-of-change DMMV. 1. When +|DMMV| ≥ (MMV-MV) ≥ -|DMMV| :MV=MMV 2. When (MMV-MV) > +|DMMV| :MV=MV+|DMMV| 2.16 Process Operation Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 427 3. When (MMV-MV) < -|DMMV| :MV=MV-|DMMV| · Rate limiter of auto mode setting ASV input DSV SV n is approached to ASV with rate-of-change DSV. 1. When +|DSV| ≥ (ASV-SV n-1 ) ≥ -|DSV| :SV n =ASV 2. When (ASV-SV n-1 ) > +|DSV| :SV n =SV n-1 +|DSV| 3. When (ASV-SV n-1 ) < -|DSV| :SV n =SV n-1 -|DSV| · High / low limit of manipulated output MH, ML 1. When MH < ML :MH=ML If high / low limit output is MVX n 2. When MV n > MH :MVX n =MH 3. When MV n < ML :MVX n =ML · Rate limiter of manipulated output DMV 1. When +|DMMV|≥ (MVX n -MV) ≥ −|DMV| ：MV = MVX n 2. When (MVX n -MV)< + |DMV| ：MV = MV + |DMV| 3. When (MVX n -MV)< - |DMV| ：MV = MV - |DMV| · When instruction input is OFF PID initialization is performed. The content is as follows: 1. Sets the operation mode MODE to mode specified by initial mode IMODE. MODE=IMODE 2. For the initial value of the manipulated value, the final value MV up to the previous time is output. 3. Auto mode setting is set to the value set to auto mode initial value ISV. ASV=ISV 4. Internal data is initialized as follows: MV 0 =MV MMV=MV PV 0 =PVC SV 0 =ASV or CSV (Depends on initial mode. However, it is set to ASV in manual mode.) D 0 =0 C=N e 0-1 =e 0 When instruction input is ON Performs PID operation. Performs PID operation every N scans which is the set control cycle. (Executes if the internal counter C is 0 or less, resets the internal counter C to N and sets instruction output to TRUE(ON). If the internal counter is greater than 0, decrements C and resets the instruction output to FALSE(OFF)). 第2 章 LD/FBD 命令語 6E8C4826 428 [ M o d e d a t a r e l a t i o n s h i p t a b l e ] S e t t i n g M a n i p u l a t e d v a l u e M a n i p u l a t e d v a l u e o u t p u t l i m i t A u t o m o d e s e t t i n g A S V C a s c a d e m o d e s e t t i n g C S V S e t t i n g S V n M a n u a l m o d e s e t t i n g m a n i p u l a t e d v a l u e M M V T r a c k i n g s e t t i n g m a n i p u l a t e d v a l u e T M V I n t e r n a l m a n i p u l a t e d v a l u e M V n H i g h / l o w L i m i t C h a n g e o f r a t e l i m i t L i m i t o u t p u t M V C n O u t p u t m a n i p u l a t e d v a l u e M V M a n u a l m o d e ― ( C h a n g e a b l e ) ― ( C h a n g e a b l e ) S V n - 1 ( P r e v i o u s v a l u e ) S e t M M V ― ( C h a n g e a b l e ) M V N o N o M V M M V  M V n T r a c k i n g = F A L S E ( O F F ) ― ( C h a n g e a b l e ) P I D O p e r a t i o n r e s u l t Y e s Y e s A u t o m o d e T r a c k i n g = T R U E ( O N ) S e t A S V ― ( C h a n g e a b l e ) A S V  S V n S e t T M V M V Y e s N o T r a c k i n g = F A L S E ( O F F ) ― ( C h a n g e a b l e ) P I D O p e r a t i o n r e s u l t Y e s Y e s C a s c a d e m o d e T r a c k i n g = T R U E ( O N ) S V n ( N o t C h a n g e a b l e ) S e t C S V ｘ ｘ C S V M V ( N o t C h a n g e a b l e ) S e t T M V M V Y e s N o I n t e r n a l m a n i p u l a t e d v a l u e M V n O u t p u t l i m i t M V C n 2.16 Process Operation Integrated Controller V series／Unified Controller nv series Programming Instructions (LD/FBD/SFC/ST) 429 ● Important ・ The scan cycle of the task using this instruction must be in constant scan mode(Integrated Controller and S Controller only). ・ When specifying floating scan, no operation is performed and the error flag is set to TRUE(ON). ● Program example [LD/FBD language notation] PID3 SIGNAL2 ST TBL2 LD TBL1 LD E LP_P PV_D SIGNAL1 PID3_1 Q MV PV_D SAMPLE1 ST TBL1 ST [ST language notation] PID3_1( SIGNAL1, TBL2, TBL1); SIGNAL2 := PID3_1.Q; SAMPLE1 := PID3_1.MV; · When SIGNAL1 is TRUE(ON), performs essential succession PID operation with the content of parameters specified by variables TBL1 and TBL2 and stores the result in SAMPLE1. ● Error information · When the PV data and LP parameter exceed the variable area, the essential succession PID is not processed and the data boundary is exceeded. · The following operation is performed when PV data and LP parameters are REAL: Controller Action S Controller Up to V02.5* L Controller If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Integrated Controller V series S Controller After V02.60 Unified Controller nv series NAN and INF data are limited by the maximum value. · The following operation is performed when direct I/O variable is specified for the PV data or LP parameter: Controller Action Integrated Controller V series S Controller Essential succession PID is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Essential succession PID is not executed. Error flag and table operation error flag are set to TRUE(ON). · If the scan cycle of the task using this instruction is in floating scan mode, no operation is performed and the error flag is set to TRUE(ON) (Integrated Controller and S Controller only). Chapter 2 LD/FBD Instructions 6F8C1226 430 Estimate with Reset Process Operation Estimate with Reset LD/FBD language notation Input data Estimate value RSM_L Reset flag Initial value Unit time conversion code Maximum estimate value Output resolution Instance name U1 Y U2 H1 H2 H3 H4 EN input Edge execution Index modification Modifier ○ ○ — ST language notation [Instance name](U1, U2, H1, H2, H3, H4 ); [Variable name]:=[Instance name]. Y; ● Arguments Arg. Operand Type Const. Description U1 REAL ○ Input data U2 BOOL ○ Reset flag H1 REAL ○ Initial value H2 INT ○ Unit time conversion code (0: Sec.(K = 1)/1: Min.(K = 60) / 2: Hour(K = 3600)) H3 REAL ○ Maximum estimate value(≥0) Input H4 INT ○ Output resolution (0:1/1:0.1/2:0.01/3:0.001/4:0.0001) Output Y REAL — Estimate value ● Function · When the reset flag U2 is TRUE(ON), the reset value (initial value + 1 process cycle value) is output. · When the reset flag is FALSE(OFF), input data U1 is estimated in consideration of the unit time conversion code H2. The estimate value is reset when it reaches the maximum estimate value H3. The exceeded portion (|U1 + Yn-1|—|H3|) s not considered as an error since it is added to the next count value. · Estimation can be performed without error even if the estimate value is much larger (up to 106 times) than the input value. 2.16 Process Operation Integrated Controller V series／Unified Controller nv series Programming Instructions (LD/FBD/SFC/ST) 431 [Formula] When U2 = TRUE: ZSUM = U1* (CT/K) Y = ZSUM + H1 When U2 = FALSE: ZSUM = ZSUM + U1* (CT/K) if |ZSUM|> = MAX then ZSUM = ZSUM - (ZSUM/ |ZSUM|)* MAX if |Y|> = H3 then Y = Y n-1 + (ZSUM/ |ZSUM|)* MAX - (Y n-1 / |Y n-1 |)* H3 else Y = Y n-1 + (ZSUM/ |ZSUM|)* MAX endif endif (CT:Main scan cycle [sec], K:Unit time conversion value (1/60/3600), MAX:Output resolution (1/0.1/0.01/0.001/0.0001) ● Instance structure Name Type Description Remarks Y REAL Estimate value Can be accessed from the user program. ZSUM REAL Internal estimate value (estimated to the value corresponding to the output resolution) Cannot be accessed from the user program. Chapter 2 LD/FBD Instructions 6F8C1226 432 ● Program example [LD/FBD language notation] RSM_L output GE output 50m 3 RSM_L U1 U2 H1 H2 H3 H4 S1 0 ST 0 LD 0.0 LD 2 LD DP20 50.0 LD 2 LD PV1.PV 200.0 LD GE 50.0 LD RSM_L_1 [ST language notation] RSM_L_1( PV1.PV, 0, 0.0, 2, DP20, 2); S1 := GE( RSM_L_1.Y, 50.0); · When the PV1 measurement range is 0 to 250m³/h, flag which is set to TRUE(ON) every 50m 3 . ● Error information The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series When NAN is input NAN abnormal is set to TRUE(ON) and output is retained. · When the maximum estimate value H3 is negative, it is handled as “0”. · Estimate value Y is not reset when U1>H3>0 or U1<H3<0. · When the reset flag U2 is TRUE(ON), it is output without change even if initial value H1>maximum estimate value H3. · When the maximum estimate value H3>(Output resolution H4(1 to 0.0001)-106), the estimate accuracy is deteriorated when the estimate value Y nears the maximum estimate value H3. · Estimate value Y is reset when it is +H3 or -H3. · Reset flag U2 operation differs when it is changed from TRUE(ON) to FALSE(OFF) depending on the initial value H1, input data U1 sign, and magnitude relation with the maximum estimate value H3. 2.16 Process Operation Integrated Controller V series／Unified Controller nv series Programming Instructions (LD/FBD/SFC/ST) 433 Parameter Structure The following list provides the structure of parameters used in process operation. For functions requiring parameter specification, use structures defined by @ standard structure (L controller).typ, @ standard structure (DS).typ, and @ standard structure (S controller).typ of Engineering tool. The parameter structure used in process operation differs by the controller type for the PV parameter, PV data, LP parameter and LP data. Structures of @ standard structure (L controller) are used in process operation of Integrated Controller S2/S3/L1/L2/L3 and Unified Controller type1. Structures of @ standard structure (DS) are used in process operation of Integrated Controller L2DS/L3DS and Unified Controller type2. The parameters provided here describe the following: Type Structure name MCS/DCS typePV_PARA @ standard data type (MCS type L Controller) PV parameter typePV_PARA_DS @ standard data type (DS type L Controller) typePV_DATA @ standard data type (MCS type L Controller) PV data typePV_DATA_DS @ standard data type (DS type L Controller) typeLP_PARA @ standard data type (MCS type L Controller) LP parameter typeLP_PARA_DS @ standard data type (DS type L Controller) typeLP_DATA @ standard data type (MCS type L Controller) LP data typeLP_DATA_DS @ standard data type (DS type L Controller) typeP_PARA @ standard data type (MCS type L Controller) Polygonal line parameter typeP_PARA_DS @ standard data type (DS type L Controller) PID3 instruction PV data/setting value typePID3_PV_D @ standard data type (S Controller type) PID3 instruction LP parameter typePID3_LP_P @ standard data type (S Controller type) Chapter 2 LD/FBD Instructions 6F8C1226 434 ● PV parameter structure（S2/S3/L1/L2/L3, type1） Data type Parent type typePV_PARA STRUCT Member Data type Initial value Comment TAG ARRAY[0..3] OF DWORD Tag No. IP DWORD Input hardware address RH REAL 100.0 Indicator range high limit [EU] RL REAL Indicator range low limit [EU] CH INT 32000 Input count high limit CL INT 6400 Input count low limit SIG UINT Input signal type LNR WORD Compensation operation type LC INT -100 Low cut value [0.01%] FT UINT 25 Filter constant [%] TM UINT Temperature compensation PV No. PM UINT Pressure compensation PV No. TDG REAL Temperature compensation designed temperature [°C] PDG REAL Pressure compensation designed pressure [kPa] PU REAL 1.0 Pulse weight coefficient [EU/pulse] T REAL 1.0 Time conversion coefficient K REAL 1.0 Engineering unit conversion coefficient D REAL 1.0 Compensation coefficient PH REAL 90.0 PV alarm high [EU] PL REAL 10.0 PV alarm low [EU] PVB REAL 1.0 PV alarm high/low [EU] DPL REAL 10.0 PV rate-of-change alarm [EU/s] DPB REAL 1.0 PV rate-of-change alarm dead band [EU/s] PRD UINT PV error processing definition SPV UINT Integral input PV No. MAX REAL 100.0 Totalization max [EU] SIMM UINT Simulation setting UIL BOOL Sensor low alarm suppress UIH BOOL Sensor high alarm suppress DIC BOOL PV/PVC direct connection PVC REAL PV before application compensation Spare ARRAY[0..3] OF WORD 2.16 Process Operation Integrated Controller V series／Unified Controller nv series Programming Instructions (LD/FBD/SFC/ST) 435 ● PV parameter structure（L2DS/L3DS, type2） Data type Parent type typePV_PARA_DS STRUCT Member Data type Initial value Comment TAG ARRAY[0..3] OF DWORD Tag No. NAME ARRAY[0..7] OF DWORD Tag name TYP UINT Tag type MDL WORD Display pattern model No. SCNO UINT Auto screen display No. LOCK WORD Operation lock setting SIGN ARRAY[0..3] OF DWORD Tagging character ATYP WORD 1 Alarm confirm method PRS UINT Control scan setting SCH WORD 1 Sub schedule No. DVRM UINT Scale divisions (for reprocessing) MON ARRAY[0..31] OF BOOL Alarm monitor individual setting AGRD ARRAY[0..15] OF WORD Alarm grade type AMMT UINT Monitoring timer setting value DCML UINT 2 Decimal point position EU ARRAY[0..3] OF DWORD Engineering unit character BNO WORD Input point bus No./node No. SNO WORD Input point slot No./module No. CNO WORD Main slot No. IOM WORD I/O module type ZPT UINT Cold compensation point PV No. IPL UINT Inverse polygonal line No. SIG UINT Input type signal LNR UINT Input compensation operation type PVA DWORD Input point variable name CH INT 4000 Input count high limit CL INT 800 Input count low limit LC REAL -1.0 Low cut value [0.01%] FT REAL 0.25 Filter coefficient [%] RH REAL 100.0 Indicator range high limit [EU] RL REAL Indicator range low limit [EU] PHH REAL 100.0 PV alarm high high [EU] PH REAL 90.0 PV alarm high [EU] PL REAL 10.0 PV alarm low [EU] PLL REAL PV alarm low low [EU] PVB REAL 1.0 PV alarm high low dead band [EU] DPL REAL 10.0 PV rate-of-change alarm [EU/s] DPB REAL 1.0 PV rate-of-change alarm dead band [EU/s] Chapter 2 LD/FBD Instructions 6F8C1226 436 Member Data type Initial value Comment TM UINT Temperature compensation PV No. PM UINT Pressure compensation PV No. TDG REAL Temperature compensation design temperature [°C] PDG REAL Pressure compensation design pressure[kPa] PRD UINT PV error process definition SPV UINT Integration input PV No. PU REAL 1.0 Pulse weight coefficient [EU/pulse] T REAL 1.0 Time conversion coefficient K REAL 1.0 Unit conversion coefficient D REAL 1.0 Compensation coefficient MAX REAL 100.0 Integration high limit value [EU] PSET REAL Integration setting value [EU] FONO UINT Startup button No. PBNO UINT Startup button PB No. SPLT REAL 50.0 PV split range position [EU] PVPT REAL 50.0 PV friction pointer position [EU] DMAX REAL Integration rate-of-change setting value [EU/h] PLN UINT Polygonal line No. SGDR WORD Power factor signal direction setting SENS ARRAY[0..3] OF DWORD Input device name V0 REAL Draught free judgment value PVP UINT Wind direction PV No. UIL BOOL PV low sensor error suppress setting UIH BOOL PV high sensor error suppress setting DIC BOOL PV/PVC direct connection PVIR BOOL PV update setting for sensor error UBS BOOL Unipolar/bipolar setting (for nv) DCH DINT 64000 Input count high limit (for nv) DCL DINT 12800 Input count low limit (for nv) SPARE ARRAY[0..11] OF WORD 2.16 Process Operation Integrated Controller V series／Unified Controller nv series Programming Instructions (LD/FBD/SFC/ST) 437 ● PV data structure（S2/S3/L1/L2/L3, type1） Data type Parent type typePV_DATA STRUCT Member Data type Comment PV REAL PV value [EU] SCN BOOL Scan off SIM BOOL Simulation SPR BOOL Alarm suppress RST BOOL Totalizor reset DEU BOOL Device error unconfirmed VIU BOOL Sensor error unconfirmed PRU BOOL PV processing error unconfirmed VHU BOOL PV alarm high unconfirmed VLU BOOL PV alarm low unconfirmed VDU BOOL PV rate-of-change alarm unconfirmed PDE BOOL Device error PVI BOOL Sensor error PRE BOOL PV processing error PVH BOOL PV upper limit alarm PVL BOOL PV lower limit alarm PVD BOOL PV change rate alarm Chapter 2 LD/FBD Instructions 6F8C1226 438 ● PV data structure（L2DS/L3DS, type2） Data type Parent type typePV_DATA_DS STRUCT Member Data type Comment B0_0 BOOL B0_1 BOOL B0_2 BOOL B0_3 BOOL B0_4 BOOL B0_5 BOOL B0_6 BOOL B0_7 BOOL B0_8 BOOL B0_9 BOOL B0_10 BOOL INOP BOOL Sensor error DU BOOL SDIN card error B0_13 BOOL B0_14 BOOL B0_15 BOOL PVIH BOOL PV sensor upper limit alarm PVIL BOOL PV sensor lower limit alarm PVHH BOOL Upper limit alarm above PV PVH BOOL PV upper limit alarm PVL BOOL PV lower limit alarm PVLL BOOL Lower limit alarm below PV PVD BOOL PV change rate alarm PDE BOOL Device error PRE BOOL PV processing error UP BOOL State of integration setting value reached TTE BOOL Integration rate-of-change alarm B1_11 BOOL B1_12 BOOL B1_13 BOOL B1_14 BOOL B1_15 BOOL STIT ARRAY[0..31] OF BOOL Alarm display condition FLIT ARRAY[0..31] OF BOOL Alarm conf condition B6_0 BOOL B6_1 BOOL B6_2 BOOL B6_3 BOOL 2.16 Process Operation Integrated Controller V series／Unified Controller nv series Programming Instructions (LD/FBD/SFC/ST) 439 Member Data type Comment MSR BOOL Measuring mode (for reprocessing) WAT BOOL Wait mode (for reprocessing) TST BOOL Test mode (for reprocessing) PRF BOOL Proofread mode(for reprocessing) TRC BOOL Tracking ZER BOOL Zero adjustment mode (for reprocessing) B6_10 BOOL B6_11 BOOL B6_12 BOOL B6_13 BOOL B6_14 BOOL MHLD BOOL MELSECNET input stop SCN BOOL Scan setting SIM BOOL Simulation setting SPR BOOL Alarm suppress setting BSIM BOOL Batch simulation setting RCNF BOOL Alarm confirm request RLO BOOL LO request B7_6 BOOL B7_7 BOOL RST BOOL Integration reset setting B7_9 BOOL B7_10 BOOL B7_11 BOOL B7_12 BOOL SPR1 BOOL Alarm suppress limit setting HLD BOOL Input stop (for nv) B7_15 BOOL PV REAL PV value [EU] SINW INT Simulation input value DRC UINT Wind direction PVC REAL PV before application compensation W14 WORD W15 WORD W16 WORD W17 WORD RAW INT Raw count value W19 WORD BSPR ARRAY[0..31] OF BOOL Alarm suppress flag PVPC REAL PV [% unit] PVCPC REAL PVC [% unit] Chapter 2 LD/FBD Instructions 6F8C1226 440 Member Data type Comment PVI BOOL Sensor alarm B26_1 BOOL B26_2 BOOL B26_3 BOOL B26_4 BOOL B26_5 BOOL B26_6 BOOL B26_7 BOOL B26_8 BOOL B26_9 BOOL B26_10 BOOL B26_11 BOOL B26_12 BOOL B26_13 BOOL B26_14 BOOL B26_15 BOOL W27 WORD DRAW DINT Raw count value (for nv) SPARE ARRAY[0..1] OF WORD 2.16 Process Operation Integrated Controller V series／Unified Controller nv series Programming Instructions (LD/FBD/SFC/ST) 441 ● LP parameter structure（S2/S3/L1/L2/L3, type1） Data type Parent type typeLP_PARA STRUCT Member Data type Initial value Comment OA DWORD Output hardware address PVP UINT Controlled PV No MSIG UINT Output signal type CTL WORD 16#0001 Control operation type CDR BOOL Control operation direction dum1 BOOL dum2 BOOL dum3 BOOL dum4 BOOL dum5 BOOL dum6 BOOL dum7 BOOL MDR BOOL MV output direction dum9 BOOL dum10 BOOL dum11 BOOL dum12 BOOL dum13 BOOL dum14 BOOL dum15 BOOL KP REAL 0.8 Proportional gain TI REAL 0.1 Integral time [min] TD REAL 0.0 Differential time [min] ETA REAL 0.1 Rate gain ALP REAL 0.4 2 DOF proportionality coefficient/SV high value BET REAL 1.35 2 DOF integration coefficient/SV low value GAM REAL 1.25 2 DOF differential coefficient GP REAL 0.0 Gap [%] GG REAL 1.0 Gap gain DMV REAL 100.0 MV rate limiter [%/scan] MH REAL 100.0 MV high limit value [%] ML REAL -5.0 MV low limit value [%] FP REAL Full stroke pulse count/time [s] BL REAL Backlash HT REAL Hold time PLB REAL Pulse dead band [s] DL REAL 10.0 Deviation alarm value [EU] DVB REAL 1.0 Deviation alarm dead band [EU] Chapter 2 LD/FBD Instructions 6F8C1226 442 Member Data type Initial value Comment MHA REAL 90.0 MV alarm high [%] MLA REAL 10.0 MV alarm low [%] MVB REAL 1.0 MV alarm high/low limit dead band [%] VP UINT Valve position PV No. DT0 UINT 1 Control cycle [scan] T0 UINT 5 Sample time [0.1s] T1 UINT 5 Control time [0.1s] CLD UINT Control stop definition LDU WORD 16#0001 LDU Setting MDT REAL 0.0 Dead time [min] (for model driven PID) MKF REAL 0.0 PD comp. Gain (for model driven PID) MTF REAL 0.0 PD comp. Differential time [min] (for model driven PID) CMD UINT 0 Control Mode Setting POR BOOL 0 Pulse Output Request SVS BOOL 0 SV Setting at A Mode FS0 BOOL 0 SV major tracking FS1 BOOL 0 Cascade value kind B61_4 BOOL B61_5 BOOL B61_6 BOOL B61_7 BOOL B61_8 BOOL B61_9 BOOL B61_10 BOOL B61_11 BOOL B61_12 BOOL B61_13 BOOL B61_14 BOOL B61_15 BOOL PMV REAL Pulse Output 2.16 Process Operation Integrated Controller V series／Unified Controller nv series Programming Instructions (LD/FBD/SFC/ST) 443 ● LP parameter structure(L2DS/L3DS, type2) Data type Parent type typeLP_PARA_DS STRUCT Member Data type Initial value Comment TAG ARRAY[0..3] OF DWORD Tag No. NAME ARRAY[0..7] OF DWORD Tag name TYP UINT Tag type MDL WORD Display pattern model No. SCNO UINT Auto screen display No.. LOCK WORD Operation lock setting SIGN ARRAY[0..3] OF DWORD Tagging character ATYP WORD 1 Alarm confirm method PRS UINT Control scan setting SCH WORD 1 Sub schedule No. W39 WORD MON ARRAY[0..31] OF BOOL Alarm monitor individual setting AGRD ARRAY[0..15] OF WORD Alarm grade type PVP UINT Indicator PV No. VP UINT Valve position PV No. MDR BOOL MV Output direction setting B60_1 BOOL B60_2 BOOL B60_3 BOOL B60_4 BOOL B60_5 BOOL B60_6 BOOL B60_7 BOOL CDR BOOL Control operation direction B60_9 BOOL B60_10 BOOL B60_11 BOOL B60_12 BOOL B60_13 BOOL B60_14 BOOL B60_15 BOOL MDSP WORD MV display direction setting MSPL REAL 50.0 MV split range position MVPT REAL 50.0 MV friction pointer position MSIG WORD Output signal type SIMM WORD Simulation method MUNO WORD Output point unit No. MPNO WORD Output point No. MVA DWORD Output point variable name DMV REAL 100.0 MV rate-of-change limit [%/scan] MH REAL 100.0 MV high limit value [%] Chapter 2 LD/FBD Instructions 6F8C1226 444 Member Data type Initial value Comment ML REAL MV low limit value [%] MHA REAL 90.0 MV alarm high [%] MLA REAL 10.0 MV alarm low [%] MVB REAL 1.0 MV alarm dead band [%] CLD UINT Control stop type CMD UINT Control mode setting SVS UINT A mode SV setting DT0 UINT 1 Control cycle T0 UINT 5 Sample time [scan] T1 UINT 5 Control time [scan] KP REAL 0.8 Proportional gain TI REAL 0.1 Integral time [min] TD REAL Differential time [min] ETA REAL 0.1 Rate gain ALP REAL 0.4 2 DOF proportionality coefficient/SV high value BET REAL 1.35 2 DOF integration coefficient/SV low value GAM REAL 1.25 2 DOF differential coefficient GP REAL Gap [%] GG REAL 1.0 Gap gain GAIN REAL Proportional gain BIAS REAL Proportional bias FP REAL Full stroke time/pulse count BL REAL Backlash HT REAL Hold time PLB REAL Pulse dead band [s] PDL REAL 10.0 Positive deviation alarm value NDL REAL 10.0 Negative deviation alarm value DVB REAL 1.0 Deviation alarm dead band [EU] SH REAL 100.0 Proportional range high limit value SL REAL Proportional range low limit value SVEU ARRAY[0..3] OF DWORD Proportional engineering unit character MVEU ARRAY[0..3] OF DWORD Proportional operation value engineering unit character SVDM UINT 2 Proportional decimal point position MVDM UINT 2 Proportional operation value decimal point position KF REAL 1.0 ΔMV gain DFF REAL ΔMV bias MVP REAL MV ramp target value MVK REAL MV ramp incremental value MVT REAL MV ramp time coefficient SVP REAL SV ramp target value SVK REAL SV ramp incremental value SVT REAL SV ramp time coefficient TR REAL MV tracking value 2.16 Process Operation Integrated Controller V series／Unified Controller nv series Programming Instructions (LD/FBD/SFC/ST) 445 Member Data type Initial value Comment ACTS ARRAY[0..3] OF DWORD Output device name W174 WORD POIP UINT 1 Inching pulse width FS0 BOOL 0 SV measure tracking designation FS1 BOOL 0 Cascade value type B176_2 BOOL B176_3 BOOL B176_4 BOOL B176_5 BOOL B176_6 BOOL B176_7 BOOL B176_8 BOOL B176_9 BOOL B176_10 BOOL B176_11 BOOL B176_12 BOOL B176_13 BOOL B176_14 BOOL B176_15 BOOL W177 WORD MDT REAL 0.0 Dead time [min] (for model driving PID) MKF REAL 0.0 PD compensator gain（for model driving PID） MTF REAL 0.0 PD compensator differential time [min] (for model driving PID) VMHC UINT MV direction character display (for reprocessing) SPARE ARRAY[0..6] OF WORD Chapter 2 LD/FBD Instructions 6F8C1226 446 ● LP data structure（S2/S3/L1/L2/L3, type1） Data type Parent type typeLP_DATA STRUCT Member Data type Comment SV REAL SV value [EU] MV REAL MV value [%] MODE UINT Control mode MVT BOOL MV tracking SIM BOOL Simulation LSP BOOL Alarm suppress M BOOL Mode M A BOOL Mode A C BOOL Mode C RM BOOL Mode RM LS_7 BOOL LS_8 BOOL LS_9 BOOL MVE BOOL MV error CLI BOOL Control stop MVH BOOL MV alarm high MVL BOOL MV alarm low DVE BOOL Deviation alarm value VPI BOOL Valve position error SSV BOOL SEQ-SV ope. CSV BOOL CMP-SV involvement condition SMV BOOL SEQ-MV involvement condition CMV BOOL CMP-MV ope. CMP BOOL CMP operation SEQ BOOL SEQ operation CC BOOL Cascade dum7 BOOL dum8 BOOL dum9 BOOL MEU BOOL MV error unconfirmed CLU BOOL Control stop unconfirmed MHU BOOL MV alarm high unconfirmed MLU BOOL MV alarm low unconfirmed DVU BOOL Deviation alarm unconfirmed VPU BOOL Valve position error unconfirmed 2.16 Process Operation Integrated Controller V series／Unified Controller nv series Programming Instructions (LD/FBD/SFC/ST) 447 ● LP data structure(L2DS/L3DS, type2) Data type Parent type typeLP_DATA_DS STRUCT Member Data type Comment CLI BOOL Control inactive MVE BOOL MV error MVH BOOL MV alarm high MVL BOOL MV alarm low PDV BOOL Positive deviation alarm NDV BOOL Negative deviation alarm VPI BOOL Valve position error B0_7 BOOL B0_8 BOOL B0_9 BOOL B0_10 BOOL B0_11 BOOL B0_12 BOOL B0_13 BOOL B0_14 BOOL B0_15 BOOL PVIH BOOL PV sensor upper limit alarm PVIL BOOL PV sensor lower limit alarm PVHH BOOL Upper limit alarm above PV PVH BOOL PV upper limit alarm PVL BOOL PV lower limit alarm PVLL BOOL Lower limit alarm below PV PVD BOOL PV change rate alarm PDE BOOL Device error PRE BOOL PV processing error B1_9 BOOL B1_10 BOOL B1_11 BOOL B1_12 BOOL B1_13 BOOL B1_14 BOOL B1_15 BOOL STIT ARRAY[0..31] OF BOOL Alarm display condition FLIT ARRAY[0..31] OF BOOL Alarm conf condition SSV BOOL SEQ-SV ope. CSV BOOL CMP-SV involvement condition SMV BOOL SEQ-MV involvement condition CMV BOOL CMP-MV ope. Chapter 2 LD/FBD Instructions 6F8C1226 448 Member Data type Comment M BOOL Mode M A BOOL Mode A C BOOL Mode C RM BOOL Mode RM TRC BOOL MV tracking state B6_9 BOOL POR BOOL Pulse output request IOPN BOOL Pulse inching request (OPEN) ICLS BOOL Pulse inching request (CLOSE) B6_13 BOOL B6_14 BOOL B6_15 BOOL SCN BOOL Scan setting SIM BOOL Simulation setting SPR BOOL Alarm suppress setting BSIM BOOL Batch simulation setting RCNF BOOL Alarm confirm request RLO BOOL LO request B7_6 BOOL B7_7 BOOL RST BOOL Integration reset setting B7_9 BOOL B7_10 BOOL B7_11 BOOL B7_12 BOOL SPR1 BOOL Alarm suppress limit setting HLD BOOL Input stop (for nv) B7_15 BOOL PV REAL PV value [EU] SV REAL SV value [EU] MV REAL MV value [%] MODE UINT Control mode W15 WORD PMV REAL Pulse output ΔMV RAW INT Raw count value W19 WORD TR REAL MV tracking value RPLS REAL PO user area1 POWK DWORD PO user area 2 BSPR ARRAY[0..31] OF BOOL Alarm suppress flag PVPC REAL PV [% unit] PVCPC REAL PVC [% unit] SVPC REAL SV [% unit] 2.16 Process Operation Integrated Controller V series／Unified Controller nv series Programming Instructions (LD/FBD/SFC/ST) 449 Member Data type Comment PVI BOOL Sensor alarm CMP BOOL Computer flag MCH BOOL M mode set ACH BOOL A mode set CCH BOOL C mode set MDCH BOOL Mode change MRM BOOL M/RM mode DVE BOOL Deviation alarm B34_8 BOOL MRM previous memory B34_9 BOOL A mode previous memory B34_10 BOOL C mode previous memory B34_11 BOOL M mode request B34_12 BOOL A mode request B34_13 BOOL C mode request B34_14 BOOL B34_15 BOOL W35 WORD MVOVER REAL DRAW DINT Raw count (for nv) SPARE ARRAY[0..23] OF WORD ● Polygonal line parameter structure(S2/S3/L1/L2/L3, type1) Data type Parent type typeP_PARA STRUCT Member Data type Comment VAL ARRAY[0..11] OF typeXY Data type Parent type typeXY STRUCT Member Data type Comment X REAL X value Y REAL Y value ● Polygonal line parameter structure(L2DS/L3DS, type2) Data type Parent type typeP_PARA_DS STRUCT Member Data type Comment X ARRAY[0..11] OF REAL X value Y ARRAY[0..11] OF REAL Y value Chapter 2 LD/FBD Instructions 6F8C1226 450 ● For PID3 instruction (PV data/setting structure): Data type Parent type typePID3_PV_D STRUCT Member Data type Comment PVC REAL Process measurement input [%] ASV REAL Auto mode setting value[%] CSV REAL Cascade mode setting value[%] MMV REAL Manual mode manipulated value input [%] TMV REAL Manipulated value tracking input [%] MODE DWORD Mode setting ● For PID 3 instruction (LP parameter) Data type Parent type typePID3_LP_P STRUCT Member Data type Comment KP REAL Proportional gain TI REAL Integral time [min] TD REAL Rate time [min] GP REAL Control dead band [%] ISV REAL Auto mode setting initial value [%] FT REAL Process input filter DSV REAL Setting ASV rate limiter [%/At] DMMV REAL Manual mode manipulated value MMV differential limit [%/At] STS DWORD Status MH REAL Manipulated value high limit [%] ML REAL Manipulated value low limit [%] DMV REAL Manipulated value differential limit [%/At] N REAL Control cycle setting value 2.17 Program Control Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 451 2.17 Program Control No. Instruction Remarks 1 Return RETURN 2 User Defined Function — 3 User Defined Function Block — 4 Program Enable EN_P 5 Program Disable DIS_P 6 Event Program Startup START_P 7 Interrupt Enable EI_T T compatible instruction 8 Interrupt Disable DI_T T compatible instruction Chapter 2 LD/FBD Instructions 6F8C1226 452 Return Program Control Return LD/FBD language notation RETURN Input EN input Edge execution Index modification Modifier — — — ST language notation RETURN ● Function · When the input state is TRUE(ON), program, user defined function, and user defined function block are terminated and control returns to the instruction following the corresponding CALL instruction. · If connected directly to left power rail, program, user defined function, and user defined function block are terminated unconditionally and control returns to the instruction following the corresponding CALL instruction. Input Action Output FALSE(OFF) Return not executed — TRUE(ON) Return executed — · This instruction is not necessary in order to return to the instruction following the corresponding CALL instruction at the end of program, user defined function, or user defined function block. Use the Return instruction when it is necessary to return to the instruction following the corresponding CALL instruction in the middle of a program. ● Program example [LD/FBD language notation] SIGNAL2 RETURN SIGNAL1 [ST language notation] IF SIGNAL1 AND SIGNAL2 THEN RETURN; END_IF; · Returns only when the state of SIGNAL1 and SIGNAL2 is TRUE(ON). 2.17 Program Control Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 453 User Defined Function Program Control User Defined Function LD/FBD language notation Function name Input argument 1 Input argument 2 Input argument 3 Input argument n Output EN input Edge execution Index modification Modifier — — — ST language notation Output := Function name( Input argument 1, Input argument 2, Input argument 3, …, Input argument n ); ● Function · Executes the user defined function. · Up to 15 Input argument including function value may be defined. · User defined function and user defined function block may be nested up to 6 levels. ● Program example [LD/FBD language notation] USERFUN IN0 IN1 IN2 IN3 SAMPLE1 SAMPLE2 SAMPLE3 SAMPLE4 SAMPLE5 ADD_INT IN0 IN1 IN2 SUB_INT IN3 MUL_INT USERFUN User defined function content [ST language notation] SAMPLE5 := USERFUN( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); (User defined function content) USERFUN := ( IN0 + IN1 – IN2 ) * IN3 · Executes the content of user defined function using SAMPLE1 to 4 as input argument and stores the result in SAMPLE5. Chapter 2 LD/FBD Instructions 6F8C1226 454 User Defined Function Block Program Control User Defined Function Block LD/FBD language notation Function name Input argument 1 Input argument 2 Input argument 3 Input argument n Output 1 Output 2 Output 3 Output n Instance name EN input Edge execution Index modification Modifier — — — ST language notation [Instance name](Input argument1, Input argument2, Input argument3, ———, Input argument n ); [Variable name]:=[Instance name]. Output argument1; [Variable name]:=[Instance name]. Output argument2; [Variable name]:=[Instance name]. Output argument3; : [Variable name]:=[Instance name]. Output argument n; ● Function · Executes the user defined function block. · Up to 15 input and output arguments may be defined. · User defined function and user defined function block may be nested up to 6 levels. ● Program example [LD/FBD language notation] ADD_INT IN0 IN1 IN2 SUB_INT IN3 MUL_INT OUT1 User defined function block content ADD_INT IN0 IN1 IN2 SUB_INT IN3 DIV_INT OUT2 USERFB IN0 OUT1 IN1 OUT2 IN2 IN3 SAMPLE1 SAMPLE2 SAMPLE3 SAMPLE4 SAMPLE5 SAMPLE6 USERFB_1 2.17 Program Control Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 455 [ST language notation] USERFB_1( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); SAMPLE5 := USERFB_1.OUT1; SAMPLE6 := USERFB_1.OUT2; (User defined function block content) OUT1 := ( IN0 + IN1 – IN2 ) * IN3 OUT2 := ( IN0 + IN1 – IN2 ) / IN3 · Executes the content of user defined function block using SAMPLE1 to 4 as input arguments and stores the result in SAMPLE5 and SAMPLE6. Chapter 2 LD/FBD Instructions 6F8C1226 456 Program Enable Program Control Program Enable LD/FBD language notation Execution control input Output EN_P E TASK NO Task entry No. Task type EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := EN_P( E, TASK, NO); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input TASK UINT ○ Task type Input NO UINT ○ Task entry No. Output — BOOL — Output ● Function · When the execution control input E is FALSE (OFF), FALSE (OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), execution of the program specified by task type and task entry No. is enabled and TRUE(ON) is output as the result. · The range of task type TASK is as follows. · The range of task entry No. depends on the controller model. Refer to the instruction manual for details. Unified Controller Integrated Controller Task type TASK Task name type1 type2 S3 S2 L3 L3DS L2 L2DS L1 0 Event task EV ○ ○ ○ ○ ○ ○ ○ ○ — 1 Super high—speed task SS ○ — ○ ○ ○ — ○ — — 2 Interrupt task IP ○ ○ ○ ○ ○ ○ ○ ○ — 3 High—speed task HS ○ ○ ○ ○ ○ ○ ○ ○ — 4 Main task MS ○ ○ ○ ○ ○ ○ ○ ○ — 5 Background task BG — — ○ ○ ○ ○ ○ ○ — Execution control input Action Output FALSE(OFF) — FALSE(OFF) TRUE(ON) Enables execution of the specified program. TRUE(ON) 2.17 Program Control Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 457 ● Program example [LD/FBD language notation] SIGNAL1 1 LD EN_P 4 LD SIGNAL2 1 ST 10 LD E TASK NO Main task 000 001 010 009 P_2059 P_2051 P_2050 P_2060 Disabled→enabled [ST language notation] SIGNAL2 := EN_P( SIGNAL1, 4, 10); · When execution control input SIGNAL1 is TRUE(ON), execution of program P_2060 registered in entry No. 010 of main task specified by task type TASK and task entry No. NO is enabled. ● Error information · No operation is performed if an unregistered program, invalid task type, or invalid task entry No. is specified. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 458 Program Disable Program Control Program Disable LD/FBD language notation Execution control input Output DIS_P E TASK NO Task entry No. Task type EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := DIS_P( E, TASK, NO); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input TASK UINT ○ Task type Input NO UINT ○ Task entry No. Output — BOOL — Output ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), execution of the program specified by task type and task entry No. is disabled and TRUE(ON) is output as the result. · The range of task type TASK is as follows. The range of task entry No. depends on the controller model. Refer to the instruction manual for details. Unified Controller Integrated Controller Task type TASK Task name type1 type2 S3 S2 L3 L3DS L2 L2DS L1 0 Event task EV ○ ○ ○ ○ ○ ○ ○ ○ — 1 Super high— speed task SS ○ — ○ ○ ○ — ○ — — 2 Interrupt task IP ○ ○ ○ ○ ○ ○ ○ ○ — 3 High—speed task HS ○ ○ ○ ○ ○ ○ ○ ○ — 4 Main task MS ○ ○ ○ ○ ○ ○ ○ ○ — 5 Background task BG — — ○ ○ ○ ○ ○ ○ — Execution control input Action Output FALSE(OFF) — FALSE(OFF) TRUE(ON) Disables execution of the specified program. TRUE(ON) 2.17 Program Control Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 459 ● Program example [LD/FBD language notation] SIGNAL1 1 LD DIS_P 4 LD SIGNAL2 1 ST 10 LD E TASK NO Main task 000 001 010 009 P_2059 P_2051 P_2050 P_2060 EnabledDisabled [ST language notation] SIGNAL2 := DIS_P( SIGNAL1, 4, 10); · When execution control input SIGNAL1 is TRUE(ON), execution of program P_2060 registered in entry No. 10 of main task specified by task type TASK and task entry No. NO is disabled. ● Error information · No operation is performed if an unregistered program, invalid task type, or invalid task entry No. is specified. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 460 Event Program Startup Program Control Event Program Startup LD/FBD language notation Execution control input Output START_P E TASK NO Task entry No. Task type EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := START_P( E, TASK, NO ); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input TASK UINT ○ Task type Input NO UINT ○ Task entry No. Output — BOOL — Output ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), the program specified by task type and task entry No. is executed and TRUE(ON) is output as the result. · In Unified Controllers, a specified program may not be registered for startup. If the program cannot be registered, start the next scan again to set output to FALSE (OFF). · The range of task type TASK is as follows. However, super high speed task (SS), high speed task (HS), and main task (MS) which performs scan cannot be set. Unified Controller Integrated Controller Task type TASK Task name type1 type2 S3 S2 L3 L3DS L2 L2DS L1 0 Event task EV ○ ○ — — ○ ○ ○ ○ — 1 Super high-speed task SS — — — — — — — — — 2 Interrupt task IP ○ ○ — — ○ ○ ○ ○ — 3 High-speed task HS — — — — — — — — — 4 Main task MS — — — — — — — — — 5 Background task BG — — — — ○ ○ ○ ○ — 2.17 Program Control Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 461 [Integrated Controller V series] Execution control input E Action Output FALSE(OFF) — FALSE(OFF) TRUE(ON) Starts the specified event program. TRUE(ON) [Unified Controller nv series] Execution control input E Action Output FALSE(OFF) — FALSE(OFF) Executed TRUE(ON) TRUE(ON) Starts the specified event program. Not executed FALSE(OFF) ● Program example [Integrated Controller V series] [LD/FBD language notation] START_P TASK E IP1_REQ 2 NO 1 IP1_DONE START_P TASK E IP2_REQ 2 NO 2 IP2_DONE Indicates IP1 is enabled and output is set to TRUE(ON) Interrupt task 0 1 2 15 P_2050 P_2051 P_2052 P_2065 Startup Startup Main task(MS) Interrupt task(IP) MS_001 MS_001 IP_001 Indicates IP2 is enabled and output is set to TRUE (ON) IP_002 [ST language notation] IP1_DONE := START_P( IP1_REQ, 2, 1); IP2_DONE := START_P( IP2_REQ, 2, 2); · When execution control input IP1_REQ is TRUE(ON), the event program IP1 specified by the task type TASK and task entry No. NO is started up to start up program P_2051. · When execution control input IP2_REQ is TRUE(ON), the event program IP2 specified by the task type TASK and task entry No. NO is started up to start up program P_2052, as with the same scan of IP1 startup. Chapter 2 LD/FBD Instructions 6F8C1226 462 [Unified Controller nv series] [LD/FBD language notation] START_P TASK E IP1_REQ 2 NO 1 R IP1_REQ START_P TASK E IP2_REQ 2 NO 2 R IP2_REQ Indicates IP1 is executed and startup request is reset with reset coil instruction. Interrupt task 0 1 2 15 P_2050 P_2051 P_2052 P_2065 Startup Startup Main task(MS) Interrupt task (IP) MS_001 MS_001 IP_001 Indicates IP2 is not executed and startup request is made again by the next scan. MS_001 IP_002 [ST language notation] Since ST language does not support the notation equivalent to LD language, it cannot describe data hold types such as -(R) - and - (S) - or change detection types such as -|P|- and -|N|-. Therefore the program example is omitted. · When execution control input IP1_REQ is TRUE(ON), event program IP1 specified by the task type TASK and task entry No. starts up to activate program P_2051. · Startup request for event program IP2 by the same scan as IP1 is made but denied when execution control input IP2_REQ is TRUE(ON). Therefore, IP2 startup request should be made again in the next scan. ● Error information · No operation is performed if an unregistered program, invalid task type, or invalid task entry No. is specified. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.17 Program Control Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 463 Interrupt Enable Program Control Interrupt Enable LD/FBD language notation Execution control input Result EI_T EN input Edge execution Index modification Modifier ○ ○ — ST language notation Result := EI_T(Execution control input ); ● Arguments Arg. Operand Type Const. Description Remarks Input — BOOL ○ Execution control input Output — BOOL — Result ● Function · When the input is FALSE(OFF), outputs FALSE(OFF) without performing operation. · When the input is TRUE(ON), execution of task with higher priority than the executing task is enabled and TRUE(ON) is output as the result. · Interrupt events that occur while execution is disabled are held until interrupt enable instruction is executed and the held task is executed after execution is enabled. ● Important · If interrupt is disabled, it must be enabled within the same POU. ● Program example [LD/FBD language notation] DI_T Circuit A Circuit B EI_T I/O Interrupt factor IP task Execution disabled IP task Execute Interrupt factor held SIGNAL2 SIGNAL1 [ST language notation] SIGNAL3 := DI_T( SIGNAL1); SIGNAL4 := EI_T( SIGNAL2); · Disables interrupt when the SIGNAL1 is TRUE(ON). This interrupt is disabled while circuit A is executing. Enables interrupt when the SIGNAL2 is TRUE(ON). Then the interrupt task (IP) is started up by the suspended I/O interrupt. Chapter 2 LD/FBD Instructions 6F8C1226 464 Interrupt Disable Program Control Interrupt Disable LD/FBD language notation Execution control input Result DI_T EN input Edge execution Index modification Modifier ○ ○ — ST language notation Result := DI_T( Execution control input ); ● Arguments Arg. Operand Type Const. Description Remarks Input — BOOL ○ Execution control input Output — BOOL — Result ● Function · When the input is FALSE(OFF), outputs FALSE(OFF) without performing operation. · When the input is TRUE(ON), execution of task with higher priority than the executing task is disabled and TRUE(ON) is output as the result. · Interrupt events that occur while execution is disabled are held until interrupt enable instruction is executed and the held task is executed after execution is enabled. ● Important · If interrupt is disabled, it must be enabled within the same POU. ● Program example [LD/FBD language notation] DI_T Circuit A Circuit B EI_T I/O Interrupt factor IP task Execution disabled IP task Execute Interrupt factor held SIGNAL2 SIGNAL1 [ST language notation] SIGNAL3 := DI_T( SIGNAL1); SIGNAL4 := EI_T( SIGNAL2); · Disables interrupt when the SIGNAL1 is TRUE(ON). This interrupt is disabled while circuit A is executing. Enables interrupt when the SIGNAL2 is TRUE(ON). Then the interrupt task (IP) is invoked by the suspended I/O interrupt. 2.18 String Processing Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 465 2.18 String Processing No. Instruction Remarks 1 String Length LEN 2 Leftmost Extract String LEFT 3 Rightmost Extract String RIGHT 4 Extract String MID 5 Concatenate String CONCAT_STRING 6 Insert String INSERT 7 Delete String DELETE 8 Replace String REPLACE 9 Find String FIND 10 Define String DEF_STRING Chapter 2 LD/FBD Instructions 6F8C1226 466 String Length String Processing String Length LD/FBD language notation Input string Output LEN EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := LEN(Input string ); ● Arguments Arg. Operand Type Const. Description Remarks Input — STRING — Input string Output — UINT — Output ● Function · Calculates the length of the input string and outputs the result. · Direct I/O variable cannot be specified for the input variable. ● Program example [LD/FBD language notation] SAMPLE1 LD LEN SAMPLE2 7 ST Input string String length 7 B C D E F G A [ST language notation] SAMPLE2 := LEN( SAMPLE1); · Calculates the length of string "ABCDEFG" in input data SAMPLE1 and stores the result "7" in SAMPLE2. ● Error information · When the input variable exceeds the variable area, the string length is not processed and the data boundary is exceeded. · The following operation is performed when direct I/O variable is specified for the input variable: Controller Action Integrated Controller V series Result=0. Error flag is set to TRUE(ON). Unified Controller nv series Result=0. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.18 String Processing Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 467 Leftmost Extract String String Processing Leftmost Extract String LD/FBD language notation Input string Output LEFT IN L Extraction character length EN input Edge execution Index modification Modifier ○ ○ — ST language notation LEFT( IN, L, Output); ● Arguments Arg. Operand Type Const. Description Remarks IN STRING — Input string Input L UINT ○ Extraction character length Output — STRING — Output ● Function · Extracts the string specified by extraction character length L from the left end of the input string IN and outputs the result. · Direct I/O variable cannot be specified for the input string variable and output variable. ● Program example [LD/FBD language notation] SAMPLE1 LD LEFT IN L SAMPLE3 ST Input string Extracted string ABC SAMPLE2 3 LD Extraction character count 3 B C D E F G A [ST language notation] LEFT( SAMPLE1, SAMPLE2, SAMPLE3); · Extracts the number of characters specified by extraction character length "3" in SAMPLE2 from the left end of the string "ABCDEFG" in SAMPLE1and stores the result "ABC" in SAMPLE3. Chapter 2 LD/FBD Instructions 6F8C1226 468 ● Error information · When the input string variable and output variable exceed the variable area, the leftmost extract string is not processed and the data boundary is exceeded. · The following operation is performed when direct I/O variable is specified for the input string variable and output variable: Controller Action Integrated Controller V series Leftmost extract string is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Leftmost extract string is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used ENO output is reset to FALSE(OFF) when the above error occurs. 2.18 String Processing Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 469 Rightmost Extract String String Processing Rightmost Extract String LD/FBD language notation Input string Output RIGHT IN L Extraction character length EN input Edge execution Index modification Modifier ○ ○ — ST language notation RIGHT( IN, L, Output ); ● Arguments Arg. Operand Type Const. Description Remarks IN STRING — Input string Input L UINT ○ Extraction character length Output — STRING — Output ● Function · Extracts the number of characters specified by extraction character length L from the right end of the input string IN and outputs the result. · Direct I/O variable cannot be specified for input string variable and output variable. ● Program example [LD/FBD language notation] SAMPLE1 LD RIGHT IN L SAMPLE3 ST Input string Extracted string EFG SAMPLE2 3 LD Extraction character length 3 B C D E F G A [ST language notation] RIGHT( SAMPLE1, SAMPLE2, SAMPLE3); · Extracts the number of characters specified by extraction character length "3" in SAMPLE2 from the right end of the string "ABCDEFG" in SAMPLE1and stores the result "EFG" in SAMPLE3. Chapter 2 LD/FBD Instructions 6F8C1226 470 ● Error information · When the input string variable and output variable exceed the variable area, rightmost extract string is not processed and the data boundary is exceeded. · The following operation is performed when direct I/O variable is specified for the input string variable and output variable: Controller Action Integrated Controller V series Rightmost extract string is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Rightmost extract string is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.18 String Processing Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 471 Extract String String Processing Extract String LD/FBD language notation Input string Output MID IN L P Extraction character length Extracted string top position EN input Edge execution Index modification Modifier ○ ○ — ST language notation MID( IN, L, P, Output ); ● Arguments Arg. Operand Type Const. Description Remarks IN STRING — Input string L UINT ○ Extraction character length Input P UINT ○ Extraction character top position Output — STRING — Output ● Function · Extracts the number of characters specified by extraction character length L starting from the Extraction character top position P of the input string IN and outputs the result. · Direct I/O variable cannot be specified for the input string variable and output variable. ● Program example [LD/FBD language notation] SAMPLE1 LD MID IN L P SAMPLE4 ST Input string Extracted string BCD SAMPLE2 3 LD Extraction character length 3 SAMPLE3 2 LD B C D E F G A Extracted string position 2 [ST language notation] MID( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · Extracts the number of characters specified by extraction character length "3" in SAMPLE2, starting from extraction character top position "2" in SAMPLE3 of the string "ABCDEFG" in SAMPLE1 and stores the result "BCD" in SAMPLE3. Chapter 2 LD/FBD Instructions 6F8C1226 472 ● Error information · When input string variable and output variable exceed the variable area, the extract string is not processed and the data boundary is exceeded. · If number of characters from Extraction character top position P is less than the Extraction character length, the entire string starting at position P is output. · If Extraction character top position P is greater than the Input string length, the result is a null string. · The following operation is performed when direct I/O variable is specified for the input string variable and output variable: Controller Action Integrated Controller V series Extract string is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Extract string is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF). 2.18 String Processing Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 473 Concatenate String String Processing Concatenate String LD/FBD language notation Input string 1 Output CONCAT_STRING IN1 IN2 Input string 2 EN input Edge execution Index modification Modifier ○ ○ — ST language notation CONCAT_STRING( IN1, IN2, Output ); ● Arguments Arg. Operand Type Const. Description Remarks IN1 STRING — Input string 1 Input IN2 STRING — Input string 2 Output — STRING — Output ● Function · Concatenates input string 1 with input string 2 and outputs the result. · Direct I/O variable cannot be specified for the input string variable and output variable. ● Program example [LD/FBD language notation] SAMPLE1 LD CONCAT_STRING IN1 IN2 SAMPLE3 ST Input string 1 Output string SAMPLE2 LD Input string 2 + E F G B C D A B C D E F G A [ST language notation] CONCAT_STRING( SAMPLE1, SAMPLE2, SAMPLE3); · Concatenates the string "ABCD" in SAMPLE1 with extraction string "EFG" in SAMPLE2 and stores the result "ABCDEFG" in SAMPLE3. Chapter 2 LD/FBD Instructions 6F8C1226 474 ● Error information · When the input string variable and output variable exceed the variable area, the concatenate string is not processed and the data boundary is exceeded. · If the string length after concatenation exceeds the output string variable size, the result is unchanged. · The following operation is performed when direct I/O variable is specified for the input string variable and output variable: Controller Action Integrated Controller V series Concatenate string is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Concatenate string is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used ENO output is reset to FALSE(OFF) when the above error occurs. 