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MELSEC-Q
Programming/Structured Programming Manual
(Process Control Instructions)
SAFETY PRECAUTIONS
(Always read these cautions before using the product)
Before using MELSEC-Q series programmable controllers, please read the manuals included with each
product and the relevant manuals introduced in those manuals carefully, and pay full attention to safety to
handle the product correctly.
Make sure that the end users read the manuals included with each product, and keep the manuals in a safe
place for future reference.
1
CONDITIONS OF USE FOR THE PRODUCT
(1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions;
i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major
or serious accident; and
ii) where the backup and fail-safe function are systematically or automatically provided outside of
the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.
(2) The PRODUCT has been designed and manufactured for the purpose of being used in general
industries.
MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT
LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT,
WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY INJURY OR DEATH TO PERSONS OR
LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR
USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS,
OR WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY
MANUALS, TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT.
("Prohibited Application")
Prohibited Applications include, but not limited to, the use of the PRODUCT in;
• Nuclear Power Plants and any other power plants operated by Power companies, and/or any
other cases in which the public could be affected if any problem or fault occurs in the PRODUCT.
• Railway companies or Public service purposes, and/or any other cases in which establishment of
a special quality assurance system is required by the Purchaser or End User.
• Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as
Elevator and Escalator, Incineration and Fuel devices, Vehicles, Manned transportation,
Equipment for Recreation and Amusement, and Safety devices, handling of Nuclear or
Hazardous Materials or Chemicals, Mining and Drilling, and/or other applications where there is a
significant risk of injury to the public or property.
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INTRODUCTION
Thank you for purchasing the Mitsubishi MELSEC-Q series programmable controllers.
Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the
functions and performance of the Q series programmable controller to handle the product correctly.
When applying the program examples introduced in this manual to an actual system, ensure the applicability and confirm that
it will not cause system control problems.
Remark
In this manual, instructions are written in three programming languages:
ladder diagram for Simple projects, structured ladder/FBD and structured text language for Structured projects.
Please use GX Works2 with the version 1.98C or later for Structured projects.
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CONTENTS
CONTENTS
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CONTENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CHAPTER 1 OVERVIEW
10
1.1
Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.2
PID Control Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.3
Forward Operation and Reverse Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.4
PID Control Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.4.1
Proportional operation (P operation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
1.4.2
Integral operation (I operation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
1.4.3
Derivative operation (D operation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
1.4.4
PID operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
CHAPTER 2 STRUCTURE AND COMBINATIONS OF PROCESS CONTROL
INSTRUCTIONS
2.1
2.2
2.3
19
Structure of Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
How to Specify Data in Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.2.1
In the case of bit data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
2.2.2
In the case of word (16-bit) data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
2.2.3
In the case of double word (32-bit) data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
2.2.4
In the case of real number data (floating-point) data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
2.2.5
Operation errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
2.2.6
Execution conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
2.2.7
Number of steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
2.2.8
Index modification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
Basic Loop Types Available by Combinations of Process Control Instructions . . . . . . . . . . . . . 23
CHAPTER 3 DATA USED FOR PROCESS CONTROL INSTRUCTIONS AND
HOW TO SPECIFY DATA
25
3.1
Process Control Instructions and Data Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.2
Local Work Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.3
Data Used for Process Control Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.3.1
Loop memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
3.3.2
Input data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
3.3.3
Block memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
3.3.4
Operation constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
3.3.5
Loop tag memory allocation contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
CHAPTER 4 HOW TO EXECUTE PROCESS CONTROL INSTRUCTIONS
4
1
2
3
4
8
9
34
4.1
Execution Cycle and Control Cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.2
Concept of Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
CHAPTER 5 EXECUTION CONDITION SWITCHING AND FUNCTIONS
5.1
Execution Condition Switching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
5.1.1
5.2
36
Loop RUN/STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36
Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
5.2.1
Tracking function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
5.2.2
Cascade loop tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
5.2.3
Loop selector tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
CHAPTER 6 INSTRUCTIONS
39
6.1
How to Read the Instruction List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
6.2
List of Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
6.2.1
I/O control instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
6.2.2
Control operation instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
6.2.3
Compensation operation instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
6.2.4
Arithmetic operation instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
6.2.5
Comparison operation instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
6.2.6
Auto tuning instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
CHAPTER 7 HOW TO READ INSTRUCTION DETAILS
51
CHAPTER 8 I/O CONTROL INSTRUCTIONS
55
8.1
S.IN
Analog Input Processing . . . . . . . . . . . . . . . . . . . . .55
8.2
S.OUT1
Output Processing-1 with Mode Switching . . . . . . .60
8.3
S.OUT2
Output Processing-2 with Mode Switching . . . . . . .66
8.4
S.MOUT
Manual Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71
8.5
S.DUTY
Time Proportioning . . . . . . . . . . . . . . . . . . . . . . . . . .75
8.6
S.BC
Batch Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81
8.7
S.PSUM
Pulse Integration . . . . . . . . . . . . . . . . . . . . . . . . . . .85
CHAPTER 9 CONTROL OPERATION INSTRUCTIONS
90
9.1
S.PID
Basic PID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90
9.2
S.2PID
2-degree-of-freedom PID Control . . . . . . . . . . . . . .98
9.3
S.PIDP
Position Type PID Control . . . . . . . . . . . . . . . . . . .106
9.4
S.SPI
Sample PI Control . . . . . . . . . . . . . . . . . . . . . . . . .115
9.5
S.IPD
I-PD Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122
9.6
S.BPI
Blend PI control . . . . . . . . . . . . . . . . . . . . . . . . . . .130
9.7
S.R
Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .137
9.8
S.PHPL
High/Low Limit Alarm . . . . . . . . . . . . . . . . . . . . . . .142
9.9
S.LLAG
Lead-Lag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .148
9.10 S.I
Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .150
9.11 S.D
Derivative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .152
9.12 S.DED
Dead Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .154
9.13 S.HS
High Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . .157
5
9.14 S.LS
Low Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . .159
9.15 S.MID
Middle Value Selection . . . . . . . . . . . . . . . . . . . . .161
9.16 S.AVE
Average Value . . . . . . . . . . . . . . . . . . . . . . . . . . . .164
9.17 S.LIMT
High/Low Limiter . . . . . . . . . . . . . . . . . . . . . . . . . .166
9.18 S.VLMT1
Variation Rate Limiter 1 . . . . . . . . . . . . . . . . . . . . .168
9.19 S.VLMT2
Variation Rate Limiter 2 . . . . . . . . . . . . . . . . . . . . .171
9.20 S.ONF2
2-position ON/OFF . . . . . . . . . . . . . . . . . . . . . . . . .173
9.21 S.ONF3
3-position ON/OFF . . . . . . . . . . . . . . . . . . . . . . . . .179
9.22 S.DBND
Dead Band . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .185
9.23 S.PGS
Program Setter . . . . . . . . . . . . . . . . . . . . . . . . . . . .187
9.24 S. SEL
Loop Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . .192
9.25 S.BUMP
Bumpless Transfer . . . . . . . . . . . . . . . . . . . . . . . . .198
9.26 S.AMR
Analog Memory . . . . . . . . . . . . . . . . . . . . . . . . . . .201
CHAPTER 10 COMPENSATION OPERATION INSTRUCTIONS
10.1 S.FG
Function Generator . . . . . . . . . . . . . . . . . . . . . . . .203
10.2 S.IFG
Inverse Function Generator . . . . . . . . . . . . . . . . . .205
10.3 S.FLT
Standard Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . .207
10.4 S.SUM
Summation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .210
10.5 S.TPC
Temperature/Pressure Correction . . . . . . . . . . . . .212
10.6 S.ENG
Engineering Value Conversion . . . . . . . . . . . . . . .215
10.7 S.IENG
Inverse Engineering Value Conversion . . . . . . . . .217
CHAPTER 11 ARITHMETIC OPERATION INSTRUCTIONS
219
11.1 S.ADD
Addition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .219
11.2 S.SUB
Subtraction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .221
11.3 S.MUL
Multiplication . . . . . . . . . . . . . . . . . . . . . . . . . . . . .223
11.4 S.DIV
Division . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .225
11.5 S.SQR
Square Root . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .227
11.6 S.ABS
Absolute Value . . . . . . . . . . . . . . . . . . . . . . . . . . . .229
CHAPTER 12 COMPARISON OPERATION INSTRUCTIONS
231
12.1 S. >
Compare Greater Than . . . . . . . . . . . . . . . . . . . . .231
12.2 S. <
Compare Less Than . . . . . . . . . . . . . . . . . . . . . . .233
12.3 S. =
Compare Equal Than . . . . . . . . . . . . . . . . . . . . . . .235
12.4 S. >=
Compare Greater Or Equal . . . . . . . . . . . . . . . . . .237
12.5 S. <=
Compare Less Or Equal . . . . . . . . . . . . . . . . . . . .239
CHAPTER 13 AUTO TUNING
13.1 S. AT1
6
203
241
Auto tuning instruction . . . . . . . . . . . . . . . . . . . . . .244
CHAPTER 14 ERROR CODES
251
14.1 List of Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
APPENDIX
253
Appendix 1Program Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
Appendix 2Loop Tag Memory List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
Appendix 2.1PID control (SPID), 2-degree-of-freedom PID control (S2PID), sample PI control (SSPI)
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .257
Appendix 2.2I-PD control (SIPD), blend PI control (SBPI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .259
Appendix 2.3Manual output (SMOUT), monitor (SMON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .261
Appendix 2.4Manual output with monitor (SMWM), PIDP control (SPIDP). . . . . . . . . . . . . . . . . . . . .262
Appendix 2.52 position ON/OFF control (SONF2), 3 position ON/OFF control (SONF3) . . . . . . . . . .264
Appendix 2.6Batch counter (SBC). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .265
Appendix 2.7Ratio control (SR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .266
Appendix 3Operation Processing Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
Appendix 3.1Operation processing time of each instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .268
Appendix 3.2Operation processing time of 2-degree-of-freedom PID control loop . . . . . . . . . . . . . . .271
INDEX
273
INSTRUCTION INDEX
275
REVISIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
7
RELEVANT MANUALS
Manual number
Manual name
(model code)
QCPU User's Manual (Hardware Design, Maintenance and Inspection)
Specifications of the CPU modules, power supply modules, base units, extension cables, memory cards, SD memory
cards, extended SRAM cassettes, and batteries, information on how to establish a system, maintenance and
inspection, and troubleshooting
SH-080483ENG
(13JR73)
(Sold separately)
Qn(H)/QnPH/QnPRHCPU User's Manual (Function Explanation, Program Fundamentals)
SH-080808ENG
Functions, methods, and devices for programming
(Sold separately)
MELSEC-Q/L Programming Manual (Common Instruction)
(13JZ28)
SH-080809ENG
How to use sequence instructions, basic instructions, and application instructions
(Sold separately)
(13JW10)
MELSEC-Q/L/QnA Programming Manual (SFC)
System configuration, performance specifications, functions, programming, debugging, and error codes for SFC
(MELSAP3) programs
SH-080041
(13JF60)
(Sold separately)
MELSEC-Q/L Programming Manual (MELSAP-L)
SH-080076
Programming methods, specifications, and functions for SFC (MELSAP-L) programs
(Sold separately)
MELSEC-Q/L/F Structured Programming Manual (Fundamentals)
(13JF61)
SH-080782ENG
Methods and languages for structured programming
(Sold separately)
(13JW06)
MELSEC-Q/L Structured Programming Manual (Common Instructions)
Specifications and functions of common instructions, such as sequence instructions, basic instructions, and
application instructions, that can be used in structured programs
(13JW07)
(Sold separately)
8
SH-080783ENG
TERMS
Unless otherwise specified, this manual uses the following terms.
Term
Description
QnPHCPU
A generic term for the Q02PHCPU, Q06PHCPU, Q12PHCPU, and Q25PHCPU
QnPRHCPU
A generic term for the Q12PRHCPU and Q25PRHCPU
Instructions are written in three programming languages:
ladder diagram for Simple projects, structured ladder/FBD and structured text language for Structured projects. To write
instructions other than comparison operation instructions in the structured ladder/FBD or structured text language, use "_"
instead of ".".
For the comparison operation instructions, use the following instruction symbols.
Instruction
Ladder diagram
S.>
Comparison operation instruction
Structured ladder/FBD and
structured text language
S_GT
S.<
S_LT
S.=
S_EQ
S.>=
S_GE
S.<=
S_LE
9
CHAPTER 1
OVERVIEW
This manual describes the process control instructions equipped for the CPU module.
1.1
Features
The process control instructions have the following features.
(1) Use of floating-point data
Capable of handling floating-point type real number data, the instructions can perform wide-range and accurate
operations.
(2) Increased efficiency of system adjustment
Micro-blocked process control instructions are combined to perform PID control.
This enables actions to be confirmed on a process control instruction basis, ensuring efficient system adjustment.
Example) Process control instructions used to carry out 2-degree-of-freedom PID control
Use each instruction common table.
Loop tag memory setting
Operation constant setting
K1
T0
Execution command
T0
PLS
M0
M0
CALL P1
RST
T0
FEND
P1 Always executed
Process control instruction 1
(Input instruction)
FLT
D0
R0
Microblock
S.IN
R0
R100 R200 R1000
S.IN instruction
EMOV R100 R20
Microblock
Process control instruction 2
(Upper lower limit alarm instruction) S.PHPL instruction
S.PHPL
Set value (SV)
R20 R120 R220 R1000
EMOV R120 R40
Process value (PV)
Process control instruction 3
Microblock
(2-degree-of-freedom PID
S.2PID instruction
control instruction)
S.2PID R40 R140 R240 R1000 R300
EMOV R140 R60
Process control instruction 4
(Output instruction)
Microblock
S.OUT1
R60 R160 R260 R1000
S.OUT1 instruction
INT
R160 D1
RET
10
(3) Free combination of process control instructions for application to a wide range of control
As an option, a process control instruction can be inserted in a loop that links process control instructions.
Add the square root operation instruction (S.SQR) to perform the square root operation of an input signal to provide an
1
output signal as shown below.
FIC
2
Regulator
3
4
FE flow meter
Liquid
3
Diaphragm valve
[Example of adding square root operation instruction (S.SQR) to process control instructions]
6
Loop tag memory setting
7
Operation constant setting
Added as
option
Process control instruction
Normal ON
(Square root operation
S.SQR
instruction)
instruction
S.2PID instruction
R0
EM0V
R100
R100 R200
SD1506
R40
1.1
Normal ON
S.2PID R40 R140 R240 R1000 R300
Features
Process control instruction
(2-degree-of-freedom PID
control instruction)
8
S.SQR
(4) Automatic detection of various alarms
A system can be configured safely since various alarms are detected automatically in the system.
11
(5) PID algorithm using a velocity type incomplete differential format
Partial differential has the following advantages over the complete differential format.
(a) The differential gain is 1/
and the limit value can be set.
(b) The output contains time amplitude, so the system actually responds to the operation edge so the derivative
operation makes the movement valid.
Deviation
DV
PID
Manipulated
variable
Time(t)
12
1.2
PID Control Overview
1
PID control is applied to the process control of flow rate, speed, air volume, temperature, tension, compounding or like.
In the following application, a value of a control target system can be kept at a set value with PID control.
Process control instructions
are used
2
Subdivided (micro-blocked) processings
of PID control
3
Manual
MV
Set value
SV
PV
PID
operation
Automatic
MV
MV
D/A
converter
module
4
Controlled
system
3
A/D
converter
module
Sensor
6
PID control compares the value measured in the detection section (process value: PV) with the preset value (set value: SV)
and adjust the output value (manipulated value: MV) to eliminate the difference between the process value and set value.
In PID control, proportional operation (P), integral operation (I) and derivative operation (D) are combined to calculate the
manipulated value that will make the process value equal to the set value fast and precisely.
7
8
• If the difference between the process value and set value is large, the manipulated value is increased to make it close to
the set value fast.
• When the difference between the process value and set value has reduced, the manipulated value is decreased to make it
1.2
equal to the set value slowly and precisely.
PID Control Overview
13
1.3
Forward Operation and Reverse Operation
(1) Forward operation is the action that increases the manipulated value when the process value increases more than the
set value.
(2) Reverse operation is the action that increases the manipulated value when the process value is decreasing more than
the set value.
(3) Forward operation and reverse operation make the manipulated value larger as the difference between the set value and
the process value becomes larger.
(4) The following figure shows an example of process control in forward operation and reverse operation.
Temperature
Temperature
Set value
Process value
Set value
Time
Forward operation (for air conditioning)
14
Process value
Time
Reverse operation (for heating)
1.4
PID Control Details
This section explains "proportional operation", "integral operation" and "derivative operation" performed for PID control using
1
the process control instructions.
1.4.1
2
Proportional operation (P operation)
3
This section explains the control method using proportional operation.
(1) Proportional operation is the action that compares the deviation (DV, difference between the set value and the process
value) to find the manipulated value (MV).
4
(2) The proportional term is given by:
3
MV = KP • DV
KP is a proportional gain constant.
Deviation
(3) The proportional operation in the case of a step response with a constant deviation will be as follows.
6
DV
7
Manipulated
value
Time
8
K P DV
Time
1.4 PID Control Details
1.4.1
Proportional operation (P operation)
(4) The manipulated value fluctuates between -10 and 110%.
As KP increases, the manipulated value for the constant deviation also increases.
(5) Offset occurs in proportional operation.
15
1.4.2
Integral operation (I operation)
This section explains the control method using integral operation.
(1) Integral operation is the operation that continuously changes the manipulated value to eliminate deviation when there is
deviation.
This operation can eliminate the offset that occurs during control performed by a proportional operation.
(2) The time required for adjusting the manipulated value of the integral operation to the manipulated value of the
proportional operation after the deviation is detected is called integral time (TI).
(a) Increasing the integral time decreases the effect of integration.
(It will take time to stabilize.)
(b) Decreasing the integral time increases the effect of integration.
However, since the integral operation will be stronger, hunting may become greater.
Deviation
(3) The integral operation in the case of a step response with a constant deviation will be as follows.
DV
Time
Manipulated
value
Proportional operation integral operation manipulated value
Integral operation manipulated value
KP DV
Manipulated value in the proportional operation
TI
Time
(4) The integral operation is used as the PI operation that is combined with the proportional operation or as the PID
operation that is combined with the proportional operation and the derivative operation.
Control cannot be carried out by merely performing the integral operation.
16
1.4.3
Derivative operation (D operation)
1
This section explains the control method using the derivative operation.
(1) The derivative operation is an operation that adds the proportional manipulated value to the change speed to eliminate
deviation when a deviation has occurred.
2
The derivative operation can prevent large changes in the object control from disturbances.
(2) The time required for adjusting the manipulated value of the derivative operation to the manipulated value of the
3
proportional operation after the deviation is detected is called derivative time (TD).
Increasing the derivative time makes the derivative operation stronger.
4
Deviation
(3) The derivative operation in the case of a step response with a constant deviation will be as follows.
3
DV
Time
Manipulated
value
6
7
K P DV
Manipulated value for proportional operation
8
TD
Time
(4) The derivative operation can be used as PD operation in combination with a proportional operation or as a PID operation
in combination with the proportional operation and integral operation.
Control cannot be carried out by merely performing the derivative operation.
1.4 PID Control Details
1.4.3
Derivative operation (D operation)
17
1.4.4
PID operation
This section explains the control operation using combinations of proportional operation (P operation), integral operation (I
operation), and derivative operation (D operation).
(1) The PID operation controls the calculated manipulated value using (P + I + D) operation.
Deviation
(2) The PID operation in the case of a step response with a constant deviation will be as follows.
Manipulated value
Time
PID operation
PI
operation
I operation
P operation
D operation
Time
18
CHAPTER 2
2.1
STRUCTURE AND COMBINATIONS OF
PROCESS CONTROL INSTRUCTIONS
1
2
Structure of Instructions
The instructions that can be used by the process control instructions can be divided into the "instruction part" and "device
part".
3
The instruction part and device part are as follows.
• Instruction part.......This shows the functions for these instructions.
• Device part.............This shows the data required for operations and the storage destination of the stored operation results.
4
4
The device part is classified as the source device and destination device.
(1) Source (S)
6
The source stores the data used for operation.
(a)
In the process control instruction, specify the head device that stores the source data.
(b)
Data must have been stored in the specified device until the process control instruction is executed.
(c)
Changing the source data allows you to change the data used in that instruction.
7
(2) Destination (D)
Destination is where the data is stored after operation.
(a)
(b)
8
Sets the device for which the data will be stored in the destination.
Depending on the instruction used, data used for operation must also be stored in the destination before start of the
operation.
2.1
19
Structure of Instructions
For the structure of instructions used in structured programs, refer to the MELSEC-Q/L Structured Programming Manual
(Common Instructions).
2.2
How to Specify Data in Devices
The following 4 types of data can be used by the process control instructions.
Data that can be used by the
process control instructions
Bit data
Numeric data
Integer data
Word data
Double word data
Real number data
(floating-point data)
2.2.1
In the case of bit data
Bit data is handled on a single bit basis.
The CPU module uses a word device for alarm condition or selection on a single bit basis.
By specifying the bit number of the word device, you can use the 1/0 of the specified bit number as bit data.
b15
b0
Word device 1/0 1/0 1/0 1/0 1/0 1/0 1/0 1/0 1/0 1/0 1/0 1/0 1/0 1/0 1/0 1/0
1 in each bit can be used as ON,
or 0 as OFF.
Specify the bit of the word device in the form of " Word device . Bit No. ".
(Specify the bit number in hexadecimal.)
For example, specify the bit 5 (b5) of D0 as D0.5, and the bit 10 (b10) of D0 as D0.A.
However, you cannot specify the bits of the timer (T), retentive timer (ST), counter (C) and index register (Z). (Example: You
cannot specify Z0.0.)
2.2.2
In the case of word (16-bit) data
Word data is the 16-bit numeric data that is used for the loop tag memory bit pack contents and operation constants, etc.
• Decimal constant........................K-32768 to K32767
• Hexadecimal constant................H0000 to HFFFF
Example) For the loop tag memory ALM (standard value setting 4000H)
ALM
0
1
0
4
20
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2.2.3
In the case of double word (32-bit) data
1
Double word data is 32-bit numeric data.
• Decimal constant......................K-2147483648 to K2147483647
• Hexadecimal constant..............H00000000 to HFFFFFFFF
2
When using double word data, specify the word device to be used in the lower-order 16 bits.
The 32-bit data is stored into the (specified word device number) and ((specified word device number) + 1).
3
Example) When D10 is specified for double word data, D10 and D11 are used.
2.2.4
D11
D10
(BW1)H
(BW1)L
4
In the case of real number data (floating-point) data
4
The data required for operations and the operation results are 32-bit floating-point data.
6
Floating-point data is displayed as follows using 2 word devices.
1. [Fixed-point part] × 2 [Exponent part]
7
The bit configuration when the floating-point data is expressed internally and its meaning are as follows.
8
b31
b30
to
b23
b22
to
b16
b15
b23 to b30
Exponent
to
b0
b0 to b22
Mantissa
• Fixed-point part sign This shows the fixed-point part sign in b31.
0: Positive
1: Negative
• Exponent part This shows the 2n's n and b23 to b30.
The n from b23 to b30's BIN value is as follows.
b23 to b30
n
FFH
FEH FDH
Non-numeric
127
data
126
81H
2
80H
1
7FH
0
7EH
-1
02H
01H
00H
Non-numeric
-125 -126
data
• Fixed-point part This shows the value of XXXXXX... in the 23 bits, b0 to b22, when 1.XXX XXX... is represented in binary.
• The real number setting range is 0, ± 2-126 |value| < ± 2128.
• To represent 0, set 0 in all of b0 to b31.
21
2.2 How to Specify Data in Devices
2.2.3
In the case of double word (32-bit) data
b31
Sign
2.2.5
Operation errors
Operation errors caused by process control instructions are stored in the following remote register.
For errors other than operation errors, refer to the error codes listed in the QCPU User's Manual (Hardware Design,
Maintenance and Inspection). (The error code is stored in SD0.)
Remark
(1)
The following errors (other than operation errors) are also stored in the special register.
• Error code 4002..........The name of the specified instruction is incorrect.
• Error code 4003..........The number of devices used in the process control instruction is incorrect.
• Error code 4004..........A device that cannot be used in the instruction is specified.
• Error code 4100..........The instruction cannot process the data.
(2) For the error code 4100, the detailed information is stored in special register (SD1502 and SD1503). Values in
SD1502 and SD1503 are set to 0 when other than the process control instruction operation error.
For details, refer to Page 251, CHAPTER 14.
2.2.6
Execution conditions
The process control instructions are instructions that are executed while the input condition is ON.
2.2.7
Number of steps
The number of process control instruction steps differs depending upon the number of instruction characters, the device used,
and whether or not an indirect setting is valid.
The basic number of steps for the extension instruction are as follows.
Number of steps in process control instruction = 2 +
*1
number of instruction characters*1
+ number of devices
2
The number of characters is calculated by adding 1 when the number is odd. (For example when rounding up the results of a
division.)
S.IN
The "S." of the instruction code is not
included in the number of characters.
R0
R100 R200
1Step
1Step
R1000
7Step
1Step
1Step
1Step
2+2/2+4=7Step
For details, refer to the MELSEC-Q/L Structured Programming Manual (Common Instructions).
2.2.8
Index modification
Index modification available for the process control instructions is the same as the one available for the basic instructions of
the CPU module.
22
2.3
Basic Loop Types Available by Combinations of Process
Control Instructions
Loop type
Structure
SET
2-degree-of-freedom PID
control
(S2PID)
Application
S.IN
S.PHPL
S.OUT1
S.IN
S.PHPL
S.DUTY
(SPID)
S.IN
S.PHPL
PIDP control
(SPIDP)
Sample PI control
(SSPI)
S.OUT1
Blend PI control
(SBPI)
Ratio control
(SR)
2-position ON/OFF control
(SONF2)
S.PHPL
S.DUTY
Used for general PID control. (Position
S.IN
S.PHPL
S.PIDP
OUTPUT
S.PHPL
S.OUT1
S.IN
S.PHPL
S.IPD
SET
S.OUT1
OUTPUT
MV
S.BPI
S.OUT1
OUTPUT
PV
S.IN
S.PHPL
SV
SET
S.OUT2
OUTPUT
S.IN
S.PHPL
long period of time.
S.ONF2
to the other varying value.
Depending on the sign (positive/
MV
negative) of a deviation, operation to
PV
INPUT
period of time and may be constant in a
the ratio of the given manipulated value
MV
S.R
varied.
Control is performed to keep constant
SV
SET
given impact when the set value is
manipulated value may vary in a short
PV
S.PHPL
control cycle and the output is kept
Used for a process where the
SV
S.IN
period of control execution time in each
the operation end and process are not
MV
OUTPUT
turn the manipulated value ON or OFF
is performed.
3-position ON/OFF control outputs
3-position ON/OFF control
(SONF3)
SV
SET
signals of three areas in response to
MV
the process value to carry out control.
PV
INPUT
S.IN
S.PHPL
S.ONF3
OUTPUT
This control can suppress the sudden
variation of the manipulated value.
Batch counter
(SBC)
A valve or like is controlled ON/OFF in
INPUT
S.PSUM
S.BC
OUTPUT
7
8
constant after that.
Used to make slow response so that
PV
INPUT1
OUTPUT
SV
SET
control cycle.
Used for a process that has long dead
PI control is executed for only the
MV
S.SPI
Conducts PID operation for each
time.
SV
S.IN
6
type)
MV
PV
INPUT
OUTPUT
SV
SET
INPUT
control cycle.
MV
S.PID
a process of batch preparation for a
tank or like.
23
Basic Loop Types Available by Combinations of Process Control Instructions
(SIPD)
S.IN
4
type)
2.3
I-PD control
Used for general PID control. (velocity
OUTPUT
Conducts PID operations for each
PV
INPUT
4
OUTPUT
SV
SET
INPUT
control cycle.
MV
S.PID
PV
INPUT
3
SV
PV
SET
of-freedom). (velocity type)
Conducts PID operations for each
MV
S.2PID
SET
INPUT
OUTPUT
SV
PV
PID control
Used for general PID control (2-degree-
MV
S.2PID
SET
INPUT
2
SV
PV
INPUT
1
Loop type
Structure
Program setting device
(SPGS)
Manual output
S.PGS
(SMOUT)
S.MOUT
Selector
(SSEL)
24
previously set value time change.
This manually operates the operation
OUTPUT
terminal end.
This inputs the process value and
PV
INPUT
S.IN
S.PHPL
Manual output with monitor
(SMWM)
OUTPUT
MV
Monitor
(SMON)
Application
This is output in accordance with the
MV
OUTPUT
PV
INPUT
S.IN
S.PHPL
S.MOUT
detects process errors such as upper/
lower limit alarms.
This inputs the process value and
MV
OUTPUT
conducts manual operation while
checking that no errors occur.
INPUT1
INPUT2
S.SEL
OUTPUT
This is used to select signals.
CHAPTER 3
DATA USED FOR PROCESS CONTROL
INSTRUCTIONS AND HOW TO SPECIFY
DATA
1
2
3.1
Process Control Instructions and Data Structure
3
This section explains the data structure (data flow) used for process control instructions.
(a) Configuration when using loop tag
4
1) The loop units have common storage areas that show the control information. This collection of common
information is called a loop tag and the storage memory is called the loop tag memory.
2) By monitoring the loop tag, you can monitor and tune the loop (control unit).
6
[Block diagram]
6
Loop tag memory
S.IN
Process
control
instruction
S.PHPL
Output
Process
control
instruction
Input
Operation
constant 1
Block
memory 1
S.2PID
Output
Process
control
instruction
Input
Operation
constant 2
Block
memory 2
S.OUT1
Output
Process
control
instruction
7
Output
Input
Operation
constant 3
Block
memory 3
8
Operation
constant 4
Block
memory 4
3.1
Process Control Instructions and Data Structure
25
(b) Loop tag memory and operation constant locations in ladder diagram
[Ladder diagram]
Use name instruction common table.
Loop tag memory (96 words)
Loop tag memory setting
Instruction
used
Operation constant setting
Standard
value setting
Item
K1
T0
Execution command
T0
PLS
M0
M0
CALL P1
RST
T0
Data type
BIN16bit
+0
8H
BIN16bit
ALM
4000H
BIN16bit
INH
4000H
+1
MODE
+3
+4
BIN16bit
+10
S.PHPL
PV
0.0
Real number
+12
S.OUT1
MV
0.0
Real number
+14
S.2PID
SV
0.0
Real number
+16
S.2PID
DV
0.0
Real number
+18
S.OUT1
MH
100.0
Real number
+20
S.OUT1
ML
0.0
Real number
+22
S.PHPL
RH
100.0
Real number
FEND
P1 Normal execution
FLT D0
S.IN
R0
R0
R100 R200 R1000
EMOV R100 R20
S.PHPL
R20 R120 R220 R1000
EMOV R120 R40
S.2PID
R40 R140 R240 R1000 R300
EMOV R140 R60
S.OUT1
R60 R160 R260 R1000
+46
S.2PID
CT
1.0
Real number
+48
S.OUT1
DML
100.0
Real number
+50
S.2PID
DVL
100.0
Real number
+52
S.2PID
P
1.0
Real number
+54
S.2PID
I
10.0
Real number
+56
S.2PID
D
0.0
Real number
+58
S.2PID
GW
0.0
Real number
+60
S.2PID
GG
Real number
+62
S.OUT1
MVP
1.0
0.0
+64
S.2PID
0.0
Real number
+66
S.2PID
1.0
Real number
+90
0.0
Real number
+92
0.0
Real number
+94
0.0
Real number
Real number
INT R160 D1
RET
The symbols in the ladder diagram mean the following.
Instruction name
S.IN
S.PHPL
S.2PID
R0
R20
R40
R60
2) Block memory head device
R100
R120
R140
R160
3) Operation constant head device
R200
R220
R240
R260
1) Input data head device
Start contact
Instruction
name
1) 2) 3) 4) 5)
4) Loop tag memory head device
5) Set value head device
26
S.OUT1
R1000
––
––
R300
––
3.2
Local Work Memory
Local work memory is used as a temporary storage area in process control instruction operation. (The memory is used for
1
each micro block.)
2
The following instructions use the local work memory.
Instruction
Remarks
3
S.LLAG (Lead-Lag)
S.D (Derivative)
S.DED (Dead time)
The system stores the midway operation results.
S.FLT (Standard filter)
(For system use only)
4
S.AT1 (Auto tuning)
S.FG (Function generator)
The user stores the coordinate values (Xn, Yn) of a function
S.IFG (Inverse function generator)
generator. Operations are performed based on these values.
6
S.BUMP (Bumpless transfer)
6
[Block diagram]
Input data setting
Operation constant setting
7
Data for operation
Process control
instruction execution
Data after operation
Local work
memory
8
Operation result
Block memory
3.2
[Ladder diagram]
Operation constant setting
Normal ON
S.LLAG
R0
R100 R20
R200
S.LLAG (Lead-Lag)
Input data head device
Block memory head device
R0
R100
Operation constant head device
Local work memory head device
R20
R200
Local Work Memory
Instruction name
The application of the local work memory changes depending on the used instruction. Refer to the explanation section of the
corresponding instruction.
27
3.3
Data Used for Process Control Instructions
The following data are used for the process control instructions.
•
•
•
•
•
Loop tag memory
Input data
Block memory
Operation constant
Local work memory
3.3.1
Page 28, Section 3.3.1
Page 29, Section 3.3.2
Page 30, Section 3.3.3
Page 30, Section 3.3.4
Page 27, Section 3.2
Loop memory
(1) Loop memory
(a) The loop memory is an area that stores the data used commonly by the process control instructions specified as the
loop type.
The loop memory also has an area that stores the data used by the CPU module system during process control
instruction execution.
(b) The loop memory has the "loop tag memory" and "loop tag past value memory" areas.
(c)
The loop memory consists of 128 words (word device: 128 points).
When setting the loop memory areas, specify the device that can occupy 128 words consecutively.
Loop memory
Specified device
+0
+95
+96
+127
Loop tag memory
96word
Loop tag past value memory
(Usage possible on the user's
side.)
32word
(2) Loop tag memory
(a) The loop tag memory is an area that stores the data used commonly by the process control instructions specified as
the loop type indicated in Page 23, Section 2.3.
(b) The loop tag memory consists of 96 words.
(c)
Refer to Page 257, Appendix 2 (Loop tag memory list) for the applications of the area used by the process control
instructions in the loop tag memory.
28
(3) Loop tag past value memory
(a) The loop tag past value memory is an area used by the CPU module system at the time of process control
1
instruction execution.
The user cannot write data to this memory during run.
If the user writes data to the loop tag past value memory during run, normal operation cannot be performed.
2
(b) The loop tag past value memory is a 32-word area after the loop tag memory.
(c)
At the start of the process control instruction, write "0" to the loop tag past value memory.
3.3.2
3
Input data
4
(1) Input data is variable data given to each process control instruction.
(2) The input data uses the block word of the block memory that stores the operation result of the process control instruction
executed previously.
Process control instruction
S.IN
Input data
Process control instruction
Operation result
Block word
6
S.PHPL
Input data
Block bit
6
Operation result
Block word
Block bit
7
Block memory*
Transferred by user
*For the block memory, refer to Page 30, Section 3.3.3.
8
(3) The application of the input data changes depending on the used instruction. Refer to the explanation section of the
corresponding instruction.
3.3 Data Used for Process Control Instructions
3.3.2
Input data
29
3.3.3
Block memory
The block memory is an area that stores the output information of the corresponding process control instruction.
The block memory has "block words" and "block bits".
The application of the block memory changes depending on the used instruction.
Refer to the explanation section of the corresponding instruction.
Block memory
Specified device number
0
1
Block word
(2 words)
2
Block bit
2 words are used when real number
is stored into block word.
As block bit, each bit of one word
is used to store ON/OFF data.
(1) Block word (BW)
(a) The block word is an area that stores the operation result of the process control instruction.
(b) As the input data of the next process control instruction linked by the loop, the data stored in the block word is used.
Process control instruction
S.IN
Input data
Process control instruction
Operation result
S.PHPL
Block word
Operation result
Block word
Input data
Block bit
Block bit
Transferred by user
(2) Block bit (BB)
The block bit is an area that stores the corresponding alarm data at process control instruction execution.
As the block bits, 16 bits of b0 to b15 are represented as BB1 to BB16.
The b0 (BB1) in the block bits stores "1" if any of b1 to b15 (BB2 to BB16) on each instruction stores an alarm data.
b12
b15
Block bit
3.3.4
B
B
1
6
B
B
1
5
B
B
1
4
B
B
1
3
b8
B
B
1
2
B
B
1
1
B
B
1
0
B
B
9
b0
b4
B
B
8
B
B
7
B
B
6
B
B
5
B
B
4
B
B
3
B
B
2
B
B
1
Operation constant
(1) The operation constant is an area that stores the data used by only one process control instruction.
(2) The application of the operation constant changes depending on the used instruction. Refer to the explanation section of
the corresponding instruction.
30
3.3.5
Loop tag memory allocation contents
1
The loop tag memory allocation contents are shown below.
Instructions
used in loop tag
After setting some values are changed by
Abbreviated name the numbers from the operation results.
of each item
(Highlighted areas)
Show the number of
words from the loop
tag header
Instruction
used
Item
Offset
Setting range
Standard
value setting
2
3
Data type
0
MODE
0 to FFFFH
8H
BIN16bit
3
ALM
0 to FFFFH
4000H
BIN16bit
4
INH
0 to FFFFH
4000H
BIN16bit
S.PHPL
10
PV
RL to RH
0.0
Real number
S.OUT1
12
MV
-10 to 110
0.0
Real number
S.2PID
14
SV
RL to RH
0.0
Real number
S.2PID
16
DV
-110 to 110
0.0
Real number
S.OUT1
18
MH
-10 to 110
100.0
Real number
S.OUT1
20
ML
-10 to 110
0.0
Real number
S.PHPL
22
RH
-999999 to 999999
100.0
Real number
S.PHPL
24
RL
-999999 to 999999
0.0
Real number
S.PHPL
26
PH
RL to RH
100.0
Real number
S.PHPL
28
PL
RL to RH
0.0
Real number
S.PHPL
30
HH
RL to RH
100.0
Real number
S.PHPL
32
LL
RL to RH
0.0
Sets the offset position
for each instruction
Real number
S.IN
38
0 to 1
0.2
Real number
S.PHPL
40
HS
0 to 999999
0.0
Real number
S.PHPL
42
CTIM
0 to 999999
S.PHPL
44
DPL
0 to 100
S.2PID
46
CT
0 to 999999
S.OUT1
48
DML
S.2PID
50
S.2PID
0.0
Real number
100.0
Real number
1.0
Real number
0 to 100
100.0
Real number
DVL
0 to 100
100.0
Real number
52
P
0 to 999999
1.0
Real number
S.2PID
54
I
0 to 999999
10.0
Real number
S.2PID
56
D
0 to 999999
0.0
Real number
S.2PID
58
GW
0 to 100
0.0
Real number
S.2PID
60
GG
0 to 999999
1.0
Real number
S.OUT1
62
MVP
-999999 to 999999
0.0
Real number
S.2PID
64
0 to 1
0.0
Real number
S.2PID
66
0 to 1
1.0
Real number
4
6
6
7
8
3.3 Data Used for Process Control Instructions
3.3.5
Loop tag memory allocation contents
1
For PID control (S2PID loop)
All commonly set in the same
loop tag
(1) Shows the contents of the bit pack using the loop tag data.
(a) ALM
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
S
P
A
D
M
L
A
O
O
P
A
S
E
A
H
H
A
L
L
A
P
H
A
P
L
A
D
P
P
A
D
P
N
A
D
V
L
A
M
H
A
M
L
A
The standard value setting
4000H is shown when manual
operation is conducted using
the loop step status. Use 0000H
31
S: Stored by the system
U: Set by the user
Flag
Name
Abbreviation
Description
establishment
conditions
Shows the loop stop status. Changes the loop mode to manual.
Stop alarm
SPA
Conducts stop alarm processing for the output value (BW) and alarm
U
signal.
Conducts the change rate limiter for the input data and outputs the
Output change rate limit alarm
DMLA
change rate alarm. (For the output change upper limit value/control
S
value).
Output open alarm
Shows that it has changed to open status when the operation output
OOPA
Sensor alarm
signal has become disconnected, etc.
SEA
Sensor error alarm
S
S
Checks the upper limit value of the process equipment upper limit, and
Upper upper limit alarm
HHA
outputs an alarm if the process value is higher than the upper limit
S
value.
Lower lower limit alarm
LLA
Upper limit alarm
PHA
Lower limit alarm
PLA
Positive direction change rate
Checks the lower limit value of the process equipment lower limit, and
outputs an alarm if the process value is lower than the lower limit value.
Checks the upper limit value of the process value, and outputs an alarm
if the process value is higher than the upper limit value.
Checks the lower limit value of the process value, and outputs an alarm
if the process value is lower than the lower limit value.
Outputs an alarm if the change rate is higher than the upward trend
DPPA
alarm
Negative direction change rate
change rate range.
Outputs an alarm if the change rate is lower than the downward trend
DPNA
alarm
change rate range.
S
S
S
S
S
Conducts an error check and then outputs an alarm if over. In addition,
Deviation large alarm
if the error check determines that the deviation is completely less than
DVLA
the warning value and the error is reduced by a set value from the
S
warning value then the deviation large alarm will be released.
Output upper limit alarm
MHA
Output lower limit alarm
MLA
Conducts a check using the upper/lower limiter and if the limiter results
are larger than the input upper limit value an alarm is output.
A check is conducted by an upper/lower limiter and if the limiter results
are smaller than the input lower limit value an alarm is output.
S
S
(a)
(b) INH
This prohibits alarm detection for each item. In addition, the alarms prohibited by INH are not detected. (The INH
bits 0 to 11 correspond to the bits 0 to 11 of ALM.)
b15 b14 b13 b12 b11 b10 b9 b8 b7
E
R
R
I
T
R
K
F
D
M
L
I
O
O
P
I
S
E
I
H
H
I
L
L
I
b6 b5 b4 b3 b2 b1 b0
P
H
I
P
L
I
D
P
P
I
D
P
N
I
D
V
L
I
M
H
I
M
L
I
Trucking flag
(We ask the user not touch this.)
All alarm detection prohibited
32
(c)
MODE
The process control instructions have the following operation modes that satisfy the following operations in a
system connected to an operator station, programmable controller, host computer, machine side operation panel
and like.
b15 b14 b13 b12 b11 b10 b9 b8 b7
C
S
V
C
M
V
C
C
B
C
A
B
b6 b5 b4 b3 b2 b1 b0
C
M
B
C
A
S
A
U
T
M
A
N
L
C
C
L
C
A
2
L
C
M
3
For MODE make one of them a 1 bit only flag 1.
Operation mode
Description
MAN
• Manual operation from OPS
(MANUAL)
• SV and MV can be set.
AUT
(AUTOMATIC)
• Automatic operation
• SV can be set.
• MV cannot be set.
CAS
• Cascade operation
(CASCADE)
• SV and MV cannot be set.
CMV
(COMPUTER MV)
CSV
(COMPUTER SV)
CMB
(COMPUTER MANUAL BACK UP)
CAB
(COMPUTER AUTOMATIC BACK UP)
CCB
(COMPUTER CASCADE BACK UP)
LCM
(LOCAL MANIPULATED)
(LOCAL AUTOMATIC)
LCC
(LOCAL CASCADE)
Application
4
Monitoring and control from operator station are
performed.
6
Loop operation from host computer can be
6
performed and operation mode is controlled and
• Automatic SV setting from host computer
monitored at operator station.
7
• Manual operation backup when host
computer is abnormal
• Automatic operation backup when host
computer is abnormal
• Cascade operation backup when host
During loop control by host computer, backup is
provided by predetermined operator station
8
when computer fails.
computer is abnormal
• Local manual operation
• Local automatic operation
• Local cascade operation
At startup of plant, operation and startup are
performed by loop display or like from other
than operator station and operation mode is
monitored by operator station.
33
3.3 Data Used for Process Control Instructions
3.3.5
Loop tag memory allocation contents
LCA
• Automatic MV setting from host computer
1
CHAPTER 4
4.1
HOW TO EXECUTE PROCESS CONTROL
INSTRUCTIONS
Execution Cycle and Control Cycle
(1) Execution cycle
(a) An execution cycle is an interval at which the process control instruction is executed.
(b) There are the following methods to execute the process control instruction in each execution cycle.
1) Method using timer
A timer is used to measure the execution cycle and the process control instruction is executed when the timer
times out.
2) Method using interrupt programs
Any of interrupt programs of I28 to I31 is run in each execution cycle.
3) Method using fixed scan execution type program
A fixed scan execution type program is run in each execution cycle.
(c)
Specify in the special registers (SD1500, SD1501) the value of the execution cycle used for the process control
instruction as a real number.
(2) Control cycle
(a) A control cycle is an interval in which PID control is performed for an instruction such as S.2PID (2-degree-offreedom PID).
As the control cycle, specify an integral multiple of the execution cycle.
The S.2PID or similar instruction counts the execution cycle in each execution cycle and starts PID operation when
the specified control cycle is reached.
(b) Specify in the loop tag memory (See Page 28, Section 3.3.1) the control cycle used for the S.2PID or similar
instruction.
The S.2PID or similar instruction uses the value of the control cycle specified in the loop tag memory to perform PID
control.
Example) When monitoring is performed at intervals of 1s in 2-degree-of-freedom PID control and PID control is
carried out at intervals of 5s.
0
1
3
2
5
4
6
7
8
9
10
11
12
13
14
15
16
17
18
(s)
Execution cycle
1s
1s
1s
1s
1s
5s
5s
5s
Control cycle
(Execution cycle)
N
S.2PID instruction performs processing at intervals of 5s.
When the control cycle is set to an integral multiple of the execution cycle, monitoring such as a PV check can be
performed in each execution cycle.
34
4.2
Concept of Program
1
[Program example using S.2PID instruction at execution cycle of 1s]
2
Loop tag memory setting
Loop tag memory setting
Operation constant setting
Operation constant setting
Setting of data for S.IN,
S.PHPL, S.2PID and S.OUT1
3
Execution
command
(1s)
K10
T0
Execution cycle measurement
4
T0
PLS M0
6
M0
MOV U0\GO D0
Input data (PV) setting
Import of data (PV) from
A/D converter module or like
6
CALL P1
7
RST T0
MOV D1 U2\G0
MV output
Output of MV from D/A
converter module or like
8
FEND
P1
SM400
FLT D0 R0
4.2
R0 R100 R200 R1000
Concept of Program
S.IN
EMOV R100 R20
S.PHPL R20 R120 R220 R1000
Process control instruction
designation
S.IN instruction
S.PHPL instruction
S.2PID instruction
S.OUT1 instruction
EMOV R120 R40
S.2PID R40 R140 R240 R1000 R300
EMOV R140 R60
S.OUT1 R60 R160 R260 R1000
INT
R160 D1
RET
35
CHAPTER 5
5.1
EXECUTION CONDITION SWITCHING
AND FUNCTIONS
Execution Condition Switching
5.1.1
Loop RUN/STOP
If any loop component such as a detector or operation end other than the programmable controller fails, each loop can be run/
stopped to perform the maintenance of the corresponding loop.
The "SPA" bit of the alarm detection (ALM) is used to run/stop the corresponding loop.
(1) Basic operation during loop STOP
(a) Output status hold (The S.2PID instruction is output = 0)
(b) Alarm No detection (Process alarm)
(c)
36
Make the control mode MAN.
5.2
Functions
5.2.1
1
Tracking function
2
The tracking function includes the "bumpless function" and "output limiter processing".
(1) Bumpless function
The bumpless function prevents manipulated value (MV) output stepping changes when switching from the automatic
3
mode to manual mode and continuously controls MV output.
(2) Output limiter processing function
The output limiter processing function limits the upper limit and lower limit of the manipulated value (MV) output by the
4
PID operation during the automatic mode. This output limiter processing function is only valid in the automatic mode and
is not executed for manual data. In addition, when the parameter tracking function execution validity is set to not valid
when in the automatic mode the output limiter processing function will not execute.
5.2.2
5
6
Cascade loop tracking
The process control loops that comprise a cascade loop use the manipulated value (MV) of a primary loop (Loop 0) as the set
value (SV) of a secondary loop (Loop 1).
7
Tracking is performed to prevent the sudden variation of the set value (SV) when the operation mode of the secondary loop
(Loop 1) is changed.
8
(1) The cascade PID loop Tracking processing is shown in the diagram below.
[Processing concept diagram]
SV
5.2 Functions
5.2.1
Tracking function
PID
PV1
Loop 0
Trucking data transmission
MV
SV
Trucking bit (TRK: 1)
PID
PV2
Loop 1
MV
(a) In cascade operation, the manipulated value (MV) of Loop 0 is transferred to the set value (SV) of Loop 1.
