SAIAPCD Reference Guide

Process Control Devices SAIA® PCD

English edition 26/733 E6

SAIA-Burgess Electronics Ltd.
Bahnhofstrasse 18
CH-3280 Murten (Switzerland)
http;//www.saia-burgess.com

BA: Electronic Controllers Telephone 026 / 672 71 11

Telefax 026 / 670 44 43

________________________________________________________________________________________________________________

SAIA-Burgess Companies

Switzerland SAIA-Burgess Electronics AG France SAIA-Burgess Electronics Sàrl.

Freiburgstrasse 33 10, Bld. Louise Michel
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Representatives

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Peterborough PE1 5BQ UK P-2745 Queluz

01733 89 44 89, Fax 01733 89 44 88
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Denmark Malthe Winje Automation AB Spain Tecnosistemas Medioambientales, S.L.

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Norway Malthe Winje Automasjon AS Czech ICS Industrie Control Service, s.r.o.
Haukelivn 48 Republic Modranská 43
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Truckvägen 14A ul. Druzynowa 3A
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Suomi/ ENERGEL OY
Finland Atomitie 1
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Australia Siemens Building Technologies Pty. Ltd. Argentina MURTEN S.r.l.

Landis & Staefa Division Av. del Libertador 184, 4° “A”
411 Ferntree Gully Road RA-1001 Buenos Aires
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After sales service

USA SAIA-Burgess Electronics Inc.

1335 Barclay Boulevard
Buffalo Grove, IL 60089, USA

847 215 96 00, Fax 847 215 96 06
________________________________________________________________________________________________________________
Issue : 01.02.2000

Subjet to change without notice

 SAIA-Burgess Electronics Ltd.

SAIA® Process Control Devices

Manual

Reference Guide
SAIA PCD

SAIA-Burgess Electronics Ltd. 1994 -1997 all rights reserved

Edition 26/733 E6 - updated: 04.2000

Subject to technical changes

 SAIA-Burgess Electronics Ltd.

Updates
Manual : Reference Guide SAIA PCD - Edition E6

Date Chapter Page Description

04.2000 6 6-5 .. 6-8 XOB: div. corrections, XOB 6 added
04.2000 6 6-18 .. 6-19 SCOB: old and new
04.2000 8 8-18/19 SASI: $ is accepted
04.2000 8 8-48 SOCL: switch RS 485 and RS 422
04.2000 12 12-14 .. 12.17 SYSRD: div. corrections, read real time
04.2000 12 12-18 .. 12-22 SYSWR: div. corrections, write real time

 SAIA-Burgess Electronics Ltd.

PCD Reference Guide Table of contents

Table of contents
Page

1. Introduction

1.1 MEDIUM code (MC) 1-3

1.2 Constants 1-5
1.3 The Conditions Codes [cc] 1-6
1.4 Resource types and values 1-7

2. BIT Instructions

STH STart High 2-3

STL STart Low 2-4
ANH ANd High 2-5
ANL ANd Low 2-6
ORH OR High 2-7
ORL OR Low 2-9
XOR eXclusive OR 2-10
ACC ACCu operations 2-11
DYN DYNamic (edge detection) 2-12
OUT OUTput the accu status to an element 2-13
SET SET element 2-14
RES RESet element 2-15
COM COMplement element 2-16
SETD SET element Delayed 2-17
RESD RESet element Delayed 2-18

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Page

3. WORD Instructions

LD LoaD (32 bit value) 3-3

LDL LoaD Low word (lower 16 bits) 3-4
LDH LoaD High word (higher 16 bits) 3-5
DSP load DiSPlay register 3-6
INC INCrement register or counter 3-7
DEC DECrement register or counter 3-8
SEI SEt Index register 3-9
INI INcrement Index register (+1) 3-10
DEI DEcrement Index register (-1) 3-11
STI STore Index register 3-12
RSI ReStore Index register 3-13
MOV MOVe data 3-14
COPY COPY data 3-15
GET GET data 3-16
PUT PUT data 3-19
TFR TransFeR data 3-21
TFRI TransFeR data Indirect 3-23
BITI single BIT In register, PCD format 3-25
BITIR single BIT In register Reversed, PCA format 3-26
BITO single BIT Out from register, PCD format 3-27
BITOR single BIT Out from register Reversed, PCA format 3-28
DIGI DIGIt in register, PCD format 3-29
DIGIR DIGIt in register Reversed, PCA format 3-30
DIGO DIGit Out from register, PCD format 3-31
DIGOR DIGit Out from register Reversed, PCA format 3-32
AND AND registers (32 bits) 3-33
OR OR registers (32 bits) 3-34
EXOR EXOR registers (32 bits) 3-35
NOT complement register (32 bits) 3-36
SHIU SHIft registers Up 3-37
SHID SHIft registers Down 3-38
ROTU ROTate registers Up 3-39
ROTD ROTate registers Down 3-40
SHIL SHIft register contents Left 3-41
SHIR Shift register contents Right 3-42
ROTL ROTate register contents Left 3-43
ROTR ROTate register contents Right 3-44

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PCD Reference Guide Table of contents

Page

4. INTEGER arithmetic

ADD ADD registers 4-3

SUB SUBtract registers 4-4
MUL MULtiply registers 4-5
DIV DIVide registers 4-6
SQR SQuare Root 4-7
CMP CoMPare registers 4-8

5. FLOATING POINT arithmetic

IFP Integer to Floating Point 5-3

FPI Floating Point to Integer 5-4
FADD Floating point ADDition 5-5
FSUB Floating point SUBtraction 5-6
FMUL Floating point MULtiplication 5-7
FDIV Floating point DIVision 5-8
FSQR Floating point SQuare Root 5-9
FCMP Floating point CoMPare 5-10
FSIN Floating point SINe function 5-11
FCOS Floating point COSine function 5-12
FATAN Floating point Arc TANgent function 5-13
FEXP Floating point EXPonential function 5-14
FLN Floating point Natural Logarithm function 5-15
FABS Floating point ABSolute value 5-16

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Page

6. BLOCTEC Instructions

COB Cyclic Organsation Block 6-3

ECOB End of COB 6-4
XOB eXception Organisation Block 6-5
EXOB End of XOB 6-9
PB Program Block 6-10
EPB End of Program Block 6-11
CPB Call Program Block 6-12
CPBI Call Program Block Indirect 6-13
FB Function Block 6-14
EFB End of Function Block 6-15
CFB Call Function Block 6-16
NCOB change to Next COB 6-17
SCOB Stop COB (old) 6-18
SCOB Stop COB (new) 6-19
CCOB Continue COB 6-20
RCOB Restart COB 6-21

7. GRAFTEC Instructions

SB Sequential Block 7-3

ESB End Sequential Block 7-4
CSB Call Sequential Block 7-5
RSB Restart Sequential Block 7-6
IST Initial STep 7-7
ST STep 7-8
EST End of STeps 7-9
TR TRansition 7-10
ETR End of TRansition 7-11

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PCD Reference Guide Table of contents

Page

8. SERIAL COMMUNICATIONS Instructions

Mode C 8-3
Mode D 8-4
Mode MM4 8-5
Mode S-Bus 8-6
PROFIBUS 8-7

SASI Serial communication ASIgn interface 8-8

SASI Texts 8-9

Mode OFF 8-9
<uart_def> 8-10
<mode_def> 8-11
<diag_def> 8-12
<rx_buf> 8-16
<tx_buf> 8-16
Examples of SASI Texts 8-17
Using Symbols in Texts 8-18
$SASI, $ENDSASI 8-19

SASII Serial communication ASIgn interface Indirect 8-20

SRXD Serial communication Receive Character (Mode C) 8-21
STXD Serial communication Transmit Character (Mode C) 8-22

STXT Serial communication Transmit Text (Mode C) 8-23

Serial Transmit Text (Mode C) 8-23

Texts 8-24
Texts and variables 8-25
Output formats 8-27
Using Symbols in texts 8-31

SRXM Serial communication Receive Media 8-32

SRXMI Serial communication Receive Media Indirect 8-37
STXM Serial communication Transmit Media 8-39
STXMI Serial communication Transmit Media Indirect 8-44
SICL Serial communication Input Control Line 8-46
SOCL Serial communication Output Control Line 8-47
SCON Serial communication CONnect 8-49
SCONI Serial communication CONnect Indirect 8-51

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Page

9. LAN2 Instructions

LRXD Lan2 Receive Data 9-3

LTXD Lan2 Transmit Data 9-4
LRXS Lan2 Receive Status 9-5
LTXS Lan2 Transmit Status 9-6

10. CONTROL Instructions

JR Jump Relative 10-3

JPD Jump Relative Direct 10-4
JPI JumP Indirect 10-5
HALT HALTs the cpu 10-6
LOCK LOCK semaphore 10-7
UNLOCK UNLOCK semaphore 10-8

11. DEFINITION Instructions

DEFVM DEFine Voltile Memory (Flags) 11-3

DEFTC DEFine Timer/Counter 11-4
DEFTB DEFine Time Base 11-5
DEFTR DEFine Timer Resolution 11-6
DEFWPR DEFine Write Protected area in Run 11-7
DEFWPH DEFine Write Protected area in Halt 11-8

12. SPECIAL Instructions

NOP No OPeration 12-3

RTIME Read TIME (hardware clock) 12-4
WTIME Write TIME (hardware clock) 12-5
PID PID control algorithm 12-6
TEST TEST hardware 12-10
DIAG XOB detail-DIAGnostic 12-13
SYSRD SYStem ReaD 12-14
SYSWR SYStem WRite 12-18
SYSCMP SYStem CoMPare 12-23
ALGI AnaLoGue Input (PCA modules) 12-24
ALGO AnaLoGue Output (PCA modules) 12-25
STHS STart High Slow 12-26
OUTS OUTput the accu status to an element - Slow 12-27

13. History List

Page 6  SAIA-Burgess Electronics Ltd. (RG-00-E.DOC) 26/733 E6

PCD Reference Guide Table of contents

Alphabetical instruction list

Instr. Ind Pm Page Instr Ind Pm Page Instr. Ind Pm Page

ACC 2-11 FPI X = 5-4 SHIL X = 3-41
ADD = 4-3 FSIN X = 5-11 SHIR X = 3-42
ALGI X = 12-24 FSQR = 5-9 SHIU = 3-37
ALGO X = 12-25 FSUB = 5-6 SICL = 8-46
AND X = 3-33 GET X = 3-16 SOCL = 8-47
ANH X = 2-5 HALT 10-6 SQR = 4-7
ANL X = 2-6 IFP X = 5-3 SRXD X = 8-21
BITI X = 3-25 INC X = 3-7 SRXM = 8-32
BITIR X = 3-26 INI = 3-10 SRXMI = 8-37
BITO X = 3-27 IST 7-7 ST 7-8
BITOR X = 3-28 JPD 10-4 STH X = 2-3
CCOB 6-20 JPI 10-5 STHS X = 12-26
CFB 6-16 JR 10-3 STI = 3-12
CMP X = 4-8 LD X 3-3 STL X = 2-4
COB 6-3 LDH X = 3-5 STXD X = 8-22
COM X = 2-16 LDL X = 3-4 STXM = 8-39
COPY X = 3-15 LOCK 10-7 STXMI = 8-44
CPB 6-12 LRXD X = 9-3 STXT X = 8-23
CPBI 6-13 LRXS X = 9-5 SUB = 4-4
CSB 7-5 LTXD X = 9-4 SYSCMP = 12-23
DEC X = 3-8 LTXS X = 9-6 SYSRD = 12-14
DEFTB 11-5 MOV X = 3-14 SYSWR = 12-18
DEFTC 11-4 MUL = 4-5 TEST 12-10
DEFTR 11-6 NCOB 6-17 TR 7-10
DEFVM 11-3 NOP 12-3 TFR X = 3-21
DEFWPH 11-8 NOT X = 3-36 TFRI X = 3-23
DEFWPR 11-7 OR X = 3-34 UNLOCK 10-8
DEI = 3-11 ORH X = 2-7 WTIME = 12-5
DIAG 12-13 ORL X = 2-9 XOB 6-5
DIGI X = 3-29 OUT X = 2-13 XOR X = 2-10
DIGIR X = 3-30 OUTS X = 12-27
DIGO X = 3-31 PB 6-10
DIGOR X = 3-32 PID 12-6
DIV = 4-6 PUT X 3-19
DSP 3-6 RCOB 6-21
DYN X = 2-12 RES X = 2-15
ECOB 6-4 RESD X 2-18
Legend:
EFB 6-15 ROTD = 3-40
EPB 6-11 ROTL X = 3-43 "Ind" column: a 'X' indi-
ESB 7-4 ROTR X = 3-44 cates that the instruction
EST 7-9 ROTU = 3-39
ETR 7-11 RSB 7-6 can be indexed.
EXOB 6-9 RSI = 3-13
EXOR X = 3-35 RTIME = 12-4 "Pm" column: an '=' indi-
FABS X = 5-16 SASI = 8-8 cates that the instruction
FADD 5-5 SASII = 8-20
FATAN 5-13 SB 7-3 accept a FB parameter as
FB = 6-14 SCOB 6-19 operand
FCMP X 5-10 SCON = 8-49
FCOS = 5-12 SCONI = 8-51
FDIV = 5-8 SEI = 3-9
FEXP = 5-14 SET X = 2-14
FLN = 5-15 SETD X 2-17
FMUL = 5-7 SHID = 3-38

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Table of contents PCD Reference Guide

Notes

Page 8  SAIA-Burgess Electronics Ltd. (RG-00-E.DOC) 26/733 E6

PCD Reference Guide Table of contents

Please note:

A number of detailed manuals are available to aid installation and opera-

tion of the SAIA PCD. These are for use by technically qualified staff,
who may also have successfully completed one of our "workshops".

To obtain the best performance from your SAIA PCD, closely follow the
guidelines for assembly, wiring, programming and commissioning given
in these manuals. In this way, you will also become one of the many en-
thusiastic SAIA PCD users.

If you have any technical suggestions or recommendations for improve-

ments to the manuals, please let us know. A form is provided on the last
page of this manual for your comments.

Summary
PCD1/2 series PCD4 series PCD6 series
H ar dw ar e H ar dw a re H a r dw a re
PCD1 PC D 4 P CD6
PCD2
S er ie x x7 PC D4.H 1.. *)
PCD2.M250

PCD2.H110 PCD4 .H2.. *)

PCD2.H150
PCD2.H210
PCD2.H31x PC D4 .H 3.. *)
General *) Adap ter modu le 4 '7 17 '4 828 '0
Manuals PCD4 .H4..
allow s H mo dule s to b e used
wit h the PC D6.

U s e r's
G u id e

R eferen ce
Gui de
(P G3)

P C D 8 .P 1 ..

PCD 7.D 1..

PCD 7.D 2..
PCD 7.D 7..

- S-Bus - LON
- PROFIBUS
- Remote I/O
In s ta llat io n
C o m p on e nts
fo r R S 4 8 5 -
N e tw o rk s

- PG4
- Modem

FUPLA/
KOPLA
function
families

26/733 E6 (RG-00-E.DOC)  SAIA-Burgess Electronics Ltd. Page 9

Table of contents PCD Reference Guide

Reliability and safety of electronic controllers

SAIA-Burgess Electronics Ltd. is a company which devotes the greatest

care to the design, development and manufacture of its products:

• state-of-the-art technology
• compliance with standards
• ISO 9001 certification
• international approvals: e.g. Germanischer Lloyd,
United Laboratories (UL), Det Norske Veritas, CE mark ...
• choice of high-quality componentry
• quality control checks at various stages of production
• in-circuit tests
• run-in (burn-in at 85°C for 48h)

Despite every care, the excellent quality which results from this does
have its limits. It is therefore necessary, for example, to reckon with the
natural failure of components. For this reason SAIA-Burgess Electronics
Ltd. provides a guarantee according to the "General terms and conditions
of supply".

The plant engineer must in turn also contribute his share to the reliable
operation of an installation. He is therefore responsible for ensuring that
controller use conforms to the technical data and that no excessive stres-
ses are placed on it, e.g. with regard to temperature ranges, overvoltages
and noise fields or mechanical stresses.

In addition, the plant engineer is also responsible for ensuring that a

faulty product in no case leads to personal injury or even death, nor to
the damage or destruction of property. The relevant safety regulations
should always be observed. Dangerous faults must be recognized by ad-
ditional measures and any consequences prevented. For example, outputs
which are important for safety should lead back to inputs and be monito-
red from software. Consistent use should be made of the diagnostic ele-
ments of the PCD, such as the watchdog, exception organization blocks
(XOB) and test or diagnostic instructions.

If all these points are taken into consideration, the SAIA PCD will provi-
de you with a modern, safe programmable controller to control, regulate
and monitor your installation with reliability for many years.

Page 10  SAIA-Burgess Electronics Ltd. (RG-00-E.DOC) 26/733 E6

PCD Reference Guide Introduction

1. Introduction

This Reference Guide describes in detail each instruction in the SAIA PCD family.
The instructions are grouped together by type of instruction to facilitate their
learning.

This guide is intented as a support to the "User's Guide" which gives a detailed
description of the "PCD Utilities" and the structured programming methods used
in the SAIA PCD.

Important
The instructions described in this guide are valid for:
PCD1 version V001 (and above)
PCD2 version V004 (and above)
PCD4.Mxx0 version V005 (and above)
PCD4.Mxx5 version V00C (and above)
PCD6.M5 version V004 (and above)
PCD6.M1/M2 version V009 (and above)
PCD Utilities version V2.0

If you have a PCD with an older version certain instructions can differ or be
non-existant.

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Introduction PCD Reference Guide

How to read this manual

One or more pages are provided for each instruction of the SAIA PCD.

Top Line For each instruction, the mnemonic(s) and the instruction name are shown on the
top line.

Description Describes what the instruction does and its operand.

Usage Shows how the instruction is used and gives the type and range of each operand.
An "[X]" after the mnemonic means that indexed addressing is possible by adding
the optional 'X' to the mnemonic (eg: STHX, INCX).
For indexed addressing, the indexed operand(s) is marked with a "(i)".

Example A typical example of the instruction.

Flags Shows which Status flags are affected (ACCU, N, P, Z, E)

See also A list of other instructions or topics which may be useful.

Practice A practical example which shows the use of the instruction in a suitable context.

Typographic Conventions:

[] Square brackets in text enclose optional input or data.

For example: [;comments] means that ";comments" is optional and
need not be present.

[X] An "[X]" after the mnemonic means that indexed addressing is

possible by adding the optional 'X' to the mnemonic
(eg: STHX, INCX).

(i) When indexed addressing is possible (see [X]); the indexed operand(s)
is marked with a "(i)"

..... A series of "." in an example shows that this one can be continued by
yourself.

LABEL: In the examples, all the labels are represented with their name
followed by a ':'; this is necessary if you use another editor than
SEDIT.
If you use SEDIT do not put this ':' after the label.

<> Angle brackets enclose texts or expression which should not be typed
verbatim, but replaced by any text or valid expression.

Page 1-2 © SAIA-Burgess Electronics Ltd. 26/733 E6

PCD Reference Guide Introduction

1.1 MEDIUM code (MC )

Medium control codes [mc] are used to select the element type

Code Type Range

I Input 0..8191
O Output 0..8191
F Flag 0..8191
R Register 0..4095
T Timer 0..450
C Counter 0..1599
K Constant 0..16383
X teXt 0..7999
DB Data Block 0..7999

Inputs and Outputs

The inputs and outputs in the form of interface modules can be plugged into the
PCD, the address range can be assigned as required with the position of the
module in PCD1/2/4 or with DIP switches in PCD6.
Input states can only be interrogated.
Outputs can be set (switched on) and reset (switched off) and can also be
interrogated as to the signal states.

Flags
Flags are 1 bit storage cells which can be treated like outputs, e.g. they can be set
or reset, and can be interrogated as to their state. Accordingly flags are used for
the storage of any suitable information.

Timers and Counters

Timers and Counters are programmable registers, they can hold a 31 bits value
(0 - 2.147.483.647 in decimal). They share the same address range from 0-1599;
the number of timers depends on the instruction DEFTC (the default value is 32
timers from addresses 0 to 31 and 1568 counters from addresses 32 to 1599)
The only difference between a timer and a counter is that a timer is decremented
according to the time-base (defined by the instruction DEFTB, default value is
1/10 sec)
Timers and counters can only hold positive or nul values.

When a Timer or Counter contains a non-zero value its state is High (H),
when its content is zero its state is Low (L)

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Introduction PCD Reference Guide

Registers
A register is a 32 bits storage cell which can hold any information, in binary,
decimal, hexadecimal, floating-point. You can perform arithmetical operations on
them, transfer of information (from or to: inputs, outputs, flags, timers, counters,
registers).
Registers can hold positive as well as negative values.

Constants
Several types of constant are used (see next page).

teXt
Texts are ASCII strings that can be memorized in the PCD for output on a serial
line.

Data Block
A "Data Block" is an area of memory which is used for storing 32-bit data, which
can be transfered to and from Registers, Timers and Counters

Page 1-4 © SAIA-Burgess Electronics Ltd. 26/733 E6

PCD Reference Guide Introduction

1.2 Constants
There are several types of constants used in PCD instructions, the valid range
depends on the instruction.
K constants are NOT allowed for the LOAD instructions (LD, LDH and LDL).

Binary
End the value with a 'Q', eg. 1001Q, 11111111Q. Max 12 bits.

Decimal
Default, no special format.

Hexadecimal
End the hex value with an 'H', eg. ABCDH, 1234H, DEADH.

ASCII
Enclose the ASCII character in inverted commas, eg. 'A', 'z'.

Floating point
Include a '.' and/or an exponent 'E', eg. 1.2, 12E-1.
Range (FFP) is 2.710505E-20 to - 9.223371E+18.

K Constants
Used where a medium control code (mc) is required; this is never used for the
LOAD instructions (LD, LDL, LDH)
To show it is a constant, the mc type 'K' is used.
Binary, decimal, hexadecimal or Ascii values can be given, eg. K 10, K 11Q,
K FFH, K 'A',

Constant Type Minimum value Maximum value

Decimal - 2.147.483.648 2.147.483.647
Hexadecimal 0H FFFFFFFF H
Binary 0Q 1111111111111 Q
ASCII 'a', 'B', '%', etc.
Floating point - 9.22337177 E+18 +9.22337177 E+18
- 2.71050535 E -20 +5.42101070 E -20

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Introduction PCD Reference Guide

1.3 The Condition Codes [cc]

Arithmetic Status Flags
The arithmetic status flags are affected mostly by the Integer and the floating point
instructions.

The Error flag can be set High (and Low) by any instruction which is executed
with invalid data.
P Positive High if result of arithmetic instruction is positive
N Negative High if result of arithmetic instruction is negative
(the P flag is always the inverse of the N flag)
Z Zero High if the result of arithmetic instruction is 0
E Error High if an instruction cannot be executed
(set High on Overflow, Underflow or
Conversion)

Accumulator
Since the processor "reads" one instruction line after the other, it follows, that it
can only interrogate one element after the other as to its signal state (H or L). In
order to process a complete linkage (Linkage: section of program consisting of
several instruction lines; it normally begins with a start instruction and ends with
an action instruction. Each line in a linkage depends on the result of the previous
one) up to an action instruction, the existing intermediate result of the linkage
must be stored in the Accumulator (ACCU).
At the end of the linkage the end result is present in the ACCU (0 or 1). On the
basis of this result the corresponding element (e.g. an output) is either not
activated (ACCU = 0) or activated (ACCU = 1)

The ACCUmulator is set High/Low (1 or 0) mostly by the Bit instructions. It can

be set to a specific state, or to the state of an arithmetic status flag, using the ACC
instruction.

Conditions Codes [CCs]

Condition codes [cc] are used to select the Status flags condition for the execution
of the instruction.
If the condition is false, the instruction is not executed.
Note: Certain instructions are Accumulator dependent, and are executed only in
the Accumulator (ACCU) is High (1).

blank No condition code

H If Accumulator = H (1)
L If Accumulator = L (0)
P If Positive flag = H (Negative flag = L)
N If Negative flag = H
Z If Zero flag = H
E If Error flag = H
(C) Complement used with the ACC instruction only

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PCD Reference Guide Introduction

1.4 Resource types and values

Type Description Range Remark

I Input Share same 0..8191
O Output addresses 0..8191
F Flag 0..8191 Volatile/Non volatile
T Timer Share same 0..450 Volatile Per System
C Counter addresses 0..1599 Non Volatile
R Register 0..4095 Non Volatile
K K constant 0..16383
COB Cyclic Organisation Block 0..15
XOB Exception Organisation Block 0..31
PB Program Block 0..299
FB Function Block 0..999
SB Sequential Block 0..31 Per CPU
IST Initial Step 0..1999
ST Step 0..1999
TR Transition 0..1999
X Text Share same 0..7999 4000..7999
DB Data Block addresses 0..7999 in extended memory
- Semaphore 0..99 Per System

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Introduction PCD Reference Guide

Notes

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PCD Reference Guide

2. BIT Instructions

Bit instructions work with the Accumulator, Inputs, Outputs, Flags and the state of
Timers or Counters.

STH Start high

STL Start low
ANH AND high
ANL AND low
ORH OR high
ORL OR low
XOR Exclusive OR
ACC Accumulator operations
DYN Dynamic (edge detection)
OUT Set element from ACCU
SET Set element
RES Reset element
COM Complement element
SETD Set element delayed
RESD Reset element delayed

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STH PCD Reference Guide

Notes

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PCD Reference Guide STH

STH START HIGH

Description The ACCU is set to the logical state of the addressed element.
This is the start of a new linkage line.
The previous linkage results are cleared with the start instruction; simultaneously
the signal state "H" of the addressed element I, O, F, T, C will be read and the
result stored in the ACCU.

Usage STH[X] element (i) ; I 0-8191, O 0-8191, F 0-8191

; T 0-450, C 0-1599

Example STH I7 ; ACCU = State of I 7

Flags ACCU set to state of addressed element.
Note If a timer or counter contains 0 its state is defined L, otherwise its state is H
See Also STHS, STL.
Practice

I7 O 32

I 12 O 40

; A minimum program in the PCD must consist of one COB

COB 0 ; COB header

0
STH I 7 ; If input 7 is H
OUT O 32 ; Then set output 32
; Else reset output 32
STH I 12 ; If input 12 is H
OUT O 40 ; Then set output 40
; Else reset output 40
ECOB ; END of COB

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STL PCD Reference Guide

STL START LOW

Description The ACCU is set to the inverted logical state of the addressed element. This is the
start of a new linkage line.
The previous linkage results are cleared with the start instruction; simultaneously
the signal state "L" of the addressed element I, O, F, T, C will be read, inverted
and the result stored in the ACCU.

Usage STL[X] element (i) ; I 0-8191, O 0-8191, F 0-8191

; T 0-450, C 0-1599

Example STL I9 ; ACCU = inverted state of I 9

Flags ACCU set to the inverted state of the addressed element.
See Also STH.
Practice

I8 O 33

Timer T 15 O 34

COB 0 ; COB header

0

STH I 8 ; If Input 8 becomes high

DYN F 10
LD T 15 ; Then load timer with 2 sec
20

STL T 15 ; If the time is elapsed

OUT O 33 ; Then set output 33
; Else reset output 33

STH T 15 ; If the time is not elapsed

OUT O 34 ; Then set output 34
; Else reset output 34

ECOB ; End of COB

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PCD Reference Guide ANH

ANH AND HIGH

Description The ACCU is AND linked with the logical state of the addressed element, the
ACCU is set to the result.

Usage ANH[X] element (i) ; I 0-8191, O 0-8191, F 0-8191

; T 0-450, C 0-1599

Example ANH I3 ; ANDs ACCU with the state of Input 3

ANHX I 128 ; ANDs ACCU with Input (128+Index)
Flags ACCU set according to result.
See Also ANL.
Practice

I3 I6 O 32

I3
I6 & O 32

COB 0 ; COB header

0

STH I 3 ; If input 3 is H
ANH I 6 ; and input 6 is H
OUT O 32 ; Then set output 32
; Else reset output 32

ECOB ; END of COB

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ANL PCD Reference Guide

ANL AND LOW

Description The ACCU is AND linked with the inverted logical state of the addressed element,
the ACCU is set to the result.

Usage ANL[X] element (i) ; I 0-8191, O 0-8191, F 0-8191

; T 0-450, C 0-1599

Example ANL I4 ; ANDs ACCU with inverted Input 4 state.

ANHX I 128 ; ANDs ACCU with inverted Input (128+Index)
Flags ACCU set according to result.
See Also ANH.
Practice

I2
O 32
I3 &
I4

COB 0 ; COB header

0

STH I 2 ; If input 2 is H
ANL I 3 ; AND input 3 is L
ANH I 4 ; AND input 4 is H
OUT O 32 ; Then set output 32
; Else reset output 32

ECOB ; End of COB

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PCD Reference Guide ORH

ORH OR HIGH

Description The ACCU is OR linked with the logical state of the addressed element, and the
ACCU is set to the result.
OR instructions are used for parallel linkages of elements.
The total linkage begins with a start (STH or STL); each additional parallel partial
linkage begins with an ORH.
If a parallel partial linkage is detected as successful (ACCU=1) then the logical
states of the following partial linkages no longer exercise any influence on the
result of this total linkage.

Usage ORH[X] element (i) ; I 0-8191, O 0-8191, F 0-8191

; T 0-450, C 0-1599

Example STH I5 ; If I 5 is H
ORH I 13 ; OR I 13 is H
; Then ACCU = 1, Else ACCU = 0
Flags ACCU set to the result.
See also ORL.
Practice

I5 O 32

I 13

I5
I 13 >1 O 32

COB 0 ; COB header

0

STH I 5 ; If input 5 is H
ORH I 13 ; or input 13 is H
OUT O 32 ; Then set output 32
; Else reset output 32

ECOB ; END of COB

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ORH PCD Reference Guide

I0 I1
I0

I2 O 32 I1 &
I2
>1 O 32

I3 I4 I3
I4 &
COB 0 ; COB Header
0

STH I 0 ; If input 0 is H
ANH I 1 ; and input 1 is H
ORH I 2 ; or input 2 is H
ORH I 3 ; or input 3 is H
ANH I 4 ; and input 4 is H
OUT O 32 ; Then set output 32
; Else reset output 32

ECOB ; END of COB

It can be seen from the above example that the OR- instruction has "priority"
over AND.
I0 I2 O 32

I1

I0 F 10

I1

F 10 I2 O 32

COB 0 ; COB Header

0

STH I 0 ; If Input 0 is H
ORH I 1 ; or input 1 is H
OUT F 10 ; Then set flag 10
; Else reset flag 10
STH F 10 ; If Flag 10 is H
ANH I 2 ; and input 2 is H
OUT O 32 ; Then set output 32
; Else reset output 32

ECOB ; END of COB

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PCD Reference Guide ORL

ORL OR LOW

Description The ACCU is OR linked with the inverted logical state of the addressed element,
and the ACCU is set to the result. OR instructions are used for parallel linkages of
elements.

Usage ORL[X] element (i) ; I 0-8191, O 0-8191, F 0-8191

; T 0-450, C 0-1599

Example STH I3 ; If I 3 is H
ORL I7 ; OR I 7 is L
; Then ACCU = 1, else ACCU = 0
Flags ACCU set to the result.
See Also ORH.

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XOR PCD Reference Guide

XOR EXCLUSIVE OR

Description The ACCU is XOR linked with the logical state of the addressed element, the
ACCU is set to the result.
With the XOR instruction the signal states of two elements can be compared with
one another. If they are identical, the ACCU content is 0; where they are
different, it is 1.

Usage XOR[X] element (i) ; I 0-8191, O 0-8191, F 0-8191

; T 0-450, C 0-1599

Example XORI 5; ACCU = ACCU XOR I 5

Flags The ACCU is set to the result.
See Also OR, AND.
Practice

I8
I5 =1 O 37

COB 0 ; COB Header

0

STH I 8 ; If input 8 is H
XOR I 5 ; XOR input 5 is H
OUT O 37 ; Then set output 37
; Else reset output 37

ECOB ; END of COB

I8 I5 O 37
L L L
L H H
H L H
H H L

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PCD Reference Guide ACC

ACC ACCUMULATOR OPERATIONS

Description Modifies the state of the Accumulator according to the code:

C Complement Accu is complemented

H High Accu is set High (1)
L Low Accu is set Low (0)
P Positive Accu is set to Positive (P) flag state
N Negative Accu is set to Negative (N) flag state
Z Zero Accu is set to Zero (Z) flag state
E Error Accu is set to Error (E) flag state

The operand cannot be supplied as a Function Block parameter

Usage ACC code ; code = C|H|L|P|N|Z|E

Example ACC H ; Sets ACCU to 1

ACC E ; Sets ACCU to state of E flag
Flags ACCU is modified.
See Also OUT, Condition Codes.
Practice

CMP R 99 ; Compare R 99
TR 5 'x' ; with ASCII character 'x'
ACC Z ; If equal Then ACCU is set H
; (copy of Z flag in ACCU)

ST 1 STXT 1
10

TR 6 ....

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DYN PCD Reference Guide

DYN DYNAMIC EDGE DETECTION

Description For rising or falling edge detection.

The result in the ACCU is High only when the ACCU goes from Low to High on
consecutive executions of DYN (rising edge).
The Flag given in the operand stores the previous state of the ACCU. If the ACCU
is Low, it remains Low, and the Flag is also set Low. The Flag need not be Low
the first time DYN is executed. For rising edge detection, use STH to interrogate
the element; for falling edge detection, use STL.

Usage DYN[X] flag (i) ; F 0-8191

Example DYN F 100 ; Flag 100 stores dynamic ACCU state

Flags The ACCU is set to the result.
See Also STH, STL, ANH, ANL, ORH, ORL.
Practice
I0
I0 O 32
O 32

; Solution with DYN instruction

COB 0 ; COB Header
0
STH I 0 ; If input 0 goes H
DYN F 500 ; (Edge detection)
COM O 32 ; Then complement output 32
; Else do nothing
ECOB ; END of COB

; Solution without DYN instruction

COB 0 ; COB Header
0
STH I 0 ; If input 0 is H
ANL F 500 ; and flag 500 is L
SET F 500 ; Then set flag 500 on H
COM O 32 ; complement output 32
; Else nothing
STL I 0 ; If input 0 is L
RES F 500 ; Then reset flag 500 (state = L)
; Else nothing
ECOB ; END of COB

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PCD Reference Guide OUT

OUT SET ELEMENT FROM ACCUMULATOR

Description Sets the Output or Flag to the state of the ACCU. If the ACCU is High then
the Output or Flag is set High. If the ACCU is Low, then the Output or Flag
is set Low.
.
Usage OUT[X] element (i) ; O 0-8191, F 0-8191

Example OUT O 32 ; Sets Output 32 to the state of the ACCU

Flags Unchanged.
See Also OUTS.
Practice

I7 O 32

I2 O 35

O 40

F 777

COB 0 ; COB Header

0

STH I 7 ; If input 7 is H
OUT O 32 ; Then set output 32
; Else reset output 32
STH I 2 ; If input 2 is H
OUT O 35 ; Then set output 35, else reset output 35
OUT O 40 ; set output 40, else reset output 40
OUT F 777 ; set flag 777, else reset flag 777

ECOB ; END of COB

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SET PCD Reference Guide

SET SET ELEMENT

Description The Output or Flag is set High only if the ACCU is High. If the ACCU is Low,
nothing is done.
An output or flag set with a SET-instruction remains set (H) until it is reset again
by a RES-instruction.
SET and RES are generally used in sequentially programs (GRAFTEC)

Usage SET[X] element (i) ; O 0-8191, F 0-8191

Example SET O 32 ; If ACCU is 1 then O 32 = H

Flags Unchanged.
See Also RES, SETD, RESD.
Practice Outputs 36 and 37 must blink after input 7 has been switched on

IST

TR

ST

TR STH I 7 ; input = on ?