2.18 String Processing Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 475 Insert String String Processing Insert String LD/FBD language notation Input string Output INSERT IN1 IN2 P Insertion character string Insert position EN input Edge execution Index modification Modifier ○ ○ — ST language notation INSERT( IN1, IN2, P, Output ); ● Arguments Arg. Operand Type Const. Description Remarks IN1 STRING — Input string IN2 STRING — Insertion character string Input P UINT ○ Insertion position Output — STRING — Output ● Function · Inserts the insertion string IN2 at insertion position P of the input string IN1 and outputs the result. · Direct I/O variable cannot be specified for the input string variable and output variable. ● Program example [LD/FBD language notation] SAMPLE1 LD INSERT IN L P SAMPLE4 ST Input string Inserted string SAMPLE2 3 LD Insert string SAMPLE3 1 LD D E F G B C A 1 Insert position B C A D E F G [ST language notation] INSERT( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); Chapter 2 LD/FBD Instructions 6F8C1226 476 · Inserts the insertion character string "DEFG" in SAMPLE2 into string "ABC" in SAMPLE1 at insertion position "1" specified by SAMPLE3 and stores the result "ADEFGBC" in SAMPLE4. ● Error information · When the input string variable and output variable exceed the variable area, the insert string is not processed and the data boundary is exceeded. · If number of characters in insertion string IN1 is less than Insertion position P, insertion string is inserted at the end of the input string IN1. · If the insertion position P is "0", IN2 is inserted at the start of the input string IN1. · If the string length after insertion exceeds the output string variable size, the result is unchanged. · The following operation is performed when direct I/O variable is specified for the input string variable and output variable: Controller Action Integrated Controller V series Insert string is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Insert string is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) only when the string size is exceeded or when the string variable is specified as direct I/O. 2.18 String Processing Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 477 Delete String String Processing Delete String LD/FBD language notation Input string Output DELETE IN L P Deletion character length Delete position EN input Edge execution Index modification Modifier ○ ○ — ST language notation DELETE( IN, L, P, Output ); ● Arguments Arg. Operand Type Const. Description Remarks IN STRING — Input string L UINT ○ Deletion character length Input P UINT ○ Delete position Output — STRING — Output ● Function · Deletes a string of length L from the deletion position P of the input string IN and outputs the result. · Direct I/O variable cannot be specified for the input string variable and output variable. ● Program example [LD/FBD language notation] SAMPLE1 LD DELETE IN L P SAMPLE4 ST Input string Deleted string SAMPLE2 4 LD SAMPLE3 3 LD B G A 3 Delete position F G A B C D E 4 Deletion character length [ST language notation] DELETE( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4); · Deletes the number of characters specified by deletion character length "4" in SAMPLE2 from string "ABCDEFG" in SAMPLE1 starting from delete position "3" specified by SAMPLE3 and stores the result "ABG" in SAMPLE4. Chapter 2 LD/FBD Instructions 6F8C1226 478 ● Error information · When the input string variable and output variable exceed the variable area, the delete string is not processed and the data boundary is exceeded. · If number of characters from delete position P is less than deletion character length, the entire string starting at position P is deleted. · If Input string length is less than delete position P, the input string is output unchanged. · The following operation is performed when direct I/O variable is specified for the input string variable and output variable: Controller Action Integrated Controller V series Delete string is not executed. Error flag is set to TRUE(ON). When EN is used, ENO output is reset to FALSE(OFF). Unified Controller nv series Delete string is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF). 2.18 String Processing Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 479 Replace String String Processing Replace String LD/FBD language notation Input string Output REPLACE IN1 IN2 L P Replacement character string Replacement character length Replacement position EN input Edge execution Index modification Modifier ○ ○ — ST language notation REPLACE( IN1, IN2, L, P, Output ); ● Arguments Arg. Operand Type Const. Description Remarks IN1 STRING — Input string IN2 STRING — Replacement character string L UINT ○ Replacement character length Input P UINT ○ Replacement position Output — STRING — Output ● Function · Replaces a string of length L starting at replacement position P of the input string IN1 with replacement character string IN2 and outputs the result. · Direct I/O variable cannot be specified for the input string variable and output variable. ● Program example [LD/FBD language notation] SAMPLE1 LD REPLACE SAMPLE5 ST Input string Replaced string SAMPLE2 LD SAMPLE3 4 LD Y Z X 3 Replace position F G A B C D E 4 Replacement character length IN1 IN2 L SAMPLE4 3 LD P Replace character string G A B X Y Z Chapter 2 LD/FBD Instructions 6F8C1226 480 [ST language notation] REPLACE( SAMPLE1, SAMPLE2, SAMPLE3, SAMPLE4, SAMPLE5); · For string "ABCDEFG" specified by SAMPLE1, replaces the number of characters specified by replacement character length in SAMPLE3 starting at Replacement position 3 specified by SAMPLE4 with the replacement string "XYZ" specified by SAMPLE2 and stores the result "ABXYZG" in SAMPLE5. ● Error information · When the input string variable and output variable exceed the variable area, the replace string is not processed and the data boundary is exceeded. · If Input string length is less than replacement position P, the replacement string is output following the Input string. · If the string length after replacement exceeds the output string variable size, the result is unchanged. · The following operation is performed when direct I/O variable is specified for the input string variable and output variable: Controller Action Integrated Controller V series Replace string is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Replace string is not executed. Error flag and table operation error are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) only when the string size is exceeded or when the string variable is specified as direct I/O. 2.18 String Processing Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 481 Find String String Processing Find String LD/FBD language notation Input string Output FIND IN1 IN2 Search character string EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := FIND( IN1, IN2 ); ● Arguments Arg. Operand Type Const. Description Remarks IN1 STRING — Input string Input IN2 STRING — Search character string Output — UINT — Output ● Function · Searches the search character string IN2 from the input string IN1 and outputs the first found string position. · If a matching string cannot be found, “0” is output. · Direct I/O variable cannot be specified for the input string variable. ● Program example [LD/FBD language notation] SAMPLE1 LD FIND IN1 IN2 SAMPLE3 3 ST Input string Search result SAMPLE2 LD Search string 3 B C D E F G A C D [ST language notation] SAMPLE3 := FIND( SAMPLE1, SAMPLE2); · Searches the string "CD" specified by SAMPLE2 from the string "ABCDEFG" in SAMPLE1 and stores the result 3 in SAMPLE3. Chapter 2 LD/FBD Instructions 6F8C1226 482 ● Error information · When the input string variable exceeds the variable area, the find string is not processed and the data boundary is exceeded. · The following operation is performed when direct I/O variable is specified for the input string variable: Controller Action Integrated Controller V series Result=0. Error flag is set to TRUE(ON). Unified Controller nv series Result=0. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.18 String Processing Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 483 Define String String Processing Define String LD/FBD language notation String byte count input Output DEF_STRING EN input Edge execution Index modification Modifier ○ ○ — ST language notation DEF_STRING( String byte count input, Output ); ● Arguments Arg. Operand Type Const. Description Remarks Input — UINT ○ String byte count input Output — STRING — Output ● Function ・ Reserves a STRING data variable area of string byte count specified with input. <Variable declaration> Variable name Data type Dec. VAR_STRING STRING[8] VAR In this case, a value from 1 to 8 is set as the string byte count input. The STRING variable contains the number of string bytes (word size) that can be used in the variable. However, if STRING is used for a static variable, the above string byte count information is cleared at run time. Therefore, the STRING type can only be used in a global variable with retain specification. Therefore, in order to use STRING variable in a variable scope outside this restriction, this instruction must be used under the following condition: · To use the string variable in a variable scope that will be initialized, this Define String instruction must be executed. Local variable, global variable, SW/D register, IQ register: Must be executed during run time. Temporary variable: Must be executed each time POU execution is performed. · Set the string byte count within the string size specified in the variable declaration. (String size when declaring 1 ≤ input ≤ STRING) · Updates the word size of the STRING body of the STRING data. VAR length INT((input+1) / 2) · The string variable can be initialized by using it in combination with Array-String Conversion (ARRAY_TO_STRING) instruction. · Direct I/O variable cannot be specified for the output variable. Chapter 2 LD/FBD Instructions 6F8C1226 484 <String data structure> VAR LENGTH STRING LENGTH STRING BODY 1W 1W Up to 128W VAR LENGTH： Word size of STRIN body STRING LENGTH： Stored byte count STRING BODY： Character code ● Important · Specify input within string size of STRING [A] declared in the variable declaration. If a value greater than this is specified, a boundary error occurs or the content of variable allocated after STRING [A] will be destroyed. Be very careful when setting the string byte count input value to be input. ● Program example [LD/FBD language notation] SAMPLE1 12 LD DEF_STRING SAMPLE2 ST <Variable declaration> Variable Data type Dec. SAMPLE2 STRING[12] VAR SAMPLE2 data structure STRING LENGTH STRING BODY VAR LENGTH=6 [ST language notation] DEF_STRING( SAMPLE1, SAMPLE2); · Executes define string instruction with declaration character count "12" in SAMPLE1 in order to use STRING SAMPLE2 with variable scope=static variable, This declares the use of a 6 word area in VAR length of STRING SAMPLE2. ● Error information · f string byte count input > 256, an abnormal input is assumed and the VAR LENGTH of the specified STRING is set to “0”. · The following operation is performed when direct I/O variable is specified for the output variable: Controller Action Integrated Controller V series Define string is not executed. Error flag is set to TRUE(ON). Unified Controller nv series Define string is not executed. Error flag and table operation error flag are set to TRUE(ON). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 485 2.19 Control Statements No. Instruction Remarks 1 IF IF 2 THEN THEN 3 ELSE (IF statement) ELSE 4 ELSEIF ELSEIF 5 END_IF END_IF 6 CASE CASE 7 : : 8 . . : . . 9 : , : , 10 . . , . . , 11 ELSE (CASE statement) ELSE 12 END_CASE END_CASE 13 FOR_DO FOR_DO 14 EXIT (FOR statement) EXIT 15 END_FOR END_FOR 16 WHILE WHILE 17 DO DO 18 EXIT (WHILE statement) EXIT 19 END_WHILE END_WHILE 20 REPEAT REPEAT 21 UNTIL UNTIL 22 EXIT (REPEAT statement) EXIT 23 END_REPEAT END_REPEAT Chapter 2 LD/FBD Instructions 6F8C1226 486 IF Control Statements IF LD/FBD language notation IF EN input Edge execution Index modification Modifier — — — ST language notation IF ● Function · Indicates the start of IF statement. · A condition expression is described between IF and THEN. If the condition expression is TRUE(ON), the code following THEN is executed. If the condition expression is FALSE(OFF), the code following THEN is skipped and the code following ELSE is executed. · The condition expression following IF must be instructions that outputs BOOL type result (such as bit sequence instructions, compare instructions, or logical operation instructions). ● Program example [LD/FBD language notation] IF THEN ELSE END_IF SIGNAL2 SIGNAL1 SIGNAL3 ADD_INT SAMPLE1 SAMPLE2 SAMPLE3 SUB_INT SAMPLE1 SAMPLE2 SAMPLE3 Condition expression Process 1 Process 2 [ST language notation] IF SIGNAL1 AND SIGNAL2 THEN SAMPLE3 := ADD_INT( SAMPLE1, SAMPLE2); ELSE SAMPLE3 := SUB_INT( SAMPLE1, SAMPLE2); END_IF; 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 487 Process 1 Process 2 Condition expression TRUE FALSE · If the states of condition expression SIGNAL1 and SIGNAL2 are both TRUE(ON), Process 1 (addition) is performed. Otherwise, Process 2 (subtraction) is performed. Chapter 2 LD/FBD Instructions 6F8C1226 488 THEN Control Statements THEN LD/FBD language notation THEN EN input Edge execution Index modification Modifier — — — ST language notation THEN ● Function · The following table shows the processing when the condition expression in an IF statement is satisfied: Condition Action Condition expression is satisfied(TRUE(ON)) Executes the process following THEN. Condition expression is not satisfied (FALSE(OFF)) Does not execute the process following THEN. ● Program example [LD/FBD language notation] IF THEN ELSE END_IF SIGNAL2 SIGNAL1 SIGNAL3 ADD_INT SAMPLE1 SAMPLE2 SAMPLE3 SUB_INT SAMPLE1 SAMPLE2 SAMPLE3 Condition expression Process 1 Process 2 [ST language notation] IF SIGNAL1 AND SIGNAL2 THEN SAMPLE3 := ADD_INT( SAMPLE1, SAMPLE2); ELSE SAMPLE3 := SUB_INT( SAMPLE1, SAMPLE2); END_IF; 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 489 Process 1 Process 2 Condition expression TRUE FALSE · If the states of condition expression SIGNAL1 and SIGNAL2 are both TRUE(ON), Process 1 (addition) following THEN is performed. Otherwise, Process 2 (subtraction) following ELSE is performed. Chapter 2 LD/FBD Instructions 6F8C1226 490 ELSE (IF statement) Control Statements ELSE (IF statement) LD/FBD language notation ELSE EN input Edge execution Index modification Modifier — — — ST language notation ELSE ● Function · The following table shows the processing when the condition expression in an IF statement is not satisfied: Condition Action Condition expression is satisfied (TRUE(ON)) Does not execute the process following ELSE. Condition expression is not satisfied (FALSE(OFF)) Executes the process following ELSE. ● Program example [LD/FBD language notation] IF THEN ELSE END_IF SIGNAL2 SIGNAL1 SIGNAL3 ADD_INT SAMPLE1 SAMPLE2 SAMPLE3 SUB_INT SAMPLE1 SAMPLE2 SAMPLE3 Condition expression Process 1 Process 2 [ST language notation] IF SIGNAL1 AND SIGNAL2 THEN SAMPLE3 := ADD_INT( SAMPLE1, SAMPLE2); ELSE SAMPLE3 := SUB_INT( SAMPLE1, SAMPLE2); END_IF; 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 491 Process 1 Process 2 Condition expression TRUE FALSE · If the states of condition expression SIGNAL1 and SIGNAL2 are both TRUE(ON), Process 1 (addition) following THEN is performed. Otherwise, Process 2 (subtraction) following ELSE is performed. Chapter 2 LD/FBD Instructions 6F8C1226 492 ELSEIF Control Statements ELSEIF LD/FBD language notation ELSEIF EN input Edge execution Index modification Modifier — — — ST language notation ELSEIF ● Function · Indicates the start of ELSEIF statement. · A condition expression is described between ELSEIF and THEN. If the condition expression is TRUE(ON), the code following THEN is executed. If the condition expression is FALSE(OFF), the code following THEN is skipped and the code following ELSE is executed. · The condition expression following ELSEIF must be instructions that outputs BOOL type result (such as syntax instructions, compare instructions, or logical operation instructions). ● Program example [LD/FBD language notation] ELSE END_IF MUL_INT SAMPLE1 SAMPLE2 SAMPLE3 Process 3 IF SIGNAL2 SIGNAL1 SIGNAL3 Condition expression 1 THEN ADD_INT SAMPLE1 SAMPLE2 SAMPLE3 Process 1 ELSEIF SIGNAL4 SIGNAL3 SIGNAL3 Condition expression 2 THEN SUB_INT SAMPLE1 SAMPLE2 SAMPLE3 Process 2 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 493 [ST language notation] IF SIGNAL1 AND SIGNAL2 THEN SAMPLE3 := ADD_INT( SAMPLE1, SAMPLE2); ELSEIF SIGNAL3 AND SIGNAL4 THEN SAMPLE3 := SUB_INT( SAMPLE1, SAMPLE2); ELSE SAMPLE3 := MUL_INT( SAMPLE1, SAMPLE2); END_IF; Process 1 Process 2 Condition expression 1 TRUE FALSE Condition expression 2 TRUE FALSE Process 3 · If the states of conditional expression 1 SIGNAL1 and SIGNAL2 are both TRUE(ON), Process 1 (addition) is performed and if the states of condition expression 2 SIGNAL3 and SIGNAL4 are both TRUE(ON), Process 2 (subtraction) is performed. Otherwise, Process 3 (multiply) following ELSE is performed. Chapter 2 LD/FBD Instructions 6F8C1226 494 END_IF Control Statements END_IF LD/FBD language notation END_IF EN input Edge execution Index modification Modifier — — — ST language notation END_IF ● Function · Indicates the end of IF statement. ● Program example [LD/FBD language notation] IF THEN ELSE END_IF SIGNAL2 SIGNAL1 SIGNAL3 ADD_INT SAMPLE1 SAMPLE2 SAMPLE3 SUB_INT SAMPLE1 SAMPLE2 SAMPLE3 Condition expression Process 1 Process 2 [ST language notation] IF SIGNAL1 AND SIGNAL2 THEN SAMPLE3 := ADD_INT( SAMPLE1, SAMPLE2); ELSE SAMPLE3 := SUB_INT( SAMPLE1, SAMPLE2); END_IF; · If the states of condition expression SIGNAL1 and SIGNAL2 are both TRUE(ON), Process 1 (addition) following THEN is performed. Otherwise, Process 2 (subtraction) following ELSE is performed. Process 1 Process 2 Condition expression TRUE FALSE 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 495 CASE Control Statements CASE LD/FBD language notation CASE INDEX □ EN input Edge execution Index modification Modifier — — — ST language notation CASE ( INDEX ) OF ● Arguments Arg. Operand Type Const. Description Remar ks Input INDEX DINT — Index register specification (condition value) ● Function · Specifies the index register used as the start of CASE statement and condition value. · Index registers XI，XJ，XK，XL，XM，XN，XP，and XQ may be used. ● Program example [LD/FBD language notation] CASE END_CASE ADD_INT SAMPLE1 SAMPLE2 SAMPLE3 Process 1 SUB_INT SAMPLE1 SAMPLE2 SAMPLE3 Process 2 INDEX XI .. : 20 30 : 10 [ST language notation] CASE XI OF 10: SAMPLE3 := ADD_INT( SAMPLE1, SAMPLE2); 20..30: SAMPLE3 := SUB_INT( SAMPLE1, SAMPLE2); END_CASE; Chapter 2 LD/FBD Instructions 6F8C1226 496 Process 1 Process 2 XI＝10? FALSE TRUE 20≦XI≦30? FALSE TRUE · If the content of index register XI, which is the condition value is "10" Process 1 (addition) is performed and if the content of index register XI is greater than or equal to "20" and less than or equal to "30" Process 2 (subtraction) is performed. 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 497 : : LD/FBD language notation ： Comparison dat EN input Edge execution Index modification Modifier — — — ST language notation (Comparison data ) : ● Arguments Arg. Operand Type Const. Description Remarks Input — DINT ○ Comparison data ● Function · If the content of index register specified with the CASE statement and the content of comparison data are equal, the code following the[ : ]instruction is executed. · The CASE condition is not evaluated after executing the code following the[ : ]instruction. (This is equivalent to the C language break statement.) · The comparison data may be specified using variables or constants. Condition Action Index register=Comparison data Executes the code following: Index register≠Comparison data Does not execute the code following: ● Program example [LD/FBD language notation] CASE END_CASE ADD_INT SAMPLE2 SAMPLE3 SAMPLE4 Process 1 SUB_INT SAMPLE2 SAMPLE3 SAMPLE4 Process 2 INDEX XI .. : 20 30 : SAMPLE1 Chapter 2 LD/FBD Instructions 6F8C1226 498 [ST language notation] CASE XI OF SAMPLE1: SAMPLE4 := ADD_INT( SAMPLE2, SAMPLE3); 20..30: SAMPLE4 := SUB_INT( SAMPLE2, SAMPLE3); END_CASE; Process 1 Process 2 XI=SAMPLE1? FALSE TRUE 20XI30? FALSE TRUE · If the content of index register XI, which is the condition value, is equal to the content of SAMPLE1, Process 1 (addition) is performed and if the content of index register XI is between "20" and "30" Process 2 (subtraction) is performed. 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 499 .. : Control Statements .. : LD/FBD language notation .. : Comparison data 1 Comparison data 2 EN input Edge execution Index modification Modifier — — — ST language notation (Comparison data 1 ) .. (Comparison data 2 ) : ● Arguments Arg. Operand Type Const. Description Remarks — DINT ○ Comparison data 1 Input — DINT ○ Comparison data 2 ● Function · When the content of index register specified with the CASE statement is between Comparison Data 1 and Comparison Data 2, the code following the[ .. : ]instruction is executed. The CASE condition is not evaluated after executing the code following the[ .. : ]instruction. (This is equivalent to the C language break statement.) · Comparison Data 1 and Comparison Data 2 may be specified using variables or constants. Condition Action Index register is between Comparison Data 1 and Comparison Data 2 Executes the code following .. : Index register is outside Comparison Data 1 and Comparison Data 2 Does not execute the code following .. : Chapter 2 LD/FBD Instructions 6F8C1226 500 ● Program example [LD/FBD language notation] CASE END_CASE ADD_INT SAMPLE2 SAMPLE3 SAMPLE4 Process 1 SUB_INT SAMPLE2 SAMPLE3 SAMPLE4 Process 2 INDEX XI .. : 20 30 : SAMPLE1 [ST language notation] CASE XI OF SAMPLE1: SAMPLE4 := ADD_INT( SAMPLE2, SAMPLE3); 20..30: SAMPLE4 := SUB_INT( SAMPLE2, SAMPLE3); END_CASE; Process 1 Process 2 XI=SAMPLE1? FALSE TRUE 20XI30? FALSE TRUE · If the content of index register XI, which is the condition value, is equal to the content of SAMPLE1, Process 1 (addition) is performed and if the content of index register XI is greater than or equal to "20" and less than or equal to "30," Process 2 (subtraction) is performed. 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 501 , Control Statements , LD/FBD language notation , Comparison data EN input Edge execution Index modification Modifier — — — ST language notation ( Comparison data ) , (Comparison data ) : ● Arguments Arg. Operand Type Const. Description Remarks Input — DINT ○ Comparison data ● Function · Used to enumerate comparison data in CASE statement. If the content of index register specified in the CASE statement is equal to the comparison data or if the subsequent condition is satisfied, the code following the [ ,] instruction is executed. · The CASE condition is not evaluated after executing the code following the [ ,] instruction (This is equivalent to the C language break statement). · The comparison data may be specified using variables or constants. Condition Action Index register=Comparison data Executes the code following , Index register≠Comparison data Compare the following comparison data ● Program example [LD/FBD language notation] CASE END_CASE ADD_INT SAMPLE3 SAMPLE4 SAMPLE5 Process 1 SUB_INT SAMPLE3 SAMPLE4 SAMPLE5 Process 2 INDEX XI .. : 20 30 , SAMPLE1 : SAMPLE2 Chapter 2 LD/FBD Instructions 6F8C1226 502 [ST language notation] CASE XI OF SAMPLE1, SAMPLE2: SAMPLE5 := ADD_INT( SAMPLE3 , SAMPLE4); 20..30: SAMPLE5 := SUB_INT( SAMPLE3 , SAMPLE4); END_CASE; Process 1 Process 2 XI=SAMPLE1? FALSE TRUE 20XI30? FALSE TRUE XI=SAMPLE2? FALSE TRUE · If the content of index register XI, which is the condition value, is equal to the content of SAMPLE1 or equal to SAMPLE2, Process 1 (addition) is performed and if the content of index register XI is greater than or equal to "20" and less than or equal to "30," Process 2 (subtraction) is performed. 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 503 .. , Control Statements .. , LD/FBD language notation .. , Comparison data 1 Comparison data 2 EN input Edge execution Index modification Modifier — — — ST language notation (Comparison data 1 ) .. (Comparison data 2 ) , (Comparison data) : ● Arguments Arg. Operand Type Const. Description Remarks — DINT ○ Comparison data 1 Input — DINT ○ Comparison data 2 ● Function · Used to enumerate comparison data in CASE statement. If the content of index register specified in the CASE statement is between Comparison Data 1 and Comparison Data 2 or if the subsequent condition is satisfied, the code following the[ .., ]instruction is executed. · The CASE condition is not evaluated after executing the code following the[ .. ,] instruction (This is equivalent to the C language break statement). · Comparison Data 1 and Comparison Data 2 may be specified using variables or constants. Condition Action Index register is between Comparison Data 1 and Comparison Data 2 Executes the code following .. , Index register is outside Comparison Data 1 and Comparison Data 2 Compare the following comparison data Chapter 2 LD/FBD Instructions 6F8C1226 504 ● Program example [LD/FBD language notation] CASE END_CASE ADD_INT SAMPLE3 SAMPLE4 SAMPLE5 Process 1 SUB_INT SAMPLE3 SAMPLE4 SAMPLE5 Process 2 INDEX XI .. , 20 30 : SAMPLE2 : SAMPLE1 [ST language notation] CASE XI OF SAMPLE1: SAMPLE5 := ADD_INT( SAMPLE3, SAMPLE4); 20..30, SAMPLE2: SAMPLE5 := SUB_INT( SAMPLE3, SAMPLE4); END_CASE; Process1 Process 2 XI=SAMPLE1? FALSE TRUE 20XI30? FALSE TRUE XI=SAMPLE2? FALSE TRUE · If the content of index register XI, which is the condition value, is equal to the content of SAMPLE1, Process 1 (addition) is performed and if the content of index register XI is greater than or equal to "20" and less than or equal to "30" or equal to variable SAMPLE2, Process 2 (subtraction) is performed. 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 505 ELSE (CASE statement) Control Statements ELSE (CASE statement) LD/FBD language notation ELSE EN input Edge execution Index modification Modifier — — — ST language notation ELSE ● Function · If the content of the index register in the CASE statement does not satisfy any of the specified conditions, the code following the ELSE statement is executed (This is equivalent to the C language default statement). Condition Action Index register satisfies the condition with the previous comparison data Does not execute the code following ELSE. Index register does not satisfy the condition with the previous comparison data Executes the code following ELSE. ● Program example [LD/FBD language notation] CASE ELSE ADD_INT SAMPLE3 SAMPLE4 SAMPLE5 Process 1 SUB_INT SAMPLE3 SAMPLE4 SAMPLE5 Process 2 INDEX XI .. , 20 30 : SAMPLE2 : SAMPLE1 END_CASE MUL_INT SAMPLE3 SAMPLE4 SAMPLE5 Process 3 Chapter 2 LD/FBD Instructions 6F8C1226 506 [ST language notation] CASE XI OF SAMPLE1: SAMPLE5 := ADD_INT( SAMPLE3, SAMPLE4); 20..30, SAMPLE2: SAMPLE5 := SUB_INT( SAMPLE3, SAMPLE4); ELSE SAMPLE5 := MUL_INT( SAMPLE3, SAMPLE4); END_CASE; Process 1 Process 2 XI=SAMPLE1? FALSE TRUE 20XI30? FALSE TRUE XI=SAMPLE2? FALSE TRUE Process 3 · If the content of index register XI, which is the condition value, is equal to the content of SAMPLE1, Process 1 (addition) is performed and if the content of Index Register XI is greater than or equal to "20" and less than or equal to "30" or equal to SAMPLE2, Process 2 (subtraction) is performed. Otherwise, Process 3 (multiplication) is performed. 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 507 END_CASE Control Statements END_CASE LD/FBD language notation END_CASE EN input Edge execution Index modification Modifier — — — ST language notation END_CASE ● Function · Indicates the end of CASE statement. ● Program example [LD/FBD language notation] CASE END_CASE ADD_INT SAMPLE1 SAMPLE2 SAMPLE3 Process 1 SUB_INT SAMPLE1 SAMPLE2 SAMPLE3 Process 2 INDEX XI .. : 20 30 : 10 [ST language notation] CASE XI OF 10: SAMPLE3 := ADD_INT( SAMPLE1, SAMPLE2); 20..30: SAMPLE3 := SUB_INT( SAMPLE1, SAMPLE2); END_CASE; Chapter 2 LD/FBD Instructions 6F8C1226 508 Process 1 Process 2 XI=10? FALSE TRUE 20XI30? FALSE TRUE · If the content of index register XI, which is the condition value, is "10," Process 1 (addition) is performed and if the content of index register XI is greater than or equal to "20" and less than or equal to "30," Process 2 (subtraction) is performed. 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 509 FOR_DO □ Control Statements FOR_DO LD/FBD language notation FOR_DO INDEX MIN MAX STEP EN input Edge execution Index modification Modifier — — — ST language notation FOR ( INDEX ) := ( MIN ) TO ( MAX ) BY ( STEP ) DO ● Arguments Arg. Operand Type Const. Description Rem arks INDEX DINT — Index register specification (repeat count) MIN DINT ○ Initial value input MAX DINT ○ Final value input Input STEP DINT ○ Increment input ● Function · Indicates the start of FOR statement and sets the loop condition. · The instructions between FOR_DO and END_FOR are repeated until the loop count in index register reaches the final value. · The loop condition is specified using the index register, which specifies the loop count INDEX, and variables or constants specifying the initial value MIN, final value MAX, and increment STEP. Condition Action Index register content > Final value End repetition Index register content ≤ Final value Repeats instruction between FOR_DO and END_FOR ● Program example [LD/FBD language notation] FOR_DO END_FOR ADD_INT SAMPLE1 SAMPLE2 SAMPLE3 Process 1 INDEX XI MIN 0 MAX 9 STEP 1 [ST language notation] FOR XI := 0 TO 9 BY 1 DO SAMPLE3 := ADD_INT( SAMPLE1, SAMPLE2); END_FOR; Chapter 2 LD/FBD Instructions 6F8C1226 510 XI=XI+1 Process 1 XI＞9? FALSE TRUE XI =0 · Process 1 (addition) is repeated until the loop count in index register XI exceeds "9". 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 511 EXIT (FOR statement) Control Statements EXIT (FOR statement) LD/FBD language notation EXIT EN input Edge execution Index modification Modifier — — — ST language notation EXIT ● Function ・ Forces end of FOR statement. ● Program example [LD/FBD language notation] SIGNAL2 FOR_DO ADD_INT EN ENO SAMPLE1 SAMPLE2 SAMPLE3 Process 1 INDEX XI MIN 0 MAX 9 STEP 1 SIGNAL1 END_FOR IF SIGNAL3 THEN EXIT END_IF Process 2 SIGNAL2 [ST language notation] FOR XI := 0 TO 9 BY 1 DO IF SIGNAL2 THEN EXIT; END_IF; END_FOR; Chapter 2 LD/FBD Instructions 6F8C1226 512 XI=XI+1 Process 1 XI＞9? FALSE TRUE SIGNAL2? FALSE TRUE XI =0 · Process 1 (addition) is repeated until the loop count in index register XI exceeds"9", but the FOR statement is terminated if the SIGNAL2 in the IF statement is TRUE(ON). 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 513 END_FOR Control Statements END_FOR LD/FBD language notation END_FOR EN input Edge execution Index modification Modifier — — — ST language notation END_FOR ● Function · Indicates the end of FOR statement. ● Program example [LD/FBD language notation] FOR_DO END_FOR ADD_INT SAMPLE1 SAMPLE2 SAMPLE3 Process 1 INDEX XI MIN 0 MAX 9 STEP 1 [ST language notation] FOR XI := 0 TO 9 BY 1 DO SAMPLE3 := ADD_INT( SAMPLE1, SAMPLE2); END_FOR; XI=XI+1 Process 1 XI＞9? FALSE TRUE XI =0 · Process 1 (addition) is repeated until the loop count in index register XI exceeds "9". Chapter 2 LD/FBD Instructions 6F8C1226 514 WHILE Control Statements WHILE LD/FBD language notation WHILE EN input Edge execution Index modification Modifier — — — ST language notation WHILE ● Function · Indicates the start of WHILE statement. · A condition expression is described between WHILE and DO. The code between DO and END_WHILE is executed while the condition expression is TRUE(ON) and jumps to code following END_WHILE when the condition expression becomes FALSE(OFF). · The condition expression following WHILE must contain instruction that outputs BOOL type result such as bit sequence instructions, compare instructions, or logical operation instructions). ● Program example [LD/FBD language notation] WHILE DO END_WHILE SIGNAL2 SIGNAL1 SIGNAL3 ADD_INT SAMPLE1 SAMPLE2 SAMPLE3 Condition expression Process 1 [ST language notation] WHILE SIGNAL1 AND SIGNAL2 DO SAMPLE3 := ADD_INT( SAMPLE1, SAMPLE2); END_WHILE; · Process 1 (addition) is repeated if the states of SIGNAL1 and SIGNAL2, which are the condition expression, are both TRUE(ON). Otherwise, jumps to the code following the END_WHILE statement. Process 1 Condition expression TRUE FALSE 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 515 DO Control Statements DO LD/FBD language notation DO EN input Edge execution Index modification Modifier — — — ST language notation DO ● Function · The following table shows the processing when the condition expression in a WHILE statement is satisfied: Condition Action Condition expression is satisfied (TRUE(ON)) Executes the code between DO and END_WHILE Condition expression is not satisfied (FALSE(OFF)) Does not execute the code between DO and END_WHILE ● Program example [LD/FBD language notation] WHILE DO END_WHILE SIGNAL2 SIGNAL1 SIGNAL3 ADD_INT SAMPLE1 SAMPLE2 SAMPLE3 Condition expression Process 1 [ST language notation] WHILE SIGNAL1 AND SIGNAL2 DO SAMPLE3 := ADD_INT( SAMPLE1, SAMPLE2); END_WHILE; · Process 1 (addition) is repeated if the states of SIGNAL1 and SIGNAL2, which are the condition expression, are both TRUE(ON). Otherwise, jumps to the code following the END_WHILE statement. Process 1 Condition expression TRUE FALSE Chapter 2 LD/FBD Instructions 6F8C1226 516 EXIT (WHILE statement) Control Statements EXIT (WHILE statement) LD/FBD language notation EXIT EN input Edge execution Index modification Modifier — — — ST language notation EXIT ● Function · Forces end of WHILE statement. ● Program example [LD/FBD language notation] WHILE SIGNAL4 ADD_INT EN ENO SAMPLE1 SAMPLE2 SAMPLE3 Process 1 SIGNAL3 END_WHILE IF THEN EXIT END_IF Process 2 SIGNAL5 SIGNAL4 DO SIGNAL2 SIGNAL1 [ST language notation] WHILE SIGNAL1 DO IF SIGNAL4 THEN EXIT; END_IF; END_WHILE; 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 517 Process 1 SIGNAL1? TRUE FALSE SIGNAL4? FALSE TRUE · Process 1 (addition) is repeated while SIGNAL1, which is the condition expression, is TRUE(ON), but if the SIGNAL4 in the IF statement is TRUE(ON), termination of the WHILE statement is forced and jumps to the code following the END_WHILE statement. Chapter 2 LD/FBD Instructions 6F8C1226 518 END_WHILE Control Statements END_WHILE LD/FBD language notation END_WHILE EN input Edge execution Index modification Modifier — — — ST language notation END_WHILE ● Function · Indicates the end of WHILE statement. ● Program example [LD/FBD language notation] WHILE DO END_WHILE SIGNAL2 SIGNAL1 SIGNAL3 ADD_INT SAMPLE1 SAMPLE2 SAMPLE3 Condition expression Process 1 [ST language notation] WHILE SIGNAL1 AND SIGNAL2 DO SAMPLE3 := ADD_INT( SAMPLE1, SAMPLE2); END_WHILE; Process 1 Condition expression TRUE FALSE · Process 1 (addition) is repeated if the states of SIGNAL1 and SIGNAL2, which are the condition expression, are both TRUE(ON). Otherwise, jumps to the code following the END_WHILE statement. 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 519 REPEAT Control Statements REPEAT LD/FBD language notation REPEAT EN input Edge execution Index modification Modifier — — — ST language notation REPEAT ● Function · Indicates the start of REPEAT statement. Processing is described between REPEAT and UNTIL. The code between REPEAT and UNTIL is executed while the condition expression following UNTIL is FALSE(OFF) and jumps to code following END_REPEAT when it becomes TRUE(ON). · The condition expression following UNTIL must contain instruction that outputs BOOL type result (such as bit sequence instructions, compare instructions, or logical operation instructions). ● Program example [LD/FBD language notation] REPEAT UNTIL END_REPEAT SIGNAL2 SIGNAL1 SIGNAL3 Condition expression ADD_INT SAMPLE1 SAMPLE2 SAMPLE3 Process 1 [ST language notation] REPEAT SAMPLE3 := ADD_INT( SAMPLE1, SAMPLE2); UNTIL SIGNAL1 AND SIGNAL2 END_REPEAT; Process 1 Condition expression TRUE FALSE · Process 1 (addition) is repeated if the states of SIGNAL1 and SIGNAL2, which are the condition expression, are not both TRUE(ON). If the states of SIGNAL1 and SIGNAL2 are both TRUE(ON), jumps to the code following the END_REPEAT statement without looping. Chapter 2 LD/FBD Instructions 6F8C1226 520 UNTIL Control Statements UNTIL LD/FBD language notation UNTIL EN input Edge execution Index modification Modifier — — — ST language notation UNTIL ● Function · Indicates the start of the condition expression of REPEAT statement. Condition Action Condition expression is satisfied TRUE(ON) Ends REPEAT - UNTIL loop Condition expression is not satisfied FALSE(OFF) Executes the code between REPEAT and UNTIL ● Program example [LD/FBD language notation] REPEAT UNTIL END_REPEAT SIGNAL2 SIGNAL1 SIGNAL3 Condition expression ADD_INT SAMPLE1 SAMPLE2 SAMPLE3 Process 1 [ST language notation] REPEAT SAMPLE3 := ADD_INT( SAMPLE1, SAMPLE2); UNTIL SIGNAL1 AND SIGNAL2 END_REPEAT; · Process 1 (addition) is repeated if the states of SIGNAL1 and SIGNAL2, which are the condition expression, are not both TRUE(ON). If the states of SIGNAL1 and SIGNAL2 are both TRUE(ON), jumps to the code following the END_REPEAT statement without looping. Process 1 Condition expression TRUE FALSE 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 521 EXIT (REPEAT statement) Control Statements EXIT (REPEAT statement) LD/FBD language notation EXIT EN input Edge execution Index modification Modifier — — — ST language notation EXIT ● Function · Forces end of REPEAT statement. ● Program example [LD/FBD language notation] REPEAT END_REPEAT SIGNAL4 ADD_INT EN ENO SAMPLE1 SAMPLE2 SAMPLE3 Process 1 SIGNAL3 IF THEN EXIT END_IF Process 2 SIGNAL5 SIGNAL4 UNTIL SIGNAL2 SIGNAL1 [ST language notation] REPEAT IF SIGNAL4 THEN EXIT; END_IF; UNTIL SIGNAL1 END_REPEAT; Chapter 2 LD/FBD Instructions 6F8C1226 522 Process 1 SIGNAL1? FALSE TRUE SIGNAL4? FALSE TRUE · Process 1 (addition) is repeated while SIGNAL1, which is the condition expression, is FALSE(OFF), but if the SIGNAL4 in the IF statement is TRUE(ON), termination of the REPEAT statement is forced and jumps to the code following the END_REPEAT statement. 2.19 Control Statements Unified Controller nv series／Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 523 END_REPEAT Control Statements END_REPEAT LD/FBD language notation END_REPEAT EN input Edge execution Index modification Modifier — — — ST language notation END_REPEAT ● Function · Indicates the end of REPEAT statement. ● Program example [LD/FBD language notation] REPEAT UNTIL END_REPEAT SIGNAL2 SIGNAL1 SIGNAL3 Condition expression ADD_INT SAMPLE1 SAMPLE2 SAMPLE3 Process 1 [ST language notation] REPEAT SAMPLE3 := ADD_INT( SAMPLE1, SAMPLE2); UNTIL SIGNAL1 AND SIGNAL2 END_REPEAT; Process 1 Condition expression TRUE FALSE · Process 1 (addition) is repeated if the states of SIGNAL1 and SIGNAL2, which are the condition expression, are not both TRUE(ON). If the states of SIGNAL1 and SIGNAL2 are both TRUE(ON), jumps to the code following the END_REPEAT statement without looping. Chapter 2 LD/FBD Instructions 6F8C1226 524 2.20 Communication No. Instruction Remarks 1 Socket Communication Send USEND_T V dedicated instruction 2 Socket Communication Send USEND_N nv dedicated instruction 3 Socket Communication Receive URCV_T V dedicated instruction 4 Socket Communication Receive URCV_N nv dedicated instruction 5 Communication FB (XMIT_T) XMIT_T V dedicated instruction 6 Communication FB (XMIT_N) XMIT_N nv dedicated instruction ● Note Socket communication instruction for Integrated Controller is “USEND_T/URCV_T” and socket communication instruction for Unified Controller is “USEND_N/URCV_N”. When using an Integrated Controller user application for Unified Controller, the socket communication instructions and commands must be changed. The following items must be remembered to change “USEND_T/URCV_T” into “USEND_N/URCV_N”. · Change in socket communication instruction Socket communication send: USEND_TUSEND_N Socket communication receive: URCV_TURCV_N · Instruction instances are stored in different areas: USEND_T/URCV_T instance: static variable area USEND_N/URCV_N instance: non—tracking type, static variable area Since the referential description of the output argument differs, refer to the [ST language notation]of the instruction manual. When using socket communication with duplex system, see “Notes for duplex system” in this section. · Integrated Controller: application of EN7** to Unified Controller EN8** For EN7** and EN8**, the instructions and referential description of the output arguments must be changed. · Integrated Controller: application of EN311 to Unified Controller EN911 For EN311 and EN911, the socket communication instructions, command contents (command structure, command number) and referential description of the output arguments must be changed. 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 525 Socket Communication Send Communication Socket Communication Send V dedicated instruction LD/FBD language notation Completion output Send command Send data word number Send data Execution request USEND_T REQ CMD P N Error Socket no. or error status Instance name DONE ERROR STATUS EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( REQ, CMD, P, N ); [Variable name]:=[Instance name]. DONE; [Variable name]:=[Instance name]. ERROR; [Variable name]:=[Instance name]. STATUS; ● Arguments Arg. Operand Type Const. Description Valid range REQ BOOL ○ Execution request CMD PTR — Send command P PTR — Send data Send data word number (Send word command) 1 to 1000 words Input N UINT ○ Send data bytes number (Send bytes command) 1 to 2000 bytes DONE BOOL — Completion output ERROR BOOL — Error Output STATUS INT — Socket No. or error status · Send command data structure 15 0 Requested Ethernet module slot no. Socket service command Requested parameter (See below for details) Chapter 2 LD/FBD Instructions 6F8C1226 526 ● Instance structure Name Type Description Remarks DONE BOOL Completion output ERROR BOOL Error STATUS INT Socket No. or error status Can be accessed from the user program. TIMECNT DINT Time count RESERVE DWORD Reserved Cannot be accessed from the user program. ● Restrictions Integrated Controller V series Item S3 S2 L3 L2 L1 # of Ethernet modules/stations 4 1 # of sockets/Ethernet modules 12 Single bus Yes Yes Yes Yes Yes TCP/IP Duplex bus No No Yes Yes No Single bus Yes Yes Yes Yes Yes Protocol UDP/IP Duplex bus Yes Yes Yes Yes No Transferred text size/socket Send word command: 1000 words Send bytes command: 2000 bytes ● Function · This is a function block that communicates with TCP/IP or UDP/IP protocol using the Ethernet module. · When the execution request REQ changes from FALSE(OFF) to TRUE(ON), N words starting from send data P are sent with the content of the specified send command CMD. · Word send command: send data word number is 1 to 1000, byte send command: can be specified from 1 to 2000 bytes. · When data transfer completes, completion output DONE is kept TRUE(ON) for one scan time. · If an error occurs, ERROR is kept TRUE(ON) for one scan time. · When transfer completes successfully or unsuccessfully, Socket No. or error status STATUS contains the detailed completion information. · The instruction completes successfully (DONE=ON) starting from the second scan after execution request (REQ=ON). Therefore, depending on how the control cycle is set and application program is created, it may take several seconds before normal completion. · The request command differs according to Ethernet module. Following sections describe request commands. Also, a list of error status codes is included after the URCV_T instruction (Error Status Code List). · Notes on using this communication function block instruction in a duplex system are included after the Error Status Code List (Notes for duplex system). 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 527 ● Ethernet module type and request command type Model Module execution location Bus type Module name Request command type* Single EN711, EN731, EN751* Single bus request command Main unit Duplex EN721, EN741, EN761 FN711* Single bus request command and duplex bus request command 3000 Parallel I/O unit Single EN311 EN311 request command Single EN611, EN631, EN651* Single bus request command 2000 Main unit Duplex EN621/EB621, EN641/EB641, EN661 FN611 Single bus request command and duplex bus request command 1000 Main unit Single EN531* Single bus request command  Notes on request command type · Both the “single bus request command” and “duplex bus request command” may be used for duplex bus (EN721, EN741, EN761, FN711*, EN621/EB621, EN641/EB641, EN661, FN611), but the duplex bus request command cannot be used for single bus (EN711, EN731, EN751, EN611, EN631, EN651*, EN531*). Be sure to use a “single bus request command”. · When the destination is single bus, use a “single bus request command” even if the source Ethernet module is duplex bus. ● Single bus request command ○ : Available /—: Unavailable Command description Command S3 S2 L3 L2 L1 Reset request 16#0011 ○ ○ ○ ○ ○ Other station confirmed request 16#0014 ○ ○ ○ ○ ○ Socket batch close request 16#001B ○ — — — — UDP open request 16#0031 ○ ○ ○ ○ ○ UDP send request / broadcast 16#0032 ○ ○ ○ ○ ○ UDP close request 16#0034 ○ ○ ○ ○ ○ TCP open request 16#0035 ○ ○ ○ ○ ○ TCP send request 16#0037 ○ ○ ○ ○ ○ TCP close request 16#0039 ○ ○ ○ ○ ○ UDP bytes send request 16#0042 ○ ○ — — — TCP bytes send request 16#0047 ○ ○ — — — Chapter 2 LD/FBD Instructions 6F8C1226 528 ● Duplex bus request command ○ : Available/—: Unavailable Command description Command S3 S2 L3 L2 L1 UDP open request 16#0231 ○ ○ ○ ○ — UDP send request / broadcast 16#0232 ○ ○ ○ ○ — UDP close request 16#0234 ○ ○ ○ ○ — TCP open request 16#0235 — — ○ ○ — TCP send request 16#0237 — — ○ ○ — TCP close request 16#0239 — — ○ ○ — ● EN311 request command ○ : Available /—: Unavailable Command description Command S3 S2 L3 L2 L1 Reset request 16#0311 ○ — — — — Parameter setting request 16#0312 ○ — — — — Operation mode control request 16#0313 ○ — — — — Other station confirmed request 16#0314 ○ — — — — Time setting request 16#0318 ○ — — — — Router IP address setting request 16#0319 ○ — — — — PC link (register write request) 16#0321 ○ — — — — UDP open request 16#0331 ○ — — — — UDP send request / broadcast 16#0332 ○ — — — — UDP close request 16#0334 ○ — — — — TCP open request 16#0335 ○ — — — — TCP send request 16#0337 ○ — — — — TCP close request 16#0339 ○ — — — — ● Single bus/duplex bus request command The single bus request command and duplex bus request command have different command numbers, but their structure is the same. They will be described together. ♦ Reset request · Resets the Ethernet module from the user program. · The request command and error status are as follows: 15 0 Requested Ethernet module slot No. Command (16#0011) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 529 ♦ Remote station verification request · Verifies the existence of the specified station (Equivalent to Ping). · The structure of the request command and the socket No. or error status are as follows: · Notes on duplex bus Ethernet module: The "Other station confirmed request" is not a duplex bus request command. Make the request by specifying the IP address for both Ethernet A and B systems. Program according to the system request specification (such as the command is successful if either A or B is successful/the command is successful if both A and B are successful). ♦ Socket batch close request · The source controller closes all the opening sockets for the Ethernet module specified by the requested Ethernet module slot No. · This command is supported by the following versions of S3 Controller. S3 Controller Support version S3PU55/S3PU55/S3PU65 (Single/Duplex) V02.7J and following versions S3PU65 (Duplex reliability improvement version) V03.7E and following versions · The request command structure and error status are as follows: 15 0 Requested Ethernet module slot No. Command (16#001B) <Request command> <Error status> 15 0 =0: Normal completer, ≠0: Error status 15 0 Requested Ethernet module slot No. Command (16#0014) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status D-IP address D-IP address : Destination IP address to be verified Chapter 2 LD/FBD Instructions 6F8C1226 530 ♦ UDP open request · Opens the requested socket. · Communication protocol: UDP/IP · Socket No. is set in STATUS when UDP completes successfully (DONE=ON). This socket No. is used to obtain the send, receive, close, and EN board control socket identifier. 15 0 Requested Ethernet module slot No. Command (16#0031)/Duplex (16#0231) <Request command> <Socket No. or error status> 15 0 Socket No. (0 to 11), error status UDPPort No. : UDP port No. of the specified source socket (1024 to 65535) UDPPort No. 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 531 ♦ UDP send request/broadcast send request · Sends source data using the opened UDP socket. · Number of transferred data words: 1 to 1000 ♦ UDP close request · Ends the opened UDP sockets. Also cancels receive requests (unlimited wait state). 15 0 Requested Ethernet module slot No. Command (16#0034)/Duplex (16#0234) <Request command> <Error status> 15 0 0: Normal complete, ≠0: Error status Socket No. :Socket ID (0 to 11) (identifier obtained with UDP open) Socket No. 15 0 Requested Ethernet module slot No. Command (16#0032)/Duplex (16#0232) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. :Socket ID (0 to 11) (identifier obtained with UDP open) D-IP address :Destination IP address Specifying 255.255.255.255 as the destination IP address results in broadcast send. D-UDPPort No. :Destination socket UDP port No. Socket No. D-IP address D-UDPPort No. Chapter 2 LD/FBD Instructions 6F8C1226 532 ♦ TCP open request ・ Opens (active/passive) the requested port. ・ Communication protocol: TCP/IP · Socket No. is set in STATUS when TCP completes successfully (DONE=ON). This socket No. is used to obtain the send, receive, close, and EN board control socket identifier. ♦ TCP send request · Sends the source data using the opened TCP connection. · Send data word number: 1 to 1000 words 15 0 Requested Ethernet module slot No. Command (16#0035)/Duplex (16#0235) <Request command> <Socket No. or error status> 15 0 Socket No. (0 to 11), error status Type D-IP address D-TCPPor tNo. S-TCPPort No. TimeCnt Type :Open type (1/2) 1=Active open - client 2=Passive open - server D-IP address :Destination IP address (valid only for active open) D-UDPPort No. :Destination socket TCP port No. (valid only for active open) S-TCPPort No. :Source specified socket TCP port No. TimeCnt :Receive wait timeout interval (1 to 65535: 0.1 second unit, 0: unlimited) (valid only for passive open) 15 0 Requested Ethernet module slot No. Command (16#0037)/Duplex (16#0237) <Request command> <Error status> 15 0 0: Normal complete, ≠0: Error status Socket No. :Socket ID (0 to 11) (identifier obtained by TCP open) Socket No. 