siepc88070030c_2_1

Engineering Tool for MP2000 Series Machine Controller
MPE720 Version 6
USER'S MANUAL
Model CPMC-MPE770
Overview and Basic Operations of

MPE720 Version 6
1
Configuration 2
Ladder Programming 3
Motion Programming 4
Variables 5
Exporting/Importing 6
Electronic Cam Data
Preparation Tool 7
Data Table Programs 8
Printing 9
Transferring Data 10
Axes 11
Monitoring 12
Tracing 13
Tuning Panel 14
App
MANUAL NO. SIEP C880700 30C

Copyright © 2006 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or
transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or other-
wise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to
the use of the information contained herein. Moreover, because Yaskawa is constantly striving to
improve its high-quality products, the information contained in this manual is subject to change without
notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa
assumes no responsibility for errors or omissions. Neither is any liability assumed for damages result-
ing from the use of the information contained in this publication.
Graphic Symbols Used in this Manual
The graphic symbols used in this manual indicate the following type of information.
This symbol is used to indicate important information that should be memorized or minor precautions,
such as precautions that will result in alarms if not heeded.
Caution on Managing Passwords
The following passwords can be set for this software.
• User passwords (Refer to 1.9.4 ( 1 ) Registering New Users.)

• Project passwords (Refer to 1.9.5 Security: Project Password.)
• Program passwords (Refer to 1.12.3 Setting Passwords for Ladder Programs.)
• Online passwords (Refer to 1.12.4 Online Security.)
If a password is set and then forgotten or lost, a project file can be opened and there is no way, however, to recover a
project file or program.
Set passwords carefully and then take full responsibility for managing the passwords.
Caution on Managing Project Files
Project files are always overwritten when closed. A project file cannot be saved under a new name. Whenever a backup
file is required, be sure to make a copy of the project file before opening it or before overwriting changes while editing
the project.
Table Programming Functions Not Supported by MPE720 Version 6
MPE720 version 6 does not support these three table programming functions: Interlock Tables, Part Composition
Tables, and I/O Conversion Tables.
Trademarks
• MECHATROLINK is a trademark of the MECHATROLINK MEMBERS ASSOCIATION.

• Microsoft, Excel, Windows 2000, Windows XP, and Internet Explorer are trademarks or registered trade-
marks of Microsoft Corporation in the USA and/or other countries.
• Adobe and Adobe Reader are trademarks or registered trademarks of Adobe Systems Incorporated.
• Pentium is a trademark or registered trademark of Intel Corporation.
• Ethernet is a trademark of Xerox Corporation.
• Other product and company names mentioned in this manual may be the trademarks or registered trade-
marks of their respective owners. Trademark symbols and registered trademark symbols are not used in
this manual.
iii
Contents
Graphic Symbols Used in this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
Caution on Managing Passwords- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
Caution on Managing Project Files- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
Table Programming Functions Not Supported by MPE720 Version 6 - - - - - - - - - - - - - - - - - - - iii
Trademarks - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
1 Overview and Basic Operations of MPE720 Version 6 - - - - - - - - - - - - - - - - - 1-1

1.1 What Is MPE720 Version 6? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2 Basic Engineering Procedure Using MPE720 Version 6 - - - - - - - - - - - - - - - - - - 1-3
1.3 Installing and Uninstalling MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3.1 MPE720 Version 6 System Requirements - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3.2 Version Applicability - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3.3 Compatibility with MPE720 Version 5 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3.4 Installing MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3.5 Uninstalling MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
1.3.6 Communication Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
1.3.7 Communication Process Settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-16
1.4 Starting and Exiting MPE720 Version 6- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-24

1.4.1 Starting MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-24
1.4.2 Exiting MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-26
1.5 MPE720 Version 6 Window Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-27

1.5.1 Names and Descriptions of Window Components - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-27
1.6 Main Window Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-28

1.6.1 Start Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-28
1.6.2 My Tool Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-30
1.7 Subwindow Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-43

1.7.1 Descriptions of Subwindow Components - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-43
1.7.2 Displaying and Hiding Subwindows - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-44
1.7.3 Updating Subwindow Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-45
1.7.4 Types of Subwindow Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-45
1.7.5 Changing the Subwindow Display Type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-46
1.8 Project Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-47

1.8.1 What Is a Project File? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-47
1.8.2 Creating New Project Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-48
1.8.3 Opening Project Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-50
1.8.4 Opening an MPE720 Version 5 MAL File - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-52
1.8.5 Saving Project Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-53
1.8.6 Closing Project Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-54
1.8.7 Moving Project Files: Deleting, Copying, and Renaming Project Files - - - - - - - - - - - - - - - - 1-54
iv
1.9 Environment Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-55
1.9.1 Environment Setting Dialog Box - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-55
1.9.2 System: Communication Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-56
1.9.3 System: Controller Type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-57
1.9.4 Security: User Registration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-58
1.9.5 Security: Project Password- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-60
1.9.6 Security: Default User Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-61
1.9.7 Setup: System Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-62
1.9.8 Setup: Scan Time Setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-63
1.9.9 Ladder: General - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-64
1.9.10 Motion/Tab - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-65
1.9.11 Motion/Font - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-66
1.9.12 C Language: General- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-67
1.9.13 C Language: Linker - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-67
1.9.14 Variable: Variable- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-68
1.9.15 Monitor: System Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-69
1.9.16 Transfer: Transfer - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-70
1.9.17 Transfer: MPLoader - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-71
1.9.18 Print: Ladder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-72
1.10 Connecting to and Disconnecting from Machine Controllers - - - - - - - - - - - - - 1-73

1.10.1 Connecting to Machine Controllers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-73
1.10.2 Disconnecting from Machine Controllers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-78
1.11 Stopping (STOP) and Restarting (RUN) the Machine Controller CPU- - - - - - - 1-79
1.11.1 Stopping Machine Controller CPU (STOP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-79
1.11.2 Restarting Machine Controller CPU (RUN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-81
1.12 Security - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-82

1.12.1 Security for User - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-82
1.12.2 Security for Project Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-82
1.12.3 Setting Passwords for Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-82
1.12.4 Online Security - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-85
2 Configuration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-1
2.1 Module Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.2 Motion Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.2.1 Fixed Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.2.2 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.2.3 Monitoring Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.2.4 SERVOPACK Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
3 Ladder Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1

3.1 Overview of Ladder Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.1.1 What is Ladder Programming? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.1.2 Overview of Ladder Program Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
3.2 Beginning Ladder Programming- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5

3.2.1 Creating New Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
3.2.2 Creating Ladder Programs in the CP Form - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
3.2.3 Opening Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.2.4 Opening CP Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.2.5 Displaying and Editing MPE720 Version 6 Ladder Programs on MPE720 Version 5- - - - - - - 3-11
v
3.3 Editing Ladder Programs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.3.1 Ladder Program Edit Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.3.2 Main Functions Used in Editing Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
3.3.3 Updating Subwindow Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.4 Changing Edit Window Displays- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.5 Editing Program Comments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-21
3.3.6 Inserting and Editing New Rung Comments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-22
3.3.7 Inserting and Editing New Rungs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
3.3.8 Inserting Branches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24
3.3.9 Editing Branches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-26
3.3.10 Inserting Instruction Objects- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-28
3.3.11 Editing Instruction Objects - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30
3.3.12 Entering and Changing Variables and Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-31
3.3.13 Editing Comment Fields - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33
3.3.14 Entering and Editing Expressions for EXPRESSION Instructions - - - - - - - - - - - - - - - - - - 3-34
3.3.15 Creating Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-35
3.3.16 Calling Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-37
3.3.17 Ladder Program Compiling and Compile Options- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-38
3.3.18 Compiling when Exiting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-39
3.4 Managing Programs in the Ladder Subwindow - - - - - - - - - - - - - - - - - - - - - - - 3-40

3.4.1 Changing Ladder Subwindow Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40
3.4.2 Setting Passwords for Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-41
3.4.3 Managing Ladder Program Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-42
3.5 Debugging Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46

3.5.1 Monitoring Ladder Program Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46
3.5.2 Searching and Replacing in a Program- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47
3.5.3 Searching and Replacing in a Project File - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50
3.5.4 Cross Reference Searching- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-53
3.5.5 Searching for Duplicate Coils- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-54
3.5.6 Forcing Coils ON/OFF- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-55
3.5.7 Referencing Called Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-59
3.6 Converting CP Ladder Programs to Ordinary Ladder Programs - - - - - - - - - - - 3-60

3.6.1 Converting CP Ladder Programs as a Batch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-60
3.6.2 Converting a Program Individually - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-62
4 Motion Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-1

4.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.1.1 What Is a Motion Program? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.1.2 Flow from Program Creation to Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
4.1.3 Differences Compared with Existing Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.2 Starting a Motion Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6

4.3 Motion Program Part Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
4.3.1 Motion Subwindow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
4.3.2 Group Definition Window- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
4.3.3 Motion Editor Tab Page - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.3.4 Motion Task Setting Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
4.3.5 Motion Alarm Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
4.3.6 Drive Control Panel Tab Page - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.3.7 Breakpoints Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
vi
4.4 Main Menu List- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
4.4.1 Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
4.4.2 Debug - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
4.5 Toolbar List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16

4.5.1 Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
4.5.2 Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
4.5.3 Motion Debugging - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-17
4.6 Group Definition - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-23

4.7 Creating and Editing Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24
4.7.1 Setting a Group Definition - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24
4.7.2 Creating a New Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25
4.7.3 Editing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26
4.8 Compilation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-34

4.9 Preparing for Executing a Program- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36
4.9.1 Allocation to a Ladder Program- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36
4.9.2 Allocation to the Task Allocation Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36
4.10 Debugging and Monitoring- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39

4.10.1 What is Debugging and Monitoring? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39
4.10.2 Debug Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39
4.10.3 Normal Operation Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40
4.10.4 Alarm Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41
4.10.5 Setting Motion Tasks - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41
4.11 Test Running Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42

4.11.1 Explanation of the Drive Control Panel- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42
4.11.2 Operations on the Drive Control Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-43
4.11.3 Test Running and Monitoring- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-43
4.11.4 When an Alarm has Occurred During a Test Run - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-45
4.12 Program Management in the Motion Subwindow - - - - - - - - - - - - - - - - - - - - - 4-46

4.12.1 Editing Motion Program Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46
4.12.2 Displaying Property Columns - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-48
4.12.3 Compiling Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-49
4.12.4 Properties of Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-50
5 Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-1
5.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.1 Types of Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.2 Displaying Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.2 Variables that Are Automatically Assigned by System - - - - - - - - - - - - - - - - - - 5-4

5.2.1 System Variables (S Registers)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.2.2 Axis Variables (I/O Registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.2.3 I/O Variables (I/O Registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5.3 Variables that Can Be Set by the User - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11

5.3.1 Variables that Can be Referred from Any Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.3.2 Local Variables for Use in One Variable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23
vii
5.4 Using Variables and Comments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27
5.4.1 Using Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27
5.5 Using Comments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28

5.5.1 Saving Comments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28
5.5.2 Linking with CP Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28
5.6 User Structures - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29

5.6.1 What is User Structure? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
5.6.2 Creating User Structures - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
5.6.3 Assigning User Structures - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
5.6.4 Transferring User Structures - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
5.7 Comment Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35

5.7.1 Referencing Comment Lists- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35
5.7.2 Search/Replace/Delete in Comment List- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
6 Exporting/Importing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-1
6.1 Types of Export/Import - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.2 Motion Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
6.2.1 Exporting/Importing Motion Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
6.2.2 Export - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
6.2.3 Import - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.3 Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12

6.3.1 Exporting/Importing Global Variables, I/O Variables and Comments - - - - - - - - - - - - - - - - - 6-12
6.3.2 Exporting/Importing Local Variables and Comments- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18
6.3.3 Exporting/Importing Constant Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22
6.3.4 Exporting/Importing User Structures - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27
6.3.5 Importing MPE720 Version 5 CMT Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
6.4 Register Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33

6.4.1 Exporting/Importing the Register Data to/from CSV Files - - - - - - - - - - - - - - - - - - - - - - - - - 6-33
6.4.2 Importing Registers in Cam Data Created with the Electronic Cam Data Tool - - - - - - - - - - - 6-40
7 Electronic Cam Data Preparation Tool - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-1

7.1 Overview of Electronic Cam Data- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.2 Starting and Operating the Electronic Cam Data Tool - - - - - - - - - - - - - - - - - - - - 7-2
8 Data Table Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-1

8.1 Overview of Data Table Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.2 Starting and Using Data Table Programs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
viii
9 Printing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-1
9.1 Printing Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.1 Page Setup- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.2 Print Previews - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3
9.1.3 Printing- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5
9.1.4 Printing Cross-Reference Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8
9.1.5 Printing Call Program Instructions (FUNC/SEE/MSEE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9
9.2 Printing Other Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-11
10 Transferring Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-1

10.1 Outline of Data Transfers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.2 Transferring Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
10.2.1 Writing to Machine Controllers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
10.2.2 Program Disable Processing when a Write Error Occurs - - - - - - - - - - - - - - - - - - - - - - - - - 10-8
10.2.3 Saving to Flash Memory- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-9
10.2.4 Reading from Machine Controllers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-10
10.2.5 Writing into a Project File - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12
10.2.6 Reading from a Project File - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-14
10.2.7 Writing into the CF Card - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-16
10.2.8 Reading from CF Card - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-17
10.2.9 Comparison with the Machine Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-18
10.2.10 Comparing Flash Memory and RAM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
10.2.11 Comparing Project Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-21
10.2.12 Comparing with CF Card Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-23
10.2.13 Detailed Comparison of Programs and Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-24
11 Axes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-1
11.1 Axis Setup Wizard- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.1 Overview of the Axis Setup Wizard - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.2 Starting the Axis Setup Wizard - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.3 Names and Descriptions of Components of the Axis Setup Wizard- - - - - - - - - - - - - - - - - - 11-4
11.2 Test Run - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-18

11.2.1 Overview of Test Running - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-18
11.2.2 Starting a Test Run- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-19
11.2.3 Names and Descriptions of Components of Test Run - - - - - - - - - - - - - - - - - - - - - - - - - - 11-22
11.2.4 Setting the Speed, Step Distance, and Direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-26
11.2.5 Servo Enable and Servo Disable Status of Axes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-28
11.2.6 Axis Jog Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-29
11.2.7 Axis Step Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-31
11.3 Axis Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-32

11.3.1 Outline of Axis Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-32
11.3.2 Starting Axis Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-33
11.3.3 Names and Descriptions of Components of Axis Monitor - - - - - - - - - - - - - - - - - - - - - - - - 11-34
11.3.4 Setting and Displaying Monitor Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-37
ix
11.4 Alarm Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-39
11.4.1 Overview of Alarm Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-39
11.4.2 Starting Alarm Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-40
11.4.3 Names and Descriptions of Components of Alarm Monitor - - - - - - - - - - - - - - - - - - - - - - 11-41
11.4.4 When an Alarm/Warning Occurs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-44
11.5 Axis Management in the System Subwindow- - - - - - - - - - - - - - - - - - - - - - - 11-46
12 Monitoring- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-1
12.1 Types of Monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2
12.2 Register Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3
12.2.1 Outline- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3
12.2.2 Displaying Memory Maps - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3
12.2.3 Changing Memory Map Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4
12.2.4 Editing Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-5
12.3 Watch Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-6

12.3.1 Outline- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-6
12.3.2 Displaying Watch Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-6
12.3.3 Editing Values- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-7
12.4 Online Current Value- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-8

12.4.1 Outline- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-8
12.4.2 Displaying Online Current Value - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-8
12.5 Offline Current Value- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-9

12.5.1 Outline- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-9
12.5.2 Displaying Offline Current Value - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-9
12.6 System Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-10

12.6.1 Outline- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-10
12.6.2 Using the System Monitor Subwindow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-10
12.6.3 Pop-up Display When an Error Is Detected - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-12
12.7 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-13

12.7.1 Overview of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-13
12.7.2 Starting Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-14
12.7.3 Analysis in Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-15
12.7.4 Display after Correcting an Error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-23
12.7.5 Error Codes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-24
13 Tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-1
13.1 Types of Tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-2
13.2 Real-Time Tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3
13.2.1 Overview of Real-Time Tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3
13.2.2 Starting Real-Time Trace - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3
13.2.3 Names and Descriptions of Components of Real-Time Tracing - - - - - - - - - - - - - - - - - - - - 13-5
13.2.4 Analyzing Trace Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-23
13.2.5 Reading Trace Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-26
13.2.6 Saving Trace Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-28
13.2.7 Displaying in List Format - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-30
13.2.8 Copying the Graph - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-32
x
13.3 Data Tracing- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-34
13.3.1 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-34
13.3.2 Starting a Data Trace Window- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-34
13.3.3 Data Trace Window Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-35
13.3.4 Displaying Graphs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-36
13.3.5 Operation Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-37
13.3.6 Graph Area Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-39
13.3.7 List Area Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-45
13.3.8 Other Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-56
13.4 XY Tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-60

13.4.1 Overview of XY Tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-60
13.4.2 Starting XY Trace - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-60
13.4.3 Names and Descriptions of Components of XY Tracing- - - - - - - - - - - - - - - - - - - - - - - - - 13-61
13.4.4 Analyzing X-/Y-Axis Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-67
13.4.5 Saving Trace Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-70
13.4.6 Copying the Graph - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-72
14 Tuning Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-1

14.1 Overview of the Tuning Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-2
14.1.1 What is the Tuning Panel? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-2
14.2 Starting the Tuning Panel- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-3

14.3 Names and Descriptions of Components of Tuning Panel- - - - - - - - - - - - - - - 14-4
14.3.1 Tuning Panel Tab Page - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-4
14.3.2 Current Value Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-5
14.3.3 Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-6
14.3.4 Visual Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-7
14.4 Registering/Displaying/Editing with the Tuning Panel - - - - - - - - - - - - - - - - - - 14-8

14.4.1 Registering Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-8
14.4.2 Editing the Current Value - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-9
14.4.3 Changing Display of the Current Value Data- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-9
14.4.4 Other Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-13
14.5 Saving Tuning Data- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-16
Appendices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-1
A Variable Tables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1 Variables that are Automatically Assigned by System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.2 Axis Variable Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
A.3 I/O Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-27
A.4 System Structures - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-39
B Reserved Words - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-47
Index
Revision History
xi
Overview and Basic Operations of MPE720 Version 6
1
Overview and Basic Operations of MPE720
Version 6
This chapter provides an overview of MPE720 version 6 and describes basic MPE720 operations.
1.1 What Is MPE720 Version 6? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1
1.2 Basic Engineering Procedure Using MPE720 Version 6 - - - - - - - - - - - - - - 1-3
1.3 Installing and Uninstalling MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - 1-4
1.3.1 MPE720 Version 6 System Requirements - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3.2 Version Applicability - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3.3 Compatibility with MPE720 Version 5 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3.4 Installing MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3.5 Uninstalling MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
1.3.6 Communication Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
1.3.7 Communication Process Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-16
1.4 Starting and Exiting MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - 1-24

1.4.1 Starting MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-24
1.4.2 Exiting MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-26
1.5 MPE720 Version 6 Window Operations - - - - - - - - - - - - - - - - - - - - - - - - 1-27

1.5.1 Names and Descriptions of Window Components - - - - - - - - - - - - - - - - - - - - - - - - - - 1-27
1.6 Main Window Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-28

1.6.1 Start Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-28
1.6.2 My Tool Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-30
1.7 Subwindow Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-43

1.7.1 Descriptions of Subwindow Components - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-43
1.7.2 Displaying and Hiding Subwindows - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-44
1.7.3 Updating Subwindow Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-45
1.7.4 Types of Subwindow Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-45
1.7.5 Changing the Subwindow Display Type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-46
1-1
1 Overview and Basic Operations of MPE720 Version 6
1.8 Project Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-47

1.8.1 What Is a Project File? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-47
1.8.2 Creating New Project Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-48
1.8.3 Opening Project Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-50
1.8.4 Opening an MPE720 Version 5 MAL File - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-52
1.8.5 Saving Project Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-53
1.8.6 Closing Project Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-54
1.8.7 Moving Project Files: Deleting, Copying, and Renaming Project Files - - - - - - - - - - - -1-54
1.9 Environment Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-55

1.9.1 Environment Setting Dialog Box - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-55
1.9.2 System: Communication Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-56
1.9.3 System: Controller Type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-57
1.9.4 Security: User Registration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-58
1.9.5 Security: Project Password - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-60
1.9.6 Security: Default User Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-61
1.9.7 Setup: System Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-62
1.9.8 Setup: Scan Time Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-63
1.9.9 Ladder: General - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-64
1.9.10 Motion/Tab - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-65
1.9.11 Motion/Font - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-66
1.9.12 C Language: General - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-67
1.9.13 C Language: Linker - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-67
1.9.14 Variable: Variable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-68
1.9.15 Monitor: System Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-69
1.9.16 Transfer: Transfer - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-70
1.9.17 Transfer: MPLoader - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-71
1.9.18 Print: Ladder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-72
1.10 Connecting to and Disconnecting from Machine Controllers - - - - - - - - - 1-73

1.10.1 Connecting to Machine Controllers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-73
1.10.2 Disconnecting from Machine Controllers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-78
1.11 Stopping (STOP) and Restarting (RUN) the Machine Controller CPU - - - 1-79
1.11.1 Stopping Machine Controller CPU (STOP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-79
1.11.2 Restarting Machine Controller CPU (RUN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-81
1.12 Security - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-82

1.12.1 Security for User - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-82
1.12.2 Security for Project Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-82
1.12.3 Setting Passwords for Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-82
1.12.4 Online Security - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-85
1-2
1.1 What Is MPE720 Version 6?
1.1 What Is MPE720 Version 6?

MPE720 version 6 (CPMC-MPE770) is an engineering tool for MP2000-series Machine Controllers. Installing
MPE720 version 6 on a computer and connecting to a Machine Controller via a Communications Module enables pro-

gramming, control, and monitoring operations from the computer.
* Note: A Communications Module is not required for the MP2100 or the MP2100M.
MP2000-series
Machine Controller
MP2300 SVB-01 218IF-01 LIO-04

YASKAWA RDY RUN RUN ERR RUN ERR RUN FU
ALM ERR TX CN1

STRX COL
TX BAT
M/S TX RX
SIZE
STOP SPD
OFF ON
SUP
INIT ´10 INIT
CNFG TEST
MON
SW1 OFF ON
TEST ´1
OFF ON
PORT
M-I/II M-I/II
BATTERY
CN1
CPU I/O
DC24V
CN2
DC 0V 10Base-T
POWER
CN2
MPE720 version 6
YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V
SGDS-01A12A SGDS-01A12A
SW1 SW1
C C
N N
CHARGE 6 CHARGE 6
Communications
A/B A/B
L1 L1
L2 L2
L1C C L1C C
(such as RS-232C)
N N
SERVOPACK
L2C 3 L2C 3
B1/ B1/
B2 B2
C C
U N U N
1 1
V V
W W
N N
2 2
C C
N N
4 4
Servomotor
Programming
Control
Monitoring
1
1.2 Basic Engineering Procedure Using MPE720 Version 6
Use the following procedure to operate a Machine Controller and motion system using MPE720 version 6.
1. Connect the computer to the MP2000-series Machine Controller.
2. Install MPE720 version 6 on the computer. (Refer to 1.3.4 Installing MPE720 Version 6.)
3. Set the Communication Process. (Refer to 1.3.7 Communication Process Settings.)
4. Start MPE720 version 6. (Refer to 1.4.1 Starting MPE720 Version 6.)
5. Create a project file. (Refer to 1.8.2 Creating New Project Files.)
Make the required settings. (Refer to 1.10.1 Connecting to Machine Controllers and 2.1 Module
6.
Configuration.)
7. Create the programs. (Refer to Chapter 3 Ladder Programming and Chapter 4 Motion Programming.)
8. Transfer the programs to the Machine Controller. (Refer to 1.12 Security.)
9. Perform a test run.
1-3
1.3.1 MPE720 Version 6 System Requirements
1.3 Installing and Uninstalling MPE720 Version 6

1.3.1 MPE720 Version 6 System Requirements
The following table shows the computer system requirements for the computer in which MPE720 version 6 is to be
installed and used.
Item Specifications
CPU Pentium 800 MHz min. or equivalent. (1 GHz min. is recommended.)
Memory Capacity 128 MB min. (256 MB min. is recommended.)
Display Resolution: 1,024 x 768 min., 16-bit High Color
Available HDD Space 200 MB min.
CD Drive One CD drive (Required only for installation.)
Communications Ports Serial, Ethernet, MP2100 bus, or USB
Windows 2000 (service pack 1 or later)
Operating System
Windows XP, Windows Vista, Windows 7 (32 bit version)
Adobe Reader version 6.00 or later (Required for help displays.)
Other
Internet Explorer version 5.5 or later (Required for displaying online help for ladder instructions.)
1.3.2 Version Applicability

The Machine Controllers and OS types applicable to each MPE720 version are shown below.
Applicable Machine Controllers Applicable OS

MPE720 Version
MP900 Series MP2000 Series MP3200 Series Windows XP Windows Vista Windows 7
Ver.6.01 or later Not Applicable Applicable Not Applicable Applicable Not Applicable Not Applicable
Ver.6.06 or later Not Applicable Applicable Not Applicable Applicable Applicable Not Applicable
Ver.6.30 or later Not Applicable Applicable Not Applicable Applicable Applicable Applicable
1.3.3 Compatibility with MPE720 Version 5

If MPE720 version 5 is already installed, removal is not required before installing MPE720 version 6. Moreover,
MPE720 version 5 will not be overwritten when MPE720 version 6 is installed.
After MPE720 version 6 has been installed, version 5 and version 6 can both be used.
1-4
1.3.4 Installing MPE720 Version 6
To install MPE720 version 6, you need to logon with the administrator privilege.
If MPE720 version 5 is already installed, uninstall it before installing MPE720 version 6 is not required. Moreover,

MPE720 version 5 will not be overwritten when MPE720 version 6 is installed.
After MPE720 version 6 has been installed, version 5 and version 6 can both be used.
If MPE720 version 6 has been previously installed, the new installation of MPE720 version 6 will overwrite it.
Prepare the MPE720 version 6 installation CD-ROM and use the following procedure to install the software.
1. Start the computer, and insert the installation CD-ROM in the CD-ROM drive.
If any other software applications are running, close them before proceeding.
If either MPE720 version 5 or MPE720 version 6 is already installed, the following dialog boxes may be dis-
played for confirmation when the InstallShield Wizard is started. In either case, click the Yes Button.
The following dialog box will then be displayed for confirmation. Click the OK Button. The earlier version or the
same version of the Communications Process or the Electronic CAM Tool will be overwritten.
The MPE720 version 6 Installer will automatically start, the Title Window will be displayed, and then the
License Agreement Window will be displayed.
1-5
2. Click the Next Button to continue.
The Customer Information Window will be displayed for registration.
3. Enter the user name, company name, and product serial number, and then click the Next Button to
continue.
A window to set the destination folder for the installation will be displayed.
1-6
4. To install the program in the destination folder that is displayed, click the Next Button. To install it in a
different folder, click the Browse Button, specify the destination folder, and then click the Next Button.

A window to begin the installation will be displayed.
1
5. Click the Install Button.
The installation will begin, and messages to indicate the progress will be displayed. When the installation has
been completed, a window to complete the installation will be displayed.
1-7
6. Click the Finish Button.
The InstallShield Wizard will close and the installation of MPE720 version 6 will be completed.
1-8
1.3.5 Uninstalling MPE720 Version 6

Use the following procedure to uninstall MPE720 version 6.
1. Exit MPE720 version 6 and open the Windows Control Panel.

2. Double-click Add or Remove Programs (or Add or Remove Applications in Windows 2000).
The Add or Remove Programs Window will be displayed.
3. Select YASKAWA MPE720 Ver.6 from the list of programs, and click the Remove Button.
A dialog box will be displayed for confirmation that the program is to be removed.
1-9
1.3.5 Uninstalling MPE720 Version 6
4. Click the OK Button.
The operation to uninstall MPE720 version 6 will begin. When uninstall is finished, the Maintenance Complete
Window will be displayed.
5. Click the Finish Button.
The Add or Remove Programs Window will again be displayed.
6. Click the Close Button (X) to close the Control Panel.
1-10
1.3.6 Communication Settings
( 1 ) Overview of Communication Settings

[ a ] What are Communication Settings?
Communication settings are the settings of the communications port and the logical port required to connect MPE720
version 6 to the Machine Controller.
All the operations from communications port setting to connection to the Machine Controller can be performed easily
without worrying about communication processes.
[ b ] Conditions of Use
The communications ports that can be used for the connection with the Machine Controller are as follows.
• Ethernet (10 MB Ethernet)
• Ethernet (LP) (100 MB Ethernet)
• Serial
• USB
• MP2100 bus
Table 1.1 List of Communications Ports Connectable to Machine Controller
Communications Ports Item Setting Value

Port type CP218 1
Timeout time 10000 ms
Ethernet IP address Automatically reading the IP address set at the computer
Engineering port 10000
Message reception designation None
Port type 100 Base-TX
Ethernet (LP) IP address Automatically reading the IP address set at the computer
Engineering port 9999
Message reception designation None
Port type Serial
Automatically reading the port number set at the com-
Physical port
puter
Serial Unit number 1
Baud rate 19.2 K
Data length 8
Parity Even
Stop bit 1
Port type USB
USB
Port type MP2100/2500
MP2100 bus
Communication destination Device
CP Automatically reading the CP number set at the computer
1-11
( 2 ) When Using Ethernet for Connection

This setting is needed for engineering using an Ethernet connection via a CP-218 communications port (Ethernet).
There are three types of port available for Ethernet connections: the communications port (10 MB Ethernet) of the
218IF-01 Module, and the communications ports (100 MB Ethernet) of 218IFA Module and 218IF-02 Module.
The 218IFA Module is the built-in 218 Module of the Machine Controller.
For an Ethernet connection, the IP address of the computer and MPE720 version 6 need to be set properly.
IP address setting of the computer: Refer to 1.3.6 ( 1 ) [ a ] How to Set the IP Address.
Settings for MPE720 version 6: Refer to 1.3.6 ( 2 ) [ b ] How to Set the Ethernet Port.
[ a ] How to Set the IP Address

The IP address of the computer must be set before setting the Ethernet connection. Set the IP address in the following
manner.
Make the following setting with a LAN cable connected to the computer.
1. Click the Start Button and then select Settings - Control Panel - Internet Options.
The Internet Properties Dialog Box will be displayed.
2. Select the Connections Tab, and then click the LAN Settings Button.
The Local Area Network (LAN) Settings Dialog Box will be displayed.
1-12
3. Confirm that the Automatically detect settings check box is not selected, and then click the OK But-
ton to close the dialog box.

4. In Windows XP, click the Start Button, and then select Settings - Control Panel - Network Connec-
tions.
In Windows 2000, click the Start Button, and then select Settings - Control Panel - Network and Dial-up Con-
nections.
The Network Connections Window (in Windows XP) or the Network and Dial-up Connections Window (in
Windows 2000) will be displayed. 1
5. In Windows XP, click the Local Area Connection Button, and then click Change settings of this
connection in the Network Tasks field.
In Windows 2000, double-click Local Area Connection.
The Local Area Connection Properties Dialog Box will be displayed.
6. Select the Internet Protocol (TCP/IP) check box and then click the Properties Button.
The Internet Protocol (TCP/IP) Properties Dialog Box will be displayed.
1-13
7. Select Use the following IP address, and then enter the IP address, “192.168.1.2” for example, in the
IP address field and “255.255.255.0” in the Subnet mask field.
8. Click the OK Button to close the dialog box.
[ b ] How to Set the Ethernet Port

Connect the computer in which MPE720 version 6 is installed to the Machine Controller through Ethernet in the fol-
lowing manner.
1. Select Online - Communications Setting from the Main Menu. Alternatively, click Communications
Setting under Controller (or Project) in the Start Window.
The Communications Setting Dialog Box will be displayed.
2. Select the communications port to be used for connecting to the Machine Controller and click the Con-
nection Button.
The Communications Setting Dialog Box closes and the MPE720 version 6 is connected to the Machine Con-
troller.
The Connection Button and the Setting Button are invalid while connected to the Machine Controller, and
communications cannot be set.
1-14
[ c ] How to Set the Ethernet (LP) Port

On selecting Ethernet (LP), Machine Controller search list is displayed. Click the Search Button to search for the
Machine Controllers connected to the Ethernet (LP) network. The search result is displayed in the list.
On selecting a Machine Controller from the search list, the IP address of the selected Machine Controller is automati-

cally set in the IP address field.
Connect the computer in which MPE720 version 6 is installed to the Machine Controller through Ethernet (LP) in the
following manner.
nection Button.
troller.
If the connection to the Machine Controller cannot be established, perform the following operations.
Setting the communications port
1. Open the Communications Setting Dialog Box and click the Search Button.
2. The name and IP address of the Machine Controllers that can be connected are listed in the Machine Controller
search list.
3. Check that the IP address of the target Machine Controller displayed in step 2 is identical to the one set for the IP
address field, and then click the Connection Button.
Setting the Ethernet port

Check that the port settings of the computer made in [ b ] How to Set the Ethernet Port are correct.
1-15
1.3.7 Communication Process Settings
( 3 ) When Using a Serial Port for Connection
[ a ] How to Set the Serial Port

Connect the computer in which MPE720 version 6 is installed to the Machine Controller through a serial port in the
following manner.
nection Button.
troller.

The Communication Manager (Communication Process), which is installed along with MPE720 version 6, is used to
set the communication port at the computer that is used to connect to the Machine Controller.
( 1 ) Serial Port Settings
[ a ] How to Set a Serial Port

If the Communication Process settings have already been made for MPE720 version 5, settings will not have to be
reconfigured after installing version 6.
1. Start the Communication Manager (Communication Process) either by double-clicking the Communi-
cation Manager Icon in the YE_Applications Folder on the desktop or by clicking the Start Button
and selecting Programs - YE_Applications - Communication Manager.
The Communication Process Icon will be displayed in the task bar at the bottom right of the screen.
2. Double-click the Communication Process Icon in the task bar to display the Communication Manager
Window.
If the window is not displayed when the Communication Process Icon is double-clicked, then right-click the
icon and select Application Display from the pop-up menu.
1-16
3. Double-click the logical port number (logical PT) for which the settings are to be made.

The Logical Port Setting Dialog Box will be displayed.
4. Select an option for Port Kind and set the TimeOut and other fields. Click the Detail Button.
CP-215: Connected through a CP-215 cable
Serial: Connected through a serial cable
Modem: Connected through a modem
CP-218: Connected through a 10 MB Ethernet cable
Ethernet (LP): Connected through a 100 MB Ethernet cable
MP2100/2500: Selected when using Machine Controller MP2100
USB: Connected through a USB cable
The explanation given here takes “Serial” as an example.
The Serial Port Setting Dialog Box will be displayed.
5. Set each item, and then click the OK Button.
The Logical Port Setting Dialog Box will again be displayed.
1-17
6. Click the OK Button in the Logical Port Setting Dialog Box. The Communication Manager Window
will again be displayed.
Serial will be displayed for the logical port selected in step 3.
7. Select File - Save and then click the Yes Button in the dialog box displayed for confirmation.
The settings will be saved.
8. Select File - Exit and then click the Yes Button in the dialog box displayed for confirmation.
The Communication Manager (Communication Process) will be closed.
1-18
[ b ] How to Set a Serial Port with a USB Serial Conversion Adapter

If the computer is connected to the Machine Controller using a USB serial port conversion adapter, confirm the logical
port in the following manner.

1. Right-click the My Computer Icon on the desktop, and then select Properties from the pop-up menu.
The System Properties Dialog Box will open.
2. Select the Hardware Tab, and then click Device Manager.
The Device Manager Window will open.
1-19
3. Click + on Ports (COM & LPT) to display the tree.
4. Set the physical port of the newly added port name in the Serial Port Setting Dialog Box opened from
the Communication Manager Window.
1-20
( 2 ) CP-218 Communications Port Settings
1. Double-click No. 2 under Logical PT in the Communication Manager Window to open the Logical
Port Setting Dialog Box.

2. In the Logical Port Setting Dialog Box, select CP-218 for Port Kind, and then click Detail.
The CP-218 Port Setting Dialog Box will open.
3. Enter the IP address of the computer for IP Address (First) and select the OFF option for Default.
Leave the other items at their default settings, and then click OK to close the dialog box.
1-21
4. When OK is clicked in the Logical Port Setting Dialog Box, you will be returned to the Communica-
tion Manager Window.
CP-218 will be displayed for the logical port selected in step 1.
5. Select File-Save, and then click Yes in the dialog box displayed for confirmation.
The setting will be saved.
6. Select File-Exit, and then click Yes in the dialog box displayed for confirmation.
The setting will be saved.
1-22
( 3 ) 215AIF-01 Module Network Relay Function

An entire system can be managed and controlled from the MPE720 version 6 by using more than one 215AIF-01 Mod-
ule mounted relay station*1 (Machine Controller). By allocating an unique network number (NW#nn) to each network

segment and a unique station number (ST#nn) to the 215AIF-01 Module in each network segment, all devices con-
nected to all networks can be identified by their network addresses, specified with the combination of these two num-
bers.
In this way, the relay function enables message communications*2 among networks.
The following diagram illustrates an example of a network configuration that uses the relay function.
ST#1 ST#2 ST#3 ST#4 ST#5
CP-215
NW#1
ST#6
MPE720
RS-232C
1
* 1. “Relay Station” indicates an MP200 Machine Controller equipped with more than one 215AIF-01 Module whose
MPLINK or MR connectors are connected with another network’s MPLINK/CP-215 cables to transmit data between
networks.
* 2. Only engineering message transmission is possible with the relay function.
To use the relay function, “Message relay function” must be enabled, and “Relayed network number” must be speci-
fied by setting the 215AIF-01 Module parameters.
1-23
1.4.1 Starting MPE720 Version 6
1.4 Starting and Exiting MPE720 Version 6

1.4.1 Starting MPE720 Version 6
Use any of the following methods to start MPE720 version 6.
( 1 ) Starting from a Desktop Icon

Double-click the icon (shown in the illustration) that was created on the desktop when MPE720 version 6
was installed. MPE720 version 6 will start and the MPE720 Ver.6 Window will be displayed as shown
below.
( 2 ) Starting from the Windows Start Menu

Click the Start Button and select All Programs - YE_Applications - MPE720 Ver.6.
MPE720 version 6 will start and the MPE720 Ver.6 Window will appear as shown above.
For details on the Start Window, refer to 1.5.1 Names and Descriptions of Window Components.
For details on opening project files, refer to 1.8.2 Creating New Project Files and 1.8.3 Opening Project Files.
1-24
1.4 Starting and Exiting MPE720 Version 6
( 3 ) Starting from a Project File

If a project file has already been created, either double-click or right-click
the icon and then select Open. (Refer to 1.8 Project Files.) MPE720 version
6 will start and the MPE720 Ver.6 Window will appear as shown below.

1
When MPE720 version 6 is started from a project file, then only Project and Help will be displayed in the Start Win-
dow as shown above, and their contents will be displayed in ladder and variable subwindows.
If the contents of communications settings are stored in the selected project file, the following dialog box will open.
(Refer to 1.10.1 Connecting to Machine Controllers.)
When the Connect Button Is Clicked

The port set in the communications settings will be used to connect to the Machine Controller set in the
project file, and the application data saved in the Machine Controller RAM will be displayed. If the displayed
application data is edited, the changes will be overwritten in both the Machine Controller RAM and the
selected project file (on the computer).
1-25
1.4.2 Exiting MPE720 Version 6
When the Not Connect Button Is Clicked

The project file (on the computer) that was first selected will be displayed.
For details on starting the Ladder Editor Window, refer to 3.2.1 Creating New Ladder Programs and 3.2.3 Opening
Ladder Programs.
1.4.2 Exiting MPE720 Version 6

Either select File - Exit from the Main Menu or click the Close Button (X) in the MPE720 Ver.6 Window.
Close Button in the MPE
720 version 6 Window
The window will close, and MPE720 version 6 will close.
1-26
1.5 MPE720 Version 6 Window Operations
1.5 MPE720 Version 6 Window Operations

1.5.1 Names and Descriptions of Window Components

A description of each of the MPE720 Ver.6 Window components is provided below.
1. Main Menu
2. Toolbar
4. Caption Bar
3. Launcher
6. Window Tab
Pages
5. Main WIndows
7. Subwindows
7. Subwindows
1
1. Main Menu
Used to select operations required for using MPE720 version 6.
2. Toolbar
Used to facilitate using functions related to project file management and programming.
3. Launcher
A submenu bar for quick and easy access to often-used functions.
The launcher can be set to be displayed or hidden in the View Menu.
4. Caption Bar
Displays the Machine Controller connection status (online or offline), Machine Controller name, CPU status
(when online), and project file name (when offline).
5. Main Windows
Aside from the Start Window, the following windows are displayed depending on the operation selected.
Ladder Program Edit Window (Refer to 3.3.1 Ladder Program Edit Window.)
Motion Program Edit Window (Refer to Chapter 4 Motion Programming.)
Data Trace Edit Window (Refer to Chapter 13 Tracing.)
Register Comment Edit Window (Refer to 5.7.1 Referencing Comment Lists.)
Adjustment Panel Edit Window (Refer to Chapter 14 Tuning Panel.)
6. Window Tab Pages
Used to select the window displayed in the foreground when multiple windows are displayed. If there are many
windows and not all of the tabs can be displayed, click the [ ▼ ] symbol to display a list of tabs from which to
select.
7. Subwindows
Subwindows are windows for supplementing the operations in the main windows. Multiple subwindows can be
displayed by selecting from the View Menu. (Refer to 1.7 Subwindow Operations.)
1-27
1.6.1 Start Window
1.6 Main Window Operations

1.6.1 Start Window
The appearance of the Start Window depends on whether or not a project file is open.
When a Project File Is Not Opened
When a Project File Is Opened
The following items are displayed in the Start Window.

Project
New: Display the Create New Project Dialog Box. A new project file can then be created. (Refer to 1.8.2 Creating
New Project Files.)
Open: Display the Open Project Dialog Box. A Project File can then be selected and opened. (Refer to 1.8.3 Opening
Project Files.)
Close: Automatically save and close the project file. (Refer to 1.8.6 Closing Project Files.)
History (File Name): The names of the five project files most recently created or edited using MPE720 version
6 can be displayed in order beginning with the most recent. If a file name is clicked, the project file is opened.
By moving the cursor over a file name, a balloon appears. And the location of the file, the date that the file
was created, and the date that it was changed can be confirmed. (Refer to 1.8.3 Opening Project Files.)
If any of the above operations (i.e., opening a project file from New, Open, Close, or History) are executed
while connected to the Machine Controller, the connection will be closed.
Note that the Close Button is displayed only when online by project link connection. For details on the project
link connection, refer to 1.10.1 Connecting to Machine Controllers.
1-28
Controller
Communications Setting: Display the Communications Setting Dialog Box. The communications port can
then be set, and a connection can be made to the Machine Controller. (Refer to 1.10.1 Connecting to Machine
Controllers.)

Connection: Enable a connection to the Machine Controller using the communications port that is currently set.
(Refer to 1.10.1 Connecting to Machine Controllers.)
Disconnection: Close the connection with the Machine Controller. (Refer to 1.10.2 Disconnecting from Machine
Controllers.)
History (Connection Name): Up to five connection names (logical port number + port type) that have been used
for connections can be displayed. When a connection name is clicked, changes the Machine Controller to
which the connection is to be made can be selected. (Refer to 1.10.1 Connecting to Machine Controllers.)
Help
Help: Starts Acrobat Reader and displays the Help Selection Dialog Box. On selecting a PDF file and clicking
the OK Button, the help for MPE720 version 6 is displayed.
When the Close Button (X) in the Start Window is clicked, the start window moves to the last main window without
closing. To exit MPE720 version 6, either click the Close Button in the MPE720 Ver.6 Window or select File - Exit
from the main menu.
Saving Data when Connected to a Machine Controller after Opening a Project File
When MPE720 version 6 is started from a project file and a connection is made to a Machine Controller from the Communica-
tions Setting Dialog Box or when a connection is made to a Machine Controller from Connection (Connection Name) in the 1
Start Window, the display will be changed to the contents of the application data stored in the Machine Controller RAM. If the
displayed application data is edited and then a save or exit (disconnection) operation is executed, the changes will be overwrit-
ten in both the Machine Controller RAM and the selected project file (on the computer).
1-29
1.6.2 My Tool Window
( 1 ) What is My Tool?
My Tool is the function to facilitate the calling of various functions just by clicking a button displayed in the main win-
dow. The buttons registered to My Tool can be customized, and registering frequently used functions enables engineer-
ing to be started quickly.
( 2 ) Starting My Tool
My Tool is automatically displayed when a project file is opened, or a connection to the Machine Controller is estab-
lished.
1-30
( 3 ) Names and Descriptions of Components of My Tool
[ a ] My Tool Buttons
The following buttons can be registered to the My Tool Window to enable calling of the functions by clicking the but-

ton.
No. Button Function

1. Connection/Disconnection* Connects/disconnects the Controller.
2. Scantime Setting* Sets the high-speed and low-speed scan time.
3. Module Configuration* Displays the Module Configuration Window.
4. Axis Setup Wizard* Sets up the axes.
5. Test Run* Executes test operations of the axes in the jog/step operation mode.
6. Axis Monitor* Monitors the operation status of the axes.
7. Alarm Monitor* Monitors the alarm status of the axes.
Creates a new ladder program. The H diagram, L diagram, A diagram, I dia-
8. Create New Ladder Program*
gram, and functions will be created.
9. Open Ladder Program* Displays a ladder program selected in the list.
Creates the main program and subprograms of a motion program and the main
program and subprograms of a sequence program. Program numbers can be
10. Create New Motion Program*
specified.
The Controller needs to be compatible with sequence programs.
11. Open Motion Program* Displays a motion program selected in the list.
Monitors/Edits the current value of variables at the panel and makes adjust-
12. Tuning Panel*
ments.
13. Scope 1* Analyzes the data obtained by scope 1 in the form of a trend graph/XY graph.
14. Scope 2* Analyzes the data obtained by scope 2 in the form of a trend graph/XY graph.
15. Drive Control Panel* Controls the operation of motion programs from the panel.
16. SigmaWin+* Starts SigmaWin+ and makes adjustments for SERVOPACKs.
Displays the Transfer Selection Window to execute transfer functions such as
17. Transfer*
writing/reading/comparison.
1-31
18. Electronic Cam Tool* Starts the Electronic Cam Tool to create cam data.
19. Communications Setting* Sets the communications to connect to the Controller.
20. System Setting* Displays the system settings.
21. Scope 3 Analyzes the data obtained by scope 3 in the form of a trend graph/XY graph.
22. Scope 4 Analyzes the data obtained by scope 4 in the form of a trend graph/XY graph.
23. Write into Controller Writes data of the project file to the Controller.
24. Read from Controller Reads the data of the Controller to the project file.
25. Save to Flash Writes the data in the Controller RAM to the flash memory.
* Displayed by default.
[ b ] Edit Window
Buttons can be edited, i.e. registered, removed, or sorted, in this window.
(4)
(5)
(1)
(6)
(4)
(2) (7)
(8)
(3) (9) (10) (11)
No. Component Description

(1) Registration button/Description Displays the registered buttons and their description.
(2) Icon Displays the button selected in (1).
(3) Button Name Displays the name of the button selected in (1).
(4) Up/Down Moves the button selected in (1) up or down.
Displays the Add My Tool Window to add a new button.
(5) Add
For the details on the adding operation, refer to 1.6.2 My Tool Window.
(6) Delete Deletes the button selected in (1).
(7) Default Restores the default name and icon of the edited registered button.
Sets the number of buttons to be displayed in each row in the My Tool Window. (3 to
(8) Number of buttons by a line
10)
(9) OK Confirms the edited settings of the button and returns you to the My Tool Window.
(10) Cancel Cancels the edited settings of the button and returns you to the My Tool Window.
(11) Apply Confirms the edited settings of the button.
1-32
[ c ] Add Window
Pressing (5) the Add Button in the [ b ] Edit Window displays the Add My Tool Window, enabling addition of a button.

(1)
(2) (3)

(1) Registration button/Description Selects a button to be added.
(2) Add Adds the button selected in (1).
(3) Close Closes the Add My Tool Window and returns you to the Edit My Tool Window. 1
1-33
( 4 ) Editing My Tool
In My Tool, frequently used functions can be registered as buttons, and the names and the arrangement of the buttons
can be customized for better comprehension.
One customized setting is possible for one installation environment of MPE720 version 6.
[ a ] Registering/Removing a Button
Registering a Button to be Used in My Tool

1. Right-click in the My Tool Window and select Edit My Tool from the pop-up menu.
2. The Edit My Tool Window will be displayed. Click the Add Button.
1-34
3. The Add My Tool Window will be displayed. Select the function to be registered in the Registration
button column and click the Add Button. After registering all desired buttons, click the Close Button.

4. The buttons corresponding to the selected functions will be registered in the Edit My Tool Window.
Click the OK Button.
1-35
5. The registered buttons will be displayed in the My Tool Window.
1-36
Removing Unused Buttons from My Tool

1. Display the Edit My Tool Window. Select the function to be removed in the Registration button col-
umn and click the Delete Button.

1
2. A message will be displayed. Click the Yes Button.
1-37
3. The button corresponding to the selected function will be removed from the Edit My Tool Window.
Click the OK Button.
4. The button corresponding to the selected function will be removed from the My Tool Window.
1-38
[ b ] Setting Buttons for Easier Operation
Changing the Display Position of a Button

1. Display the Edit My Tool Window. Select the function to be moved in the Registration button column

and click the Up or Down Button. Then click the OK or Apply Button.
1-39
Renaming a Button
1. Display the Edit My Tool Window. Select the function to be renamed in the Registration button col-
umn and enter the new name to the Button Name field. Then click the OK or Apply Button.
Changing the Icon of a Button

1. Display the Edit My Tool Window. Select the function to be assigned a new icon in the Registration
button column and click the icon.
1-40
2. Select the image to be assigned and click the Open Button.

Changing the Number of Buttons to be Displayed in Each Row 1
1. Display the Edit My Tool Window. Select a value from the Number of buttons by a line list and click
the OK Button.
1-41
2. The number of buttons to be displayed in each row is changed and the My Tool Window will be dis-
played with the new setting.
1-42
1.7 Subwindow Operations

1.7.1 Descriptions of Subwindow Components
Title Bar: The title bar of the currently selected (activated) subwindow is displayed. The title bar

can be switched to a floating configuration with multiple subwindows by dragging it.
Close Button: Close the currently selected subwindow. To display the subwindow again, select
the subwindow name from the View Menu.
Automatic Hide Button: Specify automatic hide status. (Refer to 1.7.4 Types of Subwindow Dis-
plays.)
Menu Button: Display the menu for selecting the subwindow display status. (Refer to 1.7.5
Changing the Subwindow Display Type.)
Expand Button: Displayed in a subwindow when a tree hierarchy or category list is displayed.
Expand the display to show the lower levels of the hierarchy or a list of items included in the
category. When the Collapse Button (-) is clicked, the displayed list restores the original dis-
play.
Tabs: Change the subwindow to be displayed.

The order of the tabs can be changed by dragging one tab over another tab. 1
The subwindow display type can be changed from docked to floating by dragging the tab for
that subwindow to a position outside of the currently displayed subwindow. (Refer to 1.7.4
Types of Subwindow Displays.)
1-43
1.7.2 Displaying and Hiding Subwindows
1.7.2 Displaying and Hiding Subwindows

Subwindows can be selected for display from the View Menu. When a subwindow
that is currently displayed is clicked, the check box is cleared and the subwindow
is hidden.
System Subwindow
Subwindows Refer to 11.5 Axis Management in the System Subwindow
Ladder Subwindow
Refer to 3.4.3 Managing Ladder Program Files.
Ladder Instruction Subwindow
Refer to 3.3.10 Inserting Instruction Objects.
Motion Subwindow
Refer to Chapter 4 Motion Programming.
Variable Subwindow
Refer to 5.1 Overview.
Cross Reference Subwindows (1 to 3)
Refer to 3.5.4 Cross Reference Searching.
Check for Multiple Coils Subwindow
Refer to 3.5.5 Searching for Duplicate Coils.
Register List Subwindows (1 to 3)
Refer 12.2 Register Lists.
Watch Subwindows (1 to 3)
Refer to 12.3 Watch Function.
Other Windows: Output Subwindow
Refer to 3.3.17 Ladder Program Compiling and Compile Options.
Other Windows: Find Subwindows (1 and 2)
Refer to 3.5.2 Searching and Replacing in a Program.
Other Windows: Transfer Subwindow
Refer to 1.12 Security.
Other Windows: Forced Coil List Subwindow
Refer to 3.5.6 ( 2 ) Changing ON/OFF Status of Forced Coil.
1-44
1.7.3 Updating Subwindow Data

The data displayed in a Ladder, Motion, or Variable Subwindow can be updated either by selecting View - Update from
the Main Menu or by pressing the F5 Key.
The above operations update comment lists as well. (Refer to 5.7 Comment Lists.)

1.7.4 Types of Subwindow Displays
The following illustration shows the three types of subwindow displays.
3. Automatically hidden subwindows
(collapsed)
2. Docked subwindows
1. Floating subwindows
Subwindows can be displayed in the following three ways:
1. Floating
Displayed apart from the MPE720 Ver.6 Window. Can be freely moved
by dragging the task bar.
2. Docked
This is the subwindow display type when MPE720 version 6 is first
started after being installed. Multiple subwindows are displayed on top
of each other just like the main windows. The top subwindow can be
changed by clicking the tabs.
3. Automatically Hidden
The subwindow slides out from the side when the relevant tab is clicked,
and closes when any location outside of the subwindow is clicked.
When an Automatically Hidden Subwin- As shown in the illustration to the left, it is displayed above the main
dow Is Displayed window and below floating subwindows.
1-45
1.7.5 Changing the Subwindow Display Type
1.7.5 Changing the Subwindow Display Type

( 1 ) Selecting from a Menu
In a subwindow with the Menu Button ( ▼ ) displayed in the title bar,

click the Menu Button to display the menu as shown in the illustration
on the left. Then select the new type of display on this menu.
To hide the subwindow, select Hide on the menu.
To again display a subwindow that has been hidden, select the sub-
window to be displayed from the View Menu. (Refer to 1.7.2 Display-
ing and Hiding Subwindows.)
( 2 ) Changing from a Docked to an Auto Hide Subwindow

In a subwindow with the Automatic Hide Button ( or ) displayed
in the title bar, click this button to toggle between the docked and auto-
matically hidden subwindows.
: Docked → Auto Hide
: Auto Hide → Docked
The form of the Automatic Hide Button switches each time it is
clicked.
If multiple subwindows are displayed on top of each other, all of the
subwindows become displayed as auto hide subwindows.
The Automatic Hide Button is not displayed in floating subwindows.
( 3 ) Changing the Display Type by Dragging and Dropping

A docked subwindow can be changed to a floating subwindow or vice versa by dragging and dropping a subwindow
tab or title bar.
An auto hide subwindow cannot be changed to another display type by dragging and dropping.
[ a ] Changing from Docked to Floating

• The title bar of a docked subwindow is double-clicked the display type is changed to floating.
• When a docked subwindow tab or title bar is dragged and dropped in any location, a floating subwindow is displayed in
that location.
• When the title bar of a docked subwindow is dragged and dropped when multiple subwindows are stacked, the dis-
play type is changed to floating with the multiple subwindows stacked in the same way.
[ b ] Changing from Floating to Docked

• When the title bar of a floating subwindow is double-clicked, the subwindow will be docked in the original docked
position.
• A floating subwindow can be moved to a desired position by dragging the tab or title bar to the left, right, top, or bot-
tom of the main window and releasing the mouse button where the direction icons (W, S, X, or T) are displayed.
A docked subwindow is not allowed on the same side as an auto hide subwindow.
• When a floating subwindow tab or title bar is dragged and dropped when multiple subwindows are stacked, the dis-
play type is changed to docked with the subwindows stacked in the same way.
1-46
1.8 Project Files
1.8 Project Files

1.8.1 What Is a Project File?

A project file is an application file used for MPE720 version 6 and is configured of the following files.
z System Configuration Files

• System Definitions
• Scan Time Definitions
• Module Configuration Definitions
• Data Trace
z Program Files
• Ladder programs: High-speed, Low-speed, Start, Interrupt, and Function
• Motion programs: Main, Sub, and Group definitions
• Table data
• Variables: Axis, I/O, Global, Constant, and User structure
• Comments: I/O, Global, and Constant
z Register Files
• M (Data registers), D (Internal registers), C (Constant registers),
S (System registers), I (Input registers), and O (Output registers)
Project files keep these files together so that they can be managed as a single file in Windows. The file extension is
1
YMW.
The above files can be edited when the project file is opened.
An attached file is displayed for an open project file, as shown below. This file indicates that the project file is open.
When the project file is closed, the attached file is deleted.
Attached file
Project file
Only one project file can be opened at a time for a single MPE720 Ver.6 Window. In addition, the same project file
cannot be opened in multiple MPE720 Ver.6 Windows. If an attempt is made to open a project file that is already open,
the MPE720 Ver.6 Window for which the project file is open will be displayed in front.
1-47
1.8.2 Creating New Project Files
1.8.2 Creating New Project Files

Use the following procedure to create a new project file.
1. Start the operation in either of the following two ways.
• Click New under Project in the Start Window.

• Select File - Create New Project from the main menu.
If there is an edited file, a message will be displayed asking whether the file is to be compiled and saved. The
results of clicking each of the buttons are described below.
Yes: Compile, overwrite, and exit.
No: Exit without compiling or saving.
Cancel: Cancel the new project creation and continue editing.
For details on closing a project file, refer to 1.8.6 Closing Project Files.
2. Open the save destination folder, input the file name, and select the file type and the Machine Controller
to be used.
(a) (d)
(b) (e)
(f)
(c)
The setting items and methods are as follows.

(a) File name
Enter a name for the project file to be saved.
(b) Save as type
Displays extensions of the project file that can be selected.
(Example) Project File (*.YMW)
(c) Controller
Select the type of Machine Controller to be used.
(d) Create
Click this button to create a file with the name entered in (a).
(e) Cancel
Click this button to cancel the Create New Project operation and close the Dialog Box.
(f) Help
Click this button to open the Help Selection Dialog Box.
The following characters cannot be used in the file name: /, \, :, *, ?, ", <, >, or |.
Either Project Files(*.YMW) or All Files(*.*) can be selected as the Save as type, but the project file (.YMW) will
be created in either case.
1-48
1.8 Project Files
3. Click the Create Button.

A message will be displayed notifying that “The project file will be created and opened.” The project file
will be created in the specified folder and the new project file will be displayed in the Ladder Subwin-
dow.

After the project file has been created, project file operations can be performed in the Ladder and Motion Subwindows.
Refer to 1.9 Environment Settings and 1.10.1 ( 1 ) Communications Settings to make the required settings for the
new project file.
After a project file has been created, configure the following settings.
• Communications settings (Refer to 1.10.1 Connecting to Machine Controllers.)
• Module configuration settings (Refer to 2.1 Module Configuration.)
• System settings (Refer to 1.9.7 Setup: System Setting.)
• Scan settings (Refer to 1.9.8 Setup: Scan Time Setting.)
In addition, configure the following settings as needed.
• User registration settings (Refer to 1.9.4 Security: User Registration.）
• Default user settings (Refer to1.9.6 Security: Default User Setting.) 1
1-49
1.8.3 Opening Project Files
1.8.3 Opening Project Files

A project file can be opened using either of the following two methods.
• Open the project file in an MPE720 Ver.6 Window that is already started.
• Start a new MPE720 Ver.6 Window to open the project file.
These two methods are described in detail on the following pages.
( 1 ) Opening the Project File in an MPE720 Version 6 Window That Is Already Started
Execute any of the following operations to open a project file in the MPE720 Ver.6 Window.
• Click a project file name displayed in History under Project in the Start Menu.
• Click File in the main menu, and select a project file from the file history displayed in the menu.
• Drag and drop a project file icon into an MPE720 window that is already started.
• Select File - Open Project from the main menu, and then select a project file in the Project File Dialog Box.
• Click Open under Project in the Start Window, and then select a project file in the Project File Dialog Box.
If one of the above operations is executed when another project file is already open in the same window, the project
file that was already open will be automatically overwritten and closed. For details on closing project files, refer to
1.8.6 Closing Project Files.
If the contents of Communications Setting are saved in the selected project file, the following dialog box will be dis-
played. (Refer to 1.10.1 Connecting to Machine Controllers.)
When the connect Button Is Clicked

The port set in the Communications Setting will be used to connect to the Machine Controller set in the project file, and the
application data saved in the Machine Controller RAM will be displayed. If the displayed application data is edited and a
save or exit operation is executed, the changes will be overwritten in both the Machine Controller RAM and the selected
project file (on the computer).
When the Not connect Button Is Clicked
The selected project file will be opened in the MPE720 Ver.6 Window.
If a password has been set for the selected project file, the following Security Dialog Box will be displayed.
Enter the password that has been set, and then click the OK Button.
For details on project file passwords, refer to 1.9.5 Security: Project Password.
1-50
1.8 Project Files
( 2 ) Starting a New MPE720 version 6 Window to Open a Project File

The following methods can be used to start a new MPE720 Ver.6 Window and open a project file.
• Double-click the project file icon.

• Select the project file icon, right-click, and select Open from the pop-up menu that will be displayed.
• Drag and drop the project file Icon into the MPE720 Ver.6 Icon.
If the contents of Communications Setting are saved in the selected project file, the following dialog box will be dis-
played. (Refer to 1.10.1 Connecting to Machine Controllers.)
When the Connect Button Is Clicked

The port set in the Communications Setting will be used to connect to the Machine Controller set in the project file,
and the application data saved in the Machine Controller RAM will be displayed. If the displayed application data is
edited and saved, the changes will be overwritten in both the Machine Controller RAM and the selected project file
(on the computer).
When the Not connect Button Is Clicked
The project file (on the computer) that was first selected will be displayed.
1
If a password has been set for the selected project file, the following Security Dialog Box will be displayed.
Enter the password that has been set, and then click the OK Button.
For details on project file passwords, refer to 1.9.5 Security: Project Password.
1-51
1.8.4 Opening an MPE720 Version 5 MAL File
1.8.4 Opening an MPE720 Version 5 MAL File

A MAL file (PLC folder compression file) that was created in MPE720 version 5 can be converted to a YMW file and
opened using the following procedure.
A PLC folder is compressed by selecting File - Transfer - Block Transfer - File Transfer [MPE720 to Media] in the
MPE720 version 5 File Manager, and then selecting the Compress option in the Execution Confirmation Dialog
Box.
When MAL files are converted to project files, new ladder programs that were not compiled and saved will not be
converted. Confirm that Verify All Programs has been executed in MPE720 version 5 before creating a MAL file.
1. Start MPE720 version 6.

For details, refer to 1.4.1 Starting MPE720 Version 6.
2. Select File - Open Project from the Main Menu. Alternatively, select Open under Project in the Start
Window.
The Open Project Dialog Box will be displayed.
A MAL file can be opened by dragging and dropping into an MPE720 Ver.6 Window that is already open.
If doing that, skip to step 4.
3. Select a file with an MAL extension, and click the Open Button.
A message asking for confirmation will be displayed.

Conversion to a project file will begin, and a conversion log will be displayed in the Output Subwindow. When
the conversion has been successfully completed, the message notifying that “Conversion has been completed.”
will be displayed in the Output Subwindow.
1-52
1.8 Project Files
1.8.5 Saving Project Files

A project file can be overwritten or save as a new file.

( 1 ) Overwriting Project Files
1. Select File - Save Project from the Main Menu.

The edited project file will be overwritten after the message notifying that “The project file is being
saved. Please wait for a minute.”
( 2 ) Saving as Project File
If a saving error occurs while overwriting a project file.

When overwriting a project file by executing the Save Project command, a saving error may occur. If an error
occurs, the project file can be restored by renaming the following files with the extension “.YMW”.
***.YMW~Backup: Backup of the project file before overwriting.
***.YMW~MW: Backup of the project file after overwriting.
1. Select File - Save as a new Project from the main menu.

The Save as a new Project Dialog Box will be displayed.
2. Enter a project file name, and then click the Save Button. 1
An existing project file can be opened if it is not opened by another computer running MPE720 version 6.
① ③
② ④
⑤
If a project file with the same name already exists in the specified folder, a message asking for confirmation to
overwrite the existing file will appear.
Yes: The existing file is overwritten with the new project file and the selected name.
No: The project file is not saved, and the Save as a new Project Dialog Box will be displayed.
1-53
1.8.6 Closing Project Files
If the project file to be overwritten is opened by another MPE720 version 6, the following error message will
appear and the file cannot be saved.
Click OK to return to the Save as a new Project Dialog Box.

Change the name of the project file or close the project file on the other computer and then save the project file.
1.8.6 Closing Project Files

To close an edited project file, either select File - Close Project from the main menu or click Close under Project in the
Start Window.
The project file will be saved, and then the display will be disappeared from the subwindow. In addition, the attached
file displayed while the project file is open will be deleted.
If MPE720 version 6 is closed without first closing a project file, the opened project file will be saved and closed.
If MPE720 version 6 is closed without first compiling an edited program, the following confirmation message will be
displayed.
If there are multiple programs that are not compiled, the message will be displayed once for each program.
Yes: After the applicable program has been compiled, it will be saved and closed. If a compile error occurs during
the compiling, closing the project file will be cancelled as if the Cancel Button had been clicked and editing
can be continued.
No: The applicable program will be closed without saving the changes.
Cancel: Closing the project file will be cancelled and editing can be continued. All programs closed up to that
point, however, will remain closed.
When all uncompiled programs are closed, the project file will close.
If there is a connection to a Machine Controller when the project file is closed, the connection will be closed at the
same time.
1.8.7 Moving Project Files: Deleting, Copying, and Renaming Project Files
Just as with other Windows application files, operations such as moving project files to other folders or deleting, copy-
ing, or renaming project files can be executed using a file manager tool such as Explorer.
Shortcut keys, such as Ctrl+C (copy), Ctrl+X (cut), and Ctrl+V (paste) can also be used.
1-54
1.9 Environment Settings

The environment settings required for project files can be made in the Environment Setting Dialog Box.

1.9.1 Environment Setting Dialog Box
The Environment Setting Dialog Box will be displayed as shown below by selecting File - Environment Setting from
the Main Menu.
Tree
The following settings can be made by selecting items from the tree. (Controller Type is for reference only.) 1
An asterisk (*) is displayed next to any item for which the setting has been changed after the Environment
Setting Dialog Box is opened.
System
Communications Settings (Refer to 1.9.2 System: Communication Setting.
Controller Type (For reference only. Refer to 1.9.3 System: Controller Type.)
Security
User Registration (Refer to 1.9.4 Security: User Registration.)
Protect Password (Refer to 1.9.5 Security: Project Password.)
Default User Settings (Refer to 1.9.6 Security: Default User Setting.)
Setup
System Settings (Refer to 1.9.7 Setup: System Setting)
Scan Time Settings (Refer to 1.9.8 Setup: Scan Time Setting.)
Ladder
General (Refer to 1.9.9 Ladder: General.)
Motion
Tab (Refer to 1.9.10 Motion/Tab.)
Font and Color (Refer to 1.9.11 Motion/Font.)
C language
General (Refer to 1.9.12 C Language: General.)
Linker
Variables
Variables (Refer to 1.9.14 Variable: Variable.)
Monitor
System Monitor (Refer to 1.9.15 Monitor: System Monitor.)
Transfer
Transfer (Refer to 1.9.16 Transfer: Transfer.)
MP Loader (Refer to 1.9.17 Transfer: MPLoader.)
Print
Ladder (Refer to 1.9.18 Print: Ladder.)
1-55
1.9.2 System: Communication Setting
The following operations are executed by clicking the buttons.

When the OK Button is clicked:
The current settings are saved, the Environment Setting Dialog Box is closed, and any changes are reflected.
When the Cancel Button is clicked:
Changes to the settings are cancelled, and the Environment Setting Dialog Box is closed.
When the Apply Button is clicked:
Changes to the settings are overwritten and are immediately reflected. The Environment Setting Dialog Box
remains open, allowing more settings to be made.
Be careful when clicking the Apply Button or the OK Button. Clicking the Apply Button or the OK Button over-
writes the setting the items of tree in the Environment Setting Dialog Box.
The methods for setting these items are described in detail below.
1.9.2 System: Communication Setting

The timeout can be set for connecting and communicating with the Machine Controller.
Select System - Communications Setting from the tree in the Environment Setting Dialog Box to bring up that win-
dow, and then change the settings. (Refer to 1.9.1 Environment Setting Dialog Box.)
Any changes made to the settings in this window will not be reflected until the next connection to the Machine Con-
troller, even if the Apply Button is clicked.
Logon Timeout (1 ms to 32,767 ms)

Set the timeout time for when connecting to the Machine Controller. An error will occur if a connection is not
completed within the set time after the connection operation has been started.
Communication Timeout (1 ms to 32,767 ms)
Set the timeout time for communications with the Machine Controller. An error will occur if communications
are not restarted within the set time.
1-56
1.9.3 System: Controller Type

When a new project file is created, a list of Machine Controllers can be referenced that will be displayed in the Combo
box.

