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Omron CP1E-E@@D@-@, CP1E-N@@D@-@, CP1E-NA@@D@-@ Switching from Continuous Mode Speed Control to Independent Mode Positioning

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2-330 CP1E CPU Unit Instructions Reference Manual(W483)

Switching from Continuous Mode Speed Control to Independent Mode Positioning

Sample program

When CIO 0.00 turns ON in the following programming example, PLS2(887) starts pulse output from

pulse output 0 with an absolute pulse specification of 100,000 pulses. Pulse output is accelerated at a

rate of 500 Hz every 4 ms starting at 200 Hz until the target speed of 50 kHz is reached. From the

deceleration point, the pulse output is decelerated at a rate of 250Hz every 4 ms starting until the star t-

ing speed of at 200 Hz is reached, at which point pulse output is stopped.

Example application Frequency changes Description Procedure/

instruction

Change from speed control to fixed

distance positioning during operation

PLS2(887) can be executed during a

speed control operation started with

ACC(888) to change to positioning oper-

ation.

ACC(888)

(Continuous)

↓

PLS2(887)

Fixed distance feed interrupt

Pulse frequency

Target

frequency

Outputs the number of

pulses specified in

PLS2(887) (Both relative

and absolute pulse

specification can be used.)

Execution of

ACC(888)

(continuous

mode)

Execution of

PLS2(887)

Time

Pulse

frequency

Present

frequency

Execution of

ACC(888)

(continuous

mode)

Execution of PLS2(887)

with the following settings

Number of pulses =

number of pulses until stop

Relative pulse specification

Target frequency = present

frequency

Acceleration rate = 0001 to

07D0 hex

Deceleration rate = target

deceleration rate

Time

@PLS2

#0000

#0100

D100

D110

01F4

00FA

C350

0000

86A0

0001

00C8

0000

0.00

D100

D101

D102

D103

D104

D105

D110

D111

Pulse type: Relative

Pulse output: 0

Pulse output method:

Pulse + direction output

Direction: CW

Acceleration rate: 500 Hz/4 ms

Time

100,000 pulses

Target frequency

50 kHz

Start frequency

200 Hz

Pulse frequency

PLS2(887) executed.

