Mitsubishi Electric MELSEC-L User manual

MELSEC-Q/L Structured Programming Manual
(Special Instructions)

1
SAFETY PRECAUTIONS
(Read these precautions before using this product.)
Before using MELSEC-Q or -L series programmable controllers, please read the manuals included with each product and the
relevant manuals introduced in those manuals carefully, and pay full attention to safety to handle the product correctly.
Make sure that the end users read the manuals included with each product, and keep the manuals in a safe place for future
reference.
CONDITIONS OF USE FOR THE PRODUCT
(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.

2
INTRODUCTION
Thank you for purchasing the Mitsubishi MELSEC-Q or -L series programmable controllers.
Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the
programming specifications to handle the product correctly.
When applying the program examples introduced in this manual to an actual system, ensure the applicability and confirm that
it will not cause system control problems.

3
CONTENTS
CONTENTS
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
CHAPTER 1 OVERVIEW 10
1.1 Purpose of This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.2 Explanation Content in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.3 Modules and Versions Applicable to Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
CHAPTER 2 INSTRUCTION TABLES 15
2.1 How to Read Instruction Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2 Module Dedicated Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Analog instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Positioning instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Serial communication instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Network dedicated instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.3 PID Control Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
PID control instruction (inexact differential). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
PID control instruction (exact differential) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.4 Socket Communication Function Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.5 Built-in I/O Function Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Positioning function dedicated instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Counter function dedicated instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.6 Data Logging Function Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.7 SFC Control Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
CHAPTER 3 CONFIGURATION OF INSTRUCTIONS 29
CHAPTER 4 HOW TO READ INSTRUCTIONS 31
CHAPTER 5 MODULE DEDICATED INSTRUCTION 33
5.1 Analog Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
OFFGAN instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Setting value reading. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Setting value restoration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
5.2 Positioning Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Absolute position restoration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Positioning start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
PFWRT instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Setting data initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5.3 Serial Communication Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
On-demand function transmission. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Nonprocedural protocol communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Bidirectional protocol communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Communication status check. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

4
Receive data clear. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
BUFRCVS instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Initial setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
CSET instruction (programmable controller CPU monitor) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
PUTE instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Mode switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Pre-defined protocol communication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
5.4 Network Dedicated Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Reading from the buffer memory of an intelligent device station. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Writing to the buffer memory of an intelligent device station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
RIRCV instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
RISEND instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Reading from the auto-refresh buffer memory of the master station. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Writing to the auto-refresh buffer memory of the master station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Network parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
READ instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Message (user-specified data) communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Transient request to another station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Read from other station devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Write to other station devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
RRUN instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
RSTOP instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Reading clock data from another station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Writing clock data to another station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Reading from buffer memory of intelligent function module on remote I/O station . . . . . . . . . . . . . . . . . . . . . . 182
Writing to buffer memory of intelligent function module on remote I/O station . . . . . . . . . . . . . . . . . . . . . . . . . 185
Setting parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Connection opening or closing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Fixed buffer communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Reading or clearing error information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
UINI instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
E-mail communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
CHAPTER 6 PID CONTROL INSTRUCTION 227
6.1 PID Control Instruction (Inexact Differential) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Data setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
PID operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
PIDSTOP instruction and PIDRUN instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
Operation parameter change. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
6.2 PID Control Instruction (Exact Differential) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Data setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
PID operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
PIDSTOP instruction and PIDRUN instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
Operation parameter change. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
CHAPTER 7 SOCKET COMMUNICATION FUNCTION INSTRUCTION 252
7.1 Opening/Closing Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
7.2 SOCRCV Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
7.3 Sending Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
7.4 SOCCINF Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

5
CONTENTS
7.5 Changing Destination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
7.6 Changing Receive Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
7.7 SOCRDATA Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
CHAPTER 8 BUILT-IN I/O FUNCTION INSTRUCTION 272
8.1 Positioning Function Dedicated Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
Positioning start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
OPR start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
JOG start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
Absolute position restoration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
IPSTOP instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Speed change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Target position change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
8.2 Counter Function Dedicated Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
Current value read. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
Ring counter upper/lower limit value write. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
Preset value write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
Latch counter value read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
Sampling counter value read. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
Coincidence output point write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
Frequency measurement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
Rotation speed measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
Pulse measurement read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
PWM output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
CHAPTER 9 DATA LOGGING FUNCTION INSTRUCTION 299
9.1 Trigger Logging Set/Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
CHAPTER 10 SFC CONTROL INSTRUCTION 301
10.1 SFC Step Comment Read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
10.2 SFC Transition Condition Comment Read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
INDEX 306
INSTRUCTION INDEX 308
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .310
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .312

