Mitsubishi MELSEC Q Series Owner's manual

A-1
SAFETY PRECAUTIONS
(Always read these instructions before using this product.)
Before using the MELSEC-Q series, MELSEC-L series, and MELSEC-F series programmable controllers,
thoroughly read the manuals attached to the products and the relevant manuals introduced in the attached
manuals. Also pay careful attention to safety and handle the products properly.
Please keep this manual in a place where it is accessible when required and always forward it to the end user.

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.
Japanese manual version SH-080735-G
©2008 MITSUBISHI ELECTRIC CORPORATION
Print date Manual number Revision
Jul., 2008 SH(NA)-080782ENG-A First edition
Jan., 2009 SH(NA)-080782ENG-B
Q00UJ, Q00U, Q01U, Q10UDH, Q10UDEH, Q20UDH, Q20UDEH, 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
Q00J, Q00, Q01
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
L02, L26-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
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.
Model Addition
Addition
Correction
Model Addition
Addition
Correction
Correction
Model Addition
Addition
Correction

A-4
INTRODUCTION
Thank you for purchasing the Mitsubishi MELSEC-Q series/MELSEC-L series/MELSEC-F series programmable
controller.
Before using the product, thoroughly read this manual to develop full familiarity with the programming
specifications to ensure correct use.
Please forward this manual to the end user.
CONTENTS
SAFETY PRECAUTIONS .................................................................................................................................A - 1
CONDITIONS OF USE FOR THE PRODUCT..................................................................................................A - 2
REVISIONS.......................................................................................................................................................A - 3
INTRODUCTION...............................................................................................................................................A - 4
CONTENTS ......................................................................................................................................................A - 4
MANUALS.........................................................................................................................................................A - 6
1. OVERVIEW 1 - 1 to 1 - 8
1.1 Overview 1 - 2
1.2 Purpose of This Manual 1 - 2
1.3 Generic Terms and Abbreviations in This Manual 1 - 5
1.4 Features of Structured Programs 1 - 6
1.5 Applicable CPU Modules 1 - 7
1.6 Compatible Software Package 1 - 7
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 - 54
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 blocks.............................................................................................................................. 4 - 6
4.2.3 Functions ....................................................................................................................................... 4 - 6
4.2.4 Function blocks.............................................................................................................................. 4 - 7
4.2.5 Ladder blocks ................................................................................................................................ 4 - 8
4.2.6 Programming languages for POUs ............................................................................................... 4 - 9
4.2.7 Functions and function blocks ..................................................................................................... 4 - 10
4.2.8 EN and ENO ................................................................................................................................ 4 - 13

A-5
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 - 25
4.4.4 Single-precision real/double-precision real data.......................................................................... 4 - 27
4.4.5 String data ................................................................................................................................... 4 - 30
4.4.6 Time data..................................................................................................................................... 4 - 31
4.4.7 Arrays ......................................................................................................................................... 4 - 32
4.4.8 Structures .................................................................................................................................... 4 - 34
4.5 Device and Address 4 - 35
4.5.1 Device ......................................................................................................................................... 4 - 35
4.5.2 Address........................................................................................................................................ 4 - 36
4.5.3 Correspondence between devices and addresses...................................................................... 4 - 37
4.6 Index Setting 4 - 40
4.7 Libraries 4 - 52
4.7.1 User libraries................................................................................................................................ 4 - 53
4.8 Precautions on Assigning a Name 4 - 54
5. WRITING PROGRAMS 5 - 1 to 5 - 14
5.1 ST Language 5 - 2
5.1.1 Standard format ............................................................................................................................. 5 - 2
5.1.2 Operators in ST language.............................................................................................................. 5 - 3
5.1.3 Syntaxes 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
5.2 Structured Ladder Language 5 - 11
5.2.1 Standard format ........................................................................................................................... 5 - 11
5.2.2 Ladder symbols in structured ladder language............................................................................ 5 - 12
APPENDIX App - 1 to App - 12
Appendix 1 Correspondence between Generic Data Types and Devices App - 2
Appendix 2 Character Strings that cannot be Used in Label Names and Data Names App - 6
Appendix 3 Recreating Ladder Programs App - 8
Appendix 3.1 Procedure for creating a structured program ................................................................App - 8
Appendix 3.2 Example of creating a structured program ....................................................................App - 9
INDEX Index - 1 to Index - 2

