Mitsubishi MELSEC Q Series Owner's manual

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SAFETY PRECAUTIONS 
(Read these precautions before using this product.)
Before using MELSEC-Q, -L, or -QnA 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.

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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.

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REVISIONS
* The manual number is given on the bottom left of the back cover.
Print Date * Manual Number Revision
Dec., 1999 SH (NA) 080041-A First edition
May, 2001 SH (NA) 080041-B Partial correction
Chapter 1, Section 3.1, Appendix 2
Apr., 2002 SH (NA) 080041-C Partial correction
Chapter 1, 2, Section 3.1, 3.3, 5.1, 5.1.1, 5.1.2, Appendix 2
Mar., 2003 SH (NA) 080041-D Descriptions on use of MELSAP-3 with the Basic model QCPU whose
serial number (first five digits) is "04122" or later have been added.
Overall reexamination
Jun., 2004 SH (NA) 080041-E Descriptions on the Redundant CPU have been added.
May, 2005 SH (NA) 080041-F Partial correction
ABOUT MANUALS, Section 4.4.2, 4.4.9, 6.6, Appendix 1.1
Addition
Section 3.3.2, 4.8, 4.8.1, 4.8.2
Section number change
Section 3.3 Section 3.3.1
Mar., 2006 SH (NA) 080041-G Partial correction
Section 3.1.1, 3.1.2, 3.1.3, Appendix 1.1, 1.2
Apr., 2007 SH (NA) 080041-G New models of the Universal model QCPU have been added.
Model addition
Q02UCPU, Q03UDCPU, Q04UDHCPU, Q06UDHCPU
Partial correction
ABOUT MANUALS, GENERIC TERMS, Chapter 1, 2, Section 3.1.2,
3.2.2, 3.3.1, 4.2, 4.4.1 to 4.4.11, 4.5 to 4.7, 5.2, 5.2.1, 5.2.2, 5.3.1, 6.6,
Appendix 1.1, 1.2, 2, 3
Dec., 2007 SH (NA) 080041-H Partial correction
Section 6.3.2
Feb., 2008 SH (NA) 080041-I New models of the Universal model QCPU have been added.
Model addition
Q13UDHCPU, Q26UDHCPU
Partial correction
GENERIC TERMS, Chapter 2, Section 3.1.2, 3.2.2, 3.3.1, 4.2, 4.2.1,
4.2,8, 4.3.3, 4.4.5, 5.2.2, Appendix 2
May, 2008 SH (NA) 080041-J New models of the Universal model QCPU and Process CPU have
been added.
Model addition
Q03UDECPU, Q04UDEHCPU, Q06UDEHCPU, Q13UDEHCPU,
Q26UDEHCPU
Q02PHCPU, Q06PHCPU
Partial correction
GENERIC TERMS, Chapter 2, Section 3.1.2, 3.3.1, 4.2, 4.2.8, 4.3.3,
4.7.1, 5.2.2, Appendix 2

