Inovance H3U Series Owner's manual

1
Introduction
Introduction
The H3U series programmable logic controller (PLC) is a third-generation high-performance compact-sized PLC
developed by Inovance Technology based on the MCU and FPGA architecture. The product has a high-speed
input frequency of 8 x 200 kHz, and a high-speed output frequency of 5 x 200kHz, supporting more and faster
high-speed pulse output ports. It supports S-curve acceleration/deceleration, and multiple positioning methods (for
example, interrupt positioning and multi-speed positioning). Motion control PLCs support 3 x 500 kHz high-speed
differential output, 2- or 3-axis linear interpolation, 2-axis arc interpolation, helix interpolation, and 3-axis electronic
cam or G-code input.
The main module has Ethernet communication functions for seamless integration with automation and information.
It supports CANlink and CANopen bus for CAN communication and allows easy networking through graphical
conguration. It supports USB communication featuring quick commissioning.
Based on the advanced programming environment AutoShop, the product supports programming languages such
as ladder chart, instruction list, and sequential function chart (SFC). It supports user programs of up to 64,000
steps and 40,000 power-failure storage word elements. Data and user programs are stored in the ash drive
with no battery. It provides a variety of commissioning methods, including online modication and oscilloscope
functions.
This product is applicable in the automatic equipment industry, mainly in advanced manufacturing sectors,
including the production line automation, wood-working machinery, glass machinery, transportation, loading/
unloading, and electronical customization.
All the intellectual property rights of this manual are reserved by Shenzhen Inovance Technology Co., Ltd.
Inovance will continuously optimize and improve our products, and upgrade this manual accordingly. The manual
may be updated without notication. You can visit our website to download the latest version.
Your feedback on this manual is welcomed through any of the following methods.
☆Website: www.inovance.cn
☆Email: [email protected]
Related Manuals
This manual describes information about the H3U series software, mainly the differences between H2U-XP and
H3U, including the scope of elements, special elements, trajectory control, electronic cams, G-code, extension
modules, and CANopen.
You can download it from the website www.inovance.cn.

2
Introduction
Revision History
Version Date Remarks
A00 July 2017 Released the rst issue.

3
Contents
Contents
Introduction............................................................1
Revision History ....................................................2
Instructions Lookup Sheet 1 ................................6
Instructions Lookup Sheet 2 ................................11
Guide on Quick Reference....................................18
Chapter 1 Overview...............................................20
1.1 Introduction to the H3U Series PLC ...........................20
1.2 PLC Operating Principle.............................................21
Chapter 2 Pre-programming Precautions ...........26
2.1 Programming Software...............................................26
2.2 Communication Cable ................................................26
2.3 Introduction to AutoShop ............................................26
Chapter 3 Elements...............................................32
3.1 Table of Elements .......................................................33
3.2 Input/Output Relay......................................................34
3.2.1 Input Relay X.........................................................34
3.2.2 Output Relay Y......................................................35
3.3 Auxiliary Relay............................................................35
3.4 Status Relay ...............................................................36
3.5 Timer...........................................................................36
3.6 Counter.......................................................................38
3.6.1 16-bit Counter........................................................40
3.6.2 32-bit Counter........................................................41
3.6.3 High-speed Counter ..............................................42
3.7 Register ......................................................................42
3.7.1 Data Register D.....................................................42
3.7.2 Address Indexing Registers V and Z .....................43
3.7.3 File Register R.......................................................44
3.8 Marker and Subprogram.............................................45
3.9 Constant .....................................................................46
Chapter 4 Instructions ..........................................48
4.1 Program Logic Instructions.........................................48
4.1.1 Contact Instructions...............................................49
4.1.2 Combined Instructions...........................................57
4.1.3 Output Instructions ................................................60
4.1.4 Main Control Instructions.......................................66
4.1.5 End Instructions.....................................................66
4.1.6 Other Processing Instructions ...............................68
4.2 Program Flow Instructions..........................................70
4.2.1 Subprogram...........................................................70
4.2.2 Interrupt.................................................................73
4.2.3 Jump......................................................................76
4.2.4 Loop ......................................................................78
4.2.5 Step Sequential Control ........................................80
4.3 Data Comparison........................................................82
4.3.1 Contact Comparison..............................................82
4.3.2 Comparison Output ...............................................97
4.4 Data Operation ...........................................................101
4.4.1 Four Arithmetic Operations....................................102
4.4.2 Logical Operations ................................................114
4.4.3 Trigonometric Functions........................................120
4.4.4 Table Operations ...................................................130
4.4.5 Exponent Operations.............................................142
4.5 Data Processing .........................................................148
4.5.1 Data Conversion....................................................149
4.5.2 Data Transfer.........................................................169
4.5.3 Table Operation .....................................................179
4.5.4 Data Rotation and Shift .........................................194
4.5.5 Other Data Processing..........................................208
4.6 Matrix Instructions ......................................................214
4.6.1 Matrix Operations..................................................215
4.6.2 Matrix Comparison ................................................226
4.6.3 Matrix Read/Write..................................................230
4.6.4 Matrix Rotation and Shift.......................................233
4.7 String Instructions.......................................................236
4.8 Clock Instructions .......................................................265
4.8.1 Clock Comparison Output .....................................266
4.8.2 Clock Operations...................................................268
4.8.3 Clock Conversion ..................................................270
4.8.4 Clock Read/Write ..................................................273
4.8.5 Timing....................................................................275
4.9 High-speed Input, Pulse Positioning, and
Communication Positioning.........................................281
4.9.1 High-speed Comparison........................................282
4.9.2 Pulse Input ............................................................282
4.9.3 Pulse Output..........................................................282
4.9.4 Pulse Positioning...................................................282
4.9.5 Communication Positioning...................................283
4.9.6 Refreshing.............................................................294
4.10 Motion Control ..........................................................297
4.10.1 H3U Model Interpolation......................................297
4.10.2 MC of the PM Model............................................297
4.10.3 G-code of the PM Model .....................................297
4.11 Communication.........................................................298
4.11.1 Communication Instructions ................................298
4.11.2 Verication...........................................................301
4.12 Peripheral Instructions..............................................306
4.12.1 PID Calculation....................................................307

