Mitsubishi Electric MELSEC iQ-R Series User manual

MELSEC iQ-R C Intelligent Function Module
Programming Manual

1
SAFETY PRECAUTIONS
(Read these precautions before using this product.)
Before using this product, please read this manual and the relevant manuals carefully, and pay full attention to safety to
handle the product correctly.
In this manual, the safety precautions are classified into two levels: " WARNING" and " CAUTION".
Under some circumstances, failure to observe the precautions given under " CAUTION" may lead to serious
consequences.
Observe the precautions of both levels because they are important for personal and system safety.
Make sure that the end users read this manual and then keep the manual in a safe place for future reference.
CONDITIONS OF USE FOR THE PRODUCT
WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in
death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in
minor or moderate injury or property damage.
(1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions;
i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident;
and
ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the
case of any problem, fault or failure occurring in the PRODUCT.
(2) The PRODUCT has been designed and manufactured for the purpose of being used in general industries.
MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL
RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY
INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE
OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR
WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL
BULLETINS AND GUIDELINES FOR the PRODUCT.
("Prohibited Application")
Prohibited Applications include, but not limited to, the use of the PRODUCT in;
• Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the
public could be affected if any problem or fault occurs in the PRODUCT.
• Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality
assurance system is required by the Purchaser or End User.
• Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator,
Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and
Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other
applications where there is a significant risk of injury to the public or property.
Notwithstanding the above restrictions, Mitsubishi may in its sole discretion, authorize use of the PRODUCT in one or
more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific
applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or
other safety features which exceed the general specifications of the PRODUCTs are required. For details, please
contact the Mitsubishi representative in your region.
(3) Mitsubishi shall have no responsibility or liability for any problems involving programmable controller trouble and system
trouble caused by DoS attacks, unauthorized access, computer viruses, and other cyberattacks.

2
CONSIDERATIONS FOR USE
Considerations for the Wind River Systems product
C intelligent function module has an embedded real-time operating system, VxWorks, manufactured by Wind River Systems,
Inc. in the United States. We, Mitsubishi, make no warranty for the Wind River Systems product and will not be liable for any
problems and damages caused by the Wind River Systems product during use of C intelligent function module.
For the problems or specifications of the Wind River Systems product, refer to the corresponding manual or consult Wind
River Systems, Inc.
Contact information is available on the following website.
• Wind River Systems, Inc.: www.windriver.com
INTRODUCTION
Thank you for purchasing the Mitsubishi MELSEC iQ-R series programmable controllers.
This manual describes the functions required for programming of the relevant products listed below.
Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the
functions and performance of the MELSEC iQ-R series programmable controller to handle the product correctly.
Please make sure that the end users read this manual.
Relevant products
RD55UP06-V, RD55UP12-V

3
CONTENTS
CONTENTS
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
CONSIDERATIONS FOR USE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
CHAPTER 1 COMMON ITEMS 6
1.1 Header Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2 C Intelligent Function Module Dedicated Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Program processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.3 MELSEC iQ-R Series Data Link Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Program processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Accessible range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Argument specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.4 Considerations on Interrupt Service Routine (ISR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
CHAPTER 2 FUNCTION LIST 18
2.1 C Intelligent Function Module Dedicated Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
C intelligent function module dedicated functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
C intelligent function module dedicated functions for ISR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.2 MELSEC iQ-R Series Data Link Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
CHAPTER 3 DETAILS OF FUNCTION 22
3.1 C Intelligent Function Module Dedicated Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
C intelligent function module dedicated functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
C intelligent function module dedicated functions for ISR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
3.2 MELSEC iQ-R Series Data Link Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
CHAPTER 4 ERROR CODE LIST 108
4.1 Common Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
4.2 C Intelligent Function Module Dedicated Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
4.3 MELSEC iQ-R Series Data Link Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
INDEX 118
FUNCTION INDEX 119
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .121
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122

4
RELEVANT MANUALS
e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated
tool.
e-Manual has the following features:
• Required information can be cross-searched in multiple manuals.
• Other manuals can be accessed from the links in the manual.
• Hardware specifications of each part can be found from the product figures.
• Pages that users often browse can be bookmarked.
Manual name [manual number] Description Available form
MELSEC iQ-R C Intelligent Function Module
Programming Manual
[SH-081568ENG] (this manual)
Programming specifications and dedicated function libraries of a C intelligent
function module
e-Manual
PDF
MELSEC iQ-R C Intelligent Function Module User's
Manual (Startup)
[SH-081566ENG]
Specifications, procedure before operation, wiring, and operation examples of
a C intelligent function module
Print book
e-Manual
PDF
MELSEC iQ-R C Intelligent Function Module User's
Manual (Application)
[SH-081567ENG]
Functions, input/output signals, buffer memory, parameter setting, and
troubleshooting of a C intelligent function module
Print book
e-Manual
PDF
CW Workbench/CW-Sim Operating Manual
[SH-081373ENG]
System configuration, specifications, functions, and troubleshooting of CW
Workbench/CW-Sim
e-Manual
PDF