Select System - Controller Type from the tree in the Environment Setting Dialog Box to bring up the following win-
dow for reference. (Refer to 1.9.1 Environment Setting Dialog Box.) These settings cannot be changed.
1-57
1.9.4 Security: User Registration
1.9.4 Security: User Registration

The users are allowed to open a project file can be registered and changed.
These settings can be made while the project file is open or while connected to the Machine Controller. If the settings
are made while connected to the Machine Controller, they become the settings for access and writing rights to the
Machine Controller.
Select Security - User Registration from the tree in the Environment Setting Dialog Box to bring up that window, and
then make the settings. (Refer to 1.9.1 Environment Setting Dialog Box.)
( 1 ) Registering New Users

Click the New Button in the User Registration Window. The User Registration Dialog Box will be displayed as shown
below. Set each item, and then click the OK Button.
User Name: Enter a name using from 1 to 16 alphanumeric characters.

Password: Enter a password using from 1 to 16 alphanumeric characters.
User Privilege:
Select privilege levels of 0 to 7 for the user’s reading and writing privileges. The higher the number, the
greater the user’s privileges will be.
For details on reading and writing privileges, see Reading and Writing Privileges on the following pages.
Default Privileges
Set the privilege level to be set by default when the user creates a new program.
Once a password has been set, be very careful not to forget it. If a password that has been set is forgotten,
there is no way to undo it, and that user will no longer be able to open the project file.
1-58
Reading and Writing Privileges

Reading and writing privilege levels are established to maintain program security. To open a particular program, the user must
have a privilege level at least as high as the program’s reading privilege level. Similarly, to edit and save a program, the user

must have a privilege level at least as high as the program’s writing privilege level.
( 2 ) Changing Registration Information

In the User Registration Window of the Environment Setting Dialog Box, select the user whose information is to be
changed, and click the Modified Button. Set the required items in the User Registration Dialog Box that will be dis-
played, and click the OK Button. The user information will be changed.
For details on the registration contents, refer to ( 1 )Registering New Users on the previous page.
If the default user has been selected, only the default privileges can be changed.
For details on specifying the default user, refer to 1.9.6 Security: Default User Setting.)
( 3 ) Deleting User Registrations

In the User Registration Window of the Environment Setting Dialog Box, select the user whose information is to be
deleted, and click the Delete Button. Then click the OK Button in the dialog box displayed for confirmation. The
selected user information will be deleted.
1-59
1.9.5 Security: Project Password
1.9.5 Security: Project Password

A password can be set for a project file that is currently open.
Once a password has been set for a project file, be very careful not to forget it. If a password that has been
set is forgotten, there is no way to undo it that project file can no longer be opened.
Select Security - Project Password from the tree in the Environment Setting Dialog Box to bring up that window, and
( 1 ) Registering and Changing Passwords

Select the When the project is opened, the password is input option in the Project Password Area, and then click the
Modified project password Button. The Modified the project password Dialog Box will be displayed as shown
below. Set each item, and then click the OK Button.
Password
Enter a new password using from 1 to 16 alphanumeric characters. No distinction is made between upper and
lower case.
Password (confirm)
Enter the same password again for confirmation, and then press the OK Button.
The OK Button is valid when one or more characters of text are entered in the Password (Confirm) Field.
( 2 ) Deleting Passwords
To clear the password that has been set, clear the When the project is opened, the password is input option in the
Project Password Area.
1-60
( 3 ) Opening a Project File for Which a Password Has Been Set

When an attempt is made to open a project file for which a password has been set, the Security Dialog Box will be dis-
played as shown below.

Enter the project password has been set, and then click the OK Button. The project file can then be opened.
1.9.6 Security: Default User Setting

A default user can be specified, and the default user name and password can be set.
When Select the default user is selected option, the default user information (user name and password) will be found
when an attempt is made to open the project file. If the user registration settings are the same as the default user settings
for the project file, then the project file can be opened without logging in. If the user settings are not the same, a dialog 1
box will be displayed for logging in.
Select Security - Default User Setting from the tree in the Environment Setting Dialog Box to bring up that window,
and then make the settings. (Refer to 1.9.1 Environment Setting Dialog Box.)
Select the Default User.

When this option is selected, the project file (or Machine Controller) can be accessed by the default user
account.
Default User Name
Enter the default user name using from 1 to 16 alphanumeric characters.
Default Password
Enter the default password using from 1 to 16 alphanumeric characters.
1-61
1.9.7 Setup: System Setting
1.9.7 Setup: System Setting

System settings, such as those for program security and clearing of the D register at startup, can be made for program files
that are currently being used.
Select Setup - System Setting from the tree in the Environment Setting Dialog Box to bring up that window, and then
make the settings. (Refer to 1.9.1 Environment Setting Dialog Box.)
z System Settings
Write Protect
Select Writable or Not Writable to allow or prohibit the writing of program data to the Machine Controller. If
Not writable is selected, data cannot be transferred to the Machine Controller and the program cannot be
edited of compiled while connected, online, to the Machine Controller.
PCI Reset Signal (MP2100/2500 Only)
Select from Enable or Disable whether PCI reset signals of the MP2100/MP2500 are to be valid or invalid.
D Register Clear when Start
Select from Enable or Disable whether or not the D registers are to be cleared when the Machine Controller is
started. If Disable is selected, the contents of the D registers in flash memory will be read to RAM.
Keep Latest Value
Set a number from 1 to 255 to specify the number of previous input values to be stored for both the high-speed
and low-speed scan when an I/O error occurs.
1-62
1.9.8 Setup: Scan Time Setting

The high-speed and low-speed scan times can be set.
Select System - Scan Time Setting from the tree in the Environment Setting Dialog Box or select Setup - Scan Time

Setting from the Launcher to bring up that window, and then make the settings. (Refer to 1.9.1 Environment Setting
Dialog Box.)
z High-speed Scan (1.0 ms to 32.0 ms)

Setting Value 1
Set the scan time for high-speed processing programs (H, Hxx, and Hxx.xx) in units of ms.
Current Value
If offline, 0.0 ms is displayed. If online, the value read from the scan data of the S register in the same way as
the system monitor is displayed.
Maximum Value
The setting value can be changed within a specified range. While changing the maximum value for high-speed
or low-speed scans, Click Apply to start monitoring.
The maximum current value displayed during monitoring is the higher one of that the maximum value read
from the scan data of S register or the maximum value set by the user.
z Low-speed Scan (2.0 ms to 300.0 ms)

Setting Value
Set the scan time for low-speed processing programs (L, Lxx, and Lxx.xx) in units of ms.
Current Value
If offline, 0.0 ms is displayed. When online, the value read from the scan data of the S register in the same way
as the system monitor is displayed.
Maximum Value
The setting value can be changed within a specified range. While changing the maximum value for high-speed
or low-speed scans, Click Apply to start monitoring.
The maximum current value displayed during monitoring is the higher one of that the maximum value read
from the scan data of S register or the maximum value set by the user.
1-63
1.9.9 Ladder: General
1.9.9 Ladder: General

This option can be specified whether Create new CP ladder option is to be displayed in Ladder Subwindow pop-up
menus.
Select Ladder - General from the tree in the Environment Setting Dialog Box to bring up that window, and then make
the settings. (Refer to 1.9.1 Environment Setting Dialog Box.)
z Program
Create new CP ladder
Set whether the Create new CP ladder option is to be displayed in Ladder Subwindow pop-up menus.
On selecting Use, the Create new CP ladder option will be displayed in Ladder Subwindow pop-up menus.
Even if Create new CP ladder option is selected to Not Use, the Engineering Manager can still be used to create
programs in the CP form. For details, refer to 3.2.2 ( 2 ) Creating New Programs from the Engineering Manager.
z Compile Option
Multiple coil check
On selecting Use, the programs to be compiled will be checked and duplicate coils will be detected at compi-
lation.
Compile to ver. 5 compatible
On selecting Use, the ladder programs will be compiled so that they can be displayed or edited on MPE720
version 5. MPE720 version 5.34 and later can be used for displaying or editing.
1-64
1.9.10 Motion/Tab
These options can be used to set the tab stop position and the size of automatic indentation.
Select Motion - Tab from the tree in the Environment Setting Dialog Box to bring up that window, and then make the

settings. (Refer to 1.9.1 Environment Setting Dialog Box.)
Tab
Set the tab stop position. The tab stop position and the size of automatic indentations share the same setting.
Indent
Automatic indentation is a function to indent the start position of the next line to the tab stop position of the
current line when the Enter key is pressed. 1
When the Auto indent check box is selected, automatic indentation is activated.
The tab stop position and the size of automatic indentations share the same setting.
1-65
1.9.11 Motion/Font
1.9.11 Motion/Font
Different colors can be used for motion commands, logical axis names, comments to distinguish them from other text
strings in programs. This makes it possible to comprehend the program code at a glance.
Select Motion - Font from the tree in the Environment Setting Dialog Box to bring up that window, and then change
the settings. (Refer to 1.9.1 Environment Setting Dialog Box.)
Font
Set the font family and the font size.
Color
Set the text colors and background colors used in the edit windows.
Default Text Color Default Background Color

Text Black -
Motion command Blue -
Axis Name Dark red -
Comment Green -
Block line while executing White Black
Line occurred execution error White Red
Line occurred compile error White Red
1-66
1.9.12 C Language: General

This option can specify whether Display C language program sub window option is to be displayed in Language Sub-
window pop-up menus.

Select C language - General from the tree in the Environment Setting Dialog Box to bring up that window, and then
1.9.13 C Language: Linker

1
Linker is a program that can be used to link to objects produced by compiling. A support contract with Yaskawa is
required to use this function.
1-67
1.9.14 Variable: Variable
1.9.14 Variable: Variable

These options can be used to set the variable display format in the Variable and Local Variable Subwindows and to
make settings related to data processing when copying and dragging items from the Variable Subwindow.
Select Variable - Variable from the tree in the Environment Setting Dialog Box to bring up that window and then
z Variable Display Format

Comment: Variable (Register)
When this option is selected, variables in the Variable Subwindow are displayed in the Comment: Variable
(Register) format.
Variable (Register): Comment
When this option is selected, variables in the Variable Subwindow are displayed in the Variable (Register):
Comment format.
Display Register
When this option is cleared, (Register) is no longer displayed for the two variable formats above.
Example:
The format reflecting the settings for the above three items is displayed.
z Data Processing of Copy/Drag

Store the Variable on the Clipboard
When this option is selected, variables are stored on the clipboard when copied or dragged from the Variable
Subwindow to objects.
Store the Register on the Clipboard
When this option is selected, registers are stored on the clipboard when copied or dragged from the Variable
Subwindow to objects.
Differences in the above processing result in display differences, e.g., when copying and pasting variables from
the Variable Subwindow to the Watch Subwindow. (With variables, the variable name is pasted, and with regis-
ters, the register number is pasted.) In addition, when copying and pasting to external applications such as
memo pads, the same differences will occur.
1-68
1.9.15 Monitor: System Monitor

This option can be used to set the display method for the System Monitor Subwindow. (Refer to 12.6 System Monitor.)
Select Monitor - System Monitor from the tree in the Environment Setting Dialog Box to bring up that window, and

z Alarm Notification
Automatically Notified when the Alarm Occurs
When Notify is selected, the System Monitor Subwindow is automatically displayed when an alarm occurs. 1
Automatically Notified when the Battery Alarm Occurs
This function is valid when Automatic notification when an alarm occurs (above) is set to Notify.
When Notify is also selected, the System Monitor Subwindow is automatically displayed when a battery alarm
occurs.
1-69
1.9.16 Transfer: Transfer
1.9.16 Transfer: Transfer

Detailed settings can be made for data transfers with the Machine Controller.
Select Transfer - Transfer from the tree in the Environment Setting Dialog Box to bring up that window, and then
z Save to Flash
Automatic Run after Disconnection the Controller
When Yes is selected, project files in the Machine Controller RAM are saved to flash memory when the
Machine Controller is disconnected.
z CPU Control
Check before Write into Controller
This function is valid when Individual is selected in the Transfer Program - Write into Controller Dialog
Box. (Refer to 10.2.1 Writing to Machine Controllers.)
When Yes is selected, a message is displayed for confirmation before data is transferred to the Machine Con-
troller.
z Message of Transfer Result

Display when Transfer/Compare Ends
When Yes is selected, a message is displayed for confirmation when a data transfer or comparison is com-
pleted.
z Processing After Transfer

Processing of Invalid High/Low Main Program
When Disable is selected, the main program (high-speed or low-speed) in the Machine Controller RAM is
invalid when an error occurs during a batch data transfer to the Machine Controller, and the program is not
executed even when the CPU is changed to RUN mode.
z Transferring C language programs

Locate again and transfer
A support contract with Yaskawa is required to use this function.
1-70
1.9.17 Transfer: MPLoader

Detailed settings can be made for data transfers with the Machine Controller.
As with MPE720 version 5, you can make detailed settings for data transfer to the Machine Controller using

MPLoader. By setting the items described below, programs can be in the same. MAL file format of MPE720 version 5.
Select Transfer - MPLoader from the tree in the Environment Setting Dialog Box to bring up the window, and then
z Transfer Specification of Register Data 1

M register
When this check box is selected, M register data is transferred.
D register
When this check box is selected, D register data is transferred.
C register
When this check box is selected, C register data is transferred.
z Clear the Controller Memory

Not clear the memory
When this is selected, the memory will not be cleared after transfer.
Clear the memory
When this is selected, the memory will be cleared after transfer.
z Transfer Specification of Others

Backup the controller data before transfer
When this check box is selected, the data in the Machine Controller is backed up before transfer.
The flash waving is executed after transfer
When this check box is selected, the data will be saved to flash memory after transfer.
Stop the controller’s CPU during transfer
When this check box is selected, the CPU in the Machine Controller is stopped when the transfer starts.
1-71
1.9.18 Print: Ladder
1.9.18 Print: Ladder

Select Print - Ladder from the tree in the Environment Setting Dialog Box to bring up that window and then make the
settings. (Refer to 1.9.1 Environment Setting Dialog Box).
For other environment settings, refer to 1.9 Environment Settings.
z Print Setting
Circuit auto-reduction print
When Print is selected, the rungs that cannot fit in one page will be reduced in rung units.
Print the cross reference information
When Print is selected, the cross reference information will be printed on the right side of the ladder program.
When there is too much cross reference information to be printed, the distance between rungs will be automat-
ically adjusted so that they will not run into one another. Thus, the ladder circuit and all the cross reference
information can be printed.
Refer to 9.1.4 Printing Cross-Reference Information for details.
Open closed Scope and print
When Print is selected, all ladder instructions will be expanded to show the details.
Refer to 3.3.10 Inserting Instruction Objects for information on the Minimize/Maximize Button of simplified
display (scope).
Line of instruction object
When Print is selected, the frame of each instruction object in ladder programs will be printed.
1-72
1.10 Connecting to and Disconnecting from Machine Controllers

This section describes how to connect and disconnect communications between a computer running MPE720 version 6
and a Machine Controller.

1.10.1 Connecting to Machine Controllers
The MPE720 version 6 operations when connecting to a Machine Controller with connection data (Refer to 1.10.1
Connecting to Machine Controllers for details on the settings in the Communications Setting Dialog Box.) are differ-
ent from when opening a project file and other situations.
There are two ways to connect MPE720 version 6 and a Machine Controller:
Project Link Connection: Connects a Machine Controller to MPE720 version 6 with an open project file.
Direct Connection: Connects a Machine Controller to MPE720 version 6 without an open project file.
The following diagrams illustrate data transfer images.
࡮Connecting to the Machine Controller

When a connection is made to a Machine Controller
MPE720 Ver.6
with a project file open, the application data in the
Application data in Machine Controller RAM is displayed in MPE720
Machine Controller Machine Controller
RAM version 6.
Project file
1
࡮Saving Data while Connected (when Compiled) When a program is compiled while connected to a
MPE720 Ver.6 Machine Controller or when the connection is closed
and the program is compiled, the edited data is written
Edited data
Machine Controller to both the Machine Controller RAM and the open
RAM
project file.
Project file
Before connecting a MPE720 version 6 to a Machine Controller, the settings for the communication processing (refer
to 1.3.7 Communication Process Settings) and the settings for communications (refer to 1.3.6 Communication Set-
tings) must be completed. The following section describes how to make the settings for communications.
1-73
( 1 ) Communications Settings
Configure the communications settings for the Machine Controller.
2. Select the logical port number to be used for connecting to the Machine Controller and click the Set-
ting Button.
For details on the logical port numbers that are set, refer to 1.3.7 Communication Process Settings.
The communications settings will be completed, and the dialog box will be closed.
• The Connection Button and the Setting Button are invalid while connected to the Machine Controller, and
The MPE720 version 6 operations when connecting to a Machine Controller are different from when opening a
project file with connection data (settings made in the Communications Setting Dialog Box) and other situa-
tions.
( 2 ) Project Link Connection
[ a ] Connecting from MPE720 Version 6 with an Open Project File

Connect to the Machine Controller as described below.
1. Any of the following operations can be used.
• Select Online - Connection from the Main Menu.

• Click Connection under Project in the Start Window.
The connection to the Machine Controller will be started. When the connection has been made, the Machine
Controller name and a ladder program tree will be displayed in the Ladder Subwindow.
1-74
When Disconnection is displayed by selecting Online from the Main Menu, the connection with the Machine
Controller has been completed.

1
The program displayed when a ladder program is opened after connecting is the program in the Machine Con-
troller RAM. If the displayed ladder program is edited and saved (compiled), the changes will be overwritten in
both the Machine Controller RAM and the open project file (on the computer). For details on saving data while
connected, refer to 1.10.1 Connecting to Machine Controllers.
1-75
[ b ] Opening a Project File Containing Connection Information

When the operation is executed to open a project file containing connection information, the following dialog box will
be displayed for confirmation.
The connection to the Machine Controller will be started by clicking the Connect Button. When the connection has
been made, the Machine Controller name and a ladder program tree will be displayed in the Ladder Subwindow.
If the Not connect Button is clicked, the project file will be opened without connecting to the Machine Controller.
troller RAM. If the displayed ladder program is edited and saved (compiled), the changes will be overwritten in
both the Machine Controller RAM and the open project file (on the computer). For details on writing data while
connected, refer to 1.10.1 Connecting to Machine Controllers.
1-76
( 3 ) Direct Connection
Connect to the Machine Controller as described below.

• Select Online - Connection from the Main Menu.
• Click Connection under Controller in the Start Window.
• Select from the connection histories displayed under Controller - History in the Start Window.
The connection to the Machine Controller will be started. When the connection has been made, the Machine
Controller name and a ladder program tree will be displayed in the Ladder Subwindow.
When Disconnection is displayed by selecting Online from the Main Menu, the connection with the Machine
Controller has been completed.
troller RAM, and it is not yet saved in the HDD of the computer. Refer to 10.2.4 Reading from Machine Control-
lers and save the Machine Controller application data to a project file on the computer.
1-77
1.10.2 Disconnecting from Machine Controllers
1.10.2 Disconnecting from Machine Controllers

The procedure for disconnecting a Machine Controller depends on whether or not a project file is open.
( 1 ) When No Project File Is Open
1. Select Online - Disconnection from the Main Menu, or select Disconnection under Controller in the
Start Window.
The connection to the Machine Controller will be closed, and the Ladder Subwindow will become blank.
The connection is also closed by exiting MPE720 version 6.
( 2 ) When a Project File Is Open
1. Select Online - Disconnection from the Main Menu, or select Disconnection under Project in the Start
Window.
The connection to be Machine Controller will be closed, and a window will be displayed for the open project file.
The connection is also closed when by exiting MPE720 version 6 or by closing the project file.
1-78
1.11 Stopping (STOP) and Restarting (RUN) the Machine Controller CPU
1.11 Stopping (STOP) and Restarting (RUN) the Machine Controller

CPU

The CPU must be stopped when transferring data to the Machine Controller or when writing to the Machine Controller
flash memory.
This section describes how to stop (STOP) and restart (RUN) the Machine Controller CPU.
This function is valid only while connected online to the Machine Controller.
1.11.1 Stopping Machine Controller CPU (STOP)

Use the following procedure to stop the CPU of a Machine Controller.
1. Select Online - CPU STOP from the Main Menu.

The following dialog box asking for confirmation will be displayed.
2. Click the Yes Button. 1

The display in the project caption bar will be changed to CPU-STOP. In addition, the color of the caption bar and
the CPU status shown on the right side of the bar will be changed.
1-79
1.11.1 Stopping Machine Controller CPU (STOP)
CPU STOP can be set again even after it has been previously set by using this function. This is because of the pos-
sibility that multiple users may be connected simultaneously to the same Machine Controller, and that the CPU sta-
tus may be changed by another user. Even if the CPU status is changed by another user, the CPU can be certainly
stopped by setting CPU STOP.
1-80
1.11 Stopping (STOP) and Restarting (RUN) the Machine Controller CPU
1.11.2 Restarting Machine Controller CPU (RUN)

Use the following procedure to restart a Machine Controller CPU that has been stopped.
1. Select Online - CPU RUN from the Main Menu.

The following dialog box asking for confirmation will be displayed.
2. Click the Yes Button.

The display in the project caption bar will be changed to CPU-RUN. In addition, the color of the caption bar and
the CPU status shown on the right side of the bar will be changed.
CPU RUN can be set again even after it has been previously set by using this function. This is because of the possi-
bility that multiple users may be connected simultaneously to the same Machine Controller, and that the CPU status
may be changed by another user. Even if the CPU status is changed by another user, the CPU can be certainly
restarted by setting CPU RUN.
1-81
1.12.1 Security for User
1.12 Security
1.12.1 Security for User
For details, refer to 1.9.4 Security: User Registration.
1.12.2 Security for Project Files

For details, refer to 1.9.5 Security: Project Password.
1.12.3 Setting Passwords for Ladder Programs

Passwords can be set individually for each ladder program. A lock mark is displayed for each program for which a
password has been set. To edit the program with a password, it is necessary to first enter the password.
The purpose of the password is to control access for editing, and it does not affect the management of program files
(copying, cutting, pasting, deleting, or enable/disable settings). (Refer to 3.4.3 Managing Ladder Program Files.)
Once a password has been set, be very careful not to forget it. If a password that has been set is forgotten,
there is no way to undo it, and that user will no longer be able to open the project file.
( 1 ) Setting a Password
1. Right-click the program for which a password is to be set in the Ladder Subwindow, and select Set
Password from the pop-up menu that will be displayed.
The Program Password Dialog Box will be displayed.
1-82
1.12 Security
2. Enter a password of 1 to 8 characters in the New Password Field. Enter the same password again in
the Password (Confirm) Field, and click the OK Button.
The OK Button is valid when one or more characters of the text are entered in the Password (Confirm) Field.
No distinction is made between uppercase and lowercase.

The Program Password Dialog Box will be closed, and a lock mark will be displayed next to the icon for the
ladder program selected in step 1. If the applicable program is displayed in the main window, the program will be
closed.
( 2 ) Changing a Password
1. Right-click the program for which the password is to be changed in the Ladder Subwindow, and select
Set Password from the pop-up menu that will be displayed.
2. Enter the current password in the Current Password Field.

Enter a new password of 1 to 8 characters in the New Password Field. Enter the same password again
in the Password (Confirm) Field, and click the OK Button.
The OK Button is valid when one or more characters of text are entered in the Password (Confirm) Field.
The password will be changed, and the Program Password Dialog Box will be closed.
( 3 ) Cancelling the Password
1. Right-click the program for which the password is to be cancelled in the Ladder Subwindow, and select
Cancel Password from the pop-up menu that will be displayed.
1-83
2. Enter the current password in the Program Password Field, and click the OK Button.
The OK Button is valid when one or more characters of text are entered in the Program Password Field.
The lock mark will be removed from icon for the ladder program selected in step 1, and the Program Password
Dialog Box will be closed.
( 4 ) Opening a Ladder Program for which a Password Is Set
1. When an attempt is made to open a ladder program for which a password is set (i.e., a ladder program
indicated by a lock at the icon), the Program Password Dialog Box is displayed.
2. Enter the current password in the Program Password Field, and click the OK Button.
The selected ladder program will be opened in the main window.
When opening a CP ladder program or motion program, the password must be cancelled. If a password is
required, a new password can be created after the operation is completed.
1-84
1.12 Security
1.12.4 Online Security
( 1 ) What is Online Security?

Online security is a function that prevents data in the Machine Controller from being read. The security key (password)
and privilege level for the programs (both set in the Security Setting Dialog Box) enable the MPE720 version 6 to pre-
vent unprivileged logged-on users from reading data from the Machine Controller and opening the programs.
Example: When 4 or higher is set for Restriction Privilege

Programs with a reading privilege of 4 or higher cannot be opened.
A logged-on user who is allowed to carry out operations related to program security must have writing privilege level
7. 1
Refer to 1.10.1 Connecting to Machine Controllers for online and offline connection to a Machine Controller.
Refer to 1.9.4 Security: User Registration for information on file privilege and user privilege.
Current Status
Displays the security setting status.
Apply File Reading Restriction
Select the check box to prevent the data from being read. Set the privilege level to prevent the ladder program,
motion program and C-language program from being read.
If the security key is set without selecting the Apply File Reading Restriction check box, only the security key will
be set. The privilege (restriction privilege) to prevent the data from being read will not be set.
Restriction Privilege
Privilege level to restrict the files the user may read.
Note that the user must have a privilege level higher than the set privilege to read files.
Security Key/Security Key Confirmation
The password required to set online security. Enter from 1 to 8 alphanumeric characters. The password is case sen-
sitive.
Change the Security Key
Click this button to change the security key.
Set
Click this button to set the read-file restriction.
Set to None
Click this button to clear the current security setting.
Close
Click this button to close the Security Setting Dialog Box.
When the Apply File Reading Restriction check box is selected while the CARD and SAVE DIP switches
on Machine Controller MP2200 CPU-02 are set to ON, the function for saving to a CF card will be disabled.
For details, refer to Machine Controller MP2200 User’s Manual (manual no. SIEPC88070014).
1-85
( 2 ) How to Set, Clear, and Change Online Security
[ a ] Setting Online Security

To restrict users from reading data in the Machine Controller, use the following procedure when setting online security.
1. With the Machine Controller connected to the MPE720 version 6 (online), select Online - Security
Setting from the main menu.
The Security Setting Dialog Box will appear.
2. Select the Apply File Reading Restriction check box, and then select a program privilege level from
the Restriction Privilege combo-box list.
3. Enter a security key (password) in the Security Key Field, and re-enter it in the Security Key Confir-
mation Field. Then, click the Set Button.
The Set Button will be activated when one or more characters are entered in the Security Key Field.
The file reading restriction and security key will be set, and the following message will be displayed asking for
confirmation.
4. Click OK.
Click the Close Button in the upper-right to close the Security Setting Dialog Box.
If saving to flash memory is required, save the settings to the flash memory.
1-86
1.12 Security
[ b ] Clearing Online Security Setting

The online security setting can be cleared by using the following procedure.

2. Enter the correct security key (password) in the Security Key Field, and then click Set to None.
The following message will appear asking for confirmation.
1
3. Click OK.
Click the Close button in the upper-right to close the Security Setting Dialog Box.
If saving to flash memory is required, save the change to the flash memory.
1-87
[ c ] Changing the Online Security Setting

The online security setting can be changed by using the following procedure.
1. With the Machine Controller Connected to the MPE720 version 6 (online), select Online - Security
2. Select or deselect the Apply File Reading Restriction check box, or change the level in the Restric-
tion Privilege Field, as required.
3. Enter the correct security key (password) in the Security Key Field, and then click Set.
4. Click OK.
1-88
1.12 Security
( 3 ) Changing the Security Key (Password)

The security key for online security can be changed by using the following procedure.

2. Click the Change the Security Key Button.

The Security Key Change Dialog Box will appear. 1
3. Enter the currently valid security key (password) in the Current Security Key Field and a new security
key in the New Security Key Field. Re-enter the new security key in the New Security Key Confir-
mation Field. Then click OK.
4. Click OK.
1-89
2
Configuration
This chapter provides an overview of module configuration definitions and motion parameter
functions.
Configuration
2.1 Module Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.2 Motion Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.2.1 Fixed Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.2.2 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4 2
2.2.3 Monitoring Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.2.4 SERVOPACK Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2-1
2 Configuration
2.1 Module Configuration

The Module Configuration Window is used to define the Machine Controller main module (CPU Module) and Option
Modules.
When a project file is created, the module configuration must be set and saved. When the module is connected to a
Machine Controller (project link connection and direct connection), change the module configuration if necessary and
save it.
For details of module configuration definitions, refer to the MPE720 version 5 user’s manual Machine Controller
MP900/MP2000 series Programming Software MPE720 User’s Manual (manual number: SIEP C880700 05).
Set and save the module configuration of a Machine Controller with the following procedure.
1. Select Setup - Module Configuration Definitions from the Launcher.

The Engineering Manager will be started.
2. When online, select Order - Self Configure All Modules from the main menu.
The data for all electrical devices connected to the Machine Controller will be written to the Machine Controller.
When offline, Self-configuration cannot be executed. Make the settings manually for each Module.
2-2
2.1 Module Configuration
3. Double-click Module detail fields as required to display Configuration Data Area and change the settings.
Module Configuration Definition Example
Configuration
For details on Configuration, refer to the relevant Machine Controller or Option Module operation manual.
4. Select File - Save & FLASH Save from the main menu.
The Module Configuration will be saved in the Machine Controller flash memory and RAM.
When offline, execute the save operation by selecting File - Save.
2
2-3
2 Configuration
2.2.1 Fixed Parameters
2.2 Motion Parameters

Motion parameters include fixed parameters, setting parameters, monitoring parameters, and SERVOPACK parame-
ters. With MPE720 version 6, the variables, comments, and structures that are assigned to each motion parameter can
be exported to a CSV file, or imported from the CSV file to the MPE720 version 6.
2.2.1 Fixed Parameters

Fixed parameters are used to define the specifications of the motor and machine to be used.
For details on fixed parameters, refer to 4.2.1 List of Fixed Parameters of Machine Controller MP2200/MP2300 User’s
Manual Motion Module (manual number: SIEP C880700 16).
2.2.2 Setting Parameters

Each axis of a servo controller is operated by the setting parameters for the application.
For details on setting parameters, refer to 4.2.2 List of Setting Parameters of Machine Controller MP2200/MP2300
User’s Manual Motion Modules (manual number: SIEP C880700 16).
2.2.3 Monitoring Parameters

Current positions (current values) of moving axes are saved in the monitoring parameters.
For details on monitoring parameters, refer to 4.2.3 List of Monitoring Parameters of Machine Controller MP2200/
2300 User’s Manual Motion Modules (manual number: SIEP C880700 16).
2.2.4 SERVOPACK Parameters

A SERVOPACK is operated according to the values set as SERVOPACK parameters.
For details on SERVOPACK parameters, refer to the relevant SERVOPACK manual.
2-4
( 1 ) Value (Data) Display

The values (data) of a SERVOPACK that is connected to a Machine Controller are saved in the SERVOPACK parame-
ters. Two types of values are saved in the SERVOPACK parameters: Current Value and Input Data
Current Value: Current value (data) of the connected SERVOPACK
Input Data: Values stored in a Machine Controller as a backup data
SERVOPACK Parameter Unmatched Data Display Function

When MPE720 version 6 is operated using a SERVOPACK, the Current Values may differ from the Input Values.
If SERVOPACK parameters are set with a software other than MPE720 version 6, such as SigmaWin+ and digital oper-
ator, the Input Values may be adjusted according to the specifications of the software that is used for setting.
If a difference is produced, the following message will be displayed in the SERVOPACK parameter setting window of
Engineering Manager, and the parameters for which Current Values are different from the Input Values are displayed in
red bold characters as shown below.
Alarm Message
Configuration
SERVOPACK Parameter Setting Window 2
Unmatched Parameters Displayed in Red
Display of alarm message and unmatched values can be used to prevent incorrect parameters from being written into a
SERVOPACK.
Select Edit - SERVOPACK Current Value → Input Data from the main menu of the Engineering Manager to set the
current value as the set value.
2-5
3
Ladder Programming
This chapter provides an overview of ladder programming and describes basic operations.
Ladder Programming
3.1 Overview of Ladder Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.1.1 What is Ladder Programming? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.1.2 Overview of Ladder Program Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
3.2 Beginning Ladder Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5

3.2.1 Creating New Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
3.2.2 Creating Ladder Programs in the CP Form - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
3.2.3 Opening Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.2.4 Opening CP Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3
3.2.5 Displaying and Editing MPE720 Version 6 Ladder Programs on MPE720 Version 5 - - 3-11
3.3 Editing Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12

3.3.1 Ladder Program Edit Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.3.2 Main Functions Used in Editing Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
3.3.3 Updating Subwindow Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.4 Changing Edit Window Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.5 Editing Program Comments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-21
3.3.6 Inserting and Editing New Rung Comments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-22
3.3.7 Inserting and Editing New Rungs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
3.3.8 Inserting Branches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24
3.3.9 Editing Branches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-26
3.3.10 Inserting Instruction Objects - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-28
3.3.11 Editing Instruction Objects - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30
3.3.12 Entering and Changing Variables and Registers - - - - - - - - - - - - - - - - - - - - - - - - - - 3-31
3.3.13 Editing Comment Fields - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33
3.3.14 Entering and Editing Expressions for EXPRESSION Instructions - - - - - - - - - - - - - - 3-34
3.3.15 Creating Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-35
3.3.16 Calling Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-37
3.3.17 Ladder Program Compiling and Compile Options - - - - - - - - - - - - - - - - - - - - - - - - - 3-38
3.3.18 Compiling when Exiting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-39
3.4 Managing Programs in the Ladder Subwindow - - - - - - - - - - - - - - - - - - - 3-40

3.4.1 Changing Ladder Subwindow Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40
3.4.2 Setting Passwords for Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-41
3.4.3 Managing Ladder Program Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-42
3-1
3 Ladder Programming
3.5 Debugging Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46

3.5.1 Monitoring Ladder Program Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-46
3.5.2 Searching and Replacing in a Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-47
3.5.3 Searching and Replacing in a Project File - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-50
3.5.4 Cross Reference Searching - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-53
3.5.5 Searching for Duplicate Coils - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-54
3.5.6 Forcing Coils ON/OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-55
3.5.7 Referencing Called Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-59
3.6 Converting CP Ladder Programs to Ordinary Ladder Programs - - - - - - - 3-60

3.6.1 Converting CP Ladder Programs as a Batch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-60
3.6.2 Converting a Program Individually - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-62
3-2
3.1 Overview of Ladder Programming
3.1 Overview of Ladder Programming

3.1.1 What is Ladder Programming?
A ladder program is a control program for Machine Controllers created using ladder objects. Machine control is
executed by combining multiple ladder programs, using high-speed and low-speed scan processing.
Creating and editing ladder programs in the MPE720 version 6 Ladder Program Edit Window is called ladder
programming.
When a ladder program has been transferred to the Machine Controller CPU after a ladder program has been
compiled in MPE720 version 6, it can be executed.
The following diagram shows an example of a ladder program.
Ladder Programming
3
For details on displaying the Ladder Program Edit Window, refer to 3.2 Beginning Ladder Programming.
For details on editing ladder programs, refer to 3.3 Editing Ladder Programs.
For details on compiling ladder programs, refer to 3.3.17 Ladder Program Compiling and Compile Options.
For details on transferring Machine Controller programs, refer to 1.12 Security.
3-3
3.1.2 Overview of Ladder Program Functions
3.1.2 Overview of Ladder Program Functions

( 1 ) Ladder Program Types and Priorities
The various types of ladder programs are shown below and are executed in order of priority.
• High-speed Scan Processing Programs (H Programs; Priority 3)
These are operation control programs that are executed in each high-speed scan.
• Low-speed Scan Processing Programs (L Programs; Priority 4)
These are operation control programs that are executed in each low-speed scan.
• Startup Processing Programs (A Programs; Priority 1)
These programs are executed only once after the power is turned ON to the Machine Controller and perform the
initial settings at startup.
• Interrupt Processing Programs (I Programs; Priority 2)
These programs are launched when an interrupt signal is received, and are executed only once per interrupt.
• Processing Error Processing Programs (X00 Programs; X = A, I, H, L; Priority 2)
These programs are started automatically by the system program when a processing error occurs in a program
(i.e., when an error interrupt signal is received). Only one error program can be created under each A, I, H, and L
program.
A folder is displayed for each program type in the Ladder Subwindow.
( 2 ) Hierarchical Structure and Restrictions on Ladder Programs

A, I, H, and L program structures can contain up to three hierarchical levels, from
level 1 to level 3.
The level 1 program is called the main program, and only one main program can
be created for the A, I, H, and L programs.
Level 1 Level 2 and level 3 programs can be referenced from higher-level programs using
Level 2 the SEE instruction.
Level 3
The maximum total number of level 2 and 3 programs depends on the program
type, as follows:
• A programs: 62
• I programs: 62
• H programs: 198
• L programs: 498
Fig. 3.1 Ladder Subwindow

For details on operations and changing the display in the Ladder Subwindow, refer to 3.4.3 Managing Ladder Pro-
gram Files. Ordinary ladder programs are indicated by in the Ladder Subwindow, and CP ladder programs are
indicated by .
( 3 ) Functions and Motion Programs

Functions and motion programs are both programming elements that can be referenced for use from ladder programs.
They can be referenced from ladder programs at any hierarchical level, from level 1 to level 3. The features of
functions and motion programs are described below.
Functions
Functions are a programming element referenced from other ladder programs. They are created in the Function Folder
in the Ladder Subwindow. They are also sometimes called user functions. Functions are created by setting the number
of input registers, output registers, or registers. In ladder programs, they can be called using FUNC instructions.
For details on creating functions, refer to 3.3.15 Creating Functions. For details on entering and defining functions in
a ladder program, refer to 3.3.16 Calling Functions.
Motion Programs
A motion program is a program written in a textual language called motion language. In addition to main
programs, it can create sub programs that is called from the main programs.
For details on motion programs, refer to Chapter 4 Motion Programming.
3-4
3.2 Beginning Ladder Programming

Ladder programs can be edited by displaying the Ladder Program Edit Window in the main window.
Ladder Programming
Ladder Program Edit Window
The Ladder Program Edit Window is displayed to perform either of the following operations:
• Creating new ladder programs 3
• Opening ladder programs
Both of these operations are described below.
For details on the Ladder Program Edit Window, refer to 3.3.1 Ladder Program Edit Window.
3-5
3.2.1 Creating New Ladder Programs
3.2.1 Creating New Ladder Programs

1. With a project file open, right-click a program folder from High-speed to Interrupt, or a level 1 or 2 pro-
gram in the Ladder Subwindow and select Create New Program from the pop-up menu that will be
displayed.
The Create New Program Dialog Box will be displayed.
2. Set each item, and then click the OK Button.
3
10 4
5
6
7
8
9
Fig. 3.2 Create New Program Dialog Box

The items to be set and the methods for setting them are described below.
1. Program Number
Enter the program number using alphanumeric characters beginning with the program type (A, I, H, or L). The
following rules apply when assigning program numbers.
Level 1 programs (main programs): A, I, H, or L only. Numbers are not allowed.
Level 2 programs: Xnn (X = A, I, H, or L. n = 0 to 9)
Level 3 programs: Xnn.nn (X = A, I, H, or L. n = 0 to 9)
Only one main program can be created within each of the A, I, H, and L programs.
Only one X00 program (A, I, H, or L processing error processing program, X = A, I, H, or L ) can be created
within each of the A, I, H, and L programs.
When the Create New Program Dialog Box is started from a folder or file in the Ladder Subwindow, the pro-
gram numbers that can be created are displayed.
2. Program Name
Enter a program name using a maximum of 48 characters.
3. File Privileges
The reading privilege level (see 4. Read) and writing privilege level (see 5. Write) for the program are dis-
played here.
4. Read
Select a reading privilege level between 0 and 7 for this program. The higher the number, the higher the privi-
lege level will be. Numbers cannot be entered directly.
A reading privilege level cannot be set higher than the current user privilege level. (For example, if the current
user level is 3, a level of 4 or higher cannot be set.)
For details on user privilege levels and reading privilege levels, refer to User Privilege Levels and Reading
and Writing Privilege Levels, below.
3-6
5. Write
Select a writing privilege level between 0 and 7 for this program. The higher the number, the higher the privi-
lege level will be. Numbers cannot be entered directly.
A writing privilege level cannot be set higher than the current user level.
For details on user privilege levels and writing privilege levels, refer to User Privilege Levels and Reading and
Writing Privilege Levels below.
6. Use Register Number
The number of D registers, work registers, and # registers used by this program are displayed here.
7. D Register
Set the maximum number of D registers (between 0 and 16,384) to be used by this program. The number can
be set either by directly entering it or by using the spin buttons.
8. Work Register
The number of D registers used as work registers by the system is displayed here. This number cannot be set.
9. # Register
Set the maximum number of # registers (from 0 to 16,384) to be used by this program. The number can be set
either by directly entering it or by using the spin buttons.
10. Detail Definition
This setting is not required when creating a new program. Refer to 3.4.3 ( 5 ) Ladder Program Properties.
Ladder Programming
Make the above settings, and click the OK Button. The Create New Program Dialog Box will be closed, and the
Ladder Program Edit Window will be displayed as shown below with only the program title (by default, the program
number), the number 0000 rung, and the END instruction entered. A ladder program can now be created.
For details on editing ladder programs and on the terminology, refer to 3.3 Editing Ladder Programs.
User Privilege Levels and Reading and Writing Privilege Levels

Program reading and writing privilege levels are established to maintain program security. To open a particular program, the
user must have a privilege level at least as high as the program’s reading privilege level. Similarly, to edit and save a program,
the user must have a privilege level at least as high as the program’s writing privilege level.
For details on setting and checking user privilege levels, refer to 1.9.4 Security: User Registration.
3-7
3.2.2 Creating Ladder Programs in the CP Form
3.2.2 Creating Ladder Programs in the CP Form

A new ladder program can be created using CP ladder language by selecting Use of Create new CP ladder option in the
Environment Setting Dialog Box. Ordinary ladder programs can be included in the same project file along with CP
ladder programs.
Ordinary ladder programs are indicated by , and CP ladder programs are indicated by in the Ladder Subwin-
dow.
When a ladder program is created in the CP form, use the Engineering Manager to save the program.
( 1 ) Creating New Programs from the Ladder Subwindow
1. In the Ladder Subwindow, right-click a program folder or program from High-speed to Interrupt, and
select Create new CP ladder from the pop-up menu that will be displayed.
Create new CP ladder is displayed only when the Create new CP ladder: use Option is selected in the Envi-
ronment Setting Dialog Box. For details, refer to 1.9.9 Ladder: General.
2. Set each item and then click the OK Button.
For details on the items to be set, refer to 3.2.1 Creating New Ladder Programs.
The Engineering Manager will be started, and the Edit Window for CP ladder programs will be displayed.
3-8
( 2 ) Creating New Programs from the Engineering Manager

After the Engineering Manager has been started, a new CP ladder program can be created.
1. Select Utility - Engineering builder from the Launcher.

2. Select File - Open - Program - Open New Diagram from the Main Menu.
The Open DWG setting Dialog Box will be displayed.
3. Enter the name of the diagram, and then click the OK Button.
Ladder Programming
The Edit Window for CP ladder programs will be displayed.
3-9
3.2.3 Opening Ladder Programs
3.2.3 Opening Ladder Programs

A ladder program can be opened by executing any of the following operations with the project file open.
• In the Ladder Subwindow, double-click the program to be opened.
• In the Ladder Subwindow, right-click the program to be opened, and then select Open from the pop-up menu
that will be displayed.
The only programs that can be opened, however, are programs for which the reading privilege level is no higher than
the current user privilege level. A selected program cannot be opened if the reading privilege level is higher than the
user privilege level.
For details on user, reading, and writing privilege levels, refer to User Privilege Levels and Reading/Writing Privi-
lege Levels.
If an attempt is made to open a ladder program for which a password is set (i.e., a ladder program indicated by a lock at
the icon), the Program Password Dialog Box will be displayed.
When the dialog box is displayed, enter the password in the Program Password Field, and click the OK Button.
CP ladder programs can also be opened. For details, refer to 1.8.4 Opening an MPE720 Version 5 MAL File.
User Privilege Levels and Reading/Writing Privilege Levels

Program reading and writing privilege levels are established to maintain program security. To open a particular program, the
user must have a privilege level at least as high as the program’s reading privilege level. Similarly, to edit a program, the user
must have a privilege level at least as high as the program’s write privilege level.
3.2.4 Opening CP Ladder Programs

CP ladder programs can be opened from Engineering Manager.
A maximum of 16 CP ladder programs can be opened. CP ladder programs are opened in the same way as ladder
programs described in 3.2.3 Opening Ladder Programs.
3-10
3.2.5 Displaying and Editing MPE720 Version 6 Ladder Programs on MPE720 Ver-
sion 5
To display and edit the ladder programs that were created on MPE720 version 6 on MPE720 version 5, the ladder pro-
grams need to be compiled into MPE720 version 5 compatible programs.
The ladder programs can be compiled into MPE720 version 5 compatible programs by the following methods.
MPE720 version 5 compatible programs mean that programs originally made with version 6 are compiled into a for-
mat that is compatible with MPE720 version 5.
Refer to 3.3.17 Ladder Program Compiling and Compile Options for details.
1. Select Compile - Compile Option from the Main Menu.

The Compile Option Dialog Box will open.
2. Select Compile to ver.5 compatible, and then click OK.
Ladder Programming
3. Select Compile from the Main Menu again. The Compile to Ver.5 Compatible command will appear
under Compile menu.
Click Compile to Ver.5 Compatible to start compilation.
3
Selecting Compile - Compile All Programs from the Main Menu will compile all ladder programs at once.
4. Write the ladder program into the Machine Controller and save.
Start MPE720 version 5 and read the data of the ladder program from the Machine Controller.
3-11
3.3.1 Ladder Program Edit Window
3.3 Editing Ladder Programs

This section describes the operations in the Ladder Program Edit Window.
3.3.1 Ladder Program Edit Window

The overview and the components of the Ladder Program Edit Window are shown in the following illustration and
described below.
1. Program comment
2. Rung comment
3. Rung
4. Branch
5. Input guide
6. Instruction object
7. END instruction
8. Rung number
block
1. Program Comments
A comment about the program. The program name is displayed as the program comment when the program is
created.
For details on editing program comments, refer to 3.3.5 Editing Program Comments.
2.Rung Comments
A comment about the next rung or rung block. Multiple rung comments can be set for a single rung.
For details on creating and editing rung comments, refer to 3.3.6 Inserting and Editing New Rung Comments.
3. Rungs
A basic line for placing objects, such as instructions and branches.
For details on inserting and editing rungs, refer to 3.3.7 Inserting and Editing New Rungs.
4. Branches
Lines used for arranging instructions in parallel. Further branches can also be created from the original branches.
For details on inserting and editing branches, refer to 3.3.8 Inserting Branches and 3.3.9 Editing Branches.
5. Input Guide
Displays the object entry position.
6. Instruction Objects
The instruction name, comment, variable name, and register* are displayed for each instruction object. Different
instruction types are distinguished by color.
* The register can be displayed or hidden. The default is for the register address to be hidden (as in the above
window). For details on displaying or hiding addresses, refer to 3.3.4 Changing Edit Window Displays.
For details on inserting and editing instructions, refer to 3.3.10 Inserting Instruction Objects and 3.3.11 Editing
Instruction Objects.
7. END Instruction
Entered when a program is created and indicates the end of the program. Cannot be edited.
8. Rung Number Blocks
Displays Rung information. Rung information cannot be edited.
Line 1, rung number: The rung number is displayed.
Line 2, step number: The total number of steps up until that rung is displayed.
Line 3, nesting number: The nesting level is displayed.
Objects
All components used in creating ladder programs are called objects.
3-12
3.3.2 Main Functions Used in Editing Ladder Programs

The following toolbars and subwindows can be used when editing ladder programs.
• Ladder Editor Toolbar
• Ladder Instruction Toolbar
• Ladder Instruction Subwindow
• Variable Subwindow
( 1 ) Ladder Editor Toolbar
The Ladder Editor Toolbar is used for editing ladder program objects.
( 2 ) Ladder Instruction Toolbar
The Ladder Instruction Toolbar is used for entering instruction objects into ladder programs. Instruction objects can be
entered by simply clicking the icons.
For details on entering instruction objects, refer to 3.3.10 Inserting Instruction Objects.
Ladder Programming
( 3 ) Ladder Instruction Subwindow
The Ladder Instruction Subwindow is used for entering instruction objects into
ladder programs. Instructions can be entered by dragging and dropping them in
edit subwindows.
Click the Expand Button (+) to enlarge the ladder instruction stored in the Ladder
Instruction Subwindow, and click the Contract Button (−) to shrink the instruction.
For details on entering instruction objects, refer to 3.3.10 Inserting Instruction
Objects. 3
( 4 ) Variable Subwindow
The Variable Subwindow is used for entering comments and variables for instruction objects. A variable tree is displayed.
Variables and comments are expanded to display by clicking the Expand Button (+). The original display is restored by
clicking the Contract Button (−).
The Local Variable Subwindow is displayed by moving the cursor to the Local Variable Tab Page.
For details on entering variables in ladder programs, refer to 3.3.12 Entering and Changing Variables and Registers.
For details on variables, refer to Chapter 5 Variables.
3-13
3.3.3 Updating Subwindow Displays
3.3.3 Updating Subwindow Displays

The data displayed in a Ladder, Motion, or Variable Subwindow, or in a comment list, can be updated either by
selecting View - Update from the Main Menu or by pressing the F5 Key. (For information on comment lists, refer to 5.7
Comment Lists.)
3.3.4 Changing Edit Window Displays

The Ladder Program Edit Window can be used to change the magnification and either hide or display variables,
registers, and comments for objects. In addition, various elements (object colors, fonts, etc.) in the Ladder Program
Edit Window can be set optionally.
( 1 ) Changing the Display Magnification

The magnification of the Ladder Program Edit Window can be changed by selecting View - Zoom from the Main Menu
in the Ladder Magnification Dialog Box that will be displayed.
The display magnification can be changed to 10%, 25%, 50%, 75%, 100%, 125%, 150%, 175%, or 200% by clicking
the drop-down arrow and selecting the magnification from the list. The number of the display magnification is set in
1% increments by directly entering the number (10% to 500%) into the Magnification Box.
Click the OK Button to close the dialog box and change the display magnification.
Click the Cancel Button to cancel the setting and close the dialog box.
Click the Apply Button to change the display magnification while leaving the dialog box open so that the display
magnification can be changed again.
3-14
( 2 ) Displaying or Hiding Addresses, Variables, and Comments

Registers, variables, and comments for instruction objects can be either displayed or hidden by clicking their respective
icons in the Ladder Editor Toolbar. (When variables are hidden, the registers will be displayed at their display
location.) Each click toggles between display and hide. When Display is in effect, the background color of the icon is
blue.
Address Display Icon
Variable Display Icon
Comment Display Icon
The display/hide function for registers, variables, and comments can be used in the following combinations.
Addresses Variables Comments Object Display Addresses Variables Comments
√ √ √ √ − −
√ √ − − √ −
Ladder Programming
√ − √ − − √
− √ √ − − −
3
√ : Display − : Hide
Even if variables are set to be Displayed, the register will be displayed if no variable is set for that address.
( 3 ) Changing Edit Window Displays (Editor Options)

Object colors, fonts, display methods, and key allocations can be changed by selecting View - Editor Option from the
Main Menu in the Editor Option Dialog Box that will be displayed, and then using the four tab pages (Color, Font,
Ladder, and Key Allocation).
The following operations are executed by clicking the buttons.
When the Default Button Is Clicked:
The set values on the currently selected tab page will be restored to the default values. The set values on the
other tab pages will not be changed.
When the OK Button Is Clicked:
The current settings in all the tab pages will be overwritten, the Editor Option Dialog Box will be closed, and
the changed contents will be reflected in the Ladder Program Edit Window.
When the Cancel Button Is Clicked:
Changes to the settings (in all tab pages) will be cancelled, and the Editor Option Dialog Box will be closed.
When the Apply Button Is Clicked:
Changes to the settings in all tab pages are overwritten and are immediately reflected. The Editor Option
Dialog Box remains open, allowing further settings to be made.
Be careful when clicking the Apply Button, because changes made to settings in other tab pages will be over-
written at the same time.
3-15
[ a ] Color Tab Page
The following items can be set.

Item:
Click the drop-down arrow and select the item to be set. (Refer to the illustration
on the left.)
When an item is selected, the display in the Sample Field will be changed to the
current value of the selected object.
Category:
Click the drop-down arrow and select the instruction category to be set. (Refer
to the illustration on the left.)
If Instruction or Instruction Name is selected from the Item Combo box and
the instruction category is selected from the Category Comb box, the display in
the Sample Field will be changed to the current value of the selected instruction.
Color:
Click the Background, Text, or Line color box or drop-down arrow to

display the Color Dialog Box shown on the left.
Select or create a color in the Color Dialog Box, and click the OK Button.
The Color Dialog Box will be closed, and the color will be changed in the
Background, Text, or Line color box. The color of the object in the Sample
Field will be replaced by the selected color.
For information on how to create colors, refer to help by clicking the
? Button in the Color Dialog Box.
3-16
Sample:
Displays preview.
[ b ] Font Tab Page
Ladder Programming
3
The following items can be set. When a setting is changed, the change is reflected in the text in the Sample Field.
Font:
Select from the list the font that is to be used in the Edit Window. The fonts displayed in the list will vary
depending on which fonts are installed in the computer.
Size:
Select from the list the font size (points) that is to be used in the Edit Window. The text cursor is displayed by
clicking inside the comb box and then a number from 1 to 128 can be entered directly.
If an out-of-range number is entered, and the OK Button or the Apply Button is clicked, the previously set
number will be restored.
Style:
Use the B, I, and U Buttons to set the font styles to be displayed in the Edit Window.
Each of these buttons can be set independently. The setting is toggled between ON and OFF each time a but-
ton is clicked.
B: Bold
I: Italic
U: Underline
3-17
[ c ] Ladder Tab Page
The following items can be set.

Program Comment:
Check Box:
When the check box is selected, program comments are displayed in the Edit Window. The maximum number of
lines for entering comments can be set. When the check box is unchecked, program comments are not displayed
and the maximum number of lines cannot be set.
Even when the check box is not cleared, the program comment information is retained without being deleted.
Maximum Number of Lines:
If a Limit is set, click inside the box to display the text cursor and then enter the maximum number of lines from
1 to 5.
Allocate:
Comments in the program comment line formatted as Center, Flush Left, or Flush Right.
Rung Comment:
Check Box:
When the check box is selected, rung comments are displayed in the Edit Window. The maximum number of
lines for entering rung comments can be set. When the check box is unchecked, rung comments are not displayed
and the maximum number of lines cannot be set.
Even when the check box is not cleared, the rung comment information is retained without being deleted.
If a Limit is set, click inside the box to display the text cursor and then enter the maximum number of lines from
1 to 5.
Allocate:
Comments in the rung comment line formatted as Center, Flush Left, or Flush Right.
Rung:
Rung Wrapping:
When the check box is selected, rungs will wrap when they are too long. If this check box is cleared, rungs in dis-
plays may be long. Use the scroll bar in the Edit Window to show the required sections.
Insert Rung No.:
The number of rungs that can be inserted in the Edit Window with one insertion operation can be set between 1
and 10.
Variable:
Check Box:
When the check box is selected, variables are displayed in instruction objects. The method for displaying vari-
ables can also be set. When the check box is unchecked, variables are not displayed and the setting fields are also
invalid.
This setting is linked with the operation of the Variable Display Button in the Ladder Editor Toolbar. Refer to
3.3.4 Changing Edit Window Displays and ( 2 ) Displaying or Hiding Addresses, Variables, and Comments.
3-18
Single line strings:

The maximum number of characters that can be entered in one line in the variable name display for an instruction
object can be set from 10 to 259.
The maximum number of lines that can be entered in the variable name display for an instruction object can be
set from 1 to 5, or to No limit. Numbers cannot be entered.
Wrapping and Reduce:
Both of these are valid for structure variables (e.g., axis variables such as A1 axis, motion command, motion
command status, and command execution flag variables).
When Wrapping is selected, variables are wrapped at periods.
When Reduce is selected, only the beginning and end of a variable are displayed, and the symbol "~" is displayed
in the middle.
The structure variable displays are as shown below.
Without Wrapping or Reducing Without Wrapping; With Reducing
Ladder Programming
With Wrapping; Without Reducing With Wrapping and Reducing
Display Register:
When the check box is selected, register addresses are displayed in instruction objects. This setting is linked 3
with the operation of the Address Display Button in the Ladder Editor Toolbar. (Refer to 3.3.4 Changing Edit
Window Displays and ( 2 ) Displaying or Hiding Addresses, Variables, and Comments.)
Comment:
Check Box:
When the check box is selected, comments are displayed in instruction objects. The method for displaying com-
ments can also be set. When the check box is unchecked, comments are not displayed and the setting fields are
also invalid.
This setting is linked with the operation of the Comment Display Button in the Ladder Editor Toolbar. (Refer to
3.3.4 Changing Edit Window Displays and 3.3.4 ( 2 ) Displaying or Hiding Addresses, Variables, and Com-
ments.)
Single line strings:
The maximum number of characters that can be entered in one line in the Comment Field for an instruction object
can be set from 10 to 255.
The maximum number of lines that can be entered in the Comment Field for an instruction object can be set from
1 to 5, or to No limit. Numbers cannot be entered.
Allocate:
Comments in the instruction object Comment Field formatted as Center, Flush Left, or Flush Right.
3-19
[ d ] Key Allocation Tab Page
The key allocations used for entering instructions for objects can be changed.
Double-click in the Key Field for the instruction that is to be changed, as shown in the window above. When the text
cursor is displayed, enter the key that is to be allocated.
If a key that is already being used is allocated or deleted, the following error message will be displayed.
3-20
3.3.5 Editing Program Comments

The program name is displayed when the new program is created.
The comment can be edited either by using the Comment Editor or by direct editing in the Program Comment Field.
( 1 ) Using the Comment Editor

Double-click a program comment to display the Comment Editor (shown to
the left). The following operations can then be executed.
• Characters can be entered.
Edit • Icons, short-cut keys, and pop-up menus (accessed by right-clicking on
Icons selected character strings) can be used for Cut, Copy, Paste, Undo, and
Redo operations.
For description purposes, all of the icons and menu items shown in
the illustration to the left are shown as active.
• Use the Enter Key to start a new line.
Click the OK Button to complete the comment entering and editing.
Pop-up Menu
Ladder Programming
( 2 ) Editing Comments Directly in the Program Comment Field
1. Click a program comment to select it, and then select Program - Edit Program Comment from the
Main Menu. Alternatively, right-click the program comment and select Edit Program Comment from
the pop-up menu that will be displayed.
The mode will be changed to the Program Comment Edit Mode, and the entered text will be selected.
2. Edit the text.

• Main Toolbar icons, short-cut keys, and pop-up menus (accessed by right-clicking on selected character
strings) can be used for Cut, Copy, Paste, Undo, and Redo operations.
• Use the Ctrl + Enter Keys to start a new line.
3. Press the Enter Key to exit the edited program comment.
3-21
3.3.6 Inserting and Editing New Rung Comments
3.3.6 Inserting and Editing New Rung Comments
( 1 ) Inserting New Rung Comments

A comment regarding a selected rung can be inserted before that rung. A separate new rung comment can be inserted
for a rung that already has a comment inserted.
1. Click to select the rung number block for the rung where the rung comment is to be inserted.
2. Select Program - Insert Rung Comment from the Main Menu. Alternatively, right-click the rung num-
ber block and select Insert Rung Comment from the pop-up menu that will be displayed.
The rung comment will be inserted before the selected rung, as shown in the following illustration.
Rung comment line
3. Enter or edit the comment.

Rung comments can be entered or edited either by using the Comment Editor or by editing directly in the Rung
Comment Field. For details on these two methods, refer to ( 2 ) Using the Comment Editor and ( 3 ) Editing
Directly in the Rung Comment Line.
Click the left side of the rung comment line to display an oval. That oval can then be used to edit (copy, paste, move,
or delete) the rung comment as an object. Refer to 3.3.7 ( 4 ) Deleting Rungs.
( 2 ) Using the Comment Editor

Edit Double-click a rung comment to display the Comment Editor (shown to the
Icons left). The following operations can then be executed.
• Icons, short-cut keys, and pop-up menus (accessed by right-clicking on
selected character strings) can be used for Cut, Copy, Paste, Undo, and
Redo operations.
For description purposes, all of the icons and menu items shown in
the illustration to the left are shown as active.
• Use the Enter Key to start a new line.
Pop-up Menu Click the OK Button to complete the comment entering and editing.
( 3 ) Editing Directly in the Rung Comment Line

1. Click to select the rung comment line, and either select Program - Edit Rung Comment from the Main
Menu or press the F2 Key. Alternatively, right-click the rung comment line and select Edit Rung Com-
ment from the pop-up menu that will be displayed.
The mode will be changed to the Rung Comment Edit Mode. If any text has already been entered, it will be selected.
2. Edit the text.

• Main Toolbar icons, short-cut keys, and the rung comment pop-up menu can be used for Cut, Copy, Paste,
Undo, and Redo operations.
• Use the Ctrl + Enter Keys to start a new line.
3. Press the Enter Key to exit the edited rung comment and also press the Esc Key to cancel the editing
operation.
3-22
3.3.7 Inserting and Editing New Rungs

Click to select the rung number block for the new rung that is to be
inserted or edited.
Right-click the rung number block to display a pop-up menu with the
rung editing operations listed.
If multiple rungs are selected, only Cut, Copy, and Delete will be
valid in the pop-up menu.
Rung Number Block Pop-up Menu
( 1 ) Inserting (Adding) New Rungs
1. Click to select the rung number block at the insertion position.
• Select Program - Insert Rung or Add Rungs from the Main Menu.
• Right-click the rung number block and select Insert Rung or Add Rungs from the pop-up menu that will be
Ladder Programming
displayed.
• Press the Insert Key on the keyboard.
With any the above operations, a new rung will be inserted before the selected rung (or after, for Add), and the
rung number in the inserted position will be advanced by one.
When Insert Rung or Add Rungs is selected, or when the Insert Key is pressed, an input guide will be displayed
for the inserted rung.
The number of rungs that can be inserted with a single insertion operation can be changed using the Ladder
Tab Page in the Editor Option Dialog Box. For details, refer to 3.3.4 ( 3 ) Changing Edit Window Displays (Edi-
tor Options).
3
( 2 ) Cutting, Copying, and Pasting Rungs
1. Click to select the rung number block to be cut (or copied).
2. With the rung number block selected, select Edit - Cut (or Copy) from the Main Menu. Alternatively,
right-click the rung number block and select Cut or Copy from the pop-up menu that will be displayed.
After the rung has been cut, it must be pasted before another cut or copy operation is executed or else the
branch that was cut first will be deleted.
3. Select the rung number block for the insertion position, and select Edit - Paste from the Main Menu.
Alternatively, right-click the rung number block for the insertion position, and then select Paste from the
pop-up menu that will be displayed.
Rungs from other ladder programs and program files can also be pasted.
( 3 ) Moving Rungs by Dragging
1. Select and drag the number block of the rung that is to be moved.
An UP pointer “ ” between the rungs will be displayed where the moved rung will be dropped.
2. Release the mouse button when the “ ” symbol is displayed at the destination position.
( 4 ) Deleting Rungs
1. Select the number block of the rung to be deleted, and then select Edit - Delete from the Main Menu.
Alternatively, right-click the rung number block and select Delete from the pop-up menu that will be dis-
played. Another method is to press the Delete Key on the keyboard.
Rung comment objects can be moved and deleted using the same methods as in (3) and (4).
3-23
3.3.8 Inserting Branches
3.3.8 Inserting Branches

There are four ways of inserting new branches:
• Individually inserting an empty branch
• Inserting an empty branch by using the branch cursor
• Copying instructions and arranging them in parallel
• Arranging any instructions in parallel
Branches can only be inserted on the same rung. Branches cannot be created that straddle multiple rungs.
( 1 ) Individually Inserting an Empty Branch

This method individually inserts an empty branch object.
1. Click the position where the branch is to be inserted to display an input guide.
2. Select Program - Insert Branch from the Main Menu. Alternatively, right-click the input guide and
select Insert Branch from the pop-up menu that will be displayed. Another method is to press the
Ctrl+B Keys.
An empty branch will be inserted with branch points before and after the input guide.
( 2 ) Inserting an Empty Branch by Using the Branch Cursor

This method specifies the branch starting and ending points and inserts an empty branch.
1. Click one end of the position where the branch is to be inserted, to display an input guide.
2. Either click the Create Branch Mode Icon ( ) in the Ladder Edit Toolbar, or select Program - Create
Branch Mode from the Main Menu. Alternatively, press the Ctrl+I Keys.
The cursor will be changed for creating branches.
3. Click the input guide.

The branch will be displayed from the input guide position, and the end point will be moved with the cursor.
4. Move the cursor to display a V symbol for the branch end point, and click the V.
An empty branch will be inserted around the instruction objects.
3-24
( 3 ) Copying Instructions and Arranging Them In Parallel

This method can be used to copy a selected instruction object and create a parallel branch.
1. Click to select an instruction object to be copied to a branch.
2. Right-click the selected instruction object and select Insert Branch from the pop-up menu that will be
displayed. Alternatively, select Program - Insert Branch from the Main Menu. Another method is to
press the Ctrl+B Keys.
A branch with that instruction will be inserted in parallel to the selected instruction object.
Only one instruction can be arranged on a branch using this operation.

Items such as variable names and addresses will not be copied for the instruction arranged in parallel.
For details on entering comments and registers for the inserted instruction, refer to 3.3.13 Editing Comment
Ladder Programming
Fields and 3.3.12 Entering and Changing Variables and Registers.
For information on the meanings and uses of ladder instructions, refer to the Machine Controller MP900/
MP2000 Series New Ladder Editor User’s Manual (SIEZ-C887-13.2).
( 4 ) Arranging Any Instructions in Parallel

A branch with any instruction can be inserted in parallel to the selected instruction object.
1. Click to select the instruction object at the branch insertion position.

3
If more than one instruction object is selected, the last one selected will be taken as the selected object.
2. From the Ladder Instruction Toolbar, click the object to be arranged on the branch.
Alternatively, right-click the selected instruction object and select Add Parallel Instruction - [Instruc-
tion Type] - [Instruction] from the pop-up menu that will be displayed. Another method is to select
Program - Add Parallel Instruction - [Instruction Type] - [Instruction] from the Main Menu. Another
method is to drag and drop an instruction from the Instruction Subwindow into the instruction object of
step 1.
A branch with the instruction selected in step 2 will be inserted in parallel with the instruction object selected in
step 1.
For details on entering comments and registers for the inserted instruction, refer to 3.3.13 Editing Comment
Fields and 3.3.12 Entering and Changing Variables and Registers.
For information on the meanings and uses of ladder instructions, refer to the Machine Controller MP900/
MP2000 Series New Ladder Editor User’s Manual (SIEZ-C887-13.2).
3-25
3.3.9 Editing Branches
3.3.9 Editing Branches

The following editing operations can be used for branches.
• Cutting, copying, and pasting
• Moving branches by dragging
• Changing branch positions
• Deleting branches
( 1 ) Cutting, Copying, and Pasting Branches
1. Click the branching point of the branch that is to be edited. A branch edit mark ( ) will be displayed
and the branch that is to be edited will be selected. Be careful when clicking the branching point,
because the object that is selected will differ as shown below depending on which place is clicked.
Edit mark
Click here to select the branch and all instruction objects.
Edit mark
Click here to select the branch and all instruction objects.
2. Select Edit - Cut or Copy from the Main Menu. Alternatively, right-click the edit mark and select Cut or
Copy from the pop-up menu that will be displayed. Another method is to press the Ctrl+X Keys (Cut)
or the Ctrl+C Keys (Copy).
After a branch has been cut, it must be pasted before another cut or copy operation is executed or else the
branch that was cut first will be deleted.
3. Click the insertion position to display an input guide on the rung.

