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Name

Unit memory number (HEX)

Axis 1 Axis 2 Axis 3 Axis 4 Virtual axis

Warning code annunciation

buffer 4

UM001C8

UM001C9

UM001D8

UM001D9

UM001E8

UM001E9

UM001F8

UM001F9

UM00238

UM00239

Warning code annunciation

buffer 5

UM001CA

UM001CB

UM001DA

UM001DB

UM001EA

UM001EB

UM001FA

UM001FB

UM0023A

UM0023B

Warning code annunciation

buffer 6

UM001CC

UM001CD

UM001DC

UM001DD

UM001EC

UM001ED

UM001FC

UM001FD

UM0023C

UM0023D

Warning code annunciation

buffer 7

UM001CE

UM001CF

UM001DE

UM001DF

UM001EE

UM001EF

UM001FE

UM001FF

UM0023E

UM0023F

13.14 PERRD (Acquiring Error/Warning in the Positioning Unit)

WUME-FP7CPUPGR-12 13-25

Table of Contents7
List of Instructions19
List of Basic Instructions20
List of High-Level Instructions26
Overview of Instructions53
Structure of Instructions55
Structural Patterns of Basic Instructions55
Structural Patterns of High-Level Instructions56
Operation Unit62
Operation Device List64
Specification of Device Numbers67
Explanations about Relays69
External Input69
Y External Output69
R Internal Relay70
SR System Relay71
T Timer71
C Counter72
L Link Relay72
P Pulse Relay74
E Error Alarm Relay75
IN Direct Input77
OT Direct Output77
Dt*.N Data Register (Bit Specification)78
Ld*.N Link Register (Bit Specification)78
Description of the Memory Area79
DT Data Register79
Dt*.N Data Register (Bit Specification)80
LD Link Register80
Ld*.N Link Register (Bit Specification)81
UM Unit Memory82
SD System Data Register82
Wx, Wy, Wr, Wl83
Wi, wo84
TS, CS Timer/ Counter Setting Value Register85
TE, CE Timer/Counter Elapsed Value Register87
I0 to IE Index Registers88
Explanation of Constants93
K Signed Decimal Constant93
U Unsigned Decimal Constant93
H Hexadecimal Constant94
SF Single-Precision Floating Point Real Number Constant95
DF Double-Precision Floating Point Real Number Constant96
Character Constant97
Global Devices and Local Devices98
Range of Data that Can be Handled in the PLC99
Overflow and Underflow101
Basic Instructions105
St, St/, Ot (Start, Start Not, Out)107
An, An/ (And, and Not)109
Or, Or/ (Or, or Not)110
ST↑, ST↓ (Leading and Trailing Contact Instructions)112
AN↑, AN↓ (Leading and Trailing Contact Instructions)113
OR↑, OR↓ (Leading and Trailing Contact Instructions)114
(Not)115
DF, DF/ (Leading Edge Differential, Trailing Edge Differential), DFI (Leading Edge Differential (Initial Execution Type))116
ANS (and Stack)122
ORS (or Stack)124
PSHS (Push Stack), RDS (Read Stack), POPS (Pop Stack)126
Nop130
OT, ↓OT (Leading, Trailing Edge Out)131
KP (Keep)133
SET, RST (Set, Reset)135
ALT (Alternate Out)138
TM (Timer)140
TM16 (16-Bit Timer)150
SPTM (Unsigned 32-Bit Incremental Auxiliary Timer)153
CT (down Counter)157
CT16 (16-Bit Counter)167
UDC (Up/Down Counter)170
SR (Shift Register)173
LRSR (Left/Right Shift Register)177
MC (Master Control Relay), MCE (Master Control Relay End)180
JP/LBL (Jump/Label)185
LOOP, LBL (LOOP, Label)191
ED (End)195
EDPB (End Program Block)196
CNDE (Conditional End)197
Eject198
SSTP (Start Step) / NSTL (Next Step) / CSTP (Clear Step) / STPE (Step End)199
ZRST (Clear Multiple Processes)209
Common Information for Subroutine Instructions211
SBL (Subroutine Label), RET (Subroutine Return)213
CALL (Local Subroutine Call), FCALL (Output off Type Local Subroutine Call)215
