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
FANUC Power Motion +-MODEL A
FANUC Series 0+-MODEL F

PMC

PROGRAMMING MANUAL

B-64513EN/03

• 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 from Japan may be subject to an export license by the
government of Japan.
Further, re-export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.

The products in this manual are manufactured under strict quality control. However, when
using any of the products in a facility in which a serious accident or loss is predicted due to
a failure of the product, install a safety device.

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/03 SAFETY PRECAUTIONS

SAFETY PRECAUTIONS

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.

s-1

SAFETY PRECAUTIONS B-64513EN/03

GENERAL WARNINGS FOR CNC APPLICATION DEVELOPMENT

WARNING

Be careful enough for the following warnings when you develop two or more
applications or use networks.
If you neglect them, there is a danger of the user being injured or there is a danger
of both the user being injured and the equipment being damaged.

1 Be careful enough if you write an identical NC data, an identical PMC data or a

series of related data set by two or more above applications including network
functions. Because they are executed based on each individual cycles (in other
words, asynchronous cycles), there is a possibility that the data will be written in
an unexpected order.

Therefore, do NOT write above data in the following cases.

- Applications and network functions

- Two or more applications

- Two or more network functions

Data, applications and network functions of interest are listed in below. However,

all may not be listed completely because new features will be added in the
future.

2 Be careful enough that you must prevent PMC signals in the same byte from

being written by the following two or more applications including network
functions. While an application reads and writes one byte of PMC signals, other
applications may write the same byte.

3 Be careful enough if you process a PMC signal set that is related to a NC

function by using the following two or more applications including network
functions. Because they are executed based on each individual cycles (in other
words, asynchronous cycles), there is a possibility that the NC may receive the
PMC signal set in an unexpected order.

4 Generally, when multi-byte data are read or written at once among the following

two or more applications including network functions, the coherency of the read
multi-byte data (in other words, reading all latest data at once) is not guaranteed.
To ensure the coherency of the multi-byte data, prepare flags to notify the
completion of reading or writing process that is separated from the entity of the
data and make the handshaking process to access the data by using the flags.

s-2

B-64513EN/03 SAFETY PRECAUTIONS

Data List Table

Category Data

Parameter, Tool compensation value and related data,
Work zero offset value and related data,
Workpiece coordinate system shift value and related data,

General data for NC

PMC data PMC signal, PMC parameter
Data for Laser,

Punch press or Wire
cut

Other data Parameters for Data Server, Parameters for network setting

Macro variable, P-CODE variable, Program and related data,
Tool management function data, Tool life management data,
Error compensation related data,
Overtravel check (Interference check) related data,
Software operator’s panel related data

Tool data for punch press and related data, Safety zone data and related data,
Laser cutting condition data and related data, Laser oscillator setting data and
related data, Wire consumption compensation data, Guide position
compensation data, Workpiece leveling data

List Table of Applications and Network Functions

Category Functions

Applications

Network functions

PMC Ladder, Macro Executor, C Language Executor, FANUC PICTURE,
FOCAS2
FL-net, EtherNet/IP, PROFINET, Modbus/TCP, PROFIBUS-DP, DeviceNet,
CC-Link

5 CNC has functions that read or write PMC signals in other than the G/F address.

Be careful enough if the above mentioned applications and network read or write
PMC signals used by these functions. When reading or writing the same PMC
signal, applications or CNC functions may work in an unexpected manner. For
details of these CNC functions, refer to “APPENDIX C”.

s-3

SAFETY PRECAUTIONS B-64513EN/03

GENERAL WARNINGS OR NOTES FOR LADDER PROGRAM

WARNING

1 If the ladder program is stopped while the machine is operating, the machine

may behave in an unexpected working. Before stopping the ladder program,
ensure that there are no people near the machine and that the tool cannot
collide with the work piece or machine.

Otherwise, there is an operator’s extreme risk of death or serious injury, and

tool, work piece, and machine may be damaged.

2 You have to pay special attention to modify running the ladder program. If you

modify the ladder program in wrong way, or update the ladder program with the
machine in improper status, it may cause unexpected working of the machine.
You have to make it sure that modifications you make on the ladder program is
appropriate, the machine is in proper status, and nobody is near the machine,
when you update the ladder program.

3 If macro variables, NC parameters, tool offsets, and etc. which can influence

working of machine, are written with the PMC window instructions, the machine
may behave in an unexpected working. You have to make it sure that the writing
of these data is safety and proper, when modifying these data with the
instructions.
The NC Data are listed in below. However, all may not be listed completely
because new features will be added in the future.

Category Data

Parameter, Tool compensation value and related data,
Work zero offset value and related data,
Workpiece coordinate system shift value and related data,

General data for NC

Macro variable, P-CODE variable, Program and related data,
Tool management function data, Tool life management data,
Error compensation related data,
Overtravel check (Interference check) related data,
Software operator’s panel related data

NOTE

Ladder programs, PMC parameters, Multi-language message data and I/O

configuration data (I/O Link i assignment data) are stored in non-volatile memory
in the CNC unit. Usually, they are retained even if the power is turned off. Such
data may be deleted by misoperation, however, or it may prove necessary to
delete all data from non-volatile memory as part of error recovery. To guard
against the occurrence of the above, and assure quick restoration of deleted
data, backup all vital data, and keep the backup copy in a safe place.

s-4

B-64513EN/03 TABLE OF CONTENTS

TABLE OF CONTENTS

SAFETY PRECAUTIONS............................................................................s-1

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

GENERAL WARNINGS FOR CNC APPLICATION DEVELOPMENT.....................s-2

GENERAL WARNINGS OR NOTES FOR LADDER PROGRAM ...........................s-4

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 ................................................................................19

1.4.4.1 Implementation.................................................................................................. 19

1.4.4.2 Sub programming and nesting........................................................................... 24

1.4.4.3 Notes on using subroutines................................................................................ 28

1.4.5 Synchronization Processing of I/O Signals ............................................................30

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

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

1.5 LADDER DIVIDING MANAGEMENT FUNCTION.......................................36

1.5.1 Divided Ladder Program ........................................................................................37

1.5.2 Program Execution when Using Ladder Dividing Management............................38

1.5.3 PMC Memory when Using Ladder Dividing Management ...................................41

1.5.4 Sub Program in Divided Ladder.............................................................................42

1.5.5 Message Display Function (DISPB instruction) when Using Ladder Dividing

Management Function............................................................................................43

1.5.6 Making Method of Divided Ladder Program.........................................................44

1.5.7 Adding/Updating/Deleting Divided Ladder Program ............................................45

1.5.8 Input/Output of All Divided Ladder Programs ......................................................45

1.6 MULTI-PATH PMC FUNCTION...................................................................47

1.6.1 Execution Order and Execution Time Percentage..................................................49

1.6.2 Interface Between CNC and PMC .........................................................................51

1.6.3 Multi-Path PMC Interface ......................................................................................52

c-1

TABLE OF CONTENTS B-64513EN/03

1.6.4 Common PMC Memory Mode of Multi-Path PMC...............................................53

1.7 COMMUNICATION METHOD for EXTERNAL I/O DEVICE........................55

1.7.1 I/O Link i and I/O Link ..........................................................................................55

1.7.2 Setting I/O Address for I/O Link i..........................................................................56

1.7.3 Setting I/O Address for I/O Link............................................................................57

1.8 1st LEVEL EXECUTION CYCLE of LADDER in 1ms/2ms..........................59

1.8.1 Execution cycle of a ladder ....................................................................................59

1.8.2 Maximum execution time.......................................................................................62

1.8.3 Notice in programming of the 1st level..................................................................63

1.8.4 Operation when using the Ladder Dividing Management Function ......................64

1.8.5 Operation when using the Multi-path PMC Function ............................................66

2 PMC SPECIFICATIONS........................................................................68

2.1 SPECIFICATIONS.......................................................................................68

2.1.1 Basic Specifications ...............................................................................................68

2.1.2 Total Ladder Steps of Multi-path PMC..................................................................70

2.1.3 Determination of PMC Memory Type ...................................................................72

2.1.4 Program Capacity ...................................................................................................73

2.1.5 Used Memory Size of Sequence Program..............................................................75

2.1.6 PMC Addresses ......................................................................................................76

2.1.7 Basic Instructions ...................................................................................................78

2.1.8 Functional Instructions (Arranged in Sequence of Instruction Group) ..................79

2.1.9 Functional Instructions (Arranged in Sequence of SUB No.) ................................86

2.2 PMC SIGNAL ADDRESSES........................................................................92

2.2.1 Addresses for Signals Between the PMC and CNC (F, G) ....................................92

2.2.2 Addresses of Signals Between the PMC and Machine (X, Y) ...............................93

2.2.3 Internal Relay Addresses (R)..................................................................................95

2.2.4 System Relay Addresses (R9000, Z0)....................................................................95

2.2.5 Extra Relay Addresses (E)....................................................................................104

2.2.6 Message Display Addresses (A)...........................................................................106

2.2.7 Timer Addresses (T).............................................................................................106

2.2.8 Counter Addresses (C) .........................................................................................107

2.2.9 Keep Relay Addresses (K) ...................................................................................107

2.2.10 Nonvolatile Memory Control Address (K)...........................................................107

2.2.11 System Keep Relay Addresses (K).......................................................................108

2.2.12 Data Table Addresses (D) ....................................................................................115

2.2.13 Addresses for Multi-path PMC Interface (M, N) .................................................118

2.2.14 Subprogram Number Addresses (P).....................................................................118

2.2.15 Label Number Addresses (L) ...............................................................................118

2.3 PMC PARAMETERS.................................................................................119

2.3.1 Cautions for Reading from/Writing to Nonvolatile Memory...............................120

2.3.2 PMC Parameter Format........................................................................................121

2.4 PARAMETERS FOR THE PMC SYSTEM.................................................129

2.4.1 Setting Parameters................................................................................................129

2.4.2 PMC System Parameters ......................................................................................131

2.4.3 CNC Parameters Related to the PMCs.................................................................132

2.5 COMPATIBILITY BETWEEN PMC MEMORY TYPE ................................150

2.5.1 Compatibility between PMC Memory-A and PMC Memory-B ..........................150

2.5.2 Compatibility between PMC Memory-B and PMC Memory-C/D.......................150

2.5.3 Compatibility with PMC Memory-C and PMC Memory-D ................................151

2.6 COMPATIBILITY WITH CONVENTIONAL MODELS................................152

2.6.1 Compatibility with Series 30i/31i/32i-A PMC.....................................................152

c-2

B-64513EN/03 TABLE OF CONTENTS

2.6.2 Compatibility between 30i/31i/32i-A DCSPMC and 30i/31i/32i/35i-B, 0i-F

DCSPMC..............................................................................................................153

2.6.3 Compatibility with the PMCs for the 16i/18i/21i-B.............................................153

2.6.4 Compatibility with the PMCs for the 15i-A/B .....................................................155

2.6.5 Compatibility with series 0i-D PMC....................................................................156

2.6.6 Compatibility between 0i-D DCSPMC and 30i/31i/32i/35i-B DCSPMC ...........156

2.6.7 Compatibility between 35i-B PMC and PMC-SB5/SB6 for Power Mate i-D .....157

2.6.8 Compatibility between Power Motion i-A PMC and PMC-SB5/SB6 for Power Mate

i-H.........................................................................................................................159

2.6.9 Compatibility between 0i-F PMC and 30i/31i/32i/35i-B PMC ...........................161

2.6.10 Compatibility between 0i-F DCSPMC and 30i/31i/32i/35i-B DCSPMC............161

2.6.11 The Convert Method of Source Program Using FANUC LADDER-III..............162

2.7 PMC MESSAGE MULTI-LANGUAGE DISPLAY FUNCTION....................164

2.7.1 Usage of PMC Message Multi-Language Display Function................................164

2.7.2 Multi-Language Display.......................................................................................166

2.7.3 Maximum Number of Message ............................................................................167

2.7.4 Display of European Characters...........................................................................168

2.7.5 Display of Simplified Chinese and Korean (Hangul Characters).........................169

2.8 BATTERY BACKUP DATA........................................................................171

2.9 File Name of Flash ROM related to PMC ..................................................173

3 COMMUNICATION WITH I/O DEVICE...............................................174

3.1 I/O Link i and I/O Link................................................................................174

3.2 WHAT IS THE I/O LINK?...........................................................................175

3.2.1 Configuration of an I/O Link................................................................................176

3.2.2 Numbers of Input Points and of Output Points of the I/O Link ...........................177

3.2.3 Assignment Method .............................................................................................178

3.2.3.1 Assignment Method for I/O Unit-MODEL A .................................................183

3.2.3.2 Assignment Method for I/O Unit-MODEL B.................................................. 185

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 ............................................... 187

3.2.3.4 Assignment Method for the Power Mate......................................................... 192

3.2.3.5 Assignment Method for I/O Link Connection Units ....................................... 193

3.2.3.6 Assignment Method for a Handy Machine Operator's Panel........................... 195

3.2.3.7 Assignment Method for an AS-i Converter Unit............................................. 196

3.2.3.8 FS0 Operator's Panel ....................................................................................... 197

3.2.4 Setting I/O Address For I/O Link Channel...........................................................205

3.2.4.1 Outline ............................................................................................................. 205

