Fanuc 30i MODEL B, 31i MODEL B, 35i MODEL B, 32i MODEL B PROGRAMMING MANUAL

FANUC Series 30+-MODEL B
FANUC Series 31+-MODEL B
FANUC Series 32+-MODEL B
FANUC Series 35+-MODEL B

PMC

PMC

PROGRAMMING MANUAL

B-64513EN/01

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

• All specifications and designs are subject to change without notice.

The products in this manual are controlled based on Japan’s “Foreign Exchange and
Foreign Trade Law”. The export of Series 30i/300i/300is-MODEL A, Series
31i/310i/310is-MODEL A5 from Japan is subject to an export license by the government of

Japan. Other models in this manual may also be subject to export controls.
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”.

B-64513EN/01 DEFINITION OF WARNING, CAUTION, AND NOTE

DEFINITION OF WARNING, CAUTION, AND NOTE

This manual includes safety precautions for protecting the user and preventing damage to the machine.
Precautions are classified into Warning and Caution according to their bearing on safety. Also,
supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly
before attempting to use the machine.

WARNING

Applied when there is a danger of the user being injured or when there is a

danger of both the user being injured and the equipment being damaged if the
approved procedure is not observed.

CAUTION

Applied when there is a danger of the equipment being damaged, if the

approved procedure is not observed.

NOTE

The Note is used to indicate supplementary information other than Warning and

Caution.

• Read this manual carefully, and store it in a safe place.

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B-64513EN/01 TABLE OF CONTENTS

TABLE OF CONTENTS

DEFINITION OF WARNING, CAUTION, AND NOTE................................. s-1

1 OVERVIEW OF PMC ..............................................................................1

1.1 WHAT IS PMC? .............................................................................................1

1.1.1 Basic Configuration of PMC....................................................................................1

1.1.2 I/O Signals of PMC..................................................................................................1

1.1.3 PMC Signal Addresses.............................................................................................2

1.2 WHAT IS LADDER LANGUAGE? .................................................................5

1.2.1 Ladder Diagram Format...........................................................................................5

1.2.2 Signal Name (Symbol Name)...................................................................................5

1.2.3 Comment..................................................................................................................6

1.2.4 Graphic Symbols of Relays and Coils......................................................................6

1.2.5 Line Number and Net Number.................................................................................6

1.2.6 Difference Between Relay Sequence Circuit and Ladder Sequence Program .........7

1.2.7 Specification of Extended Symbol and Comment....................................................8

1.3 SEQUENCE PROGRAM CREATION PROCEDURE..................................11

1.3.1 Determining Specification......................................................................................11

1.3.2 Creating Ladder Diagram.......................................................................................11

1.3.3 Editing Sequence Program.....................................................................................11

1.3.4 Transferring and Writing Sequence Program to PMC ...........................................12

1.3.5 Checking Sequence Program..................................................................................13

1.3.6 Storage and Management of Sequence Program....................................................13

1.4 EXECUTION OF SEQUENCE PROGRAM .................................................14

1.4.1 Execution Procedure of Sequence Program ...........................................................15

1.4.2 Repetitive Operation...............................................................................................16

1.4.3 Processing Priority (1st Level, 2nd Level, and 3rd Level).....................................16

1.4.4 Structured Sequence Program ................................................................................18

1.4.4.1 Implementation.................................................................................................. 18

1.4.4.2 Subprogramming and nesting............................................................................ 23

1.4.4.3 Notes on using subroutines................................................................................27

1.4.5 Synchronization Processing of I/O Signals............................................................29

1.4.6 Interlock .................................................................................................................34

1.4.7 Notes on I/O Signals Updated by Other Than PMC ..............................................34

1.5 MULTI-PATH PMC FUNCTION...................................................................35

1.5.1 Execution Order and Execution Time Percentage..................................................37

1.5.2 Interface Between CNC and PMC .........................................................................39

1.5.3 Multi-Path PMC Interface......................................................................................40

1.5.4 Common PMC Memory Mode of Multi-Path PMC...............................................41

1.6 Communication Method for External I/O Device..........................................43

1.6.1 I/O Link i and I/O Link ..........................................................................................43

1.6.2 Setting I/O Address for I/O Link i..........................................................................44

1.6.3 Setting I/O Address for I/O Link............................................................................45

2 PMC SPECIFICATIONS........................................................................47

2.1 SPECIFICATIONS.......................................................................................47

2.1.1 Basic Specifications ...............................................................................................47

2.1.2 Total Ladder Steps of Multi-path PMC..................................................................50

2.1.3 Determination of PMC Memory Type...................................................................51

2.1.4 Program Capacity...................................................................................................52

2.1.5 Used Memory Size of Sequence Program..............................................................53

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TABLE OF CONTENTS B-64513EN/01

2.1.6 PMC Addresses......................................................................................................54

2.1.7 Basic Instructions ...................................................................................................56

2.1.8 Functional Instructions (Arranged in Sequence of Instruction Group)..................57

2.1.9 Functional Instructions (Arranged in Sequence of SUB No.)................................64

2.2 PMC SIGNAL ADDRESSES........................................................................70

2.2.1 Addresses for Signals Between the PMC and CNC (F, G) ....................................70

2.2.2 Addresses of Signals Between the PMC and Machine (X, Y)...............................71

2.2.3 Internal Relay Addresses (R)..................................................................................73

2.2.4 System Relay Addresses (R9000, Z0)....................................................................74

2.2.5 Extra Relay Addresses (E)......................................................................................79

2.2.6 Message Display Addresses (A).............................................................................84

2.2.7 Timer Addresses (T)...............................................................................................85

2.2.8 Counter Addresses (C) ...........................................................................................86

2.2.9 Keep Relay Addresses (K) .....................................................................................88

2.2.10 Nonvolatile Memory Control Address (K).............................................................89

2.2.11 System Keep Relay Addresses (K).........................................................................90

2.2.12 Data Table Addresses (D) ......................................................................................97

2.2.13 Addresses for Multi-path PMC Interface (M, N).................................................102

2.2.14 Subprogram Number Addresses (P).....................................................................102

2.2.15 Label Number Addresses (L) ...............................................................................102

2.3 PMC PARAMETERS.................................................................................103

2.3.1 Cautions for Reading from/Writing to Nonvolatile Memory...............................104

2.3.2 PMC Parameter Format........................................................................................105

2.4 PARAMETERS FOR THE PMC SYSTEM.................................................113

2.4.1 Setting Parameters................................................................................................113

2.4.2 PMC System Parameters......................................................................................115

2.4.3 CNC Parameters Related to the PMCs.................................................................116

2.5 COMPATIBILITY BETWEEN PMC MEMORY TYPE ................................129

2.5.1 Compatibility between PMC Memory-A and PMC Memory-B ..........................129

2.5.2 Compatibility between PMC Memory-B and PMC Memory-C/D.......................129

2.5.3 Compatibility with PMC Memory-C and PMC Memory-D ................................130

2.6 COMPATIBILITY WITH CONVENTIONAL MODELS................................131

2.6.1 Compatibility with Series 30i/31i/32i-A PMC.....................................................131

2.6.2 Compatibility between 30i/31i/32i-A DCSPMC and 30i/31i/32i/35i-B

DCSPMC..............................................................................................................131

2.6.3 Compatibility with the PMCs for the 16i/18i/21i-B.............................................132

2.6.4 Compatibility with the PMCs for the 15i-A/B.....................................................133

2.6.5 Compatibility with series 0i-D PMC....................................................................134

2.6.6 Compatibility between 0i-D DCSPMC and 30i/31i/32i/35i-B DCSPMC ...........134

2.6.7 Compatibility between 35i-B PMC and PMC-SB5/SB6 for Power Mate i-D .....135

2.6.8 The Convert Method of Source Program Using FANUC LADDER-III.............. 137

2.7 PMC MESSAGE MULTI-LANGUAGE DISPLAY FUNCTION....................139

2.7.1 Usage of PMC Message Multi-Language Display Function................................139

2.7.2 Multi-Language Display.......................................................................................141

2.7.3 Maximum Number of Message............................................................................142

2.7.4 Display of European Characters...........................................................................143

2.7.5 Display of Simplified Chinese and Korean (Hangul Characters).........................144

2.8 BATTERY BACKUP DATA........................................................................146

3 COMMUNICATION WITH I/O DEVICE...............................................148

3.1 I/O Link i and I/O Link................................................................................148

3.2 WHAT IS THE I/O LINK?...........................................................................149

3.2.1 Configuration of an I/O Link................................................................................150

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3.2.2 Numbers of Input Points and of Output Points of the I/O Link ...........................151

3.2.3 Assignment Method .............................................................................................152

3.2.3.1 Assignment Method for I/O Unit-MODEL A ................................................. 157

3.2.3.2 Assignment Method for I/O Unit-MODEL B..................................................159

3.2.3.3 Assignment Method for Distribution I/O Connection Panel I/O Modules and

Distribution I/O Operator's Panel I/O Modules............................................... 161

3.2.3.4 Assignment Method for the Power Mate.........................................................166

3.2.3.5 Assignment Method for I/O Link Connection Units....................................... 167

3.2.3.6 Assignment Method for a Handy Machine Operator's Panel...........................169

3.2.3.7 Assignment Method for an AS-i Converter Unit............................................. 170

3.2.3.8 FS0 Operator's Panel .......................................................................................171

3.2.4 Setting I/O Address For I/O Link Channel...........................................................179

3.2.4.1 Outline.............................................................................................................179

3.2.4.2 Assignment Method......................................................................................... 179

3.2.4.3 Dual Assignment of I/O Link Channel............................................................ 180

3.2.5 Selectable I/O Link Assignment Function ...........................................................184

3.2.5.1 Outline.............................................................................................................184

3.2.5.2 Example........................................................................................................... 186

3.2.5.3 Notes................................................................................................................190

3.3 WHAT IS I/O Link i ? .................................................................................191

3.3.1 Configuration of I/O Link i ..................................................................................192

3.3.2 Input / Output Points ............................................................................................193

3.3.3 Update Cycle of Signals.......................................................................................194

3.3.4 Safety I/O .............................................................................................................196

3.3.5 I/O Link i Selectable Assignment Data Function.................................................197

3.3.6 Assignment Method of I/O Link i ........................................................................199

3.3.7 Directions for Use of I/O Link i in Dual Check Safety Function.........................203

3.4 I/O Link / I/O Link i CONNECTION CHECK FUNCTION...........................205

4 LADDER LANGUAGE ........................................................................206

4.1 BASIC INSTRUCTIONS............................................................................206

4.1.1 Details of the Basic Instructions...........................................................................208

4.1.2 RD Instruction......................................................................................................210

4.1.3 RD.NOT Instruction.............................................................................................211

4.1.4 WRT Instruction...................................................................................................212

4.1.5 WRT.NOT Instruction..........................................................................................213

4.1.6 AND Instruction...................................................................................................214

4.1.7 AND.NOT Instruction..........................................................................................215

4.1.8 OR Instruction......................................................................................................216

4.1.9 OR.NOT Instruction.............................................................................................217

4.1.10 RD.STK Instruction..............................................................................................218

4.1.11 RD.NOT.STK Instruction ....................................................................................219

4.1.12 AND.STK Instruction ..........................................................................................220

4.1.13 OR.STK Instruction..............................................................................................221

4.1.14 SET Instruction.....................................................................................................223

4.1.15 RST Instruction ....................................................................................................224

4.1.16 RDPT Instruction .................................................................................................225

4.1.17 ANDPT Instruction ..............................................................................................227

4.1.18 ORPT Instruction .................................................................................................228

4.1.19 RDPT.STK Instruction.........................................................................................229

4.1.20 RDNT Instruction.................................................................................................230

4.1.21 ANDNT Instruction..............................................................................................232

4.1.22 ORNT Instruction.................................................................................................233

4.1.23 RDNT.STK Instruction ........................................................................................234

4.1.24 PUSH Instruction / POP Instruction.....................................................................235

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4.2 FUNCTIONAL INSTRUCTIONS................................................................236

4.2.1 Format of the Functional Instructions ..................................................................236

4.3 TIMER .......................................................................................................241

4.3.1 TMR (On-delay Timer: SUB 3)...........................................................................242

4.3.2 TMRB (Fixed On-delay Timer: SUB 24) ............................................................244

4.3.3 TMRBF (Fixed Off-delay Timer: SUB 77)..........................................................246

4.3.4 TMRC (On-delay Timer: SUB 54).......................................................................248

4.3.5 TMRST (Stop Watch Timer (1ms Accuracy) : SUB 221)

TMRSS (Stop Watch Timer (1sec Accuracy) : SUB 222)...................................251

4.4 COUNTER.................................................................................................255

4.4.1 CTR (Counter: SUB 5).........................................................................................256

4.4.2 CTRB (Fixed Counter: SUB 56)..........................................................................261

4.4.3 CTRC (Counter: SUB 55)....................................................................................263

4.4.4 CTRD (Counter (4 Bytes Length) : SUB 223).....................................................265

4.5 DATA TRANSFER.....................................................................................268

4.5.1 MOVB (Transfer of 1 Byte: SUB 43)..................................................................269

4.5.2 MOVW (Transfer of 2 Bytes: SUB 44) ...............................................................270

4.5.3 MOVD (Transfer of 4 Bytes: SUB 47) ................................................................271

4.5.4 MOVN (Transfer of an Arbitrary Number of Bytes: SUB 45) ............................272

4.5.5 MOVE (Logical Product Transfer: SUB 8)..........................................................273

4.5.6 MOVOR (Data Transfer After Logical Sum: SUB 28)........................................275

4.5.7 XMOVB (Binary Index Modifier Data Transfer: SUB 35) .................................276

4.5.8 XMOV (Indexed Data Transfer: SUB 18) ...........................................................284

4.5.9 MOVBT (Bit Transfer: SUB 224)........................................................................286

4.5.10 SETNB (Data Setting (1 Byte Length) : SUB 225)
SETNW (Data Setting (2 Bytes Length) : SUB 226)

SETND (Data Setting (4 Bytes Length) : SUB 227)............................................289

4.5.11 XCHGB (Data Exchange (1 Byte Length) : SUB 228)
XCHGW (Data Exchange (2 Bytes Length) : SUB 229)

XCHGD (Data Exchange (4 Bytes Length) : SUB 230)......................................291

4.5.12 SWAPW (Data Swap (2 Bytes Length) : SUB 231)

SWAPD (Data Swap (4 Bytes Length) : SUB 232).............................................293

4.5.13 DSCHB (Binary Data Search: SUB 34)...............................................................296

4.5.14 DSCH (Data Search: SUB 17) .............................................................................299

4.6 TABLE DATA.............................................................................................301

4.6.1 TBLRB (Reading Data from Table (1 Byte Length) : SUB 233)
TBLRW (Reading Data from Table (2 Bytes Length) : SUB 234)

TBLRD (Reading Data from Table (4 Bytes Length) : SUB 235).......................302

4.6.2 TBLRN (Reading Data from Table (Arbitrary Bytes Length) : SUB 236)..........305

4.6.3 TBLWB (Writing Data to Table (1 Byte Length) : SUB 237)

TBLWW (Writing Data to Table (2 Bytes Length) : SUB 238)

TBLWD (Writing Data to Table (4 Bytes Length) : SUB 239)...........................308

4.6.4 TBLWN (Writing Data to Table (Arbitrary Bytes Length) : SUB 240) ..............311

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4.6.5 DSEQB (Searching Data from Table(=)(1 Byte Length):SUB 241)

DSEQW (Searching Data from Table(=)(2 Bytes Length):SUB 242)
DSEQD (Searching Data from Table(=)(4 Bytes Length):SUB 243)
DSNEB (Searching Data from Table(≠)(1 Byte Length):SUB 244)

DSNEW (Searching Data from Table(≠)(2 Bytes Length):SUB 245)

DSNED (Searching Data from Table(≠)(4 Bytes Length):SUB 246)
DSGTB (Searching Data from Table(>)(1 Byte Length):SUB 247)
DSGTW (Searching Data from Table(>)(2 Bytes Length):SUB 248)
DSGTD (Searching Data from Table(>)(4 Bytes Length):SUB 249)
DSLTB (Searching Data from Table(<)(1 Byte Length):SUB 250)
DSLTW (Searching Data from Table(<)(2 Bytes Length):SUB 251)
DSLTD (Searching Data from Table(<)(4 Bytes Length):SUB 252)
DSGEB (Searching Data from Table(≧)(1 Byte Length):SUB 253)
DSGEW (Searching Data from Table(≧)(2 Bytes Length):SUB 254)
DSGED (Searching Data from Table(≧)(4 Bytes Length) :SUB 255)
DSLEB (Searching Data from Table(≦)(1 Byte Length) :SUB 256)
DSLEW (Searching Data from Table(≦)(2 Bytes Length) :SUB 257)

DSLED (Searching Data from Table(≦)(4 Bytes Length) :SUB 258)................ 314

4.6.6 DMAXB (Maximum Data (1 Byte Length): SUB 259)

DMAXW (Maximum Data (2 Bytes Length) : SUB 260)

DMAXD (Maximum Data (4 Bytes Length) : SUB 261)....................................318

4.6.7 DMINB (Minimum Data (1 Byte Length): SUB 262)

DMINW (Minimum Data (2 Bytes Length): SUB 263)

DMIND (Minimum Data (4 Bytes Length): SUB 264) .......................................321

4.7 COMPARISON..........................................................................................324

4.7.1 Signed Binary Comparison (=)
EQB (1 Byte Length: SUB 200)
EQW (2 Bytes Length: SUB 201)

EQD (4 Bytes Length: SUB 202).........................................................................325

4.7.2 Signed Binary Comparison (≠)
NEB (1 Byte Length: SUB 203)
NEW (2 Bytes Length: SUB 204)

NED (4 Bytes Length: SUB 205).........................................................................327

4.7.3 Signed Binary Comparison (>)
GTB (1 Byte Length: SUB 206)
GTW (2 Bytes Length: SUB 207)

GTD (4 Bytes Length: SUB 208).........................................................................329

4.7.4 Signed Binary Comparison (<)
LTB (1 Byte Length: SUB 209)
LTW (2 Bytes Length: SUB 210)

LTD (4 Bytes Length: SUB 211) .........................................................................331

4.7.5 Signed Binary Comparison (≧)
GEB (1 Byte Length: SUB 212)
GEW (2 Bytes Length: SUB 213)

GED (4 Bytes Length: SUB 214).........................................................................333

4.7.6 Signed Binary Comparison (≦)
LEB (1 Byte Length: SUB 215)
LEW (2 Bytes Length: SUB 216)

LED (4 Bytes Length: SUB 217) .........................................................................335

4.7.7 Signed Binary Comparison (Range)
RNGB (1 Byte Length: SUB 218)
RNGW (2 Bytes Length: SUB 219)

RNGD (4 Bytes Length: SUB 220)......................................................................337

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4.7.8 COMPB (Comparison Between Binary Data: SUB 32).......................................339

4.7.9 COMP (Comparison: SUB 15).............................................................................342

4.7.10 COIN (Coincidence Check: SUB 16)...................................................................344

4.8 BIT OPERATION.......................................................................................346

4.8.1 DIFU (Rising Edge Detection: SUB 57).............................................................348

4.8.2 DIFD (Falling Edge Detection: SUB 58)............................................................349

4.8.3 EOR (Exclusive OR: SUB 59)............................................................................350

4.8.4 AND (Logical AND: SUB 60)............................................................................352

4.8.5 OR (Logical OR: SUB 61)..................................................................................354

4.8.6 NOT (Logical NOT: SUB 62).............................................................................356

4.8.7 PARI (Parity Check: SUB 11)............................................................................. 358

4.8.8 SFT (Shift Register: SUB 33) .............................................................................360

4.8.9 EORB (Exclusive OR (1 Byte Length) : SUB 265)
EORW (Exclusive OR (2 Bytes Length) : SUB 266)

EORD (Exclusive OR (4 Bytes Length) : SUB 267) ...........................................362

4.8.10 ANDB (Logical AND (1 Byte Length) : SUB 268)
ANDW (Logical AND (2 Bytes Length) : SUB 269)

ANDD (Logical AND (4 Bytes Length) : SUB 270)...........................................365

4.8.11 ORB (Logical OR (1 Byte Length) : SUB 271)
ORW (Logical OR (2 Bytes Length) : SUB 272)

ORD (Logical OR (4 Bytes Length) : SUB 273) .................................................368

4.8.12 NOTB (Logical NOT (1 Byte Length) : SUB 274)
NOTW (Logical NOT (2 Bytes Length) : SUB 275)

NOTD (Logical NOT (4 Bytes Length) : SUB 276)............................................371

4.8.13 SHLB (Bit Shift Left (1 Byte Length) : SUB 277)
SHLW (Bit Shift Left (2 Bytes Length) : SUB 278)

SHLD (Bit Shift Left (4 Bytes Length) : SUB 279).............................................373

4.8.14 SHLN (Bit Shift Left (Arbitrary Bytes Length) : SUB 280)................................376

4.8.15 SHRB (Bit Shift Right (1 Byte Length) : SUB 281)
SHRW (Bit Shift Right (2 Bytes Length) : SUB 282)

SHRD (Bit Shift Right (4 Bytes Length) : SUB 283)..........................................379

4.8.16 SHRN (Bit Shift Right (Arbitrary Bytes Length) : SUB 284) .............................382

4.8.17 ROLB (Bit Rotation Left (1 Byte Length) : SUB 285)
ROLW (Bit Rotation Left (2 Bytes Length) : SUB 286)

ROLD (Bit Rotation Left (4 Bytes Length) : SUB 287) ......................................385

4.8.18 ROLN (Bit Rotation Left (Arbitrary Bytes Length) : SUB 288) .........................388

4.8.19 RORB (Bit Rotation Right (1 Byte Length) : SUB 289)
RORW (Bit Rotation Right (2 Bytes Length) : SUB 290)

RORD (Bit Rotation Right (4 Bytes Length) : SUB 291)....................................391

4.8.20 RORN (Bit Rotation Right (Arbitrary Bytes Length) : SUB 292).......................394

4.8.21 BSETB (Bit Set (1 Byte Length) : SUB 293)
BSETW (Bit Set (2 Bytes Length) : SUB 294)

BSETD (Bit Set (4 Bytes Length) : SUB 295).....................................................397

4.8.22 BSETN (Bit Set (Arbitrary Bytes Length) : SUB 296)........................................399

4.8.23 BRSTB (Bit Reset (1 Byte Length) : SUB 297)
BRSTW (Bit Reset (2 Bytes Length) : SUB 298)

BRSTD (Bit Reset (4 Bytes Length) : SUB 299).................................................402

4.8.24 BRSTN (Bit Reset (Arbitrary Bytes Length) : SUB 300)....................................404

4.8.25 BTSTB (Bit Test (1 Byte Length) : SUB 301)
BTSTW (Bit Test (2 Bytes Length) : SUB 302)

BTSTD (Bit Test (4 Bytes Length) : SUB 303)...................................................407

4.8.26 BTSTN (Bit Test (Arbitrary Bytes Length) : SUB 304)......................................409

4.8.27 BPOSB (Bit Search (1 Byte Length) : SUB 305)
BPOSW (Bit Search (2 Bytes Length) : SUB 306)

BPOSD (Bit Search (4 Bytes Length) : SUB 307)...............................................412

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4.8.28 BPOSN (Bit Search (Arbitrary Bytes Length) : SUB 308)..................................414

4.8.29 BCNTB (Bit Count (1 Byte Length) : SUB 309)
BCNTW (Bit Count (2 Bytes Length) : SUB 310)

BCNTD (Bit Count (4 Bytes Length) : SUB 311)...............................................416

4.8.30 BCNTN (Bit Count (Arbitrary Bytes Length) : SUB 312) ..................................418

4.9 CODE CONVERSION...............................................................................420

4.9.1 COD (Code Conversion: SUB 7)........................................................................421

4.9.2 CODB (Binary Code Conversion: SUB 27)........................................................424

4.9.3 DCNV (Data Conversion: SUB 14)....................................................................427

4.9.4 DCNVB (Extended Data Conversion: SUB 31)..................................................429

4.9.5 DEC (Decode: SUB 4) ........................................................................................431

4.9.6 DECB (Binary Decoding: SUB 25) ....................................................................433

4.9.7 TBCDB (Binary to BCD Conversion (1 Byte Length) : SUB 313)
TBCDW (Binary to BCD Conversion (2 Bytes Length) : SUB 314)

TBCDD (Binary to BCD Conversion (4 Bytes Length) : SUB 315) ...................436

4.9.8 FBCDB (BCD to Binary Conversion (1 Byte Length) : SUB 313)
FBCDW (BCD to Binary Conversion (2 Bytes Length) : SUB 314)