ECALL (Subroutine Call (with PB No. Specification))217
Efcall219
Specification))219
INTPG (Unit Interruption Program Start), IRET221
Program End)221
DI (CPU Interruption Disable), EI (CPU Interruption Enable)226
IMASK (Unit Interruption Disable/Enable Setting)227
ICLR (Unit Interruption Clear)229
STARTPG (Pbn Execution Start), STOPPG (Pbn Execution Stop)231
GPB (Global PB Number Setting)234
COMOUT (Comment Out) / ENDCOM(Comment out End)236
ST=, ST<>, ST>, ST>=, ST<, ST<= (Data Comparison: Start)237
AN=, AN<>, AN>, AN>=, AN<, AN<= (Data Comparison: AND)240
OR=, OR<>, OR>, OR>=, OR<, OR<= (Data Comparison (OR))243
High-Level Instructions(Data Comparison)247
CMP (Data Compare)248
WIN (Band Compare)252
BCMP (Block Comparison)255
High-Level Instructions (Data Transfer)259
MV (Data Transfer)260
MV/ (Inversion and Transfer)262
MV2 (2 Data Transfer)264
MV3 (3 Data Transfer)266
BKMV (Block Transfer)268
COPY (Block Copy)271
BTM (Bit Block Transfer)274
DGT (Digit Data Transfer)276
RST (Reset)280
ZRST (Block Clear)282
BKEXT (16-Bit Data Sign-Extended Block Transfer)284
BKMV16 (Block Transfer (32-Bit Data to 16-Bit Data))286
XCH (Data Exchange)288
SWAP (Exchange of High Bytes and Low Bytes)290
BSWAP (High /Low Byte in N Block Exchange)292
LCWT (Specified PB Local Device Write)294
LCRD (Specified PB Local Device Read)296
PUSHIX (Index Register Backup)300
POPIX (Index Register Recovery)302
ADD (Addition)306
SUB (Subtraction)308
MUL (Multiplication)310
MLCLIP (Saturation Multiplication)313
DIV (Division)315
DIVMOD (Division (with a Remainder))317
DIVFP2 (Division (FP2 Compatible))319
INC (Increment)322
DEC (Decrement)324
BCDADD (BCD Data Addition)326
BCDSUB (BCD Data Subtraction)328
BCDMUL (BCD Data Multiplication)330
BCDDIV (BCD Data Division)332
BCDINC (BCD Data Increment)334
BCDDEC (BCD Data Decrement)336
AND (Logical Conjunction)338
OR (Logical Disjunction)340
XOR (Exclusive OR)342
XNR (Exclusive NOR)344
COMB (Combination)346
High-Level Instructions (Data Conversion)349
INV (Data Inversion)350
NEG (Sign Inversion)352
ABS (Absolute Value)354
EXT (Sign Extension)356
BCD (Conversion: BCD Data)358
BIN (Conversion: BCD → BIN)360
DECO (Decoding)362
SEGT (7-Segment Decoding)365
ENCO (Encoding)368
UNIT (Digit Unification)371
DIST (Digit Disintegration)373
BUNI (Byte Data Unification)375
BDIS (Byte Data Disintegration)377
GRY (Conversion: Binary → Gray Code)379
GBIN (Conversion: Gray Code → BIN)382
COLM (Conversion: Bit Line → Bit Column)384
LINE (Conversion: Bit Column → Bit Line)386
SHR (Right Shift for N Bits)390
SHL (Left Shift for N Bits)392
BSR (Right Shift for N Digits)394
BSL (Left Shift for N Digits)396
BITR (Right Shift of Multiple Devices for N Bits)398
BITL (Left Shift of Multiple Devices for N Bits)400
WSHR (Right Shift of Block Area for N Words)402
WSHL (Left Shift of Block Area for N Words)404
WBSR (Right Shift of Block Area for N Digits)406
WBSL (Left Shift of Block Area for N Digits)408
ROR (Right Rotation of Data)410
ROL (Left Rotation of Data)412
RCR (Right Rotation of Data with Carry-Flag Data)414
RCL (Left Rotation of Data with Carry-Flag Data)416
CMPR (Data Table Shift-Out and Compress)418
CMPW (Data Table Shift-In and Compress)420
DEFBUF (Buffer Definition)422
FIFR (Data Read (First-In-First-Out))425
BUFW (Data Write)428
LIFR (Data Read (Last-In-First-Out))430
DEFRBUF (Ring Buffer Definition)433