Rungs with other ladder programs displayed in the Ladder Subwindow can also be used.
4. Select Edit - Paste from the Main Menu. Alternatively, right-click the edit mark and select Paste from
the pop-up menu that will be displayed. Another method is to press the Ctrl+V Keys.
When any of the above is executed, the cut or copied branch will be inserted at the input guide position.
( 2 ) Moving Branches by Dragging
1. Select the branch to be moved. The edit mark ( ) will be displayed. (For details on objects of edit
marks, refer to 3.3.9 ( 1 ) Cutting, Copying, and Pasting Branches.)
2. Drag the edit mark to display the input guide at the destination position, and release the mouse button.
Rungs with other ladder programs displayed in the Ladder Subwindow can also be used.
3-26
( 3 ) Changing Branch Positions
1. Select the branch position to be changed. The edit mark ( ) will be displayed. (For details on applica-
ble objects of edit marks, refer to 3.3.9 ( 1 ) Cutting, Copying, and Pasting Branches.
2. Click the Branch Edit Mode Icon ( ) in the Ladder Editor Toolbar. Alternatively, select Program -
Branch Edit Mode from the Main Menu.
The cursor will be changed for editing branches.
3. Move the cursor to display the Up or Down Arrow at either the input or output side of the branch,
whichever side is to be changed, and click the edit mark.
Ladder Programming
The branch point will then move with the cursor.
4. Move the cursor to display the replacement position V.
5. Click the V to change the branch point.
The change of branch positions can be cancelled by pressing the Esc Key.
6. Click the Normal Edit Mode Icon ( ) in the Ladder Editor Toolbar to exit the Branch Edit Mode and
return the cursor to its normal form.
The cursor will be also returned to its normal form by pressing the Esc Key.
( 4 ) Deleting Branches
1. Select the branch to be deleted. The edit mark ( ) will be displayed. (For details on applicable objects
of edit marks, refer to 3.3.9 ( 1 ) Cutting, Copying, and Pasting Branches.
2. Select Edit - Delete from the Main Menu. Alternatively, right-click the edit mark and select Delete from
the pop-up menu that will be displayed. Another method is to press the Delete Key.
3-27
3.3.10 Inserting Instruction Objects
3.3.10 Inserting Instruction Objects
For information on the meanings and uses of ladder instructions, refer to Machine Controller MP900/MP2000 Series
New Ladder Editor Programming Manual (SIEZ-C887-13.1).
There are three ways of inserting new ladder instructions:

• Specifying the entry position (input guide or instruction object)
• Entering directly to the input guide
• Inserting a new instruction in parallel with an instruction that is already entered (Inserting branches)
For details on inserting branches, refer to 3.3.8 ( 3 ) Copying Instructions and Arranging Them In Parallel and 3.3.8 ( 4 )
Arranging Any Instructions in Parallel.
( 1 ) Specifying the Entry Position

This section describes how to insert a ladder instruction at an input guide position or before a selected instruction
object.
Inserting at an Input Guide Position
Click the entry position that the ladder instruction is inserted to display the input guide, and then execute any of the
following operations.
• Click an icon in the Ladder Instruction Toolbar.
• Drag and drop an instruction from the Ladder Instruction Subwindow to the input guide.
• Right-click the input guide and select Instruction - [Instruction Type] - [Instruction] from the pop-up menu
• Select Program - Insert Instruction - [Instruction Type] - [Instruction] from the Main Menu.
• Paste a cut or copied instruction object.
Inserting before an Instruction Object

Click to select the instruction object at the insertion position, and then execute any of the following operations.
• Right-click the selected object, and select Insert Instruction - [Instruction Type] - [Instruction] from the
• Select Program - Insert Instruction - [Instruction Type] - [Instruction] from the Main Menu.
• Paste a cut or copied instruction object. (In this case, a branch is inserted.)
( 2 ) Entering Directly to the Input Guide

This method is used to directly enter the instruction name and instruction key allocation* to the input guide. The
instruction name and instruction key allocation can be selected from the list.
* The instruction key allocation is the allocation of shortcut keys for instruction objects. Example: N.O. contact
The instruction key allocation can be changed. For details, refer to 3.3.4 ( 3 ) Changing Edit Window Displays (Editor
Options).
1. Click the position that the ladder instruction is inserted to display the input guide.
2. Enter the instruction name or instruction key allocation. Alternatively, press any key on the keyboard.
A list of instruction names will be displayed as shown below.
3-28
3. Enter the instruction name and instruction key allocation and press the Enter Key, or select the instruc-
tion name and instruction key allocation from the list.
The instruction object will be inserted at the input guide position.
Insertion of the instruction can be cancelled by pressing the Esc Key or clicking outside of the list and field in
the Ladder Edit Window before pressing the Enter Key or clicking in the list.
( 3 ) Instruction Object Component Names

The following illustration shows the names of the components in an example of a newly inserted instruction object.
1. Instruction Name Field
2. Comment Field
(Comment Display Mode*)
5. Min/Max Button
3. Variable Name Field*

4. Register Field
(Address Display Mode*)
6. Data Type Field
Ladder Programming
W: Word type
L: Long type
F: Float type
A: Address type
B: Bit type
The names will be as follows when the instruction type is RELAY:

2. Comment Field (Comment Display Mode*)
3. Variable Name Field*
1. Instruction Name Field 4. Register Field (Address Display Mode*)
3
* The Comment Field and Register Address Field can be displayed or hidden by toggling the icons in the Ladder
Editor Toolbar. Also, whether the Variable Name Field, which shows the variable names or addresses, can be
displayed or hidden by the same method. For details, refer to 3.3.4 ( 2 ) Displaying or Hiding Addresses, Vari-
ables, and Comments.
The components are described below.
1. Instruction Name Field
The names of inserted instructions are displayed here. For RELAY instructions, the RELAY type is displayed.
For details on changing instructions that have been entered, refer to 3.3.11 Editing Instruction Objects.
2. Comment Field
Comments for instruction objects can be edited and displayed here.
Comments cannot be edited if the registers are not set.
For details on entering and editing comments, refer to 3.3.13 Editing Comment Fields.
3. Variable Name Field
Variable names for registers used for referencing instructions or storing execution results can be entered and dis-
played here. (Registers are displayed for registers for which no variables are assigned.)
For details on entering and editing variables, refer to 3.3.12 Entering and Changing Variables and Registers.
For details on variables, refer to Chapter 5 Variables.
4. Register Field
Registers are displayed here.
3-29
3.3.11 Editing Instruction Objects
5. Minimize Button
Instruction objects can be minimized the display as shown below. The original display size (more detailed) can
be restored by clicking the Maximize Button.
Maximize Button
3.3.11 Editing Instruction Objects

The following editing operations can be executed for instruction objects.
• Moving objects by dragging
• Deleting
• Changing instructions
( 1 ) Cutting, Copying, and Pasting
1. Click to select the instruction objects to be cut (or copied).
2. Select Edit - Cut or Copy from the Main Menu. Alternatively, right-click the selected instruction objects
and select Cut or Copy from the pop-up menu that will be displayed. Another method is to press the
Ctrl+X Keys (Cut) or the Ctrl+C Keys (Copy).
After an instruction object has been cut, it must be pasted before another cut or copy operation is executed or
else the branch that was cut first will be deleted.
3. Either click the insertion position to display an input guide, or select the instruction object at the inser-
tion position.
Objects from other ladder programs and other project files can also be used.
4. Select Edit - Paste from the Main Menu. Alternatively, right-click the selected instruction object and
select Paste from the pop-up menu that will be displayed. Another method is to press the Ctrl+V Keys.
If an input guide was displayed in step 3, then the instruction object selected in step 1 will be inserted at that posi-
tion.
If an instruction object was selected in step 3, then the instruction object selected in step 1 will be inserted in par-
allel with that object.
( 2 ) Moving Objects by Dragging

1. Select the instruction object that is to be moved, and then drag it.
A V symbol will be displayed at the rung where the instruction object is dragged.
2. Release the mouse button when the V is displayed at the destination position.
( 3 ) Deleting Instruction Objects

1. Select the instruction object that is to be deleted, and then either select Edit - Delete from the Main
Menu or right-click the instruction object and select Delete from the pop-up menu that will be dis-
played. The instruction object can also be deleted by pressing the Delete Key.
( 4 ) Changing instructions
Instructions that have already been entered can be changed to other instructions.
3-30
1. Select the instruction object that is to be changed, and click the Instruction Name Field. Alternatively,
select Program - Edit Instruction from the Main Menu. Another method is to right-click the instruction
object and select Edit Instruction from the pop-up menu that will displayed.
The instruction name will be selected, and the List Button will be displayed.
2. Enter an instruction name and instruction key allocation and press the Enter Key, or select an instruc-
tion name and instruction key allocation from the list.
The instruction object selected in step 1 will be replaced by the instruction object entered in step 2.
Insertion of the instruction can be cancelled by pressing the Esc Key or clicking outside of the list or field in the
Ladder Edit Window before pressing the Enter Key or clicking in the list.
3.3.12 Entering and Changing Variables and Registers

When a variable is entered for an instruction object, a register and comment can be entered at the same time.
Ladder Programming
Variables can be entered in the following ways.
• Directly entering the address or variable name
• Copying and pasting the variable
• Dragging and dropping the variable
Variables that have already been entered can be changed to other variables.
Variables are assigned in a database with names called variable names given to combinations of comments, regis-
ter types, and registers. Six types of variables can be referenced from any project file: system variables, axis vari-
ables, I/O variables, global variables, and local variables assigned for individual programs. For details on variables, 3
refer to Chapter 5 Variables.
( 1 ) Directly Entering Addresses or Variable Names
1. Click to select the Variable Name Field of the instruction object for which the variable is to be entered
or changed, and then enter the register or variable name.
2. Press the Enter Key to save the variable or address.
When a variable is set

Enter
for the address that is
entered
When no variable is set

Enter
for the address that is
entered
If the entered variable name is too long, ~ is displayed in the spellings.

When entering addresses, the leading zeroes can be omitted.
Variable names can be entered in place of addresses for variables assigned as global or local variables.
( 2 ) Copying and Pasting Variables
1. Select the variable that is to be entered or changed in the Variable Subwindow, and then select Edit -
Copy from the Main Menu. Alternatively, right-click the variable to be entered in the Variable Subwindow,
and then select Copy from the pop-up menu that will be displayed.
3-31
3.3.12 Entering and Changing Variables and Registers
2. Click to select the Variable Name Field of the instruction object for which the variable is to be entered,
and then select Edit - Paste from the Main Menu. Alternatively, right-click the Variable Name Field of
the instruction object, and then select Paste from the pop-up menu that will be displayed.
The variable will be entered in the instruction object.
Paste
The variable cannot be entered when anything other than the Variable Name Field is selected.
( 3 ) Dragging and Dropping Variables
1. Select the variable that is to be entered or changed in the Variable Subwindow, and then drag it to the
instruction object.
2. When > is displayed in the Variable Name Field of the instruction object, release the mouse button to
enter the variable.
3-32
3.3.13 Editing Comment Fields

The Comment Field for an instruction object can be edited. The method for editing a Comment Field differs depending
on whether or not a variable comment is being used in the Comment Field.
A "variable comment being used in the Comment Field" means that an instruction belonging to the RELAY, MATH,
LOGIC (excluding RCHK instructions), FUNCTION, MOVE, or DDC category is used.
Even when no variable comment is being used in the Comment Field, comments for SEE and FUNC instructions
cannot be edited using the Comment Editor. The names for the specified programs are displayed.
Variable Comments
Comments can be edited by double-clicking the Comment Field to display the Edit variable Dialog Box. For details,
refer to 5.2.3 ( 3 ) Editing I/O Module Names and Comments.
Ladder Programming
Comments Other Than Variable Comments
3
Editing is enabled by double-clicking the Comment Field to display the Comment Editor.
When any of the following operations is performed while the Comment Field is selected, the mode will be changed to
Comment Edit Mode. If any text has already been entered, that text will be selected.
• Select Program - Edit Comment from the Main Menu.
• Press the F2 Key.
• Right-click a comment and select Edit Comment from the pop-up menu that will be displayed.
3-33
3.3.14 Entering and Editing Expressions for EXPRESSION Instructions
3.3.14 Entering and Editing Expressions for EXPRESSION Instructions

The Expression Editor will displayed. Editing can then be enabled by double-clicking the Expression Field in an
EXPRESSION instruction object.
Comment Field
Expression Field
Comments are displayed in green in the Expression Editor. Reserved words are displayed in blue.
3-34
3.3.15 Creating Functions

Functions are also sometimes called "user functions." These are sub programs that can be referenced from any ladder
program, and they are created in the Function Folder in the Ladder Subwindow. Once a function has been created, it
can be entered into a ladder program as a FUNC instruction.
1. Right-click the Function Folder in the Ladder Subwindow and select Create New Program from the
2. Click I/O definition on the left side of the dialog box to display Function input no., Address input no.,
and Function output no.
Ladder Programming
3
3. Click these to display the respective detail definition windows, and then set the details.
Function Input No.: Set the number of data items to be entered for FUNC instruction objects in the ladder pro-
gram. Click the Type Field and then select BIT, WORD, LONG, or FLOAT as the data type.
Addresses Input No.: Set the number of addresses for FUNC instruction objects.
Function Output No.: Set the number of data objects to be output from FUNC instruction objects. Click the Type
Field and then select BIT, WORD, LONG, or FLOAT as the data type.
After a function has been set, it will be displayed in the right side of the Create New Program Dialog Box.
Example of function with 2 inputs,

3 outputs, and 1 address
3-35
3.3.15 Creating Functions
4. Click the OK Button in the Create New Program Dialog Box. The function will be created and will be
displayed under the Function Folder in the Ladder Subwindow.
3-36
3.3.16 Calling Functions

The following procedure can be used to call functions that have been created under the Function Folder in the Ladder
Subwindow for the ladder program.
1. Click the position where the function is to be entered in the Ladder Program Edit Window. The pointer
will change to a “V” to show where the data is to be entered.
2. Select FUNC: User Function from the entry list for the instruction.
Ladder Programming
The FUNC instruction object will be entered at the ladder input guide position.
3. Double-click the Name Field and enter the function name to be used. Alternatively, select the function
name to be used from the list displayed in the Name Field.
3
The FUNC instruction object will be entered.
4. Set the function’s I/O registers.
3-37
3.3.17 Ladder Program Compiling and Compile Options
3.3.17 Ladder Program Compiling and Compile Options

Before transferring a ladder program to the Machine Controller, use the following procedure to compile it, and to create
and save compile data. Programs can be compiled individually or all together.
• Select Compile - Compile from the Main Menu.

Æ The program displayed in the foreground of the main window will be compiled.
• Select Compile - Compile All Programs from the Main Menu.
Æ All programs, including motion programs, will be compiled.
• Select the file name of the ladder program in the Ladder Subwindow, and then right-click and select Compile All
Programs from the pop-up menu that will be displayed.
Æ All ladder programs will be compiled.
• Select a folder or program in the Ladder Subwindow, and then right-click and select Compile from the pop-up
menu that will be displayed.
Æ All programs included in the selected folder or program will be compiled.
After the ladder programs have been compiled, the compile log will be displayed in the Output Subwindow.
Compile Options
With a ladder program displayed in the main window, select Compile - Compile Option from the Main Menu. The
Compile Option Dialog Box will be displayed as shown below. Either of the compile options can then be set. This
setting will be applied to all programs.
Enable to Multiple Coil Check:

When this option is selected, duplicate coils will be detected during the compile operation.
Compile to Ver.5 Compatible:
When this option is selected, programs can be opened programs in MPE720 version 5.
3-38
3.3.18 Compiling when Exiting

Ladder programs are saved when project files are compiled. If any program has not yet been compiled when MPE720
version 6 is exited, or if an edited program is closed without having been compiled, the following message will be
displayed.
Yes Button: The applicable program will be compiled and saved.

No Button: The applicable edited contents will not be saved.
Cancel Button: The program will not be compiled and saved, and the Edit Window will be displayed
again.
For details on saving program files, refer to 1.8.5 Saving Project Files.
Ladder Programming
3
3-39
3.4.1 Changing Ladder Subwindow Displays
3.4 Managing Programs in the Ladder Subwindow

The Ladder Subwindow is used for managing ladder programs.
The contents of the Ladder program Folder in a project file are displayed in a tree hierarchy.
The following operations can be executed for ladder programs in the Ladder
Subwindow:
• Creating programs (Refer to 3.2.1 Creating New Ladder Programs.)
• Opening edit windows for ladder programs (Refer to 3.2.3 Opening Lad-
der Programs.)
• Deleting
• Changing names
• Compiling (Refer to 3.3.17 Ladder Program Compiling and Compile
Options.)
• Enabling or disabling
• Displaying properties
• Setting and cancelling passwords
Fig. 3.3 Ladder Subwindow
This section describes how to change the display and manage ladder programs in the Ladder Subwindow.
3.4.1 Changing Ladder Subwindow Displays

The Ladder Subwindow display can be changed by the two buttons at the top of the subwindow.
( 1 ) Hierarchical or Non-hierarchical Display

Ladder programs are displayed in a hierarchical structure by default in the Ladder Subwindow. To change to a non-
hierarchical structure, click the Hierarchical Structure Display Button. The display is toggled each time the buttons
are clicked.
Hierarchical Display Non-hierarchical Display
3-40
( 2 ) Displaying Properties
The Ladder Display Property Dialog Box will be displayed by clicking the Ladder Program Properties Button.
All of the check boxes are not selected by default.

For details on the Disable setting, refer to 3.4.3 ( 4 ) Enabling or Disabling Ladder Programs.
For details on the No. of Steps and Modified settings, refer to 3.4.3 ( 5 ) Ladder Program Properties.
For details on the Privilege setting, refer to 3.2.1 Creating New Ladder Programs.
If information that is to be displayed in the Ladder Subwindow is selected (i.e., if the check box is selected) and the OK
Button is clicked, that information will be displayed in the Ladder Subwindow.
Ladder Programming
3

Refer to 1.12.3 Setting Passwords for Ladder Programs for details.
3-41
3.4.3 Managing Ladder Program Files

In the Ladder Subwindow, ladder programs can be cut, copied, pasted, deleted, and renamed. They can also be set to be
enabled or disabled the ladder programs in the Machine Controller.
( 1 ) Cutting, Copying, and Pasting Ladder Programs

An entire ladder program can be cut or copied and then pasted into either the same project file or another project file.
This function is valid only when not connected to the Machine Controller (i.e., when offline).
Before cutting a ladder program, finish editing and close the ladder program.
Copying (or cutting) and pasting is not possible between function programs and other programs.
1. Open the project file for which the ladder program is to be cut or copied, and display the Ladder Sub-
window. (Refer to 1.8.3 Opening Project Files.)
2. If the paste destination is a separate project file, open that project file in a separate window and display
the Ladder Subwindow.
3. In the Ladder Subwindow for the project file that was opened in step 1, select the program that is to be
cut or copied.
A folder, such as the Ladder program Folder of the High-speed Folder, can also be selected. In that case, the
operation will apply to all of the ladder programs under the folder. The folder itself cannot be cut or copied.
When a program is selected, the operation will apply to all of the programs belonging to that program.
4. In the Ladder Subwindow for the project file where the ladder program is to be pasted, select the desti-
nation program folder.
5. Right-click the paste destination folder and select Paste from the pop-up menu that will be displayed.
Alternatively, select Edit - Paste from the Main Menu.
The ladder program cut or copied in step 3 will be over written to the program folder selected in step 4.
( 2 ) Deleting Ladder Programs

Before using this operation, first close the ladder program that is to be deleted.
1. In the Ladder Subwindow, select the ladder program that is to be deleted.
2. Either select Edit - Delete from the Main Menu, or right-click the selected program file and select
Delete from the pop-up menu that will be displayed. Alternatively, press the Delete Key.
3-42
( 3 ) Renaming Ladder Programs

Before using this operation, first close the ladder program that is to be renamed.
1. Select the ladder program that is to be renamed in the Ladder Subwindow.
2. Right-click the selected program and select Rename from the pop-up menu that will be displayed.
The Program Property Dialog Box will be displayed.
Ladder Programming
3. Change the name displayed in the Program No. Field, and click the OK Button.
( 4 ) Enabling or Disabling Ladder Programs

A ladder program can be toggled between enabling and disabling. A disabled program cannot be executed even if it is
transferred to the Machine Controller.
This operation can be used even for edited ladder programs.
1. Select the program or program folder that is to be enabled or disabled in the Ladder Subwindow. 3
If a program folder is selected, the operation will apply to the main program in that folder.
2. Right-click the selected program (or folder) and select Enable/Disable from the pop-up menu that will
be displayed. (If a folder is selected, select Enable Main Program or Disable Main Program.)
3. Click the Yes Button in the message box. Disable or Enable will be set.
The icon will be displayed for disabled programs.
3-43
( 5 ) Ladder Program Properties

The properties (configuration, detail definitions, and modified history) of ladder programs can be confirmed.
1. Select the ladder program file for which the properties are to be displayed in the Ladder Subwindow.
2. Right-click the selected program and select Property from the pop-up menu that will be displayed.
[ a ] Configuration
The file privilege and number of registers to be used can be set.
For details on the items to be set for the Configuration, refer to 3.2.1 Creating New Ladder Programs.
The numbers can be set by clicking the Read, Write, D register, and # register Fields.
For details on renaming ladder programs, refer to 3.4.3 ( 3 ) Renaming Ladder Programs.
3-44
[ b ] Detail Definition
The number of steps being executed and the date and time of the latest modification of the program are displayed. The
operation to convert data from real-numbers to integers can be displayed and set.
Ladder Programming
No. of steps
Displays the number of steps being executed. Cannot be edited.
Modified
Displays the date and time of the latest modification of the program. Compiling the program will refresh the
displayed date and time. Cannot be edited.
Setting the operations
The operation to convert data from real-numbers to integers can be set. 3
[ c ] Modified History
The revision history can be confirmed.
Modified history
The latest 10 revision records of the program can be displayed.
3-45
3.5.1 Monitoring Ladder Program Execution
3.5 Debugging Ladder Programs

MPE720 version 6 has the following debugging functions.
• Execution monitoring (Refer to 3.5.1 Monitoring Ladder Program Execution.)
• Searching and replacing program variables, instructions, and comments (Refer to 3.5.2 Searching and Replac-
ing in a Program.)
• Searching and replacing variable names in project files (Refer to 3.5.3 Searching and Replacing in a Project
File.)
• Searching registers being used (Refer to 3.5.4 Cross Reference Searching.)
• Searching duplicate coils (Refer to 3.5.5 Searching for Duplicate Coils.)
• Forcing coils ON/OFF (Refer to 3.5.6 Forcing Coils ON/OFF.)
• Referencing called programs using the SEE instructions (Refer to 3.5.7 Referencing Called Programs.)
3.5.1 Monitoring Ladder Program Execution

When a ladder program is transferred to the Machine Controller and executed, the instruction currently being executed
will be indicated by a blue line* and values for data currently stored in addresses will be displayed in blue.
For details, refer to 12.4.2 Displaying Online Current Value.

Register status during execution can be monitored in a register list. For details, refer to 12.2 Register Lists.
* The display color for execution monitoring can be changed by selecting View - Editor Option from the Main Menu,
and then selecting Color - Focus. (The default setting is blue.) For details, refer to 3.3.4 ( 3 ) Changing Edit Window
Displays (Editor Options).
3-46
3.5.2 Searching and Replacing in a Program

It is possible to search for variables, instructions, and comments used in the program. Registers and comments can be
searched and replaced.
The procedures for searching and replacing are described below.
( 1 ) Searching in a Program
1. Display the program that is to be searched in the foreground of the Ladder Edit Window, and select
Edit - Search from the main menu.
The Search Dialog Box will be displayed.
2. Click the Variable, Instruction, or Comment Tab Page, and specify the content of the search.
Ladder Programming
The Variable Tab Page is used to search for variables and register addresses. Variables can be
copied and pasted from the Variable Subwindow.
In the Instruction Tab Page, enter an instruction name or instruction key allocation in the Instruc-
tion Field.
Variables can also be entered by copying and pasting from the Variable Subwindow.
The Variable Field will be changed to Program Name depending on the search object.
The Comment Tab Page is used to search for object, rung, and program comments, and for com-
ments in expressions.
3-47
3.5.2 Searching and Replacing in a Program
Use wild card: When selected, the wildcards * and ? can be used in searches.
Search agree completely item: When selected, only exact matches between character strings in comments
and search objects will be searched. Whether distinctions are made between uppercase and lowercase, however,
depends on the Case-sensitive setting.
Case-sensitive: When selected, a distinction is made between uppercase and lowercase characters.
Register compensation: When selected, a character string that was entered as a search object is converted to
the correct register notation when it is recognized as a register.
Output log at Search 2: If Output log at Search 2 is selected, the search results will be output in the Search 2
Subwindow, and the output contents of the Search 1 Subwindow will not be changed. If Output log at Search 2 is
not selected, the search results will be output in the Search 1 Subwindow.
Select range: When selected, the search range can be set by specifying the start rung and end rung.
3. Start the search.

If the Search Button is clicked, the relevant instruction object will be searched and selected.
If the Search All Button is clicked, the search results will be displayed in the Search 1 or Search 2 Subwindow.
4. End the search by clicking the Cancel Button or the Close Button (X).
( 2 ) Replacing in a Program
1. Display the program that is to be searched and replaced in the foreground of the Ladder Edit Window,
and select Edit - Replace from the Main Menu.
The Replace Dialog Box will be displayed.
2. Select the Register or Comment Tab Page, and specify the search object and the replace object.
The Register Tab Page is used to find and replace registers.
3-48
The Comment Tab Page is used to find and replace object, rung, and program comments,
and comments in expressions.
Use wild card: When selected, the wildcards * and ? can be used in searches.
If either * or ? is used in the Replace Object, it will be treated not as a wildcard but as a character.
Select range: When selected, the search range can be set by specifying the start rung and end rung.
Ladder Programming
3. Start the search and replace operation.
When the Search Button is clicked, the relevant instruction object will be searched and selected. When the
Replace Button is clicked, the selected item will be replaced by the characters in either the Replace Register
Field or the Replace Object Field.
If the Replace All Button is clicked on the Register Tab Page, all of the relevant registers will be replaced and
the replacement results will be displayed in the Output Subwindow.
4. End the replace operation by clicking the Cancel Button or the Close Button (X).
3-49
3.5.3 Searching and Replacing in a Project File

All ladder programs and motion programs (or in specified programs) within a project file can be searched for variables.
Registers and addresses can be searched and replaced.
This function is enabled only when not connected to a Machine Controller (i.e., when offline).
CP ladder programs cannot be the objects of search and replace operations in a project file.
The procedures for searching and replacing in a project file are described below.
( 1 ) Searching in a Project File
1. Display the program that is to be selected in the foreground of the Ladder Edit Window, and select
Edit - Search in Project from the main menu.
The Search in Project Dialog Box will be displayed.
2. Set the variable (or address) to be searched and the name of the target program.
Variables can also be entered by copying and pasting from the Variable Subwindow.
Multiple programs can be specified in the Target Program Field by separating them with commas and spaces.
Asterisks (*) can also be used as wildcards in the Target Program Field, as follows:
*, H, L*, I*, A*, F* (all functions), MPM*, MPS*
Wildcards can be used only in the above forms. They cannot be used in forms such as H01.*.
If Output log at Search 2 is selected, the search results will be output in the Search 2 Subwindow, and the output
contents of the Search 1 Subwindow will not be changed. If Output log at Search 2 is not selected, the search
results will be output in the Search 1 Subwindow.
3. Click the Search All Button to start searching.

A progress bar will be displayed during the search, and the search results will be displayed in the Output Subwin-
dow.
3-50
( 2 ) Replacing in a Project File
After a replace operation in a project file has been completed, compiling and saving will be executed. The
replace operation cannot be undone to restore the project to its previous status, so be sure to back up any
essential files before performing the operation.
If a motion program is opened by the Engineering Manager before a replace operation, the program will not be auto-
matically updated. Close any open motion programs before executing a replace operation.
1. Display the program that is to be selected in the foreground of the Ladder Edit Window, and select
Edit - Replace in Project from the main menu.
The Replace in the Project Dialog Box will be displayed.
2. Set the variable (or address) to be searched and the name of the target program.
Variables can also be entered by copying, pasting from the Variable Subwindow.
Multiple programs can be specified in the Target Program Field by separating them with commas and spaces.
*, H, L*, I*, A*, F* (all functions), MPM*, MPS*
Ladder Programming
Wildcards can be used only in the above forms. They cannot be used in forms such as H01.*.
3. Click the Register or Address Tab Page, and specify the search object and the replace object.
The Register Tab Page is used for simple register replacements.
The Address Tab Page is used to replace registers that match

certain conditions.
*, H, L*, I*, A*, F*, MPM*, MPS*
3-51
4. Click the Replace All Button to start searching and replacing.

The relevant registers or addresses will be replaced. A progress bar will be displayed during the operation, and
the results will be displayed in the Output Subwindow.
The replace operation can be aborted by clicking the Cancel Button in the dialog box of the progress bar, but
the program will be compiled and saved with whatever items have already been replaced up to that point.
If an error occurs while the program is being compiled, the items will not be replaced.
After the replace operation has been completed, the register or variable replacements will be displayed.
3-52
3.5.4 Cross Reference Searching

Variables or registers used in a program can be searched.
1. Select Debug - Cross Reference from the Main Menu.

The Cross Reference Setting Dialog Box will be displayed.
2. Set the variable (or register) to be searched and the name of the target program.
The target program can be selected from the list. Variables can also be entered by copying and pasting from the
Variable Subwindow.
Ladder Programming
3. Click the Search Button.
The cross reference searching will be executed, and the search results will be displayed in the Cross Reference 1
Subwindow. Input registers will be displayed in blue, and output registers in red. 3
The program will be opened and the objects in the selected register will be selected by double-clicking on a dis-
played register.
3-53
3.5.5 Searching for Duplicate Coils
3.5.5 Searching for Duplicate Coils

A search for duplicate coils (coils using the same register) can be done in all the ladder programs, and the search results
can be displayed.
If the Project Link Connection is used, and the data in the project file does not match the data in the Machine Con-
troller, then the results in the Machine Controller may differ when the search for duplicate coils is executed.
To search for duplicate coils when the Project Link Connection is used, transfer the data to the project file by execut-
ing the Read from Controller command in advance.
1. Select Debug - Check for Multiple Coils from the Main Menu.
The search will be started, and the results will be output to the Check for Multiple Coils Subwindow.
If Enable to Multiple Coil Check is selected in the compile options, a search for duplicate coils will also be exe-
cuted while the program is being compiled and the results will be displayed in the Output Subwindow as a
warning.
For details on the compile options, refer to 3.3.17 Ladder Program Compiling and Compile Options.
3-54
3.5.6 Forcing Coils ON/OFF
( 1 ) Setting Coils to Forced ON/OFF in the Ladder Program

Programs can be monitored by forcibly turning specified coil objects ON or OFF in the Ladder Program Edit
Window.
1. Select the coil to be forcibly turned ON or OFF.
2. Select Debug - Force ON or Force OFF from the main menu.

The selected coil will be forcibly connected or disconnected.
Forced ON
Ladder Programming
Forced OFF
3
3. To clear the forced ON or forced OFF, select Debug - Clear Forced ON/OFF from the main menu.
Forced ON/OFF
cleared
3-55
( 2 ) Changing ON/OFF Status of Forced Coil

The ON/OFF status of the forced coil in all ladder programs can be displayed in a list.
In the Forced Coil List Subwindow, the ON or OFF status of forced coils in all programs can be changed or cleared.
The search results are displayed in the Forced Coil List Subwindow.
The components of the Forced Coil List Subwindow are as follows:
The Forced Coil List Subwindow consists of the list field and the toolbar containing buttons, each with a distinctive
icon, to search for forced coils, re-search, and change the forced status.
Toolbar
(a) (b) (c) (d) (e) (f)
(g) List field
Forced Status Coil Search Condition Setting Button ( )

Click this icon to display the Forced Coil Condition Setting Dialog Box. Specify the programs where forced
status coil search is to be executed, and click the Search Button to start the search.
Research Button ( )
Click this icon to research forced status coils in the programs specified in the Forced Coil Condition Setting
Subwindow.
Forced Status Clear Button ( )
Select the check boxes of the coils for which forced status is to be cleared, and click this icon to clear the forced
status of the selected coils.
Forced ON Button ( )
Select the check boxes of the coils to be forcibly turned ON, and click this icon to forcibly turn ON the selected
coils.
Forced OFF Button ( )
Select the check boxes of the coils to be forcibly turned OFF, and click this icon to forcibly turn OFF the
selected coils.
Variable Display Switching Button ( )

Click this icon to switch the display method of registers that the coil uses from/to Register to/from Variable.
(a) Forcing State
Indicates whether the searched coil is forced ON or OFF.
(b) Coil
Displays the searched coils.
The following six coil symbols are used according to coil type and status.
Coil Symbol
Coil Type
ON OFF
Coil -/ (ON)- -/ (OFF)-
Set coil -/ (S ON)- -/ (S OFF)-
Reset coil -/ (R ON)- -/ (R OFF)-
(c) Program
Displays the name of the program where the coil is searched.
3-56
(d) Variable
Displays the variables or registers that are set for the searched coil.
(e) Comment
Displays the comments set for the variable.
(f) Execution Step
Displays the execution step number where the searched coil is located.
Refer to 3.3.1 Ladder Program Edit Window for details.
(g) Check Box
Select the check boxes of the coils for which forced operations such as Forced ON, Forced OFF, and Forced
Status Clear are to be executed. Select an icon on the toolbar or select a command from the pop-up menu to set
or change the forced status of all the selected coils.
[ a ] Search in Forced Coil List Subwindow
1. Display the Forced Coil List Subwindow.

The Forced Coil List Subwindow can be displayed or hidden by selecting View - Other Windows - Forced Coil List
from the Main Menu.
2. Select Debug - Forced Coil List from the main menu.
Ladder Programming
The forced status coils will be searched in all programs, and the search results will be displayed in the Forced
Coil List Subwindow.
To specify the programs in which the search is to be executed, click the icon (forced coil search condition
setting) to display the Forced Coil Condition Setting Dialog Box.
Search Program
Select the program for which the search for forced status coils is to be executed. Type the program name or
select the program from the drop-down list box.
Search
Click this button to start search for forced status coils in the selected program and to display the forced status
coils in a list.
Cancel
Click this button to cancel the search operation.
3. The search results will be displayed in the Forced Coil List Subwindow.
Right-click in the list field of the Forced Coil List Subwindow and select Check All or Uncheck All from the pop-up
menu that appears. All the check boxes of forced status coils will be selected or cleared at once.
3-57
In the list in the Forced Coil List Subwindow, select or double-click a row to jump to the corresponding coil in the lad-
der program. Alternatively, select a row and right-click to display the pop-up menu, and select Jump from the pop-up
menu.
If the corresponding ladder program is not already open, it will be automatically opened to jump to the corresponding
coil.
Right-click in the list field of the Forced Coil List Subwindow and select Cross Reference from the pop-up menu that
appears. Alternatively, select Debug - Cross Reference from the Main Menu. The registers set for the forced status
coil will be searched and the search results will be displayed in the Cross Reference Subwindow.
If a ladder program is edited while the search results are displayed, the coils of the program that being edited is
shown in gray.
3-58
3.5.7 Referencing Called Programs

Programs called using the SEE or FUNC instructions can be opened and confirmed.
1. Select the SEE or FUNC instruction object for the program to be checked, and select Debug - REFER
from the Main Menu.
Ladder Programming
2. The referenced program will be displayed in the Edit Window.
Program information such as <-H06/step:0 in the diagram below will be displayed in the tab for the referenced
program.
3-59
3.6.1 Converting CP Ladder Programs as a Batch
3.6 Converting CP Ladder Programs to Ordinary Ladder Programs

The ladder programs created using CP ladder language (CP ladder programs) can be converted to ordinary ladder
programs. When converting a CP ladder program, DWG properties and comments in the program will be converted at
the same time.
An individual program, or multiple programs, selected from the Ladder Subwindow can be converted, and the results
will be output to the Output Subwindow.
The CP ladder program conversion function is enabled only when offline. (The function is disabled when a Machine
Controller is connected to the MPE720 version 6 (online).)
The security setting and enable/disable ladder program setting made for the CP ladder program remain valid after the
CP ladder program is converted.
Once a CP ladder program has been converted to an ordinary ladder program, the CP ladder program can-
not be opened any more.
If the CP ladder program is needed, use either of the following methods to save the project file.
• Copy the project file from Windows Explorer and paste.
• Select Edit - Save Project As from the main menu.
If a security setting has been set for the CP ladder program, it needs to be cleared before converting the CP
ladder program to a ladder program.
Refer to 1.9.4 Security: User Registration for details on security settings, and 3.4.3 ( 4 ) Enabling or Disabling Lad-
der Programs for details on enabling or disabling ladder programs.
When executing CP ladder program conversion for the first time, the following message will appear.
3.6.1 Converting CP Ladder Programs as a Batch

Select a program folder, such as High-speed, Low-speed, Start, Interrupt, and Function, that contains programs of the
lower hierarchical levels, or a ladder program that contains CP ladder programs from the Ladder Subwindow. All the
CP programs in the selected folder or program will be converted at once.
1. Select a program folder (High-speed, Low-speed, Start, Interrupt, or Function) or select a program that
contains programs of the lower hierarchical levels. Then, right-click the selected folder or program and
select Conversion of CP ladder from the pop-up menu.
When the selected program contains programs of lower hierarchical levels, the following message will appear
asking for confirmation.
Conversion: Click this button to convert the current program and all lower level programs to new ladder pro-
grams.
Select: Click this button to display the Conversion of CP ladder Dialog Box. See step 2 for details on setting.
Cancel: Click this button to cancel program conversion.
3-60
3.6 Converting CP Ladder Programs to Ordinary Ladder Programs
2. Click Select.
The Conversion of CP ladder Dialog Box will appear.
The check box of the CP ladder program specified in step 1 or the check boxes of the CP ladder programs that are
displayed under the ladder program specified in step 1 will be selected.
When a program from the second hierarchical level is specified in step 1, the check box of the programs of first
hierarchical level will also be selected.
After deselecting the check boxes of the CP ladder programs not to be converted in step 3, the check boxes of the
project file, ladder program folder, High-speed, Low-speed, Start, Interrupt, or Function folder to which non-selected
CP ladder programs belong will be shaded. This is because some of CP ladder programs in the file or folder are
selected and the rest are not selected.
First hierarchical level

Second hierarchical level
Ladder Programming
3. Clear the check boxes of CP ladder programs not to be converted. 3
Ordinary Ladder programs are shaded, and cannot be selected.
4. Click Conversion. All the selected CP ladder programs will be converted to new ladder programs.
If you click the Cancel Button, the CP ladder program conversion will be cancelled.
An error code (0xAxxxxxxx) and an error name may be displayed in the Output Subwindow in accordance with
the changed program.
Select the error code (0xAxxxxxxx) and press the F1 Key. Error Generating Information will appear.
Check the error causes and take corrective action.
3-61
3.6.2 Converting a Program Individually
3.6.2 Converting a Program Individually

Select a CP ladder program that does not contain programs of lower hierarchical levels, or a CP ladder program under
which no hierarchical structure is displayed, from the Ladder Subwindow. The selected CP ladder program can be
individually converted to a new ladder program.
1. Select a CP ladder program that does not contain programs of lower hierarchical levels, or a CP ladder
program under which no hierarchical structure is displayed, from the Ladder Subwindow. Then, right-
click the selected program and select Conversion of CP ladder from the pop-up menu.
2. Click OK.
When the selected program contains programs of lower hierarchical levels, refer to 3.6.1 Converting CP Lad-
der Programs as a Batch.
3. Click Yes. The selected CP ladder program will be converted to an ordinary ladder program.
3-62
4
Motion Programming
This chapter describes an overview of motion programs and how to develop motion programs.
4.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.1.1 What Is a Motion Program? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.1.2 Flow from Program Creation to Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
Motion Programming
4.1.3 Differences Compared with Existing Motion Programs - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.2 Starting a Motion Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6

4.3 Motion Program Part Names and Functions - - - - - - - - - - - - - - - - - - - - - - 4-7
4.3.1 Motion Subwindow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
4.3.2 Group Definition Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
4.3.3 Motion Editor Tab Page - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.3.4 Motion Task Setting Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
4.3.5 Motion Alarm Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12 4
4.3.6 Drive Control Panel Tab Page - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.3.7 Breakpoints Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
4.4 Main Menu List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15

4.4.1 Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
4.4.2 Debug - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
4.5 Toolbar List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16

4.5.1 Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
4.5.2 Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
4.5.3 Motion Debugging - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-17
4.6 Group Definition - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-23

4.7 Creating and Editing Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24
4.7.1 Setting a Group Definition - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24
4.7.2 Creating a New Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25
4.7.3 Editing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26
4.8 Compilation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-34

4.9 Preparing for Executing a Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36
4.9.1 Allocation to a Ladder Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36
4.9.2 Allocation to the Task Allocation Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36
4-1
4 Motion Programming
4.10 Debugging and Monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39

4.10.1 What is Debugging and Monitoring? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-39
4.10.2 Debug Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-39
4.10.3 Normal Operation Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-40
4.10.4 Alarm Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-41
4.10.5 Setting Motion Tasks - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-41
4.11 Test Running Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42

4.11.1 Explanation of the Drive Control Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-42
4.11.2 Operations on the Drive Control Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-43
4.11.3 Test Running and Monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-43
4.11.4 When an Alarm has Occurred During a Test Run - - - - - - - - - - - - - - - - - - - - - - - - - -4-45
4.12 Program Management in the Motion Subwindow - - - - - - - - - - - - - - - - - 4-46

4.12.1 Editing Motion Program Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-46
4.12.2 Displaying Property Columns - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-48
4.12.3 Compiling Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-49
4.12.4 Properties of Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-50
4-2
4.1 Overview
4.1 Overview
4.1.1 What Is a Motion Program?
A motion program is written in a text language called motion language.
Such a program can be executed either by referencing (calling) it from a ladder program using an MSEE command, or
by registering it in the M-EXECUTOR module using the Task Allocation Window.
A combined total of 256 programs of the motion program and sequence program types can be created.
Motion Programming
Motion programs consist of main programs (MPMxxx) and sub programs (MPSxxx). Main programs are called
directly from ladder programs, and sub programs are called from either main programs or other sub programs.
The “xxx” represents a number from 1 to 256.
4
4-3
4.1.2 Flow from Program Creation to Execution
4.1.2 Flow from Program Creation to Execution

The flow of the procedure from creating a motion program to debugging it is shown below.
Preparation: Setting group

Refer to 4.6 Group Definition.
definitions
Creating/editing the program Refer to 4.7 Creating and Editing Programs.
Compilation Refer to 4.8 Compilation.
Debugging and monitoring Refer to 4.10 Debugging and Monitoring.
Test running the program Refer to 4.11 Test Running Programs.
4-4
4.1 Overview
4.1.3 Differences Compared with Existing Motion Programs

The motion editor of the Engineering Manager has been integrated into the MPE720 Ver. 6 Window.
Addition of the autocomplete function and guidance function when inputting commands has made program editing
work easier.
Note that you can continue to use motion programs that you have created up until now without any conversion.
Motion Programming
4
4-5
4.2 Starting a Motion Program

Start the XY Trace Window in the main window.
1. Starting from the Motion Subwindow

Double-click the motion program that you want to open.
2. Starting from My Tool

Opening an existing motion program:
Click the Open Motion Program Button registered in the My Tool Window, then select the program num-
ber from the program selection window.
Creating a new motion program:
Click the Create New Motion Program Button registered in the My Tool Window, then enter the program
number in the new program creation window.
(1)
(2)
4-6
4.3 Motion Program Part Names and Functions

4.3.1 Motion Subwindow
The Motion Subwindow is a subwindow for managing motion programs.
The contents of the motion program folder in a project file are displayed in a tree hierarchy.
In the Motion Subwindow, the following operations can be performed in
relation to the motion program.
Motion program
• Creating programs (Refer to 4.7 Creating and Editing Programs.)
• Opening
• Deleting
• Changing names
• Compiling (Refer to 4.8 Compilation.)
• Displaying properties
• Setting and cancelling passwords
Task (M-EXECUTOR)
Motion Programming
• Allocating tasks (Refer to 4.9.2 Allocation to the Task Allocation
Function.)
Drive Control Panel
• Operation control panel (Refer to 4.11 Test Running Programs.)
4-7
4.3.2 Group Definition Window
4.3.2 Group Definition Window

This is a definition window in which multiple axes are assembled into one group.
(1) (4)
(2) (5)
(8)
(3)
(7)
(6)
(9) (10)
Number Name Details

Displays the group rows (group numbers and names) for the number of groups entered in
(1) Group List
the No. of Group field.
Sets the number of groups that you want to create. A maximum of 8 groups can be cre-
(2) No. of Group
ated.
Assigns a name to each group.
(3) Group Name
Names of up to 16 characters can be assigned.
Sets the axis specifications for the selected group. When the number of controlled axes is
(4) Axis Specification entered in the Control Axis No. field, setting rows for the specified number of axes will
be displayed.
(5) Control Axis No. Sets the number of axes that can be controlled in one group.
(6) Circuit (number) Sets the circuit numbers assigned to each module.
(7) Axis No. Sets the numbers assigned to each axis.
Sets the logical axis names.
(8) Logical Axis Name The set of the circuit (number) and axis number is called the “physical axis”. The name
assigned to this physical axis is called the “logical axis name.”
(9) OK Sets the group definitions and return to the MPE720 Ver. 6 Window.
(10) Cancel Returns you to the MPE720 Ver. 6 Window without setting the group definitions.
4-8
4.3.3 Motion Editor Tab Page

The window where motion programs are created is called the Motion Editor.
The window display for the Motion Editor is as follows.
The explanation given here relates to the Motion Subprogram Window.
(2)
(1) (3)
(4)
(5)
(7)
(6)
(8)
Motion Programming
(9) (10)
Number Name Details

Follows up the block being executed and always displays the block in the win-
dow.
Displays the Motion Alarm Window.

(1) Monitor toolbar
References a motion subprogram. 4
Displays the Motion Task Window.
Compiles the open program.
Displays the Motion Command Assist Window.

(2) Program toolbar
Automatically appends a semicolon.
Displays the Task Allocation Window.
4-9
4.3.3 Motion Editor Tab Page
Number Name Details
Activates the debug mode.
Activates the normal operation mode.
Executes a program.
Stops the execution of a program.
Forcibly terminates the program being executed.
Activates the step-in mode.

(3) Motion debugging toolbar
Activates the step-over mode.
Changes the selection of the line from which execution is started.
Sets/cancels a break point.
Activates/deactivates a break point.
Displays a list of break points.
Updates to the latest status.
You can check the syntax of motion commands while creating a motion program. When
(4) Entry guidance the cursor is located on a motion command (blue), the entry method for that command is
displayed.
This is the line number counting the number of the lines of stated character strings (com-
(5) Line number
mands, comments, blank lines, etc.).
This is the line number counting only the executable lines. (Comments, blank lines and so
(6) Block number
on are not counted.)
(7) Editing (entry) area This is the area in which programs are input.
Displays the current operation mode and alarm occurrence status.
[Normal operation mode]
Executing: Execution in progress
Alarm: An alarm has occurred.
(8) Status bar
[Debug mode]
Running in the debug mode: Debug Mode
Single block stop in effect: Debug Mode >>> Suspend
Alarm has occurred: Debug Mode >>> Alarm
(9) Fork/Nest Displays fork numbers and nest numbers.
(10) Main program Displays the number of the main program referencing this motion program.
4-10
4.3.4 Motion Task Setting Window

This is the window in which you make the following and other settings for a subprogram: the main program from
which it is to be called, and the fork from which it is to be called.
(1)
(2)
(3)
(4) (5)
Number Name Details
Motion Programming
(1) Main Program No. Sets which main program a subprogram is to be called from.
(2) Fork No. Sets which fork of the main program a subprogram is to be called from.
(3) Nest No. Sets the nesting level at which the subprogram is to be called.
(4) OK Sets the motion task and returns you to the Motion Editor Tab Page.
(5) Cancel Returns you to the Motion Editor Tab Page without setting the motion task.
4-11
4.3.5 Motion Alarm Window
4.3.5 Motion Alarm Window

This is the window in which you check alarms while a motion program is being executed.
(1) (2) (3) (4) (5)
(6)
(7)
(8)
Number Name Details

(1) Task Displays the task number.
(2) Program name Displays the program number.
(3) Block number Displays the block number in which an alarm has occurred.
(4) Axis number Displays the axis number where an alarm has occurred.
(5) Status (alarm name) Displays the alarm name.
(6) Alarm Contents Displays the details of the alarm.
(7) Corrective Action Displays the corrective action for the alarm that has occurred.
Closes the Motion Alarm Window and returns you to the Motion Editor Tab
(8) OK
Page.
4-12
4.3.6 Drive Control Panel Tab Page

This is a window in which you can run a test operation before executing a program, and monitor the operating status of
a program that is being executed.
(1)
(2)
(3)
(4)
Motion Programming
4
Number Name Details

(2) Main program Displays the main program number.
Motion Program Control Sig-
(3) Displays the status for control signals.
nals
Displays the status for control signals.
(4) Status : This is the status when the system is operating normally.
: This is the status when an error has occurred at this bit.
4-13
4.3.7 Breakpoints Window
4.3.7 Breakpoints Window

This is the window for setting or canceling break points.
(1) (2)
(4)
(3) (5)
(8)
(6) (7) (9) (10)
Number Name Details

(1) Program Type Displays the type of program.
(3) Program Displays the program number of the program where the break point is set.
(4) Line Number Displays the line number where the break point is set.
(5) Block Number Displays the block number where the break point is set.
(6) Add Sets a new break point.
(7) Delete Cancels a set break point and removes it from the list.
(8) Edit Program Opens the selected program.
(9) OK Sets the break point and returns you to the Motion Editor Tab Page.
(10) Cancel Returns you to the Motion Editor Tab Page without setting the break point.
4-14
4.4 Main Menu List
4.4 Main Menu List
(1) Program (2) Debug
4.4.1 Program
The menu options used for program operations are shown below.
Item Function
Motion command assist Displays the Motion Command Assist Window.
Add semicolons Automatically appends a semicolon.
Line comment Inserts a line comment.
Cancel line comment Cancels a line comment.
Line indent Inserts a line indentation.
Cancel line indent Cancels a line indentation.
Set/cancel bookmark Sets/cancels a bookmark.
Next bookmark Moves you to the next bookmark.
Motion Programming
Previous bookmark Moves you to the previous bookmark.
Clear bookmark Cancels a set bookmark.
4.4.2 Debug
The menu options used for debugging operations are shown below.
Item Function
Debug mode Activates the debug mode. 4
Normal operation mode Activates the normal operation mode.
Execute Executes a program.
Break Stops the execution of a program.
Forced termination Forcibly terminates the program being executed.
Step-in Activates the step-in mode.
Step-over Activates the step-over mode.
Move execution start line Changes the selection of the line from which execution is started.
Set/cancel break point Sets/cancels a break point.
Activate/deactivate break point Activates/deactivates a break point.
List break points Displays a list of break points.
Update current position Updates to the latest status.
Set motion task Displays the Motion Task Window.
Reference motion subprogram References a motion subprogram.
Motion alarm Displays the Motion Alarm Window.
Add to watch Adds a register to the watch.
Add to trace Adds a register to the trace.
4-15
4.5.1 Monitor
4.5 Toolbar List

4.5.1 Monitor
( 1 ) Monitor Auto Scroll

The monitor auto scroll function follows up the block being executed and always displays the block in the window.
Icon
Follows up the block being executed and always displays the block in
Monitor auto scroll ON
the window.
Monitor auto scroll OFF Automatic scrolling is not performed.
Automatic scrolling is cancelled by performing the following operations as well as turning the monitor auto scroll OFF.
• Pressing any key on the keyboard
• Left or right-clicking with the mouse
• Moving the mouse wheel
• Moving the vertical scroll bar of the Program Window
( 2 ) Motion Alarm
Displays the Motion Alarm Window.
For details on motion alarms, refer to 4.10.4 Alarm Display.
( 3 ) Reference Motion Subprogram

Displays the subprogram being referenced.
( 4 ) Set Motion Task

Displays the dialog box for motion task settings.
For details on motion task settings, refer to 4.10.5 Setting Motion Tasks.
4.5.2 Program
( 1 ) Compile
Compiles the open program.
( 2 ) Motion Command Assist

Displays the Motion Command Assist Window.
4-16
4.5 Toolbar List
( 3 ) Add Semicolons
This is a function whereby semicolons can be automatically appended at the end of lines on pressing the Enter key
when entering a motion command.
By clicking icons you can select the mode in which semicolons are automatically appended.
If there is already a semicolon at the end of a line, no semicolon is appended.
Icon
Automatically append semicolon Semicolons are automatically appended at the ends of lines.
Don’t automatically append semicolon Semicolons are not automatically appended at the ends of lines.
( 4 ) Allocate Task
Displays the Task Allocation Window.
4.5.3 Motion Debugging
( 1 ) Debug Mode
Selects the debug mode.
Motion Programming
4
4-17
( 2 ) Normal Operation Mode

Selects the normal mode.
( 3 ) Execute Program
Runs a program continuously.
On reaching a breakpoint line, execution stops at that line. Execution continues until break, forced termination or nor-
mal operation is invoked.
( 4 ) Break
Temporarily stops the program during debug operation.
( 5 ) Forced Termination
Forcibly terminates execution of the program during debugging.
Processing beyond the line of the program that is currently being executed is not executed.
4-18
4.5 Toolbar List
( 6 ) Step In
Executes one line of a program.
When an MSEE command or SSEE command is executed in the step-in mode, the control moves to the initial line of
the subprogram.
( 7 ) Step Over
Executes one line of a program.
When an MSEE command or SSEE command is executed in the step-over mode, the control moves to the next line
after execution of the subprogram.
( 8 ) Move Execution Start Line

Changes the selection of the line from which program execution is started to the line where the cursor is located.
Motion Programming
4
1. Place the cursor on the line where you want program execution to start.
2. Click the Move Execution Start Line icon ( ).
3. A confirmation message for moving the execution start line is displayed.
4-19
4. On clicking the Yes Button, the execution start line is moved to the point where the cursor is located.
* “OB88000 = 1” is not executed.
( 9 ) Set/Delete Breakpoint
Sets/deletes breakpoints.
Set breakpoint: Sets a breakpoint. Up to four breakpoints can be set in one motion program.
Delete breakpoint: Clicking the icon again on a line where a breakpoint has been set deletes that breakpoint.
4-20
4.5 Toolbar List
( 10 ) Activate/Deactivate Breakpoint
Activates and deactivates breakpoints.
Activate breakpoint: Activates the selected breakpoint.
Deactivate breakpoint: Deactivates the selected breakpoint.
Motion Programming
( 11 ) Breakpoints Window 4
The set breakpoints are listed here.
The check boxes of the lines where breakpoints are activated are checked here. The check boxes of lines where break-
points are deactivated are not checked.
Breakpoints can also be set and deleted in the Breakpoints Window.
4-21
[ a ] Setting a Breakpoint
1. Click the Add Button in the Breakpoints Window.

The Edit Breakpoints Window will be displayed.
2. Set the Program Kind, the Program Name, and the Block Number where you want to set the break-
point, then click the Add Button.
[ b ] Deleting a Breakpoint
1. Select the breakpoint to be deleted in the Breakpoints Window, then click the Delete Button.
The selected breakpoint will be deleted.
( 12 ) Update Current Position

Updates the display to the latest status.
This has the same function as the PLD command. While this icon is selected, the current position is updated on press-
ing the icon for step in, step over, or execute operations.
For details on the PLD command, refer to Machine Controller MP2000 series User’s Manual for Motion Program-
ming (manual No.: SIEP C88070038) 8.3.3 Program Current Position Update (PLD).
4-22
4.6 Group Definition
4.6 Group Definition

Group definition means definition whereby multiple axes are organized into one group.
With motion programs, the axes that operate in conjunction with each other are organized into individual groups, and
programs can be created for each group.
For each of these axes, a Circuit (number) and Axis No. is set, and this is used as the “physical axis.” This physical axis
with a name assigned is called the “logical axis name.”
Motion Programming
4
4-23
4.7.1 Setting a Group Definition
4.7 Creating and Editing Programs

Use the procedure described below to create and edit motion programs.
The Module Configuration must be defined for a new motion program to be created. Refer to 2.1 Module Con-
figuration and set the Module Configuration.
4.7.1 Setting a Group Definition

The group definition has to be set before creating a motion program.
Use the procedure described below to set a group definition.
1. Double-click the Motion program folder in the Motion Subwindow. Alternatively, right-click on Motion
program and select Group Definition from the pop-up menu.
Or, double-click the Axis Variable folder in the Variable Subwindow.
The Group Definition Dialog Box will be displayed.
2. Set the items, and then click the OK Button.

In the Logical Axis Name field, enter a string of up to 8 alphanumeric characters with a letter of the alphabet
as the leading character. Do not use a numeral as the leading character.
4-24
4.7.2 Creating a New Program

1. In the Motion Subwindow, right-click on the Main program folder or Sub program folder under the
Motion program folder, and then select New from the pop-up menu.
2. Set each item in the Configuration, and then click the OK Button.
For details on Detail definition and Modified history, refer to 4.12.4 Properties of Motion Programs.
Motion Programming
The Motion Editor Tab Page is displayed in the main window, enabling editing of the motion program. 4
4-25
4.7.3 Editing
4.7.3 Editing
( 1 ) Environment Setting
[ a ] Motion/Tab
The tab stop position and the size of automatic indentation.
Select Motion - Tab from the tree of the Environment Setting Dialog Box.
Tab: Sets the tab stop position. The tab stop position and the size of automatic indentations share
the same setting.
Indent: Automatic indentation is a function to indent the start position of the next line to the tab stop
position of the current line when the Enter key is pressed. When the Auto indent check box
is selected, automatic indentation is activated. The tab stop position and the size of automatic
indentations share the same setting.
4-26
[ b ] Motion/Font
Different colors can be used for motion commands, logical axis names, comments to distinguish them from other text
strings in programs. This makes it possible to comprehend the program code at a glance.
Select Motion - Font from the tree in the Environment Setting Dialog Box and then change the settings.
Motion Programming
Item Default Character Color Default Background Color
Text Black -
Motion command Blue -
Axis Name Dark red -
Comment Green - 4
Block line while executing White Black
Line occurred execution error White Red
Line occurred compile error White Red
( 2 ) Edit
The Windows standard editing functions are as follows.
[ a ] Undo
Undoes the last operation performed.
[ b ] Redo
Performs the last operation performed again.
[ c ] Cut
Cuts the selected range and stores it on the clipboard.
4-27
4.7.3 Editing
[ d ] Copy
Copies the selected range and stores it on the clipboard.
[ e ] Paste
Pastes the contents of the clipboard.
[ f ] Delete
Deletes the selected range.
[ g ] Select All
Selects all the programs in the file.
[ h ] Find
Searches for a character string in the program. Enter the character string to be searched for as it is written in the pro-
gram.
Example: If the character string in the program is “MW1,” enter “MW1.” If you enter “MW01” or “MW00001,”
“MW1” will not be searched for.
This function is usable when the connection with the Machine Controller is broken (when offline).
[ i ] Replace
Replaces a character string in the program with another character string. Enter the character string to be searched for as
it is written in the program.
Example: If the character string in the program is “MW1,” enter “MW1.” If you enter “MW01” or “MW00001,”
“MW1” will not be searched for.
4-28
[ j ] Search in Project
All motion programs and ladder programs (or specified programs) within a project file can be searched for registers.
You can specify multiple programs at Target Program by separating them with a comma or a space. You can also use
“*” (the wild card) in the Target Program field, as shown below.
*, MPM*, MPS*
Wildcards can be used only in the above forms. They cannot be used in forms such as “MPM001.*”
[ k ] Replace in the Project
Motion Programming
Registers and addresses can be searched for and replaced in all the motion programs or ladder programs (or specified
programs) within a project file.
You can specify multiple programs at Target Program by separating them with a comma or a space. You can also use
“*” (the wild card) in the Target Program field, as shown below.
*, MPM*, MPS*
Wildcards can be used only in the above forms. They cannot be used in forms such as “MPM001.*”
4-29
4.7.3 Editing
( 3 ) Programs
[ a ] Entering Commands
There are two method for entering motion commands: entry by using the motion command assist function and entry by
direct entry from the keyboard.
When Using the Motion Command Assist Function

This is a function that assists you with the entry of motion commands. By using this function you can understand the
command setting method, and you can enter motion commands easily.
The motion command assist function is available in MPE720 Ver.6.04 and later versions.
1. Display the Motion Command Assist Dialog Box by using any of the following methods.
• Select Program - Motion Command Assist from the Main Menu.

• Click the Motion Command Assist icon ( ) in the toolbar.
• Select Motion Command Assist from the pop-up menu.
• Select Insert Command and then a desired command from the pop-up menu.
• Press the F12 Key in the Motion Editor Tab Page.
2. On completing the necessary settings, click the Insert Button.

The motion command for which the value has been set will be inserted at the cursor position in the motion pro-
gram.
You can insert multiple motion commands in succession.
The servo ON, servo OFF and alarm clear commands can be set easily by selecting Insert Command - Servo ON/
Servo OFF/Alarm Clear from the pop-up menu.
3. After completing the insertion of motion commands, click the Close Button.
4-30
When Using Direct Entry

Type in the motion command directly from the keyboard.
For details on motion commands, refer to Machine Controller MP2000 series User’s Manual for Motion Program-
ming (manual No.: SIEP C88070038).
[ b ] Setting Line Comments
1. Move the cursor to the start of the range of lines to be commented out.
2. Select Program - Line Comment from the Main Menu.

The selected range of lines is set as a comment.
Motion Programming
[ c ] Canceling Line Comments
1. Move the cursor to the start of the commented out line to be retrieved as code.
2. Select Program - Cancel Line Comment from the Main Menu.

The comment is retrieved as code.
4
4-31
4.7.3 Editing
[ d ] Setting Line Indents
1. Select the range where you want to set an indent.
2. Select Program - Line Indent from the Main Menu.
[ e ] Canceling Line Indents
1. Select the range in which you want to cancel the indent.
2. Select Program - Cancel Indent from the Main Menu.
[ f ] Bookmarks
This is a “bookmark” function that can be used within motion programs.
Bookmarks can be set in line units. By pressing the F2 Key, you can jump to the location where a bookmark has been
set.
Bookmarks that have been set remain in effect until the Editor Window is closed.
Setting and canceling bookmarks Select Program - Set/Cancel Bookmark from the Main Menu.
Press the Ctrl + F2 Keys.
Clearing bookmarks Select Program - Clear Bookmark from the Main Menu.
Jumping to the next bookmark Select Program - Next Bookmark from the Main Menu.
Press the F2 Key.
Jumping to the previous bookmark Select Program - Previous Bookmark from the Main Menu.
Press the Shift + F2 Keys.
4-32
( 4 ) Other
[ g ] Autocomplete
This is a function that assists you with the entry of motion commands. When you want to use a logical axis or a subpro-
gram, you can select the available logical axes and subprograms.
There are the following two methods for autocomplete.
Logical axis autocomplete:

On entering a space or pressing the “[” key after a motion command
for which a logical axis needs to be selected, the available logical axes
are shown in a pop-up display.
Program autocomplete:
On entering a space after an MSEE command or SSEE command, the
Motion Programming
subprograms that can be referenced are shown in a pop-up display.
4-33
4.8 Compilation
This is the checking and saving of created motion programs.
1. Compile the motion programs using any of the following operations.
• Select Compile - Compile from the Main Menu.

→ The program displayed in the foreground of the main window will be compiled.
• Select Compile - Compile All Programs from the Main Menu.
→ All programs, including motion programs, will be compiled.
• Select a project file name in the Motion Subwindow, and then right-click and select Compile All Programs
from the pop-up menu that will be displayed.
→ All motion programs will be compiled.
• Select a folder or program in the Motion Subwindow, and then right-click and select Compile from the pop-up
→ All of the programs that belong to the selected folder or program are compiled.
• Click the compile icon ( ) in the program toolbar.
→ The program displayed in the foreground of the main window will be compiled.
While connected to the Machine Controller, it is not possible to compile entire folders or use Compile All Pro-
grams.
Motion program compilation is executed and the result of the compilation is output to the Output Subwindow.
4-34
4.8 Compilation
If an error or alarm occurs at compilation, double-click the error indication in the Output Subwindow. The program line
in which the error or alarm has occurred will be shown in red.
Motion Programming
4
When compiling while connected to the Machine Controller, the following restrictions apply.
• During program execution
Compilation is not possible while the program is being executed.
• During program debugging
It is possible to compile a program during a single block stop. However, compilation is not possible when
a subprogram has been called with an MSEE (SSEE) command.
4-35
4.9.1 Allocation to a Ladder Program
4.9 Preparing for Executing a Program

In order to execute a motion program, it is necessary to have allocated the motion program to a ladder program or M-
EXECUTOR module in advance.
When the program is executed from a ladder program:

See 4.9.1 Allocation to a Ladder Program.
When the program is executed from an M-EXECUTOR module:
See 4.9.2 Allocation to the Task Allocation Function.
4.9.1 Allocation to a Ladder Program

When executing a motion program from a ladder program, use the MSEE command in the ladder program.
1. Enter the MSEE command in the ladder program.
2. Enter the program number of the motion program to be executed and the work register for execution
and then compile the ladder program.
Motion program number

Work register
4.9.2 Allocation to the Task Allocation Function

This allows you to execute a program without using a ladder program.
Allocating programs to the Task Allocation Function makes it possible to directly control the motion programs, and
enables sequence programs to be started easily.
The procedure for allocating a program to the Task Allocation Function is as follows.
1. Open the Module Configuration Window and allocate and save the M-EXECUTOR module.
At the initial startup, M-EXECUTOR is only allocated for Machine Controllers MP2300S and MP2400.
2. Double-click the M-EXECUTOR module.

The Program definition Tab Page in the M-EXECUTOR Module Window opens.
4-36
4.9 Preparing for Executing a Program
3. Set the number of tasks to be allocated (1 to 16) at Program definition number, and save.
The number of tasks set at Program definition number becomes the number of task allocations in the Motion
Subwindow.
4.
Motion Programming
Close the M-EXECUTOR Module Window.
5. Press the F5 Key in the Motion Subwindow, or right-click and then select Update from the pop-up
menu.
The Motion Subwindow is updated with the latest information.
6. At Task (M-EXECUTOR) in the Motion Subwindow, double-click the task number where you want to
register the program. If the motion program is open, click the task allocation icon ( ) in the Motion 4
Program Window.
The Task Allocation Dialog Box will be displayed.
7. Make the following settings, then click the Set Button.
4-37
4.9.2 Allocation to the Task Allocation Function
Task Allocation No.: The task number to which the program is to be allocated is shown here. If you
have clicked the task allocation icon ( ) in the toolbar of the Motion Program
Window, you can select the task number from the combo box.
Task Type: Set the type of the program to be executed here.
Program to be Exe-
Task Type Execution Conditions
cuted
Executed once only when the power is
Sequence program (start)
turned on.
Sequence program
Sequence program Executed every low-speed scan time.
(L scan)
Sequence program
Executed every high-speed scan time.
(H scan)
Executed when the “program operation
Motion Programs Motion program
start request” control signal is on.
Program Specification: Select the method for specifying the program here.
Direct: The method where a program number is specified (for example MPM001)
Indirect: The method where a register in which the program number is stored is specified
(for example: register types that can be entered, such as MW01000)
Program: Set the program number here.
Allocation Register: Set the allocated registers here. You can set any kind of register: I registers, O registers
or M registers.
Programs are registered in tasks.
4-38
4.10 Debugging and Monitoring

4.10.1 What is Debugging and Monitoring?
This is a function that makes it easy to find bugs in a program by monitoring the line that is currently being executed
online.
Debugging and monitoring can also be performed by checking the operating status at the Drive Control Panel.
Motion Programming
There are two types of debugging and monitoring: the debug mode and the normal operation mode.
Debug mode: This is the mode in which the program is executed line by line while checking. While
operating in the debug mode you can check the operation status at the Drive Control
Panel. 4
Normal operation mode: This is the mode in which the program is executed continuously from start to end.
4.10.2 Debug Mode

This is the mode in which the program is executed line by line while checking.
4-39
4.10.3 Normal Operation Mode
4.10.3 Normal Operation Mode

This is the mode in which the program is executed continuously from start to end. Blocks are monitored individually.
( 1 ) Block Monitor
When a program is executed, the block being executed is highlighted.
[ a ] With a Subprogram
For subprograms, a motion task has to be set in advance.
Monitoring will not be executed with respect to subprograms for which no motion task is set. For details on setting
motion tasks, see 4.10.5 Setting Motion Tasks.
[ b ] With a Sequence Program

In the case of sequence programs, the block being executed is highlighted only in the debug mode.
[ c ] When the Program is Being Edited

When a program is edited while it is being executed, the block monitor function operates as shown below.
When the program has been edited: The block being executed is not highlighted.
When the Ctrl + Z Keys are pressed
during program editing: The block being executed is highlighted.
On compilation after editing the program: The block being executed is highlighted.
4-40
4.10.4 Alarm Display

When an alarm occurs during execution of a motion program, the line that was being executed is displayed in red.
Motion Programming
1. Double-click the line that is displayed in red.
The Motion Alarm Dialog Box will be displayed.
The location where the alarm occurred, the details of the alarm and the method for correcting the alarm are dis-
played.
4
3. Close the Motion Alarm Dialog Box and correct the alarm in the motion program.
4.10.5 Setting Motion Tasks

When a subprogram is used in a motion program, the following settings have to be made for the subprogram.
Main Program No.: The number of the main program that calls the subprogram
Fork No.: The number of the fork that calls the subprogram (default: No setting)
Nest No.: The nest number that calls the subprogram (default: No setting)
There are two methods for setting motion tasks.
Simple monitor: Set only the main program number.
Detailed monitor: Set the main program number, the fork number and the nest number.
4-41
4.11.1 Explanation of the Drive Control Panel
4.11 Test Running Programs

To test run a program, use the Drive Control Panel function.
4.11.1 Explanation of the Drive Control Panel

This is a function that allows you to test run a program before executing it, and to monitor the operating status of the
program while it is being executed.
On the Drive Control Panel you can issue commands for each bit, including operation start and stop requests, alarm
reset requests and so on. You can also monitor the status of the program that is being executed.
The Machine Controllers permit test running only of the motion programs registered in the M-EXECUTOR module.
4-42
4.11.2 Operations on the Drive Control Panel

The following operations can be performed on the Drive Control Panel.
( 1 ) Pop-up Menu
Open Program: Opens the registered main program.