3.2.4.2 Assignment Method......................................................................................... 206

3.2.4.3 Dual Assignment of I/O Link Channel............................................................ 206

3.2.5 Selectable I/O Link Assignment Function ...........................................................210

3.2.5.1 Outline ............................................................................................................. 210

3.2.5.2 Example ........................................................................................................... 212

3.2.5.3 Notes................................................................................................................ 216

3.3 WHAT IS I/O Link i ? .................................................................................217

3.3.1 Configuration of I/O Link i ..................................................................................218

3.3.2 Input / Output Points ............................................................................................219

3.3.3 Update Cycle of Signals .......................................................................................220

3.3.4 Safety I/O .............................................................................................................222

3.3.5 I/O Link i Selectable Assignment Data Function.................................................223

3.3.6 Assignment Method of I/O Link i ........................................................................225

3.3.7 Directions for Use of I/O Link i in Dual Check Safety Function.........................228

3.4 I/O Link / I/O Link i CONNECTION CHECK FUNCTION...........................230

3.5 ASSIGNMENT OF NETWORK DEVICES TO X/Y ADDRESS..................231

c-3

TABLE OF CONTENTS B-64513EN/03

4 LADDER LANGUAGE ........................................................................232

4.1 BASIC INSTRUCTIONS............................................................................232

4.1.1 Details of the Basic Instructions...........................................................................234

4.1.2 RD Instruction ......................................................................................................236

4.1.3 RD.NOT Instruction.............................................................................................237

4.1.4 WRT Instruction...................................................................................................238

4.1.5 WRT.NOT Instruction..........................................................................................239

4.1.6 AND Instruction ...................................................................................................240

4.1.7 AND.NOT Instruction..........................................................................................241

4.1.8 OR Instruction ......................................................................................................242

4.1.9 OR.NOT Instruction.............................................................................................243

4.1.10 RD.STK Instruction..............................................................................................244

4.1.11 RD.STK.NOT Instruction ....................................................................................245

4.1.12 AND.STK Instruction ..........................................................................................246

4.1.13 OR.STK Instruction..............................................................................................247

4.1.14 SET Instruction.....................................................................................................249

4.1.15 RST Instruction ....................................................................................................250

4.1.16 RDPT Instruction .................................................................................................251

4.1.17 ANDPT Instruction ..............................................................................................253

4.1.18 ORPT Instruction .................................................................................................254

4.1.19 RDPT.STK Instruction.........................................................................................255

4.1.20 RDNT Instruction.................................................................................................256

4.1.21 ANDNT Instruction..............................................................................................258

4.1.22 ORNT Instruction.................................................................................................259

4.1.23 RDNT.STK Instruction ........................................................................................260

4.1.24 PUSH Instruction / POP Instruction.....................................................................261

4.2 FUNCTIONAL INSTRUCTIONS................................................................262

4.2.1 Format of the Functional Instructions ..................................................................262

4.3 TIMER .......................................................................................................267

4.3.1 TMR (On-delay Timer: SUB 3) ...........................................................................268

4.3.2 TMRB (Fixed On-delay Timer: SUB 24) ............................................................270

4.3.3 TMRBF (Fixed Off-delay Timer: SUB 77)..........................................................272

4.3.4 TMRC (On-delay Timer: SUB 54).......................................................................274

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

TMRSS (Stop Watch Timer (1sec Accuracy) : SUB 222)...................................277

4.4 COUNTER.................................................................................................281

4.4.1 CTR (Counter: SUB 5).........................................................................................282

4.4.2 CTRB (Fixed Counter: SUB 56) ..........................................................................288

4.4.3 CTRC (Counter: SUB 55) ....................................................................................290

4.4.4 CTRD (Counter (4 Bytes Length) : SUB 223).....................................................292

4.5 DATA TRANSFER.....................................................................................295

4.5.1 MOVB (Transfer of 1 Byte: SUB 43) ..................................................................296

4.5.2 MOVW (Transfer of 2 Bytes: SUB 44) ...............................................................297

4.5.3 MOVD (Transfer of 4 Bytes: SUB 47) ................................................................298

4.5.4 MOVN (Transfer of an Arbitrary Number of Bytes: SUB 45) ............................299

4.5.5 MOVE (Logical Product Transfer: SUB 8)..........................................................301

4.5.6 MOVOR (Data Transfer After Logical Sum: SUB 28)........................................303

4.5.7 XMOVB (Binary Index Modifier Data Transfer: SUB 35) .................................304

4.5.8 XMOV (Indexed Data Transfer: SUB 18) ...........................................................312

4.5.9 MOVBT (Bit Transfer: SUB 224)........................................................................314

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)............................................317

c-4

B-64513EN/03 TABLE OF CONTENTS

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) ......................................319

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

SWAPD (Data Swap (4 Bytes Length) : SUB 232) .............................................321

4.5.13 DSCHB (Binary Data Search: SUB 34)...............................................................324

4.5.14 DSCH (Data Search: SUB 17) .............................................................................327

4.6 TABLE DATA.............................................................................................329

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).......................330

4.6.2 TBLRN (Reading Data from Table (Arbitrary Bytes Length) : SUB 236)..........333

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) ...........................336

4.6.4 TBLWN (Writing Data to Table (Arbitrary Bytes Length) : SUB 240) ..............339

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) ..................342

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) ....................................346

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) .......................................349

4.7 COMPARISON..........................................................................................352

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

EQD (4 Bytes Length: SUB 202).........................................................................353

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

NED (4 Bytes Length: SUB 205).........................................................................355

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

GTD (4 Bytes Length: SUB 208).........................................................................358

c-5

TABLE OF CONTENTS B-64513EN/03

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

LTD (4 Bytes Length: SUB 211) .........................................................................360

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

GED (4 Bytes Length: SUB 214).........................................................................362

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

LED (4 Bytes Length: SUB 217) .........................................................................364

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)......................................................................366

4.7.8 COMPB (Comparison Between Binary Data: SUB 32).......................................368

4.7.9 COMP (Comparison: SUB 15).............................................................................371

4.7.10 COIN (Coincidence Check: SUB 16)...................................................................373

4.8 BIT OPERATION.......................................................................................375

4.8.1 DIFU (Rising Edge Detection: SUB 57) .............................................................377

4.8.2 DIFD (Falling Edge Detection: SUB 58) ............................................................379

4.8.3 EOR (Exclusive OR: SUB 59) ............................................................................381

4.8.4 AND (Logical AND: SUB 60) ............................................................................383

4.8.5 OR (Logical OR: SUB 61) ..................................................................................385

4.8.6 NOT (Logical NOT: SUB 62).............................................................................387

4.8.7 PARI (Parity Check: SUB 11).............................................................................389

4.8.8 SFT (Shift Register: SUB 33) .............................................................................391

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) ...........................................393

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) ...........................................396

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) .................................................399

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)............................................402

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).............................................404

4.8.14 SHLN (Bit Shift Left (Arbitrary Bytes Length) : SUB 280)................................407

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) ..........................................410

4.8.16 SHRN (Bit Shift Right (Arbitrary Bytes Length) : SUB 284) .............................413

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) ......................................416

4.8.18 ROLN (Bit Rotation Left (Arbitrary Bytes Length) : SUB 288) .........................419

c-6

B-64513EN/03 TABLE OF CONTENTS

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)....................................422

4.8.20 RORN (Bit Rotation Right (Arbitrary Bytes Length) : SUB 292).......................425

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).....................................................428

4.8.22 BSETN (Bit Set (Arbitrary Bytes Length) : SUB 296)........................................430

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).................................................432

4.8.24 BRSTN (Bit Reset (Arbitrary Bytes Length) : SUB 300)....................................434

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) ...................................................436

4.8.26 BTSTN (Bit Test (Arbitrary Bytes Length) : SUB 304) ......................................438

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)...............................................440

4.8.28 BPOSN (Bit Search (Arbitrary Bytes Length) : SUB 308)..................................442

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) ...............................................444

4.8.30 BCNTN (Bit Count (Arbitrary Bytes Length) : SUB 312) ..................................446

4.9 CODE CONVERSION...............................................................................448

4.9.1 COD (Code Conversion: SUB 7) ........................................................................449

4.9.2 CODB (Binary Code Conversion: SUB 27)........................................................452

4.9.3 DCNV (Data Conversion: SUB 14) ....................................................................455

4.9.4 DCNVB (Extended Data Conversion: SUB 31)..................................................457

4.9.5 DEC (Decode: SUB 4) ........................................................................................459

4.9.6 DECB (Binary Decoding: SUB 25) ....................................................................461

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) ...................464

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)....................466

4.10 OPERATION INSTRUCTION....................................................................468

4.10.1 ADDB (Binary Addition: SUB 36) .....................................................................469

4.10.2 SUBB (Binary Subtraction: SUB 37)..................................................................471

4.10.3 MULB (Binary Multiplication: SUB 38) ............................................................473

4.10.4 DIVB (Binary Division: SUB 39) .......................................................................475

4.10.5 ADD (BCD Addition: SUB 19) ..........................................................................477

4.10.6 SUB (BCD Subtraction: SUB 20) .......................................................................479

4.10.7 MUL (BCD Multiplication: SUB 21)..................................................................481

4.10.8 DIV (BCD Division: SUB 22) ............................................................................483

4.10.9 NUMEB (Definition of Binary Constants: SUB 40)...........................................485

4.10.10 NUME (BCD Definition of Constant: SUB 23)..................................................487

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

ADDSD (Addition (4 Bytes Length) : SUB 321) ................................................488

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

SUBSD (Subtraction (4 Bytes Length) : SUB 324) .............................................490

c-7

TABLE OF CONTENTS B-64513EN/03

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

MULSD (Multiplication (4 Bytes Length) : SUB 327)........................................492

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

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

DIVSD (Division (4 Bytes Length) : SUB 330) ..................................................494

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

MODSD (Remainder (4 Bytes Length) : SUB 333).............................................496

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

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

INCSD (Increment (4 Bytes Length) : SUB 336) ................................................498

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

DECSD (Decrement (4 Bytes Length) : SUB 339)..............................................500

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).......................................502

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)........................................504

4.11 INSTRUCTIONS RELATED TO CNC FUNCTIONS..................................506

4.11.1 DISPB (Display Message: SUB 41)....................................................................507

4.11.1.1 Numerical data display ....................................................................................512

4.11.1.2 Defining characters not found in the CNC MDI keys .....................................513

4.11.1.3 Notes when this functional instruction is used in subroutine .......................... 517

4.11.1.4 Message shift function..................................................................................... 517

4.11.1.5 PMC message multi-language display function............................................... 520

4.11.1.6 Ladder dividing management function ............................................................ 520

4.11.1.7 Common PMC Memory mode of Multi-path PMC......................................... 520

4.11.2 EXIN (External Data Input: SUB 42) .................................................................522

4.11.3 WINDR (Reading CNC Window Data: SUB 51) ...............................................527

4.11.4 WINDW (Writing CNC Window Data: SUB 52)...............................................529

4.11.5 AXCTL (Axis Control by PMC: SUB 53)..........................................................531

4.11.6 PSGN2 (Position Signal: SUB 63).......................................................................537

4.11.7 PSGNL (Position Signal: SUB 50) ......................................................................541

4.12 PROGRAM CONTROL..............................................................................547

4.12.1 COM (Common Line Control: SUB 9)...............................................................548

4.12.2 COME (Common Line Control End: SUB 29) ...................................................551

4.12.3 JMP (Jump: SUB 10) ..........................................................................................552

4.12.4 JMPE (Jump End: SUB 30).................................................................................554

4.12.5 JMPB (Label Jump 1: SUB 68)...........................................................................555

4.12.6 JMPC (Label Jump 2: SUB 73)...........................................................................557

4.12.7 LBL (Label: SUB 69)..........................................................................................559

4.12.8 CALL (Conditional Subprogram Call: SUB 65).................................................560

4.12.9 CALLU (Unconditional Subprogram Call: SUB 66)..........................................561

4.12.10 SP (Subprogram: SUB 71) ..................................................................................562

4.12.11 SPE (End of a Subprogram: SUB 72) .................................................................563

4.12.12 END1 (1st Level Sequence Program End: SUB 1) .............................................563

4.12.13 END2 (2nd Level Sequence Program End: SUB 2)............................................564

4.12.14 END3 (3rd Level Sequence Program End: SUB 48) ..........................................564

4.12.15 END (End of a Ladder Program: SUB 64)..........................................................565

4.12.16 NOP (No Operation: SUB 70).............................................................................565

4.12.17 CS (Case Call: SUB 74) .......................................................................................565