SET O 36 ; set output 36

ST SET O 37 ; set output 37
LD T 1 ; load timer no. 1
5 ; with 0.5s
TR
STL T 1 ; timer elapsed ?

RES O 36 ; reset output 36

ST RES O 37 ; reset output 37
LD T 1 ; load timer no. 1
10 ; with 1s
TR
STL T 10 ; timer elapsed ?

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PCD Reference Guide RES

RES RESET ELEMENT

Description The Output or Flag is set Low only if the ACCU is High.
If the ACCU is Low, nothing is done.

Usage RES[X] element (i) ; O 0-8191, F 0-8191

Example RES O 13 ; If ACCU is 1 then O 13 = L

Flags Unchanged.
See Also SET, SETD, RESD.
Practice see SET

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COM PCD Reference Guide

COM COMPLEMENT ELEMENT

Description The state of the Output or Flag is complemented (inverted) only if the ACCU is
High. If the ACCU is Low, nothing is done
Note:
This instruction is mainly used for the activation of the "WATCHDOG".
The "COM O 255" instruction must be placed in a cyclic program. Care must be
taken that this instruction is only executed when the ACCU is H. (The "ACC H"
instruction can be placed before the instruction or the instruction "COM" can be
placed directly after the COB instruction)

Usage COM[X] element (i) ; O 0-8191, F 0-8191

Example COM O 32 ; If ACCU is 1, inverts the state of Output 32

Flags Unchanged.
See Also OUT, SET, RES, DYN.
Practice

I0
I0 O 32
O 32

COB 0 ; COB Header

0

STH I 0 ; If input 0 goes H

DYN F 500 ; (Edge detection)
COM O 32 ; Then complement output 32
; Else do nothing

ECOB ; END of COB

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PCD Reference Guide SETD

SETD SET ELEMENT DELAYED

Description The Output or Flag is set High after the delay given in the 2nd operand only if the
ACCU is High. The delay is in timebase units, as set by the DEFTB instruction.
SETD and RESD are designed for the use in sequentially programs (GRAFTEC).
The use of these instructions give simpler structures because the end of the delay
must not be waited.
(If these instructions are used in BLOCTEC programs; they must always be
combined with a DYN instruction. Without the DYN instruction, another timer
will be activated on each program loop causing the ERROR flag to be set after the
16th loop when all the timers will be used.)
The operands cannot be supplied as Function Block parameters.

Usage SETD[X] element (i) ; O 0-8191, F 0-8191

delay ; Delay in timebase units (eg. 100ms)

Example SETD O 32 ; If ACCU is 1 then Output 32 = H

100 ; after 100 x 100ms = 10 seconds.
Flags The Error (E) flag is set if more than 16 delayed actions are attempted.
See also RESD, DEFTB.
Practice

TR STH ... ; condition to continue

SET O 35 ; O 35 is set immediately

ST SETD O 40 ; O 40 is set after 120s
1200 ; not depending from
; the continuation of
; the GRAFTEC program

TR
STH ... ; condition to continue

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RESD PCD Reference Guide

RESD RESET ELEMENT DELAYED

Description The Output or Flag is set Low after the delay given in the 2nd operand only if the
ACCU is High. The delay is in timebase units, as set by the DEFTB instruction.
SETD and RESD are designed for the use in sequentially programs (GRAFTEC).
The use of these instructions give simpler structures because the end of the delay
must not be waited.
(If these instructions are used in BLOCTEC programs; they must always be
combined with a DYN instruction. Without the DYN instruction, another timer
will be activated on each program loop causing the ERROR flag to be set after the
16th loop when all the timers will be used.)
The operands cannot be supplied as Function Block parameters.

Usage RESD[X] element (i) ; O 0-8191, F 0-8191

delay ; Delay in timebase units (eg. 100ms)

Example RESD O 32 ; If ACCU is 1 then Output 32 = L

100 ; after 100 x 100ms = 10 seconds
Flags The Error (E) flag is set if more than 16 delayed actions are attempted.
See Also SETD, DEFTB.
Practice

TR STH ... ; condition to continue

SET O 35 ; O 35 is set immediately

ST SETD O 35 ; O 35 is reset after 5s
50 ; not depending from
; the continuation of
; the GRAFTEC program

TR
STH ... ; condition to continue

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PCD Reference Guide

3. WORD Instructions
These instructions all work with Registers.
Registers contain binary, decimal, BCD or floating point values.
For floating point values, the floating point instructions must be used.

Loading Data LD Load (32-bit value)

LDL Load low word (lower 16 bits)
LDH Load high word (upper 16 bits)
DSP Load Display Register
Primary arithmetic INC Increment Register
DEC Decrement Register
Index Register SEI Set Index register
INI Increment Index register
DEI Decrement Index register
STI Store Index register
RSI Restore Index register
Moving Data MOV Move data
COPY Copy data } Specially useful
GET Get data } for indexed
PUT Put data } addressing.
TFR Transfer data
TFRI Transfer data indirect
Binary Input/Output BITI Bit in
BITIR Bit in reversed
BITO Bit out
BITOR Bit out reversed
BCD Digit Input /Output DIGI Digit in
DIGIR Digit in reversed
DIGO Digit out
DIGOR Digit out reversed
Logical AND AND Registers
OR OR Registers
EXOR Exclusive-OR Registers
NOT Complement Register
Rotates and Shifts SHIU Shift Registers up
SHID Shift Registers down
ROTU Rotate Registers up
ROTD Rotate Registers down
SHIL Shift Register left
SHIR Shift Register right
ROTL Rotate Register left
ROTR Rotate Register right

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Notes PCD Reference Guide

Notes

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PCD Reference Guide LD

LD LOAD (32-BIT VALUE)

Description The addressed Register, Timer or Counter is loaded with the given 32-bit value.
For Timers and Counters:
• the operation is done only if the ACCU is High.
• cannot be loaded with negative or floating point values.
(only decimal, Hex, ASCII or binary values)
• if a timer is loaded, the timer starts immediately.
• The state of a timer or counter is H when it contains a non-zero
value else its state is L
For Registers:
• the operation is independent of the ACCU state.
• the value can be a decimal, Hex, ASCII or floating point value.
Binary values are post-fixed with a 'Q' or 'Y'.
Hex values are post-fixed with an 'H'.
Floating point values must contain a decimal point '.' or an exponent "E6".
ASCII values are enclosed in single quotes 'a', 'A'.
Since the value is 32-bits, three program lines are used for the whole instruction.

The operands cannot be supplied as Function Block parameters.

Usage LD[X] element (i) ; R 0-4095, T 0-450, C 0-1599.

value ; Decimal: -2.147.483.648 to +2.147.483.647
; Hex: 0H to FFFFFFFFH
; Binary: 0Y to 111...111Y (32 bits)
; Floating point: ± 5.42101E-20 to ± 9.22337E+18
; ASCII: 'A'-'Z', '0'-'9', '!', '?' etc.

Example LD R 0 ; Loads R 0 with floating point value 321

3.21E1 ; (Timers & Counters must have +ve values)
Flags Unchanged.
See Also LDH, LDL (16-bit loads), Constants.
Note LD needs 3 program lines
LD T/C: only executed when the ACCU = H (1).
LDR: always executed.

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LDL PCD Reference Guide

LDL LOAD LOW WORD (LOWER 16 BITS)

Description Loads the lower 16 bits (0-15) of a Register, Timer or Counter with a 16-bit value
(0-65535); the upper 16 bits are always set to 0.

For Timers and Counters:

LDL is executed only if the ACCU is 1.
For Registers:
LDL is always executed.

LDL (and LDH, Load High) allow 16-bit constants to be passed as Function Block
parameters, or loaded directly.
LDH loads the upper 16 bits.
Using these instructions, a 32-bit value can be loaded. To load all 32 bits, LDL
must be executed first, because this sets the upper 16 bits to 0.
Values can be loaded in decimal, hex, binary or ASCII, NOT floating point.

Usage LDL[X] element (i) ; R 0-4095, T 0-450, C 0-1599

value ; Decimal: 0-65535
; Hexadecimal: 0H-FFFFH
; Binary: 16 bits

Example LDL R 100 ; Loads Register 100 with FFFF Hex,

0FFFFH ; which is 65535 in decimal.
; R100 = 0000FFFFH
Flags Unchanged.
See Also LDH, LD, Constants.
Note When only values < 65535 are used, the LDL instruction can be standard used to
load Counters, Timers or Registers.

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PCD Reference Guide LDH

LDH LOAD HIGH WORD (UPPER 16 BITS)

Description Loads the upper 16 bits (16-31) of a Register, the lower 16 bits are not affected.
LDH (and LDL, Load Low) allow 16-bit constants (0-65535) to be passed as
Function Block parameters, or loaded directly. Using these instructions, a 32-bit
value can be loaded. To load all 32 bits, LDL must be executed first, because this
sets the upper 16 bits to zero (0).

Values can be loaded in decimal, hex, ASCII or binary, NOT floating point.
LDH cannot be used to load Timers or Counters, where the upper 16 bits cannot
be loaded separately.

Usage LDH[X] element (i) ; R 0-4095

value ; Decimal: 0-65535
; Hexadecimal: 0H-FFFFH
; Binary: 16 bits

Example LDH R 100 ; Loads bits 31-16 of Register 100

0FFFFH ; with FFFF Hex.
; R 100 = FFFFxxxx Hex
Flags Unchanged.
See Also LDL, LD, Constants
Practice To load a Register in a Function Block with a 32-bit constant, you can't use
directly the LD statement; in place, you must use LDL and LDH.
(The upper and lower 16 bits of a constant can be separated using the Assembler
statements '&' (AND) and '/' (DIVIDE) ). A constant (12345678) must be passed
as parameter to a Function block where it is loaded in a Register. Remember that
LDL must be done BEFORE LDH.

COB 0 ; COB Header

0

CFB 0 ; Call Function Block 0

12345678 & 0FFFFH ; Parameter 1 (lower 16 bits)
12345678 / 0FFFFH ; Parameter 2 (upper 16 bits)

ECOB ; END of COB

FB 0 ; FB Header
LDL R 0 ; Load the lower 16 bits of Register 0
= 1 ; with the 1st parameter (lower 16 bits)
LDH R 0 ; Load the upper 16 bits of Register 0
= 2 ; with the 2nd parameter (upper 16 bits)
EFB

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DSP PCD Reference Guide

DSP LOAD DISPLAY REGISTER

Description The logical state of an Input, Output or Flag, or the contents of a Register, Timer
or Counter, or a constant, can be loaded into the Display register.
This value is displayed on the PCD8.P100 Programming Unit in decimal.
It is useful as an error code or status display.

The operand can not be supplied as a Function Block parameter.

Usage DSP value ; I 0-8191, O 0-8191, F 0-8191, T 0-450,

; C 0-1599, R 0-4095, K 0-16383

Example DSP R 0 ; Display register = contents of R 0

DSP K 1234 ; Display register = constant 1234
Flags Unchanged.
See Also PCD1/2 Hardware Manual
Practice (see the INC instruction)

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PCD Reference Guide INC

INC INCREMENT REGISTER OR COUNTER

Description The Register or Counter is incremented by one.

Counters are incremented only if the ACCU is 1.

Registers are incremented regardless of the ACCU state.

Usage INC[X] element (i) ; R 0-4095, C 0-1599

Example INC R 100 ; R 100 = R 100 + 1

Flags The Zero (Z) and Sign (P or N) flags are set according to the result.
The Error (E) flag is set if overflow occurs.
See Also DEC, ADD
Practice Up /down counter with preselection and display of the counter value

I0
Set
I1
Up
O 32
I2 Down

C 50

COB 0 ; COB Header

0

STH I 0 ; If input 0 is H
LD C 50 ; Then load counter 50 with 5
5
; Else do nothing
STH I 1 ; If input 1 goes H
DYN F 1 ; (Edge detection)
INC C 50 ; Then counter 50 incremented by 1
; Else do nothing
STH I 2 ; If input 2 goes H
DYN F 2 ; (Edge detection)
DEC C 50 ; Then counter 50 decremented by 1
; Else do nothing
STH C 50 ; If counter 50 content >> 0
OUT O 32 ; Then set output 32
; Else reset output 32
DSP C 50 ; Display counter 50

ECOB

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DEC PCD Reference Guide

DEC DECREMENT REGISTER OR COUNTER

Description The Register or Counter is decremented by one.

Counters are decremented only if the ACCU is 1.

Registers are decremented regardless of the ACCU state.

Usage DEC[X] element (i) ; R 0-4095, C 0-1599

Example DEC R 100 ; R 100 = R 100 - 1

Flags The Zero (Z) and Sign (P or N) flags are set according to the result.
The Error (E) flag is set if underflow occurs.
See Also INC, SUB

INC Counter DEC Counter

max max

0 0

Zero Flag

Counter status

INC Register DEC Register

max + max +

0 0

min - min -
Zero Flag
Negative Flag
Positive Flag
Error Flag

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PCD Reference Guide SEI

SEI SET INDEX REGISTER

Indexed Addressing
It is frequently necessary for series of inputs, outputs, flags,... to be dealt with in
the same way (for example resetting of all retentive flags or registers). In cases
like this, long programs can be drastically shortened with the help of address
indexing.
Each COB or XOB has its own Index register.
This register is used for indexed addressing, where the contents of the Index
register is added to the operand value to provide the actual address.
Indexing instructions are always ended with an 'X', for Example STHX, BITIX.
The Index register can be loaded or saved, incremented up to a given limit, or
decremented down to a given limit.

Description The current Index register is loaded with the supplied constant (K 0-8191) or the
contents of the indicated Register.

NOTE: The value range of the Index register is 0..8191 (13 bits).

If a value > 8191 is entered then the Index is set to 8191 and the XOB 12 is
called.
If a value < 0 is entered then the Index register is set to 0 and the XOB 12 is
called.

Usage SEI value ; K 0-8191, R 0-4095

Example SEI K 32 ; Loads Index register with the value 32

SEI R 32 ; Loads Index register with the content of Register 32
Flags Unchanged.
See Also INI, DEI, STI, RSI
Practice The status of an input which address is given by a BCD encoder must be shown on
output 32.

COB 0
0

DIGI 2 ; Read 2 digits

I 24 ; from inputs 24 (to 31)
R 500 ; and store them in R 500

SEI R 500 ; Load Index with the contents of R 500

STHX I 0 ; If Input (0 + Index) is H

OUT O 32 ; Then set output 32
; Else reset output 32
ECOB

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INI PCD Reference Guide

INI INCREMENT INDEX REGISTER

Description The current Index register is compared to the value of the operand (supplied K
constant or the contents of a Register).
If the Index register is less than this value, the Index register is incremented and
the ACCU is set 1.
If the Index register is equal or greater than the value of the operand, the Index
register is NOT incremented and the ACCU is set 0.
If the value in the operand is > 8191 or < 0 then XOB 12 is called.

Usage INI value ; K 0-8191, R 0..4095

Example INI K 100 ; Increments Index register if it is lower than 100.

INI R 333 ; Increments Index register
if it is lower than the contents of R 333
Flags ACCU = 1 if Index register is less than the value in the operand.
ACCU = 0 if Index register is greater or equal than the value in the operand.
See Also DEI, SEI
Practice At power on, the registers 1500 to 1999 must be reset (value 0)

XOB 16 ; XOB executed at power on

.....
SEI K 0 ; Set index register on 0
; Repeat
Reset: LDX R 1500 ; Load Register (1500 + Index reg)
0 ; with 0
INI K 499 ; Increment Index Register by 1
JR H Reset ; Until Index Register > 499
(ACC H)
.....
EXOB

Page 3-10 © SAIA-Burgess Electronics Ltd. 26/733 E6

PCD Reference Guide DEI

DEI DECREMENT INDEX REGISTER

The current Index register is compared to the value of the operand (K constant or
Description
the contents of a Register).
If the Index register is greater than this value, the Index register is decremented
and the ACCU is set 1.
If the Index register is equal or less than the value of in the operand (constant or
Register contents), the Index register is NOT decremented and the ACCU is set 0.
If the value in the operand is > 8191 or <0 then XOB 12 is called.

Usage DEI value ; K 0-8191, R 0..4095,

Example DEI K 100 ; Decrements Index register if it is greater

; than the constant 100.
DEI R 444 ; Decrements Index register if it is greater
; than the contents of R 444.
Flags ACCU = 1 if Index register is greater than the value in the operand.
ACCU = 0 if Index register is less or equal than the value inthe operand.
See Also INI, SEI

End No INI End No DEI

Index < Value Index > Value
Yes Yes
Accu = 1 Accu = 1
Accu = 0 Accu = 0
Index + 1 Index - 1

SEI SEI

INI DEI
8191 8191
End value Initial value

Initial value End value

0 0

ACCU ACCU

End value = value of the operand of the INI / DEI instruction

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STI PCD Reference Guide

STI STORE INDEX REGISTER

Description The value in the current Index register is stored in the given Register.
It can be re-loaded into the Index register using the RSI instruction.
The Index register is not changed.

Usage STI reg ; R 0-4095

Example STI R 100 ; Stores the Index register contents in Register 100
Flags Unchanged.
See Also RSI

Index Register Register

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PCD Reference Guide RSI

RSI RESTORE INDEX REGISTER

Description Loads the Index register with the contents of the given Register.
The value in the Register will typically be an Index register value saved by the STI
instruction.
The maximum value the Register should contain is 8191, only the lower 13 bits are
loaded.
If a parameter <0 or > 8191 is entered then the XOB 12 is called.

Usage RSI reg ; R 0-4095

Example RSI R 100 ; Loads the Index register with the contents of Register 100.

This is the same as : SEI R 100

Flags Unchanged.
See Also STI, SEI
Practice

Index Register Register

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MOV PCD Reference Guide

MOV MOVE DATA

Description Moves data from a Timer, Counter or Register into a Register.

This is a 4-line instruction:
- the 1st and 3rd operands are the source and destination.
- the 2nd and 4th operands are the data type and position:
Q = Bit (moves 1 bit) 0-31
D = Digit (4 Bits BCD) 0-9
N = Nibble (4 Bits Binary) 0-7
B = Byte (8 Bits) 0-3
W = Word (16 Bits) 0/1
L = Long word (32 Bits) 0
The data types (Q, D etc.) of the 2nd and 4th operands must be the same, but
source and destination positions may differ.

Q = bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

D = digit 9 8 7 6 5 4 3 2 1 0

N = nibble 7 6 5 4 3 2 1 0

B = byte 3 2 1 0

W = word 1 0

L = long word 0

Usage MOV[X] source (i) ; R 0-4095, T 0-450, C 0-1599

type position ; Q|D|N|B|W|L see above
dest (i) ; R 0-4095
type position ; Q|D|N|B|W|L see above

Example Move the Highest nibble (N7) from Register 100 to the Lowest nibble (N0) of
Register 101
; Before: R100: 1111 1010 1010 1010 1010 1010 1010 1010
R101: 0001 0001 0001 0001 0001 0001 0001 0001
MOV R 100
N 7
R 101
N 0
; After: R100: 1111 1010 1010 1010 1010 1010 1010 1010
R101: 0001 0001 0001 0001 0001 0001 0001 1111
Flags Unchanged.
See Also COPY, GET, PUT, LD, LDH, LDL

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PCD Reference Guide COPY

COPY COPY DATA

Description The COPY, GET and PUT instructions are all related.
They are used for the indexed transfer of data between Registers, Timers and
Counters. In each case, an entire Register, Timer or Counter is copied.
For COPYX, the contents of the first operand is copied into the second, BOTH
are indexed.

Usage COPY[X] source (i) ; R 0-4095, T0-450, C0-1599

destination (i) ; R 0-4095, T0-450, C0-1599

Example COPYX R 10 ; Moves the contents of R (10+Index)

R 50 ; into R (50+Index)
Flags The Zero (Z) and Sign (P or N) flags are set according to the value copied.
See Also GET, PUT, MOV
Practice

SEI K0 R 10 R 50
loop: COPYX R 10 R 11 R 51
R 50
... R 12 R 52
INI K4 R 13 R 53
JR H loop R 14 R 54

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GET PCD Reference Guide

GET GET DATA

Description The COPY, GET and PUT instructions are all related.
They are used for the indexed transfer of data between Registers, Timers and
Counters. In each case, an entire Register, Timer or Counter is copied.

For GETX, the contents of the first operand is copied into the second, only the
first operand is indexed.

In addition, the GET instruction allows the transfer from the Texts / Data Blocks
to the Registers/Timers/Counters.

Usage GET[X] source (i) ; R 0-4095, T0-450, C0-1599, X0-3999, DB0-3999

destination ; R 0-4095,T0-450, C0-1599

Example GETX R 10 ; Moves the contents of R (10+index)

R 50 ; into R 50
Flags The Zero (Z) and Sign (P or N) flags are set according to the value copied.
See Also PUT, COPY, MOV
Practice

SEI K0 R 10 R 50
loop: GETX R 10 R 11
R 50
... R 12
INI K4 R 13
JR H loop R 14

Transfer between Text / Data Block and R/T/C

The instruction GET[X] can transfer the stated Text into the R/T/C's until the end
of the Text (00 - NUL terminator). If the Text does not end on a R/T/C boundary
then the remainder of the R/T/C will be left unchanged.

Similarly, GET[X] can transfer the data items present in a Data Block to the
R/T/C's until the end of the Data Block.
A DATA BLOCK is an area of user memory where large numbers of Registers,
Timers or Counters can be saved and read at run-time. Data Blocks can be used
for storing values which are specific to a process to liberate R/T/C's for use by
other processes.
If the instruction tries to read from a Text or Data Block which doesn't exist then
XOB 13 (Error flag set) is called. If the indexed Text or Data Block number is
greater than 3999 then XOB 12 is called (Index Register Overflow)

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PCD Reference Guide GET

DATA BLOCK and TEXT Formats

All Data Blocks and Texts must be defined in the source program in the
following way:

DB number '[' [length] ']' [value 1 [,value 2]...[,value n] ]

TEXT number '[' [length] ']' "text line 1" [;comment]

["text line 2" [;comment]]
["text line n" [;comment]]

where number, length can be decimal

symbol
and value 1, ... can be decimal
hexadecimal
binary
floating point
ASCII
symbol

Texts and Data Blocks are numbered 0..3999 but because they share the same
area of memory, they cannot share the same number. For Example, if Data Block
10 is defined then Text 10 is unavailable.
A Text can be defined as normal with a maximum possible length of 3069
characters.
A Data Block can hold a maximum of 383 data items, where a data item is a
register or timer or counter.

Note: It is forbidden to have <254> or <255> in the first byte of a normal Text. If
the PCD contains EPROM memory then the Data Blocks and Texts can only be
read (GET instruction).

Examples:
DB 100 [10] ; Data Block number 100 of 10 data item
; all values initialised to zero.

DB 101 [] 1.0,konst,3.0,4 ; Data Block number 101 of 4 data items

; two of which are floating point and one symbol

DB 102 [4] 1,2,3 ; Data Block number 102 of 4 items 1, 2, 3, 0

DB num [data_len] ; Data Block with predefined symbols

TEXT 100 "NORMAL TEXT"

TEXT 103 [5] "123" ; Text 103 which is "123 " (with two spaces)

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GET PCD Reference Guide

GET Data Block /Text

Example 1:
Data Block as declared in the source program:
DB 100 [5] 0h,1h,2h,0a5a5a5a5h,720h

Instruction:
GET DB 100 ; Transfer Data Block 100
R 1000 ; into Regiters 1000 and consecutive.

Result:
Register Value in Hex
1000 00000000
1001 00000001
1002 00000002
1003 a5a5a5a5
1004 00000720

Example 2:
Text as declared in the source program:
TEXT 100 "THIS IS A TEXT 123"

Instruction:
GET X 100 ; Transfer Text 100
R 1000 ; into Registers 1000 and consecutive.

Result:
Register Value in ASCII Value in Hex
1000 THIS 54484953
1001 IS 20495320
1002 A TE 41205445
1003 XT 1 58542031
1004 23 32332020

Page 3-18 © SAIA-Burgess Electronics Ltd. 26/733 E6

PCD Reference Guide PUT

PUT PUT DATA

Description The COPY, GET and PUT instructions are all related.
They are used for the indexed transfer of data between Registers, Timers and
Counters. In each case, an entire Register, Timer or Counter is copied.

For PUTX, the contents of first operand is copied to the second, only the
destination (second) operand is indexed.

In addition, the PUT instruction allows the transfer from the Registers / Timers /
Counters to the Texts / Data Blocks.

Usage PUT[X] source ; R 0-4095, T 0-450, C 0-1599

destination (i) ; R 0-4095, T 0-450, C 0-1599, X 0-3999, DB 0-3999

Example PUTX R 10 ; Moves the contents of Register 10

R 50 ; into Register (50 + Index)
Flags The Zero (Z) and Sign (P or N) flags are set according to the value copied.
See Also GET, COPY, MOV
Practice

SEI K0 R 10 R 50
loop: PUTX R 10 R 51
R 50
... R 52
INI K4 R 53
JR H loop R 54

Transfer between R/T/C and Text/Data Block

The instruction PUT[X] copies contents of the R/T/C starting with the stated
R/T/C into the stated Text until the end of the Text. If there is a NUL (00h) char.
in the R/T/C then the instruction PUT will change this value to a space. Similarly,
PUT[X] copies the contents of the R/T/C's starting with the stated R/T/C into the
stated Data Block until the Data Block is full.

A DATA BLOCK is an area of user memory where large numbers of Registers,

Timers or Counters can be saved and read at run-time. Data Blocks can be used
for storing values which are specific to a process to liberate R/T/C's for use by
other processes.
For the Text/Data Block format declaration see the GET instruction.
If the instruction tries to copy from an R/T/C which doesn't exist then XOB 13
(Error flag set) is called. If the indexed Text or Data Block number is greater than
3999 then XOB 12 is called (Index Register Overflow)

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PUT PCD Reference Guide

PUT into Data Block /Text

NOTE:
PUT cannot extend the text or data block length
PUT cannot transfer values to a text or to a data block if eproms or rams with
jumper in position "WP" are used.

Example 1:
Data Block as declared in the source program:
DB 100 [5] ; Initial values are zero

Contents of Registers:
Register Value in Dec
1000 00000001
1001 00000002
1002 00000003
1003 01234567
1004 00000720

Instruction:
PUT R 1000 ;Transfer Register 1000 and consecutive
DB 100 ; into Data Block 100.

Result as displayed with the Debugger in Decimal presentation:

DB 100 (0): 1 2 3 1234567 720

Example 2:
Text as declared in the source program:
TEXT 100 [17] ; A text of 17 spaces

Contents of Registers:
Register Value in ASCII Value in Hex
1000 THIS 54484953
1001 IS 20495320
1002 A TE 41205445
1003 XT 1 58542031
1004 23 32332020

Instruction:
PUT R 1000 ; Transfer Registers 1000 and consecutive
X 100 ; into Text 100

Result as displayed with the Debugger:

TEXT 100: "THIS IS A TEXT 12"
(THE TEXT STOPS AFTER 17 CHARACTERS)

Page 3-20 © SAIA-Burgess Electronics Ltd. 26/733 E6

PCD Reference Guide TFR

TFR TRANSFER DATA

Description This instruction enables the indexed data transfer of individual values from a Data
Block or a Text to Registers, Timers or Counters; and vice versa.

Usage TRANFER DATA BLOCK (or Text) R, T, C

Copy an individual value (32 bit) from a Data Block or Text to a Register, Timer
or Counter:
TFR[X] source ; DB (or X) 0..3999, 4000..7999
position ; R 0..4095, K 0..382, 0..16383
dest (i) ; R0..4095, T|C 0..1599

The 1st operand is the Data Block (or Text) containing the value to transfer.
The 2nd operand is the position of the value inside the Data Block (or Text);
this position can be given as a constant or indirectly via a Register.
The 3rd operand is the destination Register, Timer or Counter

TRANSFER R, T, C DATA BLOCK (or TEXT)

Copy a Register, Timer or Counter into a Data Block (or Text):
TFR[X] source (i) ; R0..4095, T|C 0..1599
destination ; DB (or X) 0..3999, 4000..7999
position ; R0..4095, K0..382, 0..16383

The 1st operand is the Register, Timer or Counter containing the value to transfer
(source).
The 2nd operand is the destination Data Block (or Text).
The 3rd operand is the position inside the Data Block (or Text) where the value
must be transferred, this position can be given as a constant or indirectly via a
Register.
Remark:
The length of the Data Block is dependent of the PCD memory type:
Memory Address Maximum length of 1 DB
Standard DB 0..3999 383 values
Extended DB 4000..7999 16383 values

Example TFR DB 4010 ; Copy from the Data Block 4010

K 13 ; the value at position 13
R 26 ; to Register 26
TFR R 120 ; Copy Register 120
DB 4025 ; to Data Block 4025
K 6 ; at position 6
Flags The Zero (Z) and Sign (P or N) flags are set according to the value copied.
See Also PUT, GET

Notes For reasons of memory organisation, access to DBs from 4000..7999 is

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TFR PCD Reference Guide

significantly faster than to DBs from 0..3999. It is therefore recommended that

this instruction should be used mainly on DBs from 4000..7999.

Practice From Data Block 4010, the 4 values from position 2..5 are copied to Registers
100..103.

…. Source Destination
LD R 999 Pos Data Block Registers
2 0 12345
SEI K 0 1 67845612
LOOP: TFRX DB 4010 2 33 33 R 100
R 999 3 1024 1024 R 101
R 100 4 R 102
0 0
INC R 999
5 89 89 R 103
INI K 3
6 13
JR H LOOP
… 7 90

Registers 100..103 are copied to positions 2..5 of Data Block 4010:

…. Destination Source
LD R 999 Registers Data Block Pos
2 12345 0
SEI K 0 67845612 1
LOOP: TFRX R 100 R 100 2
33 33
DB 4010
R 101 1024 1024 3
R 999
INC R 3 R 102 0 0 4
JR H LOOP R 103 89 89 5
… 13 6
90 7

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PCD Reference Guide TFRI

TFRI TRANSFER DATA INDIRECT

Description This instruction enables the indirect indexed data transfer of individual values
from a Data Block or a Text to Registers, Timers or Counters; and vice versa.
This instruction does not work in parametrised mode

Usage TRANSFER DATA BLOCK (or Text) R, T, C

Copy an individual value (32 bit) from a Data Block or Text to a Register, Timer
or Counter:
TFRI source ; DB (or X) reg1
position ; R 0..4095, K 0..16383
destination ; R or T|C reg2

The 1st operand specifies that the source is a Data Block or a Text and the
variable reg1 is a register number containing the address of the DB or Text.
The 2nd operand is the position of the value inside the Data Block (or Text); this
position can be given as a constant or indirectly via a Register.
The 3rd operand specifies the type of the destination (R or T|C). The variable reg2
is a Register number which contains the destination number of the media.

TRANSFER R, T, C DATA BLOCK (or TEXT)

Copy a Register, Timer or Counter into a Data Block (or Text):
TFRI source ; R or T|C reg1
destination ; DB ( or X) reg2
position ; R 0..4095, K 0..16383

The 1st operand specifies the type of the source (R or T|C). The variable reg1 is a
Register number which content the destination address of the media.
The 2nd operand specifies the type of the destination (DB or Text) and the
variable reg2 is a register number containing the address of the destination.
The 3rd operand is the position inside the Data Block (or Text) where the value
must be transfered, this position can be given as a constant or indirectly via a
Register.
Remark:
The length of the Data Block is dependent of the PCD memory type:
Memory Address Maximum length of 1 DB
Standard DB 0..3999 383 values
Extended DB 4000..7999 16383 values

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TFRI PCD Reference Guide

Examples Transfer the element at position 10 od Data Block 4000 to Register 4095.
LD R 100 ; Initialisation of the DB address
4000
LD R 101 ; Initialisation of the Register address
4095
TFRI DB 100 ; Transfer DB
K 10
R 101
Transfer the Counter 1000 to the position 50 of Data Block 4000
LD R 100 ; Initialisation of the DB address
4000
LD R 101 ; Initialisation of the position
50
LD R 102 ; Initialisation of the Counter address
4095
TFRI C 102 ; Transfer Counter
DB 100
R 101

Flags The Zero (Z) and Sign (P or N) flags are set according to the value copied.
See Also TFR, PUT, GET

Notes For reasons of memory organisation, access to DBs from 4000..7999 is

significantly faster than to DBs from 0..3999. It is therefore recommended that
this instruction should be used mainly on DBs from 4000..7999.

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PCD Reference Guide BITI

BITI BIT IN

Description Moves a sequence of binary bits from Inputs, Outputs, Flags, a Timer or a Counter
into a Register.
The 1st operand is the number of bits to be moved (1-32).
The 2nd operand is the source (I, O, F, T or C).
The 3rd operand is the destination Register.
If the source are Inputs, Outputs or Flags, the source address given is the lowest
element of the sequence.
The LOWEST element becomes the LEAST SIGNIFICANT bit in the destination
Register.
This is contrary to the SAIA PCA.

Usage BITI[X] bits ; Number of bits to read 1-32

source ; Source data address I, O, F, T, C
dest (i) ; Destination Register number R 0-4095

Example BITI 16 ; Reads 16 bits

I 32 ; from Inputs 32-47 and
R 0 ; stores them in Register 0 bits 0-15
Flags Zero (Z) and Sign (P or N) flags set according to value read..
See Also BITIR, DIGI, DIGIR
Practice When input 8 goes High, an 8 bits binary value is read from inputs 0 to 7 and
stored in Register 500

COB 0 ; COB Header

0
.....
STH I 8 ; If input 8 goes High
DYN F 100
JR L NEXT
BITI 8 ; Then read 8 bits binary
I 0 ; from input 0 (to 7)
R 500 and store them in R 500
NEXT: ....
ECOB

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BITIR PCD Reference Guide

BITIR BIT IN REVERSED

Description Moves a sequence of binary bits from Inputs, Outputs, Flags, a Timer or a Counter
into a Register.
The 1st operand is the number of bits to be moved (1-32).
The 2nd operand is the source (I, O, F, T or C).
The 3rd operand is the destination Register.
If the source are Inputs, Outputs or Flags, the source address given is the lowest
element of the sequence.
The LOWEST element becomes the MOST SIGNIFICANT bit in the destination
Register.
This is the same as the SAIA PCA.