(b) When cascade operation is not performed, the set value (SV) of Loop 1 is transferred to the manipulated value (MV)
of Loop 0.
(Tracking to the source specified as the input terminal of the set value (SV) of Loop 1)
37
(2) Make the following settings to perform tracking.
(Tracking is performed when the operation mode is switched to other than CAS, CSV or CCB.)
For 2-degree-of-freedom PID (S.2PID), set the following operation constant items to specify tracking.
Setting item
Tracking bit (TRK)
Set value pattern (SVPTN)
5.2.3
Setting
1 (Tracking performed)
Set value pattern
Set value Used
0 (Set value is upper loop MV.)
0 (E2 is used)
Loop selector tracking
Tracking is performed under the following conditions.
• The operation mode is any of MAN, CMB, CMV and LCM and the tracking bit (TRK) is 1
• When the operation mode is any of AUT, CAS, CAB, CCB, CSV, LCA and LCC
The tracking bit (TRK) is 1 and BB1 of BB is 1
Manipulated
value (MV)
Loop tag memory
Process value
(PV1)
S.IN
S.PHPL
S.2PID
S.OUT1
Loop 0
S.IN
S.PHPL
E1
S.SEL
Loop 1
Process value
(PV2)
Tracking
S.2PID
Loop tag memory
S.OUT1
E2
Manipulated
value (MV)
Example) When the S.SEL instruction uses the input value E1 and E1 uses the upper loop (loop 0) MV, the S.SEL
instruction's MV is trucked to loop 0's MV.
The setting that conducts Tracking is shown below.
Operation constant
Tracking bit
Set value pattern
1
S2 +4
+5
1
0
1
0
0
0: Tracking not performed.
1: Tracking performed.
Input value selection
0: E1 is selected.
1: E2 is selected.
Input value (E1) use
0: E1 is used.
1: E1 is not used.
Input value (E2) use
0: E2 is used.
1: E2 is not used.
Input value (E1) pattern 0: E1 is upper loop MV.
1: E1 is not upper loop MV.
Input value (E2) pattern 0: E2 is upper loop MV.
1: E2 is not upper loop MV.
38
CHAPTER 6
INSTRUCTIONS
1
6.1
How to Read the Instruction List
2
Process control instructions are classified into six categories: I/O control instructions, control operation instructions,
compensation operation instructions, arithmetic operation instructions, comparison operation instructions, and auto tuning
instructions.
3
4
4
6
I/O control
instruction
1)
2)
3) 4)
5)
6)
7)
7
8)
1) Instructions are classified by their application.
8
2) An instruction symbol used in the program
3) A written format in the ladder diagram
S.OUT2
S1 D1 S2 D2
6.1
How to Read the Instruction List
Shows the destination side.
Shows the source side.
Shows the instruction symbol.
Destination: Shows the destination of the data after operation.
Source: Stores the data before the operation.
4) A written format in the structured ladder/FBD
Shows the instruction symbol.
Inputs the execution
condition of an
instruction.
S_OUT2
EN
ENO
S1
d1
S2
d2
Shows the source side.
Outputs an
execution status.
Shows the destination side.
39
5) A written format in the structured text language
Outputs an execution status.
Inputs the execution condition
of an instruction.
ENO:=S_OUT2 (EN, s1, s2, d1, d2)
Shows the destination side.
Shows the source side.
Shows the instruction symbol.
6) Details of processing performed by the instruction
7) The number of steps in the instruction. For details, refer to Page 22, Section 2.2.7.
8) Pages to be referred to
40
6.2
List of Instructions
1
6.2.1
I/O control instructions
2
Category
Instruction
Symbol
symbol
S.IN
steps
Reference
3
S1 D1 S2 D2
Conducts the input data (PV) Upper/
S_IN
S.IN
Processing details
Number of
EN
ENO
s1
d1
s2
d2
lower limit check, input limiter
processing, engineering value
7
Page 55
4
ENO:=S_IN(EN,s1,s2,d1,d2);
S.OUT1
S1 D1 S2 D2
Calculates the MV (0 to 100%) from the
S_OUT1
S.OUT1
4
conversion, and digital filter processing.
EN
6
input data (MV), processes the upper
ENO
and lower limit and Change rate limiter
s1
d1
processing, and conducts output on time
s2
d2
conversion.
8
Page 60
7
ENO:=S_OUT1(EN,s1,s2,d1,d2);
S.OUT2
S_OUT2
I/O control
instruction
S.OUT2
8
S1 D1 S2 D2
Performs change rate, upper/lower
limiter processing and output on time
s1
d1
conversion from the input data (MV).
s2
d2
8
Page 66
8
Page 71
8
Page 75
ENO:=S_OUT2(EN,s1,s2,d1,d2);
S.MOUT
S1 D1 S2 D2
S_MOUT
S.MOUT
EN
Reads the MV of the loop tag memory
ENO
s1
d1
s2
d2
and performs output conversion and
alarm clear processing.
ENO:=S_MOUT(EN,s1,s2,d1,d2);
S.DUTY
S1 D1 S2 D2
S_DUTY
S.DUTY
EN
Changes the ON/OFF rate within a
ENO
s1
d1
s2
d2
given cycle in proportion to the input
data (0 to 100%) and outputs the result.
ENO:=S_DUTY(EN,s1,s2,d1,d2);
41
6.2 List of Instructions
6.2.1
I/O control instructions
ENO
EN
Category
Instruction
Symbol
symbol
Number of
steps
Reference
S1 D1 S2 D2
S.BC
S_BC
S.BC
Processing details
Compares the input data with the set
EN
ENO
s1
d1
s2
d2
value and outputs bit data as soon as
7
Page 81
8
Page 85
the input data reaches the set value.
ENO:=S_BC(EN,s1,s2,d1,d2);
I/O control
instruction
S1 D1 S2 D2
S.PSUM
S_PSUM
S.PSUM
EN
ENO
s1
d1
s2
d2
Integrates the number of input pulses
and outputs the result.
ENO:=S_PSUM(EN,s1,s2,d1,d2);
6.2.2
Category
Control operation instructions
Instruction
Symbol
symbol
S.PID
Processing details
Number of
steps
Reference
S1 D1 S2 D2 S3
Conducts process value derivative type
PID operations. (Incomplete derivative)
S_PID
S.PID
EN
ENO
Performs SV setting processing,
s1
d1
tracking processing, gain Kp operation
s2
d2
processing, PID operation and deviation
s3
9
Page 90
9
Page 98
9
Page 106
check.
ENO:=S_PID(EN,s1,s2,s3,d1,d2);
S.2PID
S1 D1 S2 D2 S3
Performs 2-degree-of-freedom PID
operation (incomplete derivative).
S_2PID
Control
operation
S.2PID
instruction
EN
ENO
Performs SV setting processing,
s1
d1
tracking processing, gain Kp operation
s2
d2
processing, 2-degree-of-freedom PID
s3
operation and deviation check.
ENO:=S_2PID(EN,s1,s2,s3,d1,d2);
S.PIDP
S1 D1 S2 D2 S3
S.PIDP
Performs SV setting processing,
tracking processing, gain Kp operation
S_PIDP
EN
Performs position type PID operation.
processing, PID operation, deviation
ENO
s1
d1
s2
d2
s3
check and operation mode judgment.
According to the result, performs
change rate, upper/lower limiter and
output on time conversion or performs
ENO:=S_PIDP(EN,s1,s2,s3,d1,d2);
42
alarm clear processing and output on
time conversion.
Category
Instruction
Symbol
symbol
Processing details
Number of
steps
Reference
1
S1 D1 S2 D2 S3
S.SPI
Judges between the operating time and
hold time, and if it is the operating time,
S_SPI
S.SPI
EN
ENO
performs SV setting processing,
s1
d1
tracking processing, gain Kp operation
s2
d2
processing, SPI operation and deviation
s3
9
Page 115
check.
3
ENO:=S_SPI(EN,s1,s2,s3,d1,d2);
S1 D1 S2 D2 S3
S.IPD
Performs I-PD operation.
S_IPD
S.IPD
2
4
Performs SV setting processing,
EN
ENO
s1
d1
s2
d2
s3
tracking processing, gain Kp operation
9
Page 122
processing, IPD operation and deviation
4
check.
ENO:=S_IPD(EN,s1,s2,s3,d1,d2);
S.BPI
6
S1 D1 S2 D2 S3
Performs blend PI operation.
S_BPI
S.BPI
Performs SV setting processing,
EN
ENO
s1
d1
s2
d2
s3
Control
tracking processing, gain Kp operation
9
Page 130
processing, BPI operation and deviation
check.
8
ENO:=S_BPI(EN,s1,s2,s3,d1,d2);
operation
instruction
S.R
S1 D1 S2 D2 S3
S_R
Performs engineering value conversion,
EN
ENO
s1
d1
s2
d2
tracking processing, change rate limiter
8
Page 137
8
Page 142
8
Page 148
and ratio operation on the input data.
s3
ENO:=S_R(EN,s1,s2,s3,d1,d2);
S.PHPL
S1 D1 S2 D2
S_PHPL
S.PHPL
EN
Conducts an Upper limit value/lower
ENO
s1
d1
s2
d2
limit value check of the PV output by the
S.IN instruction.
ENO:=S_PHPL(EN,s1,s2,d1,d2);
S.LLAG
S1 D1 S2 D2
S_LLAG
S.LLAG
EN
Conducts lead-lag compensation for
ENO
s1
d1
s2
d2
input data and outputs the operation
results.
ENO:=S_LLAG(EN,s1,s2,d1,d2);
43
6.2 List of Instructions
6.2.2
Control operation instructions
S.R
7
Category
Instruction
Symbol
symbol
Number of
steps
Reference
S1 D1 S2 D2
S.I
S_I
S.I
Processing details
EN
Conducts integral operations on the
ENO
s1
d1
s2
d2
input data and outputs the operation
7
Page 150
7
Page 152
8
Page 154
7
Page 157
7
Page 159
8
Page 161
results.
ENO:=S_I(EN,s1,s2,d1,d2);
S1 D1 S2 D2
S.D
S_D
S.D
EN
Conducts Derivative operations on the
ENO
s1
d1
s2
d2
input data and outputs the operation
results.
ENO:=S_D(EN,s1,s2,d1,d2);
S.DED
S1 D1 S2 D2
S_DED
S.DED
Control
EN
ENO
s1
d1
s2
d2
Delays the input data by the specified
dead time and then outputs it.
ENO:=S_DED(EN,s1,s2,d1,d2);
operation
S.HS
instruction
S1 D1 S2 D2
S_HS
S.HS
EN
ENO
s1
d1
s2
d2
Outputs the maximum value among the
input data.
ENO:=S_HS(EN,s1,s2,d1,d2);
S.LS
S1 D1 S2 D2
S_LS
S.LS
EN
ENO
s1
d1
s2
d2
Outputs the minimum value among the
input data.
ENO:=S_LS(EN,s1,s2,d1,d2);
S1 D1 S2 D2
S.MID
S_MID
S.MID
EN
Outputs the middle value between the
ENO
s1
d1
s2
d2
ENO:=S_MID(EN,s1,s2,d1,d2);
44
maximum value and minimum value
among the input data.
Category
Instruction
Symbol
symbol
Processing details
Number of
steps
Reference
1
S1 D1 S2 D2
S.AVE
S_AVE
S.AVE
EN
ENO
s1
d1
s2
d2
Calculates and outputs the average
value of the input data.
8
Page 164
3
ENO:=S_AVE(EN,s1,s2,d1,d2);
S.LIMT
S1 D1 S2 D2
4
S_LIMT
S.LIMT
2
EN
ENO
s1
d1
s2
d2
Limits the output value with hysteresis.
8
Page 166
4
ENO:=S_LIMT(EN,s1,s2,d1,d2);
S.VLMT1
6
S1 D1 S2 D2
S_VLMT1
S.VLMT1
Control
EN
ENO
s1
d1
s2
d2
Limits the varying speed of the output
value.
9
Page 168
8
ENO:=S_VLMT1(EN,s1,s2,d1,d2);
operation
S.VLMT2
instruction
7
S1 D1 S2 D2
S_VLMT2
ENO
s1
d1
s2
d2
Limits the varying speed of the output
value.
9
Page 171
9
Page 173
9
Page 179
ENO:=S_VLMT2(EN,s1,s2,d1,d2);
S.ONF2
S1 D1 S2 D2 S3
Performs two-position ON/OFF control.
S_ONF2
S.ONF2
EN
Performs SV setting processing,
ENO
s1
d1
s2
d2
s3
tracking processing, MV compensation,
MV output and two-position ON/OFF
control.
ENO:=S_ONF2(EN,s1,s2,s3,d1,d2);
S.ONF3
S1 D1 S2 D2 S3
Performs three-position ON/OFF
control.
S_ONF3
S.ONF3
EN
ENO
Performs SV setting processing,
s1
d1
tracking processing, MV compensation,
s2
d2
MV output and three-position ON/OFF
s3
control.
ENO:=S_ONF3(EN,s1,s2,s3,d1,d2);
45
6.2 List of Instructions
6.2.2
Control operation instructions
S.VLMT2
EN
Category
Instruction
Symbol
symbol
Processing details
Number of
steps
Reference
S1 D1 S2 D2
S.DBND
S_DBND
S.DBND
EN
ENO
s1
d1
s2
d2
Provides a dead band and performs
output processing.
8
Page 185
8
Page 187
9
Page 192
8
Page 198
8
Page 201
ENO:=S_DBND(EN,s1,s2,d1,d2);
S1 D1 S2 D2
S.PGS
S_PGS
S.PGS
EN
ENO
s1
d1
s2
d2
Provides a control output according to
the SV and MV pattern.
ENO:=S_PGS(EN,s1,s2,d1,d2);
S1 D1 S2 D2 S3
S.SEL
Outputs the value selected by the
S_SEL
Control
operation
S.SEL
instruction
selection signal out of the input data in
EN
ENO
s1
d1
s2
d2
s3
the automatic mode, or outputs the MV
of the loop tag memory in the manual
mode.
ENO:=S_SEL(EN,s1,s2,s3,d1,d2);
S.BUMP
S1 D1 S2 D2
Brings the output value closer to the
S_BUMP
S.BUMP
EN
output set value from the output control
ENO
value gradually when the mode select
s1
d1
signal is switched from manual to
s2
d2
automatic.
ENO:=S_BUMP(EN,s1,s2,d1,d2);
S.AMR
S1 D1 S2 D2
S_AMR
S.AMR
EN
ENO
s1
d1
s2
d2
ENO:=S_AMR(EN,s1,s2,d1,d2);
46
Increases or decreases the output value
at the fixed rate.
6.2.3
Compensation operation instructions
1
Category
Instruction
Symbol
symbol
S.FG
steps
Reference
2
S1 D1 S2 D2
S_FG
S.FG
Processing details
Number of
Outputs the value that follows the
EN
ENO
s1
d1
s2
d2
function generator pattern whose input
7
Page 203
data is specified.
4
ENO:=S_FG(EN,s1,s2,d1,d2);
S.IFG
S1 D1 S2 D2
S_IFG
S.IFG
3
4
Outputs the value that follows the
EN
ENO
s1
d1
s2
d2
inverse function generator pattern
8
Page 205
whose input data is specified.
6
ENO:=S_IFG(EN,s1,s2,d1,d2);
S_FLT
S.FLT
Compensa-
7
S1 D1 S2 D2
S.FLT
Outputs the average value of n pieces
EN
ENO
s1
d1
s2
d2
of data sampled at the specified data
8
Page 207
8
Page 210
8
Page 212
8
Page 215
collection intervals.
8
ENO:=S_FLT(EN,s1,s2,d1,d2);
tion operation
S.SUM
S1 D1 S2 D2
S_SUM
S.SUM
EN
ENO
s1
d1
s2
d2
Integrates the input data and outputs
the result.
ENO:=S_SUM(EN,s1,s2,d1,d2);
S.TPC
S1 D1 S2 D2
S_TPC
S.TPC
Makes temperature/pressure
EN
ENO
s1
d1
s2
d2
correction to the input data and
outputs the result.
ENO:=S_TPC(EN,s1,s2,d1,d2);
S.ENG
S1 D1 S2 D2
S_ENG
S.ENG
EN
ENO
s1
d1
s2
d2
Converts the input data into an
engineering value.
ENO:=S_ENG(EN,s1,s2,d1,d2);
47
6.2 List of Instructions
6.2.3
Compensation operation instructions
instruction
Category
Instruction
Symbol
symbol
S.IENG
tion operation
S.IENG
instruction
EN
Number of
steps
Reference
S1 D1 S2 D2
S_IENG
Compensa-
Processing details
Reversely converts the input data from
ENO
s1
d1
s2
d2
the engineering value and outputs the
8
Page 217
result.
ENO:=S_IENG(EN,s1,s2,d1,d2);
6.2.4
Category
Arithmetic operation instructions
Instruction
Symbol
symbol
Processing details
Number of
steps
Reference
S1 D1 S2 D2
S.ADD
S_ADD
S.ADD
EN
ENO
s1
d1
s2
d2
Adds the input data with coefficients.
8
Page 219
8
Page 221
8
Page 223
8
Page 225
ENO:=S_ADD(EN,s1,s2,d1,d2);
S.SUB
S1 D1 S2 D2
S_SUB
S.SUB
Arithmetic
EN
ENO
s1
d1
s2
d2
Subtracts the input data with
coefficients.
ENO:=S_SUB(EN,s1,s2,d1,d2);
operation
instruction
S1 D1 S2 D2
S.MUL
S_MUL
S.MUL
EN
ENO
s1
d1
s2
d2
Multiplies the input data with
coefficients.
ENO:=S_MUL(EN,s1,s2,d1,d2);
S.DIV
S1 D1 S2 D2
S_DIV
S.DIV
EN
ENO
s1
d1
s2
d2
ENO:=S_DIV(EN,s1,s2,d1,d2);
48
Divides the input data with coefficients.
Category
Instruction
Symbol
symbol
S.SQR
Processing details
Number of
steps
Reference
1
S1 D1 S2 D2
S_SQR
S.SQR
Arithmetic
EN
ENO
s1
d1
s2
d2
Outputs the square root (
) of the
input data.
8
Page 227
3
ENO:=S_SQR(EN,s1,s2,d1,d2);
operation
instruction
S1 D1 S2 D2
S.ABS
4
S_ABS
S.ABS
2
EN
ENO
s1
d1
s2
d2
Outputs the absolute value of the input
data.
8
Page 229
4
ENO:=S_ABS(EN,s1,s2,d1,d2);
6.2.5
Category
6
Comparison operation instructions
Instruction
Symbol
symbol
S.
Processing details
Number of
steps
Reference
S1 D1 S2 D2
7
8
S_GT
S. >
EN
ENO
d1
s2
d2
the result of comparison.
7
Page 231
7
Page 233
7
Page 235
ENO:=S_GT(EN,s1,s2,d1,d2);
S.
S_LT
Comparison
operation
S1 D1 S2 D2
S. <
instruction
EN
ENO
s1
d1
s2
d2
Compares the input data and outputs
the result of comparison.
ENO:=S_LT(EN,s1,s2,d1,d2);
S1 D1 S2 D2
S.
S_EQ
S. =
EN
ENO
s1
d1
s2
d2
Compares the input data and outputs
the result of comparison.
ENO:=S_EQ(EN,s1,s2,d1,d2);
49
6.2 List of Instructions
6.2.5
Comparison operation instructions
s1
Compares the input data and outputs
Category
Instruction
Symbol
symbol
S.
Processing details
Number of
steps
Reference
S1 D1 S2 D2
S_GE
S. >=
Comparison
EN
ENO
s1
d1
s2
d2
Compares the input data and outputs
the result of comparison.
7
Page 237
7
Page 239
ENO:=S_GE(EN,s1,s2,d1,d2);
operation
S.
instruction
S1 D1 S2 D2
S_LE
S. <=
EN
ENO
s1
d1
s2
d2
Compares the input data and outputs
the result of comparison.
ENO:=S_LE(EN,s1,s2,d1,d2);
6.2.6
Category
Auto tuning instructions
Instruction
Symbol
symbol
S.AT1
Processing details
Number of
steps
Reference
S1 D1 S2 D2 D3
S_AT1
Auto Tuning
Instruction
S.AT1
EN
s1
s2
ENO
d1
d2
d3
ENO:=S_AT1(EN,s1,s2,d1,d2,d3);
50
Performs auto tuning and makes the
initial setting of the PID constants.
9
Page 244
CHAPTER 7
HOW TO READ INSTRUCTION DETAILS
1
This chapter explains the page layout for chapters that describe instruction details (Chapter 8 to 13).
The descriptions in this chapter are for explanation purpose only, and are different from the actual pages.
2
3
1)
4
2)
4
3)
6
4)
7
8
5)
6)
51
1) A section number, instruction name, and instruction symbol
2) A written format in the ladder diagram and execution conditions
Execution condition
During on
Symbol shown on the
reference page
3) Written formats in the structured ladder/FBD and structured text language
4) Explanations of the setting data. In Structured projects, replace the setting data
S1
and
D1
with s1 and d1.
For details on data types, refer to the MELSEC-Q/L/F Structured Programming Manual (Fundamentals).
5) A list of available devices. Devices with
are available.
Devices are classified as shown below.
Setting data
Internal devices
(System, User)
Bit
Applicable
devices*1
X, Y, M, L,
SM, F, B,
SB, FX,
FY*2
*1:
*2:
*3:
*4:
Word
T, ST, C, D,
W, SD, SW,
R, ZR
FD, @
J
\
Bit
Word
J
\X
J
\Y
J
\W
J
\B
J
\SW
J
\SB
Intelligent
function
module
Index register
Zn
Constant*4
Others*4
U \G
U
\G
Z
K, H , E, $
P, I, J, U,
DX, DY, N,
BL, TR, BL
\ S,V
For the description for the individual devices, refer to the User's Manual (Function Explanation, Program Fundamentals) for
the CPU module used.
FX and FY can be used only for bit data, and FD only for word data.
Usable with the CC-Link IE Controller Network, CC-Link IE Field Network, MELSECNET/H, and MELSECNET/10
Devices which can be set are recorded in the "Constant" and the "Other" columns.
6) The function of the instruction
52
Link direct device *3
File
register
R, ZR
1
7)
2
3
4
4
6
8)
7
8
7) The processing flow of the instruction
8) List of control data. S and U in the Set by column means:
• S: Stored by the system
• U: Set by the user
53
9)
10)
9) Processing details of the instruction
10) Error conditions and error codes
For errors other than described here, refer to the QCPU User's Manual (Hardware Design, Maintenance and
Inspection).
54
S.IN
CHAPTER 8
I/O CONTROL INSTRUCTIONS
1
8.1
S.IN
Analog Input Processing
8.1
S.IN
2
Ladder diagram
3
Start contact
S.IN
S.IN
S1
D1
S2
D2
Structured text language
4
ENO:=S_IN(EN,s1,s2,d1,d2);
4
Structured ladder/FBD
S_IN
EN
ENO
s1
d1
s2
d2
6
Input argument
Output argument
Setting
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
S2
: Operation constant start device
: Array of real data type (0..7)
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
Internal devices
R, ZR
J
\
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Word
Bit
Word
Constant
Other
S.IN
Bit
8
8.1
data
7
Function
Converts the input value (E1) of the device specified in
specified in
D1
S1
into an engineering value, and stores the result into the device
.
Also performs the range check, input limiter processing and digital filter processing of the input value (E1) at this time.
55
S.IN
Set
Data
Block
diagram
The processing block diagram of the S.IN instruction is shown below.
(The numerals (1) to (5) in the diagram indicate the order of the processing.)
HH, H, L, LL
(1)
NMAX, NMIN
EMAX, EMIN
(2)
(3)
E1
Range check
RUN(SPA
(5)
Loop stop
judgment
Input limiter
0)
(4)
Engineering
value reverse
conversion
Digital filter
BW
Upper limit alarm
STOP(SPA 1)
Lower
limit alarm
AND
BB2
AND
BB3
BB1
OR
SPA
SEA
(5)
ERRI
SEI
MAN
MODE
Last BW
Loop stop
processing
All OFF
Set Data
(1) Data specified in S.IN instruction
Specified position
Input data
S1
+0
+1
D1 +0
+1
Symbol
Recommended range *1
Name
+2
56
by
-999999 to 999999
––
Real number
––
U
BW
Output value
(-999999 to 999999)
%
Real number
––
S
––
S
BB2
BB3
*1
Set
value
Input value
BB1
memory
Standard
E1
BB
Block
Unit Data format
––
Alarm
b15
b12
limit alarm
limit alarm
b4
b0
B B
B B
3 2
Input upper
Input lower
b8
B
B
1
––
BIN
16bit
(0: Without alarm)
(1: With alarm)
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
S.IN
Specified position
S2
+0
+1
+2
+3
+4
+5
+6
+7
Operation
constant
+8
+9
+10
+11
+12
+13
+14
+15
Symbol
Recommended range *1
Name
Unit Data format
Engineering
EMAX
conversion
-999999 to 999999
%
-999999 to 999999
%
-999999 to 999999
––
upper limit
Engineering
EMIN
conversion
lower limit
NMAX
NMIN
Input upper
limit
Input lower
limit
-999999 to 999999
––
-999999 to 999999
––
-999999 to 999999
––
-999999 to 999999
––
-999999 to 999999
––
Upper limit
HH
range error
occurrence
Upper limit
H
range error
return
Lower limit
L
range error
return
Lower limit
LL
range error
occurrence
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Standard
Set
value
by
100.0
U
0.0
U
100.0
U
0.0
U
110.0
U
100.0
U
4
0.0
U
6
-10.0
U
8H
S/U
0H
S/U
0H
S/U
0.2
U
0 to FFFFH
D1 +1
MODE
Operation
b15
b12
b8
C
S
V
mode
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
––
BIN
16bit
1
2
3
4
7
8
0 to FFFFH
b15
ALM
Alarm
b4
b0
––
detection
*2
BIN
16bit
SEA
(0: Without alarm)
(1: With alarm)
S.IN
SPA
0: Loop RUN
1: Loop STOP
Loop tag
memory
b8
S
E
A
0 to FFFFH
Alarm
+4
INH
detection
inhibition
b15
b12
E
R
R
I
b8
S
E
I
b4
b0
––
BIN
16bit
0: Alarm enable
1: Alarm inhibit
*1
*2
+38
Filter
+39
coefficient
0 to 1
8.1
+3
b12
S
P
A
––
Real
number
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
57
S.IN
Set
Data contents
Processing
(1) Range check
(a) A range check is performed on the input value (E1).
An alarm is output if the input value (E1) exceeds the upper/lower limit value.
Range check
Range check result (alarm output)
Condition
BB2
E1 HH
Upper limit check
1
E1 H
H < E1 < HH
E1 LL
Lower limit check
*1
*1
BB3
BB1, SEA
––
1 *1
0
––
0
Last value
––
Last value
––
1 *1
1 *1
E1 L
––
0
0
LL < E1 < L
––
Last value
Last value
When SEI or ERRI in the alarm detection inhibition (INH) is set to 1, SEA, BB1, BB2 and BB3 show 0 since the alarm is
prohibited.
(b) Last value hold processing
When a range excess occurs (BB1 = 1) in the range check, whether operation will be continued unchanged or the
S.IN instruction will be terminated is judged depending on whether SM1500 is ON or OFF.
1) When SM1500 is OFF (not in the hold mode), "(2) Input limiter processing" is performed if a range excess
occurs (BB1 = 1).
2) When SM1500 is ON (in the hold mode), the following processing is performed and the S.IN instruction is
terminated if a range excess occurs (BB1 = 1).
• BW retains the last value.
• Error information is set in BB.
(2) Input limiter processing
Upper/lower limiter setting is made on the input value (E1).
Condition
NMAX
E1 NMIN
NMIN
NMIN < E1 < NMAX
58
Result (T1)
E1 NMAX
E1
S.IN
(3) Engineering value reverse conversion
The result (T1) of the input limiter is converted reversely from the engineering value according to the following
1
expression.
T2
EMAX
T2
(EMAX EMIN)
T1 NMIN
NMAX NMIN
2
EMIN
3
EMIN
NMIN
NMAX
T1
4
(4) Digital filter
The input value (E1) is digitally filtered according to the following expression.
The digital filter is used to reduce noise.
BW=T2 +
4
× (Previous BW value - T2)
(5) Loop stop processing
6
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
A loop stop performs the following processing and terminates the S.IN instruction.
1) BW retains the last value.
7
2) SEA of the alarm detection (ALM) are turned to 0.
3) The operation mode (MODE) is changed to MAN.
4) BB1 to BB3 of BB are turned to 0.
8
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
A loop run performs "(1) Range check".
Operation Error
8.1
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error definition
QnPHCPU
S.IN
Error code
QnPRHCPU
When an operation error occurs
4100
When the values of
normalized number
S1 , D1 , S2 , D2
are either a non-numeric or non-
When HH < H, L < LL, or NMAX < NMIN
59
S.OUT1
8.2
S.OUT1
Output Processing-1 with Mode Switching
8.2
S.OUT1
Ladder diagram
Start contact
S.OUT1
S.OUT1
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
S_OUT1
EN
Input argument
Output argument
Setting
d1
s2
d2
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
: Array of real data type (0..1)
S2
: Operation constant start device
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
Internal devices
data
Bit
ENO:=S_OUT1(EN,s1,s2,d1,d2);
ENO
s1
Word
R, ZR
J
Bit
\
U
Word
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Constant
Other
Function
Calculates the manipulated value (MV) by performing input addition processing from the input value (E1 = MV) of the device
specified in
S1
, and stores the result into the device specified in
D1
.
Also performs the change rate, upper/lower limiter, reset windup and output conversion processings of the calculated
manipulated value (MV) at this time.
60
S.OUT1
Set
Data
Block
diagram
1
The processing block diagram of the S.OUT1 instruction is shown below.
(The numerals (1) to (6) in the diagram indicate the order of the processing.)
MH, ML, DML
(1)
E1
Mode
judgment
RUN(SPA
(6)
Loop
stop
judgment
AUT (2)
or like
Input addition
processing
0)
STOP(SPA 1)
MV
(3)
MVP
(4)
Change rate,
upper/lower
limiter
2
NMAX, NMIN
3
(5)
Reset windup
Output
conversion
processing
BW
4
MAN or like
Alarm clear
processing
4
Upper limit alarm
Lower limit alarm
Change rate alarm
6
SPA
ERRI
MHI
AND
BB2
ERRI
MLI
AND
BB3
ERRI
DMLI
AND
BB4
7
8
8.2
MHA
S.OUT1
MLA
DMLA
TRKF
OR
BB1
MODE
(6)
All OFF
MAN
Loop stop
processing
Last BW
All OFF
61
S.OUT1
Set Data
(1) Data specified in S.OUT1 instruction
Specified position
Input data
S1
+0
+1
D1 +0
+1
Symbol
E1
BW
Recommended range *1
Name
Input value
(
MV)
Output value
-999999 to 999999
%
(-999999 to 999999)
––
BB
BB1
Block
BB2
memory
+2
BB3
BB4
S2
Operation
constant
+0
+1
+2
+3
Unit Data format
Real
number
by
––
U
––
S
––
S
100.0
U
0.0
U
8H
S/U
4000H
S/U
4000H
S/U
0.0
S/U
Alarm
Output upper
b15
b12
b8
b4
limit alarm
Output lower
limit alarm
Output change
b0
B
B
4
B B
B B
3 2
B
B
1
––
BIN
16bit
(0: Without alarm)
(1: With alarm)
rate alarm
conversion
-999999 to 999999
––
-999999 to 999999
––
upper limit
Output
NMIN
number
Set
value
––
Output
NMAX
Real
Standard
conversion
lower limit
Real
number
Real
number
0 to FFFFH
D2 +1
MODE
Operation
b15
b12
b8
C
S
V
mode
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
––
BIN
16bit
0 to FFFFH
b12
b15
+3
ALM
Alarm
detection
b8
D
M
L
A
S
P
A
b4
S
E
A
b0
M M
H L
A A
––
SPA
BIN
16bit
0: Loop RUN
1: Loop STOP
DMLA, SEA, MHA, MLA
Loop tag
memory
(0: Without alarm)
*2
(1: With alarm)
0 to FFFFH
b15
Alarm
+4
INH
detection
inhibition
E
R
R
I
b12
T
R
K
F
b8
D
M
L
I
TRKF
(0: Without tracking)
(1: With tracking)
b4
b0
M M
H L
I I
––
BIN
16bit
ERRI, DMLI, MHI, MLI
0: Alarm enable
1: Alarm inhibit
+12
+13
*1
*2
62
MV
Manipulated
value
-10 to 110
%
Real
number
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
S.OUT1
Specified position
D2 +18
+19
+20
+21
+48
Loop tag
memory *2
+49
+54
+55
+62
+63
Symbol
MH
Recommended range *1
Name
Output upper
limit value
Output lower
ML
limit value
Unit Data format
-10 to 110
%
-10 to 110
%
0 to 100
%
Output change
DML
rate
limit value
Integral
I
constant
0 to 999999
s
(-999999 to 999999)
%
Used by the system as a work area.
––
MV inside
MVP
operation
value
Real
number
Standard
Set
value
by
100.0
U
0.0
U
100.0
U
Real
number
Real
number
Real
number
memory *2
D2 +116
––
––
10.0
U
0.0
S
4
S
4
Real
number
––
2
3
Loop tag
past value
1
––
*3
*1
*2
*3
6
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
The application of the loop tag past value memory are indicated below.
Specified position
7
Description
Alarm detection 2 (ALM2)
b15
D2
b12
+116
b8
b4
b0
M
L
A
2
8
M
H
A
2
MHA2,MLA2
(0: Without alarm)
(1: With alarm)
8.2
When control is to be started from the initial status, the data must be cleared with the sequence program.
S.OUT1
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
Set
Data contents
Processing
(1) Mode judgment
Either of the following processings is performed depending on the operation mode (MODE).
(a) When the operation mode (MODE) is any of MAN, CMB, CMV and LCM (alarm clear processing)
1) MHA, MLA and DMLA of the alarm detection (ALM) are turned to 0.
2) MHA2 and MLA2 of the alarm detection 2 (ALM2) are turned to 0.
3) BB1 to BB4 of BB are turned to 0.
4) The tracking flag (TRKF) of the alarm detection inhibition (INH) is turned to 1.
5) "(5) Output conversion processing" is performed and the instruction is terminated.
(b) When the operation mode (MODE) is any of AUT, CAB, CAS, CCB, CSV, LCA and LCC, "(2) Input addition
processing" is performed.
However, when SEA of the alarm detection (ALM) is 1 and SM1501 is ON (with hold), BB1 to BB4 are turned to 0
and the S.OUT1 instruction is terminated.
63
S.OUT1
(2) Input addition processing
The temporary MV (T) is calculated on the basis of the input value (E1 =
MV).
(a) When the tracking flag (TRKF) of the alarm detection inhibition (INH) is 1, the following processing is performed.
1) The manipulated value (MV) is stored into the MV internal operation value (MVP).
2) The input value (E1) is changed to 0. ( MV = 0)
3) The tracking flag (TRKF) of the alarm detection inhibition (INH) is turned to 0.
4) The temporary MV (T) is calculated with the following expression.
T = E1 + MVP
MVP = T
(b) When the tracking flag (TRKF) of the alarm detection inhibition (INH) is 0, the temporary MV (T) is calculated with
the following expression.
T = E1 + MVP
MVP = T
(3) Change rate, upper/lower limiter
The change rate and upper/lower limits are checked for the input value (E1 =
MV), and the data after the limiter
processing and an alarm are output.
(a) The change rate limiter performs the following operation and outputs the result of the operation to BB4 and DMLA.
*1
Condition
BB4, DMLA
|T - MV| DML
0
Result (T1)
T
(T - MV) > DML
1 *1
MV + DML
(T - MV) < - DML
1 *1
MV - DML
When DMLI or ERRI in the alarm detection inhibition (INH) is set to 1, DMLA and BB4 show 0 since the alarm is prohibited.
(b) The upper/lower limiter performs the following operation and outputs the result of the operation to BB2, BB3, MHA,
MLA, MHA2, and MLA2.
Condition
T1 > MH
T1 < ML
ML T1 MH
*2
*3
64
BB3, MLA, MLA2
0
1
*3
0
BB2, MHA, MHA2
1
*2
MV
MH
0
ML
0
T1
When MHI or ERRI in the alarm detection inhibition (INH) is set to 1, MHA and BB2 show 0 since the alarm is prohibited.
However, even if MHI and/or ERRI in the alarm detection inhibition (INH) is set to 1, MHA2 holds 1.
When MLI or ERRI in the alarm detection inhibition (INH) is set to 1, MLA and BB3 show 0 since the alarm is prohibited.
However, even if MLI and/or ERRI in the alarm detection inhibition (INH) is set to 1, MLA2 holds 1.
S.OUT1
(4) Reset windup
If the manipulated value (MV) exceeds the upper/lower limit value, the following operation is performed to return it to the
1
upper/lower limit value and enable immediate response when the deviation is inverted.
However, when the integral constant (T1) is 0, the reset windup processing is not performed.
Condition
Operation expression
When T1 > MH,
T
TI
1
MVP
T
(MH
TI
T)
T
When T1 < ML,
T
TI
1
MVP
T
(ML
TI
T)
T
2
3
(5) Output conversion
In the output conversion, the output value is calculated from the following formula.
BW
NMAX NMIN
100
MV
4
NMIN
(6) Loop stop processing
4
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
A loop stop performs the following processing and terminates the S.OUT1 instruction.
1) BW retains the last value.
6
2) DMLA, MHA and MLA of the alarm detection (ALM) are turned to 0.
3) MHA2 and MLA2 of the alarm detection 2 (ALM2) are turned to 0.
4) The operation mode (MODE) is changed to MAN.
7
5) BB1 to BB4 of BB are turned to 0.
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
8
A loop run performs "(1) Mode judgment".
(7) Hold processing
Used to specify whether the output value will be held or not by the S.OUT1 instruction at sensor error occurrence
(detected by the S.IN instruction).
A hold processing is performed when the value is determined as RUN at "Loop stop judgement".
8.2
Use SM1501 to select whether the manipulated value (MV) will be held or not at sensor alarm occurrence.
S.OUT1
• SM1501 = OFF: Manipulated value (MV) will not be held.
• SM1501 = ON: Manipulated value (MV) will be held.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
QnPHCPU
QnPRHCPU
When an operation error occurs
4100
When the values of
normalized number
S1 , S2 , D2
are either a non-numeric or non-
65
S.OUT2
8.3
S.OUT2
Output Processing-2 with Mode Switching
8.3
S.OUT2
Ladder diagram
Start contact
S.OUT2
S.OUT2
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
S_OUT2
EN
Input argument
Output argument
Setting
d1
s2
d2
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
: Array of real data type (0..1)
S2
: Operation constant start device
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
Internal devices
data
Bit
ENO:=S_OUT2(EN,s1,s2,d1,d2);
ENO
s1
Word
R, ZR
J
Bit
\
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Constant
Other
Function
Converts the input value (E1 = MV) of the device specified in
in
D1
S1
into an output, and stores the result into the device specified
.
Also performs the change rate, upper/lower limiter processing and output conversion processing of the input value at this
time.
66
S.OUT2
Set
Data
Block
diagram
1
The processing block diagram of the S.OUT2 instruction is shown below.
(The numerals (1) to (4) in the diagram indicate the order of the processing.)
MH, ML, DML
2
NMAX, NMIN
MV
E1
(1)
(2)
Mode
judgment
RUN(SPA 0)
(4)
Loop
stop
judgment
AUT or like
MAN or like
STOP(SPA 1)
3
(3)
Output
conversion
processing
Change rate,
upper/lower
limiter
BW
4
Alarm clear
processing
4
Upper limit alarm
Lower limit alarm
Change rate alarm
6
SPA
ERRI
MHI
AND
BB2
ERRI
MLI
AND
BB3
ERRI
DMLI
AND
BB4
7
8
8.3
MHA
S.OUT2
MLA
DMLA
OR
BB1
MODE
(4)
All OFF
MAN
Last BW
Loop stop
processing
All OFF
67
S.OUT2
Set Data
(1) Data specified in S.OUT2 instruction
Specified position
Input data
S1
D1
Symbol
Recommended range *1
Name
+0
+1
E1
Input
value(MV)
+0
+1
BW
Output value
Unit Data format
Standard
Set
value
by
––
U
-999999 to 999999
%
Real
number
(-999999 to 999999)
––
Real
number
––
S
––
BIN
16bit
––
S
BB
Block
memory
Alarm
BB2
Output upper
limit alarm
BB3
Output lower
limit alarm
BB4
Output change
rate alarm
+2
S2
Operation
constant
BB1
b15
b12
b8
b4
b0
B
B
4
B B
B B
3 2
B
B
1
(0: Without alarm)
(1: With alarm)
+0
+1
NMAX
Output
conversion
upper limit
-999999 to 999999
––
Real
number
100.0
U
+2
+3
NMIN
Output
conversion
lower limit
-999999 to 999999
––
Real
number
0.0
U
––
BIN
16bit
8H
S/U
––
BIN
16bit
4000H
S/U
––
BIN
16bit
4000H
S/U
0 to FFFFH
D2 +1
MODE
Operation
mode
b15
b12
b8
C
S
V
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
0 to FFFFH
b12
b15
S
P
A
+3
ALM
Alarm
detection
Loop tag
memory *2
b8
D
M
L
A
b4
S
E
A
b0
M M
H L
A A
SPA
0: Loop RUN
1: Loop STOP
DMLA, SEA, MHA, MLA
(0: Without alarm)
(1: With alarm)
0 to FFFFH
+4
INH
Alarm
detection
inhibition
b15
b12
E
R
R
I
b8
D
M
L
I
b4
b0
M M
H L
I I
0: Alarm enable
1: Alarm inhibit
*1
*2
68
+12
+13
MV
Manipulated
value
-10 to 110
%
Real
number
0.0
S/U
+18
+19
MH
Output upper
limit value
-10 to 110
%
Real
number
100.0
U
+20
+21
ML
Output lower
limit value
-10 to 110
%
Real
number
0.0
U
+48
+49
DML
%
Real
number
100.0
U
Output change
0 to 100
rate limit value
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
S.OUT2
Set
Data contents
Processing
1
(1) Mode judgment
Either of the following processings is performed depending on the operation mode (MODE).
2
(a) When the operation mode (MODE) is any of MAN, CMB, CMV and LCM (alarm clear processing)
1) MHA, MLA and DMLA of the alarm detection (ALM) are turned to 0.
2) BB1 to BB4 of BB are turned to 0.
3
3) "(3) Output conversion processing" is performed and the S.OUT2 instruction is terminated.
(b) When the operation mode (MODE) is any of AUT, CAB, CAS, CCB, CSV, LCA and LCC, "(2) Change rate, upper/
lower limiter" is performed.
However, when SEA of the alarm detection (ALM) is 1 and SM1501 is ON (with hold), BB1 to BB4 are turned to 0
4
and the S.OUT2 instruction is terminated.
(2) Change rate, upper/lower limiter
The change rate and upper/lower limits are checked for the input value (E1), and the data after the limiter processing and
4
an alarm are output.
(a) The change rate limiter performs the following operation and outputs the result of the operation to BB4 and DMLA.
Condition
BB4, DMLA
|E1 - MV| DML
0
(E1 - MV) > DML
*1
6
E1
*1
MV + DML
1 *1
MV - DML
1
(E1 - MV) < - DML
Result (T1)
7
When DMLI or ERRI in the alarm detection inhibition (INH) is set to 1, DMLA and BB4 show 0 since the alarm is prohibited.
(b) The upper/lower limiter performs the following operation and outputs the result of the operation to BB2, BB3, MHA
8
and MLA.
Condition
BB3, MLA
T1 > MH
0
1
ML T1 MH
0
1
MV
MH
0
ML
0
T1
When MHI or ERRI in the alarm detection inhibition (INH) is set to 1, MHA and BB2 show 0 since the alarm is prohibited.
When MLI or ERRI in the alarm detection inhibition (INH) is set to 1, MLA and BB3 show 0 since the alarm is prohibited.
(3) Output conversion
In the output conversion, the output value is calculated from the following formula.
BW
NMAX NMIN
100
MV
NMIN
69
S.OUT2
*2
*3
*3
*2
8.3
T1 < ML
BB2, MHA
S.OUT2
(4) Loop stop processing
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
A loop stop performs the following processing and terminates the S.OUT2 instruction.
1) BW retains the last value.
2) DMLA, MHA and MLA of the alarm detection (ALM) are turned to 0.
3) The operation mode (MODE) is changed to MAN.
4) BB1 to BB4 of BB are turned to 0.
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
A loop run performs "(1) Mode judgment".
(5) Hold processing
Used to specify whether the output value will be held or not by the S.OUT2 instruction at sensor error occurrence
(detected by the S.IN instruction).
A hold processing is performed when the value is determined as RUN at "Loop stop judgement".
Use SM1501 to select whether the manipulated value (MV) will be held or not at sensor alarm occurrence.
• SM1501 = OFF: Manipulated value (MV) will not be held.
• SM1501 = ON: Manipulated value (MV) will be held.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
70
When the values of
normalized number
S1 , S2 , D2
are either a non-numeric or non-
QnPHCPU
QnPRHCPU
S.MOUT
8.4
S.MOUT
Manual Output
8.4
S.MOUT
1
Ladder diagram
2
Start contact
S.MOUT
S.MOUT
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
3
ENO:=S_MOUT(EN,s1,s2,d1,d2);
4
S_MOUT
EN
Input argument
Output argument
Setting
d1
s2
d2
Bit
4
EN
: Execution condition
: Bit
S1
: Dummy device*1
: Real data type
S2
: Operation constant start device
: Array of real data type (0..1)
ENO
: Execution result
: Bit
D1
: Operation constant start device
: Real data type
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
Internal devices
data
ENO
s1
Word
R, ZR
J
Bit
7
\
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
8.4
*1
6
S.MOUT
Function
Converts the manipulated value (MV) specified in
D2
into an output, and stores the result into the device specified in
D1
.
71
S.MOUT
Set
Data
Block
diagram
The processing block diagram of the S.MOUT instruction is shown below.
(The numerals (1) to (3) in the diagram indicate the order of the processing.)
NMAX, NMIN
MV
(2)
(1)
Mode
judgment
RUN(SPA 0)
(3)
Loop
stop
judgment
MAN or like
AUT or like
Output
conversion
Last BW
STOP(SPA 1)
(3)
SPA
MODE
72
MAN
Loop stop
processing
Last BW
BW
S.MOUT
Set Data
1
(1) Data specified in S.MOUT instruction
Specified position
Block
memory
D1
S2
Operation
constant
Symbol
Recommended range *1
Name
Unit Data format
Standard
Set
value
by
––
S
Output value
(-999999 to 999999)
––
Real
number
NMAX
Output
conversion
upper limit
-999999 to 999999
––
Real
number
100.0
U
NMIN
Output
conversion
lower limit
-999999 to 999999
––
Real
number
0.0
U
––
BIN
16bit
8H
S/U
+0
+1
BW
+0
+1
+2
+3
2
3
4
0 to FFFFH
D2 +1
MODE
Operation
mode
b15
b12
b8
C
S
V
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
6
0 to FFFFH
Loop tag
b15
memory *2
+3
ALM
Alarm
detection
b12
b8
b4
b0
S
P
A
––
BIN
16bit
%
Real
number
4000H
S/U
0.0
U
SPA
0: Loop RUN
1: Loop STOP
+12
+13
*1
-10 to 110
8
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
S.MOUT
Set
Data contents
Processing
(1) Mode judgment
Either of the following processings is performed depending on the operation mode (MODE).
(a) When the operation mode (MODE) is any of MAN, CMB, CMV and LCM
1) The manipulated value (MV) is used as the output value (BW).
2) "(2) Output conversion processing" is performed.
(b) When the operation mode (MODE) is any of AUT, CAB, CAS, CCB, CSV, LCA and LCC, BW retains the last value.
(2) Output conversion
In the output conversion, the output value is calculated from the following formula.
BW
NMAX NMIN
100
MV
7
8.4
*2
Manipulated
value
MV
4
NMIN
73
S.MOUT
(3) Loop stop processing
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
A loop stop performs the following processing and terminates the S.MOUT instruction.
1) BW retains the last value.
2) The operation mode (MODE) is changed to MAN.
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
A loop run performs "(1) Mode judgment".