4.12.18 CM (Sub Program Call in Case Call: SUB 75) ....................................................568

c-8

B-64513EN/03 TABLE OF CONTENTS

4.12.19 CE (End of Case Call: SUB 76) ...........................................................................569

4.13 ROTATION CONTROL..............................................................................570

4.13.1 ROT (Rotation Control: SUB 6) .........................................................................571

4.13.2 ROTB (Binary Rotation Control: SUB 26).........................................................574

4.14 INVALID INSTRUCTIONS.........................................................................577

4.15 NOTE ON PROGRAMMING .....................................................................578

5 WINDOW FUNCTIONS.......................................................................579

5.1 FORMATS OF CONTROL DATA..............................................................580

5.2 LOW-SPEED RESPONSE AND HIGH-SPEED RESPONSE....................581

5.2.1 Note on the Programming of a Low-speed Response Window Instruction .........582

5.3 LIST OF WINDOW FUNCTIONS...............................................................583

5.3.1 List of Window Functions (Function Group Order).............................................583

5.3.2 List of Window Functions (Function Code Order) ..............................................587

5.3.3 Compatibility with Conventional Models ............................................................590

5.4 CNC INFORMATION.................................................................................593

5.4.1 Reading CNC System Information (High-speed Response) ................................593

5.4.2 Reading a Tool Offset (High-speed Response) ....................................................595

5.4.3 Writing a Tool Offset (Low-speed Response)......................................................597

5.4.4 Reading a Workpiece Origin Offset Value (High-speed Response) ....................599

5.4.5 Writing a Workpiece Origin Offset Value (Low-speed Response)......................601

5.4.6 Reading a Parameter (High-speed Response) ......................................................603

5.4.7 Writing a Parameter (Low-speed Response) ........................................................605

5.4.8 Reading a Real Type Parameter (High-speed Response).....................................607

5.4.9 Writing a Real Type Parameter (Low-speed Response).......................................611

5.4.10 Reading Setting Data (High-speed Response)......................................................615

5.4.11 Writing Setting Data (Low-speed Response) .......................................................617

5.4.12 Reading a Custom Macro Variable (High-speed Response) ................................619

5.4.13 Writing a Custom Macro Variable (Low-speed Response)..................................621

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

Response) .............................................................................................................623

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

Response) .............................................................................................................625

5.4.16 Reading the CNC Alarm Status (High-speed Response) .....................................627

5.4.17 Reading the Current Program Number (High-speed Response)...........................629

5.4.18 Reading the Current Sequence Number (High-speed Response).........................631

5.4.19 Reading Modal Data (High-speed Response) ......................................................632

5.4.20 Reading Diagnosis Data (Low-speed Response)..................................................642

5.4.21 Reading Diagnosis Data (High-speed Response).................................................644

5.4.22 Reading a P-CODE Macro Variable (High-speed Response) ..............................646

5.4.23 Writing a P-CODE Macro Variable (Low-speed Response)................................649

5.4.24 Reading CNC Status Information (High-speed Response) ..................................652

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

Response) .............................................................................................................654

5.4.26 Entering Data on the Program Check Screen (Low-speed Response) .................656

5.4.27 Reading Clock Data (Date and Time) (High-speed Response)............................657

5.4.28 Writing Clock Data (Date and Time) (Low-speed Response)..............................659

5.4.29 Reading the Pitch Error Compensation Value (High-speed Response) ...............663

5.4.30 Writing the Pitch Error Compensation Value (Low-speed Response).................664

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

Response) .............................................................................................................666

5.4.32 Reading Detailed Information of CNC Alarm .....................................................668

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

(Low-speed Response) .........................................................................................673

c-9

TABLE OF CONTENTS B-64513EN/03

5.4.34 Reading CNC ID Number (Low-speed Response)...............................................674

5.4.35 Reading repetition count for subprogram calls / canned cycle (High-speed

Response) .............................................................................................................675

5.5 AXIS INFORMATION ................................................................................677

5.5.1 Reading the Actual Velocity of Controlled Axes (High-speed Response)...........677

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

(High-speed Response).........................................................................................678

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

(High-speed Response).........................................................................................680

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

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

5.5.5 Reading the Servo Delay for Controlled Axes (High-speed Response)...............684

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

Response) .............................................................................................................686

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

Response) .............................................................................................................688

5.5.8 Reading the Actual Spindle Speed (High-speed Response).................................690

5.5.9 Reading the Relative Position on a Controlled Axis (High-speed Response)......691

5.5.10 Reading the Remaining Travel (High-speed Response).......................................693

5.5.11 Reading the Actual Velocity of each Controlled Axis (High-speed Response)...695

5.5.12 Reading Actual Spindle Speeds (High-speed Response) .....................................697

5.5.13 Entering Torque Limit Data for the Digital Servo Motor (Low-speed Response)700

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

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

5.5.15 Reading a Chopping Data (Low-speed Response)...............................................704

5.5.16 Reading the Actual Speed of Servo Motor (High-speed Response) ....................707

5.5.17 Reading the Estimate Disturbance Torque Data (High-speed Response) ............712

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

Response) .............................................................................................................717

5.5.19 Reading a Fine Torque Sensing Data (Store Data) (High-speed Response) ........720

5.5.20 Presetting the Relative Coordinate (Low-speed Response) .................................725

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

..............................................................................................................................727

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

..............................................................................................................................729

5.5.23 Reading the Position of Controlled Axes .............................................................732

5.5.23.1 Reading the machine position of controlled axes ............................................ 732

5.5.23.2 Reading the absolute position of controlled axes ............................................ 734

5.5.23.3 Reading the remaining travel........................................................................... 736

5.5.24 Reading slider position of the Control function for link type press (High-speed

Response) .............................................................................................................739

5.5.25 Reading position of lower dead point of the Control function for link type press

(High-speed Response).........................................................................................741

5.5.26 Reading main gear angle of the Control function for link type press (High-speed

Response) .............................................................................................................743

5.5.27 Reading analog monitor unit data (High-speed Response) ..................................745

5.5.28 Reading the Axes Command Value (High-speed Response) ...............................747

5.6 TOOL LIFE MANAGEMENT FUNCTION..................................................750

5.6.1 Reading The Tool Life Management Data

(Tool Group Number) (High-speed Response) ....................................................750

5.6.2 Reading Tool Life Management Data

(Number of Tool Groups) (High-speed Response) ..............................................752

5.6.3 Reading Tool Life Management Data

(Number of Tools) (High-speed Response) .........................................................754

c-10

B-64513EN/03 TABLE OF CONTENTS

5.6.4 Reading Tool Life Management Data (Tool Life)

(High-speed Response).........................................................................................756

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

..............................................................................................................................758

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

(High-speed Response).........................................................................................760

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

(High-speed Response).........................................................................................762

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

(High-speed Response).........................................................................................764

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

(High-speed Response).........................................................................................766

5.6.10 Reading Tool Life Management Data

(Tool Information (1): Tool Number) (High-speed Response) ............................768

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

(High-speed Response).........................................................................................770

5.6.12 Reading Tool Life Management Data (Tool Number)

(High-speed Response).........................................................................................772

5.6.13 Reading the Tool Life Management Data

(Tool Life Counter Type) (High-speed Response)...............................................774

5.6.14 Registering Tool Life Management Data (Tool Group)

(Low-speed Response) .........................................................................................776

5.6.15 Writing Tool Life Management Data (Tool Life)

(Low-speed Response) .........................................................................................778

5.6.16 Writing Tool Life Management Data (Tool Life Counter)

(Low-speed Response) .........................................................................................780

5.6.17 Writing Tool Life Management Data (Tool Life Counter Type)

(Low-speed Response) .........................................................................................782

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

(Low-speed Response) .........................................................................................784

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

(Low-speed Response) .........................................................................................786

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

(Low-speed Response) .........................................................................................788

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

(Low-speed Response) .........................................................................................790

5.6.22 Writing the Tool Life Management Data

(Tool Information (1): Tool Number) (Low-speed Response).............................792

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

(Low-speed Response) .........................................................................................794

5.6.24 Writing Tool Life Management Data (Tool Number)

(Low-speed Response) .........................................................................................796

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

(8-digits Tool Number) ........................................................................................798

c-11

TABLE OF CONTENTS B-64513EN/03

5.6.26 Reading Tool Life Management Data
(Tool Information (1): Tool Number) (High-speed Response)

(8-digits Tool Number) ........................................................................................800

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

(8-digits Tool Number) ........................................................................................802

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

(High-speed Response) (8-digits Tool Number) ..................................................804

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

(High-speed Response) (8-digits Tool Number) ..................................................806

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

(Low-speed Response) (8-digits Tool Number)...................................................808

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

(Low-speed Response) (8-digits Tool Number)...................................................810

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

(Low-speed Response) (8-digits Tool Number)...................................................812

5.6.33 Deleting Tool life Management Data (Tool Group)

(Low-speed Response) .........................................................................................814

5.6.34 Deleting Tool life Management Data (Tool Data)

(Low-speed Response) .........................................................................................815

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

(Low-speed Response) .........................................................................................816

5.6.36 Writing Tool Life Management Data (Arbitrary Group Number)

(Low-speed Response) .........................................................................................817

5.6.37 Writing Tool Life Management Data (Remaining Tool Life)

(Low-speed Response) .........................................................................................819

5.7 TOOL MANAGEMENT FUNCTIONS ........................................................821

5.7.1 Exchanging Tool Management Data Numbers in a Magazine Management Table

(Low-speed Response) .........................................................................................822

5.7.2 Searching for a Free Pot (Low-speed Response)..................................................824

5.7.3 Registering New Tool Management Data (Low-speed Response).......................826

5.7.4 Writing Tool Management Data (Low-speed Response) .....................................831

5.7.5 Deleting Tool Management Data (Low-speed Response)....................................836

5.7.6 Reading Tool Management Data (Low-speed Response) ....................................838

5.7.7 Writing a Specified Type of Tool Management Data

(Low-speed Response) .........................................................................................842

5.7.8 Searching for Tool Management Data (Low-speed Response)............................847

5.7.9 Shifting Tool Management Data (Low-speed Response).....................................849

5.7.10 Searching for a Free Pot (Oversize Tools Supported)

(Low-speed Response) .........................................................................................851

5.7.11 Reading the Total Tool Life Data (Low-speed Response) ...................................854

5.7.12 Writing Tool Management Data by Specified Data (Low-speed Response) .......856

5.7.13 Deleting Tool Management Data by Specified Data

(Low-speed Response) .........................................................................................862

5.7.14 Reading Tool Management Data by Specified Data

(Low-speed Response) .........................................................................................864

5.7.15 Writing Each Tool Management Data by Specified Data

(Low-speed Response) .........................................................................................869

5.7.16 Writing Magazine Property Data (Low-speed Response)....................................875

c-12

B-64513EN/03 TABLE OF CONTENTS

5.7.17 Reading Magazine Property Data (Low-speed Response) ...................................877

5.7.18 Writing Pot Property Data (Low-speed Response) ..............................................879

5.7.19 Reading Pot Property Data (Low-speed Response) .............................................881

5.7.20 Searching for a Free Pot by Specified Data

(Low-speed Response) .........................................................................................883

5.7.21 Reading a Tool Geometry Data (Low-speed Response) ......................................886

5.7.22 Writing a Tool Geometry Data (Low-speed Response) .......................................888

5.7.23 Moving Tool Management Data Numbers in a Magazine Management Table

(Low-speed Response) .........................................................................................891

5.7.24 Reading free number of Multi edge group / Tool offset

(High-speed Response).........................................................................................894

5.7.25 Writing Edge Data (Low-speed Response) ..........................................................896

5.7.26 Reading Edge Data (Low-speed Response) .........................................................899

5.7.27 Writing Each Edge Data (Low-speed Response) .................................................902

5.7.28 Reading the Total Tool Life Data of an Edge (Low-speed Response).................905

6 OPERATING THE PMC SCREEN ......................................................907

6.1 OPERATION SCREENS OF THE PMC AND SOFT KEY ORGANIZATION

...................................................................................................................909

6.1.1 Transition of the PMC Screens.............................................................................909

6.1.2 Basic Screen Operations.......................................................................................910

6.2 DISPLAY AND OPERATION CONDITIONS FOR SCREENS...................912

6.2.1 Programmer Protection Function .........................................................................912

6.2.2 PMC Parameter Input/Output Conditions ............................................................919

6.2.3 Password Function for Ladder Program...............................................................922

6.2.4 Partial Protection Function for Ladder Program ..................................................924

6.2.5 Password Function for I/O Configuration Data....................................................925

6.2.6 Protection of Data at 8 Levels ..............................................................................926

6.3 DISPLAY OF DIVIDED LADDER PROGRAM...........................................929

6.4 MULTI-PMC DISPLAY...............................................................................930

6.5 DISPLAYING EXTENDED SYMBOL AND COMMENT.............................932

7 PMC DIAGNOSIS AND MAINTENANCE SCREENS ([PMC MAINTE])

.............................................................................................................934

7.1 MONITORING PMC SIGNAL STATUS ([STATUS] SCREEN)..................935

7.1.1 Forced I/O Function .............................................................................................937

7.1.2 Forced I/O Screen.................................................................................................941

7.2 CHECKING PMC ALARMS ([PMC ALARM] SCREEN).............................944

7.3 SETTING AND DISPLAYING PMC PARAMETERS..................................945

7.3.1 Setting and Displaying Timers ([TIMER] Screen)...............................................946

7.3.2 Setting and Displaying Counter Values ([COUNTR] Screen).............................949

7.3.3 Setting and Displaying Keep Relays ([KEEP RELAY] Screen)..........................951

7.3.4 Setting and Displaying Data Tables ([DATA] Screen) ........................................953

7.4 DATA INPUT/OUTPUT ([I/O] SCREEN)...................................................962

7.4.1 Memory Card and USB Memory .........................................................................967

7.4.2 Setting the Communication Port ([PORT SETING] Screen)...............................968

7.4.3 Displaying a File List ([LIST] Screen).................................................................970

7.4.4 Setting an I/O Target PMC...................................................................................972

7.4.5 Note on Inputting of Sequence Program ..............................................................974

7.4.6 Outputting a Sequence Program to the Memory Card or the USB Memory........975

7.4.7 Inputting a Sequence Program from the Memory Card or the USB Memory......976

7.4.8 Comparing Sequence Programs with Memory Card Files or USB Memory Files978

7.4.9 Saving Sequence Programs to the Flash ROM.....................................................979

c-13

TABLE OF CONTENTS B-64513EN/03

7.4.10 Inputting Sequence Programs from the Flash ROM ............................................980

7.4.11 Comparing Sequence Programs with Flash ROM Files.......................................982

7.4.12 Outputting a Sequence Program to the FLOPPY.................................................982

7.4.13 Inputting a Sequence Program from the FLOPPY...............................................983

7.4.14 Comparing Sequence Programs with FLOPPY Files...........................................985

7.4.15 Outputting Sequence Programs to Other Devices

(via the RS-232C Port).........................................................................................986

