ServoWorksPLC Manual

Version 1.1
 SERVOWORKSPLC MANUAL
Contents

Table of Contents
Table of Contents............................................................................................................................ i
List of Figures ................................................................................................................................ v
List of Tables............................................................................................................................... viii
Chapter 1: What is a PLC Sequence Program?........................................................................ 1-1
1.1 Overview of PLC in the ServoWorks System ....................................................... 1-1
1.2 The ServoWorksPLC Application Suite................................................................ 1-3
1.3 PLC Sequence Programs........................................................................................ 1-4
Chapter 2: Installing and Initializing the ServoWorksPLC Application Suite ........................ 2-1
2.1 Overview................................................................................................................ 2-1
2.2 Starting the Installation .......................................................................................... 2-1
2.3 Installing and Initializing the ServoWorksPLC Application Suite........................ 2-2
2.4 Finishing Your Installation .................................................................................... 2-5
2.5 Uninstalling the ServoWorksPLC Application Suite ............................................ 2-6
Chapter 3: Using the ServoWorksPLC Utility Programs.......................................................... 3-1
3.1 Overview................................................................................................................ 3-1
3.2 Using the PLC Control Console Application to Compile Sequence Programs ..... 3-2
3.2.1 Starting the PLC Control Console Application .............................................. 3-2
3.2.2 Compiling Your Sequence Program ............................................................... 3-4
3.2.3 Setting Up Your Tables for PLC (Input/Output Declaration) ........................ 3-5
3.2.4 Setting Up Your Keep Relay for PLC ............................................................ 3-6
3.2.5 Setting Up Your Timer for PLC ..................................................................... 3-7
3.2.6 Setting Up Your Counters for PLC................................................................. 3-8
3.3 Verifying Sequence Programs Using the ServoWorksPLC Ladder
Monitor/Debugger........................................................................................................ 3-9
3.3.1 Overview of the Ladder Monitor/Debugger ................................................... 3-9
3.3.2 Using the Ladder Monitor/Debugger.............................................................. 3-9
3.3.3 Ladder Diagram Format (Interpreting the Ladder Diagram)........................ 3-10
3.3.3.1 Overview................................................................................................ 3-10
3.3.3.2 Addresses ............................................................................................... 3-11
3.3.3.3 Signal Names ......................................................................................... 3-12
3.3.3.4 Commenting........................................................................................... 3-12
3.3.3.5 Symbols.................................................................................................. 3-12
3.3.3.6 Rows ...................................................................................................... 3-13
3.3.3.7 Relay Junction Labeling ........................................................................ 3-14
3.3.3.8 Infinite Number of Relays ..................................................................... 3-14
3.3.4 Changing the Display of the Ladder Monitor/Debugger .............................. 3-15
3.3.5 Using the Search Function of the PLC Ladder Monitor/Debugger .............. 3-15
3.4 Using the PLC Bit Pattern Utility ........................................................................ 3-16
3.5 Using the PLC Time Chart Utility....................................................................... 3-17
Chapter 4: Setting Up A Sequence Program ............................................................................ 4-1
4.1 Description of the Sequence Program and Other PLC Files.................................. 4-1
4.1.1 Overview......................................................................................................... 4-1
4.1.2 .lad Files.......................................................................................................... 4-1
4.1.3 .mod Files........................................................................................................ 4-4

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4.1.4 .bin Files, .div Files, .fig Files and .lst Files ................................................... 4-4
4.2 Overview of File Structure..................................................................................... 4-5
4.3 Coding Convention ................................................................................................ 4-6
Chapter 5: Inside the PLC Engine (How the PLC Engine Operates)....................................... 5-1
5.1 The Sequential Processing of the Sequence Program............................................ 5-1
5.2 Repetitive Sampling............................................................................................... 5-2
5.3 I/O Signals ............................................................................................................. 5-3
5.3.1 Input ................................................................................................................ 5-3
5.3.2 Output ............................................................................................................. 5-3
5.4 PLC Code Execution.............................................................................................. 5-4
Chapter 6: Memory Addresses .................................................................................................. 6-1
6.1 What Are Memory Addresses?.............................................................................. 6-1
6.2 Addresses Related to the PLC................................................................................ 6-1
6.3 Address Specifications........................................................................................... 6-2
6.4 PLC and Machine Tool Addresses (PLC ↔ MT) ................................................. 6-3
6.5 PLC Engine and ServoWorks Motion Engine Addresses (PLC ↔ NC) .............. 6-3
6.6 Internal Relay Addresses (R) ................................................................................. 6-4
6.7 Counter Addresses (C)........................................................................................... 6-5
6.8 Keep Relay and Static Memory Control Addresses (K)........................................ 6-6
6.9 Data Table Addresses (D)...................................................................................... 6-6
6.10 Timer Addresses (T) ............................................................................................ 6-7
6.11 Alarm Relay Addresses (A) ................................................................................. 6-8
Chapter 7: Static Memory........................................................................................................... 7-1
7.1 Timer, Counter, Keep Relay, Static Memory Control, Data Table ....................... 7-1
7.1.1 Overview of Static Memory............................................................................ 7-1
7.1.2 Timer............................................................................................................... 7-1
7.1.3 Counter (Addresses C0~C79) ......................................................................... 7-1
7.1.4 Keep Relay (Addresses K0~K99)................................................................... 7-2
7.1.5 Data Table (Addresses D0~D1999)................................................................ 7-2
7.2 Reading and Writing Static Memory ..................................................................... 7-3
7.3 PLC Data Table...................................................................................................... 7-3
7.3.1 Overview......................................................................................................... 7-3
7.3.2 Creation of Data in the Data Table ................................................................. 7-4
Chapter 8: PLC Basic Commands ............................................................................................. 8-1
8.1 Overview................................................................................................................ 8-1
8.1.1 Signal Addresses............................................................................................. 8-2
8.1.2 Types of Commands (Basic and Functional).................................................. 8-2
8.1.3 Storing the Results of Logic Operations in the Result History Register ........ 8-2
8.2 Basic Commands ................................................................................................... 8-3
8.2.1 Summary of Basic Commands........................................................................ 8-3
8.2.2 RD Command ................................................................................................. 8-4
8.2.3 RD.NOT Command ........................................................................................ 8-6
8.2.4 WRT Command .............................................................................................. 8-8
8.2.5 WRT.NOT Command..................................................................................... 8-9
8.2.6 AND Command ............................................................................................ 8-10
8.2.7 AND.NOT Command ................................................................................... 8-10

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8.2.8 OR Command ............................................................................................... 8-11
8.2.9 OR.NOT Command ...................................................................................... 8-11
8.2.10 RD.STK Command..................................................................................... 8-11
8.2.11 RD.NOT.STK Command............................................................................ 8-13
8.2.12 AND.STK Command.................................................................................. 8-15
8.2.13 OR.STK Command..................................................................................... 8-15
Chapter 9: PLC Functional Commands..................................................................................... 9-1
9.1 Overview................................................................................................................ 9-1
9.1.1 Functional Command Format ......................................................................... 9-3
9.1.2 Control Values ................................................................................................ 9-4
9.1.3 Command........................................................................................................ 9-5
9.1.4 Parameters....................................................................................................... 9-5
9.1.5 W1................................................................................................................... 9-5
9.1.6 Operation Data – Binary Coded Decimal or Binary Format .......................... 9-5
9.1.7 Numerical Data Examples .............................................................................. 9-6
9.1.7.1 BCD Format Data .................................................................................... 9-6
9.1.7.2 Binary Format Data.................................................................................. 9-6
9.1.8 Addresses for the Numerical Data Handled by Functional Commands ......... 9-8
9.1.9 Functional Command Register (R9000 ~ R9005) .......................................... 9-9
9.2 Descriptions of Functional Commands................................................................ 9-10
9.2.1 TMR (Timer) ................................................................................................ 9-10
9.2.2 TMRB (Fixed Timer).................................................................................... 9-12
9.2.3 TMRC (Timer).............................................................................................. 9-14
9.2.4 DEC (Decoding) ........................................................................................... 9-16
9.2.5 DECB (Binary Decoding Processing) .......................................................... 9-18
9.2.6 CTR (COUNTER) ........................................................................................ 9-20
9.2.7 CTRC (Counter)............................................................................................ 9-26
9.2.8 ROT (Rotational Control) ............................................................................. 9-29
9.2.9 ROTB (Binary Rotational Control) .............................................................. 9-33
9.2.10 COD (Code Transformation) ...................................................................... 9-37
9.2.11 CODB (Binary Code Conversion) .............................................................. 9-41
9.2.12 MOVE (Masked Data Transfer) ................................................................. 9-43
9.2.13 MOVOR (Bit-Wise Sum Data Transfer) .................................................... 9-46
9.2.14 COM (Common Line Control) ................................................................... 9-47
9.2.15 COME (Common Line Control Termination) ............................................ 9-50
9.2.16 JMP (Jump)................................................................................................. 9-51
9.2.17 JMPE (Jump Termination).......................................................................... 9-54
9.2.18 PARI (Parity Check) ................................................................................... 9-55
9.2.19 DCNV (Data Conversion)........................................................................... 9-58
9.2.20 DCNVB (Extended Data Conversion)........................................................ 9-60
9.2.21 COMP (Compare)....................................................................................... 9-62
9.2.22 COMPB (Binary Compare) ........................................................................ 9-64
9.2.23 COIN (Equality Check) .............................................................................. 9-66
9.2.24 SFT (Shift Register).................................................................................... 9-68
9.2.25 DSCH (Data Search)................................................................................... 9-71
9.2.26 DSCHB (Binary Data Search) .................................................................... 9-74

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9.2.27 XMOV (Index Modification Data Transfer)............................................... 9-76
9.2.28 XMOVB (Binary Index Modification Data Transfer) ................................ 9-80
9.2.29 ADD (Addition) .......................................................................................... 9-82
9.2.30 ADDB (Binary Addition) ........................................................................... 9-84
9.2.31 SUB (Subtraction)....................................................................................... 9-86
9.2.32 SUBB (Binary Subtraction) ....................................................................... 9-89
9.2.33 MUL (Multiplication) ................................................................................. 9-91
9.2.34 MULB (Binary Multiplication)................................................................... 9-94
9.2.35 DIV (Division) ............................................................................................ 9-96
9.2.36 DIVB (Binary Division) ............................................................................. 9-99
9.2.37 NUME (Constant Declaration) ................................................................. 9-101
9.2.38 NUMEB (Binary Constant Declaration)................................................... 9-103
Appendix A: S-100T Data Mapping Tables................................................................................A-1
Overview of Mapping Tables ..................................................................................... A-1
F Data Mapping Table ................................................................................................ A-2
G Data Mapping Table.............................................................................................. A-12
X Data Mapping Tables ............................................................................................ A-14
HandWheel I/P (FP-60) ........................................................................................ A-14
Home & Limit Switches (DC-120)....................................................................... A-14
Appendix B: S-100M and General Motion Applications (MC-Quad, MotionPro and SWSDK)
Data Mapping Tables ..................................................................................................................B-1
Overview of Mapping Tables ..................................................................................... B-1
F Data Mapping Table ................................................................................................ B-2
G Data Mapping Table................................................................................................ B-5
X Data Mapping Table................................................................................................ B-8
Y Data Mapping Table.............................................................................................. B-24
Index................................................................................................................................................. I

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List of Figures
Figure 1-1: Overview of the PLC Engine in the ServoWorks System ............................ 1-2
Figure 2-1: Welcome to ServoWorks MC-Quad Window .............................................. 2-2
Figure 2-2: ServoWorksPLC Installation Window.......................................................... 2-3
Figure 2-3: ServoWorksPLC Installation Summary Window ......................................... 2-3
Figure 2-4: PLC Control Screen ...................................................................................... 2-4
Figure 2-5: PLC Ladder Compiler Screen (1 of 2) .......................................................... 2-4
Figure 2-6: Select Module Definition Window ............................................................... 2-5
Figure 2-7: Compile Finish Dialog Box .......................................................................... 2-5
Figure 2-8: ServoWorksPLC Installation Window.......................................................... 2-6
Figure 3-1: Architecture of the ServoWorksPLC Application Suite ............................... 3-2
Figure 3-2: PLC Control Screen Window for “Run” Status............................................ 3-3
Figure 3-3: PLC Control Screen Window for “Stopped” Status ..................................... 3-3
Figure 3-4: PLC Ladder Compiler Screen ....................................................................... 3-4
Figure 3-5: Compile Finish Dialog Box .......................................................................... 3-5
Figure 3-6: PLC Table Setting Screen ............................................................................. 3-5
Figure 3-7: PLC Table Setting Screen Dialog Box ......................................................... 3-6
Figure 3-8: Edit Keep Relay Window ............................................................................. 3-6
Figure 3-9: Edit Timer Window ...................................................................................... 3-7
Figure 3-10: Edit Counter Window ................................................................................. 3-8
Figure 3-11: PLC Diagnose Window .............................................................................. 3-9
Figure 3-12: Module Selection Window........................................................................ 3-10
Figure 3-13: PLC Diagnose Window With Comments for an Example Module .......... 3-10
Figure 3-14: Format for an Address in a Ladder Diagram ............................................ 3-11
Figure 3-15: Ladder Diagram Rows .............................................................................. 3-14
Figure 3-16: Format for Relay Junction Labeling in Ladder Diagrams ........................ 3-14
Figure 3-17: Ladder Diagram Format for a Limited Number of Relays ....................... 3-14
Figure 3-18: Ladder Diagram Format for an Infinite Number of Relays ...................... 3-15
Figure 3-19: PLC Diagnose Window Without Comments for an Example Module..... 3-15
Figure 3-20: PLC Diagnose Search Window................................................................. 3-16
Figure 3-21: Bit Pattern Window................................................................................... 3-16
Figure 3-22: Time Chart Window.................................................................................. 3-17
Figure 4-1: Typical .lad File: SoftServo_0 (1 of 2) ......................................................... 4-2
Figure 4-2: Typical .lad File: SoftServo_0.lad (2 of 2) ................................................... 4-3
Figure 4-3: Example .mod File: SoftServo_0.mod.......................................................... 4-4
Figure 4-4: Sequence Program Setup Procedure (1 of 2) ................................................ 4-5
Figure 4-5: Sequence Program Setup Procedure (2 of 2) ................................................ 4-6
Figure 4-6: PLC Coding Example – Instruction List Format .......................................... 4-7
Figure 4-7: PLC Coding Example – Ladder Diagram Format ........................................ 4-8
Figure 5-1: First Example of a Circuit............................................................................. 5-1
Figure 5-2: Second Example of a Circuit ........................................................................ 5-2
Figure 5-3: Execution of Sequence Program by the PLC Engine ................................... 5-5
Figure 6-1: Addresses Related to the PLC Engine .......................................................... 6-1
Figure 6-2: Internal Relay Usable Region ....................................................................... 6-4
Figure 6-3: Counter Addresses ........................................................................................ 6-5

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Figure 6-4: Keep Relay and Static Memory Control Addresses...................................... 6-6
Figure 6-5: Data Table Addresses.................................................................................... 6-6
Figure 6-6: Timer Addresses ........................................................................................... 6-7
Figure 6-7: Alarm Relay Addresses................................................................................. 6-8
Figure 7-1: Example of Counter Addresses..................................................................... 7-2
Figure 8-1: Signal Addresses ........................................................................................... 8-2
Figure 8-2: Structure of the Result History Register ....................................................... 8-2
Figure 8-3: Ladder Diagram Example for the RD Command ......................................... 8-4
Figure 8-4: Ladder Diagram Example for the RD.NOT Command ................................ 8-6
Figure 8-5: Ladder Diagram Example for the WRT Command ...................................... 8-8
Figure 8-6: Ladder Diagram Example for the WRT.NOT Command............................. 8-9
Figure 8-7: Ladder Diagram Example for the RD.STK Command............................... 8-12
Figure 8-8: Ladder Diagram Example for the RD.NOT.STK Command...................... 8-13
Figure 9-1: Functional Command Format – Ladder Diagram and Functional Command
Register .................................................................................................................... 9-3
Figure 9-2: Example of BCD Format Data...................................................................... 9-6
Figure 9-3: Memory Storage of Binary Format Data ...................................................... 9-7
Figure 9-4: Examples of Binary Format Data for 1 Byte Data........................................ 9-8
Figure 9-5: Addresses of Numeric Data .......................................................................... 9-9
Figure 9-6: Functional Command Register...................................................................... 9-9
Figure 9-7: Format for the TMR Command .................................................................. 9-10
Figure 9-8: Timer Behavior for the TMR Command .................................................... 9-11
Figure 9-9: Format for the TMRB Command................................................................ 9-12
Figure 9-10: Timer Behavior for the TMRB Command................................................ 9-12
Figure 9-11: Format for the TMRC Command.............................................................. 9-14
Figure 9-12: TMRC Address of the Time Set of the Timer .......................................... 9-15
Figure 9-13: Timer Register Address for the TMRC Command................................... 9-15
Figure 9-14: Timer Behavior for the TMRC Command................................................ 9-15
Figure 9-15: Format for the DEC Command................................................................. 9-16
Figure 9-16: Ladder Diagram Example Using the DEC Command .............................. 9-17
Figure 9-17: Function for the DECB Command............................................................ 9-18
Figure 9-18: Format for the DECB Command .............................................................. 9-18
Figure 9-19: Ring Counter Created Using the CTR Command..................................... 9-20
Figure 9-20: Format for the CTR Command ................................................................. 9-21
Figure 9-21: Count Signal (Action Command) for the CTR Command ....................... 9-22
Figure 9-22: Ladder Diagram For Counter Example #1................................................ 9-23
Figure 9-23: Ladder Diagram For Counter Example #2................................................ 9-24
Figure 9-24: Division of a Rotational Body for Counter Example #2........................... 9-24
Figure 9-25: Format for the CTRC Command .............................................................. 9-26
Figure 9-26: Count Signal (Action Command) for the CTRC Command..................... 9-28
Figure 9-27: Address of the Counter Preset Value for the CTRC Command ............... 9-28
Figure 9-28: Address of the Up Counter Output for the CTRC Command................... 9-28
Figure 9-29: Format for the ROT Command................................................................. 9-29
Figure 9-30: Rotation Direction Rule – 12-Division Example...................................... 9-32
Figure 9-31: Format for the ROTB Command .............................................................. 9-33
Figure 9-32: Ladder Diagram Example Using the ROTB Command ........................... 9-36

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Figure 9-33: Code Transformation Using the COD Command..................................... 9-37
Figure 9-34: Format for the COD Command ................................................................ 9-38
Figure 9-35: Code Transformation Using the CODB Command .................................. 9-41
Figure 9-36: Format for the CODB Command.............................................................. 9-41
Figure 9-37: Input Data and Logic Data for the MOVE Command .............................. 9-43
Figure 9-38: Format for the MOVE Command ............................................................. 9-44
Figure 9-39: Ladder Diagram Example Using the MOVE Command .......................... 9-45
Figure 9-40: Function of the MOVOR Command......................................................... 9-46
Figure 9-41: Format for the MOVOR Command .......................................................... 9-46
Figure 9-42: Function of the COM Command .............................................................. 9-47
Figure 9-43: Format for the COM Command................................................................ 9-47
Figure 9-44: Relay Circuit ............................................................................................. 9-48
Figure 9-45: Ladder Diagram Using the COM Command ............................................ 9-49
Figure 9-46: Ladder Diagram Example Using COM, MOVE and COIN Commands.. 9-49
Figure 9-47: Format for the COME Command ............................................................. 9-50
Figure 9-48: Function of the JMP Command ................................................................ 9-51
Figure 9-49: Format for the JMP Command.................................................................. 9-51
Figure 9-50: Ladder Diagram Example Using the JMP Command............................... 9-53
Figure 9-51: Format for the JMPE Command ............................................................... 9-54
Figure 9-52: Format for the PARI Command................................................................ 9-55
Figure 9-53: Ladder Diagram Example Using the PARI Command............................. 9-57
Figure 9-54: Format for the DCNV Command.............................................................. 9-58
Figure 9-55: Format for the DCNVB Command ........................................................... 9-60
Figure 9-56: Calculation Result Register for the DCNVB Command .......................... 9-61
Figure 9-57: Format for the COMP Command.............................................................. 9-62
Figure 9-58: Format for the COMPB Command........................................................... 9-64
Figure 9-59: Parameters Format Specification for the COMPB Command .................. 9-64
Figure 9-60: Calculation Result Register for the COMPB Command .......................... 9-65
Figure 9-61: Format for the COIN Command ............................................................... 9-66
Figure 9-62: Format for the SFT Command .................................................................. 9-68
Figure 9-63: Condition Specification CONT = 0 for the SFT Command – Shift Left
Example ................................................................................................................. 9-69
Figure 9-64: Condition Specification CONT = 1 for the SFT Command – Shift Left
Example ................................................................................................................. 9-69
Figure 9-65: Shift Data Address for the SFT Command ............................................... 9-70
Figure 9-66: Function of the DSCH Command............................................................. 9-71
Figure 9-67: Format for the DSCH Command .............................................................. 9-72
Figure 9-68: Function of the DSCHB Command .......................................................... 9-74
Figure 9-69: Format for the DSCHB Command............................................................ 9-74
Figure 9-70: Reading from and Writing to the Data Table for the XMOV Command . 9-76
Figure 9-71: Format for the XMOV Command............................................................. 9-77
Figure 9-72: Reading from and Writing to the Data Table for the XMOVB Command... 9-
80
Figure 9-73: Format for the XMOVB Command .......................................................... 9-80
Figure 9-74: Format for the ADD Command ................................................................ 9-82
Figure 9-75: Format for the ADDB Command.............................................................. 9-84

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Figure 9-76: Parameters Format Specification for the ADDB Command..................... 9-84
Figure 9-77: Calculation Result Register for the ADDB Command ............................. 9-85
Figure 9-78: Format for the SUB Command ................................................................. 9-86
Figure 9-79: Format for the SUBB Command .............................................................. 9-89
Figure 9-80: Parameters Format Specification for the SUBB Command...................... 9-89
Figure 9-81: Calculation Result Register for the SUBB Command .............................. 9-90
Figure 9-82: Format for the MUL Command ................................................................ 9-91
Figure 9-83: Format for the MULB Command ............................................................. 9-94
Figure 9-84: Parameters Format Specification for the MULB Command .................... 9-95
Figure 9-85: Calculation Result Register for the MULB Command............................. 9-95
Figure 9-86: Format for the DIV Command.................................................................. 9-96
Figure 9-87: Format for the DIVB Command ............................................................... 9-99
Figure 9-88: Parameters Format Specification for the DIVB Command ...................... 9-99
Figure 9-89: Calculation Result Register for the DIVB Command............................. 9-100
Figure 9-90: Format for the NUME Command ........................................................... 9-101
Figure 9-91: Format for the NUMEB Command ........................................................ 9-103

List of Tables
Table 3-1: Signal Letters and Their Meanings .............................................................. 3-11
Table 3-2: Ladder Diagram Symbols (1 of 2)................................................................ 3-12
Table 3-3: Ladder Diagram Symbols (2 of 2)................................................................ 3-13
Table 4-1: PLC Coding Example – Program Breakdown ............................................... 4-7
Table 6-1: Symbols for the Signal Types ........................................................................ 6-2
Table 8-1: PLC Basic Commands and Their Functions .................................................. 8-3
Table 8-2: Coding of the RD Command Example (Alternative #1)................................ 8-5
Table 8-3: Coding of the RD Command Example (Alternative #2)................................ 8-5
Table 8-4: Coding of the RD.NOT Command Example (Alternative #1)....................... 8-7
Table 8-5: Coding of the RD.NOT Command Example (Alternative #2)....................... 8-7
Table 8-6: Coding of the WRT Command ...................................................................... 8-8
Table 8-7: Coding of the WRT.NOT Command ............................................................. 8-9
Table 8-8: Coding of the RD.STK Command ............................................................... 8-12
Table 8-9: Coding of the RD.NOT.STK Command ...................................................... 8-14
Table 9-1: Summary of Functional Commands (1 of 2).................................................. 9-1
Table 9-2: Summary of Functional Commands (2 of 2).................................................. 9-2
Table 9-3: Functional Command Format – Coding......................................................... 9-4
Table 9-4: Coding Format of the TMR Command ........................................................ 9-10
Table 9-5: Coding Format of the TMRC Command ..................................................... 9-14
Table 9-6: Coding Format of the DEC Command......................................................... 9-16
Table 9-7: Coding Example of the DEC Command ...................................................... 9-17
Table 9-8: Coding Format of the CTR Command ......................................................... 9-21
Table 9-9: Coding Format of the CTRC Command ...................................................... 9-27
Table 9-10: Coding Format of the ROT Command....................................................... 9-30
Table 9-11: Coding Format of the COD Command ...................................................... 9-39

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Table 9-12: Coding Format of the MOVE Command ................................................... 9-44
Table 9-13: Coding Format of the JMP Command ....................................................... 9-52
Table 9-14: Coding Format of the PARI Command...................................................... 9-56
Table 9-15: Coding Format of the DCNV Command ................................................... 9-58
Table 9-16: Coding Format of the COMP Command ................................................... 9-62
Table 9-17: Coding Format of the COIN Command ..................................................... 9-66
Table 9-18: Coding Format of the DSCH Command .................................................... 9-72
Table 9-19: Coding Format of the XMOV Command................................................... 9-78
Table 9-20: Coding Format of the ADD Command ...................................................... 9-82
Table 9-21: Coding Format of the SUB Command ....................................................... 9-87
Table 9-22: Coding Format of the MUL Command...................................................... 9-92
Table 9-23: Coding Format of the DIV Command........................................................ 9-97
Table 9-24: Coding Format of the NUME Command ................................................. 9-101
Table B-1: SwPLC F Address Map for NC Mode Settings.......................................... B-30
Table B-2: SwPLC F/G Address Map for HandWheel Multiple Selection.................. B-30
Table B-3: SwPLC F/G Address Map for HandWheel and HandWheel Interrupt Axis
Selection................................................................................................................ B-30
Table B-4: SwPLC G Address Map for Manual Feedrate Override............................. B-31
Table B-5: SwPLC G Address Map for Feedrate Override.......................................... B-32
Table B-6: SwPLC G Address Map for Rapid Override .............................................. B-32
Table B-7: SwPLC G Address Map for NC Mode Settings ......................................... B-33
Table B-8: SwPLC G Address Map for Jog Axis Control............................................ B-33

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Chapter 1: What is a PLC Sequence Program?

Chapter 1: What is a PLC Sequence Program?

1.1 Overview of PLC in the ServoWorks System

Programmable logic control is the process of automating the monitoring and sequence
control of machines (machine tools, in this case). In the ServoWorks system, this process
is performed by the PLC Engine, which is included as part of ServoWorksPLC
application suite. In this text, the term “PLC” refers to the PLC programming language.

The ServoWorks Motion Engine controls the high-performance, multi-axis servo loops:
the motion of the machine tool. Based on its feedback loops for motion control, it may
want to send a command to the machine tool to slow down, speed up, etc. But let’s
imagine that there is a door open on the machine tool. The ServoWorks Motion Engine
doesn’t have access to the signal that would tell it about the open door. This is where the
PLC Engine comes in.

The PLC Engine has access to all the information about not only the ServoWorks system
(hardware and software), but also the machine tool inputs and outputs. The PLC Engine
is the one element that has access to everything there is to know about the ServoWorks
system and the machine tool. As such, it functions as the “central headquarters” for all
decision-making regarding the motion and the machine tool. It controls the sequencing
of everything that happens with the machine tool, the servomotors, etc.

The relationships between the ServoWorks application software, the ServoWorks Motion
Engine, the PLC Engine and the machine tool are as follows:

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Chapter 1: What is a PLC Sequence Program?

User application (i.e.

MotionPro or customized
GUI) (MMI)
GUI Interface
F Signals These are
PLC Engine (PLC) ServoWorks Motion Engine integrated in the
G Signals (NC) ServoWorks
system.
Y Signals X Signals

ServoWorks FP- 60/75

VersioBus Master Board

Y Signals X Signals

DC-120 Servo Interface Module

or IM-200 I/O Interface Module
Y Signals X Signals

Machine Tool (MT)

Figure 1-1: Overview of the PLC Engine in the ServoWorks System

The PLC Engine executes the sequence program in a cyclical fashion. The PLC Engine
has a timer, and uses it to run the following PLC cycle every scan time (by default, the
scan time is 8 msec):

1) The PLC Engine performs a full scan of inputs from both the ServoWorks Motion
Engine and inputs from the machine tool (which go through the ServoWorks Motion
Engine). In other words, it checks the status of each bit (“0” or “1”) for each F and
each X input signal (which will be discussed later).

2) The PLC Engine runs the executable sequence program based on these new input
values. It executes the program by reading and executing each command
sequentially, at high speed. The command may specify reading or writing inputs or
outputs, or performing logical operations such as AND or OR (arithmetic
processing).

3) The PLC Engine sends any outputs or commands generated by the sequence program
to the ServoWorks Motion Engine or to the machine tool (using the G and Y signals)
via the ServoWorks Motion Engine.

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Chapter 1: What is a PLC Sequence Program?
This cycle of scan, execute sequence program, and generate outputs or commands is
repeated every 8 ms (the standard scan time for the PLC Engine, which can also be user-
defined). Every time the sequence program finishes executing, it starts again almost
immediately. This means that the PLC Engine is very responsive to any inputs or
commands.

For example, if a lathe operator gives a command (using the S-100T program) to start the
spindle on a lathe, that command gets relayed through the ServoWorks Motion Engine to
the PLC Engine. The command is picked up by the PLC Engine (in the form of an F
signal, which will be discussed later) the next time it scans all the inputs from the
ServoWorks Motion Engine and the machine tool. The PLC Engine then executes the
sequence program, which will check that the door is closed on the machine tool, the
collet is in position, etc. (It checks these by looking at the status of X signals from the
machine tool.) If all the conditions for starting the spindle are met, the PLC Engine will
issue a command to the ServoWorks Motion Engine, which is sent to the machine tool (in
the form of a Y signal) to start the spindle on the lathe.

1.2 The ServoWorksPLC Application Suite

The ServoWorksPLC application suite has three parts:

• The ServoWorksPLC Control Console Application (Win32).

• The ServoWorksPLC Monitor/Debugger.

• ServoWorksPLC Utility Tools.

The ServoWorks PLC Engine is a real-time soft PLC module that executes PLC sequence
programs, and is included in the base ServoWorks packages. This programmable logic
controller (PLC) for machine tools reads and executes the binary PLC file every 8 ms (or
some other user-defined scan time), decides if it needs to take any action based on these
inputs or changes in these inputs, and issues commands to the ServoWorks Motion
Engine or the machine tool, if necessary. The PLC Engine is seamlessly integrated with
the ServoWorks Motion Engine that performs the motion control into a single motion /
machine control application.

The ServoWorksPLC Control Console application is a stand-alone application that you

can use to edit and compile your sequence programs in PLC Instruction List (IL) format
into executable binary files, which can then be understood and executed by the PLC
Engine.

The ServoWorksPLC Monitor/Debugger is for verifying sequence programs with ladder

diagrams. This visual environment makes it easy for the PLC programmer to debug
sequence programs.

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The ServoWorksPLC Utility Tools includes utility tools such as bit pattern display, and
time charts showing the history of bit signals.

1.3 PLC Sequence Programs

A sequence program is a program that is written in PLC code (Instruction List format) .
This sequence program tells the PLC Engine how to control the machine tool and how to
control the computer numerical control (ServoWorks Motion Engine).

The PLC language used by the ServoWorksPLC and described in this manual is
compatible with Fanuc’s PLC ladder logic.

Because each machine tool is different, you will need to write a unique PLC sequence
program for each machine tool setup, although sequence programs can be reused for
machine tool that are the exact same make and model.

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Chapter 2: Installing & Initializing ServoWorksPLC

Chapter 2: Installing and Initializing the ServoWorksPLC

Application Suite

2.1 Overview

The ServoWorksPLC Application Suite may be provided with the MC-Quad CD-ROM,
the S-100T CD-ROM, the S-100M CD-ROM or the MotionPro CD-ROM.

The software installation procedure shown here for the ServoWorksPLC Application
Suite uses screen shots from the MC-Quad CD-ROM, but the same procedure applies to
the S-100T CD-ROM, the S-100M CD-ROM or the MotionPro CD-ROM.

2.2 Starting the Installation

The following steps will guide you through installing the ServoWorksPLC Application
Suite:

1) Close all running applications.

2) Place the CD-ROM labeled “MC-Quad” (or “S-100T,” “S-100M” or

“MotionPro”) in the CD-ROM drive. The installation software may start
automatically – if it doesn’t start automatically, go to the Windows directory and
click on the “Install.exe” file. (This file may be called “MC-Quad_Install.exe,”,
S-100T_Install.exe, etc.) You will see the “Welcome to ServoWorks” window
appear, as shown in Figure 2-1:

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Figure 2-1: Welcome to ServoWorks MC-Quad Window

Again, your “Welcome to ServoWorks” window will look different if you

purchased the ServoWorksPLC Application Suite as part of the S-100T, as part of
the S-100M or as part of MotionPro.

3) Click the “Read Me” button to view the brief installation instructions. We
recommend that you print these instructions, so that you can refer to them for the
ServoWorksPLC Application Suite initialization that is the last step of your
installation procedure.

2.3 Installing and Initializing the ServoWorksPLC Application

Suite

1) Click the “ServoWorksPLC” button. You will see the following window appear:

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Figure 2-2: ServoWorksPLC Installation Window

2) Make sure the “Install” option is selected, and click the “Next” button to install
the ServoWorksPLC application suite. The installation software will copy the
ServoWorksPLC application suite files, and then you will see the window shown
in Figure 2-3 appear.

NOTE: If the “Install” option is not available, you should choose the “Remove”
option to remove any existing copies of the ServoWorksPLC Application Suite
from your computer, then restart this installation process from step #1.

Figure 2-3: ServoWorksPLC Installation Summary Window

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3) Click the “OK” button. You will see the following window appear:

Figure 2-4: PLC Control Screen

4) Click the “Compile” button. You will see the PLC Ladder Compiler Screen
appear.

Figure 2-5: PLC Ladder Compiler Screen (1 of 2)

5) Click the “Refer” button. You will see the “Select Module Definition File”
window appear.

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Figure 2-6: Select Module Definition Window

6) Browse to the SoftServo_0.mod file in the “C:\SwPLC\Ladder” folder

(C:\SwPLC\Ladder\|SoftServo_0.mod) and click on this folder. Click the “Open”
button once the correct file is selected. You will be back to the PLC Ladder
Compiler Screen.

7) Click the “Compile execute” button. You will see the “Compile Finish” window
appear.

Figure 2-7: Compile Finish Dialog Box

8) Click the “OK” button and your initialization of the ServoWorksPLC Application
Suite will be complete.