FBCDD (BCD to Binary Conversion (4 Bytes Length) : SUB 315)....................438

4.10 OPERATION INSTRUCTION....................................................................440

4.10.1 ADDB (Binary Addition: SUB 36).....................................................................441

4.10.2 SUBB (Binary Subtraction: SUB 37)..................................................................443

4.10.3 MULB (Binary Multiplication: SUB 38)............................................................445

4.10.4 DIVB (Binary Division: SUB 39).......................................................................447

4.10.5 ADD (BCD Addition: SUB 19) ..........................................................................449

4.10.6 SUB (BCD Subtraction: SUB 20).......................................................................451

4.10.7 MUL (BCD Multiplication: SUB 21)..................................................................453

4.10.8 DIV (BCD Division: SUB 22) ............................................................................455

4.10.9 NUMEB (Definition of Binary Constants: SUB 40)...........................................457

4.10.10 NUME (BCD Definition of Constant: SUB 23)..................................................459

4.10.11 ADDSB (Addition (1 Byte Length) : SUB 319)
ADDSW (Addition (2 Bytes Length) : SUB 320)

ADDSD (Addition (4 Bytes Length) : SUB 321) ................................................460

4.10.12 SUBSB (Subtraction (1 Byte Length) : SUB 322)
SUBSW (Subtraction (2 Bytes Length) : SUB 323)

SUBSD (Subtraction (4 Bytes Length) : SUB 324).............................................462

4.10.13 MULSB (Multiplication (1 Byte Length) : SUB 325)
MULSW (Multiplication (2 Bytes Length) : SUB 326)

MULSD (Multiplication (4 Bytes Length) : SUB 327)........................................464

4.10.14 DIVSB (Division (1 Byte Length) : SUB 328)

DIVSW (Division (2 Bytes Length) : SUB 329)

DIVSD (Division (4 Bytes Length) : SUB 330) ..................................................466

4.10.15 MODSB (Remainder (1 Byte Length) : SUB 331)
MODSW (Remainder (2 Bytes Length) : SUB 332)

MODSD (Remainder (4 Bytes Length) : SUB 333).............................................468

4.10.16 INCSB (Increment (1 Byte Length) : SUB 334)

INCSW (Increment (2 Bytes Length) : SUB 335)

INCSD (Increment (4 Bytes Length) : SUB 336) ................................................470

4.10.17 DECSB (Decrement (1 Byte Length) : SUB 337)
DECSW (Decrement (2 Bytes Length) : SUB 338)

DECSD (Decrement (4 Bytes Length) : SUB 339)..............................................472

4.10.18 ABSSB (Absolute Value (1 Byte Length) : SUB 340)
ABSSW (Absolute Value (2 Bytes Length) : SUB 341)

ABSSD (Absolute Value (4 Bytes Length) : SUB 342)....................................... 474

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4.10.19 NEGSB (Sign Inversion (1 Byte Length) : SUB 343)
NEGSW (Sign Inversion (2 Bytes Length) : SUB 344)

NEGSD (Sign Inversion (4 Bytes Length) : SUB 345)........................................476

4.11 INSTRUCTIONS RELATED TO CNC FUNCTIONS..................................478

4.11.1 DISPB (Display Message: SUB 41)....................................................................479

4.11.2 EXIN (External Data Input: SUB 42) .................................................................494

4.11.3 WINDR (Reading CNC Window Data: SUB 51)...............................................499

4.11.4 WINDW (Writing CNC Window Data: SUB 52)...............................................501

4.11.5 AXCTL (Axis Control by PMC: SUB 53)..........................................................503

4.11.6 PSGN2 (Position Signal: SUB 63).......................................................................509

4.11.7 PSGNL (Position Signal: SUB 50) ......................................................................512

4.12 PROGRAM CONTROL..............................................................................516

4.12.1 COM (Common Line Control: SUB 9)...............................................................517

4.12.2 COME (Common Line Control End: SUB 29)...................................................520

4.12.3 JMP (Jump: SUB 10) ..........................................................................................521

4.12.4 JMPE (Jump End: SUB 30).................................................................................523

4.12.5 JMPB (Label Jump 1: SUB 68)...........................................................................524

4.12.6 JMPC (Label Jump 2: SUB 73)...........................................................................526

4.12.7 LBL (Label: SUB 69)..........................................................................................528

4.12.8 CALL (Conditional Subprogram Call: SUB 65).................................................529

4.12.9 CALLU (Unconditional Subprogram Call: SUB 66).......................................... 530

4.12.10 SP (Subprogram: SUB 71)..................................................................................531

4.12.11 SPE (End of a Subprogram: SUB 72) .................................................................532

4.12.12 END1 (1st Level Sequence Program End: SUB 1).............................................532

4.12.13 END2 (2nd Level Sequence Program End: SUB 2)............................................533

4.12.14 END3 (3rd Level Sequence Program End: SUB 48) ..........................................533

4.12.15 END (End of a Ladder Program: SUB 64)..........................................................534

4.12.16 NOP (No Operation: SUB 70).............................................................................534

4.12.17 CS (Case Call: SUB 74).......................................................................................535

4.12.18 CM (Sub Program Call in Case Call: SUB 75)....................................................538

4.12.19 CE (End of Case Call: SUB 76)...........................................................................539

4.13 ROTATION CONTROL..............................................................................540

4.13.1 ROT (Rotation Control: SUB 6) .........................................................................541

4.13.2 ROTB (Binary Rotation Control: SUB 26).........................................................544

4.14 INVALID INSTRUCTIONS.........................................................................547

4.15 NOTE ON PROGRAMMING .....................................................................548

5 WINDOW FUNCTIONS.......................................................................549

5.1 FORMATS OF CONTROL DATA..............................................................550

5.2 LOW-SPEED RESPONSE AND HIGH-SPEED RESPONSE....................551

5.2.1 Note on the Programming of a Low-speed Response Window Instruction .........552

5.3 LIST OF WINDOW FUNCTIONS...............................................................553

5.3.1 List of Window Functions (Function Group Order).............................................553

5.3.2 List of Window Functions (Function Code Order) ..............................................557

5.3.3 Compatibility with Conventional Models............................................................560

5.4 CNC INFORMATION.................................................................................562

5.4.1 Reading CNC System Information (High-speed Response) ................................562

5.4.2 Reading a Tool Offset (High-speed Response)....................................................564

5.4.3 Writing a Tool Offset (Low-speed Response)......................................................566

5.4.4 Reading a Workpiece Origin Offset Value (High-speed Response)....................568

5.4.5 Writing a Workpiece Origin Offset Value (Low-speed Response)......................570

5.4.6 Reading a Parameter (High-speed Response) ......................................................572

5.4.7 Writing a Parameter (Low-speed Response)........................................................574

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5.4.8 Reading a Real Type Parameter (High-speed Response).....................................576

5.4.9 Writing a Real Type Parameter (Low-speed Response).......................................580

5.4.10 Reading Setting Data (High-speed Response)......................................................584

5.4.11 Writing Setting Data (Low-speed Response).......................................................586

5.4.12 Reading a Custom Macro Variable (High-speed Response)................................587

5.4.13 Writing a Custom Macro Variable (Low-speed Response)..................................589

5.4.14 Reading a Custom Macro Variable (Variable Number Extension) (Low-speed

Response) .............................................................................................................591

5.4.15 Writing a Custom Macro Variable (Variable Number Extension) (Low-speed

Response) .............................................................................................................593

5.4.16 Reading the CNC Alarm Status (High-speed Response) .....................................595

5.4.17 Reading the Current Program Number (High-speed Response)...........................597

5.4.18 Reading the Current Sequence Number (High-speed Response).........................599

5.4.19 Reading Modal Data (High-speed Response) ......................................................600

5.4.20 Reading Diagnosis Data (Low-speed Response)..................................................610

5.4.21 Reading Diagnosis Data (High-speed Response).................................................612

5.4.22 Reading a P-CODE Macro Variable (High-speed Response)..............................614

5.4.23 Writing a P-CODE Macro Variable (Low-speed Response)................................617

5.4.24 Reading CNC Status Information (High-speed Response) ..................................620

5.4.25 Reading the Current Program Number (8-digit Program Numbers) (High-speed

Response) .............................................................................................................622

5.4.26 Entering Data on the Program Check Screen (Low-speed Response) .................624

5.4.27 Reading Clock Data (Date and Time) (High-speed Response)............................625

5.4.28 Writing Clock Data (Date and Time) (Low-speed Response)..............................627

5.4.29 Reading the Pitch Error Compensation Value (High-speed Response) ...............631

5.4.30 Writing the Pitch Error Compensation Value (Low-speed Response).................632

5.4.31 Tool Figure Making Instruction for 3D Interference Check Function (Low-speed

Response) .............................................................................................................633

5.4.32 Reading Detailed Information of CNC Alarm .....................................................635

5.4.33 Command for Changing the Interference Object for 3D Interference Check

Function (Low-speed Response)..........................................................................640

5.5 AXIS INFORMATION ................................................................................642

5.5.1 Reading the Actual Velocity of Controlled Axes (High-speed Response)...........642

5.5.2 Reading the Absolute Position (Absolute Coordinates) of Controlled Axes

(High-speed Response).........................................................................................643

5.5.3 Reading the Machine Position (Machine Coordinates) of Controlled Axes

(High-speed Response).........................................................................................645

5.5.4 Reading a Skip Position (Stop Coordinates of Skip Operation (G31)) of

Controlled Axes (High-speed Response) .............................................................647

5.5.5 Reading the Servo Delay for Controlled Axes (High-speed Response) ...............649

5.5.6 Reading the Acceleration/Deceleration Delay on Controlled Axes (High-speed

Response) .............................................................................................................651

5.5.7 Reading the Feed Motor Load Current Value (A/D Conversion Data)

(High-speed Response).........................................................................................653

5.5.8 Reading the Actual Spindle Speed (High-speed Response).................................655

5.5.9 Reading the Relative Position on a Controlled Axis (High-speed Response)......656

5.5.10 Reading the Remaining Travel (High-speed Response).......................................658

5.5.11 Reading the Actual Velocity of each Controlled Axis (High-speed Response)... 660

5.5.12 Reading Actual Spindle Speeds (High-speed Response)..................................... 662

5.5.13 Entering Torque Limit Data for the Digital Servo Motor (Low-speed Response)665

5.5.14 Reading Load Information of the Spindle Motor (Serial Interface) (High-speed

Response) .............................................................................................................667

5.5.15 Reading a Chopping Data (Low-speed Response)...............................................669

5.5.16 Reading the Actual Speed of Servo Motor (High-speed Response) ....................672

5.5.17 Reading the Estimate Disturbance Torque Data (High-speed Response)............677

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5.5.18 Reading a Fine Torque Sensing Data (Statistical Calculation Results)

(High-speed Response).........................................................................................682

5.5.19 Reading a Fine Torque Sensing Data (Store Data) (High-speed Response)........685

5.5.20 Presetting the Relative Coordinate (Low-speed Response) .................................690

5.5.21 Reading the Three-Dimensional Error Compensation Data (Low-Speed

Response) .............................................................................................................692

5.5.22 Writing the Three-Dimensional Error Compensation Data (Low-Speed

Response) .............................................................................................................694

5.5.23 Reading the Actual Machine Position of Controlled Axes...................................697

5.6 TOOL LIFE MANAGEMENT FUNCTION..................................................700

5.6.1 Reading The Tool Life Management Data (Tool Group Number) (High-speed

Response) .............................................................................................................700

5.6.2 Reading Tool Life Management Data (Number of Tool Groups) (High-speed

Response) .............................................................................................................702

5.6.3 Reading Tool Life Management Data (Number of Tools) (High-speed

Response) .............................................................................................................704

5.6.4 Reading Tool Life Management Data (Tool Life) (High-speed Response).........706

5.6.5 Reading Tool Life Management Data (Tool Life Counter) (High-speed

Response) .............................................................................................................708

5.6.6 Reading Tool Life Management Data (Tool Length Compensation Number (1):

Tool Number) (High-speed Response).................................................................710

5.6.7 Reading Tool Life Management Data (Tool Length Compensation Number (2):

Tool Order Number) (High-speed Response) ......................................................712

5.6.8 Reading Tool Life Management Data (Cutter Radius Compensation Number (1):

Tool Number) (High-speed Response).................................................................714

5.6.9 Reading Tool Life Management Data (Cutter Radius Compensation Number (2):

Tool Order Number) (High-speed Response) ......................................................716

5.6.10 Reading Tool Life Management Data (Tool Information (1): Tool Number)

(High-speed Response).........................................................................................718

5.6.11 Reading Tool Life Management Data (Tool Information (2): Tool Order

Number) (High-speed Response).........................................................................720

5.6.12 Reading Tool Life Management Data (Tool Number) (High-speed Response)...722

5.6.13 Reading the Tool Life Management Data (Tool Life Counter Type)

(High-speed Response).........................................................................................724

5.6.14 Registering Tool Life Management Data (Tool Group)(Low-speed Response)..726

5.6.15 Writing Tool Life Management Data (Tool Life)(Low-speed Response)............728

5.6.16 Writing Tool Life Management Data (Tool Life Counter)(Low-speed

Response) .............................................................................................................730

5.6.17 Writing Tool Life Management Data (Tool Life Counter Type)(Low-speed

Response) .............................................................................................................732

5.6.18 Writing Tool Life Management Data (Tool Length Compensation Number (1):

Tool Number)(Low-speed Response) ..................................................................733

5.6.19 Writing Tool Life Management Data (Tool Length Compensation Number (2):

Tool Order Number)(Low-speed Response)........................................................734

5.6.20 Writing Tool Life Management Data (Cutter Radius Compensation Number (1):

Tool Number)(Low-speed Response) ..................................................................735

5.6.21 Writing Tool Life Management Data (Cutter Radius Compensation Number (2):

Tool Order Number)(Low-speed Response)........................................................736

5.6.22 Writing the Tool Life Management Data (Tool Information (1): Tool Number)

(Low-speed Response) .........................................................................................737

5.6.23 Writing the Tool Management Data (Tool Information (2): Tool Order Number)

(Low-speed Response) .........................................................................................739

5.6.24 Writing Tool Life Management Data (Tool Number)(Low-speed Response).....741

5.6.25 Reading The Tool Life Management Data (Tool Group Number) (High-speed

Response)(8-digit Tool Number) .........................................................................742

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B-64513EN/01 TABLE OF CONTENTS

5.6.26 Reading Tool Life Management Data (Tool Information (1): Tool Number)

(High-speed Response)(8-digit Tool Number).....................................................744

5.6.27 Registering Tool Life Management Data (Tool Group Number) (Low-speed

Response) (8-digit Tool Number) ........................................................................746

5.6.28 Reading Tool Life Management Data (Tool Length Compensation Number (1): Tool

Number) (High-speed Response) (8-digit Tool Number) ....................................748

5.6.29 Reading Tool Life Management Data (Cutter Radius Compensation Number (1):

Tool Number) (High-speed Response) (8-digit Tool Number)............................750

5.6.30 Writing Tool Life Management Data (Tool Length Compensation Number (1):

Tool Number)(Low-speed Response) (8-digit Tool Number) .............................752

5.6.31 Writing Tool Life Management Data (Cutter Radius Compensation Number (1):

Tool Number)(Low-speed Response) (8-digit Tool Number) .............................753

5.6.32 Writing the Tool Life Management Data (Tool Information (1): Tool Number)

(Low-speed Response) (8-digit Tool Number) ....................................................754

5.6.33 Deleting Tool life Management Data (Tool Group)(Low-speed Response)........756

5.6.34 Deleting Tool life Management Data (Tool Data)(Low-speed Response)...........757

5.6.35 Clearing Tool Life Management Data (Tool Life Counter and Tool Information)

(Low-speed Response) .........................................................................................758

5.6.36 Writing Tool Life Management Data (Arbitrary Group Number)(Low-speed

Response) .............................................................................................................759

5.6.37 Writing Tool Life Management Data (Remaining Tool Life)(Low-speed

Response) .............................................................................................................760

5.7 TOOL MANAGEMENT FUNCTIONS ........................................................761

5.7.1 Exchanging Tool Management Data Numbers in a Magazine Management

Table (Low-speed Response)...............................................................................762

5.7.2 Searching for a Free Pot (Low-speed Response)..................................................764

5.7.3 Registering New Tool Management Data (Low-speed Response).......................766

5.7.4 Writing Tool Management Data (Low-speed Response).....................................771

5.7.5 Deleting Tool Management Data (Low-speed Response)....................................776

5.7.6 Reading Tool Management Data (Low-speed Response)....................................778

5.7.7 Writing a Specified Type of Tool Management Data (Low-speed Response).....782

5.7.8 Searching for Tool Management Data (Low-speed Response)............................787

5.7.9 Shifting Tool Management Data (Low-speed Response).....................................789

5.7.10 Searching for a Free Pot (Oversize Tools Supported) (Low-speed Response)....791

5.7.11 Reading the Total Tool Life Data (Low-speed Response)...................................793

5.7.12 Writing Tool Management Data by Specified Data (Low-speed Response) .......795

5.7.13 Deleting Tool Management Data by Specified Data (Low-speed Response)......801

5.7.14 Reading Tool Management Data by Specified Data (Low-speed Response).......803

5.7.15 Writing Each Tool Management Data by Specified Data (Low-speed

Response) .............................................................................................................807

5.7.16 Writing Magazine Property Data (Low-speed Response)....................................812

5.7.17 Reading Magazine Property Data (Low-speed Response)...................................814

5.7.18 Writing Pot Property Data (Low-speed Response)..............................................816

5.7.19 Reading Pot Property Data (Low-speed Response) .............................................818

5.7.20 Searching for a Free Pot by Specified Data (Low-speed Response)....................820

5.7.21 Reading a Tool Geometry Data (Low-speed Response)......................................823

5.7.22 Writing a Tool Geometry Data (Low-speed Response).......................................825

5.7.23 Moving Tool Management Data Numbers in a Magazine Management Table

(Low-speed Response) .........................................................................................827

5.7.24 Reading free number of Multi edge group / Tool offset (High-speed Response) 830

5.7.25 Writing Edge Data (Low-speed Response)..........................................................832

5.7.26 Reading Edge Data (Low-speed Response).........................................................835

5.7.27 Writing Each Edge Data (Low-speed Response).................................................838

5.7.28 Reading the Total Tool Life Data of an Edge (Low-speed Response).................841

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6 OPERATING THE PMC SCREEN ......................................................843

6.1 OPERATION SCREENS OF THE PMC AND SOFT KEY

ORGANIZATION .......................................................................................845

6.1.1 Transition of the PMC Screens.............................................................................845

6.1.2 Basic Screen Operations.......................................................................................846

6.2 DISPLAY AND OPERATION CONDITIONS FOR SCREENS...................848

6.2.1 Programmer Protection Function .........................................................................849

6.2.2 PMC Parameter Input/Output Conditions............................................................856

6.2.3 Password Function for Ladder Program ...............................................................858

6.2.4 Partial Protection Function for Ladder Program..................................................860

6.2.5 Password Function for I/O Configuration Data....................................................860

6.2.6 Protection of Data at 8 Levels..............................................................................862

6.3 MULTI-PMC DISPLAY...............................................................................865

6.4 DISPLAYING EXTENDED SYMBOL AND COMMENT.............................867

7 PMC DIAGNOSIS AND MAINTENANCE SCREENS

([PMC MAINTE]).................................................................................869

7.1 MONITORING PMC SIGNAL STATUS ([STATUS] SCREEN)..................870

7.1.1 Forced I/O Function .............................................................................................872

7.1.2 Forced I/O Screen.................................................................................................875

7.2 CHECKING PMC ALARMS ([PMC ALARM] SCREEN).............................878

7.3 SETTING AND DISPLAYING PMC PARAMETERS..................................879

7.3.1 Setting and Displaying Variable Timers ([TIMER] Screen)................................880

7.3.2 Setting and Displaying Counter Values ([COUNTR] Screen).............................883

7.3.3 Setting and Displaying Keep Relays ([KEEP RELAY] Screen)..........................885

7.3.4 Setting and Displaying Data Tables ([DATA] Screen)........................................887

7.4 DATA INPUT/OUTPUT ([I/O] SCREEN)...................................................896

7.4.1 Memory Card and USB Memory.........................................................................900

7.4.2 Setting the Communication Port ([PORT SETING] Screen)...............................901

7.4.3 Displaying a File List ([LIST] Screen).................................................................903

7.4.4 Setting an I/O Target PMC...................................................................................905

7.4.5 Outputting a Sequence Program to the Memory Card or the USB Memory........907

7.4.6 Inputting a Sequence Program from the Memory Card or the USB Memory......908

7.4.7 Comparing Sequence Programs with Memory Card Files or USB Memory Files910

7.4.8 Saving Sequence Programs to the Flash ROM.....................................................911

7.4.9 Inputting Sequence Programs from the Flash ROM ............................................912

7.4.10 Comparing Sequence Programs with Flash ROM Files.......................................914

7.4.11 Outputting a Sequence Program to the FLOPPY.................................................914

7.4.12 Inputting a Sequence Program from the FLOPPY...............................................915

7.4.13 Comparing Sequence Programs with FLOPPY Files...........................................917

7.4.14 Outputting Sequence Programs to Other Devices (via the RS-232C Port)..........918

7.4.15 Inputting Sequence Programs from Other Devices (via the RS-232C Port)........919

7.4.16 Comparing Sequence Programs with Files of Other Devices (via the RS-232C

Port)......................................................................................................................921

7.4.17 Outputting PMC Parameters to the Memory Card or the USB memory..............922

7.4.18 Inputting PMC Parameters from the Memory Card or the USB Memory ...........923

7.4.19 Comparing PMC Parameters with Memory Card Files or USB Memory Files...925

7.4.20 Outputting PMC Parameters to the FLOPPY.......................................................926

7.4.21 Inputting PMC Parameters from the FLOPPY.....................................................927

7.4.22 Comparing PMC Parameters with FLOPPY Files...............................................928

7.4.23 Outputting PMC Parameters to Other Devices

(via the RS-232C Port).........................................................................................929

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B-64513EN/01 TABLE OF CONTENTS

7.4.24 Inputting PMC Parameters from Other Devices (via the RS-232C Port).............930

7.4.25 Comparing PMC Parameters with Files of Other Devices (via the RS-232C

Port)......................................................................................................................931

7.4.26 Outputting Message Data for Multi-Language Display to the Memory Card or

the USB memory..................................................................................................932

7.4.27 Inputting Message Data for Multi-Language Display from the Memory Card or

the USB memory..................................................................................................933

7.4.28 Comparing Message Data for Multi-Language Display with Memory Card Files

or USB Memory Files ..........................................................................................935

7.4.29 Saving Message Data for Multi-Language Display to the Flash ROM................936

7.4.30 Inputting Message Data for Multi-Language Display from the Flash ROM........937

7.4.31 Comparing Message Data for Multi-Language Display with Flash ROM Files..938

7.4.32 Outputting Trace setting data to the Memory Card or the USB Memory............939

7.4.33 Inputting Trace Setting Data from the Memory Card or the USB Memory.........940

7.4.34 Outputting I/O Configuration data to the Memory Card or USB Memory..........941

7.4.35 Inputting I/O Configuration data from the Memory Card or USB Memory........942

7.4.36 Comparing I/O Configuration data with Memory Card Files or USB Memory

Files......................................................................................................................943

7.4.37 Saving I/O Configuration data to the Flash ROM................................................944

7.4.38 Inputting I/O Configuration data from the Flash ROM........................................945

7.4.39 Comparing I/O Configuration data with Flash ROM Files..................................945

7.4.40 Deleting Memory Card/USB memory Files or Formatting a Memory Card.......946

7.4.41 Deleting One or All FLOPPY Files......................................................................947

7.5 DISPLAYING I/O DEVICES CONNECTION STATUS ([I/O DEVICE]

SCREEN) ..................................................................................................948

7.5.1 Registration of I/O Devices Configuration...........................................................951

7.5.2 Check of I/O Link Connection.............................................................................952

7.6 TRACING AND DISPLAYING PMC SIGNAL STATUS .............................955

7.6.1 Signal Trace Function ([TRACE] Screen) ...........................................................955

7.6.2 Setting of Trace Parameter ([TRACE SETING] Screen).....................................956

7.6.3 Execution of Trace ...............................................................................................961

7.6.4 Operation after Execution of Trace......................................................................962

7.6.5 Automatic Start of Trace Setting..........................................................................964

7.6.6 Trace Result Output..............................................................................................965

