Built-in PLC Commands
Contact Commands
|
Command |
Description |
Icon |
|
LD |
Logical result bit is subjected to a logical AND operation with the OP1 bit and stored as the logical result bit. |
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|
Parameters |
||
|
OP1 |
Bit to be checked. |
bool |
|
OP2 |
- |
- |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
LD.N |
The logical result bit is subjected to a logical AND operation with the inverted state of the OP1 bit and stored as the logical result bit. |
|
|
Parameters |
||
|
OP1 |
Bit to be checked. |
bool |
|
OP2 |
- |
- |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
LD.RE |
The logical result bit is subjected to a logical AND operation with the rising edge of the OP1 bit and stored as the logical result bit. |
|
|
Parameters |
||
|
OP1 |
Bit to be checked. |
bool |
|
OP2 |
- |
- |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
LD.FE |
The logical result bit is subjected to a logical AND operation with the falling edge of the OP1 bit and stored as the logical result bit. |
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|
Parameters |
||
|
OP1 |
Bit to be checked. |
bool |
|
OP2 |
- |
- |
|
OP3 |
- |
- |
Coil Commands
|
Command |
Description |
Icon |
|
ST |
Copies the logical result bit to OP1. |
|
|
Parameters |
||
|
OP1 |
The address of the bit to which the logical result bit will be copied. |
bool |
|
OP2 |
- |
- |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
ST.N |
Copies the inverted logical result bit to OP1. |
|
|
Parameters |
||
|
OP1 |
The address of the bit to which the inverted logical result bit will be copied. |
bool |
|
OP2 |
- |
- |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
SET |
If the logical result bit is '1', sets the OP1 bit to '1'. |
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|
Parameters |
||
|
OP1 |
The address of the bit to be set (changed to '1'). |
bool |
|
OP2 |
- |
- |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
RESET |
If the logical result bit is '1', sets the OP1 bit to '0'. |
|
|
Parameters |
||
|
OP1 |
The address of the bit to be reset (changed to '0'). |
bool |
|
OP2 |
- |
- |
|
OP3 |
- |
- |
Comparison Commands (16 bits)
|
Command |
Description |
Icon |
|
EQ |
Checks if OP1 is equal to OP2. |
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|
Parameters |
||
|
OP1 |
First value for the comparison operation. |
Int16/Constant |
|
OP2 |
Second value for the comparison operation. |
Int16/Constant |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
NE |
Checks if OP1 is not equal to OP2. |
|
|
Parameters |
||
|
OP1 |
First value for the comparison operation. |
Int16/Constant |
|
OP2 |
Second value for the comparison operation. |
Int16/Constant |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
GT |
Checks if the value of OP1 is greater than the value of OP2. |
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|
Parameters |
||
|
OP1 |
First value for the comparison operation. |
Int16/Constant |
|
OP2 |
Second value for the comparison operation. |
IInt16/Constant |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
GE |
Checks if the value of OP1 is greater than or equal to the value of OP2. |
|
|
Parameters |
||
|
OP1 |
First value for the comparison operation. |
Int16/Constant |
|
OP2 |
Second value for the comparison operation. |
Int16/Constant |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
LT |
Checks if the value of OP1 is less than the value of OP2. |
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|
Parameters |
||
|
OP1 |
First value for the comparison operation. |
Int16/Constant |
|
OP2 |
Second value for the comparison operation. |
Int16/Constant |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
LE |
Checks if the value of OP1 is less than or equal to the value of OP2. |
|
|
Parameters |
||
|
OP1 |
First value for the comparison operation. |
Int16/Constant |
|
OP2 |
Second value for the comparison operation. |
Int16/Constant |
|
OP3 |
- |
- |
Comparison Commands (32 bits)
|
Command |
Description |
Icon |
|
EQ.D |
Checks if OP1 is equal to OP2. |
|
|
Parameters |
||
|
OP1 |
First value for the comparison operation. |
Int32Constant |
|
OP2 |
Second value for the comparison operation. |
Int32Constant |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
NE.D |
