Mitsubishi MELSEC-Q/L Manuale del proprietario

SAFETY PRECAUTIONS

(Always read these cautions before using the product)

Before using this product, please read this manual and the related manuals introduced in this manual, and

pay full attention to safety to handle the product correctly.

Please store this manual in a safe place and make it accessible when required. Always forward a copy of

the manual to the end user.

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.

REVISIONS

*The manual number is given on the bottom left of the back cover.

Print Date *Manual Number Revision

Dec., 2008 SH (NA)-080809ENG-A First edition

Mar., 2009 SH (NA)-080809ENG-B

Section 3.3, 3.8, 5.1.3, 6.1.7, 6.2.14, 7.3.3, 7.11.18, 7.11.19, 7.12.1.5,12.7,

7.12.11, 7.12.25, 7.12.26, 7.13.4, 7.13.5, 7.15.7, 7.15.8

Jul., 2009 SH (NA)-080809ENG-C Revision because of function support by the Universal model QCPU having a

serial number "11043" or later

Section 2.1, 2.5.6, 2.5.18, 2.5.20, 7.6.9, 7.12.7, 7.12.11, 12.1.3, 12.1.4,

APPENDIX 1.2, 1.3, 1.4.2, 3, 5.1

Section 2.5.16, 7.16, 7.18.10

Section 2.5.21 2.5.22, Section 2.5.22 2.5.21, Section 9.13 7.6.10,

Section 9.14 7.6.1, Section 9.15 7.16, Section 9.15.1 7.16.1,

Section 9.15.2 7.16.2, Section 9.15.3 7.16.3, Section 9.1 7.18.9,

Section 9.2 7.18.11, Section 9.3 7.18.12, Section 9.4 7.18.13,

Section 9.5 7.18.14, Section 9.6 7.18.15, Section 9.7 7.18.16,

Section 9.8 7.18.17, Section 9.9 7.18.18, Section 9.10 7.18.19,

Section 9.11 9.1, Section 9.11.1 9.1.1, Section 9.11.2 9.1.2,

Section 9.12 9.2, Section 9.12.1 9.2.1, Chapter 10 11, Chapter 11 10

Jan., 2010 SH (NA)-080809ENG-D

L02CPU, L26CPU-BT

SAFETY PRECAUTIONS, INTRODUCTION, MANUALS, Chapter 1, Section

2.3.2, 2.4.1, 2.4.2, 2.4.3, 2.4.4, 2.5.1, 2.5.6, 2.5.18, 3.2.4, 3.3, 3.4, 3.5.1, 3.5.2,

3.6, 3.8, 3.10, Chapter 4, 5, 6, 7, 8, 9, 10, 11, 12, APPENDIX 1.1, 2.1, 3, 4,

INDEX, Warranty

CONDITIONS OF USE FOR THE PRODUCT, Section 2.6.1, 2.6.2, 2.7.1, 2.7.2,

2.8.1, 2.9.1, 7.18.20, 7.18.21, APPENDIX 1.5

Section 2.5.19 2.6, Section 2.5.20 2.7, Section 2.5.21 2.8,

Section 2.5.22 2.9

Apr., 2010 SH (NA)-080809ENG-E Revision because of function support by the Universal model QCPU having a

serial number "12012" or later

Q50UDEHCPU, Q100UDEHCPU

INTRODUCTION, MANUALS, Section 1.1, 1.2, 3.5.2, 7.6.10, 7.11.7, 7.14.3,

7.18.2, 7.18.3, 7.18.9, 9.1.1, 8.2.1, 9.1, 12.1.3, 12.1.4, APPENDIX 1.4.1, 1.4.2,

1.5.1, 1.5.2, 2, 3

Partial corrections

Additions

Modification

Model Additions

Partial corrections

Additions

Modification

Model Additions

Partial corrections

*The manual number is given on the bottom left of the back cover.

Japanese Manual Version SH-080804-M

Print Date *Manual Number Revision

Aug., 2010 SH (NA)-080809ENG-F Revision because of function support by the Universal model QCPU having a

serial number "12052" or later

Section 6.2.11, 6.2.12, 6.3.15, 7.3.3, 7.3.5, 7.11.7, APPENDIX 1.2, 1.3, 1.4.1,

1.4.2, 1.5.1, 1.5.2

Jan., 2011 SH (NA)-080809ENG-G

Section 2.1, 2.5.18, 3.6, 7.6.9, 7.6.10, 7.8.2, 7.10.2, 7.18.5, 8.1.1, 12.1.3, 12.1.4,