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* The manual number is given on the bottom left of the back cover.
Print Date * Manual Number Revision
Dec., 2008 SH (NA) 080041-K New models of the Universal model QCPU have been added.
Model addition
Q00UJCPU, Q00UCPU, Q01UCPU, Q10UDHCPU, Q10UDEHCPU,
Q20UDHCPU, Q20UDEHCPU
Partial correction
ABOUT MANUALS, GENERIC TERMS, Section 1.1, 1.2, Chapter 2,
Section 3.1.2, 4.3.1, 4.3.3, 5.2.2, Appendix 1, 2
Jul., 2009 SH (NA) 080041-L The serial number (first five digits) of the Universal model QCPU has
been upgraded to "11043".
Partial correction
Section 4.1, 4.7.1, 6.1.1
Jan., 2010 SH (NA) 080041-M Descriptions on MELSEC-L series modules have been added.
Partial correction
ABOUT MANUALS, GENERIC TERMS, Chapter 1, Section 1.2,
Chapter 2, Section 3.1.2, 3.1.3, 3.2.1, 3.2.2, 3.2.3, 3.2.5, 3.3.1, 4.2,
4.2.2, 4.2.7, 4.2.8, 4.2.9, 4.2.10, 4.2.11, 4.3.1, 4.3.3, 4.3.5, 4.4, 4.4.1,
4.4.2, 4.4.3, 4.4.4, 4.4.5, 4.4.6, 4.4.7, 4.4.8, 4.4.9, 4.4.10, 4.4.11, 4.5,
4.5.3, 4.6, 4.7, 4.7.1, 4.7.3, 4.7.4, 4.7.5, 4.7.6, 4.8.1, 4.8.2, 5.2, 5.2.1,
5.2.2, 5.2.3, 5.3.1, 6.1, 6.1.1, 6.3.1, 6.3.2, 6.4.3, 6.6, Appendix 1.1,
1.2, 3
Addition
CONDITIONS OF USE FOR THE PRODUCT, Section 3.2.4
Apr., 2010 SH (NA) 080041-N New models of the Universal model QCPU have been added.
Model addition
Q50UDEHCPU, Q100UDEHCPU
Partial correction
GENERIC TERMS, Chapter 2, Section 3.1.2, 3.3.1, 4.2, 4.2.8, 4.3.3,
5.2.2, Appendix 2
Aug., 2010 SH (NA) 080041-O The serial number (first five digits) of the Universal model QCPU has
been upgraded to "12052".
Partial correction
Section 3.1.2, 3.2.3, 3.3.2, 4.2, 4.2.8, 4.2.9, 4.4, 4.4.6, 4.4.8, 4.4.9,
4.5, 4.7, 4.7.5, 4.8, 4.8.1, 6.6, Appendix 1.1, 1.2
Addition
Section 6.6.1, 6.6.2, 6.6.3
Dec., 2010 SH (NA) 080041-P Partial correction
Section 4.3.4
Jul., 2011 SH (NA) 080041-Q New models of the LCPU have been added.
Model addition
L02CPU-P, L26CPU-PBT
Partial correction
GENERIC TERMS, Section 1.2, Chapter 2, Section 3.1.2,
3.2.4, 3.3.1, 4.2, 4.2.8, 4.2.9, 4.3.1, 4.3.3, 5.2.2, Appendix 2

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* The manual number is given on the bottom left of the back cover.
Print Date * Manual Number Revision
Nov., 2011 SH (NA) 080041-R The serial number (first five digits) of the Universal model QCPU has
been upgraded to "13102".
Partial correction
SAFETY PRECAUTIONS, ABOUT MANUALS, Chapter 4, Section 4.4,
4.4.1, 4.4.8, 4.4.10, 6.1, 6.6.3, Appendix 1, 2, 3
Feb., 2013 SH (NA) 080041-S New models of the Universal model QCPU and LCPU have been
added.
Model addition
Q03UDVCPU, Q04UDVCPU, Q06UDVCPU, Q13UDVCPU,
Q26UDVCPU, L02SCPU, L06CPU, L26CPU
Partial correction
GENERIC TERMS, Section 1.2, Chapter 2, Section 3.1.2, 3.2.4, 3.3.1,
4.2, 4.2.8, 4.2.9, 4.3.1, 4.3.3, 5.2.2, 6.6, Appendix 2
Jun., 2013 SH (NA) 080041-T New models of the LCPU have been added.
Model addition
L02SCPU-P, L06CPU-P, L26CPU-P
Partial correction
GENERIC TERMS, Section 1.2, Chapter 2, Section 3.1.2, 3.2.4, 3.3.1,
4.2, 4.2.8, 4.2.9, 4.3.1, 4.3.3, 5.2.2, 6.6, Appendix 2
Jan., 2014 SH(NA) 080041-U The serial number of the LCPU has been upgraded to "15102".
Partial correction
Section 3.1.2, 3.2.4, 3.3.2, 4.2, 4.2.8, 4.2.9, 4.7, 4.7.5, 4.8.1, 4.8.2,
6.6, Appendix 1, 2, 3
Japanese Manual Version SH-080023-AB
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.
1999 MITSUBISHI ELECTRIC CORPORATION