6
MANUALS
RELEVANT MANUALS
The manuals related to this product are listed below. Order each manual as needed, referring to the following lists.
■Structured programming
■Operation of GX Works2
■Detailed specifications of instructions
• Analog instruction
Manual name
Manual number (model code)
Description
MELSEC-Q/L/F Structured Programming Manual
(Fundamentals)
<SH-080782ENG>
Methods and languages for structured programming
MELSEC-Q/L Structured Programming Manual (Common
Instructions)
<SH-080783ENG>
Specifications and functions of common instructions, such as sequence instructions, basic
instructions, and application instructions, that can be used in structured programs
MELSEC-Q/L Structured Programming Manual (Application
Functions)
<SH-080784ENG>
Specifications and functions of application functions that can be used in structured programs
Manual name
Manual number (model code)
Description
GX Works2 Version 1 Operating Manual (Common)
<SH-080779ENG>
System configuration, parameter settings, and online operations of GX Works2, which are
common to Simple projects and Structured projects
GX Works2 Version 1 Operating Manual (Structured Project)
<SH-080781ENG>
Operations, such as programming and monitoring in Structured projects, of GX Works2
GX Works2 Beginner's Manual (Structured Project)
<SH-080788ENG>
Basic operations, such as programming, editing, and monitoring in Structured projects, of GX
Works2. This manual is intended for first-time users of GX Works2.
Series Manual name
Manual number (model code)
Description
Q L
●Analog-Digital Converter Module User's Manual
<SH-080055>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the Q64AD, Q68ADV, and Q68ADI
●Channel Isolated High Resolution Analog-Digital Converter
Module / Channel Isolated High Resolution Analog-Digital
Converter Module (With Signal Conditioning Function) User's
Manual
<SH-080277>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the Q64AD-GH and Q62AD-DGH
●Channel Isolated Analog-Digital Converter Module/Channel
Isolated Analog-Digital Converter Module (With Signal
Conditioning Function) User's Manual
<SH-080647ENG>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the Q68AD-G and Q66AD-DG
●MELSEC-Q High Speed Analog-Digital Converter Module
User's Manual
<SH-080987ENG>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the Q64ADH
●MELSEC-Q High Speed Digital-Analog Converter Module
User's Manual
<SH-081101ENG>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the Q64DAH
●Digital-Analog Converter Module User's Manual
<SH-080054>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the Q62DAN, Q64DAN, Q68DAVN, and Q68DAIN
●Channel Isolated Digital-Analog Converter Module User's
Manual
<SH-080281E>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the Q62DA-FG
●Channel Isolated Digital-Analog Converter Module User's
Manual
<SH-080648ENG>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the Q66DA-G
●RTD Input Module Channel Isolated RTD Input Module User's
Manual
<SH-080142>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the Q64RD and Q64RD-G

7
• Positioning instruction
• Serial communication instruction
• Network dedicated instruction
●Thermocouple Input Module Channel Isolated Thermocouple/
Micro Voltage Input Module User's Manual
<SH-080141>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the Q64TD and Q64TDV-GH
●Channel Isolated Thermocouple Input Module User's Manual
<SH-080795ENG>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the Q68TD-G-H01/Q68TD-G-H02
●Channel Isolated RTD Input Module User's Manual
<SH-080722ENG>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the Q68RD3-G
●Load Cell Input Module User's Manual
<SH-080821ENG>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the Q61LD
●MELSEC-Q Current Transformer Input Module User's Manual
<SH-081033ENG>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the Q68CT
●MELSEC-L Analog-Digital Converter Module User's Manual
<SH-080899ENG>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the analog-digital converter module
●MELSEC-L Dual Channel Isolated High Resolution Analog-
Digital Converter Module User's Manual
<SH-081103ENG>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the L60AD4-2GH
●MELSEC-L Digital-Analog Converter Module User's Manual
<SH-080900ENG>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the digital-analog converter module
●MELSEC-L Analog Input/Output Module User's Manual
<SH-081167ENG>
System configuration, specifications, settings, and troubleshooting of the
analog input/output module
Series Manual name
Manual number (model code)
Description
Q L
●Type QD75P/QD75D Positioning Module User's Manual
(Details)
<SH-080058>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the QD75P1N/QD75P2N/QD75P4N/QD75D1N/
QD75D2N/QD75D4N/QD75P1/QD75P2/QD75P4/QD75D1/QD75D2/QD75D4
●Type QD75M Positioning Module User's Manual (Details)
<IB-0300062>
System configuration, performance specifications, functions, handling,
procedures before operation, and troubleshooting of the QD75M1/QD75M2/
QD75M4
●Type QD75MH Positioning Module User's Manual (Details)
<IB-0300117>
System configuration, performance specifications, functions, handling,
procedures before operation, and troubleshooting of the QD75MH1/
QD75MH2/QD75MH4
●MELSEC-L LD75P/LD75D Positioning Module User's Manual
<SH-080911ENG>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the LD75P1/LD75P2/LD75P4/LD75D1/LD75D2/
LD75D4
Series Manual name
Manual number (model code)
Description
Q L
●Q Corresponding Serial Communication Module User's
Manual (Basic)
<SH-080006>
The overview for use of the module, applicable system configuration,
specifications, procedures before operation, fundamental data communication
with external devices, maintenance, inspection, and troubleshooting
●MELSEC-L Serial Communication Module User's Manual
(Basic)
<SH-080894ENG>
The overview for use of the module, applicable system configuration,
specifications, procedures before operation, fundamental data communication
with external devices, maintenance, inspection, and troubleshooting
●●MELSEC-Q/L Serial Communication Module User's Manual
(Application)
<SH-080007>
The specifications and usage of special functions of the module, settings for
special functions, and data communication with external devices
Series Manual name
Manual number (model code)
Description
Q L
●MELSEC-Q CC-Link System Master/Local Module User's
Manual
<SH-080394E>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the QJ61BT11N
●MELSEC-L CC-Link System Master/Local Module User's
Manual
<SH-080895ENG>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the built-in CC-Link and CC-Link system master/local
modules
●CC-Link IE Controller Network Reference Manual
<SH-080668ENG>
System configuration, performance specifications, functions, handling, wiring,
and troubleshooting of the CC-Link IE Controller Network
Series Manual name
Manual number (model code)
Description
Q L

