Document Outline

• Front Cover
• About this Manual
• Using this Manual
• MP2000-series Manuals
• Safety Information
• Safety Precautions
• Warranty
• Contents
• 1 Introduction to Ladder Programming
  • 1.1 What Is a Ladder Program?
  • 1.2 Features of Ladder Programming for MP2000-series Machine Controllers
    • 1.2.1 Types of Ladder Drawings and Their Different Execution Timing
    • 1.2.2 Program Modules
    • 1.2.3 Programming Complicated Numeric Operations
    • 1.2.4 Communications Control with External Devices
    • 1.2.5 Complete Synchronization with Motion Control
• 2 Specifications for Ladder Programs
  • 2.1 MP2000-series Machine Controller Specifications
    • 2.1.1 Applicable Machine Controllers
    • 2.1.2 Machine Controller Program Specifications
  • 2.2 Engineering Tool Specifications
    • 2.2.1 Applicable Engineering Tool
    • 2.2.2 MPE720 Version 6 Engineering Tool Specifications
  • 2.3 Ladder Programming Instructions
• 3 Ladder Program Development Flow
  • 3.1 Ladder Program Design Procedures
    • 3.1.1 Connecting the Hardware
    • 3.1.2 Installing MPE720 Version 6
    • 3.1.3 Communications Settings
    • 3.1.4 System Startup
    • 3.1.5 Creating a Project
    • 3.1.6 Creating Ladder Programs
    • 3.1.7 Transferring Ladder Programs
    • 3.1.8 Checking the Operation of the Ladder Programs
    • 3.1.9 Saving the Ladder Programs to Flash Memory
• 4 Programming
  • 4.1 Ladder Program Editor
  • 4.2 Ladder Drawings
    • 4.2.1 Types of Ladder Drawings
    • 4.2.2 Controlling the Execution of Drawings
  • 4.3 User Functions
    • 4.3.1 What Is a User Function?
    • 4.3.2 Creating User Functions
    • 4.3.3 Calling a User Function
  • 4.4 Registers (Variables)
    • 4.4.1 What Are Registers?
    • 4.4.2 Register Types
    • 4.4.3 Data Types
    • 4.4.4 Index Registers (i, j)
  • 4.5 Table Data
    • 4.5.1 What Is Table Data?
    • 4.5.2 Creating Table Data
  • 4.6 Transferring Data
  • 4.7 Setting the High-speed/Low-speed Scan Times
  • 4.8 Advanced Programming
    • 4.8.1 Motion Programs
    • 4.8.2 C-language Programs
    • 4.8.3 Security
    • 4.8.4 Tracing
• 5 Instructions
  • 5.1 How to Read the Instructions
  • 5.2 Relay Circuit Instructions
    • 5.2.1 NO Contact (NOC)
    • 5.2.2 NC Contact (NCC)
    • 5.2.3 10-ms ON-Delay Timer (TON[10ms])
    • 5.2.4 10-ms OFF-Delay Timer (TOFF[10ms])
    • 5.2.5 1-s ON-Delay Timer (TON[1s])
    • 5.2.6 1-s OFF-Delay Timer (TOFF[1s])
    • 5.2.7 Rising-edge Pulses (ON-PLS)
    • 5.2.8 Falling-edge Pulses (OFF-PLS)
    • 5.2.9 Coil (COIL)
    • 5.2.10 Set Coil (S-COIL)
    • 5.2.11 Reset Coil (R-COIL)
  • 5.3 Numeric Operation Instructions
    • 5.3.1 Store (STORE)
    • 5.3.2 Add (ADD (+))
    • 5.3.3 Extended Add (ADDX (++))
    • 5.3.4 Subtract (SUB (-))
    • 5.3.5 Extended Subtract (SUBX (- -))
    • 5.3.6 Multiply (MUL (x))
    • 5.3.7 Divide (DIV (÷))
    • 5.3.8 Integer Remainder (MOD)
    • 5.3.9 Real Remainder (REM)
    • 5.3.10 Increment (INC)
    • 5.3.11 Decrement (DEC)
    • 5.3.12 Add Time (TMADD)