4
Contents
4.12.2 Bit Switch Access ................................................313
4.12.3 7-segment LED Display.......................................319
4.12.4 Other Peripheral Instructions...............................322
4.13 Electronic Cam Instructions......................................334
Chapter 5 High-speed Input..................................336
5.1 H3U Standard Model..................................................336
5.1.1 High-speed Counter ..............................................336
5.1.2 Input Interrupts ......................................................339
5.1.3 Pulse Capture........................................................340
5.2 High-speed Pulse Comparison Instructions of
H3U Standard Model...................................................341
5.2.1 HSCS Comparison Setting....................................342
5.2.2 HSCR Comparison Reset .....................................344
5.2.3 HSZ Range Comparison .......................................346
5.2.4 SPD Pulse Density Detection................................351
5.3 H3U-PM Motion Control Model...................................353
5.3.1 High-speed Counter ..............................................353
5.3.2 Input Interrupts ......................................................355
5.3.3 Pulse Capture........................................................356
5.4 High-speed Comparison Instructions for H3U-PM
Motion Control Model ..................................................357
5.4.1 Operation Mode of High-speed Comparison
Instructions.............................................................358
5.4.2 HSCS Comparison Setting....................................358
5.4.3 HSCR Comparison Reset .....................................362
5.4.4 HSZ Range Comparison .......................................364
5.4.5 DHSOS High-speed Interrupt Comparison
Setting ....................................................................370
5.4.6 DHSOR High-speed Interrupt Comparison
Setting ....................................................................372
Chapter 6 Positioning and Interpolation .............375
6.1 Overview.....................................................................375
6.1.1 Table of Attributes of High-speed Output
Instructions.............................................................375
6.1.2 Use of Special Elements .......................................376
6.1.3 Output Frequency-Time Relationship and
Acceleration/Deceleration Process ........................378
6.2 Positioning Instruction ................................................379
6.3 Interpolation Instruction ..............................................430
6.4 High-speed Processing Instruction.............................462
Chapter 7 Motion Control .....................................466
7.1 Difference Between H3U Standard Model and
H3U-PM Motion Control Model....................................466
7.2 H3U-PM Terminal Description ....................................467
7.3 Execution and Call of Motion Control Subprogram ....468
7.4 Motion Control Instructions.........................................472
7.5 Similarities and Differences Between MC
Subprograms and G-code Subprograms.....................474
7.6 List of Motion Control Instructions Supported by
MC Subprograms ........................................................476
7.7 Format and Use of MC Subprograms.........................476
7.8 List of Motion Control Instructions Supported by
G-code Subprograms ..................................................526
7.9 Format and Use of G-code Subprograms ..................527
7.10 General Positioning Instructions Supported by the
H3U-PM Model..........................................................553
7.11 Special Registers for Motion Control in the
H3U-PM Model ..........................................................554
Chapter 8 Electronic Cam.....................................563
8.1 Establishing a Cam Table ...........................................564
8.1.1 Creating a Cam Table............................................564
8.1.2 Editing a Cam Table ..............................................565
8.1.3 Downloading Cam Tables......................................566
8.2 Selecting a Master Axis ..............................................567
8.3 Setting Cyclic or Non-cyclic Execution .......................567
8.4 Starting Electronic Cams or Electronic Gears ............568
8.4.1 Selecting Cam Tables or Electronic Gears............568
8.4.2 Startup...................................................................568
8.4.3 Setting Startup Latency.........................................569
8.4.4 Using Comparison Interrupt ..................................570
8.5 Stopping Electronic Cams or Electronic Gears ..........571
8.5.1 Setting Stop Mode.................................................571
8.5.2 Setting an Externally Triggered Stop.....................571
8.5.3 Stop.......................................................................572
8.5.4 Stopping Electronic Cams.....................................572
8.5.5 Flag of End of Cycle and Flag of End....................573
8.6 Scaling........................................................................574
8.7 Ejector Pin ..................................................................575
8.8 Modifying Key Points for Electronic Cams..................576
8.8.1 Writing Electronic Cam Data .................................576
8.8.2 Writing Electronic Cam Floating-point Decimal
Data........................................................................578
8.8.3 Reading Electronic Cam Data...............................580
8.8.4 Reading Electronic Cam Floating-point Decimal
Data........................................................................581
8.9 Application Examples (Application of H3U-PM to
Strapping Band Winding Machines) ............................582
Chapter 9 Communication....................................589
9.1 Overview.....................................................................589
9.2 Serial Port...................................................................590
9.2.1 Hardware and Communication Cable ...................590
9.2.2 Setting Communication Protocols .........................591
9.3 HMI Monitoring Protocol.............................................597
9.4 Modbus Protocol.........................................................598
9.4.1 Modbus Master Station Communication ...............598
9.4.2 Modbus Slave Station Communication .................602
9.4.3 Modbus Parameter Numbers and Data
Addressing .............................................................604
9.4.4 Programming Method for Communication Among
Multiple PLCs Through Modbus Protocols ............610
9.5 Modbus Conguration and Usage..............................613

5
Contents
9.5.1 Protocol Setting Method for Modbus
Conguration Table ................................................613
9.5.2 Setting the Modbus Conguration Table ...............614
9.6 CANlink Communication.............................................616
9.6.1 Principle of CANlink3.0 Communication................616
9.6.2 CANlink Network ...................................................617
9.6.3 CANlink Software Conguration............................622
9.6.4 Examples of Slave Station (Servo and AC Drive)
Access....................................................................630
9.6.5 Troubleshooting for CANlink Communication........634
9.7 CANopen Communication..........................................635
9.7.1 CANopen Protocol Selection.................................635
9.7.2 CANopen Indicators ..............................................636
9.7.3 Denitions of CANopen Acronyms ........................636
9.7.4 CANopen Conguration ........................................637
9.7.5 Troubleshooting for CANopen Communication.....648
9.7.6 List of Fault Codes ................................................648
9.8 Ethernet Communication............................................651
9.8.1 Hardware Interface and IP Settings ......................651
9.8.2 Ethernet Conguration ..........................................652
9.8.3 Soft Element Access Addresses When the H3U
PLC Serves as a Slave Station ..............................654
9.8.4 Special Ethernet Soft Elements.............................655
9.8.5 Detecting H3U PLC Connection Faults.................655
9.8.6 Downloading over the Ethernet and Monitoring ....656
Chapter 10 Extension Modules ............................659
10.1 Overview...................................................................659
10.2 Local Extension Modules..........................................661
10.2.1 Conguration.......................................................661
10.2.2 Digital Input Module (AM600-1600END).............661
10.2.3 Digital Output Module (AM600-0016ETN,
AM600-0016ETP, and AM600- 0016ER)..............664
10.2.4 Analog Input Module (AM600-4AD).....................669
10.2.5 Analog Output Module (AM600-4DA)..................674
10.3 Remote Extension Modules......................................679
10.3.1 AM600RTU-COP Remote Extension Module......679
10.3.2 CANlink Remote Extension Module ....................684
Chapter 11 Interrupt ..............................................686
11.1 Overview...................................................................686
11.1.1 Overview..............................................................686
11.1.2 Type.....................................................................686
11.2 External Interrupt ......................................................687
11.2.1 Overview..............................................................687
11.2.2 Type.....................................................................687
11.2.3 Application ...........................................................688
11.3 Timing Interrupt.........................................................689
11.3.1 Overview..............................................................689
11.3.2 Type.....................................................................689
11.3.3 Application ...........................................................689
11.4 Counting Complete Interrupt.....................................690
11.4.1 Overview..............................................................690
11.4.2 Type of High-speed Counting Interrupt................690
11.4.3 Application ...........................................................690
11.5 Pulse Complete Interrupt ..........................................691
11.5.1 Overview..............................................................691
11.5.2 Application ...........................................................692
Chapter 12 Subprogram........................................694
12.1 Overview...................................................................694
12.1.1 H3U Subprogram ................................................694
12.1.2 H3U Subprogram Execution Mechanism ............695
12.2 Application of a General Subprogram.......................696
12.3 Application of an Encrypted Subprogram .................697
12.3.1 Encrypting a General Subprogram......................697
12.3.2 Calling an Encrypted Subprogram ......................697
12.4 Application of a Subprogram with Parameters .........698
12.4.1 Creating a Subprogram with Parameters............698
12.4.2 Dening I/O Parameters......................................698
12.4.3 Calling a Subprogram with Parameter ................699
12.4.4 Precautions .........................................................701
12.5 Application of an Encrypted Subprogram with
Parameters................................................................701
12.6 Application of an Interrupt Subprogram....................701
12.7 Application of a Motion Control Subprogram............701
Appendix ................................................................704
Appendix A Allocation of Soft Elements SM, SD, D8000,
and M8000......................................................704
A.1 SM Flag and SD Register ........................................704
A.2 Special Soft Element Register Range......................704
A.3 M8000 Flag and D8000 Register.............................707
Appendix B System Error Code........................................720
B.1 System Error Code D8060.......................................720
B.2 System Error Code D8061.......................................720
B.3 System Error Code D8062.......................................720
B.4 System Error Code D8063.......................................721
B.5 System Error Code D8064.......................................722
B.6 System Error Code D8065.......................................723
B.7 System Error Code D8066.......................................723
B.8 System Error Code D8067.......................................724
Appendix C Customized Function - DHSTP Instruction ...726
Appendix D Customized Function - Supplementary
Description of Electronic Cam Functions.......728