Task Allocate: Opens the Task Allocation Window for the selected task number.
Motion Alarm: Opens the Motion Alarm Window.
Enable Panel Control: Enables panel operations.
( 2 ) ON/OFF Status of Bits

After panel operations have been enabled, button operations are possible.
: This is the status when the bit is OFF.
Motion Programming
: This is the status when the bit is ON.
4.11.3 Test Running and Monitoring

Before executing a motion program from a ladder program or M-EXECUTOR module, you can test run it manually.
You can easily perform a test run by simply clicking a button ( ), while at the same time checking the operat-
ing status.
Turn the bit ON. The operating status monitor comes ON. 4
1. Click Drive Control Panel in the Motion Subwindow.

The Drive Control Panel Tab Page will be displayed.
It is necessary that the program has been registered in advance at Task (M-EXECUTOR). For the setting
method, see 4.9.2 Allocation to the Task Allocation Function.
4-43
4.11.3 Test Running and Monitoring
2. Right-click in the row of the task number under which the program is registered, then select Enable
Panel Control from the pop-up menu.
This will enable operation of the buttons ( ).
If Enable Panel Control in the pop-up menu is not checked, the buttons are disabled.
3. When panel operation is enabled, you can perform operations on the following bit registers.
Bit Name Reference Register

Start request Bit 0
Pause request Bit 1
Stop request Bit 2
Single block mode selection Bit 3
Single block start request Bit 4
Alarm reset request Bit 5
Program continuous operation start request Bit 6
Skip1 information Bit 8
Skip2 information Bit 9
System work number setting Bit D
Interpolation override setting Bit E
The operating status of the bit registers whose registers have been operated can be checked at status.
Bit Name Reference Register

Running Bit 0
Pausing Bit 1
Stopped Bit 2
Stopped under single block mode Bit 4
Alarm Bit 8
Stopped at breakpoint Bit 9
Debugging mode Bit B
Start request signal history Bit D
No system work error Bit E
Main program number limit error Bit F
• When the test run has ended, disable panel operation in order to prevent misoperation.
Select Enable Panel Control from the pop-up menu.
4-44
4.11.4 When an Alarm has Occurred During a Test Run

If an alarm has occurred during a test run, the task number and the Bit8 : Alarm alarm status are displayed in red.
You can check information such as the line where the alarm occurred and its cause in the Motion Alarm Window.
To display the Motion Alarm Window, right-click the column of the task number where the alarm occurred and select
Motion Alarm from the pop-up menu.
For details on the Motion Alarm Window, see 4.3.5 Motion Alarm Window.
Motion Programming
4
4-45
4.12.1 Editing Motion Program Files
4.12 Program Management in the Motion Subwindow

4.12.1 Editing Motion Program Files
While the Machine Controller is disconnected (i.e., while offline), motion programs can be cut, copied, pasted, deleted,
or renamed in the Motion Subwindow.
When the Save As command is used in the Engineering Manager, the operation may not be reflected in the Motion
Subwindow display. Before performing operations, be sure to update the Motion Subwindow information by selecting
Display - Update from the Main Menu, or by right-clicking in the Motion Subwindow and selecting Update.
( 1 ) Cutting, Copying and Pasting

An entire motion program can be cut or copied and then pasted into either the same project file or another project file.
1. In the Motion Subwindow, select the motion program that is to be edited, and then select Edit - Cut (or
Copy or Paste) from the Main Menu. Alternatively, right-click and then select Cut, Copy or Paste from
the pop-up menu.
Programs cannot be cut, copied, or pasted between main programs and sub programs.
Before cutting a ladder program, finish editing and close the ladder program.
Between Main Pro-

Between Project Between Groups (within the
Same Project File gram and Subpro-
Files Same Project File)
gram
Cut ○ ○ × ○
Copy ○ ○ × ○
Paste ○ ○ × ○
When Paste is selected, the following confirmation message will be displayed. Click the OK Button to go ahead
with pasting.
4-46
( 2 ) Deleting
Before using this function, first close the motion program that is to be deleted.
1. In the Motion Subwindow, select the program that is to be deleted.
2. Either select Edit - Delete from the Main Menu, or right-click the selected program file and select
Delete from the pop-up menu that will be displayed. Alternatively, press the Delete Key.
( 3 ) Renaming
Before using this function, first close the motion program that is to be renamed.
1. Select the program that is to be renamed in the Motion Subwindow.
Motion Programming
2. Right-click the selected program and select Rename from the pop-up menu that will be displayed.
3. Change the program name displayed in the Program Name field, then click the OK Button.
The program number cannot be changed.
4-47
4.12.2 Displaying Property Columns
4.12.2 Displaying Property Columns

The Motion Display Property Dialog Box will be displayed by clicking the Motion Program Properties Button.
All of the check boxes are cleared by default.

For details on privileges, refer to 4.12.4 (1) Configuration.
To display information in the Motion Subwindow, select the appropriate check box and then click the OK Button. A
column for that information will then be displayed in the Motion Subwindow.
4-48
4.12.3 Compiling Motion Programs

A motion program can be compiled by first selecting the program in the Motion Subwindow, and then right-clicking
and selecting Compile from the pop-up menu.
When an individual program is selected, only that program will be compiled.
When a folder is selected, all of the programs in that folder will be compiled.
Motion Programming
The results of the compile operation will be output in the Output Subwindow.
4-49
4.12.4 Properties of Motion Programs
4.12.4 Properties of Motion Programs

The properties (configuration and detail definitions, and update history) of motion programs can be confirmed.
1. In the Motion Subwindow, select the motion program file whose properties are to be displayed.
2. Right-click the selected program and select Property from the pop-up menu that will be displayed.
The Program Property Dialog Box is displayed.
( 1 ) Configuration
The file privilege and number of D registers can be set.
On clicking the numerical value field for Read, Write, or D register, you can set a numerical value.
File privilege:
The reading privilege level and writing privilege level for the program are displayed here.
Read:
Select a reading privilege level between 0 and 7 for this program. The higher the number, the higher the privilege
level will be. Numbers cannot be entered directly.
A reading privilege level cannot be set higher than the current user privilege level. (For example, if the current
user level is 3, a level of 4 or higher cannot be set.)
For details on user privilege levels and reading privilege levels, refer to User Privilege Levels and Reading
and Writing Privilege Levels below.
Write:
Select a writing privilege level between 0 and 7 for this program. The higher the number, the higher the privilege
level will be. Numbers cannot be entered directly.
A writing privilege level cannot be set higher than the current user level.
For details on user privilege levels and writing privilege levels, refer to User Privilege Levels and Reading and
Writing Privilege Levels below.
D register:
Set the maximum number of D registers (between 0 and 16384) to be used by this program. The number can be
set either by directly entering it or by using the spin buttons.
4-50
■ User Privilege Levels and Reading and Writing Privilege Levels

Program reading and writing privilege levels are established to maintain program security. To open a particular pro-
gram, the user must have a privilege level at least as high as the program’s reading privilege level. Similarly, to edit
and save a program, the user must have a privilege level at least as high as the program’s writing privilege level.
( 2 ) Detail Definition
You can check the number of steps executed and the date and hour of updates, and you can display and set the operation
settings for casting real numbers.
Motion Programming
Program Lines:
The number of steps that have been executed is indicated here. This entry cannot be changed.
Modified:
The date and hour when the program was updated are shown here. On compiling the program, the date and hour
are updated. This entry cannot be changed. 4
Setting the operation when real...:
You can set the operation when converting the data from real numbers to integers.
( 3 ) Modified History
You can confirm the update history.
* This is not displayed when creating a new program.
Modified history:
A maximum of ten entries can be displayed in the program update history.
4-51
5
Variables
This chapter describes the variables used in ladder programs.
5.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.1.1 Types of Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.2 Displaying Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.2 Variables that Are Automatically Assigned by System - - - - - - - - - - - - - - - 5-4

5.2.1 System Variables (S Registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.2.2 Axis Variables (I/O Registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.2.3 I/O Variables (I/O Registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5.3 Variables that Can Be Set by the User - - - - - - - - - - - - - - - - - - - - - - - - - 5-11
Variables
5.3.1 Variables that Can be Referred from Any Program - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.3.2 Local Variables for Use in One Variable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23
5.4 Using Variables and Comments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27

5.4.1 Using Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27 5
5.5 Using Comments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28
5.5.1 Saving Comments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28
5.5.2 Linking with CP Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28
5.6 User Structures - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29

5.6.1 What is User Structure? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
5.6.2 Creating User Structures - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
5.6.3 Assigning User Structures - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
5.6.4 Transferring User Structures - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
5.7 Comment Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35

5.7.1 Referencing Comment Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35
5.7.2 Search/Replace/Delete in Comment List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
5-1
5 Variables
5.1.1 Types of Variables
5.1 Overview
5.1.1 Types of Variables
Variables are used to assign names (called variable names) and comments to registers. When a variable is input for an
instruction object in a ladder program, the register and comment are entered at the same time.
For details on entering variables for instruction objects, refer to 3.3.12 Entering and Changing Variables and Regis-
ters.
MPE 720 Version 6 does not support for the #, X, Y, and Z registers.
Several types of variables can be used:
Variables that Are Automatically Assigned by System
• System Variables (S Registers)
Prepared in the system, and displays the operation status of the controller
• Axis Variables (I/O Registers)
Displays the setting parameters for axes, and the monitor parameters.
• I/O Variables (I/O Registers)
Prepared according to the numbers of I/O modules.
Variables that Can Be Set by the User
• Global Variables (M Registers)
• Global Constants (C Registers)
• Internal Variables (D Registers)
• Function External Variables (A Registers)
5-2
5.1 Overview
5.1.2 Displaying Variables

Variables are displayed in the Variable Subwindow and the Local Variable Subwindow as shown below.
Variables Variables that

that can be are assigned
set by the automatically
Local Variable
by system
Subwindow user (Local
variables) Variables that
can be set by
the user
User
Local Variable Tab Structures
The Local Variable Subwindow is displayed by moving the cursor to the Local Variable Tab Page displayed
when the ladder program is opened.
The display for each variable in the folders in the variable tree provides the following information.
<Example> Always ON: On coil (SB000004)
Comment Variable name Register
When a variable is entered for an instruction object, the variable name and comment are displayed as follows:
Variables
Comment
Variable name
Register
Registers are displayed when the address indicator icon on the ladder editor toolbar is ON.
5
Refer to 3.3.4 ( 2 ) Displaying or Hiding Addresses, Variables, and Comments for details on selecting the dis-
play for addresses, variables, and comments.
The variables are described in more detail on the following pages.
5-3
5 Variables
5.2.1 System Variables (S Registers)
5.2 Variables that Are Automatically Assigned by System

Among the variables displayed in the Variable Subwindow, the following three types cannot be assigned by the user.
• System variables
• Axis variables
• I/O variables
They are described in more detail below.
Note that the user cannot edit comments for system variables and axis variables.
Note that changing the module configuration definitions or register range will automatically delete the vari-
ables. The comments will not be deleted.
Changing the registers of already set variables will not replace the variables used in the ladder program.
S registers (system variables) and I/O registers (axis variables and I/O variables) can be assigned for trace. How-
ever, those registers that can be assigned are limited to registers of BIT, WORD, LONG, and FLOAT type data.
5.2.1 System Variables (S Registers)

System registers (S registers) are assigned as variables, so system variables are preset for MPE720 version 6. For a list
of the system variables, refer to A.1 Variables that are Automatically Assigned by System.
5.2.2 Axis Variables (I/O Registers)

Axis groups with related operations can be assigned. The logical axis variable set for all assigned groups is displayed in
the Axis Variable tree in the Variable Subwindow.
Axis variable set
The contents of the variable set is the same for each axis. It consists of Monitor Parameters and Setting Parameters.
Group names and logical axis names can be set optionally, but the contents of the axis variable set cannot be
changed.
The logical axis variables set in the Group Definitions are displayed by default.
Refer to A.2 Axis Variable Details for details on axis variable sets.
5-4
( 1 ) Registering and Editing Groups and Logical Axes

Use the following procedure to define group numbers and names, and the logical axes and names that are to be used
with each group. Groups and logical axes that are already assigned can also be edited.
Do not use the name that is same as the register name for the logical port.
Otherwise, axis variables can not be used, and the error message will occur.
1. Double-click the Axis Variable Folder in the Variable Subwindow.

The Group Definition Dialog Box will be displayed.
2.
Variables
Set the items, and then click the OK Button.
Group List
When a number is entered for No. of Group, the group number and name will be displayed. The group name
can be changed by clicking the cell to display the text cursor and then changing the name.
When the group name is clicked, the specified axes for that group will be displayed in the Axis Specification
Field.
Axis Specification [Group Name]
Set the axis specifications for the selected group.
When the number of controlled axes is entered in the Control Axis No. Field, the fields for setting that number
of axes will be displayed.
For the Logical Axis Name, double-click the cell to display the text cursor. Then enter the name and press the
Enter Key.
5-5
5 Variables
5.2.2 Axis Variables (I/O Registers)
In the Logical Axis Name Field, enter up to eight alphanumeric characters starting with a letter of the alphabet.
Do not use a number for the leading character.
When the OK Button is clicked, the contents that have been set will be displayed under Axis Variable in the Vari-
able Subwindow.
( 2 ) Axis Variable Set Details

Refer to A.2 Axis Variable Details for details on axis variable sets.
5-6
5.2.3 I/O Variables (I/O Registers)

I/O variables are automatically assigned by the system for I register and O register addresses and displayed for vari-
ables of I/O points for the I/O Modules set in the Module Configuration.
For information in setting the Module Configuration, refer to 2.1 Module Configuration.
The following table lists the I/O register functions and the I/O Modules that support them.
Note that executing any of the following operations will delete the set registers:
1. If the LIO Module that is assigned in the Module Configuration is saved by setting to UNDEFINE, the I/O
variables that are assigned will be deleted.
2. If the register range (leading I/O register numbers and end input register number) that is assigned for the
subslot in the Module Configuration Window is changed, the I/O variables that were out of the range will be
deleted.
( 1 ) I/O Variable Tables

For more information on each of the I/O variables, refer to A.3 I/O Variables.
The following example shows a display with 16-point local I/O variables.
I/O Module name

Leading input address
Variables
Input variables
5
Leading output address
Output variables
The I/O Module name shown in the Module

Configuration Definitions is displayed for the
I/O Module name by default.
When the Module Configuration Definitions
are changed, the changes are displayed by
executing Update (F5).
5-7
5 Variables
Variable names and registers cannot be changed for I/O variables, but the following items can be edited.
I/O Module name
I/O leading address comments
I/O variable comments
The next section describes how to edit these items.
( 2 ) I/O Modules that Can Use Variables

The following table shows the I/O Modules that can be used on MPE720 version 6.
Module Can be displayed on MPE720 Version 6

Type
Main Slot Sub Slot I/O Variables Axis Variables
CPU CPU NO NO
Modules IO YES NO
MP2100 SVB* YES YES
SVR YES
BUSIF YES NO
CPU NO NO
IO YES NO
MP2100M
SVB* YES NO
SVR NO YES
CPU NO NO
MP2200
SVR NO YES
CPU NO NO
SVR NO YES
MP2200-02
CARD NO NO
USB NO NO
CPU NO NO
SVR NO YES
MP2200-03 CARD NO NO
218IFA YES NO
BUSIF NO NO
CPU NO NO
IO YES NO
MP2300
SVB* YES YES
SVR NO YES
CPU NO NO
218IFA YES NO
MP2310
SVB* YES YES
SVR NO YES
CPU NO NO
218IFA YES ?
MP2300S SVB* YES YES
SVR NO YES
M-EXECUTOR YES NO
CPU NO NO
218IFA YES NO
MP2400 SVB* YES YES
SVR NO YES
M-EXECUTOR YES NO
5-8
Module Can be displayed on MPE720 Version 6

Type
Main Slot Sub Slot I/O Variables Axis Variables
Option LIO YES NO
Modules LIO-01/LIO-02
CNTR YES NO
LIO-04/LIO-05 LIO32 YES NO
MIXIO YES NO
LIO-06
CNTR-A YES NO
DO-01 DO YES NO
AI-01 AI YES NO
AO-01 AVO YES NO
CNTR-01 CNTR01 YES NO
217IF NO NO
218IF-01
218IF NO NO
217IF NO NO
218IF-02
218IFB NO NO
217IF-01 217IF NO NO
216AIF-01 216IF YES NO
217IF NO NO
215AIF-01
MPLINK YES NO
217IF NO NO
260IF-01
260IF YES NO
217IF NO NO
261IF-01
261IFS YES NO
262IF-01 FL-net YES NO
263IF-01 EtherNetIP YES NO
Variables
PCLINK-01 PC-LINK YES NO
217IF NO NO
MNET-01
MNET YES NO
AFMP-01 ANYWIRE YES NO 5
CC-LINK YES NO
AFMP-02
ANYWIRE YES NO
AFMP-02-C CC-Link YES NO
A-net YES NO
MPANL00-0
A-Link YES NO
A-Link YES NO
MPALL00-0
A-Link YES NO
MPAL000-0 A-Link YES NO
MPAN000-0 A-net YES NO
SVA-01 SVA01 NO YES
SVB-01 SVB01* YES YES
SVC-01 SVC01* YES YES
PO-01 PO NO YES
CSIF-01 CSIF YES NO
* Modules that can be allocated to the MECHATROLINK.
5-9
5 Variables
( 3 ) Editing I/O Module Names and Comments

The following procedure can be used to edit I/O Module names and comments for I/O variables.
1. Right-click the I/O module name, leading I/O address, or I/O variable that is to be edited, and then
select Edit from the pop-up menu that will be displayed. Alternatively, double-click the item to be
edited.
The Edit variable Dialog Box will be displayed.
2. Edit the text in the field that is to be changed, and then click the OK Button.
Input the I/O Module name, using a maximum of 16 alphanumeric characters. Use a letter of the alphabet for
the leading character.
Carriage returns or line feeds cannot be used in the comments.
The display in the Variable Subwindow will be changed. If the selected variable is entered in the program, the
comment for that variable will also be changed.
5-10
5.3 Variables that Can Be Set by the User

User variables can be assigned and edited by the user. There are four types of user variables:
• Global variables (M registers)
Global variables can be referenced in any project file.
• Global Constants (C registers)
Global Constants can be referenced in any project file.
• Internal variables (D registers)
Internal variables are local variables that are enabled only in the ladder program where they are set.
• Function external variables (A registers)
Function external variables are local variables that are enabled only in the function where they are set.
M registers (global variables) and D registers (internal variables) can be assigned for trace. However, those that can
be assigned for trace are limited to registers of BIT, WORD, LONG, and FLOAT type data. D registers cannot be
used in motion programs.
■ Precautions on Assigning Variables

• If the register already assigned to a variable is also used for a variable to be added, the following message will
appear.
Yes: Assigns the register to the variable to be added
Variables
No: Cancels new variable assignment.
• If the register already included in a structure is also used for a variable to be added, the following message will
appear.
Yes: Assigns the register to the variable to be added.

No: Cancels new variable assignment.
The following sections describe how to register each of these variables.
5-11
5 Variables
5.3.1 Variables that Can be Referred from Any Program
( 1 ) Global Variables (M Registers)
M register addresses can be assigned as variables and they are displayed

in folders classified by data type in the Variable Subwindow. They can
be referenced in any project file.
[ a ] Assigning Global Variables

Use the following procedure to assign global variables.
1. In the Variable Subwindow, right-click the Global Variable Folder or the folder of the data type to be
registered (Bit, Word, Long, Float, or Address), and select Add from the pop-up menu.
The Variable Registration Dialog Box will be displayed. In the Register Field, the lowest address among the M
registers for which variable assignment on is currently possible will be displayed.
2. Enter the register in the Register Field.

Make the settings within the range for M registers.
MB: 000000 to 65534F
MW: 00000 to 65534
ML: 00000 to 65533
MF: 00000 to 65533
When the OK Button is clicked and there is an input error in the Register Field, the Register Field will return to
the state it was in before the input.
Register addresses of the same data type as already being used cannot be entered.
Click the Structure Button. A list of data structures will be displayed. By giving a variable name (folder name)
to the structure, the variables that are included in that structure can be assigned together.
For details on structures, refer to 5.3.1( 1 ) [ b ] Creating System Structures on the next page.
5-12
3. Enter the variable name in the Variable Name Field and comment in the Comment Field, and click the OK Button.
In the Variable Name Field, enter up to 64 alphanumeric characters starting with a letter of the alphabet.
An error will occur if the leading character in the name is a number.
An error will occur if a name identical to a register, such as MB (mb0) or IW00000 (iw00000), is used at the
beginning of the variable.
A variable name that is already assigned cannot be used again.
Reserved words, such as motion instructions, cannot be used. For a list of reserved words, refer to Appendix B
Reserved Words.
The same address can be assigned for different data types (e.g., MB00000 and MW00000). When the address
is assigned, however, a message will be displayed notifying that “A malfunction may occur.”
A maximum of 255 alphanumeric characters can be entered in the Comment Field.
Carriage returns and line feeds cannot be used in the comments.
Click the OK Button. The Variable Registration Dialog Box will be closed, and the assigned variable will be
displayed in the Variable Subwindow.
Variables
5
In the program where the assigned variable is used, the assigned variable name will be displayed for the instruc-
tion object of the applicable address.
5-13
5 Variables
[ b ] Creating System Structures

There are two types of structure: System Structure and User Structure.
A System Structure is a set of variables prepared in advance with a ladder instruction of the address type. In contrast, a
User Structure is a set of variables that the user can register without restrictions. Click the Structure Button in the
Variable Registration Dialog Box to create a structure.
Use the following procedure to create a system structure in the Variable Registration Dialog Box.
For details on user structures, refer to 5.6 User Structures.
1. Select System Structure or User Structure, and select a pre-registered structure name from the list
in the System Structure or User Structure field.
The variables included in that system structure will be displayed in a list.

For details on the variables in each system structure, refer to 5.3.1 [ c ] Editing I/O Module Names and Com-
ments.
5-14
2. Enter the variable name in the Variable Name Field and comment in the Comment Field, specify the
address type (MA*****) in the Register Field, and click the OK Button.
In the Variable Name Field, enter up to 64 alphanumeric characters starting with a letter of the alphabet.
An error will occur if the leading character in the name is a number.
An error will occur if a name identical to a register, such as MB0 (mb0) or IW00000 (iw00000), is used.
A variable name that is already assigned cannot be used again.
Reserved Words.
An address that is already used for another data type cannot be assigned again.
A maximum of 255 alphanumeric characters can be input in the Comment Field.
If a register with the same address already exists

If a register with the same address already exists in one project file, the following message will appear asking for
confirmation.
Variables
5
If a register with the same address type already exists

If a register with the same address type already exists in one project file, the following message will appear ask-
ing for confirmation. Change the register because the same register cannot be assigned in one project file.
5-15
5 Variables
The variable included in the assigned user structures will appear in the Variable Subwindow.
If the data type in the register is not the ADDRESS type, the following message will be displayed. Click the Yes
Button to complete the assignment.
[ c ] Table of System Structures

Refer to A.4 System Structures for details on variables included in each system structure.
[ d ] Editing Global Variables

Variable names, registers, and comments can be edited.
1. In the Variable Subwindow, right-click the global variable to be edited and select Edit from the pop-up
menu. Alternatively, double-click the global variable to be edited.
The Edit variable Dialog Box will be displayed.
2. Just as with assigning variables, edit the variable name, the registers, and the comment, and click the
OK Button.
5-16
If there is a comment already on the register to be edited, a message will appear asking for confirmation to over-
write the comment.
Overwrite: Overwrites the comment with the comment of the edited register.
Not Overwrite: The comment will not be overwritten and the previous comment will remain unchanged.
Cancel: Cancels the comment editing operation and closes the dialog box.
If there is a comment on the register before being edited, and no unmatched comment on the edited register,
the previous comment will remain unchanged.
For global variables (M, I, O, and C), comments are saved in two different files: One for BIT type data and
one for other data types (WORD, LONG, FLOAT, and ADDRESS).
For local registers (D, #, X, Y, Z, and A), comments are saved in a file for each program regardless of data
type (BIT, WORD, LONG, FLOAT, and ADDRESS).
Before transferring data (Write into Controller or Read from Controller), the data in the reading source and in
the saving destination must be matched so that the data in the Machine Controller will not be lost.
Variables
5
5-17
5 Variables
[ e ] Deleting Global Variables

Variables can be deleted. In a program where a deleted variable is used, the variable will be replaced with the register
address the next time it is displayed.
1. In the Variable Subwindow, select the variable to be deleted and press the Delete Key. Alternatively,
right-click the variable to be deleted and select Delete from the pop-up menu that appears.
A dialog box for confirmation will be displayed.
2. Click the Yes Button. The selected variable will be deleted from the Variable Subwindow.
When a comment has been set

Yes Button: Deletes variables and comments.
Only Variable Button: Deletes only variables.
Cancel Button: Cancels the deleting operation and closes the dialog box.
When no comment is set

Yes Button: Deletes variables.
No Button: Cancels the deleting operation and closes the dialog box.
5-18
( 2 ) Global Constants(C Registers)

After ranges of C registers are assigned as a group, the C registers in that range can be named, and constant values
(WORD, LONG, FLOAT), their units (pulse, mm, deg, inch, μm), and comments can be set.
[ a ] Assigning Global Constant Groups

Use the following procedure to assign the variable groups first.
1. In the Variable Subwindow, right-click the Constant Variable Folder and select Add from the pop-up
The Constant Group Variable Registration Dialog Box will be displayed.
2. Set the following items as described.
Variables
Variable Name
Enter the group name with up to eight alphanumeric characters. “C_” will be automatically displayed at the
beginning of the variable name.
Size of Use
Enter, the number of Words to be used beginning from the leading address set in the Register Field. 5
Click the Search Empty Register Button. Available registers of the size to be used will be found, and the
leading address will be automatically entered in the Register Field.
Register
Enter, in WORD type, the leading address of the C register group to be assigned.
Comment
Enter a comment for this group. A maximum of 255 alphanumeric characters can be entered.
Carriage returns and line feeds cannot be used.
5-19
5 Variables
3. Click OK.
The global constant group variable will be created, and it will be displayed under the Constant Variable Folder.
[ b ] Assigning Global Constants

Use the following procedure to assign a constant variable to a group.
1. In the Variable Subwindow, right-click the global constant group variable to which the variable is to be
assigned and select Add from the pop-up menu.
The Constant Variable Registration Dialog Box will be displayed.
2. Set the following items as described.
Variable Name, Number, Unit

Enter the variable name to be given to the C registers being assigned and the value to be stored in that regis-
ter.
Enter the variable name with up to 64 alphanumeric characters.
Click the drop-down arrow to display a list of units from which to select.
The number can be set within the following ranges, depending on the register data type.
WORD values: −32,768 to 32,767
LONG values: −2,147,483,648 to 2,147,483,647
FLOAT values: ± (1.175495 to 3.402283), 0
Enter a letter of the alphabet for the leading character of the variable name. An error will occur if a number is
entered first.
An error will occur if a name identical to a register, such as MB0 (mb0) or IW00000 (iw00000), is used at the
beginning of the variable.
Variable names that have already been assigned cannot be used again in the same group.
Reserved Words.
5-20
Register
Enter the address of the C register for which the name is to be assigned. Click the drop-down arrow and select
the data type from the list. Cxnnnn will be input. (x: W, L, or F; nnnn: the lowest number used for the selected
data type within the address range of the group)
Comment
A maximum of 255 alphanumeric characters can be entered for the comment for this variable.
Carriage returns and line feeds cannot be used.

The name will be assigned and displayed under the selected group.
Variables
5
5-21
5 Variables
[ c ] Editing Global Constants

Variable names, registers, and comments can be edited. The size can also be edited.
1. In the Variable Subwindow, right-click the global constant folder or global constant group variable to be
edited and select Edit from the pop-up menu that will appear. Alternatively, double-click the global con-
stants or global variable constant group to be edited.
The Edit constant Dialog Box will appear.
2. Just as with assigning global constants, edit the variable name, register, or the comment, and click the
OK Button.
When Global Constant is Selected When Global Constant Group Variable is Selected
If the user attempts to assign a register out of the possible range when the Register Field is being edited, a
message will be displayed notifying that “The out-of-range constants are to be deleted. Yes or No?” Click the
Yes Button. The constants that are out of range will be deleted.
[ d ] Deleting Global Constants or Global Constant Group Variables

Global constants can be deleted. In a program where a deleted constant is used, the constant will be replaced with the
register when it is displayed.
When global constant group variables are deleted, all of the constants included in that group will be deleted.
1. In the Variable Subwindow, select the global constants to be deleted and press the Delete Key. Alter-
natively, right-click the global constants to be deleted and select Delete from the pop-up menu that will
be displayed.
A dialog box asking for confirmation will be displayed.
When Global Constant is When Global Constant Group Vari-

Being Deleted able is Being Deleted
2. Click the Yes Button. The selected global constants or global constant group variables will be deleted
from the Variable Subwindow.
5-22
5.3.2 Local Variables for Use in One Variable

D registers and A registers have different contents for each ladder program. For function programs, however, D regis-
ters can be assigned as internal variables, and A registers can be assigned as function external variables. For other pro-
grams, D registers can be assigned as internal variables. These variables are local variables and are valid only in the
programs in which they are assigned. They are displayed in the Local Variable Subwindow.
The following sections describe how to assign and edit internal variables and function external variables.
( 1 ) Internal Variables (D Registers)

D registers can be assigned as variables for individual programs. An assigned variable is valid only for the program for
which it is assigned.
[ a ] Assigning Internal Variables

Use the following procedure to assign internal variables.
If needed, more addresses than those set for use in the Configuration Definition screen of the Program Property
Dialog Box can be assigned (refer to 3.2.1 Creating New Ladder Programs). If so, increase the number of addresses
to be used to the same number as the variable to be used in the Program Property Dialog Box before using vari-
Variables
ables in a ladder program.
1. Open the relevant ladder program and display in the foreground of the main window. Line up the
mouse cursor with the Local Variable Tab Page to display the Local Variable Subwindow.
5
2. Right-click the Internal Variable Folder, and select Add.

The Variable Registration Dialog Box will be displayed. In the Register Field, the lowest address used for each
data type among the D registers for which variables can currently be assigned will be displayed.
5-23
5 Variables
3. Input the register in the Register Field.

Click the Structure Button. A list of structures will be displayed. By assigning a variable name (folder name) to
the structure, the variables that are included in that structure can be assigned together.
For details on system structures, refer to 5.3.1( 1 ) [ b ] Creating System Structures.
4. Enter the variable name in the Variable Name Field and comment in the Comment Field, and click the
OK Button.
In the Variable Name Field, enter up to 60 alphanumeric characters (or up to 64 characters if the name begins
with VAR_).
Variable names that have already been assigned cannot be used again in the same program.
Reserved Words.
The same address can be assigned for different data types (e.g., DB00000 and DW00000). When the address
displayed in the Local Variable Subwindow.
VAR_ will be displayed at the beginning of the variable name to indicate that it is a local variable.
In the program where the assigned variable is used, the assigned variable name will be displayed for the instruc-
tion object of the applicable address.
[ b ] Editing and Deleting Internal Variables

The following procedure can be used to edit or delete an internal variable.
1. Open the relevant ladder program and display it in the foreground of the main window.
2. In the Local Variable Subwindow, right-click the variable to be edited (or deleted) and select Edit (or
Delete) from the pop-up menu that will be displayed.
Edit: The Edit Variable Dialog Box will be displayed.
Delete: A dialog box asking for confirmation will be displayed. Click the Yes Button to delete the variable.
Variables can also be edited by double-clicking in the Local Variable Subwindow.
Variables can also be deleted by selecting a variable in the Local Variable Subwindow and then pressing the Delete
Key.
5-24
( 2 ) Function External Variables (A Registers)

“A” registers can be assigned as variables for individual function programs. A function external variable is valid only
for the function program for which it is registered. “A” registers use memory that is specified using the address refer-
ence input to the function. The programmer should take care not to overlap the memory usage (processing).
[ a ] Assigning Function External Variables

Use the following procedure to assign function external variables.
1. Open the relevant function and display in the foreground of the main window. Line up the mouse cursor
with the Local Variable Tab Page to display the Local Variable Subwindow.
2. Right-click the Function External Variable Folder, and select Add.

The Variable Registration Dialog Box will be displayed. In the Register Field, the lowest address used for each
data type among the A registers for which variables can be assigned will be displayed.
The Variable Registration Dialog Box can be displayed even if the character string for the variable to be reg-
istered has been entered and confirmed in the Variable Name Field for the user object in the main window.
Variables
3. Enter the register address in the Register Field.
Click the Structure Button. A list of structures will be displayed. By giving a variable name (folder name) to the
structure, the variables that are included in that structure can be assigned together.
5
For details on system structures, refer to 5.3.1( 1 ) [ b ] Creating System Structures.
4. Enter the variable name in the Variable Name Field and comment in the Comment Field, and click the
OK Button.
Enter up to 60 alphanumeric characters in the Variable Name Field.
Variable names that have already been assigned cannot be used again in the same program.
The same address can be assigned for different data types (e.g., AB00000 and AW00000). When the address
5-25
5 Variables
displayed in the Local Variable Subwindow.
VAR_ will be displayed at the beginning of the variable name to indicate that it is a local variable.
In programs where the assigned variable is used, the assigned variable name will be displayed for the instruction
object for the applicable register.
[ b ] Editing and Deleting Function External Variables

The following procedure can be used to edit or delete a function variable.
1. Open the relevant function program and display it in the foreground of the main window.
2. In the Local Variable Subwindow, right-click the variable to be edited (or deleted) and select Edit (or
Delete) from the pop-up menu that will be displayed.
Edit: The Edit Variable Dialog Box will be displayed. The same procedure can be used for editing as is
used for assignment.
Delete: A dialog box asking for confirmation will be displayed. Click the Yes Button to delete the variable.
Variables can also be edited by double-clicking in the Local Variable Subwindow.
Variables can also be deleted by selecting a variable in the Local Variable Subwindow and then pressing the Delete
Key.
5-26
5.4 Using Variables and Comments
5.4 Using Variables and Comments

5.4.1 Using Variables
Variables can be entered for use in instruction objects and subwindows. Variables can be used in the following opera-
tions. For details on entering variables, refer to the following items.
Entering ladder objects Æ 3.3.12 Entering and Changing Variables and Registers
Entering in the Search Dialog Box Æ 3.5.2 ( 1 ) Searching in a Program
Entering in the Replace Dialog Box Æ 3.5.2 ( 2 ) Replacing in a Program
Entering in the Search in Project Dialog Box Æ 3.5.3 Searching and Replacing in a Project File - ( 1 ) Searching in
a Project File
Entering in the Replace in Project Dialog Box Æ 3.5.3 Searching and Replacing in a Project File - ( 2 ) Replacing in
a Project File
Entering in the Cross-reference Subwindow Æ 3.5.4 Cross Reference Searching
Entering in the Watch Subwindow Æ 12.3 Watch Function
Variables
5
5-27
5 Variables
5.5.1 Saving Comments
5.5 Using Comments

5.5.1 Saving Comments
The comments that were edited on MPE720 version 6 can be saved by selecting File - Save from the main menu. The
comments set for variables can also be saved in the same way.
The following table shows the destination where the comments can be read and written, online or offline for each
resister.
When online by project link connection, if the registers saved in the project file from which data is to be read
are unmatched with those saved in the project file and Machine Controller to which data is to be written, the
data in the writing destination may be overwritten by the read data and some data may be deleted.
Connection Status Register Comments to be Read From... Comments to be Written Into...

S/Motion (I, O) Fixed by the system. Cannot write
M, I, O Project file Project file
Offline
C Project file Project file
D, #, X, Y, Z, A Each program of a project file Each program of a project file
S/Motion (I, O) Fixed by the system. Cannot write
Project Link M, I, O Project file Project file and Machine Controller
Connection C Machine Controller Machine Controller
(Online)
Each program of a Machine Each program of a Machine Control-
D, #, X, Y, Z, A
Controller ler
S/ Motion (I, O) Fixed by the system. Cannot write
M, I, O Machine Controller Machine Controller
Direct Connection
(Online) C Machine Controller Machine Controller
Each program of a Machine Each program of a Machine Control-
D, #, X, Y, Z, A
Controller ler
5.5.2 Linking with CP Ladder Programs

As comments on CP ladder programs are linked with those on MPE720 version 6, it is possible to display the CP ladder
program comments on MPE720 version 6 or vice-versa.
Symbols used in MPE720 version 5 are different from Comments used in MPE720 version 6. The comments that
can be displayed and edited on the Comment bar or Comment list of MPE720 version 5 correspond to the com-
ments used in MPE720 version 6.
During direct connection, if a comment of the S register is edited in the comment bar or comment list of the
Engineering Manager, the comment will be invalid and not saved.
5-28
5.6 User Structures
5.6 User Structures

5.6.1 What is User Structure?
A user structure is used to manage a set of variables, registers, and comments that are entered by the user.
The registers assigned to a user structure can easily be viewed on screen.
Registers assigned to a user structure are called “Structure Members”, and up to 100 structure members can be assigned
to one user structure.
User structures are used by assigning them to ADDRESS type global or local variables.
5.6.2 Creating User Structures

A user structure can be created by assigning specified variables, registers, comments, etc. in the Registration Struc-
Variables
ture Dialog Box.
Use the following procedure to create a user structure.
1. Right-click the User structure Folder in the Variable Subwindow and select Add from the pop-up
menu. 5
The Registration Structure Dialog Box will be displayed.
2. Enter a structure name in the Structure Name Field, and comments in the Comment Field. Then, click
Add.
The Add Structure Member Dialog Box will appear.
5-29
5 Variables
3. Enter a member name in the Member Name Field, an offset address in the Offset Address Field,
and comments in the Member Comment Field. Then, click OK.
Click the ▼ Button in the Member Type Field to open the list and select the data type BIT, WORD, LONG,
FLOAT, or ADDRESS.
In the Structure Name Field, enter up to 64 characters starting with an alphabetic letter. An error will occur if a name
starting with a number is entered.
An error will occur if a register name such as MB0 (mb0) and IW00000 (iw00000) is used for a structure name.
A unique name must be used for each structure. A structure name that is already registered cannot be used more
than once. (Nor can the system structure names provided by MPE720 version 6 be used.)
Reserved words, such as motion instructions, cannot be used for structure names. Refer to Appendix B Reserved
Words for details on the reserved words.
Carriage returns and line feeds cannot be used when entering comments.
The Registration Structure Dialog Box will appear.
The assigned structure members will be displayed in a list.
5-30
5.6 User Structures
When Values in Address or Bit Column Overlap in a Structure Member List

When values in Address and/or Bit Column overlap in one user structure, the lines of overlapping structure mem-
bers will be displayed in pink as shown below.
In the example below, the data types (BIT, WORD, LONG, FLOAT) are not overlapping.
If you click OK, the following message will appear asking for confirmation.
Variables
Click Yes to register the newly created structure.
5-31
5 Variables
When One Register is Assigned to Different Structure Members

When the data type (Type), address (Address), and bit (Bit) of one structure member overlaps with those of
another member, the lines of the overlapped structure members are displayed in pink as follows.
If you click OK, the following error message will appear. Change either of the overlapped registers, as one regis-
ter can only be assigned once in one user structure.
5-32
5.6 User Structures
4. Click OK in the Registration Structure Dialog Box.

The Registration Structure Dialog Box will close. The new user structure is displayed in the Variable Subwin-
dow.
If a user structure has already been assigned to the variable, the user structure will not be deleted and its name will
remain unchanged. However, the display will be deactivated.
Variables
5
When a structure member of the user structure that has already been assigned to a variable is deleted in the Regis-
tration Structure Dialog Box, the structure member will also be deleted from the tree structure under the variable in
the Variable Subwindow.
When the name of a structure member is changed, the change will be written in the user structure that has already
been assigned to the variable.
When the comments for a structure member are changed, the change will not be written to the comments for the
variable that has already been assigned. Change the comments of the variable that has already been assigned
accordingly after having assigned the structure member.
5-33
5 Variables
5.6.3 Assigning User Structures
5.6.3 Assigning User Structures

When adding a global or local variable in the Variable Registration Dialog Box opened from the Variable Subwin-
dow, a user structure can be assigned to the added global or local variable. Refer to 5.3.1( 1 ) [ b ] Creating System
Structures for information on how to assign user structures.
5.6.4 Transferring User Structures

User structures can be transferred individually or as a batch, and compared using the program transfer function.
Fig. 5.1 Program Transfer Dialog Box when Write to Project is Selected
Refer to 1.12 Security for details on program transfer.
5-34
5.7 Comment Lists
5.7 Comment Lists

Comments assigned to each register can be referenced and edited by data type from the Comment List in the Variable
Subwindow and Local Variable Subwindow.
The same comment list can be referenced regardless of whether the comment list is opened from the Variable Sub-
window or the Local Variable Subwindow.
5.7.1 Referencing Comment Lists

Comment lists can be displayed by the following procedure, and comments can be referenced by register and data type.
( 1 ) Referencing S, I, O, M, and C Register Comments
1. Double-click Comment List in the Variable Subwindow or the Local Variable Subwindow. Alternatively,
right-click the Comment List in the Local Variable Window and select Edit from the pop-up menu that
appears.
The comment list will open in the main window.
Variables
2. Select the register that is to be referenced from the Register List, or select Open from the pop-up
menu that appears.
The comment list for the selected register will be displayed. 5
3. Specify the data type to be referenced using the BIT, WORD, LONG, FLOAT, or ADDRESS Button.
The comment list for the specified register and data type will be displayed.
Scroll the list to refer to the comment for the target register.
Click the Close Button for the Comment List Tab Page to exit the list display.
Enter the desired register in the Register input field in the Comment List Tab Page. The list will scroll to display
the entered register.
5-35
5 Variables
( 2 ) Referencing D, A, #, X, Y, and Z Register Comments

For the D, A, #, X, Y, and Z registers, use the following procedure to specify the program to be referenced and to dis-
play the comment list.
1. Double-click Comment List in the Variable Subwindow or the Local Variable Subwindow.
The comment list will be opened in the main window.
2. Select from the Register List the register that is to be referenced, or select Open from the pop-up
The comment list for the selected register will be displayed.
3. Specify the data type to be referenced using the BIT, WORD, LONG, FLOAT, or ADDRESS Button.
4. Click the drop-down arrow for the Program Field, and select from the list the program to be referenced.
The comment list for the specified program, register, and data type will be displayed.
Fig. 5.2 Display Example: Comment List for D Register and BIT Data
Fig. 5.3 Display Example: Comment List for A Register and BIT Data
Scroll the list to refer the comment for the target register.
Click the Close Button for the Comment List Tab Page to exit the list display.
Enter the desired register in the Register input field in the Comment List Tab Page. The list will scroll to display
the entered register.
5-36
5.7 Comment Lists
( 3 ) Editing Comment Text

Double-click the Comment Field in the comment list or press the F2 Key. The text cursor will be displayed, and the
comment can then be edited. Press the Enter Key to save the edited comment.
After editing, the comments will be changed for all object subwindows using the applicable register.
Select File - Save from the Main Menu with the Comment List Tab Page open, or press the Ctrl + S Keys. The com-
ment data will be stored in the project file or in the Machine Controller.
( 4 ) Editing with Pop-up Menus

The Comment Field can be edited by selecting it and right-clicking to display a pop-up menu. Multiple Comment Fields
can be selected by dragging while holding down the Shift + an arrow Key.
Variables
Cut, Copy, Paste, and Delete
Comments selected in the Comment Field can be cut, copied, pasted, or deleted. If multiple comments are to
be pasted after cutting or copying them, they can be pasted in multiple Comment Fields starting from the 5
selected Comment Field.
Comment All Clear
All comments displayed in the main window will be deleted. Comments cannot be recovered once they have
been deleted.
Find
The comments in the registers displayed in the Comment List Tab can be searched.
Replace
The comments in the registers displayed in the Comment List Tab can be replaced.
Cross Reference and Add to Watch
The register for the comment selected will be added to the Cross reference Subwindow or the Watch Subwin-
dow.
For cross references, refer to 3.5.4 Cross Reference Searching. For the watch function, refer to 12.3 Watch
Function.
Import
The CSV, CTF, and YST files in which the comments assigned to each variable are saved will be imported
into MPE720 version 6.
Export
The comments assigned to each variable will be saved in a CSV, CTF, and YST files.
Refer to 6 Exporting/Importing for details on import and export functions.
After editing, the comments will be changed for all objects and subwindows using the applicable register.
5-37
5 Variables
( 5 ) Linking with External Editors

Text can be copied and pasted from external editors, such as Notepad.
( 6 ) Automatic Selection of the IME Entry Mode

You can select whether or not the IME (Input Method Editor to enter Japanese characters) entry mode is automatically
selected or not using the toolbar icon.
When automatic selection of the IME entry mode is set to ON ( ), the IME entry mode is ON in the Comment List
field. On clicking a data type the cursor moves to the Comment List field, and the IME entry mode in the Comment
List field is selected as shown below.
Comment List field Japa-

nese entry mode: ON
When automatic selection of the IME entry mode is set to OFF ( ), the entry mode cannot be selected automati-
cally.
When using an English font on an English operating system, you can change the status of the IME entry
mode automatic selection icon to ON ( ) or OFF ( ), but automatic selection of the entry mode is not
available.
5-38
5.7 Comment Lists
5.7.2 Search/Replace/Delete in Comment List
( 1 ) Search in Comment List

The comments in the registers displayed in the Comment column can be searched.
1. Double-click the Comment List Tab in the Variable Subwindow and then select the Comment column.
2. Select Edit - Find from the main menu, or right-click the Comment column and select Find from the
pop-up menu.
The Find Dialog Box will appear.
3. Enter a character string to search for, and then click Find Next. The cursor will move to the corre-
sponding character string.
When the search completes, the following message will appear.
Variables
( 2 ) Replace in Comment List
The comments in the registers displayed in the Comment column can be replaced with another character string. 5
1. Double-click the Comment List Tab in the Variable Subwindow, and then select the Comment col-
umn.
2. Select Edit - Replace from the main menu, or right-click the Comment column and select Replace
from the pop-up menu.
The Replace Dialog Box will appear.
3. Enter a character string to search for, and a character string to replace it with, and then click Replace.
4. The character string that is input in the Find what text box will be searched for and replaced with the
character string entered in the Replace with text box.
5-39
5 Variables
5.7.2 Search/Replace/Delete in Comment List
( 3 ) Deleting All Comments

All the comment data in the comment column will be deleted.
1. Right-click the Comment column in the Comment List Tab of the Variable Subwindow, and select
Comments All Clear from the pop-up menu.
The following message will appear asking whether or not to delete all comments.
Click Yes to delete all the comments in the Comment column.
5-40
6
Exporting/Importing
This chapter describes the functions for exporting and importing parameters, variables and register
data.
6.1 Types of Export/Import - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.2 Motion Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
6.2.1 Exporting/Importing Motion Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
6.2.2 Export - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
Exporting/Importing
6.2.3 Import - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.3 Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12

6.3.1 Exporting/Importing Global Variables, I/O Variables and Comments - - - - - - - - - - - - - 6-12
6.3.2 Exporting/Importing Local Variables and Comments - - - - - - - - - - - - - - - - - - - - - - - - 6-18
6.3.3 Exporting/Importing Constant Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22
6.3.4 Exporting/Importing User Structures - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27
6.3.5 Importing MPE720 Version 5 CMT Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
6
6.4 Register Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33
6.4.1 Exporting/Importing the Register Data to/from CSV Files - - - - - - - - - - - - - - - - - - - - - 6-33
6.4.2 Importing Registers in Cam Data Created with the Electronic Cam Data Tool - - - - - - 6-40
6-1
6 Exporting/Importing
6.1 Types of Export/Import

In MPE720 version 6, you can import/export the following three types of data.
• Motion parameters (Refer to 6.2 Motion Parameters.)
• Variable (Refer to 6.3 Variables.)
• Register data (Refer to 6.4 Register Data.)
These functions are described in detail on the following pages.
6-2

6.2.1 Exporting/Importing Motion Parameters
Motion parameter data can be exported from MPE720 version 6 to a CSV file, or imported from the CSV file to
MPE720 version 6.
Export means saving data to a CSV file. The CSV file data can be easily edited using Microsoft Excel (hereinafter,
referred to as Excel).
Import means loading the CSV file data to the MPE720 version 6.
Import is enabled for all models of the Machine Controller.
A file with CTF or YST extension cannot be edited.
The parameters that are applicable for import and export functions are fixed parameters, setting parameters, and SER-
VOPACK parameters of SVB-01, SVA-01, PO-01, and SVR Modules.
The following table shows the parameters of each module that are applicable for import and export function.
SERVOPACK Parame-
Module Fixed Parameters Setting Parameters
ters
SVB-01 Applicable Applicable Applicable
SVA-01 Applicable Applicable Not applicable
PO-01 Applicable Applicable Not applicable
SVR Applicable Applicable Not applicable
( 1 ) CSV File
The specified name is set for each CSV file according to the motion parameter type, regardless of module type such as
Exporting/Importing
SVB-01, SVA-01, PO-01, and SVR, and a line number xx and axis number yy are added to the name.
A character string can be added in the beginning of each CSV file name as required.
Example: CSV file name with a character string MPE, for fixed parameters
CSV file name: MPE_FixPrm_xxyy.csv
Axis number
Line number
Fixed parameters*
6
Character string
* Fixed parameter = FixPrm, Setting parameter = SetPrm, SERVOPACK parameter = SrvPrm
A CSV file data consists of an array with array elements separated by commas.
The following table shows the details of the structure of the CSV file data.
A (No.) B (Parameter name) C (Input (set) data) D (Units)

Outputs the parameter number Outputs the parameter name Outputs the input data in the Outputs the units in
Export
in the window. in the window. window. the window.
The data of the parameter in
the CSV file will be read and
Import Will not be read. Will not be read. Will not be read.
written to the corresponding
parameter.
Motion parameters are classified into three types: BIT type, Combo type, and Others. The CSV file data format differs
depending on these parameter types.
The display examples when the above types of parameters are exported to CSV files are shown below.
6-3
6.2.1 Exporting/Importing Motion Parameters
Parameters Set in Bits (BIT Type)

Save the parameter window displayed in the foreground of the Engineering Manager Window, and then export to a
CSV file. If the CSV file is opened after exporting, the input data are displayed in hexadecimal notation.
Export, then...
Displayed in
Hexadecimal
Parameters Selected from Combo Box (Combo Type)

Save the parameter window displayed in the foreground of the Engineering Manager Window, and then export to a
CSV file. If the CSV file is opened after exporting, the input data are displayed in decimal notation.
Export, then...
Displayed in dec-
imal (Input Value
1 = Positioning)
6-4
Parameters Set by Inputting Numerical Values (Others)

Save the parameter window displayed in the foreground of Engineering Manager Window, and then export to a CSV
file. If the CSV file is opened after exporting, the input data are displayed as they were displayed in the Engineering
Manager Window (numerical values).
Export, then...
Displayed in
numerical
values
When the number of digits of input data before export to a CSV file exceeds the space allowed, this value is dis-
played in exponent form such as “E+09”, when the CSV file is opened. This is because the display is limited by the
Exporting/Importing
cell width of the CSV file. (See the window shown above on the right.)
Refer to Machine Controller MP2200/2300 Motion Modules User’s Manual (manual number: SIEP C880700 16) for
details of Input data.
The procedures to export and import motion parameters are described on the following pages.
6-5
6.2.2 Export
6.2.2 Export
Select the CSV files created for each type of parameter, and then export the selected CSV files to MPE720 version 6.
1. Select File - Export from the main menu.

The export Dialog Box will appear.
2. Set the required items.
(a)
(b)
(c) (j)
(d) (e) (f) (g)
(k)
(h) (i)
The setting items and methods are as follows.

(a) Export Path
Specify the path of the folder for saving the selected CSV file data. Either directly input the path or click the
browse button (b) to select from the Select Folder Dialog Box.
When the dialog box is opened, either the previously set path or MyDocument\MPE720 is displayed.
(b) Browse Button
Click this button to display the Select Folder Dialog Box. Select a folder and the selected folder will be set as
export path (a).
(c) Module Name
Displays the module name and line number of the motion parameter setting window displayed in the fore-
ground of Module Configuration Definition Window.
Module Name
The module name for which a line number is assigned in the subslot, SVB01, SVA01, PO, or SVR, is
displayed.
Line Number
Displays the line number defined in the Module Configuration Definition. (Line #xx: xx = 1 to 16)
* Refer to Machine Controller MP900/MP2000 series Programming Software MPE720 User’s Manual (manual
number: SIEP C880700 05) for details on subslot and line number.
(d) Axis
Displays the axis assigned for the module. The information given in the axis combo box in the motion param-
eter setting window of Engineering Manager is displayed.
(e) Fixed Parameter
Displays CSV file names “FixPrm_xxyy.csv” for fixed parameters of CSV file data. xx indicates a line num-
ber, and yy indicates an axis number.
(f) Setup Parameter
Displays CSV file names “SetPrm_xxyy.csv” for setting parameters of CSV file data. xx indicates a line num-
ber, and yy indicates an axis number.
6-6
(g) SERVOPACK Parameter

Displays CSV file names “SrvPrm_xxyy.csv” for SERVOPACK parameters of CSV file data.
xx indicates a line number, and yy indicates an axis number.
(h) Export Button
Click this button to export the files selected with check marks.
(i) Close Button
Click this button to close the dialog box. Export will not be executed.
(j) Specifying the File Name
Add an unique character string at the beginning of the motion parameter file name to specify the file name.
Example: Fixed parameter file name when MPE is specified: MPE_FixPrm_xxyy.csv
(k) Check Box
Click the box to select the file to be exported.
3. Click the export Button.

Exporting of the selected files will start and the progress indicator will display the percentage of the process that
has been completed.
If a duplicate file name exists in the export destination folder, the following message will appear. Select one of
the options shown in the following image, and then click OK.
Exporting/Importing
6
Overwrite the CSV file in the folder and export:
The data at the export destination will be overwritten with the new file data.
Delete the all CSV files in the folder and export:
All the data at the export destination will be deleted and the new file data will be exported.
Cancel the export:
The export operation will be cancelled and the dialog box will close.
6-7
6.2.3 Import
6.2.3 Import
Multiple parameters can be imported at one time, or each CSV file can be imported individually.
On the main menu in the Engineering Manager, select File-Import. The Import Dialog Box will appear. Select Batch
import or Individual import.
Online Import Operation, Applicable Machine Controller Versions

When online (connected to a Machine Controller), the import operation is disabled by some Machine Con-
troller versions. The following Machine Controller versions are applicable for online import operation:
Machine Controller with SVB built-in CPU version 2.35 or later, and Machine Controllers with option SVB
modules version 1.13 or later. With a Machine Controller with SVB built-in CPU versions earlier than 2.35 or
a Machine Controller with option SVB modules versions earlier than 1.13, the following error message will
appear if an attempt is made to import files.
Example: When connected to Machine Controller with SVB built-in CPU
The following sections describe how to import CSV files individually or in a batch.
( 1 ) Batch Import
1. Select File - Import on the main menu. Then in the Import box click the Batch Import (button).
The Batch import Dialog Box will appear.
6-8
2. Set the required items.
(a)
(b)
(c)
(j)
(d) (e) (f) (g)
(k)
(i)
(h)
The setting items and methods are as follows:

(a) Import Path
Specify the path of the folder in which CSV files are to be saved. Either directly input the path or click the
browse button (b) to select from the Select Folder Dialog Box.
When the dialog box is opened, either the previously set path or MyDocument\MPE720 is displayed.
(b) Browse Button
Click this button to display the Select Folder Dialog Box. Select a folder and the selected folder will be set for
import path (a).
(c) Module Name
Displays the module name and line number of the motion parameter setting window displayed in the fore-
Exporting/Importing
ground of the Module Configuration Definition Window.
Module Name
The module name for which a line number is assigned in the subslot, SVB01, SVA01, PO, or SVR, is
displayed.
Line Number
Displays the line number defined in the Module Configuration Definition. (Line #xx: xx = 1 to 16)
For details on subslot and line numbers, refer to Machine Controller MP900/MP2000 series Program-
ming Software MPE720 User’s Manual (manual number: SIEP C880700 05).
6
(d) Axis
Displays the axis assigned for the module. The information given in the axis combo box in the motion param-
eter setting window of Engineering Manager is displayed.
(e) Fixed Parameters
Displays CSV file names “FixPrm_xxyy.csv” for fixed parameters of CSV file data. xx indicates a line num-
ber, and yy indicates an axis number. If no file exists, no CSV file name is displayed.
6-9
6.2.3 Import
(f) Setup Parameters

Displays CSV file names “SetPrm_xxyy.csv” for setting parameters of CSV file data. xx indicates a line num-
ber, and yy indicates an axis number. If no file exists, no CSV file name is displayed.
(g) SERVOPACK Parameters
Displays CSV file names “SrvPrm_xxyy.csv” for SERVOPACK parameters of CSV file data.
xx indicates a line number, and yy indicates an axis number. If no file exists, no CSV file name is displayed.
(h) Import Button
Click this button to import the files selected with check marks.
(i) Close Button
Click this button to close the dialog box. Import will not be executed.
(j) Specifying the File Name
Add an unique character string at the beginning of the motion parameter file name to specify the file name.
Example: Fixed parameter file name when MPE is specified: MPE_FixPrm_xxyy.csv
(k) Check Box
Click the box to select the file to be imported.
3. Click the Import Button.

Click Yes to start a batch import. When the importing starts, the progress indicator will display the percentage of
the process that has been completed.
Limiting File Options for Import

Right-click the mouse in the Batch import Dialog Box to open the pop-up menu. Click to clear the check mark from
the target fixed parameter, target setup parameter, and target SERVOPACK parameter. Then these three parameter
types will be excluded from the files to be imported.
The import file options set by using the pop-up menu will be retained until the MPE720 version 6 is turned OFF and
then ON again.
6-10
( 2 ) Individual Import
1. Select File - Import from the main menu and click the Individual Import Button in the Import Dialog
Box.
The file import Dialog Box will appear. All the CSV files, including files whose names start with the specified
character string, can be selected.
2. Select a CSV file to be imported, and then click import.

The following message will appear.
Exporting/Importing
Click Yes to start importing the selected file. When importing starts, the progress indicator will display the per-
centage of the process that has been completed.
The selected CSV file data will be imported to the parameter window displayed in the foreground of the cur-
rently opened window.
6-11
6.3.1 Exporting/Importing Global Variables, I/O Variables and Comments
6.3 Variables
Variables can be exported from an open project file on the MPE720 version 6 to a CSV, CTF, or YST file, or imported
from a CSV, CTF, or YST file to the MPE720 version 6.
Export means to save variables, comments, and structures in a CSV, CTF, or YST file. Only CSV files can be edited in
Microsoft Excel.
Import means to save the CSV, CTF, or YST file in MPE720 version 6 again.
The variable data exported from a project file can be imported for use in another project file.
Data in a CSV file can be edited in Excel as required, and the edited CSV file data can be imported to a project file.
The results of export and import are output to the Output Subwindow.
Import can be executed regardless of Machine Controller model.
Refer to 6.2.1 Exporting/Importing Motion Parameters for information on exporting/importing motion parameters.
( 1 ) Outline
I/O variables, global variables, and I, O, M, and C register comments can be exported to CSV files. A desired file name
can be set for each CSV file with a file extension “.CSV”.
If a CSV file with the same name already exists in the export destination, the data of CSV file in the export destination
will be deleted, and new data will be written.
The editing of CSV files is described below.
When a CSV file is opened, the data is displayed from left to right, “Register”, “Comment”, “Variable”, and “Struc-
ture,” as shown below. When nothing is set for “Comment”, “Variable”, and/or “Structure”, the corresponding cell is
left blank.
A (Register)*1 B (Comment) *2 C (Variable)*3 D (Structure)*4

1 CW00001 Acceleration
2 MB000001 RUN switch *5
3 IF0007 I register Ti
4 MW00100 Data0 *6
5 MA00200 PI parameter PIParameter PI_W
6 OL0687 Variable comments
* 1. Enter a correct register.

* 2. Refer to the supplemental information given under step 2 of the structure assigning procedure in 5.3.1( 1 ) [ b ] Cre-
ating System Structures for details on the Comment Column.
* 3. Refer to the supplemental information given under step 2 of the structure assigning procedure in 5.3.1( 1 ) [ b ] Cre-
ating System Structures for information on how to assign variable names.
* 4. Displayed only when the register data type is ADDRESS.
Refer to the supplemental information given under step 2 of the structure assigning procedure in 5.3.1( 1 ) [ b ]
Creating System Structures for information on Member Name and Member Comments.
* 5. When only comments are set, the Variable column will be left blank.
* 6. When only variables are set, the Comment column will be left blank.
6-12
6.3 Variables
The edited CSV file can be imported to the MPE720 version 6. The data in the import destination file will be overwrit-
ten with the data in the import source.
Axis variables can be neither exported nor imported.
Exporting/importing only a specified register range is not possible.
Right-click the corresponding folder in the Variable Subwindow and select Export or Import from the pop-up menu
to execute export or import.
An example of importing a CSV file is described below.

(A: Register, B: Comments, C: Variable, D: Structure)
(Example) The CSV file A is imported to the data B in the Variable Subwindow of the opened project file.
A: Import source (Data saved in the CSV file)
A B C D
1 MA00200 PI parameter Parameter PI_W
2 MB000000 Test
3 MF00070 Ti
4 MW00100 RUN speed
B: Import destination (Data in the Variable Subwindow of the project file)

A B C D
1 MA00200 Data process PIParameter PID_F
2 MB000000 TESTER
3 MF00070 Integration time
4 MW00100 Drive
Exporting/Importing
Data after A was imported to B (Data in the Variable Subwindow of the project file)
A B C D
1 MA00200 PI parameter Parameter PI_W
2 MB000000 Test TESTER
3 MF00070 Ti
4 MW00100 RUN speed Drive
6
If the Comment column for the register of the CSV file that is the import source is blank but a comment exists
for the same register at the destination, the comment at the destination will be deleted.
If the Variable Column of the register in the import source (CSV file) is blank but a variable is set for the
same register in the project file of the import destination, the variable in the import destination will not be
overwritten and will remain unchanged.
6-13
The following diagram illustrates the data export and import operation flow.
A CSV file "STEP.CSV"
I,O,M, and C registers

Export I/O variables
MPE720 Global variables
version 6 Comments
Import Structures
Save Open and edit
Excel
( 2 ) Procedures to Export/Import Data
[ a ] Export
The assigned global variables and comments can be exported to a CSV file by using the following procedure.
1. Select File - Export - Global variables and comments from the main menu.
The Save As Dialog Box will appear.
2. Select a folder as the export destination, and enter a file name in the File name field. Then, click Save.
The Export Dialog Box will appear.
6-14
6.3 Variables
3. All the check boxes of variables and comments in the CSV file specified in step 2 will be selected.
Clear the check boxes of the items not to be exported, and then click Export.
If Browse is clicked, the specified export destination (file name) or the Save As Dialog Box to create a file as the
export destination will be displayed. To create a file, enter a file name and then click Save in the Save As Dialog
Box.
Exporting/Importing
4. Click Yes. Data export will start, and the results will be displayed in the Output Subwindow.
6
6-15
[ b ] Import
The global variables and comments in the CSV file can be imported to MPE720 version 6 using the following proce-
dure.
1. Select File - Import - Global variables and comments from the main menu.
The Open Dialog Box will appear.
2. Select a CSV file to be imported, and then click Open.
The Import Dialog Box will appear.
3. All the check boxes of variables and comments in the CSV file specified in step 2 will be selected.
Clear the check boxes of the items not to be imported, and then click Import.
If you wish to reselect the CSV file to be imported, click Browse.
6-16
6.3 Variables
4. Click Yes. The selected data will start importing and the results will be displayed in the Output Subwin-
dow.
An error code (0xAxxxxxxx) may be displayed in the Output Subwindow as follows.
Exporting/Importing
Select the error code (0xAxxxxxxx) and then press the F1 Key. The Error Generating Information Dialog Box
will appear.
Check the error causes and take corrective action.
6-17
6.3.2 Exporting/Importing Local Variables and Comments
( 1 ) Outline
Internal variables, variables outside functions, and D, #, X, Y, Z, and A register comments can be exported to a CSV
file.
CSV files will be saved under the specified folder for each program.
MPE720 version 6 adds .csv to the program number, which is used as the file name. For the names of CSV files for
three-level hierarchy programs, the period between levels will be omitted as shown below.
Example: CSV file name for H01: H01.csv
CSV file name for H02.03: H0203.csv
If a CSV file with the same name already exists in the export destination, the data of the CSV file in the export destina-
tion will be deleted and overwritten with the new data.
The procedure to edit or display CSV files when exporting or importing is the same as for exporting or importing glo-
bal variables and comments. Refer to 6.3.1 ( 1 ) Outline for details.
Right-click a folder in the Variable Subwindow and select Export or Import from the pop-up menu to implement the
exporting or importing of data.
The following illustration shows the data export/import operation flow.

CSV Files per Program
㧔H.CSV㧕
Export D, #, X, Y, Z, A registers
MPE720 Local internal variables
version 6 Variables outside function
Import Comments
Structures
H01.CSV
Open and edit
FUNC.CSV
Save
Excel
6-18
6.3 Variables
[ a ] Export
The local variables and comments assigned for each program can be exported to a CSV file by using the following pro-
cedure.
1. Select File - Export - Local variables and comments from the main menu.
The Browse For Folder Dialog Box will appear.
2. Select a folder as the export destination and then click OK.

To create a new folder, click Make New Folder to enter a folder name.
Exporting/Importing
3. All the check boxes of ladder programs (CSV files) in the folder specified in step 2 will be selected.
Clear the check boxes of ladder program data not to be exported, and then click the Export Button.
If you wish to select a export destination program again, click Browse.
6-19
Click Yes. Data export will start, and the results will be displayed in the Output Subwindow.
[ b ] Import
The local variables and comments assigned for each program can be imported from the CSV file to the MPE720 ver-
sion 6 by using the following procedure.
1. Select File - Import - Local variables and comments from the main menu.
2. Select the folder in which the data to be imported is saved, and then click OK.
6-20
6.3 Variables
3. All the check boxes of ladder programs (CSV files) in the folder specified in step 2 will be selected.
Clear the check boxes of ladder programs not to be imported, and then click Import.
If you wish to change the import source folder, click Browse.
Exporting/Importing
4. Click Yes. The selected files will start importing, and the results will be displayed in the Output Subwin-
dow.
6-21
6.3.3 Exporting/Importing Constant Variables
( 1 ) Outline
Constant variables, registers, comments, units, and values in a constant group variable can be exported.
The exported files will be saved in the specified folder for each constant group variable. The data will be exported with
the constant group variable name with a CTF file extension.
If a CTF file with the same name already exists at the export destination, the data of CTF file in the export destination
will be deleted and overwritten with the new data.
The data in the CTF files can be imported to the MPE720 version 6 as they are.
CTF files cannot be edited.
An example of a constant variable folder importing operation is shown below.
A: Constant Variable Import Source Folder B: Constant Variable of Import Destination Folder
Constant Variable Folder after A is imported to B
Right-click a folder in the Variable Subwindow and select Export or Import from the pop-up menu to export or
import.
6-22
6.3 Variables
The following diagram outlines the export and import operation flow.
CTF file for each constant variable
㧔DATA.CTF)
Export C registers
MPE720 Comments
version 6 Units
Import Values
When the Register Ranges in Import Source and Destination Overlap

When some registers to be imported overlap with those in the import destination, the following error message
will appear. Change the register range either in the import source or in the destination, as overlapping registers
cannot be imported.
(Example) Register range specified in the import source: CW00000 to CW00099
Register range specified in the import destination: CW00098 to CW00197
Exporting/Importing
When the Register Ranges in the Import Source and Destination Overlap, and the Same Constant
Variables Exist in the Import Destination
When the register range of the constant group variable overlaps with that of the import destination and the same
constant variables exist in the import destination, the following error message will appear. Constant variables
identical to those in the import destination cannot be imported.
If the register range is not overlapping with that in the import destination, the error message will not appear,
even if the constant variables are the same as those in the import destination. 6
6-23
[ a ] Export
Data of constant variables can be exported group by group to CTF files in the selected folder by using the following
procedure.
1. Select File - Export - Constant variables from the main menu.

2. Select a folder for export destination, and then click OK.

To create a new folder, click Make New Folder to enter a folder name.
3. All the check boxes of constant variables (CTF files) in the folder specified in step 2 will be selected.
Clear the check boxes of the items not to be exported and then click Export.
If you wish to change the export destination folder, click Browse.
6-24
6.3 Variables
4. Click Yes. Data export will start and the results will appear in the Output Subwindow.
[ b ] Import
Data of constant variables can be imported group by group to MPE720 version 6 using the following procedure.
1. Select File - Import - Constant variables from the main menu.