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
74
When the values of
number
S2
,
D2
are either a non-numeric or non-normalized
QnPHCPU
QnPRHCPU
S.DUTY
8.5
S.DUTY
Time Proportioning
8.5
S.DUTY
1
Ladder diagram
2
Start contact
S.DUTY
S.DUTY
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
3
ENO:=S_DUTY(EN,s1,s2,d1,d2);
4
S_DUTY
EN
Input argument
Output argument
Setting
d1
s2
d2
Bit
4
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
device*1
S2
: Dummy
ENO
: Execution result
: Bit
D1
: Operation constant start device
: Array of any 16-bit data (0..1)
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
Internal devices
data
ENO
s1
Word
: Any 16-bit data
J
R, ZR
Bit
7
\
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
8.5
*1
6
Calculates the manipulated value (MV) by performing input addition processing from the input value (E1 = MV) of the device
specified in
S1
. Turns ON/OFF the device specified in
D1
in proportion to the manipulated value (MV).
The ON/OFF time is a value on the assumption that the time specified as the control output cycle (CTDUTY) is 100%.
The ON/OFF time is changed in each execution cycle.
Also performs the change rate, upper/lower limiter and reset windup of the calculated manipulated value (MV) at this time.
Manipulated
value
70
50
30
Time
Output Value (BW)
(Device specified in
ON
D1
)
OFF
50
70
30
70
50
30
75
S.DUTY
Function
S.DUTY
Set
Data
Block
diagram
The processing block diagram of the S.DUTY instruction is shown below.
(The numerals (1) to (7) in the diagram indicate the order of the processing.)
MH, ML, DML MV
(1)
AUT
or like (2)
E1
Mode
judgment
RUN(SPA=0)
(7)
Loop
stop
judgment
STOP
(SPA=1)
Input
addition
processing
(3)
MVP
(4)
Change rate,
upper/lower
limiter
CTDUTY
(5)
Reset
windup
(6)
Output
ON time
conversion
Output
conversion
BW
MAN or like
Alarm clear
processing
Upper limit alarm
Lower limit alarm
Change rate alarm
SPA
ERRI
MHI
AND
BB2
ERRI
MLI
AND
BB3
ERRI
DMLI
AND
BB4
MHA
MLA
DMLA
TRKF
OR
MODE
(7)
All OFF
MAN
76
Last BW
Loop stop
processing
All OFF
BB1
S.DUTY
Set Data
1
(1) Data specified in S.DUTY instruction
Specified position
Input data
S1
+0
+1
Symbol
E1
Recommended range *1
Name
Input value
( MV)
-999999 to 999999
%
BW
BW1
Real
number
Standard
Set
value
by
––
U
––
b15
D1 +0
Unit Data format
b12
b8
b4
3
b0
B
W
1
Output bit
––
BIN
16Bit
––
S
(0: OFF)
(1: ON)
Block
BB
memory
BB1
BB2
+1
BB3
limit alarm
Output
BB4
b15
b12
b8
b4
change rate
b0
B
B
4
Output lower
limit alarm
B B
B B
3 2
B
B
1
––
BIN
16Bit
––
S
(0: Without alarm)
(1: With alarm)
0 to FFFFH
MODE
Operation
b15
6
7
alarm
D2 +1
4
4
Alarm
Output upper
2
b12
b8
C
S
V
mode
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
––
BIN
16Bit
8H
S/U
4000H
S/U
4000H
S/U
0.0
S/U
8
0 to FFFFH
b12
b15
ALM
Alarm
detection
b4
S
E
A
b0
M M
H L
A A
––
SPA
BIN
16Bit
0: Loop RUN
1: Loop STOP
Loop tag
DLMA, SEA, MHA, MLA
memory *2
(0: Without alarm)
(1: With alarm)
0 to FFFFH
b15
Alarm
+4
INH
detection
inhibition
E
R
R
I
b12
T
R
K
F
b8
D
M
L
I
TRKF
(0: Without tracking)
(1: With tracking)
b4
b0
M M
H L
I I
––
BIN
16Bit
ERRI, DMLI, MHI, MLI
0: Alarm enable
1: Alarm inhibit
+12
+13
*1
*2
MV
Manipulated
value
-10 to 110
%
Real
number
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
77
S.DUTY
+3
b8
D
M
L
A
8.5
S
P
A
S.DUTY
Specified position
D2 +18
+19
+20
+21
+48
Loop tag
memory *2
+49
+54
+55
+62
+63
+68
+69
Loop tag
Recommended range *1
Name
Output upper
MH
limit value
Output lower
ML
limit value
Unit Data format
-10 to 110
%
-10 to 110
%
0 to 100
%
0 to 999999
s
(-999999 to 999999)
%
Output
DML
change rate
limit value
Integral
I
constant
MV inside
MVP
operation
value
CTDUTY
Control
output cycle
0 to 999999
Note that
CTDUTY
T
32767
s
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
––
memory
Set
value
by
100.0
U
0.0
U
100.0
U
10.0
U
0.0
S
1.0
U
––
Used by the system as a work area.
––
––
––
S
+121
*1
*2
*3
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
The applications of the loop tag past value memory are indicated below.
Specified position
Description
Alarm detection 2 (ALM2)
b15
D2
b12
b8
+116
b4
b0
M
L
A
2
M
H
A
2
MHA2,MLA2
(0: Without alarm)
(1: With alarm)
+118 Control output cycle counter initial preset flag
+119 Control output cycle counter*4
+120 Output counter
+121 Output ON counter
*4
When control is to be started from the initial status, the data must be cleared with the sequence program.
The control output cycle counter rounds off the data to the nearest whole number.
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
78
Standard
D2 +116
past value
*2 *3
Symbol
S.DUTY
Set
Data contents
Processing
1
(1) Mode judgment
Either of the following processings is performed depending on the operation mode (MODE).
2
(a) When the operation mode (MODE) is any of MAN, CMB, CMV and LCM (alarm clear processing)
1) MHA, MLA and DMLA of the alarm detection (ALM) are turned to 0.
2) MHA2 and MLA2 of the alarm detection 2 (ALM2) are turned to 0.
3
3) BB1 to BB4 of BB are turned to 0.
4) The tracking flag (TRKF) of the alarm detection inhibition (INH) is turned to 1.
5) "(5) Output ON time conversion processing" is performed.
4
(b) When the operation mode (MODE) is any of AUT, CAB, CAS, CCB, CSV, LCA and LCC, "(2) Input addition
processing" is performed.
However, when SEA of the alarm detection (ALM) is 1 and SM1501 is ON (with hold), BB1 to BB4 are turned to 0
and the S.DUTY instruction is terminated.
4
(2) Input addition processing
The temporary MV (T) is calculated on the basis of the input value (E1 =
MV).
(a) When the tracking flag (TRKF) of the alarm detection inhibition (INH) is 1, the following processing is performed.
6
1) The manipulated value (MV) is stored into the MV internal operation value (MVP).
7
2) The input value (E1) is changed to 0. ( MV = 0)
3) The tracking flag (TRKF) of the alarm detection inhibition (INH) is turned to 0.
4) The temporary MV (T) is calculated with the following expression.
8
T = E1 + MVP
MVP = T
(b) When the tracking flag (TRKF) of the alarm detection inhibition (INH) is 0, the temporary MV (T) is calculated with
the following expression.
8.5
T = E1 + MVP
MVP = T
The change rate and upper/lower limits are checked for a difference between the temporary MV (T) and manipulated
value (MV), and the data after the limiter processing and an alarm are output.
(a) The change rate limiter performs the following operation and outputs the result of the operation to BB4 and DMLA.
Condition
BB4, DMLA
Result (T1)
|T - MV| DML
0
T
(T - MV) > DML
(T - MV) < - DML
*1
1
*1
MV + DML
1
*1
MV - DML
When DMLI or ERRI in the alarm detection inhibition (INH) is set to 1, DMLA and BB4 show 0 since the alarm is prohibited.
(b) The upper/lower limiter performs the following operation and outputs the result of the operation to BB2, BB3, MHA,
MLA, MHA2, and MLA2..
Condition
T1 > MH
T1 < ML
ML T1 MH
*2
*3
BB3, MLA, MLA2
0
1
*3
0
BB2, MHA, MHA2
1
*2
MV
MH
0
ML
0
T1
When MHI or ERRI in the alarm detection inhibition (INH) is set to 1, MHA and BB2 show 0 since the alarm is prohibited.
However, even if MHI and/or ERRI in the alarm detection inhibition (INH) is set to1, MHA2 holds 1.
When MLI or ERRI in the alarm detection inhibition (INH) is set to 1, MLA and BB3 show 0 since the alarm is prohibited.
However, even if MLI and/or ERRI in the alarm detection inhibition (INH) is set to1, MLA2 holds 1.
79
S.DUTY
(3) Change rate, upper/lower limiter
S.DUTY
(4) Reset windup
If the manipulated value (MV) exceeds the upper/lower limit value, the following operation is performed to return it to the
upper/lower limit value and enable immediate response when the deviation is inverted.
However, when the integral constant (T1) is 0, the reset windup processing is not performed.
Condition
Operation expression
When T1 > MH,
T
TI
1
MVP
T
(MH
TI
T)
T
When T1 < ML,
T
TI
1
MVP
T
(ML
TI
T)
T
(5) Output ON time conversion processing
(a) When the control output cycle (CTDUTY) is reached, the output ON counter is calculated with the following
expression. At this time, the output counter is cleared (to 0).
Output ON Counter
CTDUTY
T
1
100
MV
The output ON counter rounds off a fraction to no decimal places.
(b) When the control output cycle (CTDUTY) is not reached, the output counter is incremented by 1 and "(6) Output
conversion processing" is performed.
(6) Output conversion processing
In the output conversion processing, the following processing is performed.
Condition
BW
Output counter < output ON counter
1 (ON)
Output counter output ON counter
0 (OFF)
(7) Loop stop processing
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
A loop stop performs the following processing and terminates the S.DUTY instruction.
1) BW is output at the last ON/OFF rate.
2) DMLA, MHA and MLA of the alarm detection (ALM) are turned to 0.
3) MHA2 and MLA2 of the alarm detection 2 (ALM2) are turned to 0.
4) The operation mode (MODE) is changed to MAN.
5) BB1 to BB4 of BB are turned to 0.
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
A loop run performs "(1) Mode judgment".
(8) Hold processing
Used to specify whether the output value will be held or not by the S. DUTY instruction at sensor error occurrence
(detected by the S.IN instruction).
A hold processing is performed when the value is determined as RUN at "Loop stop judgement".
Use SM1501 to select whether the manipulated value (MV) will be held or not at sensor alarm occurrence.
• SM1501 = OFF: Manipulated value (MV) will not be held.
• SM1501 = ON: Manipulated value (MV) will be held.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
When the values of
number
S1 , D2
are either a non-numeric or non-normalized
When CTDUTY < 0 or the execution cycle (SD1500) < 0
80
QnPHCPU
QnPRHCPU
S.BC
8.6
S.BC
Batch Counter
8.6
S.BC
1
Ladder diagram
2
Start contact
S.BC
S.BC
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
3
ENO:=S_BC(EN,s1,s2,d1,d2);
4
S_BC
EN
Input argument
Output argument
Setting
d1
s2
d2
Bit
4
EN
: Execution condition
: Bit
S1
: Input data start device
: Any 32-bit data
device*1
S2
: Dummy
ENO
: Execution result
: Bit
D1
: Operation constant start device
: Array of any 16-bit data (0..1)
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
Internal devices
data
ENO
s1
Word
R, ZR
: Any 16-bit data
J
Bit
7
\
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
8.6
*1
6
S.BC
Function
Compares the input value (E1) with the set value 1 (SV1)/set value 2 (SV2), and outputs bit data as soon as the input value
(E1) reaches the set value 1 (SV1)/set value 2 (SV2).
Also performs the upper limit check processing, change rate check processing and output conversion processing of the input
value (E1) at this time.
81
S.BC
Set Data
(1) Data specified in S.BC instruction
Specified position
Input data
S1
+0
+1
Symbol
E1
Recommended range *1
Name
Input value
0 to 2147483647
––
BW
BW1
Output1
b12
b8
b4
(0: OFF)
(1: ON)
Alarm
b15
BB
BB1
+1
BB2
BB3
32Bit
Set
value
by
––
U
––
S
––
S
4000H
S/U
4000H
S/U
0
U
0
U
0
U
0.0
U
0
U
b0
B B
W W
2 1
Output2
Block
memory
BIN
Standard
––
b15
D1 +0
BW2
Unit Data format
––
BIN
16Bit
––
b12
b8
b4
alarm
Change rate
alarm
b0
B B
B B
3 2
Upper limit
B
B
1
––
BIN
16Bit
(0: Without alarm)
(1: With alarm)
0 to FFFFH
b15
D2 +3
ALM
b12
b8
b4
P
H
A
Alarm
detection
b0
D
P
P
A
––
BIN
16Bit
PHA, DPPA
(0: Without alarm)
(1: With alarm)
0 to FFFFH
Alarm
+4
INH
detection
inhibition
Loop tag
+14
+15
+16
+17
+26
+27
+42
+43
+44
+45
*2
82
b12
b8
E
R
R
I
b4
P
H
I
b0
D
P
P
I
––
BIN
16Bit
0: Alarm enable
1: Alarm inhibit
memory *2
*1
b15
SV1
Set value1
0 to 2147483647
––
SV2
Set value2
0 to 2147483647
––
0 to 2147483647
––
Upper limit
PH
alarm set
value
Change rate
CTIM
alarm check
0 to 999999
Note that
time
DPL
Change rate
alarm value
0 to 2147483647
CTIM
T
32767
s
––
BIN
32Bit
BIN
32Bit
BIN
32Bit
Real
number
BIN
32Bit
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
S.BC
Specified position
Loop tag
Symbol
Recommended range *1
Name
Unit Data format
Standard
Set
value
by
––
S
D2 +124
past value
––
memory
*2 *3
––
Used by the system as a work area.
––
––
2
+127
*1
*2
*3
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
The applications of the loop tag past value memory are indicated below.
Specified position
D2
3
Description
4
+124 Change rate monitor counter initial preset flag
+125 Change rate monitor counter*4
+126
+127
*4
1
Xn-m
4
When control is to be started from the initial status, the data must be cleared with the sequence program.
The change rate monitor counter rounds off the data to the nearest whole number.
6
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
7
Set
Data contents
Processing
(1) Upper limit check processing
In the upper limit check processing, the following operation is performed and the result of the operation is output to BB2
and PHA.
Condition
E1 > PH
Others
BB2, PHA
1 *1
0
When PHI or ERRI in the alarm detection inhibition (INH) is set to 1, PHA and BB2 show 0 since the alarm is prohibited.
8.6
*1
8
S.BC
83
S.BC
(2) Change rate check processing
Performs a change rate alarm check during the change rate alarm check time (CTIM) specified in the loop tag memory.
The change rate alarm check compares the change of the input value (E1) with the change rate alarm value (DPL) in
each execution cycle ( T).
Condition
BB3, DPPA
(Xn - Xn-m) DPL
1 *2
Others
*2
0
When DPPI or ERRI of the alarm detection inhibition (INH) is 1, DPPA and BB3 turn to 0 since the alarm is prohibited.
The change rate alarm counter (m) is calculated with the following expression.
Change rate alarm counter (m)
CTIM
T
The change rate alarm counter (m) varies from 1 to m.
However, when the change rate alarm counter (m) = 0, no processing is performed.
Example) When the change rate alarm counter (m) = 4, processing is perform as shown below.
Xn
DPL
Input value (E1)
Xn-4
Xn-5
Xn-3
Xn-2
Xn-1
Xn-m
Xn-m
DPL
Xn-6
Xn-7
Xn-8
DPL
Xn-12
Xn-m
Xn-11
Xn-10
Xn-9
Execution cycle
CTIM
Change rate alarm (BB3, DPPA)
(3) Output conversion processing
In the output conversion processing, the following operation is performed and the result of the operation is stored into
BW1 and BW2.
Condition
BW1
BW2
E1 < 0
0
0
0 E1 < SV1
0
––
E1 SV1
1
––
0 E1 < SV2
––
0
E1 SV2
––
1
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
When the values of
number
S1 , D2
are either a non-numeric or non-normalized
When the execution cycle (SD1500) < 0
When the change rate alarm check time (CTIM) < 0
84
QnPHCPU
QnPRHCPU
S.PSUM
8.7
S.PSUM
Pulse Integration
8.7
S.PSUM
1
Ladder diagram
2
Start contact
S.PSUM
S.PSUM
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
3
ENO:=S_PSUM(EN,s1,s2,d1,d2);
4
S_PSUM
EN
Input argument
Output argument
Setting
d1
s2
d2
Bit
4
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of any 16-bit data (0..2)
: Array of any 16-bit data (0..4)
S2
: Operation constant start device
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 32-bit data (0..1)
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
Internal devices
data
ENO
s1
Word
R, ZR
J
7
\
Bit
6
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Constant
Other
8
8.7
Integrates the input value (E1) of the device specified in
S1
, and stores the result into the device specified in
D1
S.PSUM
Function
.
The integration upper limit value and integration pattern can be used to select whether the integrated value will be returned to
0 or retained at the upper limit value if the output value exceeds the integration upper limit value.
The integration start signal and integration hold signal can be used to start and suspend the integration of the input value.
85
S.PSUM
(1) Operation performed when the integration pattern is set to "integrated value returns to 0 when the integration upper limit
value is exceeded"
Integration start Reset
signal (e1)
Start
Reset Start
Integration hold Hold cancel
signal (e2)
Reset
Hold
Hold cancel
Hold
When e1 turns OFF
e2 should also turn OFF.
Hold cancel
Input value (E1)
Ring counter upper
limit value
0
Ring counter lower
limit value
Output value (BW)
Integration upper
limit value HILMT
0
(2) Operation performed when the integration pattern is set to " integrated value is retained at the integration upper limit
value when the upper limit value is exceeded"
Integration start Reset
signal (e1)
Integration hold Hold cancel
signal (e2)
Input value (E1)
Ring counter upper
limit value
0
Ring counter lower
limit value
Output value (BW)
integration upper
limit value HILMT
0
86
Start
Reset Start
Reset
Hold
Hold cancel
Hold
When e1 turns OFF
e2 should also turn OFF.
Hold cancel
S.PSUM
Set Data
1
(1) Data specified in S.PSUM instruction
Specified position
Symbol
Recommended range *1
Name
Unit
Data
Standard
Set
format
value
by
––
U
Use the ring counter of 16 bits or more.
• 16-bit ring counter
00000000H
S1
+0
+1
0000FFFFH
00000000H
• 24-bit ring counter
E1
00000000H
Input value
00FFFFFFH
00000000H
pulse
• 32-bit ring counter
00000000H
FFFFFFFFH
BIN
32Bit
2
3
4
00000000H
Set 32767 (7FFFH) or less as a pulse
increment at each instruction execution.
Input data
e
––
b15
b12
b8
b4
+2
e1
e2
D1
Block
memory
Integration start signal
0: Integration stop/reset
1: Integration start
––
U
BW1
Output value
(Integer
(0 to 2147483647)
part)
––
BIN
32Bit
––
S
+2
+3
BW2
Output value
(Fraction
(0 to 2147483647)
part)
––
BIN
32Bit
––
S
+0
W
Weight per
pulse
1 to 999
––
BIN
16Bit
1
U
+1
U
Unit
conversion
constant
1, 10, 100, 1000
––
BIN
16Bit
1
U
+2
+3
HILMT
Integration
upper limit
value
1 to 2147483647
––
BIN
32Bit
21474836
47
U
––
BIN
16Bit
0
U
+10
+11
Integration
pattern
1:
SUM1
Integration
value
(Integer
part)
(0 to 2147483647)
––
BIN
32Bit
0
S
SUM2
Integration
value
(Fraction
part)
(0 to 2147483647)
––
BIN
32Bit
0
S
Loop tag
memory *2
+12
+13
Returns to 0 when the integration upper
limit value (HILMT) is exceeded.
Retains the integration upper limit value
when the integration upper limit value
(HILMT) is exceeded.
6
7
+0
+1
+4 SUMPTN
*2
BIN
16Bit
Integration hold signal
0: Integration hold cancel
1: Integration hold
0:
*1
––
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
87
8
S.PSUM
Operation
constant
Integration
hold signal
e
1
8.7
S2
Integration
start signal
4
b0
e
2
S.PSUM
Specified position
Symbol
Name
––
––
Recommended range *1
Unit
Data
Standard
Set
format
value
by
––
––
S
Loop tag
past value
D2 +116
memory
+117
Used by the system as a work area.
––
*2 *3
*1
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
The applications of the loop tag past value memory are indicated below.
*2
*3
Specified position
D2
+116
+117
Description
E1n-1 (Last input value)
When control is to be started from the initial status, the data must be cleared with the sequence program.
Set
Data contents
Processing
(1) Upper limit check processing
In the upper limit check processing, the following operation is performed and the result of the operation is output to BB2
and PHA.
e1
e2
Input value increment (T1)
0
0
––
0
1
––
1
0
E1 - E1n-1
1
1
––
(2) Integrated value operation processing
In the integrated value operation processing, the following processing is performed for the input value increment (T1).
e1
e2
0
0
0
1
Integration value (Integer part) (T2), Integration value (Fraction part) (T3)
T2 = 0
T3 = 0
T2 = 0
T3 = 0 *1
T4 = quotient of {(T1 × W) / U} <integer part>
1
0
T5 = remainder of {(T1 × W) / U} <fraction part>
T2 = SUM1 + T4 + [quotient of {(SUM2 + T5) / U}] <integer part>
T3 = remainder of {(SUM2 + T5) / U} <fraction part>
1
*1
88
1
T2 = SUM1
T3 = SUM2
At an integration stop/reset (e1 = 0), processing is performed on the assumption that integration hold is canceled (e2 = 0).
S.PSUM
(3) Output conversion
In the output conversion, the following processing is performed for the integrated value (T2, T3).
SUMPTN
Condition
T2 HILMT
0
Others
T2 HILMT
1
Others
BW1, SUM1
1
BW2, SUM2
BW1 = remainder of T2 / HILMT
BW2 = T3
SUM1 = remainder of T2 / HILMT
SUM2 = T3
BW1 = T2
BW2 = T3
SUM1 = T2
SUM2 = T3
BW1 = HILMT
BW2 = 0
SUM1 = HILMT
SUM2 = 0
BW1 = T2
BW2 = T3
SUM1 = T2
SUM2 = T3
2
3
4
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
4100
Error definition
QnPHCPU
4
QnPRHCPU
When an operation error occurs
6
7
8
8.7
S.PSUM
89
S.PID
CHAPTER 9
9.1
S.PID
CONTROL OPERATION INSTRUCTIONS
Basic PID
9.1
S.PID
Ladder diagram
Start contact
S.PID
S.PID
S2
D1
S1
Structured ladder/FBD
D2
S3
Structured text language
S_PID
EN
ENO
s1
d1
s2
d2
ENO:=S_PID(EN,s1,s2,s3,d1,d2);
s3
Input argument
EN
: Execution condition
S1
: Input data start device
: Bit
: Real data type
S2
: Operation constant start device
: Array of any 16-bit data (0..6)
S3
: When set value (E2) is used: Set value start device
: Real data type
When set value (E2) is not used: Dummy device*1
Output argument
Setting
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
Internal devices
data
Bit
Word
R, ZR
J
Bit
\
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
S3
––
––
*1
Constant
Other
Special register SD1506 can be specified as a dummy device.
Function
Performs PID operation when the specified control cycle is reached. (PID operation is of velocity type/process value derivative
type (incomplete derivative type).)
Also performs SV setting processing, tracking processing, gain (Kp) operation processing and deviation check processing at
this time.
90
S.PID
Set
Data
Block
diagram
9
The processing block diagram of the S.PID instruction is shown below.
(The numerals (1) to (7) in the diagram indicate the order of the processing.)
2
RL, RH
DV
GW,
GG
P, I, D, MTD, CT
DVL, DVLS
E1
(1)
(2)
(3)
E2
Tracking
processing
SV setting
processing
(When used)
(7)
CT
(4)
Gain Kp
operation
processing
Deviation
check
PID operation
BW
4
When in control
cycle
AND
Control cycle
judgment
(6)
3
(5)
BB1
RUN(SPA=0)
Loop
stop
judgment
STOP(SPA=1)
6
When not in control cycle
BW=0
7
(6)
SPA
MODE
4
BW=0
MAN
Loop stop
processing
OFF
8
ERRI∩DVLI
DVLA
9.1
S.PID
91
S.PID
Set Data
(1) Data specified in S.PID instruction
Specified position
Input
S1
data
+0
+1
D1 +0
+1
Symbol
E1
BW
Recommended range *1
Name
Input value
Output value
( MV)
-999999 to 999999
––
(-999999 to 999999)
––
BB
b15
+2
BB1
Real
number
Real
number
Standard
Set
value
by
––
U
––
S
––
S
8.0
U
2.0
U
0
U
0
U
3
U
––
Block
memory
Unit Data format
b12
b8
b4
b0
B
B
1
Deviation
large alarm
––
BIN
16bit
(0: Without alarm)
(1: With alarm)
S2
+0
+1
+2
+3
MTD
Derivative gain 0 to 999999
––
Deviation
DVLS
large alarm
0 to 100
%
hysteresis
+4
PN
+5
TRK
Operation
Operation
0: Reverse operation
mode
1: Forward operation
Tracking
0: Not trucked
bit
1: Trucked
––
––
b15
+6
SVPTN
b12
b8
92
b4
Real
number
BIN
16bit
BIN
16bit
b0
Set value
––
pattern
Set value pattern*3
0: E2 is upper loop MV.
1: E2 is not upper loop MV.
*2
*3
number
0 to 3
constant
*1
Real
BIN
16bit
Set value used*2
0: E2 is used.
1: E2 is not used.
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Specify whether the set value (E2) is to be used or not.
Specify whether the MV of the upper loop is to be used or not as the set value (E2).
S.PID
Specified position
Symbol
Recommended range *1
Name
Unit Data format
Standard
Set
value
by
8H
S/U
0 to FFFFH
D2
+1
MODE
Operation
b15
b12
b8
C
S
V
mode
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
––
BIN
16bit
9
2
0 to FFFFH
b12
b15
+3
ALM
b8
b4
S
P
A
Alarm
b0
D M M
V H L
L A A
A
detection
SPA
DVLA,MHA,MLA
0:Loop RUN
(0:Without alarm)
1:Loop STOP
(1:With alarm)
––
BIN
16bit
4000H
S/U
3
4
0 to FFFFH
Alarm
+4
INH
detection
inhibition
b15
E
R
R
I
b12
b8
b4
T
R
K
F
4
b0
D M M
V H L
L I I
I
TRKF
––
(0 : Without tracking)
BIN
16bit
4000H
S/U
6
(1 : With tracking)
ERRI, DVLI, MHI, MLI
Loop
0 : Alarm enable
tag
1 : Alarm inhibit
memory *2
+14
+15
+16
+17
+22
+23
+46
+47
+50
+51
+52
+53
+54
+55
+56
+57
+58
+59
*1
*2
Set value
RL to RH
––
DV
Deviation
(-110 to 110)
%
-999999 to 999999
––
-999999 to 999999
––
Engineering
RH
value upper
limit
Engineering
RL
value lower
limit
CT
DVL
P
I
D
GW
Control cycle
Deviation limit
value
Gain
Integral
constant
Derivative
constant
Gap width
0 to 999999 Note that
CT
T
32767
s
0 to 100
%
0 to 999999
––
0 to 999999
s
0 to 999999
s
0 to 100
%
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
0.0
U
0.0
S
100.0
U
0.0
U
1.0
U
100.0
U
1.0
U
10.0
U
0.0
U
0.0
U
8
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
93
S.PID
+25
SV
9.1
+24
7
S.PID
Specified position
D2
+60
+61
Loop tag
memory *2
+62
+63
Loop tag
D2
+116
Set value *4
S3
*3
Gap gain
Unit Data format
0 to 999999
––
(-999999 to 999999)
%
Used by the system as a work area.
––
-10 to 110
%
MV Inside
MVP
operation
value
––
memory *2 *3
*2
GG
Recommended range *1
Name
Real
number
Real
number
Standard
Set
value
by
1.0
U
0.0
S
––
S
0.0
U
+96
past value
*1
Symbol
+0
+1
––
E2
Set value
––
Real
number
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
The applications of the loop tag past value memory are indicated below.
Specified position
D2
Description
+96 Control cycle counter initial preset flag
+97 Control cycle counter*5
+102
+103
+104
+105
+106
+107
+108
+109
+110
+111
Bn-1 (Last value)
PVn (Process value)
PVn-1 (Last process value)
PVn-2 (Process value before last)
DVn-1 (Last deviation value)
Alarm detection 2 (ALM2)
b15
+116
b12
b8
b4
b0
M
L
A
2
M
H
A
2
MHA2,MLA2
(0: Without alarm)
(1: With alarm)
*4
*5
When control is to be started from the initial status, the data must be cleared with the sequence program.
The set value (E2) becomes valid when the set value pattern (SVPTN) is set to "E2 is used".
When using the MV of the upper loop as the set value (E2), specify the device where the manipulated value (MV) of the upper
loop is set (offset + 12: MV).
When not using E2 as the set value, make sure to specify a dummy device.
(Special register SD1506 can be specified as a dummy device.)
The control cycle counter rounds off the data to the nearest whole number.
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
94
S.PID
Set
Data contents
Processing
9
(1) SV setting processing
Either of the following processings is performed depending on the operation mode (MODE) setting.
(a) When the operation mode (MODE) is any of CAS, CCB and CSV
1) When the set value (E2) is specified, engineering value conversion is performed with the following expression
2
and then "(2) Tracking processing" is performed.
SVn
3
RH RL
E2 RL
100
2) When the set value (E2) is not specified, "(2) Tracking processing" is performed without the engineering value
conversion being performed.
4
(b) When the operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC, "(2) Tracking
processing" is performed.
(2) Tracking processing
(a) The set value (SV) is converted reversely from the engineering value with the following operation expression to
4
calculate SVn'.
SVn'
100
(SVn
RH RL
6
RL)
(b) When all of the following conditions hold, tracking processing is performed.
1) The tracking bit (TRK) of the operation constant is 1.
7
2) The set value (E2) is used.
3) The operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC.
8
E2=SVn'
(c)
When the set value (E2) is the manipulated value (MV) of the upper loop, the tracking flag (TRKF) of the alarm
detection inhibition (INH) in the upper loop turns to 1.
(3) Gain (Kp) operation processing
Condition
9.1
(a) The deviation (DV) is calculated under the following condition.
Operation expression
DV=E1 - SVn'
Reverse operation(PN=0)
DV=SVn' - E1
S.PID
Forward operation(PN=1)
(b) The output gain (K) is calculated under the following condition.
Condition
Operation expression
When |DV| GW
K=GG
When |DV| > GW
K
1
(1
GG) GW
|DV|
95
S.PID
(4) PID operation
PID operation is performed with the following operation expression.
Item
Operation expression
When forward operation (PN=1)
MD×TD
MD×CT+TD
Bn-1 +
Bn
When reverse operation (PN=0)
Bn-1 +
MD×TD
MD×CT+TD
KP {(DVn
BW ( MV)
DVn-1)
× {(PVn - 2PVn-1 + PVn-2) -
× { - (PVn - 2PVn-1 + PVn-2) CT
TI
DVn
CT×Bn-1
}
TD
CT×Bn-1
}
TD
Bn}
KP: K × Gain (P), MD: Derivative gain (MTD)
TI: Integral constant (I), TD: Derivative constant (D)
In the following case, however, note that special processing will be performed.
Condition
QnPHCPU/QnPRHCPU (First 5 digits of
QnPHCPU/QnPRHCPU (First 5 digits of
the serial No. : 07031 or earlier)
the serial No. : 07032 or later)
Bn = 0
In either of the following cases 1, 2
(However, the loop tag
1.
Derivative constant (D) = 0 (TD = 0)
2.
Operation mode (MODE) is any of MAN, LCM and CMV
past value memory is
set.)
In any of the following cases 1, 2, 3
In any of the following cases 1, 2, 3
1.
Integral constant (I) = 0 (TI = 0)
1.
2.
When either of MHA or MLA is turned
2.
to 1
Integral constant (I) = 0 (TI = 0)
When either of MHA2 or MLA2 is
turned to 1
CT
DVn 0)
TI
When either of MHA or MLA is turned
(MVP > MH) and (
3.
Processing
to 1
CT
DVn 0)
TI
When either of MHA2 or MLA 2 is
(MVP > MH) and (
3.
CT
TI
DVn
0
turned to 1
CT
(MVP < ML) and (
TI
DVn
0)
(MVP < ML) and (
CT
TI
DVn
0)
(5) Deviation check
A deviation check is made under the following condition and the result of the check is output to DVLA of the alarm
detection (ALM) and the deviation large alarm (BB1) of the block memory.
Condition
Result
*1
DVL < |DV|
DVLA = BB1 = 1
(DVL - DVLS) < |DV| DVL
DVLA = BB1 = Last value status hold *1
|DV| (DVL-DVLS)
DVLA = BB1 = 0
*1
When DVLI or ERRI in the alarm detection inhibition (INH) is set to 1, DVLA and BB1 show 0 since the alarm is prohibited.
(6) Loop stop processing
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
A loop stop performs the following processing and terminates the S.PID instruction.
1) BW is turned to 0.
2) DVLA of the alarm detection (ALM) is turned to 0.
3) The operation mode (MODE) is changed to MAN.
4) BB1 of BB are turned to 0.
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
A loop run performs "(7) Control cycle judgment".
96
S.PID
(7) Control cycle judgment
(a) If the specified control cycle is not reached, BW ( MV) is turned to 0 and the S.PID instruction is terminated.
9
(b) When the specified control cycle is reached, "(1) SV setting processing" is performed.
Operation Error
2
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
QnPHCPU
3
QnPRHCPU
When an operation error occurs
4100
When the values of
normalized number
S1 , S2 , D2
are either a non-numeric or non-
4
When CT < 0 or the execution cycle (SD1500) < 0
4
6
7
8
9.1
S.PID
97
S.2PID
9.2
S.2PID
2-degree-of-freedom PID Control
9.2
S.2PID
Ladder diagram
Start contact
S.2PID
S.2PID
S1
S2
D1
Structured ladder/FBD
D2
S3
Structured text language
S_2PID
EN
ENO
s1
d1
s2
d2
ENO:=S_2PID(EN,s1,s2,s3,d1,d2);
s3
Input argument
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
S2
: Operation constant start device
: Array of any 16-bit data (0..6)
S3
: When set value (E2) is used: Set value start device
: Real data type
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
When set value (E2) is not used: Dummy device*1
Output argument
Setting
Internal devices
data
Bit
Word
R, ZR
J
Bit
\
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
S3
––
––
*1
Constant
Other
Special register SD1506 can be specified as a dummy device.
Function
Performs 2-degree-of-freedom PID operation when the specified control cycle is reached.
Also performs SV setting processing, tracking processing, gain (Kp) operation processing and deviation check processing at
this time.
98
S.2PID
Set
Data
Block
diagram
9
The processing block diagram of the S.2PID instruction is shown below.
(The numerals (1) to (7) in the diagram indicate the order of the processing.)
RL, RH
DV
2
GW,
GG
P, I, D, MTD, CT
DVL, DVLS
E1
(2)
(1)
(3)
E2
SV setting
processing
(When used)
Tracking
processing
Deviation
check
BW
4
Control cycle
judgment
(6)
3
(5)
When in control
cycle
(7)
CT
(4)
2-degree-offreedom
PID operation
Gain Kp
operation
processing
AND
BB1
RUN(SPA=0)
Loop
stop
judgment
STOP(SPA=1)
6
When not in control cycle
BW=0
7
(6)
SPA
MODE
4
BW=0
MAN
Loop stop
processing
OFF
8
ERRI∩DVLI
DVLA
9.2
S.2PID
99
S.2PID
Set Data
(1) Data specified in S.2PID instruction
Specified position
Input
S1
data
+0
+1
D1 +0
+1
Symbol
E1
BW
Recommended range *1
Name
Input value
Output value
( MV)
-999999 to 999999
%
(-999999 to 999999)
%
BB
b15
+2
BB1
Real
number
Real
number
Standard
Set
value
by
––
U
––
S
––
S
8.0
U
2.0
U
0
U
0
U
3
U
––
Block
memory
Unit Data format
b12
b8
b4
b0
B
B
1
Deviation large
alarm
––
BIN
16Bit
(0: Without alarm)
(1: With alarm)
S2
+0
+1
+2
+3
MTD
Derivative gain 0 to 999999
––
Deviation large
DVLS
alarm
0 to 100
%
hysteresis
+4
PN
+5
TRK
Operation
0: Reverse operation
mode
1: Forward operation
Tracking bit
Operation
––
0: Not tracked
––
1: Tracked
Real
number
Real
number
BIN
16bit
BIN
16bit
0 to 3
constant
b15
+6
SVPTN
b12
b8
*2
*3
100
b0
Set value
––
pattern
Set value pattern*3
0: E2 is upper loop MV.
1: E2 is not upper loop MV.
*1
b4
BIN
16bit
Set value used*2
0: E2 is used.
1: E2 is not used.
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Specify whether the set value (E2) is to be used or not.
Specify whether the MV of the upper loop is to be used or not as the set value (E2).
S.2PID
Specified position
Symbol
Recommended range *1
Name
Unit Data format
Standard
Set
value
by
8H
S/U
0 to FFFFH
D2
+1
MODE
Operation
b15
b12
b8
C
S
V
mode
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
––
BIN
16bit
9
2
0 to FFFFH
+3
ALM
Alarm
b15
b12
S
P
A
detection
b8
b4
b0
D M M
V H L
L A A
A
D
M
L
A
SPA
DVLA,DMLA,MHA,MLA
0:Loop RUN
(0:Without alarm)
1:Loop STOP
(1:With alarm)
––
BIN
16bit
3
4000H
S/U
4
0 to FFFFH
Alarm
+4
INH
detection
inhibition
b15
E
R
R
I
b12
T
R
K
F
b8
b4
D
M
L
I
4
b0
D M M
V H L
L I I
I
––
TRKF
(0 : Without tracking)
BIN
16bit
4000H
S/U
(1 : With tracking)
7
ERRI, DMLI, DVLI, MHI, MLI
0 : Alarm enable
Loop tag
1 : Alarm inhibit
memory *2
+14
+15
+16
+17
+23
+25
+46
+47
+50
+51
+52
+53
+54
+55
+56
+57
+58
+59
*2
Set value
RL to RH
––
DV
Deviation
(-110 to 110)
%
-999999 to 999999
––
-999999 to 999999
––
Engineering
RH
value upper
limit
Engineering
RL
value lower
limit
CT
DVL
P
I
D
GW
Control cycle
Deviation limit
value
Gain
Integral
constant
Derivative
constant
Gap width
0 to 999999 Note that
CT
T
32767
s
0 to 100
%
0 to 999999
––
0 to 999999
s
0 to 999999
s
0 to 100
%
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
0.0
U
0.0
S
100.0
U
0.0
U
1.0
U
100.0
U
1.0
U
10.0
U
0.0
U
0.0
U
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
101
8
S.2PID
+24
SV
9.2
+22
*1
6
S.2PID
Specified position
D2
+60
+61
+62
+63
Loop tag
memory *2
Symbol
GG
Gap gain
MV inside
MVP
operation value
freedom
+65
parameter
Set value *4
*1
*2
*3
––
(-999999 to 999999)
%
0 to 1
––
0 to 1
––
Used by the system as a work area.
––
-10 to 110
%
*5
freedom
parameter
*6
Real
number
Real
number
Real
number
Real
number
Standard
Set
value
by
1.0
U
0.0
S
0.0
U
1.0
U
––
S
0.0
U
+96
past value
*3
0 to 999999
2 degree-of-
+67
memory *2
Unit Data format
2 degree-of-
+64
+66
Loop tag
Recommended range *1
Name
––
––
E2
Set value
––
+116
S3
+0
+1
Real
number
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
The applications of the loop tag past value memory are indicated below.
Specified position
D2
Description
+96 Control cycle counter initial preset flag
+97 Control cycle counter *7
+102
+103
+104
+105
+106
+107
+108
+109
+110
+111
+112
+113
+114
+115
Bn-1 (Last value)
PVn (Process value)
PVn-1 (Last process value)
PVn-2 (Process value before last)
DVn-1 (Last deviation value)
DVn-2 (Deviation value before last)
Dn-1 (Last value)
Alarm detection 2 (ALM2)
b15
+116
b12
b8
b4
b0
M
L
A
2
M
H
A
2
MHA2,MLA2
(0: Without alarm)
(1: With alarm)
*4
*5
*6
When control is to be started from the initial status, the data must be cleared with the sequence program.
The set value (E2) becomes valid when the set value pattern (SVPTN) is set to "E2 is used".
When using the MV of the upper loop as the set value (E2), specify the device where the manipulated value (MV) of the upper
loop is set (offset + 12: MV).
When not using E2 as the set value, make sure to specify a dummy device.
(Special register SD1506 can be specified as a dummy device.)
Increasing decreases the manipulated value variation relative to the set value change.
(It will take time to stabilize.)
Decreasing increases the manipulated value variation relative to the set value change.
However, since a compensation operation will be stronger, hunting may become greater.
Increasing decreases the effect of derivative on the set value change.
Decreasing
102
increases the effect of derivative on the set value change.
S.2PID
*7
The control cycle counter rounds off the data to the nearest whole number.
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
9
Set
Data contents
Processing
2
(1) SV setting processing
Either of the following processings is performed depending on the operation mode (MODE) setting.
(a) When the operation mode (MODE) is any of CAS, CCB and CSV
1) When the set value (E2) is specified, engineering value conversion is performed with the following expression
3
and then "(2) Tracking processing" is performed.
SVn
4
RH RL
E2 RL
100
2) When the set value (E2) is not specified, "(2) Tracking processing" is performed without the engineering value
conversion being performed.
(b) When the operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC, "(2) Tracking
4
processing" is performed.
6
(2) Tracking processing
(a) The set value (SV) is converted reversely from the engineering value with the following operation expression to
calculate SVn'.
SVn'
100
RH RL
(SVn
7
RL)
(b) When all of the following conditions hold, tracking processing is performed.
8
1) The tracking bit (TRK) of the operation constant is 1.
2) The set value (E2) is used.
3) The operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC.
E2=SVn'
When the set value (E2) is the manipulated value (MV) of the upper loop, the tracking flag (TRKF) of the alarm
detection inhibition (INH) in the upper loop turns to 1.
S.2PID
(3) Gain (Kp) operation processing
(a) The deviation (DV) is calculated under the following condition.
Condition
Operation expression
Forward operation (PN=1)
DV=E1 - SVn'
Reverse operation (PN=0)
DV=SVn' - E1
(b) The output gain (K) is calculated under the following condition.
Condition
Operation expression
When |DV| GW
K=GG
When |DV| > GW
K
1
(1
9.2
(c)
GG) GW
|DV|
103
S.2PID
(4) 2-degree-of-freedom PID operation
2-degree-of-freedom PID operation is performed with the following operation expression.
Item
Operation expression
Bn
Bn-1 +
Cn
MD×TD
MD×CT+TD
When forward operation (PN=1)
PVn - PVn-1
When reverse operation (PN=0)
- (PVn - PVn-1)
× {(DVn - 2DVn-1 + DVn-2) -
CT×Bn-1
}
TD
CT×Dn-1
}
TD
When forward operation (PN=1)
Dn-1 +
MD×TD
MD×CT+TD
× {(PVn - 2PVn-1 + PVn-2) -
When reverse operation (PN=0)
Dn-1 +
MD×TD
MD×CT+TD
× { - (PVn - 2PVn-1 + PVn-2) -
Dn
CT×Dn-1
}
TD
s
BW ( MV)
KP: K × Gain (P), MD: Derivative gain (MTD)
TI: Integral constant (I), TD: Derivative constant (D)
In the following case, however, note that special processing will be performed.
Condition
QnPHCPU/QnPRHCPU (First 5 digits of
QnPHCPU/QnPRHCPU (First 5 digits of
the serial No. : 07031 or earlier)
the serial No. : 07032 or later)
Bn = 0, Dn = 0
In either of the following cases 1, 2
1. Derivative constant (D) = 0 (TD = 0)
2. Operation mode (MODE) is any of MAN, LCM and CMV
In any of the following cases 1, 2, 3
1. Integral constant (I) = 0 (TI = 0)
2. When either of MHA or MLA is turned
to 1
CT
DVn 0)
TI
When either of MHA or MLA is turned
to 1
(MVP < ML) and (
CT
TI
DVn
0)
(However, the loop tag
past value memory is
set.)
In any of the following cases 1, 2, 3
1. Integral constant (I) = 0 (TI = 0)
2. When either of MHA2 or MLA2 is
turned to 1
(MVP > MH) and (
3.
Processing
CT
DVn 0)
TI
When either of MHA2 or MLA 2 is
turned to 1
(MVP > MH) and (
3.
(MVP < ML) and (
CT
TI
DVn
CT
TI
DVn
0
0)
(5) Deviation check
A deviation check is made under the following condition and the result of the check is output to DVLA of the alarm
detection (ALM) and the deviation large alarm (BB1) of the block memory.
Condition
Result
DVL < |DV|
DVLA = BB1 =1 *1
(DVL - DVLS) < |DV| DVL
DVLA = BB1 = Last value status hold *1
|DV| (DVL-DVLS)
DVLA = BB1 = 0
*1
104
When DVLI or ERRI in the alarm detection inhibition (INH) is set to 1, DVLA and BB1 show 0 since the alarm is prohibited.
S.2PID
(6) Loop stop processing
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
9
A loop stop performs the following processing and terminates the S.2PID instruction.
1) BW is turned to 0.
2) DVLA of the alarm detection (ALM) is turned to 0.
2
3) The operation mode (MODE) is changed to MAN.
4) BB1 of BB are turned to 0.
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
3
A loop run performs "(7) Control cycle judgment".
(7) Control cycle judgment
(a) If the specified control cycle is not reached, BW ( MV) is turned to 0 and the S.2PID instruction is terminated.
(b) When the specified control cycle is reached, "(1) SV setting processing" is performed.
Operation Error
4
4
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
QnPHCPU
QnPRHCPU
6
When an operation error occurs
4100
When the values of
normalized number
S1 , S2 , D2
are either a non-numeric or non-
7
When CT < 0 or the execution cycle (SD1500) < 0
8
9.2
S.2PID
105
S.PIDP
9.3
S.PIDP
Position Type PID Control
9.3
S.PIDP
Ladder diagram
Start contact
S.PIDP
S.PIDP
S1
D1
Structured ladder/FBD
S2
D2
S3
Structured text language
S_PIDP
EN
ENO:=S_PIDP(EN,s1,s2,s3,d1,d2);
ENO
s1
d1
s2
d2
s3
Input argument
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
S2
: Operation constant start device
: Array of any 16-bit data (0..10)
S3
: When set value (E2) is used: Set value start device
: Real data type
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
When set value (E2) is not used: Dummy device*1
Output argument
Setting
Internal devices
data
Bit
Word
R, ZR
J
Bit
\
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
S3
––
––
*1
Constant
Other
Special register SD1506 can be specified as a dummy device.
Function
Performs position type PID operation when the specified control cycle is reached.
Also performs SV setting processing, tracking processing, gain (Kp) operation processing, deviation check processing and
operation mode (MODE) judgment at this time.
Performs change rate, upper/lower limiter and output processings or alarm clear processing and output conversion according
to the result of the judgment.
106
S.PIDP
Set
Data
Block
diagram
9
The processing block diagram of the S.PIDP instruction is shown below.
(The numerals (1) to (10) in the diagram indicate the order of the processing.)
DV
RH, RL
GW,GG
P, I, D, MTD, CT
MH, ML,
DML
DVL, DVLS
MV
2
NMIN, NMAX
E1
(1)
E2
(2)
SV setting
processing
(When
used)
(3)
(4)
Gain K p
operation
processing
Tracking
processing
(5)
PID
operation
(7)
Change
rate,
upper/lower
limiter
Deviation
check
3
(8)
Output
conversion
BW
(6)
(10)
Control
RUN(SPA 0) cycle
judgment
CT
When in control
cycle
When not in control
cycle
(9)
Loop
stop
judgment
4
Other than MAN, CMB
Mode
judgment CMV, LCM
MAN, CMB
CMV, LCM
BB2
AND
RUN(SPA 0)
Alarm clear
processing
STOP(SPA 1)
(9)
6
All OFF
Upper limit alarm
Lower limit alarm
Change rate alarm
Last BW
7
Loop stop
MAN processing All OFF
SPA
MODE
ERRI
4
(6)
8
DVLI
DVLA
ERRI
MHI
ERRI
DMLI
AND
BB4
AND
BB5
MHA
MLA
DMLA
OR
BB1
107
S.PIDP
MLI
BB3
9.3
ERRI
AND
S.PIDP
Set Data
(1) Data specified in S.PIDP instruction
Specified position
Input data
S1
D1
Symbol
Recommended range *1
Name
Set
value
by
––
U
+0
+1
E1
Input value
-999999 to 999999
%
+0
+1
BW
Output value
(-999999 to 999999)
––
Real
number
––
S
––
BIN
16bit
––
S
+2
S2
Standard
Real
number
BB
Block
memory
Unit Data format
––
BB1
Alarm
BB2
Deviation
large alarm
BB3
Output upper
limit alarm
BB4
Output lower
limit alarm
BB5
Output change
rate alarm
b15
b12
b8
b4
B B B
B B B
5 4 3
b0
B B
B B
2 1
(0: Without alarm)
(1: With alarm)
+0
+1
MTD
Derivative gain 0 to 999999
––
Real
number
8.0
U
+2
+3
DVLS
Deviation
large alarm
hysteresis
0 to 100
%
Real
number
2.0
U
+4
PN
Operation
mode
0: Reverse operation
1: Forward operation
––
BIN
16bit
0
U
+5
TRK
Tracking
bit
0: Not trucked
1: Trucked
––
BIN
16bit
0
U
––
BIN
16bit
3
U
0 to 3
b15
Operation
constant
+6
SVPTN
b12
b8
*2
*3
108
b0
Set value
pattern
Set value pattern*3
0: E2 is upper loop MV.