6
Instructions Lookup Sheet
Instructions Lookup Sheet 1
Note: Instructions in gray background in the table only support
H3U-PM motion control models.
Instruction Description
Applicable
Model Page
H2U-XP H3U
A
ABSD Absolute cam control method √ √ 328
ABST Absolute position modal instruction ×√501
ACOS Binary oating-point ARCCOS
operation √ √ 124
ADD Binary data addition √ √ 102
ALT Alternate output √ √ 62
ANB Serial connection of circuit blocks √ √ 58
AND Serial connection of NO contacts √ √ 50
AND& LD logical AND operation ×√89
AND^ AND logical XOR operation ×√89
AND| AND logical OR operation ×√89
AND< AND contact comparison smaller
than √ √ 86
AND<= AND contact comparison smaller
than or equal to √ √ 86
AND<> AND contact comparison not equal to √ √ 86
AND= AND contact comparison equal to √ √ 88
AND> AND contact comparison larger than √ √ 6
AND>= AND contact comparison larger than
or equal to √ √ 86
ANDF Serial connection for AND falling
edge pulse (F) detection √ √ 86
ANDP Serial connection for AND rising edge
pulse detection √ √ 50
ANDZ<
Conductive when absolute value <
comparative AND state contact |S1 –
S2| < |S3|
×√50
ANDZ<=
Conductive when absolute value <=
comparative AND state contact |S1 –
S2| ≦|S3|
×√95
ANDZ<>
Conductive when absolute value <>
comparative AND state contact |S1 –
S2| ≠|S3|
×√95
©ANDZ=
Conductive when absolute value =
comparative AND state contact |S1 –
S2| = |S3|
×√95
ANDZ>
Conductive when absolute value >
comparative AND state contact |S1 –
S2| > |S3|
×√95
ANDZ>=
Conductive when absolute value >=
comparative AND state contact |S1 –
S2| ≧|S3|
×√95
ANI Serial connection of NC contacts √ √ 95
ANR Signal alarm reset √ √ 50
ANS Signal alarm setting √ √ 214
ARWS Direction switch √ √ 213
ASC ASCII code conversion √ √ 327
ASCI Conversion from HEX to ASCII
format √ √ 322
ASIN Binary oating-point ARCSIN
operation √ √ 164
ATAN Binary oating-point ARCTAN
operation √ √ 123
AXISALMRST Axis alarm reset ×√125
AXISDRVA Axis absolute positioning ×√294
AXISENAB Axis enabling ×√288
AXISESTOP
Axis emergency stop (used for
stopping the servo in case of
exceptions)
×√285
AXISJOGA Axis jog ×√287
AXISSTOP Axis stop positioning ×√292
AXISZRN Axis return to zero ×√286
Instruction Description
Applicable
Model Page
H2U-XP H3U
B
BAND AND bit contact of bit data √ √ 54
BANI ANI bit contact of bit data √ √ 55
BCD Conversion from binary to BCD
format √ √ 150
BIN Conversion from BCD to binary
format √ √ 151
BINDA Conversion from binary format to
decimal ASCII format ×√157
B
BK- Matrix subtraction operation ×√217
BK+ Matrix addition operation ×√215
BKCMP< Matrix smaller than comparison (S1 <
S2) ×√227
BKCMP<= Matrix smaller than or equal to
comparison (S1 ≤ S2) ×√227
BKCMP<> Matrix not equal to comparison (S1
≠S2) ×√227
BKCMP= Matrix equal to comparison (S1 ＝
S2) ×√227
BKCMP> Matrix larger than comparison (S1 ＞
S2) ×√227
BKCMP>= Matrix larger than or equal to
comparison (S1 ≥ S2) ×√227
BLD Bit contact of bit data √ √ 52
BLDI Inverse bit contact of bit data √ √ 53
BMOV Batch data transfer √ √ 172
BON ON bit judgment √ √ 209
BOR OR bit contact of bit data √ √ 56
BORI ORI bit contact of bit data √ √ 57
BOUT Bit data output √ √ 63
BRST Bit data reset √ √ 65
BSET Bit data setting √ √ 64
BTOW Data combination by byte ×√160
BZAND Dead zone control ×√135
C
CALL Call subprogram √ √ 70
CAMRD Electronic cam data reading ×√580
CAMWR Electronic cam data writing ×√576
CANC Motion compensation cancellation ×√521
CCD Verication code √ √ 301
CCW Counterclockwise arc interpolation ×√489
CJ Conditional jump √ √ 76
CJEND Conditional jump to the program end √ √ 78
CML Inverted data transfer √ √ 174
CMP Data comparison √ √ 97
CNTC Arc center compensation ×√519
COS Floating-point COS operation √ √ 121
COSH Binary oating-point COSH operation √ √ 129
CRC CRC verication code calculation ×√303
CW Clockwise arc interpolation ×√489

7
Instructions Lookup Sheet
Instruction Description
Applicable
Model Page
H2U-XP H3U
D
DABIN Conversion from decimal ASCII
format to BIN format ×√155
DEC Binary data decremented by 1 √ √ 113
DECO Data decoding √ √ 317
DEG Binary oating-point radian-to-angle
conversion √ √ 127
DHSOR High-speed interruption comparison
reset ×√372
DHSOS High-speed interruption comparison
setting ×√370
DI Disable interrupt √ √ 72
DINTR Double-speed interruption positioning ×√513
DIS 4-bit separation of 16-bit data ×√163
DIV Binary data division √ √ 106
DRV High-speed positioning √ √ 480
DRVA Absolute position positioning √ √ 410
DRVI Relative position positioning √ √ 415
DRVR Electrical zero return ×√511
DRVZ Mechanical zero return reset ×√506
DSW Digital switch √ √ 316
DSZR DOG search zero return √ √ 398
DUTY Timing pulse generation ×√280
DVIT Interruption positioning (extension) ×√420
E
EADD Binary oating-point addition √ √ 107
EBCD Conversion from binary to decimal
oating-point number format √ √ 153
EBIN Conversion from decimal to binary
oating-point number format √ √ 154
ECAMRD Electronic cam oating-point data
reading ×√581
ECAMWR Electronic cam oating-point data
writing ×√578
ECMP Binary oating point comparison √ √ 98
EDIV Binary oating-point division √ √ 110
EI Enable interrupt √ √ 73
EMOV Binary oating point transfer √ √ 170
EMUL Binary oating-point multiplication √ √ 109
ENCO Data encoding √ √ 318
END End of all programs √ √ 68
ENEG Binary oating-point notation
negation ×√119
ESQR Binary oating-point square root
operation √ √ 145
ESTR Conversion from binary oating-point
number to string format ×√245
ESUB Binary oating-point subtraction √ √ 108
EVAL Conversion from string to binary
oating-point number format ×√248
EXP Binary oating-point exponent
operation √ √ 142
EZCP Binary oating point interval
comparison √ √ 100
Instruction Description
Applicable
Model Page
H2U-XP H3U
F
FAND<
Conductive when oating point
number < comparative AND state
contact S1 < S2
×√92
FAND<=
Conductive when oating point
number <= comparative AND state
contact S1 ≦S2
×√92
FAND<>
Conductive when oating point
number <> comparative AND state
contact S1 ≠S2
×√92
FAND=
Conductive when oating point
number = comparative AND state
contact S1 = S2
×√92
FAND>
Conductive when oating point
number > comparative AND state
contact S1 > S2
×√92
FAND>=
Conductive when oating point
number >= comparative AND state
contact S1 ≧S2
×√92
FDEL Deletion of data from data tables ×√187
FEND End of the main program √ √ 66
FINS Insertion of data to data tables ×√189
FLD<
Conductive when oating point
number < comparative state contact
S1 < S2
×√91
FLD<=
Conductive when oating point
number <= comparative state contact
S1 ≦S2
×√91
FLD<>
Conductive when oating point
number <> comparative state contact
S1 ≠S2
×√91
FLD=
Conductive when oating point
number = comparative state contact
S1 = S2
×√91
FLD>
Conductive when oating point
number > comparative state contact
S1 > S2
×√91
FLD>=
Conductive when oating point
number >= comparative state contact
S1 ≧S2
×√91
FLT
Conversion from binary number
format to binary oating-point number
format
√ √ 152
FMOV One-to-multiple data transfer √ √ 173
FOR Start of a loop √ √ 78
FOR<
Conductive when oating point
number < comparative OR state
contact S1 < S2
×√93
FOR<=
Conductive when oating point
number <= comparative OR state
contact S1 ≦S2
×√93
FOR<>
Conductive when oating point
number <> comparative OR state
contact S1 ≠S2
×√93
FOR=
Conductive when oating point
number = comparative OR state
contact S1 = S2
×√93
F
FOR>
Conductive when oating point
number > comparative OR state
contact S1 > S2
×√93
FOR>=
Conductive when oating point
number >= comparative OR state
contact S1 ≧S2
×√93

