omron plc training

Advanced Industrial Automation

OMRONWelcome

plc hands-on training

OMRONIndustrial Components Automation & Drives Sensing & Safety

•Electromechanical relays•Timers and counters•Programmable relays•Level controllers•Limit switches•Push buttons•Low voltage switch gear•Temperature and process controllers•Solid-state relays•Panel indicators•Power supplies

•Program. Logic Controller•Network systems•HMI terminals•Inverters•Servo systems•Software

•Photoelectric sensors•Displacement sensors•Vision systems•Safety sensors•Safety switches•Safety relays•Proximity sensors•Rotary encoders•Pressure sensors

OMRON component subdivision

Contents of the training:

• Introduction: PLCOverview OMRON PLC rangeCJ1M

• Software

CX-programmer V3.0

• PLC-Basic Hands-On Training…

• Building up an Project

• PLC-Advanced Hands-on Training…

Contents of the training

Automation & Drives

OMRONOverview PLC range

100 256 512 1184 5000

I/O140120

C200HE/HG/HX

The Micro PLC, standard for most of the basic applications

Super compact, high functionallity Micro PLC

• Relay or transistor outputs• Various peripheral devices• 4 types of interrupts• High-speed counter integrated• Networking:

Compobus-S (remote I/O)Compobus-D (DeviceNet)Profibus (slave)

CPM PLC family

High functionality Micro PLC fully compatible with CPM1A

• CPU’s with 10, 20, 30 and 40 I/O• Expandable to 100 I/O• 2 KW program memory• 1KW data memory • 150 instructions• 1 port (peripheral)• 1 counter for counting to up to 5 KHz• 2 pulse generators, up to 2 KHz

frequency

CPM1A Family

• CPUs with 30, 40 or 60 I/O• Expandable up to 120 I/O• 4 KW Program memory• 2KW Data memory • 185 instructions• 2 ports

• (Peripheral and RS232)• 1 counter, 20 KHz range• 4 counters for up to 2 KHz• 2 pulse outputs, 10 Khz

CPM2A Family

OMRONCPM1A/2A adding I/O

CPM1A-10CPM1A-20

CPM1A-30CPM1A-40

CPM2A-60

CPM2A-30CPM2A-40

CPM2A-20

No-expansion

Max. 3 modules extra

I/O Inputs: 0.00 – 9.15I/O Outputs: 10.00 – 19.15

OMRONCPM I/O example

CPM2A – 40 I/O

24 digital inputs

16 digital outputs

0.00 – 0.111.00 – 1.11

10.00 – 10.0711.00 – 11.07

2.00 – 2.073.00 – 3.03

12.00 – 12.07

CPM expansion – 20 I/O

12 digital inputs

8 digital outputs

CPU’s Modules

Inner boards

Communications

CQM PLC family

• Modular system configuration• No need for racks• 256/512 I/O points maximum• 15 Kw Program memory max.• Up to 12.000 data memory registers• Built in all CPU’s :

• 16 built-in digital inputs• 4 counting/interrupt inputs• 1 counter, 5 Khz• 1 or 2 comunication ports

CQM PLC family

• CQM1H modules– Variety of Digital and

Analogue I/O– Temperature control– Linear sensor module– Remote I/O master, fieldbus

masters

• CQM1H inner boards– Counters, Encoders, Pulse drivers, Analogue,

Communications...

CQM PLC family

OMRONCQM1H expansion

OMRONCQM1H - bits and memory

Input bits 000.00 – 015.15

Output bits 100.00 – 115.15

Work bits 016.00 – 089.15

116.00 – 189.15

216.00 – 219.15

224.00 – 229.15

Special bits 244.00 – 255.07

Temporary bits TR0 – TR7

Holding bits HR00.00 – HR99.15

Auxiliary bits AR00.00 – AR27.15

Link bits LR00.00 – LR63.15

Timers / counters TIM/CNT 000 - 511

Data memory DM0000 – DM3071 (CPU 11/21) / DM6143 (CPU 51/61)

DM6144 – DM6655 (read only)

EM0000 – EM6655 (CPU 61)

Interrupts 000.00 – 000.03

Max 256 I/O CPU11/21Max 512 I/O CPU51/61

CPU settings

Holds on power failure

/!\ Mixed

4 interrupts sequence

CompoBus/D (Slave)

CQM1H networking

CompoBus/S (Master)AS-I Bus (Master)

Controller link

NT Link, Host Link,Modem..

Protocol Macro, Modbus (Master)

OMRONCS1 PLC family - Hardware

•Modular system configuration– Standard Nine types of CPU

Back-planes for CPU & expansion2, 3, 5, 8 and 10 slots(max. 7 pcs. – 12 meterspecial up-to 50meter)

– C200H power supply units

– C200H expansion back-planes usable(max. 3 pcs.)