7.7 MONITORING I/O DIAGNOSIS ([I/O DGN] SCREEN)..............................969

7.7.1 I/O DIAGNOSIS Screen ......................................................................................970

7.7.2 SETTING Screen of I/O DIAGNOSIS ................................................................977

8 LADDER DIAGRAM MONITOR AND EDITOR SCREENS

([PMC LADDER])................................................................................980

8.1 DISPLAYING A PROGRAM LIST ([LIST] SCREEN).................................982

8.1.1 Setting the Program List Screen...........................................................................984

8.2 MONITORING LADDER DIAGRAMS ([LADDER] SCREEN)....................985

8.2.1 Operating on the LADDER DIAGRAM MONITOR Screen...............................988

8.2.2 Setting the Display Format of the LADDER DIAGRAM MONITOR Screen....992

8.2.3 Display Format for Parameters.............................................................................999

8.2.4 FUNCTIONAL INSTRUCTION DATA TABLE VIEWER Screen.................1011

8.3 EDITING LADDER PROGRAMS.............................................................1013

8.3.1 Operating on the LADDER DIAGRAM EDITOR Screen.................................1015

8.3.2 Setting the LADDER DIAGRAM EDITOR Screen..........................................1018

8.3.3 NET EDITOR Screen.........................................................................................1024

8.3.4 Structure of Valid Net ........................................................................................1033

8.3.4.1 Structure of standard type net........................................................................ 1033

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8.3.4.2 Structure of extended type net.......................................................................1034

8.3.4.3 Ladder that is not programmable................................................................... 1039

8.3.5 Optimization.......................................................................................................1040

8.3.6 FUNCTIONAL INSTRUCTION LIST Screen..................................................1041

8.3.7 FUNCTIONAL INSTRUCTION DATA TABLE EDITOR Screen..................1043

8.3.8 Operating on the FUNCTIONAL INSTRUCTION DATA TABLE EDITOR

Screen.................................................................................................................1044

8.3.9 PROGRAM LIST EDITOR Screen ...................................................................1046

8.3.10 Setting the PROGRAM LIST EDITOR Screen.................................................1048

8.4 SELECTING AND DISPLAYING THE NECESSARY LADDER NET

([SWITCH] SCREEN]).............................................................................1049

8.4.1 Collective Monitor Function..............................................................................1049

8.4.2 Collective Monitor Screen..................................................................................1050

8.5 ADDRESS ALTERATION FUNCTION ....................................................1053

8.5.1 Screen Structures................................................................................................1054

8.5.2 Operating on the Screen .....................................................................................1055

8.6 FUNCTION TO REFERENCE ADDRESSES IN USE.............................1057

8.6.1 Address Map Display Screen .............................................................................1057

8.6.2 Operating on the Screen .....................................................................................1058

8.7 FUNCTION TO AUTOMATICALLY INPUT UNUSED ADDRESSES.......1059

8.8 AUTOMATICALLY INPUTTING UNUSED PARAMETER NUMBERS.....1060

8.9 DETECTION OF DOUBLE COILS...........................................................1061

8.10 CHECKING OF DUPLICATE COIL ([DUP. CHECK] SCREEN)..............1062

8.11 DISPLAYING A SUBPROGRAM LIST ([SPLIST] SCREEN)...................1065

8.11.1 Display history of a Subprogram........................................................................1065

8.11.2 Subprogram List Display Screen........................................................................1067

8.11.3 Setting Subprogram List Screen.........................................................................1068

8.12 OPERATION BY TOUCH PANEL ...........................................................1069

8.12.1 Operation List of the Touch Panel......................................................................1070

8.12.2 Operation of Program List Viewer Screen.........................................................1071

8.12.3 Operation of Ladder Diagram Monitor Screen...................................................1073

8.12.4 Operation of Ladder Diagram Editor Screen......................................................1076

8.12.5 Operation of Net Editor Screen..........................................................................1077

8.12.6 Operation of Program List Editor Screen...........................................................1078

8.12.7 Operation of Collective Monitor Screen ............................................................1080

8.12.8 Operation of Subprogram List Display Screen ..................................................1083

9 PMC CONFIGURATION DATA SETTING SCREENS

([PMC CONFIG])...............................................................................1085

9.1 DISPLAYING AND EDITING TITLE DATA ([TITLE] SCREENS).............1086

9.1.1 Displaying Title Data .........................................................................................1086

9.1.2 Editing Title Data...............................................................................................1088

9.1.3 Displaying Title Data (Message)........................................................................1091

9.2 DISPLAYING AND EDITING SYMBOL AND COMMENT DATA

([SYMBOL] SCREENS)...........................................................................1092

9.2.1 Displaying Symbol and Comment Data.............................................................1092

9.2.2 Editing Symbol and Comment Data...................................................................1094

9.2.3 Partially Changing Symbol and Comment Data.................................................1096

9.2.4 Registering New Symbol and Comment Data....................................................1098

9.2.5 Displaying Extended Symbol and Comment .....................................................1100

9.2.6 Editing Extended Symbol and Comment...........................................................1103

9.2.7 Adding an Extended Symbol and Comment......................................................1107

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9.3 DISPLAYING AND EDITING MESSAGE DATA ([MESAGE] SCREENS)1109

9.3.1 Displaying Message Data...................................................................................1109

9.3.2 Editing Message Data.........................................................................................1111

9.3.3 Editing Desired Message Data ...........................................................................1114

9.4 DISPLAYING AND EDITING I/O MODULE ALLOCATION DATA

([MODULE] SCREENS)...........................................................................1117

9.4.1 Displaying I/O Module Allocation Data ............................................................1117

9.4.2 Editing I/O Module Allocation Data..................................................................1118

9.5 DISPLAYING AND CHANGING PMC SETTINGS ([SETING]

SCREENS)..............................................................................................1121

9.6 DISPLAYING THE STATUS OF PMCS AND CHANGING THE TARGET

PMC ([PMC STATUS] SCREENS)..........................................................1129

9.6.1 Starting and Stopping Sequence Programs.........................................................1130

9.7 DISPLAYING AND SETTING PARAMETERS FOR THE ONLINE

FUNCTION ([ONLINE] SCREEN)............................................................1131

9.7.1 Setting Parameters for the Online Function .......................................................1133

9.7.2 Communication Status........................................................................................1135

9.7.3 About Ethernet Communication Parameters......................................................1136

9.7.4 About Connection Log of Ethernet ....................................................................1138

9.8 DISPLAYING AND SETTING SYSTEM PARAMETERS

([SYSTEM PARAM] SCREENS)..............................................................1140

9.8.1 Displaying and Setting the Counter Data Type..................................................1140

9.8.2 Displaying and Setting Parameters for an FS0 Operator's Panel........................1142

9.8.3 Displaying and Setting Parameters for the Selectable I/O Link Assignment

Function..............................................................................................................1145

9.9 DISPLAYING AND SETTING CONFIGURATION PARAMETERS

([CONFIG PARAM] SCREENS) ..............................................................1148

9.9.1 Menu for Setting Configuration Parameters.......................................................1148

9.9.2 Setting the CNC-PMC Interface.........................................................................1150

9.9.3 Setting the Machine Signal Interface .................................................................1154

9.9.4 Setting the Parameters Related to Ladder Execution .........................................1159

9.9.5 Setting the PMC Memory Type .........................................................................1162

9.10 DISPLAYING AND EDITING OF I/O Link i ASSIGNMENT ([I/O LINK I]

SCREEN) ................................................................................................1164

9.10.1 Displaying of Group Information of I/O Link i Assignment Data.....................1165

9.10.2 Displaying of Slot Information of I/O Link i Assignment Data.........................1168

9.10.3 Displaying of Title Information of I/O Link i Assignment Data........................1169

9.10.4 Setting of Effective Group of I/O Link i Assignment Data (Selectable

Assignment Function) ........................................................................................1170

9.10.5 Editing of Group Information of I/O Link i Assignment Data...........................1171

9.10.6 Changing of Slot Information of I/O Link i Assignment Data...........................1176

9.10.7 Adding of Slot Information of I/O Link i Assignment Data..............................1178

10 STEP SEQUENCE FUNCTION.........................................................1180

10.1 OVERVIEW .............................................................................................1180

10.1.1 Step Sequence Method.......................................................................................1180

10.1.2 Graphical Symbols.............................................................................................1183

10.1.3 Editing and Debugging Step Sequence Programs..............................................1184

10.2 STEP SEQUENCE BASICS....................................................................1185

10.2.1 Terminology.......................................................................................................1185

10.2.2 Execution of Step Sequence...............................................................................1192

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TABLE OF CONTENTS B-64513EN/01

10.3 CONFIGURATION AND OPERATION OF STEP–SEQUENCE

PROGRAMS............................................................................................1195

10.3.1 Step.....................................................................................................................1195

10.3.2 Initial Step ..........................................................................................................1197

10.3.3 Transition ...........................................................................................................1198

10.3.4 Divergence of Selective Sequence .....................................................................1198

10.3.5 Convergence of Selective Sequence...................................................................1199

10.3.6 Divergence of Simultaneous Sequence..............................................................1200

10.3.7 Convergence of Simultaneous Sequence............................................................1200

10.3.8 Jump ...................................................................................................................1202

10.3.9 Label...................................................................................................................1203

10.3.10 Block Step ..........................................................................................................1204

10.3.11 Initial Block Step ................................................................................................1205

10.3.12 End Of Block Step..............................................................................................1205

10.4 EXTENDED LADDER INSTRUCTIONS..................................................1206

10.4.1 Functional Instruction TRSET ...........................................................................1206

10.4.2 PMC Address (S Address)..................................................................................1206

10.5 SPECIFICATION OF STEP SEQUENCE................................................1208

10.5.1 Specification.......................................................................................................1208

10.5.2 General Rules.....................................................................................................1208

10.5.3 Exclusive Control for Functional Instructions ...................................................1214

10.6 STEP SEQUENCE SCREEN OPERATION ............................................1217

10.6.1 Displaying a Step Sequence Diagram ................................................................1217

10.6.2 History of Display..............................................................................................1219

10.6.3 Program List Display Screen..............................................................................1219

10.6.4 Step Sequence Display Screen ...........................................................................1220

10.6.5 Setting the Step Sequence Diagram Screen........................................................1222

10.6.6 Subprogram List Display Screen........................................................................1224

10.6.7 Setting Subprogram List Screen.........................................................................1224

10.6.8 Ladder Diagram Monitor Screen........................................................................1224

10.6.9 Collective Monitor Screen..................................................................................1224

10.7 EXECUTION STATE DISPLAY...............................................................1225

10.7.1 Step Sequence State Display Screen (Global)....................................................1225

10.7.2 Step Sequence State Display Screen (Subprogram)...........................................1227

10.8 TIME MONITOR FUNCTION...................................................................1229

10.8.1 Time Monitor Setting Screen.............................................................................1230

11 FUNCTION BLOCK FUNCTION.......................................................1232

11.1 OVERVIEW .............................................................................................1232

11.1.1 Item Names.........................................................................................................1233

11.1.2 Overview of Specifications................................................................................1234

11.1.3 Memory Usage Related to Function Blocks.......................................................1238

11.1.4 Assignment of FB Variable................................................................................1239

11.2 FUNCTION BLOCK DEFINITION............................................................1240

11.2.1 Function Block Name.........................................................................................1240

11.2.2 Variable Information..........................................................................................1241

11.2.3 FB Body Program...............................................................................................1249

11.2.4 Other Information...............................................................................................1251

11.3 FUNCTION BLOCK CALL.......................................................................1253

11.3.1 Function Block Call Positions............................................................................1253

11.3.2 Creating a Function Block Call Section.............................................................1253

11.4 EXECUTING A FUNCTION BLOCK........................................................1256

11.5 DISPLAYING AND EDITING A FUNCTION BLOCK...............................1258

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B-64513EN/01 TABLE OF CONTENTS

11.5.1 Program List Display Screen..............................................................................1259

11.5.2 LADDER DIAGRAM MONITOR Screen ........................................................1260

11.5.3 Displaying Internal and External Variables in the Monitor (FB Instance

Monitor Display)................................................................................................1267

11.5.4 Displaying the FB Body Program......................................................................1268

11.5.5 Setting the Display Format of the LADDER DIAGRAM MONITOR Screen..1269

11.5.6 LADDER DIAGRAM EDITOR Screen ............................................................1274

11.5.7 NET EDITOR Screen.........................................................................................1277

11.5.8 Address Alteration Function ..............................................................................1277

11.5.9 Address Map Display Screen .............................................................................1279

11.5.10 Duplicate Coil Check Screen..............................................................................1280

11.5.11 Subprogram List Display Screen........................................................................1281

11.5.12 Title Screen.........................................................................................................1283

11.6 DISPLAYING AND EDITING SYMBOL AND COMMENT.......................1284

11.6.1 Extended Symbol and Comment Screen............................................................1284

11.6.2 Displaying Extended Symbol and Comment .....................................................1285

12 PMC ALARM MESSAGES AND ACTIONS TO TAKE.....................1286

12.1 ALARM MESSAGE LIST.........................................................................1286

12.1.1 Messages That May Be Displayed on the PMC Alarm Screen..........................1286

12.1.2 PMC System Alarm Messages...........................................................................1294

12.1.3 Operation Errors.................................................................................................1299

12.1.4 I/O Communication Error Messages..................................................................1315

12.2 I/O Link COMMUNICATION ERRORS AND ACTIONS TO TAKE ..........1320

12.2.1 Causes of Communication Errors.......................................................................1321

12.2.2 Check Items........................................................................................................1323

12.2.3 Sample Cases......................................................................................................1324

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B-64513EN/01 1.OVERVIEW OF PMC

1 OVERVIEW OF PMC

1.1 WHAT IS PMC?

The programmable machine controller (PMC) is a programmable controller (PC) built into a CNC to
perform sequence control for a machine tool (spindle rotation, tool change, machine operator's panel control,
and so on).
Sequence control is to perform control steps successively in a predetermined sequence or according to the
logic operation.
Programs for performing sequence control for machine tools are called sequence programs. Generally,
sequence programs coded in the Ladder language are used.

1.1.1 Basic Configuration of PMC

The following is the basic configuration of the PMC:

CNC

Internal

I/O

Fig. 1.1.1 Basic configuration of PMC

The sequence program reads input signals, performs operations, and outputs results in a predetermined
sequence.

PMC

Sequence

program

Internal relay

External

I/O

Signal input to PM C

Signal output from PMC

Machine

1.1.2 I/O Signals of PMC

Input signals of the PMC include signals input from the CNC (such as M and T function signals) and signals
input from the machine (such as the cycle start button and feed hold signal button). Output signals of the
PMC include signals output to the CNC (such as the cycle start command and feed hold signal command)
and signals output to the machine (such as turret rotation and spindle stop). The PMC controls these I/O
signals by executing a sequence program to control the machine tool.

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1.OVERVIEW OF PMC B-64513EN/01

A

)

1.1.3 PMC Signal Addresses

PMC signal addresses indicate the locations of I/O signals exchanged with the machine, I/O signals
exchanged with the CNC, and signals for internal relays and data (PMC parameters) in nonvolatile memory.
PMC addresses are roughly classified as shown in Fig. 1.1.3 (a).

Signals
to/from CNC

F

PMC

G

X

Y

Signals

to/from

machine

(MT)

Nonvolatile memory

Internal relay (R)

Extra relay (E)

Fig. 1.1.3 (a) PMC-related addresses

(1) Variable timer (T)
(2) Counter (C)
(3) Keep relay (K)
(4) Data table (D)

(5) Extra relay (E)

(NOTE)

NOTE

Optionally, extra relays (E) may be assigned to nonvolatile memory locations.

The PMC signal address format consists of an address number and bit number (0 to 7) as follows:

Bit number (0 to 7)

ddress number (letter followed by decimal

number

Fig. 1.1.3 (b) PMC address format

The first letter of an address number represents the type of the signal.
In sequence programs, an address of a byte may be specified. In the above example, specify X127 to

specify a byte address. In this case, the period "." and bit number are unnecessary.

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B-64513EN/01 1.OVERVIEW OF PMC

Table 1.1.3 lists the address symbols and corresponding signals.

Table 1.1.3 Address Symbols and signal types

Symbol Signal type

F Input signal from CNC to PMC (CNC → PMC)
G Output signal from PMC to CNC (PMC → CNC)
X Input signal from machine to PMC (MT → PMC)
Y Output signal fr om PMC t o machine (PMC → MT)
R Internal relay
E Extra relay
A Message display

T Variable timer
C Counter
K Keep relay
D Data table
M Input signal from another PMC path
N Output signal to another PMC path

L Label number
P Subprogram number

(1) Addresses of signals between the PMC and CNC (F and G)
These addresses are assigned to interface signals between the CNC and PMC. The relationships

between the signals and addresses are defined by the CNC.
F indicates an input signal from the CNC to PMC.
G indicates an output signal from the PMC to CNC.

(2) Addresses of signals between the PMC and machine (X and Y)
I/O signals exchanged with an externally connected machine can be assigned to any addresses within

an available range to control the machine.
X indicates an input signal from the machine to PMC.
Y indicates an output signal from the PMC to machine.

(3) Addresses of internal relays and extra relays (R and E)
These addresses are used to temporarily store operation results during sequence program execution

processing.
Optionally, E addresses may be assigned to nonvolatile memory locations.
The address locations of internal relays also include a reserved area used by the PMC system software.

The signals in the reserved area cannot be written by sequence programs.

(4) Signal addresses for message display (A)
Instruction “DISPB” used in sequence programs include instructions to display a message on the CNC

screen. These addresses are used by such instructions.

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1.OVERVIEW OF PMC B-64513EN/01

(5) Nonvolatile memory addresses
The contents of these address locations are not erased even when the power is turned off.
These addresses are used for management of the data items listed below. These data items are called

PMC parameters.

(a) Variable timer (T)

(b) Counter (C)

(c) Keep relay (K)

A reserved area used by the PMC system software is partly included.

(d) Data table (D)

(e) Extra relay (E)

Optionally, E addresses may be assigned to nonvolatile memory locations.

These addresses are used to temporarily store operation results during sequence program

execution processing.

(6) Multi-path PMC interface address (M, N)
These addresses are used to the Multi-path PMC interface.
M indicates an input signal from another PMC path.
N indicates an output signal to another PMC path.

(7) Other addresses

(a) Label number (L)

Sequence program instructions include an instruction to cause a jump to a specified position in

the middle of processing. This address indicates the jump destination used by this instruction.
The contents of L address cannot be read/written in sequence program.

(b) Subprogram number (P)

In sequence programs, a main program can call subprograms. P addresses indicate the numbers

of these subprograms. The contents of P address cannot be read/written in sequence program.

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B-64513EN/01 1.OVERVIEW OF PMC

1.2 WHAT IS LADDER LANGUAGE?

The Ladder language is one of sequence programming languages. This programming language, which
represents the sequence and logic operations of I/O signals by ladder diagrams, is widely used by sequence
control engineers. This language is mainly used for PMCs.

1.2.1 Ladder Diagram Format

Designers develop and see ladder diagrams in the design stage. However, other people (for example, many
maintenance engineers) have much more chances to see ladder diagrams than the designers of the ladder
diagrams have. Therefore, the designers should create ladder diagrams so that these diagrams are
intelligible to any one.
The following is the format of ladder diagrams:

Line No.

AddressSignal name (symbol name)

Net No.

The meanings of ladder diagram contents will be described later.

Comment

1.2.2 Signal Name (Symbol Name)

Symbol names representing I/O signal names can be assigned to PMC addresses. It is recommended that
signal names (symbol names) suitable for I/O signals be assigned as explained below.

(1) Signal names may consist of any alphanumeric characters and the special symbols. The number of

characters that can be entered varies depending on the PMC model. For the allowable number of

characters, see the table in Subsection 2.1.1.
(2) As the names of the signals between the CNC and PMC, use the signal names indicated in the address

table of the PMC without modifications.
(3) Some CNC signals are input from the machine or output to the machine. The names of these signals

are distinguished by prefixing X or Y to the names of signals between the CNC and PMC.
For example, a single block input signal is represented as XSBK by prefixing X, while a start lamp

output signal is represented as YSTL by prefixing Y.

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1.OVERVIEW OF PMC B-64513EN/01

The names of some signals between the CNC and PMC, however, exceed the maximum allowable

number of characters as a result of prefixing X or Y to the names. In such a case, delete the last

character of the signal name.
(*SECLP → X*SECL)

(4) The same signal name (symbol name) cannot be assigned to more than one signal address.

1.2.3 Comment

A comment can be added to each symbol in the symbol table so that it can be indicated as a comment on a
relay or coil in the sequence program. The number of characters that can be entered varies depending on the
PMC model. For the number of characters that can be entered, see the table in Subsection 2.1.1.
For all relays and coils that are output signals to the machine, add a comment to provide a detailed signal
explanation. For other auxiliary relays, provide explanations of the signals if these relays have significant
meanings in sequence control.
In particular for machine-related input signals, be sure to provide a detailed signal explanation as a
comment in the symbol table.
Add detailed comments to signals dedicated to the machine so that one can guess the meanings of these
signals just from the symbol names.

1.2.4 Graphic Symbols of Relays and Coils

Ladder diagrams use the following relay symbols:

Relays (contacts)

Instruction representation Function

-| |- Normally open contact (contact A)

-|/ |- Normally closed contact (contact B)

Coils

Instruction representation Function

-{- Coil

-{{- Negated coil

-(S)- Set coil

-(R)- Reset coil

These instructions perform a 1-bit operation and are called basic instructions.
In addition, there are functional instructions that enable easy programming of complicated operations for
processing byte, word, and double-word data, which are difficult to program just using basic instructions.
The symbol formats of the functional instructions are slightly different from instruction to instruction. For
details, see the description of each functional instruction in Chapter 4.

1.2.5 Line Number and Net Number

A line number is indicated in every line of ladder diagrams.
A continuous ladder circuit from a contact to a coil is called a net. A net number is also indicated for each
net.

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B-64513EN/01 1.OVERVIEW OF PMC

A

ABA

A

1.2.6 Difference Between Relay Sequence Circuit and Ladder

Sequence Program

In general relay sequence circuits, because of a limited number of relay contacts, one contact may be shared
by several relays to minimize the number of contacts used. Fig. 1.2.6 (a) gives an example.

R1

B

R2

Fig. 1.2.6 (a)

With the PMC, relay contacts are considered to be unlimited, so ladder diagrams are created as shown in Fig.

1.2.6 (b).

R1

R2

Fig. 1.2.6 (b)

In a relay sequence circuit having no contact between a branch point and a coil as shown in Fig. 1.2.6 (c), a
similar ladder diagram can be created even for the PMC.

B

R1

R2

Fig. 1.2.6 (c)

NOTE

The extended PMC ladder instruction function allows the sequence circuits like

Fig. 1.2.6(a). For details, see 8.3.4.

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1.OVERVIEW OF PMC B-64513EN/01

A

A

1.2.7 Specification of Extended Symbol and Comment

Using extended symbol and comment, you can use following functions.

• Local symbols effective in sub programs

• Extension of maximum character length of symbol and comment

• Multi-language support of comment

• Multiple definitions of symbol and comment to one signal

• Data type definition

•

Automatic address assignment at compiling on FANUC LADDER-III

(1) Local symbols effective in sub programs
You can define local symbols effective only in a sub program. So you can define local symbols having

same string in other sub programs. Local symbols defined in different sub programs do not conflict.

Using local symbols, symbol conflict does not occur. Therefore, it is easy to develop ladder in modular

programming technique. In addition, it is easy to reuse sequence programs. When you have to program

a similar program in some sub programs, copy the logic to another sub program, redefine the local

symbols, and compile on FANUC LADDER-III.

NOTE

1 Same local symbol names are not allowed in the same sub program.
2 Same symbol name of global symbol and local symbol are not allowed.
3 Local symbol cannot be defined to address P. Symbol definition to address P must

be global symbol.

4 You cannot create a sequence program using extended symbol and comment

only with CNC. To create it, you have to use FANUC LADDER-III.

5 When you use the function block function, it becomes extended symbol and

comment form automatically.

(2) Extension of maximum character length of symbol and comment
Maximum character length of a symbol and comment is extended as follows. So you can describe in

details.

Kind Extended type Former

symbol 40 characters in maximum 16 characters in maximum

comment 4 set 255 characters in maximum 1 set 30 characters in maximum

P1 (Control_Path1)

Alarm

X*ESP

Lock = X100.0

larm = R1000.0

*ESP = G8.4

Lock

Global Symbol :

*ESP

X*ES P = X8.4

P2 (Control_Path2)

Alarm

X*ESP

Lock = X100.1

larm = R2000.0

*ESP = G1008.4

Lock

*ESP

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B-64513EN/01 1.OVERVIEW OF PMC

(3) Multi language support
One symbol entry has four comments set in maximum.
Displaying comment set can automatically selected by display language setting in CNC. By describing

each comment set in different languages, you can display comment in all PMC screens in multi

languages. This is very useful in maintenance.