RBUFW (Write to Ring Buffer, Calculation of Total Value and Moving Average Value)435
High-Level Instructions (Bit Manipulation)439
BTS (16-Bit Data Specified Bit Set)440
BTR (16-Bit Data Specified Bit Reset)442
BTI (Bit Inversion)444
BTT (Bit Test)446
STC (Carry-Flag Set)448
CLC (Carry-Flag Reset)449
High-Level Instruction (Data Processing Control)451
SRC (Data Search)452
BCU (on Bits Count)455
MAX (Acquiring the Maximum Value)457
MIN (Acquiring the Minimum Value)463
MEAN (Acquiring the Total and the Mean Value)469
SORT (Sort)474
SCAL (Linearization)477
STDDEV (Acquiring the Variance and Standard Deviation)480
EVENTC (Instruction to Count the Number of Events)483
EVENTT (Instruction to Count the Time of Events)486
PID (PID Operation)489
EZPID (PID Operation: PWM Output Available)495
DTR (Data Revision Detection)505
RAMP (Ramp Output)507
LIMT (Upper and Lower Limit Control)509
BAND (Deadband Control)512
ZONE (Zone Control)514
FILTR (Time Constant Processing)517
High-Level Instructions (Real Number)521
SIN (Sine Operation)523
COS (Cosine Operation)525
TAN (Tangent Operation)527
ASIN (Arcsine Operation)529
ACOS (Arccosine Operation)531
ATAN (Arctangent Operation)533
ATAN2 (Conversion: Coordinate Data → Angle Radian)535
SINH (Hyperbolic Sine Operation)537
COSH (Hyperbolic Cosine Operation)539
TANH (Hyperbolic Tangent Operation)541
EXP (Exponential Operation)543
LN (Natural Logarithmic Operation)545
LOG (Common Logarithmic Operation)547
PWR (Power Operation)549
SQR (Square Root Operation)551
RAD (Conversion: Degrees → Radian)553
DEG (Conversion: Radian → Degrees)555
FINT (Floating Point Real Number Data - Rounding the First Decimal Point Down)557
FRINT (Floating Point Real Number Data - Rounding the First Decimal Point Off)559
FNEG (Floating Point Real Number Data - Sign Changes (Negative/Positive Conversion))561
FABS (Floating Point Real Number Data - Absolute Value)563
STOD (Conversion: Single-Precision Real Number Data → Double-Precision Real Number)565
DTOS (Conversion: Double-Precision Real Number Data → Single-Precision Real Number)567
DISF (Separation of Mantissa and Exponent of Single-Precision or Double-Precision Real Number Data)569
UNIF (Combining of Mantissa and Exponent, and Conversion of Single-Precision or Double-Precision Real Number)572
FLT (Conversion: Integer → Floating Point Real Number Data)575
DFLT (Conversion: Integer → Double-Precision Real Number Data)578
INT (Conversion: Floating Point Real Number Data → Integer (Round Down))581
DINT (Conversion: Double-Precision Real Number Data → Integer (Round Down))584
FIX (Conversion: Floating Point Real Number Data → Integer (Round Decimal Digits))588
DFIX (Conversion: Double-Precision Real Number Data → Integer (Round Decimal Digits))591
ROFF (Conversion: Floating Point Real Number Data → Integer (Round to the Nearest Unit))595
DROFF (Conversion: Double-Precision Real Number → Integer (Round to the Nearest Unit))598
High-Level Instructions (Time)603
HMSS (Conversion: Time Data (Hours, Minutes and Seconds) → Seconds Data)604
SHMS (Conversion: Seconds Data → Time Data (Hours, Minutes and Seconds))606
CADD (Clock Addition)608
CSUB (Clock Subtraction)610
TMSEC (Calculation: Clock Data → Seconds Data from the Base Time)612
SECTM (Calculation: Seconds Data from the Base Time → Clock Data)614
TIMEWT (Setting of Clock/Calendar)616
SUMMER (Daylight Saving Time Acquisition)618
High-Level Instructions (Special)623