9) To exit ServoWorksPLC, click the “Cancel” button in the PLC Ladder Compiler
Screen, and then click the exit button ( ) in the upper right hand corner of the
PLC Control Screen.

Your ServoWorksPLC Application Suite is now properly initialized.

2.4 Finishing Your Installation

To finish your installation (after you have also installed either MC-Quad, the S-100T, the
S-100M or MotionPro), just click the “Exit” button in the “Welcome to ServoWorks”
window.

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2.5 Uninstalling the ServoWorksPLC Application Suite

To uninstall the ServoWorksPLC Application Suite:

1) Click the “ServoWorksPLC” button, and you will see the following
“ServoWorksPLC Installation” dialog box appear:

Figure 2-8: ServoWorksPLC Installation Window

2) Select “Remove” and click the “OK” button.

3) In some cases, you may need to manually delete the “SwPLC” folder that was
automatically created by the original ServoWorksPLC Application Suite
installation (typically “C:\SwPLC”). Manually deleting this folder may require
you to reboot your computer first.

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Chapter 3: Using the ServoWorksPLC Utility Programs

Chapter 3: Using the ServoWorksPLC Utility Programs

3.1 Overview

The ServoWorksPLC Application Suite consists of four independent utility programs:

• The ServoWorksPLC Control Console Application (Win32).

• The ServoWorksPLC Monitor/Debugger.

• PLC Bit Pattern Display Utility.

• PLC Time Chart Utility for showing the history of bit signals.

These four PLC utility programs interact with the ServoWorks applications and the
ServoWorks Real-Time Modules as shown in the following figure:

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Windows NT / 2000 / XP PC

PLC PLC PLC Bit PLC

Control Monitor/ Pattern Time S-100T,
Console Debugger Display Chart S-100M
Utility (Diagnose) Utility Utility MC-Quad or
Win32
MotionPro Subspace

Host
CPU ServoWorks PLC Link Service

ServoWorks RTX DLL

Servo- RTSS
PLC Works Motion Subspace
Engine Motion Parser
Engine

Hard Drive Hard Drive

Machine

Figure 3-1: Architecture of the ServoWorksPLC Application Suite

3.2 Using the PLC Control Console Application to Compile

Sequence Programs

3.2.1 Starting the PLC Control Console Application

This application enables you to start, stop and compile ladder logic, and set up the timer,
the counter, and table setup data. These are all necessary operations for setting up PLC
for your machine.

Start the PLC Control Console application by double clicking on the

SwPLC_CONTROL.exe
file in C:\SwPLC.

If the status of ladder logic is “RUN,” you will see the PLC Control Screen window
shown in the following figure:

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Figure 3-2: PLC Control Screen Window for “Run” Status

If the status of ladder logic is “STOPPED,” you will see the PLC Control Screen
window shown in the following figure:

Figure 3-3: PLC Control Screen Window for “Stopped” Status

The first time you run the PLC Control Console application, the “K edit,” “T edit” and “C
edit” buttons will be disabled. These three buttons will be enabled only after the SwPLC
table has been set up – see Section 3.2.3 Setting Up Your Tables for PLC (Input/Output
Declaration).

To exit the PLC Control Console application at any time, click on the button in the
upper right hand corner.

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3.2.2 Compiling Your Sequence Program

Before you can execute the ladder logic in PLC, you will have to compile the PLC
sequence program files. The following steps will guide you through compiling your
sequence program.

1) The PLC Control Console application must be started, and the PLC status must be
“Stopped.” If the status is “Run,” you must click on the “PLC stop” button, and
the ladder logic process will stop immediately.

CAUTION
The Emergency Stop for your machine MUST be activated before you
stop the PLC ladder logic process by clicking on the “PLC stop”
button.

2) Click on the “Compile” button, and you will see the following window:

Figure 3-4: PLC Ladder Compiler Screen

3) In the above window, make sure the .mod file you want to compile is listed in the
“Module definite file name” text box. If you to compile a different file, click on
the “Refer” button and browse to the file you do want to compile.

4) Click on the “Compile execute” button to start compiling process. When it is

finished successfully, you will see the following dialog box:

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Figure 3-5: Compile Finish Dialog Box

3.2.3 Setting Up Your Tables for PLC (Input/Output Declaration)

One of the steps necessary to convert a sequence program into machine language is I/O
declaration. After you define the specifications (commands) for the program, you need to
create the interface settings. In the interface table, you assign each I/O signal a name
(under six characters), depending on the signal type. This procedure also enables the “K
edit,” “T edit” and “C edit” buttons in the PLC Control Console application. If you don’t
create the interface settings, you won’t be able to edit the keep relays, the timers and the
counters.

The following steps will guide you through setting up your tables for PLC:

1) Click the “Table setting” button on the PLC Control Screen, and the following
window will appear:

Figure 3-6: PLC Table Setting Screen

2) Make sure the comment setup table shown in the “Table file” text box is the file
you want. If you to use a different file for your table, click on the “Refer” button
and browse to the file you do want to use as the comment setup table file for the
PLC Diagnose Screen of the PLC Monitor/Debugger.

3) Select either “BINARY” or “BCD” in the “C” frame, for the comment display.

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4) Click on the “Execute” button. The setting process will start automatically.
When the process has finished successfully, you will see the following dialog
box:

Figure 3-7: PLC Table Setting Screen Dialog Box

Your tables are now successfully set up.

3.2.4 Setting Up Your Keep Relay for PLC

To set up your keep relay for PLC, click the “K edit” button on the PLC Control Screen,
and the following window will appear:

Figure 3-8: Edit Keep Relay Window

If the “K edit” button is disabled, you need to set up the SwPLC table – see Section 3.2.3
Setting Up Your Tables for PLC (Input/Output Declaration).

For each keep relay address, you can select “ON” or “OFF” for the status of the keep
relay.

To set all the keep relays back to “OFF,” click on the “Reload” button.

You can use the “Back” and “Forward” buttons to scroll through the keep relays.
Clicking on the “First” button displays the first page of keep relays, while clicking on the

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“Last” button displays the last page of keep relays. If you click on the “Page” button, a
Page Selection Window will appear, and you can scroll through all pages of keep relays,
and select one by clicking on the “OK” button.

When you have finished setting up your keep relays, click on the “OK” button to save the
settings.

3.2.5 Setting Up Your Timer for PLC

To set up your timer for PLC, click the “T edit” button on the PLC Control Screen, and
the following window will appear:

Figure 3-9: Edit Timer Window

If the “T edit” button is disabled, you need to set up the SwPLC table – see Section 3.2.3
Setting Up Your Tables for PLC (Input/Output Declaration).

For each timer, you can specify the time in milliseconds.

To set all the timers back to “0,” click on the “Reload” button.

You can use the “Back” and “Forward” buttons to scroll through the timers. Clicking on
the “First” button displays the first page of timers, while clicking on the “Last” button
displays the last page of timers. If you click on the “Page” button, a Page Selection
Window will appear, and you can scroll through all pages of timers, and select one by
clicking on the “OK” button.

When you have finished setting up your timers, click on the “OK” button to save the
settings.

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3.2.6 Setting Up Your Counters for PLC

To set up your counters for PLC, click the “C edit” button on the PLC Control Screen,
and the following window will appear:

Figure 3-10: Edit Counter Window

If the “C edit” button is disabled, you need to set up the SwPLC table – see Section 3.2.3
Setting Up Your Tables for PLC (Input/Output Declaration).

For each counter, you can specify the number of counts.

To set all the counters back to “0,” click on the “Reload” button.

You can use the “Back” and “Forward” buttons to scroll through the counters. Clicking
on the “First” button displays the first page of counters, while clicking on the “Last”
button displays the last page of counters. If you click on the “Page” button, a Page
Selection Window will appear, and you can scroll through all pages of counters, and
select one by clicking on the “OK” button.

When you have finished setting up your counters, click on the “OK” button to save the
settings.

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3.3 Verifying Sequence Programs Using the ServoWorksPLC

Ladder Monitor/Debugger

3.3.1 Overview of the Ladder Monitor/Debugger

This utility shows the status of an executing Ladder Logic as a Ladder circuit in real time.
By monitoring the real-time status of contacts, you can verify that you have properly set
up your PLC sequence program for your machine.

3.3.2 Using the Ladder Monitor/Debugger

The following steps will guide you in using the ServoWorksPLC Ladder
Monitor/Debugger:

1) Start the PLC Ladder Monitor/Debugger utility by double clicking on the

SwPLC_DIAGNOSE.exe
file in C:\SwPLC. You will see the PLC Diagnose
window shown in the following figure:

Figure 3-11: PLC Diagnose Window

2) Click on “Module selection” from the menu, and you will see the window shown
in the following figure:

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Figure 3-12: Module Selection Window

3) Select your module, and click the “OK” button. A Ladder window will appear for
that module, similar to that shown in the following figure:

Figure 3-13: PLC Diagnose Window With Comments for an Example Module

3.3.3 Ladder Diagram Format (Interpreting the Ladder Diagram)

3.3.3.1 Overview

The ladder diagram is interpreted by you. There are a set of consistent symbols described
below. The ladder diagram will contain addresses, signal names, and comments.

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3.3.3.2 Addresses

An address is composed of an address number and a bit number, as described below.

R 202.2

Bit Number (0~7)

Address number (up to 4 digits

following a letter)

Figure 3-14: Format for an Address in a Ladder Diagram

There is always a letter of the alphabet in front of the address number to indicate the kind
of signal it is. See Table 3-1 for letters used and their meanings.

Signal Letter Signal Description

X Input signal from the machine to the PLC Engine (MT → PLC)

Y Output signal from the PLC Engine to the machine (PLC → MT)

Input signal from the ServoWorks Motion Engine (NC) to the PLC
F
Engine (NC → PLC)
Output signal from the PLC Engine to the ServoWorks Motion Engine
G
(NC) (PLC → NC)

R Internal Relay

A Requesting Message Display

C Counter

K Keep Relay

D Data Table

T Variable Timer

Table 3-1: Signal Letters and Their Meanings

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3.3.3.3 Signal Names

All signal names will be at most 8 characters. Each character can be a letter, a number,
or a special symbol.

3.3.3.4 Commenting

Up to 30 characters may be displayed to comment each relay coil and signal in the
sequence program.

3.3.3.5 Symbols

The ladder diagram utilizes the following symbols:

Symbol Description

Ajunction
Relay (for an internal variable)
inside of the PLC Engine.
Bjunction

Ajunction
Input signal from the
Bjunction ServoWorks Motion Engine.

Ajunction
Input signal from the machine
Bjunction tool.

Timer inside the PLC Engine.

Relay coil used only inside

the PLC Engine (for an
internal variable).

Relay coil that is output to the

ServoWorks Motion Engine.

Table 3-2: Ladder Diagram Symbols (1 of 2)

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Symbol Description

Relay coil that is output to the

machine tool.

Timer coil inside the PLC

Engine.

Functional command of the

PLC language. Symbols
differ slightly depending on
the kind of functional
command.

Left vertical power rail.

Right vertical power rail.

Horizontal line connection.

Vertical line connection.

Table 3-3: Ladder Diagram Symbols (2 of 2)

3.3.3.6 Rows

The ladder diagram has rows along the longer side.

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Rotary Control Subdivision Name

Figure 3-15: Ladder Diagram Rows

3.3.3.7 Relay Junction Labeling

The relay junction will contain the name of the relay coil and either the line number or
the address of the signal.
Symbol Name

Symbol Address Line Number

Figure 3-16: Format for Relay Junction Labeling in Ladder Diagrams

3.3.3.8 Infinite Number of Relays

In a usual relay sequence circuit, the number of relay junctions is limited, so in order to
minimize the number of relays, relays are reused within the circuit.
A
R1

B
R2

Figure 3-17: Ladder Diagram Format for a Limited Number of Relays

In the PLC Engine, there are an infinite number of relays, so the ladder diagram is written
as shown below.

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A
R1

A B
R2

Figure 3-18: Ladder Diagram Format for an Infinite Number of Relays

3.3.4 Changing the Display of the Ladder Monitor/Debugger

You can click on the symbol in the upper right hand corner of the window to
maximize the window, or use the scroll bar to scroll through the complete display.

You can also click on “Display” from the menu and uncheck the “comment display”, to
hide the comments to make the display more condensed, as shown in the following
window:

Figure 3-19: PLC Diagnose Window Without Comments for an Example Module

3.3.5 Using the Search Function of the PLC Ladder Monitor/Debugger

Click on “Search” from the menu in the PLC Diagnose Window, and you will see the
window shown in the following figure:

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Figure 3-20: PLC Diagnose Search Window

To scan for an address in the PLC Diagnose Window, type the address you want to find
in the “Search address” text box. You can search for a contact point, or a coil, or both.
Click on either “Search upward” or “Search downward” buttons – if the address exists,
the first instance of it will be highlighted in the PLC Diagnose Window.

3.4 Using the PLC Bit Pattern Utility

The PLC Bit Pattern utility shows the PLC bite data in binary format. You can see the 8-
bit address in a byte address that you specify.

Start the PLC Ladder Monitor/Debugger utility by double clicking on the

SwPLC_BIT_PATTERN.exe
file in C:\SwPLC. You will see the Bit Pattern window shown
in the following figure:

Figure 3-21: Bit Pattern Window

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Type in a byte address, click the “Start” button, and you will see the current bit pattern.

For example, let’s say you type in the address “x12,” click on the “Start” button, and see
the bit pattern “11101110,” as shown:

In this case, the data is showing from the left side:

x12.7 x12.6 x12.5 x12.4 x12.3 x12.2 x12.1 x12.0

Therefore, the “ON” bits are the following six values: x12.7, x12.6, x12.5, x12.3, x12.2,
and x12.1.

3.5 Using the PLC Time Chart Utility

The PLC Time Chart Utility can show PLC internal data as a time chart.
Start the PLC Ladder Monitor/Debugger utility by double clicking on the

SwPLC_TIME_CHART.exe
file in C:\SwPLC. You will see the PLC Time Chart window
shown in the following figure:

Figure 3-22: Time Chart Window

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The following steps will guide you in using the PLC Time Chart Utility:

1) Input the address(es) for which you need to see the status.

2) At the right side of the window, set up the sampling interval by selecting the time
in milliseconds.

3) Click on the “Start” button, and you will see the ON/OFF status in the center of
the screen. During the sampling, you can change the sampling intervals by
changing interval time.

4) Click on the “Stop” button to stop the sampling.

At any time, you can click on the “Clear” button to clear the window and delete the
graph(s).

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Chapter 4: Setting Up A Sequence Program

Chapter 4: Setting Up A Sequence Program

4.1 Description of the Sequence Program and Other PLC Files

4.1.1 Overview

The actual sequence program (the “.lad” file) is one of a series of files with the same
name, but different file extensions, located by default in the folder “C:\SwPLC\Ladder.”
All but two of these files are automatically generated when you compile your sequence
program. The two that are not automatically generated, which you must write, are the
“.lad” and the “.mod” files.

4.1.2 .lad Files

A sequence program (the “.lad” file) is a way of expressing sequential logic to control
a machine. The ServoWorks PLC Control Console application takes a representation of
the system requirements (the PLC sequence program, in Instruction List Format) and
converts it to an executable binary format so that it can be executed by the PLC Engine.

The procedure of creating a sequence program usually starts with writing PLC code in
Instruction List (IL) Format using a text editor. This sequence program must be a text
file with a “.lad” extension. The .lad file that comes with the ServoWorksPLC
Application Suite needs to be modified or replaced with a sequence program that is
customized for your machine.

Any text editor or word processor can be used to create a sequence program. That text
file should then be saved as a .lad file.

A .lad file must have “%@3” for the first line, and “%” for the last line. Comments
can be included in sequence programs by beginning a line with “;” or “//”. Comments
must be on separate lines. Each command should be on a separate line.

You can view the PLC code of your sequence program in a ladder diagram format to
verify and debug your sequence program using the ServoWorksPLC Monitor/Debugger
(described in Chapter 3: Using the ServoWorksPLC Utility Programs).

We strongly recommend that you begin with our default ladder file, included in the
ServoWorksPLC Application Suite. A typical .lad file (which demonstrates how to
correctly handle the HandWheel E-STOP) is shown as follows:

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%@3

// E-Stop using HandWheel E-Stop input

RD X0.0
WRT G8.4

// Handwheel axis selection

RD X0.1
OR X0.3
WRT G41.0
WRT G18.0

RD X0.2
OR X0.3
WRT G41.1
WRT G18.1

RD X0.4
WRT G41.2
WRT G18.2

// Handwheel multiple
RD X1.0
WRT G19.4
RD X1.1
WRT G19.5

////////////////////////////////////////////////////////////////
// The following three sections work for M30 program restart //
// after rewind. If you would like to have this function, //
// Please enable these three sections by removing the "//" //
// comment signals and re-compile. //
////////////////////////////////////////////////////////////////
// Cycle Start Rising Edge Relay
RD F0.5
AND.NOT R1.5
WRT R1.6

RD F0.5
WRT R1.5

// M30 Falling Edge Relay

RD.NOT F9.4
AND R1.0
RD.STK R1.4
AND.NOT R1.6
OR.STK
WRT R1.4

RD F9.4
WRT R1.0

Figure 4-1: Typical .lad File: SoftServo_0 (1 of 2)

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// Cycle start
RD R1.4
//TMR 1 // With Timer delay
AND.NOT F0.5
WRT G7.2

// Feed hold (M00, M01)

RD F9.6
AND F2.5
WRT R2.0

RD F9.7
AND F7.0
OR R2.0
WRT G8.5

// MFIN (M00, M01, M02, M03, M04, M05, M30)

RD F9.7
OR F9.6
OR F9.5
OR F9.4
WRT R0.0

RD F7.0
AND R0.0
WRT R0.2

RD.NOT F7.0
AND R0.1
WRT R0.3

RD R0.2
AND.NOT R0.3
WRT G5.0

RD R0.0
WRT R0.1

// SFIN (By S Strobe)

RD F7.2
WRT G5.2

// TFIN (By T Strobe)

RD F7.3
WRT G5.3

Figure 4-2: Typical .lad File: SoftServo_0.lad (2 of 2)

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Chapter 4: Setting Up A Sequence Program

4.1.3 .mod Files

The “.mod” is a text file which you must create or verify with a “.mod” extension that
tells the ServoWorksPLC Application Suite which files to reference. Specifically, the
“.mod” file refers to the “.lad” file, and tells the compiler to compile the “.lad” file and
generate a series of files with the same name as the “.lad” file, but with different
extensions. It is the “.mod” file that is actually compiled when you compile your
sequence program. The .mod file will always be one line. The default .mod file is
shown as follows:

SoftServo_0 1

Figure 4-3: Example .mod File: SoftServo_0.mod

In this case, the name of the series of files will all be named “SoftServo_0,” but will have
different extensions: SoftServo_0.lad, SoftServo_0.bin, SoftServo_0.div, SoftServo_0.fig
and SoftServo_0.lst.

4.1.4 .bin Files, .div Files, .fig Files and .lst Files

These files are automatically generated when you compile the .mod file.

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Chapter 4: Setting Up A Sequence Program
The .bin file is the binary file for execution. The .div file contains the module divide
table. The .fig table is the file used for real-time ladder diagram display. The .lst file has
the assembly-code format and machine codes.

4.2 Overview of File Structure

In order to control the machine using a PLC, the sequence program files will be
automatically set up according to Figures 4-4 and 4-5.
Text Editor

Address Table Module Definition

(*.tbl) File (*.mod) Mnemonic Ladder
File (*.lad)
Software to create PLC
Address Specification File

In name
Out name
OK

X,Y
F,G
R,K
T,C D
Address Specification Address Specification
File (*.dat) File (*.dat)
PLC Control

Registry Declaration Software A

Start/Stop
SSS_REGISTRY.exe

Comments,
Symbol Compile B
Declares the formats,
symbols, and comments
for each address into the
computer registry Change Parameter

Figure 4-4: Sequence Program Setup Procedure (1 of 2)

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 SERVOWORKSPLC MANUAL
Chapter 4: Setting Up A Sequence Program
B A

Module Table
Figure Data File Compile Data File (*.div) Ladder Execution
(*.fig) (*.lst) File (*.bin)

Read on start up
Commands
PLC Engine
PLC Diagnosis
Bit Information

Figure 4-5: Sequence Program Setup Procedure (2 of 2)

4.3 Coding Convention

Writing the PLC commands in Instruction List Format that make up your sequence
program and that represent the specifications of your machine is called “coding.” An
example of PLC code and the corresponding ladder diagram is shown in Figures 4-6 and
4-7, and Table 4-1.

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 SERVOWORKSPLC MANUAL
Chapter 4: Setting Up A Sequence Program
%@3

// E-Stop using HandWheel E-Stop input

RD X0.0
WRT G8.4

// Handwheel axis selection

RD X0.1
OR X0.3
WRT G41.0
WRT G18.0

RD X0.2
OR X0.3
WRT G41.1
WRT G18.1

RD X0.4
WRT G41.2
WRT G18.2

Figure 4-6: PLC Coding Example – Instruction List Format

Step Address Bit

Command Description
No. No. No.
1 RD X0 . 0 HW_ESTP

2 WRT G8 . 4 *ESP

3 RD X0 . 1 HW_1

4 OR X0 . 3 HW_3

5 WRT G41 . 0 HS1IA

6 WRT G18 . 0 HS1A

7 RD X0 . 2 HW_2

8 OR X0 . 3 HW_3

9 WRT G41 . 1 HS1IB

10 WRT G18 . 1 HW1B

11 RD X0 . 4 HW_4

12 WRT G41 . 2 HS1IC

13 WRT G18 . 2 HS1C

Table 4-1: PLC Coding Example – Program Breakdown

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Chapter 4: Setting Up A Sequence Program

HW_ESTP *ESP
Emergency Stop
X0.0 G8.4
HW_1 HS1IA
HandWheel Interrupt
Axis Selection
X0.1 G41.0
HW_3 HS1A
HandWheel Axis
Selection
X0.3 G18.0
HW_2 HS1IB
HandWheel Interrupt
Axis Selection
X0.2 G41.1
HW_3 HS1B
HandWheel Axis
Selection
X0.3 G18.1
HW_4 HS1IC
HandWheel Interrupt
Axis Selection
X0.4 G41.2
HS1C
HandWheel Axis
Selection
G18.2

Figure 4-7: PLC Coding Example – Ladder Diagram Format

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Chapter 5: Inside the PLC Engine (How the PLC Engine Operates)

Chapter 5: Inside the PLC Engine (How the PLC Engine

Operates)
The execution of a PLC sequence program by the PLC Engine is different from a usual
relay circuit because it is simulated by software. Therefore, in designing a PLC sequence
program, it is important that you understand the sequence of execution.

5.1 The Sequential Processing of the Sequence Program

In a usual relay sequence circuit, all relays can work simultaneously. For example, in
Figure 5-1, when the relay A is turned on (and both B and C are turned off), both relays
D and E work at the exact same time.

With the PLC Engine, each relay in a circuit works sequentially. For example in Figure
5-1, when relay A is on (and both B and C are turned off), first relay D, and then relay E
is activated.

A B
D

A C
E

Figure 5-1: First Example of a Circuit

In other words, the sequence in a PLC program follows the sequence drawn on the ladder
diagram (programming order). Though the sequence’s execution is done very rapidly, it
may affect the order of execution. Therefore, in a ladder diagram as in Figure 5-2, you
can see a difference in execution between the PLC sequence and the relay circuit
sequence.

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Chapter 5: Inside the PLC Engine (How the PLC Engine Operates)
A (P.B) C
NOTE: “P.B” B
refers to a
format of A
“position.bit” C
Circuit (A)

A (P.B)
C

A C
B

Circuit (B)
Figure 5-2: Second Example of a Circuit

In the relay circuit sequence: In Figure 5-2, both circuits (A) and (B) work
simultaneously. When A (P.B) is turned on, current runs through coils B and C, and B
and C are turned on at the same time. After C is turned on (after the relay execution), B
turns off the circuit.

In the PLC sequence: In circuit (A), as in the relay circuit, when A (P.B) is turned on, B
and C are both turned on, and after a certain period of time (1 cycle of PLC sequence), B
turns the circuit off. However, in circuit (B), when A (P.B) is turned on, C is turned on,
but B is not.

5.2 Repetitive Sampling

The ServoWorks PLC Engine samples values at discrete intervals (8 msec by default), so
the sequence is run until the end of the ladder diagram; the sequence is then executed
again from the beginning of the ladder diagram. The time it takes to complete the
execution of a program from beginning to end (1 cycle) is called the sequence program’s
execution time. The execution time is determined by the control level (number of steps),
and the size of the Number 1 level sequence, defined later. The faster the execution time,
the more responsive the program gets.

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Chapter 5: Inside the PLC Engine (How the PLC Engine Operates)

5.3 I/O Signals

There are two kinds of input signals to the PLC Engine: input signals from the
ServoWorks Motion Engine (i.e. signals sent as a result of M functions and T functions)
and input signals from the machine (i.e. cycle start and feed/hold signals). There are also
two kinds of output signals from the PLC Engine: output signals to the ServoWorks
Motion Engine (i.e. cycle start, feed/hold) and output commands to the machine (i.e. talet
rotation, spindle suspension). The input signals are fed into the input memory in the PLC
Engine, and the output signals are the output of the PLC Engine.

5.3.1 Input

1) Input Memory from the ServoWorks Motion Engine: The input signals from the
ServoWorks Motion Engine to the PLC Engine originate from the numerical
control (NC) input memory specified by the ServoWorks Motion Engine, and are
usually transferred to the PLC Engine in 5 ms periods.

2) Input Signals from the Machine: These signals are transferred from the input
circuit to the input signal memory.

3) Input Signal Memory: The input signal memory holds the signals transferred
from the machine to the PLC Engine in 8 ms periods.

5.3.2 Output

1) Output Memory to the ServoWorks Motion Engine: The output signal from the
PLC Engine to the ServoWorks Motion Engine is sent to the NC output memory
specified by the ServoWorks Motion Engine. The PLC Engine sends the data in 5
ms periods.

2) Output Signals to the Machine: The output signals to the machines are transferred
from the PLC’s output signal memory to the output circuit.

3) Output Signal Memory: Output signal memory is the memory specified by the
PLC sequence program. The signals to the output signal memory are sent to the
machine in 8 ms periods by the PLC Engine.

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Chapter 5: Inside the PLC Engine (How the PLC Engine Operates)

5.4 PLC Code Execution

PLC code is executed one command at a time. For example, the instruction sequence
“RD X0.0, AND R10.1, WRT Y0.0” does the following:

1) On the first command (RD X0.0), the input signal at address X0.0 is inserted into
the computation register.

2) On the next command (AND R10.1), it takes the internal relay value at the
address R10.1, computes the logical AND with the current computational register
value, and puts it back into the computational register.

3) On the last command (WRT Y0.0), it stores the value in the computational
register to the output signal at address Y0.0.

Once you write the PLC code for a sequence program, you can use the ServoWorksPLC
Control Console application to convert it into machine language for the computer
(Figures 4-4 and 4-5).

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Chapter 5: Inside the PLC Engine (How the PLC Engine Operates)

PLC Engine (Programmable Logic Controller)

CPU

Sequence Program Memory

RD X0.0
AND R10.1
OR X6.1
AND.NOT R20.3
WRT Y0.0
·
·
·
·
Controls

Input Pathway

X0.0
X6.1

Output Pathway
Y0.0

Internal Relay (RAM)

R10.0
R20.3

Figure 5-3: Execution of Sequence Program by the PLC Engine

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Chapter 6: Memory Addresses

Chapter 6: Memory Addresses

6.1 What Are Memory Addresses?

An address is the number that represents the location in memory of where I/O signals to
and from the machine, I/O signals to and from the ServoWorks Motion Engine, internal
relays, counters, keep relays (parameters for the PLC sequence program), and data cables
reside. An address consists of an address number (each one contains eight signals) and a
bit number (0-7) to specify which of the eight. The symbol table that shows the signal
name and the respective address is created using the PLC Control Console Application.

6.2 Addresses Related to the PLC

The addresses used by the PLC’s sequence program can be divided roughly into 4
different types, as shown in Figure 6-1:
Internal Relay
(R and A
addresses)

Signals Related to F
User the ServoWorks
Interface Motion Engine (NC) PLC Engine
Application (F and G addresses) G

Y X
Machine (MT) Static Memory:
Related Signals (1) Counter (C addresses)
(X and Y (2) Keep Relay (K addresses)
addresses) (3) Data Table (D addresses)
(4) Variable Timer (T addresses)

Figure 6-1: Addresses Related to the PLC Engine

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Chapter 6: Memory Addresses

6.3 Address Specifications

An address consists of an address and a bit number in the following format:

X220. 2

Bit Number (0~7)

Address Number (a letter and a number under four digits)

The first character of the address is always a letter of the alphabet representing the type of
signal as shown in Table 6-1. When performing byte-level addressing within a function
command, use X220. The “·” and the bit number is not necessary in this case.

Symbol Type of Signal

Input signals from the machine to the PLC
X
Engine. (MT → PLC)
Output signals (commands) from the PLC Engine
Y
to the machine. (PLC → MT)
Input signals from the ServoWorks Motion Engine
F
to the PLC Engine. (NC→ PLC)
Output signals from the PLC Engine to the
G
ServoWorks Motion Engine. (PLC → NC)

R Internal Relay

C Counter

K Keep Relay

D Data Table

T Variable Timer

A Alarm

Table 6-1: Symbols for the Signal Types

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Chapter 6: Memory Addresses

6.4 PLC and Machine Tool Addresses (PLC ↔ MT)

Addresses related to the machine are as follows:

a) PLC Engine ←MT (machine tool):

Address Range: X0~X99

b) PLC Engine →MT (machine tool):

Address Range: Y0~Y99

Within the byte ranges above, a maximum of 800/800 I/O signals can be declared, though
they must be allocated in one-byte increments (space for 8 signals).

For the addresses of specific signals, refer to Appendix A: S-100T Data Mapping Tables
or Appendix B: S-100M and General Motion Data Mapping Tables, which lists the name
and address of each specific signal included in the ServoWorks system. Input signals
from the ServoWorks Motion Engine have fixed addresses.

6.5 PLC Engine and ServoWorks Motion Engine Addresses

(PLC ↔ NC)

Addresses related to the ServoWorks Motion Engine are as follows:

a) PLC Engine ←ServoWorks Motion Engine Signals:

Address Range: F0~F399

b) PLC Engine →ServoWorks Motion Engine Signals:

Address Range: G0~G399

For the addresses of specific signals, refer to Appendix A: S-100T Data Mapping Tables
or Appendix B: S-100M and General Motion Data Mapping Tables, which lists the name
and address of each specific signal included in the ServoWorks system.

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Chapter 6: Memory Addresses

6.6 Internal Relay Addresses (R)

The internal relay can use 1000 bytes, at addresses R0~R999 (see Figure 6-2). This
region will be refreshed every time the power is turned on.

The addresses R9000~R9099 are reserved by the PLC, so they cannot be used in the
sequence program. The results of the function commands are stored in this reserved
address space. Refer to the following figure:

Address No. 7 6 5 4 3 2 1 0
R0
R1
R2
R3
Internal Relay (1000 bytes)
···················

R999

R9000
Reserved by the PLC
····

R9099 System (100 bytes)

Figure 6-2: Internal Relay Usable Region

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Chapter 6: Memory Addresses

6.7 Counter Addresses (C)

Addresses C0~C79 (80 bytes of memory) are designated for the counters. The contents
in this memory are not erased when the power is off because this region holds static
memory. Refer to the following figure:

Address No. 7 6 5 4 3 2 1 0
C0
Preset Value
C1
Counter #1
C2
Counter Register
C3
C4
Preset Value
C5
Counter #2
C6

·································
Counter Register
C7
················

C76
Preset Value
C77
Counter #20
C78
Counter Register
C79

Figure 6-3: Counter Addresses

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Chapter 6: Memory Addresses

6.8 Keep Relay and Static Memory Control Addresses (K)

Addresses K0~K99 (100 bytes of memory) are used to store the keep relay data and the
PLC parameters. This is also static memory. Refer to the following figure:

Address No. 7 6 5 4 3 2 1 0

K0
K1
K2
··········

K96
K97
K98
K99

Figure 6-4: Keep Relay and Static Memory Control Addresses

6.9 Data Table Addresses (D)

The data table is stored in static memory. The basic data table resides at addresses
D0~D1999 (2000 bytes of memory). Refer to the following figure:

Address No. 7 6 5 4 3 2 1 0
D0
D1
D2
Basic Data Table (2000 bytes)
··········

D1998
D1999

Figure 6-5: Data Table Addresses

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Chapter 6: Memory Addresses

6.10 Timer Addresses (T)

The variable timers used in TMR commands are allocated 400 bytes of static memory, at
addresses T0~T399.

The addresses corresponding to each timer are shown in Figure 6-6. Since this region is
static memory, the contents are not erased when the power is turned off. Refer to the
following figure:

Address No. 7 6 5 4 3 2 1 0
T0
Timer #1
T1
T2
Timer #2
T3

·····················································
T4
T5
T6
T7
··················

T396
T397
T398
Timer #200
T399

Figure 6-6: Timer Addresses

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Chapter 6: Memory Addresses

6.11 Alarm Relay Addresses (A)

The alarm relay has 100 bytes of memory, at addresses A0~A99. Refer to the following
figure:

Address No. 7 6 5 4 3 2 1 0
A0
A1
A2
·············

A96
A97
A98
A99

Figure 6-7: Alarm Relay Addresses

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 SERVOWORKSPLC MANUAL
Chapter 7: Static Memory

Chapter 7: Static Memory

7.1 Timer, Counter, Keep Relay, Static Memory Control, Data

Table

7.1.1 Overview of Static Memory

Static memory is the memory where the information contained in that memory is not
erased even when the power is off. The PLC Engine uses static memory for the
following:

• Timer

• Counter

• Keep Relay

• Static Memory Control

• Data Table

7.1.2 Timer

Static memory is used to specify the time for the timer. You can display and set the timer
with the PLC Control Console application (the T Table). You can also read and write the
time using the sequence program.

7.1.3 Counter (Addresses C0~C79)

Static memory is used to store the counter preset value and the increment value. You can
display and set the counter with the PLC Control Console application (the C Table). You
can also read and write into the counter using the sequence program. For details about
the counter addresses, refer back to Section 6.7: Counter Addresses (C). The format of
the data is either 2 bytes of BCD or binary with the higher digits corresponding to the
higher addresses. The address can be in BCD or binary, as specified in the PLC system
parameters.

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 SERVOWORKSPLC MANUAL
Chapter 7: Static Memory
Example: When the PLC counter addresses are C0 and C1 and the preset value is 1578.

