CHAPTER 1 Process control system

Introduction
1.1 Conventional control panel
1.2 Control panel with a PLC controller
1.3 Systematic approach to designing a process control system
Introduction
Generally speaking, process control system is made up of a group of electronic devices and equipment that
provide stability, accuracy and eliminate harmful transition statuses in production processes. Operating
system can have different form and implementation, from energy supply units to machines. As a result of fast
progress in technology, many complex operational tasks have been solved by connecting programmable logic
controllers and possibly a central computer. Beside connections with instruments like operating panels,
motors, sensors, switches, valves and such, possibilities for communication among instruments are so great
that they allow high level of exploitation and process coordination, as well as greater flexibility in realizing an
process control system. Each component of an process control system plays an important role, regardless of
its size. For example, without a sensor, PLC wouldnt know what exactly goes on in the process. In automated
system, PLC controller is usually the central part of an process control system. With execution of a program
stored in program memory, PLC continuously monitors status of the system through signals from input
devices. Based on the logic implemented in the program, PLC determines which actions need to be executed
with output instruments. To run more complex processes it is possible to connect more PLC controllers to a
central computer. A real system could look like the one pictured below:

1.1 Conventional control panel

At the outset of industrial revolution, especially during sixties and seventies, relays were used to operate
automated machines, and these were interconnected using wires inside the control panel. In some cases a
control panel covered an entire wall. To discover an error in the system much time was needed especially with
more complex process control systems. On top of everything, a lifetime of relay contacts was limited, so some
relays had to be replaced. If replacement was required, machine had to be stopped and production too. Also, it
could happen that there was not enough room for necessary changes. control panel was used only for one
particular process, and it wasnt easy to adapt to the requirements of a new system. As far as maintenance,
electricians had to be very skillful in finding errors. In short, conventional control panels proved to be very
inflexible. Typical example of conventional control panel is given in the following picture.

In this photo you can notice a large number of electrical wires, time relays, timers and other elements of
automation typical for that period. Pictured control panel is not one of the more complicated ones, so you
can imagine what complex ones looked like.
Most frequently mentioned disadvantages of a classic control panel are:
- Too much work required in connecting wires
- Difficulty with changes or replacements
- Difficulty in finding errors; requiring skillful work force
- When a problem occurs, hold-up time is indefinite, usually long.
1.2 Control panel with a PLC controller
With invention of programmable controllers, much has changed in how an process control system is designed.
Many advantages appeared. Typical example of control panel with a PLC controller is given in the following
picture.

Advantages of control panel that is based on a PLC controller can be presented in few basic points:
1. Compared to a conventional process control system, number of wires needed for connections is reduced by
80%
2. Consumption is greatly reduced because a PLC consumes less than a bunch of relays
3. Diagnostic functions of a PLC controller allow for fast and easy error detection.
4. Change in operating sequence or application of a PLC controller to a different operating process can easily
be accomplished by replacing a program through a console or using a PC software (not requiring changes in
wiring, unless addition of some input or output device is required).
5. Needs fewer spare parts
6. It is much cheaper compared to a conventional system, especially in cases where a large number of I/O
instruments are needed and when operational functions are complex.
7. Reliability of a PLC is greater than that of an electro-mechanical relay or a timer.
1.3 Systematic approach in designing an process control system
First, you need to select an instrument or a system that you wish to control. Automated system can be a
machine or a process and can also be called an process control system. Function of an process control system
is constantly watched by input devices (sensors) that give signals to a PLC controller. In response to this, PLC
controller sends a signal to external output devices (operative instruments) that actually control how system
functions in an assigned manner (for simplification it is recommended that you draw a block diagram of
operations flow).
Secondly, you need to specify all input and output instruments that will be connected to a PLC controller.
Input devices are various switches, sensors and such. Output devices can be solenoids, electromagnetic
valves, motors, relays, magnetic starters as well as instruments for sound and light signalization.
Following an identification of all input and output instruments, corresponding designations are assigned to
input and output lines of a PLC controller. Allotment of these designations is in fact an allocation of inputs
and outputs on a PLC controller which correspond to inputs and outputs of a system being designed.
Third, make a ladder diagram for a program by following the sequence of operations that was determined in
the first step.
Finally, program is entered into the PLC controller memory. When finished with programming, checkup is
done for any existing errors in a program code (using functions for diagnostics) and, if possible, an entire
operation is simulated. Before this system is started, you need to check once again whether all input and
output instruments are connected to correct inputs or outputs. By bringing supply in, system starts working.

CHAPTER 2 Introduction to PLC controllers

Introduction
2.1 First programmed controllers
2.2 PLC controller parts
2.3 Central Processing unit -CPU
2.4 Memory
2.5 How to program a PLC controller
2.6 Power supply
2.7 Input to a PLC controller
2.8 Input adjustable interface
2.9 Output from a PLC controller
2.10 Output adjustable interface
2.11 Extension lines
Introduction
Industry has begun to recognize the need for quality improvement and increase in productivity in the sixties

and seventies. Flexibility also became a major concern (ability to change a process quickly became very
important in order to satisfy consumer needs).
Try to imagine automated industrial production line in the sixties and seventies. There was always a huge
electrical board for system controls, and not infrequently it covered an entire wall! Within this board there
was a great number of interconnected electromechanical relays to make the whole system work. By word
"connected" it was understood that electrician had to connect all relays manually using wires! An engineer
would design logic for a system, and electricians would receive a schematic outline of logic that they had to
implement with relays. These relay schemas often contained hundreds of relays. The plan that electrician was
given was called "ladder schematic". Ladder displayed all switches, sensors, motors, valves, relays, etc. found
in the system. Electrician's job was to connect them all together. One of the problems with this type of control
was that it was based on mechanical relays. Mechanical instruments were usually the weakest connection in
the system due to their moveable parts that could wear out. If one relay stopped working, electrician would
have to examine an entire system (system would be out until a cause of the problem was found and corrected).
The other problem with this type of control was in the system's break period when a system had to be turned
off, so connections could be made on the electrical board. If a firm decided to change the order of operations
(make even a small change), it would turn out to be a major expense and a loss of production time until a
system was functional again.
It's not hard to imagine an engineer who makes a few small errors during his project. It is also conceivable
that electrician has made a few mistakes in connecting the system. Finally, you can also imagine having a few
bad components. The only way to see if everything is all right is to run the system. As systems are usually not
perfect with a first try, finding errors was an arduous process. You should also keep in mind that a product
could not be made during these corrections and changes in connections. System had to be literally disabled
before changes were to be performed. That meant that the entire production staff in that line of production
was out of work until the system was fixed up again. Only when electrician was done finding errors and
repairing,, the system was ready for production. Expenditures for this kind of work were too great even for
well-to-do companies.
2.1 First programmable controllers
"General Motors" is among the first who recognized a need to replace the system's "wired" control board.
Increased competition forced auto-makers to improve production quality and productivity. Flexibility and fast
and easy change of automated lines of production became crucial! General Motors' idea was to use for system
logic one of the microcomputers (these microcomputers were as far as their strength beneath today's eight-bit
microcontrollers) instead of wired relays. Computer could take place of huge, expensive, inflexible wired
control boards. If changes were needed in system logic or in order of operations, program in a microcomputer
could be changed instead of rewiring of relays. Imagine only what elimination of the entire period needed for
changes in wiring meant then. Today, such thinking is but common, then it was revolutionary!
Everything was well thought out, but then a new problem came up of how to make electricians accept and use
a new device. Systems are often quite complex and require complex programming. It was out of question to
ask electricians to learn and use computer language in addition to other job duties. General Motors
Hidromatic Division of this big company recognized a need and wrote out project criteria for first
programmable logic controller ( there were companies which sold instruments that performed industrial
control, but those were simple sequential controllers not PLC controllers as we know them today).
Specifications required that a new device be based on electronic instead of mechanical parts, to have
flexibility of a computer, to function in industrial environment (vibrations, heat, dust, etc.) and have a
capability of being reprogrammed and used for other tasks. The last criteria was also the most important, and
a new device had to be programmed easily and maintained by electricians and technicians. When the
specification was done, General Motors looked for interested companies, and encouraged them to develop a
device that would meet the specifications for this project.
"Gould Modicon" developed a first device which met these specifications. The key to success with a new
device was that for its programming you didn't have to learn a new programming language. It was

programmed so that same language a ladder diagram, already known to technicians was used. Electricians
and technicians could very easily understand these new devices because the logic looked similar to old logic
that they were used to working with. Thus they didn't have to learn a new programming language which
(obviously) proved to be a good move. PLC controllers were initially called PC controllers (programmable
controllers). This caused a small confusion when Personal Computers appeared. To avoid confusion, a
designation PC was left to computers, and programmable controllers became programmable logic controllers.
First PLC controllers were simple devices. They connected inputs such as switches, digital sensors, etc., and
based on internal logic they turned output devices on or off. When they first came up, they were not quite
suitable for complicated controls such as temperature, position, pressure, etc. However, throughout years,
makers of PLC controllers added numerous features and improvements. Today's PLC controller can handle
highly complex tasks such as position control, various regulations and other complex applications. The speed
of work and easiness of programming were also improved. Also, modules for special purposes were
developed, like communication modules for connecting several PLC controllers to the net. Today it is difficult
to imagine a task that could not be handled by a PLC.
2.2 PLC controller components
PLC is actually an industrial microcontroller system (in more recent times we meet processors instead of
microcontrollers) where you have hardware and software specifically adapted to industrial environment.
Block schema with typical components which PLC consists of is found in the following picture. Special
attention needs to be given to input and output, because in these blocks you find protection needed in isolating
a CPU blocks from damaging influences that industrial environment can bring to a CPU via input lines.
Program unit is usually a computer used for writing a program (often in ladder diagram).
2.3 Central Processing Unit - CPU
Central Processing Unit (CPU) is the brain of a PLC controller. CPU itself is usually one of the
microcontrollers. Aforetime these were 8-bit microcontrollers such as 8051, and now these are 16- and 32-bit
microcontrollers. Unspoken rule is that you'll find mostly Hitachi and Fujicu microcontrollers in PLC
controllers by Japanese makers, Siemens in European controllers, and Motorola microcontrollers in American
ones. CPU also takes care of communication, interconnectedness among other parts of PLC controller,
program execution, memory operation, overseeing input and setting up of an output. PLC controllers have
complex routines for memory checkup in order to ensure that PLC memory was not damaged (memory
checkup is done for safety reasons). Generally speaking, CPU unit makes a great number of check-ups of the
PLC controller itself so eventual errors would be discovered early. You can simply look at any PLC controller
and see that there are several indicators in the form of light diodes for error signalization.

2.4 Memory
System memory (today mostly implemented in FLASH technology) is used by a PLC for an process control
system. Aside from this operating system it also contains a user program translated from a ladder diagram to a
binary form. FLASH memory contents can be changed only in case where user program is being changed.
PLC controllers were used earlier instead of FLASH memory and have had EPROM memory instead of
FLASH memory which had to be erased with UV lamp and programmed on programmers. With the use of
FLASH technology this process was greatly shortened. Reprogramming a program memory is done through a
serial cable in a program for application development.
User memory is divided into blocks having special functions. Some parts of a memory are used for storing
input and output status. The real status of an input is stored either as "1" or as "0" in a specific memory bit.
Each input or output has one corresponding bit in memory. Other parts of memory are used to store variable
contents for variables used in user program. For example, timer value, or counter value would be stored in this
part of the memory.
2.5 Programming a PLC controller
PLC controller can be reprogrammed through a computer (usual way), but also through manual programmers
(consoles). This practically means that each PLC controller can programmed through a computer if you have
the software needed for programming. Today's transmission computers are ideal for reprogramming a PLC
controller in factory itself. This is of great importance to industry. Once the system is corrected, it is also
important to read the right program into a PLC again. It is also good to check from time to time whether
program in a PLC has not changed. This helps to avoid hazardous situations in factory rooms (some
automakers have established communication networks which regularly check programs in PLC controllers to
ensure execution only of good programs).

Almost every program for programming a PLC controller possesses various useful options such as: forced
switching on and off of the system inputs/ouputs (I/O lines), program follow up in real time as well as
documenting a diagram. This documenting is necessary to understand and define failures and malfunctions.
Programmer can add remarks, names of input or output devices, and comments that can be useful when
finding errors, or with system maintenance. Adding comments and remarks enables any technician (and not
just a person who developed the system) to understand a ladder diagram right away. Comments and remarks
can even quote precisely part numbers if replacements would be needed. This would speed up a repair of any
problems that come up due to bad parts. The old way was such that a person who developed a system had
protection on the program, so nobody aside from this person could understand how it was done. Correctly
documented ladder diagram allows any technician to understand thoroughly how system functions.
2.6. Power supply
Electrical supply is used in bringing electrical energy to central processing unit. Most PLC controllers work
either at 24 VDC or 220 VAC. On some PLC controllers you'll find electrical supply as a separate module.
Those are usually bigger PLC controllers, while small and medium series already contain the supply module.
User has to determine how much current to take from I/O module to ensure that electrical supply provides
appropriate amount of current. Different types of modules use different amounts of electrical current.
This electrical supply is usually not used to start external inputs or outputs. User has to provide separate
supplies in starting PLC controller inputs or outputs because then you can ensure so called "pure" supply for
the PLC controller. With pure supply we mean supply where industrial environment can not affect it
damagingly. Some of the smaller PLC controllers supply their inputs with voltage from a small supply source
already incorporated into a PLC.
2.7 PLC controller inputs
Intelligence of an automated system depends largely on the ability of a PLC controller to read signals from
different types of sensors and input devices. Keys, keyboards and by functional switches are a basis for man
versus machine relationship. On the other hand, in order to detect a working piece, view a mechanism in
motion, check pressure or fluid level you need specific automatic devices such as proximity sensors, marginal
switches, photoelectric sensors, level sensors, etc. Thus, input signals can be logical (on/off) or analogue.
Smaller PLC controllers usually have only digital input lines while larger also accept analogue inputs through
special units attached to PLC controller. One of the most frequent analogue signals are a current signal of 4 to
20 mA and milivolt voltage signal generated by various sensors. Sensors are usually used as inputs for PLCs.
You can obtain sensors for different purposes. They can sense presence of some parts, measure temperature,
pressure, or some other physical dimension, etc. (ex. inductive sensors can register metal objects).
Other devices also can serve as inputs to PLC controller. Intelligent devices such as robots, video systems, etc.
often are capable of sending signals to PLC controller input modules (robot, for instance, can send a signal to
PLC controller input as information when it has finished moving an object from one place to the other.)
2.8 Input adjustment interface
Adjustment interface also called an interface is placed between input lines and a CPU unit. The purpose of
adjustment interface to protect a CPU from disproportionate signals from an outside world. Input adjustment
module turns a level of real logic to a level that suits CPU unit (ex. input from a sensor which works on 24
VDC must be converted to a signal of 5 VDC in order for a CPU to be able to process it). This is typically
done through opto-isolation, and this function you can view in the following picture.
Opto-isolation means that there is no electrical connection between external world and CPU unit. They are
"optically" separated, or in other words, signal is transmitted through light. The way this works is simple.
External device brings a signal which turns LED on, whose light in turn incites photo transistor which in turn
starts conducting, and a CPU sees this as logic zero (supply between collector and transmitter falls under 1V).
When input signal stops LED diode turns off, transistor stops conducting, collector voltage increases, and
CPU receives logic 1 as information.

2.9 PLC controller output

Automated system is incomplete if it is not connected with some output devices. Some of the most frequently
used devices are motors, solenoids, relays, indicators, sound signalization and similar. By starting a motor, or
a relay, PLC can manage or control a simple system such as system for sorting products all the way up to
complex systems such as service system for positioning head of CNC machine. Output can be of analogue or
digital type. Digital output signal works as a switch; it connects and disconnects line. Analogue output is used
to generate the analogue signal (ex. motor whose speed is controlled by a voltage that corresponds to a desired
speed).
2.10 Output adjustment interface
Output interface is similar to input interface. CPU brings a signal to LED diode and turns it on. Light incites a
photo transistor which begins to conduct electricity, and thus the voltage between collector and emmiter falls
to 0.7V , and a device attached to this output sees this as a logic zero. Inversely it means that a signal at the
output exists and is interpreted as logic one. Photo transistor is not directly connected to a PLC controller
output. Between photo transistor and an output usually there is a relay or a stronger transistor capable of
interrupting stronger signals.

2.11 Extension lines

Every PLC controller has a limited number of input/output lines. If needed this number can be increased
through certain additional modules by system extension through extension lines. Each module can contain
extension both of input and output lines. Also, extension modules can have inputs and outputs of a different
nature from those on the PLC controller (ex. in case relay outputs are on a controller, transistor outputs can be
on an extension module).

CHAPTER 3 Connecting sensors and execution devices

Introduction
3.1 Sinking-sourcing concept
3.2 Input lines
3.3 Output lines
Introduction
Connecting external devices to a PLC controller regardless whether they are input or output is a special
subject matter for industry. If it stands alone, PLC controller itself is nothing. In order to function it needs
sensors to obtain information from environment, and it also needs execution devices so it could turn the
programmed change into a reality. Similar concept is seen in how human being functions. Having a brain is
simply not enough. Humans achieve full activity only with processing of information from a sensor (eyes,
ears, touch, smell) and by taking action through hands, legs or some tools. Unlike human being who receives
his sensors automatically, when dealing with controllers, sensors have to be subsequently connected to a PLC.
How to connect input and output parts is the topic of this chapter.
3.1 Sinking-Sourcing Concept
PLC has input and output lines through which it is connected to a system it directs. Input can be keys,
switches, sensors while outputs are led to different devices from simple signalization lights to complex
communication modules.
This is a very important part of the story about PLC controllers because it directly influences what can be
connected and how it can be connected to controller inputs or outputs. Two terms most frequently mentioned
when discussing connections to inputs or outputs are "sinking" and "sourcing". These two concepts are very
important in connecting a PLC correctly with external environment. The most brief definition of these two
concepts would be:
SINKING = Common GND line (-)
SOURCING = Common VCC line (+)
First thing that catches one's eye are "+" and "-" supply, DC supply. Inputs and outputs which are either
sinking or sourcing can conduct electricity only in one direction, so they are only supplied with direct current.
According to what we've said thus far, each input or output has its own return line, so 5 inputs would need 10
screw terminals on PLC controller housing. Instead, we use a system of connecting several inputs to one
return line as in the following picture. These common lines are usually marked "COMM" on the PLC
controller housing.

3.2 Input lines

Explanation of PLC controller input and output lines has up to now been given only theoretically. In order to
apply this knowledge, we need to make it a little more specific. Example can be connection of external device
such as proximity sensor. Sensor outputs can be different depending on a sensor itself and also on a particular
application. Following pictures display some examples of sensor outputs and their connection with a PLC
controller. Sensor output actually marks the size of a signal given by a sensor at its output when this sensor is
active. In one case this is +V (supply voltage, usually 12 or 24V) and in other case a GND (0V). Another
thing worth mentioning is that sinking-sourcing and sourcing - sinking pairing is always used, and not
sourcing-sourcing or sinking-sinking pairing.

If we were to make type of connection more specific, we'd get combinations as in following pictures (for
more specific connection schemas we need to know the exact sensor model and a PLC controller model).

3.3 Output lines

PLC controller output lines usually can be:
-transistors in PNP connection
-transistors in NPN connection
-relays
The following two pictures display a realistic way how a PLC manages external devices. It ought to be noted
that a main difference between these two pictures is a position of "output load device". By "output load
device" we mean some relay, signalization light or similar.

How something is connected with a PLC output depends on the element being connected. In short, it depends
on whether this element of output load device is activated by a positive supply pole or a negative supply pole.

CHAPTER 4 Architecture of specific PLC controller

Introduction
4.1 Why OMRON?
4.2 CPM1A PLC controller
4.3 PLC controller input lines
4.4 PLC controller output lines
4.5 How PLC controller works
4.6 CPM1A PLC controller memory map
4.7 Timers and counters
Introduction
This book could deal with a general overview of some supposed PLC controller. Author has had an
opportunity to look over plenty of books published up till now, and this approach is not the most suitable to
the purposes of this book in his opinion. Idea of this book is to work through one specific PLC controller
where someone can get a real feeling on this subject and its weight. Our desire was to write a book based on
whose reading you can earn some money. After all, money is the end goal of every business!
4.1 Why OMRON?
Why not? It is a huge company which has high quality and by our standards inexpensive controllers. Today
we can say almost with surety that PLC controllers by manufacturers round the world are excellent devices,
and altogether similar. Nevertheless, for specific application we need to know specific information about a
PLC controller being used. Therefore, the choice fell on OMRON company and its PLC of micro class
CPM1A. Adjective "micro" itself implies the smallest models from the viewpoint of a number of attached
lines or possible options. Still, this PLC controller is ideal for the purposes of this book, and that is to
introduce a PLC controller philosophy to its readers.
4.2 CPM1A PLC controller
Each PLC is basically a microcontroller system (CPU of PLC controller is based on one of the
microcontrollers, and in more recent times on one of the PC processors) with peripherals that can be digital
inputs, digital outputs or relays as in our case. However, this is not an "ordinary" microcontroller system.
Large teams have worked on it, and a checkup of its function has been performed in real world under all
possible circumstances. Software itself is entirely different from assemblers used thus far, such as BASIC or
C. This specialized software is called "ladder" (name came about by an association of program's configuration
which resembles a ladder, and from the way program is written out).
Specific look of CPM1A PLC controller can be seen in the following picture. On the upper surface, there are
4 LED indicators and a connection port with an RS232 module which is interface to a PC computer. Aside
from this, screw terminals and light indicators of activity of each input or output are visible on upper and
lower sides. Screw terminals serve to manually connect to a real system. Hookups L1 and L2 serve as supply
which is 220V~ in this case. PLC controllers that work on power grid voltage usually have a source of direct
supply of 24 VDC for supplying sensors and such (with a CPM1A source of direct supply is found on the
bottom left hand side and is represented with two screw terminals. Controller can be mounted to industrial
"track" along with other automated elements, but also by a screw to the machine wall or control panel.

