Mitsubishi Electric MELSEC Q Series Owner's manual

MELSEC-Q/L/F Structured
Programming Manual (Fundamentals)

A-1
SAFETY PRECAUTIONS
(Read these precautions before using this product.)
Before using MELSEC-Q, -L, or -F 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.

A-2
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.

A-3
REVISIONS
The manual number is written at the bottom left of the back cover.
Print date Manual number Revision
Jul., 2008 SH(NA)-080782ENG-A First edition
Jan., 2009 SH(NA)-080782ENG-B
Q00UJCPU, Q00UCPU, Q01UCPU, Q10UDHCPU, Q10UDEHCPU,
Q20UDHCPU, Q20UDEHCPU, FX series
MANUALS
Generic Terms and Abbreviations in This Manual, Section 1.3, Section 4.3.3,
Section 4.3.4, Section 4.4.1, Section 4.4.2, Appendix 1
Jul., 2009 SH(NA)-080782ENG-C
Q00JCPU, Q00CPU, Q01CPU
Section 3.5, Section 3.6, Section 4.4, Section 4.4.1, Section 4.4.2, Section 4.4.3,
Section 4.4.4, Section 4.4.5, Section 4.4.6, Section 4.6, Section 4.8, Appendix 1
PURPOSE OF THIS MANUAL is changed to Section 1.2,
Generic Terms and Abbreviations in This Manual is changed to Section 1.3,
Section 1.5, Section 4.2.8, Section 4.3.4, Section 4.5 is changed to Section 4.4.7,
Section 4.5.2, Section 4.5.3, Section 4.6 is changed to Section 4.4.8,
Appendix 2, Appendix 3, Appendix 1 to 2 are changed to Appendix 2 to 3
Oct., 2009 SH(NA)-080782ENG-D
Section 1.3, Section 5.2.2, Appendix 2
Jan., 2010 SH(NA)-080782ENG-E
L02CPU, L26CPU-BT
CONDITIONS OF USE FOR THE PRODUCT
MANUALS, Section 1.2, Section 1.3, Section 1.5, Section 4.4.1, Section 4.4.4,
Section 4.5.1, Section 4.5.2, Section 4.6
Apr., 2010 SH(NA)-080782ENG-F
Q50UDEHCPU, Q100UDEHCPU
Section 1.2, Section 1.3, Section 1.5, Appendix 2
Sep., 2010 SH(NA)-080782ENG-G
Section 4.4.7, Section 5.1.1, Section 5.1.3, Appendix 2
Jan., 2011 SH(NA)-080782ENG-H
Section 1.2, Section 5.1.1
Mar., 2011 SH(NA)-080782ENG-I
Section 4.2.5, Section 5.2.3, Section 5.2.4
Section 1.2, Section 4.2.2, Section 4.2.3, Section 4.2.4, Section 4.2.8,
Section 4.3.4, Section 4.4.4, Section 4.4.7, Section 4.6, Section 5.1.3,
Section 5.1.5
Model Addition
Addition
Correction
Model Addition
Addition
Correction
Correction
Model Addition
Addition
Correction
Model Addition
Correction
Correction
Correction
Addition
Correction

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Japanese manual version SH-080735-R
2008 MITSUBISHI ELECTRIC CORPORATION
Jul., 2011 SH(NA)-080782ENG-J
L02CPU-P, L26CPU-PBT
Section 5.2.5
Section 1.3, Section 1.4, Section 1.5, Section 4.2.6, Section 4.2.7, Section 4.4.2,
Section 4.4.3, Section 4.4.4, Section 5.1.3, Section 5.1.6, Section 5.2,
Section 5.2.2
May, 2012 SH(NA)-080782ENG-K "PLC" was changed to "programmable controller".
FX3GC
INTRODUCTION, MANUALS, Section 1.2, Section 1.3, Section 1.5, Section 4.1.3,
Section 4.2.7, Section 4.3.5, Section 4.4.4, Section 4.4.6, Section 4.5.1,
Section 5.2.4, Appendix 2
Feb., 2013 SH(NA)-080782ENG-L Overall revision due to addition of a Process CPU, Redundant CPU, Universal
model QCPU, and LCPU
Q02PHCPU, Q06PHCPU, Q12PHCPU, Q25PHCPU, Q12PRHCPU,
Q25PRHCPU, Q03UDVCPU, Q04UDVCPU, Q06UDVCPU, Q13UDVCPU,
Q26UDVCPU, L02SCPU, L06CPU, L26CPU
Jul., 2013 SH(NA)-080782ENG-M
L02SCPU-P, L06CPU-P, L26CPU-P, FX3S
Section 1.2, Section 1.3, Section 1.5, Section 4.3.5, Section 4.4.4, Section 4.6
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may
occur as a result of using the contents noted in this manual.
Print date Manual number Revision
Model Addition
Addition
Correction
Model Addition
Correction
Model Addition
Model Addition
Correction

