Ladder

Programming

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 Basic
Ladder Rules

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Ladder Rules: Fundamentals…

•Rungs are executed TOP to DOWN

•Elements in same level are executed LEFT to RIGHT

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Ladder Rules: NO, we can’t…

•Contact can not be set in the most right side of a Rung

•Empty Rung is not allowed

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Ladder Rules: NO, we can’t…
•Only a COIL can be sereialized after a COIL

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Ladder Rules: YES we can…

•Coils FBs and FUNs can be set without need of a contact

•Coils and Contacts can be inserted wherever as far as the logic

makes sense and no contact is set in the most right position

Up to 50 parallel branches are

allowed per rung

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 Contacts , Coils and
Sequence Instructions

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Contacts, Coils and Sequence Instructions

Contacts and Coils

Can be negated, differenciated, Set, Reset, etc…

SET Coil

Coil
Diff UP Contact

Contact RESET Coil

Inverted Contact

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Contacts, Coils and Sequence Instructions
R_TRIG, F_TRIG and Differenciation
•IEC611313 defines R_TRIG and F_TRIG functions for the
Rising/Falling Edge detection
•NJ Series supports OMRON’s traditional Diff up/down and R_TRIG
(Up) and F_TRIG (Down)

Instance is needed !

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Contacts, Coils and Sequence Instructions

Contacts and Coils

•TestABit and (TestABitN) Negated TestABit returns TRUE when the
Bit in position (Pos) of the BitString (In) is TRUE (FALSE)
3
ProductCode

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Contacts, Coils and Sequence Instructions

SR and RS : Set
•Functions are used to SET and RESET the Keep Bit
•SR: Gives Priority to the Set Input when Set and Reset both are TRUE
•RS: Gives Priority to the Reset Input when Set and Reset both are TRUE

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Contacts, Coils and Sequence Instructions

SetBits/ResetBits
•Declaring “In” as a BitString.
• SetBits: Sets “n” bits to TRUE from bit number “Pos” in the BitString.
• ResetBits: Sets “n” bits to FALSE from bit number “Pos” in the BitString

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Contacts, Coils and Sequence Instructions

SetABit/ResetABit
•Declaring “In” as a BitString.
• SetABit: Sets TRUE bit in position “Pos” in the BitString.
• ResetABit: Sets FALSE bit in position “Pos” in the BitString

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Contacts, Coils and Sequence Instructions

OutABit
•Declaring “In” as a BitString.
• OutABit sets TRUE or FALSE the bit in position POS depending on the
value of BitVal

(TRUE)

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Timers

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Timers

•NJ Series supports five different kinds of

timer instructions:

•TON (Timer On Delay)

•TOF (Timer Off Delay)
•TP
•AcumulativeTimer (Retentive Timer)
•Timer ( hundred ms timer)

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Timers

•Instance Of the Timer FB’s consist of:

Instance_name

FB_Type

BOOL BOOL

TIME TIME

In Timer Input BOOL

PreTime Preset Time TIME
Reset Timer Reset (Atime only) BOOL
Q Timer Output BOOL
ElapTIme Elapsed Time TIME

Refere TIME Datatype for formating details

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Timers

TON (Time On Delay)

•Timer Output (Q) is TRUE when ElapTime achieves PreTime
•Timer Output (Q) turns to FALSE whenever (In) Becomes FALSE

T#10ms

In
Q
PreTime
Elap
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Timers

TOF: Time Off Delay

•Timer Output (Q) is TRUE when (In) is TRUE and after (In) turns to
FALSE and ElapTime does not reach PreTime

T#10ms

In
Q
PreTime
Elap
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Timers

TP (Pulse Timer)
•Timer Output (Q) is TRUE with (In) Rising Edge
•Timer Output (Q) goes FALSE when ElapTime reaches PreTime

T#10ms

In
Q
PreTime
Elap
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Timers: Timer (Hundred ms Timer)

•Timer Output (Q) is TRUE when ElapTime achieves PreTime

•Timer Output (Q) turns to FALSE whenever (In) Becomes
FALSE
•ElapTime increments in steps of 100 ms !
•Only reason for using this Timer instead of TON is to reduce
program execution time