8
Instructions Lookup Sheet
Instruction Description
Applicable
Model Page
H2U-XP H3U
G
G00 High-speed positioning ×√530
G01 Linear interpolation ×√534
G02 Clockwise arc interpolation ×√538
G03 Counterclockwise arc interpolation ×√538
G04 Delay waiting ×√547
G17 Selection of the XY-plane modal
instruction ×√549
G18 Selection of the ZX-plane modal
instruction ×√549
G19 Selection of the YZ-plane modal
instruction ×√549
G90 Absolute position modal ×√548
G90G01 2-axis linear absolute position
interpolation ×√431
G90G02 2-axis arc-forward absolute position
interpolation ×√440
G90G03 2-axis arc-back absolute position
interpolation ×√452
G91 Relative position modal ×√548
G91G01 2-axis linear relative position
interpolation ×√436
G91G02 2-axis arc-forward relative position
interpolation ×√446
G91G03 2-axis arc-back relative position
interpolation ×√457
GBIN Gray code inverse conversion √ √ 333
GRY Gray code conversion √ √ 332
H
HEX Conversion from ASCII to HEX
format √ √ 167
HKY 16-key input √ √ 314
HOUR Hour meter √ √ 275
HSCR (High-speed counter) Comparison
reset √ √ 362
/
364
HSCS (High-speed counter) Comparison
setting √ √ 358
/
361
HSZ (High-speed counter) Range
comparison √ √ 364
/
369
HTOS
Conversion from
hours:minutes:seconds format to
seconds
×√270
I
INC Binary data incremented by 1 √ √ 112
INCD Cam control incremental mode √ √ 329
INCT Relative position modal instruction ×√501
INSTR String retrieving ×√255
INT Conversion from binary oating-point
number format to BIN integer format √ √ 149
INTR Linear interpolation √ √ 485
INV Operation result inversion √ √ 50
IRET Interrupt return √ √ 72
Instruction Description
Applicable
Model Page
H2U-XP H3U
L
LBL Marker instruction √ √ 77
LD Loading of NO contacts √ √ 50
LD& LD logical AND operation ×√88
LD^ LD logical XOR operation ×√88
LD| LD logical OR operation ×√88
LD< LD contact comparison smaller than √ √ 88
LD< ＝LD contact comparison smaller than
or equal to √ √ 88
LD<> LD contact comparison not equal to √ √ 88
LD= LD contact comparison equal to √ √ 88
LD> LD contact comparison larger than √ √ 88
LD>= LD contact comparison larger than or
equal to √ √ 88
LDF Use of falling edge pulse √ √ 50
LDI Loading of NC contacts √ √ 50
LDP Use of rising edge pulse √ √ 50
L
LDZ<
Conductive when absolute value <
comparative state contact |S1 – S2| <
|S3|
×√94
LDZ<=
Conductive when absolute value <=
comparative state contact |S1 – S2|
≦|S3|
×√94
LDZ<>
Conductive when absolute value <>
comparative state contact |S1 – S2|
≠|S3|
×√94
LDZ=
Conductive when absolute value =
comparative state contact |S1 – S2| =
|S3|
×√94
LDZ>
Conductive when absolute value >
comparative state contact |S1 – S2| >
|S3|
×√94
LDZ>=
Conductive when absolute value >=
comparative state contact |S1 – S2|
≧|S3|
×√94
LEFT Start to read from the left of the string ×√258
LEN Detect the string length ×√254
LIMIT Upper/Lower limit control ×√133
LIN Linear interpolation ×√485
LOG Binary oating-point logarithm
operation with a base of 10 √ √ 144
LOGE Binary oating-point natural logarithm
operation √ √ 143
LRC LRC verication code calculation ×√304

9
Instructions Lookup Sheet
Instruction Description
Applicable
Model Page
H2U-XP H3U
M
M02 End of the main program with
auxiliary function code 0xxxx ×√550
M30 End of the main program of the
auxiliary function code 0xxxx ×√550
M98 Call of the subprogram of the
auxiliary function code 0xxxx ×√550
M99 Return of the subprogram of the
auxiliary function code 0xxxx ×√551
MADD (Integer/Floating point) addition
operation ×√524
MAND Matrix AND operation ×√218
MBC Matrix bit status count operation ×√225
MBR Matrix bit cyclic replacement
operation ×√235
MBRD Matrix bit read operation ×√230
MBS Matrix bit shift operation ×√233
MBWR Matrix bit write operation ×√232
MC Coil instruction for serial contacts
used by the main control √ √ 66
MCALL Motion control program call/return
instruction ×√499
MCMP Matrix comparison operation ×√228
MCR Release instruction for serial contacts
used by main control reset √ √ 66
MDIV (Integer/Floating point) division
operation ×√524
MEAN Mean value calculation √ √ 132
MEF Generation of pulsed operation
results 59
MEP Generation of pulsed operation
results ×√59
MIDR Any character read from a string ×√260
MIDW Any character replacement in a string ×√262
MINV Matrix inverse operation ×√224
MMOV Data transfer ×√524
MMUL (Integer/Floating point) multiplication
operation ×√524
MODBUS MODBUS communication √ √ 300
MOR Matrix OR operation ×√220
MOV Value transfer √ √ 169
MOVC Linear displacement compensation ×√518
MPP Stack read √ √ 57
MPS Stack-based storage √ √ 57
MRD Stack read (current pointer
unchanged) √ √ 57
MRET Conditional subprogram return ×√500
MRST Reset ×√523
MSET Setting ×√523
MSUB (Integer/Floating point) subtraction
operation ×√524
M
MTR Matrix input √ √ 324
MUL Binary data multiplication √ √ 105
MXNR Matrix XNR operation ×√223
MXOR Matrix XOR operation ×√221
Mxxxx Setting function code of the Mxxxx
element ×√551
NEG Binary data negation √ √ 117
NEXT End of a loop √ √ 79
NOP No action √ √ 68
Instruction Description
Applicable
Model Page
H2U-XP H3U
O
OR Parallel connection of NO contacts √ √ 50
OR& OR logical AND operation ×√90
OR^ OR logical XOR operation ×√90
OR| OR logical OR operation ×√90
OR< OR contact comparison smaller than √ √ 87
OR<= OR contact comparison smaller than
or equal to √ √ 87
OR<> OR contact comparison not equal to √ √ 87
OR= OR contact comparison equal to √ √ 87
OR> OR contact comparison larger than √ √ 87
OR>= OR contact comparison larger than
or equal to √ √ 87
ORB Parallel connection of circuit blocks √ √ 58
ORF Parallel connection for OR falling
edge pulse (F) detection √ √ 50
ORI Parallel connection of NC contacts √ √ 50
ORP Parallel connection for OR rising
edge pulse detection √ √ 50
ORZ<
Conductive when absolute value <
comparative OR state contact |S1 –
S2| < |S3|
×√96
ORZ<=
Conductive when absolute value <=
comparative OR state contact |S1 –
S2| ≦|S3|
×√96
ORZ<>
Conductive when absolute value <>
comparative OR state contact |S1 –
S2| ≠|S3|
×√96
ORZ=
Conductive when absolute value =
comparative OR state contact |S1 –
S2| = |S3|
×√96
ORZ>
Conductive when absolute value >
comparative OR state contact |S1 –
S2| > |S3|
×√96
ORZ>=
Conductive when absolute value >=
comparative OR state contact |S1 –
S2| ≧|S3|
×√96
OUT Coil drive √ √ 61
P
PID PID calculation √ √ 307
PLF Falling edge pulse (F) detection coil
instruction √ √ 61
PLS Rising edge pulse detection coil
instruction √ √ 61
PLSN Multi-speed pulse output ×√426
PLSR Pulse output with acceleration/
deceleration √ √ 405
PLSV Variable-speed pulse output √385
PLSV2 Variable-speed pulse output with
acceleration/deceleration ×√389
PLSY Pulse output √ √ 380
POP Subsequent data read ×√191
POW Floating-point weight instruction ×√147
PR ASCII code printing √ √ 323
PRUN Octal bit transfer √ √ 326
PWM Pulse-width modulation output √ √ 462
R
RAD Binary oating-point angle -> radian
conversion √ √ 126
RADC Arc radius compensation ×√520
RAMP Ramp instruction √ √ 193
RCL Carry-included cyclic left-shift √ √ 198
RCR Carry-included cyclic right-shift √ √ 197
REF Input/output refreshing √ √ 295
REFF Input ltering time adjustment √ √ 296