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 533 ♦ TCP close request · Ends an opened TCP connection and closes the socket. · Also cancels open/receive requests (unlimited wait state). ♦ UDP byte send request · Sends source data using the opened UDP socket. · Number of transferred data bytes: 1 to 2000 bytes 15 0 Requested Ethernet module slot No. Command (16#0042) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. :Socket ID (0 to 11) (identifier obtained by UDP open) D-IP address : Destination IP address Specifying 255.255.255.255 as the destination IP address results in broadcast send. D-UDPPort No. : Destination socket UDP port No. Socket No. D-IP address D-UDPPort No. 15 0 Requested Ethernet module slot No. Command (16#0039)/Duplex (16#0239) <Request command> <Error status> 15 0 0: Normal complete, ≠0: Error status Socket No. :Socket ID (0 to 11) (identifier obtained by TCP open) Socket No. Chapter 2 LD/FBD Instructions 6F8C1226 534 ♦ TCP byte send request · Sends the source data using the opened TCP connection. · Send data word number: 1 to 2000 bytes 15 0 Requested Ethernet module slot No. Command (16#0047) <Request command> <Error status> 15 0 0: Normal complete, ≠0: Error status Socket No. :Socket ID (0 to 11) (identifier obtained by TCP open) Socket No. 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 535 ● EN311 request commands ♦ Reset request · Resets EN311 from the user program. · The request command structure and error status are as follows: <Request command> Error status: Command (16#0311) 15 0 =0: Normal complete, 0: Error status 15 0 Bus Requested Ethernet module sl ot No. Unit Slot 12 8 · Error status 16#EC** (-50**) indicates that the error was detected by the CPU module and 16#B** indicates that it was detected by the EN311 (* is any number). ♦ Parameter setting request · Sets EN311 parameters for a standy mode EN311 from a user program. · The request command structure and error status are as follows: <Request command> S-IP address :Source IP address UDPPort No. :UDP port No. (1024 to 65535) <Error status> Command (16#0312) S-IP address 15 0 =0: Normal complete 0: Error status UDPPort No. 15 0 Bus Requested Ethernet module slot No. Unit Slot 12 8 Chapter 2 LD/FBD Instructions 6F8C1226 536 ♦ Operation mode control request · Controls the operation of EN311 from the user program. · The request command structure and error status are as follows: <Request command> Specified information Bit13:Changes EN311 from run mode to standby mode. Bit12:Changes EN311 from standby mode to run mode. Bit5 :Message transmission 1:Enabled, 0:Disabled Bit4 :Socket transmission 1:Enabled, 0:Disabled <Error status> Command (16#0313) Specified information 15 0 =0: Normal complete 0: Error status 15 0 Bus Requested Ethernet module slot No. Unit Slot 12 8 ♦ Remote station verification request · Verifies the existence of the specified station (Equivalent to Ping). · The request command structure and error status are as follows: <Request command> D-IP address :Destination IP address to be verified Error status: Command (16#0314) D-IP address 15 0 =0: Normal completion 0: Error status 15 0 Bus Requested Ethernet module slot No. Unit Slot 12 8 ♦ Time setting request · Sets the EN311 internal clock from the user program. · The request command structure and error status are as follows: <Request command> <Error status> Command (16#0318) Month 15 0 =0: Normal completion 0: Error status 15 0 Bus Requested Ethernet module slot No. Unit Slot 12 8 Year Hour Date Second Minute 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 537 ♦ Router IP address setting request · Sets the router IP address of a standby mode EN311 from the user program. · The request command structure and Error status are as follows: <Request command> <Error status> Command (16#0319) Router IP address 15 0 =0: Normal complete 0: Error status 15 0 Bus Requested Ethernet module slot No. Unit Slot 12 8 ♦ PC link register write request · Writes the data in specified source register into the specified destination register. 15 0 Requested Ethernet module slot No. Command (16#0321) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Bus Slot Unit 12 8 DRID Dreg No. TimeCnt D-IP address D-UDPPort No. DRID :Destination register type code (Only register D can be specified when the destination is S3). 0=XW/YW 1=W 2=LW 3=RW 4=D 5=F (0 to 32767) 6=F (0 to 65535) 7=T 8=C 9=SW DRegNo. :Destination register No. TimeCnt :Timeout interval 1 to 32767 (0.1 second unit) when bit 15=0 Defaults to 30 seconds when bit15=1 D-IP address : Destination IP address D-UDPPort No. : Destination UDP port No. Chapter 2 LD/FBD Instructions 6F8C1226 538 ♦ UDP open request · Opens the requested socket. · Communication protocol: UDP/IP <Request command> Socket No. :Socket ID (1 to 8) UDPPort No. :UDP port No. of the specified source socket (1024 to 65535) <Socket No. or error status> Command (16#0331) Socket no. 15 0 Socket No. , error status 15 0 Bus Requested Ethernet module slot No. Unit Slot 12 8 UDPPort No. ♦ UDP send request / broadcast send request · Sends source data using the opened UDP socket. · Number of transferred data words: 1 to 1000 words 15 0 Requested Ethernet module slot No. Command (16#0332) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Bus Slot Unit 12 8 Socket No. D-UDPPort No. Socket No. : Socket ID (1 to 8) D-IP address :Destination IP address Specifying 255.255.255.255 as the destination IP address results in broadcast send. D-UDPPort No. : Destination socket UDP port No. D-IP address 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 539 ♦ UDP close request · Ends the opened UDP sockets. Also cancels receive requests (unlimited wait state). ♦ TCP open request · Opens (active/passive) the requested port. · Communication protocol: TCP/IP <Request command> Socket No. :Socket ID (1 to 8) Type :Open type (1/2) 1=Active open - client 2=Passive open - server D-IP address :Destination IP address D-TCPPortNo. :Destination socket TCP port No. S-TCPPortNo. :Source specified socket TCP port No. TimeCnt :Receive wait timeout interval (1 to 65535: 0.1 second unit, 0: unlimited) Socket No. or error status: Command (16#0335) Socket No. 15 0 Socket No. ( 1 to 8), error status 15 0 Bus Requested Ethernet module slot No. Unit Slot 12 8 Type S-TCPPortNo. D-TCPPortNo. D-IP address TimeCnt 15 0 Requested Ethernet module slot No. Command (16#0334) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Bus Slot Unit 12 8 Socket No. (1 to 8) Socket No. : Socket ID (1 to 8) Chapter 2 LD/FBD Instructions 6F8C1226 540 ♦ TCP send request · Sends the source data using the opened TCP connection. · Send data word number: 1 to 1000 words <Request command> Socket No. :Socket ID (1 to 8) <Error status> Command (16#0337) Socket No. 15 0 15 0 Bus Requested Ethernet module slot No. Unit Slot 12 8 ♦ TCP close request · Ends an opened TCP connection and closes the socket. · Also cancels open/receive requests (unlimited wait state). <Request command> Socket No. :Socket ID (1 to 8) < Error status> Command (16#0339) Socket No. 15 0 15 0 Bus Requested Ethernet module slot No. Unit Slot 12 8 =0 : Normal complete, ≠0 : Error status =0 : Normal complete, ≠0 : Error status 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 541 ● Program example [LD/FBD language notation] SIGNAL1 1 LD USEND_T SIGNAL2 ST REQ SAMPLE1 LD SAMPLE2 LD SAMPLE3 50 LD CMD P N Request command SAMPLE1 2 16#0031 8080 Slot No. UDP open request Source station UDP port No. DONE ERROR STATUS SIGNAL3 ST SAMPLE5 ST USEND_T_1 [ST language notation] USEND_T_1( SIGNAL1, SAMPLE1, SAMPLE2, SAMPLE3); SIGNAL2 := USEND_T_1.DONE; SIGNAL3 := USEND_T_1.ERROR; SAMPLE5 := USEND_T_1.STATUS; · The request command (slot No.=2, Command=16#0031, Source UDP port No.=8080) is specified with SAMPLE1. · UDP open request specified with the request command is made at the rise of SIGNAL1 from FALSE(OFF) to TRUE(ON). · When UDP open completes normally, the completion output SIGNAL2 is kept TRUE(ON) for one scan time. The socket ID is stored in status output SAMPLE5. · When UDP open is unsuccessful, the error output SIGNAL3 is kept TRUE(ON) for one scan time. The error status is stored in status output SAMPLE5. Chapter 2 LD/FBD Instructions 6F8C1226 542 Socket Communication Send Communication Socket Communication Send nv dedicated instruction LD/FBD language notation Completion output Request command Send data word no. Send data Execution request USEND_N Error Socket no. or error status Instance name ERROR STATUS DONE CMD N P REQ EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( REQ, CMD, P, N ); [Variable name]:= @[Instance name]. DONE; [Variable name]:= @[Instance name]. ERROR; [Variable name]:= @[Instance name]. STATUS; ● Arguments Arg. Operand Type Const. Description Valid range REQ BOOL ○ Execution request CMD PTR — Request command P PTR — Send data EN8**send data word No. (for word send command) 1 to1000 words EN8**send data bytes No. (for bytes send command) 1 to 2000 bytes EN9**send data word No. (for word send command) 1 to 700 words Input N UINT ○ EN9**send data bytes No. (for bytes send command) 1 to 1400 bytes DONE BOOL — Completion output ERROR BOOL — Error Output STATUS INT — Socket No. or error status 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 543 · Request command data structure ● Instance structure Name Type Description Remarks DONE BOOL Completion output ERROR BOOL Error STATUS INT Socket No. or error status Can be accessed from the user program. TIMECNT DINT Time count RESERVE DWORD Reserved Cannot be accessed from the user program. ● Restrictions Unified Controller nv series Item type1 type2 Ethernet modules/stations 4 EN8** 48 (Max.48/controller) Sockets /Ethernet modules (Note) EN9** 12 (Max.48/controller) Single bus Yes Yes TCP/IP Duplex bus No Yes Single bus Yes Yes Protocol UDP/IP Duplex bus No Yes EN8** For word send command: 1000 words For byte send command: 2000 bytes Transmission text size/socket EN9** For word send command: 700 words For byte send command:1400 bytes EN9** support Yes No (Note) The total number of sockets using multiple Ethernets modules (e.g. EN8 and EN9) are max.48/Controller. <EN8**> <EN9**> 15 0 Requested Ethernet module slot No. Socket service command Request parameter 15 0 ID code (16#F001) Socket service command Requested Ethernet module Basic unit slot/node/unit/slot Request parameter <Requested Ethernet module Basic unit slot/node/unit/slot> 15 0 Unit 8 7 Slot Basic unit slot Node Chapter 2 LD/FBD Instructions 6F8C1226 544 ● Function · This is a function block for the Unified Controller nv series that communicates with TCP/IP or UDP/IP protocol using the Ethernet module. · When execution request REQ changes from FALSE(OFF) to TRUE(ON), N words starting from send data P are sent with the content of the specified request command CMD. The send data word number varies depending on the Ethernet module. For EN8**word send command, send data word number is 1 to 1000 words. For byte send command, it is one to 2000 bytes. · For EN9**word send command, send data word number is 1 to 700 words. For byte send command, it is 1 to 1400 bytes. · When transfer is completed normally, completion output DONE becomes TRUE(ON) for one scanning time. · When it is completed with an error, error ERROR becomes TRUE(ON) for one scanning time. · When transfer is completed with or without an error, the details are output to socket No. or error status STATUS. · The instruction completes normally (DONE=ON) starting from the second scan after execution request (REQ=ON). Therefore, depending on how the control cycle is set and application program is created, it may take several seconds before normal completion. · Direct I/O variable cannot be specified for send data. · The request commands vary depending on the Ethernet module. The request commands are described below. Also, a list of error status codes is included after the URCV_N instruction (Error Status Code List). · Notes on using this communication function block instruction in a duplex system are included after the Error Status Code List (Notes for duplex system). 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 545 ● Ethernet module type and request command type: Type Module installation location Bus type Module name Request command type* Single EN811 Single bus request command Main unit Duplex — Single bus request command and duplex bus request command type1 TC-net I/O unit Single EN911 EN911 request command Single EN811 Single bus request command type2 Main unit Duplex FN812 Single bus request command and duplex bus request command  Notes on request command type · Both the single bus request command and duplex bus request command may be used for duplex bus (FN812), but the duplex bus request command cannot be used for single bus (EN811). Be sure to use a single bus request command. · When the destination is single bus, use a single bus request command even if the source Ethernet module is duplex bus. ● Single bus request command ○ : Available —: Unavailable Command description Command type1 type2 Reset request 16#0011 ○ ○ Other station confirmed request 16#0014 ○ ○ UDP open request 16#0031 ○ ○ UDP send request/broadcast 16#0032 ○ ○ UDP close request 16#0034 ○ ○ TCP open request 16#0035 ○ ○ TCP send request 16#0037 ○ ○ TCP close request 16#0039 ○ ○ UDP byte send request 16#0042 ○ ○ TCP byte send request 16#0047 ○ ○ ● Duplex bus request command (In development) ○ : Available /—: Unavailable Command description Command type1 type2 UDP open request 16#0231 — ○ UDP send request/broadcast 16#0232 — ○ UDP close request 16#0234 — ○ TCP open request 16#0235 — ○ TCP send request 16#0237 — ○ TCP close request 16#0239 — ○ Chapter 2 LD/FBD Instructions 6F8C1226 546 ● EN911 request command ○ : Available / — : Unavailable Command description Command type1 type2 Reset request 16#0911 ○ — Other station confirmed request 16#0914 ○ — UDP open request 16#0931 ○ — UDP send request/broadcast 16#0932 ○ — UDP close request 16#0934 ○ — TCP open request 16#0935 ○ — TCP send request 16#0937 ○ — TCP close request 16#0939 ○ — UDP byte send request 16#0942 ○ — TCP byte send request 16#0947 ○ — ● Single bus/duplex bus request command The single bus request command and duplex bus request command have different command numbers, but their structure is the same. They will be described together. ♦ Reset request · Resets the Ethernet module from the user program. · The request command and Error status are as follows: 15 0 Requested Ethernet module slot No. Command (16#0011) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 547 ♦ Other station confirmed request · Verifies the existence of the specified other station (Equivalent to Ping). · The request command and Error status are as follows. · Notes on duplex bus Ethernet module: The "Other station confirmed request" is not a duplex bus request command. Make the request by specifying the IP address for both Ethernet A and B systems. Program according to the system request specification (such as the command is successful if either A or B is successful/the command is successful if both A and B are successful). ♦ UDP open request · Opens the requested socket. · Communication protocol: UDP/IP · Socket No. is set in STATUS when UDP completes successfully (DONE=ON). This socket No. is used to obtain the send, receive, close, and EN board control socket identifier. 15 0 Requested Ethernet module slot No. Command (16#0031)/Duplex (16#0231) <Request command> <Socket No. or error status> 15 0 Socket No. (0 to47), error status UDPPort No. : UDP port No of the specified source socket (1024 to 65535) UDPPort No. 15 0 Requested Ethernet module slot No. Command (16#0014) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status D-IP address D-IP address : Destination IP address to be verified. Chapter 2 LD/FBD Instructions 6F8C1226 548 ♦ UDP send request/broadcast send request · Sends source data using the opened UDP socket. · Number of transferred data words: 1 to 1000 words. ♦ UDP close request · Ends the opened UDP sockets. Also cancels receive requests (unlimited wait state). 15 0 Requested Ethernet module slot No. Command (16#0034)/Duplex (16#0234) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID(0 to 47) (identifier obtained by UDP open) Socket No. 15 0 Requested Ethernet module slot No. Command (16#0032)/Duplex (16#0232) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained with UDP open) Destination IP address: Destination IP address Specifying 255.255.255.255 as the destination IP address results in broadcast send. D-UDPPort No. : Destination socket UDP port No. Socket No. D-IP address D-UDPPort No. 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 549 ♦ TCP open request · Opens (active/passive) the requested port. · Communication protocol: TCP/IP · Socket No. is set in STATUS when TCP completes successfully (DONE=ON). This Socket No. is used to obtain the send, receive, close, and EN board control socket identifier. ♦ TCP send request · Sends the source data using the opened TCP connection. · Send data word number: 1 to 1000 words 15 0 Requested Ethernet module slot No. Command (16#0037)/Duplex (16#0237) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained by TCP open) Socket No. 15 0 Requested Ethernet module slot No. Command (16#0035)/Duplex (16#0235) <Request command> <Socket No. or error status> 15 0 Socket No. (0 to 47), error status Type D-IP address D-TCPPort No. S-TCPPort No. TimeCnt Type : Open type (1/2) 1= Active open - client 2= Passive open - server D-IP address : Destination IP address (valid only for active open) D-TCPPort No. : Destination socket TCP port no. (valid only for active open) S-TCPPort No. : Source specified socket TCP port No. TimeCnt : Receive wait timeout interval (1 to 65535: 0.1 second unit, 0: unlimited) (valid only for passive open) Chapter 2 LD/FBD Instructions 6F8C1226 550 ♦ TCP close request · Ends an opened TCP connection and closes the socket. · Also cancels open/receive requests (unlimited wait state). ♦ UDP byte send request · Sends source data using the opened UDP socket. · Number of transferred data bytes: 1 to 2000 bytes 15 0 Requested Ethernet module slot No. Command (16#0042) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained by UDP open) D-IP address : Destination IP address Specifying 255.255.255.255 as the destination IP address results in broadcast send. D-UDPPort No. : Destination socket UDP port No. Socket No. D-IP address D-UDPPort No. 15 0 Requested Ethernet module slot No. Command (16#0039)/Duplex (16#0239) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained by TCP open) Socket No. 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 551 ♦ TCP byte send request · Sends the source data using the opened TCP connection. · Send data word number: 1 to 2000 bytes 15 0 Requested Ethernet module slot No. Command (16#0047) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained by TCP open) Socket No. Chapter 2 LD/FBD Instructions 6F8C1226 552 ● EN911 request command EN911 request command differs from the EN8** in the request command format. There is an identification code (16#F001) at the top of the request command. The specified format (2 words) of the requested Ethernet module is also different. The contents following the command are the same although the numbers are different. ♦ Reset request · Resets the Ethernet module from the user program. The reset request is valid then EN9**, which issues the reset request, is specified for I/O fallback. · The request command structure and error status are as follows: ♦ Other station confirmed request · Verifies the existence of the specified other station. (Equivalent to Ping) · The request command and error status are as follows: 15 0 ID code (16#F001) Requested Ethernet module Basic unit slot/node/unit/slot <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status D-IP address : Destination IP address to be verified Command (16#0914) D-IP address 15 0 ID code (16#F001) Command (16#0911) Requested Ethernet module Basic unit slot/node/unit/slot <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 553 ♦ UDP open request · Opens requested sockets. · Communication protocol: UDP/IP · Socket No. is set in STATUS when UDP completes successfully (DONE=ON). This socket No. is used to obtain the send, receive, close and EN board control socket identifier. ♦ UDP send request/broadcast send request · Sends source data using the opened UDP socket. · Number of transferred data words: 1 to 700 words 15 0 ID code (16#F001) Requested Ethernet module Basic unit slot/node/unit/slot <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained by UDP open) D-IP address : Destination IP address Specifying 255.255.255.255 as the destination IP address results in broadcast send. D-UDPPort No. : Destination socket UDP port No. Socket No. Command (16#0932) D-IP address D-UDPPort No. 15 0 ID code (16#F001) Requested Ethernet module Basic unit slot/node/unit/slot <Request command> <Socket No. or error status> 15 0 Socket No. (0 to 47), error status UDPPort No. : UDP port No. of the specified source socket (1024 to 65535) Command (16#0931) UDPPort No. Chapter 2 LD/FBD Instructions 6F8C1226 554 ♦ UDP close request · Ends the opened UDP sockets. Also cancels receive request (unlimited wait state). ♦ TCP open request · Opens (active/passive) the requested port. , · Communication protocol: TCP/IP · Socket No. is set in STATUS when TCP completes successfully (DONE=ON). This socket No. is used to obtain the send, receive, close and En board control socket identifier. 15 0 ID code (16#F001) Command (16#0935) Requested Ethernet module Basic unit slot/node/unit/slot <Request command> <Socket No. or error status> 15 0 Socket No. (0 to 47), error status Type D-IP address D-TCPPort No. S-TCPPort No. TimeCnt Type : Open type (1/2) 1= Active open - client 2= Passive open - server D-IP address : Destination IP address (valid only for active open) D-TCPPort No. : Destination socket TCP port no. (valid only for active open) S-TCPPort No. : Source specified socket TCP port No. TimeCnt : Receive wait timeout interval (1 to 65535: 0.1 second unit, 0: unlimited) (valid only for passive open) 15 0 ID code (16#F001) Requested Ethernet module Basic unit slot/node/unit/slot <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained by UDP open) Command (16#0934) Socket No. 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 555 ♦ TCP send request · Sends the source data using the opened TCP connection. · Send data word number: 1 to 700 words ♦ TCP close request · Ends an opened TCP connection and closes the socket. · Also cancels open/receive requests (unlimited wait state). 15 0 ID code (16#F001) Command (16#0939) Requested Ethernet module Basic unit slot/node/unit/slot <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained by TCP open) Socket No. 15 0 ID code (16#F001) Command (16#0937) Requested Ethernet module Basic unit slot/node/unit/slot <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained by TCP open) Socket No. Chapter 2 LD/FBD Instructions 6F8C1226 556 ♦ UDP byte send request · Sends source data using the opened UDP socket. · Number of transferred data bytes: 1 to 1400 bytes ♦ TCP byte send request · Sends the source data using the opened TCP connection. · Send data word number: 1 to 1400 bytes 15 0 ID code (16#F001) Command (16#0947) Requested Ethernet module Basic unit slot/node/unit/slot <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained by TCP open) Socket No. 15 0 ID code (16#F001) Command (16#0942) Requested Ethernet module Basic unit slot/node/unit/slot <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket no. : Socket ID (0 to 47) (identifier obtained by UDP open) D-IP address : Destination IP address Specifying 255.255.255.255 as the destination IP address results in broadcast send. D-UDPPort No. : Destination socket UDP port No. Socket No. D-IP address D-UDPPortn No. 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 557 ● Program example [LD/FBD language notation] [ST language notation] USEND_N_1( SIGNAL1, SAMPLE1, SAMPLE2, SAMPLE3); SIGNAL2 := @USEND_N_1.DONE; SIGNAL3 := @USEND_N_1.ERROR; SAMPLE4 := @USEND_N_1.STATUS; · The request command (slot No.=2, Command=16#0031, Source UDP port No.=5000) is specified with SAMPLE1. · UDP open request specified with the request command is made at the rise of SIGNAL1 from FALSE(OFF) to TRUE(ON). · When UDP open completes normally, the completion output SIGNAL2 is kept TRUE(ON) for one scan time. The socket ID is stored in status output SAMPLE4. · When UDP open is unsuccessful, the error output SIGNAL3 is kept TRUE(ON) for one scan time. The error status is stored in status output SAMPLE4. ● Error information · When the specified range of the send data exceeds the area, the socket communication send is not processed and the data boundary is exceeded. · The following operation is performed when direct I/O variable is specified for the send data: Controller Action Unified Controller nv series Socket communication send is not executed. Error flag and table operation error flag are set to TRUE(ON). USEND_N REQ CMD P N DONE ERROR STATUS SAMPLE1 LD SIGNAL1 SAMPLE2 LD SAMPLE3 0 LD SIGNAL2 SIGNAL3 SAMPLE4 ST Request command SAMPLE1 16#0031 5000 Slot No. UDP open request Source station UDP port No. 2 USEND_N_1 Chapter 2 LD/FBD Instructions 6F8C1226 558 Socket Communication Receive Communication Socket Communication Receive V dedicated instruction LD/FBD language notation Completion output Request command Receive data word count Receive data Execution request URCV_T REQ DONE CMD ERROR P STATUS N Error Status Instance name EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( REQ, CMD, P, N ); [Variable name]:=[Instance name]. DONE; [Variable name]:=[Instance name]. ERROR; [Variable name]:=[Instance name]. STATUS; ● Arguments Arg. Operand Type Const. Description Valid range REQ BOOL ○ Execution request CMD PTR — Request command P PTR — Receive data Receive data word No. (for word receive command) 1 to 1001 words Input N UINT ○ Receive data byte No. (for byte receive command) 2 to 2002 bytes DONE BOOL — Completion output ERROR BOOL — Error Output STATUS INT — Status · Request command data structure ● Instance structure Name Type Description Remarks DONE BOOL Completion output ERROR BOOL Error STATUS INT Status Can be accessed from the user program. TIMECNT DINT Time count RESERVE DWORD Reserved Cannot be accessed from the user program. 15 0 Requested Ethernet module slot No. Socket service command Request parameter (See below for details) 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 559 ● Restrictions Item S3 S2 L3 L2 L1 Ethernet modules/stations 4 1 Sockets/Ethernet modules 12 Single bus Yes Yes Yes Yes Yes TCP/IP Duplex bus No No Yes Yes No Single bus Yes Yes Yes Yes Yes Protocol UDP/IP Duplex bus Yes Yes Yes Yes No Transferred text size/sockets For word receive command: 1001 words For byte receive command: 2002 bytes ● Function · This is a function block for Integrated Controller V series that communicates with TCP/IP or UDP/IP procedure using the Ethernet module. · When the Execution request REQ changes from FALSE(OFF) to TRUE(ON), N words starting from Receive data P are received with the content of the specified Receive command CMD. · Word receive command: receive data word number may be from 1 to 1001 words, byte receive command: receive data byte number may be from 2 to 2002. · When data receive completes, Completion output DONE is kept to TRUE(ON) for one scan time. · If an error occurs, ERROR is kept to TRUE(ON) for one scan time. · The detail status is output to STATUS when receive completes normally or abnormally. · The instruction completes successfully (DONE=ON) starting from the second scan after execution request (REQ=ON). Therefore, depending on how the control cycle is set and application program is created, it may take several seconds before normal completion. · Request commands differ by the Ethernet module. Each request command is described from the following pages. Also, a list of error status codes is included after the URCV_T instruction (Error Status Code List). · Notes on using this communication function block instruction in a duplex system are included after the Error Status Code List (Notes for duplex system). Chapter 2 LD/FBD Instructions 6F8C1226 560 ● Ethernet module type and request command type Model Module installation location Bus type Module name Request command type* Single EN711,EN731,EN751* Single bus request command Main unit Duplex EN721,EN741,EN761 FN711* Single bus request command and duplex bus request command 3000 Parallel I/O unit Single EN311 EN311 request command Single EN611, EN631, EN651* Single bus request command 2000 Main unit Duplex EN621/EB621, EN641/EB641, EN661 FN611 Single bus request command and duplex bus request command 1000 Main unit Single EN531* Single bus request command · Notes on request command type · Both the “single bus request command” and “duplex bus request command” may be used for duplex bus (EN721, EN741, EN761, FN711*, EN621/EB621, EN641/EB641, EN661, FN611), but the “duplex bus request command” cannot be used for single bus (EN711, EN731, EN751, EN611, EN631, EN651*, EN531*). Be sure to use a “single bus request command”. · When the destination is single bus, use a “single bus request command” even if the source Ethernet module is duplex bus. ● Single bus request command ○ : Available/—: Unavailable Command description Command S3 S2 L3 L2 L1 Get EN board management socket identifier 16#0016 ○ ○ ○ ○ ○ En board management socket number acquisition request 16#001A ○ — — — — UDP receive request/broadcast 16#0033 ○ ○ ○ ○ ○ TCP receive request 16#0038 ○ ○ ○ ○ ○ UDP byte receive request 16#0043 ○ ○ — — — TCP byte receive request 16#0048 ○ ○ — — — ● Duplex bus request command ○ : Available/—: Unavailable Command description Command S3 S2 L3 L2 L1 UDP receive request/broadcast 16#0233 ○ ○ ○ ○ — TCP receive request 16#0238 — — ○ ○ — ● EN311 request command Command description Command S3 S2 L3 L2 L1 RAS information read 16#0315 ○ — — — — PC link (register read request) 16#0321 ○ — — — — UDP receive request/broadcast 16#0333 ○ — — — — TCP receive request 16#0338 ○ — — — — 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 561 ● Single bus/duplex bus request command The single bus request command and duplex bus request command have different command numbers, but their structure is the same. They will be described together. ♦ EN board management socket identifier acquisition · This command is used to refer detailed information of Ethernet module sockets. · En board management socket identifier is obtained from opened socket identifier. · The request command structure and error status are as follows: · The socket No. obtained by UDP/TCP open command is a number controlled by the communication function block instruction and is different from the real socket No. obtained by the Ethernet module. Send, receive, or close can be performed using the socket No. obtained with an open command. However, the detailed information for each socket controlled by Ethernet module cannot be accessed. Therefore, use this command to obtain the socket No. controlled by the Ethernet module and access the socket information using that value as offset. The information for each socket controlled by the Ethernet module is available as station global. Register a station global variable or use direct instruction word notation (%MW13.offset address) to access it from the user application program. The information for each socket is organized as follows: 15 0 Requested Ethernet module slot No. Command (16#0016) <Request command> <Socket No. or error status> 15 0 Socket No. (0 to 63), error status Socket No. : Socket ID (0 to11) (identifier obtained by UDP open) Socket No. Chapter 2 LD/FBD Instructions 6F8C1226 562 · Ethernet module detailed information for each socket Overall structure: Socket 0 Socket 1 : Socket 63 Socket information for single bus request command (1 word x 64 sockets) TCP F UDP E AOP D POP C CON B RCV A RCL 9 Reserved 8 0 The structure of each slot is the same. Socket 0 Socket 1 : Socket 63 Socket information for single bus request command (1 word x 64 sockets) Top offset address +64 Bit description: Name Description Set condition Reset condition TCP Using TCP During TCP open During socket close request UDP Using UDP During UDP open During socket close request AOP Active open During TCP active open During socket close request POP Passive open During TCP passive open During socket close request CON Connecting During TCP connection During socket close request or when RCL is ON RCV Receive data When there is receive data No receive data RCL Disconnected When closed by opposite party when connecting During socket close request 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 563 Top offset address: Model Slot Top offset address 0 130944 1 655232 2 1179520 3 1703808 4 2228096 5 2752384 6 3276672 2000/3000 7 3800960 1000 1 65280 (Ex.) Socket 4 information of single bus request command installed in slot 3 for model 3000 Direct notation %MW13.1703811 LD ―― ST Variable declaration SOCKET_INF3 [4] LD ―― ST Station variables (Slot3) Variable Data type Word No. Bit No. SOCKET_INF3 Array[0..63] OF WORD 1703808 0 ♦ EN board management socket number acquisition request · The number of socket information for the source Controller, which is managed by Ethernet module specified by the requested Ethernet module slot No. is obtained. · This command is supported by the versions after S3 Controller. S3Controller Support version S3PU55/S3PU55/S3PU65 (Single/Duplex) V02.7J and following versions S3PU65 (Duplex reliability improvement version) V03.7E and following versions · The request command structure and error status are as follows: 15 0 Requested Ethernet module slot No. Command (16#001A) <Request command> <Status> 15 0 Management socket No. Chapter 2 LD/FBD Instructions 6F8C1226 564 ♦ UDP receive request/broadcast receive request · Receives data from opened UDP socket. · Receive data word number: 1 to 1001 (number of words including the received bytes (1W)) ♦ TCP receive request · Receives data from opened TCP socket. · Receive data word number: 1 to 1001 words (number of words including the received bytes (1W)) 15 0 Requested Ethernet module slot No. Command (16#0038)/Duplex (16#0238) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. :Socket ID (0 to 11) (identifier obtained by TCP open) TimeCnt :Receive wait timeout interval (1 to 65535: 0.1 second unit, 0: unlimited) Socket No. TimeCnt 15 0 Requested Ethernet module slot No. Command (16#0033)/Duplex (16#0233) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 11) (identifier obtained by UDP open) D-IP address : Source IP address Specifying 0.0.0.0 as the source IP address results in broadcast receive. D-UDPPort No. : Source socket UDP port No. Do not check the source port when the command is duplex (16#0233) or UDP port No. is "0". TimeCnt : Receive wait timeout interval (1 to 65535: 0.1 second unit, 0: unlimited) Socket No. D-IP address D-UDPPort No. TimeCnt 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 565 ♦ UDP byte receive request · Receives data from opened UDP socket. · Receive data word number: 2 to 2002 bytes (including the storage area for receive byte count (2 bytes)) ♦ TCP byte receive request · Receives data from opened TCP socket. · Receive data word number: 2 to 2002 bytes (including the storage area for receive byte count (2 bytes)) 15 0 Requested Ethernet module slot No. Command (16#0048) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 11) (identifier obtained by TCP open) TimeCnt : Receive wait time out interval (1 to 65535: 0.1 sec. unit, 0: unlimited) Socket No. TimeCnt 15 0 Requested Ethernet module slot No. Command (16#0043) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to11) (identifier obtained by UDP open) D-IP address : Source IP address Specifying 0.0.0.0 as the source IP address results in broadcast receive. D-UDPPort No. : Source socket UDP port No. TimeCnt : Receive wait time out interval (1 to 65535: 0.1 sec. unit, 0: unlimited) Socket No. D-IP address D-UDPPort No. TimeCnt Chapter 2 LD/FBD Instructions 6F8C1226 566 ● EN311 request command ♦ Read RAS information request · Reads EN311 RAS information (internal error information and event log) from the user program. · The request command structure and Error status are as follows: · Error status 16#EC** (-50**) indicates that the error was detected by the CPU module and 16#B** indicates that it was detected by the EN311 (* is any number). 15 0 Command (16#0315) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status RAS request type :Specify the type of RAS information to be read. 1=RAS counter 2=MIB information 3=Maintenance data (this data cannot be used) 4=Event trace information 5=RAS information area Start position : Valid only when the read request type is 2 (MIB information) or 4 (trace information). MIB information 0=MIB_IF 1=MIB_IP 2=MIB_TCP 3=MIB_UDP 4=MIB_ICMP Trace information : Read position (0 to 160), 0 is the latest information Read number : Valid only when the read request type is 4 (event trace information). 1 to 30. RAS request type Start position Read number Requested Ethernet module slot No. Bus Slot Unit 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 567 ♦ PC link register read request · Reads the data in the specified destination register to the specified source register. 15 0 Requested Ethernet module slot No. Command (16#0321) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Bus Slot Unit 12 8 DRID Dreg No. TimeCnt D-IP address D-UDPPort No. DRID : Destination register type code (Only register D/SW can be specified when the destination is S3.) 0=XW/YW 1=W 2=LW 3=RW 4=D 5=F (0 to 32767) 6=F (0 to 65535) 7=T 8=C 9=SW Dreg No : Destination register No. TimeCnt : Time out interval 1 to 32767 (0.1 second unit) when bit 15=0 Defaults to 30 seconds when bit15=1 D-IP address : Destination IP address D-UDPPort No. : Destination UDP port No. Chapter 2 LD/FBD Instructions 6F8C1226 568 ♦ UDP receive request/broadcast receive request · Receives data from opened UDP socket. · Receive data word number: 1 to 1001 words (number of words including the received bytes (1W)) ♦ TCP receive request · Receives data from opened TCP socket. · Receive data word number: 1 to 1001 words (number of words including the received bytes (1W)) 15 0 Requested Ethernet module slot No Command (16#0338) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Bus Slot Unit 12 8 Socket No. Socket No. : Socket ID (1 to 8) TimeCnt : Receive timeout interval (1 to 65535: 0.1 second unit, 0: unlimited) TimeCnt 15 0 Requested Ethernet module slot No. Command (16#0333) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Bus Slot Unit 12 8 Socket No. D-UDPPort No. Socket No. : Socket ID (1 to 8) D-IP address : Source IP address Specifying 0.0.0.0 as the source IP address results in broadcast receive. D-UDPPort No. : Source socket UDP port no. TimeCnt : Receive wait timeout interval (1 to 65535: 0.1 second unit, 0: unlimited) D-IP address TimeCnt 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 569 ● Program example [LD/FBD language notation] SIGNAL1 1 LD URCV_T SIGNAL2 ST REQ SAMPLE1 LD SAMPLE2 LD SAMPLE3 50 LD CMD P N Request command SAMPLE1 2 16#0033 11 Slot No. UDP receive request UDP socket No. DONE ERROR STATUS SIGNAL3 ST SAMPLE5 ST 16#12_34_56_78 8080 300 Send source IP address Send source target socket UDP No. Receive wait timeout URCV_T_1 [ST language notation] URCV_T_1( SIGNAL1, SAMPLE1, SAMPLE2, SAMPLE3); SIGNAL2 := URCV_T_1.DONE; SIGNAL3 := URCV_T_1.ERROR; SAMPLE5 := URCV_T_1.STATUS; · The request command (Slot No.=2, Command=16#0033, UDP socket No.=11, Source IP address=16#12_34_56_78, Source socket UDP No.=8080, Receive timeout inteval=30 seconds) is specified with SAMPLE1. · UDP receive request specified with the request command is made at the rise of SIGNAL1 from FALSE(OFF) to TRUE(ON). · When UDP receive completes normally, the completion output SIGNAL2 is kept TRUE(ON) for one scan time. "0" is stored in status output SAMPLE5. · When UDP receive request is unsuccessful, the error output SIGNAL3 is kept TRUE(ON) for one scan time. The error status is stored in status output SAMPLE5. Chapter 2 LD/FBD Instructions 6F8C1226 570 Socket Communication Receive Communication Socket Communication Receive nv dedicated instruction LD/FBD language notation Completion output URCV_N Error Status Instance name CMD N P REQ ERROR STATUS DONE Execution request Request command Receive data Receive data word count EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( REQ, CMD, P, N ); [Variable name]:= @[Instance name]. DONE; [Variable name]:= @[Instance name]. ERROR; [Variable name]:= @[Instance name]. STATUS; ● Arguments Arg. Operand Type Const. Description Valid range REQ BOOL ○ Execution request CMD PTR — Request command P PTR — Receive data EN8**receive data word No. (For word receive command) 1 to 1001 words EN8** receive data word No. (For word receive command) 2 to 2002 bytes EN9** receive data word No. (For word receive command) 1 to 701 Input N UINT ○ EN9** receive data word No. (For word receive command) 2 to 1402 bytes DONE BOOL — Completion output ERROR BOOL — Error Output STATUS INT — Status 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 571 ・ Request command data structure ● Instance structure Name Type Description Remarks DONE BOOL Completion output ERROR BOOL Error STATUS INT Status Can be accessed from the user program. TIMECNT DINT Time count RESERVE DWORD Reserved Cannot be accessed from the user program. ● Restrictions Item type1 type2 Ethernet modules/stations 4 EN8** 48 (Max.48/Controller) Sockets /Ethernet modules (Note) EN9** 12 (Max.48/Controller) Single bus Yes Yes TCP/IP Duplex bus No No Single bus Yes Yes Protocol UDP/IP Duplex bus No Yes EN8** For word receive command:1001 words For byte receive command:2002 bytes Transferred text size/sockets EN9** For word receive command:701 words For byte receive command:1402 bytes EN9** support Yes No (Note) The total number of sockets using multiple Ethernets modules (e.g. EN8** and EN9**) are max.48/Controller. <EN8**> <EN9**> 15 0 Requested Ethernet module slot No. Socket service command Request parameter 15 0 ID code (16#F001) Socket service command Requested Ethernet module Basic unit slot/node/unit/slot Request parameter <Requested Ethernet module Basic unit slot/node/unit/slot> 15 0 Unit 8 7 Slot Basic unit slot Node Chapter 2 LD/FBD Instructions 6F8C1226 572 ● Function · This is a function block that communicates with TCP/IP or UDP/IP procedure using the Ethernet module. · When execution request REQ changes from FALSE(OFF) to TRUR(ON), N words starting from receive data P are received with the content of the specified request command CMD. · Receive data word numbers differ by the Ethernet modules. For EN8** word receive command, receive data number is 1 to 1001 words and for byte receive command, receive data byte number is 2 to 2002 bytes. · For EN9** word receive command, receive data word number is 1 to 701 words and for byte receive command, receive byte number is 2 to 1402. · When receive is completed normally, completion output DONE becomes TRUE(ON) for one scanning time. · When it is completed with an error, error ERROR becomes TRUE(ON) for one scanning time. · When receive is completed with or without an error, the details are output to status STATUS. · The instruction completes successfully (DONE=ON) starting from the second scan after execution request (REQ=ON). Therefore, depending on how the control cycle is set and application program is created, it may take several seconds before normal completion. · Direct I/O variable cannot be specified for receive data. · The request commands and error codes vary depending on the Ethernet module. 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 573 ● Ethernet module type and request command type Type Module installation location Bus type Module name Request command type * Single EN811 Single bus request command Main unit Duplex — Single bus request command and duplex bus request command type1 TC-net I/O unit Single EN911 EN911 request command Single EN811 Single bus request command type2 Main unit Duplex FN812 Single bus request command and duplex bus request command  Notes on request command type · Both the single bus request command and duplex bus request command may be used for duplex bus (FN812), but the duplex bus request command cannot be used for single bus (EN811). Be sure to use a single bus request command. · When the destination is single bus, use a single bus request command even if the source Ethernet module is duplex bus. ● Single bus request command (In development) ○ : Available / — : Unavailable Command description Command type1 type2 EN board management socket identifier acquisition 16#0016 ○ ○ UDP receive request/broadcast 16#0033 ○ ○ TCP receive request 16#0038 ○ ○ UDP byte receive request 16#0043 ○ ○ TCP byte receive request 16#0048 ○ ○ ● Duplex bus request command (In development) ○: Available/—: Unavailable Command description Command type1 type2 UDP receive request/broadcast 16#0233 — ○ TCP receive request 16#0238 — ○ ● EN911 request command ○ : Available / — : Unavailable Command description Command type1 type2 EN board management socket identifier acquisition 16#0916 ○ — UDP receive request/broadcast 16#0933 ○ — TCP receive request 16#0938 ○ — UDP byte receive request 16#0943 ○ — TCP byte receive request 16#0948 ○ — Chapter 2 LD/FBD Instructions 6F8C1226 574 ● Single bus/duplex bus request command The single bus request command and duplex bus request command have different command numbers, but their structure is the same. They will be described together. ♦ EN board management socket identifier acquisition · Used to refer to the detailed information of each socket of the Ethernet module. · Obtains the EN board management socket identifier from the opened socket identifier. · The request command and Error status are as follows: · Relation between socket No. obtained with the open command and socket No. obtained with this command. The socket No. obtained by UDP/TCP open command is a number controlled by the communication function block instruction and is different from the real socket No. obtained by the Ethernet module. Send, receive, or close can be performed using the socket No. obtained with an open command. However, the detailed information for each socket controlled by Ethernet module cannot be accessed. Therefore, use this command to obtain the Socket No. controlled by the Ethernet module and access the socket information using that value as offset. The information for each socket controlled by the Ethernet module is available as station global. Register a station global variable or use direct instruction word notation (%MW13.offset address) to access it from the user application program. The information for each socket is organized as follows: 15 0 Requested Ethernet module slot No. Command (16#0016) <Request command> <Socket No. or error status> 15 0 Socket No. (0 to 63), error status Socket No. Socket No. : Socket ID (0 to 47) (identifier obtained by UDP/TCP open) 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 575 · Ethernet module detailed information for each socket Overall structure: Bit description: Name description Set condition Reset condition TCP Using TCP During TCP open During socket close request UDP Using UDP During UDP open During socket close request AOP Active open During TCP active open During socket close request POP Passive open During TCP passive open During socket close request CON Connecting During TCP connection During socket close request or when RCL is ON RCV Receive data When there is receive data No receive data RCL Disconnected When closed by opposite party when connecting During socket close request NOA TCP timeout Response from opposite party is interrupted during connection During socket close request Socket information for single bus request command (1 word×64 sockets) Tope offset address Socket information for single bus request command (1 word×64 sockets) +64 Socket 0 Socket 1 Socket 63 UDP TCP AOP POP CON RCV RCL Reserve E F D C B A 9 8 0 : Socket0 Socket 1 Socket 63 : The structure of each slot is the same. NOA 7 Chapter 2 LD/FBD Instructions 6F8C1226 576 Top offset address: Type Slot Top offset address 0 130944 2 2228096 3 3276672 4 4325248 5 5373824 6 6422400 type1/2 7 7470976 (Ex.) Socket 4 information of single bus request command installed in slot 3 for type 1. Direct notation %MW13.3276672 LD ―― ST Variable declaration SOCKET_INF3 [4] LD ―― ST Station global variable (Slot3) Variable Data type Word No. Bit No. SOCKET_INF3 Array[0..63] OF WORD 3276672 0 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 577 ♦ UDP receive request/broadcast receive request · Receives data from opened UDP socket. · Receive data word number: 1 to 1001 words (including the storage area for receive byte count (1W)) ♦ TCP receive request · Receives data from opened TCP socket. · Receive data word number: 1 to 1001 words (including the storage area for receive byte count (1W)). 