Controller is 8cm high and divided

vertically into two areas: a lower one with a
converter of 220V~ at 24VDC and other
voltages needed for running a CPU unit;
and, upper area with a CPU and memory,
relays and digital inputs.
When you lift the small plastic cover you'll
see a connector to which an RS232 module
is hooked up for serial interface with a
computer. This module is used when
programming a PLC controller to change
programs or execution follow-up. When
installing a PLC it isn't necessary to install
this module, but it is recommended because
of possible changes in software during
operation.

To better inform programmers on PLC controller status, maker has provided for four light indicators in the
form of LED's. Beside these indicators, there are status indicators for each individual input and output. These
LED's are found by the screw terminals and with their status are showing input or output state. If input/output
is active, diode is lit and vice versa.
4.3 PLC controller output lines
Aside from transistor outputs in PNP and NPN connections, PLC can also have relays as outputs. Existence of
relays as outputs makes it easier to connect with external devices. Model CPM1A contains exactly these
relays as outputs. There a 4 relays whose functional contacts are taken out on a PLC controller housing in the
form of screw terminals. In reality this looks as in picture below.

With activation of phototransistor, relay comes under voltage and activates a contact between points A and B.
Contacts A and B can in our case be either in connection or interrupted. What state these contacts are in is
determined by a CPU through appropriate bits in memory location IR010. One example of relay status is
shown in a picture below. A true state of devices attached to these relays is displayed.

4.4 PLC controller input lines

Different sensors, keys, switches and other elements that can change status of a joined bit at PLC input can be
hooked up to the PLC controller inputs. In order to realize a change, we need a voltage source to incite an
input. The simplest possible input would be a common key. As CPM1A PLC has a source of direct voltage of

24V, the same source can be used to incite input (problem with this source is its maximum current which it
can give continually and which in our case amounts to 0.2A). Since inputs to a PLC are not big consumers
(unlike some sensor where a stronger external supply must be used) it is possible to take advantage of the
existing source of direct supply to incite all six keys.

4.5 How PLC controller works

Basis of a PLC function is continual scanning of a program. Under scanning we mean running through all
conditions within a guaranteed period. Scanning process has three basic steps:
Step 1.
Testing input status. First, a PLC checks each of the inputs with intention to see which one of them has status
ON or OFF. In other words, it checks whether a sensor, or a switch etc. connected with an input is activated or
not. Information that processor thus obtains through this step is stored in memory in order to be used in the
following step.
Step 2.

Program execution. Here a PLC executes a program, instruction by instruction. Based on a program and based
on the status of that input as obtained in the preceding step, an appropriate action is taken. This reaction can
be defined as activation of a certain output, or results can be put off and stored in memory to be retrieved later
in the following step.
Step 3.
Checkup and correction of output status. Finally, a PLC checks up output status and adjusts it as needed.
Change is performed based on the input status that had been read during the first step, and based on the results
of program execution in step two. Following the execution of step 3 PLC returns to the beginning of this cycle
and continually repeats these steps. Scanning time is defined by the time needed to perform these three steps,
and sometimes it is an important program feature.

4.6 CPM1A PLC controller memory map

By memory map we mean memory structure for a PLC controller. Simply said, certain parts of memory have
specific roles. If you look at the picture below, you can see that memory for CPM1A is structured into 16-bit
words. A cluster of several such words makes up a region. All the regions make up the memory for a PLC
controller.

Unlike microcontroller systems where only some memory locations have had their purpose clearly defined
(ex. register that contains counter value), a memory of PLC controller is completely defined, and more
importantly almost entire memory is addressable in bits. Addressability in bits means that it is enough to write
the address of the memory location and a number of bits after it in order to manipulate with it. In short, that
would mean that something like this could be written: "201.7=1" which would clearly indicate a word 201
and its bit 7 which is set to one.
IR region
Memory locations intended for PLC input and output. Some bits are directly connected to PLC controller
inputs and outputs (screw terminal). In our case, we have 6 input lines at address IR000. One bit corresponds
to each line, so the first line has the address IR000.0, and the sixth IR000.5. When you obtain a signal at the
input, this immediately affects the status of a corresponding bit. There are also words with work bits in this
region, and these work bits are used in a program as flags or certain conditional bits.
SR region
Special memory region for control bits and flags. It is intended first and foremost for counters and interrupts.
For example, SR250 is memory location which contains an adjustable value, adjusted by potentiometer no.0
(in other words, value of this location can be adjusted manually by turning a potentiometer no.0.
TR region
When you move to a subprogram during program execution, all relevant data is stored in this region up to the
return from a subprogram.
HR region
It is of great importance to keep certain information even when supply stops. This part of the memory is
battery supported, so even when supply has stopped it will keep all data found therein before supply stopped.
AR region
This is one more region with control bits and flags. This region contains information on PLC status, errors,
system time, and the like. Like HR region, this one is also battery supported.
LR region
In case of connection with another PLC, this region is used for exchange of data.
Timer and counter region
This region contains timer and counter values. There are 128 values. Since we will consider examples with
timers and counters, we will discus this region more later on.
DM region
Contains data related to setting up communication with a PC computer, and data on errors.
Each region can be broken down to single words and meanings of its bits. In order to keep the clarity of the
book, this part is dealt with in Attachments and we will deal with those regions here whose bits are mostly
used for writing.

Note:
1. IR and LR bits that are not used for their allocated functions can be used as work bits.
2. The contents of the HR area, LR area, Counter area, and read/write DM area are backed up by a capacitor.
At 25 oC, the capacitor will back up memory for 20 days.
3. When accessing a PV, TC numbers are used as word data; when accessing Completing Flags, they are used
as bit data.

4. Data in DM6144 to DM6655 cannot be overwritten from the program, but they can be changed from a
Peripheral Device
4.7 Timers and counters
Timers and counters are indispensable in PLC programming. Industry has to number its products, determine a
needed action in time, etc. Timing functions is very important, and cycle periods are critical in many
processes.
There are two types of timers delay-off and delay-on. First is late with turn off and the other runs late in
turning on in relation to a signal that activated timers. Example of a delay-off timer would be staircase
lighting. Following its activation, it simply turns off after few minutes.
Each timer has a time basis, or more precisely has several timer basis. Typical values are: 1 second, 0.1
second, and 0,01 second. If programmer has entered .1 as time basis and 50 as a number for delay increase,
timer will have a delay of 5 seconds (50 x 0.1 second = 5 seconds).
Timers also have to have value SV set in advance. Value set in advance or ahead of time is a number of
increments that timer has to calculate before it changes the output status. Values set in advance can be
constants or variables. If a variable is used, timer will use a real time value of the variable to determine a
delay. This enables delays to vary depending on the conditions during function. Example is a system that has
produced two different products, each requiring different timing during process itself. Product A requires a
period of 10 seconds, so number 10 would be assigned to the variable. When product B appears, a variable
can change value to what is required by product B.
Typically, timers have two inputs. First is timer enable, or conditional input (when this input is activated,
timer will start counting). Second input is a reset input. This input has to be in OFF status in order for a timer
to be active, or the whole function would be repeated over again. Some PLC models require this input to be
low for a timer to be active, other makers require high status (all of them function in the same way basically).
However, if reset line changes status, timer erases accumulated value.
With a PLC controller by Omron there are two types of timers: TIM and TIMH. TIM timer measures in
increments of 0.1 seconds. It can measure from 0 to 999.9 seconds with precision of 0.1 seconds more or less.
Quick timer (TIMH) measures in increments of 0.01 seconds. Both timers are "delay-on" timers of a
lessening-style. They require assignment of a timer number and a set value (SV). When SV runs out, timer
output turns on. Numbers of a timing counter refer to specific address in memory and must not be duplicated
(same number can not be used for a timer and a counter).

CHAPTER 5 Ladder diagram

Introduction
5.1 Ladder diagram
5.2 Normally open and normally closed contacts
5.3 Brief example
Introduction
Programmable controllers are generally programmed in ladder diagram (or "relay diagram") which is nothing
but a symbolic representation of electric circuits. Symbols were selected that actually looked similar to
schematic symbols of electric devices, and this has made it much easier for electricians to switch to
programming PLC controllers. Electrician who has never seen a PLC can understand a ladder diagram.

5.1 Ladder diagram

There are several languages designed for user communication with a PLC, among which ladder diagram is the
most popular. Ladder diagram consists of one vertical line found on the left hand side, and lines which branch
off to the right. Line on the left is called a "bus bar", and lines that branch off to the right are instruction lines.
Conditions which lead to instructions positioned at the right edge of a diagram are stored along instruction
lines. Logical combination of these conditions determines when and in what way instruction on the right will
execute. Basic elements of a relay diagram can be seen in the following picture.

Most instructions require at least one operand, and often more than one. Operand can be some memory
location, one memory location bit, or some numeric value -number. In the example above, operand is bit 0 of
memory location IR000. In a case when we wish to proclaim a constant as an operand, designation # is used
beneath the numeric writing (for a compiler to know it is a constant and not an address.)
Based on the picture above, one should note that a ladder diagram consists of two basic parts: left section also
called conditional, and a right section which has instructions. When a condition is fulfilled, instruction is
executed, and that's all!

Picture above represents a example of a ladder diagram where relay is activated in PLC controller when signal
appears at input line 00. Vertical line pairs are called conditions. Each condition in a ladder diagram has a
value ON or OFF, depending on a bit status assigned to it. In this case, this bit is also physically present as an
input line (screw terminal) to a PLC controller. If a key is attached to a corresponding screw terminal, you can
change bit status from a logic one status to a logic zero status, and vice versa. Status of logic one is usually
designated as "ON", and status of logic zero as "OFF".
Right section of a ladder diagram is an instruction which is executed if left condition is fulfilled. There are
several types of instructions that could easily be divided into simple and complex. Example of a simple
instruction is activation of some bit in memory location. In the example above, this bit has physical
connotation because it is connected with a relay inside a PLC controller. When a CPU activates one of the
leading four bits in a word IR010, relay contacts move and connect lines attached to it. In this case, these are
the lines connected to a screw terminal marked as 00 and to one of COM screw terminals.
5.2 Normally open and normally closed contacts
Since we frequently meet with concepts "normally open" and "normally closed" in industrial environment, it's
important to know them. Both terms apply to words such as contacts, input, output, etc. (all combinations
have the same meaning whether we are talking about input, output, contact or something else).
Principle is quite simple, normally open switch won't conduct electricity until it is pressed down, and
normally closed switch will conduct electricity until it is pressed. Good examples for both situations are the
doorbell and a house alarm.
If a normally closed switch is selected, bell will work continually until someone pushes the switch. By
pushing a switch, contacts are opened and the flow of electricity towards the bell is interrupted. Of course,
system so designed would not in any case suit the owner of the house. A better choice would certainly be a
normally open switch. This way bell wouldn't work until someone pushed the switch button and thus
informed of his or her presence at the entrance.
Home alarm system is an example of an application of a normally closed switch. Let's suppose that alarm
system is intended for surveillance of the front door to the house. One of the ways to "wire" the house would
be to install a normally open switch from each door to the alarm itself (precisely as with a bell switch). Then,
if the door was opened, this would close the switch, and an alarm would be activated. This system could
work, but there would be some problems with this, too. Let's suppose that switch is not working, that a wire is
somehow disconnected, or a switch is broken, etc. (there are many ways in which this system could become
dysfunctional). The real trouble is that a homeowner would not know that a system was out of order. A burglar
could open the door, a switch would not work, and the alarm would not be activated. Obviously, this isn't a
good way to set up this system. System should be set up in such a way so the alarm is activated by a burglar,
but also by its own dysfunction, or if any of the components stopped working. (A homeowner would certainly
want to know if a system was dysfunctional). Having these things in mind, it is far better to use a switch with

normally closed contacts which will detect an unauthorized entrance (opened door interrupts the flow of
electricity, and this signal is used to activate a sound signal), or a failure on the system such as a disconnected
wire. These considerations are even more important in industrial environment where a failure could cause
injury at work. One such example where outputs with normally closed contacts are used is a safety wall with
trimming machines. If the wall doors open, switch affects the output with normally closed contacts and
interrupts a supply circuit. This stops the machine and prevents an injury.
Concepts normally open and normally closed can apply to sensors as well. Sensors are used to sense the
presence of physical objects, measure some dimension or some amount. For instance, one type of sensors can
be used to detect presence of a box on an industry transfer belt. Other types can be used to measure physical
dimensions such as heat, etc. Still, most sensors are of a switch type. Their output is in status ON or OFF
depending on what the sensor "feels". Let's take for instance a sensor made to feel metal when a metal object
passes by the sensor. For this purpose, a sensor with a normally open or a normally closed contact at the
output could be used. If it were necessary to inform a PLC each time an object passed by the sensor, a sensor
with a normally open output should be selected. Sensor output would set off only if a metal object were
placed right before the sensor. A sensor would turn off after the object has passed. PLC could then calculate
how many times a normally open contact was set off at the sensor output, and would thus know how many
metal objects passed by the sensor.
Concepts normally open and normally closed contact ought to be clarified and explained in detail in the
example of a PLC controller input and output. The easiest way to explain them is in the example of a relay.

Normally open contacts would represent relay contacts that would perform a connection upon receipt of a
signal. Unlike open contacts, with normally closed contacts signal will interrupt a contact, or turn a relay off.
Previous picture shows what this looks like in practice. First two relays are defined as normally open , and the
other two as normally closed. All relays react to a signal! First relay (00) has a signal and closes its contacts.

Second relay (01) does not have a signal and remains opened. Third relay (02) has a signal and opens its
contacts considering it is defined as a closed contact. Fourth relay (03) does not have a signal and remains
closed because it is so defined.
Concepts "normally open" and "normally closed" can also refer to inputs of a PLC controller. Let's use a key
as an example of an input to a PLC controller. Input where a key is connected can be defined as an input with
open or closed contacts. If it is defined as an input with normally open contact, pushing a key will set off an
instruction found after the condition. In this case it will be an activation of a relay 00.
If input is defined as an input with normally closed contact, pushing the key will interrupt instruction found
after the condition. In this case, this will cause deactivation of relay 00 (relay is active until the key is
pressed). You can see in picture below how keys are connected, and view the relay diagrams in both cases.

Normally open/closed conditions differ in a ladder diagram by a diagonal line across a symbol. What
determines an execution condition for instruction is a bit status marked beneath each condition on instruction
line. Normally open condition is ON if its operand bit has ON status, or its status is OFF if that is the status of
its operand bit. Normally closed condition is ON when its operand bit is OFF, or it has OFF status when the
status of its operand bit is ON.
When programming with a ladder diagram, logical combination of ON and OFF conditions set before the
instruction determines the eventual condition under which the instruction will be, or will not be executed.
This condition, which can have only ON or OFF values is called instruction execution condition. Operand
assigned to any instruction in a relay diagram can be any bit from IR, SR, HR, AR, LR or TC sector. This
means that conditions in a relay diagram can be determined by a status of I/O bits, or of flags, operational bits,
timers/counters, etc.
5.3 Brief example
Example below represents a basic program. Example consists of one input device and one output device
linked to the PLC controller output. Key is an input device, and a bell is an output supplied through a relay 00
contact at the PLC controller output. Input 000.00 represents a condition in executing an instruction over
010.00 bit. Pushing the key sets off a 000.00 bit and satisfies a condition for activation of a 010.00 bit which
in turn activates the bell. For correct program function another line of program is needed with END
instruction, and this ends the program.

The following picture depicts the connection scheme for this example.

CHAPTER 6 SYSWIN program for programming a PLC controller

Introduction
6.1 Connecting a PLC controller with a PC computer
6.2 SYSWIN program installation
6.3 Writing your first program
6.4 Saving a project
6.5 Program transfer to PLC controller
6.6 Testing program function

6.7 Interpretation of "Tools" icons

6.8 PLC controller working modes
6.9 Run mode
6.10 Monitor mode
6.11 Program-Stop mode
6.12 Program execution and monitoring
6.13 Impact on the program during monitoring
6.14 Graphic representation of dimension changes in a program
Introduction
SYSWIN is a software designed for OMRON programmable controllers class C and CV. It is designed for
creating and maintaining a program, as well as for testing PLC controller function, in off-line and controller's
operational regime.
Necessary conditions for starting SYSWIN are Microsoft Windows environment on a standard IBM or
386/486 compatible or Pentium computer, with 8MB RAM at least, and 10MB free disc space.
6.1 Connecting a PLC controller with a PC computer
PLC controller is linked with a PC computer through an RS-232 cable. One end of the cable is connected to a
serial PC port (9-pin or 25-pin connector), while the other end is connected to an RS-232C connector on
RS232 module of a CPM1A controller. In order to establish a connection with a PC, DIP switch on the
connector must be set in "Host" position.

6.2 SYSWIN program installation

Instruction package for CPM1A is covered by three SYSWIN installation diskettes. It can be installed in
Windows 3.1, 3.11, 95, 98 or NT 4.0. In order to start the installation you need to select RUN option from a
START menu.

A window will come up like the one below where you need to write in the file command "setup.exe".
Mentioned file can be found in the installation directory of Syswin program. Following a brief installation
procedure you will get a program group Syswin 3.4.
Double-click on Syswin icon starts a Syswin program which opens as in the following picture.

6.3 Writing your first program

Writing a program begins with New Project option from a File menu. In a message window that appears you
need to select options as in picture below.

Select a PLC controller by clicking on OK, and a program is ready to be used. It is recommended when you
begin working that you write in a header a title of a program, author's name and inputs/outputs used. This may
seem as a waste of time, but really isn't because this habit of writing comments will pay off in the future.
Program written here is just a basic program made for learning Syswin. Program can detect when a key has
been pressed and can activate a relay at the PLC controller output. As long as the key is pressed down, a relay
is active. Operation of a relay and a key can be followed via LED diodes on PLC controller housing. Writing
a program begins with a click on the first icon to the left, recognized by two vertical lines. Icon beneath this
one is similar to the first but for a slash. These two icons correspond with concepts normally open and
normally closed contact which all instruction lines start with. You can select an option with an open contact
by clicking on the first icon. When you click on the black rectangle to the right, a small window will appear
where you need to write in the address of a bit a contact relates to.
It is very important to use addresses in a regular way when programming with SYSWIN. Addresses can have
two parts, first refers to the word address, and the second to bit address in that word (both numbers must be
separated by a period). For example, if address 200 is used, SYSWIN will interpret this as 2.00, and a zero bit
whose word address is 2 will be called for. If you wish to access word 200 or its zero bit, you must use a call
20000, or better even 200.00. In this example address 000.00 is assigned for input address (key). This address
represents a zero bit for word 000 from memory region IR. Simply said, it is an input screw terminal
designated as 00 input. By connecting a key to it, and to one of the COMM terminal screws, a needed
connection between PLC controller and keys is established.

Address dialogue box for a bit that contact refers to

When you have written in 000.00, select OK, and first segment of the program will come up. Bit address will
appear above the symbol with two vertical lines which refers to this bit, and a black rectangle will move one
space to the right.

First element of a program myprog.swp

First instructions up to the bus bar are called conditions because their execution activates instructions found to
the right of the condition instructions. When a condition is entered, you also need to enter a corresponding
instruction that is set off by an execution of the condition. In this example it is a relay controlled by a 00 bit in
a word 010 of memory region IR. Output instructions are represented by a circle, or a circle and a line if we
are dealing with a normally closed contact. By clicking on the icon with a circle, you select an output option
with normally open contacts. Click on a black rectangle, and a contact window will come up where you need
to write in the address for the output bit 010.00. Output of the IR region is found at address IR010, and first
four bits of this word represent a relay within a PLC controller (if we are talking about a model CPM1A with
relay outputs). Program done so far looks as in picture below.

Second element of myprog.swp program

The basic functional entirety of some program is Network. Program consists of several networks found one
below the other. Operations with these are found in Block option of the menu. Of all options, two basic ones,
Insert network and Delete network are used the most. Other makers for PLC controllers use different concepts
such as Rung instead of the term Network. Simply said, we are talking about a PLC program sequence which
has one or more executing instructions, and along with END instruction can make up one correct PLC
program. As the first network in a program is already in use, the next one has to be added. Adding a Network
is done with Insert network command from a Block menu.

When selecting this option, a small window appears where you need to select whether a new network will
appear above or below the existing one.

In our case you should choose the second option and click on OK. Following this, a new network appears as
in picture below.

Last network in every program must contain END instruction. Since this is a simple example, second network
is also the last. End instruction is found among the functions. In order to come to it, you need to click on FUN
icon following which a window as in picture below will come up.

Selecting a function by clicking on FUN icon.