(4) Multiple definitions of symbol and comment to one signal
You can define multiple symbols and comments to the same signal.

NOTE

When multiple symbol and comment are defined to the same signal, you can

search the names by each symbol. On the other hand the symbol on PMC screen
is displayed one of these symbol names. So if you search symbols, displayed
symbol name on searched position may be different from searched word.

(5) Data type definition
You can define symbol and comment with data type definition.

Data type Meaning

BOOL Boolean

BYTE 8 bits integer

WORD 16 bits integer

DWORD 32 bits integer

LABEL Label (Address L)

PROG Sub program (Address P)

NOTE

1 In ladder editing screen, for example, BYTE type symbol can be set to the WORD

type parameter of a function. But it is recommended that data type of the symbol
should be consistent with the data type of the parameter that it is assigned to.

2 When two or more symbols are defined with a signal and these symbols have

different data types the symbol name of largest data type is displayed on PMC
screens.

(6) Automatic address assignment at compiling on FANUC LADDER-III
On FANUC LADDER-III, when programming by symbol names without actual addresses, this

function assigns addresses to them automatically.

CAUTION

The assignment of address may change by modifying symbol / comment data.

NOTE

By setting 1 to K903.5 of system keep relay, the signal state of the symbols whose

addresses are assigned automatically can be initialized when updating sequence
program to the one of different symbol / comment data.

In this case, changing the symbol / comment data whose address is not assigned

automatically will also initialize all signal states of the address range for automatic
assignment to 0.

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1.OVERVIEW OF PMC B-64513EN/01

(7) Available characters
Those characters can be used.

- Available characters for symbol :

Kind Extended type Former

as the symbol

A to Z, a to z, 0 to 9, _ The character that can be used
! ” # & ’ ( ) * + , - < = > ? @ [ / ] ^ ` { | } ~

(Note)

A to Z, a to z, 0 to 9, _ Space,
! ” # $ % & ’ ( ) * + , . - < = > ? @ [ / ] ^
` { | } ~ ; :

The character that cannot be
used for the first character of the
symbol
The character that cannot be
used for the symbol

% $

Space,
; : .

NOTE

Although it is allowed to use special characters in symbol, using only alphabets,

digits and _(underscore) to comply with the variable name defined in IEC61131-3 is
recommended.

- Available characters for comment:

Kind Extended type Former

The character that can be used
as the comment

A to Z, a to z, 0 to 9, Space
! ” # & ’ ( ) * + , . - < = > ? @ [ / ] ^ _ ` { | }
~ ; :

A to Z, a to z, 0 to 9, Space,
! ” # $ % & ’ ( ) * + , . - < = > ? @ [ / ] ^
_ ` { | } ~ ; :

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B-64513EN/01 1.OVERVIEW OF PMC

1.3 SEQUENCE PROGRAM CREATION PROCEDURE

This section briefly explains how to create a program for providing sequence control for a machine tool by
using the Ladder language as an example. When creating a sequence program, see the necessary manual for
editing after understanding the contents of this chapter thoroughly.

1.3.1 Determining Specification

First, determine the specifications of the control target. Calculate the number of I/O signals, and determine
the interfaces of the I/O signals.
In this step, creation of interface specifications is recommended.

1.3.2 Creating Ladder Diagram

After determining specifications, represent control operations with a ladder diagram. Timer, counter, and
other functions that cannot be represented by relay symbols are called functional instructions. Represent
these functional instructions with corresponding symbols.
When using offline programmer or built-in edit function explained in "Editing Sequence Program" in the
next subsection, you can enter a sequence program in a ladder diagram form. At the time of sequence
program editing, you can make entry while creating a ladder diagram on the display screen, so you need not
prepare a ladder diagram in advance.
If you want to create a sequence program efficiently, however, it is recommended that you should create a
ladder diagram in advance.
Ladder diagrams are referenced as maintenance drawings by FANUC maintenance engineers, maintenance
engineers of machine tool builders, and maintenance engineers of end users not only domestically but also
in foreign countries. Therefore, try to create as intelligible ladder diagrams as possible.

1.3.3 Editing Sequence Program

A sequence program in the Ladder language is edited with one of the following two methods:

(1) PC programmer
FANUC supplies FANUC LADDER-III as sequence program development software for FANUC

PMC. Use of FANUC LADDER-III allows you to edit a program in the Ladder language on a

personal computer.

(2) Built-in programmer
The PMC software built into the CNC has a built-in edit function. With this function, a program in the

Ladder language can be edited.

By using either of these editing methods, a sequence program can be entered in a ladder diagram form from
the EDITOR screen. FANUC LADDER-III can also output an entered sequence program to a printer in a
ladder diagram form.
Furthermore, FANUC LADDER-III provides a function for converting a program in a ladder diagram form
to mnemonic form or vice versa. By using this function, you can edit the program in mnemonic form with
a text editor.
Fig. 1.3.3 shows an example of a ladder diagram, and Table 1.3.3 shows an example of a mnemonic form.

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1.OVERVIEW OF PMC B-64513EN/01

A

uxiliary function
completion
signal

Fig. 1.3.3

Table 1.3.3

Step No. Instruction Address No. & bit No. Remarks

1 RD F7.0 MF
2 OR F7.2 SF
3 OR F7.3 TF
4 RD.NOT.STK F7.0 MF
5 OR R211.7 MFIN
6 AND.STK
7 RD.NOT.STK F7.2 SF
8 OR R211.5 SFIN

9 AND.STK
10 RD.NOT.STK F7.3 TF
11 OR R211.6 TFIN
12 AND.STK
13 WRT G4.3 FIN

During sequence program editing, signal names (symbols) and comments can be entered for I/O signals,
relays, and coils. Easy-to-understand signal names and comments should be entered to improve program
maintainability.

1.3.4 Transferring and Writing Sequence Program to PMC

After completing editing for the sequence program, input (transfer) the program to the PMC. This operation
is unnecessary when you have edited the program by using the built-in programmer.
When you have edited the sequence program by using the PC programmer, input the sequence program
from the editing environment (the personal computer (PC)) to the PMC. The following input methods can
be used:

(1) Input from the I/O screen
The sequence program on the PC is input to the PMC via a memory card or a USB memory.

(2) Input from the online monitor screen
For data input, connect the PC containing the sequence program to the CNC via Ethernet or RS-232C.

After inputting the sequence program, write it in the flash ROM. This operation can be done with the
DATA I/O screen of the PMC.

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B-64513EN/01 1.OVERVIEW OF PMC

1.3.5 Checking Sequence Program

After writing the sequence program in the flash ROM, check the sequence program.
The sequence program can be checked in the following two ways:

(1) Checking with a simulator
Connect a simulator (consisting of lamps and switches) instead of the machine. Instead of using input

signals from the machine, turn the switches on and off to input signals, and confirm output signals by
checking the on/off states of the lamps.

(2) Checking by system operation
Connect the machine to make checks. Before starting the operation, take safety measures because

when the sequence program is executed for the first time, an unpredictable motion can occur.

1.3.6 Storage and Management of Sequence Program

When the sequence program is completed after checking, it should be stored and managed by the machine
tool builder.
The sequence program can be output to the printer in a ladder diagram form by using the PC programmer.
The output ladder diagram should be attached as a maintenance drawing to the machine together with other
attached materials such as a power magnetic cabinet circuit diagram.

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1.OVERVIEW OF PMC B-64513EN/01

1.4 EXECUTION OF SEQUENCE PROGRAM

Sequence programs in the Ladder language are executed in the order of instructions coded in the ladder
diagrams.
Fig. 1.4 shows how a sequence program is executed.

Sequence program

memory

Sequence
program
input

Control target such as machine tool

Input circui t

Output circuit

Internal relay (RAM)

Fig. 1.4 Sequence program execution by PMC

The RD instruction causes the CPU to read the signal of the input circuit at address X0.0 and set the read
data in the operation register. Next, the AND instruction causes the CPU to AND the set data with the
internal relay state at address R10.1 and set the result in the operation register. The CPU then executes the
subsequent instructions at high speed, and the operation result is output to the output circuit at address Y0.0.

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B-64513EN/01 1.OVERVIEW OF PMC

1.4.1 Execution Procedure of Sequence Program

In general relay sequence circuits, relays operate at exactly the same time. This means that when relay A
operates in the following figure, relays D and E operate at exactly the same time (when contacts B and C are
both off).

Fig 1.4.1 (a)

In PMC sequence control, on the other hand, relays in the circuit operate sequentially. When relay A in Fig.

1.4.1 (a) operates, relay D operates, then relay E operates.
Therefore, in PMC sequence control, relays operate in the order coded in the ladder diagram (the order of
programming). The sequential operations in this sequence are performed at high speed, but some
instructions are affected by the execution order.
Accordingly, in the ladder diagrams shown in Fig. 1.4.1 (b), there is a distinctive difference in operation
between the PMC sequence and the sequence of the relay circuit.

Fig. 1.4.1 (b) Circuit examples

(1) For relay sequence circuit
(A) and (B) in Fig. 1.4.1 (b) operate in the same manner. When A (P.B) is turned on, current flows

through coils B and C, turning on B and C simultaneously. After C is turned on (after relay operation
time), B is turned off.

(2) For PMC programming
In (A) in Fig. 1.4.1 (b), as with the relay sequence circuit, when A (P.B) is turned on, B and C are

turned on, then B is turned off after a certain time elapses (after a time required for one cycle of the
PMC sequence). In (B) in Fig. 1.4.1 (b), turning on A (P.B) turns on C but does not turn on B even
momentarily.

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1.OVERVIEW OF PMC B-64513EN/01

1.4.2 Repetitive Operation

A sequence program is executed until the end of the ladder diagram (the end of the program) is reached,
then program execution is repeated from the beginning of the ladder diagram (the beginning of the
program).
The execution time from the beginning to the end of the ladder diagram (the time required for one cycle) is
a time for processing the sequence program once and is called a scan.
This processing time depends on the sequence control scale (the number of steps) and the size of the 1st
level sequence described below. A shorter processing time results in a better signal response in the
sequence.

1.4.3 Processing Priority (1st Level, 2nd Level, and 3rd Level)

A sequence program consists of two operation parts: a high-speed sequence part called the 1st level, which
is executed every several msec, and a normal sequence part called the 2nd level. When the model used
allows use of the 3rd level, the 3rd level sequence part is added. (See Fig. 1.4.3 (a).)

Sequence program

1st level sequence part

2nd level sequence part

3rd level sequence part
(only with model that can
use 3rd level)

Fig. 1.4.3 (a) Sequence program structure

Specifies end of 3rd level sequence

Specifies end of 1st level
sequence

Division 1

Division 2

Division n

Specifies end of 2nd level
sequence

The 1st level sequence part is a high-speed sequence part that is executed every ladder execution cycle. The
ladder execution cycle is 4 or 8 msec, which is set in a CNC parameter. If the execution of the 1st level
program requires a long time, the overall execution time including the 2nd level (sequence processing time)
is extended. So, the 1st level sequence part should be created so that it can be processed in a short time
where possible. The 2nd level sequence part is executed every (ladder execution cycle × n) msec (where n
is the number by which the 2nd level is divided). The 3rd level sequence part is executed when the PMC is
idle.

(1) Division of the 2nd level program
The 2nd level program must be divided to execute the 1st level program. The order of sequence

program execution is illustrated in Fig. 1.4.3 (b), where the number of divisions is assumed to be n.

After the last division (division n) of the 2nd level program is executed, the sequence program is

executed from the beginning. Therefore, when the number of divisions is n, the execution cycle of the
overall sequence program is expressed as the ladder execution cycle × n msec.

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B-64513EN/01 1.OVERVIEW OF PMC

As the amount of the 1st level sequence part increases, the amount of the 2nd level sequence portion

executed within the ladder execution cycle decreases. As a result, the number of divisions n increases,
which increases the overall execution time including the 2nd level (sequence processing time).
Therefore, the 1st level sequence program part should be minimized where possible. The division
number of 2nd level may be indefinite because of changing of the working condition of functional
instructions in 1st level and 2nd level.

1st level

2nd level

3rd level

Divisio n 1

Ladder execution cycle (4 or 8 ms) Ladder execution cycle (4 or 8 ms)

Fig. 1.4.3 (b) Sequence program execution order

Divisio n 2

Last division n

3rd level

processing

Ladder execution cycle(4 or 8 ms)

(2) 1st level sequence part
High-speed sequence operation. Only high-speed sequence processing such as processing of a pulse

signal with a short signal width in time is performed.

These signals include emergency stop and feed hold signals.

(3) 3rd level sequence part
The 3rd level sequence processing is performed during the remaining time from the end of the last

division (n) of the 2nd level until the 1st level processing restarts (see Fig. 1.4.3 (b)).

It is possible to program the 3rd level, but the execution cycle period of time for processing the 3rd

level sequence part is not guaranteed to maintain program compatibility with conventional models.
Therefore, the 1st and 2nd level sequence parts should be programmed without using the 3rd level
sequence part.

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1.OVERVIEW OF PMC B-64513EN/01

1.4.4 Structured Sequence Program

Structured ladder coding has the following advantages:

• Programming is easy to understand, therefore programming becomes easier.

• Program errors can be found easily.

• Troubleshooting can be done easily.

1.4.4.1 Implementation

Three major implementation techniques are supported.

(1) Use of routines
Ladder sequence processing units are created so that they can be treated as routines.

Job A

Job B

(2) Nesting
Ladder routines created in (1) are connected to configure a ladder sequence.

Job A

Job B

Job A

Job A

1

n

Job A

Job A

11

12

(3) Conditional branch
The main program loops and determines conditions. If conditions are satisfied, a subprogram process

is executed. If the conditions are not satisfied, the subprogram process is skipped.

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B-64513EN/01 1.OVERVIEW OF PMC

A

Application example

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

If Y0 is 1, workpiece machining request is assumed to be issued,
and processing is performed. (Conditional)

: <1> Pick up workpiece from pallet. (A1)

<2> Machine workpiece. (A2)
<3> Return workpiece to pallet. (A3)

B: <4> Move pallet.

(2) Program configuration

(3) Program coding

Machine workpiece.

Machine workpiece.

Move pallet.

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1.OVERVIEW OF PMC B-64513EN/01

Pick up workpiece from pallet.

Machine workpiece.

Return workpiece to pallet.

Pick up workpiece
from pallet.

Ladder representation

Machine workpiece.

Ladder representation

Return workpiece to pallet.

Ladder representation

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B-64513EN/01 1.OVERVIEW OF PMC

Move pallet.

Ladder representation

Specifications

(1) Main program
A ladder program consisting of the 1st ladder level and 2nd ladder level is called a main program. You

can create just one main program. Subprogram calls from the 1st ladder level are not allowed. Any
number of subprogram calls from the 2nd ladder level may be made. Functional instructions JMP and
COM must be closed within the main program and each subprogram.

(2) Subprogram
Programs called from the 2nd ladder level are referred to as subprograms. A subprogram is a program

unit enclosed by functional instructions SP and SPE. Up to 512 or 5000 subprograms can be created
for one PMC.

(3) Nesting
A subprogram can call another subprogram.
Up to eight levels of subprograms can be nested.
Recursive calls are not permitted.

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1.OVERVIEW OF PMC B-64513EN/01

(4) Programming order when subprograms are used

1st level sequence
part

2nd level sequence
part

3rd level sequence
part (only with model
that can use 3rd
level)

Code subprograms after 2nd and 3rd
levels.

Subprograms

End of sequence
program

End of entire sequence program is
indicated by END instruction.

Fig. 1.4.4.1

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B-64513EN/01 1.OVERVIEW OF PMC

1.4.4.2 Subprogramming and nesting

Function

A conditional call (or unconditional call) is coded in the main program, and the name of a subprogram to be
executed is specified. In the subprogram, the subprogram name and a ladder sequence to be executed are
coded.
When a conditional call specifying Pn (representing a program name) is made, a subprogram named Pn is
called and executed.
A subroutine name can be assigned by adding a symbol or comment to Pn.
In the example shown in Fig. 1.4.4.2 (a), the main program calls three subprograms. These calls are all
conditional calls. Subprogram P1 is named SUBPRO. Subprogram P1 calls subprogram PROCS1
unconditionally.

Fig. 1.4.4.2 (a) Example of subprogramming and nesting

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1.OVERVIEW OF PMC B-64513EN/01

Execution method

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

Progra m cycle

Signal A

Main
program

Subprogram

Management
program

Execution flow
(1) A subprogram call by functional instruction CALL transfers control to the subprogram.
(2) When the execution of the subprogram is completed, control is returned to the main program.
(3) When the execution of the main program is completed, the ladder program postprocessing is

performed.

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B-64513EN/01 1.OVERVIEW OF PMC

Creating a program

After the 1st, 2nd, and 3rd level ladder programs, create subprograms in the similar manner.

Creation example

Be sure to code this.

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1.OVERVIEW OF PMC B-64513EN/01

Inhibit items

(1) Subprograms are nested.

(2) A subprogram is created within the 1st, 2nd, or 3rd level ladder program.

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B-64513EN/01 1.OVERVIEW OF PMC

1.4.4.3 Notes on using subroutines

(1) DISPB
(2) EXIN
(3) WINDR (low-speed type only)
(4) WINDW (low-speed type only)
(5) AXCTL

For the above functional instructions, ACT = 1 must be held until transfer completion information (coil) is
set to 1.
When using these functional instructions in subprograms, note the following prohibition:

(1) When one of the above functional instructions is being used within a subprogram and is not yet

completed (processing is in progress), the subprogram call is canceled. (ACT for the CALL
instruction is set to 0.)

CAUTION

The subsequent operation of the above functional instruction is not guaranteed.

(2) When one of the above functional instructions is being used within a subprogram and is not yet

completed (processing is in progress), the subroutine is called from another subprogram.

CAUTION

Because the preceding function is being processed, the subsequent operation of

the above functional instruction is not guaranteed.

When a subprogram using the above functional instructions is called from more than one place, exclusive
control is required. An example of using the WINDR instruction (low-speed type) is given below.

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1.OVERVIEW OF PMC B-64513EN/01

Example:
A subprogram is called from two places. (When the WINDR instruction is used)

Main program Subprogram 1 Subprogram 2

Set DATA1.

Set DATA2.

Explanation:
Subprogram 1 controls ACT (A) and W1 (B) of WINDR (subprogram 2).
The main program determines which data (C1 or C2) is to be used according to A controlled by subprogram

1. Upon completion of the WINDR instruction, the next data is set, and the other CALL instruction is
executed. In the subsequent operation, these steps are repeated.

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B-64513EN/01 1.OVERVIEW OF PMC

1.4.5 Synchronization Processing of I/O Signals

Signals input to the PMC include input signals from the CNC (such as M function and T function signals)
and input signals from the machine (such as cycle start and feed hold signals). Signals output from the PMC
include output signals to the CNC (such as cycle start and feed hold signals) and output signals to the
machine (such as turret rotation and spindle stop signals).
The relationships between these signals and the PMC are shown in Fig. 1.4.5 (a), in which input signals are
input to the input memory of the PMC, and output signals are issued from the PMC.
As shown in Fig. 1.4.5 (a), the input signals are synchronized during 1 scan of the 2nd level sequence part.

CNC

Input memory of CNC

Input signal from CNC (F)

Output memory of CNC

Output signal to CNC (G)

PMC

Transferred ev ery
4ms or 8ms

2nd level synchronous input signal memory

Input signal from CNC (F)

Sequence

program

1st level
sequence part

2nd level
sequence part

Input signal from machine (X)

Input signal from anot her PMC path( M)

3rd level
sequence part

Machine Tool

Input signal from machine

Output signal to machine

Transferred
via I/O Link
or I/O Link i

Input signal memory

Input signal from machine (X)

Output sig n al me mory

Output signal to machine (Y)

Transferred
at start of
2nd level

Another PMC pat h

Input signal from anot her PMC path ( M) Output signal to another PMC path (N)

Fig. 1.4.5 (a) I/O signals of PMC

NOTE

The 2nd level synchronous input signal memories are F, X, and M address. Other

addresses are not synchronous input signals.

Input signal processing

(1) Input memory of the CNC
Signals input from the CNC to PMC are set in the memory of the CNC and are normally transferred to

the PMC at intervals of 4 or 8 msec. Since the 1st and 3rd level sequence parts directly reference and
process these signals, these signals are not synchronized with input signals from the CNC. See the
description of following “Notes on programming asynchronous I/O signals”.

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1.OVERVIEW OF PMC B-64513EN/01

(2) Input signals from the machine (I/O Link or I/O Link i)
Signals input from the machine are transferred to the input signal memory via the input circuit (I/O

Link or I/O Link i). The 1st and 3rd level sequence parts read the input signals from the input signal
memory and process them.

(3) Input signal memory
The input signal memory stores signals transferred from the machine at regular intervals.
The 1st and 3rd level sequence parts of the PMC read and process signals stored in this memory. In

this case, the signal set in the input signal memory is not synchronized with the 1st and 3rd level
sequence parts. For notes on asynchronous processing, see the description of following “Notes on
programming asynchronous I/O signals”.

NOTE

For the transferred at intervals of input signals in the I/O link i channel 1 and 2,

there are 2 ways mode i.e. the normal mode (2msec) and the high speed mode
(0.5msec). In the I/O link channel 1 and 2, the input signals are transferred at
intervals of 2msec. In the I/O link channel 3 they are transferred at interval of
execution of 1st level ladder (4msec or 8msec).

(4) 2nd level synchronous input signal memory
The 2nd level synchronous input signal memory stores signals processed by the 2nd level sequence

part of the PMC. Signals synchronized with the 2nd level sequence part are set in this memory.

Input signals in the input signal memory and input signals from the CNC are automatically transferred

to the 2nd level synchronous input signal memory at the beginning of the 2nd level sequence part.
Therefore, the status of the 2nd level synchronous input signal memory is kept unchanged during the
time from the beginning of the 2nd level sequence part until the end of the sequence part.

The programmer function automatically performs processing so that the 1st and 3rd level sequence

parts use input signals in the input signal memory and input signals from the CNC while the 2nd level
sequence part uses the 2nd level synchronous input signal memory. (This need not be considered
during programming.)

NOTE

The 2nd level synchronous input signal memories are F, X, and M address. Other

addresses are not synchronous input signals.

Output signal processing

(1) Output memory to the CNC
Signals output from the PMC to CNC are set in the output memory of the CNC. Normally, the PMC

transfers signals to the output memory of the CNC at intervals of 4 or 8 msec.

(2) Output signals to the machine (I/O Link or I/O Link i)
Signals output to the machine are transferred from the output signal memory of the PMC to the output

circuit (I/O Link or I/O Link i).

(3) Output signal memory
The output signal memory is set by the sequence program of the PMC. Signals set in the output signal

memory are transferred to the machine at regular intervals..

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B-64513EN/01 1.OVERVIEW OF PMC

NOTE

1 The statuses of the input memory of the CNC, input signals from the machine,

output memory of the CNC, and output signals to the machine can be viewed on
the SIGNAL STATUS screen of the PMC. For the SIGNAL STATUS screen, see
Section 7.1.

2 For the transferred at intervals of I/O signals exchanged with the machine in the

I/O link i channel 1 and 2, there are 2 ways mode i.e. the normal mode (2msec)
and the high speed mode (0.5msec). I/O signals exchanged with the machine are
normally transferred at intervals of 2 msec when the I/O Link is used. Depending
on the channel setting of the I/O Link, however, the transfer interval varies. For
details, see Section 3.1.

Notes on programming asynchronous I/O signals

Normal input signals from the CNC are transferred to the PMC at intervals of 4 or 8 msec. Normal output
signals to the CNC are transferred from the PMC at intervals of 4 or 8 msec. Therefore, I/O signals
exchanged with the CNC are usually transferred at intervals of 4 or 8 msec. When creating a sequence
program, note that the input signals from the CNC are not synchronized with the 1st and 3rd level sequence
program parts. Because the input signals from the CNC are asynchronous, the status of an input signal from
the CNC may change during execution of the 1st level sequence program part, which can lead to a problem
as shown in Fig. 1.4.5 (b). To prevent such a problem, write the TF signal to an internal relay at the
beginning of the 1st level sequence part so that the subsequent operation of the 1st level sequence program
part references the internal relay. Then, the TF signal can be treated as a synchronous signal. See Fig. 1.4.5
(c).
Signals input from the machine via the I/O Link and signals input from other control units over a network
are also asynchronous, so these signals should be treated in a similar manner.