7.4.16 Inputting Sequence Programs from Other Devices

(via the RS-232C Port).........................................................................................987

7.4.17 Comparing Sequence Programs with Files of Other Devices (via the RS-232C Port)

..............................................................................................................................988

7.4.18 Outputting PMC Parameters to the Memory Card or the USB memory..............989

7.4.19 Inputting PMC Parameters from the Memory Card or the USB Memory ...........990

7.4.20 Comparing PMC Parameters with Memory Card Files or USB Memory Files ...992

7.4.21 Outputting PMC Parameters to the FLOPPY.......................................................993

7.4.22 Inputting PMC Parameters from the FLOPPY.....................................................994

7.4.23 Comparing PMC Parameters with FLOPPY Files ...............................................995

7.4.24 Outputting PMC Parameters to Other Devices

(via the RS-232C Port).........................................................................................996

7.4.25 Inputting PMC Parameters from Other Devices

(via the RS-232C Port).........................................................................................997

7.4.26 Comparing PMC Parameters with Files of Other Devices

(via the RS-232C Port).........................................................................................998

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

USB memory........................................................................................................999

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

USB memory......................................................................................................1000

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

USB Memory Files.............................................................................................1002

7.4.30 Saving Message Data for Multi-Language Display to the Flash ROM..............1003

7.4.31 Inputting Message Data for Multi-Language Display from the Flash ROM......1004

7.4.32 Comparing Message Data for Multi-Language Display with Flash ROM Files 1005

7.4.33 Outputting Trace setting data to the Memory Card or the USB Memory ..........1006

7.4.34 Inputting Trace Setting Data from the Memory Card or the USB Memory.......1007

7.4.35 Outputting I/O Configuration data to the Memory Card or USB Memory........1008

7.4.36 Inputting I/O Configuration data from the Memory Card or USB Memory ......1009

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

............................................................................................................................1010

7.4.38 Saving I/O Configuration data to the Flash ROM..............................................1011

7.4.39 Inputting I/O Configuration data from the Flash ROM......................................1012

7.4.40 Comparing I/O Configuration data with Flash ROM Files ................................1012

7.4.41 Deleting Memory Card/USB memory Files or Formatting a Memory Card.....1013

7.4.42 Deleting One or All FLOPPY Files....................................................................1014

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

SCREEN) ................................................................................................1015

7.5.1 Registration of I/O Devices Configuration.........................................................1019

7.5.2 Check of I/O Link Connection ...........................................................................1020

7.6 TRACING AND DISPLAYING PMC SIGNAL STATUS ...........................1023

7.6.1 Signal Trace Function ([TRACE] Screen) .........................................................1023

7.6.2 Setting of Trace Parameter ([TRACE SETING] Screen)...................................1024

7.6.3 Execution of Trace .............................................................................................1029

7.6.4 Operation after Execution of Trace ....................................................................1030

7.6.5 Automatic Start of Trace Setting........................................................................1032

7.6.6 Trace Result Output............................................................................................1033

c-14

B-64513EN/03 TABLE OF CONTENTS

7.7 MONITORING I/O DIAGNOSIS ([I/O DGN] SCREEN)............................1037

7.7.1 I/O DIAGNOSIS Screen ....................................................................................1038

7.7.2 SETTING Screen of I/O DIAGNOSIS ..............................................................1045

8 LADDER DIAGRAM MONITOR AND EDITOR SCREENS ([PMC

LADDER]) .........................................................................................1048

8.1 DISPLAYING A PROGRAM LIST ([LIST] SCREEN)...............................1050

8.1.1 Setting the Program List Screen.........................................................................1052

8.2 MONITORING LADDER DIAGRAMS ([LADDER] SCREEN)..................1053

8.2.1 Operating on the LADDER DIAGRAM MONITOR Screen.............................1056

8.2.2 Setting the Display Format of the LADDER DIAGRAM MONITOR Screen ..1060

8.2.3 Display Format for Parameters...........................................................................1067

8.2.4 FUNCTIONAL INSTRUCTION DATA TABLE VIEWER Screen.................1079

8.3 EDITING LADDER PROGRAMS.............................................................1081

8.3.1 Operating on the LADDER DIAGRAM EDITOR Screen.................................1083

8.3.2 Setting the LADDER DIAGRAM EDITOR Screen ..........................................1086

8.3.3 NET EDITOR Screen.........................................................................................1092

8.3.4 Structure of Valid Net ........................................................................................1101

8.3.4.1 Structure of standard type net ........................................................................ 1101

8.3.4.2 Structure of extended type net ....................................................................... 1102

8.3.4.3 Ladder that is not programmable................................................................... 1107

8.3.5 Optimization.......................................................................................................1108

8.3.6 FUNCTIONAL INSTRUCTION LIST Screen..................................................1109

8.3.7 FUNCTIONAL INSTRUCTION DATA TABLE EDITOR Screen..................1111

8.3.8 Operating on the FUNCTIONAL INSTRUCTION DATA TABLE EDITOR Screen

............................................................................................................................1112

8.3.9 PROGRAM LIST EDITOR Screen ...................................................................1114

8.3.10 Setting the PROGRAM LIST EDITOR Screen .................................................1116

8.4 SELECTING AND DISPLAYING THE NECESSARY LADDER NET

([SWITCH] SCREEN]).............................................................................1117

8.4.1 Collective Monitor Function ..............................................................................1117

8.4.2 Collective Monitor Screen..................................................................................1118

8.5 ADDRESS ALTERATION FUNCTION ....................................................1121

8.5.1 Screen Structures................................................................................................1121

8.5.2 Operating on the Screen .....................................................................................1122

8.6 FUNCTION TO REFERENCE ADDRESSES IN USE.............................1124

8.6.1 Address Map Display Screen .............................................................................1124

8.6.2 Operating on the Screen .....................................................................................1125

8.7 FUNCTION TO AUTOMATICALLY INPUT UNUSED ADDRESSES.......1126

8.8 AUTOMATICALLY INPUTTING UNUSED PARAMETER NUMBERS.....1127

8.9 DUPLICATION DETECTION IN LADDER EDITING ...............................1128

8.9.1 DETECTION OF DOUBLE COILS..................................................................1128

8.9.2 DUPLICATION DETECTION OF PARAMETER NUMBER OF FUNCTIONAL

INSTRUCTIONS ...............................................................................................1128

8.10 CHECKING OF DUPLICATE COIL ([DUP. CHECK] SCREEN)..............1130

8.11 DISPLAYING A SUBPROGRAM LIST ([SPLIST] SCREEN)...................1133

8.11.1 Display history of a Subprogram........................................................................1133

8.11.2 Subprogram List Display Screen........................................................................1135

8.11.3 Setting Subprogram List Screen.........................................................................1136

8.12 OPERATION BY TOUCH PANEL ...........................................................1137

8.12.1 Operation List of the Touch Panel......................................................................1138

8.12.2 Operation of Program List Viewer Screen .........................................................1139

c-15

TABLE OF CONTENTS B-64513EN/03

8.12.3 Operation of Ladder Diagram Monitor Screen...................................................1141

8.12.4 Operation of Ladder Diagram Editor Screen......................................................1144

8.12.5 Operation of Net Editor Screen ..........................................................................1145

8.12.6 Operation of Program List Editor Screen...........................................................1146

8.12.7 Operation of Collective Monitor Screen ............................................................1148

8.12.8 Operation of Subprogram List Display Screen ..................................................1151

8.13 Adding of Sampling Address of Signal Trace...........................................1153

9 PMC CONFIGURATION DATA SETTING SCREENS ([PMC CONFIG])

...........................................................................................................1155

9.1 DISPLAYING AND EDITING TITLE DATA ([TITLE] SCREENS).............1156

9.1.1 Displaying Title Data .........................................................................................1156

9.1.2 Editing Title Data ...............................................................................................1158

9.1.3 Displaying Title Data (Message)........................................................................1161

9.2 DISPLAYING AND EDITING SYMBOL AND COMMENT DATA ([SYMBOL]

SCREENS)..............................................................................................1164

9.2.1 Displaying Symbol and Comment Data.............................................................1164

9.2.2 Editing Symbol and Comment Data...................................................................1166

9.2.3 Partially Changing Symbol and Comment Data.................................................1168

9.2.4 Registering New Symbol and Comment Data....................................................1170

9.2.5 Displaying Extended Symbol and Comment .....................................................1172

9.2.6 Editing Extended Symbol and Comment ...........................................................1175

9.2.7 Adding an Extended Symbol and Comment ......................................................1179

9.3 DISPLAYING AND EDITING MESSAGE DATA ([MESAGE] SCREENS)1181

9.3.1 Displaying Message Data...................................................................................1181

9.3.2 Editing Message Data.........................................................................................1183

9.3.3 Editing Desired Message Data ...........................................................................1186

9.4 DISPLAYING AND EDITING I/O MODULE ALLOCATION DATA ([MODULE]

SCREENS)..............................................................................................1189

9.4.1 Displaying I/O Module Allocation Data ............................................................1189

9.4.2 Editing I/O Module Allocation Data ..................................................................1190

9.5 DISPLAYING AND CHANGING PMC SETTINGS ([SETING] SCREENS)

.................................................................................................................1193

9.6 DISPLAYING THE STATUS OF PMCS AND CHANGING THE TARGET PMC

([PMC STATUS] SCREENS)...................................................................1201

9.6.1 Starting and Stopping Sequence Programs.........................................................1202

9.6.2 Displaying the status of the 1st level execution cycle in 1ms/2ms ([PMC

STATUS(1,2ms LADDER)] screen)..................................................................1203

9.7 DISPLAYING AND SETTING PARAMETERS FOR THE ONLINE FUNCTION

([ONLINE] SCREEN)...............................................................................1204

9.7.1 Setting Parameters for the Online Function .......................................................1206

9.7.2 Communication Status........................................................................................1208

9.7.3 About Ethernet Communication Parameters ......................................................1209

9.7.4 About Connection Log of Ethernet ....................................................................1211

9.8 DISPLAYING AND SETTING SYSTEM PARAMETERS ([SYSTEM PARAM]

SCREENS)..............................................................................................1213

9.8.1 Displaying and Setting the Counter Data Type..................................................1213

9.8.2 Displaying and Setting Parameters for an FS0 Operator's Panel........................1215

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

............................................................................................................................1218

c-16

B-64513EN/03 TABLE OF CONTENTS

9.9 DISPLAYING AND SETTING CONFIGURATION PARAMETERS ([CONFIG

PARAM] SCREENS) ...............................................................................1221

9.9.1 Menu for Setting Configuration Parameters.......................................................1221

9.9.2 Setting the CNC-PMC Interface.........................................................................1223

9.9.3 Setting the Machine Signal Interface .................................................................1227

9.9.4 Setting the Parameters Related to Ladder Execution .........................................1231

9.9.5 Setting the PMC Memory Type .........................................................................1234

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

SCREEN) ................................................................................................1236

9.10.1 Displaying of Group Information of I/O Link i Assignment Data.....................1237

9.10.2 Displaying of Slot Information of I/O Link i Assignment Data.........................1240

9.10.3 Displaying of Title Information of I/O Link i Assignment Data........................1241

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

Function) ............................................................................................................1243

9.10.5 Editing of Group Information of I/O Link i Assignment Data...........................1245

9.10.6 Changing of Slot Information of I/O Link i Assignment Data...........................1250

9.10.7 Adding of Slot Information of I/O Link i Assignment Data ..............................1252

9.11 PMC Program List Screen.......................................................................1254

9.11.1 Output of program list information file..............................................................1256

10 STEP SEQUENCE FUNCTION.........................................................1257

10.1 OVERVIEW .............................................................................................1257

10.1.1 Step Sequence Method .......................................................................................1257

10.1.2 Graphical Symbols .............................................................................................1260

10.1.3 Editing and Debugging Step Sequence Programs..............................................1261

10.2 STEP SEQUENCE BASICS....................................................................1262

10.2.1 Terminology .......................................................................................................1262

10.2.2 Execution of Step Sequence...............................................................................1269

10.3 CONFIGURATION AND OPERATION OF STEP–SEQUENCE PROGRAMS

.................................................................................................................1272

10.3.1 Step.....................................................................................................................1272

10.3.2 Initial Step ..........................................................................................................1274

10.3.3 Transition ...........................................................................................................1275

10.3.4 Divergence of Selective Sequence .....................................................................1275

10.3.5 Convergence of Selective Sequence...................................................................1276

10.3.6 Divergence of Simultaneous Sequence ..............................................................1277

10.3.7 Convergence of Simultaneous Sequence............................................................1277

10.3.8 Jump ...................................................................................................................1279