8
• PID control instruction
• Socket communication function instruction
• Built-in I/O function instruction
• Data logging function instruction
• SFC control instruction
●MELSEC-Q CC-Link IE Field Network Master/Local Module
User's Manual
<SH-080917ENG>
The specifications, procedures before operation, system configuration,
installation, settings, functions, programming, and troubleshooting of the CC-
Link IE Field Network and the CC-Link IE Field Network master/local module
●MELSEC-L CC-Link IE Field Network Master/Local Module
User's Manual
<SH-080972ENG>
The specifications, procedures before operation, system configuration,
installation, settings, functions, programming, and troubleshooting of the CC-
Link IE Field Network and the CC-Link IE Field Network master/local module
●Q Corresponding MELSECNET/H Network System Reference
Manual (PLC to PLC network)
<SH-080049>
The specifications, settings and procedures before operation, parameter
setting, programming, and troubleshooting of the MELSECNET/H PLC-to-PLC
network system
●Q Corresponding MELSECNET/H Network System Reference
Manual (Remote I/O network)
<SH-080124>
System configuration, performance specifications, and programming of the
MELSECNET/H network system (remote I/O network)
●Q Corresponding Ethernet Interface Module User's Manual
(Basic)
<SH-080009>
The specifications of the Ethernet module, data communication procedure with
external devices, line connection (open/close), fixed buffer communication,
random access buffer communication, and troubleshooting
●MELSEC-L Ethernet Interface Module User's Manual (Basic)
<SH-081105ENG>
The specifications of the Ethernet module, data communication procedure with
external devices, line connection (open/close), fixed buffer communication,
random access buffer communication, and troubleshooting
●●MELSEC-Q/L Ethernet Interface Module User's Manual
(Application)
<SH-080010>
The e-mail function of the Ethernet module, programmable controller CPU
status monitoring, communication function using the MELSECNET/H or
MELSECNET/10 as a relay station, communication with data link instructions,
and the use of file transfer (FTP server) function
Series Manual name
Manual number (model code)
Description
Q L
●●MELSEC-Q/L/QnA Programming Manual (PID Control
Instructions)
<SH-080040>
The dedicated instructions for PID control
Series Manual name
Manual number (model code)
Description
Q L
●QnUCPU User's Manual (Communication via Built-in Ethernet
Port)
<SH-080811ENG>
Functions for the communication via built-in Ethernet port of the CPU module
●MELSEC-L CPU Module User's Manual (Built-In Ethernet
Function)
<SH-080891ENG>
The built-in Ethernet function of the CPU module
Series Manual name
Manual number (model code)
Description
Q L
●MELSEC-L CPU Module User's Manual (Built-In I/O Function)
<SH-080892ENG>
The general-purpose I/O function, interrupt input function, pulse catch function,
positioning function, and high-speed counter function of the CPU module
Series Manual name
Manual number (model code)
Description
Q L
●●QnUDVCPU/LCPU User's Manual (Data Logging Function)
<SH-080893ENG>
Specifications of the data logging function, and operating method of the LCPU
logging configuration tool
Series Manual name
Manual number (model code)
Description
Q L
●●MELSEC-Q/L/QnA Programming Manual (SFC)
<SH-080041>
The programming methods required to create SFC program, specifications
and functions
Series Manual name
Manual number (model code)
Description
Q L