If the TF status changes to 1 after TF=0 is read first,
W1 and W2 may be set to 1 momentarily.

Fig. 1.4.5 (b)

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1.OVERVIEW OF PMC B-64513EN/01

When the TF signal is made synchronized, neither W1
nor W2 is set to 1.

Fig. 1.4.5 (c)

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B-64513EN/01 1.OVERVIEW OF PMC

Difference in signal status between 1st level and 2nd level sequence parts

The status of the same input signal may become different between the 1st and 2nd level sequence parts. The
1st level sequence part uses the input signal memory for signal processing while the 2nd level sequence part
uses the 2nd level synchronous input signal memory. Therefore, it is possible that an input signal for the
2nd level sequence part lags behind the input signal for the 1st level sequence part by a cycle of the 2nd
level sequence execution at the worst.
When creating a sequence program, note the following:
Signal status

A.M On (pulse signal with short pulse width in time)
B Off
C On

When the 1st level is executed, the following difference can occur between Fig. 1.4.5 (d) and Fig. 1.4.5 (e):

(1) For Fig. 1.4.5 (d)
Even when W1 = 1, W2 may not be 1. (This is because the A.M signal may differ between the 1st level

and 2nd level.)

(2) For Fig. 1.4.5 (e)
If W1 = 1, W2 is always 1.
When performing the sequence shown in Fig. 1.4.5 (d), do the following:
At the 1st level, perform the high-speed sequence processing applied when the A.M signal status

changes (operating).

At the 2nd level, perform the sequence processing applied when the A.M signal status does not change

(stopped).

NOTE

In the middle of 1st level processing, a signal status change may occur

asynchronously with the sequence program processing. For details, see
Subsection 1.4.7.

1st level

2nd level

Fig. 1.4.5 (d) Fig. 1.4.5 (e)

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1.OVERVIEW OF PMC B-64513EN/01

1.4.6 Interlock

In sequence control, considering how to provide an interlock is a key design issue from the safety point of
view. Of course, an interlock must be provided by sequence programs. Furthermore, an interlock must also
be provided at the end of the electrical circuit in the power magnetic cabinet of the machine. Even when an
interlock is provided logically by a sequence program (software), the interlock by the sequence program
will not work if the hardware for executing the sequence program fails for a certain cause. Therefore, be
sure to provide an interlock within the power magnetic cabinet of the machine to ensure safety of the
operator and prevent machine damage.

1.4.7 Notes on I/O Signals Updated by Other Than PMC

I/O signals transmitted over networks (such as an Ethernet, I/O Link-II, PROFIBUS, DeviceNet, and
FL-net) (signals assigned to addresses R, D, and E) are updated asynchronously with PMC sequence
program execution.
Similarly, other applications (FOCAS2, C executor, real-time custom macros, etc.) update I/O signals
asynchronously with PMC sequence program execution. Therefore, when a signal updated via a network or
by another application is to be used by a PMC sequence program, the following should be noted:

(1) Note on input signals
When an input signal transmitted via a network or another application is referenced at more than one

place in the PMC sequence program, the same value is not guaranteed to be referenced within the same
cycle of the sequence program.

To reference the same input signal value within the same cycle, store the input signal status in an area

such as an internal relay.

(2) Note on output signals
When an output signal is transmitted via a network or another application, it may be transmitted to a

slave unit in the middle of the PMC sequence program execution cycle. Care should be exercised
when the slave unit references more than one signal.

(3) Note on multiple-byte data
When multiple-byte data is input or output via a network or another application, concurrence of the

data (a condition free from data splitting) is not guaranteed. To ensure data concurrence, perform
handshaking, which does not cause data splitting during data I/O.

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B-64513EN/01 1.OVERVIEW OF PMC

,

,

,

,

,

,

,

,

,

,

,

,

,

,

,

1.5 MULTI-PATH PMC FUNCTION

The multi-path PMC function allows one PMC system to execute multiple sequence programs at the same
time.

PMC memory for each sequence program is basically independent, and the same PMC address can be used
for different purposes of the individual PMCs. Extra relays (E addresses) can be shared among PMCs as
shared memory. All PMCs can read from and write to this area, so the area can be used for the interface
between the PMCs. M,N addresses can be also used for the interface between the PMCs.

1st PMC

X0～, Y0～,
F0～, G0～,
R0～, A0～,
T0～, C0～,
K0～, D0～,
P1～, L1～

M0～,
N0～

2nd PMC

X0～, Y0～,
F0～, G0～,
R0～, A0～,
T0～, C0～,
K0～, D0～,
P1～, L1～

M0～,
N0～

Fig. 1.5 (a) PMC memory of multi-path PMC function

3rd PMC

X0～, Y0
F0～, G0
R0～, A0
T0～, C0
K0～, D0
P1～, L1

Shared memory(E0～)

～
～
～
～
～
～

M0～,
N0

～

4th PMC

X0～, Y0
F0～, G0
R0～, A0
T0～, C0
K0～, D0
P1～, L1

～
～
～
～
～
～

5th PMC

X0～, Y0
F0～, G0
R0～, A0
T0～, C0
K0～, D0
P1～, L1

～
～
～
～
～
～

A program for each PMC is saved as an independent file and can be edited, updated, and backed up
separately.

The CNC systems and the I/O Link channels to be controlled by PMCs can be changed by CNC parameter
setting. In a parameter-set configuration, one PMC may control all CNC systems, or each PMC may control
a different CNC system.

Fig. 1.5 (b) shows a configuration example.

- 35 -

1.OVERVIEW OF PMC B-64513EN/01

CNC PMC

Machine
control group

Loader
control group

Fig. 1.5 (b) Multi-path PMC function configuration example

1st PMC

2nd PMC

3rd PMC

Operator's
panel for
machine
control, etc.

Peripheral
equipment,
etc.

Operator's
panel for
loader, etc.

If the Series 30i/31i/32i/35i-B system is used to control more than one CNC path, some paths can be
grouped to share data within a group and to stop all the paths in the group if an alarm condition occurs in one
of the paths. The group is referred to as the machine group.
The system supports up to 3 machine groups. Each group has a separate emergency stop signal address.
A PMC is basically assigned to each machine group.

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B-64513EN/01 1.OVERVIEW OF PMC

Oth

1.5.1 Execution Order and Execution Time Percentage

For the multi-path PMC function, the order of PMC execution and execution time percentages of the PMCs
can be set with CNC parameters.

Execution order

If parameters related to the execution order are not set (0 is set), the following order sequence is assumed by
default:

1st path

PMC

2nd path

PMC

3rd path

PMC

4th path

PMC

5th path

PMC

er processing such as tracing

Fig. 1.5.1 (a) Default execution order of multiple PMCs

Execution time percentage

If parameters related to execution time percentages are not set (0 is set), the following execution time
percentages are assumed by default:

Table 1.5.1 (a) Execution time percentages of multiple PMCs

The number
of PMC path

1 path 100%
2 paths 85% 15%
3 paths 75% 15% 10%
4 paths 70% 10% 10% 10%
5 paths 60% 10% 10% 10% 10%

PMC path

of the 1st order

of execution

PMC path

of the 2nd order

of execution

PMC path

of the 3rd order

of execution

PMC path

of the 4th order

of execution

PMC path

of the 5th order

of execution

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1.OVERVIEW OF PMC B-64513EN/01

An example of changing the execution order and execution time percentages by setting CNC parameters is
explained below. In the following, sequence programs are executed in the order from the third PMC to the
first PMC to the second PMC with the execution time percentage of the third PMC set to 30%, the
percentage of the first PMC to 50%, and the percentage of the second PMC to 20%:

3rd PMC 1st PMC 2nd PMC

Other processing such as

tracing

Fig. 1.5.1 (b) Example of setting execution order of multiple PMCs

Level 1

Level 2

Level 3

3rd PMC

(30%)

Ladder execution cycle (4 or 8 msec)

Fig. 1.5.1 (c) Example of setting execution time percentages of multiple PMCs

For details of parameter setting, see Subsection 2.4.3.

1st PMC

(50%)

2nd PMC

(20%)

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B-64513EN/01 1.OVERVIEW OF PMC

1.5.2 Interface Between CNC and PMC

The PMC to control the interface between the CNC and PMC and PMC addresses (F/G addresses) can be
set with CNC parameters.
With these parameter settings, a desired interface control system can be built, in which the entire
CNC-PMC interface of the CNC may be controlled by a single PMC or the CNC-PMC interface may be
controlled by multiple PMCs.
For the CNC-PMC interface, a memory area consisting of 10 blocks, each of which is an addressable,
768-byte DI/DO area, is provided.
When viewed from the ladder program in each PMC, these addresses begin with 0.
If these parameters are not set (0 is set), the initial settings are assumed, where the F/G addresses of the CNC
equals the F/G addresses of the first PMC as follows:

CNC

F/G0 to F/G767 of CNC
F/G1000 to F/G1767 of CNC
F/G2000 to F/G2767 of CNC
F/G3000 to F/G3767 of CNC
F/G4000 to F/G4767 of CNC
F/G5000 to F/G5767 of CNC
F/G6000 to F/G6767 of CNC
F/G7000 to F/G7767 of CNC
F/G8000 to F/G8767 of CNC
F/G9000 to F/G9767 of CNC

Fig. 1.5.2 (a) Initial settings for CNC-PMC interface

1st PMC

F/G0 to F/G767 of 1st PMC
F/G1000 to F/G1767 of 1st PMC
F/G2000 to F/G2767 of 1st PMC
F/G3000 to F/G3767 of 1st PMC
F/G4000 to F/G4767 of 1st PMC
F/G5000 to F/G5767 of 1st PMC
F/G6000 to F/G6767 of 1st PMC
F/G7000 to F/G7767 of 1st PMC
F/G8000 to F/G8767 of 1st PMC
F/G9000 to F/G9767 of 1st PMC

In the following example, F/G0 to F/G767 and F/G1000 to F/G1767 of the CNC are assigned to F/G0 to
F/G767 and F/G1000 to F/G1767 of the first PMC, and F/G2000 to F/G2767 of the CNC are assigned to
F/G0 to F/G767 of the second PMC:

CNC

F/G0 to F/G767 of CNC F/G0 to F/G767 of 1st PMC

1st PMC

F/G2000 to F/G2767 of CNC

Fig. 1.5.2 (b) Setting example for CNC-PMC interface

For details of parameter setting, see Subsection 2.4.3.

- 39 -

F/G1000 to F/G1767 of 1st PMCF/G1000 to F/G1767 of CNC

2nd PMC

F/G0 to F/G767 of 2nd PMC

1.OVERVIEW OF PMC B-64513EN/01

1.5.3 Multi-Path PMC Interface

The multi-path PMC interface is the communication means between two PMC paths.

Generally, Each path of multi-path PMC system has individual PMC memory space except E address. And,
E address can be used to share data of multi-path PMC system. However, this method has a risk that the
memory is over written by other PMC path inappropriately.

NOTE

This interface cannot be used in 4th-path PMC and 5th-path PMC.

When using this function, the input and output signals of each path become definitely. Therefore, you can
send or receive the data on between two PMC paths safely.
When you output data to N address at one of PMC paths, it can be referenced by M address in other PMC
path.

Ex.) When using this function with 1st PMC and 2nd PMC :

1st PMC 2nd PMC

M

N

Moreover, signals of M address are synchronized during 1 scan of 2nd level program. Therefore, you can
reference the same signal status on the first step and the last step of level2 program, like as X and F address.

For details of setting for two PMC paths, see Subsection 2.4.3.

M

N

WARNING

E address can be used to share data of multi-path PMC system. However, E

address are not synchronized during 1 scan of 2nd level program. So, the memory
may change during execution of 2nd level program. You must take care that the
memory is not overwritten by other PMC path in multi-path PMC system.

- 40 -

B-64513EN/01 1.OVERVIEW OF PMC

1.5.4 Common PMC Memory Mode of Multi-Path PMC

On the 2nd-path and 3rd-path PMC, the "Common PMC Memory mode" to share all the PMC Memory with
1st-path PMC has become selectable.
When using the Common PMC Memory mode, a program that controls a related process can be divided to
multi-path Sequence Programs.
And, those Sequence Programs can be inputted/outputted, edited and saved independently.

1st PMC

2nd PMC

3rd PMC

Sequence
Program

Sequence
Program

Sequence
Program

L1 -,
P1 -

L1 -,
P1 -

L1 -,
P1 -

X0 -, Y0 -,
F0 -, G0 -,
R0 -, A0 -,
T0 -, C0 -,
K0 -, D0 -,
M0 -, N0 -,
S1 -, E0 -

(Common Memory)

4th PMC

5th PMC

Fig. 1.5.4 (a) Configuration of the Common PMC Memory mode

Sequence
Program

Sequence
Program

L1 -,
P1 -

L1 -,
P1 -

See "9.9.5 Setting the PMC Memory Type" to enable the Common PMC Memory mode.
There are come differences in the following specifications in the Independent PMC Memory mode and the
Common PMC Memory mode.

Table 1.5.4 (a) Comparison of Independent PMC Memory mode and Common PMC Memory mode

Sequence
program

Data and Functions

Independent PMC Memory

mode

Ladder each PMC path each PMC path
(TMR, CTR, CTRB) each PMC path shared by all PMC paths
(DISPB) each PMC path program to 1st-path PMC
Title each PMC path each PMC path
Symbol & Comment each PMC path each PMC path
Message data each PMC path each PMC path
I/O Link assignment each PMC path each PMC path
System parameter each PMC path each PMC path
(Counter data type) each PMC path 1st-path PMC is effective

- Inputting/Outputting each PMC path each PMC path

- Password function each PMC path each PMC path

- Programmer protection each PMC path 1st-path PMC is effective

- Protection of data at 8 levels each PMC path each PMC path

Common PMC Memory mode

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1.OVERVIEW OF PMC B-64513EN/01

PMC
Parameter

Data and Functions

Timer each PMC path shared by all PMC paths
Counter each PMC path shared by all PMC paths
Keep Relay each PMC path shared by all PMC paths
Data Table each PMC path shared by all PMC paths
Data Table control data each PMC path shared by all PMC paths
Setting Parameter each PMC path shared by all PMC paths

- Inputting/Outputting each PMC path 1st-path PMC is effective

- Programmer protection each PMC path 1st-path PMC is effective

- Protection of data at 8 levels each PMC path 1st-path PMC is effective

Independent PMC Memory

mode

Common PMC Memory mode

WARNING

1 Please separate the range of PMC Memory that will be written by each PMC path.

And, don't write to the same address from other PMC paths because it will often
cause a problem. If making such a programs it will be difficult to fix a problem.

2 When using the Common PMC Memory mode, the memory of PMC Parameter is

shared by those PMC paths, too. Therefore, don't set any duplicated number of
functional instructions that is used for PMC Parameter in those PMC paths.

<Functional instructions using PMC Parameter>

- TMR (Timer : SUB 3)

- CTR (Counter : SUB 5)

- CTRB (Fixed Counter : SUB 56)
But, the instruction number of the following functional instructions can be used for

each PMC path, also in the Common PMC Memory mode.

<Functional instructions numbered each PMC path>

- TMRB (Fixed Timer : SUB 24)

- TMRBF (Off Delay Fixed Timer : SUB 77)

- DIFU (Rising Edge Detection : SUB 57)

- DIFD (Falling Edge Detection : SUB 58)

NOTE

1 To use the Common PMC Memory mode in the 2nd to 5th-path PMC, select the

same PMC type as 1st-path PMC on FANUC LADDER-III.

2 The Data Table Control data is also shared between PMC paths that is used in the

Common PMC Memory mode.

3 L address and P address, that is used for the labels of jump or sub-program call,

can be used for each PMC path independently in the Common PMC Memory
mode, too.

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B-64513EN/01 1.OVERVIEW OF PMC

1.6 Communication Method for External I/O Device

1.6.1 I/O Link i and I/O Link

For the high-speed serial interface which passes input/output signals between the PMC and each I/O device,
there are two communication methods, i.e. the FANUC I/O Link i and the FANUC I/O Link.
You can use up to three channels for the serial interface. The communication method for channel 1 and
channel 2 can be specified by the CNC parameter. The default value “0” of the CNC parameter means that
I/O Link is specified. The channel 3 can be used only for I/O Link.
For the details of the setting of the CNC parameter, see subsection “2.4.3”.

As for the transferred at intervals of the signals from I/O Link i, there are two modes, i.e. a normal mode
(2msec) and a high-speed mode (0.5msec). You can specify the mode for each group of I/O devices.
The transferred at intervals of the signals from I/O Link is “2msec” for channel 1 and 2. For channel 3, it is
the ladder execution period (4msec/8msec).

CNC

Channel 1

I/O Link i

Select by CNC parameter

I/O Link

I/O Link i

Channel 2

I/O Link

Channel 3

Fig. 1.6.1 (a) Setting of the communication method for each channels

I/O Link

Select by CNC parameter

The maximum I/O points of I/O Link i are 2048 poins/2048 points for each channel. The maximum I/O
points of I/O Link are 1024 points/1024 points for each channel. The maximum I/O points for a PMC
system are 4096 points/4096 points in total. You can use several channels of I/O Link i and I/O Link but
the total points cannot exceed the maximum points of the PMC system.

[The example of the combination of I/O Link i and I/O Link]

Channel 1 Channel 2 Channel 3 Total points (DI / DO)

I/O Link i I/O Link i
I/O Link i
I/O Link i

I/O Link I/O Link I/O Link 3072 / 3072

I/O Link i

I/O Link I/O Link
I/O Link
I/O Link

I/O Link I/O Link 4096 / 4096
I/O Link

－ －

－
－ －

－

－

－

I/O Link 2048 / 2048

4096 / 4096

3072 / 3072

2048 / 2048
2048 / 2048

1024 / 1024

- 43 -

1.OVERVIEW OF PMC B-64513EN/01

1.6.2 Setting I/O Address for I/O Link i

For the I/O addresses assignment of I/O Link i channels, you set the I/O addresses and PMC path to each
group and the slot of I/O devices which is connected to channels for I/O Link i. The assignment is operated
in FANUC LADDER-III and is programmed independent of the sequence program (.LAD file). For the
details, see FANUC LADDER-III Operation’s Manual (B-66234EN).
The assignment date of I/O Link i is loaded to CNC as a I/O configuration data. I/O signals of I/O Link i are
controlled by the I/O configuration data.
For details of I/O Link i, see Subsection 3.3.
For details of the setting operation of the I/O configuration data on the CNC screen, see Subsection 9.10.

The following figure is the multi-path PMC system overview using I/O Link i.

• 1st PMC The sequence program using I/O devices connected to the channel 1(I/O Link i)

• 2nd PMC The sequence program using I/O devices connected to the channel 1(I/O Link i)

• 3rd PMC The sequence program using I/O devices connected to the channel 2(I/O Link)

NOTE

Multi-path PMC function is optional function.

FANUC LADDER-

Ⅲ

1st path sequence program

2nd path sequence program

3rd path
sequence program

I/O module assignment

CNC

1st-path PMC

2nd-path PMC

3rd-path PMC

X/Y0 ~ 127

channel PMCgroup slot

Loading

I/O configuration

data

X/Y0 ~ 127

I/O Link i assignment data (FIL file)

X address

0

1

1

PMC1

X0000

2

PMC2

X0010

1

PMC1
PMC2

X0020
X0030

1
2

Channel 1(I/O Link i)

Slot 1
Slot 2

Group 0

(normal mode)

Slot 1
Slot 2

(high speed mode)

Channel 2 (I/O Link)

Y address

Y0000
Y0010
Y0020
Y0030

Group 1

Transferred

period

Normal

(2msec)

High-speed

(0.5msec)

- 44 -

Group 0

Group 1

B-64513EN/01 1.OVERVIEW OF PMC

1.6.3 Setting I/O Address for I/O Link

The I/O addresses of I/O Link channels can be assigned with CNC parameters. Moreover, setting the dual
assignment can divide one I/O link channel into two blocks and assign them to different PMC path.
For details of setting, see Subsection 9.9.3.
For details of parameter setting, see Subsection 2.4.3.

NOTE

This function cannot be used for I/O Link i.

Assign one I/O link channel to one PMC path

The I/O addresses of I/O Link channels can be assigned with CNC parameters.
If these parameters are not set (0 is set), all channels are assigned to the first PMC by default as follows:

1st PMC

X/Y0 to X/Y127

Channel 1

X/Y200 to X/Y327

X/Y400 to X/Y527

Fig. 1.6.3 (a) Default I/O addresses of I/O Link channels

Channel 2

Channel 3

In the following example, channel 1 is assigned to X/Y0 to X/Y127 of the first PMC, channel 2 is assigned
to X/Y200 to X/Y327 of the first PMC, and channel 3 is assigned to X/Y0 to X/Y127 of the second PMC:

1st PMC

X/Y0 to X/Y127

X/Y200 to X/Y327

2nd PMC

X/Y0 to X/Y127

Fig. 1.6.3 (b) Example of I/O address assignment for I/O Link channels

Channel 1

Channel 2

Channel 3

- 45 -

1.OVERVIEW OF PMC B-64513EN/01

Assign one I/O link channel to two PMC paths

When multi-path path PMC function is used, you can use plural channels. However, there is the case of the
wasteful assignment in which the number of I/O link channel is lacking and the assigned I/O points are few.
The dual assignment of I/O Link channel can assign I/O devices on one I/O link channel to two PMC paths
effectively. To do so, the rest parts of one channel can be used in another PMC path and it is not necessary
to use more channels than it is needed. The dual assignment of I/O Link channel can be assigned with CNC
parameters.
In the following example, channel 1 is assigned to X/Y0 to X/Y127 of the first PMC and channel 2 is
assigned to X/Y200 to X/Y327 of the first PMC and X/Y0 to X/Y127 of the second PMC. As for the
channel 2, the former collection of the groups is referred to as "first block" and the latter is referred to as
"second block".

For details of parameter setting, see Subsection 3.3.3.

1st PMC

X/Y0 to 127

X/Y200 to 327

2nd PMC

X/Y0 to 127

Fig. 1.6.3 (c) Example of Dual Assignment of I/O Link Channel

Channel 1

～

Group 0 Group 1 Group 2 Group n

Channel 2

～～

Group 0 Group n

1st Block 2nd Block

Group 0 Group n

- 46 -

B-64513EN/01 2.PMC SPECIFICATIONS

2 PMC SPECIFICATIONS

2.1 SPECIFICATIONS

2.1.1 Basic Specifications

Table 2.1.1 (a) Basic specifications of each PMC path

Function 1st ~ 5th- path PMC

PMC Memory Type(Note2) 1st PMC

PMC Memory-B
PMC Memory-C
PMC Memory-D

2nd~5th PMC

PMC Memory-A
PMC Memory-B
PMC Memory-C
Common PMC Memory with 1st PMC

Programming language Ladder

Step sequence(Note4)

Function block
Number of ladder levels 3 2 (Note5)
Level 1 execution period (Note6) 4 or 8 msec 8 msec
Processing power

• Basic instruction processing speed(transition
contact) (Note7)

• Basic instruction processing

speed(Positive/Negative transition contact)

Program capacity (Note8)

• Ladder Up to about 300,000 steps Up to about 3,000 steps

• Symbol & Comment At least 1KB At least 1KB

• Message At least 8KB At least 8KB

Instructions

• Basic instructions 24 24

• Functional instructions (Note9) 218 (230) 207 (230)

Instructions(When the expanded PMC ladder

instruction function is invalid)

• Basic instructions 14 14

• Functional instructions (Note9) 93 (105) 85 (105)

CNC interface

• Inputs (F) 768 bytes × 10(Note10) 768 bytes

• Outputs (G) 768 bytes × 10(Note10) 768 bytes

DI/DO

• I/O Link (Note 11,12)

• I/O Link i (Note 13~16)

• Inputs (X) Up to 4,096 points (Note17) Up to 64 points

• Outputs (Y) Up to 4,096 points (Note17) Up to 64 points

Symbol & Comment (Note18)

• Number of symbol characters 40 40

• Number of comment characters (Note19) 255 255

Program storage area (Flash ROM) (Note20) Max. 5MB (total size of sequence

9.1 nsec/step 1 μsec/step

310 nsec/step

program of all PMC paths and PMC

message multi-language data)

(Note3)

Ladder
Function block

19.2 μ sec/step

128KB

DCS PMC

(Note1)

- 47 -

2.PMC SPECIFICATIONS B-64513EN/01

NOTE

1 This PMC is used for Dual Check Safety (DCS) and handles the safety related

signals.
2 As for the setting the PMC memory type, see subsection 2.1.3.
3 There is no variation of PMC memory type in DCS PMC.
4 The Step Sequence is unavailable in 2nd to 5th PMC.
5 A program can be created on level 3 to maintain source-level compatibility with

programs for other models, but it is not executed.
6 CNC parameter No. 11930 is used to specify a level-1 execution period. See

subsection 2.4.3 for details. Note, however, that it is impossible to specify a level-1

execution period for each PMC separately.
7 It is the processing speed of contact other than Positive/Negative transition contact.
8 The maximum overall program size (including the maximum number of ladder steps,

symbols/ comments, and messages) varies depending on option settings. See

subsection 2.1.4 and 2.1.4 for details.
9 For the number of functional instructions, each parenthesized number indicates the

number of all functional instructions, and each non-parenthesized number, the

number of valid functional instructions.
10 It is possible to specify which program is used to control a specific CNC system.

