Yaskawa MP900 Series Ladder Programming Manual Manual de usuario Pagina 353
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5.11 C-language Control Instructions
5.11.2 C-language Task Control (TSK-CTRL)
5-284
The parameters are described in the following table.
∗ 1. Execute is not treated as a rising edge, but as a level. This allows cyclic execution in the high scan level and low
scan level tasks.
∗ 2. The errors that are detected by μITRON normally do not occur because of system management.
Parameter Name Description I/O
Execution flag (Execute)
The TSK-CTRL instruction is executed when this command turns ON.
IN
Type (Type)
1: Wake up
A task that is in WAIT state is woken up.
2: Reset
A task is ended, deleted, generated again, and started.
The task then executes itself and goes into WAIT state.
3: Suspend
The task is suspended and placed in SUSPEND state.
4: Resume
A task in SUSPEND state is changed to READY state.
IN
Task name (C_Name)
Specify the first register address of the registers in which the task name of the
user C-language task is stored.
IN
Completion flag (Complete)
Turns ON when execution of the TSK-CTRL instruction is completed.
OUT
Error flag (Error)
Turns ON when an error occurs. (The error is given in Err_code.)
OUT
Error code (Err_code)
Error Codes
000000000
No error
000000091
Type setting error
• The value of Type is outside of the valid range.
• Type was set to Wake up when the state was not WAIT or WAIT-SUS-
PEND.
• Type was set to Suspend when the state was not WAIT or READY.
000000094
The task specified by C_Name does not exist.
000000096
Register upper/lower limit exceeded for C_Name.
*1
0FFFFFFDD
Error detected by
μITRON: Illegal ID number
*2
0FFFFFFCC
Error detected by
μ
ITRON: Task not registered
*2
0FFFFFFC1
Error detected by
μ
ITRON: Illegal object state
• The task is in DORMANT state.
• Resume was specified when the task was not in SUSPEND state.
0FFFFFFBB
Error detected by
μ
ITRON: Context error
• The task could not be executed in a non-task context.
0FFFFFFB7
Error detected by
μ
ITRON: Queuing overflow
*2
OUT
- USER'S MANUAL 1
- LADDER PROGRAMMING 1
- About this Manual 3
- Using this Manual 3
- MP2000-series Manuals 3
- Related Manuals 4
- Safety Information 6
- Safety Precautions 7
- Warranty 8
- ( 3 ) Suitability for Use 9
- ( 4 ) Specifications Change 9
- Contents 10
- Revision History 15
- Controllers 18
- 1.2.2 Program Modules 19
- SIEP C880732 01) for details 20
- Optional Module 30
- 3.1.4 System Startup 31
- 3.1.5 Creating a Project 32
- 2. Click the OK Button 33
- Right-click 34
- Drag and drop 34
- IMPORTANT 35
- Double-click 38
- Enter “MB000000.” 38
- 2. Click the Start Button 41
- Programming 42
- 4.1 Ladder Program Editor 43
- 4.2 Ladder Drawings 44
- 4.3 User Functions 48
- Enter “FUNC01.” 50
- 4.4 Registers (Variables) 54
- 4.4.2 Register Types 55
- ( 2 ) Local Registers 56
- 4.4.3 Data Types 58
- 4.4.4 Index Registers (i, j) 60
- 4.5 Table Data 62
- 4.5.2 Creating Table Data 63
- 4.6 Transferring Data 64
- 4.8 Advanced Programming 66
- 4.8.2 C-language Programs 67
- 4.8.3 Security 68
- Project Password Setting 68
- Program Password Setting 68
- Online Security Setting 68
- 4.8.4 Tracing 69
- Realtime Tracing 69
- Data Tracing 69
- XY Tracing 69
- 5.2.1 NO Contact (NOC) 74
- 5.2.2 NC Contact (NCC) 75
- 5.2.9 Coil (COIL) 88
- 5.2.10 Set Coil (S-COIL) 89
- 5.2.11 Reset Coil (R-COIL) 90
- 5.3.1 Store (STORE) 91
- 5.3.2 Add (ADD (+)) 93
- 5.3.4 Subtract (SUB (−)) 97
- ( 3 ) Programming Examples 100
- 5.3.6 Multiply (MUL (x)) 101
- Instructions 102
- 5.3.7 Divide (DIV (÷)) 103