9
TERMS
This manual uses the generic terms and abbreviations listed in the following table to discuss the software packages and
programmable controller CPUs. Corresponding module models are also listed if needed.
Term Description
Application function A generic term for the functions, such as functions and function blocks, defined in IEC61131-3.
(The functions are executed with a set of common instructions in a programmable controller.)
Basic model QCPU A generic term for the Q00JCPU, Q00CPU, and Q01CPU
Built-in Ethernet port LCPU A generic term for the L02CPU, L02CPU-P, L06CPU, L06CPU-P, L26CPU, L26CPU-P, L26CPU-BT, and
L26CPU-PBT
Built-in Ethernet port QCPU A generic term for the Q03UDVCPU, Q03UDECPU, Q04UDVCPU, Q04UDEHCPU, Q06UDVCPU,
Q06UDEHCPU, Q10UDEHCPU, Q13UDVCPU, Q13UDEHCPU, Q20UDEHCPU, Q26UDVCPU,
Q26UDEHCPU, Q50UDEHCPU, and Q100UDEHCPU
CC-Link IE A generic term for CC-Link IE Controller Network system and CC-Link IE Field Network system
Common instruction A generic term for the sequence instructions, basic instructions, application instructions, data link instructions,
multiple CPU dedicated instructions, multiple CPU high-speed transmission dedicated instructions, and
redundant system instructions
CPU module A generic term for QCPU (Q mode) and LCPU
GX Works2 Product name of the software package for the MELSEC programmable controllers
High Performance model QCPU A generic term for the Q02CPU, Q02HCPU, Q06HCPU, Q12HCPU, and Q25HCPU
High-speed Universal model QCPU A generic term for the Q03UDVCPU, Q04UDVCPU, Q06UDVCPU, Q13UDVCPU, and Q26UDVCPU
IEC61131-3 The abbreviation for the IEC 61131-3 international standard
LCPU A generic term for the L02SCPU, L02SCPU-P, L02CPU, L02CPU-P, L06CPU, L06CPU-P, L26CPU, L26CPU-P,
L26CPU-BT, and L26CPU-PBT
MELSECNET/H The abbreviation for MELSECNET/H network system
Personal computer A generic term for personal computer on which Windowsoperates
Process CPU A generic term for the Q02PHCPU, Q06PHCPU, Q12PHCPU, and Q25PHCPU
QCPU (Q mode) A generic term for the Basic model QCPU, High Performance model QCPU, Process CPU, Redundant CPU,
and Universal model QCPU.
Redundant CPU A generic term for the Q12PRHCPU and Q25PRHCPU
Special instruction A generic term for the module dedicated instructions, PID control instructions, socket communication function
instructions, built-in I/O function instructions, and data logging function instructions
Universal model QCPU A generic term for the Q00UJCPU, Q00UCPU, Q01UCPU, Q02UCPU, Q03UDCPU, Q03UDVCPU,
Q03UDECPU, Q04UDHCPU, Q04UDVCPU, Q04UDEHCPU, Q06UDHCPU, Q06UDVCPU, Q06UDEHCPU,
Q10UDHCPU, Q10UDEHCPU, Q13UDHCPU, Q13UDVCPU, Q13UDEHCPU, Q20UDHCPU, Q20UDEHCPU,
Q26UDHCPU, Q26UDVCPU, Q26UDEHCPU, Q50UDEHCPU, and Q100UDEHCPU

10 1 OVERVIEW
1.1 Purpose of This Manual
1OVERVIEW
1.1 Purpose of This Manual
This manual explains the instructions for the network module, intelligent function module, PID control, socket communication
function, built-in I/O function, and data logging function among common instructions and special instructions necessary for
creating programs using the structured programming technique. Manuals for reference are listed in the following table
according to their purpose.
For information such as the contents and number of each manual, refer to the list of 'Related manuals'.
Page 6 RELEVANT MANUALS
Operation of GX Works2
Operations in each programming language
For details of instructions used in each programming language, refer to the following.
Page 11 Details of instructions in each programming language
*1 MELSAP3 and FX series SFC only
Purpose Overview Details
Installation Learning the operating environment
and installation method
GX Works2 Installation Instructions
Learning a USB driver installation
method
GX Works2 Version 1 Operating Manual
(Common)
Operation of GX
Works2
Learning all functions of GX Works2 GX Works2 Version 1 Operating Manual
(Common)

Learning the project types and
available languages in GX Works2

Learning the basic operations and
operating procedures when creating a
simple project for the first time
GX Works2 Beginner's Manual (Simple
Project)
Learning the basic operations and
operating procedures when creating a
structured project for the first time
GX Works2 Beginner's Manual
(Structured Project)
Learning the operations of available
functions regardless of project type.
GX Works2 Version 1 Operating Manual
(Common)
Learning the functions and operation
methods for programming
GX Works2 Version 1 Operating Manual
(Common)
GX Works2 Version 1 Operating Manual
(Simple Project)
GX Works2 Version 1 Operating Manual
(Structured Project)
Learning data setting methods for
intelligent function module
GX Works2 Version 1 Operating Manual
(Intelligent Function Module)
Purpose Overview Details
Simple Project Ladder GX Works2 Beginner's Manual (Simple
Project)
GX Works2 Version 1 Operating Manual
(Simple Project)
SFC GX Works2 Beginner's Manual (Simple
Project)*1
ST GX Works2 Beginner's Manual
(Structured Project)
GX Works2 Version 1 Operating Manual
(Structured Project)
Structured Project Ladder GX Works2 Beginner's Manual (Simple
Project)
GX Works2 Version 1 Operating Manual
(Simple Project)
SFC GX Works2 Beginner's Manual (Simple
Project)*1
Structured ladder/FBD GX Works2 Beginner's Manual
(Structured Project)
GX Works2 Version 1 Operating Manual
(Structured Project)
ST