1: E2 is not upper loop MV.
*1
b4
Set value used*2
0: E2 is used.
1: E2 is not used.
+7
+8
NMAX
Output
conversion
upper limit
-999999 to 999999
––
Real
number
100.0
U
+9
+10
NMIN
Output
conversion
lower limit
-999999 to 999999
––
Real
number
0.0
U
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Specify whether the set value (E2) is to be used or not.
Specify whether the MV of the upper loop is to be used or not as the set value (E2).
S.PIDP
Specified position
Symbol
Recommended range *1
Name
Unit Data format
Standard
Set
value
by
8H
S/U
0 to FFFFH
D2
+1
MODE
Operation
mode
b15
b12
b8
C
S
V
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
––
BIN
16bit
9
2
0 to FFFFH
+3
ALM
Alarm
detection
b15
b12
D
M
L
A
b0
D M M
V H L
L A A
A
SPA
0:Loop RUN
1:Loop STOP
DVLA,DMLA,MHA,MLA
(0:Without alarm)
(1:With alarm)
S
P
A
b8
b4
3
––
BIN
16bit
4000H
S/U
4
4
00 to FFFFH
+4
INH
Alarm
detection
inhibition
Loop
tag
*2
b8
b4
D
M
L
I
b0
D M M
V H L
L I I
I
TRKF
(0 : Without tracking)
(1 : With tracking)
ERRI, DMLI, DVLI, MHI, MLI
0 : Alarm enable
1 : Alarm inhibit
––
BIN
16bit
6
4000H
S/U
7
8
+12
+13
MV
Manipulated
value
-10 to 110
%
Real
number
0.0
S/U
+14
+15
SV
Set value
RL to RH
––
Real
number
0.0
U
+16
+17
DV
Deviation
(-110 to 110)
%
Real
number
0.0
S
+18
+19
MH
Output upper
limit value
-10 to 110
%
Real
number
100.0
U
+20
+21
ML
Output lower
limit value
-10 to 110
%
Real
number
S.PIDP
*1
b12
T
R
K
F
9.3
memory *2
b15
E
R
R
I
0.0
U
+22
+23
RH
Engineering
value upper
limit
-999999 to 999999
––
Real
number
100.0
U
+24
+25
RL
Engineering
value lower
limit
-999999 to 999999
––
Real
number
0.0
U
+46
+47
CT
Control cycle
0 to 999999 Note that
s
Real
number
1.0
U
+48
+49
DML
Output
change rate
limit value
0 to 100
%
Real
number
100.0
U
+50
+51
DVL
Deviation limit
value
0 to 100
%
Real
number
100.0
U
CT
T
32767
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
109
S.PIDP
Specified position
D2
Loop tag
memory *2
Loop tag
past value
memory *2
*3
Set value *4
*1
*2
*3
D2
Symbol
Recommended range *1
Name
Unit Data format
Standard
Set
value
by
1.0
U
+52
+53
P
Gain
0 to 999999
––
Real
number
+54
+55
I
Integral
constant
0 to 999999
s
Real
number
10.0
U
+56
+57
D
Derivative
constant
0 to 999999
s
Real
number
0.0
U
+58
+59
GW
Gap width
0 to 100
%
Real
number
0.0
U
+60
+61
GG
Gap gain
0 to 999999
––
Real
number
1.0
U
––
––
Used by the system as a work area.
––
––
––
S
-10 to 110
%
Real
number
0.0
U
+96
+116
S3
+0
+1
E2
Set value
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
The applications of the loop tag past value memory are indicated below.
Specified position
D2
Description
+96 Control cycle counter initial preset flag
+97 Control cycle counter *5
+100
In-1 (Last value)
+101
+102
Bn-1 (Last value)
+103
+104
PVn (Process value)
+105
+106
PVn-1 (Last process value)
+107
Alarm detection 2 (ALM2)
b15
+116
b12
b8
b4
b0
M
L
A
2
M
H
A
2
MHA2,MLA2
(0: Without alarm)
(1: With alarm)
*4
*5
When control is to be started from the initial status, the data must be cleared with the sequence program.
The set value (E2) becomes valid when the set value pattern (SVPTN) is set to "E2 is used".
When using the MV of the upper loop as the set value (E2), specify the device where the manipulated value (MV) of the upper
loop is set (offset + 12: MV).
When not using E2 as the set value, make sure to specify a dummy device.
(Special register SD1506 can be specified as a dummy device.)
The control cycle counter rounds off the data to the nearest whole number.
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
110
S.PIDP
Set
Data contents
Processing
9
(1) SV setting processing
Either of the following processings is performed depending on the operation mode (MODE) setting.
(a) When the operation mode (MODE) is any of CAS, CCB and CSV
1) When the set value (E2) is specified, engineering value conversion is performed with the following expression
2
and then "(2) Tracking processing" is performed.
SVn
3
RH RL
E2 RL
100
2) When the set value (E2) is not specified, "(2) Tracking processing" is performed without the engineering value
conversion being performed.
(b) When the operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC, "(2) Tracking
4
processing" is performed.
4
(2) Tracking processing
(a) The set value (SV) is converted reversely from the engineering value with the following operation expression to
calculate SVn'.
SVn'
100
(SVn
RH RL
6
RL)
(b) When all of the following conditions hold, tracking processing is performed.
7
1) The tracking bit (TRK) of the operation constant is 1.
2) The set value (E2) is used.
3) The operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC.
8
E2=SVn'
(c)
When the set value (E2) is the manipulated value (MV) of the upper loop, the tracking flag (TRKF) of the alarm
detection inhibition (INH) in the upper loop turns to 1.
(3) Gain (Kp) operation processing
Operation expression
Forward operation (PN=1)
DV=E1 - SVn'
Reverse operation (PN=0)
DV=SVn' - E1
S.PIDP
Condition
9.3
(a) The deviation (DV) is calculated under the following condition.
(b) The output gain (K) is calculated under the following condition.
Condition
Operation expression
When |DV| GW
K=GG
When |DV| > GW
K
1
(1
GG) GW
|DV|
111
S.PIDP
(4) PID operation
PID operation is performed with the following operation expression.
Item
Bn
Operation expression
When forward operation
(PN = 1)
When reverse operation
(PN = 0)
Bn-1
M D TD
MD CT TD
{(PVn PVn-1)
Bn-1
M D TD
MD CT TD
{
CT
TI
In
In-1
T
Kp×(DVn + In + Bn)
(PVn PVn-1)
CT
Bn-1
}
TD
CT
Bn-1
}
TD
DVn
KP: K × Gain (P), MD: Derivative gain (MTD)
TI: Integral constant (I), TD: Derivative constant (D)
In the following case, however, note that special processing will be performed.
Condition
QnPHCPU (First 5 digits of the serial No.
QnPHCPU (First 5 digits of the serial No.
: 07031 or earlier)
: 07032 or later)
Bn = 0
(However, the loop tag
past value memory is
set.)
In either of the following cases 1, 2
1. Derivative constant (D) = 0 (TD = 0)
2. Operation mode (MODE) is any of MAN, LCM and CMV
In any of the following cases 1, 2, 3
1. Integral constant (I) = 0 (TI = 0)
2. When MHA is turned to 1
3.
In any of the following cases 1, 2, 3, 4
1. Integral constant (I) = 0 (TI = 0)
2. When MHA2 is turned to 1
CT
DVn 0
TI
When MLA is turned to 1
3.
CT
TI
4.
DVn
0
––
Processing
CT
DVn 0
TI
When MLA2 is turned to 1
CT
TI
DVn
In-1 =
MV
- (DVn + Bn)
Kp
0
CT
DVn 0
TI
When operating mode (MODE) is any
of MAN, LCM, and CMV.
All the following conditions 1, 2, 3 are
satisfied
1. When b0 of SD1508 is turned to 1
2. When tracking flag (TRKF) in alarm
detection inhibition (INH) is turned to
1.
3. When operating mode (MODE) is
other than MAN, LCM, and CMV.
TRKF=0
(5) Deviation check
A deviation check is made under the following condition and the result of the check is output to DVLA of the alarm
detection (ALM) and the deviation large alarm (BB2) of the block memory.
Condition
Result
*1
DVL < |DV|
DVLA=BB2=1
(DVL - DVLS) < |DV| DVL
DVLA=BB2=Last value status hold *1
|DV| (DVL - DVLS)
DVLA=BB2=0
*1
112
When DVLI or ERRI in the alarm detection inhibition (INH) is set to 1, DVLA and BB2 show 0 since the alarm is prohibited.
S.PIDP
(6) Mode judgment
Either of the following processings is performed depending on the operation mode (MODE) setting.
(a)
9
When the operation mode (MODE) is any of MAN, CMB, CMV and LCM (alarm clear processing)
1) MHA, MLA and DMLA of the alarm detection (ALM) are turned to 0.
2) MAH2 and MLA2 of the alarm detection 2 (ALM2) are turned to 0.
2
3) BB3 to BB5 of BB are turned to 0.
4) Data of BB2 is transferred to BB1 of BB. (BB1 = BB2)
5) "(8) Output conversion processing" is performed and the S.PIDP instruction is terminated.
(b) When the operation mode (MODE) is any of AUT, CAB, CAS, CCB, CSV, LCA and LCC, "(7) Change rate, upper/
3
lower limiter" is executed.
(7) Change rate, upper/lower limiter
The change rate and upper/lower limits are checked for the input value (E1), and the data after the limiter processing and
4
an alarm are output.
(a) The change rate limiter performs the following operation and outputs the result of the operation to BB5 and DMLA.
Condition
*1
BB5, DMLA
T1
|T - MV| DML
0
T
(T - MV) > DML
1 *1
MV + DML
(T - MV) < - DML
1 *1
MV - DML
4
6
When DMLI or ERRI in the alarm detection inhibition (INH) is set to 1, DMLA and BB5 show 0 since the alarm is prohibited.
(b) The upper/lower limiter performs the following operation and outputs the result of the operation to BB3, BB4, MHA,
7
MLA, MHA2 and MLA2.
*2
BB4, MLA, MLA2
BB3, MHA, MHA2
MV
T1 > MH
0
1 *2
MH
T1 < ML
1 *3
0
ML
ML T1 MH
0
0
T1
8
When MHI or ERRI in the alarm detection inhibition (INH) is set to 1, MHA and BB3 show 0 since the alarm is prohibited.
However, even if MHI and/or ERRI in the alarm detection inhibition (INH) is set to 1, MHA2 holds 1.
When MLI or ERRI in the alarm detection inhibition (INH) is set to 1, MLA and BB4 show 0 since the alarm is prohibited.
However, even if MLI and/or ERRI in the alarm detection inhibition (INH) is set to 1, MLA2 holds 1.
S.PIDP
(8) Output conversion
In the output conversion, the output value is calculated from the following formula.
BW
NMAX NMIN
100
MV
9.3
*3
Condition
NMIN
(9) Loop stop processing
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
A loop stop performs the following processing and terminates the S.PIDP instruction.
1) BW retains the last value.
2) DVLA, MHA, MLA and DMLA of the alarm detection (ALM) are turned to 0.
3) MHA2 and MLA2 of the alarm detection 2 (ALM2) are turned to 0.
4) The operation mode (MODE) is changed to MAN.
5) BB1 to BB5 of BB are turned to 0.
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
A loop run performs "(10) Control cycle judgement".
(10) Control cycle judgment
(a) When the specified control cycle is not reached, " (6) mode judgement" as T = MV is performed.
(b) When the specified control cycle is reached, "(1) SV setting processing" is performed.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored into SD0.
113
S.PIDP
Error code
Error definition
When an operation error occurs
4100
When the values of
normalized number
S1 , S2 , D2
are either a non-numeric or non-
When CT < 0 or the execution cycle (SD1500) < 0
114
QnPHCPU
QnPRHCPU
S.SPI
9.4
S.SPI
Sample PI Control
9.4
S.SPI
9
Ladder diagram
2
Start contact
S.SPI
S.SPI
S1
D1
Structured ladder/FBD
S2
D2
S3
Structured text language
3
ENO:=S_SPI(EN,s1,s2,s3,d1,d2);
4
S_SPI
EN
ENO
s1
d1
s2
d2
s3
Input argument
4
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
S2
: Operation constant start device
: Array of any 16-bit data (0..4)
S3
: When set value (E2) is used: Set value start device
: Real data type
6
When set value (E2) is not used: Dummy device*1
Output argument
Setting
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
Internal devices
data
Bit
J
R, ZR
Word
\
Bit
U
Word
Zn
\G
––
––
––
S2
––
––
D2
––
––
S3
––
––
*1
Other
Special register SD1506 can be specified as a dummy device.
Function
Performs normal PI operation during operating time (ST).
Judges between operating time (ST) or hold time (HT), and if it is the operating time, performs SV setting processing, tracking
processing, gain (Kp) operation processing, SPI operation and deviation check.
MV
t
ST
HT
STHT
ST
HT
STHT
ST
8
S.SPI
––
Constant
9.4
S1
D1
7
HT
STHT
115
S.SPI
Set
Data
Block
diagram
The processing block diagram of the S.SPI instruction is shown below.
(The numerals (1) to (7) in the diagram indicate the order of the processing.)
RL, RH
DV
GW,
GG
P, I
DVL, DVLS
E1
(1)
E2
(When used)
(2)
SV setting
processing
(3)
Tracking
processing
(7)
ST
STHT
(4)
Gain Kp
operation
processing
(5)
Deviation
check
SPI operation
Operating time
Operating
time monitor
(6)
AND
RUN(SPA=0)
Loop
stop
judgment
STOP(SPA=1)
Hold time
BW=0
(6)
SPA
MODE
ERRI∩DVLI
DVLA
116
BW
MAN
Loop stop
processing
BW=0
OFF
BB1
S.SPI
Set Data
9
(1) Data specified in S.SPI instruction
Specified position
Input
data
S1
D1
Symbol
+0
+1
E1
+0
+1
BW
Recommended range *1
Name
Input value
Output value
( MV)
BB1
Set
value
by
––
U
-999999 to 999999
%
(-999999 to 999999)
%
Real
number
––
S
––
BIN
16bit
––
S
b12
b8
b4
B
B
1
Deviation
large alarm
0 to 100
%
Real
number
DVLS
+2
PN
Operation
mode
0: Reverse operation
1: Forward operation
––
+3
TRK
Tracking
bit
0: Not trucked
1: Trucked
––
b15
SVPTN
b12
b8
U
BIN
16bit
0
U
BIN
16bit
0
U
b0
6
7
8
––
BIN
16bit
3
U
Set value used*2
0: E2 is used.
1: E2 is not used.
9.4
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Specify whether the set value (E2) is to be used or not.
Specify whether the MV of the upper loop is to be used or not as the set value (E2).
117
S.SPI
*2
*3
b4
Set value
pattern
Set value pattern*3
0: E2 is upper loop MV.
1: E2 is not upper loop MV.
*1
2.0
0 to 3
Operation
constant
4
4
Deviation
large alarm
hysteresis
+0
+1
+4
3
b0
(0: Without alarm)
(1: With alarm)
S2
2
––
b15
+2
Standard
Real
number
BB
Block
memory
Unit Data format
S.SPI
Specified position
Symbol
Recommended range *1
Name
Unit Data format
Standard
Set
value
by
0 to FFFFH
D2
+1
MODE
Operation
mode
––
BIN
16Bit
8H
S/U
––
BIN
16Bit
4000H
S/U
TRKF
(0 : Without tracking)
(1 : With tracking)
ERRI, DVLI, MHI, MLI
0 : Alarm enable
1 : Alarm inhibit
––
BIN
16Bit
4000H
S/U
b15
b12
b8
C
S
V
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
0 to FFFFH
+3
ALM
Alarm
detection
b12
b15
b8
b4
S
P
A
b0
D M M
V H L
L A A
A
SPA
0:Loop RUN
1:Loop STOP
DVLA,MHA,MLA
(0:Without alarm)
(1:With alarm)
00 to FFFFH
b4
b0
D M M
V H L
L I I
I
Alarm
detection
inhibition
+14
+15
SV
Set value
RL to RH
––
Real
number
0.0
U
+16
+17
DV
Deviation
(-110 to 110)
%
Real
number
0.0
S
+22
+23
RH
Engineering
value upper
limit
-999999 to 999999
––
Real
number
100.0
U
-999999 to 999999
––
0.0
U
+24
+25
118
b8
INH
memory *2
*2
b12
T
R
K
F
+4
Loop tag
*1
b15
E
R
R
I
RL
Engineering
value lower
limit
+46
+47
ST
+50
+51
DVL
+52
+53
Operating time 0 to 999999 Note that
CT
T
32767
Real
number
s
Real
number
0.0
U
Deviation limit
value
0 to 100
%
Real
number
100.0
U
P
Gain
0 to 999999
––
Real
number
1.0
U
+54
+55
I
Integral
constant
0 to 999999
s
Real
number
10.0
U
+56
+57
STHT
Sample cycle
0 to 999999 Note that
s
Real
number
0.0
U
+58
+59
GW
Gap width
0 to 100
%
Real
number
0.0
U
STHT
T
32767
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
S.SPI
Specified position
D2
Loop tag
memory *2
Loop tag
past value
D2
memory *2
*3
Set value *4
*1
*2
*3
Symbol
Recommended range *1
Name
Unit Data format
Standard
Set
value
by
1.0
U
9
+60
+61
GG
Gap gain
0 to 999999
––
Real
number
+62
+63
MVP
MV inside
operation
value
(-999999 to 999999)
%
Real
number
0.0
S
2
Used by the system as a work area.
––
––
––
––
3
-10 to 110
%
Real
number
0.0
U
4
+96
––
––
+116
S3
+0
+1
E2
Set value
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
The applications of the loop tag past value memory are indicated below.
Specified position
D2
Description
4
6
+96 Control cycle counter initial preset flag
+97 Sample counter*5
+98 Operation counter*5
7
+99 Hold counter
+100
DVn-1 (Last deviation value)
+101
8
Alarm detection 2 (ALM2)
b15
b12
b8
b4
+116
b0
M
L
A
2
M
H
A
2
*5
When control is to be started from the initial status, the data must be cleared with the sequence program.
The set value (E2) becomes valid when the set value pattern (SVPTN) is set to "E2 is used".
When using the MV of the upper loop as the set value (E2), specify the device where the manipulated value (MV) of the upper
loop is set (offset + 12: MV).
When not using E2 as the set value, make sure to specify a dummy device.
(Special register SD1506 can be specified as a dummy device.)
The sample counter and operation counter round off the data to the nearest whole number.
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
Set
Data contents
Processing
(1) SV setting processing
Either of the following processings is performed depending on the operation mode (MODE) setting.
(a) When the operation mode (MODE) is any of CAS, CCB and CSV
1) When the set value (E2) is specified, engineering value conversion is performed with the following expression
and then "(2) Tracking processing" is performed.
SVn
RH RL
E2 RL
100
2) When the set value (E2) is not specified, "(2) Tracking processing" is performed without the engineering value
conversion being performed.
(b) When the operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC, "(2) Tracking
processing" is performed.
119
S.SPI
*4
9.4
MHA2,MLA2
(0: Without alarm)
(1: With alarm)
S.SPI
(2) Tracking processing
(a) The set value (SV) is converted reversely from the engineering value with the following operation expression to
calculate SVn'.
SVn'
100
(SVn
RH RL
RL)
(b) When all of the following conditions hold, tracking processing is performed.
1) The tracking bit (TRK) of the operation constant is 1.
2) The set value (E2) is used.
3) The operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC.
E2=SVn'
(c)
When the set value (E2) is the manipulated value (MV) of the upper loop, the tracking flag (TRKF) of the alarm
detection inhibition (INH) in the upper loop turns to 1.
(3) Gain (Kp) operation processing
(a) The deviation (DV) is calculated under the following condition.
Condition
Operation expression
Forward operation(PN = 1)
DV = E1 - SVn'
Reverse operation(PN = 0)
DV = SVn' - E1
(b) The output gain (K) is calculated under the following condition.
Condition
Operation expression
When |DV| GW
K = GG
When |DV| > GW
K
1
(1
GG) GW
|DV|
(4) SPI operation
SPI operation is performed with the following operation expression.
Condition
Operation expression
KP {(DVn
DVn-1)
BT
TI
During operating time (ST)
BW
DVn}
During hold time (STHT - ST)
BW = 0 (loop tag past value memory is not set.)
KP: K × Gain (P), TI: Integral constant (I), BT: Execution cycle ( T)
In the following case, however, note that special processing will be performed.
Condition
QnPHCPU/QnPRHCPU (First 5 digits of
QnPHCPU/QnPRHCPU (First 5 digits of
the serial No. : 07031 or
the serial No. : 07032 or later)
In any of the following cases 1, 2, 3
1. Integral constant (I) = 0 (TI = 0)
2. When either of MHA or MLA is turned
to 1
In any of the following cases 1, 2, 3
1. Integral constant (I) = 0 (TI = 0)
2. When either of MHA2 or MLA2 is turned
to 1
CT
DVn 0
TI
When either of MHA or MLA is turned
CT
DVn 0
TI
3. When either of MHA2 or MLA 2 is turned
(MVP > MH) and
3.
to 1
CT
(MVP < ML) and
TI
120
(MVP > MH) and
to 1
DVn
0
(MVP < ML) and
CT
TI
DVn
0
Processing
CT
TI
DVn
0
S.SPI
(5) Deviation check
A deviation check is made under the following condition and the result of the check is output to DVLA of the alarm
9
detection (ALM) and the deviation large alarm (BB1) of the block memory.
Condition
Result
DVL < |DV|
DVLA = BB1 = 1 *1
(DVL - DVLS) < |DV| DVL
DVLA = BB1 = Last value status hold *1
|DV| (DVL - DVLS)
DVLA = BB1 = 0
*1
2
When DVLI or ERRI of the alarm detection inhibition (INH) is 1, DVLA and BB1 turn to 0 since the alarm is inhibited.
3
(6) Loop stop processing
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
A loop stop performs the following processing and terminates the S.SPI instruction.
4
1) BW is turned to 0.
2) DVLA of the alarm detection (ALM) is turned to 0.
3) The operation mode (MODE) is changed to MAN.
4
4) BB1 of BB are turned to 0.
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
A loop run performs "(7) Operating time/hold time check judgment ".
6
(7) Operating time/hold time check judgment
Whether it is the operating time (ST) or hold time (HT = STHT - ST) is judged and the following processing is performed.
(a) Operating time (ST)
SV setting processing, tracking processing, gain (Kp) operation processing, PI operation (operating time) and
7
deviation check are performed.
(b) Hold time (HT = STHT - ST)
8
Tracking processing, SPI operation (hold time) and deviation check are performed.
Under the following condition, however, the hold time is set to 0 and continuous PI control is carried out.
STHT
T
ST
T
9.4
When the integer part of STHT is 0, no processing is performed. ( MV also remains unchanged.)
T
S.SPI
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
QnPHCPU
QnPRHCPU
When an operation error occurs
When the values of
normalized number
4100
S1 , S2 , D2
are either a non-numeric or non-
When the execution cycle ( T) < 0
When the operating time (ST) < 0
When the sample counter < 0
121
S.IPD
9.5
S.IPD
I-PD Control
9.5
S.IPD
Ladder diagram
Start contact
S.IPD
S.IPD
D1
S1
Structured ladder/FBD
S2
D2
S3
Structured text language
S_IPD
EN
ENO:=S_IPD(EN,s1,s2,s3,d1,d2);
ENO
s1
d1
s2
d2
s3
Input argument
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
S2
: Operation constant start device
: Array of any 16-bit data (0..6)
S3
: When set value (E2) is used: Set value start device
: Real data type
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
When set value (E2) is not used: Dummy device*1
Output argument
Setting
Internal devices
data
Bit
Word
R, ZR
J
Bit
\
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
S3
––
––
*1
Constant
Other
Special register SD1506 can be specified as a dummy device.
Function
Performs I-PD control when the specified control cycle is reached.
Also performs SV setting processing, tracking processing, gain (Kp) operation processing and deviation check at this time.
122
S.IPD
Set
Data
Block
diagram
9
The processing block diagram of the S.IPD instruction is shown below.
(The numerals (1) to (7) in the diagram indicate the order of the processing.)
RL, RH
DV
2
GW,
GG
P, I, D, CT, MTD
DVL, DVLS
E1
(1)
(2)
SV setting
processing
(When used)
Gain Kp
operation
processing
Tracking
processing
Deviation
check
IPD operation
BW
4
Control cycle
judgment
(6)
3
(5)
When in control
cycle
(7)
CT
(4)
(3)
E2
AND
BB1
RUN(SPA=0)
Loop
stop
judgment
STOP(SPA=1)
6
When not in control cycle
BW=0
7
(6)
SPA
MODE
4
BW=0
MAN
Loop stop
processing
OFF
8
ERRI∩DVLI
DVLA
9.5
S.IPD
123
S.IPD
Set Data
(1) Data specified in S.IPD instruction
Specified position
Input
S1
data
+0
+1
D1 +0
+1
Symbol
E1
BW
Recommended range *1
Name
Input value
Output value
(
MV)
-999999 to 999999
%
(-999999 to 999999)
%
BB
b15
+2
BB1
Real
number
Real
number
Standard
Set
value
by
––
U
––
S
––
S
8.0
U
2.0
U
0
U
0
U
3
U
––
Block
memory
Unit Data format
b12
b8
b4
b0
B
B
1
Deviation
––
large alarm
BIN
16bit
(0: Without alarm)
(1: With alarm)
S2
+0
+1
+2
+3
MTD
Derivative gain 0 to 999999
––
Deviation
DVLS
large alarm
0 to 100
%
hysteresis
+4
PN
+5
TRK
Operation
Operation
0: Reverse operation
mode
1: Forward operation
Tracking
0: Not trucked
bit
1: Trucked
––
––
b15
+6
SVPTN
b12
b8
124
b4
Real
number
BIN
16bit
BIN
16bit
b0
Set value
––
pattern
Set value pattern*3
0: E2 is upper loop MV.
1: E2 is not upper loop MV.
*2
*3
number
0 to 3
constant
*1
Real
BIN
16bit
Set value used*2
0: E2 is used.
1: E2 is not used.
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Specify whether the set value (E2) is to be used or not.
Specify whether the MV of the upper loop is to be used or not as the set value (E2).
S.IPD
Specified position
Symbol
Recommended range *1
Name
Unit
Data
Standard
Set
format
value
by
8H
S/U
0 to FFFFH
D2
+1
MODE
Operation
b15
b12
b8
C
S
V
mode
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
––
BIN
16bit
2
0 to FFFFH
+3
ALM
Alarm
b12
b15
b8
b4
S
P
A
detection
9
b0
D M M
V H L
L A A
A
SPA
DVLA,MHA,MLA
0:Loop RUN
(0:Without alarm)
1:Loop STOP
(1:With alarm)
––
BIN
16bit
4000H
S/U
3
4
00 to FFFFH
Alarm
+4
INH
detection
inhibition
b15
E
R
R
I
b12
b8
b4
T
R
K
F
4
b0
D M M
V H L
L I I
I
––
TRKF
(0 : Without tracking)
BIN
16bit
4000H
S/U
6
(1 : With tracking)
7
ERRI, DVLI, MHI, MLI
Loop
0 : Alarm enable
tag
memory *2
1 : Alarm inhibit
+14
+15
+16
+17
+22
+25
+46
+47
+50
+51
+52
+53
+54
+55
+56
+57
+58
+59
*1
*2
RL to RH
––
DV
Deviation
(-110 to 110)
%
-999999 to 999999
––
-999999 to 999999
––
Engineering
RH
value upper
limit
Engineering
RL
value lower
limit
CT
DVL
P
I
D
GW
Control cycle
Deviation limit
value
Gain
Integral
constant
Derivative
constant
Gap width
0 to 999999 Note that
CT
T
32767
s
0 to 100
%
0 to 999999
––
0 to 999999
s
0 to 999999
s
0 to 100
%
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
0.0
U
0.0
S
100.0
U
0.0
U
1.0
U
100.0
U
1.0
U
10.0
U
0.0
U
0.0
U
8
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
125
S.IPD
+24
Set value
9.5
+23
SV
S.IPD
Specified position
D2
+60
+61
Loop tag
memory *2
+62
+63
Loop tag
D2
*3
Set value *4
*1
*2
*3
Recommended range *1
Name
GG
Gap gain
Unit Data format
0 to 999999
––
(-999999 to 999999)
%
Used by the system as a work area.
––
-10 to 110
%
MV inside
MVP
operation
value
Real
number
Real
number
Standard
Set
value
by
1.0
U
0.0
S
––
S
0.0
U
+96
past value
memory *2
Symbol
––
––
––
+116
S3
+0
+1
E2
Set value
Real
number
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
The applications of the loop tag past value memory are indicated below.
Specified position
D2
Description
+96 Control cycle counter initial preset flag
+97 Control cycle counter*5
+102
+103
+104
+105
+106
+107
+108
+109
Bn-1 (Last value)
PVn (Process value)
PVn-1 (Last process value)
PVn-2 (Process value before last)
Alarm detection 2 (ALM2)
b15
+116
b12
b8
b4
b0
M
L
A
2
M
H
A
2
MHA2,MLA2
(0: Without alarm)
(1: With alarm)
*4
*5
When control is to be started from the initial status, the data must be cleared with the sequence program.
The set value (E2) becomes valid when the set value pattern (SVPTN) is set to "E2 is used".
When using the MV of the upper loop as the set value (E2), specify the device where the manipulated value (MV) of the upper
loop is set (offset + 12: MV).
When not using E2 as the set value, make sure to specify a dummy device.
(Special register SD1506 can be specified as a dummy device.)
The counrol cycle counter rounds off the data to the nearest whole number.
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
126
S.IPD
Set
Data contents
Processing
9
(1) SV setting processing
Either of the following processings is performed depending on the operation mode (MODE) setting.
(a) When the operation mode (MODE) is any of CAS, CCB and CSV
1) When the set value (E2) is specified, engineering value conversion is performed with the following expression
2
and then "(2) Tracking processing" is performed.
SVn
3
RH RL
E2 RL
100
2) When the set value (E2) is not specified, "(2) Tracking processing" is performed without the engineering value
conversion being performed.
4
(b) When the operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC, "(2) Tracking
processing" is performed.
4
(2) Tracking processing
(a) The set value (SV) is converted reversely from the engineering value with the following operation expression to
calculate SVn'.
SVn'
100
(SVn
RH RL
6
RL)
(b) When all of the following conditions hold, tracking processing is performed.
7
1) The tracking bit (TRK) of the operation constant is 1.
2) The set value (E2) is used.
3) The operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC.
8
E2 = SVn'
(c)
When the set value (E2) is the manipulated value (MV) of the upper loop, the tracking flag (TRKF) of the alarm
detection inhibition (INH) in the upper loop turns to 1.
9.5
(3) Gain (Kp) operation processing
(a) The deviation (DV) is calculated under the following condition.
Operation expression
DV = E1 - SVn'
Reverse operation (PN = 0)
DV = SVn' - E1
S.IPD
Condition
Forward operation (PN = 1)
(b) The output gain (K) is calculated under the following condition.
Condition
Operation expression
When |DV| GW
K = GG
When |DV| > GW
K
1
(1
GG) GW
|DV|
127
S.IPD
(4) I-PD operation
I-PD operation is performed with the following operation expression.
Item
Operation expression
When forward operation (PN = 1)
Bn-1
M D TD
MD CT TD
When reverse operation (PN = 0)
Bn-1
M D TD
MD CT TD
When forward operation (PN = 1)
KP {
CT
TI
DVn
(PVn
PVn-1)
Bn}
When reverse operation (PN = 0)
KP {
CT
TI
DVn
(PVn
PVn-1)
Bn}
Bn
BW ( MV)
{(PVn 2PVn-1 PVn-2)
{
CT
Bn-1
}
TD
CT
(PVn 2PVn-1 PVn-2)
Bn-1
}
TD
KP: K × Gain (P), MD: Derivative gain (MTD)
TI: Integral constant (I), TD: Derivative constant (D)
In the following case, however, note that special processing will be performed.
Condition
QnPHCPU/QnPRHCPU (First 5 digits of
QnPHCPU/QnPRHCPU (First 5 digits of
the serial No. : 07031 or
the serial No. : 07032 or later)
Bn = 0
In either of the following cases 1, 2
(However, the loop tag
1.
Derivative constant (D) = 0 (TD = 0)
2.
Operation mode (MODE) is any of MAN, LCM and CMV
past value memory is
set.)
In any of the following cases 1, 2, 3
In any of the following cases 1, 2, 3
1.
Integral constant (I) = 0 (TI = 0)
1.
2.
When either of MHA or MLA error is
2.
turned to 1
Integral constant (I) = 0 (TI = 0)
When either of MHA2 or MLA2 is
turned to 1
CT
DVn 0)
TI
When either of MHA or MLA error is
(MVP > MH) and (
3.
Processing
turned to 1
CT
DVn 0)
TI
When either of MHA2 or MLA 2 is
(MVP > MH) and (
3.
CT
TI
DVn
0
turned to 1
(MVP < ML) and (
CT
TI
DVn
0)
(MVP < ML) and (
CT
TI
DVn
0)
(5) Deviation check
A deviation check is made under the following condition and the result of the check is output to DVLA of the alarm
detection (ALM) and the deviation large alarm (BB1) of the block memory.
Condition
Result
*1
DVL < |DV|
DVLA = BB1 = 1
(DVL - DVLS) < |DV| DVL
DVLA = BB1 = Last value status hold *1
|DV| (DVL - DVLS)
DVLA = BB1 = 0
*1
When DVLI or ERRI in the alarm detection inhibition (INH) is set to 1, DVLA and BB1 show 0 since the alarm is prohibited.
(6) Loop stop processing
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
A loop stop performs the following processing and terminates the S.IPD instruction.
1) BW is turned to 0.
2) DVLA of the alarm detection (ALM) is turned to 0.
3) The operation mode (MODE) is changed to MAN.
4) BB1 of BB are turned to 0.
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
A loop run performs "(7) Control cycle judgment".
128
S.IPD
(7) Control cycle judgment
(a) If the specified control cycle is not reached, BW ( MV) is turned to 0 and the S.IPD instruction is terminated.
(b) When the specified control cycle is reached, "(1) SV setting processing" is performed.
Operation Error
9
2
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
QnPHCPU
QnPRHCPU
When an operation error occurs
4100
When the values of
normalized number
S1 , S2 , D2
3
are either a non-numeric or non-
4
When CT < 0 or the execution cycle (SD1500) < 0
4
6
7
8
9.5
S.IPD
129
S.BPI
9.6
S.BPI
Blend PI control
9.6
S.BPI
Ladder diagram
Start contact
S.BPI
S.BPI
S1
D1
Structured ladder/FBD
S2
D2
S3
Structured text language
S_BPI
EN
ENO
s1
d1
s2
d2
ENO:=S_BPI(EN,s1,s2,s3,d1,d2);
s3
Input argument
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
S2
: Operation constant start device
: Array of any 16-bit data (0..4)
S3
: When set value (E2) is used: Set value start device
: Real data type
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
When set value (E2) is not used: Dummy device*1
Output argument
Setting
Internal devices
R, ZR
J
\
U
Zn
\G
data
Bit
S1
––
––
D1
––
––
Word
Bit
Word
S2
––
––
D2
––
––
S3
––
––
*1
Constant
Other
Special register SD1506 can be specified as a dummy device.
Function
Performs BPI operation when the specified control cycle is reached.
Also performs SV setting processing, tracking processing, gain (Kp) operation processing and deviation check at this time.
130
S.BPI
Set
Data
Block
diagram
9
The processing block diagram of the S.BPI instruction is shown below.
(The numerals (1) to (7) in the diagram indicate the order of the processing.)
2
RL, RH
DV
GW,
GG
P, I, CT
DVL, DVLS
3
E1
(1)
E2
SV setting
processing
(When used)
Gain Kp
operation
processing
Tracking
processing
(5)
Deviation
check
BPI operation
Control cycle
judgment
(6)
BW
When in control
cycle
(7)
CT
(4)
(3)
(2)
AND
BB1
4
RUN(SPA=0)
Loop
stop
judgment
STOP(SPA=1)
6
When not in control cycle
7
BW=0
(6)
SPA
MODE
4
BW=0
MAN
Loop stop
processing
OFF
8
ERRI∩DVLI
DVLA
9.6
S.BPI
131
S.BPI
Set Data
(1) Data specified in S.BPI instruction
Specified position
Input
S1
data
+0
+1
D1 +0
+1
Symbol
E1
BW
Recommended range *1
Name
Input value
Output value
( MV)
-999999 to 999999
%
(-999999 to 999999)
%
BB
b15
+2
BB1
Real
number
Real
number
Standard
Set
value
by
––
U
––
S
––
S
2.0
U
0
U
0
U
3
U
––
Block
memory
Unit Data format
b12
b8
b4
b0
B
B
1
Deviation
––
large alarm
BIN
16bit
(0: Without alarm)
(1: With alarm)
S2
+0
+1
Deviation
DVLS
large alarm
0 to 100
%
hysteresis
+2
PN
+3
TRK
Operation
0: Reverse operation
mode
1: Forward operation
Tracking
0: Not trucked
bit
1: Trucked
––
––
constant
b15
+4
SNPTN
b12
b8
132
b4
BIN
16bit
BIN
16bit
b0
Set value
––
pattern
Set value pattern*3
0: E2 is upper loop MV.
1: E2 is not upper loop MV.
*2
*3
number
0 to 3
Operation
*1
Real
BIN
16bit
Set value used*2
0: E2 is used.
1: E2 is not used.
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Specify whether the set value (E2) is to be used or not.
Specify whether the MV of the upper loop is to be used or not as the set value (E2).
S.BPI
Specified position
Symbol
Recommended range *1
Name
Unit Data format
Standard
Set
value
by
8H
S/U
0 to FFFFH
D2
+1
MODE
Operation
b15
b12
b8
C
S
V
mode
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
––
BIN
16bit
9
2
0 to FFFFH
+3
ALM
Alarm
b12
b15
b8
b4
S
P
A
detection
b0
D M M
V H L
L A A
A
SPA
DVLA,MHA,MLA
0:Loop RUN
(0:Without alarm)
1:Loop STOP
(1:With alarm)
––
BIN
16bit
3
4000H
S/U
4
00 to FFFFH
Alarm
+4
INH
detection
inhibition
b15
E
R
R
I
b12
b8
b4
T
R
K
F
4
b0
D M M
V H L
L I I
I
––
TRKF
(0 : Without tracking)
BIN
16bit
4000H
S/U
(1 : With tracking)
Loop
7
ERRI, DVLI, MHI, MLI
tag
6
0 : Alarm enable
1 : Alarm inhibit
memory *2
+14
+15
+16
+17
+22
+25
+46
+47
+50
+51
+52
+53
+54
+55
+56
+57
*1
*2
RL to RH
––
DV
Deviation
(-110 to 110)
%
-999999 to 999999
––
-999999 to 999999
––
Engineering
RH
value upper
limit
Engineering
RL
value lower
limit
CT
DVL
P
I
Control cycle
Deviation limit
value
Gain
Integral
constant
0 to 999999 Note that
CT
T
32767
s
0 to 100
%
0 to 999999
––
0 to 999999
s
(-999999 to 999999)
%
DV cumulative
SDV
value
(
DV)
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
0.0
U
0.0
S
100.0
U
0.0
U
1.0
U
100.0
U
1.0
U
10.0
U
0.0
S
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
133
8
S.BPI
+24
Set value
9.6
+23
SV
S.BPI
Specified position
D2
+58
Loop tag
+59
Memory *2
+60
+61
Loop tag
D2
*3
Set value *4
*1
*2
*3
Recommended range *1
Name
Unit Data format
GW
Gap width
0 to 100
%
GG
Gap gain
0 to 999999
––
––
––
Used by the system as a work area.
––
-10 to 110
%
Real
number
Real
number
Standard
Set
value
by
0.0
U
1.0
U
––
S
0.0
U
+96
past value
Memory *2
Symbol
––
+99
S3
+0
+1
E2
Set value
Real
number
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
The applications of the loop tag past value memory are indicated below.
Specified position
D2
Description
+96 Control cycle counter initial preset flag
+97 Control cycle counter*5
+98 CT
+99 TI
*4
*5
DVI
When control is to be started from the initial status, the data must be cleared with the sequence program.
The set value (E2) becomes valid when the set value pattern (SVPTN) is set to "E2 is used".
When using the MV of the upper loop as the set value (E2), specify the device where the manipulated value (MV) of the upper
loop is set (offset + 12: MV).
When not using E2 as the set value, make sure to specify a dummy device.
(Special register SD1506 can be specified as a dummy device.)
The control cycle counter rounds off the data to the nearest whole number.
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
Set
Data contents
Processing
(1) SV setting processing
Either of the following processings is performed depending on the operation mode (MODE) setting.
(a) When the operation mode (MODE) is any of CAS, CCB and CSV
1) When the set value (E2) is specified, engineering value conversion is performed with the following expression
and then "(2) Tracking processing" is performed.
SVn
RH RL
E2 RL
100
2) When the set value (E2) is not specified, "(2) Tracking processing" is performed without the engineering value
conversion being performed.
(b) When the operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC, "(2) Tracking
processing" is performed.
134
S.BPI
(2) Tracking processing
(a) The set value (SV) is converted reversely from the engineering value with the following operation expression to
calculate SVn'.
SVn'
100
(SVn
RH RL
9
RL)
2
(b) When all of the following conditions hold, tracking processing is performed.
1) The tracking bit (TRK) of the operation constant is 1.
2) The set value (E2) is used.
3
3) The operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC.
E2 = SVn'
(c)
When the set value (E2) is the manipulated value (MV) of the upper loop, the tracking flag (TRKF) of the alarm
detection inhibition (INH) in the upper loop turns to 1.
4
(3) Gain (Kp) operation processing
(a) The deviation (DV) is calculated under the following condition.
Condition
4
Operation expression
Forward operation (PN = 1)
DV = E1 - SVn'
Reverse operation (PN = 0)
DV = SVn' - E1
6
(b) The output gain (K) is calculated under the following condition.
Condition
Operation expression
When |DV| GW
K = GG
When |DV| > GW
K
1
(1
7
GG) GW
|DV|
(4) BPI operation
8
BPI operation is performed with the following operation expression.
Condition
Operation expression
BW ( MV)
KP
BW
(DVn
CT
TI
DVI)
9.6
Kp: K × Gain (P), BT: Execution cycle, TI: Integral constant (I),
DVI: Cumulative value of DVn, DVn: Deviation
S.BPI
In the following case, however, note that special processing will be performed.
Condition
Processing
In either of the following cases 1, 2
1. Integral constant (I) = 0 (TI = 0)
2. Either MLA or MHA of alarm
detection (ALM) is 1
1.
Integral constant (I)
0 (TI
0)
CT
TI
DVI
last value unchanged
CT
TI
DVI
CT
TI
( DVI
DVn)
135
S.BPI
(5) Deviation check
A deviation check is made under the following condition and the result of the check is output to DVLA of the alarm
detection (ALM) and the deviation large alarm (BB1) of the block memory.
Condition
Result
*1
DVL |DV|
DVLA = BB1 = 1
(DVL - DVLS) < |DV| DVL
DVLA = BB1 = Last value status hold *1
|DV| (DVL - DVLS)
DVLA = BB1 = 0
*1
When DVLI or ERRI in the alarm detection inhibition (INH) is set to 1, DVLA and BB1 show 0 since the alarm is prohibited.
(6) Loop stop processing
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
A loop stop performs the following processing and terminates the S.BPI instruction.
1) BW is turned to 0.
2) DVLA of the alarm detection (ALM) is turned to 0.
3) The operation mode (MODE) is changed to MAN.
4) BB1 of BB are turned to 0.
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
A loop run performs "(7) Control cycle judgment".
(7) Control cycle judgment
(a) If the specified control cycle is not reached, BW is turned to 0 and the S.BPI instruction is terminated.
(b) When the specified control cycle is reached, "(1) SV setting processing" is performed.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
When the values of
normalized number
S1 , S2 , D2
are either a non-numeric or non-
When CT < 0 or the execution cycle (SD1500) < 0
136
QnPHCPU
QnPRHCPU
S.R
9.7
S.R
Ratio
9.7
S.R
9
Ladder diagram
2
Start contact
S.R
S.R
S1
D1
S2
Structured ladder/FBD
D2
S3
Structured text language
3
ENO:=S_R(EN,s1,s2,s3,d1,d2);
4
S_R
EN
ENO
s1
d1
s2
d2
s3
Input argument
4
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
S2
: Operation constant start device
: Array of any 16-bit data (0..1)
S3
: When set value (E2) is used: Set value start device
: Real data type
6
When set value (E2) is not used: Dummy device*1
Output argument
Setting
ENO
: Execution result
: Bit
D1
: Block memory start device
: Real data type
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
Internal devices
data
Bit
J
R, ZR
Word
\
Bit
U
Word
Zn
\G
––
––
––
S2
––
––
D2
––
––
S3
––
––
*1
Other
Special register SD1506 can be specified as a dummy device.
Function
Performs rate operation when the specified control cycle is reached.
Also performs operation mode (MODE) judgment, engineering value conversion, tracking processing and change rate limiter
processing at this time.
SPR
SPR: Set value
Rn
Rn: Rate current value
DR: Change rate limit value
DR
t0
t1
t2
t3
t4
t5
t6
t7
t8
t9
t10
t11
t12
8
S.R
––
Constant
9.7
S1
D1
7
Control cycle
137
S.R
Set
Data
Block
diagram
The processing block diagram of the S.R instruction is shown below.
(The numerals (1) to (6) in the diagram indicate the order of the processing.)
RMIN, RMAX
DR
BIAS
Rn
E1
(1)
(6)
E2
Engineering
value
conversion
(When
used)
(2)
Tracking
processing
(3)
Change rate
limiter
Ratio operation
Other than CAS, CCB, CSV
CAS, CCB, CSV
(5)
(6)
Control cycle
Control cycle
judgment
CT
(4)
Mode judgment
RUN(SPA 0)
Loop
stop
judgment
STOP(SPA 1)
When not in control cycle
(4)
SPA
MODE
138
Last BW
MAN
Loop stop
processing
BW
S.R
Set Data
9
(1) Data specified in S.R instruction
Specified position
Input
data
S1
Block
memory
D1
S2
Symbol
Recommended range *1
Name
Unit Data format
Standard
Set
value
by
––
U
+0
+1
E1
Input value
-999999 to 999999
%
Real
number
+0
+1
BW
Output value
(-999999 to 999999)
%
Real
number
––
S
Tracking bit
0: Not trucked
1: Trucked
––
BIN
16bit
0
U
+0
TRK
Operation
constant
+1 SVPTN
b12
b8
b4
b0
Set value
pattern
––
Set value pattern*3
0: E2 is upper loop MV.
1: E2 is not upper loop MV.
BIN
16bit
3
U
D2 +1
MODE
Operation
mode
b12
b8
C
S
V
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
––
BIN
16bit
7
8H
S/U
8
0 to FFFFH
b15
+3
ALM
Alarm
detection
b0
––
BIN
16bit
4000H
S/U
S.R
*2
*3
*4
b4
SPA
0: Loop RUN
1: Loop STOP
memory *4
*1
b8
9.7
Loop
tag
b12
S
P
A
4
6
Set value used*2
0: E2 is used.
1: E2 is not used.