10.3.9 Label...................................................................................................................1280

10.3.10 Block Step ..........................................................................................................1281

10.3.11 Initial Block Step................................................................................................1282

10.3.12 End Of Block Step..............................................................................................1282

10.4 EXTENDED LADDER INSTRUCTIONS..................................................1283

10.4.1 Functional Instruction TRSET ...........................................................................1283

10.4.2 PMC Address (S Address)..................................................................................1283

10.5 SPECIFICATION OF STEP SEQUENCE................................................1285

10.5.1 Specification.......................................................................................................1285

10.5.2 General Rules .....................................................................................................1285

10.5.3 Exclusive Control for Functional Instructions ...................................................1291

10.6 STEP SEQUENCE SCREEN OPERATION ............................................1294

10.6.1 Displaying a Step Sequence Diagram ................................................................1294

10.6.2 History of Display ..............................................................................................1296

c-17

TABLE OF CONTENTS B-64513EN/03

10.6.3 Program List Display Screen..............................................................................1296

10.6.4 Step Sequence Display Screen ...........................................................................1297

10.6.5 Setting the Step Sequence Diagram Screen........................................................1299

10.6.6 Subprogram List Display Screen........................................................................1301

10.6.7 Setting Subprogram List Screen.........................................................................1301

10.6.8 Ladder Diagram Monitor Screen........................................................................1301

10.6.9 Collective Monitor Screen..................................................................................1301

10.7 EXECUTION STATE DISPLAY...............................................................1302

10.7.1 Step Sequence State Display Screen (Global)....................................................1302

10.7.2 Step Sequence State Display Screen (Subprogram)...........................................1304

10.8 TIME MONITOR FUNCTION...................................................................1306

10.8.1 Time Monitor Setting Screen .............................................................................1307

11 FUNCTION BLOCK FUNCTION.......................................................1309

11.1 OVERVIEW .............................................................................................1309

11.1.1 Item Names.........................................................................................................1310

11.1.2 Overview of Specifications ................................................................................1311

11.1.3 Memory Usage Related to Function Blocks.......................................................1315

11.1.4 Assignment of FB Variable................................................................................1316

11.2 FUNCTION BLOCK DEFINITION............................................................1317

11.2.1 Function Block Name.........................................................................................1317

11.2.2 Variable Information ..........................................................................................1318

11.2.3 FB Body Program...............................................................................................1326

11.2.4 Other Information...............................................................................................1328

11.3 FUNCTION BLOCK CALL.......................................................................1330

11.3.1 Function Block Call Positions............................................................................1330

11.3.2 Creating a Function Block Call Section .............................................................1330

11.4 EXECUTING A FUNCTION BLOCK........................................................1333

11.5 DISPLAYING AND EDITING A FUNCTION BLOCK...............................1335

11.5.1 Program List Display Screen..............................................................................1336

11.5.2 LADDER DIAGRAM MONITOR Screen ........................................................1337

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

Display) ..............................................................................................................1344

11.5.4 Displaying the FB Body Program ......................................................................1345

11.5.5 Setting the Display Format of the LADDER DIAGRAM MONITOR Screen ..1346

11.5.6 LADDER DIAGRAM EDITOR Screen ............................................................1351

11.5.7 NET EDITOR Screen.........................................................................................1354

11.5.8 Address Alteration Function ..............................................................................1354

11.5.9 Address Map Display Screen .............................................................................1356

11.5.10 Duplicate Coil Check Screen..............................................................................1357

11.5.11 Subprogram List Display Screen........................................................................1358

11.5.12 Title Screen.........................................................................................................1360

11.6 DISPLAYING AND EDITING SYMBOL AND COMMENT.......................1361

11.6.1 Extended Symbol and Comment Screen ............................................................1361

11.6.2 Displaying Extended Symbol and Comment .....................................................1362

12 PMC ALARM MESSAGES AND ACTIONS TO TAKE.....................1363

12.1 ALARM MESSAGE LIST.........................................................................1363

12.1.1 Messages That May Be Displayed on the PMC Alarm Screen..........................1363

12.1.2 PMC System Alarm Messages ...........................................................................1371

12.1.3 Operation Errors .................................................................................................1377

12.1.4 I/O Communication Error Messages..................................................................1392

12.2 I/O Link COMMUNICATION ERRORS AND ACTIONS TO TAKE ..........1397

c-18

B-64513EN/03 TABLE OF CONTENTS

12.2.1 Causes of Communication Errors.......................................................................1398

12.2.2 Check Items........................................................................................................1400

12.2.3 Sample Cases......................................................................................................1402

APPENDIX

A CHARACTER CODE TABLE............................................................1411

A.1 Simplified chinese character code table (GB2312 code).........................1411

A.2 Korean character code table....................................................................1426

A.3 Russian (Cyrillic) character code table ....................................................1432

A.4 Turkish character code table ...................................................................1433

B LANGUAGE ID TABLE.....................................................................1434

C LIST OF CNC FUNCTIONS USING PMC SIGNALS OTHER THAN G/F

ADDRESS.........................................................................................1435

c-19

B-64513EN/03 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

PMC

Machine

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.

Sequence

program

Internal r elay

External

I/O

Sign al inp u t to

Signal out put from PMC

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.

- 1 -

1.OVERVIEW OF PMC B-64513EN/03

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

G

PMC

X

Y

Signals

to/from

machine

(MT)

Nonvol at ile m emory

Internal relay ( R)

E xtra relay (E)

Fig. 1.1.3 (a) PMC-related addresses

(1) Varia ble timer (T)
(2) Counter (C)
(3) Keep relay (K)
(4) Data table (D)

(5) Extra relay (E)

(NO TE)

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.

- 2 -

B-64513EN/03 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 from PMC to 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.

- 3 -

1.OVERVIEW OF PMC B-64513EN/03

(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.

- 4 -

B-64513EN/03 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.

- 5 -

1.OVERVIEW OF PMC B-64513EN/03

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.

- 6 -

B-64513EN/03 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.

- 7 -

1.OVERVIEW OF PMC B-64513EN/03

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 Basic type

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

- 8 -

B-64513EN/03 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.

NOTE

For the language attribute, refer to "APPENDIX B. LANGUAGE ID TABLE".

(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.

- 9 -

1.OVERVIEW OF PMC B-64513EN/03

(7) Available characters
Those characters can be used.

- Available characters for symbol:

Kind Extended type Basic type

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:

(a) English comment and Japanese comment:

Kind Extended type Basic type

The character that can be used
as the comment

A to Z, a to z, 0 to 9, Space
! ” # & ’ ( ) * + , . - < = > ? @ [ / ] ^ _ ` { | }
~ ; :

(b) Multi-language comment:
Refer to "Appendix A. CHARACTER CODE TABLE".

A to Z, a to z, 0 to 9, Space,
! ” # $ % & ’ ( ) * + , . - < = > ? @ [ / ] ^
_ ` { | } ~ ; :

- 10 -

B-64513EN/03 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.

- 11 -

1.OVERVIEW OF PMC B-64513EN/03

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.

- 12 -

B-64513EN/03 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.

- 13 -

1.OVERVIEW OF PMC B-64513EN/03

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.

- 14 -

B-64513EN/03 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.

- 15 -

1.OVERVIEW OF PMC B-64513EN/03

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 1, 2, 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.

- 16 -

B-64513EN/03 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

Division 1

Ladder execution cycle (4 or 8 ms) Ladder execution cycle (4 or 8 ms)

Fig. 1.4.3 (b) Sequence program execution order

Division 2

Last division n

3rd level

processing

Ladder execution cycle(4 or 8 ms)

(2) 1st level sequence part
It is 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.

- 17 -

1.OVERVIEW OF PMC B-64513EN/03

NOTE

1 The ladder program is executed initially to set the input signals for the CNC (G

signals) like the following chart until the beginning of cyclic operation of the CNC
from the power on of the CNC. The initial execution is different from the cyclic
execution. Therefore the ladder program is not executed at the constant period
and is continuously and repeatedly executed. The execution of each level of the
ladder program is not divided. They are executed from the top of the program to
the end of the program in the order of the following chart. After finishing the initial
execution of the ladder, the CNC starts the cyclic operation.

2 In the initial execution of the ladder program, the operations of the following

functional instructions are different from the normal operations.

- TMR、TMRB、TMRC、TMRST、TMRSS
The timer is not executed and the time is always 0 in the initial execution.

- WINDR、WINDW、AXCTL、EXIN、DISPB、PSGNL、PSGN2
They are executed as the NOP instruction (No operation) in the initial

execution.

1st level

2nd level

3rd level

Power on

- 18 -

B-64513EN/03 1.OVERVIEW OF PMC

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.

- 19 -

1.OVERVIEW OF PMC B-64513EN/03

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 t o pallet. (A3)

B: <4> Move pallet.

(2) Program configuration

(3) Program coding

Machine workpiece.

Machine workpiece.

Move pallet.

- 20 -

B-64513EN/03 1.OVERVIEW OF PMC

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

- 21 -

1.OVERVIEW OF PMC B-64513EN/03

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.

- 22 -

B-64513EN/03 1.OVERVIEW OF PMC

(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

- 23 -

1.OVERVIEW OF PMC B-64513EN/03

1.4.4.2 Sub programming 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

- 24 -

B-64513EN/03 1.OVERVIEW OF PMC

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 post processing is

performed.

- 25 -

1.OVERVIEW OF PMC B-64513EN/03

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.

- 26 -

B-64513EN/03 1.OVERVIEW OF PMC

Inhibit items

(1) Subprograms are nested.

(2) A subprogram is created within the 1st, 2nd, or 3rd level ladder program.

- 27 -

1.OVERVIEW OF PMC B-64513EN/03

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.

- 28 -

B-64513EN/03 1.OVERVIEW OF PMC

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.

- 29 -

1.OVERVIEW OF PMC B-64513EN/03

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

Transferr ed every
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 sign al from another 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 sign al 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 sign al from another 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 transmitted 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”.

- 30 -

B-64513EN/03 1.OVERVIEW OF PMC

(2) Input signals from the machine (I/O Link or I/O Link i)
Signals input from the machine are transmitted 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 transmitted 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

In case of the I/O link i, there are two modes for the transmission cycle of input

signals. They are the normal mode (2msec) and the high speed mode (0.5msec).
In case of the I/O link channel 1 and 2, the transmission cycle of the input signals
is 2msec. In case of the I/O link channel 3, it depends on the execution cycle 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 transmitted

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

transmits 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 transmitted from the output signal memory of the PMC to the output

circuit (I/O Link or I/O Link i).

CAUTION

The output signals, which are just being updated in sequence program, may be

transmitted to I/O device. Please take care when referring to plural signals at the
I/O device.

(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 transmitted to the machine at regular intervals.

- 31 -

1.OVERVIEW OF PMC B-64513EN/03

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 In case of the I/O link i, there are two modes for the transmission cycle of I/O

signals exchanged with the machine. They are the normal mode (2msec) and the
high speed mode (0.5msec). In case of the I/O Link, the transmission cycle of I/O
signals exchanged with the machine is normally 2msec. However, it depends on
the setting of the channel of the I/O Link. For details, see Section 3.2.

Notes on programming asynchronous I/O signals

Normal input signals from the CNC are transmitted to the PMC at intervals of 4 or 8 msec. Normal output
signals to the CNC are transmitted from the PMC at intervals of 4 or 8 msec. Therefore, I/O signals
exchanged with the CNC are usually transmitted 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)

When the TF signal is made synchronized, neither W 1
nor W2 is set to 1.

Fig. 1.4.5 (c)

- 32 -

B-64513EN/03 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)

- 33 -

1.OVERVIEW OF PMC B-64513EN/03

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 (Note1) are directly updated with network boards, independently of
PMC sequence program execution.
Similarly, other applications (Note1) directly update I/O signals independently of PMC sequence program
execution. PMC sequence program and other applications are executed with individual cycle, i.e.
asynchronous.
Therefore, when PMC sequence program uses signals updated via network or other applications, or network
or other applications use signals updated PMC sequence program, the following should be noted:

WARNING

When you develop these applications, please take care of the following notes.

If the following notes are ignored, the machine may behave in an unexpected
manner and also tools, work pieces, and the machine may be damaged.

As for details, refer to “SAFETY PRECAUTIONS”.

NOTE

1 As for kinds of networks and other applications, refer to “SAFETY

PRECAUTIONS”.

2 As for CNC functions using PMC signals other than G/F address, refer to

“APPENDIX C”.

(1) Note on input signals
Signals, which are already written with PMC sequence program, must not be written with networks or

other applications.

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 refer to the same value of the input signal within the same cycle, store the input signal status in

temporary area such as internal relay and refer to it.

(2) Note on output signals
When output signals are updated via a network or other applications, the output signals, which are just

being updated, may be transmitted to I/O device, just like PMC sequence program. Please take care
when referring to plural signals at the I/O device.

(3) Note on multi-byte data
Generally, when multi-byte data ate input at once via a network or another application, the coherency

of the read multi-byte data (in other words, reading all latest data at once) is not guaranteed. To ensure
the coherency of multi-byte data, prepare flags to notify of the completion of read or write process that
is separated from the entity of data and make the handshaking process to access the data by using the
flags.