A-6
MANUALS
The manuals related to this product are shown below.
Refer to the following tables when ordering required manuals.
(1) Structured programming
(2) Operation of GX Works2
The Operating Manuals are included on the CD-ROM of the software package in a PDF file
format. Manuals in printed form are sold separately. Order a manual by quoting the manual
number (model code) listed in the table above.
Manual name Manual number
(Model code)
MELSEC-Q/L Structured Programming Manual (Common Instructions)
Explains the 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)
Explains the 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)
Explains the specifications and functions of special instructions such as module dedicated instruction,
PID control instruction, and built-in I/O function dedicated instruction, that can be used in structured
programs.
(Sold separately)
SH-080785ENG
(13JW09)
FXCPU Structured Programming Manual (Device & Common)
Explains the devices and parameters provided in GX Works2 for structured programming.
(Sold separately)
JY997D26001
(09R925)
FXCPU Structured Programming Manual (Basic & Applied Instruction)
Explains the sequence instructions provided in GX Works2 for structured programming.
(Sold separately)
JY997D34701
(09R926)
FXCPU Structured Programming Manual (Application Functions)
Explains the application functions provided in GX Works2 for structured programming.
(Sold separately)
JY997D34801
(09R927)
Manual name Manual number
(Model code)
GX Works2 Version1 Operating Manual (Common)
Explains the system configuration of GX Works2 and the functions common to a Simple project and
Structured project such as parameter setting, operation method for the online function.
(Sold separately)
SH-080779ENG
(13JU63)
GX Works2 Version1 Operating Manual (Structured Project)
Explains operation methods such as creating and monitoring programs in Structured project of GX
Works2. (Sold separately)
SH-080781ENG
(13JU65)
GX Works2 Beginner’s Manual (Structured Project)
Explains fundamental operation methods such as creating, editing, and monitoring programs in
Structured project for users inexperienced with GX Works2.
(Sold separately)
SH-080788ENG
(13JZ23)
Related manuals

1
OVERVIEW
2
STRUCTURED DESIGN OF SEQUENCE PROGRAMS
3
PROCEDURE FOR CREATING PROGRAMS
4
PROGRAM CONFIGURATION
5
WRITING PROGRAMS
A
APPENDIX
I
INDEX
1
1-1
OVERVIEW
1.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2 Purpose of This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.3 Generic Terms and Abbreviations in This Manual . . . . . . . . . . . . . . . . . . . . . . 1-5
1.4 Features of Structured Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.5 Applicable CPU Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.6 Compatible Software Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1-2 1.1 Overview
1.1 Overview
This manual describes program configurations and contents for creating sequence programs
using a structured programming method, and provides basic knowledge for writing programs.
1.2 Purpose of This Manual
This manual explains programming methods, programming languages, and other information
necessary for creating structured programs.
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'.
(1) Operation of GX Works2
Purpose
GX Works2
Installation
Instructions
GX Works2
Beginner's Manual
GX Works2 Version1
Operating Manual
-Simple
Project
Structured
Project Common Simple Project
Structured
Project
Intelligent
Function
Module
Installation
Learning the
operating
environment and
installation method
Operation of
Simple
project
Learning the basic
operations and
operating procedures
Learning the
functions and
operation methods
for programming
Learning all functions
and operation
methods except for
programming
Operation of
Structured
project
Learning the basic
operations and
operating procedures
Learning the
functions and
operation methods
for programming
Learning all functions
and operation
methods except for
programming
Operation of
intelligent
function
module
Learning data setting
methods for
intelligent function
module
*1: ST programs only
Details
Details Outline Outline
Outline Details Details
*1
Details
Details Outline Outline
Outline Details Details
Details
Details

1.2 Purpose of This Manual 1-3
1
OVERVIEW
(2) Programming (for QCPU (Q mode)/LCPU)
Purpose
MELSEC-
Q/L/F
Structured
Programming
Manual
MELSEC-Q/L
Structured Programming Manual
MELSEC-
Q/L
Programming
Manual
MELSEC-
Q/L/QnA
Programming
Manual
User's Manual for
intelligent
function module/
Reference Manual
for network
module
Fundamentals
Common
Instructions
Special
Instructions
Application
Functions
Common
Instructions
PID Control
Instructions
−
Programming
in Simple
project
Learning the types
and details of
common
instructions,
descriptions of
error codes,
special relays, and
special registers
Learning the types
and details of
instructions for
intelligent function
modules
Learning the types
and details of
instructions for
network modules
Learning the types
and details of
instructions for the
PID control
function
Programming
in Structured
project
Learning the
fundamentals for
creating a
structured
program for the
first time
Learning the types
and details of the
common
instructions
Learning the types
and details of
instructions for
intelligent function
modules
Learning the types
and details of
instructions for
network modules
Learning the types
and details of
instructions for the
PID control
function
Learning the
descriptions of
error codes,
special relays, and
special registers
Learning the types
and details of
application
functions
Details
Details
Details
Details
Details
Details
Details Details
Details Details
Details Details
Details
Details

