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6000 Swing Door/ILP - 063 Guide
User manual for 6000 Swing Door/ILP - 063
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Table of contents
Document Outline
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
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