– Number of Special I/O units

– Communication Inner boards

OMRONCS1 Family – Data storage

• Comments stored in the PLC• Easy backup of the program

Flash-memory card: 8, 16, 32, 48, 64MB• Process values recording from the ladder• Data file management

– program files– I/O memory files– system parameters files

OMRONCS1D

Risk Management is essential in systems requiring a high level reliability.

Every system is subjected to malfunction

When is this a significant problem?• 24 hour system that can not be stopped• Extremely high starting-up costs• Unexpected stops can lead to disasters

e.g. toxic spills, explosions…

CS1D – Risk Management

Expansion I/O Rack

Duplexing functions:• Double power supply (main and expansion rack)• Double CPU• Double Network cards• Hot swapping of all units

without powering down the system(CPU, power supply and normal I/O unitsBut ALSO network and special I/O units)

OMRONCS1D – Hot-standby

OMRONCS1D – redundant network

OMRONCS1 Allocating I/O Units

Fast, Compact, Seamless

CJ1 PLC family

• A SMALL PLC in size, but it is not a MICRO…• PLC size and capability no longer go hand-in-hand!

• The CJ1 features:– High speed CPUs (40 and 20ns): 20ns is 3 to 5 times faster than typical mid-

sized CPU. (e.g. C200H series)– Control up to 2560 Local I/O: Typical of the mid-sized PLC category.– Industry leading networking: Omron’s FINS protocol routes data across

networks.– Compact size: Free up panel space without sacrificing performance!

Introducing the new CJ1

• In fact the Omron CJ1 is a CS1 in a smaller package. – Released in 1999, the CS1 is and will remain Omron’s mid-sized PLC

and leading technology platform.

1/3 TotalPanelVolume

2/3 thePanel Depth

2/3 of theFootprint

The CJ1 is a mid-sized PLC in a “micro-sized” package.

• Advances in printed circuit board design – More efficient layout.

• New component technology – Lower energy requirements.

• Surface mounted PCB technology – Better heat dissipation.

• New processors – Faster and more energy efficient.

How is the CJ1 possible?

• 16 to 64 MB flash cards available.• Store PLC programs and transfer to/from PLC memory.• Log data into the card for manual or network retrieval.• Access the flash card from CX-Programmer – it appears as another PC drive.• Use FTP to store non-PLC related files on the flash card.

CJ1 Features - Flash Memory Cards

• Ethernet• Controller Link • DeviceNet• CompoBus/S• Single Port Multiple Access• Protocol Macro

CJ1 Features - Communications

FlashMemory

Ethernet

SCADAProgramming &

Debug Tool

Ethernet

DeviceNet or CompoBus/S

Controller Link

CLKPCI Board

Host Link

Programming/DiagnosticSoftware

OmronTouch Screen

Protocol Macro: Non-Omron Serial Devices

MESSAGE BOARD

CJ1 Features - Communications

Single Port Multiple Access

• Rack mounted PLCs come with fixed number of slots available.CJ1 is more flexible.

• Eliminating the rack eliminates module width restrictions.Smaller modules – up to 10 can be joined by the CJ1 “through plane”

• Expand up to 4 “racks” of I/O and communications – 40 total modules (2560 local I/O)

CPU Rack

Expansion 1

Expansion 2

Expansion 3

TOTAL EXPANSION BUS LENGTH = 12 meters0.3, 0.7, 2.0, 3.0, 5.0, 10.0, 12.0 meter cables available

CJ1G/H Features – Layout Flexibility

OMRONCJ1M - series

OMRONCJ1M – new CPUs

Fast! Small! Seamless!…

• Expands the CJ1 family to the small scale control area (CQM1H)• CJ1M memory map, instructions and I/O with CJ1G/H compatible

6 NEW CPUs:.CJ1M-CPU11 (5Ksteps)• CJ1M-CPU12 (10Ksteps)• CJ1M-CPU13 (20Ksteps)

• CJ1M-CPU21 (5Ksteps)• CJ1M-CPU22 (10Ksteps)• CJ1M-CPU23 (20Ksteps)

OMRONCJ1M - features

.CJ1M-CPU11 (5Ksteps)• CJ1M-CPU12 (10Ksteps)• CJ1M-CPU13 (20Ksteps)

• CJ1M-CPU11 (5Ksteps)• CJ1M-CPU22 (10Ksteps)• CJ1M-CPU23 (20Ksteps)

• Peripheral port• RS232C• Memory card interface• Just 31mm wide

• 16 I/O on the CPU - 10 inputs - 6 outputs

• Interrupt functions 4 points• Build-in positioning functions

- pulse output 100kHz, 2 axes - counter function Phase differ. 50kHz, 2 axis Single phase 100kHz, 2 axis

OMRONCJ1M – Capacity compared to…

Data Memory Capacity

User Memory Capacity

CJ1G/H

120 K steps

256 K words

50% volume reduction

OMRONCJ1M – Expansion compared to…

Maximum Number of Connectable Units

CJ1G/H

Maximum Number of I/O bits

CJ1G/H

Up to 10 I/O units can be placed on a CJ1M-CPU.A expansion ‘rack’ can be added to the CJ1M-CPU13 & CJ1M-CPU23

OMRONCJ1M – Speed compared to…

Execution Time (Special Instructions)

Execution Time (Basic Instruction)

CJ1G/H

100 ns 375 ns

0.3 µs17.7 µs

0.04 µs

CJ1M is 59 times faster!!!

