R-30iA PMC Operator Manual (B-82614EN 02)

 

! R-30+A CONTROLLER Integrated Integr ated PMC PMC

OPER OP ERA A TO TOR'S R'S MANUAL

B-82614EN/02

 

 

Original Instructions

Before using the Robot, be sure to read the "FANUC Robot Safety Manual (B-80687EN)" and understand the content. 

 No part of this manual may be reproduced in any form.

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 All specifications and designs are subject to change without notice. 

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The products in this manual are controlled based on Japan’s “Foreign Exchange and Foreign Trade Law”. The export from Japan may be subject to an export license by the government of Japan. Further, re-export to another country may be subject to the license of the government of the country from where the product is re-exported. Furthermore, the product may also be controlled by re-export regulations of the United States government. Should you wish to export or re-export these products, please contact FANUC for advice.  In this manual we have tried as much as possible to describe all the various matters. However, we cannot describe all the matters which must not be done, or which cannot be done, because there are so many possibilities. Therefore, matters which are not especially described as possible in this manual should be regarded as ”impossible”. 

 

SAFETY

 

B-82614EN/02 

1

SAFETY PRECAUTIONS 

SAFETY PRECAUTIONS

For the safety of the operator and the system, follow all safety precautions when operating a robot and its  peripheral devices installed in a work cell. In addition, refer to the “FANUC Robot SAFETY HANDBOOK (B-80687EN)”.

1.1

WORKING PERSON

The personnel can be classified as follows.

Operator:   Turns robot controller power ON/OFF   Starts robot program from operator’s panel •

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Programmer or teaching operator:   Operates the robot   Teaches robot inside the safety fence •

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Maintenance engineer:   Operates the robot   Teaches robot inside the safety fence   Maintenance (adjustment, replacement) •

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•

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An operator cannot work inside the safety fence. A programmer, teaching operator, and maintenance engineer can work inside the safety fence. The working activities inside the safety fence include lifting, setting, teaching, adjusting, maintenance, etc.. To work inside the fence, the person must be trained on proper robot operation.

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During the operation, programming, and maintenance of your robotic system, the programmer, teaching operator, and maintenance engineer should take additional care of their safety by using the following safety  precautions. -

Use adequate clothing or uniforms during system operation Wear safety shoes Use helmet

1.2

WORKING PERSON SAFETY SA FETY

Working person safety is the primary safety consideration. Because it is very very dangerous to enter the operating space of the robot during automatic operation, adequate safety precautions must be observed. The following lists the general safety precautions. Careful consideration must be made to ensure working working  person safety. (1) Have the robot system working persons attend the training courses held by FANUC.

FANUC provides provides various training courses. courses. Contact our sales office for details.

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SAFETY PRECAUTIONS 

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(2) Even when the robot is stationary, it is possible that the robot is still in a ready to move state, and is waiting for a signal. In this state, the robot robot is regarded as still in motion. To ensure working person safety, provide the system with an alarm to indicate visually or aurally that the robot is in motion. (3) Install a safety fence with a gate so that no working person can enter the work area without passing through the gate. Install an interlocking device, a safety plug, and so forth in the safety gate so that the robot is stopped as the safety gate is opened.

The controller is designed to receive this interlocking signal of (Please the doorrefer switch. When the gateOF is opened and this signal received, receive d, the controller stops the robot to "STOP TYPE ROBOT" in SAFETY for detail of stop type). For connection, see Fig.1.2 (a) an and d Fig.1.2 (b). (4) Provide the peripheral peripheral devices with appropriate grounding grounding (Class A, Class B, Class C, and Class D). (5) Try to install the peripheral devices devices outside the work area. (6) Draw an outline on the floor, clearly indicating the range of the robot motion, including the tools tools such as a hand. (7) Install a mat switch or photoelectric photoelectric switch on the floor with an interlock to a visual or aural alarm that stops the robot when a working person enters the work area. (8) If necessary, install a safety lock so that no one except except the working person person in charge can turn on the  power of the robot.

The circuit breaker installed in the controller is designed to disable anyone from turning it on when it is locked with a padlock. (9) When adjusting each peripheral device independently, independently, be sure to turn of offf the power of the rob robot. ot.

RP1 Pulsecoder RI/RO,XHBK,XROT RM1 Motor power/brake

EARTH

Safety fence

Interlocking device and safety plug that are activated if the gate is opened.

Fig. 1.2 (a) Safety Safety fence and safety gate

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B-82614EN/02 

SAFETY PRECAUTIONS 

Dual chain Panel board  EAS1  EAS11

（Note） In case of R-30iA Terminals EAS1,EAS11,EAS2,EAS21 or FENCE1,FENCE2 are provided on the operation box or on the terminal block of the printed circuit board.

 EAS2 In case of R-30iA Mate  EAS21

Terminals EAS1,EAS11,EAS2,EAS21 are provided on the emergency stop board or connector panel. (in case of Open air type) Termianls FENCE1,FENCE2 are provided on the emergency stop board.

Single chain

Panel board

Refer to controller maintenance manual for details.

 FENCE1  FENCE2   Fig.1.2 (b) C Connect onnect ion d iagram for safety fenc e

1.2.1

Operator Safety

The operator is a person who operates operates the robot system. In this sense, a worker who operates the teach  pendant is also an operator. However, this section does not apply to teach pendant operators. (1) If you do not have to operate the robot, robot, turn off the power of the robot controller or press the EMERGENCY STOP button, and then proceed with necessary work. (2) Operate the robot system at a location outside of the safety fence (3) Install a safety fence with a safety gate to prevent any any worker other than the operator from entering the work area unexpectedly and to prevent the worker from entering a dangerous area. (4) Install an EMERGENCY STOP button within the operator’s reach.

The robot controller controller is designed designed to be connected to an an external EMERGENCY EMERGENCY STOP button. With this connection, the controller stops the robot operation (Please refer to "STOP TYPE OF ROBOT" in SAFETY for detail of stop type), when the external EMERGENCY STOP button is pressed. See the diagram diagram below below for connection. connection. Dual chain External stop button Panel board  EES1  EES11  EES2  EES21

Single chain External stop button

（Note） Connect EES1and EES11,EES2 and EES21or EMGIN1and EMGIN2. In case of R-30iA EES1,EES11,EES2,EES21 EES1,EES11,EES 2,EES21 or EMGIN1,EMGIN2 are on the panel board. In case of R-30iA Mate EES1,EES11,EES2,EES21 EES1,EES11,E ES2,EES21 are on the emergency stop board or connector panel (in case of Open air type),. EMGIN1,EMGIN2 are on the emergency stop board. Refer to the maintenance manual of the controller for details.

Panel board  EMGIN1  EMGIN2

  Fig.1.2.1 Connection diagram for external emergency stop button

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SAFETY PRECAUTIONS 

1.2.2

B-82614EN/02 

Safety of the Teach Pendant Operator

While teaching the robot, the operator must enter the work area of the robot. The operator must ensure the safety of the teach pendant operator especially. (1) Unless it is specifically necessary to enter the robot work area, carry carry out all tasks outside the area. (2) Before teaching the robot, check that the the robot and its peripheral peripheral devices are all in the normal operating condition. (3) If it is inevitable to enter the robot work area to teach the robot, check the locations, settings, and other conditions of the safety devices (such as the EMERGENCY STOP button, the DEADMAN switch on the teach pendant) before entering the area. (4) The programmer programmer must be extremely careful not to let anyone else enter the robot work work area. Our operator panel is provided with an emergency stop button and a key switch (mode switch) for selecting the automatic operation mode (AUTO) (AUTO) and the teach modes (T1 and T2). Before entering the inside of the safety fence for the purpose of teaching, set the switch to a teach mode, remove the key from the mode switch to prevent other people from changing the operation mode carelessly, then open the safety gate. If the safety gate is opened with the automatic operation mode set, the robot stops (Please refer to "STOP TYPE OF ROBOT" in SAFETY for detail of stop type). After the sw switch itch is set to a teach mode, the safety gate is disabled. The programmer shou should ld understand that the safety gate is disabled and is responsible for keeping other people from entering the inside of the safety fence. (In case of R-30i A  A Mate Controller standard specification, there there is no mode switch. The automatic operation mode and the teach mode is selected by teach pendant enable switch.) Our teach pendant is provided with a DEADMAN switch as well well as an emergency stop button. These button and switch function as follows: (1) Emergency stop bu button: tton: Causes an emergency stop (Please refer to "STOP TYPE OF ROBOT" in SAFETY for detail of stop type) when pressed. (2) DEADMAN switch: Functions differently depending on the mode switch setting status. (a) Automatic operation mode: T The he DEADMAN switch is disabled. (b) Teach mode: Servo power is tur turned ned off when the operator releases th the eD DEADMAN EADMAN switch or w when hen the operator presses the switch strongly. Note) The DEADMAN switch is provided to stop the robot when the operator releases the teach pendant or presses the pendant strongly strongly in case of eme emergency. rgency. The R-30i A/  A/ R-30i A  A Mate employs a 3-position DEADMAN switch, which allows the robot to operate when the 3-position DEADMAN switch is pressed to its intermediate point. When the operator releases the DEAD DEADMAN MAN switch or presses the switch switch strongly, the robot stops immediately.

The operator’s intention of starting teaching is determined by the controller through the dual operation of setting the teach pendant enable/disable switch to the enable position and pressing the DEADMAN switch. switch. The operator should make sure that the robot could operate in such conditions and be responsible in carrying out tasks safely. The teach pendant, operator panel, and peripheral peripheral device interface send each robot start signal. However the validity of each signal changes as follows depending on the mode switch and the DEADMAN switch of the operator panel, the teach pendant enable switch and the remote condition on the software. In case of R-30i A  A Con tr ol ler or CE or RIA sp eci ecifi fi cat catio io n o f R-30i A  A Mate Cont Co nt ro ll er Mode

 AUTO mode

Teach pend ant Teach enable switch On Off

Software remote condition

Teach Tea ch pendant

Operator panel

Peripheral device

Local Remote Local

Not allowed Not allowed Not allowed

Not allowed Not allowed Allowed to start

Not allowed Not allowed Not allowed

Remote

Not allowed

Not allowed

Allowed to start

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B-82614EN/02 

Mode

SAFETY PRECAUTIONS  Teach pend ant Teach enable switch On

T1, T2 mode

Off

Software remote condition

Teach Tea ch pendant

Operator panel

Peripheral device

Local Remote Local Remote

Allowed to start Allowed to start Not allowed Not allowed

Not allowed Not allowed Not allowed Not allowed

Not allowed Not allowed Not allowed Not allowed

In case of standard specification of R-30i A  A Mate Cont Co nt ro ll er Teach Tea ch pendant enable swi tch

Softw are remote cond iti on

Tea Teach ch pendant

Peripheral device

On Off

Ignored Local Remote

Allowed to start Not allowed Not allowed

Not allowed Not allowed Allowed to start

(5) (Only when R-30iA Controller or CE or RIA specification of R-30iA Mate controller is selected.) To start the system using the operator’s panel, make certain that nobody is the robot work area and that there are no abnormal conditions in the robot work area. (6) When a program program is completed, completed, be sure to carry out out a test run run according to the procedure below. (a) Run the program for for at least one operation cycle in the single step mode at low speed. (b) Run the program for for at least one operation cycle in the continuous operation mode at low speed. (c) Run the program for for one operation cycle in the continuous continuous operation mode mode at the intermediate speed and check that no abnormalities occur due to a delay in timing. (d) Run the program program for one operation cycle in the continuous operation mode at the normal operating speed and check that the system operates automatically without trouble. (e) After checking the completeness of the program through the test run above, execute it in the automatic operation mode. (7) While operating the system in the automatic operation mode, the teach pendant pendant operator should leave the robot work area.

1.2.3

Safety Sa fety of the Maintenance Enginee Engineerr

For the safety of maintenance engineer personnel, pay utmost attention to the following. (1) During operation, never enter the the robot robot work area. (2) Except when specifically necessary, turn off the power of the controller while carrying out maintenance. Lock the power switch, if necessary, so that no other person can turn it on. (3) If it becomes becomes necessary to enter the robot robot operation range range while the power is on, press the emergency emergency stop button on the operator panel, or the teach pendant before entering entering the range. The maintenance  personnel must indicate that maintenance work is in progress and be careful not to allow other people to operate the robot carelessly. (4) When disconnecting the pneumatic system, be sure to reduce the supply pressure. (5) Before the start of teaching, check that the robot and its peripheral peripheral devices are all in the normal operating condition. (6) Do not operate the robot in the automatic mode mode while anybody is in the robot work area. (7) When you maintain the robot alongside a wall or instrument, or when multiple workers are working nearby, make certain that their escape path is not obstructed. (8) When a tool is mounted on the robot, or when any moving device other than the robot is installed, such as belt conveyor, pay careful attention to its motion. (9) If necessary, have a worker worker who is familiar with the robot system stand beside the operator panel and observe the work being performed. If any danger arises, the worker should be ready to press the EMERGENCY STOP button at any time. (10) When replacing or reinstalling components, take care to prevent foreign matter from entering the system. s-7

 

 

SAFETY PRECAUTIONS 

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(11) When handling each unit or printed circuit board in the controller during inspection, turn off the circuit  breaker to protect against electric shock. If there are two cabinets, turn off the both circuit breaker. (12) When replacing parts, be sure to use those specified by FANUC. In particular, never use fuses fuses or other parts of non-specified non-specified ratings. They may cause a fire or result in damage to the components in the controller. (13) When restarting the robot system after completing maintenance work, make sure in advance that there is no person in the work area and that the robot and the peripheral devices are not abnormal.

1.3

SAFETY OF THE TOOLS AND A ND PERIPHERAL PERIPHERAL DEVICES DEVICES

1.3.1

Precautions Pre cautions in Progra Programming mming

(1) Use a limit switch or other other sensor to detect a dangerous dangerous condition and, if n necessary, ecessary, design the program to stop the robot when the sensor signal is received. (2) Design the program to stop the robot when an abnormal condition occurs occurs in any other robots or  peripheral devices, even though the robot itself is normal. (3) For a system in which the robot and its peripheral devices are in synchronou synchronouss motion, particular care must be taken in programming so that they do not interfere with each other. (4) Provide a suitable interface between the the robot and its peripheral devices so that the robot robot can detect the states of all devices in the system and can be stopped according to the states.

1.3.2

Precautions for Mechanism

(1) Keep the component component cells of of the robot robot system clean, and and operate the robot in an environment free of grease, water, and dust. (2) Employ a limit limit switch or mechanical stopper to limit the robot motion so that the robot or cable does not strike against its peripheral devices or tools. (3) Observe the following precautions precautions about the mechanical unit cables. When theses attentions are not not kept, unexpected troubles might occur.   Use mechanical unit cable that have required user interface.   Don’t add user cable or hose to inside of mechanical unit.   Please do not obstruct the movement of the mechanical unit cable when cables are added to outside of mechanical unit.   In the case of the model model that a cable is exposed, Please do not perform remodeling (Adding a •

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•

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 protective cover and fix an outside cable more) obstructing the behavior of the outcrop of the cable.   Please do not interfere with the other parts of mechanical unit when install equipments equipments in the robot. (4) The frequent power-off stop for the robot during operation causes the trouble of the robot. Please avoid avoid the system construction that power-off stop would be operated routinely. (Refer to bad case example.) Please execute power-off stop after reducing the speed of the robot and stopping it by hold stop or cycle stop when it is not urgent. (Please refer to "STOP TYPE OF ROBOT" in SAFETY for detail of stop type.)  type.)  (Bad case example)   Whenever poor product is generated, a line stops by emergency stop.   When alteration was necessary, safety switch is operated by opening safety fence and power-off stop is executed for the robot during operation.   An operator pushes the emergency stop button frequently, and a line stops. •

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•

•

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An area sensor or a mat switch connected connected to safety signal operate routinely and power-off stop is executed for the robot. (5) Robot stops urgently when collision detection alarm (SV050) etc. occurs. The frequent urgent stop by alarm causes the trouble of the robot, too. So remove the causes of the alarm. s-8

 

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SAFETY PRECAUTIONS 

1.4

SAFETY OF THE ROBOT ROB OT MECHANISM

1.4.1

Precaution Pre caution s in Ope Operation ration

(1) When operating the robot robot in the jog m mode, ode, set it at an appropriate speed so that the operator can manage the robot in any eventuality. (2) Before pressing the jog key, be sure you know in advance advance what motion motion the robot robot will perform in the  jog mode.

1.4.2

Precautions Pre cautions in Progra Programming mming

(1) When the work work areas of robots overlap, make certain that the motions of the robots do not interfere with each other. (2) Be sure to specify the predetermined work origin in a motion program for the robot and program the motion so that it starts from the origin and terminates at the origin. Make it possible for the operator to easily distinguish at a glance that the robot motion has terminated.

1.4.3

Precautions for Mechanisms

(1) Keep the work areas of the robot clean, and and operate the robot in an environment free of grease, water, and dust.

1.4.4

Procedure to mo ve a Procedure arm rm wit hout drive power in emerge emergency ncy or abnormall sit uations abnorma

For emergency or abnormal situations (e.g. persons trapped in or by the robot), brake release unit can be used to move the robot axes without drive power. Please refer to controller maintenance manual and mechanical unit operator’s manual for using method of  brake release unit and method of supporting robot. robot.

1.5

SAFETY OF THE END EFFECTOR

1.5.1

Precautions Pre cautions in Progra Programming mming

(1) To control the pneumatic, hydraulic and electric actuators, carefully consider the necessary time delay after issuing each control command up to actual motion and ensure safe control. (2) Provide the end effector with a limit switch, and control the robot robot system by monitoring monitoring the state of the end effector.

1.6

STOP TYPE OF ROBOT

The following three robot stop types exist:

Power-Off Stop Sto p (Categor (Categor y 0 fo llo wi wing ng IEC 60 6020 2044-1) 1) Servo power is turned off and the robot stops immediately. Servo power is turned off when the robot is moving, and the motion path of the deceleration is uncontrolled. The following processing is performed at Power-Off stop. An alarm is generated and servo power is turned off. The robot operation is stopped immediately. Execution of the program is paused. s-9

 

 

SAFETY PRECAUTIONS 

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Contr oll ed sto stop p (Ca (Categor tegor y 1 follo wing wi ng IEC 60 6020 2044-1) 1) The robot is decelerated until it stops, and servo power is turned off. The following processing is performed at Controlled stop. The alarm "SRVO-199 Controlled stop" occurs along with a decelerated stop. Execution of the  program is paused. An alarm is generated and servo power is turned off.

Hold (C (Category ategory 2 fol low ing IEC 60 6020 2044-1) 1)

The robot is decelerated until it stops, and servo power remains on. The following processing is performed at Hold. The robot operation is decelerated until it stops. Execution of the program is paused.

WARNING The stopping distance and stopping time of Controlled stop are longer than the stopping distance and stopping stopping time of Power-Off stop. A risk r isk assessment for the whole robot system, which takes into consideration the increased stopping distance and stopping time, is necessary when Controlled stop is used. When the E-Stop button is pressed or the FENCE is open, the stop type of robot is Power-Off stop or Controlled stop. The configuration of stop type for each situation is called stop pattern. The stop pattern is different according to the controller type or option configuration. There are the following 3 Stop patterns. E-Stop button

External E-Stop

FENCE o pe pen

SVOFF i n np p ut ut

Servo disconnect

 A

 AUTO T1 T2

P-Stop P-Stop P-Stop

P-Stop P-Stop P-Stop

C-Stop -

C-Stop C-Stop C-Stop

P-Stop P-Stop P-Stop

B

 AUTO T1 T2

P-Stop P-Stop P-Stop

P-Stop P P-Stop -Stop P-Stop

P-Stop -

P-Stop P-Stop P-Stop

P-Stop P-Stop P-Stop

C

 AUTO T1 T2

C-Stop P-Stop P-Stop

C-Stop P-S P-Stop top P-Stop

C-Stop -

C-Stop C-Stop C-Stop

C-Stop P-Stop P-Stop

Stop pattern

P-Stop: C-Stop: -:

Mode

Power-Off Controlled stop stop Not stop

The following table indicates the Stop pattern according to the controller type or option configuration. R-30i A  A

R-30i A  A Mate

Option

Standard (Single)

Standard (Dual)

RIA t y p e

CE t y p e

St an d ar d

RIA type

CE type

Standard Stop type set (Stop pattern C) (A05B-2500-J570)

B (*)

A

A

A

A (**)

A

A

N/A

N/A

C

C

N/A

C

C

(*) R-30i  A A standard (single) does not have servo disconnect. (**) R-30i  A A Mate Standard does not have servo disconnect, and the stop type of SVOFF input is Power-Off stop. The stop pattern of the controller is displayed in "Stop pattern" line in software version screen. Please refer "Software version" in operator's manual of controller for the detail of software version screen. s - 10

 

B-82614EN/02 

SAFETY PRECAUTIONS 

" Stop type set ((Stop Stop pattern C)" C)" opt ion "Stop type set (Stop pattern C)"(A05B-2500-J570) C)"(A05B-2500-J570) is an optional function. When this option is loaded, the stop type of the following alarms becomes Controlled stop but only in AUTO mode. In T1 or T2 mode, the stop type is Power-Off stop which is the normal operation of the system.  Alar m

Con di ti on

SRVO-001 Operator panel E-stop SRVO-002 Teach pendant E-stop SRVO-007 External emergency stops

Operator panel E-stop is pressed. Teach pendant E-stop is pressed. External emergency stop input (EES1-EES11, EES2-EES21) is open. (R-30i A  A controller)

SRVO-194 Servo disconnect

Servo disconnect input (SD4-SD41, SD5-SD51) is open. (R-30i A  A controller)

SRVO-218 Ext.E-stop/Servo Disconnect

External emergency stop input (EES1-EES11, EES2-EES21) is open. (R-30i A  A Mate controller)

SRVO-408 DCS SSO Ext Emergency Stop SRVO-409 DCS SSO Servo Disconnect

In D DCS CS Safe I/O connect fun function, ction, SS SSO[3] O[3] is OF OFF. F. In DCS Safe I/O connect function, SSO[4] is OFF.

Controlled stop is different from Power-Off stop as follows: In Controlled stop, the robot is stopped on the program path. This function is effective for a system where the robot can interfere with other devices if it deviates from the program path. In Controlled stop, physical impact is less than Power-Off stop. This function is effective for systems where the physical impact to the mechanical unit or EOAT (End Of Arm Tool) should be minimized. The stopping distance and stopping time of Controlled stop is longer longer than the stopping distance and stopping time of Power-Off stop, depending on the robot model and axis. Please refer the operator's manual of a particular robot model for the data of stopping distance and stopping time. This function is available only in CE or RIA type hardware. When this option is loaded, this function can not be disabled. The stop type of DCS Position and Speed Check functions is not affected by the loading of this option.

WARNING The stopping distance and stopping time of Controlled stop are longer than the stopping distance and stopping stopping time of Power-Off stop. A risk r isk assessment for the whole robot system, which takes into consideration the increased stopping distance and stopping time, is necessary when this option is loaded.

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TABLE OF CONTENTS 

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TABLE OF CONTENTS SAFETY .......................... ....................................... ........................... ........................... ........................... ........................... .......................s ..........s-1 -1 1

INTEGRATED PMC OVERVIEW .......................... ....................................... .......................... ..................... ........1 1

1.1 1.2 1.3 1.4 1.5

1.6 1.7 2

INTEGRATED PMC SPECIFICATIONS SPECIFICATIONS............ ......................... .......................... .......................... .................. ..... 1 PMC Progra Program m ........... ...................... ...................... ...................... ....................... ....................... ...................... ...................... .................. ....... 2 BASIC COMMANDS............ COMMANDS......................... .......................... .......................... ......................... ......................... ....................... .......... 3 Function Command ............. .......................... .......................... .......................... ......................... ......................... ....................... .......... 4 PMC ADDRESSES................ ADDRESSES............................. .......................... .......................... ......................... ......................... ..................... ........ 6 1.5.1 1.5.2 1.5.3 1.5.4 1.5.5 1.5.6 1.5.7 1.5.8 1.5.9

Symbols and Comments............................................................................... Comments ...........................................................................................7 ............7 External I/O Device............................................................. Device ..................................................................................................7 .....................................7 Internal Relay ...........................................................................................................9 ...........................................................................................................9 Nonvolatile Memory ..............................................................................................10 ..............................................................................................10 Data Table ................................................................... ..............................................................................................................11 ...........................................11 Interface between PMC Program and Robot Program ...........................................14 System Control by PMC Program (System Interface) ...........................................15 PMC Setting Parameters (K17-K19)......................................................................19 PMC System Area (R9000-R9117)........................................................................19

1.5.10

Internal Relay Assignment .....................................................................................20 .....................................................................................20

Standard PMC Program ............ ......................... .......................... .......................... ........................... ........................... ............. 21 Save/Load PMC Program and PMC Parameters................. Parameters.............................. ........................ ........... 21

SEQUENCE PROGRAM .......................... ....................................... .......................... .......................... ................... ...... 23 2.1 Execution Procedure of Sequence Program..... Program.................. .......................... .......................... ................. .... 23 2.2 Repe Repetitive titive Opera Operation tion ........... ...................... ....................... ....................... ...................... ...................... ....................... ................. ..... 24 2.3 Level 1 and Level 2.......... 2....................... ......................... ......................... .......................... .......................... ......................... ............ 24 2.4 PMC EXECUTION PROCESSING TIME ............ ......................... ........................... ........................... ............. 25 2.5 Update Timing of Signals......... Signals...................... .......................... .......................... .......................... .......................... ................ ... 25 2.6 INTER INTERLOCK LOCKING................. ING............................ ....................... ....................... ...................... ...................... ....................... ................. ..... 26 2.7 Sequence Program Structuring................ Structuring............................. ......................... ......................... .......................... ............... 27 2.7.1

Examples of Structured Programming ...................................................................27 ...................................................................27 2.7.1.1 2.7.1.2 2.7.1.3

2.7.2

Subprogramming and Nesting ................................................................................30 ................................................................................30 2.7.2.1 2.7.2.2 2.7.2.3

2.8

Function ............................................................................................................. ............................................................ ................................................. 30 Execution Method...................................... Method.............................................................................................. ........................................................ 31 Creating a Program...... Program...................................................................... ...................................................................................... ...................... 32

JMP Instructions with Label Specification.. Specification............... .......................... .......................... ........................ ........... 34 2.8.1 2.8.2

3

Implementation Techniques....................................... Techniques............................................................................... ........................................ 27 Applications...... Applications...................................................................... ................................................................................................. ................................. 28 Specifications......................................................... Specifications..................................................................................................... ............................................ 30

Specifications .........................................................................................................34 .........................................................................................................34 Restrictions.............................................................................................................37

PROGRAMMING WITH FAPT LA DDER-II ......................... ..................................... .................. ...... 43 3.1 Connection Between Robot Controller And Fapt Ladder-II Ladder-II.............. .......................... ............ 43 3.2 Creating a New PMC Program ........... ........................ .......................... .......................... .......................... .................. ..... 45 3.3 Loading the Standard PMC Program Program............. ........................... ........................... .......................... ................... ...... 47

3.4 3.5 3.6

Editti Editting ng a PMC Progr Program am ........... ...................... ...................... ...................... ...................... ...................... ...................... ............. 49 Comp Compiling iling a PMC Progra Program m ........... ...................... ...................... ...................... ...................... ...................... ................... ........ 51 Trans Transfer fer PMC progr program am ........... ...................... ...................... ...................... ...................... ...................... ....................... .............. .. 52 c-1

 

TABLE OF CONTENTS  3.7 3.8 3.9 3.10 3.11

4

Check PMC Program (On-line Monitor) ............ ......................... .......................... .......................... ................. .... 54 Run/S Run/Stop top PMC.............. PMC......................... ...................... ...................... ...................... ....................... ....................... ...................... ............. 57 Writing PMC Program to ROM ............. .......................... .......................... .......................... .......................... ................ ... 58 Modifying the PMC Program in Robot ........... ......................... ........................... .......................... ................... ...... 59 Save/Load PMC Program and PMC Parameters................. Parameters.............................. ........................ ........... 61 3.11.1

Saving LADDER.PMC Using FAPT LADDER-II................................................61 LADDER-II ................................................61

3.11.2 3.11.3 3.11.4

Loading LADDER.PMC Using FAPT LADDER-II..............................................63 Saving PARAM.PMC Using FAPT LADDER-II..................................................64 LADDER-II ..................................................64 Loading PARAM.PMC by FAPT LADDER-II .....................................................65

FANUC LA DDER-III DDER-III fo r Robot Rob ot PROGRAMMING PROGRAMMING.... ........ ........ ........ ........ ........ ........ ....... ...67 67 4.1 CONNECTING FANUC LADDER-III for Robot TO ROBOT CONTROLLER CONTR OLLER ............ ....................... ...................... ...................... ....................... ....................... ...................... ....................... .............. 68 4.1.1 4.1.2

4.2 4.3 4.4 4.5 4.6 4.7 4.8 4.9 4.10 4.11

Exporting LADDER.PMC using FANUC LADDER-III for Robot ......................88 Importing LADDER.PMC using FANUC LADDER-III for Robot ......................90 Loading PARAM.PMC using FANUC LADDER-III for Robot ...........................92 Storing PARAM.PMC by FANUC LADDER-III for Robot .................................96

TEACH PENDANT OPERATION ............. .......................... .......................... .......................... ................. .... 100 5.1 PMC Menus................ Menus............................ ....................... ...................... ....................... ....................... ...................... ...................... ...........100 100 5.1.1 5.1.2 5.1.3 5.1.4 5.1.5 5.1.6 5.1.7 5.1.8 5.1.9 5.1.10 5.1.11 5.1.12 5.1.13

5.2

Byte Menu ............................................................. ............................................................................................................101 ...............................................101 Bit Menu............................................................................................................. Menu...............................................................................................................102 ..102 Timer Menu............................................................................. Menu ..........................................................................................................103 .............................103 Counter Menu.......................................................................................................104 Data Table Control Data Menu ............................................................. ............................................................................105 ...............105 Data Table Menu ..................................................................................................107 ..................................................................................................107 Parameters Menu ..................................................................................................108 ..................................................................................................108 Status Menu............................................................... Menu ..........................................................................................................109 ...........................................109 Title Menu ....................................................... ............................................................................................................109 .....................................................109 Search ....................................................................... ...................................................................................................................110 ............................................110 Run/Stop PMC .............................................................................. .....................................................................................................111 .......................111 Save STDLDR.PMC ............................................................................................112 ............................................................................................112 Save LADDER.PMC and PARAM.PMC ............................................................112

FILE MENU OPER OPERATION ATIONS S ........... ...................... ...................... ...................... ...................... ...................... ................ ..... 113 5.2.1 5.2.2

6

RS-232C Connection..............................................................................................68 Connection..............................................................................................68 Ethernet Connection ...............................................................................................70 ...............................................................................................70

CREATING PMC PROGRAM...... PROGRAM................... .......................... .......................... ........................... ......................... ........... 72 IMPORTING STANDARD PMC PROGRAM .............. ........................... ........................... .................... ...... 73 EDITT EDITTING ING A PMC PROGR PROGRAM AM .......... ...................... ....................... ...................... ....................... ....................... ............. 75 COMPILING A PMC PROGRAM...... PROGRAM................... .......................... ........................... ........................... ................... ...... 76 TRAN TRANSFER SFERRING RING PMC PROGR PROGRAM AM .......... ..................... ...................... ...................... ...................... ................. ...... 77 PMC PROGRAM MONITORING (ONLINE MONITOR) .............. ............................. ................. 81 RUNNING OR STOPPING PMC PROGRAM...... PROGRAM................... ........................... ........................... ............. 83 Writin Writing g Pmc Progr Program am to F-rom .......... ..................... ...................... ...................... ...................... ....................... .............. .. 83 MODIFYING THE PMC PROGRAM IN THE ROBOT CONTROLLER ........ 85 STORE/LOAD PMC PROGRAM AND PARAMETERS ............ ......................... ................... ...... 88 4.11.1 4.11.2 4.11.3 4.11.4

5

B-82614EN/02

Save LADDER.PMC, PARAM.PMC .......................................................... ..................................................................115 ........115 Load LADDER.PMC, PARAM.PMC..................................................................116

BA SIC COMMAND REFERENCE ........................ ..................................... .......................... ................. .... 119 6.1 RD .......... ...................... ....................... ...................... ...................... ....................... ....................... ...................... ...................... .................... ......... 119 c-2

 

TABLE OF CONTENTS 

B-82614EN/02 

7

6.2 6.3 6.4 6.5 6.6 6.7

RD. NOT.................... NOT............................... ...................... ....................... ....................... ...................... ....................... ....................... ............. 120 WRT ........... ...................... ....................... ....................... ...................... ...................... ....................... ....................... ...................... ................ ..... 121 WRT. NOT NOT.......... ..................... ...................... ...................... ...................... ...................... ...................... ...................... ..................... ..........122 122 AND .......... ..................... ....................... ....................... ...................... ...................... ....................... ....................... ...................... .................. ....... 122 AND. NOT ............. ........................... ........................... .......................... .......................... .......................... .......................... .................. ..... 123 OR .......... ...................... ....................... ...................... ...................... ....................... ....................... ...................... ...................... .................... ......... 123

6.8 6.9 6.10 6.11 6.12 6.13 6.14

OR. NOT......... NOT.................... ...................... ...................... ....................... ....................... ...................... ....................... ....................... ............. 123 RD. STK ........... ...................... ...................... ...................... ....................... ....................... ...................... ...................... ...................... ...........123 123 RD. NOT. STK STK.......... ..................... ...................... ...................... ...................... ...................... ...................... ....................... ............... ... 124 AND. STK ........... ...................... ....................... ....................... ...................... ...................... ...................... ...................... .................... ......... 125 OR. STK ........... ...................... ...................... ...................... ....................... ....................... ...................... ...................... ...................... ...........125 125 SET....... SET................... ....................... ...................... ...................... ....................... ....................... ...................... ....................... ...................... ..........126 126 RST .......... ..................... ....................... ....................... ...................... ...................... ....................... ....................... ...................... .................. ....... 127

FUNCTION COMMAND REFERENCE ......................... ..................................... ...................... ..........128 128 7.1 ADD (Addi (Addition).............. tion)......................... ...................... ...................... ...................... ....................... ....................... ..................... ..........128 128 7.1.1 7.1.2 7.1.3 7.1.4 7.1.5 7.1.6 7.1.7 7.1.8

7.2

ADDB (Bina (Binary ry Addit Addition) ion) ........... ...................... ...................... ....................... ....................... ...................... ..................... ..........129 129 7.2.1 7.2.2 7.2.3 7.2.4 7.2.5 7.2.6

7.3

Function................................................................................................................132 Format ..................................................................................................................132 ..................................................................................................................132 Control Conditions ...............................................................................................132 ...............................................................................................132 Parameters ............................................................................................................132 ............................................................................................................132

CALL CALLU U (Unco (Unconditi nditional onal Subp Subprogra rogram m Call) .......... ..................... ...................... ...................... .................. ....... 133 7.5.1 7.5.2 7.5.3

7.6

Function................................................................................................................131 Format ..................................................................................................................131 ..................................................................................................................131 Control Conditions ...............................................................................................131 ...............................................................................................131 Parameters ............................................................................................................131 ............................................................................................................131 Operation..............................................................................................................131

CALL (Conditional Subprogram Call)..... Call).................. ........................... ........................... ......................... ............ 132 7.4.1 7.4.2 7.4.3 7.4.4

7.5

Function................................................................................................................129 Format ..................................................................................................................129 ..................................................................................................................129 Control Conditions ...............................................................................................129 ...............................................................................................129 Parameters ............................................................................................................130 ............................................................................................................130 Error Output (W1) ................................................................................................130 ................................................................................................130 Operation Output Register (R9000) ................................................................. .....................................................................130 ....130

LOGICAL AND............. AND.......................... ........................... ........................... .......................... .......................... ......................... ............ 131 7.3.1 7.3.2 7.3.3 7.3.4 7.3.5

7.4

Function................................................................................................................128 Format ..................................................................................................................128 ..................................................................................................................128 Control Conditions ...............................................................................................128 ...............................................................................................128 Data Format of Addend ........................................................................................129 ........................................................................................129 Summand Address................................................................................................129 Addend (Address).................................................................................................129 (Address).................................................................................................129 Sum Output Address ............................................................................................129 ............................................................................................129 Error Output .........................................................................................................129 .........................................................................................................129

Function................................................................................................................133 Format ..................................................................................................................133 ..................................................................................................................133 Parameters ............................................................................................................133 ............................................................................................................133

COD (Code Conversion)........... Conversion)........................ .......................... .......................... .......................... .......................... ............. 133 7.6.1

Function................................................................................................................133

7.6.2 7.6.3 7.6.4

Format ..................................................................................................................134 ..................................................................................................................134 Control Conditions ...............................................................................................135 ...............................................................................................135 Size of Table Data ................................................................................................135 ................................................................................................135 c-3

 

TABLE OF CONTENTS  7.6.5 7.6.6 7.6.7 7.6.8

7.7

7.8

7.10

7.7.1 7.7.2

Function................................................................................................................136 Format ..................................................................................................................136 ..................................................................................................................136

7.7.3 7.7.4 7.7.5 7.7.6

Control Conditions ...............................................................................................137 ...............................................................................................137 Parameters ............................................................................................................137 ............................................................................................................137 Conversion Data Table .........................................................................................137 .........................................................................................137 Error Output (W1) ................................................................................................137 ................................................................................................137

COIN (Coincidence Check) ............. .......................... .......................... .......................... .......................... ................... ...... 137

7.9.1

Function................................................................................................................139

7.9.2 7.9.3 7.9.4 7.9.5

Format ..................................................................................................................139 ................................................................ ..................................................139 Control Conditions ...............................................................................................139 ........................................................................ .......................139 Parameters ............................................................................................................140 ............................................................................................................140 Caution .................................................................................................................140 .................................................................................................................140

COME (Common Line Control End) ............ .......................... ........................... .......................... ................... ...... 141

Function................................................................................................................143 Format ..................................................................................................................143 ..................................................................................................................143 Control Conditions ...............................................................................................143 ...............................................................................................143 Parameters ............................................................................................................143 ............................................................................................................143 Operation Output Register (R9000) ................................................................ .....................................................................144 .....144

CTR (Coun (Counter) ter) ........... ...................... ...................... ...................... ...................... ....................... ....................... ...................... ............. .. 144 7.13.1 7.13.2 7.13.3 7.13.4 7.13.5 7.13.6

7.14

Function................................................................................................................141 Format ..................................................................................................................141 ..................................................................................................................141 Control Conditions ...............................................................................................142 ...............................................................................................142 Input Data Format ................................................................................................142 ................................................................................................142 Parameter..............................................................................................................142 Comparison Data Address.............................................................. Address ....................................................................................142 ......................142 Comparison Result Output ...................................................................................143 ...................................................................................143

COMPB (Comp (Compariso arison n Betwe Between en Binar Binary y Data) .......... ..................... ...................... ...................... ............. 143 7.12.1 7.12.2 7.12.3 7.12.4 7.12.5

7.13

Function................................................................................................................141 Format ..................................................................................................................141 ..................................................................................................................141

COMP (Comp (Compariso arison) n) .......... ..................... ...................... ...................... ...................... ...................... ...................... ................ ..... 141 7.11.1 7.11.2 7.11.3 7.11.4 7.11.5 7.11.6 7.11.7

7.12

Function................................................................................................................137 Format ..................................................................................................................137 ..................................................................................................................137 Control Conditions ...............................................................................................138 ...............................................................................................138 Input Data Format ................................................................................................138 ................................................................................................138 Input Data .............................................................................................................138 .............................................................................................................138 Comparison Data Address............................................................... Address ....................................................................................138 .....................138 Comparison Result Output ...................................................................................139 ...................................................................................139

COM (Comm (Common on Line Contr Control) ol) ........... ...................... ...................... ...................... ....................... ....................... ............. 139

7.10.1 7.10.2

7.11

Conversion Input Data Address........................................................... Address............................................................................135 .................135 Convert Data Output Address ........................................................ ..............................................................................135 ......................135 Error Output (W1) ................................................................................................135 ................................................................................................135 Conversion Data Table .........................................................................................136 .........................................................................................136

CODB (Bina (Binary ry Code Conv Conversio ersion) n) .......... ..................... ...................... ...................... ...................... ................... ........ 136

7.8.1 7.8.2 7.8.3 7.8.4 7.8.5 7.8.6 7.8.7

7.9

B-82614EN/02

Function................................................................................................................144 Format ..................................................................................................................145 ..................................................................................................................145 Control Conditions ...............................................................................................145 ...............................................................................................145 Counter Number ...................................................................................................146 ...................................................................................................146 Countup Output (W1)...........................................................................................146 Examples of Using the Counter............................................................................146 Counter............................................................................146

CTRC (Counter)............ (Counter)......................... .......................... .......................... .......................... ........................... ......................... ........... 148 7.14.1 7.14.2 7.14.3

Functions ............................................................................ ..............................................................................................................148 ..................................148 Format ..................................................................................................................149 ..................................................................................................................149 Control Conditions ...............................................................................................149 ...............................................................................................149 c-4

 

TABLE OF CONTENTS 

B-82614EN/02 

7.14.4 7.14.5 7.14.6

7.15

7.16

7.17

7.18

7.19

DCNV (Data Conversion) ............. .......................... .......................... .......................... .......................... ...................... ......... 150 7.15.1 7.15.2 7.15.3

Function................................................................................................................150 Format ..................................................................................................................150 ..................................................................................................................150 Control Conditions ...............................................................................................151 ...............................................................................................151

7.15.4

Error Output (W1) ................................................................................................151 ................................................................................................151

7.16.1 7.16.2 7.16.3 7.16.4 7.16.5 7.16.6

Function................................................................................................................152 Format ..................................................................................................................152 ..................................................................................................................152 Control Conditions ...............................................................................................152 ...............................................................................................152 Parameters ............................................................................................................152 ............................................................................................................152 Error Output (W1) ................................................................................................153 ................................................................................................153 Operation Output Register (R9000) ................................................................ .....................................................................153 .....153