Start frequency: 200 Hz

Pulse output amount: 100,000 pulses

Target frequency: 50 kHz

Deceleration rate: 250 Hz/4 ms

Contents

Main Page Page Introduction CP-series CP1E CPU Units Intended Audience Applicable Products 2 CP1E CPU Unit Manuals This Manual Mounting and Setting Hardware Wiring Connecting Online to the PLC Software Setup Manual Configuration CP1E CPU Unit Instructions Reference Manual (Cat. No. W483) (This Manual) CP1E CPU Unit Software Users Manual (Cat. No. W480) 4 CP1E CPU Unit Hardware Users Manual (Cat. No. W479) Manual Structure Page Structure and Icons Special Information 5-2 Installation 6 Terminology and Notation Sections in this Manual 8 CONTENTS Section 1 Summary of Instructio ns ............................................ ..1-1 Section 2 Instructions ................................ .................................... 2-1 9 Page Page Read and Understand this Manual Warranty and Limitations of Liability WARRANTY LIMITATIONS OF LIABILITY Application Considerations SUITABILITY FOR USE PROGRAMMABLE PRODUCTS Disclaimers Safety Precautions Definition of Precautionary Information Symbols WARNING Caution CautionCaution Caution Precautions for Safe Use Handling External Circuits Page 20 Related Manuals The following manuals are related to the CP1E. Use them together with this manual. Page Page 1-2 1-1 Summary of Instructions There are 200 types of instructions can be used by CP1E. 1-3 1-4 1-5 1-6 1-7 1-8 1-9 1-10 1-11 Page Instructions 2-2 Notation and Layout of Instruction Descriptions Constants Examples 2-4 Condition Flags Symbol Instructions Sequence Input Instructions Differentiated and Immediate Refreshing Instructions 2-6 Operation Timing for I/O Instructions LD/LD NOT LD LD NOT Page AND/AND NOT AND AND NOT Page OR/OR NOT OR OR NOT Page AND LD/OR LD Page 2-15 2-16 NOT in the following example. There are no flags affected by NOT(520). Instruction Mnemonic Variations Function NOT NOT --- 520 Reverses the execution condition. UP/DOWN UP DOWN Sequence Output Instructions OUT/OUT NOT OUT OUT NOT Page TR Using TR0 to TR15 2-21 Sequence Output Instructions KEEP KEEP No flags are affected by KEEP(011). Instruction Mnemonic Variations Function KEEP KEEP !KEEP 011 Operates like a latching relay. Page NEVER Page DIFU Page DIFD Page 2-29 SET/RSET No flags are affected by SET and RSET. SET RSET Page 2-31 Sequence Output Instructions SETA/RSTA SETA/RSTA Instruction Mnemonic Variations Function Page 2-33 Sequence Output Instructions SETB/RSTB SETB/RSTB Instruction Mnemonic Variations Function SETB RSTB 2-35 Sequence Control Instructions Overview of Interlock Instructions Interlock Instructions MULTI-INTERLOCK DIFFERENTIATION RELEASE and MULTI-INTERLOCK CLEAR (MILR(518) and MILC(519))* Differences between Interlocks and Multiple Interlocks Differences between MILH(517) and MILR(518) Precautions 2-37 Differences between Interlocks and Jumps END NOP 2-40 IL/ILC INTERLOCK IL --- 002 There are no flags affected by this instruction. Instruction Mnemonic Variations Function Page Operation of Differentiated Instructions Page 2-44 MILH/MILR/MILC N: Interlock Number D: Interlock Status Bit Interlock Status Nesting 2-46 Differences between MILH(517) and MILR(518) Operation of Differentiated Instructions in an MILH(517) Interlock Operation of Differentiated Instructions in an MILR(518) Interlock Controlling Interlock Status from a Programming Device 2-49 Sequence Control Instructions MILH/MILR/MILC Page 2-51 Program with IL(002)/ILC(003) Interlocks 2-52 2-53 JMP/CJP/JME N: Jump Number The jump number must be 0000 to 007F (&0 to &127 decimal). JMP/CJP JME There are no flags affected by this instruction. JMP CJP Page FOR/NEXT N: Number of loops Page 2-58 BREAK 2-60 Timer and Counter Instructions Refresh Methods for Timer/Counter PV Basic Timer Specifications Overview Applicable Instructions Operating Mode 2-62 Example Timer and Counter Applications 2-63 2-64 Timer reset method 2-66 TIM/TIMX The timer number must be between 0000 and 0255 (decimal). S: Set Value (100-ms Units) TIM (BCD): #0000 to #9999. TIMX (Binary): &0 to &65535 (decimal) or #0000 to #FFFF (hex). Instruction Mnemonic Variations Function Page Page 2-69 Timer and Counter Instructions N: Timer number SS: Set value TIMH/TIMHX The timer number must be between 0000 and 0255 (decimal). TIMH (BCD): #0000 to #9999 TIMHX (Binary): &0 to &65535 (decimal) or #0000 to #FFFF (hex) Instruction Mnemonic Variations Function TIMH(015) Page Page TMHH/TMHHX Page 2-74 TTIM/TTIMX The timer number must be between 0000 to 0255 (decimal). TTIM (BCD): #0000 to #9999 TTIMX (Binary): &0 to &65535 (decimal) or #0000 to #FFFF (hex) Instruction