End-Cover

CJ1-CPU

CJ1-PowerSupply

CJ1-I/OControl Unit

CJ1-I/OInterface Unit

End-Cover

Basic I/OSpecial I/OCPU-Bus I/O(*)Interrupt units(*)

Basic I/OSpecial I/OCPU-Bus I/O

Memory Card

I/O Connecting Cable

WARNING (*) Place CPU-Bus Units and I/O-Interrupt units next to CPU (5 left slots)

Max 10 Units

Max 12 m

CJ1 PLC – System set-up

OMRON3 groups of CJ1-Units

Basic I/O Units Special I/O Units CPU Bus Units

CIO 0000 to CIO 0079(8 , 16 , 32 or 64 points)

CIO 2000 to CIO 2959(Refresh area :10 words/unit)

D20000 to D29599(Setup area : 100 words/unit)

CIO 1500 to CIO 1899(Refresh area : 25 words/unit)

D30000 to D31599(Setup area : 100 words/unit)

Special I/O unit number(40 Units maximum)

CPU Bus unit number(16 Units maximum)

CJ1 PLC - Hardware

000 001 002 003 004 005006007

008009010011I/O word

CJ1 - I/O channel assignment

000 001 002 003 004 005006007

008009010011I/O word

000 001 002

003 004 005 006

007 008 009 010

CIO word

SpecialI/O

CPUBUS

15001524

20002009

20102019

000 001 002

003004005006

007008009010

SpecialI/O

OMRONCX-programmer V3.0

CX-Programmer V3.0 made in Japan

• Improvements on 87 points• Designed to operate with MS Windows XP as well as MS Windows 95, 98,

ME, NT and 2000.Recommended: MS Windows NT, 2000 or XP

• New PLC ranges supported:- CJ1M- CS1H- CS1D (needs CX-P V3.1 for duplex functions)

• New Networks supported:- CS1 Bus I/F Board (ITBC-CST01)- 62 node Controller Link

OMRONImprovements on 87 points

Small selection:

RS01 Key-function allocationRS03 Open CX-P with default environmentRS05 On-line default state: Monitoring RS06 Auto on-line functionRS10 Improvement to address formatting:

A-AR, H-HR, L-LR, T-TIM, C-CNT, D-DM, E-EMRS11 Enable pasting of Symbol data created using MS-Excel and CX-P V1.2.RS16 Automatically generate an “END” instruction in a new sectionRS19 Fast connection across empty cells: [Ctrl] + arrow keysRS24 Connection and division of rungsRS35 Jump to corresponding contact / coilRS56 Rung WrapRS86 Block / Network Manager

OMRONPLC - Basic Hands-on training

basic hands-on training

OMRONStarting a new project in CX-Programmer

OMRONOpening a new Program

OMRONUp- and downloading of PLC programs

100.00000.00 000.01

000.02

000.03

LD 000.00AND 000.01OR 000.02AND 000.03OUT 100.00

100.00000.00 000.01

000.02

000.01

Statement List

100.00000.00

000.02

000.01

000.03

LD 000.00AND 000.01OR 000.02AND 000.03OUT 100.00

100.00000.00 000.01

000.02

000.03

100.00000.00

000.02

000.01

000.03

LD 000.00AND 000.01LD 000.02AND 000.03OR LDOUT 100.00

Statement List

000.06

000.04 000.05

000.07

100.01

LD 000.04OR 000.06LD 000.05OR 000.07AND LDOUT 100.01

000.05

000.07

000.06

000.04 000.05

000.07

100.01

Statement List

100.02000.00 000.02000.01 000.03

000.04 000.05 100.03

Statement List

100.02000.00 000.02000.01 000.03

000.04 000.05 100.03

TEMPORAIRY RELAY

LD 000.00AND 000.01OUT TR 0AND 000.02AND 000.03OUT 100.02LD TR 0AND 000.04AND 000.05OUT 100.03

Statement List

TRY...TRY...