1 OVERVIEW
1.1 Purpose of This Manual 11
1
Details of instructions in each programming language
Purpose Overview Details
All languages Learning details of programmable
controller CPU error codes, special
relays, and special registers
Use's Manual (Hardware Design,
Maintenance and Inspection) for the CPU
module used
Using ladder
diagram
Learning the types and details of
common instructions
MELSEC-Q/L Programming Manual
(Common Instruction)
Learning the types and details of
instructions for intelligent function
modules
Manual for the intelligent function module
used
Learning the types and details of
instructions for network modules
Manual for the network module used
Learning the types and details of
instructions for the PID control function
MELSEC-Q/L/QnA Programming Manual
(PID Control Instructions)
Learning the types and details of the
process control instructions
MELSEC-Q Programming/Structured
Programming Manual (Process Control
Instructions)
Using SFC
language
Learning details of specifications,
functions, and instructions of SFC
(MELSAP3)
MELSEC-Q/L/QnA Programming Manual
(SFC)
Using structured
ladder/FBD or
structured text
language
Learning the fundamentals for creating
a structured program
MELSEC-Q/L/F Structured Programming
Manual (Fundamentals)
Learning the types and details of
common instructions
MELSEC-Q/L Structured Programming
Manual (Common Instructions)
Learning the types and details of
instructions for intelligent function
modules
MELSEC-Q/L Structured Programming
Manual (Special Instructions)
Manual for the intelligent function module
used
Learning the types and details of
instructions for network modules
Manual for the network module used
Learning the types and details of
instructions for the PID control function
MELSEC-Q/L/QnA Programming Manual
(PID Control Instructions)
Learning the types and details of
application functions
MELSEC-Q/L Structured Programming
Manual (Application Functions)
Learning the types and details of the
process control instructions
MELSEC-Q Programming/Structured
Programming Manual (Process Control
Instructions)

12 1 OVERVIEW
1.2 Explanation Content in This Manual
1.2 Explanation Content in This Manual
This manual explains the programming methods and data used for control of the following modules and PID control using
structured programming technique.
• Precautions on using instructions
For details of the specifications, functions, and operating timing of each instruction, refer to the related
manuals of each module.
MANUALS
Function/module for explaining an
instruction
Processing performed by the instruction Reference
Analog module • Switches the mode. (Offset/gain setting mode or normal mode)
• Reads the user range setting offset/gain value.
• Restores the user range setting offset/gain value.
Page 33 Analog
Instruction
Positioning module • Restores the absolute position of the specified axis.
• Starts positioning of the specified axis.
• Executes teaching of the specified axis.
• Writes parameters/positioning data and block start data to a flash ROM.
• Initializes setting data.
Page 39 Positioning
Instruction
Serial communication module • Sends and receives data to and from an external device.
• Registers and reads user frames.
Page 51 Serial
Communication
Instruction
CC-Link system master/local module • Reads and writes data from and to an intelligent device station on the CC-Link
system.
• Reads and writes data from and to the auto-refresh buffer memory at the master
station.
• Sets the network parameters.
Page 98 Network
Dedicated
Instruction
CC-Link IE network module • Sends and receives data to and from an external device.
• Reads and writes data from and to another station on the CC-Link IE or
MELSECNET/H network system.
• Reads and clears error information.
• Sends and receives e-mails.
MELSECNET/H network module
Ethernet interface module
PID control instruction • Sets PID control data and performs PID operation for inexact differential and exact
differential.
• Stops and starts operation of the specified loop.
• Changes the parameter of the specified loop.
Page 227 PID
CONTROL
INSTRUCTION
Socket communication function • Opens/closes a connection.
• Reads receive data.
• Changes the receive mode.
Page 252 SOCKET
COMMUNICATION
FUNCTION
INSTRUCTION
Built-in I/O function Positioning
function
• Starts positioning of the specified axis.
• Starts OPR of the specified axis.
• Starts JOG operation of the specified axis.
• Restores the absolute position of the specified axis.
• Stops the operating axis.
• Changes the speed and the target position of the specified axis.
Page 272 BUILT-IN
I/O FUNCTION
INSTRUCTION
Counter function • Updates the current value of the specified CH.
• Sets a ring counter lower limit value and a ring counter upper limit value.
• Sets a preset value/latch counter value/sampling counter value.
• Sets the coincidence output No. n point.
• Measures the frequency/rotation speed.
• Stores the measured pulse value.
• Outputs the PWM wave form.
Data logging function • Generates a trigger on the data logging of the specified data logging configuration
number.
• Resets the LOGTRG instruction of the specified data logging configuration
number.
Page 299 DATA
LOGGING
FUNCTION
INSTRUCTION
SFC control • Reads comment of an active step in the specified SFC block.
• Reads comment of transition condition associated with an active step in the
specified SFC block.
Page 301 SFC
CONTROL
INSTRUCTION