BCD Format (1578)

7 6 5 4 3 2 1 0
C0 0 1 1 1 1 0 0 0

7 8
7 6 5 4 3 2 1 0
C1 0 0 0 1 0 1 0 1

1 5
Binary (1578)
7 6 5 4 3 2 1 0
C0 0 0 1 0 1 0 1 0

27 26 25 24 23 22 21 20
7 6 5 4 3 2 1 0
C1 0 0 0 0 0 1 1 0

215 214 213 212 211 210 29 28

Figure 7-1: Example of Counter Addresses

In order to set the lower 2 digits of the value to the output of a command that outputs 1-
byte data, then specify C0 as the output address for that command.

7.1.4 Keep Relay (Addresses K0~K99)

Static memory holds parameters for the program such as the keep relay. You can read
out or set the value with the PLC Control Console application (the K Table). You can
also read and write from within the sequence program. The PLC control screen handles
data as an 8-bit binary, so each digit holds the value of “0” or “1.”

7.1.5 Data Table (Addresses D0~D1999)

You can use a set of numeric data (a data table) for PLC sequence control. For details,
refer to Section 7.3: PLC Data Table.

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Chapter 7: Static Memory

7.2 Reading and Writing Static Memory

The sequence program can read and write any data in static memory. However, the
memory accessed by the sequence program is not the static memory, but an exact image
of the static memory (RAM). Therefore, data inside the image disappears when the
power is off, but that data is copied again from static memory when the power is turned
on, restoring properly.

The system uses a write-through cache, where data modified in RAM by the sequence
program is automatically transferred to the static memory.

Modifications of data in the image can be done at any time and at any frequency, and the
data will be transferred to static memory. Therefore, writing to static memory does not
require any special handling. However, it does take some time for the data to propagate,
or be written, to static memory (about 512 ms).

7.3 PLC Data Table

7.3.1 Overview

PLC sequential control sometimes requires a set of numeric data (henceforth called a data
table). Being able to write to and read from this data table is useful. For example, it can
supply the tool number of each tool in the ATC Magazine to the program. You can
create a maximum of 50 data tables.

Within the memory constraints of a table, you can set the data table to 1-, 2-, or 4-byte
length words encoded either in binary or BCD. Therefore, you can easily make useful
data structures that do not waste space.

You can access data in the data table through the static memory, which in turn is accessed
by the PLC control screen.

This data can also be accessed using functional commands in the program, such as Data
Search (DSCHB) and Index Modification Data Transfer (XMOVB).

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Chapter 7: Static Memory
7.3.2 Creation of Data in the Data Table

The data in the data table is created with the PLC Control Console application (the D
Table).

NOTE: You can also read and write into the data table using the sequence program.

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Chapter 8: PLC Basic Commands

Chapter 8: PLC Basic Commands

8.1 Overview

The first step in designing a sequence program is to sketch out a ladder diagram. The
ladder diagram consists of relay junctions and functional command symbols described
later, in Chapter 9: PLC Functional Commands. Then you code the ladder diagram into
Instruction List format, and verify the coding by using the ServoWorks
Monitor/Debugger to view the ladder diagram representation of that Instruction List code,
and make sure the logic represented by the ladder diagram is what you intended. When
you are satisfied with your code, compile your Instruction List sequence program into
machine code with the ServoWorksPLC Control Console application. This machine code
is then fed into the PLC Engine as the sequence program.

You will be coding using mnemonic representation (PLC commands such as RD, AND,
and OR) of PLC logic. You should, however, understand relay symbols (such as
, , ) and the functional command symbols used in the ladder diagram.

You should have a thorough understanding of PLC basic commands to understand the
details of the functional commands presented later. Therefore, you should read carefully
through the rest of this chapter, and Chapter 9: PLC Functional Commands before
coding your sequence program for your ServoWorks system.

This chapter concerns itself with basic PLC commands. For each basic command, we
must concern ourselves with the following items:

• Signal addresses.

• Types of commands (basic and functional).

• Storing the results of logical operations.

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Chapter 8: PLC Basic Commands

8.1.1 Signal Addresses

An address can be assigned to all signals, relay coils and junctions, drawn in the ladder
diagram shown in Figure 8-1. An address consists of an address number and a bit
number. The leading zero can optionally be suppressed. For more details about
addresses, see Chapter 6: Memory Addresses.

Signal / Junction Names Relay Names

A B
R0
X8.1 R 12.6 R 9.0
C
Bit Number
Y20.4 Address Number

Figure 8-1: Signal Addresses

8.1.2 Types of Commands (Basic and Functional)

Basic commands are the commands you will use most frequently in sequence programs.
There are twelve basic commands including AND, OR, and other byte level operations.

Functional commands are commands that make the programming of the complex controls
of machinery much easier than just using basic commands. Refer to Chapter 9: PLC
Functional Commands for descriptions of the functional commands.

8.1.3 Storing the Results of Logic Operations in the Result History

Register

A sequence program can store intermediate results in a FIFO (first-in, first-out) stack
register known as the Result History Register. This register contains 1 bit + 8 bits = 9
bits (see Figure 8-2).
Stack Register Current Execution
(stores temporary values) Value

ST8 ST7 ST6 ST5 ST4 ST3 ST2 ST1 ST0

Figure 8-2: Structure of the Result History Register

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 SERVOWORKSPLC MANUAL
Chapter 8: PLC Basic Commands
As a push command (i.e. RD.STK) is executed, the current execution value is stored in
ST1 and the other values shift to the left as shown in Figure 8-2. When a pop command
(i.e. AND.STK) is executed, the values shift to the right, and the value on the top of the
stack (ST1) is moved into the current execution environment. For the specifics of each
command, refer to their respective sections later in this chapter.

8.2 Basic Commands

8.2.1 Summary of Basic Commands

Table 8-1 shows the kinds of basic commands and their functions. Detailed descriptions
follow.

No. Command Function

1 RD Reads the value of the signal and puts it in ST0.

2 RD.NOT Reads the inverted value of the signal and puts it in ST0.

3 WRT Outputs the result (value of ST0) into the specified address.

4 WRT.NOT Outputs the inverted result (value of ST0) into the specified address.

Logical AND (Product). Performs a logical AND with the specified

5 AND
signal and the existing value (ST0).
Inverts the value of the specified signal and performs a logical AND
6 AND.NOT
with the existing value.
Logical OR (Sum). Performs a logical OR with the specified signal and
7 OR
the existing value (ST0).
Inverts the value of the specified signal and performs a logical OR with
8 OR.NOT
the existing value.
Shifts the register contents left one bit and puts the value of the signal
9 RD.STK
with the specified address into ST0.

10 RD.NOT.STK Same as RD.STK, but stores the inverted signal value into ST0.

Stores AND of ST0 and ST1 into ST1, then shifts all of the bits in the
11 AND.STK
register to the right one bit.
Stores OR of ST0 and ST1 into ST1, then shifts all of the bits in the
12 OR.STK
register to the right one bit.

Table 8-1: PLC Basic Commands and Their Functions

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Chapter 8: PLC Basic Commands
8.2.2 RD Command

Format
(Address)
RD c c c c · c
Address No. Bit No.

Function
This command reads the value of a signal at a specified address (“1” or “0”), and puts it
into the ST0 bit in the result history register.

Use
When the code starts with junction A ( ), RD is used. For an example, see the ladder
diagram in Figure 8-3 and the coding sheet entry example in Table 8-2.

Signal
The signal (junction) read by the RD command could be any signal used in the logical
expression for a coil (output).

Example of RD Command Usage

Tables 8-2 and 8-3 show two alternative ways to code the ladder diagram in Figure 8-3,
in different orders. Both orders lead to the same result.

A B C
W1
X10.1 X2.0 R2.1 R200.0
D G
W2
X5.1 R5.4 R200.1
E

Y5.2
F

Y5.3

Figure 8-3: Ladder Diagram Example for the RD Command

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Coding Sheet Result History Register

Step Address Bit
Command Description ST2 ST1 ST0
No. No. No.
1 RD X10 . 1 A

2 AND X2 . 0 A•B
__
3 AND.NOT R2 . 1 A•B•C
__
4 WRT R200 . 0 W1 out A•B•C

5 RD X5 . 1 D
__
6 OR.NOT Y5 . 2 D+E
__ __
7 OR Y5 . 3 D+E+F
__ __
8 AND R5 . 4 (D+E+F)•G
__ __
9 WRT R200 . 1 W2 out (D+E+F)•G

Table 8-2: Coding of the RD Command Example (Alternative #1)

Coding Sheet Result History Register

Step Address Bit
Command Description ST2 ST1 ST0
No. No. No.
1 RD X2 . 0 B

2 AND X10 . 1 B•A

__
3 AND.NOT R2 . 1 B•A•C
__
4 WRT R200 . 0 W1 out B•A•C

5 RD Y5 . 3 F
__
6 OR.NOT Y5 . 2 F+E
__
7 OR X5 . 1 F+E+D
__
8 AND R5 . 4 (F+E+D)•G
__
9 WRT R200 . 1 W2 out (F+E+D)•G

Table 8-3: Coding of the RD Command Example (Alternative #2)

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8.2.3 RD.NOT Command

Format
(Address)
RD.NOT c c c c · c
Address No. Bit No.
Function
This command reads the inverted value of a specified signal and puts it into the ST0 bit in
the result history register.

Use
When the code starts with junction B ( ), use the RD.NOT command. For an example,
see the ladder diagram in Figure 8-4 and the coding sheet entry example in Table 8-4.

Signal
The signal (junction) read by the RD.NOT command could be any signal used in the
logical expression for a coil (output).

Example of RD.NOT Command Usage

Tables 8-4 and 8-5 show two alternative ways to code the ladder diagram in Figure 8-4,
in different orders. Both orders lead to the same result.

A B C
W1
R1.1 F2.2 F3.3 R210.1
D G
W2
G5.1 R10.5 R210.2
E

X4.2
F

Y10.7

Figure 8-4: Ladder Diagram Example for the RD.NOT Command

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Coding Sheet Result History Register

Step Address Bit
Command Description ST2 ST1 ST0
No. No. No.
__
1 RD.NOT R1 . 1 A
__ __
2 AND.NOT F2 . 2 A•B
__ __ __
3 AND.NOT F3 . 3 A•B•C
__ __ __
4 WRT R210 . 1 W1 out A•B•C
__
5 RD.NOT G5 . 1 D
__ __
6 OR.NOT X4 . 2 D+E
__ __
7 OR Y10 . 7 D+E+F
__ __
8 AND R10 . 5 (D+E+F)•G
__ __
9 WRT R210 . 2 W2 out (D+E+F)•G

Table 8-4: Coding of the RD.NOT Command Example (Alternative #1)

Coding Sheet Result History Register

Step Address Bit
Command Description ST2 ST1 ST0
No. No. No.
__
1 RD.NOT F2 . 2 B
__ __
2 AND.NOT F3 . 3 B•C
__ __ __
3 AND.NOT R1 . 1 B•C•A
__ __ __
4 WRT R210 . 1 W1 out B•C•A
__
5 RD.NOT X4 . 2 E
__
6 OR Y10 . 7 E+F
__ __
7 OR.NOT G5 . 1 E+F+D
__ __
8 AND R10 . 5 (E+F+D)•G
__ __
9 WRT R210 . 2 W2 out (E+F+D)•G

Table 8-5: Coding of the RD.NOT Command Example (Alternative #2)

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8.2.4 WRT Command

Format
(Address)
WRT c c c c · c
Address No. Bit No.

Function
This command writes the result of the logic operation, the value of the ST0 bit in the
result history register (“1” or “0”), into the specified address.

Use
See Tables 8-2, 8-3, 8-4 and 8-5 for examples of how to use the WRT command.

Signal
You can output a logic operation result into two or more addresses, as shown in the
example that follows.

Example of WRT Command Usage

See Figure 8-5 and Table 8-6 for examples of how to use the WRT command.
D F
W3
R220.1 G2.2 Y11.1
E
W4
X4.2 Y14.6
Figure 8-5: Ladder Diagram Example for the WRT Command

Coding Sheet Result History Register

Step Address Bit
Command Description ST2 ST1 ST0
No. No. No.
1 RD R220 . 1 D

2 OR X4 . 2 D•E

3 AND G2 . 2 (D+E)•F

4 WRT Y11 . 1 W3 out (D+E)•F

5 WRT Y14 . 6 W4 out (D+E)•F

Table 8-6: Coding of the WRT Command

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8.2.5 WRT.NOT Command

Format
(Address)
WRT.NOT c c c c · c
Address No. Bit No.
Function
This command writes the inverse of the result (value of the ST0 bit in the Result History
Register) into the specified address.

Example of WRT.NOT Command Usage

See Figure 8-6 and Table 8-7 for an example of how to use the WRT.NOT command.
D F
W3
R220.1 G2.2 Y11.1
E WRT.NOT
W4
X4.2 Y14.6

Figure 8-6: Ladder Diagram Example for the WRT.NOT Command

Coding Sheet Result History Register

Step Address Bit
Command Description ST2 ST1 ST0
No. No. No.
1 RD R220 . 1 D

2 OR X4 . 2 D•E

3 AND G2 . 2 (D+E)•F

4 WRT Y11 . 1 W3 out (D+E)•F

_______________
5 WRT.NOT Y14 . 6 W4 out (D+E)•F

Table 8-7: Coding of the WRT.NOT Command

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8.2.6 AND Command

Format

(Address)
AND c c c c · c
Address No. Bit No.

Function
This command takes the value of a specified signal and executes the logical AND
(product) with the existing value.

Example of AND Command Usage

See Figure 8-3 and Table 8-2 for an example using the AND command.

8.2.7 AND.NOT Command

Format
(Address)
AND.NOT c c c c · c
Address No. Bit No.

Function
This command inverts the value of a specified signal and executes the logical AND.NOT
(inverse product) with the existing value.

Example of AND.NOT Command Usage

See Figure 8-3 and Table 8-2 for an example of how to use the AND.NOT command.

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8.2.8 OR Command

Format
(Address)
OR c c c c · c
Address No. Bit No.

Function
This command takes the value of a specified signal and executes the logical OR (sum)
with the existing value.

Example of OR Command Usage

See Figure 8-3 and Table 8-2 for an example using the OR command.

8.2.9 OR.NOT Command

Format
(Address)
OR.NOT c c c c · c
Address No. Bit No.

Function
This command inverts the value of a specified signal and executes the logical OR.NOT
(inverse sum) with the existing value.

Example of OR.NOT Command Usage

See Figure 8-3 and Table 8-2 for an example of how to use the OR.NOT command.

8.2.10 RD.STK Command

Format
(Address)
RD.STK c c c c · c
Address No. Bit No.

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Function
This command pushes the intermediate calculation onto the stack. It shifts each bit in the
register one bit to the left and puts the value of the signal with the specified address into
the ST0 bit of the result history register.

Use
Use this command when the specified address is the A junction ( ).

Example of RD.STK Command Usage

See Figure 8-7 and Table 8-8 for examples of how to use the RD.STK command.
A C
W1
X1.1 Y1.2 Y15.0
B D

X1.3 Y1.4
E F

R2.1 R3.5

Figure 8-7: Ladder Diagram Example for the RD.STK Command

Coding Sheet Result History Register

Step Address Bit
Command Description ST2 ST1 ST0
No. No. No.
1 RD X1 . 1 A

2 AND Y1 . 2 A•C

3 RD.STK X1 . 3 A•C B

4 AND Y1 . 4 A•C B•D

5 OR.STK A•C+B•D

A•C+
6 RD.STK R2 . 1 E
B•D
A•C+
7 AND R3 . 5 E•F
B•D
A•C+B•D+
8 OR.STK
E•F
A•C+B•D+
9 WRT Y15 . 0
E•F

Table 8-8: Coding of the RD.STK Command

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8.2.11 RD.NOT.STK Command

Format
(Address)
RD.NOT.STK c c c c · c
Address No. Bit No.
Function
This command pushes the intermediate calculation onto the stack. It shifts each bit in the
register one bit to the left and puts the inverse of the value of the signal with the specified
address into the ST0 bit of the result history register.

Use
Use this command when the specified address is the B junction ( ).

Example of RD.NOT.STK Command Usage

See Figure 8-8 and Table 8-9 for examples of how to use the RD.NOT.STK command.

A B E F
W1
X1.0 X1.1 Y1.2 Y1.3 Y15.7
C D G H

R1.4 R1.5 X1.6 Y1.7

Figure 8-8: Ladder Diagram Example for the RD.NOT.STK Command

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Coding Sheet Result History Register

Step Address Bit
Command Description ST2 ST1 ST0
No. No. No.
1 RD X1 . 0 A A
__
2 AND.NOT X1 . 1 B A•B
__ __
3 RD.NOT.STK R1 . 4 C A•B C
__ __ __
4 AND.NOT R1 . 5 D A•B C•D
__ __ __
5 OR.STK A•B+C•D
__
A•B+
6 RD.STK Y1 . 2 E E
__ __
C•D
__
A•B+
7 AND Y1 . 3 F E•F
__ __
C•D
__
A•B+
8 RD.STK X1 . 6 G E•F G
__ __
C•D
__
A•B+ __
9 AND.NOT Y1 . 7 H E•F G•H
__ __
C•D
__
A•B+ __
10 OR.STK E•F+G•H
__ __
C•D
__ __ __
(A•B+C•D)
11 AND.STK
__
•(E•F+G•H)
__ __ __
(A•B+C•D)
12 WRT Y15 . 7 W1 out
__
•(E•F+G•H)

Table 8-9: Coding of the RD.NOT.STK Command

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8.2.12 AND.STK Command

Format
(Address)
AND.STK c c c c · c
Address No. Bit No.

Function
This command sets the logical product of ST0 and ST1 into ST1, and shifts the bits of the
register one bit to the right to put the result into ST0.

Example of AND.STK Command Usage

See Figure 8-8 and Table 8-9 for examples on how to use the AND.STK command.

8.2.13 OR.STK Command

Format
(Address)
OR.STK c c c c · c
Address No. Bit No.

Function
This command sets the logical sum of ST0 and ST1 into ST1, and shifts the contents of
the register one byte to the right to take the result from ST0.

Examples of OR.STK Command Usage

See Figure 8-7 and Table 8-8, and Figure 8-8 and Table 8-9 for examples using the
OR.STK command.

Note
In the example shown in Table 8-8, the results are the same even if the OR.STK in step
number 5 is moved between steps number 7 and number 8. However, if you code with
OR.STK and AND.STK repeatedly it is easier to make mistakes.

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Chapter 9: PLC Functional Commands

9.1 Overview

When you are already dealing with a program complex enough to control an NC
machine, creating a sequence program using only bit operation functions can be very
difficult. For example, digital controls of a rotational system can be made simpler with
these functional commands. So, for such programs, we have provided functional
commands (also known as “machine commands”). The different types of functional
commands and their descriptions are shown in Tables 9-1 and 9-2.

Command
No. Description
Ladder Format Code Format
1 TMR TMR Timer
2 TMRB SUB 24 Static Timer
3 TMRC SUB 54 Timer
4 DEC DEC Decode
5 DECB SUB 25 Binary Decode
6 CTR SUB 5 Counter
7 CTRC SUB 55 Counter
8 ROT SUB 6 Rotational Control
9 ROTB SUB 26 Binary Rotational Control
10 COD SUB 7 Code Transformation
11 CODB SUB 27 Binary Code Transformation
12 MOVE SUB 8 Masked Data Transfer
13 MOVOR SUB 28 Bit-Wise Sum Data Transfer
14 COM SUB 9 Common Line Control
15 COME SUB 29 Common Line Control Termination
16 JMP SUB 10 Jump
17 JMPE SUB 30 Jump Termination
18 PARI SUB 11 Parity Check
19 DCNV SUB 14 Data Conversion
20 DCNVB SUB 31 Extended Data Conversion
21 COMP SUB 15 Comparison
22 COMPB SUB 32 Binary Comparison

Table 9-1: Summary of Functional Commands (1 of 2)

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Command
No. Description
Ladder Format Code Format
23 COIN SUB 16 Equality Check
24 SFT SUB 33 Shift Register
25 DSCH SUB 17 Data Search
26 DSCHB SUB 34 Binary Data Search
27 XMOV SUB 18 Index Modify Data Transfer
28 XMOVB SUB 35 Binary Index Modify Data Transfer
29 ADD SUB 19 Addition
30 ADDB SUB 36 Binary Addition
31 SUB SUB 20 Subtraction
32 SUBB SUB 37 Binary Subtraction
33 MUL SUB 21 Multiplication
34 MULB SUB 38 Binary Multiplication
35 DIV SUB 22 Division
36 DIVB SUB 39 Binary Division
37 NUME SUB 23 Constant
38 NUMEB SUB 40 Binary Constant

Table 9-2: Summary of Functional Commands (2 of 2)

! CAUTION
The command format and the general usage are described at the
beginning of each functional command description. Important
information, such as the functional command specifications, is included
in this chapter, so you should review it carefully for each functional
command.

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9.1.1 Functional Command Format

Functional commands cannot be described by relay symbols, so they are written in a

different format (see Figure 9-1). This format is composed of control values, commands,
parameters, address W1, and addresses R9000~R9005 (the functional command register).
The functional commands also use the result history register.
The “(3)” specifies the ST3 bit in the result
history register.

Control Values
Parameter (Warning 1)
A B
(3)

L0 L1 NOTE:
C D
(2) The number inside the ( ) in
Parameter (1)
Parameter (2)
Parameter (3)
Parameter (4)

the Control Values section

Command

R2.4 R3.1 specifies which location in

W1 the result history register the
RST values are to be stored.
(1) R10.1

R5.7
ACT
(0)

R7.1 (E1)
7 6 5 4 3 2 1 0
R9000
R9001
R9002
R9003
R9004
R9005

Figure 9-1: Functional Command Format – Ladder Diagram and Functional Command
Register

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Coding Sheet Result History Register

Step Address Bit
Command Description ST3 ST2 ST1 ST0
No. No. No.
1 RD R1 . 0 A A

2 AND R1 . 1 B A•B

3 RD.STK R2 . 4 C A•B C

__
4 AND.NOT R3 . 1 D A•B C•D
__
5 RD.STK R5 . 7 RST A•B C•D RST

__
6 RD.STK R7 . 1 ACT A•B C•D RST ACT

__
7 SUB cc Command A•B RST ACT
C•D
__
8 cccc Param 1 A•B RST ACT
C•D
__
9 cccc Param 2 A•B RST ACT
C•D
__
10 cccc Param 3 A•B RST ACT
C•D
__
11 cccc Param 4 A•B RST ACT
C•D
__
12 WRT R10 . 1 W1 Out A•B C•D RST W1

Table 9-3: Functional Command Format – Coding

9.1.2 Control Values

Depending on the functional command, the number of control values and their
significances differ. Since the control values have specified locations in the Result
History Register to be put into, as shown in Table 9-3, there is a unique ordering of the
instructions. You cannot change the instruction order.

! CAUTION
Functional commands that have RST in their control inputs are all RST
prioritized. Therefore, even if ACT=0, the command executes the RST
operation if RST=1.

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9.1.3 Command

The different kinds of commands are as shown in Tables 9-1 and 9-2.

9.1.4 Parameters

Functional commands differ from basic commands in that they use numbers. These
numbers, such as basic data or an address for data, go into the system as parameters. The
number of parameters and their roles differ for each functional command.

Parameters are indicated as “(PRM)” in the coding sheets.

9.1.5 W1

When the functional command results in an output of one bit (“1” or “0”), then the result
can be stored in the address specified by W1. You can arbitrarily choose the address.
The logic behind W1 depends on the functional command; some functional commands do
not output a value.

9.1.6 Operation Data – Binary Coded Decimal or Binary Format

The data used in functional commands are either in BCD (Binary Coded Decimal) format
or binary format. The usual PLC sequence program uses BCD format for numerical data,
but for this PLC system, we recommend that you use binary format for the following
reasons:

1) For ServoWorks, the format of the data transferred (codes M, S, T and B)

between the ServoWorks Motion Engine ↔ PLC Engine is binary.

2) Since the CPU processes all numeric data in binary format, if the data is already
in binary format, it is not necessary to convert it, and it will increase the
processing speed.

3) Binary format allows for a larger range of numbers. Numbers previously out of
range become valid, and the range of functional commands also increases. A
binary format can use different numbers of bytes: 1 byte ( -128 ~ +127 ), 2 bytes
( -32,768 ~ +32,767 ), or 4 bytes ( -99,999,999 ~ +99,999,999 ).

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4) When importing different types of numeric data, or when displaying numerical

data, there is no inconvenience to using the BCD format. Although the data
stored in the internal memory is in binary digits, the number itself is encoded in
decimal format. Therefore, conversion back to decimal (for transfers and display)
is very simple. The only thing to be cautious of is when the program looks at
memory contents. See 9.1.7 Numerical Data Examples.

For these reasons, all functional commands can and usually will use binary data.

9.1.7 Numerical Data Examples

9.1.7.1 BCD Format Data

The basic data that uses the BCD format is either 1 byte ( 0 ~ 99 ) or 2 bytes ( 0 ~ 9999 )
long. A 4-digit BCD data goes into 2 successive bytes, as in the following example,
which shows when BCD data 1234 gets stored inside addresses R250 and R251.

7 6 5 4 3 2 1 0
R250 When specifying this data in a functional command, use
0 0 1 1 0 1 0 0 the earlier address R200.
3 4 (NOTE: The earlier address gets the lower two digits.)

7 6 5 4 3 2 1 0
R251 0 0 0 1 0 0 1 0

1 2

Figure 9-2: Example of BCD Format Data

9.1.7.2 Binary Format Data

The data that uses the binary format is either 1 byte ( -128 ~ +127 ), 2 bytes ( -32,768 ~
+32,767 ), or 4 bytes ( -99,999,999 ~ +99,999,999 ) long, and it is stored into addresses
R200, R201, R202 and R203 as shown in Figure 9-3:

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1 Byte Data ( -128 ~ +127 )

7 6 5 4 3 2 1 0
R200 ± 2 6
2 5
2 4
2 3
2 2
2 1
20

0: Positive
Symbol
1: Negative
2 Byte Data (-32,768 ~ +32,767)

7 6 5 4 3 2 1 0
R200 2 7
26 5
2 4
2 3
2 2
2 1
2 20

R201 ± 214 213 212 211 210 29 28

0: Positive
Symbol
1: Negative

4 Byte Data (-99,999,999 ~ +99,999,999)

7 6 5 4 3 2 1 0
R200 2 7
2 6
2 5
2 4
2 3
2 2
2 1
20

R201 215 214 213 212 211 210 29 28

R202 223 222 221 220 219 218 217 216

R203 ± 230 229 228 227 226 225 224

0: Positive
Symbol
1: Negative

Figure 9-3: Memory Storage of Binary Format Data

Functional commands use the earlier address R200 to specify the data. Furthermore,
negative numbers are represented using Two’s Complement notation.

To represent a negative number with Two’s Complement notation:

1) Write the binary format of the absolute value of the number.

2) Write the One’s Complement of that number. That is, take the number from Step
#1 and convert the ones into zeros and the zeros into ones.

3) Take the One’s Complement number from Step #2, and add one (1) to the result.

An example of Two’s Complement notation follows:

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Example of the number -17 represented in Two’s Complement notation:

0 0 0 1 0 0 0 1 (Binary format of +17)

1 1 1 0 1 1 1 0 (One’s Complement of +17)

+ 0 0 0 0 0 0 0 1 (Add 1)
1 1 1 0 1 1 1 1 (Two’s Complement Form of -17)

Several examples of data represented in binary format follow. The negative numbers are
represented with Two’s Complement notation.

7 6 5 4 3 2 1 0
0 0 0 0 0 0 0 1 (+1)

1 1 1 1 1 1 1 1 (-1)

0 1 1 1 1 1 1 1 (+127)

1 0 0 0 0 0 0 1 (-127)

Figure 9-4: Examples of Binary Format Data for 1 Byte Data

9.1.8 Addresses for the Numerical Data Handled by Functional

Commands

When the numerical data handled by a functional command is 2 bytes or 4 bytes long, we
recommend using an even address. By using an address that is even, you will slightly
decrease the execution time of the functional command.

The parameters of the functional commands with this feature, mainly on functional
commands that use binary data, are marked with an * on the parameter section of the
functional command format description. For an address to be even in an internal relay,
the numbers following the R are even, and for an address to be even in a data table, the
numbers following D are even.

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For addresses marked with an asterisk, when the data is either 2 or 4
bytes, you can optimize the command to speed up execution by using
an even number for that address.

A + B = C
RST
* * * Error
ADDB c cccc cccc cccc Output
W1
ACT (SUB36) Data to Increment
Increment Data Output
Command Format (Address) (Address) Address

Figure 9-5: Addresses of Numeric Data

9.1.9 Functional Command Register (R9000 ~ R9005)

This register holds the results of the functional commands. This register is shared by all
commands, so you must read the data immediately after the functional command finishes
executing; otherwise, it will be overwritten by the next command.

Furthermore, you cannot transfer the information in this register between the different
levels within the sequence program. For example, you cannot execute a subtraction
command (SUBB) in a level 1 program and then try to read this result within a level 2
program by looking at the address R9000.

The register is shared among programs in the same level, and it is stored until right before
the next command executes. The sequence program is able to read the value, but you
cannot write to it directly.
7 6 5 4 3 2 1 0
R9000
R9001
R9002
R9003
R9004
R9005
Figure 9-6: Functional Command Register

This register is a 6-byte register R9000 ~ R9005, and data can be entered 1 bit or 1 byte
at a time. In order to read the 1st bit of R9000, you use the command RD R9000.1.

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9.2 Descriptions of Functional Commands

9.2.1 TMR (Timer)

Function
This timer is an on-delay timer.

Format
Figure 9-7 shows the format for describing the command, and Table 9-4 shows the
coding format.
TMR cc Timer Relay
ACT

TMcc
Match
ccc·c Timer
Timer ccc·c
Control Command Number Number
Values

Figure 9-7: Format for the TMR Command

Coding Sheet
Step Address Bit
Command Description
No. No. No.
1 RD cccc · c ACT

2 TMR cc

3 WRT cccc · c TMcc

Table 9-4: Coding Format of the TMR Command

Control Values
Action Command (ACT)
ACT = 0: Turns off (makes “0”) the Timer Relay (TMcc).
ACT = 1: Timer turns on.

Timer Relay (TMcc)

As shown in Figure 9-8, when ACT = 1 for a specified time period, the timer relay turns
on. You can freely choose the timer relay address.

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ACT

TMcc T
Time T specified by
command
Figure 9-8: Timer Behavior for the TMR Command

Parameters
Timer Number
The time on the timer is set in the PLC Control Console application and is in units of ms.
Timers 1 ~ 8 are checked every 48 ms, and timers 9 ~ 100 are checked every 8 ms.
Therefore, on timers 1 ~ 8, the time intervals are evaluated on 48 ms intervals, and
remaining values less than 48 are disregarded. The timers 9 ~ 100 are set with times that
are integer multiples of 8, and the remainders are disregarded. For example, if you set
the timer to 38 ms, 38 = 8 × 4 + 6, the remainder 6 is disregarded and the timer is set as
32 ms.

Accuracy of the Timer

Timers 1 ~ 8 have times within the range 48 ms ~ 99,999,999 ms and are spread out
every 0 ~ +48 ms. Timers 9 ~ 40 have times within the range 8 ms ~ 99,999,999 ms and
are spread out every 0 ~ +8 ms.

The spread of the timer times only includes the timing error that occurs when executing
the timer command. Other delays are not included. For example, if the timer command
is used in sequence section 2, the time delay observed after startup and before the
sequence is evaluated (worst case: 1 complete cycle time of sequence section 2) is not
included.

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9.2.2 TMRB (Fixed Timer)

Function
This timer is an on-delay timer where the time is fixed. Because the timer described by
Section 10.2.1: TMR stores the time in memory, it is a dynamic timer that can change the
specified time through the PLC control screen when necessary. The fixed timer
permanently writes the time when the program is written, so once the time is set, it cannot
be changed unless the sequence program itself is changed.

Format
Figure 9-9 shows the format for describing the command.

TMRB ccc
ACT
c···c Timer Relay
(SUB24) TMB
ccc
Timer Time
Command Number Length

Figure 9-9: Format for the TMRB Command

Control Values
Action Command (ACT)
ACT = 0: Turns off (makes “0”) the timer relay (TMBccc).
ACT = 1: Timer turns on.

Timer Relay (TMBccc)

As shown in Figure 9-10, when ACT = 1 for a specified time period, the timer relay turns
on. You can freely choose the timer relay address.

ACT

TMB
T
Time T set by
command

Figure 9-10: Timer Behavior for the TMRB Command

Parameters

1) Timer Number
A number (1 ~ 100) that identifies the fixed timer.

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2) Time Length
This fixed timer is processed every 8 ms. Therefore, the time specified should be
an integral multiple of 8 ms, as any remainders are disregarded. For example, if
the timer value is specified to 38 ms, 38 = 8 × 4 + 6 and the remainder of 6 is
disregarded, resulting in a final value of 32 ms on the timer. The time ranges
from 8 ~ 262, 136 ms.

Accuracy of the Timer

The time delay on a fixed timer is between 0 ~ +8 ms. This delay only includes the delay
caused by the execution of the timer command. Other delays, such as execution of the
sequence program (1 cycle of level 2), are not included.

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9.2.3 TMRC (Timer)

Function
This timer is an on-delay timer.

Format
Figure 9-11 shows the format for describing the command, and Table 9-5 shows the
coding format.
TMRC ccc cccc cccc
ACT Timer Relay
(SUB54) TM
cc
Accuracy Timer Timer
of the Setting Register
Command Timer Address Address
Figure 9-11: Format for the TMRC Command

Step Address Bit

Command Description
No. No. No.
1 RD cccc · c

TMRC
2 SUB 54
Command

c Accuracy of
3 (PRM)
the Timer

ccc Timer Setting

4 (PRM)
Address
Timer
5 (PRM) cccc Register
Address

6 WRT cccc · c TMcc

Table 9-5: Coding Format of the TMRC Command

Control Values
Action Command (ACT)
ACT = 0: Turns off (makes “0”) the timer relay (TMcc).
ACT = 1: Timer turns on.

Parameters
1) Accuracy of the Timer
The timer’s accuracy can be specified as one of the following two choices:
0: 8 ms
1: 48 ms

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2) Timer Setting Address

This setting specifies the leading address of the timer’s time setting. The 2 bytes
starting with this address will contain the timer setting time. Usually, a D domain
address is used.
Timer time +0
TIME
Timer time +1

TIME: Timer Time (1 ~ 32,767)

Figure 9-12: TMRC Address of the Time Set of the Timer

The time setting of the timer is in 8 ms or 48 ms intervals, and this value is stored
in binary format. The timer setting time becomes as follows:
8 ms: 8 ~ 262,136 ms
48 ms: 48 ~ 1,572,816 ms

3) Timer Register Address

This setting specifies the leading address of the timer register address. The 4
bytes starting with this address will contain the timer register value. Usually, an
R domain address is used. The PC uses this region, so the sequence program
should not use it.