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Timers

Acumulation Timer (Retentive Timer)

•Acumulation Timer starts counting when In becomes TRUE and freezes
counting when In bcomes FALSE (ET Time is keept)
•Q Output is TRUE when PT time value is achieved
•Q Output and ET are reset when Reset input is enabled

In
PT
ET
Q
Even when Input is FALSE
Reset
Acumulated time is retained
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Counters

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Counters

CTU, CTD: Counter Up, Counter Down

•CTU is a Counter Up instruction
•CTD is a Counder Down instruction
•When (CU) or (CD) transition from FALSE to TRUE Counter
Increments (CTU) or Decrements (CTD) it’s Counter value
(CtVal)
•(Reset) will Reset (CurVal) to zero and (Q) to FALSE
•(LD) will Load (PreVal) to (CtVal) and set (Q) to FALSE
•(Q) is TRUE when:
•CTU: Counter Value (CtVal) = to Preset Value (PreVal)
•CTD:Counter Value (CtVal) = 0
Instance_name Instance_name

BOOL BOOL BOOL BOOL

BOOL INT BOOL INT
INT INT
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Counters

CTU: Counter Up

CU

Reset

CtVal

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Counters

CTD: Counter Down

CD

LD

CtVal

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Counters

CTUD: Counter Up/Down

This is an UP/DOWN counter that includes two new outputs:

(QU) and (QD) to differenciate maximum/minimum CtValue
achievement

CU
CD
CtVal

QU

QD
Reset
LD
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Counters

Counter Variations:
•NJ includes variations of CTU, CTD and CTUD
•Different Datatypes can be used
DINT
CTU
LINT
CTD _
UDINT
CTUD
ULINT
Example:

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Math Instructions

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Math Instructions

NJ Series support a wide range of Math Functions:

BASIC ARITMETIC POWER, ARRAY

LOGARITHMIC, MANAGEMENT
ADD (+)
RANDOM, FRACTIONS
AddOU (+OU) AryAdd
SQRT AryAddV
SUB ()
LN and LOG ArySub
SubOU (OU)
EXPT ArySubV
MUL (*)
Rand AryBCD
MulOU (*OU)
FMod AryBin
DIV (/)
Frac AryMean
MOD
FCChek ArySD
ABS
Inc and Dec

TRIGONOMETRIC
RadToDeg and DegToRad
SIN, COS, and TAN
ASIN, ACOS, and ATAN

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Math Instructions

BASIC ARITHMETIC
•Basic Arithmetic functions operate with ANY_ELEMENTARY Data types
•NJ will automatically perform any necessary Datatype conversion.

BASIC ARITMETIC
ADD (+) MulOU (*OU)
AddOU DIV (/)
(+OU)
MOD
SUB ()
ABS
SubOU (OU)
Inc and Dec
MUL (*)

Example (ADD):

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Math Instructions

BASIC ARITHMETIC

•Most of the BASIC Arithmetic functions support ANY_ELEMENTARY Datatype

BASIC ARITMETIC
ADD (+) : Addition
AddOU (+OU): Addition with OVEFLOW BIT
SUB (-): Substraction
SubOU (-OU): Substraction with NEGATIVE OVERFLOW BIT
MUL (*): Multiply
MulOU (*OU): Multiply with OVERFLOW BIT
DIV (/): Division
MOD: Modulo
ABS: Absolute Value
Inc* and Dec*: INTEGER Increment ++, and Decrement --

*Supports ANY_INT Datatype

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Math Instructions

TRIGONOMETRIC

TRIGONOMETRIC Example of SIN:

•RadToDeg: Radians to Degrees
•DegToRad: Degrees to Radians
•SIN Sinus
•COS Cosinus
•TAN Tangent
In Out
•ASIN Inverse Sinus
• ACOS Inverse Cosinus
•ATAN Inverse Tangent

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Math Instructions

POWER, LOGS, RANDOM, FRAC,…

POWER, LOGARITHMIC, RANDOM,
FRACTIONS
SQRT: RootSQUARE Example of EXPT
LN and LOG: Natural and Decimal Log
EXPT Exponential Power
Rand Random function
FMod Division Float reminder
Frac Fractional Part of Float
FCChek* Is a Number Check

*Returns a BOOL
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Math Instructions

ST or Ladder?