Checks if OP1 is not equal to OP2. |
|
|
Parameters |
||
|
OP1 |
First value for the comparison operation. |
Int32Constant |
|
OP2 |
Second value for the comparison operation. |
Int32Constant |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
GT.D |
Checks if the value of OP1 is greater than the value of OP2. |
|
|
Parameters |
||
|
OP1 |
First value for the comparison operation. |
Int32Constant |
|
OP2 |
Second value for the comparison operation. |
Int32Constant |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
GE.D |
Checks if the value of OP1 is greater than or equal to the value of OP2. |
|
|
Parameters |
||
|
OP1 |
First value for the comparison operation. |
Int32Constant |
|
OP2 |
Second value for the comparison operation. |
Int32Constant |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
LT.D |
Checks if the value of OP1 is less than the value of OP2. |
|
|
Parameters |
||
|
OP1 |
First value for the comparison operation. |
Int32Constant |
|
OP2 |
Second value for the comparison operation. |
Int32Constant |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
LE.D |
Checks if the value of OP1 is less than or equal to the value of OP2. |
|
|
Parameters |
||
|
OP1 |
First value for the comparison operation. |
Int32Constant |
|
OP2 |
Second value for the comparison operation. |
Int32Constant |
|
OP3 |
- |
- |
Mathematical Operation Commands (16 bits)
|
Command |
Description |
Icon |
|
ADD |
Sums the value of OP2 and the value of OP3, and loads the result into OP1. |
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|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int16 |
|
OP2 |
First value for the addition operation. |
Int16/Constant |
|
OP3 |
Second value for the addition operation. |
Int16/Constant |
|
Command |
Description |
Icon |
|
SUB |
Subtracts the value of OP3 from the value of OP2 and loads the result into OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int16 |
|
OP2 |
First value for the subtraction operation. |
Int16/Constant |
|
OP3 |
Second value for the subtraction operation. |
Int16/Constant |
|
Command |
Description |
Icon |
|
MUL |
Multiplies the value of OP2 by the value of OP3 and loads the result into OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int16 |
|
OP2 |
First value for the multiplication operation. |
Int16/Constant |
|
OP3 |
Second value for the multiplication operation. |
Int16/Constant |
|
Command |
Description |
Icon |
|
DIV |
Divides the value of OP2 by the value of OP3 and loads the result into OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int16 |
|
OP2 |
First value for the division operation. |
Int16/Constant |
|
OP3 |
Second value for the division operation. |
Int16/Constant |
|
Command |
Description |
Icon |
|
MOD |
Divides the value of OP2 by the value of OP3 and loads the remainder of the division into OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int16 |
|
OP2 |
First value for the modulus operation. |
Int16/Constant |
|
OP3 |
Second value for the modulus operation. |
Int16/Constant |
|
Command |
Description |
Icon |
|
MOV |
Copies the value of OP2 to OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int16 |
|
OP2 |
Source value for the loading operation. |
Int16/Constant |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
ABS |
Takes the absolute value of OP2 and copies it to OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int16 |
|
OP2 |
Source value for the absolute value operation. |
Int16/Constant |
|
OP3 |
- |
- |
Mathematical Operation Commands (32 bits)
|
Command |
Description |
Icon |
|
ADD.D |
Sums the value of OP2 and the value of OP3, and copies the result to OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int32 |
|
OP2 |
First value for the addition operation. |
Int32Constant |
|
OP3 |
Second value for the addition operation. |
Int32Constant |
|
Command |
Description |
Icon |
|
SUB.D |
Subtracts the value of OP3 from the value of OP2 and copies the result to OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int32 |
|
OP2 |
First value for the subtraction operation. |
Int32Constant |
|
OP3 |
Second value for the subtraction operation. |
Int32Constant |
|
Command |
Description |
Icon |
|
MUL.D |
Multiplies the value of OP2 by the value of OP3 and copies the result to OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int32 |
|
OP2 |