- 34 -

B-64513EN/03 1.OVERVIEW OF PMC

(4) Distributed processing of signals
Be careful enough that y ou process a PMC signal set that is related to a NC function by using two or

more applications (ladder program and other applications). Because they are executed based on
individual cycle (asynchronous cycle), the PMC signal set may be passed to the NC in an unexpected
order.

(5) Note when writing bit signals
Do not write bit signals in the same byte address from two or more programs such as PMC sequence

program, network and other applications. If bit signals written by the ladder program are being written
from other applications, there is a possibility that each the bit signals are not written correctly.

- 35 -

1.OVERVIEW OF PMC B-64513EN/03

/

g

1.5 LADDER DIVIDING MANAGEMENT FUNCTION

The ladder dividing management function enables you to divide the ladder program into plural files and
input/output each file and set the protection by a password individually.
You can manage the sequence program as a main ladder program and some divided ladder programs by
using this function.

<An example of not using this function>

<An example of using this function>

CNC

PMC

Sequence program

(The ladder of basic feature)

(The ladder of

Individual feature)

(The ladder of

safety feature)

You can edit/input/output/protect the whole sequence
program.

Memory card

USB memory

CNC

PMC

Main ladder program

(Basic feature)

Divided ladder program 1

(Individual feature)

Divided ladder program 2

(Safety feature)

You can divide the ladder program into a main program and
some divided programs. Moreover, you can edit/input
output/protect the program individually.
You can also input/output all programs together by usin
the all backup/restore function.

Memory card

USB memory

- 36 -

B-64513EN/03 1.OVERVIEW OF PMC

1.5.1 Divided Ladder Program

The divided ladder programs include a part of the ladder program and a part of symbols and comments and
are handled as individual files. You can set the system parameters and title data to every divided program
individually.

<An example of not using this function>

CNC

PMC

<An example of using this function>

CNC

PMC

Sequ ence progr am

System parameter

Title data

I/O Link assignment data

Message data

Symbols/Comments

Ladder program

Main ladder program

Syste m parameter

Title data

I/O Link assignment data

Message data

Symbols/Comments

Ladder program

Divided ladder pr ogram

System parameter (Note)

Title data

Symbols/Comments

Ladder program

Fig. 1.5.1 Notion of the ladder dividing management function

NOTE

The system parameters, which can be set in the divided ladder program, are

“Setting of comment display language”, “Assignment address of symbols” and
“Assignment address of function blocks”. These parameters can be set on FANUC
LADDER-III.

- 37 -

1.OVERVIEW OF PMC B-64513EN/03

1.5.2 Program Execution when Using Ladder Dividing Management

When executing the program of ladder dividing management function, these are combined into one
program at every execution levels.

At first, the main program is executed, and the divided ladder programs are executed in order of program
number. The program number of divided ladder program is specified when making the sequence program
on FANUC LADDER-III.

Main ladder program (Level 1)

Main ladder program (Level 2)

Divided ladder program No.1 (Level 1)

Divided ladder program No.2 (Level 1)

Divided ladder program No.99 (Level 1)

Level 1

Ladder execution cycle (4 or 8ms)

Execution order

Level 1 of main ladder

Level 1of divided ladder 1

Level 1 of divided ladder 2

Level 2 of main ladder

Divided ladder program No.1 (Level 2)

Execution order

Divided ladder program No.2 (Level 2)

Divided ladder program No.99 (Level 2)

Ladder execution cycle (4 or 8ms)

Level 2 of divided ladder 1

Level 2 of divided ladder 2

Level 2

Fig. 1.5.2 (a) Ladder execution of the ladder dividing management function

- 38 -

B-64513EN/03 1.OVERVIEW OF PMC

The program numbers do not need to be consecutive. For instance, three divided ladder program number
can be set to No.10, 20 and 30. In this case, non-exist divided program number is skipped and the program
of the next number is executed.

Level 1

Level 2

Fig. 1.5.2 (b) Ladder execution when discontinuous number of divided ladder program

Ladder execution cycle (4 or 8ms)

Level 1 of main ladder

Level 1 of divided ladder 10

Level 1 of divided ladder 20

Level 1 of divided ladder 30

Level 2 of main ladder

Ladder execution cycle (4 or 8ms)

Level 2 divided ladder 10

Level 2 of divided ladder 20

Level 2 of divided
ladder 30

NOTE

When an error occurs in one ladder program, none of these ladder programs will

start the execution.

Execution start order of ladder program when a power-on.

The ladder program is executed initially to set the input signals for the CNC (G signals) like the following
chart until the beginning of cyclic operation of the CNC from the power on of the CNC. The initial
execution is different from the cyclic execution. Therefore the ladder program is not executed at the
constant period and is continuously and repeatedly executed. The execution of each level of the ladder
program is not divided. They are executed from the top of the program to the end of the program in the order
of the following chart. After finishing the initial execution of the ladder, the CNC starts the cyclic
operation.
In the initial execution of the ladder program, the operations of the following functional instructions are
different from the normal operations.

- TMR、TMRB、TMRC、TMRST、TMRSS
The timer is not executed and the time is always 0 in the initial execution.

- WINDR、WINDW、AXCTL、EXIN、DISPB、PSGNL、PSGN2
They are executed as the NOP instruction (No operation) in the initial execution.

- 39 -

1.OVERVIEW OF PMC B-64513EN/03

Level 1 of main ladder

Level 1of divided ladder 1

Level 1of divided ladder 2

Level 1

Level 2 of divided ladder 1

Level 2 of main ladder

Level 2

Power on

Level 2 of divided ladder 2

Fig.1.5.2 (c) Execution start order of ladder program when a power on.

(when using the ladder dividing management function)

Level 1 of main ladder

Level 1of divided ladder 10

Level 1of divided ladder 20

Level 1

Level 2

Power on

Level 1of divided ladder 30

Level 2 of main ladder

Level 2 of divided ladder 20

Level 2 of divided ladder 10

Level 2 of divided ladder 30

Fig.1.5.2 (d) Execution start order of ladder program when a power-on.

(when discontinuous number of divided ladder program)

- 40 -

B-64513EN/03 1.OVERVIEW OF PMC

1.5.3 PMC Memory when Using Ladder Dividing Management

On the ladder dividing management function, referred PMC memories are common memories.

Sequence program

DI1 R0.0

DI2 R0.1

1 2 0 4 5 3 76

DI3 R0.2

Main ladder program

DI1 R0.0

Divide d ladder pr og ra m 1

DI2 R0.1

Divide d ladder pr og ra m 2

DI3 R0.2

R0

R1

R2

：

P MC me mo ries

When using the ladder dividing management function

1 2 0 4 5 3 76

R0

R1

R2

：

P MC me mo ries

Fig. 1.5.3 PMC memory access when using the ladder di viding manag emen t function

The following data are also shared between some divided programs.

・ PMC parameters
・ Functional instructions using PMC parameters, such as TMR(SUB 3), CTR(SUB 5) and CTRB(SUB

56)

・ Programmer protection function (System Keep Relay)

CAUTION

1 You should not overwrite the same PMC memory from two or more ladder

programs.

2 You should not duplicate the timer number of TMR(SUB 3), the counter number of

CTR(SUB 5) and CTRB(SUB 56) over all of ladder programs. However, the timer
number of TMRB(SUB 24), TMRBF(SUB 77), and the rising edge number of
DIFU(SUB 57) and the falling edge number of DIFD(SUB 58) can be same number
between main and divided ladder programs.

- 41 -

1.OVERVIEW OF PMC B-64513EN/03

1.5.4 Sub Program in Divided Ladder

To use the ladder dividing management function, you can make programs of level 1, level 2 and
subprograms in every divided ladder programs.
The subprogram number can be defined separately in main ladder program and every divided ladder
program. However, a subprogram defined in other ladder program cannot be called.

Main ladder program

Level 1

Level 2

CALLU : P5000

CALLU : P2

CALLU : P1

P1

P2

P5000

Di v ided ladder progr am 1

Level 1

Level 2

CALLU : P5000

CALLU : P1

P1

P5000

Divided ladder program 2

Level 1
Level 2

CALLU : P5000

CALLU : P2

P2
P5000

Fig. 1.5.4 Definition of sub programs using the ladder dividing management function

- 42 -

B-64513EN/03 1.OVERVIEW OF PMC

1.5.5 Message Display Function (DISPB instruction) when Using

Ladder Dividing Management Function

When using the ladder dividing management function, the message data is defined in the main ladder
program.
By switching on the request memory of message display (A address) from a divided ladder program, the
messages, which are defined in the main ladder program, can be displayed.

NOTE

You do not need to program DISPB instruction in every divided ladder program.

You can program DISPB instruction only in main ladder program. As for details of
DISPB instruction, refer to the section “4.11.1”.

Main ladder program

Ladd er pr ogram

ON

DISPB

DI1 A0.0

Messag e data

A0.0 1000ALARM-1
A0.1 1001ALARM-2
A0.2 1002ALARM-3

D ivided ladder pr ogram 1

Ladd er pr ogram

DI2 A0.1

D ivided ladder pr ogram 2

Ladd er pr ogram

DI3 A0.2

CN C screen

1001 ALARM-2

Case of A0.1=ON

Fig. 1.5.5 Message display using the ladder dividing management function

- 43 -

1.OVERVIEW OF PMC B-64513EN/03

1.5.6 Making Method of Divided Ladder Program

When using the ladder dividing management function, you can use FANUC LADDER-III to make some
program files for a main ladder and some divided ladders.

FANUC LADDER-III

BasicFunc.LAD

(Main ladder)

Making main ladder is the same way as making ladder when not using this function.
When making new divided ladder program on FANUC LADDER-III, the following information are
required.

(1) PMC path
Specify the PMC path of the target PMC.

(2) PMC memory type
Specify the PMC memory type of the target PMC.

(3) Divide ladder program number
Specify a divided number of the ladder program.
When executing ladder program, divided ladder programs are executed in order of the number.
This number decides the file name for flash ROM on CNC.

OptionalFunc.LAD

(Divided ladder 01)

SafetyFunc.LAD

(Divided ladder 10)

CustomFunc.LAD

(Divided ladder 99)

NOTE

1 You can make new divided ladder program on FANUC LADDER-III. On PMC

screen, You can edit the divided ladder program but cannot make new divided
ladder program.

2 Divided ladder program number can be changed in system parameter screen on

FANUC LADDER-III. To modify the PMC path or the PMC memory, use “PMC
Type changed and save” on FANUC LADDER-III.

3 The range of divided ladder program number is 1 to 99. When storing the flash

ROM, the file of same name is overwritten. Therefore, you should set different
number to each divided ladder program file. You can use any number within the
range.

4 When using multi-path PMC, the same number can be used in every PMC path.

- 44 -

B-64513EN/03 1.OVERVIEW OF PMC

1.5.7 Adding/Updating/Deleting Divided Ladder Program

To add/update/delete divided ladder program on CNC, you can use the following features.

Boot system All backup/restore

(IPL screen)

Operation

Utilize Media

Adding
Update
Deletion

Memory Card
USB Memory

○ ◎ －
○ ◎ ○
○ － －

○ ◎ ○
－ ◎ ○

function

PMC I/O screen

(○: Available(Operation for one file), ◎:Available (Operation for all files), －: Unavailable)

NOTE

For details of the boot system and the IPL screen, refer to the maintenance

manual of each CNC series.

1.5.8 Input/Output of All Divided Ladder Programs

Divided ladder programs can be input/output to/from CNC by the all backup/restore function on the IPL
screen.
By using the command line execution function in FANUC LADDER-III, plural LAD files can be compiled
and exported to USB memory or memory card at once.
By these functions, plural divided ladder programs, which are created with FANUC LADDER-III, can be
written to the CNC collectively.

PMC1-01.LAD

PMC1-02.LAD

PMC1-03.LAD

PC

Command line

Execution function

All backup/restore

function

Memory card

or

USB Memory

L101PMC1.000

L102PMC1.000

L103PMC1.000

CNC

- 45 -

1.OVERVIEW OF PMC B-64513EN/03

Example: Inputting plural divided programs to CNC using memory card

The following example is the procedure of exporting three divided ladder programs (PMC1-01.LAD,
PMC1-02.LAD, PMC1-03.LAD) to the memory card on “E” drive of PC and writing them to CNC
collectively.

(1) Attach an empty memory card to PC. (Note1)
(2) Make a command file (export_all.txt) as follows. (Note2,3)

FlOpen PMC1-01.LAD
Compile
Export /MemData E:\L101PMC1.000
FlClose

FlOpen PMC1-02.LAD
Compile
Export /MemData E:\L102PMC1.000
FlClose

FlOpen PMC1-03.LAD
Compile
Export /MemData E:\L103PMC1.000
FlClose

(3) At the command prompt, specify the command file of the item (2) and execute FANUC LADDER-III.

C:\> "C:\Program Files\FANUC PMC Programmer\FANUC LADDER-3\Fladder.exe" /cmdfile=export_all.txt

(4) Attach the memory card to CNC and turn the power on with pressing “.” and “-“ on the MDI keys
(5) The IPL screen appears. Select “12. BATCH DATA BACKUP/RESTORE”.
(6) The BATCH DATA BACKUP/RESTORE MENU appears and select “2. BATCH DATA

RESTORE(MEMORY CARD → CNC)”.
(7) “BATCH DATA RESTORE OK ? (NO=0,YES=1)” appears and select “1”.
(8) “POWER MUST BE OFF” appears and reboot the power of the CNC.