Usage BITIR[X] bits ; Number of bits to read 1-32

source ; Source data address I, O, F, T, C
dest (i) ; Destination Register number R 0-4095

Example BITIR 16 ; Reads 16 bits

I 32 ; from Inputs 32-47 and
R 0 ; stores them in Register 0 bits 15-0
Flags Zero (Z) and Sign (P or N) flags set according to value read.
See Also BITI, DIGI, DIGIR
Practice

BITI 32 Source: Inputs 0 ..31

I0 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
R0

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Destination: Register 0

BITIR 32 Source: Inputs 0 ..31

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
I0
R0
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Destination: Register 0

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PCD Reference Guide BITO

BITO BIT OUT

Description Moves a sequence of binary bits from a Register to corresponding Outputs, Flags
or bits in a Timer or Counter.
The 1st operand is the number of bits to transfer (1-32).
The 2nd operand is the source Register number.
The 3rd operand is the destination Outputs, Flags, Timer or Counter.
If the destination are Outputs or Flags, the address given is that of the lowest
element in the sequence.
The LEAST SIGNIFICANT bit of the Register is moved to the LOWEST element.
This is contrary to the SAIA PCA

Usage BITO[X] bits ; Number of bits to move 1-32

source (i) ; Source Register R 0-4095
dest ; Destination data address O, F, T, C

Example BITO 8 ; Move 8 bits

R 10 ; from Register 10 bits 0-7
O 48 ; and output to Outputs 48-55
Flags Unchanged.
See Also BITOR, DIGO, DIGOR
Practice Copy the status of the inputs 0 → 15 to the outputs 32 → 47

COB 0 ; COB Header

0

BITI 16 ; Read 16 bits

I 0 ; from input 0 (to 15)
R 0 ; store them in R 0

BITO 16 ; Write 16 bits

R 0 ; from R 0
O 32 ; to outputs 32 (to 47)

ECOB

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BITOR PCD Reference Guide

BITOR BIT OUT REVERSED

Description Moves a sequence of binary bits from a Register to corresponding Outputs, Flags
or bits in a Timer or Counter.
The 1st operand is the number of bits to transfer (1-32).
The 2nd operand is the source Register number.
The 3rd operand is the destination Outputs, Flags, Timer or Counter.
If the destination are Outputs or Flags, the address given is that of the lowest
element in the sequence.
The LEAST SIGNIFICANT bit of the Register is moved to the HIGHEST element.
This is the same as the SAIA PCA.

Usage BITOR[X] bits ; Number of bits to move 1-32

source (i) ; Source Register R 0-4095
dest ; Destination data address O, F, T, C

BITOR 8 ; Move 8 bits

Example
R 10 ; from Register 10 bits 0-7
O 48 ; and output to Outputs 55-48
Flags Unchanged.
See Also BITO, DIGO, DIGOR
Practice

Source: Register 0
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
BITO 32
R 10
O 32
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Destination: Outputs 0..31

Source: Register 0
BITOR 32 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
R 10
O 32
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Destination: Outputs 0..31

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PCD Reference Guide DIGI

DIGI DIGIT IN

Description Moves Binary Coded Decimal (BCD) digits from Inputs, Outputs or Flags into a
Register.
A BCD digit is 4 bits (eg. 4 Inputs), which represents a decimal digit (0-9).
The 1st operand is the number of digits to move (1-10).
The 2nd is the base Input, Output or Flag.
The 3rd operand is the destination Register.
The lowest addressed Input, Output or Flag becomes the least significant bit of the
least significant digit in the destination Register.
This is contrary to the PCA.

Usage DIGI[X] digits ; Number of BCD digits 1-10

source ; Source element I 0-8191, O 0-8191, F 0-8191
dest (i) ; Destination register R 0-4095

Example DIGI 2 ; Reads 2 BCD digits

I 32 ; from Inputs 39-36 and 35-32
R 100 ; into Register 100
Flags Zero (Z) and Sign (P or N) flags set according to value read.
See Also DIGIR, DIGO, DIGOR, BITI, BITIR
Practice

3 Digits BCD 5 9 1
Input addresses: 27 26 25 24 23 22 21 20 19 18 17 16 LSB

Input values: 800 400 200 100 80 40 20 10 8 4 2 1

Inputs activated: 0 1 0 1 1 0 0 1 0 0 0 1

Read the BCD value: DIGI 3

I 16
R 123

BCD Binary

Register 123: 31 9 8 7 6 5 4 3 2 1 0 LSB

R 123 bit values: 512 256 128 64 32 16 8 4 2 1

R 123 = 591 0 1 0 0 1 0 0 1 1 1 1
The format inside the register is always binary.

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DIGIR PCD Reference Guide

DIGIR DIGIT IN REVERSED

Description Moves Binary Coded Decimal (BCD) digits from Inputs, Outputs or Flags into a
Register.
A BCD digit is 4 bits (eg. 4 Inputs), which represents a decimal digit (0-9).
The 1st operand is the number of digits to move (1-10).
The 2nd is the base Input, Output or Flag.
The 3rd operand is the destination Register.
The lowest addressed Input, Output or Flag becomes the most significant bit of the
most significant digit in the destination Register.
This is the same as the PCA.

Usage DIGIR[X] digits ; Number of BCD digits 1-10

source ; Source element I 0-8191, O 0-8191, F 0-8191
dest (i) ; Destination register R 0-4095

Example DIGIR 2 ; Reads 2 BCD digits

I 32 ; from Inputs 32-35 and 36-39
R 100 ; into Register 100
Flags Zero (Z) and Sign (P or N) flags set according to value read.
See Also DIGI, DIGO, DIGOR, BITI, BITIR
Practice

3 Digits BCD 7 8 5
MSB

Input addresses: 16 17 18 19 20 21 22 23 24 25 26 27
Input values: 800 400 200 100 80 40 20 10 8 4 2 1

Inputs activated: 0 1 1 1 1 0 0 0 0 1 0 1

Read the BCD value: DIGIR 3

I 16
R 123

BCD Binary

Register 123: 31 9 8 7 6 5 4 3 2 1 0 LSB

R 123 bit values: 512 256 128 64 32 16 8 4 2 1

R 123 = 785 0 1 1 0 0 0 1 0 0 0 1
The format inside the register is always binary.

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PCD Reference Guide DIGO

DIGO DIGIT OUT

Description Moves BCD digits from a Register to a sequence of Outputs or Flags.

A BCD digit consists of 4 binary bits.
The 1st operand is the number of digits to move.
The 2nd is the source Register.
The 3rd operand is the base Output or Flag address.
The lowest addressed Output or Flag becomes the least significant bit of the least
significant BCD digit.
This is contrary to the PCA.

Usage DIGO[X] digits ; Number of BCD digits 1-10

source (i) ; Source register R 0-4095
dest ; Destination element O 0-8191, F 0-8191

Example DIGO 2 ; Outputs 2 BCD digits

R 123 ; from Register 123
O 40 ; to Outputs 47-44 and 43-40
Flags The Error (E) flag is set if a BCD digit is invalid (> 9).
See Also DIGOR, DIGI, DIGIR, BITO, BITOR
Practice

Register 777: 31 7 6 5 4 3 2 1 0 LSB

R 777 bits values: 128 64 32 16 8 4 2 1

Write the BCD value: DIGO 2

R 777
F 50

Binary BCD

Flag addresses: 57 56 55 54 53 52 51 50 LSB

Flag values: 80 40 20 10 8 4 2 1

MSD LSD

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DIGOR PCD Reference Guide

DIGOR DIGIT OUT REVERSED

Description Moves BCD digits from a Register to a sequence of Outputs or Flags.

A BCD digit consists of 4 binary bits.
The 1st operand is the number of digits to move.
The 2nd is the source Register.
The 3rd operand is the base Output or Flag address.
The lowest addressed Output or Flag becomes the most significant bit of the most
significant BCD digit.
This is the same as the PCA.

Usage DIGOR[X] digits ; Number of BCD digits 1-10

source (i) ; Source register R 0-4095
dest ; Destination element O 0-8191, F 0-8191

Example DIGOR 2 ; Outputs 2 BCD digits

R 123 ; from Register 123
O 40 ; to Outputs 40-43 and 44-47
Flags The Error (E) flag is set if a BCD digit is invalid (> 9).
See Also DIGO, DIGI, DIGIR, BITO, BITOR
Practice

Register 777: 31 7 6 5 4 3 2 1 0 LSB

R 777 bits values: 128 64 32 16 8 4 2 1

Write the BCD value: DIGOR 2

R 777
F 50

Binary BCD

Flag addresses: 50 51 52 53 54 55 56 57
Flag values: 80 40 20 10 8 4 2 1

MSD LSD

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PCD Reference Guide AND

AND AND REGISTERS

Description The contents of the 1st Register is logically ANDed with the contents of the
second register, and the result is placed in the 3rd Register.

Usage AND [X] value1 (i) ; R 0-4095

value2 ; R 0-4095
result (i) ; R 0-4095

Example AND R 11 ; ANDs R 11 and

R 12 ; R 12 and places the result
R 13 ; in R 13.
R 13 contains a 1 bit for every 1 bit in both R 11 AND R 12
Flags The Zero (Z) and Sign (N or P) flags are set according to the result.
The Error (E) flag is always set Low..
See Also OR, NOT, EXOR
Practice

bit 31 bit 0
R 11 1 0 1 1 0 0 1 0 1 1 0

AND
R 12 1 1 1 0 0 1 1 0 0 1 1

R 13 1 0 1 0 0 0 1 0 0 1 0

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OR PCD Reference Guide

OR OR REGISTERS

Description The contents of the 1st Register is logically ORed with the contents of the 2nd
Register, and the result is placed in the 3rd Register.

Usage OR[X] value1 (i) ; R 0-4095

value2 ; R 0-4095
result (i) ; R 0-4095

Example OR R 1 ; ORs Register 1

R 2 ; with Register 2
R 3 ; and puts the result in Register 3
Flags The Zero (Z) and Sign (P and N) flags are set according to the result.
The Error (E) flag is always set Low..
See Also EXOR
Practice

bit 31 bit 0
R 1 1 0 1 1 0 0 1 0 1 1 0

OR
R 2 1 1 1 0 0 1 1 0 0 1 1

R 3 1 1 1 1 0 1 1 0 1 1 1

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PCD Reference Guide EXOR

EXOR EXCLUSIVE-OR REGISTERS

Description The contents of the 1st Register is Exclusive ORed with the contents of the 2nd
Register, and the result is placed in the 3rd Register.

Usage EXOR[X] value1 (i) ; R 0-4095

value2 ; R 0-4095
result (i) ; R 0-4095

Example EXOR R 1 ; Register 1 is exclusive-Ored

R 2 ; with Register 2 and
R 2 ; the result is placed in Register 2
Flags The Zero (Z) and Sign flags (P and N) are set according to the result.
The Error (E) flag is always set Low..
See Also OR
Practice

bit 31 bit 0
R 1 1 0 1 1 0 0 1 0 1 1 0

EXOR
R 2 1 1 1 0 0 1 1 0 0 1 1

R 2 0 1 0 1 0 1 0 0 1 0 1

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NOT PCD Reference Guide

NOT COMPLEMENT REGISTER

Description The contents of the 1st Register is inverted (1's complement) and stored in the 2nd
Register.

Usage NOT[X] value (i) ; R 0-4095

result (i) ; R 0-4095

Example NOT R 10 ; Inverts the contents of Register 10

R 100 ; and puts the result in Register 100
Flags The Zero (Z) and Sign (P and N) flags are set according to the result.
The Error (E) flag is always set Low..
See Also
Practice

NOT bit 31 bit 0

R 10 1 1 1 0 0 1 1 0 0 1 1

R 100 0 0 0 1 1 0 0 1 1 0 0

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PCD Reference Guide SHIU

SHIU SHIFT REGISTERS UP

Description Shifts the contents of a block of Registers up one place.

The 1st and 2nd operands are the start and end of the block of Registers to be
shifted.
After the shift, the lowest Register contains zero, and the highest overwrites the
Register above.
Either the upper or the lower Register can be specified first.

Usage SHIU start ; R 0-4094

end ; R 0-4094

Example SHIU R 100 ; Shifts R 100 to R 105 up one address

R 105
; R 100 = 0, R 101 = R 100 ... R 106 = R 105
Flags Unchanged.
See Also SHID, ROTU, ROTD
Practice

( R 106 )
R 105
SHIU R 100 R 104
R 105 R 103
R 102
R 101
0 R 100

NOTE:
This instruction use one register more than those specified: the register which
follows the end of the block is also used.

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SHID PCD Reference Guide

SHID SHIFT REGISTERS DOWN

Description Shifts the contents of a block of Registers down one place.

The 1st and 2nd operands are the start and end of the block of Registers to be
shifted.
After the shift, the highest Register contains zero, and the lowest overwrites the
Register below.
Either the upper or the lower Register can be specified first

Usage SHID start ; R 0-4094

end ; R 0-4094

Example SHID R 100 ; Shifts R 100 to R 105 down one address

R 105
; R 99 = R 100 ... R 104 = R 105, R 105 = 0
Flags Unchanged.
See Also SHIU, ROTU, ROTD
Practice

0 R 105
R 104
SHID R 100 R 103
R 105 R 102
R 101
R 100
( R 99 )

NOTE:
This instruction use one register more than those specified: the register which
precedes the start of the block is also used.

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PCD Reference Guide ROTU

ROTU ROTATE REGISTERS UP

Description Rotates the contents of a block of Registers up one place.

The 1st and 2nd operands indicate the start and end of the block of Registers to be
rotated.
After the rotate, the lowest Register contains the value of the highest.
Either the higher or the lower Register can be specified first.

Usage ROTU start ; R 0-4094

end ; R 0-4095

Example ROTU R 100 ; Rotates R 100 to R 105 up one address.

R 105
; R 100 = R 105, R 101 = R100 ... R 105 = R 104
Flags Unchanged.
See Also ROTD, SHIU, SHID
Practice

R 105
R 104
ROTU R 100 R 103
R 105 R 102
R 101
R 100

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ROTD PCD Reference Guide

ROTD ROTATE REGISTERS DOWN

Description Rotates the contents of a block of Registers down one place.

The 1st and 2nd operands indicate the start and end of the block of Registers to be
rotated.
After the rotate, the highest Register contains the value of the lowest.
Either the higher or the lower Register can be specified first.

Usage ROTD start ; R 0-4095

end ; R 0-4095

Example ROTD R 100 ; Rotates R 100 to R 105 down one address.

R 105
; R 100 = R 101 ... R 104 = R 105, R 105 = R 100.
Flags Unchanged.
See Also ROTU, SHIU, SHID
Practice

R 105
R 104
ROTD R 100 R 103
R 105 R 102
R 101
R 100

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PCD Reference Guide SHIL

SHIL SHIFT REGISTER LEFT

Description The contents of the addressed Register is shifted left by the number of bits given
by the second operand.
The content of the ACCU (1 or 0) is shifted in from bit 0 (the least significant bit),
n times.
At the end of the operation, the ACCU is set to the status of the last bit shifted out
of the Register

Usage SHIL[X] reg (i) ; R 0-4095

n bits ; Number of bits 1-32

Example SHIL R 10 ; Register 10 is shifted left

4 ; 4 bits
; (multiplied by 16 if ACCU was 0)
Flags The ACCU is set to the status of the last bit shifted out of the Register
See Also SHIR, ROTL, ROTR
Practice

from Accu

31 0

to Accu SHIL by 1 bit

Last bit shifted out

Accu = 0

1 0 1 1 0 1 1 0 1 1 0 0 0 0 1 1 R 10 before
to Accu
SHIL R 10
4
0 1 1 0 x x x x 1 1 0 0 0 0 0 0 R 10 after
Accu was 0 Accu = 1

Last bit shifted out

Accu = 1

1 0 1 1 0 1 1 0 1 1 0 0 0 0 1 1 R 10 before
to Accu
SHIL R 10
4
0 1 1 0 x x x x 1 1 0 0 1 1 1 1 R 10 after
Accu was 1 Accu = 1

SHIL by 4 bits

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SHIR PCD Reference Guide

SHIR SHIFT REGISTER RIGHT

Description The contents of the addressed Register is shifted right by the number of bits given
by the second operand.
The contents of the ACCU (1 or 0) is shifted in from bit 31 (the most significant
bit), n times.
At the end of the operation, the ACCU is set to the status of the last bit shifted out
of the Register.

Usage SHIR[X] reg (i) ; R 0-4095

n bits ; Number of bits 1-32

Example SHIR R 10 ; Register 10 is shifted right

16 ; 16 bits
; (divided by 65536 if ACCU was 0)
Flags The ACCU is set to the status of the last bit shifted out of the Register.
See Also SHIL, ROTL, ROTR
Practice

from Accu

31 0

SHIR by 1 bit to Accu

Last bit shifted out

Accu = 0

1 0 1 1 0 1 1 0 1 1 0 0 0 0 1 1 R 10 before
to Accu
SHIR R 10
4
0 0 0 0 1 0 1 1 x x x x 1 1 0 0 R 10 after
Accu was 0 Accu = 1

Last bit shifted out

Accu = 1

1 0 1 1 0 1 1 0 1 1 0 0 0 0 1 1 R 10 before
to Accu
SHIR R 10
4
1 1 1 1 1 0 1 1 x x x x 1 1 0 0 R 10 after
Accu was 1 Accu = 1

SHIR by 4 bits

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PCD Reference Guide ROTL

ROTL ROTATE REGISTER LEFT

Description The contents of the addressed Register is rotated left by the number of bits given
in the 2nd operand.
The most significant bit 31 is copied into the least significant bit 0.
The ACCU is set to status of the last bit that was rotated.

Usage ROTL[X] reg (i) ; R 0-4095

n bits ; Number of bits 1-32

Example ROTL R 10 ; Register 10 is rotated left 4 bits

4
Flags The ACCU is set to status of the last bit that was rotated.
See Also ROTR, SHIL, SHIR
Practice

31 0

to Accu ROTL by 1 bit

1 0 1 1 0 1 1 0 1 1 0 0 0 0 1 1 R 10 before

ROTL R 10
4
0 1 1 0 x x x x 1 1 0 0 1 0 1 1 R 10 after

Accu = 1
(Last bit that was rotated)
ROTL by 4 bits

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ROTR PCD Reference Guide

ROTR ROTATE REGISTER RIGHT

Description The contents of the addressed Register is rotated right by the number of bits given
in the 2nd operand.
The least significant bit 0 is copied into the most significant bit 31.
The ACCU is set to status of the last bit that was rotated.

Usage ROTR[X] reg (i) ; R 0-4095

n bits ; Number of bits 1-32

Example ROTR R 10 ; Register 10 is rotated right 4 bits

4
Flags The ACCU is set to status of the last bit that was rotated..
See Also ROTR, SHIL, SHIR
Practice

31 0

ROTR by 1 bit to Accu

1 0 1 1 0 1 1 0 1 1 0 0 0 0 1 1 R 10 before

ROTR R 10
4
0 0 1 1 1 0 1 1 x x x x 1 1 0 0 R 10 after
to Accu Accu = 0
(Last bit that was rotated)

ROTR by 4 bits

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PCD Reference Guide

4. INTEGER arithmetic

The integer arithmetic instructions work only with registers.

ADD Add Registers

SUB Subtract Registers
MUL Multiply Registers
DIV Divide Registers
SQR Square Root
CMP Compare Registers

For floating point values, the Floating point instructions must be used.

The integer format is based on 32 bits with the following format:

S X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X
31 0

where X: bit value (0 or 1)

S: sign

Bits 0 to 30 are the integer value in binary format.

Bit 31 is the sign bit (0 = positive value, 1 = negative value)

The range allowed by this format is as follows:

Decimal 2.147.483.647 to -2.147.483.648
Binary (hexadecimal) 7FFF'FFFF to 8000'0000

INTEGER format

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Notes PCD Reference Guide

Notes

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PCD Reference Guide ADD

ADD ADD REGISTERS

Description Integer addition.

Adds the contents of the 1st Register or constant to the contents of the 2nd
Register or constant, and stores the result in the 3rd Register.

Usage ADD value1 ; R 0-4095, K 0-16383

value2 ; R 0-4095, K 0-16383
result ; R 0-4095

Example ADD R 20 ; Adds 123 to Register 20

K 123
R 20
Flags The Zero (Z) and Sign (P or N) flags are set according to the result.
The Error (E) flag is set on overflow.
See Also FADD (floating point add)
Practice Read two numbers, add them and put the result in another register.
The two numbers come from BCD encoders (2 digits) on inputs 16 to 23,
respectively 24 to 31

COB 0 ; COB Header

0

DIGI 2 ; Read 2 digits

I 16 ; from input 16 (to 23)
R 100 ; and store them in R 100

DIGI 2 ; Read 2 digits

I 24 ; from input 24 (to 31)
R 200 ; and store them in R 200

ADD R 100 ; R 0 = R 100 + R 200

R 200
R 0

ECOB

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SUB PCD Reference Guide

SUB SUBSTRACT REGISTERS

Description Integer subtraction.

Subtracts the contents of the 2nd Register or K constant from the contents of the
1st Register or K constant, and stores the result in the 3rd Register.

Usage SUB value1 ; R 0-4095, K 0-16383

value2 ; R 0-4095, K 0-16383
result ; R 0-4095

Example SUB R1 ; Register 3 = Register 1 minus Register 2

R2
R3
Flags The Zero (Z) and Sign (P or N) flags are set according to the result.
The Error (E) flag is set on underflow.
See Also ADD, FSUB
Practice Read two numbers, subtract them and put the result in another register.
The two numbers come from BCD encoders (2 digits) on inputs 16 to 23,
respectively 24 to 31

COB 0 ; COB Header

0

DIGI 2 ; Read 2 digits

I 16 ; from input 16 (to 23)
R 10 ; and store them in R 10

DIGI 2 ; Read 2 digits

I 24 ; from input 24 (to 31)
R 11 ; and store them in R 11

SUB R 10 ; R 12 = R 10 - R 11
R 11
R 12

ECOB

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PCD Reference Guide MUL

MUL MULTIPLY REGISTERS

Description Integer multiplication.

Multiplies the contents of the 1st Register or K constant by the contents of the 2nd
Register or K constant, and stores the result in the 3rd Register.

Usage MUL value1 ; R 0-4095, K 0-16383

value2 ; R 0-4095, K 0-16383
result ; R 0-4095

Example MUL R0 ; Multiplies Register 0 by 10

K 10
R0
Flags The Zero (Z) and Sign (P or N) flags are set according to the result.
The Error (E) flag is set on overflow.
See Also DIV, FMUL
Practice Read two numbers, multiply them and put the result in another register.
The two numbers come from BCD encoders (2 digits) on inputs 16 to 23,
respectively 24 to 31

COB 0 ; COB Header

0

DIGI 2 ; Read 2 digits

I 16 ; from input 16 (to 23)
R 50 ; and store them in R 50

DIGI 2 ; Read 2 digits

I 24 ; from input 24 (to 31)
R 55 ; and store them in R 55

MUL R 50 ; R 4000 = R 50 * R 55
R 55
R 4000

ECOB

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DIV PCD Reference Guide

DIV DIVIDE REGISTERS

Description Integer division.

Divides the contents of the 1st Register or K constant by the contents of the 2nd
Register or constant, and stores the result in the 3rd Register.
The remainder is placed in the 4th Register.

Usage DIV value 1 ; R 0-4095, K 0-16383

value 2 ; R 0-4095, K 0-16383
result ; R 0-4095
remainder ; R 0-4095

Example DIV R 20 ; R 20 is
K 1000 ; divided by 1000
R 21 ; the result is placed in Register 21
R1 ; and the remainder in Register 1
Flags The Zero (Z) and Sign (P or N) flags are set according to the result.
The Error (E) flag is set on divide by zero.
See Also FDIV
Practice Read two numbers, divide them and put the result in another register.
The two numbers come from BCD encoders (2 digits) on inputs 16 to 23,
respectively 24 to 31

COB 0 ; COB Header

0

DIGI 2 ; Read 2 digits

I 16 ; from input 16 (to 23)
R 1 ; and store them in R 1
DIGI 2 ; Read 2 digits
I 24 ; from input 24 (to 31)
R 2 ; and store them in R 2
DIV R 1 ; R 100 = R 1 / R 2
R 2
R 100 ; result
R 101 ; remainder
CPB E 99 ; If Error Flag is set,
; then call program block 99
ECOB

PB 99
SET O 47 ; Alarm if division by zero (output 47)
EPB

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PCD Reference Guide SQR

SQR SQUARE ROOT

Description Integer Square Root.

The integer square root of the contents of the 1st Register is stored in the 2nd
Register.
If the 1st Register contains a negative value, the Error flag is set and the operation
is not performed.

Usage SQR value ; R 0-4095

result ; R 0-4095

Example SQR R0 ; The square root of Register 0 is

R 100 ; placed in Register 100
Flags The Zero (Z) and Sign (P or N) flags are set according to the result.
The Error (E) flag is set on an attempt to obtain the square root of a negative
value
See Also FSQR
Practice Extract the square rooot of a number read on a BCD encoders (4 digits) on inputs
16 to 31.

COB 0 ; COB Header

0

DIGI 4 ; Read 4 digits

I 16 ; from input 16 (to 31)
R 100 ; and store them in R 100

SQR R 100 ; R 101 = √ R 100

R 101

ECOB

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CMP PCD Reference Guide

CMP COMPARE REGISTERS

Compares the contents of the 1st Register or constant with the contents of the 2nd
Description
Register or constant. This is done by subtracting the 2nd value from the 1st value,
the Status flags are set according to the result.
The contents of the Registers are unchanged

Usage CMP[X] value 1 (i) ; R 0-4095, K 0-16383

value 2 ; R 0-4095, K 0-16383

Example CMP R0 ; Compares Register 0 with Register 1

R1 ; setting the status flag according to the result
Flags The Zero, Positive and negative Flags are set according the following table
Z P N
Value 1 = Value 2 High High Low
Value 1 > Value 2 Low High Low
Value 1 < Value 2 Low Low High
See Also AND, OR, EXOR, FCMP
Practice Read two numbers; if the first number is greater, equal or lower than the second
one the output 32 (respectively 33 or 34) must be activated.
The two numbers come from BCD encoders (2 digits) on inputs 16 to 23,
respectively 24 to 31

COB 0 ; COB Header

0
DIGI 2 ; Read 2 digits
I 16 ; from input 16 (to 23)
R 1 ; and store them in R 1
DIGI 2 ; Read 2 digits
I 24 ; from input 24 (to 31)
R 2 ; and store them in R 2
CMP R 1 ; Compare R 1 with R 2
R 2
ACC Z ; If R1 = R2
OUT O 33 ; Then set output 33 and flag 0
OUT F 0 Else reset output 33 and flag 0
ACC N ; If R 1 < R2
OUT O 34 ; Then set output 34, else reset output 34
ACC P ; If R1 > R2
ANL F 0 ; (and not equal)
OUT O 32 ; Then set output 32, else reset output 32
ECOB

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PCD Reference Guide

5. FLOATING POINT arithmetic

Floating point values can only be stored in Registers.
They can be loaded into Registers using the LD instruction.
To specify a floating point number, the number must include a decimal point '.' or
an exponent 'E'. For example: 1.2 1E3, -4.656E-2.
The range for floating point numbers is:
+ 5.42101E-20 ... + 9.22337E+18 (accurate to 5 significant digits)
- 2.71056E-20 ... - 9.22337E+18

IFP Integer to floating point

FPI Floating point to integer
FADD Floating point add
FSUB Floating point subtract
FMUL Floating point multiply
FDIV Floating point divide
FSQR Square root
FCMP Floating point compare
FSIN Sine function
FCOS Cosine function
FATAN Arc tangent
FEXP Exponential function
FLN Logarithm function
FABS Absolute value

NOTE:
Floating point values are stored in Registers in a special binary format, using the
value as an integer will yield incorrect results.
Mixing integer and floating point values in arithmetic operations gives invalid
results. The integer values must first be converted to floating point with the IFP
instruction.
Floating point values can be converted to integer with the FPI instruction.

The floating point format is based on 32 bits with the following format:
m m m m m m m m m m m m m m m m mm mm m mm ms e e e e e e e
31 0

where m: 24-bit mantissa

s: sign of the number
e: 7-bit exponent in excess 64 notation
The sign bit is a 0 for a positive value, and a 1 for a negative value.
The mantissa is considered to be a binary fixed point fraction and except for 0 it is
always normalized (has one bit in its highest position).
The exponent is the power of two needed to correctly position the mantissa to reflect
th number's true arithmetic value. It is held in excess 64 notation which means that the
two's complement values are adjusted upward by 64.

Floating Point Format

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Notes PCD Reference Guide

Notes

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PCD Reference Guide IFP

IFP INTEGER TO FLOATING POINT

Description Converts the integer value in the specified Register to floating point format.
The 2nd operand indicates the power of ten to which the integer is to be raised,
this controls the position of the decimal point.

For example, if the power of ten is +3, the contents of the Register is multiplied by
1000 (103), and the result is stored in the Register in floating point format.
If the Register contained 12, the result would be 12000.00.

If the conversion is not possible (number too big or too small), the Error flag is set
and no conversion is done.

Usage IFP[X] reg (i) ; R 0-4095

power ; Power of ten -20 to +18

Example IFP R0 ; R 0 = Floating point value of R 0 * 103

3
Flags The Error (E) flag is set if conversion is not possible.
See Also FPI
Practice

R 500 Before Instruction Conversion R 500 After

IFP R 500 R 500 * 100 1.23E+2
0
123 IFP R 500 R 500 * 10−2 1.23E+0
-2
IFP R 500 R 500 * 103 1.23E+5
3

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FPI PCD Reference Guide

FPI FLOATING POINT TO INTEGER

Description Converts the floating point value in the specified Register to integer format.
The 2nd operand indicates the power of ten to be used in the conversion.
The result is the integer of the result of the Register contents multiplied by 10 to
the power of the 2nd operand.

For example, if the Register contains 1234.56 and the power of ten is -2, the
integer result will be 12.
If the conversion is not possible, the Error flag is set and nothing is done.

Usage FPI[X] reg (i) ; R 0-4095

power ; Power of ten -20 to +18

Example FPI R0 ; If R 0 contains 1234.56, it is converted

0 ; to the integer value 1234 (power of ten is zero)
Flags The Error (E) flag is set if conversion is not possible.
See Also IFP
Practice

R 500 Before Instruction Conversion R 500 After

FPI R 500 R 500 * 100 123
0
123.456 FPI R 500 R 500 * 10−2 1
-2
FPI R 500 R 500 * 103 123456
3

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PCD Reference Guide FADD

FADD FLOATING POINT ADD

Description Adds the contents of the 1st Register to the contents of the 2nd Register, and
stores the result in the 3rd Register.
The Registers must contain valid floating point format values.

Usage FADD reg1 ; R 0-4095

reg2 ; R 0-4095
result ; R 0-4095

Example FADD R 100 ; R 500 = R 100 + R 101

R 101
R 500
Flags The Zero (Z) and Sign (P or N) flags are set according to the result.
The Error (E) flag is set on overflow
See Also ADD
Practice

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FSUB PCD Reference Guide

FSUB FLOATING POINT SUBTRACT

Description Subtracts the contents of the 2nd Register from the contents of the 1st Register,
and stores the result in the 3rd Register.
Both Registers must contain valid floating point format values.

Usage FSUB reg1 ; R 0-4095

reg2 ; R 0-4095
result ; R 0-4095

Example FSUB R0 ;R0=R0-R1

R1
R0
Flags The Zero (Z) and Sign (P or N) flags are set according to the result.
The Error (E) flag is set on overflow.
See Also SUB

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PCD Reference Guide FMUL

FMUL FLOATING POINT MULTIPLY

Description Multiplies the contents of the 1st Register by the contents of the 2nd Register, and
stores the result in the 3rd Register.
Both Registers must contain valid floating point format values.

Usage FMUL reg1 ; R 0-4095

reg2 ; R 0-4095
result ; R 0-4095

Example FMUL R 20 ; R 0 = R 20 * R 30
R 30
R0
Flags The Zero (Z) and Sign (P or N) flags are set according to the result.
The Error (E) flag is set on overflow, e.g. if the result is greater than
4.611686 E+18
See Also MUL

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FDIV PCD Reference Guide

FDIV FLOATING POINT DIVIDE

Description Divides the contents of the 1st Register by the contents of the 2nd Register, and
stores the result in the 3rd Register.
Divide by zero sets the Error flag, and the operation is not performed.
NOTE: Since Floating Point arithmetic is more exact, there is no remainder

Usage FDIV reg ; R 0-4095

divisor ; R 0-4095
result ; R 0-4095

Example FDIV R1 ;R3=R1/R2

R2
R3
Flags The Zero (Z) and Sign (P or N) flags are set according to the result.
The Error (E) flag is set on divide-by-zero.
See Also DIV

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PCD Reference Guide FSQR

FSQR FLOATING POINT SQUARE ROOT

Description Stores the square root of the contents of the 1st Register into the 2nd Register. If
the 1st Register contains a negative value, the Error flag is set, and the square root
of the absolute (+ve) value is taken.

Usage FSQR reg ; R 0-4095

result ; R 0-4095

Example FSQR R0 ; R 0 = Square root of R 0

R0
Flags The Zero (Z) flag is set according to the result.
The result is always positive, P is always set High, N is always set Low.
If the value was negative, the Error (E) flag is set.
See Also SQR

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FCMP PCD Reference Guide

FCMP FLOATING POINT COMPARE

Description Compares the contents of the 1st Register with the contents of the 2nd Register
and sets the Status flags according to the result.
Neither of the Registers are altered.
Both Registers must contain valid floating point format values.

Usage FCMP[X] reg1 (i) ; R 0-4095

reg2 ; R 0-4095

Example FCMP R0 ; Compares R 0 and R 1, setting the Status

R1 ; flags according to the result
Flags The Status flags are set as follows:

Z P N
Value 1 = Value 2 High High Low
Value 1 > Value 2 Low High Low
Value 1 < Value 2 Low Low High
The Error (E) flag is set low
See Also CMP

Note NEVER compare Floating Point values for equality, use > or < to avoid
accuracy errors !

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PCD Reference Guide FSIN

FSIN SINE FUNCTION

Description The sine of the contents of the 1st Register is stored in the 2nd Register.
The 1st Register must contain a floating point value in RADIANS in the range
of ± 106

Usage FSIN[X] reg (i) ; R 0-4095

result (i) ; R 0-4095

Example FSIN R0 ; R 100 = Sine of R 0

R 100
Flags The Sign (Z) and Status (N or P) flags are set according to the result
See Also FCOS, FATAN

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FCOS PCD Reference Guide

FCOS COSINE FUNCTION

Description The cosine of the contents of the 1st Register is stored in the 2nd Register.
The 1st Register must contain a floating point value in RADIANS in the range
of ± 106.