Mnemonic Variations Function Page Page 2-77 Timer and Counter Instructions TIML/TIMLX TIML/TIMLX Instruction Mnemonic Variations Function D1: Completion Flag D2: PV Word S: SV Word Note S, S+1, D2 and D2+1 must be in the same Page 2-79 Timer and Counter Instructions TIML/TIMLX 2-80 CNT/CNTX N: Counter Number The counter number must be between 0000 and 0255 (decimal). CNT (BCD): #0000 to #9999 CNTX (Binary): &0 to &65535 (decimal) or #0000 to #FFFF (hex) Instruction Mnemonic Variations Function Page Page 2-83 Timer and Counter Instructions CNTR/CNTRX CNTR/CNTRX N: Counter Number The counter number must be between 0000 and 0255(decimal). CNTR (BCD):#0000 to #9999 CNTRX (Binary): &0 to &65535 (decimal) or #0000 to #FFFF (hex) Instruction Mnemonic Variations Function Page 2-85 Timer and Counter Instructions CNTR/CNTRX 2-86 CNR/CNRX N1: First Number in Range N1 must be a timer number between T000 and T255 or a counter number between C000 and C255. N2: Last Number in Range N2 must be a timer number between T000 and T255 or a counter number between C000 and C255. 2-87 The timer/counter that is reset is as follows. 2-88 Comparison Instructions Mnemonic =, <>, <, <=, >, >= Instruction Mnemonic Variations Function Input Comparison Instructions =, <>, <, <=, >, >= --- 300 to 328 Function Options Function Mnemonic Name Code Page 2-91 =DT, <>DT, <DT, <=DT, >DT, >=DT 2-92 Masking Time Values 2-94 2-95 Comparison Instructions COMPARE CMP !CMP 020 CMP/CMPL CMP/CMPL Instruction Mnemonic Variations Function CMP(020) CMPL(060) 2-96 The following table shows the status of the Arithmetic Flags after execution of CMP(020). The following table shows the status of the Arithmetic Flags after execution of CMPL(060) CMP CMPL S1 S2 Page 2-98 CPS/CPSL SIGNED BINARY COMPARE CPS !CPS 114 Instruction Mnemonic Variations Function CPS(114) CPSL(115) The following table shows the status of the Arithmetic Flags after execution of CPS(114). * A status of --- indicates that the Flag may be ON or OFF. The following table shows the status of the Arithmetic Flags after execution of CPSL(115) * A status of --- indicates that the Flag may be ON or OFF. CPS Page 2-101 Comparison Instructions TABLE COMPARE TCMP @TCMP 085 TCMP TCMP Instruction Mnemonic Variations Function T: First word of table R: Result word 2-102 Function 2-103 Comparison Instructions BLOCK COMPARE BCMP @BCMP 068 BCMP BCMP Instruction Mnemonic Variations Function B: First word of block R: Result word 2-104 2-105 ZCP/ZCPL ZCP ZCPL 2-107 Comparison Instructions ZCP/ZCPL 2-108 Data Movement Instructions MOV/MOVL/MVN Instruction Mnemonic Variations Function MOV MOVL MVN 2-110 2-111 Data Movement Instructions MOVB MOVB Instruction Mnemonic Variations Function MOVE BIT MOVB @MOVB 082 Transfers the specified bit. Page 2-113 Data Movement Instructions MOVD MOVD S: Source Word D: Destination Word Instruction Mnemonic Variations Function 2-114 The following diagram shows examples of data transfers for various values of C. Example of transferring multiple digits 2-115 Data Movement Instructions XFRB XFRB C: Control Word D: First destination Word Note The source words and the destination words must be in the same data area respectively. Instruction Mnemonic Variations Function MULTIPLE BIT TRANSFER XFRB @XFRB 062 Transfers the specified number of consecutive bits. Page 2-117 Data Movement Instructions XFER XFER N: Number of Words Instruction Mnemonic Variations Function BLOCK TRANSFER XFER @XFER 070 Transfers the specified number of consecutive Page 2-119 Data Movement Instructions BSET BSET St: Starting Word Specifies the first word in the destination range. E: End Word Specifies the last word in the destination range. Page 2-121 XCHG XCHG(073) exchanges the contents of E1 and E2. Page 2-123 Data Movement Instructions SINGLE WORD DISTRIBUTE DIST @DIST 080 DIST DIST Bs: Destination Base Address Of: Offset The offset can be any value from 0000 to FFFF (0 to 65,535 decimal). Note Bs and Bs+Of must be in the same data area. Page 2-125 Data Movement Instructions DATA COLLECT COLL @COLL 081 COLL COLL Bs: Source Base Address Of: Offset The offset can be any value from 0000 to FFFF (0 to 65,535 decimal). Note Bs and Bs+Of must be in the same data area. Instruction Mnemonic Variations Function Page 2-127 Data Shift Instructions SFT Data Shift Instructions SFT Instruction Mnemonic Variations Function SHIFT REGISTER SFT --- 010 Operates a shift register. SFT(010) St E Shift Register Exceeding 16 Bits 2-129 Data Shift Instructions SFTR SFTR Note St and E must be in the same data area. Instruction Mnemonic Variations Function REVERSIBLE SHIFT REGIS- TER SFTR @SFTR 084 Creates