TMR Reg.
Register +2
Register +3

Figure 9-13: Timer Register Address for the TMRC Command

Timer Relay (TMcc)

As shown in Figure 9-14, after ACT = 1, the timer turns on, and after the specified time,
the timer relay turns on.

ACT

TMcc T
Time T set by
command

Figure 9-14: Timer Behavior for the TMRC Command

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9.2.4 DEC (Decoding)

Function
This command compares a two-line BCD coded signal with a specified BCD coded
signal. This command outputs “1” if they match, “0” otherwise. This command is
mainly used in the decoding of M functions and T functions.

Format
Figure 9-15 shows the format for describing the command, and Table 9-6 shows the
coding format.
Decode
DEC cccc cccc Result
Output
ACT
W1
ccc·c
Signal Decode ccc·c
Control Command Address Setting
Values
cc cc
Number Digit

Figure 9-15: Format for the DEC Command

Decoding Sheet
Step Address Bit
Command Description
No. No. No.
1 RD ccc · c ACT

2 DEC cccc

3 (PRM) cccc

ccc · c W1, Decode

4 WRT
Result Output

Table 9-6: Coding Format of the DEC Command

Control Values
Action Command (ACT)
ACT = 0: Turns off the output data (all 8) of the decode result output (W1).
ACT = 1: Starts the decoding, and outputs the decoded result to the decode output
address.

Parameters
1) Signal Address
The initial address of the two-line BCD coded signal.

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2) Decode Setting
There are two meanings to a decode setting: the number and the digit.

Decode setting: cc cc
Number Digit

a) Number Setting: The two-word number that is going to be used to decode.

b) Digit Setting: From the two digits in the decimal representation:

01: The top digit is set to 0 and only the bottom digit is decoded.
10: The bottom digit is set as 0 and the top digit is decoded.
11: Both digits are decoded.

Decode Result Output (W1)

W1 = 0: The value of the signal does not match the given number.
W1 = 1: The value of the signal matches the given number.
You can freely choose the address of W1.

Example of DEC Command Usage

See Figure 9-16 and Table 9-7 for an example of DEC command usage.

MF DEN
DEC F10 3011 M30 M30
X
F7.0 F1.3 R228.1

Figure 9-16: Ladder Diagram Example Using the DEC Command

Coding Sheet
Step Address Bit
Command Description
No. No. No.
1 RD F7 . 0

2 AND F1 . 3

3 DEC F10

4 (PRM) 3011

5 WRT R228 . 1 M30X

Table 9-7: Coding Example of the DEC Command

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9.2.5 DECB (Binary Decoding Processing)

Function
This command decodes a 1-, 2-, or 4-byte binary format code data. If the code data
matches one of the pre-specified 8 numbers, it outputs a “1” to the output bit
corresponding to the number it matched. If it does not match, it outputs “0”. One of the
parameters is the address of the leading number (out of 8). This command is mainly used
in decoding M functions and T functions.
Decode Output
DECB 7 6 5 4 3 2 1 0
Code cccc
Data (SUB25) cccc
··············· Decoded
1-, 2-, or 4- +0
Number
byte binary
” +1
data

·······
” +7
8 numbers: Decode Number +0, +1, +2,
, +7 will be the basis for decoding. For
example, if the decode number is 62:
1) The 8 numbers 62~69 become the basis.
2) If the Code Data is 62, output data bit 0 turns
on.
3) If the Code Data is 69, output data bit 7 turns
on.

Figure 9-17: Function for the DECB Command

Format
Figure 9-18 shows the format for describing the command.
*
ACT DECB c cccc cccc cccc
cccc
(SUB25)
Decoder
Data Code Data Decode Output
Command Length Address Setting Address

Figure 9-18: Format for the DECB Command

Control Values
Action Command (ACT)
ACT = 0: Turns off the output data (all 8) of the decoding result (W1).
ACT = 1: Starts the decoding, and outputs the decoded result to the decode output
address.

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Parameters

1) Data Length
The byte length of the code data.
When 1: Code data is 1-byte binary data.
When 2: Code data is 2-byte binary data.
When 4: Code data is 4-byte binary data.

2) Code Data Address

The address of the code data.

3) Decode Setting
The lead number of the eight numbers that are used to decode.

4) Decoder Output Address

The address that receives the output of the decoding result. Output requires one
byte.

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9.2.6 CTR (COUNTER)

Function
The most common use of the counter is to carry out addition. However, in the context of
machine control, the counter is used in various ways. The numbers in the counter (preset
value, addition value) can be specified to be in either BCD format or binary format,
depending on the system parameters of the PLC.

The counter has the following functionalities, which you can use appropriately depending
on the situation:

1) Preset Counter
This counter starts at a value, then when the counter exceeds the specified value,
it signals this event in the output. The preset value is set on the PLC control
screen. You can also specify the preset value within the sequence program.

2) Ring Counter
After passing the specified time, this counter continues and eventually loops back
to the starting number.

3) Up/Down Counter
This counter is a reversible counter; it can count both upwards and downwards.

4) Starting Value
Specifies the starting value of a counter as either “0” or “1.”

By combining the above functions, you can create not just an addition counter, but also a
two-way ring counter like the one shown in Figure 9-19. If you use the counter in this
way, you can determine the location of a rotation object.

. 8 1
7 2 Preset Value: 8
Default Value: 1
6 3
5 4

Figure 9-19: Ring Counter Created Using the CTR Command

Format
Figure 9-20 shows the format for describing the command, and Table 9-8 shows the
coding format.

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CN0

ccc·c
UPDOWN Count Result
CTR cc Output
ccc·c W1
RST (SUB5)
ccc·c
ccc·c
ACT
Counter
Command Number
ccc·c
Control
Values

Figure 9-20: Format for the CTR Command

Coding Sheet Result History Register

Step Address Bit
Command Description ST3 ST2 ST1 ST0
No. No. No.
1 RD ccc · c CN0 CN0

2 RD.STK ccc · c UPDOWN CN0 UPDOWN

3 RD.STK ccc · c RST CN0 UPDOWN RST

4 RD.STK ccc · c ACT CN0 UPDOWN RST ACT

CTR
5 SUB 5 CN0 UPDOWN RST ACT
Command

cc Counter
6 (PRM) CN0 UPDOWN RST ACT
Number

ccc · c W1, Count

7 WRT CN0 UPDOWN RST W1
Result Output

Table 9-8: Coding Format of the CTR Command

Control Values

1) Starting Value (CN0)

CN0 = 0: The counter starts from 0. (0, 1, 2, 3, …….., n0)
CN0 = 1: The counter starts from 1. (1, 2, 3, ……, n0)

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2) Up/Down (UPDOWN)
UPDOWN = 0: Specifies an Up-Counter. The starting value is chosen by
CN0.
UPDOWN = 1: Specifies a Down-Counter. A preset value becomes the
starting value.

3) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. On a reset, W1 becomes 0 and the counter value is restored
to the starting value.

! CAUTION
You should set RST as “0” normally and change it to “1” only when
resetting is necessary. If not, the memory may not be read properly.

4) Action Command (ACT)

The counter detects a rising edge of the ACT signal, and counts at that point.

“1” 0: Counter is off.

No change in W1.
ACT
“0” 1: Counts by reading
the rise from 0 to 1.
Count Count
Figure 9-21: Count Signal (Action Command) for the CTR Command

Parameters
Counter Number
There are 20 counters, each with 2 available bytes to use for the Preset Value and the
Addition Value, so the counter numbers that you can use are from 1~20.

Count Result Output (W1)

W1 = 0: When not counted until the preset value.
W1 = 1: When counted until the preset value.
You can assign the address of W1 arbitrarily.

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Examples of Counter Usage

Counter Example #1: A Preset Counter (See Figure 9-22.)

The preset counter counts, and when it reaches the specified number it outputs a signal.

• L1 is a circuit to create logic “ l.”

• Since the count range is 0~9999, CN0 needs to be 0, so the B junction of signal L
is used.

• To get an Up-Counter, a B junction of signal L1 is used to make UPDOWN = 0.

• The input signal from the machine side, CRST · M, is used as a counter reset
signal.

• The counter signal is M30X, a decoded NC output M code. The B junction of the
CUP is in series with the M30X so that, after the counter reaches the designated
value, it does not count any more (unless it receives a reset signal).

L1
L1
R200.1
R200.1
L1

R200.1
L1
(3)
(CN0) (1)
R200.1
L1
(2) Count-Up Out
(UPDOWN)
R200.1 CTR 0001
CUP
CRST.M
(1) (SUB5)
(RST) Y6.1
X36.0
CUP M30X
(0)
(ACT)
Y6.1 R200.3

Figure 9-22: Ladder Diagram For Counter Example #1

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Counter Example #2: Using a Counter In Order To Record The Location Of The
Rotational Object (See Figures 9-23 and 9-24.)
L1
“1”
R200.1
R200.1
L1

R200.1
L1
(3)
(CN0) (1)
R200.1
REV
(2)
(UPDOWN)
CTR 0002
R200.1
L1 (SUB5)
(1)
(RST) R200.0
R200.1
POS
(0)
(ACT)
X36.0

Figure 9-23: Ladder Diagram For Counter Example #2

4
3 5

2 6

1 7

12 8

11 9
10

Figure 9-24: Division of a Rotational Body for Counter Example #2

Figure 9-23 is the ladder diagram that stores the location of the rotational body in Figure
9-24.

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Counter Example #2 (con’t)

1) CONTROL VALUES

a) Counter Starting Number: If you think about the rotational body with twelve
angles in Figure 9-24, the count starting number is 1. With that in mind, in
order to make CN0 = 1, use the A junction of the signal L1.

b) Specifying the Up-Down Signal: REV is a signal that changes with the
rotational direction over time; REV changes into “0” when turning in the right
direction, and “1” when turning in the reverse direction. So, when the rotation
is in the right direction, the counter works as an up-counter, and when the
rotation is in the reverse direction, it works as a down-counter.

c) Reset: In the example, the W1 is not used. Therefore, RST = 0 all the time,
and the B junction of the signal L1 is used.

d) Count Signal: The count signal POS is a signal that alternates between ON-
OFF 12 times when the rotational body turns once.

2) COUNTER NUMBER AND W1

In this example, counter 2 was used. Although the result of W1 is not used
elsewhere, you must designate an address for W1.

3) ACTION

a) Specifying the Preset Value: The rotational body controlled here has 12 edges
(Figure 9-24), so you must set the preset value of the counter as 12. To set the
preset value to 12, the PLC control screen is used.

b) Specifying the Current Value: You must first synchronize the rotational body
location with the current counter value. This value is set in the PLC control
screen. After this initialization is done once, the counter will correctly
represent the current location.

c) After the above a) and b) are done, then every time the rotational body rotates,
the POS turns ON and OFF and the counter 2 counts the number of rotations.
The counter counts in the following way:

When the rotation is in the forward direction:

1, 2, 3, · · · · · · · · · · · , 11, 12, 1, 2, · · · · · · · · · · ·
When the rotation is in the reverse direction:
1, 12, 11, · · · · · · · · · · · , 3, 2, 1, 12, · · · · · · · · · · ·

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9.2.7 CTRC (Counter)

Function
This counter uses numeric data in binary format. The following types can be used
according to the situation:

1) Preset Counter
This counter is given a number to count to, previously specified, and when the
counter exceeds this value, the counter outputs a signal.

2) Ring Counter
After this counter reaches the preset value, it cycles to the starting value and starts
again.

3) Up/Down Counter
This counter is a reversible counter; it can count both upwards and downwards.

4) Starting Value
Specifies the starting value of a counter as either “0” or “1.”

Format
Figure 9-25 shows the format for describing the command, and Table 9-9 shows the
coding format.

CN0
CTRC cccc cccc
UPDOWN Up
(SUB55) Counter
Output
RST
W1
Counter
Preset Counter
ACT
Value Register
Command Address Address
Figure 9-25: Format for the CTRC Command

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Step Address Bit

Command Description
No. No. No.
1 RD cccc · c CN0

2 RD.STK cccc · c UPDOWN

3 RD.STK cccc · c RST

4 RD.STK cccc · c ACT

CTRC
5 SUB 55
Command

cccc Count Preset

6 (PRM)
Value Address
Counter
7 (PRM) cccc Register
Address
W1, Up
8 WRT cccc · c Counter
Output

Table 9-9: Coding Format of the CTRC Command

Control Values

1) Starting Value (CN0)

CN0 = 0: The counter starts from 0. (0, 1, 2, 3, ..........., n0.)
CN0 = 1: The counter starts from 1. (1, 2, 3, ............., n0.)

2) Up/Down (UPDOWN)
UPDOWN = 0: Up Counter. The starting values are:
0 when CN0 = 0
1 when CN0 = 1
UPDOWN = 1: Down Counter. A preset value becomes the starting value.

3) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. On a reset, W1 becomes 0 and the counter value is restored
to the starting value.

4) Action Command (ACT)

The counter detects a rising edge of the ACT signal, and counts at that point.

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“1” 0: Counter is off.
No change in W1.
ACT
“0” 1: Counts by reading
the rise from 0 to 1.
Count Count

Figure 9-26: Count Signal (Action Command) for the CTRC Command

Parameters

1) Counter Preset Value Address

This parameter is the leading address of the counter preset value in memory. The
two bytes starting from the lead address store the counter preset value. Usually,
an address in the D range is used.

Preset Value +0
CTR CTR Preset Val (0 ~ 32,767)
Preset Value +1
Figure 9-27: Address of the Counter Preset Value for the CTRC Command

The counter preset value is given in binary format, so you can specify values 0 ~
32,767.

2) Counter Register Address

This parameter is the leading address for the counter register. The four bytes
starting from the lead address store the values for the counter register. Usually, an
address in the D range is used.

! CAUTION
If an address in the R region is used for a counter register, the value is
reset to 0 when the power is turned on.

Up Counter Output (W1)

W1 = 0: When the counter does not exceed the preset value.
W1 = 1: When the counter exceeds the preset value.
The address of W1 can be assigned arbitrarily.

Count Register +0
CTR Counter Value
Count Register +1
Count Register +2
WORK WORK: Unusable
Count Register +3

Figure 9-28: Address of the Up Counter Output for the CTRC Command

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9.2.8 ROT (Rotational Control)

Function
This command is used for controlling a rotational system like a rotational knife
sharpener, ATC, or a rotating table with the following functions:

1) Provides a shortcut for distinguishing the direction of rotation.

2) Calculates the number of steps between the current location and the destination.

3) Calculates the location or the number of steps to the location one before the
destination.

Format
Figure 9-29 shows the format for describing the command, and Table 9-10 shows the
coding format.
RN0 (5)
(1) (2) (3) (4)
cccc·c
BYT (4)

cccc·c Rotational
DIR (3) Direction
ROT Output
cccc cccc cccc cccc
cccc·c W1
POS (SUB6)
(2)
cccc·c
cccc·c
INC (1)

cccc·c Current Destination Result

ACT (0) Number of Location Location Output
Command Divisions Address Address Address
cccc·c
Control Values

Figure 9-29: Format for the ROT Command

Coding Sheet Result History Register

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Step Address Bit

Command Description ST5 ST4 ST3 ST2 ST1 ST0
No. No. No.

1 RD cccc · c RN0 RN0

2 RD.STK cccc · c BYT RN0 BYT

3 RD.STK cccc · c DIR RN0 BYT DIR

4 RD.STK cccc · c POS RN0 BYT DIR POS

5 RD.STK cccc · c INC RN0 BYT DIR POS INC

6 RD.STK cccc · c ACT RN0 BYT DIR POS INC ACT

ROT
7 SUB 6 RN0 BYT DIR POS INC ACT
Command

cccc Number of
8 (PRM) RN0 BYT DIR POS INC ACT
Divisions
Current
9 (PRM) cccc Location RN0 BYT DIR POS INC ACT
Address
Destination
10 (PRM) cccc Location RN0 BYT DIR POS INC ACT
Address

cccc Result Output

11 (PRM) RN0 BYT DIR POS INC ACT
Address
W1,
ccc · c Rotational
12 WRT RN0 BYT DIR POS INC W1
Direction
Output

Table 9-10: Coding Format of the ROT Command

Control Values

1) Rotational Body Starting Number (RN0)

RN0 = 0: The rotational body location number starts from 0.
RN0 = 1: The rotational body location number starts from 1.

2) Data Size (BYT)

BYT = 0: The data is 2-digit BCD.
BYT = 1: The data is 4-digit BCD.

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3) Whether Or Not To Distinguish the Direction of Rotation (DIR)
DIR = 0: No distinction of direction of rotation; it will always be FOR
direction.
DIR = 1: Distinguishes the direction of rotation. See the Rotational Direction
Output (W1) section for more information.

4) Type of Calculation (POS)

POS = 0: Calculates to the destination.
POS = 1: Calculates to the location one before the destination.

5) Calculate Location or the Number of Steps (INC)

INC = 0: Calculates the number of a location. (To calculate the location one
before the destination, specify INC = 0 and POS = 1.)
INC = 1: Calculates the number of steps. (To calculate the difference between
the current location and the destination, specify INC = 1 and POS =
0.)

6) Action Command (ACT)

ACT = 0: No execution of the ROT command. No change in W1.
ACT = 1: Execution of the ROT command.
Usually ACT = 0, and when a calculation result is necessary, ACT = 1.

Parameters

1) Number of Divisions
Specifies the rotational body’s calculation number.

2) Current Location Address

This is the address that contains the current location of the machine.

3) Destination Location Address

This is the address where the destination location (or the command location) is
stored. For example, this is the output of the NC, stored among the T-code
address region.

4) Result Output Address

This is the address where the result of the unit is stored. The result can be the
number of steps to turn to the destination, to one before the destination, or the
location of the step one before the destination. When using this value, make sure
that ACT = 1.

Rotational Direction Output (W1)

When using the shortcut controls, the direction of rotation is output to W1.

W1 = 0: Specifies the FOR direction.

W1 = 1: Specifies the REV direction.

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See Figure 9-30 for definitions for FOR (forward) and REV (reverse). When looking
from a specific point, the direction that increases the location number is FOR, the
direction that decreases the location number is REV. The address of W1 can be assigned
arbitrarily. In order to use the results from W1 you must make sure that ACT = 1.
(a) (b)
1 1
12 2 2 12

11 3 3 11
FOR REV REV FOR
10 4 4 10

9 5 5 9

8 6 6 8
7 7

Measurement Point Measurement Point

Figure 9-30: Rotation Direction Rule – 12-Division Example

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9.2.9 ROTB (Binary Rotational Control)

Function
This command is used for controlling a rotational body such as ATC and a rotational
table. In contrast to the ROT command (Section 9.2.8) where the parameter of the
rotational calculation number is fixed, this command specifies an address to the data, so
the data can change while execution occurs. Also, all data used is in binary format. The
rest of the specifications are the same as the ROT command.

Format
Figure 9-31 shows the format for describing the command.

RN0
* * * *
DIR
Rotational
Direction
Output
POS
ROTB c cccc cccc cccc cccc
W1
(SUB26)
INC

Division Current Destination Result

ACT
Data Number Location Location Output
Command Length Address Address Address Address
Figure 9-31: Format for the ROTB Command

Control Values
1) Rotational Body Starting Number (RN0)
RN0 = 0: The rotational body location number starts from 0.
RN0 = 1: The rotational body location number starts from 1.

2) Whether Or Not To Distinguish the Direction of Rotation (DIR)

DIR = 0: No distinction of direction of rotation; it will always be FOR
direction.
DIR = 1: Distinguishes the direction of rotation. See the Rotational Direction
Output (W1) section for the specifications.

3) Type of Calculation (POS)

POS = 0: Calculates to the destination.
POS = 1: Calculates to the location one before the destination.

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4) Calculate Location or the Number of Steps (INC)
INC = 0: Calculates the number of a location. (To calculate the location one
before the destination, specify INC = 0 and POS = 1.)
INC = 1: Calculates the number of steps. (To calculate the difference between
the current location and the destination, specify INC = 1 and POS =
0.)

5) Action Command (ACT)

ACT = 0: No execution of the ROT command. No change in W1.
ACT = 1: Execution of the ROT command.
Usually ACT = 0, and when a calculation result is necessary, ACT = 1.

Parameters

1) Data Length
Specifies the byte length of the data in the first digit of the parameters.
When 1: Data is 1-byte binary data.
When 2: Data is 2-byte binary data.
When 4: Data is 4-byte binary data.
The numeric data (rotational body divisions and the current location data) is in
binary format, and the specified number of bytes is necessary in memory.

2) Division Number Address

The address where the number of rotational body divisions.

3) Current Location Address

This is the address that contains the current location of the machine.

4) Destination Location Address

This is the address where the destination location (or the command location) is
stored. For example, this is the output of the NC, stored among the T-code
address region.

5) Result Output Address

This is the address where the result of the unit is stored. The result can be the
number of steps to turn to the destination, to one before the destination, or the
location of the step one before the destination. When using this value, make sure
that ACT = 1.

Rotational Direction Output (W1)

When using the shortcut controls, the direction of rotation is output to W1.

W1 = 0: Specifies the FOR direction.

W1 = 1: Specifies the REV direction.

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See Figure 9-30 for definitions for FOR (forward) and REV (reverse). When looking
from a specific point, the direction that increases the location number is FOR, the
direction that decreases the location number is REV. The address of W1 can be assigned
arbitrarily. In order to use the results from W1 you must make sure that ACT = 1.

Example of ROTB Command Usage

The ladder diagram showing the shortcut rotation control of the twelve-position rotational
body, where the speed reduces one position prior to the destination, is shown in Figure 9-
32.

• The destination is specified by the ServoWorks mapping tables as the 32 bits of

binary in addresses F26-F29.

• The current location is specified from the machine tool in the signal (address
X41) in binary.

• The location of the position one prior to the destination is output into address
R230.

• Execution start is designated by the signal TF (address F7.3), an output from the
ServoWorks Motion Engine.

• A comparator (COIN) is used to detect the speed reduction position and the
stopping position.

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A Logic 1
A
R0228.0
R0228.0
A

R0228.0
A (4) ROTB 4 D0000 X0041 F0026 R0230
R0228.0 (SUB26)
A (3) Normal Division Current Destin. Result
R0228.0 Data number Pos. Pos. Output
Format Address Address Address
A (2) CR- Shortcut
CCW Decision
R0228.0 R0228.1 Result
A (1)

R0228.0
TF (0)

F0007.3 Y0005.6 Y0005.7

TF COMPB 1004 R0230 X0041
(0)
(SUB32) Data Data Comp
F0007.3 Format Data Addr Detect
TF
TDEC Slowing
R9000.0 F0007.3 Pos.
R0228.2
TDEC TF DEC Slowing
-M Command
R0228.2 F0007.3 Y0005.5
TCOMPB DEC-M

R0228.3 Y0005.5
TF (0) COMPB 1004 F0026 X0041
(SUB32) Data Data Comp
F0007.3 Format Data Addr
Dest. Pos
TF TCO (Stop Pos)
MPB
R9000.0 F0007.3 Detection
R0228.3
TF CR-CCW TCOMPB Turn
CW-M
Forward
F0007.3 R0228.1 R0228.3 Y0005.6
TF CR-CCW TCOMPB CCW Turn
-M Backward
F0007.3 R0228.1 R0228.3 Y0005.7

Figure 9-32: Ladder Diagram Example Using the ROTB Command

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9.2.10 COD (Code Transformation)

Function
This command transforms BCD code to 2- or 4-digit BCD numbers. The input and
output address as well as the transformation data table are required, as shown in Figure 9-
33. The input address specifies, in 2-digit BCD, the row number of the table to access.
The values are entered into the transformation data table in 2-digit or 4-digit BCD. The
value at the output address will contain the value stored in the specified row in the
transformation data table. For example, as in Figure 9-33, the input contains the value 3,
so the contents of the transformation data table at row 3, 137, is output to the data output
address.
Row Transformation
No. Data Table
Input Data 0
Address 3
cccc 1
Specify row number here
(2-digit BCD). 2
3 137
4

········· ···········
Data Output
Address
cccc Data in the specified row
in the table is put into this
address. n

Figure 9-33: Code Transformation Using the COD Command

Format
Figure 9-34 shows the format for describing the command, and Table 9-11 shows the
coding format.

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BYT
COD cccc cccc cccc
ccc·c Error Output
RST (SUB7)
W1
ccc·c Input Output
ACT Number Data Data
Command of Rows Address Address
ccc·c
Control
Values
Row
Data Table
Number
1 c c c c
2 c c c c
3 c c c c
4 c c c c

Figure 9-34: Format for the COD Command

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Coding Sheet Result History Register

Step Address Bit
Command Description ST3 ST2 ST1 ST0
No. No. No.

1 RD ccc · c BYT BYT

2 RD.STK ccc · c RST BYT RST

3 RD.STK ccc · c ACT BYT RST ACT

COD
4 SUB 7 BYT RST ACT
Command

cccc Number of
5 (PRM) BYT RST ACT
Rows (1)

cccc Input Data

6 (PRM) BYT RST ACT
Address (2)

cccc Output Data

7 (PRM) BYT RST ACT
Address (3)

cccc Row 0 Data in

8 (PRM) BYT RST ACT
Table (4)

cccc Row 1 Data

9 (PRM) BYT RST ACT
(5)
٠ ٠ ٠
10 ٠ ٠ ٠ BYT RST ACT
٠ ٠ ٠

ccc · c W1, Error

11 WRT BYT RST W1
Output

Table 9-11: Coding Format of the COD Command

Control Values

1) Data Size (BYT)

BYT = 0: The data inside the transformation data table is 2-digit BCD.
BYT = 1: The data inside the transformation data table is 4-digit BCD.

2) Error Reset (RST)

RST = 0: No reset.
RST = 1: Resets. In other words, W1 becomes “0.”

3) Action Command (ACT)

ACT = 0: No execution of the COD Command. No change in W1.
ACT = 1: Execution of the COD Command.

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Parameters

1) Number of Rows
The size of the transformation data table (the number of rows). Possible values
lie within the range 00~99. If n is the last row number, then value n+1 should be
the table size.

2) Input Data Address

The data from the transformation data table is specified using a row number. The
input address is the location where the row number can be found. The row
number is 1 byte (2-digit BCD).

3) Output Data Address

The output address is the location where the data from the transformation data
table is to be transferred to. If the conversion data is 2-digit BCD, then the
memory location specified is 1 byte. If the conversion data is 4-digit BCD, then
the memory location is 2 bytes.

Error Output (W1)

W1 = 0: No error.
W1 = 1: Error.
For example, if the command tries to access a row number greater than the table size,
then W1 becomes “1.” When W1 = 1, we recommend handling the error with an
interlock appropriate to each application, such as making the error lamp in the machine
control panel light on and off, or stopping the rotation of the axis.

Transformation Data Table

The size of the transformation data table is 100, rows 00 to 99. The data in the table can
either be in 2- or 4-digit BCD, as specified in the control values.

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9.2.11 CODB (Binary Code Conversion)

Functions
This command converts binary style data into 1-, 2- or 4-byte size binary. To carry out
the data conversion, the command requires the input and output data address and the
transformation data table, as shown in Figure 9-35. CODB function differs from the
COD function (Section 9.2.10), in that it utilizes numeric data that is in 1-, 2-, or 4-byte
size binary style and the transformation data table size can be expanded to a maximum of
256 rows.

Row Transformation
Number Data Table
Input Data
Address 2 0
cccc
Put the Table Row 1
Number Here (1-byte NOTE:
binary) 2
2) This is for a 2-
byte binary case.
3
Data Output
······

Address 1250 3) The table is

cccc written to ROM
Data in the row specified with the program.
··········

is put here.

(nmax=255) n

Figure 9-35: Code Transformation Using the CODB Command

Format
Figure 9-36 shows the format for describing the command.

. *
RST Error
CODB c ccc cccc cccc Output
(SUB27) W1
ACT
Input Output
Data Number Data Data
Command Length of Data Address Address

Figure 9-36: Format for the CODB Command

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Control Values

1) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. In other words, W1 becomes “0.”

2) Action Command (ACT)

ACT = 0: No execution of the CODB command.
ACT = 1: Execution of the CODB command.

Parameters

1) Data Length
The byte length of the numeric binary data inside the transformation data table.
When 1: Numeric data is 1-byte binary data.
When 2: Numeric data is 2-byte binary data.
When 4: Numeric data is 4-byte binary data.

2) Number of Data
The size of the transformation data table. Size ranges from 0~255; the maximum
number of rows is 256.

3) Input Data Address

The data from the transformation data table is specified using a row number. The
input address is the location where the row number can be found. The row
number is 1 byte (eight bits).

4) Output Data Address

The location to where the data from the transformation data table is to be
transferred. The amount of memory necessary is the byte size specified in the
command.

Transformation Data Table

The size of the conversion data table ranges from 0~255 for a maximum of 256 rows.

Error Output (W1)

W1 = 0: No error.
W1 = 1: Error.

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9.2.12 MOVE (Masked Data Transfer)

Function
This command performs a bit-wise product (AND) of the specified data and the input
data, the value output to the output address. Use this command when you are specifying
only certain bits of the 8-bit signal within an address, also called “masking the value.”

(Data) * (Input Data)→ Output into Output Data Address

The input data is 1 byte (8 bits).

7 6 5 4 3 2 1 0

Input Data 0 0 0 0 0 0 0 0

Logic Data
c c c c c c c c
Upper 4 bits Lower 4 bits

Figure 9-37: Input Data and Logic Data for the MOVE Command

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Format
Figure 9-38 shows the format for describing the command, and Table 9-12 shows the
coding format.

(1) (2) (3) (4)

ACT MOVE cccc cccc cccc cccc
(SUB8)
Upper 4 Lower 4 Input Output
cccc·c Bits Logic Bits Logic Data Data
Control Command Data Data Address Address
Values
Figure 9-38: Format for the MOVE Command

Coding Sheet Result History Register

Step Address Bit
Command Description ST3 ST2 ST1 ST0
No. No. No.
1 RD ccc · c ACT ACT

MOVE
2 SUB 8 ACT
Command

cccc Upper 4 Bits

3 (PRM) ACT
Logic Data (1)

cccc Lower 4 Bits

4 (PRM) ACT
Logic Data (2)

cccc Input Data

5 (PRM) ACT
Address (3)

cccc Output Data

6 (PRM) ACT
Address (4)

Table 9-12: Coding Format of the MOVE Command

Control Values
Action Command (ACT)
ACT = 0: No execution of the MOVE command.
ACT = 1: Execution of the MOVE command.

Example of MOVE Command Usage

When the code signal and a different signal are mixed inside the input signal address X35
of the machine, the bits not corresponding to the address X35 code signal are an
obstruction in comparing the code signal of address X35 to a code signal of a different
address. Therefore, using the MOVE command, only the code signal in address X35 is
output into address R210.

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7 6 5 4 3 2 1 0

Address X35

Other Code Code

Signals Signals

Logic Data 0 0 0 1 1 1 1 1

Upper 4 Bits Lower 4 Bits

Logic Data Logic Data

Address R210 0 0 0

Code Signal

A
MOVE (1) (2) (3) (4)

(SUB8) 0001 1111 X035 R210

R228.1

Figure 9-39: Ladder Diagram Example Using the MOVE Command

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9.2.13 MOVOR (Bit-Wise Sum Data Transfer)

Function
This command carries out the bit-wise sum (OR) of the input data and the logic sum data
(each is 1 byte) and transfers the data into the output address.

Input Data Logic Sum Data Output Data

OR

Figure 9-40: Function of the MOVOR Command

Format
Figure 9-41 shows the format for describing the command.

MOVOR cccc cccc cccc

ACT
(SUB28)

Logic Sum Output

Input Data Data Data
Command Address Address Address

Figure 9-41: Format for the MOVOR Command

Control Values
Action Command (ACT)
ACT = 0: No execution of the MOVOR command.
ACT = 1: Execution of the MOVOR command.

Parameter

1) Input Data Address

The address for the input data.

2) Logic Sum Data Address

The address where the logic sum is carried out.

3) Output Data Address

Address for output after the sum. You can output the result back into the logic
sum data location, by specifying the output address to be the same address as the
logic sum data address.

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9.2.14 COM (Common Line Control)

Function
This command can force a region of coils to be in the off state. The region can be
specified by the number of successive coils, or until the common line control termination
command (COME). See Figure 9-42. If the number of coils is specified to be a non-zero
number, then that many coils are automatically turned off. If the number of coils is zero,
then the region up to the COME command is turned off. If the coil number is non-zero,
but a COME command is there, then an error is displayed when the program ends.

ACT
COM cccc
No. of Coils
(SUB9)
to Turn Off
0 ~ 9999
0: Region
Otherwise: Number

COME Used only when

the number of
(SUB29)
coils is set to 0.

Figure 9-42: Function of the COM Command

Format
Figure 9-43 shows the format for describing the command.

COM cccc

(SUB9)

No. of Coils
Command to Turn Off

Figure 9-43: Format for the COM Command

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Control Values
Action Command (ACT)
ACT = 0: Sets the coils in the specified region to “0” unconditionally.
ACT = 1: No action.
The command takes effect starting at the step after the COM command.

Parameters
Number of Coils to Turn Off
Must be a number between 0-9999.
When 0 is specified: Becomes area-specific as explained above.
When a number other than 0 is specified: Becomes coil number specific.

ACT A B
W1

ACT C
W2

E F G
W3

Figure 9-44: Relay Circuit

! CAUTION
The commands within the specified area are executed regardless of the
ACT value. However, when ACT=0, the result coil unconditionally
becomes 0.

! CAUTION
Nested COM calls are not allowed.

! CAUTION
Coils written with the command WRT.NOT are unconditionally set to
1 when ACT=0 for the COM.

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Examples of COM Command Usage
See Figures 9-45 and 9-46 for examples of COM command usage.

ACT
NOTE: COM 2

(a) ACT=1: Executes from (a)

the next step.
A B
(b) ACT=0: Unconditionally ACT=1 W1
turns W1, W2 11.0 11.1
off, starts at (b)
C
next step.
W2

E F G
W3
ACT=0

Figure 9-45: Ladder Diagram Using the COM Command

ACT
COM 3

Regardless of COM,
A B if ACT1=1, then the
W1 MOVE command is
executed, and data
is transferred.
ACT1 Upper 4 Lower 4
Input Output
Bits Bits
MOVE Data Data
Logic Logic
Address Address
Data Data

D Normal Comparison If ACT=1, W2=0

COIN W2 regardless.
Value Data
ACT2 Address Address

E
W3

Figure 9-46: Ladder Diagram Example Using COM, MOVE and COIN Commands

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9.2.15 COME (Common Line Control Termination)

Function
This command ends the region specified by a COM command. You cannot use this
command by itself; you must always pair it with the COM command.

