Points to note | Mitsubishi Electronics FX1S manual

FX Series Programmable Controllers

STL Programming 3

3.11.2A Selective Branch/ First State Merge Example Program

The following example depicts an automatic sorting robot. The robot sorts two sizes of ball bearings from a mixed ‘source pool’ into individual storage buckets containing only one type of ball bearing.

X12	Y7
Y3	X1	X3	X4	X5
	X1	X3	X4	X5
Y4
	Y2	X2
	Y2
	Y0
		Y1
			X0

The sequence of physical events (from initial power On) are:

1)The pickup arm is moved to its zero-point when the start button (X12) is pressed. When the pickup arm reaches the zero-point the zero-point lamp (Y7) is lit.

2)The pickup arm is lowered (Y0) until a ball is collected (Y1). If the lower limit switch (X2) is made a small ball bearing has been collected; consequently no lower limit switch signal means a large ball bearing has been collected. Note, a proximity switch (X0) within the ‘source pool’ identifies the availability of ball bearings.

3)Depending on the collected ball, the pickup arm retracts (output Y2 is operated until X3 is received) and moves to the right (Y3) where it will stop at the limit switch (X4 or X5) indicating the container required for storage.

4)The program continues by lowering the pickup arm (Y0) until the lower limit switch (X2) is reached.

5)The collected ball being is released (Y1 is reset).

6)The pickup arm is retracted (Y2) once more.

7)The pickup arm is traversed back (Y4) to the zero-point (X1).

Points to note

•The Selective Branch is used to choose the delivery program for either small ball bearings or large ball bearings. Once the destination has been reached (i.e. step S24 or S27 has been executed) the two independent program flows are rejoined at step S30.

•The example program shown works on a single cycle, i.e. every time a ball is to be retrieved the start button (X12) must be pressed to initiate the cycle.

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Mitsubishi Electronics FX1S manual Points to note, Selective Branch/ First State Merge Example Program