a shift register that shifts data to either the right or the left. Controlling Data 2-131 Data Shift Instructions WSFT WSFT Instruction Mnemonic Variations Function WORD SHIFT WSFT @WSFT 016 Shifts data between St and E in word units. Page 2-133 Data Shift Instructions ASL ASL Instruction Mnemonic Variations Function ARITHMETIC SHIFT LEFT ASL @ASL 025 Shifts the contents of Wd one bit to the left. ASR 2-135 Data Shift Instructions 01514 1CY Wd: Word ROL Instruction Mnemonic Variations Function ROTATE LEFT ROL @ROL 027 Shifts all Wd bits one bit to the left including the Carry Flag (CY). ROL(027) Wd Page 2-137 Data Shift Instructions CY Wd: Word ROR Instruction Mnemonic Variations Function ROTATE RIGHT ROR @ROR 028 Shifts all Wd bits one bit to the right including the Carry Flag (CY). ROR(028) 01514 1 Page SLD/SRD SLD SRD SLD SRD 2-141 Data Shift Instructions NASL/NSLL NASL/NSLL Instruction Mnemonic Variations Function NASL NSLL NASL NSLL 2-143 Data Shift Instructions NASL/NSLL 2-144 NASR/NSRL D: Shift word CC: Control word Instruction Mnemonic Variations Function the specified number of bits. NASR NSRL 2-146 2-147 Increment/Decrement Instructions ++/+ +L Operation of ++(590)/++L(591) ++ ++L 2-149 Increment/Decrement Operation of @++(590)/@++L(591) 2-150 --/--L Operation of --(592)/--L(593) -- --L Operation of @--(592)/@--L(593) 2-153 ++B/+ +BL Operation of ++B(594)/++BL(595) ++B ++BL 2-155 Increment/Decrement Operation of @++B(594)/@++BL(595) --B/- -BL --B --BL 2-157 Increment/Decrement Operation of --B(596)/--BL(597) Operation of @--B(596)/@--BL(597) 2-158 Symbol Math Instructions +/+L 2-159 Symbol Math Instructions +/+L + +(400) adds the binary values in Au and Ad and outputs the result to R. +L +L(401) adds the binary values in Au and Au+1 and Ad and Ad+1 and outputs the result to R. 2-160 +C/+CL Instruction Mnemonic Variations Function SIGNED BINARY ADD WITH CARRY +C @+C 402 Adds 4-digit (single-word) hexadecimal data DOUBLE SIGNED BINARY ADD WITH CARRY +CL @+CL 403 Adds 8-digit (double-word) hexadecimal data +C(402) +C +C(402) adds the binary values in Au, Ad, and CY and outputs the result to R. +CL +CL(403) adds the binary values in Au and Au+1, Ad and Ad+1, and CY and outputs the result to R. To clear the Carry Flag (CY), execute the Clear Carry (CLC(041)) instruction. +B/+BL Instruction Mnemonic Variations Function BCD ADD WITHOUT CARRY +B @+B 404 Adds 4-digit (single-word) BCD data and/or con- DOUBLE BCD ADD WITHOUT CARRY +BL @+BL 405 Adds 8-digit (double-word) BCD data and/or con- 2-163 +B +B(404) adds the BCD values in Au and Ad and outputs the result to R. +BL +BL(405) adds the BCD values in Au and Au+1 and Ad and Ad+1 and outputs the result to R, R+1. 2-164 +BC/+BCL Instruction Mnemonic Variations Function stants with the Carry Flag (CY). 2-165 Symbol Math Instructions +BC +BC(406) adds BCD values in Au, Ad, and CY and outputs the result to R. +BCL +BCL(407) adds the BCD values in Au and Au+1, Ad and Ad+1, and CY and outputs the result to R, R+1. To clear the Carry Flay (CY), execute the Clear Carry (CLC(041)) instruction. /L -L(410) Instruction Mnemonic Variations Function SIGNED BINARY SUBTRACT WITHOUT CARRY @ 410 Subtracts 4-digit (single-word) hexadecimal data and/or constants. DOUBLE SIGNED BINARY SUBTRACT WITHOUT CARRY Example 1 Example 2 2-169 Symbol Math Instructions /L Subtraction at (1) Subtraction at (2) C/CL Instruction Mnemonic Variations Function SIGNED BINARY SUBTRACT WITH CARRY C @C 412 Subtracts 4-digit (single-word) hexadecimal data C(412) CL(413) C CL 2-172 B/BL Instruction Mnemonic Variations Function BCD SUBTRACT WITHOUT CARRY B @B 414 Subtracts 4-digit (single-word) BCD data and/or DOUBLE BCD SUBTRACT WITHOUT CARRY BL @BL 415 Subtracts 8-digit (double-word) BCD data and/or B BL 2-174 Subtraction at (1) Subtraction at (2) Final Subtraction Result 2-175 BC/BCL Instruction Mnemonic Variations Function BCD SUBTRACT WITH CARRY BC @BC 416 Subtracts 4-digit (single-word) BCD data and/or constants with the Carry Flag (CY). BC BCL 2-177 Symbol Math Instructions */*L */*L Instruction Mnemonic Variations Function SIGNED BINARY MULTIPLY * @* 420 Multiplies 4-digit signed hexadecimal data and/or DOUBLE SIGNED BINARY MULTIPLY *L @*L 421 Multiplies 8-digit signed hexadecimal data and/or 2-178 * *(420) multiplies the signed binary values in Md and Mr and outputs the result to R, R+1. *L 2-179 Symbol Math Instructions *B/*BL Instruction Mnemonic Variations Function BCD MULTIPLY *B @*B 424 Multiplies 4-digit (single-word) BCD data and/or DOUBLE BCD MULTIPLY *BL @*BL 425 Multiplies 8-digit (double-word) BCD data and/or 2-180 *B *B(424) multiplies the BCD content of Md and Mr and outputs the result to R, R+1. *BL 2-181 /, /L 2-182 / Note Division of hexadecimal #8000 by #FFFF is undefined. /L Note Division of hexadecimal #80000000 by #FFFFFFFF is undefined. 