    • 5.3.13 Subtract Time (TMSUB)
    • 5.3.14 Spend Time (SPEND)
    • 5.3.15 Invert Sign (INV)
    • 5.3.16 One’s Complement (COM)
    • 5.3.17 Absolute Value (ABS)
    • 5.3.18 Binary Conversion (BIN)
    • 5.3.19 BCD Conversion (BCD)
    • 5.3.20 Parity Conversion (PARITY)
    • 5.3.21 ASCII Conversion 1 (ASCII)
    • 5.3.22 ASCII Conversion 2 (BINASC)
    • 5.3.23 ASCII Conversion 3 (ASCBIN)
  • 5.4 Logic Operations and Comparison Instructions
    • 5.4.1 Inclusive AND (AND)
    • 5.4.2 Inclusive OR (OR)
    • 5.4.3 Exclusive OR (XOR)
    • 5.4.4 Less Than (<)
    • 5.4.5 Less Than or Equal (≤)
    • 5.4.6 Equal (=)
    • 5.4.7 Not Equal (≠)
    • 5.4.8 Greater Than or Equal (≥)
    • 5.4.9 Greater Than (>)
    • 5.4.10 Range Check (RCHK)
  • 5.5 Program Control Instructions
    • 5.5.1 Call Sequence Program (SEE)
    • 5.5.2 Call Motion Program (MSEE)
    • 5.5.3 Call User Function (FUNC)
    • 5.5.4 Direct Input String (INS)
    • 5.5.5 Direct Output String (OUTS)
    • 5.5.6 Call Extended Program (XCALL)
    • 5.5.7 WHILE Construct (WHILE, END_WHILE)
    • 5.5.8 FOR Construct (FOR, END_FOR)
    • 5.5.9 IF Construct (IF, END_IF)
    • 5.5.10 IF-ELSE Construct (IF, ELSE, END_IF)
    • 5.5.11 Expression (EXPRESSION)
  • 5.6 Basic Function Instructions
    • 5.6.1 Square Root (SQRT)
    • 5.6.2 Sine (SIN)
    • 5.6.3 Cosine (COS)
    • 5.6.4 Tangent (TAN)
    • 5.6.5 Arc Sine (ASIN)
    • 5.6.6 Arc Cosine (ACOS)
    • 5.6.7 Arc Tangent (ATAN)
    • 5.6.8 Exponential (EXP)
    • 5.6.9 Natural Logarithm (LN)
    • 5.6.10 Common Logarithm (LOG)
  • 5.7 Data Shift Instructions
    • 5.7.1 Bit Rotate Left (ROTL)
    • 5.7.2 Bit Rotate Right (ROTR)
    • 5.7.3 Move Bit (MOVB)
    • 5.7.4 Move Word (MOVW)
    • 5.7.5 Exchange (XCHG)
    • 5.7.6 Table Initialization (SETW)
    • 5.7.7 Byte-to-word Expansion (BEXTD)
    • 5.7.8 Word-to-byte Compression (BPRESS)
    • 5.7.9 Binary Search (BSRCH)
    • 5.7.10 Sort (SORT)
    • 5.7.11 Bit Shift Left (SHFTL)
    • 5.7.12 Bit Shift Right (SHFTR)
    • 5.7.13 Copy Word (COPYW)
    • 5.7.14 Byte Swap (BSWAP)
  • 5.8 DDC Instructions
    • 5.8.1 Dead Zone A (DZA)
    • 5.8.2 Dead Zone B (DZB)
    • 5.8.3 Upper/Lower Limit (LIMIT)
    • 5.8.4 PI Control (PI)
    • 5.8.5 PD Control (PD)
    • 5.8.6 PID Control (PID)
    • 5.8.7 First-order Lag (LAG)
    • 5.8.8 Phase Lead Lag (LLAG)
    • 5.8.9 Function Generator (FGN)
    • 5.8.10 Inverse Function Generator (IFGN)
    • 5.8.11 Linear Accelerator/Decelerator 1 (LAU)
    • 5.8.12 Linear Accelerator/Decelerator 2 (SLAU)
    • 5.8.13 Pulse Width Modulation (PWM)
  • 5.9 Table Manipulation Instructions
    • 5.9.1 Read Table Block (TBLBR)
    • 5.9.2 Write Table Block (TBLBW)
    • 5.9.3 Search for Table Row (TBLSRL)
    • 5.9.4 Search for Table Column (TBLSRC)
    • 5.9.5 Clear Table Block (TBLCL)
    • 5.9.6 Move Table Block (TBLMV)
    • 5.9.7 Read Queue Table (QTBLR and QTBLRI)
    • 5.9.8 Write Queue Table (QTBLW and QTBLWI)
    • 5.9.9 Clear Queue Table Pointers (QTBLCL)