Define the purpose

Problem Splitting

Working out

Design

Writing

Testing

Finishing

Program Writing – Seven steps

Products on the inputbelt are transported to PES 0.00. This belt stops if there is another product under work. Otherwise the product is transported to the next belt and stops if PES 0.01 detects the product. The drill is in the upper position and will be started by output 100.02.The drill goes down to limitswitch 0.02. The output 100.02 is set to off and the drill is returning to the upper position. If upperlimitswitch 0.03 detects the drill, the inputbelt, the transportbelt and the outputbelt is started. PES 0.04 detects the product and stops the outputbelt on the backside of the product . After five products the pusher is activated and pushes the products from the beltby output 100.04. If the pusher is in the out position (limitswitch 0.05) the output goes off and the pusher returns. During this period no belt is running except the inputbelt.

Program Writing – Define the Purpose

In-take transport

Drilling station

Transport and ejecting the products

Program Writing – Problem Splitting

In-take transport Transport

Drilling station Transport

Drilling

Transport & ejection Transport

Ejection of the

products

Program Writing – More Splitting

3. Working out (I/O list)

000.00 FInput Sensor on input belt000.01 FTransp Sensor on transport belt000.02 CilOut Cylinder out000.03 CilIn Cylinder in000.04 FOutput Sensor on output belt000.05 PusIn Pusher in000.06 PusOut Pusher out

100.00 Minput Motor input belt100.01 MTransport Motor transport belt100.02 ACyl Cylinder100.03 MOutput Motor output belt100.04 APus Pusher

099.15 PUW Product under work099.14 PUWR Product under work ready099.13 MP Move products099.12 MPR Move products ready

Program Writing – Defining I/O list

OMRONAdding comments to the PLC program

OMRONAdding comments to contacts: ‘Symbols’

‘Global symbols’and

‘Local symbols’

OMRONOnline Edit

OMRONAn easy way to connect…

TRY...TRY...

OMRONFunctions

XYZ(99)

Condition 1

Condition 2

Condition 3

Ladder symbol Operand Data-area

S: Source word

IR, SR, AR, HR, LR, T/C, DM, #

P1: Parameter word

IR, AR, HR, LR

R: Result word

IR, AR, HR, LR, T/C, DM

P1 = 1 - 9999Time = 0.1 - 999.9 secContact = TIM0

TIMER OUTPUT

Condition 1

N: TC number

# (000-511)

SV: Set value (BCD)

IR, AR, DM, HR, LR, #

000.00

100.00

Normal Timer

000.01

100.01

Delay After Off

000.02

100.02

SV2 SV2

On/Off Delay

000.03

100.03

One Shot

SV = 1 - 9999Time = 0.01 - 99.99 secContact = TIM0

TIMER OUTPUT

High Speed Timer

TIMH(15)

Condition 1

N: TC number

# (000-511)

SV: Set value (BCD)

SV = 1 - 9999Contact = CNT511

COUNTER OUTPUT

5 4 3 2 1 0 0 5 4 3 5 5 4

Counter

N: Counter number

# (000 – 511)

SV: Set value (BCD)

SV = 1 - 9999Contact = CNT511

COUNTER OUTPUT

0 1 2 3 0 1 1 0 3

2 3 2 0 3 0 1

Reversible Counter

CNTR(12)

N: Counter number

# (000 – 511)

SV: Set value (BCD)

OMRONExample Program

Try…Try…

Manipulation of numbers and bitsManipulation of numbers and bits

ON-LINE editON-LINE edit

100.00000.00 000.01

100.00

000.00

000.01

KEEP(11)

100.00

KEEP(11)

B: Bit

IR, AR, HR, LRR

OMRONSet en Reset

B: Bit

IR, AR, HR, LR

R B: Bit

IR, AR, HR, LR

CYCLUS

Signal Flanks

DIFU(13)

Signal

B: Bit

IR, AR, HR, LR

DIFD(14)

Signal B: Bit

IR, AR, HR, LR

OMRONInterlock

IL(02)Signal

Ladder symbol

ILC(03)Signal

PROGRAM PROGRAM WITHOUTWITHOUT

INTERLOCKINTERLOCK

Interlock

PROGRAM PROGRAM WITHWITH

INTERLOCKINTERLOCK

Interlock

000.00

000.01

DIFU(13)

ILC(03)

IL(02)

000.00

000.01

010.00

DIFU and DIFD in Interlocks

Try…Try…

1 min pulse

0.02 sec pulse

0.1 sec pulse

0.2 sec pulse

1.0 sec pulse

Output inhibit

Battery alarm

Always on

First scan

Always off - 253.14

Special Internal Relays

OMRONQuestions?

Thank you for you attention

if you have any question… ?