Format
Figure 9-47 shows the format for describing the command.
COME

(SUB29)

Command
Figure 9-47: Format for the COME Command

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9.2.16 JMP (Jump)

Function
This command skips calculations for a region of coils. The region can be specified by the
number of successive coils, or until the Jump termination command (JMPE). If the
number of coils is specified to be a non-zero number, then that many coils are
automatically skipped. If the number of coils is zero, then the region up to the JMPE
command is turned off (skipped). If the coil number is non-zero, but a JMPE command
is there, then an error is displayed when the program ends.

cccc
ACT JMP
No. of
(SUB10) Coils to
Turn Off
0~9999
0: Region
Otherwise: Number

JMPE Used only when

the number of
SUB30
coils = 0.
Figure 9-48: Function of the JMP Command

Format
Figure 9-49 shows the format for describing the command, and Table 9-13 shows the
coding format.
JMP cccc
ACT
(SUB10)
No. of
Coils to
Command Jump
Figure 9-49: Format for the JMP Command

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Step Address Bit

Command Description
No. No. No.

1 RD ccc · c ACT

JMP
2 SUB 10
Command

cccc No. of Coils to

3 (PRM)
Jump

Table 9-13: Coding Format of the JMP Command

Control Values
Action Command (ACT)
ACT = 0: No jump. Program continues execution after the JMP command.
ACT = 1: Skips calculations for the specified area, restarting calculations from the
following step.

Parameter
Number of Coils to Jump
Must be a number between 0-9999.
When 0 is specified: Becomes an area specific jump.
When a value other than 0 is specified: Becomes a coil number specific jump.

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Example of JMP Command Usage

See Figure 9-50 for a ladder diagram example utilizing the JMP command.

ACT JMP
2
(SUB10)

A
W1
ACT=0
10.1 20.1
B
W2

E F
W3
ACT=1

Figure 9-50: Ladder Diagram Example Using the JMP Command

When ACT = 0, the program continues execution after the JMP command (i.e. no jump).

When ACT = 1, the sequences for the region delimited by the number of coils are
“jumped” and the results of the logic calculations do not affect the coil value. In other
words, when ACT = 1, in Figure 9-50, when the signal changes from “1”↔ “0”, W1
remains under the same condition as before ACT = 1. Similarly, even if signals B, C, and
D change, W2 is not changed. However, JMP commands do not decrease the execution
time of the program.

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9.2.17 JMPE (Jump Termination)

Function
This command marks the end of the region specified for the Jump Command (JMP). You
cannot use this command by itself; you must always pair it with the JMP command.

Format
Figure 9-51 shows the format for describing the command.

JMPE

(SUB30)

Command
Figure 9-51: Format for the JMPE Command

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9.2.18 PARI (Parity Check)

Function
This command carries out the parity check for the code signal and outputs an error if the
parity check fails. The check looks at 1 byte of data (8 bits) and performs odd or even
parity check.

A parity check is used to reveal errors in storage or transmission. An extra bit (called the
“parity bit”) is added to a byte or word. In even parity, that bit is set to either “0” or “1,”
whichever would make an even number of “1” bits in the byte. In odd parity, that bit is
also set to either “0” or “1,” whichever would make an odd number of “1” bits in the
byte.

For example, for even parity, if the first seven bits of a byte are 0 1 1 0 1 0 0, then the
parity bit needs to be “1” to make four (an even number) “1” bits. The entire byte would
be as follows: 1 0 1 1 0 1 0 0.

A single parity bit can only reveal odd bit errors, since if an even number of bits is
wrong, then the parity bit will not change. Also, if there is an error, the parity check
won’t be able to pinpoint which bit is wrong. However, parity checks are still quite
useful.

Format
Figure 9-52 shows the format for describing the command, and Table 9-14 shows the
coding format.

O ·E
(2)
PARI cccc
cccc·c Error Output
RST (SUB11)
(1)
W1
cccc·c Check cccc·c
ACT Data
(0)
Command Address
cccc·c
Control
Values
Figure 9-52: Format for the PARI Command

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Coding Sheet Result History Register

Step Address Bit
Command Description ST3 ST2 ST1 ST0
No. No. No.
1 RD ccc · c ACT O ·E

2 RD.STK ccc · c ACT O ·E RST

3 RD.STK ccc · c ACT O ·E RST ACT

PARI
4 SUB 11 O ·E RST ACT
Command

cccc Check Data

5 (PRM) O ·E RST ACT
Address

cccc · c W1, Error

6 WRT O ·E RST W1
Output

Table 9-14: Coding Format of the PARI Command

Control Values

1) Odd or Even Parity (O·E)

O·E = 0: Even parity check.
O·E = 1: Odd parity check.

2) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. In other words, W1 becomes “0”. If there is a parity error
and RST=1, then the program is reset.

3) Action Command (ACT)

ACT = 0: No execution of the PARI command. No parity check is carried
out. No change in W1.
ACT = 1: Execution of the PARI command. A parity check is carried out.

Error Output (W1)

W1 = 0: No error.
W1 = 1: Error. (i.e. when ACT=1 and the parity check fails.)

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Example of PARI Command Usage

Figure 9-53 shows the odd number parity check of a code signal that gets input into
address X036.
7 6 5 4 3 2 1 0

Address X036 0

Odd Parity Code Signal

Bit (6 bits)
A
A
R228.0
R228.0
A

R228.0
A
(2)

R228.0
ERST.M PARI
(1) X036 ERR
(SUB11)
X32.7
TF
(0)

F7.3

Figure 9-53: Ladder Diagram Example Using the PARI Command

! CAUTION
Out of bits 0~7, the bits that do not correspond to parity check have to
be “0”.

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9.2.19 DCNV (Data Conversion)

Function
This command converts binary code into BCD code, and vice versa.

Format
Figure 9-54 shows the format for describing the command, and Table 9-15 shows the
coding format.
BYT (3)
(1) (2)
ccc·c DCNV cccc cccc
CNV (2)
(SUB14) Error Output
ccc·c W1
RST (1)
ccc·c
ccc·c Output
ACT (0) Input Data Data
Command Address Address
ccc·c
Control Values

Figure 9-54: Format for the DCNV Command

Coding Sheet Result History Register

Step Address Bit
Command Description ST3 ST2 ST1 ST0
No. No. No.
1 RD ccc · c BYT BYT

2 RD.STK ccc · c CNV BYT CNV

3 RD.STK ccc · c RST BYT CNV RST

4 RD.STK ccc · c ACT BYT CNV RST ACT

DCNV
5 SUB 14 BYT CNV RST ACT
Command

cccc · c Input Data

6 (PRM) BYT CNV RST ACT
Address (1)

cccc Output Data

7 (PRM) BYT CNV RST ACT
Address (2)

ccc · c W1, Error

8 WRT BYT CNV RST W1
Output

Table 9-15: Coding Format of the DCNV Command

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Control Values

1) Data Size (BYT)

BYT = 0: Processing 1-byte data (8 bits).
BYT = 1: Processing 2-byte data (16 bits).

2) Conversion Format (CNV)

CNV = 0: Converts binary code into BCD code.
CNV = 1: Converts BCD code into binary code.

3) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. When W1 = 1 and RST = 1, then W1 becomes “0.”

4) Action Command (ACT)

ACT = 0: No conversion of data. No change in W1.
ACT = 1: Carries out data conversion.

Error Output (W1)

W1 = 0: Normal (no conversion error).
W1 = 1: Conversion error. (W1 = 1 when the input data that needs to be BCD data is
in binary, or when converting binary data into BCD data, the data size (byte
size) goes over the previously specified value.)

Example of DCNV Command Usage

See Figure 9-10(c)

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9.2.20 DCNVB (Extended Data Conversion)

Function
This command converts binary code of 1, 2, or 4 bytes into BCD code, or BCD code into
binary code. Memory with specified byte length is necessary for the conversion result
output data.

Format
Figure 9-55 shows the format for describing the command.
SIN
* *
DCNVB c cccc cccc
CNV
(SUB31) Error
Output
RST
W1

Output
ACT Data Input Data Data
Command Length Address Address

Figure 9-55: Format for the DCNVB Command

Control Values

1) Sign for BCD → Binary (SIN)

SIN has meaning only when converting BCD code data into binary code data, and
represents the sign for BCD code data. SIN has no meaning when converting
binary into BCD; however, you cannot truncate this operand.
SIN = 0: Positive input data (BCD code).
SIN = 1: Negative input data (BCD code).

2) Conversion Format (CNV)

CNV = 0: Converts binary code data into BCD code data.
CNV = 1: Converts BCD code data into binary code data.

3) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. In other words, W1 becomes “0.”

4) Action Command (ACT)

ACT = 0: No conversion of data. No change in W1.
ACT = 1: Carries out data conversion.

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Parameters

1) Data Length
Specifies the byte length of the data in the first digit of the parameters.
When 1: Numeric data is 1-byte binary data.
When 2: Numeric data is 2-byte binary data.
When 4: Numeric data is 4-byte binary data

2) Input Data Address

The address where the input data is stored.

3) Output Data Address

The address where the converted BCD or binary code result is output.

Error Output (W1)

W1 = 0: Normal (no conversion error).
W1 = 1: Conversion error. (W1=1 when the input data is binary data that should be
BCD data, or when the byte size goes over the specified byte size when
converting binary data into BCD code).

Calculation Result Register (R9000)

The calculation information gets set, and when each bit is “1”, it means the following as
shown below. See Figure 9-56 for a description of positive or negative conversion of
binary data into BCD code.

7 6 5 4 3 2 1 0
R9000

Negative

Overflow (Byte Length Exceeded)

Figure 9-56: Calculation Result Register for the DCNVB Command

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9.2.21 COMP (Compare)

Function
This command compares the sizes of the input value and the comparison value.

Format
Figure 9-57 shows the format for describing the command, and Table 9-16 shows the
coding format.
BYT COMP c cccc cccc Comparison
Result Output
(SUB15)
ccc·c W1
ACT
Input Comparison
Data Input Data cccc·c
ccc·c Command Format Data Address
Control
Values
Figure 9-57: Format for the COMP Command

Coding Sheet Result History Register

Step Address Bit
Command Description ST3 ST2 ST1 ST0
No. No. no.

1 RD ccc · c BYT BYT

2 RD.STK ccc · c ACT BYT ACT

COMP
3 SUB 15 BYT ACT
Command

c Input Data
4 (PRM) BYT ACT
Format

5 (PRM) cccc Input Data BYT ACT

cccc Comparison
6 (PRM) BYT ACT
Data Address
W1,
7 WRT ccc · c Comparison BYT W1
Result Output

Table 9-16: Coding Format of the COMP Command

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Control Values

1) Data Size (BYT)

BYT = 0: The processed data (input and comparison value) is 2-digit BCD.
BYT = 1: The processed data (input and comparison value) is 4-digit BCD.

2) Action Command (ACT)

ACT = 0: No execution of the COMP command. No change in W1.
ACT = 1: Execution of the COMP command. The comparison result is output
to W1.

Parameters
1) Input Data Format
0: Specifies the input data as a constant.
1: Specifies the input data as an address – indirection. (Specifies the address
where the input data is stored instead of directly specifying the data.)

2) Input Data
Input data can either be a constant or an address of a constant. The different types
can be distinguished by specifying the “Input Data Format” parameter.

3) Comparison Data Address

The address of the data to be compared.

Comparison Result Output (W1)

W1 = 0: Input Value Comparison Value.
W1 = 1: Input Value Comparison Value.

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9.2.22 COMPB (Binary Compare)

Function
This command compares 1-, 2-, or 4-byte size binary data, putting the result to the
calculation result register (R500). The input data and the comparison data must be the
same length.

Format
Figure 9-58 shows the format for describing the command.

* *
ACT COMPB cccc cccc cccc

(SUB32) Data
Length & Comparison
Input Data Input Data
Command Format Data Address
Figure 9-58: Format for the COMPB Command

Control Values
Action Command (ACT)
ACT = 0: No execution of the COMPB command. No change in W1.
ACT = 1: Execution of the COMPB command. The comparison result is output to
W1.

Parameters
1) Data Length and Input Data Format
The data length (1, 2, or 4 bytes) and the input data format (constant data or data
address).
0 0

Data Length
Format 1: 1-byte data
0: Constant 2: 2-byte data
1: Address 4: 4-byte data
Figure 9-59: Parameters Format Specification for the COMPB Command

2) Input Data
The format of the input data is determined by the specification of the “Input Data
Format” parameter. Depending on what format was specified, this parameter
could be an input data address or an input data constant.

3) Comparison Data Address

The address where the comparison data will be stored.

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Calculation Result Register (R9000)
A “1” in the following bit locations signifies the following:

7 6 5 4 3 2 1 0
R9000

Zero (Input Data = Comparison Data)

Negative (Input Data < Comparison Data)

Overflow

Figure 9-60: Calculation Result Register for the COMPB Command

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9.2.23 COIN (Equality Check)

Function
This command determines if the input value and the comparison value are the same. This
command can only be used when the data is in BCD format.

Format
Figure 9-61 shows the format for describing the command, and Table 9-17 shows the
coding format.
BYT (1) (1) (2) (3)
Comparison
COIN c cccc cccc Result Output
ccc·c (SUB16) W1
ACT (0) Input Comparison
Data Input Data cccc·c
ccc·c Command Format Data Address
Control
Values
Figure 9-61: Format for the COIN Command

Coding Sheet Result History Register

Step Address Bit
Command Description ST3 ST2 ST1 ST0
No. No. No.
1 RD ccc · c BYT BYT

2 RD.STK ccc · c ACT BYT ACT

COIN
3 SUB 16 BYT ACT
Command

c Input Data
4 (PRM) BYT ACT
Format

5 (PRM) cccc Input data BYT ACT

cccc Comparison
6 (PRM) BYT ACT
Data Address
W1,
7 WRT ccc · c Comparison BYT W1
Result Output

Table 9-17: Coding Format of the COIN Command

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Control Values

1) Data Size (BYT)

BYT = 0: Data processed (input and comparison data) is 2-digit BCD.
BYT = 1: Data processed (input and comparison data) is 4-digit BCD.

2) Action Command (ACT)

ACT = 0: No execution of the COIN command. No change in W1.
ACT = 1: Execution of the COIN command. Outputs the result to W1.

Parameters

1) Input Data Format

0: Specifies the input data as a constant.
1: Specifies the input data as an address.

2) Input Data
Input data can either be an input data address or an input data constant. The
different types can be distinguished by the “Input Data Format” parameter.

3) Comparison Data Address

The address where the comparison data will be stored.

Comparison Result Output (W1)

W1 = 0: Input Data Comparison Data.
W1 = 1: Input Data Comparison Data.

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9.2.24 SFT (Shift Register)

Function
This command shifts 2 contiguous bytes (16 bits) of data 1 bit to the right or to the left.
W1=1 when the data “1” shifts out from the left margin (bit 15 was “1”) on a shift-left, or
the right margin (bit 0 was “1”) on a shift-right. W1 is basically the overflow value.

Format
Figure 9-62 shows the format for describing the command.
DIR
*
SFT cccc Shift
CONT Result
(SUB33) Output

RST W1

ACT
Shift Data
Command Address

Figure 9-62: Format for the SFT Command

Control Values

1) Shift Direction (DIR)

DIR = 0: Shifts to the left.
DIR = 1: Shifts to the right.

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2) Condition Specification (CONT)

CONT = 0: This is the normal shift, where every bit after the shift holds the
value of the bit next to it (left or right depending on DIR)
before the shift. If shifting left, bit 15 will get the value
previously in bit 14, etc. Furthermore, a 0 is inserted into the
first bit of the shift (bit 0 for shift left, 15 for shift right).

15 14 13 12 11 10 9 8

Shift 1 bit to the left

th
15 bit shifted out th
0 bit gets a 0
7 6 5 4 3 2 1 0

Shift 1 bit to the left

Figure 9-63: Condition Specification CONT = 0 for the SFT Command – Shift Left
Example

CONT = 1: Shifting is the same as when CONT = 0, however, when the

original bit was a “1”, it remains a “1”. Hence, all bits with a 1
propagate in the appropriate direction.
15 14 13 12 11 10 9 8

0 0 0 0 0 0 1 1

7 6 5 4 3 2 1 0

1 1 0 0 1 1 0 0

Shift 1 bit to the left. Bits originally a “1” remain a “1.”

Figure 9-64: Condition Specification CONT = 1 for the SFT Command – Shift Left
Example

3) Reset (RST)
Resets (W1 = 0) the result from the shifting process, the value that got shifted out.
RST = 0: No reset.
RST = 1: Resets. In other words, W1 becomes “0.”

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4) Action Command (ACT)
ACT = 0: Shift process is not carried out.
ACT = 1: Carries out the shift process. In order to just shift 1 bit, after executing
ACT = 1, immediately change to ACT = 0.

Parameters
Shift Data Address
The address of the data to be shifted. The address needs to be 2 contiguous bytes of data.
The bit numbers below are described as bits 0~15, but when specifying for the program,
there is an address number for each byte (8 bits) and one can only specify from bit
numbers 0~7.
15 14 13 12 11 10 9 8

Specified Address

7 6 5 4 3 2 1 0

Specified Address +1

Figure 9-65: Shift Data Address for the SFT Command

Shift Result Output (W1)

W1 = 0: Shows that a “0” was shifted out.
W1 = 1: Shows that a “1” was shifted out.

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9.2.25 DSCH (Data Search)

Function
In the ServoWorksPLC, you can use something called a data table, which will be
explained later (see Section 9.3: PLC Data Table). This command is related to this data
table. This command checks whether certain data is inside the data table, and if it is it
outputs the row number where the data resides in the data table. It also replies
accordingly if the data does not exist in the table.

Transformation
Row
Data Table
Number
0
Search Data 1
100 2
········· 100

················
Search Result
2
··········

Figure 9-66: Function of the DSCH Command

! CAUTION
The leading data table address selected in the DSCH command
parameters becomes the 0th table internal number (row number). This
table internal number differs from the table internal number mentioned
in Section 9.3 for the data table for the PLC.

Format
Figure 9-67 shows the format for describing the command, and Table 9-18 shows the
coding format.

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BYT (2)
(1) (2) (3) (4)

cccc·c DSCH cccc cccc cccc cccc Search

RST Results
(1)
(SUB17) W1
Search
cccc·c Data Table Search Result
ACT cccc·c
(0) Number Leading Data Output
Command of Rows Address Address Address
cccc·c
Control
Values

Figure 9-67: Format for the DSCH Command

Coding Sheet Result History Register

Step Address Bit
Command Description ST3 ST2 ST1 ST0
No. No. No.
1 RD ccc · c BYT BYT

2 RD.STK ccc · c RST BYT RST

3 RD.STK ccc · c ACT BYT RST ACT

DSCH
4 SUB 17 BYT RST ACT
Command

cccc Number of
5 (PRM) BYT RST ACT
Rows
Data Table
6 (PRM) cccc Leading BYT RST ACT
Address

cccc Search Data

7 (PRM) BYT RST ACT
Address
Search Result
8 (PRM) cccc Output BYT RST ACT
Address

ccc · c W1, Search

9 WRT BYT RST W1
Results

Table 9-18: Coding Format of the DSCH Command

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Control Values

1) Data Size (BYT)

BYT = 0: The data stored in the data table is 2-digit BCD.
BYT = 1: The data stored in the data table is 4-digit BCD.

2) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. In other words, W1 becomes “0.”

3) Action Command (ACT)

ACT = 0: No execution of the DSCH Command. No change in W1.
ACT = 1: Execution of the DSCH Command. After executing, if the search
data is found, then it outputs the table internal number where the
data is stored. However, if the search data is not found, W1 = 1.

Parameters

1) Number of Rows
This address holds the number of rows of the data table (table capacity). There
must be enough valid memory for the number of rows specified. If the first data
table number is Number 0 and the last is number “n,” “n+1” is specified as the
data number (number of rows) of the data table.

2) Data Table Leading Address

This is the starting address for a specified range of addresses that are to be used
for the data.

3) Search Data Address

This is the address where the data to be searched for is stored.

4) Search Result Output Address

This is the address where the row number of the table that contains the data is
output when the search is successful. This address needs to have memory
corresponding to the specified size of the data (BYT).

Search Results (W1)

W1 = 0: Search data found.
W1 = 1: Search data not found.

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9.2.26 DSCHB (Binary Data Search)

Function
This command searches the data inside the data table like the DSCH command (Section
9.2.25). This command differs in that the data is in binary format and the number of rows
for the data table (table capacity) changes to an address that contains the data, so even
after the sequence program is compiled into binary data, the table capacity can still
change.
Row
Number Table

0
Search Data
1
100 2 100

·····

················
Result Output

··········
n

Figure 9-68: Function of the DSCHB Command

Format
Figure 9-69 shows the format for describing the command.

RST * * * * Search
DSCHB c cccc cccc cccc cccc Results

(SUB34) Data Data Search W1

ACT
Number Table Search Result
Data Storage Leading Data Output
Command Length Address Address Address Address

Figure 9-69: Format for the DSCHB Command

Control Values

1) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. In other words, W1 becomes “0.”

2) Action Command (ACT)

ACT = 0: No execution of the DSCHB Command. No change in W1.
ACT = 1: Execution of the DSCHB command. If the search data is found,
then outputs the row number where the data is stored. W = 1 if not
found.

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Parameters

1) Data Length
Specifies the byte length of the data in the first digit of the parameters.
When 1: Data is 1-byte binary data.
When 2: Data is 2-byte binary data.
When 4: Data is 4-byte binary data.

2) Data Number Storage Address

This address holds the number of rows in the data table (table capacity). There
must be enough valid memory for the number of rows specified. If the first data
table number is Number 0 and the last is number “n,” “n+1” is specified as the
data number (number of rows) of the data table.

3) Data Table Leading Address

This is the starting address for is a specified range of addresses that can be used
for the data.

4) Search Data Address

This is the address where the data to be searched will be stored.

5) Search Result Output Address

The row number of a successful search is put into the Search Result Output
Address. It requires enough memory to hold the data specified.

Search Results (W1)

W1 = 0: Search data found.
W1 = 1: Search data not found.

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9.2.27 XMOV (Index Modification Data Transfer)

Function
Similar to the DSCH command, this command operates on the data table; it reads to or
writes from the data table.
Row
No. Data Table
0
1
Input / Output
1
Data
2
2
Row Number 3
containing input /

········
2
output data

·········
1 Reading from Data Table
n
2 Writing to Data Table

Figure 9-70: Reading from and Writing to the Data Table for the XMOV Command

! CAUTION
The leading data table address selected in the XMOV command
parameters becomes the 0th table internal number (row number). This
table internal number differs from the table internal number mentioned
in Section 9.3: PLC Data Table.

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Format
Figure 9-71 shows the format for describing the command, and Table 9-19 shows the
coding format.

BYT
(3)
(1) (2) (3) (4)
cccc·c XMOV cccc cccc cccc cccc
RW
(2) (SUB18)
Error Output
cccc·c W1
RST
(1) Input Table cccc·c
Data Output Internal
cccc·c Number Data Table Data Number
ACT
(0) Storage Leading Storage Storage
Command Address Address Address Address
cccc·c
Control
Values
Figure 9-71: Format for the XMOV Command

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Coding Sheet Result History Register

Step Address Bit
Command Description ST3 ST2 ST1 ST0
No. No. No.
1 RD ccc · c BYT BYT

2 RD.STK ccc · c RW BYT RW

3 RD.STK ccc · c RST BYT RW RST

4 RD.STK ccc · c ACT BYT RW RST ACT

XMOV
5 SUB 18 BYT RW RST ACT
Command
Data Number
6 (PRM) cccc Storage BYT RW RST ACT
Address
Data Table
7 (PRM) cccc Leading BYT RW RST ACT
Address
Input Output
8 (PRM) cccc Data Storage BYT RW RST ACT
Address
Table Internal
cccc Number
9 (PRM) BYT RW RST ACT
Storage
Address

ccc · c W1, Error

10 WRT BYT RW RST W1
Output

Table 9-19: Coding Format of the XMOV Command

Control Values

1) Data Size (BYT)

BYT = 0: The data stored in the data table is 2-digit BCD.
BYT = 1: The data stored in the data table is 4-digit BCD.

2) Read or Write (RW)

RW = 0: Reads the data from the data table.
RW = 1: Writes new data into the data table.

3) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. In other words, W1 becomes “0”.

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4) Action Command (ACT)

ACT = 0: No execution of the XMOV Command. No change in W1.
ACT = 1: Execution of the XMOV command.

Parameters

1) Data Number Storage Address

This address holds the number of rows of the data table (table capacity). There
must be enough valid memory for the number of rows specified. If the first data
table number is Number 0 and the last is number “n,” “n+1” is specified as the
data number of the data table.

2) Data Table Leading Address

This is the starting address for a specified range of addresses that can be used for
the data.

3) Input Output Data Storage Address

This is the address where the data to read from or the address to write to is stored.

4) Table Internal Number Storage Address

The Table Internal Number indexes the table to choose which data to access in the
data table. The table internal number storage address is the address where this
table internal number is stored, where the amount of memory specified in BYT is
allocated.

Error Output (W1)

W1 = 0: No error.
W1 = 1: Error. (Accessing a table internal number that is too large for the data table
will throw an error.)

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9.2.28 XMOVB (Binary Index Modification Data Transfer)

Function
This command is same as the XMOV Command in Section 9.2.27 in that it reads from
and writes to data in the data table. The only two differences are that all the numeric data
used is in binary format and that the data number specification of the data table (table
capacity) become address specified and even after the sequence program is converted into
binary data, the table capacity is variable.
Row
No. Data Table
0
1
Input / Output
1
Data
2
2
Row Number 3
containing input /

········
2
output data

·········
1 Reading from Data Table
n
2 Writing to Data Table

Figure 9-72: Reading from and Writing to the Data Table for the XMOVB Command

Format
Figure 9-73 shows the format for describing the command.

RW
* * * *
Error
XMOVB c cccc cccc cccc cccc
Output
RST
(SUB35) Input Table W1
Data Data Output Internal
ACT Number Table Data Number
Data Storage Leading Storage Storage
Command Length Address Address Address Address

Figure 9-73: Format for the XMOVB Command

Control Values

1) Read or Write (RW)

RW = 0: Reads data from the data table.
RW = 1: Writes data into the data table.

2) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. In other words, W1 becomes “0.”

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3) Action Command (ACT)

ACT = 0: No execution of the XMOV command. No change in W1.
ACT = 1: Execution of the XMOV command.

Parameters

1) Data Length
Specifies the byte length of the data in the first digit of the parameters.
When 1: Data is 1-byte binary data.
When 2: Data is 2-byte binary data.
When 4: Data is 4-byte binary data.

2) Data Number Storage Address

This address holds the number of rows of the data table. There must be enough
valid memory for the number of rows specified. If the first data table number is
Number 0 and the last is number “n,” “n+1” is specified as the data number of the
data table.

3) Data Table Leading Address

This is the starting address for a specified range of addresses that can be used for
the data.

4) Input Output Data Storage Address

This is the address where the data from reading from and writing to the data table
is stored.

5) Table Internal Number Storage Address

The Table Internal Number indexes the table to choose which data to access in the
data table. The table internal number storage address is the address where this
table internal number is stored, where the amount of memory specified in BYT is
allocated.

Error Output (W1)

W1 = 0: No error.
W1 = 1: Error. An error will show if a table internal number that is larger than the
number of rows in the table is specified.

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9.2.29 ADD (Addition)

Function
This command adds two 2- or 4-digit BCD numbers.

Format
Figure 9-74 shows the format for describing the command, and Table 9-20 shows the
coding format.
A + B = C
BYT
(2) (1) (2) (3) (4)
ADD Error
cccc·c c cccc cccc cccc
RST Output
(1) (SUB19) W1
Format of Add Add Addition
cccc·c Add Number Number Result
ACT ccc·c
(0) Number Data Data Output
Command Data Address Constant Address
cccc·c
Control
Values Figure 9-74: Format for the ADD Command

Coding Sheet Result History Register

Step Address Bit
Command Description ST3 ST2 ST1 ST0
No. No. No.
1 RD ccc · c BYT BYT

2 RD.STK ccc · c RST BYT RST

3 RD.STK ccc · c ACT BYT RST ACT

ADD
4 SUB 19 BYT RST ACT
Command
Format of Add
5 (PRM) c BYT RST ACT
Number Data

cccc Add Number

6 (PRM) BYT RST ACT
Data Address

cccc Add Number

7 (PRM) BYT RST ACT
Data Constant
Addition
8 (PRM) cccc Result Output BYT RST ACT
Address

ccc · c W1, Error

9 WRT BYT RST W1
Output

Table 9-20: Coding Format of the ADD Command

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Control Values

1) Data Size (BYT)

BYT = 0: The data processed is 2-digit BCD.
BYT = 1: The data processed is 4-digit BCD.

2) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. In other words, W1 becomes “0.”

3) Action Command (ACT)

ACT = 0: No execution of the ADD command. No change in W1.
ACT = 1: Execution of the ADD command.

Parameters

1) Format of Add Number Data

0: Specifies add data as a constant.
1: Specifies add data as an address.

2) Add Number Data Address

This is the address where the add number data is stored.

3) Add Number Data Constant

The format for the specification of the add number data is determined by the
“Format of Add Number Data” parameter.

4) Addition Result Output Address

The address where the addition result is output.

Error Output (W1)

W1 = 0: No error (normal calculation).
W1 = 1: Error (abnormal calculation). (W1=1 when the addition result is larger than
the data size specified by the BYT control value.)

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9.2.30 ADDB (Binary Addition)

Function
This command adds binary data of 1, 2, or 4 bytes. The numeric data from the
calculation result and other calculation information is set inside the calculation result
register (R9000). The add number data or the addition result output data needs
corresponding bytes of memory.

Format
Figure 9-75 shows the format for describing the command.

A + B = C

RST * * * Error
ADDB c cccc cccc cccc Output

(SUB36)Data Length Add Add Addition W1

ACT
& Format of Number Number Result
Add Number Data Data Output
Command Data Address Constant Address

Figure 9-75: Format for the ADDB Command

Control Values

1) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. In other words, W1 becomes “0.”

2) Action Command (ACT)

ACT = 0: No execution of the ADDB command. No change in W1.
ACT = 1: Execution of the ADDB command.

Parameters
1) Data Length and Format of Add Number Data
The data size (1, 2, or 4 bytes) and the format of the add number data (constant
data or address data).

c c

Data Length
Format Setting 1: 1-byte data
0: Constant 2: 2-byte data
1: Address 4: 4-byte data

Figure 9-76: Parameters Format Specification for the ADDB Command

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2) Add Number Data Address

Address where the add number data is stored.

3) Add Number Data Constant

The format of the add number data is determined by the specifications shown in
Figure 9-76.

4) Addition Result Output Address

The address where the addition result is output.

Error Output (W1)

W1 = 0: No error (normal calculation).
W1 = 1: Error (abnormal calculation). (W1=1 when the addition result is larger than
the data size specified in the “Data Length and Format of Add Number
Data” parameter.)

Calculation Result Register (R9000)

After calculation, a “1” in the following bit positions signifies the following:
7 6 5 4 3 2 1 0
R9000

Zero

Negative

Overflow

Figure 9-77: Calculation Result Register for the ADDB Command

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9.2.31 SUB (Subtraction)

Function
This command subtracts two 2- or 4-digit BCD numbers.

Format
Figure 9-78 shows the format for describing the command, and Table 9-21 shows the
coding format.
A - B = C
BYT (2)
(1)

cccc·c SUB c cccc cccc cccc

RST Error Output
(1)
(SUB20) W1
Format of Subtract Subtract Subtraction
cccc·c Subtract Number Number Result
ACT (0)
cccc·c
Number Data Data Output
Command Data Address Constant Address
cccc·c
Control
Values
Figure 9-78: Format for the SUB Command

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Coding Sheet Result History Register

Step Address Bit
Command Description ST3 ST2 ST1 ST0
No. No. No.
1 RD ccc · c BYT BYT

2 RD.STK ccc · c RST BYT RST

3 RD.STK ccc · c ACT BYT RST ACT

SUB
4 SUB 20 BYT RST ACT
Command
Format of
5 (PRM) c Subtract BYT RST ACT
Number Data
Subtract
6 (PRM) cccc Number Data BYT RST ACT
Address
Subtract
7 (PRM) cccc Number Data BYT RST ACT
Constant
Subtraction
8 (PRM) cccc Result Output BYT RST ACT
Address

ccc · c W1, Error

9 WRT BYT RST W1
Output

Table 9-21: Coding Format of the SUB Command

Control Values

1) Data Size (BYT)

BYT = 0: The data processed is 2-digit BCD.
BYT = 1: The data processed is 4-digit BCD.

2) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. In other words, W1 becomes “0.”

3) Action Command (ACT)

ACT = 0: No execution of the SUB command. No change in W1.
ACT = 1: Execution of the SUB command.

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Parameters

1) Format of Subtract Number Data

0: Specifies subtract number data as a constant.
1: Specifies subtract number data as an address.

2) Subtract Number Data Address

The address where the subtract number is stored.

3) Subtract Number Data Constant

Format specification of the subtract number data is determined by the “Format of
Subtract Number Data” parameter.

4) Subtraction Result Output Address

The address where the subtraction result is output.

Error Output (W1)

W1 = 0: No error (normal calculation).
W1 = 1: Error (abnormal calculation). (W1=1 when the subtraction result is
negative.)

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9.2.32 SUBB (Binary Subtraction)

Function
This command carries out subtraction of 1-, 2-, or 4-byte size binary format data. The
numeric data from the calculation result and other calculation information is set inside the
calculation result register (R9000). The subtract number data or the subtraction output
data needs corresponding bytes of memory.

Format
Figure 9-79 shows the format for describing the command.
A - B = C

RST * * * Error
SUBB c cccc cccc cccc Output
Data
(SUB37) Length & Subtract Subtract Subtraction W1
ACT
Format of Number Number Result
Subtract Data Data Output
Command Number Address Constant Address

Figure 9-79: Format for the SUBB Command

Control Values

1) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. In other words, W1 becomes “0.”

2) Action Command (ACT)

ACT = 0: No execution of the SUBB command. No change in W1.
ACT = 1: Execution of the SUBB command.

Parameters

1) Data Length and Format of Subtract Number Data

The data size (1, 2, or 4 bytes) and format of the subtract number data (constant
data or address data).

c c

Data Length
Format Setting 1: 1-byte data
0: Constant 2: 2-byte data
1: Address 4: 4-byte data

Figure 9-80: Parameters Format Specification for the SUBB Command

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2) Subtract Number Data Address

The address where the subtract number data is stored.

3) Subtract Number Data Constant

The format of the subtract number data is determined by the specifications shown
in Figure 9-80.