NOTE

1 In the all backup/restore function, all files, which are at root directory of memory

card or USB memory, are written to CNC. Therefore, you should use empty
memory card or USB card because the CNC do not execute correctly when there

are some unnecessary files in the memory card or the USB memory.
2 You can use arbitrary command file name of FANUC LADDER-III.
If changing to other name, change the name specified in the item (3), too.
3 The ladder file name specified in the export command (Ex: L101PMC1.000) is

used in PC, memory card or USB memory. You can use arbitrary file name
regardless of the dividing ladder program number for the registration of CNC.

To change the divided ladder number, change the setting of divided ladder

number in the system parameter screen on FANUC LADDER-III.
4 We recommend the ladder file name for outputting from CNC by the all

backup/restore function to the file name in the export command if there is no

special reason. In the all backup/restore function, the file having the name on flash

ROM of CNC with the extension “.000” is output. For the file name on flash ROM,

refer to “2.9”.

- 46 -

B-64513EN/03 1.OVERVIEW OF PMC

,

,

,

,

,

,

,

,

,

,

,

,

,

,

,

1.6 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. 1.6 (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. 1.6 (b) shows a configuration example.

NOTE

The multi-path PMC function is the option function.
In Series 30i/31i/32i/35i-B, Power Motion i-A, the maximum path number is 5

paths. In Series 0i-F, the maximum path number is 3 paths.

- 47 -

1.OVERVIEW OF PMC B-64513EN/03

CNC PMC

Machine
control group

Loader
control group

Fig. 1.6 (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 , et c.

If the series 30i/31i/32i/35i-B, the Power Motion i-A or the series 0i-F 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.

- 48 -

B-64513EN/03 1.OVERVIEW OF PMC

Oth

1.6.1 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. 1.6.1 (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 1.6.1 (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

- 49 -

1.OVERVIEW OF PMC B-64513EN/03

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. 1.6.1 (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. 1.6.1 (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%)

- 50 -

B-64513EN/03 1.OVERVIEW OF PMC

1.6.2 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. 1.6.2 (a) Initial settings for CNC-PMC interface

1st PMC

F/G0 to F/G767 of 1st PMC
F/G1000 to F/G1767 of 1st PM C
F/G2000 to F/G2767 of 1st PM C
F/G3000 to F/G3767 of 1st PM C
F/G4000 to F/G4767 of 1st PM C
F/G5000 to F/G5767 of 1st PM C
F/G6000 to F/G6767 of 1st PM C
F/G7000 to F/G7767 of 1st PM C
F/G8000 to F/G8767 of 1st PM C
F/G9000 to F/G9767 of 1st PM C

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. 1.6.2 (b) Setting example for CNC-PMC interface

For details of parameter setting, see Subsection 2.4.3.

- 51 -

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/03

1.6.3 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

The E address can be used to share data of multi-path PMC system. However,

The E address is not synchronized during 1 scan of 2nd level program. Therefore,

the value of the address may be changed 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.

- 52 -

B-64513EN/03 1.OVERVIEW OF PMC

1.6.4 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 1.6.4 (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

- 53 -

1.OVERVIEW OF PMC B-64513EN/03

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 program 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 are 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.

- 54 -

B-64513EN/03 1.OVERVIEW OF PMC

1.7 COMMUNICATION METHOD for EXTERNAL I/O DEVICE

1.7.1 I/O Link i and I/O Link

For the high-speed serial interface which transmits input/output signals between the PMC and each I/O
device, there are two communication methods. They are 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 the channel 1 and
the channel 2 can be specified by the CNC parameter. The channel 3 can be used only for the I/O Link.
For the details of the setting of the CNC parameter, see subsection “2.4.3”.

As for the transmission cycle of the signals from the I/O Link i, you can choose from the normal mode
(2msec) and the high-speed mode (0.5msec). You can specify the mode for each group of I/O devices.
The transmission cycle of the signals from the I/O Link is “2msec” for the channel 1 and 2. For the channel
3, it depends on 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. 1.7.1 (a) Setting of the communication method for each channels

I/O Link

Select by CNC parameter

The maximum I/O points of the I/O Link i are 2048 poins/2048 points for each channel. The maximum I/O
points of the I/O Link are 1024 points/1024 points for each channel.
The maximum I/O points for a system are 4096 points/4096 points (0i-F: 2048 points/2048 points) in total.
You can use one or more channels of the I/O Link i and the I/O Link, however the total points cannot exceed
the maximum points of the PMC system.

[The example of the selectable case of the I/O Link i and the 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 (Note)

I/O Link i

I/O Link I/O Link
I/O Link
I/O Link

I/O Link I/O Link 4096 / 4096 (Note)
I/O Link

－ －

－
－ －

－

－

－

I/O Link 2048 / 2048

4096 / 4096 (Note)

3072 / 3072 (Note)

2048 / 2048
2048 / 2048

1024 / 1024

NOTE

For the series 0i-F, the total points (DI/DO) are 2048/2048 points.

- 55 -

1.OVERVIEW OF PMC B-64513EN/03

1.7.2 Setting I/O Address for I/O Link i

For the I/O addresses assignment of the I/O Link i channels, you set the I/O addresses and the PMC path to
each group and the slot of I/O devices which is connected to channels for the I/O Link i. The assignment is
operated in the FANUC LADDER-III and is programmed independent of the sequence program (.LAD file).
For the details, see the FANUC LADDER-III Operation’s Manual (B-66234EN).
The assignment date of the I/O Link i is loaded to a CNC as a I/O configuration data. I/O signals of the 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 the 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

The multi-path PMC function is an 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)

- 56 -

Group 0

Group 1

B-64513EN/03 1.OVERVIEW OF PMC

1.7.3 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 the 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. 1.7.3 (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. 1.7.3 (b) Example of I/O address assignment for I/O Link channels

Channel 1

Channel 2

Channel 3

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".

- 57 -

1.OVERVIEW OF PMC B-64513EN/03

For details of parameter setting, see Subsection 3.2.4.3.

1st PMC

Channel 1

X/Y0 to 127

～

X/Y200 to 327

Group 0 Group 1 Group 2 Group n

Channel 2

～～

Group 0 Group n

Group 0 Group n

2nd PMC

1st Block 2nd Block

X/Y0 to 127

Fig. 1.7.3 (c) Example of Dual Assignment of I/O Link Channel

- 58 -

B-64513EN/03 1.OVERVIEW OF PMC

prog

1.8 1st LEVEL EXECUTION CYCLE of LADDER in 1ms/2ms

The 1st level execution cycle of a ladder program can be chosen from 1ms, 2ms, 4ms, or 8ms with a CNC
parameter.
The 1ms or 2ms of the 1st level execution cycle, a part of specifications differ to the 4ms or 8ms of the 1st
level execution cycle.

NOTE

This function cannot be used for the Series 0i-F.

1.8.1 Execution cycle of a ladder

When the setting of the 1st level execution cycle is 1ms or 2ms, the 1st level is executed in a 1ms or 2ms
cycle, and the 2nd and 3rd levels are executed in a 4ms cycle.

Example of 1st level execution cycle is 1ms

The 2nd and 3r d lev els are execu ted in a 4ms c yc le,
even if the

ram is completed within 3ms.

1st level
(1ms cycle)

2 nd lev el
(4ms cycle)

3rd level
(4ms cycle)

Exam ple of 1st level execution cycle is 2ms

1st level
(2ms cycle)

2 nd lev el
(4ms cycle)

4ms 8ms 0

The 2nd and 3rd levels are executed in a 4ms cycle,
even if the program is completed within 2ms.

3 rd lev el
(4ms cycle)

4ms 8ms 0

- 59 -

1.OVERVIEW OF PMC B-64513EN/03

When the execution cycle of the 1st level is 2ms, the 2nd and 3rd levels can also be executed in a 2ms cycle
by setting of a CNC parameter. Please refer to "3.4 CNC Parameters Related to the PMCs" of this document
for details.

Example of 1st level execution cycle is 2ms, 2nd and 3rd levels execu tio n cycles are also 2ms.

The 2nd level is also execu ted in a 2ms cycle.

1s t level
(2ms cycle)

2nd level
(2ms cycle)

3rd level
(2ms cycle)

4ms 8ms 0

- 60 -

B-64513EN/03 1.OVERVIEW OF PMC

Execution start order of ladder program when a power-on.

The ladder program is executed initially to set the input signals for the CNC (G signals) like the following
chart until the beginning of cyclic operation of the CNC from the power on of the CNC. The initial
execution is different from the cyclic execution. Therefore the ladder program is not executed at the
constant period and is continuously and repeatedly executed. The execution of each level of the ladder
program is not divided. They are executed from the top of the program to the end of the program in the order
of the following chart. After finishing the initial execution of the ladder, the CNC starts the cyclic
operation.
In the initial execution of the ladder program, the operations of the following functional instructions are
different from the normal operations.

- TMR、TMRB、TMRC、TMRST、TMRSS
The timer is not executed and the time is always 0 in the initial execution.

- WINDR、WINDW、AXCTL、EXIN、DISPB、PSGNL、PSGN2
They are executed as the NOP instruction (No operation) in the initial execution.

Execution start order of ladder program when a power-on

1st level

2nd level

3rd level

[Structure of a ladder]

- PMC path ： 1st PMC (PMC1)

- ladder of execution cycles 1ms ： PMC1-1

Power on

- 61 -

1.OVERVIEW OF PMC B-64513EN/03

1.8.2 Maximum execution time

When a setting of an execution cycle is 1ms, the maximum execution time of the 1st level of ladder is 0.5ms.
And when a setting of an execution cycle is 2ms, the maximum execution time of the 1st level of ladder is
1ms. Because the 1st level of ladder has high execution frequency, it badly affects the scan time of the 2nd
level of ladder. Therefore, please make the 1st level of ladder execute as fast as possible.

Note

1 When the 1st level of ladder whose execution cycle is 1ms or 2ms exceeds the

maximum execution time, execution is divided to the next cycle.

Example when the 1st level of ladder whose execution cycle is 1ms exceeds
the maximum execution time (0.5ms).

1st level

2nd level

3rd level

4ms 8ms0

maximum execution time (0.5ms)

Example when the 1st level of ladder whose execution cycle is 2ms exceeds
the maximum execution time (1ms).

1st level

2nd level

3rd level

4ms 8ms0

maximum execution time (1ms)

2 The execution time of the 1st level of ladder whose execution cycle is 1ms or 2ms

can be checked on the PMC status (1,2ms ladder) screen. Please refer to "9.6.2
Displaying the status of the 1st level execution cycle in 1ms/2ms ([PMC status
(1,2ms ladder)] screen)" of this document for details.

- 62 -

B-64513EN/03 1.OVERVIEW OF PMC

1.8.3 Notice in programming of the 1st level

Because the 1st level of ladder whose execution cycle is 1ms or 2ms has high execution frequency, it badly
affects the scan time of the 2nd level of ladder. Therefore, please make the 1st level of ladder execute as fast
as possible.

Generally, processing of functional instructions takes longer time than basic instructions. Therefore, please
make the 1st level of ladder whose execution cycle is 1ms and 2ms with fewer functional instructions.

Moreover, the performance will not be improved even if the following functional instructions execute in the
cycle faster than the execution cycle of CNCs because they operate by exchanging data between CNC and
PMC. Therefore, please do not use the following functional instructions in the 1st level of ladder whose
execution cycle is 1ms or 2ms. If these functional instructions are used on the 1st level of ladder whose
execution cycle is 1ms or 2ms, they are processed as NOP instructions. If you want to refer to the result of
following functional instructions in the 1st level of ladder, these functional instructions should be
programmed in 2nd level and refer to the result in 1st level.

Sub number Instruction name

41 DISPB
42 EXIN
51 WINDR
52 WINDW
53 AXCTL
50 PSGNL
63 PSGN2

NOTE

The execution time of the 1st level of ladder whose execution cycle is 1ms or 2ms

can be checked on the PMC status (1,2ms ladder) screen. Please refer to "9.6.2

Displaying the status of the 1st level execution cycles 1ms/2ms ([PMC status

(1,2ms ladder)] screen)" of this document for details.

- 63 -

1.OVERVIEW OF PMC B-64513EN/03

1.8.4 Operation when using the Ladder Dividing Management

Function

When using the 1st level execution cycle in 1ms, 2ms and the Ladder Dividing Management Function, you
can select one ladder from main ladder and divided ladder programs, and can execute it in 1ms or 2ms cycle.
The 1st level of other ladder programs, and the 2nd and 3rd level of all ladder programs are executed in a
4ms cycle.

Example when using the Ladder Dividing Management Function (1st level execution cycle 1ms)

1s t leve l of PMC1-1

1s t leve l of ladder whos e

execution cycle is 1ms

（selected one）

1st level of PMC1

1s t leve l of others

1st level of PMC1-99

2nd level of all

2nd level of PMC1 2nd level of PMC1-1

3rd level of all

[Structure of a ladder]

- Divided ladder ： PMC1, PMC1-1, PMC1-99

- ladder of execution cycles 1ms ： PMC1-1

4ms 8ms 0

3 rd lev el of PMC1

3rd level of PMC1-1

3rd level of PMC1-99

2 nd level of PM C1-99

NOTE

The 1st level of ladder that is executed in 1ms or 2ms cycle is selected by CNC

parameter No.11945 and 11946. Please refer to "2.4.3 CNC Parameters Related

to the PMCs" for details.