A-5
INTRODUCTION
Thank you for purchasing the Mitsubishi MELSEC-Q, -L, or -F 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.
CONTENTS
SAFETY PRECAUTIONS .................................................................................................................................A - 1
CONDITIONS OF USE FOR THE PRODUCT .................................................................................................A - 2
REVISIONS.......................................................................................................................................................A - 3
INTRODUCTION...............................................................................................................................................A - 5
CONTENTS ......................................................................................................................................................A - 5
MANUALS.........................................................................................................................................................A - 8
1. OVERVIEW 1 - 1 to 1 - 8
1.1 Overview 1 - 2
1.2 Purpose of This Manual 1 - 2
1.3 Terms 1 - 6
1.4 Features of Structured Programs 1 - 7
1.5 Applicable CPU Modules 1 - 8
1.6 Compatible Software Package 1 - 8
2. STRUCTURED DESIGN OF SEQUENCE PROGRAMS 2 - 1 to 2 - 4
2.1 What is a Hierarchical Sequence Program? 2 - 2
2.2 What is a Structured Sequence Program? 2 - 3
3. PROCEDURE FOR CREATING PROGRAMS 3 - 1 to 3 - 2
3.1 Procedure for Creating Sequence Programs in Structured Project 3 - 2
4. PROGRAM CONFIGURATION 4 - 1 to 4 - 58
4.1 Overview of Program Configuration 4 - 2
4.1.1 Project ........................................................................................................................................... 4 - 3
4.1.2 Program files.................................................................................................................................. 4 - 3
4.1.3 Tasks ........................................................................................................................................... 4 - 4
4.2 POUs 4 - 5
4.2.1 Types of POU ................................................................................................................................ 4 - 5
4.2.2 Program ......................................................................................................................................... 4 - 6
4.2.3 Functions ....................................................................................................................................... 4 - 6
4.2.4 Function blocks.............................................................................................................................. 4 - 7
4.2.5 Operators....................................................................................................................................... 4 - 7
4.2.6 Ladder blocks ................................................................................................................................ 4 - 8
4.2.7 Programming languages for POUs................................................................................................ 4 - 9
4.2.8 Functions, function blocks, and operators ................................................................................... 4 - 10