DCNVB (Extended Data Conversion) ............. ........................... ........................... .......................... ................ ... 152

DEC (Decode) ............ ......................... .......................... .......................... .......................... .......................... .......................... ............... 153 7.17.1 7.17.2 7.17.3 7.17.4 7.17.5

Function................................................................................................................153 Format ..................................................................................................................153 ..................................................................................................................153 Control Condition.................................................................................................154 Code Signal Address ............................................................................................154 ............................................................................................154 Decode Specification............................................................................................154

7.17.6

W1 (Decoding Result Output)..............................................................................154

7.18.1 7.18.2 7.18.3 7.18.4

Function (Fig.7.18.2 (a), (b))................................................................................155 Format ..................................................................................................................155 ..................................................................................................................155 Control Conditions ...............................................................................................156 ...............................................................................................156 Parameters ............................................................................................................156 ............................................................................................................156

DECB (Bina (Binary ry Deco Decoding) ding) ........... ...................... ...................... ...................... ....................... ....................... ................... ........155 155

DIFD (Falling Edge Detection) ............. .......................... .......................... .......................... .......................... ............... .. 156 7.19.1 7.19.2 7.19.3 7.19.4 7.19.5

7.20

7.21

Function................................................................................................................156 Format ..................................................................................................................156 ..................................................................................................................156 Control Conditions ...............................................................................................156 ...............................................................................................156 Parameters ............................................................................................................156 ............................................................................................................156 Operation..............................................................................................................157

DIFU (Rising Edge Detection).............. Detection)........................... .......................... .......................... .......................... ............... .. 157 7.20.1

Function................................................................................................................157

7.20.2 7.20.3 7.20.4 7.20.5

Format ..................................................................................................................157 ............................................................... ...................................................157 Control Conditions ...............................................................................................157 ....................................................................... ........................157 Parameters ............................................................................................................157 ............................................................................................................157 Operation..............................................................................................................158

DIV (Divis (Division)............. ion)........................ ...................... ....................... ....................... ...................... ...................... ....................... .............. 158 7.21.1 7.21.2 7.21.3 7.21.4 7.21.5 7.21.6 7.21.7 7.21.8

7.22

Counter Preset Value Address....................................................... Address ..............................................................................150 .......................150 Counter Register Address.....................................................................................150 Count-up Output (W1) ........................................................................................ .........................................................................................150 .150

Function................................................................................................................158 Format ..................................................................................................................158 ..................................................................................................................158 Control Conditions ...............................................................................................159 ...............................................................................................159 Divisor Data Format Designation.........................................................................159 Dividend Address .................................................................................................159 .................................................................................................159 Divisor (Address) .................................................................................................159 .................................................................................................159 Quotient Output Address....................................................... Address ......................................................................................159 ...............................159 Error Output .........................................................................................................159 .........................................................................................................159

DIVB (Bina (Binary ry Divis Division) ion) ........... ....................... ....................... ...................... ...................... ...................... ...................... ............. 159 7.22.1 7.22.2 7.22.3 7.22.4

Function................................................................................................................159 Format ..................................................................................................................160 ..................................................................................................................160 Control Conditions ...............................................................................................160 ...............................................................................................160 Parameters ............................................................................................................160 ............................................................................................................160 c-5

 

TABLE OF CONTENTS  7.22.5 7.22.6 7.22.7

7.23

7.24

7.23.1 7.23.2 7.23.3

Function................................................................................................................161 Format ..................................................................................................................161 ..................................................................................................................161 Control Conditions ...............................................................................................162 ...............................................................................................162

7.23.4 7.23.5 7.23.6 7.23.7 7.23.8

Number of Data of the Data Table ......................................................... .......................................................................162 ..............162 Data Table Head Address............................................................ Address .....................................................................................163 .........................163 Search Data Address................................................................... Address.............................................................................................163 ..........................163 Search Result Output Address..............................................................................163 Search Data Presence/Absence Output.................................................................163 Output.................................................................163

DSCHB (Binary Data Search)..... Search).................. .......................... .......................... .......................... ........................ ........... 163

7.27

7.30

Function................................................................................................................165 Format ..................................................................................................................166 ..................................................................................................................166

EOR (Exc (Exclusiv lusive e or) .......... ...................... ....................... ...................... ...................... ...................... ...................... .................. ....... 166 Function................................................................................................................166 Format ..................................................................................................................166 ..................................................................................................................166 Control Conditions ...............................................................................................166 ...............................................................................................166 Parameters ............................................................................................................166 ............................................................................................................166 Operation..............................................................................................................167

JMP (Jump (Jump)) .......... ..................... ...................... ...................... ...................... ...................... ....................... ....................... .................. ....... 167 7.29.1

Function................................................................................................................167

7.29.2 7.29.3 7.29.4 7.29.5

Format ..................................................................................................................168 ..................................................................................................................168 Control Conditions ...............................................................................................168 ...............................................................................................168 Parameters ............................................................................................................168 ............................................................................................................168 Caution .................................................................................................................168 .................................................................................................................168

JMPB (Labe (Labell Jump) ........... ...................... ...................... ....................... ....................... ...................... ...................... ................ ..... 169 7.30.1 7.30.2 7.30.3 7.30.4

7.31

Function................................................................................................................165 Format ..................................................................................................................165 ..................................................................................................................165

END2 (2nd Level sequence program End) .............. ........................... .......................... ..................... ........ 165

7.28.1 7.28.2 7.28.3 7.28.4 7.28.5

7.29

Function................................................................................................................165 Format ..................................................................................................................165 ..................................................................................................................165

END1 (1st Level Sequence Program End) ............ ......................... .......................... ....................... .......... 165

7.26.1 7.26.2 7.27.1 7.27.2

7.28

Function................................................................................................................163 Format ..................................................................................................................164 ..................................................................................................................164 Control Conditions ...............................................................................................164 ...............................................................................................164 Parameter..............................................................................................................164 Search Result (W1) .................................................................. ..............................................................................................164 ............................164

END (End of a Ladder Program).............. Program)........................... .......................... .......................... ........................ ........... 165 7.25.1 7.25.2

7.26

Error Output (W1) ................................................................................................160 ................................................................................................160 Operation Output Register (R9000) ................................................................ .....................................................................161 .....161 Remainder Output Address ..................................................................................161 ..................................................................................161

DSCH (Data Sear Search) ch) .......... ..................... ...................... ...................... ...................... ...................... ...................... ................ ..... 161

7.24.1 7.24.2 7.24.3 7.24.4 7.24.5

7.25

B-82614EN/02

Function................................................................................................................169 Format ..................................................................................................................170 ..................................................................................................................170 Control Conditions (ACT)....................................................................................170 (ACT)....................................................................................170 Parameters ............................................................................................................170 ............................................................................................................170

JMPC (Labe (Labell Jump) Jump)........... ...................... ....................... ....................... ...................... ...................... ...................... ................ ..... 170 7.31.1 7.31.2 7.31.3 7.31.4

Function................................................................................................................170 Format ..................................................................................................................171 ..................................................................................................................171 Control Conditions (ACT)....................................................................................171 (ACT)....................................................................................171 Parameters ............................................................................................................171 ............................................................................................................171

7.32

JMPE (Jump End)............ End)......................... ......................... ......................... .......................... .......................... ....................... .......... 171 7.32.1 Function................................................................................................................171 7.32.2 Format ..................................................................................................................171 ..................................................................................................................171

7.33

LBL (Label (Label)) ........... ...................... ...................... ...................... ...................... ...................... ...................... ...................... ................... ........171 171 c-6

 

TABLE OF CONTENTS 

B-82614EN/02 

7.33.1 7.33.2 7.33.3

7.34

MOVB (Tran (Transfer sfer of 1 Byte Byte)) .......... ..................... ...................... ...................... ...................... ...................... .................. ....... 172 7.34.1 7.34.2 7.34.3

7.35

7.36

7.38

7.39

7.40

7.41

7.35.1 7.35.2 7.35.3 7.35.4

Function................................................................................................................173 Format ..................................................................................................................173 ..................................................................................................................173 Execution Command ............................................................................................174 ............................................................................................174 Example of Using the MOVE Instruction ............................................................174

MOVN (Transfer of an Arbitrary Number of Bytes) ............ .......................... ........................ .......... 174 Function................................................................................................................174 Format ..................................................................................................................175 ..................................................................................................................175 Control Conditions ...............................................................................................175 ...............................................................................................175 Parameters ............................................................................................................175 ............................................................................................................175

MOVOR (Data Transfer After Logical Sum)....... Sum).................... ........................... ........................... ............. 175 7.37.1 7.37.2 7.37.3

Function................................................................................................................175 Format ..................................................................................................................175 ..................................................................................................................175 Control Conditions ...............................................................................................176 ...............................................................................................176

7.37.4

Parameters ............................................................................................................176 ............................................................................................................176

7.38.1 7.38.2 7.38.3

Function................................................................................................................176 Format ..................................................................................................................176 ..................................................................................................................176 Control Conditions ...............................................................................................176 ...............................................................................................176

MOVW (Transfer of 2 Bytes) ............ ......................... .......................... .......................... .......................... .................. ..... 176

MUL (Multi (Multiplica plication) tion).......... ..................... ...................... ...................... ...................... ...................... ...................... .................. ....... 177 7.39.1 7.39.2 7.39.3 7.39.4 7.39.5 7.39.6 7.39.7 7.39.8

Function................................................................................................................177 Format ..................................................................................................................177 ..................................................................................................................177 Control Conditions ...............................................................................................177 ...............................................................................................177 Data Format of Multiplier ....................................................................................178 ....................................................................................178 Multiplicand Address ...........................................................................................178 ...........................................................................................178 Multiplier (Address) .............................................................................................178 .............................................................................................178 Product Output Address .............................................................. .......................................................................................178 .........................178 Error Output .........................................................................................................178 .........................................................................................................178

MULB 7.40.1 7.40.2 7.40.3 7.40.4 7.40.5 7.40.6

(Binary Multiplication)................ Multiplication)............................. .......................... .......................... ......................... ............... ... 178 Function................................................................................................................178 Format ..................................................................................................................178 ..................................................................................................................178 Control Conditions ...............................................................................................178 ...............................................................................................178 Parameters ............................................................................................................179 ............................................................................................................179 Error Output (W1) ................................................................................................179 ................................................................................................179 Operation Output Register (R9000) ................................................................ .....................................................................179 .....179

NOT (Log (Logical ical Not)............... Not).......................... ....................... ....................... ...................... ...................... ....................... ............... ... 179 7.41.1 7.41.2 7.41.3 7.41.4 7.41.5

7.42

Function................................................................................................................172 Format ..................................................................................................................172 ..................................................................................................................172 Control Conditions ...............................................................................................173 ...............................................................................................173

MOVE (Logical Product Transfer)... Transfer)................ .......................... .......................... ........................... .................... ...... 173

7.36.1 7.36.2 7.36.3 7.36.4

7.37

Function................................................................................................................171 Format ..................................................................................................................172 ..................................................................................................................172 Parameters ............................................................................................................172 ............................................................................................................172

Function................................................................................................................179 Format ..................................................................................................................180 ..................................................................................................................180 Control Conditions ...............................................................................................180 ...............................................................................................180 Parameters ............................................................................................................180 ............................................................................................................180 Operation..............................................................................................................180

NUME (Definition of Constant)............... Constant)............................ .......................... .......................... .......................... ............. 181 7.42.1 7.42.2 7.42.3 7.42.4

Function................................................................................................................181 Format ..................................................................................................................181 ..................................................................................................................181 Control Conditions ...............................................................................................181 ...............................................................................................181 Constant................................................................................................................181 c-7

 

TABLE OF CONTENTS  7.42.5

7.43

7.47

7.46.1 7.46.2

Function................................................................................................................185 Format ..................................................................................................................186 ..................................................................................................................186

7.46.3 7.46.4 7.46.5 7.46.6 7.46.7 7.46.8

Control Conditions ...............................................................................................187 ...............................................................................................187 Rotor Indexing Number.................................................................... Number........................................................................................187 ....................187 Current Position Address......................................................................................187 Goal Position Address ..........................................................................................187 ..........................................................................................187 Operation Result Output Address.........................................................................187 Rotating Direction Output (W1)...........................................................................187

ROTB (Binary Rotation Control) ............. .......................... .......................... .......................... ......................... ............ 188

Function................................................................................................................192 Format ..................................................................................................................192 ..................................................................................................................192 Parameters ............................................................................................................193 ............................................................................................................193

SPE (End of a Subp Subprogra rogram) m) .......... ..................... ...................... ...................... ...................... ...................... ................ ..... 193 7.50.1 7.50.2

7.51

Function................................................................................................................191 Format ..................................................................................................................191 ..................................................................................................................191 Control Conditions ...............................................................................................191 ...............................................................................................191 Parameters ............................................................................................................192 ............................................................................................................192 W1 ........................................................................................................................192 ........................................................................................................................192

SP (Subp (Subprogram rogram).................... )............................... ...................... ...................... ...................... ...................... ....................... ............192 192 7.49.1 7.49.2 7.49.3

7.50

Function................................................................................................................188 Format ..................................................................................................................188 ..................................................................................................................188 Control Conditions ...............................................................................................189 ...............................................................................................189 Parameters ............................................................................................................189 ............................................................................................................189 Output for Rotational Direction (W1) ..................................................................189 ..................................................................189 Example of Using the ROTB Instruction .............................................................189

SFT (Shif (Shiftt Regis Register) ter) .......... ..................... ...................... ...................... ...................... ...................... ...................... .................. ....... 191 7.48.1 7.48.2 7.48.3 7.48.4 7.48.5

7.49

Function................................................................................................................184 Format ..................................................................................................................184 ..................................................................................................................184 Control Conditions ...............................................................................................184 ...............................................................................................184 Error Output (W1) ................................................................................................185 ................................................................................................185 Example of Using the PARI Instruction...............................................................185

ROT (Rotation Control) Control)............ ........................ ......................... .......................... .......................... .......................... ............... .. 185

7.47.1 7.47.2 7.47.3 7.47.4 7.47.5 7.47.6

7.48

Function................................................................................................................182 Format ..................................................................................................................183 ..................................................................................................................183 Control Conditions ...............................................................................................183 ...............................................................................................183 Parameters ............................................................................................................183 ............................................................................................................183 Operation..............................................................................................................183

PARI (Parity Check)............. Check).......................... .......................... ........................... ........................... .......................... ................. .... 184 7.45.1 7.45.2 7.45.3 7.45.4 7.45.5

7.46

Function................................................................................................................182 Format ..................................................................................................................182 ..................................................................................................................182 Control Conditions ...............................................................................................182 ...............................................................................................182 Parameters ............................................................................................................182 ............................................................................................................182

Logic Logical al OR OR........... ....................... ....................... ...................... ...................... ....................... ....................... ...................... .................. ....... 182 7.44.1 7.44.2 7.44.3 7.44.4 7.44.5

7.45

Constant Output Address......................................................................................181

NUMEB (Defin (Definition ition of Binar Binary y Cons Constants) tants) ........... ...................... ...................... ...................... .................. ....... 182 7.43.1 7.43.2 7.43.3 7.43.4

7.44

B-82614EN/02

Function................................................................................................................193 Format ..................................................................................................................193 ..................................................................................................................193

SUB (Subt (Subtracti raction)................. on)............................ ...................... ....................... ....................... ...................... ....................... .............. 193 7.51.1 7.51.2 7.51.3 7.51.4 7.51.5

Function................................................................................................................193 Format ..................................................................................................................193 ..................................................................................................................193 Control Conditions ...............................................................................................194 ...............................................................................................194 Reset .....................................................................................................................194 .....................................................................................................................194 Execution Command ............................................................................................194 ............................................................................................194 c-8

 

TABLE OF CONTENTS 

B-82614EN/02 

7.51.6 7.51.7 7.51.8 7.51.9 7.51.10

7.52

7.53

SUBB (Bina (Binary ry Subtr Subtractio action) n) ........... ....................... ....................... ...................... ...................... ....................... ................ .... 195 7.52.1

Function................................................................................................................195

7.52.2 7.52.3 7.52.4 7.52.5 7.52.6

Format ..................................................................................................................195 ..................................................................................................................195 Control Conditions ...............................................................................................195 ...............................................................................................195 Parameters ............................................................................................................195 ............................................................................................................195 Error Output (W1) ................................................................................................196 ................................................................................................196 Operation Output Register (R9000) ................................................................ .....................................................................196 .....196

TMR (Time (Timer) r) .......... ..................... ....................... ....................... ...................... ...................... ...................... ...................... ................. ...... 196 7.53.1 7.53.2 7.53.3 7.53.4 7.53.5 7.53.6 7.53.7

7.54

Function................................................................................................................201 Format ..................................................................................................................201 ..................................................................................................................201 Control Conditions ...............................................................................................202 ...............................................................................................202 Number of Data of the Data Table ......................................................... .......................................................................203 ..............203 Data Table Head Address............................................................ Address .....................................................................................203 .........................203 Address Storing Input/Output Data ............................................................... ......................................................................203 .......203 Address Storing the Table Internal Number.........................................................203 Error Output .........................................................................................................203 .........................................................................................................203

XMOVB (Binary Index Modifier Data Transfer) Transfer)............ ......................... .......................... ................. .... 203 7.57.1 7.57.2 7.57.3 7.57.4 7.57.5

8

Function................................................................................................................199 Format ..................................................................................................................199 ..................................................................................................................199 Control Condition.................................................................................................200 Timer Accuracy ................................................................. ....................................................................................................200 ...................................200 Timer Set Time Address.......................................................................................200 Timer Register Address........................................................ Address ........................................................................................200 ................................200 Timer Relay (TM) .........................................................................................201 .........................................................................................201

XMOV (Inde (Indexed xed Data Trans Transfer) fer) .......... ...................... ....................... ...................... ...................... ..................... ..........201 201 7.56.1 7.56.2 7.56.3 7.56.4 7.56.5 7.56.6 7.56.7 7.56.8

7.57

Function................................................................................................................198 Format ..................................................................................................................198 ..................................................................................................................198 Control Conditions ...............................................................................................198 ...............................................................................................198 Timer Relay (TMB)...................................................................................198 Parameter..............................................................................................................198 Precision of the Timer ..........................................................................................199 ..........................................................................................199

TMRC (Timer (Timer)................... )............................... ....................... ...................... ...................... ...................... ...................... ................. ...... 199 7.55.1 7.55.2 7.55.3 7.55.4 7.55.5 7.55.6 7.55.7

7.56

Function................................................................................................................196 Format ..................................................................................................................196 ..................................................................................................................196 Control Condition.................................................................................................197 Timer Relay (TM) .........................................................................................197 .........................................................................................197 Setting Timers ......................................................................................................197 ......................................................................................................197 Timer Accuracy ................................................................. ....................................................................................................197 ...................................197 Parameter..............................................................................................................198

TMRB (Fixe (Fixed d Timer Timer)) ........... ...................... ...................... ...................... ...................... ...................... ...................... ................ ..... 198 7.54.1 7.54.2 7.54.3 7.54.4 7.54.5 7.54.6

7.55

Data Format of Subtrahend ................................................................ ..................................................................................194 ..................194 Minuend Address .................................................................................................195 .................................................................................................195 Subtrahend (Address) ....................................................................... ...........................................................................................195 ....................195 Difference Output Address.............................................................. Address ...................................................................................195 .....................195 Error Output .........................................................................................................195 .........................................................................................................195

Function................................................................................................................203 Format ..................................................................................................................205 ..................................................................................................................205 Control Conditions ...............................................................................................205 ...............................................................................................205 Parameters ............................................................................................................205 ............................................................................................................205 Error Output (W1) ................................................................................................206 ................................................................................................206

PMC ADDRESS CORRESPONDENCE...................... CORRESPONDENCE.................................. ........................ ............207 207 8.1 X ........... ....................... ....................... ...................... ....................... ....................... ...................... ...................... ....................... ...................... ..........208 208 8.1.1

X0-X127 ↔ DI[1]-DI[1024] (General (General Digital Input) ..........................................208 c-9

 

TABLE OF CONTENTS  8.1.2 8.1.3 8.1.4 8.1.5 8.1.6 8.1.7

8.2

8.5

8.4.1

G0-G127 ↔ GO[1]-GO[64] (Group Outputs) .....................................................220

8.4.2 8.4.3

G128-G255 ↔ AO[1]-AO[64] (Analog Outputs)................................................221 G1000-G1255.......................................................................................................221

R ........... ....................... ....................... ...................... ....................... ....................... ...................... ...................... ....................... ...................... ..........222 222

T0-T79..................................................................................................................223

C ........... ....................... ....................... ...................... ....................... ....................... ...................... ...................... ....................... ...................... ..........223 223 8.9.1

9

D0-D2999.............................................................................................................223

T ........... ....................... ....................... ...................... ....................... ....................... ...................... ...................... ....................... ...................... ..........223 223 8.8.1

8.9

K0-K19.................................................................................................................222

D ........... ....................... ....................... ...................... ....................... ....................... ...................... ...................... ....................... ...................... ..........223 223 8.7.1

8.8

R0-R1499 .............................................................................................................222 .............................................................................................................222 R9000-R9117 ............................................................................... .......................................................................................................222 ........................222

K ........... ....................... ....................... ...................... ....................... ....................... ...................... ...................... ....................... ...................... ..........222 222 8.6.1

8.7

F0-F127 ↔ GI[1]-GI[64] (Group Inputs) ............................................................218 F128-F255 ↔ AI[1]-AI[64] (Analog Inputs).......................................................219 F1000-F1255 ........................................................................................................219 F1000-F1255 ........................................................................................................219

G..................... G................................ ...................... ....................... ....................... ...................... ...................... ....................... ....................... ............. 220

8.5.1 8.5.2

8.6

Y0-Y127 ↔ DO[1]-DO[1024  DO[1]-DO[1024]] (General Digital Output) ....................................213 Y1000-Y1004 ↔ UO[1]-UO[40] (User Operator Panel Outputs).......................216 Y1005-Y1009 ↔ WO[1]-WO[40] (Weld Digital Outputs).................................216 Y1010-Y1014 ↔ WSTO[1]-WSTO[40] (Wire Stick Outputs) ...........................217 Y1015-Y1019 ↔ LDO[1]-LDO[40] (Laser Digital Outputs)..............................217 Y1020-Y1024 ↔ RO[1]-RO[40] (Robot Digital Outputs) ..................................217 Y1025-Y1026 ↔ SO[1]-SO[16] (SOP Outputs) .................................................218

F ........... ....................... ....................... ...................... ....................... ....................... ...................... ...................... ....................... ...................... ..........218 218 8.3.1 8.3.2 8.3.3

8.4

X1000-X1004 ↔ UI[1]-UI[40] (User Operator Panel Inputs).............................211 X1005-X1009 ↔ WI[1]-WI[40] (Weld Digital Inputs).......................................211 X1010-X1014 ↔ Wsti[1]-Wsti[40] (Wire Stick Inputs) .....................................212 X1015-X1019 ↔ LDI[1]-LDI[40] (Laser Digital Inputs) ...................................212 X1020-X1024 ↔ RI[1]-RI[40] (Robot Digital Inputs)........................................212 X1025-X1026 ↔ SI[1]-SI[16] (Standard Operator Panel Inputs) .......................213

Y ........... ....................... ....................... ...................... ....................... ....................... ...................... ...................... ....................... ...................... ..........213 213 8.2.1 8.2.2 8.2.3 8.2.4 8.2.5 8.2.6 8.2.7

8.3

B-82614EN/02

C0-C79 .................................................................................................................223 .................................................................................................................223

INTEGRATED PMC ERROR CODES........... CODES ........................ .......................... ......................... ............224 224

c-10

 

1. INTEGRATED PMC OVERVIEW 

B-82614EN/02 

1

INTEGRATED PMC OVERVIEW

This chapter is an overview of the Integrated PMC. PMC stands for Programmable Programmable Machine Control. The Integrated PMC is a method method of executing Ladder Logic on the Robot controller.

1.1

INTEGRATED PMC SPECIFICATIONS Programming language  Number of Ladder Level  Scan time of First Level  Processing time of basic command

Ladder   2  8msec  R-J3iB 085μsec/step R-30i  A A 0.025μsec/step 

Program size • Ladder • Symbol, comment • Total

 

Command

Description Internal relay Operation Output Relay Message request Keep memory • Variable timer • Counter • Keep relay • Data table Sub program

16384step (64KB) 1 - 128KB 128KB  14 57 

Basic command Function command Notation

Memory Allocated for set fields

Quantity

(R) (R) (A)

1500 bytes 118 bytes None

12000 944 None

(T) (C) (K) (D) (P) (L)

80 bytes 80 bytes 20 bytes 3000 bytes None None

40 20 160 24000 512 9999

200 bytes

100

Label Fixed timer I/O device Integrated PMC can use all I/O devices that robot controller can use. But number of port that Integrated PMC can use is limited.  Device to save PMC program 

DI/O  AI/O GI/O

1024/1024 64/64 64/64 

Flash ROM 

-1-

 

1. INTEGRATED PMC OVERVIEW 

1.2

B-82614EN/02 

PMC PROGRAM

The Integrated PMC provides high speed execution of a PMC written in ladder language. FAPT LADDER-II for Robot or FANUC LADDER-III for Robot (we will call it PMC programmer) is the  programming tool used to edit the PMC program, program, on a PC.

Components of a PM PMC C program A PMC program consists of the following elements: • 

• 

• 

PMC address In PMC programs, signals are specified by the PMC address. I/O port names that the Robot co controller ntroller uses to specify signals (DI, DO, and so forth) are not used in PMC programs. Refer to Section 1.5 "PMC Addresses" for details of PMC addressing. Basic commands These basic commands are used to calculate bit operations at high speed. Refer to Section 1.3 "Basic Commands" for details of basic commands. Function commands Functions that are difficult to do with basic commands commands are supported by function command commands. s. Function commands take more processing time than basic commands. Refer to Section 1.4 "Function Commands" for details of function commands.

Keep Kee p area the where operation resul t of a basic command The the operation operation result command is temporarily kept is called the stack register. The stack register is composed of 1 bit + 8 bits, total 9 bits.

-2-

 

1. INTEGRATED PMC OVERVIEW 

B-82614EN/02 

1.3

BASIC COMMANDS

Command Comma nd

Ladder diagram

Function

RD

Read the specified address and set the read value in ST0.

RD.NOT

Read the specified address and set the inverse condition of the read value in ST0. Set the result value (ST0) in the specified address.

WRT WRT.NOT  AND  AND.NOT OR

Set the inverse condition of the result value (ST0) to the specified address. Read the specified address, calculate the AND AND of the read value with ST0 and set the result in ST0. Read the specified address, calculate the AND of the inverse of the read value with ST0 and set the result in ST0. Read the specified address, calculate the OR of the read value with ST0 and set the result in ST0.

OR.NOT

Read the specified address, calculate the OR of the inverse of the read value with ST0 and set the result in ST0.

RD.STK

Shift stack to left, then read the specified address and set the read value in ST0.

RD.NOT.STK

Shift stack to left, then read the specified address and set the inverse of the read value to ST0.

 AND.STK

Calculate the AND of ST1 with with ST0, set the result in ST1 then shift stack to right.

OR.STK

Calculate the OR of ST1 with ST0, set the result in ST1 then shift stack to right.

SET

Read the specified address, calculate the OR of the read value with ST0 then set the result to the specified address. Read the specified address, calculate the AND of the read value with the reversed value of ST0 then set the result to the

RST

specified address.

Refer to Chapter 5 "Basic command reference" for details of every basi basicc command.

Unavailable Una vailable P PMC MC a addresses ddresses f or b asic c ommands NOTE PMC addresses F0-255 and G0-255 cannot be specified in basic commands. Use MOVW(SUB44) to access these PMC addresses.

-3-

 

1. INTEGRATED PMC OVERVIEW 

1.4 Command

B-82614EN/02 

FUNCTION COMMAND SUB number

Function

Processing Proce ssing t ime ( SEC) R-J3/R-J3 iB

R-30i A  A

END1

1

End of Level 1

310

250

END2 TMR TMRB TMRC TM RC DEC DECB CTR CTRC ROT ROTB COD CODB MOVE MOVOR MOVB MOVW

2 3 24 54 4 25 5 55 6 26 7 27 8 28 43 44

310 32 33 32 23 33 29 23 54 48 49 45 30 26 2 2 120

250 20 17 17 9 14 22 15 34 20 24 17 10 14 1 1 38

MOVN COM COME JMP JMPE JMPB JMPC LBL PARI DCNV

45 9 29 10 30 68 73 69 11 14

End of Level 2 Variable timer Fixed timer Vari Variab able le ti time merr (Tim (Timer er va valu lue e is se sett in an any y PM PMC C ad addr dres ess) s) Decode Binary decode Counter Counter (Counter value is set in any PMC address) Rotation Binary rotation Code conversion Binary code conversion AND then move data OR then move data Move one byte data Move two bytes data Neither F0-255 nor G0-255 is specified F0-255 or G0-255 is specified Move any byte data Common line control End of common line control Jump End of jump Jump to label Jump to label () Label for JUMPB or JMPC Check parity Data Conversion Binary→BCD BCD→Binary

More than30 2 2 28 0 28 22 7 23 60 33

More than13 1 1 10 0 7 15 5 19 16 20

DCNVB

31

Extended data conversion

COMP COMPB COIN SFT DSCH DSCHB XMOV XMOVB  ADD  ADDB SUB SUBB MUL

15 32 16 33 17 34 18 35 19 36 20 37 21

Compare Binary compare Check consistency Bit shift Data search Binary data search Indexed data search Indexed binary data search BCD addition Binary addition BCD subtraction Binary subtraction BCD multiplication

143 43 30 32 27 24 More than 58 More than 40 42 40 35 37 36 38 60

23 25 22 10 13 14

More than 23 More than 17 22 18 20 15 21 15 21

MULB DIV DIVB NUME

38 22 39 23

Binary multiplication BCD division Binary division Constant definition

38 74 40 21

15 22 17 8

→BCD Binary BCD→Binary

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1. INTEGRATED PMC OVERVIEW 

B-82614EN/02 

Command

SUB number

Function

Processing Proce ssing t ime ( SEC) R-J3/R-J3 iB

R-30i A  A

NUMEB DIFU DIFD EOR  AND

40 57 58 59 60

Binary constant definition Rising edge detection Falling edge detection Exclusive OR AND

28 30 30 35 36

9 12 13 15 15

OR NOT END CALL CALLU SP SPE

61 62 64 65 66 71 72

OR NOT End of all programs Call sub program with condition Call sub program without condition Sub program End of sub program

35 29 0 25 25 0 15

15 14 0 42 44 0 15

Refer to Chapter 6 "Function "F unction command reference" for details of every function command. The "Processing time" in the above list is used in Section 2.4, "Processing Time of PMC Execution".

Unavailable Una vailable P PMC MC addresses for f unct ion c ommands NOTE X area and Y area of the PMC address cannot be specified in function commands. Use basic commands to access these PMC addresses. NOTE No function commands except MOVW(SUB44) can use PMC addresses F0-255 and G0-255. Use MOVW(SUB44) to access these PMC addresses. If you specify F0-255 or G0-255 in MOVW (SUB44), you must specify even addresses. If you specify an odd address of this area, the PMC program will cause an error in the robot controller.

Unavaila Una vailable ble function commands in Robot controll er The following function commands can be programmed by Robot controller, but they cannot be used in an Robot control System. If a PMC program contains these comman commands, ds, it will cause an error. Command

SUB Number

END3 DISP DISPB EXIN PSGNL PSGN2  AXCTL WINDR WINDW FNC9X MMC3R MMC3W MMCWR

48 49 41 42 50 63 53 51 52 9X 88 89 98

MMCWW

99

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1. INTEGRATED PMC OVERVIEW 

1.5

B-82614EN/02 

PMC ADDRESS A DDRESSES ES

In the Integrated PMC, PMC addresses are used to specify signals instead of the robot controller I/O port name (DI, DO, and so forth). Every I/O port corresponds to a PMC address. PMC addresses are specified  by the following format:

Format of PMC addresses

The first character of a PMC address must have an alphabetic character which indicates the type of the P PMC MC address. If "." and bit number are omitted, it indicates a Byte address.

Range Ra nge of PM PMC C address The following is a list of PMC address types and the address range of each address type: Type X

Y

F

Descriptio n X0-127 X1000-1004 X1005-1009 X1010-1014 X1015-1019 X1020-1024 X1025-1026 Y0-127 Y1000-1004 Y1005-1009 Y1010-1014 Y1015-1019 Y1020-1024 Y1025-1026

Corresponds to DI[1-1024] Corresponds to UI[1-40] Corresponds to WI[1-40] Corresponds to WSTKI[1-40] Corresponds to LDI[1-40] Corresponds to RI[1-40] Corresponds to SI[0-15] Corresponds to DO[1-1024] Corresponds to UO[1-40] Corresponds to WO[1-40] Corresponds to WSTKO[1-40] Corresponds to LDO[1-40] Corresponds to RO[1-40] Corresponds to SO[0-15]

R

F0-127 Corresponds to GI[1-64] F128-255 Corresponds to AI[1-64] F1000-1255 System interface input G0-127 Corresponds to GO[1-64] G128-255 Corresponds to AO[1-64] G1000-1255 System interface output General internal relay

C K T D L P

Counter Keep relay Variable timer Data Table Label number Sub-program number

G

-6-

Range X0-X127 X1000-X1039

Y0-Y127 Y1000-Y1039

F0-F255 F1000-F1255 G0-G255 G1000-G1255 R0-R1499 R9000-R9117 C0-C79 K0-K19 T0-T79 D0-D2999 L1-L9999 P1-P512

 

1. INTEGRATED PMC OVERVIEW 

B-82614EN/02 

1.5.1

Symbols and Comments

You can define a symbol and comment for every PMC address. Symbols and comments are editted editted with PMC programmer. Defined symbols and comments are displayed with the online monitor of PMC programmer and PMC menus on the teach pendant. When a symbol is defined, you can use the symbol instead of a PMC address when you edit the ladder. You cannot edit symbols and comments with the teach pendant.

Bit address and Byt e a address ddress Symbols and comments are assigned to Bit addresses and Byte addresses separately. For example, the symbol and the comment of X0.0 are different from X0.

Lost symbol and comment in RR-J3 J3 Part of symbols and comments are lost when a PMC program is loaded on to a robot controller. LADDER.PMC does not contain the lost symbols and comments. •  Symbols and coil comments comments are kept, but but relay (contacts and coils) comments comments and net (rung) (rung) comments are lost. •  If the length of a symbol is more than 6 characters, characters, the symbol is lost. In "Symbol & comment edit" menu of PMC programmer, "*" is displayed on the next of the address where the symbol is not lost. Japanese characters are replaced with a space. • 

Storing PM PMC C files All LDA program files for the FANUC LADDER-III for Robot and All PMC program files for FAPT LADDER-II for Robot should be kept in the source program directory. Some symbols and comments will  be lost if only LADDER.PMC is kept. Refer to Section 1.7 "SAVE/LOAD PMC P MC PROGRAM AND PMC PARAMETERS" for more information about LADDER.PMC.

1.5.2

External Extern al I/O De Devic vic e

The Integrated PMC does not need any special I/O devices. All I/O devices that the Robot controller can use can be accessed by the Integrated PMC. The Robot controller I/O ports (DI, DO, and so forth) correspond to PMC addresses. The correspondence is always the same. For example, PMC address X0.0 is always DI[1]. Refer to Chapter 8 "PMC Address Correspondence" for details. You can see the corresponding corresponding I/O ports in the bit menu of the PMC menus. menus. It is displayed in the "Port name" column of the PMC address.

Symbol of standard PM PMC C program The Standard PMC program has a symbol definition that is similar to the robot controller port names. If you use the standard PMC program as a template for your PMC program, you can use this symbol definition. Refer to Section 1.6 "STANDARD PMC PROGRAM" about standard PMC program.

Correspondence of PMC address to t he robot c ontr oller I/ I/O O port The correspondence of the PMC address to the robot controller port name and symbol of standard PMC  program is as follows:

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1. INTEGRATED PMC OVERVIEW 

B-82614EN/02 

Input (Re (Read ad only )

Output (Re (Read ad / Write)

Sy m b o l

Ad d r es s

DI1 : DI1024 UI1

Y0.0 : Y127.7 Y1000.0

Controller   I/O port DO[1] : DO[1024] UO[1]

X0.0 : X127.7 X1000.0

Controller   I/O por t DI[1] : DI[1024] UI[1]

: X1004.7 X1005.0 : X1009.7 X1010.0 : X1014.7 X1015.0 : X1019.7 X1020.0 : X1024.7 X1025.0 : X1026.7

UI[40]: WI[1] : WI[40] WSTKI[1] : WSTKI[40] LDI[1] : LDI[40] RI[1] : RI[40] SI[0] : SI[15]

UI40: WI1 : WI40 WSTI1 : WSTI40 LDI1 : LDI40 RI1 : RI40 SI0 : SI15

: Y1004.7 Y1005.0 : Y1009.7 Y1010.0 : Y1014.7 Y1015.0 : Y1019.7 Y1020.0 : Y1024.7 Y1025.0 : Y1026.7

: UO[40] WO[1] : WO[40] WSTKO[1] : WSTKO[40] LDO[1] : LDO[40] RO[1] : RO[40] SO[0] : SO[15]

: UO40 WO1 : WO40 WSTO1 :

F0

GI[1]

GI1

G0

GO[1] : GO[64]  AO[1] :  AO[64]

GO1 : GO64  AO1 :  AO64

 Addr  Ad dr ess

: F126 F128 : F254

: GI[64]  AI[1] :  AI[64]

: G126 G128 : G254

: GI64  AI1 :  AI64

Symbol DO1 : DO1024 UO1

WSTO40

LDO1 : LDO40 RO1 : RO40 SO0 : SO15

Conflict of output CAUTION Do not output to the same I/O I/ O port from both a PMC program and a robot program. Otherwise, the value output by th the e robot program will be supersed superseded ed by the value output by the PMC program.

I/O I/O assign ment NOTE The assignment of I/O port names (DI, DO, and so forth) to I/O devices is set in the I/O assignment menu menu on the teach pen pendant. dant. This assignment a also lso affects the Integrated PMC. The "I/O module editting" menu of PMC programmer programmer is not used for the robot controller Integrated PMC.

Restricti Re stricti on for basic com mand and and functi on command NOTE PMC addresses F0-255 and G0-255 can not be used with any basic commands or any function commands commands except MOV MOVW W (SUB44). To access this area, use MOVW (SUB44). If you specify F0-255 or G0-255 in MOVW (SUB44), you must specify even addresses. If you specify an odd address of this area, the PMC program will cause an error in the robot controller.

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NOTE The X area and Y area can not be used w with ith any function commands. To access this area, use a basic command.

1.5.3

Internal Relay

The Integrated PMC has signals that are not connected to any external I/O device. These are called internal relays. A PMC program can read and write to these internal relays.

Types of int ernal rela relays ys There are the following types of internal relay.  Add res ress s

Descr ip ti on

R

General internal relay. This relay can be specified in basic commands and function commands. Value becomes 0 when power is cycled. Setting of power failure recovery does not affect this area. Keep relay This relay can be specified in basic commands and function commands. K17-19 are used for PMC setting parameters The value is kept even if the power is cycled. Setting of power failure recovery does not affect

K

D

T

C

F1000-1255

G1000-1255

this area. Data table This area can be accessed as various data types that are defined in the Data Table Control Data. It can be specified in basic commands and function commands. The value is kept even if the power is cycled. Setting power failure recovery recovery does not affect this area. Timer This area is used for the timer value of TMR (SUB3). You can read and set timer values in Timer menu. The value is kept even if the power is cycled. Setting power failure recovery recovery does not affect this area. Counter This area is used for preset data and current data in the function command CTR (SUB5). You can read and set counter values in Counter menu. The value is kept even if the power is cycled. cycled. Setting of power failure recovery does not affect this area. System interface input The PMC program can read the status of the robot controller from this area. The PMC program can not set the area. System interface output The PMC program can control the robot system with this area. The value becomes initial value when power is cycled. Setting of power failure recovery does not affect this area.

K, D, T and C areas are are called nonvolatile memory. The value of these areas are kept kept even if the power is cycled.

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1.5.4

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Nonvolatil e M Memory emory

 Nonvolatile memory is considered nonvolatile if its contents are not erased when the power is turned off. (1) Used for the timer Time can be set and displayed from the PMC menu. The set time can be read or written by a sequence  program instruction. (2) Used for the counter This area is used to store the preset and cumulative values of the counter. Values can be set and displayed from the PMC menu. These values can b bee read and written by a sequence program instruction. The data format is two bytes of BCD or binary, and the higher-order digits are entered at the smaller address. Whether counter is processed by BCD format or binary format is selected by a system parameter. Example) P PMC MC counter addresses are C0 and C1 and the set value is 1578.

To change low-order digits of the set value by a sequence program instruction wit with h 1 byte processing, specify C0 as the output address of the functional instruction parameters to enter new data. (3) Keep relay This memory is used as parameters, keep relays, relays, etc. for sequence control. control. Setting and display are  possible from the PMC menu and sequence program instructions can be used for reading and writing. (4) Data table A sizable amount of numeric data (data table) can be used for sequence control by the PMC. See section 1.5.5 for details.

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Reading Re ading and writi ng of non volatil e memory data All the nonvolatile memory data can be read and written by the sequen sequence ce program. The memory read and written by the PMC sequence program is actually not a nonvolatile memory, but a nonvolatile memory image (RAM) storing the same same data as the nonvolatile mem memory. ory. When the power supply is turned off, the data in the nonvolatile memory image disappears. Immediately after the power is turned on, the nonvolatile memory data is automatically transferred to the nonvolatile memory memory image. Before the power is turned off, the data is correctly restored. The nonvolatile memory data is automatically transferred to the nonvolatile memory when the controller is turned off. Rewriting of nonvolatile memory can also be done by rewriting optional addresses of the nonvolatile memory image in an optional timing. The changed data will be automatically transferred to the nonvolatile memory. Therefore, there is not special processing necessary when the sequence program writes or reads nonvolatile memory.