END instruction can be obtained either by writing in "END" in newly obtained window or by clicking on
Select which gives all PLC controller instructions sorted by the regions as in the following picture.

Selecting END instruction from a set of instructions sorted in regions.

By entering the END instruction your writing of a program is finished. Finished program looks as in the
following picture.

Finished myprog.swp program

6.4 Saving a project

Since you've finished writing a program, you need to save a project. Select Save Project option from a File
menu, and write in the file name in a message window (myprog.swp in this case). After you click on OK,
project will be saved. You can access SYSWIN file contents only from SYSWIN; file type is identified by
extension:
Project.swp - SYSWIN program
Project.swl- SYSWIN library
Project.swt - SYSWIN pattern
Project.swb - SYSWIN back-up file
Project.prg - PMD program
6.5 Program transfer to PLC controller
First you need to check whether PLC is connected with a PC correctly, and you'll do this by checking physical
connection through a serial cable. Following this you need to select a Communication option from Project
menu in order to set parameters for serial communication. Of all the parameters, the most important one to be
selected is a serial port of a computer that PLC is connected to. Default settings for CPM1A are: COM1, 9600

Baud, Unit 00, protocol ASCII 7 bit Even Parity 2 stop and they need to be left so. To check how
communication functions, you can click on Test PLC to test link with a PLC controller.

When a connection has been established, program transfer begins with a click on download from Online
menu. Select expansion function or memory allocation. Before you program a PLC, it's good to erase
program's memory contents. Finally, after a successful program transfer to a PLC, a message window will
come up to inform us of this.
6.6 Testing program function
Program check option from a Project menu allows testing of program function. Message that appears
following a command has several options that can be selected before you run a test. Once these options have
been selected, click on Execute, and a report on testing and errors will be displayed. You can further check for
errors, and there is also a 'Go to Network' command which transfers you to a segment where the error was
found.
SYSWIN has classic editorial capabilities, such as Edit/Find or Edit/Replace commands. Searching through a
program for assigned values or symbols is quick and offers a large number of optional filters. We can search
through an entire program or its segments, and this is defined with option call. Also, there are possibilities for
defining a search path, as well as for different actions when looking for a desired element.
Beside this, SYSWIN provides various advantages in situations where we need permanent archiving of user
program. It is especially important to periodically print projects that are made quick and easy by SYSWIN.
Projects can be printed in many different formats, and printing can include specific sections of a project.
6.7 Meaning of "Tools" icons
SYSWIN has several types of editors among whom a relay diagram also known as relay editor, or first editor
that awaits us upon starting a SYSWIN program is the most frequently used editor.
First we need to explain tools palette (Drawing Tools) and the meaning of each icon. Aside through the usual
mouse click, you can access the specific elements of this palette from a keyboard. You'll find a corresponding
key of the keyboard by each icon, and you can accomplish the same action with it as you would using a
mouse.

By clicking on the icon, we have selected a desired tool, and with a click on network section this symbol will
be stored in a program. Explanation for each of the icons is given as follows:
Open contact icon. By clicking on this icon (or using a key '"') we enter an open contact into Network. We
need to position the element we have entered at a specified place (black space). Following this, a message
window where data can be entered (open contact address-number of words, bit position) is activated
automatically.
Closed contact icon. By clicking on this icon (or '/' on keyboard) we enter a closed contact or inverted
condition into network.
Horizontal line. By clicking on this icon (or using '-' on a keyboard), horizontal line is lengthened out from
left to right. SYSWIN, however, retains a right to make drawn lines optimal in terms of length, or to point out
possible errors. This option is used when you need to add another condition before an instruction contingent
upon this condition, or when something simply can not fit.
Vertical line. With a click on this icon, or use of '?', we draw vertical lines from top to bottom. This option is
necessary to realize parallel connections between contacts.
Output instruction. This represents an instruction that is executed if condition instruction preceding it is
executed. With the help of this instruction we advance a result of logical expression with output variables
(bits). We can arrive to this instruction with the help of keyboard ('O' key).
Inverted output instruction (shortcut-key 'Q'). Similarly to the previous case, with this executing instruction
we advance a result of logical expression to an output bit, and the only difference is that this bit is turned on if
a condition is not executed and vice versa.
PLC functions (shortcut-key 'F'). Click on this icon accomplishes possibility of installment of complex PLC
instructions into a program. Window that appears following a click on the icon contains all instructions sorted
by sections. Some of these instructions are given separately as icons, and some can be accessed only through

this option. One such instruction is END instruction which is used in each program. Window that comes up is
displayed in the following picture.

When this window pops up, select an instruction and click on OK.
Click on this icon (or using 'T' key) will give you an option to enter a timer into the program. Using a mouse,
click on the bright area of the monitor, and a message window comes up where you can enter needed
information relating to a timer (timer designation and duration in milliseconds). This way, we get a classic
timer or timer with a delay when turned on. If some other version of a timer is needed, preceding FUN icon
should be used, and option Timers and counters (see picture above) selected.
Counter icon. Click on this icon (or 'C' key), and this will install a classic counter into a PLC program. Prior
to this we enter needed information in message window: designation of the counter (CNT001 for instance)
and counter value. Change of counter status (decrementing by 1) is done when an input signal (CP) changes
from OFF to ON status.
With this icon we can invert previously entered contact, output or input. Inversion is done so that we first
click on this icon, and then on a variable whose inversion we wish to perform.
Erase icon. Click on this icon and a shaded area of network erases the shaded part of the program.
Mouse plays an important part in the SYSWIN program. Each double-click on any PLC instruction results in
a corresponding editor where necessary changes can be entered. This principle is accordingly installed into
SYSWIN, so double-click on block or network heading (BLOCK HEADER BAR or NETWORK HEADER
BAR) gives the same results.
6.8 PLC controller working modes
There are several ways to find out the present working mode, for example from an Online Mode menu or its
display in a Toolbar. This option is accessible if communication was successfully established with a PLC
controller.

If we choose a mode that differs from a present one, change of mode will be momentary. In order to avoid an
accidental change of PLC controller mode, there is an option that obliges a computer to ask a question before
each mode change, whether that is the option a user really wants (this option is included as default). PLC
controller has three modes in class C, MONITOR, RUN and PROGRAM/STOP mode.
6.9 RUN MODE
This PLC mode enables program to be executed as basic operation. It is used in final testing, after a program
has been tested in detail, and errors have been eliminated. SYSWIN can not change memory contents of PLC
controller in this mode, neither is the change of a program being executed possible. Of course, when program
is finished and tested, PLC begins its new life in command closet, being first set to RUN mode.
6.10 Monitor mode
In this mode, program execution is possible, as well as editing and monitoring during operation. This is the
most frequently used mode in program development. When this mode has been selected, controller has an
obligation to supply a PC with information which relates to program itself, or more precisely to status of
variables in the program. If we additionally confirm Monitoring option from an Online menu, we can follow
current values of variables on the monitor itself, in real time.
All changes in inputs and outputs can be viewed on the monitor, and status of variables and program locations
used in the program are registered and memorized.
6.11 Program-Stop mode
Choosing this mode simply stops a PLC controller if PLC was in RUN or MONITOR mode. It is used for
data and program transfer to PLC controller.
6.12 Program execution and monitoring
Program transferred from a PC to a PLC starts executing at the moment when you move from a Stop/Program
mode to a Monitor or Run mode. When Monitoring function starts executing, some sections of the monitor
will be shaded (see picture above), and this way you can follow program execution. Monitoring is active
during editing of some program segment, and is stopped at the moment when a changed section of the
program is transferred into a PLC controller.
6.13 Impact on the program during monitoring
During monitoring, you can use the right button on the mouse to call up a menu of some elements of ladder
diagram. Menu that appears when we click on location where address of some bit is positioned, contains the
following elements:
Force Set - used for permanent forced set up of bit status to ON
Force Reset - used for permanent forced set up of bit status to OFF
Cancel - cancels out the forced status
Set (1) - used for a brief change of bit status from OFF to ON status
Reset (0) - used for a brief change of bit status from ON to OFF status
Cancel All - cancels out forced status of all bits
With the help of these options, status of bits can be changed, word contents in controller memory can also be
changed, and all or some of the earlier forced settings can be cancelled out. The concept of forcing entails
forced set up of some input/output to ON or OFF status for program reevaluation. At the moment when PLC
leaves monitoring regime, data on forced bits and words is lost. Simultaneous forcing and evaluation of
contents of a greater number of dimensions, and Data Set Bar is used for this, usually found at the bottom of
the monitor (see previous picture). Editing as well as defining an area in Data Set Bar is accomplished with a

double click following which a corresponding message window appears, and we write here address for the bit
whose status we are following.
6.14 Graphic representation of dimension changes in a program
SYSWIN allows graphic representation of dimensions with time as abscissa. When a monitoring mode is in
use, monitor display changes through time, showing changes in values of monitored dimensions. Monitor
refreshment is done after a reception of each sample where sample intervals are 0,1-65.5 seconds. Graphics
saved in this way can be stored for later analysis as a file, or read in an already saved file.
Procedure for starting graphic monitoring is following:
- from Editors menu select Time chart monitoring option
- from a new tools palette select Trace Configure (pictured as a key).
- Fill out message box Configure Time Chart Monitor (see next picture)
- From Online menu choose Tracing.
With Trace/Configure command adjust parameters for monitoring. Necessary parameters are Trigger or an
event where saving will begin, sampling period and bits and/or words whose values we are monitoring.
Mapping of a time diagram for dimensions previously specified begins after the last command.
Quitting is done with a click on a black square icon, and restarting is performed by clicking on an a red circle
icon. Return to the editor with a ladder diagram by clicking on Editors menu and Program editor submenu.
CHAPTER 7 EXAMPLES

Introduction
7.1 Self-maintenance
7.2 Making large time intervals
7.3 Delays of ON and OFF status
7.4 Counter over 9999
7.5 Alternate ON-OFF output
7.6 Automation of parking garage
7.7 Operating a charge and discharge process
7.8 Automation of product packaging
7.9 Automation of storage door
Introduction
Programming only related examples make up the first group of examples. They are given as separate small
programs that can later be incorporated into larger ones. Second group consists of examples which can be
applied to some real problems.
7.1 Self-maintenance
Program allows input to remain at ON status even when the condition that brought it to that status stops.
Example in picture below illustrates how use of a key connected to the input IR000.00 changes IR010.01
output status to ON. By letting the key go, output IR010.01 is not reset. This is because IR010.01 output
keeps itself at status ON through OR circuit (having IR000.00), and it stays in this status until key at input
IR000.01 is pressed. Input IR000.01 is in I connection with the output pin IR010.01 which cancels out a
condition, and resets an IR010.01 bit. Example of self-maintenance is quite frequent in specific applications.
If a user was connected to IR010.01 output, START and STOP functions could be realized from two keys
(without the use of switches). Specifically, input IR000.00 would be a START key, and IR000.01 would be a

STOP key.

7.2 Making large time intervals

If it's necessary to make a bigger time interval of 999.9 seconds (9999x0.1s) two linked timers, or a timer and
a counter can be used as in this example. Counter is set to count to 2000, and timer is set to 5 seconds which
gives a time interval of 10.000 seconds or 2.77 hours. By executing a condition at IR000.00 input, timer
begins to count. When it reaches the limit, it sets a flag TIM001 which interrupts the link and simultaneously
resets a timer. Once 5 seconds have run out, flag TIM001 changes its status to ON and executes a condition at
the counter input CNT002. When a counter numbers 2000 such changes in timer flag status, TIM001 sets its
flag CNT002 which in turn executes a condition for IR010.00 to change status to ON. Time that has elapsed
from the change of IR000.00 input status to ON and a change of IR010.00 input status to ON comes to 10.000
seconds.
Ladder Diagram:

7.3 Delays of ON and OFF status

Example shows how to make output (IR010.00) delay as opposed to ?(in relation to ?? unclear meaning) input
(IR000.00). By executing a condition at IR000.00 input, timer TIM000 begins counting a set value 10 in steps
of 0.1 seconds each. After one second has elapsed, it set its flag TIM000 which is a condition in changing
output status IR010.00 to ON. Thus we accomplish a delay of one second between ON status of IR000.00
input and ON status IR010.00 input. By changing IR010.00 output status to ON, half of the condition for
activation of the second timer is executed. Second half of the timer is executed when IR000.00 input changes
status to OFF (normally closed contact). Timer TIM001 sets its flag TIM001 after one second, and interrupts a
condition for keeping an output in ON status.

Ladder Diagram:

7.4 Counter over 9999

If you need to count over 9999 (maximum value for a counter), you can use two connected timers. First
counter counts up to certain value, and the other one counts flag status changes of the first counter. Thus you
get the possibility of counting up to a value which is a result of set values of the first and second counter. In
an example at the bottom, first counter counts up to 1000, and second up to 20 which allows you to count to
20000. By executing a condition at IR000.00 input (line whose changes are followed is brought to it), first
counter decreases its value by one. This is repeated until counter arrives at zero when it sets its flag CNT001
and simultaneously resets itself (is made ready for a new cycle of counting from 1000 to 0). Each setting of
CNT001 influences the other counter which sets its flag after twenty settings of the first counter's flag. By
setting CNT002 flag of the second counter, a condition is executed for an IR010.00 output to be activated and
to stay in that status through self-maintenance.

Ladder Diagram:

Same effect can be achieved with a modified program below. First change is that there is a "switch" for the
whole program, and this is IR000.00 input (program can accomplish its function only while this switch is
active). Second change is that the line whose status is followed is brought to IR000.01 input. The rest is the
same as in the previous version of the program. Counter CNT002 counts status changes of the CNT001
counter flag. When it numbers them, it changes the status of its flag CNT002 which executes the condition for
status change of IR010.00 output. This changes IR010.00 output status after 20000 changes of input
IR000.01.
Ladder Diagram:

7.5 Alternate ON-OFF output

Example makes a certain number of impulses of desired duration at PLC controller IR010.00 output. Number
of impulses is given in instruction of the counter (here it is a constant #0010 or ten impulses) impulse duration
in two timer instructions. First timer defines duration of ON status, and second one duration of OFF status of
IR010.00 output bit. In the example these two durations are the same, but through assigning them different
parameters they can differ so that duration of ON status can be different from duration of OFF status.

Program starts executing a condition at IR000.00 bit. Since a normally closed contact which refers to counter
flag (that isn't set ) is linked with this IR000.00 bit in "I" circuit, this status of IR200.00 bit will change to ON.
Bit IR200.00 keeps its status through self-maintenance until counter flag is not set and a condition interrupted.

When an IR200.00 bit is set, timers TIM001 and TIM002 start counting a set interval number at 0.1 s ( in the
example, this number is 10 for the first timer, or 20 for the second timer, and this sets the period of one or two
seconds). With both timers, a normally closed contact which refers to TIM002 timer flag is connected with
IR200.00 bit. When this flag is set which happens every two seconds, both timers are reset. Timer TIM002
resets timer TIM001 and itself, and this starts a new cycle.
At the start of a program, IR010.00 output bit changes status to ON and stays in this status until TIM001 flag
changes status to ON (after one second). By changing TIM001 flag status to ON, condition is broken (because
it is represented as normally closed contact) and IR010.00 bit changes status to OFF.
IR010.00 output status changes to ON again when time has run out on TIM002 timer. This resets TIM001
timer and its flag which in turn executes a condition for status change of the IR010.00 output. Cycle is thus
repeated until a counter numbers 10 changes of TIM001 flag status. With the change of status of CNT000
counter flag, a condition for an assisting bit IR200.00 is broken, and program stops working.
Ladder Diagram:

CHAPTER 7 EXAMPLES
Introduction
7.1 Self-maintenance
7.2 Making large time intervals
7.3 Delays of ON and OFF status
7.4 Counter over 9999
7.5 Alternate ON-OFF output
7.6 Automation of parking garage
7.7 Operating a charge and discharge process
7.8 Automation of product packaging
7.9 Automation of storage door
7.6 Automation of parking garage
We are dealing with a simple system that can control 100 car at the maximum. Each time a car enters, PLC
automatically adds it to a total sum of other cars found in the garage. Each car that comes out will
automatically be taken off. When 100 cars park, a signal will turn on signalizing that a garage is full and
notifying other drivers not to enter because there is no space available.

Signal from a sensor at the garage entrance sets bit IR200.00. This bit is a condition for execution of the
following two instructions in a program. First instruction resets carry bit CY (it is always done before some
other calculation that would influence it), and the other instruction adds one to a number of cars in word
HR00, and a sum total is again stored in HR00. HR memory space is selected for storing a total number of
cars because this keeps the status even after supply stops.
Symbol "#" in addition and subtraction instructions defines decimal constant that is being added or subtracted

from a number of cars already in the garage. Condition for executing comparison instruction CPM is always
executed because bit SR253.13 is always set; this practically means that comparison will be done in each
cycle regardless whether car has entered or left the garage.
Signal lamp for "garage full" is connected to an output IR010.00. Working of the lamp is controlled by EQ
(equal) flag at address SR255.06 and GR (greater than) flag at address SR255.05. Both bits are in OR
connection with an output IR010.00 where the signal lamp is. This way lamp will emit light when a number
of cars is greater than or equal to 100. Number of cars in a real setting can really be greater than 100 because
some untrusting driver may decide to check whether there is any space left, and so a current number of cars
can increase from a 100 to 101. When he leaves the garage, a number of cars goes down to 100 which is how
many parking spots there are in fact.
Ladder diagram:

7.7 Operating a charge and discharge process

Charge and discharge of a reservoir is a common process in industry as well as a need for mixing two or more
substances. By using automated valves this process can be completely automated. Let's say that fluid used in
the example is water, and that a reservoir has to be filled up and emptied four times.
When you push T1 on the operating panel, valve V1 opens and a reservoir starts filling up with water. At the
same time, motor M of the mixer starts working. When the reservoir fills up, water level goes up and reaches
the level set by a sensor S1. V1 valve closes and motor of the mixer stops. Valve V2 opens then, and a
reservoir starts emptying. When water level falls below the level set by a sensor S2, valve V2 closes. By
repeating the same cycle four times, lamp that indicates end of a cycle is activated. Pressing T1 key will start
a new cycle.

Both types of differentiators are used in this example. You can get an idea of what their role is from picture
below. Level S1 and S2 sensors provide information on whether fluid level goes beyond a specified value.
This type of information is not important when you wish to know whether fluid level goes up or down in a
certain sequence. Mainly, event of approaching the upper level, or a moment when fluid that fills up a
reservoir goes beyond upper level and activates sensor S1 is detected in segment 3 of a ladder diagram. Brief
activation of IR200.02 output has as a consequence a turn off of an output V1 (valve for water, prevents

further flow of water but also motor operation in the mixer). Moment prior to this (segment 5) valve V2 turns
on which marks a beginning of fluid outflow. Other two differentiators (in segments 6 and 7) have a task of
registering events such as closing a valve MV2 and drop in fluid level below allowed minimum.

Ladder diagram:

7.8 Automation of product packaging

Product packaging is one of the most frequent cases for automation in industry. It can be encountered with
small machines (ex. packaging grain like food products) and large systems such as machines for packaging
medications. Example we are showing here solves the classic packaging problem with few elements of
automation. Small number of needed inputs and outputs provides for the use of CPM1A PLC controller which
represents simple and economical solution.

By pushing START key you activate Flag1 which represents an assisting flag (Segment 1) that comes up as a
condition in further program (resetting depends only on a STOP key). When started, motor of an conveyor for
boxes is activated. The conveyor takes a box up to the limit switch, and a motor stops then (Segment 4).
Condition for starting a conveyor with apples is actually a limit switch for a box. When a box is detected, a
conveyor with apples starts moving (Segment 2). Presence of the box allows counter to count 10 apples
through a sensor used for apples and to generate counter CNT010 flag which is a condition for new activation
of a conveyor with boxes (Segment 3). When the conveyor with boxes has been activated, limit switch resets
counter which is again ready to count 10 apples. Operations repeat until STOP key is pressed when condition
for setting Flag1 is lost. Picture below gives a time diagram for a packaging line signal.

Ladder diagram:

7.9 Automation of storage door

Storage door or any door for that matter can be automated, so that man does not have to be directly involved
in their being opened or closed. By applying one three-phased motor where you can change direction of its
movement, doors can be lifted up and lowered back down. Ultrasonic sensor is used in recognizing presence

of a vehicle by the doors, and photo-electric sensor is used to register a passing vehicle. When a vehicle
approaches, the doors move up, and when a vehicle passes through the door (a ray of light is interrupted on
photo-electric sensor) they lower down.

By setting a bit IR000.00 at the PLC controller input where ultrasonic sensor is connected, output IR010.00 (a
switch is attached to this output) is activated, so that a motor lifts the doors up. Aside from this condition, the
power source for lifting the doors must not be active (IR010.01) and the doors must not be in upper position
already (IR000.02). Condition for upper limit switch is given as normally closed, so change of its status from
OFF to ON (when doors are lifted) will end a condition for bit IR010.00 where power source for lifting the
doors is (Segment 1).
Photo-electric switch registers a vehicle that passes by, and sets flag IR200.00. DIFD instruction is used. This
instruction is activated when a condition that precedes it changes status from ON to OFF. When a vehicle
passes through a door, it interrupts a ray and bit IR000.01 status changes from ON to OFF (Segment 2).