OMRONPLC - DATA Hands-on training

data hands-on training

ADRESS FUNCTION NAME

255.03 ER ERROR error bit255.04 CY CARRY carry bit255.05 GR GREATER > bit255.06 EQ EQUAL = bit255.07 LE LESS < bit

System Flags

* Logical instructions* Timer instructions* Counter instructions* Basic instructions* Bit control instructions* Data shifting instructions* Data movement instructions* Data compare instructions* Data conversion instructions* Binary calculation* BCD calculation* Logical calculation* Subroutine instructions* Step instructions* Network instructions* Special instructions

Instruction groups

Ladderdiagram:

Statement list:

NO contactNC contactOutputInverted outputHorizontal and vertical line

LDLD NOTANDAND NOTOROR NOTOUTOUT NOTOR LDAND LD

Logical instructions

NOP(00) No function

END(01) End of program

IL(02) Interlock

ILC(03) Interlock close

Basic Instructions

100.00000.01

000.00

JMP(O4)

JME(O5)

OUTPUTS FREEZE

TIMERS STOP

LADDER SYMBOOL OPERAND DATAGEBIEDEN

N: Sprongnummer

# (00 to 99)

N: Sprongnummer

# (00 to 99)

JMP(04)

JME(05)

Jump Instructions

JMP(O4)

JME(O5)

JMP(O4)

JME(O5)

LABEL 0 Can be used more than one time in the program.

USEDMore programs into 1 PLC

Shorten programs.

Jump Instructions

JMP(O4)

JME(O5)

LABEL 0 JMP-JMP-JME combination

Jump Instructions

JMP(O4)

JME(O5)

JMP(O4)

JME(O5)

LABEL 1- 99 Can be used only

once in the program.

Jump Instructions

JMP(O4)

JME(O5)

LABEL 1- 99 Jump back inthe program

USEDRecursive action

Conversion more than one variableMODBUS CRC Check

Jump Instructions

Try…Try…

OMRONData monitoring

Data Shifting InstructionsData Shifting Instructions

Data Shifting Instructions

OMRONSHIFTREGISTERSHIFTREGISTER

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 10 0 0 0 0 0 0 0 0 0 0 0 0 0 1 10 0 0 0 0 0 0 0 0 0 0 0 0 1 1 00 0 0 0 0 0 0 0 0 0 0 0 1 1 0 10 0 0 0 0 0 0 0 0 0 0 1 1 0 1 00 0 0 0 0 0 0 0 0 0 1 1 0 1 0 10 0 0 0 0 0 0 0 0 1 1 0 1 0 1 10 0 0 0 0 0 0 0 1 1 0 1 0 1 1 10 0 0 0 0 0 0 1 1 0 1 0 1 1 1 10 0 0 0 0 0 1 1 0 1 0 1 1 1 1 00 0 0 0 0 1 1 0 1 0 1 1 1 1 0 00 0 0 0 1 1 0 1 0 1 1 1 1 0 0 00 0 0 1 1 0 1 0 1 1 1 1 0 0 0 0

SFT(10)DATA

SFT(10)

Start word

IR, AR, DM, HR, LR

End word

IR, AR, DM, HR, LR

99.12 100.00

Condition: End word >= Start wordSame data area

E St+1, St+2, ... St

VERLOREN DATA EXECUTIECONDITIE

Shift Register

Try…Try…

000.00

SFTR(84)

000.01

000.02

000.03

CLOCK PULSE

C: Control word

IR, AR, DM, HR, LR

St: Start word

IR, AR, DM, HR, LR

E: End word

IR, AR, DM, HR, LR

ExampleC= IR10

Shift Register

ASL(25)

0 0 0 1 1 0 1 0 1 1 1 1 0 0 0 0

ASL(25)

Wd: Word

IR, AR, DM, HR, LR

ER, EQ

Shift Register

ASR(26)

0 0 0 1 1 0 1 0 1 1 1 1 0 0 0 0

ASR(26)

Wd: Word

IR, AR, DM, HR, LR

ER, EQ

Shift Register

ROL(27)

0 0 0 1 1 0 1 0 1 1 1 1 0 0 0 0

ROL(27)

Wd: Word

IR, AR, DM, HR, LR

ER, EQ

Shift Register

ROR(28)

0 0 0 1 1 0 1 0 1 1 1 1 0 0 0 0

ROR(28)

Wd: Word

IR, AR, DM, HR, LR

ER, EQ

Shift Register

SLD(74)V.W.

SLD(74)

St: Start word

IR, AR, DM, HR, LR

E E: End word

IR, AR, DM, HR, LR

1 2 3 4 5 6 7 8

VERLOREN DATA

2 3 4 5 6 7 8 0

Shift Register

SRD(75)V.W.

SRD(75)

E: End word

IR, AR, DM, HR, LR

St St: Start word

IR, AR, DM, HR, LR

1 2 3 4 5 6 7 8

VERLOREN DATA

0 1 2 3 4 5 6 7

Shift Register

WSFT(16)V.W.