1.5.5

Data Table

(1) Introduction PMC sequence control sometimes requires a sizable amount of numeric data (herein after referred to as data table). If contents of such data table are free to set or to read, they can be used as various PMC sequence control data. Each table size can be set optionally in the memory for data table, and 1-, 2-, or 4-byte binary or BCD format data can be used per each table, thus consigning a simple-to-use table. Data in the data table can be set in the nonvolatile memory or displayed via the PMC menu. Data set in the data table can also be easily read or written by the sequence program using function instructions as data search (DSCHB), or index modification data transfer (XMOVB). (2) Configuration of the PMC data table and notes on programming (a) Configuration of the data table PMC data table consists of table control data and data table. Table control data control the size and data format (BCD or binary) of the tables. This table control data must first be set from from PMC menu before p preparing reparing data table. In the sequence program, the table control data cannot cannot be read or written. When the contents of the nonvolatile memory are read or written to PARAM.PMC file, the table control data is read or written together. Fig. 1.5.5 is a detailed detailed configuration of the data table. (b) Data table head address If the data table starts from an odd address, for example, when a data table is created with an odd number of one-byte data, the DSCHB instruction operates slower than when the data table starts from an even address. address. It is recommended that the starting address of a data data table be an even number.

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Fig.1.5.5 Fig.1.5 .5 Detailed conf igur ation of data table

(3) Table control data The table control data controls a data table If the table control data is not properly set, a data table described in Item (4) cannot be properly created. Referring to the description in Item (3), set the table control data, then create a data table. Parameter of Data Table Control Data Parameter Top address Number of eleme elements nts  Accessing type

Data type

Protection

Description The top address of this Data Table group. Only D area address can be specified. The nu number mber o off elements elements of this Data Table group group Byte : Size of an element is 1 byte. Word : Size of an element is 2 bytes. Dword : Dec : Hex : BCD : Off : On :

Size of an element is 4 bytes. Decimal Hexadecimal BCD The Data Table value can be changed The Data Table value can not be changed

(4) Data table Data table can be created within the range of the memory (D address) for the data table and separated some groups. This number of groups is decided with the num number ber of tables of table control data. The maximum of the number of table groups is 100.

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Each data table can be used in 1, 2 or 4 byte data. Table Table parameter of table table control data decides whether to use 1 or 2 byte data. Therefore, 1 table number is taken for a 1-byte data when table data is 1 byte; 2 byte data when table data is 2 bytes. (5) Entering data in a data table Specify a location number in the data table from the PMC menu, then enter the d data. ata. A number for each location in the table is defined for each data table group.

NOTE Reading and Writing of the data table is available from the sequence program. (6) Default setting of Table Control Data. The following Data table group is set by default. Top address

Numberr of data Numbe

Accessing type

D0

1500

Word

Data type Dec

Protectio n Off

This Data Table group shows GO[10001-11500] that corresponds to D0-3000 as one Data Table element.

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Uses of Da Data ta Table C Cont ont rol Da Data ta Some function commands, commands, for example DSCH (SUB17), use use the Data Table as a table for setting data. If the Data Table Control Data is set to the same data type used in these function commands, the Data Table value can be easily set in the Data Table menu. The setting of Data Table Control Data does not affect PMC execution.

1.5.6

Interface between between PMC P Prog rogram ram and Robot Program

Internal relays should be used to communicate between the PMC program and a Robot program.

Corresp ond ence of R, K area to DO The R area and K area correspond to DO[10001-] DO[10001-] as follows. This correspondence is always the same.  Add res ress s K0.0 K0.1 : K19.6 K19.7

Cor Corres res po nd ed DO DO[10001] DO[10002] : DO[10159] DO[10160]

Add res ress s R0.0 R0.1 : R1499.6 R1499.7

Cor Corres res po nd ed DO DO[11001] DO[11002] : DO[22999] DO[23000]

For example, a robot program can read R0.0 as DO[11001]. DO[11001]. If a robot program outputs to DO[11001], the value is set to R0.0.

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Corresp ond ence of D a area rea to GO The PMC program and Robot program can exchange integer data. The D area corresponds to G GO[10001-] O[10001-] as follows. This correspondence is always the same Low er byte

Upper byte

D0 D2

D1 D3

Correspon ded GO GO[1] GO[2]

:

:

D2996 D2998

:

D2997 D2999

GO[1499] GO[1500]

For example, a robot program can access D0 and D1 as GO[10001]. The data type of GO is 16 bits of an unsigned integer. D0 is the lower byte of GO[10001] GO[10001] and D1 is the upper byte of GO[10001]. GO[10001]. If a robot  program sets data to GO[11001], the value is set to D0 and D1.

How to s ee the corr espondence In the bit menu of PMC menus, the corresponding I/O port name is displayed in the "Port name" column of the PMC address.

Conflict of output CAUTION Do not output to the same internal relay from both a PMC program and a robot program. Otherwise, the value output by th the e robot program will be supersed superseded ed by the value output by the PMC program.

1.5.7

System Contro l b y PMC Program (System Interface)

F1000-1255 and G1000-1255 G1000-1255 are called the system interface. The PMC program can contro controll the robot system with the system interface. For example, the PMC program can execute a robot program. Every address of the system interface has a specific function.

Funct ion io n o f F10 F100000-F12 F1255 55 The PMC program can read the status of the robot system from F1000-F1255 Outputs of the System Interface:  Add res ress s

Name

Fun ct io n

F1000.0 F1000.1 F1000.2 F1000.3 F1000.4 F1000.5 F1000.6 F1000.7 F1001.0 F1001.1 F1001.2

CMDENB SYSRDY PRGRUN PAUSED HELD FAULT ATPRCH TPENBL BATALM BUSY SNO1

Same as CMDENBL in UOP Same as SYSRDY in UOP Same as PROGRUN in UOP Same as PAUSED in UOP Same as HELD in UOP Same as FAULT in UOP Same as ATPERCH in UOP Same as TPENBL in UOP Same as BATALM in UOP Same as BUSY in UOP Same as ACK1/SNO1 in UOP

F1001.3 F1001.4 F1001.5 F1001.6

SNO2 SNO3 SNO4 SNO5

Same as ACK2/SNO2 in UOP Same as ACK3/SNO3 in UOP Same as ACK4/SNO4 in UOP Same as SNO5 in UOP

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 Add res ress s

Name

F1001.7 F1002.0 F1002.1 F1002.2 F1002.3F1007.7

SNO6 SNO7 SNO8 SNACK

Same as SNO6 in UOP Same as SNO7 in UOP Same as SNO8 in UOP Same as SNACK in UOP Reserved

F1008.0 F1008.1

STEP SYSRST

F1008.2

TPESTP

F1008.3

DEADMN

F1008.4

NO_UOP

F1008.5

UOPDSB

This become 1 in single step mode When reset occurs, this becomes 1 during only one scan. Note: This also becomes 1 at the next scan after G1000.4(RE G1000.4(RESET) SET) tur ns on . If the PM PMC C program connects F1008.1(SYSRESET) to G1000.4(RESET), a reset occurs forever. When the teach pendant E-STOP button is pressed, this becomes 1. This shows the teach pendant E-STOP button status only. Timing is different from FAULT (F1000.5). When the DEADMAN switch is pressed, this becomes 1. This shows the DEADMAN switch status only. Timing is different from FAULT (F1000.5). When UI is not assigned to any I/O device or I/O device that is assigned to UI does not work, this becomes 1. When "Enable UI signals" in system configuration menu is FALSE, this becomes 1. Reserved

F1008.6F1255.7

Fun ct io n

Function of G1000-G1255 The PMC program can control the robot system with G1000-G1255 Input to the System Interface:  Add res ress s

Name

Initial value

Function

G1000.0 G1000.1

IMSTP HOLD

1 1

Same as IMSTP in UOP Same as HOLD in UOP

G1000.2 G1000.3 G1000.4 G1000.5 G1000.6 G1000.7 G1001.0 G1001.1 G1001.2 G1001.3 G1001.4 G1001.5 G1001.6 G1001.7 G1002.0 G1002.1 G1002.2G1007.7

SFSPD CSTOPI RESET START HOME ENBLE PNS1 PNS2 PNS3 PNS4 PNS5 PNS6 PNS7 PNS8 PNSTRB PSTART

0 0 0 0 0 0 1 1 1 1 1 1 1 1 0 0 0

Same as SFSPD in UOP Same as CSTOPI in UOP Same as RESET in UOP Same as START in UOP Same as HOME in UOP Same as ENBLE in UOP Same as RSR1/PNS1 in UOP Same as RSR2/PNS2 in UOP Same as RSR3/PNS3 in UOP Same as RSR4/PNS4 in UOP Same as PNS5 in UOP Same as PNS6 in UOP Same as PNS7 in UOP Same as PNS8 in UOP Same as PNSTROBE in UOP Same as PRODSTART in UOP Reserved

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 Add res ress s G1008.0G1011.7

Name UALM1UALM32

G1012.0G1255.7

Initial value 0

0

Function When a value of this area is 1, a corresponding user alarm occurs. For example, user alarm 1 occurs when G1008.0(UALM1) is 1. If a reset occurs when this area is 1, the user alarm occurs again, and the alarm cannot be cleared. Reserved

The values of G1000-G1255 G1000-G1255 are always set to the initial value when the co controller ntroller is turned on. Setting  power failure recovery recovery does not affect the initial value. Signals that are not output by the PMC program will always remain at the initial value. Specifically, all of PNS1-8 must be output in order to use PNS, or the correct PNS number cannot be set.

Symbol of standard PM PMC C program In the Standard PMC program, the system interface name is defined as the symbol of the corresponding PMC address. If the Standard PMC program is used as a template for a new PMC program, the system interface symbols can be used directly in the program.

UOP UO P and sy stem interface In a robot system that contains the Integrated PMC function, the User Operator Panel (UOP) does not work. UI and UO are general I/O ports the same as DI/DO. The UOP function is moved to the system interface.

Ladder of PMC program The standard PMC program has the following ladder. This ladder provides the normal connection between the UOP and DI/DO, because the system interface signals are connected to the corresponding UI and UO by this ladder program.

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1. INTEGRATED PMC OVERVIEW 

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If UI and UO are normally used for UOP, this ladder program can be used as is. The UOP function can be easily customized by modifying modifying this ladder program program.. For example, UI[ UI[6] 6] (START) can be changed to detect the rising edge; the original UI [6] detects the falling edge.

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1.5.8

PMC Setting Parameters (K17-K19)

K17-K19 of the keep relays relays are the PMC setting parameters. Every address of the PMC setting param parameters eters has a special function. The Integrated PMC function is controlled by the PMC setting parameters. The value is retained when the controller is turned off, because the PMC setting parameters are part of the keep relay.

DTBLDSP  (Default: 0) 0: The Data Table Control Data can be changed changed in the Data Table Table Control Control Data menu. The Data Table Control Data menu on the PMC programmer can be displayed. 1: The Data Table Control Data cannot cannot be changed in the Data Table Table Control Control Data menu. The Data Table Control Data menu on the PMC programmer cannot be displayed. MEMINP  (Default: 1) 0: The v value alue in Byte menu menu and Bit Bit menu menu in the PMC menus cannot be be changed. changed. The value in "Signal status" on the PMC programmer cannot be changed. 1: The v value alue in Byte menu menu and Bit Bit menu menu in the PMC menus menus can be changed. You can change The value in "Signal status" on the PMC programmer can be changed. SELECTMDL  (Default: 0) 0: The PMC program saved in FROM is loaded to RAM at power up.

1:

The Standard PMC program is loaded to RAM at power up. (This setting is changed to 0 automatically by "Backup program" on the PMC programmer or by loading LADDER.PMC in file menu.) AUTORUN  (Default: 0) 0: PMC runs at power up automatically. 1: PMC does not run at power up automatically. PROGRAM  (Default: 1) 0: PMC program programmer mer is not available. ("Load program", program", "Store program", "Backup program" program" and "Run/Stop the program" are not available in PMC programmer.) 1: PMC programmer is available. LADMASK  (Default: 0) 0: Ladder monitor in PMC programmer can be displayed. 1: Ladder monitor in PMC programmer cannot be displayed.

NOTE The area K18-19 is not used and should be left at 0.

1.5.9

PMC System Area (R9000-R9117)

R9000-R9117 of of the internal relays are the PMC system area. Every address of the PMC system area has a special function. For example, a PMC progr program am can read information from this area such as the result of an operation. The PMC program cannot set the PMC system area. 1. R9000 has the result of the function function command ADDB, SUBB, MULB, DIVB and and COMPB. COMPB.

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1. INTEGRATED PMC OVERVIEW  2. 3.

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R9002-R9005 has the remainder of function command DIVB. R9091 has the following system timer.

1.5.10

Internal Relay Relay Assig nment

The R, K and D areas of the Internal relays can be accessed directly as DO[10001-] and GO[10001-]. However, in some cases only DI can be used (for example in the Override Select function). In other cases the allowed index is less than 5 digits. In these cases, the PMC can co communicate mmunicate with the functio function n by reassigning the internal relay to a DI or DO.

Correspondence of internal relay to assi assi gnment Internal relays correspond to rack, slot, and port port number as follows. You can assign internal relays to DI/O, GI/O and UI/O. In t er n al r el ay

Rac k

Sl o t

Po r t n u m b er

K0.0 - K19.7  R0.0 - R1499.7  D0.0 - D2999.7  T0.0 - T79.7  C0.0 - C79.7  F1000.0 - F1003.7  G1000.0 - G1003.7 

33  33  33  33  33  33  33 

1  2  3  4  5  6  7 

1 - 160  1 - 12000  1 - 24000  1 - 640  1 - 640  1 - 32  1 - 32 

Internall relay assign ment Interna If internal relays are assigned to I/O ports, the PMC program can access the internal relay with the corresponding PMC address of the assigned I/O port. For example, when R0.0 is assigned to DI[1], the PMC can access R0.0 as X0.0. In this case, both DO[11001] and DI[1] correspond to R0.0 As shown in this example, the correspondence becomes complex when internal relays are assigned to I/O  ports. For this reason, the assignment of internal relays to I/O po ports rts is not recommended. Use DO[10001-] and GO[10001-] to access internal relays with the robot controller functions wherever possible.

Simulation of assigned internal relay In the above example, there is the difference between accessing R0.0 and accessing X0.0 from the PMC  program when DI[1] is simulated. •  When DI[1] is not simulated, R0.0 and X0.0 are the same. •  When DI[1] is simulated: X0.0 corresponds to the simulated DI[1], R0.0 always accesses the internal value of relay R0.0. Because of this, if the PMC accesses R0.0 and the robot program accesses DI[1], you can set any value to DI[1] when DI[1] is simulated. This allows you to ignore the output of the PMC program while testing for the robot program.

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1. INTEGRATED PMC OVERVIEW 

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Simulation of DO[10001-], GO[10001-] DO[10001-] and GO[10001-] can not be simulated.

1.6

STANDARD STANDA RD PMC PROGRAM PROGRAM

The Standard PMC program is the PMC program that is loaded in the robot controller by default.

Contents o f Standard PM PMC C program The Standard PMC program has the following contents. •  The corresponding corresponding I/O port names and system interface interface names are defined as symbols symbols of of PMC addresses. (Refer to Section 1.5.2, "External I/O Device" and Section 1.5.7, "System Control by PMC Program (System Interface). •  The ladder program that uses UI and UO as normal UOP signals is written in the Level 1 program. (Refer to Section 1.5.7 "System Control by PMC Program (System Interface).

Uses of Standard PMC program PMC programs can easily be created by using the Standard PMC program as a template. •  The PMC program can use defined symbols that are similar similar to the rrobot obot controller I/O port names and system interface names. •  If UI and UO are used as normal UOP signals, the Standard Standard PMC program can be used used as it is. The UOP function is easy to modify the ladder program in the Standard PMC program.

Using t he Sta Standard ndard PMC prog ram as a template for a new PM PMC C program To use the Standard PMC program as a template for a new PMC program, do the following. 1. Save STDLDR.PMC to floppy disk or memory card using the PMC menus on the teach pendant. Refer to Section 3.1.12, "Save STDLDR.PMC", for information on saving STDLDR.PMC. 2. Copy STDLDR.PMC to the the hard disk of of the PC where where PMC programmer is installed. (STDLDR.PMC can be used directly from the floppy disk, but it is better to copy it to hard disk because it might be used us ed frequently.) 3. Load STDLDR.PMC to PMC programmer just after creating new PMC program. Then decompile it. Refer to Section 2.3, "Load Standard PMC program" for information on loading the Standard PMC  program. After this operation, the Standard PMC program can be used.

1.7

SAVE/LOAD PMC PROGRAM AND PMC PARAMETERS

The PMC program and PMC parameters in the robot controller can be saved as files to an external file device. PMC parameter is the generic name of internal relays and Data Table Control Data that are retained when the controller is turned off. The PMC program and PMC parameters can be recovered by loading the saved files. The PMC program and PMC parameters can be copied by loading the files that are saved from another robot.

FIle FI le names and cont ents File names and contents of the files.

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1. INTEGRATED PMC OVERVIEW  File name LADDER.PMC

PARAM.PMC

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Contents Title data Ladder Symbols

Title of the program Level 1, Level 2 and sub programs The symbols that have more than 6 characters are eliminated. Japanese characters are replaced with spaces.

Condition to load In Controlled start menu, or E-STOP on Teach Pendant or Operator Panel is pressed.

Coil comments Relay comments and net comments are not saved. Japanese characters are replaced with spaces. Value of internal relays that are retained at power off  In Controlled start menu or PMC is K(Keep relay) stopped. D(Data Table) T(Variable Timer) C(Counter) Data Table Control Data

Operation Ope ration t o save files These files can be saved with the PMC menus or File menu on the teach pendant. Refer to Section 5.2, "File Menu Operations" for information on saving files from the File menu. Refer to Section 5.1.13, "Saving LADDER.PMC and PARAM.PMC" for information on saving files from the PMC menus.

Operation Ope ration t o load fil e These files can be loaded with the File menu on Teach Teach Pendant. The "Condition to load" in the above list must be satisfied to load the files. Refer to Section 5.2, "File Menu Operations" for information on loading files from the File menu.

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2. SEQUENCE PROGRAM 

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2

SEQUENCE SEQUENC E PROGRAM PROGRA M

The PMC sequence control is handled by the software and operates on principles different from a general relay circuit. Therefore, the sequence control method must be fully understood in order to design the PMC sequence.

2.1

EXECUTION PROCEDURE OF SEQUENCE PROGRAM

In a general relay sequence circuit, circuit, each relay operates at approximately the same time. In the figure below for example, when relay A operates, relay D and E operate at approximately the same time. (When both contacts B and C are off.) In PMC sequence sequence control, each relay of the circuit operates sequentially. When relay A operates, relay D operates, then relay E (see Fig. 2.1 (a)). Thus each relay operates in sequence and can be written as a ladder diagram. (programmed sequence shown below)

Fig.2.1 (a) Circuit examples

Although the PMC sequential operation is performed at high speed, the speed will change with the order to  be executed. Fig. 2.1 (b) (A) and (B) illustrate operations varying from the relay circuit to the PMC program.

Fig.2.1 (b) Circuit examples

(1) Relay circuit Operations are the same in both both Fig. 2.1 (b) (A) and and (B). Turning on A push button (P.B) (P.B) causes current to flow to coils B and C, which turns on B and and C. When C turns on, B turns off. (2) PMC program In Fig. 2.1 (b) (A), as in the relay circuit, turning on A (P.B) turns on B and C, and after one cycle of the PMC sequence, turns off B. But in Fig. 2.1 (b) (B), turning on A (P.B) turns on C, but does not turn on B. - 23 -

 

2. SEQUENCE PROGRAM 

2.2

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REPETITIVE OPERATION

The ladder program is executed from the beginning beginning to the end in the sequence written. When the ladder  program ends, the program starts over from the beginning. This is called repetitive operation. The execution time from the beginning to the end of the ladder program is called the sequence processing time, which varies according to the control scale (the number of steps) and the size of the Level 1 sequence. The shorter the process time is, the better the signal response becomes.

2.3

LEVEL 1 AND LEVEL 2

The Integrated PMC can execute two programs, Level 1 and Level 2, in parallel.

Mechanism Me chanism of parallel exe executi cuti on Level 1 and Level 2 are executed by the following mechanism: (1) Level 1 is executed from the beginning every scan. (2) When Level 1 is co completed, mpleted, Level 2 starts. (3) When the total processing time of Level 1 and Level 2 exceeds the allowed processing time, Level Level 2 execution is paused and the robot controller processes other system s ystem operations (except PMC) until the next scan is started. (4) The paused Level 2 execution is continued when the execution of Level 1 of of the next scan is completed. (5) When all of Level 2 has been executed, it will execute again from the beginning in the next scan after Level 1 has completed.

How to choo se Level 1 or Leve Levell 2 Use the following guidelines to determine when to program in Level 1 or level 2: •  Programs should typically be written in Level 2. Special PMC programs that need very quick response should be written in Level 1. •  Level 1 programs cannot call a Sub program. •  If many function commands are required, they should should be be written in L Level evel 2 because the processing time of a function command varies with the ACT condition. The scan time of a Level 2 program program is tuned automatically according to the processing time.

Levell 1 processing time is too long Leve If the processing time of a Level 1 program is too long to be completed in one scan, Level 1 program execution will also be divided like Level 2. Level 1 programs can work correctly except the scan time of Level 1 is not 8msec. When level 1 programs are divided, they will work correctly, but the scan time will be longer than 8msec.

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2. SEQUENCE PROGRAM 

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2.4

PMC EXECUTION PROCESSING TIME

Processing time calculation Processing time can be calculated by the following expression. R-J3/R-J3iB

(Number of steps 0.085) + Total of processing time of function commands (μsec) R-30iA

(Number of steps 0.025) + Total of processing time of function commands (μsec) The processing time of every function command is specified in Section 1.4, "Function Commands".

How to shorten processing time Function commands take approximately 350 more times to process process than basic commands. commands. To shorten  processing time, decrease the number of function function commands.

Processing t ime of Level 1 The robot system processing requires 4msec 4msec every scan time (8msec). The PMC uses the remaining 4msec (4000μsec) to execute all of Level 1 and Level 2. If a Level 1 program takes more than 4000μsec, Level 1 program execution will not be completed in one scan. Level 1 programs must not take more than 4000 μsec. Even if Level 1 takes less than 4000μsec, the processing time of a Level 2 program in one scan is reduced by the processing time of Level 1. Level 1 should be kept as short as possible to allow time for a Level 2  program to run.

Scan Sca n ti me of L eve evell 2 The number of divisions of a Level 2 program is calculated by the following expression.

Processing time of Level 2 (μs)/ (4000 - Processing time of Level 1 (μs)) The scan time of Level 2 is 8 ms times the number of divisions of a Level 2 program.

2.5

UPDATE TIMING OF SIGNAL SIGNALS S

 Ad dr es ess s v alu e m may ay b e iinc nc o ns is t en entt The value of external I/O devices (X and F areas) is updated asynchronously with PMC execution. The value read at the beginning of the ladder program and the value read at the end of the ladder program might  be different. If a ladder program reads the same address in multiple locations, an internal relay should be used to store the value of the external device.

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The same situation occurs when a robot program changes an internal relay and the PMC program reads the same internal relay or when Level 1 changes an internal relay and Level 2 reads the same internal relay. In these cases, if the internal relay is read at multiple locations of the t he ladder program, the value of the internal relay should be copied to another internal relay and the copied internal relay should be read in the ladder  program from that point forward.

Conditions when the value is inc onsistent The list shows the conditions co wheninthe value might be inconsistent. ladder program mustfollowing read the area specified asnditions inconsistent theaddress following list at multiple locations If ofathe same ladder  program, the value of the area should be copied to another internal relay, and the copied internal relay should be read in the ladder program from that point forward. Read by Level 1

 Add res ress s External device input (X, F) External The area set by Level 1 device output The area set by Level 2 (Y, G) The area set by Robot program Internal relay The area set by Level 1 (R, K, D) The area set by Level 2 The area set by Robot

Read by Level 2

Inconsistent Consistent Consistent * Inconsistent

Inconsistent Inconsistent Consistent Inconsistent

Consistent Consistent * Inconsistent

Inconsistent Consistent Inconsistent

program

Areas that are changed by a process other than the current ladd ladder er program are inconsistent. One exception is that Level 1 can read an area set by Level 2 consistently. It is not necessary to copy the area to another internal relay. (Items marked "*" in the above list.)

2.6

INTERLOCKING

Interlocking is necessary in the sequence program and is externally important in sequence control safety. However, make sure to interlock with the end of the electric circuit in the machine tool magnetics cabinet. Even though logically interlocked with the t he sequence program (software), the interlock will not work when trouble occurs in the hardware used to execute the seque sequence nce program. Therefore, always provide an interlock inside the machine tool magnetics cabinet panel to ensure operator safety and to protect the machine from damage.

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2. SEQUENCE PROGRAM 

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2.7

SEQUENCE PROGRAM STRUCTURING

With the conventional PMC, a Ladder program program is described sequentially. By employing a Ladder language that allows structured programming, the following benefits are derived: •  A program can be understood and developed easily. •  A program error can be found easily. • 

When an operation error occurs, the cause can be found easily.

2.7.1

Examples of Structured Programming

2.7.1.1

Implementatio Impleme ntation n Te Techni chni ques

Three major structured programming capabilities are supported. s upported. (1) Subprogramming A subprogram can consist of a Ladder sequence as the processing units.

(2) Nesting Ladder subprograms created in 1 above are combined to structure a Ladder sequence.

(3) Conditional branch The main program loops and check whether conditions conditions are satisfied. If a condition is satisfied, the corresponding subprogram is executed. If the condition is not satisfied, the subprogram is skipped.

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2. SEQUENCE PROGRAM 

2.7.1.2

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 Ap  A p pl ic atio at io n s

(1) Example Suppose that there are four major jobs.

(2) Program structure

(3) Program description

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2. SEQUENCE PROGRAM 

2.7.1.3

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Specifications

(1) Main program The main program is the Ladder program consisting of the Level 1 and Level 2 ladder programs. One,  but only one, main program can be created. A subprogram cannot be called from the Level 1 ladder  program. Any number of subprograms however, can be called from the Level 2 ladder program. The functional instructions JMP and COM must be completed within each main program or subprogram. (2) Subprogram A subprogram is a program called by the Level 2 ladder program. It is a program unit starting with the functional instruction SP and ending with the functional instruction SPE. Up to 512 subprograms can  be created for one PMC. (3) Nesting A subprogram can call another another subprogram. subprogram. The maximum nesting depth is eight levels. Recursive calls are not allowed.

2.7.2

Subprogramming and Nesting

2.7.2.1

Function

Conditional JUMP (or unconditional JUMP) is i s coded in the main program, and the name of a subprogram to  be executed is specified. In the subprogram, the name of the subprogram and a Ladder sequence to be executed are coded. When a subprogram is named Pn (program name), and this name is specified in conditional JUMP, the subprogram is executed by calling it. A symbol and comment can be added to Pn to assign a subroutine name. In the example shown in Fig. 2.7.2.1, 2.7.2.1, the main program program calls three subprograms. These calls are all conditional calls. Subprogram P1 is named named SUBPRO. It calls subprogram PROC PROCS1 S1 unconditionally.

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2. SEQUENCE PROGRAM 

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Fig.2.7.2. Fig.2.7 .2.1 1 Example of subpro grammin g a and nd nesting

2.7.2.2

Execution Method

The main program is always active. Subprograms on the other hand, are active only when called by another  program. In the following example, subprogram SUBPRO is called by signal A.

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2. SEQUENCE PROGRAM 

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Flow of execution a : Functional instruction CALL calls a subpro subprogram gram in order to transfer control to the subprogram.  b : When the end of the subprogram is reached, control is returned to the main program. c : When the end of the main program is reached, the management program program performs performs Ladder program program  postprocessing.

2.7.2.3

Creating Cre ating a Program

Create subprograms in the same way as the Level 1 and Level 2 Ladder programs. Example of creation

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2. SEQUENCE PROGRAM 

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Inhibit items (1) Subprograms are nested.

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2. SEQUENCE PROGRAM 

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(2) A subprogram is created within the Level 1, or Level 2 Ladder program.

2.8

J MP INST INSTRUCTI RUCTIONS ONS WITH WITH LAB L AB EL SPECI SPECIFICATION FICATION

2.8.1

Specifications

(1) Relationship between JMPB/JMPC and LBL (Forward and backward jumps to the same label are possible.)

CAUTION The specifications allow backward jum jumps. ps. A backward jum jump, p, however, might result in an infinite loop or cause the execution time of the Level 1 Ladder program to exceed 4 ms. ms. Create a program c carefully arefully so an infinite loop does not o occur. ccur. CAUTION Do not skip TMR, TMRB and TMRC by JMP, JMPE, JMP JMPB, B, JMPC, and LBL. If TMR, TMRB or TMRC are skipped, they might not work correctly. Turn off the controller, then turn it on again to recover from this problem. - 34 -

 

2. SEQUENCE PROGRAM 

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(2) Same label (A label can be used more than once as long as it is unique within the main program or each subprogram.)

NOTE  As mentioned in (8) of Section 2.8, the same label label must not exist in the Level 1 and Level 2 Ladder programs. (3) Number of labels Level 1 and Level 2 Ladder programs : Up to 256 labels Subprogram : Up to 256 labels for each subprogram Label number : L1 to L9999 (4) Relationship between JMP/JMPE and JMPB/JMPC (JMPB and JMPC can be used with JMP and JMPE freely.)

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2. SEQUENCE PROGRAM 

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(5) Relationship between CALL/CALLU and JMPB/JMPC (JMPB and JMPC can be used with CALL and CALLU freely.)

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2. SEQUENCE PROGRAM 

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(6) Position of JMPC (JMPC coded between COM and COME can cause a jump.)

2.8.2

Restrictions

(1) Jump destination of JMPB (1) (A jump over END1 or END2 is inhibited.)

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2. SEQUENCE PROGRAM 

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(2) Jump destination of JMPB (2) (A jump must be performed within a subprogram.)

(3) Jump destination of JMPB (3) (A jump over COM or COME is inhibited.)

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2. SEQUENCE PROGRAM 

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(4) Jump destination of JMPC (1) (1) (A jump to the first-level Ladder program is inhibited.)

(5) Jump destination of JMPC (2) (A jump to a label between COM and COME is inhibited.)

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2. SEQUENCE PROGRAM 

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(6) Jump destination of JMPC (3) (3) (Control must not be returned to a label that appears earlier than the instruction that has called the subprogram.)

CAUTION Do not create a Ladder program using the jump function f unction to create an infinite loop.

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2. SEQUENCE PROGRAM 

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(7) LBL for JMPB (1) (There is no LBL in the same subprogram.)

(8) LBL for JMPB (2) (The same LBL is found in the Level 1 and Level 2 Ladder programs.)

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2. SEQUENCE PROGRAM 

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(9) LBL for JMPC (There is no LBL in the Level 2 Ladder program.)

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3. PROGRAMMING WITH FAPT LADDER-II 

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3

PROGRAMMING PROG RAMMING WITH FAPT LA L A DDE DDER-II R-II

FAPT LADDER-II is a programming tool for FANUC PMC ladder programs, that works in MS-DOS. This chapter explains all operations from creating a new PMC program to executing it on the robot controller.

NOTE Use "FAPT LADDER-II for Robot" to program the robot controller Integrated PMC.

3.1

CONNECTION BETWEEN ROBOT CONTROL CONNECTION CONTROL LER A ND FAPT LADDER-II

The Online monitor function and the PMC program transfer function are available by connecting the robot controller and FAPT LADDER-II via RS-232-C.

RS-232-C cable RS-232-C cross cable. Use the following

Specification of robot side connector. Connector : D-Sub25pin Male DBM-25P (ANSI/EIA - 232) Housing : DB-C2-J9 (ANSI/EIA - 232) Shielded cable is recommended. Connect the robot side of the cable to the RS-232-C port on the robot operator panel.

Settin Se ttin g of serial port To use the online function of FAPT LADDER-II, set up the robot serial port as follows: (1) Press MENU on the teach pendant, and select "6 SETUP" in the displayed menu.

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3. PROGRAMMING WITH FAPT LADDER-II  

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(2) Press [TYPE], and select Port init.

(3) Move the cursor to 1 RS-232-C, and press

, DETAIL. The RS-232-C port detail screen will be

displayed.

(4) Move the cursor to 1 Device, and press

, [CHOICE].

(5) Select "PMC Programmer" in the displayed menu.

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3. PROGRAMMING WITH FAPT LADDER-II 

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(6) Press ENTER.

3.2

CREATING A NEW PMC PROG PROGRAM RAM

FAPT LADDER-II creates a directory for each PMC program. All of the necessary files for the PMC  program are created in this directory. The directory directory name is "source program name." Use the following procedure to create a new PMC program. (1) Select "Program selection" in the initial FAPT LADDER-II menu.

(2) Type the source program program name name as "Drive:\Source program program name." name." If an existing program (directory name) is specified, the specified program will be selected. If a n new ew program (directory name) is specified, the specified program will be created.

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3. PROGRAMMING WITH FAPT LADDER-II   (3) Press  press

, EXEC or press

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. The following menu will be displayed. Select PMC-SB5/RB5 and

. The initial menu will be displayed.

NOTE The PMC type must must be "PMC-SB5/RB5." If another PMC type is selected, the created PMC program cannot be used in the robot controller. NOTE If you are using "FAPT LADDER-II for Robot", only "PMC-SB5/RB5" will be displayed in this list.

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3. PROGRAMMING WITH FAPT LADDER-II 

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3.3

L OADING THE STANDA STANDARD RD PMC PROGRAM PROGRAM

You can create a program easily by using the standard PMC program as the template for your PMC  program. The robot controller can save the standard PMC program as STDLDR.PMC To use the standard PMC program as the template for your PMC program, load STDLDR.PMC using the following procedure just after creating a new PMC program. Refer to Section 1.6, "Standard PMC program" for details of the standard PMC program.

Procedure Procedu re to load ST STDLDR. DLDR.PM PMC C NOTE Contents of the selected program will be lost by this operation. Only do this just after creating a new PMC program. (1) Create a new PMC program according to Section 3.2, "Creating a New PMC Program". (2) Press

, I/O in the Off-Line menu menu of FAPT LADDER-II. The I/O menu will b bee displayed.

(3) Press

, Handy File in the I/O menu.

(4) Press

, READ(PROGRAMMER ". Example: "DO[10001],GO[1]-0,DO>" In this case, you can scroll through the port names by pressing the

key and the

key.

Value The "Value" column displays displays the value of the bit address. When the cursor is on this column, you can set the bit to 1 by pressing the

key to 0 by pressing the

key.

Comment The Comment line displays the coil comment of the byte address.

Display another address To display another address, press

and type the numeric part of the PMC address at the "Address:"

 prompt. To display an address that begins with a different letter, press

, [DATA] and select the alphabetic

character in the displayed menu.

Go to byt e me menu nu To go to the byte menu, press

, BYTE.

Conditions for changing value You can change an address value whether the PMC is running or stopped. You can not change a value when the Change address value item in the Parameters menu is DISABLED (K17.4 is 0).

5.1.3

Timer Menu

The Timer menu displays and sets the timer value for the TMR (SUB3) function command TMR (SUB3).

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No. The No. column displays the timer number. number. This number is specified in the TMR function function command as the "timer number" parameter.

 Ad dr . The Addr. column displays the corresponding PMC address. address. One timer uses two bytes of the T area.

Symbol The Symbol column displays symbol of the byte address.

Data The Data column displays the timer value in msec. You can set a new value using the numeric keys and the      

• • •

key.

Timers 1- 8 have a resolution of 48 msec. Timers 9- 40 have a resolution of 8 msec. If you enter a preset value that is not not divisible by the resolution, the remainder is omitted. Example: If you enter 60 for Timer No. 1, the value becomes 48.

Comment

The Comment column displays the coil comment of the byte address.

Condition for changing the value You can not change a timer value when the PMC is run running. ning. You must stop the PMC to change the value.

5.1.4

Counter Me Menu nu

The Counter menu displays and sets the preset value and current value of the CTR (SUB5) function command.

No. The No. column displays the counter number. This number is specified in the CTR function commandas the "counter number" parameter.

 AdThe dr .Addr. column displays the corresponding PMC address. One counter uses four bytes of the C area.

Symbol The Symbol column displays symbol of the byte address. - 104 -

 

5. TEACH PENDANT OPERATION 

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Preset The Preset column displays preset value of the counter. You can set a new value using the numeric keys and the

key.

Current The Current column displays current value of the counter. You can set a new value using the numeric keys and the

key.

Comment The Comment column displays coil comment of the byte address.

Condition for changing the value You can not change preset value and current value when PMC is running. You must stop the PMC to change the value.

5.1.5

Data Da ta Table Contr ol Da Data ta Menu

The Data Table Control Data menu displays and sets the Data Table Control Data.

Grp The Grp column displays the Data Table group number.

 Ad dr es ess s The Address column displays the starting address of the Data Table group. You can set a new value with the numeric keys and the

key.

Number The Number column displays the number of elements in the Data Table group. You can set a new value with the numeric keys and

key.

 Ac c es ess s The Access column displays the accessing mode of the Data Table group. Byte: One element uses one byte of D area. Word: One element uses two bytes of D area. DWord: One element uses four four bytes bytes of D area.

To change the access mode, press the

[CHOICE] key and select an item from the displayed menu. - 105 -

 

5. TEACH PENDANT OPERATION 

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Type The Type column displays the data type of the Data Table group. Dec: Data is displayed as decimal format. Hex: Data is displayed as hexadecimal format. BCD: Data is displayed as BCD format. To change the data type press

, [CHOICE], and select an item from the displayed menu.

Protect The Protect column displays the protection setting of the Data Table group. Off: You can change the value of the Data Table grou group. p. On: You can not change change the value of the the Data Table group. To change the protection setting press

, [CHOICE] and select an item from the displayed menu.

The protection setting is used only in the Data Dat a Table menu of the PMC menus and the Data Table monitor in PMC programmer. You can change the value of the D area fro from m the Byte menu or Bit menu even thoug though h the protection setting is On.

To add a new Data Data Ta Table ble gr group oup Press

, [FUNC]. The following menu is displayed.

Select Add group. A new Data table group is inserted under the current Data Table group. group. The new Data Table group has the same setting as the current line. The Data Table groups under the new Data Table group are moved down.

To delete a Data Data Table gro group up Select Delete group in the menu displayed by

, [FUNC] to delete the current Data Table group.

The Data Table groups under the deleted Data Table group are moved up.

Conditions for changing value You can not change Data Table Control Data when PMC is running. You must stop the PMC to change the Data Table Control Data You can not change Data Table Control Data when the "Protect data tbl ctl" it item em in the Parameters menu is ENABLED (K17.7 is 1).

To go to t o th e D Data ata T Table able menu To display the Data Table data of the current Data Table group, press

(DETAIL) or

.

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5.1.6

Data Tabl Tabl e M Menu enu

The Data Table menu displays and sets the data of the Data Table for every Data Table Group.

Data Da ta table gr p. The selected Data Table group number is displayed in the upper line of the screen as Data table grp.1.

Protect

The Protection setting of the selected Data Table group is displayed in the upper line of the screen as Protect:Off. You can not change the protection setting in this menu.

No. The No. column displays element number.

NOTE The first element number is 1. The first number of data in Table of function commands DSCH, DSCHB, XMOV and XMOVB is 0. (Data number in Table) = (Element number) - 1

 AdThe dr .Addr. column displays the PMC address in the D area. Symbol The Symbol column displays the symbol of the byte address.

Data The Data column displays the data of the element. Data type is displayed in right side of "Data" header as "Data(Dec)". Data is displayed in the selected Data type format. You can set a new value with the numeric keys and the

key.

When the data type is Hex, enter A-F characters by pressing the and pressing

Comment

to decide.

or

keys to select the character

The Comment column displays the coil comment of the byte address.

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To disp lay the next Da Data ta Ta Table ble grou p To display the next Data Table group, press

, NEXT.

When the last Data Table group is displayed, Data Table group 1 is displayed by pressing

To go to t je Da Data ta Ta Table ble Contr ol Data menu To display Data Table Control Data menu, press

, LIST or

, NEXT.

.

Conditions for changing data You can not change the Data Table data when when the PMC is running. You must stop the PMC to change data. When the protection setting is On, you can not change the Data Table data even though PMC is stopped.

5.1.7

Parameters Pa rameters Me Menu nu

The Parameters menu displays and sets the PMC setting parameters.

Forbid ladder ladder m onitor DISABLE : ENABLE :

Ladder monitor in PMC programmer can be displayed. Ladder monitor in PMC programmer can not be displayed.

Use Programmer DISABLE : ENABLE :

PMC programmer is not available. ("Load program", "Store program", "Backup program" and "Run/Stop the program" are not available in PMC programmer.) PMC programmer is available.

Stop PMC at startup DISABLE : ENABLE :

PMC runs at power up automatically. PMC does not run at power up automatically.

Use standard l adde adderr DISABLE : ENABLE :

The PMC program saved in ROM is loaded loaded to RAM at power up. The Standard PMC program is loaded to RAM at power up. (This setting is changed to DISABLE automatically by "Backup program" in PMC  programmer or loading LADDER.PMC in the file menu.)

Change address value DISABLE :

You can not change change values values in the Byte menu and Bit Bit menu menu of the PMC menus. You can not change values in "Signal status" of the PMC programmer.

ENABLE :

You can change values in the Byte menu and Bit menu of the PMC menus. - 108 -

 

5. TEACH PENDANT OPERATION 

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You can change values in "Signal status" of the PMC programmer.