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INTRODUCTION
Thank you for purchasing the Mitsubishi MELSEC-Q/L/QnA series programmable controllers.
Before using the product, please read this manual carefully and develop familiarity with the functions and
performance of the MELSEC-Q/L/QnA series programmable controllers to handle the product correctly.
Please make sure that the end users read this manual.
CONTENTS
SAFETY PRECAUTIONS............................................................................................................................ A- 1
CONDITIONS OF USE FOR THE PRODUCT ........................................................................................... A- 2
REVISIONS.................................................................................................................................................. A- 3
INTRODUCTION.......................................................................................................................................... A- 6
CONTENTS.................................................................................................................................................. A- 6
ABOUT MANUALS ...................................................................................................................................... A- 9
GENERIC TERMS .........................................................................................................................................A-10
1. GENERAL DESCRIPTION 1- 1 to 1-11
1.1 Description of SFC Program.................................................................................................................. 1- 2
1.2 SFC (MELSAP3) Features .................................................................................................................... 1- 4
2. SYSTEM CONFIGURATION 2- 1 to 2- 4
3. SPECIFICATIONS 3- 1 to 3-30
3.1 Performance Specifications Related to SFC Programs ....................................................................... 3- 1
3.1.1 When the Basic model QCPU is used............................................................................................ 3- 1
3.1.2 When the High Performance model QCPU, Process CPU, Redundant CPU,
Universal model CPU, or LCPU is used ........................................................................................ 3- 3
3.1.3 Performance specifications of QnACPU ........................................................................................ 3- 7
3.2 Device List.............................................................................................................................................. 3- 9
3.2.1 Device list of Basic model QCPU ................................................................................................... 3- 9
3.2.2 Device list of High Performance model QCPU, Process CPU, and Redundant CPU.................... 3-11
3.2.3 Device list of Universal model QCPU............................................................................................... 3-13
3.2.4 Device list of LCPU ........................................................................................................................... 3-16
3.2.5 Device list of QnACPU...................................................................................................................... 3-17
3.3 Processing Time ...................................................................................................................................... 3-19
3.3.1 Processing time for SFC program .................................................................................................... 3-19
3.3.2 Processing time for S(P).SFCSCOMR instruction and S(P).SFCTCOMR instruction ................... 3-25
3.4 Calculating the SFC Program Capacity .................................................................................................. 3-28
4. SFC PROGRAM CONFIGURATION 4- 1 to 4-113
4.1 List of SFC Diagram Symbols ............................................................................................................... 4- 2
4.2 Steps....................................................................................................................................................... 4- 5
4.2.1 Step (without step attribute)...................................................................................................... 4- 6
4.2.2 Initial step ................................................................................................................................... 4- 8
4.2.3 Dummy step ............................................................................................................................... 4- 9

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4.2.4 Coil HOLD step SC ........................................................................................................................ 4- 9
4.2.5 Operation HOLD step (without transition check) SE ...................................................................... 4-12
4.2.6 Operation HOLD step (with transition check) ST ........................................................................... 4-14
4.2.7 Reset step R.................................................................................................................................... 4-16
4.2.8 Block START step (with END check) .......................................................................................... 4-17
4.2.9 Block START step (without END check) .................................................................................... 4-19
4.2.10 End step........................................................................................................................................... 4-21
4.2.11 Instructions that cannot be used with operation outputs ............................................................... 4-23
4.3 Transition.................................................................................................................................................. 4-24
4.3.1 Serial transition.................................................................................................................................. 4-25
4.3.2 Selection transition ............................................................................................................................ 4-27
4.3.3 Parallel transition............................................................................................................................... 4-30
4.3.4 Jump transition .................................................................................................................................. 4-34
4.3.5 Precautions when creating sequence programs for operation outputs (steps) and transition
conditions .......................................................................................................................................... 4-35
4.4 Controlling SFC Programs by Instructions (SFC Control Instructions) .................................................. 4-38
4.4.1 Step operation status check instructions (LD, LDI, AND, ANI, OR, ORI) ....................................... 4-43
4.4.2 Forced transition check instruction (LD, LDI, AND, ANI, OR, ORI)................................................. 4-46
4.4.3 Block operation status check instruction (LD, LDI, AND, ANI, OR, ORI)........................................ 4-48
4.4.4 Active step batch readout instructions (MOV, DMOV) .................................................................... 4-50
4.4.5 Active step batch readout (BMOV)................................................................................................... 4-53
4.4.6 Block START & END instructions (SET, RST)................................................................................. 4-57
4.4.7 Block STOP and RESTART instructions (PAUSE, RSTART)......................................................... 4-59
4.4.8 Step START and END instructions (SET, RST) .............................................................................. 4-62
4.4.9 Forced transition EXECUTE & CANCEL instructions (SET, RST) ................................................. 4-67
4.4.10 Active step change instruction (SCHG).......................................................................................... 4-69
4.4.11 Block switching instruction (BRSET) .............................................................................................. 4-70
4.5 SFC Information Devices......................................................................................................................... 4-72
4.5.1 Block START/END bit ....................................................................................................................... 4-73
4.5.2 Step transition bit............................................................................................................................... 4-75
4.5.3 Block STOP/RESTART bit................................................................................................................ 4-77
4.5.4 Block STOP mode bit........................................................................................................................ 4-79
4.5.5 Continuous transition bit.................................................................................................................... 4-81
4.5.6 "Number of active steps" register ..................................................................................................... 4-83
4.6 Step Transition Watchdog Timer............................................................................................................. 4-84
4.7 SFC Operation Mode Setting .................................................................................................................. 4-86
4.7.1 SFC program start mode .................................................................................................................. 4-87
4.7.2 Block 0 START condition .................................................................................................................. 4-89
4.7.3 Output mode at block STOP............................................................................................................. 4-90
4.7.4 Periodic execution block setting ....................................................................................................... 4-92
4.7.5 Operation mode at double block START ......................................................................................... 4-93
4.7.6 Operation mode at transition to active step (double step START).................................................. 4-94
4.8 SFC Comment Readout Instruction ........................................................................................................ 4-97
4.8.1 SFC comment readout instruction (S(P). SFCSCOMR).................................................................. 4-98
4.8.2 SFC transition comment readout instruction (S(P). SFCTCOMR) ................................................ 4-106