2. Select the folder in which the data to be imported is saved, and then click OK.
Exporting/Importing
6
6-25
3. All the check boxes of constant variables (CTF files) in the folder specified in step 2 will be selected.
Clear the check boxes of the items not to be imported, and then click Import.
If you wish to change the import source folder, click Browse.
4. Click Yes. The selected files will start importing and the results will appear in the Output Subwindow.
6-26
6.3 Variables
6.3.4 Exporting/Importing User Structures

A user structure that contains data of the structure members can be exported to a YST file from the MPE720 version 6.
A desired name can be set for a YST file with a file extension .YST.
If a YST file with the same name already exists in the export destination, the data of the YST file in the export destina-
tion will be deleted and overwritten with the new data.
YST files cannot be edited.
The exported data in a YST file can be imported to the MPE720 version 6 as is.
The data in the destination file will be overwritten with the data in the imported file.
The following diagram illustrates the export/import operation flow.
YST file per user structure
㧔PROGRAM.YST㧕
Export
MPE720 User structure
version 6 Structure members
Import
[ a ] Export
Data of a user structure can be exported to a YST file by using the following procedure.
Exporting/Importing
1. Select File - Export - User structure from the main menu.
The Save As Dialog Box will appear.
2. Select a folder as the export destination and enter a file name in the File name Field. Then, click Save.
6-27
3. All the check boxes of user structures in the YST file specified in step 2 will be selected. Clear the
check boxes of user structures that are not to be exported, and then click Export.
If Browse is clicked, the already specified export destination (file name) or the Save As Dialog Box to create a
file for export destination will appear. To create a new file, enter a file name and click Save in the Save As Dialog
Box.
4. Click Yes. Data export will start and the results will appear in the Output Subwindow.
6-28
6.3 Variables
[ b ] Import
Data of user structures saved in a YST file can be imported to the MPE720 version 6 by using the following procedure.
1. Select File - Import - User structure from the main menu.

The Open Dialog Box will appear.
2. Select a YST file to be imported and then click Open.
Exporting/Importing
3. All the check boxes of user structures in the YST file specified in step 2 will be selected. Clear the
check boxes of user structures not to be imported, and then click Import.
6-29
4. Click Yes. The selected structures will start importing and the results will appear in the Output Subwin-
dow.
6-30
6.3 Variables
6.3.5 Importing MPE720 Version 5 CMT Files

The registers and comments used in the comment list of MPE720 version 5 can be imported to MPE720 version 6.
The data of the file in the import destination will be overwritten with the data of the imported file.
The table below lists the comment files that can be imported.
CMT files cannot be edited.
CMT files cannot be exported from MPE720 version 6 to MPE720 version 5.
Comment File Register Data Type that Can be Imported

MB$$$00.CMT M register BIT type comments
MW$$$00.CMT M register WORD, LONG, FLOAT, and ADDRESS type comments
OB$$$00.CMT O register BIT type comments
OW$$$00.CMT O register WORD, LONG, FLOAT, and ADDRESS type comments
IB$$$00.CMT I register BIT type comments
IW$$$00.CMT I register WORD, LONG, FLOAT, and ADDRESS type comments
CB$$$00.CMT C register BIT type comments
CW$$$00.CMT C register WORD, LONG, FLOAT, and ADDRESS type comments
xxxxxxxx.CMT － Local comments for each program
Individual CMT File

Created on MPE720 version 5
㧔MB$$$00.CMT㧕
MPE720 Register
Exporting/Importing
version 6 Import Comments
6-31
6.3.5 Importing MPE720 Version 5 CMT Files
( 1 ) Importing Comment Data Created on MPE720 Version 5

The local comment and register data created on the MPE720 version 5 for each program can be individually imported
to the MPE720 version 6 by using the following procedure.
1. Select File - Import - Ver5 CMT file from the main menu.
The import of Ver5 CMT file Dialog Box will appear.
2. Select a CMT file to be imported, and then click Import.
3. Click Yes. The CMT file will start importing and the results will appear in the Output Subwindow.
The data that can be imported is limited to registers and comments. When you wish to use the symbols to which
comments are assigned on the MPE720 version 5 for variables on the MPE720 version 6, use the following proce-
dure to import the symbols to the MPE720 version 6.
1. Select File - Import - Global variables and comments from the main menu. Alternatively, select File -
Import - Local variables and comments. Then, create a CSV file.
2. Open the CSV file to enter symbols in the variable column.
3. Import the edited CSV file to the MPE720 version 6.
In this way, the symbols used in the MPE720 version 5 can be used as the variables in the MPE720 version 6.
6-32
6.4 Register Data
6.4 Register Data

Register data can be exported to CSV files, and re-imported to MPE720 version 6. The CSV files can be edited in
Microsoft Excel.
It is also possible to import the registers of cam data created with the Electronic Cam Data Tool from CDT files.
The results of importing and exporting are output to the Output Subwindow.
Importing/exporting register data from/to CSV files: Refer to 6.4.1 Exporting/Importing the Register Data to/from CSV
Files.
Exporting registers of cam data created with the Electronic Cam Data Tool: Refer to 6.4.2 Importing Registers in Cam
Data Created with the Electronic Cam Data Tool.
6.4.1 Exporting/Importing the Register Data to/from CSV Files
( 1 ) Outline of Exporting/Importing
You can export register data to a CSV file, or import register data from a CSV file to MPE720 version 6.
If the exported register data is to be used in another project file or Machine Controller, importing the register data saved
in a CSV file makes it possible to use the same data.
The data types that can be imported and exported are the Word, Long and Float data types of I, O, M, C and D registers.
You can assign any name you like to a CSV file, and the extension is set as “.CSV.” Because CSV file data can be
edited in Excel, you can edit the data as required before importing.
The results of importing and exporting are output to the Output Subwindow.
Exporting/Importing
A schematic diagram for export/import data is shown below.
CSV files (TEST.CSV)

Export
Machine Controller
Import 6
I,O,M,C,D register
(WORD,LONG,FLOAT)
Export
Project file
Import
Open/Edit
Save
Excel
6-33
The following is an explanation of how to edit CSV files.

When a CSV file is opened, the data of each of the registers is shown in one column as shown by the rectangle in the
figure below.
A B C C
1 MW00000 *1 *1 … ← Start register
2 H *2 ← Program name (local registers only)
3 30 98
4 2 3
5 86 706 ← Register data
6 987 8641 Enter the correct data.
7 19873 0
* 1. Enter the correct register.

* 2. Enter this if a local register has been entered as the start register.
You can import edited CSV files into MPE720 version 6.
■ Cautions on editing and importing CSV files

If the register data in a CSV file is illegal, the data from that illegal data onward will not be imported. Be sure to enter
correct register data.
Illegal data means blanks, non-data characters, and data that exceeds the register ranges.
Example: When the register data (third from top) of the start register IL0025 is set as a blank:
One register data item is left blank.

Or illegal data is entered.
The third and subsequent register data of start register IL0025 are grayed out
and cannot be imported.
6-34
6.4 Register Data
Example: When all of the first line of the register data of the columns where the start register has been entered have
been left blank:
All of the first line of register data is left blank.

Or illegal data has been entered.
Exporting/Importing
When all of the first line of the register data is illegal, it is not recognized as
register data and the data of the second and subsequent lines is shifted upward
and displayed.
6-35
( 2 ) Exporting/Importing Procedure
[ a ] Exporting
Register data that has been set in the Register List or Watch Tab Pages can be exported to a CSV file.
The procedure for this is as follows.
1. Select Program - Export from the Main Menu.

The Export Dialog Box will be displayed.
2. Click the Register data Button.
The Save As Dialog Box will be displayed.
3. Select the export destination folder and enter the file name, then click the Save Button.
The Resister data export Dialog Box will be displayed.
6-36
6.4 Register Data
4. Enter the register data to be exported (Start register, Program name, Number), then click the Export
Button.
Start register: Enter the register from which the register data to be exported is to start.
Program name: When dealing with local registers, enter the program name of the program being used.
* If an entry is made here although dealing with registers other than local registers, an error message is dis-
played on executing export.
Number: Enter the number of data to be exported, counting from the start register.
Example: When exporting the data from MW00010 to MW00017, the setting to be made for Number
is 18.
Exporting/Importing
5. Export of the register data starts, and the result is displayed in the Output Subwindow.
6-37
[ b ] Importing
Register data saved in a CSV file can be imported to MPE720 version 6.
The procedure for this is as follows.
1. Select File - Import from the Main Menu. Alternatively, right-click the Register List Subwindow or
Watch Subwindow and select Import from the pop-up menu that will be displayed.
The Import Dialog Box will be displayed.
The Open Dialog Box will be displayed.
3. Select the CSV file from which to import data, and click the Open Button.
The Register data import Dialog Box will be displayed.
6-38
6.4 Register Data
4. The check boxes of all of the start registers in the CSV file selected in step 3 are checked. Uncheck the
check boxes of the start registers that do not need to be imported, then click the Import Button.
Start register: The start registers of each of the register data in the CSV file are shown here.
Program name: If the start register is a local register, the program name is shown here.
5. Import of the register data starts, and the result is displayed in the Output Subwindow.
Exporting/Importing
6
6-39
6.4.2 Importing Registers in Cam Data Created with the Electronic Cam Data Tool
6.4.2 Importing Registers in Cam Data Created with the Electronic Cam Data Tool
Using MPE720 version 6, the registers in cam data created with the Electronic Cam Data Tool (CDT file) can be
imported to a project file.
In addition, cam data can be transferred from a project file to the Machine Controller by using Write to machine con-
troller in the Transfer menu.
The data to be imported can be selected based on the kinds of cam data (displacement, speed, acceleration).
A schematic diagram for importing data is shown below.
CDT File (TEST.CDT) created with

the Electronic Cam Data Tool
Machine Controller
Import
Displacement, speed,
acceleration
Project file Import
The procedure for importing cam data created with the Electronic Cam Data Tool to MPE720 version 6 is as follows.
1. Select File - Import from the Main Menu.

The Import Dialog Box will be displayed.
The Open Dialog Box will be displayed.
3. Select electronic cam file (*.cdt) as the file type. Select the CDT file to be imported and click the Open
Button.
The Cam data import Dialog Box will be displayed.
4. The check boxes of all of the data kinds in the CDT file selected in step 3 are checked. Uncheck the
check boxes of data types that are not to be imported.
6-40
6.4 Register Data
5. Enter the start register of the register data to be imported for each data kind, then click the Import But-
ton.
Data kind: Uncheck the check boxes of data other than that you want to import (Displacement, Speed,
Acceleration).
Start register: Enter the start register of the registers you want to import.
Program name: If the entered start register is a local register, enter the program name here.
6. Import of the register data starts, and the result is displayed in the Output Subwindow.
Exporting/Importing
6
6-41
7
Electronic Cam Data Preparation Tool
This chapter describes how to start the Electronic Cam Data Preparation Tool.
7.1 Overview of Electronic Cam Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2

7.2 Starting and Operating the Electronic Cam Data Tool - - - - - - - - - - - - - - - - 7-2
Electronic Cam Data Preparation Tool

7
7-1
7 Electronic Cam Data Preparation Tool
7.1 Overview of Electronic Cam Data

The Electronic Cam Data Tool is a simulation and conversion tool that reads CSV-format files, tracks transition points,
and converts the files to cam data files (.cdt). The converted data can then be transferred from the Cam Data Tool to the
Controller.
7.2 Starting and Operating the Electronic Cam Data Tool

The Cam Tool Window is opened by selecting Utility - Electronic Cam Tool in the Launcher.
For details on operating the Electronic Cam Data Tool, refer to the Machine Controller MP900/MP2000 Series Elec-
tronic Cam Data Preparation Tool Operation Manual (SIEP C880700 18).
7-2
8
Data Table Programs
This chapter describes how to start data table programs.
8.1 Overview of Data Table Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2

8.2 Starting and Using Data Table Programs - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
Data Table Programs

8
8-1
8 Data Table Programs
8.1 Overview of Data Table Programs

In data table programs, data used in the main ladder program can be prepared in table format.
8.2 Starting and Using Data Table Programs

Use the following procedure to start the Data Table Program Window.
1. Select Utility - Engineering builder in the Launcher.

2. Select File - Open - Define Data Table - Data Table Map from the Main Menu.
The Table Data Store Target Window will be displayed.
For details on preparing data tables, refer to Chapter 11 Data Table Folders in the Machine Controller MP900/
MP2000 Series MPE720 Software for Programming Device User's Manual (SIEP C880700 05).
8-2
9
Printing
This chapter describes how to print out ladder programs and other programs.
9.1 Printing Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2

9.1.1 Page Setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.2 Print Previews - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3
9.1.3 Printing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5
9.1.4 Printing Cross-Reference Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8
9.1.5 Printing Call Program Instructions (FUNC/SEE/MSEE) - - - - - - - - - - - - - - - - - - - - - - - 9-9
9.2 Printing Other Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-11
Printing
9
9-1
9 Printing
9.1.1 Page Setup
9.1 Printing Ladder Programs

A ladder program can be printed page by page. MPE720 version 6 contains various printing functions, such as print
preview display, page setting, cross-reference information printing, closed scope printing, and circuit printing in
reduced-size.
Current values displayed while online can not be displayed in print preview or printed.
Refer to 9.2 Printing Other Programs for information on printing CP ladder programs.
With project link connection and direct connection to a Machine Controller, the project file will appear on
screen. However, the ladder program saved in the Machine Controller RAM will be printed out.
Refer to 1.10.1 Connecting to Machine Controllers for details on project link connection and direct connec-
tion.
9.1.1 Page Setup

Use the following procedure to display the Page Setup Dialog Box and make the page settings.
1. Open the program to be printed in the main window, and display it in the foreground of the window.
2. Select File - Page Setup from the Main Menu.

The Page Setup Dialog Box will appear.
3. Set each item, and then click OK.
9-2
9.1.2 Print Previews
( 1 ) Displaying Print Previews

The following procedure can be used to display a print preview.
1. Open the ladder program for which the print preview is to be displayed in the main window, and display
the program in the foreground of the window.
2. Select File - Print Preview from the Main Menu.

A print preview will be displayed for the selected ladder program.
( 2 ) Print Preview Window Operations

1. Print Button
2. Previous Page and Next Page Buttons
3. One/Two Page Button
4. Zoom In and Zoom Out Buttons
5. Close Button
Printing
9
Fig. 9.1 One-page Display

The button operations are described below.
1. Print Button
The Print Dialog Box is displayed by clicking the Print Button. Pages can then be specified to be printed.
2. Previous Page and Next Page Buttons
When there are multiple pages in the print preview, these buttons can be used to change the page displayed.
9-3
9 Printing
9.1.2 Print Previews
3. One/Two Page Button

The One/Two Page Button changes the number of pages displayed in the main window. Displays of pages tog-
gles between one and two pages by clicking this button.
Fig. 9.2 Two-page Display

4. Zoom In and Zoom Out Buttons
These buttons toggle the display magnification between two levels.
5. Close Button
The Print Preview Window will be closed by clicking the Close Button.
The display can be changed by clicking the tabs just as in other main windows until the Print Preview Window.
9-4
9.1.3 Printing
( 1 ) Printing Each Ladder Program

The following two ways can be used to print the ladder program.
[ a ] Printing from Main Menu

The specified range of the Ladder Program that is displayed in the foreground in the main window can be printed from
the main menu.
1. Open the program to be printed in the main window, and display it in the foreground of the window.
2. Select File - Print from the Main Menu.

The Print Dialog Box will be displayed.
3. Set each item, and then click the OK Button. The program will then be printed.
Printing
9
9-5
9 Printing
9.1.3 Printing
[ b ] Printing from Ladder Subwindow

Program printing can be directly implemented from the Ladder Subwindow.
When there is no hierarchy of elements under the selected ladder program or no hierarchy of elements is displayed, the
Print Setup Dialog Box shown below will appear.
When there is a hierarchy of elements under the selected program, refer to 9.1.3 ( 2 ) Printing Programs as a Batch.
1. Right-click the ladder program to be printed and select Print from the pop-up menu.
The Print Setup Dialog Box will appear.
2. Set each item, and then click OK. The selected ladder program will be printed.
Refer to 3.4.1 Changing Ladder Subwindow Displays for display of hierarchy structure.
( 2 ) Printing Programs as a Batch

Programs in a program folder (High-speed, Low-speed, Start, Interrupt, and Function) or a program containing lower
hierarchical level programs can be selected for batch printing.
1. Select a program folder High-speed, Low-speed, Start, Interrupt, or Function, or select a program
that contains programs of lower hierarchical levels from the Ladder Subwindow. Then, right-click the
selected folder or program, and select Print from the pop-up menu.
When the selected program contains programs of lower hierarchical levels, the following message will appear.
When a program folder is selected, the above message will not appear. Proceed to step 3.
2. Click one of three buttons:

Print: Click this button to print only the selected program. The rest of the operation is the same as described in
[b] Executing Print from Ladder Subwindow of 9.1.3 ( 1 ) Printing Each Ladder Program
Select: Click this button to print the selected program together with the lower hierarchical level programs.
Cancel: Click this button to cancel printing.
When the Select Button is clicked, the Print Dialog Box will appear.
9-6
3. All the check boxes of the programs under the selected program folder will be selected.
Clear the check boxes of programs not to be printed.
When some check boxes are deselected in step 3, some check boxes of project files, ladder program folders, and
High-speed, Low-speed, Start, Interrupt, and Function Drawing Folders may be shaded. This is because some of the
check boxes of the files contained in the folder are selected or not selected.
4. Click Print.
The Print Setup Dialog Box will appear.
5. Select each item and then click OK. All selected programs will be printed out as a batch.
Printing
9
9-7
9 Printing
9.1.4 Printing Cross-Reference Information
9.1.4 Printing Cross-Reference Information

Cross-reference information is the information on the output registers (variables) used for coils and cross-referenced to
another program. The cross-reference information will be printed on the right side of ladder program. The cross-refer-
ence information includes the program name and step number (execution step number) to which the output register is
cross-referenced. The registers whose cross-reference information can be printed are M, I, O, D, Y, Z, and A registers.
Cross-reference information can be printed only when the project file is open offline.
Refer to 1.9.18 Print: Ladder for print setting.
Refer to 3.5.4 Cross Reference Searching for cross reference.
The following illustration shows an example of printed program with cross-reference information.
P00001 H01 Cross-reference information
H01:
Motion 1 [MB300010]
MB3000010 H04/0000 H02.01/0002w
0000 ==
0000 [WLF]SrcA MW00000
NL-1 [WLF]SrcB 00000
Motion 2 [MB300018]
MB3000018 H04/0002 H02.02/0002w
0001 ==
0002 [WLF]SrcA MW00000
NL-1 [WLF]SrcB 00000
Servo on PG run ready Servo on

MB300000 MB000020 MB000001
0002
0004
NL-1
Servo on PG run ready
MB300000 MB000020 MB001000
0003
0007
NL-1
Alarm reset PB Alarm clear
MB300001 MB000010
0004
0010
NL-1
Alarm reset PB
MB300001 MB001019
0005
0012
NL-1
0006 END
0014
NL-1
9-8
Cross-reference information is given with Program name/Step number + Additional information in the same way as CP
ladder programs.
(Ex.) H01.01 ／ 0010w
Additional information
Step number
Program name
Display Items Description Display Example

Only program numbers but not comments.
H
In order from High-speed → Low-speed → Start → Interrupt → Function
Program Name H01.01
In order from First hierarchical level → Second hierarchical level → Third hierar-
FUNC01
chical level
Step numbers are given with 4 digits in ascending order. 0001
Step Number
For CP ladder programs, step numbers are given with 3 digits. 1000
H01/0010i
Subscript “i” or “j”
H01/0010j
Additional When being used as an output register, “w” is added.
Information For CP ladder programs the indications are as follows.
H01/0010w
$ : Coil commands and store commands
H01/001@
& : Transfer commands such as MOVW, XCHG, ROTL and ROTR
@ : Pulse and count register commands
9.1.5 Printing Call Program Instructions (FUNC/SEE/MSEE)

The programs that are called by the FUNC instructions, SEE instructions, and MSEE instructions can be displayed as a
tree diagram and printed out.
The hierarchy of levels of call instructions for function programs consists of a maximum of seven levels. For motion
programs, there is no limitation of levels.
7 levels
<Example>
H DWGψH01ψH01.01ψFUNC01ψFUNC02ψFUNC03ψFUNC04ψFUNC05ψFUNC06ψFUNC07
Call Instruction refers to the instruction to call and refer an instruction object in another program, such as FUNC,
MSEE, and SEE.
Printing
Use the following procedure to print out the program call instructions.
1. Select Utility - Print Manager from the Launcher and select the Program Tab in the Print Manager
Window. Click Details on the DWG List in the Program Tab.
9
The Print Object Setting Dialog Box will appear.
2. Select the Drawing Tree check box, and then click OK.
3. Select File - Execute print from the Main Menu.

The Execute print Dialog Box will be displayed.
4. Check the Program check box and click the Execute Button.
The Printers Dialog Box will be displayed.
5. Make the necessary settings and then click the OK Button.

Call instruction printing completes.
9-9
9 Printing
9.1.5 Printing Call Program Instructions (FUNC/SEE/MSEE)
Printing FUNC Instructions

The following illustration shows the FUNC instructions that are displayed in a tree diagram when printed.
PDATA1-962401 P00015 Drawing Tree (High Scan Drawings)
Called by the SEE instructions

H Main Program
H01 Called by the MSEE instructions High Scan (H01)
H01.01 High Scan (H01.01)
MSEE MPM001 Motion Program (MPM001)
FUNC01 Function (FUNC01)
Called by the FUNC05 Function (FUNC05)
FUNC instructions FUNC06 Function (FUNC06)
MSEE MW00100
FUNC21 Function
FUNC21 Function
Printing SEE instructions

By entering the name of a second-level program in the SEE instruction of a first-level program, a program from the
second level can now be displayed at the topmost level. In the same way, a third-level program can be displayed at
the second level by entering the program name in SEE instruction for a second-level program.
Printing MSEE Instructions

MSEE instructions are displayed together with the variables set in the main program. The display of variables differ
depending on whether constants or registers are assigned.
Constant Register
Display MPM is added to a value. Register, as is
Example: ｜ --- MSEE MPM001 Example: ｜ --- MSEE DW00001
9-10
9.2 Printing Other Programs

CP ladder programs, registers, definitions (system definition, scan time definition, module configuration, data trace),
and motion programs can be printed.
There are two printing methods.
With project link connection, the data saved in the Machine Controller RAM will be printed for CP ladder pro-
grams, and the data saved in a project file will be printed for registers, definitions (system definition, scan
time definition, module configuration, data trace), and motion programs.
With direct connection, data other than CP ladder programs cannot be printed, as no project file was open
when connecting the Machine Controller to the MPE720 version 6.
Refer to 1.10.1 Connecting to Machine Controllers for details on project link connection and direct connection.
( 1 ) Executing Printing from Launcher

Execute printing from the Launcher.
1. Select Utility - Print Manager from the Launcher.

The Print Manager will open.
Printing
9
Refer to 1.5.1 Names and Descriptions of Window Components for information on Launcher.
9-11
9 Printing
2. Select Print - Execute print from the main menu.

The Execute print Dialog Box will appear.
3. Select an object to be printed and set the page margins, and then click Execute.
The Print Dialog Box will appear.
When printing is executed from the Print Manager for the first time, the Printers Dialog Box will appear. Set the
printer type and then click OK.
4. Set each item, and then click OK. Printing will start.
Select File - Print cancel from the menu to hold or cancel the printing operation.
The List Manager will open at the same time as the Print Manager, and indicate the progress of printing operation.
9-12
( 2 ) Executing Printing from Engineering Manager

Execute printing from Engineering Manager.
1. Select File - Print from the Engineering Manager main menu.

The Print Manager Window will open.
2. Select Print - Execute print from the main menu.

The Execute print Dialog Box will appear.
Printing
9
9-13
9 Printing
3. Select an object to be printed and set the page margins, then click Execute.
The Print Dialog Box will appear.
When printing is executed from the Print Manager for the first time, the Printers Dialog Box will appear. Set the
printer type and then click OK.
4. Set each item, and then click OK. Printing will start.
The List Manager will open at the same time as the Print Manager, and indicate the progress of printing operation.
9-14
10
Transferring Data
This chapter describes the transfer functions in MPE720 version 6.
10.1 Outline of Data Transfers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2

10.2 Transferring Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
10.2.1 Writing to Machine Controllers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
10.2.2 Program Disable Processing when a Write Error Occurs - - - - - - - - - - - - - - - - - - - - 10-8
10.2.3 Saving to Flash Memory - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-9
10.2.4 Reading from Machine Controllers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-10
10.2.5 Writing into a Project File - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12
10.2.6 Reading from a Project File - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-14
10.2.7 Writing into the CF Card - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-16
10.2.8 Reading from CF Card - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-17
10.2.9 Comparison with the Machine Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-18
10.2.10 Comparing Flash Memory and RAM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
10.2.11 Comparing Project Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-21
10.2.12 Comparing with CF Card Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-23
Transferring Data
10.2.13 Detailed Comparison of Programs and Registers - - - - - - - - - - - - - - - - - - - - - - - 10-24
10
10-1
10 Transferring Data
10.1 Outline of Data Transfers

A data transfer involves writing, reading, or comparing data between a computer running MPE720 version 6 and a
Machine Controller, and saving the Machine Controller RAM data to flash memory.
The following types of data can be transferred.
z System Configuration
• System Definitions
• Scan Time Definitions
• Module Configuration Definitions
• Data Trace Data
z Programs
• Ladder programs (High-speed, Low-speed, Start, Interrupt, Function)
• Motion programs (Main, Sub, Group definitions)
• Table data
• Variables (Axis, I/O, Global, Constant, and User structure)
• Comments (I/O, Global, and Constant)
z Registers
• M (Data registers), D (Internal registers), C (Constant registers),
S* (System registers), I* (Input registers), O* (Output registers)
* Registers marked by asterisks (*) cannot be written.
The type of data transfer can be specified by selecting Online - Transfer on the Main Menu, and then selecting the
transfer type in the Transfer Dialog Box that will be displayed.
For purposes of description, all of the icons in the above dialog box are shown as active.
The transfer can also be executed by selecting Online - Write into Controller, Read from Controller, or Save
to Flash from the Main Menu.
The transfer can also be executed by selecting Transfer and then Write into Controller, Read from Control-
ler, or Save to Flash from the Launcher.
10-2
10.1 Outline of Data Transfers
The following diagrams illustrate the data transfer procedures using MPE720 version 6.
Data Transfers
1. Writing to the Machine Controller and Saving to Flash Memory
MPE720 Ver.6
When Write into Controller is executed in the Trans-
fer Dialog Box, data from the open project file (or
Project file Machine Controller another specified project file) is written to the Machine
RAM
transfer data
Controller RAM. When Save to Flash is executed,
data in the Machine Controller RAM is written to the
Machine Controller flash memory.
Project file Machine
Another project file
Controller
flash memory
2. Reading from the Machine Controller

When Read from Controller is executed in the Trans-
fer Dialog Box, data in the Machine Controller RAM
Application data in
is read to MPE720 version 6 and written to the open
Machine Controller
Machine Controller
RAM project file (or another specified project file).
RAM
Another
Project file project file
The data transfer procedures are described in detail below.
Transferring Data
10
10-3
10.2.1 Writing to Machine Controllers
10.2 Transferring Data

The procedure differs as described below, depending on whether a project file is currently open.
• When a project file is open: Offline
The current project file data is transferred to the Machine Controller. When offline, first connect to the Machine
Controller before the transfer.
• When a MPE720 is connected to the Machine Controller with a project file open: Project Link Connection
If the Write into Controller Button in the Transfer Dialog Box is clicked, the Open Project Dialog Box will
appear.
• When the connection is made without an open project file: Direct Connection
The project file that is to be the transfer source is first selected, and then the data is transferred to the Machine Controller.
These methods are described in detail below.
( 1 ) Offline with an Open Project File
1. Select Online - Transfer from the Main Menu, and click the Write into Controller Button in the Trans-
fer Dialog Box that will be displayed.
Alternatively, select Online - Write into Controller from the Main Menu.
A third method is to select Transfer - Write into Controller from the Launcher.
If the project file does not contain connection information, or if the Write into Controller Button is clicked in
the Transfer Dialog Box, the Communications Setting Dialog Box will be displayed.
In all other cases, the Transfer Program - Write into Controller Dialog Box shown in step 3 will be displayed.
2. Select the port to be used for the transfer, and click the Connection Button.
With this procedure, connection information will not be written to the project file even when the Connection
Button is clicked. To write connection information to the project file, select Online - Communications Setting
from the Main Menu, and then make the settings in the Communications Setting Dialog Box that will be dis-
played.
The Transfer Program - Write into Controller Dialog Box will be displayed.
10-4
3. Select Batch or Individual, and then click the Start Button.
If writing to the Machine Controller is prohibited in the system settings (under Setup in the Environment Setting
Window), a write error will occur when the Start Button is clicked, and the following message will be displayed.
For details on system settings, refer to 1.9.7 Setup: System Setting.
When selecting Batch, select the types of data to be transferred from among System Configuration, Program,
Register, and Comment.
With a batch transfer, the Machine Controller RAM will be cleared before the transfer, and it will be updated by
the project file data being transferred.
When Individual is selected, not only can System Configuration, Program, Register or Comment be specified, but
also the particular data to be transferred.
With an individual transfer, only the same file will be overwritten by the data being transferred.
If The flash saving is executed after transfer is selected, the data will be saved to flash memory after being trans-
ferred to the Machine Controller RAM.
For details on the data of the System Configuration, Program, Register, and Comment that is transferred, refer
Transferring Data
to .
If the CPU is in RUN status, one of the following messages will be displayed.
10
(a) When Program Is Selected for a Batch Transfer
(b) Anything Other than the Above
10-5
(a) The transfer will be started by clicking the Yes Button.

(b) Yes: The data will be transferred without stopping the CPU.
CPU STOP: The CPU will be stopped, and then the data will be transferred.
Cancel: The data will not be transferred.
Writing to the Machine Controller will begin.
If a writing error occurs, refer to 10.2.4 Reading from Machine Controllers on how to take a corrective action.
When the transfer has been completed, one of the following messages will be displayed.
If Save to Flash Was Specified If Save to Flash Was Not Specified
If the CPU was stopped, the following message will be displayed when the OK Button is clicked. Click the Yes
Button to restart (RUN) the CPU and end the transfer, or click the No Button to end the transfer with the CPU
stopped.
After the transfer is complete, the data transfer log and results can be confirmed in the Transfer Subwindow.
( 2 ) Connected Online with an Open Project File
1. Select Online - Write into Controller from the Main Menu.

Alternatively, select Transfer - Write into Controller from the Launcher.
The subsequent operations are the same as from step 3 onwards in ( 1 )Offline with an Open Project File.
The Open Project Dialog Box will be displayed when Write into Controller is selected from the Transfer Dialog
Box, even while connected online with a project file open.
( 3 ) Connected Online without an Open Project File
1. Select Online - Transfer from the Main Menu, and click the Write into Controller Button in the Trans-
fer Dialog Box that will be displayed.
Alternatively, select Online - Write into Controller from the Main Menu.
A third method is to select Transfer - Write into Controller from the Launcher.
10-6
2. Select the project file that is to be transferred, and click the Open Button.
Select a project file for which the Machine Controller type is the same as that of the currently connected
Machine Controller.
Transferring Data
10
10-7
10.2.2 Program Disable Processing when a Write Error Occurs
10.2.2 Program Disable Processing when a Write Error Occurs

When data is transferred with the CPU stopped, a high-speed or low-speed main program can be invalid if the transfer
fails (e.g., if there is an incompletely written program). When the CPU is restarted (RUN) after a transfer failure, there
is a risk that an incompletely written program may be executed and the machinery may be damaged. This function can
be set to eliminate this risk.
This function is valid only by selecting File - Environment Setting - Transfer from the Main Menu, and setting Pro-
cessing of invalid high/low main program to Disable.
For details on high-speed and low-speed main program disable processing, refer to 1.9.14 Variable: Variable.
( 1 ) When Processing of Invalid High/Low Main Program Is Disabled

When Processing of invalid high/low main program is set to Disable in the Transfer Window, the following error mes-
sage will be displayed if an error occurs during a data transfer with the CPU stopped.
If this message is displayed, the main ladder program (high-speed or low-speed) is invalid in the Machine Controller
and will not be executed even if the CPU is restarted (RUN).
Even under the above conditions, if there is a communications timeout or if a write error occurs due to not being able
to communicate with the Machine Controller, the message below in (2) will be displayed and disable processing will
not be executed.
( 2 ) When High Processing of Invalid/Low Main Program Is Not Disabled

When Processing of invalid high/low main program is set to Not Disable in the Transfer Window, the following error
message will be displayed if an error occurs during a data transfer with the CPU stopped.
If this message is displayed, the program will be executed when the CPU is restarted (RUN) even if the program is
incompletely written. Before restarting the CPU, be sure to execute the data transfer again to ensure that the program in
the Machine Controller is complete.
10-8
10.2.3 Saving to Flash Memory

This section describes how to save data in the Machine Controller RAM to the Machine Controller flash memory. This
function is valid only while connected online to the Machine Controller.
The procedure is as follows:
1. Select Online - Transfer from the main menu, and click the Save to Flash Button in the Transfer Dia-
log Box.
Alternatively, select Online - Save to Flash from the main menu.
A third method is to select Transfer - Save to Flash from the Launcher.
The Transfer Program - Save to Flash Dialog Box will appear.
2. Click the Start Button.
If the CPU is in RUN status, the following message will appear. Click either the Yes Button or the CPU STOP
Button to start saving the data to flash memory.
If the Yes Button is clicked, the operation will take more time.
When the save operation is completed, the following message will appear.
Transferring Data
Click the OK Button. If the data was saved to flash memory with the CPU in RUN status, the operation will be
finished.
If the data was saved to flash memory with the CPU stopped, the following message will appear.
10
If the Yes Button is clicked, the CPU will be restarted (RUN), and the save operation will be completed.
If the No Button is clicked, the save operation will complete with the CPU stopped.
10-9
10.2.4 Reading from Machine Controllers
10.2.4 Reading from Machine Controllers

The procedure differs as described below, depending on whether a project file is currently open.
• When a project file is open
Data in the Machine Controller RAM is transferred to the project file that is currently open. When offline, first con-
nect to the Machine Controller before the transfer.
• When the connection is made without an open project file
After a project file is selected as the transfer destination, the data is then transferred from the Machine Controller.
( 1 ) Offline with an Open Project File
1. Select Online - Transfer from the Main Menu, and click the Read from Controller Button in the
Transfer Dialog Box that will be displayed.
Alternatively, select Online - Read from Controller from the Main Menu.
If the project file does not contain connection information, or if the Read from Controller Button is clicked in
the Transfer Dialog Box, the Communications Setting Dialog Box will be displayed.
In all other cases, the Transfer Program - Read from Controller Dialog Box shown in step 3 will be displayed.
The Transfer Program - Read from Controller Dialog Box will be displayed.
When selecting Batch, select the types of data to be transferred from among System Configuration, Program,
Register, and Comment.
When Individual is selected, not only can System Configuration, Program, Register, or Comment be specified,
but also the particular data to be transferred.
10-10
For details on the data of the System Configuration, Program, Register, and Comment that is transferred, refer
to .
Reading from the Machine Controller will be started.
When the transfer has been completed, the following message will be displayed. Click the OK Button to end the
read operation.
( 2 ) Online with an Open Project File
1. Select Online - Read from Controller from the Main Menu.

Alternatively, select Transfer - Read from Controller from the Launcher.
The Open Project Dialog Box will be displayed when Read from Controller is selected from the Transfer Dia-
log Box, even while connected online with an open project file.
( 3 ) Connected Online without an Open Project File
1. Select Online - Transfer from the Main Menu, and click the Read from Controller Button in the
Transfer Dialog Box that will be displayed.
Alternatively, select Online - Read from Controller from the Main Menu.
A third method is to select Transfer - Read from Controller from the Launcher.
2. Either select the project file in which the data read from the Machine Controller is to be saved or enter
the name of a new project file to be created, and then click the Open Button.
Transferring Data
10
If a new project file is being created, the class of the currently connected Machine Controller will be set for that
project file.
10-11
10.2.5 Writing into a Project File
10.2.5 Writing into a Project File

Write the data in the open project file into another project file. This function is enabled when the MPE720 version 6 is
not connected to the Machine Controller. This status is regarded as offline.
1. Select Online - Transfer from the main menu, and click the Write into Project Button in the Transfer
Dialog Box.
The Open Project Dialog Box will appear.
2. Select the project file to be overwritten, and click Open.
The Transfer Program - Write into Project Dialog Box will appear.
3. Click either the Batch or Individual Button, and then click the Start Button.
When selecting the Batch or Individual Button, the types of data to be transferred (System Configuration, Pro-
gram, Register, and Comment) can be selected.
When selecting the Individual Button, the particular data to be transferred can also be designated.
For details on the data of the System Configuration, Program, Register, and Comment that is transferred,
refer to .
After clicking Start, the data will begin writing into the project file.
10-12
When the writing is complete, the following message will appear. Click OK.
Transferring Data
10
10-13
10.2.6 Reading from a Project File
10.2.6 Reading from a Project File

The data will be read from the selected project file and written into the currently open project file. This function is
enabled when the MPE720 version 6 is not connected to the Machine Controller (offline).
1. Select Online - Transfer from the main menu, and click the Read from Project Button in the Transfer
Dialog Box.
The Read from Project Dialog Box will appear.
2. Select a project file from which a data is to be read and then click the Open Button.
The Transfer Program - Read from Project Dialog Box will appear.
When selecting the Batch or Individual Button, the types of data to be transferred (System Configuration, Pro-
When selecting the Individual Button, the particular data to be transferred can also be designated.
refer to .
After clicking Start, the data will begin reading from the project file.
10-14
When reading is complete, the following message will appear. Click OK.
Transferring Data
10
10-15
10.2.7 Writing into the CF Card
10.2.7 Writing into the CF Card

The data can be written into the CF card. The operation of this function differs depending on whether a project file is
open or not.
The data in the open project file that needs to be saved in a CF card is transferred to the CF card.
The data in the RAM of the Machine Controller (MP2200 CPU-02) is transferred to the CF card installed in the
computer.
Use the following procedure to save data in the CF card.
1. Select Online - Transfer from the main menu, and click the Write into CF Card Button in the Transfer
Dialog Box.
The Select Drive Dialog Box will appear.
2. Select a drive to be used, and then click OK.
The Transfer Program - Write into CF Card Dialog Box will appear.
Writing to the CF card will begin.

When the writing is complete, the following message will appear. Click OK to end the transfer operation.
10-16
10.2.8 Reading from CF Card

The data can be read from the CF card.
The operation of this function differs depending on whether a project file is open or not.
Data will be transferred from the CF card to the open project file. When offline, a connection is made to the
Machine Controller (MP2200 CPU-02) before starting transfer.
Data will be transferred from the CF card to the Machine Controller (MP2200 CPU-02).
1. Select Online - Transfer from the main menu, and click the Read from CF Card Button in the Trans-
fer Dialog Box.
2. Select a drive to be used, and then click the OK Button.
The Transfer Program - Read from CF Card Dialog Box will appear.
Transferring Data
Reading from the CF card will begin.
When the reading is complete, the following message will appear. Click OK to end the transfer operation.
10
10-17
10.2.9 Comparison with the Machine Controller
10.2.9 Comparison with the Machine Controller

This function differs, as described below, depending on whether a project file on the computer is open (when offline)
and whether a Machine Controller is connected (when online).
• Offline
After a connection is made to the Machine Controller, the data in the currently open project file and the data in the
Machine Controller RAM are compared and the results are output to the Transfer Subwindow.
• Online
When the project file for the data comparison is specified (or a new file is created), the data in the specified project
file and the data in the Machine Controller RAM are compared and the results are output to the Transfer Subwin-
dow.
( 1 ) Offline
1. Select Online - Transfer from the main menu, and click the Compare with Controller Button in the
Transfer Dialog Box.
The Communications Setting Dialog Box will appear.
The Compare Program - Compare with Controller Dialog Box will appear.
When selecting the Batch or Individual Button, the types of data to be compared (System Configuration, Pro-
When selecting the Individual Button, the particular data to be compared can also be designated.
For details on the data of the System Configuration, Program, Register, and Comment that is compared, refer
to .
After clicking Start, the data will begin comparison.
10-18
When the comparison has been completed, the following message will be displayed. Click OK to end the com-
pare operation.
No Difference Found Differences Found
After the comparison is complete, the data comparison log and result can be confirmed in the Transfer Subwin-
dow.
( 2 ) Online
1. Select Online - Transfer from the main menu, and click the Compare with Controller Button in the
2. Select the project file to be compared with the Machine Controller Data, and click the Open Button.
When a connection is made to the Machine Controller after the project file has been opened, the file name of
the open project file will be displayed in the File name Field as the default.
Transferring Data
The Compare Program - Compare with Controller Dialog Box will appear.
The subsequent operations are the same as from step 3 onwards in 10.2.9 ( 1 ) Offline.
10
10-19
10.2.10 Comparing Flash Memory and RAM
10.2.10 Comparing Flash Memory and RAM

This function compares the data in the Machine Controller RAM with the data in the flash memory, and outputs the
results to the Transfer Subwindow. The function is valid only while connected online to the Machine Controller.
1. Select Online - Transfer from the main menu, and click the Compare Flash to RAM Button in the
The Compare Program - Compare Flash to RAM Dialog Box will appear.
The comparison between the data in flash memory and the data in RAM will begin.
When the comparison has been completed, one of the following messages will be displayed. Click OK to end the
compare operation.
No Differences Found Differences Found
After the comparison is complete, the data comparison log and results can be confirmed in the Transfer Sub-
window.
10-20
10.2.11 Comparing Project Files

This function compares the data in an open project file with the data in another project file, and outputs the results to
the Transfer Subwindow. The function is valid only when not connected to the Machine Controller (i.e., when offline).
The procedures is as follows:
1. Select Online - Transfer from the main menu, and click the Compare with Project File Button in the
2. Select the project file to be compared and click the Open Button.
The Compare Program - Compare with Project File Dialog Box will appear.
Transferring Data
10
For details on the data of the System Configuration, Program, Register, and Comment that is compared, refer
to .
10-21
10.2.11 Comparing Project Files
The comparison with the project file will begin.

When the comparison has been completed, the following message will be displayed. Click OK to end the com-
pare operation.
After the comparison is complete, the data comparison log and result can be confirmed in the Transfer Subwin-
dow.
10-22
10.2.12 Comparing with CF Card Data

The data in the CF card will be compared with the data in a Machine Controller or a project file.
The operation differs depending on whether a project file on the computer is open (when offline) and whether a
Machine Controller is connected (when online).
The data in the open project file and the data in the CF card are compared, and the results are output to the Trans-
fer Subwindow.
• When the Machine Controller (MP2200 CPU-02) is connected
The data in the Machine Controller (MP2200 CPU-02) RAM and the data in the CF card are compared and the
results are output to the Transfer Subwindow.
Use the following procedure to compare data.
1. Select Online - Transfer from the main menu, and click the Compare with CF Card Button in the
2. Select a drive, and then click OK.
The Compare Program - Compare with CF Card Dialog Box will appear.
Transferring Data
Comparison will begin.
When the comparison is complete, the following message will appear. Click OK to end the comparison opera-
tion.
10
After the comparison is complete, the comparison data log and results can be confirmed in the Transfer Sub-
window.
10-23
10.2.13 Detailed Comparison of Programs and Registers
10.2.13 Detailed Comparison of Programs and Registers

Data in the programs saved to two memories can be compared in detail. Differences between the two sets of data are
output to the Transfer Subwindow. With the Compare Flash to RAM function, the detailed comparison of programs is
not possible.
You can go to the corresponding program by double-clicking the output comparison result.
The detailed comparison for programs is applicable only for ladder programs, motion programs, and registers.
Use the following procedure to compare programs.
1. Select Online - Transfer from the main menu, and select a program to be compared in the Transfer
Dialog Box.
2. Select a data of project file, CF card, or Machine Controller to be compared, and then click the Open
Button. This explanation will use the selection of Compare with Project File as an example.
The Compare Program - Compare with Project File Dialog Box will appear.
10-24
refer to .
After clicking Start, the data will begin comparison.
When the comparison is complete, the following message will appear. Click OK to end the comparison opera-
tion.
No difference Found Differences Found
After the comparison is complete, the data comparison log and results can be confirmed in the Transfer Sub-
window.
( 1 ) Jump Function from Transfer (Comparison Result) Subwindow

If unmatched data is found during comparison of program data, the unmatched data will be displayed in the Transfer
Subwindow as follows. Double-click the unmatched data and you can go to the execution step or line where the
unmatched data is found.
However, if unmatched data is found during comparison of CP ladder programs, the corresponding CP ladder program
will open. If unmatched data is found during comparison with motion programs, you will go to the motion program line
where the unmatched data is found.
Transferring Data
Multiple differences were found though only one element in the program was modified
This contradiction may appear in the results because ladder programs are compared on the base of execu-
tion codes (executable data after compilation) and one instruction is converted into multiple execution codes
(instruction numbers). This will not cause any problems in the operation.
10
Differences were found though the same data were compared.
(a) This contradiction may appear due to differences between two types of compilations (normal compilation
and version 5 compatible compilation). For a version 5 compatible compiler, the information on the ver-
sion 5 compatible compilation is written on 0 to 4 steps of the program. However, for a normal compiler,
such information is not given.
(b) When comparing programs in which conditional instructions* are used, this contradiction may appear due
to differences between two types of compilations (normal compilation and version 5 compatible compila-
tion): the work registers used by MPE720 version 6 are optimized. To obtain perfectly matched results,
execute compilation in the same compile mode.
* Indicate the instructions displayed in the Ladder Subwindow. Refer to Machine Controller MP900/
MP2000 series New Ladder Editor User’s Manual (manual number: SIE-C887-13.1) for details.
10-25
11
Axes
This chapter describes the functions that relate to axis operations.
11.1 Axis Setup Wizard - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2

11.1.1 Overview of the Axis Setup Wizard - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.2 Starting the Axis Setup Wizard - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.3 Names and Descriptions of Components of the Axis Setup Wizard - - - - - - - - - - - - - 11-4
11.2 Test Run - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-18

11.2.1 Overview of Test Running - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-18
11.2.2 Starting a Test Run - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-19
11.2.3 Names and Descriptions of Components of Test Run - - - - - - - - - - - - - - - - - - - - - 11-22
11.2.4 Setting the Speed, Step Distance, and Direction - - - - - - - - - - - - - - - - - - - - - - - - - 11-26
11.2.5 Servo Enable and Servo Disable Status of Axes - - - - - - - - - - - - - - - - - - - - - - - - - 11-28
11.2.6 Axis Jog Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-29
11.2.7 Axis Step Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-31
11.3 Axis Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-32

11.3.1 Outline of Axis Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-32
11.3.2 Starting Axis Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-33
11.3.3 Names and Descriptions of Components of Axis Monitor - - - - - - - - - - - - - - - - - - - 11-34
11.3.4 Setting and Displaying Monitor Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-37
11.4 Alarm Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-39

11.4.1 Overview of Alarm Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-39
Axes
11.4.2 Starting Alarm Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-40

11.4.3 Names and Descriptions of Components of Alarm Monitor - - - - - - - - - - - - - - - - - - 11-41
11.4.4 When an Alarm/Warning Occurs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-44
11
11.5 Axis Management in the System Subwindow - - - - - - - - - - - - - - - - - - - 11-46
11-1
11 Axes
11.1.1 Overview of the Axis Setup Wizard
11.1 Axis Setup Wizard

11.1.1 Overview of the Axis Setup Wizard
( 1 ) What is the Axis Setup Wizard?

This is a function that makes it easy to set up SERVOPACKs that are connected in a MECHATROLINK network.
It enables everything from setup of SERVOPACK parameters to tuning, to setting the Machine Controller in accor-
dance with the machine specifications, to backing up of data, enabling easy setup of axes.
( 2 ) Conditions of Use
The following conditions must be established in order to use the Axis Setup Wizard.
• The communication port used must be Ethernet or Ethernet (LP).
• Communication with the Machine Controller must be established (online status).
• The SERVOPACK must be a ∑-V series for use with MECHATROLINK.
• SigmaWin+ Ver. 5.11 or later must be installed.
If SigmaWin+ Ver. 5.11 or later is not installed, you can download it free of charge from the e-mechatronics site
(product/technology information site).
Access this site with the following URL: http://www.e-mechatronics.com/support/tool/
• The SERVOPACK version must be 0011 or later.
• The built-in SVB with CPU of the Machine Controller must be Ver. 2.60 or later, and an optional SVB must be
Ver. 1.25 or later.
11.1.2 Starting the Axis Setup Wizard

Open the Axis Setup Wizard Window.
1. Opening from the System Subwindow

Double-click Axis configuration - Axis Setup Wizard.
Right-click Axis configuration - Axis Setup Wizard, then select Open in the pop-up menu that will be displayed.
11-2
2. Opening from the My Tool Window

Click the Axis Setup Wizard Button registered in the My Tool Window.
(1)
(2)
Axes
11
11-3
11 Axes
11.1.3 Names and Descriptions of Components of the Axis Setup Wizard
( 1 ) Axis Dialog Box

Select the axis to be set up.
(1)
(2) (3)

Displays the information allocated to the module configuration definition.
(1) Axis
Select the axis to be set up.
(2) OK Selects the axis and returns you to the Axis Setup Wizard Window.
(3) Cancel Returns you to the Axis Setup Wizard Window without selecting an axis.
The only axis that can be used with the Axis Setup Wizard is the selected axis. To use another axis, click the
Axis Button to display the Axis Dialog Box, then make another axis selection.
11-4
( 2 ) Axis Setup Wizard

Set up one axis at a time of a SERVOPACK connected to the MECHATROLINK network.
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)

Axis Monitor Displays the Axis Monitor Window.
(1) Toolbar Alarm Monitor Displays the Alarm Monitor Window.
Alarm/Warning Displays the Alarm/Warning Window.
(2) Axis... Displays the Axis Dialog Box to select the axis to be set up.
(3) Axis indication The selected axis is shown here.
(4) SERVOPACK Parameter Setting Starts the SigmaWin+ setup wizard to set the SERVOPACK parameters.
Displays the Fixed Parameter Setting Window to set the fixed parameters in
(5) Fixed Parameter Setting
accordance with the machine specifications.
(6) Tuning Starts SigmaWin+ tuning and tunes the axis optimally.
Reads the parameters to be automatically reflected from the SERVOPACK,
Axes
Reflect SERVOPACK Parameter in

(7) reflects them in the setting parameters of the Machine Controller, and saves
Setting Parameter
them.
Backup Save of SERVOPACK Reads the current values of the SERVOPACK parameters and saves them as
(8)
Parameter backup data of the SERVOPACK parameters in the Machine Controller. 11
(9) Close Closes the Axis Setup Wizard Window.
11-5
11 Axes
( 3 ) SERVOPACK Parameter Setting

The SERVOPACK parameters can be set using the SigmaWin+ setup wizard.
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)

(1) SERVOPACK Selection Selects the SERVOPACK.
(2) Encoder Selection Selects the encoder.
(3) Control Mode Selection Selects the control mode.
Sets the reference input specifications and other settings in accordance with the
(4) Reference Input Setting
machine to be operated and host controller.
(5) Motor Encoder Setting Sets the motor and encoder to be used.
Sets the stop method and brake setting for when the servo goes off, at overtravel,
(6) Motor Stop Method Selection
and when an alarm occurs.
Changes the meanings of specific terminal numbers among the I/O signals of the
(7) I/O Signal Setting
SERVOPACK’s CN-1 connector.
(8) Save/Write Confirms the set signals and saves the parameters to file.
(9) Close Closes the Setup Wizard Window.
11-6
( 4 ) Fixed Parameter Setting

The fixed parameters of the Machine Controller can be set in accordance with the machine specifications.
(1)
(2) (3)
(4)
(5)
(6)
(7)
(8)

Refer to (1) Toolbar in 11.1.3 Names and Descriptions of Components of the
(1) Toolbar
Axis Setup Wizard.
(2) Axis... This button is disabled.
(3) Axis indication Displays the selected axis.
Reference Unit and Electronic Gear Set- Displays the Reference Unit/Electronic Gear Window to set the reference
(4)
ting unit and electronic gears.
(5) Axis Type Setting Displays the Axis Type Setting Window to set the motor type and axis type.
Displays the Absolute Position Detection Setting Window to set the simple
(6) Absolute Position Detection Setting ABS rotary position mode and the maximum number of absolute encoder
rotations.
Displays the Fixed Parameter Saving Window to save the changed fixed
(7) Fixed Parameter Saving
parameter values.
(8) Close Closes the Fixed Parameter Setting Window.
[ a ] Reference Unit and Electronic Gear Setting

Sets the reference unit, the number of decimal places, the pitch of the electronic gear (pulley diameter) and the reduc-
Axes
tion gear ratio.

Setting the reference unit and electronic gear settings enables you to set the following fixed parameters.
No. Fixed parameter

11
No. 4 Reference unit selection
No. 5 Number of decimal places
No. 6 Travel distance per machine rotation
No. 8 Servo motor gear ratio
No. 9 Machine gear ratio
11-7
11 Axes
Ball screw
(1)
(2)
(3)
(4)
(5)
(6)
(7) (8)
Rotary table
(3)
(9)
11-8
Belt and pulley
(3)
(10)
(11)

Select the reference unit from the following five options.
0: pulse, 1: mm, 2: deg, 3: inch, 4: μm
(1) Reference unit selection
When “0: pulse” has been selected for Reference unit selection, the set-
tings from (2) onward are disabled.
Number of digits below Select the number of decimal places from among the following six options.
(2)
decimal point 0: None, 1: 0.1, 2: 0.12, 3: 0.123, 4: 0.1234, 5: 0.12345
Select the mechanical construction from among the following three options.
[ a ] Ball Screw
(3) Mechanical
[ b ] Round Table
[ c ] Belt and Pulley
(4) Pitch P Set the travel per rotation of the ball screw.
(5) Load axis Set the number of rotations of the load axis for the reduction gear ratio.
(6) Motor Set the number of rotations of the motor for the reduction gear ratio.
Axes
Sets the reference unit/electronic gear settings and returns you to the Fixed Parameter
(7) Set
Setting Window.
Returns you to the Fixed Parameter Setting Window without setting the reference unit/
(8) Cancel
electronic gear settings. 11
(9) Per rotation Set the travel per rotation of the rotary table.
(10) Pitch P Set the travel per rotation of the pulley.
(11) Pulley Dia. Set the diameter of the pulley.
11-9
11 Axes
[ b ] Axis Type Setting

Sets the motor type and the axis type.
Setting the axis type enables you to set the following parameters.
No. Fixed Parameter

No. 1 Bit 0 Axis type selection
No. 10 Infinite length axis reset position (POSMAX)
No. 30 Encoder selection
(1)
(2)
(3)
(4) (5)

Select the encoder from among the following three options.
0: Incremental encoder
(1) Encoder selection
1: Absolute encoder
2: Absolute encoder (for incremental use)
Select the axis type from the following two options.
(2) Axis Type
0: Finite length axis, 1: Infinite length axis
Set the reset position for an infinite length axis.
(3) Set infinite length axis This setting can be made if “Infinite length axis” has been selected at (2)
Axis Type.
(4) Set Sets the axis type and returns you to the Fixed Parameter Setting Window.
(5) Cancel Returns you to the Fixed Parameter Setting Window without setting the axis type.
11-10
[ c ] Absolute Position Detection Setting

Sets the simple ABS rotary position mode and the maximum number of absolute encoder rotations.
Setting absolute position detection enables you to set the following parameters.
No. Fixed Parameter

No. 1 Bit 9 Simple ABS rotary position mode selection
No. 38 Maximum number of absolute encoder rotations
The values set here are also reflected in Pn205, the Multiturn Limit Setting parameter, upon saving.
(1)
(2)
(3)
(4) (5)

Select the simple ABS rotary position mode.
(1) Simple ABS rotary Pos. mode Enabled if “Infinite length axis” has been selected at (2) Axis
Type in [ b ] Axis Type Setting.
Automatically calculates the maximum number of absolute encoder rota-
(2) Auto* tions.
Enabled if Managed was selected at (1).
Set the maximum number of absolute encoder rotations.
Maximum number of absolute encoder If “Finite length axis” has been set for Axis Type in [ b ] Axis Type Set-
(3)
turns rotation ting a value of 65535 or lower can be set, and if “Infinite length axis” has
been set, a value of 65534 or lower can be set.
Sets absolute position detection and returns you to the Fixed Parameter
(4) Set
Setting Window. Axes
Returns you to the Fixed Parameter Setting Window without setting abso-
(5) Cancel
lute position detection.
* The method used for automatic calculation is as follows.

11
(“Fixed parameter No. 38: Maximum number of absolute encoder rotations” + 1)
= Integral value (remainder = 0)
Reset rotation amount
The “reset rotation amount” differs as shown below depending on whether the reference unit is “pulse” or “mm/deg/
inch.”
“No. 10: Reset position of infinite length axis” “No. 10: Reset position of infinite length axis” × “No. 8: Motor gear ratio”
“No. 36: Number of pulses per motor rotation” “No. 6: Travel distance per machine rotation” × “No. 9: Machine gear ratio”
When the reference unit is “pulse” When the reference unit is “mm/deg/inch”
11-11
11 Axes
[ d ] Fixed Parameter Saving

Saves the parameters set in [ a ] to [ c ].
(1)
(2) (3)

(1) Fixed parameter Displays the fixed parameters set in [ a ] to [ c ].
(2) Save Saves the fixed parameters and returns you to the Fixed Parameter Setting Window.
Returns you to the Fixed Parameter Setting Window without saving the fixed param-
(3) Cancel
eters.
11-12
■ If “1: Absolute encoder” has been selected at (1) Encoder selection in [ b ] Axis Type Setting, the
fixed parameters and SERVOPACK parameters are compared after saving the fixed parameters.
1. The Reflect SERVOPACK Parameter Dialog Box will be displayed.

Click the Check Button to check for differences in the set values of the saved fixed parameters and SERVO-
PACK parameters.
Fixed Parameter SERVOPACK Parameter

No. 38 Maximum number of absolute encoder
Pn205 Multiturn Limit Setting
rotations
No. 30 Encoder selection Pn002.2 Absolute Encoder Usage
2. Parameters that have been checked are marked with , and the results of checks are indicated.
If the fixed parameters and the SERVOPACK parameters match: Equal
If the fixed parameters and SERVOPACK parameters do not match: Not equal
Axes
11
11-13
11 Axes
( 5 ) Tuning
SigmaWin+ tuning can be started to adjust the axes optimally.
For details on setting tuning, refer to 4.6 Tuning in AC Servo Drives Engineering Tool SigmaWin+ Online Manual ∑-
V Component (manual No.: SIEP S800000 73).
11-14
■ When tuning has been started after initializing the SERVOPACK

Changes the setting of Pn170 (tuningless switch), then initiates a software reset.
Check the Reset MECHATROLINK communication check box and click the Execute Button.
(With SigmaWin+ ∑-V, a reset is automatically applied after setting changes.)
■ About automatic adjustment

If tuning is performed with No reference input set for Reference input from host controller the connection with
the machine controller is broken, so the MECHATROLINK Communications Reset Dialog Box will be dis-
played to reconnect after tuning.
Axes
11
11-15
11 Axes
( 6 ) Reflection of the SERVOPACK Parameters in the Setting Parameters

The SERVOPACK parameters can be automatically reflected in the setting parameters of the Machine Controller.
If the fixed parameter “No.1 BitA: Servo user constant automatic write function” is enabled, on turning the power to
the Machine Controller off and back on, the SERVOPACK parameters are written with the values of the setting
parameters. For this reason, if the SERVOPACK parameters are changed after tuning, reflect these changes in the
setting parameters before turning the power to the Machine Controller off and back on.
The parameters that are reflected from the SERVOPACK to the Machine Controller are as follows.
SERVOPACK Machine Controller

Pn102: Position loop gain OWxx2E: Position loop gain
Pn100: Speed loop gain ⇒ OWxx2F: Speed loop gain
Pn109: Feed forward OWxx30: Speed feed forward compensation
Pn11F: Position integral time con-
OWxx32: Position loop integral time constant
stant
Pn101: Speed loop integral time
OWxx34: Speed loop integral time constant
constant
Pn812: Movement average time OWxx3A: Filter time constant
(1) (2)

(1) Yes Reads the SERVOPACK parameters and displays the Saving of setting parameter Window.
(2) No Returns you to the Axis Setup Wizard Window without reading the SERVOPACK parameters.
11-16
(1)
(2) (3)

(1) Setting parameter The read setting parameters are shown here.
(2) Save Saves the setting parameters and returns you to the Axis Setup Wizard Window.
(3) Cancel Returns you to the Axis Setup Wizard Window without saving the setting parameters.
( 7 ) Backup Saving of the SERVOPACK Parameters

The current values of the SERVOPACK parameters can be read and saved as backup data in the SERVOPACK setting
data of the Machine Controller.
(1) (2)

Saves a backup copy of the SERVOPACK parameters and returns you to the Axis Setup Wizard Win-
Axes
(1) Yes
dow.
Returns you to the Axis Setup Wizard Window without saving a backup copy of the SERVOPACK
(2) No
parameters.
11
11-17
11 Axes
11.2.1 Overview of Test Running
11.2 Test Run

11.2.1 Overview of Test Running
( 1 ) What is Test Running?

This is a function that checks that the SERVOPACK axes operate in response to machine controller commands.
The test run function allows you to perform the following operations by using the Test run Dialog Box.
• Axis servo enable and servo disable: The specified SERVOPACK axis can be turned ON and OFF.
• Jog operation: The specified SERVOPACK axis can be rotated in one direction at a constant speed.
• Step operation: The specified SERVOPACK axis can be rotated from the current position to a specified posi-
tion.
The following two functions are also provided as means of monitoring test runs.
• Axis Monitor: Monitors the operating status of the axes.
• Alarm Monitor: Monitors the alarm information of all the axes in one window.
Test operation can be used when the motion controller (SVB-01, SVB-01 inverter, SVA-01, SVR, PO-01) of the tar-
get axes are in the state indicated in the table below. If they are in a different state, the test run function cannot be
operated.
“Ready for Opera- “Servo ready” Motion Command

Operating Axis
tion” Status Status Response Code
SVB (built-in CPU) Servo ON ON No command
SVB-01 Inverter – ON No command
SVA-01 ON ON No command
SVR ON – No command
PO-01 ON – No command
* For inverters, the “ready for operation” status is the operation permitted status, and the “servo ready” status is
the inverter ready status.
A precondition for carrying out a test run correctly is that no ladder program, motion program or sequence program is run-
ning.
11-18
11.2 Test Run
11.2.2 Starting a Test Run

Open the Test run Dialog Box and specify the SERVOPACK axis for which test run is to be carried out.
The procedure for setting the axis is as follows.
1. Double-click Axis configuration - Test run in the System Subwindow. Alternatively, click the Test
Run Button registered in the My Tool Window.
The Test run Warning Dialog Box will be displayed.
Axes
11
11-19
11 Axes
11.2.2 Starting a Test Run
2. Read the cautions and click the Agree Button.
The Test run Window and the Axis Dialog Box will be displayed.
3. Select the axis on which the test run is to be carried out from the axis configuration tree in the Axis
Dialog Box, then click the OK Button.
11-20
11.2 Test Run
The following message is displayed.
4. On clicking the Yes Button, the selected axis name will appear in the display field to the right of the
Axis Button in the Test Run Window.
The axis on which the test run can be performed is restricted to the single selected axis. To use another axis,
click the Axis Button to display the Axis Dialog Box, then make another axis selection.
Axes
11
11-21
11 Axes
11.2.3 Names and Descriptions of Components of Test Run
( 1 ) Axis Dialog Box

The axis on which the test run is to be carried out can be selected here.
(1)
(2) (3)
No. Component Function

Displays the information allocated to the module configuration definition.
(1) Axis
Select the axis on which the test run is to be carried out.
(2) OK Selects the axis and displays the Test Run Window.
(3) Cancel Ends the test run without selecting an axis.
11-22
11.2 Test Run
( 2 ) Test Run
Test runs can be carried out from this window.
Jog operation Step operation
(1)
(2) (3)
(4)
(5) (7)
(6)
(8)
(11)
(12)
(13) (14)
(9) (10) (15) (16)

Axis Monitor Displays the Axis Monitor Window in the main window.
Alarm Monitor Displays the Alarm Monitor Window in the main window.
(1) Toolbar
Update with latest
Updates the test run indication with the latest information.
information
(2) Axis Displays the Axis Dialog Box.
(3) Axis indication Displays the selected axis.
(4) Status Displays the axis operating status, and alarm occurrence information.
(5) Enable Sets the axis in the servo enable status.
(6) Disable Sets the axis in the servo disable state. Axes
(7) Monitor Displays the Alarm/Warning Dialog Box.
Displays the Speed reference Dialog Box. Set the speed at which the axis
(8) Speed reference
rotates (speed reference).
(9) Forward Rotates the axis in the forward direction while held down. 11
(10) Reverse Rotates the axis in the reverse direction while held down.
(11) Step distance Displays the Step distance Dialog Box. Set the step distance of the axis.
Displays the Direction Setting Dialog Box. Set the direction in which the axis
(12) Direction Setting
starts step operation and the number of times step operation is performed.
(13) Forward/reverse status Indicates the current direction of rotation in step operation with .
(14) Number of repetitions status Displays the “current number of iterations/set number of iterations.”
(15) Run Runs step operation in the direction of operation set at Direction Setting.
(16) Stop Stops step operation.
11-23
11 Axes
( 3 ) Setting the Speed Reference Value

The speed reference value can be set here.
(1)
(2) (3)

(1) Speed reference Set the speed of operation in jog operation or step operation here.
(2) Set Sets the speed reference value and returns you to the Test Run Window.
Returns you to the Test Run Window without setting a speed reference
(3) Cancel
value.
( 4 ) Setting the Step Distance

The step difference can be set here.
(1)
(2) (3)

(1) Step distance Set the step distance for step operation.
(2) Set Sets the step difference and returns you to the Test Run Window.
(3) Cancel Returns you to the Test Run Window without setting a step distance.
11-24
11.2 Test Run
( 5 ) Setting the Direction of Operation

The direction of operation can be set here.
(1)
(2)
(3)
(4)
(5) (6)

(1) Direction Set the direction in which step operation is to be started.
(2) Repetitive running When this check box is checked, repetitive operations are enabled.
Set the number of times that forward and reverse operation is to be repeated.
Example: When Reverse is selected and Repeat time is set to 2, the axis
(3) Repeat time rotates as follows: “reverse → forward → reverse → forward.”
(Each occurrence of “forward → reverse” or “reverse → forward” is
counted as one repetition.)
(4) Repeat stop time Set the stop time between repetitive operations.
(5) Set Sets the direction of operation and returns you to the Test Run Window.
(6) Cancel Returns you to the Test Run Window without setting the direction of operation.
Axes
11
11-25
11 Axes
11.2.4 Setting the Speed, Step Distance, and Direction
11.2.4 Setting the Speed, Step Distance, and Direction
( 1 ) Setting the Speed Reference Value

Set the speed for performing step operation as follows.
1. Click the Speed reference Button on the Jog Tab Page.

Alternatively, click the Speed reference Button on the Step Tab Page.
The Speed reference Dialog Box will be displayed.
If the units for specifying the speed reference value have not been set, the following message dialog box will be
displayed. Click the Open Button and set the speed reference unit.
2. Enter the operating speed and click the Set Button.

The entered value (speed reference value) is written to the setting parameter, completing setting.
( 2 ) Setting the Step Distance

Set the extent of the step motion as follows.
1. Click the Step distance Button on the Step Tab Page.

The Step distance Dialog Box will be displayed.
2. Enter the value for the step motion, then click the Set Button.
The entered value (step distance) is written to the setting parameter, completing setting.
11-26
11.2 Test Run
( 3 ) Setting the Direction of Operation

Set the direction in which step operation is to start, and repeated operation, as follows.
By setting the number of repetitions in the Direction Setting Dialog Box, you can repeat forward/reverse operation
this number of times.
1. Click the Direction Setting Button on the Step Tab Page.

The Direction Setting Dialog Box will be displayed.
2. Set the direction of operation and whether repetitive operation is to be performed or not, then click the
Set Button.
When operation is started, these settings are reflected as the current values of the setting parameters.
Axes
11
11-27
11 Axes
11.2.5 Servo Enable and Servo Disable Status of Axes
11.2.5 Servo Enable and Servo Disable Status of Axes

The specified SERVOPACK axis can be enabled (servo enable) or disabled (servo disable).
In the following explanation, enabling an axis is called “setting the servo enable status” and disabling an axis is called
“setting the servo disable status.”
The servo enable and servo disable statuses can be switched by clicking the enable and disable Buttons. The operating
status of SERVOPACK axes can be checked in the Test run Dialog Box.
( 1 ) Setting the Servo Enable Status

This means enabling the SERVOPACK. The status of the axis changes from Disable to Enable and it becomes possible
to use the Jog and Step Tab Pages.
If an alarm occurs while the servo enable status is set, it will become impossible to use the Jog and Step Tab Pages.
The alarm status changes to Alarm or Warning.
For details on alarms, refer to 11.4 Alarm Monitor.
1. Click the Enable Button.