Protect data tbl c tl DISABLE : ENABLE :

You can change Data Table Control Data in the Data Table Control Data menu. The Data Table Control Data menu in PMC programmer can be displayed. You can not change Data Table Control Data in the Data Table Control Data menu. The Data Table Control Data menu in PMC programmer can not be displayed.

Conditions for changing setting You can not change PMC setting parameters when the PMC is i s running. You must stop the PMC to change setting parameters.

5.1.8

Status Sta tus Me Menu nu

Status menu displays PMC program size and scan time.

Program s ize The Program size area displays the number of steps in the PMC program. The number of steps of level 1, level 2 and the total of level 1 and level 2 are displayed. "16384" in the right side si de of "Total" is the maximum number of steps.

Scan Sca n t ime

The Scan time area displays the scan time of level 1 and level2. Current scan time, maximum scan time and minimum scan time are displayed. Maximum scan time and minimum scan time are the maximum and minimum since the last power up.

5.1.9

Title Menu Menu

The Title menu displays title data of the PMC program. Title data is edited with the PMC programmer.

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Corresponding title data The following is the corresponding item in the title menu of PMC programmer for every line. Correspon ded item i n FAPT FALLDER FALLDER-II -II for Rob ot Company Machine

MACHINE TOOL BUILDER NAME MACHINE TOOL NAME

PMC

PMC & NC NAME

Program

PMC PROGRAM NO

Edition

EDITION NO

Drawing

PROGRAM DRAWING NO

Date

DATA OF PROGRAMMING PROGRAM DESIGNED BY

 Author Install

ROM WRITTEN BY

Remarks

REMARKS

5.1.10

Search

Search Se arch proc edure Use the following procedure to search for PMC addresses, symbols, comments and port names. (1) Press , [FUNC]. The following menu is displayed.

(2) Select "1 Search", and type the search word at the "Address/Symbol/Port name:" prompt.

Search Se arch PM PMC C address To search for a PMC address, type the PMC address like "X1.0" or "X12". If you type a bit address such as "X1.0", the bit menu is displayed, and the cursor points to the specified address. If you enter a byte address such as "X12", the byte menu is displayed, and the cursor points to the "Hex" column of the specified address.

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5. TEACH PENDANT OPERATION 

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Search Se arch symbo l and comment To search for a symbol or comment, type the WORD contained in the symbol or comment. The WORD means the characters between the beginning of the line and the end of the line or a space. For example, if you type "ABC" to search, "ABC DEF" and "123 ABC 456" are detected, but "ABCDEF" and "123ABC 456" are not detected.

Search Se arch po rt name To search for a port name, type the port name such as "SDO[1]". To search for group I/O or analog I/O, you can specify a bit number such as "GO[1] "GO[1]-3". -3". If you do not specify a bit number, bit 0 is returned.

Search Se arch s ystem interface name System interface names can be searched for as port names. For example, if you type "IMSTP" to search, PMC address G1000.0 is displayed in the bit menu.

Found in multiple locations If the searched word is found in multiple locations, the function key label is changed as follow.

Press

NEXT to display next item.

Press

PREV to display previous item.

Press

CANCEL to cancel searching.

5.1.11

Run/Stop PMC

Display PMC PMC e executio xecutio n st atus PMC execution status is always displayed in upper line of all PMC menus. PMC is running

PMC is stopped

Procedure to run /stop PMC You can run or stop the PMC by the following operation. (1) Press

[FUNC], the following menu is displayed.

(2) Select 2 Run/Stop PMC, - 111 -

 

5. TEACH PENDANT OPERATION   

•

When PMC is running, the prompt "Stop PMC program?" is displayed, if you press

 

•

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(YES) key, then PMC is stopped.

When PMC is stopped, the prompt "Run PMC program?" is displayed, if you press

5.1.12

(YES) key, then PMC is started.

Save STDLDR.PM STDLDR.PMC C

STDLDR.PMC When the PMC option is loaded on the robot controller, a standard ladder program is also loaded. You can save the standard PMC program as the file STDLDR.PMC. It is a good idea to copy STDLDR.PMC to the PC in which PMC programmer is installed, and use it as a template for your PMC  program. Refer to Section 1.6 "Standard PMC program" for details of the standard PMC program. Refer to Section 3.3 "Load standard PMC program" for information on how to use STDLDR.PMC.

Procedu re tto o save STDLDR STDLDR.P .PMC MC NOTE You must select an external file dev device ice in file menu be before fore this procedure. Refer to Section 5.2 Operation in File Menu" for information on how to select an external file device. (1) Press

[FUNC] in PMC menus, the following menu is displayed.

(2) Select "3 Save STDLDR". The following prompt is displayed.

(3) Press

5.1.13

YES. STDLDR.PMC is saved to the selected external file device.

Save LADDER.PMC and PARAM.PMC

You can save LADDER.PMC and PARAM.PMC in PMC menus.

Procedu re to save LA DDE DDER.P R.PMC MC and PARAM.P PARAM.PM M NOTE You must select an external file dev device ice in file menu be before fore this procedure. Refer to Section 5.2, "Operation in File Menu," for information on how to select an external file device.

(1) Press

while in the PMC menus. The following menu is displayed. - 112 -

 

5. TEACH PENDANT OPERATION 

B-82614EN/02 

(2) Select – NEXT – to display next page, and select SAVE. LADDER.PMC and PARAM.PMC are saved to the selected external file device.

5.2

FILE MENU OPERATIONS

You can save and load LADDER.PMC and PARAM.PMC from the teach pendant FILE menu. Refer to Section 1.7, "Save/Load PMC program and PMC Parameters," for details of LADDER.PMC and PARAM.PMC.

Operation Ope ration t o dis play File me menu nu (1) Press

, the following menu is displayed.

(2) Press

, [TYPE], and select "File" in the displayed menu".

(3) The File menu is displayed.

- 113 -

 

5. TEACH PENDANT OPERATION 

B-82614EN/02 

Select Se lect external f ile device To operate on files in the File menu, you must select the target external file device. The selected external file device is displayed in left side of upper line in File menu.

Use the following procedure to select the external file device. (1) Press

[UTIL] key, the following menu is displayed.

(2) Select Set device, the following menu is displayed.

(3) Select external file device.

NOTE If you select Floppy disk, you must set the serial port in Port Init I nit menu before this procedure. If you use MS-DOS to format the floppy disk, the following setting is needed.

MS-D MS -DOS OS form at flop py d isk There are two types of floppy formats that can be used by the robot controller, FANUC format and MS-DOS format. To use the file both on a PC and the robot controller, you must use MS-DOS format.

To use MS DOS format, set up the port as follows. follows. Setting of the robot controller Port Init menu - 114 -

 

5. TEACH PENDANT OPERATION 

B-82614EN/02 

Setting of Handy File Item

Value

Protocol

Robot

Speed

9600baud

Stop bit

1 bit

Parity bit

None

Data code

Receive ISO/EIA Send ISO

Cannel

RS-232-C

Subprogram

None

5.2.1

Save LADDER.PM L ADDER.PMC, C, PARA PARAM.PM M.PMC C

Save LA DDER DDER.PMC .PMC a and nd PARAM.PMC You can save LADDER.PMC and PARAM.PMC individually with the following procedure. (1) Press

[BACKUP]on the File menu, the following menu is displayed.

(2) Select System files, the following message is displayed.

(3) Press

, NO. Similar messages are displayed repeatedly. Select

PARAM.PMC is displayed.

(4) If LADDER.PMC or PARAM.PMC is displayed, press (5) After LADDER.PMC and PARAM.PMC are saved, press

, YES. , EXIT.

NO until LADDER.PMC or

- 115 -

 

5. TEACH PENDANT OPERATION 

B-82614EN/02 

 Al l bac k up The "All backup" function in the File menu can back up all files to recover the current system. LADDER.PMC and PARAM.PMC are also saved with the "All backup" function.

NOTE  All files in the selected external file device are deleted by the following procedure. (1) Press

, [BACKUP] in File menu. The following menu is displayed.

(2) Select All of above. The following message is displayed.

(3) Press

YES.

Save STDLDR.PMC You can not save STDLDR.PMC from the File menu.

5.2.2

Load LADDER.PMC, PARAM.PMC

Load a selected file (1) Press

[DIR]. The following menu is displayed.

(2) Select "*.*". The file list is displayed. (If there are many files, select "*.PMC" to display PMC files only.)

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5. TEACH PENDANT OPERATION 

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(3) Move the cursor on the file to load, and press

(4) Press

, LOAD. The following message is displayed.

, YES, the file is loaded.

Notes on loadi ng L LADDE ADDER.P R.PMC MC The teach pendant E-STOP button or operator panel E-STOP button must be pressed to load LADDER.PMC, if the controller is not in controlled start mode. If LADDER.PMC is loaded, the previous PMC program is lost. The running PMC program program is not changed by loading LADDER.PMC. To run the loaded PMC program, program, you must turn the robot Controller on.

CAUTION If " PRIO-145 Purging flash file, please wait" is displayed when you are loading LADDER.PMC, the robot controller system is arranging ROM data, and it takes about a few minutes. In this case, wait until the message "PRIO-146 Flash file purge is completed" is displayed on the robot controller teach pendant. Do not shut dow down n power during this processing. Otherwise, corruption of memory could occur.

Notes loadiisng PARAM.PMC C mode, the PMC program must be stopped to load PARAM.PMC. If the on controller notPARAM.PM in Controlled Start If PARAM.PMC is loaded, the previous value of backed up internal relays is lost.

 Al l r es esto to re The "All restore" function in the File menu of the Controlled Start mode can load all files in the selected external file device. LADDER.PMC and PARAM.PMC are also loaded by the "All restore" function.

NOTE  All robot programs and settings are lost by the following following procedure. The programs and settings become that of the files that are restored. (1) Turn the robot controller off. Then press and hold the robot controller. controller. The following menu menu is displayed.

and

keys on teach pendant, and turn on

- 117 -

 

5. TEACH PENDANT OPERATION 

B-82614EN/02 

(2) Select "Controlled start", and wait a moment. The following following menu menu is displayed.

(3) Press MENU and select "File". The File menu is displayed.

(4) Press

, [RESTOR]. The following menu is displayed.

(5) Select All of above. The following message is displayed.

(6) Press

YES.

Load Lo ad STDLDR.PM STDLDR.PMC C You can not load STDLDR.PMC. You must rename it to LADDER.PMC to load it. To use the standard PMC program temporarily, set "Use standard ladder" item in the Parameters menu to ENABLE, then turn off the controller, then turn it on again.

- 118 -

 

6. BASIC COMMAND REFERENCE 

B-82614EN/02 

6

BASIC COMMAND REFERENCE

6.1

RD

(1) Format

(2) Reads the status (1 or 0) of a signal at a specified address and sets it in ST0. (3) Is used used when when begi beginni nning ng coding coding with contac contactt A ( ). See the lad ladder der diagra diagram m of of Fig. Fig. 6.1 and entrie entriess in the coding sheet of Table 6.1 for an example of using the RD instruction. (4) The signal read by the RD instruction may be any signal entered as the logical condition for one coil (output).

Fig.6.1 Ladder diagram

- 119 -

 

6. BASIC COMMAND REFERENCE 

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Table 6.1 Coding fo r Fig. 6 6.1 .1 Coding shee sheett Step Number

Instruction

 Add res ress s No.

Status Sta tus of operating result B i t No .

Rem ar k s

ST2

ST1

ST0

1

RD

X10 . 1

A

A

2

AND

X2 . 0

B

A·B

3

AND . NOT

R2 . 1

C

A·B·C

4

WRT

W1 output

A·B·C

5

RD

X5 . 1

D

D

6

OR . NOT

Y5 . 2

E

D+E

7

OR

Y5 . 3

F

D+E+F

8

AND

R5 . 4

G

(D+E+F)·G

9 10

WR WRT T

R200 . 1

W2 output

(D+E+F)·G

6.2

R200 . 0

RD. NOT

(1) Format

(2) Inverts the status of a signal at a specified address and sets it in ST0. (3) Is used used when when beginn beginning ing coding coding with contac contactt B ( ). See the lad ladder der diagra diagram m of of F Fig. ig. 6.2 and entrie entriess in in the coding sheet of Table 6.2 for an example of using the RD.NOT instruction. (4) The signal read by the RD.NOT instruction may be any contact B entered as the logical condition of one coil.

Fig.6.2 Ladder diagram

- 120 -

 

6. BASIC COMMAND REFERENCE 

B-82614EN/02 

Table 6.2 Coding for Fig. 6.2 Coding shee sheett Step Number

Instruction

 Add res ress s No.

Status Sta tus of operating result B iitt No .

Rem a arr ks ks

ST2

ST1

ST0

1

RD. NOT

R1 . 1

A

A

2

AND . NOT

R2 . 2

B

A·B

3

AND . NOT

R3 . 3

C

A·B·C

4

WRT

W 1 o u tp u t

A·B·C

5

RD. NOT

R5 . 1

D

D

6

OR . NOT

X4 . 2

E

D+E

7

OR

Y10 . 7

F

D+E+F

8

AND

R10 . 5

G

(D+E+F)·G

9

WRT

R210 . 2

W2 output

(D+E+F)·G

6.3

R210 . 1

WRT

(1) Format

(2) Outputs the results of logical operations, that is, the status of ST0 to a specified address. (3) The results of one logical operation can also be output to two or more addresses. How to use the WRT WRT instruction in this case is shown in Fig. 6.3 and Table 6.3.

Fig.6.3 Ladder diagram

Table 6.3 Coding fo r Fig. 6 6.3 .3 Coding shee sheett Step Number

Instruction

 Add res ress s No.

Status Sta tus of operating result B i t No .

Rem ar k s

ST2

ST1

ST0

1

RD

R220 . 1

A

A

2

OR

X4 . 2

B

A+B

3

AND

R2 . 2

C

(A+B)·C

4

WRT

Y11 . 1

W 1 o u tp u t

(A+B)·C

5

WRT

Y14 . 6

W 2 o u tp u t

(A+B)·C

- 121 -

 

6. BASIC COMMAND REFERENCE 

6.4

B-82614EN/02 

WRT. NOT

(1) Format

(2) Inverts the results of logical logical operations, that is, the status of ST0 and outputs it to a specified address. Fig. 6.4 and Table 6.4 show an example on using the WRT.NOT instruction.

Fig.6.4 Ladder diagram Table 6.4 Coding fo r Fig. 6 6.4 .4 Coding shee sheett Step Number

6.5

Instruction

 Add res ress s No.

Status Sta tus of operating result B i t No .

Rem ar k s

ST2

ST1

ST0

1

RD

R220 . 1

A

A

2

OR

X4 . 2

B

A+B

3

AND

R2 . 2

C

(A+B)·C

4

WRT

Y11 . 1

W1 output

(A+B)·C

5

WRT. NOT

Y14 . 6

W2 output

(A+B)·C

 AND  A ND

(1) Format

(2) Induces a logical product. (3) See Fig. 6.1 and Table 6.1 for an example of using the AND instruction.

- 122 -

 

6. BASIC COMMAND REFERENCE 

B-82614EN/02 

6.6

 AND.  A ND. NOT

(1) Format

(2) Inverts the status of a signal at a specified address and induces a logical product. (3) See Fig. 6.1 and Table 6.1 for an example of using the AND.NOT instruction.

6.7

OR

(1) Format

(2) Induces a logical sum. (3) See Fig. 6.1 6.1 and Table 6.1 for an example of using the OR instruction.

6.8

OR. NOT

(1) Format

(2) Inverts the status of a signal at a specified address and induces a logical sum. (3) See Fig. 6.1 and Table 6.1 for an example of using the OR.NOT instruction.

6.9 (1) Format

RD. STK

- 123 -

 

6. BASIC COMMAND REFERENCE 

B-82614EN/02 

(2) Stacks the intermediate results of a logical operations. After shifting the stack register left one bit, sets a signal at a specified address to ST0. (3 (3)) Is us used ed when when th thee signa signall to be spec specif ified ied is co cont ntac actt A ( ). (4) See Fig. 6.9 6.9 and Table 6.9 for an example of using the RD.STK instruction.

Fig.6.9 Ladder diagram Table 6.9 Coding fo r Fig. 6 6.9 .9 Coding shee sheett Step Number

Instructio n

 Add ress No.

Status Sta tus of operating result B i t No .

Rem ar k s

ST2

ST1

ST0

1

RD

X1 . 1

A

A

2

AND

Y1 . 2

B

A·B

3 4

RD. STK AND

X1 . 3 Y1 . 4

C D

5

OR. STK

6

RD. STK

R2 . 1

E

A·B+C·D

E

7

AND

R3 . 5

F

A·B+C·D

E·F

8

OR.STK

9 10

WR WRT T

6.10

A·B A·B

C C·D A·B+C·D

A·B+C·D+E·F Y15 . 0

W1 output

A·B+C·D+E·F

RD. NOT. STK

(1) Format

(2) Stacks the intermediate results of a logical operations. Shifts the stack register left one bit, inverts the status of a signal at a specified address and sets it in ST0. (3 (3)) Is us used ed when when th thee signa signall to be spec specif ified ied is co cont ntac actt B ( ). (4) See Fig. 6.10 6.10 and Table 6.10 for an example of using the RD.NOT.STK instruction.

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6. BASIC COMMAND REFERENCE 

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Fig.6.10 Ladder diagram

Table 6.10 6.10 Coding f or Fig. 6.1 6.10 0 Coding shee sheett Step Number

Instruction

Status Sta tus of operating result

 Add res ress s No.

B i t No .

Rem ar k s

ST2

ST1

ST0

1

RD

X1 . 0

A

A

2

AND. NOT

X1 . 1

B

A·B

3

RD.NOT.S TK

R1 . 4

C

A·B

C

4

AND. NOT

R1 . 5

D

A·B

C·D

5

OR. STK

6 7 8

RD. STK AND RD.STK

Y1 . 2 Y1 . 3 X1 . 6

E F G

9

AND. NOT

Y1 . 7

H

10

OR. STK

11

AND. STK

12

WRT

A·B+C·D

A·B+C·D

A·B+C·D A·B+C·D E ·F

E E·F G

A·B+C·D

E ·F

G·H

A·B+C·D

E·F+G·H (A·B+C·D)·(E·F+G·H)

Y15 . 7

W1 output

(A·B+C·D)·(E·F+G·H)

13 14

6.11

 AND.  A ND. STK

(1) Format

(2) Induces a logical product from the operation results in ST0 and and ST1, sets the result in ST1, and shifts the stack register right one bit. (3) See Fig. 6.10 6.10 and Table 6.10 for an example of using the AND.STK instruction.

6.12 (1) Format

OR. STK

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6. BASIC COMMAND REFERENCE 

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(2) Induces a logical sum from the the operation results in ST0 and in ST1, sets the result in ST1, and shifts the stack register right one bit. (3) See Fig. 6.9 and Table 6.9 or Fig. 6.10 and Table 6.10 6.10 for examples examples of using the OR.STK instruction.

NOTE In Table 6.9 putting OR.STK at step 5 between steps 7 and 8 brings about the same result. But it is recommended to code as s shown hown in Table 6.9 6.9,, because coding OR.STK or AND.STK in succession is prone to cause an error.

6.13

SET

(1) Format

(2) The result STO of the logical operation is set to a specified address. The result is held until an RST is issued. (3) Refer to the figure below for an example of using the SET instruction.

Fig.6.13 Ladder diagram Table 6.13 6.13 Coding f or Fig. 6.1 6.13 3 Coding shee sheett Step Number 1

Instruction

RD

 Add res ress s No.

Status Sta tus of operating result B i t No .

R0 . 0

Rem ar k s A

ST2

ST1

ST0 A

2

OR

X0 . 0

B

3

SET

Y0 . 0

Y0.0 output

A+B -

-

(A+B)+C

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6. BASIC COMMAND REFERENCE 

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(4) Remarks   The relation between COM and COME. The operation of SET/RST in the section of COM/COME is as follows. COM condition ON (ACT=1) : It operates usually. COM condition OFF (ACT=0) : SET does not operate. •

6.14

RST

(1) Format

(2) The result STO of the logical operation will reset the specified address. (3) Refer to the figure below for an example of using the RST instruction.

Fig.6.14 Ladder diagram Table 6.14 6.14 Coding f or Fig. 6.1 6.14 4 Coding shee sheett Step Number

Instruction

 Add res ress s No.

Status Sta tus of operating result B i t No .

Rem ar k s

ST2

ST1

ST0

1

RD

R0 . 0

A

A

2

OR

X0 . 0

B

A+B

SET

Y0 . 0

Y0.0 output

3

-

(4) Remarks   The relation between COM and COME. The operation of SET/RST in the section of COM/COME is as follows. COM condition ON (ACT=1) : It operates usually. COM condition OFF (ACT=0) : RST does not operate. •

(A+B)+C

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7. FUNCTION COMMAND REFERENCE 

7

B-82614EN/02 

FUNCTION COMMAND REFERENCE REFERENCE

This chapter explains the detail of all function commands.

7.1

 ADD  A DD (ADDITION)

7.1.1

Function

Adds BCD two-or four-digit data.

7.1.2

Format

Fig.7.1.2 shows the expression format and Table 7.1.2 shows the coding format.

Fig.7.1.2 Fig.7.1 .2 ADD inst ruct ion format Table 7.1 7.1.2 .2 ADD inst ruct ion codi ng Coding shee sheett Step Number 1 2 3 4 5 6 7 8 9

7.1.3 (a)

Instruction 

RD RD. STK RD. STK SUB (PRM) (PRM) (PRM) (PRM) WRT

 Add ress No.   

.    .    . 19

Bit No.      

        

                  

Control Condition Condition s

Specify the number of digits of data.

Me Memory mory status of control conditio ns Remarks BYT RST ACT ADD instruction  Addend format Summand address Addend (address) Sum output address Error output

ST3

ST2

BYT

ST1

ST0

BYT RST

BYT RST ACT

W1

BYT=0 : Data is BCD BCD two digits long. BYT=1 : Data is BCD BCD four digits long. (b) Reset - 128 -

 

7. FUNCTION COMMAND REFERENCE 

B-82614EN/02 

(c)

RST=0 : Release reset. RST=1 : Resets error output W1, that is, sets W1 to 0. Execution command ACT=0 : The ADD instruction is not executed. ACT=1 : The ADD instruction is executed.

7.1.4 0: 1:

Data Da ta Format of Addend

Specifies addend with a constant. Specifies addend with an address.

7.1.5

Summand Address

Set the address storing the summand.

7.1.6

 Ad  A d den d (A (Ad d d r es ess s)

Addressing of the addend depends on 7.1.4.

7.1.7

Sum Output Output Address

Set the address to which the sum is to be output.

7.1.8

Error Output

If the sum exceeds the data size specified in 7.1.3-a), W1=1 is set to indicate an error.

7.2 7.2.1

 ADDB  A DDB (B INARY INA RY ADDITION) A DDITION) Function

This instruction performs binary addition between 1-, 1-, 2-, and 4-byte data. In the operation result register (R9000), operating data data is set besides the numerical data repr representing esenting the operation results. The required number of bytes is necessary to store each augend, the added, and the operation output data.

7.2.2

Format

7.2.3 (a)

Control Condition Condition s

Reset (RST) RST=0 : Release reset - 129 -

 

7. FUNCTION COMMAND REFERENCE 

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RST=1 : Resets error output W1. In other words, makes W1=0. (b) Command (ACT) ACT=0 : Do not execute ADDB. W1 W1 does not change now. ACT=1 : Execute ADDB.

7.2.4 (a)

Parameters

Format specification Specifies data length (1,2, and 4 bytes) and the format for the addend (constant or address).

(b) Augend address Address containing the augend. (c) Addend data (address) Specification in (a) determines the format of the addend. (d) Result output address Specifies the address to contain the result of operation.

7.2.5

Error Output (W (W1) 1)

W1=0 : Operation correct W1=1 : Operation incorrect W1 goes on (W1=1) if the result of addition exceeds the specified data length.

7.2.6

Operation Operatio n Outp Output ut Regis Register ter (R9 (R900 000) 0)

This register is set with data on operation. If register bit is on, they signify the following operation data:

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7. FUNCTION COMMAND REFERENCE 

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7.3

LOGICAL AND

7.3.1

Function

The AND instruction ANDs the contents of address A with a constant (or the contents of address B), and stores the result at address C.

7.3.2

Format

7.3.3

Control Condition Condition s

(a)

Input signal ACT=0 : The AND instruction is not executed. ACT=1 : The AND instruction is executed.

7.3.4 (a)

Parameters

Format specification Specify a data length (1, 2, or 4 bytes), and an input data format (constant or address specification).

(b) Address A Input data to be combined in the AND operation. The data that is held starting at this address and has the data length specified in format specification is treated as input data. (c) Constant or address B Input data to be combined in the AND operation. operation. When address specification is selected in format format specification, the data that is held starting at this address and has the data length specified in format specification is treated as input data. (d) Address C Address used to store the result of an AND operation. The result of an AND operation is stored starting at this address, and has the data length specified in format specification.

7.3.5

Operation

When address A and address B hold the following data:

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7. FUNCTION COMMAND REFERENCE 

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The result of the AND operation is as follows:

7.4

CALL CAL L (CONDI (CONDITIO TIONAL NAL SUBPRO SUBPROGRAM GRAM CALL) CALL )

7.4.1

Function

The CALL functional instruction calls a subprogram. When a subprogram n number umber is specified in CALL, a  jump occurs to the subprogram if a condition condition is satisfied.

7.4.2

Format

7.4.3

Control Condition Condition s

(a)

Input signal ACT=0 : The CALL instruction is not executed. ACT=1 : The CALL instruction is executed.

7.4.4 (a)

Parameters

Subprogram number Specifies the subprogram number number of a subprogram to be called. The subprogram number must be specified in the P address form. Example : To call subprogram 1

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7. FUNCTION COMMAND REFERENCE 

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NOTE Be careful when using the CALL instruction with the COM, COME, JMP, or JMPE functional instruction.

CALLU CAL LU (UNCON (UNCONDIT DITION IONAL AL SUBPROGRAM SUBPROGRAM CAL CALL) L)

7.5

7.5.1

Function

The CALLU functional instruction calls a subprogram. When a subprogram number is specified, a jump jump occurs to the subprogram.

7.5.2

Format

7.5.3

Parameters

(a)

Subprogram number Specifies the subprogram number number of a subprogram to be called. The subprogram number must be specified in the P address form. A number from P1 to P512 can be specified. Example : To call subprogram 1

7.6

COD (CODE CONVERSION)

7.6.1

Function

COD converts BCD codes into an arbitrary two- or four-digits four-digits BCD numbers. For code conversion shown in Fig.7.6.1 the conversion input data address, conversion table, and convert data output address must be  provided. Set a table address, in which the data to be retrieved from the conversion table is contained, to conversion table input data address in a two-digits BCD number. number. The conversion table is entered in sequence with the numbers to be retrieved in the two- or four-digits number number.. The conversion input data address number is used to retrieve the contents of the conversion table. The number that is retrieved is output to the convert data output address. As shown in Fig.7.6.1, when 3 is entered in the conversion input data address, the contents 137 located at 3 in the conversion table is output to the convert data output address.

- 133 -

 

7. FUNCTION COMMAND REFERENCE 

Fig.7.6.1 Fig.7.6 .1 Code conversi on diagram

7.6.2

Format

Fig.7.6.2 shows the format for the COD instruction and Table 7.6.2 shows the coding format.

Fig.7.6.2 COD instruction

B-82614EN/02 

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7. FUNCTION COMMAND REFERENCE 

B-82614EN/02 

Table 7.6. 7.6.2 2 Coding for Fig .7.6.2 .7.6.2 Coding shee sheett Step Number

Instruction

1 2 3 4 5 6

RD RD. STK RD. STK SUB (PRM) (PRM)

7

(PRM)

8

(PRM)

9

(PRM)

10 11

: WRT

7.6.3

 Add ress No.

B i t No .

  

.    .    . 7

     

                        

:     

.

 

Me Memory mory status of control conditio n

Rem ar k s

ST3

BYT RST ACT COD instruction Size of table data (1) Conversion input data address (2) Convert data output address (3) Convert data at table address 0 (4) Convert data at table address 1 (5) : Error output

ST2

BYT

ST1

ST0

BYT RST

BYT RST ACT

W1

Control Condition Condition s

(a)

Specify the data size. BYT=0 : Specifies that the conversion table table data is to be BCD BCD two digits. BYT=1 : Specifies that the conversion table table data is to be BCD BCD four digits. (b) Error output reset RST=0 : Disable reset RST=1 : Sets error output W1 to 0 (resets). (c) Execution command ACT=0 : The COD instruction is not executed. W1 does does not change. ACT=1 : Executed.

7.6.4

Size of Table Data

A conversion dataof address from n 0 is to the 99 can specified. Specify n+1 astable the size table when last be table internal number.

7.6.5

Conversion Input Inpu t Data Data Address

The conversion table address includes a table address in which converted data is loaded. Data in the conversion table can be retrieved by specifying a conversion table address. One byte (BCD 2-digit) is required for this conversion input data address.

7.6.6

Convert Data Data O Outp utput ut Ad Address dress

The convert data output output address is the address where the data stored in the table is to be output. The convert data BCD two digits in size, requires only a 1-byte memory at the convert data output address. Convert data BCD four digits in size, requires a 2-byte memory at the convert data output address.

7.6.7

Error Output (W (W1) 1)

If an error occurs in the conversion input address during execution of the COD instruction, W1=1 to indicate an error. - 135 -

 

7. FUNCTION COMMAND REFERENCE 

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For example, W1=1 results if a number exceeding the table size specified in the sequence program is specified as the conversion input input address. When W1=1, it is desirable to effect an appropriate interlock, such as having the error lamp on the machine tool operator's panel light or stopping axis feed.

7.6.8

Conversion Data Table

The size of the conversion data table is from 00 to 99. The conversion data can be either BCD two digits or four digits, which is specified depends on the control conditions

7.7

CODB (BINA (BINARY RY CODE CONVERSION CONVERSION))

7.7.1

Function

This instruction converts data in binary format to an optional binary format 1-byte, 2-byte, or 4-byte data. Conversion input data address, conversion table, and conversion data output address are necessary for data conversion; as shown in Fig.7.7.1. Compared to the 7.6 "COD Function Instruction", this CODB function instruction handles numerical data 1-, 2- and 4-byte length binary format data, and the conversion table can be extended to maximum 256.

Fig.7.7.1 Fig.7.7 .1 Code conversi on diagram

7.7.2

Format

Fig.7.7.2 shows the expression format of CODB.

Fig.7.7.2 Fig.7.7 .2 Expression fo rmat of C COD ODB B

- 136 -

 

7. FUNCTION COMMAND REFERENCE 

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7.7.3 (a)

Control Condition Condition s

Reset (RST) RST=0 : Do not reset. RST=1 : Reset error output W1 (W1=0). (W1=0).

(b) Activate (ACT)CODB instruction ACT=0 :command Do not execute ACT=1 : Execute CODB instruction. instruction.

7.7.4

Parameters

(a)

Format designation Designates binary numerical size in the conversion table. 1 : Numerical data is binary 1-byte data. 2 : Numerical data is binary 2-byte data. 4 : Numerical data is binary 4-byte data. (b) Number of conversion table data Designates size of conversion table. 256 (0 to 255) data can be made. (c) Conversion input data address Data in the conversion data table can be taken out by specifying the table number. The address specifying the table number is called conversion input data address, and 1-byte memory is required from the specified address. (d) Conversion data output address Address to output data stored in the specified table number is called conversion data output address. Memory of the byte length specified in the format designation is necessary from the specified address.

7.7.5

Conversion Data Table

Size of the conversion data table is maximum 256 (from 0 to 255). This conversion data table is programmed between the parameter conversion data output address of this instruction and the error output (W1).

7.7.6

Error Output (W (W1) 1)

If there are any abnormalities when executing the CODB instruction, W1=1 and error will be output.

7.8

COIN (COINCIDENCE CHECK)

7.8.1

Function

Checks whether the input value and comparison value coincide. This instruction is available with BCD data.

7.8.2

Format

Fig.7.8.2 shows the expression format and Table 7.8.2 shows the coding format.

- 137 -

 

7. FUNCTION COMMAND REFERENCE 

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Fig.7.8.2 Fig.7.8 .2 COI COIN N inst ruct ion format Table 7.8 7.8.2 .2 CO COIN IN inst ruct ion codi ng Coding shee sheett Me Memory mory status of control conditio n Step Number

Instruction 

 Add ress No.

Bit No.

Remarks

1

RD

  

.

 

BYT

2 3 4

RD. STK SUB (PRM)

  

.

 

5 6

(PRM) (PRM)

7

WRT

.

 

ACT COIN instruction Reference value format Reference value Comparison value address W1: Checking result output

7.8.3

16

 

              

ST3

ST2

ST1

ST0 BYT

BYT

ACT

W1

Control Condition Condition s

(a)

Specifies the data size. BYT=0 : Process data (input value, and comparison values). Each BCD is two digits long. BYT=1 : Each BCD four digits long. (b) Execution command ACT=0 : The COIN instruction is not executed. W1 does not not change. ACT=1 : The COIN instruction is executed and the results is output to W1.

7.8.4

Input Da Data ta Format

0 : Specifies input data as a constant. 1 : Specifies input data as an address.

7.8.5

Input Data

The input data can be specified as either a constant or an address storing it. The selection is made by a  parameter of format designation.

7.8.6

Comparison Data Addr ess

Specifies the address storing the comparison data. - 138 -

 

7. FUNCTION COMMAND REFERENCE 

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7.8.7

Comparison Result Output

W1=0 : Input data ≠ Comparison data W1=1 : Input data = Comparison data

7.9

COM (COMMON LINE CONTROL)

7.9.1

Function

The COM instruction controls the coils in a range up to a common line control end instruction (COME). (See Fig.7.9.1) Specify 0 as the number of coils, and specify a range to be controlled using the common line end instruction. When the common line end instruction is not specified, the message COM FUNCTION MISSING is displayed.

Fig.7.9.1 Fig.7.9 .1 Functi on of CO COM M

7.9.2

Format

Fig.7.9.2 shows the expression format of the functional instruction COM.

Fig.7.9.2 Fig.7.9 .2 Expression For mat of CO COM M

7.9.3

Control Condition Condition s

ACT = 0 : The coils in the specified range are unconditionally turned off (set to 0). ACT = 1 : The same operation as w when hen COM is not used is performed. - 139 -

 

7. FUNCTION COMMAND REFERENCE 

7.9.4 (a)

B-82614EN/02 

Parameters

Specify 0. (Range specification only)

NOTE 1 COM instruction operation Suppose the following Ladder diagram including a COM instruction exists:

Then, for Ladder the coil diagram: "OUTx," this Ladder diagram has the same effect as the following

Therefore, the functional instructions in the range specified with a COM instruction are processed, regardless of the setting of ACT of the COM instruction. Note, however, that the coil for the execu execution tion of a functional instruction is unconditionally set to 0 when COM ACT = 0. 2 In the range spec specified ified with a COM instruction, no additional COM instruction ca can n be specified. 3 As explaine explained d in the figures in Note 1, the coil for WRT.NOT in the range specified with a COM instruction is unconditionally set to 1 when COM ACT = 0.

7.9.5

Caution

Do not create a program in which a combination of JMP and JMPE instructions are used to t o cause a jump to and from a sequence between the COM and COME instructions; the ladder sequence might not be able to operate normally after the jump.

- 140 -

 

7. FUNCTION COMMAND REFERENCE 

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7.10

COME (COMMON LINE CONTROL END)

7.10.1

Function

This instruction indicates the division in the region specification of the common line control instruction (COM). This instruction cannot be used alone. It must be used together with the COM instruction.

7.10.2

Format

Fig.7.10.2 shows the expression format of COME

Fig.7.10.2 Fig.7.1 0.2 Expression f ormat of COM COME E

7.11

COMP (COMPARISON)

7.11.1

Function

Compares input and comparison values.

7.11.2

Format

Fig.7.11.2 shows the expression format and Table 7.11.2 shows the coding format. - 141 -

 

7. FUNCTION COMMAND REFERENCE 

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Fig.7.11.2 Fig.7.1 1.2 CO COMP MP inst ruct ion format Table 7.1 7.11.2 1.2 CO COMP MP inst ruct ion codi ng Coding shee sheett Me Memory mory status of control conditio n Step Number

Instruction 

 Add ress No.

Bit No.

Remarks

1

RD

  

.

 

BYT

2 3 4 5 6

RD. STK SUB (PRM) (PRM) (PRM)

  

.

 

7

WRT

.

 

ACT COMP instruction Input data format Input data Comparison data address W1: Comparison result output

7.11.3

15

                  

ST3

ST2

ST1

ST0 BYT

BYT

ACT

W1

Control Condition Condition s

(a)

Specifies the data size. BYT=0 : Process data (input value and and comparison value) is BCD two digits long. BYT=1 : Process data (input value and and comparison value) is four digits long. (b) Execution command ACT=0 : The COMP instruction is not executed. W1 does not alter. ACT=1 : The COMP instruction is executed and the result is output to W1.

7.11.4 0: 1:

Input Da Data ta Format

Specifies input data with a constant. Specifies input data with an address  Not specify input data directly, but specify an address storing input data.

7.11.5

Parameter

The input data can be specified as either a constant or the address storing it. The selection is made by a  parameter of format specification.

7.11.6

Comparison Data Addr ess

Specifies the address storing the comparison data. - 142 -

 

7. FUNCTION COMMAND REFERENCE 

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7.11.7 W1=0 : W1=1 :

Comparison Result Output Input data > Comparison data Input data ≤ Comparison data

7.12

COMPB (COMPARISON BETWEEN BINARY DATA)

7.12.1

Function

This instruction compares 1, 2, and 4-byte binary data with one another. Results of comparison are set in the operation output register (R9000). Sufficient number of bytes are necessary in the memory to hold the input data and comparison data.

7.12.2

Format

Fig.7.12.2 shows the expression format of COMPB.

Fig.7.12.2 Fig.7.1 2.2 Expression f ormat of COM COMPB PB

7.12.3 (a)

Command (ACT) ACT=0 : Do not execute COMPB. ACT=1 : Execute COMPB.

7.12.4 (a)

Control Condition Condition s

Parameters

Format specification Specify data length (1,2, or 4 bytes) and format for the input data ('constants data' or 'address data').

(b) Input data (address) Format for the input data is determined by the specification in a). (c) Address of data to be compared Indicates the address in which the comparison data is stored. - 143 -

 

7. FUNCTION COMMAND REFERENCE 

7.12.5

B-82614EN/02 

Operation Operatio n Outp Output ut Regis Register ter (R9 (R900 000) 0)

The data involved involved in the operation are set in this register. This register is set with data on operation. If register bit 1 is on, they indicate the following:

7.13

7.13.1

CTR (COUNTER) Function

CTR is used as a counter. Counters are used for for various purposes.  Numerical data such as preset values and count values can be used with either BCD format or binary format  by a system parameter.

NOTE In BCD format, every four bits can be equa equall to 0-9. If the four bits equal A-F, the value is incorrect for BCD format. When the CTR function is selected selected to use BCD format, if the preset value or the current value of the CTR has an incorrect value, the CTR function command does not work correctly. This counter has the following functions to meet various applications. (a) Preset counter Outputs a signal when the preset count count is reached. The number can be preset preset from the PMC screen, or set in the sequence program. (b) Ring counter Upon reaching the preset count, returns to the initial value by issuing another count signal. (c) Up/down counter The count can be either up or down. (d) Selection of initial value Selects the initial value as either 0 or 1. A combination of the preceding functions results in the ring counter below.

- 144 -

 

7. FUNCTION COMMAND REFERENCE 

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Such a counter permits the position of a rotor to be memorized.

7.13.2

Format

Fig.7.13.2 show the expression format and Table 7.13.2 show the coding format.

Fig.7.13.2 Fig.7.1 3.2 Format of C CRT RT inst ructi on

Table 7.13.2 2 Codi ng for Fig.7.13.2 Coding shee sheet t 7.13. Step Number 1 2 3 4 5 6 7

7.13.3 (a)

Instruction 

RD RD. STK RD. STK RD. STK SUB (PRM) WRT

 Add ress No.

Bit No.

  

.    .    .    . 5

       

     

.

 

Remarks CN0 UPDOWN RST ACT CTR instruction Counter number W1 output number

Control Condition Condition s

Specifies the initial CN0=0: Begins thevalue. value (CN0) of the counter with 0.

Me Memory mory status of control conditio n ST3

ST2

ST1

ST0 CN0

CN0 CN0 CN0 CN0

CN0

UPDOWN

CN0

UPDOWN 

 

UPDOWN 

 

UPDOWN 

 

UPDOWN 

 

UPDOWN 

RST RST RST RST

RST ACT ACT ACT W1

0, 1, 2, 3 ····· n. CN0=1: Begins the value of the counter with 1 (0 is not used). 1, 2, 3 ····· n. (b) Specifies up or down counter. - 145 -

 

7. FUNCTION COMMAND REFERENCE 

(c)

B-82614EN/02 

UPDOWN=0: Up counter. The counter begins with 0 when CN0=0; 1 when 1. UPDOWN=1: Down counter. The counter begins begins with the preset value. Reset (RST) RST=0: Releases reset. RST=1: Enables reset. W1 becomes 0. The integrated value is reset to the initial value.

NOTE Set RST to 1, only when reset is required. (d) Count signal (ACT)

7.13.4

Counter Number

The preset value and cumulative value are two bytes counter. These values are able to be set 1 to 20.

WARNING If the counter number is duplicated, or falls outside the valid range, the operation will be unpredictable.

7.13.5

Countup Output (W (W1) 1)

When the count is up to a preset value, W1=1. The address of W1 can be determined arbitrarily. When the counter reaches the set value, W1 is set to 1. When the counter reaches 0 or 1, W1 is set to 1.