By changing status of an assisting flag from OFF to ON a condition for lowering a door is executed (Segment
3). Aside from this condition, it is necessary that a unit power source for lifting a door is turned off, and that
door is not in lower position already. Bit which operates this power source for lowering, IR010.01 is
automatic, so doors are lowered until they come to the bottom limit switch which is represented in a condition
as normally closed. Its status change from OFF to ON interrupts a condition of the power source for lowering
doors. With oncoming new vehicle, cycle is repeated.
Ladder diagram:

APPENDIX A Expanding the number of input/output lines

INTRODUCTION
A.1 Differences and similarities
A.2 Marking the PLC controller
A.3 Specific case

Introduction
This appendix is an answer to the question What if more input or output lines are needed ?. Model detailed
in the book carries the mark CPM1A-10CDR-A and is taken as an optimal for its price and features.
Alternative models with greater number of lines include CPM1A-20CDR-A, CPM1A-30CDR-A or CPM1A40CDR-A. The last two can be expanded with three additional modules with 20 extra I/O lines each, totaling
100 I/O lines as a maximum (if this is still insufficient, maybe it is time for you to start using some of more
powerful PLC controllers).
If not even the most powerful model of CPM1A family satisfies your needs, then extra modules with 20 I/O
lines are added. This form of connection reaches 100 input/outputs, which is a significant number in industrial
proportions.
A.1. Differences and similarities

Taking the other model of PLC controller from CPM1A class basically doesnt change a thing! Everything
said for one model also applies to the other. Only thing that changes is the number of screw terminal and the
number of bits in IR area connected to that screw terminal. If model with 10 I/O lines (model described in the
book) has 6 inputs on addresses IR0000 - IR0005, then the 20 I/O lines model will have 12 inputs on
addresses IR0000 - IR0011. Expanding itself should not be a problem. After taking off the cover on the right
side, there is a connector which is then connected to the expansion module via flat cable. Still, it requires skill
when assigning inputs and outputs because expansion increases the cost of the project. All the models and
expansions of CPM1A class carry additional marks defining them more precisely.

Input points

Description
10 I/O points

6 points

20 I/O points

12 points

Output points

Power Supply

Model Number
100 to240 VAC, 50/60CPM1A-10CDR-A
Hz
24 VDC
CPM1A-10CDR-D
Transistor NPN 24 VDC
CPM1A-l0CDT-D
Transistor PNP 24 VDC
CPM1A-10CDT1-D
8 points
CPMlA-20CDR-A
100 to 240 VAC,
50/60 Hz
24 VDC
CPM1A-20CDR-D
Transistor NPN 24 VDC
CPM1A-20CDT-D
4 point Relay
Output

30 I/O points

40 I/O points

18 points

24 points

Transistor PNP
12 points

24 VDC

100 to 240 VAC,

50/60 Hz
24 VDC
Transistor NPN 24 VDC
Transistor PNP 24 VDC
16 points
100 to 240 VAC,
50/60 Hz
24 VDC
Transistor NPN 24 VDC
Transistor PNP 24 VDC

CPMlA-20CDT1-D
CPM1A-30CDR-A

CPM1A-30CDR-D
CPM1A-30CDT-D
CPM1A-30CDT1-D
CPM1A-40CDR-A

CPM1A-40CDR-D
CPM1A-40CDT-D
CPM1A-40CDT1-D

Notice that PLC controllers with 10 and 20 I/O lines do not have an expansion port. Generally speaking, if
there is the slightest possibility for expansion in the project, PLC controller with 30 or 40 I/O lines should be
used.

A.2. Marking the PLC controller

Marking the controller and the expansion module undergoes three criteria. The first is voltage, the second is
the type of input/output and the third is number of I/O lines. The picture below is self-explanatory.

A.3. Specific case

If two 20 I/O lines expansion modules and one analog module are added to 30 I/O lines model, assigned
inputs/outputs will have the addresses from the following table.

1
2
3
4

Unit
Central processing unit
(CPM2A-30CDX-X)
Unit for I/O expansion
(CPM1A-20EDxxx)
Analog I/O unit (CPM1AMAD01)
Unit for I/O expansion
(CPM1A-EDxxx)

Assigned input bits

Assigned output bits
IR 00000-IR 00011 and IR IR 01000-IR 01007 and IR 0110000100-IR 00105
IR 01103
IR 00200-IR 02011

IR 01200-IR 01207

IR 00300-IR 03015 and IR

00400-IR 00415

IR 01300-IR 01315

IR 00500-IR 00511

IR 01400-IR 01415

APPENDIX B Detailed memory map of PLC controller

INTRODUCTION
B.1 General explanation of memory areas
B.2 IR memory area
B.3 SR memory area
B.4 AR memory area
B.5 PC memory area

Introduction
Purpose of this appendix is to explain certain memory areas in detail. As the following tables cover whole
memory, there are options left unused in this book. They should be skipped during the first reading, and used
later according to needs.
B.1 General explanation of memory areas
Memory of PLC controller consists of several areas, some of these having predefined functions.

Data area
IR area

Word(s)

input area

IR 000 - IR 009 (10

words)

output area

IR 010 - IR 019 (10

words)

working
area

IR 200 - IR 231 (32

words)

Bit(s)

Function

IR 00000 - IR 00915 These bits may be

(160 bits)
assigned to an external
I/O connection. Some of
these have direct output
on screw terminal (for
IR 01000 - IR 01915 example, IR000.00 (160 bits)
IR000.05 and IR010.00
- IR010.03 with CPM1A
model)
IR 20000 - IR 23115 Working bits that can be
(512 bits)
used freely in the

program. They are

commonly used as swap
bits
SR area

SR 232 - SR 255 (24

words)

TR area

---

HR area

HR 00 - HR 19 (20
words)

Data storage; these keep

HR0000 - HR1915 (320
their states when power
bits)
is off

AR area

AR 00 - AR 15 (16
words)

AR0000 - AR1515 (256 Special functions, such

bits)
as flags and control bits

LR area

LR 00 - LR 15 (16
words)

LR0000 - LR1515 (256 1:1 connection with

bits)
another PC

Timer/counter area

SR23200 - SR25515 Special functions, such

(384 bits)
as flags and control bits
TR 0 - TR 7 (8 bits)

TC 000 - TC 127 (timer/counter numbers)

DM 0000 - DM 0999
Read/write and DM 1022 - DM
1023 (1002 words)

---

Error
writing

DM 1000 - DM 1021
(22 words)

---

Read only

DM 6144 - DM 6599
(456 words)

---

PC setup

DM 6600 - DM 6655
(56 words)

---

DM area

Temporary storage of
ON/OFF states when
jump takes place

Same numbers are used

for both timers and
counters
Data of DM area may be
accessed only in word
form. Words keep their
contents after the power
is off
Part of the memory for
storing the time and
code of error that
occurred. When not
used for this purpose,
they can be used as
regular DM words for
reading and writing.
They cannot be changed
from within the program
Storing various
parameters for
controlling the PC

Note:
1. IR and LR bits, when not used to their purpose, may be used as working bits.
2. Contents of HR area, LR area, counter and DM area for reading/writing is stored within backup condenser.
On 25C, condenser keeps the memory contents for up to 20 days.
3. When accessing the current value of PV, TC numbers used for data have the form of word. When accessing
the Completing flags, they are used as data bits. 4. Data from DM6144 to DM6655 must not be changed from
within the program, but can be changed by peripheral device.
B.2. SR memory area
IR area doesnt have predefined memory locations, but is meant for general use in the program. Of all the
locations this memory area consists of, only those directly connected to PLC controller input/output lines are
of interest for this appendix.

IR area can be divided into 3 parts:

1. Input area is located from word IR000 to IR009, totaling 160 bits. Most important of these are in the word
IR000 because they are directly connected to screw terminal of PLC controller. Input IR000.01 is directly
connected to screw terminal marked with 01 on the casing of the PLC controller.
2. Output area is located from word IR010 to IR019, totaling 160 bits. Most important of these are in the word
IR010 because they are directly connected to screw terminal of PLC controller. Output IR000.00 is directly
connected to screw terminal marked with 00 on the casing of the PLC controller.
3. Working area is located from word IR200 to IR231 totaling 512 bits for general use.
As IR memory area does not have predefined memory locations, more detailed explanations are not necessary.

B.3. IR memory area

Unlike IR area, SR area does have predefined memory locations. These bits are usually tied to the PLC
controller work or contain current and set values of different functions. Purpose of specific memory locations
of SR area is explained in the following table:

Words

Bits

Function

SR 232 - SR 235

00 - 15

Input area for macro functions. Contains input operands for

MCRO(99) (may be used for working bits, when
MCRO(99) is not used)

SR 236 - SR 239

00 - 15

Output area for macro functions. Contains output operands

for MCRO(99) (may be used for working bits, when
MCRO(99) is not used)

00 - 15

Contains set value SV, when input interrupt 0 is used in

counter mode (4 hexadecimal digits) (may be used for
working bits, when input interrupt 0 is not used in counter
mode)

00 - 15

Contains set value SV, when input interrupt 1 is used in

counter mode (4 hexadecimal digits) (may be used for
working bits, when input interrupt 1 is not used in counter
mode)

00 - 15

Contains set value SV, when input interrupt 2 is used in

counter mode (4 hexadecimal digits) (may be used for
working bits, when input interrupt 2 is not used in counter
mode)

SR 243

00 - 15

Contains set value SV, when input interrupt 3 is used in

counter mode (4 hexadecimal digits) (may be used for
working bits, when input interrupt 3 is not used in counter
mode)

SR 244

00 - 15

Contains current value (PV-1), when input interrupt 0 is

used in counter mode (4 hexadecimal digits)

SR 245

00 - 15

Contains current value (PV-1), when input interrupt 1 is

SR 240

SR 241

SR 242

used in counter mode (4 hexadecimal digits)

SR 246

00 - 15

Contains current value (PV-1), when input interrupt 2 is

used in counter mode (4 hexadecimal digits)

SR 247

00 - 15

Contains current value (PV-1), when input interrupt 3 is

used in counter mode (4 hexadecimal digits)

SR 248, SR 249

00 - 15

Contains current value PV of the high-speed counter (may

be used for working bits, when high-speed counter is not
used)

SR 250

00 - 15

Analog setting of value 0. Keeps 4 digit BCD value (0000 0200) set via analog potentiometer on the PLC controller
casing.

SR 251

00 - 15

Analog setting of value 1. Keeps 4 digit BCD value (0000 0200) set via analog potentiometer on the PLC controller
casing.

SR 252

00
01 - 07

SR 253

Reset of the high-speed counter

Not used

08

Peripheral port. Switches on for the reset of the peripheral

port (this doesn't apply to a case when peripheral device is
connected). Bit automatically changes state to OFF after
the reset

09

Not used

10

PLC Setup Reset Bit. When on, it initializes PC setup

(DM6600-DM6655). It automatically goes to OFF after the
reset. This applies only if the PC is in PROGRAM mode

11

Forced Status Hold Bit. OFF: bits used in the operation of

forced set/reset are cleared when changing from
PROGRAM to MONITOR mode. ON: bits used in the
operation of forced set/reset keep their states when
changing from PROGRAM to MONITOR mode.

12

I/O Hold bit. OFF: IR and LR bits are reset when starting
or ending an operation. ON: IR and LR bits keep their
states when starting or ending an operation.

13

Not used

14

Error Log Reset Bit. Bit state OFF clears the record of error
taking place. Bit automatically goes off after the operation

15

Not used

00 - 07

FAL error code. Location contains error code (2 digit

number). FAL number is stored at this location upon
executing FAL(06) or FAL(07) instructions. Location
contents are reset upon executing FAL 00 instruction or by
clearing an error from peripheral device

08

Not used

09

Cycle Time Overrun Flag. Bit goes to ON when program

length doesn't allow cycle of input/output scanning to be
executed in a specified time period

10 - 12
13

Not used
Flag always on

SR 254

14

Flag always off

15

First Cycle Flag. Goes ON during the first cycle at the

beginning of the operation

00

1 min clock impulse (30s on, 30s off)

01

0.02s clock impulse (0.01s on, 0.01s off)

02

Negative (N) flag

03 - 05
06

Differential Monitor Flag

07

STEP(8) execution flag

08 - 15
SR 255

Not used

Not used

00

0.1s clock impulse (0.05s on, 0.05s off)

01

0.2s clock impulse (0.1s on, 0.1s off)

02

1.0s clock impulse (0.5s on, 0.5s off)

03

Instruction Execution Error (ER) Flag. Changes state to

ON if error occurs during instruction execution

04

Carry (CY) flag

05

"Greater than" (GR) flag

06

"Equals" (EQ) flag

07

"Less than" (LE) flag

08 - 15

Not used

B.4. AR memory area

Purpose of this memory area is to provide information on PLC controller state, malfunctions and some system
data. Memory locations of this area keep their states after the power has been shut down.

Word(s)

Bit(s)

Function

AR00 and AR01

00 - 15

AR02

00

Status flag of the first I/O unit for expanding I/O lines (I/O
units status flag)

01

Status flag of the second I/O unit for expanding I/O lines
(I/O units status flag)

02

Status flag of the third I/O unit for expanding I/O lines (I/O
units status flag)

Not used

03 - 07

Not used

12 - 15

Number of connected I/O units

AR03 - AR07

00 - 15

Not used

AR08

00 - 07

Not used

08 - 11

Peripheral device error code

12

Flag of peripheral device error

13

Peripheral Device Transmission Enabled Flag

14 - 15

Not used

AR09

00 - 15

Not used

AR10

00 - 15

Power-off counter. Contains 4-digit BCD value

AR11

00 - 07

High-speed Counter Range Comparison Flags

08 - 14

Not used

15

Pulse Output Status. ON: stopped; OFF: Impulse at output

AR12

00 - 15

AR13

00

Power-up PC Setup Error Flag. Goes ON when error

occurs in area DM 6600 - DM 6614

01

Start-up PC Setup Error Flag. Goes ON when error occurs

in area DM 6615 - DM 6644

02

RUN PC Setup Error Flag. Goes ON when error occurs in

area DM 6645 - DM 6655

03 - 04
05
06 - 07

Not used

Not used
Long Cycle Time Flag. Goes ON if real cycle length
exceeds length set in DM 6619
Not used

08

Memory Area Specification Error Flag. Goes ON when

non-existing address is specified in the program

09

Flash Memory Error Flag

10

Read-only DM Error Flag. Goes ON when checksum error

occurs in DM 6144 - DM 6599 range

11

PC Setup Error Flag. Goes ON when checksum error

occurs in PC Setup area

12

Program Error Flag. Goes ON when checksum error occurs

in program memory (UM) or inappropriate instruction is
executed

13

Expansion Instruction Error Flag

14 - 15

Not used

AR14

00 - 15

Maximum Cycle Time. 4 BCD digits. Cleared at the

beginning of the operation

AR15

00 - 15

Current Cycle Time. 4 BCD digits. Not cleared when the

operation ends

Note:
1. IR and LR bits when not used for their function may be used as working bits.
2. Contents of HR area, LR area, counter, and DM area for reading/writing are kept by battery of central
processing unit. In case that the battery is removed or malfunction occurs, this data will be lost.
3. When accessing the current value of PV, TC numbers used for data have form of word. When accessing
Completing flags, they are used as data bits.
4. Data stored from DM6144 to DM6655 cannot be changed from within the program, but can be changed by
peripheral device.
5. Program and data from DM 6144 to DM 6655 are stored in the flash memory.

B.5. PC memory area

PLC setup area can be roughly divided into 4 categories:
1. Settings related to basic operations of PLC controller and I/O processes
2. Settings related to cycle duration
3. Settings related to interrupts
4. Settings related to communication.

Word(s)

Bit(s)

Function

Settings are active only upon resetting the PLC and sending data from PC to PLC
00 - 07

Startup Mode. Active only if bits 08 - 15 are set to 02. 00:

PROGRAM; 01: MONITOR; 02: RUN

08 - 15

Startup mode designation. 00: programming console

switch; 01: proceeds in the mode last used before turning
off the power; 02: settings in 00 - 07

00 - 07

Not used (set to 0)

08 - 11

IOM Hold Bit (SR 25212). 0: Reset; 1: Keeps the state

12 - 15

Forced Status Hold Bit (SR 25211). 0: Reset; 1: Keeps the

state

00 - 03

Writing to program memory protection. 00: OFF; 01: ON

(except for DM 6602)

04 - 07

Programming console display language. 00: English; 01:

Japanese

08 - 11

Not used

DM 6603

00 - 15

Not used

DM 6604

00 - 07

00: in case of battery malfunction, error will not be

generated; 01: in case of battery malfunction, error will be
generated

08 - 15

Not used

00 - 15

Not used

DM 6600

DM 6601

DM 6602

DM 6605 - DM
6614

Cycle Time Settings (DM 6615 - DM 6619) take effect after the transfer to PC area, next time you
start working
DM 6615 - DM
6616

00 - 15

Not used

DM 6617

00 - 07

Servicing time for peripheral port. Active when bits 08 - 15

are set to 01. It is expressed in percentage of cycle time
duration (00 to 99 (BCD))

08 - 15

Peripheral port servicing setting enable. 00: 5% of cycle

duration; 01: time defined in first half of the word

00 - 07

Cycle monitor time. Settings are identical to those of the

second half of the previous word

DM 6618

08 - 15

Cycle monitor enable (Setting in 00 to 07 x unit; 99 5

max). 00:120ms (settings in bits 00-07 are disabled) ; 01:

setting unit 10ms; 02: setting unit 100ms; 03: setting unit
1s
DM 6619

00 - 15

Cycle time. 0000: variable (no minimum); 0001: up to

9999 (BCD). Minimal time is expressed in ms

Interrupt Processing (DM 6620 - DM 6639) take effect after the transfer to PC area, next time you
start working
00 - 03

Input constant for IR 00000 - IR 00002. 0: 0.8ms; 1: 1ms;

2: 2ms; 3: 4ms; 4: 8ms; 5: 16ms; 6: 32ms; 7: 64ms; 8:
128ms

04 - 07

Input constant for IR 00003 and IR 00004. Settings are

same as with bits 00-03

08 - 11

Input constant for IR 00005 and IR 00006. Settings are

same as with bits 00-03

12 - 15

Input constant for IR 00007 and IR 00011. Settings are

same as with bits 00-03

00 - 07

Input constant for IR 001. 0: 0.8ms; 1: 1ms; 2: 2ms; 3:

4ms; 4: 8ms; 5: 16ms; 6: 32ms; 7: 64ms; 8: 128ms

08 - 15

Input constant for IR 002. Settings are same as with IR

001

00 - 07

Input constant for IR 003. Settings are same as with IR

001

08 - 15

Input constant for IR 004. Settings are same as with IR

001

00 - 07

Input constant for IR 005. Settings are same as with IR

001

08 - 15

Input constant for IR 006. Settings are same as with IR

001

DM 6624

00 - 07

Input constant for IR 007. Settings are same as with IR

001

DM 6625

00 - 07

Input constant for IR 008. Settings are same as with IR

001

08 - 15

Input constant for IR 009. Settings are same as with IR

001

DM 6626 - DM
6627

00 - 15

Not used

DM 6628

00 - 03

Interrupt enabled on IR 00000. (0: regular input; 1:

interrupt input; 2: fast-reaction input)

04 - 07

Interrupt enabled on IR 00001. (0: regular input; 1:

interrupt input; 2: fast-reaction input)

08 - 11

Interrupt enabled on IR 00002. (0: regular input; 1:

interrupt input; 2: fast-reaction input)

12 - 15

Interrupt enabled on IR 00003. (0: regular input; 1:

interrupt input; 2: fast-reaction input)

DM 6620

DM 6621

DM 6622

DM 6623

High-speed counter settings (DM 6640-DM 6644) take effect after the transfer to PC area, next
time you start working
DM 6640 - DM
6641

00 - 15

Not used

DM 6642

DM 6643 - DM
6644

00 - 03

High-speed counter mode. 0: counting up/down; 4:

incremental mode

04 - 07

High-speed counter reset mode. 0: Z phase and software

reset; 1: software reset only

08 - 15

High-speed counter enable. 0: high-speed counter not used;

1: high-speed counter used with settings 00-07

00 - 15

Not used

Peripheral port settings take effect after the transfer to PC area

DM 6645 - DM
6649

00 - 15

Not used

DM 6650

00 - 07

Port settings. 00: standard (1 start bit, even parity, 2 stop

bits, 9600bps); 01: Settings in DM 6651 (settings other
than this cause error and turn on AR 1302)

08 - 11

Area for 1:1 connection with a PC via peripheral port. 0:

LR00-LR15

12 - 15

Modes of communication. 0: Host link; 2: one-to-one PC

link (slave); 3: one-to-one PC link (master); 4: NT link
(settings other than this cause error and turn on AR 1302)

00 - 07

Baud rate. 00: 1200 bps; 01: 2400 bps; 02: 4800 bps; 03:
9600 bps; 04: 19200 bps

08 - 15

Frame format (Start bits/Data bits/Stop bits/Parity).