LOGST (Logging Trace Start Request)624
LOGED (Logging Trace Stop Request)626
SMPL (Sampling Trace)628
OPHST (Operation History Start Request)630
OPHED (Operation History End Request)631
OPHCLR (Operation History Clearing)632
OPHSAVE (Operation History Save to SD Card)633
ERR (Self-Diagnostic Error Code Set)635
WDTRES (Watchdog Timer Reset)637
SCOPY (System Area Copy)638
GETSTNO (Acquiring Starting Word Number of Specified Slot)640
POSSET (Setting of Positioning Starting Table)641
PSTRD (Acquiring Axis Status)643
PERRD (Acquiring Error/Warning in the Positioning Unit)645
UCLR (Error/Warning Clear)648
High-Level Instructions (Strings)651
BCC (Block Check Code Calculation)653
CRC (CRC Code Calculation)656
HEXA (Conversion: HEX → Hexadecimal ASCII)660
AHEX (Conversion: Hexadecimal ASCII → HEX)663
BCDA (Conversion: BCD → Decimal ASCII)666
ABCD (Conversion: Decimal ASCII → BCD)669
BINA (Conversion: bin → Decimal ASCII)673
ABIN (Conversion: Decimal ASCII → BIN)676
BTOA (Conversion: bin → ASCII)680
ACHK (ASCII Data Check)694
ATOB (Conversion: ASCII → BIN)696
SSET (Conversion: Character Constant → ASCII Code)710
PRINT (Text Creation)714
PRINT/EPRINT Instruction Shared Conversion Form Table720
Timestr (Date and Time Character String Conversion)725
SCMP (String Compare)731
SADD (String Addition)733
LEN (Obtainment of String Length)735
LENGTH (Search String Length (Terminating NULL))737
SSRC (String Search)739
RIGHT (Takeout of the Right Side of a String)742
LEFT (Takeout of the Left Side of a String)744
MIDR (Data Read from a Given Position in the String)746
MIDW (Rewrite from a Given Position in the String)748
SREP (Replacement of a String)751
ESSET (Conversion: Character Constant → ASCII Code: with Storage Area Size)754
EPRINT (Text Creation: with Storage Area Size)757
Etimestr (Date and Time Character String Conversion: with Storage Area Size)765
ESCMP (String Compare: with Storage Area Size)769
ESADD (String Addition: with Storage Area Size)772
ELEN (Obtainment of String Length: with Storage Area Size)774
ESSRC (String Search: with Storage Area Size)776
ERIGHT (Takeout of the Right Side of a String: with Storage Area Size)780
ELEFT (Takeout of the Left Side of a String: with Storage Area Size)783
EMIDR (Data Read from a Given Position in the String: with Storage Area Size)786
EMIDW (Rewrite from a Given Position in the String: with Storage Area Size)789
ESREP (Replacement of a String: with Storage Area Size)792
High-Level Instructions (Communication)795
UNITSEL (Specification of a Communication Unit Slot Port)796
GPTRNS / Pgpsend /GPSEND (General-Purpose Communication Send Instruction)798
GPRECV (General-Purpose Communication Receive Instruction)809
SEND (MEWTOCOL Master / MODBUS Master)815
RECV (MEWTOCOL Master / MODBUS Master)823
SEND (MODBUS Master: Function Code Specification)831
RECV (MODBUS Master: Function Code Specification)838
PMSET / Ppmset (Change of SCU Parameters)845
PMGET (Acquiring SCU Parameters)852
CONFIG (Change Configuration)859
High-Level Instructions (Multi-Wire Link Communication)861
SEND (When FP7 Multi-Wire Link Unit Is Used)862
RECV (When FP7 Multi-Wire Link Unit Is Used)866
PMGET (Acquiring MEWNET-W Parameters)870
PMGET (Acquiring MEWNET-W2 Parameters)874
PMGET (Acquiring MEWNET-F Parameters)878
PMSET / Ppmset (Change of MEWNET-W Parameters)880
PMSET / Ppmset (Change of MEWNET-W2 Parameters)883