The axis is set in the servo enable status.
The axis status changes from Disable to Enable.
( 2 ) Setting the Servo Disable Status

This means that the axis that has been in the servo Enable status is stopped. The status of the axis changes from Enable
to Disable, and it becomes impossible to use the Jog or Step Tab Pages.
1. Click the Disable Button.

The axis is set in the servo disable status.
The status of the axis changes from Enable to Disable.
The Jog and Step Tab Pages are disabled (grayed out).
( 3 ) Display of Alarm Information

On clicking the Monitor Button, the Alarm/Warning Dialog Box will be displayed. It shows the alarm and warning
information.
11-28
11.2 Test Run
11.2.6 Axis Jog Operation

In jog operation, a SERVOPACK axis is rotated in one direction.
The axis can be rotated in this direction while it is in the servo enable status.
• Jog operation can be performed while the axis is in the servo enable status.
• When you switch from the Jog Tab Page to the Step Tab Page, the values set in jog operation are not saved.
( 1 ) Axis Forward Rotation

The axis rotates in the forward direction at the speed set in 11.2.4 Setting the Speed, Step Distance, and Direction.
It continues rotating as long as the button remains pressed.
1. Set the speed reference value.
2. Press and hold down the Forward Button with the mouse.
The axis rotates in the forward direction.
Axes
3. Release the Forward Button.

Axis rotation stops. 11
11-29
11 Axes
11.2.6 Axis Jog Operation
( 2 ) Axis Reverse Rotation

The axis rotates in the forward direction at the speed set in 11.2.4 Setting the Speed, Step Distance, and Direction.
It continues rotating as long as the button remains pressed.
1. Set the speed reference value.
2. Press and hold down the Reverse Button with the mouse.
The axis rotates in the reverse direction.
3. Release the Reverse Button.

Axis rotation stops.
11-30
11.2 Test Run
11.2.7 Axis Step Operation

In step operation, a SERVOPACK axis is rotated from its current position to a specified position.
Forward and reverse rotation of the axis can be repeated while it is in the servo enable status.
• Step operation can be performed while the axis is in the servo enable status.
• On switching from the Step Tab Page to the Jog Tab Page, the values set in step operation are not saved.
( 1 ) Starting Step Operation

The axis will perform step operation based on the data set in 11.2.4 Setting the Speed, Step Distance, and Direction. On
reaching the set operation count, step operation stops.
1. Make the following settings in order to perform step operation.

Speed reference: Set the speed at which the axis is to rotate.
Step distance: Set the travel when the axis rotates.
Direction Setting: Set the direction in which the axis is to rotate.
2. Click the Run Button on the Step Tab Page.
Axes
Step operation of the axis starts with the speed, step distance and direction of operation set in step 1. On reaching
the set count, step operation stops. 11
If operation is stopped while step operation is in progress, the message below is displayed.
11-31
11 Axes
11.3.1 Outline of Axis Monitor
11.3 Axis Monitor

11.3.1 Outline of Axis Monitor
( 1 ) What is Axis Monitor?

This is a function for monitoring the operating status of each of the axes connected to the Machine Controller.
The operating status of the axes (Ready/Servo Enable, Alarm/Warning, Prof. Comp/In Position, Motion Command),
and the monitor data of any desired monitor parameters can be displayed.
11-32
11.3 Axis Monitor
11.3.2 Starting Axis Monitor

Open the Axis Monitor Window.

Double-click Axis configuration - Axis monitor.

Click the Axis Monitor Button registered in the My Tool Window.
Axes
11
11-33
11 Axes
11.3.3 Names and Descriptions of Components of Axis Monitor
( 1 ) Axis Monitor
In the Axis Monitor Tab Page, only the axes displayed in the main window can be monitored. To monitor a hidden
axis, scroll the window to display it.
The axes that can be displayed for each module are as follows.
SVB Module: Axes connected to the MECHATROLINK network
SVA-01: 2 axes
SVR: 16 axes
PO-01: 4 axes
(1)
(2)
(3)
(4)

(1) Toolbar Updates the window display and stops monitoring.
(2) Circuit and axis indication Displays the circuit number and axis name.
(3) Axis operating status indication Displays the operating status of the axis.
(4) Monitor parameter display Displays the monitor parameter names and their current values.
11-34
11.3 Axis Monitor
[ a ] Toolbar
The toolbar includes icons relating to monitoring, e.g. for circuit selection and speed changes to be monitored.
Icon Name Function
Circuit selection Select the circuit to be monitored.
Select the monitoring cycle from the following three

options.
Monitor type High speed monitor
Normal speed monitor
Low speed monitor
Stop monitoring Stop monitor: Temporarily stops monitoring.

Start monitoring Monitoring: Starts monitoring.
Alarm monitor Displays the Alarm Monitor Window.
Update with latest infor- Updates the Axis Monitor Window with the latest infor-
mation mation.
[ b ] Circuit and Axis Indication

The circuit numbers of the modules connected to the Machine Controller, the motion module (SVB, SVA, PO-01,
SVR) names, and the names of the axes connected to the motion module are displayed.
It is possible to display the Axis Monitor Windows of other modules using the combo box.
[ c ] Axis Indication
The axis number, axis type name, and comment (if there is a comment) for each axis are displayed.
[ d ] Axis Operating Status Indication

The axis operating status are displayed. The following operating statuses can be checked: Ready/Servo Enable, Alarm/
Warning, Prof. Comp/In Position, Motion Command.
Ready/Servo Enable
The Ready and Servo Enable operating statuses are displayed.
Icon Name Function Axes

Ready: Indicates the status in which the preparations for operation of the axis
have been completed.
Ready
Not Ready: Indicates the status in which the preparations for operation of the axis
have not been completed.
11
Enabled: Indicates the servo enable status.
Enable
Disabled: Indicates the servo disable status.
11-35
11 Axes
Alarm/Warning
When they have occurred, alarms and warnings are displayed.
Icon Name Function
Alarm Indicates that an alarm has occurred.
Warning Indicates that a warning has occurred.
Clicking the status displays the Alarm/Warning Dialog Box, enabling you to check the detailed information on
the alarm or warning.
For details on alarms/warnings, see 11.3 Axis Monitor.
When an alarm or warning is remedied, the status changes to that shown below.
Icon Name Function
Normal status Indicates that no alarm or warning is in effect.
Prof. Comp/In Position

The position control statuses Prof. Comp and In Position are displayed. When these statuses are in effect, their back-
grounds are shown in blue.
Icon Name Function
Distribution
Indicates the status that the distribution is completed.
completed
In position Indicates the status that positioning is completed.
Motion Command
The status of the motion command response code is displayed. The background for statuses other than 0:NOP is shown
in blue.
[ e ] Monitor Parameter Display

The monitor data of the monitor parameters is displayed. For details, refer to 11.3 Axis Monitor.
11-36
11.3 Axis Monitor
11.3.4 Setting and Displaying Monitor Parameters

Set the parameters to be monitored, and display their data, as follows.
The monitor data of the monitor parameters indicated in the module configuration definitions can be checked.
Select the monitor parameters to be monitored from a list and set them. Alternatively, enter the motion register (I/O
registers only) directly.
A maximum of 8 monitor parameter data can be monitored at one time.

It is also possible to change monitor parameters that have already been set.
Since the monitor parameters that have been set are saved as setting information, they can be displayed when the Axis
Monitor Tab Page is opened again.
Use the following procedure to select monitor parameters.
1. Click a monitor parameter that is already displayed, or the Parameter Button ( ).
The Monitor Parameter Dialog Box will be displayed.
2. Click the ▼ Button to drop down the combo box, then select the monitor parameter. Alternatively, enter
the motion register (I/O registers only) directly.
Axes
11
11-37
11 Axes
11.3.4 Setting and Displaying Monitor Parameters
The monitor parameters displayed in the combo box are as follows.
Monitor Parameter Register Unit

Target position in machine coordinate system (TPOS) ILxx0E Reference unit
Calculated position in machine coordinate system
ILxx10 Reference unit
(CPOS)
Reference position in machine coordinate system
(MPOS)
Feedback position in machine coordinate system
(APOS)
Latch position in machine coordinate system (LPOS) ILxx18 Reference unit
Position error (PERR) ILxx1A Reference unit
POSMAX number of turns ILxx1E [rev]
Speed reference output value monitor ILxx20 [pulse/sec]
Feedback speed ILxx40 Selected speed unit
Torque/thrust reference monitor ILxx42 Selected torque unit

The monitor parameter is displayed in the Axis Monitor Window and monitoring is started.
11-38
11.4 Alarm Monitor
11.4 Alarm Monitor

11.4.1 Overview of Alarm Monitor
( 1 ) What is Alarm Monitor?

This is a function that monitors the alarm information of all of the axes that are connected to the Machine Controller.
The alarm/warning occurrence status for each axis is displayed to enable monitoring of the alarm and warning informa-
tion.
Axes
11
11-39
11 Axes
11.4.2 Starting Alarm Monitor
11.4.2 Starting Alarm Monitor

Open the Alarm Monitor Window.

Double-click Axis configuration - Alarm monitor.

Click the Alarm Monitor Button registered in the My Tool Window.
3. Opening from the Axis Monitor Window

In the Axis Monitor Window, click the Alarm Monitor Icon.
11-40
11.4 Alarm Monitor
11.4.3 Names and Descriptions of Components of Alarm Monitor
( 1 ) Alarm Monitor
The Alarm Monitor Tab Page shows the warning and alarm occurrence statuses for each circuit. A maximum of 8
axes can be displayed in a single row, in the Axis Monitor Tab Page.
When offline, all monitor data is displayed as “-----”.

(1) Toolbar Refreshes the display and stops monitoring.
(2) Circuit number/module name Displays the circuit number and module name.
(3) Axis No. Displays the axis numbers set for the motion module.
(4) Status indication Displays the statuses of alarms and warnings.
[ a ] Toolbar
Icons for manually refreshing and for temporarily stopping or starting monitoring are provided.
Icon Name Function

Manually refreshes the alarm and warning information of the Alarm Mon-
Manual refresh itor Tab Page.
The Alarm Monitor Tab Page is not automatically refreshed.
Stop monitoring Stop monitor: Temporarily stops monitoring.

Start monitoring Monitoring: Starts monitoring.
Axes
11
11-41
11 Axes
11.4.3 Names and Descriptions of Components of Alarm Monitor
[ b ] Circuit Number/Module Name

The circuit numbers and motion module names are displayed.
By clicking a circuit number, the monitor data for each circuit can be shown/hidden. This makes it possible to show
only the data of the required axes.
When a circuit is shown: The monitor data of alarms and warnings is shown.
When a circuit is hidden: The monitor data of alarms and warnings is hidden.
[ c ] Statuses
When an alarm or warning occurs, the alarm/warning statuses are displayed.
Icon Name Function
Normal status Indicates that no alarm or warning is in effect.
Alarm in effect Indicates that an alarm has occurred.
Warning in effect Indicates that a warning has occurred.
11-42
11.4 Alarm Monitor
( 2 ) Displaying alarms/warnings
Double-click the axis on which the alarm or warning occurred to display the Alarm/Warning Dialog Box.
(1)
(3)
(4)
(2)
(5)
(6)
(7)

Displays the axis name. The sequence of indications is: axis allocation
(1) Axis name
number - comment - type.
(2) Alarm/warning name Displays the name of the alarm or warning.
(3) Alarm Clear Clears alarms that have occurred.
Displays information on the alarm that has occurred from the manual:
(4) Help User’s manual on the Motion Module for MP2200 and MP2300 Machine
Controllers.
(5) Refresh Refreshes the information in the Alarm/Warning Dialog Box
Displays the bit numbers, parameter names and statuses.
(6) Alarm/Warning display The alarms and the warnings are the bit-wise information that can be dis-
played at each of the motion modules.
(7) Close Closes the Alarm/Warning Dialog Box.
Axes
11
11-43
11 Axes
11.4.4 When an Alarm/Warning Occurs
11.4.4 When an Alarm/Warning Occurs

Check the details of the alarm/warning, and the corrective action. Check that it can be corrected, and then clear the
alarm.
When an alarm or warning occurs, the status changes to or .
Clicking the status displays the Alarm/Warning Dialog Box, allowing you to check the detailed information on the
alarm or warning.
Here, the procedure when an alarm or warning occurs is explained by taking a servo driver communication error as an
example.
1. Click the status in the Alarm Monitor Tab Page.

The Alarm/Warning Dialog Box will be displayed.
2. Select the name of the alarm or warning that has occurred, and click the Help Button.
The user’s manual on the Motion Module for MP2200 and MP2300 Machine Controllers opens, and the details
on the selected alarm or warning are displayed.
When an alarm and warning have occurred, the details for the alarm are displayed.
11-44
11.4 Alarm Monitor
3. Read the detailed information on the alarm that has occurred and take corrective action in accordance
with the manual.
4. Click the Alarm Clear Button.
If no other alarm or warning has occurred, the status becomes .

If there is still an alarm or warning in effect, repeat the procedure from step 1.
Axes
11
11-45
11 Axes
11.5 Axis Management in the System Subwindow

The System Subwindow is used to manage the module configuration and axis configuration, and the trace function.
In the axis configuration, the axis allocation statuses can be checked.
It is also possible to directly display utilities such as module configuration definitions and the motion parameter list.
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(14)

(1) Module configuration Double-clicking here displays the module configuration definition.
(2) Axis configuration The tree items relating to axis operations are presented as child nodes.
(3) Axis Setup Wizard Double-clicking here displays the Axis Dialog Box of the Axis Setup Wizard.
Double-clicking here displays the cautions prior to starting a test run. Click the I
Agree Button to display the Test Run Window.
(4) Test run
The test run function can only be used when connected to the Machine
Controller.
(5) Axis monitor Double-clicking here displays the Axis Monitor Tab Page in the main window.
(6) Alarm monitor Double-clicking here displays the Alarm Monitor Tab Page in the main window.
Displays the information on the motion module of the circuit number set in the mod-
(7) Cir#xx ule configuration definition. The sequence of the information from left to right is: cir-
cuit number - module name - comment.
Displays the information on the axis allocated to the motion module. The sequence of
the information from left to right is: allocation number of the axis - comment - type.
(8) Axis#xx
The type is only shown for SVB modules, and the type of the device set in the
MECHATROLINK Allocation Window is shown.
(9) Motion parameter list Double-clicking here displays the Motion Parameter Window for the specified axis.
(10) Scope (Refer to 13 Tracing.)
(11) Scope1 Displays the Scope1 Tab Page in the main window.
11-46
12
Monitoring
This chapter describes how to monitor items such as register status and the operating status of con-
nected Machine Controllers.
12.1 Types of Monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2

12.2 Register Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3
12.2.1 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3
12.2.2 Displaying Memory Maps - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3
12.2.3 Changing Memory Map Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4
12.2.4 Editing Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-5
12.3 Watch Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-6

12.3.1 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-6
12.3.2 Displaying Watch Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-6
12.3.3 Editing Values - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-7
12.4 Online Current Value - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-8

12.4.1 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-8
12.4.2 Displaying Online Current Value - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-8
12.5 Offline Current Value - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-9

12.5.1 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-9
12.5.2 Displaying Offline Current Value - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-9
12.6 System Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-10

12.6.1 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-10
12.6.2 Using the System Monitor Subwindow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-10
Monitoring
12.6.3 Pop-up Display When an Error Is Detected - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-12
12.7 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-13

12.7.1 Overview of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-13
12.7.2 Starting Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-14 12
12.7.3 Analysis in Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-15
12.7.4 Display after Correcting an Error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-23
12.7.5 Error Codes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-24
12-1
12 Monitoring
12.1 Types of Monitoring

The following seven monitoring functions are supported by MPE720 version 6.
• Trace Monitoring
Trace monitoring is used to monitor and trace the values of specified variables (registers) at specific time inter-
vals in a graphical or chart format.
For details, refer to Chapter 13 Tracing.
• Register Lists
A register list displays the values (memory map) of registers in consecutive areas. This enables real-time moni-
toring when a Machine Controller is connected. The values can be edited. For details, refer to 12.2 Register Lists.
• Watch
The watch function displays the values of specified registers in a list. This enables real-time monitoring when a
Machine Controller is connected. The values can be edited. For details, refer to 12.3 Watch Function.
• Online Current Value Display
While online, the values of registers are displayed in the ladder program. For details, refer to 12.4 Online Current
Value.
• Offline Current Value Display
While offline, the values of registers are displayed in the ladder program. For details, refer to 12.5 Offline Current
Value.
• System Monitor
The system monitor is used to monitor Machine Controller status while a Machine Controller is connected (i.e.,
while online). For details, refer to 12.6 System Monitor.
• Troubleshooting
The troubleshooting function is used to detect and analyze errors that occur when a Machine Controller is con-
nected. For details, refer to 12.7 Troubleshooting.
These functions are described in detail on the following pages.
12-2
12.2 Register Lists
12.2 Register Lists

12.2.1 Outline
With the register list function, the current values of registers in consecutive areas (memory map) can be monitored in a
Register List Subwindow (1, 2, or 3). This enables real-time monitoring when a Machine Controller is connected. The
current data can be edited.
The register map displays the data of the project file even during a direct connection.
When a project link connection is established the data of the Machine Controller is used, so the register map may
display data that does not match the project file for which the project link is established.
When displaying a register map with a project link connection, data must be transferred to the project file in advance
by Read from Controller.
The S, I, O, M, C, and D registers are supported. However, C registers can only be referenced since C registers are read
only.
12.2.2 Displaying Memory Maps

1. Click a tab to select one of the Register List Subwindows (1, 2, or 3).
Select Monitor - Register List from the Launcher. The Register List 1 Subwindow will automatically be dis-
played.
The display of the Register List Subwindow can be switched ON and OFF by selecting Display - Register List
- Register List 1 (or 2 or 3) from the Main Menu.
2. In the Register Field, Enter the register address to be displayed in the memory map. To display a D register list,
also enter the program number as shown below.
3. Press the Enter Key.

A memory map will be displayed with the specified register in the top row.
Number of registers displayed in one row
Buttons
Monitoring
Memory Map Example for D Registers and Balloon Display Example
12
Memory Map Example for M Registers

The scroll bar can be moved to change the register range that is being displayed.
When the cursor is moved on the memory map, the register at the cursor position will be shown with the usage
status in a balloon display.
12-3
12 Monitoring
12.2.3 Changing Memory Map Displays
The number of registers displayed in one row can be changed. The display can also be changed using the five
buttons at the upper right of the list.
Right-click the register list, and select decimal, hexadecimal, binary, or ASCII from the pop-up menu to change
the data type in the Value Fields. The type cannot be changed, however, for data types B and F.
Characters are displayed in blue and black in alternating rows.
The Monitor Icon is valid while a Machine Controller is connected (while online).
In the screen shown in step 3 on the previous page, a green background indicates that the register is used in a
ladder program. A red background indicates that the register is used for more than one data type. This color-
coded display is enabled when the Memory Map Display Button is ON .
For details on the number of registers displayed in one row and on using the five buttons, refer to 12.2.3
Changing Memory Map Displays, below.
12.2.3 Changing Memory Map Displays

The number of registers displayed in one row can be changed. In addition, the memory map display can be changed
using the five buttons displayed in the upper right.
Number of registers displayed in one row
Number of Registers Displayed in One Row

The number of registers displayed in one row can be changed between 1 and 16 by entering a number directly or by
selecting from a list (always 16 for BIT type). When Automatic is selected, the number of registers displayed will auto-
matically be set to match the display size of the Register List Subwindow.
Monitor Button: ON OFF

This button is valid only while online. It toggles between ON and OFF each time it is clicked.
When monitoring is set to ON, register data is continually refreshed and displayed. When monitoring is set to OFF, the
data is not refreshed.
Memory Map Display Button: Display ON Display OFF

This button toggles the display between ON and OFF each time it is clicked.
When the display is ON, registers used in the ladder program are displayed with a green background and registers used
for more than one data type are displayed with a red background.
When the display is OFF, all registers are displayed with a white background.
Memory Map Refresh Button

Click this button to refresh the register map display.
The Memory Map Refresh Button is invalid when the display is turned OFF by the Memory Map Display But-
ton.
12-4
12.2 Register Lists
Duplicated Register Search (Up/Down) Buttons /

These buttons are used to find and display registers that are used for more than one data type. The buttons with the up
and down arrows are used to search up and down.
These buttons are invalid when the display is turned OFF by the Memory Map Display Button.
The search results are displayed in the Output Subwindow. Registers used for more than one data type are displayed
with a blue background.
12.2.4 Editing Data

With a memory map, double-clicking a data cell or pressing the F2 Key will display the text cursor and enable the fol-
lowing editing operations.
• Entering data directly
• Deleting (setting to 0)
• Copying and pasting
Press the Enter Key to save the edited data. While online, the changes in the data will be directly reflected in Machine
Controller operations.
Monitoring
12
12-5
12 Monitoring
12.3.1 Outline
12.3 Watch Function

12.3.1 Outline
With the watch function, values and comments for specified registers (S, I, O, M, C, or D) can be monitored in the
Watch Subwindow (1, 2, or 3). This enables real-time monitoring when a Machine Controller is connected. The values
can be edited.
When Project Link Connection is used, the data registered in the Watch Subwindow will be saved only in the
Machine Controller. To write the data in the project file, transfer the data from the Machine Controller by executing
the Read from Controller command and selecting the Batch Button. (Refer to 10.2.4 Reading from Machine Con-
trollers.)
12.3.2 Displaying Watch Data

1. Click a tab to select one of the Watch Subwindows (1, 2, or 3).
Select Monitor - Watch from the Launcher. The Watch 1 Subwindow will automatically be displayed.
To display or hide a Watch Subwindow (1, 2, or 3), select Display - Watch - Watch 1 (or 2 or 3) from the Main
Menu. The display will be toggled ON and OFF.
2. Display the text cursor by either double-clicking the Variable Field or pressing the F2 Key, and then
enter the register or variable that is to be watched. The register or variable can be entered by dragging
and dropping, or copying and pasting from a ladder program or the Variable Subwindow.
To watch a D register, also enter the program number as shown below.
3. Press the Enter Key.

The contents of the specified register will be displayed.
Right-click the row, and select decimal, hexadecimal, binary, or ASCII from the pop-up menu to change the data
type in the Value Field.
12-6
12.3 Watch Function
12.3.3 Editing Values

With the watch function, double-clicking the Value Field or pressing the F2 Key will display the text cursor in the Value
Field and enable the following editing operations.
• Entering data directly
• Copying and pasting
Press the Enter Key to save the edited data. While online, the changes in the data will be directly reflected in Machine
Controller operations.
Comments cannot be edited.
Monitoring
12
12-7
12 Monitoring
12.4.1 Outline
12.4 Online Current Value

12.4.1 Outline
While online, register values can be monitored on the ladder program screen.
12.4.2 Displaying Online Current Value

While connected to the Machine Controller (while online), the status of the following items can be monitored on the
ladder program screen.
• The current values for each object are displayed in blue characters.
• Constant and coil instructions are highlighted when the register value is 1.
• IF and ELSE instructions are highlighted when the condition is satisfied.
Fig. 12.1 Display Example of Register Current Value
If "!=" is used in an EXPRESSION instruction, the operation item on the right side of the equation may display
an inverted current value. If this happens, 1 will be displayed in place of 0, so online current value display
may be inconsistent, as shown below.
12-8
12.5 Offline Current Value
12.5 Offline Current Value

12.5.1 Outline
While offline, register values can be monitored on the ladder program screen.
12.5.2 Displaying Offline Current Value

While a Machine Controller is not connected (while offline), the current values of the registers can be viewed in blue
characters by selecting Display - Offline Current Value from the main menu.
The offline current value function is not supported for the IF/ELSE, WHILE, and EXPRESSION instructions.
When register data is read using data transfer from the Machine Controller (i.e., when the Register Check Box is
selected for reading from the Controller), the register data that is read will be displayed.
When register values are changed by a means such as a register list, the data for the applicable register will be
refreshed but simulation will not be executed (i.e., data will not be written due to a program condition turning ON).
Therefore, no other register data will be refreshed.
Fig. 12.2 Display Example of Offline Current Value
Monitoring
12
12-9
12 Monitoring
12.6.1 Outline
12.6 System Monitor

12.6.1 Outline
The system monitor is used to monitor Machine Controller status while a Machine Controller is connected (i.e., while
online).
Machine Controller status (LED indicators, CPU status, scan time values) can be monitored in the System Monitor
Subwindow. The CPU can be toggled between STOP and RUN, the memory cleared, and errors reset.
The System Monitor Subwindow is automatically displayed as a pop-up when an error is detected.
12.6.2 Using the System Monitor Subwindow

1. Select Monitor - System Monitor from the Launcher.
The System Monitor Subwindow title bar will be displayed.
2. Move the mouse pointer to the title bar to display the System Monitor Subwindow.
The default setting is Automatically Hide Mode. Click the Automatically Hide Button in the title bar to
convert to a floating window that will not be hidden.
RUN Status Display
This display shows the status of the LED indicators for the Machine Controller.
LED Contents Color and Status Monitor Register
SB000400
Green: Normal
RDY Machine Controller operating status ON: Normal
Gray: Error
OFF: Error
SB000401
Green: Operating
RUN Machine Controller RUN status ON: Operating
Gray: Stopped
OFF: Stopped
SB000402
Red: Alarm
ALM Alarm status ON: Alarm
Gray: Normal
OFF: Normal
SB000403
Red: Error
ERR Error status ON: Error
Gray: Normal
OFF: Normal
MECHATROLINK-I/
Always gray. (Always not
TX MECHATROLINK-II ---
communicating.)
data transmission status
SB000487
Red: Battery alarm
BAT Battery alarm status ON: Alarm
Gray: Normal
OFF: Normal
12-10
12.6 System Monitor
RUN and STOP Buttons

These buttons change the Machine Controller's CPU status. Their functions are the same as CPU RUN and
CPU STOP in the Online Menu.
Refer to 1.11 Stopping (STOP) and Restarting (RUN) the Machine Controller CPU.
Reset Button
Click the Reset Button to clear the Machine Controller error log.
Clear Button
This button clears the contents of the Machine Controller's RAM. When it is clicked, the following message
will be displayed for confirmation.
If program write protection is set to Write Disable in the Setup Folder of the Environment Setting Dialog Box,
connection may not be possible the next time it is attempted. If this occurs, turn the power supply to the
Machine Controller OFF and then back ON.
Scan Time Display

This display shows scan time values. If the current value or maximum value exceeds the set value, it will be
displayed in red characters.
Scan Time Over is an error that occurs if the current value or maximum value exceeds the set value.
LED Setting Value Current Value Maximum Value

High Indicator color: Black Blue: Within the set range Black: Within the set range
Red: Over the set value Red: Over the set value
Speed Monitor register: SW00004 Monitor register: SW00005 Monitor register: SW00006
Low Indicator color: Black Blue: Within the set range Black: Within the set range
Red: Over the set value Red: Over the set value
Speed Monitor register: SW00010 Monitor register: SW00011 Monitor register: SW00012
Setting Button
When this button is clicked, the Scan Time Setting screen in the Environment Setting Dialog Box is displayed
and the scan time can be changed.
Monitoring
12
Clear Button
When this button is clicked, the maximum value for the high-speed or low-speed scan is cleared.
12-11
12 Monitoring
12.6.3 Pop-up Display When an Error Is Detected
12.6.3 Pop-up Display When an Error Is Detected

When automatic notification of alarms is set in the System Monitor screen of the Environment Setting Dialog Box
(select File - Environment Setting from the main menu), the System Monitor Subwindow will be displayed automati-
cally when an alarm occurs.
For details on measures to take when errors are detected, refer to 12.7 Troubleshooting.
12-12
12.7 Troubleshooting
12.7.1 Overview of Troubleshooting
( 1 ) What is Troubleshooting?
The troubleshooting function is used to detect and analyze errors that occur when a Machine Controller is connected.
When an error occurs, a message is displayed in the status area of the System Monitor Subwindow to notify the occur-
rence of the error.
Troubleshooting can be performed in relation to the following errors.
• Critical failures
• Operation errors (occurring in ladder programs, motion programs, and sequence programs)
• Battery alarm
• Scan time exceeded errors
• I/O errors (occurring at I/O modules)
( 2 ) Flow of Troubleshooting
Clicking the part where “An alarm has occurred.” is displayed in red starts the troubleshooting to analyze the error.
When a problem (error) occurs...
System Monitor Subwindow is displayed

Alarm occurrence notified
Alarm analyzed based on S registers
Jump to location of alarm occurrence
Monitoring
12
12-13
12 Monitoring
12.7.2 Starting Troubleshooting
12.7.2 Starting Troubleshooting

The rough flow, applicable to both operation errors and I/O errors, is described below.
1. When an error occurs the System Monitor Subwindow automatically pops up and an alarm is displayed
in the status area.
Troubleshooting starts.
A setting in the Environment Settings Dialog Box specifies whether the pop-up appears. For details, see
12.6.3 Pop-up Display When an Error Is Detected.
2. Click the area where the following message is displayed in red: “An alarm has occurred. Troubleshoot-
ing is started by clicking here.”
3. An error message indicating the details of the alarm is displayed.

The content of the error message and the operating procedure from step 3 onward vary depending on the
nature of the error.
If an operation error has occurred, refer to 12.7.3 ( 1 ) When an Operation Error Has Occurred in a Program.
If an I/O error has occurred, refer to 12.7.3 ( 2 ) When an I/O Error Has Occurred.
12-14
12.7.3 Analysis in Troubleshooting

The following is an explanation of the method of analysis from step 3 onward in 12.7.2 Starting Troubleshooting.
The method of analysis is different for operation errors that occur in ladder programs, motion programs or sequence
programs and I/O errors that occur at I/O modules.
If an operation error has occurred, refer to 12.7.3 ( 1 ) When an Operation Error Has Occurred in a Program. And if an
I/O error has occurred, refer to 12.7.3 ( 2 ) When an I/O Error Has Occurred.
( 1 ) When an Operation Error Has Occurred in a Program

The following explains the method of analysis of operation errors that occur in ladder programs, motion programs, or
sequence programs.
The procedure for analyzing operation errors differs depending on where they occurred.
There are the following four types of analytical procedure.
(The procedures take the occurrence of an operation error in a ladder program as an example.)
• [ a ] When an Operation Error Has Occurred in a Program Other than a Function Program
• [ b ] When an Operation Error Has Occurred in a Function Program Called from a Program Other
than a Function Program
• [ c ] When an Operation Error Has Occurred in a Function Program Called from a Function Program
• [ d ] When an Operation Error Has Occurred in an Unknown Program
If operation errors have occurred in multiple programs at the same time, the error information will not be cleared
even if the points indicated in the System Monitor Subwindow are corrected. For this reason, the error information
may be incorrect in some cases. Click the Reset Button to clear the previous error information.
[ a ] When an Operation Error Has Occurred in a Program Other than a Function Program
Occurrence
of error
1. When an error has occurred in a program other than a function program (ladder program, motion pro-
gram, sequence program), the following error message is displayed.
The same applies when an operation error occurs in a program called by an SEE command, MSEE command
or SSEE command.
Monitoring
12
12-15
12 Monitoring
2. Read the error message and click the OK Button.

The program in which the error occurred will open.
On moving the mouse pointer to the status area a pop-up help message will be displayed to enable checking of
the error information of the status area at a glance.
3. Identify the command where the error occurred based on the error message and information in the sta-
tus area, and correct the program.
4. When dealing with a ladder program compile the program, and when dealing with a motion program or
sequence program save the program.
12-16
[ b ] When an Operation Error Has Occurred in a Function Program Called from a Program Other than
a Function Program
Occurrence
of error
1. The following error message is displayed.

The program in which the error occurred will open.
The name of the program that calls the function program in which the error occurred, and the step number of the
FUNC instruction object where the function program was called, are displayed in the status area of the System
Monitor Subwindow.
Monitoring
12
On moving the mouse pointer to the status area a pop-up help message will be displayed to enable checking of
the error information of the status area at a glance.
3. Identify the command where the error occurred based on the error message and information in the sta-
tus area, and correct the program.
4. Compile the ladder program.
12-17
12 Monitoring
[ c ] When an Operation Error Has Occurred in a Function Program Called from a Function Program
Occurrence
of error
1. When an operation error has occurred in a function program called from a function program, the follow-
ing error message is displayed.

The error information is displayed in the status area of the System Monitor Subwindow.
Since it is not possible to identify the location where the error occurred, the program cannot be opened.
3. Search for the function program from which the function program was called, and search within it for
the FUNC instruction object where the function program was called.
4. Open the function program that is called up by the FUNC instruction object, and correct the program.
Search for the instruction where the error occurred based on the error information, and identify the command.
5. Compile the ladder program.
12-18
[ d ] When an Operation Error Has Occurred in an Unknown Program
1. If MPE720 version 6 judges that it is not the latest error information, for example when the program in
which the error occurred has been deleted, the following error message is displayed.

Old error information is displayed in the status area of the System Monitor Subwindow.
3. Click the status area to clear the error information.

The error information is updated to the latest status.
Monitoring
12
12-19
12 Monitoring
( 2 ) When an I/O Error Has Occurred

The following explains the method for analyzing errors of an I/O module connected to the Machine Controller.
1. When an error occurs in an I/O module connected to the Machine Controller, the following error mes-
sage is displayed.
The information on the I/O module in which the error occurred is displayed in the status area of the System Mon-
itor Subwindow.
12-20
3. After checking the module information, open the Module Configuration Window.
4. From this window, open the I/O module in which the error occurred.
Monitoring
12
12-21
12 Monitoring
5. Check the status (STS) of the I/O module, and analyze the location where the I/O error occurred.
Since the status is shown in hexadecimal, convert the first and fourth digits to binary by referring to the figure
below.
Type code (01H: Inverter, 02H: Servo, 03H: I/O)

Reserved
Transmission error (High-speed scan)
Transmission error (Low-speed scan)
Reserved
Normal transmission
6. Save the module configuration.
12-22
12.7.4 Display after Correcting an Error

Correct the error by referring to 12.7.3 ( 1 ) When an Operation Error Has Occurred in a Program or 12.7.3 ( 2 ) When
an I/O Error Has Occurred. If no other error has occurred, the indication in the System Monitor Subwindow goes back
to Normal Operation.
If the program has not been corrected properly, or if multiple errors have occurred, the display changes to that
shown in step 1 of 12.7.2 Starting Troubleshooting. Analyze the error again.
Monitoring
12
12-23
12 Monitoring
12.7.5 Error Codes
12.7.5 Error Codes

The following table lists the error codes that can be detected by the System Monitor.
Error Code Error Classification Error Code Error Classification
0x01 Integer operation: Underflow 0x6F PID error
0x02 Integer operation: Overflow 0x70 LAG error
0x03 Integer operation: Division error 0x71 LLAG error
0x09 Double integer operation: Underflow 0x72 FGN error
0x0A Double integer operation: Overflow 0x73 IFGN error
0x0B Double integer operation: Division error 0x74 LAU error
0x10 Integer storage: Non-numeric error 0x75 SLAU error
0x11 Integer storage: Underflow 0x76 FGN error
0x12 Integer storage: Overflow 0x77 IFGN error
0x21 Real number storage: Underflow 0x7E SLAU error
0x22 Real number storage: Overflow 0x80 BIN error
0x23 Real number operation: Division by zero 0x81 BIN error
0x30 Real number operation: Invalid operation 0x82 BCD error
Real number operation: Exponential 0x83 BCD error
0x31
underflow 0x84 PARITY error
Real number operation: Exponential 0x85 PARITY error
0x32
overflow
0x86 SQRT error
0x33 Real number operation: Division error
0x87 SIN error
Real number storage: Exponential
0x34 0x88 COS error
underflow
0x89 ATAN error
0x35 Real number operation: Stack error
0x8A IN error
0x40 SQRT error
0x8B OUT error
0x41 SIN error
0x8C INR error
0x42 COS error
0x8D OUTR error
0x43 TAN error
0x8E INS error
0x44 ASIN error
0x8F OUTS error
0x45 ACOS error
0x90 ROTL error
0x46 ATAN error
0x91 ROTR error
0x47 EXP error
0x92 MOVB error
0x48 LN error
0x93 MOVW error
0x49 LOG error
0x94 SETW error
0x4A DZA error
0x95 XCHG error
0x4B DZB error
0x96 LIMIT error
0x4C LIMIT error
0x97 LIMIT error
0x4D PI error
0x98 DZA error
0x4E PD error
0x99 DZA error
0x4F PID error
0x9A DZB error
0x50 LAG error
0x9B DZB error
0x51 LLAG error
0x9C PWM error
0x52 FGN error
0x9D SFC error
0x53 IFGN error
0x9E SHFTL error
0x54 LAU error
0x9F SHFTR error
0x55 SLAU error
0xA0 BEXTD error
0x56 REM error
0xA1 BPRESS error
0x57 RCHK error
0xA2 SORT error
0x58 BSRCH error
0xA3 QSORT error
0x59 SORT error
0xA4 SORT error
0x6D PI error
0x6E PD error
12-24
(cont’d)
Error Code Error Classification
0xA5 QSORT error
0xA6 RCHK error
0xA7 RCHK error
0xA8 COPYW error
0xA9 ASCII error
0xAA BINASC error
0xAB ASCBIN error
0xAC BRCH error
0xAD BSRCH error
0xAE TMADD error
0xAF TMSUB error
0xB1 SPEND error
0xC0 TBLBR error
0xC1 TBLBW error
0xC2 TBLSRL error
0xC3 TBLSRC error
0xC4 TBLCL error
0xC5 TBLMV error
0xC6 QTBLR error
0xC7 QTBLRI error
0xC8 QTBLW error
0xC9 QTBLWI error
0xCA QTBLCL error
0xE0 MSEE error
Monitoring
12
12-25
13
Tracing
This chapter describes tracing, one of the monitoring functions.
13.1 Types of Tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-2

13.2 Real-Time Tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3
13.2.1 Overview of Real-Time Tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3
13.2.2 Starting Real-Time Trace - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3
13.2.3 Names and Descriptions of Components of Real-Time Tracing - - - - - - - - - - - - - - - 13-5
13.2.4 Analyzing Trace Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-23
13.2.5 Reading Trace Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-26
13.2.6 Saving Trace Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-28
13.2.7 Displaying in List Format - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-30
13.2.8 Copying the Graph - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-32
13.3 Data Tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-34

13.3.1 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-34
13.3.2 Starting a Data Trace Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-34
13.3.3 Data Trace Window Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-35
13.3.4 Displaying Graphs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-36
13.3.5 Operation Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-37
13.3.6 Graph Area Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-39
13.3.7 List Area Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-45
13.3.8 Other Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-56
13.4 XY Tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-60

13.4.1 Overview of XY Tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-60
13.4.2 Starting XY Trace - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-60
Tracing
13.4.3 Names and Descriptions of Components of XY Tracing - - - - - - - - - - - - - - - - - - - - 13-61

13.4.4 Analyzing X-/Y-Axis Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-67
13.4.5 Saving Trace Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-70
13.4.6 Copying the Graph - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-72
13
13-1
13 Tracing
13.1 Types of Tracing

MPE720 version 6 has the following three tracing functions.
• Data tracing
Data tracing is a function to monitor and trace the values of specified variables (registers) at specific time inter-
vals in a graphical or chart format. (Refer to 13.3 Data Tracing.)
• XY tracing
XY tracing is a function to enable visual analysis of the locus of two axes by obtaining the position data (target
positions, feedback positions) of the X- and Y-axis at every scan and plotting them on a two dimensional planar
graph. (Refer to 13.4 XY Tracing.)
13-2
13.2 Real-Time Tracing

13.2.1 Overview of Real-Time Tracing
( 1 ) What is Real-Time Tracing?

Real-time tracing is a function to enable analysis of the data transitions and timings at every scan by obtaining register
data from the Machine Controller and plotting them on a graph. Register data such as speed, torque, and bit data can be
obtained.
13.2.2 Starting Real-Time Trace

The Real-Time Trace Tab Page can be displayed in the main window by using any of the following methods.

Double-click Scope1, Scope2, Scope3, or Scope4 and click the Real-Time Trace Button in the Trace Type
Window.
Select Scope1, Scope2, Scope3, or Scope4, right-click the selected icon and select Open in Real-Time Trace

Click the Scope1, Scope2, Scope3, or Scope4 Button registered in the My Tool Window and click the Real-
Time Trace Button in the Trace Type Window.
3. Opening from the Launcher

Select Monitor - Trace in the Launcher and click the Real-Time Trace Button in the Trace Type Window.
4. Opening from the Register List Subwindow

Select a row in the Register List Subwindow, right-click the selected row and select Add to Trace from the pop-
up menu that will be displayed.
5. Opening from the Watch Subwindow

Select a row in the Watch Subwindow, right-click the selected row and select Add to Trace from the pop-up
Tracing
13
13-3
13 Tracing
13.2.2 Starting Real-Time Trace
(3)
(1)
(2)
(4) (5)
13-4
13.2.3 Names and Descriptions of Components of Real-Time Tracing
( 1 ) Trace Type Window
(1)
(2)
(3)
(4) (5)

(1) Real-Time Trace Displays up to 16 trace data points in real-time.
(2) Trace Manager Plots up to 16 trace data points on a graph.
(3) XY Trace Plots the position data of two orthogonal axes on a two dimensional planar graph.
(4) Open Starts tracing of the selected trace type.
(5) Cancel Returns you to the main window without starting tracing of the selected trace type.
Tracing
13
13-5
13 Tracing
( 2 ) Overall View
Graph Toolbar Trend Graphs

Contains the buttons to be Displays the trace data. Analysis can be
used for the analysis of trace performed in the Real-Time Trace Tab
data. Page using the graph toolbar, slider, and
cursor.
Tracing Targets
Tracing Toolbar Displays the tracing targets, trace files and
Selects axes, sets conditions for obtaining tracing history.
trace data, and starts tracing, in this order.
13-6
( 3 ) Graph Toolbar
Icon Function
Selection Icon: Enlarges the view on double-clicking at the desired position.
Scroll Icon: Moves the display position. Double-clicking at the desired position enlarges the view.
Enlarge Icon: Enlarges the view on selecting the desired position by dragging or double-clicking.
Reset Icon: Returns the view to the original magnification.
Split Graph Icon: Splits the graph views.
Cursor A: Displays cursor A and shows the values at the intersections of the graphs.
Cursor B: Displays cursor B and shows the values at the intersections of the graphs.
Cursor C: Displays cursor C and shows the values at the intersections of the graphs.
Cursor D: Displays cursor D and shows the values at the intersections of the graphs.
Coordinate Cursor A/B Icon: Coordinates the movement of cursors A and B, separated by a fixed dis-
tance.
Coordinate Cursor C/D Icon: Coordinates the movement of cursors C and D, separated by a fixed dis-
tance.
List View Icon: Displays the data in the list format.
Copy Graph Icon: Copies the graph display image to the clipboard.
Tracing
13
13-7
13 Tracing
( 4 ) Tracing Toolbar
[ a ] Trace Data Setting

The tracing targets can be set here.
(1)
(2) (3)
(4)
(5) (6)

Displays the list of the registers that can be set as the tracing target.
Right-clicking on Trace Target List will display the pop-up menu that
enables selection or deselection of registers.
(1) Trace Target List Add to Trace: Adds the selection to the tracing targets.
Clear: Deselects the selection when multiple registers have
been selected using the Shift or Ctrl Key.
Select All: Selects all registers displayed on the tab page.
(2) Add Sets the selected registers as the tracing targets.
(3) Delete Removes the selected registers from the tracing targets.
13-8
Displays the registers that have been set as the tracing target. It is also possible to
directly enter registers rather than selecting them in the Trace Target List.
Right-clicking on Trace Target will display the pop-up menu that
(4) Trace Target enables editing of the tracing targets.
Insert Row: Inserts an empty row.
Delete Row: Deletes the selected rows. If a tracing target is set in
the selected row, the tracing target is removed.
(5) OK Sets the tracing targets and enables the Sampling & Trigger Setting Button.
(6) Cancel Returns to the Real-Time Trace Tab Page without setting the tracing targets.
Tracing
13
13-9
13 Tracing
[ b ] Sampling & Trigger Setting

The trace name can be set and sampling and trigger settings can be made here.
(1)
(2)
(3)
(4) (5)

(1) Trace Name Register a name of up to 32 characters as the comment.
Specify the conditions for sampling data.
[ a ] High scan/Low scan/Program
(2) Sampling Setting
[ b ] Sampling period
Displays a guide for the maximum measurement time.
Set the method for obtaining trace data.
[ a ] No trigger
(3) Trigger Setting [ b ] Edge ON/OFF
[ c ] Details
For details on the trigger setting method, refer to Trigger Setting.
(4) OK Sets the sampling and trigger settings and enables the Start Trace Button.
Returns you to the Real-Time Trace Tab Page without setting the sampling and trigger
(5) Cancel
settings.
13-10
Trigger Setting
There are four settings available as the condition for executing tracing.
[No trigger]
Executes tracing with no condition.
(1)

(1) No trigger Allows you to start or stop tracing manually.
Tracing
13
13-11
13 Tracing
[Edge ON/OFF]
Obtains data before and after a specific bit changes from OFF to ON or ON to OFF.
Edge ON: Edge OFF:
(1) (6)
(2) (2)
(3) (3)
(4) (4)
(5) (5)

(1) Edge ON Obtains data before and after a specific bit changes from OFF to ON.
Target register
(2) Enter the target register.
(Bit type)
(3) Set the trigger position by dragging.
(4) [%] Set the trigger position by selecting a value.

(5) [ms] Displays the maximum measurement time for tracing after the trigger is turned ON.
(6) Edge OFF Obtains data before and after a specific bit changes from ON to OFF.
13-12
[Details]
Enables tracing by using any register as the trigger.
(1)
(2) (3)
(2)
(4) (3)
(4)
(4) (5)
(4)
(5)
(3)

Set tracing using any register (of the Bit, Word, Float, or Long type) as the trigger. It is possible
(1) Details
to control tracing by combining the initiate and terminate triggers as necessary.
Set the initiate trigger by entering the desired register and value.
(2) Initiate
If no initiate trigger is specified, tracing will start at the same time as sampling starts.
Set the trigger condition by selecting one of the following operators.
Operator Trigger condition
> The trigger turns ON when the register value is larger than the comparison value.
< The trigger turns ON when the register value is smaller than the comparison
value.
= The trigger turns ON when the register value is equivalent to the comparison
(3) Condition value.
<> The trigger turns ON when the register value is different from the comparison
value.
>= The trigger turns ON when the register value is equivalent to or larger than the
comparison value.
<= The trigger turns ON when the register value is equivalent to or smaller than the
comparison value.
Set the terminate trigger by entering the desired register and value.
(4)
Tracing
Terminate
If no terminate trigger is specified, tracing will continue until sampling is stopped.
Specify the number of samplings to be performed after the establishment of the stop condition
(5) Delay
before stopping tracing.
13
13-13
13 Tracing
[ c ] Start/Stop Trace
Function Description
Starts tracing. The trace data are obtained and displayed in real time.
Start Trace If Program is selected in the Sampling & Trigger Setting Window, tracing cannot be
started. Only the Read Again Button is available.
The transition of the data during tracing is displayed in real time if this check box is checked.
Real Time Display * The data transition is displayed only on one Trace Tab Page when multiple Trace Tab
Pages are open.
Stop Trace Stops tracing. All the buffer trace data are obtained and displayed on stopping.
[ d ] Read Again
Read Again Reads the trace data from the Machine Controller again.
13-14
( 5 ) Tracing Targets
The tracing targets that were measured, read from external files, or from history data are displayed in an easy-to-under-
stand manner.
The waveform, graph and details of each tracing target can be checked.
The waveform can be shown/hidden on the graph by checking/unchecking the corresponding check box.
(1)
(2)
(3)
(4)
(5)
(6)
(3)
(7)
No. Indication Function

(1) Trace Data Displays the trace data of the measured tracing targets.
(2) Trace Name Displays the trace name.
Classifies the trace data by groups.
The trace data are classified into the groups corresponding to each tab
(3) Trace Group Name
page in the Trace Data Setting Window and the Data group that con-
tains all other data.
Displays the registers that have been measured as the tracing targets.
(4) Register
The registers are displayed in the same color as in the graph.
Displays the trace data of the tracing targets registered from the monitor data or read
(5) File & History Data
from external files.
Tracing
Displays the trace names of the tracing targets registered from the monitor data or
(6) Trace Name read from external files.
Up to five data items can be backed up in the files and history data.
(7) Register
Displays the registers that have been registered from the monitor data or read from
external files as the tracing targets.
13
The registers are displayed in the same color as in the graph.
13-15
13 Tracing
( 6 ) Trend Graphs
[ a ] Unit of the Graph
(1)

(1) – Displays the units of the parameters selected for tracing targets.
[ b ] Cursors
(1) (1)
(2)
(1)
(3)
(1)
(1) Displays the value at the cursor position.
(2) – Displays the difference value between cursors A and B.

(3) – Displays the difference value between cursors C and D.
13-16
[ c ] Slider

– Reduces/enlarges the view on dragging the Scale Factor Sliders up/down or left/right.
The vertical and horizontal scale factors can be changed in the following ranges.
Vertical scale factor: 0.085 to 64 times
Horizontal scale factor: 1 to 48.5 times
[ d ] Scrolling
Tracing
13
– Scrolls the graph left/right.
13-17
13 Tracing
[ e ] Split Graph View

It is possible to classify trace data waveforms on the graph into groups according to the tracing target classification and
split the graph so that an individual graph is displayed for each group.
The tracing targets are classified into the groups corresponding to each tab page in the Trace Data Setting Window
and the group that contains all other registers.
You can switch between the split view and the collective view of the graphs.
[ f ] Switching the Unit of the Graph

When there is more than one unit system for the trace data being displayed, the unit for the vertical axis of the graph
can be switched.
On switching the unit, the scale on the axis is changed according to the attributes of the axis (unit and number of deci-
mal places) and the waveforms are displayed.
The selectable units may vary depending on the attributes of the axis.
The unit can be switched regardless of the view (collective view or split view) of the graph. When the unit is
switched, the tracing targets that cannot be represented in the selected unit are shown with a line of the same color,
but paler.
Switched
⇒
13-18
[ g ] Displaying Measurement Data

It is possible to refer to the trace definition information (sampling and trigger setting information) of the monitor data
and history data.
This helps you to refer to the trace definition used in past measurement or to reuse past trace definitions for measure-
ment.
1. Opening from the Main Menu

Select Trace Data - Sampling & Trigger Setting Information from the Main Menu. The Sampling & Trigger
Setting Window will be displayed.
Tracing
13
13-19
13 Tracing
2. Opening from the pop-up menu

Right-click on Monitor Data or File & History Data in the Trace List Subwindow, and select Sampling & Trig-
ger Setting Information from the pop-up menu that will be displayed.
(1)
(2)
13-20
( 7 ) Editing Trace Data

It is possible to enlarge/reduce or shift the waveform of trace data. Editing the size and position of the waveform facil-
itates comparison with other waveforms and enables analysis of the trace data.
When the monitor data is updated, the contents of the edit will be reset.
1. Opening from the Main Menu

Select Trace Data - Offset/Scale Edit of Waveform from the Main Menu.
2. Opening from the pop-up menu

Right-click the register to be edited in Monitor Data or File & History Data in the Trace List Subwindow, and
select Offset/Scale Edit of Waveform from the pop-up menu that will be displayed.
(1)
(2)
Tracing
13
13-21
13 Tracing
Right-clicking the trace group name enables editing of all waveforms in the group collectively.
(1)
(2) (3)
(4) (5)

(1) Trace Name Displays the trace name or file name.
(2) Offset Shift Button Shifts the waveform of the specified tracing target up/down/left/right.
(3) Scale Adjustment Slider Enlarges/reduces the amplitude of the trace data of the specified tracing target.
(4) Default Restores the default setting for the edited trace data.
(5) Close Closes the Edit Trace Data Window.
13-22
13.2.4 Analyzing Trace Data

It is possible to analyze trace data with editing trace data or enlarge/reduce waveforms.
( 1 ) Analyzing I/O Registers and M Registers

The difference between the set values and the actual values can be analyzed as follows.
1. Display the trace data to be analyzed on the graph.
2. Select Trace Data - Edit Trace Data from the Main Menu. Alternatively, right-click on File & History
Data in the Trace List Subwindow, and select Edit Trace Data from the pop-up menu that will be dis-
played.
3. Shift the waveform to a desired position using the arrow buttons in the Edit Trace Data Window.
4. Click the Cursor A/B or Cursor C/D Icon in the Graph Toolbar and set the cursor at the register to be
analyzed.
5. Analyze the difference between the set register waveform and the actually output register waveform.
Tracing
13
13-23
13 Tracing
13.2.4 Analyzing Trace Data
( 2 ) Comparing Trace Data with History Data

The trace data read from the Machine Controller can be compared to the trace data obtained in the past as follows.
1. Read trace data from an external file to File & History Data in the Trace List Subwindow.
If the trace data has already been read, check the check box of the trace definition to be used.
The waveform of the trace data will be plotted on the graph.
13-24
2. Select Trace Data - Offset/Scale Edit of Waveform from the Main Menu. Alternatively, right-click on
File & History Data in the Trace List Subwindow, and select Offset/Scale Edit of Waveform from the
The Edit Trace Data Window will be displayed.
3. Shift the start position of the data to the desired position using the arrow buttons in the Edit Trace Data
Window.
4. Compare the trace data with the past trace data using the edit functions (enlarge/reduce, slider, etc.).
Tracing
13
13-25
13 Tracing
13.2.5 Reading Trace Data
13.2.5 Reading Trace Data

Saved trace data can be read from trace definition files (.dat) or CSV files (.csv).
1. Reading from the Main Menu

Select File - Open External File from the Main Menu and open a CSV file or a trace definition file in which
trace data are saved.
(1)
13-26
Tracing
13
13-27
13 Tracing
13.2.6 Saving Trace Data

Trace data can be saved to a CSV file or a trace definition file.
Saving trace data to a CSV file or a trace definition file enables analysis.
1. Saving from the Main Menu.

Select File - Save in External File from the Main Menu. Select either CSV file or trace definition file as the file
type and specify the file name to save the trace data.
It is also possible to display the data in the list format and paste the list to an Excel file.
(1)
13-28
Tracing
13
13-29
13 Tracing
13.2.7 Displaying in List Format
13.2.7 Displaying in List Format

The monitor data and history data displayed on the graph can be displayed in the list format.
1. Displaying from the Main Menu

Select Trace Data - List View from the Main Menu. The trace data displayed in the graph will be displayed in the
list format.
2. Displaying from the toolbar

Click the List View Icon. The trace data displayed in the graph will be displayed in the list format.
(1)
13-30
(2)
Tracing
13
13-31
13 Tracing
13.2.8 Copying the Graph

The image of the graph display can be copied to the clipboard.
1. Copying from the Main Menu

Select Graph - Copy Graph from the Main Menu. The image of the graph display will be copied to the clipboard.
2. Copying from the toolbar

Click the Copy Graph Icon. The image of the graph display will be copied to the clipboard.
(1)
13-32
(2)
Tracing
13
13-33
13 Tracing
13.3.1 Outline
13.3 Data Tracing

13.3.1 Outline
Data tracing is one of the MPE720 version 6 monitoring functions. While connected to the Machine Controller (i.e.,
while online), data tracing can be used to collect Machine Controller I/O data, process it, and display it in graph format.
This function can be used for monitoring the operating status of a program or for debugging.
Fig. 13.1 Example of a Graph
13.3.2 Starting a Data Trace Window

Select Monitor - Scope from the Launcher. A Data Trace Window will be displayed in the main window. With
MPE720 version 6, a maximum of four Data Trace Windows can be displayed.
For details on displaying multiple Data Trace Windows, refer to 13.3.7 ( 4 ) Select Monitor Setting Dialog Box.
13-34
13.3 Data Tracing
13.3.3 Data Trace Window Configuration

A Data Trace Window is configured as shown below.
Operation Panel
Area
(Refer to 13.3.5
Operation Panel.)
Graph Area
(Refer to 13.3.6
Graph Area Oper-
ations.)
List Area
(Refer to 13.3.7
List Area Opera-
tions.)
For description purposes, all of the above icons are shown as active.
• Operation Panel Area

This area is used for general data trace operations, such as starting and stopping a scope, trigger settings, etc.
It is always displayed, regardless of the graph or list display mode. (Refer to 13.3.5 Operation Panel.)
• Graph Area
This area displays trace data. Either a trend graph or an X-Y graph can be selected. The Graph Area is not dis-
played when the List Area display is maximized. (Refer to 13.3.6 Graph Area Operations.)
• List Area
This area is used for operations such as assigning and deleting Monitor Variables. Monitor Variables are dis-
played in list format. The List Area is not displayed when the Graph Area display is maximized. (Refer to 13.3.7
List Area Operations.)
Terminology: Monitor Variables

Variables (registers) that being monitored in graphs or data monitor displays are called Monitor Variables. For a variable (regis-
ter) to be treated as a Monitor Variable, it must be assigned as one.
For details on assigning monitor variables, refer to 13.3.7 ( 4 ) Select Monitor Setting Dialog Box.
Tracing
13
13-35
13 Tracing
13.3.4 Displaying Graphs
13.3.4 Displaying Graphs

Use the following procedure to display a trend graph or an X-Y graph using the data trace function.
1. Double-click the Variable Field in the List Area to display the text cursor, and then enter the register or
variable name to be monitored and press the Enter Key.
For a D register, enter the name of the program to be monitored in the Program Field.
Variables can be entered by dragging and dropping from the Variable Subwindow.
A maximum of 16 registers or variables can be entered.
If a comment has been set for a variable that is entered, then the comment will be displayed by entering the vari-
able.
A blue background for a setting in the Variable Field indicates that the setting has not been saved.
2. Select File - Save Setting from the Main Menu.

Click the Yes Button. The setting will be saved and the background in the Variable Field will return to white.
3. Click the Start Button ( ) in the Operation Panel to start tracing, and click the Stop Button
( ) to stop. Alternatively, click the Snap Button ( ) to upload the current contents of the
trace memory.
A message will be displayed while the data is being obtained, and the graph will be displayed in the Graph Area.
The graphs can be toggled between a trend graph and an X-Y graph.
• Detailed settings can be made in the List Area for relevant variables, including not only setting the variables but
setting the display colors for graphs and displaying or hiding graphs. For details, refer to 13.3.7 List Area Opera-
tions.
• The method for displaying graphs can be set in detail in the Graph Area. For details, refer to 13.3.6 Graph Area
Operations.
• A wide range of data trace operations can be executed using the buttons in the operation panel. For details, refer to
13.3.5 Operation Panel.
13-36
13.3 Data Tracing
13.3.5 Operation Panel
( 1 ) Operation Panel Button Functions

Operation Panel Area
The buttons on the operation panel have the following functions.
Start Button ( )/Stop Button ( ): The Start Button and the Stop Button are valid only while online.
These buttons start and stop trace operations that record register values with each scan. When one of the buttons
is turned ON, the other is automatically turned OFF.
- Tracing is being executed. (May be waiting for trigger condition)
- Tracing is stopped.
Tracing is started simultaneously when the Scope Window is opened, so the Stop Button is turned ON when the
window is opened.
Snap Button ( ): The Snap Button is valid only while online.
When this button is clicked, a one-time snapshot of the trace data memory is captured and displayed.
Monitor data No. ( )
A maximum value can be set for the trace data to be captured when the Stop Button or Snap Button is clicked.
Either select All data, 100, or 1,000, or click in the cell and directly enter the number.
The maximum value that can be directly entered is 32,158.
Trigger and Configuration Button ( )
When this button is clicked, the Trigger and Configuration Dialog Box is displayed.
For details on the Trigger and Configuration Dialog Box, refer to 13.3.5 ( 2 ) Trigger and Configuration Dia-
log Box.
Trend Graph Button ( )
When this button is clicked, a trend graph is displayed.
For details on the contents of the display and the setting method, refer to 13.3.6 ( 6 ) Trend Graphs.
X-Y Graph Button ( )
When this button is clicked, an XY graph is displayed.
For details on the contents of the display and the setting method, refer to 13.3.6 ( 7 ) X-Y Graphs.
Import Button ( )
Tracing
When this button is clicked, the Select File Dialog Box is displayed and trace data and data trace definitions can
be read from selected files to the Data Trace Window.
Export Button ( )
13
be written from the Data Trace Window to specified files.
Print Button ( )
be saved to selected files.
13-37
13 Tracing
13.3.5 Operation Panel
( 2 ) Trigger and Configuration Dialog Box

The Trigger and Configuration Dialog Box is displayed by clicking the Trigger and Configuration Button
( ) on the operation panel.
To toggle between a simple display and a detailed display, click the Simple Button or the Detail Button.
Simple Display
Detailed Display
The following table shows each item in the detailed display.
Item Contents Set Value

Specifies the name of the condition set that is set in the dialog A maximum of 32 characters
Scope Name
box. The user can name the scope event. can be used.
High-speed scan
Specifies the data sampling condition. Samples will be taken in
Sampling Low-speed scan
line with the selected program.
Specification by program
Specifies the data sampling interval.
Sampling Interval 0 to 32,767
*When set to 0, tracing is executed each time.
Specifies the time in ms. The value set here is used for the time
Scope Interval of axis.
0.1 to 999.9
Program This setting is valid only when the sampling condition is for
specification by program.
Specifies the number of data traces. No specification
Scope No. of Times When Auto is selected, data tracing continues until the stop trig- Max. data, 100, 1000
ger condition is met or until the Stop Button is clicked. 1 to 999,999
Specifies the register number, logical operator, and number to
Register number
serve as the trigger for initiating the trace operation.
Initiate Trigger Condition > / < / = / < > / >= / <=
If nothing is specified, tracing will start at the same time as sam-
Number
pling starts.
Specifies the register number, logical operator, and number to
Terminate Trigger
serve as the trigger for terminating the trace operation. One or Register number
Conditions 1 and 2
two terminate triggers can be set. > / < / = / < > / >= / <=
(Not shown for simple
If nothing is specified, tracing will be executed until sampling Number
display.)
stops.
Number of Terminate
Delays Specifies how many times sampling is to be executed and trac-
0 to 65,534
(Not shown for simple ing terminated after the termination condition is met.
display.)
13-38
13.3 Data Tracing
13.3.6 Graph Area Operations
( 1 ) Functions of Buttons in Graph Area

The Graph Area buttons are used for common functions in the Trend Graph Mode and the X-Y Graph Mode.
Graph Area buttons
The following table shows the functions of the Graph Area buttons.
Icon Name Contents

When this icon is clicked, the cursor turns into an offset adjustment cursor for the Graph
Area and the graph can be scrolled vertically by dragging.
Select
Graph Areas for which Auto is selected from the list as the maximum verti-
cal axis value cannot be moved.
Turns the cursor into a graph scroll cursor so that the graph can be scrolled horizontally
Cursor settings
Scroll
by dragging.
Turns the cursor into the graph zoom-in cursor to enable enlarging areas by selecting
Zoom In
them with the cursor.
After using zoom-in to get a close up view, gradually reduces the size of the image
Zoom Out being displayed.
This icon is available.
Returns the graph to its original scale.
Reset
This icon is available.
Grid Toggles between displaying and hiding the grid.
Cursor A Toggles between displaying and hiding cursor A, one of the two cursor types (A and B).
Cursor operations
Cursor B Toggles between displaying and hiding cursor B, one of the two cursor types (A and B).
Cursor A/B Links cursors A and B to operate at a fixed interval.

with Same
Interval This icon is active when both cursors A and B are displayed.
Displays the Cursor Setting Dialog Box.

Cursor Setting
Refer to 13.3.6 ( 4 ) Cursor Setting Dialog Box.
Adjust Scale/ Displays the Scale Offset Adjust Dialog Box.
Offset Refer to 13.3.6 ( 5 ) Scale Offset Adjust Dialog Box.
Tracing
Copies the graph to the clipboard.

Copy Graph
Copied images of graphs can be pasted in other Windows applications.
Maximum Hides the list and maximizes the graph display.
Graph Display This icon is active only during normal graph display. 13
Normal Graph Displays the list and returns the graph to its normal display.
Display This icon is active only during maximum graph display.
13-39
13 Tracing
( 2 ) Graph Area Pop-up Menu

The following pop-up menu is displayed by right-clicking in the Graph Area.
The items in the pop-up menu can perform the same operations as the buttons in the Graph Area. For details, refer to
13.3.6 ( 1 ) Functions of Buttons in Graph Area.
( 3 ) Using Mouse Cursors

There are two types of cursor (A and B) in the Graph Area. They can be used either individually or together.
For details on displaying, hiding, and linking cursors A and B, refer to 13.3.6 ( 1 ) Functions of Buttons in Graph
Area.
Left-clicking within a graph will cause the cursor to move as described below, depending on the circumstances.
• When Only Cursor A (or Cursor B) Is Displayed

Cursor A (or cursor B) will move to the location that was clicked.
• When Cursors A and B Are Both Displayed and Linked
Cursor A will move to the location that was clicked and cursor B will move with it at a fixed interval.
• When Cursors A and B Are Both Displayed but Not Linked (See note.)
When the cursor mode in the List Area is set to either Normal or Cursor A, cursor A will move to the location that
was clicked. Cursor B will not move.
When the cursor mode in the List Area is set to Cursor B, cursor B will move to the location that was clicked. Cur-
sor A will not move.
Note: When Cursor A/B with Same Interval is not selected, Normal cannot be selected as the cursor
mode in the List Area. Conversely, when Cursor A/B with Same Interval is selected, neither Cur-
sor A nor Cursor B can be selected as the cursor mode in the List Area.
13-40
13.3 Data Tracing
( 4 ) Cursor Setting Dialog Box
When the Cursor Setting Button ( ) in the Graph Area is clicked, the Cursor Setting Dialog Box will be displayed
as shown below.
The following table shows the items to be set in the Cursor Setting Dialog Box.
Icon Name Contents Remarks

The cross cursor is displayed when a
Monitor Variable is activated in the Select
Used to select either Vertical ( | ) or
Type Field of the list display. The center of the
Cross (+) cursor shape.
cross cursor will move over the selected
Monitor Variable.
Used to select the cursor A and B col- When the icon is clicked, the Color Set-
Color
ors. ting Window will be displayed.
Used to toggle between displaying and The cursors are displayed by selecting
Display
hiding the A and B cursors. their respective check boxes.
Used to adjust the cursor display posi-
When a number is entered directly, it is
Position tion. Enter a value directly or use the
adjusted to the nearest grid position.
spin buttons.
( 5 ) Scale Offset Adjust Dialog Box
When the Adjust Scale/Offset Button ( ) in the Graph Area is clicked, the Scale Offset Adjust Dialog Box will
be displayed as shown below. This dialog box can be used to adjust the scale (maximum value) for each axis of the
graph and to adjust the offset (deviation from the center).
Tracing
There is no need to select the object for scale adjustment. Offset adjustment is valid when an offset adjustment object is
selected in the Select Field of the list. (See note.) Offset adjustment cannot be used without selecting an object. It also
cannot be used if the selection is cleared after the dialog box is displayed. If that occurs, it can be used by selecting an
offset adjustment object from the list to activate it. 13
Note: Use the Select Field in the list to select the offset adjustment object. On Monitor Pages and File Pages,
the selected object will be a Monitor Variable. The offset adjustment horizontal axis will be the sampling
time, and the vertical axis will be the data value of the selected Monitor Variable. On an X-Y Display Page,
the Monitor Variables set for the vertical and horizontal axes become the objects. The offset adjustment
horizontal and vertical axes will be the data values for the variables that are set. For details on pages,
refer to 13.3.7 ( 1 ) Changing Pages.
13-41
13 Tracing
The following table shows the items to be set in the Scale Object Adjust Dialog Box.
Vertical Scale Used to set the vertical scale. Enter a

Input range: 100 to 1,000
Set Value value directly or use the spin buttons.
Vertical Scale Used to adjust the vertical scale. Drag

−
Adjustment Bar up and down using the mouse.
Horizontal Used to set the horizontal scale. Enter

Input range: 10 to 1,000
Scale Set Value a value directly or use the spin buttons.
Horizontal
Used to adjust the horizontal scale.
Scale Adjust- −
Drag up and down using the mouse.
ment Bar
Offset Adjust- The variable name for the offset
−
ment Variable adjustment object is displayed.
Vertical Offset Used to set the vertical offset position.
Position Set Enter a value directly or use the spin Input range: -100.00 to 100.00
Value buttons.
Used to adjust the vertical offset posi-

Vertical Offset
tion. Drag up and down using the −
Adjustment Bar
mouse.
(cont'd)
Input range:
When the object (sampling time) is
Horizontal Off- Used to set the horizontal offset posi- selected at a Monitor Page or File Page:
set Position Set tion. Enter a value directly or use the -99 to 99
Value spin buttons. When the object (variable value) is
selected at an X-Y Display Page:
-100.00 to 100.00
Horizontal Off- Used to adjust the horizontal offset
set Adjustment position. Drag up and down using the −
Bar mouse.
Used to return the scale or offset to
their default values.
The default value for the horizontal offset
Vertical scale: 100
Default is 0.00 when an object is selected at an X-
Horizontal scale: 100
Y Display Page.
Vertical offset: 0.00
Horizontal offset: 0
Used to close the Scale Offset Adjust
Close −
Window.
13-42
13.3 Data Tracing
( 6 ) Trend Graphs
When the Trend Graph Button ( ) in the operation panel is clicked, the Graph Area will change to the Trend Graph
Mode.
In Trend Graph Mode, Monitor Variables (register values) that have been set are displayed in graph format in a time
sequence.
Operations such as pointer settings, cursor settings, scale adjustments, and graph copying can be performed in this
mode. Operations in Trend Graph Mode are described in detail below.
[ a ] Operations in Trend Graph Mode

The configuration elements of the graph in Trend Graph Mode are described below.
(1) Graph Area buttons

(2) Monitor Variable selection (2) Monitor Variable se-
(vertical axis; left) lection
(vertical axis; right)
(3) Maximum value

selection (right)
(6) Maximum Graph

Display Button
(3) Maximum value selec- (4) Scroll bar
tion (left) (5) Unit selection (hori-
zontal axis)
(1) Graph Area Buttons
The Graph Area buttons are used in both the Trend Graph Mode and the X-Y Graph Mode. They can be used for
operations such as setting or changing pointers and cursors or switching the graph display.
For details on the Graph Area buttons, refer to 13.3.6 ( 1 ) Functions of Buttons in Graph Area.
(2) Monitor Variable Selection (Left, Right)
Variable names and maximum values (units) can be set separately for the left and right vertical axes in a trend
graph.
Clicking the drop-down arrow will display in a list all of the variables for which the display is set to ON in the
List Area. Select the variables to be set for the left and right vertical axes.
(3) Maximum Value Selection (Left, Right)
The Maximum Value Selection is used to set the maximum values for the left and right vertical axes (Monitor
Variables). The values can be directly entered by double-clicking the cells. When Auto is selected, maximum
values are adjusted so that all of the trace data that is obtained will be displayed in the Graph Area.
(4) Scroll Bar
The section to be monitored can be moved by either dragging the slide bar or clicking the right or left arrows.
Tracing
(5) Unit Selection

The display unit for the horizontal axis (time axis) can be set to data, ms, sec, or min.
(6) Maximum Display Button ( ) and Normal Display Button ( )
When the Maximum Display Button is clicked, the List Area is hidden, the Graph Area is maximized, and the 13
Normal Display Button is displayed. When the Normal Display Button is clicked, the Graph Area is returned
to its original size and the List Area is displayed.
13-43
13 Tracing
( 7 ) X-Y Graphs
An X-Y graph takes two specified Monitor Variables (variable X and variable Y) in the horizontal and vertical axes,
and shows their relationship over a given time.
Monitor Variable selection (vertical axis) X-Y graph display setting buttons
Maximum value
selection
Monitor Variable selection

Playback buttons (horizontal axis)
Variable names and maximum values can be set for the horizontal and vertical axes of X-Y graphs in the same way as
for the vertical axes of trend graphs. While an X-Y graph is displayed, display settings and playback operations are
enabled in addition to all of the operations for a trend graph.
[ a ] X-Y Graph Display Setting Buttons

The display settings for an X-Y graph can be changed.
Icon Name Contents
Point Display Used to display coordinates as points.
Line Display Used to display coordinates connected by lines.
Used to display coordinates connected by lines according to connected-

point data.
Model Display
For details on connected points, refer to Connection Point in
13.3.7 ( 6 ) Changing Pages.
Used to select whether or not to leave tracks.
Tracks
Active for point display only.
[ b ] Playback Operations
The playback function reproduces displays of data captured before tracing is stopped, or data captured for snapshots.
Operations such as playback, stop, forward, return, slow-motion forward, and slow-motion return can be performed.
Playback can be executed when an X-Y graph is displayed. There is no time information included in an X-Y graph, so
this function is provided to display changes in data with the elapsed time.
13-44
13.3 Data Tracing
The following table shows the playback-related buttons.
Icon Name Contents
Playback Replays an X-Y graph from the beginning of the traced data.
The replaying of an X-Y graph is stopped at the point where

Stop
this button is clicked.
Executes fast forward or return at the specified rate.
When these buttons are cleared, playback is automatically
/ Fast Forward/Return resumed.
Can be used only during playback.
Slow-motion Forward/
/ Slow-motion Return
Executes slow-motion forward or return.
Select XY Graph - Return to Beginning from the Main Menu.