See "Interface between CNC and PMC" in Subsection 2.4.3 for details.
11 You can use up to three I/O Link channels (3,072 input points and 3,072 output

points).
12 The transferred cycle of the signals from I/O Link depends on the combination with

each PMC and each I/O Link channel. Refer to subsection 3.1 for details.

13 You can use up to two I/O Link i channels (4,096 input points and 4,096 output

points).
14 I/O Link i can assign I/O devices for plural PMC paths in one channel.
15 I/O Link i can be used for the channel 1 and the channel 2.
16 When you use the I/O Link i, you can select either the normal mode (2ms) or the

high-speed mode (0.5ms) of the transfer cycle of signals for every group unit
17 You can use both I/O Link and I/O Link i in a CNC system. In the case of the system,

you can use up to 4,096 input points and 4096 output points.
18 These are the number for extended symbol and comment character. The number of

basic symbol character is 16 and the number of comment character is 30. Refer to

section 1.2.7 "Specification of extended symbol and comment" for details.
19 This number is the number of single-byte characters. When you use double-byte

characters as a comment, the number becomes half.
20 The capacity of the program storage area varies depending on option settings.

See subsection 2.1.4 for details.

- 48 -

B-64513EN/01 2.PMC SPECIFICATIONS

Table 2.1.1 (b) Basic specifications of each PMC Memory Type

1st to 5th PMC DCS PMC

Function

PMC Memory

• Internal relay (R) 1,500 bytes 8,000 bytes 16,000 bytes 60,000 bytes 1,500 bytes

• System Relay

(R9000 or Z)

• Extra relay (E) (Note2) 10,000 bytes 10,000 bytes 10,000 bytes 10,000 bytes (Note 3)

• Message display (A)
⋅ Display requests 2,000 points 2,000 points 4,000 points 6,000 points (Note 4)
⋅ Status displays 2,000 points 2,000 points 4,000 points 6,000 points (Note 4)

• Nonvolatile memory

• Timer (T)
⋅ Variable timer 80 bytes

⋅ Variable timer

precision

• Counter (C)
⋅ Variable counter 80 bytes

⋅ Fixed counter 40 bytes

• Keep relay (K)
⋅ User area 20 bytes 100 bytes 200 bytes 300 bytes 20 bytes
⋅ System area 100 bytes 100 bytes 100 bytes 100 bytes 100 bytes

• Data table (D) 3,000 bytes 10,000 bytes 20,000 bytes

• Step sequence
⋅ Step number (S) (None) 2,000 bytes 2,000 bytes 2,000 bytes (None)

Functional instructions

• Variable timers (TMR) 40 pieces 250 pieces 500 pieces 500 pieces 40 pieces

• Fixed timers

(TMRB/TMRBF)

• Variable counters
(CTR)

• Fixed counters (CTRB) 20 pieces 100 pieces 200 pieces 300 pieces 20 pieces

• Rising/Falling edge

detection (DIFU/DIFD)

• Labels (LBL) 9,999 pieces 9,999 pieces 9,999 pieces 9,999 pieces 9,999 pieces

• Subprograms (SP) 512 pieces 5,000 pieces 5,000 pieces 5,000 pieces 512 pieces

PMC

Memory-A

500 bytes 500 bytes 500 bytes 500 bytes 500 bytes

(40 pieces)
80 bytes
(40 pieces)

(20 pieces)

(20 pieces)

100 pieces 500 pieces 1,000 pieces 1,500 pieces 100 pieces

20 pieces 100 pieces 200 pieces 300 pieces 20 pieces

256 pieces 1,000 pieces 2,000 pieces 3,000 pieces 256 pieces

PMC

Memory-B

500 bytes
(250 pieces)
500 bytes
(250 pieces)

400 bytes
(100 pieces)
200 bytes
(100 pieces)

PMC

Memory-C

1,000 bytes
(500 pieces)
1,000 bytes
(500 pieces)

800 bytes
(200 pieces)
400 bytes
(200 pieces)

(Note 5)

PMC

Memory-D

1,000 bytes
(500 pieces)
1,000 bytes
(500 pieces)

1200 bytes
(300 pieces)
600 bytes
(300 pieces)

60,000 bytes
(Note 5)

(Note 1)

80 bytes
(40 pieces)
80 bytes
(40 pieces)

80 bytes
(20 pieces)
40 bytes
(20 pieces)

3,000 bytes

NOTE

1 This PMC is used for Dual Check Safety function (option).
2 The extra relay is common memory for the multi-PMC function. This means that

its size covers all of PMCs. Moreover, It is possible to use the extra relay as

nonvolatile memory by the option.
3 No extra relay is available for DCS PMC.
4 The message display relay is ineffective in DCS PMC because the message

display function is unavailable in it.
5 Under the configuration having two or more paths of PMC Memory-C or one path

of PMC Memory-D, please specify the "Nonvolatile PMC data table area

expansion 40KB" option. If this option is not added, the expanded data table area

(D10000~) is not kept after rebooting CNC. Refer to subsection 2.1.3 for details.

- 49 -

2.PMC SPECIFICATIONS B-64513EN/01

2.1.2 Total Ladder Steps of Multi-path PMC

For the multi-path PMC system, you can specify a ladder step option by the total step of all of PMCs.

Option name Specification

PMC Ladder Function 24,000 Step
PMC Ladder Function 32,000 Step
PMC Ladder Function 64,000 Step
PMC Ladder Function 100,000 Step
PMC Ladder Function 300,000 Step

For example, when the 1st PMC requires 48,000 steps, the 2nd PMC requires 32,000 steps and the 3rd
PMC requires 16,000 steps on 3-path PMC system, the “PMC ladder faction 100,000 step” option is
necessary.

Ladder steps of each PMC path

Ladder steps

1st PMC 48,000 steps

Basic
H990#32K
H990#64K

H990#100K
H990#300K

PMC Ladder 100,000 steps option

1st PMC (48,000 steps)

2nd PMC 32,000 steps

3rd PMC 16,000 steps

Total 96,000 steps

2nd PMC (32,000 steps)

3rd PMC (16,000 steps)

NOTE

1 If the total steps, which is added in PMC path order, exceed the step number of

specified step option, the PMC alarm “ER03 PROGRAM SIZE ERROR(OPTION)”
occurs in the path just when the excess of steps is detected. The sequence program
of the PMC path, in which the alarm occurs, does not be executed.

The steps of the PMC path, in which the alarm occurs, is eliminated from the total

steps, and the steps of next PMC path are added to the total steps. For example,
when the option “PMC ladder 64,000 steps” is specified under above configuration
of PMC paths, the sequence program both of the 1st path PMC and 3rd path PMC
are executed, the PMC alarm “ER03” occurs in the 2nd path PMC.

2 The total steps does not include the ladder steps of dual check safety PMC.

- 50 -

B-64513EN/01 2.PMC SPECIFICATIONS

2.1.3 Determination of PMC Memory Type

PMC memory type

There are four PMC memory types i.e. memory-A, memory-B, memory-C and memory-D. These
memory types differ in the size of PMC address. For the 2nd to 5th path PMC, the PMC memory can be
also shared with the 1st path PMC. The DCS PMC does not have plural PMC memory types.
For the details of the PMC memory type, refer to subsection “2.1.1”. As for the CNC parameter for the
PMC memory type, refer to subsection “2.4.3”.

The following is the selectable PMC memory types in each PMC path.

1st path PMC 2nd to 5th path PMC Remark

PMC-memory B (default)
PMC-memory C

PMC-memory D Shared with 1st path PMC

PMC-memory A (default)
PMC-memory B
PMC-memory C
Shared with 1st path PMC

Nonvolatile area of the data table in each PMC memory type

The following table is the data table number and basic nonvolatile area of each PMC memory type.

Table 2.1.3 (a) Data table number of each PMC memory type

PMC memory type Data Table Basic nonvolatile area

PMC memory-A 3,000 bytes 3,000 bytes
PMC memory-B 10,000 bytes 10,000 bytes
PMC memory-C 20,000 bytes 20,000 bytes (In case of using one path of

PMC memory-D 60,000 bytes 10,000 bytes

NOTE

To use two or more paths of PMC memory-C or one path of PMC memory-D,

specify the option “Nonvolatile PMC data table area expansion (40KB)”. If this
option is not specified, data at D10000 and subsequent addresses is not saved.

You can specify up to three paths both of
PMC-memory B and C in total.

PMC-memory C)
10,000 bytes (In case of using two or more
paths of PMC-memory C)

- 51 -

2.PMC SPECIFICATIONS B-64513EN/01

2.1.4 Program Capacity

All of the memory size, to which save the sequence program and multi-language PMC message data for
all PMC paths, is specified as the combination of the following two options. The size of each data is
calculated per 128KB.

(1) PMC Ladder step option

Option name Memory size

PMC Ladder Function 24,000 Steps (Basic) 256 KB
PMC Ladder Function 32,000 Steps 384 KB
PMC Ladder Function 64,000 Steps 768 KB
PMC Ladder Function 100,000 Steps 1 MB (1,024 KB)
PMC Ladder Function 300,000 Steps 3 MB (3,072 KB)

(2) PMC Symbol, Comment and Message capacity expansion option

Option name Memory size

PMC Symbol, Comment and Message capacity expansion (512KB) 512KB
PMC Symbol, Comment and Message capacity expansion (1MB) 1MB (1,024KB)
PMC Symbol, Comment and Message capacity expansion (2MB) 2MB (2,048KB)

Example of configuration

- The sequence program of the 1st PMC: Ladder 48,000 steps, Memory size 640KB

- The sequence program of the 2nd PMC: Ladder 32,000 steps, Memory size 384KB

- The sequence program of the 3rd PMC: Ladder 16,000 steps, Memory size 128KB

- The multi-language message data of the 1st PMC: Memory size 256KB

- The multi-language message data of the 2nd PMC: Memory size 128KB

Total: Ladder 96,000 steps, Memory size 1,536KB

The following options are required to be above configuration.

(1) “Multi-Path PMC Function (3-Path)”
Specify the path number according to using PMC path.

(2) “PMC Ladder Function 100,000 Steps”
Specify total steps of all PMC paths.

(3) “PMC Symbol, Comment and Message capacity expansion 512KB”
Specify the memory capacity to add “PMC Ladder Function Step Option”. The memory size of

“PMC Ladder Function 100,000 steps” is 1,024KB. So, the shortage of 512KB is specified.

NOTE

1 When the total size is exceed specified memory capacity by options, the alarm

“ER02 PROGRAM SIZE OVER” or “WN64 MESSAGE FILE SIZE OVER“ occurs in
the PMC path in which detected the error.

2 When plural data are edited, inputted or outputted at the same time using CNC

screen or FANUC LADDER-III, the data may not be updated even if the total size
is under the specified memory capacity. In this case, simultaneous operations
should be stopped and retry.

3 Above memory size does not include the memory for DCS PMC. The memory size

of DCS PMC is 128KB.

- 52 -

B-64513EN/01 2.PMC SPECIFICATIONS

2.1.5 Used Memory Size of Sequence Program

The following table lists the memory capacity used by sequence programs. When creating sequence
programs, keep their total size within this memory capacity.

Table 2.1.5 (a) Used memory size for each data

Category Item Required memory size (Note 1)

Ladder (Note 2)

conventional type (Note 2)

Symbol/comment extended
type (Note 2)

Message (Note 2) One message character (alphanumeric

Others Area used by the system

NOTE

1 The total sequence program size (including all items such as ladders,

symbols/comments, and messages) cannot exceed the sequence program
memory storage capacity. If a ladder, symbol/ comment, or message is large,
the size of other categories may be limited.

2 The PMC programmer may adjust arrangement of these items in the sequence

program memory to improve processing efficiency. As a result, up to 1K byte

(1024 bytes) may be added to the sum of the sizes of individual items.
3 Each full-size character takes a memory capacity of 2 bytes.
4 For Japanese and special characters, each character in a character code

notation (including leading and trailing "@" characters) takes a memory capacity

of one byte. See descriptions about the DISPB function instructions for the

character input code notation.
5 One definition of extended symbol and comment takes 16-23 bytes plus the

memory according to the length of symbol and comment.
6 8 bytes are taken for a sub-program when local symbols are defined in the

sub-program.
7 In the PMC Memory-C, the system area is expanded by about 8KB from PMC

Memory-A or B. In the PMC Memory-D, the area is expanded by about 16KB

from PMC Memory-A or B. Therefore, available memory size for Symbol,

Comment and Message data is smaller than PMC Memory-A and B. If the

program overflowed by converting PMC Memory Type, please decrease the

Symbol, Comment or Message data, or upgrade the Ladder step option to larger

size.

Basic instruction Please refer to table 2.1.8.
Functional instruction Please refer to table 2.1.9 and table2.1.10.
Functional instruction parameter 4 bytes
One definition of symbol/comment
(Including symbol string)
One comment character 1 byte (Note 3)
One definition of symbol/comment 16 - 23 bytes (Note 5)
One symbol character 1 byte
One comment character 1 byte (Note 3)
One sub-program 8 bytes (Note 6)

characters)

24 bytes Symbol/comment

1 byte (Note 4)

About 16K bytes
(PMC Memory-A, B, DCS PMC)
About 24K bytes (Note 7)
(PMC Memory-C)
About 32K bytes (Note 7)
(PMC Memory-D)

- 53 -

2.PMC SPECIFICATIONS B-64513EN/01

2.1.6 PMC Addresses

Table 2.1.6 (a) PMC Address list (1)

Signals Symbol

Input signal
to the PMC
from the machine

X1000 ~ X1127

Output signal
from the PMC
to the machine

Y1000 ~ Y1127

Input signal
to the PMC
from the CNC

Output signal from
the PMC
to the CNC

Input signal
from other PMC path
Output signal
to other PMC path
Internal relay R R0 ~ R1499 R0 ~ R7999 R0 ~ R15999 R0 ~ R59999 R0 ~ R1499
System relay R / Z R9000 ~ R9499 R9000 ~ R9499 Z0 ~ Z499 Z0 ~ Z499 R9000 ~ R9499
Extra relay E E0 ~ E9999

Message display

・Display request
・Display status

PMC Memory-A PMC Memory-B PMC Memory-C PMC Memory-D (Note 1)

X X0 ~ X127

X200 ~ X327
X400 ~ X527
X600 ~ X727

(Note 2)

Y Y0 ~ Y127

Y200 ~ Y327
Y400 ~ Y527
Y600 ~ Y727

(Note 2)
F0 ~ F767

F

F1000 ~ F1767
F2000 ~ F2767
F3000 ~ F3767
F4000 ~ F4767
F5000 ~ F5767
F6000 ~ F6767
F7000 ~ F7767
F8000 ~ F8767
F9000 ~ F9767
G0 ~ G767

G

G1000 ~ G1767
G2000 ~ G2767
G3000 ~ G3767
G4000 ~ G4767
G5000 ~ G5767
G6000 ~ G6767
G7000 ~ G7767
G8000 ~ G8767
G9000 ~ G9767

M M0 ~ M767 M0 ~ M767 M0 ~ M767 M0 ~ M767

N N0 ~ N767 N0 ~ N767 N0 ~ N767 N0 ~ N767

(Note 3)

A

A0 ~ A249
A9000 ~ A9249

1st to 5th path PMC DCS PMC

X0 ~ X127
X200 ~ X327
X400 ~ X527
X600 ~ X727
X1000 ~ X1127
(Note 2)
Y0 ~ Y127
Y200 ~ Y327
Y400 ~ Y527
Y600 ~ Y727
Y1000 ~ Y1127
(Note 2)
F0 ~ F767

F1000 ~ F1767
F2000 ~ F2767
F3000 ~ F3767
F4000 ~ F4767
F5000 ~ F5767
F6000 ~ F6767
F7000 ~ F7767
F8000 ~ F8767
F9000 ~ F9767
G0 ~ G767
G1000 ~ G1767
G2000 ~ G2767
G3000 ~ G3767
G4000 ~ G4767
G5000 ~ G5767
G6000 ~ G6767
G7000 ~ G7767
G8000 ~ G8767
G9000 ~ G9767

E0 ~ E9999
(Note 3)

A0 ~ A249
A9000 ~ A9249

X0 ~ X127
X200 ~ X327
X400 ~ X527
X600 ~ X727
X1000 ~ X1127
(Note 2)
Y0 ~ Y127
Y200 ~ Y327
Y400 ~ Y527
Y600 ~ Y727
Y1000 ~ Y1127
(Note 2)
F0 ~ F767

F1000 ~ F1767
F2000 ~ F2767
F3000 ~ F3767
F4000 ~ F4767
F5000 ~ F5767
F6000 ~ F6767
F7000 ~ F7767
F8000 ~ F8767
F9000 ~ F9767
G0 ~ G767
G1000 ~ G1767
G2000 ~ G2767
G3000 ~ G3767
G4000 ~ G4767
G5000 ~ G5767
G6000 ~ G6767
G7000 ~ G7767
G8000 ~ G8767
G9000 ~ G9767

E0 ~ E9999
(Note 3)

A0 ~ A499
A9000 ~ A9499

X0 ~ X127
X200 ~ X327
X400 ~ X527
X600 ~ X727
X1000 ~ X1127
(Note 2)
Y0 ~ Y127
Y200 ~ Y327
Y400 ~ Y527
Y600 ~ Y727
Y1000 ~ Y1127
(Note 2)
F0 ~ F767

F1000 ~ F1767
F2000 ~ F2767
F3000 ~ F3767
F4000 ~ F4767
F5000 ~ F5767
F6000 ~ F6767
F7000 ~ F7767
F8000 ~ F8767
F9000 ~ F9767
G0 ~ G767
G1000 ~ G1767
G2000 ~ G2767
G3000 ~ G3767
G4000 ~ G4767
G5000 ~ G5767
G6000 ~ G6767
G7000 ~ G7767
G8000 ~ G8767
G9000 ~ G9767

E0 ~ E9999
(Note 3)

A0 ~ A749
A9000 ~ A9749

X0 ~ X127

Y0 ~ Y127

F0 ~ F767

G0 ~ G767

(Note 3)

A0 ~ A249
A9000 ~ A9249

- 54 -

B-64513EN/01 2.PMC SPECIFICATIONS

Table 2.1.6 (b) PMC Address list (2)

Signals Symbol

Timer T

・Variable timer
・Variable timer

precision (Note 5)

Counter C

・Variable counter
・Fixed counter

Keep relay K

・User area
・System area

Data table D D0 ~ D2999 D0 ~ D9999 D0 ~ D19999

Label L L1 ~ L9999 L1 ~ L9999 L1 ~ L9999 L1 ~ L9999 L1 ~ L9999
Subprogram P P1 ~ P512 P1 ~ P5000 P1 ~ P5000 P1 ~ P5000 P1 ~ P512
Step number
(Step sequence)

PMC Memory-A PMC Memory-B PMC Memory-C PMC Memory-D (Note 1)

T0 ~ T79
T9000 ~ T9499

C0 ~ C79
C5000 ~ C5199

K0 ~ K19
K900 ~ K999

S (none) S1 ~ S2000 S1 ~ S2000 S1 ~ S2000 (none)

1st to 5th path PMC DCS PMC

T0 ~ T499
T9000 ~ T9499

C0 ~ C399
C5000 ~ C5199

K0 ~ K99
K900 ~ K999

T0 ~ T999
T9000 ~ T9999

C0 ~ C799
C5000 ~ C5399

K0 ~ K199
K900 ~ K999

(Note6)

T0 ~ T999
T9000 ~ T9999

C0～C1199
C5000～C5599

K0 ~ K299
K900 ~ K999

D0 ~ D59999
(Note6)

T0 ~ T79
T9000 ~ T9079

C0 ~ C79
C5000 ~ C5039

K0 ~ K19
K900 ~ K999

D0 ~ D2999

NOTE

1 This PMC is used for Dual Check Safety function (option).
2 This area is reserved for PMC management software. Do not use it in user

programs.

3 This area is common memory for the multi-path PMC function. Each program can

write and read the same value in the area.
4 No extra relay is available for the Dual Check Safety PMC.
5 This area is used to specify the precision of a variable timer.

- Don't modify the value of active timer and its precision except for writing same
value.

- Don't set the value other than the following range.

- If above rules are violated, the behavior of the timer is not guaranteed.

The value of precision
0: Default (8msec or 48msec)
1: 1msec
2: 10msec
3: 100msec
4: 1sec
5: 1min

6 To save all area of the data table, the “Nonvolatile PMC data table area expansion

(40KB)” option may be necessary.

- 55 -

2.PMC SPECIFICATIONS B-64513EN/01

2.1.7 Basic Instructions

Table 2.1.7 Basic instruction list

Instruction name Required memory size 1st to 5th path PMC DCS PMC (Note)

RD 4 bytes
RD.NOT 4 bytes
WRT 4 bytes
WRT.NOT 4 bytes
AND 4 bytes
AND.NOT 4 bytes
OR 4 bytes
OR.NOT 4 bytes
RD.STK 4 bytes
RD.NOT.STK 4 bytes
AND.STK 4 bytes
OR.STK 4 bytes
SET 4 bytes
RST 4 bytes
RDPT 12 bytes ● ●
ANDPT 12 bytes ● ●
ORPT 12 bytes ● ●
RDPT.STK 12 bytes ● ●
RDNT 12 bytes ● ●
ANDNT 12 bytes ● ●
ORNT 12 bytes ● ●
RDNT.STK 12 bytes ● ●
PUSH 4 bytes ● ●
POP 4 bytes ● ●

({: Usable. ●: The Extended PMC Ladder Instruction Function ×: Unusable.)

NOTE

This PMC is used for Dual Check Safety function (option). See "Dual Check

Safety Connection Manual (B-64483JA-2)" for details.

{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {

- 56 -

B-64513EN/01 2.PMC SPECIFICATIONS

2.1.8 Functional Instructions (Arranged in Sequence of Instruction

Group)

Table 2.1.8 (a) Functional instruction list (arranged in sequence of instruction group) (1)

Required

Instruction

group

Timer 1 TMR 3 On-delay timer 8

2 TMRB 24 Fixed on-delay timer 12
3 TMRBF 77 Fixed off-delay timer 12
4 TMRC 54 On-delay timer 16
5 TMRST 221 Stop watch timer (1 ms accuracy) 20 ● ●
6 TMRSS 222 Stop watch timer (1 sec accuracy) 20 ● ●

Counter 1 CTR 5 Counter processing 8

2 CTRB 56 Counter processing 12
3 CTRC 55 Counter processing 12
4 CTRD 223 Counter processing (4 byte length) 12 ● ●

Data 1 MOVB 43 1-byte transfer 12

transfer 2 MOVW 44 2-byte transfer 12

3 MOVD 47 4-byte transfer 12
4 MOVN 45 Transfer of arbitrary number of bytes 16
5 MOVE 8 Data transfer after logical product 20
6 MOVOR 28 Data transfer after logical sum 16
7 XMOVB 35 Index modification binary data transfer 24
8 XMOV 18 Index modification data transfer 20
9 MOVBT 224 Bit transfer 24 ● ●
10 SETNB 225 Data setting (1 byte length) 20 ● ●
11 SETNW 226 Data setting (2 byte length) 20 ● ●
12 SETND 227 Data setting (4 byte length) 20 ● ●
13 XCHGB 228 Data exchange (1 byte length) 12 ● ●
14 XCHGW 229 Data exchange (2 byte length) 12 ● ●
15 XCHGD 230 Data exchange (4 byte length) 12 ● ●
16 SWAPW 231 Data swap (2 byte length) 16 ● ●
17 SWAPD 232 Data swap (4 byte length) 16 ● ●
18 DSCHB 34 Binary data search 24
19 DSCH 17 Data search 20

Table 1 TBLRB 233 Reading data from table (1 byte length) 24 ● ●

Data 2 TBLRW 234 Reading data from table (2 byte length) 24 ● ●

3 TBLRD 235 Reading data from table (4 byte length) 24 ● ●
4 TBLRN 236 Reading data from table

5 TBLWB 237 Writing data to table (1 byte length) 24 ● ●
6 TBLWW 238 Writing data to table (2 byte length) 24 ● ●
7 TBLWD 239 Writing data to table (4 byte length) 24 ● ●
8 TBLWN 240 Writing data to table (Arbitrary byte length) 28 ● ●
9 DSEQB 241 Searching data from table (=) (1 byte length) 28 ● ●
10 DSEQW 242 Searching data from table (=) (2 byte length) 28 ● ●

({: Usable. ●: The Extended PMC Ladder Instruction Function Δ: Executed as NOP instruction (Note 2).
×: Unusable.)