4) Subtraction Result Output Address

The address where the subtraction result is to be output.

Error Output (W1)

W1 = 0: No error (normal calculation).
W1 = 1: Error (abnormal calculation). (W1=1 when the subtraction result is larger
than the specified data size.)

Calculation Result Register (R9000)

After calculations, a “1” in the following bit positions signifies the following:

7 6 5 4 3 2 1 0
R9000

Zero

Negative

Overflow

Figure 9-81: Calculation Result Register for the SUBB Command

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9.2.33 MUL (Multiplication)

Function
This command carries out multiplication of 2- or 4-digit BCD, but the calculation results
have to be within 2- or 4-digit BCD as well.

Format
Figure 9-82 shows the format for describing the command, and Table 9-22 shows the
coding format.

A x B = C
BYT
(2) (1) (2) (3) (4)
Error
ccc·c MUL c cccc cccc cccc Output
RST
(1) (SUB21) Multi-
Format of plication W1
ccc·c the Multiplier Multiplier Result
Multiplier Data Data Output cccc·c
ACT
(0) Command Data Address Constant Address

ccc·c
Control Figure 9-82: Format for the MUL Command
Values

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Coding Sheet Result History Register

Step Address Bit
Command Description ST3 ST2 ST1 ST0
No. No. No.
1 RD ccc · c BYT BYT

2 RD.STK ccc · c RST BYT RST

3 RD.STK ccc · c ACT BYT RST ACT

MUL
4 SUB 21 BYT RST ACT
Command

c Format of
5 (PRM) BYT RST ACT
Multiplier Data

cccc Multiplier Data

6 (PRM) BYT RST ACT
Address

cccc Multiplier Data

7 (PRM) BYT RST ACT
Constant
Multiplication
8 (PRM) cccc Result Output BYT RST ACT
Address

ccc · c W1, Error

9 WRT BYT RST W1
Output

Table 9-22: Coding Format of the MUL Command

Control Values

1) Data Size (BYT)

BYT = 0: The data processed is 2-digit BCD.
BYT = 1: The data processed is 4-digit BCD.

2) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. In other words, W1 becomes “0.”

3) Action Command (ACT)

ACT = 0: No execution of the MUL command. No change in W1.
ACT = 1: Execution of the MUL command.

Parameters

1) Format of Multiplier Data

0: Specifies multiplier data as a constant.
1: Specifies multiplier data as an address.

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2) Multiplier Data Address

The address where the multiplier is stored.

3) Multiplier Data Constant

The specification format of the multiplier data is determined by the “Format of
Multiplier Data” parameter.

4) Multiplication Result Output Address

The address where the multiplication result is to be output.

Error Output (W1)

W1 = 0: No error (normal calculation).
W1 = 1: Error (abnormal calculation). (W1=1 when the multiplication result exceeds
the number specified by the BYT control value.)

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9.2.34 MULB (Binary Multiplication)

Function
This command carries out multiplication of 1-, 2-, or 4-byte size binary format data. The
numeric data from the calculation result and other calculation information is set inside the
calculation result register (R9000). The multiplier data or the multiplication output data
needs corresponding bytes of memory.

Format

Figure 9-83 shows the format for describing the command.

A x B = C

RST * * * Error
MULB c cccc cccc cccc Output
Data Multi-
(SUB38) Length & plication W1
ACT
Format of Multiplier Multiplier Result
Multiplier Data Data Output
Command Data Address Constant Address

Figure 9-83: Format for the MULB Command

Control Values

1) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. In other words, W1 becomes “0.”

2) Action Command (ACT)

ACT = 0: No execution of the MULB command. No change in W1.
ACT = 1: Execution of the MULB command.

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Parameters

1) Data Length and Format of Multiplier Data

The data size (1, 2, or 4 bytes) and the format of the multiplier data (constant data
or address data).
c c
Data Length
Format Setting 1: 1-byte data
0: Constant 2: 2-byte data
1: Address 4: 4-byte data

Figure 9-84: Parameters Format Specification for the MULB Command

2) Multiplier Data Address

The address where the multiplier data is stored.

3) Multiplier Data Constant

The format of the multiplier data is determined by the specifications shown in
Figure 9-84.

4) Multiplication Result Output Address

The address where the multiplication result is to be output.

Error Output (W1)

W1 = 0: No error (normal calculation).
W1 = 1: Error (abnormal calculation). (W1=1 when the multiplication result exceeds
the data size specified.)

Calculation Result Register (R9000)

After calculations, a “1” in the bit positions signifies the following:
7 6 5 4 3 2 1 0
R9000

Zero

Negative

Overflow

Figure 9-85: Calculation Result Register for the MULB Command

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9.2.35 DIV (Division)

Function
This command carries out the division of 2- or 4-digit BCD. However, all decimals are
disregarded in the calculation results.

Format
Figure 9-86 shows the format for describing the command, and Table 9-23 shows the
coding format.
A / B = C
BYT
(2) (1) (2) (3) (4)
Error
cccc·c DIV c cccc cccc cccc Output
RST
(1) (SUB22) W1
Division
cccc·c Format of Divisor Divisor Result ccc·c
ACT
(0) the Divisor Data Data Output
Command Data Address Constant Address
cccc·c
Control Values
Figure 9-86: Format for the DIV Command

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Coding Sheet Result History Register

Step Address Bit
Command Description ST3 ST2 ST1 ST0
No. No. No.

1 RD ccc · c BYT BYT

2 RD.STK ccc · c RST BYT RST

3 RD.STK ccc · c ACT BYT RST ACT

DIV
4 SUB 22 BYT RST ACT
Command

c Format of
5 (PRM) BYT RST ACT
Divisor Data

cccc Divisor Data

6 (PRM) BYT RST ACT
Address

cccc Divisor Data

7 (PRM) BYT RST ACT
Constant
Division
8 (PRM) cccc Result Output BYT RST ACT
Address

ccc · c W1, Error

9 WRT BYT RST W1
Output

Table 9-23: Coding Format of the DIV Command

Control Values

1) Data Size (BYT)

BYT = 0: The processed data is 2-digit BCD.
BYT = 1: The processed data is 4-digit BCD.

2) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. In other words, W1 becomes “0.”

3) Action Command (ACT)

ACT = 0: No execution of the DIV command. No change in W1.
ACT = 1: Execution of the DIV command.

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Parameters

1) Format of the Divisor Data

0: Specifies divisor data as a constant.
1: Specifies divisor data as an address.

2) Divisor Data Address

The address where the divisor is stored.

3) Divisor Data Constant

The specification format of the divisor data is determined by the “Format of the
Divisor Data” parameter.

4) Division Result Output Address

The address where the division result is to be output.

Error Output (W1)

W1 = 0: No error (normal calculation).
W1 = 1: Error (abnormal calculation). (W1=1 when the divisor data is “0”.)

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9.2.36 DIVB (Binary Division)

Function
This command carries out division of 1-, 2-, or 4-byte size binary format data. The
numeric data from the calculation result and other calculation information is set inside the
calculation result register (R9000), and the remainder is set inside R9002. The divisor
data and the division output (quotient) data need corresponding bytes of memory.

Format
Figure 9-87 shows the format for describing the command.
A / B = C

RST * * * Error
DIVB cccc cccc cccc cccc Output
Data
(SUB36) Length & Division W1
ACT
Format of Divisor Divisor Result
Divisor Data Data Output
Command Data Address Constant Address

Figure 9-87: Format for the DIVB Command

Control Values

1) Reset (RST)
RST = 0: No reset.
RST = 1: Resets. In other words, W1 becomes “0.”

2) Action Command (ACT)

ACT = 0: No execution of the DIVB command. No change in W1.
ACT = 1: Execution of the DIVB command.

Parameters

1) Data Length and Format of Divisor Data

The data length (1, 2, or 4 bytes) and the format of the divisor data (constant data
or address data).

c c

Data Length
Format Setting 1: 1-byte data
0: Constant 2: 2-byte data
1: Address 4: 4-byte data

Figure 9-88: Parameters Format Specification for the DIVB Command

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2) Divisor Data Address

The address where the divisor data is to be stored.

3) Divisor Data Constant

The format of the divisor data is determined by the specifications shown in Figure
9-88.

4) Division Result (Quotient) Output Address

The address where the division result data is to be output.

Error Output (W1)

W1 = 0: No error (normal calculation).
W1 = 1: Error (abnormal calculation). (W1=1 when the divisor data is “0,” because
you can’t divide any number by zero.)

Calculation Result Register (R9000)

After calculations, a “1” in the bits signifies the following:

7 6 5 4 3 2 1 0
R9000

Zero

Negative

Figure 9-89: Calculation Result Register for the DIVB Command

Remainder Data Output Address

The remainder data, depending on its data size, gets output into R9002~R9005.

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9.2.37 NUME (Constant Declaration)

Function
When using a function command, there are cases when constants are necessary. In those
cases, this command may be used to declare 2- or 4-digit BCD constant data.

Format
Figure 9-90 shows the format for describing the command, and Table 9-24 shows the
coding format.

BYT (1) (2)

(1)
NUME cccc cccc
ccc·c
ACT (SUB23)
(0) Constant
Output
ccc·c Command Constant Address
Control
Values

Figure 9-90: Format for the NUME Command

Coding Sheet Result History Register

Step Address Bit
Command Description ST3 ST2 ST1 ST0
No. No. No.
1 RD ccc · c BYT BYT

2 RD.STK ccc · c ACT BYT ACT

NUME
3 SUB 23 BYT ACT
Command

4 (PRM) cccc Constant BYT ACT

Constant
5 (PRM) cccc Output BYT ACT
Address

Table 9-24: Coding Format of the NUME Command

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Control Values

1) Data Size (BYT)

BYT = 0: The constant is 2-digit BCD.
BYT = 1: The constant is 4-digit BCD.

2) Action Command (ACT)

ACT = 0: No execution of the NUME command.
ACT = 1: Execution of the NUME command.

Parameters

1) Constant
The constants are specified with the data size specified by the BYT control value.

2) Constant Output Address

The address where the constant declared in the “Constant” parameter is output.

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9.2.38 NUMEB (Binary Constant Declaration)

Function
This command declares 1-, 2-, or 4-byte size binary constant data. When programming,
if data is input in base 10 format, after the execution of the program, it changes into
binary format and the binary style constant from a specified address is stored into the
byte size memory.

Format
Figure 9-91 shows the format for describing the command.

*
NUMEB c c···c cccc
ACT
(SUB40)
Constant
Data Output
Command Length Constant Address

Figure 9-91: Format for the NUMEB Command

Control Values
Action Command (ACT)
ACT = 0: No execution of the NUMEB command.
ACT = 1: Execution of the NUMEB command.

Parameters

1) Data Length
Specifies the byte length of the data in the first digit in the parameters.
When 1: Data is 1-byte binary data.
When 2: Data is 2-byte binary data.
When 4: Data is 4-byte binary data.

2) Constant
The constant data is declared in base 10. In this case, the data has to be constant
data that can be stored within the capacity specified in the format specification
declared in the “Data Length” parameter.

3) Constant Output Address

The address of the binary format constant data. The memory for the specified
data length needs to be contiguous.

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Appendix A: S-100T Data Mapping Tables

Overview of Mapping Tables

Each physical input and output device has a specific location associated with it. The
binary value (“0” or “1”) of that memory location corresponds to the logical state or
value of the device.

The following mapping tables should be used in writing the sequence program for your
machine tool. For instance, as part of your program, you may want to check to see if a
“spindle stop” command has been issued through the ServoWorks Motion Engine. To do
so, you would check the F Data Mapping Tables, and find that the “Spindle STOP” signal
(called MSPLSTP) is at address F018.1. To read this signal, you might use the command
“RD F018.1.”

Every possible command or signal either to or from the PLC Engine has a designed
signal and address, as follows:

• F Data: Signals from the CNC (ServoWorks Motion Engine) to the PLC Engine.

• G Data: Signals from the PLC Engine to the CNC (ServoWorks Motion Engine).

• X Data: Signals from the machine tool to the PLC Engine.

• Y Data: Signals to the machine tool from the PLC Engine.

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F Data Mapping Table

ADDRESS NAME DESCRIPTION

F000.0
F000.1
F000.2
F000.3
F000.4 SPL Cycle Stop
F000.5 STL Cycle Start
F000.6 SA Servo Ready
F000.7 OP Automatic Operation
F001.0 AL CNC Alarm
F001.1 RST Control Reset
F001.2
F001.3 DEN Distribution Done
F001.4 ENB Spindle Enabled
F001.5 TAP Tapping
F001.6
F001.7 MA CNC Ready
F002.0 INCH Inch Input
F002.1 RPD Rapid Traverse
F002.2 CSS Constant Surface Speed
F002.3 THRD Thread Cutting
F002.4
F002.5
F002.6 CUT Cutting
F002.7 MDRN Dry Run
F003.0 MINC Incremental Jog Mode
F003.1 MH Handwheel Mode
F003.2 MJ Continuous Jog Mode
F003.3 MMDI MDI Mode
F003.4
F003.5 MMEM Auto Mode

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ADDRESS NAME DESCRIPTION

F003.6 MEDIT Edit Mode
F003.7
F004.0 MBDT1 Optional Block Skip
F004.1 MMLK All Axes Machine Lock
F004.2 MABSM Manual Absolute
F004.3 MSBK Single Block
F004.4 MAFL M/S/T/B Lock
F004.5 MREF Reference Position Return Mode
F004.6
F004.7 MOPSTP Optional Stop
F006.0 MRP Rapid Positioning Mode
F006.1 MSPDL Spindle Mode
F006.2
F006.3
F006.4
F006.5
F006.6
F006.7
F007.0 MF M Strobe
F007.1
F007.2 SF S Strobe
F007.3 TF T Strobe
F007.4 BF B Strobe
F007.5
F007.6
F007.7

F009.0
F009.1
F009.2
F009.3
F009.4 DM30 M30
F009.5 DM02 M02
F009.6 DM01 M01

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ADDRESS NAME DESCRIPTION

F009.7 DM00 M00
F010.0 M01 M Code
F010.1 M02 M Code
F010.2 M04 M Code
F010.3 M08 M Code
F010.4 M10 M Code
F010.5 M20 M Code
F010.6 M40 M Code
F010.7 M80 M Code
F017.0
F017.1
F017.2
F017.3
F017.4
F017.5 SPARL Spindle Speed Arrival
F017.6 SPZERO Spindle Zero Speed (Actual)
F017.7 MSPLPOS Spindle Position Control Mode
F018.0 MSPLCW Spindle CW
F018.1 MSPLSTP Spindle STOP
F018.2 MSPLCCW Spindle CCW
F018.3
F018.4
F018.5
F018.6
F018.7
F019.0
F019.1
F019.2 MHNDLIN HandWheel Interrupt Mode
F019.3
F019.4
F019.5
F019.6
F019.7

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ADDRESS NAME DESCRIPTION

F020.0 MILK1P Interlock 1+
F020.1
F020.2 MILK3P Interlock 3+
F020.3
F020.4
F020.5
F020.6
F020.7
F021.0 MILK1M Interlock 1–
F021.1
F021.2 MILK3M Interlock 3–
F021.3
F021.4
F021.5
F021.6
F021.7
F022.0 S00001 Spindle Speed Code (RPM)
F022.1 S00002 Spindle Speed Code (RPM)
F022.2 S00004 Spindle Speed Code (RPM)
F022.3 S00008 Spindle Speed Code (RPM)
F022.4 S00010 Spindle Speed Code (RPM)
F022.5 S00020 Spindle Speed Code (RPM)
F022.6 S00040 Spindle Speed Code (RPM)
F022.7 S00080 Spindle Speed Code (RPM)
F023.0 S00100 Spindle Speed Code (RPM)
F023.1 S00200 Spindle Speed Code (RPM)
F023.2 S00400 Spindle Speed Code (RPM)
F023.3 S00800 Spindle Speed Code (RPM)
F023.4 S01000 Spindle Speed Code (RPM)
F023.5 S02000 Spindle Speed Code (RPM)
F023.6 S04000 Spindle Speed Code (RPM)
F023.7 S08000 Spindle Speed Code (RPM)
F24.0 S10000 Spindle Speed Code (RPM)

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ADDRESS NAME DESCRIPTION

F24.1 S20000 Spindle Speed Code (RPM)
F24.2 S40000 Spindle Speed Code (RPM)
F24.3 S80000 Spindle Speed Code (RPM)
F24.4
F24.5
F24.6
F24.7
F026.0 T01 Tool Number Code
F026.1 T02 Tool Number Code
F026.2 T04 Tool Number Code
F026.3 T08 Tool Number Code
F026.4 T10 Tool Number Code
F026.5 T20 Tool Number Code
F026.6 T40 Tool Number Code
F026.7 T80 Tool Number Code
F030.0 B01 B Code
F030.1 B02 B Code
F030.2 B04 B Code
F030.3 B08 B Code
F030.4 B10 B Code
F030.5 B20 B Code
F030.6 B40 B Code
F030.7 B80 B Code
F040.0 AR00001 Actual Spindle Speed (RPM)
F040.1 AR00002 Actual Spindle Speed (RPM)
F040.2 AR00004 Actual Spindle Speed (RPM)
F040.3 AR00008 Actual Spindle Speed (RPM)
F040.4 AR00010 Actual Spindle Speed (RPM)
F040.5 AR00020 Actual Spindle Speed (RPM)
F040.6 AR00040 Actual Spindle Speed (RPM)
F040.7 AR00080 Actual Spindle Speed (RPM)
F041.0 AR00100 Actual Spindle Speed (RPM)
F041.1 AR00200 Actual Spindle Speed (RPM)

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ADDRESS NAME DESCRIPTION

F041.2 AR00400 Actual Spindle Speed (RPM)
F041.3 AR00800 Actual Spindle Speed (RPM)
F041.4 AR01000 Actual Spindle Speed (RPM)
F041.5 AR02000 Actual Spindle Speed (RPM)
F041.6 AR04000 Actual Spindle Speed (RPM)
F041.7 AR08000 Actual Spindle Speed (RPM)
F042.0 AR10000 Actual Spindle Speed (RPM)
F042.1 AR20000 Actual Spindle Speed (RPM)
F042.2 AR40000 Actual Spindle Speed (RPM)
F042.3 AR80000 Actual Spindle Speed (RPM)
F042.4
F042.5
F042.6
F042.7
F068.0 DWELL G04
F068.1 FPM Feed Per Minute
F068.2 TNRP Tool Nose Radius Compensation
F068.3
F068.4
F068.5
F068.6
F068.7

F072.0 MFO_H MFO Rotary Switch

F072.1 SSO_H SSO Rotary Switch
F072.2 RPO_H RPO Rotary Switch
F072.3
F072.4
F072.5
F072.6
F072.7
F085.0
F085.1
F085.2

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 SERVOWORKSPLC MANUAL
Appendix A: S-100T Data Mapping Tables

ADDRESS NAME DESCRIPTION

F085.3
F085.4 MP1 HandWheel Multiple Selection
F085.5 MP2 HandWheel Multiple Selection
F085.6
F085.7
F086.0 HS1A HandWheel Axis 1
F086.1
F086.2 HS1C HandWheel Axis 3
F086.3
F086.4
F086.5
F086.6
F086.7
st
F094.0 ZP1 At 1 Reference Point 1
F094.1
st
F094.2 ZP3 At 1 Reference Point 3
st
F094.3 ZP4 At 1 Reference Point 4 (C-Axis)
F094.4
F094.5
F094.6
F094.7
nd
F096.0 ZP21 At 2 Reference Point 1
F096.1
nd
F096.2 ZP23 At 2 Reference Point 3
F096.3
F096.4
F096.5
F096.6
F096.7
rd
F098.0 ZP31 At 3 Reference Point 1
F098.1
rd
F098.2 ZP33 At 3 Reference Point 3
F098.3

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 SERVOWORKSPLC MANUAL
Appendix A: S-100T Data Mapping Tables

ADDRESS NAME DESCRIPTION

F098.4
F098.5
F098.6
F098.7
th
F100.0 ZP41 At 4 Reference Point 1
F100.1
th
F100.2 ZP43 At 4 Reference Point 3
F100.3
F100.4
F100.5
F100.6
F100.7

F102.0 MV1 Axis In Motion 1

F102.1
F102.2 MV3 Axis In Motion 3
F102.3 MV4 Axis In Motion 4 (C-Axis)
F102.4
F102.5
F102.6
F102.7

F104.0 INP1 In Position 1

F104.1
F104.2 INP3 In Position 3
F104.3 INP4 In Position 4 (C-Axis)
F104.4
F104.5
F104.6
F104.7

F106.0 MVD1 Axis Motion In Negative Direction 1

F106.1
F106.2 MVD3 Axis Motion In Negative Direction 3
F106.3 MVD4 Axis Motion In Negative Direction 4 (C-Axis)
F106.4

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 SERVOWORKSPLC MANUAL
Appendix A: S-100T Data Mapping Tables

ADDRESS NAME DESCRIPTION

F106.5
F106.6
F106.7
st
F120.0 ZRF1 1 Reference Point Established 1
F120.1
st
F120.2 ZRF3 1 Reference Point Established 3
st
F120.3 ZRF4 1 Reference Point Established 4 (C-Axis)
F120.4
F120.5
F120.6
F120.7

F124.0 SL_1P Soft Limit 1+

F124.1
F124.2 SL_3P Soft Limit 3+
F124.3 SL_4P Soft Limit 4+ (C-Axis)
F124.4
F124.5
F124.6
F124.7
F125.0 SL_1M Soft Limit 1–
F125.1
F125.2 SL_3M Soft Limit 3–
F125.3 SL_4M Soft Limit 4– (C-Axis)
F125.4
F125.5
F125.6
F125.7
F126.0 HL_1P Hard Limit 1+
F126.1
F126.2 HL_3P Hard Limit 3+
F126.3
F126.4
F126.5

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 SERVOWORKSPLC MANUAL
Appendix A: S-100T Data Mapping Tables

ADDRESS NAME DESCRIPTION

F126.6
F126.7
F127.0 HL_1M Hard Limit 1–
F127.1
F127.2 HL_3M Hard Limit 3–
F127.3
F127.4
F127.5
F127.6
F127.7
F128.0 SVAL_1 Servo Alarm 1
F128.1
F128.2 SVAL_3 Servo Alarm 3
F128.3 SVAL_4 Servo Alarm 4 (C-Axis)
F128.4
F128.5
F128.6
F128.7
F129.0 OVPOSER1 Over Position Error 1
F129.1
F129.2 OVPOSER3 Over Position Error 3
F129.3 OVPOSER4 Over Position Error 4 (C-Axis)
F129.4
F129.5
F129.6
F129.7

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Appendix A: S-100T Data Mapping Tables

G Data Mapping Table

ADDRESS NAME DESCRIPTION

G004.3 FIN Done Signal
G005.0 MFIN M Done
G005.2 SFIN S Done
G005.3 TFIN T Done
G005.4 BFIN B Done
G005.6 AFL M/S/T/B Lock
G006.2 *ABSM Manual Absolute
G006.4 OVC Feed Override Cancel
G007.2 ST Cycle Start
G008.0 *IT All Axes Interlock
G008.4 *ESP Emergency Stop
G008.5 *SP Cycle Stop
G008.6 RRW Reset NC and Rewind Program
G008.7 ERS External Reset
G020.0 MFO_H01 MFO Value Selection
G020.1 MFO_H02 MFO Value Selection
G020.2 MFO_H04 MFO Value Selection
G020.3 MFO_H08 MFO Value Selection
G020.4 MFO_H16 MFO Value Selection
G021.0 SSO_H01 SSO Value Selection
G021.1 SSO_H02 SSO Value Selection
G021.2 SSO_H04 SSO Value Selection
G022.0 RPO_H01 RPO Value Selection
G022.1 RPO_H02 RPO Value Selection
G043.0 MD1 NC Mode Selection
G043.1 MD2 NC Mode Selection
G043.2 MD4 NC Mode Selection
G043.3 MD8 NC Mode Selection
G044.0 BDT1 Optional Block Skip
G046.1 SBK Single Block

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 SERVOWORKSPLC MANUAL
Appendix A: S-100T Data Mapping Tables

ADDRESS NAME DESCRIPTION

G046.2 OPSTP Optional Stop
G046.7 DRN Dry Run
G100.0 +J1 Axis Selection 1+
G100.2 +J3 Axis Selection 3+
G102.0 –J1 Axis Selection 1–
G102.2 –J3 Axis Selection 3–
G105.0 JCS_1 Continuous Jog Speed Selection
G105.1 JCS_2 Continuous Jog Speed Selection
G105.2 JIA_1 Incremental Jog Amount Selection
G105.3 JIA_2 Incremental Jog Amount Selection
G105.4 JIA_4 Incremental Jog Amount Selection
G105.5 REF_SR Set/Return Mode for Reference Point
G105.6 REF_1 Reference Point Selection
G105.7 REF_2 Reference Point Selection
G108.0 MLK1 Machine Lock Axis 1
G108.2 MLK3 Machine Lock Axis 3
G126.0 SVF1 Servo Control 1
G126.2 SVF3 Servo Control 3
G126.3 SVF4 Spindle Control
G130.0 *IT1 Interlock Axis 1
G130.2 *IT3 Interlock Axis 3
G132.0 MIT1P Interlock Axis 1+
G132.2 MIT3P Interlock Axis 3+
G134.0 MIT1M Interlock Axis 1–
G134.2 MIT3M Interlock Axis 3–
G141.0 M-TO M Timeout
G141.1 S-TO S Timeout
G141.2 T-TO T Timeout
G141.3 B-TO B Timeout

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 SERVOWORKSPLC MANUAL
Appendix A: S-100T Data Mapping Tables

X Data Mapping Tables

HandWheel I/P (FP-60)

ADDRESS NAME DESCRIPTION

X00.0 HW_ESTP
X00.1 HW_1 HandWheel Axis 1
X00.2 HW_2
X00.3 HW_3 HandWheel Axis 3
X00.4 HW_4
X00.7 HW_X1
X01.0 HW_X10
X01.1 HW_X100

Home & Limit Switches (DC-120)

ADDRESS NAME DESCRIPTION

X12.1 HS_1 Home Switch 1
X12.2 LS_1M Limit Switch 1–
X12.3 LS_1P Limit Switch+
X13.1 HS_3 Home Switch 3
X13.2 LS_3M Limit Switch 3–
X13.3 LS_3P Limit Switch 3+

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

Appendix B: S-100M and General Motion Applications

(MC-Quad, MotionPro and SWSDK) Data Mapping Tables
Overview of Mapping Tables

Each physical input and output device has a specific location associated with it. The
binary value (“0” or “1”) of that memory location corresponds to the logical state or
value of the device.

The following mapping tables should be used in writing the sequence program for your
machine tool. For instance, as part of your program, you may want to check to see if a
“cycle stop” command has been issued through the ServoWorks Motion Engine. To do
so, you would check the F Data Mapping Tables, and find that the “Cycle Stop” signal
(called SPL) is at address F000.4. To read this signal, you might use the command “RD
F000.4.”

Every possible command or signal either to or from the PLC Engine has a designed
signal and address, as follows:

• F Data: Signals from the ServoWorks Motion Engine to the PLC Engine.

• G Data: Signals to the ServoWorks Motion Engine from the PLC Engine.

• X Data: Signals from the machine tool to the PLC Engine (machine input).

• Y Data: Signals to the machine tool from the PLC Engine (machine output).

Tables B-1 through B-8 are located at the end of this appendix.

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

F Data Mapping Table

ADDRESS NAME DESCRIPTION NOTE

0: Program started or reset.
F000.4 SPL Cycle Stop
1: Program stopped (feed hold).
0: Program stopped or reset.
F000.5 STL Cycle Start
1: Program started.
0: Not all the used axes are
F000.6 SA Servo Ready enabled.
1: All the used axes are enabled.
0: Reset.
F000.7 OP Auto Mode Running 1: Program started or stopped or
ended.
0: CNC is not in (reset from) the
F001.0 AL CNC Alarm Alarm state.
1: CNC is in the Alarm state.
0: CNC is not in the Reset state.
1: CNC is in the Reset state.
F001.1 RST Control Reset When CNC has been reset, it will
be in the Reset state for 1
second.
0: Block pulse distribution is not
done.
F001.3 DEN Distribution Done
1: Block pulse distribution is
done.
0: CNC is not ready
(communication between host
and remote devices is not on).
F001.7 MA CNC Ready
1: CNC is ready (communication
between host and remote
devices is on).
0: Optional stop signal is not on.
F002.5 OPSTP Optional Stop
1: Optional stop signal is on.
0: Dry run mode is not on.
F002.7 MDRN Dry Run
1: Dry run mode is on.
F003.0 MINC Incremental Feed Select Refer to Table B-1.
F003.1 MH Manual Handwheel Mode Refer to Table B-1.
F003.2 MJ Jog Mode Refer to Table B-1.
F003.3 MMDI MDI Mode Refer to Table B-1.
F003.4 MRMT DNC Mode Refer to Table B-1.
F003.5 MMEM Auto Mode Refer to Table B-1.
0: Optional block skip signal is
not on.
F004.0 MBDT1 Optional Block Skip
1: Optional block skip signal is
on.

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

0: Manual Absolute Mode is not
F004.2 MASBM Manual Absolute Mode on.
1: Manual Absolute Mode is on.
0: Single block mode is not on.
F004.3 MSBK Single Block
1: Single block mode is on.
F004.5 MREF Manual Reference Point Return Refer to Table B-1.
F004.6 MREF1 Manual Reference Point Return Refer to Table B-1.
0: Miscellaneous function strobe
is not on.
F007.0 MF M Strobe
1: Miscellaneous function strobe
is on.
0: Spindle function strobe is not
F007.2 SF S Strobe on.
1: Spindle function strobe is on.
0: Tool function strobe is not on.
F007.3 TF T Strobe
1: Tool function strobe is on.
0: M30 function is not on.
F009.4 DM30 M30 Decode
1: M30 function is on.
0: M02 function is not on.
F009.5 DM02 M02 Decode
1: M02 function is on.
0: M01 function is not on.
F009.6 DM01 M01 Decode
1: M01 function is on.
0: M00 function is not on.
F009.7 DM00 M00 Decode
1: M00 function is on.
Miscellaneous function code in 4-
F010 – byte binary format.
M Code Signal
F013 F10 is the least significant byte.
F13 is the most significant byte.
0: Axis plus direction interlock is
MILK1p to off
F20 Interlock 1+ to 8+
MILK8p 1: Axis plus direction interlock is
on.
0: Axis minus direction interlock
MILK1m to is off.
F21 Interlock 1- to 8-
MILK8m 1: Axis minus direction interlock
is on.
F85.4 MP1 Handwheel Multiple Selection 1 Refer to Table B-2.
F85.5 MP2 Handwheel Multiple Selection 2 Refer to Table B-2.
Handwheel Manual Axis
F86.0 HS1A Refer to Table B-3.
Selection A
Handwheel Manual Axis
F86.1 HS1B Refer to Table B-3.
Selection B
Handwheel Manual Axis
F86.2 HS1C Refer to Table B-3.
Selection C
Handwheel Manual Axis
F86.3 HS1D Refer to Table B-3.
Selection D
Handwheel Interrupt Axis
F88.0 HS1IA Refer to Table B-3.
Selection A
Handwheel Interrupt Axis
F88.1 HS1IB Refer to Table B-3.
Selection B

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

Handwheel Interrupt Axis
F88.2 HS1IC Refer to Table B-3.
Selection C
Handwheel Interrupt Axis
F88.3 HS1ID Refer to Table B-3.
Selection D
0: Axis is not at home (reference
Zero Reference Point Return 1 to point).
F94 ZP1 to ZP8
8 1: Axis is at home (reference
point).
0: Axis is not in motion.
F102 MV1 to MV8 In Motion 1 to 8
1: Axis is in motion.
0: Axis is not in position.
F104 INP1 to INP8 In Position 1 to 8
1: Axis is in position.
0: Axis motion is not in negative
MVD1 to Motion In Negative Direction 1 to direction.
F106
MVD8 8 1: Axis motion is in negative
direction.
0: Axis home (reference point)
ZRF1 to Zero Reference Point Finding 1 has not been established.
F120
ZRF8 to 8 1: Axis home (reference point)
has been established.
F300 – USRD1 to User defined CNC status data Typically used for custom user
F399 USRD100 addresses. interface, etc.

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

G Data Mapping Table

ADDRESS NAME DESCRIPTION NOTE

0: Auxiliary (M/S/T) function
not finished.
G4.3 FIN Done Signal 1: Auxiliary (M/S/T) function
finished.
Edge triggered.
0: Miscellaneous (M/S/T)
function not finished.
G5.0 MFIN M Done 1: Miscellaneous (M/S/T)
function finished.
Edge triggered.
0: Spindle (M/S/T) function not
finished.
G5.2 SFIN S Done 1: Spindle (M/S/T) function
finished.
Edge triggered.
0: Tool (M/S/T) function not
finished.
G5.3 TFIN T Done 1: Tool (M/S/T) function
finished.
Edge triggered.
0: Manual Absolute Mode off.
G6.2 ABSM Manual Absolute Mode 1: Manual Absolute Mode on.
Edge triggered.
G31 block is skipped when this
G6.6 SKIPP Skip Signal signal value changes.
Edge triggered.
Set NC program cycle start on
G7.2 ST Cycle Start
signal rising edge (0 1)
Set CNC Emergency Stop on
signal falling edge, and keep
G8.4 *ESP Emergency Stop CNC in the Emergency Stop
state when the signal is 0 (can
not be reset by software)
Set NC program cycle stop on
G8.5 *SP Cycle Stop
signal falling edge (1 0)
Reset CNC on signal rising
G8.6 RRW CNC Reset
edge (0 1)
Reset CNC on signal rising
G8.7 ERS External Reset
edge (0 1)
Manual Feedrate Override Bit 0
G10 ~ G11 *JV0 to *JV15 Refer to Table B-4.
to 15
G12 *FV0 to FV7 Feedrate Override Bit 0 to 7 Refer to Table B-5.
G14.0 ROV1 Rapid Override 1 Refer to Table B-6.
G14.1 ROV2 Rapid Override 2 Refer to Table B-6.
Handwheel Manual Axis
G18.0 HS1A Refer to Table B-3.
Selection A

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

Handwheel Manual Axis
G18.1 HS1B Refer to Table B-3.
Selection B
Handwheel Manual Axis
G18.2 HS1C Refer to Table B-3.
Selection C
Handwheel Manual Axis
G18.3 HS1D Refer to Table B-3.
Selection D
G19.0 MP1 Handwheel Multiple Selection 1 Refer to Table B-2.
G19.1 MP2 Handwheel Multiple Selection 2 Refer to Table B-2.
Handwheel Interrupt Axis
G41.0 HS1IA Refer to Table B-3.
Selection A
Handwheel Interrupt Axis
G41.1 HS1IB Refer to Table B-3.
Selection B
Handwheel Interrupt Axis
G41.2 HS1IC Refer to Table B-3.
Selection C
Handwheel Interrupt Axis
G41.3 HS1ID Refer to Table B-3.
Selection D
G43.0 MD1 NC Mode Selection Refer to Table B-7.
G43.1 MD2 NC Mode Selection Refer to Table B-7.
G43.2 MD4 NC Mode Selection Refer to Table B-7.
G43.3 DNC1 Set DNC Mode Refer to Table B-7.
G43.4 ZRN Zero Reference Point Return Refer to Table B-7.
G43.5 RT Rapid Move Refer to Table B-7.
0: Set optional block skip
mode off.
G44.0 BDT1 Optional Block Skip 1: Set optional block skip
mode on.
Edge triggered
0: Set optional stop mode off.
G46.0 OPSTP Optional Stop 1: Set optional stop mode on.
Edge triggered.
0: Set single block mode off.
G46.1 SBK Single Block 1: Set single block mode on.
Edge triggered.
0: Set dry run mode off.
G46.7 DRN Dry Run 1: Set dry run mode on.
Edge triggered.
G100 +J1 to +J8 Jog Axis 1+ to 8+ Refer to Table B-8.
G102 –J1 to –J8 Jog Axis 1– to 8– Refer to Table B-8.
0: Axis 1 to 8 machine unlock.
G108 MLK1 to MLK8 Machine Lock Axis 1 to 8 1: Axis 1 to 8 machine lock.
Edge triggered.
0: Axis 1 to 8 servo off.
G126 SVF1 to SVF8 Servo Control Axis 1 to 8 1: Axis 1 to 8 servo on.
Edge triggered.