10
Instructions Lookup Sheet
Instruction Description
Applicable
Model Page
H2U-XP H3U
R
RET Program return to the primary bus √ √ 80
RIGHT Start to read from the right of the
string ×√257
RND Random data generation ×√211
ROL Cyclic left-shift √ √ 196
ROR Cyclic right-shift √ √ 195
ROTC Rotation table control √ √ 331
RS Serial data transfer (see the
MODBUS instruction) √ √ 298
RST Contact or cache clearance √ √ 61
S
S
Auxiliary function code used for
setting the rotational speed for the
spindle
×√552
SCL Coordinate determination (coordinate
data of different points) ×√138
SCL2 Coordinate determination 2 (X and Y
coordinate data) ×√140
SEGD Seven-segment code decoding √ √ 319
SEGL Seven-segment hour-minute display √ √ 320
SER Data search √ √ 185
SET SET action storage coil instruction √ √ 61
SETR Electrical zero setting ×√505
SETT Current position setting ×√503
SFL Left-shift of 16-bit data by n bits (carry
included) ×√207
SFR Right-shift of 16-bit data by n bits
(carry included) ×√205
SFRD First in rst out data read √ √ 204
SFTL Bit left-shift √ √ 200
SFTR Bit right-shift √ √ 199
SFWR First in rst out data write √ √ 203
SIN Floating point SIN operation √ √ 120
SINH Floating point SINH operation √ √ 128
SINTR Single-speed interruption positioning ×√513
SMOV Shifted transfer √ √ 171
SORT Data sorting √ √ 181
SORT2 Data sorting 2 ×√183
SPD Pulse density detection √ √ 351
SQR Binary data square root operation √ √ 146
SRET Subprogram return √ √ 71
SSRET Conditional subprogram return ×√72
STL Program jump to the secondary bus √ √ 80
STMR Special timer √ √ 278
STOH Conversion from seconds to
hours:minutes:seconds format ×√272
STR Conversion from BIN to string format ×√237
SUB Binary data subtraction √ √ 103
SUM Total number of ON bits √ √ 210
SWAP Upper/Lower byte exchange √ √ 208
Instruction Description
Applicable
Model Page
H2U-XP H3U
T
T Auxiliary function code ×√552
TADD Clock data addition operation √ √ 268
TAN Floating-point TAN operation √ √ 122
TANH Binary oating-point TANH operation √ √ 130
TCMP Clock data comparison √ √ 266
TIM Delay waiting ×√498
TKY 10-key input √ √ 313
TRD Clock data read √ √ 273
TSUB Clock data subtraction operation √ √ 269
TTMR Training timer √ √ 277
TWR Clock data write √ √ 274
TZCP Clock data range comparison √ √ 267
UUNI 4-bit combination of 16-bit data ×√162
VVAL Conversion from string to BIN format ×√241
W
WAND Binary data logical AND √ √ 114
WDT Watchdog timer reset √ √ 69
WOR Binary data logical OR √ √ 115
WSFL Word left-shift √ √ 202
WSFR Word right-shift √ √ 201
WSUM Sum of calculated values ×√131
WTOB Data separation by byte ×√159
WXOR Binary data logical XOR √ √ 116
X
XCH Data exchange √ √ 212
XYP Setting the XY-plane modal
instruction ×√502
YYZP Setting the YZ-plane modal
instruction ×√502
Z
ZCP Interval comparison √ √ 99
ZONE Zone control ×√136
ZPOP Batch recovery of indexed address
registers ×√178
ZPUSH Batch storage of indexed address
registers ×√175
ZRN Zero return √ √ 394
ZRST Full data reset √ √ 180
ZXP Setting the ZX-plane modal
instruction ×√502
$+ String combination ×√252
$MOV String transfer ×√264

11
Instructions Lookup Sheet
Instructions Lookup Sheet 2
Note: Instructions in gray background in the table only support
H3U-PM motion control models.
1 Program Logic Instructions
Type Model Supported Page
H2U-XP H3U
Contact Instructions
LD Loading of NO contacts √ √ 50
LDI Loading of NC contacts √ √ 50
AND Serial connection of NO
contacts √ √ 50
ANI Serial connection of NC
contacts √ √ 50
OR Parallel connection of NO
contacts √ √ 50
ORI Parallel connection of NC
contacts √ √ 50
LDP Use of rising edge pulse √ √ 50
LDF Use of falling edge pulse √ √ 50
ANDP Serial connection for AND rising
edge pulse detection √ √ 50
ANDF Serial connection for AND
falling edge pulse (F) detection √ √ 50
ORP Parallel connection for OR
rising edge pulse detection √ √ 50
ORF Parallel connection for OR
falling edge pulse (F) detection √ √ 50
INV Operation result inversion √ √ 50
BLD Bit contact of bit data √ √ 52
BLDI Inverse bit contact of bit data √ √ 53
BAND AND bit contact of bit data √ √ 54
BANI ANI bit contact of bit data √ √ 55
BOR OR bit contact of bit data √ √ 56
BORI ORI bit contact of bit data √ √ 57
Combined instructions
ANB Serial connection of circuit
blocks √ √ 58
ORB Parallel connection of circuit
blocks √ √ 58
MPS Stack-based storage √ √ 57
MRD Stack read (current pointer
unchanged) √ √ 57
MPP Stack read √ √ 57
MEP Current edge control,
generation of pulsed operation
results
×√58
MEF
Output instructions
OUT Coil drive √ √ 61
SET SET action storage coil
instruction √ √ 61
RST Contact or cache clearance √ √ 61
PLS Rising edge pulse detection coil
instruction √ √ 61
PLF Falling edge pulse (F) detection
coil instruction √ √ 61
ALT Alternate output √ √ 62
BOUT Bit data output √ √ 63
BSET Bit data setting √ √ 64
BRST Bit data reset √ √ 65
Main control instructions
MC Coil instruction for serial
contacts used by the main
control
√ √ 66
MCR Release instruction for serial
contacts used by main control
reset
√ √ 66
End instructions
FEND End of the main program √ √ 67
END End of all programs √ √ 68
Other processing instructions
NOP No action √ √ 68
WDT Watchdog timer reset √ √ 69
2 Program Flow Instructions
Type Model Supported Page
H2U-XP H3U
Subprogram
CALL Call subprogram √ √ 70
SRET Subprogram return √ √ 71
SSRET Conditional subprogram return × √72
IRET Interrupt return √ √ 72
Interrupt
EI Enable interrupt √ √ 73
DI Disable interrupt √ √ 73
Jump
CJ Conditional jump √ √ 76
LBL Marker instruction √ √ 77
CJEND Conditional jump to the program
end √ √ 78
Loop
FOR Start of a loop √ √ 78
NEXT End of a loop √ √ 79
Step-by-step sequential control
STL Program jump to the secondary
bus √ √ 80
RET Program return to the primary
bus √ √ 80
3 Data Comparison
Type Model Supported Page
H2U-XP H3U
Contact comparison
LD= LD contact comparison equal to √ √ 84
LD> LD contact comparison larger
than √ √ 84
LD< LD contact comparison smaller
than √ √ 84
LD<> LD contact comparison not
equal to √ √ 84