− Return to Beginning
The beginning of the traced data will be returned to.
Select XY Graph - Forward to End from the Main Menu.
− Forward to End
The end of the traced data will be forward to.
Rate Setting Sets the forward and return rate.
Displays the execution time for the playback display.

Execution Time
The unit can be set to ms, sec, min, or data.
13.3.7 List Area Operations

The following operations can be executed in the List Area: monitor setting, variable selection, object variable setting,
data display setting, cursor mode, list vertical/horizontal display switching, searching, calculations, and maximum list
display. These operations can be executed in any mode, regardless of the list display mode (page).
For details on assigning Monitor Variables, refer to 13.3.7 ( 8 ) Assigning Monitor Variables.
An example of List Area display and configuration is shown below.
Page change buttons List operation buttons

(Refer to 13.3.7 ( 1 ) Changing Pages.) (Refer to 13.3.7 ( 2 ) List Operation Buttons.)
Change Page Tab
( 1 ) Changing Pages
Tracing
Click the Change Page Tab to change the page.

The following three types of pages are displayed in the List Area.
• Monitor Pages (Refer to 13.3.7 ( 5 ) Monitor Pages.)
• X-Y Display Pages (Refer to 13.3.7 ( 6 ) X-Y Display Page.) 13
• File Pages (Refer to 13.3.7 ( 7 ) File Pages.)
13-45
13 Tracing
( 2 ) List Operation Buttons

The following table provides details on the list operation buttons.
Icon Name Contents

Displays the Select Monitor Setting Dialog Box so that the number of Data
Monitor Setting Trace Windows can be set.
Refer to 13.3.7 ( 4 ) Select Monitor Setting Dialog Box.
Displays the Object Variable Setting Dialog Box so that the variables used
Object Variable by imported files can be registered as Monitor Page variables (monitor vari-
Setting ables).
Refer to 13.3.7 ( 9 ) Object Variable Setting Dialog Box.
Changes the data display type for variables selected from the list. Decimal,
unsigned decimal, hexadecimal, or binary can be selected.
Data Display
The data display selection is invalid when no variables are
selected.
Selects Cursor A/B, Cursor A, Cursor B, and Normal for the cursors linked to
data display positions. When Cursor A, Cursor B, or Cursor A/B is selected,
the cursor position on the graph is linked with the data position displayed on
the Monitor Page and File Page of the List Area.
Cursor Mode When cursor A (or cursor B) is not displayed, Cursor A (B) cannot
be selected.
When Cursor A/B with Same Interval is not set in the Graph Area,
Cursor A/B cannot be selected.
The status will not change if disabled selections are selected.
Toggles the list display direction between vertical and horizontal.
List Display
When OFF, all variable data is displayed in the horizontal direction.
Direction
When ON, all variable data is displayed in the vertical direction.
Vertical List Display Example

When this button is clicked with a Monitor Variable in the list selected, the
Find Dialog Box is displayed and the graph maximum value, minimum value,
Find local maximum value, local minimum value, and time axis can be found.
Refer to 13.3.7 ( 10 ) Find Dialog Box.
When this button is clicked with a Monitor Variable in the list selected, the
Calculate Dialog Box is displayed and the area, average, and absolute average
Calculate calculation results can be referenced for the selected variable.
Refer to 13.3.7 ( 11 ) Calculate Dialog Box.
Maximum List Hides the graph and maximizes the list display.
Display This icon is active only during normal list display.
Clears the maximum list display and returns you to the normal display (graph
Normal List and list).
Display
This icon is active only during maximum list display.
13-46
13.3 Data Tracing
( 3 ) Pop-up Menu
The following pop-up menu is displayed by right-clicking in the List Area.
The following table list the operations in the above pop-up menu that cannot be executed using the list buttons.
Icon Menu Item Content

Toggles between displaying and hiding the maximum and minimum values in the
List Area.
Maximum/Minimum
This operation is the same as selecting Display - Maximum/Minimum
value (M)
Value from the Main Menu. For details, refer to 13.3.7 ( 5 ) Monitor
Pages.
Variable Comment (O) Toggles between displaying and hiding variable comments in the List Area.
Toggles between displaying and hiding Cursor A, Cursor B, and Difference A-B in
the List Area.
Cursor Position (P)
This operation is the same as selecting Display - Cursor Position
from the Main Menu. For details, refer to 13.3.7 ( 5 ) Monitor Pages.
Toggles between displaying and hiding Convert Unit in the List Area.
− This operation is the same as selecting Display - Convert Unit from
Convert Unit (U)
the Main Menu. For details, refer to Convert Unit (xN) 13.3.7 ( 5 ) Mon-
itor Pages.
Adjusts the width of cells in the List Area to the width of the cell where the cursor
− Adjust Cell Width (W)
is located.
Tracing
13
13-47
13 Tracing
( 4 ) Select Monitor Setting Dialog Box
The Select Monitor Setting Dialog Box is displayed by clicking the Monitor Setting Button ( ). The Data
Trace Window displayed in the main window can be selected from Monitor 1 to Monitor 4.
The default setting is for only Monitor 1 to be displayed. For example, selecting Monitor 3 and clicking the OK Button
will cause Monitor 1 and Monitor 3 to be displayed in the main window.
A maximum of 16 Monitor Variables can be assigned on a single Data Trace Window (Monitor Window). The num-
ber of objects monitored can be expanded by setting multiple Monitor screens, and the objects can be easily displayed
by switching among the Monitor screens.
13-48
13.3 Data Tracing
( 5 ) Monitor Pages
Monitor Variables can be displayed, assigned, deleted, and edited at a Monitor Page.
For details on assigning and editing Monitor Variables, refer to 13.3.7 ( 8 ) Assigning Monitor Variables.
The following table describes the items in a Monitor Page display, using the illustration below as an example.
Item Contents
Selects the Monitor Variable that is to be edited. It is possible to view different data displays, search,
calculate, perform offset adjustments, and change the cursor to a cross.
The following items are displayed.
M:y: Number y of monitor
Select
Fx:y: Number y of file “x”
SUB: Difference between two variables
ADD: Sum of two variables
REF: Reference variable
Display Toggles between displaying ( ) and hiding ( ) a graph for a given variable.
Selects the color for a graph. The Select Color Dialog Box is displayed by double-clicking a cell.
Color
The color can then be selected and set.
Used to enter the variable name or register for the trace object.
Variable Variables can be entered by dragging and dropping from the Variable Subwindow.
A maximum of 16 registers or variables can be entered.
Program For a D register, enter the name of the program in which the D register is used.
Comment Comments are displayed (display only).
Selects one of the following as the Y-axis scale: Auto, Y1 Axis, or Y2 Axis.
When Auto is set, the scale is automatically adjusted and displayed for each Monitor Variable.
Y axis scale
When Y1 Axis is selected, the scale data is displayed at the left side of the graph; and when Y2 Axis is
selected, the scale data is displayed at the right side of the graph.
Maximum value Displayed by selecting List - Maximum/Minimum Value from the Main Menu. Maximum values for
(See note.) trace data are displayed (display only).
Minimum value Displayed by selecting List - Maximum/Minimum Value from the Main Menu. Minimum values for
(See note.) trace data are displayed (display only).
Cursor A Displayed by selecting List - Cursor Position from the Main Menu. Values for cursor A are dis-
(See note.) played (display only).
Cursor B Displayed by selecting List - Cursor Position from the Main Menu. Values for cursor B are displayed
(See note.) (display only).
Difference (A-B) Displayed by selecting List - Cursor Position from the Main Menu. The difference between the val-
(See note.) ues for cursors A and B is displayed (display only).
Displayed by selecting List - Convert Unit from the Main Menu. Sets values with a multiplication
Tracing
Convert Unit (xN)

factor for unit conversion. Variable values: The product of the two values is displayed.
(See note.)
Set for operations such as replacing machine coordinate systems.
Note: The Maximum values and Minimum values, Cursors A and B, Difference (A-B), and Unit Conver-
sion (xN) are not displayed by default. If they do not appear in the List Area when they are dis- 13
played from the Main Menu, then display them by reducing the cell widths.
13-49
13 Tracing
( 6 ) X-Y Display Page

In the X-Y Display Page, the Monitor Variables used for displaying an X-Y graph as the graph can be assigned,
deleted, edited, and displayed. The List Area appears as shown below when the X-Y Display Page is displayed.
The following table shows the items in the X-Y Display Page.
Item Contents
Selects the object to be activated.
Select Once the object is activated, then the object can be adjusted and the cross cursor can be dis-
played.
Selects one of the following as the method for display the graph: hidden, fixed display, or
playback.
Display Hidden: Data is not displayed on a graph.
Fixed display: Data is displayed on a graph when tracing is executed.
Playback: data is displayed on a graph when playback is executed.
Selects the color for a graph. The Select Color Dialog Box is displayed by double-clicking a
Color
cell. The color can then be selected and set.
Specifies the name of a variable to be traced on the X axis (the horizontal axis).
Variable (X Axis)
The variable name can be selected from the variables set on the Monitor Page.
Specifies the name of a variable to be traced on the Y axis (the vertical axis).
Variable (Y Axis)
The variable name can be selected from the variables set on the Monitor Page.
Sets the number in the model display to which to connect.
Connection Point
Either Nothing or the Select number set for the X-Y page can be selected.
Cursor A Displayed by selecting List - Cursor Position from the Main Menu. Values for cursor A are
(See note.) displayed (display only).
Cursor B Displayed by selecting List - Cursor Position from the Main Menu. Values for cursor B are
(See note.) displayed (display only).
Difference (A-B) Displayed by selecting List - Cursor Position from the Main Menu. The difference between
(See note.) the values for cursors A and B is displayed (display only).
Note: The Cursor A, Cursor B, and Difference (A-B) are not displayed by default. If they do not appear in
the List Area, then display them by reducing the cell widths.
13-50
13.3 Data Tracing
( 7 ) File Pages
Monitor Variable data imported from specified files (CSV files) can be displayed in File Pages.
Use the following procedure to import the data.
1. Click the File Tab in the List Area to display a File Page.
2. Select File - Import from the Main Menu.

The Open File Dialog Box will be displayed.
3. Select the file (.csv) from which to import data, and click the Open Button.
The data in the selected file will be displayed.
The items displayed on a File Page are the same as those on a Monitor Page. Variables, programs, and comments
depend on data imported from files, so they cannot be edited.
The default setting for the number of File Pages displayed is two, but the number can be set for a maximum of eight.
Variables displayed on a File Page can be assigned as Monitor Variables, to be monitored on a Monitor Page.
For details, refer to 13.3.7 List Area Operations.
For details on setting the number of File Pages displayed, refer to 13.2.8 (3) [ d ] Setting the List Tab Page.
Tracing
13
13-51
13 Tracing
( 8 ) Assigning Monitor Variables

The data trace function can be used by assigning the variables that are to be monitored (i.e., the Monitor Variables) in
the List Area. A maximum of 16 Monitor Variables can be assigned.
Up to 64 (16 x 4) Monitor Variables can be assigned by changing the monitor setting. Only 16 Monitor Variables,
however, can be displayed at one time. Refer to 13.3.7 ( 4 ) Select Monitor Setting Dialog Box.
The following methods can be used to assign Monitor Variables from the Data Trace Window.
Entering the Variable Name (Register) to the Variable Cell in a Monitor Page
Double-click the cell to enter the input mode. The variable name (register) can either be directly entered or it can be
entered by dragging and dropping from the Variable Subwindow.
Assigning Variables from the Ladder Program Edit Window

Right-click a variable object in the Ladder Program Edit Window and select Add to Scope from the pop-up menu.
The variable will be assigned as a trace data variable.
Deleting Variables from the List (1)

In a Monitor Page or X-Y Display Page, right-click the variable to be deleted and select Delete from the pop-up menu. Alterna-
tively, select Edit - Delete from the Main Menu.
The selected variable will be deleted from the list, and that row will be left empty.
Deleting Variables from the List (2)
In the Monitor Page, select the variable to be deleted, and then select Edit - Delete Record from the Main Menu. The selected
variable row will be deleted.
Inserting an Empty Row
In the Monitor Page, select the variable above which the row is to be inserted, and then select Edit - Insert Record from the
Main Menu. The empty row will be inserted above the selected variable.
13-52
13.3 Data Tracing
( 9 ) Object Variable Setting Dialog Box

The Object Variable Setting Dialog Box shown below is displayed by clicking the Object Variable Setting Button
( ). With this dialog box, variables displayed on a File Page can be assigned to a Monitor Page as Monitor Vari-
ables.
Use the following procedure to set a reference variable.
1. With the above dialog box displayed, select the variable to be referenced from the list and click the (1)
Object Variable Setting Button.
The selected variable name will be displayed in the Set value area.
2. Select the variable field on the Monitor Page that is to be set from the list, and click the Setting Button
in the Object Variable Setting Dialog Box.
The selected reference variable will be added to the selected variable field.
Not only file variable, but reference variable difference or sum can be selected as the reference variable type. When
Difference between reference variables is selected as the type, the Object Variable Setting Dialog Box will appear as
shown below. It will be similar when Sum of reference variables is selected.
Tracing
13
13-53
13 Tracing
( 10 ) Find Dialog Box
With a Monitor Variable selected in the list, click the Find Button ( ). The Find Dialog Box will be displayed,
and the maximum value, minimum value, local maximum value, local minimum value, and time axis can be found for
the selected variable.
The following operations can be executed in the Find Dialog Box.
Icon Name Contents
Target Variable Displays the variable name that is to be found.
Selects one of the following as the find object: Maximum value, Minimum
value, Local maximum value, Local minimum value, and Time axis.
When time axis is selected, the dialog box will appear as shown below.
Find Target
Display Example: When Time Axis is Selected
Selects either All Scope Data or Between A and B as the find area.
Find Area Between A and B cannot be selected when cursors A and B are
hidden.
Find from Top Searches from the top of the find area.
Find to
Searches backward from the present position.
Backward
Find to
Searches forward from the present position.
Forward
Close Closes the Find Dialog Box.
Sets the search time in units of ms.

Time Setting
Displayed only when time axis is set as the find target.
Jumps to the data for the set time (proximity).
Go To
Displayed only when time axis is set as the find target.
13-54
13.3 Data Tracing
( 11 ) Calculate Dialog Box

With a Monitor Variable selected in the list, click the Calculate Button ( ). The Calculate Dialog Box will be
displayed, and the area, average, and absolute average calculation results for the selected variable can be referenced.
The following operations can be executed in the Calculate Dialog Box.
Icon Name Contents
Target Variable Displays the variable name for which a calculation is to be performed.
Selects one of the following as the calculation type: Area, Average, or

Calculation Type
Absolute average.
Selects either All Scope Data or Between A and B as the find area.
Find Area Between A and B cannot be selected when cursors A and B
are hidden.
Calculate Executes the calculation. The result is displayed in the Result area.
Close Closes the Calculate Dialog Box.
Tracing
13
13-55
13 Tracing
13.3.8 Other Functions

This section describes other functions, including saving and deleting trace definition data, setting defaults, printing, and
making optional settings.
( 1 ) Saving and Deleting Trace Definition Data and Setting Defaults

Operations such as saving and deleting Trace Definitions can be executed from the File Menu.
Item Operation Contents Remarks

File (F) → Returns the Trace Definitions to the All Monitor Variables that have
Default Setting
Set to Default (F) default status. been assigned will be deleted.
File (F) →
Save Settings Saves the Trace Definitions. −
Save Settings (S)
File (F) →
Delete Settings Deletes the Trace Definitions. −
Delete Settings (D)
( 2 ) Print Settings
Data Trace Definitions, graphs, and lists can be printed using the following procedure. Select File - Print Object Set-
ting from the Main Menu. The Print Object Setting Dialog Box will be displayed. Check the items to be printed, and
click the OK Button.
Items which are set in the Print Tab Page of the Option Dialog Box to not be printed become inactive in the display.
For details, refer to 13.2.7 (3) [ e ] Setting the Print Tab Page.
Select File - Print from the Main Menu to execute printing according to the settings in the Print Object Setting Dia-
log Box.
13-56
13.3 Data Tracing
( 3 ) Optional Settings
Optional settings can be made related to displays and printing.
Select Display - Option from the Main Menu. The Option Dialog Box will be displayed. Optional settings can be made
by selecting the Set, Graph, XY graph, List, or Print Tab Page.
Reset Button
The set values will return to their status when the dialog box was opened.
Set as Default Button
The following message will be displayed: “The present option data will be set as the default. Yes or No?” Click the
OK Button. The present data will be set as the default.
Apply Button
The option data will be overwritten, and the set value will be immediately reflected.
[ a ] Setting the Set Tab Page

This tab page is used to set the default directory for when trace data is imported or exported.
CPU: The directory installed by MPE720 version 6 is set.
User settings: Click the Detail Button and make the settings in the Folder Reference Dialog Box.
[ b ] Setting the Graph Tab Page

The general graph settings can be made on this tab page. Select the elements to be set from the Type list, and then set
the items.
Tracing
13
13-57
13 Tracing
Type
Reference
Back- Y axis, variables
File A and B
Item Setting ground X axis Y1 axis, Points Grid Monitor
variable cursors
color Y2 axis Variables
(1 to 16)
Sets the default values for the X axis units
Default Unit
(data, ms, sec, mm).
Sets the size of one X-axis mark in the
default units. (When the default unit is
Mark Width
ms, one mark will be 50 ms when the
mark width is set to 50.)
Sets the span of values (step) displayed
Mark Value Span
for marks.
Sets a solid line, wavy line, broken line,
Line Type
etc.
Line Width Sets a line width from 1 pt. to 6 pt.
Color Displays the Select Color Dialog Box.
Font Sets the font for displayed characters.
Sets a size from 8 to 72 points. Can be
Size entered directly. A decimal point cannot
be entered.
B: Bold
Font
I: Italic
Style U: Underline
Multiple selection possible.
When OFF: Regular
Displays a sample of font, size, and style
Sample
settings (display only)
: Can be set.
[ c ] Setting the X-Y Graph Tab Page

Settings related to X-Y graph playback can be made on this tab page.
13-58
13.3 Data Tracing
[ d ] Setting the List Tab Page

Settings related to the List Area display can be made on this tab page.
Number of File Page: Select the default number of File Pages in the list, from 1 to 8.
Number of Monitor Data: Set the number of data items to be displayed in the List Area while tracing is being exe-
cuted.
All data is displayed when stopped or when a snapshot is taken.
For details on other settings, refer to 13.2.7 (3) [ b ] Setting the Graph Tab Page.
[ e ] Setting the Print Tab Page

Settings related to print object settings (File - Print Object Setting from the Main Menu) can be made on this tab page.
Scope Configuration
Print (Simple): Used for trace data printing when Scope Configuration is selected as the print object.
Print (Detail): Used for trace data printing when Scope Configuration is selected as the print object.
Do Not Print: Scope Configuration cannot be selected as the print object.
Graph
Print: Graph can be selected as the print object.
Do Not Print: Graph cannot be selected as the print object.
List
Print: List can be selected as the print object.
Do Not Print: List cannot be selected as the print object.
Tracing
13
Fig. 13.2 Print Object Setting Dialog Box (When List Is Set to Do Not Print)
13-59
13 Tracing
13.4.1 Overview of XY Tracing
13.4 XY Tracing
13.4.1 Overview of XY Tracing
( 1 ) What is XY Tracing?
XY tracing is a function to enable visual analysis of the locus of two axes by obtaining the position data (target posi-
tions, feedback positions) of the X- and Y-axis at every scan and plotting them on a two dimensional planar graph.
13.4.2 Starting XY Trace

The XY Trace Tab Page can be displayed in the main window by using any of the following methods.

Double-click Scope1, Scope2, Scope3, or Scope4 and click the XY Trace Button in the Trace Type Window.
Select Scope1, Scope2, Scope3, or Scope4, right-click the selected icon and select Open in XY Trace from the

Click the Scope1, Scope2, Scope3, or Scope4 Button registered in the My Tool Window and click the XY Trace
Button in the Trace Type Window.
By default, only the Scope1 and Scope2 Buttons are displayed. For the details on the display of the My Tool
Window, refer to 1.6.2 My Tool Window.
3. Opening from the Launcher

Select Monitor - Trace in the Launcher and click the XY Trace Button in the Trace Type Window.
(1)
(2)
(3)
13-60
13.4 XY Tracing
13.4.3 Names and Descriptions of Components of XY Tracing
( 1 ) Trace Type Window
(1)
(2)
(3) (4)

(1) Trace Manager Plots up to 16 trace data points on a graph.
(2) XY Trace Plots the position data of two orthogonal axes on a two dimensional planar graph.
(3) Open Starts tracing of the selected trace type.
(4) Cancel Returns you to the main window without starting tracing of the selected trace type.
( 2 ) Overall View
Tracing
Graph Toolbar Tracing Toolbar XY Graph 13

Contains the buttons to be used Selects axes, sets conditions for Displays the trace data.
for the analysis of trace data. obtaining trace data, and starts trac- Analysis can be performed on the XY
ing, in this order. Trace Tab Page using the graph tool-
bar, slider, and cursor.
13-61
13 Tracing
( 3 ) Graph Toolbar
Icon Function
Selection Icon: Enlarges the view on double-clicking at the desired position.
Scroll Icon: Moves the display position. Double-clicking at the desired position enlarges the view.
Enlarge Icon: Enlarges the view on selecting the desired position by dragging or double-clicking.
Reset Icon: Returns the view to the original magnification.
Cursor A: Displays cursor A and shows the X and Y values at the intersections of the graphs.
Cursor B: Displays cursor B and shows the X and Y values at the intersections of the graphs.
Coordinate Cursor A/B Icon: Displays the difference value between cursors A and B and coordinates
the movement of cursors A and B, separated by a fixed distance.
Open External Files Icon: Displays the Open Dialog Box to enable reading of trace data from a file.
Save Icon: Displays the Save As Dialog Box.
List View Icon: Displays the data in the list format.
Copy Graph Icon: Copies the graph display image to the clipboard.
13-62
13.4 XY Tracing
( 4 ) Tracing Toolbar
[ a ] Trace Data Setting

The axes can be selected and tracing targets can be set here.
(1)
(2)
(3) (4)

(1) X-Y Axis Specification Select the X- and Y-axis.
Set tracing targets. The following two motion parameters are available.
(2) Trace Target ILxx10: Target position (ILxx10)
ILxx16: Machine coordinate feedback position (ILxx16)
Sets the X-/Y-axis and tracing targets, and enables the Sampling & Trigger Setting
(3) OK
Button.
Returns you to the XY Trace Tab Page without setting the X-/Y-axis and tracing tar-
(4) Cancel
gets.
[ b ] Sampling & Trigger Setting

The trace name can be set and sampling and trigger settings can be made here.
For the details on Sampling & Trigger Setting, refer to 13.2.3 ( 4 ) [ b ] Sampling & Trigger Setting.
[ c ] Start/Stop Trace
Tracing
Start Trace Starts tracing. The trace data are obtained and displayed in real time.
The movement of the axes during tracing is displayed in real time if this check box is checked.
Real Time Display * The data transition is displayed only on one Trace Tab Page when multiple Trace Tab Pages are
open.
Stop Trace Stops tracing. All the buffer trace data are obtained and displayed on stopping.
13
13-63
13 Tracing
( 5 ) XY Graph
[ a ] Graph
(1)
(2)
(3)

(1) – Displays the parameters selected for the tracing target.
(2) – Displays the X- and Y-axis.
(3) – Displays the scales of the X- and Y-axis.
13-64
13.4 XY Tracing
[ b ] Cursors
(4)
(5)
(6)
The X- and Y-axis coordinate values are displayed at the intersection of cursor A or cursor B
(4)
and the graph.
(5) – Displays the difference value between cursors A and B.

Select the tracing targets using the Cursor Setting Drop-down List Boxes.
(6) ILxx10: Target position (ILxx10)
ILxx16: Machine coordinate feedback position (ILxx16)
Tracing
13
13-65
13 Tracing
[ c ] Sliders
(8) (7)
Reduces/enlarges the view on dragging the Scale Factor Sliders up/down or left/right.
(7)
The scale factor can be changed in the range from 0.01 to 64 times.
Moves cursor A or B on dragging the Time Axis Sliders left/right.

(8)
On clicking the button at the left or right, the slider moves at every scan.
13-66
13.4 XY Tracing
13.4.4 Analyzing X-/Y-Axis Data

It is possible to analyze the graph or replay the locus with the cursor A/B or enlarge/reduce functions.
( 1 ) Analyzing the Graph
[ a ] Analyzing the Difference (Delay) of the Feedback Positions Against the Target Positions
1. Click Cursor A and B Icons in the Graph Toolbar to display the cursors.
2. Select the target positions and feedback positions for cursors A and B using the Cursor Setting Drop-
down List Boxes.
3. Set the Buffer Data Time Axis Sliders at the time to be analyzed.
4. Analyze the difference value between the target and feedback positions.
It is possible to enlarge/reduce the view of the desired position using the Graph Toolbar.
Tracing
13
13-67
13 Tracing
13.4.4 Analyzing X-/Y-Axis Data
[ b ] Measuring Axis Movement Time
2. Set the same data for cursors A and B using the Cursor Setting Drop-down List Boxes.
3. Select two points to be measured.
4. Measure the time difference between the two points using the Time Axis Sliders.
It is possible to enlarge/reduce the view of the desired position using the Graph Toolbar.
13-68
13.4 XY Tracing
( 2 ) Replaying the Locus of Axis Movement
2. Select cursors A and B using the Cursor Setting Drop-down List Boxes.
3. Analyze the locus of axis movement by moving the Time Axis Sliders.
Tracing
13
13-69
13 Tracing

Trace data can be saved to a CSV file.
Saving trace data to a CSV file enables analysis.

Select File - Save in External File from the Main Menu. Specify the name of the CSV file to save the trace data.
13-70
13.4 XY Tracing
2. Saving from the toolbar

Click the Save in External File Icon. Specify the name of the CSV file to save the trace data.
It is also possible to display the data in the list format and paste the list to an Excel file.
Tracing
13
13-71
13 Tracing

The image of the graph display can be copied to the clipboard.

Select Graph - Copy Graph from the Main Menu. The image of the graph display will be copied to the clipboard.
2. Saving from the toolbar

Click the Copy Graph Icon. The image of the graph display will be copied to the clipboard.
13-72
14
Tuning Panel
This chapter describes the overview and the functions of Tuning Panel.
14.1 Overview of the Tuning Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-2

14.1.1 What is the Tuning Panel? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-2
14.2 Starting the Tuning Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-3

14.3 Names and Descriptions of Components of Tuning Panel - - - - - - - - - - - 14-4
14.3.1 Tuning Panel Tab Page - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-4
14.3.2 Current Value Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-5
14.3.3 Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-6
14.3.4 Visual Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-7
14.4 Registering/Displaying/Editing with the Tuning Panel - - - - - - - - - - - - - - 14-8

14.4.1 Registering Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-8
14.4.2 Editing the Current Value - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-9
14.4.3 Changing Display of the Current Value Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-9
14.4.4 Other Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-13
14.5 Saving Tuning Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-16
Tuning Panel
14
14-1
14 Tuning Panel
14.1.1 What is the Tuning Panel?
14.1 Overview of the Tuning Panel

14.1.1 What is the Tuning Panel?
By registering the desired variables (registers) and displaying/editing the current value data, the created application
programs can be operated or tested. The display of the current value data of the registered variables can be changed in
accordance with the tuning status.
14-2
14.2 Starting the Tuning Panel
14.2 Starting the Tuning Panel

Open the Tuning Panel Tab Page in the main window.
1. Opening from the ladder program

Select a program in the Ladder Subwindow, right-click the program, and select Open [Other] - Tuning Panel

Click the Tuning Panel Button registered in the My Tool Window.
(1)
(2)
Tuning Panel
14
14-3
14 Tuning Panel
14.3.1 Tuning Panel Tab Page
14.3 Names and Descriptions of Components of Tuning Panel

14.3.1 Tuning Panel Tab Page
The current value data of the registered variables are displayed. The display can be changed in accordance with the tun-
ing status.
(1) (2) (3) (4) (5)
No. Name Description

Displays the variables or registers.
(1) Variable The method of display of variables is based on the setting for Variables - Variable Display
Format in the item tree in the Environment Setting Dialog Box.
Displays the comment registered for the variables. A maximum of 255 alphanumeric char-
(2) Comment acters can be entered in the Comment Field. The comment entered here will be reflected in
the list of variables and in the list of comments in the Variable Subwindow.
Displays the current value of the variables in the specified format. The current values are
(3) Current value
updated in a fixed cycle and can be edited in the Edit Dialog Box.
Displays the unit.
(4) Unit
The unit can be specified in the Edit Dialog Box.
Monitors the current values of the variables (registers).
The upper and lower values of current value data are checked against the upper and lower
limits and the values are displayed in different colors, making it possible to tell at a glance
(5) Visual monitor
whether they are within the range or not.
When the current value is within the upper and lower limits: Displayed in green
When the current value is outside the upper and lower limits: Displayed in red
14-4
14.3.2 Current Value Data

On double-clicking the Current value Field of each variable or directly entering a value, the Edit Dialog Box will be
displayed.
The current value data can be edited in this dialog box.
For bit type variables:
(1)
(2)
(3) (4) (5)
For variables other than bit type:
(6)

(1) Variable (register) Displays the registered variable.
(2) Value (ON/OFF) Select ON or OFF.
(3) OK Sets the changes and returns you to the Tuning Panel Tab Page.
(4) Cancel Returns you to the Tuning Panel Tab Page without setting the changes.
(5) Apply Sets the changes to the current value data.
(6) Value (numeral) The current value can be changed within the permissible range. Tuning Panel
14
14-5
14 Tuning Panel
14.3.3 Unit
14.3.3 Unit
On double-clicking the Unit Field of each variable or directly entering a value, the Edit Dialog Box will be displayed.
The monitor mode in which editing of the current value is disabled, the unit of the current value data, and the scale con-
version for the current value data can be specified in this dialog box.
(1)
(2)
(3)
(4)
(5)
(6) (7)

(1) Variable (register) Displays the registered variable.
Checking the check box disables editing of the current value data, allowing monitoring
(2) Only monitor
only.
Select the desired unit.
(3) Unit
[ a ] mm, [ b ] pulse, [ c ] deg, [ d ] inch, [ e ] μm
Select the display format from among the following three options.
(4) Data type
[ a ] Signed decimal, [ b ] Unsigned decimal, [ c ] Hexadecimal
Number of digits below deci-
(5) Select the number of decimal places.
mal point
14-6
14.3.4 Visual Monitor

On double-clicking the Visual monitor Field of each variable or directly entering a value, the Visual Monitor Setting
Dialog Box will be displayed.
The settings for the Visual Monitor that enables visual comprehension of the current value data can be edited in this
dialog box.
For bit type variables:
(1)
(2) (3)
For variables other than bit type:
(4)
(5)

Select either Displays by ON/OFF or 1/0. or Displays normal/error.
When Displays normal/error. is selected, select either of the following options.
• 1 = Normal, 0 = Error
(1) Display method
1 = Normal: Green, 0 = Error: Red
• 0 = Normal, 1 = Error
Tuning Panel
0 = Normal: Green, 1 = Error: Red

(4) Normal/error check If the check box is unchecked, the fields in (5) are disabled.
(5) Normal Range Setting Set the upper and lower limits within the permissible range.
14
14-7
14 Tuning Panel
14.4.1 Registering Variables
14.4 Registering/Displaying/Editing with the Tuning Panel

By registering the desired variables and displaying/editing the current value, application programs can be operated or
adjusted, and the operating status of axes can be monitored.
14.4.1 Registering Variables

The desired variables can be registered in the Tuning Panel as follows.
1. Open the Tuning Panel Tab Page. On double-clicking Please input program name, the list of created
application programs will be displayed.
2. Select a program and enter the variables (registers) required for adjusting the operation of the pro-
gram. The current value data for the entered variables will be displayed.
14-8
14.4.2 Editing the Current Value

1. Double-click the Current value Field for each variable to display the Edit Dialog Box.
2. Set ON or OFF for bit type variables or values for variables other than bit type.
For bit type variables For variables other than bit type
14.4.3 Changing Display of the Current Value Data
( 1 ) Disabling Editing of the Current Value Data
1. Double-click the Unit Field for each variable to display the Edit Dialog Box.
2. Check the Only monitor (disable editing of current value) Check Box.
Editing of the current value data is disabled, allowing monitoring only.
Tuning Panel
14
14-9
14 Tuning Panel
( 2 ) Changing the Display Format of the Current Value Data
2. Select a display format from the Data type Drop-down List Box.
14-10
( 3 ) Scale Conversion of the Current Value Data
2. Select a number of decimal places from the Number of digits below decimal point (scale conver-
sion) Drop-down List Box.
If None is selected, the current value is displayed in the scale of the register.
Tuning Panel
14
14-11
14 Tuning Panel
( 4 ) Changing the Display Method of Visual Monitor
1. Double-click the Visual monitor Field for each variable to display the Visual Monitor Setting Dialog
Box.
2. Set the display method for values within or outside the upper and lower limits for bit type variables, and
set the upper and lower limits for variables other than bit type.
For bit type variables For variables other than bit type
14-12
14.4.4 Other Settings
( 1 ) Setting the Name
1. Right-click on the Tuning Panel Tab Page and select View - Name from the pop-up menu that will be
displayed.
2. The Name Column will be displayed on the Tuning Panel Tab Page. Click the Name Field and enter
the name.
* A maximum of 48 alphanumeric characters can be entered in the Name Field.
Tuning Panel
14
14-13
14 Tuning Panel
14.4.4 Other Settings
( 2 ) Setting the Upper and Lower Limits
1. Right-click on the Tuning Panel Tab Page and select View - Upper/Lower Limit Value from the pop-
up menu that will be displayed.
2. The Lower limit and Upper limit Columns will be displayed on the Tuning Panel Tab Page. On dou-
ble-clicking the Lower limit or Upper limit Field or directly entering a value, the Visual Monitor Set-
ting Dialog Box will be displayed. Set the lower and upper limits within the permissible range.
14-14
( 3 ) Changing View Definition of the Current Value Data
1. Right-click on the Tuning Panel Tab Page and select View - View Definition from the pop-up menu
2. The View definition Column will be displayed in the Tuning Panel Tab Page. Click the View defini-
tion Field and edit the value.
* Changing the view definition may require changing of the upper/lower limit depending on the setting.
<Method of entry of view definition>

X: Represents a digit.
.: Indicates the location of the decimal point.
U: Represents an unsigned decimal value when specified at the head.
H: Represents a hexadecimal value when specified at the head.
Tuning Panel
Examples: View definition → Data

Word/Long type
XXXXX: Signed decimal
UXXXXXXXXXX: Unsigned decimal
HXXXX: Hexadecimal 14
Float type
XXXXXXX: Real without exponent
X.XXXXXXE-XXX: Real with exponent
14-15
14 Tuning Panel
14.5 Saving Tuning Data

The data edited in the Tuning Panel can be stored in the registered programs.

Select File - Save to display the Save Dialog Box.
Check the ladder programs to be saved and click the Save Button.
When the ladder program is deleted, the tuning data will also be deleted.
14-16
Appendices
A Variable Tables ................................................................................................A-2

A.1 Variables that are Automatically Assigned by System ....................................................... A-2
A.2 Axis Variable Details ........................................................................................................... A-5
A.3 I/O Variables .....................................................................................................................A-27
A.4 System Structures ............................................................................................................A-39
B Reserved Words ............................................................................................A-47
head1
App
A-1
A Variable Tables
A.1 Variables that are Automatically Assigned by System
A Variable Tables
The following table provides details on “Variables that are Automatically Assigned by System” provided by MPE720
version 6.
Variable Name Register Comments

OnCoil SB000004 Always ON
CPU - Machine controller
Status - CPU status
Ready SB000400 Ready to run
Running SB000401 Running
Alarm SB000402 Alarm
Error SB000403 Error
Flash SB000406 Flash driving
WriteEnable SB000407 Possible to write
StopRequest SB00040E Request to stop running
RunSwitch SB00040F RUN switch ON when the power turns ON
BatteryAlarm SB000487 Battery alarm
Error - CPU error status
Failure SB000410 Serious error
Exception SB000413 Exception error
ProgramError SB000418 User operation error
IOError SB000419 I/O error
Info - CPU information
SoftwareVersion SW00020 System program software version number
MemorySizeAvailable SL00026 Available program memory (in units of byte)
MemorySizeTotal SL00028 All module memory (in unites of byte)
Switches - CPU switch
Configure SB000482 Self configuration
Initialize SB000483 Clear memory at startup
Stop SB000485 User program stop
HighScan - High-speed scan relay
FirstScan SB000001 After high-speed scan starts, only the first scan ON
Flicker - Flicker
FlickerScan SB000010 1-scan flicker relay (high-speed)
Fricker500ms SB000011 0.5s flicker relay (high-speed)
Flicker1s SB000012 1.0s flicker relay (high-speed)
Flicker2s SB000013 2.0s flicker relay (high-speed)
Sampling - Sampling relay
Sampling500ms SB000014 0.5s sampling relay (high-speed)
Sampling1s SB000015 1.0s sampling relay (high-speed)
OnAfter - Relay after high-speed scan start
OnAfter1s SB000018 ON 1.0s after high-speed scan start
OnAfter2s SB000019 ON 2.0s after high-speed scan start
OnAfter5s SB00001A ON 5.0s after high-speed scan start
A-2
A Variable Tables

LowScan - Low-speed scan relay
FirstScan SB000003 After low-speed scan starts, only the first scan ON
Flicker - Flicker relay
FlickerScan SB000030 1-scan flicker relay (low-speed)
Flicker500ms SB000031 0.5s flicker relay (low-speed)
Flicker1s SB000032 1.0s flicker relay (low-speed)
Flicker2s SB000033 2.0s flicker relay (low-speed)
Sampling - Sampling relay
Sampling500ms SB000034 0.5s sampling relay (low-speed)
Sampling1s SB000035 1.0s sampling relay (low-speed)
OnAfter - Relay after low-speed scan start
OnAfter1s SB000038 ON 1.0s after low-speed scan start
OnAfter2s SB000039 ON 2.0s after low-speed scan start
OnAfter5s SB00003A ON 5.0s after low-speed scan start
ErrorHigh - High-speed program error
Count SW00084 Program error count (high-speed program)
Code SW00085 Program error code (high-speed program)
ProgramNumber SW00154 Error program number (high-speed program)
Referencing called program number (high-speed
ReferProgramNumber SW00155
program)
Referencing called step number (high-speed pro-
ReferStep SW00156
gram)
ErrorLow - Low-speed program error
Count SW00088 Error count (low-speed program)
Code SW00089 Error code (low-speed program)
ProgramNumber SW00186 Error program number (low-speed program)
Referencing called program number (low-speed
program)
Referencing called step number (low-speed pro-
ReferStep SW00189
gram)
ErrorStart - Start program error
Count SW00080 Error count (start program)
Code SW00081 Error code (start program)
ProgramNumber SW00122 Error program number (start program)
Referencing called program number (start pro-
gram)
ReferStep SW00124 Referencing called step number (start program)
ErrorInterrupt - Interrupt program error
Count SW00082 Error count (interrupt program)
Code SW00083 Error coder (interrupt program)
ProgramNumber SW00138 Error program number (interrupt program)
Referencing called program number (interrupt pro-
gram)
head1
Referencing called step number (interrupt pro-

ReferStep SW00140
gram)
App
A-3
A Variable Tables

ErrorIO - I/O error
Count SW00200 I/O error count
InputCount SW00201 Input error count
InputAddress SW00202 Input error address
OutputCount SW00203 Output error count
OutputAddress SW00204 Output error address
ScanTime - Scan time
High - High-speed scan
HSet SW00004 High-speed scan set value (0.1 ms)
HCurrent SW00005 High-speed scan current value (0.1 ms)
HMaximum SW00006 High-speed scan max. value (0.1 ms)
HOverCount SW00044 High-speed scan timeover counter
Low - Low-speed scan
LSet SW00010 Low-speed scan set value (0.1 ms)
LCurrent SW00011 Low-speed scan current value (0.1 ms)
LMacimum SW00012 Low-speed scan max. value (0.1 ms)
LOverCount SW00046 Low-speed scan timeover counter
Current SW00014 Execution scan current value (0.1 ms)
Calendar - Calendar
Year SW00015 Calendar: Year
MonthDate SW00016 Calendar: Month and date
HoursMinutes SW00017 Calendar: Hours and minutes
Second SW00018 Calendar: Seconds
Day SW00019 Calendar: Day of week
A-4
A Variable Tables
A.2 Axis Variable Details

The following table lists the axis variables registered for each logical axis.
Register IW (IB/IL/IF/IA) xx00 indicates the leading input register address +00.
Register OW (OB/OL/OF/OA) xx00 indicates the leading output register address +00.
( 1 ) SVB-Module Variables for Use with the SERVOPACK

Variable Register Comments
ServoOn OBxx000 Servo ON
CommunicationReset OBxx00E Communication reset
MLOCK OBxx001 Machine lock
AlarmClear OBxx00F Alarm clear
ForwardTorqueLimit OBxx008 Forward external torque limit input
ReverseTorqueLimit OBxx009 Reverse external torque limit input
Ready IBxx000 Motion controller operation ready
Running IBxx001 Running
SystemBusy IBxx002 System busy
ServoReady IBxx003 Servo ready
MLKL IBxx0C6 Machine lock ON (MLKL)
UnitsSelection OWxx03 Function 1
SignalSelection OWxx04 Function 2
MotorType IWxx3F Motor type
MotionCommand - Motion command
CommandCode OWxx08 Motion command
ResponseCode IWxx08 Motion command response code
Control OWxx09 Motion command control flag
Pause OBxx090 Command pause
Abort OBxx091 Command abort
Direction OBxx092 JOG/STEP direction
Status IWxx09 Motion command status
Busy IBxx090 Motion command executing (BUSY) flag
Hold IBxx091 Motion command hold completed (HOLD)
Fail IBxx093 Motion command error occurrence (FAIL)
Complete_ABS_RST IBxx097 ABS encoder initialization completed
Motion command execution completed
Complete IBxx098
(COMPLETE)
MotionSubCommand - Motion sub command
CommandCode OWxx0A Motion sub command
ResponseCode IWxx0A Motion sub command response code
Status IWxx0B Motion sub command status
Busy IBxx0B0 Motion sub command executing (BUSY) flag
Fail IBxx0B3 Motion sub command error occurrence (FAIL)
Motion sub command execution completed
Complete IBxx0B8
(COMPLETE)
head1
App
A-5
A Variable Tables

Position - Position
Command - Position reference
MoveType OBxx095 Position reference type
PhaseCompensationType OBxx096 Phase compensation type with an electronic cam
Position OLxx1C Position reference setting
StepDistance OLxx44 STEP distance
EXPOffset OLxx46 External positioning move distance
PhaseCompensation OLxx28 Phase compensation
PhasePositionLoopEnable OBxx051 Disable phase reference generation
Setting - Position setting
POSCOMPWidth OLxx1E Position completed width
NEARWidth OLxx20 Position completed width 2
ZEROWidth OWxx3D Home window
POSCOMPTimeOut OWxx26 Position complete timeout
PERRLevel OBxx010 Deviation abnormal detection error level
P osition.S etting.PER-
OLxx22 Deviation abnormal detection value
RLimit
Status - Position status
DEN IBxx0C0 Distribution completed (DEN)
POSCOMP IBxx0C1 Positioning completed (POSCOMP)
NEAR IBxx0C3 Position proximity (NEAR)
ZERO IBxx0C4 Zero point position (ZERO)
ZRNC IBxx0C5 Zero point return (Setting) completed (ZRNC)
Monitor - Position monitor
TPOS ILxx0E Machine coordinate target position (TPOS)
CPOS ILxx10 Target position (CPOS)
MPOS ILxx12 Machine coordinate system position (MPOS)
APOS ILxx16 Machine coordinate feedback position (APOS)
LPOS ILxx18 Machine coordinate latch position (LPOS)
PERR ILxx1A Position error (PERR)
Turns ILxx1E POSMAX number of turns
Latch - Latch
Enable OBxx004 Latch request
EnableComplete IBxx004 Latch request completed
ZoneEnable OBxx094 Latch zone enable
ZoneLowerLimit OLxx2A Latch zone lower limit setting
ZoneUpperLimit OLxx2C Latch zone upper limit setting
LCOMP IBxx0C2 Latch completed (LCOMP)
Coordinate - Coordinate
MachineOffset OLxx48 Zero point offset
WorkOffset OLxx4A Work coordinate system offset
PresetRequest OBxx006 POSMAX preset
PresetTurns OLxx4C Preset data of POSMAX turns
POSMAX turn number presetting completed
PresetComplete IBxx0C9
(TPRSE)
A-6
A Variable Tables

AbsEncoder - ABS encoder
Infinite length axis position information LOAD
AbsDataRestore OBxx007
request
ABS system infinite length position control infor-
AbsDataRestored IBxx0C8
mation (ABSLDE)
SetEncoderPositionL OLxx5E Absolute position at power OFF (Lower 2 words)
SetEncoderPositionH OLxx60 Absolute position at power OFF (Upper 2 words)
Modularized position at power OFF
SetPulsePositionL OLxx62
(Lower 2 words)
SetPulsePositionH OLxx64
(Upper 2 words)
GetEncoderPositionL ILxx5E Absolute position at power OFF (Lower 2 words)
GetEncoderPositionH ILxx60 Absolute position at power OFF (Upper 2 words)
GetPulsePositionL ILxx62
(Lower 2 words)
GetPulsePositionH ILxx64
(Upper 2 words)
Speed - Speed
Speed OLxx10 Speed reference
Positive side limiting torque setting at speed refer-
TorqueLimit OLxx14
ence
SecondlySpeedCompensation OLxx16 Secondary speed compensation
Override OWxx18 Speed override
Acceleration OLxx36 Linear acceleration time
Deceleration OLxx38 Linear deceleration time
S_CurveTime OWxx3A S-curve acceleration time
SpeedMonitor ILxx20 Speed reference output monitor
FeedbackSpeed ILxx40 Feedback speed
Torque - Torque
Torque OLxx0C Torque reference
SpeedLimit OWxx0E Speed limit during torque reference
TorqueMonitor ILxx42 Feedback torque
ZeroPointReturn - Home return
Method OWxx3C Home return type
ApproachSpeed OLxx3E Approach speed
CreepSpeed OLxx40 Creep speed
Direction OBxx093 Home direction
Offset OLxx42 Home offset
InputSelect OBxx05B INPUT signal for zero point return
head1
App
A-7
A Variable Tables

Gain - Gain
IntegralClear OBxx00B Integration reset
SpeedLoopType OBxx013 Speed loop P/PI switch
SelectSecond OBxx014 Gain switch
GainSwith2 OBxx015 Gain switch 2
PositionLoop OWxx2E Position loop gain
SpeedLoop OWxx2F Speed loop gain
PositionFeedForward OWxx30 Speed feed forward compensation
SpeedCompensation OWxx31 Speed compensation
PositionIntegration OWxx32 Position integration time constant
SpeedIntegration OWxx34 Speed integration time constant
Alarm IWxx04 Alarm
ServoAlarm IBxx040 Servo driver error
P_OT IBxx041 Positive overtravel
N_OT IBxx042 Negative overtravel
P_SOT IBxx043 Positive soft limit
N_SOT IBxx044 Negative soft limit
ServoOff IBxx045 Servo OFF
POSCOMPTimeOut IBxx046 Positioning time over
PositionOutOfRange IBxx047 Excessive positioning moving amount
SpeedOutOfRange IBxx048 Excessive speed
FollowingError IBxx049 Excessive following error
FilterTypeChanged IBxx04A Filter type change error
FilterTimeChanged IBxx04B Filter time constant change error
NotZRNC IBxx04D Zero point not set
ServoParameterError IBxx04F Servo driver parameter setting error
ServoCommunicationTimeout IBxx050 Servo driver synchronization communication error
ServoCommunicationError IBxx051 Servo driver communication error
ServoCommandTimeout IBxx052 Servo driver command timeout error
ABSEncoderOverrange IBxx053 ABS encoder count exceeded
ScanTimeSettingError IBxx056 Scanning set error
MotorTypeError IBxx05E Motor type set error
ConnectionEncoderDiffers IBxx05F Connected encoder type error
Warning ILxx02 Warning
ParameterNumber IWxx01 Over range parameter number
FollowingError IBxx020 Excessive following error
SettingParameter IBxx021 Setting parameter error
FixedParamter IBxx022 Fixed parameter error
ServoWarning IBxx023 Servo driver error
MotionCommand IBxx024 Motion command setting error
ServoNotEnabled IBxx028 Servo not ON
Communication IBxx029 Servo driver communication warning
A-8
A Variable Tables

Servo - Network servo
MonitorALMNo OWxx4F Servo alarm monitor number.
ALMCode IWxx2D Servo alarm code
Status IWxx2C Network servo status
ALM IBxx2C0 Alarm occurred (ALM)
WARNING IBxx2C1 Warning occurred (WARNING)
CMDRDY IBxx2C2 Command ready (CMDRDY)
SVON IBxx2C3 Servo ON (SVON)
PON IBxx2C4 Main power ON (PON)
MLOCK IBxx2C5 Machine lock (MLOCK)
ZPOINT IBxx2C6 Zero point (ZPOINT)
PSET IBxx2C7 Positioning completed (PSET)
T_LIM IBxx2C9 Torque being limited (T_LIM)
L_CMP IBxx2CA Latch completed (L_CMP)
NEAR IBxx2CB Position proximity (NEAR)
P_SOT IBxx2CC Positive soft limit (P_SOT)
N_SOT IBxx2CD Negative soft limit (N_SOT)
IO IWxx2E Network servo I/O monitor
FowardSideLimitSwitch-
IBxx2E0 Forward side limit switch input
Input
ReverseSideLimitSwitch-
IBxx2E1 Reverse side limit switch input
Input
DecelerationDogSwitch-
IBxx2E2 Deceleration dog switch input
Input
PA IBxx2E3 Encoder phase-A input (PA)
PB IBxx2E4 Encoder phase-B input (PB)
PC IBxx2E5 Encoder phase-C input (PC)
EXT1 IBxx2E6 First external latch input (EXT1)
EXT2 IBxx2E7 Second external latch input (EXT2)
EXT3 IBxx2E8 Third external latch input (EXT3)
Brake IBxx2E9 Brake output (BRK)
Monitor - Network servo monitor information
Monitor2Enable OBxx020 Monitor 2 enabled
MonitorCode OWxx4E Servo user monitor
MonitorCodeResponse IWxx2F Network servo user monitor information
Monitor2 ILxx30 Servo user monitor 2
ServoUserMonitor3 ILxx32 Servo user monitor 3
Monitor4 ILxx34 Servo user monitor 4
head1
App
A-9
A Variable Tables

ServoParameter - Servo parameter
MotionCommand - Motion command parameter
SetNumber OWxx50 Servo user constant number
SetSize OWxx51 Servo user constant number size
SetValue OLxx52 Servo user constant set point
GetNumber IWxx36 Servo user constant number
GetValue ILxx38 Servo user constant reading data
MotionSubCommand - Motion sub command parameter
SetNumber OWxx54 Auxiliary servo user constant number
SetSize OWxx55 Auxiliary servo user constant number size
SetValue OLxx56 Auxiliary servo user constant set point
GetNumber IWxx37 Auxiliary servo user constant number
GetValue ILxx3A Auxiliary servo user constant reading data
FixParameterNumber OWxx5C Fixed parameter number
FixParameterValue ILxx56 Fixed parameter monitor
A-10
A Variable Tables
( 2 ) SVB-Module Variables for Use with the Inverter

DrivePermission OBxx00D Drive permission
CommunicationReset OBxx00E Communication reset
SystemBusy IBxx002 System busy
InverterReady IBxx003 Inverter ready
SpeedReference OWxx11 Speed reference
TorqueReference OWxx12 Torque reference
TorqueCompensationOption OWxx13 Torque compensation (optional)
MultiFunctionAnalogOutputFMOption OWxx14 Multi-function analog output FM (option)
MultiFunctionAnalogOutputAMOption OWxx15 Multi-function analog output AM (option)
OutputFrequency IWxx11 Output frequency
OutputCurrent IWxx12 Output current
MotorSpeedOption IWxx13 Motor speed (optional)
TorqueReferenceU109Option IWxx14 Torque reference (U1-09) (option)
EncoderCounterOption IWxx15 Encoder counter (optional)
FrequencyReferenceU101Option IWxx16 Frequency reference (U1-01) (option)
MultiFunctionAnalogInputA2Option IWxx17 Multi-function analog input A2 (option)
MainBusVoltageOption IWxx18 Main bus voltage (option)
AlarmCodeOption IWxx19 Alarm code (option)
WarningCodeOption IWxx1A Warning code (option)
AnalogInput3Option IWxx1C Multi-function analog A3 (option)
InputOption IWxx1D Multi-function input terminal (option)
AnalogInput1Option IWxx1E Multi-function analog input A1 (option)
EncoderCounterCH2Option IWxx1F Encoder counter (CH2) (option)
Command - Command
CommandCode OWxx08 Command
ResponseCode IWxx08 Command response code
ResponseAlarmCode IWxx30 Response alarm code
InverterAlarmCode IWxx32 Inverter alarm code
Busy IBxx090 Command executing (BUSY) flag
Fail IBxx093 Command error occurrence (FAIL)
Complete IBxx098 Command execution completed (COMPLETE)
SubCommand - Sub command
CommandCode OWxx0A Sub command
ResponseCode IWxx0A Sub command response code
AuxiliaryInverterAlarmCode IWxx33 Auxiliary inverter alarm code
Status IWxx0B Sub command status
Busy IBxx0B0 Sub command executing (BUSY) flag
Fail IBxx0B3 Sub command error occurrence (FAIL)
Sub command execution completed
Complete IBxx0B8
(COMPLETE)
head1
SubCommandResponseStatus IWxx31 Sub command response status

SubCommandAlarm IBxx310 Sub command alarm
SubCommandWarning IBxx311 Sub command warning
SubCommandReady IBxx312 Sub command ready
App
A-11
A Variable Tables

Alarm IWxx04 Alarm
ServoParameterError IBxx04F Servo driver parameter setting error
ServoCommunicationTimeout IBxx050 Servo driver synchronization communication error
ServoCommunicationError IBxx051 Servo driver communication error
ServoCommandTimeout IBxx052 Servo driver command timeout error
Command IBxx024 Command setting error
Communication IBxx029 Driver communication warning
SubCommandSetError IBxx02A Sub command set error
OutputDataOptionSelection OWxx0C Output data option selection
TorqueCompensation OBxx0C0 Torque compensation
MultiFunctionAnalogOutputFM OBxx0C2 Multi-function analog output FM
MultiFunctionAnalogOutputAM OBxx0C1 Multi-function analog output AM
MultiFunctionTerminalOutput OBxx0C3 Multi-function terminal output
AuxiliaryOutputDataOptionSelection OWxx0E Auxiliary output data option selection
TorqueCompensation OBxx0E0 Torque compensation
MultiFunctionAnalogOutputFM OBxx0E1 Multi-function analog output FM
MultiFunctionAnalogOutputAM OBxx0E2 Multi-function analog output AM
MultiFunctionTerminalOutput OBxx0E3 Multi-function terminal output
InputDataOptionSelection OWxx0D Input data option selection
MotorSpeed OBxx0D0 Motor speed
TorqueReferenceU109 OBxx0D1 Torque reference (U1-09)
EncoderCounter OBxx0D2 Encoder counter
FrequencyReferenceU101 OBxx0D3 Frequency reference (U1-01)
MultiFunctionAnalogInputA2 OBxx0D4 Multi-function analog input A2
MainBusVoltage OBxx0D5 Main bus voltage
AlarmCode OBxx0D6 Alarm code
WarningCode OBxx0D7 Warning code
MultiFunctionAnalogInputA3 OBxx0D9 Multi-function analog input A3
MultiFunctionInputTerminal OBxx0DA Multi-function input terminal
MultiFunctionAnalogInputA1 OBxx0DB Multi-function analog input A1
EncoderCounterCH2 OBxx0DC Encoder counter (CH2)
InputDataOptionSelectionMonitor IWxx0D Input data option selection monitor
MotorSpeed IWxx0D0 Motor speed
TorqueReferenceU109 IWxx0D1 Torque reference (U1-09)
EncoderCounter IWxx0D2 Encoder counter
FrequencyReferenceU101 IWxx0D3 Frequency reference (U1-01)
MultiFunctionAnalogInputA2 IWxx0D4 Multi-function analog input A2
MainBusVoltage IWxx0D5 Main bus voltage
AlarmCode IWxx0D6 Alarm code
WarningCode IWxx0D7 Warning code
MultiFunctionAnalogInputA3 IWxx0D9 Multi-function analog input A3
MultiFunctionInputTerminal IWxx0DA Multi-function input terminal
MultiFunctionAnalogInputA1 IWxx0DB Multi-function analog input A1
EncoderCounterCH2 IWxx0DC Encoder counter (CH2)
A-12
A Variable Tables

AuxiliaryInputDataOptionSelection OWxx0F Auxiliary input data option selection
MotorSpeed OBxx0F0 Motor speed
TorqueReferenceU109 OBxx0F1 Torque reference (U1-09)
EncoderCounter OBxx0F2 Encoder counter
FrequencyReferenceU101 OBxx0F3 Frequency reference (U1-01)
MultiFunctionAnalogInputA2 OBxx0F4 Multi-function analog input A2
MainBusVoltage OBxx0F5 Main bus voltage
AlarmCode OBxx0F6 Alarm code
WarningCode OBxx0F7 Warning code
MultiFunctionAnalogInputA3 OBxx0F9 Multi-function analog input A3
MultiFunctionInputTerminal OBxx0FA Multi-function input terminal
MultiFunctionAnalogInputA1 OBxx0FB Multi-function analog input A1
EncoderCounterCH2 OBxx0FC Encoder counter (CH2)
AuxiliaryInputDataOptionSelectionMonitor IWxx0F Auxiliary input data option selection monitor
MotorSpeed IBxx0F0 Motor speed
TorqueReferenceU109 IBxx0F1 Torque reference (U1-09)
EncoderCounter IBxx0F2 Encoder counter
FrequencyReferenceU101 IBxx0F3 Frequency reference (U1-01)
MultiFunctionAnalogInputA2 IBxx0F4 Multi-function analog input A2
MainBusVoltage IBxx0F5 Main bus voltage
AlarmCode IBxx0F6 Alarm code
WarningCode IBxx0F7 Warning code
MultiFunctionAnalogInputA3 IBxx0F9 Multi-function analog input A3
MultiFunctionInputTerminal IBxx0FA Multi-function input terminal
MultiFunctionAnalogInputA1 IBxx0FB Multi-function analog input A1
EncoderCounterCH2 IBxx0FC Encoder counter (CH2)
InputCommand OWxx10 Input command
ForwardRUN OBxx100 Forward RUN
ReverseRUN OBxx101 Reverse RUN
MultiFunctionInputCommandS3 OBxx102 Multi-function input command S3
ExternalFaultInputEF0 OBxx108 External fault input (EF0)
FaultReset OBxx109 Fault reset
MultiFunctionInputCommandS9 OBxx10A Multi-function input command S9
MultiFunctionInputCommandS10 OBxx10B Multi-function input command S10
MultiFunctionInputCommandS11 OBxx10C Multi-function input command S11
MultiFunctionInputCommandS12 OBxx10D Multi-function input command S12
FaultTraceClearCommand OBxx10E Fault trace clear command
ExternalBaseBlockCommand OBxx10F External base block command
head1
App
A-13
A Variable Tables

Status IWxx10 Status
Alarm IBxx100 Alarm
Warning IBxx101 Warning
CommandReady IBxx102 Command ready
BaseBlock IBxx103 Base block
PowerON IBxx104 Power ON
DuringRunning IBxx105 During running
ZeroSpeed IBxx106 Zero speed
ReverseOperation IBxx107 Reverse operation
DuringReset IBxx108 During reset
DuringSpeedCoincident IBxx109 During speed coincidence
InverterReady IBxx10A Inverter ready
OPEError IBxx10B OPE error
MomentaryPowerCut IBxx10C Momentary/power cut
RemoteOperation IBxx10D Remote operation
MotorSelection IBxx10E Motor selection
SetZeroCompleted IBxx10F Set zero completed
MultiFuncctionTerminalOutputOption OWxx16 Multi-function terminal output (option)
ConstantOutputM1M2MAMB OBxx160 Contact output (M1-M2) (MA-MB)
PHC1OutputConstantP1PC OBxx161 PHC1 output (Contact P1-PC)
PHC2OutputConstantP2PC OBxx162 PHC1 output (P2-PC)
PHC3OutputConstantP3PC OBxx163 PHC1 output (P3-C3)
PHC4OutputConstantP4PC OBxx164 PHC1 output (P4-C4)
DigitalInputTerminalOption IWxx1D Digital input terminal (option)
Terminal1Status IBxx1D0 Terminal 1 status
Terminal11Status IBxx1DA Terminal 11 status
Terminal12Status IBxx1DB Terminal 12 status
Inverter - Inverter
InverterAlarmMonitorNumber OWxx32 Inverter alarm monitor number
AuxiliaryInverterAlarmMonitorNumber OWxx33 Auxiliary inverter alarm monitor number
InverterType IWxx50 Inverter/type
InverterSoftwareVersionCommunication-
OWxx60 Inverter/software version (option)
Board
InverterSoftwareVersionMain IWxx68 Inverter/software version (main)
A-14
A Variable Tables

InverterParameter - Inverter parameter
Command - Inverter command parameter
InverterUserConstant
OWxx3C Inverter user constant number
Number
OWxx3D Inverter user constant number size
NumberSize
OWxx3E Inverter user constant set point 1
SetPoint1
OWxx3F Inverter user constant set point 2
SetPoint2
OWxx40 Inverter user constant set point 3
SetPoint3
OWxx41 Inverter user constant set point 4
SetPoint4
IWxx3C Inverter user constant number
Number
UserInverterConstant
IWxx3E Inverter user constant reading data 1
ReadingData1
IWxx3F Inverter user constant reading data 2
ReadingData2
IWxx40 Inverter user constant reading data 3
ReadingData3
IWxx41 Inverter user constant reading data 4
ReadingData4
SubCommand - Inverter sub command parameter
AuxiliaryInverterUser
OWxx42 Auxiliary inverter user constant number
ConstantNumber
OWxx43 Auxiliary inverter user constant number size
ConstantNumberSize
OWxx44 Auxiliary inverter user constant set point 1
ConstantSetPoint1
ConstantSetPoint2
ConstantSetPoint3
ConstantSetPoint4
FixedParameterNumber OWxx48 Fixed parameter number
IWxx42 Auxiliary inverter user constant number
ConstantNumber
IWxx44 Auxiliary inverter user constant reading data 1
ConstantReadingData1
FixedParameterMonitor IWxx48 Fixed parameter monitor
head1
App
A-15
A Variable Tables

TransmissionReference - Transmission
TransmissionReferenceOutputData0 OWxx70 Transmission reference output data 0
TransmissionReferenceOutputData10 OWxx7A Transmission reference output data 10
TransmissionReferenceOutputData11 OWxx7B Transmission reference output data 11
TransmissionReferenceOutputData12 OWxx7C Transmission reference output data 12
TransmissionReferenceOutputData13 OWxx7D Transmission reference output data 13
TransmissionReferenceOutputData14 OWxx7E Transmission reference output data 14
TransmissionReferenceOutputData15 OWxx7F Transmission reference output data 15
TransmissionReferenceInputData0 IWxx70 Transmission reference input data 0
TransmissionReferenceInputData10 IWxx7A Transmission reference input data 10
TransmissionReferenceInputData11 IWxx7B Transmission reference input data 11
TransmissionReferenceInputData12 IWxx7C Transmission reference input data 12
TransmissionReferenceInputData13 IWxx7D Transmission reference input data 13
TransmissionReferenceInputData14 IWxx7E Transmission reference input data 14
TransmissionReferenceInputData15 IWxx7F Transmission reference input data 15
A-16
A Variable Tables
( 3 ) SVR-Module Variables
Complete IBxx098
(COMPLETE)
Complete IBxx0B8
(COMPLETE)
Position - Position
head1
IncPosition ILxx1C Target position difference monitor