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

0: Axis 1 to 8 plus direction
interlock off.
MIT1p to
G132 Interlock Axis 1+ to 8+ 1: Axis 1 to 8 plus direction
MIT8p
interlock on.
Edge triggered.
0: Axis 1 to 8 minus direction
interlock off.
MIT1m to
G134 Interlock Axis 1– to 8– 1: Axis 1 to 8 minus direction
MIT8m
interlock on.
Edge triggered.

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

X Data Mapping Table

ADDRESS NAME DESCRIPTION NOTE

0: HandWheel E-Stop
button is active
(pushed down).
X00.0 HW_ESTP Handwheel E-Stop
1: HandWheel E-Stop
button is not active
(released).
0: HandWheel axis X
is not selected.
X00.1 HW_X Handwheel Axis X
1: HandWheel axis X
is selected.
0: HandWheel axis Y
is not selected.
X00.2 HW_Y Handwheel Axis Y
1: HandWheel axis Y
is selected.
0: HandWheel axis Z
is not selected.
X00.3 HW_Z Handwheel Axis Z
1: HandWheel axis Z
is selected.
0: HandWheel axis 4
is not selected.
X00.4 HW_4 Handwheel Axis Selection 4
1: HandWheel axis 4
is selected.
0: HandWheel axis 5
is not selected.
X00.5 HW_5 Handwheel Axis Selection 5
1: HandWheel axis 5
is selected.
0: HandWheel axis 6
is not selected.
X00.6 HW_6 Handwheel Axis Selection 6
1: HandWheel axis 6
is selected.
0: HandWheel multiple
X1 is not selected.
X00.7 HW_X1 Handwheel Multiple X1
1: HandWheel multiple
X1 is selected.
0: HandWheel multiple
X10 is not selected.
X01.0 HW_X10 Handwheel Multiple X10
1: HandWheel multiple
X10 is selected.
0: HandWheel multiple
X100 is not selected.
X01.1 HW_X100 Handwheel Multiple X100
1: HandWheel multiple
X100 is selected.
X01.2 N/A N/A Reserved
X01.3 N/A N/A Reserved
X01.4 N/A N/A Reserved
X01.5 N/A N/A Reserved

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

X01.6 N/A N/A Reserved
X01.7 N/A N/A Reserved
Local (FP Board) Digital Input
X02 Local_Din_Low Bit to bit map.
Lower 8 Bits (0–7)
Local (FP Board) Digital Input
X03 Local_Din_High Bit to bit map.
Higher 8 Bits (8–15)
Local (FP Board) Digital Output
X04 Local_Dout_Low Bit to bit map.
Lower 8 Bits (0–7)
Local (FP Board) Digital Output
X05 Local_Dout_High Bit to bit map.
Higher 8 Bits (8–15)
X06 N/A N/A Reserved
X07 N/A N/A Reserved
X08 N/A N/A Reserved
X09 N/A N/A Reserved
X10 N/A N/A Reserved
X11 N/A N/A Reserved
X12.0 N/A N/A Reserved
0: Home switch axis 1
is not active.
X12.1 HS_1 Home Switch Axis 1
1: Home switch axis 1
is active.
0: Negative limit switch
axis 1 is not active.
X12.2 NLS_1 Negative Limit Switch Axis 1
1: Negative limit switch
axis 1 is active.
0: Positive limit switch
axis 1 is not active.
X12.3 PLS_1 Positive Limit Switch Axis 1
1: Positive limit switch
axis 1 is active.
X12.4 N/A N/A Reserved
0: Home switch axis 2
is not active.
X12.5 HS_2 Home Switch Axis 2
1: Home switch axis 2
is active.
0: Negative limit switch
axis 2 is not active.
X12.6 NLS_2 Negative Limit Switch Axis 2
1: Negative limit switch
axis 2 is active.
0: Positive limit switch
axis 2 is not active.
X12.7 PLS_2 Positive Limit Switch Axis 2
1: Positive limit switch
axis 2 is active.
X13.0 N/A N/A Reserved

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

0: Home switch axis 3
is not active.
X13.1 HS_3 Home Switch Axis 3
1: Home switch axis 3
is active.
0: Negative limit switch
axis 3 is not active.
X13.2 NLS_3 Negative Limit Switch Axis 3
1: Negative limit switch
axis 3 is active.
0: Positive limit switch
axis 3 is not active.
X13.3 PLS_3 Positive Limit Switch Axis 3
1: Positive limit switch
axis 3 is active.
X13.4 N/A N/A Reserved
0: Home switch axis 4
is not active.
X13.5 HS_4 Home Switch Axis 4
1: Home switch axis 4
is active.
0: Negative limit switch
axis 4 is not active.
X13.6 NLS_4 Negative Limit Switch Axis 4
1: Negative limit switch
axis 4 is active.
0: Positive limit switch
axis 4 is not active.
X13.7 PLS_4 Positive Limit Switch Axis 4
1: Positive limit switch
axis 4 is active.
0: Amplifier fault axis 1
is not active.
X14.0 AF_1 Amplifier Fault Axis 1
1: Amplifier fault axis 1
is active.
0: Alarm code bit 0
axis 1 is not active.
X14.1 AC0_1 Alarm Code Bit 0 Axis 1
1: Alarm code bit 0
axis 1 is active.
0: Alarm code bit 1
axis 1 is not active.
X14.2 AC1_1 Alarm Code Bit 1 Axis 1
1: Alarm code bit 1
axis 1 is active.
0: Alarm code bit 2
axis 1 is not active.
X14.3 AC2_1 Alarm Code Bit 2 Axis 1
1: Alarm code bit 2
axis 1 is active.
0: Amplifier fault axis 2
is not active.
X14.4 AF_2 Amplifier Fault Axis 2
1: Amplifier fault axis 2
is active.
0: Alarm code bit 0
axis 2 is not active.
X14.5 AC0_2 Alarm Code Bit 0 Axis 2
1: Alarm code bit 0
axis 2 is active.
0: Alarm code bit 1
axis 2 is not active.
X14.6 AC1_2 Alarm Code Bit 1 Axis 2
1: Alarm code bit 1
axis 2 is active.

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

0: Alarm code bit 2
axis 2 is not active.
X14.7 AC2_2 Alarm Code Bit 2 Axis 2
1: Alarm code bit 2
axis 2 is active.
0: Amplifier fault axis 3
is not active.
X15.0 AF_3 Amplifier Fault Axis 3
1: Amplifier fault axis 3
is active.
0: Alarm code bit 0
axis 3 is not active.
X15.1 AC0_3 Alarm Code Bit 0 Axis 3
1: Alarm code bit 0
axis 3 is active.
0: Alarm code bit 1
axis 3 is not active.
X15.2 AC1_3 Alarm Code Bit 1 Axis 3
1: Alarm code bit 1
axis 3 is active.
0: Alarm code bit 2
axis 3 is not active.
X15.3 AC2_3 Alarm Code Bit 2 Axis 3
1: Alarm code bit 2
axis 3 is active.
0: Amplifier fault axis 4
is not active.
X15.4 AF_4 Amplifier Fault Axis 4
1: Amplifier fault axis 4
is active.
0: Alarm code bit 0
axis 4 is not active.
X15.5 AC0_4 Alarm Code Bit 0 Axis 4
1: Alarm code bit 0
axis 4 is active.
0: Alarm code bit 1
axis 4 is not active.
X15.6 AC1_4 Alarm Code Bit 1 Axis 4
1: Alarm code bit 1
axis 4 is active.
0: Alarm code bit 2
axis 4 is not active.
X15.7 AC2_4 Alarm Code Bit 2 Axis 4
1: Alarm code bit 2
axis 4 is active.
DC Module Address-0 Digital
X16 DC_Din_Low [0] Bit to bit map.
Input Lower 8 Bits (0–7)
DC Module Address-0 Digital
X17 DC_Din_High [0] Bit to bit map.
Input Higher 8 Bits (8–15)
DC Module Address-0 Digital
X18 DC_Dout_Low [0] Bit to bit map.
Output Lower 8 Bits (0–7)
DC Module Address-0 Digital
X19 DC_Dout_High [0] Bit to bit map.
Output Higher 8 Bits (8–15)
IM Module Address-0 Digital
X20 IM_Din_Low_0 [0] Bit to bit map.
Input Lower 8 Bits (0–7)
IM Module Address-0 Digital
X21 IM_Din_Low_1 [0] Bit to bit map.
Input Lower 8 Bits (8–15)
IM Module Address-0 Digital
X22 IM_Din_High_0 [0] Bit to bit map.
Input Higher 8 Bits (16–23)
IM Module Address-0 Digital
X23 IM_Din_High_1 [0] Bit to bit map
Input Higher 8 Bits (24–31)

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

IM Module Address-0 Digital
X24 IM_Dout_Low_0 [0] Bit to bit map.
Output Lower 8 Bits (0–7)
IM Module Address-0 Digital
X25 IM_Dout_Low_1 [0] Bit to bit map.
Output Lower 8 Bits (8–15)
IM Module Address-0 Digital
X26 IM_Dout_High_0 [0] Bit to bit map.
Output Higher 8 Bits (16–23)
IM Module Address-0 Digital
X27 IM_Dout_High_1 [0] Bit to bit map.
Output Higher 8 Bits (24–31)
X28.0 N/A N/A Reserved
0: Home switch axis 5
is not active.
X28.1 HS_5 Home Switch Axis 5
1: Home switch axis 5
is active.
0: Negative limit switch
axis 5 is not active.
X28.2 NLS_5 Negative Limit Switch Axis 5
1: Negative limit switch
axis 5 is active.
0: Positive limit switch
axis 5 is not active.
X28.3 PLS_5 Positive Limit Switch Axis 5
1: Positive limit switch
axis 5 is active.
X28.4 N/A N/A Reserved
0: Home switch axis 6
is not active.
X28.5 HS_6 Home Switch Axis 6
1: Home switch axis 6
is active.
0: Negative limit switch
axis 6 is not active.
X28.6 NLS_6 Negative Limit Switch Axis 6
1: Negative limit switch
axis 6 is active.
0: Positive limit switch
axis 6 is not active.
X28.7 PLS_6 Positive Limit Switch Axis 6
1: Positive limit switch
axis 6 is active.
X29.0 N/A N/A Reserved
0: Home switch axis 7
is not active.
X29.1 HS_7 Home Switch Axis 7
1: Home switch axis 7
is active.
0: Negative limit switch
axis 7 is not active.
X29.2 NLS_7 Negative Limit Switch Axis 7
1: Negative limit switch
axis 7 is active.
0: Positive limit switch
axis 7 is not active.
X29.3 PLS_7 Positive Limit Switch Axis 7
1: Positive limit switch
axis 7 is active.
X29.4 N/A N/A Reserved

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

0: Home switch axis 8
is not active.
X29.5 HS_8 Home Switch Axis 8
1: Home switch axis 8
is active.
0: Negative limit switch
axis 8 is not active.
X29.6 NLS_8 Negative Limit Switch Axis 8
1: Negative limit switch
axis 8 is active.
0: Positive limit switch
axis 8 is not active.
X29.7 PLS_8 Positive Limit Switch Axis 8
1: Positive limit switch
axis 8 is active.
0: Amplifier fault axis 5
is not active.
X30.0 AF_5 Amplifier Fault Axis 5
1: Amplifier fault axis 5
is active.
0: Alarm code bit 0
axis 5 is not active.
X30.1 AC0_5 Alarm Code Bit 0 Axis 5
1: Alarm code bit 0
axis 5 is active.
0: Alarm code bit 1
axis 5 is not active.
X30.2 AC1_5 Alarm Code Bit 1 Axis 5
1: Alarm code bit 1
axis 5 is active.
0: Alarm code bit 2
axis 5 is not active.
X30.3 AC2_5 Alarm Code Bit 2 Axis 5
1: Alarm code bit 2
axis 5 is active.
0: Amplifier fault axis 6
is not active.
X30.4 AF_6 Amplifier Fault Axis 6
1: Amplifier fault axis 6
is active.
0: Alarm code bit 0
axis 6 is not active.
X30.5 AC0_6 Alarm Code Bit 0 Axis 6
1: Alarm code bit 0
axis 6 is active.
0: Alarm code bit 1
axis 6 is not active.
X30.6 AC1_6 Alarm Code Bit 1 Axis 6
1: Alarm code bit 1
axis 6 is active.
0: Alarm code bit 2
axis 6 is not active.
X30.7 AC2_6 Alarm Code Bit 2 Axis 6
1: Alarm code bit 2
axis 6 is active.
0: Amplifier fault axis 7
is not active.
X31.0 AF_7 Amplifier Fault Axis 7
1: Amplifier fault axis 7
is active.
0: Alarm code bit 0
axis 7 is not active.
X31.1 AC0_7 Alarm Code Bit 0 Axis 7
1: Alarm code bit 0
axis 7 is active.

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

0: Alarm code bit 1
axis 7 is not active.
X31.2 AC1_7 Alarm Code Bit 1 Axis 7
1: Alarm code bit 1
axis 7 is active.
0: Alarm code bit 2
axis 7 is not active.
X31.3 AC2_7 Alarm Code Bit 2 Axis 7
1: Alarm code bit 2
axis 7 is active.
0: Amplifier fault axis 8
is not active.
X31.4 AF_8 Amplifier Fault Axis 8
1: Amplifier fault axis 8
is active.
0: Alarm code bit 0
axis 8 is not active.
X31.5 AC0_8 Alarm Code Bit 0 Axis 8
1: Alarm code bit 0
axis 8 is active.
0: Alarm code bit 1
axis 8 is not active.
X31.6 AC1_8 Alarm Code Bit 1 Axis 8
1: Alarm code bit 1
axis 8 is active.
0: Alarm code bit 2
axis 8 is not active.
X31.7 AC2_8 Alarm Code Bit 2 Axis 8
1: Alarm code bit 2
axis 8 is active.
DC Module Address-1 Digital
X32 DC_Din_Low [1] Bit to bit map.
Input Lower 8 Bits (0–7)
DC Module Address-1 Digital
X33 DC_Din_High [1] Bit to bit map.
Input Higher 8 Bits (8–15)
DC Module Address-1 Digital
X34 DC_Dout_Low [1] Bit to bit map.
Output Lower 8 Bits (0–7)
DC Module Address-1 Digital
X35 DC_Dout_High [1] Bit to bit map.
Output Higher 8 Bits (8–15)
IM Module Address-1 Digital
X36 IM_Din_Low_0 [1] Bit to bit map.
Input Lower 8 Bits (0–7)
IM Module Address-1 Digital
X37 IM_Din_Low_1 [1] Bit to bit map.
Input Lower 8 Bits (8–15)
IM Module Address-1 Digital
X38 IM_Din_High_0 [1] Bit to bit map.
Input Higher 8 Bits (16–23)
IM Module Address-1 Digital
X39 IM_Din_High_1 [1] Bit to bit map.
Input Higher 8 Bits (24–31)
IM Module Address-1 Digital
X40 IM_Dout_Low_0 [1] Bit to bit map.
Output Lower 8 Bits (0–7)
IM Module Address-1 Digital
X41 IM_Dout_Low_1 [1] Bit to bit map.
Output Lower 8 Bits (8–15)
IM Module Address-1 Digital
X42 IM_Dout_High_0 [1] Bit to bit map.
Output Higher 8 Bits (16–23)
IM Module Address-1 Digital
X43 IM_Dout_High_1 [1] Bit to bit map.
Output Higher 8 Bits (23–31)
X44.0 N/A N/A Reserved

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

0: Home switch axis 9
is not active.
X44.1 HS_9 Home Switch Axis 9
1: Home switch axis 9
is active.
0: Negative limit switch
axis 9 is not active.
X44.2 NLS_9 Negative Limit Switch Axis 9
1: Negative limit switch
axis 9 is active.
0: Positive limit switch
axis 9 is not active.
X44.3 PLS_9 Positive Limit Switch Axis 9
1: Positive limit switch
axis 9 is active.
X44.4 N/A N/A Reserved
0: Home switch axis
10 is not active.
X44.5 HS_10 Home Switch Axis 10
1: Home switch axis
10 is active.
0: Negative limit switch
axis 10 is not active.
X44.6 NLS_10 Negative Limit Switch Axis 10
1: Negative limit switch
axis 10 is active.
0: Positive limit switch
axis 10 is not active.
X44.7 PLS_10 Positive Limit Switch Axis 10
1: Positive limit switch
axis 10 is active.
X45.0 N/A N/A Reserved
0: Home switch axis
11 is not active.
X45.1 HS_11 Home Switch Axis 11
1: Home switch axis
11 is active.
0: Negative limit switch
axis 11 is not active.
X45.2 NLS_11 Negative Limit Switch Axis 11
1: Negative limit switch
axis 11 is active.
0: Positive limit switch
axis 11 is not active.
X45.3 PLS_11 Positive Limit Switch Axis 11
1: Positive limit switch
axis 11 is active.
X45.4 N/A N/A Reserved
0: Home switch axis
12 is not active.
X45.5 HS_12 Home Switch Axis 12
1: Home switch axis
12 is active.
0: Negative limit switch
axis 12 is not active.
X45.6 NLS_12 Negative Limit Switch Axis 12
1: Negative limit switch
axis 12 is active.
0: Positive limit switch
axis 12 is not active.
X45.7 PLS_12 Positive Limit Switch Axis 12
1: Positive limit switch
axis 12 is active.

______________________________________________________________________________
B-15
 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

0: Amplifier fault axis 9
is not active.
X46.0 AF_9 Amplifier Fault Axis 9
1: Amplifier fault axis 9
is active.
0: Alarm code bit 0
axis 9 is not active.
X46.1 AC0_9 Alarm Code Bit 0 Axis 9
1: Alarm code bit 0
axis 9 is active.
0: Alarm code bit 1
axis 9 is not active.
X46.2 AC1_9 Alarm Code Bit 1 Axis 9
1: Alarm code bit 1
axis 9 is active.
0: Alarm code bit 2
axis 1 is not active.
X46.3 AC2_9 Alarm Code Bit 2 Axis 9
1: Alarm code bit 2
axis 1 is active.
0: Amplifier fault axis
10 is not active.
X46.4 AF_10 Amplifier Fault Axis 10
1: Amplifier fault axis
10 is active.
0: Alarm code bit 0
axis 10 is not active.
X46.5 AC0_10 Alarm Code Bit 0 Axis 10
1: Alarm code bit 0
axis 10 is active.
0: Alarm code bit 1
axis 10 is not active.
X46.6 AC1_10 Alarm Code Bit 1 Axis 10
1: Alarm code bit 1
axis 10 is active.
0: Alarm code bit 2
axis 10 is not active.
X46.7 AC2_10 Alarm Code Bit 2 Axis 10
1: Alarm code bit 2
axis 10 is active.
0: Amplifier fault axis 3
is not active.
X47.0 AF_11 Amplifier Fault Axis 11
1: Amplifier fault axis 3
is active.
0: Alarm code bit 0
axis 11 is not active.
X47.1 AC0_11 Alarm Code Bit 0 Axis 11
1: Alarm code bit 0
axis 11 is active.
0: Alarm code bit 1
axis 11 is not active.
X47.2 AC1_11 Alarm Code Bit 1 Axis 11
1: Alarm code bit 1
axis 11 is active.
0: Alarm code bit 2
axis 11 is not active.
X47.3 AC2_11 Alarm Code Bit 2 Axis 11
1: Alarm code bit 2
axis 11 is active.
0: Amplifier fault axis
12 is not active.
X47.4 AF_12 Amplifier Fault Axis 12
1: Amplifier fault axis
12 is active.

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

0: Alarm code bit 0
axis 12 is not active.
X47.5 AC0_12 Alarm Code Bit 0 Axis 12
1: Alarm code bit 0
axis 12 is active.
0: Alarm code bit 1
axis 12 is not active.
X47.6 AC1_12 Alarm Code Bit 1 Axis 12
1: Alarm code bit 1
axis 12 is active.
0: Alarm code bit 2
axis 12 is not active.
X47.7 AC2_12 Alarm Code Bit 2 Axis 12
1: Alarm code bit 2
axis 12 is active.
DC Module Address-2 Digital
X48 DC_Din_Low [2] Bit to bit map.
Input Lower 8 Bits (0–7)
DC Module Address-2 Digital
X49 DC_Din_High [2] Bit to bit map.
Input Higher 8 Bits (8–15)
DC Module Address-2 Digital
X50 DC_Dout_Low [2] Bit to bit map.
Output Lower 8 Bits (0–7)
DC Module Address-2 Digital
X51 DC_Dout_High [2] Bit to bit map.
Output Higher 8 Bits (8–15)
IM Module Address-2 Digital
X52 IM_Din_Low_0 [2] Bit to bit map.
Input Lower 8 Bits (0–7)
IM Module Address-2 Digital
X53 IM_Din_Low_1 [2] Bit to bit map.
Input Lower 8 Bits (8–15)
IM Module Address-2 Digital
X54 IM_Din_High_0 [2] Bit to bit map.
Input Higher 8 Bits (16–23)
IM Module Address-2 Digital
X55 IM_Din_High_1 [2] Bit to bit map
Input Higher 8 Bits (24–31)
IM Module Address-2 Digital
X56 IM_Dout_Low_0 [2] Bit to bit map.
Output Lower 8 Bits (0–7)
IM Module Address-2 Digital
X57 IM_Dout_Low_1 [2] Bit to bit map.
Output Lower 8 Bits (8–15)
IM Module Address-2 Digital
X58 IM_Dout_High_0 [2] Bit to bit map.
Output Higher 8 Bits (16–23)
IM Module Address-2 Digital
X59 IM_Dout_High_1 [2] Bit to bit map.
Output Higher 8 Bits (24–31)
X60.0 N/A N/A Reserved
0: Home switch axis
13 is not active.
X60.1 HS_13 Home Switch Axis 13
1: Home switch axis
13 is active.
0: Negative limit switch
axis 13 is not active.
X60.2 NLS_13 Negative Limit Switch Axis 13
1: Negative limit switch
axis 13 is active.
0: Positive limit switch
axis 9 is not active.
X60.3 PLS_13 Positive Limit Switch Axis 13
1: Positive limit switch
axis 9 is active.
X60.4 N/A N/A Reserved

______________________________________________________________________________
B-17
 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

0: Home switch axis
14 is not active.
X60.5 HS_14 Home Switch Axis 14
1: Home switch axis
14 is active.
0: Negative limit switch
axis 14 is not active.
X60.6 NLS_14 Negative Limit Switch Axis 14
1: Negative limit switch
axis 14 is active.
0: Positive limit switch
axis 14 is not active.
X60.7 PLS_14 Positive Limit Switch Axis 14
1: Positive limit switch
axis 14 is active.
X61.0 N/A N/A Reserved
0: Home switch axis
15 is not active.
X61.1 HS_15 Home Switch Axis 15
1: Home switch axis
15 is active.
0: Negative limit switch
axis 15 is not active.
X61.2 NLS_15 Negative Limit Switch Axis 15
1: Negative limit switch
axis 15 is active.
0: Positive limit switch
axis 15 is not active.
X61.3 PLS_15 Positive Limit Switch Axis 15
1: Positive limit switch
axis 15 is active.
X61.4 N/A N/A Reserved
0: Home switch axis
16 is not active.
X61.5 HS_16 Home Switch Axis 16
1: Home switch axis
16 is active.
0: Negative limit switch
axis 16 is not active.
X61.6 NLS_16 Negative Limit Switch Axis 16
1: Negative limit switch
axis 16 is active.
0: Positive limit switch
axis 16 is not active.
X61.7 PLS_16 Positive Limit Switch Axis 16
1: Positive limit switch
axis 16 is active.
0: Amplifier fault axis
13 is not active.
X62.0 AF_13 Amplifier Fault Axis 13
1: Amplifier fault axis
13 is active.
0: Alarm code bit 0
axis 13 is not active.
X62.1 AC0_13 Alarm Code Bit 0 Axis 13
1: Alarm code bit 0
axis 13 is active.
0: Alarm code bit 1
axis 13 is not active.
X62.2 AC1_13 Alarm Code Bit 1 Axis 13
1: Alarm code bit 1
axis 13 is active.

______________________________________________________________________________
B-18
 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

0: Alarm code bit 2
axis 13 is not active.
X62.3 AC2_13 Alarm Code Bit 2 Axis 13
1: Alarm code bit 2
axis 13 is active.
0: Amplifier fault axis
14 is not active.
X62.4 AF_14 Amplifier Fault Axis 14
1: Amplifier fault axis
14 is active.
0: Alarm code bit 0
axis 14 is not active.
X62.5 AC0_14 Alarm Code Bit 0 Axis 14
1: Alarm code bit 0
axis 14 is active.
0: Alarm code bit 1
axis 14 is not active.
X62.6 AC1_14 Alarm Code Bit 1 Axis 14
1: Alarm code bit 1
axis 14 is active.
0: Alarm code bit 2
axis 14 is not active.
X62.7 AC2_14 Alarm Code Bit 2 Axis 14
1: Alarm code bit 2
axis 14 is active.
0: Amplifier fault axis
15 is not active.
X63.0 AF_15 Amplifier Fault Axis 15
1: Amplifier fault axis
15 is active.
0: Alarm code bit 0
axis 15 is not active.
X63.1 AC0_15 Alarm Code Bit 0 Axis 15
1: Alarm code bit 0
axis 15 is active.
0: Alarm code bit 1
axis 15 is not active.
X63.2 AC1_15 Alarm Code Bit 1 Axis 15
1: Alarm code bit 1
axis 15 is active.
0: Alarm code bit 2
axis 15 is not active.
X63.3 AC2_15 Alarm Code Bit 2 Axis 15
1: Alarm code bit 2
axis 15 is active.
0: Amplifier fault axis 4
is not active.
X63.4 AF_4 Amplifier Fault Axis 4
1: Amplifier fault axis 4
is active.
0: Alarm code bit 0
axis 4 is not active.
X63.5 AC0_4 Alarm Code Bit 0 Axis 4
1: Alarm code bit 0
axis 4 is active.
0: Alarm code bit 1
axis 4 is not active.
X63.6 AC1_4 Alarm Code Bit 1 Axis 4
1: Alarm code bit 1
axis 4 is active.
0: Alarm code bit 2
axis 4 is not active.
X63.7 AC2_4 Alarm Code Bit 2 Axis 4
1: Alarm code bit 2
axis 4 is active.

______________________________________________________________________________
B-19
 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

DC Module Address-3 Digital
X64 DC_Din_Low [3] Bit to bit map.
Input Lower 8 Bits (0–7)
DC Module Address-3 Digital
X65 DC_Din_High [3] Bit to bit map.
Input Higher 8 Bits (8–15)
DC Module Address-3 Digital
X66 DC_Dout_Low [3] Bit to bit map.
Output Lower 8 Bits (0–7)
DC Module Address-3 Digital
X67 DC_Dout_High [3] Bit to bit map.
Output Higher 8 Bits (8–15)
IM Module Address-3 Digital
X68 IM_Din_Low_0 [3] Bit to bit map.
Input Lower 8 Bits (0–7)
IM Module Address-3 Digital
X69 IM_Din_Low_1 [3] Bit to bit map.
Input Lower 8 Bits (8–15)
IM Module Address-3 Digital
X70 IM_Din_High_0 [3] Bit to bit map.
Input Higher 8 Bits (16–23)
IM Module Address-3 Digital
X71 IM_Din_High_1 [3] Bit to bit map
Input Higher 8 Bits (24–31)
IM Module Address-3 Digital
X72 IM_Dout_Low_0 [3] Bit to bit map.
Output Lower 8 Bits (0–7)
IM Module Address-3 Digital
X73 IM_Dout_Low_1 [3] Bit to bit map.
Output Lower 8 Bits (8–15)
IM Module Address-3 Digital
X74 IM_Dout_High_0 [3] Bit to bit map.
Output Higher 8 Bits (16–23)
IM Module Address-3 Digital
X75 IM_Dout_High_1 [3] Bit to bit map.
Output Higher 8 Bits (24–31)
X76 N/A N/A Reserved
X77 N/A N/A Reserved
X78 N/A N/A Reserved
X79 N/A N/A Reserved
ServoWire_Din_1_1 Digital Input on ServoWire Drive
X80.0
#1 – In1
ServoWire_Din_1_2 Digital Input on ServoWire Drive
X80.1
#1 – In2
ServoWire_Din_1_A Digital Input on ServoWire Drive
X80.2
#1 – Asen
ServoWire_Din_1_B Digital Input on ServoWire Drive
X80.3
#1 – Bsen
Digital Input on ServoWire Drive
X80.4 ServoWire_Din_1_C
#1 – Csen
ServoWire_Din_2_1 Digital Input on ServoWire Drive
X81.0
#2 – In1
ServoWire_Din_2_2 Digital Input on ServoWire Drive
X81.1
#2 – In2
ServoWire_Din_2_A Digital Input on ServoWire Drive
X81.2
#2 – Asen
ServoWire_Din_2_B Digital Input on ServoWire Drive
X81.3
#2 – Bsen
Digital Input on ServoWire Drive
X81.4 ServoWire_Din_2_C
#2 – Csen
ServoWire_Din_3_1 Digital Input on ServoWire Drive
X82.0
#3 – In1

______________________________________________________________________________
B-20
 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

ServoWire_Din_3_2 Digital Input on ServoWire Drive
X82.1
#3 – In2
ServoWire_Din_3_A Digital Input on ServoWire Drive
X82.2
#3 – Asen
ServoWire_Din_3_B Digital Input on ServoWire Drive
X82.3
#3 – Bsen
Digital Input on ServoWire Drive
X82.4 ServoWire_Din_3_C
#3 – Csen
ServoWire_Din_4_1 Digital Input on ServoWire Drive
X83.0
#4 – In1
ServoWire_Din_4_2 Digital Input on ServoWire Drive
X83.1
#4 – In2
ServoWire_Din_4_A Digital Input on ServoWire Drive
X83.2
#4 – Asen
ServoWire_Din_4_B Digital Input on ServoWire Drive
X83.3
#4 – Bsen
Digital Input on ServoWire Drive
X83.4 ServoWire_Din_4_C
#4 – Csen
ServoWire_Din_5_1 Digital Input on ServoWire Drive
X84.0
#5 – In1
ServoWire_Din_5_2 Digital Input on ServoWire Drive
X84.1
#5 – In2
ServoWire_Din_5_A Digital Input on ServoWire Drive
X84.2
#5 – Asen
ServoWire_Din_5_B Digital Input on ServoWire Drive
X84.3
#5 – Bsen
Digital Input on ServoWire Drive
X84.4 ServoWire_Din_5_C
#5 – Csen
ServoWire_Din_6_1 Digital Input on ServoWire Drive
X85.0
#6 – In1
ServoWire_Din_6_2 Digital Input on ServoWire Drive
X85.1
#6 – In2
ServoWire_Din_6_A Digital Input on ServoWire Drive
X85.2
#6 – Asen
ServoWire_Din_6_B Digital Input on ServoWire Drive
X85.3
#6 – Bsen
Digital Input on ServoWire Drive
X85.4 ServoWire_Din_6_C
#6 – Csen
ServoWire_Din_7_1 Digital Input on ServoWire Drive
X86.0
#7 – In1
ServoWire_Din_7_2 Digital Input on ServoWire Drive
X86.1
#7 – In2
ServoWire_Din_7_A Digital Input on ServoWire Drive
X86.2
#7 – Asen
ServoWire_Din_7_B Digital Input on ServoWire Drive
X86.3
#7 – Bsen
Digital Input on ServoWire Drive
X86.4 ServoWire_Din_7_C
#7 – Csen
ServoWire_Din_8_1 Digital Input on ServoWire Drive
X87.0
#8 – In1
ServoWire_Din_8_2 Digital Input on ServoWire Drive
X87.1
#8 – In2

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

ServoWire_Din_8_A Digital Input on ServoWire Drive
X87.2
#8 – Asen
ServoWire_Din_8_B Digital Input on ServoWire Drive
X87.3
#8 – Bsen
Digital Input on ServoWire Drive
X87.4 ServoWire_Din_8_C
#8 – Csen
ServoWire_Din_9_1 Digital Input on ServoWire Drive
X88.0
#9 – In1
ServoWire_Din_9_2 Digital Input on ServoWire Drive
X88.1
#9 – In2
ServoWire_Din_9_A Digital Input on ServoWire Drive
X88.2
#9 – Asen
ServoWire_Din_9_B Digital Input on ServoWire Drive
X88.3
#9 – Bsen
Digital Input on ServoWire Drive
X88.4 ServoWire_Din_9_C
#9 – Csen
ServoWire_Din_10_1 Digital Input on ServoWire Drive
X89.0
#10 – In1
ServoWire_Din_10_2 Digital Input on ServoWire Drive
X89.1
#10 – In2
ServoWire_Din_10_A Digital Input on ServoWire Drive
X89.2
#10 – Asen
ServoWire_Din_10_B Digital Input on ServoWire Drive
X89.3
#10 – Bsen
Digital Input on ServoWire Drive
X89.4 ServoWire_Din_10_C
#10 – Csen
ServoWire_Din_11_1 Digital Input on ServoWire Drive
X90.0
#11 – In1
ServoWire_Din_11_2 Digital Input on ServoWire Drive
X90.1
#11 – In2
ServoWire_Din_11_A Digital Input on ServoWire Drive
X90.2
#11 – Asen
ServoWire_Din_11_B Digital Input on ServoWire Drive
X90.3
#11 – Bsen
Digital Input on ServoWire Drive
X90.4 ServoWire_Din_11_C
#11 – Csen
ServoWire_Din_12_1 Digital Input on ServoWire Drive
X91.0
#12 – In1
ServoWire_Din_12_2 Digital Input on ServoWire Drive
X91.1
#12 – In2
ServoWire_Din_12_A Digital Input on ServoWire Drive
X91.2
#12 – Asen
ServoWire_Din_12_B Digital Input on ServoWire Drive
X91.3
#12 – Bsen
Digital Input on ServoWire Drive
X91.4 ServoWire_Din_12_C
#12 – Csen
ServoWire_Din_13_1 Digital Input on ServoWire Drive
X92.0
#13 – In1
ServoWire_Din_13_2 Digital Input on ServoWire Drive
X92.1
#13 – In2
ServoWire_Din_13_A Digital Input on ServoWire Drive
X92.2
#13 – Asen