0 to FFFFH
b15
3
4
0 to 3
b15
2
+14
+15
SPR
Set value
-999999 to 999999
––
Real
number
0.0
U
+16
+17
BIAS
Bias
-999999 to 999999
%
Real
number
0.0
U
+46
+47
CT
Control cycle
0 to 999999 Note that
s
Real
number
1.0
U
+50
+51
DR
Change rate
limit value
0 to 999999
––
Real
number
100.0
U
CT
T
32767
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Specify whether the set value (E2) is to be used or not.
Specify whether the MV of the upper loop is to be used or not as the set value (E2).
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
139
S.R
Specified position
D2
Loop tag
memory *2
Loop tag
past value
D2
memory *2
*3
Set value *4
*1
*2
*3
Symbol
Recommended range *1
Name
Unit Data format
Standard
Set
value
by
+52
+53
RMAX
Rate upper
limit value
-999999 to 999999
––
Real
number
100.0
U
+54
+55
RMIN
Rate lower
limit value
-999999 to 999999
––
Real
number
0.0
U
+56
+57
Rn
Rate current
value
(-999999 to 999999)
––
Real
number
0.0
S
Used by the system as a work area.
––
––
––
S
-10 to 110
%
Real
number
0.0
U
+96
––
––
+99
S3
+0
+1
E2
Set value
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
The applications of the loop tag past value memory are indicated below.
Specified position
D2
Description
+96 Control cycle counter initial preset flag
+97 Control cycle counter*5
+98
Rn-1 (Last value)
+99
*4
*5
When control is to be started from the initial status, the data must be cleared with the sequence program.
The set value (E2) becomes valid when the set value pattern (SVPTN) is set to "E2 is used".
When using the MV of the upper loop as the set value (E2), specify the device where the manipulated value (MV) of the upper
loop is set (offset + 12: MV).
When not using E2 as the set value, make sure to specify a dummy device.
(Special register SD1506 can be specified as a dummy device.)
The control cycle counter rounds off the data to the nearest whole number.
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
Set
Data contents
Processing
(1) Tracking processing
(a) When all of the following conditions hold, tracking processing is performed.
1) The tracking bit (TRK) of the operation constant is 1.
2) The set value (E2) is used.
3) The operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC.
E2 =
100
RMAX-RMIN
(SPR-RMIN)
(b) When the set value (E2) is the manipulated value (MV) of the upper loop, the tracking flag (TRKF) of the alarm
detection inhibition (INH) in the upper loop turns to 1.
140
S.R
(2) Change rate limiter
In the change rate limiter, the following operation is performed and the result of the operation is stored into the current
9
rate value (Rn).
Condition
Operation expression
(SPR - Rn) DR
Rn = Rn-1 + DR
(SPR - Rn) - DR
Rn = Rn-1 - DR
|SPR - Rn| < DR
Rn = SPR
2
(3) Rate operation
3
Rate operation is performed with the following operation expression.
BW
Rn RMIN
RMAX RMIN
E1
BIAS
4
(4) Loop stop processing
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
A loop stop performs the following processing and terminates the S.R instruction.
4
1) BW retains the last value.
2) The operation mode (MODE) is changed to MAN.
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
6
A loop run performs "(5) Control cycle judgment".
(5) Control cycle judgment
(a) When the specified control cycle is not reached, BW is retained and the S.R instruction is terminated.
7
(b) When the specified control cycle is reached, "(6) Mode judgment" is performed.
(6) Mode judgment
Either of the following processings is performed depending on the operation mode (MODE) setting.
8
(a) When the operation mode (MODE) is any of CAS, CCB and CSV
1) When the set value (E2) is specified, engineering value conversion is made with the following expression and
then "(2) Change rate limiter" is performed.
RMAX RMIN
100
E2
RMIN
9.7
SPR
conversion being made.
(b) When the operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC, "(1) Tracking
processing" is executed.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
QnPHCPU
QnPRHCPU
When an operation error occurs
4100
When the values of
number
S1 , D2
are either a non-numeric or non-normalized
When CT < 0 or the execution cycle (SD1500) < 0
141
S.R
2) When the set value (E2) is not specified, "(2) Change rate limiter" is performed without engineering value
S.PHPL
9.8
S.PHPL
High/Low Limit Alarm
9.8
S.PHPL
Ladder diagram
Start contact
S.PHPL
S.PHPL
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
S_PHPL
EN
Input argument
Output argument
Setting
d1
s2
d2
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
Bit
device*1
S2
: Dummy
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
Internal devices
data
ENO:=S_PHPL(EN,s1,s2,d1,d2);
ENO
s1
Word
R, ZR
: Real data type
J
Bit
\
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
*1
Special register SD1506 can be specified as a dummy device.
Function
Performs a high/low limit check on the input value (E1) and provides an alarm output.
142
Constant
Other
S.PHPL
Set
Data
Block
diagram
9
The processing block diagram of the S.PHPL instruction is shown below.
(The numerals (1) to (5) in the diagram indicate the order of the processing.)
RL, RH
LL
HH
PL
HS
PH
2
PV
DPL, CTIM
(1)
LL'
HH' PL'
(2)
E1
3
(4)
Engineering value reverse conversion
Engineering
value
conversion
PH'
4
(3)
Change rate
check
Upper/lower limit check
Upper limit alarm
Positive
Lower limit alarm
Upper upper limit alarm
Negative
BW
4
BB2
AND
6
Lower lower limit alarm
RUN(SPA 0)
(5)
Loop stop
judgment
BB3
AND
STOP(SPA 1)
7
AND
SPA
8
AND
(5)
BW
OFF
BB4
AND
PHI
ERRI
PLI
ERRI
HHI
ERRI
LLI
ERRI
DPPI
ERRI
DPNI
S.PHPL
BB5
AND
ERRI
9.8
Loop stop
processing
OR
BB1
PHA
PLA
HHA
LLA
DPPA
DPNA
143
S.PHPL
Set Data
(1) Data specified in S.PHPL instruction
Specified position
Input
S1
data
+0
+1
D1 +0
+1
Symbol
Recommended range *1
Name
E1
Input value
-999999 to 999999
%
BW
Output value
(-999999 to 999999)
%
BB
BB1
BB2
BB3
Block
memory
Unit Data format
BB4
number
Real
number
Set
value
by
––
U
––
S
––
S
8H
S/U
4000H
S/U
4000H
S/U
0.0
S
100.0
U
0.0
U
––
Alarm
Upper limit
alarm
Lower limit
alarm
b15
b12
b8
b4
B
B
5
Positive
+2
Real
Standard
direction
change rate
alarm
b0
B
B
4
B B
B B
3 2
B
B
1
––
(0: Without alarm)
(1: With alarm)
BIN
16bit
Negative
BB5
direction
change rate
alarm
0 to FFFFH
D2
+1
MODE
Operation
b15
b12
b8
C
S
V
mode
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
––
BIN
16bit
0 to FFFFH
b15
+3
ALM
b12
S
P
A
Alarm
b8
b4
H L
H L
A A
detection
SPA
0: Loop RUN
1: Loop STOP
Loop
P P
H L
A A
D
P
P
A
b0
D
P
N
A
––
BIN
16bit
Other
(0: Without alarm)
(1: With alarm)
0 to FFFFH
tag
memory *2
Alarm
+4
INH
detection
inhibition
b15
b12
E
R
R
I
b8
H L
H L
I I
b4
P P D D
H L P P
I I P N
I I
b0
––
BIN
16bit
0: Alarm enable
1: Alarm inhibit
+10
+11
+22
+23
+24
+25
*1
*2
144
PV
Process value
(RL to RH)
––
-999999 to 999999
––
-999999 to 999999
––
Engineering
RH
value upper
limit
Engineering
RL
value lower
limit
Real
number
Real
number
Real
number
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
S.PHPL
Specified position
Symbol
PH
+27
+45
Loop tag
*3
*1
*2
*3
limit alarm
LL
––
RL to RH
––
limit alarm
RL to RH
––
value
Upper/lower
HS
limit alarm
0 to 999999
%
hysteresis
Change rate
CTIM
alarm
Check time
Change rate
DPL
alarm value
CTIM
0 to 999999 Note that
T
32767
s
0 to 100
%
Used by the system as a work area.
––
Real
number
Real
number
Real
number
Real
number
Real
number
Standard
Set
value
by
100.0
U
0.0
U
100.0
U
0.0
U
––
––
2
3
4
0.0
U
4
Real
number
Real
number
0.0
U
100.0
U
6
––
––
S
7
+127
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
The applications of the loop tag past value memory are indicated below.
Specified position
Description
Change rate monitor counter initial preset flag
+125 Change rate monitor counter*4
+127
S.PHPL
+126
8
9.8
D2 +124
*4
9
D2 +124
past value
memory *2
RL to RH
Lower lower
+41
+44
––
value
+40
+43
alarm value
HH
+31
+42
RL to RH
Upper upper
+30
+33
Lower limit
PL
+29
+32
alarm set
value
+28
memory *2
Unit Data format
Upper limit
D2 +26
Loop tag
Recommended range *1
Name
E1n-m
When control is to be started from the initial status, the data must be cleared with the sequence program.
The change rate monitor counter rounds off the data to the nearest whole number.
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
Set
Data contents
Processing
(1) Engineering value reverse conversion
The following operations are performed to match the upper limit alarm value (PH), lower limit alarm value (PL), upper
upper limit alarm value (HH) and lower lower limit alarm value (LL) ranges with the input value (E1).
PH'
100
(PH
RH RL
RL),
PL'
100
(PL
RH RL
RL)
HH'
100
(HH
RH RL
RL),
LL'
100
(LL
RH RL
RL)
145
S.PHPL
(2) Upper/lower limit check
The upper/lower limit checks of the input value (E1) are made under the following conditions.
Check item
Condition
Upper limit check
Lower limit check
Upper Upper limit check
Lower lower limit check
*1
*2
*3
*4
ALM
BB2
*1
E1 > PH'
PHA = 1
E1 PH' - HS
PHA = 0
Others
PHA: Last value is status hold *1
E1 < PL'
PLA = 1
E1 PL' + HS
PLA = 0
1
PLA: Last value is status hold
E1 > HH'
HHA = 1 *3
BB3
––
0
––
Hold *1
––
––
1 *2
*2
Others
*1
*2
––
0
––
Hold *2
––
––
E1 HH' - HS
HHA = 0
––
––
Others
HHA: Last value is status hold *3
––
––
E1 < LL'
LLA = 1 *4
––
––
E1 LL' + HS
LLA = 0
––
––
Others
LLA: Last value is status hold *4
––
––
When PHI or ERRI in the alarm detection inhibition (INH) is set to 1, PHA and BB2 show 0 since the alarm is prohibited.
When PLI or ERRI in the alarm detection inhibition (INH) is set to 1, PLA and BB3 show 0 since the alarm is prohibited.
When HHI or ERRI in the alarm detection inhibition (INH) is set to 1, HHA show 0 since the alarm is prohibited.
When LLI or ERRI in the alarm detection inhibition (INH) is set to 1, LLA show 0 since the alarm is prohibited.
(3) Change rate check
(a) A change rate check is performed for the time specified in CTIM.
The number of change rate checks to be made is found by the following expression.
m
CTIM
T
m varies from 1 to m.
However, when m = 0 (integer part), no processing is performed.
For example, when m = 4, the processing is performed as shown below.
(a) Zero time E1n E1n-4
(b) One time E1n+1 E1n
(c) Two time E1n+2 E1n
(d) Three time E1n+3 E1n
(e) Four time E1n+4 E1n
E1n
DPL
E1n
1
2
E1n
E1n
a
b
c
d
3
E1n
4
t
e
Execution cycle
CTIM
(b) The change of the input data is compared with the change rate alarm value (DPL) in each execution cycle ( T).
Check item
Change rate check
*1
*2
146
Condition
ALM
E1n+m - E1n DPL
DPPA = 1 *1
BB4
BB5
1 *1
––
Others
DPPA = 0
0
––
E1n+m - E1n - DPL
DPNA = 1 *2
––
1 *2
Others
DPNA = 0
––
0
When DPPI or ERRI in the alarm detection inhibition (INH) is set to 1, DPPA and BB4 show 0 since the alarm is prohibited.
When DPNI or ERRI in the alarm detection inhibition (INH) is set to 1, DPNA and BB5 show 0 since the alarm is prohibited.
S.PHPL
(4) Engineering value conversion
Engineering value conversion is made with the following expression.
PV
9
RH RL
E1 RL
100
(5) Loop stop processing
2
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
A loop stop performs the following processing and terminates the S.PHPL instruction.
1) Engineering value reverse conversion is performed with the following expression.
BW
100
(PV
RH RL
3
RL)
2) BB1 to BB5 of BB are turned to 0.
4
3) DPNA, DPPA, LLA, HHA, PLA and PHA of the alarm detection (ALM) are turned to 0.
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
A loop run performs "(1) Engineering value reverse conversion".
4
Operation Error
6
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
QnPHCPU
QnPRHCPU
When an operation error occurs
4100
When the values of
number
S1 , D2
7
are either a non-numeric or non-normalized
When the execution cycle (SD1500) < 0
8
When DPL < -DPL
When CTIM < 0
9.8
S.PHPL
147
S.LLAG
9.9
S.LLAG
Lead-Lag
9.9
S.LLAG
Ladder diagram
Start contact
S.LLAG
S.LLAG
S1
D1
Structured ladder/FBD
D2
S2
Structured text language
S_LLAG
EN
Input argument
Output argument
Setting
d1
s2
d2
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of any 16-bit data (0..2)
S2
: Operation constant start device
: Array of real data type (0..1)
ENO
: Execution result
: Bit
D1
: Block memory start device
: Real data type
D2
: Loop tag memory start device
: Real data type
Internal devices
data
Bit
ENO:=S_LLAG(EN,s1,s2,d1,d2);
ENO
s1
Word
R, ZR
J
Bit
\
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Constant
Other
Function
Performs lead-lag operation according to the lag time and lead time settings of the operation constants and the actuating
signal (e1).
Output Value (BW)
T2 T1
Lea-lag compensation
Input Value (E1)
t
1 T2S
1 T1S
t
Output Value (BW)
T2 T1
t
148
S.LLAG
Set Data
9
(1) Data specified in S.LLAG instruction
Specified position
S1 +0
+1
Symbol
Recommended range *1
Name
E1
Input value
-999999 to 999999
b12
b15
Input
data
+2
%
b8
b4
Real
number
Standard
Set
value
by
––
U
b0
e
1
Actuating
e1
Unit Data format
––
signal
BIN
16bit
3
––
U
0: With lead-lag compensation
1: Without lead-lag compensation
Block
D1 +0
memory
+1
S2
+0
Operation
+1
constant
+2
+3
Local work
D2 +0
*2
+1
memory
*1
*2
BW
4
Output value
(-999999 to 999999)
%
T1
Delay time
0 to 999999
s
T2
Lead time
0 to 999999
s
Last Input
E1n-1
Used by the system as a work area.
value
2
––
Real
number
Real
number
Real
number
Real
number
––
S
1.0
U
1.0
U
––
S
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
When control is to be started from the initial status, the data must be cleared with the sequence program.
(2) Execution cycle ( T)
4
6
7
8
Set the execution cycle in SD1500 and SD1501 as real numbers.
Set
Data contents
Processing
Condition
BW (Output value)
1
T1
T
× {T2 × (E1 - E1n-1) + T1 × (BW Last value) +
However, when T1 +
e1 = 1
S.LLAG
BW =
e1 = 0
9.9
The S.LLAG instruction instructs the following operation.
T × E1}
T = 0, BW = 0
BW = E1 (Input value is output unchanged)
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
QnPHCPU
QnPRHCPU
When an operation error occurs
4100
When the values of
normalized number
S1 , D1 , S2 , D2
are either a non-numeric or non-
When the execution cycle (SD1500, SD1501) < 0
When the lag time (T1) < 0 or the lead time (T2) < 0
149
S.I
9.10
S.I
Integral
9.10
S.I
Ladder diagram
Start contact
S.I
S.I
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
S_I
EN
Input argument
Output argument
Setting
d1
s2
d2
Bit
ENO:=S_I(EN,s1,s2,d1,d2);
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of any 16-bit data (0..2)
S2
: Operation constant start device
: Array of real data type (0..1)
ENO
: Execution result
: Bit
D1
: Block memory start device
: Real data type
D2
: Dummy device*1
: Real data type
Internal devices
data
ENO
s1
Word
R, ZR
J
Bit
\
U
Word
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
*1
Constant
Special register SD1506 can be specified as a dummy device.
Function
Performs integral operation according to the operation control signal (e1).
Input Value (E1)
Output Value (BW)
1
TS
t
150
t
Other
S.I
Set Data
9
(1) Data specified in S.I instruction
Specified position
S1
+0
+1
Symbol
Recommended range *1
Name
E1
Input value
-999999 to 999999
b15
Input
data
+2
b12
––
b8
b4
Real
number
Standard
Set
value
by
––
U
––
BIN
16bit
––
U
4
0: With integral operation
1: Without integral operation
Block
memory
D1
S2
Operation
constant
*1
+0
+1
BW
Output value
(-999999 to 999999)
+0
+1
T
Integral time
0 to 999999
+2
+3
Ys
Output initial
value
-999999 to 999999
2
3
b0
e
1
Operation
control signal
e1
Unit Data format
––
Real
number
––
S
s
Real
number
1.0
U
––
Real
number
0.0
U
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
(2) Execution cycle ( T)
4
6
7
Set the execution cycle in SD1500 and SD1501 as real numbers.
8
Set
Data contents
Processing
The S.I instruction performs the following operation.
e1
T
0
BW = Yn =
0
0
BW = Yn-1
1
––
BW = Ys
E1: Current input value,
T
T
9.10 S.I
0
BW
E1 + Yn - 1
T: Execution cycle, Yn: Current output value, Yn-1: Last output value
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
QnPHCPU
QnPRHCPU
When an operation error occurs
4100
When the values of
normalized number
S1
,
D1 , S2
are either a non-numeric or non-
151
S.D
9.11
S.D
Derivative
9.11
S.D
Ladder diagram
Start contact
S.D
S.D
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
S_D
EN
Input argument
Output argument
Setting
d1
s2
d2
Bit
ENO:=S_D(EN,s1,s2,d1,d2);
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of any 16-bit data (0..2)
S2
: Operation constant start device
: Array of real data type (0..1)
ENO
: Execution result
: Bit
D1
: Block memory start device
: Real data type
D2
: Loop work memory start device
: Real data type
Internal devices
data
ENO
s1
Word
R, ZR
J
Bit
\
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Constant
Function
Executes derivative operation according to the operation control signal (e1).
Output Value (BW)
Input Value (E1)
TS
1 TS
t
152
t
Other
S.D
Set Data
9
(1) Data specified in S.D instruction
Specified position
S1
+0
+1
Symbol
E1
Recommended range *1
Name
Input value
-999999 to 999999
b12
b15
Input
data
+2
b8
b4
Standard
Set
value
by
––
U
––
Real
number
––
BIN
16bit
––
Real
number
––
S
b0
e
1
Operation
control signal
e1
Unit Data format
3
––
U
0: With derivative operation
1: Without derivative operation
Block
memory
D1
S2
Operation
constant
+0
+1
BW
+0
+1
+2
+3
Local work
D2 +0
*2
+1
memory
*1
*2
4
Output value
(-999999 to 999999)
T
Derivative
time
0 to 999999
s
Real
number
1.0
U
Ys
Output initial
value
-999999 to 999999
––
Real
number
0.0
U
Last input
value
Used by the system as a work area.
––
Real
number
––
S
E1n-1
2
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
When control is to be started from the initial status, the data must be cleared with the sequence program.
4
6
7
(2) Execution cycle ( T)
8
Set the execution cycle in SD1500 and SD1501 as real numbers.
Set
Data contents
Processing
e1
0
BW
BW =
T
T+ T
Note that T +
1
E1: Current input value,
9.11 S.D
The S.D instruction performs the following operation.
(Yn-1-E1n-1+E1)
T = 0, BW = 0.
BW = Ys
T: Execution cycle, Yn: Last output value, Yn-1: Last output value
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
QnPHCPU
QnPRHCPU
When an operation error occurs
4100
When the values of
normalized number
S1
,
D1 , S2
, D2 are either a non-numeric or non-
153
S.DED
9.12
S.DED
Dead Time
9.12
S.DED
Ladder diagram
Start contact
S.DED
S.DED
S1
S2
D1
Structured ladder/FBD
D2
Structured text language
S_DED
EN
Input argument
Output argument
Setting
d1
s2
d2
Bit
ENO:=S_DED(EN,s1,s2,d1,d2);
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of any 16-bit data (0..2)
S2
: Operation constant start device
: Array of any 16-bit data (0..5)
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Loop work memory start device
: Array of any 16-bit data (0..100)
Internal devices
data
ENO
s1
Word
J
R, ZR
\
Bit
U
Word
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Constant
Function
Outputs the input value (E1) with a delay of dead time according to the setting of the operation control signal (e1).
SN
E1, Y1
SN
E1
Y1
Ys
ST1
ST2
ST3
ST4
ST5
ST6
ST7
e1
BB1
SN1
SN2
SN3
Dead time table
SN: Sampling count
ST: Data collection interval
154
E1: Input value
Ys: Output initial value
Other
S.DED
Set Data
9
(1) Data specified in S.DED instruction
Specified position
S1
+0
+1
Symbol
E1
Recommended range *1
Name
Input value
-999999 to 999999
b15
Input
data
+2
e1
Unit Data format
b12
b8
b4
––
Real
number
––
BIN
16bit
––
Real
number
Standard
value
Set by
––
U
b0
e
1
Operation
control signal
3
––
U
0: With dead time
1: Without dead time
D1
+0
+1
BW
Output value
4
(-999999 to 999999)
BB
Block
memory
+2
BB1
––
S
4
––
b15
b12
b8
b4
b0
B
B
1
Data
sufficiency bit
––
BIN
16bit
––
S
6
1.0
U
7
0
U
0.0
U
0
U
(0: Data sufficiency)
(1: Data insufficiency)
S2
Operation
constant
Data collection
0 to 999999
Interval
+2
SN
Sampling
count
0 to 48
––
BIN
16bit
+3
+4
Ys
Output initial
value
-999999 to 999999
––
Real
number
––
BIN
16bit
b15
+5
OCHG
+5
+6
:
+2SN
+1
+2SN
+2
*1
*2
*3
b0
O
C
H
G
s
0: E1 when e1 turned from 1 to 0 is output up to
SN times.
1: Ys is output up to SN times.
Real
number
*3
Dead time
table number
of stored data
+2
memory *2
b4
32767
Cycle counter
+1
+3
+4
b8
ST
T
Last value
input (e1')
D2 +0
Local
work
output
switching
b12
Note that
––
Dead time
table 1
Used by the system as a work area.
––
––
––
S
Dead time
table 2
:
Dead time
table SN
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
When control is to be started from the initial status, the data must be cleared with the sequence program.
The cycle counter rounds off the data to the nearest whole number.
155
8
9.12 S.DED
ST
+0
+1
2
S.DED
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
Set
Data contents
Processing
(1) The S.DED instruction performs the following operation.
e1
OCHG
Dead time
1
0/1
None
BW
E1
Up to SN
times
0
1
Later than SN
Oldest data *1
times
ST × SN
0
Up to SN
times
1
0
*1
YS
Later than SN
Oldest data *1
times
0/1
0
E1 when e1 turns from 1 to 0
Oldest data *1
ST × SN
The oldest date is the E1 after the SNth time.
• When the dead time table date is not filled, BB1 is turned 1.
• When SN = 0, BB1 = 0 and BW = E1.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
When the values of
number
4100
S1
,
S2
are either a non-numeric or non-normalized
When the sampling count is other than 0 to 48
When the execution cycle ( T) < 0
When the data collection intervals (ST) < 0
156
QnPHCPU
QnPRHCPU
S.HS
9.13
S.HS
High Selector
9.13
S.HS
9
Ladder diagram
2
Start contact
S.HS
S.HS
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
3
ENO:=S_HS(EN,s1,s2,d1,d2);
4
S_HS
EN
Input argument
Output argument
Setting
d1
s2
d2
Bit
4
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of any 16-bit data (0..32)
device*1
S2
: Dummy
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Dummy device*1
: Real data type
Internal devices
data
ENO
s1
Word
R, ZR
: Real data type
J
Bit
7
\
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
9.13 S.HS
*1
6
Function
Outputs the maximum value of the input values 1 (E1) to n (En).
157
S.HS
Set Data
(1) Data specified in S.HS instruction
Specified position
S1
Input
data
Recommended range *1
Name
+0
n
+1
+2
E1
Input value 1
+3
+4
E2
Input value 2
En
Input value n
BW
Output value
+2n-1
+2n
D1
Symbol
+0
+1
Input count
*1
BB1
to
BB16
Set
value
by
––
U
1 to 16
––
-999999 to 999999
––
Real
number
––
U
(Maximum value of E1 to En)
––
Real
number
––
S
––
BIN
16bit
––
S
––
b15
+2
Standard
BIN
16bit
BB
Block
memory
Unit Data format
b12
b8
B B B B B B B B
B B B B B B B B
16 15 14 13 12 11 10 9
Output
selection
b4
B B
B B
8 7
B B B
B B B
6 5 4
b0
B B
B B
3 2
B
B
1
(0: The corresponding input value is not
the maximum value)
(1: The corresponding input value is the
maximum value)
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system.
Users cannot set the data.
Set
Data contents
Processing
(1) High selector processing
The maximum value of the input values 1 (E1) to n (En) is stored into BW.
Also, any of BB1 to BB16 of BB corresponding to the maximum value is turned to 1.
Input value
Bit turned to 1 at maximum value
E16
E15
E14
to
E2
E1
BB16
BB15
BB14
to
BB2
BB1
(a) If there are two or more maximum values, the bits corresponding to the maximum values are all turned to 1.
(b) If there is only one input
1) When only E1 is used as the input value
• E1 is stored into BW.
• BB1 of BB is turned to 1.
• BB2 to BB16 of BB are turned to 0.
2) Only one of E2 to E16 is used as the input value
• The input values of E2 to E16 and the data of E1 are used to perform processing.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
4100
158
Error definition
When the value of
S1
is either a non-numeric or non-normalized number
When not 1 number of inputs (n) 16
QnPHCPU
QnPRHCPU
S.LS
9.14
S.LS
Low Selector
9.14
S.LS
9
Ladder diagram
2
Start contact
S.LS
S.LS
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
3
ENO:=S_LS(EN,s1,s2,d1,d2);
4
S_LS
EN
Input argument
Output argument
Setting
d1
s2
d2
Bit
4
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of any 16-bit data (0..32)
device*1
S2
: Dummy
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Dummy device*1
: Real data type
Internal devices
data
ENO
s1
Word
R, ZR
: Real data type
J
Bit
7
\
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
9.14 S.LS
*1
6
Function
Outputs the minimum value of the input values 1 (E1) to n (En).
159
S.LS
Set Data
(1) Data specified in S.LS instruction
Specified position
S1
Input
data
Recommended range *1
Name
+0
n
+1
+2
E1
Input value 1
+3
+4
E2
Input value 2
En
Input value n
BW
Output value
+2n-1
+2n
D1
Symbol
+0
+1
Input count
*1
+2
Set
value
by
––
U
1 to 16
––
-999999 to 999999
––
Real
number
––
U
(Minimum value of E1 to En)
––
Real
number
––
S
––
BIN
16bit
––
S
––
b15
BB1
to
BB16
Standard
BIN
16bit
BB
Block
memory
Unit Data format
b12
b8
B B B B B B B B
B B B B B B B B
16 15 14 13 12 11 10 9
Output
selection
b4
B B
B B
8 7
B B B
B B B
6 5 4
b0
B B
B B
3 2
B
B
1
(0: The corresponding input value is not the
minimum value)
(1: The corresponding input value is the
minimum value)
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) Low selector processing
The minimum value of the input values 1 (E1) to n (En) is stored into BW.
Also, any of BB1 to BB16 of BB corresponding to the minimum value is turned to 1.
Input value
Bit turned to 1 at minimum value
E16
E15
E14
to
E2
E1
BB16
BB15
BB14
to
BB2
BB1
(a) If there are two or more minimum values, the bits corresponding to the minimum values are all turned to 1.
(b) If there is only one input
1) When only E1 is used as the input value
• E1 is stored into BW.
• BB1 of BB is turned to 1.
• BB2 to BB16 of BB are turned to 0.
2) Only one of E2 to E16 is used as the input value
• The input values of E2 to E16 and the data of E1 are used to perform processing.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
4100
160
Error definition
When the value of
S1
is either a non-numeric or non-normalized number
When not 1 number of inputs (n) 16
QnPHCPU
QnPRHCPU
S.MID
9.15
S.MID
Middle Value Selection
9.15
S.MID
9
Ladder diagram
2
Start contact
S.MID
S.MID
D1
S1
Structured ladder/FBD
S2
D2
Structured text language
3
ENO:=S_MID(EN,s1,s2,d1,d2);
4
S_MID
EN
Input argument
Output argument
Setting
d1
s2
d2
Bit
4
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of any 16-bit data (0..32)
device*1
S2
: Dummy
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Dummy device*1
: Real data type
Internal devices
data
ENO
s1
Word
R, ZR
: Real data type
J
Bit
7
\
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
9.15 S.MID
*1
6
Function
Outputs the middle value between the maximum value and minimum value among the input value 1 (E1) to input value n (En).
161
S.MID
Set Data
(1) Data specified in S.MID instruction
Specified position
Symbol
+0
n
+1
+2
E1
Input value 1
+3
+4
E2
Input value 2
+2n-1
+2n
En
Input value n
+0
+1
BW
Output value
S1
Input
data
D1
Recommended range *1
Name
Input count
*1
Set
value
by
––
U
1 to 16
––
-999999 to 999999
––
Real
number
––
U
(Middle value between maximum value and
minimum value)
––
Real
number
––
S
––
BIN
16bit
––
S
––
b15
+2
Standard
BIN
16bit
BB
Block
memory
Unit Data format
BB1
to
BB16
b12
b8
B B B B B B B B
B B B B B B B B
16 15 14 13 12 11 10 9
Output
selection
b4
B B
B B
8 7
b0
B B B
B B B
6 5 4
B
B
1
B B
B B
3 2
(0: The corresponding input value is not the
intermediate value)
(1: The corresponding input value is the
intermediate value)
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) Middle value selector processing
The middle value of the input values 1 (E1) to n (En) is stored into BW.
Also, any of BB1 to BB16 of BB corresponding to the middle value is turned to 1.
Input value
Bit turned to 1 at middle value
E16
E15
E14
to
E2
E1
BB16
BB15
BB14
to
BB2
BB1
(a) If there are an even number of inputs, the smaller value of the middle values is stored.
(b)
If there are two or more middle values, the bits corresponding to the middle values are all turned to 1.
Remark
The middle value is selected as described below.
(1) The input value 1 (E1) to input value n (En) are rearranged in order of increasing value.
(If there are the same input values, they are arranged in order of increasing input number.)
(2) The middle value among the rearranged values is selected.
Example) When the input data are 2, 5, 1, 4 and 3, the middle value is selected as described below.
Input data
Rearranged data
E1
E2
E3
E4
E5
2
5
1
4
3
Rearrangement
E3
E1
E5
E4
E2
1
2
3
4
5
In the above case, the middle value is "3" and BB5 turns to 1.
162
S.MID
Operation Error
9
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
4100
Error definition
When the value of
S1
QnPHCPU
QnPRHCPU
is either a non-numeric or non-normalized number
2
When not 1 number of inputs (n) 16
3
4
4
6
7
8
9.15 S.MID
163
S.AVE
9.16
S.AVE
Average Value
9.16
S.AVE
Ladder diagram
Start contact
S.AVE
S.AVE
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
S_AVE
EN
Input argument
Output argument
Setting
d1
s2
d2
Bit
ENO:=S_AVE(EN,s1,s2,d1,d2);
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of any 16-bit data (0..32)
device*1
S2
: Dummy
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Dummy device*1
: Real data type
Internal devices
data
ENO
s1
Word
R, ZR
: Real data type
J
Bit
\
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
*1
Special register SD1506 can be specified as a dummy device.
Function
Calculates and outputs the average value of the input value 1 (E1) to n (En).
164
Constant
Other
S.AVE
Set Data
9
(1) Data specified in S.AVE instruction
Specified position
n
+1
+2
E1
Input value 1
+3
+4
E2
Input value 2
+2n-1
+2n
En
Input value n
+0
+1
BW
Output value
Input
data
*1
Recommended range *1
Name
+0
S1
Block
memory
Symbol
D1
Input count
Unit Data format
1 to 16
––
BIN
16bit
Standard
Set
value
by
––
U
2
3
-999999 to 999999
––
(Average value of E1 to En)
––
Real
number
––
Real
number
––
U
4
S
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
4
6
Set
Data contents
Processing
7
(1) Calculation of average value
The average value of the input value 1 (E1) to n (En) is calculated.
As the denominator (N), the value specified as the number of inputs (n) is used.
BW
E1
E2
E3
N
8
En
Operation Error
Error code
Error definition
QnPHCPU
QnPRHCPU
When an operation error occurs
4100
When the value of
S1
is either a non-numeric or non-normalized number
When not 1 number of inputs (n) 16
165
9.16 S.AVE
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
S.LIMT
9.17
S.LIMT
High/Low Limiter
9.17
S.LIMT
Ladder diagram
Start contact
S.LIMT
S.LIMT
S1
D1
Structured ladder/FBD
D2
S2
Structured text language
S_LIMT
EN
Input argument
Output argument
Setting
ENO
s1
d1
s2
d2
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
: Array of real data type (0..3)
S2
: Operation constant start device
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Dummy device*1
: Real data type
Internal devices
data
Bit
ENO:=S_LIMT(EN,s1,s2,d1,d2);
R, ZR
Word
J
\
Bit
U
Word
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
*1
Constant
Special register SD1506 can be specified as a dummy device.
Function
The upper and lower limit limiter is applied to the output value by adding a hysteresis.
BW
HILMT
HILMT
LOLMT
LOLMT
HS2
HS1
HILMT HS1
LOLMT HS2
LOLMT
Upper limit alarm
BB1
Lower limit alarm
BB2
166
HILIMT
X1
Other
S.LIMT
Set Data
9
(1) Data specified in S.LIMT instruction
Specified position
Input
data
S1
D1
Symbol
Recommended range *1
Name
*2
––
U
Input value
-999999 to 999999
%
+0
+1
BW
Output value
(-999999 to 999999)
%
Real
number
––
S
––
BIN
16bit
––
S
-999999 to 999999
%
Real
number
100.0
U
-999999 to 999999
%
Real
number
0.0
U
BB2
*1
by
E1
+2
Operation
constant
Set
value
+0
+1
BB1
S2
Standard
Real
number
BB
Block
memory
Unit Data format
2
3
––
b15
Upper limit
alarm
b12
b8
b4
b0
B
B
2
Lower limit
alarm
B
B
1
(0: Without alarm)
(1: With alarm)
Upper limit
4
+0
+1
HILMT
+2
+3
LOLMT
+4
+5
HS1
Upper limit
hysteresis
0 to 999999
%
Real
number
0.0
U
+6
+7
HS2
Lower limit
hysteresis
0 to 999999
%
Real
number
0.0
U
value*2
Lower limit
value*2
4
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Make setting to satisfy HILMT LOLMT.
6
7
8
Set
Data contents
Processing
Condition
BW
BB1
9.17 S.LIMT
(1) The S.LIMT instruction performs the following operation.
BB2
E1 HILMT
HILMT
1
0
(LOLMT + HS2) < E1 < (HILMT - HS1)
E1
0
0
E1 LOLMT
LOLMT
Other than above (hysteresis section)
E1
0
1
Last value
Last value
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
QnPHCPU
QnPRHCPU
When an operation error occurs
When HS1 < 0 or HS2 < 0
4100
When the values of
number
S1
,
S2
are either a non-numeric or non-normalized
When LOLMT > HILMT
167
S.VLMT1
9.18
S.VLMT1
Variation Rate Limiter 1
9.18
S.VLMT1
Ladder diagram
Start contact
S.VLMT1
S.VLMT1
S1
S2
D1
Structured ladder/FBD
D2
Structured text language
S_VLMT1
EN
Input argument
Output argument
Setting
d1
s2
d2
Bit
ENO:=S_VLMT1(EN,s1,s2,d1,d2);
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
: Array of real data type (0..3)
S2
: Operation constant start device
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Dummy device*1
: Real data type
Internal devices
data
ENO
s1
Word
R, ZR
J
Bit
\
U
Word
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
*1
Constant
Special register SD1506 can be specified as a dummy device.
Function
Limits the varying speed of the output value.
Input
Input
Hysteresis
Hysteresis
t
Output
1
0
t
BB1
BW
Output
1
0
BB2
BW
t
(Positive Direction)
168
(Negative Direction)
t
Other
S.VLMT1
Set Data
9
(1) Data specified in S.VLMT1 instruction
Specified position
Input
data
S1
D1
Symbol
Recommended range *1
Name
+0
E1
+1
Input value
-999999 to 999999
%
Real
number
+0
BW
+1
Output value
(-999999 to 999999)
%
Real
number
BB
Block
memory
Operation
constant
Set
value
by
––
U
––
S
2
3
BB1
BB2
Negative
direction
restriction
alarm
b15
b12
b8
b4
4
b0
B
B
2
B
B
1
––
BIN
16bit
––
S
4
(0: Without alarm)
(1: With alarm)
6
+0
V1
+1
Positive
direction limit
value
0 to 999999
%/s
Real
number
100.0
U
+2
V2
+3
Negative
direction limit
value
0 to 999999
%/s
Real
number
100.0
U
7
+4
HS1
+5
Positive
direction
hysteresis
0 to 999999
%
Real
number
0.0
U
8
+6
HS2
+7
Negative
direction
hysteresis
0 to 999999
%
Real
number
0.0
U
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
Set
Data contents
Processing
(1) The S.VLMT1 instruction performs the following operation.
Input (E1 - BW)
Positive direction
When E1 BW
Negative
direction
When E1 < BW
BW
BB1
BB2
1
0
(E1 - BW) (V1 ×
T)
BW = BW + V1 ×
(E1 - BW) < (V1 ×
T - HS1)
BW = E1
0
0
BW = E1
Last value
Last value
Others
T
(BW - E1) (V2 ×
T)
BW = BW - V2 ×
0
1
(BW - E1) < (V2 ×
T - HS2)
BW = E1
0
0
BW = E1
Last value
Last value
Others
T
169
9.18 S.VLMT1
*1
Standard
––
Positive
direction
restriction
alarm
+2
S2
Unit Data format
S.VLMT1
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
When the values of
number
S1
,
S2
When HS1 < 0 or HS2 < 0
170
are either a non-numeric or non-normalized
QnPHCPU
QnPRHCPU
S.VLMT2
9.19
S.VLMT2
Variation Rate Limiter 2
9.19
S.VLMT2
9
Ladder diagram
2
Start contact
S.VLMT2
S.VLMT2
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
3
ENO:=S_VLMT2(EN,s1,s2,d1,d2);
4
S_VLMT2
EN
Input argument
Output argument
Setting
d1
s2
d2
Bit
4
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
: Array of real data type (0..3)
S2
: Operation constant start device
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Dummy device*1
: Real data type
Internal devices
data
ENO
s1
Word
R, ZR
J
Bit
7
\
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
9.19 S.VLMT2
*1
6
Function
Limits the varying speed of the output value.
E1(BW)
Input value E1
Output value BW
BB1
BB2
171
S.VLMT2
Set Data
(1) Data specified in S.VLMT2 instruction
Specified position
Input
data
S1
D1
Symbol
Recommended range *1
Name
Operation
constant
*1
Set
value
by
––
U
+0
+1
E1
Input value
-999999 to 999999
%
+0
+1
BW
Output value
(-999999 to 999999)
%
Real
number
––
S
––
BIN
16Bit
––
S
––
BB1
Positive
direction
restriction
alarm
BB2
Negative
direction
restriction
alarm
+0
+1
V1
Positive
direction limit
value
0 to 999999
%/s
Real
number
100.0
U
+2
+3
V2
Negative
direction limit
value
0 to 999999
%/s
Real
number
100.0
U
+4
+5
HS1
Positive
direction
hysteresis
0 to 999999
%
Real
number
0.0
U
+6
+7
HS2
Negative
direction
hysteresis
0 to 999999
%
Real
number
0.0
U
+2
S2
Standard
Real
number
BB
Block
memory
Unit Data format
b15
b12
b8
b4
b0
B
B
2
B
B
1
(0: Without alarm)
(1: With alarm)
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
Set
Data contents
Processing
(1) The S.VLMT2 instruction performs the following operation.
Condition
Positive direction
When E1 BW
Negative direction
When E1 < BW
BW
BB1
BB2
(E1 - BW) (V1× T)
BW = BW
1
0
(E1 - BW) < (V1× T - HS1)
BW = E1
0
0
Others
BW = BW
Last value
Last value
(BW - E1) (V2× T)
BW = BW
0
1
(BW - E1) < (V2× T - HS2)
BW = E1
0
0
Others
BW = BW
Last value
Last value
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
When the values of
number
S1
,
S2
When HS1 < 0 or HS2 < 0
172
are either a non-numeric or non-normalized
QnPHCPU
QnPRHCPU
S.ONF2
9.20
S.ONF2
2-position ON/OFF
9.20
S.ONF2
9
Ladder diagram
2
Start contact
S.ONF2
S.ONF2
D1
S1
Structured ladder/FBD
S2
D2
S3
Structured text language
3
ENO:=S_ONF2(EN,s1,s2,s3,d1,d2);
4
S_ONF2
EN
ENO
s1
d1
s2
d2
s3
Input argument
4
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
S2
: Operation constant start device
: Array of any 16-bit data (0..2)
S3
: When set value (E2) is used: Set value start device
: Real data type
6
When set value (E2) is not used: Dummy device*1
Output argument
Setting
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
Internal devices
data
Bit
Word
R, ZR
J
Bit
\
Word
U
Zn
\G
––
––
––
––
S2
––
––
D2
––
––
S3
––
––
*1
Constant
Other
8
9.20 S.ONF2
S1
D1
7
Special register SD1506 can be specified as a dummy device.
Function
Performs 2-position ON/OFF control (ON/OFF of one contact) when the specified control cycle is reached.
Also performs SV setting processing, tracking processing, MV compensation and MV output processing at this time.
173
S.ONF2
Set
Data
Block
diagram
The processing block diagram of the S.ONF2 instruction is shown below.
(The numerals (1) to (7) in the diagram indicate the order of the processing.)
RL, RH
HSO
DV
MV
E1
(1)
E2
(2)
SV setting
processing
(When
used)
(3)
Tracking
processing
MV
compensation
(7)
When in control
cycle
CT
Control cycle
judgment
(6)
MV output
2-position
ON/OFF
control
Mode
judgment
STOP(SPA 1)
BW
(5)
When not in control
cycle
RUN(SPA 0)
Loop
stop
judgment
(4)
MAN, CMB, CMV, LCM
Other than MAN, CMB, CMV, LCM
(6)
SPA
MODE
174
Last BW
MAN
Loop stop
processing
BB1
S.ONF2
Set Data
9
(1) Data specified in S.ONF2 instruction
Specified position
Input data
S1
D1
Symbol
Recommended range *1
Name
Set
value
by
––
S/U
+0
+1
E1
Input value
-999999 to 999999
%
+0
+1
BW
Output value
(-999999 to 999999)
%
Real
number
––
S
––
BIN
16bit
––
S
0
U
0
U
+2
BB1
b12
PN
+1
TRK
b8
b4
b0
B
B
1
Operation
result
(0: |BW|
(1: |BW|
+0
2
3
––
b15
S2
Standard
Real
number
BB
Block
memory
Unit Data format
50
50
4
)
)
Operation
mode
0: Reverse operation
1: Forward operation
––
BIN
16bit
Tracking bit
0: Without tracking
1: With tracking
––
BIN
16bit
4
6
0 to 3
b15
Operation
constant
+2
SVPTN
b12
b8
b4
b0
Set value
pattern
*3
Set value pattern
0: E2 is upper loop MV.
1: E2 is not upper loop MV.
7
––
BIN
16bit
3
U
––
BIN
16bit
8H
S/U
––
BIN
16bit
4000H
S/U
8
used*2
Set value
0: E2 is used.
1: E2 is not used.
0 to FFFFH
+1
MODE
Operation
mode
Loop
tag
b15
b12
b8
C
S
V
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
0 to FFFFH
b15
memory *4
+3
ALM
Alarm
detection
b12
S
P
A
b8
b4
b0
SPA
0: Loop RUN
1: Loop STOP
*1
*2
*3
*4
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Specify whether the set value (E2) is to be used or not.
Specify whether the MV of the upper loop is to be used or not as the set value (E2).
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
175
9.20 S.ONF2
D2
S.ONF2
Specified position
Symbol
Recommended range *1
Name
Unit Data format
Standard
Set
value
by
4000H
S/U
0 to FFFFH
b15
D2
Loop tag
memory
*2
+4
Alarm
detection
inhibit
INH
b12
b8
b4
b0
T
R
K
F
––
BIN
16Bit
TRKF
(0: Without tracking)
(1: With tracking)
+12
+13
MV
Manipulated
value
-10 to 110
%
Real
number
0.0
S/U
+14
+15
SV
Set value
RL to RH
––
Real
number
0.0
U
+16
+17
DV
Deviation
(-110 to 110)
%
Real
number
0.0
S
+18
+19
HS0
Hysteresis
0 to 999999
––
Real
number
0.0
U
+22
+23
RH
Engineering
value upper
limit
-999999 to 999999
––
Real
number
100.0
U
+24
+25
RL
Engineering
value lower
limit
-999999 to 999999
––
Real
number
0.0
U
+46
+47
CT
Control cycle
0 to 999999 Note that
s
Real
number
1.0
U
Loop tag
past value
+96
memory *2
+97
––
––
CT
T
32767
Used by the system as a work area.
––
––
––
S
-10 to 110
%
Real
number
0.0
S/U
*3
Set value
*4
S3
+0
+1
*1
*2
*3
E2
Set value
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
The applications of the loop tag past value memory are indicated below.
Specified position
D2
Description
+96 Control cycle counter initial preset flag
+97 Control cycle counter*5
*4
*5
When control is to be started from the initial status, the data must be cleared with the sequence program.
The set value (E2) becomes valid when the set value pattern (SVPTN) is set to "E2 is used".
When using the MV of the upper loop as the set value (E2), specify the device where the manipulated value (MV) of the upper
loop is set (offset + 12: MV).
When not using E2 as the set value, make sure to specify a dummy device.
(Special register SD1506 can be specified as a dummy device.)
The control cycle counter rounds off the data to the nearest whole number.
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
176
S.ONF2
Set
Data contents
Processing
9
(1) SV setting processing
Either of the following processings is performed depending on the operation mode (MODE) setting.
(a) When the operation mode (MODE) is any of CAS, CCB and CSV
1) When the set value (E2) is specified, engineering value conversion is performed with the following expression
2
and then "(2) Tracking processing" is performed.
SVn
3
RH RL
E2 RL
100
2) When the set value (E2) is not specified, "(2) Tracking processing" is performed without the engineering value
conversion being performed.
4
(b) When the operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC, "(2) Tracking
processing" is performed.
4
(2) Tracking processing
(a) The set value (SV) is converted reversely from the engineering value with the following operation expression to
calculate SVn'.
100
RH RL
SVn'
6
(SVn
RL)
(b) When all of the following conditions hold, tracking processing is performed.
7
1) The tracking bit (TRK) of the operation constant is 1.
2) The set value (E2) is used.
8
3) The operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC.
E2 = SVn'
(c)
When the set value (E2) is the manipulated value (MV) of the upper loop, the tracking flag (TRKF) of the alarm
detection inhibition (INH) in the upper loop turns to 1.
After the deviation (DV) is calculated from the input value (E1) and the set value after tracking processing (SVn'), the MV
compensation value (MV') is calculated.
(a) Calculation of deviation (DV)
The deviation (DV) is calculated under the following condition.
Condition
DV
Forward operation (PN = 1)
E1 - SVn'
Reverse operation (PN = 0)
SVn' - E1
(b) Calculation of MV compensation value (MV')
The MV compensation value (MV')is calculated under the following condition.
Condition
MV'
DV HS0
100%
DV - HS0
0%
- HS0 < DV < HS0
Last value (BW value)
177
9.20 S.ONF2
(3) MV compensation
S.ONF2
(4) MV output
The manipulated value (MV(BW)) is calculated under the following condition.
Condition
BW
CMV, MAN, CMB, LCM
BW = MVn
BW = MV'
CSV, CCB, CAB, CAS, AUT, LCC, LCA
MVn = BW
(5) 2-position ON/OFF control
BB1 of BB is output under the following condition.
Condition
BB1
|BW| 50%
1
|BW| < 50%
0
(6) Loop stop processing
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
A loop stop performs the following processing and terminates the S.ONF2 instruction.