Usage FCOS[X] reg (i) ; R 0-4095

result (i) ; R 0-4095

Example FCOS R 100 ; R 20 = Cosine of R 100

R 20
Flags The Sign (Z) and Status (N or P) flags are set according to the result.
See Also FSIN, FATAN

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PCD Reference Guide FATAN

FATAN ARC TANGENT

Description The arc tangent of the contents of the 1st Register is stored in the 2nd Register.
The 1st Register must contain a valid floating point value in RADIANS.
The result is in the second Register will range from -π/2 to + π/2

Usage FATAN[X] reg (i) ; R 0-4095

result (i) ; R 0-4095

Example FATAN R1 ; R 0 = Arc tangent of R 1

R0
Flags The Zero (Z) and Sign (P or N) flags are set according to the result.
See Also FSIN, FCOS

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FEXP PCD Reference Guide

FEXP EXPONENTIAL FUNCTION

Description 'e' to the power of the contents of the 1st Register is stored in the 2nd Register.
The Register must contain a valid floating point format value.

Usage FEXP[X] reg (i) ; R 0-4095

result (i) ; R 0-4095

Example FEXP R0 ; R 1 = eR 0
R1
Flags The Zero (Z) flag is set according to the result, the Negative (N) flag is always set
Low (P = 1).
The Error (E) flag is set on overflow .
See Also FPI, IFP

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PCD Reference Guide FLN

FLN FLOATING POINT LOGARITHM FUNCTION

Description The natural log of the contents of the 1st Register is stored in the 2nd Register.
The 1st Register must contain a valid floating point format value.
If the natural log of a negative value is taken, the Error flag is set and the log of
the absolute (+ve) value is taken.

Usage FLN[X] reg (i) ; R 0-4095

result (i) ; R 0-4095

Example FLN R1 ; R 2 = ln R 1
R2
Flags The Zero (Z) and Sign (P or N) flags are set according to the result.
The Error (E) flag is set if the "ln" of zero or a negative value is taken
See Also FEXP

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FABS PCD Reference Guide

FABS FLOATING POINT ABSOLUTE VALUE

Description The absolute value (converted to positive if it is negative) of the 1st Register is
stored in the 2nd Register. The 1st Register must contain a valid floating point
format value.

Usage FABS[X] reg (i) ; R 0-4095

result (i) ; R 0-4095

Example FABS R1 ; R 2 = absolute value of R 1

R2 ; If R 1 contains -7.5 then R 2 = 7.5
Flags The Zero (Z) flag is set according to the result.

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PCD Reference Guide

6. BLOCTEC Instructions
Bloctec is a structured programming method which breaks a program down into
separate blocks of code.
A Cyclic Organisation Block (COB) is a main block of code which will typically
call Program Blocks (PB), which in turn will call Function Blocks (FB).
At least one COB (COB 0) must be present in the program.
COBs can call PBs or FBs (with optional parameters).
PBs and FBs can themselves call any other PB or FB up to a nesting depth of 7.
The operand(s) of these instructions cannot be supplied as Function Block
parameter(s).

For more information about the structured programming methods using

BLOCTEC refer to "The Structured Programming" in the User's Guide.

COB Cyclic Organisation Block

ECOB End of Cyclic Org'n Block

XOB Exception Organisation Block

EXOB End of Exception Org'n Block

PB Program Block
EPB End of Program Block
CPB Call Program Block
CPBI Call Program Block Indirect

FB Function Block
EFB End of Function Block
CFB Call Function Block

NCOB Next Cyclic Org'n Block

SCOB Stop Cyclic Org'n Block
CCOB Continue Cyclic Org'n Block
RCOB Restart Cyclic Org'n Block

The following BLOCTEC instructions are potentially highly dangerous:

RCOB, NCOB, SCOB, CCOB and the COB supervision time.

If these instructions are used in a program which uses GRAFCET then serious
problems can arise.
If they are not used with the utmost care: these instructions can cause at best, the
user program to become slow, or at worst, cause a complete desynchronisation of
the GRAFTEC and a CRASH.
Avoid to use these instructions within a GRAFTEC structure.

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Notes PCD Reference Guide

Notes

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PCD Reference Guide COB

COB CYCLIC ORGANISATION BLOCK

Description Starts the specified Cyclic Organisation Block.

The 2nd operand is the COB supervision time, in 10 millisecond increments.
If the supervision time elapses before the COB has finished execution (ECOB
reached), the Exception XOB 11 is executed if it is present; if not present, the
next COB is started.
If the supervision time is 0, XOB 11 is never executed, the next COB is started
only when this COB has ended (the ECOB is reached).
If several COBs are programmed, they run one after the other in numerical order.

The ACCU is always set High (1) at the start of each COB.

Note: The COB instruction needs 3 program lines.

Usage COB number ; COB number 0-15

time ; Supervision time in 10ms increments
0-100000

Example COB 0 ; Start of COB 0

0 ; Supervision time = 0
.... ; Body of COB 0
....
....
ECOB ; End of COB 0
Flags The ACCU is set High (1) at the start of the COB.
See Also ECOB, NCOB, RCOB, SCOB, XOB, User's Guide

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ECOB PCD Reference Guide

ECOB END OF ORGANISATION BLOCK

Description Ends the current COB. The next COB (if present) will begin execution.
A COB body must always be terminated by an ECOB instruction.

Usage ECOB ; No operand required

Example COB 0 ; Start of COB 0

0
... ; body of COB
...
...
ECOB ; End of COB
Flags Unchanged.
See Also COB, User's Guide

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PCD Reference Guide XOB

XOB EXCEPTION ORGANISATION BLOCK

Description Marks the beginning of an Exception Organisation Block (XOB).

Usage XOB number ; XOB number 0-30

Example XOB 16 ; Cold start XOB

... ; body of XOB
EXOB ; End of XOB
Flags The ACCU is set High (1) at the start of the XOB
See Also EXOB, User's Guide
An Exception Organisation Block (XOB) is called when an error or another
important event occurs. If during the execution of a XOB another XOB with the
same or a lower priority is called, it is ignored.
The XOB can contain program code to handle these events. If no associated XOB
is present, no action is taken (the event is ignored) and the ERROR lamp will be
switched on.
At the end of the XOB, the exception routine will return to the location from
where it was called.

Each XOB has a specific function:

XOB Description Priority
0 Power down 4
8 Invalid Opcode 4
7 System Overload 3
11 COB supervision time exceeded 3
14 Cyclic XOB 3
15 Cyclic XOB 3
17 S-Bus XOB Interrupt Request 3
18 S-Bus XOB Interrupt Request 3
19 S-Bus XOB Interrupt Request 3
20 Interrupt input INB1 3
25 Interrupt input INB2 3
1 Power down in extension rack 2
2 Low battery 2
4 Parity error on main bus (PCD6 only) 1
5 No response from I/O module 1
6 External error 1
9 Too many active tasks (GRAFTEC) 1
10 PB / FB nesting depth overflow 1
12 Index register overflow 1
13 Error flag set 1
16 Executed on PCD start-up 1
30 RIO connection master ↔ slaves 1

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XOB PCD Reference Guide

Level 4 exceptions:
Priority level 4 is the highest priority, only XOB 0 and 8 can interrupt execution of
another XOB.

XOB 0 Power Down

There can be up to 10ms between the call of XOB 0 and the final loss of power to
the CPU to give the user time to perform some urgent saves of values.
If the XOB 0 is programmed then the message "XOB 0 START EXEC" is written
into the history list at the start of the XOB and "XOB 0 EXECUTED" upon
completion of the XOB, this indicates to the user that the XOB completed before
power was lost.
If the XOB is not programmed then a restart cold is immediately performed upon
detection of the power down. If the XOB is programmed then a restart cold is
performed upon completion of the XOB if there is still power.

XOB 8 Invalid Opcode

XOB 8 is called when the firmware detects an invalid instruction in the user
program.

Level 3 exceptions:
If a level 2 or 3 exception occurs during execution of a lower priority XOB, then it
will be treated directly after execution of the current level XOB.
XOB 20/25/11 have been given a higher priority level so that if the XOB is
provoked during execution of a lower or equal priority then it will be executed
directly after completion of the current XOB.

XOB 7 System Overload

The queuing mechanism for the level 3 XOB’s has overloaded.

XOB 11 COB Supervision Time exceeded

If the second line of the COB instruction indicates a monitoring time (in 1/100
seconds) and if COB processing time exceeds this defined duration, XOB 11 is
called. COB processing time is the time which can elapse between the COB and
ECOB instructions.

XOB 14 Cyclic XOB

XOB 15
XOB 14 and 15 are called periodicaly with a frequency ranging from 5 ms to
1000s. This frequency can be set by using the SYSWR instruction.

XOB 17 S-Bus XOB Interrupt Request

XOB 18
XOB 19
These three XOB can be used as interrupt routines. Their execution can be started
via the S-Bus network; it is also possible to start their execution with the SYSWR
instruction.

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PCD Reference Guide XOB
XOB 20 Input Interrupt
XOB 25
XOB 20 (resp 25) is called when interrupt input INB1 (resp INB2) of the PCD1/2
has detected a rising edge (see PCD1/2 hardware manual for further details).

Level 2 exceptions:
XOB 1 Power down in extension rack
The voltage monitor in the supply module of an extension rack (PCD 2 or PCD6)
detected an excessive drop in voltage.
In this case all Outputs of the extension rack are set low within 2ms and XOB 1 is
invoked.
If Outputs from this "dead" extension rack continue to be handled (set, reset or
polled) by the user program in any CPU, XOB 4 and/or XOB 5 are also invoked.
(Only PCD4). XOB 1 will be called once up to 250 ms after detection of the error.

XOB 2 Battery failure or low battery

The battery is low, has failed or is missing.
Information in non-volatile Flags, Registers or the user program in RAM as well as
the hardware clock may be altered.
XOB 2 is only called by CPU 0 every 250 ms in the evenet of this error.

Level 1 exceptions:
Any level 1 exception which occurs during another exception will never be
treated.

XOB 4 Parity Failure

XOB 4 can only be invoked with PCD having extension racks (PCD6 only).
The monitor circuit of the address bus has noticed a parity error. This can either
arise from a faulty extension cable, a defective extension rack or from a bus ex-
tension module, or else it is simply because the extension rack addressed is not
present.

XOB 5 No response from I/O module (I/O Quit Failure)

The PCD's Input and Output modules return a signal to the CPU which has ad-
dressed them. If this signal is not returned, XOB 5 is called.
Generally, this invocation occurs if the module is not present, but it can also hap-
pen in case of faulty address decoding on the module.
For a PCD4 module with only 8 elements, XOB 5 is not called if one
of the absent elements is addressed, since this address is still decoded
and the signal is sent.

On the PCD1 and 2, this mechanism is not implemented.

XOB 6 External error

Not used. (Foreseen for intelligent modules of the PCD6)

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XOB PCD Reference Guide

XOB 9 Too many Graftec tasks

More than 32 GRAFTEC branches were simultaneously activated in a Sequential
Block (SB).

XOB 10 More than 7 nested PB/FB calls

PBs and FBs can be nested to a depth of 7 levels. An additional call (calling the
8th level) results in XOB 10 executing.
The 8th level call is not executed.

XOB 12 Index Register overflow

If a program contains an indexed element which falls outside its address range
(0 to 8191), then XOB 12 is called.

XOB 13 Error Flag

XOB 13 is always called when the Error flag is set, irrespective of whether the
cause is a calculation, data transfer or communications error.

XOB 16 Cold Start

XOB 16 is the start-up XOB (Cold Start XOB), and is executed when the PCD is
switched on, or is given a cold restart. XOB 16 can initialise any elements before
the program begins. If during the execution of the XOB 16 an error occurs, the
XOB 13 is not called.

XOB 30 RIO connection master ↔ slaves

After every message sent from the master to a slave, the connection is tested. If
the test is not answered positively by the slave, the master CPU calls XOB 30.
This is essentially the case when, online, a station is removed from the network or
closed down.

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PCD Reference Guide EXOB

EXOB END OF EXCEPTION ORGANISATION BLOCK

Description Ends the current XOB.

At the EXOB instruction, the XOB returns to the location from where it was
called.

Usage EXOB ; No operand required

Example XOB 16 ; Start of XOB 16

... ; Body of XOB 16
...
...
EXOB ; End of XOB 16
Flags Unchanged.
See Also XOB, User's Guide

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PB PCD Reference Guide

PB PROGRAM BLOCK

Description Marks the beginning of a Program Block (PB), a subroutine without parameters.

Usage PB number ; PB number 0-299

Example PB 26 ; Start of PB 26
... ; Body of PB 26
...
...
EPB ; End of PB 26
Flags The ACCU is set High (1) at the start of the PB
See Also EPB, CPB, FB, User's Guide

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PCD Reference Guide EPB

EPB END OF PROGRAM BLOCK

Description Ends the current Program Block (PB).

A return is made to the instruction after the Call Program Block (CPB) instruction.

Usage EPB ; No operand required

Example PB 0 ; Start of PB 0
... ; Body of PB 0
...
...
EPB ; End of PB 0
Flags The ACCU is restored to the state it had before the PB was called
See Also PB, CPB, User's Guide

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CPB PCD Reference Guide

CPB CALL PROGRAM BLOCK

Description Conditionally or unconditionally calls a Program Block.

If the condition is not satisfied, the PB is not called.

Condition Program Block is called:

blank Always (no condition code)
H If Accumulator = H (1)
L If Accumulator = L (0)
P If Positive flag = H (Negative flag = L)
N If Negative flag = H
Z If Zero flag = H
E If Error flag = H

Usage CPB [cc] number ; PB number 0-299

; cc = condition code: H|L|P|N|Z|E

Example CPB 10 ; unconditionally calls PB 10

Flags The ACCU is set High (1) at the start of the PB.
In the program from where the PB is called, the ACCU is restored to the state it
has before the PB was called.
See Also PB, EPB, CFB, User's Guide
Practice IF .. THEN .. ELSE structure

COB 0
0
...
STH I 15 ; IF Input 15 is High
CPB H 20 ; THEN call PB 20
CPB L 25 ; ELSE call PB 25
...
ECOB

PB 20
.....
EPB

PB 25
.....
EPB

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PCD Reference Guide CPBI

CPBI CALL PROGRAM BLOCK INDIRECT

Description Conditionally or unconditionally calls a Program Block whose number is

contained in the given Register.
Since this instruction uses a condition code, the 'R' data type is not required.
If the given Register contains an invalid PB number (> 299), or the PB does not
exist, the Error flag is set and XOB 13 is called (if present).
If the condition is not satisfied, the PB is not called

Condition Program Block is called:

blank Always (no condition code)
H If Accumulator = H (1)
L If Accumulator = L (0)
P If Positive flag = H (Negative flag = L)
N If Negative flag = H
Z If Zero flag = H
E If Error flag = H

Usage CPBI [cc] reg ; reg = Register number containing the

number ; of the PB to be called
; cc = condition code: H|L|P|N|Z|E

Example CPBI L 10 ; If the ACCU is Low (0), then the PB whose number
; is contained in R 10 is called
Flags The Error flag is set if the given Register contains an invalid PB number or if the
PB does not exist.
The ACCU is set High (1) at the start of the PB.
In the program from where the PB is called, the ACCU is restored to the state it
has before the PB was called
See Also PB, EPB, CFB, User's Guide

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FB PCD Reference Guide

FB FUNCTION BLOCK

Description Begins a Function Block (FB). An FB is a subroutine with optional parameters.

A list of FB parameters can be defined, this list is supplied when the FB is called.

Usage FB number ; FB number 0-999

Example FB 0 ; Start of FB 0
...
STH =1 ; FB Parameter reference
...
EFB ; End of FB 0
Flags The ACCU is set high (1) at the start of the FB
See Also EFB, CFB, User's Guide
Practice Computation of the formula: Z = X * (X+Y)

FB 25 ; Function Block X * (X+Y)

ADD = 1 ;Z=X+Y
= 2
= 3
MUL = 3 ;Z=Z * X
= 1
= 3
EFB

COB 7
0
...
STH I 1 ; If Input 1 goes H
DYN F 1
CFB H 25 ; Then R107 = R100 * (R100+330)
R 100 ; Parameter 1 (X)
K 330 ; Parameter 2 (Y)
R 107 ; Parameter 3 (Z)

STH I 2 ; If Input 2 goes H

DYN F 2
CFB H 25 ; Then R107 = R200 * (R200+R201)
R 200 ; Parameter 1 (X)
R 201 ; Parameter 2 (Y)
R 107 ; Parameter 3 (Z)
...
ECOB

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PCD Reference Guide EFB

EFB END OF FUNCTION BLOCK

Description Ends the current Function Block (FB). Returns to the instruction following the
Call Function Block (CFB) instruction.

Usage EFB ; No operand required

Example FB 0 ; Start of FB 0
... ; Body of FB 0
...
...
EFB ; End of FB 0
Flags The ACCU is restored to the state it had before the FB was called.
See Also FB, CFB, User's Guide

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CFB PCD Reference Guide

CFB CALL FUNCTION BLOCK

Description Conditionally or unconditionally calls a Function Block.

If the condition is not satisfied, the FB is not called.
An optional parameter list can follow the CFB instruction.
The parameters are used by instructions within the Function Block.
Parameters are referenced by using '= n' as the operand, where 'n' is the parameter
number to use (1-128).
The value of this parameter is substituted as the operand.

Type Description Value range

I Input 0..8191
O Output 0..8191
F Flag 0..8191
C Counter 0..1599
T Timer 0..450
R Register 0..4095
K K constant 0..16383
X teXt 0..7999
DB Data Block 0..7999
S Semaphore 0..99
W Word 0..65535
Used for any untyped constant LDL, LDH
M MOV data type Q 0..31 D 0..9
N 0..7 B 0..3
W 0..1 L 0

Usage CFB [cc] number ; FB number 0-999

; cc = condition code: H|L|P|N|Z|E
[param 1] ; optional parameter list
[param 2]
[param n]

Example CFB H 10 ; Calls FB 10 if the ACCU is High

I 32 ; Parameter 1
R 10 ; Parameter 2
Flags The ACCU is set High (1) at the start of the FB.
See Also FB, CPB, User's Guide

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PCD Reference Guide NCOB

NCOB NEXT CYCLIC ORGANISATION BLOCK

Description Conditionally or unconditionally forces the program to switch to the next COB.
If the condition code is not satisfied, the NCOB instruction is ignored.

Wait loops can be programmed using NCOB without interfering with the
execution of any other COBs.
For every wait loop, an NCOB instruction should be inserted. This allows
"parallel" execution of COBs.

Good BLOCTEC or GRAFTEC programs should NOT include wait loops,

and hence should not need to use NCOB. Programs should normally use the
ACCU status to control program execution.
Sequential processes can be easily programmed in GRAFTEC

Condition
blank Always (no condition code)
H If Accumulator = H (1)
L If Accumulator = L (0)
P If Positive flag = H (Negative flag = L)
N If Negative flag = H
Z If Zero flag = H
E If Error flag = H

Usage NCOB [cc] ; cc = condition code: H|L|P|N|Z|E

Example STH I 15 ; Waits until I 15 = L

NCOB L
JR L -2
Flags Unchanged.
See Also RCOB, SCOB, CCOB, User's Guide

The following BLOCTEC instructions are potentially highly dangerous:

RCOB, NCOB, SCOB, CCOB and the COB supervision time.

If these instructions are used in a program which uses GRAFCET then serious
problems can arise.
If they are not used with the utmost care: these instructions can cause at best, the
user program to become slow, or at worst, cause a complete desynchronisation of
the GRAFTEC and a CRASH.
Avoid to use these instructions within a GRAFTEC structure.

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SCOB PCD Reference Guide

SCOB STOP CYCLIC ORGANISATION BLOCK (old)

Description Stops the given COB conditionally or unconditionally.

Execution continues with the next COB.
The COB is not executed again until the correct CCOB instruction is executed by
another COB.
A COB can stop itself executing, but must be restarted by another COB containing
a CCOB instruction.
If the condition is not satisfied, the SCOB instruction is ignored.

Good structured program should not need this instruction.

It should only be used in your application with the utmost care.

Condition
blank Always (no condition code)
H If Accumulator = H (1)
L If Accumulator = L (0)
P If Positive flag = H (Negative flag = L)
N If Negative flag = H
Z If Zero flag = H
E If Error flag = H

Usage SCOB [cc] cob ; COB number 0-15

; cc = condition code: H|L|P|N|Z|E

Example SCOB L 10 ; Stops COB 10 if ACCU is Low (0)

Flags Unchanged.
See Also CCOB, NCOB, RCOB, User's Guide

Table: Firmware versions

Type of PCD SCOB "old": FW ≤ V... SCOB "new". FW ≥ V...
PCD1.M1xx - V001
PCD2.M110/M120 V003 V004
PCD2.M150 - V0A0
PCD4.Mxx0 V005 -
PCD4.Mxx5 V00B V00C
PCD4.M445 V001 V00C
PCD6.M540 V004 -
PCD6.M1/M2 V00A -
PCD6.M3 - V001

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PCD Reference Guide SCOB

SCOB STOP CYCLIC ORGANISATION BLOCK (new)

Description Stops the given COB conditionally or unconditionally. If a SCOB is executed of

the active COB, the execution continues with the next COB. If SCOB is executed
of another COB, this COB will be ignored and the cycle contiues to the next
instruction line. The COB is not executed again until the correct CCOB instruction
is executed by another COB. If the condition is not satisfied, the SCOB instruction
is ignored.

Good structured program should not need this instruction.

It should only be used in your application with the utmost care.

Condition
blank Always (no condition code)
H If Accumulator = H (1)
L If Accumulator = L (0)
P If Positive flag = H (Negative flag = L)
N If Negative flag = H
Z If Zero flag = H
E If Error flag = H

Usage SCOB [cc] cob ; COB number 0-15

; cc = condition code: H|L|P|N|Z|E

Example SCOB L 10 ; Stops COB 10 if ACCU is Low (0)

Flags Unchanged.
See Also CCOB, NCOB, RCOB, User's Guide

The following BLOCTEC instructions are potentially highly dangerous:

RCOB, NCOB, SCOB, CCOB and the COB supervision time.

If these instructions are used in a program which uses GRAFCET then serious
problems can arise.
If they are not used with the utmost care: these instructions can cause at best, the
user program to become slow, or at worst, cause a complete desynchronisation of
the GRAFTEC and a CRASH.
Avoid to use these instructions within a GRAFTEC structure.

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CCOB PCD Reference Guide

CCOB CONTINUE CYCLIC ORGANISATION BLOCK

Description Conditionally or unconditionally allows a COB that was stopped by the SCOB
instruction to resume execution.
If the condition is not satisfied, the COB is not resumed.
CCOB does not cause the COB to be executed immediately, but allows it to be
executed the next time it is scheduled.

Good structured program should not need this instruction.

It should only be used in your application with the utmost care.

Condition
blank Always (no condition code)
H If Accumulator = H (1)
L If Accumulator = L (0)
P If Positive flag = H (Negative flag = L)
N If Negative flag = H
Z If Zero flag = H
E If Error flag = H

Usage CCOB [cc] number ; COB number 0-15

; cc = condition code: H|L|P|N|Z|

Example CCOB L 10 ; COB 10 is resumed if ACCU is Low (0)

CCOB 0 ; COB 0 is resumed unconditionally

Flags Unchanged.
See Also NCOB, RCOB, SCOB, User's Guide

The following BLOCTEC instructions are potentially highly dangerous:

RCOB, NCOB, SCOB, CCOB and the COB supervision time.

If these instructions are used in a program which uses GRAFCET then serious
problems can arise.
If they are not used with the utmost care: these instructions can cause at best, the
user program to become slow, or at worst, cause a complete desynchronisation of
the GRAFTEC and a CRASH.
Avoid to use these instructions within a GRAFTEC structure.

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PCD Reference Guide RCOB

RCOB RESTART CYCLIC ORGANISATION BLOCK

Description Restarts any COB, conditionally or unconditionally, from the given program line.
This instruction can be used within any COB or XOB.
If the condition is not satisfied, the RCOB instruction is ignored.
The 1st operand is the COB number to be restarted.
The 2nd operand is the program line number to restart from. The line number is an
offset from the start of the COB, it is NOT an absolute program line number.

Good structured program should not need this instruction.

It should only be used in your application with the utmost care.

Condition
blank Always (no condition code)
H If Accumulator = H (1)
L If Accumulator = L (0)
P If Positive flag = H (Negative flag = L)
N If Negative flag = H
Z If Zero flag = H
E If Error flag = H

Usage RCOB [cc] cob ; COB number 0-15

line ; Line number from start of COB (0-65535)
; cc = condition code: H|L|P|N|Z|E

Example RCOB 0 ; Restarts COB 0

10 ; Execution begins from line 10 of COB 0
Flags Unchanged.
See Also NCOB, SCOB, CCOB, User's Guide

The following BLOCTEC instructions are potentially highly dangerous:

RCOB, NCOB, SCOB, CCOB and the COB supervision time.

If these instructions are used in a program which uses GRAFCET then serious
problems can arise.
If they are not used with the utmost care: these instructions can cause at best, the
user program to become slow, or at worst, cause a complete desynchronisation of
the GRAFTEC and a CRASH.
Avoid to use these instructions within a GRAFTEC structure.

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 PCD Reference Guide

Notes:

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PCD Reference Guide

7. GRAFTEC Instructions
SAIA GRAFTEC is a self-documenting programming method for step-by-step
processes.

A GRAFTEC program consists of a sequence of alternating STeps (ST) and

TRansitions (TR). This sequence of STs and TRs forms the body of a Sequential
Block (SB), which is called from a Cyclic Organisation Block (COB).

STEPS contain actions to be performed, instructions such as SET, RES, STXT,

etc.

TRANSITIONS contain conditional linkages using instructions such as STH, ANL

CMP, etc. A TR must always be followed by an ST. The ST is executed only if
the preceding TR is satisfied (ACCU is High).

For easy GRAFTEC programming and maintenance, the SAIA GRAFTEC

EDITOR (SGRAF) is recommended.
This editor automatically handles the program structure, which you create
graphically on the screen.
With this editor you don't need to use the low-level SAIA GRAFTEC
instructions listed below.

For more information about GRAFTEC programming refer to "The structured

Programming" chapter in the User's Guide.

The operand(s) of these instructions can not be supplied as Function Block

parameter(s).

SB Sequential Block
ESB End of Sequential Block

CSB Call Sequential Block

RSB Restart Sequential Block

IST Initial Step

ST Step
EST End of Step

TR Transition
ETR End of Transition

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Notes

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PCD Reference Guide SB

SB SEQUENTIAL BLOCK

Description Starts a Sequential Block (SB).

A Sequential Block contains one independent GRAFTEC program.
The SB contains only GRAFTEC Instructions as IST, ST, TR, EST, ETR and ESB.

Usage SB number ; SB number 0-31

Example SB 10 ; Start of SB 10
... ; Body of SB 10, will contain STs and TRs.
ESB ; End of SB 10
Flags Unchanged.
See Also ESB, CSB, RSB, IST, ST, TR, User's Guide

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ESB PCD Reference Guide

ESB END OF SEQUENTIAL BLOCK

Description Ends the current Sequential Block (SB).

Usage ESB ; No operand required

Example SB 10 ; Start of SB 10
... ; Body of SB 10, contains STs and TRs.
ESB ; End of SB 10
Flags The ACCU is restored to the state it had before the SB was called
See Also SB, ST, TR, User's Guide

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PCD Reference Guide CSB

CSB CALL SEQUENTIAL BLOCK

Description Conditionally or unconditionally calls a Sequential Block.

If the condition is not satisfied, the SB is not called.

A sequential block cannot be called from another SB.

Condition Sequential Block is called:

blank Always (no condition code)
H If Accumulator = H (1)
L If Accumulator = L (0)
P If Positive flag = H (Negative flag = L)
N If Negative flag = H
Z If Zero flag = H
E If Error flag = H

Usage CSB [cc] number ; SB number 0-31

; cc = condition code: H|L|P|N|Z|E

Example CSB L 10 ; Calls SB 10 if the ACCU is Low (0)

Flags The ACCU is set High (1) at the Start of the SB.
In the program from where the SB is called, the ACCU is restored to the state it
had before the SB was called
See Also SB, CPB, User's Guide

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RSB PCD Reference Guide

RSB RESTART SEQUENTIAL BLOCK

Description Conditionally or unconditionally restarts a Sequential Block (SB).

The 1st operand is the number of the SB to be restarted.
The 2nd operand is the STep number from where the SB is to be restarted.

If the restart must take place in simultaneous branches (parallel programs), the
"RSB" instruction will contain as many additional lines as steps to be restarted.

Condition :
blank Always (no condition code)
H If Accumulator = H (1)
L If Accumulator = L (0)
P If Positive flag = H (Negative flag = L)
N If Negative flag = H
Z If Zero flag = H
E If Error flag = H

Usage RSB [cc] number ; SB number 0-31

; cc = condition code: H|L|P|N|Z|E
step ; STep number 0-1999
[step] ; [STep number 0-1999]
[...] ; [...]
[step] ; [STep number 0-1999]

Example RSB 12 ; Restarts SB 12 at Step 1.

1
Flags The ACCU is set High (1) before restarting the SB
See Also SB, CSB, ST, User's Guide
Practice
The RSB instruction is potentially very dangerous. There is no
verification of the parameters specified in this instruction which, if
badly chosen will, at best, cause a complete desynchronisation of
the program or, at worst, a CRASH.

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PCD Reference Guide IST

IST INITIAL STEP

Description The Initial Step defines the first Step to be executed when a Sequential Block (SB)
is called.
Every SB must have at least one Initial Step.
In all other respects the Initial Step is the same as any other Step (see ST).
IST is followed by a list of incoming (I) and outgoing (O) Transitions.

Usage IST number ; Initial Step number 0-1999

list ; Incoming and outgoing transitions list
; (variable length)

Example IST 1 ; Initial Step 1.

I 900 ; Incomming from Transition 900.
O 1 ; Outgoing to Transition 1
... ; Body of ST 1
EST ; End of ST 1
Flags The ACCU is set High (1) at the start of the Initial Step
See Also EST, SB, ST

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ST PCD Reference Guide

ST STEP

Description Defines the start of a Step (ST).

Following the ST instruction must be a list of incoming (I) and outgoing (O)
Transitions.
A Step should typically contain only action instructions such as SET, RES, OUT,
LD, MOV, FADD, etc.
It must NEVER contain any wait loops.
Steps can call Program Blocks (PBs) and Function Blocks (FBs), providing these
do NOT contain any wait loops.
In SAIA GRAFTEC, once a Step has been executed, the program pointer goes to
the next Transition.
STeps can only appear inside SBs.

Usage ST number ; Step number 0-1999

list ; Incoming and outgoing Transitions list
; (variable length)

Example ST 10 ; Step 10
I 9 ; Incoming from Transition 9
O 10 ; Outgoing to Transition 10
... ; Body of Step
EST ; End of Step
Flags The ACCU is set High (1) at the start of the ST
See Also EST, IST, TR, SB, User's Guide

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PCD Reference Guide EST

EST END OF STEP

Description Ends the current Step or Initial Step (ST or IST)

Usage EST ; No operand required

Example ST 0 ; Start of ST 0
I 25 ; Incoming from Transition 25
O 47 ; Outgoing to Transition 47
... ; Body of ST 0
EST ; End of ST 0
Flags Unchanged.
See Also ST, TR, SB, User's Guide

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TR PCD Reference Guide

TR TRANSITION

Description Defines the start of a Transition (TR).

Following the TR instruction must be a list of all the incoming (I) and outgoing (O)
Steps.
Typically a Transition should contain logical instructions forming a linkage whose
final result indicates whether the following Step is to be executed.
If the final result of the Transition is false (ACCU = L (0)), then the next Step is
NOT executed, execution continues with the next parallel branch or COB.
On the next program turn, the whole Transition will be processed again.
The next Step is executed only if the final result of the Transition is true
(ACCU = H (1)).

With OR branching, the order of handling of the parallel TRs is set by the order of
the outgoing Transitions defined in the preceding Step.
TRs can only appear inside SBs.

Usage TR number ; Transition number 0-1999

list ; Incoming and outgoing Steps list
; (variable length)

Example TR 10 ; Transition number 10.

I 900 ; Incomming from Step 900
O 1 ; Outgoing to Step 1
O 2 ; Outgoing to Step 2
... ; Body of TR 10
ETR ; End of Transition 10
Flags The ACCU is set High (1) at the start of the TR.
See Also ETR, SB, ST, User's Guide

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PCD Reference Guide ETR

ETR END OF TRANSITION

Description Ends the current Transition (TR).

Usage ETR ; No operand required

Example TR 0 ; Start of TR 0
I 12 ; Incomming from Step 12
O 14 ; Outgoing to Step 14
... ; Body of TR 0
ETR ; End of TR 0
Flags Unchanged.
See Also TR, ST, SB, User's Guide

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Notes

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PCD Reference Guide

8. SERIAL Communications Instructions

These instructions work only in CPU modules which contain serial ports.

Before any communications is done, the SASI instruction must be executed for
each serial channel (up to 4).
This will configure the channels operating mode and baud rate.
Each channel can be run in a different mode and at different speeds.
Each channel also has its own reception and transmission buffers.

Modes Function Related instruction(s)

C Send/Receive ASCII characters STXD, SRXD
Send entire texts STXT
MD/SD Send/Receive media STXM, SRXM
MM4 Send/Receive registers on a LAC network STXM, SRXM
SBUS Send/Receive media on the SAIA BUS STXM(I), SRXM(I)
PROFIBUS Send/Receive media on the PROFIBUS STXM(I), SRXM(I)
SCON(I),
OFF Deassign a serial interface -

The serial channels control lines (CTS, RTS, DSR, DTR and DCD) can be read or
written (SICL, SOCL).
SCON allows to open or close a virtual PROFIBUS channel. Communication via
the LAN 1 is also possible after the SCON instruction has been executed.

SASI Assign serial interface

SASII Assign serial interface indirect

SRXD Serial receive character

STXD Serial transmit character
STXT Serial transmit text

SRXM Serial receive media

SRXMI Serial receive media indirect
STXM Serial transmit media
STXMI Serial transmit media indirect

SICL Serial input control line

SOCL Serial output control line

SCON Opens communications channel to LAN 1

and PROFIBUS
SCONI Opens communications channel to LAN 1
and PROFIBUS indirect

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Notes

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PCD Reference Guide Notes

MODE C
Character or Text mode:
• Single characters from a Register or a Text are output.
• Single characters can be received and transferred into a Register.
• Often used to communicate with a terminal or printer.

MC0
Mode C without automatic handshaking
The user must control by himself the control signals with the SICL and SOCL
instructions.