12
Instructions Lookup Sheet
Type Model Supported Page
H2U-XP H3U
LD>= LD contact comparison larger
than or equal to √ √ 84
LD<= LD contact comparison smaller
than or equal to √ √ 84
AND= AND contact comparison equal
to √ √ 86
AND> AND contact comparison larger
than √ √ 86
AND< AND contact comparison
smaller than √ √ 86
AND<> AND contact comparison not
equal to √ √ 86
AND>= AND contact comparison larger
than or equal to √ √ 86
AND< ＝AND contact comparison
smaller than or equal to √ √ 86
OR= OR contact comparison equal
to √ √ 87
OR> OR contact comparison larger
than √ √ 87
OR< OR contact comparison smaller
than √ √ 87
OR<> OR contact comparison not
equal to √ √ 87
OR>= OR contact comparison larger
than or equal to √ √ 87
OR<= OR contact comparison smaller
than or equal to √ √ 87
LD& LD logical AND operation × √88
LD| LD logical OR operation × √88
LD^ LD logical XOR operation × √883
AND& LD logical AND operation × √89
AND| AND logical OR operation × √89
AND^ AND logical XOR operation × √89
OR& OR logical AND operation × √90
OR| OR logical OR operation × √90
OR^ OR logical XOR operation × √90
FLD>
Conductive when oating point
number > comparative state
contact S1 > S2
×√91
FLD>=
Conductive when oating point
number >= comparative state
contact S1 ≧S2
×√91
FLD <
Conductive when oating point
number < comparative state
contact S1 < S2
×√91
FLD<=
Conductive when oating point
number <= comparative state
contact S1 ≦S2
×√91
FLD =
Conductive when oating point
number = comparative state
contact S1 = S2
×√91
FLD<>
Conductive when oating point
number <> comparative state
contact S1 ≠S2
×√91
Type Model Supported Page
H2U-XP H3U
FAND >
Conductive when oating point
number > comparative AND
state contact S1 > S2
×√92
FAND>=
Conductive when oating point
number >= comparative AND
state contact S1 ≧S2
×√92
FAND<
Conductive when oating point
number < comparative AND
state contact S1 < S2
×√92
FAND<=
Conductive when oating point
number <= comparative AND
state contact S1 ≦S2
×√92
FAND=
Conductive when oating point
number = comparative AND
state contact S1 = S2
×√92
FAND<>
Conductive when oating point
number <> comparative AND
state contact S1 ≠S2
×√92
FOR>
Conductive when oating point
number > comparative OR state
contact S1 > S2
×√93
FOR>=
Conductive when oating point
number >= comparative OR
state contact S1 ≧S2
×√93
FOR<
Conductive when oating point
number < comparative OR state
contact S1 < S2
×√93
FOR<=
Conductive when oating point
number <= comparative OR
state contact S1 ≦S2
×√93
FOR =
Conductive when oating point
number = comparative OR state
contact S1 = S2
×√93
FOR<>
Conductive when oating point
number <> comparative OR
state contact S1 ≠S2
×√93
LDZ>
Conductive when absolute value
> comparative state contact |S1
– S2| > |S3|
×√94
LDZ>=
Conductive when absolute value
>= comparative state contact
|S1 – S2| ≧|S3|
×√94
LDZ<
Conductive when absolute value
< comparative state contact |S1
– S2| < |S3|
×√94
LDZ<=
Conductive when absolute value
<= comparative state contact
|S1 – S2| ≦|S3|
×√94
LDZ=
Conductive when absolute value
= comparative state contact |S1
– S2| = |S3|
×√94
LDZ<>
Conductive when absolute value
<> comparative state contact
|S1 – S2| ≠|S3|
×√94
ANDZ>
Conductive when absolute
value > comparative AND state
contact |S1 – S2| > |S3|
×√95

13
Instructions Lookup Sheet
Type Model Supported Page
H2U-XP H3U
Data logical operations
WAND Binary data logical AND √ √ 114
WOR Binary data logical OR √ √ 115
WXOR Binary data logical XOR √ √ 116
NEG Binary data negation √ √ 117
ENEG Binary oating-point notation
negation
×√119
Trigonometric functions
SIN Floating-point SIN operation √ √ 120
COS Floating-point COS operation √ √ 121
TAN Floating-point TAN operation √ √ 122
ASIN Binary oating-point ARCSIN
operation √ √ 123
ACOS Binary oating-point ARCCOS
operation √ √ 124
ATAN Binary oating-point ARCTAN
operation √ √ 125
RAD Binary oating-point angle ->
radian conversion √ √ 126
DEG Binary oating-point radian-to-
angle conversion √ √ 127
SINH Binary oating-point SINH
operation √ √ 128
COSH Binary oating-point COSH
operation √ √ 129
TANH Binary oating-point TANH
operation √ √ 130
Table operations
WSUM Sum of calculated values × √131
MEAN Mean value calculation √ √ 132
LIMIT Upper/Lower limit control × √133
BZAND Dead zone control × √135
ZONE Zone control × √136
SCL
Coordinate determination
(coordinate data of different
points)
×
√138
SCL2 Coordinate determination 2 (X
and Y coordinate data)
×√140
Exponent operation
EXP Binary oating-point exponent
operation √ √ 142
LOGE Binary oating-point natural
logarithm operation √ √ 143
LOG Binary oating-point logarithm
operation with a base of 10 √ √ 144
ESQR Binary oating-point square root
operation √ √ 145
SQR Binary data square root
operation √ √ 146
POW Floating-point weight instruction × √147
Type Model Supported Page
H2U-XP H3U
ANDZ
>=
Conductive when absolute
value >= comparative AND state
contact |S1 – S2| ≧|S3|
×√95
ANDZ<
Conductive when absolute
value < comparative AND state
contact |S1 – S2| < |S3|
×√95
ANDZ<=
Conductive when absolute
value <= comparative AND state
contact |S1 – S2| ≦|S3|
×√95
©ANDZ=
Conductive when absolute
value = comparative AND state
contact |S1 – S2| = |S3|
×√95
ANDZ<>
Conductive when absolute
value <> comparative AND state
contact |S1 – S2| ≠|S3|
×√95
ORZ>
Conductive when absolute value
> comparative OR state contact
|S1 – S2| > |S3|
×√96
ORZ>=
Conductive when absolute
value >= comparative OR state
contact |S1 – S2| ≧|S3|
×√96
ORZ<
Conductive when absolute value
< comparative OR state contact
|S1 – S2| < |S3|
×√96
ORZ<=
Conductive when absolute
value <= comparative OR state
contact |S1 – S2| ≦|S3|
×√96
ORZ=
Conductive when absolute value
= comparative OR state contact
|S1 – S2| = |S3|
×√96
ORZ<>
Conductive when absolute
value <> comparative OR state
contact |S1 – S2| ≠|S3|
×√96
Comparative output
CMP Data comparison √ √ 97
ECMP Binary oating point comparison √ √ 98
ZCP Interval comparison √ √ 99
EZCP Binary oating point interval
comparison √ √ 100
4 Data Operation
Type Model Supported Page
H2U-XP H3U
Four arithmetic operations
ADD Binary data addition √ √ 102
SUB Binary data subtraction √ √ 103
MUL Binary data multiplication √ √ 105
DIV Binary data division √ √ 106
EADD Binary oating-point addition √ √ 107
ESUB Binary oating-point subtraction √ √ 108
EMUL Binary oating-point
multiplication √ √ 109
EDIV Binary oating-point division √ √ 110
INC Binary data incremented by 1 √ √ 112
DEC Binary data decremented by 1 √ √ 113