12.1.6, 12.1.11, Appendix 1.4.1, Appendix 1.4.2, Appendix 1.5.1, Appendix 1.5.2,

Appendix 3, Appendix 4

Apr., 2011 SH (NA)-080809ENG-H Full revision and revision because of function support by the LCPU having a serial

number "13012" or later

Jul., 2011 SH (NA)-080809ENG-I

L02CPU-P, L26CPU-PBT

INTRODUCTION, Section 1.2, 5.2.1, 5.2.4, 5.2.5, 7.18.9, 9.1, Appendix 1.5.1,

Appendix 1.5.2, Appendix 2.1.1

Oct., 2011 SH(NA)-080809ENG-J

INTRODUCTION, MANUALS, Section 1.2, 2.1, 2.4.3, 2.6.2, 3.3, 3.6, 6.4.4, 6.6.1,

6.8.1, 6.8.2, 6.8.7, 7.6.10, 7.6.13, 7.8.1, 7.8.2, 7.9.1, 7.9.2, 7.10.1, 7.14.1, 7.14.2,

7.18.4 to 7.18.14, 7.18.16, 7.18.18 to 7.18.20, 8.1.1, 8.2.1, 8.2.2, 9.1, 9.1.1, 9.2.1,

10.1 to 10.3, 11.1, Appendix 1.4.2

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.

Partial corrections

Model Additions

Partial corrections

This document is the MELSEC-Q/L Programming Manual (Common Instructions). It describes the common instructions

required for programming of the QCPU and LCPU.

• "Common instructions" are all instructions except for dedicated instructions for such intelligent function modules as

QJ71C24N and QJ71E71-100; PID control instructions; SFC instructions; ST instructions; instructions for socket

communication features; trigger logging instructions; and dedicated instructions for LCPU positioning/counter functionality.

Please read this manual and other relevant manuals carefully before using this product. Please familiarize yourself with the

functions and performance of the Q series and L series sequencers in order to handle this product correctly.

When applying the program examples introduced in this manual to the actual system, ensure the applicability and confirm that

it will not cause system control problems.

Relevant CPU module

INTRODUCTION

CPU module Model

Basic model QCPU Q00JCPU, Q00CPU, Q01CPU

High Perfomance model QCPU Q02CPU, Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU

Process CPU Q02PHCPU, Q06PHCPU, Q12PHCPU, Q25PHCPU

Redundant CPU Q12PRHCPU, Q25PRHCPU

Universal model QCPU

Q00UJCPU, Q00UCPU, Q01UCPU, Q02UCPU, Q03UDCPU, Q04UDHCPU,

Q06UDHCPU, Q10UDHCPU, Q13UDHCPU, Q20UDHCPU, Q26UDHCPU,

Q03UDECPU, Q04UDEHCPU, Q06UDEHCPU, Q10UDEHCPU,

Q13UDEHCPU, Q20UDEHCPU, Q26UDEHCPU, Q50UDEHCPU,

Q100UDEHCPU

LCPU L02CPU, L26CPU-BT, L02CPU-P, L26CPU-PBT

CONTENTS

SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

REVISIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

CONTENTS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

CHAPTER 1 GENERAL DESCRIPTION 20

1.1 Related Programming Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

1.2 Abbreviations and Generic Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

CHAPTER 2 INSTRUCTION TABLES 25

2.1 Types of Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

2.2 How to Read Instruction Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

2.3 Sequence Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

2.3.1 Contact instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29

2.3.2 Association instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30

2.3.3 Output instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

2.3.4 Shift instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

2.3.5 Master control instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32

2.3.6 Termination instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32

2.3.7 Other instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32

2.4 Basic instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

2.4.1 Comparison operation instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33

2.4.2 Arithmetic operation instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39

2.4.3 Data conversion instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44

2.4.4 Data transfer instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47

2.4.5 Program branch instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49

2.4.6 Program execution control instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49

2.4.7 I/O refresh instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49

2.4.8 Other convenient instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50

2.5 Application Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

2.5.1 Logical operation instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51

2.5.2 Rotation instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53

2.5.3 Shift instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54

2.5.4 Bit processing instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56

2.5.5 Data processing instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56

2.5.6 Structure creation instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59

2.5.7 Data table operation instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61

2.5.8 Buffer memory access instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62

2.5.9 Display instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62

2.5.10 Debugging and failure diagnosis instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63

2.5.11 Character string processing instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63

2.5.12 Special function instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67

2.5.13 Data control instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70

2.5.14 Switching instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72

2.5.15 Clock instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72

2.5.16 Expansion clock instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75

2.5.17 Program control instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76

2.5.18 Other instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76

2.6 Instructions for Data Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

2.6.1 Instructions for Network refresh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79

2.6.2 Instructions for Reading/Writing Routing Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79

2.7 Multiple CPU dedicated instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80

2.7.1 Instructions for Writing to the CPU Shared Memory of Host CPU . . . . . . . . . . . . . . . . . . . . .80

2.7.2 Instructions for Reading from the CPU Shared Memory of Another CPU . . . . . . . . . . . . . . .80

2.8 Multiple CPU high-speed transmission dedicated instruction . . . . . . . . . . . . . . . . . . . . . . . . . . 81

2.8.1 Instructions for Multiple CPU high-speed transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81

2.9 Redundant system instructions (For Redundant CPU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

2.9.1 Instructions for Redundant system (For Redundant CPU). . . . . . . . . . . . . . . . . . . . . . . . . . .81

CHAPTER 3 CONFIGURATION OF INSTRUCTIONS 82

3.1 Configuration of Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

3.2 Designating Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

3.2.1 Using bit data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83

3.2.2 Using word (16 bits) data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84

3.2.3 Using double word data (32 bits) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85

3.2.4 Using real number data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88

3.2.5 Using character string data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90

3.3 Indexing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

3.4 Indirect Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

3.5 Reducing Instruction Processing Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

3.5.1 Subset Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102

3.5.2 Operation processing with standard device registers (Z)

(Universal model QCPU and LCPU only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103

3.6 Cautions on Programming (Operation Errors) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

3.7 Conditions for Execution of Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

3.8 Counting Step Number. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

3.9 Operation when the OUT, SET/RST, or PLS/PLF Instructions Use the Same Device. . . . . . . 115

3.10 Precautions for Use of File Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

CHAPTER 4 HOW TO READ INSTRUCTIONS 122

CHAPTER 5 SEQUENCE INSTRUCTIONS 124

5.1 Contact Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

5.1.1 LD, LDI Operation start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .124

AND, ANI Series connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .124

OR, ORI Parallel connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .124

5.1.2 LDP, LDF Pulse operation start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126

ANDP, ANDF Pulse series connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126

ORP, ORF Pulse parallel connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126

5.1.3 LDPI, LDFI Pulse NOT operation start . . . . . . . . . . . . . . . . . . . . . . . . . . . .128

ANDPI, ANDFI Pulse NOT series connection . . . . . . . . . . . . . . . . . . . . . . . . . .128

ORPI, ORFI Pulse NOT parallel connection . . . . . . . . . . . . . . . . . . . . . . . . .128

5.2 Association Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

5.2.1 ANB Ladder block series connection . . . . . . . . . . . . . . . . . . . . . . . .131

ORB Ladder block parallel connection . . . . . . . . . . . . . . . . . . . . . . .131

5.2.2 MPS Operation results push . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .132

MRD Operation results read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .132

MPP Operation results pop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .132

5.2.3 INV Operation results inversion . . . . . . . . . . . . . . . . . . . . . . . . . . . .135

5.2.4 MEP, MEF Operation results conversion . . . . . . . . . . . . . . . . . . . . . . . . . .136

5.2.5 EGP, EGF Pulse conversion of edge relay operation results . . . . . . . . . . .137

5.3 Output Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

5.3.1 OUT Out (excluding timers, counters, and annunciators) . . . . . . . . .139

5.3.2 OUT T Low-speed timer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .141

OUTH T High-speed timer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .141

OUT ST Low-speed retentive timer . . . . . . . . . . . . . . . . . . . . . . . . . . . .141

OUTH ST High-speed retentive timer . . . . . . . . . . . . . . . . . . . . . . . . . . . .141

5.3.3 OUT C Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .144

5.3.4 OUT F Annunciator output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .146

5.3.5 SET Setting devices (excluding annunciators) . . . . . . . . . . . . . . . . .147

5.3.6 RST Resetting devices (excluding annunciators) . . . . . . . . . . . . . . .148

5.3.7 SET F Setting annunciators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .150

RST F Resetting annunciators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .150

5.3.8 PLS Leading edge output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .152

PLF Trailing edge output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .152

5.3.9 FF Bit device output inversion . . . . . . . . . . . . . . . . . . . . . . . . . . . .154

5.3.10 DELTA, DELTAP Pulse conversion of direct output . . . . . . . . . . . . . . . . . . . . . . .155

5.4 Shift Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

5.4.1 SFT, SFTP Bit device shift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .157

5.5 Master Control Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

5.5.1 MC Setting the master control . . . . . . . . . . . . . . . . . . . . . . . . . . . . .159

MCR Resetting the master control . . . . . . . . . . . . . . . . . . . . . . . . . . .159

5.6 Termination Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

5.6.1 FEND Main routine program end . . . . . . . . . . . . . . . . . . . . . . . . . . . .163

5.6.2 END Sequence program end . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .165

5.7 Other instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

5.7.1 STOP Sequence program stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .167

5.7.2 NOP, NOPLF, PAGE n No operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .168

CHAPTER 6 BASIC INSTRUCTIONS 172

6.1 Comparison Operation Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

6.1.1 =, <>, >, <=, <, >= BIN 16-bit data comparisons . . . . . . . . . . . . . . . . . . . . . . . . . .172

6.1.2 D=, D<>, D>, D<=, D<, BIN 32-bit data comparisons . . . . . . . . . . . . . . . . . . . . . . . . . .173

D>=

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