Instruction

name

SUB

No.

(Arbitrary byte length)

Processing

memory

size

(byte)

28 ● ●

1st to 5th

PMC

{ {
{ {
{ {
{ {

{ {
{ {
{ {

{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {

{ {
{ {

DCS
PMC

(Note1)

- 57 -

2.PMC SPECIFICATIONS B-64513EN/01

Table 2.1.8 (b) Functional instruction list (arranged in sequence of instruction group) (2)

Required

Instruction

group

Table

Data

12 DSNEB 244 Searching data from table (≠) (1 byte length) 28 ● ●
13 DSNEW 245 Searching data from table (≠) (2 byte length) 28 ● ●
14 DSNED 246 Searching data from table (≠) (4 byte length) 28 ● ●
15 DSGTB 247 Searching data from table (>) (1 byte length) 28 ● ●
16 DSGTW 248 Searching data from table (>) (2 byte length) 28 ● ●
17 DSGTD 249 Searching data from table (>) (4 byte length) 28 ● ●
18 DSLTB 250 Searching data from table (<) (1 byte length) 28 ● ●
19 DSLTW 251 Searching data from table (<) (2 byte length) 28 ● ●

20 DSLTD 252 Searching data from table (<) (4 byte length) 28 ● ●

21 DSGEB 253

22 DSGEW 254

23 DSGED 255

24 DSLEB 256

25 DSLEW 257

26 DSLED 258

27 DMAXB 259 Maximum data (1 byte length) 28 ● ●

28 DMAXW 260 Maximum data (2 byte length) 28 ● ●

29 DMAXD 261 Maximum data (4 byte length) 28 ● ●

30 DMINB 262 Minimum data (1 byte length) 28 ● ●

31 DMINW 263 Minimum data (2 byte length) 28 ● ●

32 DMIND 264 Minimum data (4 byte length) 28 ● ●

({: Usable. ●: The Extended PMC Ladder Instruction Function Δ: Executed as NOP instruction (Note 2).
×: Unusable.)

Instruction

name

11 DSEQD 243 Searching data from table (=) (4 byte length) 28 ● ●

SUB

No.

Searching data from table (≧) (1 byte length)
Searching data from table (≧) (2 byte length)
Searching data from table (≧) (4 byte length)
Searching data from table (≦) (1 byte length)
Searching data from table (≦) (2 byte length)
Searching data from table (≦) (4 byte length)

Processing

memory

size

(byte)

28 ● ●
28 ● ●
28 ● ●
28 ● ●
28 ● ●
28 ● ●

1st to 5th

PMC

DCS
PMC

(Note1)

- 58 -

B-64513EN/01 2.PMC SPECIFICATIONS

Table 2.1.8 (c) Functional instruction list (arranged in sequence of instruction group) (3)

Required

Instruction

group

Comparison 1 EQB 200 Signed Binary Comparison (=) (1 byte length) 16

2 EQW 201 Signed Binary Comparison (=) (2 byte length) 16

3 EQD 202 Signed Binary Comparison (=) (4 byte length) 16

4 NEB 203 Signed Binary Comparison (≠) (1 byte length) 16

5 NEW 204 Signed Binary Comparison (≠) (2 byte length) 16

6 NED 205 Signed Binary Comparison (≠) (4 byte length) 16

7 GTB 206 Signed Binary Comparison (>) (1 byte length) 16

8 GTW 207 Signed Binary Comparison (>) (2 byte length) 16

9 GTD 208 Signed Binary Comparison (>) (4 byte length) 16

10 LTB 209 Signed Binary Comparison (<) (1 byte length) 16

11 LTW 210 Signed Binary Comparison (<) (2 byte length) 16

12 LTD 211 Signed Binary Comparison (<) (4 byte length) 16

13 GEB 212

14 GEW 213

15 GED 214

16 LEB 215

17 LEW 216

18 LED 217

19 RNGB 218 Signed Binary Comparison (range) (1 byte length) 20

20 RNGW 219 Signed Binary Comparison (range) (2 byte length) 20

21 RNGD 220 Signed Binary Comparison (range) (4 byte length) 20

22 COMPB 32 Comparison between binary data 20

23 COMP 15 Comparison 16

24 COIN 16 Coincidence check 16

({: Usable. ●: The Extended PMC Ladder Instruction Function Δ: Executed as NOP instruction (Note 2).
×: Unusable.)

Instruction

name

SUB

No.

Signed Binary Comparison (≧) (1 byte length)
Signed Binary Comparison (≧) (2 byte length)
Signed Binary Comparison (≧) (4 byte length)
Signed Binary Comparison (≦) (1 byte length)
Signed Binary Comparison (≦) (2 byte length)
Signed Binary Comparison (≦) (4 byte length)

Processing

memory

size

(byte)

16
16
16
16
16
16

1st to 5th

PMC

{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {

DCS
PMC

(Note1)

- 59 -

2.PMC SPECIFICATIONS B-64513EN/01

Table 2.1.8 (d) Functional instruction list (arranged in sequence of instruction group) (4)

Required

Instruction

group

Bit 1 DIFU 57 Rising-edge detection 8

operation 2 DIFD 58 Falling-edge detection 8

3 EOR 59 Exclusive OR 20
4 AND 60 Logical AND 20
5 OR 61 Logical OR 20
6 NOT 62 Logical NOT 16
7 PARI 11 Parity check 8
8 SFT 33 Shift register 8

9 EORB 265 Exclusive OR (1 byte length) 20 ● ●

10 EORW 266 Exclusive OR (2 byte length) 20 ● ●

11 EORD 267 Exclusive OR (4 byte length) 20 ● ●

12 ANDB 268 Logical AND (1 byte length) 20 ● ●

13 ANDW 269 Logical AND (2 byte length) 20 ● ●

14 ANDD 270 Logical AND (4 byte length) 20 ● ●

15 ORB 271 Logical OR (1 byte length) 20 ● ●

16 ORW 272 Logical OR (2 byte length) 20 ● ●

17 ORD 273 Logical OR (4 byte length) 20 ● ●

18 NOTB 274 Logical NOT (1 byte length) 16 ● ●

19 NOTW 275 Logical NOT (2 byte length) 16 ● ●

20 NOTD 276 Logical NOT (4 byte length) 16 ● ●

21 SHLB 277 Bit shift left (1 byte length) 20 ● ●

22 SHLW 278 Bit shift left (2 byte length) 20 ● ●

23 SHLD 279 Bit shift left (4 byte length) 20 ● ●

24 SHLN 280 Bit shift left (Arbitrary byte length) 24 ● ●

25 SHRB 281 Bit shift right (1 byte length) 20 ● ●

26 SHRW 282 Bit shift right (2 byte length) 20 ● ●

27 SHRD 283 Bit shift right (4 byte length) 20 ● ●

28 SHRN 284 Bit shift right (Arbitrary byte length) 24 ● ●

29 ROLB 285 Bit rotation left (1 byte length) 20 ● ●

30 ROLW 286 Bit rotation left (2 byte length) 20 ● ●

31 ROLD 287 Bit rotation left (4 byte length) 20 ● ●

32 ROLN 288 Bit rotation left (Arbitrary byte length) 24 ● ●

33 RORB 289 Bit rotation right (1 byte length) 20 ● ●

34 RORW 290 Bit rotation right (2 byte length) 20 ● ●

35 RORD 291 Bit rotation right (4 byte length) 20 ● ●

36 RORN 292 Bit rotation right (Arbitrary byte length) 24 ● ●

37 BSETB 293 Bit set (1 byte length) 16 ● ●

38 BSETW 294 Bit set (2 byte length) 16 ● ●

39 BSETD 295 Bit set (4 byte length) 16 ● ●

40 BSETN 296 Bit set (Arbitrary byte length) 20 ● ●

41 BRSTB 297 Bit reset (1 byte length) 16 ● ●

42 BRSTW 298 Bit reset (2 byte length) 16 ● ●

43 BRSTD 299 Bit reset (4 byte length) 16 ● ●

44 BRSTN 300 Bit reset (Arbitrary byte length) 20 ● ●

45 BTSTB 301 Bit test (1 byte length) 16 ● ●

46 BTSTW 302 Bit test (2 byte length) 16 ● ●

47 BTSTD 303 Bit test (4 byte length) 16 ● ●

({: Usable. ●: The Extended PMC Ladder Instruction Function Δ: Executed as NOP instruction (Note 2).
×: Unusable.)

Instruction

name

SUB

No.

Processing

memory

size

(byte)

1st to 5th

PMC

{ {
{ {
{ {
{ {
{ {
{ {

{ {

{ {

DCS

PMC

(Note1)

- 60 -

B-64513EN/01 2.PMC SPECIFICATIONS

Table 2.1.8 (e) Functional instruction list (arranged in sequence of instruction group) (5)

DCS
PMC

(Note1)

Instruction

group

Instruction

name

SUB

No.

Processing

Required

memory

size

1st to 5th

PMC

(byte)

Bit 48 BTSTN 304 Bit test (Arbitrary byte length) 20 ● ●

operation 49 BPOSB 305 Bit search (1 byte length) 12 ● ●

50 BPOSW 306 Bit search (2 byte length) 12 ● ●
51 BPOSD 307 Bit search (4 byte length) 12 ● ●
52 BPOSN 308 Bit search (Arbitrary byte length) 16 ● ●
53 BCNTB 309 Bit count (1 byte length) 12 ● ●
54 BCNTW 310 Bit count (2 byte length) 12 ● ●
55 BCNTD 311 Bit count (4 byte length) 12 ● ●
56 BCNTN 312 Bit count (Arbitrary byte length) 16 ● ●

Code

conversion

2 CODB 27 Binary code conversion 20+n

1 COD 7 Code conversion 16+n

(Note5)

{ {

{ {

(Note5)

3 DCNV 14 Data conversion 12
4 DCNVB 31 Extended data conversion 16
5 DEC 4 Decoding 12
6 DECB 25 Binary decoding 20

{ {
{ {
{ {
{ {

7 TBCDB 313 Binary to BCD conversion (1 byte length) 16 ● ●
8 TBCDW 314 Binary to BCD conversion (2 byte length) 16 ● ●
9 TBCDD 315 Binary to BCD conversion (4 byte length) 16 ● ●
10 FBCDB 316 BCD to Binary conversion (1 byte length) 16 ● ●
11 FBCDW 317 BCD to Binary conversion (2 byte length) 16 ● ●
12 FBCDD 318 BCD to Binary conversion (4 byte length) 16 ● ●

Operation 1 ADDB 36 Binary addition 20

2 SUBB 37 Binary subtraction 20

3 MULB 38 Binary multiplication 20

4 DIVB 39 Binary division 20
5 ADD 19 BCD addition 20

6 SUB 20 BCD subtraction 20

7 MUL 21 BCD multiplication 20
8 DIV 22 BCD division 20

9 NUMEB 40 Binary constant definition 16

10 NUME 23 BCD-constant definition 12

{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {

11 ADDSB 319 Addition (1 byte length) 20 ● ●

12 ADDSW 320 Addition (2 byte length) 20 ● ●

13 ADDSD 321 Addition (4 byte length) 20 ● ●

14 SUBSB 322 Subtraction (1 byte length) 20 ● ●

15 SUBSW 323 Subtraction (2 byte length) 20 ● ●

16 SUBSD 324 Subtraction (3 byte length) 20 ● ●

17 MULSB 325 Multiplication (1 byte length) 20 ● ●

18 MULSW 326 Multiplication (2 byte length) 20 ● ●

19 MULSD 327 Multiplication (4 byte length) 20 ● ●

({: Usable. ●: The Extended PMC Ladder Instruction Function Δ: Executed as NOP instruction (Note 2).
×: Unusable.)

- 61 -

2.PMC SPECIFICATIONS B-64513EN/01

Table 2.1.8 (f) Functional instruction list (arranged in sequence of instruction group) (6)

Required

Instruction

group

Operation 20 DIVSB 328 Division (1 byte length) 20 ● ●

21 DIVSW 329 Division (2 byte length) 20 ● ●
22 DIVSD 330 Division (4 byte length) 20 ● ●
23 MODSB 331 Remainder (1 byte length) 20 ● ●
24 MODSW 332 Remainder (2 byte length) 20 ● ●
25 MODSD 333 Remainder (4 byte length) 20 ● ●
26 INCSB 334 Increment (1 byte length) 8 ● ●
27 INCSW 335 Increment (2 byte length) 8 ● ●
28 INCSD 336 Increment (4 byte length) 8 ● ●
29 DECSB 337 Decrement (1 byte length) 8 ● ●
30 DECSW 338 Decrement (2 byte length) 8 ● ●
31 DECSD 339 Decrement (4 byte length) 8 ● ●
32 ABSSB 340 Absolute value (1 byte length) 16 ● ●
33 ABSSW 341 Absolute value (2 byte length) 16 ● ●
34 ABSSD 342 Absolute value (4 byte length) 16 ● ●
35 NEGSB 343 Sign inversion (1 byte length) 16 ● ●
36 NEGSW 344 Sign inversion (2 byte length) 16 ● ●
37 NEGSD 345 Sign inversion (4 byte length) 16 ● ●

CNC 1 DISPB 41 Message display 8

Function 2 EXIN 42 External data input 8
3 WINDR 51 CNC window data read 8
4 WINDW 52 CNC window data write 8
5 AXCTL 53 PMC axis control 12
6 PSGN2 63 Position signal 8 { Δ
7 PSGNL 50 Position signal 12 { Δ

Program 1 COM 9 Common line control 8

control 2 COME 29 End of common line control 4

3 JMP 10 Jump 12

4 JMPE 30 End of jump 4
5 JMPB 68 Label jump 1 16
6 JMPC 73 Label jump 2 16
7 LBL 69 Label 12
8 CALL 65 Conditional subprogram call 12
9 CALLU 66 Unconditional subprogram call 12
10 SP 71 Subprogram 8

11 SPE 72 End of subprogram 4
12 END1 1 End of first-level program 4
13 END2 2 End of second-level program 4

({: Usable. ●: The Extended PMC Ladder Instruction Function Δ: Executed as NOP instruction (Note 2).
×: Unusable.)

Instruction

name

SUB

No.

Processing

memory

size

(byte)

1st to 5th

PMC

{
{
{
{
{

{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {

DCS
PMC

(Note1)

Δ
Δ
Δ
Δ
Δ

- 62 -

B-64513EN/01 2.PMC SPECIFICATIONS

Table 2.1.8 (g) Functional instruction list (arranged in sequence of instruction group) (7)

Required

Instruction

group

Program

control

15 END 64 End of ladder program 4
16 NOP 70 No operation 8
17 CS 74 Case call 8
18 CM 75 Sub program call in case call 12
19 CE 76 End of case call 4

Rotation 1 ROT 6 Rotation control 20

control 2 ROTB 26 Binary rotation control 24

Invalid 1 SPCNT 46 Spindle control 16 Δ Δ

instruction 2 DISP 49 Message display 16+n

3 MMCWR 98 MMC window data read 12 Δ Δ
4 MMCWW 99 MMC window data write 12 Δ Δ
5 FNC90 90 Arbitrary-function instruction 1 8 Δ Δ
6 FNC91 91 Arbitrary-function instruction 2 8 Δ Δ

7 FNC92 92 Arbitrary-function instruction 3 8 Δ Δ
8 FNC93 93 Arbitrary-function instruction 4 8 Δ Δ
9 FNC94 94 Arbitrary-function instruction 5 8 Δ Δ
10 FNC95 95 Arbitrary-function instruction 6 8 Δ Δ
11 FNC96 96 Arbitrary-function instruction 7 8 Δ Δ
12 FNC97 97 Arbitrary-function instruction 8 8 Δ Δ

({: Usable. ●: The Extended PMC Ladder Instruction Function Δ: Executed as NOP instruction (Note 2).
×: Unusable.)

Instruction

name

14 END3 48 End of third-level program 4

SUB

No.

Processing

memory

size

(byte)

(Note5)

1st to 5th

PMC

{

(Note 3)

{ {
{ {
{ {
{ {
{ {
{ {
{ {

Δ Δ

DCS
PMC

(Note1)

Δ

(Note4)

NOTE

1 This term stands for the Dual Check Safety PMC (option).
2 These instructions are intended to maintain source-level compatibility with programs

for conventional models. They are treated as a NOP instruction (instruction that
performs no operation).

3 The 3rd level sequence part is available for the compatibility with programs for

conventional models. However, the execution cycle period for processing the 3rd
level sequence part is not guaranteed. See Section 1.4.3 "Processing priority".

4 This instruction is intended to maintain source-level compatibility with programs for

other models. A program can be created on level 3, but it is not executed.

5 Memory size increases by the number of data tables to be used. In the COD

instruction, CODB instruction (1byte length), CODB instruction (2byte length), or
DISP instruction, 2 bytes are added for each data. And, when the number of data
is odd, 2 bytes are added moreover. In the CODB instruction, 4 bytes are added
for each data.

- 63 -

2.PMC SPECIFICATIONS B-64513EN/01

2.1.9 Functional Instructions (Arranged in Sequence of SUB No.)

Table 2.1.9 (a) Functional instruction list (arranged in sequence of SUB No.) (1)

Required

Instruction

name

END1 1 End of first-level program 4
END2 2 End of second-level program 4
TMR 3 Timer processing 8
DEC 4 Decoding 12
CTR 5 Counter processing 8
ROT 6 Rotation control 20
COD 7 Code conversion 16+n

MOVE 8 Data transfer after logical product 20
COM 9 Common line control 8
JMP 10 Jump 12
PARI 11 Parity check 8
DCNV 14 Data conversion 12
COMP 15 Comparison 16
COIN 16 Coincidence check 16
DSCH 17 Data search 20
XMOV 18 Index modification data transfer 20
ADD 19 Addition 20
SUB 20 Subtraction 20
MUL 21 Multiplication 20
DIV 22 Division 20
NUME 23 Constant definition 12
TMRB 24 Fixed-timer processing 12
DECB 25 Binary decoding 20
ROTB 26 Binary rotation control 24
CODB 27 Binary code conversion 20+n

MOVOR 28 Data transfer after logical sum 16
COME 29 End of common line control 4
JMPE 30 End of jump 4
DCNVB 31 Extended data conversion 16
COMPB 32 Binary comparison 20
SFT 33 Shift register 8
DSCHB 34 Binary data search 24
XMOVB 35 Index modification binary data transfer 24
ADDB 36 Binary addition 20
SUBB 37 Binary subtraction 20
MULB 38 Binary multiplication 20
DIVB 39 Binary division 20
NUMEB 40 Binary constant definition 16
DISPB 41 Message display 8
EXIN 42 External data input 8
MOVB 43 1-byte transfer 12
MOVW 44 2-byte transfer 12
MOVN 45 Transfer of arbitrary number of bytes 16
SPCNT 46 Spindle control 16 Δ Δ

({: Usable. ●: The Extended PMC Ladder Instruction Function Δ: Executed as NOP instruction (Note 2).
×: Unusable.)

SUB
No.

Processing

memory

size

(byte)

(Note5)

(Note5)

1st to 5th

PMC

{ {
{ {
{ {
{ {
{ {
{ {
{ {

{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {

{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{
{
{
{
{ {

DCS PMC

(Note1)

Δ
Δ
×
×

- 64 -

B-64513EN/01 2.PMC SPECIFICATIONS

Table 2.1.9 (b) Functional instruction list (arranged in sequence of SUB No.) (2)

Required

Instruction

name

SUB
No.

Processing

memory

size

1st to 5th

PMC

DCS PMC

(Note1)

(byte)

MOVD 47 4-byte transfer 12
END3 48 End of third-level program 4

{ {

{

(Note3) Δ (Note4)

DISP 49 Message display 16+n

Δ Δ

(Note5)
PSGNL 50 Position signal 12
WINDR 51 CNC window data read 8
WINDW 52 CNC window data write 8
AXCTL 53 PMC axis control 12
TMRC 54 Timer processing 16
CTRC 55 Counter processing 12
CTRB 56 Counter processing 12
DIFU 57 Rising-edge detection 8
DIFD 58 Falling-edge detection 8
EOR 59 Exclusive OR 20
AND 60 Logical AND 20
OR 61 Logical OR 20
NOT 62 Logical NOT 16
PSGN2 63 Position signal 8
END 64 End of ladder program 4
CALL 65 Conditional subprogram call 12
CALLU 66 Unconditional subprogram call 12
JMPB 68 Label jump 1 16
LBL 69 Label 12
NOP 70 No operation 8
SP 71 Subprogram 8
SPE 72 End of subprogram 4
JMPC 73 Label jump 2 16
CS 74 Case call 8
CM 75 Sub program call in case call 12
CE 76 End of case call 4
TMRBF 77 Fixed off-delay timer 12

{
{
{
{
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{
{ {

{ {

{ {

{ {
{ {
{ {

{ {
{ {

{ {
{ {
{ {
{ {

{ {

Δ
Δ
Δ
Δ

Δ

FNC90 90 Arbitrary-function instruction 1 8 Δ Δ
FNC91 91 Arbitrary-function instruction 2 8 Δ Δ
FNC92 92 Arbitrary-function instruction 3 8 Δ Δ
FNC93 93 Arbitrary-function instruction 4 8 Δ Δ
FNC94 94 Arbitrary-function instruction 5 8 Δ Δ
FNC95 95 Arbitrary-function instruction 6 8 Δ Δ
FNC96 96 Arbitrary-function instruction 7 8 Δ Δ
FNC97 97 Arbitrary-function instruction 8 8 Δ Δ
MMCWR 98 MMC window data read 12 Δ Δ
MMCWW 99 MMC window data write 12 Δ Δ

({: Usable. ●: The Extended PMC Ladder Instruction Function Δ: Executed as NOP instruction (Note 2).
×: Unusable.)

- 65 -

2.PMC SPECIFICATIONS B-64513EN/01

Table 2.1.9 (c) Functional instruction list (arranged in sequence of SUB No.) (3)

Required

Instruction

name

EQB 200 Signed Binary Comparison (=)(1 byte length) 16
EQW 201 Signed Binary Comparison (=)(2 byte length) 16
EQD 202 Signed Binary Comparison (=)(4 byte length) 16
NEB 203 Signed Binary Comparison (≠)(1 byte length) 16
NEW 204 Signed Binary Comparison (≠)(2 byte length) 16
NED 205 Signed Binary Comparison (≠)(4 byte length) 16
GTB 206 Signed Binary Comparison (>)(1 byte length) 16
GTW 207 Signed Binary Comparison (>)(2 byte length) 16
GTD 208 Signed Binary Comparison (>)(4 byte length) 16
LTB 209 Signed Binary Comparison (<)(1 byte length) 16
LTW 210 Signed Binary Comparison (<)(2 byte length) 16
LTD 211 Signed Binary Comparison (<)(4 byte length) 16
GEB 212
GEW 213
GED 214
LEB 215
LEW 216
LED 217
RNGB 218 Signed Binary Comparison (range)(1 byte length) 20
RNGW 219 Signed Binary Comparison (range)(2 byte length) 20
RNGB 220 Signed Binary Comparison (range)(4 byte length) 20
TMRST 221 Stop watch timer (1 ms accuracy) 20 ● ●
TMRSS 222 Stop watch timer (1 sec accuracy) 20 ● ●
CTRD 223 Counter processing (4 byte length) 12 ● ●
MOVBT 224 Bit transfer 24 ● ●
SETNB 225 Data setting (1 byte length) 20 ● ●
SETNW 226 Data setting (2 byte length) 20 ● ●
SETND 227 Data setting (4 byte length) 20 ● ●
XCHGB 228 Data exchange (1 byte length) 12 ● ●
XCHGW 229 Data exchange (2 byte length) 12 ● ●
XCHGD 230 Data exchange (4 byte length) 12 ● ●
SWAPW 231 Data swap (2 byte length) 16 ● ●
SWAPD 232 Data swap (4 byte length) 16 ● ●
TBLRB 233 Reading data from table (1 byte length) 24 ● ●
TBLRW 234 Reading data from table (2 byte length) 24 ● ●
TBLRD 235 Reading data from table (4 byte length) 24 ● ●
TBLRN 236 Reading data from table (Arbitrary byte length) 28 ● ●
TBLWB 237 Writing data to table (1 byte length) 24 ● ●
TBLWW 238 Writing data to table (2 byte length) 24 ● ●
TBLWD 239 Writing data to table (4 byte length) 24 ● ●

({: Usable. ●: The Extended PMC Ladder Instruction Function Δ: Executed as NOP instruction (Note 2).
×: Unusable.)