7.13.6

Examples Exa mples of Usin Using g the th e Count Count er

[Example 1] As a preset counter (See Fig.7.13.6 (a)) The number of workpieces workpieces to be machined is counted. When the number reaches the preset count, a signal is output. •  L1 is a circuit to make logic 1. • 

Since the count ranges from 0 to 9999, contact B of L1 is used for

making CN0=0.

•  •  • 

Since it is to be up counter, contract B of L1 is used make UPDOWN=0. The reset signal of the counter uses input signal CRST.M. The count signal is M30X. M30X contains contact B of CUP to prevent counting past the preset value, as long as reset is not enabled after the counter is indexed by one number. - 146 -

 

B-82614EN/02 

7. FUNCTION COMMAND REFERENCE 

Fig.7.13.6 Fig.7.1 3.6 (a) Ladder diagr am for the cou nter, example 1

[Example 2] Use of the counter to store the position of a rotor. (See Fig.7.13.6 (b))

Fig.7.13.6 Fig.7.1 3.6 (b) Ladder diagram for t he counter, example 2

- 147 -

 

7. FUNCTION COMMAND REFERENCE 

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Fig.7.13.6 Fig.7.1 3.6 (c) Indexing for a rotor

Fig.7.13.6 (b) shows a ladder diagram for a counter to store the position of a rotor of Fig.7.13.6 (c). (1) Control conditions (a) Count start number When a 12-angle rotor shown in Fig.7.13.6 (c) is used, the count starting num number ber is 1. Contact A of L1 is used for making CN0=1. (b) Specify up REV and down The signal changes according to the current direction of rotation. It becomes 0 for forward rotation and 1 for reverse rotation. Thus, the counter is an up counter for forward rotation and a down counter for reverse rotation. (c) Reset In this example, since W1 is not used, RST=0, and contact B of L1 is used. (d) Count signal The count signal POS turns on and off 12 times each time the rotor rotates once. (2) Counter number and W1 In this example, the second counter is used. The result of W1 is not used, but its address must be determined. (3) Operation (a) Setting the preset value Since the rotor to be controlled is 12-angle as shown in Fig.7.13.6 (c), 12 must be preset in the counter. It is set from from the PMC screen. (b) Setting the current value When the power is turned on, the position of the rotor must be equated with the count on the counter. The count is set via the PMC screen. Once a current value is set, then correct current  positions will be loaded to the counter every time. (c) The POS signal turns on and and off each time the rotor rotates. The number of times of the POS signal turns on and off is counted by the counter, as below. 1, 2, 3, . . . 11, 12, 1, 2, . . . for forward rotation 1, 12, 11, . . . 3, 2, 1, 12 . . . for reverse rotation

7.14

CTRC (COUNTER) Functions

7.14.1 The numeric data of of this counter is binary.

This counter has the following fu functions nctions and can be used

according to the application: (a) Preset counter Preset the count value and if the count reaches this preset value, turn on the output. - 148 -

 

7. FUNCTION COMMAND REFERENCE 

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(b) Ring counter This is the ring counter which is reset to the initial initi al value when the count signal is input after the count reaches the preset value. (c) Up/down counter This is the reversible counter to be used as both the up counter and down counter. (d) Selection of the initial value Either 0 or 1 can be selected as the initial value.

7.14.2

Format

Fig.7.14.2 and Table 7.14.2 show the expression format and the coding format, respectively.

Fig.7.14.2 Fig.7.1 4.2 CTR CTRC C expressio expressio n form at Table 7.14 7.14.2 .2 CR CRTC TC codi ng for mat Step   Number 

7.14.3

Instruction  

 Add res ress s No.

Bit No.

1 2 3 4 5

RD RD.STK RD.STK RD.STK SUB

    .

 

    .

 

    .

 

    .

 

6 7 8

(PRM) (PRM) WRT

         

55

    .

 

Rema Remarks rks CN0 UPDOWN RST ACT CRTC command Counter preset address Counter register address W1

Control Condition Condition s

(a)

Specifying the initial value (CN0) CN0=0 : The count value starts with "0". 0, 1, 2, 3, . . . n CN0=1 : The count value starts with "1". 1, 2, 3, . . . n (b) Specifying up or down count (UPDOWN) UPDOWN=0: Up counter. The initial value is "0" when CN0=0 or "1" when CN0=1. UPDOWN=1: (c)

ResetDown (RST)counter. The initial value is the preset value.

RST=0 : Reset cancelled. RST=1 : Reset. W1 is reset to "0". The accumulated accumulated value is reset to the initial value. (d) Count signal (ACT) ACT=0 : The counter does not operate. W1 does not change. - 149 -

 

7. FUNCTION COMMAND REFERENCE 

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ACT=1 : The counter operates at the rise of this signal.

7.14.4

Counter Preset Value Value Add ress

The first address of the counter preset value field is set. The continuous 2-byte memory memory space from the fir first st address is required for this field. Field D (Data Table) is normally used.

The counter preset value is binary. Therefore, it ranges from from 0 to 32767. 32767.

7.14.5

Counter Register Address

The first address of the counter register field is set. The continuous 4-byte memory memory space from the fir first st address is required for this field. Field D (Data Table) is normally used.

NOTE When field R (Register) is specified as the counter register address, the counter starts with count value "0" after the controller is turned on.

7.14.6

Count-up Output (W (W1) 1)

If the count value reaches the preset value, W1 is set to "1". The W1 address can be determined freely by the programmer.

7.15

DCNV (DATA CONVER CONVERSION) SION)

7.15.1

Function

Converts binary-code into BCD-code and vice versa.

7.15.2

Format

Fig.7.15.2 shows the expression format and Table 7.15.2 shows the coding format. - 150 -

 

7. FUNCTION COMMAND REFERENCE 

B-82614EN/02 

Fig.7.15.2 Fig.7.1 5.2 DC DCNV NV inst ruct ion format Table 7.1 7.15.2 5.2 DCN DCNV V inst ruct ion codi ng Coding shee sheett Me Memory mory status of control conditio n Step Number 1 2 3 4 5 6 7 8

Instruction 

RD RD. STK RD. STK RD. STK SUB (PRM) (PRM) WRT

7.15.3

 Add ress No.     

.    .    .    . 14                    .

Bit No.        

 

Remarks BYT CNV RST ACT DCNV instruction (1) Input data address (2) Conversion result output address W1 error output

ST3

BYT

ST2

BYT CNV

Control Condition Condition s

(a)

Specifies the data size. BYT=0 : Process data in length of one byte (8 bits) BYT=1 : Process data in length length of two byte (16 bits) (b) Specifies the type of conversion CNV=0 : Converts binary-code into BCD-code. CNV=1 : Converts BCD-code into binary-code. (c) Reset RST=0 : Disables reset. RST=1 : Resets error output W1. That is, setting RST to 1 when W1, W1, makes W1=0. W1=0. (d) Execution command ACT=0 : Data is not converted. W1 does not alter. ACT=1 : Data is converted.

7.15.4 W1=0 :

Error Output (W (W1) 1) Normal

ST1

ST0

BYT CNV RST

BYT CNV RST ACT  

W1

W1=1 : Conversion error W1=1 if the input data which should be BCD data, is binary data, or if the data size (byte length) specified in advance is exceeded when converting binary data into BCD data. - 151 -

 

7. FUNCTION COMMAND REFERENCE 

7.16

DCNVB (EXTENDED (EXTENDED DATA DA TA CONVERSION) CONVERSION)

7.16.1

Function

B-82614EN/02 

This instruction converts 1, 2, 4-byte number binary code into code or versa. To execute this instruction, you must preserve theand necessary of bytes in BCD the memory forvice the conversion result output data.

7.16.2

Format

Fig.7.16.2 shows the expression format of DCNVB

Fig.7.16.2 Fig.7.1 6.2 Expression f ormat of DCN DCNVB VB

7.16.3

Control Condition Condition s

(a)

Sign of the data to be converted (SIN) This parameter is significant only when you are converting BCD data into binary coded data. It gives the sign of the BCD data.  Note that though it is insignificant when you are converting converting binary into BCD data, you cannot omit it. SIN=0 : Data (BCD (BCD code) to be input is positive. SIN=1 : Data (BCD (BCD code) code) to be input is negative. (b) Type of conversion (CNV) CNV=0 : Convert binary data into BCD data CNV=1 : Convert BCD data into binary data. (c) Reset (RST) RST=0 : Release reset RST=1 : Reset error output W1. In other words, set W1=0. (d) Execution command (ACT) ACT=0 : Data is not converted. The The value of W1 remains unchanged. ACT=1 : Data is converted.

7.16.4

Parameters

(a)

Format specification Specify data length (1,2, or 4 bytes). Use the first digit of the parameter to specify byte length. 1 : one byte - 152 -

 

7. FUNCTION COMMAND REFERENCE 

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2 : two bytes 4 : four bytes (b) Input data address Specify the address containing the input data address. (c) Address for the conversion result output Specify the address to output the data converted to BCD or binary format.

7.16.5

Error Output (W (W1) 1)

W1=0 : Correct conversion W1=1 : Abnormally (The data to be converted is specified as BCD data but is found to be binary data, or the specified number of  bytes cannot contain (and hence an overflow occurs) the the BCD data into which a binary data is converted.)

7.16.6

Operation Operatio n Outp Output ut Regis Register ter (R9 (R900 000) 0)

This register is set with data on operation. If register bit 1 is on, they signify the following. For the positive/negative signs when binary data is converted into BCD data, see R9000.

7.17

DEC (DECODE)

7.17.1

Function

Outputs 1 when the two-digit BCD code signal is equal to a specified number, and 0 when not.

7.17.2

Format

Fig.7.17.2 and Table 7.17.2 show the expression format and Table 7.17.2 show the coding format.

Fig.7.17.2 Format of DEC

- 153 -

 

7. FUNCTION COMMAND REFERENCE 

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Table 7.17.2 7.17.2 Codi ng of DEC Step   Number 

7.17.3

Instruction  

1

RD

2 3 4

DEC (PRM) WRT

 Add res ress s Number    

Bit Number 

Remarks

.

 

ACT

.

 

W1, Decoding result output

 

 

   

       

Control Condition

ACT=0 : Turns the decod decoding ing result output off (W1). ACT=1 : Performs decoding. When the specified number is equal to the code signal, W1=1; when not, W1=0.

7.17.4

Code Signal Signal Ad Address dress

Specifies the address containing two-digit BCD code signals.

7.17.5

Decode De code Specificatio Specification n

There are two paths, the number and the number of digits. Decode specification

(i)

Number: Specify the decode number. Must always be decoded in two digits.

(ii) Number of digits: 01 : The high-order digit of two decimal digits is set to 0 and only the low-order digit is decoded. decoded. 10 : The low-order digit is set to 0 and only the high-order digit is decoded. 11 : Two decimal digits are decoded.

7.17.6

W1 (De (Decodi codi ng Re Result sult Output )

W1 is 1 when the status of the code signal at a specified address is equal to a specified number, 0 when not. The address of W1 is determined by designer.

Fig.7.17.6 Fig.7.1 7.6 Ladder diagram using the D DEC EC inst ruct ion

- 154 -

 

7. FUNCTION COMMAND REFERENCE 

B-82614EN/02 

Table 7.17. 7.17.6 6 Codi ng for Fig.7.17.6 Coding shee sheett Step   Number 

Instruction  

1

RD

2 3 4 5

AND DEC (PRM) WRT

 Add res ress s Number 

Bit Number 

Remarks

R 7.0 R 1 .3 R10 3011 R228 . 1

7.18

DECB (BINARY (B INARY DECODING) DECODING)

7.18.1

Function (Fig.7.18.2 (a), (b))

M30X

DECB decodes one, two, or fourfour-byte byte binary code data. data. When one of the specified eight consecutive numbers matches the code data, a logical high value (value 1) is set in the output data bit which corresponds to the specified number. When these numbers do not match, a log logical ical low value (value 0) is set. Of the eight contiguous numbers, specify the first number in the parameter of this function instruction.

7.18.2

Format

Fig.7.18.2 Fig.7.1 8.2 (a) Functi on of DECB

Fig.7.18.2 Fig.7.1 8.2 (b) Expression f ormat of DECB

- 155 -

 

7. FUNCTION COMMAND REFERENCE 

7.18.3 (a)

B-82614EN/02 

Control Condition Condition s

Command (ACT) ACT=0 : Resets all the output data bits. ACT=1 : Decodes data. Results of processing is set in the output data address.

7.18.4

Parameters

(a)

Format specification Set the size of code data to the 1st digit of the parameter. 0001 : Code data is in binary format of 1 byte length 0002 : Code data is in binary format of 2 byte length 0004 : Code data is in binary format of 4 byte length (b) Code data address specifies an address at which code data is stored. (c) Number specification decode designation Specifies the first of the 8 continuous numbers to be decoded. (d) Decode result address Specifies an address where the decoded result shall be output. A one-byte area is necessary in the memory for the output.

7.19

DIFD (FALLING (FAL LING EDGE DETECTION DETECTION))

7.19.1

Function

The DIFD instruction sets the output signal to 1 for one scanning period on a falling edge of the input signal.

7.19.2

Format

7.19.3

Control Condition Condition s

(a)

Input signal On a falling edge(1→0)of the input signal, the output signal is set to 1. (b) Output signal The output signal level remains at 1 for one scanning period of the ladder level where this functional instruction is operating.

7.19.4

Parameters

(a)

Falling edge number Specify the values from 1 to 256.

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7. FUNCTION COMMAND REFERENCE 

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WARNING If the same number is used for another DIFD instruction or a DIFU instruction in one ladder diagram, operation is not guaranteed.

7.19.5

Operation

7.20

DIFU (RISING EDGE DETECTION)

7.20.1

Function

The DIFU instruction sets the output signal to 1 for one scanning cycle on a rising edge of the input signal.

7.20.2

Format

7.20.3

Control Condition Condition s

(a)

Input signal

On a rising edge (0→1) of the input signal, the output signal is set to 1. (b) Output signal The output signal level remains at 1 for one scanning cycle of the ladder level where this functional instruction is operating.

7.20.4 (a)

Parameters

Rising edge number Specify the values from 1 to 256.

CAUTION If the same number is used for another DIFU instruction or a DIFD instruction in one Ladder diagram, the operation is not guaranteed to work correctly.

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7. FUNCTION COMMAND REFERENCE 

7.20.5

Operation

7.21

DIV (DIVISION)

7.21.1

Function

B-82614EN/02 

Divides BCD two-or four-digit data. Remainders are discarded.

7.21.2

Format

Fig.7.21.2 shows the expression format and Table 7.21.2 shows the coding format.

Fig.7.21.2 Fig.7.2 1.2 DIV inst ructi on format Table 7.2 7.21.2 1.2 DIV inst ruct ion codi ng Coding shee sheett Me Memory mory status of control conditio ns Step Number

Instruction 

1 2 3 4 5 6

RD RD. STK RD. STK SUB (PRM) (PRM)

7

(PRM)

 Add ress No.   

.    .    . 22

Bit No.

      

BYT RST ACT DIV instruction Data format of divider Dividend address

      

Divider (address)

 

 

Remarks

   

ST3

ST2

BYT

ST1

ST0

BYT RST

BYT RST ACT

8

(PRM)

9

WRT

         

.

 

Quotient output address Error output

W1

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7. FUNCTION COMMAND REFERENCE 

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7.21.3 (a)

Control Condition Condition s

Specifies the number of digits of data. BYT=0 : Data is BCD BCD two digits long. BYT=1 : Data is BCD BCD four digits long.

(b) Reset RST=0 : Releases reset. RST=1 : Resets error output W1, that is, sets W1 to 0. (c) Execution command ACT=0 : The DIV instruction is not executed. W1 does not change. ACT=1 : The DIV instruction is executed.

7.21.4 0: 1:

Divisor Da Data ta Format De Design sign ation

Specifies divisor data by constant. Specifies divisor data by address.

7.21.5

Dividend Divide nd Address

Sets the address storing the dividend.

7.21.6

Divisor (Address)

Addressing of the divisor depends on 7.21.4).

7.21.7

Quotient Quotie nt Output Address

Sets the address to which the quotient is output.

7.21.8

Error Output

W1=1 is set to indicate an error if the divider is 0.

7.22

DIVB (BINARY (B INARY DIVISIO DIVISION) N)

7.22.1

Function

This instruction divides binary data items 1, 2, and 4 byte in length. In the operation result register (R9000), operation data is set and the remainder is set to R9002 and so forth. A required number of bytes is necessary to store the dividend, divisor, and the result (quotient).

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7. FUNCTION COMMAND REFERENCE 

7.22.2

Format

7.22.3

Control Condition Condition s

B-82614EN/02 

(a)

Reset (RST) RST=0 : Release reset RST=1 : Resets error output W1. In other words, makes W1=0. (b) Command (ACT) ACT=0 : Do not execute DIVB. W1 does not change now. ACT=1 : Execute DIVB.

7.22.4 (a)

Parameters

Format specification Specifies data length (1, 2, and 4 bytes) and the format for the divisor (constant or address).

(b) Dividend address Address containing the dividend (c) Divisor data (address) Specification in (a) determines the format of the divisor. (d) Result output address Specified the address to contain the result of operation.

7.22.5 W1=0 : W1=1 :

Error Output (W (W1) 1) Operation correct Operation incorrect

W1 goes on (W1 1) if the divisor is 0.

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7. FUNCTION COMMAND REFERENCE 

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7.22.6

Operation Operatio n Outp Output ut Regis Register ter (R9 (R900 000) 0)

This register is set with data on operation. operation. If register bit 0 or 1 is on, they signify the following operation data:

7.22.7

Remainder Re mainder O Outp utput ut Add ress

Depending on its length, the remainder is stored in one or more of registers R9002 to R9005.

7.23

DSCH (DATA SEARCH)

7.23.1

Function

DSCH searches the data table for a specified data, outputs an address storing s toring it counting from the beginning of the data table. If the data cannot be found, an output is made accordingly.

Fig.7.23.1 DSCH DSCH data t able

NOTE The data table heading address specified in the parameter of this functional instruction is 0 as table internal number.

7.23.2

Format

Fig.7.23.2 shows the expression format and Table 7.23.2 shows the coding format.

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7. FUNCTION COMMAND REFERENCE 

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Fig.7.23.2 Fig.7.2 3.2 DS DSCH CH inst ruct ion format Table 7.2 7.23.2 3.2 DS DSCH CH inst ruct ion codi ng Coding shee sheett Me Memory mory status of control conditio n Step Number 1 2 3 4 5

RD RD. STK RD. STK SUB (PRM)

6

(PRM)

7 8

(PRM) (PRM)

9

WRT

7.23.3 (a)

Instruction 

 Add ress

Bit No.

No.

  

.    .    . 17

     

    

                       

.

 

Remarks BYT RST ACT DSCH instruction Number of data of the data table Data table heading address Search data address Search result output address Search data presence/ absence output address

ST3

ST2

BYT

ST1

ST0

BYT RST

BYT RST ACT

W1

Control Condition Condition s

Specify data size. BYT=0 : Data stored in the data table, BCD two digits long. BYT=1 : Data stored in the data table, BCD four digits long. (b) Reset RST=0 : Release reset RST=1 : Enables a reset, that is, sets W1 to 0. (c) Execution command ACT=0 : The DSCH instruction is not executed. executed. W1 does not change. ACT=1 : The DSCH is executed, and the table internal number storing the desired data is output. If the data cannot be found, W1=1.

7.23.4

Number of o f Data of tthe he Da Data ta Ta Tabl ble e

Specifies the size of the data table. If the beginning of the data table is 0 and the end is n, n+1 is set as the number of data of the data table. - 162 -

 

7. FUNCTION COMMAND REFERENCE 

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7.23.5

Data Da ta Table H Hea ead d Addr A ddr ess

Addresses that can be used in a data table are fixed. When preparing a data table, the addresses to be used must be determined beforehand. Specify the head address address of a data table here. here.

7.23.6

Search Se arch Da Data ta Ad dress

Indicates the address of the data to be searched.

7.23.7

Search Se arch Result Result Output A ddr ddress ess

If the data being searched for is found, the internal number of the table t able storing the data is output to this field. This address field is called a search result output address field. The search result output address field requires memory whose size is the number of bytes conforming to the size of the data specified by BYT.

7.23.8 W1=0 : W1=1 :

Search Data Presence/Absence Output The data to be searched exists. The data to be searched does not exist.

7.24

DSCHB DSCH B (BINARY DATA SEARCH)

7.24.1

Function

Like the DSCH instruction, this function instruction instructs a data search in the data table. There are two differences; the numerical data handled in this instruction are all in binary format; and number of data (table capacity) in the data table can be specified by specifying the address, thus allowing change in table capacity even after writing the sequence program in ROM.

Fig.7.24.1 DSCHB data table

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7. FUNCTION COMMAND REFERENCE 

7.24.2

B-82614EN/02 

Format

Fig.7.24.2 Fig.7.2 4.2 DSC DSCHB HB instr ucti on fo rmat

7.24.3 (a)

Control Condition Condition s

Reset (RST) RST=0 : Release reset

RST=1 : Reset. W1="0". (b) Activation command ACT=0 : Do not execute the DSCHB instruction. W1 does not change. ACT=1 : Execute DSCHB instruction. If the search data is found, table number where the data is stored will be output. If the search data is not found, W1 becomes 1.

7.24.4 (a)

(b)

(c) (d) (e)

Parameter

Format designation Specifies data length. Specify byte length in the first digit of the parameter. 1 : 1-byte long data 2 : 2-byte long data 4 : 4-byte long data Storage address address of number of data in data table Specifies address in which number of data in the data table is set. This address requires memory of number of byte according to the format designation.  Number of data in the table is n+1 (head number number in the table is 0 and the last number is n). Data table head address Sets head address of data table. Search data address Address in which search data is set. Search result output address After searching, if search data is found, the table number where the data is stored will be output. The searched table number is output in this search result output address. This address requires memory of number of byte according to the format designation.

7.24.5 W1=0 :

Search Se arch Re Resu sult lt (W (W1) 1) Search data found.

W1=1 :

Search data not found.

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7. FUNCTION COMMAND REFERENCE 

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7.25

END (END OF OF A LADDER L ADDER PROGRAM)

7.25.1

Function

The END functional instruction designates the end of a ladder program. program. END must be placed at the end of the ladder program.

7.25.2

Format

7.26

END1 (1ST LEVEL SEQUE SEQUENCE NCE PROGRAM END)

7.26.1

Function

Must be specifies once in a sequence program, either at the end of the Level 1 program, or at the beginning of the Level 2 program when there is no Level 1 program.

7.26.2

Format

Fig. 7.26.2 shows the format of END1 and Table 7.26.2 shows the coding.

Fig.7.26.2 Form at of END1 Table 7. 7.26.2 26.2 Codi ng of END1 Coding shee sheett Step   Number 

Instruction  

SUB

 Add res ress s Number 

Bit Number  1

Remarks End of 1st level

7.27

END2 (2ND LEVEL SEQUENCE SEQUENCE PROGRAM END)

7.27.1

Function

Specify at the end of the Level 2 program.

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7. FUNCTION COMMAND REFERENCE 

7.27.2

B-82614EN/02 

Format

Fig.7.27.2 shows the expression format and Table 7.27.2 shows the coding format.

Fig.7.27.2 Form at of END2 Table 7. 7.27.2 27.2 Codi ng of END2 Coding shee sheett Step   Number 

Instruction  

 Add res ress s Number 

SUB

Bit Number  2

7.28

EOR (EXCLUSIVE OR)

7.28.1

Function

Remarks 2nd level sequence program end

The EOR instruction exclusive-ORs the contents of address A with a constant (or the contents of address B), and stores the result at address C.

7.28.2

Format

7.28.3

Control Condition Condition s

(a)

Input signal ACT=0 : The EOR instruction is not executed. ACT=1 : The EOR instruction is executed.

7.28.4 (a)

Parameters

Format specification Specifies a data length (1, 2, or 4 bytes), and an input data format (constant or address specification).

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7. FUNCTION COMMAND REFERENCE 

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(b) Address A Input data to be exclusive-ORed. The data that is held starting at this add address ress and has the data length specified in format specification is treated as input data. (c) Constant or address B Input data to be exclusive-ORed. exclusive-ORed. When address specification is selected in format format specification, the data that is held starting at this address and has the data length specified in format specification is treated as input data. (d) Address C Address used to store the result of an exclusive OR operation. The result of an exclusive OR operation is stored starting at this address, and has the data length specified in format specification.

7.28.5

Operation

When address A and address B hold the following data:

The result of the exclusive OR operation is as follows:

7.29

JMP (JUMP)

7.29.1

Function

The JMP instruction causes a departure from from the normal sequence to executing instructions. When a JMP instruction is specified, processing jumps to a jump and instruction (JMPE) without executing the logical instructions (including functional instructions) in the range delimited by a jump end instruction (JMPE). (See Fig.7.29.1) Specify 0 as the number of coils, and specify a range to be skipped using the jump end instruction. When the jump end instruction is not specified, the message JUMP FUNCTION MISSING is displayed.

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7. FUNCTION COMMAND REFERENCE 

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Fig.7.29.1 Fig.7.2 9.1 Functi on of JMP

7.29.2

Format

Fig.7.29.2 shows the expression format of the functional instruction JMP.

Fig.7.29.2 Fig.7.2 9.2 Expression fo rmat of JMP

7.29.3

Control Condition Condition s

ACT=1 : The logical instructions (including functional instructions) in the specified range are skipped;  program execution proceeds to the next next step. ACT=0 : The same operation as when JMP is not used is performed.

7.29.4 (a)

Parameters

Specify 0. (Range specification only)

NOTE JMP instruction operation When ACT = 1, processing jumps to a jump end instruction (JMPE); the logical instructions (including functional instructions) in the specified jump range are not executed. This instruction can reduce the Ladder Ladder execution p period eriod (scan time).

7.29.5

Caution

Do not create a program in which a combination of JMP and JMPE instructions is used to cause a jump to and from a sequence between the COM and COME instructions; the ladder sequence may not be able to operate normally after the jump. - 168 -

 

7. FUNCTION COMMAND REFERENCE 

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Do not skip TMR, TMRB, and TMRC by JMP, JMPE, JMPB, JMPC, and LBL. If TMR, TMRB, or TMRC are skipped, they might not work correctly after this. You need to cycle power to recover this situation.

7.30

JMPB (LAB EL JUMP)

7.30.1

Function

The JMPB functional instruction transfers control to a Ladder immediately after the label set in a Ladder  program. The jump instruction can transfer control freely before and after the instruction within the  program unit (main program or subprogram) in which the instruction is coded. As compared with the JMP functional instruction, JMPB has the following additional functions: •  • 

More than one jump instruction can be coded for the same label. Jump instructions can be nested.

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7. FUNCTION COMMAND REFERENCE 

7.30.2

Format

7.30.3

Controll Conditio ns (ACT Contro (ACT))

B-82614EN/02 

ACT=0 : The next instruction after the JMPB instruction is executed. ACT=1 : Control is transferred to the Ladder imm immediately ediately after the specified label.

7.30.4 (a)

Parameters

Label specification Specifies the label of the jump destination. The label number must be specified in the L address form. A value from L1 to L9999 can be specified.

NOTE For the specifications of this instruction, see Section 2.8.2 "Restrictions". When this instruction is used to jump back to a previous instruction, care must be taken not to cause an infinite loop.

7.31

JMPC (LABEL JUMP)

7.31.1

Function

The JMPC functional instruction returns control from a subprogram subprogram to the main program. Be sure to code the destination label in the main program. program. The specifications of this JMPC functional instruction are the same as the JMPC functional instruction, except that JMPC always returns control to the main program. •  More than one jump instruction can be coded for the same label.

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7. FUNCTION COMMAND REFERENCE 

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7.31.2

Format

7.31.3

Controll Conditio ns (ACT Contro (ACT))

ACT=0 : The instruction after the JMPC instruction is executed. ACT=1 : Control is transferred to the Ladder after the specified label.

7.31.4 (a)

Parameters

Label specification Specifies label jump destination. The label number must be specified in the L address form. A number the from L1 of to the L9999 can be specified.

NOTE When this instruction is used to jump back to a previous instruction, care must be taken not to cause an infinite loop.

7.32

J MPE (JUMP END)

7.32.1

Function

This instruction indicates the division in the region specification of the jump instruction (JMP). It cannot be used alone. It must be used together with the JMP instruction.

7.32.2

Format

7.33

LBL (LABEL) (LABEL)

7.33.1

Function

The LBL functional instruction specifies a label in a Ladder Ladder program. It specifies the jump destination for the JMPB and JMPC functional functional instructions. (See the JMPB and JMPC functional functional instructions.)

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7. FUNCTION COMMAND REFERENCE 

7.33.2

Format

7.33.3

Parameters

(a)

B-82614EN/02 

Label specification Specifies the jump destination for the JMPB and JMPC functional instructions. The label number must be specified in the L address address form. A label number from L1 to L9999 can be specified. A label number can be used more than once as long as it is used in a different program unit (main program, subprogram).

7.34

MOVB (TRANSFER OF 1 BYTE)

7.34.1

Function

The MOVB instruction transfers 1-byte data from a specified source address to a specified destination address.

7.34.2

Format

Fig.7.34.2 Fig.7.3 4.2 MO MOVB VB inst ruct ion format

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7. FUNCTION COMMAND REFERENCE 

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7.34.3 (a)

Control Condition Condition s

Execution specification ACT=0 : No data is transferred. ACT=1 : One-byte data is transferred.

7.35

MOVE (LOGICAL PRODUC PRODUCT T TRANSFER)

7.35.1

Function

The MOVE instruction ANDs logical multiplication data and input data, and outputs the results to a specified address. Can also be used to remove unnecessary bits from an eight-bit signal in a specific address, etc. (Logical multiplication data) (Input data) to a specified address The input data is one byte (eight bits).

7.35.2

Format

Fig.7.35.2 shows the expression format and Table 7.35.2 shows the coding format.

Fig.7.35.2 Fig.7.3 5.2 Move inst ruct ion format Table 7.35. 7.35.2 2 Codi ng for Fig.7.35.2 Coding shee sheett Step Number 1 2

Instruction 

RD SUB

 Add ress No.   

8

Bit No. .

 

Remarks ACT MOVE instruction

Me Memory mory status of control conditio n ST3

ST2

ST1

ST0 ACT

3

(PRM)

      

4

(PRM)

    

5 6

(PRM) (PRM)

         

High-order 4-bit logical multiplication data Low-order 4-bit logical multiplication data Input data address Output data address

(1)

   

(2) (3) (4)

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7. FUNCTION COMMAND REFERENCE 

7.35.3 ACT=0 ACT=1

7.35.4

B-82614EN/02 

Execution Command : :

Move instruction not executed. Executed.

Example Exa mple of Usin Using g th the e MOV MOVE E IInst nst ruction ruc tion

If a code signal and another signal co-exist at address R35 compare the code signal and a code signal at another address, the rest of signals in address R35 becomes an obstacle. Thus, the MOVE instruction can be used to output only the code signal at address R35 address R210.

Fig.7.35.4 Fig.7.3 5.4 MO MOVE VE inst ruct ion ladder diagram

7.36

MOVN (TRANSFER (TRANSFER OF AN ARBITRA A RBITRARY RY NUMBER OF BYTES)

7.36.1

Function

The MOVN instruction transfers data consisting of an arbitrary number of bytes from a specified source address to a specified destination address.

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7. FUNCTION COMMAND REFERENCE 

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7.36.2

Format

7.36.3

Control Condition Condition s

(a)

Execution specification ACT=0 : No data is transferred. ACT=1 : A specified number number of bytes bytes are transferred.

7.36.4 (a)

Parameters

Number of bytes to be transferred Specify the number number of bytes to be transferred. transferred. An odd number number can also be specified. A number from from 1 to 200 can be specified.

7.37

MOVOR (DATA TRANSFER AFTER LOGICAL SUM)

7.37.1

Function

This instruction ORs the input data and the logical sum data and transfers the result to the destination.

7.37.2

Format

Fig.7.37.2 shows the expression format of MOVOR.

Fig.7.37.2 Fig.7.3 7.2 Expression format o f MO MOVOR VOR

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7. FUNCTION COMMAND REFERENCE 

7.37.3 (a)

B-82614EN/02 

Control Condition Condition s

Command (ACT) ACT=0: Do not execute MOVOR. ACT=1: Execute MOVOR.

7.37.4

Parameters

(a)

Input data address Specifies the address for the input data. (b) Logical sum data address Specifies the address of the logical sum data with which to OR the transferred data. (c) Output address This is the address to contain the logical sum obtained. It is also possible to obtain the logical sum (OR) of the input and the logical sum data and output the result in the logical sum data address. For this, you must set the logical sum data address for the output address.

7.38

MOVW (TRANSFER OF 2 BYTES)

7.38.1

Function

Only MOVW can access group I/O and analog I/O (F0-255 and G0-255). The other function command and all basic commands can not access to F0-255 and G0-255.

NOTE When you specify F0-255 or G0-255 in MOVW, please specify an even address of F0-255 or G0-255. If you specify an odd address o off F0-255 or G0-255 in MOVW, the PMC program causes error in R-J3. If you specify F0 to 255 or G0 to 255 in MOVW, the processing time of MOVW is increased.

7.38.2

Format

Fig.7.38.2 Fig.7.3 8.2 MO MOVB VB inst ruct ion format

7.38.3 (a)

Control Condition Condition s

Execution specification

ACT=0 : No data is transferred. ACT=1 : Two-byte data is transferred.

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7. FUNCTION COMMAND REFERENCE 

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7.39

MUL (MULTIPLICATION)

7.39.1

Function

Multiplies BCD two-or four-digit data. The product must also be BCD two-or four-digit data.

7.39.2

Format

Fig.7.39.2 shows the expression format and Table 7.39.2 shows the coding format.

Fig.7.39.2 Fig.7.3 9.2 MUL inst ruct ion format Table 7.3 7.39.2 9.2 MU MUL L instruct ion codin g Coding shee sheett Me Memory mory status of control conditio ns Step Number

 Add ress No.

Bit No.

1 2

RD RD. STK

  

.    .

 

3 4 5

RD. STK SUB (PRM)

  

.

 

6 7 8

(PRM) (PRM) (PRM)

9

WRT

.

 

7.39.3 (a)

Instruction 

21

 

        

              

Remarks

ST3

ST2

BYT RST ACT MUL instruction Data format of multiplier Multiplicand address Multiplier (address) Product output address Error output

Control Condition Condition s

Specify the number of digits of data. BYT=0 : Data is BCD BCD two digits long. BYT=1 : Data is BCD BCD four digits long.

BYT

ST1

ST0

BYT

BYT RST

RST

ACT

W1

(b) Reset RST=0 : Releases reset. RST=1 : Resets error output W1, that is, sets W1 to 0. (c) Execution command ACT=0 : The MUL instruction is not executed. executed. W1 does not change. - 177 -

 

7. FUNCTION COMMAND REFERENCE 

B-82614EN/02 

ACT=1 : The MUL instruction is executed.

7.39.4

Data Da ta Format of Multi plier

0:

Specifies the multiplier with a constant.

1:

Specifies the multiplier with an address.

7.39.5

Multiplicand Address

Sets the address storing the multiplicand.

7.39.6

Multiplier (Address)

Addressing of the multiplier depends on the specification of multiplier.

7.39.7

Product Output Address

Set the address to which the product is output.

7.39.8

Error Output

W1=1 is set to indicate an error if the product exceeds the size specified in 7.39.3-a).

7.40

MULB (BINARY MULTIPLICATION) MULTIPLICATION)

7.40.1

Function

This instruction multiplies 1-, 2-, and 4-byte binary data items. In the operation result register (R9000), operation data is set besides the numerical data representing the operation. A required number of bytes is necessary to store multiplicand, multiplier, and the result (product).

7.40.2

Format

7.40.3

Control Condition Condition s

(a)

Reset (RST) RST=0 : Release reset RST=1 : Resets error output W1. In other words, makes W1=0. (b) Command (ACT) - 178 -

 

7. FUNCTION COMMAND REFERENCE 

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ACT=0: Do not execute MULB. W1 d does oes not change now. now. ACT=1: Execute MULB.

7.40.4 (a)

Parameters

Format specification Specifies data length (1, 2, and 4 bytes) and the format for the multiplier (constant or address).

(b) Multiplicand address Address containing the multiplicand. (c) Multiplier data (address or constant) Specification in (a) determines the format of the multiplier. (d) Result output address Specifies the address to contain the result of operation.

7.40.5

Error Output (W (W1) 1)

W1=0 : Operation correct W1=1 : Operation incorrect W1 goes on (W1=1) if the result of multiplication exceeds the specified data length.

7.40.6

Operation Operatio n Outp Output ut Regis Register ter (R9 (R900 000) 0)

This register is set with data on operation. If the register bit is on, it signifies the fo following llowing operation data:

7.41

NOT (LOGICAL NOT)

7.41.1

Function

The NOT instruction inverts each bit of the contents of address A, and stores the result at address B. - 179 -

 

7. FUNCTION COMMAND REFERENCE 

7.41.2

Format

7.41.3

Control Condition Condition s

(a)

Input signal ACT=0 : The NOT instruction is not executed. ACT=1 : The NOT instruction is executed.

7.41.4 (a)

B-82614EN/02 

Parameters

Format specification Specify a data length (1, 2, or 4 bytes).

(b) Address A Input data to be inverted bit by bit. The data that is held starting at this address and has the data length specified in format specification is treated as input data. (c) Address B Address used to output the result of a NOT operation. The result of a NOT operation is stored starting at this address, and has the data length specified in format specification.

7.41.5

Operation

When address A holds the following data:

The result of the NOT operation is as follows:

- 180 -

 

7. FUNCTION COMMAND REFERENCE 

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7.42

NUME (DEFINITION OF CONSTANT)

7.42.1

Function

Defines BCD constants, when required. In this case, constants are defined with this instruction.

7.42.2

Format

Fig.7.42.2 shows the expression format and Table 7.42.2 shows the coding format.

Fig.7.42.2 Fig.7.4 2.2 NU NUME ME inst ructi on format Table 7.4 7.42.2 2.2 NU NUME ME inst ruct ion codi ng Coding shee sheett Me Memory mory status of control conditio ns Step Number 1 2 3 4 5

7.42.3

Instruction 

RD RD. STK SUB (PRM) (PRM)

 Add ress No.   

.    . 23       

Bit No.    

      

Remarks

ST3

ST2

BYT ACT NUME instruction Constant Constant output address

Control Condition Condition s

(a)

Specify the the number of digits of a constant. BYT=0 : Constant is BCD two digits long. BYT=1 : Constant is BCD four digits long. (b) Execution command ACT=0 : The NUME instruction is not executed. ACT=1 : The NUME instruction is executed.

7.42.4

Constant

Sets the constant as the number of digits specified in Item (a) in Subsection 7.42.3.

ST1

ST0

BYT

BYT ACT

7.42.5

Constant Consta nt Output Address

Sets the address to which the constant defined in Subsection 7.42.4 is output.

- 181 -

 

7. FUNCTION COMMAND REFERENCE 

7.43

NUMEB (DEFINITIO (DEFINITION N OF B INARY CONSTANTS)

7.43.1

Function

B-82614EN/02 

This instruction defines 1, 2, or 4-bytes long binary constant. Data entered in decimal during programming is converted into binary data during program execution. The binary data is stored in the specified memory address(es).

7.43.2

Format

Fig.7.43.2 Fig.7.4 3.2 (a) NU NUMBER MBER inst ruct ion fo rmat

7.43.3 (a)

Command (ACT) ACT= 0 : Do not execute NUMEB. ACT= 1 : Execute NUMEB.

7.43.4 (a)

Control Condition Condition s

Parameters

Format specification Specifies data length (1, 2, or 4 bytes). Use the first parameter specify 0001 : Binary datadigit of 1 to byte lengthbyte length:

0002 : Binary data of 2 byte length 0004 : Binary data of 4 byte length (b) Constant Defined constants in decimal format. Set a constant data within the effective range for the byte length which is set in "(a) Format specification". (c) Constant output address Specifies the address of the area for output of the binary binary data. The memory of the number of of bytes which is set in "(a) Format specification" is necessary.

7.44

LOGICAL OR

7.44.1

Function

7.44.1

Function

The OR instruction ORs the contents of address A with a constant (or the contents of address B), and stores the result at address C.

- 182 -

 

7. FUNCTION COMMAND REFERENCE 

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7.44.2

Format

7.44.3

Control Condition Condition s

(a)

Input signal ACT=0 : The OR instruction is not not executed. ACT=1 : The OR instruction is executed.

7.44.4 (a)

Parameters

Format specification Specify a data length (1, 2, or 4 bytes), and an input data format (constant or address specification).

(b) Address A Input data to be ORed. The data that is held starting at this address and has the data length specified in format specification is treated as input data. (c) Constant or address B Input data to be be ORed with. When address specification is selected in format specification, the data that is held starting at this address and has the data length specified in format specification iiss treated as input data. (d) Address C Address used to store the result of an OR operation. The result of an OR operation is stored starting at this address, and has the data length specified in format specification.

7.44.5

Operation

When address A and address B hold the following data:

The result of the OR operation is as follows: - 183 -

 

7. FUNCTION COMMAND REFERENCE 

7.45

PARI (PARITY (PA RITY CHECK) CHECK)

7.45.1

Function

B-82614EN/02 

This instruction checks the parity of code signals, and outputs an error if an abnormality is detected. Specifies either an even- or odd-parity check. Only one-byte (eight bits) of data can be checked.

7.45.2

Format

Fig.7.45.2 shows the expression format and Table 7.45.2 shows the coding format.

Fig.7.45.2 Fig.7.4 5.2 PAR PARII inst ruct ion format Table 7.4 7.45.2 5.2 PAR PARII inst ruct ion codi ng Coding shee sheett Me Memory mory status of control conditio n Step Number 1 2 3 4 5 6

7.45.3 (a)

Instruction 

RD RD. STK RD. STK SUB (PRM)

 Add ress No.   

.    .    . 11               .

Bit No.      