15 0 Requested Ethernet module slot No. Command (16#0038)/Duplex (16#0238) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained by TCP open) TimeCnt : Receive wait timeout interval (1 to 65535: 0.1 second unit, 0: unlimited) Socket No. TimeCnt 15 0 Requested Ethernet module slot No. Command (16#0033)/Duplex (16#0233) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained by UDP open) D-IP address : Source IP address Specifying 0.0.0.0 as the source IP address results in broadcast receive. D-UDPPort No. : Source socket UDP port No. Do not check the source port when the command is duplex (16#0233) or UDP port No. is “0”. TimeCnt : Receive wait timeout interval (1 to 65535: 0.1 second unit, 0: unlimited) Socket No. D-IP address D-UDPPort No. TimeCnt Chapter 2 LD/FBD Instructions 6F8C1226 578 ♦ UDP byte receive request · Receives data from opened UDP socket. · Receive data word number: 2 to 2002 bytes (including the storage area for receive byte count (2 bytes)) ♦ TCP byte receive request · Receives data from opened TCP socket. · Receive data word number: 2 to 2002 bytes (including the storage area for receive byte count (2 bytes)) 15 0 Requested Ethernet module slot No. Command (16#0048) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained by TCP open) TimeCnt : Receive timeout interval (1 to 65535: 0.1 second unit, 0: unlimited) Socket No. TimeCnt 15 0 Requested Ethernet module slot No. Command (16#0043) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained by UDP open) D-IP address : Source IP address Specifying 0.0.0.0 as the source IP address results in broadcast receive. D-UDPPort No. : Source socket UDP port no. TimeCnt : Receive wait timeout interval (1 to 65535: 0.1 second unit, 0: unlimited) Socket No. D-IP address D-UDPPort No. TimeCnt 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 579 ● EN911 request command EN911 request command differs from the EN8** in the request command format. There is an identification code (16#F001) at the top of the request command. The specified format (2 words) of the requested Ethernet module is also different. The contents following the command are the same although the numbers are different. ♦ EN board management socket identifier acquisition · Used to refer to the detailed information of each socket of the Ethernet module. · Obtains the EN board management socket identifier from the opened socket identifier. · The request command structure and error status are as follows: · Relationship between the socket No. obtained by open command and socket No. obtained by this command The socket No. obtained by UDP/TCP open command is a number controlled by the communication function block instruction and is different from the real socket No. obtained by the Ethernet module. Send, receive, or close can be performed using the socket No. obtained with an open command. However, the detailed information for each socket controlled by Ethernet module cannot be accessed. Therefore, use this command to obtain the socket No. controlled by the Ethernet module and access the socket information using that value as offset. The information for each socket controlled by the Ethernet module is available as station global. Register a station global variable or use direct instruction word notation (%MW13.offset address) to access it from the user application program. The information for each socket is organized as follows: 15 0 Command (16#0916) <Request command> <Socket No. or error status> 15 0 Socket No. (0 to 11), error status Socket No. Socket No. : Socket ID (0 to 47) (identifier obtained by UDP/TCP open) ID code (16#F001) Requested Ethernet module Basic unit slot/node/unit/slot Chapter 2 LD/FBD Instructions 6F8C1226 580 · Detailed information for each socket of Ethernet module Overall structure: Bit description: Name Description Set condition Reset condition TCP Using TCP During TCP open During socket close request UDP Using UDP During UDP open During socket close request AOP Active open During TCP active open During socket close request POP Passive open During TCP passive open During socket close request CON Connecting During TCP connection During socket close request or when RCL is ON RCV Receive data When there is receive data No receive data RCL Disconnected When closed by opposite party when connecting During socket close request NOA TCP timeout Response from opposite party is interrupted during connection During socket close request I/O variable (standard variable) Variable Data type Word No. Bit No. EN9_SOCK_M_NN_SS (Note) ARRAY [0..11] OF WORD 33 0 (Note) Where variable name: EN9_SOCK_M_NN_SS: M : Main slot No. NN : TC—net I/O loop node No. SS : TC—net I/O slot No. A unique variable name is registered for each EN911 module. (Ex.) Information of TC-net I/O loop node No.=3 connected to the Controller and EN9119 socket 4 installed in TC-net I/O slot No.=5: TC-net I/O loop block (Node no.3)*16+96 Word no.=33 Socket 0 Socket 1 Socket 11 UDP TCP AOP POP CON RCV RCL Reserve E F D C B A 9 8 0 : The structure of each slot is the same. Socket information for EN911 request command (1 word*12 sockets) NOA 7 EN9_SOCK_0_03_05[4] LD TEMP ST 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 581 ♦ UDP receive request/broadcast receive request · Receives data from opened UDP socket. · Receive data word number: 1 to 701 words (number of words including the received bytes (1W). ♦ TCP receive request · Receives data from opened TCP socket. · Received data word number: 1 to 701 words (number of words including the received bytes (1W)). 15 0 Command (16#0938) <Request <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained by TCP open) TimeCnt : Receive wait timeout interval (1 to 65535: 0.1 sec unit, 0: unlimited) Socket No. TimeCnt ID code (16#F001) Requested Ethernet module Basic unit slot/node/unit/slot 15 0 Command (16#0933) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained by UDP open) D-IP address : Source IP address Specifying 0.0.0.0 as the source IP address results in broadcast receive. D-UDPPort No. : Source socket UDP port No. TimeCnt : Receive wait timeout interval (1 to 65535: 0.1 second unit, 0: unlimited) Socket No. D-IP address D-UDPPort No. TimeCnt ID code (16#F001) Requested Ethernet module Basic unit slot/node/unit/slot Chapter 2 LD/FBD Instructions 6F8C1226 582 ♦ UDP byte receive request · Receives data from opened UDP socket. · Receive data word number: 2 to 1402 bytes (including the storage area for receive byte count (2 bytes)) ♦ TCP byte receive request · Receives data from opened TCP socket. · Receive data word number : 2 to 1402 bytes (including the storage area for receive byte count (2 bytes)) 15 0 Command (16#0948) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained by TCP open) TimeCnt : Receive wait timeout interval（1 to 65535: 0.1 sec unit, 0: unlimited) Socket No. TimeCnt ID code (16#F001) Requested Ethernet module Basic unit slot/node/unit/slot 15 0 Command (16#0943) <Request command> <Error status> 15 0 =0: Normal complete, ≠0: Error status Socket No. : Socket ID (0 to 47) (identifier obtained by UDP open) D-IP address : Source IP address Specifying 0.0.0.0 as the source IP address results in broadcast receive. D-UDPPort No. : Source socket UDP port No. TimeCnt : Receive wait timeout interval (1 to 65535: 0.1 second unit, 0: unlimited) Socket No. D-IP address D-UDPPort No. TimeCnt ID code (16#F001) Requested Ethernet module Basic unit slot/node/unit/slot 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 583 ● Program example [LD/FBD language notation] [ST language notation] URCV_N_1( SIGNAL1, SAMPLE1, SAMPLE2, SAMPLE3); SIGNAL2 := @URCV_N_1.DONE; SIGNAL3 := @URCV_N_1.ERROR; SAMPLE4 := @URCV_N_1.STATUS; · The request command (Slot No.=2, Command=16#0033, UDP socket No.=11, Source IP address=172.16.64.5, Source socket UDP No.=5000, Receive timeout interval=30 seconds) is specified with SAMPLE1. · UDP receive request specified with the request command is made at the rise of SIGNAL1 from FALSE(OFF) to TRUE(ON). · When UDP receive completes normally, the completion output SIGNAL2 is kept TRUE(ON) for one scanning time. "0" is stored in status output SAMPLE4. · When UDP open is unsuccessful, the error output SIGNAL3 is kept TRUE(ON) for one scanning time. The error status is stored in status output SAMPLE4. ● Error information · When the specified range of receive data exceeds the area, the socket communication receive is not processed and the data boundary is exceeded. · The following operation is performed when direct I/O variable is specified for the receive data. Controller Action Unified Controller nv series Socket communication receive is not executed. Error flag and table operation error flag are set to TRUE(ON). URCV_N_1 URCV_N REQ CMD P N DONE ERROR STATUS SAMPLE1 LD SIGNAL1 SAMPLE2 LD SAMPLE3 50 LD SIGNAL2 SIGNAL3 SAMPLE4 ST Request command SAMPLE1 16#0033 11 Slot No. UDP receive request 2 UDP socket No. Source IP address 172.16.64.5 5000 Source target socket UDP No. 300 Receive timeout 16#AC_10_ 40_5 Chapter 2 LD/FBD Instructions 6F8C1226 584 Error Status Code List EN7: When using EN7**/EN6**/EN8**/EN9**module EN3: When using EN3** module EN9: When using EN9** module (Error status unique to EN9**) Error code Error description Request type 2819 Source standby EN3: UDP/TCP send / receive 2848 Timeout occurred EN3: Other station verification, PC link register R/W TCP open, UDP receive 2864 Length abnormal EN3: UDP/TCP send 2880 Station mode abnormal EN3: Router IP address setting 2896 MAC/IP not set EN3: Operation mode control, router IP address setting 2912 Transmission prohibited state EN3: UDP/TCP open/close, UDP/TCP send Port No. abnormal EN3: Parameter setting 2929 IP address abnormal Router IP address setting 2931 Time setting error (year) EN3: Time setting request 2932 Time setting error (month) EN3: Time setting request 2933 Time setting error (day) EN3: Time setting request 2934 Time setting error (hour) EN3: Time setting request 2935 Time setting error (minute) EN3: Time setting request 2936 Time setting error (second) EN3: Time setting request 2944 Already opened EN3: UDP/TCP open 2945 Socket not open EN3: UDP/TCP send / receive, UDP/TCP close 2947 Invalid control request specification EN3: Operation mode control 3008 Resource shortage error EN3: UDP send 3009 Receive request from CPU (word count) abnormal EN3: UDP/TCP receive 3011 Send buffer full EN3: TCP send 3012 Destination window size small EN3: TCP send Invalid connection destination IP address EN7: TCP open -11 Unable to send to specified destination EN7: UDP/TCP send Timeout. Connection does not complete within prescribed time EN7: TCP open -12 Timeout UDP/TCP receive -14 Connection broken on the local system EN7: UDP/TCP send / receive Resource shortage EN7: TCP open Resource reservation failure EN7: UDP/TCP send, TCP close -15 Unable to create socket because there is no buffer area EN7: UDP/TCP open Not a valid socket identifier EN7: UDP/TCP open/close, UDP/TCP send/receive -16 One of the socket identifier specified with bit mask is invalid EN7: TCP open Argument (addr or addr length) not in valid area within user address space EN7: UDP/TCP open -17 Invalid argument (buffer pointer) pointer UDP/TCP send/receive 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 585 Error code Error description Request type Socket is set to asynchronous I/O mode and there is none waiting connection EN7: TCP open No receive data EN7: UDP/TCP receive -8 Send request not accepted EN7: UDP/TCP send -19 Invalid message size EN7: UDP/TCP send Bind already complete EN7: TCP open -22 Invalid parameter EN7: TCP open Connection is broken EN7: UDP/TCP receive -32 Attempt was made to send to disconnected socket EN7: UDP/TCP send, TCP close Invalid argument (name, name length) EN7: TCP open -50 Invalid destination address specification EN7: UDP/TCP send -54 Specified protocol not supported EN7: UDP/TCP open -55 Specified socket type not supported in address family EN7: UDP/TCP open Specified socket is not SOCK_STREAM type EN7: TCP open Socket is not a type supporting listen EN7: TCP open -56 Specified operation not supported with that socket EN7: UDP/TCP receive Specified address family is currently unsupported EN7: UDP/TCP open -58 Specified address family cannot be used with that socket EN7: UDP/TCP send -59 Given address is already used EN7: UDP/TCP open -60 Given address cannot be used in this system EN7: UDP/TCP open -67 The socket is already connected EN7: TCP open -69 Shutdown is issued EN7: UDP/TCP send -71 Protocol error EN7: TCP open -1001 Corresponding socket is busy EN7: All requests -1002 Corresponding socket not generated EN7: All requests -1005 PING timeout EN7: Other station verification -1006 PING busy EN7: Other station verification -1010 Socket type abnormal EN7: All requests -1101 Receive memory block shortage EN7: Receive related requests -2001 Communication request count exceeded EN7: All requests -2002 Request buffer count exceeded EN7: All requests -2005 Corresponding socket not open EN7: All requests -2006 Used port count exceeded EN7: All requests -2007 Reply timeout EN7: All requests -2008 Buffer resource reservation failure EN7: All requests -2009 EN board reset in progress EN7: All requests -2201 Interrupt accept wait timeout EN7: All requests -2202 Verification/specification response wait timeout EN7: All requests Chapter 2 LD/FBD Instructions 6F8C1226 586 Error code Error description Request type -5000 Communication instruction request count exceeded EN7: Reset, other station verification, UDP/TCP open -5001 Command type abnormal EN7/EN3: All requests -5002 Receive timeout EN7: All requests -5003 Socket in use or not open EN7: UDP/TCP send/receive -5004 Outside slot socket No. range EN7/EN3: All requests -5005 Socket not open EN7: UDP/TCP send/receive, close EN3: Socket No. retrieval -5006 Duplicate port No. EN7: UDP/TCP open -5007 Destination busy or disconnected EN7: TCP open send/receive -5030 Invalid reset request EN9: Reset request -5050 Reset in progress EN3: All except reset request -5051 Register error (source) EN3: PC link register R/W -5052 Response timeout (source) EN3: PC link register R/W -5054 Memory write protect (source) EN3: PC link register R/W -5056 Request count exceeded EN3: All requests -5060 Boundary error (source) EN3: PC link register R/W -5071 Register error (destination) EN3: PC link register R/W -5072 Response timeout (destination) EN3: PC link register R/W -5074 Memory write protect (destination) EN3: PC link register R/W -5076 Send completion timeout (destination) EN3: PC link register R/W -5080 Boundary error (destination) EN3: PC link register R/W -5099 Other errors EN7: UDP/TCP send / receive 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 587 Notes for Duplex System In a duplex system, the station bus transmission modules are separate modules in the primary side and secondary side. Therefore, management information for transmission modules is different (different resources). For the control of the station bus transmission modules (e.g. socket generation), there is a difference of whether to perform tracking of instance data of communication instruction between the communication instruction for the integrated controller (USEND_T/URCV_T) and communication instruction for the unified controller (USEND_N/URCV_N). Therefore, in a user application program using communication instructions, information must be initialized at duplex switching so that the operation starts from the initialization state (socket open processing) again. Refer to the overview of processing at duplex switching and user application examples below, and make sure that the operation starts from the initialization state. USEND_T/URCV_T/USEND_N/ URCV_N instruction does not operate unless this operation is done. Chapter 2 LD/FBD Instructions 6F8C1226 588 ● Overview of processing 1) Detect online upgrade with duplex switching event task (EV3). Set the flag indicating that duplex switching occurs to TRUE(ON) ([Example (1)]). (Example: DUPLEX_CHG_REQ=TRUE(ON)) 2) In each of the programs using communication, initialize the instance data of USEND_T/URCV_T instruction at duplex switching. Also, initialize information so that the operation starts from the initialization state (socket open processing) again. · Initialization program ([Example (2)]) ● Important · Reset the flag that indicates that duplex switching set to TRUE(ON) in 1) occurs to FALSE(OFF) when the initialization of all the related USEND_T/URCV_T instructions for all programs are completed (initialization is performed only for the first scan after duplex switching). · Change the description to ┤P├ equivalent circuit ([Example (3)]) if the REQ command is input to USEND_T/URCV_T/USEND_N/URCV_N instruction using the differentiation instruction (e.g. ┤P├). · Perform normal programming of USEND_T/URCV_T/USEND_N/URCV_N instruction after implementing 2). Controller Communication instruction Tracking of instruction instance data Instruction instance data initialize Equivalent circuit of REQ command to communication instruction Send USEND_T Integrated Controller V series Receive URCV_T Yes Required Send USEND_N Unified Controller nv series Receive URCV_N No Not required Required 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 589 ● Program example [[Example (1)]: Program that detects online upgrade in EV3 [Example (2)]: Initialization program [LD/FBD language notation] DUPLEX_ CHG_REQ TINZ_WORD 4 LD 16#0000 LD N USEND_T_1 ST (** Initialize USEND_T_1 instance **) B4_REQ_CMD B4_REQ_CMD REQ_CMD REQ_CMD (** Initialization of derivative contact equivalent circuit variable of USEND_T REQ command **) DUPLEX_ CHG_REQ DUPLEX_ CHG_REQ (** Duplex switch flag is reset. However, execute flag when initialization of all USEND_T/URCV_T is completed. **) (R) (R) (R) [Example (3)]: ┤P├ equivalent circuit and USEND_T instruction program [LD/FBD language notation] [ST language notation] The ST language does not support the equivalent notations as the LD language, so data hold types such as -(R)- and -(S)- or change detection types such as -|P|- and -|N|- cannot be described. Therefore, program examples are omitted here. REQ_CMD REQUEST B4_REQ_CMD REQ_CMD B4_REQ_CMD (** USEND_T program **) REQUEST USEND_T REQ USEND_T_1 CMD P N P LD CMD LD N LD DONE ERROR STATUS DONE ST ERROR ST STATUS ST REQ_CMD REQUEST Circuit when ―|P|― is used REQUEST P (** P ┤ ├input equivalent circuit to REQ command of USEND_T**) DUPLEX_ CHG_REQ DUPLEX_ CHG_REQ Chapter 2 LD/FBD Instructions 6F8C1226 590 Communication FB (XMIT_T) Communication Communication FB(XMIT_Ｔ) V dedicated instruction LD/FBD language notation Completion output Bus / Unit / Slot / Node no. Send/receive data Request command Execution request XMIT_T REQ DONE PRM ERROR CMD STATUS DATA Error Status Instance EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( REQ, PRM, CMD, DATA ); [Variable name]:=[Instance name]. DONE; [Variable name]:=[Instance name]. ERROR; [Variable name]:=[Instance name]. STATUS; ● Arguments Arg. Operand Type Const. Description Valid range REQ BOOL ○ Execution request PRM PTR ○ Bus / Unit / Slot / Node No. CMD PTR — Request command Input DATA PTR — Send/receive data DONE BOOL — Completion output ERROR BOOL — Error Output STATUS INT — Status ● Instance structure Name Type Description Remarks DONE BOOL Completion output ERROR BOOL Error STATUS INT Status Can be accessed from the user program. RESERVE ARRAY 3W reserved Cannot be accessed from the user program. ● Function · Function block that communicates with FL-net custom procedure using FL-net module. · Send / receive is performed with the content of the specified request command CMD at the rise of execution request REQ. · The format of the bus / unit / slot / node No. PRM is as follows: 15 Unit Bus Slot 8 12 0 Node No. 2.20 Communication Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 591 · Refer to the FL-net User's Guide for the detail of the request command CMD. · The table data specified with DATA is sent during send and the received data is stored in table specified with DATA during receive. · Completion output Q and ERROR are set to TRUE(ON) for one scan only. · The STATUS contains the completion code if normal completion and error status if abnormal completion. · Refer to the FL-net User's Guide for the detail of the code No. ● Program example [LD/FBD language notation] SIGNAL1 1 LD XMIT_T SIGNAL2 ST REQ SAMPLE1 LD SAMPLE2 LD SAMPLE3 LD PRM CMD DATA Bus / Unit / Slot / Node No.: SAMPLE1 16#000A 1 1 Bus/Unit/Slot Node No. Command No. DONE ERROR STATUS SAMPLE3 ST SAMPLE5 ST 0 0 10 Area specification Offset H XMIT_T_1 Request command: SAMPLE2 4 Offset L Read word size [ST language notation] XMIT_T_1( SIGNAL1, SAMPLE1, SAMPLE2, SAMPLE3); SIGNAL2 := XMIT_T_1.DONE; SIGNAL3 := XMIT_T_1.ERROR; SAMPLE5 := XMIT_T_1.STATUS; · Bus / Unit / Slot / Node No. (basic unit/slot 10, node No. 1) is specified with SAMPLE1. · Request command (Command=cyclic data read, Area=area1, Offset address=4, Read word count=10 words) is specified with SAMPLE2. · The cyclic data read request specified with request command is made at the rise of SIGNAL1 from FALSE(OFF) to TRUE(ON). · When cyclic data read request completes normally, the completion output SIGNAL2 is set to TRUE(ON) for one scanning time. Also, the normal completion code is stored in SAMPLE5, which is the status output. · When cyclic data read request is unsuccessful, the error output SIGNAL3 is set to TRUE(ON) for one scanning time. Also, the error status is stored in SAMPLE5, which is the status output. Chapter 2 LD/FBD Instructions 6F8C1226 592 Communication FB (XMIT_N) Communication Communication FB(XMIT_N) nv dedicated instruction LD/FBD language notation Completion output Basic unit slot/node/unit/ slot/node No. Send/receive data Request command Execution request XMIT_N Error Status Instance name REQ DONE PRM ERROR CMD STATUS DATA EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( REQ, PRM, CMD, DATA ); [Variable name]:= @[Instance name]. DONE; [Variable name]:= @[Instance name]. ERROR; [Variable name]:= @[Instance name]. STATUS; ● Arguments Arg. Operand Type Const. Description Valid range REQ BOOL ○ Execution request PRM PTR — Basic unit slot / node / unit / slot / node No. CMD PTR — Request command Input DATA PTR — Send/receive data DONE BOOL — Completion output ERROR BOOL — Error Output STATUS INT — Status ● Instance structure Name Type Description Remarks DONE BOOL Completion output ERROR BOOL Error STATUS INT Status Can be accessed from the user program. RESERVE ARRAY 3W Reserved Cannot be accessed from the user program. ● Function · This function block communicates with FL-net custom procedure using FL-net module. · Send/receive is performed with the content of the specified request command CMD at the rise of execution request REQ. · The format of basic unit slot / node / unit / slot / node No. RM is as follows: 15 8 7 0 Node No. Slot Unit Node Basic unit slot 2.21 Duplex Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 593 · For details on request command CMD, refer to "FL-net Operation Manual." · The table data specified with DATA is sent during send and the received data is stored in table specified with DATA during receive. · Completion output Q and ERROR are set to TRUE(ON) for one scan only. · The STATUS contains the completion code if normal completion and error status if abnormal completion. · For details on code number, refer to "FL-net Operation Manual." · For MREAD_N, MWRITE_N, XMIT_N instructions, up to the maximum requests can be made simultaneously per controller. (Maximum request number : type1=48, type2=24) ● Program example [LD/FBD language notation] Basic unit slot/node/unit/slot/node No.: SAMPLE1 65005 16#010A Unit/Slot 16#0003 Basic unit slot/node Command No. 16#8000 10 Virtual address (L) Read word size SIGNAL1 1 LD XMIT_N SIGNAL2 ST REQ SAMPLE1 LD SAMPLE2 LD SAMPLE3 LD PRM CMD DATA DONE ERROR STATUS SIGNAL3 ST SAMPLE5 ST XMIT_N_1 Request command: SAMPLE2 16#0001 Virtual address (H) 1 Node No. [ST language notation] XMIT_T_1( SIGNAL1, SAMPLE1, SAMPLE2, SAMPLE3); SIGNAL2 := @XMIT_T_1.DONE; SIGNAL3 := @XMIT_T_1.ERROR; SAMPLE5 := @XMIT_T_1.STATUS; · Basic unit slot / node / unit / slot / node No. (built—in, node 3, unit 1, slot 10, node No. 1) is specified with SAMPLE1. · Request command (command ＝ word block read, virtual address =16#0001_8000, read word count =10 words) is specified with SAMPLE2. · The word block read request specified with request command is made at the rise of SIGNAL1 from FALSE(OFF) to TRUE(ON). · When the word block read request is completed normally, the completion output SIGNAL2 becomes TRUE(ON) for one scanning time. Also, the normal completion code is stored in SAMPLE5, which is the status output. · When the word block read request is not completed normally, the error output SIGNAL3 becomes TRUE(ON) for one scanning time. Also, the error status is stored in SAMPLE5, which is the status output. Chapter 2 LD/FBD Instructions 6F8C1226 594 2.21 Duplex Control No. Instruction Remarks 1 Duplex Online—Standby Change DUPLEX_CHG 2 Duplex Self—System Down DUPLEX_DOWN 3 Partial Equalizer (variable specification) EQUALIZE_VAR V dedicated instruction 4 Partial Equalizer (address specification) EQUALIZE_ADDR V dedicated instruction 2.21 Duplex Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 595 Duplex Online—Standby Change Duplex Control Duplex Online—Standby Change LD/FBD language notation Execution control input Output DUPLEX_CHG EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := DUPLEX_CHG(Execution control input); ● Arguments Arg. Operand Type Const. Description Remarks Input — BOOL ○ Execution control input Output — BOOL — Output ● Function · If the execution control input is FALSE(OFF), FALSE(OFF) is output without performing any operation. · If the execution control input is TRUE(ON), online and standby are changed and TRUE(ON) is output. Execution control input Action Output FALSE(OFF) — FALSE(OFF) TRUE(ON) Executed TRUE(ON) ● Program example [LD/FBD language notation] [ST language notation] SIGNAL2 := DUPLEX_CHG( SIGNAL1); · Online and standby are changed when the execution control input SIGNAL1 is TRUE(ON). SIGNAL2 1 ST DUPLEX_CHG SIGNAL1 1 ST Chapter 2 LD/FBD Instructions 6F8C1226 596 PS IF PU PS IF PU DUPLEX_CHG Online Standby Before instruction execution: PS IF PU PS IF PU Online Standby After instruction execution: ● Error information · This instruction has no affect on non-duplex system. · If the target system is not in standby state, no switching is performed. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.21 Duplex Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 597 Duplex Self—System Down Duplex Control Duplex Self—System Down LD/FBD language notation Execution control input Output DUPLEX_DOWN EN input Edge execution Index modification Modifier ○ ○ — S T language notation Output := DUPLEX_DOWN(Execution control input); ● Arguments Arg. Operand Type Const. Description Remarks Input — BOOL ○ Execution control input Output — BOOL — Output ● Function · If the execution control input is FALSE(OFF), FALSE(OFF) is output without performing any operation. · If the execution control input is TRUE(ON), shutdown of self system is forced and TRUE(ON) is output. Execution control input Action Output FALSE(OFF) — FALSE(OFF) TRUE(ON) Executed TRUE(ON) ● Program example [LD/FBD language notation] SIGNAL1 1 LD DUPLEX_DOWN SIGNAL2 1 ST [ST language notation] SIGNAL2 := DUPLEX_DOWN( SIGNAL1); · When the execution control input SIGNAL1 is TRUE(ON), shutdown of the self system is forced. Chapter 2 LD/FBD Instructions 6F8C1226 598 PS IF PU PS IF PU DUPLEX_DOWN Online Standby Before instruction execution: PS IF PU PS IF PU Online Down After instruction execution: ● Error information · This instruction has no affect on non-duplex system. · When the target system is not in standby state, the self system is not shutdown. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.21 Duplex Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 599 Partial Equalizer (variable specification) Duplex Control Partial Equalizer (variable specification) V dedicated instruction LD/FBD language notation Variable specification Parameter normal/abnormal output EQUALIZE_VAR Equalizer size N EN input Edge execution Index modification Modifier ○ ○ — ST language notation Parameter normal/abnormal output := EQUALIZE_VAR(variable specification, N ); ● Arguments Arg. Operand Type Const. Description Remarks — PTR — Variable specification Input N UINT ○ Equalizer size 1 ≤ N ≤ 1024 Output — BOOL — Parameter normal/abnormal output Normal: TRUE(ON) Abnormal: FALSE(OFF) ● Function · Equalizes an N word area starting from the variable specified with the variable specification. · Variables for which partial equalization can be specified are DW register and user variables. · One to 1024 words may be specified for equalizer size N. If N>1024, operation is performed assuming N=1024 and output is reset to FALSE(OFF) to indicate a parameter error. If N=0, no operation is performed. · If the specified variable is not a DW register or user variable, or if variable specification+size exceeds the area of the variable, output is reset to FALSE(OFF) to indicate a parameter error. · Up to eight partial equalize (variable specification, address specification) requests are possible within the same single scan. · Subsequent equalize requests are not executed and output is reset to FALSE(OFF) to indicate a parameter error. Chapter 2 LD/FBD Instructions 6F8C1226 600 ● Program example [LD/FBD language notation] [ST language notation] SIGNAL1 := EQUALIZE_VAR( SAMPLE1, SAMPLE2); · Partially equalizes a 100 words area starting from user SAMPLE1. ● Error information · When this instruction is used on non—duplex system, no operation is performed and parameter error occurs. · If the destination system is in standby, partial equalize is not performed. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. SIGNAL1 1 ST EQUALIZE_VAR SAMPLE1 LD SAMPLE2 100 LD N User variable 100W SAMPLE1 Equalize 100W starting from SAMPLE 1 2.21 Duplex Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 601 Partial Equalizer (address specification) Duplex Control Partial Equalizer (address specification) V dedicated instruction LD/FBD language notation Variable type specification Parameter normal/abnormal output EQUALIZE_ADDR Top address specification ADDR SCOPE N Equalize size EN input Edge execution Index modification Modifier ○ ○ — ST language notation Parameter normal/abnormal output := EQUALIZE_ADDR( SCOPE, ADDR, N ); ● Arguments Arg. Operand Type Const. Description Remarks SCOPE UINT ○ Variable type specification 3: DW register 4: User variable ADDR DINT ○ Top address specification ADDR ≥ 0 Input N UINT ○ Equalize size 1 ≤ N ≤ 1024 Output — BOOL — Parameter normal/abnormal output Normal: TRUE(ON) Abnormal: FALSE(OFF) ● Function · In the variable SCOPE specified with variable type, equalizes an N word area starting from the top address ADDR. · Variables for which partial equalization can be specified are DW register (=3) and user variables (=4). · One to 1024 words may be specified for equalizer size N. If N > 1024, operation is performed assuming N=1024 and output is reset to FALSE(OFF) to indicate a parameter error. If N=0, no operation is performed. · If the specified variable is not a DW register (=3) or user variable (=4), or if top address+size exceeds the area of the variable, output is reset to FALSE(OFF) to indicate a parameter error. · Up to eight partial equalize (variable specification, address specification) requests are possible within the same single scan. · Subsequent equalize requests are not executed and output is reset to FALSE(OFF) to indicate a parameter error. Chapter 2 LD/FBD Instructions 6F8C1226 602 ● Program example [LD/FBD language notation] [ST language notation] SIGNAL1 := EQUALIZE_ADDR( SAMPLE1, SAMPLE2, SAMPLE3); · Partially equalizes a 100 word area starting from user variable address 200. ● Error information · When this instruction is used on non—duplex system, no operation is performed and parameter error occurs. · If the destination system is in standby, partial equalize is not performed. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. SIGNAL1 1 ST EQUALIZE_ADDR SAMPLE1 4 LD SAMPLE2 200 LD ADDR User variable 100W 200 Equalizes 100W starting from user variable address 200. SCOPE N SAMPLE3 100 LD 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 603 2.22 Process Control No. Instruction Remarks 1 Current Output PID PID_P 2 Current Output Sample PI SPI_P 3 Pulse Output PID PIDP_P 4 Pulse Output Sample PI SPIP_P 5 Feed Forward FFD_P 6 Double Cross Limit DCL_P Chapter 2 LD/FBD Instructions 6F8C1226 604 ● PID algorithm The PID algorithm for current output PID, current output sample PI, pulse output PID, and pulse output sample PI is as described in the figure below (pulse output is ΔMV output, but the algorithm is as shown below for all). 1-α α αγ 1 1+βTis Tds 1+ηTds 1 Tis 1 Kp + - + - + + + + - + + PV SV MV ● Features · This is equivalent to hyper PID implemented in the small-scale system (MCS) and CIEMAC-DS (PCS-DS). · An improved bilinear transformation is used for derivative calculation. · A hyper PID unique method is used for anti-reset-windup (AR/W) function. As AR/W function, the integrating term is restricted (only in the decreasing direction of output restriction) when restricting the MV output (when the internal totalized value does not match the actual output). · The 2 degrees of freedom operation is filter format and can use three parameters: α, β, and γ. Coefficient PID algorithm α β γ 1 1 1 General PID (deviation PID) 1 1 0 PI-D (PV derivative type PID) 0 1 0 I-PD α 1 0 2 degrees of freedom for P term only α 1 γ 2 degrees of freedom for PD term only α β 0 2 degrees of freedom for PI term only α β γ 2 degrees of freedom for all · A gap function is used as a non-linear function. Depending on the amount of deviation, the non-linear element defined by gap width and gap gain is reflected to the size of the rate limiter. 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 605 Current Output PID Process Control Current Output PID LD/FBD language notation Result output (MV) PID_P SV MV PV GAN FFS FFD TR MVT LP_D LP_P Instance name SV input PV input Feed forward gain Feed forward static characteristic Feed forward dynamic characteristic Tracking MV input Tracking request flag LP data variable LP parameter variable EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( SV, PV, GAN, FFS, FFD, TR, MVT, LP_D, LP_P ); [Variable name]:=[Instance name]. MV; ● Arguments Arg. Operand Type Const. Description SV REAL ○ SV input [Engineering value] PV REAL ○ PV input [Engineering value] GAN REAL ○ Feed forward gain PID proportional gain compensation Specify 1.0 when feed forward is not used FFS REAL ○ Feed forward static characteristic [%] Specify 0.0 when feed forward is not used FFD REAL ○ Feed forward dynamic characteristic [%] Specify 0.0 when feed forward is not used TR REAL ○ Tracking MV input [%] When tracking, % value used as MV initial value during initialization MVT BOOL ○ Tracking request flag LP_D PTR — LP data variable Input LP_P PTR — LP parameter variable Output MV REAL — Result output (MV) [%] (positional type) Chapter 2 LD/FBD Instructions 6F8C1226 606 · Pointers to tag table are placed in LP data variable and LP parameter variable. A setup example is shown below. Array No.=0, tag No.=FIC100 are assumed for the used adjuster tag. Tag symbol Notation Operand Array MCS connection version (L1, L2, L3) DS connection version (L2DS, L3DS) (Type2) LP_D LP_DATA[0] FIC100.SV FIC100.CLI LP_P LP_PARA[0] FIC100.OA FIC100.TAG[0] The following tag symbols are referenced by this instruction. Operand Symbol Type R/W Description RH REAL R PV range high [Engineering unit] Used for percent conversion of SV/PV Referenced by LP_P.PVP RL REAL R PV range low [Engineering unit] Used for percent conversion of SV/PV MODE UINT R Control mode: Used for control operation execution, reset condition CLI BOOL R Control stop alarm Used for control operation reset condition MVE BOOL R MV error SMV BOOL R Sequence MV LP_D (LP_DATA) CMV BOOL R Computer MV PVP UINT R Indicator PV No. DT0 UINT R Scan time (number indicating multiple of scan time) KP REAL R Proportional gain Used as PID gain TI REAL R Integral time [min] Used as PID integral time TD REAL R Rate time [min] Used as PID rate time ETA REAL R Rate gain Used as PID rate gain parameter ALP REAL R 2 degrees of freedom parameter α SV filter parameter BET REAL R 2 degrees of freedom parameter β SV filter parameter GAM REAL R 2 degrees of freedom parameter γ SV filter parameter GAP REAL R Gap: Used as rate limiter condition in non-linear operation GG REAL R Gap gain: Used as rate limiter coefficient in non-linear operation MH REAL R MV high limit value[%] ML REAL R MV low limit value[%] DMV REAL R MV rate limiter[%/scan time] LP_P (LP_PARA) CDR BOOL R Control direction Used as sign of PID operation R/W: R=Read only, W=Write only, R/W=Read/Write 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 607 ● Instance structure Name Type Description Remarks MV REAL Result output (MV) [%] (positional type) Can be accessed from the user program. B4MODE UINT Control mode previous value (initial value: M) Used to detect change in control mode CT REAL Actual time totalization (initial value: Main scan cycle) Used for scan time measurement B4E REAL P term previous value (initial value: SV-PV) During speed type operation, this is used to calculate the speed component from difference with previous value B4D REAL SV filter differential term input previous value (initial value: αγSV-PV) Used to calculate change in input in differential approximation operation B5D REAL SV filter differential term input next to previous value (initial value: αγSV-PV) Used for exact differential term in improved bilinear transformation B4D1 REAL SV filter differential term (initial value: 0) SV filter αγ term B4D2 REAL SV filter proportional/integral term (initial value: (1-α)SV) αβ term of SV filter B4MV REAL MV totalization limit previous value (initial value: TR) High/low rate limiter previous MV totalization value (proportional/differential term assurance) B4FFD REAL Feed forward dynamic characteristic difference calculation previous value (initial value: FFD) Previous value for adding dynamic characteristic by difference Cannot be accessed from the user program. ● Function · here is no execution flag. This instruction is always executed. If the operation must be reset, set MVT as initialization request. In this case, TR is also necessary in order to initialize MV. · The result of executing the feed forward instruction (FFD_P) can be used as input (GAN, FFS, FFD) to feed forward. If feed forward is not used, use fixed values (GAN=1, FFS=0, FFD=0). · The PV parameter variable is referenced with the indicator PV No. (PVP) of the LP parameter variable. · The following variables can be specified for the LP data variables and LP data parameters: Controller Variable Integrated Controller V series L controller LP tag data/parameter variable Unified Controller nv series type2 LP tag data/parameter variable Chapter 2 LD/FBD Instructions 6F8C1226 608 · Control operation function Hyper PID is used for control operation. Output is the high/low rate limited positional type MV value. SV filter: An SV filter with super 2 degrees of freedom PID is implemented. Hyper PID adds a delay filter to SV in order to reduce the change in MV even when SV changes suddenly. This SV filter is not related to change in PV and PV change (disturbance) characteristic is unchanged. When tuning PID, set the parameters to be appropriate for the disturbance. Under this condition, the filter status can be optimized for the step change of SV. The 2 degrees of freedom parameters (α, β, γ) of hyper PID are semi-fixed values. Under normal condition, the initial values can be used without change. The SV filter includes differential operation. This differential operation uses an improved bilinear transformation that is an improved version of the bilinear transformation which is a popular digital operation. Under normal condition, bilinear transformation is used and a switch is made to exact differential when the rate time setting is relatively shorter than the scan time. The rate time can be changed during control operation without problem. The SV filter operation is performed during each scan cycle. Control operation is performed based on the specified control cycle (DT0). Anti-reset windup: An anti-reset windup (AR/W) function is added to cancel the excessive saturation of the integrating term. The method used here suppresses the change in the saturating direction of the integrating term when MV is saturated at high/low limit. Also, the internal MV totalization is high/low limited by high limit (MH+MV rate limiter) and low limit (ML-MV rate limiter). Although the AR/W function is provided, a slight reset windup condition occurs. This is designed to prevent MV from changing when there is a minute change in disturbance (change in PV) and SV when MV is saturated. Therefore, if SV is reversed when MV is saturated, tracking by MV may be delayed. In such case, handle this from the application program by changing the control mode to M mode and tracking manually, or temporarily switching to non-PID control operation and using batch processing control for example. Non-linear processing: A gap function is incorporated as non-linear PID. When the deviation is within the gap width, the change in MV output is suppressed by multiplying the rate limiter by gap gain. 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 609 ● Program example [LD/FBD language notation] PID_P FIC100.MV ST FIC100.PV LD 1 LD PV GAN FFS PID_01 0 LD FFD MV 0 LD FIC100.MV LD TR 0 LD MVT FIC100.SV LD LP_D FIC100.SV LD SV FIC100.OA LD LP_P Variable : Variable Data type Dec. PID_01 PID_P VAR Controller variable: Variable Data type !FIC100 typeLP_PARA !FIC100 typeLP_DATA !FIC100 typePV_DATA In case of L1 [ST language notation] PID_01( FIC100.SV, FIC100.PV, 1, 0, 0, FIC100.MV, 0, FIC100.SV, FIC100.OA); FIC100.MV := PID_01.MV; · Performs PID operation of adjuster tag (FIC100). · This example uses basic PID (feed forward not used). For advanced PID, see the program example for the feed forward instruction (feed forward used). ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series L controller If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. Chapter 2 LD/FBD Instructions 6F8C1226 610 · If RH=RL, the error flag and divide error flag are set to TRUE(ON) and the previous value is held in output. · The following operation is performed if the LP data or LP parameter specification is invalid: Controller Action Integrated Controller V series L controller When variable other than LP tag data/parameter is specified, table operation error is set to TRUE(ON) and output is the previous value. Unified Controller nv series When variable other than LP tag data/parameter is specified, error flag and table operation error are set to TRUE(ON) and output is the previous value. ● Notes · When MV output when control is stopped When PID operation is stopped because of tracking request or control stop warning, the output is as follows depending on the condition for stopping: Stop condition MV output Tracking request flag (TR)=ON Tracking MV input (TR) Mode=M or RM Tracking MV input (TR) When mode changes Previous MV (held) Control stop warning (CLI)=ON or MV error (MVE)=ON Previous MV (held) Setting MV (SMV=ON or CMV=ON) Tracking MV input (held) 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 611 ● Operation during sensor error · The command executes the basic functions of PID and does not issue the control halt instruction (CLI) to the PID command or carry out mode demotion. Handle the errors as below according to the system status. Refer also to the add-in software “New instrumentation FB library” of the engineering tool. Example of sensor error judgment program FIC100.MODE > SET In case of L1 FIC100.A FIC100.CLD LD EQ_UINT Reflect judgment result in CLI 0 LD tmpQ1 FIC100.C FIC100.PRE FIC100.MVE FIC100.VPI FIC100.CL I tmpQ1 ↑ tmpQ2 0 LD tmpQ2 Demote to M mode on detecting the first error Reflect in BOOL mode FIC100.M Ｓ tmpQ2 FIC100.A R FIC100.RM R FIC100.C R CLD=0 (Execute only to detect errors) Set error judgment condition required by the system PV process error (Sensor error) MV error Valve position error Chapter 2 LD/FBD Instructions 6F8C1226 612 Current Output Sample PI Process Control Current Output Sample PI LD/FBD language notation Result output (MV) SPI_P SV MV PV GAN FFS FFD TR MVT LP_D LP_P Instance name SV input PV input Feed forward gain Feed forward static characteristic Feed forward dynamic characteristic Tracking MV input Tracking request flag LP data variable LP parameter variable EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( SV, PV, GAN, FFS, FFD, TR, MVT, LP_D, LP_P ); [Variable name]:=[Instance name]. MV; ● Arguments Arg. Operand Type Const. Description SV REAL ○ SV input [Engineering value] PV REAL ○ PV input [Engineering value] GAN REAL ○ Feed forward gain PID proportional gain compensation Specify 1.0 when feed forward is not used FFS REAL ○ Feed forward static characteristic [%] Specify 0.0 when feed forward is not used FFD REAL ○ Feed forward dynamic characteristic [%] Specify 0.0 when feed forward is not used TR REAL ○ Tracking MV input [%] When tracking, % value used as MV initial value during initialization MVT BOOL ○ Tracking request flag LP_D PTR — LP data variable Input LP_P PTR — LP parameter variable Output MV REAL — Result output (MV) [%] (positional type) 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 613 Pointers to tag table are placed in LP data variable and LP parameter variable. A setup example is shown below. Array No.=0, tag No.=FIC100 are assumed for the used adjuster tag. Tag symbol Notation Operand Array MCS connection version (L1, L2, L3) DS connection version (L2DS, L3DS) (Type2) LP_D LP_DATA[0] FIC100.SV FIC100.CLI LP_P LP_PARA[0] FIC100.OA FIC100.TAG[0] The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description RH REAL R PV range high [Engineering unit] Used for percent conversion of SV/PV Referenced by LP_P.PVP RL REAL R PV range low [Engineering unit] Used for percent conversion of SV/PV MODE UINT R control mode:Used for control operation execution, reset condition CLI BOOL R Control stop alarm Used for control operation reset condition MVE BOOL R MV error Used for control operation reset condition SMV BOOL R Sequence MV Used for control operation reset condition LP_D (LP_DATA) CMV BOOL R Computer MV Used for control operation reset condition PVP UINT R Indicator PV No. KP REAL R Proportional gain Used as PID gain TI REAL R Integral time [min] Used as PID integral time TD REAL R Rate time [min] Used as PID rate time ETA REAL R Rate gain Used as PID rate gain parameter ALP REAL R 2 degrees of freedom parameter α SV filter parameter BET REAL R 2 degrees of freedom parameter β SV filter parameter GAM REAL R 2 degrees of freedom parameter γ SV filter parameter GAP REAL R Gap:Used as rate limiter condition in non-linear operation GG REAL R Gap gain:Used as rate limiter coefficient in non-linear operation MH REAL R MV high limit value[%] ML REAL R MV low limit value[%] DMV REAL R MV rate limiter[%/scan time] CDR BOOL R Control direction Used as sign of PID operation T0 UINT R Sample PI sample cycle (A number indicating integral multiple of scan time) LP_P (LP_PARA) T1 UINT R Sample PI control time (A number indicating integral multiple of scan time) R/W: R=Read only, W=Write only, R/W=Read/Write Chapter 2 LD/FBD Instructions 6F8C1226 614 ● Instance structure Name Type Description Remarks MV REAL Result output (MV) [%] (positional type) Can be accessed from the user program B4MODE UINT Control mode previous value (initial value: M) Used to detect change in control mode CT REAL Actual time totalization (initial value: Main scan cycle) Used for scan time measurement B4E REAL P term previous value (initial value: SV-PV) During speed type operation, this is used to calculate the speed component from difference with previous value B4D REAL SV filter differential term input previous value (initial value:αγSV-PV) Used to calculate change in input in differential approximation operation B5D REAL SV filter differential term input next to previous value (initial value: αγ SV-PV) Used for exact differential term in improved bilinear primary transformation B4D1 REAL SV filter differential term (initial value: 0) SV filter αγ term B4D2 REAL SV filter proportional/integral term (initial value: (1-α)SV) αβ term of SV filter B4MV REAL MV totalization limit previous value (initial value: TR) High/low rate limiter previous MV totalization value (proportional/differential term assurance) B4FFD REAL Feed forward dynamic characteristic difference calculation previous value (initial value: FFD) Previous value for adding dynamic characteristic by difference Cannot be accessed from the user program ● Function · There is no execution flag. This instruction is always executed. If the operation must be reset, set MVT as initialization request. In this case, TR is also necessary in order to initialize MV. · The result of executing the feed forward instruction (FFD_P) can be used as input (GAN, FFS, FFD) to feed forward. If feed forward is not used, use fixed values (GAN=1, FFS=0, FFD=0). · The PV parameter variable is referenced with the indicator PV No. (PVP) of the LP parameter variable. · The following variables can be specified for the LP data variables and LP parameter variables: 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 615 Controller Variable Integrated Controller V series L controller LP tag data / parameter variable Unified Controller nv series type2 LP tag data / parameter variable · Control operation function Hyper PID is used for control operation. Output is the high/low rate limited positional type MV value. SV filter: An SV filter with super 2 degrees of freedom PID is implemented. Hyper PID adds a delay filter to SV in order to reduce the change in MV even when SV changes suddenly. This SV filter is not related to change in PV and PV change (disturbance) characteristic is unchanged. When tuning PID, set the parameters to be appropriate for the disturbance. Under this condition, the filter status can be optimized for the step change of SV. The 2 degrees of freedom parameters (α, β, γ) of hyper PID are semi-fixed values. Under normal condition, the initial values can be used without change. The SV filter includes differential operation. This differential operation uses an improved bilinear transformation that is an improved version of the bilinear transformation which is a popular digital operation. Under normal condition, bilinear transformation is used and a switch is made to exact differential when the rate time setting is relatively shorter than the scan time. The rate time can be changed during control operation without problem. The SV filter operation is performed during each scan cycle. Control operation is performed based on the specified control cycle (T0, T1). Anti-reset windup: An anti-reset windup (AR/W) function is added to cancel the excessive saturation of the integrating term. The method used here suppresses the change in the saturating direction of the integrating term when MV is saturated at high/low limit. Also, the internal MV totalization is high/low limited by high limit (MH+MV rate limiter) and low limit (ML-MV rate limiter). Although the AR/W function is provided, a slight reset windup condition occurs. This is designed to prevent MV from changing when there is a minute change in disturbance (change in PV) and SV when MV is saturated. Therefore, if SV is reversed when MV is saturated, tracking by MV may be delayed. In such case, handle this from the application program by changing the control mode to M mode and tracking manually, or temporarily switching to non-PID control operation and using batch processing control for example. Non-linear processing: A gap function is incorporated as non-linear PID. When the deviation is within the gap width, the change in MV output is suppressed by multiplying the rate limiter by gap gain. Chapter 2 LD/FBD Instructions 6F8C1226 616 Sampling and control: The sample PI adjusts the time where control is intermittent in the control cycle of the PID operation. Output is updated during the control time (T1) at the front half of the sample time (T0). CL MV Control time T1 Sample time T0 In sample PI, control operation is executed continuously during T1. Unlike intermittent control withΔT of PID, the operation cycle is always the scan cycle. Therefore, the continuity of the proportional term and differential term is broken. This discontinuity is handled by initializing the proportional term and differential term each time control execution is started (beginning of T1). The SV filter section is calculated during each cycle irrelevant of T0 and T1. ● Program example [LD/FBD language notation] SPI_P FIC100.MV ST FIC100.PV LD 1 LD PV GAN FFS PID_01 0 LD FFD MV 0 LD FIC100.MV LD TR 0 LD MVT FIC100.SV LD LP_D FIC100.SV LD SV FIC100.OA LD LP_P Variables: Variable Data type Dec. PID_01 SPI_P VAR Controller Variables: Variable Data type !FIC100 typeLP_PARA !FIC100 typeLP_DATA !FIC100 typePV_DATA In case of L1 Scan cycle: 0.5s Sample time (T0): 20 Control time (T1): 5 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 617 [ST language notation] PID_01( FIC100.SV, FIC100.PV, 1, 0, 0, FIC100.MV, 0, FIC100.SV, FIC100.OA); FIC100.MV := PID_01.MV; · Performs sample PI operation of adjuster tag (FIC100) (Sample time: 10s, control time: 2.5s). · This example uses basic PID (feed forward not used). For advanced PID, see the program example (assuming PID_P as SPI_P) for the feed forward instruction (feed forward used). ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series L controller If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · If RH=RL, the divide error flag is set to TRUE(ON) and the previous value is held in output. · The following operation is performed if the LP data or LP parameter specification is invalid: Controller Action Integrated Controller V series L controller When variable other than LP tag data/parameter is specified, table operation error is set to TRUE(ON) and output is previous value. Unified Controller nv series When variable other than LP tag data/parameter is specified, error flag and table operation error are set to TRUE(ON) and output is previous value. ● Notes · MV output when control is stopped When PID operation is stopped because of tracking request or control stop warning, the output is as follows depending on the condition for stopping. Stop condition MV output Tracking request flag (TR)=ON Tracking MV input (TR) Mode=M or RM Tracking MV input (TR) When mode changes Previous MV (held) Control stop warning (CLI)=ON or MV error (MVE)=ON Previous MV (held) Setting MV (SMV=ON or CMV=ON) Tracking MV input (held) Chapter 2 LD/FBD Instructions 6F8C1226 618 Pulse Output PID Process Control Pulse Output PID LD/FBD language notation Result output (ΔMV) PIDP_P SV DMV PV CL GAN FFS MVT LP_D LP_P Instance name SV input PV input Feed forward gain Feed forward static characteristi c Tracking request flag LP data variable LP parameter variable Output request EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( SV, PV, GAN, FFS, MVT, LP_D, LP_P ); [Variable name]:=[Instance name]. DMV; [Variable name]:=[Instance name]. CL; ● Arguments Arg. Operand Type Const. Description SV REAL ○ SV input [Engineering value] PV REAL ○ PV input [Engineering value] GAN REAL ○ Feed forward gain PID proportional gain compensation Specify 1.0 when feed forward is not used FFS REAL ○ Feed forward static characteristic [%] Specify 0.0 when feed forward is not used MVT BOOL ○ Tracking request flag LP_D PTR — LP data variable Input LP_P PTR — LP parameter variable DMV REAL — Result output (ΔMV) [%] (speed type) Output CL BOOL — Output request Pulse output update request Pointers to tag table are placed in LP data variable and LP parameter variable. A setup example is shown below. Array No.=0, tag No.=FIC100 are assumed for the used adjuster tag. Tag symbol Notation Operand Array MCS connection version (L1, L2, L3) DS connection version (L2DS, L3DS) (Type2) LP_D LP_DATA[0] FIC100.SV FIC100.CLI LP_P LP_PARA[0] FIC100.OA FIC100.TAG[0] 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 619 The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description RH REAL R PV range high [Engineering unit] Used for percent conversion of SV/PV Referenced by LP_P.PVP RL REAL R PV range low [Engineering unit] Used for percent conversion of SV/PV MODE UINT R control mode:Used for control operation execution, reset condition CLI BOOL R Control stop alarm Used for control operation reset condition MVE BOOL R MV error Used for control operation reset condition SMV BOOL R Sequence MV Used for control operation reset condition CMV BOOL R Computer MV Used for control operation reset condition LP_D (LP_DATA) VPI BOOL R Valve position input error Used as MV high/low limit condition PVP UINT R Indicator PV No. DT0 UINT R Scan time (number indicating multiple of scan time) KP REAL R Proportional gain Used as PID gain TI REAL R Integral time [min] Used as PID integral time TD REAL R Rate time [min] Used as PID rate time ETA REAL R Rate gain Used as PID rate gain parameter ALP REAL R 2 degrees of freedom parameter α SV filter parameter BET REAL R 2 degrees of freedom parameter β SV filter parameter GAM REAL R 2 degrees of freedom parameter γ SV filter parameter GAP REAL R Gap:Used as rate limiter condition in non-linear operation GG REAL R Gap gain:Used as rate limiter coefficient in non-linear operation MH REAL R MV high limit value[%] ML REAL R MV low limit value[%] DMV REAL R MV rate limiter[%/scan time] CDR BOOL R Control direction Used as sign of PID operation LP_P (LP_PARA) VP UINT R Valve position input PV No. Used as the presence of valve position input which is the basis of pulse output high/low limit R/W: R=Read only, W=Write only, R/W=Read/Write Chapter 2 LD/FBD Instructions 6F8C1226 620 ● Instance structure Name Type Description Remarks DMV REAL Result output (ΔMV) [%] (speed type) Can be accessed from the user program. CL BOOL Output request Pulse output update request B4MODE UINT Control mode previous value (initial value: M) Used to detect change in control mode CT REAL Actual time totalization (initial value: Main scan cycle) Used for scan time measurement B4E REAL P term previous value (initial value: SV-PV) During speed type operation, this is used to calculate the speed component from difference with previous value B4D REAL SV filter differential term input previous value (initial value: αγSV-PV) Used to calculate change in input in differential approximation operation B5D REAL SV filter differential term input next to previous value (initial value: αγSV-PV) Used for exact differential term in improved bilinear primary transformation B4D1 REAL SV filter differential term (initial value: 0) SV filter αγ term B4D2 REAL SV filter proportional/integral term (initial value: (1-α)SV) αβ term of SV filter Cannot be accessed from the user program. ● Function · There is no execution flag. This instruction is always executed. If the operation must be reset, set MVT as initialization request. · The result of executing the feed forward instruction (FFD_P) can be used as input (GAN, FFS) to feed forward. If feed forward is not used, use fixed values (GAN=1, FFS=0). · The PV parameter variable is referenced with the indicator PV No. (PVP) of the LP parameter variable. · The following variables can be specified for the LP data variables and LP parameter variables. Controller Variable Integrated Controller V series L controller LP tag data/parameter variable Unified Controller nv series type2 LP tag data/parameter variable · Control operation function Hyper PID is used for control operation. Output is the high/low rate limited positional type MV value. SV filter: An SV filter with super 2 degrees of freedom PID is implemented. 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 621 Hyper PID adds a delay filter to SV in order to reduce the change in MV even when SV changes suddenly. This SV filter is not related to change in PV and PV change (disturbance) characteristic is unchanged. When tuning PID, set the parameters to be appropriate for the disturbance. Under this condition, the filter status can be optimized for the step change of SV. The 2 degrees of freedom parameters (α, β, γ) of hyper PID are semi-fixed values. Under normal condition, the initial values can be used without change. The SV filter includes differential operation. This differential operation uses an improved bilinear transformation that is an improved version of the bilinear transformation which is a popular digital operation. Under normal condition, bilinear transformation is used and a switch is made to exact differential when the rate time setting is relatively shorter than the scan time. The rate time can be changed during control operation without problem. The SV filter operation is performed during each scan cycle. Control operation is performed based on the specified control cycle (DT0). Non-linear processing: A gap function is incorporated as non-linear PID. When the deviation is within the gap width, the change in MV output is suppressed by multiplying the rate limiter by gap gain. ● Program example [LD/FBD language notation] PIDP_P FIC100.PV LD 1 LD PV GAN FFS PID_01 FIC100.PMV ST DMV 0 LD 0 LD MVT FIC100.SV LD LP_D FIC100.SV LD SV FIC100.OA LD LP_P Variables: Variable Data type Dec. PID_01 PIDP_P VAR Controller Variables: Variable Data type !FIC100 typeLP_PARA !FIC100 typeLP_DATA !FIC100 typePV_DATA In case of L1 FIC100.POR ST CL [ST language notation] PID_01( FIC100.SV, FIC100.PV, 1, 0, 0, FIC100.SV, FIC100.OA); FIC100.PMV := PID_01.DMV; FIC100.POR := PID_01.CL; Chapter 2 LD/FBD Instructions 6F8C1226 622 · Performs PID operation of adjuster tag (FIC100). · This example directly outputs to pulse output ΔMV (PMV) and pulse output request (POR) of the adjuster tag. · This example uses basic PID (feed forward not used). For advanced PID, see the program example for the feed forward instruction (feed forward used). ● Error information The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series L controller If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · If RH=RL, the divide error flag is set to TRUE(ON) and the previous value is held in output. · The following operation is performed if the LP data or LP parameter specification is invalid: Controller Action Integrated Controller V series L controller When variable other than LP tag data/parameter is specified, table operation error is set to TRUE(ON) and output is previous value. Unified Controller nv series When variable other than LP tag data/parameter is specified, error flag and table operation error are set to TRUE(ON) and output is previous value. 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 623 Pulse Output Sample PI Process Control Pulse Output Sample PI LD/FBD language notation Result output (ΔMV) SPIP_P SV DMV PV CL GAN FFS MVT LP_D LP_P Instance name SV input PV input Feed forward gain Feed forward stati c characteri stic Tracking request fl ag LP data vari able LP parameter vari able Output request EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( SV, PV, GAN, FFS, MVT, LP_D, LP_P ); [Variable name]:=[Instance name]. DMV; [Variable name]:=[Instance name]. CL; ● Arguments Arg. Operand Type Const. Description SV REAL ○ SV input [Engineering value] PV REAL ○ PV input [Engineering value] GAN REAL ○ Feed forward gain PID proportional gain compensation Specify 1.0 when feed forward is not used FFS REAL ○ Feed forward static characteristic [%] Specify 0.0 when feed forward is not used MVT BOOL ○ Tracking request flag LP_D PTR — LP data variable Input LP_P PTR — LP parameter variable DMV REAL — Result output (ΔMV) [%] (speed type) Output CL BOOL — Output request Pulse output update request Pointers to tag table are placed in LP data variable and LP parameter variable. A setup example is shown below. Array No.=0, tag No.=FIC100 are assumed for the used adjuster tag. Tag symbol Notation Operand Array MCS connection version (L1, L2, L3) DS connection version (L2DS, L3DS) (Type2) LP_D LP_DATA[0] FIC100.SV FIC100.CLI LP_P LP_PARA[0] FIC100.OA FIC100.TAG[0] Chapter 2 LD/FBD Instructions 6F8C1226 624 The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description RH REAL R PV range high [Engineering unit] Used for percent conversion of SV/PV Referenced by LP_P.PVP RL REAL R PV range low [Engineering unit] Used for percent conversion of SV/PV MODE UINT R control mode:Used for control operation execution, reset condition CLI BOOL R Control stop alarm Used for control operation reset condition MVE BOOL R MV error Used for control operation reset condition SMV BOOL R Sequence MV Used for control operation reset condition CMV BOOL R Computer MV Used for control operation reset condition LP_D (LP_DATA) VPI BOOL R Valve position input error Used as MV high/low limit condition PVP UINT R Indicator PV No. KP REAL R Proportional gain Used as PID gain TI REAL R Integral time [min] Used as PID integral time TD REAL R Rate time [min] Used as PID rate time ETA REAL R Rate gain Used as PID rate gain parameter ALP REAL R 2 degrees of freedom parameter α SV filter parameter BET REAL R 2 degrees of freedom parameter β SV filter parameter GAM REAL R 2 degrees of freedom parameter γ SV filter parameter GAP REAL R Gap:Used as rate limiter condition in non-linear operation GG REAL R Gap gain:Used as rate limiter coefficient in non-linear operation MH REAL R MV high limit value[%] ML REAL R MV low limit value[%] DMV REAL R MV rate limiter[%/scan time] CDR BOOL R Control direction Used as sign of PID operation T0 UINT R Sample PI sample cycle (A number indicating integral multiple of scan time) T1 UINT R Sample PI control time (A number indicating integral multiple of scan time) LP_P (LP_PARA) VP UINT R Valve position input PV No. Used as the presence of valve position input which is the basis of pulse output high/low limit R/W: R=Read only, W=Write only, R/W=Read/Write 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 625 ● Instance structure Name Type Description Remarks DMV REAL Result output (ΔMV) [%] (speed type) CL BOOL Output request Pulse output update request Can be accessed from the user program. B4MODE UINT Control mode previous value (initial value: M) Used to detect change in control mode CT REAL Actual time totalization (initial value: Main scan cycle) Used for scan time measurement B4E REAL P term previous value (initial value: SV-PV) During speed type operation, this is used to calculate the speed component from difference with previous value B4D REAL SV filter differential term input previous value (initial value: αγ SV-PV) Used to calculate change in input in differential approximation operation B5D REAL SV filter differential term input next to previous value (initial value: αγ SV-PV) Used for exact differential term in improved bilinear primary transformation B4D1 REAL SV filter differential term (initial value: 0) SV filter αγ term B4D2 REAL SV filter proportional/integral term (initial value: (1-α)SV) αβ term of SV filter Cannot be accessed from the user program. ● Function · There is no execution flag. This instruction is always executed. If the operation must be reset, set MVT as initialization request. · The result of executing the feed forward instruction (FFD_P) can be used as input (GAN, FFS) to feed forward. If feed forward is not used, use fixed values (GAN=1, FFS=0). · The PV parameter variable is referenced with the indicator PV No. (PVP) of the LP parameter variable. · The following variables can be specified for the LP data variables and LP parameter variables: Controller Variable Integrated Controller V series L controller LP tag data/parameter variable Unified Controller nv series type2 LP tag data/parameter variable · Control operation function Hyper PID is used for control operation. The high/low rate limited speed type ΔMV value and output request flag indicating the pulse update timing are output. SV filter: An SV filter with super 2 degrees of freedom PID is implemented. Chapter 2 LD/FBD Instructions 6F8C1226 626 Hyper PID adds a delay filter to SV in order to reduce the change in MV even when SV changes suddenly. This SV filter is not related to change in PV and PV change (disturbance) characteristic is unchanged. When tuning PID, set the parameters to be appropriate for the disturbance. Under this condition, the filter status can be optimized for the step change of SV. The 2 degrees of freedom parameters (α, β, γ) of hyper PID are semi-fixed values. Under normal condition, the initial values can be used without change. The SV filter includes differential operation. This differential operation uses an improved bilinear transformation that is an improved version of the bilinear transformation which is a popular digital operation. Under normal condition, bilinear transformation is used and a switch is made to exact differential when the rate time setting is relatively shorter than the scan time. The rate time can be changed during control operation without problem. The SV filter operation is performed during each scan cycle. Control operation is performed based on the specified control cycle (T0, T1). Non-linear processing: A gap function is incorporated as non-linear PID. When the deviation is within the gap width, the change in MV output is suppressed by multiplying the rate limiter by gap gain. Sampling and control: The sample PI adjusts the time where control is intermittent in the control cycle of the PID operation. Output is updated during the control time (T1) at the front half of the sample time (T0). CL MV Control time T1 Sample time T0 In sample PI, control operation is executed continuously during T1. Unlike intermittent control with ΔT of PID, the operation cycle is always the scan cycle. Therefore, the continuity of the proportional term and differential term is broken. This discontinuity is handled by initializing the proportional term and differential term each time control execution is started (beginning of T1). The SV filter section is calculated during each cycle irrelevant of T0 and T1. 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 627 ● Program example [LD/FBD language notation] SPIP_P FIC100.PV LD 1 LD PV GAN FFS PID_01 FIC100.PMV ST DMV 0 LD 0 LD MVT FIC100.SV LD LP_D FIC100.SV LD SV FIC100.OA LD LP_P Variables: Variable Data type Dec. PID_01 SPIP_P VAR Controller Variables: Variable Data type !FIC100 typeLP_PARA !FIC100 typeLP_DATA !FIC100 typePV_DATA In case of L1 FIC100.POR ST CL Scan cycle: 0.5s Sample time (T0): 20 Control time (T1): 5 [ST language notation] PID_01( FIC100.SV, FIC100.PV, 1, 0, 0, FIC100.SV, FIC100.OA); FIC100.PMV := PID_01.DMV; FIC100.POR := PID_01.CL; · Performs sample PI operation of adjuster tag (FIC100) (Sample time: 10s, control time: 2.5s). · This example outputs directly to adjuster tag pulse output ΔMV (PVM) and pulse output request (POR). · This example uses basic PID (feed forward not used). For advanced PID, see the program example (assuming PIDP_P as SPIP_P) for the feed forward instruction (feed forward used). ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series L controller If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. Chapter 2 LD/FBD Instructions 6F8C1226 628 · If RH=RL, the error flag and divide error flag are set to TRUE(ON) and the previous value is held in output. · The following operation is performed if the LP data or LP parameter specification is invalid: Controller Action Integrated Controller V series L controller When variable other than LP tag data/parameter is specified, table operation error is set to TRUE(ON) and output is previous value. Unified Controller nv series When variable other than LP tag data/parameter is specified, error flag and table operation error are set to TRUE(ON) and output is previous value. 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 629 Feed Forward Process Control Feed Forward LD/FBD language notation Feed forward static characteristi c Feed forward dynamic characteristi c MV gain FFD_P Instance name Input vari able Feed forward parameter LP data vari able X FF_P LP_D GAN FFS FFD EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( X, FF_P, LP_D ); [Variable name]:=[Instance name]. GAN; [Variable name]:=[Instance name]. FFS; [Variable name]:=[Instance name]. FFD; ● Arguments Arg. Operand Type Const. Description X REAL ○ Input variable [Engineering value] FF_P PTR — Feed forward parameter variable Input LP_D PTR — LP data variable GAN REAL — Feed forward gain FFS REAL — Feed forward static characteristic [%] Output FFD REAL — Feed forward dynamic characteristic [%] A pointer to tag table is placed in LP data variable. A setup example is shown below. Array No.=0, tag No.=FIC100 are assumed for the used adjuster tag. Tag symbol Notation Operand Array MCS connection version (L1, L2, L3) DS connection version (L2DS, L3DS) (Type2) LP_D LP_DATA[0] FIC100.SV FIC100.CLI The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description MODE UINT R Control mode Used for control operation execution, reset condition CLI BOOL R Control stop alarm Used for control operation reset condition MVE BOOL R MV error Used for control operation execution, reset condition SMV BOOL R Sequence MV Used for control operation execution, reset condition LP_D (LP_DATA) CMV BOOL R Computer MV Used for control operation execution, reset condition R/W: R=Read only, W=Write only, R/W=Read/Write Chapter 2 LD/FBD Instructions 6F8C1226 630 ● Feed forward parameter structure Name Type Description K REAL Gain K0 REAL Supplementary gain H REAL Gain high limit L REAL Gain low limit X0 REAL MV standard value C REAL MV coefficient TP REAL Process time constant TD REAL Disturbance time constant DB REAL Output dead band The feed forward parameters are created from a combination of user defined structures and user variables. ● Instance structure Name Type Description Remarks GAN REAL Feed forward gain FFS REAL Feed forward static characteristic [%] FFD REAL Feed forward dynamic characteristic [%] Can be accessed from the user program B4MODE UINT Control mode previous value (initial value: M) Used to detect change in control mode B4D REAL Feed forward dynamic characteristic input value B4Y REAL Feed forward dynamic characteristic temporary delay Cannot be accessed from the user program ● Function · There is no execution flag. This instruction is always executed. · The following variables can be specified for the LP data variables and FF parameter variables: Controller Variable Integrated Controller V series L controller LP tag data/FF parameter variable Unified Controller nv series type2 LP tag data/FF parameter variable · Control operation function Three types of output, gain compensation (GAN), static characteristic compensation (FFS), and dynamic characteristic compensation (FFD) are calculated as gain scheduling type feed forward. 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 631 K K0 HL limit Non-linearize X + - Difference FFD FFS GAN 1 + (Dn - X0) C / X0 1 + TPS 1 + TDS ● Program example [LD/FBD language notation] Variables: Variable Data type Dec. PID_01 PID_P VAR FFD_1 FFD_P VAR Controller Variables: Variable Data type !FIC100 typeLP_PARA !FIC100 typeLP_DATA !FIC100 typePV_DATA !IND100 typePV_DATA FF_P typeFFD_PARA In case of L1 PID_P FIC100.PV LD PV FFS PID_01 GAN FFD FIC100.MV ST MV FIC100.MV LD TR 0 LD MVT FIC100.SV LD LP_D FIC100.SV LD SV FIC100.OA LD LP_P FFD_P FF_P LD FF_P FFD_1 FIC100.SV LD LP_D IND100.PV LD X GAN FFS FFD User defined structure typeFFD_PARA: Member Data type K Real K0 Real H Real L Real X0 Real C Real TP Real TD Real DB Real [ST language notation] FFD_1(IND100.PV, FF_P, FIC100.SV); PID_01( FIC100.SV, FIC100.PV, FFD_1.GAN, FFD_1.FFS, FFD_1.FFD, FIC100.MV, 0, FIC100.SV, FIC100.OA); FIC100.MV := PID_01.MV; · Performs PID operation of adjuster tag (FIC100) with feed forward of disturbance element (IND100.PV) added. Chapter 2 LD/FBD Instructions 6F8C1226 632 ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series L controller If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · The following operation is performed if the LP or FF parameter specification is invalid: Controller Action Integrated Controller V series L controller When variable other than LP tag data /FF parameter is specified, table operation error is set to TRUE(ON) and output is previous value. Unified Controller nv series When variable other than LP tag data /FF parameter is specified, error flag and table operation error are set to TRUE(ON) and output is previous value. 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 633 Double Cross Limit Process Control Double Cross Limit LD/FBD language notation Fuel adjuster SV DCL_P PV FSV AIR ASV FUEL FTR ATR DCL_P LP_FD LP_FP LP_AD LP_AP Instance name Master input variable Air flow Fuel flow Fuel MV tracking value Air MV tracking value Fuel LP data variable Fuel LP parameter variable Air adjuster SV Air LP data variable Air LP parameter variable Double cross limit parameter EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( PV, AIR, FUEL, FTR, ATR, DCL_P, LP_FD, LP_FP, LP_AD, LP_AP ); [Variable name]:=[Instance name]. FSV; [Variable name]:=[Instance name]. ASV; ● Arguments Arg. Operand Type Const. Description PV REAL ○ Master input variable [%] AIR REAL ○ Air flow [Engineering value] FUEL REAL ○ Fuel flow [Engineering value] FTR REAL ○ Fuel MV tracking value [Engineering value] ATR REAL ○ Air MV tracking value [Engineering value] DCL_P PTR — Double cross limit parameter table LP_FD PTR — Fuel LP data variable LP_FP PTR — Fuel LP parameter variable LP_AD PTR — Air LP data variable Input LP_AP PTR — Air LP parameter variable FSV REAL — Fuel adjuster SV [Engineering value] Output ASV REAL — Air adjuster SV [Engineering value] Chapter 2 LD/FBD Instructions 6F8C1226 634 Pointers to tag table are placed in LP data variable and LP parameter variable. A setup example is shown below. Array No.=0, tag No.=FIC100 are assumed for the used adjuster tag. Tag symbol Notation Operand Array MCS connection version (L1, L2, L3) DS connection version (L2DS, L3DS) (Type2) LP_FD, LP_AD LP_DATA[0] FIC100.SV FIC100.CLI LP_FP, LP_AP LP_PARA[0] FIC100.OA FIC100.TAG[0] The following tag symbols are referenced by this instruction. Operand Symbol Type R/W Description RH REAL R PV range high [Engineering unit] Used for percent conversion of AIR/FUEL Referenced by LP_FP/AP.PV (PV_PARA) RL REAL R PV range low [Engineering unit] Used for percent conversion of AIR/FUEL LP_FP/AP (LP_PARA) PVP UINT R Indicator PV No. R/W: R=Read only, W=Write only, R/W=Read/Write ● Double cross limit parameter structure Name Type Description K1 REAL Smoke emitting limit when load is increasing [%] K2 REAL Smoke emitting limit when load is decreasing [%] K3 REAL Air excess limit when load is decreasing [%] K4 REAL Air excess limit when load is increasing [%] BETA REAL Transform coefficient (β > 0) MU REAL Air excess rate (μ > 0) L REAL Air low limit [%] ADV REAL (Not used) FDV REAL (Not used) The double cross limit parameters are created from a combination of user defined structures and user variables. ● Instance structure Name Type Description Remarks FSV REAL Air flow SV [Engineering value] ASV REAL Fuel flow SV [Engineering value] Can be accessed from the user program B4FMODE UINT (Not used) B4AMODE UINT (Not used) PD1 REAL (Not used) PD2 REAL (Not used) DLM1 REAL (Not used) DLM2 REAL (Not used) Cannot be accessed from the user program 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 635 ● Function · There is no execution flag. This instruction is always executed. · The following variables can be specified for the LP data variables, LP parameter variables and DCL parameter variables: Controller Variable Integrated Controller V series L controller LP tag data /parameter variable DCL parameter variable Unified Controller nv series type2 LP tag data /parameter variable DCL parameter variable · Control operation function The fuel and air settings are calculated using combustion control as a model. UNIT MED １ βμ % 100-K3 100 100+K1 100 UNIT βμ Ｌ low limit MED Master input AIR.PV F % A FUEL.PV 100+K4 100 100-K2 100 Chapter 2 LD/FBD Instructions 6F8C1226 636 ● Program example [LD/FBD language notation] Variables: Variable Data type Dec. PID_01 PID_P VAR PID_02 PID_P VAR PID_03 PID_P VAR DCL_01 typeDCL_PARA VAR Controller variable: Variable Data type !DIC100 typeLP_PARA !DIC100 typeLP_DATA !DIC100 typePV_DATA !FIC100 typeLP_PARA !FIC100 typeLP_DATA !FIC100 typePV_DATA !AIC100 typeLP_PARA !AIC100 typeLP_DATA !AIC100 typePV_DATA In case of L1 User defined structure typeDCL_PARA： Member Data type K1 Real K2 Real K3 Real K4 Real BETA Real MU Real L Real ADV Real FDV Real PID_P DIC100.PV LD PV FFS PID_01 GAN FFD DIC100.MV ST MV DIC100.MV LD TR 0 LD MVT DIC100.SV LD LP_D DIC100.SV LD SV DIC100.OA LD LP_P  LD 0 LD 0 LD PID_P FIC100.PV LD PV FFS PID_02 GAN FFD FIC100.MV ST MV FIC100.MV LD TR 0 LD MVT FIC100.SV LD LP_D FIC100.SV LD SV FIC100.OA LD LP_P  LD 0 LD 0 LD PID_P AIC100.PV LD PV FFS PID_03 GAN FFD AIC100.MV ST MV AIC100.MV LD TR 0 LD MVT AIC100.SV LD LP_D AIC100.SV LD SV AIC100.OA LD LP_P  LD 0 LD 0 LD DCL_P AIC100.PV LD AIR FTR DCL_01 FUEL ATR DCL_P LD DCL_P DIC100.MV LD PV FIC100.SV LD LP_FD FIC100.OA LD LP_FP FIC100.PV LD FIC100.MV LD AIC100.MV LD AIC100.SV LD LP_AD AIC100.OA LD LP_AP FIC100.SV ST FSV AIC100.SV ST ASV DCL control Master PID Fuel flow PID Air flow PID 2.22 Process Control Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 637 [ST language notation] (* Master PID *) PID_01( DIC100.SV, DIC100.PV, 1, 0, 0, DIC100.MV, 0, DIC100.SV, DIC100.OA); DIC100.MV := PID_01.MV; (* DCL control *) DCL_01( DIC100.MV, AIC100.PV, FIC100.PV, FIC100.MV, AIC100.MV, DCL_P, FIC100.SV, FIC100.OA, AIC100.SV, AIC100.OA); FIC100.SV := DCL_01.FSV; AIC100.SV := DCL_01.ASV; (* Fuel flow PID *) PID_02( FIC100.SV, FIC100.PV, 1, 0, 0, FIC100.MV, 0, FIC100.SV, FIC100.OA); FIC100.MV := PID_02.MV; (* Air flow PID *) PID_03( AIC100.SV, AIC100.PV, 1, 0, 0, AIC100.MV, 0, AIC100.SV, AIC100.OA); AIC100.MV := PID_03.MV; · Performs double cross limit control with master PID (DIC100) result output (MV) as master input, gives that result to fuel flow PID(FIC100) and air flow PID(AIC100), and optimizes the fuel flow and air flow. ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series L controller If NAN data is entered as input, the result is NAN. If INF data is entered as input, the result is INF. Unified Controller nv series NAN and INF data are limited by the maximum value. · The fuel flow and air flow are calculated with % value as input when the respective indicator is RH=RL. · The following operation is performed when the LP data, LP parameter or DCL parameter specification is invalid: Controller Action Integrated Controller V series L controller When variable other than LP tag data/parameter, DCL parameter is specified, table operation error is set to TRUE(ON) and output is previous value. Unified Controller nv series When variable other than LP tag data/parameter, DCL parameter is specified, error flag and table operation error are set to TRUE(ON) and output is previous value. Chapter 2 LD/FBD Instructions 6F8C1226 638 2.23 Tag Operation No. Instruction Remarks 1 Change Adjuster Mode CMLP_P Changes the adjuster tag mode. 2 Change Push Button Mode CMPB_P Changes the push button mode. 3 Change Sequence Mode CMSQ_P Changes the sequence tag mode. 4 Set SV SSV_P Changes the SV value of the adjuster tag at constant rate. Used together with Reset SV. 5 Reset SV RSV_P Resets the change in SV value (Set SV) of the adjuster tag. Used together with Set SV. 6 Set MV SMV_P Changes the MV value of the adjuster tag at constant rate. Used together with Reset MV. 7 Reset MV RMV_P Resets the change in MV value (Set MV) of the adjuster tag. Used together with Set MV. 8 Shut CV SCV_P Sets the MV value of the adjuster tag to constant value and changes the mode. Used together with Reset MV. 9 Push Button ON PB_P Sets the push button tag button in pushed state for 1 processing cycle. 10 Push Button Lock LB_P Sets the push button tag button in pushed state. 11 Action Timer ACT_P Performs timer action using the timer tag. The timer execution status can be monitored/manipulated easily from OIS. 12 Action Counter ACC_P Counts the program event every process cycle. The counter execution status can be monitored/manipulated easily from OIS. 13 Self Step Jump SJ_P Jumps the current active location of the SFC allocated to the sequence tag. 14 Reset Jump RJ_P Resets all active locations of SFC allocated to the sequence tag and jumps to a certain location. 15 Reset jump 2 RJ_P2 Resets all active locations of SFC allocated to the sequence tag and jumps to a certain location (corresponds with phase step 2). 16 SFC initialize INI_STEP Clears all SFC steps including the specified initial steps and activates the initial step. The instructions of the Tag Operation are directives for the tags. Therefore it is important to understand the tag structure and operation to use the instructions. Refer to the following materials for description of the tags: ・ Integrated Controller V series model 3000/2000 Loop Controller L2/L3 User’s Manual- Functions 6F8C0885 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 639 Change Adjuster Mode Tag Operation Change Adjuster Mode LD/FBD language notation Execution control input Output CMLP_P E MODE LP_D LP data variable Mode EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := CMLP_P( E, MODE, LP_D ); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input MODE UINT ○ Mode (0:M, 1:A, 2:C, 3:RM) Input LP_D PTR — LP data variable Output — BOOL — Output A pointer to tag table is placed in LP data variable. A setup example is shown below. Array No.=0, tag No.=FIC100 are assumed for the used adjuster tag. Notation Operand Array Tag symbol LP_D LP_DATA[0] FIC100.CLI The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description LP_D (LP_DATA) MODE UINT W Control mode R/W: R=Read only, W=Write only, R/W=Read/Write ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), the mode of the LP data variable specified with LP_D is set to the value specified with MODE and TRUE(ON) is output as the result. Chapter 2 LD/FBD Instructions 6F8C1226 640 · The following variables can be specified for the LP data: Controller Variable Integrated Controller V series L controller LP tag data variable Unified Controller nv series type2 LP tag data variable Execution control input Action Output FALSE(OFF) — FALSE(OFF) TRUE(ON) Sets the mode of the specified LP data variable. TRUE(ON) ● Program example [LD/FBD language notation] SIGNAL1 1 LD CMLP_P 1 LD SIGNAL2 1 ST FIC100.SV LD E MODE LP_D [ST language notation] SIGNAL2 := CMLP_P( SIGNAL1, 1, FIC100.SV); · When the execution control input SIGNAL1 is TRUE(ON,) sets the adjuster tag (FIC100) mode to A. ● Error information · The following operation is performed when the LP parameter specification is invalid: Controller Action Integrated Controller V series L controller When variable other than LP tag parameter is specified, table operation error is set to TRUE(ON) and the result is FALSE(OFF). Unified Controller nv series When variable other than LP tag parameter is specified, error flag and table operation error are set to TRUE(ON) and the result is FALSE(OFF). · If the mode is out of range (four or greater) the instruction is treated as no process. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 641 Change Push Button Mode Tag Operation Change Push Button Mode LD/FBD language notation Execution control input Output CMPB_P E MODE PB_D PB data variable Mode EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := CMPB_P( E, MODE, PB_D ); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input MODE UINT ○ Mode (0:M, 1:A, 2:C, 3:RM) Input PB_D PTR — PB data variable Output — BOOL — Output The C mode is valid only when tag type is 2PC in DC connection version. Otherwise, the mode is M/A/RM. A pointer to tag table is placed in PB data variable. A setup example is shown below. Array No.=0, tag No.=XV100 are assumed for the used push button tag. Notation Operand Array Tag symbol PB_D PB_DATA[0] XV100.ASA The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description PB_D (PB_DATA) MODE UINT W Control mode Referenced by PB_D (PB_PARA) TYPE UINT R Tag type (used only in DS connection version only) (SOV/MOT/MOV/PB4/PB8/PB2/2PC) R/W: R=Read only, W=Write only, R/W=Read/Write Chapter 2 LD/FBD Instructions 6F8C1226 642 ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), the mode of the PB data variable specified with PB_D is set to the value specified with MODE and TRUE(ON) is output as the result. · The following variables can be specified for the PB data: Controller Variable Integrated Controller V series L controller PB tag data variable Unified Controller nv series type2 PB tag data variable Execution control input Action Output FALSE(OFF) — FALSE(OFF) TRUE(ON) Sets the mode of the specified PB data variable TRUE(ON) ● Program example [LD/FBD language notation] SIGNAL1 1 LD CMPB_P 1 LD SIGNAL2 1 ST XV100.SCN LD E MODE LP_D [ST language notation] SIGNAL2 := CMPB_P( SIGNAL1, 1, XV100.SCN); · When the execution control input SIGNAL1 is TRUE(ON), sets the push button tag (XV100) mode to A. ● Error information · The following operation is performed when invalid variable is specified for the PB parameter: Controller Action Integrated Controller V series L controller When variable other than PB tag parameter is specified, table operation error is set to TRUE(ON) and the result is FALSE(OFF). Unified Controller nv series When variable other than PB tag parameter is specified, error flag and table operation error are set to TRUE(ON) and the result is FALSE(OFF). · If the mode is out of range (four or greater) the instruction is treated as no process. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 643 Change Sequence Mode Tag Operation Change Sequence Mode LD/FBD language notation Execution control input Output CMSQ_P E MODE SQ_D SQ data variable Mode EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := CMSQ_P( E, MODE, SQ_D ); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input MODE UINT ○ Mode (0:M,1:A, 2:C, 3:RM) Input SQ_D PTR — SQ data variable Output — BOOL — Output A pointer to tag table is placed in SQ data variable. A setup example is shown below. Array No.=0, tag No.=SEQ100 are assumed for the used sequence tag. Notation Operand Array Tag symbol SQ_D SQ_DATA[0] SEQ100.STA The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description SQ_D (SQ_DATA) MODE UINT W Control mode R/W: R=Read only, W=Write only, R/W=Read/Write ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), the mode of the SQ data variable specified with SQ_D is set to the value specified with MODE and TRUE(ON) is output as the result. Chapter 2 LD/FBD Instructions 6F8C1226 644 · The following variables can be specified for the SQ data: Controller Variable Integrated Controller V series L controller SQ tag data variable Unified Controller nv series type2 SQ tag data variable Execution control input Action Output FALSE(OFF) — FALSE(OFF) TRUE(ON) Sets the mode of the specified SQ data variable TRUE(ON) ● Program example [LD/FBD language notation] SIGNAL1 1 LD CMSQ_P 1 LD SIGNAL2 1 ST SEQ100.STA LD E MODE SQ_D [ST language notation] SIGNAL2 := CMSQ_P( SIGNAL1, 1, SEQ100.STA); · When the execution control input SIGNAL1 is TRUE(ON), sets the sequence tag (SEQ100) mode to A. ● Error information · The following operation is performed when invalid variable is specified for the SQ parameter: Controller Action Integrated Controller V series L controller When variable other than SQ tag parameter is specified, table operation error is set to TRUE(ON) and the result is FALSE(OFF). Unified Controller nv series When variable other than SQ tag parameter is specified, error flag and table operation error are set to TRUE(ON) and the result is FALSE(OFF). · If the mode is out of range (four or greater) the instruction is treated as no process. · When EN is used, ENO output is reset to OFF when the above error occurs. 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 645 Set SV Tag Operation Set SV LD/FBD language notation Execution control input Output SSV_P E SVP SVK SVT LP_P LP_D Tilt Target value Tilt unit LP parameter variable LP data variable EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := SSV_P( E, SVP, SVK, SVT, LP_P, LP_D ); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input SVP REAL ○ Target value SVK REAL ○ Tilt SVT REAL ○ Tilt unit (1: sec./60:min./3600: hr) LP_P PTR — LP parameter variable Input LP_D PTR — LP data variable Output — BOOL — Output Pointers to tag table are placed in LP parameter variable and LP data variable. A setup example is shown below. Array No.=0, tag No.=FIC100 are assumed for the used adjuster tag. Notation Operand Array Tag symbol LP_P LP_PARA[0] FIC100.TAG[0] LP_D LP_DATA[0] FIC100.CLI The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description SVP REAL R/W SV ramp target value SVK REAL R/W SV ramp increment LP_P (LP_PARA) SVT REAL R/W SV ramp time coefficient LP_D (LP_DATA) SSV BOOL W SEQ-SV intervention status R/W: R=Read only, W=Write only, RW=Read/Write Chapter 2 LD/FBD Instructions 6F8C1226 646 ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), sets the setup information (SVP, SVK, SVT) of the LP parameter variable specified by LP_P to the value specified with input argument, sets the SSV of LP data variable specified by LP_D to TRUE(ON), and output TRUE(ON) as the result. (Start of Set SV directive) · This instruction provides the setup information (SVP, SVK, SVT) and directive (SSV) to perform ramp SV action, but does not perform the actual ramp SV action. A separate program must be created to perform the ramp SV action. (See program example). · This instruction is used together with the Reset SV (RSV_P) instruction. · The following variables can be specified for the LP data/parameter: Controller Variable Integrated Controller V series L controller LP tag data/parameter variable Unified Controller nv series type2 LP tag data/parameter variable Execution control input Action Output FALSE(OFF) No process FALSE(OFF) TRUE(ON) Starts the Set SV directive of the specified LP variable TRUE(ON) ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series L controller When NAN is input, the result is FALSE(OFF) and NAN input error flag is set to TRUE(ON). When INF is input the result is FALSE(OFF). Unified Controller nv series NAN and INF data are limited by the maximum value. · The following operation is performed when the LP data or LP parameter specification is invalid: Controller Action Integrated Controller V series L controller When variable other than LP tag data/parameter is specified, table operation error is set to TRUE(ON) and the result is FALSE(OFF). Unified Controller nv series When variable other than LP tag data/parameter is specified, error flag and table operation error are set to TRUE(ON) and the result is FALSE(OFF). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 647 ● Program example [LD/FBD language notation] SSV_P SIGNAL1 ST E 5 LD SVK 80 LD SVP FIC100. TAG[0] LD LP_P 1 LD SVT FIC100.CLI LD LP_D SSV_REQ Ｐ RSV_P SIGNAL2 ST E FIC100.CLI LD LP_D SSV_REQ Ｎ ＳＳＶ control section Instrumentati on FB section FIC100.MV ST FIC100.PV LD 1 LD 0 LD 0 LD FIC100.MV LD 0 LD FIC100.CLI LD FIC100.SV LD FIC100. TAG[0] LD PID_P PV GAN FFS PID_01 SV FFD TR MVT LP_D LP_P MV ＳＳＶ executi on section FIC100.MVE ／ FIC100.CLI ／ FIC100.SSV SSV_EXEC ( ) FIC100.SV LD SSV_EXEC FIC100.SVP LD SEL_REAL G IN0 IN1 DIV_REAL 1000 LD ZF[23] LD FIC100.SVK LD DIV_REAL FIC100.SVT LD MUL_REAL FIC100.SV SET SSV_EXEC DLM_REAL E IN D SSV_EXEC LD In case of L3DS DLM_01 OUT Variables: Variable Data type Dec. SSV_REQ BOOL VAR SSV_EXEC BOOL VAR SIGNAL1 BOOL VAR SIGNAL2 BOOL VAR PID_01 PID_P VAR DLM_01 DLM_REAL VAR Chapter 2 LD/FBD Instructions 6F8C1226 648 Controller variables: Variable Data type !FIC100 typeLP_PARA_DS !FIC100 typeLP_DATA_DS ZF ARRAY[0..4095] OF REAL [ST language notation] (* SSV control section *) SIGNAL1 := SSV_P( SSV_REQ, 80, 5, 1, FIC100.TAG[0], FIL100.CLI); SIGNAL2 := RSV_P( SSV_REQ, FIL100.CLI); *Positive transition—sensing contact (SSV_REQ) and negative transition—sensing contact (SSV_REQ) do not perform the same operation as LD/FBD because they are not supported by the ST language. (* Instrumentation FB section *) PID_01( FIC100.SV, FIC100.PV, 1, 0, 0, FIC100.MV, 0, FIC100.CLI, FIC100.TAG[0]); FIC100.MV := PID_01.MV; (* SSV execution section *) SSV_EXEC := NOT(FIC100.MVE) AND NOT(FIC100.CLI) AND FIC100.SSV; Z2 := SEL_REAL(SSV_EXEC, FIC100.SV, FIC100.SVP); Z3 := ZF[23] / 1000 * FIC100.SVK / FIC100.SVT; DLM_01(SSV_EXEC, Z2, Z3); FIC100.SV := DLM_01.OUT; · SSV control section At the rise of SSV request (SSV_REQ), requests Set SV directive (target value: 80, tilt: 5/s) to the adjuster tag (FIC100). At the fall of SSV, resets the Set SV directive. · Instrumentation FB section Executes current output PID against the adjuster tag (FIC100). · SSV execution section When the adjuster tag (FIC100) Set SV condition is satisfied (MVE=FALSE and CLI=FALSE and SSV=TRUE), changes SV according to the requested content (SVP, SVK, SVT). When the Set SV condition is not satisfied, SV holds the previous value. 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 649 Reset SV Tag Operation Reset SV LD/FBD language notation Execution control inp t Output RSV_P LP data variable E LP_D EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := RSV_P( E, LP_D ); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input Input LP_D PTR — LP data variable Output — BOOL — Output A pointer to tag table is placed in LP data variable. A setup example is shown below. Array No.=0, tag No.=FIC100 are assumed for the used adjuster tag. Notation Operand Array Tag symbol LP_D LP_DATA[0] FIC100.CLI The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description LP_D (LP_DATA) SSV BOOL W SEQ—SV intervention status R/W: R=Read only, W=Write only, R/W=Read/Write ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), the SSV of the LP data variable specified with LP_D is reset to FALSE(OFF) and TRUE(ON) is output as the result. (Resetting Set SV directive). · This instruction is used together with the Set SV (SSV_P) instruction. Chapter 2 LD/FBD Instructions 6F8C1226 650 · The following variables can be specified for the LP data: Controller Variable Integrated Controller V series L controller LP tag data variable Unified Controller nv series type2 LP tag data variable Execution control input Action Output FALSE(OFF) No process FALSE(OFF) TRUE(ON) Resets the Set SV directive of the specified LP variable TRUE(ON) ● Program example · Refer to the program example of the Set SV (SSV_P) instruction. ● Error information · The following operation is performed when invalid variable is specified for the LP data: Controller Action Integrated Controller V series L controller When variable other than LP tag data is specified, table operation error is set to TRUE(ON) and the result is FALSE(OFF). Unified Controller nv series When variable other than LP tag data is specified, error flag and table operation error are set to TRUE(ON) and the result is FALSE(OFF). · When EN IS used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 651 Set MV Tag Operation Set MV LD/FBD language notation Execution control input Output SMV_P E MVP MVK MVT LP_P LP_D Tilt Target value Tilt unit LP parameter variable LP data variable EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := SMV_P( E, MVP, MVK, MVT, LP_P, LP_D ); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input MVP REAL ○ Target value MVK REAL ○ Tilt MVT REAL ○ Tilt unit (1: sec./60:min./3600: hr) LP_P PTR — LP parameter variable Input LP_D PTR — LP data variable Output — BOOL — Output Pointers to tag table are placed in LP parameter variable and LP data variable. A setup example is shown below. Array No.=0, tag No.=FIC100 are assumed for the used adjuster tag. Notation Operand Array Tag symbol LP_P LP_PARA[0] FIC100.TAG[0] LP_D LP_DATA[0] FIC100.CLI The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description MVP REAL R/W MV ramp target value MVK REAL R/W MV ramp increment LP_P (LP_PARA) MVT REAL R/W MV ramp time coefficient LP_D (LP_DATA) SMV BOOL W SEQ-MV intervention status R/W: R=Read only, W=Write only, R/W=Read/Write Chapter 2 LD/FBD Instructions 6F8C1226 652 ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), sets the setup information (MVP, MVK, MVT) of the LP parameter variable specified by LP_P to the value specified with input argument, sets the SMV of LP data variable specified by LP_D to TRUE(ON), and output TRUE(ON) as the result. (Start of Set MV directive) · This instruction provides the setup information (MVP, MVK, MVT) and directive (SMV) to perform ramp MV action, but does not perform the actual ramp MV action. A separate program must be created to perform the ramp MV action. (See program example) · This instruction is used together with the Reset MV (RMV_P) instruction. · The following variables can be specified for the LP data/parameter: Controller Variable Integrated Controller V series L controller LP tag data/parameter variable Unified Controller nv series type2 LP tag data/parameter variable Execution control input Action Output FALSE(OFF) No process FALSE(OFF) TRUE(ON) Starts the Set MV directive of the specified LP variable TRUE(ON) ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series L controller When NAN is input, the result is FALSE(OFF) and NAN input error flag is set to TRUE(ON). When INF is input the result is FALSE(OFF) Unified Controller nv series NAN and INF data are limited by the maximum value. · The following operation is performed when the LP data or LP parameter specification is invalid: Controller Action Integrated Controller V series L controller When variable other than LP tag data/parameter is specified, table operation error is set to TRUE(ON) and the result is FALSE(OFF). Unified Controller nv series When variable other than LP tag data/parameter is specified, error flag and table operation error are set to TRUE(ON) and the result is FALSE(OFF). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 653 ● Program example [LD/FBD language notation] FIC100.MV SET SMV_EXEC SMV_P SIGNAL1 ST E 5 LD SVK 80 LD SVP FIC100. TAG[0] LD LP_P 1 LD SVT FIC100.CLI LD LP_D SMV_REQ Ｐ RMV_P SIGNAL2 ST E FIC100.CLI LD LP_D SMV_REQ Ｎ ＳＭＶ control section Instrumentati on FB section FIC100.MV ST FIC100.PV LD 1 LD 0 LD 0 LD FIC100.MV LD 0 LD FIC100.CLI LD FIC100.SV LD FIC100. TAG[0] LD PID_P PV GAN FFS PID_01 SV FFD TR MVT LP_D LP_P MV ＳＭＶ execution section FIC100.MVE ／ FIC100.CLI ／ FIC100.SMV SMV_EXEC ( ) FIC100.MV LD SMV_EXEC FIC100.MVP LD SEL_REAL G IN0 IN1 DIV_REAL 1000 LD ZF[23] LD FIC100.MVK LD DIV_REAL FIC100.MVT LD MUL_REAL DLM_REAL E IN D SMV_EXEC LD Variables: Vari able Data type Dec. SMV_REQ BOOL VAR SMV_EXEC BOOL VAR SIGNAL1 BOOL VAR SIGNAL2 BOOL VAR PID_01 PID_P VAR DLM_01 DLM_REAL VAR Controller vari ables: Vari able Data type !FIC100 typeLP_PARA_DS !FIC100 typeLP_DATA_DS ZF ARRAY[0..4095] OF REAL In case of L3DS DLM_01 OUT Chapter 2 LD/FBD Instructions 6F8C1226 654 [ST language notation] (* SMV control section *) SIGNAL1 := SMV_P( SMV_REQ, 80, 5, 1, FIC100.TAG[0], FIL100.CLI); SIGNAL2 := RMV_P( SMV_REQ, FIL100.CLI); *Positive transition-sensing contact (SMV_REQ) and negative transition-sensing contact (SMV_REQ) do not perform the same operation as LD/FBD because they are not supported by the ST language. (* Instrumentation FB section *) PID_01( FIC100.SV, FIC100.PV, 1, 0, 0, FIC100.MV, 0, FIC100.CLI, FIC100.TAG[0]); FIC100.MV := PID_01.MV; (* SMV execution section *) SMV_EXEC := NOT(FIC100.MVE) AND NOT(FIC100.CLI) AND FIC100.SMV; Z2 := SEL_REAL(SMV_EXEC, FIC100.MV, FIC100.MVP); Z3 := ZF[23] / 1000 * FIC100.MVK / FIC100.MVT; DLM_01(SMV_EXEC, Z2, Z3); FIC100.MV := DLM_01.OUT; · SMV control section At the rise of SMV request (SMV_REQ), requests Set MV directive (target value: 80, tilt: 5/s) to the adjuster tag (FIC100). At the fall of SMV, resets the Set MV directive. · Instrumentation FB section Executes current output PID against the adjuster tag (FIC100). · SMV execution section When the adjuster tag (FIC100) Set MV condition is satisfied (MVE=FALSE and CLI=FALSE and SMV=TRUE), changes MV according to the requested content (MVP, MVK, MVT). When the Set MV condition is not satisfied, MV holds the previous value. 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 655 Reset MV Tag Operation Reset MV LD/FBD language notation Execution control input Output RMV_P E LP_D LP data variable EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := RMV_P( E, LP_D ); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input Input LP_D PTR — LP data variable Output — BOOL — Output A pointer to tag table is placed in LP data variable. A setup example is shown below. Array No.=0, tag No.=FIC100 are assumed for the used adjuster tag. Notation Operand Array Tag symbol LP_D LP_DATA[0] FIC100.CLI The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description LP_D (LP_DATA) SMV BOOL W SEQ-MV intervention status R/W: R=Read only, W=Write only, R/W=Read/Write ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), the SMV of the LP data variable specified with LP_D is reset to FALSE(OFF) and TRUE(ON) is output as the result. (Resetting Set MV directive). · This instruction is used together with the Set MV (SMV_P) instruction. Chapter 2 LD/FBD Instructions 6F8C1226 656 · The following variables can be specified for the LP data: Controller Variable Integrated Controller V series L controller LP tag data variable Unified Controller nv series type2 LP tag data variable Execution control input Action Output FALSE(OFF) No process FALSE(OFF) TRUE(ON) Resets the Set MV directive of the specified LP variable TRUE(ON) ● Program example Refer to the program example of the Set MV (SMV_P) instruction. ● Error information · The following operation is performed when invalid variable is specified for the LP data: Controller Action Integrated Controller V series L controller When variable other than LP tag data is specified table operation error is set to TRUE(ON) and the result is FALSE(OFF). Unified Controller nv series When variable other than LP tag data is specified error flag and table operation error are set to TRUE(ON) and the result is FALSE(OFF). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 657 Shut CV Tag Operation Shut CV LD/FBD language notation Execution control input Output SCV_P E MOD MV LP_P LP_D MV value Mode LP parameter variable LP data variable EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := SCV_P( E, MOD, MV, LP_P, LP_D ); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input MOD UINT ○ Mode (0:M,1:A,2:C,3:RM) MV REAL ○ MV value[%] LP_P PTR — LP parameter variable Input LP_D PTR — LP data variable Output — BOOL — Output Pointers to tag table are placed in LP parameter variable and LP data variable. A setup example is shown below. Array No.=0, tag No.=FIC100 are assumed for the used adjuster tag. Notation Operand Array Tag symbol LP_P LP_PARA[0] FIC100.TAG[0] LP_D LP_DATA[0] FIC100.CLI The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description MVP REAL R/W MV ramp target value MVK REAL R/W MV ramp increment LP_P (LP_PARA) MVT REAL R/W MV ramp time coefficient LP_D (LP_DATA) SMV BOOL W SEQ-MV intervention status R/W: R=Read only, W=Write only, R/W=Read/Write Chapter 2 LD/FBD Instructions 6F8C1226 658 ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), the MV value is set immediately to the specified value and the mode is set to the specified mode. Sets setup information of the LP parameter variable specified with LP_P to the value specified with the input argument (MVP=input argument MV, MVK=2000, MVT=1), sets the SMV of LP data variable specified by LP_D to TRUE(ON), sets the mode to the mode specified with the input argument, and outputs TRUE(ON) as the result. (Start of Set MV directive, the actual action is step action (change immediately to specified MV value) because the tilt is set large). · This instruction provides the setup information (MVP, MVK, MVT) and directive (SMV) to perform ramp MV action, but does not perform the actual ramp MV action. A separate program must be created to perform the ramp MV action (See program example). · This instruction is used together with the Reset MV (RMV_P) instruction. · The following variables can be specified for the LP data/parameter. Controller Variable Integrated Controller V series L controller LP tag data/parameter variable Unified Controller nv series type2 LP tag data/parameter variable Execution control input Action Output FALSE(OFF) No process FALSE(OFF) TRUE(ON) Starts the Set MV directive of the specified LP variable TRUE(ON) ● Error information · The following operation is performed when the input data type is REAL: Controller Action Integrated Controller V series L controller When NAN is input, the result is FALSE(OFF) and NAN input error flag is set to TRUE(ON). When INF is input the result is FALSE(OFF). Unified Controller nv series NAN and INF data are limited by the maximum value. · The following operation is performed when the LP data or LP parameter specification is invalid: Controller Action Integrated Controller V series L controller When variable other than LP tag data/parameter is specified, table operation error is set to TRUE(ON) and the result is FALSE(OFF). Unified Controller nv series When variable other than LP tag data/parameter is specified, error flag and table operation error are set to TRUE(ON) and the result is FALSE(OFF). · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 659 ● Program example [LD/FBD language notation] FIC100.MV SET SCV_EXEC SCV_P SIGNAL1 ST E 10 LD MV 0 LD MOD FIC100. TAG[0] LD LP_P FIC100.CLI LD LP_D SCV_REQ Ｐ RMV_P SIGNAL2 ST E FIC100.CLI LD LP_D SCV_REQ Ｎ Ｓ Ｃ Ｖ control i Instrumentati on FB section FIC100.MV ST FIC100.PV LD 1 LD 0 LD 0 LD FIC100.MV LD 0 LD FIC100.CLI LD FIC100.SV LD FIC100. TAG[0] LD PID_P PV GAN FFS PID_01 SV FFD TR MVT LP_D LP_P MV ＳCＶ execution section FIC100.MVE ／ FIC100.CLI ／ FIC100.SMV SCV_EXEC ( ) FIC100.MV LD SCV_EXEC FIC100.MVP LD SEL_REAL G IN0 IN1 DIV_REAL 1000 LD ZF[23] LD FIC100.MVK LD DIV_REAL FIC100.MVT LD MUL_REAL DLM_REAL E IN D SCV_EXEC LD Variabl es: Variable Data type Dec. SCV _REQ BOOL VAR SCV_EXEC BOOL VAR SIGNAL1 BOOL VAR SIGNAL2 BOOL VAR PID_01 PID_P VAR DLM_01 DLM_REAL VAR Control ler variables: Variable Data type !FIC100 typeLP_PARA_DS !FIC100 typeLP_DATA_DS ZF ARRAY[0..4095] OF REAL In case of L3DS DLM_01 OUT Chapter 2 LD/FBD Instructions 6F8C1226 660 [ST language notation] (* SCV control section *) SIGNAL1 := SCV_P( SCV_REQ, 0, 10, FIC100.TAG[0], FIL100.CLI); SIGNAL2 := RMV_P( SCV_REQ, FIL100.CLI); *Positive transition—sensing contact (SCV_REQ) and negative transition—sensing contact (SCV_REQ) do not perform the same operation as LD/FBD because they are not supported by the ST language. (* Instrumentation FB section *) PID_01( FIC100.SV, FIC100.PV, 1, 0, 0, FIC100.MV, 0, FIC100.CLI, FIC100.TAG[0]); FIC100.MV := PID_01.MV; (* SCV execution section *) SCV_EXEC := NOT(FIC100.MVE) AND NOT(FIC100.CLI) AND FIC100.SMV; Z2 := SEL_REAL(SCV_EXEC, FIC100.MV, FIC100.MVP); Z3 := ZF[23] / 1000 * FIC100.MVK / FIC100.MVT; DLM_01(SCV_EXEC, Z2, Z3); FIC100.MV := DLM_01.OUT; · SCV control section At the rise of SCV request (SCV_REQ), requests Set MV directive (MV value:10) to the adjuster tag (FIC 100) and sets the mode to M. At the fall of SCV, resets the Set MV directive. · Instrumentation FB section Executes current output PID against the adjuster tag (FIC100). · SCV execution section When the adjuster tag (FIC100) Set MV condition is satisfied (MVE=FALSE and CLI=FALSE and SMV=TRUE), changes MV according to the requested content (MVP, MVK, MVT) (resulting in MV=10 immediately after the rise of SCV_REQ). When the Set MV condition is not satisfied, MV holds the previous value. 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 661 Push Button ON Tag Operation Push Button ON LD/FBD language notation Executi on control i nput Output PB_P E BNO PB_P PB_D Mode PB parameter variable PB data variable EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := PB_P( E, BNO, PB_P, PB_D ); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input BNO UINT ○ Push button No. (1 to 8) PB_P PTR — PB parameter variable Input PB_D PTR — PB data variable Output — BOOL — Output Pointers to tag table are placed in PB parameter variable and PB data variable. A setup example is shown below. Array No.=0, tag No.=FIC100 are assumed for the used push button tag. Notation Operand Array Tag symbol PB_P PB_PARA[0] XV100.TAG[0] PB_D PB_DATA[0] XV100.ASA The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description PB_P (PB_PARA) MODS UINT R Mode usage setting MODE UINT R Mode (0:M, 1:A, 2:C, 3:RM) PB_D (PB_DATA) RFO[n] BOOL W Button ON request (n=0: button 1 to 7: button 8) R/W: R=Read only, W=Write only, R/W=Read/Write Chapter 2 LD/FBD Instructions 6F8C1226 662 ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), sets the specified push button ON. · When the button manipulation enable condition (PB_P.MODS="Not used" or (PB_P.MODS="Use" and PB_D.MODE=A mode)) is satisfied, sets the corresponding bit of the RFO of the PB data variable specified with PB_D to TRUE(ON) and outputs TRUE(ON) as the result. (Button ON directive). · This instruction sets the button ON (RFO). The content of RFO is reflected in FO by standard output process. Therefore, the result of this instruction is not reflected when FO is accessed immediately after executing this instruction (in that control cycle). The reflected result can be accessed on the next cycle. · The following variables can be specified for the PB data/parameter: Controller Variable Integrated Controller V series L controller PB tag data/parameter variable Unified Controller nv series type2 PB tag data/parameter variable Execution control input Action Output FALSE(OFF) No process FALSE(OFF) TRUE(ON) Executes button ON directive of the specified PB variable TRUE(ON) ● Program example [LD/FBD language notation] PB_P SIGNAL1 ST E 2 LD BNO XV100. TAG[0] LD PB_P XV100.ASA LD PB_D PB_REQ Ｐ Variabl es: Variabl e Data type Dec. PB_REQ BOOL VAR SIGNAL1 BOOL VAR Control ler variables: Variabl e Data type !XV100 typePB_PARA_DS !XV100 typePB_DATA_DS In case of L3DS [ST language notation] SIGNAL1 := PB_P( PB_REQ, 2, XV100.TAG[0], XV100.ASA); · At the rise of PB request (PB_REQ), issues a button 2ON directive for the push button tag (XV100). 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 663 ● Error information · The following operation is performed when invalid variable is specified for the PB data and PB parameter: Controller Action Integrated Controller V series L controller When variable other than PB tag data/parameter is specified, table operation error is set to TRUE(ON) and the result is FALSE(OFF). Unified Controller nv series When variable other than PB tag data/parameter is specified, error flag and table operation error are set to TRUE(ON) and the result is FALSE(OFF). · If the push button On (BNO) is out of range (not 1 to 8), the instruction is treated as no process. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 664 Push Button Lock Tag Operation Push Button Lock LD/FBD language notation Execution control input Output LB_P E BNO PB_D Mode PB data vari able EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := LB_P( E, BNO, PB_D ); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input BNO UINT ○ Push button No. (0: Reset, 1 to 8: button No.) Input PB_D PTR — PB data variable Output — BOOL — Output A pointer to tag table is placed in PB data variable. A setup example is shown below. Array No.=0, tag No.=FIC100 are assumed for the used push button tag. Notation Operand Array Tag symbol PB_D PB_DATA[0] XV100.ASA The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description PB_D (PB_DATA) IFO[n] BOOL W Button lock request (n=0: button 1 to 7: button 8) (corresponding button locked when 1, unlocked when all bits are 0) R/W: R=Read only, W=Write only, R/W=Read/Write ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), the specified push button is locked. When the push button No. (BNO) is between 1 and 8, the corresponding button is locked. If the push button No. is 0, the button is unlocked. Sets the corresponding bit of the IFO of the PB data variable specified by PB_D to TRUE(ON) (or resets all bits to FALSE(OFF)) and outputs TRUE(ON) as the result (Button lock directive). 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 665 · This instruction locks the button (IFO). The content of IFO is reflected in FO by standard output process. Therefore, the result of this instruction is not reflected when FO is accessed immediately after executing this instruction (in that control cycle). The reflected result can be accessed on the next cycle. · The following parameters can be specified for the PB data: Controller Variable Integrated Controller V series L controller PB tag data variable Unified Controller nv series type2 PB tag data variable Execution control input Action Output FALSE(OFF) No process FALSE(OFF) TRUE(ON) Executes button lock directive of the specified PB variable TRUE(ON) ● Program example [LD/FBD language notation] LB_P SIGNAL1 ST E 2 LD BNO XV100.ASA LD PB_D LB_REQ P Variables: Variable Data type Dec. LB_REQ BOOL VAR SIGNAL1 BOOL VAR SIGNAL2 BOOL VAR Controller variables: Variable Data type !XV100 typePB_PARA_DS !XV100 typePB_DATA_DS In case of L3DS LB_P SIGNAL2 ST E 0 LD BNO XV100.ASA LD PB_D LB_REQ N [ST language notation] SIGNAL1 := LB_P( LB_REQ, 2, XV100.ASA); SIGNAL2 := LB_P( LB_REQ, 0, XV100.ASA); · At the rise of LB request (LB_REQ), issues a button 2 lock directive for the push button tag (XV100). At the fall of LB request, unlocks the lock. ● Error information · The following operation is performed when invalid variable is specified for the PB data: Controller Action Integrated Controller V series L controller When variable other than PB tag data is specified, table operation error is set to TRUE(ON) and the result is FALSE(OFF). Unified Controller nv series When variable other than PB tag data is specified, error flag and table operation error are set to TRUE(ON) and the result is FALSE(OFF). · If the push button on (BNO) is out of range (not 0 to 8), the instruction is treated as no process. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. Chapter 2 LD/FBD Instructions 6F8C1226 666 Action Timer Tag Operation Action Timer LD/FBD language notation Execution control input Output ACT_P E STATE T_D Directive to timer T data variable EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := ACT_P( E, STATE, T_D ); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input STATE UINT ○ Directive to timer (0: Start/1: Stop/2: Reset) Input T_D PTR — T data variable Output — BOOL — Output A pointer to tag table is placed in T data variable. A setup example is shown below. The timer tag to be used will be array No.=0. T_DATA[0] The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description STAT BOOL W Start STOP BOOL W Stop T_D (T_DATA) RST BOOL W Reset R/W: R=Read only, W=Write only, R/W=Read/Write The following symbols can be accessed to check the execution status of the timer tag: Operand Symbol Type R/W Description T_PARA SET INT R/W Set value (target value) VAL INT R/W Clock value (current value) STAT BOOL R Start STOP BOOL R Stop RST BOOL R Reset T_DATA UP BOOL R Timeout R/W: R=Read only, W=Write only, R/W=Read/Write 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 667 For the timer tag, the unit of SET and VAL is different between the first half and second half of the array. Array No. Unit Clock range Accuracy (error) 0 to 255 0.1 s 0.0[s] to 3276.7[s] 0.1 [s] max. or main scan cycle (whichever is greater) 256 to 511 0.1 min 0.0[min] to 3276.7[min] (0.0[s] to 196602[s]) 0.1 [min] max.(6[s]) or main scan cycle (whichever is greater) ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), the specified timer tag is activated. Manipulates the STAT, STOP, RST of the T data variable specified by T_D and outputs ON as the result (timer manipulation directive). The relationships between the directive (STATE) to the timer and STAT, STOP, RST are as shown below and either STAT, STOP, or RST is set to ON. Manipulation Directive to timer STATE STAT STOP RST 0：Start ON OFF OFF 1：Stop OFF ON OFF 2：Reset OFF OFF ON · When the clock value (VAL) of the timer tag reaches the set value (SET), judgment can be made with UP status (UP). · When the set value (SET) of the timer tag is set to "0", UP status becomes ON regardless of the timer operation status. Even when the clock value (VAL) of the timer tag reaches the set value (SET), clocking is continued up to the maximum value (32767). · The timer operates only in the increasing direction. · The following variables can be specified for the T data: Controller Variable Integrated Controller V series L controller T tag data variable Unified Controller nv series type2 T tag data variable Execution control input Action Output FALSE(OFF) No process FALSE(OFF) TRUE(ON) Executes timer manipulation directive of the specified T variable TRUE(ON) Chapter 2 LD/FBD Instructions 6F8C1226 668 ● Timing chart T_DATA[nA].VAL Timer maximum(32767) Timer initial value (0) T_DATA[n].STAT T_DATA[n].STOP T_DATA[n].RST T_DATA[n].UP t T_PARA[n].SET Start Stop Reset Start Reset Start ● Error information · If the T data specification is incorrect (such as specifying variable other than T tag data), the table operation error is set to TRUE(ON) and the instruction itself is treated as no process. · The following operation is performed when invalid variable is specified for the T data: Controller Action Integrated Controller V series L controller When variable other than T tag data is specified, table operation error is set to TRUE(ON) and the result is FALSE(OFF). Unified Controller nv series When variable other than T tag data is specified, error flag and table operation error are set to TRUE(ON) and the result is FALSE(OFF). · If the directive to the timer (STATE) is out of range (not 0 to 2), the instruction is treated as no process. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. ● Notes · This instruction executes a timer manipulation directive (STAT, STOP, RST). The timer tag clocking (updating current value, timeout judgment) is synchronized with the main scan process and is performed before program execution. Therefore, the result of this instruction is not reflected when UP status is accessed immediately after executing this instruction (in that control cycle). The reflected result can be accessed on the next cycle. Also, when using this instruction in a high-speed scan process, caution is necessary because the actual timer tag clocking is synchronized with the scan process. 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 669 · The timer accuracy (tolerance) is affected by the scan process cycle because the timer clocking is synchronized with the main scan process. At maximum, the offset is equal to the main scan process cycle. · If this instruction is executed for the same timer tag more than once in the same process cycle, the instruction (directive) executed last is effective and other instructions are not reflected (either start, stop, or reset action per process cycle). · Only the timer tag (T_PARA(DATA)) can be used with this instruction. Clock or count down (TC_PARA(DATA)) cannot be used. ● Program example [LD/FBD language notation] ACT_P SIGNAL1 ST E 0 LD STATE T_DATA[0] LD T_D STAT_REQ Ｐ Variables: Variable Data type Dec. STAT_REQ BOOL VAR STOP_REQ BOOL VAR RST_REQ BOOL VAR SIGNAL1 BOOL VAR SIGNAL2 BOOL VAR SIGNAL3 BOOL VAR Controller variables: Variable Data type T_PARA ARRAY[0..511] OF typeT_PARA_DS T_DATA ARRAY[0..511] OF typeT_DATA_DS In case of L3DS ACT_P SIGNAL2 ST E 1 LD STATE T_DATA[0] LD T_D STOP_REQ Ｐ ACT_P SIGNAL3 ST E 2 LD STATE T_DATA[0] LD T_D RST_REQ Ｐ T_DATA[0].UP UP time process [ST language notation] SIGNAL1 := ACT_P( STAT_REQ, 0, T_DATA[0]); SIGNAL2 := ACT_P( STOP_REQ, 1, T_DATA[0]); SIGNAL3 := ACT_P( RST_REQ, 2, T_DATA[0]); · At the rise of start request (STAT_REQ), issues a start directive to the timer tag (T_DATA[0]). · At the rise of stop request (STOP_REQ), issues a stop directive to the timer tag (T_DATA[0]). · At the rise of reset request (RST_REQ), issues a reset directive to the timer tag (T_DATA[0]). · At time-up (T_DATA[0].UP=ON), executes the UP time process. Chapter 2 LD/FBD Instructions 6F8C1226 670 Action Counter Tag Operation Action Counter LD/FBD language notation Execution control i Output ACC_P E STATE C_D Directive to counter C data variable EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := ACC_P( E, STATE, C_D ); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input STATE UINT ○ Directive to counter 0: Increment, 1: Decrement, 2: Reset Input C_D PTR — C data variable Output — BOOL — Output A pointer to tag table is placed in C data variable. A setup example is shown below. The timer tag to be used will be array No.=0. C_DATA[0] The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description INC BOOL W Increment DEC BOOL W Decrement C_D (C_DATA) RST BOOL W Reset R/W: R=Read only, W=Write only, R/W=Read/Write The following symbols can be accessed to check the execution status of the counter tag: Operand Symbol Type R/W Description C_PARA SET INT R/W Set value (target value) VAL INT R/W Clock value (current value) STAT BOOL R Start STOP BOOL R Stop RST BOOL R Reset UP BOOL R Count up C_DATA DOWN BOOL R Count down R/W: R=Read only, W=Write only, R/W=Read/Write 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 671 ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), the specified counter tag is activated. Manipulates the INC, DEC, RST of the C data variable specified by C_D and outputs TRUE(ON) as the result (timer manipulation directive). The relationships between the directive (STATE) to the counter and INC, DEC, RST are as shown below and either INC, DEC, or RST is set to ON. Manipulation Directive to counter STATE INC DEC RST 0:Increment ON OFF OFF 1:Decrement OFF ON OFF 2:Reset OFF OFF ON · The UP status (UP) and DOWN status (DOWN) operate (judged) as follows according to the relationship between the current value (VAL) and set value (SET) of the counter tag. Relationship between current value and set value UP DOWN Current value ≥ Set value ON OFF Current value ≤ -Set value OFF ON Current value = Set value = 0 ON ON · Even when the current value (VAL) reaches the set value (SET), clocking is continued up to the maximum value (32767) or minimum value (-32768). · The counter is incremented by Increment (INC) and decremented by Decrement (DEC). · The following variables can be specified for the C data: Controller Variable Integrated Controller V series L controller C tag data variable Unified Controlle nv series type2 C tag data variable Execution control input Action Output FALSE(OFF) No process FALSE(OFF) TRUE(ON) Executes counter manipulation directive of the specified C variable TRUE(ON) Chapter 2 LD/FBD Instructions 6F8C1226 672 ● Timing chart Counter maximum(32767) Counter initial value(0) -C_PARA[n].SET C_DATA[n].UP C_DATA[n].DOWN t Counter minimum(-32768) C_PARA[n].SET C_DATA[n].VAL Increment Decrement Reset Decrement Set value=0 Reset Increment ● Error information · The following operation is performed when invalid variable is specified for the C data: Controller Action Integrated Controller V series L controller When variable other than C tag data/parameter is specified, table operation error is set to TRUE(ON) and the result is FALSE(OFF). Unified Controller nv series When variable other than C tag data/parameter is specified, error flag and table operation error are set to TRUE(ON) and the result is FALSE(OFF). · If the directive (STATE) to the counter is out of range (not 0 to 2), the instruction is treated as no process. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. ● Notes · This instruction executes a counter manipulation directive (INC, DEC, RST). The updating of the counter tag (current value count, up judgment) is synchronized with the main scan process and is performed before program execution. Therefore, the result of this instruction is not reflected when UP status is accessed immediately after executing this instruction (in that control cycle). The reflected result can be accessed on the next cycle. Also, when using this instruction in a high-speed scan process, caution is necessary because the actual counter tag update is synchronized with the scan process. · If this instruction is executed for the same counter tag more than once in the same process cycle, the instruction (directive) executed last is effective and other instructions are not reflected (only 1 count changes per process cycle). · Only the counter tag (C_PARA(DATA)) can be used with this instruction. Clock or count down (TC_PARA(DATA)) cannot be used. 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 673 ● Program example [LD/FBD language notation] ACC_P SIGNAL1 ST E 0 LD STAT E C? DATA[0] LD C_D INC_REQ P Variables: Variable Data type Dec. INC_REQ BOOL VAR DEC_REQ BOOL VAR RST_REQ BOOL VAR SIGNAL1 BOOL VAR SIGNAL2 BOOL VAR SIGNAL3 BOOL VAR Controller variables: Variable Data type C_PARA ARRAY[0..511] OF typeC_PARA_DS C_DATA ARRAY[0..511] OF typeC_DATA_DS In case of L3DS ACC_P SIGNAL2 ST E 1 LD STAT E C? DATA[0] LD C_D DEC_REQ P ACC_P SIGNAL3 ST E 2 LD STAT E C? DATA[0] LD C_D RST_REQ P C_DATA[0].UP UP time process DOWN time process C_DATA[0].DOWN [ST language notation] SIGNAL1 := ACC_P( INC_REQ, 0, C_DATA[0]); SIGNAL2 := ACC_P( DEC_REQ, 1, C_DATA[0]); SIGNAL3 := ACC_P( RST_REQ, 2, C_DATA[0]); · At the rise of increment request (INC_REQ), issues an increment directive to the counter tag (C_DATA[0]). At the rise of decrement request (DEC_REQ), issues a decrement directive to the counter tag (C_DATA[0]). At the rise of reset request (RST_REQ), issues a reset directive to the counter tag (C_DATA[0]). · At count up (C_DATA[0].UP=ON), executes the UP time process. · At count down (C_DATA[0].DOWN=ON), executes the DOWN time process. Chapter 2 LD/FBD Instructions 6F8C1226 674 Self Step Jump Tag Operation Self Step Jump LD/FBD language notation Execution control input Output SJ_P E STEP Jump destination step EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := SJ_P( E, STEP ); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input Input STEP PTR — Jump destination step instance Output — BOOL — Output ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), the step activation location is changed and TRUE(ON) is output as the result. Deactivates the step to which this instruction is connected and activates the step specified by jump destination step (STEP). Execution control input Action Output FALSE(OFF) No process FALSE(OFF) TRUE(ON) Changes the activation location to the specified step. TRUE(ON) ● Error information · If a variable other than a step is specified for the jump destination step (STEP) or if the connected destination of the execution control input (E) of this instruction is not a step type instruction (Step, Answer Step, Phase End Step), boundary error is set to TRUE(ON) and this instruction is treated as no process. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 675 ● Program example [LD/FBD language notation] SJ_P SIGNAL1 ST E PHASE1 LD STEP CONTINUE Variables: Variable Data type Dec. CONTINUE BOOL VAR T1 BOOL VAR T2 BOOL VAR T3 BOOL VAR T4 BOOL VAR SIGNAL1 BOOL VAR Controller variables: Variable Data type !SEQ001 typeSQ_PARA_DS !SEQ001 typeSQ_DATA_DS In case of L3DS T1 INI SEQ001 SEQ T2 1 PHASE1 Time#10s T3 2 PHASE2 Time#10s T4 S1 [ST language notation] SIGNAL1 := SJ_P( CONTINUE, PHASE1); · If the PHASE 1, 2 repeat condition (CONTINUE) is TRUE(ON), self step jump (SJ_P) occurs and the active location changes from S1 to PHASE1 when execution of PHASE1 and PHASE2 completes and S1 becomes active (repeats execution of PHASE1 and PHASE2). · When the repeat condition (CONTINUE) is reset to FALSE(OFF), self step jump is not performed when S1 becomes active and continues to the next step when T4 is set to TRUE(ON). ● Restriction · This instruction cannot be connected to non-SFC network (normal LD circuit). If it is connected to normal LD circuit, unrelated step instruction (step instruction just before the SJ_P instruction in the execution sequence) will be deactivated or a boundary error may occur. A BOOL type LD/FBD circuit may be inserted between the Step instruction (or Answer Step instruction, Phase End instruction) and SJ_P instruction. SEQ instruction to which SFC network is connected T12 S11 S12 SJ_P SIGNAL1 ST E S11 LD STEP Enabled Disabled TON IN Time#10s LD STEP Q TON_1 COND1 SJ_P SIGNAL2 ST E S11 LD STEP Chapter 2 LD/FBD Instructions 6F8C1226 676 · A variable other than a step name cannot be specified as the jump destination step (STEP) of a SJ_P instruction. If a variable other than a step name is specified, a boundary error may occur and SJ_P instruction is treated as no process. · Only the inside of the level (operation and phase) to which the SJ_P instruction is connected to may be specified. Jump to other level is not possible. Operation T1 INI SEQ001 SEQ T2 1 PHASE1 Time#10s T3 2 PHASE2 Time#10s T4 S1 SJ_P SIGNAL1 ST E PHASE1 LD STEP COND1 T4 S2 SJ_P SIGNAL2 ST E P23 LD STEP COND2 Phase 1 T11 P11 T12 P12 T13 P13 P14 PhaseEnd SJ_P SIGNAL3 ST E P11 LD STEP COND3 Enabled Phase 2 T21 P21 T22 P22 T23 P23 P24 PhaseEnd SJ_P SIGNAL4 ST E P11 LD STEP COND4 Disabled Enabled Disabled · In the case of parallel processing, jump to other parallel process, outside the parallel processes, or into the parallel process is not possible. T12 S11 S12 SJ_P SIGNAL1 ST E S13 LD STEP COND1 Disabled T13 SJ_P SIGNAL2 ST E S13 LD STEP COND2 S13 S14 Enabled 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 677 T12 S11 S12 SJ_P SIGNAL1 ST E S13 LD STEP COND1 Disabled T13 S13 S14 S1 T1 T2 S2 SJ_P SIGNAL1 ST E S14 LD STEP COND1 Disabled · The SJ_P instruction cannot connect to a Phase Step instruction. Connection is allowed to Step instruction, Answer Step instruction, and Phase End Step instruction. If a SJ_P instruction is connected to a Phase Step instruction, the Phase Step instruction itself may be inactive, but the inside of the phase is not inactive. S11 T12 Enabled Disabled 1 PHASE1 Time#10s T13 S13 SJ_P SIGNAL1 ST E S11 LD STEP COND1 SJ_P SIGNAL2 ST E S12 LD STEP COND2 T12 S12 Chapter 2 LD/FBD Instructions 6F8C1226 678 Reset Jump Tag Operation Reset Jump LD/FBD language notation Execution control input Output RJ_P E SQ_P STEP SQ parameter variable Jump destination step EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := RJ_P( E, SQ_P, STEP ); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input SQ_P PTR — SQ parameter variable Input STEP PTR — Jump destination step instance Output — BOOL — Output A pointer to tag table is placed in SQ parameter variable. A setup example is shown below. Array No.=0, tag No.=SEQ100 are assumed for the used sequence tag. Notation Operand Array Tag symbol SQ_P SQ_PARA[0] SEQ100.TAG[0] The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description ALIT[0..31] BOOL ARRAY W Alarm bit (all bits are cleared when RJ is executed) PHNO[0..31] BOOL ARRAY W Active phase map (all bits are cleared when RJ is executed) ALNO[0..31] BOOL ARRAY W Alarm phase map (all bits are cleared when RJ is executed) CNNO[0..31] BOOL ARRAY W Confirm wait phase map (all bits are cleared when RJ is executed) Referenced by SQ_P (SQ_DATA) APNO UINT W Active phase no. setting (cleared when RJ is executed) R/W: R=Read only, W=Write only, R/W=Read/Write 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 679 ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), resets the sequence tag information specified by the SQ parameter variable (SQ_P), activates the step specified by jump destination step (STEP, and outputs TRUE(ON) as the result. Execution control input Action Output FALSE(OFF) No process FALSE(OFF) TRUE(ON) Changes the activation location to the specified step. TRUE(ON) ● Error information · If the jump destination step (STEP) is specified incorrectly, boundary error is set to TRUE(ON) and the instruction is treated as no process. · When EN is used, ENO output is reset to FALSE(OFF) when the above error occurs. ● Program example [LD/FBD language notation] Variables: Variable Data type Dec. RJ_REQ BOOL VAR T1 BOOL VAR T2 BOOL VAR T3 BOOL VAR T4 BOOL VAR SIGNAL1 BOOL VAR Controller variables: Variable Data type !SEQ001 typeSQ_PARA_DS !SEQ001 typeSQ_DATA_DS In case of L3DS T1 INI SEQ001 SEQ T2 1 PHASE1 Time#10s T3 2 PHASE2 Time#10s T4 S1 RJ_P SIGNAL1 ST E SEQ001 LD SQ_P INI LD STEP RJ_REQ PHASE1 [ST language notation] SIGNAL1 := RJ_P( RJ_REQ, SEQ001, INI); · When the reset jump condition (RJ_REQ) is OFF, PHASE1, PHASE2, and S1 are repeatedly executed in sequence. · When the reset jump condition (RJ_REQ) is TRUE(ON), all active information and alarm information of sequence tag (SEQ001) are reset and INI is activated regardless of the current active location. Chapter 2 LD/FBD Instructions 6F8C1226 680 ● Restriction · The sequence that may be specified with the RJ_P instruction can only specify within the same program. Specification from other task or user defined function block and phase level is not possible (compile error will occur). To specify from another task (program), use a global variable. Example that will result in compile error: Program(MS_001) Operation T1 INI SEQ001 SEQ T2 1 PHASE1 Time#10s Phase１ T11 P11 T12 P12 T13 P13 P14 PhaseEnd RJ_P SIGNAL2 ST E SEQ001 LD SQ_P INI LD STEP RJ_REQ2 P User FB(USER_FB) RJ_P SIGNAL4 ST E SEQ001 LD SQ_P INI LD STEP RJ_REQ4 P USER_FB FB_1 Program (MS_002) RJ_P SIGNAL1 ST E SEQ001 LD SQ_P INI LD STEP RJ_REQ1 P Normal example (using global variable) Program (MS_001) Operation T1 INI SEQ001 SEQ T2 1 PHASE1 Time#10s User FB(USER_FB) USER_FB FB_1 Program (MS_002) Phase 1 T11 P11 T12 P12 T13 P13 P14 PhaseEnd RJ_REQ2 P Global_RJ ( ) S RJ_REQ1 P Global_RJ ( ) S RJ_P E SEQ001 LD SQ_P INI LD STEP Global_RJ P Global_RJ ( ) R RJ_REQ1 P Global_RJ ( ) S RJ_REQ4 P Global_RJ ( ) S 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 681 · Only operation step can specify RJ_P instruction. Phase step cannot specify RJ_P instruction. If RJ_P is used in a phase, a boundary error will occur and the RJ_P instruction will be treated as no process. Program (MS_001) Operation T1 INI SEQ001 SEQ T2 1 PHASE1 Time#10s T3 2 PHASE2 Time#10s Phase 1 T11 P11 T12 P12 T13 P13 P14 PhaseEnd RJ_P SIGNAL1 ST E SEQ001 LD SQ_P INI LD STEP RJ_REQ1 P RJ_P SIGNAL3 ST E SEQ001 LD SQ_P P11 LD STEP RJ_REQ3 P Normal Boundary error · No variable other than a step name can be specified as the jump destination step (STEP) of a RJ_P instruction. If a variable other than a step name is specified, a boundary error may occur and RJ_P instruction is treated as a no process. · A step in a parallel process cannot be specified as the jump destination step (STEP) of a RJ_P instruction (activation location cannot be changed within a parallel process). If a step in a parallel process is specified, steps are executed in sequence from that location and holds at the end of the parallel process (waiting for other parallel process to end). In such case, the reactivation location must be switched. T12 S11 S12 T13 S13 S14 RJ_P SIGNAL1 ST E SEQ001 LD SQ_P S13 LD STEP RJ_REQ1 P T12 S11 S12 T13 S13 S14 Hold RJ destination cannot be specified. Chapter 2 LD/FBD Instructions 6F8C1226 682 Reset Jump 2 Tag operation Reset Jump LD/FBD language notation Execution control input Output RJ_P2 SQ parameter variable Jump destination phase E SQ_P PHNO EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := RJ_P2 ( E, SQ_P, PHNO ); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input SQ_P PTR — SQ parameter variable Input PHNO UINT ○ Jump destination phase number 1-32 Output — BOOL — Output A pointer to tag table is placed in SQ parameter variable. A setup example is shown below. Array number is 0 and tag number is SEQ 100 for the sequence tag used. Notation operand Array Tag symbol SQ_P SQ_PARA[0] SEQ100.TAG[0] The following tag symbols are referenced by this instruction: Operand Symbol Type R/W Description ALIT[0..31] BOOL ARRAY W Alarm bit (all bits are cleared when RJ is executed) PHNO[0..31] BOOL ARRAY W Active phase map (all bits are cleared when RJ is executed) ALNO[0..31] BOOL ARRAY W Alarm phase map (all bits are cleared when RJ is executed) CNNO[0..31] BOOL ARRAY W Confirm wait phase map (all bits are cleared when RJ is executed) Referenced by SQ_P (SQ_DATA) APNO UINT W Active phase no. setting (cleared when RJ is executed) R/W：R = Read only, W = Write only, R/W = Read/Write ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without performing any operation. · When the execution control input E is TRUE(ON), resets the sequence tag information specified by the SQ parameter variable (SQ_P), activates the step specified by the jump destination phase number (PHNO) and outputs TRUE(ON) as the result. 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 683 Execution control input Action Output FALSE(OFF) No process FALSE(OFF) TRUE(ON) Changes the activation location to the specified step. TRUE(ON) ● Error information · If the sequence parameter variable (SQ_P) is out of the range, the table operation error is set to TRUE(ON) and the instruction is treated as no process. · When a phase number that does not exist in the PHNO argument is specified for STEP, RJ instruction is treated as no process. ● Program example Variable: Variable Data type Dec. RJ_REQ BOOL VAR T1 BOOL VAR T2 BOOL VAR T3 BOOL VAR T4 BOOL VAR SIGNAL1 BOOL VAR Controller variables: Variable Data type !SEQ001 typeSQ_PARA_DS !SEQ001 typeSQ_DATA_DS RJ_P2 SIGNAL1 ST E SEQ001 LD SQ_P ２ LD PHNO RJ_REQ T1 INI SEQ001 SEQ T2 1 PHASE1 Time#10s T3 2 PHASE2 Time#10s T4 S1 PHASE1 MS001 MS010 [ST language notation] SIGNAL1 := RJ_P2( RJ_REQ, SEQ001, 2); [Description of operation] · When the reset jump condition (RJ_REQ) is FALSE(OFF), PHASE1, PHASE2, and S1 are executed repeatedly in sequence. · When the reset jump condition (RJ_REQ) is TRUE(ON), all active information and alarm information of the sequence tag (SEQ001) are reset and PHASE2 is activated regardless of the current active location. ● Restriction · The phase that may be specified by the RJ_P2 instruction is the phase step 2 instruction. Do not specify the normal phase step or the machine may not operate correctly. Chapter 2 LD/FBD Instructions 6F8C1226 684 SFC Initialize Tag operation SFC Initialize LD/FBD language notation Execution control input Complete status INI_STEP Initial step E STEP EN input Edge execution Index modification Modifier ○ ○ — ST language notation Output := INI_STEP( E, STEP ); ● Argument Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input Input STEP PTR — Initial step instance Output — BOOL — Complete status ● Function · When the execution control input E is FALSE(OFF), FALSE(OFF) is output without process. · When the execution control input E is TRUE(ON), all SFC steps including the specified initial step are cleared and the initial step is activated. TRUE(ON) is output as the result. Execution control input Action Output FALSE(OFF) No process FALSE(OFF) TRUE(ON) All SFC steps including the specified initial step are cleared. Initial step is activated. TRUE(ON) ● Note · Be sure to use the initial step name to specify STEP. 2.23 Tag Operation Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 685 ● Program example Variables: Variable Data type Dec. INI_REQ BOOL VAR INI PTR VAR SIGNAL BOOL VAR T1 INI SEQ001 SEQ T2 1 PHASE1 Time#10s T3 2 PHASE2 Time#10s T4 S1 INI_STEP SIGNAL1 ST E INI LD STEP INI_REQ PHASE1 [ST language notation] SIGNAL1 := INI_STEP( INI_REQ, INI); [Description of operation] · When the initial condition (INI_REQ) is FALSE(OFF), PHASE1, PHASE2, and S1 are executed repeatedly in sequence. · When the initial condition (INI_REQ) is TRUE(ON), all SFC steps including the specified initial step are cleared and the initial step is activated regardless of the current active location. ● Error information · Specify the initial step name for STEP, otherwise the machine may not operate correctly. Chapter 2 LD/FBD Instructions 6F8C1226 686 2.24 RAS No. Instruction Remarks 1 Cyclic Trace DATALOGC 2 Calendar Data Acquisition GET_CLND nv dedicated instruction 3 Interlock Diagnosis DIAG_D 4 Interlock Diagnosis with First Fault Diagnosis Permission Input DIAG_D2 2.24 RAS Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 687 Cyclic Trace RAS Cyclic Trace LD/FBD language notation DATALOGC Instance name EN input Edge execution Index modification Modifier — — — ST language notation [Instance name] ( ); ● Instance structure Name Type Description Remarks NAME WORD ARRAY [0 to 24] Trace variable name POINTER DINT Trace variable pointer DATATYPE DINT Trace data type RH DINT Range high limit RL DINT Range low limit EU DINT Unit COMMENT WORD ARRAY [0 to 7] Comment INDEX DINT Link buffer pointer DATA DINT ARRAY [0 to 55] Link buffer NOTINIT DINT Initialization flag Cannot be accessed from the user program. ● Function · A function block to perform cyclic trace that is written within a program. · A single variable can be traced with a single function block description. · Periodically traces static variable and temporary variable, or global variable used within a program (when the cycle time is less than 50ms, the cyclic trace data is lacking by the transmission load). · Specify the task to trace, the trace FB name to use, and variable name from [Product view] - [View] - [Data trace] of the V engineering tool. Refer to the V Engineering Tool User's Guide for details. ● Important · Do not specify direct output variable as the variable name to perform cyclic trace. Correct value cannot be traced. In this case, perform cycle trace specifying a batch output variable rather than a direct output variable. Chapter 2 LD/FBD Instructions 6F8C1226 688 ● Program example [LD/FBD language notation] DATALOGC DATALOGC_1 DATALOGC DATALOGC_2 [ST language notation] DATALOGC_1( ); DATALOGC_2( ); · Performs cyclic trace of two variables VAR_BOOL and VAR_REAL specified from the V engineering tool. [Data log trace screen] The following data log trace screen shows an example of programming two DATALOGC within a program and tracing variables VAR_BOOL and VAR_REAL: 2.24 RAS Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 689 Calendar Data Acquisition RAS Calendar Data Acquisition nv dedicated instruction LD/FBD language notation Execution control input Data storage destination specification GET_CLND E TYPE Calendar data type specification EN input Edge execution Index modification Modifier ○ ○ — ST language notation GET_CLND( E, TYPE, Data storage destination specification); ● Arguments Arg. Operand Type Const. Description Remarks E BOOL ○ Execution control input Input TYPE UINT ○ Calendar data type specification Output — PTR — Data storage destination specification ● Function · When execution control input E is FALSE(OFF), calendar data acquisition is not executed. · When execution control input E is TRUE(ON), calendar data in the format specified with calendar data type specification is obtained, and output to the variable specified with data storage destination. · The calendar data type and calendar format are as follows: Calendar data type Calendar format 1 BCD code 15 8 7 0 0 Year 0 Month 0 Day 0 Hour 0 Minute 0 Second 01 : Year 2001 or later 00 : Year 2097 2 DT type 15 0 Year Day Month TOD type Other than above Invalid 第2 章 LD/FBD 命令語 6F8C1226 690 ● Program example [LD/FBD language notation] REQ BCD_DAT GET_CLND E TYPE 1 Stores calendar data in the BCD data format. [ST language notation] GET_CLND( REQ, 1, BCD_DAT); · When execution control input REQ is TRUE(ON), calendar data in the format specified with calendar data type specification TYPE is obtained, and stored to the specified variable BCD_DAT. ● Error information · No processing is performed unless calendar data type specification TYPE is valid specification. · When EN is used, ENO is reset to FALSE(OFF) when the above error occurs. 2.24 RAS Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 691 Interlock Diagnosis RAS Interlock Diagnosis LD/FBD language notation Interlock circuit input Interlock circuit output DIAG_D Interlock circuit diagnosis permission Interlock circuit screen permission Interlock group number Instance name BI BO ENA DSP GRP EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( BI, ENA, DSP, GRP ); [Variable name]:=[Instance name]. BO; ● Arguments Arg. Operand Type Const. Description Remarks BI BOOL — Interlock circuit input ENA BOOL ○ Interlock circuit diagnosis permission 1 : Permitted, 0 : Prohibited DSP BOOL ○ *1 Interlock circuit screen permission 1 : Permitted, 0 : Prohibited Input GRP UINT ○ *1 Interlock group number 1 to 32 Output BO BOOL — Interlock circuit output *1 : Only constants can be specified. ● Instance structure Name Type Description Remarks BO BOOL Interlock circuit output Can be accessed from the user program. RESERVE Reserved (79W) Cannot be accessed from the user program. ● Function · This function block creates, monitors, and diagnoses the interlock signals of the entire system. It can display the diagnosis result for the interlock signals of the entire system by using the V Engineering Tool's add-in software, "Interlock Diagnosis Package." For details, refer to "Integrated Controller V series Engineering Tool 2 Permissive Fault Diagnosis Package User’s Manual (6F8C1117)." 第2 章 LD/FBD 命令語 6F8C1226 692 · LD circuit that consists of a contact, b contact, contact force, left bus, and horizontal/vertical connection lines is input to interlock circuit input BI. The number of available contacts is 1 to 32. · Only coils (normal coils) can be connected to interlock circuit output BO. · Interlock circuit diagnosis permission ENA can be specified with constants and variables. Interlock diagnosis is performed when ENA is TRUE(ON), or stopped when it is FALSE(OFF). When ENA=FALSE(OFF), the interlock circuit is not disconnected because interlock circuit output BO= interlock circuit input BI. · Interlock circuit screen permission DSP can be specified only with constants. The interlock diagnosis screen is displayed when it is TRUE(ON), or not displayed when it is FALSE(OFF). When the interlock circuit consists of the main circuit and other sub circuits, only relevant interlock signals can be displayed on the interlock diagnosis screen by setting DSP=TRUE(ON) for the main circuit and DSP=FALSE(OFF) for the sub circuits. · Interlock group number GRP is a number for grouping the interlock signals of the entire system by plant monitoring section for efficient diagnosis and monitoring. It can be specified to 1 to 32 using only constants. · Function block DIAG_D can be used only in programs of the POU type (excluding programs within user defined action). Also, DIAG_D is used in conditions where it operates in every cycle in the scan system tasks (mains task (MS), high-speed task (HS), ultra-high speed task (SS)) (e.g. there are cycles not executed due to the IF statement). · The group specified with interlock group number GRP must use the interlock circuit in the same task. ● Restriction · I/O variable, index modification, non-pointer BOOL cannot be specified directly for the variable specified for contacts of the interlock circuit. · Only coils (normal coils) can be connected to interlock circuit output BO. · Interlock group number GRP must use the interlock circuit in the same task. Correct example： Group number is used in MS010, MS100, and MS250. Wrong example： Group number is used in MS010 and HS050. · Function block DIAG_D cannot be used in functions or function blocks for the POU type. · The number of DIAG_D used in one program is 64. 2.24 RAS Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 693 ● Note · Do not combine DIAG_D and DIAG_D2 in the Controller. Use either DIAG_D or DIAG_D2. ● Program example [LD/FBD language notation] DIAG_D BI ENA DSP GRP BO 1 LD X1 X2 X3 X4 X5 1 LD 30 LD Y0 Only normal coil can be connected Interlock circuit DIAG_D_1 [ST language notation] Z1 := X1 AND X2; Z2 := X3 AND NOT(X4); Z3 := ( Z1 OR Z2) AND X5; DIAG_D_1( Z3, 1, 1, 30); Y0 := DIAG_D_1.BO; · Because ENA input is TRUE(ON), the state of interlock circuit input BI is monitored. Interlock circuit output BO outputs the state of interlock circuit input BI as it is. ● Error information · If I/O variable, index modification, or non—pointer BOOL that cannot be specified directly for the variable specified for contacts of the interlock circuit is specified, the monitoring result is not displayed correctly when the state of interlock circuit input BI becomes FALSE(OFF). · If the calendar of the controller is abnormal, the monitoring result cannot be displayed correctly. 