WSFT(16)

St: Start word

IR, AR, DM, HR, LR

E E: End word

IR, AR, DM, HR, LR

VERLOREN DATA

Shift Register

OMRONNOTATIONSNOTATIONS

1 2 3 4

4 * 10 0

3 * 10 1

2 * 10 2

1 * 10 3

Decimal

0,1,2,3,4,5,6,7,8,9

Notations

1 0 1 1

1 * 2 0 = 1

1 * 2 1 = 2

0 * 2 2 = 0

1 * 2 3 = 8

Binary

11: 2 rest 1

5: 2 rest 1

2: 2 rest 0

1: 2 rest 1

0 1011

Notations

1 2 A 4

4 * 16 0 = 4

10 * 16 1 = 160

2 * 16 2 = 512

1 * 16 3 = 4096

Hexadecimal

0,1,2,3,4,5,6,7,8,9,A,B,C,D,E,F

4772: 16 rest 4

298: 16 rest 10=A

18: 16 rest 2

1: 16 rest 1

0 12A4

Notations

1 2 A 4Hexadecimal

Hexadecimal <-> Binary

0001 0010 1010 0100Binary

2 02 15

Notations

1 2 9 4Decimal

Decimal <-> BCD

0001 0010 1001 0100BCD

Notations

0123456789

1011121314151617181920

0123456789ABCDEF1011121314

000000000100010000110010000101001100011101000010010101001011011000110101110011111000010001100101001110100

BIN BCD

0000 00000000 00010000 00100000 00110000 01000000 01010000 01100000 01110000 10000000 10010001 00000001 00010001 00100001 00110001 01000001 01010001 01100001 01110001 10000001 10010010 0000

Notations

Data Movement InstructionsData Movement Instructions

Data Movement Instructions

MOV(21)MOV(21)V.W.

MOV(21)

S: Source word

IR, AR, DM, HR, LR, TC, #

D: Destination word

IR, AR, DM, HR, LR

ER, EQ

1 1 0 1 1 0 1 1 1 0 0 1 1 0 1 1

SOURCE WORD

1 1 0 1 1 0 1 1 1 0 0 1 1 0 1 1

DESTINATION WORD

Status source wordwill not be changed

Data Movement InstructionsData Movement Instructions

Try…Try…

OMRONDifferentiated InstructionsDifferentiated Instructions

000.01 000.02 000.03DIFU(13)

010.00

010.00MOV(21)

DM0000

000.01 000.02 000.03@MOV(21)

DM0000

Differentiated Instructions

OMRONIndirect AddressingIndirect Addressing

000.01MOV(21)

DM0012

DM0010 0013

DM0011 3331

DM0012 1234

DM0013 A000

DM0014 0000

DM0015 FFFF

BEFORE

DM0010 0013

DM0011 3331

DM0012 0010

DM0013 A000

DM0014 0000

DM0015 FFFF

Indirect Addressing

OMRONIndirect AddressingIndirect Addressing

000.01MOV(21)

*DM0012

DM0010 0013

DM0011 3331

DM0012 1234

DM0013 A000

DM0014 0000

BEFORE

DM1233 A120

DM1234 AD01

DM1235 FFFF

DM0010 0013

DM0011 3331

DM0012 1234

DM0013 A000

DM0014 0000

DM1233 A120

DM1234 0010

DM1235 FFFF

Indirect Addressing

MVN(22)MVN(22)V.W.

MVN(22)

Br: Source word

D: Destination word

IR, AR, DM, HR, LR

ER, EQ

1 1 0 1 1 0 1 1 1 0 0 1 1 0 1 1

SOURCE WORD

0 0 1 0 0 1 0 0 0 1 1 0 0 1 0 0

DESTINATION WORD

XFER(70)XFER(70)V.W.

XFER(70)

Br: First source word

IR, AR, DM, HR, LR, TC

D: First destination word

IR, AR, DM, HR, LR

N: Number of words

Br 3331

Br+1 1234

Br+2 A000

Br+3 0000

Br+N-1 A120

D 3331

D+1 1234

D+2 A000

D+3 0000

D+N-1 A120

BSET(71)BSET(71)V.W.

BSET(71)

St: Start word

E: End word

Br: Source word

Br 3331 St 3331

St+1 3331

St+2 3331

St+3 3331

E 3331

XCHG(73)XCHG(73)V.W.

XCHG(73)

V2: To change word 2

V1: To change word 1

V1 3331 V2 1234V2 3331V1 1234

MOVB(82)MOVB(82)V.W.

MOVB(82)

Bi: Bit designation (BCD)

D: Destination word

IR, AR, DM, HR, LR

Br: Source word

SOURCE WORD

DESTINATION WORD

Bit status source wordwill not be changed

MOVD(83)MOVD(83)V.W.

MOVD(83)

Di: Digit designation (BCD)

D: Destination word

Br: Source word

Digit source wordwill not be changed

SOURCE WORD

4 2 7 1

DOELWOORD

9 9 3 3

DESTINATION WORD

7 1 3 3

Di = #0210

Data Compare InstructionsData Compare Instructions

Data Compare Instructions

CMP(20)CMP(20)V.W.