 

Control Condition Condition s

Specify even or odd.

Remarks ACT ACT ACT PARI instruction Check data address Error output

ST3

ST2

O.E

ST1

ST0

O.E RST

O.E RST ACT

W1

O.E 0 : O.E=1 : (b) Reset RST=0 : RST=1 :

Even parity check Odd-parity check Disables reset. Sets error output W1 to 0. Th That at is, when a parity error occurs, setting RST to 1 results in resetting. - 184 -

 

7. FUNCTION COMMAND REFERENCE 

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(c)

Execution command ACT=0 : Parity checks are not performed. performed. W1 does not alter. ACT=1 : Executes the PARI instruction, performing a parity check.

7.45.4

Error Output (W (W1) 1)

If the results of executing the PARI instruction are abnormal, W1=1 and an error is posted. The W1 address can be determined arbitrarily.

7.45.5

Example Exa mple of Using the PAR PARII IInst nst ruc ructio tion n

Fig.7.45.5 shows odd-parity checking of a code signal entered at address R036.

Fig.7.45.5 Fig.7.4 5.5 Ladder diagram for the P PARI ARI inst ructi on

NOTE For bits 0 to 7, bits other than those for the parity check must be 0.

7.46

ROT (ROTATION CONTROL)

7.46.1

Function

Controls rotors, such as the tool post, ATC, rotary table, etc., and is used for the following functions. (a) Selection of of the rotation direction via the shorter path (b) Calculation of the number of steps between the current position and the goal position (c) Calculation of the position one position before the goal or of the number number of steps up to one position

 before the goal

- 185 -

 

7. FUNCTION COMMAND REFERENCE 

7.46.2

B-82614EN/02 

Format

Fig.7.46.2 shows the expression format and Table 7.46.2 shows the coding format.

Fig.7.46.2 Fig.7.4 6.2 RO ROT T inst ruct ion format Table 7.46. 7.46.2 2 Codi ng for Fig.7.46.2 Coding shee sheett Step Number

Instruction 

1 2 3 4 5 6 7 8

RD RD. STK RD. STK RD. STK RD. STK RD. STK SUB (PRM)

9 10

(PRM) (PRM)

11

(PRM)

12

WRT

 Add ress No. 

                                       6

Bit No. . . . . . .



 

         

                          

.

 

Rema Remarks rks RN0 BYT DIR POS INC ACT ROT Rotor indexing number Current position Goal position address Calculating result output address

ST5

Status Sta tus of operating result ST4

ST3

ST2

ST1

ST0

RN 0 RN 0 RN 0

RN0 BYT BYT BYT

RN0 BYT D IR D IR D IR

RN0 B YT D IR POS POS POS

RN0 BYT D DIIR POS IN C IN C IN C

RN0 BYT D IR POS IN C ACT ACT ACT

RN 0 RN 0

BYT BYT

D IR D IR

POS POS

IN C IN C

ACT ACT

RN 0

BYT

D IR

POS

IN C

ACT

RN 0

BYT

DIR

POS

IN C

W1

13 14 15

- 186 -

 

7. FUNCTION COMMAND REFERENCE 

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7.46.3 (a)

(b)

(c)

(d)

(e)

(f)

Control Condition Condition s

Specify the starting number of the rotor. RN0=0 : Begins the number number of the position of the rotor with 0. RN0=1 : Begins the number number of the position of the rotor with 1. Specify the number of digits of the process data (position data). BYT=0 : BCD two digits BYT=1 : BCD four digits Select the rotation direction via the shorter path or not. DIR=0 : No direction is selected. The direction direction of rotation is only for forward. ward. DIR=1 : Selected. See (8) (8) for details on the rotation direction. Specify the operating conditions. POS=0 : Calculates the goal position. POS=1 : Calculates the position one position before the goal position. Specify the position or the number of steps. INC=0 : Calculates the number of the position. If the position one position before the goal position is to be calculated, specify INC=0 and POS=1 INC=1 : Calculates the number of steps. If the difference between the current position and the goal  position is to be calculated, specify INC=1 and POS=0. Execution command ACT=0 : The ROT instruction is n not ot executed. W1 does not change. ACT=1 : Executed. Normally, set ACT=0. If the operation results are required, set ACT=1.

7.46.4

Rotor Indexing Number

Specify the rotor indexing number.

7.46.5

Current Curre nt Position Address

Specify the address storing the current position.

7.46.6

Goall Position Address Goa

Specify the address storing the goal position (or command value).

7.46.7

Operation Result Output Address

Calculate the number of steps for the rotor to rotate, the number of steps up to the position one position  before, or the position before the goal. When the calculating result is to be used, always ch check eck that ACT=1.

7.46.8

Rotating Directi on Outp Output ut (W (W1) 1)

The direction of rotation for for control of rotation via the shor shorter ter path is output to W1. When W1=0, the direction is forward (FOR) when 1, reverse (REV). The definition of FOR and REV is shown in Fig.7.46.8. If the number given to the rotor is ascending, the rotation is FOR; if descending, descending, REV. The address of W1 can be determined arbitrarily. When, however, the result of W1 is to be used, always check that ACT=1.

- 187 -

 

7. FUNCTION COMMAND REFERENCE 

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Fig.7.46.8 Rotation direction

7.47

ROTB (BINARY (B INARY ROTATION CONTROL) CONTROL)

7.47.1

Function

This instruction is used to control rotating elements including the tool t ool post, ATC (Automatic Tool Changer), rotary table, etc. In the ROT command command a parameter indicating the number of rotating element element indexing  positions is a fixed data in programming. programming. For ROTB, however, you can specify an address for the num number ber of rotating element index positions, allowing change even after programming. The data handled are all in the binary format. Otherwise, ROTB is coded in the same way as ROT.

7.47.2

Format

Fig.7.47.2 shows the expression format of ROTB

Fig.7.47.2 Fig.7.4 7.2 Expression f ormat of ROT ROTB B

- 188 -

 

7. FUNCTION COMMAND REFERENCE 

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7.47.3

Control Condition Condition s

The control conditions do not differ basically from those for ROT command. command. However, BYT has been eliminated from ROTB (it forms part of the ROTB parameters). For the reset, see ROT.

7.47.4

Parameters

(a)

Format Specifies data length (1, 2, or 4 bytes). Use the first digit of the parameter to specify the number of  bytes. 1 : 1 byte 2 : 2 bytes 4 : 4 bytes All numerical data (number of indexed positions for the rotating elements, current address, etc.) are in the binary format. Therefore, they require the memory space specified by data length. (b) Rotating element indexed position address Specifies the address containing the number of rotary element positions to be indexed. (c)

Other parameters For the functions and use of the other p parameters, arameters, see Section 7.46, "Rotation Control."

7.47.5

Output f or Rotation Rotational al D Directio irectio n (W (W1) 1)

This is the same as the ROT command.

7.47.6

Example Exa mple of Using t he ROT ROTB B Instru cti on

Fig. 7.47 (b) illustrates a ladder diagram for a 12-position rotor to be controlled for rotation via the shorter  path and for deceleration at the position one position before the goal. goal. The goal position is specified with 32B of binary code (address R26 to R29). •  The current position is entered with the binary code signal (address R41) from the machine tool. •  •  The result of calculating the position one position before the goal goal is output to address address R230 (work •  • 

area). Operation starts with X7.3. The comparison check instruction (COMPB) is used to detect the deceleration and stop positions.

- 189 -

 

7. FUNCTION COMMAND REFERENCE 

B-82614EN/02 

Fig.7.47.6 Fig.7.4 7.6 Example of a ladder diagram for the ROT ROTB B instr ucti on

- 190 -

 

7. FUNCTION COMMAND REFERENCE 

B-82614EN/02 

7.48

SFT (SHIFT REGISTER)

7.48.1

Function

This instruction shifts 2-byte (16-bit) data by a bit to the left or right.  Note that W1=1 when data "1" is shifted from the left extremity (bit 15) in left shift or from the right extremity (bit 0) in right shift.

7.48.2

Format

7.48.3

Control Condition Condition s

(a)

Shift direction specification (DIR) DIR=0 : Left shift DIR=1 : Right shift (b) Condition specification (CONT) CONT=0: On "1" bit shifts by one bit in the specified direction. The condition bit (either right or of leftthe adjacent direction DIR)of is an setadjacent to the original bit position on "1" bit bit.according to the specification of shift Also, "0" is set to bit 0 after shifting in the left direction or set to hit 15 after shifting in the right direction. In case of leftward shift;

CONT=1: Shift is the same as above, but 1s are set to shifted bits.

- 191 -

 

7. FUNCTION COMMAND REFERENCE 

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(c)

Reset (RST) The shifted out data (W1=1) is reset (W1=0). RST=0 : W1 is not reset. RST=1 : W1 is reset reset (W1=0). (W1=0). (d) Actuation signal (ACT) Shift processing is done when ACT=1. For shifting one bit only, execute an instruction when ACT=1, and then, set ACT to 0 (ACT=0).

7.48.4 (a)

Parameters

Shift data addresses Sets shift data addresses. These designated addresses require a continuous 2-byte memory for shift data. Bit numbers are represented by bit 0 to 15 as shown below. When addresses are designated for  programming, an address number number is attached every 8 bits, and the designable bit numbers are 0 to 7 7..

7.48.5 W1=0 : W1=1 :

W1 "1" was not shifted out out because of the shift operation. "1" was shifted out because of the shift operation.

7.49

SP (SUBPROGRAM)

7.49.1

Function

The SP functional instruction is used to create a subprogram. subprogram. A subprogram number number is specified as a subprogram name. SP is used with the SPE functional instruction to specify the subprogram range.

7.49.2

Format

- 192 -

 

7. FUNCTION COMMAND REFERENCE 

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7.49.3 (a)

Parameters

Subprogram number Specifies the subprogram number number of a subprogram subprogram to be coded following this instruction. The subprogram number must be specified by P1 to P512. The specified subprogram number must be unique within the sequence program. Example: When the subprogram number is set to 1

7.50

SPE (END OF OF A SUBPROGRAM)

7.50.1

Function

The SPE functional instruction is used to create a subprogram. subprogram. SPE is used with the SP functional instruction. It specifies the range of a subprogram. When this functional functional instruction has been executed, control is returned to the functional instruction that called the subprogram.

7.50.2

Format

7.51

SUB (SUBTRACTION)

7.51.1

Function

This instruction subtracts BCD two-or four-digit data.

7.51.2

Format

Fig.7.51.2 shows the expression format and Table 7.51.2 shows the coding format.

- 193 -

 

7. FUNCTION COMMAND REFERENCE 

B-82614EN/02 

Fig.7.51.2 Fig.7.5 1.2 SUB Instru ctio n format Table 7.5 7.51.2 1.2 SUB inst ruct ion form at Coding shee sheett Me Memory mory status of control conditio ns Step Number 1 2 3 4 5

 Add ress No.

RD RD. STK RD. STK SUB (PRM)

6 7 8

(PRM) (PRM) (PRM)

9

WRT

7.51.3 (a)

Instruction 

Bit No.    .      .      .   20

 

             

         

.

 

Remarks BYT RST ACT SUB instruction Data format of subtrahend Minuend address Subtrahend (address) Difference output address Error output

Control Condition Condition s

Specification of the number of digits of data. BYT=0 : Data BCD two digits long BYT=1 : Data BCD four digits long

7.51.4

Reset

RST=0 : Release reset. RST=1 : Resets error output W1, that is, sets W1 to 0.

7.51.5

Execution Command

ACT=0 : The SUB instruction is not executed. W1 does not not change. ACT=1 : The SUB instruction is executed.

ST3

ST2

ST1

BYT

BYT RST

ST0 BYT RST ACT

W1

7.51.6 0: 1:

Data Da ta Format of Subtrahend

Specifies subtrahend with a constant. Specifies subtrahend with an address. - 194 -

 

7. FUNCTION COMMAND REFERENCE 

B-82614EN/02 

7.51.7

Minuend Address

Set the address storing the minuend.

7.51.8

Subtrahend (Address)

7.51.9

Difference Output Address

Addressing of the subtrahend depends on the specification of subtrahend.

Sets the address to which the difference is output.

7.51.10

Error Output

W1 is set 1 to indicate an error if the difference is negative.

7.52

SUBB (BINARY SUBTRACTION) SUBTRACTION)

7.52.1

Function

This instruction subtracts one data from another, both data being in the binary format of 1, 2 or 4 bytes. In the operation result register (R9000), operation data is set besides the numerical data representing the operation. A required number of bytes is necessary to store the subtrahend, minuend, and the result (difference).

7.52.2

Format

7.52.3

Control Condition Condition s

(a)

Reset (RST) RST=0 : Release reset RST=1 : Resets error output W1. (Set W1 to 0.) (b) Command (ACT) ACT=0 : Do not execute SUBB. W1 W1 does not change now. ACT=1 : Execute SUBB.

ACT 1 : Execute SUBB.

7.52.4 (a)

Parameters

Format specification Specifies data length (1, 2, and 4 bytes) and the format for the subtrahend (constant or address). - 195 -

 

7. FUNCTION COMMAND REFERENCE 

B-82614EN/02 

(b) Minuend address Address containing the minuend. (c) Minuend data (address) Specification in (a) determines the format of the minuend. (d) Result output address Specifies the address to contain the result of operation.

7.52.5

Error Output (W (W1) 1)

W1=0 : Operation correct W1=1 : Operation incorrect W1 goes on (W1=1) if the result of subtraction exceeds the specified data length.

7.52.6

Operation Operatio n Outp Output ut Regis Register ter (R9 (R900 000) 0)

This register is set with data on operation. If register bit is on, they signify the following operation data:

7.53

TMR (TIMER)

7.53.1

Function

This is an on-delay timer. Since the timer time is set in non-volatile memory, it can be changed on the PMC screen without the ladder having to be changed.

7.53.2

Format

Fig.7.53.4 (a) shows description format and Table 7.53.4 shows coding format.

- 196 -

 

7. FUNCTION COMMAND REFERENCE 

B-82614EN/02 

7.53.3

Control Condition

ACT=0: Turns off the timer relay (TM). ACT=1: Initiates the timer.

7.53.4

Timer Relay (TM  )

When the time preset is reached with ACT=1 as shown in Fig.7.53.4 (b), the timer relay turns on. You can set the address of the timer relay.

Fig.7.53.4 (a) Format o f TMR Table 7.53.4 7.53.4 Codi ng of TM TMR R Step   Number  1 2 3

Instruction  

RD TMR WRT

 Add res ress s Number      

Bit Number 

.    .    .

 

Remarks ACT

   

TM 

Fig.7.53.4 Fig.7.5 3.4 (b) Operation of the timer

7.53.5

Setti Se tti ng Timers

The timer can be set via the PMC screen. The setting time is every 48 ms for timer number 1 to 8 and every 8 ms for timer number number 9 to 40. A time less than 48 ms is discarded for 48ms timer and a time less than 8ms is discarded for 8ms timer. For example, if 38 ms ms is set by the every 8ms, the remain remainder der 6 (38=8×4+6) is discarded, and only 32 ms is actually set.

7.53.6

Timer Accuracy Type of timer

Setting Setting time

Error

48 ms timer

48 ms to 1572.8 s

-48 to 0 ms

8 ms timer

8 ms to 262.1 s

-8 to 0 ms

Variation in time is caused only by the operation operation time of the Timer In Instruction. struction. For example, when a timer instruction is used in the second level sequence part, the variation does not include the delay time (Max. 2nd level sequence one cycle time) until the sequence actuates after the set time is reached.

- 197 -

 

7. FUNCTION COMMAND REFERENCE 

7.53.7

B-82614EN/02 

Parameter

Set the timer number.

WARNING If the timer number is duplicated, or falls outside the valid range, the operation will be unpredictable.

7.54

TMRB (FIXED TIMER)

7.54.1

Function

This timer is used as a fixed on-delay timer. Time present in this fixed timer is written to ROM together with the sequence program, so the timer time once set cannot be changed unless the whole ROM is exchanged.

7.54.2

Format

The format is expressed as follows (Fig.7.54.2).

Fig.7.54.2 Format of TM TMRB RB

7.54.3

Control Condition Condition s

ACT=0: Turns off timer relay (TMB). ACT=1: Start timer.

7.54.4

Timer Relay (TMB (TMB  

)

As shown in Fig.7.54.4, timer relay is set ON after a certain time preset in the parameter of this instruction  pasts after ACT=1. You can decide the address of the internal relay in the timer relay.

Fig.7.54.4 Timer operation

7.54.5 (a)

Parameter

Timer number Sets timer number (1 to 100) of the fixed timers. - 198 -

 

7. FUNCTION COMMAND REFERENCE 

B-82614EN/02 

WARNING If the same timer number is used more than once or if a timer number out of the valid range is used, the operation is unpredictable. (b) Preset time (8 to 262,136 ms) Processing is done every 8 ms in this fixed timer. The preset time is therefore integral times of 8 ms and the remainder is omitted. For example, when set 38 ms, 38=8 4+6, the remainder of 6 is omitted, and the preset time becomes 32 ms. The range of the preset time is 8 to 262,136 ms.

7.54.6

Precis Pre cision ion of the T Timer imer

Time varies -8 to 0 ms from the setting time. The varying time in this timer is caused only if the error occurred when the timer instruction performs the operation process. Errors caused by sequence program processing time (time of 1 cycle of the second level), etc. are not included.

7.55

TMRC (TIMER)

7.55.1

Function

This is the on-delay timer. A timer setting time is set at an arbitrary address. The selection of an address determines whether the timer is a variable timer or fixed timer. No limit is imposed on the number of tim timers ers provided areas can be allocated.

7.55.2

Format

Fig.7.55.2 and Table 7.55.2 show the expression format and the coding format, respectively.

Fig.7.55.2 Fig.7.5 5.2 TMR TMRC Ce expressio xpressio n form at Table 7.55 7.55.2 .2 TMR TMRC C coding f ormat Step   Number  1 2 3

Instruction  

RD SUB (PRM)

 Add res ress s Number      .

54  

Bit Number 

Remarks

 

TMRC command Timer accuracy

4 5 6

(PRM) (PRM) WRT

             .

 

Timer set time address Timer register address TM 

- 199 -

 

7. FUNCTION COMMAND REFERENCE 

7.55.3

B-82614EN/02 

Control Condition

ACT=0 : Turns off the timer relay (TM). ACT=1 : Starts the timer.

7.55.4

Timer Accuracy

Timerr precision Time

Se Setting tting value

Setting Setting time

Error

8 ms 48 ms 1 second (Note) 10 s (Note) 1 m (Note)

0 1 2 3 4

1 to 262,136 1 to 1,572,816 1 to 32,767 1 to 327,670 1 to 32,767

-8 to 0 ms -48 to +0 ms 0 to +1 s 0 to +10 s 0 to +1 m

7.55.5

Timer Set Set Time Ad Address dress

Sets the first address of the timer set time field. The 2-byte memory space is required for the timer set time field. Fieldcontinuous D is normally used as this field.

The timer set time is converted into the binary value in 8 ms (48 ms) units. The timer set time is shown as follows: 8 ms 8 to 262,136 ms 48 ms 48 to 1,572,816 ms 1s 1 to 32,767s 10 s 1 to 327,670s 1m 1 to 32,767m

7.55.6

Timer Register Register Add ress

Set the start address of a timer register area. A timer register area must be allocated to a continuous four-byte memory area starting from the set address.  Normally, the R area is used as a timer register area. This area sshould hould be used by the PMC system, and therefore should not be used by the sequence program.

- 200 -

 

7. FUNCTION COMMAND REFERENCE 

B-82614EN/02 

7.55.7

Timer Relay (TM  )

As shown in Fig. 7.55.7, after ACT is set to 1, the timer relay is turned on once the time specified in this command has elapsed.

Fig.7.55.7 Timer operation

7.56

XMOV (INDEXED (INDEXED DATA TRANSFER)

7.56.1

Function

Reads or rewrites the contents of the data table. Like the DSCH instruction, XMOV is only valid for data tables which can be used by the PMC.

NOTE The data table heading address specified here is table internal number 0.

Fig.7.56.1 Fig.7.5 6.1 Rea Readin din g and writi ng of data

7.56.2

Format

Fig.7.56.2 shows the expression format and Table 7.56.2 shows the coding format.

- 201 -

 

7. FUNCTION COMMAND REFERENCE 

B-82614EN/02 

Fig.7.56.2 Fig.7.5 6.2 XM XMOV OV inst ruct ion format Table 7.5 7.56.2 6.2 XM XMOV OV inst ruct ion codi ng Coding shee sheett Me Memory mory status of control conditio ns Step Number 1 2 3 4 5 6

RD RD. STK RD. STK RD. STK SUB (PRM)

7

(PRM)

8

(PRM)

9

(PRM)

10

WRT

7.56.3 (a)

Instruction 

 Add ress No.

Bit No.

  

.    .    .    . 18 

       

      

      

BYT RW RST ACT XMOV instruction Number of data of the data table Data table heading address

ST3

BYT

ST2

BYT RW

ST1

ST0

BYT RW RST

BYT RW RST ACT

Address storing input/output data Address storing table internal number

                

Remarks

.

 

Error output

Control Condition Condition s

Specifies the number of digits of data. BYT=0 : Data stored in the data table, BCD in two digits digits long. BYT=1 : Data stored in the data table, BCD in four digits long. (b) Specifies read or write RW=0 : Data is read read from the data table. RW=1 : Data is write write in the data table. (c) Reset RST=0 : Release reset. RST=1 : Enables reset, that is, sets W1 to 0.

W1

(d) Execution commands ACT=0 : The XMOV instruction is not executed. executed. W1 does not change. ACT=1 : The XMOV instruction is executed.

- 202 -

 

7. FUNCTION COMMAND REFERENCE 

B-82614EN/02 

7.56.4

Number of o f Data of tthe he Da Data ta Ta Tabl ble e

Specifies the size of the data table. If the beginning of the data table is 0 and the end is n, n+1 is set as the number of data of the data table.

7.56.5

Data Da ta Table H Hea ead d Addr A ddr ess

Addresses that can be used in a data table are fixed. When preparing a data table, the addresses to be used must be determined beforehand, and the head address placed in that data table.

7.56.6

 Ad  A d dr es ess s Sto St o r in g Inpu In pu t /Ou /Outt p u t Data

The input/output data storage address is the address storing the specified data, and is external to the data table. The contents of the data table is read or rewritten.

7.56.7

 Ad  A d d r es ess s Sto St o r i ng t h e Tab Table le Int In t er ernal nal Numb Nu mb er

The table internal number storage address is the address storing the table internal number of the data to be read or rewritten. This address requires memory specified by the format designation (BYT).

7.56.8

Error Output

W1=0 : There is no error. W1=1 : There is an error. An error occurs if a table internal number exceeding the previously programmed number of the data table is specified.

7.57

XMOVB (BINARY (B INARY INDEX MODIFIER MODIFIER DATA TRANSFER)

7.57.1

Function

Like the XMOV instruction of Section 7.56, this function instruction ins truction instructs reading and rewriting of data in the data table. There are two differences; the numerical data handled in this instruction are all in binary format; and number of data (table capacity) in the data table can be specified by specifying the address, thus allowing change in table capacity even after writing the sequence program in the ROM. (a) Read data from data table

- 203 -

 

7. FUNCTION COMMAND REFERENCE 

Fig.7.57.1 (a) Read data fro m data table

(b) Write data to data table

Fig.7.57.1 Fig.7.5 7.1 (b) Write data to data table

B-82614EN/02 

- 204 -

 

7. FUNCTION COMMAND REFERENCE 

B-82614EN/02 

7.57.2

Format

Fig.7.57.2 Fig.7.5 7.2 XMO XMOVB VB inst ructi on format

7.57.3 (a)

Control Condition Condition s

Read, write designation (RW) RW=0 : Read data from data table. RW=1 : Write data to data table.

(b) Reset (RST) RST=0 : Reset release. RST=1 : Reset. W1=0. (c) Activation command (ACT) ACT=0: Do not execute MOV instruction. There is no change in W1. ACT=1: Execute MOV instruction.

7.57.4 (a)

Parameters

Format designation Specifies data length. Specify byte length in the first digit of the parameter. 0001 : 1-byte long data 0002 : 2-byte long data

0004 : 4-byte long of data (b) Storage address of number data table elements Set to the memory at the byte length which sets the number of the data table elements in "(a) Format specification" and sets the address to this parameter. The effective range of of number of data table elements is as follows with the byte length which set in "(a) Format specification". 1 byte length : 1 to 255 2 byte length : 1 to 32767 (Actually, set a value below the size of the D area.) 4 byte length : 1 to 99999999 (Actually, set a value below the size of the D area.) (c) Data table head address Sets head address in the data table. The memory of (byte length) ×  (number of data table elements) which was set in "(a) Format specification" and "(b) Storage address of number of data table elements" is necessary.

(d) Input/Output data storage address

(e)

In case of the reading, set the address of the memory which stores a reading result. In case of the writing, set the address of the memory which stores a writing result. The memory with the byte length which set in "(a) Format specification" is necessary. Index storage address

- 205 -

 

7. FUNCTION COMMAND REFERENCE 

B-82614EN/02 

Set the address of the the memory in which an index value is stored. The memory with the byte length set in "(a) Format specification" is necessary. The effective range of number of data in index is as follows according to the byte length set in "(A) Format specification". Actually, set the value which is smaller than the value to set in "(b) Storage St orage address of number of data table elements" to the index. When setting an index value above the value to set in "(b) Storage address of number of data table elements", it causes an error output W1=1 in instruction execution. 1 byte length : 0 to 254 2 byte length : 0 to 32766 4 byte length : 0 to 99999998

7.57.5 W1=0 : W1=1 :

Error Output (W (W1) 1) No error Error found. found. In the case where the index value set in "(e) Index storage storage address" exceeds the value set in "(b) Storage address address of number of data table elements", it becomes W1=1. The reading or writing of the data table isn't executed.

- 206 -

 

8. PMC ADDRESS CORRESPONDEN CORRESPONDENCE CE 

B-82614EN/02 

8

PMC ADDRESS CORRESPONDENCE

This chapter explains the correspondence between the PMC address and the robot controller I/O port name. It also explains the corresponding Rack, Slot and Start No. to assign internal relays to the robot controller I/O port. Type X

Y

Usage Input to PMC

Output from PMC

Range

G

Input to PMC

Output from PMC

Assign ment

X0-X127

DI[1]-DI[1024] (General digital input)

X1000-X1004

UI[1]-UI[40] (User operator's panel input)

X1005-X1009

WI[1]-WI[40] (Weld digital input)

X1010-X1014 X1015-X1019

WSTI[1]-WSTI[40] (Wire stick input) LDI[1]-LDI[40] (Laser digital input)

X1020-X1024

RI[1]-RI[40] (Robot digital input)

X1025-X1026

SI[1]-SI[16] (Standard panel output)

X1027-X1039

Not used

Y0-Y127

DO[1]-DO[1024] (General digital output) [1]-UO[40] (User operator's panel output)

Y1000-Y1004

F

Correspon ded I/O port

Operator's

Y1005-Y1009

WO[1]-WO[40] (Weld digital output)

Y1010-Y1014

WSTO[1]-WSTO[40] output)

Y1015-Y1019

LDO[1]-LDO[40] output)

Y1020-Y1024 Y1025-Y1026

RO[1]-RO[40] (Robot digital output) SO[1]-SO[16] (Standard operator's panel output)

Y1027-Y1039

Not used

F0-F127

GI[1]-GI[64] (Group input)

F128-F255

AI[1]-AI[64] (Analog input)

F1000-F1255

System interface input

G0-G127

GO[1]-GO[64] (Group output)

G128-G255

AO[1]-AO[64] (Analog output)

G1000-G1255

System interface output

(Wire

(Laser

stick digital

Rack 33 Slot 6 Start Port 1-32

Rack 33 Slot 7 Start Port 1-32

K 

Keep Relay

K0-K19

DO[10001]-DO[10160] digital output)

(General

Rack 33 Slot 1 Start Port 1-160

R 

General internal relay

R0-R1499

DO[11001]-DO[23000] digital output)

(General

Rack 33 Slot 2 Start Port 1-12000

R9000-R9117

Operation Output Relay (Ex. - ADDB, SUBB, etc.)

D 

Data Table

D0-D2999

GO[10001]-GO[11500]

(Group

Rack 33 Slot 3

output) T 

Variable Timer

T0-T79

Start Port 1-24000

Timer #1 = T0 - T1, 2 Bytes per Timer. 2 Bytes = Timer Preset

Rack 33 Slot 4 Start Port 1-640

- 207 -

 

8. PMC ADDRESS CORRESPONDEN CORRESPONDENCE CE  Type

Usage

B-82614EN/02 

Range

Correspon ded I/O port

Assign ment Rack 33 Slot 5 Start Port 1-640

C 

Counter

C0-C79

Counter #1 = C0 - C3, 4 Bytes per Counter, 1st - 2 Bytes = Counter Preset, 2nd - 2 Bytes = Counter Value

L

Label number

L1-L9999

Labels are commands

Sub program number

P1-P512

 

P 

used

with

Jump

NOTE Rack 33 is an internal rack. This does not correspond to any any external devices.

8.1

X

The X area corresponds to the digital input ports of the robot controller. The PMC uses this area to input information from external I/O devices.

NOTE The X area can not be used used in any function command. If you specify the X area in a function command, the PMC program causes an error in the robot controller, and the PMC program can not be started. To use the X area in a function command, copy the value of this area to internal relay by basic command, and use the internal relay in a function command.

8.1.1

X0-X127 X0-X 127

DI[1]-DI[1024 DI[1]-DI[1024]] (Ge (Gener neral al Digi tal Inp Input ut )

The correspondence of PMC address to DI index is shown below. Xa.b

DI[c] a

8+ b +1 = c

(Example: X3.4, a=3, b=4, (3*8)+4+1=29, c=29, DI[29])

Correspond ence between DI and PM PMC C address  Add res ress s

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

X0

DI[8]

DI[7]

DI[6]

DI[5]

DI[4]

DI[3]

DI[2]

DI[1]

X1

DI[16]

DI[15]

DI[14]

DI[13]

DI[12]

DI[11]

DI[10]

DI[9]

X2

DI[24]

DI[23]

DI[22]

DI[21]

DI[20]

DI[19]

DI[18]

DI[17]

X3

DI[32]

DI[31]

DI[30]

DI[29]

DI[28]

DI[27]

DI[26]

DI[25]

X4 X5

DI[40] DI[48]

DI[39] DI[47]

DI[38] DI[46]

DI[37] DI[45]

DI[36] DI[44]

DI[35] DI[43]

DI[34] DI[42]

DI[33] DI[41]

X6

DI[56]

DI[55]

DI[54]

DI[53]

DI[52]

DI[51]

DI[50]

DI[49]

X7

DI[64]

DI[63]

DI[62]

DI[61]

DI[60]

DI[59]

DI[58]

DI[57]

X8

DI[72]

DI[71]

DI[70]

DI[69]

DI[68]

DI[67]

DI[66]

DI[65]

X9

DI[80]

DI[79]

DI[78]

DI[77]

DI[76]

DI[75]

DI[74]

DI[73]

X10

DI[88]

DI[87]

DI[86]

DI[85]

DI[84]

DI[83]

DI[82]

DI[81]

X11

DI[96]

DI[95]

DI[94]

DI[93]

DI[92]

DI[91]

DI[90]

DI[89]

X12

DI[104]

DI[103]

DI[102]

DI[101]

DI[100]

DI[99]

DI[98]

DI[97]

X13

DI[112]

DI[11 DI[111] 1]

DI[11 DI[110] 0]

DI[109]

DI[108]

DI[107]

DI[106]

DI[105]

X14

DI[120]

DI[11 DI[119] 9]

DI[11 DI[118] 8]

DI[117]

DI[116]

DI[115]

DI[114]

DI[113]

X15

DI[128]

DI[12 DI[127] 7]

DI[12 DI[126] 6]

DI[125]

DI[124]

DI[123]

DI[122]

DI[121]

- 208 -

 

8. PMC ADDRESS CORRESPONDEN CORRESPONDENCE CE 

B-82614EN/02 

 Add res ress s

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

X16

DI[136]

DI[13 DI[135] 5]

DI[13 DI[134] 4]

DI[133]

DI[132]

DI[131]

DI[130]

DI[129]

X17

DI[144]

DI[14 DI[143] 3]

DI[14 DI[142] 2]

DI[141]

DI[140]

DI[139]

DI[138]

DI[137]

X18

DI[152]

DI[15 DI[151] 1]

DI[15 DI[150] 0]

DI[149]

DI[148]

DI[147]

DI[146]

DI[145]

X19

DI[160]

DI[15 DI[159] 9]

DI[15 DI[158] 8]

DI[157]

DI[156]

DI[155]

DI[154]

DI[153]

X20

DI[168]

DI[16 DI[167] 7]

DI[16 DI[166] 6]

DI[165]

DI[164]

DI[163]

DI[162]

DI[161]

X21

DI[176]

DI[17 DI[175] 5]

DI[17 DI[174] 4]

DI[173]

DI[172]

DI[171]

DI[170]

DI[169]

X22

DI[184]

DI[18 DI[183] 3]

DI[18 DI[182] 2]

DI[181]

DI[180]

DI[179]

DI[178]

DI[177]

X23

DI[192]

DI[19 DI[191] 1]

DI[19 DI[190] 0]

DI[189]

DI[188]

DI[187]

DI[186]

DI[185]

X24

DI[200]

DI[19 DI[199] 9]

DI[19 DI[198] 8]

DI[197]

DI[196]

DI[195]

DI[194]

DI[193]

X25 X26

DI[208] DI[216]

DI[20 DI[207] 7] DI[21 DI[215] 5]

DI[20 DI[206] 6] DI[21 DI[214] 4]

DI[205] DI[213]

DI[204] DI[212]

DI[203] DI[211]

DI[202] DI[210]

DI[201] DI[209]

X27

DI[224]

DI[22 DI[223] 3]

DI[22 DI[222] 2]

DI[221]

DI[220]

DI[219]

DI[218]

DI[217]

X28

DI[232]

DI[23 DI[231] 1]

DI[23 DI[230] 0]

DI[229]

DI[228]

DI[227]

DI[226]

DI[225]

X29

DI[240]

DI[23 DI[239] 9]

DI[23 DI[238] 8]

DI[237]

DI[236]

DI[235]

DI[234]

DI[233]

X30

DI[248]

DI[24 DI[247] 7]

DI[24 DI[246] 6]

DI[245]

DI[244]

DI[243]

DI[242]

DI[241]

X31 X32

DI[256] DI[264]

DI[25 DI[255] 5] DI[26 DI[263] 3]

DI[25 DI[254] 4] DI[26 DI[262] 2]

DI[253] DI[261]

DI[252] DI[260]

DI[251] DI[259]

DI[250] DI[258]

DI[249] DI[257]

X33

DI[272]

DI[27 DI[271] 1]

DI[27 DI[270] 0]

DI[269]

DI[268]

DI[267]

DI[266]

DI[265]

X34 X35

DI[280] DI[288]

DI[27 DI[279] 9] DI[28 DI[287] 7]

DI[27 DI[278] 8] DI[28 DI[286] 6]

DI[277] DI[285]

DI[276] DI[284]

DI[275] DI[283]

DI[274] DI[282]

DI[273] DI[281]

X36

DI[296]

DI[29 DI[295] 5]

DI[29 DI[294] 4]

DI[293]

DI[292]

DI[291]

DI[290]

DI[289]

X37 X38

DI[304] DI[312]

DI[30 DI[303] 3] DI[31 DI[311] 1]

DI[30 DI[302] 2] DI[31 DI[310] 0]

DI[301] DI[309]

DI[300] DI[308]

DI[299] DI[307]

DI[298] DI[306]

DI[297] DI[305]

X39

DI[320]

DI[31 DI[319] 9]

DI[31 DI[318] 8]

DI[317]

DI[316]

DI[315]

DI[314]

DI[313]

X40

DI[328]

DI[32 DI[327] 7]

DI[32 DI[326] 6]

DI[325]

DI[324]

DI[323]

DI[322]

DI[321]

X41

DI[336]

DI[33 DI[335] 5]

DI[33 DI[334] 4]

DI[333]

DI[332]

DI[331]

DI[330]

DI[329]

X42

DI[344]

DI[34 DI[343] 3]

DI[34 DI[342] 2]

DI[341]

DI[340]

DI[339]

DI[338]

DI[337]

X43 X44

DI[352] DI[360]

DI[35 DI[351] 1] DI[35 DI[359] 9]

DI[35 DI[350] 0] DI[35 DI[358] 8]

DI[349] DI[357]

DI[348] DI[356]

DI[347] DI[355]

DI[346] DI[354]

DI[345] DI[353]

X45

DI[368]

DI[36 DI[367] 7]

DI[36 DI[366] 6]

DI[365]

DI[364]

DI[363]

DI[362]

DI[361]

X46

DI[376]

DI[37 DI[375] 5]

DI[37 DI[374] 4]

DI[373]

DI[372]

DI[371]

DI[370]

DI[369]

X47

DI[384]

DI[38 DI[383] 3]

DI[38 DI[382] 2]

DI[381]

DI[380]

DI[379]

DI[378]

DI[377]

X48

DI[392]

DI[39 DI[391] 1]

DI[39 DI[390] 0]

DI[389]

DI[388]

DI[387]

DI[386]

DI[385]

X49 X50

DI[400] DI[408]

DI[39 DI[399] 9] DI[40 DI[407] 7]

DI[39 DI[398] 8] DI[40 DI[406] 6]

DI[397] DI[405]

DI[396] DI[404]

DI[395] DI[403]

DI[394] DI[402]

DI[393] DI[401]

X51

DI[416]

DI[41 DI[415] 5]

DI[41 DI[414] 4]

DI[413]

DI[412]

DI[411]

DI[410]

DI[409]

X52

DI[424]

DI[42 DI[423] 3]

DI[42 DI[422] 2]

DI[421]

DI[420]

DI[419]

DI[418]

DI[417]

X53

DI[432]

DI[43 DI[431] 1]

DI[43 DI[430] 0]

DI[429]

DI[428]

DI[427]

DI[426]

DI[425]

X54

DI[440]

DI[43 DI[439] 9]

DI[43 DI[438] 8]

DI[437]

DI[436]

DI[435]

DI[434]

DI[433]

X55 X56

DI[448] DI[456]

DI[44 DI[447] 7] DI[45 DI[455] 5]

DI[44 DI[446] 6] DI[45 DI[454] 4]

DI[445] DI[453]

DI[444] DI[452]

DI[443] DI[451]

DI[442] DI[450]

DI[441] DI[449]

X57

DI[464]

DI[46 DI[463] 3]

DI[46 DI[462] 2]

DI[461]

DI[460]

DI[459]

DI[458]

DI[457]

X58

DI[472]

DI[47 DI[471] 1]

DI[47 DI[470] 0]

DI[469]

DI[468]

DI[467]

DI[466]

DI[465]

X59

DI[480]

DI[47 DI[479] 9]

DI[47 DI[478] 8]

DI[477]

DI[476]

DI[475]

DI[474]

DI[473]

X60

DI[488]

DI[48 DI[487] 7]

DI[48 DI[486] 6]

DI[485]

DI[484]

DI[483]

DI[482]

DI[481]

X61 X62

DI[496] DI[504]

DI[49 DI[495] 5] DI[50 DI[503] 3]

DI[49 DI[494] 4] DI[50 DI[502] 2]

DI[493] DI[501]

DI[492] DI[500]

DI[491] DI[499]

DI[490] DI[498]

DI[489] DI[487]

X62

DI[504]

DI[50 DI[503] 3]

DI[50 DI[502] 2]

DI[501]

DI[500]

DI[499]

DI[498]

DI[487]

X63

DI[512]

DI[51 DI[511] 1]

DI[51 DI[510] 0]

DI[509]

DI[508]

DI[507]

DI[506]

DI[505]

X64

DI[520]

DI[51 DI[519] 9]

DI[51 DI[518] 8]

DI[517]

DI[516]

DI[515]

DI[514]

DI[513]

X65

DI[528]

DI[52 DI[527] 7]

DI[52 DI[526] 6]

DI[525]

DI[524]

DI[523]

DI[522]

DI[521]

X66

DI[536]

DI[53 DI[535] 5]

DI[53 DI[534] 4]

DI[533]

DI[532]

DI[531]

DI[530]

DI[529]

X67

DI[544]

DI[54 DI[543] 3]

DI[54 DI[542] 2]

DI[541]

DI[540]

DI[539]

DI[538]

DI[537]

X68

DI[552]

DI[55 DI[551] 1]

DI[55 DI[550] 0]

DI[549]

DI[548]

DI[547]

DI[546]

DI[545]

- 209 -

 

8. PMC ADDRESS CORRESPONDEN CORRESPONDENCE CE 

B-82614EN/02 

 Add res ress s

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

X69

DI[560]

DI[55 DI[559] 9]

DI[55 DI[558] 8]

DI[557]

DI[556]

DI[555]

DI[554]

DI[553]

X70

DI[568]

DI[56 DI[567] 7]

DI[56 DI[566] 6]

DI[565]

DI[564]

DI[563]

DI[562]

DI[561]

X71

DI[576]

DI[57 DI[575] 5]

DI[57 DI[574] 4]

DI[573]

DI[572]

DI[571]

DI[570]

DI[569]

X72

DI[584]

DI[58 DI[583] 3]

DI[58 DI[582] 2]

DI[581]

DI[580]

DI[579]

DI[578]

DI[577]

X73

DI[592]

DI[59 DI[591] 1]

DI[59 DI[590] 0]

DI[589]

DI[588]

DI[587]

DI[586]

DI[585]

X74

DI[600]

DI[59 DI[599] 9]

DI[59 DI[598] 8]

DI[597]

DI[596]

DI[595]

DI[594]

DI[593]

X75

DI[608]

DI[60 DI[607] 7]

DI[60 DI[606] 6]

DI[605]

DI[604]

DI[603]

DI[602]

DI[601]