- ( 1 ) Operation 105
- ( 2 ) Format 105
- 5.3.9 Real Remainder (REM) 107
- Condition n 107
- Key entry: INC 109
- 5.3.11 Decrement (DEC) 111
- Output Data Behavior 111
- 5.3.12 Add Time (TMADD) 113
- ( 3 ) Programming Example 114
- 5.3.13 Subtract Time (TMSUB) 115
- 5.3.14 Spend Time (SPEND) 117
- 5.3.15 Invert Sign (INV) 120
- 5.3.17 Absolute Value (ABS) 122
- 5.3.19 BCD Conversion (BCD) 124
- 5.4.1 Inclusive AND (AND) 132
- 5.4.2 Inclusive OR (OR) 134
- 5.4.3 Exclusive OR (XOR) 136
- 5.4.4 Less Than (<) 138
- Input data AInput data B 139
- Key entry: <= 139
- 5.4.6 Equal (=) 140
- 5.4.7 Not Equal (≠) 141
- Key entry: > 143
- 5.4.10 Range Check (RCHK) 144
- Work Register Configuration 147
- Parameter Table Configuration 151
- First address of 153
- ( 4 ) Additional Information 159
- Variable > Maximum value? 160
- 5.6.1 Square Root (SQRT) 168
- 5.6.2 Sine (SIN) 170
- Input data 172
- Output data 172
- 5.6.5 Arc Sine (ASIN) 175
- Input Data Range 175
- 5.6.6 Arc Cosine (ACOS) 176
- 5.6.7 Arc Tangent (ATAN) 177
- Input data Output data 179
- 5.7 Data Shift Instructions 181
- 5.7.3 Move Bit (MOVB) 185
- 5.7.4 Move Word (MOVW) 187
- 5.7.5 Exchange (XCHG) 189
- 5.7.9 Binary Search (BSRCH) 197
- 5.7.10 Sort (SORT) 199
- 5.7.13 Copy Word (COPYW) 205
- 5.7.14 Byte Swap (BSWAP) 207
- 5.8 DDC Instructions 208
- Input value Output value 210
- Dead zone set value 210
- Key entry: DZB 210
- 5.8.4 PI Control (PI) 214
- 5.8.5 PD Control (PD) 219
- 5.8.6 PID Control (PID) 225
- 5.8.7 First-order Lag (LAG) 230
- 5.8.8 Phase Lead Lag (LLAG) 233
- If DVDTS = ON, DVDT = 250
- (V – V' ) × 5,000 250
- DVDT = V - V’ 251
- (DB000001) three times 291
- Error Codes 293
- 5.10.1 Counter (COUNTER) 294
- Key entry: TRACE 301
- Structure of Read Data 303
- Processing Result (PARAM00) 312
- Status (PARAM01) 313
- Function Code (PARAM04) 314
- Data Addresses 315
- Key entry: MSG-RCV 323
- Status (PARAM01) 324
- Data Address (PARAM05) 325
- Data Size (PARAM06) 325
- Remote CPU Number (PARAM07) 325
- Error Code (PARAM01) 341
- Copy of Cir-No (PARAM02) 341
- Copy of St-No (PARAM03) 341
- For System Use #1 (PARAM04) 341
- For System Use #2 (PARAM05) 342
- For System Use #3 (PARAM06) 342
- ON coils are 356
- Current values of 356
- 6.2 Searching/Replacing 357
- 6.3 Cross References 358
- 6.5 Forcing Coils ON and OFF 359
- 6.6 Viewing Called Programs 360
- 6.7 Register Lists 360
- 6.8 Tuning Panel 361
- Ladder drawing 362
- MPE720 version 6 363
- Troubleshooting 364
- 7.2 Indicator Status 366
- 7.3 Problem Classifications 367
- 7.4 Detailed Troubleshooting 369
- Troubleshooting Method 2 371
- 7.4.2 I/O Errors 372
- 7.4.3 Watchdog Timer Errors 373
- 7.4.5 System Errors 374
- Appendix A 375
- A.1 System Service Registers 376
- ( 2 ) Exclusive to DWG.H Only 377
- ( 3 ) Exclusive to DWG.L Only 378
- System Registers 379
- A.2 System Status 380
- A.3 System Error Status 381
- A.3 System Error Status 382
- Error Code 383
- Index error 383
- A.7 System I/O Error Status 386
- A.9 Interrupt Status 388
- A.10 Module Information 389
- A.11 MPU-01 System Status 390
- Appendix B 393
- Programs 394
- 2. Click Select 396
- Appendix C 397
- Configuration Example 398
- Ladder Programming Example 398
- C.2 Motion Program Control 399
- Motion Programming Example 400
- Procedure 402
- Appendix D 403
- ( 1 ) Operators 404
- ( 2 ) Operands 405
- D.2 National Limitations 407
- D.2.4 Substitution Operator 408
- D.2.5 Functions 408
- D.2.6 Others 408
- Arrays 408
- Appendix E 409
- E.1 General Precautions 410
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