第2 章 LD/FBD 命令語 6F8C1226 694 Interlock Diagnosis with First Fault Diagnosis Permission Input RAS Interlock Diagnosis with First Fault Diagnosis Permission Input LD/FBD language notation Interlock circuit input Interlock circuit output DIAG_D2 Interlock circuit diagnosis permission Interlock circuit screen permission Interlock group number Instance name BI BO ENA DSP GRP FFENA Interlock circuit first fault diagnosis permission EN input Edge execution Index modification Modifier — — — ST language notation [Instance name]( BI, ENA, FFENA, DSP, GRP ); [Variable name]:=[Instance name]. BO; ● Arguments Arg. Operand Type Const. Description Remarks BI BOOL — Interlock circuit input ENA BOOL ○ Interlock circuit diagnosis permission 1: Permitted, 0: Prohibited FFENA BOOL ○ Interlock circuit first fault diagnosis permission 1: Permitted, 0: Prohibited DSP BOOL ○ *1 Interlock circuit screen permission 1: Permitted, 0: Prohibited Input GRP UINT ○ Interlock group number 1 to 32 Output BO BOOL — Interlock circuit output *1 : Only constants can be specified. ● Instance structure Name Type Description Remarks BO BOOL Interlock circuit output Can be accessed from the user program. RESERVE Reserved (79W) Cannot be accessed from the user program. ● Function · This function block creates, monitors, and diagnoses the interlock signals of the entire system. It can display the diagnosis result for the interlock signals of the entire system by using the V Engineering Tool's add-in software, "Interlock Diagnosis Package." For details, 2.24 RAS Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 695 refer to "Integrated Controller V series Engineering Tool 2 Permissive Fault Diagnosis Package User’s Manual (6F8C1117)." · LD circuit that consists of a contact, b contact, contact force, left bus, and horizontal/vertical connection lines is input to interlock circuit input BI. The number of available contacts is 1 to 32. · Only coils (normal coils) can be connected to interlock circuit output BO. Interlock circuit diagnosis permission ENA can be specified with constants and variables. Interlock diagnosis is performed when ENA is TRUE(ON), or stopped when it is FALSE(OFF). When ENA is FALSE(OFF), interlock circuit output BO is set to TRUE(ON) by force. Note that this operation differs from interlock diagnosis instruction DIAG_D. Interlock circuit first fault diagnosis permission FFENA can be specified with constants and variables. Interlock diagnosis is performed at all the time when interlock circuit diagnosis permission ENA is TRUE(ON) and FFENA=TRUE(ON). First fault detection is stopped when FFENA is FALSE(OFF). Interlock diagnosis is restarted by setting FFENA to TRUE(ON). · Interlock circuit screen permission DSP can be specified only with constants. The interlock diagnosis screen is displayed when it is TRUE(ON), or not displayed when it is FALSE(OFF). When the interlock circuit consists of the main circuit and other sub circuits, only relevant interlock signals can be displayed on the interlock diagnosis screen by setting DSP=TRUE(ON) for the main circuit and DSP=FALSE(OFF) for the sub circuits. · Interlock group number GRP is a number for grouping the interlock signals of the entire system by plant monitoring section for efficient diagnosis and monitoring. It can be specified by constants (1 to 32) or variables specified by the interlock grouping screen of the interlock diagnosis package (special register – interlock group number). Interlock group number GRP takes in the group number specified by the rise of interlock circuit diagnosis permission ENA and performs interlock diagnosis according to the group number. · DIAG_D2 can be used only in programs of the POU type (excluding programs within user defined action). Also, DIAG_D2 is used in conditions where it operates in every cycle in the scan system tasks (mains task (MS), high-speed task (HS), ultra-high speed task (SS)) (e.g. there are cycles not executed due to the IF statement). · The group specified with interlock group number GRP must use the interlock circuit in the same task.. 第2 章 LD/FBD 命令語 6F8C1226 696 · Interlock circuit diagnosis permission ENA and interlock circuit first fault diagnosis permission FFENA operate as follows. The first fault state is retained by setting FFENA to FALSE(OFF) with the next scan that detects the first fault. ENA FFENA Action FALSE(OFF) * Interlock diagnosis stop FALSE(OFF) First fault diagnosis stop TRUE(ON) TRUE(ON) First fault diagnosis execution ● Restriction · /O variable, index modification, non-pointer BOOL cannot be specified directly for the variable specified for contacts of the interlock circuit. · Only coils (normal coils) can be connected to interlock circuit output BO. · Interlock group number GRP must use the interlock circuit in the same task. Correct example： Group number is used in MS010, MS100, and MS250. Wrong example： Group number is used in MS010 and HS050. · Function block DIAG_D2 cannot be used in functions or function blocks of the POU type. · The number of DIAG_D2 used in one program is 64. · Changing the GRP number is invalid while interlock circuit diagnosis permission ENA is TRUE(ON). ● Note ・ Do not combine DIAG_D and DIAG_D2 in the Controller. Use either DIAG_D or DIAG_D2. 2.24 RAS Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 697 ● Program example [LD/FBD language notation] DIAG_D2 BI ENA FFENA DSP BO 1 LD X1 X2 X3 X4 X5 1 LD 1 LD Y0 Only normal coil can be connected Interlock circuit DIAG_D2_1 GRP 30 LD [ST language notation] Z1 := X1 AND X2; Z2 := X3 AND NOT(X4); Z3 := ( Z1 OR Z2) AND X5; DIAG_D2_1( Z3, 1, 1, 1, 30); Y0 := DIAG_D2_1.BO; · Because ENA input and and FFENA are TRUE(ON), the state of interlock circuit input BI is monitored. When ENA input is TRUE(ON), Interlock circuit output BO outputs the state of interlock circuit input BI as it is. ● Error information · If I/O variable, index modification, or non-pointer BOOL that cannot be specified directly for the variable specified for contacts of the interlock circuit is specified, the monitoring result is not displayed correctly when the state of interlock circuit input BI becomes FALSE(OFF). · If the calendar of the controller is abnormal, the monitoring result cannot be displayed correctly. 第2 章 LD/FBD 命令語 6F8C1226 698 ● Special register interlock group number · Special register-Xnterlock group number is initialized at the Controller startup. · Special register-interlock group numbers are placed as follows by the Controller. · In a duplex system, special register interlock group numbers are not variables for tracking. Do not change the variable value of the special register-interlock group number from the user application program. · Refer to Integrated Controller V series Engineering Tool 2 Permissive Fault Diagnosis Package User’s Manual (6F8C1117) to specify variables for interlock group numbers. Special register word No. Group number Unified type1 Integrated S3 1 166 426 2 167 427 3 168 428 4 169 429 5 170 430 6 171 431 7 172 432 8 173 433 9 174 434 10 175 435 11 176 436 12 177 437 13 178 438 14 179 439 15 180 440 16 181 441 17 182 442 18 183 443 19 184 444 20 185 445 21 186 446 22 187 447 23 188 448 24 189 449 25 190 450 26 191 451 27 192 454 28 193 455 29 194 456 30 195 457 31 196 458 32 197 459 699 Chapter 3 SFC Instructions Chapter 3 SFC Instructions 6F8C1226 700 No. Instruction Remarks 1 Step 2 Initial Step 3 Transition 4 Divergence/Convergence of Sequence 5 Divergence/Convergence of Simultaneous Sequence 6 Link BOOL 7 Action User Defined 8 Sequence *1 9 Phase Step *1 10 Phase End Step *1 11 Answer Step *1 12 Phase step 2 *１ 13 Answer step 2 *１ *1 V-Tool3 and Worksheet Editor does not support these instructions. Ans2 Ph2 N Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 701 Step SFC Step Diagram Step name LD circui t or action EN input Edge execution Index modification Modifier — — — ● Function · Represents the minimum unit of SFC network operation. · When the state of predecessor transition becomes TRUE(ON), the connected steps become active and the ladder circuit or action connected on the right side of the step is executed. · The step state can be determined from the following variables: Step flag: step name .X (TRUE(ON) when step is active, FALSE(OFF) when step is inactive) Step execution duration: step name .T (represents the duration when step is active and is cleared to 0 the first time the step is active) · Steps cannot be placed consecutively. A transition must be placed between steps. · Step is not executed consecutively within the same scan. ● Program example S2 S3 T0 S3.X T1 T2 GE_TIME S2.T T#30s S1 N SIGNAL2 Transition T1 =TRUE(ON) T2 S1.T S1.X T1 S2.X S2.T T0 Scan S1 S3 T0 S3.X T1 T2 GE_TIME S2.T T#30s SIGNAL1 S2 N SIGNAL2 SIGNAL1 Chapter 3 SFC Instructions 6F8C1226 702 · When transition T1 becomes TRUE(ON) while step S1 is active, step S1 becomes inactive and step S2 becomes active. Step S1 remains active until transition T1 becomes TRUE(ON). ● Important · All steps within an SFC network, whether they are active or inactive, are executed during each scan. With LD circuits directly connected in step flag status, active steps are executed ON and inactive steps are executed OFF. Therefore, do not use coils with the same variable name in more than one step. A sample program and its process are shown below: ● When an LD circuit is connected to the step If a coil with the same variable name is used in steps S1 and S3, the BOOL variable SIGNAL1 is set to TRUE(ON) when step S1 is active. Next, the BOOL variable SIGNAL1 becomes FALSE(OFF) because step S3 is inactive. In other words, SIGNAL1=FALSE(OFF) is the final value of this variable. S2 S3 T0 T3 T1 T2 SIGNAL1 S1 SIGNAL1 SIGNAL2 [Step S1=Active: BOOL variable SIGNAL1=TRUE (ON)] [Step S3=Inactive: BOOL variable SIGNAL1=FALSE(OFF)] ● When an action is connected to the step If a BOOL action with the same variable name is used in steps S1 and S3, the connected action is executed because step S1 is active and the BOOL variable SIGNAL1 is set to TRUE(ON). Next, the connected action is not executed because step S3 is inactive. But the action block state (N) is substituted for the BOOL variable and the SIGNAL=FALSE(OFF) is the final value of this variable. N SIGNAL1 S1 S2 S3 T0 T3 T1 T2 SIGNAL2 [Step S1=Active: BOOL variable due to action execution SIGNAL1=TRUE(ON)] [Step S3=Inactive: BOOL variable due to action not executed SIGNAL1=FALSE(OFF)] N SIGNAL1 Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 703 Initial Step SFC Initial Step Diagram Step name LD circuit or action EN input Edge execution Index modification Modifier — — — ● Function · Represents the minimum unit of SFC network operation. · Only during controller cold start, the connected initial step becomes active unconditionally and makes all other steps connected to the same SFC network inactive. Also, the connected ladder circuit and action are executed. · The step state can be determined from the following variables: Step activation flag: step name .X (TRUE(ON) when step is active, FALSE(OFF) when step is inactive) Step duration: step name .T (represents the duration when step is active and is cleared to 0 when the step first becomes active) · One initial step is required in an SFC network. · Initial steps cannot be placed consecutively. A transition must be placed between initial step and other step. · Initial step is not executed consecutively within the same scan. ● Program example S1 T1 INI.X GE_TIME INI.T T#30s INI N SIGNAL2 S1 T1 INI.X GE_TIME INI.T T#30s N SIGNAL2 INI When INI.T≥30s and INI.X=TRUE(ON) <During cold start> · During controller cold start, initial step INI becomes active and other step S1 on the same circuit become inactive. · After initial step INI has been active for 30 seconds, it becomes inactive and step S1 becomes active. Chapter 3 SFC Instructions 6F8C1226 704 Transition SFC Transition Diagram Variable (BOOL) LD circui t or BOOL output FBD circui t EN input Edge execution Index modification Modifier — — — ● Function · Defines the transition condition from step to step. · Transition to the next step is performed when the variable specified for transition is TRUE(ON). · An LD circuit or FBD circuit with BOOL output may be specified on the left connecting side of the transition. The operation result of this connected circuit is assigned to the variable specified with the transition and transition is made to the next step when the operation result is TRUE(ON). · The operation of the network stops when the SFC network ends with the transition. ● Program example S2 S3 T0 S3.X T1 T2 GE_TIME S2.T T#30s SIGNAL1 S1 N SIGNAL2 S1 S3 T0 S3.X T1 T2 GE_TIME S2.T T#30s SIGNAL1 S2 N SIGNAL2 When transition T1=TRUE(ON) · Step S2 becomes active when transition T1 becomes TRUE(ON). Step S1 remains active until transition T1 becomes TRUE(ON). Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 705 S1 S3 T0 S3.X T1 T2 GE_TIME S2.T T#30s SIGNAL1 S2 N SIGNAL2 When S2.T≥30s S1 S2 T0 S3.X T1 T2 S2.T T#30s S3 GE_TIME SIGNAL1 N SIGNAL2 · When step S2 is active, if duration of S2 exceeds 30 seconds, step S2 becomes inactive and step S3 becomes active. Chapter 3 SFC Instructions 6F8C1226 706 Divergence/Convergence of Sequence SFC Divergence/Convergence of Sequence Diagram Variable (BOOL) Variable (BOOL) Variable (BOOL) Variable (BOOL) Variable (BOOL) Variable (BOOL) EN input Edge execution Index modification Modifier — — — ● Function · Selectively executes the SFC flow according to the transition condition placed at the beginning of each divergence of sequence. · Only one circuit is executed with the divergence of sequence. Scan is made from the left transition state and the first branch circuit that satisfies the condition is executed. If more than one transition is satisfied, the priority of transition evaluation is from left to right. · A step must be placed on the predecessor divergence of sequence. · A transaction must be placed on the predecessor divergence of sequence. ● Program example S2 S1 SIGNAL1 S1 S4 S6 S8 S3 S5 S7 Transitions T12 and T13 are both TRUE(ON) T11 T2 T3 T12 T4 T5 T13 T6 T7 T14 T8 · When transitions T12 and T13 both become TRUE(ON) while step S1 is active, step S1 becomes inactive and step S4 becomes active. · The step execution priority for the divergence of sequence is S2 > S4 > S6 > S8. Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 707 Divergence/Convergence of Simultaneous Sequence SFC Divergence/Convergence of Simultaneous Sequence Diagram Variable (BOOL) Variable (BOOL) EN input Edge execution Index modification Modifier — — — ● Function · Simultaneously executes more than one step following divergence of simultaneous sequences. · Up to 15 divergences of simultaneous sequences are allowed. · Divergence of simultaneous sequences ends when execution of all branch circuit ends. (Transition to steps following the convergence of simultaneous sequences is not performed until execution of all branch circuit completes). · A transition must be placed on the predecessor divergence of simultaneous sequences. · A transition must be placed below the successor convergence of simultaneous sequences. ● Program example S1 SIGNAL1 S2 S4 S6 S8 S3 S5 S7 S9 S10 T1 T2 T4 T6 T8 T3 · When transition T1 becomes TRUE(ON) while step S1 is active, step S1 becomes inactive and steps S2, S4, S6, and S8 become active. · When steps S3, S5, S7, and S9 become active, if transition T3 is TRUE(ON), steps S3, S5, S7, and S9 are made inactive and step S10 becomes active. Chapter 3 SFC Instructions 6F8C1226 708 Link SFC Link Diagram Step name EN input Edge execution Index modification Modifier — — — ● Function · Represents the link destination (loop or jump destination) of the network. · If the predecessor transition condition becomes TRUE(ON), transition is made to the step specified by the link. ● Program example ♦ Loop specification S1 S2 S3 T0 T3 T1 T2 SIGNAL1 S1 S1 S2 S3 T0 T3 T1 T2 SIGNAL1 Equivalent circuit *Tools use representation on left · When transition T3 becomes TRUE(ON) while step S3 is active, step S3 becomes inactive and step S1 becomes active. Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 709 ♦ Jump specification T21 S3 S1 S2 S3 SIGNAL1 S4 S5 S1 S2 S3 T3 T1 T2 SIGNAL1 S4 T4 S5 Equivalent circuit T0 T3 T2 T21 T1 T11 T0 T4 T11 · When transition T11 becomes TRUE(ON) while step S1 is active, step S1 becomes inactive and step S3 becomes active. Chapter 3 SFC Instructions 6F8C1226 710 Action SFC Action Diagram BOOL action User defined action B: Qualifier specification U: Qualifier specification I: Indicator variable B Variable (BOOL) U Action name I EN input Edge execution Index modification Modifier — — — ● Function · An action can be added to a step and it is executed when the step becomes active. · More than one action can be connected to a step. · A qualifier (action qualifier) can be used to specify the behavior of the action. · The action state can be determined from the following variables: Active flag :Action name .Q (TRUE(ON) when action is active, FALSE(OFF) when action is inactive) Activation :Action name .A (TRUE(ON) when action is executed, FALSE(OFF) when action is not executed) Action timer work :Action name .T (action duration with timer) · Two types of actions are available: BOOL action:Specified with a qualifier in the action box and a variable (BOOL). The specified action variable (BOOL) can be controlled according to the qualifier. User defined action :Specified with a qualifier in the action box, action name, and indicator variable (indicator variable is optional). The execution of the program specified with action name can be controlled according to the qualifier. Also, the indicator variable may be updated within the action program. Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 711 · The following qualifier types are actions are available: [Qualifier types] Qualifier Action N or none Specified action variable is TRUE(ON) while the action input is TRUE(ON) or executes the specified program. R: Reset Resets the set state of the specified action variable when the action input is TRUE(ON) or resets the set state of the specified program (The actual reset is performed by the corresponding set action). S: Set Specified action variable is set while the action input is TRUE(ON) or continues execution of the specified program. L: time Limited Keeps the specified action variable to TRUE(ON) for the specified interval when the action input is TRUE(ON) or executes the specified program. If the input becomes FALSE(OFF) before the specified interval, the specified action variable is immediately reset to FALSE(OFF) or stops execution of the specified program. D: Time delayed When action input is TRUE(ON), sets the specified action variable to TRUE(ON) after the specified delay or executes the specified program. If the input becomes FALSE(OFF) before the specified interval, the specified variable is not set to TRUE(ON) and the specified program is not executed. P: Pulse Sets the specified action variable to TRUE(ON) only when the action input changes from FALSE(OFF) to TRUE(ON) or executes the specified program. Unlike P0 or P1, this action performs final scan. P0: Pulse (falling edge) Sets the specified action variable to TRUE(ON) only when the action input changes from TRUE(ON) to FALSE(OFF) or executes the specified program. Unlike P, this action does not perform final scan. P1: Pulse (rising edge) Sets the specified action variable to TRUE(ON) only when the action input changes from FALSE(OFF) to TRUE(ON) or executes the specified program. Unlike P, this action does not perform final scan. SD: Stored and time delayed Retains the state when the action input is TRUE(ON) and sets the specified action variable to TRUE(ON) after the specified delay or executes the specified program. The action is not executed if there is a reset before the specified interval. DS: Delayed and Stored When the action input is TRUE(ON), performs set operation, sets the specified action variable, and executes the specified program after the specified delay. Does not perform set operation if the input becomes FALSE(OFF) before the specified interval. The corresponding reset action is necessary to reset the stored action. SL: Stored and time limited Retains the action state when the action input is TRUE(ON) and then sets the specified action variable and executes the specified program for the specified interval. The set action must be reset before it can be reused. NH: N without final scan Same action as N without final scan. SH: S without final scan Same action as S without final scan. LH: L without final scan Same action as L without final scan. DH: D without final scan Same action as D without final scan. ● Note: Final scan After an action connected to a step becomes active, an action is executed for one scan where the step changes from active to inactive. This is referred to as final scan. Chapter 3 SFC Instructions 6F8C1226 712 [Qualifier action diagram] The following figures show the operation of an action. AN stands for action name. ♦ N or none Step status AN.Q AN.A (actual operation) Scan Final scan performed ♦ S: Set and R: Reset R step status AN.Q AN.A (actual operation) Scan Fi nal scan performed S step status ♦ L: Limited Step status AN.Q AN.A (actual operation) Scan Fi nal scan performed AN.T Setting ti me Setting time Fi nal scan performed Setting time ♦ D: Time delayed Step status AN.Q AN.A (actual operation) Scan Final scan performed AN.T Setting ti me Setting time Setting time Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 713 ♦ P: Pulse Step status AN.Q AN.A (actual operation) Scan Final scan performed ♦ P0: Pulse (falling edge) Step status AN.Q AN.A (actual operation) Scan 1 scan time ♦ P1: Pulse (rising edge) Step status AN.Q AN.A (actual operation) Scan 1 scan time ♦ SD: Stored and time delayed SD step status AN.Q AN.A (actual operation) Scan AN.T Setting ti me Setting ti me R step status Setting time Final scan performed Chapter 3 SFC Instructions 6F8C1226 714 ♦ DS: Delayed and stored DS step status AN.Q AN.A (actual operation) Scan AN.T Setting ti me Setting ti me Setti ng time R step status Final scan performed ♦ SL: Stored and time limited SL step status AN.Q AN.A (actual operation) Scan AN.T Setting ti me Setting ti me Fi nal scan performed Setting time R step status ♦ NH: N without final scan Step status AN.Q AN.A (actual operation) Scan Final scan not performed ♦ SH: S without final scan R step status AN.Q AN.A (actual operation) Scan Fi nal scan not performed S step status Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 715 ♦ LH: L without final scan Step status AN.Q AN.A (actual operation) Scan Fi nal scan not performed AN.T Setting ti me Setting ti me Final scan not performed Setti ng time ♦ DH: D without final scan Step status AN.Q AN.A (actual operation) Scan Final scan not performed AN.T Setting ti me Setting ti me Setti ng time ● Important · When specifying an action qualifier, always use R to reset the action variable specified with S, SD, DS, SL, or SH. A Coil instruction cannot be used to reset action variables. Chapter 3 SFC Instructions 6F8C1226 716 ● Program example Scan S1 S2 S3 T0 T3 T1 T2 SIGNAL1 N SIGNAL2 Transition T1=TRUE(ON) SIGNAL1 S1.X T1 S2.X SIGNAL2 T0 T2 S1 S2 S3 T0 T3 T1 T2 SIGNAL1 N SIGNAL2 · When transition T1 becomes TRUE(ON) while step S1 is active, step S1 becomes inactive and step S2 becomes active. The connected N action variable SIGNAL2 is TRUE(ON) only while step S2 is TRUE(ON). Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 717 Sequence SFC Sequence Diagram SQ parameter SEQ EN input Edge execution Index modification Modifier — — — ● Function · Associates connected SFC network with sequence tag. · Controls the execution of SFC network according to the mode of the associated sequence tag. C mode: SFC network execution (continuous progress) A mode: SFC network execution (conf progress) M/RM mode: SFC network halt (jump to end of SFC network) (Refer to the Phase Step instruction for details concerning continuous progress and conf progress.) · Single step execution When the mode of the sequence tag is M/RM, the SFC network can be executed for just one process cycle from the tool (pressing the button on the program editor control panel) or by setting the sequence tag SSE ON. Single step execution example: T1 T2 T3 INI SEQ001 SEQ 1 PHASE1 Time#10s 2 PHASE2 Time#10s T1 T2 T3 INI SEQ001 SEQ 1 PHASE1 Time#10s 2 PHASE2 Time#10s T1 T2 T3 INI SEQ001 SEQ 1 PHASE1 Time#10s 2 PHASE2 Time#10s ＞ Single step execution After 1 scan > <Initialized state> <During execution (1 scan only) > <After executing 1 scan> All transition conditions are assumed to be satisfied. When single step execution is performed once from an initialized state such as Initializing (long stop) or immediately after program DL, the INI step is activated for just one scan time and the active location moves to PHASE1. And when single step execution is performed again, the phase part of PHASE1 is executed in sequence one step at a time from the initial step. Chapter 3 SFC Instructions 6F8C1226 718 · Changing the active location The SFC network connected to a sequence instruction can change the active location from OIS-DS, tool, or instruction. Changing the active location from OIS-DS is possible when the SFC network is stopped (RM mode) and the change can be made in phase units. Changing the active location from the tool is possible when the SFC network is stopped (RM or M mode) and the change can be made in step units. Changing the active location from an instruction is possible when the SFC network is executing (A or C mode) and the change can be made in step units. The instructions to change the active location are Reset Jump (RJ_P) and Self Step Jump (SJ_P). Reset jump activates the specified step after initializing (resetting all active information) the SFC network similar to OIS-DS and tool. On the other hand, Self Step Jump makes the step to which the Self Step Jump is connected to inactive and activates the specified step. Therefore, when self step jump is performed within a parallel process, only that active location is changed and other parallel active locations are unaffected. This is summarized in the following table: Method Unit Possible mode Action OIS-DS Phase RM Resets all active information and activates specified phase Tool Step RM or M Resets all active information and activates specified step Instruction (RJ_P) Step A or C Resets all active information and activates specified step Instruction (SJ_P) Step A or C Makes self step inactive and activates specified step ● Notes Neither OIS-DS, tool, nor instruction can change the active location to within a parallel process (does not become parallel action). If the active location is switched inside a parallel process, steps are executed in sequence from that location and held at the end of the parallel process (waiting for other parallel process to end). In such case, the activate location must be switched once more. Changing the active location OIS-DS: Change the mode to RM (press the M button twice) in the point screen of the sequence. Press the [Phase change] button. Select the change destination phase from the phase list and press [Change] . Tool: From the control panel of the program editor, change the mode to M or RM (press the button). Select the change destination step and press the button. Change the mode to A or C (press the button). Refer to "2.23 Tag Operation" for information on instructions RJ_P and SJ_P. Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 719 ● Program example T1 T2 T3 INI SEQ001 SEQ 1 PHASE1 Time#10s 2 PHASE2 Time#10s T1 T2 T3 INI SEQ001 SEQ 1 PHASE1 Time#10s 2 PHASE2 Time#10s <In M or RM mode> <In A or C mode> · Stop SFC network when SEQ001 mode is M (or RM). · Sequentially execute SFC network when SEQ001 mode is A (or C). ● Restriction · This instruction must be written at the beginning of an SFC network. If it is written in the middle of an SFC network, its operation will be unstable (not as expected). · The beginning of the sequence parameter must be specified for the SQ parameter. An index register cannot be specified for array No. A table operation error will occur if there is an incorrect specification. Correct example :SQ_PARA[1] :SEQ001.TAG[0] Wrong example :SQ_DATA[1] :SEQ001.TYPE SQ_PARA[XI] Chapter 3 SFC Instructions 6F8C1226 720 Phase Step SFC Phase Step Diagram Ｎ Step name Congestion timer N: Phase no. (1-32) EN input Edge execution Index modification Modifier — — — ● Function · Unlike the Step instruction, action (sub screen) is performed from the phase step itself. · When the transition condition of the previous step becomes TRUE(ON), the connected phase step becomes active and executes the ladder circuit or action connected to the right side of the phase step (if conf progress wait, the connection on the right side of the phase step remains FALSE(OFF) and the ladder circuit is not executed. (When "acknowledge operation" is performed the connection on the right side of the phase step becomes TRUE(ON)). At the same time, the SFC network written in the action (sub screen) is executed as "phase". When phase execution completes (phase end instruction becomes active) and the transition condition of the proceeding step becomes TRUE(ON), its own phase step is deactivated (inactive). · The portion containing the Sequence instruction and Phase Step instruction is referred to as the operation and the portion expanded by the Phase Step instruction is referred to as the phase. · A number from 1 to 32 is set as the phase No. This number is used to associate with a sequence tag member (phase name (PNAM) and interlock/single selection (FA)) and the phase execution status can be monitored from OIS-DS. · The Phase Step instruction has a congestion monitor timer. If phase execution does not completed before the congestion monitor timer expires, a congestion alarm is issued. In this case, the timer value is limited by the set value. Congestion monitor is disabled when the congestion monitor timer is set to 0 seconds (time#0s). · The step state can be determined from the following variables: Step flag : Step name .X (TRUE(ON) when step is active, FALSE(OFF) when step is inactive) Step execution duration : Step name .T (represents the duration when step is active and is cleared to 0 the first time the step is active) · Phase step cannot be placed consecutively with other steps. A transition must be placed between phase step and other step. · Phase step is not executed consecutively within the same scan. · Conf progress and continuous progress Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 721 · Phase execution can be controlled with sequence tag execution control information (mode, interlock/single setting). When the sequence tag mode is C mode, phase is executed continuously regardless of the interlock/single setting. When the sequence tag mode is A mode, phase is executed continuously as in C mode if the interlock/single setting is interlock, but if the interlock/single setting is single, the phase is temporarily halted (conf progress wait) before execution, a conf progress wait alarm is issued, and phase execution is resumed after it is acknowledged by the operator. Phase setting sequence mode Interlock Single C mode (continuous progress) Execute Execute A mode (conf progress) Execute Temporary halt Executed resumed when acknowledged M, RM mode Halt Halt If several phases are in "conf progress wait" in a parallel process, a single acknowledge will cancel all acknowledge waits and resume execution. When the mode is switched to C while in "conf progress wait", all conf progress waits are canceled and changed to continuous execution. Also, if the mode is switched to M/RM while in "conf progress wait" and single step execution is performed, conf progress wait is canceled and inside of the phase is executed. · Acknowledge method Press the [conf progress] button on the OIS-DIS sequence tag point screen. Press the button on the tool's program editor control panel. Set conf progress request (CNE) of sequence tag ON from tool's tag editor or other program. · Conf progress example T1 T2 2 PHASE2 Time#10s T3 4 PHASE4 Time#10s 1 PHASE1 Time#10s 3 PHASE3 Time#10s T1 T2 2 PHASE2 Time#10s T3 4 PHASE4 Time#10s 1 PHASE1 Time#10s 3 PHASE3 Time#10s T1 T2 2 PHASE2 Time#10s T3 4 PHASE4 Time#10s 1 PHASE1 Time#10s 3 PHASE3 Time#10s > > || > > Sequence tag (parameter) : FA1 : Interlock/single setting 1 Interlock FA2 : Interlock/single setting 2 Interlock FA3 : Interlock/single setting 3 Standalone : Sequence tag (data） : MODE：mode A : Transition T1 =TRUE(ON) Acknowledge CNE=ON PHASE1 : Active(phase execution complete) PHASE2 : Active (executing within phase) PHASE3 : Active (conf progress wait) PHASE2 : Active (executing within phase) PHASE3 : Active (executing within phase) Chapter 3 SFC Instructions 6F8C1226 722 If transition (T1) becomes TRUE(ON) when PHASE1 is active, PHASE2 and PHASE3 become active. Execution within phase is started immediately because PHASE2 is "interlock". PHASE3 is temporarily halted and placed in conf progress wait because it is "single". When acknowledged, PHASE3's conf progress wait is canceled and the inside of PHASE3 is executed. ● Program example Main screen (operation) Sub screen (phase) T1 T2 T3 INI SEQ001 SEQ 1 PHASE1 Time#10s 2 PHASE2 Time#10s T11 T2 T13 P1INI S11 S12 S13 PhaseEnd · When phase 1 (step name: PHASE1) becomes active, the initial step (step name: P1INI) of the sub screen (phase) becomes active. Step is executed sequentially from P1INI and "Phase execution complete" is indicated when the phase end step (step name: S13) becomes active. When S13 becomes active and operation transition condition (T2) becomes TRUE(ON), phase execution is ended and the active point is moved to the next step (phase). ● Restriction · Description in phase level is not allowed (phase step nesting is not allowed). If phase steps are nested, operation will be unstable (not as expected). Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 723 Phase End Step SFC Phase End Step Diagram Step name Phase End EN input Edge execution Index modification Modifier — — — ● Function · Represents the minimum unit of SFC network operation. · When the transition condition in the previous step becomes TRUE(ON), the connected phase end step becomes active and the ladder circuit or action connected on the right side of the phase end step is executed. At the same time, phase execution completion is notified to the calling Phase Step instruction. · The phase end step is active only for one scan. · Phase end step can be written more than once within a phase. Execution of the phase (SFC network) is ended when any of the phase end step becomes active. · The step state can be determined from the following variables: · Step flag: step name .X (TRUE(ON) when step is active, FALSE(OFF) when step is inactive) · Phase end step cannot be placed consecutively with other steps. A transition must be placed between phase step and other step. · Transition or other step instruction cannot be placed below phase end step. · Phase end step is not executed consecutively within the same scan. Chapter 3 SFC Instructions 6F8C1226 724 ● Program example Main screen (operation) Sub screen (phase) T1 T2 T3 INI SEQ001 SEQ 1 PHASE1 Time#10s 2 PHASE2 Time#10s T11 T2 T13 P1INI S11 S12 S13 PhaseEnd · When phase 1 (step name: PHASE1) becomes active, the initial step (step name: P1INI) of the sub screen (phase) becomes active. Step is executed sequentially from P1INI and "Phase execution complete" is indicated when the phase end step (step name: S13) becomes active. When S13 becomes active and operation transition condition (T2) becomes ON, phase execution is ended and the active point is moved to the next step (phase). ● Restriction · Description at the operation level is not allowed. If phase step is nested, operation will be unstable (not as expected). · At least one phase end step must be written within a phase. If there is no phase end step, the phase will not end (no transition of operation active pointer). Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 725 Answer Step SFC Answer Step Diagram Step name Ans Answer timer EN input Edge execution Index modification Modifier — — — ● Function · Represents the minimum unit of SFC network operation. · When the state of the predecessor transition becomes TRUE(ON), the connected answer step becomes active and the ladder circuit or action connected on the right side of the answer step is executed. · Answer step can be written more than once only in phase. Description at the operation level is not allowed. · Answer step instruction has an answer back monitor timer. If execution of the answer step does not complete before the answer back monitor timer expires (answer back proceeding transition is satisfied), an answer back alarm is issued. In this case, the timer value is limited by the set value. Answer back monitor is disabled when the timer is set to 0 seconds (time#0s). · The step state can be determined from the following variables: · Step flag : Stepname.X (TRUE(ON) when step is active, FALSE(OFF) when step is inactive) · Step execution duration : Stepname.T (represents the duration when step is active and is cleared to 0 the first time the step is active) · Answer step cannot be placed consecutively with other steps. A transition must be placed between Answer step and other step. · Answer step is not executed consecutively within the same scan. · Restarting answer back monitor When the SEQ tag mode is set to M (or RM) and later changed to A (or C), the answer back monitor is restarted (timer current value is cleared to “0”, answer back alarm restored). The answer back alarm causes M demotion. When reclosed to A, the answer back alarm is restored to perform answer back monitor again. ○ Remarks The timer current value is initialized when the mode is changed from M(or RM) to A(or C). (The answer back monitor restart function is valid for PU821 (all versions), L3DS(V3.26 and following versions) and L2DS(V3.18 and following versions)). Chapter 3 SFC Instructions 6F8C1226 726 ● Program example Main screen (operation) Sub screen (phase) T12 PB_P SIGNAL1 PB_PARA[1] PB_D BNO PB_P E PB_DATA[1] 1 ↑ PB_DATA[1]. FI[1] T1 T2 INI SEQ001 SEQ 1 PHASE1 Time#10s T11 P1INI S12 PhaseEnd S11 Ans Time#10s · When answer step (step name: S1) becomes active, Push Button instruction (PB_P) is executed and PB_DATA[1] button 1 is pressed. If the transition condition (PB_DATA[1].FI[1]) is satisfied before the answer back timer expires (10s), no alarm is issued and transition is made to the next step. If the timer expires, an answer back alarm is issued. ● Restriction · Description at the operation level is not allowed. Please be sure to describe in phase level. When it describes in operation level, an active step does not move. Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 727 Phase Step 2 SFC Phase Step 2 Diagram Ph2 TIM Step N TIM： Congestion timer set val ue [ms] N： Phase No. (1-32) Step： Variable name to indicate step instance EN input Edge execution Index modification Modifier — — — ● Function · When the transition condition of the previous step becomes TRUE(ON), the connected phase step becomes active and executes the ladder circuit or action connected to the right side of the phase step 2 (for conf progress wait, the connection on the right side of the phase step 2 remains FALSE(OFF) and the ladder circuit is not executed). When “acknowledge operation” is performed, the connection on the right side of the phase step 2 becomes TRUE(ON). · At the same time, the SFC network is executed as “phase”. · When phase execution completes (when the next phase step is active) and the transition condition of the proceeding step becomes TRUE(ON), its own phase step is deactivated (inactive). · The numbers from 1 to 32 are set as phase numbers. A number is used to associate with a sequence tag member (phase name PNAM and interlock/single selection (FA)) and the phase execution status can be monitored by OIS-DS. · The phase step 2 instruction has a congestion monitor timer. If phase execution is not completed before the congestion monitor timer expires, a congestion alarm is issued. In such case the time value is limited by the set value. Chapter 3 SFC Instructions 6F8C1226 728 ● Program example T2 T1 INI SEQ001 SEQ 1 PHASE1 Time#10s T5 2 PHASE2 Time#10s T3 S1 T4 S2 Phase 1 · When T1 is TRUE(ON), phase 1 (up to the previous step of the next phase step 2) is executed. · If the phase is not executed in 10 seconds, the congestion alarm is issued. ● Error information · No action is made when the phase number is out of the range (other than 1 to 32). · When the congestion monitor timer set value is 0, the timer current value is not updated and the alarm is not issued (treated as no setting for congestion monitor). Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 729 Answer Step 2 SFC Answer Step 2 Diagram Ans2 TIM Step TIM : Answer back timer set value [ms] Step: Variable name to indicate step instance EN input Edge execution Index modification Modifier — — — ● Function · When the state of the predecessor transition becomes TRUE(ON), the connected answer step becomes active and the ladder circuit or action connected on the right side of the answer step 2 executed. · Answer step 2 instruction has an answer back monitor timer. if execution of the answer step 2 does not complete before the answer back monitor timer expires (answer back proceeding transition is satisfied), an answer back alarm is issued. In this case, the timer value is limited by the set value. Answer back monitor is disabled when the timer is set to 0 second (TIME#0s). · Answer step 2 cannot be placed consecutively with other steps. A transition must be placed between the answer step 2 and other step. · The answer step 2 is not executed consecutively within the same scan. ● Program example Ans2 S3 T3 T1 T2 S1 SIGNAL1 TIME#10s · The monitor timer is updated when the answer step (step name:Ans2) is activated. · When the transition condition (T2) is satisfied before the answer back timer (10 seconds) expires, no alarm is issued and transition is made to the next step. · If the timer expires, an answer back alarm is issued. Chapter 3 SFC Instructions 6F8C1226 730 ● Error information · When the answer back monitor timer set value is 0, the timer current value is not updated and the alarm is not issued (treated as no setting for answer back monitor). 731 Appendix A Using Any Function Appendix A Using Any Function 6F8C1226 732 No. Instruction Remarks (Real instruction) Arithmetic Operations Add + ADD_□□ 1 Multiply * MUL_□□ Subtract - SUB_□□ 2 Divide / DIV_□□ Logical Operations Bitwise Boolean AND AND AND_□□ Bitwise Boolean OR OR OR_□□ 3 Bitwise Boolean XOR XOR XOR_□□ 4 Bitwise Boolean NOT ~ NOT_□□ Comparison Functions Greater Than > GT_□□ Greater Than or Equal >= GE_□□ Equal = EQ_□□ Less Than or Equal <= LE_□□ 5 Less Than < LT_□□ 6 Not Equal <> NE_□□ Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 733 ● Any function instructions These are standard functions for any data types. The user can use the instruction symbols without specifying the data type. · Any Function instructions are supported by Program Editor (full graphic). · Converts to equivalent instructions in the "Remarks" column when compiled. · The instruction data type is fixed automatically. Instruction type Instruction data type Arithmetic Operations Logical Operations Using the output data type, their data type is fixed. Comparison Functions Using the input data type, their data type is fixed. · If the fixed data type is different from the input one, Type Conversion instruction is inserted automatically. · Automatic insertion of Type Conversion Instruction. 1) The program code steps increases, when Type Conversion instruction is inserted automatically. 2) Type Conversion instruction is NOT inserted, if the value is rounded down or the error margin is caused. (It is the compile error.) Example A: Value is rounded down. Output (UINT) = Input1 (INT) + Input2 (UINT) If the value of input (INT) is a minus, it is rounded down. Example B: Error margin is caused. Output (REAL) = Input1 (DINT) + Input2 (DINT) If the value of result beyond the limits of "-16777215" to "16777215", the error margin is caused. 3) When their instruction type is Arithmetic Operations or Comparison Functions, and the input data type is "WORD", the type is converted into "DINT" or "UINT". The BCD data is not supported. Data types are indicated by "notations" (INT, REAL and others) in this section. Appendix A Using Any Function 6F8C1226 734 Add/multiply Arithmetic Operation Add/Multiply LD/FBD language notation Input 1 Output □ Input 2 Input n EN input Edge execution Index modification Modifier ○ ○ — ● Arguments ・ The following data types are supported for input and output arguments: Arg. Operand Type Const. Description Remarks Input — See below ○ Input1･･･n 2≤n≤15 Output — — Output Input 1 Output □ Input 2 Input n Input1…n Symbol (□) Output See below + * See below Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 735 ● Function · The type of the instruction symbol (data type) is the same as the output data type. Refer to the following rule tables for the input data type that can be used at once. The data type that does not exist in the following table will be the compile error: [Table: Rules of data types] ○ : Compile OK, × : Compile error Input1…n data type Output data type Input1…n data type INT DINT UINT REAL WORD INT ○ × × × × DINT × × × × × UINT × × × × × REAL × × × × × INT WORD × × × × × INT ○ ○ ○ × ○ DINT ○ ○ ○ × ○ UINT ○ ○ ○ × ○ REAL × × × × × DINT WORD ○ ○ ○ × ○ INT × × × × × DINT × × × × × UINT × × ○ × ○ REAL × × × × × UINT WORD × × ○ × ○ INT ○ × ○ ○ × DINT × × × × × UINT ○ × ○ ○ × REAL ○ × ○ ○ × REAL WORD × × × × × · If the output data type and the input data type are different, the input data type fix according to the output data type. That is, Type Conversion instruction is inserted between input data and the instruction. · If the input data type is "WORD", Type Conversion instruction "Bit string - Integer conversion" is inserted. Type conversion Type conversion instruction WORD→DINT WORD_TO_DINT WORD→UINT WORD_TO_UINT · Refer to the description of "Arithmetic Operation Instructions" for "function", "operation" and "error information" of each instruction (ADD / SUB / MUL / DIV). Appendix A Using Any Function 6F8C1226 736 ● Program example [LD/FBD language notation] SAMPLE1 “INT” LD ＋ SAMPLE2 “REAL” LD SAMPLE3 “UINT” LD SAMPLE4 “REAL” ST SAMPLE1 “INT” LD ADD_REAL SAMPLE2 “REAL” LD SAMPLE3 “UINT” LD SAMPLE4 “REAL” ST Type conversion instruction “INT→REAL” INT_TO_REAL Internal process Type conversion instruction “UINT→REAL” UINT_TO_REAL · As the output data type is "REAL", "ADD_REAL" is used. · To operate SAMPLE1 ("INT") and SAMPLE3 ("UINT") by "REAL", Type Conversion instructions are automatically inserted. Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 737 Subtract/Divide Arithmetic Operation Subtract/Divide LD/FBD language notation Input 1 Output □ Input 2 EN input Edge execution Index modification Modifier ○ ○ — ● Arguments · The following data types are supported for input and output arguments: Arg. Operand Type Const. Description Remarks Input — See below ○ Input1, 2 Output — — Output Input 2 Input 1 Output □ Input1, 2 Symbol( □ ) Output See below — / See below Appendix A Using Any Function 6F8C1226 738 ● Function · The type of the instruction symbol (data type) is the same as the output data type. Refer to the following rule tables for the input data type that can be used at once. · The data type that does not exist in the following table will the compile error: [Table: Rules of data types] ○ : Compile OK, × : Compile Error Input2 data type Output data type Input1 data type INT DINT UINT REAL WORD INT ○ × × × × DINT × × × × × UINT × × × × × REAL × × × × × INT WORD × × × × × INT ○ ○ ○ × ○ DINT ○ ○ ○ × ○ UINT ○ ○ ○ × ○ REAL × × × × × DINT WORD ○ ○ ○ × ○ INT × × × × × DINT × × × × × UINT × × ○ × ○ REAL × × × × × UINT WORD × × ○ × ○ INT ○ × ○ ○ × DINT × × × × × UINT ○ × ○ ○ × REAL ○ × ○ ○ × REAL WORD × × × × × · If the output data type and the input data type are different, the input data type fix according to the output data type. That is, type conversion instruction is inserted between input data and the instruction. · If the input data type is "WORD", Type Conversion instruction "Bit string - Integer conversion" is inserted. Type conversion Type conversion instruction WORD→DINT WORD_TO_DINT WORD→UINT WORD_TO_UINT · Refer to the description of "Arithmetic Operation Instructions" for "function", "operation" and "error information" of each instruction (ADD / SUB / MUL / DIV). Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 739 ● Program example ［LD/FBD language notation］ SAMPLE1 “INT” LD — SAMPLE2 “REAL” LD SAMPLE3 “REAL” ST SAMPLE1 “INT” LD SUB_REAL SAMPLE2 “REAL” LD SAMPLE3 “REAL” ST Type conversion instruction “INT→REAL” INT_TO_REAL Internal process · As the output data type is "REAL", "ADD_REAL" is used. · To operate SAMPLE1 ("INT") and SAMPLE3 ("UINT") by "REAL", the Type Conversion Instructions are automatically inserted. Appendix A Using Any Function 6F8C1226 740 Bitwise Boolean AND/Bitwise Boolean OR/Bitwise Boolean XOR Logical Operation Bitwise Boolean AND/Bitwise Boolean OR/Bitwise Boolean XOR LD/FBD language notation Input 1 Output □□□ Input 2 Input n EN input Edge execution Index modification Modifier ○ ○ — ● Arguments · The following data types are supported for input and output arguments: Arg. Operand Type Const. Description Remarks Input — See below ○ Input1…n 2≤n≤15 Output — — Output Input 1 Output □□□ Input 2 Input n Input1…n Symbol( □□□ ) Output See below AND OR XOR See below Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 741 ● Function · The type of the instruction symbol (data type) is the same as the output data type. Refer to the following rule tables for the input data type that can be used at once. · The data type that does not exist in the following table will be the compile error: [Table: Rules of data types] ○ : Compile OK, × : Compile Error Input 1…n data type Output data type Input 1…n data type BOOL WORD DWORD BOOL ○ × × WORD × × × BOOL DWORD × × × BOOL × × × WORD × ○ × WORD DWORD × × × BOOL × × × WORD × ○ ○ DWORD DWORD × ○ ○ · If the output data type and the input data type are different, the input data type fix according to the output data type. That is, Type Conversion instruction is inserted between input data and the instruction. · Refer to the description of "Logical Operation Instructions" for "function", "operation" and "error information" of each instruction (Bitwise Boolean AND / Bitwise Boolean OR / Bitwise Boolean XOR). ● Program example [LD/FBD language notation] SAMPLE1 “DWORD” LD AND SAMPLE2 “DWORD” LD SAMPLE3 “WORD” LD SAMPLE4 “DWORD” ST AND_DWORD Internal process Type conversion instruction “WORD→DWORD” WORD_TO_DWORD SAMPLE1 “DWORD” LD SAMPLE2 “DWORD” LD SAMPLE3 “WORD” LD SAMPLE4 “DWORD” ST · As the output data type is "DWORD", "AND_DWORD" is used. · To operate SAMPLE3 ("WORD") by "DWORD", Type Conversion instructions are automatically inserted. Appendix A Using Any Function 6F8C1226 742 Bitwise Boolean NOT Logical Operation Bitwise Boolean NOT LD/FBD language notation Input Output ~ EN input Edge execution Index modification Modifier ○ ○ — ● Arguments · The following data types are supported for input and output arguments: Arg. Operand Type Const. Description Remarks Input — See below ○ Input Output — — Output Input Output □ Input1, 2 Symbol( □ ) Output See below ~ See below ● Function · The type of the instruction symbol (data type) is the same as the output data type. Refer to the following rule table for the input data type that can be used at once. · The data type that does not exist in the following table will be the compile error: [Table: Rules of data types] ○ : Compile OK, × : Compile error Input data type Output data type BOOL WORD DWORD BOOL ○ × × WORD × ○ × DWORD × ○ ○ · If the output data type and the input data type are different, the input data type fix according to the output data type. That is, Type Conversion instruction is inserted between input data and the instruction. · Refer to the description of "Logical Operation Instructions" for "function", "operation" and "error information" of each instruction (Bitwise Boolean NOT). Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 743 ● Program example [LD/FBD language notation] SAMPLE1 “WORD” LD ~ SAMPLE2 “DWORD” ST NOT_DWORD Internal process Type conversion instruction “WORD→DWORD” WORD_TO_DWORD SAMPLE1 “WORD” LD SAMPLE2 “DWORD” ST · As the output data type is "DWORD", "NOT_DWORD" is used. · To operate SAMPLE1 ("WORD") by "DWORD", Type Conversion instructions are automatically inserted. Appendix A Using Any Function 6F8C1226 744 Greater Than/Greater Than or Equal/Equal/Less Than or Equal/less Than Comparison Function Greater Than/Greater Than or Equal/Equal/Less Than or Equal/Less Than LD/FBD language notation Input 1 Output □□ Input 2 Input n EN input Edge execution Index modification Modifier ○ ○ — ● Arguments · The following data types are supported for input and output arguments: Arg. Operand Type Const. Description Remarks Input — See below ○ Input1…n 2≤n≤15 Output — BOOL — Output Input 1 Output □□ Input 2 Input n Input1…n Symbol( □□ ) See below > >= = <= < Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 745 ● Function · Refer to the following rule tables for the input data type that can be used at once. · The data type that does not exist in the following table will be the compile error: [Table: Rules of data types] ○ : Compile OK, × : Compile error Input1…n data type Input1…n data type INT DINT UINT REAL WORD DWORD INT ○ ○ ○ ○ ○ × DINT ○ ○ ○ × ○ × UINT ○ ○ ○ ○ ○ ○ REAL ○ × ○ ○ × × WORD ○ ○ ○ × ○ ○ DWORD × × ○ × ○ ○ · When all the rules of "Input 1 … n" are " ○ ", the compiler is successes. · The type of the instruction symbol is determined by the input data type. If "Input 1 ... n" has two types or more of the data type, the data type is determined by the rule in the following table: [Table: Rules of data types] × : Compile error Input1…n data type Input1…n data type INT DINT UINT REAL WORD DWORD INT INT DINT DINT REAL DINT × DINT DINT DINT DINT × DINT × UINT DINT DINT UINT REAL UINT DWORD REAL REAL × REAL REAL × × WORD DINT DINT UINT × WORD DWORD DWORD × × DWORD × DWORD DWORD · If the data type of the inputs have three types or more of the data type, the data type of the instruction symbol is determined by the following flow: Example1: Input 1 “INT” Input 2 “INT” Input 3 “REAL” “INT” “REAL” Input n “UINT” “REAL” Instruction symbol type (data type) “REAL” Appendix A Using Any Function 6F8C1226 746 · If the data type of inputs (1…n) and the fixed data type are different, the input data type fix according to the fixed data type. That is, the Type Conversion instruction is inserted between input data and the instruction. · If the input data type is "WORD", "Bit string - Integer conversion" of the Type Conversion instructions is inserted Type conversion Type conversion instruction WORD→DINT WORD_TO_DINT WORD→UINT WORD_TO_UINT · Refer to the description of "Logical Operation Instructions" for "function", "operation" and "error information" of each instruction (Greater than/Greater than or equal/Equal/Less than or equal/Less than). ● Important · "Comparison Function Instructions" are used following the data types that are not supported. "TIME", "TIME_OF_DAY (Abbreviation: TOD) ", "DATE (Abbreviation: D) ", "DATE_AND_TIME (Abbreviation: DT) " ● Program example [LD/FBD language notation] SAMPLE1 “INT” LD > SAMPLE2 “REAL” LD SAMPLE3 “UINT” LD SAMPLE4 “BOOL” ST SAMPLE1 “INT” LD GT_REAL SAMPLE2 “REAL” LD SAMPLE3 “UINT” LD SAMPLE4 “BOOL” ST Type conversion instruction “INT→REAL” INT_TO_REAL Internal process Type conversion instruction “UINT→REAL” UINT_TO_REAL · Because SAMPLE1, SAMPLE2 and SAMPLE3 are different each the data type, the data type of instruction fix "REAL" by "Rules of data types" table. · To convert the SAMPLE1 ("INT") and SAMPLE3 ("UINT") into "REAL", the Type Conversion instruction is automatically inserted. Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 747 Not Equal Comparison Function Not Equal LD/FBD language notation Input 1 Output <> Input 2 EN input Edge execution Index modification Modifier ○ ○ — ● Arguments · The following data types are supported for input and output arguments: Arg. Operand Type Const. Description Remarks Input — See below ○ Input1, 2 Input number =2 Output — BOOL — Output Input 1 Output □□ Input 2 Input1, 2 Symbol( □□ ) See below <> ● Function · Refer to the following rule table for the input data type that can be used at once. · The data type that does not exist in the following table will be the compile error: [Table: Rules of data types] ○ : Compile OK, ×: Compile error Input2 data type Input1 data type INT DINT UINT REAL WORD DWORD INT ○ ○ ○ ○ ○ × DINT ○ ○ ○ × ○ × UINT ○ ○ ○ ○ ○ ○ REAL ○ ｃ ○ ○ × × WORD ○ ○ ○ × ○ ○ DWORD × × ○ × ○ ○ · The type of the instruction symbol is fixed by the input data type. If "Input 1, 2 " have two types or more of the data type, the data type is fixed by the rule in the following table. Appendix A Using Any Function 6F8C1226 748 [Table: Rules of data types] ×: Compile error Input2 data type Input1 data type INT DINT UINT REAL WORD DWORD INT INT DINT DINT REAL DINT × DINT DINT DINT DINT × DINT × UINT DINT DINT UINT REAL UINT DWORD REAL REAL × REAL REAL × × WORD DINT DINT UINT × WORD DWORD DWORD × × DWORD × DWORD DWORD · If the data type of inputs (1, 2) and the fixed data type are different, the input data type fix according to the fixed data type. That is, Type Conversion instruction is inserted between input data and the instruction. · If the input data type is "WORD", "Bit string - Integer conversion" of the Type Conversion instructions is inserted. Type conversion Type conversion instruction WORD→DINT WORD_TO_DINT WORD→UINT WORD_TO_UINT · Refer to the description of "Logical Operation Instructions" for "function", "operation" and "error information" of each instruction (Not equal). ● Important · "Comparison Function Instructions" are used following the data types that are not supported. "TIME", "TIME_OF_DAY (Abbreviation: TOD) ", "DATE (Abbreviation: D) ", "DATE_AND_TIME (Abbreviation: DT) " ● Program example [LD/FBD language notation] SAMPLE1 “INT” LD <> SAMPLE2 “REAL” LD SAMPLE3 “BOOL” ST SAMPLE1 “INT” LD NE_REAL SAMPLE2 “REAL” LD SAMPLE3 “BOOL” ST Type conversion instruction “INT→REAL” INT_TO_REAL Internal process · Because variable SAMPLE1 and variable SAMPLE2 are different each the data type, the data type of instruction fix "REAL" by table "Rules of data types". · To convert the SAMPLE1 ("INT") into "REAL ", the Type Conversion instruction is automatically inserted. Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 749 Symbol , ············································································ 501 .. , ··········································································· 503 .. : ··········································································· 499 : ·········································································· 497 % conversion··························································· 420 A ABS ········································································· 245 ACC_P····································································· 670 ACOS ······································································ 255 ACT_P····································································· 666 ADC········································································· 294 ADD································································· 292, 313 AND········································································· 260 ARRAY_TO_STRING·············································· 231 ASC module string data input ·································· 346 ASC module string data output································ 349 ASC_TO_REAL······················································· 214 ASCDEC_TO_DINT ················································ 219 ASCHEX_TO_DINT ················································ 222 ASCII (decimal)-double integer conversion············· 219 ASCII (hexadecimal)-double integer conversion ····· 222 ASCII-HEX conversion ············································ 210 ASCII-real numbers conversion······························· 214 ASCREAD······························································· 346 ASCWRITE······························································ 349 ASIN········································································ 253 ATAN········································································ 257 ATOH_T··································································· 210 AVE·········································································· 154 AVEL········································································ 156 Absolute value························································· 245 Action······································································· 710 Action counter·························································· 670 Action timer······························································ 666 Add ·········································································· 292 Add time data··························································· 313 Add with carry·························································· 294 Answer step····························································· 725 Arccosine································································· 255 Arcsine····································································· 253 Arctangent ······························································· 257 Arithmetic operation················································· 291 Arithmetic shift ························································· 287 Array-string conversion············································231 Average of table data···············································156 Average value··························································154 B BC············································································328 BCD-duration conversion·········································191 BCD-integer conversion···········································187 BCD-real numbers conversion·································189 BIN···········································································204 BIN conversion·························································204 Bit counter································································328 Bit operation·····························································278 Bit string-bit string conversion··································185 Bit string-integer conversion·····································183 Bitwise Boolean AND···············································260 Bitwise Boolean AND of table data ··························262 Bitwise Boolean NOT···············································268 Bitwise Boolean NOT of table data ··························269 Bitwise Boolean NOT XOR of table data ·················275 Bitwise Boolean OR·················································264 Bitwise Boolean OR of table data ····························266 Bitwise Boolean XOR···············································271 Bitwise Boolean XOR of table data··························273 C CASE·······································································495 CMLP_P···································································639 CMPB_P··································································641 CMSQ_P··································································643 CONCAT_D_TOD····················································208 CONCAT_STRING ··················································473 COS·········································································249 CTD············································································80 CTU············································································78 CTUD·········································································82 Calendar data acquisition·········································689 Change adjuster mode·············································639 Change push button mode·······································641 Change sequence mode··········································643 Coil ·············································································60 Common logarithms·················································241 Communication························································524 Communication FB (XMIT_N)··································592 Communication FB (XMIT_T) ··································590 Comparison······························································124 6F8C1226 750 Comparison with hysteresis (greater than) ·············· 137 Comparison with hysteresis (greater than or equal) ········································································ 141 Comparison with hysteresis (less than) ··················· 139 Comparison with hysteresis (less than or equal) ········································································ 143 Concatenate string··················································· 473 Concatenate time data············································· 208 Conditional execution instruction/End of conditional execution instruction·················································· 75 Contacts/Coils···························································· 52 Control statements··················································· 485 Controller global variable··········································· 10 Cosine ····································································· 249 Counters···································································· 77 Current output PID··················································· 605 Current output sample PI········································· 612 Cyclic trace······························································ 687 D DATALOGC····························································· 687 DB············································································ 372 DCL_P····································································· 633 DEC································································· 309, 326 DEF_STRING·························································· 483 DEG_TO_RAD························································ 202 DEG-RAD conversion·············································· 202 DEL_L······································································ 102 DELETE··································································· 477 DI_T········································································· 464 DIAG_D··································································· 691 DIAG_D2 ································································· 694 DIF2········································································· 374 DINT_TO_ASCDEC················································ 225 DINT_TO_ASCHEX ················································ 228 DINT_TO_BCD_DWORD········································ 174 DINT_TO_BCD_WORD·········································· 174 DINT_TO_DWORD················································· 172 DINT_TO_INT ························································· 169 DINT_TO_REAL······················································ 171 DINT_TO_TIME······················································· 176 DINT_TO_UINT······················································· 169 DINT_TO_WORD···················································· 172 DIS_P······································································ 458 DIV··································································· 303, 319 DLM········································································· 414 DO··········································································· 515 Drive Device State Read··········································369 DT ············································································402 DT_TO_DATE··························································206 DT_TO_TOD····························································206 DUPLEX_CHG·························································595 DUPLEX_DOWN·····················································597 DWORD_BCD_TO_DINT········································187 DWORD_BCD_TO_INT···········································187 DWORD_BCD_TO_REAL·······································189 DWORD_BCD_TO_TIME········································191 DWORD_BCD_TO_UINT········································187 DWORD_TO_DINT··················································183 DWORD_TO_INT ····················································183 DWORD_TO_UINT··················································183 DWORD_TO_WORD···············································185 Data type······································································6 Data exchange·························································120 Data structure·······························································8 Data processing·······················································321 Dead band ·······························································372 Dead time·································································402 Decode·····································································326 Decrement ·······························································309 Define string·····························································483 Delete string·····························································477 Derivative·································································374 Direct I/O··································································355 Divergence/Convergence of sequence····················706 Divergence/Convergence of simultaneous sequences ········································································707 Divide·······································································303 Divide time data ·······················································319 Double cross limit·····················································633 Double integer-ASCII (decimal) conversion·············225 Double integer-ASCII (hexadecimal) conversion·····228 Down counter·····························································80 Drive Device State Read··········································369 Duplex control ··························································594 Duplex online-standby change·································595 Duplex self-system down·········································597 Duration-BCD conversion ········································196 Duration-integer conversion·····································193 Duration-real numbers conversion···························195 E EI_T ·········································································463 ELSE (CASE statement)··········································505 Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 751 ELSE (IF statement) ················································ 490 ELSEIF ···································································· 492 EN_P······································································· 456 ENC········································································· 324 END_CASE····························································· 507 END_FOR ······························································· 513 END_IF···································································· 494 END_REPEAT························································· 523 END_WHILE···························································· 518 EQ ··········································································· 129 EQUALIZE_ADDR··················································· 601 EQUALIZE_VAR······················································ 599 EXIT (FOR statement) ············································· 511 EXIT (REPEAT statement)······································· 521 EXIT (WHILE statement) ········································· 516 EXP ········································································· 239 EXPT ······································································· 311 Encode ···································································· 324 Engineering unit conversion ···································· 418 Equal ······································································· 129 Essential succession PID········································ 422 Estimate with reset ·················································· 430 Event program start up ············································ 460 Execution control ······················································· 72 Exponential ······························································ 239 Extract string···························································· 471 F FBD language······························································ 3 FFD_P····································································· 629 FIND········································································ 481 FOR_DO·································································· 509 Falling edge detector ················································· 58 Feed forward ··························································· 629 Find string································································ 481 Fix MV ····································································· 388 Flip-flops ·································································· 104 Forced coil ································································· 66 Forced negated coil ··················································· 67 Forced negative transition-sensing coil ····················· 71 Forced positive transition-sensing coil ······················· 70 Forced RESET coil ···················································· 69 Forced SET coil ························································· 68 Function····································································· 18 Function block ··························································· 22 G GE············································································127 GE_L········································································141 GET_CLND······························································689 GET_DRV_STS·······················································369 GET_IO_STS···························································361 GET_IP_INF ····························································352 GET_SIO_STS ························································357 GT············································································125 GT_L········································································137 Global variable···························································10 Greater than·····························································125 Greater than or equal ···············································127 H HEX-ASCII conversion·············································212 HTOA_T···································································212 I I/O fallback recovery request ···································367 I/O fallback request ··················································365 I/O module state read···············································361 I/O node state read ··················································357 IF··············································································486 ILNL ·········································································395 ILNL_REAL2····························································399 INC···········································································307 INI_STEP·································································684 INSERT····································································475 INT_TO_BCD_DWORD···········································174 INT_TO_BCD_WORD·············································174 INT_TO_DINT··························································169 INT_TO_DWORD····················································172 INT_TO_REAL·························································171 INT_TO_TIME··························································176 INT_TO_UINT··························································169 INT_TO_WORD·······················································172 INTG ········································································377 IO_T·········································································355 IOFB_REQ·······························································365 IORC_REQ······························································367 Increment ·································································307 Index registers····························································25 Initial step·································································703 Initialize table data ···················································122 6F8C1226 752 Insert string······························································ 475 Integer-BCD conversion ·········································· 174 Integer-bit string conversion ···································· 172 Integer-duration conversion····································· 176 Integer-integer conversion······································· 169 Integer-real numbers conversion····························· 171 Integrator ································································· 377 Interlock diagnosis··················································· 691 Interlock Diagnosis with First Fault Diagnosis Permission Input ····················································································694 Interrupt disable······················································· 464 Interrupt enable························································ 463 Inverse polygonal line function ································ 395 Inverse polygonal line function (high-speed version) ········································································ 399 Inverter······································································· 59 I/O············································································ 333 I/O memory read······················································ 334 I/O memory read (nv) ·············································· 340 I/O memory write ····················································· 337 I/O memory write (nv) ·············································· 343 J JCR············································································ 73 JCS············································································ 73 Jump control set/reset ··············································· 73 Jump/Label ································································ 74 L LABEL ······································································· 74 LAG2 ······································································· 416 LB_P········································································ 664 LD language ································································ 3 LE ············································································ 131 LE_L ········································································ 143 LEFT········································································ 467 LEN·········································································· 466 LIMIT ······································································· 158 LN············································································ 243 LOG········································································· 241 LT············································································· 133 LT_L········································································· 139 Lag/Lead filter ·························································· 416 Leftmost extract string ············································· 467 Less than································································· 133 Less than or equal ···················································131 Limiter ······································································158 Link ··········································································708 Local variable·····························································10 Logical operation······················································259 Logical shift ······························································289 M MAV··········································································406 MAV_N·····································································410 MAX·········································································146 MAXL ·······································································148 MCR···········································································76 MCS···········································································76 MID ··········································································471 MIN ··········································································150 MINL ········································································152 MOD·········································································305 MOVE ······································································116 MPX·········································································165 MREAD····································································334 MREAD_N ·······························································340 MUL ·································································300, 317 MUL_INT_DINT·······················································302 MUX·········································································163 MVF ·········································································388 MV calculation··························································385 MVS·········································································385 MWRITE ··································································337 MWRITE_N······························································343 Master control set/reset··············································76 Maximum ·································································146 Maximum of table data·············································148 Minimum ··································································150 Minimum of table data··············································152 Move data ································································116 Move table data························································118 Moving ····································································· 111 Moving average (high-speed version)······················406 Moving average (low-speed version) ·······················410 Multiplex···································································163 Multiplex of table data ··············································165 Multiply·····························································300, 302 Multiply time data·····················································317 Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 753 N NE············································································ 135 NEG········································································· 200 NOT········································································· 268 Natural logarithms···················································· 243 Negated coil······························································· 61 Negative transition sensing contact ··························· 56 Negative transition-sensing coil ································· 65 Network variable························································ 10 Non-tracking type static variable································ 10 Normally closed contact············································· 54 Normally closed contact gate··································· 114 Normally open contact ··············································· 53 Normally open contact gate····································· 112 Not equal ································································· 135 Numeric function······················································ 237 O OR··········································································· 264 Off-delay timer ··························································· 90 On/off-delay timer ···················································· 102 On-delay timer ··························································· 87 P PB_P ······································································· 661 PCT ········································································· 420 PID_P······································································ 605 PID2········································································· 380 PID3········································································· 422 PIDP_P···································································· 618 PLN·········································································· 390 PLN_REAL2 ···························································· 393 Parameter structure················································· 433 Partial equalizer (address specification) ·················· 601 Partial equalizer (variable specification) ·················· 599 Phase end step························································ 723 Phase step······························································· 720 Polygonal line function············································· 390 Polygonal line function (high-speed version) ··········· 393 Positive transition-sensing coil··································· 64 Positive transition-sensing contact ···························· 55 Power ······································································ 311 Process control ························································ 603 Process operation···················································· 371 Program····································································· 18 Program control ·······················································451 Program disable·······················································458 Program enable ·······················································456 Program organization unit ··········································17 Pulse output PID······················································618 Pulse output sample PI ············································623 Pulse timer ·································································93 Push button lock ······················································664 Push button ON ·······················································661 R RAD_TO_DEG·························································203 RAD-DEG conversion··············································203 RAS··········································································686 REAL_TO_ASC·······················································216 REAL_TO_BCD_DWORD·······································179 REAL_TO_BCD_WORD··········································179 REAL_TO_DINT ······················································177 REAL_TO_INT·························································177 REAL_TO_TIME······················································181 REAL_TO_UINT ······················································177 REPEAT···································································519 REPLACE································································479 RETURN··································································452 RIGHT······································································469 RJ_P········································································678 RJ_P2 ······································································682 RMV_P·····································································655 ROL··········································································285 ROR·········································································283 RS············································································107 RSM_L·····································································430 RSTC·······································································323 RSV_P·····································································649 RTC············································································98 RTC_N·····································································100 Rate limiter·······························································414 Reading and writing variable······································15 Real number format ·····················································9 Real numbers-ASCII conversion······························216 Real numbers-BCD conversion ·······························179 Real numbers-duration conversion··························181 Real numbers-integer conversion····························177 Real time clock···················································98, 100 Remainder ·······························································305 Replace string··························································479 Reset carry·······························································323 6F8C1226 754 RESET coil ································································ 63 Reset jump ······························································ 678 Reset MV································································· 655 Reset SV ································································· 649 Reset type flip-flop··················································· 107 Return······································································ 452 Rightmost extract string··········································· 469 Rising edge detector·················································· 57 Rotate bits left ·························································· 285 Rotate bits right························································ 283 S SBB ········································································· 298 SCV_P····································································· 657 SEL·········································································· 161 SEMA ······································································ 109 SETC······································································· 322 SFA·········································································· 287 SFC language······························································ 4 SFL·········································································· 289 SHL·········································································· 281 SHR········································································· 279 SIN··········································································· 247 SJ_P········································································ 674 SMV_P ···································································· 651 SPI_P ······································································ 612 SPIP_P···································································· 623 SQRT······································································· 238 SR············································································ 105 SS·············································································· 96 SSV_P····································································· 645 ST language ································································ 4 START_P································································· 460 STRING_TO_ARRAY·············································· 233 SUB································································· 296, 315 Selection·································································· 145 Selector ··································································· 161 Self step jump·························································· 674 Semaphore······························································ 109 Sequence ································································ 717 Set carry ·································································· 322 SET coil ····································································· 62 Set MV····································································· 651 Set SV ····································································· 645 Set type flip-flop······················································· 105 Shift bits left ····························································· 281 Shift bits right ··························································· 279 Shut CV····································································657 Sign negative ···························································200 Sine··········································································247 Single shot ·································································96 Socket communication receive ························558, 570 Socket communication send····························525, 542 Square root ······························································238 State change detection read ····································352 Static variable·····························································10 Station global variable················································10 Step··········································································701 String length·····························································466 String processing ·····················································465 String-array conversion············································233 Subtract····································································296 Subtract time data····················································315 Subtract with carry ···················································298 Super two degrees of freedom PID··························380 System flags ······························································26 T TAN··········································································251 TAND········································································262 TEST········································································277 THEN·······································································488 TIME_TO_BCD_DWORD········································196 TIME_TO_BCD_WORD ··········································196 TIME_TO_DINT·······················································193 TIME_TO_INT··························································193 TIME_TO_REAL······················································195 TIME_TO_UINT·······················································193 TINZ·········································································122 TMOV·······································································118 TNOT ·······································································269 TO_INDEX·······························································235 TOF············································································90 TOFM_P ····································································90 TON············································································87 TONM_P····································································87 TOR··········································································266 TP ··············································································93 TRST········································································331 TRUNC ····································································198 TSET········································································329 TXNR·······································································275 TXOR·······································································273 Table bit reset···························································331 Unified Controller nv series/Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) 755 Table bit set······························································ 329 Tag number conversion ··········································· 235 Tag operation··························································· 638 Tangent ···································································· 251 Task ··········································································· 16 Temporary variable···················································· 10 Test ·········································································· 277 Time data type conversion······································· 206 Timers········································································ 85 Transition································································· 704 Truncation································································ 198 Type conversion ······················································ 167 U UINT_TO_BCD_DWORD········································ 174 UINT_TO_BCD_WORD·········································· 174 UINT_TO_DINT······················································· 169 UINT_TO_DWORD················································· 172 UINT_TO_INT ························································· 169 UINT_TO_REAL······················································ 171 UINT_TO_TIME······················································· 176 UINT_TO_WORD···················································· 172 UNT ········································································· 418 UNTIL ······································································ 520 URCV_N·································································· 570 URCV_T ·································································· 558 USEND_N ······························································· 542 USEND_T································································ 525 Up counter ································································· 78 Up down counter ······················································· 82 User defined function··············································· 453 User defined function block ····································· 454 V Variable declaration examples··································· 11 Variable memory allocation rules······························· 11 Variables···································································· 10 W WHILE····································································· 514 WORD_BCD_TO_DINT·········································· 187 WORD_BCD_TO_INT············································· 187 WORD_BCD_TO_REAL········································· 189 WORD_BCD_TO_TIME·········································· 191 WORD_BCD_TO_UINT·········································· 187 WORD_TO_DINT···················································· 183 WORD_TO_DWORD···············································185 WORD_TO_INT·······················································183 WORD_TO_UINT····················································183 X XCHG·······································································120 XMIT_N····································································592 XMIT_Ｔ···································································590 XOR·········································································271 6F8C1226 756 Unied Controller nv series & Integrated Controller V series Programming Instructions (LD/FBD/SFC/ST) September 30, 2010 © Toshiba Corporation 2010 All Right Reserved. No part of this document may be reproduced without the prior written consent of Toshiba. Transmission Distribution & Industrial Systems Company Microelectronics & System Components Department - System Components Support Group 1, Toshiba-Cho, Fuchu-Shi, Tokyo, 183-8511, Japan Tel +81-42-333-2206 Third Edition Notes (1) The technical information provided herein describes typical operations and applications of the product and does not guarantee the intellectual property rights or other rights of Toshiba or third parties nor allows license of its use. (2) No part or the whole of this document may be reproduced without prior consent. (3) The information herein may be changed in the future without notice. (4) All possible measures have been taken to prepare the information herein. If you have any question, comment, or nd any error, please contact us. PROSEC, TOSLINE, TOSDIC, CIEMAC are trademarks or registered trademarks of Toshiba Corporation. Microsoft, Windows are registered trademarks of Microsoft Corporation in the U.S. and other countries. DeviceNet is a registered trademark of Open DeviceNet Vender Association Inc. 6F8C1226 Programming Instructions (LD/FBD/SFC/ST) Unied Controller nv Series Integrated Controller vseries 1226.3.1009 P r o g r a m m i n g I n s t r u c t i o n s ( L D / F B D / S F C / S T ) U n i e d C o n t r o l l e r n v s e r i e s & I n t e g r a t e d C o n t r o l l e r V s e r i e s