00:1/7/1/even; 01:1/7/1/odd; 02:1/7/1/none; 03:1/7/2/even;
04:1/7/2/odd; 05:1/7/2/none; 06:1/7/1/even; 07:1/7/1/odd;
08:1/7/1/none; 09:1/7/2/even; 10:1/7/2/odd;
11:1/7/2/none
(settings other than this cause error and
turn on AR 1302)

DM 6652

00 - 15

Host Link Transmission Delay (0000 9999ms)

(settings other than this cause error
and turn on AR 1302)

DM 6653

00 - 07

Host Link (00 - 31 BCD)

(settings other than this cause error and turn on AR 1302)

08 - 15

Not used

00 - 15

Not used

DM 6651

DM 6654

Error log settings (DM 6655) take effect after the transfer to PLC controller
DM 6655

00 - 03

Style. 0: move after 7 records; 1: keep only first 7 (no

moving); 2-F: no records

04 - 07

Not used

08 - 11

Cycle Time monitor Enable. 0: detect long cycles as nonfatal errors; 1: do not detect long cycles

12 - 15

Not used

APPENDIX C PLC diagnostics

INTRODUCTION

C.1 Diagnostic functions of PLC

C.2 Non-fatal errors
C.3 Fatal errors
C.4 User defined errors
C.5 Failure alarm - FAL(06)
C.6 Severe Failure alarm - FALS(07)
C.7 MESSAGE - MSG(46)
C.8 Syntax errors
C.9 Algorithm for finding errors in the program

Introduction
The whole work of PLC controller can be represented with a diagram shown on the following page. After
turning on the power, PLC is first initialized (clearing IR, SR i AR areas, presetting system timers and
checking I/O lines), and if no errors were detected, monitoring process, program execution, calling the I/O
lines and serving the peripheral devices starts to occur in cycles.

C.1 Diagnostic functions of PLC

PLC controller features additional functions that make locating errors easier. Errors can be divided into two
categories according to severity :
1. Fatal errors are severe and they prevent PLC controller from operating until their cause is located and
solved.
2. Non-fatal errors are those that do not prevent PLC controller from operating. After detecting one or more
non-fatal errors, program execution will continue. Nevertheless, it is necessary to correct these errors as soon
as possible.

C.2 Non-fatal errors

When one of these errors takes place, indicators POWER and RUN will be on, and the indicator ERR/ALM
will blink. Upon locating non-fatal error, manual for the given PLC controller should be consulted and the
flags checked in order to understand the cause of a problem and correct the error.
C.3 Fatal erros
When any of the fatal errors take place, PLC controller stops operating and all outputs are shut down. PLC
controller cannot be put back to work until the controller is turned off and then turned back on, or until it is
switched to PROGRAM mode via peripheral device and the fatal error corrected. With these errors, indicators
ERR/ALM are on, while the RUN indicator remains off. It is necessary to check the error flag in the manual
of the given PLC in order to locate the cause of the problem and to correct the error.
C.4 User defined errors
There are three instructions for user to define his own errors or messages. FAL(06) causes non-fatal error,
FAL(07) causes fatal error, while MSG(46) sends a message to program console or to the host computer
connected to the PLC controller.

C.5 Failure alarm - FAL(06)

Instruction FAL(06) generates the code of non-fatal error that took place to provide the information on the
possible cause of the problem for the programmer. Upon execution of the instruction FAL(06) following
events take place:
1. Indicator ERR/ALM will blink, while PLC continues to work.
2. Two-digits BCD number of instruction FAL (01 do 99) is written from SR253000 to SR25307.
Same number must not be assigned to both FAL and FALS instructions. To delete the code of an error, error
should be corrected and FAL 00 instruction executed.
C.6 Severe failure alarm - FALS(07)
Instruction FALS(07) generates the code of fatal error that took place. In this case the following happens:
1. Program stops and all outputs are shut down.
2. Indicator ERR/ALM is turned on.
3. Two-digit BCD number (01 do 99) of instruction FALS is written from SR 253000 to SR25307.
4. If memory card with RTC is used, part of the memory where the presence of error is recorded will also
contain numbers of FALS instruction and exact time when error took place.
Numbers of FALS instruction can be assigned to certain states. Same number must not be assigned to both
FAL and FALS instructions. To delete FALS error, PLC controller must be in PROGRAM mode, cause of
error solved and then error code deleted.
C.7 Message - MSG (46)
MSG(46) is used for printing messages on program console display. Message cannot exceed 16 characters,
and it appears when specified condition is fulfilled.
C.8 Syntax errors

During the program check with operation Program Check, syntax errors are detected. There are three levels of
program check at users disposal. By selecting the level, types of errors to be checked for are selected. The
following table shows types of errors, corresponding messages that appear on display and explains all of
syntax errors. Zero level check searches for errors of A, B and C type. First level check searches for errors of
A and B type, while the second searches only for errors of type A.

Type

Message
?????

Program is damaged by creating non-existing function in

the code. Re-enter your program.

CIRCUIT ERR

Number of logical blocks doesn't match the instructions of

logical blocks. Check the program.

OPERAND ERR

Entered constant is not in allowed range. Change the

constant so that it fits in the proper range.

NO END INSTR

Program is missing the instruction END(01). Add END(01)

to the last address of the program.

LOCN ERR
A

Instruction is in the wrong place of the program. Check

what the instruction demands and correct the mistake.

JME UNDEFD

Instruction JME(04) is missing the instruction JMP(05).

Correct the number of jump and add the correct JME(04)
instruction.

DUPL

Same number of jump or subroutine is used twice in the

program. Correct the program so that each number is used
only once.

SBN UNDEFD

Instruction SBS(091) is programmed for non-existing

subroutine. Correct the number of subroutine or create the
missing one.

STEP ERR

STEP(08) with the number of section and STEP(08)

without the number of section are used illegally. Check the
demands of instruction STEP(08) and correct the mistake.

IL-ILC-ERR

Meaning and the appropriate action

IL(02) and ILC(03) are not used in pair. Check if every

instruction IL(02) has its corresponding ILC(03). This
message will also appear in case that multiple IL(02)
instructions were used with single ILC(03) instruction.
Check if that's exactly what you wanted...

JMP=JME ERR

JMP(04) and JME(05) are not used in pair. Before

proceeding, check if the program is written exactly the way
you wanted.

SEN-RET ERR

If the address of instruction SBN(92) is displayed, there are

two different subroutines with the same number. Change
one of the numbers or delete one of the subroutines in
question. If the address of instruction RET(93) is displayed,
RET(93) wasn't used appropriately. Check the demands of
this instruction and correct the mistake.

COIL DUPL

Same bit is controlled by more than one instruction (for

example, OUT, OUT NOT, DIFU(13), KEEP(11),
SFT(10)...). Although certain instructions allow this, you
should check the demands of specific instructions, make
sure that the program is correct or rearrange the program so

that each bit is controlled by single instruction.

JMP UNDEFD

JME(05) is used without JMP(04) with the same number of

jump. Add the instruction JMP(04) with the same number
or delete JME(05) that is not used.

SBS UNDEFD

There is a subroutine that is not called by SBS(91). Add

subroutine call to an appropriate place in the program or
delete the subroutine.

C.9 Algorithm for finding errors in the program

APPENDIX D Numerical systems

INTRODUCTION
D.1 Decimal numerical system
D.2 Binary numerical system
D.3 Hexadecimal numerical system

Introduction
People were always difficult to except the fact that something is different from themselves or their way of
thinking. It is probably one of the reasons why numerical systems other than decimal are hard to understand.
Still, whether we like it or not, reality is quite different. Decimal system used in everyday life is by far less
used than binary code, which is the working basis for millions of computers across the world.
Each numerical system rests upon its basis. With decimal numerical system, this basis is 10, with binary it is
2, while with hexadecimal it equals 16. Value of each digit depends on its position in the number, represented
in certain numerical system. Sum of values of each digit is the value of the number. Binary and hexadecimal
systems are especially interesting for this course. Besides these two, decimal system will be detailed, too, for
the sake of comparison. Although there is nothing new to tell about decimal system, we will give it a look for
its relations with other numerical systems.
D.1 Decimal numerical system
Decimal numerical system is defined with its basis 10 and decimal positioning from right to left, and it
consists of digits 0,1,2,3,4,5,6,7,8,9. This means that the rightmost digit is multiplied by 1 in total sum, next
digit to it is multiplied by 10, next one by 100, etc.
Example:

Operations of addition, subtraction, division and multiplication in decimal numerical system are well known,
so we will not detail these.
D.2 Binary numerical system
Binary numerical system is quite different from the decimal that we got used to in common life. Its basis is 2
and each digit can have one of two values, 1 or 0. Binary numerical system is used for computers and
microcontrollers, because it is much easier for processing than decimal. Usually, binary number consists of 8,
16 or 32 binary digits. Origins of this division are irrelevant for this course, so we will just take it for granted.
Example:

10011011 - binary number with 8 digits

To understand the logic of binary numbers, let us have an example. Lets assume that we have a cabinet with
four drawers and that we should tell someone to bring us something from one of these. Nothing simpler, we
could say in the lower row on the left and it would be quite sufficient. However, if it must be done without
this kind of orientation, left, right, up, down and the likes, then we have a problem. There is a plenty of
solutions for the situation, but we should look for the best and the most efficient! Let us mark the columns
with A and rows with B. If A=1, we assume the upper row of drawers, and if A=0 we assume the lower.
Similar with columns, B=1 is the left column and B=0 is the right column (following picture). Now, it is
easier to explain which drawer we think of, just use one of the four combinations 00, 01, 10 or 11. This
naming of each drawer is nothing more than binary nomenclature of numbers, that is, converting decimal
numbers into binary system. In short, labels first, second, third and fourth are substituted with 00, 01, 10
and 11.

We still need to understand the logic of binary numerical system, i.e. how to get the decimal value of a
number out of the sequence consisting of ones and zeros. This procedure is called conversion of binary
number to decimal value.
As it can be seen, conversion of binary number to decimal value is done by totaling the sum on the right.
Depending on the position in the binary number, digits carry different weight multiplied by themselves, and
totaling them all gives us an understandable decimal number.

Lets further assume that there are marbles in each of the drawers, 2 in the first, 4 in the second, 7 in the third
and 3 in the fourth. Let the person opening the drawers also use the binary system. Under these conditions,
question would be How many marbles are there in 01?, and the answer would be There are 100 marbles in
01! Notice that both question and answer are clear, although we did not use common terminology. Further,
notice that two digits are sufficient for decimal numbers from 0 to 3, and that all values greater than 3 require
additional binary digits. Thus, for 0 ~ 7 range, three digits are sufficient, four digits cover the range 0 ~ 15,

etc. Simply put, the greatest decimal number that can be represented with n binary digits is 2 raised to power
n, decreased by one.
Example:
24-1 = 16 - 1 = 15
So, 4 binary digits cover decimal values from 0 to 15, including the values 0 and 15, which is 16 different
values.
Arithmetical operations that exist in decimal numerical system also apply in binary system. In this chapter, we
will cover only addition and subtraction, for simplicity sake.
Basic rules that apply to binary addition are:
Addition works similar to decimal numerical system - we add the digits of the same weight. If both digits
added are zero, the result remains zero, while 0 and 1 total 1. Two ones give zero, but one is carried to
the left position.

We can do the check by converting these numbers to decimal system and adding them. Value of the first
number is 10, value of the second is 9 and 19 as result, which means that operation was done correctly.
Problem occurs when the result is greater than can be represented with given number of binary digits. There
are various solutions, one of them being expanding the number of binary digits like in the example below.

Subtraction works on the same principles as addition does. Two zeros give zero in result, as do two ones,
while subtraction of one from zero requires borrowing one from the higher position in binary number.
Example:
Conversion of numbers to decimal system gives as values 10 and 9, with the result of subtraction of 1, which
is correct.

D.3 Hexadecimal numerical system

Hexadecimal numerical system has number 16 for basis. Therefore, there are 16 different digits used in this
system. These are 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, A, B, C, D, E, F. Letters A, B, C, D, E and F represent values
10, 11, 12, 13, 14, 15 and are used for the sake of easier notation. As with binary numerical system, we can
apply the same formula here for determining the greatest decimal number that can be represented with a given
number of hexadecimal digits.
Example:

162 - 1 = 256 - 1 = 255

Usually, hexadecimal numbers have prefix $ or 0x to emphasize the fact that hexadecimal system is used.
Thus, number A37E should be represented with $A37E or 0xA37E. No calculations are needed for converting
the hexadecimal number to binary system - it is simple substituting of hexadecimal digits with binary ones.
Since maximum value of hexadecimal digit is 15, 4 binary digits are required per one hexadecimal.

Example:
Check, i.e. converting both numbers to decimal system, gives us value 228 which is correct.
In order to calculate decimal equivalent of hexadecimal number, each digit of number should be multiplied by
16 raised to power equal to the position in the number and then added altogether.

Addition works similar to two previous numerical systems.

Example:
It is required to add the appropriate digits of a number, and if their sum equals 16, that position takes value
0. Values exceeding 16 should be added to the sum of digits on higher position. First number converted
equals 14891, while other is 43457. Their sum is 58348, that is $E3EC converted to decimal numerical
system. Subtraction works identically to previously mentioned systems.
Example:
Conversion gives us numbers 11590 and 5970, and the result of subtractions is 5620, that is $15F4 converted
to decimal numerical system.

Conclusion

Binary numerical system remains the most commonly used, decimal system the most intelligible, while
hexadecimal is somewhere in between. Its simple conversion to binary system makes it, besides binary and
decimal, the most important numerical system to us.
E.1 LOAD - Normally open output
Descriptio
n

First condition, that any logical block in the ladder diagram starts with, corresponds to LOAD or LOAD NOT
instructions. Both of these instructions require one line in mnemonic code. On the right of these instructions any
executive instruction may be used.

Ladder
symbol

Limitation
s

There are no limitations, except that it is used as the first instruction from left to right.

Flag

It has no effect on any particular flag.

Example

Pressing the button on the input 00 in the word IR000 activates the relay 00 on the output of PLC controller.
Conditional instruction doesnt have be from input memory area; it can be any bit from other memory areas, i.e. SR
area as in the following example.

When one of the instructions activates the bit 00 in the word SR200, bit 00 is activated in the output word
IR010. In a word, every ON state of the bit at input causes the ON state at output.

E.2 LOAD NOT - Normally closed input

Description

First condition, that any logical block in the ladder diagram starts with, corresponds to LOAD or LOAD NOT
instructions. Both of these instructions require one line in mnemonic code. On the right of these instructions
any executive instruction may be used.

Ladder symbol

Limitations

There are no limitations, except that it is used as the first instruction from left to right.

Flag

It has no effect on any particular flag.

Example

Pressing the button on the input 00 in the word IR000 activates the relay 00 on the output of PLC
controller. Conditional instruction doesnt have be from input memory area; it can be any bit from other
memory areas, i.e. SR area as in the following example.

When one of the instructions activates the bit 00 in the word SR200, bit 00 is activated in the output word
IR010. In a word, every ON state of the bit at input causes the OFF state at output.

E.3 AND - Logical "AND" with normally open contacts

Description

When two are linked serially in one instruction line, first of them corresponds to instructions LOAD or
LOAD NOT, while the other represents instructions AND or AND NOT.

Ladder symbol

Limitations

There are no limitations.

Flag

It has no effect on any particular flag.

Example

After the LOAD instruction on 00 input, AND instruction is linked to input 01. Instruction on the right will
be executed only when both of the conditions from the line are fulfilled, i.e. when both inputs 00 and 01
are in the ON state.

E.4 AND NOT - Logical "AND" with normally closed contacts

Description

When two or more conditions are linked serially in one instruction line, first of them corresponds to
instruction LOAD or LOAD NOT, while the other represents instruction AND or AND NOT.

Ladder symbol

Limitations

There are no limitations.

Flag

It has no effect on any particular flag.

Example

After the LOAD instruction on 00 input, AND NOT instruction is linked to input 01. Instruction on the
right will be executed only when both of the conditions from the line are fulfilled, i.e. when input 00 is in
ON state and input 01 is in OFF state.

E.5 OR - Logical "OR" with normally open contacts

Description

When two or more conditions coexist on separate, paralel lines that connect at a given point, the first
condition corresponds to LOAD or LOAD NOT instructions, while others correspond to OR or OR NOT
instructions.

Ladder symbol

Limitations

There are no limitations.

Flag

It has no effect on any particular flag.

Example

Inputs 00 and 01 are in OR relation with the output 00. One of the inputs with ON state is sufficient to
activate the output 00.

E.6 OR NOT - Logical "OR" with normally closed contacts

Description

When two or more conditions coexist on separate, paralel lines that connect at a given point, the first
condition corresponds to LOAD or LOAD NOT instructions, while others correspond to OR or OR NOT
instructions.

Ladder symbol

Limitations

There are no limitations.

Flag

It has no effect on any particular flag.

Example

Inputs 000.00 and 000.01 are in OR NOT relation with the output 010.00. Bit 010.00 will retain ON
state until bit 01 changes to ON state (thus breaking the connection, because it is normally closed). One of
the inputs with ON state is sufficient to activate the output 00.

E.7 OUTPUT - Normally open output

Description

The easiest way for getting results that fulfill input conditions is their direct connection to the instructions
OUTPUT and OUTPUT NOT. These instructions are used for controlling the status bit, which is defined as
the instruction carrier. When OUTPUT instruction is used, bit assigned to it will be ON if the execution
condition is ON, and it will be OFF if the execution condition is OFF.

Ladder symbol

Limitations

Attention should be paid not to overlap the instructions concerning the bit being controlled.

Flag

It has no effect on any particular flag.

Example

Bit IR010.00 will remain ON as long as bit IR000.00 is ON. When bit IR000.00 changes to OFF, bit IR010.00
also changes to OFF.
This instruction cannot be used for assigning ON or OFF states to more than one bit. In case that there is a
need for assigning values to all of the bits in word, it can be done only one bit at a time.

E.8 OUTPUT NOT - Normally closed output

Description

The easiest way for getting results that fulfill input conditions is their direct connection to the instructions
OUTPUT and OUTPUT NOT. These instructions are used for controlling the status bit, which is defined as
the instruction carrier. When OUTPUT instruction is used, bit assigned to it will be ON if the execution
condition is OFF, and it will be OFF if the execution condition is ON.

Ladder symbol

Limitations

Attention should be paid not to overlap the instructions concerning the bit being controlled.

Flag

It has no effect on any particular flag.

Example

Bit IR010.00 will remain ON as long as bit IR000.00 is OFF, while prelaskom changing bit IR000.00 to ON
changes bit IR010.00 to OFF.
This instruction cannot be used for assigning ON or OFF states to more than one bit. In case that there is a
need for assigning values to all of the bits in word, it can be done only one bit at a time.

E.9 SET - Changes bit state to ON

Description

Instruction changes the state of the specified bit to ON when the execution condition is ON. In case that the
condition is OFF, bit state remains unchanged (unlike the instruction OUT which changes bit state to OFF
even when the condition is OFF).

Ladder symbol

Limitations

There are no limitations.

Flag

It has no effect on any particular flag.

Example

If condition state on bit IR000.00 changes to ON, state of bit IR200.00 also changes to ON. When condition
state of bit IR000.00 changes from ON to OFF, bit IR200.00 remains ON.

E.10 RESET - Changes bit state to OFF

Description

Instruction changes the state of the specified bit to OFF when the execution condition is ON. In case that the
condition is OFF, bit state remains unchanged.

Ladder symbol

Limitations

There are no limitations.

Flag

It has no effect on any particular flag.

Example

If condition state on bit IR000.00 changes to ON, state of bit IR200.00 changes to OFF. When condition state
of bit IR000.00 changes from ON to OFF, bit IR200.00 remains OFF.

E.11 KEEP - Changes bit state according to 2 inputs

Description

Instruction is used for maintaining the status of corresponding bit according to 2 inputs. The first input
changes bit state to ON whenever the condition of the first line is fulfilled, while the second changes bit state
to OFF whenever the condition of the second line is fulfilled. Bit state remains unchanged as long as inputs
remain unchanged.

Ladder symbol

Flag

It has no effect on any particular flag.

Example

When the state of bit IR000.00 changes to ON bit IR200.00 also changes to ON. If bit IR000.01 changes to
ON, bit IR200.00 changes to OFF and remains OFF until state of bit IR000.00 is ON again.

E.12 DIFFERENTIATE UP - Changes bit state to ON for duration of one cycle

Description

Instruction changes bit state to ON during one cycle when the preceding condition is fulfilled.

Ladder symbol

Flag

It has no effect on any particular flag.

Example

Instruction changes state of bit IR200.00 to ON for duration of one cycle. If bit IR000.00 is ON, bit IR200.00

changes to ON for duration of one scan cycle.

E.13 DIFFERENTIATE DOWN - Changes bit state to OFF for duration of one cycle
Description

Instruction changes bit state to OFF during one cycle when the preceding condition is fulfilled.

Ladder symbol

Flag

It has no effect on any particular flag.

Example

If bit IR000.00 is ON, state of bit IR200.00 changes to OFF for duration of one scan cycle.

E.14 NO OPERATION - No operation

Description

Generally, usage of this instruction in programs is not recommended. When PLC gets to this instruction
nothing happens and the following instruction is executed.

Ladder symbol

Flag

It has no effect on any particular flag.

E.15 INTERLOCK - Interlock

Description

Instruction IL is always used in pair with the instruction ILC. Their purpose is to reset all the outputs, flags,
control bits, timers and counters that are within instructions between IL and ILC. Timers and counters stop
working and retain values they had at the moment of executing IL instruction. It is possible to have multiple

IL instructions and to reset one or more parts of the program, accordingly. Instruction is executed when
condition state changes from ON to OFF!
Ladder symbol

Flag

It has no effect on any particular flag.