1 OVERVIEW
1.3 Modules and Versions Applicable to Instructions 13
1
1.3 Modules and Versions Applicable to Instructions
This section describes the modules and versions applicable to the instructions explained in this manual. For details of
applicable versions, refer to each instruction in Chapter 5
Function/module for explaining an instruction Applicable version/serial
number
Analog module Q64AD, Q68ADV, Q68ADI, Q64AD-GH, Q62AD-DGH, Q68AD-G,
Q66AD-DG, Q64ADH, Q64DAH, Q62DAN, Q64DAN, Q68DAVN,
Q68DAIN, Q62DA, Q64DA, Q68DAV, Q68DAI, Q62DA-FG, Q66DA-G,
Q64RD, Q64RD-G, Q64TD, Q64TDV-GH, Q68TD-G-H01, Q68TD-G-
H02, Q68RD3-G, Q61LD, Q68CT, L60AD4, L60AD4-2GH, L60DA4,
L60AD2DA2, L60ADVL8, L60ADIL8, L60DAVL8, L60DAIL8
Applicable to all versions
Positioning module QD75P1N, QD75P2N, QD75P4N, QD75D1N, QD75D2N, QD75D4N,
QD75P1, QD75P2, QD75P4, QD75D1, QD75D2, QD75D4, QD75M1,
QD75M2, QD75M4, QD75MH1, QD75MH2, QD75MH4, LD75P1,
LD75P2, LD75P4, LD75D1, LD75D2, LD75D4
Applicable to all versions
Serial communication module QJ71C24N, QJ71C24N-R2, QJ71C24N-R4, QJ71C24, QJ71C24-R2,
LJ71C24, LJ71C24-R2
The modules that can use the
UINI instruction are limited.
Page 89 Mode switching
CC-Link system master/local module QJ61BT11N, LJ61BT11 Applicable to all versions
QJ61BT11 The modules that can use the
RLPASET instruction are limited.
The instruction is applicable to
the module of which the function
version is B and the first five
digits of the serial number are
'03042' or higher.
Page 118 Network
parameter setting
CC-Link IE Controller Network module QJ71GP21-SX, QJ71GP21S-SX Applicable to all versions
CC-Link IE Field Network module QJ71GF11-T2, LJ71GF11-T2 Applicable to all versions
MELSECNET/H network module QJ71LP21, QJ71LP21-25, QJ71LP21S-25, QJ71LP21G, QJ71BR11,
QJ72LP25-25, QJ72LP25G, QJ72BR15
Applicable to all versions
Ethernet interface module QJ71E71-100, QJ71E71-B5, QJ71E71-B2, LJ71E71-100 Applicable to all versions
CPU module supporting the PID control
instruction
Q00JCPU, Q00UJCPU, Q00CPU, Q00UCPU, Q01CPU, Q01UCPU,
Q02CPU, Q02HCPU, Q02UCPU, Q03UDCPU, Q03UDVCPU,
Q03UDECPU, Q04UDHCPU, Q04UDVCPU, Q04UDEHCPU,
Q06HCPU, Q06UDHCPU, Q06UDVCPU, Q06UDEHCPU,
Q10UDHCPU, Q10UDEHCPU, Q12HCPU, Q12PRHCPU,
Q13UDHCPU, Q13UDVCPU, Q13UDEHCPU, Q20UDHCPU,
Q20UDEHCPU, Q25HCPU, Q25PRHCPU, Q26UDHCPU,
Q26UDVCPU, Q26UDEHCPU, Q50UDEHCPU, Q100UDEHCPU,
L02SCPU, L02SCPU-P, L02CPU, L02CPU-P, L06CPU, L06CPU-P,
L26CPU, L26CPU-P, L26CPU-BT, L26CPU-PBT
The modules that can use the
instruction are limited.
Page 227 PID Control
Instruction (Inexact
Differential),Page 240 PID
Control Instruction (Exact
Differential)
Built-in Ethernet port QCPU, Built-in Ethernet
port LCPU (Built-in Ethernet function)
Q03UDVCPU, Q03UDECPU, Q04UDVCPU, Q04UDEHCPU,
Q06UDVCPU, Q06UDEHCPU, Q10UDEHCPU, Q13UDVCPU,
Q13UDEHCPU, Q20UDEHCPU, Q26UDVCPU, Q26UDEHCPU,
Q50UDEHCPU, Q100UDEHCPU, L02CPU, L02CPU-P, L06CPU,
L06CPU-P, L26CPU, L26CPU-P, L26CPU-BT, L26CPU-PBT
The modules that can use the
socket communication function
instruction are limited when
using the Built-in Ethernet port
QCPU.
The instruction is applicable to
the module of which the function
version is B and the first five
digits of the serial number are
'11012' or higher.
The instruction is applicable to
all versions when using the Built-
in Ethernet port LCPU.
LCPU (Built-in I/O function) L02SCPU, L02SCPU-P, L02CPU, L02CPU-P, L06CPU, L06CPU-P,
L26CPU, L26CPU-P, L26CPU-BT, L26CPU-PBT
Applicable to all versions
Data logging function Q03UDVCPU, Q04UDVCPU, Q06UDVCPU, Q13UDVCPU,
Q26UDVCPU, L02CPU, L02CPU-P, L06CPU, L06CPU-P, L26CPU,
L26CPU-P, L26CPU-BT, L26CPU-PBT
Applicable to all versions