1) BW and BB1 retain the last values.
2) The operation mode (MODE) is changed to MAN.
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
A loop run performs "(7) Control cycle judgment".
(7) Control cycle judgment
(a) If the specified control cycle is not reached
1) When the operation mode (MODE) is any of CSV, CCB, CAB, CAS, AUT, LCC and LCA, BW is retained and the
S.ONF2 instruction is terminated.
2) When the operation mode (MODE) is any of MAN, CMB, CMV and LCM, BW is made equal to MV and the
processing of "(5) 2-position ON/OFF control" is performed.
(b) If the specified control cycle is reached, "(1) SV setting processing" is performed.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
When the values of
number
S1 , D2
are either a non-numeric or non-normalized
When CT < 0 or the execution cycle (SD1500) < 0
When HS0 < -HS0
178
QnPHCPU
QnPRHCPU
S.ONF3
9.21
S.ONF3
3-position ON/OFF
9.21
S.ONF3
9
Ladder diagram
2
Start contact
S.ONF3
S.ONF3
S1
D1
Structured ladder/FBD
S2
D2
S3
Structured text language
3
ENO:=S_ONF3(EN,s1,s2,s3,d1,d2);
4
S_ONF3
EN
ENO
s1
d1
s2
d2
s3
Input argument
4
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
S2
: Operation constant start device
: Array of any 16-bit data (0..2)
S3
: When set value (E2) is used: Set value start device
: Real data type
6
When set value (E2) is not used: Dummy device*1
Output argument
Setting
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
Internal devices
data
Bit
Word
R, ZR
J
Bit
\
Word
U
Zn
\G
––
––
––
––
S2
––
––
D2
––
––
S3
––
––
*1
Constant
Other
8
9.21 S.ONF3
S1
D1
7
Special register SD1506 can be specified as a dummy device.
Function
Performs 3-position ON/OFF control (ON/OFF of two contact) when the specified control cycle is reached.
Also performs SV setting processing, tracking processing, MV compensation and MV output processing at this time.
179
S.ONF3
Set
Data
Block
diagram
The processing block diagram of the S.ONF3 instruction is shown below.
(The numerals (1) to (7) in the diagram indicate the order of the processing.)
RL, RH
HSO
HS1
DV
MV
E1
(1)
E2
(2)
SV setting
processing
(When
used)
Tracking
processing
MV
compensation
(7)
When in control
cycle
CT
Control cycle
judgment
(6)
MV output
3-position
ON/OFF
control
Mode
judgment
STOP(SPA 1)
BW
(5)
When not in control
cycle
RUN(SPA 0)
Loop
stop
judgment
(4)
(3)
MAN, CMB, CMV, LCM
Other than MAN, CMB, CMV, LCM
(6)
Last BW
SPA
MODE
180
MAN
Loop stop
processing
BB1
BB2
S.ONF3
Set Data
9
(1) Data specified in S.ONF3 instruction
Specified position
Input
S1
data
+0
+1
D1 +0
+1
Symbol
Recommended range *1
Name
E1
Input value
-999999 to 999999
%
BW
Output value
(-999999 to 999999)
%
BB
BB1
Block
b12
b8
b4
S2
B
B
2
PN
+1
TRK
Real
number
by
––
U
––
S
2
3
4
result
B
B
1
––
+0
number
Set
value
b0
Operation
+2
BB2
Real
Standard
––
b15
memory
Unit Data format
Operation
result
Output value
BB2
1
0
25%BW<75%
0
0
BW75%
0
1
0: Reverse operation
mode
1: Forward operation
Tracking bit
16bit
––
S
BB1
BW<25%
Operation
BIN
6
––
0: Without tracking
––
1: With tracking
BIN
16bit
BIN
16bit
0
U
0
U
3
U
8H
S/U
4000H
S/U
0 to 3
b15
Operation
b12
b8
b4
4
7
8
b0
constant
SVPTN
Set value
––
pattern
Set value pattern*3
0: E2 is upper loop MV.
1: E2 is not upper loop MV.
BIN
16bit
Set value used*2
0: E2 is used.
1: E2 is not used.
0 to FFFFH
D2
+1
MODE
Operation
b15
b12
Loop tag
0 to FFFFH
memory *4
b15
+3
ALM
Alarm
b8
C
S
V
mode
b12
S
P
A
detection
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
b8
b4
––
BIN
16bit
b0
––
BIN
16bit
SPA
0: Loop RUN
1: Loop STOP
*1
*2
*3
*4
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Specify whether the set value (E2) is to be used or not.
Specify whether the MV of the upper loop is to be used or not as the set value (E2).
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
181
9.21 S.ONF3
+2
S.ONF3
Specified position
Symbol
Recommended range *1
Name
Standard
Set
value
by
4000H
S/U
0.0
S/U
0.0
U
0.0
S
0.0
U
0.0
U
100.0
U
0.0
U
Real
number
1.0
U
Unit Data format
0 to FFFFH
b15
Alarm
D2
+4
+12
+13
+14
+15
Loop tag
+16
memory
+17
*2
+18
+19
+20
+21
+22
+23
+24
+25
+46
+47
Loop tag
past value
memory *2
D2
INH
detection
inhibit
Manipulated
MV
value
b12
b8
b4
b0
T
R
K
F
––
TRKF
(0: Without tracking)
(1: With tracking)
-10 to 110
%
SV
Set value
RL to RH
––
DV
Deviation
(-110 to 110)
%
HS0
Hysteresis 0
0 to 999999
––
HS1
Hysteresis 1
0 to 999999
––
-999999 to 999999
––
-999999 to 999999
––
Engineering
RH
value upper
limit
Engineering
value lower
RL
limit
CT
Control cycle
BIN
16Bit
0 to 999999 Note that CT
T
32767
s
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
+96
––
––
Used by the system as a work area.
––
––
––
S
-10 to 110
%
Real
number
0.0
U
+97
*3
Set value
*4
*1
*2
*3
S3
+0
+1
E2
Set value
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
The applications of the loop tag past value memory are indicated below.
Specified position
D2
Description
+96 Control cycle counter initial preset flag
+97 Control cycle counter*5
*4
*5
When control is to be started from the initial status, the data must be cleared with the sequence program.
The set value (E2) becomes valid when the set value pattern (SVPTN) is set to "E2 is used".
When using the MV of the upper loop as the set value (E2), specify the device where the manipulated value (MV) of the upper
loop is set (offset + 12: MV).
When not using E2 as the set value, make sure to specify a dummy device.
(Special register SD1506 can be specified as a dummy device.)
The control cycle counter rounds off the data to the nearest whole number.
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
182
S.ONF3
Set
Data contents
Processing
9
(1) SV setting processing
Either of the following processings is performed depending on the operation mode (MODE) setting.
(a) When the operation mode (MODE) is any of CAS, CCB and CSV
1) When the set value (E2) is specified, engineering value conversion is performed with the following expression
2
and then "(2) Tracking processing" is performed.
SVn
3
RH RL
E2 RL
100
2) When the set value (E2) is not specified, "(2) Tracking processing" is performed without the engineering value
conversion being performed.
(b) When the operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC, "(2) Tracking
4
processing" is performed.
4
(2) Tracking processing
(a) The set value (SV) is converted reversely from the engineering value with the following operation expression to
calculate SVn'.
SVn'
100
(SVn
RH RL
6
RL)
(b) When all of the following conditions hold, tracking processing is performed.
7
1) The tracking bit (TRK) of the operation constant is 1.
2) The set value (E2) is used.
3) The operation mode (MODE) is any of MAN, AUT, CMV, CMB, CAB, LCM, LCA and LCC.
8
E2 = SVn'
(c)
When the set value (E2) is the manipulated value (MV) of the upper loop, the tracking flag (TRKF) of the alarm
detection inhibition (INH) in the upper loop turns to 1.
(3) MV compensation
compensation value (MV') is calculated.
(a) Calculation of deviation (DV)
The deviation (DV) is calculated under the following condition.
Condition
DV
Forward operation (PN = 1)
E1 - SVn'
Reverse operation (PN = 0)
SVn' - E1
(b) Calculation of MV compensation value (MV')
The MV compensation value (MV')is calculated under the following condition.
Condition
MV'
DV (HS1 + HS0)
100%
DV - (HS1 + HS0)
0%
( - HS1 + HS0) < DV < (HS1 - HS0)
50%
Other than above
Last value (BW value)
(4) MV output
The manipulated value (MV(BW)) is calculated under the following condition.
Condition
CMV, MAN, CMB, LCM
CSV, CCB, CAB, CAS, AUT, LCC, LCA
BW
BW = MVn
BW = MV'
MVn = BW
183
9.21 S.ONF3
After the deviation (DV) is calculated from the input value (E1) and the set value after tracking processing (SVn'), the MV
S.ONF3
(5) 3-position ON/OFF control
BB1 and BB2 of BB are output under the following condition.
BB1
BB2
BW 75%
25% BW < 75%
Condition
1
0
0
0
BW < 25%
0
1
(6) Loop stop processing
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
A loop stop performs the following processing and terminates the S.ONF3 instruction.
1) BW, BB1 and BB2 retain the last values.
2) The operation mode (MODE) is changed to MAN.
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
A loop run performs "(7) Control cycle judgment".
(7) Control cycle judgment
(a) If the specified control cycle is not reached
1) When the operation mode (MODE) is any of CSV, CCB, CAB, CAS, AUT, LCC and LCA, BW is retained and the
S.ONF3 instruction is terminated.
2) When the operation mode (MODE) is any of MAN, CMB, CMV and LCM, BW is made equal to MV and the
processing of "(5) 3-position ON/OFF control" is performed.
(b) If the specified control cycle is reached, "(1) SV setting processing" is performed.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
When HS0 < 0
4100
When the values of
number
S1 , D2
are either a non-numeric or non-normalized
When CT < 0 or the execution cycle (SD1500) < 0
When (HS1 + HS0) < 0
When HS1 < 0
184
QnPHCPU
QnPRHCPU
S.DBND
9.22
S.DBND
Dead Band
9.22
S.DBND
9
Ladder diagram
2
Start contact
S.DBND
S.DBND
D1
S1
Structured ladder/FBD
S2
D2
Structured text language
3
ENO:=S_DBND(EN,s1,s2,d1,d2);
4
S_DBND
EN
Input argument
Output argument
Setting
d1
s2
d2
Bit
4
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
: Array of real data type (0..1)
S2
: Operation constant start device
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Dummy device*1
: Real data type
Internal devices
data
ENO
s1
Word
J
R, ZR
7
\
Bit
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
9.22 S.DBND
*1
6
Function
Provides a dead band and performs output processing.
Output
(BW)
D1 D2
2
D1
D1: Dead band upper limit
D2
D2: Dead band lower limit
D2
D1
Input E1
BB1 1
0
185
S.DBND
Set Data
(1) Data specified in S.DBND instruction
Specified position
Input
S1
data
+0
+1
D1 +0
+1
Symbol
Recommended range *1
Name
E1
Input value
-999999 to 999999
%
BW
Output value
(-999999 to 999999)
%
BB
b15
+2
BB1
Real
number
Real
number
Standard
Set
value
by
––
U
––
S
––
S
100.0
U
0
U
––
Block
memory
Unit Data format
b12
b8
b4
b0
B
B
1
Dead band
––
action
BIN
16bit
(0: Outside the dead band range)
(1: Within the dead band range)
Operation
+0
+1
constant
+2
S2
+3
*1
D1
D2
Dead band
upper limit
Dead band
lower limit
-999999 to 999999
––
-999999 to 999999
––
Real
number
Real
number
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) The S.DBND instruction performs the following processing.
Condition
BW
BB1
D2 E1 D1
D2 D1
2
1
(E1 < D2) or (E1 > D1)
E1
0
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
186
When the values of
number
S1
,
S2
are either a non-numeric or non-normalized
QnPHCPU
QnPRHCPU
S.PGS
9.23
S.PGS
Program Setter
9.23
S.PGS
9
Ladder diagram
2
Start contact
S.PGS
S.PGS
S1
S2
D1
Structured ladder/FBD
D2
Structured text language
3
ENO:=S_PGS(EN,s1,s2,d1,d2);
4
S_PGS
EN
Input argument
Output argument
Setting
ENO
s1
d1
s2
d2
4
EN
: Execution condition
: Bit
S1
: Dummy device
: Real data type
device*1
S2
: Dummy
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
Internal devices
R, ZR
: Real data type
J
7
\
U
Zn
\G
data
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Bit
Word
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
9.23 S.PGS
*1
Word
6
Function
Provides a control output according to the SV and MV pattern.
As the output types of the S.PGS instruction, there are three types of the "hold type", "return type" and "cyclic type".
• Hold type
: Output is provided with the SV10 value held.
• Return type : The set value (SV) is set to 0 and the last value is output as the manipulated value (MV).
• Cyclic type : After SV1 to SV10 have been processed, processing is restarted from SV1 and the output is provided.
MVPGS
MV5, MV6
MV3, MV4
MV7, MV8
MV1, MV2
MV9, MV10
SV1
SV2 SV3 SV4 SV5
SV6
SV7
SV8
SV9
SV10
SV
187
S.PGS
Set
Data
Block
diagram
The processing block diagram of the S.PGS instruction is shown below.
(The numerals (2) to (5) in the diagram indicate the order of the processing.)
MV, MV1 to
MV16
SV, SV1 to
SV16
(3)
TYPE MV PGS
ML, MH
(4)
(5)
MV PGS
Operation
SV count-up
Output
processing
BW
OR
RUN(SPA 0)
BB1
BB2
PTNO.
BB3
(2)
Loop stop
judgment
STOP(SPA 1)
SPA
MHA
MLA
MODE
(2)
All OFF
MAN
188
Loop stop
processing
Last BW
All OFF
S.PGS
Set Data
9
(1) Data specified in S.PGS instruction
Specified position
D1 +0
+1
Symbol
BW
Recommended range *1
Name
Output value
(-999999 to 999999)
%
BB
BB1
Block
memory
+2
BB2
BB3
Unit Data format
Real number
Standard
Set
value
by
––
S
––
Alarm
b15
b12
b8
b4
limit alarm
Output lower
limit alarm
3
b0
B B
B B
3 2
Output upper
B
B
1
––
BIN
16bit
––
S
(0: Without alarm)
(1: With alarm)
0 to FFFFH
D2
+1
MODE
Operation
b15
b12
b8
C
S
V
mode
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
2
4
4
––
BIN
16bit
8H
S/U
6
0 to FFFFH
b15
+3
ALM
b12
b8
b4
S
P
A
Alarm
b0
M M
H L
A A
detection
SPA
0: Loop RUN
1: Loop STOP
––
BIN
16bit
4000H
S/U
MHA, MLA
(0: Without alarm)
(1: With alarm)
7
8
0 to FFFFH
Alarm
+4
INH
detection
inhibition
memory *2
b12
b8
E
R
R
I
b4
b0
M M
H L
I I
––
BIN
16bit
4000H
S/U
0
U
0.0
S/U
0.0
S/U
0
U
100.0
U
0: Alarm enable
1: Alarm inhibit
Number of
+10
PTNO
operation
constant
0 to 16
––
-10 to 110
%
0 to 999999
s
BIN
16bit
polygon points
+12
+13
+14
+15
MV
SV
Manipulated
value
Set value
Real
number
Real
number
0: Hold type operation
+16
TYPE
Operation
type
(When operation mode is AUT or CAB)
1: Return type operation
––
BIN
16bit
(When operation mode is AUT or CAB)
+18
+19
*1
*2
MH
Output upper
limit value
-10 to 110
%
Real
number
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
189
9.23 S.PGS
Loop tag
b15
S.PGS
Specified position
Symbol
+20
+21
+22
+23
Loop tag
+52
memory *2
+53
+54
+55
+84
+85
*1
*2
ML
SV1
SV16
MV1
MV16
Recommended range *1
Name
Output lower
limit value
Unit Data format
-10 to 110
%
0 to 999999
s
-10 to 110
%
Real
number
Standard
Set
value
by
0.0
U
0.0
U
0.0
U
Setting time 1
Setting time
Real
number
16
Setting output
1
Setting output
Real
number
16
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
Set
Data contents
Processing
(1) Output type
The output type is determined by the combination of the operation mode (MODE) and operation type (TYPE) as
indicated below.
Operation mode (MODE)
Operation type (TYPE)
MAN, CMB, CMV, LCM, LCA, LCC
AUT, CAB
CAS, CCB, CSV
Operation
––
Operation stopped at current SV and MV
0
Hold type operation
1
Return type operation
––
Cyclic type operation
(2) Loop stop processing
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
A loop stop performs the following processing and terminates the S.PGS instruction.
1) BW retains the last value.
2) MHA and MLA of the alarm detection (ALM) are turned to 0.
3) The operation mode (MODE) is changed to MAN.
4) BB1 to BB3 of BB are turned to 0.
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
A loop run performs "(3) SV count-up processing".
190
S.PGS
(3) SV count-up processing
SV count-up is performed with the following expression in each execution cycle.
SV' = SV +
9
T
(4) MVPGS operation
Type
Hold
Return
Mode
Cyclic
AUT, CAB
SV < SV1
2
CAS, CCB, CSV
MV1
MVPGS
MVn - MVn-1
× (SV’ - SVn-1) + MVn-1
SVn - SVn-1
SVn-1 SV < SVn
operation
Mode change
Processing when
MAN
MAN
3
Not moved
SV
Last value
0
0
MV
Last value
Last value
MV1
SV' > SVn
After SV is set, mode
Restart method
is changed from
Mode is changed
Automatic restart
from MAN to AUT.
MAN to AUT.
4
4
(5) Output processing
Condition
Manual
Automatic
MAN, CMB, CMV, LCM, LCA, LCC
AUT, CAB, CAS, CCB, CSV
BW
BB2, MHA
BB3, MLA
BW
BB2, MHA
BB3, MLA
MVPGS > MH
MVn
0
0
MVn = MH
1 *1
0
MVPGS < ML
MVn
0
0
MVn = ML
0
1 *2
Others
MVn
0
0
MVn = MVPGS
0
0
*1
*2
6
7
When MHI or ERRI in the alarm detection inhibition (INH) is set to 1, MHA and BB2 show 0 since the alarm is prohibited.
When MLI or ERRI in the alarm detection inhibition (INH) is set to 1, MLA and BB3 show 0 since the alarm is prohibited.
8
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error definition
QnPHCPU
QnPRHCPU
When an operation error occurs
4100
When the value of
D2
is either a non-numeric or non-normalized number
When PTNO < 0 or 16 < PTNO
191
9.23 S.PGS
Error code
S. SEL
9.24
S. SEL
Loop Selector
9.24
S. SEL
Ladder diagram
Start contact
S.SEL
S.SEL
S1
S2
D1
Structured ladder/FBD
D2
S3
Structured text language
S_SEL
EN
ENO
s1
d1
s2
d2
ENO:=S_SEL(EN,s1,s2,d1,d2);
s3
Input argument
Output argument
Setting
EN
: Execution condition
: Bit
S1
: Input data 1 start device
: Real data type
S2
: Operation constant start device
: Array of any 16-bit data (0..5)
S3
: Input data 2 start device
: Real data type
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
Internal devices
R, ZR
J
\
U
Zn
\G
data
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
S3
––
––
Word
Bit
Word
Constant
Other
Function
Provides an output in the specified mode (automatic mode/manual mode).
• In the automatic mode, the input value 1 (E1) or input value 2 (E2) selected by the selection signal (e1) is output.
• In the manual mode, the manipulated value (MV) is output.
192
S. SEL
Set
Data
Block
diagram
9
The processing block diagram of the S. SEL instruction is shown below.
(The numerals (1) to (7) in the diagram indicate the order of the processing.)
2
RH, RL
SLNO PV, PV1 to PV2
RH, RL
NMAX, NMIN
MV
INH
TRK
3
e1
(1)
(2)
Engineering
value
conversion
E1
E2
(3)
E1/E2
selection
processing
(4)
Mode check
Change rate,
upper/lower
limiter
Alarm output
processing
4
MAN or like
(5)
(3)
RUN(SPA 0)
Output
conversion
processing
Alarm clear
(6)
Tracking
processing
BW
4
(7)
STOP(SPA 1)
Loop
stop
judgment
All OFF
BB1
6
OR
7
SPA
MHA
BB2
BB3
MLA
8
BB4
DMLA
(7)
MAN
Loop stop
processing
9.24 S. SEL
MODE
All OFF
All OFF
193
S. SEL
Set Data
(1) Data specified in S. SEL instruction
Specified position
Input data
S1
1
+0
+1
D1 +0
+1
Symbol
Recommended range *1
Name
E1
Input value 1
-999999 to 999999
%
BW
Output value
(-999999 to 999999)
––
BB
BB1
Block
+2
BB2
BB3
BB4
S2
+0
+1
+2
+3
+4
b12
b8
Output upper
limit alarm
Output change
B
B
1
––
number
––
U
––
S
BIN 16bit
––
S
100.0
U
0.0
U
(0: Without alarm)
(1: With alarm)
rate alarm
conversion
-999999 to 999999
––
-999999 to 999999
––
Output
conversion
lower limit
TRK
Real
by
b0
B B B
B B B
4 3 2
limit alarm
Output lower
b4
upper limit
NMIN
number
Set
value
Alarm
Output
NMAX
Real
Standard
––
b15
memory
Unit Data format
Tracking bit
0: Without tracking
1: With tracking
b15
Real
number
Real
number
––
BIN 16it
0
U
––
BIN 16bit
1EH
U
b0
Operation
constant
Input value selection
0: E1
1: E2
+5
SVPTN
Set value
pattern
*2
Input value 1 (E1) used
0: Used
1: Not used
*3
Input value 2 (E2) used
0: Used
1: Not used
*4
Input value 1 (E1) pattern *5
0: E1 is upper loop MV
1: E1 is not upper loop MV
Input value 2 (E2) pattern *6
0: E2 is upper loop MV
1: E2 is not upper loop MV
*1
*2
*3
*4
*5
*6
194
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Select E1 or E2 for the input value.
Specify whether the input value 1 (E1) is to be used or not.
Specify whether the input value 2 (E2) is to be used or not.
Specify whether the MV of the upper loop is to be used or not as the input value 1 (E1).
Specify whether the MV of the upper loop is to be used or not as the input value 2 (E2).
S. SEL
Specified position
Symbol
Recommended range *1
Name
Unit Data format
Standard
Set
value
by
8H
S/U
0 to FFFFH
D2
+1
MODE
Operation
b15
b12
b8
C
S
V
mode
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
––
BIN 16bit
9
2
0 to FFFFH
b15
+3
ALM
b12
S
P
A
Alarm
b8
b4
D
M
L
A
detection
b0
M M
H L
A A
SPA
0: Loop RUN
1: Loop STOP
––
BIN
16bit
3
4000H
S/U
DMLA, MHA, MLA
(0: Without alarm)
(1: With alarm)
4
0 to FFFFH
Alarm
+4
INH
detection
inhibition
b15
b12
E
R
R
I
b8
b4
D
M
L
I
4
b0
M M
H L
I I
––
BIN
16bit
4000H
S/U
6
0: Alarm enable
1: Alarm inhibit
+10
+11
+12
+13
Loop tag
memory *2
+14
+15
+16
+17
+18
+19
+21
+22
+23
+24
+25
MV
PV1
PV2
MH
ML
Selection
value
Manipulated
value
Process value
1
Process value
2
Output upper
limit value
Output lower
limit value
RL to RH
––
-10 to 110
%
RL to RH
––
RL to RH
––
-10 to 110
%
-10 to 110
%
-999999 to 999999
––
-999999 to 999999
––
Engineering
RH
value upper
limit
Engineering
RL
value lower
limit
b15
+26
SLNO
Selection No.
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
0.0
S
0.0
S/U
0.0
S
0.0
S
100.0
U
0.0
U
100.0
U
0.0
U
0
S
100.0
U
0.0
U
b0
Input value 1 (E1)
0: Not selected
1: Selected
––
BIN
16bit
Input value 2 (E2)
0: Not selected
1: Selected
+48
+49
Input data
2
S3
+0
+1
*1
*2
DML
E2
Output change
rate limit value
Input value 2
0 to 100
%
-999999 to 999999
%
Real
number
Real
number
The data of the item where the recommended range values are indicated within the parentheses is stored by the system. The
user cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
195
7
8
9.24 S. SEL
+20
PV
S. SEL
Set
Data contents
Processing
(1) Engineering value conversion
Engineering value conversion is performed with the following expression.
PVn
RH RL
En RL
100
(2) Input value 1 (E1) or input value 2 (E2) selection processing
Whether the input value 1 (E1) or input value 2 (E2) will be used is selected depending on the e1 setting of the set value
pattern (SVPTN).
• e1 = 0: Input value 1 (E1) is used PV = PV1
• e1 = 1: Input value 2 (E2) is used PV = PV2
SLN0: The bit corresponding to the input value 1 (E1) or input value 2 (E2) is turned to 1.
(3) Mode check
The following processing is performed depending on the operation mode (MODE) setting.
(a) When the operation mode (MODE) is any of MAN, CMB, CMV and LCM
1) "(5) Output conversion processing" is performed.
2) MHA, MLA and DMLA of the alarm detection (ALM) are turned to 0.
3) BB1 to BB4 of BB are turned to 0.
(b) When the operation mode (MODE) is any of AUT, CAB, CAS, CCB, CSV, LCA and LCC
1) Engineering value reverse conversion is performed with the following expression.
T=
100
RH-RL
(PV-RL)
2) "(4) Change rate, upper/lower limiter" is performed.
(4) Change rate, upper/lower limiter
Change rate and upper/lower limit value checks are performed on the input value 1 (E1) or input value 2 (E2).
(a) Change rate limiter
Condition
T'
BB4, DMLA
|T - MVn| DML
T' = T
(T - MVn) > DML
T' = MVn + DML
1 *1
(T - MVn) < - DML
T' = MVn - DML
1 *1
*1
0
When DMLI or ERRI in the alarm detection inhibition (INH) is set to 1, DMLA and BB4 show 0 since the alarm is inhibited.
(b) Upper/lower limiter
BB2, MHA
BB3, MLA
T' > MH
Condition
MVn = MH
1 *2
0
T' < ML
MVn = ML
0
1 *3
ML T' MH
MVn = T'
0
0
*2
*3
196
MV
When MHI or ERRI in the alarm detection inhibition (INH) is set to 1, MHA and BB2 show 0 since the alarm is inhibited.
When MLI or ERRI in the alarm detection inhibition (INH) is set to 1, MLA and BB3 show 0 since the alarm is inhibited.
S. SEL
(5) Output conversion processing
Engineering value conversion is performed with the following expression.
BW
NMAX NMIN
100
9
MVn NMIN
(6) Tracking processing
(a) When all of the following conditions hold, the operation result is output to the input value 1 (E1) or input value 2
2
(E2).
1) The operation mode (MODE) is any of MAN, CMB, CMV and LCM.
3
2) The tracking bit (TRK) is 1.
En = MVn
(b) When all of the following conditions hold, the operation result is output to the input value 1 (E1) or input value 2
(E2).
4
1) The operation mode (MODE) is any of AUT, CAS, CAB, CCB, CSV, LCA and LCC.
2) The tracking bit (TRK) is 1.
4
3) BB1 of BB is 1
En = MVn
(7) Loop stop processing
6
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
A loop stop performs the following processing and terminates the S.SEL instruction.
1) BW retains the last value.
7
2) DMLA, MHA and MLA of the alarm detection (ALM) are turned to 0.
3) The operation mode (MODE) is changed to MAN.
8
4) BB1 to BB4 of BB are turned to 0.
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
A loop run performs "(1) Engineering value conversion ".
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
QnPHCPU
QnPRHCPU
When an operation error occurs
4100
When the values of
normalized number
S1 , D1 , S2 , D2
are either a non-numeric or non-
197
9.24 S. SEL
Operation Error
S.BUMP
9.25
S.BUMP
Bumpless Transfer
9.25
S.BUMP
Ladder diagram
Start contact
S.BUMP
S.BUMP
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
S_BUMP
EN
Input argument
Output argument
Setting
d1
s2
d2
Bit
ENO:=S_BUMP(EN,s1,s2,d1,d2);
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of any 16-bit data (0..4)
S2
: Operation constant start device
: Array of real data type (0..1)
ENO
: Execution result
: Bit
D1
: Block memory start device
: Real data type
D2
: Local work memory start device
: Array of real data type (0..1)
Internal devices
data
ENO
s1
Word
R, ZR
J
Bit
\
Word
U
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Constant
Other
Function
Brings the output value (BW) closer to the output set value (E1) from the output control value (E2) at the fixed rate when the
operation mode is switched from the manual mode to the automatic mode.
Brings the output value (BW) closer to the output set value (E1) with a primary delay when the output value (BW) falls within
the range specified as the delay zone (a) relative to the output set value (E1).
198
S.BUMP
Set Data
9
(1) Data specified in S. BUMP instruction
Specified position
S1
Input data
Block
memory
D1
S2
Operation
constant
D2
Local work
memory *2
*1
*2
Symbol
Recommended range *1
Name
Unit Data format
Standard
Set
value
by
––
U
+0
+1
E1
Output set
value
+2
+3
E2
Output control
value
-999999 to 999999
%
Real
number
––
U
+4
e1
Mode
switching
signal
0: Manual mode
1: Automatic mode
––
BIN
16Bit
––
U
+0
+1
BW
Output value
(-999999 to 999999)
%
Real
number
––
S
+0
+1
T
Delay time
0 to 999999
s
Real
number
1.0
U
+2
+3
a
Delay zone
0 to 999999
%
Real
number
1.0
U
+0
+1
Xq
1.0
+2
+3
Real
number
Xp
Initial
deviation
value
-999999 to 999999
%
Real
number
Used by the system as a work area.
––
2
3
4
4
6
S
7
Deviation
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
8
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
(1) Either of the following processings is performed depending on the mode select signal (e1) setting of the input data.
(a) In the manual mode (e1 = 0), the output value (BW), initial deviation value (Xg) and deviation (Xp) are calculated
with the following expressions.
• BW = output control value (E2)
• Xq = output control value (E2) - output set value (E1)
• Xp = output control value (E2) - output set value (E1)
(b) In the automatic mode (e1 = 1), the output value is calculated with the following expression.
Condition
Xp
|Xp| a
|Xp| > a
Xp
Xp'
T
Xq
T
Xp
BW = E1 + Xp
BW
On the assumption that |Xp|
• BW = E1
• Xp = Xp'
However, when T
T
T
T
Xp'
BW = E1 + Xp
T |Xq|
T
On the assumption that |Xp| 10-4
• BW = E1
• Xp = Xp'
T in the automatic mode, BW = E1, Xp = Xp'
199
9.25 S.BUMP
Set
Data contents
Processing
S.BUMP
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
200
When the values of
normalized number
S1 , S2 , D2
are either a non-numeric or non-
QnPHCPU
QnPRHCPU
S.AMR
9.26
S.AMR
Analog Memory
9.26
S.AMR
9
Ladder diagram
2
Start contact
S.AMR
S1
S.AMR
Structured ladder/FBD
D2
S2
D1
Structured text language
3
ENO:=S_AMR(EN,s1,s2,d1,d2);
4
S_AMR
EN
Input argument
Output argument
Setting
d1
s2
d2
Bit
4
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of any 16-bit data (0..6)
S2
: Operation constant start device
: Array of real data type (0..1)
ENO
: Execution result
: Bit
D1
: Block memory start device
: Real data type
D2
: Dummy device*1
: Real data type
Internal devices
data
ENO
s1
Word
J
R, ZR
7
\
Bit
U
Word
Zn
\G
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
9.26 S.AMR
*1
6
Function
Increases or decreases the output value at the fixed rate.
d1
1s
E1
e1
E2
1s
E3
d2
0
1
e2 1
0
t
e3 1
201
S.AMR
Set Data
(1) Data specified in S.AMR instruction
Specified position
S1
+0
+1
+2
+3
+4
Input
+5
data
Symbol
E1
Output
addition value
Unit Data format
-999999 to 999999
––
-999999 to 999999
––
-999999 to 999999
––
Output
E2
subtraction
value
E3
e1
+6
Recommended range *1
Name
e2
Output set
value
number
Real
number
Real
number
Set
value
by
––
U
––
U
––
U
––
U
––
S
1.0
U
1.0
U
Operation
b15
select signal
b12
b8
b4
b0
e
3
Output
e
2
e
1
addition signal
––
Output
e3
Real
Standard
e1
e2
0: Manual mode
1: Automatic mode
subtraction
e3
0: Not added
1: Added
BIN
16Bit
0: Not subtracted
1: Subtracted
signal
Block
D1 +0
memory
+1
S2
+0
Operation
+1
constant
+2
+3
*1
BW
d1
d2
Output value
Output upper
limit value
Output lower
limit value
(-999999 to 999999)
––
0 to 999999
––
0 to 999999
––
Real
number
Real
number
Real
number
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
Set
Data contents
Processing
(1) Either of the following processings is performed depending on the settings of the operation select signal (e1), output
addition signal (e2) and output subtraction signal (e3).
(a) In the manual mode (e1 = 0), BW = E3.
(b) In the automatic mode (e1 = 1), any of the operations in the following table is performed depending on the settings
of the output addition signal (e2) and output subtraction signal (e3).
e2
e3
1
0
0
1
1
1
0
0
BW
BW = BW + |E1| ×
T
On the assumption that d1 BW: BW = d1
BW = BW - |E2| ×
T
On the assumption that BW d2: BW = d2
BW = BW
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
202
When the values of
number
S1
,
S2
are either a non-numeric or non-normalized
QnPHCPU
QnPRHCPU
S.FG
CHAPTER 10 COMPENSATION OPERATION
1
INSTRUCTIONS
10.1
S.FG
10
Function Generator
10.1
S.FG
3
Ladder diagram
Start contact
S.FG
S.FG
S1
D1
Structured ladder/FBD
S2
4
D2
Structured text language
S_FG
EN
Input argument
Output argument
Setting
ENO
s1
d1
s2
d2
ENO:=S_FG(EN,s1,s2,d1,d2);
6
EN
: Execution condition
S1
: Input data start device
: Real data type
S2
: Operation constant start device
: Any 16-bit data
ENO
: Execution result
: Bit
D1
: Block memory start device
: Real data type
D2
: Local work memory start device
: Array of real data type (0..95)
Internal devices
R, ZR
: Bit
J
\
U
Zn
\G
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Bit
Word
8
Constant
Other
10.1 S.FG
data
Word
7
Function
In response to the input value (E1), outputs the value following the function generator pattern that consists of n pieces of
polygon points specified as the operation constants.
Y
(X2,Y2)
Output (BW)
(X3,Y3)
(X1,Y1)
(X4,Y4)
X
Input (E1)
203
S.FG
Set Data
(1) Data specified in S.FG instruction
Specified position
Symbol
+0
Input data
S1
Block
D1 +0
+1
Operation
S2
constant
+0
––
U
BW
Output value
(-999999 to 999999)
––
Real number
––
S
0 to 48
––
0
U
-999999 to 999999
––
––
U
SN
+4
memory
+7
+4SN-4
+4SN-3
+4SN-2
+4SN-1
*1
by
Real number
+3
+6
Set
value
––
+2
work
Standard
-999999 to 999999
+1
+5
Data format
Input value
D2 +0
Local
Unit
E1
+1
memory
Recommended range *1
Name
X1
Y1
X2
Y2
Xn
Yn
Number of
polygon points
BIN
16Bit
Polygon point
coordinates
Polygon point
coordinates
Polygon point
coordinates
Polygon point
Real number
coordinates
Polygon point
coordinates
Polygon point
coordinates
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) The S.FG instruction performs the following operation.
Condition
Output value (BW)
E1 X1
BW = Y1
Xi-1 < E1 Xi (i = 2 to n)
BW
Xn < E1
BW = Yn
Yi
Xi
Yi
Xi
1
1
(E1 Xi
1)
Yi
1
(2) When n = 0 there is no processing.
(3) When Xi-1 > Xi, the value is cut off to n = i-1 (Data after that is ignored.)
When there are multiple Yi for the same Xi, the lowest i is selected.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
When the values of
number
S1
, D2 are either a non-numeric or non-normalized
When (SN < 0) or (SN > 48)
204
QnPHCPU
QnPRHCPU
S.IFG
10.2
S.IFG
Inverse Function Generator
10.2
S.IFG
1
Ladder diagram
10
Start contact
S.IFG
S.IFG
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
3
ENO:=S_IFG(EN,s1,s2,d1,d2);
4
S_IFG
EN
Input argument
Output argument
Setting
ENO
s1
d1
s2
d2
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
S2
: Operation constant start device
: Any 16-bit data
ENO
: Execution result
: Bit
D1
: Block memory start device
: Real data type
D2
: Local work memory start device
: Array of real data type (0..95)
Internal devices
R, ZR
J
7
\
U
Zn
\G
data
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Word
Bit
6
Word
Constant
Other
8
In response to the input value (E1), outputs the value following the inverse function generator pattern that consists of n pieces
of polygon points specified as the operation constants.
Y
(X3,Y3)
(X4,Y4)
(X2,Y2)
Input (E1)
(X1,Y1)
Output (BW)
X
205
10.2 S.IFG
Function
S.IFG
Set Data
(1) Data specified in S.IFG instruction
Specified position
Symbol
+0
Input data
S1
Block
D1 +0
+1
Operation
S2
constant
+0
––
U
BW
Output value
(-999999 to 999999)
––
Real number
––
S
0 to 48
––
0
U
-999999 to 999999
––
––
U
SN
+4
memory
+7
+4SN-4
+4SN-3
+4SN-2
+4SN-1
*1
by
Real number
+3
+6
Set
value
––
+2
work
Standard
-999999 to 999999
+1
+5
Data format
Input value
D2 +0
Local
Unit
E1
+1
memory
Recommended range *1
Name
X1
Y1
X2
Y2
Xn
Yn
Number of
polygon points
BIN
16Bit
Polygon point
coordinates
Polygon point
coordinates
Polygon point
coordinates
Polygon point
Real number
coordinates
Polygon point
coordinates
Polygon point
coordinates
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) The S.IFG instruction performs the following operation.
Condition
Output value (BW)
E1 Y1
BW=X1
Yi-1 < E1 Yi (i = 2 to n)
BW
Yn < E1
BW=Xn
Xi
Yi
Xi
Yi
1
1
(E1 Yi
1
)
Xi
1
(2) When n = 0 there is no processing.
(3) When Yi-1 > Yi, the value is cut off to n = i-1 (Data after that is ignored.)
When there are multiple Xi for the same Yi, the lowest i is selected.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
When the values of
number
S1
, D2 are either a non-numeric or non-normalized
When (SN < 0) or (SN > 48)
206
QnPHCPU
QnPRHCPU
S.FLT
10.3
S.FLT
Standard Filter
10.3
S.FLT
1
Ladder diagram
10
Start contact
S.FLT
S.FLT
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
3
ENO:=S_FLT(EN,s1,s2,d1,d2);
4
S_FLT
EN
Input argument
Output argument
Setting
ENO
s1
d1
s2
d2
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
: Array of any 16-bit data (0..2)
S2
: Operation constant start device
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Local work memory start device
: Array of any 16-bit data (0..103)
Internal devices
R, ZR
J
7
\
U
Zn
\G
data
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Word
Bit
6
Word
Constant
Other
8
Stores SN pieces of input values (E1) sampled at the data collection intervals (ST) into the dead time table, and outputs the
average of those SN pieces of data.
207
10.3 S.FLT
Function
S.FLT
Set Data
(1) Data specified in S.FLT instruction
Specified position
Input data
S1
+0
+1
D1 +0
+1
Symbol
Recommended range *1
Name
E1
Input value
-999999 to 999999
––
BW
Output value
(-999999 to 999999)
––
BB
b15
+2
BB1
Real
number
Real
number
Standard
Set
value
by
––
U
––
S
––
S
1.0
U
0
U
––
S
––
S
––
S
––
S
––
S
––
––
––
S
––
Block
memory
Unit Data format
b12
b8
b4
b0
B
B
1
Data
sufficiency bit
––
BIN
16Bit
(0: Data sufficiency)
(1: Data insufficiency)
S2
Operation
+0
+1
Data
ST
D2 +0
+1
SN
memory *2
SN'
+3
i
+4
n1
+5
n2
+7
+8
+9
+10
+11
+2SN+6
+2SN+7
*1
*2
*3
Sampling
count
0 to 48
––
collection
––
interval
+2
+6
s
Last data
ST'
Local
work
0 to 999999
interval
constant
+2
collection
––
1
2
SN
Last sampling
––
count
Cycle
Used by the system as a work area.
counter*3
Number of
––
stored data
Store
––
––
––
number
BIN
16Bit
Real
number
BIN
16Bit
BIN
16Bit
BIN
16Bit
BIN
16Bit
––
––
Dead time
table 1
Dead time
table 2
Used by the system as a work area.
––
Real
number
Dead time
table SN
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
The cycle counter rounds off the data to the nearest whole number.
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
208
––
Real
S.FLT
Set
Data contents
Processing
1
(1) The data update cycle is ST . (The decimal is rounded down.)
T
(2) The data sufficiency bit (BB1) turns to 0 when the dead time table is filled with SN pieces of data.
10
It turns to 1 when the dead time table is not filled.
3
• Until the dead time table is filled with data, the average of the data provided until then is output.
• Processed using ST = n × T. (n is an integral)
4
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
QnPHCPU
QnPRHCPU
When an operation error occurs
4100
When the values of
normalized number
S1 , S2 , D2
6
are either a non-numeric or non-
7
When (SN < 0) or (SN > 48)
When the execution cycle < 0
When ST < 0
8
10.3 S.FLT
209
S.SUM
10.4
S.SUM
Summation
10.4
S.SUM
Ladder diagram
Start contact
S.SUM
S.SUM
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
S_SUM
EN
Input argument
Output argument
Setting
ENO
s1
d1
s2
d2
ENO:=S_SUM(EN,s1,s2,d1,d2);
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of any 16-bit data (0..2)
S2
: Operation constant start device
: Array of any 16-bit data (0..4)
ENO
: Execution result
: Bit
D1
: Block memory start device
: Real data type
D2
: Dummy device*1
: Real data type
Internal devices
R, ZR
J
\
U
Zn
\G
data
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
*1
Word
Bit
Word
Special register SD1506 can be specified as a dummy device.
Function
Integrates and outputs the input value (E1) when the integration start signal (e1) turns from 0 to 1.
210
Constant
Other
S.SUM
Set Data
1
(1) Data specified in S.SUM instruction
Specified position
S1 +0
+1
Symbol
E1
Recommended range *1
Name
Input value
-999999 to 999999
––
e
Real
number
Standard
Set
value
by
––
U
––
b15
Input data
+2
Unit Data format
b12
b8
b4
3
b0
e
1
Integration
e1
––
start signal
BIN
16Bit
––
U
––
S
0.0
U
0.0
U
1
U
0: Integration not executed
1: Integration executed
Block
D1 +0
memory
+1
S2
+0
+1
+2
Operation
+3
constant
BW
Output value
Input
ILC
low cut value
A
Initial value
(-999999 to 999999)
––
-999999 to 999999
––
-999999 to 999999
––
1: /Second
+4 RANGE Input range
2: /Minute
––
3: /Hour
*1
10
Real
number
Real
number
Real
number
BIN
16Bit
4
6
7
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
8
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as real numbers.
Set
Data contents
Processing
10.4 S.SUM
(1) The S.SUM instruction performs the following processing.
e1
E1
0
––
1
Output (BW)
The initial value (A) of the operation
constant is output.
E1 ILC
The last value is output unchanged.
E1 > ILC
BW
E1
T
T
Last value
(2) The T value used for the operation changes depending on the input range (RANGE) setting.
• When RANGE = 1, T = 1
• When RANGE = 2, T = 60
• When RANGE = 3, T = 3600
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
QnPHCPU
QnPRHCPU
When an operation error occurs
4100
When the values of
normalized number
S1 , D1 , S2
are either a non-numeric or non-
When the RANGE setting is other than 1 to 3
211
S.TPC
10.5
S.TPC
Temperature/Pressure Correction
10.5
S.TPC
Ladder diagram
Start contact
S.TPC
S.TPC
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
S_TPC
EN
Input argument
Output argument
Setting
ENO
s1
d1
s2
d2
ENO:=S_TPC(EN,s1,s2,d1,d2);
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of any 16-bit data (0..6)
S2
: Operation constant start device
: Array of real data type (0..4)
ENO
: Execution result
: Bit
D1
: Block memory start device
: Real data type
D2
: Dummy device*1
: Any 16-bit data
Internal devices
R, ZR
J
\
U
Zn
\G
data
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
*1
Word
Bit
Word
Special register SD1506 can be specified as a dummy device.
Function
The input value (E1) is subject to temperature/pressure correction (temperature or pressure) and output.
212
Constant
Other
S.TPC
Set Data
1
(1) Data specified in S.TPC instruction
Specified position
S1
Symbol
+0
E1
+1
+2
E2
+3
+4
E3
+5
Input data
Recommended range *1
Name
Differential
pressure
Measurement
temperature
Measured
-999999 to 999999
––
-999999 to 999999
––
-999999 to 999999
pressure
––
e
e1
b15
E2 use flag
b12
b8
b4
D1 +0
memory
BW
+1
Set
value
by
––
U
––
U
––
U
Real
number
Real
number
Real
number
e
2
10
3
4
b0
e
1
––
e2
Standard
––
+6
Block
Unit Data format
BIN
––
U
––
S
6
0.0
U
7
273.15
U
0.0
U
10332.0
U
16Bit
0: Unused
1: Used
E3 use flag
Output value
(-999999 to 999999)
––
-999999 to 999999
°C
-999999 to 999999
°C
-999999 to 999999
––
-999999 to 999999
––
Real
number
Design
S2
+0
+1
TEMP
temperatureT'
(Engineering
Real
number
value)
+2
Operation
B1
+3
constant
Bias
(Temperature)
Real
number
Design
+4
+5
PRES
pressureP'
(Engineering
Real
number
8
value)
+7
*1
B2
Bias
(Pressure)
Real
number
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) The S.TPC instruction calculates the temperature/pressure correction value with the following expression.
BW = E1 × A1 × A2
(2) A1 and A2 use the values calculated with the following expressions.
Input
E2
E3
Used
Used
Not used
Used
Used
Not used
Not used
Not used
A1
T'
E2
A2
B1
B1
1.0
T'
E2
B1
B1
1.0
E3
P'
B2
B2
E3
P'
B2
B2
1.0
1.0
213
10.5 S.TPC
+6
S.TPC
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
214
When the values of
number
S1 , S2
are either a non-numeric or non-normalized
QnPHCPU
QnPRHCPU
S.ENG
10.6
S.ENG
Engineering Value Conversion
10.6
S.ENG
1
Ladder diagram
10
Start contact
S.ENG
S.ENG
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
3
ENO:=S_ENG(EN,s1,s2,d1,d2);
4
S_ENG
EN
Input argument
Output argument
Setting
ENO
s1
d1
s2
d2
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
S2
: Operation constant start device
: Array of real data type (0..1)
ENO
: Execution result
: Bit
D1
: Block memory start device
: Real data type
D2
: Dummy device*1
: Real data type
Internal devices
R, ZR
J
7
\
U
Zn
\G
data
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Bit
Word
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
10.6 S.ENG
*1
Word
6
Function
The input value (E1) is output by the engineering conversion.
Input Value (E1)
[
Output Value (BW)
]
100
80
4
3
ENG
20
0
t
4
1
(RH)
(RL)
0
1
t
215
S.ENG
Set Data
(1) Data specified in S.ENG instruction
Specified position
Input data
Block
memory
S1
D1
S2
Operation
constant
*1
Symbol
Recommended range *1
Name
Unit Data format
Standard
Set
value
by
––
U
+0
+1
E1
Input value
-999999 to 999999
%
Real
number
+0
+1
BW
Output value
(-999999 to 999999)
––
Real
number
––
S
+0
+1
RH
Engineering
value upper
limit
-999999 to 999999
––
Real
number
100.0
U
+2
+3
RL
Engineering
value lower
limit
-999999 to 999999
––
Real
number
0.0
U
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) The S.ENG instruction performs the following operation.
BW
RH RL
100
E1
RL (E1
0 to 100%)
Operation Error
In the following cases, the error flag (SM) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
216
When the values of
number
S1
,
S2
are either a non-numeric or non-normalized
QnPHCPU
QnPRHCPU
S.IENG
10.7
S.IENG
Inverse Engineering Value Conversion
10.7
S.IENG
1
Ladder diagram
10
Start contact
S.IENG
S.IENG
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
3
ENO:=S_IENG(EN,s1,s2,d1,d2);
4
S_IENG
EN
Input argument
Output argument
Setting
ENO
s1
d1
s2
d2
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
S2
: Operation constant start device
: Array of real data type (0..1)
ENO
: Execution result
: Bit
D1
: Block memory start device
: Real data type
D2
: Dummy device*1
: Real data type
Internal devices
R, ZR
J
7
\
U
Zn
\G
data
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Bit
Word
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
10.7 S.IENG
*1
Word
6
Function
The input value (E1) is converted to % value and output.