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

ServoWire_Din_13_B Digital Input on ServoWire Drive
X92.3
#13 – Bsen
Digital Input on ServoWire Drive
X92.4 ServoWire_Din_13_C
#13 – Csen
ServoWire_Din_14_1 Digital Input on ServoWire Drive
X93.0
#14 – In1
ServoWire_Din_14_2 Digital Input on ServoWire Drive
X93.1
#14 – In2
ServoWire_Din_14_A Digital Input on ServoWire Drive
X93.2
#14 – Asen
ServoWire_Din_14_B Digital Input on ServoWire Drive
X93.3
#14 – Bsen
Digital Input on ServoWire Drive
X93.4 ServoWire_Din_14_C
#14 – Csen
ServoWire_Din_15_1 Digital Input on ServoWire Drive
X94.0
#15 – In1
ServoWire_Din_15_2 Digital Input on ServoWire Drive
X94.1
#15 – In2
ServoWire_Din_15_A Digital Input on ServoWire Drive
X94.2
#15 – Asen
ServoWire_Din_15_B Digital Input on ServoWire Drive
X94.3
#15 – Bsen
Digital Input on ServoWire Drive
X94.4 ServoWire_Din_15_C
#15 – Csen
ServoWire_Din_16_1 Digital Input on ServoWire Drive
X95.0
#16 – In1
ServoWire_Din_16_2 Digital Input on ServoWire Drive
X95.1
#16 – In2
ServoWire_Din_16_A Digital Input on ServoWire Drive
X95.2
#16 – Asen
ServoWire_Din_16_B Digital Input on ServoWire Drive
X95.3
#16 – Bsen
Digital Input on ServoWire Drive
X95.4 ServoWire_Din_16_C
#16 – Csen
X96 N/A N/A Reserved
X97 N/A N/A Reserved
X98 N/A N/A Reserved
X99 N/A N/A Reserved

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B-23
 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

Y Data Mapping Table

ADDRESS NAME DESCRIPTION NOTE

DC module Address-0 digital
Y00 DC_Dout_Low [0] Bit to bit map.
output lower 8 bits (0–7)
DC module Address-0 digital
Y01 DC_Dout_High [0] Bit to bit map.
output higher 8 bits (8–15)
DC module Address-1 digital
Y02 DC_Dout_Low [1] Bit to bit map.
output lower 8 bits (0–7)
DC module Address-1 digital
Y03 DC_Dout_High [1] Bit to bit map.
output higher 8 bits (8–15)
DC module Address-2 digital
Y04 DC_Dout_Low [2] Bit to bit map.
output lower 8 bits (0–7)
DC module Address-2 digital
Y05 DC_Dout_High [2] Bit to bit map.
output higher 8 bits (8–15)
DC module Address-3 digital
Y06 DC_Dout_Low [3] Bit to bit map.
output lower 8 bits (0–7)
DC module Address-3 digital
Y07 DC_Dout_High [3] Bit to bit map.
output higher 8 bits (8–15)
IM module Address-0 digital
Y08 IM_Dout_Low_0 [0] Bit to bit map.
output lower 8 bits (0–7)
IM module Address-0 digital
Y09 IM_Dout_Low_1 [0] Bit to bit map.
output lower 8 bits (8–15)
IM module Address-0 digital
Y10 IM_Dout_High_0 [0] Bit to bit map.
output higher 8 bits (16–23)
IM module Address-0 digital
Y11 IM_Dout_High_1 [0] Bit to bit map.
output higher 8 bits (24–31)
IM module Address-1 digital
Y12 IM_Dout_Low_0 [1] Bit to bit map.
output lower 8 bits (0–7)
IM module Address-1 digital
Y13 IM_Dout_Low_1 [1] Bit to bit map.
output lower 8 bits (8–15)
IM module Address-1 digital
Y14 IM_Dout_High_0 [1] Bit to bit map.
output higher 8 bits (16–23)
IM module Address-1 digital
Y15 IM_Dout_High_1 [1] Bit to bit map.
output higher 8 bits (24–31)
IM module Address-2 digital
Y16 IM_Dout_Low_0 [2] Bit to bit map.
output lower 8 bits (0–7)
IM module Address-2 digital
Y17 IM_Dout_Low_1 [2] Bit to bit map.
output lower 8 bits (8–15)
IM module Address-2 digital
Y18 IM_Dout_High_0 [2] Bit to bit map.
output higher 8 bits (16–23)
IM module Address-2 digital
Y19 IM_Dout_High_1 [2] Bit to bit map.
output higher 8 bits (24–31)
IM module Address-3 digital
Y20 IM_Dout_Low_0 [3] Bit to bit map.
output lower 8 bits (0–7)
IM module Address-3 digital
Y21 IM_Dout_Low_1 [3] Bit to bit map.
output lower 8 bits (8–15)
IM module Address-3 digital
Y22 IM_Dout_High_0 [3] Bit to bit map.
output higher 8 bits (16–23)
IM module Address-3 digital
Y23 IM_Dout_High_1 [3] Bit to bit map.
output higher 8 bits (24–31)

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 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

Local (FP board) digital output
Y24 Local_Dout_Low Bit to bit map.
lower 8 bits (0–7)
Local (FP board) digital output
Y25 Local_Dout_High Bit to bit map.
higher 8 bits (8–15)
Digital Output on ServoWire
Y26.0 ServoWire_Dout_1_1
Drive #1 – Out1
Digital Output on ServoWire
Y26.1 ServoWire_Dout_1_2
Drive #1 – Out2
Digital Output on ServoWire
Y26.2 ServoWire_Dout_1_3
Drive #1 – Out3
Digital Output on ServoWire
Y26.3 ServoWire_Dout_1_4
Drive #1 – Out4
Digital Output on ServoWire
Y26.4 ServoWire_Dout_1_5
Drive #1 – Out5
Digital Output on ServoWire
Y26.5 ServoWire_Dout_1_6
Drive #1 – Out6
Y27 N/A N/A Reserved
Digital Output on ServoWire
Y28.0 ServoWire_Dout_2_1
Drive #2 – Out1
Digital Output on ServoWire
Y28.1 ServoWire_Dout_2_2
Drive #2 – Out2
Digital Output on ServoWire
Y28.2 ServoWire_Dout_2_3
Drive #2 – Out3
Digital Output on ServoWire
Y28.3 ServoWire_Dout_2_4
Drive #2 – Out4
Digital Output on ServoWire
Y28.4 ServoWire_Dout_2_5
Drive #2 – Out5
Digital Output on ServoWire
Y28.5 ServoWire_Dout_2_6
Drive #2 – Out6
Y29 N/A N/A Reserved
Digital Output on ServoWire
Y30.0 ServoWire_Dout_3_1
Drive #3 – Out1
Digital Output on ServoWire
Y30.1 ServoWire_Dout_3_2
Drive #3 – Out2
Digital Output on ServoWire
Y30.2 ServoWire_Dout_3_3
Drive #3 – Out3
Digital Output on ServoWire
Y30.3 ServoWire_Dout_3_4
Drive #3 – Out4
Digital Output on ServoWire
Y30.4 ServoWire_Dout_3_5
Drive #3 – Out5
Digital Output on ServoWire
Y30.5 ServoWire_Dout_3_6
Drive #3 – Out6
Y31 N/A N/A Reserved
Digital Output on ServoWire
Y32.0 ServoWire_Dout_4_1
Drive #4 – Out1
Digital Output on ServoWire
Y32.1 ServoWire_Dout_4_2
Drive #4 – Out2
Digital Output on ServoWire
Y32.2 ServoWire_Dout_4_3
Drive #4 – Out3
Digital Output on ServoWire
Y32.3 ServoWire_Dout_4_4
Drive #4 – Out4

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B-25
 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

Digital Output on ServoWire
Y32.4 ServoWire_Dout_4_5
Drive #4 – Out5
Digital Output on ServoWire
Y32.5 ServoWire_Dout_4_6
Drive #4 – Out6
Y33 N/A N/A Reserved
Digital Output on ServoWire
Y34.0 ServoWire_Dout_5_1
Drive #5 – Out1
Digital Output on ServoWire
Y34.1 ServoWire_Dout_5_2
Drive #5 – Out2
Digital Output on ServoWire
Y34.2 ServoWire_Dout_5_3
Drive #5 – Out3
Digital Output on ServoWire
Y34.3 ServoWire_Dout_5_4
Drive #5 – Out4
Digital Output on ServoWire
Y34.4 ServoWire_Dout_5_5
Drive #5 – Out5
Digital Output on ServoWire
Y34.5 ServoWire_Dout_5_6
Drive #5 – Out6
Y35 N/A N/A Reserved
Digital Output on ServoWire
Y36.0 ServoWire_Dout_6_1
Drive #6 – Out1
Digital Output on ServoWire
Y36.1 ServoWire_Dout_6_2
Drive #6 – Out2
Digital Output on ServoWire
Y36.2 ServoWire_Dout_6_3
Drive #6 – Out3
Digital Output on ServoWire
Y36.3 ServoWire_Dout_6_4
Drive #6 – Out4
Digital Output on ServoWire
Y36.4 ServoWire_Dout_6_5
Drive #6 – Out5
Digital Output on ServoWire
Y36.5 ServoWire_Dout_6_6
Drive #6 – Out6
Y37 N/A N/A Reserved
Digital Output on ServoWire
Y38.0 ServoWire_Dout_7_1
Drive #7 – Out1
Digital Output on ServoWire
Y38.1 ServoWire_Dout_7_2
Drive #7 – Out2
Digital Output on ServoWire
Y38.2 ServoWire_Dout_7_3
Drive #7 – Out3
Digital Output on ServoWire
Y38.3 ServoWire_Dout_7_4
Drive #7 – Out4
Digital Output on ServoWire
Y38.4 ServoWire_Dout_7_5
Drive #7 – Out5
Digital Output on ServoWire
Y38.5 ServoWire_Dout_7_6
Drive #7 – Out6
Y39 N/A N/A Reserved
Digital Output on ServoWire
Y40.0 ServoWire_Dout_8_1
Drive #8 – Out1
Digital Output on ServoWire
Y40.1 ServoWire_Dout_8_2
Drive #8 – Out2
Digital Output on ServoWire
Y40.2 ServoWire_Dout_8_3
Drive #8 – Out3

______________________________________________________________________________
B-26
 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

Digital Output on ServoWire
Y40.3 ServoWire_Dout_8_4
Drive #8 – Out4
Digital Output on ServoWire
Y40.4 ServoWire_Dout_8_5
Drive #8 – Out5
Digital Output on ServoWire
Y40.5 ServoWire_Dout_8_6
Drive #8 – Out6
Y41 N/A N/A Reserved
Digital Output on ServoWire
Y42.0 ServoWire_Dout_9_1
Drive #9 – Out1
Digital Output on ServoWire
Y42.1 ServoWire_Dout_9_2
Drive #9 – Out2
Digital Output on ServoWire
Y42.2 ServoWire_Dout_9_3
Drive #9 – Out3
Digital Output on ServoWire
Y42.3 ServoWire_Dout_9_4
Drive #9 – Out4
Digital Output on ServoWire
Y42.4 ServoWire_Dout_9_5
Drive #9 – Out5
Digital Output on ServoWire
Y42.5 ServoWire_Dout_9_6
Drive #9 – Out6
Y43 N/A N/A Reserved
Digital Output on ServoWire
Y44.0 ServoWire_Dout_10_1
Drive #10 – Out1
Digital Output on ServoWire
Y44.1 ServoWire_Dout_10_2
Drive #10 – Out2
Digital Output on ServoWire
Y44.2 ServoWire_Dout_10_3
Drive #10 – Out3
Digital Output on ServoWire
Y44.3 ServoWire_Dout_10_4
Drive #10 – Out4
Digital Output on ServoWire
Y44.4 ServoWire_Dout_10_5
Drive #10 – Out5
Digital Output on ServoWire
Y44.5 ServoWire_Dout_10_6
Drive #10 – Out6
Y45 N/A N/A Reserved
Digital Output on ServoWire
Y46.0 ServoWire_Dout_11_1
Drive #11 – Out1
Digital Output on ServoWire
Y46.1 ServoWire_Dout_11_2
Drive #11 – Out2
Digital Output on ServoWire
Y46.2 ServoWire_Dout_11_3
Drive #11 – Out3
Digital Output on ServoWire
Y46.3 ServoWire_Dout_11_4
Drive #11 – Out4
Digital Output on ServoWire
Y46.4 ServoWire_Dout_11_5
Drive #11 – Out5
Digital Output on ServoWire
Y46.5 ServoWire_Dout_11_6
Drive #11 – Out6
Y47 N/A N/A Reserved
Digital Output on ServoWire
Y48.0 ServoWire_Dout_12_1
Drive #12 – Out1
Digital Output on ServoWire
Y48.1 ServoWire_Dout_12_2
Drive #12 – Out2

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B-27
 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

Digital Output on ServoWire
Y48.2 ServoWire_Dout_12_3
Drive #12 – Out3
Digital Output on ServoWire
Y48.3 ServoWire_Dout_12_4
Drive #12 – Out4
Digital Output on ServoWire
Y48.4 ServoWire_Dout_12_5
Drive #12 – Out5
Digital Output on ServoWire
Y48.5 ServoWire_Dout_12_6
Drive #12 – Out6
Y49 N/A N/A Reserved
Digital Output on ServoWire
Y50.0 ServoWire_Dout_13_1
Drive #13 – Out1
Digital Output on ServoWire
Y50.1 ServoWire_Dout_13_2
Drive #13 – Out2
Digital Output on ServoWire
Y50.2 ServoWire_Dout_13_3
Drive #13 – Out3
Digital Output on ServoWire
Y50.3 ServoWire_Dout_13_4
Drive #13 – Out4
Digital Output on ServoWire
Y50.4 ServoWire_Dout_13_5
Drive #13 – Out5
Digital Output on ServoWire
Y50.5 ServoWire_Dout_13_6
Drive #13 – Out6
Y51 N/A N/A Reserved
Digital Output on ServoWire
Y52.0 ServoWire_Dout_14_1
Drive #14 – Out1
Digital Output on ServoWire
Y52.1 ServoWire_Dout_14_2
Drive #14 – Out2
Digital Output on ServoWire
Y52.2 ServoWire_Dout_14_3
Drive #14 – Out3
Digital Output on ServoWire
Y52.3 ServoWire_Dout_14_4
Drive #14 – Out4
Digital Output on ServoWire
Y52.4 ServoWire_Dout_14_5
Drive #14 – Out5
Digital Output on ServoWire
Y52.5 ServoWire_Dout_14_6
Drive #14 – Out6
Y53 N/A N/A Reserved
Digital Output on ServoWire
Y54.0 ServoWire_Dout_15_1
Drive #15 – Out1
Digital Output on ServoWire
Y54.1 ServoWire_Dout_15_2
Drive #15 – Out2
Digital Output on ServoWire
Y54.2 ServoWire_Dout_15_3
Drive #15 – Out3
Digital Output on ServoWire
Y54.3 ServoWire_Dout_15_4
Drive #15 – Out4
Digital Output on ServoWire
Y54.4 ServoWire_Dout_15_5
Drive #15 – Out5
Digital Output on ServoWire
Y54.5 ServoWire_Dout_15_6
Drive #15 – Out6
Y55 N/A N/A Reserved
Digital Output on ServoWire
Y56.0 ServoWire_Dout_16_1
Drive #16 – Out1

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B-28
 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS NAME DESCRIPTION NOTE

Digital Output on ServoWire
Y56.1 ServoWire_Dout_16_2
Drive #16 – Out2
Digital Output on ServoWire
Y56.2 ServoWire_Dout_16_3
Drive #16 – Out3
Digital Output on ServoWire
Y56.3 ServoWire_Dout_16_4
Drive #16 – Out4
Digital Output on ServoWire
Y56.4 ServoWire_Dout_16_5
Drive #16 – Out5
Digital Output on ServoWire
Y56.5 ServoWire_Dout_16_6
Drive #16 – Out6
Y57 N/A N/A Reserved

______________________________________________________________________________
B-29
 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

MINC MH MJ MMDI MRMT MMEM MREF MREF1

NC MODE
(F3.0) (F3.1) (F3.2) (F3.3) (F3.4) (F3.5) (F4.5) (F4.6)
MDI 0 0 0 1 0 0 0 0
HOME 0 0 0 0 0 0 1 1
AUTO 0 0 0 0 0 1 0 0
JOG 0 0 1 0 0 0 0 0
HANDWHEEL 1 1 0 0 0 0 0 0
RAPID 0 0 1 0 0 0 0 0
DNC 1 1 0 0 1 1 0 0
POS 0 0 0 1 0 0 0 0

Table B-1: SwPLC F Address Map for NC Mode Settings

MULTIPLE MP1 (F85.4/G19.0) MP2 (F85.5/G19.1)

X1 0 0
X10 1 0
X100 0 1
X1000 1 1

Table B-2: SwPLC F/G Address Map for HandWheel Multiple Selection

HS1A HS1B HS1C HS1D

(F86.0, G18.0) (F86.1, G18.1) (F86.2, G18.2) (F86.3, G18.3)
AXIS
HS1IA HS1IB HS1IC HS1ID
(F88.0, G41.0) (F88.1, G41.1) (F88.2, G41.2) (F88.3, G41.3)
1 1 0 0 0
2 0 1 0 0
3 1 1 0 0
4 0 0 1 0
5 1 0 1 0
6 0 1 1 0
7 1 1 1 0
8 0 0 0 1

Table B-3: SwPLC F/G Address Map for HandWheel and HandWheel Interrupt Axis
Selection

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B-30
 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS SIGNAL WEIGHT

0 1
G10.0
1 0
0 2
G10.1
1 0
0 4
G10.2
1 0
0 8
G10.3
1 0
0 16
G10.4
1 0
0 32
G10.5
1 0
0 64
G10.6
1 0
0 128
G10.7
1 0
0 256
G11.0
1 0
0 512
G11.1
1 0
0 1024
G11.2
1 0
0 2048
G11.3
1 0
0 4096
G11.4
1 0
0 8192
G11.5
1 0
0 16384
G11.6
1 0
0 32768
G11.7
1 0
NOTE: Manual Feedrate Override = Sum of the Weights from G10.0 to G11.7 (percent)
Table B-4: SwPLC G Address Map for Manual Feedrate Override

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B-31
 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

ADDRESS SIGNAL WEIGHT

0 1
G12.0
1 0
0 2
G12.1
1 0
0 4
G12.2
1 0
0 8
G12.3
1 0
0 16
G12.4
1 0
0 32
G12.5
1 0
0 64
G12.6
1 0
0 128
G12.7
1 0
NOTE: Feedrate Override = Sum of the Weights from G12.0 to G12.7 (percent)
Table B-5: SwPLC G Address Map for Feedrate Override

RAPID OVERRIDE ROV1 (G14.0) ROV2 (G14.1)

100 0 0
50 1 0
25 0 1
0 1 1

Table B-6: SwPLC G Address Map for Rapid Override

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B-32
 SERVOWORKSPLC MANUAL
Appendix B: S-100M and General Motion Data Mapping Tables

MD1 MD2 MD4 DNCI ZRN RT

NC MODE
(G43.0) (G43.1) (G43.2) (G43.3) (G43.4) (G43.5)
MDI 0 0 0 0 0 N/A
HOME 1 0 1 0 1 N/A
AUTO 1 0 0 0 0 N/A
JOG 1 0 1 0 0 0
HandWheel 0 0 1 0 0 N/A
RAPID 1 0 1 0 0 1
DNC 1 0 0 1 0 N/A
POS 0 1 1 0 0 N/A

Table B-7: SwPLC G Address Map for NC Mode Settings

ADDRESS NAME IN JOG MODE IN RAPID MODE IN HOME MODE

G100 +J1 to +J8 Move axis in plus Move axis in plus Start searching for Z
direction at jog direction at rapid pulse in the plus
feedrate feedrate direction if the home
direction parameter is
set to plus
G102 -J1 to -J8 Move axis in minus Move axis in minus Start searching for Z
direction at jog direction at rapid pulse in the minus
feedrate feedrate direction if the home
direction parameter is
set to minus

Table B-8: SwPLC G Address Map for Jog Axis Control

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B-33
 SERVOWORKSPLC MANUAL
Index

Index
AND.STK .................................... 8-15
. difference from functional commands
.bin files.............................................. 4-4 .................................................... 8-2
.div files.............................................. 4-4 OR ................................................ 8-11
.fig files .............................................. 4-4 OR.NOT....................................... 8-11
.lad file, default .................................. 4-3 OR.STK ....................................... 8-15
.lad files.............................................. 4-1 RD .................................................. 8-4
.lst files............................................... 4-4 RD.NOT......................................... 8-6
.mod file, default ................................ 4-4 RD.NOT.STK .............................. 8-13
.mod files............................................ 4-4 RD.STK ....................................... 8-11
signal addresses.............................. 8-2
A sumamry......................................... 8-3
ADD command ................................ 9-82 WRT............................................... 8-8
ADDB command ............................. 9-84 WRT.NOT ..................................... 8-9
address range BCD ................See binary coded decimal
F0~F399 ......................................... 6-3 binary coded decimal (BCD) ......9-5, 9-6
G0~G399........................................ 6-3 binary files ......................................... 1-3
addresses ............. See memory addresses binary format...............................4-1, 9-5
A0~A99.......................................... 6-8 advantages of ................................. 9-5
C0~C79 ...................................6-5, 7-1 example .......................................... 9-6
counter.....................................7-1, 7-2 memory storage of ......................... 9-7
D0~D1999...............................6-6, 7-2 Two's Complement notation .......... 9-7
data table ........................................ 7-2 bit pattern display........................1-4, 3-1
format in a ladder diagram........... 3-11 Bit Pattern Window.......................... 3-16
K0~K99...................................6-6, 7-2 bit patterns........................................ 3-16
keep relay ....................................... 7-2
C
R9000~R9099 ................................ 6-4
signal letters in a ladder diagram . 3-11 COD command ................................ 9-37
T0~T399 ........................................ 6-7 CODB command.............................. 9-41
X0~X99.......................................... 6-3 coding convention.............................. 4-6
Y0~Y99.......................................... 6-3 COIN command ............................... 9-66
addresses, numerical data................... 9-8 COM command................................ 9-47
alarm relay addresses ......................... 6-8 COME command ............................. 9-50
AND command ................................ 8-10 commands
AND.NOT command....................... 8-10 basic ............................................... 8-1
AND.STK command........................ 8-15 types of (basic and functional)....... 8-2
architecture, ServoWorksPLC comments in a ladder diagram ......... 3-12
Application Suite ........................... 3-2 COMP command ............................. 9-62
COMPB command........................... 9-64
B Compile Finish Dialog Box ............... 3-5
basic commands ................................. 8-1 compiling sequence programs.....1-3, 3-4
AND............................................. 8-10 Control Console Application ......1-3, 3-1
AND.NOT.................................... 8-10 control values ..................................... 9-4

______________________________________________________________________________
I
 SERVOWORKSPLC MANUAL
Index
counter functional command register.............. 9-9
preset ......................... 9-20, 9-23, 9-26 functional commands ......................... 9-1
ring ......................................9-20, 9-26 ADD............................................. 9-82
up/down...............................9-20, 9-26 ADDB .......................................... 9-84
counter addresses ................ 6-5, 7-1, 7-2 COD ............................................. 9-37
counters, setting up ............................ 3-8 CODB .......................................... 9-41
CTR command ................................. 9-20 COIN............................................ 9-66
CTRC command .............................. 9-26 COM ............................................ 9-47
cycle, PLC.......................................... 1-2 COME .......................................... 9-50
COMP .......................................... 9-62
D COMPB........................................ 9-64
data table .....................................7-3, 7-4 control values ................................. 9-4
data table addresses.....................6-6, 7-2 CTR.............................................. 9-20
data, addresses for numbers ............... 9-8 CTRC ........................................... 9-26
DCNV command ............................. 9-58 DCNV .......................................... 9-58
DCNVB command........................... 9-60 DCNVB........................................ 9-60
debugging sequence programs....1-4, 3-9 DEC.............................................. 9-16
DEC command................................. 9-16 DECB........................................... 9-18
DECB command .............................. 9-18 difference from basic commands ... 8-2
default .lad file ................................... 4-3 DIV .............................................. 9-96
default .mod file ................................. 4-4 DIVB............................................ 9-99
description of PLC ............................. 1-1 DSCH........................................... 9-71
Diagnose Search Window................ 3-16 DSCHB .................................7-3, 9-74
display of bit patterns..................1-4, 3-1 format............................................. 9-3
DIV command.................................. 9-96 JMP .............................................. 9-51
DIVB command ............................... 9-99 JMPE............................................ 9-54
DSCH command .............................. 9-71 MOVE.......................................... 9-43
DSCHB .............................................. 7-3 MOVOR....................................... 9-46
DSCHB command ........................... 9-74 MUL............................................. 9-91
MULB .......................................... 9-94
E NUME........................................ 9-101
NUMEB ..................................... 9-103
Edit Counter Window ........................ 3-8 numerical data addresses................ 9-8
Edit Keep Relay Window .................. 3-6 operation data................................. 9-5
Edit Timer Window ........................... 3-7 parameters ...................................... 9-5
editing sequence programs................. 1-3 PARI ............................................ 9-55
E-STOP, HandWheel......................... 4-1 ROT.............................................. 9-29
executable binary files ....................... 1-3 ROTB........................................... 9-33
executable binary format.................... 4-1 SFT............................................... 9-68
execution of a sequence program....... 5-1 SUB.............................................. 9-86
execution time of a sequence program. 5- SUBB ........................................... 9-89
2 summary..................................9-1, 9-2
TMR............................................. 9-10
F
TMRB .......................................... 9-12
F data mapping tables ............... A-2, B-2 TMRC .......................................... 9-14
Fanuc-compatible ladder logic........... 1-4 W1.................................................. 9-5
files, sequence program ..................... 4-1

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 SERVOWORKSPLC MANUAL
Index
XMOV ......................................... 9-76 relay junctions.............................. 3-14
XMOVB................................7-3, 9-80 rows.............................................. 3-13
signal names................................. 3-12
G symbols ........................................ 3-13
G data mapping tables............. A-12, B-5 ladder files.......................................... 4-1
ladder logic – Fanuc-compatible........ 1-4
H
M
HandWheel E-STOP.......................... 4-1
machine commands...........See functional
I commands
mapping tables
I/O addresses....... See memory addresses F data..................................... A-2, B-2
I/O declaration ................................... 3-5 G data .................................. A-12, B-5
I/O signals ...................................5-3, 6-2 overview................................ A-1, B-1
IL format ............................. 1-3, 1-4, 4-1 X data .................................. A-14, B-8
infinite number of relays .................. 3-14 Y data .......................................... B-24
initializing MC-Quad ........................................... 2-1
ServoWorksPLC Application Suite . 2- memory addresses.............................. 6-1
1, 2-2 alarm relay ..................................... 6-8
input signals to the PLC Engine......... 5-3 counter addresses ........................... 6-5
input/output ..................................See I/O data table ........................................ 6-6
installing description...................................... 6-1
ServoWorksPLC Application Suite . 2- internal relay .................................. 6-4
1, 2-2 keep relay and static memory control
Instruction List format ................1-3, 1-4 .................................................... 6-6
Instruction List Format ...................... 4-1 related to the machine tool............. 6-3
instruction sequence execution .......... 5-4 related to the ServoWorks Motion
interface settings ................................ 3-5 Engine ........................................ 6-3
interface table..................................... 3-5 signal types..................................... 6-2
intermediate results ............................ 8-2 specifications.................................. 6-2
internal relay ...................................... 6-4 timer ............................................... 6-7
types of........................................... 6-1
J
memory,static..................................... 7-1
JMP command ................................. 9-51 module files........................................ 4-4
JMPE command ............................... 9-54 Module Selection Window .............. 3-10
Monitor/Debugger.......................1-3, 3-1
K Motion Engine ................................... 1-1
keep relay addresses....................6-6, 7-2 MotionPro .......................................... 2-1
keep relays, setting up........................ 3-6 MOVE command ............................. 9-43
MOVOR command.......................... 9-46
L MUL command................................ 9-91
MULB command ............................. 9-94
ladder diagram ................................... 1-3
address format.............................. 3-11 N
address signal letters .................... 3-11
commenting.................................. 3-12 NUME command ........................... 9-101
format............................................. 4-1 NUMEB command ........................ 9-103

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 SERVOWORKSPLC MANUAL
Index
numerical data addresses.................... 9-8 R
RD command ..................................... 8-4
O
RD.NOT command ............................ 8-6
operation data..................................... 9-5 RD.NOT.STK command ................. 8-13
OR command ................................... 8-11 RD.STK command........................... 8-11
OR.NOT command .......................... 8-11 relay junctions.................................. 3-14
OR.STK command........................... 8-15 relays,infinite number of.................. 3-14
order of execution .............................. 5-1 repetitive sampling............................. 5-2
output signals from the PLC Engine.. 5-3 Result History Register ...................... 8-2
structure.......................................... 8-2
P ring counter .............................9-20, 9-26
parameters .......................................... 9-5 ROT command................................. 9-29
PARI command................................ 9-55 ROTB command .............................. 9-33
PLC rows in a ladder diagram.................. 3-13
cycle ............................................... 1-2 RUN status ......................................... 3-2
data table ........................................ 7-3
description of ................................. 1-1 S
instruction sequence execution ...... 5-4 S-100M .............................................. 2-1
scan ................................................ 1-2 S-100T................................................ 2-1
scan time ........................................ 1-3 sampling, repetitive............................ 5-2
PLC Bit Pattern Utility..................... 3-16 scan time ............................................ 1-3
PLC Control Screen ....................2-4, 3-3 scan, PLC ........................................... 1-2
PLC data table.................................... 7-4 search function, PLC Ladder
PLC Diagnose Window .. 3-9, 3-10, 3-15 Monitor/Debugger........................ 3-15
PLC Engine........................................ 1-1 Select Module Definition Window .... 2-5
description...................................... 1-3 sequence programs
input signals ................................... 5-3 coding............................................. 4-6
integration with Motion Engine ..... 1-3 compiling ....................................... 1-3
integration within the ServoWorks debugging....................................... 3-9
system ........................................ 1-2 description...............................1-4, 4-1
output signals ................................. 5-3 editing ............................................ 1-3
schematic representation of sequence execution of.................................... 1-2
program execution ..................... 5-5 execution time................................ 5-2
PLC Ladder Compiler Screen .....2-4, 3-4 execution, schematic representation of
PLC Ladder Monitor/Debugger search .................................................... 5-5
function ........................................ 3-15 format......................................1-4, 4-1
PLC sequence programs .... See sequence repetitive sampling......................... 5-2
programs sequence of processing .................. 5-1
PLC Table Setting Screen.................. 3-5 setting up......................... 4-1, 4-5, 4-6
PLC Table Setting Screen Dialog Box 3- verifying..................................1-3, 3-9
6 sequence programs, compiling........... 3-4
PLC Time Chart Utility ................... 3-17 sequential processing of a sequence
preset counter ................ 9-20, 9-23, 9-26 program .......................................... 5-1
PRM ................................................... 9-5 ServoWorks Motion Engine .............. 1-1
programmable logic control......... See PC ServoWorks PLC Engine................... 1-1
description...................................... 1-3

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 SERVOWORKSPLC MANUAL
Index
input signals ................................... 5-3 SUBB command .............................. 9-89
integration with Motion Engine ..... 1-3 symbols in a ladder diagram ............ 3-13
integration within the ServoWorks
system ........................................ 1-2 T
output signals ................................. 5-3 tables, setting up................................. 3-5
schematic representation of sequence Time Chart Window ........................ 3-17
program execution ..................... 5-5 time charts......................... 1-4, 3-1, 3-17
ServoWorksPLC application suite..... 1-1 timer ................................................... 7-1
composition of ............................... 1-3 timer addresses................................... 6-7
ServoWorksPLC Application Suite ... 3-1 timers, setting up................................ 3-7
ServoWorksPLC Control Console TMR command ................................ 9-10
Application..............................1-3, 3-1 TMRB command ............................. 9-12
ServoWorksPLC installation ......2-1, 2-2 TMRC command ............................. 9-14
ServoWorksPLC Monitor/Debugger 1-3, Two's Complement notation .............. 9-7
3-1
ServoWorksPLC Utility Tools....1-3, 1-4 U
setting up
counters .......................................... 3-8 uninstalling the ServoWorksPLC
keep relays ..................................... 3-6 Application Suite ........................... 2-6
tables .............................................. 3-5 up/down counter......................9-20, 9-26
timers.............................................. 3-7 using the PLC Bit Pattern Utility..... 3-16
setting up a sequence program...4-1, 4-5, using the PLC Time Chart Utility.... 3-17
4-6 Utility Tools ................................1-3, 1-4
SFT command.................................. 9-68
V
signal addresses.................................. 8-2
signal names in a ladder diagram..... 3-12 verifying sequence programs ......1-3, 3-9
signals ..............................See I/O signals
stack register See Result History Register W
starting the PLC Control Console W1...................................................... 9-5
application...................................... 3-2 WRT command.................................. 8-8
static memory..............................6-5, 6-7 WRT.NOT command......................... 8-9
counter.....................................7-1, 7-2
data table ........................................ 7-2 X
keep relay ....................................... 7-2
X data mapping tables............. A-14, B-8
overview......................................... 7-1
XMOV command............................. 9-76
reading and writing ........................ 7-3
XMOVB............................................. 7-3
timer ............................................... 7-1
XMOVB command.......................... 9-80
static memory control addresses ........ 6-6
STOPPED status ................................ 3-3 Y
storing the results of logic operations in
the result history register................ 8-2 Y data mapping tables..................... B-24
SUB command ................................. 9-86

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V