2-183 /B, /BL Instruction Mnemonic Variations Function BCD DIVIDE /B @/B 434 Divides 4-digit (single-word) BCD data and/or con- DOUBLE BCD DIVIDE /BL @/BL 435 Divides 8-digit (double-word) BCD data and/or 2-184 /B /BL 2-185 Conversion Instructions BIN/BINL Conversion Instructions BIN/BINL Instruction Mnemonic Variations Function (32-bit binary) data. 2-186 BIN BINL 2-187 Conversion Instructions BCD/BCDL BCD/BCDL S: Source Word (BCD)/First Source Word (BCDL) Instruction Mnemonic Variations Function to 8-digit BCD data. S: Source word D: Result word BCD BCDL 2-189 Conversion Instructions (S) (R) NEG Instruction Mnemonic Variations Function 2S COMPLEMENT NEG @NEG 160 Calculates the 2s complement of a word of hexa- decimal data. NEG S: Source word 2-190 2-191 Conversion Instructions Note The result words must be in the same data area. DATA DECODER MLPX @MLPX 076 MLPX 4-to-16 bit decoder Instruction Mnemonic Variations Function S: Source Word R: First Result Word 2-192 8-to-256 bit conversion S: Source Word R: First Result Word Note The result words must be in the same data area. 4-to-16 bit Conversion 4-to-16 bit conversion 8-to-256 bit conversion 8-to-256 bit Conversion 2-194 4-to-16 bit Conversion 8-to-256 bit Conversion C: # Digits Bits 0 to 3: Starting digit (Digit 1) Bits 4 to 7: Number of digits (3 digits) Example of multi-digit decoding Example of 4-to-16 bit decoding 2-196 DMPX DATA ENCODER DMPX @DMPX 077 16-to-4 bit conversion Instruction Mnemonic Variations Function R: Result Word 256-to-8 bit conversion 16-to-4 bit Conversion S+15 to S: 1st digit of digits to be encoded S+31 to S+16: 2nd digit of digits to be encoded R: Result Word Note The source words must be in the same 256-to-8 bit Conversion 16-to-4 bit conversion 256-to-8 bit conversion 2-199 Conversion Instructions 16-to-4 bit Conversion Example of multi-digit decoding 256-to-8 bit Conversion 2-201 Conversion Instructions ASC ASC DI: Digit Designator Instruction Mnemonic Variations Function S: Source Word D: First Destination Word Note The destination words must be in the same Page 2-203 Conversion Instructions ASC Example of ASCII code conversion * Parity bit - changes according to the parity specification. Parity Examples of Di 2-205 Conversion Instructions ASCII TO HEX HEX @HEX 162 HEX DI: Digit Designator Instruction Mnemonic Variations Function S: First Source Word D: Destination Word Page Parity 2-208 Output example * Parity bit - changes according to the par ity specification. 2-209 Example of converting multiple bytes of ASCII code to hex 2-210 Logic Instructions ANDW/ANDL Instruction Mnemonic Variations Function 2-211 Logic Instructions ANDW ANDW(034) takes the logical AND of data spec- ified in I1 and I2 and outputs the result to R. ANDL I1, I2 R I1I2R ORW/ORWL Instruction Mnemonic Variations Function 2-213 Logic Instructions ORW/ORWL ORW ORW(035) takes the logical OR of data speci- fied in I1 and I2 and outputs the result to R. ORWL I1, I2 R I1I2R XORW/XORL Instruction Mnemonic Variations Function Takes the logical exclusive OR of corresponding bits in double words of word data and/or con- XORW XORL 2-216 COM/COML COM COM(029) reverses the status of every specified bit in Wd. WdWd: 1 0 and 0 1 COML COML(614) reverses the status of every specified bit in Wd and Wd+1. (Wd+1, Wd)(Wd+1, Wd) 2-217 Logic Instructions COM/COML When CIO 0.00 is ON in the following example, the status of each bit D100 will be reversed. 2-218 Special Math Instructions APR Sine Function Cosine Function Linear Extrapolation Function Unsigned Integer Data (Binary or BCD) 2-220 Signed Integer Data (Binary) Single-precision Floating-point Data 2-221 Operation of the Linear Extrapolation Function Yn+ Y Up to 256 endpoints can be stored in the line-segment data table beginning at C+1. Y X 16-bit Unsigned BCD Data 32-bit Signed Binary Data 16-bit Unsigned Binary Data 16-bit Signed Binary Data 2-223 Sine Function (C: #0000) The following example shows APR(069) used to calculate the sine of 30. (SIN(30) = 0.5000) Cosine Function (C: #0001) The following example shows APR(069) used to calculate the cosine of 30. (COS(30) = 0.8660) Floating-point Data X APR Y R R+1 S S+1 X Y X Y R R+1 S S+1 2-227 BCNT N: Number of words The number of words must be 0001 to FFFF (1 to 65,535 words). Instruction Mnemonic Variations Function BIT COUNTER BCNT @BCNT 067 Counts the total number of ON bits in the specified word(s). 