Input Value (E1)
Output Value (BW)
[m3/h]
[
20
16
5
0
IENG
t
]
100
80
20
0
(RH)
(RL)
25
0
t
217
S.IENG
Set Data
(1) Data specified in S.IENG instruction
Specified
Symbol
Position
Input data
Block
memory
S1
D1
S2
Operation
constant
*1
Recommended range *1
Name
Unit
Data
Standard
Set
format
value
by
––
U
+0
+1
E1
Input value
-999999 to 999999
––
Real
number
+0
+1
BW
Output value
(-999999 to 999999)
%
Real
number
––
S
+0
+1
RH
Engineering
value upper
limit
-999999 to 999999
––
Real
number
100.0
U
+2
+3
RL
Engineering
value lower
limit
-999999 to 999999
––
Real
number
0.0
U
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) The S.IENG instruction performs the following operation.
BW
100
RH RL
(E1 RL) (%)
(2) Make setting to satisfy RH > RL.
(3) If RH RL, the processing is executed unchanged but engineering value reverse conversion is not performed.
(4) If RH = RL, BW = 0.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
218
When the values of
number
S1
,
S2
are either a non-numeric or non-normalized
QnPHCPU
QnPRHCPU
S.ADD
CHAPTER 11
11.1
S.ADD
ARITHMETIC OPERATION
INSTRUCTIONS
1
2
Addition
11.1
S.ADD
11
Ladder diagram
Start contact
S.ADD
S.ADD
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
S_ADD
EN
Input argument
Output argument
Setting
ENO
s1
d1
s2
d2
ENO:=S_ADD(EN,s1,s2,d1,d2);
6
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of any 16-bit data (0..10)
S2
: Operation constant start device
: Array of any 16-bit data (0..12)
ENO
: Execution result
: Bit
D1
: Block memory start device
: Real data type
D2
: Dummy device*1
: Real data type
Internal devices
R, ZR
J
\
U
S1
––
––
D1
––
––
S2
––
––
D2
––
––
*1
Bit
Word
Constant
Other
11.1 S.ADD
Bit
Word
8
Zn
\G
data
7
Special register SD1506 can be specified as a dummy device.
Function
The input value (El to En) data is added by attaching a coefficient.
219
S.ADD
Set Data
(1) Data specified in S.ADD instruction
Specification
Symbol
position
Data
Standard
Set
format
value
by
––
U
0 to 5
––
-999999 to 999999
––
Real
number
––
U
Output value
(-999999 to 999999)
––
Real
number
––
S
n
Number of
coefficients
0 to 5
––
BIN
16Bit
0
U
+1
+2
K1
Coefficient 1
+3
+4
K2
Coefficient 2
-999999 to 999999
––
Real
number
1.0
U
+2n-1
+2n
Kn
Coefficient n
+2n+1
+2n+2
B
Bias
-999999 to 999999
––
Real
number
0.0
U
+0
n
+1
+2
E1
Input value 1
+3
+4
E2
Input value 2
+2n-1
+2n
En
Input value n
+0
+1
BW
+0
Input data
D1
S2
Operation
constant
*1
Unit
BIN
16Bit
S1
Block
memory
Recommended range*1
Name
Input count
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) The S.ADD instruction performs the following operation.
BW = (K1 × E1) + (K2 × E2) … + (Kn × En) + B
(2) When n is 0, BW = B.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
When the values of
number
When not n = 0 to 5
220
S1
,
S2
are either a non-numeric or non-normalized
QnPHCPU
QnPRHCPU
S.SUB
11.2
S.SUB
Subtraction
11.2
S.SUB
1
Ladder diagram
2
Start contact
S.SUB
S.SUB
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
11
S_SUB
EN
Input argument
Output argument
Setting
ENO
s1
d1
s2
d2
ENO:=S_SUB(EN,s1,s2,d1,d2);
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of any 16-bit data (0..10)
S2
: Operation constant start device
: Array of any 16-bit data (0..12)
ENO
: Execution result
: Bit
D1
: Block memory start device
: Real data type
D2
: Dummy device*1
: Real data type
Internal devices
R, ZR
J
7
\
U
Zn
\G
data
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Bit
Word
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
11.2 S.SUB
*1
Word
6
Function
The input value (E1 to En) data is subtracted by attaching a coefficient.
221
S.SUB
Set Data
(1) Data specified in S.SUB instruction
Specification
Symbol
position
Data
Standard
Set
format
value
by
––
U
0 to 5
––
-999999 to 999999
––
Real
number
––
U
Output value
(-999999 to 999999)
––
Real
number
––
S
n
Number of
coefficients
0 to 5
––
BIN
16Bit
0
U
+1
+2
K1
Coefficient 1
+3
+4
K2
Coefficient 2
-999999 to 999999
––
Real
number
1.0
U
+2n-1
+2n
Kn
Coefficient n
+2n+1
+2n+2
B
Bias
-999999 to 999999
––
Real
number
0.0
U
+0
n
+1
+2
E1
Input value 1
+3
+4
E2
Input value 2
+2n-1
+2n
En
Input value n
+0
+1
BW
+0
Input data
D1
S2
Operation
constant
*1
Unit
BIN
16Bit
S1
Block
memory
Recommended range*1
Name
Input count
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) The S.SUB instruction instructs the following operation.
BW = (K1 × E1) - (K2 × E2) … - (Kn × En) + B
(2) When n is 0, BW = B.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
When the values of
number
When not n = 0 to 5
222
S1
,
S2
are either a non-numeric or non-normalized
QnPHCPU
QnPRHCPU
S.MUL
11.3
S.MUL
Multiplication
11.3
S.MUL
1
Ladder diagram
2
Start contact
S.MUL
S.MUL
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
11
S_MUL
EN
Input argument
Output argument
Setting
ENO
s1
d1
s2
d2
ENO:=S_MUL(EN,s1,s2,d1,d2);
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of any 16-bit data (0..10)
S2
: Operation constant start device
: Array of any 16-bit data (0..12)
ENO
: Execution result
: Bit
D1
: Block memory start device
: Real data type
D2
: Dummy device*1
: Real data type
Internal devices
R, ZR
J
7
\
U
Zn
\G
data
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Bit
Word
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
11.3 S.MUL
*1
Word
6
Function
The input value (E1 to En) data is multiplied by attaching a coefficient.
223
S.MUL
Set Data
(1) Data specified in S.MUL instruction
Specification
Symbol
position
Data
Standard
Set
format
value
by
––
U
0 to 5
––
-999999 to 999999
––
Real
number
––
U
Output value
(-999999 to 999999)
––
Real
number
––
S
n
Number of
coefficients
0 to 5
––
BIN
16Bit
0
U
+1
+2
K1
Coefficient 1
+3
+4
K2
Coefficient 2
-999999 to 999999
––
Real
number
1.0
U
+2n-1
+2n
Kn
Coefficient n
+2n+1
+2n+2
B
Bias
-999999 to 999999
––
Real
number
0.0
U
+0
n
+1
+2
E1
Input value 1
+3
+4
E2
Input value 2
+2n-1
+2n
En
Input value n
+0
+1
BW
+0
Input data
D1
S2
Operation
constant
*1
Unit
BIN
16Bit
S1
Block
memory
Recommended range*1
Name
Input count
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) The S.MUL instruction performs the following operation.
BW = (K1 × E1) × (K2 × E2) … × (Kn × En) + B
(2) When n is 0, BW = B.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
When the values of
number
When not n = 0 to 5
224
S1
,
S2
are either a non-numeric or non-normalized
QnPHCPU
QnPRHCPU
S.DIV
11.4
S.DIV
Division
11.4
S.DIV
1
Ladder diagram
2
Start contact
S.DIV
S.DIV
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
11
S_DIV
EN
Input argument
Output argument
Setting
ENO
s1
d1
s2
d2
ENO:=S_DIV(EN,s1,s2,d1,d2);
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of real data type (0..1)
S2
: Operation constant start device
: Array of real data type (0..5)
ENO
: Execution result
: Bit
D1
: Block memory start device
: Real data type
D2
: Dummy device*1
: Real data type
Internal devices
R, ZR
J
7
\
U
Zn
\G
data
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Bit
Word
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
11.4 S.DIV
*1
Word
6
Function
Divides the input value 1 (E1) by the input value 2 (E2).
225
S.DIV
Set Data
(1) Data specified in S.DIV instruction
Specification
Symbol
position
Data
Standard
Set
format
value
by
––
U
-999999 to 999999
––
Real
number
+0
+1
E1
+2
+3
E2
Input value 2
(Denominator)
-999999 to 999999
––
Real
number
––
U
+0
+1
BW
Output value
(-999999 to 999999)
––
Real
number
––
S
+0
+1
A
Coefficient 1
-999999 to 999999
––
Real
number
1.0
U
+2
+3
K1
Coefficient 2
-999999 to 999999
––
Real
number
1.0
U
+4
+5
K2
Coefficient 3
-999999 to 999999
––
Real
number
1.0
U
+6
+7
B1
Bias 1
-999999 to 999999
––
Real
number
0.0
U
+8
+9
B2
Bias 2
-999999 to 999999
––
Real
number
0.0
U
+10
+11
B3
Bias 3
-999999 to 999999
––
Real
number
0.0
U
Input data
D1
S2
Operation
constant
*1
Unit
Input value 1
(Minute)
S1
Block
memory
Recommended range*1
Name
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) The S.DIV instruction performs the following operation.
BW
A
K1
K2
E1 B1
E2 B2
B3
(2) When the denominator is 0, BW = B3.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
226
When the values of
number
S1
,
S2
are either a non-numeric or non-normalized
QnPHCPU
QnPRHCPU
S.SQR
11.5
S.SQR
Square Root
11.5
S.SQR
1
Ladder diagram
2
Start contact
S.SQR
S.SQR
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
11
S_SQR
EN
Input argument
Output argument
Setting
ENO
s1
d1
s2
d2
ENO:=S_SQR(EN,s1,s2,d1,d2);
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
S2
: Operation constant start device
: Array of real data type (0..1)
ENO
: Execution result
: Bit
D1
: Block memory start device
: Real data type
D2
: Dummy device*1
: Real data type
Internal devices
R, ZR
J
7
\
U
Zn
\G
data
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Bit
Word
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
11.5 S.SQR
*1
Word
6
Function
The
of input value (El) is output.
When the input value is negative, 0 is output.
227
S.SQR
Set Data
(1) Data specified in S.SQR instruction
Specification
Symbol
position
S1
Input data
Block
memory
D1
S2
Operation
constant
*1
Recommended range*1
Name
Unit
Data
Standard
Set
format
value
by
––
U
+0
+1
E1
Input value
0 to 999999
––
Real
number
+0
+1
BW
Output value
(0 to 999999)
––
Real
number
––
S
+0
+1
OLC
Output low cut
value
0 to 999999
––
Real
number
0.0
U
+2
+3
K
Coefficient
0 to 999999
––
Real
number
10.0
U
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) The S.SQR instruction performs the following operation.
BW
K
(E1)
(2) When K (E1) 0LC, BW = 0.
Also, when (E1 < 0), BW = 0.
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
228
When the values of
number
S1
,
S2
are either a non-numeric or non-normalized
QnPHCPU
QnPRHCPU
S.ABS
11.6
S.ABS
Absolute Value
11.6
S.ABS
1
Ladder diagram
2
Start contact
S.ABS
S.ABS
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
11
S_ABS
EN
Input argument
Output argument
Setting
ENO
s1
d1
s2
d2
ENO:=S_ABS(EN,s1,s2,d1,d2);
EN
: Execution condition
: Bit
S1
: Input data start device
: Real data type
device*1
S2
: Dummy
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Dummy device*1
: Real data type
Internal devices
R, ZR
: Real data type
J
7
\
U
Zn
\G
data
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Bit
Word
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
11.6 S.ABS
*1
Word
6
Function
The input value (E1) absolute value is output.
Input (E1)
0
Output (BW)
t
ABS
0
t
BB1
BB2
229
S.ABS
Set Data
(1) Data specified in S.ABS instruction
Specification
Symbol
position
Input
data
S1
D1
Recommended range*1
Name
Unit
value
Set by
E1
Input value
-999999 to 999999
––
Real
number
––
U
+0
+1
BW
Output value
(0 to 999999)
––
Real
number
––
S
––
BIN
16Bit
––
S
––
b15
b12
b8
b4
Judgment of
input value
(E1) sign
+2
b0
B
B
2
BB1
BB2
*1
Standard
+0
+1
BB
Block
memory
Data
format
When E1
When E1
When E1
0: BB1
0: BB2
0: BB1
1
1
BB2
B
B
1
0
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) The S.ABS instruction performs the following operation.
BW = |E1|
(2) The sign of the input value 1 (E1) is judged and the result is output to BB1 and BB2.
E1 Status
BB1
BB2
E1 > 0
1
0
E1 < 0
0
1
E1 = 0
0
0
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
4100
230
Error definition
When the value of
S1
is either a non-numeric or non-normalized number
QnPHCPU
QnPRHCPU
S. >
CHAPTER 12 COMPARISON OPERATION
1
INSTRUCTIONS
12.1
S. >
2
Compare Greater Than
12.1
S. >
3
Ladder diagram
StartContact
S.>
S.>
S1
D1
Structured ladder/FBD
S2
12
D2
Structured text language
S_GT
EN
Input argument
Output argument
Setting
ENO
s1
d1
s2
d2
ENO:=S_GT(EN,s1,s2,d1,d2);
6
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of real data type (0..1)
S2
: Operation constant start device
: Array of real data type (0..1)
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Dummy device*1
: Real data type
Internal devices
R, ZR
J
\
U
Zn
\G
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
*1
Word
Bit
Word
8
Constant
Other
12.1 S. >
data
7
Special register SD1506 can be specified as a dummy device.
Function
Compares the input value 1 (E1) and input value 2 (E2) and outputs the result of comparison.
231
S. >
Set Data
(1) Data specified in S. > instruction
Specified
Symbol
position
S1
Input
data
D1
Recommended range *1
Name
Data format
Standard
Set
value
by
+0
+1
E1
Input value 1
-999999 to 999999
––
Real number
––
U
+2
+3
E2
Input value 2
-999999 to 999999
––
Real number
––
U
+0
+1
BW
Output value
(The same value as the input value 1 (E1) is
stored)
––
Real number
––
S
––
BIN
16Bit
––
S
BB
Block
memory
Unit
––
b15
+2
BB1
b12
b8
b4
b0
B
B
1
Comparison
output
(The result of comparison between E1 and
E2 is stored.)
S2
Operation
constant
*1
+0
+1
K
Set value
-999999 to 999999
––
Real number
0.0
U
+2
+3
HS
Hysteresis
0 to 999999
––
Real number
0.0
U
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) Compares the input value 1 (E1) with the input value 2 (E2), and outputs the result of the comparison to BB1 of the block
memory.
Condition
BB1
E1 > (E2 + K)
1
E1 (E2 + K - HS)
0
(E2 + K - HS) < E1 (E2 + K)
Last value is output
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
When the values of
number
S1
,
S2
are either a non-numeric or non-normalized
When the hysteresis value is negative
232
QnPHCPU
QnPRHCPU
S. <
12.2
S. <
Compare Less Than
12.2
S. <
1
Ladder diagram
2
StartContact
S.<
S.<
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
3
S_LT
EN
Input argument
Output argument
Setting
ENO:=S_LT(EN,s1,s2,d1,d2);
ENO
s1
d1
s2
d2
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of real data type (0..1)
: Array of real data type (0..1)
S2
: Operation constant start device
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Dummy device*1
: Real data type
Internal devices
R, ZR
J
U
Zn
\G
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Word
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
12.2 S. <
*1
Bit
6
7
\
data
Word
12
Function
Compares the input value 1 (E1) and input value 2 (E2) and outputs the result of comparison.
233
S. <
Set Data
(1) Data specified in S. < instruction
Specified
Symbol
position
S1
Input
data
D1
Recommended range *1
Name
Data format
Standard
Set
value
by
+0
+1
E1
Input value 1
-999999 to 999999
––
Real number
––
U
+2
+3
E2
Input value 2
-999999 to 999999
––
Real number
––
U
+0
+1
BW
Output value
(The same value as the input value 1 (E1) is
stored)
––
Real number
––
S
––
BIN
16Bit
––
S
BB
Block
memory
Unit
––
b15
+2
BB1
b12
b8
b4
b0
B
B
1
Comparison
output
(The result of comparison between E1 and
E2 is stored.)
S2
Operation
constant
*1
+0
+1
K
Set value
-999999 to 999999
––
Real number
0.0
U
+2
+3
HS
Hysteresis
0 to 999999
––
Real number
0.0
U
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) Compares the input value 1 (E1) with the input value 2 (E2), and outputs the result of the comparison to BB1 of the block
memory.
Condition
BB1
E1 < (E2 + K)
1
E1 (E2 + K + HS)
0
(E2 + K) E1 < (E2 + K + HS)
Last value is output
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
When the values of
number
S1
,
S2
are either a non-numeric or non-normalized
When the hysteresis value is negative
234
QnPHCPU
QnPRHCPU
S. =
12.3
S. =
Compare Equal Than
12.3
S. =
1
Ladder diagram
2
StartContact
S.=
S.=
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
3
S_EQ
EN
Input argument
Output argument
Setting
ENO:=S_EQ(EN,s1,s2,d1,d2);
ENO
s1
d1
s2
d2
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of real data type (0..1)
: Array of real data type (0..1)
S2
: Operation constant start device
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Dummy device*1
: Real data type
Internal devices
R, ZR
Zn
U \G
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Word
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
12.3 S. =
*1
Bit
6
7
J \
data
Word
12
Function
Compares the input value 1 (E1) and input value 2 (E2) and outputs the result of comparison.
235
S. =
Set Data
(1) Data specified in S. = instruction
Specified
Symbol
position
S1
Input
data
D1
Recommended range *1
Name
*1
Set
value
by
Input value 1
-999999 to 999999
––
Real number
––
U
+2
+3
E2
Input value 2
-999999 to 999999
––
Real number
––
U
+0
+1
BW
Output value
(The same value as the input value 1 (E1) is
stored)
––
Real number
––
S
––
BIN
16Bit
––
S
––
Real number
0.0
U
+2
S2
Standard
E1
––
b15
Operation
constant
Data format
+0
+1
BB
Block
memory
Unit
BB1
+0
+1
K
b12
b8
b4
b0
B
B
1
Comparison
output
(The result of comparison between E1 and
E2 is stored.)
Set value
-999999 to 999999
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) Compares the input value 1 (E1) with the input value 2 (E2), and outputs the result of the comparison to BB1 of the block
memory.
Condition
BB1
E1 = (E2 + K)
1
E1
0
(E2 + K)
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
236
When the values of
number
S1
,
S2
are either a non-numeric or non-normalized
QnPHCPU
QnPRHCPU
S. >=
12.4
S. >=
Compare Greater Or Equal
12.4
S. >=
1
Ladder diagram
2
Start contact
S.>=
S.>=
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
3
S_GE
EN
Input argument
Output argument
Setting
ENO:=S_GE(EN,s1,s2,d1,d2);
ENO
s1
d1
s2
d2
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of real data type (0..1)
: Array of real data type (0..1)
S2
: Operation constant start device
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Dummy device*1
: Real data type
Internal devices
R, ZR
Zn
U \G
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Word
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
12.4 S. >=
*1
Bit
6
7
J \
data
Word
12
Function
Compares the input value 1 (E1) and input value 2 (E2) and outputs the result of comparison.
237
S. >=
Set Data
(1) Data specified in S. >= instruction
Specification
Symbol
position
S1
+0
Input
+1
data
+2
+1
Data format
Standard
Set
value
by
Input value 1
-999999 to 999999
––
Real number
––
U
E2
Input value 2
-999999 to 999999
––
Real number
––
U
BW
Output value
––
Real number
––
S
––
S
(The same value as the input value 1 (E1) is
stored)
BB
––
Block
b15
memory
Unit
E1
+3
D1 +0
Recommended range *1
Name
+2
BB1
b12
b8
b4
b0
B
B
1
Comparison
output
––
BIN
16Bit
(The result of comparison between E1 and
E2 is stored.)
S2
+0
Operation
+1
constant
+2
+3
*1
K
Set value
-999999 to 999999
––
Real number
0.0
U
HS
Hysteresis
0 to 999999
––
Real number
0.0
U
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) Compares the input value 1 (E1) with the input value 2 (E2), and outputs the result of the comparison to BB1 of the block
memory.
Condition
BB1
E1 (E2 + K)
1
E1 < (E2 + K - HS)
0
(E2 + K - HS) E1 < (E2 + K)
Last value is output
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
When the values of
number
S1
,
S2
are either a non-numeric or non-normalized
When the hysteresis value is negative
238
QnPHCPU
QnPRHCPU
S. <=
12.5
S. <=
Compare Less Or Equal
12.5
S. <=
1
Ladder diagram
2
Start contact
S.<=
S.<=
S1
D1
Structured ladder/FBD
S2
D2
Structured text language
3
S_LE
EN
Input argument
Output argument
Setting
ENO:=S_LE(EN,s1,s2,d1,d2);
ENO
s1
d1
s2
d2
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of real data type (0..1)
: Array of real data type (0..1)
S2
: Operation constant start device
ENO
: Execution result
: Bit
D1
: Block memory start device
: Array of any 16-bit data (0..2)
D2
: Dummy device*1
: Real data type
Internal devices
R, ZR
Zn
U \G
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
Word
Constant
Other
8
Special register SD1506 can be specified as a dummy device.
12.5 S. <=
*1
Bit
6
7
J \
data
Word
12
Function
Compares the input value 1 (E1) and input value 2 (E2) and outputs the result of comparison.
239
S. <=
Set Data
(1) Data specified in S. <= instruction
Specification
Symbol
position
S1
+0
Input
+1
data
+2
+3
D1 +0
+1
Recommended range *1
Name
Data format
Standard
Set
value
by
E1
Input value 1
-999999 to 999999
––
Real number
––
U
E2
Input value 2
-999999 to 999999
––
Real number
––
U
BW
Output value
––
Real number
––
S
––
S
(The same value as the input value 1 (E1) is
stored)
BB
––
Block
b15
memory
Unit
+2
BB1
b12
b8
b4
b0
B
B
1
Comparison
output
––
BIN
16Bit
(The result of comparison between E1 and
E2 is stored.)
S2
+0
Operation
+1
constant
+2
+3
*1
K
Set value
-999999 to 999999
––
Real number
0.0
U
HS
Hysteresis
0 to 999999
––
Real number
0.0
U
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
Set
Data contents
Processing
(1) Compares the input value 1 (E1) with the input value 2 (E2), and outputs the result of the comparison to BB1 of the block
memory.
Condition
BB1
E1 (E2 + K)
1
E1 > (E2 + K + HS)
0
(E2 + K) < E1 (E2 + K + HS)
Last value is output
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
When the values of
number
S1
,
S2
are either a non-numeric or non-normalized
When the hysteresis value is negative
240
QnPHCPU
QnPRHCPU
CHAPTER 13 AUTO TUNING
1
Auto tuning is designed to make the initial setting of the PID constants.
The auto tuning of the CPU module can be used for processes that can be approximated with a primary delay plus dead time
represented by the following expression.
2
Example) Process with relatively slow response such as temperature adjustment
3
K
-Ls
1+Ts e
K: Gain, T: Time constant, L: Dead time, s: Laplace operator
4
Auto tuning can be used for the loop that uses the S. PID or S. 2PID instruction.
13
Auto tuning is performed in the ZN process: stepped response process of Ziegler and Nichols.
[Outline of stepped response process]
With no control operation being performed, change the manipulated value (MV) step by step and look how the process
value (PV) varies.
1) When the manipulated value (MV) is changed step by step, the process value (PV) begins to vary slowly.
6
Soon, the PV will vary faster, then vary slowly again, and finally settle at a fixed value.
2) Draw a tangent line at the place where the process value (PV) varies fastest, and find the points of intersection
A, B where this tangent line crosses the horizontal axis corresponding to the first process value (
process value (
0)
and last
7
1).
This provides the equivalent dead time (L) and equivalent time constant (T) as shown below.
3) From the equivalent time constant (T) and maximum process value width (Y), calculate the maximum
slope (response speed) R = Y/T.
Apply the equivalent dead time (L) and maximum slope (R) to the Ziegler and Nichols' adjustment rule, and
calculate the proportional gain Kp (P), integral constant TI (I) and derivative constant TD (D).
Manipulated value for
auto tuning AT1MV
X
Process value PV
( )
B
1
Maximum slope
R
(response speed)
Y
T
Maximum measurement width
Y
A
0
Equivalent dead
time L
Equivalent time
constant T
Time (s)
241
8
Auto tuning procedure
Start
Since the PID constants are overwritten at completion of auto tuning,
record the PID constants as required.
Set the loop tag and operation constants necessary for auto tuning.
Change the operation mode (MODE) of the tuning target loop to Manual (MAN).
Make sure that the process of the tuning target is stable.
(Adjust the MV so that the process is stabilized as required.)
Disconnect the S.2PID/S.PID instruction of the tuning target loop and connect
the S.AT1 instruction to where the S.2PID/S.PID instruction was located.
Turn the auto tuning start signal (e1) to Start (1).
(Auto tuning in execution)
Auto Tuning Completed (BB16) turns to Completed (1) at end of auto tuning.
Turn the auto tuning start signal (e1) to End (0).
(Auto Tuning Completed (BB16) turns to Not completed (0).)
Check the PID constants stored in the loop tag.
Disconnect the S.AT1 instruction of the tuning target loop and connect
the S.2PID/S.PID instruction to where the S.AT1 instruction was located.
Make fine adjustment during normal operation.
End
242
(1) Time chart from auto tuning start until normal completion
Auto tuning start
1
Auto tuning start signal e1
Auto tuning completion
2
Auto tuning completion BB16
3
Various Alarm BB1 to BB8
Manipulated value MV
MV
MV + AT1STEPMV
MV
4
PID constants are set.
(2) Time chart from auto tuning start until stop due to alarm occurrence
13
Auto tuning start
Auto tuning start signal e1
6
Auto tuning suspension
Auto tuning completion BB16
7
Alarm Occurrence
Various Alarm BB1 to BB8
Manipulated value MV
MV
MV + AT1STEPMV
8
MV
PID constants are not set.
243
S. AT1
13.1
S. AT1
Auto tuning instruction
13.1
S. AT1
Ladder diagram
Start contact
S.AT1
S.AT1
S1
D1
Structured ladder/FBD
S2
D2
D3
Structured text language
S_AT1
EN
ENO:=S_AT1(EN,s1,s2,d1,d2,d3);
ENO
s1
d1
s2
d2
d3
Input argument
Output argument
Setting
EN
: Execution condition
: Bit
S1
: Input data start device
: Array of any 16-bit data (0..2)
S2
: Operation constant start device
: Any 16-bit data
ENO
: Execution result
: Bit
: Any 16-bit data
D1
: Block memory start device
D2
: Loop tag memory start device
: Array of any 16-bit data (0..127)
D3
: Local work memory start device
: Array of any 16-bit data (0..21)
Internal devices
R, ZR
J \
Zn
U \G
data
Bit
S1
––
––
D1
––
––
S2
––
––
D2
––
––
D3
––
––
Word
Bit
Word
Function
Performs auto tuning and makes the initial setting of the PID constants.
244
Constant
Other
S. AT1
Set Data
1
(1) Data specified in S. AT1 instruction
Specified
Symbol
position
S1
+0
+1
E1
Recommended range *1
Name
Input value
-999999 to 999999
b15
Input data
+2 e1
b12
b8
b4
Unit
Data format
%
Real number
Standard
Set
value
by
––
U
b0
e
1
Auto tuning
––
start signal
BIN
16bit
3
0
U
0: Stop/end
1: Start
BB
BB1
BB2
BB3
BB4
Block
memory
D1 +0
BB5
BB6
BB7
BB8
BB16
constant
S2
+0 PN
4
––
Alarm
13
Input upper
limit alarm
Input lower
limit alarm
Output upper
limit alarm
Output lower
b15
b12
b8
b4
B B B B
B B B B
8 7 6 5
B
B
16
B B
B B
2 1
––
limit alarm
Out time
alarm
Operation
6
b0
B B
B B
4 3
BB16
(0: Incomplete)
(1: Complete)
BB1 to BB8
(0: Without alarm)
(1: With alarm)
BIN
16bit
––
S
8
mode alarm
Identification
alarm
Auto tuning
completion
Operation
0: Reverse operation
mode
1: Forward operation
––
BIN
16bit
0
U
8H
S/U
4000H
S/U
0 to FFFFH
D2 +1
MODE
Operation
b15
b12
+3 ALM
mode
memory
Alarm
detection
*2
+12
+13
+18
+19
+20
+21
*1
*2
MV
MH
ML
Manipulated
value
Output upper
limit value
Output lower
limit value
b8
C
S
V
b15
Loop tag
7
b12
S
P
A
b4
b0
C C C C C A M L L L
M C A M A U A C C C
V B B B S T N C A M
b8
H
H
A
b4
––
16bit
b0
L P P
L H L
A A A
––
SPA
0: Loop RUN
1: Loop STOP
BIN
HHA, LLA, PHA, PLA
(0: Without alarm)
(1: With alarm)
BIN
16bit
-10 to 110
%
Real number
0.0
S/U
-10 to 110
%
Real number
100.0
U
-10 to 110
%
Real number
0.0
U
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
245
13.1 S. AT1
Operation
2
S. AT1
Specified position
Symbol
D2 +52
P
+53
+54
+56
Loop tag
+71
memory *2
+72
+73
Integral
constant
Derivative
D
+57
+70
Gain
I
+55
constant
AT1
manipulated
MV
value for AT1
AT1ST
AT1
Unit
0 to 999999
––
0 to 999999
s
0 to 999999
s
-100 to 100
%
Step
STEP
+74
Recommended range *1
Name
Sampling
cycle for AT1
Time-out time
+75 TOUT1 for AT1
0 to 999999
Note that
0 to 999999
Note that
0 to 999999
Note that
AT1ST
T
32767
AT1TOUT1
T
s
32767
s
32767
s
Data
Standard
Set
format
value
by
1.0
S/U
10.0
S/U
0.0
S/U
0.0
U
1.0
U
100.0
U
10.0
U
––
S
Real
number
Real
number
Real
number
Real
number
Real
number
Real
number
After
+76
AT1
maximum
+77 TOUT2 slope time-out
AT1TOUT2
T
Real
number
time for AT1
Local work
memory *3
*1
*2
*3
D3 +0
––
System area
Used by the system as a work area.
––
––
+21
The data of the item(s) where the values within the recommended range are given in the parentheses are stored by the
system. Users cannot set the data.
The loop tag memory and loop tag past value memory occupy a total of 128 words. (Refer to Page 28, Section 3.3.1 for
details.)
The applications of the loop tag past value memory are indicated below.
Specified position
S3
contents
+0 Sampling cycle counter initial preset flag
+1 Sampling cycle counter*4
+2 Time-out time counter initial preset flag
+3 Time-out time counter*4
+4 After maximum slope time-out time counter initial preset flag
+5 After maximum slope time-out time counter*4
+6 Step manipulated value preset flag
+7 Counter from auto tuning start
+8
+9
+10
+11
+12
+13
+14
+15
+16
+17
+18
+19
+20
+21
*4
Auto tuning start-time PV0
PVn-1 (Last process value)
Maximum slope value
Maximum slope-time counter
Maximum slope-time PV
R (Response speed)
L (Equivalent dead time)
When control is to be started from the initial status, the data must be cleared with the sequence program.
The sampling cycle counter, time-out time counter, and after maximum slope time-out time counter round off the data to the
nearest whole number.
(2) Execution cycle ( T)
Set the execution cycle in SD1500 and SD1501 as a real number.
246
S. AT1
Set
Data contents
Processing
1
(1) Start signal judgement processing
Any of the following processings is performed depending on the statuses of the auto tuning start signal (e1) and auto
tuning completed (BB16).
e1
BB16
2
Processing
BB1 to BB8 of BB are turned to 0.
When the stepped manipulated value preset flag is 1, the following
0
0
3
processing is performed.
MV = MV - AT1STEPMV
The S. AT1 instruction is terminated.
1
0
0
1
1
1
4
"(2) Loop stop processing" is performed.
BB16 of BB is turned to 0.
The S. AT1 instruction is terminated.
The S. AT1 instruction is terminated.
13
(2) Loop stop processing
(a) Setting 1 in SPA of the alarm detection (ALM) selects a loop stop.
A loop stop performs the following processing and terminates the S. AT1 instruction.
6
1) The auto tuning completed (BB16) is turned to 1.
2) When the stepped manipulated value preset flag is 1, the following processing is performed.
7
MV = MV - AT1STEPMV
(b) Setting 0 in SPA of the alarm detection (ALM) selects a loop run.
A loop run performs "(3) Mode judgement processing".
8
(3) Mode judgement processing
Either of the following processings is performed depending on the operation mode (MODE) setting.
(a) When the operation mode (MODE) is any of AUT, CAB, CAS, CCB, CSV, LCA and LCC, the following processing is
performed and the S. AT1 instruction is terminated.
13.1 S. AT1
1) The operation mode alarm (BB7) is turned to 1.
2) The auto tuning completed (BB16) is turned to 1.
3) When the stepped manipulated value preset flag is 1, the following processing is performed.
MV = MV - AT1STEPMV
(b) When the operation mode (MODE) is any of MAN, CMB, CMV and LCM, "(4) Input check processing" is performed.
(4) Input check processing
Either of the following processings is performed depending on the alarm detection (ALM) setting.
(a) If either of PHA and HHA of the alarm detection (ALM) is 1, the following processing is performed and the S. AT1 is
terminated.
1) The input upper limit alarm (BB3) is turned to 1.
2) The auto tuning completed (BB16) is turned to 1.
(b) If either of PLA and LLA of the alarm detection (ALM) is 1, the following processing is performed and the S. AT1 is
terminated.
1) The input lower limit alarm (BB3) is turned to 1.
2) The auto tuning completed (BB16) is turned to 1.
(5) Time-out judgement processing
Whether the auto tuning processing has reached the AT1 time-out time (AT1TOUT1) or not is judged.
(a) If the AT1 time-out time (AT1TOUT1) is reached, the following processing is performed and the S. AT1 is
terminated.
1) The time-out alarm (BB6) is turned to 1.
2) The auto tuning completed (BB16) is turned to 1.
(b) If the AT1 time-out time (AT1TOUT1) is not reached, "(6) After maximum slope time-out judgment processing" is
performed.
247
S. AT1
(6) After maximum slope time-out judgment processing
Whether the auto tuning processing has reached the AT1 after maximum slope time-out time (AT1TOUT2) or not is
judged.
However, if the after maximum slope time-out time counter initial preset flag is 0, the processing in (c) is performed.
(a) If the AT1 after maximum slope time-out time (AT1TOUT2) is reached, "(10) Identification processing" is performed.
(b) If the AT1 after maximum slope time-out time (AT1TOUT2) is not reached, "(7) Stepped manipulated value set
processing" is performed.
(c)
If the after maximum slope time-out time counter initial preset flag is 0, "(7) Stepped manipulated value set
processing" is performed.
(7) Stepped manipulated value set processing
Whether the stepped manipulated value is "set (1)" or "not set (0)" is judged from the stepped manipulated value preset
flag.
(a) If the stepped manipulated value preset flag is 0, the following processing is performed and the S. AT1 is
terminated.
1) The AT1 stepped manipulated value (AT1STEPMV) is added to the manipulated value (MV).
T1 = MV + AT1STEPMV
In the upper/lower limiter, the following operation is performed and the result of the operation is output to BB4
and BB5.
Result
Condition
T1 > MH
BB4
1
BB5
0
Processing after upper/lower
BB16
1
T1 < ML
0
1
1
ML T1 MH
0
0
0
limiter
MV
Original MV
unchanged
Original MV
S. AT1 instruction is terminated.
unchanged
T1
The processing in 2) and later is
performed.
2) The stepped manipulated value preset flag is turned to 1.
3) The counter from auto tuning start is cleared to 0.
4) The input value (E1) is stored into the auto tuning start-time PV0.
5) The input value (E1) is stored into the last process value (PVn-1).
6) The maximum slope value, maximum slope-time counter, maximum slope-time PV, response speed (R) and
equivalent dead time (L) are cleared to 0.
(b) If the stepped manipulated value preset flag is 1 "(8) Sampling cycle judgement processing" is performed.
(8) Sampling cycle judgment processing
Whether the sampling cycle is reached or not is judged from the AT1 sampling cycle (AT1ST).
(a) If the sampling cycle is not reached, the S. AT1 instruction is terminated.
(b) If the sampling cycle is reached, "(9) Response waveform observation processing" is performed.
248
S. AT1
(9) Response waveform observation processing
The following processing is performed for the input value (E1).
1
(a) Response waveform observation
1) The counter from auto tuning start is incremented.
2) The following processing is performed according to the input value (E1) and last process value (PVn-1).
Reverse operation (PN = 0)
T2 = E1 - PVn-1
Forward operation (PN = 1)
2
3) The input value (E1) is stored into the last process value (PVn-1).
3
(b) Maximum slope value
Depending on the slope (T2), the following processing is performed and the S. AT1 instruction is terminated.
1) If reverse operation is performed (PN = 0) and AT1 stepped manipulated value (AT1STEPMV) 0 or forward
operation is performed (PN = 1) and AT1 stepped manipulated value (AT1STEPMV) < 0
Condition
4
Processing
• Maximum slope value = slope (T2)
Maximum slope value slope (T2)
13
• Maximum slope-time counter = counter from auto tuning start
• Maximum slope-time PV = input value (E1)
• After maximum slope time-out count value is reset and count is restarted.
Maximum slope value > Slope(T2) Maximum slope value remains unchanged from the last value.
2) If forward operation is performed (PN = 1) and AT1 stepped manipulated value (AT1STEPMV) 0 or reverse
6
operation is performed (PN = 0) and AT1 stepped manipulated value (AT1STEPMV) = 0
Condition
Processing
7
• Maximum slope value = slope (T2)
Maximum slope value Slope(T2)
• Maximum slope-time counter = counter from auto tuning start
• Maximum slope-time PV = input value (E1)
8
• After maximum slope time-out count value is reset and count is restarted.
Maximum slope value < Slope(T2) Maximum slope value remains unchanged from the last value.
(10) Identification processing
Using the maximum slope value, the following processing is performed.
1) The response speed for calculation (R') and response speed (R) are calculated with the following expression.
R'
Maximum
slope value(%)
AT1ST(s)
,
R
|R'|
(/s)
100
2) If R = 0, the following processing is performed and the S. AT1 instruction is terminated.
The identification alarm (BB8) is turned to 1.
The auto tuning completed (BB16) is turned to 1.
When the stepped manipulated value preset flag is 1, the following processing is performed.
MV = MV - AT1STEPMV
(b) Equivalent dead time
1) The segment (b) made by the Y axis and the equivalent dead time (L) provided when the tangent line is drawn at
the response speed for calculation (R') are calculated with the following expression.
b = (maximum slope-time PV) - R' × (maximum slope counter) × AT1ST
L
(Auto tuning start-time PV0)-b
R'
2) If L 0, the following processing is performed and the S. AT1 instruction is terminated.
The identification alarm (BB8) is turned to 1.
The auto tuning completed (BB16) is turned to 1.
When the stepped manipulated value preset flag is 1, the following processing is performed.
MV = MV - AT1STEPMV
249
13.1 S. AT1
(a) Response speed
S. AT1
(11) PID constant calculation processing
The response speed (R), equivalent dead time (L) and AT1 stepped manipulated value (AT1STEPMV) are assigned to
the adjustment rule to calculate the PID constants.
(a) Control system
The control system is selected according to the integral constant TI (I) and derivative constant TD (D).
Integral constant TI (I)
Derivative constant TD (D)
TI 0
––
TI > 0
Control method
Proportional control (P operation) only
TD 0
PI control (PI operation)
TD > 0
PID control (PID operation)
(b) Adjustment rule
The ZN process: adjustment rule based on the stepped response of Ziegler and Nichols is used.
Control
Rate example gain Kp (P)
method
Integral constant TI (I)
Derivative constant TD (D)
P
1
R L
|AT1STEPMV|
100
0
0
PI
0.9
R L
|AT1STEPMV|
100
3.33 × L
0
PID
1.2
R L
|AT1STEPMV|
100
2×L
0.5 × L
(c)
PID constant storage
The following processing is performed and the S. AT1 instruction is terminated.
1) The PID constants are stored into the gain (P), integral constant (I) and derivative constant (D).
2) The auto tuning completed (BB16) is turned to 1.
3) The AT1 stepped manipulated value (AT1STEPMV) is subtracted from the manipulated value (MV), and the
result is stored into the manipulated value (MV).
MV = MV - AT1STEPMV
Operation Error
In the following cases, the error flag (SM0) turns ON and the error code is stored in SD0.
Error code
Error definition
When an operation error occurs
4100
When the value of
S1
is either a non-numeric or non-normalized number
When AT1ST < 0, AT1TOUT1 < 0 or AT1TOUT2 < 0
When the execution cycle (SD1500) < 0
250
QnPHCPU
QnPRHCPU
CHAPTER 14 ERROR CODES
1
This chapter describes the definitions of the errors that will occur in the CPU module and the compensation operation to be
taken for the errors.
14.1
2
List of Error Codes
3
There is the following process control instruction error.
Definition
Applicable CPU module
Error code
4
4100
4
When the operation target data is out of the recommended
range
When the operation target data is a non-numeric or non-
QnPHCPU/QnPRHCPU
normalized number
When an error occurs midway through operation
When the above error occurs, the following information is stored in SD1502 and SD1503.
14
• SD1502: Detailed error code that occurred in a process control instruction
• SD1503: Processing number of the instruction that an error occurred
7
Codes of errors that occur in process control instructions (The corresponding error code is stored in SD1502.)
Detailed error
Error code
Error definition
code stored in
Cause
8
Processing
SD1502
There is either a non-numeric or
non-normalized number.
(The number is negative.)
4100
Numerical value error
(The value is out of the range.)
2
constant, loop tag memory, loop tag
3
Tried to divide by 0.
4
5
An overflow occurred.
6
The value is not an integer.
Set data, such as operation
past value memory or execution
Check/correct the set data.
cycle, has a problem.
251
14.1 List of Error Codes
Sign error
1
Processing numbers of each instruction (The number is stored in SD1503.)
Processing numbers stored in SD1503
Instruction
1
2
3
S. IN
Range
check
Input limiter
Engineering
value reverse
conversion
S. OUT1
Input addition
processing
Change rate,
upper/lower
limiter
Reset windup
Change rate,
upper/lower
limiter
S. OUT2
S. DUTY
Input addition
processing
Change rate,
upper/lower
limiter
4
Digital
Filter
Output
conversion
5
6
7
8
Output
conversion
Reset windup
S. BC
Change rate
check
S. PSUM
Integration
Output
value operation conversion
Output ON time
conversion
S. PID
Control cycle
judgment
SV setting
processing
Tracking
processing
Gain (Kp)
operation
PID operation
Deviation
check
S. 2PID
Control cycle
judgment
SV setting
processing
Tracking
processing
Gain (Kp)
operation
PID operation
PID operation
PID operation
1) *1
2) *2
3) *3
S. PIDP
Control cycle
judgment
SV setting
processing
Tracking
processing
Gain (Kp)
operation
PIDP operation
Deviation
check
Change rate,
upper/ lower
limiter
Output
conversion
S. SPI
Operation time
monitor
SV setting
processing
Tracking
processing
Gain (Kp)
operation
SPI operation
Deviation
check
S. IPD
Control cycle
judgment
SV setting
processing
Tracking
processing
Gain (Kp)
operation
IPD operation
Deviation
check
S. BPI
Control cycle
judgment
SV setting
processing
Tracking
processing
Gain (Kp)
operation
BPI operation
Deviation
check
S. R
Control cycle
judgment
Engineering
value
conversion
Tracking
processing
Change rate
limiter
Ratio operation
S. PHPL
Engineering
value reverse
conversion
Upper/lower
limit check
Change rate
check
Engineering
value
conversion
Loop stop
S. ONF2
Control cycle
judgment
SV setting
processing
Tracking
processing
MV compensation
2-position ON/
OFF control
S. ONF3
Control cycle
judgment
SV setting
processing
Tracking
processing
MV compensation
3-position ON/
OFF control
S. PGS
Operation
constant check
SV count
up
MVPGS
operation
Output
processing
S. SEL
Engineering
value
conversion
Engineering
value reverse
conversion
Change rate,
upper/ lower
limiter
Output
conversion
S. AT1
Input check
Step
manipulated
value set
Sampling cycle
judgment
Identification
processing
PID constant
calculation
*1
*2
*3
Time out
judgment
Response
waveform
observation
Indicates the operation processing of Bn or Cn.
Indicates the operation processing of Dn.
Indicates the operation processing of MV.
Processing No. 1 is stored if an error occurs in the instruction that is not indicated in the above table.
252
Deviation
check
APPENDIX
1
Appendix 1
Program Example
2
In the following program, the operation mode at power-on is in manual mode. When X10 turns ON, the mode switches to
automatic mode and the module starts PID control.
3
X10
0
MOVP H10 R1001
Changes operation mode to AUTO.
MOVP H0 R1003
Changes Alarm Detection (ALM) to 0.
SM402
CALL P0
5
8
10
12
14
16
21
X1
X2
X2
SET
SM1500
Sets last value hold processing.
RST
SM1500
Resets last value hold processing.
SET
SM1501
Sets output value hold processing.
RST
SM1501
Resets output value hold processing.
K1
T0
Match with the time set for the execution cycle.
X0
T0
PLS
M0
P1
6
A
8
M0
CALL P1
Jumps to P1 label when M0 is ON.
RST
T0
Changes T0 data to 0 when M0 turns ON.
FEND
Indicates the end of sequence program where SM402 is OFF.
R0
Converts D0 value into real number and stores it into R0.
31
1
Jumps to P0 label when SM402 is ON.
Appendix 1Program Example
24
X1
4
SM400
FLT D0
32
S.IN
R0 R100 R200 R1000
EMOV R100 R20
S.PHPL
R20 R120 R220 R1000
EMOV R120 R40
S.PID R40 R140 R240 R1000 R300
S.OUT1
R60
Sets each head device of S.IN instruction.
Transfers R100 value of S.IN instruction to R20 of S.PHPL.
Sets each head device of S.PHPL instruction.
Transfers R120 value of S.PHPL instruction to R40 of S.PID.
Sets each head device of S.PID instruction.
EMOV R140 R60
Transfers R140 value of S.PID instruction to R60 of S.OUT1.
R160 R260 R1000
Sets each head device of S.OUT1 instruction.
INT R160 D1
Converts R160, R161 real number into binary.
253
81
RET
End of subroutine program
82
FEND
Main routine program end
P0
83
SM400
EMOV E0.1 SD1500
Sets execution cycle to 0.1s.
FMOV H0 R100 K100
Clears S.IN, S.PHPL. S.PID, S.OUT1 output values to 0.
FMOV H0 R1000 K128
Clears loop tag to 0.