1-4 1.2 Purpose of This Manual
(3) Programming (for FXCPU)
Purpose
MELSEC-
Q/L/F
Structured
Programming
Manual
FXCPU Structured Programming
Manual FXCPU Programming Manual
Fundamentals
Device &
Common
Basic &
Applied
Instruction
Application
Functions
FX0, FX0S,
FX0N, FX1,
FXU, FX2C
FX1S, FX1N,
FX2N,
FX1NC,
FX2NC
FX3G, FX3U,
FX3UC
Programming
in Simple
project
Learning the types
and details of
basic/application
instructions,
descriptions of
devices and
parameters
Programming
in Structured
project
Learning the
fundamentals for
creating a
structured
program for the
first time
Learning the
descriptions of
devices,
parameters, and
error codes
Learning the types
and details of
sequence
instructions
Learning the types
and details of
application
instructions
Details Details Details
Details
Details
Details
Details

1.3 Generic Terms and Abbreviations in This Manual 1-5
1
OVERVIEW
1.3 Generic Terms and Abbreviations in This Manual
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.
Generic term and
abbreviation Description
GX Works2 Generic product name for the SWnDNC-GXW2-E
(n: version)
GX Developer
Generic product name for the SWnD5C-GPPW-E, SWnD5C-GPPW-EA, SWnD5C-GPPW-EV, and
SWnD5C-GPPW-EVA
(n: version)
GX IEC Developer Generic product name for the SWnD5C-MEDOC3-E
(n: version)
Basic model QCPU Generic term for the Q00J, Q00, and Q01
High Performance model
QCPU Generic term for the Q02, Q02H, Q06H, Q12H, and Q25H
Universal model QCPU
Generic term for the Q00UJ, Q00U, Q01U, Q02U, Q03UD, Q03UDE, Q04UDH, Q04UDEH, Q06UDH,
Q06UDEH, Q10UDH, Q10UDEH, Q13UDH, Q13UDEH, Q20UDH, Q20UDEH, Q26UDH, and
Q26UDEH
QCPU (Q mode) Generic term for the Basic model QCPU, High Performance model QCPU, and Universal model QCPU
LCPU Generic term for the L02 and L26-BT
FXCPU Generic term for the MELSEC-FX series
(FX0, FX0S, FX0N, FXU, FX2C, FX1S, FX1N, FX1NC, FX2N, FX2NC, FX3G, FX3U, FX3UC)
CPU module Generic term for the QCPU (Q mode), LCPU, and FXCPU
Personal Computer Generic term for personal computer on which Windows ®operates
IEC61131-3 Abbreviation for the IEC 61131-3 international standard
Common instruction
Generic term for the sequence instructions, basic instructions, application instructions, data link
instructions, multiple CPU dedicated instructions, and multiple CPU high speed transmission dedicated
instructions
Special instruction 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

1-6 1.4 Features of Structured Programs
1.4 Features of Structured Programs
This section explains the features of structured programs.
(1) Structured design
A structured design is a method to program control contents performed by a programmable
controller CPU, which are divided into small processing units (components) to create
hierarchical structures. A user can design programs knowing the component structures of
sequence programs by using the structured programming.
The following are the advantages of creating hierarchical programs.
• A user can start programming by planning the outline of a program, then gradually work
into detailed designs.
• Programs stated at the lowest level of a hierarchical design are extremely simple and
each program has a high degree of independence.
The following are the advantages of creating structured programs.
• The process of each component is clarified, allowing a good perspective of the program.
• Programs can be divided and created by multiple programmers.
• Program reusability is increased, and it improves the efficiency in development.
(2) Multiple programming languages
Multiple programming languages are available for structured programs. A user can select
the most appropriate programming language for each purpose, and combine them for
creating programs.
Different programming language can be used for each program component.
Table 1.4-1 Programming languages that can be used for structured programs
For outlines of the programming languages, refer to the following section.
Section 4.2.6. Programming languages for POUs
For details on each programming language, refer to the following chapter.
Chapter 5. WRITING PROGRAMS
The ladder/SFC languages used in the existing GX Developer and Simple projects of GX
Works2 can be used.
For details on writing programs, refer to the following manuals.
Programming manuals for each CPU
(3) Improved program reusability
Program components can be stored as libraries. This means program assets can be utilized
to improve the reusability of programs.
Name Description
ST (structured text) A text language similar to C language, aimed for computer engineers.
Structured ladder A graphic language that is expressed in form of ladder by using elements such as contacts and coils.