SUB
No.

Signed Binary Comparison (≧)(1 byte length)
Signed Binary Comparison (≧)(2 byte length)
Signed Binary Comparison (≧)(4 byte length)
Signed Binary Comparison (≦)(1 byte length)
Signed Binary Comparison (≦)(2 byte length)
Signed Binary Comparison (≦)(4 byte length)

Processing

memory

size

(byte)

16
16
16
16
16
16

1st to 5th

PMC

{ {

{ {

{ {
{ {
{ {
{ {

{ {
{ {
{ {

{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {
{ {

{ {
{ {

DCS PMC

(Note1)

- 66 -

B-64513EN/01 2.PMC SPECIFICATIONS

Table 2.1.9 (d) Functional instruction list (arranged in sequence of SUB No.) (4)

Required

Instruction

name

SUB
No.

Processing

memory

size

1st to 5th

PMC

DCS PMC

(Note1)

(byte)

TBLWN 240 Writing data to table (Arbitrary byte length) 28 ● ●
DSEQB 241 Searching data from table (=)(1 byte length) 28 ● ●
DSEQW 242 Searching data from table (=)(2 byte length) 28 ● ●
DSEQD 243 Searching data from table (=)(4 byte length) 28 ● ●
DSNEB 244 Searching data from table (≠)(1 byte length) 28 ● ●
DSNEW 245 Searching data from table (≠)(2 byte length) 28 ● ●
DSNED 246 Searching data from table (≠)(4 byte length) 28 ● ●
DSGTB 247 Searching data from table (>)(1 byte length) 28 ● ●
DSGTW 248 Searching data from table (>)(2 byte length) 28 ● ●
DSGTD 249 Searching data from table (>)(4 byte length) 28 ● ●
DSLTB 250 Searching data from table (<)(1 byte length) 28 ● ●
DSLTW 251 Searching data from table (<)(2 byte length) 28 ● ●
DSLTD 252 Searching data from table (<)(4 byte length) 28 ● ●
DSGEB 253
DSGEW 254
DSGED 255
DSLEB 256
DSLEW 257
DSLED 258

Searching data from table (≧)(1 byte length)
Searching data from table (≧)(2 byte length)
Searching data from table (≧)(4 byte length)
Searching data from table (≦)(1 byte length)
Searching data from table (≦)(2 byte length)
Searching data from table (≦)(4 byte length)

28 ● ●
28 ● ●
28 ● ●
28 ● ●
28 ● ●

28 ● ●
DMAXB 259 Maximum data (1 byte length) 28 ● ●
DMAXW 260 Maximum data (2 byte length) 28 ● ●
DMAXD 261 Maximum data (4 byte length) 28 ● ●
DMINB 262 Minimum data (1 byte length) 28 ● ●
DMINW 263 Minimum data (2 byte length) 28 ● ●
DMIND 264 Minimum data (4 byte length) 28 ● ●
EORB 265 Exclusive OR (1 byte length) 20 ● ●
EORW 266 Exclusive OR (2 byte length) 20 ● ●
EORD 267 Exclusive OR (4 byte length) 20 ● ●
ANDB 268 Logical AND (1 byte length) 20 ● ●
ANDW 269 Logical AND (2 byte length) 20 ● ●
ANDD 270 Logical AND (4 byte length) 20 ● ●
ORB 271 Logical OR (1 byte length) 20 ● ●
ORW 272 Logical OR (2 byte length) 20 ● ●
ORD 273 Logical OR (4 byte length) 20 ● ●
NOTB 274 Logical NOT (1 byte length) 16 ● ●
NOTW 275 Logical NOT (2 byte length) 16 ● ●
NOTD 276 Logical NOT (4 byte length) 16 ● ●
SHLB 277 Bit shift left (1 byte length) 20 ● ●
SHLW 278 Bit shift left (2 byte length) 20 ● ●
SHLD 279 Bit shift left (4 byte length) 20 ● ●

({: Usable. ●: The Extended PMC Ladder Instruction Function Δ: Executed as NOP instruction (Note 2).
×: Unusable.)

- 67 -

2.PMC SPECIFICATIONS B-64513EN/01

Table 2.1.9 (e) Functional instruction list (arranged in sequence of SUB No.) (5)

Required

Instruction

name

SHLN 280 Bit shift left (Arbitrary byte length) 24 ● ●
SHRB 281 Bit shift right (1 byte length) 20 ● ●
SHRW 282 Bit shift right (2 byte length) 20 ● ●
SHRD 283 Bit shift right (4 byte length) 20 ● ●
SHRN 284 Bit shift right (Arbitrary byte length) 24 ● ●
ROLB 285 Bit rotation left (1 byte length) 20 ● ●
ROLW 286 Bit rotation left (2 byte length) 20 ● ●
ROLD 287 Bit rotation left (4 byte length) 20 ● ●
ROLN 288 Bit rotation left (Arbitrary byte length) 24 ● ●
RORB 289 Bit rotation right (1 byte length) 20 ● ●
RORW 290 Bit rotation right (2 byte length) 20 ● ●
RORD 291 Bit rotation right (4 byte length) 20 ● ●
RORN 292 Bit rotation right (Arbitrary byte length) 24 ● ●
BSETB 293 Bit set (1 byte length) 16 ● ●
BSETW 294 Bit set (2 byte length) 16 ● ●
BSETD 295 Bit set (4 byte length) 16 ● ●
BSETN 296 Bit set (Arbitrary byte length) 20 ● ●
BRSTB 297 Bit reset (1 byte length) 16 ● ●
BRSTW 298 Bit reset (2 byte length) 16 ● ●
BRSTD 299 Bit reset (4 byte length) 16 ● ●
BRSTN 300 Bit reset (Arbitrary byte length) 20 ● ●
BTSTB 301 Bit test (1 byte length) 16 ● ●
BTSTW 302 Bit test (2 byte length) 16 ● ●
BTSTD 303 Bit test (4 byte length) 16 ● ●
BTSTN 304 Bit test (Arbitrary byte length) 20 ● ●
BPOSB 305 Bit search (1 byte length) 12 ● ●
BPOSW 306 Bit search (2 byte length) 12 ● ●
BPOSD 307 Bit search (4 byte length) 12 ● ●
BPOSN 308 Bit search (Arbitrary byte length) 16 ● ●
BCNTB 309 Bit count (1 byte length) 12 ● ●
BCNTW 310 Bit count (2 byte length) 12 ● ●
BCNTD 311 Bit count (4 byte length) 12 ● ●
BCNTN 312 Bit count (Arbitrary byte length) 16 ● ●
TBCDB 313 Binary to BCD conversion (1 byte length) 16 ● ●
TBCDW 314 Binary to BCD conversion (2 byte length) 16 ● ●
TBCDD 315 Binary to BCD conversion (4 byte length) 16 ● ●
FBCDB 316 BCD to Binary conversion (1 byte length) 16 ● ●
FBCDW 317 BCD to Binary conversion (2 byte length) 16 ● ●
FBCDD 318 BCD to Binary conversion (4 byte length) 16 ● ●
ADDSB 319 Addition (1 byte length) 20 ● ●

({: Usable. ●: The Extended PMC Ladder Instruction Function Δ: Executed as NOP instruction (Note 2).
×: Unusable.)

SUB
No.

Processing

memory

size

(byte)

1st to 5th

PMC

DCS PMC

(Note1)

- 68 -

B-64513EN/01 2.PMC SPECIFICATIONS

Table 2.1.9 (f) Functional instruction list (arranged in sequence of SUB No.) (6)

Required

Instruction

name

ADDSW 320 Addition (2 byte length) 20 ● ●
ADDSD 321 Addition (4 byte length) 20 ● ●
SUBSB 322 Subtraction (1 byte length) 20 ● ●
SUBSW 323 Subtraction (2 byte length) 20 ● ●
SUBSD 324 Subtraction (3 byte length) 20 ● ●
MULSB 325 Multiplication (1 byte length) 20 ● ●
MULSW 326 Multiplication (2 byte length) 20 ● ●
MULSD 327 Multiplication (4 byte length) 20 ● ●
DIVSB 328 Division (1 byte length) 20 ● ●
DIVSW 329 Division (2 byte length) 20 ● ●
DIVSD 330 Division (4 byte length) 20 ● ●
MODSB 331 Remainder (1 byte length) 20 ● ●
MODSW 332 Remainder (2 byte length) 20 ● ●
MODSD 333 Remainder (4 byte length) 20 ● ●
INCSB 334 Increment (1 byte length) 8 ● ●
INCSW 335 Increment (2 byte length) 8 ● ●
INCSD 336 Increment (4 byte length) 8 ● ●
DECSB 337 Decrement (1 byte length) 8 ● ●
DECSW 338 Decrement (2 byte length) 8 ● ●
DECSD 339 Decrement (4 byte length) 8 ● ●
ABSSB 340 Absolute value (1 byte length) 16 ● ●
ABSSW 341 Absolute value (2 byte length) 16 ● ●
ABSSD 342 Absolute value (4 byte length) 16 ● ●
NEGSB 343 Sign inversion (1 byte length) 16 ● ●
NEGSW 344 Sign inversion (2 byte length) 16 ● ●
NEGSD 345 Sign inversion (4 byte length) 16 ● ●

({: Usable. ●: The Extended PMC Ladder Instruction Function Δ: Executed as NOP instruction (Note 2).
×: Unusable.)

SUB
No.

Processing

memory

size

(byte)

1st to 5th

PMC

DCS PMC

(Note1)

NOTE

1 This term stands for the Dual Check Safety PMC (option).
2 These instructions are intended to maintain source-level compatibility with programs

for conventional models. They are treated as a NOP instruction (instruction that
performs no operation).

3 The 3rd level sequence part is available for the compatibility with programs for

conventional models. However, the execution cycle period for processing the 3rd
level sequence part is not guaranteed. See Section 1.4.3 "Processing priority".

4 This instruction is intended to maintain source-level compatibility with programs for

other models. A program can be created on level 3, but it is not executed.

5 Memory size increases by the number of data tables to be used. In the COD

instruction, CODB instruction (1byte length), CODB instruction (2byte length), or
DISP instruction, 2 bytes are added for each data. And, when the number of data is
odd, 2 bytes are added moreover. In the CODB instruction, 4 bytes are added for
each data.

- 69 -

2.PMC SPECIFICATIONS B-64513EN/01

2.2 PMC SIGNAL ADDRESSES

This section describes the use of each PMC address. See Subsection 2.1.7 for explanations about all
address types and ranges.

2.2.1 Addresses for Signals Between the PMC and CNC (F, G)

This subsection briefly describes interface addresses. Refer to the applicable CNC connection manual
for details.

(1) Signals from the CNC to the PMC
The following table lists the range of addresses for the signals sent from the CNC to the PMC.
Refer to address tables in the applicable CNC connection manual for details about the signals.

Data kind 1st path PMC

Input signals from
CNC to PMC

F0 ~ F767
F1000 ~ F1767
F2000 ~ F2767
F3000 ~ F3767
F4000 ~ F4767
F5000 ~ F5767
F6000 ~ F6767
F7000 ~ F7767
F8000 ~ F8767
F9000 ~ F9767

2nd to 5th path PMC

(Option)

F0 ~ F767
F1000 ~ F1767
F2000 ~ F2767
F3000 ~ F3767
F4000 ~ F4767
F5000 ~ F5767
F6000 ~ F6767
F7000 ~ F7767
F8000 ~ F8767
F9000 ~ F9767

F0 ~ F767

(2) Signals from the PMC to the CNC
The following table lists the range of addresses for the signals sent from the PMC to the CNC.
Refer to address tables in the applicable CNC connection manual for details about the signals.

Data kind 1st path PMC

Output signals to
CNC from PMC

G0 ~ G767
G1000 ~ G1767
G2000 ~ G2767
G3000 ~ G3767
G4000 ~ G4767
G5000 ~ G5767
G6000 ~ G6767
G7000 ~ G7767
G8000 ~ G8767
G9000 ~ G9767

2nd to 5th path PMC

(Option)

G0 ~ G767
G1000 ~ G1767
G2000 ~ G2767
G3000 ~ G3767
G4000 ~ G4767
G5000 ~ G5767
G6000 ~ G6767
G7000 ~ G7767
G8000 ~ G8767
G9000 ~ G9767

G0 ~ G767

DCS PMC

(Option)

DCS PMC

(Option)

- 70 -

B-64513EN/01 2.PMC SPECIFICATIONS

2.2.2 Addresses of Signals Between the PMC and Machine (X, Y)

(1) Assignment of the FANUC I/O Link / I/O Link i

(a) Signals input from the machine to the PMC

1st to 5th path PMC
The addresses for four channels, X0 to X127, X200 to X327, X400 to X527, and X600 to

X727, can be used for the signals input to PMCs. Each address is not fixed at a specific
channel. They can be assigned to any channel. See "I/O Link input/output addresses"

in Subsection 2.4.3 for details. As for I/O Link i, see subsection “3.3.6”.
Dual-check safety (DCS)
The addresses for one channel, X0 to X127, are used for the signals input to the DCS.
These addresses can be assigned to channel 3 for I/O Link. As for I/O Link i, see

subsection “3.3.6”.

(b) Signals output from the PMC to the machine

1st to 5th path PMC
The addresses for four channels, Y0 to Y127, Y200 to Y327, Y400 to Y527, and Y600 to

Y727, can be used for signals output from PMCs. Each address is not fixed at a specific

channel. They can be assigned to any channel. See "I/O Link input/output addresses"

in Subsection 2.4.3 for details. As for I/O Link i, see subsection “3.3.6”.
Dual-check safety (DCS)
The addresses for one channel, Y0 to Y127, are used for the signals output from the DCS.
These addresses can be assigned to channel 3 for I/O Link. As for I/O Link i, see

subsection “3.3.6”.

(2) Address-fixed CNC signals input from the machine
The CNC processes signals input from the machine (listed in Table 2.2.2) by referencing fixed

addresses. Be sure to assign specified addresses.

Table 2.2.2 Address-fixed input signals

Signal name Symbol

Common

to T/M

Common skip signal SKIP X4.7 X13.7 X11.7
Emergency stop signal (machine group 1) *ESP X8.4 (Note 1)
Emergency stop signal (machine group 2) *ESP X8.0 (Note 1)
Emergency stop signal (machine group 3) *ESP X8.1 (Note 1)
Deceleration signal for 1st-axis reference

position return
Deceleration signal for 2nd-axis reference

position return
Deceleration signal for 3rd-axis reference

position return
Deceleration signal for 4th-axis reference

position return
Deceleration signal for 5th-axis reference

position return
Deceleration signal for 6th-axis reference

position return
Deceleration signal for 7th-axis reference

position return
Deceleration signal for 8th-axis reference

position return

*DEC1 X9.0 X7.0 X10.0

*DEC2 X9.1 X7.1 X10.1

*DEC3 X9.2 X7.2 X10.2

*DEC4 X9.3 X7.3 X10.3

*DEC5 X9.4 X7.4 X10.4

*DEC6 X9.5 X7.5 X10.5

*DEC7 X9.6 X7.6 X10.6

*DEC8 X9.7 X7.7 X10.7

Path 1 Path 2 Path 3

Address

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2.PMC SPECIFICATIONS B-64513EN/01

NOTE

1 If the Series 30i/31i/32i/35i-B system is used to control more than one path,

some paths can be grouped to share data within the group and to stop all the
paths in the group if an alarm condition occurs in one of the paths. The group is
referred to as a machine group.
The system supports up to 3 machine groups. Each group has a separate
emergency stop signal address.

2 The emergency stop signal address is common signal address in a machine

group. But other signals has individual address with each path. For example, in
the following configuration, X11.7 does not mean “the common skip signal” in first
PMCs. In second PMCs, it means “the common skip signal”.

CNC PMC

Path 1

Path 2

Path 3

First PMC

Second PMC

3 Path-specific, X address-based input signals are assigned to up to 3 paths. For

additional paths, therefore, bit 2 of CNC parameter No. 3008 must be used to
assign such input signals.

4 The X address for an axis-specific deceleration signal (*DECn) for reference

position return is assigned to 8 axes of each of up to 3 paths. For additional
paths and axes, therefore, bit 2 of CNC parameter No. 3008, CNC parameter
Nos. 3013 and 3014 must be used to assign the X address.

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B-64513EN/01 2.PMC SPECIFICATIONS

2.2.3 Internal Relay Addresses (R)

The following table lists the number of signals (bytes) that can be used as internal relays.
Signals that interface with other control units can be assigned to these bytes over the FA network. It can
also be used as the interface with the C language executor and FOCAS2 functions.
Turning on the power clears these areas to 0.

NOTE

This address is not synchronized in the 2nd level ladder. A value of a signal in

this address may change during the execution of 2nd level ladder same as 1st
and 3rd level ladder when it is written by other program (Ex. Network function, C
language executor).

Data kind

Internal Relay Address
(Size)

PMC Memory-A PMC Memory-B PMC Memory-C PMC Memory-D

R0 ~ R1499

(1500)

1st to 5th path PMC

R0 ~ R7999

(8000)

R0 ~ R15999

(16000)

R0 ~ R59999

(60000)

DCS PMC

R0 ~ R1499

(1500)

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2.PMC SPECIFICATIONS B-64513EN/01

2.2.4 System Relay Addresses (R9000, Z0)

The System Relay is used to control a sequence program by PMC System software. And, some addresses
such as 'Operation results of functional instructions' are used to condition of a sequence program.

The System Relay uses the following PMC address by each PMC Memory Type.

Table 2.2.4 Address of System Relay

Data kind

System relay
(Size)

PMC Memory-A PMC Memory-B PMC Memory-C PMC Memory-D

R9000 ~ R9499

(500)

NOTE

1 The address conversion of the System Relay is necessary when a Sequence

Program is changed between PMC Memory-A/B and PMC Memory-C/D.

Operation results of functional instructions

This area holds information necessary for individual ladder levels, such as the operation results of
functional instructions. This information is saved/restored when the task is switched.

(1) R9000, Z0 (operation output register for the ADDB, SUBB, MULB, DIVB, and COMPB functional

instructions)

R9000
Z0

(2) R9000, Z0 (error output for the EXIN, WINDR, and WINDW functional instructions)

R9000
Z0

(3) R9002 to R9005, Z2 to Z5 (operation output registers for the DIVB functional instruction)
The remainder of a division performed with the DIVB functional instruction is output to these

addresses.

7 6

7 6

54

54

1st to 5th path PMC

R9000 ~ R9499

(500)

032

1

The result is 0.
The result is negative.
The result has overflowed.

032

1

The result is erroneous.

Z0 ~ Z499

(500)

Z0 ~ Z499

(500)

DCS PMC

R9000 ~ R9499

(500)

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B-64513EN/01 2.PMC SPECIFICATIONS

System timers

Four signals can be used as system timers.
Their specifications are as follows.

R9000
Z0

R9091.5
Z91.5

104 msec

200 msec

103 25 4 7 6

Constantly OFF signal
Constantly ON signal
200 msec cyclic signal

(104 msec ON and 96 msec OFF)

1 sec cyclic signal
(504 msec ON and 496 msec OFF)

96 msec

R9091.6
Z91.6

504 msec

1 sec

496 msec

CAUTION

1 Each signal is initially OFF.
2 The signals R9091.0, R9091.1, Z91.0 and Z91.1 are set at the beginning of the

first ladder level on every cycle.

3 Each pulse signal (ON-OFF signal) may have an error of ±8 or 4 msec (ladder

execution period).

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2.PMC SPECIFICATIONS B-64513EN/01

Ladder execution start signal
Ladder stop signal
Ladder execution status signal

Using the ladder execution start and stop signals in a ladder program can detect when the ladder program
starts and stops.
Referencing the ladder execution status signal from an external system or program, such as the network
board, C Language executor program, FOCAS2 Ethernet, or HSSB library, can detect the execution status
of the ladder program.

R9015
Z15

R9091
Z91

103 25 4 7 6

Ladder execution start signal
(can be referenced only from the Ladder
program)
Ladder stop signal
(can be referenced only from the Ladder
program)

103 25 4 7 6

1st Ladder execution status signal
0 : Ladder at a stop
1 : Ladder being executed
2nd Ladder execution status signal
0 : Ladder at a stop
1 : Ladder being executed
3rd Ladder execution status signal
0 : Ladder at a stop
1 : Ladder being executed

R9093
Z93

7 6

5 4

03 2

1

4th Ladder execution status signal
0 : Ladder at a stop
1 : Ladder being executed
5th Ladder execution status signal
0 : Ladder at a stop
1 : Ladder being executed

Execution status of Ladder

RUN
STOP

Ladder execution start signal
(R9015.0, Z15.0)

Ladder stop signal
(R9015.1, Z15,1)

Ladder execution status signal
(R9091.2 to 4, R9093.0 to 1

Z91.2 to 4, Z93.0 to 1)

1
0

1
0

1
0

One ladder

scan cycle

One ladder

scan cycle

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B-64513EN/01 2.PMC SPECIFICATIONS

(1) Ladder execution start signal (R9015.0, Z15.0)
When directed to start ladder program execution, the system software starts executing the ladder

program, turns on this signal, and keeps it on for the first one scan cycle. Like R9000 and Z0, this
signal indicates the status of ladder execution corresponding to each ladder execution level. For
this reason, this signal is securely turned on for the first one scan cycle after the start of execution no
matter on what execution level the signal is referenced. This signal is turned on when:

(a) Ladder execution begins at power turn-on.
(b) The [RUN] soft key on the PMC screen is pressed.
(c) FANUC LADDER-III or a ladder editing package directs the ladder to start.

Referring this signal in a ladder program can detect when ladder execution has begun, making it

possible to program preprocessing related to ladder execution.

CAUTION

Refer this signal only from the ladder program. Do not refer it from an external

system or program as it indicates the status of ladder execution separately for
each ladder execution level.

(2) Ladder stop signal (R9015.1, Z15.1)
When directed to stop ladder program execution, the system software turns off this signal and keeps

it off for the last one scan before stopping ladder program execution. Like R9000 and Z0, this
signal indicates the status of ladder execution corresponding to each ladder execution level. For
this reason, this signal is securely turned off for the last one scan before the stop of execution no
matter on what execution level the signal is referenced. This signal is turned off when:

(a) The [STOP] soft key on the PMC screen is pressed.
(b) FANUC LADDER-III or a ladder editing package directs the ladder to stop.
(c) On the PMC DATA I/O screen, the ladder program is loaded to the PMC.
(d) FANUC LADDER-III or a ladder editing package stores the ladder program to the PMC.

Referencing this signal in a ladder program can detect when ladder execution stops, making it

possible to program post processing related to ladder execution (that is, preprocessing for ladder
execution stop). Before the ladder is stopped, for example, it is possible to put signals in a proper
state for safety purposes.

CAUTION

1 Refer this signal only from the ladder program. Do not refer it from an external

system or program as it indicates the status of ladder execution separately for
each ladder execution level.

2 If the power is turned off or a CNC system alarm occurs, ladder execution and I/O

signal transfer are immediately stopped for safety purposes. In this case,
therefore, this signal cannot be used.

(3) Ladder execution status signal (R9091.2 to 4, R9093.0 to 1, Z91.2 to 4, Z93.0 to 1)
Referring this signal from an external system or program, such as the network board, C language

executor program, FOCAS2 Ethernet, or HSSB library, can detect the execution status of the ladder
program.

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2.PMC SPECIFICATIONS B-64513EN/01

(4) Example of using the signals

(a) Example of calling a subprogram just before the ladder stops

R9015.1

(Z15.1)

SUB65
CALL

Pxxxx

(b) Example of forcibly turning off an output signal programmed on the first ladder level just

before the ladder stops

Input

R9015.1

(Z15.1)

Output

(c) Example of sending an execution-in-progress signal to the outside
Outputting the status of this signal as the DO signal (output address from the PMC) assigned to

the I/O Link causes the CNC unit to be interlocked with an external system.

CNC Unit

R9015.1

(Z15.1)

Y0.0

Y0.0

I/O Link slave

I/O Link

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