E.16 INTERLOCK CLEAR - End of the program part encompassed by interlock

Description

Instruction ILC is always used in pair with instruction IL. When the condition of instruction IL is fulfilled all
the outputs, flags, control bits, timers and counters that are within instructions between IL and ILC are reset.
Timers and counters stop working and retain values they had at the moment of executing IL instruction.

Ladder symbol

Flag

It has no effect on any particular flag.

E.17 END - End of program

Description

This is mandatory instruction at the end of every program. Any instruction following this one will not be
executed. It can be used for debugging purposes in program, so as to designate the point where the
monitoring of program execution stops. If the program uses subroutines, it is necesssary to have instruction
END following the last subroutine.

Ladder symbol

Limitations

There are no limitations.

Flag

Changes states of flags ER, CY, GR, EQ and LE to OFF.

E.18 JUMP - Jump to another location in the program

Description

Certain part of the program may be skipped depending on the state of defined condition for jump execution.
Jumps can be created using JUMP (JMP(04)) or JUMP END (JME(05)) instructions. If condition state is ON,
program executes normally, as if the instruction was never used. If status of execution condition is OFF,
program execution continues from the JUMP END instruction corresponding to JUMP instruction. Which
JUMP END corresponds to which JUMP instruction is defined with a number that follows the instruction.
Value 0 can be used unlimited number of times in the course of program for this purpose, while each of other

99 available numbers may be used only once.

Ladder symbol

Limitations

Total number of JUMP and JUMP END pairs cannot exceed 99. Each value from 1-99 range can be used only
once.

Flag

It has no effect on any particular flag.

E.19 JUMP END - Location where the program execution continues after JUMP
Description

Instruction JME is used in pair with JMP instruction as integral part of it. If there is no JME assigned to JMP
instruction, program will report an error.

Ladder symbol

Limitations

Total number of JUMP and JUMP END pairs cannot exceed 99. Each value from 1-99 range can be used only
once.

Flag

It has no effect on any particular flag.

Example

When the state of bit IR000.00 changes to OFF, jump instruction skips all the instruction lines between itself
and the corresponding JME instruction.
Another way for using jump instruction is assigning value 0 to JMP instruction. Unlimited number of jumps
can be programmed in this way and the destination for each of these is a unique location defined with
instruction JUMP END with index 0. Instruction JUMP END with parameter 0 may be used multiple times in
the program. In that case, program execution after the jump defined with JUMP (index 0) continues from the
first following JUMP END instruction with this index. Time of execution with this form of jump function is
somewhat longer, as the program must first locate the closest appropriate JUMP END instruction. The
following example demonstrates programming greater number of jump functions ending at the same
destination:
Changing the state of bits IR000.00 or IR000.03 to OFF executes the jump to the line containing instruction
JME.

E.20 TIMER - Timer with 0.1s resolution

Description Timers are complex instructions with the purpose of separating two programming actions. Changing the state of
condition to ON starts the timing with 0.1s increments starting from zero.
Value of parameter SV (abbreviation for Set Value) is multiplied by 0.1 s, the result being total time in seconds. Value
given in the middle part of the block is called TC number. Each TC number can be used for defining one couner or timer.
It can take values from 000 - 127 range. Lower part of the block is reserved for displaying the starting value of timer.
Word with this role can belong to sectors IR, AR, DM, HR, LR or can be given as a constant, with values from 000.0 999.9 range. The most common and the simplest way to apply a timer is to have a constant here, whether given directly

or programmed on some memory location (if parameter SV is given as a constant, it is necessary to put character #
ahead of value).
Ladder
symbol

Limitations The number of timer cannot be used for counter or another timer.
Flag

Affects the appropriate flag in TC area.

Example

Changing the state of bit IR000.00 to ON starts the timing (in this case, time is 100*0.1s=10 seconds). After the passing

of given period of time, the appropriate bit IM002 changes state to ON, thus fulfilling the condition for executing the
instructions on the right (in this case bit IR010.01 changes state to ON).
Condition bit must be constantly ON for a given time period for bit TIM002 to be set. If condition state changes to OFF
during the given time period, timer resets and goes back to the beginning of period.

E.21 HIGH-SPEED TIMER - Timer with 0.01s resolution

Descriptio
n

This instruction is identical to the previous TIM instruction, except for the resolution of decrementing. In case of
TIM instruction this interval equals 0.1s, while with TIMH instruction it equals 0.01s. Changing the condition to
ON starts the countdown with 0.01s decrements from the predefined value down to zero. If the state of condition
changes to OFF timer will be reset. Value of parameter SV (abbreviation for Set Value) is multiplied by 0.01 s
resulting in total time in seconds. Value given in the middle part of the block is called TC number. Each TC number
can be used for defining one couner or timer. It can take values from 000 - 127 range. Lower part of the block is
reserved for displaying the starting value of timer. Word with this role can belong to sectors IR, AR, DM, HR, LR
or can be given as a constant, with values from 00.00 - 99.9.9 range. If parameter SV is given as a constant, it is
necessary to put character # ahead of value.

Ladder
symbol

Limitation
s

The number of timer cannot be used for a counter or another timer. Value of SV must be in 00.00 - 99.99 range.
Recommended range for a number of timer is 000 - 003.

Flag

Affects the appropriate flag in TC area.

Example

Changing the state of condition bit IR000.00 to ON starts the countdown (in this case for 27*0.01s=0.27 seconds).
After the passing of given period of time, the appropriate bit IM003 changes state to ON, thus fulfilling the
condition for executing the instructions on the right (in this case bit IR010.01 changes state to ON).
Condition bit must be constantly ON for a given time period for bit TIM002 to be set. If condition state changes to
OFF during the given time period, timer resets and goes back to the beginning.

E.22 COUNTER - Counter

Description Counter decrements the value given with SV for every ON state of the condition on CP line (abbreviation for Count
Pulse). Each time the state on CP line changes from OFF to ON value of SV is decremented by one. Fulfilling the
condition on R (reset) line sets the counter to a starting state with a given SV value. When the zero is reached, instruction
changes the state of appropriate bit from TC area corresponding to the number of a counter (bit can be returned to OFF
state by fulfilling the condition on reset line). If parameter SV is given as a constant, it is necessary to place a character
# ahead of value.

Ladder
symbol

Limitations The number of timer cannot be used for a counter or another timer.
Flag

Affects the appropriate flag in TC area.

Example

When the state of bit IR000.00 changes from OFF to ON, counter value decreases to 299, next change of bit IR000.00
lowers it to 298 and so on. When counter value reaches zero, state of bit CNT004 changes to ON, fulfilling the condition
for executing instructions on the right (in this case, it is a normally closed contact that will open).

E.23 REVERSIBLE COUNTER - Incrementing / decrementing counter

Descriptio
n

This instruction is an extension of the previous one, having the added input for increasing counter value by one. Counter
CNTR has two counting inputs: incrementing and decrementing. Decrementing input is identical to one from CNT
instruction. For every ON state of condition on II line (Increment Input) counter value increases by one. If this value reached
SV, counter value remains unchanged. Every time state on DI line (Decrement Input) changes from OFF to ON, value of SV
decreases by one. If counter value reached zero it remains unchanged. Fulfilling the condition on R (reset) line sets the
counter to a starting state given with value of SV. With reaching the zero, instruction changes the state of bit in TC area
appropriate to the number of the counter. This bit can be returned to OFF state by fulfilling the condition on na reset line or
increment II line. If the parameter SV is given as a constant it is necessary to place the character # ahead of value.

Ladder
symbol

Limitation
Number of a counter cannot be used for a timer or another counter.
s
Flag

Affects the appropriate bit in TC area.

Example

When the state of bit IR000.00 changes from OFF to ON, counter value decreases to 122, next change of bit IR000.00

lowers it to 121 and so on. When the state of bit IR000.01 changes counter value increases by one. When counter value
reaches zero, state of bit CNT006 changes to ON fulfilling the condition for executing instructions on the right (in this case,
it is normally closed contact that will open). ON state of bit IR00.02 will return the counter to a given value, while a bit
CNT006 returns it to OFF state.

E.24 COMPARE - Compares two memory locations

Description

Instruction CMP(20) compares two words upon fulfilling the preceding condition. Depending on the relation
of the two words, output can be:
1. Equal - state of bit EQ in SR memory area changes to ON.
2. Cp1 is lower than Cp2 - state of bit LE in SR memory area changes to ON.
3. Cp1 is greater than Cp2 - state of bit GR in SR memory area changes to ON.

Flag
GR
EQ
LE

Address
25505
25506
25507

Cp1<Cp2
OFF
OFF
ON

Cp1=Cp2
OFF
ON
OFF

Cp1>Cp2
ON
OFF
OFF

Ladder symbol

Limitations

Comparations that include the current values of timer or a counter require values in BCD format. Checking
the flags GR, LE and EQ should take place immediately after the CMP(20) instruction, because another
instruction may affect their states.

Flag

Affects the flags GR, LE and EQ in SR memory area.

Example

When the state of bit IR000.00 changes to ON, condition for comparing the values of memory locations
IR200 and IR201 is fulfilled. If value of IR200 is greater than IR201, state of bit IR010.00 changes to ON. If
value of IR200 is lesser than IR201, state of bit IR010.02 changes to ON. In case of equal values of locations
IR200 and IR201, state of bit IR010.01 changes to ON.

E.25 DOUBLE COMPARE - Compares two consecutive words

Description

Instruction CMPL(60) compares the two consecutive words with other two consecutive words. Depending on
the relation, output can be:
1. Equal - state of bit EQ in SR memory area changes to ON.
2. Cp1+1, Cp1 is lower than Cp2+1, Cp2 - state of bit LE in SR memory area changes to ON.
3. Cp1+1, Cp1 is greater than Cp2+1, Cp2 - state of bit GR in SR memory area changes to ON.

Flag
GR
EQ
LE

Address
25505
25506
25507

Cp1+1,Cp1 <Cp2+1,Cp2 Cp1+1,Cp1=Cp2+1,Cp2 Cp1+1,Cp1>Cp2+1,Cp2

OFF
OFF
ON
OFF
ON
OFF
ON
OFF
OFF

Ladder symbol

Limitations

Checking the flags GR, LE and EQ should take place immediately after the CMP(20) instruction, because
another instruction may affect their states.

Flag

Affects the flags GR, LE and EQ in SR memory area.

Example

When the state of bit IR000.00 changes to ON, condition for comparing the values of memory locations
IR200+IR2001 and HR00+HR01 is fulfilled. If value of the first operand is greater, state of bit IR010.00
changes to ON. If value of the first operand is lesser, state of bit IR010.02 changes to ON. In case of equal
values, state of bit IR010.01 changes to ON.

E.26 BLOCK COMPARE - Block compare

Descriptio
n

Instruction BCMP compares the value of memory location CD with values of

memory locations CB - CB+31. The method consists of finding the pair of
CB locations where the value of CD location fits in between. Upon locating
that area, the appropriate bit is set in the result word R. Based on this
information, the programmer knows the general area of value of location CD.

Ladder
symbol

Limitation
Values of CB block must be in order, so that the value of location CB is lesser than value of CB+1.
s
Flag

It has no effect on any particular flag.

Example

Comparation will be executed for as long as the state of condition is ON. If value of location HR00 equals 0210, then
it will be set between DM0014 and DM0015 correspoding to the second bit of the result word LR05.

E.27 TABLE COMPARE - Table compare

Descriptio
n

Instruction TCMP compares value of memory location CD with values of memory locations TB, TB+1, TB+2, TB+3 ...
TB+15. If value of location CB is equal to one of TB values, the appropriate bit of the result word R is set. Based on this
information, the programer knows which TB value matches the value of location CD.

Ladder
symbol

Limitation
s

Locations DM 6144 - DM6655 cannot be used for the result word.

Flag

It has no effect on any particular flag.

Example

Comparation will be executed as long as the state of bit IR000.00 is ON. If value of location HR00 is 0210, then it equals
the values of locations DM0002, DM0006, DM0010 and DM0014. Accordingly, the appropriate bits of the word IR216
change states to ON (they are set).

E.28 MOVE - Moves the contents of one memory location to another

Description

Instruction MOVE is used for moving the contents of one memory location to another. The operand S
represents the word whose contents should be moved to a word that is operand D. Operand S can be a
constant, if the character # is placed ahead of four-digit value.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand D. The current state of timer or counter also cannot be
used as operand D. Instruction BSET(17) should be used for that purpose.

Flag

Flag EQ from TC area changes state to ON when all zeros are written into operand D. Therefore, flag EQ
provides us with information if the moved value equals zero. In case of error, state of flag ER changes to ON.

Example

Upon fulfilling the condition on bit IR00.00, instruction moves the contents of memory location IR001 to
memory location HR05. Every bit of word IR001 is copied to the appropriate bit of word HR05. Instruction
MOV can be very helpful when reading the signals controller sends or receives from peripheral devices. Input
states are moved to a working area, where they are processed and then they are sent to the output points of
PLC controller.

E.29 MOVE NOT - Moves the complement

Description

Instruction MOVE NOT is used for moving the complemented (inverted bits, bit 0 becomes 1and vice
versa) contents of one memory location to another. The operand S represents the word whose complemented
contents should be moved to a word that is operand D. Operand S can be a constant, if the character # is
placed ahead of four-digit value.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand D. The current state of timer or counter also cannot be
used as operand D. Instruction BSET(17) should be used for that purpose.

Flag

Flag EQ from TC area changes state to ON when all zeros are written into operand D. Therefore, flag EQ
provides us with information if the moved value equals zero. In case of error, state of flag ER changes to ON.

Example

Upon fulfilling the condition on bit IR00.00, instruction moves the complemented contents of memory
location IR001 to memory location HR05. Every bit of word IR001 is complemented and copied to the
appropriate bit of word HR05.

E.30 BLOCK TRANSFER - Copies one block of words to another

Description

Instruction BLOCK TRANSFER copies the contents of one memory block of words to another. Parametar N
represents the number of memory locations copied, S is the address of starting source memory location, while
D represents the address of the starting destination memory location.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand D. S and S+N have to be from the same memory area. D
and D+N also have to be from the same memory area. N has to be a BCD number.

Flag

State of ER flag changes to ON if N is not a BCD number or in case that S and S+N, D and D+N are not from
the same memory area.

Example

Upon fulfilling the condition on bit IR00.00, instruction moves the contents of ten memory locations IR200 IR210 to memory locations HR00 - HR10.

E.31 BLOCK SET - Copies the contents of one memory location to multiple locations
Description

Instruction copies the contents of one memory location S to a block of memory locations from St to E. Parameter
St contains the starting address of the block and parameter E contains the ending address of the block. It is
possible to change the contents of the current timer/counter values with this instruction, unlike with instructions
MOV and MVN. Operand S can be a constant, if the character # is placed ahead of four-digit value.

Ladder
symbol

Limitations

Words DM6144 - DM6655 cannot be used as operands St and E. Address in the operand St has to be lesser than
the addreess in operand E. Both the operands St and E have to be from the same memory block.

Flag

State of ER flag changes to ON if St and E do not belong to the same memory block or in the case that the
second parameter is greater than first.

Example

Upon fulfilling the condition on bit IR00.00, instruction moves the contents of memory location IR000 (zero) to
locations HR00 - HR05. In this way, it is possible to clear the memory block or to set it to a certain value. Same
effect could be achieved if constant #0000 was used instead of memory location IR200 containing all zeros.

E.32 DATA EXCHANGE - Exchanges values of two memory locations

Description

Instruction exchanges the values of memory locations E and E1.

Ladder
symbol

Limitations

Words DM6144 - DM6655 cannot be used as operands E1 and E2.

Flag

State of ER flag changes to ON if non-existing indirect address of location from DM area is used as an operand.

Example

Upon fulfilling the condition on bit IR00.00 instruction exchanges the contents of memory locations IR000 (all
zeros) and IR201 (all ones). As a result, memory location IR201 contains all ones and memory location IR200
contains all zeros.

E.33 SINGLE WORD DISTRIBUTE - Creates a stack

Description

Instruction can be used in two ways depending on the states of bits 12, 13, 14 and 15 of memory location in
parameter C. If these 4 bits have value between 0 and 8, then the instruction copies the word from parameter
S (or a constant if it is given with character # ahead) to an address calculated by adding the base address
from parameter DBs and the shift defined in the rest of the word of parameter C.
When bits 12-15 in memory location of parameter C form the number 9, then the instruction is used for stack
operations. The rest of the value of word of parameter C now defines number of the words in stack (from 000
to 999) and the contents of DBs represent the stack pointer.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand DBs. Address of the operand DBs has to be in the same
memory block with BDs + shift. The argument C has to be BCD number.

Flag

EQ flag changes state to ON when the contents of memory location in parameter S equal zero. State of ER
flag changes to ON in case of error.

Examples

Bits 12-15 in the word LR10 from parameter C formthe number 0011, which is in 0 - 8 range. Therefore,
the instruction is used in the first form. Upon fulfilling the condition on bit IR00.00, instruction copies the

constant #00FF to an address calculated by adding the base address (in this case HR10) and three lower
numbers from the word LR10.

Bits 12-15 in the word IR216 from parameter C form the number 0101, which exceeds 8. Therefore, the
instruction is used in the second form. The example above shows how to create a stack between memory
locations DM0001 and DM0005. Location DM0000 is used as a pointer marking the top of the stack.

E.34 DATA COLLECT - FIFO, LIFO stack

Description

Instruction can be used in three different ways depending on the states of bits 12-15 in the word of parameter
C:
1. If four bits have value between 0 and 7, the instruction copies the word D to an address calculated by
adding the address of the word SBs with the rest of the word C.
2. If value of four bits of word C equals 9, instruction creates the FIFO stack (First In First Out). The rest of

the bits of the word C determines the number of the words in stack (000 to 999), while SBs represents the
pointer marking the top of the stack.
3. If value of four bits of word C equals 8, instruction creates the LIFO stack (Last In First Out). The rest of
the bits of the word C determine the number of the words in stack (000 to 999), while SBs represents the
pointer marking the top of the stack.
Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand DBs. Parameter C has to be a BCD number. SBs and
SBs + shift have to be from the same memory block.

Flag

EQ flag changes state to ON when the contents of memory location in parameter S equal zero. State of ER
flag changes to ON in case of error, such as overflow or assigning non-BCD contents to parameters S or D.

Examples

Bits 12 - 15 in the word IR200 form 0, while the rest of the word forms value 005, defining stack size to be
5 locations. Upon fulfilling the condition on bit IR000.00, instruction copies the contents of word LR00 to an
address calculated by adding the address DM0000 with the shift defined in the word IR200 (lower three

digits) : DM0000 + 005 = DM0005.

Bits 12 - 15 in word IR216 form a number 9, while the rest of the word forms value 005, defining the stack
size to be 5 locations. Number 9 as the first digit of word IR216 determines that the instruction works with
FIFO stack. Upon fulfilling the condition on bit IR000.00, instruction moves the contents of the stack by one
address, so that the element that first came into the stack (AAAA) is copied to the word IR001, while the
stack pointer decreases by one.

Bits 12 - 15 of the word IR216 form a number 8, while the rest of the word forms value 005, defining the
stack size to be 5 locations. Number 8 as the first digit of the word IR216 means that the instructions works
with LIFO stack. Upon fulfilling the condition on bit IR000.00, instruction copies the value of the last word
that came into stack to the location IR001, while the stack pointer decreases by one.

E.35 MOVE BIT - Copies a bit from one word to another

Description

Instruction copies a specified bit from the word S to a specified bit of word D. The word Bi determines the
positions of bits in question. The upper 2 digits determine the destination bit, while lower 2 determine the
source bit.

Ladder symbol

Limitations

Values of destination and source bits has to be between 0 and 15. Words DM6144 - DM6655 cannot be used
as operands Bi or D.

Flag
Example

E.36 MOVE DIGIT - Moves a digit from one word to another

Description

Instruction copies a specified digit from the word S to a specified digit of the word D. The word Di
determines the positions of digits in question.

Ladder symbol

Limitations

Value of destination and source bit has to be between 0 and 15. Words DM6144 - DM6655 cannot be used as
operands Bi or D.

Flag

ER flag changes state to ON if at least one of three digits in the word Di isnt in the specified range (between
0 and 3).

Example

The examples below show copying digits from one word to another depending on the value of word Di.

E.37 SHIFT REGISTER - Shifts the contents of a word for 1 bit to the left
Description

Instruction shifts the contents of word St for 1 bit to the left. The highest bit of the word St moves to the place
of the lowest bit in the word St+1, the highest bit of the word St+1 moves to the position of the lowest bit in
the word St+2 and so forth, up to the word E. The highest bit of the word E is irreversibly lost with every
shifting. Input I defines whether 0 or 1 fills the lowest bit position. If the state of I line is ON, value is
one, while OFF defines zero. Input P is used as clock for the instruction and switching it from OFF to ON
changes the bit shift. State on R line can be OFF when the instruction can be executed and ON when all the
bits within word range from St to E are set to 0. As long as the state of R line isnt set to OFF state,
instruction cannot be executed.

Ladder symbol

Limitations

E has to be greater or equal to the address in parameter St.

Flag

ER flag changes state to ON if St is lower address than E or if they are not in the same memory area.

Example

Upon fulfilling the condition on bit IR000.00, instruction uses one-second clock on bit 255.02 in order to
move the contents of the word HR00. Bit IR200.00 will be ON every time the bit HR00.07 equals one.