CMP(20)

Cp2: Second compare word

Cp1: First compare word

100.00255.05 >

100.01255.06 =

100.02255.07 <

PROGRAMPROGRAMDOWNLOADDOWNLOAD

CMPL(60)CMPL(60)V.W.

CMPL(60)

Cp2: Second compare word

Cp1: First compare word

100.00255.05 >

100.01255.06 =

100.02255.07 <

BCMP(68)BCMP(68)V.W.

BCMP(68)

CBCB: Startaddress table

IR, DM, HR, LR, TC

VD: Compare data

IR, DM, HR, LR, TC, #

RR: Result word

IR, AR, DM, HR, LR

VD 1234

CB 1000

CB+2 1280

CB+4 1234

CB+6 2000

CB+30 1100

Lower limit

CB+1 2000

CB+3 1420

CB+5 1234

CB+7 2400

CB+31 1500

Upper limit

RESBit 0

Bit 15

TCMP(65)TCMP(65)V.W.

TCMP(65)

CBCB: Startaddress table

IR, DM, HR, LR, TC

VD: Compare data

IR, DM, HR, LR, TC, #

RR: Result word

IR, AR, DM, HR, LR

VD 1234

CB 1000

CB+1 1280

CB+2 1234

CB+3 2000

CB+15 1100

RESBit 0

Bit 15

MCMP(19)MCMP(19) Multiple words compareMultiple words compareCPS(--)CPS(--) Binary compare with signBinary compare with signCPSL(--)CPSL(--) Double binary compare met signDouble binary compare met signZCP(--)ZCP(--) Zone compare with signZone compare with signZCPL(--)ZCPL(--) Double zone compare with signDouble zone compare with sign

BIN(23)BIN(23) BCD ->BinaryBCD ->BinaryBINL(58)BINL(58) Double BCD -> Double BinaryDouble BCD -> Double BinaryBCD(24)BCD(24) Binary -> BCDBinary -> BCDBCDL(59)BCDL(59) Double Binary -> Double BCD Double Binary -> Double BCD ASC(86)ASC(86) HEX -> ASCIIHEX -> ASCIIHEX(--)HEX(--) ASCII -> HEXASCII -> HEX

Data Conversion Instructions

BCD Calculation InstructionsBCD Calculation Instructions

BCD Calculation Instructions

LADDER SYMBOOL

STC(40) @STC(40)

LADDER SYMBOOL

CLC(41) @CLC(41)

Bit 255.04

Data Calculation Instructions

ADD(30)

ER, EQ, CY

Br2Br2: Source word 2 (BCD)

Br1: Source word 1 (BCD)

RR: Result word

IR, AR, DM, HR, LR

ADD(30)ADD(30)

Br1 + Br2 + Cy = R -> Cy

CY before exec. - Br1 (Source) - Br2 (Add) - R (Result) - CY after exec. “0” 1234 2345 3579 “0” “1” 1234 2345 3580 “0” “0” 4567 7667 2234 “1” “1” 4567 7667 2235 “1” “0” 9999 0001 0000 “1” “1” 9999 0000 0000 “1” “0” 0000 0000 0000 “0”

OMRONEXAMPLE PROGRAMEXAMPLE PROGRAMExample Program

PROGRAM PROGRAM DOWNLOADDOWNLOAD

SUB(31)

ER, EQ, CY

Br2Br2: Source word 2 (BCD)

Br1: Source word 1 (BCD)

RR: Result word

IR, AR, DM, HR, LR

SUB(31)SUB(31)

Br1 - Br2 - Cy = R -> Cy

CY before exec. - Br1 (Source) - Br2 (Add) - R (Result) - CY after exec. “0” 1234 2345 8889 “1” “1” 1234 2345 8888 “1” “0” 8567 7667 0900 “0” “1” 8567 7667 0899 “0” “0” 0000 0001 9999 “1” “1” 0001 0000 0000 “0” “0” 0000 0000 0000 “0”

MUL(32)

ER, EQ

VvVv: Multiplier(BCD)

Vt: Multiply word (BCD)

RR: First result word

IR, AR, DM, HR, LR

MUL(32)MUL(32)

Vt * Vv = R (R+1)

Attention: the result gives always two words (eight digits)

DIV(33)

ER, EQ

DrDr: Divider (BCD)

Dd: Divider word (BCD)

RR: First result word

IR, AR, DM, HR, LR

DIV(33)DIV(33)

Dd : Dr = R rest R+1

Attention: the result gives always two words

INC(38)INC(38) Increases BCD number with 1Increases BCD number with 1DEC(39)DEC(39) Decreases BCD number with 1Decreases BCD number with 1ADDL(54)ADDL(54) Double word ADDDouble word ADDSUBL(55)SUBL(55) Double word SUBTRACT Double word SUBTRACT MULL(56)MULL(56) Double word MULTIPLYDouble word MULTIPLYDIVL(57)DIVL(57) Double word DIVIDEDouble word DIVIDE