14 1 OVERVIEW
1.3 Modules and Versions Applicable to Instructions
• How to check the applicable version or serial number
Intelligent function modules: User's Manual or Reference Manual for the module listed in 'Manuals'
CPU modules supporting PID control: User's Manual (Function Explanation, Program Fundamentals) of the
CPU module to be used
Built-in Ethernet port QCPU: QnUCPU User's Manual (Communication via Built-in Ethernet Port)
• Manual for reference
MANUALS
CPU module supporting the SFC control
instruction
Q02CPU, Q02HCPU, Q02PHCPU, Q03UDCPU, Q03UDVCPU,
Q03UDECPU, Q04UDHCPU, Q04UDVCPU, Q04UDEHCPU,
Q06HCPU, Q06PHCPU, Q06UDHCPU, Q06UDVCPU, Q06UDEHCPU,
Q10UDHCPU, Q10UDEHCPU, Q12HCPU, Q12PHCPU, Q12PRHCPU,
Q13UDHCPU, Q13UDVCPU, Q13UDEHCPU, Q20UDHCPU,
Q20UDEHCPU, Q25HCPU, Q25PHCPU, Q25PRHCPU, Q26UDHCPU,
Q26UDVCPU, Q26UDEHCPU, Q50UDEHCPU, Q100UDEHCPU
The modules that can use the
instruction are limited.
Page 301 SFC Step
Comment Read
Function/module for explaining an instruction Applicable version/serial
number

2 INSTRUCTION TABLES
2.1 How to Read Instruction Tables 15
2
2INSTRUCTION TABLES
2.1 How to Read Instruction Tables
The instruction tables found from Page 16 Module Dedicated Instruction to Page 28 SFC Control Instruction have been made
according to the following format:
Description
Classifies instructions by application.
Indicates the instructions used in a program.
Indicates the arguments of the instruction.
Indicates the processing details of each instruction.
Details of executing condition of each instruction are as follows:
Indicates the execution target module of each instruction. For details of the icons, refer to Chapter Page 31 HOW TO READ
INSTRUCTIONS.
Indicates the references on which the instructions are explained.
Symbol Name Description
(s), (s1) Source Stores data before operation.
(d), (d1) Destination Indicates the destination of data after operation.
n, n1 Specifies the number of devices and the number of transfers.
(Jn*) Specifies the network number.
(Un*) Specifies the start I/O number of a module.
Symbol Executing condition
Indicates an 'executed while ON' type instruction that is executed only while the precondition is ON. When
the precondition is OFF, the instruction is not executed and does not perform processing.
Indicates an 'executed once at ON' type instruction that is executed only at the rising pulse (OFF ON) of
the precondition of the instruction.
ÒÓÔÕ Ö×Ø

16 2 INSTRUCTION TABLES
2.2 Module Dedicated Instruction
2.2 Module Dedicated Instruction
Analog instruction
Classification Instruction
name
Argument Processing details Executing
condition
Reference
Mode switching G_OFFGAN (Un*), (s) • Moves to the offset/gain setting mode.
• Moves to the normal mode.
Page 33
G(P)_OFFGAN
GP_OFFGAN
Setting value reading G_OGLOAD (Un*), (s), (d) • Reads the user range settings offset/gain
value to the programmable controller CPU.
Page 35
G(P)_OGLOA
D
GP_OGLOAD
Setting value restoration G_OGSTOR (Un*), (s), (d) • Restores the user range settings offset/gain
value stored in the programmable controller
CPU.
Page 37
G(P)_OGSTO
R
GP_OGSTOR