App
A-17
A Variable Tables

(TPRSE)
Speed - Speed
BiasSpeedForExponentialAcceleration- Bias speed for exponential acceleration/decelera-
OWxx3B
DecelerationFilter tion filter
Torque - Torque
TorqueMonitor ILxx42 Torque reference monitor
Gain - Gain
Alarm IWxx04 Alarm
A-18
A Variable Tables
( 4 ) SVA-Module Variables
ServoReady IBxx003 Servo ready
Number of accumulated rotations of absolute
AbsoluteEncoderCumulativeRevolutions ILxx4A
encoder
InitialNumberOfIncrementalPulses ILxx4C Number of initial incremental pulses
SignalSelection OWxx04 Function 2
Complete IBxx098
(COMPLETE)
Complete IBxx0B8
(COMPLETE)
head1
App
A-19
A Variable Tables

Position - Position
PhaseCompensationType OBxx096 Phase compensation type with an electronic cam
PositionCompensation OLxx24 Position compensation
AbsoluteReadRequest OBxx005 Absolute position reading demand
PERRLevel OBxx010 Deviation abnormal detection error level
P osition.S etting.PER-
RLimit
AbsolutePositionRead-
IBxx0C7 Absolute position read completed
Completed
RotationalDirectionOfAb- Report of rotating direction when absolute encoder
IBxx0CA
soluteEncoder is used
LPOS ILxx18 Machine coordinate latch position (LPOS)
PERR ILxx1A Position error (PERR)
IncPosition ILxx1C Target position difference monitor
Latch - Latch
Enable OBxx004 Latch request
ZoneEnable OBxx094 Latch zone enable
ZoneLowerLimit OLxx2A Latch zone lower limit setting
ZoneUpperLimit OLxx2C Latch zone upper limit setting
LCOMP IBxx0C2 Latch completed (LCOMP)
A-20
A Variable Tables

(TPRSE)
AbsEncoder - ABS encoder
Infinite length axis position information LOAD
AbsDataRestore OBxx007
request
ABS system infinite length position control infor-
AbsDataRestored IBxx0C8
mation (ABSLDE)
SetEncoderPositionL OLxx5E Absolute position at power OFF (Lower 2 words)
SetEncoderPositionH OLxx60 Absolute position at power OFF (Upper 2 words)
SetPulsePositionL OLxx62
(Lower 2 words)
SetPulsePositionH OLxx64
(Upper 2 words)
GetEncoderPositionL ILxx5E Absolute position at power OFF (Lower 2 words)
GetEncoderPositionH ILxx60 Absolute position at power OFF (Upper 2 words)
GetPulsePositionL ILxx62
(Lower 2 words)
GetPulsePositionH ILxx64
(Upper 2 words)
Speed - Speed
SpeedAmendsDuringPositionControl OBxx012 Speed amends is effective at the position command
ForwardSpeedLimit OWxx12 Positive speed limit
ReverseSpeedLimit OWxx13 Negative speed limit
Positive side limiting torque setting at speed refer-
TorqueLimit OLxx14
ence
OWxx3B
IntegralOutputMonitor ILxx24 Integral output monitor
PrimaryLagMonitor ILxx26 Primary lag monitor
PositionLoopOutputMonitor ILxx28 Position loop output monitor
Torque - Torque
SpeedLimit OWxx0E Speed limit during torque reference
TorqueReferencePrimaryLagFilter OWxx33 Torque reference 1st-order lag filter
head1
TorqueMonitor ILxx42 Feedback torque
App
A-21
A Variable Tables

Method OWxx3C Home return method
DecelerationLS OBxx058 Deceleration LS signal selection
Zero point return reverse run side limit signal
ReverceLimit OBxx059
selection
Zero point return forward run side limit signal
ForwardLimit OBxx05A
selection
InputSelect OBxx05B INPUT signal for zero point return
Gain - Gain
IntegralClear OBxx00B Integration reset
PositionLoop OWxx2E Position loop gain
PositionFeedForward OWxx30 Speed feed forward compensation
PositionIntegration OWxx32 Position integration time constant
PrimaryLagTimeConstant OWxx33 Primary delay time constant
Alarm IWxx04 Alarm
ServoAlarm IBxx040 Servo driver error
POSCOMPTimeOut IBxx046 Positioning time over
FollowingError IBxx049 Excessively following error
ABSEncoderOverrange IBxx053 ABS encoder count exceeded
PGDisconnectedError IBxx054 PG disconnection error
Receiving error of accumulated number of
AccumlatedRotationsReceiveError IBxx055
rotations
AnalogAdjustNotReadyWarning IBxx02B Analog adjust not ready warning
GeneralPurposeAI - General-purpose AI
AI1 IWxx59 General-purpose AI monitor 1
AI2 IWxx5A General-purpose AI monitor 2
GeneralPurposeAO - General-purpose AO
AO1 OWxx1A General-purpose AO1
AO2 OWxx1B General-purpose AO2
A-22
A Variable Tables

GeneralPurposeDIMonitor IWxx58 General-purpose DI monitor
DI_0 IBxx580 General-purpose DI_0
PGDisconnectedStatus IBxx587 PG wire breaking down status
GeneralPurposeDO OWxx5D General-purpose DO
DO_0 OBxx5D0 General-purpose DO_0
head1
App
A-23
A Variable Tables
( 5 ) PO-Module Variables
ResponseAlarmCode IWxx30 Motion command response alarm code
Complete IBxx098
(COMPLETE)
Command - Command
CommandCode OWxx08 Command
ResponseCode IWxx08 Command response code
ResponseAlarmCode IWxx30 Response alarm code
Control OWxx09 Command control flag
Status IWxx09 Command status
Busy IBxx090 Command executing (BUSY) flag
Hold IBxx091 Command hold completed (HOLD)
Fail IBxx093 Command error occurrence (FAIL)
Complete IBxx098 Command execution completed (COMPLETE)
Complete IBxx0B8
(COMPLETE)
SubCommandResponseStatus IWxx31 Motion sub command response status
SubCommandAlarm IBxx310 Motion sub command alarm
SubCommandWarning IBxx311 Motion sub command warning
SubCommandReady IBxx312 Motion sub command ready
A-24
A Variable Tables

SubCommand - Sub command
CommandCode OWxx0A Sub command
ResponseCode IWxx0A Sub command response code
Status IWxx0B Sub command status
Busy IBxx0B0 Sub command executing (BUSY) flag
Fail IBxx0B3 Sub command error occurrence (FAIL)
Sub command execution completed
Complete IBxx0B8
(COMPLETE)
SubCommandResponseStatus IWxx31 Sub command response status
SubCommandAlarm IBxx310 Sub command alarm
SubCommandWarning IBxx311 Sub command warning
SubCommandReady IBxx312 Sub command ready
Position - Position
PhaseCompensationType OBxx096 Phase compensation type with a electronic cam
PositionCompensation OLxx24 Position compensation
AbsoluteReadRequest OBxx005 Absolute position reading demand
PERRLevel OBxx010 Deviarion abnormal detection error level
Position.Setting.PER-
RLimit
MachineOffset OLxx48 Zero poing offset
head1

App
(TPRSE)
A-25
A Variable Tables

Speed - Speed
BiasSpeed OWxx19 Bias speed
OWxx3B
Method OWxx3C Home return type
DecelerationLS OBxx058 Deceleration LS signal selection
Zero point return reverse run side limit signal
ReverceLimit OBxx059
selection
Zero point return forward run side limit signal
ForwardLimit OBxx05A
selection
Alarm IWxx04 Alarm
GeneralPurposeDIMonitor IWxx58 General-purpose DI monitor
GeneralPurposeDO OWxx5D General-purpose DO
A-26
A Variable Tables
A.3 I/O Variables
A.3 I/O Variables

The names and models of the I/O Modules that are used for I/O variables are listed below. Refer to the table on the ref-
erence page for related variables.
I/O Module Name I/O Module Model Reference Page

IO *1 A-27
LIO-01, LIO-02 JAPMC-IO2300, JAPMC-IO2301 A-28
CNTR *2 A-28
LIO-04, LIO-05 JAPMC-IO2303, JAPMC-IO2304 A-29
LIO-06 JAPMC-IO2305-E A-29
DO-01 JAMPMC-DO2300 A-30
AI-01 JAPMC-AN2300 A-30
AO-01 JAPMC-AN2310-E A-30
CNTR-01 JAPMC-PL2300-E A-31
MECHATROLINK Distributed I/O
24-VDC 64-point I/O JEPMC-IO350, JEPMC-IO2310/2330 A-33
24-VDC 128-point I/O JEPMC-IO2320 A-33
Reversible Counter 2-channel 120EHC21140, JEPMC-PL2900 A-34
Pulse Output 2-channel 120MMB20230, JEPMC-PL2910 A-35
Analog Input 120AVI02030, JEPMC-AN2900 A-37
Analog Output 120AVO01030, JEPMC-AN2910 A-37
100/200-VAC 8-point Output 120DAO83330 A-37
100/200-VAC 8-point Input 120DAI53330, 120DAI73330 A-38
Wide-range voltage relay
120DRA83030 A-37
contact, 8-point Output
24-VDC 16-point Input 120DDI34330, JAMSCIO2900 A-38
24-VDC 16-point Output 120DDO34340, JAMSCIO2910 A-38
* 1. Built in the CPU of the Machine Controller (MP2100/MP2500, MP2100M/MP2500M, and MP2300)
* 2. Counter function of LIO-01/LIO-02 Module
Register “IW (IB/IL/IF/IA) xx00” indicates the leading input register address + 00.
Register “OW (OB/OL//OF/OA) xx00” indicates the leading output register address + 00.
The variables for the I/O Modules listed above are described below.
( 1 ) I/O Module Variables

IO_IN IAxx00 Local I/O, 16 inputs
DI_00 IBxx000 Input 0
…
DI_15 IBxx00F Input 15

IO_OUT OAxx01 Local I/O, 16 outputs
DO_00 OBxx010 Output 0
head1
…
DO_15 OBxx01F Output 15
App
A-27
A Variable Tables
A.3 I/O Variables
( 2 ) LIO-01 Module Variables

LIO_IN IAxx00 Local I/O, 16 inputs
…
…
LIO_OUT OAxx01 Local I/O, 16 outputs
…
…
( 3 ) CNTR Module Variables

CNTR_IN IAxx00 Counter Input
RUNSTS IWxx00 Status
DataError IBxx000 Data Setting Error
FixedParameterError IBxx001 Fixed Parameter Error
PresetCompleted IBxx002 Count Value Preset Completed
PILatchCompleted IBxx003 PI Latch Completed
PulseAB0 IBxx004 Pulse-A/B 0
CoincidenceSignal IBxx005 Coincidence Detection
PulseAStatus IBxx006 Phase-A Status
PulseBStatus IBxx007 Phase-B Status
WritingFixedParameter IBxx009 Writing Fixed Parameter
DisconnectedAlarm IBxx00A Disconnect Alarm
POSMAXCompleted IBxx00C POSMAX Turns Preset Completed
ModuleReady IBxx00F Module Ready
PDV ILxx02 Incremental pulses
PFB ILxx04 Counter Value
FREQ ILxx06 PI latch Value
PDVG ILxx08 Incremental Pulse After Conversion
PFBG ILxx0A Current Count Value After Conversion
FREQG ILxx0C PI Latch Value After Conversion
POSMAX ILxx0E Number of POSMAX Turns
FeedBackSpeed ILxx10 Feedback Speed
CNTR_OUT OAxx00 Counter Output
RUNMOD OWxx00 Command Settings
Prohibited OBxx000 Count Disable
PresetRequest OBxx001 Count Preset Request
PILatchRequest OBxx002 PI Latch Detection Request
CoincidenceRequest OBxx003 Coincidence Detection Request
POSMAXRequest OBxx004 POSMAX Turns Preset Request
FunctionSelections OWxx01 Function Selection
PPSDAT OLxx02 Count Preset Value
COINDAT OLxx04 Coincidence Detection Value
POSMAX OLxx06 POSMAX Turns Preset Value
A-28
A Variable Tables
A.3 I/O Variables
( 4 ) LIO-04, LIO-05 Module Variables

LIO32_IN IAxx00 Local I/O, 32 inputs
…
LIO32_OUT OAxx00 Local I/O, 32 outputs
…
…
( 5 ) LIO-06 Module Variables

DIO_IN IAxx00 Digital 8 inputs
…
…
DIO_OUT OAxx00 Digital 8 outputs
…
DO_07 OBxx007 …
Output 7
AI_IN IAxx01 Analog inputs
CH1 IWxx01 Analog input CH1
AVO_OUT OAxx01 Analog outputs
CH1 OWxx01 Analog output CH1
CNTR_IN IAxx00 Counter inputs
FixedParameterError IBxx001 Fixed Parameter Setting Error
PILatchCompleted IBxx003 PI Latch Completed Signal
PulseAB0 IBxx004 Pulse A/B 0
CoincidenceSignal IBxx005 Coincidence Detection Signal
PulseAStatus IBxx006 Pulse-A Status Display
PulseBStatus IBxx007 Pulse-B Status Display
POSMAXCompleted IBxx00C POSMAX Turn Number Presetting Completed
PDV ILxx02 Number of Incremental Pulses
PFB ILxx04 Current Counter Value
FREQ ILxx06 PI Latch Data
PDVG ILxx08 Number of Incremental Pulses after Conversion
PFBG ILxx0A Current Counter Value after Conversion
head1
FREQG ILxx0C PI Latch Data after Conversion

POSMAX ILxx0E POSMAX Turn Number
App
A-29
A Variable Tables
A.3 I/O Variables

CNTR_OUT OAxx00 Counter Output
RUNMOD OWxx00 Command Settings
Prohibited OBxx000 Count Prohibited
POSMAXRequest OBxx004 POSMAX Turn Number Presetting Demand
FunctionSelections OWxx01 Function Selections
PPSDAT OLxx02 Count Preset Data
COINDAT OLxx04 Coincidence Detection Setting
POSMAX OLxx06 Preset Data of POSMAX Turns
( 6 ) DO-01 Module Variables

DO_OUT OAxx00 Digital outputs
…
…
( 7 ) AI-01 Module Variables

Variables Register Comments
AI_IN IAxx00 Analog inputs
…
( 8 ) AO-01 Module Variables

AVO_OUT OAxx00 Analog outputs
…
A-30
A Variable Tables
A.3 I/O Variables
( 9 ) CNTR-01 Module Variables

CNTR1_IN IAxx00 1 Channel Counter Input
FixedParameterError IBxx001 Fixed Parameter Error
Pulse0 IBxx004 Pulse A/B 0
PulseCStatus IBxx008 Phase-C Status
MultipurposeSignal IBxx00D Multipurpose Signal
IncrementalPulses ILxx02 Incremental Pulses
CounterValue ILxx04 Counter Value
PILatchValue ILxx06 PI Latch Data
IncrementPulseAfterConversion ILxx08 Incremental Pulse after Conversion
CountValueAfterCounversion ILxx0A Current Count Value After Conversion
PILatchValueAfterCounversion ILxx0C PI Latch Data After Conversion
POSMAXTurnsNumber ILxx0E Number of POSMAX Turns
DetectedFrequency ILxx12 Detected Frequency
AverageFrequency ILxx14 Average Frequency
SystemMonitor ILxx1E System Monitor
CNTR1_OUT OAxx00 1 Channel Counter Output
RUNMODE OWxx00 Operation Mode
MultipurposeOutPut OBxx005 Multipurpose Output
CountPresettingData OLxx02 Count Preset Value
AgreedDetectionValue OLxx04 Coincidence Detection Value
PresetDataPOSMAXTurns OLxx06 POSMAX Turns Preset Value
ZoneOutputMinimumValue OLxx08 Minimum Value of Range of Zone Output
ZoneOutputMaximumValue OLxx0A Maximum Value of Range of Zone Output
SpeedCoincidenceDetectionSetting OLxx0C Speed Coincidence Detection Setting
SpeedCoincidenceDetectionWidth OLxx0E Speed Coincidence Detection Width
head1
FrequencyCoincidenceDetectionSetting OLxx10 Frequency Coincidence Detection Setting

FrequencyCoincidenceDetectionWidth OLxx12 Frequency Coincidence Detection Width
AveragingCountSetting OLxx14 Averaging Count Setting
SystemMonitor OLxx1E System Monitor App
A-31
A Variable Tables
A.3 I/O Variables

CNTR2_IN IAxx20 2 Channel Counter Input
FixedParameterError IBxx201 Fixed Parameter Setting Error
Pulse0 IBxx204 Pulse-A/B 0
PulseCStatus IBxx208 Phase- C Status
MultipurposeSignal IBxx20D Multipurpose Signal
IncrementalPulses ILxx22 Incremental Pulses
CounterValue ILxx24 Counter Value
PILatchValue ILxx26 PI Latch Value
IncrementPulseAfterConversion ILxx28 Incremental Pulse After Conversion
CountValueAfterCounversion ILxx2A Current Counter Value After Conversion
PILatchValueAfterCounversion ILxx2C PI Latch Value After Conversion
POSMAXTurnsNumber ILxx2E Number of POSMAX Turns
DetectedFrequency ILxx32 Detected Frequency
AverageFrequency ILxx34 Average Frequency
SystemMonitor ILxx3E System Monitor
CNTR2_OUT OAxx20 2 Channel Counter Output
RUNMODE OWxx20 Operation Mode
MultipurposeOutPut OBxx205 Multipurpose Output
CountPresettingData OLxx22 Count Preset Value
AgreedDetectionValue OLxx24 Coincidence Detection Value
PresetDataPOSMAXTurns OLxx26 POSMAX Turns Preset Value
ZoneOutputMinimumValue OLxx28 Minimum Value of Range of Zone Output
ZoneOutputMaximumValue OLxx2A Maximum Value of Range of Zone Output
SpeedCoincidenceDetectionSetting OLxx2C Speed Coincidence Detection Setting
SpeedCoincidenceDetectionWidth OLxx2E Speed Coincidence Detection Width
FrequencyCoincidenceDetectionSetting OLxx30 Frequency Coincidence Detection Setting
FrequencyCoincidenceDetectionWidth OLxx32 Frequency Coincidence Detection Width
AveragingCountSetting OLxx34 Averaging Count Setting
SystemMonitor OLxx3E System Monitor
A-32
A Variable Tables
A.3 I/O Variables
( 10 ) MECHATROLINK Distributed I/O Module Variables

24-VDC 64-point I/O Module

IN1 ILxx00 Input Signal Connector 1
IN01 IBxx000 Input 1
…
…
IN32 IBxx01F Input 32
IN2 ILxx02 Input Signal Connector 2
…
…
OUT1 OLxx00 Output Signal Connector 1
OUT01 OBxx000 Output 1
…
…
OUT32 OBxx01F Output 32
OUT2 OLXX02 Output Signal Connector 2
…
…
24-VDC 128-point I/O Module

IN1 IWxx00 Input Signal Connector 1
…

IN2 IWxx04 Input Signal Connector 2
…

OUT1 OWxx00 Output Signal Connector 1
…

OUT2 OBxx04 Output Signal Connector 2
…

head1
App
A-33
A Variable Tables
A.3 I/O Variables
■ Reversible Counter 2-channel Module

IN IAxx00 Input
Reserve1 IWxx00 Reserved for the System
InputRelay IWxx02 Input Relays
RDY IBxx020 Ready
ACK IBxx021 Setting Normal
ERR IBxx022 Error
CARY1 IBxx028 Counter 1 Carry
BORW1 IBxx029 Counter 1 Borrow
N1 IBxx02A Counter 1 Notch Output Status
L1 IBxx02B Counter 1 Latch Input Status
CARY2 IBxx02C Counter 2 Carry
BORW2 IBxx02D Counter 2 Borrow
N2 IBxx02E Counter 2 Notch Output Status
L2 IBxx02F Counter 2 Latch Input Status
InputRegsiterW1 IWxx03 Input Register Word1
InputRegsiterL1 ILxx03 Input Register Long1
OUT OAxx00 Output
ScanCounter OWxx00 Scan Counter
Reserve1 OWxx01 Reserved for the System
OutputCoil1 OWxx02 Output Coil 1
M_SET1 OBxx020 Counter 1 Mode Set
N_SET1 OBxx021 Counter 1 Notch Point Set
P_SET1 OBxx022 Counter 1 Current Value Set
C_ENB1 OBxx023 Counter 1 Count Enable
N_ENB1 OBxx024 Counter 1 Notch Output Enable
P_RES1 OBxx025 Counter 1 Current Value Reset
N_RES1 OBxx026 Counter 1 Notch Output Reset
L_RES1 OBxx027 Counter 1 Count Value Hold Reset
M_SET2 OBxx028 Counter 2 Mode Set
N_SET2 OBxx029 Counter 2 Notch Point Set
P_SET2 OBxx02A Counter 2 Current Value Set
C_ENB2 OBxx02B Counter 2 Count Enable
N_ENB2 OBxx02C Counter 2 Notch Output Enable
P_RES2 OBxx02D Counter 2 Current Value Reset
N_RES2 OBxx02E Counter 2 Notch Output Reset
L_RES2 OBxx02F Counter 2 Count Value Hold Reset
A-34
A Variable Tables
A.3 I/O Variables

OutputCoil2 OWxx03 Output Coil 2
N_ON1 OBxx030 Counter 1 Forced Notch Output
N_ON2 OBxx031 Counter 2 Forced Notch Output
MON1 OBxx038 Monitor 1
MON2 OBxx039 Monitor 2
MON3 OBxx03A Monitor 3
OutputRegsiterW1 OWxx04 Output Register Word1
OutputRegsiterL1 OLxx04 Output Register Long1
OutputRegsiterL2 OLxx06 Output Register Long2
Pulse Output 2-channel Module

IN IAxx00 Input
InputRelay1 IWxx02 Channel 1 Input Relays
RDY1 IBxx020 Channel 1 Ready
MONSEL1 IBxx022 Channel 1 Monitor Parameters
PACK1 IBxx024 Channel 1 Parameter Setting Normal
PNACK1 IBxx025 Channel 1 Parameter Setting Error
MOV1L IBxx028 Channel 1 Positioning
JOG1L IBxx029 Channel 1 JOG Operation
ZRN1L IBxx02A Channel 1 Zero Point Return
OVER1 IBxx02C Channel 1 Overheat Input Status
TIMING1 IBxx02D Channel 1 Magnetic Excitation Timing Input
ZRN1 IBxx02E Channel 1 Zero Point Signal Input Status
IN1 IBxx02F Channel 1 General-purpose Input Status
InputRelay2 IWxx03 Channel 2 Input Relays
RDY2 IWxx030 Channel 2 Ready
MONSEL2 IWxx032 Channel 2 Monitor Parameters
PACK2 IWxx034 Channel 2 Parameter Setting Normal
PNACK2 IWxx035 Channel 2 Parameter Setting Error
MOV2L IWxx038 Channel 2 Positioning
JOG2L IWxx039 Channel 2 JOG Operation
ZRN2L IWxx03A Channel 2 Zero Point Return
OVER2 IWxx03C Channel 2 Overheat Input Status
TIMING2 IWxx03D Channel 2 Magnetic Excitation Timing Input
ZRN2 IWxx03E Channel 2 Zero Point Signal Input Status
IN2 IWxx03F Channel 2 General-purpose Input Status
head1

App
A-35
A Variable Tables
A.3 I/O Variables

OUT OAxx00 Output
OutputCoil1 OWxx02 Channel 1 Output Coils
ARST1 OBxx020 Channel 1 Alarm Reset
CAN1 OBxx021 Channel 1 Cancel
MONSEL1 OBxx022 Channel 1 Monitor Selector
PSET1 OBxx023 Channel 1 Parameter Set/Monitor Selector
PRM10 OBxx024 Channel 1 Parameter Number 0
MOV1 OBxx028 Channel 1 Positioning
JOG1 OBxx029 Channel 1 JOG Operation
ZRN1 OBxx02A Channel 1 Zero Point Return
REV1 OBxx02B Channel 1 JOG/Zero Point Return Direction
COFF1 OBxx02D Channel 1 Output Current OFF
BFREE1 OBxx02E Channel 1 Electromagnetic Brake Release
OUT1 OBxx02F Channel 1 General-purpose Output
OutputCoil2 OWxx03 Channel 2 Output Coils
ARST2 OBxx030 Channel 2 Alarm Reset
CAN2 OBxx031 Channel 2 Cancel
MONSEL2 OBxx032 Channel 2 Monitor Selector
PSET2 OBxx033 Channel 2 Parameter Set/Monitor Selector
MOV2 OBxx038 Channel 2 Positioning
JOG2 OBxx039 Channel 2 JOG Operation
ZRN2 OBxx03A Channel 2 Zero Point Return
REV2 OBxx03B Channel 2 JOG/Zero Point Return Direction
COFF2 OBxx03D Channel 2 Output Current OFF
BFREE2 OBxx03E Channel 2 Electromagnetic Brake Release
OUT2 OBxx03F Channel 2 General-purpose Output
OutputRegsiterL1 ILxx04 Output Register Long1
OutputRegsiterL2 ILxx06 Output Register Long2
A-36
A Variable Tables
A.3 I/O Variables
Analog Input Module

IN IAxx00 Input
CH1 IWxx02 CH1 Analog Input Value
Status IWxx06 Input Signal Status
CH1 IBxx061 CH1 Input Signal Status
OUT OAxx00 Output
Analog Output Module

IN IAxx00 Input
OUT OAxx00 Output
CH1 OWxx02 CH1 Analog Output Value
CH2 OWxx03 CH2 Analog Output Value
100/200-VAC 8-point Output Module

OUT OWxx00 Outputs
…
100/200-VAC 8-point Input Module
IN IWxx00 Inputs
…

head1
App
A-37
A Variable Tables
A.3 I/O Variables
Wide-range Voltage Relay Contact, 8-point Output

OUT OWxx00 Outputs
…
…
24-VDC 16-point Input Module
IN IWxx00 Inputs
…
…
24-VDC 16-point Output Module
OUT OWxx00 Outputs

…
…
A-38
A Variable Tables
A.4 System Structures

The following table lists the variables included in each system structure.
"∗" corresponds to M, D, or A registers.
Register *W (B/L/F/A) xxx00 indicates the leading register address +00.
System Structure Name Variable Name Resister Comments

RLY *Wxxx00 Relay I/O
RLY.IRST *Bxxx000 Integration reset
Kp *Wxxx01 P gain
Ki *Wxxx02 Integration adjustment gain
Ti *Wxxx03 Integration time
IUL *Wxxx04 Upper integration limit
PI_W:PI Control (integer type) ILL *Wxxx05 Lower integration limit
UL *Wxxx06 Upper PI limit
LL *Wxxx07 Lower PI limit
DB *Wxxx08 PI output dead band
Y *Wxxx09 PI output
Yi *Wxxx10 I offset
IREM *Wxxx11 I remainder
RESERVE *Wxxx01 Reserve
Kp *Fxxx02 P gain
Ki *Fxxx04 Integration adjustment gain
Ti *Fxxx06 Integration time
PI_F:PI Control (real number type) IUL *Fxxx08 Upper integration limit
ILL *Fxxx10 Lower integration limit
UL *Fxxx12 Upper PI limit
LL *Fxxx14 Lower PI limit
DB *Fxxx16 PI output dead band
Y *Fxxx18 PI output
Yi *Fxxx20 I offset
Kp *Wxxx01 P gain
Kd *Wxxx02 D gain
Td1 *Wxxx03 Divergence differential time
Td2 *Wxxx04 Convergence differential time
PD_W:PD Control (integer type)
UL *Wxxx05 Upper PD limit
LL *Wxxx06 Lower PD limit
DB *Wxxx07 PD output dead band
Y *Wxxx08 PD output
X *Wxxx09 Input value storage
head1
App
A-39
A Variable Tables
(cont’d)
Kp *Fxxx02 P gain
Kd *Fxxx04 D gain
Td1 *Fxxx06 Divergence differential time
PD_F:
Td2 *Fxxx08 Convergence differential time
PD Control (real number type)
UL *Fxxx10 Upper PD limit
LL *Fxxx12 Lower PD limit
DB *Fxxx14 PD output dead band
Y *Fxxx16 PD output
X *Fxxx18 Input value storage
Kp *Wxxx01 P gain
Ki *Wxxx02 I gain
Kd *Wxxx03 D gain
Ti *Wxxx04 Integration time
Td1 *Wxxx05 Divergence differential time
Td2 *Wxxx06 Convergence differential time
PID_W:PID Control (integer type) IUL *Wxxx07 Upper integration limit
ILL *Wxxx08 Lower integration limit
UL *Wxxx09 Upper PID limit
LL *Wxxx10 Lower PID limit
DB *Wxxx11 PID output dead band
Y *Wxxx12 PID output
Yi *Wxxx13 I offset
IREM *Wxxx14 I remainder
Kp *Fxxx02 P gain
Ki *Fxxx04 I gain
Kd *Fxxx06 D gain
Ti *Fxxx08 Integration time
Td1 *Fxxx10 Divergence differential time
PID_F:
Td2 *Fxxx12 Convergence differential time
PID Control (real number type)
IUL *Fxxx14 Upper integration limit
ILL *Fxxx16 Lower integration limit
UL *Fxxx18 Upper PID limit
LL *Fxxx20 Lower PID limit
DB *Fxxx22 PID output dead band
Y *Fxxx24 PID output
Yi *Fxxx26 I offset
A-40
A Variable Tables
(cont’d)
RLY.IRST *Bxxx000 LAG reset
LAG_W:
T *Wxxx01 First-order lag time constant
First-Order LAG (integer type)
Y *Wxxx02 LAG output
REM *Wxxx03 Remainder
RLY.IRST *Bxxx000 LAG reset
LAG_F:
First-Order LAG (real number type)
T *Fxxx02 First-order lag time constant
Y *Fxxx04 LAG output
RLY.IRST *Bxxx000 LLAG reset
T2 *Wxxx01 Phase lead time constant
LLAG_W:
T1 *Wxxx02 Phase lag time constant
Phase LEAD/LAG (integer type)
Y *Wxxx03 LLAG output
REM *Wxxx04 Remainder
RLY.IRST *Bxxx000 LLAG reset
LLAG_F: RESERVE *Wxxx01 Reserve
Phase LEAD/LAG (real number T2 *Fxxx02 Phase lead time constant
type) T1 *Fxxx04 Phase lag time constant
Y *Fxxx06 LLAG output
RLY.RN *Bxxx000 Line is running.
RLY.QS *Bxxx001 Quick stop
RLY.DVDTF *Bxxx002 DVDT operation non-execution
RLY.DVDTS *Bxxx003 DVDT operation selection
RLY.ARY *Bxxx008 In acceleration
RLY.BRY *Bxxx009 In deceleration
RLY.LSP *Bxxx00A Zero speed
RLY.EQU *Bxxx00B Coincidence
LAU_W:
LV *Wxxx01 100% input level
Linear Accelerator 1 (integer type)
AT *Wxxx02 Acceleration time
BT *Wxxx03 Deceleration time
QT *Wxxx04 Quick stop time
V *Wxxx05 Current speed
DVDT *Wxxx06 Current acceleration / deceleration
VIM *Wxxx08 Previous speed instruction
DVDTK *Wxxx09 DVDT coefficient
head1
REM *Lxxx10 Remainder
App
A-41
A Variable Tables
(cont’d)
LAU_F: RLY.EQU *Bxxx00B Coincidence
Linear Accelerator 1 (real number
type) RESERVE *Wxxx01 Reserve
LV *Fxxx02 100% input level
AT *Fxxx04 Acceleration time
BT *Fxxx06 Deceleration time
QT *Fxxx08 Quick stop time
V *Fxxx10 Current speed
DVDT *Fxxx12 Current acceleration/deceleration
RLY.DVDTF *Bxxx002 DVDT 1 operation non-execution
RLY.DVDTS *Bxxx003 DVDT 1 operation selection
RLY.CCF *Bxxx00D Work relay
RLY.BBF *Bxxx00E Work relay
RLY.AAF *Bxxx00F Work relay
LV *Wxxx01 100% input level
AT *Wxxx02 Acceleration time
BT *Wxxx03 Deceleration time
SLAU_W:
Linear Accelerator 2 (integer type) QT *Wxxx04 Quick stop time
AAT *Wxxx05 S-curve acceleration time
BBT *Wxxx06 S-curve deceleration time
V *Wxxx07 Current speed
DVDT1 *Wxxx08 Current acceleration/deceleration 1
RESERVE1 *Wxxx09 Reserve
ABMD *Wxxx10 Speed increase upon holding
REM1 *Wxxx11 Remainder
RESERVE2 *Wxxx12 Reserve
Previous speed instruction
VIM *Wxxx13
DVDT2 *Lxxx14 Current acceleration/deceleration 2

DVDT3 *Lxxx16 Current acceleration/deceleration 3
REM2 *Lxxx18 Remainder
REM3 *Wxxx20 Remainder
DVDTK *Wxxx21 DVDT1 coefficient
A-42
A Variable Tables
(cont’d)
SLAU_F: RESERVE *Wxxx01 Reserve
Linear Accelerator 2 (real number LV *Fxxx02 100% input level
type) AT *Fxxx04 Acceleration time
BT *Fxxx06 Deceleration time
QT *Fxxx08 Quick stop time
AAT *Fxxx10 S-curve acceleration time
BBT *Fxxx12 S-curve deceleration time
V *Fxxx14 Current speed
DVDT *Fxxx16 Current acceleration/deceleration
ABMD *Fxxx18 Speed increase upon holding
RLY.PWMRST *Bxxx000 PWM reset
RLY.PWMOUT *Bxxx008 PWM output
PWMT *Wxxx01 PWM cycle
ONCNT *Wxxx02 ON output setting timer
PWM:Pulse Width Modulation
CVON *Wxxx03 ON output counting timer
CVONREM *Wxxx04 ON output counting timer remainder
OFFCNT *Wxxx05 OFF output setting timer
CVOFF *Wxxx06 OFF output counting timer
CVOFFREM *Wxxx07 OFF output counting timer remainder
EXECUTE *Bxxx000 Instruction
ABORT *Bxxx001 Forced interruption instruction
MSG_SND_IN: DEV_TYP *Wxxx01 Type of transmission device
Send Message Input PRO_TYP *Wxxx02 Transmission protocol
CIR_NO *Wxxx03 Circuit Number
CH_NO *Wxxx04 Transmission buffer channel Number
head1
App
A-43
A Variable Tables
(cont’d)
RESULT *Wxxx00 Process result
STS *Wxxx01 Status
ST_NO *Wxxx02 Called station #
OPTION *Wxxx03 Option
F_CODE *Wxxx04 Function code
DATA_ADR *Wxxx05 Data address
DATA_SIZE *Wxxx06 Data size
CPU_NO *Wxxx07 Called CPU#
MSG_SND_PARAM:
COIL_OFFSET *Wxxx08 Coil offset
Send Message Parameter
INRLY_OFFSET *Wxxx09 Input relay offset
INREG_OFFSET *Wxxx10 Input register offset
HOLDREG_OFFSET *Wxxx11 Holding register offset
RESERVE1 *Wxxx12 System reserve
BUSY *Bxxx000 Message is being sent.
MSG_SND_OUT: The sending of the message has been com-
COMPLETE *Bxxx001
Send Message Output pleted.
ERROR *Bxxx002 Occurrence of error
EXECUTE *Bxxx000 Instruction
ABORT *Bxxx001 Forced interruption instruction
MSG_RCV_IN: DEV_TYP *Wxxx01 Type of transmission device
Receive Message Input PRO_TYP *Wxxx02 Transmission protocol
CIR_NO *Wxxx03 Circuit Number
CH_NO *Wxxx04 Transmission buffer channel Number
RESULT *Wxxx00 Process result
STS *Wxxx01 Status
ST_NO *Wxxx02 Called station #
OPTION *Wxxx03 Option
F_CODE *Wxxx04 Function code
DATA_ADR *Wxxx05 Data address
DATA_SIZE *Wxxx06 Data size
CPU_NO *Wxxx07 Called CPU#
MSG_RCV_PARAM:
COIL_OFFSET *Wxxx08 Coil offset
Receive Message Parameter
INRLY_OFFSET *Wxxx09 Input relay offset
INREG_OFFSET *Wxxx10 Input register offset
HOLDREG_OFFSET *Wxxx11 Holding register offset
W_LO *Wxxx12 Write-in range LO
W_HI *Wxxx13 Write-in range HI
BUSY *Bxxx000 Message is being sent.
MSG_RCV_OUT:
COMPLETE *Bxxx001 Message is being received.
Receive Message Output
ERROR *Bxxx002 Occurrence of error
A-44
A Variable Tables
(cont’d)
ROW1 *Lxxx00 Beginning row number
COL1 *Lxxx02 Beginning column number
TBLBR:Block Read
RLEN *Wxxx04 Number of row elements
CLEN *Wxxx05 Number of column elements
ROW1 *Lxxx00 Beginning row number
COL1 *Lxxx02 Beginning column number
TBLBW:Block Write
ROW1 *Lxxx00 Head row number
ROW2 *Lxxx02 Last row number
TBLSRL:Row Search
COLUMN *Lxxx04 Table element column number
FIND *Wxxx06 Search result
ROW *Lxxx00 Row number
COLUMN1 *Lxxx02 Head column number
TBLSRC:Column Search
COLUMN2 *Lxxx04 Last column number
FIND *Wxxx06 Search result
ROW *Lxxx00 Head row number
COLUMN *Lxxx02 Head column number
TBLCL:Block Clear
TBLMV:Block Move
ROW *Lxxx00 Corresponding row
QTBLR:Queue Table Read
RESERVE *Wxxx05 System reserve
RPTR *Lxxx06 Read pointer
WPTR *Lxxx08 Write pointer
QTBLRI: CLEN *Wxxx04 Number of column elements
Queue Table Read (pointer move) RESERVE *Wxxx05 System reserve
QTBLW:Queue Table Write
RESERVE *Wxxx05 System reserve
head1

App
A-45
A Variable Tables
(cont’d)
QTBLWI: CLEN *Wxxx04 Number of column elements
Queue Table Write (pointer move) RESERVE *Wxxx05 System reserve
Status *Wxxx00 Status
Status.Run *Bxxx000 Running
Status.Pause *Bxxx001 Pausing
Status.SystemPause *Bxxx002 Stopped
Status.SingleBlockPause *Bxxx004 Stopped under single block mode
Status.Alarm *Bxxx008 Alarm
Status.Break *Bxxx009 Stopped at break point
Status.Debug *Bxxx00B Debugging mode
Status.History *Bxxx00D Start request signal history
Status.SystemWorkError *Bxxx00E No system work error
Status.ProgramNoError *Bxxx00F Main program number limit error
Control *Wxxx01 Motion program control signals
MSEE:Call Motion Program Control.Run *Bxxx010 Start request
Control.Pause *Bxxx011 Pause request
Control.Stop *Bxxx012 Stop request
Control.SingleBlockMode *Bxxx013 Single block modee selection
Control.SingleBlockRun *Bxxx014 Single block start request
Control.AlarmReset *Bxxx015 Alarm reset request
Control.Continue *Bxxx016 Program continuous operation start request
Control.Skip1 *Bxxx018 Skip1 information
Control.Skip2 *Bxxx019 Skip2 information
Control.SetSystemWork *Bxxx01D System work number setting
Control.SetInterpolate *Bxxx01E Interpolation override setting
InterpolateOverride *Wxxx02 Interpolation override
SystemWorkNumber *Wxxx03 System work numbers
STS *Wxxx00 Status
ERR_CODE *Wxxx01 Error code
MLINK_SVW: CIR_NO *Wxxx02 Circuit Number
Write SERVOPACK Parameter AXIS_NO *Wxxx03 Axis Number
SYSTEM1 *Wxxx04 System 1
SYSTEM2 *Wxxx05 System 2
A-46
B Reserved Words
B Reserved Words
The following words cannot be used for variable names regardless of case.
ABS LOG TON

ACC LOG10 TPS
ACCMODE LONG TRUE
ACOS MCC TYPEDEF
ACS MCW UFC
ARCTAN MOD UNION
ASIN MOV UNSIGNED
ASN MSEE VCR
ATAN MUFC VCS
ATN MVM VEL
AUTO MVS VOID
BCD MVT VOLATILE
BIN NON WAX
BLK OFF WCD
BREAK ON WCE
CASE PFN WCT
CHAR PFORK WDA
CLR PJOINT WDB
CONST PLD WDC
CONTINUE PLN WDD
COS PON WEND
DCC POS WHILE
DEFAULT REGISTER WPM
DO RET WSA
DOUBLE RETURN ZRN
ELSE R{
END SCC
ENUM SFL
EOX SFORK
EXM SFR
EXP SHORT
EXTERN SIGNED
FALSE SIN
FEND SIZEOF
FLOAT SJOINT
FMX SKP
FOR SNGD
GOTO SNGE
IAC SPH
IDC SPL
IEND SQRT
IF SQT
IFP STATIC
INC STRUCT
INP SWITCH
INT S{
IOW TAN
JOINTO TCN
head1
KCC TCR
KCW TCS
LCC TIM
LCW TOF
App
A-47
Index
Index communications setting - - - - - - - - - - - - - - - - - - 1-11, 1-56, 1-74

Communications Setting dialog box - - - 1-74, 10-4, 10-10, 10-18
Compare Program - Compare Flash to RAM dialog box - - - - - 10-20
Compare Program - Compare with Controller dialog box - - - - 10-18
comparing flash memory and RAM - - - - - - - - - - - - - - - - - - - 10-20
A comparing project files - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-21
comparing with CF card data - - - - - - - - - - - - - - - - - - - - - - - 10-23
A registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25
comparison with the Machine Controller - - - - - - - - - - - - - - - 10-18
address display icon - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
alarm display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41 compatibility with MPE720 version 5 - - - - - - - - - - - - - - - - - - - 1-4
compilation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-34
Alarm Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-39
Compile Option dialog box - - - - - - - - - - - - - - - - - - - - - - - - - 3-38
allocation to a ladder program - - - - - - - - - - - - - - - - - - - - - - - - 4-36
compile options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-38
allocation to the Task Allocation Function - - - - - - - - - - - - - - - - 4-36
compiling - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-38
analysis in troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - 12-15
analyzing trace data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-23 compiling motion programs - - - - - - - - - - - - - - - - - - - - - - - - - 4-49
compiling when exiting - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-39
analyzing X-/Y-axis data - - - - - - - - - - - - - - - - - - - - - - - - - - 13-67
configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-1, 3-44
assigning global constant groups - - - - - - - - - - - - - - - - - - - - - - 5-19
assigning global constants - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20 connecting to Machine Controllers - - - - - - - - - - - - - - - - - - - - 1-73
Constant Group Variable Registration dialog box - - - - - - - - - - - 5-19
assigning global variables - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
Constant Variable Registration dialog box - - - - - - - - - - - - - - - 5-20
assigning internal variables - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23
assigning monitor variables - - - - - - - - - - - - - - - - - - - - - - - - 13-52 controller type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-57
converting a program individually - - - - - - - - - - - - - - - - - - - - - 3-62
assigning user structures - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
converting CP ladder programs as a batch - - - - - - - - - - - - - - - - 3-60
automatically hidden - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-45
axes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-1 converting CP ladder programs to
ordinary ladder programs - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-60
axis jog operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-29
copying the graph - - - - - - - - - - - - - - - - - - - - - - - - - 13-32, 13-72
axis management in the System Subwindow - - - - - - - - - - - - - 11-46
CP ladder programs - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8, 3-10
Axis Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-32
CPU STOP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-79
Axis Setup Wizard - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
CPU-RUN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-81
axis step operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-31
Create New Program dialog box - - - - - - - - - - - - - - - - - - 3-6, 3-35
axis variable details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
creating a new program - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25
axis variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
creating and editing programs - - - - - - - - - - - - - - - - - - - - - - - - 4-24
B creating functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-35
basic engineering procedure using MPE720 version 6 - - - - - - - - 1-3 creating new project files - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-48
beginning ladder programming - - - - - - - - - - - - - - - - - - - - - - - 3-5 creating system structure - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14
branches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12 cross reference searching - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-53
Breakpoints window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14 Cross Reference Setting dialog box - - - - - - - - - - - - - - - - - - - - 3-53
buttons in Graph Area - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-39 current value data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-5
changing display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-9
C editing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-9
C language - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-67 cursor A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-40
C registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19 cursor B - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-40
Calculate dialog box - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-55 Cursor Setting dialog box - - - - - - - - - - - - - - - - - - - - - - - - - - 13-41
calling functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-37
caption bar - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-27 D
ceating new ladder programs - - - - - - - - - - - - - - - - - - - - - - - - - 3-6 D registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23
changing edit window displays - - - - - - - - - - - - - - - - - - - - - - - 3-15 data table programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
changing Ladder Program Edit Window displays - - - - - - - - - - - 3-14 Data Trace Window configuration - - - - - - - - - - - - - - - - - - - - 13-35
changing Ladder Subwindow displays - - - - - - - - - - - - - - - - - - 3-40 data tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-34
changing memory map displays - - - - - - - - - - - - - - - - - - - - - - - 12-4 data transfers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
changing the display magnification - - - - - - - - - - - - - - - - - - - - 3-14 debug - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
changing the subwindow display type - - - - - - - - - - - - - - - - - - - 1-46 debug mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39
closing project files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-54 debugging - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46
color tab page - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16 debugging and monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39
comment display icon - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15 default user setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-61
Comment Editor - - - - - - - - - - - - - - - - - - - - - - - 3-21, 3-22, 3-33 deleting all comments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40
comment lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35 deleting global constant group variables - - - - - - - - - - - - - - - - - 5-22
referencing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35 deleting global constants - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
Communication Manager - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-16 deleting global variables - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18
Communication Manager Window - - - - - - - - - - - - - - - - - - - - - 1-16 deleting internal variables - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24
communication process settings - - - - - - - - - - - - - - - - - - - - - - - 1-16 deleting ladder programs - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-42
Index-1
Index
detailed comparison of programs and registers - - - - - - - - - - - 10-24 displaying watch data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-6
dialog box docked - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-45
Calculate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-55 dplaying or hiding variables - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
Communications Setting - - - - - - - - 1-74, 10-4, 10-10, 10-18 Drive Control Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42
Drive Control Panel tab page - - - - - - - - - - - - - - - - - - - - - - - - 4-13
Compare Program - Compare Flash to RAM - - - - - - - - - - 10-20
Compare Program - Compare with Controller - - - - - - - - - 10-18 E
Compile Option - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-38 Edit constant dialog box - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
Constant Group Variable Registration - - - - - - - - - - - - - - - 5-19 Edit variable dialog box - - - - - - - - - - - - - - - - - - 3-33, 5-10, 5-16
editing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26
Constant Variable Registration - - - - - - - - - - - - - - - - - - - - 5-20
editing and deleting function external variables - - - - - - - - - - - - 5-26
Create New Program - - - - - - - - - - - - - - - - - - - - - - - 3-6, 3-35
editing branches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-26
Cross Reference Setting - - - - - - - - - - - - - - - - - - - - - - - - - 3-53 editing Comment Field - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33
Cursor Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-41 editing global constants - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
Edit constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22 editing global variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16
Edit variable - - - - - - - - - - - - - - - - - - - - - - 3-33, 5-10, 5-16 editing instruction objects - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30
editing internal variables - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24
Editor Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
editing ladder programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
Environment Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-55 editing motion program files - - - - - - - - - - - - - - - - - - - - - - - - 4-46
Find - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-54 editing program comments - - - - - - - - - - - - - - - - - - - - - - - - - 3-21
Group Definition - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5 Editor Option dialog box - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
ladder display property - - - - - - - - - - - - - - - - - - - - - - - - - 3-41 editor options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
Electronic Cam Data Preparation Tool - - - - - - - - - - - - - - - - - - - 7-2
Ladder Magnification dialog box - - - - - - - - - - - - - - - - - - 3-14
Enable Main Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-43
logical port setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-17
Enable/Disable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-43
Object Variable Setting - - - - - - - - - - - - - - - - - - - - - - - - 13-53 enabling or disabling ladder programs - - - - - - - - - - - - - - - - - - 3-43
Open DWG setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9 END instruction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
Open Project - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-21 entering and changing registers - - - - - - - - - - - - - - - - - - - - - - 3-31
Program Password - - - - - - - - - - - - - - - - - - - - - - - 1-82, 1-84 entering and changing variables - - - - - - - - - - - - - - - - - - - - - - 3-31
entering and editing expressions for
Program Property - - - - - - - - - - - - - - - - - - - - - - - - 3-43, 3-44
EXPRESSION Instructions - - - - - - - - - - - - - - - - - - - - - - - - - 3-34
Project - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51 Environment Setting dialog box - - - - - - - - - - - - - - - - - - - - - - 1-55
Replace - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-48 environment settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-55
Scale Offset Adjust - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-41 error codes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-24
Search - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47 exiting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-26
export/import
Search in Project - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50
types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
Security - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-51
exporting/importing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-1
Security dialog box - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-50
motion parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
Select Monitor Setting - - - - - - - - - - - - - - - - - - - - - - - - - 13-48 exporting/importing the register data to/from CSV files - - - - - - 6-33
Transfer - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2 exporting/importing variables
Transfer Program - Read from Controller - - - - - - - - - - - - 10-10 constant variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22
Transfer Program - Save to Flash dialog box - - - - - - - - - - - 10-9 global variables, I/O variables and comments - - - - - - - - - - 6-12
Transfer Program - Write into Controller - - - - - - - - 10-4, 10-7 local variables and comments - - - - - - - - - - - - - - - - - - - - - 6-18
Trigger and Configuration - - - - - - - - - - - - - - - - - - - - - - 13-38 user structures - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27
User Registration - - - - - - - - - - - - - - - - - - - - - - - - 1-58, 1-59 Expression Editor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-34
Variable Registration - - - - - - - - - - - - - - - - - 5-12, 5-14, 5-25
F
differences compared with existing motion programs - - - - - - - - - 4-5
File Pages - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-51
Disable Main Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-43
Find dialog box - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-54
disconnecting from Machine Controllers - - - - - - - - - - - - - - - - 1-78
floating - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-45
dispaying or hiding comments - - - - - - - - - - - - - - - - - - - - - - - 3-15
flow from program creation to execution - - - - - - - - - - - - - - - - - 4-4
displaying and editing with MPE720 version 5 - - - - - - - - - - - - 3-11
font tab page - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17
displaying and hiding subwindows - - - - - - - - - - - - - - - - - - - - 1-44
Force OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-55
displaying graphs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-36
Force ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-55
displaying in list format - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-30
forcing coils ON/OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-55
displaying or hiding addresses - - - - - - - - - - - - - - - - - - - - - - - 3-15
displaying properties - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-41 changing ON/OFF in the Forced Coil List Subwindow - - - - 3-56
displaying property columns - - - - - - - - - - - - - - - - - - - - - - - - - 4-48 display the Forced Coil List Subwindow - - - - - - - - - - - - - 3-57
displaying variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3 setting ON/OFF in the ladder program - - - - - - - - - - - - - - - 3-55
Index-2
Index
function external variables - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25 internal variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23

assigning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25 Logical Port Setting dialog box - - - - - - - - - - - - - - - - - - - - - - - 1-17
deleting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26
M
editing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26
M registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
main function used in editing ladder programs
G Ladder Instruction Subwindow - - - - - - - - - - - - - - - - - - - - 3-13
global constants - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19 main functions used in editing ladder programs - - - - - - - - - - - - 3-13
global variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12 Ladder Editor Toolbar - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
Graph Area - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-35 Ladder Instruction Toolbar - - - - - - - - - - - - - - - - - - - - - - - 3-13
Graph Area operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-39 Variable Subwindow - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
Graph Area pop-up menu - - - - - - - - - - - - - - - - - - - - - - - - - - 13-40
main menu - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-27, 4-15
group definition - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-23
main windows - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-27
Group Definition dialog box - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
managing ladder program files - - - - - - - - - - - - - - - - - - - - - - - 3-42
group definition window - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8 memory maps - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3
H module configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-69, 4-16
hierarchical or non-hierarchical display - - - - - - - - - - - - - - - - - 3-40
Monitor Pages - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-49
hierarchical structure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
Monitor Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-35
Hierarchical Structure Display button - - - - - - - - - - - - - - - - - - - 3-40
monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-1
I monitoring ladder program execution - - - - - - - - - - - - - - - - - - - 3-46
I/O registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4, 5-7 motion - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-65, 1-66
I/O variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7, A-27 motion debugging - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-17
importing MPE720 version 5 CMT files - - - - - - - - - - - - - - - - - 6-31 Motion Editor tab page - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
importing registers in cam data created with motion parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4, 6-3
the Electronic Cam Data Tool - - - - - - - - - - - - - - - - - - - - - - - - 6-40 batch import - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
input guide - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12 export - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
inserting and editing new rung comments - - - - - - - - - - - - - - - - 3-22 exporting/importing - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
inserting and editing new rungs - - - - - - - - - - - - - - - - - - - - - - - 3-23
fixed parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
inserting branches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24
inserting instruction object - - - - - - - - - - - - - - - - - - - - - - - - - - 3-28 import - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
installing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5 individual import - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
instruction object component names - - - - - - - - - - - - - - - - - - - - 3-29 monitoring parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
instruction objects - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12 SERVOPACK parameters - - - - - - - - - - - - - - - - - - - - - - - - 2-4
internal variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23
setting parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
K motion pogram part names and functions - - - - - - - - - - - - - - - - - 4-7
motion programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-1
key allocation tab page - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-20
motion programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4, 4-3
L Motion Subwindow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
ladder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-64, 1-72 motion task setting window - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
Ladder Display Property dialog box - - - - - - - - - - - - - - - - - - - - 3-41 MPE720 Ver.6 Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-24
Ladder Editor Toolbar - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13 MPE720 version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
Ladder Instruction Subwindow - - - - - - - - - - - - - - - - - - - - - - - 3-13 MPLoader - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-71
Ladder Instruction Toolbar - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13 mtion alarm window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
Ladder Magnification dialog box - - - - - - - - - - - - - - - - - - - - - - 3-14 My Tool window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-30
ladder program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3, 3-4
N
Ladder Program Edit window - - - - - - - - - - - - - - - - - - - - 3-5, 3-12
ladder program types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4 names and descriptions of components of Alarm Monitor - - - - 11-41
names and descriptions of components of Axis Monitor - - - - - 11-34
ladder programming - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1, 3-3
names and descriptions of components of real-time tracing - - - - 13-5
Ladder Subwindow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40
ladder tab page - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18 names and descriptions of components of test run - - - - - - - - - 11-22
names and descriptions of components of Tuning Panel - - - - - - 14-4
launcher - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-27
names and descriptions of components of XY tracing - - - - - - - 13-61
List Area - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-35
List Area operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-45 names and descriptions of components of
the Axis Setup Wizard - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4
list operation buttons - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-46
names of window components - - - - - - - - - - - - - - - - - - - - - - - 1-27
lnking with CP ladder programs - - - - - - - - - - - - - - - - - - - - - - 5-28
normal operation mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40
local variables for use in one variable
external variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25
Index-3
Index
O referencing called programs - - - - - - - - - - - - - - - - - - - - - - - - - 3-59

register data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33
Object Variable Setting dialog box - - - - - - - - - - - - - - - - - - - 13-53
register lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3
objects - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
registering and editing groups and logical axes - - - - - - - - - - - - - 5-5
offline current value - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-9
registering and editing logical axes - - - - - - - - - - - - - - - - - - - - - 5-5
online current value - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-8
registering variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-8
online security - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-85
registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-31
Open DWG Setting dialog box - - - - - - - - - - - - - - - - - - - - - - - - 3-9
renaming ladder programs - - - - - - - - - - - - - - - - - - - - - - - - - - 3-43
Open Project dialog box - - - - - - - - - - - - - - - - - - - - - - - - - - 10-21
Replace dialog box - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-48
opening an MPE720 Version 5 MAL file - - - - - - - - - - - - - - - - 1-52
replace in comment list - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
opening ladder programs - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
replacing in a program - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-48
opening project files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-50
replacing in a project file - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51
operation panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-37
reserved words - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-47
Operation Panel Area - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-35
restarting Machine Controller CPU (RUN) - - - - - - - - - - - - - - - 1-81
operation panel button - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-37
rung comments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
operations on the Drive Control Panel - - - - - - - - - - - - - - - - - - 4-43
rung number blocks - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
optional settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-57
rungs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
overwriting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-53
P S
S registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
password - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-82
save as a new project - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-53
pop-up menu - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-47
saving as project file
preparing for executing a program - - - - - - - - - - - - - - - - - - - - - 4-36
print - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-72 save as a new project - - - - - - - - - - - - - - - - - - - - - - - - - - 1-53
print settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-56 saving comments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28
printing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-1, 9-5 saving project files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-53
printing ladder programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 saving to flash memory - - - - - - - - - - - - - - - - - - - - - - - 10-9, 10-16
saving trace data - - - - - - - - - - - - - - - - - - - - - - - - - - 13-28, 13-70
page setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
saving tuning data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-16
print previews - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3
Scale Offset Adjust dialog box - - - - - - - - - - - - - - - - - - - - - - 13-41
printing call program instructions (FUNC/SEE/MSEE) - - - - 9-9 scan time setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-63
printing cross-reference information - - - - - - - - - - - - - - - - - 9-8 Search dialog box - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47
printing each ladder program - - - - - - - - - - - - - - - - - - - - - - 9-5 search in comment list - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
printing programs as a batch - - - - - - - - - - - - - - - - - - - - - - - 9-6 Search in Project dialog box - - - - - - - - - - - - - - - - - - - - - - - - - 3-50
searching - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47
printing other programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-11
program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15, 4-16 searching and replacing in a program - - - - - - - - - - - - - - - - - - 3-47
searching for duplicate coils - - - - - - - - - - - - - - - - - - - - - - - - - 3-54
program comments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
searching in a project file - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50
program disable processing when a write error occurs - - - - - - - 10-8
program management in the Motion Subwindow - - - - - - - - - - - 4-46 security - - - - - - - - - - - - - - - - - - - - - - - - - 1-58, 1-60, 1-61, 1-82
Security dialog box - - - - - - - - - - - - - - - - - - - - - - - - - - 1-50, 1-51
Program Password dialog box - - - - - - - - - - - - - - - - - - - 1-82, 1-84
Select Monitor Setting dialog box - - - - - - - - - - - - - - - - - - - - 13-48
Program Property dialog box - - - - - - - - - - - - - - - - - - - 3-43, 3-44
Project dialog box - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51 servo enable and servo disable status of axes - - - - - - - - - - - - 11-28
SERVOPACK parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
project files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-47
setting a group definition - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24
copying - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-54
setting and displaying monitor parameters - - - - - - - - - - - - - - 11-37
deleting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-54 setting motion tasks - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41
moving - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-54 setting passwords for ladder programs - - - - - - - - - - - - - - - - - - 3-41
renaming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-54 setting the Graph tab page - - - - - - - - - - - - - - - - - - - - - - - - - 13-57
project password - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-60 setting the List tab page - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-59
properties - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-44 setting the Print tab page - - - - - - - - - - - - - - - - - - - - - - - - - - 13-59
properties of motion programs - - - - - - - - - - - - - - - - - - - - - - - 4-50 setting the Set tab page - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-57
setting the X-Y graph tab page - - - - - - - - - - - - - - - - - - - - - - 13-58
R setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-62, 1-63
reading - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-59 start window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-28
reading from a project file - - - - - - - - - - - - - - - - - - - - - - - - - 10-14 starting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-24
reading from CF card - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-17 starting a Data Trace Window - - - - - - - - - - - - - - - - - - - - - - 13-34
reading from Machine Controllers - - - - - - - - - - - - - - - - - - - - 10-10 starting a motion program - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
reading privilege levels - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7 starting a test run - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-19
reading trace data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-26 starting Alarm Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-40
real-time tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3 starting and operating the Electronic Cam Data Tool - - - - - - - - - 7-2
referencing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35 starting and using data table programs - - - - - - - - - - - - - - - - - - - 8-2
Index-4
Index
starting Axis Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-33 using the System Monitor Subwindow - - - - - - - - - - - - - - - - - 12-10
starting real-time trace - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3 using variables and comments - - - - - - - - - - - - - - - - - - - - - - - 5-27
starting the Axis Setup Wizard - - - - - - - - - - - - - - - - - - - - - - - 11-2
starting the Tuning Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-3
V
starting troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-14 variable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-68
starting XY trace - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-60 variable display icon - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
stopping Machine Controller CPU (STOP) - - - - - - - - - - - - - - - 1-79 Variable Registration dialog box - - - - - - - - - - - - 5-12, 5-14, 5-25
subwindow operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-43 Variable Subwindow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
subwindows - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-27 variable tables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
system - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-56, 1-57 variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-1, 6-12
system monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-69, 12-10 variables that are automatically assigned by system - - - - - 5-4, A-2
system requirements - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 axis variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
system setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-62 I/O variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
system structures - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-39 variables that are automatically assignedby system
system variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4 system variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
T variables that can be referred from any program
table of system structures - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16 global constants - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19

test run - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-18 global variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
test running and monitoring - - - - - - - - - - - - - - - - - - - - - - - - - 4-43 variables that can be set by the user - - - - - - - - - - - - - - - - - - - - 5-11
test running programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42 local variables for use in one variable - - - - - - - - - - - - - - - 5-23
toolbar - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-27 variables that can be referred from any program - - - - - - - - 5-12
toolbar list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16 Visual Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-7
trace definition data
deleting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-56 W
saving - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-56 watch function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-6
when an alarm has occurred during a test run - - - - - - - - - - - - - 4-45
setting defaults - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-56
when an alarm/warning occurs - - - - - - - - - - - - - - - - - - - - - - 11-44
tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-1
when processing main program is disabled - - - - - - - - - - - - - - - 10-8
transfer - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-70, 1-71
window operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-27
Transfer dialog box - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
window tab pages - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-27
Transfer Program - Save to Flash dialog box - - - - - - - - - - - - - - 10-9
writing into a project file - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12
Transfer Program - Write into Controller dialog box - - - - 10-4, 10-7
writing into the CF card - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-16
transferring data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
writing privilege levels - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7
transferring user structures - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
writing privileges - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-59
trend graphs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-43
writing to Machine Controllers - - - - - - - - - - - - - - - - - - - - - - - 10-4
Trigger and Configuration dialog box - - - - - - - - - - - - - - - - - - 13-38
troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-13 X
Tuning Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-2
X-Y Display Page - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-50
displaying - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-8 X-Y graphs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-44
editing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-8 XY tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-60
registering - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-8
Tuning Panel tab page - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-4
types of monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2
types of subwindow displays - - - - - - - - - - - - - - - - - - - - - - - - - 1-45
types of tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-2
types of variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
U
uninstalling - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-6
updating subwindow data - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-45
updating subwindow displays - - - - - - - - - - - - - - - - - - - - - - - - 3-14
user privilege levels - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7
user registration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-58
User Registration dialog box - - - - - - - - - - - - - - - - - - - - 1-58, 1-59
user structure
creating user structures - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
user structures - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
using comments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28
Index-5
Revision History
The revision dates and numbers of the revised manuals are given on the bottom of the back cover.
MANUAL NO.‫ޓ‬SIEP C880700 30C
Published in Japan August 201306-6 2 -1
WEB revision number
Date of Revision number
publication Date of original
publication
Date of Publication Rev. WEB Section Revised Content

No. Rev.
No.
August 2013 1 Front cover Revision: Format
2
1.3.1 Addition: Windows 7 (32 bit version) Operating System
1.3.2 Addition: Version Applicability
Back cover Revision: Addess, format
September 2010 – All chapters Upgraded to Version 6.22 from Version 6.03
Addition: My tool, Tuning panel, Motion editor, Axis setup wizard, Test run, Axis monitor,
Alarm monitor, XY tracing, Real-time tracing
December 2006 – All chapters Upgraded to Version 6.03 from Version 6.01
1
1.3.5 Modification: Communication Process Settings
1.9.1 Modification: Connection to Machine Controllers (Project Link Connection, Direct Con-
nection)
1.11.5, 1.11.6, Addition: Transferring Data
1.11.8, 1.11.9,
1.11.12, 1.11.14
1.12.4 Addition: Online Security
Chapter 2 Addition: Configuration (Module Configuration Definition, Export/Import of Motion
Parameters
3.2.5 Addition: Displaying and Editing Ladder Programs Created by MPE720 version 5 on
MPE720 version 6
3.5.6 Addition: Forcing Coils ON/OFF
3.6 Addition: Converting CP Ladder Programs
5.6 Addition: User Structures
5.8 Addition: Export/Import of Variables
10.1.3 Addition: Individual/Batch Printing of Ladder Programs
10.1.4 Addition: Printing Cross Reference Information
10.1.5 Addition: Printing Program Call Instructions (FUNC/MSEE)
A.2 Modification: Axis Variable Set Details
A.3 Modification: I/O Variables
June 2006 – – – First edition
Engineering Tool for MP2000 Series Machine Controller
MPE720 Version 6
USER'S MANUAL
IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5151 Fax 81-4-2962-6138
http://www.yaskawa.co.jp
YASKAWA AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax 1-847-887-7310
http://www.yaskawa.com
YASKAWA ELÉTRICO DO BRASIL LTDA.
Avenida Piraporinha 777, Diadema, São Paulo, 09950-000, Brasil
Phone 55-11-3585-1100 Fax 55-11-3585-1187
http://www.yaskawa.com.br
YASKAWA EUROPE GmbH
Hauptstraβe 185, Eschborn 65760, Germany
Phone 49-6196-569-300 Fax 49-6196-569-398
http://www.yaskawa.eu.com
YASKAWA ELECTRIC KOREA CORPORATION
9F, Kyobo Securities Bldg. 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul, 150-737, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
http://www.yaskawa.co.kr
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-02A, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
http://www.yaskawa.com.sg
YASKAWA ELECTRIC (CHINA) CO., LTD.
12F, Carlton Bld., No.21 HuangHe Road, HuangPu District, Shanghai 200003, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
http://www.yaskawa.com.cn
YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE
Room 1011, Tower W3 Oriental Plaza, No.1 East Chang An Ave.,
Dong Cheng District, Beijing 100738, China
Phone 86-10-8518-4086 Fax 86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei 104, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA ELECTRIC CORPORATION
In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture
thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure
to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and improvements.
© 2006-2013 YASKAWA ELECTRIC CORPORATION. All rights reserved.
MANUAL NO. SIEP C880700 30C

Published in Japan August 2013 06-6 2 -1
13-6-9

siepc88070030c_2_1

Uploaded by

Copyright:

Available Formats

siepc88070030c_2_1

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

siepc88070030c_2_1

Uploaded by

Copyright:

Available Formats

Engineering Tool for MP2000 Series Machine Controller

Overview and Basic Operations of

MANUAL NO. SIEP C880700 30C

Caution on Managing Passwords

The following passwords can be set for this software.

• User passwords (Refer to 1.9.4 ( 1 ) Registering New Users.)

Caution on Managing Project Files

Table Programming Functions Not Supported by MPE720 Version 6

• MECHATROLINK is a trademark of the MECHATROLINK MEMBERS ASSOCIATION.

1 Overview and Basic Operations of MPE720 Version 6 - - - - - - - - - - - - - - - - - 1-1

1.4 Starting and Exiting MPE720 Version 6- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-24

1.5 MPE720 Version 6 Window Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-27

1.6 Main Window Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-28

1.7 Subwindow Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-43

1.8 Project Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-47

1.10 Connecting to and Disconnecting from Machine Controllers - - - - - - - - - - - - - 1-73

1.12 Security - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-82

3 Ladder Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1

3.2 Beginning Ladder Programming- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5

3.4 Managing Programs in the Ladder Subwindow - - - - - - - - - - - - - - - - - - - - - - - 3-40

3.5 Debugging Ladder Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46

3.6 Converting CP Ladder Programs to Ordinary Ladder Programs - - - - - - - - - - - 3-60

4 Motion Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-1

4.2 Starting a Motion Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6

4.5 Toolbar List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16

4.6 Group Definition - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-23

4.8 Compilation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-34

4.10 Debugging and Monitoring- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39

4.11 Test Running Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42

4.12 Program Management in the Motion Subwindow - - - - - - - - - - - - - - - - - - - - - 4-46

5.2 Variables that Are Automatically Assigned by System - - - - - - - - - - - - - - - - - - 5-4

5.3 Variables that Can Be Set by the User - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11

5.5 Using Comments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28

5.6 User Structures - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29

5.7 Comment Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35

6.3 Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12

6.4 Register Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33

7 Electronic Cam Data Preparation Tool - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-1

8 Data Table Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-1

9.2 Printing Other Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-11

10 Transferring Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-1

11.2 Test Run - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-18

11.3 Axis Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-32

11.5 Axis Management in the System Subwindow- - - - - - - - - - - - - - - - - - - - - - - 11-46

12.3 Watch Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-6

12.4 Online Current Value- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-8

12.5 Offline Current Value- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-9

12.6 System Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-10

12.7 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-13

13.4 XY Tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-60

14 Tuning Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-1

14.2 Starting the Tuning Panel- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-3

14.4 Registering/Displaying/Editing with the Tuning Panel - - - - - - - - - - - - - - - - - - 14-8

14.5 Saving Tuning Data- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-16

B Reserved Words - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-47

1.1 What Is MPE720 Version 6? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.4 Starting and Exiting MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - 1-24

1.5 MPE720 Version 6 Window Operations - - - - - - - - - - - - - - - - - - - - - - - - 1-27

1.6 Main Window Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-28

1.7 Subwindow Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-43