What’s the best Language for Programming: Ladder or ST?

It depends on the user and the application…

Some times… It would be perfect to

Combine Ladder and ST commands inside
the same program
This is possible with NJ’s Inline ST

InlineST is specially nice to implement

math algorithms that normally would take
several rungs in Ladder

No need to create FB in ST to be
instanced in Ladder, you can type
directy ST by using InlineST Function.

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Math Instructions: Ladder or ST ?

BASIC ARITHMETIC

Example of
Sum using ST
in Ladder

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Bit String Processing

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Bit String Processing

Following Instructions are used for Logic

processing of BOOL, BitStrings or Arrays (Ary)
of BOOL BitStrings:

•AND (&), OR, and XOR

•XORN
•NOT
•AryAnd,AryOr, AryXor, and Ary XorN

Note.- BitStrings DataTypes are: BYTE,

WORD,DWORD and LWORD.
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Bit String Processing

AND, OR, XOR XORN

These Instructions perform processing on Boolean
variables or individual bits in bit strings

Up to 5 Input parameters (In..N) can be operated

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Bit String Processing

AND, OR, XOR XORN

Tables of Truth:

AND OR

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Bit String Processing

AND, OR, XOR XORN

Tables of Truth:

XOR XORN

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Bit String Processing

AND, OR, XOR XORN

EXAMPLE

B1 1 0 1
B2 0 1 1
Result 0 0 1

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Bit String Processing

AND, OR, XOR XORN

When Number of Input parameters is greater than 2
processing is performed in the following way
(Example for 5 Input parameters):

In1
L
L Out
In2
L
In3
L
In4
L
In5

L= Logic Operation
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Bit String Processing

NOT
The NOT instruction reverses the value of a Boolean
variable or the individual bits in a bit string

0 0 1 0 0 0 1 1
1 1 0 1 1 1 0 0
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Bit String Processing

AryAnd, AryOr, AryXor, AryXorN

These Functions use Logical operation with Array of Bit
Strings.

A[0] OR B[0]  C[0]

A[1] OR B[1]  C[1]
A[..] OR B[..]  C[..]

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Bit String Processing

AryAnd, AryOr, AryXor, AryXorN

Example:

12 OR 2  14
17 OR 4  21
A[..] OR B[..]  C[..]

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Comparison Instructions

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Comparison

Following Instructions are used to compare:

•EQ(=), NE(<>), LT(<),LE(<=),GT(>), GE(>=)

•Cmp
•ZoneCmp
•TableCmp
•AryCmp*
•AryCmp*V

Note.-* can be EQ,NE,LT,LE,GT,GE

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Comparison

Simple Operators: EQ,NE,LT,LE,GT,GE

•EQ (=) Equal

•NE(<>) Not Equal
•LT(<) Less Than
•LE(<=) Less or Equal
•GT(>) Greater Than
•GE(>=) Greater or Equal

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Comparison

Simple Operators: EQ,NE,LT,LE,GT,GE

Example:

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Comparison

Cmp

Cmp: Generates All possible comparisons of two values.

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Comparison

ZoneCmp
ZoneCmp: Outputs True when condition :

MN<=In<=MX

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Comparison

TableCmp
•Tablemp performs a Zone Comparison of tabular data
•Tabular Data TABLE is defined in 2 dimension Array
•Output Data is set in 1 dimension Array

Table[0,n] <= In <= Table [1,n]  AryOut[n]

300 <= <= 999  FALSE
17 <= 120 <= 500  TRUE
T[..] T[..]  BOOL
<= <=

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Comparison

AryCmpqqq Comparison operation

•Compares two Arrays, In1[ ] , In2[ ] and sets the Boolean result in AryOut[ ]
•The number of elements to compare is determined by ‘Size’ parameter