X76

DI[616]

DI[61 DI[615] 5]

DI[61 DI[614] 4]

DI[613]

DI[612]

DI[611]

DI[610]

DI[609]

X77

DI[624]

DI[62 DI[623] 3]

DI[62 DI[622] 2]

DI[621]

DI[620]

DI[619]

DI[618]

DI[617]

X78

DI[632]

DI[63 DI[631] 1]

DI[63 DI[630] 0]

DI[629]

DI[628]

DI[627]

DI[626]

DI[625]

X79

DI[640]

DI[63 DI[639] 9]

DI[63 DI[638] 8]

DI[637]

DI[636]

DI[635]

DI[634]

DI[633]

X80

DI[648]

DI[64 DI[647] 7]

DI[64 DI[646] 6]

DI[645]

DI[644]

DI[643]

DI[642]

DI[641]

X81

DI[656]

DI[65 DI[655] 5]

DI[65 DI[654] 4]

DI[653]

DI[652]

DI[651]

DI[650]

DI[649]

X82

DI[664]

DI[66 DI[663] 3]

DI[66 DI[662] 2]

DI[661]

DI[660]

DI[659]

DI[658]

DI[657]

X83

DI[672]

DI[67 DI[671] 1]

DI[67 DI[670] 0]

DI[669]

DI[668]

DI[667]

DI[666]

DI[665]

X84 X85

DI[680] DI[688]

DI[67 DI[679] 9] DI[68 DI[687] 7]

DI[67 DI[678] 8] DI[68 DI[686] 6]

DI[677] DI[685]

DI[676] DI[684]

DI[675] DI[683]

DI[674] DI[682]

DI[673] DI[681]

X86

DI[696]

DI[69 DI[695] 5]

DI[69 DI[694] 4]

DI[693]

DI[692]

DI[691]

DI[690]

DI[689]

X87 X88

DI[704] DI[712]

DI[70 DI[703] 3] DI[71 DI[711] 1]

DI[70 DI[702] 2] DI[71 DI[710] 0]

DI[701] DI[709]

DI[700] DI[708]

DI[699] DI[707]

DI[698] DI[706]

DI[697] DI[705]

X89

DI[720]

DI[71 DI[719] 9]

DI[71 DI[718] 8]

DI[717]

DI[716]

DI[715]

DI[714]

DI[713]

X90 X91

DI[728] DI[736]

DI[72 DI[727] 7] DI[73 DI[735] 5]

DI[72 DI[726] 6] DI[73 DI[734] 4]

DI[725] DI[733]

DI[724] DI[732]

DI[723] DI[731]

DI[722] DI[730]

DI[721] DI[729]

X92

DI[744]

DI[74 DI[743] 3]

DI[74 DI[742] 2]

DI[741]

DI[740]

DI[739]

DI[738]

DI[737]

X93

DI[752]

DI[75 DI[751] 1]

DI[75 DI[750] 0]

DI[749]

DI[748]

DI[747]

DI[746]

DI[745]

X94

DI[760]

DI[75 DI[759] 9]

DI[75 DI[758] 8]

DI[757]

DI[756]

DI[755]

DI[754]

DI[753]

X95

DI[768]

DI[76 DI[767] 7]

DI[76 DI[766] 6]

DI[765]

DI[764]

DI[763]

DI[762]

DI[761]

X96 X97

DI[776] DI[784]

DI[77 DI[775] 5] DI[78 DI[783] 3]

DI[77 DI[774] 4] DI[78 DI[782] 2]

DI[773] DI[781]

DI[772] DI[780]

DI[771] DI[779]

DI[770] DI[778]

DI[769] DI[777]

X98

DI[792]

DI[79 DI[791] 1]

DI[79 DI[790] 0]

DI[789]

DI[788]

DI[787]

DI[786]

DI[785]

X99

DI[800]

DI[79 DI[799] 9]

DI[79 DI[798] 8]

DI[797]

DI[796]

DI[795]

DI[794]

DI[793]

X100

DI[808]

DI[807]

DI[806]

DI[805]

DI[804]

DI[803]

DI[802]

DI[801]

X101

DI[816]

DI[815]

DI[814]

DI[813]

DI[812]

DI[811]

DI[810]

DI[809]

X102 X103

DI[824] DI[832]

DI[823] DI[831]

DI[822] DI[830]

DI[821] DI[829]

DI[820] DI[828]

DI[819] DI[827]

DI[818] DI[826]

DI[817] DI[825]

X104

DI[840]

DI[839]

DI[838]

DI[837]

DI[836]

DI[835]

DI[834]

DI[833]

X105

DI[848]

DI[847]

DI[846]

DI[845]

DI[844]

DI[843]

DI[842]

DI[841]

X106

DI[856]

DI[855]

DI[854]

DI[853]

DI[852]

DI[851]

DI[850]

DI[849]

X107

DI[864]

DI[863]

DI[862]

DI[861]

DI[860]

DI[859]

DI[858]

DI[857]

X108 X109

DI[872] DI[880]

DI[871] DI[879]

DI[870] DI[878]

DI[869] DI[877]

DI[868] DI[876]

DI[867] DI[875]

DI[866] DI[874]

DI[865] DI[873]

X110

DI[888]

DI[887]

DI[886]

DI[885]

DI[884]

DI[883]

DI[882]

DI[881]

X111

DI[896]

DI[895]

DI[894]

DI[893]

DI[892]

DI[891]

DI[890]

DI[889]

X112

DI[904]

DI[903]

DI[902]

DI[901]

DI[900]

DI[899]

DI[898]

DI[897]

X113

DI[912]

DI[911]

DI[910]

DI[909]

DI[908]

DI[907]

DI[906]

DI[905]

X114

DI[920]

DI[919]

DI[918]

DI[917]

DI[916]

DI[915]

DI[914]

DI[913]

X115

DI[928]

DI[927]

DI[926]

DI[925]

DI[924]

DI[923]

DI[922]

DI[921]

X116

DI[936]

DI[935]

DI[934]

DI[933]

DI[932]

DI[931]

DI[930]

DI[929]

X117

DI[944]

DI[943]

DI[942]

DI[941]

DI[940]

DI[939]

DI[938]

DI[937]

X118

DI[952]

DI[951]

DI[950]

DI[949]

DI[948]

DI[947]

DI[946]

DI[945]

X119

DI[960]

DI[959]

DI[958]

DI[957]

DI[956]

DI[955]

DI[954]

DI[953]

X120

DI[968]

DI[967]

DI[966]

DI[965]

DI[964]

DI[963]

DI[962]

DI[961]

X121

DI[976]

DI[975]

DI[974]

DI[973]

DI[972]

DI[971]

DI[970]

DI[969]

- 210 -

 

8. PMC ADDRESS CORRESPONDEN CORRESPONDENCE CE 

B-82614EN/02 

 Add res ress s

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

X122

DI[984]

DI[983]

DI[982]

DI[981]

DI[980]

DI[979]

DI[978]

DI[977]

X123

DI[992]

DI[991]

DI[990]

DI[989]

DI[988]

DI[987]

DI[986]

DI[985]

X124

DI[1000]

DI[999]

DI[998]

DI[997]

DI[996]

D DI[995] I[995]

DI[994]

DI[993]

X125 X126

DI[1008] DI[1016]

DI[10 DI[1007] 07] DI[10 DI[1015] 15]

DI[1 DI[1006] 006] DI[1 DI[1014] 014]

DI[1005] DI[1013]

DI[1004] DI[1012]

DI[10 DI[1003] 03] DI[10 DI[1011] 11]

DI[1002] DI[1010]

DI[1001] DI[1009]

X127

DI[1024]

DI[10 DI[1023] 23]

DI[1 DI[1022] 022]

DI[1021]

DI[1020]

DI[10 DI[1019] 19]

DI[1018]

DI[1017]

8.1.2

X1000-X X10 00-X100 1004 4

UI[1]-UI[40] (User Operat Operator or Panel Inp Input ut s)

This area corresponds to UOP input ports. If the system has an integrated PMC, UI becomes gen general eral output  port as same as DI. Please use the system interface (G1000-G1255) to use the function of UOP. However, do not use the system interface if a Standard PMC program is used to transfer system interface to UOPs. The Standard PMC program is loaded with the PMC option. This program should be used for the  bases of all PMC programs that use external I/O devices for UOPs. Refer to Section 1.6, "Standard "St andard PMC Program," for more details. The correspondence of PMC address to UI index is the following. Xa.b

UI[c] ( a - 100 1000 0)

8 +b + 1= c

(Example: X1001.4, a=1001, b=4, (1001-1000)*8+4+1=13, c=13, UI[13])

Correspond ence between UI and PM PMC C address  Addr  Ad dr ess

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

X1000

UI[8]

UI[7]

UI[6]

UI[5]

UI[4]

UI[3]

UI[2]

UI[1]

X1001

UI[16]

UI[15]

UI[14]

UI[13]

UI[12]

UI[11]

UI[10]

UI[9]

X1002

UI[24]

UI[23]

UI[22]

UI[21]

UI[20]

UI[19]

UI[18]

UI[17]

X1003 X1004

UI[32] UI[40]

UI[31] UI[39]

UI[30] UI[38]

UI[29] UI[37]

UI[28] UI[36]

UI[27] UI[35]

UI[26] UI[34]

UI[25] UI[33]

8.1.3

X1005-X X10 05-X100 1009 9

WI[1]-WI[40] (Weld Digi tal Inp Input ut s)

The correspondence of the PMC address to the WI index is shown below. Xa.b

WI[c] ( a - 100 1005 5)

8 +b + 1= c

(Example: X1007.4, a=1007, b=4, (1007-1005)*8+4+1=21, c=21, WI[21])

Correspond ence between WI and PMC a address ddress  Addr  Ad dr ess

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

X1005

WI[8]

WI[7]

W WI[6] I[6]

WI[5]

WI[4]

WI[3]

WI[2]

W WI[1] I[1]

X1006

WI[16]

WI[15]

WI[14]

WI[13]

WI[12]

WI[11]

WI[10]

WI[9]

X1007

WI[24]

WI[23]

WI[22]

WI[21]

WI[20]

WI[19]

WI[18]

WI[17]

X1008

WI[32]

WI[31]

WI[30]

WI[29]

WI[28]

WI[27]

WI[26]

WI[25]

X1009

WI[40]

WI[39]

WI[38]

WI[37]

WI[36]

WI[35]

WI[34]

WI[33]

- 211 -

 

8. PMC ADDRESS CORRESPONDEN CORRESPONDENCE CE 

8.1.4

X101 X1 010-X 0-X10 1014 14

B-82614EN/02 

Wsti Wsti[1]-Wsti [1]-Wsti [40] (W (Wir ire e Stick Inpu Inputs ts))

The correspondence of the PMC address to the WSTI index is shown below. Xa.b

WSTI[c] ( a - 101 1010 0)

8 +b + 1= c

(Example: X1012.4, a=1012, b=4, (1012-1010)*8+4+1=21, c=21, WSTI[21])

Correspondence between WSTI and PMC address  Addr  Ad dr ess

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

X1010

WSTI[8]

WSTI[7]

WSTI[6]

WSTI[5]

WSTI[4]

WSTI[3]

WSTI[2]

WSTI[1]

X1011 1011

WSTI WSTI[1 [16] 6]

WS WSTI TI[[15] 15]

WS WSTI TI[1 [14] 4]

WS WSTI TI[1 [13] 3]

WS WSTI TI[1 [12] 2]

WS WSTI TI[1 [11] 1]

WS WSTI TI[1 [10] 0]

WS WSTI TI[9 [9]]

X1012 1012

WSTI WSTI[2 [24] 4]

WS WSTI TI[[23] 23]

WS WSTI TI[2 [22] 2]

WS WSTI TI[2 [21 1]

WS WSTI TI[2 [20] 0]

WS WSTI TI[1 [19] 9]

WS WSTI TI[1 [18] 8]

WS WSTI TI[1 [17] 7]

X1013 1013

WSTI WSTI[3 [32] 2]

WS WSTI TI[[31] 31]

WS WSTI TI[3 [30] 0]

WS WSTI TI[2 [29 9]

WS WSTI TI[2 [28] 8]

WS WSTI TI[2 [27] 7]

WS WSTI TI[2 [26] 6]

WS WSTI TI[2 [25] 5]

X1014 1014

WSTI WSTI[4 [40] 0]

WS WSTI TI[[39] 39]

WS WSTI TI[3 [38] 8]

WS WSTI TI[3 [37 7]

WS WSTI TI[3 [36] 6]

WS WSTI TI[3 [35] 5]

WS WSTI TI[3 [34] 4]

WS WSTI TI[3 [33] 3]

 

8.1.5

X101 X1 015-X 5-X10 1019 19

LDI[1]-LDI[40 LDI[1]-LDI[40]] (Laser Digit al Inpu Inputs ts))

The correspondence of the PMC address to the LDI index is shown below. Xa.b

LDI[c] ( a - 101 1015 5)

8 +b + 1= c

(Example: X1017.4, a=1017, b=4, (1017-1015)*8+4+1=21, c=21, LI[21])

Correspond ence between LDI and PMC a address ddress  Addr  Ad dr ess

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

X1015

LDI[8]

LDI[7]

LDI[6]

LDI[5]

LDI[4]

LDI[3]

LDI[2]

LDI[1]

X1016

LDI[16]

LDI[15]

LDI[14]

LDI[13]

LDI[12]

LDI[11]

LDI[10]

LDI[9]

X1017

LDI[24]

LDI[23]

LDI[22]

LDI[21]

LDI[20]

LDI[19]

LDI[18]

LDI[17]

X1018

LDI[32]

LDI[31]

LDI[30]

LDI[29]

LDI[28]

LDI[27]

LDI[26]

LDI[25]

X1019

LDI[40]

LDI[39]

LDI[38]

LDI[37]

LDI[36]

LDI[35]

LDI[34]

LDI[33]

8.1.6

X102 X1 020-X 0-X10 1024 24

RI RI[1]-RI[40 [1]-RI[40]] (R (Rob obot ot Digit al Inpu Inputs ts))

The correspondence of the PMC address to the RI index is shown below. Xa.b

RI[c] ( a - 102 1020 0)

8 +b + 1= c

(Example: X1020.4, a=1020, b=4, (1020-1020)*8+4+1=5, c=5, RI[5])

Correspond ence between RI and PM PMC C address

 Addr  Ad dr ess

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

X1020 X1021

RI[8] RI[16]

RI[7] RI[15]

RI[6] RI[14]

RI[5] RI[13]

RI[4] RI[12]

RI[3] RI[11]

RI[2] RI[10]

RI[1] RI[9]

X1022

RI[24]

RI[23]

RI[22]

RI[21]

RI[20]

RI[19]

RI[18]

RI[17]

X1023

RI[32]

RI[31]

RI[30]

RI[29]

RI[28]

RI[27]

RI[26]

RI[25]

X1024

RI[40]

RI[39]

RI[38]

RI[37]

RI[36]

RI[35]

RI[34]

RI[33]

- 212 -

 

8. PMC ADDRESS CORRESPONDEN CORRESPONDENCE CE 

B-82614EN/02 

8.1.7

X1025-X X10 25-X102 1026 6

SI[1]-SI[16] (Stand (Standard ard Operator Operat or Panel Input Inp ut s)

The correspondence of the PMC address to the SI index is shown below. Xa.b

SI[c] ( a - 1025 )

8+b =c

(Example: X1025.4, a=1025, b=4, (1025-1025)*8+4=4, c=4, SI[4])

Correspond ence between SI and PM PMC C address  Addr  Ad dr ess

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

X1025

SI[7]

SI[6]

SI[5]

SI[4]

SI[3]

SI[2]

SI[1]

SI[0]

X1026

SI[15]

SI[14]

S SI[13] I[13]

SI[1 SI[12] 2]

SI[11]

SI[10]

SI[9]

SI[8]

8.2

Y

The Y area corresponds to the digital output output ports of the robot controller. The PMC uses this area to output information to external I/O devices.

NOTE The Y area can not be used in any function function command. If you specify Y area in a function command, the PMC program causes an error in the controller, and the PMC program can not be started. To use the Y area in a function command, copy the value of this area to internal relay by basic command, and use the internal relay in a function command.

8.2.1

Y0-Y127 Y0-Y 127

DO[1]-DO[102 DO[1]-DO[1024] 4] (Gener (General al Digi tal Outp ut )

The correspondence of PMC address to DO index is shown below. Ya.b

DO[c] a

8+ b +1 = c

(Example: Y3.4, a=3, b=4, (3*8)+4+1=29, c=29, DO[29])

Correspond ence between DO a and nd PM PMC C address  Addr  Ad dr ess

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

Y0

DO[8]

DO[7]

DO[6]

DO[5]

DO[4]

DO[3]

DO[2]

DO[1]

Y1

DO[16]

DO[15]

DO[14]

DO[13]

DO[12]

DO[11]

DO[10]

DO[9]

Y2

DO[24]

DO[23]

DO[22]

DO[21]

DO[20]

DO[19]

DO[18]

DO[17]

Y3

DO[32]

DO[31]

DO[30]

DO[29]

DO[28]

DO[27]

DO[26]

DO[25]

Y4

DO[40]

DO[39]

DO[38]

DO[37]

DO[36]

DO[35]

DO[34]

DO[33]

Y5 Y6

DO[48] DO[56]

DO[47] DO[55]

DO[46] DO[54]

DO[45] DO[53]

DO[44] DO[52]

DO[43] DO[51]

DO[42] DO[50]

DO[41] DO[49]

Y7

DO[64]

DO[63]

DO[62]

DO[61]

DO[60]

DO[59]

DO[58]

DO[57]

Y8 Y9

DO[72] DO[80]

DO[71] DO[79]

DO[70] DO[78]

DO[69] DO[77]

DO[68] DO[76]

DO[67] DO[75]

DO[66] DO[74]

DO[65] DO[73]

Y10

DO[88]

DO[87]

DO[86]

DO[85]

DO[84]

DO[83]

DO[82]

DO[81]

Y11

DO[96]

DO[95]

DO[94]

DO[93]

DO[92]

DO[91]

DO[90]

DO[89]

Y12

DO[104]

DO[103]

DO[102]

DO[101]

DO[100]

DO[99]

DO[98]

DO[97]

Y13

DO[112]

DO[111]

DO[110]

DO[109]

DO[108]

DO[107]

DO[106]

DO[105]

- 213 -

 

8. PMC ADDRESS CORRESPONDEN CORRESPONDENCE CE 

B-82614EN/02 

 Addr  Ad dr ess

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

Y14

DO[120]

DO[119]

DO[118]

DO[117]

DO[116]

DO[115]

DO[114]

DO[113]

Y15

DO[128]

DO[127]

DO[126]

DO[125]

DO[124]

DO[123]

DO[122]

DO[121]

Y16

DO[136]

DO[135]

DO[134]

DO[133]

DO[132]

DO[131]

DO[130]

DO[129]

Y17

DO[144]

DO[143]

DO[142]

DO[141]

DO[140]

DO[139]

DO[138]

DO[137]

Y18

DO[152]

DO[151]

DO[150]

DO[149]

DO[148]

DO[147]

DO[146]

DO[145]

Y19

DO[160]

DO[159]

DO[158]

DO[157]

DO[156]

DO[155]

DO[154]

DO[153]

Y20

DO[168]

DO[167]

DO[166]

DO[165]

DO[164]

DO[163]

DO[162]

DO[161]

Y21

DO[176]

DO[175]

DO[174]

DO[173]

DO[172]

DO[171]

DO[170]

DO[169]

Y22

DO[184]

DO[183]

DO[182]

DO[181]

DO[180]

DO[179]

DO[178]

DO[177]

Y23

DO[192]

DO[191]

DO[190]

DO[189]

DO[188]

DO[187]

DO[186]

DO[185]

Y24

DO[200]

DO[199]

DO[198]

DO[197]

DO[196]

DO[195]

DO[194]

DO[193]

Y25

DO[208]

DO[207]

DO[206]

DO[205]

DO[204]

DO[203]

DO[202]

DO[201]

Y26

DO[216]

DO[215]

DO[214]

DO[213]

DO[212]

DO[211]

DO[210]

DO[209]

Y27

DO[224]

DO[223]

DO[222]

DO[221]

DO[220]

DO[219]

DO[218]

DO[217]

Y28

DO[232]

DO[231]

DO[230]

DO[229]

DO[228]

DO[227]

DO[226]

DO[225]

Y29 Y30

DO[240] DO[248]

DO[239] DO[247]

DO[238] DO[246]

DO[237] DO[245]

DO[236] DO[244]

DO[235] DO[243]

DO[234] DO[242]

DO[233] DO[241]

Y31

DO[256]

DO[255]

DO[254]

DO[253]

DO[252]

DO[251]

DO[250]

DO[249]

Y32 Y33

DO[264] DO[272]

DO[263] DO[271]

DO[262] DO[270]

DO[261] DO[269]

DO[260] DO[268]

DO[259] DO[267]

DO[258] DO[266]

DO[257] DO[265]

Y34

DO[280]

DO[279]

DO[278]

DO[277]

DO[276]

DO[275]

DO[274]

DO[273]

Y35 Y36

DO[288] DO[296]

DO[287] DO[295]

DO[286] DO[294]

DO[285] DO[293]

DO[284] DO[292]

DO[283] DO[291]

DO[282] DO[290]

DO[281] DO[289]

Y37

DO[304]

DO[303]

DO[302]

DO[301]

DO[300]

DO[299]

DO[298]

DO[297]

Y38

DO[312]

DO[311]

DO[310]

DO[309]

DO[308]

DO[307]

DO[306]

DO[305]

Y39

DO[320]

DO[319]

DO[318]

DO[317]

DO[316]

DO[315]

DO[314]

DO[313]

Y40

DO[328]

DO[327]

DO[326]

DO[325]

DO[324]

DO[323]

DO[322]

DO[321]

Y41 Y42

DO[336] DO[344]

DO[335] DO[343]

DO[334] DO[342]

DO[333] DO[341]

DO[332] DO[340]

DO[331] DO[339]

DO[330] DO[338]

DO[329] DO[337]

Y43

DO[352]

DO[351]

DO[350]

DO[349]

DO[348]

DO[347]

DO[346]

DO[345]

Y44

DO[360]

DO[359]

DO[358]

DO[357]

DO[356]

DO[355]

DO[354]

DO[353]

Y45

DO[368]

DO[367]

DO[366]

DO[365]

DO[364]

DO[363]

DO[362]

DO[361]

Y46

DO[376]

DO[375]

DO[374]

DO[373]

DO[372]

DO[371]

DO[370]

DO[369]

Y47 Y48

DO[384] DO[392]

DO[383] DO[391]

DO[382] DO[390]

DO[381] DO[389]

DO[380] DO[388]

DO[379] DO[387]

DO[378] DO[386]

DO[377] DO[385]

Y49

DO[400]

DO[399]

DO[398]

DO[397]

DO[396]

DO[395]

DO[394]

DO[393]

Y50

DO[408]

DO[407]

DO[406]

DO[405]

DO[404]

DO[403]

DO[402]

DO[401]

Y51

DO[416]

DO[415]

DO[414]

DO[413]

DO[412]

DO[411]

DO[410]

DO[409]

Y52

DO[424]

DO[423]

DO[422]

DO[421]

DO[420]

DO[419]

DO[418]

DO[417]

Y53 Y54

DO[432] DO[440]

DO[431] DO[439]

DO[430] DO[438]

DO[429] DO[437]

DO[428] DO[436]

DO[427] DO[435]

DO[426] DO[434]

DO[425] DO[433]

Y55

DO[448]

DO[447]

DO[446]

DO[445]

DO[444]

DO[443]

DO[442]

DO[441]

Y56

DO[456]

DO[455]

DO[454]

DO[453]

DO[452]

DO[451]

DO[450]

DO[449]

Y57

DO[464]

DO[463]

DO[462]

DO[461]

DO[460]

DO[459]

DO[458]

DO[457]

Y58

DO[472]

DO[471]

DO[470]

DO[469]

DO[468]

DO[467]

DO[466]

DO[465]

Y59

DO[480]

DO[479]

DO[478]

DO[477]

DO[476]

DO[475]

DO[474]

DO[473]

Y60

DO[488]

DO[487]

DO[486]

DO[485]

DO[484]

DO[483]

DO[482]

DO[481]

Y61

DO[496]

DO[495]

DO[494]

DO[493]

DO[492]

DO[491]

DO[490]

DO[489]

Y62

DO[504]

DO[503]

DO[502]

DO[501]

DO[500]

DO[499]

DO[498]

DO[487]

Y63

DO[512]

DO[511]

DO[510]

DO[509]

DO[508]

DO[507]

DO[506]

DO[505]

Y64

DO[520]

DO[519]

DO[518]

DO[517]

DO[516]

DO[515]

DO[514]

DO[513]

Y65 Y66

DO[528] DO[536]

DO[527] DO[535]

DO[526] DO[534]

DO[525] DO[533]

DO[524] DO[532]

DO[523] DO[531]

DO[522] DO[530]

DO[521] DO[529]

- 214 -

 

8. PMC ADDRESS CORRESPONDEN CORRESPONDENCE CE 

B-82614EN/02 

 Addr  Ad dr ess

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

Y67

DO[544]

DO[543]

DO[542]

DO[541]

DO[540]

DO[539]

DO[538]

DO[537]

Y68

DO[552]

DO[551]

DO[550]

DO[549]

DO[548]

DO[547]

DO[546]

DO[545]

Y69

DO[560]

DO[559]

DO[558]

DO[557]

DO[556]

DO[555]

DO[554]

DO[553]

Y70

DO[568]

DO[567]

DO[566]

DO[565]

DO[564]

DO[563]

DO[562]

DO[561]

Y71

DO[576]

DO[575]

DO[574]

DO[573]

DO[572]

DO[571]

DO[570]

DO[569]

Y72

DO[584]

DO[583]

DO[582]

DO[581]

DO[580]

DO[579]

DO[578]

DO[577]

Y73

DO[592]

DO[591]

DO[590]

DO[589]

DO[588]

DO[587]

DO[586]

DO[585]

Y74

DO[600]

DO[599]

DO[598]

DO[597]

DO[596]

DO[595]

DO[594]

DO[593]

Y75

DO[608]

DO[607]

DO[606]

DO[605]

DO[604]

DO[603]

DO[602]

DO[601]

Y76

DO[616]

DO[615]

DO[614]

DO[613]

DO[612]

DO[611]

DO[610]

DO[609]

Y77

DO[624]

DO[623]

DO[622]

DO[621]

DO[620]

DO[619]

DO[618]

DO[617]

Y78

DO[632]

DO[631]

DO[630]

DO[629]

DO[628]

DO[627]

DO[626]

DO[625]

Y79

DO[640]

DO[639]

DO[638]

DO[637]

DO[636]

DO[635]

DO[634]

DO[633]

Y80

DO[648]

DO[647]

DO[646]

DO[645]

DO[644]

DO[643]

DO[642]

DO[641]

Y81

DO[656]

DO[655]

DO[654]

DO[653]

DO[652]

DO[651]

DO[650]

DO[649]

Y82 Y83

DO[664] DO[672]

DO[663] DO[671]

DO[662] DO[670]

DO[661] DO[669]

DO[660] DO[668]

DO[659] DO[667]

DO[658] DO[666]

DO[657] DO[665]

Y84

DO[680]

DO[679]

DO[678]

DO[677]

DO[676]

DO[675]

DO[674]

DO[673]

Y85 Y86

DO[688] DO[696]

DO[687] DO[695]

DO[686] DO[694]

DO[685] DO[693]

DO[684] DO[692]

DO[683] DO[691]

DO[682] DO[690]

DO[681] DO[689]

Y87

DO[704]

DO[703]

DO[702]

DO[701]

DO[700]

DO[699]

DO[698]

DO[697]

Y88

DO[712]

DO[711]

DO[710]

DO[709]

DO[708]

DO[707]

DO[706]

DO[705]

Y89

DO[720]

DO[719]

DO[718]

DO[717]

DO[716]

DO[715]

DO[714]

DO[713]

Y90

DO[728]

DO[727]

DO[726]

DO[725]

DO[724]

DO[723]

DO[722]

DO[721]

Y91

DO[736]

DO[735]

DO[734]

DO[733]

DO[732]

DO[731]

DO[730]

DO[729]

Y92

DO[744]

DO[743]

DO[742]

DO[741]

DO[740]

DO[739]

DO[738]

DO[737]

Y93

DO[752]

DO[751]

DO[750]

DO[749]

DO[748]

DO[747]

DO[746]

DO[745]

Y94 Y95

DO[760] DO[768]

DO[759] DO[767]

DO[758] DO[766]

DO[757] DO[765]

DO[756] DO[764]

DO[755] DO[763]

DO[754] DO[762]

DO[753] DO[761]

Y96

DO[776]

DO[775]

DO[774]

DO[773]

DO[772]

DO[771]

DO[770]

DO[769]

Y97

DO[784]

DO[783]

DO[782]

DO[781]

DO[780]

DO[779]

DO[778]

DO[777]

Y98

DO[792]

DO[791]

DO[790]

DO[789]

DO[788]

DO[787]

DO[786]

DO[785]

Y99

DO[800]

DO[799]

DO[798]

DO[797]

DO[796]

DO[795]

DO[794]

DO[793]

Y100 Y101

DO[808] DO[816]

DO[807] DO[815]

DO[806] DO[814]

DO[805] DO[813]

DO[804] DO[812]

DO[803] DO[811]

DO[80 DO[802] 2] DO[81 DO[810] 0]

DO[801] DO[809]

Y102

DO[824]

DO[823]

DO[822]

DO[821]

DO[820]

DO[819]

DO[81 DO[818] 8]

DO[817]

Y103

DO[832]

DO[831]

DO[830]

DO[829]

DO[828]

DO[827]

DO[82 DO[826] 6]

DO[825]

Y104

DO[840]

DO[839]

DO[838]

DO[837]

DO[836]

DO[835]

DO[83 DO[834] 4]

DO[833]

Y105

DO[848]

DO[847]

DO[846]

DO[845]

DO[844]

DO[843]

DO[84 DO[842] 2]

DO[841]

Y106

DO[856]

DO[855]

DO[854]

DO[853]

DO[852]

DO[851]

DO[85 DO[850] 0]

DO[849]

Y107

DO[864]

DO[863]

DO[862]

DO[861]

DO[860]

DO[859]

DO[85 DO[858] 8]

DO[857]

Y108

DO[872]

DO[871]

DO[870]

DO[869]

DO[868]

DO[867]

DO[86 DO[866] 6]

DO[865]

Y109

DO[880]

DO[879]

DO[878]

DO[877]

DO[876]

DO[875]

DO[87 DO[874] 4]

DO[873]

Y110

DO[888]

DO[887]

DO[886]

DO[885]

DO[884]

DO[883]

DO[88 DO[882] 2]

DO[881]

Y111

DO[896]

DO[895]

DO[894]

DO[893]

DO[892]

DO[891]

DO[89 DO[890] 0]

DO[889]

Y112

DO[904]

DO[903]

DO[902]

DO[901]

DO[900]

DO[899]

DO[89 DO[898] 8]

DO[897]

Y113

DO[912]

DO[911]

DO[910]

DO[909]

DO[908]

DO[907]

DO[90 DO[906] 6]

DO[905]

Y114

DO[920]

DO[919]

DO[918]

DO[917]

DO[916]

DO[915]

DO[91 DO[914] 4]

DO[913]

Y115

DO[928]

DO[927]

DO[926]

DO[925]

DO[924]

DO[923]

DO[92 DO[922] 2]

DO[921]

Y116

DO[936]

DO[935]

DO[934]

DO[933]

DO[932]

DO[931]

DO[93 DO[930] 0]

DO[929]

Y117

DO[944]

DO[943]

DO[942]

DO[941]

DO[940]

DO[939]

DO[93 DO[938] 8]

DO[937]

Y118

DO[952]

DO[951]

DO[950]

DO[949]

DO[948]

DO[947]

DO[94 DO[946] 6]

DO[945]

Y119

DO[960]

DO[959]

DO[958]

DO[957]

DO[956]

DO[955]

DO[95 DO[954] 4]

DO[953]

- 215 -

 

8. PMC ADDRESS CORRESPONDEN CORRESPONDENCE CE 

B-82614EN/02 

 Addr  Ad dr ess

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

Y120

DO[968]

DO[967]

DO[966]

DO[965]

DO[964]

DO[963]

DO[96 DO[962] 2]

DO[961]

Y121

DO[976]

DO[975]

DO[974]

DO[973]

DO[972]

DO[971]

DO[97 DO[970] 0]

DO[969]

Y122

DO[984]

DO[983]

DO[982]

DO[981]

DO[980]

DO[979]

DO[97 DO[978] 8]

DO[977]

Y123

DO[992]

DO[991]

DO[990]

DO[989]

DO[988]

DO[987]

DO[98 DO[986] 6]

DO[985]

Y124

DO[1000]

DO[999]

DO[998]

DO[997]

DO[996]

DO[995]

DO[994]

DO[993]

Y1 Y125 25

DO DO[1 [100 008] 8]

DO DO[1 [10 007] 07]

DO DO[1 [100 006] 6]

DO DO[1 [100 005] 5]

DO DO[1 [100 004 4]

DO DO[1 [100 003] 3]

DO DO[1 [100 002] 2]

DO DO[1 [100 001] 1]

Y1 Y126 26

DO DO[1 [101 016] 6]

DO DO[1 [10 015] 15]

DO DO[1 [101 014] 4]

DO DO[1 [101 013] 3]

DO DO[1 [101 012 2]

DO DO[1 [101 011] 1]

DO DO[1 [101 010] 0]

DO DO[1 [100 009] 9]

Y1 Y127 27

DO DO[1 [102 024] 4]

DO DO[1 [10 023] 23]

DO DO[1 [102 022] 2]

DO DO[1 [102 021] 1]

DO DO[1 [102 020 0]

DO DO[1 [101 019] 9]

DO DO[1 [101 018] 8]

DO DO[1 [101 017] 7]

 

8.2.2

Y1000-Y Y10 00-Y100 1004 4

UO[1]-UO[40] (User Operat Operator or Panel Outp ut s)

This area is corresponds to UOP output output ports. If the system has an integrated PMC, UO becomes becomes general output port as same as DO. Please use system interface (F1000-F1255) to use the function of UOP. However, do not use the system interface if the Standard PMC program is used to transfer System Interface to UOPs. The Standard PMC program program is loaded with the PMC option. This program should be used for the  bases of all PMC programs that use external I/O devices for UOPs. Refer to Section 1.6, "Standard "St andard PMC Program," for more details. The correspondence of the PMC address to UO index is shown below. Ya.b

UO[c] ( a - 100 1000 0)

8 +b + 1= c

(Example: Y1001.4, a=1001, b=4, (1001-1000)*8+4+1=13, c=13, UO[13])

Correspond ence between UO a and nd PM PMC C address  Addr  Ad dr ess

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

Y1000

UO[8]

UO[7]

UO[6]

UO[5]

UO[4]

UO[3]

UO[2]

UO[1]

Y1001 Y1002

UO[16] UO[24]

UO[15] UO[23]

UO[14] UO[22]

UO[13] UO[21]

UO[12] UO[20]

UO[11] UO[19]

UO[10] UO[18]

UO[9] UO[17]

Y1003

UO[32]

UO[31]

UO[30]

UO[29]

UO[28]

UO[27]

UO[26]

UO[25]

Y1004

UO[40]

UO[39]

UO[38]

UO[37]

UO[36]

UO[35]

UO[34]

UO[33]

8.2.3

Y1005-Y Y10 05-Y100 1009 9

WO[1]-WO[40] (Weld (Weld Digi tal Out Outpu puts ts )

The correspondence of the PMC address to WO index is shown below. Ya.b

WO[c] ( a - 100 1005 5)

8 +b + 1= c

(Example: Y1007.4, a=1007, b=4, (1007-1005)*8+4+1=21, c=21, WO[21])

Correspond ence between WO and PM PMC C address  Addr  Ad dr ess

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

Y1005

WO[8]

WO[7]

WO[6]

WO[5]

WO[4]

WO[3]

WO[2]

WO[1]

Y1006

WO[16]

WO[15]

WO[14]

WO[13]

WO[12]

WO[11]

WO[10]

WO[9]

Y1007 Y1008

WO[24] WO[32]

WO[23] WO[31]

WO[22] WO[30]

WO[21] WO[29]

WO[20] WO[28]

WO[19] WO[27]

WO[18] WO[26]

WO[17] WO[25]

Y1009

WO[40]

WO[39]

WO[38]

WO[37]

WO[36]

WO[35]

WO[34]

WO[33]

- 216 -

 

8. PMC ADDRESS CORRESPONDEN CORRESPONDENCE CE 

B-82614EN/02 

8.2.4

Y1010-Y Y10 10-Y101 1014 4

WST WSTO[1]-WSTO O[1]-WSTO[40] [40] (Wire Stic k Out Outpu puts ts))

The correspondence of the PMC address to WSTO index is shown below. Ya.b WSTO[c] ( a - 101 1010 0)

8 +b + 1= c

(Example: Y1012.4, a=1012, b=4, (1012-1010)*8+4+1=21, c=21, WSTO[21])

Correspondence between WSTO and PMC address  Addr  Ad dr ess

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

Y1010

WSTO[8]

WSTO WSTO[[7]

WS WST TO[6]

WSTO[5]

WS WST TO[4]

WSTO[3]

WSTO[2]

WS WST TO[1]

Y101 Y1011 1

WS WSTO TO[1 [16] 6]

WS WSTO TO[1 [15] 5]

WS WSTO TO[1 [14] 4]

WS WSTO TO[1 [13] 3]

WS WSTO TO[1 [12] 2]

WS WSTO TO[1 [11] 1]

WS WSTO TO[1 [10] 0]

W WST STO[ O[9] 9]

Y101 Y1012 2

WS WSTO TO[2 [24] 4]

WS WSTO TO[2 [23] 3]

WS WSTO TO[2 [22] 2]

WS WSTO TO[2 [21] 1]

WS WSTO TO[2 [20] 0]

WS WSTO TO[1 [19] 9]

WS WSTO TO[1 [18] 8]

WS WSTO TO[1 [17] 7]

Y101 Y1013 3

WS WSTO TO[3 [32] 2]

WS WSTO TO[3 [31] 1]

WS WSTO TO[3 [30] 0]

WS WSTO TO[2 [29] 9]

WS WSTO TO[2 [28] 8]

WS WSTO TO[2 [27] 7]

WS WSTO TO[2 [26] 6]

WS WSTO TO[2 [25] 5]

Y101 Y1014 4

WS WSTO TO[4 [40] 0]

WS WSTO TO[3 [39] 9]

WS WSTO TO[3 [38] 8]

WS WSTO TO[3 [37] 7]

WS WSTO TO[3 [36] 6]

WS WSTO TO[3 [35] 5]

WS WSTO TO[3 [34] 4]

WS WSTO TO[3 [33] 3]

 

8.2.5

Y101 Y1 015-Y 5-Y10 1019 19

LDO[1]-LDO LDO[1]-LDO[40] [40] (Laser Digit al Outp Output uts) s)

The correspondence of the PMC address to LDO index is shown below. Ya.b

LDO[c] ( a - 101 1015 5)

8 +b + 1= c

(Example: Y1017.4, a=1017, b=4, (1017-1015)*8+4+1=21, c=21, LO[21])

Correspond ence between LDO and PMC a address ddress  Addr  Ad dr ess

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

Y1015

LDO[8]

LDO[7]

LDO[6]

LDO[5]

LDO[4]

LDO[3]

LDO[2]

LDO[1]

Y1016

LDO[16]

LDO[15] LDO[15]

LDO[14]

LDO[13]

LDO[12]

LDO[11]

LDO[10]

LDO[9]

Y1017

LDO[24]

LDO[23]

LDO[22]

LDO[21]

LDO[20]

LDO[19]

LDO[18]

LDO[17]

Y1018

LDO[32]

LDO[31]

LDO[30]

LDO[29]

LDO[28]

LDO[27]

LDO[26]

LDO[25]

Y1019

LDO[40]

LDO[39]

LDO[38]

LDO[37]

LDO[36]

LDO[35]

LDO[34]

LDO[33]

8.2.6

Y102 Y1 020-Y 0-Y10 1024 24

RO RO[1]-RO [1]-RO[40] [40] (R (Robo obo t Digit al Outpu ts) ts )

The correspondence of the PMC address to RO index is shown below. Ya.b

RO[c] ( a - 102 1020 0)

8 +b + 1= c

(Example: Y1020.4, a=1020, b=4, (1020-1020)*8+4+1=5, c=5, RO[5])

Correspond ence between RO a and nd PM PMC C address  Add res ress s Y1020 Y1021 Y1022 Y1023 Y1024

Bi t 7 RO[8]

Bi t 6 RO[7]

Bi t 5 RO[6]

Bi t 4 RO[5]

Bi t 3 RO[4]

Bi t 2 RO[3]

Bi t 1 RO[2]

Bi t 0 RO[1]

RO[16]

RO[15]

RO[14]

RO[13]

RO[12]

RO[11]

RO[10]

RO[9]

RO[24]

RO[23]

RO[22]

RO[21]

RO[20]

RO[19]

RO[18]

RO[17]

RO[32]

RO[31]

RO[30]

RO[29]

RO[28]

RO[27]

RO[26]

RO[25]

RO[40]

RO[39]

RO[38]

RO[37]

RO[36]

RO[35]

RO[34]

RO[33]

- 217 -

 

8. PMC ADDRESS CORRESPONDEN CORRESPONDENCE CE 

8.2.7

Y1025-Y Y10 25-Y102 1026 6

B-82614EN/02 

SO[1]-SO[16] (SOP (SOP Outp ut s)

The correspondence of the PMC address to SO index is shown below. Ya.b

SO[c] ( a - 1025 )

8 +b + 1= c

(Example: Y1025.4, a=1025, b=4, (1025-1025)*8+4=4, c=4, SO[4])

Correspond ence between SO a and nd PM PMC C address  Addr  Ad dr ess

Bi t 7

Bi t 6

Bi t 5

Bi t 4

Bi t 3

Bi t 2

Bi t 1

Bi t 0

Y1025

SO[7]

SO[6]

SO[5]

SO[4]

SO[3]

SO[2]

SO[1]

SO[0]

Y1026

SO[15]

SO[14]

SO[13]

SO[12]

SO[11]

SO[10]

SO[9]

SO[8]

8.3

F

The F0-127 area corresponds to the robot controller group input (GI), and the F128-255 area corresponds to the analog input (AI). One port of GI and AI uses two b bytes ytes of the F area. An even address corresponds to the upper byte, and an odd address corresponds to the lower byte.