5
TERMS
Unless otherwise specified, this manual uses the following terms.
Term Description
C intelligent function module A generic term for MELSEC iQ-R series C intelligent function module.
C intelligent function module dedicated
function
A dedicated function library offered by the C intelligent function module.
It is used to control the C intelligent function module.
CW Workbench An abbreviation for C Controller module and C intelligent function module engineering tool, CW Workbench.
CW-Sim An abbreviation for VxWorks simulator that can operate and debug the C Controller module and C intelligent
function module programs on a personal computer on which CW Workbench installed, without connecting to the
actual machine (target).
CW-Sim Standalone An abbreviation for VxWorks simulator that can operate the C Controller module and C intelligent function
module programs on a personal computer to which CW Workbench not installed.
Dedicated function library A generic term for C intelligent function module dedicated function and MELSEC iQ-R series data link function.
Engineering tool Another term of the software package for the MELSEC programmable controllers.
This manual explains the GX Works3.
GX Works3 A generic product name for SWnDND-GXW3. ('n' indicates version.)
MELSEC iQ-R series data link function A data link function library offered by the C intelligent function module.
It is used to access an own station or the modules on the network.
VxWorks A product name for the real-time operating system manufactured by Wind River Systems, Inc.

61 COMMON ITEMS
1.1 Header Files
1COMMON ITEMS
A user program is created by using the VxWorks standard API functions*1 and dedicated function library offered by the C
intelligent function module in accordance with the specification of VxWorks, the operating system of C intelligent function
module.
*1 For details on the VxWorks standard API functions, refer to the following programmer's guide supported.
VxWorks"KERNEL PROGRAMMER'S GUIDE"
Dedicated function libraries offered by a C intelligent function module are as follows:
• C intelligent function module dedicated function
• MELSEC iQ-R series data link function
For the execution procedure of user programs, refer to the following manual.
MELSEC iQ-R C Intelligent Function Module User's Manual (Startup)
1.1 Header Files
Include the following header files in a user program to use the dedicated function library.
A header file is stored in a C intelligent function module.
(MELSEC iQ-R C Intelligent Function Module User's Manual (Startup))
Dedicated function library Header file
C intelligent function module dedicated function CITLFunc.h
MELSEC iQ-R series data link function MDRFunc.h

1 COMMON ITEMS
1.2 C Intelligent Function Module Dedicated Functions 7
1
1.2 C Intelligent Function Module Dedicated
Functions
C intelligent function module dedicated functions of the dedicated function libraries are used to control C intelligent function
module.
These functions can be used for reading status of the module or accessing resources such as LED control.
Program processing
The following procedure shows the processing flow of the user program using C intelligent function module.
1. Start a task.
2. Read the status of C intelligent function module and access the resources such as LED control by using the C intelligent
function module dedicated function.
3. Complete the task.
Considerations
The following shows the considerations when using the C intelligent function module dedicated function.
Considerations for user WDT (User watchdog timer)
■A user WDT error occurrence
If a user WDT cannot be reset due to a user program runaway, a user WDT error will occur.
In this case, take the following corrective actions.
• Increase the user WDT period set with the CITL_StartWDT function.
• Lower the number of tasks with high CPU utilization or make them deactivated.
• Review the user program.
Reset the C intelligent function module once the corrective actions have been taken.
In the user program, a user WDT can be used to monitor the hardware and status of user program, and
processing timeout for accessing and controlling each module.
■User WDT setting range
The user WDT period can be set within the range of 100 ms to 10,000 ms.

81 COMMON ITEMS
1.3 MELSEC iQ-R Series Data Link Functions
1.3 MELSEC iQ-R Series Data Link Functions
MELSEC iQ-R series data link functions are the integrated communication function libraries which are independent of the
communication protocols.
A program to communicate with a CPU module can be created regardless of a target hardware or communication protocols
by using the MELSEC iQ-R series data link functions.
The communication functions supported by the MELSEC iQ-R series data link functions are as follows:
Program processing
The following procedure shows the processing flow of the user program using MELSEC iQ-R series data link function.
When accessing with a device name
1. Start a task.
2. Open a communication line. (mdrOpen function)
3. Perform dummy access (such as device/model name reading) to an access target.
4. Access the target by using the MELSEC iQ-R series data link function.
5. To stop accessing the target, go to the procedure 6.
To access the target again, go back to the procedure 4.
6. Close the communication line. (mdrClose function)
7. Complete the task.
When accessing with a label name
1. Start a task.
2. Open a communication line. (mdrOpen function)
3. Acquire device information (label assignment information) from a target CPU module. (mdrGetLabelInfo function)
4. Access the target CPU module by using the acquired device information (label assignment information).
(mdrRandRLabel/mdrRandWLabel function)
5. Check if there is no change in the device information (label assignment information) of the target CPU module.
If it is changed, go back to the procedure 3.
6. To stop accessing the target, go to the procedure 7.
To access the target again, go back to the procedure 4.
7. Close the communication line. (mdrClose function)
8. Complete the task.
Communication function Description
Bus interface communication Accesses a CPU module mounted on the same base unit.
CC-Link IE Controller Network communication Accesses a CPU module on the CC-Link IE Controller Network via a CC-Link IE Controller Network
module.
CC-Link IE Field Network communication Accesses a CPU module on the CC-Link IE Field Network via a CC-Link IE Field Network module.
MELSECNET/H network communication Accesses a CPU module on the MELSECNET/H network via a MELSECNET/H network module.
CC-Link communication Accesses a CPU module on the CC-Link via a CC-Link module.