E.38 WORD SHIFT - Shifts whole words

Description

Instruction shifts the whole contents of the word St to an address greater by one than the current. Value of the
word from the parameter St is moved to St+1 up to the the word defined with parameter E. Word that equals
zero fills the place on the right for every shifting. Value of the word on the address from parameter E is
irreversibly lost.

Ladder symbol

Limitations

E has to be greater or equal address to the one from parameter St. Words DM6144 - DM6655 cannot be used
as operands St and E.

Flag

ER flag changes state to ON if St is lower address than E or if they are not from the same memory area.

E.39 ARITHMETIC SHIFT LEFT - Arithmetic shift left

Description

Instruction shifts the contents of the word Wd for one bit to the left. The lowest bit becomes 0, while the
highest bit is moved to carry bit.

Ladder symbol

Limitations

Words DM6144 - DM6655 se ne mogu koristiti za operand Wd.

Flag

EQ flag changes state to ON if the contents of the word Wd equal zero. CY flag takes the value of the highest
bit of theword Wd and changes state accordingly.

E.40 ARITHMETIC SHIFT RIGHT - Arithmetic shift right

Description

Instruction shifts the contents of the word Wd for 1 bit to the right. The highest bit takes value 0, while the
lowest bit moves to carry bit (CY).

Ladder symbol

Limitations

Words DM 6144 - DM6655 cannot be used as operand Wd.

Flag

EQ flag changes state to ON if the contents of the word Wd equal zero. CY flag takes the value of the lowest
bit of the word Wd and changes state accordingly.

E.41 ROTATE LEFT - Rotates the contents of a word for 1 bit to the left

Description

Instruction shifts the contents of the word Wd for one bit to left, using the carry bit CY. Bit from CY is then
moved to the lowest bit to close the circle.

Ladder symbol

Limitations

Word DM6144 - DM6655 cannot be used as operand Wd.

Flag

EQ flag changes state to ON if the contents of the word Wd equal zero. CY flag takes value of the highest bit
of the word Wd and changes state accordingly.

E.42 ROTATE RIGHT - Rotates the contents of a word for 1 bit to the right
Description

Instruction shifts the contents of the word Wd for one bit to the right, using the carry bit CY. Bit from CY is
then moved to the highest bit to close the circle.

Ladder symbol

Limitations

Word DM6144 - DM6655 cannot be used as operand Wd.

Flag

EQ flag changes state to ON if the contents of the word Wd equal zero. CY flag takes value of the lowest bit
of the word Wd and changes state accordingly.

E.43 ONE DIGIT SHIFT LEFT - Shifts word for one digit to the left
Description

Instruction shifts the contents of the word St for one digit to the left. The highest digit of the word E is
irreversably lost and the lowest digit of the word St takes zero value.

Ladder symbol

Limitations

Words DM 6144 - DM6655 cannot be used as operands St and E. Operands St and E have to be in the same
memory area, while the address of operand E has to be greater or equal to the address of operand St.

Flag

ER flag changes state to ON if St and E are not from the same memory area or in case that the address of
parameter E is lower than the address of parameter St.

E.44 ONE DIGIT SHIFT RIGHT - Shifts word for one digit to the right
Description
Ladder symbol

Instruction shifts the contents of the word St for one digit to the right. The lowest digit of the word E is
irreversably lost and the lowest digit of the word St takes zero value.

Limitations

Words DM 6144 - DM6655 cannot be used as operands St and E. Operands St and E have to be in the same
memory area and the address of the operand E has to be lower or equal to the address of the operand St.

Flag

ER flag changes state to ON if St and E are not from the same memory area or in case that the address of
parameter E is higher than the address of parameter St.

E.45 REVERSIBLE SHIFT REGISTER - Shifts words to the left or to the right
Description

Instruction is used for shifting one or several words in both directions, according to the states of the highest 4
bits in the control word C. The control word determines shifting direction, input value, clock and reset input.

Ladder symbol

Limitations

Words DM 6144 - DM6655 cannot be used as operands C, St and E. Operands St i E have to be from the
same memory area and the address of the operand St has to be lower or equal to the address of the operand E.

Flag

ER flag changes state to ON if St and E are not from the same memory area or the address of parameter St is
higher than the address of parameter E. CY changes according to the state of the lowest bit of the word St or
the highest bit of the word E, depending on the shifting direction set in the control word C.

Example

First instruction line determines the shifting direction, second determines input, third determines the clock
and fourth determines reset. The shifting direction depends on the bit 12 of the control word. Depending on it,
data bit moves to CY carry bit, while the opposite end becomes 0 or 1 depending on bit 13 of the control
word. Condition for executing this instruction is located in the bit IR000.04, but besides this it is necessary to
have the clock (bit 14 of the control word) ON. If the instruction is being executed with reset bit (bit 15 of the
control word) OFF, all data bits as well as carry bit CY are set to 0.

E.46 BCD INCREMENT - Increases the contents of a word by 1

Description

Instruction increases the contents of the word Wd by one when the condition is fulfilled. Incrementation does
not affect the carry bit.

Ladder symbol

Limitations

Words DM 6144 - DM6655 cannot be used as operand Wd.

Flag

ER flag changes state to ON if the contents of the word Wd are not BCD.
EQ flag changes state to ON when the result of incrementation equals 0.

E.47 BCD DECREMENT - Decreases the contents of a word by 1

Description

Instruction decreases the contents of the word Wd by one when the condition is fulfilled. Decrementation
does not affect the carry bit.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand Wd.

Flag

ER flag changes state to ON if the contents of the word Wd are not BCD.
EQ flag changes state to ON when the result of decrementation equals 0.

E.48 BCD ADD - Adds two values

Description
Ladder symbol

Instruction adds the contents of words Au and Ad (Au + Ad + CY) and stores the result in location R. If the
result is greater than 9999 carry bit CY is set.

Limitations

Words DM6144 - DM6655 cannot be used as operand R.

Flag

ER flag changes state to ON if the contents of words Au and Ad are not BCD.
EQ flag changes state to ON if the result equals 0.
CY flag changes state to ON if the result is greater than 9999.

Example

Upon fulfilling the condition on bit IR000.02, carry bit is cleared and the value of memory location IR200 is
added to the constant 6103. The result is stored in the memory location DM0100. The example further shows
how to save the carry bit if the result was greater than 9999. If the result exceeded 9999, memory location
DM0101 will take value 1 and if not it will take value 0. In this way, locations DM0100 and DM0101
form one 32-bit word, which may prove to be useful.

E.49 SUBTRACT - Subtracts two values

Description

Instruction subtracts the contents of the word Su and a value of carry bit CY from the contents of the word
Mi. The result is stored in the memory location R If the result is negative, carry bit CY is set and a
10complement of the result is stored into R. To get the real result, just subtract the value in R from zero.

Ladder symbol

Limitations

Words DM 6144 - DM6655 cannot be used as operand R.

Flag

ER flag changes state to ON if the contents of words Mi and Su are not BCD.
EQ flag changes state to ON if the result equals 0.
CY flag changes state to ON if the result is negative.

Example

Carry bit status should be checked before the subtraction. It is best to clear it with CLC instruction. The check
is more necessary after the subtraction, because there is chance of misinterpretation. If the carry bit is set
(value is 1) the result of subtraction is negative and the result word contains 10 complement of the real
result.
When the condition is fulfilled on bit IR000.02, carry bit is cleared and the value of memory location
DM0100 is subtracted from value of location IR201. The result is stored in the location HR10. Upon
subtraction, carry bit CY is checked. If it is set, condition on SR255.04 (the very carry bit) will be fulfilled,
clearing it anew and commencing the new subtraction in order to get the real result of the first subtraction.

The second subtraction instruction subtracts the value of the result word HR10 from zero, storing the result
into HR10 again.
It is useful to set a certain bit for a programmer to have information on negative result. In the following
example this bit is HR1100. Changing the state of carry bit to OFF doesnt change the state of bit HR1100.

Character @ ahead of SUB(31) represents the differencial form of the instruction, or simply put, this
instruction will not execute non-stop while the condition is fulfilled. Only changing the condition from OFF
to ON executes the instruction. This means that the second subtraction instruction wont take place
immediately after the first one. Before executing the second instruction, it is necessary that bit IR000.02
changed state from OFF to ON at least once.

E.50 BCD MULTIPLY - Multiplies two values

Description

Instruction multiplies values of locations Md and Mr and stores the result into memory locations R and R+1.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand R.

Flag

ER flag changes state to ON if the contents of words Mr and Md are not BCD.
EQ flag changes state to ON if the result equals 0.
CY flag changes state to ON if the there is a carry in the result.

Example

Upon fulfilling the condition on bit IR000.00, instruction multiplies the values of memory locations IR013
and DM0005. The result is stored into two sequential memory locations HR07 and HR08. The result is stored
so that HR08 contains higher bits and that HR07 contains lower bits.

APPENDIX E Ladder diagram instructions (3/3)

E.51 BCD DIVIDE - Divides two values

Description

Instruction divides the contents of location Dd with contents of location Dr. The result of division is stored in
locations R and R+1. The first contains the rounded off result of division, while R+1 contains the fraction.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand R.

Flag

ER flag changes state to ON if the contents of words Dd and Dr are not BCD.
EQ flag changes state to ON if the result equals 0.

Example

Upon fulfilling the condition on bit IR000.00, instruction divides the value of memory location IR216 by the
value of memory location HR09. The result is stored into two sequential memory locations DM0017 and
DDM0018. The result is stored so that DM0017 contains round number and DM0018 contains the fraction.

E.52 DOUBLE BCD ADD - Adds two 32-bit words

Description

Instruction adds values from addresses Au and Au+1 to values from addresses Ad, Ad+1 and carry bit CY. If
the result exceeds 99999999 carry bit CY is set.

Ladder symbol

Limitations

Word DM6144 - DM6655 cannot be used as operand R.

Flag

ER flag changes state to ON if the contents of words Au and Ad are not BCD.
EQ flag changes state to ON if the result equals 0.
CY flag changes state to ON if there is a carry in the result.

E.53 DOUBLE BCD SUBTRACT - Subtracts two 32-bit words

Description

Ladder symbol

Instruction subtracts the contents of two words Su+1 and Su with carry bit CY added from the contents of
words Mi+1 and Mi. The result is stored into memory locations R+1 and R. If the result is negative, carry bit
CY is set and 10complement of the result is stored into R. To get the real result, contents of R should be
subtracted from zero.

Limitations

Words DM6144 - DM6655 cannot be used as operand R.

Flag

ER flag changes state to ON if the contents of words Mi, Mi+1, Su, Su+1 are not BCD.
EQ flag changes state to ON if the result equals 0.
CY flag changes state to ON if the result is negative.

E.54 DOUBLE BCD MULTIPLY - Multiplies two pairs of words

Description

Instruction multiplies values of locations Md, Md+1 with the values of locations Mr, Mr+1. The result is
stored into 4 locations: R, R+1, R+2 i R+3.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand R.

Flag

ER flag changes state to ON if the contents of words Mr, Mr+1, Md and Md+1 are not BCD.
EQ flag changes state to ON if the result equals 0.
CY flag changes state to ON if there is a carry in the result.

E.55 DOUBLE BCD DIVIDE - Divides two pairs of words

Description

Instruction divides the contents of locations Dd, Dd+1 by the contents of locations Dr i Dr+1. The result is
stored into locations R and R+1 while locations R+2 and R+3 contain the fraction.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand R.

Flag

ER flag changes state to ON in two cases, if the contents of words Dd, Dd+1, Dr and Dr+1 are not BCD or if
the contents of locations Dr and Dr+1 equal zero.
EQ flag changes state to ON if the result equals 0.

E.56 BINARY ADD - Binary addition

Description

Instruction executes binary addition of words Au and Ad with carry bit and stores the result into memory
location R. If the result is greater than FFFF the carry bit CY is set.

Ladder symbol

Limitations

Words DM 6144 - DM6655 cannot be used as operand R.

Flag

ER flag changes state to ON in case of error.

EQ flag changes state to ON if the result equals 0.
CY flag changes state to ON if the result is greater FFFF.

OF flag changes state if the result is greater than +32.767 (7FFF).

UF flag changes state if the result is lower than od +32.768 (7FFF).
Example
The example demonstrates how the binary addition works. As A6E2+80C5 equals
127A7, carry bit CY is set and the value of location R+1 (which is, in this case,
on HR11) changes to 1 to enable easier handling of the result on addresses R
and R+1 later in the program. If overflow occurs, carry bit CY will be set,
fulfilling the condition on bit SR255.04. This condition controls the lower MOV
instruction, which sets 1 to location HR11.

E.57 BINARY SUBTRACT - Binary subtraction

Description

Instruction subtracts values Su+CY from the value Mi and stores the result into location R. If the result is
negative, carry bit CY is set and the 2complement of the real result is stored into location R.

Ladder
symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand R.

Flag

ER flag changes state to ON in case of error.

EQ flag changes state to ON if the result equals 0.
CY flag changes state to ON if the result is negative.
OF flag changes state if the result is greater than +32.767 (7FFF)
UF flag changes state if the result is lower than +32.768 (7FFF).

Example
The example subtracts the value of location LR00 increased by the state of carry
bit CY from the value of location IR200. As the result is positive, carry bit CY
will not be set. In case of negative result, location HR01 would contain
2complement of the result, so that a conversion would be necessary for getting
the real result.

E.58 BINARY MULTIPLY - Binary multiplication

Description

Instruction multiplies values of location Md by the value of location Mr. The result is stored in two memory
locations R and R+1.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand R.

Flag

ER flag changes state u ON in case of error.

EQ flag changes state u ON if the result equals 0.

E.59 BINARY DIVIDE - Binary division

Description

Instruction divides the value of location Dd with the value of location Dr. The result is stored into location R,
while the fraction is stored in R+1.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand R and the instruction cannot be used for dividing
signed numbers.

Flag

ER flag changes state to ON in case that Dr contains value 0.

EQ flag changes state to ON if the result equals 0.

E.60 BCD TO BINARY - Converts decimal number to a binary number

Description

Instruction converts binary representation of decimal number from the word S to binary number in the word
R. Contents of the word S remains unchanged.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand R.

Flag

ER flag changes state to ON if the contents of the word S are not BCD.
EQ flag changes state to ON if the result equals 0.

Example

Upon fulfilling the condition on bit IR000.00, instruction changes the contents of memory location IR200 so
that its numerical value remains unchanged; in other words, only the representation of the locations contents
changes. If the contents of the location IR200 is 164 decimal, this instruction would convert it to
0000000010100100. One of the purposes of this instruction is preparing the contents of memory location
for one of the binary operations.

E.61 BINARY TO BCD - Converts binary number to a decimal number

Description

Instruction converts binary represented number from the word S to a decimal number in the word R. Contents
of the word S remains unchanged.

Ladder symbol

Limitations

Word DM6144 - DM6655 cannot be used as operand R.

Flag

ER flag changes state to ON in case of error.

EQ flag changes state to ON if the result equals 0.

Example

Upon fulfilling the condition on bit IR000.00, instruction changes the contents of memory location IR200 so
that its numerical value remains unchanged; in other words, only the representation of the locations contents
changes. If the contents of location IR200 is 000000101100100 binarny, this instruction would convert it to
740 decimaly. One of the purposes of this instruction is preparing the contents of memory location for one
of BCD operations.

E.62 4 TO 16 DECODER - 4 to 16 decoder

Description

Instruction converts up to four 4-bit hexadecimal digits of values from 0 to 15. The result of the instruction is
stored into memory locations from address R to R+3, depending on how many digits was converted.
Converted digit in the result is represented with a set bit on a position corresponding to the value of a digit. If
the value of a digit is C (12 decimaly) the twelfth bit of the result word will be set.

The first digit to be converted, as well as the number of digits to be converted, is determined in the control
word Di. If the number of digits for conversion is greater than the number of digits remaining in the word S,
then the missing digits are taken from the starting digit anew. The structure of the control word Di is shown
on the picture below.

Some of the combinations of control word values along with their meaning are given below:

Ladder symbol

Limitations

Two rightmost digits of the word Di have to be between 0 and 3. Words DM6144 - DM6655 cannot be used
as operand R.

Flag

ER flag changes state to ON in case that (R + number of digits) exceeds the range of a given memory block.

Example

Upon fulfilling the condition on bit IR000.00, instruction converts three digits from the digit no.1 in the word
DM0020. As there are three digits to be converted, the result will take three memory locations starting from
HR10. Digit 0 in the word DM0020 is not converted.

E.63 16 TO 4 ENCODER - 16 to 4 encoder

Description

Instruction determines the highest set bit in SB and according to it, stores the 4-bit hexadecimal value to a
certain place in the result word R.
In the example below, bit 12 of the location on address SB is set, which would be C in a hexadecimal
representation.

Precise place for storing the converted value in the word R is determined by a control word Di. The same
word also determines the number of words to be converted, starting from the address of the word SB. For this
example, the control word would be 0001.

The first digit to be converted, as well as the number of digits to be converted, is determined in the control
word Di. If the number of digits for conversion is greater than the number of digits remaining in the word S,
then the missing digits are taken from the starting digit anew. The structure of the control word Di is shown
on the picture above.
Some of the combinations of control word values along with their meaning are given below:

Ladder symbol

Limitations

Two rightmost digits of the word Di have to be between 0 and 3. Words DM6144 - DM6655 cannot be used
as operands R, SB and Di.

Flag

ER flag changes state to ON if (SB + number of digits) exceeds the range of a given memory block or if the
word to be converted equals zero.

Example

Upon fulfilling the condition on bit IR000.00, first DMPX instruction converts two words, IR200 and IR201.
The control word is 0010, meaning that two words are converted (digit 1) and stored starting from the zero
digit in the result (rightmost digit 0). After the first DMPX instruction, the second one is executed, converting
two words from addresses LR10 and LR11 and storing them in the result word HR10, starting from the digit
no.2. Therefore, the word HR10 contains four converted words in the following order: IR200, IR201, LR10,

LR11. More detailed explanation of how the instruction works is given on the following picture.

Presuming that binary value is the one from locations IR200, IR201, LR10 and LR11, as in example, the
result of conversion in the result word HR10 would be 5B7D.

E.64 ASCII CONVERT - Converts to ASCII code

Description

Instruction converts digits from the word S to their ASCII equivalent and stores the result in the words
starting from the address D. The control word Di determines the first converted digit, the number of digits to
be converted and which half of the word D contains the first 8-bit ASCII converted code. IIf the number of
digits for conversion is greater than the number of digits remaining in the word S, then the missing digits are
taken from the starting digit anew from the word S. Digit with the highest position of the word Di has a role
of parity bit and it can take values between 0 and 2 - not having parity, parity and non-parity. Parity bit is
actually a highest bit of the 8-bit ASCII code. When the third digit of the word Di equals zero, this bit is
always zero. If the third digit of the word Di equals one, then this bit represents parity, or simply put, this bit
is set when the number of ones in the other 7 bits of ASCII is odd making the number of ones even. If the
ASCII value equals 31 (binary 0011 0001), even parity would change the highest bit to one, changing the
ASCII number to 1011 0001 or B1. The status of parity bit does not affect the interpretation of ASCII

code. Odd parity bit behaves in similar fashion, but with the opposite function. Its purpose is to ensure that
the number of ones in ASCII code is always odd. The following picture represents interpreting the value of
word Di and the picture after that gives several versions of values of the word Di and how they affect the
instruction.

Ladder symbol

Limitations

Two lower digits of the words Di must have values betweenmoraju imati 0 and 3. Words DM6144 - DM6655
cannot be used as operand D.

Flag

ER flag changes state to ON if two rightmost digits of the word Di do not fall within the specified range (0-3)
or the result word exceeds the boundaries of memory area.

E.65 COMPLEMENT - Complements a word

Description

Instruction executes the second complement of the word Wd and stores it into word Wd again. The second
complement means that ones become zeros and vice versa.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand Wd.

Flag

ER flag changes state to ON in case of error.

EQ flag changes state to ON if the result equals zero.

E.66 LOGICAL AND - Operation logical "AND" on the contents of a word

Description

Instruction executes the operation logical AND on words I1 and I2. The result of the operation is stored
into word R. Operation logical AND puts one in the result only if the same position of words I1 and I2 also
contain one.

Ladder symbol

Limitations

Words DM 6144 - DM6655 cannot be used as operand R.

Flag

ER flag changes state to ON in case of error.

EQ flag changes state to ON if the result equals zero.

E.67 LOGICAL OR - Operation logical "OR" on the contents of a word

Description

Instruction executes the operation logical OR on words I1 and I2. The result of the operation is stored into
the word R. Operation logical OR puts the one in the result if at least one of the words I1 and I2 contains
one on that position.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand R.

Flag

ER flag changes state to ON in case of error.

EQ flag changes state to ON if the result equals zero.

E.68 EXCLUSIVE OR - Operation "EXCLUSIVE OR" on the contents of a word

Description

Instruction executes operation EXCLUSIVE OR on the words I1 and I2. The result of the operation is
stored into the word R. Operation exlusive OR puts one in the result only if the same position of the words
I1 and I2 contains different values.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand R.

Flag

ER flag changes state to ON in case of error.

EQ flag changes state to ON if the result equals zero.