ERR (When FP7 Multi-Wire Link Unit Is Used)887
High-Level Instructions (Ethernet Communication)889
RDET (ET-LAN Status Read)891
ETSTAT (Acquiring Ethernet Unit Information: Ip/Mac/Destination)893
ETSTAT (Acquiring Ethernet Unit Information: FTP/HTTP/SMTP)903
Ipv4Set (IP Address Setting)911
Ppingreq (PING Request)916
CONSET (User Connection Setting)920
OPEN (Connection Open)927
CLOSE (Connection Close)929
Ntpcsv (NTP Destination Server Setting Instruction)931
Pntpcreq (Time Adjustment Request Instruction)935
Ftpcsv (FTP Client Connected Server Setting)940
Ftpcset (FTP Client Transfer Setting)947
Ftpclog (FTP Client Logging/Trace Transfer Setting)957
Ftpcreq (FTP Client Transfer Request)961
Ftpcctl (FTP Client Transfer Control)965
Httpcsv (HTTP Client Connected Server Setting)969
Httpcset (HTTP Client Transfer Setting)975
Httpcreq (HTTP Client Transfer Request)982
Httpcctl (HTTP Client Transfer Control)986
Smtpcbdy (Mail Text Setting)990
Smtpcbrd (Mail Text Read)993
Smtpcsv (Mail Server Setting)996
Smtpcadd (Destination Group Setting)1003
Smtpcset (Mail Transmission Setting)1008
Smtpclog (Logging/Trace Mail Setting)1018
Smtpcreq (Mail Send Request)1023
Smtpcctl (Mail Transmission Control)1027
ETSTAT (Acquiring Ethernet/Ip Information)1030
EIPNDST (Ethernet/Ip Node Status Acquisition Instruction)1036
EIPMSATT (EIP Message Send Destination Setting)1040
EIPMBODY (EIP Message Body Setting)1043
EIPMSEND (EIP Message Send)1046
CIPMSET [CIP Message Data Setting (Merging)]1050
CIPMGET (CIP Message Data Getting)1056
EIPSTART (Cyclic Communication Start Request)1068
EIPSTOP (Cyclic Communication Stop Request)1071
EIP_IN (Ethernet/Ip Input Refresh)1074
EIP_OT (Ethernet/Ip Output Refresh)1079
SEND (MC Protocol Master)1083
RECV (MC Protocol Master)1089
High-Level Instructions (SD Memory Card)1095
CDTWT (Operation Memory File Write in bin Format)1096
CDTRD (Data Read from bin Format File to Operation Memory)1098
CWT (File Data Write Instruction)1100
CRD (File Data Read Instruction)1113
CMKDIR (Directory Creation)1124
CRMDIR/CRMDIRFL (Directory Deletion)1127
CFDEL (File Delete)1130
CPR (ASCII Data Write to File)1132
CRD1 (One Line Read from File)1136
CREN (File Rename)1142
CCOPY (File Copy)1144
CMV (File Move)1147
CFREE (Acquiring SD Memory Card Free Space)1150
CFREEK (Acquiring SD Memory Card Free Space)1152
CFLS (Acquiring File Status)1154
Panasd (Panasonic SD Memory Card Lifetime Information Read)18-631157
Precautions for Programming1161
Common Precautions1162
Clock and Time Data1163
Data Table for String Instructions1165
Floating Point Real Number Operation1166
Changing Timer/Counter Set Value in the RUN Mode1167
Method to Rewrite a Constant in a Program1167
Method to Rewrite a Value in the Set Value Area1168
Method 1: Use the Tool Software FPWIN GR71168
Method 2: Using a Program (High-Level Instruction)1169
Use of Duplicate Output1171
Rise Detection Method1174
Precautions for Programming1179
Common Precautions for SD Memory Card Access Instructions1181
Ethernet Function: IP Addresses1184
Ethernet Function: I/O Allocation1186
Appendix1189
List of System Relays1190
List of System Data Registers1197
Error Codes Table1205
ASCII Code Table, JIS8 Code Table1211

Brand	Panasonic
Model	FP7 Series
Category	Controller
Language	English

Panasonic FP7 Series Command Reference Manual

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