14
Instructions Lookup Sheet
5 Data Processing
Type Model Supported Page
H2U-XP H3U
Data conversion
INT Conversion from binary oating-
point number format to BIN
integer format
√ √ 149
BCD Conversion from binary to BCD
format √ √ 150
BIN Conversion from BCD to binary
format √ √ 151
FLT Conversion from binary number
format to binary oating-point
number format
√ √ 152
EBCD Conversion from binary to
decimal oating-point number
format
√ √ 153
EBIN Conversion from decimal to
binary oating-point number
format
√ √ 154
DABIN Conversion from decimal ASCII
format to BIN format ×√155
BINDA Conversion from binary format
to decimal ASCII format ×√157
WTOB Data separation by byte × √159
BTOW Data combination by byte × √160
UNI 4-bit combination of 16-bit data × √162
DIS 4-bit separation of 16-bit data × √163
ASCI Conversion from HEX to ASCII
format √ √ 164
HEX Conversion from ASCII to HEX
format √ √ 167
Data transfer
MOV Value transfer √ √ 169
EMOV Binary oating point transfer √ √ 170
SMOV Shifted transfer √ √ 171
BMOV Batch data transfer √ √ 172
FMOV One-to-multiple data transfer √ √ 173
CML Inverted data transfer √ √ 174
ZPUSH Batch storage of indexed
address registers
×√175
ZPOP Batch recovery of indexed
address registers
×√178
Table operations
ZRST Full data reset √ √ 180
SORT Data sorting √ √ 181
SORT2 Data sorting 2 × √183
SER Data search √ √ 185
FDEL Deletion of data from data
tables
×√187
FINS Insertion of data to data tables × √189
POP Subsequent data read × √191
RAMP Ramp instruction √ √ 193
Data shift
ROR Cyclic right-shift √ √ 195
ROL Cyclic left-shift √ √ 196
Type Model Supported Page
H2U-XP H3U
RCR Carry-included cyclic right-shift √ √ 197
RCL Carry-included cyclic left-shift √ √ 198
SFTR Bit right-shift √ √ 199
SFTL Bit left-shift √ √ 200
WSFR Word right-shift √ √ 201
WSFL Word left-shift √ √ 202
SFWR First in rst out data write √ √ 203
SFRD First in rst out data read √ √ 204
SFR Right-shift of 16-bit data by n
bits (carry included)
×√205
SFL Left-shift of 16-bit data by n bits
(carry included)
×√207
Other data processing
SWAP Upper/Lower byte exchange √ √ 208
BON ON bit judgment √ √ 209
SUM Total number of ON bits √ √ 210
RND Random data generation × √211
XCH Data exchange √ √ 212
ANS Signal alarm setting √ √ 213
ANR Signal alarm reset √ √ 214
6 Matrix Instructions
Type Model Supported Page
H2U-XP H3U
Matrix operation
BK+ Matrix addition operation ×√215
BK- Matrix subtraction operation × √217
MAND Matrix AND operation ×√218
MOR Matrix OR operation × √220
MXOR Matrix XOR operation × √221
MXNR Matrix XNR operation × √223
MINV Matrix inverse operation × √224
MBC Matrix bit status count
operation ×√225
Matrix comparison
BKCMP= Matrix equal to comparison
(S1 ＝S2) ×√227
BKCMP> Matrix larger than comparison
(S1 ＞S2) ×√227
BKCMP< Matrix smaller than
comparison (S1 ＜S2) ×√227
BKCMP<> Matrix not equal to
comparison (S1 ≠S2) ×√227
BKCMP<= Matrix smaller than or equal
to comparison (S1 ≤ S2)
×√227
BKCMP>= Matrix larger than or equal to
comparison (S1 ≥ S2)
×√227
MCMP Matrix comparison operation × √228

15
Instructions Lookup Sheet
Type Model Supported Page
H2U-XP H3U
Matrix read/write
MBRD Matrix bit read operation ×√230
MBWR Matrix bit write operation ×√232
Matrix replacement
MBS Matrix bit shift operation ×√233
MBR Matrix bit cyclic replacement
operation
×√235
7 String Instructions
Type Model Supported Page
H2U-XP H3U
STR Conversion from BIN to
string format ×√237
VAL Conversion from string to
BIN format ×√241
ESTR
Conversion from binary
oating-point number to string
format
×√245
EVAL
Conversion from string to
binary oating-point number
format
×√248
$+ String combination × √252
LEN Detect the string length × √254
INSTR String retrieving × √255
RIGHT Start to read from the right of
the string ×√257
LEFT Start to read from the left of
the string ×√258
MIDR Any character read from a
string ×√260
MIDW Any character replacement
in a string ×√262
$MOV String transfer × √264
8 Clock Instructions
Type Model Supported Page
H2U-XP H3U
Clock comparative output
TCMP Clock data comparison √ √ 266
TZCP Clock data range comparison √ √ 267
Clock operation
TADD Clock data addition operation √ √ 268
TSUB Clock data subtraction
operation √ √ 269
Clock conversion
HTOS
Conversion from
hours:minutes:seconds
format to seconds
×√270
Type Model Supported Page
H2U-XP H3U
STOH
Conversion from seconds
to hours:minutes:seconds
format
×√272
Clock read/write
TRD Clock data read √ √ 273
TWR Clock data write √ √ 274
Timing
HOUR Hour meter √ √ 275
TTMR Training timer √ √ 277
STMR Special timer √ √ 278
DUTY Timing pulse generation × √280
9 High-speed Input, Pulse Positioning, and
Communication Positioning
Type Model Supported Page
H2U-XP H3U
High-speed comparison
HSCS (High-speed counter)
comparison setting √ √ 358
HSCR (High-speed counter)
Comparison reset √ √ 362
HSZ (High-speed counter)
Range comparison √ √ 364
DHSOS High-speed interruption
comparison setting ×√370
DHSOR High-speed interruption
comparison reset ×√372
Pulse input
SPD Pulse density detection √ √ 351
Pulse output
PWM Pulse-width modulation
output √ √ 462
PLSY Pulse output √ √ 380
PLSR Pulse output with
acceleration/deceleration √ √ 405
Pulse positioning
PLSV Variable-speed pulse output √385
PLSV2 Variable-speed pulse output
with acceleration/deceleration ×√389
PLSN Multi-speed pulse output × √426
DVIT Interruption positioning
(extension) ×√420
DRVI Relative position
positioning √ √ 415
DRVA Absolute position
positioning √ √ 410
ZRN Zero return √ √ 394
DSZR DOG search zero return √ √ 398