2-228 W1: Temporary storage W2: Temporary storage Floating-point Math Instructions Data Format Number of Digits Floating-point Data Special Numbers Writing Floating-point Data Numbers Expressed as Floating-point Values Floating-point Arithmetic Results Floating-point Calculation Results 2-233 FIX/FIXL FIX FIXL 2-235 FLT/FLTL FLT FLTL 2-237 +F, F, *F, /F 2-238 +F -F Name Label Operation 2-239 Floating-point Math *F /F Operation rules FLOATING-POINT ADD (+F) FLOATING-POINT SUBTRACT (F) FLOATING-POINT MULTIPLY (*F) FLOATING-POINT DIVIDE (/F) 2-241 =F, <>F, <F, <=F, >F, >=F Options 2-243 Floating-point Math SINGLE FLOATING LESS THAN Comparison (<F) =F, <>F, <F, <=F, >F, >=F 334 LD>=F LOAD FLOATING GREATER THAN OR EQUAL True if S1+1, S1 S 2 +1, S FSTR C: First Control Word Note There are limits on the total number of characters and the number of fractional digits. Page Storage of ASCII Text Limits on the Number of ASCII Characters Converting to ASCII Text in Decimal Notation 2-248 Converting to ASCII Text in Scientific Notation 2-249 FVAL 2-250 2-251 Floating-point Math ASCII Character Storage Scientific notation Storage of ASCII Text S Decimal notation 2-252 Converting ASCII Text in Decimal Notation to Floating-point Data Converting ASCII Text in Scientific Notation 2-253 Table Data Processing SWAP Table Data Processing Instructions SWAP N: Number of words R1: First word in range Note R1 and R1+(N-1) must be in the same data area. 2-254 R1 N This instruction can be used to reverse the order of ASCII-code characters in each word. Byte position is swapped. FCS Instruction Mnemonic Variations Function C: First control word R1: First word in range D: First destination word Note C and C+1, all of the words in the calculation range must be in the same data area. C: First control word R1: First word in range D: First destination word Page 2-257 Data Control Instructions PIDAT Data Control Instructions PIDAT C: First Parameter Word Instruction Mnemonic Variations Function PID CONTROL WITH AUTOTUNING PIDAT --- 191 Executes PID control according to the specified Autotuning PID Control Performance Specifications Calculation Method 2-261 Block Diagram for Target Value PID with Two Degrees of Freedom PID Parameter Settings 2-262 Sampling Period and Cycle Time PID control Proportional Action (P) Integral Action (I) Derivative Action (D) PID Action Direction of Action Adjusting PID Parameters 2-267 Interrupting PID Control to Perform Autotuning PIDAT 10 D200 20 0.00 D W0.0 SETB D209 #000F 2-268 Starting PIDAT(191) with Autotuning MV Interrupting Autotuning Before Completion PV SV 2-269 TPO S: Input Word C: First Parameter Word Note For details, see the description of each parameter. Instruction Mnemonic Variations Function R: Pulse Output Bit Combining TPO(685) with a PID Control Instruction 2-271 Transistor Output Unit + Parameter Settings Execution SSR Heater 12 to 24 VDC Page 2-273 Input time setting = 2 (Use higher value.) Input time setting = 3 (Continuous adjustment) 2-274 Combining TPO(685) with PIDAT(191) 2-275 Using TPO(685) Alone 2-276 SCL Instruction Mnemonic Variations Function Note P1 to P1+3 must be in the same area. Page 2-278 Reference: Reverse Scaling 2-280 SCL2 SCALING 2 SCL2 @SCL2 486 Instruction Mnemonic Variations Function Note P1 to P1+2 must be in the same area. Page Scaling 1 to 5-V Analog Input to 0 to 300 2-283 Data Control Instructions SCL2 Scaling 1 to 5-V Analog Input to 200 to 200 2-284 SCL3 SCALING 3 SCL3 @SCL3 487 Instruction Mnemonic Variations Function Note P1 to P1+4 must be in the same area. Page 2-286 2-287 Data Control Instructions AVG AVG N: Number of Cycles The number of cycles must be between 0001 and 0040 hexadecimal (0 to 64 cycles). R: Result First Word and R+1: First Work Area W or Note R to R+N+1 must be in the same area. Page 2-289 Data Control Instructions AVG 2-290 Subroutines Instructions N: Subroutine number SBS N: Subroutine number Specifies the subroutine number between 0 and 127 decimal. Page Page 2-293 Subroutines Instructions SBS Sequential (Non-nested) Subroutines 2-294 Nested Subroutines 2-295 SBN/RET RET N: Subroutine number Specifies the subroutine number between 0 and 127 decimal. Combined-use instructions SBN/RET RET Page Interrupt Control Instructions Outline of Interrupt Control Instructions SET INTERRUPT MASK: MSKS(690) CLEAR INTERRUPT: CLI(691) DISABLE INTERRUPTS: DI(693) Related Memory Area Words 2-300 MSKS (2) Resetting and Starting Scheduled Interrupts (1) I/O Interrupt Task Instruction Mnemonic Variations Function N: Interrupt identifier Page Examples for Input Interrupts Example for Scheduled Interrupts 2-303 Interrupt Control Instructions CLEAR INTERRUPT CLI @CLI 