In1[0..Size-1] qqq In2[0..Size-1]  AryOut[0..Size-1]

EQ (=)
NE(<>)
LT(<)
LE(<=)
GT(>)
GE(>=)

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Comparison

AryCmpqqq Comparison operation

•Example: AryCmpEQ

A[..] EQ B[..]  Bool

7 EQ 0  False

13 EQ 13  True

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Comparison

AryCmpqqqV Comparison operation

•Compares Arrays In1[ ] , with Value In2 and sets the Boolean result in
AryOut[ ]
•The number of elements to compare is determined by ‘Size’ parameter
In1[0..Size-1] qqq In2  AryOut[0..Size-1]
EQ (=)
NE(<>)
LT(<)
LE(<=)
GT(>)
GE(>=)

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Comparison

AryCmpqqqV Comparison operation

•Example: AryCmpEQV

A[..] EQ  Bool
7 EQ  False
13
13 EQ  True

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Data Transfer

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Data Transfer

•Data Transfer Instructions copy or move blocks of data.

•Data Transfer Includes:

•MOVE •AryExchange
•MoveBit •AryMove
•MoveDigit •Clear
•TransBits •Copy**ToNum
•MemCopy •Copy**To**
•SetBlock •CopyNumTo**
•ExChange

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Data Transfer

MOVE
•MOVE command can copy value from the In parameter to the Out
parameter.
•Element of Array, Structure and Union can also be used

Example: MOVE of an Struct

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Data Transfer

MoveBit
•MOVEBit command can copy the bit (InPos) from BitString In to the bit
(InOutPos) of the BitString InOut
InPos

Example: 5 4 3 2 1 0

In(34) 1 0 0 0 1 0

5 4 3 2 1 0

InOut(8) 0 0 1 0 0 0

InOutPos

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Data Transfer

MoveDigit
•MOVEDigit command copies one or more (Size) Digits, Starting in (InPos)
digit from BitString In to the digit position (InOutPos) of the BitString InOut
InPos
Example:
3 2 1 0

In 1 2 3 4

3 2 1 0

InOut 2 3 0 0

InOutPos

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Data Transfer

TransBits
•TransBits command copies one or more (Size) Bits, Starting in (InPos)
digit from BitString In to the Bit position (InOutPos) of the BitString InOut
InPos
Example: In
7 6 5 4 3 2 1 0

1 1 1 1 1 1 1 1

InOut
7 6 5 4 3 2 1 0

0 0 0 1 1 1 0 0

InOutPos

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Data Transfer

MemCopy
•MemCopy command copies two or more (Size) Array Elements From (In)
to (AryOut).
Example: Size=3
In[ ]
6 5 4 3 2 1 0
700 600 500 400 300 200 100

AryOut[ ]
6 5 4 3 2 1 0
0 0 300 200 100 0 0

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Data Transfer

SetBlock
•SetBlock Fills (Size) elements of (In) Array with (In) Value.

Example:

In
100

AryOut[ ]
6 5 4 3 2 1 0
0 0 100 100 100 0 0

Size=3

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Data Transfer

Exchange
•Values in InOut1 and InOut2 are exchanged

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Data Transfer

AryXChange
•Values in Arrays InOut1 and InOut2 are exchanged

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Data Transfer

AryMove
•MemCopy command copies two or more (Size) Array Elements From (In)
to (AryOut).
•In and AryOut can be different Datatypes
•When Datatype is same, MemCopy works faster.
Size=3
In[ ]
6 5 4 3 2 1 0
700 600 500 400 300 200 100

AryOut[ ]
6 5 4 3 2 1 0
0 0 300 200 100 0 0

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Data Transfer

Clear operation

•Cleans to zero the value contained in InOut.

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Data Transfer

Copy**To**
•The Family of Functions Copy**To** perform a BIT level copy

WORD
7 6 5 4 3 2 1 0

… 0 0 0 0 0 1 1 1
INT 7 6 5 4 3 2 1 0

… 0 0 0 0 0 1 1 1

LREAL … 0 0 0 0 0 1 1 1

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