MC1
Mode C using RTS and CTS handshaking
The RTS control signal is automatically positionned by the PCD in function of the
remaining space in the reception buffer.
The CTS signal influences the transmission of the PCD.
RTS Low Receive buffer contains more than 450
characters
High Receive buffer contains less than 300 characters
CTS Low Transmission is stopped
High Transmission is resumed

MC2
Mode C using Xon/Xoff protocol
This mode is similar to the RTS/CTS handshaking and is used when no control
signals are present (eg. current loop).
Two special characters Xon (CTRL/Q) and Xoff (CTRL/S) are sent to control the
transmission of the partner.
Receiver send when
Xoff Receive buffer contains more than 450
characters
Xon Receive buffer contains less than 300 characters
Transmitter receives then
Xoff Transmission is stopped
Xon Transmission is resumed

MC3
Mode C with Echo
This mode is used when communicating with a terminal; all received characters
are sent back to the terminal screen.

MC4
Mode C for RS485 interface
The MC4 mode is a low level mode which will set the RS485 driver/receiver in
drive mode only during the transmission of information (character/text) and will
default to receive at any other time.

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Notes PCD Reference Guide

MODE D

Uses telegrams in accordance with ISO 1745, IBM BSC and DIN 66019.

SAIA PCD specific data can be exchanged between two PCDs or between a
PCD and another intelligent system (IBM PC, etc) connected directly or via the
SAIA LAN 1.

The data can be the state of Inputs, Outputs or Flags; or the contents of Registers,
Timers or Counters.

<mode> Description
MD0 Mode D master
SD0 Mode D slave

The two modes are equivalent in functionality; the only difference is that when a
conflict occurs in the full-duplex communication, the Master station always has
priority over the Slave to repeat his request.

When communicating with a PC, the PCD must be set as Slave (SD0).

For a description of the complete protocol, consult the "Functional specification

for the SAIA P8 Protocol".

SAIA LAN 1

The D mode can be used with the SAIA LAN 1: in this case, the connection
between two stations can be achieved with the SCON instruction.

The status of the connection is automatically written by the LAN 1 in a Register,

the address of this Register is given in the SASI instruction.

For more informations about the SAIA LAN 1 network, consult the
"SAIA LAN 1" manual.

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PCD Reference Guide Notes

MODE MM4

The MM4 mode allows the connection of the PCD on the COMPEX LAC/LAC2
Network. The LAC/LAC2 is an industrial local area network which enables the
easy connection of heterogeneous intelligent machines. The PCD is connected to
the network via a communicator which provides the required transmission
services.

The MM4 mode consist in the exchange of Registers of 32 bits (4 ASCII

characters). 64 Registers can be transferred with one telegram.

The error detection is assured by a CRC-16.

This mode also supports the point to point connection between 2 PCDs.

For more information, consult the "Description of the LAC MM4 Protocol".

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MODE SBUS

S-Bus is the name of an efficient communication protocol for the SAIA PCD
generation of controllers. It can be used for both point-to-point communications
and within a local master/slave network.

For point-to-point communications, any of the PCD's serial interfaces can be used.
At the physical level, an S-Bus network uses the RS 485 standard, via two-core
twisted and shielded cable.

S-Bus can be used as a simple, economic means of networking up to 255 PCD

systems, connected to up to 8 segments, each containing up to 32 stations.

S-Bus has the following major characteristics:

• Ease of handling (installation, commissioning and user programming)
• Cost effective, since the S-Bus protocol is already built into every PCD
processor. This means that no additional dedicated communications processor
is required.
• Fail-safe data transfer, using CRC-16 error detection.
• High data transfer rate, due to the efficient binary protocol with transmission
speed up to 38.4 kbps.
• Support for remote data access and diagnostics via a modem on leased or dial-
up lines.
• Drivers are available for supervisory control systems such as Wizcon, InTouch,
FactoryLink, Fix D-Macs and Genesis.
• With application level 2 (commissioning service) the programming unit has
access to all slave stations on the network. This means that any slave station
connected to the network can be controlled by the programming unit from a
central point (e.g. by the debugger).
• Multi-master possibility by using the S-Bus Gateway

<mode> Description
SM2 S-Bus master, with data mode
SM1 S-Bus master, with parity bit control
SM0 S-Bus master, no parity, with break character
SS2 S-Bus slave, with data mode
SS1 S-Bus slave, with parity bit control
SS0 S-Bus slave, no parity, with break character
GS2 S-Bus Gateway Slave, with data mode
GS1 S-Bus Gateway Slave, with parity bit control
GS0 S-Bus Gateway Slave, no parity, with break character
GM S-Bus Gateway Master
OFF De-initialize the serial line

For more information, consult the "Manual SAIA S-BUS" (ref 26/739).

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PCD Reference Guide Notes

PROFIBUS

PROFIBUS is the most successfull open Fiedlbus which can be used in wide range
of applications.

PROFIBUS ensures that devices of different vendors can communicate together

without the need to adapt interfaces.
PROFIBUS is standardized as an European standard (EN 50170).
PROFIBUS is vendor independant and devices are offered by a wide range of
qualified vendors.
PROFIBUS consists of an assortment of compatible products. There are three
main variations of PROFIBUS corresponding to the intended application:

• PROFIBUS-DP Decentral Periphery

• PROFIBUS-FMS Fieldbus Message Specification
• PROFIBUS-PA Process Automation

SAIA PCD works with PROFIBUS-FMS

PROFIBUS-FMS is the universal solution for the communication between

intelligent field devices and controllers and for information exchange between
controllers.

The usage of PROFIBUS-FMS network with the SAIA PCDs requires a

dedicated processor: PCD4.M445 or a PCD7.F700 module.

PROFIBUS-DP is optimized for high speed and has been tailored for
communication between automation systems and local peripherals. The usage of a
PROFIBUS-DP network (master or slave) requires a module PCD7.F750 or.
..F770.

The definition and configuration (bus parameters, communication relationship list

and object dictionnary) of a PROFIBUS network can be very extensive,
depending on the size of the project. To make this task easier SAIA has
developped a PROFIBUS configurator program under Windows. The configurator
creates a file with the definition texts for all PROFIBUS channels in a station. This
text file is used in the SASI instruction of the PROFIBUS channel.

For more information, consult the following manuals:

"Manual SAIA PROFIBUS-FMS" (ref 26/742 E).

"Manual SAIA PROFIBUS-DP" (ref 26/765 E).

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SASI PCD Reference Guide

SASI ASSIGN SERIAL INTERFACE

Description Initialises a serial channel.

The 1st operand is the serial channel number.

The 2nd operand is the number of a Text which contains the channel operating
mode definition (see following pages).
This initialisation must be repeated for each serial channel to be used. Generally,
the SASI instruction(s) will be placed in the XOB 16. All four channels can work
in different modes and at different speeds. For the PROFIBUS channel
assignation, consult the manual "SAIA PROFIBUS" (ref 26/742).

Usage SASI channel ; Serial channel number 0-3, [PROFIBUS: 10-99]

text nb ; Definition text number 0-3999

Example SASI 0 ; Initialises serial channel 0

100 ; using definitions in text 100
Flags The Error (E) flag is set if the definition text is missing or invalid
See Also SASI texts
Note For PROFIBUS, the channel number (10..99) is the virtual channel (also called
CREF). The necessary information for initializing the channel are contained in a
text which is automatically generated by the PROFIBUS configurator.
Practice Initialise the first serial channel (number 0) for TEXT mode with a speed of 4800
Bauds, 7 bits of data, Even parity and one stop bit
The SASI instruction is placed in XOB 16.

XOB 16 ; Cold Start Exception Organisation Block

SASI 0 ; Assign Serial channel 0

10 ; with parameters in text 10

EXOB

TEXT 10 "UART:4800,7,E,1;"
"MODE:MC0;"
"DIAG:F1000,R4000;"

Flags 1000 .. 1007 are used as diagnostics flags and Register 4000 is used as
diagnostic register.

The TEXT can also be written in one line:

TEXT 10 "UART:4800,7,E,1;MODE:MC0;DIAG:F1000,R4000;"

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PCD Reference Guide SASI Texts

SASI Texts

A special definition text is needed for the Assign Serial Interface SASI instruction.

FORMAT:
TEXT xxxx "<uart_def>;"
"<mode_def>;"
"<diag_def>;"
["<rx_buf>;"]
["<tx_buf>;"]
where xxxx is any valid text number (0..3999)

This text can also be written in one line.

The different parameters are:

<uart_def> Defines the baud rate, data length, parity, ....
<mode_def> Defines the Operating Mode (C, D, ...).
<diag_def> Diagnostic Flags address and Diagnostic Register address.

The two last parameters are optional and only used in mode C:
<rx_buf> Receive buffer length (default = 1).
<tx_buf> Transmit buffer length.

MODE OFF

This mode differs from the standard SASI texts and is used when an interface
which has already been assigned must be re-assigned.
To avoid contention over the interfaces a semaphore mechanism is implemented.
When a serial interface is assigned a semahore is set so that if another assignation
is tried on the same serial interface then the error led will be set and the instruction
aborted. A serial interface can only be reassigned after it has been DESASI'd and
this is done by executing the instruction SASI with the following text:

TEXT xxxx "MODE:OFF"

Likewise, if a CPU tries to deassign a serial interface which is already deassigned

then the Error Flag Exception routine is also called.

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SASI Texts PCD Reference Guide

<uart_def>
Defines the baud rate, data length, parity, number of stop bits, timeout
Format:
"UART:<baud-rate>,<char_len>,<parity>,<stop_bit>[,<timeout>];

<baud_rate <char_len> <parity> <stop_bit> <time_out> or by default

>
110 7 E (even) 1 10..15000 ms 15 s
150 8 O (odd) 2 9s
300 L (low) 5s
600 H (high) 3s
1.200 N (none) 2s
2.400 1s
4.800 0,5 s
9.600 0,25 s
19.200 0,2 s
38.400 0,1 s

<time_out>:
The time_out is irrelevant for Mode C.

The default timeouts are given in seconds and are function of the baud rate
In the other modes, the timeout is the time after which a message is repeated if the
partner receiving this messages does not give an acknowledgement.
If after 2 retries, the partner does not respond, he is declared "not responding".

Mode S-BUS:
The SBUS mode always use 11 bits (10 bits for data mode) to transmit one
character: there is no definition for <char_len>, <parity>, <stop_bit>.

"UART:<Baudrate>[,<Timeout>][,<TS-Delay>][,<TN-Delay>][,<Break-Length>];"
<baud_rate>: 110 .. 38.400
<time_out>: 10 .. 15000 ms
<TS delay>: 10 .. 15000 ms
<Break-Length>: 4 .. 15 char
TimeOut, TS-Delay, TN-Delay and Break-Length are optional and normally only
needed to be defined for special applications.

For more informations, consult the "Manual SAIA S-BUS" (ref. 26/739).

Example of <uart_def> text:

"UART:9600,7,E,1;"
9600 bauds, 7 data bits, Even parity, 1 stop bits and default timeout

Note: All characters must be typed in Upper case. When the text is between the
$SASI and $ENDSASI directives, the assembler tests the syntax of the text
and all characters are converted in uppercases.

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PCD Reference Guide SASI Texts

<mode_def>
Defines the operating mode of the serial channel.

Format: "MODE: >[,<mode_opt>];"

<mode_opt> is an optional series of parameters depending on the selected mode.

<mode> <mode_opt> Description

MC0 - Mode C without automatic handshaking
MC1 - Mode C using RTS and CTS handshaking
MC2 - Mode C with Xon/Xoff protocol
MC3 - Mode C with echo
MC4 - Mode C for RS485 interface
MD0 - Mode D Master
R xxxx (1) via LAN1; Register = SCON status
SD0 - Mode D Slave
R xxxx (1) via LAN1; Register = SCON status
SM2 R xxxx (2) Mode SBUS Master (client) Data mode
SM1 R xxxx (2) Mode SBUS Master (client) Parity mode remote station
SM0 R xxxx (2) Break mode
SS2 - Mode SBUS Slave (server) Data mode
SS1 - Mode SBUS Slave (server) Parity mode
SS0 - Break mode
GM - Mode SBUS Gateway Master
GS2 - Mode SBUS Gateway Slave Data mode
GS1 - Mode SBUS Gateway Slave Parity mode
GS0 - Break mode
(3)
MM4 Mode MM4
OFF - De-assignation of the serial line.

(1)
D Mode with LAN 1
When using the SAIA LAN 1, the PCA2.T9x interface uses a Register to inform
the PCD about the status of the connection. For more information, see the SCON
instruction.
(2)
SBUS Client
The address of the remote partner station is given in a Register.
(3)
MM4 <mode_opt> consists of the following:
<BCS_opt>,<trpartner>,<trinfo>,<repartner>,<reinfo>,<rechar>
<mode_opt> Value Description
<BCS_opt> 0 or 1 Block Check Sum (0: no BCS, 1: CRC-16
<trpartner> R xxxx Transmission partner station number
<trinfo> R xxxx Remote ACK information
<repartner> R xxxx Reception partner station number
<reinfo> R xxxx Receive information
<rechar> R xxxx Number of received characters

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SASI Texts PCD Reference Guide

<diag_def>
Defines the communications diagnostics media.

Format:
"DIAG:<dia_elem>,<dia_reg>;"
Type Description
<dia_elem> O xxxx Base address of 8 consecutive Flags (or Outputs)
F xxxx
<dia_reg> R xxxx Address of a register for diagnostic
where xxxx is a valid address

The 8 Flags give informations about the status of the serial line. In case of error
when executing an serial communication instruction, more informations can be
obtained by examining the contents of the diagnostic register.

DIAGNOSTIC FLAGS

The Output or Flag address following the DIAG definition of the SASI texts is the
base address of 8 consecutive Outputs or Flags, used as follows:

Address Name Description

xxxx RBSY Receiver busy
xxxx+1 RFUL Receive buffer full
xxxx+2 RDIA Receiver diagnostic
xxxx+3 TBSY Transmitter busy
xxxx+4 TFUL Transmit buffer full
xxxx+5 TDIA Transmitter diagnostic
xxxx+6 XBSY Text Busy
xxxx+7 NEXE Not executed

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PCD Reference Guide SASI Texts
RBSY
Receiver Busy
Mode
C RBSY is High when at least one character is available in the
reception buffer. When all characters waiting in the reception
buffer have been read with the SRXD instruction RBSY is
cleared.
D RBSY is High when the receiver is busy.
MM4
SBUS RBSY is High when a slave station receives a temegram. The
flag is reset as soon as the reply telegram has been sent.
PROFIBUS Not used

RFUL
Receive Buffer Full
Mode
C RFUL is set High when the number of incoming characters in
the PCD Receive buffer is equal to or greater than the value of
rx_buf (Receive buffer length).
RFUL is Low when the number of characters remaining in the
receive buffer is less than the vale of rx_buf. The internal
reception buffer of the PCD always has room for 512
characters.
D RFUL is High when a correct data frame has been received.
MM4
SBUS RFUL is High when elements in the slave station have been
changed by the master station.
PROFIBUS High indicates that a write telegram has been received.

RDIA
Receiver Diagnostic
Mode
C RDIA is set High if the PCD detects an error during reception
D of a character; more information about the error can be
SBUS obtained by examining the contents of the Communication
MM4 diagnostic register. RDIA will be reset when all receiver
PROFIBUS diagnostic bits (0...15) in the diagnostic register are reset.

TBSY
Transmitter Busy
Mode
C TBSY is set High when the PCD transmits characters over the
serial line. TBSY is set Low when all characters from the
Transmission buffer have been transmitted
D TBSY is set High when the PCD is transferring data.
SBUS TBSY is set Low when the telegram has been acknowledged or
MM4 when the number of retries is reach.
PROFIBUS

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SASI Texts PCD Reference Guide

TFUL
Transmit Buffer Full
Mode
C TFUL is set High when the number of characters remaining in
the PCD transmission buffer is greater than or equal to the
value declared for tx_buf (Transmit buffer length).
The TFUL is reset when the number of characters remaining in
the Transmit buffer is less than the value of TBUF.
D Not used
SBUS
PROFIBUS
MM4 TFUL is High when the acknowledgment has been received.

TDIA
Transmitter Diagnostic
Mode
C TDIA is set High when the PCD detects an error during
D transmission of a character; more information about the error
SBUS can be obtained by examining the contents of the
MM4 Communication diagnostic register. TDIA will be reset when all
PROFIBUS transmitter diagnostic bits (16...31) in the diagnostic register are
reset.

XBSY
Text busy
Mode
C XBSY is set High when the PCD transmits a text (STXT); when
all the text has been transmitted XBSY is reset. Note: XBSY is
reset at the beginning of the sending of the last character.
D XBSY is High when a connection via the LAN1 is open.
SBUS XBSY is low when the user has the permission to perform a
SASI OFF.
MM4 XBSY is High when there is activity on the LAC network
(STXM instruction)
PROFIBUS Cross busy / channel open

NEXE
Not executed
Mode
C
D If the PCD is unable to perform the requested operation, NEXE
SBUS is set High; further information about the error can be obtained
MM4 by examining the contents of the Communication diagnostic
register.
PROFIBUS Set High when, after 3 attemps, it has not been possible to
execute an instruction (STXM or RSXM). The flag is reset at
the next instruction.

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PCD Reference Guide SASI Texts
DIAGNOSTIC REGISTER

The address of a Diagnostic Register must also be supplied with the DIAG
definition in the SASI text.
Normally all 32 bits of this Diagnostic Register are Low (0).
The register is to be reset to 0 by the user program.
If a bit is High (1) then its significance is the following (see relevant Mode):
Bit Description Cause MODE
C D SBUS MM4 PROFI
BUS
0 Overrun error Should never occur (notify SAIA)




1 Parity error Received a character with a parity error



2 Framing error Usually caused by an incorrect baud rate




3 Break Break in data line




4 BCC error Bad Block Check Code (or CRC-16)



5 S-Bus PGU status S-Bus PGU with Public Line modems

6 End of transmit Transmission ended SASI OFF


7 Overflow error Receive buffer overflow



8 Length error The telegram length is invalid

9 Format error Invalid telegram format



10 Address error Adress of ACK is invalid


11 Status error PCD in false status

12 Range error Invalid element address



13 Value error Error in the received value

14 Missing media err Address of media not defined or invalid

15 Program error Read from an empty receive buffer

LAN 1 not assigned or invalid station nb


16 Retry count Indicates the number of retries (in binary)

17
18 Transmission off Sending is suspended (CTS = L or XOFF)

19
20 NAK response NAK was received




21 No response No response was received after timeout



22 Multiple NAK NAK received after retries



23 TX buffer full No more space in transmit buffer

TS Delay No CTS after the TS Delay

24 Enquiry error No response to ENQ after retries

25 Format error Invalid definition text

Invalid command


26 Partner error A problem has occured with the partner

27 Network error A problem has occured on the network

28 Range error Invalid element address




29
30 Receive error Error occured


31 Program error Attempt to transmit when unauthorised

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SASI Texts PCD Reference Guide

The <rx_buf> and <tx_buf> are only used for mode C

<rx_buf>
Defines the communication reception buffer limit.

Format:
"RBUF:<rbuf_len>;"

Value Description
<rbuf_len> 1.. 511 Receive buffer length

The Receive Buffer has always space for 512 x 8-bit characters.
For Mode C, the RBUF definition (1-511) indicates when to set the Receive
Buffer Full status (RFUL).
For the other modes, RBUF is not used.

<tx_buf>
Defines the communication transmission buffer limit.

Format:
"TBUF:<tbuf_len>;”

Value Description
<tbuf_len> 1.. 511 Transmission buffer length

Similar to the Receive Buffer.

For Mode C, the TBUF definition (1-511) indicates when to set the Transmit
Buffer Full status (TFUL).
For the other modes, RBUF is not used.

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PCD Reference Guide SASI Texts

Examples of SASI Texts

Mode MC0 at 9600 Bds, 7 data bits, Even parity,1 stop bit, using F1000-F1007 as diagnostic
flags and register R4000 as diagnostic register:
TEXT 10 "UART:9600,7,E,1;MODE:MC0;DIAG:F1000,R4000;"

Mode MC2 at 4800 Bds, 8 data bits, no parity,1 stop bit, using F0-F7 as diagnostic flags
and register R100 as diagnostic register; a receive buffer length of 25 characters:
TEXT 20 "UART:4800,8,N,1;MODE;MC2;DIAG:F0,R100;"
"RBUF:25;"

Mode SD0 (Slave) at 9600 Bds, 7 data bits, Even parity, 1 stop bit, F1000-F1007 as diagnostic
flags and register R4000 as diagnostic register:
TEXT 30 "UART:9600,7,E,1;MODE:SD0;DIAG:F1000,R4000;"

Mode MD0 (Master) at 9600 Bds, 7 data bits, Even parity, 1 stop bit, F1000-F1007 as
diagnostic flags and register R4000 as diagnostic register; the SAIA LAN1 is used
and a timeout of 3 sec is needed:
TEXT 40 "UART:9600,7,E,1,3000;"
"MODE:MD0,R1;"
"DIAG:F1000,R4000;"
Register R 1 is used to store the connection state of the LAN1.

Mode MM4 at 9600 Bds, 8 data bits, no parity,1 stop bit, Timeout: 300ms, no BCS, Registers
100..104 are used for the remote partner number, ....
F1000-F1007 are used as diagnostic flags and register R1000 as diagnostic
register:
TEXT 50 "UART:9600,8,N,1,300;"
"MODE:MM4,0,R100,R101,R102,R103,R104;"
"DIAG:F1000,R1000;"

Mode SBUS Parity mode (Master) at 9600 Bds, Register 555 is used to hold the partner number,
F8000-F8007 as diagnostic flags and register R4005 as diagnostic register:
TEXT 60 "UART:9600;MODE:SM1,R555;DIAG:F8000,R4005;"

Mode SBUS Paritiy mode (Slave) at 9600 Bds, F8000-F8007 are used as diagnostic flags and
register R4005 as diagnostic register:
TEXT 60 "UART:9600;MODE:SS1;DIAG:F8000,R4005;"

Mode SBUS Data mode(Slave) at 9600 Bds, Register 55 is used to hold the partner number,
F8000-F8007 are used as diagnostic flags and register R4005 as diagnostic
register:
TEXT 60 "UART:9600;MODE:SS2,R55;DIAG:F8000,R4005;"

Mode SASI 10 ; channel 10

PROFIBUS T_As_10 ; SASI text

The SASI text "T_As_10" is created by the PROFIBUS configurator

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SASI Texts PCD Reference Guide

Using SYMBOLS in texts

Symbols can also be used in SASI texts.

The value and optionally the type of the symbol is inserted into the text. The
symbol is written outside the ASCII text segment in double quotes, and must be
separated from this or other symbols by a comma. After the symbol, an optional
field width and prefix type can be given.

Format:

symbol [. [ [-] [0] width] [t | T] ]

symbol The symbol name. This can actually be any expression which
includes a symbol, for example: MotorOn + 100, ...
Symbols with floating point values are not permitted.
. The dot immediately after the symbol indicates that a field width
and/or a prefix is present.
Width The field width: the number of digits or spaces required for the
number. If the width begins with a 0, leading zeros are inserted.
t|T Optional prefix type 't' or 'T'. If 't', the value is prefixed with the
symbol's type in lower case (o, f, r, ...); if 'T', the symbol's type is
in upper case (O, F, R,...)

Examples:

BAUD EQU 9600

D_FLAGS EQU F 500
D_REG EQU R 4095

XOB 16
SASI 1
3999

TEXT 3999"UART:",BAUD,",7,E,1;MODE:MC0;"
"DIAG:",D_FLAGS.T,",",D_REG.T,";"

EXOB

The resulting text will be:

"UART:9600,7,E,1;MODE:MC0;"
"DIAG:F500,R4095;"

New SASI with '$' (SASI text accepts $) see next page
can be used from the following firmware versions only:

PCD1: V070 PCD4.Mxx5: V0E0 PCD6.M3: V030

PCD2: V080 PCD4.M445: V0E0

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PCD Reference Guide SASI Texts

$SASI, $ENDSASI
These assembler directives can be used to delimit texts which are used by the
SASI instruction. All texts enclosed within these directives will be checked by the
assembler and any errors detected.

Format:
$SASI
<SASI text definition>
...
$ENDSASI

If $SASI .. $ENDSASI are not used, it is possible to enter an invalid text

which may cause incorrect initilialisation of the serial port.

Example:

XOB 16
...
SASI 0 ; Initialize serial channel 0
100 ; using text 100
...
EXOB

$SASI ; Text 100 is checked as SASI text by the Assembler

TEXT 100 "UART:9600,7,E,1;MODE:MC0;DIAG:F1000,R4000;"
$ENDSASI

New SASI with '$' (SASI text accepts $)

e.g.: "UART:$Ra,$Rb,$Rc,$Rd;MODE:$Re,$Rf;DIAG:F$Rg,R$Rh;"

Ra Baudrate 110 .. 38400 (numeric)

Rb Bits 7, 8 (numeric)
Rc Parity E, O, N (ASCII coded)
Rd Stop 1 or 2 (numeric)
Re Mode 'MC0', 'SM2' etc. (ASCII coded)
Rf Station Register with S-Bus station (numeric)
Rg Diagnostic flags Register with the base diagnostic flag number
(0 .. 8191 numeric)
Rh Diagnostic register Register with the diagnostic register number
(0 .. 4095 numeric)

Firmware to be used see page before.

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SASII PCD Reference Guide

SASII ASSIGN SERIAL INTERFACE INDIRECT

Description Initialises a serial channel or a PROFIBUS channel in indirect mode. This

instruction works in the same way as the SASI instruction. The difference is that it
works in indirect mode. Indirect mode means that the number of the channel and
the definition text number can be given by the content of registers.

Usage SASII channel ; Serial channel number or Register

text definition ; Register

Channel
Channel number to be initialised
This parameter can be given directly or indirectly:
0..3 Serial channel number
10..99 PROFIBUS channel number
R 0..4095 Register containing the channel number (0..3, 10..99)

Text_definition
This parameter is a register number (R 0..4095)
This register contents the address of a text containing where the interface
parameters are defined. Valid addresses for text:
0..3999 in standard memory
4000..7999 in extension memory
Example SASII 0 ; Initialises serial channel 0
R 1 ; using definition text address contained in R 1
Flags The Error (E) flag is set if the definition text is missing or invalid
See Also SASI texts

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PCD Reference Guide SRXD

SRXD SERIAL RECEIVE CHARACTER (Mode C)

Description Loads the next ASCII character present in the Receive Buffer of the channel
given by the 1st operand into the Register given by the 2nd operand.

The instruction SRXD should be executed only if there is a character ready,

indicated by RBSY = H otherwise the Error flag is set. After SRXD is executed,
the least significant 8 bits of the Register contain the character, all other Register
bits are set to 0.

Up to 512 characters can be in the Receive Buffer. Each time SRXD is executed,
the next character is read.

If the Receive Buffer overruns (more than 512 characters), then there will be a
receive error (the RDIA flag and the corresponding status bit in the channels
Diagnostic Register are set).

Usage SRXD[X] channel ; Serial channel number 0-3

reg (i) ; Register to receive character R 0-4095

Example SRXD 3 ; Reads a character from channel 3

R 100 ; and stores it in Register 100
Flags The Error (E) is set if the SRXD instruction is executed with an empty reception
buffer or if the channel has not been correctly initialised or does not exist.
See Also STXD, SRXM, Communications instructions, Diagnostic flags
Practice Typical application in Bloctec structured program:
....
STH F RBSY ; If there is a character waiting
CFB H READ_CHAR ; Then read this character
....

FB READ_CHAR ; FB Read a character

[STH H RDIA] ; If there is a Receive Error
[CFB H RCV_ERROR] ; Then handle the error
SRXD 0 ; Read the character on channel 0
R 999 ; and store it in R 999
....
EFB

Note: In simple applications, the error processing (above between brackets) can
be omitted.

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STXD PCD Reference Guide

STXD SERIAL TRANSMIT CHARACTER (Mode C)

Description The character held in the least significant bits of the Register given in the 2nd
operand is placed in the Transmit Buffer of the serial channel given by the 1st
operand. It is then transmitted automatically.

The Transmit Buffer can hold up to 512 characters. If it is empty (all characters
have been transmitted), the TBSY status flag is set Low. While there are
characters waiting to be transmitted, TBSY remains High.

If the TDIA status is High after executing an STXD, this indicates a problem, and
the Diagnostic Register shoud be examined.

Usage STXD[X] channel ; Serial channel number 0-3

reg (i) ; Register containing character R 0-4095

Example STXD 1 ; Transmits the character held in

R 100 ; Register 100 (bits 7-0) on channel 1
Flags The Error (E) flag is set if the channel has not been correctly initialised or does
not exist.
See Also SRXD, STXT, Communications instructions, Diagnostic flags
Practice Typical application in Bloctec structured program:
....
STL F TFUL ; If there is room in the TX buffer
CFB H SEND_CHAR ; Then send a character
....

FB SEND_CHAR ; FB Send a character

STXD 0 ; Send on channel 0
R 900 ; the character stored in R 900
[STH H TDIA] ; If there is a Transmit Error
[CFB H SND_ERROR] ; Then handle the error
....
EFB

Note: In simple applications, the error processing (above between brackets) can
be omitted.

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PCD Reference Guide STXT

STXT SERIAL TRANSMIT TEXT (Mode C)

Description Transmits the Text indicated in the 2nd operand via the serial channel given by the
1st operand (0-3). Status XBSY is set High, and the CPU transmits the Text.
XBSY is set Low when the Text has been transmitted. The text output can take
several seconds for large texts. The normal execution of the program continues
unaffected as the output of the text is executed in the background.

The XBSY flag indicates the completion of the background task. Whilst XBSY is
High no other communications instruction should be performed on this serial
channel. Texts can contain control strings to allow the formatted transmission of
element values, see Text Control Strings. The NEXE diagnostic flag is set if the
Text contains a bad control string.

Usage STXT[X] channel ; Serial channel number 0-3

text (i) ; Text number 0-3999

Example STXT 0 ; Transmits Text 123 on serial channel 0

123
Flags The Error (E) flag is set if the Text or channel does not exist, or the channel has
not been correctly initialised.
See Also Texts, STXD, SRXD, Communications instructions, Diagnostic flags.
Practice When input 1 is High, the following text should be sent: "Hello world !"
XOB 16
SASI 1 ; Initialise serial channel 1
0 ; with parameters stored in Text 0
EXOB
$SASI
TEXT 0 " UART:9600,7,E,1;MODE:MC0;DIAG:F1000,R1000;"
; 9600 Bds, 7 Data bits, Even Parity, 1 Stop bit
; Mode MC0, Diagnostic flags: F1000 .. F1007, Diagnostic register: R1000
$ENDSASI
COB 0
0
STH I 1 ; If input 1 goes High
DYN F 0
ANL F 1006 ; and not already transmitting (F1006 = XBSY)
JR L END
STXT 1 ; Then send Text 10 over serial channel 1
10
END: ECOB
TEXT 10 "Hello world ! <10> <13>"

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STXT PCD Reference Guide

Texts

Texts can be defined anywhere in an Assembler source program, but are placed in
an allocated area of Text memory in the PCD.
Texts can be written immediately following their referencing instructions;
alternatively, all texts can be written in a separate Assembler source module.

The following rules should be observed:

• A text is defined with:
TEXT n "The actual text"
where 'n' is the text number (0...3999)

• The text can consist of several lines, each line must be enclosed in double
inverted comas: " ......... ". Texts can be of any length.
• Control characters can be entered enclosed in angle brackets.
For example: <LF>, <CR>, <FF>, <ESC>, …
• Control characters with decimal ASCII codes (1.. 31), or special characters
with codes (127..255) can be entered as decimal values enclosed in angle
brackets: <nnn>.
For example: CR = <13>, LF = <10>, ESC = <27>, BELL = <7>, ...
• Standard ASCII characters (32..126) may be entered directly from the
keyboard.

In the PCD memory, all texts are terminated with a NUL character (ASCII code
0), which is automatically appended to the end of the text by the Assembler.
Therefore, a text cannot contain the character NUL.

Examples:
The two following texts give the same result:
TEXT 10 "The quick brown fox jumps over the lazy dog"
TEXT 11 "The quick brown fox"
"jumps over the lazy dog"

If after the text a line-feed and a carriage return must be sent:

TEXT 12 "The quick brown fox jumps over the lazy dog<CR><LF>"

If you have an EPSON printer you can put a part of your text in bold, by sending
special controls characters to the printer.
Assume that you will print the following text:
There is no limit for the SAIA PCD4 programmable controller
TEXT 13 "There is no limit for the"
"<ESC>E SAIA PCD4 <ESC>F"
"programmable controller <LF><CR>

Note: The characters ESC E make your printer print in bold, ESC F returns
it to normal.

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PCD Reference Guide STXT

Texts and variables

Texts can also contain variables such as the clock value, the status of an input, the
content of a register, ...
There are two characters which have a special meaning for the PCD: $ and @

$ = DIRECT ADDRESSING

Absolute element number is provided.

$H Time (Hour,Minute,Second): hh:mm:ss
$HH Time (Hour only): hh
$HM Time (Minute only): mm
$HS Time (Second only): ss
$D Date (Year, Month, Day): yy-mm-dd
$d Date (Day, Month, Year): dd.mm.yy
$DD Date (Day only): dd
$DM Date (Month only): mm
$DY Date (Year only): ss
$W Week (Week number, Day of week):
ww-dd
$WN Week (Week number only): ww
$WD Week (Day number only): dd
$innnn Logical state of a single Input (0, 1) nnnn : element number
$onnnn Logical state of a single Output (0, 1) (must be 4 digits)
$fnnnn Logical state of a single Flag (0, 1)
$Innnn Logical state of 8 Inputs (nnnn to nnnn+7) nnnn: first element
number
$Onnnn Logical state of 8 Outputs (nnnn to (must be 4 digits)
nnnn+7)
$Fnnnn Logical state of 8 Flags (nnnn to nnnn+7)
$Cnnnn Counter contents nnnn: element number
$Rnnnn Register contents (must be 4 digits)
$Tnnnn Timer contents
$Lnnnn incLude another text (max 3 level) nnnn:text number
(must be 4 digits)
$xnn Character 'x' is repeated 'nn' times nn must be 2 digits
The character must not be a data type:
(H|h|D|d|W|i|o|f|I|O|F|C|R|T|L|x)
$Annnn Output Register contents as ASCII char. nnnn: Register number
(must be 4 digits)

Example of $Annnn:
"$A0999" when R 999 = 00000000 hex 'NUL'
"$A0999" when R 999 = 00000061 hex 'a'
"$A0999" when R 999 = 00006162 hex 'ab'
"$A0999" when R 999 = 00616263 hex 'abc'
"$A0999" when R 999 = 61626364 hex 'abcd'
Preceding zeros are not output. An ASCII zero is only output if the lowest value
byte is equal to 0.