691 CLI (1) Clearing/Retaining an I/O Interrupt Tasks Recorded Interrupt Inputs Instruction Mnemonic Variations Function N: Interrupt number CLI(691) Page Example for Input Interrupts Example for First Scheduled Interrupts Example for High-speed Counter Interrupts DI EI 2-308 High-speed Counter/Pulse Output Instructions NV: First word with new PV INI INI(880) C NV NV: First Word with New PV Starting Comparison (C = 0000 hex) Stopping Comparison (C = 0001 hex) NV NV+1 0 15 For Pulse Output or High-speed Counter Input: 0000 0000 to FFFF FFFF hex Changing a PV (C = 0002 hex) Stopping Pulse Output (P = 0000, 0001 or 1000 hex and C = 0003 hex) 2-311 High-speed Counter/Pulse D PRV Instruction Mnemonic Variations Function and interrupt input PV in counter mode. PRV(881) P P: Port specifier D: First Destination Word 2-313 High-speed Counter/Pulse PRV Reading a PV (C = 0000 hex) Reading Status (C = 0001 hex) Reading the Results of Range Comparison (C = 0002 hex) Reading Pulse Output or High-speed Counter Frequency (C = 00@3 hex) Pulse Frequency Calculation Methods 2-315 CTBL C: Control data P: Port specifier CTBL(882) C TB TB: First comparison table word TB: First comparison table word Note Always set the upper limit greater than or equal to the lower limit for any one range. Registering a Comparison Table (C = 0002 or 0003 hex) Registering a Comparison Table and Starting Comparison (C = 0000 or 0001 hex) Stopping Comparison Target Value Comparison Range Comparison 2-319 High-speed Counter/Pulse F: First pulse frequency word SPED SPED Instruction Mnemonic Variations Function M: Output mode F: First pulse frequency word SPED(855) M F Continuous Mode Speed Control 2-321 High-speed Counter/Pulse SPED 2-322 2-323 High-speed Counter/Pulse 0 N+1 PULS T: Pulse type N and N+1: Number of pulses Instruction Mnemonic Variations Function PPort TPulse type 2-324 2-325 PLS2 M: Output Mode PLS2(887) M S F 2-326 S: First Word of Settings Table F: First Word of Starting Frequency The starting frequency is given in F and F+1. Page 2-328 Note Pulse output will stop immediately if the CPU Unit is changed to PROGRAM mode. 2-329 High-speed Counter/Pulse PLS2 2-330 Switching from Continuous Mode Speed Control to Independent Mode Positioning 2-331 High-speed Counter/Pulse ACCELERATION CONTROL ACC @ACC 888 ACC ACC M: Output Mode S: First Word of Settings Table Note Use the same pulse output method when using both pulse outputs 0 and 1. Instruction Mnemonic Variations Function Page 2-333 Continuous Mode Speed Control Pulse output will continue until it is stopped from the program. Note Pulse output will stop immediately if the CPU Unit is changed to PROGRAM mode. 2-334 2-335 2-336 ORG Instruction Mnemonic Variations Function ORIGIN SEARCH ORG @ORG 889 ORG(889) performs an origin search or origin return operation. Origin Search (Bits 12 to 15 of C = 0 hex) Origin Return (Bits 12 to 15 of C = 1 hex) 2-339 PWM F: Frequency D: Duty Factor P: Port specifier F: Frequency D: Duty factor PWM Page 2-341 Step Instructions In CP1E series PLCs, STEP(008)/SNXT(009) can be used together to create step programs. Note Work bits are used as the control bits for A, B, C and D. SNXT/STEP SNXT(009) Starting Step Execution Proceeding to the Next Step Ending the Step Programming Area STEP(008) Starting a Step Interlock Status (IL) Related Bits 2-345 Step Instructions SNXT/STEP 2-346 (1) Sequential Control 2-347 Step Instructions Step (C) ladder program Additional Information: Step (A) ladder program Step (B) ladder program Step W0.00 (A) Step W0.01 (B) 2-348 (3) Parallel Control Step (E) ladder program Step (A) ladder program Step W0.00 (A) Step W0.01 (B) Application Examples (1) Sequential Execution 2-350 (2) Branching Execution 2-351 (3) Parallel Execution 2-352 Basic I/O Unit Instructions IORF St: Starting Word CIO 001 to CIO 099, CIO 101 to CIO 199 (CP1W Expansion I/O Units I/O Area) E: End Word Units Refreshed by IORF(097) Refreshing Words in the I/O Bit Area 2-354 SDEC 7-SEGMENT DECODER SDEC @SDEC 078 Di: Digit designator Instruction Mnemonic Variations Function S: Source word Di: Digit designator D: First destination word Page 2-356 7-segment Data 2-357 Basic I/O Unit Instructions DIGITAL SWITCH INPUT DSW --- 210 DSW DSW I: Input Word (Data Line D0 to D3 Inputs) O: Output Word (CS/RD Control Signal Outputs) Instruction Mnemonic Variations Function D: First Result Word C1: Number of Digits C2: System Word 2-359 Basic I/O Unit Instructions DSW Page 2-361 Basic I/O Unit Instructions MATRIX INPUT MTR --- 213 MTR MTR I: Input Word O: Output Word (Selection Signal Outputs) Instruction Mnemonic Variations Function 2-362 D: First Register Word Specifies the leading word address of the 4 words that contain the data from the 8 8 matrix. C: System Word Specifies a work word used by the instruction. This word cannot be used in any other application. 