Contents

Programming Manual Page FX Series Programmable Controllers Foreword FX Series Programmable Controllers FAX Back Combined Programming Manual J FX Series Programmable Controllers Hardware Warnings Software Warnings FX Series Programmable Controllers Contents STL Programming Applied Instructions Rotation And Shift Functions 30 to External FX Serial Devices Functions 80 to Execution Times And Instructional 10-1 Viii FX Series Programmable Controllers Chapter Contents Introduction Overview What is a Programmable Controller? What do You Need to Program a PLC? Special considerations for programming equipment Current Generation CPU all versions Assocciated Manuals Manual name Number FX Base Unit Hardware Manual name Number FX DU, GOT and DM units Memo Basic Program Instructions FX Series Programmable ControllersBasic Program Instructions Outline of Basic Devices Used in Programming What is a Program?Detailed device information How to Read Ladder Logic Example OUT instruction Load, Load InverseProgram example Timer and Counter Variations Out Last coil effect Use of dual coilsDouble Coil Designation And, And Inverse Peripheral limitations Or, Or Inverse ORI Load Pulse, Load Trailing Pulse Single Operation flags M2800 to M3071 Pulse, And Trailing Pulse LDF ANF OUT Or Pulse, Or Trailing Pulse ORF ORB Batch processing limitations Or BlockSequential processing limitations Block ANB 13 MPS, MRD and MPP MPS, MRD and MPP usage Multiple program examples Master Control and Reset MCR Nested MC program example Set and Reset Resetting timers and counters Retentive timers Timer, Counter Out & Reset16.1Basic Timers, Retentive Timers And Counters Normal 32 bit Counters Bit countersAvailability of devices High Speed Counters PLF Leading and Trailing Pulse Inverse Usages for INV No Operation No Operation 20 End Program scan Memo STL Programming FX Series Programmable ControllersSTL Programming What is STL, SFC And IEC1131 Part 3? General note Each step is a program How STL OperatesLook Inside an STL Embedded STL programs How To Start And End An STL ProgramCombined SFC Ladder representation Activating new states Terminating an STL Program Initial StepsReturning to Standard Ladder Using SET to drive an STL coil Moving Between STL Steps OUT is used for loops and jumps Using OUT to drive an STL coilOut is used for distant jumps Rules and Techniques For STL programs Basic Notes On The Behavior Of STL programs T001 K20 K50 Method 1 Using locking devices Single Signal Step ControlMethod 2 Special Single Pulse Flags Using ‘jump’ operations with STL Restrictions Of Some Instructions When Used With STLRestrictions on using applied instructions Using STL To Select The Most Appropriate Program STL OUT SET Using STL To Activate Multiple Flows Simultaneously Limits on the number of branches Limits on the number of branches General Rules For Successful STL Branching Instruction Format General Precautions When Using The FX-PCS/AT-EE Software Programming Examples Simple STL Flow Identification of normally closed contacts SET STL Points to note Selective Branch/ First State Merge Example Program Full STL flow diagram/program Advanced STL Use Devices in Detail FX Series Programmable ControllersDevices in Detail Available devices Configuration detailsInputs Device Mnemonic Device Mnemonic Y OutputsAlias O/P Device Mnemonic M Auxiliary RelaysGeneral Stable State Auxiliary Relays Battery Backed/ Latched Auxiliary Relays External loads Special Diagnostic Auxiliary Relays Special Single Operation Pulse Relays Device Mnemonic S State RelaysGeneral Stable State State Relays Battery Backed/ Latched State Relays PLC FX 1S FX 1N FX 2N STL/SFC programming Assigned statesMonitoring STL programs IST instruction Annunciator Flags Device availability PointersJumping to the end of the program Device Mnemonic P Nested levels Interrupt PointersAdditional applied instructions Pointer position Rules of use Timer InterruptsInput Interrupts Additional notes Driving special auxiliary relaysDisabling high speed counter interrupts Disabling Individual Interrupts Device Mnemonic K Constant KConstant H Example device usage N/A Timer accuracy TimersDevice Mnemonic T Selectable Timers General timer operationDriving special auxiliary coils Using timers in interrupt or ‘CALL’ subroutines Retentive Timers Timer Accuracy Internal timer accuracyTimers Used in Interrupt and ‘CALL’ Subroutines Condition High speed counters Setting ranges for countersCounters Device Mnemonic C Battery backed/latched counters General/ Latched 16bit UP Counters Selecting the counting direction Battery backed/ latched countersGeneral/ Latched 32bit Bi-directional Counters Basic high speed counter operation Further uses None Driving high speed counter coils Basic High Speed Counter Operation Counter Speeds Input assignmentAvailability of High Speed Counters Calculating the maximum combined counting speed on FX1S Direction setting Device specificationSetting range Using the SPD instruction RST 11.5 2 Phase Bi-directional Counters C246 to C250 Device size 11.6 A/B Phase Counters C252 to C255 Device Mnemonic D Data RegistersExample device usage None Data retention Data register updatesGeneral Use Registers Battery Backed/ Latched Registers Using the FX2-40AW/APUse of diagnostic registers Special Diagnostic Registers File Registers Special caution when using FX1SWriting to file registers Program memory registers Externally Adjusted Registers Uses Device Mnemonic V,Z Index RegistersUse of Modifiers with Applied Instruction Parameters Available forms Modifying a Constant Using Multiple Index RegistersMisuse of the Modifiers Bits, Words, BCD and Hexadecimal Bit Devices, Individual and Grouped Assigning I/O Moving grouped bit devicesAssigning grouped bit devices Word Devices Interpreting Word Data FX Series Programmable Controllers Binary Coded Decimal value= Error Word Data Summary 14.4 Two’s Compliment Inverted7 Additional1 Floating Point And Scientific Notation Some useful constants Scientific Notation Floating Point Format FLT