  • 5.10 System Function Instructions
    • 5.10.1 Counter (COUNTER)
    • 5.10.2 First-in First-out (FINFOUT)
    • 5.10.3 Trace (TRACE)
    • 5.10.4 Read Data Trace (DTRC-RD)
    • 5.10.5 Read Inverter Trace (ITRC-RD)
    • 5.10.6 Send Message (MSG-SND)
    • 5.10.7 Receive Message (MSG-RCV)
    • 5.10.8 Write Inverter Parameter (ICNS-WR)
    • 5.10.9 Read Inverter Parameter (ICNS-RD)
    • 5.10.10 Write SERVOPACK Parameter (MLNK-SVW)
    • 5.10.11 Write Motion Register (MOTREG-W)
    • 5.10.12 Read Motion Register (MOTREG-R)
  • 5.11 C-language Control Instructions
    • 5.11.1 Call C-language Function (C-FUNC)
    • 5.11.2 C-language Task Control (TSK-CTRL)
• 6 Features of the MPE720 Engineering Tool
  • 6.1 Ladder Program Runtime Monitoring
  • 6.2 Searching/Replacing
  • 6.3 Cross References
  • 6.4 Checking for Multiple Coils
  • 6.5 Forcing Coils ON and OFF
  • 6.6 Viewing Called Programs
  • 6.7 Register Lists
  • 6.8 Tuning Panel
  • 6.9 Enabling and Disabling Ladder Programs
  • 6.10 Compiling for MPE720 Version 5
• 7 Troubleshooting
  • 7.1 Basic Flow of Troubleshooting
  • 7.2 Indicator Status
  • 7.3 Problem Classifications
    • 7.3.1 Overview
    • 7.3.2 Error Checking Flowchart for MP2000-series Machine Controllers
  • 7.4 Detailed Troubleshooting
    • 7.4.1 Operation Errors
    • 7.4.2 I/O Errors
    • 7.4.3 Watchdog Timer Errors
    • 7.4.4 Module Synchronization Errors
    • 7.4.5 System Errors
• Appendix A System Registers
  • A.1 System Service Registers
  • A.2 System Status
  • A.3 System Error Status
  • A.4 Overview of User Operation Error Status
  • A.5 System Service Execution Status
  • A.6 Detailed User Operation Error Status
  • A.7 System I/O Error Status
  • A.8 CF Card-related System Registers (MP2200-series CPU-02 and CPU-03 only)
  • A.9 Interrupt Status
    • A.9.1 Interrupt Status List
    • A.9.2 Details on Interrupting Module
  • A.10 Module Information
  • A.11 MPU-01 System Status
  • A.12 Motion Program Information
• Appendix B CP (Previous) Ladder Instructions and New Ladder Instructions
  • B.1 Correspondence between CP (Previous) Ladder Instructions and New Ladder Instructions
  • B.2 Converting CP (Previous) Ladder Programs to New Ladder Programs
• Appendix C Sample Programming
  • C.1 Jogging from the Control Panel
  • C.2 Motion Program Control
  • C.3 Simple Synchronized Operation of Two Axes with a Virtual Axis
  • C.4 Transferring Project Files to Different Models
• Appendix D Format for EXPRESSION Instruction
  • D.1 Elements That You Can Use in Numeric Expressions
  • D.2 National Limitations
    • D.2.1 Arithmetic Operators
    • D.2.2 Comparison Operators
    • D.2.3 Logic Operators
    • D.2.4 Substitution Operator
    • D.2.5 Functions
    • D.2.6 Others
• Appendix E Precautions
  • E.1 General Precautions
  • E.2 Precautions on Motion Parameters
• Index
  • Symbols
  • Numerics
  • A
  • B
  • C
  • D
  • E
  • F
  • G
  • H
  • I
  • L
  • M
  • N
  • O
  • P
  • R
  • S
  • T
  • U
  • W
  • X
• Revision History
• Back Cover