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STXT PCD Reference Guide

@ = INDIRECT ADDRESSING
Element number is supplied in a Register
@innnn Logical state of a single Input (0, 1) nnnn : Register
number
@onnnn Logical state of a single Output (0, 1) (must be 4 digits)
@fnnnn Logical state of a single Flag (0, 1)
@Innnn Logical state of 8 Inputs (add to add+7)
@Onnnn Logical state of 8 Outputs (add to add+7)
@Fnnnn Logical state of 8 Flags (add to add+7)
@Cnnnn Counter contents
@Rnnnn Register contents
@Lnnnn incLude another text (max 3 level)
@xnnnn Character 'x' is repeated Register contents
times. The character must not be a data
type: (H|D|W|i|o|f|I|O|F|C|R|L|x)

NOTE: To output a '$' use "$$", to output an '@' use "@@".

Example 1: TEXT 10 "Date: $D Time: $H <CR><LF>"

"$-32 <CR><LF>"
"Input 0..7: $I0000 <CR><LF>"
"Register 100: $R0100 <CR><LF>"
"$+20 <CR><LF>"
Assuming that this text is printed on the 16 August 90 at 09:00 am, that inputs 0
and 1 are High, and the contents of Register 100 is 12345: the following will be
printed:

Date: 90-08-16 Time: 09:00:00

-----------------
Input 0..7: 11000000
Register 100: 12345
++++++++++++++++++++

Example 2: Practical use of "$A...."

Cursor position on a screen should be determined from 2 registers for the X and Y
position: X position from Register R 1 (1..80)
Y position from Register R 2 (1..25)
The escape sequence for cursor positionning is:
<27><17><value for X><value for Y>
It is possible to program: "...<27><17>$A0001$A0002..."

For example, to output a fixed position of X = 40 and Y = 12, the whole sequence
of 4 characters can be written into a single register and output using $A....
Note that all values must be in hex format:

ESC = 1B hex; 17 = 11 hex; 40 = 28 hex (X value); 12 = 0C hex (Y value)

Load register R 1000: LD R 1000
1B11280CH
Text output for cursor positionning: ". . . $A1000 . . ."

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OUTPUT FORMATS

The format of transmitted Register and Counter data can also be specified in the
Text. The field width and number of decimal places can be specified. Format
definitions are introduced by the text "$%xxxx", where 'xxxx' is the required
format, see below. If such a definition is output, all the following Register or
Counter values are output using this format, until another format definition is
encountered.

In the following format definitions, the 'd/D' means 'decimal', x/X = hexadecimal
and b/B = binary. Other number base formats like o = Octal or f = floating point
are not supported. If the value is too large to fit in the defined field, default
formatting is used (no formatting).

Output format definitions:

Assume Registers 10, 11 and 12 contain respectively the following constant
values: 123456, -7890 and 5

NO FORMATTING (DEFAULT):
The field width depends on the size of the number.
TEXT 0 "REGISTER 10: $R0010 <10><13>"
"REGISTER 11: $R0011 <10><13>"
"REGISTER 12: $R0012"
Output:
REGISTER 10: 123456
REGISTER 11: -7890
REGISTER 12: 5

FIXED WIDTH FIELD:

Use the format definition "$%xxd" or "$%xxD", where 'xx' (1 - 99) signifies the
field width.
"$%xxd": The value is right-justified with leading spaces.
TEXT 1 "$%08dREGISTER 10: $R0010 <10><13>"
"REGISTER 11: $R0011 <10><13>"
"REGISTER 12: $R0012"
Output:
REGISTER 10: 123456
REGISTER 11: -7890
REGISTER 12: 5

"$%xxD": The value is right-justified with leading zeroes.

TEXT 1 "$%08DREGISTER 10: $R0010 <10><13>"
"REGISTER 11: $R0011 <10><13>"
"REGISTER 12: $R0012"
Output:
REGISTER 10: 00123456
REGISTER 11: -0007890
REGISTER 12: 00000005

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FIXED WIDTH FIELD and FIXED NUMBER OF DECIMAL PLACES:

The value is right-justified, but the number of decimal places is always displayed,
and is padded on the right with zeros.
Use the format definition "$%xx.yd", where 'xx' is the total field width, and 'y' is
the number of places to the right of the decimal point.
TEXT 2 "$%07.3dREGISTER 10: $R0010 <10><13>"
"REGISTER 11: $R0011"<10><13>"
"REGISTER 12: $R0012"
Output:
REGISTER 10: 123.456
REGISTER 11: -7.890
REGISTER 12: 0.005

FIXED DECIMAL PLACES ONLY:

The number of decimal places is fixed but the field width is dependent on the size
of the number.
Use the format definition "$%00.yd", where 'y' is the number of decimal places,
padded on the right with zeros if required.
TEXT 2 "$%00.5dREGISTER 10: $R0010 <10><13>"
"REGISTER 11: $R0011"<10><13>"
"REGISTER 12: $R0012"
Output:
REGISTER 10: 1.23456
REGISTER 11:-0.07890
REGISTER 12: 0.00005

REMOVING FORMATTING:
"$%00d" sets the standard format (no formatting).

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Saving / Restoring format definitions:
Format definitions may be saved using "$sn", where 'n' is a 'save' number.
Up to 10 format definitions can be saved (0-9).
Saved formats are restored using "$n", where 'n' is the 'save' number of the format
definition to be restored.
Formats may be saved as part of the intialisation process, in XOB 16, the start-up
XOB. To save a format, the text containing this format must be output to the serial
line with the STXT instruction. If a format is restored which has not been saved,
the default format (no formatting) is used.

Example:
XOB 16
....
TEXT 991 "$%05.1d$s1" ; Format 1 definition (nnn.n)
TEXT 992 "$%04.2d$s2" ; Format 2 definition (n.nn)
TEXT 993 "$%08.3d$s3" ; Format 3 definition (nnnn.nnn)

SEI K 0 ; Activation of the format definitions

DEF: STH XBSY
JR H DEF
STXTX 0
991
INI K 2
JR H DEF
....
EXOB

COB 0
0
....
STXT 1
10
TEXT 10 "Pump Litres Price/L Total <10><13>"
" 1 $1$R0010 $2$R0011 $3$R0012 <10><13>"
" 2 $1$R0013 $2$R0014 $3$R0015 <10><13>"
....
ECOB

This has the same effect as formatting the text as:

"1 $%05.1d$R0010 $%04.2d$R0011 $%8.3d$R0012"
"2 $%05.1d$R0013 $%04.2d$R0014 $%8.3d$R0015"

Results:
Pump Litres Price/l Total
1 13.8 0.86 11.868
2 158.2 0.95 150.290

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Including other texts:

The "$Lnnnn" sequence 'incLudes' another text which is processed as though it
were part of the original text. If this included text contains a new format
definition, the format is used until the end of the text. On return to the original
text, the original format definition is restored.

Example:

COB 0
0
....
STXT 1 ; Send Text 10
10
TEXT 10 "$L0100 Motor speed too high<10><13>"
....
STXT 1 ; Send Text 11
11
TEXT 11 "$L0100 Oil pressure too low<10><13>"
...
ECOB
TEXT 100 "Diesel engine ALARM:"

Result:
Diesel engine ALARM: Motor speed too high
Diesel engine ALARM: Oil pressure too low

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PCD Reference Guide STXT

Using SYMBOLS in texts

With the PCD Utilities (V1.3 and after), SYMBOLS can be used inside texts.
The value and optionally the type of the symbol is inserted into the text. The
symbol is written outside the ASCII text segment in double quotes, and must be
separated from this or other symbols by a comma. After the symbol, an optional
field width and prefix type can be given.

Format:
symbol [. [ [-] [0] width] [t | T] ]
symbol The symbol name. This can actually be any expression which
includes a symbol, for example: MotorOn + 100, ... .
Symbols with floating point values are not permitted.
. The dot immediately after the symbol indicates that a field width
and/or a prefix is present.
Width The field width: the number of digits or spaces required for the
number. If the width begins with a 0, leading zeros are inserted.
t|T Optional prefix type 't' or 'T'. If 't', the value is prefixed with the
symbol's type in lower case (o, f, r, ...); if 'T', the symbol's type is
in upper case (O, F, R,...)

Examples:
Flag EQU F 123
Output EQU O 32
Reg EQU R 999
TEXT 0 "$",Flag.04T ; Text 0 is "$F0123"
TEXT 1 "",Flag ; Text 1 is "123" (the empty "" is needed)
TEXT 2 "DIAG:",Output.T,",",Reg.T
; Text 2 is "DIAG:O32,R999"
TEXT 3 "55:",Flag.T,"-",Flag+7,":",Output.T,"-",Output+7
; Text 3 is "55:F123-130:O32-39"
TEXT 4 "FLAG Number: *",Flag.-8,"*"
; Text 4 is "FLAG Number: *123 *"

Symbols can also be used in SASI texts

D_FLAGS EQU F 500

D_REG EQU R 4095

XOB 16
SASI 1
3999
TEXT 3999"UART:9600,7,E,1;MODE:MC0;"
"DIAG:",D_FLAG.T,",",D_REG.T,";"

This creates the text "DIAG:F500,R4095;"

Note: The symbols (for texts) and texts must be defined in the same file.

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SRXM PCD Reference Guide

SRXM SERIAL RECEIVE MEDIA (Mode D)

Description Reads elements from the Remote PCD, and copies them into destination elements
in the Local PCD. Transfers can be I|O|F to O|F, R|T|C to R|T|C.
The 1st operand is the channel number.
The 2nd operand is the number of elements to be transferred.
The 3rd operand is the lowest address of the source element in the Remote PCD.
The 4th operand is the lowest address of the destination element in the Local PCD.
After executing SRXM, the TBSY flag is set High, it is set Low when the
operation has completed.

Usage SRXM[X] channel ; Serial channel number 0-3

count ; Number of elements to receive 1-16
source (i) ; Source element I|O|F, R|T|C
dest (i) ; Destination element O|F, R|T|C

Example SRXM 0 ; Reads the contents of R 100-115

16 ; into R 0-15 via serial channel 0
R 100
R 0
Flags The Error (E) flag is set if the channel is not correctly initialised, or SRXM is
executed when already in communication.
See Also STXM, Communications instructions, Diagnostic flags
Practice The inputs 0 .. 15 of the Remote PCD must be copied into the Outputs 32..47 of
the Local PCD. (The two PCDs are connected via the serial line).

Local PCD: Remote PCD:

(only the serial line must be assigned)
XOB 16
SASI 1 XOB 16
0 SASI 1
0
TEXT 0 “UART:9600,7,E,1;MODE:MD0;”
“DIAG:F1000,R1000;” TEXT 0
"UART:9600,7,E,1;MODE:SD0;"
EXOB
"DIAG:F1000,R1000;"
COB 0
EXOB
0
STH F 1003 ; If not already busy (TBSY)
JR H next
SRXM 1 ; Then receive on channel 1
16 ; 16 elements
I 0 ; from I 0 (to 15) of remote PCD
O 32 ; to O 32 (to 47) of Local PCD
next: ECOB

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PCD Reference Guide SRXM

SRXM SERIAL RECEIVE MEDIA (Mode MM4)

Description Copy the receive buffer (received frame) into consecutive registers of the PCD.
When a telegram has been received without errors: RFUL is set to 1; SRXM reset
this flag to 0.
The 1st operand is the channel number.
The 2nd operand is always 0.
The 3rd operand is a Register or a Counter which will contain (after the execution
of the instruction) the number of received characters.
The 4th operand is the address of the first Register where the received characters
will be copied.
Each received character needs 8 bits of a Register: a Register can hold a maximum
of 4 characters.
The characters are placed in the Registers as follow:
reg 1: 11111111 22222222 33333333 44444444 Characters 1 to 4
reg 2: 55555555 66666666 77777777 88888888 Characters 5 to 8
...
If the number of received characters is not a multiple of 4, the rest of the Register
is set to 0.

The address of the partner which has sent the telegram is contained in the
<repartner> Register defined in the SASI text.

Usage SRXM channel ; Serial channel number 0-3

0 ; Not used
reg 1 ; Number of read characters R 0-4095
reg 2 ; Destination register address R 0-4095

where:
reg 1 Register contains (after execution) the number of read characters.
A counter can also be used.
reg 2 Address of the first register into where the information will be
copied (a register holds up to 4 characters)

Example SRXM 1 ;Transfers the telegram received on channel 1

0 ; in the Register 20 and following
C 100 ; C100: number of received characters
R 20
Flags The Error (E) flag is set if the channel is not correctly initialised, or if SRXM is
executed when no telegram has been received.
See Also

For further information, consult the "Description of the LAC MM4 Protocol"

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SRXM PCD Reference Guide

SRXM SERIAL RECEIVE MEDIA (Mode SBUS)

For more informations, consult the "S-Bus Manual"

Description Reads elements from a server PCD station, and copies them into destination
elements in the client PCD. The address of the server station is passed via a
register as defined in the SASI text (see page 8-11).
Transfers can be I|O|F to O|F, R|T|C to R|T|C.
The 1st operand is the channel number.
The 2nd operand is the number of elements to be transferred.
The 3rd operand is the lowest address of the source element in the server PCD.
The 4th operand is the lowest address of the destination element in the client PCD.
After executing SRXM, the TBSY flag is set High, it is set Low when the
operation has complete.

SRXM can only be used in the client PCD

Usage SRXM[X] channel ; Serial channel number 0-3

count ; Number of elements to receive
source (i) ; Base address of source element
dest (i) ; Base address of destination element
Where:
count 1..32 number of R/T/C to read
1..128 number of I/O/F to read
0 Special function code
R nnnn Used for Data Block transfer
source I/O/F 0..8191
R 0..4095 Base address of elements
T/C 0..1599 in the slave PCD
DB 0..7999
K 0..6000 Special function code
destination I/O/F 0..8191
R 0..4095 Base address of elements
T/C 0..1599 in the master PCD
DB 0..7999
Example LD R 100 ; Register as defined in the SASI text for
10 ; the source station number
SRXM 0 ; Reads via channel 0
20 ; 20 elements
R 100 : from R100-119 of station 10
R 0 ; into R0-R19
Flags The Error (E) flag is set if the channel is not correctly initialised, or SRXM is
executed when already in communication.
See Also STXM, Communications instructions, Diagnostic flags

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PCD Reference Guide SRXM
The following table shows which elements can be copied from the source station
to the appropriate elements in the destination station.
Master PCD (destination)
O F R C T DB
I • •
O • •
Slave PCD F • •
(source) R • • • •
C • • • •
T • • • •
K •
DB • • •

Special functions

Code Function description Examples of result

K 0 ..7 Read CPU status: R, C, H, S, D
0..6: CPU number of slave PCD
7: own CPU status
K 1000 Read Clock same format as RTIME instruction
K 2000 Read Display Register
K 3000 Read Size of Data Block
K 5000 Read Device type in ASCII " D1" , " D2", " D4", …
K 5010 in decimal 1, 2, 4, …
K 5100 Read Module type in ASCII " M1_", " M11", " M12", " M14",..
K 5110 in decimal 10, 11, 12, 14, 24, …
K 5200 Read Firmware version in ASCII " $4C", " 004", " X41", …
K 5210 in dec 5, … or -1 dec for any '$', 'X', 'β'
K 5300 Read CPU number in ASCII " 0", " 1"
K 5310 in decimal 0 .. 6
K 6000 Read S-Bus station number in BROADCAST
This will only work in point-to-point communication.

Transfer of Data Blocks

The format of the SRXM instruction, when working with Data-Blocks, differs
slightly from the conventional format. To address an element of a Data-Block, it is
always necessary to specify the number of the Data-Block and then the position of
the element in the Data-Block.
SRXM Channel
Count + Position
Source
Destination
Where Count + Position : Register number.

This register contains the "Count" or number of elements to transfer (range 1...32)
and the "Position" in the Data-Block where to put or get the data. "Count" is given
in the MS Word of the register and "Position" in the LS Word of the register.

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SRXM PCD Reference Guide

SRXM SERIAL RECEIVE MEDIA (PROFIBUS)

For more informations, consult the "PROFIBUS Manual"

Description Reads data (objects) from the remote station and copies them in the local PCD.
The 1st operand is the channel number.
The 2nd operand is the sub-index from source and destination object.
The 3rd operand is the source object index (remote station).
The 4th operand is the destination object index (own station).

Usage SRXM channel ; Channel number 10-99

count ; Sub-index 0-255
source ; Source object index K 0-16383
dest ; Destination object index K 100-499
Where:
channel 10..99 for PCD4.M445
10..19 for PCD2 with PCD7.F700
count 0..255 Sub-index
(0 = no sub-index)
source Source object index (remote station)
K 0..16383
destination Destination object index (own station)
K 100..499 PCD4.M445
K 100..199 PCD2 with PCD7.F700

Example SRXM 13 ; Reads via channel 13

0 ; no sub-index
K 22 : copies object 22 from the remote station
K 150 ; to the object 150 of the own station
Flags The Error (E) flag is set if the channel is not correctly initialised, or SRXM is
executed when already in communication.
See Also STXM

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PCD Reference Guide SRXMI

SRXMI SERIAL RECEIVE MEDIA INDIRECT (Mode SBUS)

For more informations, consult the "S-Bus Manual" (Ref. 26/739)

Description This instruction works in the same way as the existing SRXM instruction.
The difference is that it works in indirect mode. Indirect mode means that the
number of the media for source and destination is given by the content of a
register. SRXMI are only available for transfer of media. Transfer options like the
Real Time clock, Display-Register,... are not allowed.

Usage SRXMI channel ; Channel

count ; Count or Count + Position
source ; Source-type and Register number
dest ; Destination-type and Register number

Channel
This parameter is used to specify the channel number (range: 0...3).
Count or Count + Position
This parameter is a register number. This register contents the "Count" for
standard medias or "Count" and "Position" for Data-Block.
For Data-Block, "Count" is given in the MS Word of the register and
"Position" in the LS Word of the register and in that case, the initialisation
of this register can be easily done with LDL and LDH instructions.
Source-type and Reg-number
Destination-type and Reg-number
These parameters specify the "Source" and "Destination " of the transfer.
Each of these parameters is composed of a character giving the type of
media (I/O/F/R/T/C/DB) and a register number (0...4095). The source and
the destination must respect the source-destination validity described in the
table for the SRXM/STXM instructions.

SRXMI does not work in indexed and parametrised mode.

Example SRXMI 3 ; channel #3

R 100 ; Number of elements in R 100
O 101 ; Source: outputs with base address in R 101
F 102 ; Destination: flags with base address in R 102
Flags The Error (E) flag is set if the channel is not correctly initialised, or SRXMI is
executed when already in communication
See Also SRXM, Communications instructions, Diagnostic

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SRXMI PCD Reference Guide

SRXMI SERIAL RECEIVE MEDIA INDIRECT (PROFIBUS)

For more informations, consult the "PROFIBUS Manual"

Description Reads data (objects) in indirect mode from the remote station and copies them in
the local PCD. It is possible to select direct or indirect addressing of channel
operands.

SRXMI does not work in indexed and parametrised mode.

Usage SRXM channel ; Channel number 10-99, R 0-4095

count ; Sub-index R 0-4095
source ; Source object index K [R 0-4095]
dest ; Destination object index K [R 0-4095]
Where:
channel 10..99 for PCD4.M445
10..19 for PCD2 with PCD7.F700
R 0..4095 for indirect addressing
count R 0..4095 Register containing the Sub-index
(0 = no sub-index)
source Register containing the source object index (remote station)
K [R 0..4095] 0..16383
destination Register containing the destination object index
K [R 0..4095] 100..499 PCD4.M445
100..199 PCD2 with PCD7.F700

Example SRXMI R 50 ; channel number in R 50

R 51 ; sub-index in R 51
K 52 : source object index in R 52
K 53 ; destination object index in R 53
Flags The Error (E) flag is set if the channel is not correctly initialised, or SRXMI is
executed when already in communication.
See Also SRXM

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PCD Reference Guide STXM

STXM SERIAL TRANSMIT MEDIA (Mode D)

Description Transmits elements from the Local PCD to elements in the Remote PCD.
Transfers can be I|O|F to O|F, R|T|C to R|T|C.
The 1st operand is the channel number.
The 2nd operand is the number of elements to be transferred.
The 3rd operand is the lowest address of the source element in the Local PCD.
The 4th operand is the lowest address of the destination element in the
Remote PCD.
During the execution of STXM, the TBSY flag is set High; when the operation is
complete, it is set Low.

Usage STXM[X] channel ; Serial channel number 0-3

count ; Number of elements to transmit 1-16
source (i) ; Source element I|O|F, R|T|C
dest (i) ; Destination element O|F, R|T|C

Example STXM 0 ; Transmits the contents of R 100-115

16 ; into R 0-15 via serial channel 0
R 100
R 0
Flags The Error (E) flag is set if the channel is not correctly initialised, or STXM is
executed when already in communication.
See Also SRXM, Communications instructions, Diagnostic flags
Practice The inputs 0..15 of the Local PCD must be copied into the Outputs 32..47 of the
Remote PCD.
Remote PCD: Only the serial channel must be assigned (see SRXM)
Local PCD:
XOB 16
SASI 1
15
TEXT 15 "UART:9600,7,E,1;MODE:MD0;DIAG:F1000,R1000;"
EXOB

COB 0
0
STH F 1003 ; If not already busy to communicate (TBSY)
JR H NEXT
STXM 1 ; Then transfer on serial channel 1
16 ; 16 Elements
I 0 ; from Input 0 ( to 15) of local PCD
O 32 ; to Output 32 ( to 47) of remote PCD
NEXT: ECOB

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STXM PCD Reference Guide

STXM SERIAL TRANSMIT MEDIA (Mode MM4)

Description Transfers registers over the LAC/LAC2 network using the MM4 protocol.
This transfer can occur via the LAC/LAC2 network or in point to point.
The 1st operand is the channel number.
The 2nd operand defined the transfer function.
The 3rd operand is a Register or a Counter which contains the number of
characters to transfer.
The 4th operand is the address of the first Register containing the characters to
transmit.
A Register can hold a maximum of 4 characters: each character needs 8 bits.
The characters must be placed in the Registers as follow:
reg 1: 11111111 22222222 33333333 44444444 Characters 1 to 4
reg 2: 55555555 66666666 77777777 88888888 Characters 5 to 8
...

The address of the partner is contained in the <trpartner> Register defined in the
SASI text.

After the execution of STXM, the XBSY flag is set High; when the operation is
completed (telegram acknowledged by the partner), XBSY is reset to Low.

Usage STXM channel ; Serial channel number 0-3

fct ; Function to perform 0-4
reg 1 ; Number of characters to transmit R 0-4095
reg 2 ; Source register address R 0-4095

where:
fct Function to perform
0 /2 Transmission of data
4 Diffusion
reg 1 Register containing the number of characters to be transmitted.
A counter can also be used.
reg 2 Address of the first register from where the information is to be
transferred (a register holds up to 4 characters)

Example STXM 1 ;Transmit on channel 1

0 ; indicates a Transmission
C 100 ; number of characters to transmit
R 20 ; 1st Register containing the data
Flags The Error (E) flag is set if the channel is not correctly initialised, or if STXM is
executed when already in communication.
See Also

For further information, consult the "Description of the LAC MM4 Protocol"

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PCD Reference Guide STXM

STXM SERIAL TRANSMIT MEDIA (Mode SBUS)

For more informations, consult the "S-Bus Manual"

Description Transmits elements from the client PCD to elements in a server PCD.
The address of the server station is passed via a register as defined in the SASI text
(see page 8-11). Transfers can be I|O|F to O|F, R|T|C to R|T|C.
The 1st operand is the channel number.
The 2nd operand is the number of elements to be transferred.
The 3rd operand is the lowest address of the source element in the client PCD.
The 4th operand is the lowest address of the destination element in the server PCD.
During the execution of STXM, the TBSY flag is set High; when the operation is
complete, it is set Low .

STXM can only be used in the client PCD

Usage STXM[X] channel ; Serial channel number 0-3

count ; Number of elements to transmit
source (i) ; Base address of Source element
dest (i) ; Base address of Destination element
Where:
channel 0..3 Interface to be used
count 1..32 number of R/T/C to transmit
1..128 number of I/O/F to transmit
0 Special function code
source I/O/F 0..8191
R 0..4095 Base address of elements
T/C 0..1599 in the master PCD
DB 0..7999
K 4000 Special function
destination I/O/F 0..8191
R 0..4095 Base address of elements
T/C 0..1599 in the slave PCD
DB 0..7999
K 1000 Write clock in the slave PCD
K 17, 18, 19 Special function
Example LD R 100 ; Register as defined in the SASI text for
22 ; the destination station number

STXM 0 ; Transmits via channel 0

100 ; 100 elements
F 100 ; from F100-199
O 32 ; to O32-131 of station 22
Flags The Error (E) flag is set if the channel is not correctly initialised, or STXM is
executed when already in communication.
See Also SRXM, Communications instructions, Diagnostic flags.

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STXM PCD Reference Guide

The following table shows which elements can be copied from the source station
to the appropriate elements in the destination station.

Slave PCD (destination)

O F R C T DB Clock
I • •
O • •
Master PCD F • •
(source) R • • • • •
C • • • •
T • • • •
DB • • •

When writing to the clock, two registers are sent. For the data format of registers,
see the WTIME instruction.

Special function
It is possible to provoke the execution of an XOB in a slave station using the
STXM instruction with the following arguments:
STXM 0..3 ; Serial channel number
0 ; (must be 0)
K 4000 ; Used to indicate XOB interrupt
K 171819 ; number of the XOB to execute
It is also possible to use this instruction in broadcast mode; this allows the
synchronisation of events.

Transfer of Data Blocks (Write)

The format of the STXM instruction, when working with Data-Block, differs
slightly from the conventional format. To address an element of a Data-Block, it is
always necessary to specify the number of the Data-Block and then the position of
the element in the Data-Block.

STXM Channel
Count Position
Source
Destination

Where Count + Position : Register number.

This register contains the "Count" or number of elements to transfer (range 1...32)
and the "Position" in the Data-Block where to put or get the data. "Count" is given
in the MS Word of the register and "Position" in the LS Word of the register.

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PCD Reference Guide STXM

STXM SERIAL TRANSMIT MEDIA (PROFIBUS)

For more informations, consult the "PROFIBUS Manual"

Description Transmits data (objects) from the remote station and copies them in the
local PCD.
The 1st operand is the channel number.
The 2nd operand is the sub-index from source and destination object.
The 3rd operand is the source object index (own station).
The 4th operand is the destination object index (remote station).

Usage STXM channel ; Channel number 10-99

count ; Sub-index 0-255
source ; Source object index K 100-499
dest ; Destination object index K 0-16383
Where:
channel 10..99 for PCD4.M445
10..19 for PCD2 with PCD7.F700
count 0..255 Sub-index
(0 = no sub-index)
source Source object index (own station)
K 100..499 PCD4.M445
K 100..199 PCD2 with PCD7.F700
destination Destination object index (remote station)
K 0..16383

Example STXM 11 ; Transmits via channel 11

3 ; sub-index (element) 3
K 122 : copies object 122 from the own station
K 150 ; to the object 150 of the remote station
Flags The Error (E) flag is set if the channel is not correctly initialised, or STXM is
executed when already in communication.
See Also SRXM
Practice

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STXMI PCD Reference Guide

STXMI SERIAL TRANSMIT MEDIA INDIRECT (Mode SBUS)

For more informations, consult the "S-Bus Manual"

Description This instruction works in the same way as the existing STXM instructions.
The difference is that it works in indirect mode. Indirect mode means that the
number of the media for source and destination is given by the content of a
register. STXMI are only available for transfer of media. Transfer options like the
Real Time clock, Display-Register,... are not allowed

Usage STXMI channel ; Channel

count ; Count or Count + Position
source ; Source-type and Register number
dest ; Destination-type and Register number

Channel
This parameter is used to specify the channel number (range: 0...3).
Count or Count + Position
This parameter is a register number. This register contents the "Count" for
standard medias or "Count" and "Position" for Data-Block.
For Data-Block, "Count" is given in the MS Word of the register and
"Position" in the LS Word of the register and in that case, the initialisation
of this register can be easily done with LDL and LDH instructions.
Source-type and Reg-number
Destination-type and Reg-number
These parameters specify the "Source" and "Destination" of the transfer
Each of these parameter is composed of a character giving the type of media
(I/O/F/R/T/C/DB) and a register number (0...4095). The source and the
destination must respect the source-destination validity described in the
table for the STXM instruction.

STXMI does not work in indexed and parametrised mode.

Example STXMI 1
R 100
DB 101
R 102
Flags The Error (E) flag is set if the channel is not correctly initialised, or STXM is
executed when already in communication.
See Also STXM, Communications instructions, Diagnostic flags

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PCD Reference Guide STXMI

STXMI SERIAL TRANSMIT MEDIA INDIRECT (PROFIBUS)

For more informations, consult the "PROFIBUS Manual"

Description Transmits data (objects) in indirect mode from the remote station and copies them
in the local PCD. It is possible to select direct or indirect addressing of channel
operands.

STXMI does not work in indexed and parametrised mode.

Usage STXMI channel ; Channel number 10-99, R 0-4095

count ; Sub-index R 0-4095
source ; Source object index K [R 0-4095]
dest ; Destination object index K [R 0-4095]
Where:
channel 10..99 for PCD4.M445
10..19 for PCD2 with PCD7.F700
R 0..4095 for indirect addressing
count R 0..4095 Register containing the Sub-index
(0 = no sub-index)
source Register containing the source object index (own station)
K [R 0..4095] 100..499 PCD4.M445
100..199 PCD2 with PCD7.F700
destination Register containing the destination object index (remote)
K [R 0..4095] 0..16383

Example STXMI R 100 ; channel number in R 100

R 110 ; sub-index in R 110
K 200 : source object index in R 200
K 300 ; destination object index in R 300
Flags The Error (E) flag is set if the channel is not correctly initialised, or STXMI is
executed when already in communication.
See Also STXM

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SICL PCD Reference Guide

SICL SERIAL INPUT CONTROL LINE

Description Reads a control signal from the serial channel given in the 1st operand and stores
its state in the ACCU.

The 2nd operand is the signal to be read:

0 = CTS Clear To Send

1 = DSR Data Set Ready
2 = DCD Data Carrier Detect

For the Port 0 (PGU) of the PCD1, PCD2, PCD4, PCD6.M3 and PCD6.M540, the
instruction SICL is always allowed (independently, whether the port is assigned or
configured).
For any other port of PCD1, PCD2, PCD4, PCD6.M3 or PCD6.M540, the
instruction SICL is only allowed on a port configured for S-Bus PGU.
Otherwise, the instruction SICL is only allowed after execution of a SASI.

Usage SICL channel ; Serial channel number 0-3

signal ; Signal number CTS|DSR|DCD (0|1|2)

Example SICL 0 ; If DSR of channel 0 is High

1
CPB H 25 ; Then Call PB 25
Flags The ACCU is set to the state of the addressed input control line.
The Error (E) flag is set if the channel does not exist or has not been correctly
initialised.
See Also SOCL, Communications instructions

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PCD Reference Guide SOCL

SOCL SERIAL OUTPUT CONTROL LINE

Description Sets a selected control signal of the serial channel given in the 1st operand to the
state of the ACCU (H or L).

The 2nd operand is the signal to be set:

0 = RTS Request To Send

(RS485: Accu high = transmit, Accu low = receive)
1 = DTR Data Terminal Ready
2= Special functions

For the Port 0 (PGU) of the PCD1, PCD2, PCD4, PCD6.M3 and PCD6.M540, the
instruction SOCL is always allowed (independently, whether the port is assigned
or configured).
For any other port of PCD1, PCD2, PCD4, PCD6.M3 or PCD6.M540, the
instruction SOCL is only allowed on a port configured for S-Bus PGU.
Otherwise, the instruction SOCL is only allowed after execution of a SASI.

Usage SOCL channel ; Serial channel number 0-3

signal ; Signal number RTS|DTR (0|1|2)

Example SOCL 0 ; Sets DTR signal of channel 0 according to

1 ; the ACCU
Flags The Error (E) flag is set if the channel does not exist or has not been correctly
initialised.
See Also SICL, Communications instructions

Special functions:
Port 0 on PCD2
A SASI for SM1/SS1 in the user program will configure the port 0 to RS485. If the
user wishes to use RS232 on the port 0 then he must perform the following
instructions after the SASI instruction:

ACC L
SOCL 0
2

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SOCL PCD Reference Guide

Switch from RS485 to RS422

The serial interface RS422/RS485 on the PCD4.C130, PCD4.C340,
PCD7.F110/F150, PCD7.F520/530 switches automatically to RS485 when certain
modes are assigned.

Mode Type
MC0 .. MC3, MD0 / SD0 RS422
MC4, S-Bus RS485

It is sometimes needed to force the PCD to use S-Bus with RS422; in this case, the
following instructions must be performed after the SASI instruction:

ACC L
SOCL Port_nb
2

It is also possible to force the RS485 mode with MC0..MC3 or MD0/SD0 with:

ACC H
SOCL Port_nb
2

Switch from receive to transmit in RS485:

To set the RS485 in the transmit mode

perform the following instructions after the SASI instruction:

ACC H
SOCL Port_nb
0

To set the RS485 in the receive mode

perform the following instructions after the SASI instruction:

ACC L
SOCL Port_nb
0

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PCD Reference Guide SCON

SCON SERIAL CONNECT TO LAN 1

Description Opens or closes a virtual connection to other stations on the SAIA LAN 1.
The 1st operand is channel number.
The 2nd operand is the station number (1-250).
The 3rd operand is the connection state (0 = Close, 1 = Open).

The connection state is written into the Register defined in the SASI instruction by
the MODE assignment (Example: "MODE:SD0,R4000;").

Connection state returned in the register:

Value Description
0 Disconnected
1 Connected
2 Queued
3 Destination busy
4 Destination unknown
6 Remote PLC not connected
10..2500 If the connection was made by a remote PLC the register
contains the number of the PLC multiplied by 10

Consult the SAIA LAN 1 manual for more information.

Usage SCON channel ; Serial channel number 0-3

station ; LAN 1 Station number 1-250
state ; Connection state (0 = close, 1 = open)

Example SCON 0 ; Open connection to Station 100 on

100 ; channel 0
1
Flags The Error (E) flag is set if the channel doesn't exist or has not been correctly
initialised
See Also SASI, Communications instructions

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SCON PCD Reference Guide

SCON OPEN COMMUNICATION CHANNEL (PROFIBUS)

For more informations, consult the "PROFIBUS Manual"

Description Opens or closes a virtual PROFIBUS channel.
Before exchanging information, it is necessary to initialize (open) the virtual
communication channel with the SCON instruction.
The 1st operand is channel number.
The 2nd operand is always 0 (not used).
The 3rd operand is the connection state (0 = Close, 1 = Open).

Usage SCON channel ; PROFIBUS channel number 10-99

0 ;
state ; Connection state (0 = close, 1 = open)

Example SCON 10 ; Open channel 10

0 ;
1
Flags The Error (E) flag is set if the channel doesn't exist.
See Also

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PCD Reference Guide SCONI

SCONI SERIAL CONNECT TO LAN 1 INDIRECT

Description Opens or closes a virtual connection to other stations on the SAIA LAN 1 in
indirect mode.
The 1st operand is channel number or a register containing the channel number.
The 2nd operand is a register containing the station number (1-250).
The 3rd operand is a register containing the connection state (0 = Close, 1 =
Open)

SCONI does not work in indexed and parametrised mode.