MOV H1
R1000
MOV H8
R1001
MOV H7C7 R1002
MOV H0
R1003
MOV H0
R1004
EMOV E0
R1010
EMOV E0
R1012
EMOV E0 R1014
Default value setting of loop tag
EMOV E0 R1016
EMOV E100 R1018
EMOV E0 R1020
EMOV E100 R1022
EMOV E0 R1024
EMOV E100 R1026
EMOV E0 R1028
EMOV E100 R1030
254
151
SM400
EMOV E0
R1032
1
EMOV E100 R1034
EMOV E0
R1036
2
EMOV E0.2 R1038
EMOV E0
R1040
EMOV E0
R1042
3
4
EMOV E100 R1044
EMOV E1
1
R1046
Default value setting of loop tag
EMOV E100 R1048
6
EMOV E100 R1050
R1052
EMOV E10
R1054
EMOV E0
R1056
EMOV E0
R1058
EMOV E1
R1060
EMOV E0
R1062
A
8
Appendix 1Program Example
EMOV E1
255
216
SM400
EMOV E100 R200
EMOV E0
R202
EMOV E100 R204
EMOV E0
R206
Operation constant setting of S.IN instruction
EMOV E110 R208
EMOV E100 R210
EMOV E0
R212
EMOV E-10 R214
249
264
SM400
SM400
EMOV E8
R240
EMOV E2
R242
MOV
H0
R244
MOV
H0
R245
MOV
H3
R246
Operation constant setting of S.PID instruction
EMOV E100 R260
Operation constant setting of S.OUT1 instruction
EMOV E0
256
R262
273
RET
274
END
End of subroutine program
Appendix 2
Loop Tag Memory List
1
Appendix 2.1
PID control (SPID), 2-degree-of-freedom PID control
(S2PID), sample PI control (SSPI)
2
Data storage
Instruction used
Offset
Item
Name
Recommended range
Unit
SPID
S2PID
+0
1
S. PHPL
S. OUT1/S. DUTY
ALM*1
Alarm detection
0 to FFFFH
4
INH*1
Alarm detection inhibition
0 to FFFFH
––
––
S/U
S/U
S/U
S/U
––
––
6
––
––
––
––
––
––
7
––
––
––
––
––
––
8
––
––
––
––
––
––
9
––
––
––
––
––
––
10
11
12
13
18
19
20
22
23
S. PHPL/S. PID/
24
S. 2PID/S. SPI
25
26
27
28
29
30
31
32
33
PV
Process value
(RL to RH)
––
S
S
MV
Manipulated value
-10 to 110
%
S/U
S/U
SV
Set value
RL to RH
––
U
U
DV
Deviation
(-110 to 110)
%
S
S
MH
Output upper limit value
-10 to 110
%
U
U
ML
Output lower limit value
-10 to 110
%
U
U
-999999 to 999999
––
U
U
-999999 to 999999
––
U
U
––
U
U
––
U
U
––
U
U
––
U
U
Engineering value upper
RH
limit
Engineering value lower
RL
limit
PH
Upper limit alarm set value
PL
Lower limit alarm value
HH
LL
34
35
36
37
42
43
44
45
S. PID/S. 2PID/
46
S. SPI
47
RL to RH
PL < PH
Upper upper limit alarm
RL to RH
value
PH HH
Lower lower limit alarm
RL to RH
value
LL PL
––
––
––
––
––
––
––
––
––
––
––
0 to 1
––
U
U
0 to 999999
%
U
U
0 to 999999
s
U
U
0 to 100
%
U
U
0 to 999999
s
U (Set CT)
U (Set ST)
Filter coefficient
39
41
PL < PH
––
38
40
RL to RH
HS
CTIM
DPL
CT/ST
Upper/lower limit alarm
hysteresis
Change rate alarm check
time
Change rate alarm value
Control cycle/Operation
time
257
3
4
1
6
A
8
Appendix 2Loop Tag Memory List
Appendix 2.1PID control (SPID), 2-degree-of-freedom PID control (S2PID), sample PI control (SSPI)
21
S. 2PID/S. SPI
S. PHPL
––
––
S. PHPL/S. PID/
S. PHPL
S/U
––
17
S. PHPL
S/U
––
––
––
S. SPI
S. IN
––
––
16
S. PHPL
––
––
––
S. PID/S. 2PID/
S. PHPL
––
––
5
15
S. PHPL
0 to FFFFH
3
S. SPI
S. PHPL
Operation mode
––
––
14
S. OUT1/S. DUTY
MODE*1
––
2
S. PID/S. 2PID/
S. OUT1/S. DUTY
––
SSPI
Data storage
Instruction used
Offset
Item
Name
Recommended range
Unit
SPID
S2PID
S. OUT1/S.DUTY
48
49
S. PID/S. 2PID/
50
S. SPI
51
S. PID/S. 2PID/
52
S. SPI
53
S. PID/S. 2PID/
S. SPI/S. OUT1/
S. DUTY
54
55
S. PID/S. 2PID/
56
S. SPI
57
S. PID/S. 2PID/
58
S. SPI
59
S. PID/S. 2PID/
60
S. SPI
61
S. PID/S. 2PID/
S. SPI/S. OUT1/S.
DUTY
S. 2PID
S. 2PID
S. DUTY
*1
*2
258
62
63
DML
Output change rate limit
0 to 100
%
U
U
Deviation limit value
0 to 100
%
U
U
P
Gain
0 to 999999
––
U
U
I*2
Integral constant
0 to 999999
s
U
U
0 to 999999
s
DVL
D/STHT
value
Derivative constant/
Sample cycle
(D Setting)
U
(STHT
Setting)
Gap width
0 to 100
%
U
U
GG
Gap gain
0 to 999999
––
U
U
MV inside operation value
(-999999 to 999999)
%
S
S
0 to 1
––
U
––
0 to 1
––
U
––
s
U
––
MVP
2Degree-of-freedom
65
parameter
66
2Degree-of-freedom
67
parameter
69
U
GW
64
68
SSPI
CTDUTY
Control output cycle
MODE, ALM, and INH are shared among the instructions.
The following instructions share the same value in I.
• S. PID instruction and S. OUT1 instruction
• S. PID instruction and S. DUTY instruction
• S. 2PID instruction and S. OUT1 instruction
• S. 2PID instruction and S. DUTY instruction
• S. SPI instruction and S. OUT1 instruction
0 to 999999
Appendix 2.2
Instruction used
Item
Name
Recommended range
Unit
+0
––
––
––
––
––
––
––
S/U
S/U
––
––
––
S. IPD/S. BPI
––
3
ALM*1
S. OUT1
S. OUT1
S/U
––
––
––
––
––
––
––
––
––
––
––
––
8
––
––
––
––
––
––
9
––
––
––
––
––
––
10
11
12
13
14
16
17
18
19
20
21
27
28
29
30
31
32
33
Process value
(RL to RH)
––
S
S
MV
Manipulated value
-10 to 110
%
S/U
S/U
SV
Set value
RL to RH
––
U
U
DV
Deviation
(-110 to 110)
%
S
S
MH
Output upper limit value
-10 to 110
%
U
U
ML
Output lower limit value
-10 to 110
%
U
U
-999999 to 999999
––
U
U
-999999 to 999999
––
U
U
––
U
U
––
U
U
––
U
U
––
U
U
Engineering value upper
RH
limit
Engineering value lower
RL
limit
PH
Upper limit alarm set value
PL
Lower limit alarm value
HH
LL
35
36
37
42
43
44
45
46
47
RL to RH
PL < PH
Upper upper limit alarm
RL to RH
value
PH HH
Lower lower limit alarm
RL to RH
value
LL PL
––
––
––
––
––
––
––
––
––
––
––
0 to 1
––
U
U
0 to 999999
%
U
U
0 to 999999
s
U
U
Filter coefficient
39
41
PL < PH
––
38
40
RL to RH
HS
CTIM
Upper/lower limit alarm
hysteresis
Change rate alarm check
time
DPL
Change rate alarm value
0 to 100
%
U
U
CT
Control cycle
0 to 999999
s
U
U
259
2
3
4
1
6
A
8
Appendix 2Loop Tag Memory List
Appendix 2.2I-PD control (SIPD), blend PI control (SBPI)
26
PV
34
S. IPD/S. BPI
S/U
S/U
7
25
S. PHPL
S/U
––
6
24
S. PHPL
––
0 to FFFFH
––
S. BPI
S. PHPL
0 to FFFFH
Alarm detection inhibition
––
S. PHPL/S. IPD/
S. IN
Alarm detection
––
23
S. PHPL
––
––
S. BPI
S. PHPL
––
––
22
S. PHPL
0 to FFFFH
SBPI
––
S. PHPL/S. IPD/
S. PHPL
INH
*1
Operation mode
SIPD
5
15
S. IPD/S. BPI
MODE*1
2
4
S. OUT1
1
Data storage
Offset
1
S. PHPL
I-PD control (SIPD), blend PI control (SBPI)
Instruction used
Offset
48
S. OUT1
49
50
S. IPD/S. BPI
51
52
S. IPD/S. BPI
53
S. IPD/S. BPI
54
S. OUT1
55
56
S. IPD/S. BPI
57
58
S. IPD/S. BPI
59
60
S. IPD/S. BPI
61
S. IPD/S. OUT1
*1
*2
260
62
63
Item
DML
Name
Output change rate limit
value
Recommended range
Unit
Data storage
SIPD
SBPI
0 to 100
%
U
U
DVL
Deviation limit value
0 to 100
%
U
U
P
Gain
0 to 999999
––
U
U
I*2
Integral constant
0 to 999999
s
U
U
Derivative constant/
D:0 to 999999
s
U
––
DV cumulative value
SDV:-999999 to 999999
%
––
S
GW
Gap width
0 to 100
%
U
U
GG
Gap gain
0 to 999999
––
U
U
MVP
MV inside operation value
(-999999 to 999999)
%
S
––
D/SDV
MODE, ALM, and INH are shared among the instructions.
The following instructions share the same value in I.
• S. IPD instruction and S. OUT1 instruction
• S. BPI instruction and S. OUT1 instruction
Appendix 2.3
Manual output (SMOUT), monitor (SMON)
1
Instruction used
Offset
Item
Name
Setting/Store range
Unit
+0
––
––
––
––
––
––
––
S/U
S/U
1
S. PHPL
S. MOUT
MODE*1
––
––
––
––
ALM*1
Alarm detection
0 to FFFFH
––
S/U
S/U
4
INH*1
Alarm detection inhibition
0 to FFFFH
––
––
S/U
––
––
––
––
––
––
––
––
––
––
––
––
7
––
––
––
––
––
––
8
––
––
––
––
––
––
9
––
––
––
––
––
––
10
11
12
13
PV
Process value
(RL to RH)
––
––
S
MV
Manipulated value
-10 to 110
%
U
––
18
19
20
21
S. PHPL
22
23
24
25
26
27
28
29
30
31
32
33
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
-999999 to 999999
––
––
U
-999999 to 999999
––
––
U
––
––
U
––
––
U
––
––
U
––
––
U
Engineering value upper
RH
limit
Engineering value lower
RL
limit
PH
PL
LL
35
36
37
S. PHPL
S. PHPL
40
41
42
43
44
45
46
47
*1
RL to RH
PL < PH
Upper upper limit alarm
RL to RH
value
PH HH
Lower lower limit alarm
RL to RH
value
LL PL
––
––
––
––
––
––
––
––
––
––
––
0 to 1
––
––
U
0 to 999999
%
––
U
0 to 999999
s
––
U
0 to 100
%
––
U
––
––
––
Filter coefficient
39
S. PHPL
PL < PH
––
38
S. IN
RL to RH
value
Lower limit alarm value
HH
34
Upper limit alarm set
Upper/lower limit alarm
HS
hysteresis
CTIM
DPL
––
Change rate alarm check
time
Change rate alarm value
––
––
MODE, ALM, and INH are shared among the instructions.
261
2
3
4
1
6
A
8
Appendix 2Loop Tag Memory List
Appendix 2.3Manual output (SMOUT), monitor (SMON)
S. PHPL
––
6
17
S. PHPL
––
5
16
S. PHPL
0 to FFFFH
SMON
3
15
S. PHPL
Operation mode
SMOUT
2
14
S. PHPL
Data storage
Appendix 2.4
Manual output with monitor (SMWM), PIDP control
(SPIDP)
Instruction used
Item
Name
Recommended range
Unit
+0
––
––
––
––
––
––
––
S/U
S/U
1
S. PHPL
S. MOUT/S. PIDP
S. PIDP
S. PIDP
S. PIDP
S. PHPL/S. PIDP
S. PHPL/S. PIDP
S. PHPL
S. PHPL
S. PHPL
S. PHPL
*1
MODE
––
ALM*1
Alarm detection
0 to FFFFH
4
INH*1
Alarm detection inhibition
0 to FFFFH
S. PIDP
262
––
––
––
––
S/U
S/U
––
S/U
S/U
––
––
––
––
––
6
––
––
––
––
––
––
7
––
––
––
––
––
––
8
––
––
––
––
––
––
9
––
––
––
––
––
––
10
11
12
13
14
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
PV
Process value
(RL to RH)
––
S
S
MV
Manipulated value
-10 to 110
%
U
S/U
SV
Set value
RL to RH
––
––
U
DV
Deviation
(-110 to 110)
%
––
S
MH
Output upper limit value
-10 to 110
%
––
U
ML
Output lower limit value
-10 to 110
%
––
U
-999999 to 999999
––
U
U
-999999 to 999999
––
U
U
––
U
U
––
U
U
––
U
U
––
U
U
Engineering value upper
RH
limit
Engineering value lower
RL
limit
PH
Upper limit alarm set value
PL
Lower limit alarm value
HH
LL
37
S. PHPL
––
SPIDP
––
36
S. PHPL
––
SMWM
5
35
S. PHPL
0 to FFFFH
3
34
S. IN
Operation mode
2
15
S. PIDP
Data storage
Offset
42
43
44
45
46
47
RL to RH
PL < PH
Upper upper limit alarm
RL to RH
value
PH HH
Lower lower limit alarm
RL to RH
value
LL PL
––
––
––
––
––
––
––
––
––
––
––
0 to 1
––
U
U
0 to 999999
%
U
U
0 to 999999
s
U
U
Filter coefficient
39
41
PL < PH
––
38
40
RL to RH
HS
CTIM
Upper/lower limit alarm
hysteresis
Change rate alarm check
time
DPL
Change rate alarm value
0 to 100
%
U
U
CT
Control cycle
0 to 999999
s
––
U
Instruction used
S. PIDP
S. PIDP
S. PIDP
S. PIDP
S. PIDP
S. PIDP
S. PIDP
*1
Offset
48
49
50
51
52
53
54
55
56
57
58
59
60
61
Item
DML
Name
Output change rate limit
value
Recommended range
Unit
Data storage
SMWM
SPIDP
0 to 100
%
––
U
DVL
Deviation limit value
0 to 100
%
––
U
P
Gain
0 to 999999
––
––
U
I
Integral constant
0 to 999999
s
––
U
D
Derivative constant
0 to 999999
s
––
U
GW
Gap width
0 to 100
%
––
U
GG
Gap gain
0 to 999999
––
––
U
1
2
3
4
1
MODE, ALM, and INH are shared among the instructions.
6
A
8
Appendix 2Loop Tag Memory List
Appendix 2.4Manual output with monitor (SMWM), PIDP control (SPIDP)
263
Appendix 2.5
2 position ON/OFF control (SONF2), 3 position ON/OFF
control (SONF3)
Instruction used
Item
Name
Recommended range
Unit
+0
––
––
––
––
––
––
––
S/U
S/U
––
––
––
1
––
3
ALM*1
S.ONF2/S.ONF3
––
––
––
––
7
––
––
––
––
––
––
8
––
––
––
––
––
––
9
––
––
––
––
––
––
12
13
14
16
17
18
19
27
28
29
30
31
32
33
PV
Process value
(RL to RH)
––
S
S
MV
Manipulated value
-10 to 110
%
S/U
S/U
SV
Set value
RL to RH
––
U
U
DV
Deviation
(-110 to 110)
%
S
S
HSO
Hysteresis
0 to 999999
––
U
U
HS1
Hysteresis
0 to 999999
––
––
U
-999999 to 999999
––
U
U
-999999 to 999999
––
U
U
––
U
U
––
U
U
––
U
U
––
U
U
limit
Engineering value lower
RL
limit
PH
PL
LL
36
37
41
42
S.PHPL
43
44
S.PHPL
45
S.ONF2/S.ONF3
*1
46
47
PL < PH
RL to RH
PL < PH
Upper upper limit alarm
RL to RH
value
PH HH
Lower lower limit alarm
RL to RH
value
LL PL
––
––
––
––
––
––
––
––
––
––
––
0 to 1
––
U
U
0 to 999999
%
U
U
0 to 999999
s
U
U
Filter coefficient
39
40
RL to RH
value
––
38
S.PHPL
Upper limit alarm set
Lower limit alarm value
HH
35
264
Engineering value upper
RH
34
S.IN
S/U
––
26
S.PHPL
S/U
S/U
––
25
S.PHPL
S/U
––
––
24
S.PHPL
––
0 to FFFFH
––
23
S.PHPL
0 to FFFFH
Alarm detection inhibition
––
22
S.PHPL
Alarm detection
––
21
S.PHPL
––
––
20
S.ONF3
––
––
15
S.ONF2/S.ONF3
0 to FFFFH
SONF3
6
11
S.ONF2/S.ONF3
INH
*1
Operation mode
SONF2
5
10
S.ONF2/S.ONF3
MODE*1
2
4
S.PHPL
Data storage
Offset
HS
CTIM
Upper/lower limit alarm
hysteresis
Change rate alarm check
time
DPL
Change rate alarm value
0 to 100
%
U
U
CT
Control cycle
0 to 999999
s
U
U
MODE, ALM, and INH are shared among the instructions.
Appendix 2.6
Batch counter (SBC)
1
Instruction used
Offset
Item
Name
Recommended range
Unit
+0
––
––
––
––
––
––
S/U
1
S. PSUM
––
––
––
Alarm detection
0 to FFFFH
––
S/U
4
INH*1
Alarm detection inhibition
0 to FFFFH
––
S/U
––
––
––
––
––
6
––
––
––
––
––
7
––
––
––
––
––
8
––
––
––
––
––
9
––
––
––
––
––
(0 to 2147483647)
––
S
(0 to 2147483647)
––
S
10
12
13
17
SUM1
SUM2
U
SV2
Set value 2
0 to 2147483647
––
U
22
23
24
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
S. BC
45
46
47
*1
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
U
Upper limit alarm set
PH
value
0 to 2147483647
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
s
U
––
U
––
––
CTIM
DPL
––
Change rate alarm check
time
Change rate alarm value
––
0 to 999999
0 to 2147483647
––
2
3
4
1
6
A
8
Appendix 2Loop Tag Memory List
Appendix 2.6Batch counter (SBC)
25
29
part)
––
21
28
Integration value (Fraction
0 to 2147483647
20
27
part)
Set value 1
19
26
Integration value (Integer
SV1
18
S. BC
––
5
16
S. BC
––
0 to FFFFH
ALM*1
15
S. BC
Operation mode
3
14
S. BC
MODE*1
SBC
2
11
S. PSUM
Data storage
MODE, ALM, and INH are shared among the instructions.
265
Appendix 2.7
Instruction used
Item
Name
Recommended range
Unit
+0
––
––
––
––
––
––
S/U
––
––
S. R
S. R
S. OUT2
S. OUT2
S. PHPL
S. PHPL
S. PHPL
S. PHPL
S. PHPL
S. PHPL
MODE*1
2
––
3
*1
4
S. OUT2
ALM
INH
*1
S. R
266
––
Alarm detection
0 to FFFFH
––
S/U
Alarm detection inhibition
0 to FFFFH
––
S/U
––
––
––
––
––
––
––
––
––
7
––
––
––
––
––
8
––
––
––
––
––
9
––
––
––
––
––
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
PV
Process value
(RL to RH)
––
S
MV
Manipulated value
-10 to 110
%
S/U
SPR
Set value
-999999 to 999999
––
U
BIAS
Bias
-999999 to 999999
%
U
MH
Output upper limit value
-10 to 110
%
U
ML
Output lower limit value
-10 to 110
%
U
-999999 to 999999
––
U
-999999 to 999999
––
U
––
U
––
U
––
U
––
U
Engineering value upper
RH
limit
Engineering value lower
RL
limit
PH
PL
LL
42
43
44
45
46
47
PL < PH
RL to RH
PL < PH
Upper upper limit alarm
RL to RH
value
PH HH
Lower lower limit alarm
RL to RH
value
LL PL
––
––
––
––
––
––
––
––
––
0 to 1
––
U
0 to 999999
%
U
0 to 999999
s
U
Filter coefficient
39
41
RL to RH
value
––
38
40
Upper limit alarm set
Lower limit alarm value
HH
37
S. PHPL
––
––
36
S. PHPL
0 to FFFFH
6
35
S. PHPL
Operation mode
SR
5
34
S. IN
Data storage
Offset
1
S. PHPL
Ratio control (SR)
HS
CTIM
Upper/lower limit alarm
hysteresis
Change rate alarm check
time
DPL
Change rate alarm value
0 to 100
%
U
CT
Control cycle
0 to 999999
s
U
Instruction used
S. OUT2
Offset
48
49
50
S. R
51
52
S. R
53
54
S. R
55
56
S. R
57
*1
Item
DML
Name
Output change rate limit
value
Recommended range
Unit
Data storage
SR
0 to 100
%
U
DR
Change rate limit value
0 to 999999
––
U
RMAX
Ratio upper limit value
-999999 to 999999
––
U
RMIN
Ratio lower limit value
-999999 to 999999
––
U
Rn
Ratio current value
(-999999 to 999999)
––
S
1
2
3
4
MODE, ALM, and INH are shared among the instructions.
1
6
A
8
Appendix 2Loop Tag Memory List
Appendix 2.7Ratio control (SR)
267
Appendix 3
Operation Processing Time
Appendix 3.1
Operation processing time of each instruction
The operation processing time of each instruction is indicated in the table on this page and later.
Since the operation processing time changes depending on the setting conditions, refer to the value in the table as the
guideline of the processing time.
Instruction
Condition
Processing time(µs)
S.IN
Condition where ALM does not turn ON during loop run
69
S.OUT1
Condition where ALM does not turn ON during loop run in AUT mode
47
S.OUT2
Condition where ALM does not turn ON during loop run in AUT mode
37
S.MOUT
Executed during loop run in MAN mode
27
S.DUTY
S.BC
S.PSUM
Execution cycle = 1, Control output cycle = 10
Condition where ALM does not turn ON during loop run in AUT mode
Condition where ALM does not turn ON during loop run in AUT mode
Integration start signal = ON
Integration hold signal = OFF
55
29
23
Set value pattern = 3(Without cascade)
Tracking bit = 0
S.PID
Execution cycle = Control cycle = 1
Integral constant
0
Derivative constant
104
0
Condition where ALM does not turn ON during loop run in AUT mode
Set value pattern = 3(Without cascade)
Tracking bit = 0
S.2PID
Execution cycle = Control cycle = 1
Integral constant
0
Derivative constant
136
0
Condition where ALM does not turn ON during loop run in AUT mode
Set value pattern = 3(Without cascade)
Tracking bit = 0
S.PIDP
Execution cycle = Control cycle = 1
Integral constant
0
Derivative constant
119
0
Condition where ALM does not turn ON during loop run in AUT mode
Set value pattern = 3(Without cascade)
Tracking bit = 0
S.SPI
Operating time = Sample cycle (ST = STHT)
Integral constant
87
0
Condition where ALM does not turn ON during loop run in AUT mode
Set value pattern = 3(Without cascade)
Tracking bit = 0
S.IPD
Execution cycle = Control cycle = 1
Integral constant
Derivative constant
0
0
Condition where ALM does not turn ON during loop run in AUT mode
268
101
Instruction
Condition
Processing time(µs)
Set value pattern = 3(Without cascade)
1
Tracking bit = 0
S.BPI
Execution cycle = Control cycle = 1
Integral constant
75
0
Condition where ALM does not turn ON during loop run in AUT mode
2
Set value pattern = 3(Without cascade)
S.R
Tracking bit = 0
Execution cycle = Control cycle = 1
58
3
Executed during loop run in AUT
S.PHPL
S.LLAG
S.I
S.D
Condition where ALM does not turn ON during loop run in AUT mode
Input data = 50, With lead-lag guarantee
Lead time = 1, Delay time = 1
Input data = 50, Integral time = 1
Output initial value = 0
Input data = 50, Derivative time = 1
Output initial value = 0
100
30
4
23
27
1
17
6
Input data = 50
Operation control signal 0
S.DED
1
Data collection interval = 1
Sampling count = 10
Output initial value = 0
Initial output switching = 0
S.HS
S.LS
S.MID
S.AVE
Input number = 5
Input data = 50, 100, 150, 200, 250
Input number = 5
Input data = 50, 100, 150, 200, 250
Input number = 5
Input data = 50, 100, 150, 200, 250
Input number = 2, Input data = 50, 100
A
29
32
8
69
24
Input data = 50
Lower limit value = 0
Appendix 3Operation Processing Time
Appendix 3.1Operation processing time of each instruction
Upper limit value = 100
S.LIMT
30
Upper limit hysteresis = 0
Lower limit hysteresis = 0
Input data = 50
Positive direction limit value = 100
S.VLMT1
Negative direction limit value = 100
38
Positive direction hysteresis = 0
Negative direction hysteresis = 0
Input data = 50
Positive direction limit value = 100
S.VLMT2
Negative direction limit value = 100
27
Positive direction hysteresis = 0
Negative direction hysteresis = 0
Input data = 10
Set value pattern = 3(Without cascade)
S.ONF2
Tracking bit = 0
52
Execution cycle = Control cycle = 1
Executed during loop run in MAN mode
Input data = 10
Set value pattern = 3(Without cascade)
S.ONF3
Tracking bit = 0
59
Execution cycle = Control cycle = 1
Executed during loop run in MAN mode
Input data = 50
S.DBND
Dead band upper limit = 100, Dead band lower limit = 0
26
Input range = 1
269
Instruction
Condition
Processing time(µs)
Number of operation constant polygon points = 16
Operation type = 0(Hold type)
S.PGS
Execution cycle = 1
86
Set value = 10
Condition where ALM does not turn ON during loop run in AUT mode
Set value pattern = 18H(E1, E2 Used, Without cascade)
S.SEL
Tracking bit = 0
68
Condition where ALM does not turn ON during loop run in AUT mode
Output set value = 0, Output control value = 50
S.BUMP
Mode selection signal = 1
18
Delay time = 1, Delay zone = 1
Output addition value = 50, Output subtraction value = 50
S.AMR
Output set value = 0, Output signal = 1
Output addition signal = 1, Output subtraction signal = 0
25
Output upper limit value = 50, Output lower limit value = 0
S.FG
Input data = 50, Number of polygon points = 2
S.IFG
Polygon coordinates (30, 40), (60, 70)
S.FLT
Input data = 50, Data collection interval = 1
Sampling count = 10
33
40
Input data = 50
S.SUM
Input low cut value = 0, Initial value = 0
25
Input range = 1
Both temperature and pressure are corrected.
Differential pressure = 100, Measurement temperature = 300
S.TPC
Measured pressure = 10000, Design temperature = 0
Bias (Temperature) = 273.15
39
Design pressure = 0
Bias pressure = 10332.0
S.ENG
Input data = 50, Engineering value upper limit = 100
S.IENG
Engineering value lower limit = 0
S.ADD
S.SUB
S.MUL
S.DIV
S.SQR
S.ABS
S.>
S.<
S.=
S.>=
S.<=
Input number = 2, Input data = 50, 100
Number of coefficients = 2, Coefficient = 1, 1, Bias = 0
Input number = 2, Input data = 50, 100
Number of coefficients = 2, Coefficient = 1, 1, Bias = 0
Input number = 2, Input data = 50, 100
Number of coefficients = 2, Coefficient = 1, 1, Bias = 0
Input data = 50, 100
Coefficient = 1, 1, 1, Bias = 0, 0, 0
Input data = 50
Output low cut value = 0, Coefficient = 10
Input data = 50
Input data = 50, 100
Set value = 0, Hysteresis = 0
Input data = 50, 100
Set value = 0, Hysteresis = 0
Input data = 50, 100
Set value = 0
Input data = 50, 100
Set value = 0, Hysteresis = 0
Input data = 50, 100
Set value = 0, Hysteresis = 0
25
25
26
24
27
34
17
22
19
18
22
19
Set value pattern = 3(Without cascade)
S.AT1
Tracking bit = 0
Execution cycle = 1
Executed during loop run in MAN mode
270
67
Appendix 3.2
Operation processing time of 2-degree-of-freedom PID
control loop
1
This section gives an example of the operation constant of each instruction and the processing times taken when actual
values are stored into the loop tag memory.
2
(1) Conditions
• Loop type: S2PID
3
• Used instructions: S.IN, S.PHPL, S.2PID, S.OUT1
(2) Operation constants
(a) S.IN instruction
Name
Item
4
Setting
Engineering conversion upper limit
Engineering conversion lower limit
EMAX
EMIN
100.0
0.0
Input upper limit
Input lower limit
NMAX
NMIN
100.0
0.0
Upper limit range error occurrence
HH
95.0
Upper limit range error return
Lower limit range error return
H
L
80.0
20.0
Lower limit range error occurrence
LL
5.0
1
6
A
(b) S.PHPL instruction: Without operation constant
(c)
S.2PID instruction
Name
Item
Setting
Derivative gain
Deviation large alarm hysteresis
MTD
DVLS
Operation mode
Tracking bit
PN
TRK
0
0
Set value pattern
SVPTN
3
Output conversion upper limit
Output conversion lower limit
Item
NMAX
NMIN
Appendix 3Operation Processing Time
Appendix 3.2Operation processing time of 2-degree-of-freedom PID control loop
(d) S.OUT1 instruction
Name
8
4.0
3.0
Setting
100.0
0.0
271
(3) Loop tag memory
Offset
Item
Name
Recommended range
+0
––
––
––
+1
MODE
+2
––
+3
+4
ALM
INH
Operation mode
––
––
Alarm detection
0 to FFFFH
Alarm detection inhibition
0 to FFFFH
0
10H
0
0
0
+5
+6
––
––
––
––
––
––
0
0
+7
+8
––
––
––
––
––
––
0
0
––
+9
+10
PV
––
Process value
RL to RH
0
0.0
+12
+14
MV
SV
Manipulated value
Set value
-10 to 110
RL to RH
0.0
55.0
+16
+18
DV
MH
Deviation
Output upper limit value
-110 to 110
-10 to 110
7
100.0
+20
+22
ML
RH
Output lower limit value
Engineering value upper limit
-10 to 110
-999999 to 999999
0.0
100.0
+24
+26
RL
PH
Engineering value lower limit
Upper limit alarm set value
-999999 to 999999
RL to RH
0.0
80.0
+28
+30
PL
HH
Lower limit alarm value
Upper limit alarm value
RL to RH
RL to RH
20.0
90.0
+32
+34
LL
Lower limit alarm value
––
RL to RH
10.0
0
––
+36
+38
––
––
––
––
Filter coefficient
0 to 1
––
0
0.0
+40
+42
HS
CTIM
Upper/lower limit alarm hysteresis
Change rate alarm check time
0 to 999999
0 to 999999
3.0
8.0
+44
+46
DPL
CT
Change rate alarm value
Control cycle
0 to 100
0 to 999999
30.0
1.0
+48
+50
DML
DVL
Output change rate limit value
Deviation limit value
0 to 100
0 to 100
100.0
25.0
+52
+54
P
I
Gain
Integral constant
0 to 999999
0 to 999999
3.0
8.0
+56
D
Derivative constant
0 to 999999
5.0
+58
+60
GW
GG
Gap width
Gap gain
0 to 100
0 to 999999
15.0
2.0
+62
+64
MVP
MV inside operation value
2-degree-of-freedom parameter
-999999 to 999999
0 to 1
0.25
0.0
2-degree-of-freedom parameter
0 to 1
1.0
+66
(4) Processing time
(a) Processing times of used instructions
Instruction
S.IN
For QnPHCPU
69µs
S.PHPL
100µs
S.2PID
136µs
S.OUT1
47µs
(b) Processing time of loop type
Instruction
S2PID
272
0 to FFFFH
Setting
For QnPHCPU
352µs
INDEX
0 to 9
9
E
2-degree-of-freedom PID Control (S.2PID) . . . . . . . 98
2-position ON/OFF (S.ONF2) . . . . . . . . . . . . . . . . 173
3-position ON/OFF (S.ONF3) . . . . . . . . . . . . . . . . 179
10
Engineering Value Conversion (S.ENG) . . . . . . . .215
Execution cycle . . . . . . . . . . . . . . . . . . . . . . . . . . .34
11
F
A
Absolute Value (S.ABS) . . . . . .
Addition (S.ADD) . . . . . . . . . .
Alarm detection (ALM) . . . . . . .
Alarm detection inhibition (INH)
ALM(Alarm detection) . . . . . . .
Analog Input Processing (S.IN) .
Analog Memory (S.AMR) . . . . .
AUT (AUTOMATIC). . . . . . . . .
Auto tuning instruction (S. AT1)
Average Value (S.AVE) . . . . . .
. . . . . . . . . . . . . . 229
. . . . . . . . . . . . . . 219
. . . . . . . . . . . . . . . 31
. . . . . . . . . . . . . . . 32
. . . . . . . . . . . . . . . 30
. . . . . . . . . . . . . . . 55
. . . . . . . . . . . . . . 201
. . . . . . . . . . . . . . . 33
. . . . . . . . . . . . . . 244
. . . . . . . . . . . . . . 164
Forward Operation . . . . . . . . . . . . . . . . . . . . . . . . 14
Function Generator (S.FG) . . . . . . . . . . . . . . . . . .203
H
HHA (Upper upper limit alarm) . . . . . . . . .
High Selector (S.HS) . . . . . . . . . . . . . . . .
High/Low Limit Alarm (S.PHPL) . . . . . . . .
High/Low Limiter (S.LIMT) . . . . . . . . . . . .
HOW TO READ INSTRUCTION DETAILS .
. . . . . . .32
. . . . . .157
. . . . . .142
. . . . . .166
. . . . . . .51
I
B
Basic PID (S.PID) . . . . . . . . .
Batch Counter (S.BC) . . . . . .
Blend PI control . . . . . . . . . .
Block memory. . . . . . . . . . . .
Bumpless function . . . . . . . . .
Bumpless Transfer (S.BUMP)
I operation . . . . . . . . . . . . . . . . . . . . . . . . . . . .
INH (Alarm detection inhibition) . . . . . . . . . . . . .
Input data . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Integral (S.I) . . . . . . . . . . . . . . . . . . . . . . . . . . .
Integral operation (I operation) . . . . . . . . . . . . . .
Inverse Engineering Value Conversion (S.IENG) .
Inverse Function Generator (S.IFG) . . . . . . . . . .
I-PD Control (S.IPD) . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . 90
. . . . . . . . . . . . . . . . 81
. . . . . . . . . . . . . . . 130
. . . . . . . . . . . . . . . . 30
. . . . . . . . . . . . . . . . 37
. . . . . . . . . . . . . . . 198
. .16
. .32
. . 29
.150
. .16
.217
.205
.122
C
CAB (COMPUTER AUTOMATIC BACK UP) . .
CAS (CASCADE) . . . . . . . . . . . . . . . . . . . . .
Cascade loop . . . . . . . . . . . . . . . . . . . . . . . .
CCB (COMPUTER CASCADE BACK UP) . . . .
CMB (COMPUTER MANUAL BACK UP) . . . . .
CMV (COMPUTER MV). . . . . . . . . . . . . . . . .
Compare Equal Than (S. =) . . . . . . . . . . . . . .
Compare Greater Or Equal (S. >=) . . . . . . . . .
Compare Greater Than (S. >) . . . . . . . . . . . . .
Compare Less Or Equal (S. <=) . . . . . . . . . . .
Compare Less Than (S. <) . . . . . . . . . . . . . . .
Control cycle . . . . . . . . . . . . . . . . . . . . . . . .
CSV (COMPUTER SV) . . . . . . . . . . . . . . . . .
. . . . 33
. . . . 33
. . . . 37
. . . . 33
. . . . 33
. . . . 33
. . . 235
. . . 237
. . . 231
. . . 239
. . . 233
. . . . 34
. . . . 33
D
D operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Data Used for Process Control Instructions . . . . . . . 28
Dead Band (S.DBND) . . . . . . . . . . . . . . . . . . . . . 185
Dead Time (S.DED) . . . . . . . . . . . . . . . . . . . . . . 154
Derivative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Derivative operation (D operation). . . . . . . . . . . . . . 17
Deviation large alarm (DVLA) . . . . . . . . . . . . . . . . . 32
Division (S.DIV) . . . . . . . . . . . . . . . . . . . . . . . . . 225
DMLA (Output change rate limit alarm) . . . . . . . . . . 32
DPNA (Negative direction change rate alarm) . . . . . 32
DPPA (Positive direction change rate alarm) . . . . . . 32
DVLA (Deviation large alarm) . . . . . . . . . . . . . . . . . 32
12
L
LCA (LOCAL AUTOMATIC) . . .
LCC (LOCAL CASCADE). . . . .
LCM (LOCAL MANIPULATED) .
Lead-Lag (S.LLAG) . . . . . . . . .
List of Error Codes . . . . . . . . .
LLA(Lower lower limit alarm) . .
Local Work Memory . . . . . . . .
Loop memory . . . . . . . . . . . . .
Loop selector . . . . . . . . . . . . .
Loop Selector (S. SEL) . . . . . .
Loop tag past value memory . .
Loop Types . . . . . . . . . . . . . .
Low Selector (S.LS) . . . . . . . .
Lower limit alarm (PLA) . . . . . .
Lower lower limit alarm(LLA) . .
. . . . . . . . . . . . . . . 33
. . . . . . . . . . . . . . .33
. . . . . . . . . . . . . . .33
. . . . . . . . . . . . . .148
. . . . . . . . . . . . . .251
. . . . . . . . . . . . . . .32
. . . . . . . . . . . . . . .27
. . . . . . . . . . . . . . . 28
. . . . . . . . . . . . . . .38
. . . . . . . . . . . . . .192
. . . . . . . . . . . . . . .29
. . . . . . . . . . . . . . .23
. . . . . . . . . . . . . .159
. . . . . . . . . . . . . . . 32
. . . . . . . . . . . . . . .32
M
MAN (MANUAL) . . . . . . . . . . .
Manual Output (S.MOUT) . . . .
MHA (Output upper limit alarm).
Middle Value Selection (S.MID)
MLA (Output lower limit alarm) .
MODE (Operation mode) . . . . .
Multiplication (S.MUL) . . . . . . .
. . . . . . . . . . . . . . .33
. . . . . . . . . . . . . . .71
. . . . . . . . . . . . . . .32
. . . . . . . . . . . . . .161
. . . . . . . . . . . . . . .32
. . . . . . . . . . . . . . .33
. . . . . . . . . . . . . .223
273
10
15
15
I
N
T
Negative direction change rate alarm (DPNA) . . . . . 32
Temperature/Pressure Correction (S.TPC) .
Time Proportioning(S.DUTY) . . . . . . . . . . .
Tracking flag (TRKF) . . . . . . . . . . . . . . . .
Tracking function . . . . . . . . . . . . . . . . . . .
TRKF (Tracking flag) . . . . . . . . . . . . . . . .
O
OOPA (Output open alarm) . . . . . . . . . . . . . . . . . . 32
Operation constant . . . . . . . . . . . . . . . . . . . . . . . . 30
Operation mode (MODE) . . . . . . . . . . . . . . . . . . . 33
Operation Processing Time . . . . . . . . . . . . . . . . . 268
Output change rate limit alarm (DMLA) . . . . . . . . . . 32
Output limiter processing function . . . . . . . . . . . . . 37
Output lower limit alarm (MLA) . . . . . . . . . . . . . . . 32
Output open alarm (OOPA) . . . . . . . . . . . . . . . . . . 32
Output Processing-1 with Mode Switching (S.OUT1) 60
Output Processing-2 with Mode Switching (S.OUT2) 66
Output upper limit alarm (MHA) . . . . . . . . . . . . . . . 32
P
. . . . . 212
. . . . . . 75
. . . . . . 32
. . . . . . 37
. . . . . . 32
U
Upper limit alarm (PHA) . . . . . . . . . . . . . . . . . . . . 32
Upper upper limit alarm (HHA) . . . . . . . . . . . . . . . . 32
V
Variation Rate Limiter 1 (S.VLMT1) . . . . . . . . . . . 168
Variation Rate Limiter 2 (S.VLMT2) . . . . . . . . . . . 171
Z
P operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
PHA (Upper limit alarm) . . . . . . . . . . . . . . . . . . . . 32
PID operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
PLA (Lower limit alarm). . . . . . . . . . . . . . . . . . . . . 32
Position Type PID Control (S.PIDP) . . . . . . . . . . . 106
Positive direction change rate alarm (DPPA) . . . . . . 32
Program Example . . . . . . . . . . . . . . . . . . . . . . . 253
Program Setter (S.PGS) . . . . . . . . . . . . . . . . . . . 187
Proportional operation (P operation) . . . . . . . . . . . . 15
Pulse Integration (S.PSUM) . . . . . . . . . . . . . . . . . 85
R
Ratio (S.R) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Reverse Operation . . . . . . . . . . . . . . . . . . . . . . . . 14
S
S2PID (2-degree-of-freedom PID control) . . .
Sample PI Control (S.SPI). . . . . . . . . . . . . .
SBC (Batch counter) . . . . . . . . . . . . . . . . .
SBPI (Blend PI control) . . . . . . . . . . . . . . . .
SEA (Sensor alarm) . . . . . . . . . . . . . . . . . .
Sensor alarm (SEA) . . . . . . . . . . . . . . . . . .
SIPD (I-PD control) . . . . . . . . . . . . . . . . . .
SMON (Monitor). . . . . . . . . . . . . . . . . . . . .
SMOUT (Manual output) . . . . . . . . . . . . . . .
SMWM (Manual output with monitor) . . . . . .
SONF2 (2 position ON/OFF control) . . . . . . .
SONF3 (3 position ON/OFF control) . . . . . . .
SPA (Stop alarm) . . . . . . . . . . . . . . . . . . . .
SPGS (Program setting device) . . . . . . . . . .
SPID (PID control) . . . . . . . . . . . . . . . . . . .
SPIDP (PIDP control) . . . . . . . . . . . . . . . . .
Square Root (S.SQR) . . . . . . . . . . . . . . . . .
SR (Ratio control) . . . . . . . . . . . . . . . . . . .
SSEL (Selector) . . . . . . . . . . . . . . . . . . . . .
SSPI (Sample PI control) . . . . . . . . . . . . . .
stepped response process . . . . . . . . . . . . .
Stop alarm (SPA) . . . . . . . . . . . . . . . . . . . .
Subtraction (S.SUB) . . . . . . . . . . . . . . . . . .
Summation (S.SUM) . . . . . . . . . . . . . . . . .
274
. . 23,257
. . . . 115
. . 23,265
. . 23,259
. . . . . 32
. . . . . 32
. . 23,259
. . 24,261
. . 24,261
. . 24,262
. . 23,264
. . 23,264
. . . . . 32
. . . . . 24
. . 23,257
. . 23,262
. . . . 227
. . 23,266
. . . . . 24
. . 23,257
. . . . 241
. . . . . 32
. . . . 221
. . . . 210
ZN process . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
INSTRUCTION INDEX
9
S
10
S. < . . . . .
S. <= . . . .
S. = . . . . .
S. > . . . . .
S. >= . . . .
S. AT1 . . .
S. SEL . . .
S.2PID . . .
S.ABS . . .
S.ADD . . .
S.AMR . . .
S.AVE . . .
S.BC . . . .
S.BPI . . . .
S.BUMP . .
S.D . . . . .
S.DBND . .
S.DED . . .
S.DIV. . . .
S.DUTY . .
S.ENG . . .
S.FG . . . .
S.FLT . . .
S.HS . . . .
S.I . . . . . .
S.IENG . .
S.IFG . . . .
S.IN . . . . .
S.IPD . . . .
S.LIMT . . .
S.LLAG . .
S.LS . . . .
S.MID . . .
S.MOUT .
S.MUL . . .
S.ONF2 . .
S.ONF3 . .
S.OUT1 . .
S.OUT2 . .
S.PGS . . .
S.PHPL . .
S.PID . . . .
S.PIDP . .
S.PSUM . .
S.R . . . . .
S.SPI . . . .
S.SQR . . .
S.SUB . . .
S.SUM . . .
S.TPC . . .
S.VLMT1 .
S.VLMT2 .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
11
12
10
15
15
I
275
REVISIONS
*The manual number is given on the bottom left of the back cover.
Print date
*Manual number
Apr., 2002
SH (NA)-080316E-A
First edition
Revision
Jun., 2004
SH (NA)-080316E-B
Manual name change
QnPHCPU Programming Manual (Process Control Instructions)
QnPHCPU/QnPRHCPU Programming Manual (Process Control Instructions)
Term change
DVL: Change rate limit value
Deviation limit value
Partial addition
About Manuals, Section 2.2.1, 2.2.3, 3.3.5, Chapter 7, Section 8.5, 9.18, 9.21, 10.1,
10.2, Appendix 2.3, Appendix 2.7
Addition
Generic terms and abbreviations used in this manual
May, 2005
SH (NA)-080316E-C
Correction
CONTETNTS, Section 3.2, 6.2.3, 8.2, 8.5, 9.1, 9.2, 9.3, 9.4, 9.5, 9.8, 10.1, 10.2
May, 2008
SH (NA)-080316E-D
Revision due to the addition of Process CPU
Addition module
Q02PHCPU, Q06PHCPU
Partial correction
GENERIC TERM AND ABBREVIATIONS USED IN THIS MANUAL, Section 9.18
Apr., 2009
SH (NA)-080316E-E
Feb., 2013
SH (NA)-080316E-F
Partial correction
SAFETY CAUTIONS, ABOUT MANUALS, Section 8.1, Appendix 1
Descriptions related to the structured ladder/FBD and structured text language are
added.
Sep., 2013
SH (NA)-080316E-G
Manual name change
QnPHCPU/QnPRHCPU Programming Manual (Process Control Instructions)
MELSEC-Q Programming/Structured Programming Manual (Process Control
Instructions)
Correction
Chapter 1, Section 2.2.1, 2.2.4, 2.2.5, 2.2.8, 3.3.1, 3.3.3, CHAPTER 7 to 14,
Appendix 2, Appendix 3.1, Appendix 3.2
Japanese Manual Version SH-080265-G
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric
Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the
contents noted in this manual.
© 2002 MITSUBISHI ELECTRIC CORPORATION
276
WARRANTY
Please confirm the following product warranty details before using this product.
1. Gratis Warranty Term and Gratis Warranty Range
If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the
product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or
Mitsubishi Service Company.
However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be
solely at the customer's discretion. Mitsubishi shall not be held responsible for any re-commissioning,
maintenance, or testing on-site that involves replacement of the failed module.
[Gratis Warranty Term]
The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated
place.
Note that after manufacture and shipment from Mitsubishi, the maximum distribution period shall be six (6) months,
and the longest gratis warranty term after manufacturing shall be eighteen (18) months. The gratis warranty term of
repair parts shall not exceed the gratis warranty term before repairs.
[Gratis Warranty Range]
(1) The range shall be limited to normal use within the usage state, usage methods and usage environment, etc.,
which follow the conditions and precautions, etc., given in the instruction manual, user's manual and caution
labels on the product.
(2) Even within the gratis warranty term, repairs shall be charged for in the following cases.
1. Failure occurring from inappropriate storage or handling, carelessness or negligence by the user. Failure
caused by the user's hardware or software design.
2. Failure caused by unapproved modifications, etc., to the product by the user.
3. When the Mitsubishi product is assembled into a user's device, Failure that could have been avoided if
functions or structures, judged as necessary in the legal safety measures the user's device is subject to or
as necessary by industry standards, had been provided.
4. Failure that could have been avoided if consumable parts (battery, backlight, fuse, etc.) designated in the
instruction manual had been correctly serviced or replaced.
5. Failure caused by external irresistible forces such as fires or abnormal voltages, and Failure caused by
force majeure such as earthquakes, lightning, wind and water damage.
6. Failure caused by reasons unpredictable by scientific technology standards at time of shipment from
Mitsubishi.
7. Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user.
2. Onerous repair term after discontinuation of production
(1) Mitsubishi shall accept onerous product repairs for seven (7) years after production of the product is
discontinued.
Discontinuation of production shall be notified with Mitsubishi Technical Bulletins, etc.
(2) Product supply (including repair parts) is not available after production is discontinued.
3. Overseas service
Overseas, repairs shall be accepted by Mitsubishi's local overseas FA Center. Note that the repair conditions at
each FA Center may differ.
4. Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation of damages caused by any
cause found not to be the responsibility of Mitsubishi, loss in opportunity, lost profits incurred to the user by Failures
of Mitsubishi products, special damages and secondary damages whether foreseeable or not, compensation for
accidents, and compensation for damages to products other than Mitsubishi products, replacement by the user,
maintenance of on-site equipment, start-up test run and other tasks.
5. Changes in product specifications
The specifications given in the catalogs, manuals or technical documents are subject to change without prior notice.
277
Microsoft, Windows, Windows Vista, Windows NT, Windows XP, Windows Server, Visio, Excel, PowerPoint, Visual Basic,
Visual C++, and Access are either trademarks of registered trademarks of Microsoft Corporation in the United States and
other countries.
Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and other countries.
Ethernet is a registered trademark of Xerox Corporation.
The SD and SDHC logos are either registered trademarks or trademarks of SD-3C, LLC.
All other company names and product names used in this manual are either trademarks or
registered trademarks of their respective companies.
278
SH (NA)-080316E-G
SH(NA)-080316E-G(1309)MEE
MODEL:
QNPHCPU-P-PROCE-E
MODEL CODE: 13JF67
HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN
When exported from Japan, this manual does not require application to the
Ministry of Economy, Trade and Industry for service transaction permission.
Specifications subject to change without notice.