NOTE F0-255 can be used by the fu function nction command MOV MOVW W only. If the other function command or any basic command uses F0-255, the PMC program causes an error, and the PMC program can not be started. You must specify an even address of the F0-255 area for the function command MOVW. If you specify an odd address o off F0-255 for the function command MOVW, the PMC program causes an error. To use the F0-255 area in a basic command or other function command, copy the value of this area to the internal relay by using MOVW, and use the internal relay in the basic command or the function command. NOTE The F1000-1255 area is for system interface input. See Section 8.3.3

8.3.1

F0-F1 F0 -F127 27

GI GI[1]-GI[64 [1]-GI[64]] (G (Gro roup up Input s)

The correspondence of the PMC address to the GI index is shown below. Fa (Upper byte), Fb (Lower byte) a = (( c - 1 )

2 )+ 1

b =( c -1)

2

(Example:

GI[c]

GI[26], c=26, (26-1)*2+1=51, a=51, F51(Upper byte)

GI[26], c=26, (26-1)*2=50, b=50, F50(Lower byte))

Correspond ence between GI and PMC a addr ddress ess Up p er L o w er

Up p er L o w er

Up p er L o w er

Up p er L o w er  

GI GI[1 [1]]

F1

F0

GI[2 GI[2]]

F3

F2

GI GI[3 [3]]

F5

F4

GI GI[4 [4]]

F7

F6

GI[5] GI[9]

F9 F17

F8 F 16

GI[6] GI[10]

F11 F 19

F 10 F 18

GI[7] GI[11]

F 13 F 21

F 12 F 20

GI[8] GI[12]

F 15 F 23

F14 F22

- 218 -

 

8. PMC ADDRESS CORRESPONDEN CORRESPONDENCE CE 

B-82614EN/02 

Up p er L o w er

Up p er L o w er

Up p er L o w er

Up p er L o w er  

GI[13]

F25

F 24

GI[14]

F27

F26

GI[15]

F 29

F 28

GI[16]

F 31

F30

GI[17]

F33

F 32

GI[18]

F35

F34

GI[19]

F 37

F 36

GI[20]

F 39

F38

GI[21]

F41

F 40

GI[22]

F43

F42

GI[23]

F 45

F 44

GI[24]

F 47

F46

GI[25]

F49

F 48

GI[26]

F51

F50

GI[27]

F 53

F 52

GI[28]

F 55

F54

GI[29]

F57

F 56

GI[30]

F59

F58

GI[31]

F 61

F 60

GI[32]

F 63

F62

GI[33]

F65

F 64

GI[34]

F67

F66

GI[35]

F 69

F 68

GI[36]

F 71

F70

GI[37]

F73

F 72

GI[38]

F75

F74

GI[39]

F 77

F 76

GI[40]

F 79

F78

GI[41]

F81

F 80

GI[42]

F83

F82

GI[43]

F 85

F 84

GI[44]

F 87

F86

GI[45]

F89

F 88

GI[46]

F91

F90

GI[47]

F 93

F 92

GI[48]

F 95

F94

GI[49]

F97

F 96

GI[50]

F99

F98

GI[51]

F101

F100

GI[52]

F103

F 102

GI[53]

F105

F104

GI[54]

F107

F106

GI[55]

F109

F108

GI[56]

F 111

F 110

GI[57]

F113

F112

GI[58]

F115

F114

GI[59]

F117

F116

GI[60]

F 119

F 118

GI[61]

F121

F120

GI[62]

F123

F122

GI[63]

F125

F124

GI[64]

F 127

F 126

 

8.3.2

F128 F1 28-F2 -F255 55

AI[1]-AI[64] (Analog Inpu Inputs ts))

The correspondence of the PMC address to the AI index is shown below. Fa (Upper byte), Fb (Lower byte) a = (( c - 1 )

2 ) + 129 129

b = (( c - 1 )

2 ) + 128 128

AI[c]

(Example: AI[26], AI[26], c=26, ((26-1)*2)+129=179, a=179, F179(Upper byte) AI[26], c=26, ((26-1)*2)+128=178, b=178, F178(Lower byte))

Correspond ence between AI and PMC a address ddress Up p er L o w er

 

Up p er L o w er

Up p er L o w er

Up p er L o w er  

 AI[1]

F129

F128

AI[2]

F131

F130

AI[3]

F133

F132

AI[4]

F135

F134

 AI[5]  AI[9]

F137 F145

F136 F144

AI[6] AI[10]

F139 F147

F138 F146

AI[7] AI[11]

F141 F149

F140 F148

AI[8] AI[12]

F143 F151

F142 F150

 AI[13]

F153

F152

AI[14]

F155

F154

AI[15]

F157

F156

AI[16]

F159

F158

 AI[17]

F161

F160

AI[18]

F163

F162

AI[19]

F165

F164

AI[20]

F167

F166

 AI[21]

F169

F168

AI[22]

F171

F170

AI[23]

F173

F172

AI[24]

F175

F174

 AI[25]

F177

F176

AI[26]

F179

F178

AI[27]

F181

F180

AI[28]

F183

F182

 AI[29]  AI[33]

F185 F193

F184 F192

AI[30] AI[34]

F187 F195

F186 F194

AI[31] AI[35]

F189 F197

F188 F196

AI[32] AI[36]

F191 F199

F190 F198

 AI[37]

F201

F200

AI[38]

F203

F202

AI[39]

F205

F204

AI[40]

F207

F206

 AI[41]

F209

F208

AI[42]

F211

F210

AI[43]

F213

F212

AI[44]

F215

F214

 AI[45]

F217

F216

AI[46]

F219

F218

AI[47]

F221

F220

AI[48]

F223

F222

 AI[49]

F225

F224

AI[50]

F227

F226

AI[51]

F229

F228

AI[52]

F231

F230

 AI[53]  AI[57]

F233 F241

F232 F240

AI[54] AI[58]

F235 F253

F234 F242

AI[55] AI[59]

F237 F245

F236 F244

AI[56] AI[60]

F239 F247

F238 F246

 AI[61]

F249

F248

AI[62]

F251

F250

AI[63]

F253

F252

AI[64]

F255

F254

8.3.3

F1000-F1255

This area is used to interface between the robot controller system and the PMC program. The PMC program can read the robot controller system status by using this area. Refer to Section 1.5.7, "System control by PMC program (System interface)" for details about the system interface. You can assign the F1000.0-F1003.7 area to DI, DO, GI, GO, UI and UO as rack 33, slot 6 start point 1-32. The correspondence of the F area address and start point is shown below. - 219 -

 

8. PMC ADDRESS CORRESPONDEN CORRESPONDENCE CE  Fa.b Fa.b

B-82614EN/02 

Start point c a

8+ b +1 = c

(Example: F1003.4, a=1003, (1003-1000)*8+4+1=29, F1004.0-F1255.7 area can notb=4, be assigned to any I/O port. c=29, Start port = 29)

8.4

G

The G0-127 area corresponds to the robot controller group output (GO), and the G128-255 area corresponds to the analog output (AO). One port of GO and AO uses two bytes of the G area. An even address corresponds to the upper byte, and an odd address corresponds to the lower byte.

G0-255 can be used by the function function command MOVW only. If the other function command or any basic command uses G0-255, the PMC program causes an error, and the PMC program can not be started. You must specify an even address of the G0-255 area for the function command MOVW. If you specify an odd address o off G0-255 for the function command MOVW, the PMC program causes an error. To use the G0-255 area in a basic command or other function command, copy the value of this area to the internal relay by using MOVW, and use the internal relay in the basic command or other function command. G1000-1255 area is system interface output.

8.4.1

G0-G12 G0G127 7

GO[1]-GO[64] (Grou (Group p Outp ut s)

The correspondence of the PMC address to the GO index is shown below. Ga (Upper byte), Gb (Lower byte) a = (( c - 1 )

2 )+ 1

b =( c -1)

2

(Example:

GO[26], c=26, (26-1)*2+1=51, a=51, G51(Upper byte) GO[26], c=26, (26-1)*2=50, b=50, G50(Lower byte))

Correspond ence between GO and PM PMC C address Up p er L o w er

Up p er L o w er

Up p er L o w er

Up p er L o w er  

GO[1 GO [1]]

G1

G0

GO GO[2 [2]]

G3

G2

GO GO[3 [3]]

G5

G4

GO GO[4 [4]]

G7

G6

GO[5]

G9

G8

GO[6]

G11

G10

GO[7]

G13

G12

GO[8]

G15

G14

GO[9]

G17

G16

GO[10]

G19

G18

GO[11]

G21

G20

GO[12]

G23

G22

GO[13]

G25

G24

GO[14]

G27

G26

GO[15]

G29

G28

GO[16]

G31

G30

GO[17]

G33

G32

GO[18]

G35

G34

GO[19]

G37

G36

GO[20]

G39

G38

GO[21]

G41

G40

GO[22]

G43

G42

GO[23]

G45

G44

GO[24]

G47

G46

GO[25]

G49

G48

GO[26]

G51

G50

GO[27]

G53

G52

GO[28]

G55

G54

GO[29] GO[33]

G57 G65

G56 G64

GO[30] GO[34]

G59 G67

G58 G66

GO[31] GO[35]

G61 G69

G60 G68

GO[32] GO[36]

G63 G71

G62 G70

GO[37]

G73

G72

GO[38]

G75

G74

GO[39]

G77

G76

GO[40]

G79

G78

GO[41]

G81

G80

GO[42]

G83

G82

GO[43]

G85

G84

GO[44]

G87

G86

GO[45] GO[49]

G89 G97

G88 G G9 96

GO[46] GO[50]

G91 G99

G90 G98

GO[47] GO[51]

G93 G101

G92 G100

GO[48] G95 GO[52] G103

G94 G102

- 220 -

 

8. PMC ADDRESS CORRESPONDEN CORRESPONDENCE CE 

B-82614EN/02 

Up p er L o w er

Up p er L o w er

Up p er L o w er

Up p er L o w er  

GO[53] G105

G104

GO[54]

G107

G106

GO[55] G109

G108

GO[56] G111

G110

GO[57] G113

G112

GO[58]

G115

G114

GO[59] G117

G116

GO[60] G119

G118

GO[61] G121

G120

GO[62]

G123

G122

GO[63] G125

G124

GO[64] G127

G126

 

8.4.2

G128 G1 28-G -G25 255 5

AO[1]-AO[64] (Analog Output Outp uts) s)

The correspondence of the PMC address to the AO index is shown below. Ga (Upper byte), Gb (Lower byte) a = (( c - 1 )

2 ) + 129 129

b = (( c - 1 )

2 ) + 128 128

(Example:

AO[c]

AO[26], c=26, ((26-1)*2)+129=179, G179(Upper byte) AO[26], c=26, ((26-1)*2)+128=178, G178(Lower byte))

Correspond ence between AO and PMC address Up p er L o w er

Up p er L o w er

Up p er L o w er

Up p er L o w er  

 AO[1]  AO[5]

G129 G137

G128 G136

AO[2] AO[6]

G131 G139

G130 G138

AO[3] AO[7]

G133 G141

G132 G140

AO[4] AO[8]

G135 G143

G134 G142

 AO[9]

G145

G144

AO[10]

G147

G146

AO[11]

G149

G148

AO[12]

G151

G150

 AO[13]

G153

G152

AO[14]

G155

G154

AO[15]

G157

G156

AO[16]

G159

G158

 AO[17]

G161

G160

AO[18]

G163

G162

AO[19]

G165

G164

AO[20]

G167

G166

 AO[21]  AO[25]

G169 G177

G168 G176

AO[22] AO[26]

G171 G179

G170 G178

AO[23] AO[27]

G173 G181

G172 G180

AO[24] AO[28]

G175 G183

G174 G182

 AO[29]

G185

G184

AO[30]

G187

G186

AO[31]

G189

G188

AO[32]

G191

G190

 AO[33]

G193

G192

AO[34]

G195

G194

AO[35]

G197

G196

AO[36]

G199

G198

 AO[37]

G201

G200

AO[38]

G203

G202

AO[39]

G205

G204

AO[40]

G207

G206

 AO[41]

G209

G208

AO[42]

G211

G210

AO[43]

G213

G212

AO[44]

G215

G214

 AO[45]  AO[49]

G217 G225

G216 G224

AO[46] AO[50]

G219 G227

G218 G226

AO[47] AO[51]

G221 G229

G220 G228

AO[48] AO[52]

G223 G231

G222 G230

 AO[53]

G233

G232

AO[54]

G235

G234

AO[55]

G237

G236

AO[56]

G239

G238

 AO[57]

G241

G240

AO[58]

G253

G242

AO[59]

G245

G244

AO[60]

G247

G246

 AO[61]

G249

G248

AO[62]

G251

G250

AO[63]

G253

G252

AO[64]

G255

G254

 

8.4.3

G1000-G1255

This area is used to interface between the robot controller system and the PMC program. The PMC program can control the robot controller system by using this area. Refer to Section 1.5.7 (null)"System control by PMC program (System interface)" for details about the system interface. You can assign the G1000.0-G1003.7 area to DI, DO, GI, GO, UI and UO as rack 33, slot 7 start point 1-32. The correspondence of the G area address to start point is shown below. Ga.b Ga. b

Start point c

a

8+ b +1 = c

(Example: G1003.4, a=1003, b=4, (1003-1000)*8+4+1=29, c=29, Start port = 29) G1004.0-G1255.7 can not be assigned to I/O port.

- 221 -

 

8. PMC ADDRESS CORRESPONDEN CORRESPONDENCE CE 

8.5

R

8.5.1

R0-R1499

B-82614EN/02 

This area is the general internal relay. The value of the R area becomes becomes 0 when the controller is turned off whether the power failure recovery is enabled or disabled. The R area is accessed at DO[11001]-DO[23000]. DO[11001]-DO[23000]. The correspondence of the R area address to the DO index is shown below. Ra.b

DO[c] a

8 + b + 11001 = c

(Example: R3.4, a=3, b=4, 3*8+4+11001=11029, c=11029, DO[11029]) You can assign the R area to DI, DO, GI, GO, UI and UO as rack 33, slot 2 start point 1-12000. 1-12000. The correspondence of the R area address to the start point is shown below. Ra.b Ra. b

Start point c a

8+ b +1 = c

(Example: R3.4, a=3, b=4, 3*8+4+1=29, c=29, Start port = 29)

8.5.2

R9000-R9117

This area is the PMC system area. This area does not correspond to any I/O port, and this area can not be assigned to I/O port. Refer to Section 1.5.9, "PMC system area" for details about the PMC system area.

8.6

K K0-K19

8.6.1 This area is the keep relay.

The value of the K area is kept kept when the controller is turned off wheth whether er power failure recovery is enabled or disabled. The K area is accessed at DO[10001]-DO[10160]. DO[10001]-DO[10160]. The correspondence of the K area address to the DO index is shown below. Ka.b

DO[c] a

8 + b + 10001 = c

(Example: K3.4, a=3, b=4, 3*8+4+10001=10029, c=10029, DO[10029]) You can assign the K area to DI, DO, GI, GO, UI and UO as rack 33, slot 1 start point 1 1-160. -160. The correspondence of the K area address to the start point is shown below.

Ka.b

Start point c a

8+ b +1 = c

(Example: K3.4, a=3, b=4, 3*8+4+1=29, c=29, Start Port=29) The K17-K19 area is the PMC setting parameters. Refer to Section 1.5.8, "PMC setting p parameters" arameters" for details about the PMC setting parameters. - 222 -

 

8. PMC ADDRESS CORRESPONDEN CORRESPONDENCE CE 

B-82614EN/02 

8.7

D

8.7.1

D0-D2999

The D area is the Data Table. The value of the D area is kept when the controller is turned off whether  power failure recovery is enabled or disabled. The D area can be accessed as GO[10001]-GO[11500]. GO[10001]-GO[11500]. Every GO port corresponds to two bytes of the D area. The correspondence of the D area address to the GO index is shown below. Da (Upper byte), Db (Lower byte) GO[c] a = (( c - 10001 )

2 ) +1

b = (( c - 10001 )

2)

(Example:

GO[1003], c=1003, ((10013-10001)*2+1=25, a=25, D25 (Upper byte) GO[10013], c=10013, ((10013-10001)*2=24, b=24, D24 (Lower byte)) You can assign the D area to DI, DO, GI, GO, UI and UO as rack 33, slot 3 start point 1-24000 1-24000.. The correspondence of the D area address to the start point is shown below. Da.b Da. b

Start point c a

8+ b +1 = c

(Example: D3.4, a=3, b=4, 3*8+4+1=29, c=29, Start port = 29)

8.8

T

8.8.1

T0-T79

The T area is for the timer data of the function function command TMR(SUB3). The value of the T area is kept when the controller is turned off whether power failure recovery is enabled or disabled. You can read and set timer data in Timer menu, and you do not need to read and set the T area directly. You can assign the T area to DI, DO, GI, GO, UI and UO as rack 33, slot 4 start point 1-640. 1-640. The correspondence of the T area address to the start point is shown below. Ta.b Ta.b

Start point c a

8+ b +1 = c

(Example: T3.4, a=3, b=4, 3*8+4+1=29, c=29, Start port = 29)

8.9

C

8.9.1

C0-C79

The C area is for the preset data and current current data of the function command CTR( CTR(SUB5). SUB5). The value of the C area is kept when the controller is turned off whether power failure recovery is enabled or disabled. You can read and set preset data and current data in the Counter menu, and you do not need to read and set

the C area directly. You can assign the C area to DI, DO, GI, GO, UI and UO as rack 33, slot 5 start point 1-640. The correspondence of the C area address to the start point is shown below. Ca.b Ca. b

Start point c

a

8+ b +1 = c

(Example: c3.4, a=3, b=4, 3*8+4+1=29, c=29, Start port = 29) - 223 -

 

9. INTEGRATED PMC ERROR CODES 

9

B-82614EN/02 

INTEGRATED PMC ERROR CODES

PRIO-8 PRI O-89 9

PAUSE.G PAUSE.G

PMC PMC is not supp orted on thi s hardw are

[Cause]  PMC function is not supported on this main boa board. rd. emove PMC function. [Remedy]   Change main board or rremove If you need clear this alarm, please turn off K17.2 (DO[10139]). PMC does not run at power up, and this alarm does not occur until you y ou run a PMC program.

PRIOPRI O-98 98

WARN

PMC comm unic ation error

[Cause]  Failed to PMC Ethernet communication. [Remedy]   Please back to square one.

PRIO-9 PRI O-99 9

WARN

Port ini tiali zation error

[Cause]  The port is initialized at PMC programmer. [Remedy]   When use PMC Ethernet ccommunication, ommunication, disable PMC programmer in SETUP P Port ort Init screen. screen.

PRIO-121 PRIO121

WARN

Sto p PMC pro gram

[Cause]  You can not do this operation when a PMC program is running. [Remedy]   Stop PMC program execution.

PRIO-126 PRIO126

WARN

No PMC pro gram

[Cause]  PMC program does not exist. [Remedy]   Download the PMC program.

PRIO-127 PRIO127

WARN

PMC file fi le load erro r

[Cause]  PMC program format is incorrect. [Remedy]   Download the PMC program again.

PRIO-128 PRIO128

PAUSE.G

T,C,K and D data may be los t

[Cause]  The save of the keep relay relay (K), Timer (T), Counter (C) and Data table table (D) faile failed d at last powe powerr down. Current data might  be an old value. PMC was not started at this power up, because it may be dangerous to run the PMC. ile. [Remedy]   Change the Main board or PSU board and load the PARAM.PMC ffile.

PRIO-129

WARN

SUB x  is not supported

ommand is found in PMC program. [Cause]  Illegal function ccommand [Remedy]   Check the PMC program.

NOTE x in the above WARN stands for the function block number (Example: DISP = 49) PRIO-1 PRI O-130 30

WARN

PMC opti on is not ins talled

installed. lled. [Cause]  Integrated PMC option (A05B-2400-J760) is not insta [Remedy]   Install the Integrated PMC option.

PRIO-131 PRIO131

WARN

PMC file fi le name erro r

[Cause]  1. 2. [Remedy]   1. 2.

PRIOPRI O-13 132 2

The file name must be LADDER.PMC or PARAM.PMC. The other file name is used for save or load. Device name to access is too long. Change file name to LADDER.PMC for PMC program, PARAM.PMC for PMC parameter file. Make device name string short.

WARN

PMC operation is lock ed

[Cause]  The operation is locked by anothe anotherr ffunction. unction. [Remedy]   Try again later.

- 224 -

 

9. INTEGRATED PMC ERROR CODES 

B-82614EN/02 

PRIO-1 PRI O-133 33

WARN

PMC prog ram size is too big

[Cause]  Total number of steps in level 1 and level 2 is more than 16384 steps, or there are too many many symbol and comment. [Remedy]   Check the PMC program step size size,, or remove the symbol and ccomment. omment.

PRIO-134 PRIO134

WARN

Inv alid PMC addr x  

PRIO-136 PRIO136

WARN

B YTE acces s to x  

ddress is not valid for PM PMC. C. [Cause]  Specified PMC aaddress [Remedy]   Check the address in the PMC program.

(x  is stands for PMC address)

areaa of PMC address ca can n not be use used d in function ccommand. ommand. [Cause]  X area and Y are ddress in the PMC program. To access as BYTE, copy copy this bit data to internal internal relay (R) by basic basic command. [Remedy]   Check the aaddress

NOTE x in the above WARN stands for the address number (Example: R3.4) PRIO-137 PRIO137

WARN

BIT B IT acces s to x  

[Cause]  F0.0 - F255.7 and G0.0 - G255.7 ccan an not be used in basic command. ddress in the PMC program. Use the MOVW instruc instruction tion to copy this data to the internal relay to aaccess ccess as [Remedy]   Check the aaddress

BIT data.

NOTE x in the above WARN stands for the address number (Example: R3.4) PRIO-138

WARN

x

 is us ed in SUBy SUBy

[Cause]  Specified address ccan an not be used in specif specified ied function command. F0.0 - F255.7 and G0.0-G255.7 can not be used except MOVW. Odd byte address of F0.0 - F255.7 and G0.0 - G255.7 can not be used in MOVW. access ess as BIT data. [Remedy]   Use the MOVW instruction to copy this data to the internal relay to acc

NOTE x in the above WARN stands for the address number (Example: F3). SUBy in the above WARN stands for the function block number (Example: DISP = 49, SUB 49) PRIO-139 PRIO139

WARN

Inv alid CNC addr x (hex)

(x  stands for the CNC address)

[Cause]  Specified CNC address is invalid. [Remedy]   Check the PMC type of FAPT LADDER II.

PRIOPRI O-14 140 0

WARN

Can't dis play all PMC errors

errors in PMC program therefore, error display is stopped. There ma may y be more errors. errors. [Cause]  There are more than 10 errors rrors, and try again.) [Remedy]   Check the other PMC errors. (Fix displayed 10 eerrors,

PRIO-141 PRIO141

WARN

Inval id PMC pro gram

[Cause]  PMC program data is invalid. [Remedy]   Check the PMC program, and loa load d aagain. gain.

PRIO-142 PRIO142 WARN Need E-STOP E-ST OP or CTRL st art [Cause]   To write PM PMC C program to flash file, E E-STOP -STOP must be pressed or start mode is controlled sta start. rt. start. rt. [Remedy]   Press the E-STOP button or perform a Controlled sta PRIO-143 PRIO -143

PAUSE.G

Writ in g PMC pro gram to ROM

[Cause]  You can not clear alarm status during writing PMC program to flash ROM. [Remedy]   Wait until writing of the PMC program is completed.

- 225 -

 

9. INTEGRATED PMC ERROR CODES  PRIO-144 PRIO -144

PAUSE.G

B-82614EN/02 

Failed to run PMC pro gram

[Cause]  Failed to run PMC program because error occurs. [Remedy]   Refer to the previous error messages.

PRIO-1 PRI O-145 45

PAUSE.G PAUSE.G

PRIO-1 PRI O-146 46

WARN

Purging flash fil e, please wait

power er until `Flash file purge is complete' is displa displayed. yed. [Cause]  Purging flash file now. It takes a few minutes don't cut pow [Remedy]   None.

Flash fil e purg e is comp leted

[Cause]  Purge of flash file is completed. [Remedy]   None.

- 226 -

 

B-82614EN/02 

INDEX 

INDEX ADD (Addition) ...................... .............................................. ..................................... .............128 128 ADDB (Binary Addition).............................................129 Addend (Address) ........................................................129 Address Storing Input/Output Data..............................203 Address Storing the Table Internal Number............. Number.................203 ....203 AND.............................................................................122 AND. NOT...................................................................123 AND. STK ...................................................................125 Applications...................... Applications ............................................ ............................................. ....................... 28

BASIC COMMAN COMMAND D REFEREN REFERENCE CE ....................... ............................119 .....119 BASIC COMMANDS......................................................3 Bit Menu ......................................................................102 Byte Menu....................................................................101 C 223 C0-C79.........................................................................223 CALL (Conditional Subprogram Subprogram Call).........................132 Call)....................... ..132 CALLU (Unconditional (Unconditional Subprogram Call).................. 133 Caution..................................................................140,168 Check PMC Program (On-line (On-line Monitor).................... Monitor)........................54 ....54 COD (Code Conversion)..............................................133 CODB (Binary Code Conversion) Conversion) .......................... ...............................136 .....136 Code Signal Address....................................................154 COIN (Coinciden (Coincidence ce Check) ..................... ......................................... .................... 137 COM (Common Line Control).....................................139 COME (Common (Common Line Con Control trol End) End).......................... ...........................141 .141 COMP (Comparison) ...................................................141 Comparison Data Address.....................................138,142 Comparison Compariso n Resu Result lt Outpu Output t ........................ .................................... ............ 139,143 COMPB (Comparison Between Binary Data).............. Data)..............143 143 Compiling a PMC Program.......................................51,76 CONNECTING FANUC LADDER-III for Robot TO ROBOT CONTROLLER.....................................68 Connection Between Robot Controller And Fapt Ladder-II.....................................................................43 Constant .......................................................................181 Constant Output Address .............................................181 Control Condition...........................................154,197,200 Control Conditions..... Conditions ..... 128,129,1 128,129,131,132,13 31,132,135,137,138,1 5,137,138,139, 39, 142,143,145,149,151,152,156,157,159,160,162,1 64,166,168,173,175,176,177,178,180,181,182, 183,184,187,189,191,194,195,198,202,205

Countup Output (W1) ..................................................146 Count-up Output (W1) ........................ ................................................ .........................150 .150 Creating a New PMC Program.......................................45 Creating a Program ....................... ............................................... ................................. ......... 32 CREATING PMC PROGRAM......................................72 PROGRAM......................................72 CTR (Counter) ..................... ............................................ ........................................ ................. 144 CTRC (Counter)...........................................................148 Current Position Address .............................................187

D 223 D0-D2999 ....................................................................223 Data Format of Addend................................................129 Data Format of Multiplier Multiplier....................... ............................................ ..................... 178 Data Format Format of Su Subtrahend. btrahend......................... ......................................... ................. 194 Data Table......................................................................11 Data Table Control D Data ata Men Menu u ...................... .................................... .............. 105 Data Table Head Address......................................163,203 Data Table Menu..........................................................107 DCNV (Data Conversion)............................................150 DCNVB (Extended (Extended Data Conversion) Conversion) ....................... ......................... ..152 152 DEC (Decode)..............................................................153 DECB (Binary Decoding)............................................155 Decode Specification ...................................................154 DIFD (Falling Edge Detection)....................................156 Difference Output Address ..........................................195 DIFU (Rising Edge Detection).....................................157 DIV (Division)...... (Division)............................. .............................................. ................................ ......... 158 DIVB (Binary Division)...............................................159 Dividend Address.........................................................159 Divisor (Address).........................................................159 Divisor Data Format Format Designation ................................ 159 DSCH (Data Search)....................................................161 DSCHB (Binary Data Search) .....................................163

Editting a PMC Program...........................................49,75 END (End of a Ladder Program) Program) ................................. 165 END1 (1st Level Sequence Sequence Program End)................... 165 END2 (2nd Level sequence program End) .................. 165 EOR (Exclusive or)......................................................166 Error Output... Output............................ .................................. ......... 129,159,178,195,203 129,159,178,195,203 Error Output Output (W1).......................... (W1)............................ 130,135,137,151,153 130,135,137,151,153,, 160,179,185,196,206 Ethernet Connection.......................................................70 Example of Using the MOVE Instruction....................174 Example of Using the PARI Instruction.......................185

Control Conditions Conditions (ACT) ................................ ....................................170,171 ....170,171 Conversion Data Table..........................................136,137

Example of Using the ROTB Instruction.....................189 Examples of Structured Structured Prog Programming ramming ....................... ........................... ....27 27

Conversion Input Data Address ...................................135 Conversion .............................. .....135 Convert Data Ou Output tput Ad Address dress ........................ ...................................... ..............135 135 Counter Menu ..............................................................104 Counter Number...........................................................146 Counter Preset Value Address......................................150 Counter Register Address.............................................150

Examples of Using Using the Counter ................................... 146 Execution Command.............................................174,194 Execution Method..........................................................31 Execution Procedure Procedure of Sequ Sequence ence Program... Program................... ................ 23 Exporting LADDER.PMC using FANUC LADDER-III for Robot Robot....................... .............................................. ....................... 88

i-1

 

INDEX  External I/O Device..........................................................7

F 218 F0-F127 ↔ GI[1]-GI[64] (Group Inputs) Inputs) .................. ....................218 ..218 F1000-F1255................................................................219 F128-F255 ↔ AI[1]-AI[64] (Analog (Analog Inputs)......... Inputs)...............219 ......219 FANUC LADDER-III for Robot PROGRAMMING......................................................67 FILE MENU OPERATIONS.......................................113 Format................. Format ................. 128,129,1 128,129,131,132,133 31,132,133,134,136,1 ,134,136,137,139, 37,139, 141,143,145,149,150,152,153,155,156,157,158,1 60,161,164,165,166,168,170,171,172,173,175, 176,177,178,180,181,182,183,184,186,188,19 1,192,193,195,196,198,199,201,205 Function ................ 30,128,12 30,128,129,131,132,1 9,131,132,133,136,13 33,136,137,139, 7,139, 141,143,144,150,152,153,156,157,158,159,161,1 63,165,166,167,169,170,171,172,173,174,175, 176,177,178,179,181,182,184,185,188,191,19 2,193,195,196,198,199,201,203 Function (Fig.7.18.2 (a), (b))........................................155 Function Command..........................................................4 FUNCTION COMMAND COMMAND REFERENCE.................. REFERENCE....................128 ..128 Functions......................................................................148

G 220 G0-G127 ↔ GO[1]-GO[64] (Group Outputs) .............220 G1000-G1255...............................................................221 G128-G255 ↔ AO[1]-AO[64] (Analog (Analog Outputs)... Outputs)........221 .....221 Goal Position Address..................................................187 Implementation Implemen tation Techniques. Techniques........................ .......................................... ................... 27 Importing LADDER.PMC using FANUC LADDER-III for Robot ....................... .............................................. ....................... 90 IMPORTING STANDARD STANDARD PMC PRO PROGRAM GRAM .............73 Input Data.....................................................................138 Input Data Format ...................... .............................................. ...........................138,142 ...138,142 INTEGRATED PMC ERROR CODES.......................224 INTEGRATED PMC OVERVIEW... OVERVIEW............................ ..............................1 .....1 INTEGRATED PMC SPECIFICATIONS.......................1 Interface between PMC Program and Robot Program..................... Program ............................................ ............................................. ..........................14 ....14 INTERLOCKING..........................................................26 Internal Relay...................................................................9 Internal Relay Assignment.............................................20 JMP (Jump)... (Jump)........................... ................................................ ....................................... ............... 167

B-82614EN/02 

LBL (Label) ..................... ............................................. ............................................ .................... 171 Level 1 and Level 2........................................................24 Load LADDER.PMC, PARAM.PMC.......................... PARAM.PMC.......................... 116 Loading LADDER.PMC Using FAPT LADDER-II................................................................63 Loading PARAM.PMC PARAM.PMC by FAPT L LADDER-II ADDER-II ............. 65 Loading PARAM.PMC using FANUC LADDER-III for Robot Robot....................... .............................................. ....................... 92 Loading the Standa Standard rd PMC Program ........................ ............................. .....47 47 LOGICAL AND ..........................................................131 Logical OR...................................................................182

Minuend Address........................ Address ................................................ ................................. ......... 195 Modifying the PMC Program in Robot..........................59 MODIFYING THE PMC PROGRAM IN THE ROBOT CONTROLLER CONTROLLER........................ ........................................... ................... 85 MOVB (Transfer of 1 Byte).........................................172 MOVE (Logical Product Transfer) ......................... .............................. .....173 173 MOVN (Transfer of an Arbitrary Number of Bytes) ..................... ............................................ .............................................. ........................... ....174 174 MOVOR (Data Transfer After Logical Logical Sum) .............. 175 MOVW (Transfer (Transfer o off 2 Byte Bytes) s) ..................... ...................................... ................. 176 MUL (Multiplication) ......................... ................................................. .........................177 .177 MULB (Binary Multiplication)....................................178 Multiplicand Address...................................................178 Multiplier (Address).....................................................178  Nonvolatile Memory.... Memory........................... .............................................. ........................... ....10 10  NOT (Logical Not)...................... Not)............................................. ................................. .......... 179  Number of Data Data of the Data Tab Table le ........................ 162,203  NUME (Definition (Definition of Constan Constant) t) ........................... .................................. ....... 181  NUMEB (Definition (Definition of Binary Co Constants) nstants) .................. ..................182 182 Operation ....................... .................................. ........... 131,157,158,167,18 131,157,158,167,180,183 0,183 Operation Output Output Register (R9000) (R9000)....... ....... 130,144,153,161, 130,144,153,161, 179,196 Operation Result Result Output Address ................................ 187 OR................................................................................123 OR. NOT......................................................................123 OR. STK ......................................................................125 Output for Rotational Direction (W1)..........................189 Parameter ...................... ............................................. ................................. .......... 142,164,198 Parameters.....130,131,132,133,137,1 Parameters.....130,131,13 2,133,137,140,143,15 40,143,152,156,157, 2,156,157, 160,166,168,170,171,172,175,176,179,180,182,1

JMP Instructions with Label Specification..................... Specification..................... 34 JMPB (Label Jump) .....................................................169

83,189,192,193,195,205 Parameters Menu..........................................................108

JMPC (Label Jump) .....................................................170 JMPE (Jump End) ..................... ............................................ ................................... ............171 171

PARI (Parity Check) Check)....................... .............................................. ............................. ...... 184 PMC ADDRESS CORRESPONDENCE.....................207 PMC ADDRESSES .........................................................6 PMC EXECUTION PROCESSING PROCESSING TIME.................... 25 PMC Menus .................... ............................................ ............................................. ..................... 100 PMC Program ..................................................................2

K 222 K0-K19 ........................................................................222

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B-82614EN/02 

INDEX 

PMC PROGRAM MONITORING (ONLINE MONITOR)................................................................81 PMC Setting Parameters Parameters (K17-K19).......................... (K17-K19)..............................19 ....19 PMC System Area (R9000-R9117 (R9000-R9117)...... ).............................. ..........................19 ..19 Precision of the Timer..................................................199

STORE/LOAD PMC PROGRAM AND PARAMETERS .........................................................88 Storing PARAM.PMC by FANUC LADDER-III for Robot ....................................................................96 SUB (Subtraction)........................................................193

Product Output Address ....................... ............................................... ........................ 178 PROGRAMMING WITH FAPT LADDER-II...............43 PROGRAMMING

SUBB (Binary Subtraction) .........................................195 Subprogramming and Nesting........................................30 Subtrahend (Address)...................................................195 Sum Output Address Address.................... ........................................... ................................ ......... 129 Summand Address .......................................................129 Symbols and Comments...................................................7 System Control by PMC Program (System Interface) ....................... .............................................. ............................................. ...................... 15

Quotient Output Address..............................................159 R 222 R0-R1499.....................................................................222 R9000-R9117 R9000-R9 117 ...................... ............................................. ......................................... .................. 222 RD................................................................................119 RD. NOT......................................................................120 RD. NOT. STK ............................................................124 RD. STK ......................................................................123 Remainder Output Address Address...................... .......................................... .................... 161 Repetitive Operation ......................................................24 Reset.............................................................................194 Restrictions.....................................................................37 ROT (Rotation Control) ....................... .............................................. ........................185 .185 Rotating Direction Output Output (W1)...................................187 (W1).................................. .187 ROTB (Binary Rotation Control).................................188 Rotor Indexing Number ...............................................187 RS-232C Connection .....................................................68 RST .................... ............................................ ............................................... .................................. ...........127 127 Run/Stop PMC ...................... .............................................. .................................. ..........57,111 57,111 RUNNING OR STOPPING STOPPING PMC PROGRA PROGRAM M ............. .............83 83 SAFETY........................................................................s-1 Save LADDER.PMC and PARAM.PMC PARAM.PMC .................... 112 Save LADDER.PMC, LADDER.PMC, PA PARAM.PMC..... RAM.PMC.......................... ..................... 115 Save STDLDR.PMC..... STDLDR.PMC............................ .............................................. ........................112 .112 Save/Load PMC Program Program and PMC Parameters.. Parameters.......21,61 .....21,61 Saving LADDER.PMC Using FAPT LADDER-II................................................................61 Saving PARAM.PMC PARAM.PMC Using FAPT LADD LADDER-II ER-II ..........64 Search...........................................................................110 Search Data Address .................... ........................................... ................................163 .........163 Search Data Presence/Absence Presence/Absence Output ........................163 ....................... .163 Search Result (W1) ...................... .............................................. ................................164 ........164 Search Result Output Address......................................163 SEQUENCE PROGRAM ..............................................23 Sequence Program Structuring.......................................27 SET ..............................................................................126 Setting Timers..............................................................197

T 223 T0-T79 ....................... .............................................. .............................................. ........................... ....223 223 TEACH PENDANT OPERATION OPERATION ............................. 100 Timer Accuracy ....................................................197,200 Timer Menu .................................................................103 Timer Register Address................................................200 Timer Relay (TMB)...........................................198 Timer Relay (TM)..........................................197,201 Timer Set Time Address ...................... ............................................. ........................200 .200 Title Menu....................................................................109 TMR (Timer) ...............................................................196 TMRB (Fixed Timer)...................................................198 TMRC (Timer).............................................................199 Transfer PMC program ....................... .............................................. ........................... ....52 52 TRANSFERRING PMC PROGRAM............................77 Update Timing of Signals ........................ .............................................. ...................... 25 W1................................................................................192 W1 (Decoding Result Output)......................................154 Writing Pmc Program to F-rom .....................................83 Writing PMC PMC Program to ROM........ ROM................................. ............................. ....58 58 WRT.............................................................................121 WRT. NOT ..................................................................122 X 208 X0-X127 ↔ DI[1]-DI[1024] (General Digital Input)........................................................................208 X1000-X1004 ↔ UI[1]-UI[40] (User Operator Panel Inputs).............................................................211 X1005-X1009 ↔ WI[1]-WI[40] (Weld Digital Inputs) ......................................................................211

SFT (Shift Register) ..................... ............................................ ................................191 .........191 Size of Table Data........................................................135

X1010-X1014 ↔ Wsti[1]-Wsti[40] (Wire Stick Inputs) ......................................................................212

SP (Subprogram)..........................................................192 SPE (End of a Subprogram Subprogram)) ..................... ......................................... .................... 193 Specifications............................................................30,34 Standard PMC Program .................................................21 Status Menu..................................................................109

X1015-X1019 ↔ LDI[1]-LDI[40] (Laser Digital Inputs) ......................................................................212 X1020-X1024 ↔ RI[1]-RI[40] (Robot Digital Inputs) ......................................................................212 X1025-X1026 ↔ SI[1]-SI[16] (Standard Operator Panel Inputs)..............................................213

i-3

 

INDEX  XMOV (Indexed Data Tran Transfer) sfer) ......................... ..................................201 .........201 XMOVB (Binary Index Modifier Data Transfer) ........203

Y 213 Y0-Y127 ↔ DO[1]-DO[1024] (General Digital Output) .....................................................................213 Y1000-Y1004 ↔ UO[1]-UO[40] (User Operator Panel Outputs) Outputs)....................... .............................................. ................................... ............216 216 Y1005-Y1009 ↔ WO[1]-WO[40] (Weld Digital Outputs)....................................................................216 Y1010-Y1014 ↔ WSTO[1]-WSTO[40] (Wire Stick Outputs)...........................................................217 Y1015-Y1019 ↔ LDO[1]-LDO[40] (Laser Digital Outputs)........................................................217 Y1020-Y1024 ↔ RO[1]-RO[40] (Robot Digital Outputs)....................................................................217 Y1025-Y1026 ↔ SO[1]-SO[16] (SOP Outputs)..........218

B-82614EN/02 

i-4

 

Rev Rev is i o n Rec Rec o r d  

FANUC Robot series R-30 A i A CONTROLLER Integrated PMC PMC OPERATOR'S MANUAL (B-82 (B-82614EN) 614EN) 

 

02

Aug.2 Aug.2010 010 Add Ether Ethernet net communic communication ation func function. tion.

01

Mar.,2007

Edition

D at at e

Contents

Edition

D at at e

Contents

B-82614EN/02

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