The connection state is written into the Register defined in the SASI instruction by
the MODE assignment (Example: "MODE:SD0,R4000;").

Connection state returned in the register:

Value Description
0 Disconnected
1 Connected
2 Queued
3 Destination busy
4 Destination unknown
6 Remote PLC not connected
10..2500 If the connection was made by a remote PLC the register
contains the number of the PLC multiplied by 10

Consult the SAIA LAN 1 manual for more information.

Usage SCONI channel ; Serial channel number 0-3 or R 0-4095

station ; LAN 1 Station number R 0-4095
state ; Connection state R 0-4095

Example SCONI 0 ; Open channel 0

R 100 ; LAN 1 station number in R 100
R 101 ; Connection state in R 101
Flags The Error (E) flag is set if the channel doesn't exist or has not been correctly
initialised
See Also SCON, SASI, Communications instructions

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SCONI PCD Reference Guide

SCONI OPEN COMMUNICATION CHANNEL INDIRECT

(PROFIBUS)

For more informations, consult the "PROFIBUS Manual"

Description Opens or closes a virtual PROFIBUS channel in indirect mode.
Before exchanging information, it is necessary to initialize (open) the virtual
communication channel with the SCON instruction.
The 1st operand is channel number or a register containing the channel number.
The 2nd operand is a register and must always be 0.
The 3rd operand is a register containing the connection state (0 = Close, 1 = Open).

SCONI does not work in indexed and parametrised mode.

Usage SCONI channel ; PROFIBUS channel nb 10-99 or R 0- 4095

station ; R 0- 4095 (always 0)
state ; Connection state R 0- 4095

Example SCONI R 10 ; Open PROFIBUS channel on R 10

R 11 ; Station on R 11 (must be 0)
R 12 ; Connection state on R 12
Flags The Error (E) flag is set if the channel doesn't exist.
See Also SCON

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PCD Reference Guide

9. LAN 2 Instructions
The SAIA LAN2 is a Local Area Network working on the token passing principle
which can interconnect up to 255 stations.

A LAN2 module (PCD6.T1.. or PCD4.M340) is required for each station.

The states of any Inputs, Outputs or Flags, and the values in any Registers, Timers
or Counters, or the status of any CPU can be sent or received via the LAN2.

The LAN2 commands are defined in LAN2 command texts. It is possible to

transfer from any bit element to any other bit element (eg. Inputs to Flags), or
from Timer/Counter to Timer/Counter, or from Register to Register.

IMPORTANT:
The instructions and functionnality described here are valid for version 004 (and
above) of the LAN2.

LAN 2 instructions:

LRXD Receive data via LAN2

LTXD Transmit data via LAN2
LRXS Receive status via LAN2
LTXS Transmit status via LAN2

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Notes PCD Reference Guide

Notes

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PCD Reference Guide LRXD

LRXD RECEIVE DATA VIA LAN2

Description Receives data over the LAN2 from a remote PCD.

The 1st operand is the priority (0 = high, 1 = low). To benefit of the high priority,
the length of the data to transfer must be less than 32 bytes.
The 2nd is the number of a Text containing the address of the remote partner, the
elements of the partner to be read and where they must be copied (own station).
The 3rd operand is the base address of 10 Diagnostic Flags (or Outputs).
The first Diagnostic element is the EXEC flag. It is initially set Low by LRXD,
and remains Low on subsequent executions of the same LRXD instruction, until
the transfer is complete.

When the transfer is complete the EXEC flag is set High. If the LRXD instruction
is executed again, the data transfer is repeated. The state of the EXEC flag is
altered only when the LRXD instruction is executed.

Usage LRXD[X] priority ; 0 = high, 1 = low

text (i) ; Number of text containing command 0-3999
diag ; Diagnostic flags base address F|O 0-8182

Example LRXD 1 ; Low priority transfer

900 ; Text 900 contains the command
F 200 ; Diagnostic Flags F 200-209
Flags Unchanged.
See Also LTXD, LRXS, LTXS, LAN2 Diagnostic Flags, LAN2 Command Texts
Practice After switching on I 1 on the local PCD, inputs 0-7 from the remote PCD station
number 3 are read and transferred to the local PCD to the output 32-39

COB 5
0
STH I 1 ; If Input 1 goes High
DYN F 1
ORL F 100 ; EXEC Flag
CPB H 50 ; Then Call PB 50
ECOB

PB 50
LRXD 1 ; Priority
15 ; Text nb.
F 100 ; EXEC Flag
$LAN
TEXT 15 "3:I0-7:O32-39"
$ENDLAN
EPB

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LTXD PCD Reference Guide

LTXD TRANSMIT DATA VIA LAN2

Description Transfers data over the LAN2 to a remote PCD.

The 1st operand is the priority (0 = high, 1 = low). To benefit of the high priority,
the length of the data to transfer must be less than 32 bytes.
The 2nd is the number of a Text containing the address of the remote partner, the
elements to be transfered and where they must be copied (remote station).
The 3rd operand is the base address of 10 Diagnostic Flags (or Outputs).
The first Diagnostic element is the EXEC flag. It is initially set Low by LTXD, and
remains Low on subsequent executions of the same LTXD instruction, until the
transfer is complete.

When the transfer is complete the EXEC flag is set High. If the LTXD instruction
is executed again, the data transfer is repeated. The state of the EXEC flag is
altered only when the LTXD instruction is executed.

Usage LTXD[X] priority ; 0 = high, 1 = low

text (i) ; Number of text containing command 0-3999
diag ; Diagnostic flags base address F|O 0-8182

Example LTXD 1 ; Low priority transfer

900 ; Text 900 contains the command
F 200 ; Diagnostic Flags F 200-209
Flags Unchanged.
See Also LRXD, LRXS, LTXS, LAN2 Diagnostic Flags, LAN2 Command Texts.
Practice After switching on I 8 on the local PCD, inputs 0-7 are read once and transferred
to the remote PCD station number 3 to the output 40-47

COB 5
0
STH I 8 ; If Input 8 goes High
DYN F 8
ORL F 100 ; EXEC Flag
CPB H 51 ; Then Call PB 51
ECOB

PB 51
LTXD 1 ; Priority
16 ; Text nb.
F 100 ; EXEC Flag
$LAN
TEXT 16 "3:I0-7:O40-47"
$ENDLAN
EPB

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PCD Reference Guide LRXS

LRXS RECEIVE STATUS VIA LAN2

Description Reads the status of a remote PCD into the defined status flags or read the statistics
(traffic control) for its own station.
The status can be:

HALT CPU is halted

RUN CPU is rnning
DIS The station is disconnected from the LAN2
CON The station is conected to the LAN2

The 1st operand is the number of a Text containing the address of the station from
which the status must be read.
The 2nd operand is the base address of 10 Diagnostic Flags (or Outputs).

The first Diagnostic element is the EXEC flag. It is initially set Low by LRXS, and
remains Low on subsequent executions of the same LRXS instruction, until the
transfer is complete.

When the transfer is complete the EXEC flag is set High.

The state of the EXEC flag is altered only when the LRXS instruction is executed.

The LRXS has always high priority.

If the status returned is "disconnected", then only the "Disconnected" Flag is set,
since there was no error.

Usage LRXS[X] text (i) ; Number of Text containing command 0-3999

diag ; Diagnostic flags base address F|O 0-8182

Example LRXS 100 ; Text 100 contains the command

O 32 ; Diagnostic Outputs O 32-41
TEXT 100 "020" ; Read status of station 20
Flags Unchanged.
See Also LTXD, LRXD, LTXS, LAN2 Diagnostic Flags, LAN2 Command Texts

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LTXS PCD Reference Guide

LTXS TRANSMIT STATUS VIA LAN2

Description Changes the status of a remote PCD.

The status can be changed to:

HALT Halt CPU

RUN Run CPU
DIS Disconnect Station from LAN 2
CON Connect Station on LAN 2
TOUT:nnn Set Time Out value
where nnn = Value in 1/10 sec (10..250).

The 1st operand is the number of a Text containing the address of the station
where the status must be changed and the new status.
The 2nd operand is the base address of 10 Diagnostic Flags (or Outputs).

The first Diagnostic element is the EXEC flag. It is initially set Low by LTXS, and
remains Low on subsequent executions of the same LTXS instruction, until the
transfer is complete.

When the transfer is complete the EXEC flag is set High.

The state of the EXEC flag is altered only when the LTXS instruction is executed.

The LTXS has always high priority.

Usage LTXS[X] text (i) ; Number of Text containing command 0-3999

diag ; Diagnostic flags base address F|O 0-8182

Example LTXS 1000 ; Text 1000 contains the command

F 100 ; Diagnostic Flags F 100-109
TEXT 1000 "035:DIS" ; Disconnects station 35
Flags Unchanged.
See Also LRXS, LRXD, LTXD, LAN2 Diagnostic Flags, LAN2 Command Texts

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PCD Reference Guide LAN2 Diagnostic flags

LAN2 Diagnostic flags

For each SAIA LAN2 instruction, one operand gives the base address for the 10
diagnostic elements (Outputs or Flags)

Flag High Status Low Status

0 EXECuted Command executed Command in progress
+1 FAILure Failure No Failure
+2 Local PCD Status Invalid Command Text Command Text Valid
+3 Disconnected Connected
+4 Time Out (Transmission error) No Timeout
+5 Remote PCD Disconnected Connected
Status
+6 Not used Not used
+7 Write protected Write Ok
+8 Halted (CPU 0) Running (CPU 0)
+9 Watchdog (1) LAN2 reconfigurated
(1)
from version V002 (PCD4) and V006 (PCD6)

EXEC Flag:
The first Diagnostic element is the EXECuted flag. While EXEC is Low, it
indicates that the LAN2 instruction is still executing (receiving or transmitting
data). The EXEC flag is initially set Low when a LAN2 instruction is first
executed, and remains Low on subsequent executions of the same instruction,
until the transfer is complete. When the transfer is complete the EXEC flag is set
High.

Programs must be structured so that LAN2 instructions are continuously

executed while the EXEC flag is Low.

If the LAN2 instruction is executed again, the data transfer is repeated. The state
of the EXEC flag is altered ONLY when the LAN2 instruction is executed.

PRIORITY:
The transfer of information in the LAN2 is frame oriented; each frame is 32 bytes
long and therefore can contain 8 R|C|T or 256 I|O|F.

When the station receives the "Token", only one frame is transmitted and the
token goes to the following station. A transfer which is longer than one frame will
be separated in different frames and will always have a low priority (1); if the high
priority is requested flag +2 (Invalid command text) is set and the telegram is not
sent.

A short telegram which is less then a frame can be sent with high priority (0) or
low priority (1). If the priority is high, the frame can be inserted between
successive frames of a long telegram (low priority).

The status telegrams always have high priority (0).

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LAN2 Command texts PCD Reference Guide

LAN2 Command texts

Data transfers (LRXS/LTXS)

The LTXD and LRXD instructions need a command text which defines the data to
be sent or received over the LAN2.
Always use CAPITAL LETTERS in these texts.
FORMAT:
Remote station number : Source media & address list : Destination media & address
li t
Each command text contains the remote station number, the source media type
and address list, and the destination media type and address list. The station
number and source and destination address lists are separated by colons ':'.

The address list can be:

• a range: two addresses separated with a '-'
eg: "I100-200" (Input addresses 100 to 200)
• a list of up to 8 single elements separated by commas
eg: "R100,110,120".
The source and destination lists must match.

NOTE:
Not all combination of source and destination elements are valid (e.g. Flags cannot
be transferred to Registers).
Source Destination Address
O F T C R Range
I

0..8191
O

0..8191
F

0..8191
T

0..450
C

0..1599
R
0..4095

Examples for RECEIVE DATA command (LRXD):

TEXT 100 "015:O64-127:F1000-1063"
This transfers the value of Outputs 64 to 127 from remote PCD station number 15
into Flags 1000 - 1063 of the local PCD.

TEXT 101 "008:T11,13,25:C55,125,1231"

This transfers the contents of Timers 11, 13 and 25 from the remote PCD station
number 8 into Counters 55, 125 and 1231 of the local PCD.

Example for TRANSMIT DATA command (LTXD):

TEXT 75 "000:R11-22:R33-44"
This transfers the contents of Registers 11 to 22 from local PCD into Registers 33
to 44 of the remote PCD station number 0.

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PCD Reference Guide LAN2 Command texts
Indirect addressing

The number of texts used to define transfers via the LAN2 can be reduced by
using indirect addressing: the effective address is determined by the contents of a
register.

Each part of the LAN2 command text (station number, source and destination)
can be indirected with the '@' character.

Indirect addressing of a single element

FORMAT:

@aaaa : @Mbbbb : @Mcccc

Remote station number Source element Destination

element
where: @ indicates indirect addressing.
M Media type (I|O|F|T|C|R)
aaaa Register containing the remote station number
bbbb Register containing the address of the source element
cccc Register containing the address of the destination element

Example:

"@100:@I400:@F600"
The remote station number is in register 100. The Input which address is given by
the register 400 will be transfered to the Flag which address is given by register
600

Indirect addressing of multiple elements:

FORMAT:

@aaaa : @Mbbbb : @xxxx : @Mcccc

Remote station number Source element Length Destination

element

where: @ indicates indirect addressing.

M Media type (I|O|F|T|C|R)
aaaa Register containing the remote station number
bbbb Register containing the address of the first source element
xxxx Register containing the number of elements to transfer
cccc Register containing the address of the first destination element

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LAN2 Command texts PCD Reference Guide

Example:

"@200:@C100-@101:@C500"

The remote station number is in register 200. The first counter address is given by
the contents of register 100, the number of counters to be transfered is in register
101. These counters will be copied to counters starting with the contents of
register 500.

Mixed addressing

The direct and indirect addressing can be mixed in the same command text.

In the mixed addressing: the syntax of the indirect addressing must be

followed.

Example:

"@5:R100-50:@99"

The remote station number is in register 5. 50 Registers are transferred beginning

with Register 100 and are copied starting at the address contained in Register 99.

"25:I0-@55:F1000"

The remote station number is station 25. Inputs between I 0 and the contents of
Register 55 are transferred onto Flags beginning at address 1000.

Remarks about indirect and mixed addressing

As the contents of the registers used in the indirect or mixed addressing can not be
tested by the "Assembler", the user must take care to not go beyond the range of
the addressed elements.

Going beyond the authorized range can have unpredictable results.

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PCD Reference Guide LAN2 Command texts
Transmit Status (LTXS)

The status of a station can be transferred via the LAN2.

FORMAT:
Station number : Command

Station number
0-254 The command is sent to the specified station
255 The command is sent to all stations connected to the
network except the own station
Command
HALT Set all processors for the specified station in HALT User
program is stopped Diagnostic flag 8 is set
RUN Set all processors for the specified station in RUN
CON Set the LAN2 station in connected state. Diagnostic flag
3 or 5 is set low.
DIS Set the LAN2 station in disconnected state. In this case
no instructions are executed and no data is transferred.
Diagnostic flag 3 or 5 is set high
TOUT:NNN This sets the timeout for the specified station NNN is the
number of stations on the network (2-255)

Example of TRANSMIT STATUS text (LTXS):

TEXT 213 "018:HALT"
The status of the Remote station 18 is changed to HALT.

Read Status (LRXS)

The status of a station can be read :

FORMAT:
Station number

The status is returned in the diagnostic flags (Flag 3, 5 or 8)

Example for RECEIVE STATUS text (LRXS):

TEXT 137 "015"
The status of station 15 is read into the status flag:
"Disconnected" EXEC Flag + 5
"Halted" EXEC Flag + 8
The "Failure" flag (EXEC Flag + 1) is not affected.

If the status returned is "disconnected", then only the "Disconnected" Flag is set,
since there was no error.
Note: LAN 2 communication is only complete when the EXEC flag = H
again after executing LRXS

Line traffic control (LRXS)

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LAN2 Command texts PCD Reference Guide

It is possible to check what happens on the SAIA LAN2 network with the LRXS
instruction and a special status text :

FORMAT:
OWN Station number : STAT : Rxxxx

where xxxx is a register number (0-4095)

This command text is used to read the LAN2 transmission/reception statistics into
4 registers starting at register xxxx. This command is useful to diagnose hardware
errors on the network.

Values returned are as follow:

Register Description
xxxx Number of received frames
xxxx + 1 Number of transmitted frames
xxxx + 2 Number of retries (= number of timeouts * 3)
xxxx + 3 Number of rejected messages (= corrupted messages)

Note: During the first communication with a station, the number of retries is
incremented: it means that every communicating station has at least 1
retry. Values in the statistic registers are stored in 16 bits format (max
value is 65535)

Example :

TEXT 123 "100:STAT:R20"

Read statistics of own station 100 and store the values in Registers 20 to 23.

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PCD Reference Guide LAN2 Command texts
Syntax of LAN2 Texts in the source file:

The syntax of LAN2 texts written between the $LAN ($LLAN) and $ENDLAN
($NOLAN, $NOLLAN) directives is checked during assembly. Lower case
characters are also converted to the required upper case.

Futhermore, the Assembler converts the LAN2 texts into binary format, which
makes LAN2 communication faster. The time gained is about 15 ms per
command; this is particulary effective for short telegrams.

Examples:

$LAN
TEXT 0 "2:I0-255:F1000-1255"
TEXT 1 "5:r501-510:r101-110"
TEXT 2 "7:f0-31:o96-127"
TEXT 15 "2:con"
TEXT 37 "15"
$ENDLAN

Note: Binary LAN Texts cannot be displayed or edited from the debugger
because they have a different format.

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LAN2 Command texts PCD Reference Guide

Using Symbols in LAN2 texts:

Symbols can also be used in LAN 2 texts.

The value and optionally the type of the symbol is inserted into the text. The
symbol is written outside the ASCII text segment in double quotes, and must be
separated from this or other symbols by a comma. After the symbol, an optional
field width and prefix type can be given.

Format:
symbol [. [ [-] [0] width] [t | T] ]
symbol The symbol name. This can actually be any expression which
includes a symbol, for example: MotorOn + 100, ... Symbols
with floating point values are not permitted.
. The dot immediately after the symbol indicates that a field
width and/or a prefix is present.
Width The field width: the number of digits or spaces required for the
number. If the width begins with a 0, leading zeros are inserted.
t|T Optional prefix type 't' or 'T'. If 't', the value is prefixed with the
symbol's type in lower case (o, f, r, ...); if 'T', the symbol's type
is in upper case (O, F, R,...)

Examples:

SOURCE EQU R 55
DEST EQU R 66

$LAN
TEXT 25 "8:" , SOURCE.T , ":" , DEST.T
$ENDLAN

This creates the text : "008:R55:R66"

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PCD Reference Guide

10. CONTROL Instructions

These instructions control the execution of the program.

Jumps instructions are causes of errors (infinite loops, ...); these instructions must
therefore be used with care. Jumps will be preferabily used in program blocks or
function blocks rather than in the main program.

GRAFTEC allows you to program without using "jumps".

The operand of these instructions cannot be supplied as a Function Block

parameter.

JR Jump relative
JPD Jump direct
JPI Jump indirect

HALT Halts the CPU

LOCK Lock semaphore

UNLOCK Unlock semaphore

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Notes PCD Reference Guide

Notes

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PCD Reference Guide JR

JR JUMP RELATIVE

Description Conditionally or unconditionally jumps a specified number of program lines

forwards or backwards from the current program line number.

The number of lines that can be jumped is -4095 (backwards) to +4095

(forwards), the program line jumped to is calculated by adding this value to the
number of the program line containing the JR instruction. It is illegal to jump out
of the current block (COB, PB, FB, ST, TR or SB): the destination MUST be in
the current block.
The following conditions codes are valid:
- Unconditionnal jump (condition code blank)
H Jump if Accumulator = H (1)
L Jump if Accumulator = L (0)
P Jump if Positive flag = H (Negative flag = L)
N Jump if Negative flag = H
Z Jump if Zero flag = H
E Jump if Error flag = H
If the condition is not true, the jump is not made; execution continues with the
instruction following JR.

When programming using the Assembler, it is usual to use labels (symbolic names)
for jump destinations. Labels can be any length, but only the first 8 characters are
significant; the labels must always begin with a letter (A..Z).
When using an editor other than SEDIT, it is necessary to put a ':' after each label.

Usage JR [cc] offset ; cc = condition code (H|L|P|N|Z|E)

; offset is the relative number of lines
; to be jumped (-4095.. +4095)

Example JR H -2 ; Jump 2 line above

JR H REPEAT ; Jump to label "REPEAT"
Flags Unchanged
See Also JPD, JPI, LD
Note Well structured programs have no jumps
STH I 15 STH I 15
ANL XBSY ANL XBSY
DYN F 15 CPB H 25
JR H next ….
STXT 1
PB 25
57
STXT 1
….
57
Next: ….
EPB

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JPD PCD Reference Guide

JPD JUMP DIRECT

Description Jumps conditionally or unconditionally to a program line number relative to the

start of the current block (COB, XOB, PB, FB, ST or TR). The destination line
number is always positive, between 0 and the number of lines in the current block
(max 8191 lines). Labels can be used.

The following conditions codes are valid:

- Unconditionnal jump (condition code blank)

H Jump if Accumulator = H (1)
L Jump if Accumulator = L (0)
P Jump if Positive flag = H (Negative flag = L)
N Jump if Negative flag = H
Z Jump if Zero flag = H
E Jump if Error flag = H

If the condition is not true, the jump is not made; execution continues with the
instruction following JPD.

Usage JPD [cc] offset ; cc = condition code (H|L|P|N|Z|E)

; offset is offset from start of block (0..8191)

Example JPD L 10 ; If the ACCU is Low, a jump is made

; to 10th line of the current block.
Flags Unchanged
See Also JR, JPI

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PCD Reference Guide JPI

JPI JUMP INDIRECT

Description Similar to JPD: jumps conditionally or unconditionally to a program line number

relative to the start of the current block (COB, XOB, PB, FB, ST or TR).
The program line number is read from the given Register number (only the least 13
bits are significant). Since this instruction utilises a condition code, the 'R' data
type code is omitted.

The following conditions codes are valid:

- Unconditionnal jump (condition code blank)
H Jump if Accumulator = H
L Jump if Accumulator = L
P Jump if Positive flag = H (Negative flag = L)
N Jump if Negative flag = H
Z Jump if Zero flag = H
E Jump if Error flag = H

If the condition is not true, the jump is not made; execution continues with the
instruction following JPI.

The value of a label can be loaded into a Register using the LD instruction.

Usage JPI [cc] reg ; cc = condition code (H|L|P|N|Z|E)

; reg is the Register number containing
; the offset from the start of the block (0..8191)

Example JPI H 300 ; If the ACCU is High, a jump is made

; to the line of the current block stored in
; Register 300
Flags Unchanged
See Also JR, JPI, LD

Note
Care must be taken that the destination of the jump is not outside of
the current block.

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HALT PCD Reference Guide

HALT HALTS THE CPU

Description Conditionally or unconditionally Halts the CPU. The Halt state is not the same as
the Stop state. After a HALT, the CPU can only be set to Run by a Restart
operation, or by powering the PCD off and on.

If the condition is not true, the HALT is not made; execution continues with the
following instruction.

NOTE: After a HALT of CPU 0, a Restart Cold can be executed only on all
CPUs. The status of the outputs after the HALT is defined by the hardware
configuration (jumpers).

The following conditions codes are valid:

- Unconditionnal jump (condition code blank)

H Jump if Accumulator = H (1)
L Jump if Accumulator = L (0)
P Jump if Positive flag = H (Negative flag = L)
N Jump if Negative flag = H
Z Jump if Zero flag = H
E Jump if Error flag = H

Usage HALT [cc] ; cc = condition code: H|L|P|N|Z|E

Example HALT E ; Halts if the Error (E) flag is set

Flags Unchanged
See Also User's Guide
Practice In case of Error, stops the PCD and memorise in register some diagnostic
informations

XOB 13
DIAG R 1000
HALT
EXOB

WARNING

The HALT instruction should mainly be used during the commissioning

phase. It should only be used in a completed application program with the
utmost care !

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PCD Reference Guide LOCK

LOCK LOCK SEMAPHORE

Description LOCK in conjunction with UNLOCK, is used to prevent access conflicts when
several CPUs read or write the same elements. 100 Semaphores (special flags) are
available (0-99). The LOCK instruction checks the Semaphore. If it is High
(another CPU has executed a LOCK), then the ACCU is set Low. If it is Low, the
ACCU and the Semaphore are set High.

It is the programmers responsibility to ensure that the CPU does not reference an
element if the associated Semaphore is High (ACCU = L (0) after LOCK).

The UNLOCK instruction clears the Semaphore. An UNLOCK instruction MUST

quickly follow a LOCK instruction so that no CPU is blocked from accessing an
element for too long.

Usage LOCK semaphore ; Semaphore 0-99

Example LOCK 1 ; If Semaphore 1 is low (data is not being

CFB H 100 ; accessed by another CPU), then call FB 100.
; Semaphore 1 is used to protect data accessed
Flags ACCU set High/Low
See Also UNLOCK
Practice see UNLOCK

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UNLOCK PCD Reference Guide

UNLOCK UNLOCK SEMAPHORE

Description UNLOCK in conjunction with LOCK, is used to prevent access conflicts when
several CPUs read or write the same elements. 100 Semaphores (special flags) are
available (0-99). The UNLOCK instruction clears the Semaphore.

Usage UNLOCK semaphore ; Semaphore 0-99

Example UNLOCK 1 ; Semaphore 1 is set Low

Flags Unchanged.
See Also LOCK
A PCD is equipped with two CPUs. CPU 0 compares the contents of 2 registers
Practice
while CPU1 transfers BCD information into one of these two registers.

CPU 0 CPU 1
… …
LOCK 1 LOCK 1
CFB H 10 CFB H 100
…. ….
FB 10 FB 100
CMP R 88 DIGI 2
R 89 I 16
UNLOCK 1 R 88
EFB DIGI 2
I 24
R 89
UNLOCK 1
EFB

The use of semaphore 1 ensures that CPU 0 never compares the two registers
while CPU 1 is executing the DIGI instructions, and is altering the contents of the
registers. If CPU 0 were to compare the registers at the same moment that CPU 1
was updating them, it might compare a new value with an old one. Semaphore 1
also prevents CPU1 executing the DIGI instructions until CPU 0 has finished the
CMP instruction.

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PCD Reference Guide

11. DEFINITION Instructions

These instructions are executed on power up, and are executed ONCE only.
If an instruction is executed again it is ignored.

Normally these instructions will be placed in the start-up XOB 16.

The operand of these instructions cannot be supplied as a Function Block

parameter.

DEFVM Define volatile memory (Flags)

DEFTC Define Timers/Counters
DEFTB Define timebase
DEFTR Define Timer Resolution
DEFWPH Define write protected area (Halt)
DEFWPR Define write protected area (Run)

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Notes PCD Reference Guide

Notes

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PCD Reference Guide DEFVM

DEFVM DEFINE VOLATILE MEMORY (Flags)

Description Defines the area of Flags which are to be non-volatile (battery backed-up).
Non-volatile Flags retain their values even after power to the PCD is lost.
Volatile Flags are all set to 0 on power-up of the PCD. All Flags ABOVE the Flag
indicated in the operand are defined as being non-volatile.

If the instruction is not used, ALL Flags are non-volatile by default.

This instruction is executed by CPU 0 only.

Usage DEFVM flag ; 0-8190, vol/non-vol Flag partition

Example DEFVM 200 ; Flags 0 - 199 are volatile,

; 200 - 8191 are non-volatile
Flags Unchanged.
See Also DEFTC, DEFTB, DEFWPR, DEFWPH
Practice Assume that Flags 0..200 must be declared to be volatile

XOB 16 ; Cold start XOB

DEFVM 200 ; Flags 200..8191 are non-volatile

....
EXOB

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DEFTC PCD Reference Guide

DEFTC DEFINE TIMER/COUNTERS

Description Defines the number of Timers for the PCD. Timers and Counters occupy the same
addressing space. All elements BELOW the operand value are Timers, all the
others are Counters.

If the instruction is not used, the default is:

Timers: 0 - 31
Counters: 32 - 1599.

NOTE: Do not define more Timers than are actually required by the program.
The handling of each Timer affects the program execution speed. The
maximum number of Timers allowed is 450.

This instruction is executed by CPU 0 only.

Usage DEFTC ctr ; Lower limit for Counters (0-450)

Example DEFTC 64 ; Timers 0-63, Counters 64-1599

Flags Unchanged.
See Also DEFTB, DEFTR, DEFVM, DEFWPR, DEFWPH
Practice Assume that 100 Timers are necessary for an application

XOB 16 ; Cold start XOB

DEFTC 100 ; 0..99 are Timers

; 100..1599 are counters
....
EXOB

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PCD Reference Guide DEFTB

DEFTB DEFINE TIMEBASE

Description Defines the timebase for the decrementing of the Timers. The operand indicates the
timebase in 10's of milliseconds. Values of 1 to 1000 are valid (10 ms to 10 sec).

If the timebase is not defined (no DEFTB), the default is 100 ms (1/10 sec).

DEFTB is processed by CPU 0 only.

For the other CPUs, DEFTB defines the timebase for the internal timers used by
the delayed instructions SETD and RESD. Therefore, the internal timers of CPU 0
always have the same timebase as the user Timers; the timebase of the internal
timers of the other CPUs may differ from that of the user Timers.

Note: care should be taken when defining a low timebase (eg. 10 ms) and a
large number of timers (the handling of a large amount of Timers can
slow down the program execution speed).

Usage DEFTB timebase ; time base in 10's of milliseconds (1- 1000)

Example DEFTB 100 ; Timebase = 1 sec (100 * 10ms)

Flags Unchanged.
See Also DEFVM, DEFTC, DEFWPR, DEFWPH,SETD, RESD
Practice Assume that for a slow process, the minimal temporisation is 1 sec.

XOB 16 ; Cold start XOB

DEFTB 100 ; Time base is 100 * 10 ms = 1000 ms

....
EXOB

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DEFTR PCD Reference Guide

DEFTR DEFINE TIMER RESOLUTION

Description Defines the resolution of decrementation of the Timers in milliseconds. For

example, if a "DEFTR 100" is specified, all non-zero Timers will be decremented
by 100 every 100 ms. A "DEFTR 1000" will decrement all Timers by 1000 every
1000ms and so on. If DEFTR and DEFTB are used in the same program , the
message “DOUBLE TIME BASE” will appear in the History List and the CPU
will automatically put itself in "HALT" upon a restart cold or on powerup.

The advantage of the DEFTR instruction (over the DEFTB) is that the values you
specify when using timers are independant of the timebase or resolution and
always introduced in multiple of 10 ms. For the DEFTR instrcution to have an
influence on the Timers it must be programmed in CPU0. The DEFTR instruction
allows a maximum timer resolution of 10ms which means that the value specified
in the instructions is rounded if necessary .

Example: DEFTR 25: a time base of 20 ms will be set (25 rounded down to 20).
The DEFTR instruction, as with the DEFTB instruction, also acts on the
instructions SETD, RESD and OUTD. If the DEFTR instruction is present in the
user program then the time base of these instructions is fixed to 10ms independent
of the specified value by DEFTR

Usage DEFTR resolution ; resolution ≥ 10 ms

Example DEFTR 100 ; Timer resolution = 100 msec

Flags Unchanged.
See Also DEFTB
Practice The output 20 will be set 150ms (15 * 10ms) after the instruction has been
executed.

XOB 16
DEFTR 200
…
EXOB

COB 0
0
….
SETD O 20
15
…
ECO

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PCD Reference Guide DEFWPR

DEFWPR DEFINE WRITE PROTECTED AREA (RUN)

Description Defines which elements are to be protected from being overwritten by the LAN2.

DEFWPR defines elements to be write protected when the CPU is in Run

(DEFWPH defines elements to be write protected when the CPU has Halted or
stopped).

In both instructions, the operand defines the element type and the top end of the
range to be protected. Elements addressed from 0 up to this value are write
protected. The instructions must be executed once for each element type to be
protected: O, F, T, C, R. If all element types are to be protected, DEFWPR must
be executed five times.

If the instructions are not present, NO elements are write protected in the RUN
state.

This instruction is executed by CPU 0 only.

Usage DEFWPR adds ; O 0-8191, F 0-8191, T 0-450, C 0-1599, R 0-4095

Example DEFWPR F 999 ; Flags 0-999 are write protected (RUN)

; and therefore can not be overwritten by
; another LAN2 station
Flags Unchanged.
See Also DEFWPH, DEFTC, DEFTB, DEFVM, LAN2
In an application using a LAN 2, 1000 local flags and 500 registers must be
Practice
protected from being written by another station when the CPU is in RUN.

XOB 16 ; Cold start XOB

DEFWPR F 999 ; Protected Flags 0..999

DEFWPR R 499 ; Protected Registers 0..499
....
EXOB

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DEFWPH PCD Reference Guide

DEFWPH DEFINE WRITE PROTECTED AREA (HALT)

Description Defines which elements are to be protected from being written to by the LAN2.

DEFWPH defines elements to be write protected when the CPU has Halted
(DEFWPR defines elements to be write protected if the CPU is in Run).

In both instructions, the operand defines the element type and the top end of the
range to be protected. Elements addressed from 0 up to this value are write
protected. The instructions must be executed once for each element type to be
protected: O, F, T, C, R.

If all element types are to be protected, DEFWPH must be executed five times. If
the instructions are not present, NO elements are write protected in the Halt state.

This instruction is executed by CPU 0 only.

Usage DEFWPH adds ; O 0-8191, F 0-8191, T 0-450, C 0-1599, R 0-4095

Example DEFWPH C 79 ; Timers and Counters 0-79 are write protected (in
Halt state)
Flags Unchanged.
See Also DEFWPR, DEFTC, DEFTB, DEFVM, LAN2
Practice In an application using a LAN 2, 1000 local flags and 500 registers must be
protected from being written by another station when the CPU is in RUN
and in HALT.

XOB 16 ; Cold start XOB

; Define protection when CPU is in RUN

DEFWPR F 999 ; Protected Flags 0..999
DEFWPR R 499 ; Protected Registers 0..499

; Define protection when CPU is in HALT

DEFWPH F 999 ; Protected Flags 0..999
DEFWPH R 499 ; Protected Registers 0..499
....
EXOB

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PCD Reference Guide

12. SPECIAL Instructions

NOP No operation

RTIME Read time

WTIME Write time

PID P.I.D. control

TEST Test hardware

DIAG Read XOB diagnostic

SYSRD System Read

SYSWR System Write
SYSCMP System Compare

The following instructions must no longer be used but are maintained for
compatibility reason:

ALGI Analogue input

ALGO Analogue output

These two instructions works only with the analogue card PCA2.W1x. To
read or write values to analogue cards PCD2, PCD4 and PCD6, consult the
appropriate hardware manual.