First value for the multiplication operation. |
Int32Constant |
|
OP3 |
Second value for the multiplication operation. |
Int32Constant |
|
Command |
Description |
Icon |
|
DIV.D |
Divides the value of OP2 by the value of OP3 and copies the result to OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int32 |
|
OP2 |
First value for the division operation. |
Int32Constant |
|
OP3 |
Second value for the division operation. |
Int32Constant |
|
Command |
Description |
Icon |
|
MOD.D |
Divides the value of OP2 by the value of OP3 and copies the remainder of the division to OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int32 |
|
OP2 |
First value for the modulus operation. |
Int32Constant |
|
OP3 |
Second value for the modulus operation. |
Int32Constant |
|
Command |
Description |
Icon |
|
MOV.D |
Copies the value of OP2 to OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int32 |
|
OP2 |
Source value for the loading operation. |
Int32Constant |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
ABS.D |
Takes the absolute value of OP2 and copies it to OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int32 |
|
OP2 |
Source value for the absolute value operation. |
Int32Constant |
|
OP3 |
- |
- |
Logical Operation Commands
|
Command |
Description |
Icon |
|
WAND |
Performs a logical AND operation between the value of OP2 and the value of OP3, and copies the result to OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int16 |
|
OP2 |
First value for the logical AND operation. |
Int16/Constant |
|
OP3 |
Second value for the logical AND operation. |
Int16/Constant |
|
Command |
Description |
Icon |
|
WOR |
Performs a logical OR operation between the value of OP2 and the value of OP3, and copies the result to OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int16 |
|
OP2 |
First value for the logical OR operation. |
Int16/Constant |
|
OP3 |
Second value for the logical OR operation. |
Int16/Constant |
|
Command |
Description |
Icon |
|
WXOR |
Performs a logical XOR operation between the value of OP2 and the value of OP3, and copies the result to OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int16 |
|
OP2 |
First value for the logical XOR operation. |
Int16/Constant |
|
OP3 |
Second value for the logical XOR operation. |
Int16/Constant |
|
Command |
Description |
Icon |
|
SHL |
Shifts the value of OP2 to the left by the amount of OP3 and copies the result to OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int16 |
|
OP2 |
Source value for the shift operation. |
Int16/Constant |
|
OP3 |
Number of bits for the shift operation. |
Constant |
|
Command |
Description |
Icon |
|
SHR |
Shifts the value of OP2 to the right by the amount of OP3 and copies the result to OP1. |
|
|
Parameters |
||
|
OP1 |
The variable to which the result of the operation will be assigned. |
Int16 |
|
OP2 |
Source value for the shift operation. |
Int16/Constant |
|
OP3 |
Number of bits for the shift operation. |
Constant |
Timer Commands
|
Command |
Description |
Icon |
|
TMR |
Counts the time specified by OP2, and when the target value is reached, sets the Txx bit indicated by OP1 to "1". |
|
|
Parameters |
||
|
OP1 |
Timer number (Max. 48). |
Txx |
|
OP2 |
Time value (1 = 100ms, 10 = 1s). |
Int16/Constant |
|
OP3 |
- |
- |
Counter Commands
|
Command |
Description |
Icon |
|
CTR |
Increments the counter value at the rising edge of each logic result bit, and when it is greater than or equal to OP2, it sets the Cxx bit specified by OP1 to “1”. |
|
|
Parameters |
||
|
OP1 |
Counter number (Max. 32). |
Cxx |
|
OP2 |
Counter target value. |
Int16/Constant |
|
OP3 |
- |
- |
Other Commands
|
Command |
Description |
Icon |
|
ALT |
Inverts the OP1 bit at the rising edge of each logic result bit. |
|
|
Parameters |
||
|
OP1 |
Address of the bit to be inverted. |
bool |
|
OP2 |
Auxiliary bit address required for the command to function. |
bool |
|
OP3 |
- |
- |
|
Command |
Description |
Icon |
|
PID |
Executes the PID function and loads the result into OP1. |
|
|
Parameters |
||
|
OP1 |
The address where the result of the PID operation will be loaded. |
Int16 |
|
OP2 |
The starting address of the PID variable block. |
Int16 |
|
OP3 |
- |
- |
To execute the PID command, the variable block specified by the starting address in OP2 must be created. The PID command requires 11 words.