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4.2.9 EN and ENO ................................................................................................................................ 4 - 13
4.3 Labels 4 - 15
4.3.1 Global labels ................................................................................................................................ 4 - 15
4.3.2 Local labels.................................................................................................................................. 4 - 15
4.3.3 Label classes ............................................................................................................................... 4 - 16
4.3.4 Setting labels ............................................................................................................................... 4 - 17
4.3.5 Data types.................................................................................................................................... 4 - 18
4.3.6 Expressing methods of constants................................................................................................ 4 - 20
4.4 Method for Specifying Data 4 - 21
4.4.1 Bit data......................................................................................................................................... 4 - 22
4.4.2 Word (16 bits) data ...................................................................................................................... 4 - 23
4.4.3 Double word (32 bits) data........................................................................................................... 4 - 26
4.4.4 Single-precision real/double-precision real data.......................................................................... 4 - 29
4.4.5 String data ................................................................................................................................... 4 - 33
4.4.6 Time data..................................................................................................................................... 4 - 34
4.4.7 Arrays .......................................................................................................................................... 4 - 35
4.4.8 Structures .................................................................................................................................... 4 - 37
4.5 Device and Address 4 - 38
4.5.1 Device.......................................................................................................................................... 4 - 38
4.5.2 Address........................................................................................................................................ 4 - 39
4.5.3 Correspondence between devices and addresses...................................................................... 4 - 40
4.6 Index Setting 4 - 43
4.7 Libraries 4 - 55
4.7.1 User libraries................................................................................................................................ 4 - 56
4.8 Precautions on Assigning a Name 4 - 57
5. WRITING PROGRAMS 5 - 1 to 5 - 20
5.1 ST 5 - 2
5.1.1 Standard format ............................................................................................................................. 5 - 2
5.1.2 Operators in ST language.............................................................................................................. 5 - 3
5.1.3 Syntax in ST language................................................................................................................... 5 - 4
5.1.4 Calling functions in ST language ................................................................................................... 5 - 9
5.1.5 Calling function blocks in ST language........................................................................................ 5 - 10
5.1.6 Precautions when using conditional syntax and iteration syntax................................................. 5 - 11
5.2 Structured Ladder/FBD 5 - 13
5.2.1 Standard format ........................................................................................................................... 5 - 13
5.2.2 Ladder symbols in structured ladder/FBD language.................................................................... 5 - 14
5.2.3 Executing order............................................................................................................................ 5 - 16
5.2.4 Ladder branches and compilation results ....................................................................................5-17
5.2.5 Precautions on creating programs with structured ladder/FBD ................................................... 5 - 19

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APPENDICES App - 1 to App - 14
Appendix 1Correspondence between Generic Data Types and Devices App - 2
Appendix 2Character Strings that cannot be Used in Label Names and Data Names App - 6
Appendix 3Recreating Ladder Programs App - 9
Appendix 3.1Procedure for creating a structured program ...................................................................App - 9
Appendix 3.2Example of creating a structured program.....................................................................App - 10
INDEX Index - 1 to Index - 2

A-8
MANUALS
The manuals related to this product are listed below.
Please place an order as needed.
(1) Structured programming
(2) Operation of GX Works2
Operating manuals in PDF format are stored on the CD-ROM of the software package. Printed
manuals are sold separately. To order manuals, please provide the manual number (model
code) listed in the table above.
Manual name Manual number
(Model code)
MELSEC-Q/L Structured Programming Manual (Common Instructions)
Specifications and functions of common instructions, such as sequence instructions, basic instructions,
and application instructions, that can be used in structured programs
(Sold separately)
SH-080783ENG
(13JW07)
MELSEC-Q/L Structured Programming Manual (Application Functions)
Specifications and functions of application functions that can be used in structured programs
(Sold separately)
SH-080784ENG
(13JW08)
MELSEC-Q/L Structured Programming Manual (Special Instructions)
Specifications and functions of special instructions, such as module dedicated instructions, PID control
instructions, and built-in I/O function instructions, that can be used in structured programs
(Sold separately)
SH-080785ENG
(13JW09)
FXCPU Structured Programming Manual [Device & Common]
Devices and parameters for structured programming provided in GX Works2
(Sold separately)
JY997D26001
(09R925)
FXCPU Structured Programming Manual [Basic & Applied Instruction]
Sequence instructions for structured programming provided in GX Works2
(Sold separately)
JY997D34701
(09R926)
FXCPU Structured Programming Manual [Application Functions]
Application functions for structured programming provided in GX Works2
(Sold separately)
JY997D34801
(09R927)
Manual name Manual number
(Model code)
GX Works2 Version 1 Operating Manual (Common)
System configuration, parameter settings, and online operations of GX Works2, which are common to
Simple projects and Structured projects
(Sold separately)
SH-080779ENG
(13JU63)
GX Works2 Version 1 Operating Manual (Structured Project)
Operations, such as programming and monitoring in Structured projects, of GX Works2
(Sold separately)
SH-080781ENG
(13JU65)
GX Works2 Beginner’s Manual (Structured Project)
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.
(Sold separately)
SH-080788ENG
(13JZ23)