2 INSTRUCTION TABLES
2.2 Module Dedicated Instruction 17
2
Positioning instruction
Classification Instruction
name
Argument Processing details Executing
condition
Reference
Absolute position restoration Z_ABRST1 (Un*), (s), (d) Restores the absolute position of the specified
axis.
Page 39
Z_ABRST1,
Z_ABRST2,
Z_ABRST3,
Z_ABRST4
Z_ABRST2 (Un*), (s), (d)
Z_ABRST3 (Un*), (s), (d)
Z_ABRST4 (Un*), (s), (d)
Positioning start ZP_PSTRT1 (Un*), (s), (d) Starts positioning of the specified axis. Page 43
ZP_PSTRT1,
ZP_PSTRT2,
ZP_PSTRT3,
ZP_PSTRT4
ZP_PSTRT2 (Un*), (s), (d)
ZP_PSTRT3 (Un*), (s), (d)
ZP_PSTRT4 (Un*), (s), (d)
Teaching ZP_TEACH1 (Un*), (s), (d) Performs teaching for the specified axis. Page 45
ZP_TEACH1,
ZP_TEACH2,
ZP_TEACH3,
ZP_TEACH4
ZP_TEACH2 (Un*), (s), (d)
ZP_TEACH3 (Un*), (s), (d)
ZP_TEACH4 (Un*), (s), (d)
Writing to flash ROM ZP_PFWRT (Un*), (s), (d) Writes the positioning module parameters,
positioning data, and block start data to the
flash ROM.
Page 47
ZP_PFWRT
Setting data initialization ZP_PINIT (Un*), (s), (d) Initializes the positioning module setting data. Page 49
ZP_PINIT

18 2 INSTRUCTION TABLES
2.2 Module Dedicated Instruction
Serial communication instruction
Classification Instruction
name
Argument Processing details Executing
condition
Applicable
module
Reference
On-demand function
transmission
G_ONDEMAND (Un*), (s1), (s2),
(d)
Sends data using the on-demand
function of MC protocol.
Page 51
G(P)_ONDE
MAND
GP_ONDEMAN
D
(Un*), (s1), (s2),
(d)
Nonprocedural protocol
communication
G_OUTPUT (Un*), (s1), (s2),
(d)
Sends the specified number of data. Page 54
G(P)_OUTP
UT
GP_OUTPUT (Un*), (s1), (s2),
(d)
G_INPUT (Un*), (s), (d1),
(d2)
Reads the received data. Page 57
G_INPUT
Bidirectional protocol
communication
G_BIDOUT (Un*), (s1), (s2),
(d)
Sends the specified number of data. Page 59
G(P)_BIDOU
T
GP_BIDOUT (Un*), (s1), (s2),
(d)
G_BIDIN (Un*), (s), (d1),
(d2)
Reads received data. Page 61
G(P)_BIDIN
GP_BIDIN (Un*), (s), (d1),
(d2)
Communication status
check
G_SPBUSY (Un*), (d) Reads the data transmission/reception
status using the instruction.
Page 63
G(P)_SPBU
SY
GP_SPBUSY (Un*), (d)
Receive data clear ZP_CSET (Un*), (s1), (s2),
(d1), (d2)
Clears receive data without stopping
transmission using the nonprocedural
protocol.
Page 64
ZP_CSET
Data transmission/
reception
Z_BUFRCVS (Un*), (s), (d) Receives data with an interrupt
program using the nonprocedural
protocol or bidirectional protocol.
Page 66
Z_BUFRCVS
G_PRR (Un*), (s), (d) Sends data by user frame according to
the specification in user frame
specification area for transmission
using the nonprocedural protocol.
Page 68
G(P)_PRR
GP_PRR (Un*), (s), (d)
Initial setting ZP_CSET (Un*), (s1), (s2),
(d1), (d2)
Sets the unit (word/byte) of the number
of the data to be sent or received.
Page 72
ZP_CSET
Programmable controller
CPU monitor
ZP_CSET (Un*), (s1), (s2),
(d1), (d2)
Registers and cancels the
programmable controller CPU
monitoring for using the programmable
controller CPU monitoring function.
Page 75
ZP_CSET
Flash ROM user frame
registration/reading
G_PUTE (Un*), (s1), (s2),
(d)
Registers a user frames to the flash
ROM.
Page 83
G(P)_PUTE
GP_PUTE (Un*), (s1), (s2),
(d)
G_GETE (Un*), (s1), (s2),
(d)
Reads a user frames from the flash
ROM.
Page 86
G(P)_GETE
GP_GETE (Un*), (s1), (s2),
(d)
Mode switching ZP_UINI (Un*), (s), (d) Switches the mode, transmission
specification, and host station number.
Page 89
ZP_UINI
Pre-defined protocol
communication
G_CPRTCL (Un*), n1, n2, (s),
(d)
Executes the protocols and functional
protocols written to the flash ROM.
Page 95
G(P)_CPRT
CL
GP_CPRTCL (Un*), n1, n2, (s),
(d)
Modem
Serial
Modem
Serial
Modem
Serial
Modem
Serial
Modem
Serial
Modem
Serial
Modem
Serial
Modem
Serial
Modem
Serial
Serial
Serial