In sequence;
OP2 + 0: Actual Value
OP2 + 1: Set Value
OP2 + 2: P Value
OP2 + 3: I Value
OP2 + 4: D Value
OP2 + 5: PID output minimum limit value
OP2 + 6: PID output maximum limit value
OP2 + 7: It must be allocated for the command to function
OP2 + 8: It must be allocated for the command to function
OP2 + 9: It must be allocated for the command to function
OP2 + 10: It must be allocated for the command to function
Örnek :
|
Command |
Description |
Görsel |
|
MBS |
Informs the system of the Modbus master communication options. |
|
|
Parameters |
||
|
OP1 |
The slave ID number of the device to be communicated with. |
Int16/Constant |
|
OP2 |
The Modbus function to be processed. |
Int16/Constant |
|
OP3 |
Timeout duration for the command response (1 = 100ms). |
Int16/Constant |
Supported Modbus functions for OP2:
1: Read coils(0x01)
2: Read inputs (0x02)
3: Read holding registers (0x03)
4: Read input registers (0x04)
5: Write single coil (0x05)
6: Write single register (0x06)
15: Write multiple coils (0x0F)
16: Write multiple registers (0x10)
|
Command |
Description |
Görsel |
|
MBE |
Initiates the Modbus master communication process. |
|
|
Parameters |
||
|
OP1 |
The starting address in Pulser3 for read/write operations. |
Int16 |
|
OP2 |
The starting address in the slave device for read/write operations. |
Int16/Constant |
|
OP3 |
The amount of data to be transferred. |
Int16/Constant |
Before the MBE command is executed, the communication options must be informed to the system via the MBS command. For this command to function, SPRM19 (RS485 Port Mode) should be set to 2 or 3. Port settings can be made using SPRM16-SPRM18. When the MBE command is executed, the system sets the c_PIOP bit to "1" to indicate that the communication process is taking place on the port. When the communication process is successfully completed, both the c_PIOP and c_PIER bits are set to "0". If the communication process times out, the c_PIOP bit is set to "0", while the c_PIER bit is set to "1". If the c_PIER bit is "1" when the MBE command is executed, it will be reset to "0" by the system.
|
Command |
Description |
Görsel |
|
TMAX |
Informs the system of the maximum number of tools for tool change auxiliary commands. |
|
|
Parameters |
||
|
OP1 |
The maximum number of tools that can be used on the machine. |
Int16/Constant |
|
OP2 |
- |
- |
|
OP3 |
- |
- |
For the TROT, TSRC, TSET, and TCLR commands to function, the maximum number of tools must be communicated to the system using the TMAX command
|
Command |
Description |
Görsel |
|
TROT |
In machines with a circular rotating turret/magazine, calculates the shortcut to reach the desired tool and loads it into OP1. |
|
|
Parameters |
||
|
OP1 |
The direction of rotation to reach the desired tool (0: clockwise / 1: counterclockwise). |
Int16 |
|
OP2 |
The desired tool number. |
Int16/Constant |
|
OP3 |
The current tool number. |
Int16/Constant |
|
Command |
Description |
Görsel |
|
TSRC |
In machines where tools are arranged in a magazine in a mixed order, the system searches for the desired tool in the bins and loads the found bin number into OP1. The result will be a value between 1 and the maximum number of tools. If the desired tool is not found in the bins, the value 0 will be loaded into OP1. |
|
|
Parameters |
||
|
OP1 |
The bin number where the desired tool is located. |
Int16 |
|
OP2 |
The desired tool number. |
Int16/Constant |
|
OP3 |
The starting address of the bin variables. |
Int16 |
|
Command |
Description |
Görsel |
|
TGET |
In machines where tools are arranged in a mixed order in the magazine, it loads the tool number located in the bin specified by OP2 into the address specified by OP1. OP3 must be specified as the starting point of the bin variables. |
|
|
Parameters |
||
|
OP1 |
The address where the found tool number will be assigned. |
Int16 |
|
OP2 |
The bin whose tool number is to be retrieved. |
Int16/Constant |
|
OP3 |
The starting address of the bin variables. |
Int16 |
|
Command |
Description |
Görsel |
|
TSET |
In machines where tools are arranged in a mixed order in the magazine, it loads the tool number specified by OP2 into the bin specified by OP1. OP3 must be specified as the starting point of the bin variables. |
|
|
Parameters |
||
|
OP1 |
The bin number where the assignment is to be made. |
Int16/Constant |
|
OP2 |
The tool number to be assigned to the bin. |
Int16/Constant |
|
OP3 |
The starting address of the bin variables. |
Int16 |
|
Command |
Description |
Görsel |
|
TCLR |
In machines where tools are arranged in a mixed order in the magazine, it sequentially loads values from 1 to the maximum number of tools into the variables specified by OP1, which indicates the starting point of the bin variables. |
|
|
Parameters |
||
|
OP1 |
The starting address of the bin variables. |
Int16 |
|
OP2 |
- |
- |
|
OP3 |
- |
- |