STHS Start high slow

OUTS Out slow

These instructions were used for accessing slow I/O modules such as the
PCA2.W2x / W3x.

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Notes PCD Reference Guide

Notes

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PCD Reference Guide NOP

NOP NO OPERATION

Description Do-nothing instruction.

Used for patching out other instructions, or for leaving space in the code for future
additions or modifications.

Usage NOP ; Has no operand

Example NOP ; Does nothing

Flags Unchanged.

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RTIME PCD Reference Guide

RTIME READ TIME

Description Reads the contents of the internal hardware clock into two Registers. The first
Register is specified in the instruction. After the RTIME instruction, the Registers
are set as follows:
Digit number 9 8 7 6 5 4 3 2 1 0
Register 0 0 0 0 Hour Hour Min Min Sec Sec
Register + 1 0 Week Week Wday Year Year Month Month Day Day

Week Week number 1..53

Wday Day of week number 1..7 (Monday = 1, Sunday = 7)
Year Year 0..99
Month Month of year 1..12
Day Day of month 1..28/29/30/31 (month dependent)
Hour Hour 0..23
Min Minute 0..59
Sec Second 0..59
The register data is stored in binary, NOT in BCD, but can be moved or output in
BCD using the DIGO instruction.

Usage RTIME reg ; Register number R 0-4095

Example RTIME R 10 ; Clock is copied into Registers 10 and 11

Flags Unchanged.
See Also WTIME, DIGO
Practice After switching on Input 3, the actual minutes of the clock should be displayed in
BCD-format on outputs 32-39

32 33 34 35 36 37 38 39
Minutes (BCD)
80 40 20 10 8 4 2 1

PB 25
COB 0 RTIME R 20
0 MOV R 20
STH I 3 D 2
DYN F 3 R 99
CPB H 25 D 0
... MOV R 20
ECOB D 3
R 99
D 1
DIGOR 2
R 99
O 32
EPB

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PCD Reference Guide WTIME

WTIME WRITE TIME

Description Writes the contents of two Registers to the internal hardware clock. The first of
the two Registers is specified in the instruction. The format of the Register
contents is as for the RTIME instruction:

BCD values can be loaded into the Registers from Flags etc. using the DIGI
instruction.

Usage WTIME reg ; Source Register R 0-4095

Example WTIME R 500 ; Loads the clock from Registers 500 and 501
Flags Unchanged.
See Also RTIME, DIGI
Practice After switching on Input 4, the hours of the clock should be set on a new value.
The new value is to be read from the BCD switches on inputs 16-23.

16 17 18 19 20 21 22 23
Hours (BCD)
80 40 20 10 8 4 2 1

PB 26
COB 0 RTIME R 200
0 DIGIR 2
STH I 4 I 16
DYN F 4 R 199
CPB H 26 MOV R 199
... D 0
ECOB R 200
D 4
MOV R 199
D 1
R 200
D 5
WTIME R 200
EPB

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PID PCD Reference Guide

PID PID CONTROL ALGORITHM

Description Implements a PID algorithm, using data defined in a 13-Register block.

Register Usage Symbol

+0 New Result Yn * size is 'm' bits
+1 Previous Result Yn - 1 *
+2 New Controlled Variable Xn w size is 'm' bits
+3 Prev. Controlled Variable Xn - 1 *
+4 Reference Variable Wn w size is 'm' bits
+5 Prev. Set point Variable Wn - 1 *
+6 Proportional Factor Fp w * 256
+7 Integral Factor Fi w * 256
+8 Derivative Factor Fd w * 256
+9 Dead Range Dr w
+10 Cold Start Y Ys w Starting value for Yn
+11 Precision in bits m w m = 8, 12 or 16 bits
+12 Workspace Zs *
* These values are handled by the PID instruction.
w These values must be written into the register by the user program.

Usage PID reg ; reg is the lowest address of 13 Registers

; (R 0-4083)

Example PID R 1000 ; Uses R 1000-1012 for the PID control data
Flags Unchanged
Practice A typical PID control loop Start
must consist of the
following:
Read Fp, Fi, Fd, W, X, Zs
PID instruction for Cold start

Read the reference (W), the Dr para-

meters and the controlled value (X).

PID instruction

Output of the result (Y) on an

analogue output

Wait for sampling time (To)

Fp, Fi, Fd No
modified ?

Yes

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PCD Reference Guide PID

Process
W Y
PID

New Result Yn:

This is the actual result to control the process determined by the system program
from the following equation with Zs = Zs + (Wn - Xn):

Yn = Fp ∗{ (Wn − Xn) + Fi ∗ Zs + Fd ∗[(Wn − Wn − 1) − ( Xn − Xn − 1)] }

256 256 256
If the result exceeds the declared precision in bits, it will be limited to its
maximum value (m bits) or, in case of a negative result, it will be set to 0.

Previous Result Yn-1:

This is the old result determined in the previous operation.

Controlled Variable Xn:

The controlled variable Xn is read from the process and written to the register
(R+2) by the user program.
The controlled variable should be maximum 'm' bits

Previous Controlled Variable Xn-1:

This is the old controlled variable used in the previous arithmetic operation.

Reference Wn:
The reference (setpoint) is written to the register (R+4) by the user program. The
reference should be maximum 'm' bits.

Previous Reference Wn-1:

This is the old reference used in the previous arithmetic operation.

Proportional Factor FP:

This factor determines the proportional (amplification) characteristic of the
regulator and is written to the register (R+6) by the user program.
When calculating, only the 16 lower bits are used (0..65535)
The Proportional factor is determined as follows:
1
Fp = ∗ 256 with Xp: Proportional band
Xp
Note: To enter a proportional band of 5 %, the Fp factor must be set to:
(1 / 0.05) * 256 = 5120

A cold start of the PID must be executed after a modification of Fp or Fi

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PID PCD Reference Guide

Integral Factor Fi:

This factor determines the integral characteristic of the regulator and is written to
the register (R+7) by the user program.
When calculating, only the 16 lower bits are used (0..65535)
The Integral factor is determined as follow:
T0
Fi = ∗256 with T0: sampling time of the PID instruction
Ti T : integral time
i

A cold start of the PID must be executed after a modification of Fp or Fi

Derivative Factor Fd:

This factor determines the derivative characteristic of the regulator and is written
to the register (R+8) by the user program.
When calculating, only the 16 lower bits are used (0..65535)
The Derivative factor is determined as follow:
Td
Fd = ∗256 with T0: sampling time of the PID instruction
T0 T : derivative time
d

Dead Range Dr:

The dead range defines the range in which the variations of the controlled
variable may occur without causing a modification of the Result variable (Yn).

Cold Start YS:

This value is used as starting value for Yn by the system program. As soon as the
user program writes a value other than 0 to the cold start register, a cold start
calculation is made: Yn = Ys
Yn-1 = Ys
Zs = [(Ys * 256/Fp) - (Wn - Xn)] *256/Fi
Wn-1 = Wn
Xn-1 = Xn

The value of Ys is automatically reset to 0 by the system program after being used
once and will not be used again.

For a Cold Start with an output value of 0, the Ys register must be set to -1.

When Fi = 0, the Yn value can not be initialised with a Cold Start. A Cold Start is
however recommended to initialise the workspace register. In this case, the Ys
value is ignored, the Zs register is set to 0 and Yn take the value of the proportional
part of the algorythm.

Note: Changing from manual to automatic control is a typical application of

a cold start calculation. In order to achieve a smooth transition, Ys
may be set equal to the currently output variable (Yn).

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PCD Reference Guide PID

Resolution m:
The maximum values of X, W, Yn and Ys are determinated by the resolution.
If m= 8: 8 bits are used (0..255)
If m= 12: 12 bits are used (0..4095)
If m= 16: 16 bits are used (0..65535)
The resolution is mostly defined by the analog module used for the Result variable
output. If the resolution for the input and output are not the same, the Yn value
must be adapted after the PID instruction.

Sampling Time:
The sampling time To must be done outside the PID instruction with a timer.
In practice: To ≈ 0,1 time constant of the process (To must be at least 80 ms)

Calculation capacity:
The workspace register Zs has a maximum capacity of 231.
When using 16 bits values (m = 16), an overflow can occur; in this case the PID
will not work properly.
To avoid this problem, the factor Fp must be ≥ 2 if m = 16 (There is no problem
when m = 8 or 12).

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TEST PCD Reference Guide

TEST TEST HARDWARE

Description Conditionally or unconditionally tests selected hardware of the PCD.

If any test fails, the test is aborted, and the ACCU is set Low (0).
If all the selected tests pass, the ACCU is set High (1).

Individual tests are selected as follows:

Value Bit number Test Description

11
400 10 Public Memory Loss
200 9 Memory Extention Corruption
100 8 System RAM Memory
7
40 6 System Firmware Checksum
20 5 Serial Channels
10 4 Real Time Clock
3
4 2 User Program/Text Checksum
2 1 User Program/Text RAM
1 0 Public RAM (F, T, C, R, Mailbox)

For every bit set, the corresponding test is done. Tests 0 and 5 are executed if the
tested CPU is the only one in Run; if any other CPUs are running, these tests are
NOT performed.

Note: Some of the tests are very slow, and should not be done during normal
operation of the PCD, run the tests on startup or during an idling period.

The operand cannot be supplied as a Function Block parameter.

Usage TEST [cc] number ; cc = condition code (H|L|P|N|Z|E)

; number = number which defines the tests

Example TEST 50 ; Unconditionally tests System Firmware Checksum (40)

; + Real Time Clock (10)
TEST L 4 ; If ACCU = L (0), then verify checksum of user
program/text
Flags ACCU set High (1) if all tests pass, Low (0) if any test fails.

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PCD Reference Guide TEST
Public RAM Test (Value = 1)
Tests the RAM which contains the F/R/T/C’s with a save-write-read-compare-
restore operation.
This test is not performed if another CPU is in RUN in a multiprocessor
environment.
ACCU Error Flag Description
0 1 Another CPU was in RUN
0 0 A Public RAM error was detected
1 x Public RAM is OK

User Program/Text RAM Test (Value = 2)

Tests the RAM which contains the program/text with a save-write-read-compare-
restore operation.
If the memory is not RAM or if the RAM is write-protected, then the User
Program/Text Checksum test is performed.
ACCU Error Flag Description
0 1 Program Header invalid
0 0 RAM is faulty
1 0 RAM is OK

User Program/Text ChecksumTest (Value = 4)

Calculates the sum of the whole Program + Text area and compares it with the
checksum disposed in the header.
ACCU Error Flag Description
0 1 Program Header invalid
0 0 Checksum is not OK
1 0 Checksum is OK

Real Time Clock Test (Value = 10)

Checks the existence of the RTC and tests if it is incrementing correctly.
Any other CPU accessing the RTC at the same time as this test is performing will
be blocked by up to 15 ms.
ACCU Error Flag Description
0 1 RTC does not exist
0 0 RTC is faulty
1 0 RTC is OK

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TEST PCD Reference Guide

Serial Channels Test (Value = 20)

Test the serial channels by initialising the port to local loopback mode and then
transmitting a test pattern and verifying the reception of the same pattern.
If any of the serial channels is assigned, this test is not performed.
ACCU Error Flag Description
0 1 One of the serial port is assigned
0 0 Port is not OK
1 0 Serial channels are OK

System Firmware Checksum Test (Value = 40)

The firmware system EPROMs are checked
ACCU Error Flag Description
0 0 Checksum is invalid
1 0 Cheksum is OK

System RAM Memory Test (Value = 100)

The system RAMs are checked
ACCU Error Flag Description
0 0 Checksum is invalid
1 0 Cheksum is OK

Memory Extension Corruption Test (Value = 200)

The memory extension is tested during startup and if there is a corruption it is
indicated here by using an internal flag.
ACCU Error Flag Description
0 0 Memory extension was corrupted
1 0 No corruption has occured

Public Memory Loss Test (Value = 400)

If the test pattern stored in the mailbox is not valid when it is tested during the
startup routine then it is assumed that the Public RAM has been corrupted during
power down due to the battery discharching..
ACCU Error Flag Description
0 0 Public Memory was corrupted
1 0 No corruption has occured

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PCD Reference Guide DIAG

DIAG READ XOB DIAGNOSTIC

Description Fills a 12-Register block with diagnostic information relating to the last or the
present Exception Organisation Block (XOB) executed. The operand is the lowest
Register number of the block of 12 Registers. DIAG is normally used within an
XOB.

Register block usage:

Register.
0 XOB Number Number of last or present XOB
+1 Program Line Program Line when XOB was
called
+2 Index Register Value of Index Register when
called
+3 COB Program Line Program Line of Level 0 call
+4 Nesting Level 1 Program Line Program Line of Level 1 call
+5 Nesting Level 2 Program Line Program Line of Level 2 call
+6 Nesting Level 3 Program Line Program Line of Level 3 call
+7 Nesting Level 4 Program Line Program Line of Level 4 call
+8 Nesting Level 5 Program Line Program Line of Level 5 call
+9 Nesting Level 6 Program Line Program Line of Level 6 call
+10 Nesting Level 7 Program Line Program Line of Level 7 call
+11 Not Used Reserved

The program line numbers of the block calls (Nesting level information) give the
program line where the previous call (CFB, CPB, etc) took place. From these, it
can be established exactly where the program was when the XOB was executed.

Note: The most important information are provided by register R and R+1

The operand cannot be supplied as a Function Block parameter.

Usage DIAG reg ; R 0-4084, lowest address of 12 Registers

Example DIAG R 1000 ; Stores diagnostic information in Registers 1000-1011

Flags
See Also User's Guide
Practice The address of the line where an error occurs must be printed.

XOB 13
DIAG
R 1000
STXT 1
100
TEXT 100 "$D $ H :"
" Error Flag set at address $R1001 <CR><LF>"
EXOB

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SYSRD PCD Reference Guide

SYSRD SYSTEM READ

Description Read the PCD system parameters like: PCD Device type, CPU type, Firmware
version, User program name, S-Bus parameters, …

Usage SYSRD Function ; Function code, K code, R 0..4095

Result ; Result of the read, R 0..4095

Function
K x or R x: Constant or register containing a function code. This
instruction can either be direct, by using a constant for the
function code or indirect by using a register. It permits the
user to have access to useful system information via the
user program.
Result
R 0..4095 Register containing the result or first of 2 registers (see
code 5400) or first of a set of registers (see codes 65xx)
Example SYSRD K 5000 ; Read the PCD type in ASCII
R 20 ; and put the result in R 20
Flags If the function code does not exist, the Error flag is set.
See Also SYSWR

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PCD Reference Guide SYSRD
Function codes
Code Function description Result
Read User EEPROM Value contained in the EEPROM
2000 Register 0
2001 Register 1
2002 Register 2 PCD1
2003 Register 3 other
2004 Register 4 PCD
2005 Register 5
¦ Register nn
2049 Register 49
5000 Read Device type in ASCII ASCII Dec Type
5010 in decimal " D1" 1 PCD1
" D2" 2 PCD2
" D4” 4 PCD4
" D6” 6 PCD6
5100 Read own CPU type in ASCII ASCII Dec Type
5110 in decimal " M1_" 10 PCD1.M1
" M1_" 10 PCD2.M12
" M15" 15 PCD2.M15
" M11" 11 PCD4.M11
" M12" 12 PCD4.M12
" M14" 14 PCD4.M14
" M24" 24 PCD4.M24
" M34" 34 PCD4.M34
" M44" 44 PCD4.M44
" M1_" 10 PCD6.M1
" M2_" 20 PCD6.M2
" M3_" 30 PCD6.M3
" M54" 54 PCD6.M5
5200 Read own Firmware version Examples of valid responses:
in ASCII " $4C", " 004", " X41"

5210 in dec Ex: 5 dec for Version 005

-1 dec for any '$', 'X', 'β'
5400 Read User program name R x contains the upper 4 bytes of
in ASCII the program name in ASCII
The user program name always R x+1 contains the lower 4 bytes
contains 8 ASCII characters of the program name in
ASCII
6000 Read S-Bus station number Example of result:
2 station number = 2
-1 station number not configured
6010 Read S-Bus PGU TN delay
6020 Read S-Bus PGU TS delay Example of result:
10 Delay in mS
-1 S-Bus not configured
6030 Read S-Bus PGU timeout

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SYSRD PCD Reference Guide

Code Function description Result

6040 Read S-Bus PGU baudrate Example of result:
9600 bps
-1 S-Bus not configured
6050 Read S-Bus PGU mode Status Dec
BREAK without modems 0
PARITY without modems 1
DATA without modem 2
BREAK with modems 10
PARITY with modems 11
DATA with modem 12
S-Bus not configured -1
6060 Read S-Bus PGU port number Example of result:
1 S-Bus PGU port configured on
port 1
-1 S-Bus not configured
6070 Read S-Bus level Status Dec
S-Bus Level 1 (reduced) 1
S-Bus Level 2 (full) 2
S-Bus not configured -1
6080 Read current PGU owner CPU 0 0
(S-Bus or P8 protocol) CPU 1 1
6100 Read modem status byte
Reads the current status of the modem connection. This information tells
the user at what stage the modem is at in the initialisation procedure.
Results:
2 PCD waiting for modem connection.
6 .. 39 PCD initialising the modem.
40 Reassign serial port for mode SS1/SS0.
45..49 Connection to modem has been lost. This is an intermediate status
before the modem in reinitialised.
50 Everything is OK and PCD is online in mode SS0/1.
6500 Read modem type string .
6510 Read modem reset string
6520 Read modem initialisation string
Read the specified modem string from the user program extended header
into the block of registers starting with base address R x
7000 Read system counter 0.. 2 147 483 647
A internal System Counter is incremented every millisecond.
This System Counter is reset to 0 at power up, so a "Restart Cold" , for
instance, doesn’t affect it.
The period of the System Counter is exactly:
24 days 20 hours 31 min 23 sec 647 ms
For an example see the SYSCMP instruction.

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PCD Reference Guide SYSRD
Read real time

It is possible to read each value separately depending on function code. The return
value is in decimal format. The function codes are between 7050 and 7090. The
function code 7090 allows to know the number of seconds elapsed since midnight
(00:00:00), 01/01/1970, co-ordinated universal time, according to the system
clock.

Function code table:

Function code: For:

7050 Seconds
7051 Minutes
7052 Hours
7053 Minutes and seconds
7054 Hours and minutes
7055 Hours, minutes and seconds
7060 Day
7061 Month
7062 Year (< 100)
7063 Month and day
7064 Year and month
7065 Year, month and day
7070 Day of week
7071 Week of year
7072 Week of year and day of week
7081 Time and date (on two registers)
7090 Seconds elaped since 1970

Examples:

1) SYSRD 7055 ; Read hours, minutes and seconds

R 0

Result: R 0: 120203

2) SYSRD 7081 ; Read time and date

R 0

Result: R 0: 120203 R 1: 991130

Notice:
When the user takes a function code between 7050 and 7090 which is not in this
table, XOB 13 is called and the error flag is set.

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SYSWR PCD Reference Guide

SYSWR SYSTEM WRITE

Description This is the complement to SYSRD and it allows modification of system

information or initialisation of system functions via the user program

Usage SYSWR Function ; Function code, K code, R 0..4095

Value ; Value to write

Function
K x or R x: Constant or register containing a function code. This
instruction can either be direct, by using a constant for the
function code or indirect by using a register. It permits the
user to have access to useful system information via the
user program.
Value
Ky Value to be written
R 0..4095 Register containing the value to be written
Example SYSWD K 4014 ; Initialize the XOB 14 with a frequency
K 10 ; of 10 ms
Flags If the function code does not exist, the Error flag is set.
See Also SYSRD

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PCD Reference Guide SYSWR

Code Function description

1000 System Watchdog (PCD1 and PCD2 only)
Permitted values of K y or R y:
0 Disactivate WDOG
1 Activate WDOG and make a restart cold if not refreshed within 200 ms
2 Activate WDOG and call XOB 0 before making a restart cold if not
refreshed within 200 ms.
Once the watchdog is activated the instruction must be repeated
continually within 200 ms intervals.
A watchdog XOB 0 is distinguished from the power down XOB 0 from the
initial error massage written into the history list. When the WDOG is
provoked the message "XOB0 WDOG START" is written into the history
list, for a powerdown XOB 0 the message is "XOB 0 START EXEC".
2000 Write EEPROM (not on all PCD)
2001 The PCD is equipped with an EEPROM of max. 49 user registers which
2002 are written in the following way :
2003 Function code (2000 - 2049) indicates EEPROM register 0 .. 49.
2004 Permitted values of K y or R y:
2005 PCD1: max. 5 registers (0 .. 5)
¦ Other PCD: max. 49 registers (0 .. 49)
¦ R y: Source register containing value to be written into EEPROM.
¦ Warning: A maximum of 100,000 user writes is permitted on the
2049 EEPROM so do not execute this instruction frequently in your
user program. The SYSWR instruction takes 20mS to execute
so it is should not be used in XOB 0. This instruction should be
used to configure values for initialisation of systems.
4000 Set XOB overflow limit
The XOBs 14/15/17/18/19/20/25 all work using a queuing mechanism. If
an XOB is active then the pending XOB is placed in a queue which has a
maximum size of 127 entries per XOB. If this limit is surpassed then XOB
7 is called and the queue is cleared.
The error message 'SYSTEM OVERLOAD' is written into the History list.
This limit of 127 entries can sometimes be too large for real time
applications so it is now possible to define a user limit with this instruction.
This limit is common to all XOBs which can be queued.

Permitted values of R y or K y: 0 .. 127

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SYSWR PCD Reference Guide

Code Function description

4005 Enable/disable XOB 5 / 13
4013 Enable or disable the XOBs 5 or 13. In some cases, execution of these
XOBs immediatley after they have been provoked, complicates the
execution of the user program. For this reason, it is now possible to disable
these XOBs. If an XOB is provoked one or more times whilst it is disabled
then it will be called once upon being reenabled.

Function code: 4005 XOB 5

4013 XOB 13

Permitted values of R y or K y:
0 Disable the XOB
1 Enable the XOB
2 Clears the Error Flag in the current COB and in the active
XOB (For K 4013 only)
4014 Install XOB 14 /15
4015 Configure periodic XOB with the frequency defined in Ky or Ry.
It is possible to configure two periodic XOBs with a frequency from 5 ms
to 1000s.
The value in Ky or Ry is given in ms, if it is zero then the XOB is
deactivated. This instruction can be executed at any time. If an XOB is
already being executed when an XOB becomes pending then it will be
queued until a time when there is no XOB active and it can be executed.
The XOBs are only executed if the CPU is in RUN or CONDITIONAL
RUN.

Function code 4014 Configure XOB 14

4015 Configure XOB 15

Permitted values of R y or K y: 5 .. 1 000 000

4017 Execute XOB 17 /18 / 19
4018 Execute the XOB specified in R x or K x on the CPU specified in K y or
4019 R y.
The XOBs 17/18/19 are user XOBs which can be provoked via S-BUS or
the user program. The XOBs are only executed if the CPU is in RUN or
CONDITIONAL RUN.

Function code : 4017 Execute XOB 17

4018 Execute XOB 18
4019 Execute XOB 19

Permitted values of R y or K y:
0 .. 6 CPU on which XOB will be provoked
7 Provoke XOB on own CPU
8 Provoke XOB on all CPUs.

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PCD Reference Guide SYSWR

Code Function description

6000 Write S-Bus station number
Change the S-Bus station number to the value held in K y or R y.
This instruction will work for user program in EPROM and in RAM.
Permitted values of K y or R y: 0 .. 254
7000 FFP-IEEE Conversion
Convert between FFP (Fast Floating Point format) and IEEE format for
floating point values. The FFP standard is used by ALL Floating Point
instructions in SAIA PCDs. Once a value is converted to IEEE format no
floating point operations can be carried out on the value.

Function code 7000 FFP to IEEE format

7001 IEEE to FFP format
Permitted values of R y: R y contains the value to be converted. The result
is stored in the same register.

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SYSWR PCD Reference Guide

Write real time

It is possible to write each value separately depending on function code and each
value is on 2 digits, for example: 12h, 2 min and 3 sec, it will be written 120203.
The function codes are between 7050 and 7081 as showing the following table.

Function code table:

Function code: For:

7050 Seconds
7051 Minutes
7052 Hours
7053 Minutes and seconds
7054 Hours and minutes
7055 Hours, minutes and seconds
7060 Day
7061 Month
7062 Year (< 100)
7063 Month and day
7064 Year and month
7065 Year, month and day
7081 Time and date (on two registers)

Examples:

1) LD R 0
120203

SYSWR 7055 ; Write hours, minutes and seconds

R 0

2) LD R 0
120203
LD R 1
991130

SYSWR 7081 ; Write time and date

R 0

Notice:
When the user takes a function code between 7050 and 7081 which is not in this
table, XOB 13 is called and the error flag set.

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PCD Reference Guide SYSCMP

SYSCMP SYSTEM COMPARE

Description The SYSCMP instruction is able to transform any register into a pseudo Timer.
It’s task is to compare the sum of the first and second operands to the System
Counter and set the ACCU according to the result.

If the result of the addition is greater than the System Counter, the ACCU is set
High (1). If the result of the addition is smaller than or equal to the System
Counter, then the ACCU is set Low (0).

The advantage of this instruction coupled to the instruction SYSRD K 7000 is that
it is now possible to have Timers with a resolution of 1 ms. We also can measure
the time between two events to a resolution of 1ms

Usage SYSCMP Rx ; R 0..4095

K y or R y ; K 0..16383 or R 0..4095

Example SYSCMP R 100 ; Compare contents of Register 100 + 1500

K 1500 ; to System Counter and set ACCU accordingly

SYSCMP R 100 ; Compare content of R100 + R101

R 101 ; to System Counter and set ACCU accordingly
Flags ACCU
See Also SYSRD
Practice Programming a high resolution Timer (1ms) with SYSRD and SYSCMP
This example shows how to program a high resolution Timer (1ms) with the
instruction SYSRD and SYSCMP.

COB 0
0
…
LD R 100 ; Load the time to wait in ms (1500)
K 1500 ; in R 100

SYSRD K 7000 ; Read the System Counter in R 101

R 101

wait: SYSCMP R 101 ; Compare System Counter to R100 + R101

R 100 ; and set ACCU accordingly
JR H wait ; If ACCU = High (1) then loop
…
ECOB

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ALGI PCD Reference Guide

ALGI ANALOGUE INPUT

Description Reads a 12-bit value from a PCA2.W1x analogue module, and stores it in the
specified Register.
The 1st operand contains both the A/D channel number (0-7) and the base address
of the module.
The 2nd operand is the destination Register number.

If the first operand is supplied as an FB parameter, both the A/D channel number
and the base address must be supplied on the same line.

Usage ALGI[X] c base ; c = channel 0-7, base = 0-8176

register (i) ; Destination register R 0-4095

Example ALGI 2 64 ; Reads analogue value from channel 2, at

R 10 ; module base address 64 and saves in R 10
Flags The Zero (Z) and Sign (P or N) flags are set according to the value read.
The Error (E) flag is always set Low.
See Also ALGO
Note This instruction cannot be used for PCD4.Wxxx and PCD6.Wxxx modules (see
the respective hardware manuals).

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PCD Reference Guide ALGO

ALGO ANALOGUE OUTPUT

Description Outputs a 12-bit binary value from the specified Register to a PCA2.W1x
analogue module.
The 1st operand is the Register to be output.
The 2nd operand contains both the D/A channel number, and the base address of
the module.

If the second operand is supplied as an FB parameter, both the D/A channel

number and the base address must be supplied on the same line.

Usage ALGO[X] register (i) ; Source register R 0-4095

c base ; c = channel 0-3, base = 0-8176

Example ALGO R 100 ; Outputs the value in R 100

3 128 ; to channel 3 of module at base address 128
Flags Unchanged
See Also ALGI
Note This instruction cannot be used for PCD4.Wxxx and PCD6.Wxxx modules (see
the respective hardware manuals).

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STHS PCD Reference Guide

STHS START HIGH SLOW

Description The ACCU is set to the logical state of the addressed element, usually an Input.
This is the same as the STH instruction, except that the timing on the PCD I/O bus
is slightly slower, and it is therefore suitable for slow I/O modules. Program
execution speed is not significantly affected.

Use this instruction to access Analogue modules PCA2.W2x/W3x.

Usage STHS[X] element (i) ; I 0-8191, O 0-8191, F 0-8191

Example STHS I 25
Flags The ACCU is set to the logical state of the specified element
See Also OUTS, STH, Bit instructions

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PCD Reference Guide OUTS

OUTS SET ELEMENT FROM ACCUMULATOR SLOW

Description The specified element, usually an Output, is set to the state of the ACCU. This is
the same as the OUT instruction, except that the timing on the PCD I/O bus is
slightly slower, and it is therefore suitable for slow I/O modules. The program
execution speed is not significantly affected.

Use this instruction to access Analogue modules PCA2.W2x/W3x

Usage OUTS[X] element (i) ; I 0-8191, O 0-8191, F 0-8191

Example OUTS O 32
Flags The ACCU is set to the logical state of the specified element.
See Also OUT, OUTD, STHS
Practice The analogue value of channel 0 from a PCA2.W2x (base address 96) must be
read and stored in Register 100.

After the conversion is made with the OUTS instruction, 8 binary bits can be read
starting from the module base address + 8 (=104)

COB 0
0
...
ACC H ; Be sure that ACCU is High
OUTS 96 ; Select analog channel
... ; Wait ± 100 ms *)
CPB RD_VAL ; Call RD_VAL program block
....
ECOB

PB RD_VAL
BITIR 8 ; Read 8 bits binary in reversed order
I 104 ; from address 104 .. 111
R 100 ; into Register 100
EPB

*) The analogue module PCA2.W2x has a conversion time of ≤ 100 ms. This
wait function can be done by inserting a number of consecutive NOP
instructions. (The number of NOPs is depending from the CPU type).

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 PCD Reference Guide

Notes:

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PCD Reference Guide History list

13. History list

The following is a detailed description of all the errors that can be reported in the
HISTORY LIST or the HALT REASON REGISTER. Whenever an error is
detected in the CPU, a message is stored in the HISTORY LIST which can be
viewed from the PG3 debugger with the command "Display History".

Errors which provokes an XOB (if programmed)

Message HALT XOB System *) Meaning

XOB START EXEC N 0 All XOB 0 has been started
XOB 0 EXECUTED N 0 All XOB 0 has been completed during a
power down
XOB 0 WDOG START N 0 1 The system watchdog has been
activated
EXTERN PWR FAIL N 1 2, 5, 6 Extension rack power failure
PARITY FAILURE N 4 5, 6 PCD6 Backplane error
SYSTEM OVERLOAD N 7 All The queuing mechanism for the level
3 XOBs has overloaded.
ILLEGAL OPCODE N 8 All Executes XOB 8 then makes a restart
cold after an invalid instruction has
been detected
>32 ST/TR ACTIVE N 9 All Too many active GRAFTEC tasks
>7 CALL LEVELS N 10 All PB/FB nesting depth overflow

The following errors have a fixed entry in the history table with an error counter

Message HALT XOB System Meaning

BATT FAIL 000 N 2 2, 4, 5, 6 The Battery has discharged
IO QUIT FAIL 000 N 5 4, 5, 6 An I/O location has been accessed
which is not equipped
IR OVERFLOW 000 N 12 2, 4, 5, 6 Index Register incremented beyond
8191
ERROR FLAG 000 N 13 2, 4, 5, 6 Error flag set

*) System: 1: PCD1
2: PCD2
4: PCD4
5: PCD6.M540
6: PCD6.M1.., M2.., M3..

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System Startup Errors

All the following errors are detected on POWER-UP of the PCD

Message HALT System Meaning

RTC FAILURE Y All Real Time Clock is detected but
is not working correctly
DUART HW ERROR Y All One of the DUARTs is defective
CHECKSUM FAIL Y All User Program EPROM
checksum fail
BAD TXT/DB TABLE Y All Caused by an unsuccessful
'make text table' in the startup
TXT/DB HW ERROR Y All Caused by an unsuccessful
'make text table' in the startup
BAD MEM EXT INIT Y All Caused by an unsuccessful
'make text table' for memory
extension in the startup
USR MEM HW ERROR Y 6 Caused by unsuccessful 'user
program test' in the startup
CPU SYNCH ERROR Y 6 Caused if the time-out of the 2nd
CPU
CPU FIRMWARE MIX Y 4, 6 Multiple CPU system equipped
with incompatible versions

Serious System Errors

These errors are written into the HALT REASON register which is read by the
PG3 Debugger when a HALT is detected. They can occur on POWER-UP or
when the PCD is in RUN.

Message HALT System Meaning

BUS QUIT FAILURE Y All FW has attempted to access non-
existent address
68K INVALID OPC Y All A invalid 68000 assembly
instruction has been executed
68K ADDR ERROR Y All Attempted to access an odd
address
ZERO DIVIDE Y All Internal system FW error
68K CHK INSTR Y All …
68K TRAPV INSTR Y All …
PRIVILEGE VIOL Y All …
TRACE Y All …
ILLEGAL AUTO VEC Y All …
INTERRUPT ERROR Y All …
RESERVE INT Y All …

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Programming or Configuration Error Messages

The following errors will be detected on POWER-UP of the PCD

Message HALT System Meaning

EVERYTHING IS OK N All Normal power up message
MODIFIED PROGRAM N All User Program has been modified
by PG3 Debugger. Only
indicated when user program is
write protected.
CPU NUMBER > 6 Y 6 The CPU number set at the DIL
switch is invalid
CPU 0 START FAIL Y 4, 5, 6 CPU 1-6 only : No CPU can be
put in run without a program in
CPU 0
INIT-FAILURE Y All More than 32 GRAFTEC Initial
steps have been defined
HEADER FAIL Y All USER PROGRAM header is
corrupted
NO PROGRAM Y All CPU has no program to execute
MEM-EXT CORRUPT Y All The memory extension in RAM
has been corrupted
INVALID OPCODE Y All Invalid IL (AWL) instruction has
been downloaded into the CPU
MEDIA CORRUPTION Y/N All Caused by battery failure
DOUBLE TIME BASE Y All DEFTB and DEFTR instructions
in same program
BAD MODEM STRING Y 1 Modem string in EEPROM too
long

The following errors will be detected whilst the PCD is in RUN, those which put
the PCD in HALT will also write the message in the HALT REASON

Message HALT System Meaning

BLOC NONEXISTENT Y All Call to missing PB, FB, SB, ST,
TR executed
HALTED BY LAN-2 Y 4, 6 The LAN-2 coprocessor has put
the PCD in HALT
LAN-2 WATCHDOG N 4, 6 The LAN-2 FW watchdog has
been activated
HALT INSTRUCTION Y All A HALT user instruction has
been executed
MANUAL HALT Y 4, 5, 6 CPU has been halted by the
HALT switch
HALTED BY CPU 0 Y 4, 6 The Coprocessor(s) have been
halted by CPU 0
SBUS-PGU ERROR N All Invalid assignation of S-BUS
PGU on a port

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Notes

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