2-363 Basic I/O Unit Instructions MTR Page 2-365 Basic I/O Unit Instructions 7SEG 7SEG S: Source Word Specify the first source word containing the data that will be converted to 7-segment display data. O: Output Word (Data and Latch Outputs) Instruction Mnemonic Variations Function D: System Word 2-367 Basic I/O Unit Instructions 7SEG Note 0 to 3: Data output for word S 4 to 7: Data output for word S+1 Page 2-369 Serial Communication Instructions TXD CPU Units Built-in RS-232C Port Serial Option Board Port 2-371 Serial Communication TXD Start code / end code settings and send data Sending Data to a Code Reader Hardware Configuration Communications Settings 2-373 Serial Communication Programming Example Controlling Signals 2-374 RXD RECEIVE RXD @RXD 235 Instruction Mnemonic Variations Function 2-375 Auxiliary Area Flags for CPU Units RS-232C Port Auxiliary Area Flags for Serial Option Board Port Page 2-377 Start Code/End Code Settings and Receive Data Receiving data Hardware Configuration Communications Settings 2-379 Programming Example Controlling Signals 2-380 Clock Instructions CADD/CSUB 2-381 Clock Instructions CADD/CSUB C through C+2: Calendar Data T and T+1: Time Data R through R+2: Result Data 2-382 C through C+2: Calendar Data T and T+1: Time Data R through R+2: Result Data 2-383 Clock Instructions CADD/CSUB 2-384 2-385 Clock Instructions DATE DATE S through S+3: New Clock Setting Note S through S+3 must be in the same data area. Instruction Mnemonic Variations Function Page 2-387 Failure Diagnosis Instructions FAL Failure Diagnosis Instructions FAL Generating or Clearing User-defined Non-fatal Errors Instruction Mnemonic Variations Function 2-388 Clearing Non-fatal Errors without a Programming Device Clearing User-defined Non-fatal Errors Clearing Non-fatal System Errors Generating Non-fatal User-defined Errors Disabling Error Log Entries of User-defined Errors Displaying Messages with Non-fatal User-defined Errors Generating a Non-fatal Error Clearing a Particular Non-fatal Error Clearing All Non-fatal Errors Clearing the Most Serious Non-fatal Error Generating a Non-fatal System Error 2-393 FAL S Generating User-defined Fatal Errors Generating Fatal Errors from the System The following table shows the function of the operands. Instruction Mnemonic Variations Function Generating Fatal User-defined Errors 2-395 Displaying Messages with Fatal User-defined Errors Clearing FALS(007) Fatal System Errors Clearing FALS(007) User-defined Fatal Errors Generating a User-defined Error Generating a Non-fatal System Error Other Instructions STC/CLC STC CLC 2-399 WDT T: Timer setting CX-Programmer settings PLC Setup settings Operation of WDT(094) Page 3-1 CP1E CPU Unit Instruction Execution Times and Number of Steps 3-3 Sequence Input Instructions Sequence Output Instructions 3-4 Sequence Control Instructions Timer and Counter Instructions 3-5 Comparison Instructions 3-6 Data Movement Instructions Data Shift Instructions 3-7 Increment/Decrement Instructions Symbol Math Instructions 3-8 Conversion Instructions Logic Instructions Special Math Instructions 3-9 Floating-point Math Instructions Table Data Processing Instructions Data Control Instructions 3-10 Subroutine Instructions Interrupt Control Instructions High-speed Counter and Pulse Output Instructions 3-11 Step Instructions I/O Unit Instructions Serial Communications Instructions Clock Instructions 3-12 Failure Diagnosis Instructions Other Instructions Monitoring and Computing the Cycle Time 4-1 Monitoring the Cycle Time 4-1-1 Monitoring the Cycle Time Monitoring the Average Value Monitoring Maximum and Minimum Values 4-3 4-2 Computing the Cycle Time 4-2-1 CPU Unit Operation Flowchart 4-2 Computing the Cycle Time 4-2-1 CPU Unit Operation Flowchart 4-2-2 Cycle Time Overview 4-5 (5) Peripheral Servicing I/O Refresh Times for Built-in Analog I/O (NA-type CPU Unit only) Note No matter whether use analog I/O function or not, the I/O refresh time is the same. 4-2-3 I/O Refresh Times for PLC Units Conditions Calculation Example 4-2-4 Cycle Time Calculation Example 4-2-5 Increase in Cycle Time for Online Editing Page A-2 Alphabetical List of Instructions by Mnemonic A B C A-3 A-4 D E F H I J K L A-5 A-6 M N O A-7 P R A-8 S T U X W Z Symbol RANGE COM- PARE A-10 ASCII Code Table Four rightmost bits Page Page OMRON Corporation Authorized Distributor: Contact: www.ia.omron.com Industrial Automation Company Regional Headquarters