ADB(50)ADB(50) ADD binaryADD binarySBB(51)SBB(51) SUBTRACT binarySUBTRACT binaryMLB(52)MLB(52) MULTIPLY binaryMULTIPLY binaryDVB(53)DVB(53) DIVIDE binary DIVIDE binary ADBL(--)ADBL(--) Double word ADDDouble word ADDSBBL(--)SBBL(--) Double word SUBTRACTDouble word SUBTRACTMBS(--)MBS(--) Signed MULTIPLYSigned MULTIPLYMBSL(--)MBSL(--) Double word signed MULTIPLYDouble word signed MULTIPLYDBS(--)DBS(--) Signed DIVIDESigned DIVIDEDBSL(--)DBSL(--) Double word signed DIVIDEDouble word signed DIVIDE

NEG(--)NEG(--) 2’s complement conversion2’s complement conversionNEGL(--)NEGL(--) 2’s complement conversion (double)2’s complement conversion (double)CPS(--)CPS(--) 2’s complement compare 2’s complement compare CPSL(--)CPSL(--) 2’s complement compare (double)2’s complement compare (double)

Binary Calculation Instructions

COM(29)COM(29) 1’s Complement1’s ComplementANDW(34)ANDW(34) Logical AND between two wordsLogical AND between two wordsORW(35)ORW(35) Logical OR between two wordsLogical OR between two wordsXORW(36)XORW(36) Logical XOR between two wordsLogical XOR between two wordsXNRW(37)XNRW(37) Logical XNOR between two wordsLogical XNOR between two words

Logistic Calculation Instructions

SBS(91)

N: Subroutine number

#(00 - 255)

SBS(91) / SBN(92) / RET(93)SBS(91) / SBN(92) / RET(93)

SBN(92)

RET(93)

- Program -

APPLICATIONActions which are executed

more than once in the program

Subroutine Instructions

PROGRAMPROGRAMDOWNLOADDOWNLOAD

SNXT(09)

254.07 Step start flag

B: Control bit

IR, AR, HR, LR

STEP(08) / SNXT(09)STEP(08) / SNXT(09)

STEP(08)

- Program -

Step Instruction

ExampleExample

Ref 0 Ref 1

Step Instruction

STEP(08) / SNXT(09)STEP(08) / SNXT(09)

099.00

000.01

099.01

000.02 000.03

099.02 099.00

CNT500

099.00

Step Instruction

OMRONEXAMPLE PROGRAMEXAMPLE PROGRAMExample Program

Try…Try…

One Ladder

ＴａｓｋＴａｓｋＴａｓｋ

• Continuous Ladder program can be split into the functional parts

• These parts are called Tasks or Programs• Task programming results in faster and more

flexible program development

Task programming

I/O refresh

Task 00

Task 02

Task 01

• List of active tasks is refreshed during I/O refresh

• Active cyclic tasks are executed from the lowest task number

• Tasks can be activated or deactivated by other tasks

• Operation Start assignment can be switched On/Off

Cyclic Tasks

OMRONInterrupt tasks

EndTask 00

Task 02

Task 01

Interrupt Task

• Interrupt of cycle task execution can be triggered by– Power fail– Internal timer– External interrupt input– Message received on serial board

OMRONTask programming

• When to use Tasks?– Local symbols results in flexible programming– Parallel program development– Reuse of standard blocks of code– Upgrade of the machine by activating the task– Optimisation of the cycle time

Overseeing Processing

I/O Refreshing

Peripheral Servicing

ProgramExecution

- Check Battery- Read DIP-switches- Check I/O Bus- Check User Program Memory- Check for Memory Card

Refresh data for :- Basic I/O Units- SYSMAC BUS Remote I/O- Special I/O Units- CPU Bus Units

Events Servicing :- Special I/O unit events- CPU Bus Unit events- Peripheral port and RS-232C port events- File access - Communications port events

Cycle time – Standard situation

I/O Refreshing

ProgramExecution

Peripheral Servicing

- Faster servicing of events- Time slice for program execution and peripheral servicing can be tuned by the customer- Synchronous or asynchronous I/O-memory access can be set by the user- Data concurrence via special instructions

Cycle time – Parallel Processing Mode

Execute

Optimisation of the cycle time

OMRONTasks : summary

• Task is a program• Equivalent to a function of your process• Easier programming, debugging and maintenance

• Integrate tasks into a project• Up to 32 tasks !• Up to 256 linked to an event !

• Project will call the tasks needed• Your cycle is optimal

• Re-use-able !

OMRONQuestions?

Thank you for you attention

if you have any question… ?

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