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5. SFC PROGRAM PROCESSING SEQUENCE 5- 1 to 5-14
5.1 Whole Program Processing of Basic Model QCPU.............................................................................. 5- 1
5.1.1 Whole program processing sequence............................................................................................ 5- 1
5.2 Whole Program Processing of High Performance Model QCPU, Process CPU, Redundant CPU,
Universal model QCPU, LCPU, and QnACPU..................................................................................... 5- 2
5.2.1 Whole program processing sequence............................................................................................ 5- 2
5.2.2 Execution type designation by instructions .................................................................................... 5- 4
5.2.3 SFC program for program execution management ....................................................................... 5- 6
5.3 SFC Program Processing Sequence .................................................................................................... 5- 8
5.3.1 SFC program execution .................................................................................................................. 5- 8
5.3.2 Block execution sequence ................................................................................................................ 5-10
5.3.3 Step execution sequence.................................................................................................................. 5-11
5.3.4 Continuous transition ON/OFF operation......................................................................................... 5-12
6. SFC PROGRAM EXECUTION 6- 1 to 6-24
6.1 SFC Program START and STOP.......................................................................................................... 6- 1
6.1.1 SFC program resumptive START procedure................................................................................. 6- 2
6.2 Block START and END.......................................................................................................................... 6- 4
6.2.1 Block START methods.................................................................................................................... 6- 4
6.2.2 Block END methods ........................................................................................................................ 6- 5
6.3 Block Temporary Stop and Restart Methods........................................................................................ 6- 6
6.3.1 Block STOP methods...................................................................................................................... 6- 6
6.3.2 Restarting a stopped block ............................................................................................................. 6- 9
6.4 Step START (Activate) and END (Deactivate) Methods ........................................................................ 6-11
6.4.1 Step START (activate) methods....................................................................................................... 6-11
6.4.2 Step END (deactivate) methods ....................................................................................................... 6-12
6.4.3 Changing an active step status (Not available for Basic model QCPU,
Universal model QCPU, and LCPU) ................................................................................................ 6-13
6.5 Operation Methods for Continuous Transition ........................................................................................ 6-14
6.6 Operation at Program Change ................................................................................................................ 6-15
6.6.1 Operation at program change made by write to PLC ...................................................................... 6-16
6.6.2 Program change by online change................................................................................................... 6-17
6.6.3 Online change (inactive block).......................................................................................................... 6-18
APPENDICES APP- 1 to APP-24
APPENDIX 1 Special Relay and Special Register List ....................................................................... APP- 1
APPENDIX 1.1 Special Relay (SM) List............................................................................................. APP- 2
APPENDIX 1.2 Special Register (SD) List ......................................................................................... APP- 6
APPENDIX 2 MELSAP-II and MELSAP3 Comparison....................................................................... APP- 7
APPENDIX 3 Restrictions on Basic Model QCPU, Universal Model QCPU,
and LCPU and Alternative Methods...................................................................................................APP-18
APPENDIX 3.1 Step Transition Watchdog Timer Replacement Method............................................APP-20
APPENDIX 3.2 Periodic Execution Block Replacement Method ........................................................APP-21
APPENDIX 3.3 Forced Transition Bit (TRn) Replacement Method ....................................................APP-22
APPENDIX 3.4 Active Step Change Instruction (SCHG) Replacement Method ................................APP-23