E.69 EXCLUSIVE NOR - Operation "EXCLUSIVE NOR" on the contents of a word

Description

Instruction executes operation EXCLUSIVE OR on the words I1 and I2. The result of the operation is
stored into the word R. Operation exclusive NOR puts one in the result only if the same position of words
I1 and I2 contains the same value, whether it is 0 or1.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand R.

Flag

ER flag changes state to ON in case of error.

EQ flag changes state to ON if the result equals zero.

E.70 BIT COUNTER - Counts the number of ones in a given word

Description

Instruction counts the number of bits with the state 1 in words from address SB to SB+(N-1) and puts the
result on the address of the word R.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand R. Word N cannot have zero value.

Flag

ER flag changes state to ON in case that N isnt BCD number or in case that SB and SB+(N-1) dont belong
to the same memory area.
EQ flag changes state to ON if the result equals zero.

E.71 SUBROUTINE ENTRY - Enters the subroutine

Description

Instruction changes the course of the main program towards subroutine, at the instruction line of the main
program which contains the instruction SBS. Number of instructions N has to be in 000 - 049 range. When
the instruction condition is fulfilled, all the instructions between SBN(92) and the first RET(92) instruction
are executed. Upon processing the RET instruction, program returns to the line immediately following the
instruction SBS which called the subroutine in the first place. The same subroutine may be called from
several places in the program.

Ladder symbol

Limitations

Number of subroutine has to be in 000 - 049 range.

Flag

ER flag changes state to ON when non-existing subroutine is called, when the subroutine calls itself or when
the subroutine being executed at the moment is called.

E.72 SUBROUTINE DEFINE - Beginning of a subroutine

Description

Instruction marks the beginning of a subroutine. Each subroutine is defined with its number N. All
subroutines have to be placed after the main program and instruction END has to follow the last RET
instruction of the last subroutine SBN.

Ladder symbol

Limitations

Number of the subroutine has to be in 000 - 049 range. Each number may be used only once.

Flag

It has no effect on any particular flag.

E.73 SUBROUTINE RETURN - Return from a subroutine

Description

Instruction executes the return from the subroutine to the main program. Each subroutine must contain the
RET instruction. This instruction jas on number of its own, naturally assuming that it belongs to the previous
SBN instruction.

Ladder symbol

Limitations

Number of the subroutine has to be in 000 - 049 range. Each number may be used only once.

Flag

It has no effect on any particular flag.

E.74 MACRO - Macro

Description

Ladder symbol

Instruction MCRO enables one subroutine to substitiute several subroutines having the same structure, but
different operands. Instruction has 4 input words SR232 to SR235 and 4 output words SR236 to SR239 used
for sending or receiving the subroutine parameters. Upon fulfilling the condition, the instruction copies the
contents of locations I1 - I3 to words SR232 - SR235. Upon execution of subroutine N, values of the words
SR236 - SR239 are copied to words O1 - O3.

Limitations

Number of the subroutine has to be in 000 - 049 range. Each number may be used only once.

Flag

ER flag changes state to ON when non-existing subroutine is called, when the subroutine calls itself or when
the subroutine, being executed at the moment, is called.

Example

Instruction MCRO calls the subroutine with the number 010. Contents of words DM0010 - DM0013 is copied
to SR232 - SR235 and upon execution of the instruction, contents of words SR236 - SR239 is copied to the
words DM0020 - DM0023.

E.75 INTERRUPT CONTROL - Interrupt control

Description

Instruction controls the interrupts and executes one of the seven functions presented in the table below, according to
the value of the word C1.

C1
000
001
002
003
004
100
200

Function
Mask/unmask interrupts
Clear the interrupt input
Read the current mask for interrupt inputs
Reset decrement counter and unmask interrupts
Reset increment counter and unmask interrupts
Mask all interrupts
Unmask all interrupts

NOTE: Value of the word C1 004 refers to models CPM2A/CPM2C of PLC controller, so it will not be detailed

here.
C1=000
Function is used for masking and unmasking the interrupt inputs 00003 - 00006. Masked interrupts are registered,
but the part of the program assigned to them will not be executed until the mask is off. Upon unmasking interrupt
input, interrupt routine will immediately take place (unless, in the meantime the bit corresponding to that interrupt
input is reset with the instruction INT, parameter C1=001). The input being masked or unmasked is determined by
parameter C2 according to the following scheme (bear in mind that we work with bits and not with digits of the
word C2). Bits 4, 5, 6...15 should be set to zero. All interrupt inputs are masked upon starting the PLC controller.

C1=001
Function resets the registered interrupts, so that interrupt routine cannot take place upon unmasking the interrupt
input. Bits 4, 5, 6...15 of the word C2 should be set to zero.

C1=002
Function reads the status of the mask for interrupt inputs 00003 - 00006 and stores the read state into the word C2.
Interrupt input is masked if the state of the corresponding bit equals 1. Bits 00 - 03 correspond to interrupt inputs
00003 - 00006.

C1=003

Function restarts the interrupt inputs in the counter mode. The current counter value (SR240 - SR243) is set to the
starting state and the interrupt is unmasked. If C1=003, decremental counter is restarted, while in the case of C1=004
incremental counter is restarted. As CPM1A model of PLC does not feature incremental counter, this option should
not be used. When using the options C1=003 or C1=004 differencial form of the instruction shoud be used @INT or
else the current counter state (PV) will be reset to the starting state (SV) and the interrupt will never be generated.
Writing the value 0000 to the starting counter state and executing the INT instruction with parameter C1=003
stops the counter and disables interrupts.
To start the counter again, non-zero value should be written to a starting value SV and the instruction INT executed.
Interrupts in the counter mode can be masked by executing the instruction INT with parameter C1=000 and set
corresponding bit in C2. If same is done, but with 0 for the appropriate position in the word C2 interrupt input will
behave as a regular interrupt ulaz and not as counter interrupt input.

C1=100
Function masks all the interrupts including the interval timer interrupts and the high-speed counter interrupts.
Masked interrupts are registered, but are not executed. This function is also called a global interrupt mask and it does
not affect the masks of specific interrupts. This option should be used for temporary disabling all the interrupts. It is
cmmonly used in pair, one function masks all the interrupts and the other one unmasks them. Function cannot be
used within the interrupt routine.

C1=200
Function unmasks all the interrupts including the interval timer interrupts and the high-speed counter interrupts. If
the specific interrupt is masked, global unmasking does not affect the state of the specific interrupt input state.
Function cannot be used within the interrupt routine.

Ladder
symbol

Flag

ER flag changes state to ON if:

C1 is not 000, 001, 002, 003, 004, 100 or 200.
C2 is not in 0000 - 000F range.
INT instruction is executed with C1=100 or 200 within the interrupt routine.
INT instruction is executed with C1=100 when all inputs are already masked.
INT instruction is executed with C1=200 when all inputs are already unmasked.

E.76 INTERVAL TIMER - Interval timer

Description

Instruction is used for controling the timer interrupt. Instruction mode is determined according to the value of
the word C1.

C1
000
003
006
010

Function
Start the interrupt timer with only one timer
Start the timer with periodical interrupts
Read the current timer value
Stop the timer

C1=001 or 003
C2 can be either a constant or an address of a word in PLC controller memory.
C2=constant
If C2 is a constant, then it represents the starting value of decremental counter in BCD format (form 0000 to
9999 which is equivalent to 0 - 9.999 ms) and C3 represents the number of the interrupt routine (from 000 to
049).
C2=address of a word in memory
If C2 is a word in PLC controller memory, then its contents is a starting value of decremental counter in BCD
format. Cotents of the word C2+1 represents the measurement unit (BCD, 0005 - 0320) in 0.1s decrements.
Interval is, in that case, 0.5 - 32ms. Starting value of the timer is calculated as C2 * (C2+1) * 0.1s. C3
represents the number of the interrupt routine.
C1=006
Function reads the current timer state. Parameter C2 represents the memory address where the read timer state
is stored, while C2+1 stores the measurement unit. Parameter C3 reresents the memory address where the
data concerning the time passed since the last decrementation of timer in BCD format is stored in 0.1s units.
C1=010
Function stops the timer. Parameters C2 and C3 are without function and should be set to 0000.
Ladder symbol

Flag

ER flag changes state to ON if C1 is not 000, 003, 006 or 010 or in case that the number of interrupt routine is
not within 0000 - 0049 range.

E.77 7-SEGMENT DECODER - Seven-segment decoder

Description

Instruction translates the digits of the word S to 8-bit 7-segment code and stores it into destination word D.
The control word Di determines the first digit of S to be translated, number of digits to be translated and
which half of the word D will contain the result of the first translation. The following picture interprets the
values of digits of the word Di and the picture after that displays a few versions of the word Di and how they
affect the instruction.

Ladder symbol

Limitations

Words DM6144 - DM6655 cannot be used as operand D.

Flag

ER flag changes state to ON in case of error.

Example

E.78 I/O REFRESH - Premature writing to I/O table

Description

Instruction checks the states of words from the address St to the address E and refreshes them according to

the current state of the program. Instruction is used when we want to know the state of certain bit without
waiting it to be refreshed in the course of regular cycle of refreshing the inputs and outputs of PLC controller
(IR000 - IR019).
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Limitations

Address of the word St has to be lower or equal to the address of the word E.

Flag

ER flag changes state to ON if words St and E do not belong to IR000 - IR019 range or in case that the
address of the word St is greater than the address of the word E.

E.79 MESSAGE - Displays message in the programming console

Description

Instruction reads the contents of eight words from the address FM and displays them in the program console.
Contents of the word has to be in ASCII format, with every word containing 2 ASCII characters. If not all the
words are to be displayed in the console, displaying can be stopped if the string OD is put into following
word.

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Limitations

Words DM6144 - DM6655 cannot be used as operand FM.

Flag

ER flag changes state to ON in case of error.

E.80 MODE CONTROL - Controls the high-speed counter or the pulse output
Description

Instruction controls the high-speed counter. There are several functions depending on parameters P, C and P1.
Parameter P defines if either high-speed counter or pulse output will be controlled with this instruction.

Function

000

Designates the input of PLC controller that will be used as high-speed counter
(000.00, 000.01 and 000.02). Determines mono-phase signal of logical zero with no
acceleration/deceleration (outputs 010.00 and 010.01)
Determines mono-phase signal of logical zero with trapezoid
acceleration/deceleration (output 010.00)

010*

Determines mono-phase signal "1" with no acceleration/deceleration (output 010.01)

Designates interrupt input 0 in counter mode (input 000.03)

101

Designates interrupt input 1 in counter mode (input 000.04)

102*

Designates interrupt input 2 in counter mode (input 000.05)

Designates interrupt input 3 in counter mode (input 000.06)

100

103

NOTE: * refers to CPM2A/CPM2C PLC controller models.

P1

Function

000

000

Starts comparing the current value with the values from

comparison table (CTBL)

001

000

Stops comparing the current value with the values from

comparison table (CTBL)

002

New value of the

current state (PV)

Changes the current value PV of high-speed counter or

interrupt input in counter mode

003

000

005*

New value of the

current state (PV)

006*

000

Stops the pulse output

Changes the current state of pulse output
Stops the synchronized pulse output

NOTE: * refers to CPM2A/CPM2C PLC controller models.

C=000 or C=001
Function starts or stops comparing the current value of high-speed counter PV with the values from the
comparison table created with instruction CTBL. If the comparison table wasnt created ahead of executing
the INI instruction, the error occurs. Generally, when INI instruction with C=000 is used, differential form
@INI is recommended, because one set of starting comparisons is sufficient.
C=002
Function changes value of the current state of the high-speed counter or the interrupt in the counter mode.

Fast counter PV ( P=0 )

Function changes the contents of PV to 8-digit BCD number contained in the words P1 and P1+1. If
differential-phase mode or up/down input mode is used, PV can have value between F838 8608 and 0838
8607, where F as the first digit is treated as a minus sign. PV can have value between 000 0000 and 1677
7215 in incremental mode.

Interrupt counter input PV ( P=100, P=101, P=102, P=103)

Function changes the contents of PV to 4-digit hexadecimal number from the word P1 (from 0000 to FFFF).
C=003
Function stops the pulse output.
C=004
Function changes the value of the current PV pulse output state to an 8-digit BCD value in the words P1 and
P1+1. Change cannot be done while the pulse output is in function. New value can be from -16.777.215 to
+16.777.215. Bit no.15 of the word P1+1 behaves like a sign: 0 stands for positive, 1 stands for negative
number.
C=003
Function stops the synchronized pulse output.
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Limitations

If CPM1 or CPM1A PLC controller is used, parameter P has to be 000 and parameter C has to be 000, 001,
002 or 003. P1 has to be 000 if C is not 002 or 004. If an address from DM memory area is used as parameter
P1, reading and writing to that location has to be enabled.

Flag

ER flag changes state to ON if comparison table exceeds one memory area.

E.81 HIGH-SPEED COUNTER PV READ - Reads the current value of high-speed counter

Description

Instruction controls the current state of high-speed counter, pulse output, interrupt input in counter mode or
input frequency for synchronized input. There are several functions depending on parameters P, C and D.
Parameter P defines if either high-speed counter or pulse output will be controlled with this instruction.

Function

000

Designates the input of PLC controller that will be used as high-speed counter (inputs
000.00, 000.01 and 000.02). Designates input frequency for synchronized pulse input
(inputs 000.00, 000.01 and 000.02). Determines mono-phase signal of logical zero
with no acceleration/deceleration (outputs 010.00 and 010.01)
Determines mono-phase signal of logical zero with trapezoid
acceleration/deceleration (output 010.00)

010*

Determines mono-phase signal "1" with no acceleration/deceleration (output 010.01)

100

Designates interrupt input 0 in counter mode (input 000.03)

101*

Designates interrupt input 1 in counter mode (input 000.04)

Designates interrupt input 2 in counter mode (input 000.05)

Designates interrupt input 3 in counter mode (input 000.06)

102
103

NOTE: * refers to CPM2A/CPM2C PLC controller models.

Control word determines the type of data to be accessed.

Destination word

Function

000

D and D+1

001

Reads the status of high-speed counter or pulse output

002

Reads the results of comparing with values from comparison table

003

D and D+1

Reads the current state of high-speed counter, of interrupt input in

counter mode or input frequency of synchronized pulse control

Reads the current value of pulse output

NOTE: * refers to CPM2A/CPM2C PLC controller models.

C=000
Function reads the current value of PV of the specified high-speed counter or the interrupt input in counter
mode.
Fast counter PV or input frequency (P=000)
When the output is used as the high-speed counter, instruction reads the current value of the specified fast
counter and writes an 8-digit BCD value to D and D+1.
If differential-phase mode or up/down input mode is used, PV can have value between F838 8608 and
0838 8607, where F as the first digit is treated as a minus sign. PV can have value between 000 0000 and

1677 7215 in incremental mode. When the input is used as synchronic pulse input, the instruction reads the
input frequency and writes an 8-digit BCD value to D and D+1. Range of the input frequency is 0000 0000 0002 0000.
Interrupt counter input PV ( P=100, P=101, P=102, P=103)
Function changes the contents of PV to 4-digit hexadecimal number from the word D (from 0000 to FFFF).
C=001
Function reads the status of the high-speed counter or the pulse input and stores the data into D.

Status of the high-speed counter or the pulse input 0 (P=000)

The table below shows the function of bits in the word D when P=000. Bits not mentioned are not used and
are always zero.

For...

Bit

Function

00

Status of comparing high-speed counter with values

from comparison table (0: not compared,
1:compared)

01

High-speed counter below/above the specified

value (0: in range, 1:out of range)

05

Total number of pulses defined for pulse output 0

(0: number of pulses not defined, 1:number of
pulses defined)

06

Defined number of pulses on output 0 executed (0:

not executed, 1:executed)

07

Pulse output 0 state (0: stopped, 1:executing)

08

Current state PV of pulse output (0: in range, 1:out

of range)

09

Rate on pulse output 0 (0: constant,

1:accelerates/decelerates)

High-speed counter

Pulse output

Status of the pulse output 1 (P=010)

The table below shows the function of bits in the word D when P=010. Bits not mentioned are not used and
are always zero.

Bit

Function

05

Total number of pulses defined for pulse output 1 (0: number of pulses not defined,
1:number of pulses defined)

06

Defined number of pulses on output 1 executed (0: not executed, 1:executed)

07

Pulse output 1 state (0: stopped, 1:executing)

08

Current state PV of pulse output (0: in range, 1:out of range)

09

Rate on pulse output 1 (0: constant, 1:accelerates/decelerates)

C=002
Function reads the result of comparing the current value PV with 8 areas defined by instruction CTBL and
stores data into D. Bits 0 to 7 contain the results of comparing with 8 ranges from the comparison table (0:
not in range, 1: in range).
C=003
Function reads the value of current state of PV pulse output and stores it to 8-digit BCD value in words D and
D+1. PV can have value from -16.777.215 to +16.777.215. Bit no.15 of the word D+1 behaves like a sign:
0 stands for positive, 1 stands for negative number.

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Limitations

If CPM1 or CPM1A PLC controller is used, parameter D has to be 000 and parameter C has to be 000, 001 or
002. If an address from DM memory area is used as parameter D, reading and writing to that location has to
be enabled.
D and D+1 have to belong to the same memory area.

Flag

ER flag changes state to ON if an error concerning the value of instruction operand occurred.

E.82 COMPARISON TABLE LOAD - Defines a comparison table

Description

Instruction forms the comparison table for working with high-speed counter. Depending on parameter C,
comparison can be immediate or it can be called upon with instruction INI.

Function

000

Registers comparison table containing values and starts comparing

001

Registers comparison table containing ranges and starts comparing

002

Registers comparison table containing values. Comparing starts with INI instruction

003

Registers comparison table containing ranges. Comparing starts with INI instruction

When the current value of PV matches some of the specified table values or it belongs to one of the specified
ranges, the appropriate subroutine is called. If the high-speed counter is not enabled in PC area (DM6642)
instruction CTBL cannot be executed.
Comparing with values
Comparison table can have up to 16 values. Each of these values is assigned a number of subroutine that is
called when the current value matches the table value. With CPM1 and CPM1A models, comparison is done
one at a time in each cycle, while with models CPM2A and CPM2C comparison is done for all table values
simultaneously. After comparing with the last table value, comparison starts from the first value again. The
table below shows the structure of the comparison table containing values.
Each value is assigned three words in the table. If the value FFFF is used as the number of subroutine, no
subroutine will be executed in case of a match.

TB

Number of values that current value is compared with (0001 to 0016, BCD)

TB+1

Value no.1 (lower four digits in BCD format)

TB+2

Value no.1 (higher four digits in BCD format)

TB+3

Number of subroutine for matching the first value

...
Comparing with a range of values
Comparison table with ranges contains 8 ranges, which the current value PV is compared with. Ranges can
overlap, allowing that the current value PV falls into several of these; in this case, the subroutine of the first
matching area is called. If the value FFFF is used as the number of subroutine, no subroutine will be
executed in case of a match.

TB

Lower value no.1 (lower four digits in BCD format)

TB+1

Lower value no.1 (higher four digits in BCD format)

TB+2

Higher value no.1 (lower four digits in BCD format)

TB+3

Higher value no.1 (higher four digits in BCD format)

TB+4

Number of subroutine in case that the current value PV is within range no.1

...
TB+35

Lower value no.8 (lower four digits in BCD format)

TB+36

Lower value no.8 (higher four digits in BCD format)

TB+37

Higher value no.8 (lower four digits in BCD format)

TB+38

Higher value no.8 (higher four digits in BCD format)

TB+39

Number of subroutine in case that the current value PV is within range no.8

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Limitations

In each area lower border has to be lower than the upper border. Number of subroutine can be used for several
ranges.
Table has to belong to a single memory area. Parameter D has to be 000 and the parameter C has to be 000,
001, 002 or 003.

Flag

ER flag changes state to ON if an error concerning the value of instruction operand occurred.

E.83 FAILURE ALARM AND RESET - Generates error code

Description

Instruction generates the code of an error that took place, so that the programmer can use that information for
debugging or program maintenance. Error code is stored in the first 8 bits of the word SR253 and has value
between 01 and 99.

In case of multiple errors, only one code will be displayed. To display the other codes, it is necessary to reset
bits 00-07 of the word SR253 via instruction FAL with parameter N=00. Upon each reset, new error code will
be displayed (if there is more than one error). Error code remains in PLC controller memory after the power
is off. When error occurs, besides the code, programmer will be notified with blinking diode on the casing of
PLC controller.
Instruction FAL with parameter N=0 may be used for resetting the message created with the instruction MSG.

Ladder symbol

E.84 SEVERE FAILURE ALARM - Generates fatal error code

Description

Instruction generates the code of an error that took place, so that the programmer can use that information for
debugging or program maintenance. Error code is stored in the first 8 bits of the word SR253 and has value
between 01 and 99. Upon occurence of fatal error, diode ALARM/ERROR turns on on the casing of PLC
controller and the PLC stops operating.

PLC controller continues the program execution only when cause of error is removed. Error code remains
written and may be read.
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E.85 SET CARRY - Sets carry bit

Description

Instruction changes the state of carry bit CY to ON. Carry bit is an integral part of the word SR255, and its
address is SR255.04.

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E.86 CLEAR CARRY - Resets carry bit

Description
Ladder symbol

Instruction changes state of carry bit CY to OFF. Carry bit is an integral part of the word SR255, and its
address is SR255.04.