16
Instructions Lookup Sheet
Type Model Supported Page
H2U-XP H3U
Communication positioning (robot)
AXISENAB Axis enabling × √285
AXISSTOP Axis stop positioning × √286
AXISESTOP
Axis emergency stop (used
for stopping the servo in
case of exceptions)
×√287
AXISDRVA Axis absolute positioning × √288
AXISZRN Axis return to zero × √290
AXISJOGA Axis jog × √292
AXISALMRST Axis alarm reset instruction × √294
Refreshing
REF Input/output refreshing √ √ 295
REFF Input ltering time
adjustment √ √ 296
10 Motion Control
Type Model Supported Page
H2U-XP H3U
Interpolation for the H3U model
G90G01 2-axis linear absolute position
interpolation ×√431
G91G01 2-axis linear relative position
interpolation ×√436
G90G02 2-axis arc-forward absolute
position interpolation ×√440
G91G02 2-axis arc-forward relative
position interpolation ×√446
G90G03 2-axis arc-back absolute
position interpolation ×√452
G91G03 2-axis arc-back relative
position interpolation ×√457
Instructions for MC-motion control in the PM model
DRV High-speed positioning √ √ 480
LIN Linear interpolation × √485
INTR Linear interpolation √ √ 485
CW Clockwise arc interpolation × √489
CCW Counterclockwise arc
interpolation ×√489
TIM Delay waiting × √498
MCALL Call the subprogram × √499
MRET Conditional subprogram
return ×√500
ABST Absolute position modal
instruction ×√501
INCT Relative position modal
instruction ×√501
XYP Setting the XY-plane modal
instruction ×√502
YZP Setting the YZ-plane modal
instruction ×√502
ZXP Setting the ZX-plane modal
instruction ×√502
SETT Current position setting × √503
Type Model Supported Page
H2U-XP H3U
SETR Electrical zero setting × √505
DRVZ Mechanical zero return reset × √506
DRVR Electrical zero return × √511
SINTR Single-speed interruption
positioning ×√493
DINTR Double-speed interruption
positioning ×√493
MOVC Linear displacement
compensation ×√518
CNTC Arc center compensation × √519
RADC Arc radius compensation × √520
CANC Motion compensation
cancellation ×√521
Other MC- instructions for the PM model
MSET Setting × √523
MRST Reset × √523
MMOV Data transfer × √524
MADD (Integer/Floating point)
addition operation ×√524
MSUB (Integer/Floating point)
subtraction operation ×√524
MMUL (Integer/Floating point)
multiplication operation ×√524
MDIV (Integer/Floating point)
division operation ×√524
G-code motion control instructions for the PM model
G00
High-speed positioning;
moving to the specied
position at the highest speed
set. The three axises run
separately.
×√530
G01 Linear interpolation × √534
G02 Clockwise arc interpolation × √538
G03 Counterclockwise arc
interpolation ×√538
G04 Delay waiting × √547
G90 Absolute position modal × √548
G91 Relative position modal × √548
G17 Selection of the XY-plane
modal instruction ×√549
G18 Selection of the ZX-plane
modal instruction ×√549
G19 Selection of the YZ-plane
modal instruction ×√549
M02 End of the main program with
auxiliary function code 0xxxx ×√550
M30 End of the main program with
auxiliary function code 0xxxx ×√550
M98 Call of the subprogram of the
auxiliary function code 0xxxx ×√550
M99
Return of the subprogram of
the auxiliary function code
0xxxx
×√551
Mxxxx Setting function code of the
Mxxxx element ×√551

17
Instructions Lookup Sheet
Type Model Supported Page
H2U-XP H3U
S
Auxiliary function code used
for setting the rotational speed
for the spindle
×√552
T Auxiliary function code used
for selecting the tool ×√552
11 Communication
Type Model Supported Page
H2U-XP H3U
Communication instructions
RS Serial data transfer (see the
MODBUS instruction) √ √ 298
MODBUS
MODBUS communication
(see the MODBUS
instructions) √ √
300
Verication
CCD Verication code √ √ 301
CRC CRC verication code
calculation ×√303
LRC LRC verication code
calculation ×√304
12 Peripheral Instructions
Type Model Supported Page
H2U-XP H3U
PID calculation
PID PID calculation √ √ 307
Bit switch access
TKY 10-key input √ √ 313
HKY 16-key input √ √ 314
DSW Digital switch √ √ 316
DECO Data decoding √ √ 317
ENCO Data encoding √ √ 318
LED
SEGD Seven-segment code
decoding √ √ 319
SEGL Seven-segment hour-minute
display √ √ 320
Other peripheral instructions
ASC ASCII code conversion √ √ 322
PR ASCII code printing √ √ 323
MTR Matrix input √ √ 324
PRUN Octal bit transfer √ √ 326
ARWS Direction switch √ √ 327
ABSD Absolute cam control
method √ √ 328
INCD Cam control incremental
mode √ √ 329
ROTC Rotation table control √ √ 331
GRY Gray code conversion √ √ 332
GBIN Gray code inverse
conversion √ √ 333
13 Electronic Cam Instructions
Type Model Supported Page
H2U-XP H3U
CAMRD Electronic cam data reading × √580
CAMWR Electronic cam data writing × √576
ECAMRD Electronic cam oating-point
data reading ×√581
ECAMWR Electronic cam oating-point
data writing ×√578

18
Guide on Quick Reference
Guide on Quick Reference
The following table is for your quick reference if you have doubts on any of the following items:
No. Item Page
1High-speed counter and input
interrupt
See “5.1 H3U Standard Model” on page 336 and “5.3 H3U-PM Motion
Control Model” on page 353
2Use of high-speed comparison
instructions
See “5.2 High-speed Pulse Comparison Instructions of H3U Standard
Model” on page 341 and “5.4 High-speed Comparison Instructions for
H3U-PM Motion Control Model” on page 357
3Use of special elements with high-
speed output See “6.1 Overview” on page 375
4High-speed output positioning
instructions See “6.2 Positioning Instruction” on page 379
5Interpolation instructions for
standard models See “6.3 Interpolation Instruction” on page 430
6Introduction to subprograms for
motion control models
See “7.3 Execution and Call of Motion Control Subprogram” on
page 468
7 Use of motion control instructions See “7.7 Format and Use of MC Subprograms” on page 476
8Use of motion control G-code
instructions See “7.9 Format and Use of G-code Subprograms” on page 527
9 Use of the electronic cam See “Chapter 8 Electronic Cam” on page 563
10 Introduction to MODBUS
communication and protocols
See “9.4 Modbus Protocol” on page 598 and “9.5 Modbus
Conguration and Usage” on page 613
11 CANlink communication See “9.6 CANlink Communication” on page 616
12 CANopen communication See “9.7 CANopen Communication” on page 635
13 Ethernet communication See “9.8 Ethernet Communication” on page 651
14 Application of extension modules See “Chapter 10 Extension Modules” on page 659
15 Introduction to interrupts See “Chapter 11 Interrupt” on page 686
16 Introduction to subprograms See “Chapter 12 Subprogram” on page 694
17 Description on special relays and
registers
See “Appendix A Allocation of Soft Elements SM, SD, D8000, and
M8000” on page 704

1 Overview
1.1 Introduction to the H3U Series PLC ...............................20
1.2 PLC Operating Principle.................................................21