1.5 Applicable CPU Modules 1-7
1
OVERVIEW
1.5 Applicable CPU Modules
The following table shows the applicable CPU modules for programs in the Structured project.
Table 1.5-1 Applicable CPU modules
1.6 Compatible Software Package
The following programming tool is used for creating, editing, and monitoring the programs in the
Structured project.
Table 1.6-1 Compatible software package
(1) What is GX Works2?
GX Works2 is a software package used for editing and debugging sequence programs,
monitoring programmable controller CPUs, and other operations. It runs on a personal
computer in the Microsoft®Windows®Operating System environment.
Created sequence programs are managed in units of 'projects' for each programmable
controller CPU. Projects are broadly divided into 'Simple project' and 'Structured project'.
This manual explains the basic programming by referring the Structured project in
GX Works2.
Programmable controller CPU type
Basic model QCPU Q00J, Q00, Q01
High Performance model QCPU Q02, Q02H, Q06H, Q12H, Q25H
Universal model QCPU
Q00UJ, Q00U, Q01U, Q02U, Q03UD, Q03UDE, Q04UDH,
Q04UDEH, Q06UDH, Q06UDEH, Q10UDH, Q10UDEH, Q13UDH,
Q13UDEH, Q20UDH, Q20UDEH, Q26UDH, Q26UDEH
LCPU L02, L26-BT
FXCPU FX0, FX0S, FX0N, FXU, FX2C, FX1S, FX1N, FX1NC, FX2N, FX2NC,
FX3G, FX3U, FX3UC
Software package name Model name
GX Works2 SW1DNC-GXW2-E

1-8
MEMO

1
OVERVIEW
2
STRUCTURED DESIGN OF SEQUENCE PROGRAMS
3
PROCEDURE FOR CREATING PROGRAMS
4
PROGRAM CONFIGURATION
5
WRITING PROGRAMS
A
APPENDIX
I
INDEX
2
2-1
STRUCTURED DESIGN OF SEQUENCE PROGRAMS
2.1 What is a Hierarchical Sequence Program?. . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2 What is a Structured Sequence Program? . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2-2 2.1 What is a Hierarchical Sequence Program?
2.1 What is a Hierarchical Sequence Program?
The hierarchy is to create a sequence program by dividing control functions performed in a
programmable controller CPU into a number of levels.
In higher levels, the processing order and timing in a fixed range is controlled.
With each move from a higher level to a lower level, control contents and processes are
progressively subdivided within a fixed range, and specific processes are described in lower
levels.
In the Structured project, hierarchical sequence programs are created with the configuration that
states the highest level as the project, followed by program files, tasks, and POUs (abbreviation
for Program Organization Units).
Project
POUs
Task (Initialization)
Initial process
Lamp test
Program file(Operationpreparation)
Task (StationA control)
Conveyor driveA
Data process A
Program file(StationA)
Task (StationB control)
Task (Indicator control)
Conveyor driveB
Data process B
Indicator output
Program file(StationB)
Initial process
Lamp test
Conveyor driveA
Conveyor driveB
Data process A
Data process B
Indicator output

2.2 What is a Structured Sequence Program? 2-3
2
STRUCTURED DESIGN OF SEQUENCE PROGRAMS
2.2 What is a Structured Sequence Program?
A structured program is a program created by components. Processes in lower levels of
hierarchical sequence program are divided to several components according to their processing
information and functions.
In a structured program design, segmenting processes in lower levels as much as possible is
recommended.
Each component is designed to have a high degree of independence for easy addition and
replacement.
The following shows examples of the process that would be ideal to be structured.
• A process that is used repeatedly in a sequence program.
• A process that can be divided into components.
A process that isused repeatedly inasequenceprogram
Control contents in
aprogrammablecontroller CPU
Control contents in
aprogrammablecontroller CPU
CallsProcess A
CallsProcess A
CallsProcess A
DIV
MUL
DIV
MUL
DIV
DIV
MUL
MUL
Process A
Structured
program
Divided
Divided
Control 1
Control a
Structured
program
Control b
Control c
Control d
Control 2
A process that can bedivided into components
Control
contents
ina
programmable
controller
CPU
Divided

2-4
MEMO