- 64 -

B-64513EN/03 1.OVERVIEW OF PMC

y

Execution start order of ladder program when a power-on.

The ladder program is executed initially to set the input signals for the CNC (G signals) like the following
chart until the beginning of cyclic operation of the CNC from the power on of the CNC. The initial
execution is different from the cyclic execution. Therefore the ladder program is not executed at the
constant period and is continuously and repeatedly executed. The execution of each level of the ladder
program is not divided. They are executed from the top of the program to the end of the program in the order
of the following chart. After finishing the initial execution of the ladder, the CNC starts the cyclic
operation.
In the initial execution of the ladder program, the operations of the following functional instructions are
different from the normal operations.

- TMR、TMRB、TMRC、TMRST、TMRSS
The timer is not executed and the time is always 0 in the initial execution.

- WINDR、WINDW、AXCTL、EXIN、DISPB、PSGNL、PSGN2
They are executed as the NOP instruction (No operation) in the initial execution.

Execution start order of ladder program when a power-on

(when using the Ladder Dividing Management Function)

1st level of PMC1-1
1st level of ladder
whose execution

cle is 1ms

c

1st level of PMC1

2nd level of PMC1

1st level of others

2nd level of all

3rd level of all

[Structure of a ladder]

- Divided ladder ： PMC1, PMC1-1, PMC1-99

- ladder of execution cycles 1ms ： PMC1-1

Power on

1st level of PMC1-99

2nd level of PMC1-1

2nd level of PMC1-99

3rd level of PMC1

3rd level of PMC1-1

3rd level of PMC1-99

- 65 -

1.OVERVIEW OF PMC B-64513EN/03

1.8.5 Operation when using the Multi-path PMC Function

When using the 1st level execution cycle in 1ms, 2ms and the Multi-path PMC Function, you can select one
PMC path from multi-path PMC (except for DCSPMC), and can execute it in 1ms or 2ms cycle. The 1st
level of other PMC path, and the 2nd and 3rd level of all PMC paths are executed in a 4ms cycle.

In this case, ladder programs of all PMC paths are executed continuously for each ladder execution level.
Therefore, the setting (CNC parameter No.11905-11909) of the execution time rate for each PMC path is
ineffective.

Example when using the Multi-path PMC Function (1st level execution cycle 1ms)

1st level of PMC2

1st level of ladder whose

execution cycle is 1ms

（selected one）

1s t level of PMC1

1st level of others

1s t level of PMC3

2nd level of all

2nd level of PMC1 2nd level of PMC2

3rd level of all

[Structure of a ladder]

- Multi-path PMC ： 3 Paths(PMC1 to PMC3)

- ladder of execution cycles 1ms ： PMC2

4ms 8ms 0

3rd level of PMC1

3rd level of PMC2

2 nd level of PMC3

3 rd level of PMC3

NOTE

1 The 1st level of ladder that is executed in 1ms or 2ms cycle is selected by CNC

parameter No.11945 and 11946. Please refer to "2.4.3 CNC Parameters Related
to the PMCs" for details.

2 When using both the multi-path PMC function and ladder dividing management

function, the 1st level execution cycle in 1ms, 2ms can be used. In this case, one
1st level of ladder is selected from all ladder programs by setting CNC parameter
No.11945 and No.11946.

- 66 -

B-64513EN/03 1.OVERVIEW OF PMC

Execution start order of ladder program when a power-on.

The ladder program is executed initially to set the input signals for the CNC (G signals) like the following
chart until the beginning of cyclic operation of the CNC from the power on of the CNC. The initial
execution is different from the cyclic execution. Therefore the ladder program is not executed at the
constant period and is continuously and repeatedly executed. The execution of each level of the ladder
program is not divided. They are executed from the top of the program to the end of the program in the order
of the following chart. After finishing the initial execution of the ladder, the CNC starts the cyclic
operation.
In the initial execution of the ladder program, the operations of the following functional instructions are
different from the normal operations.

- TMR、TMRB、TMRC、TMRST、TMRSS
The timer is not executed and the time is always 0 in the initial execution.

- WINDR、WINDW、AXCTL、EXIN、DISPB、PSGNL、PSGN2
They are executed as the NOP instruction (No operation) in the initial execution.

Execution start order of ladder program when a power-on

(when using the Multi-path PMC Function)

1st level of PMC2

1st level of ladder
whose execution
cycle is 1ms

1st level of PMC1

2nd level of PMC1

1st level of others

2nd level of all

3rd level of all

[Structure of a ladder]

- Multi-path PMC ： 3Paths(PMC1 to PMC3)

- ladder of execution cycles 1ms ： PMC2

Power on

1st level of PMC3

2nd level of PMC2

2nd level of PMC3

3rd level of PMC1

3rd level of PMC2

3rd level of PMC3

- 67 -

2.PMC SPECIFICATIONS B-64513EN/03

2 PMC SPECIFICATIONS

2.1 SPECIFICATIONS

2.1.1 Basic Specifications

Table 2.1.1 (a) Basic specifications of each PMC path

Function 1st to 5th path PMC DCSPMC (Note1) Reference

Multi-Path PMC function Maximum 5 paths

(0i-F:Maximum 3 paths)

PMC Memory Type 1st PMC

PMC Memory-B, C, D

2nd to 5th PMC

PMC Memory-A, B, C
Common PMC Memory with 1st PMC

Programming language Ladder

Step sequence(Note2)
Function block

Divided ladder program

- Number of programs

- File number
Number of ladder levels 3 2 (Note3) 1.4.3
Level 1 execution period 1ms, 2ms, 4ms or 8ms

Processing power

- Basic instruction processing

speed (transition contact)

40(0i-F:16)
1 to 99

(0i-F:4ms or 8ms)

9.1ns/step
(0i-F:18.2ns/step)

- 1.6

- 2.1.3

Ladder
Function block

None

8ms 1.8, 2.4.3

1μs/step

4
10
11

2.1.4

-

Program capacity

- Ladder

- Symbol & Comment

- Message

Instructions

- Basic instructions

- Functional instructions
CNC interface

- Inputs (F)

- Outputs (G)
DI/DO

- Inputs (X) Up to 4,096 points

- Outputs(Y) Up to 4,096 points

Symbol & Comment

- Number of symbol characters 40 40

- Number of comment characters
Program storage area
(Flash ROM)

Up to about 300,000 steps
(0i-F:100,000steps)

At least 1KB
At least 8KB

24
218

768 bytes×10
768 bytes×10

(0i-F:2,048 points)

(0i-F:2,048 points)

255×4 255×4
Max. 5MB (total size of sequence

program of all PMC paths and
PMC message multi-language
data)

Up to about 5,000 steps

At least 1KB
At least 8KB

24
210

768 bytes
768 bytes

Up to 896 points

Up to 896 points

128 KB 2.1.4

2.1.2, 2.1.4

2.1.7

2.1.8, 2.1.9

2.2.1

2.2.2, 3

1.2.7, 2.1.5

- 68 -

B-64513EN/03 2.PMC SPECIFICATIONS

NOTE

1 This PMC is used for Dual Check Safety function (option) and handles the safety

related signals.
2 The Step Sequence is available in the main ladder of 1st PMC.
3 A program can be created on level 3 to maintain source-level compatibility with

programs for other models, but it is not executed.

Table 2.1.1 (b) Basic specificat io n s o f each PMC Memory Type

1st to 5th PMC DCSPMC

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

- 69 -

2.PMC SPECIFICATIONS B-64513EN/03

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, 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.

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 Maximum ladder size

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 (Note)

NOTE

The option “PMC Ladder Function 300,000 Steps” is not supported for the

Series 0i-F.

Example 1 (The case of using ladder dividing management function)

A main ladder and two divided ladder programs are used. When the main ladder program requires 25,000
steps and the 1st divided ladder program requires 20,000 steps and the 2nd divided ladder program
requires 15,000 steps, the “PMC ladder function 64,000 step” option is necessary.

Basic
H990#32K
H990#64K

H990#100K
H990#300K

PMC Ladder 64,000 steps option

102KB
136KB
272KB
425KB

1,275KB

Ladder steps of each program

Ladder steps

Main ladder 25,000 steps

Divided ladder 1 20,000 steps

Divided ladder 2 15,000 steps

Total 60,000 steps

Main ladder program (25,000 steps)

Divided ladder program 1 (20,000 steps)

Divided ladder program 2 (15,000 steps)

NOTE

Total size of main ladder program and some divided ladder programs are limited

by the maximum size of specified step option.

- 70 -

B-64513EN/03 2.PMC SPECIFICATIONS

Example 2 (The case of using multi-path PMC)

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 function 100,000 step” option is necessary.

Ladder steps of each PMC path

Ladder steps

1st PMC 48,000 steps

2nd PMC 32,000 steps

PMC Ladder 100,000 steps option

1st PMC (48,000 steps)

3rd PMC 16,000 steps

Total 96,000 steps

2nd PMC (32,000 steps)

3rd PMC (16,000 steps)

NOTE

Total size of main ladder program and some divided ladder programs are limited

by the maximum size of specified step option.

Example 3 (The case of using ladder dividing management function and

Multi-path PMC function together)

The following case uses three PMC paths and six sequence programs. When the total steps are 90,000
steps, the “PMC ladder function 100,000 step” option is necessary.

Steps

Main ladder of 1st path PMC 25,000 steps

Divided ladder 1 of 1st path PMC 20,000 steps

Divided ladder 2 of 1st path PMC 15,000 steps

Main ladder of 2nd path PMC 15,000 steps

Divided ladder of 2nd path PMC 10,000 steps

Main ladder of 3rd path PMC 5,000 steps

Ladder steps of each program

Total 90,000 steps

Main ladder of 1st path PMC (25,000 steps)

Divided ladder 1 of 1st path PMC (20,000 steps)

Divided ladder 2 of 1st path PMC (15,000 steps)

Main ladder of 2nd path PMC (15,000 steps)

Divided ladder of 2nd path PMC (１0,000 steps)

Main ladder of 3rd path PMC (5,000 steps)

100,000 step option

NOTE

1 Total size of main ladder program and some divided ladder programs are limited

by the maximum size of specified step option.

2 If the total steps of sequence programs 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, will not be executed.

3 The total steps does not include the ladder steps of dual check safety PMC.

- 71 -

2.PMC SPECIFICATIONS B-64513EN/03

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, the 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)

- 72 -

B-64513EN/03 2.PMC SPECIFICATIONS

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.
Minimum unit of the size of divided ladder program is also 128KB. You can make up to 40(Note1)
programs of main ladder and divided ladder within specified total memory size.

(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 (Note2) 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) (Note2) 2MB (2,048KB)

NOTE

1 For the series 0i-F, up to 16 programs can be made.
2 These options are not supported for the Series 0i-F.

Configuration example 1 (Basic configuration)

Kind of data Ladder steps Memory size

Sequence program 50,000 steps 640KB

The following option is required for above configuration.

(1) “PMC Ladder Function 64,000 Steps”
Specify the ladder steps.

Configuration Example 2 (The case of using ladder dividing management
function)

Kind of data Ladder steps Memory size

Main ladder program 30,000 steps 384KB
Divided ladder program 1 10,000 steps 128KB
Divided ladder program 2 10,000 steps 128KB

(Total) 50,000 steps 640KB

The following option is required for above configuration.

(1) “PMC Ladder Function 64,000 Steps”
Specify the total ladder steps.

- 73 -

2.PMC SPECIFICATIONS B-64513EN/03

Configuration example 3 (The case of using PMC message multi language
display function)

Kind of data Ladder steps Memory size

Main ladder program 30,000 steps 384KB
Divided ladder program 1 10,000 steps 128KB
Divided ladder program 2 10,000 steps 128KB
PMC message multi-language display data 0 256KB

(Total) 50,000 steps 896KB

The following options are required for above configuration.

(1) “PMC Ladder Function 64,000 Steps”
Specify the total ladder steps.
(2) “PMC Symbol, Comment and Message capacity expansion 512KB”
Specify the memory capacity to add to “PMC Ladder Function Step Option”. The memory size of

“PMC Ladder Function 64,000 steps” is 768KB. Therefore, this option is necessary because it is
short of memory by 128KB.

Configuration example 4 (The case of using multi-path PMC)

Kind of data Ladder steps Memory size

Main ladder program of 1st path PMC 30,000 steps 384KB
Divided ladder program 1 of 1st path PMC 10,000 steps 128KB
Divided ladder program 2 of 1st path PMC 10,000 steps 128KB
Sequence program of 2nd path PMC 30,000 steps 384KB
Sequence program of 3rd path PMC 15,000 steps 128KB
PMC message multi-language display data of 1st path PMC 0 256KB
PMC message multi-language display data of 2nd path PMC 0 128KB

(Total) 95,000 steps 1,536KB

The following options are required for above configuration.

(1) “Multi-Path PMC Function (3-Paths)”
Specify the path number according to using PMC path.
(2) “PMC Ladder Function 100,000 Steps”
Specify the total ladder steps.
(3) “PMC Symbol, Comment and Message capacity expansion 512KB”
Specify the memory capacity to add to “PMC Ladder Function Step Option”. The memory size of

“PMC Ladder Function 100,000 steps” is 1024KB. Therefore, this option is necessary because it is
short of memory by 512KB.

NOTE

1 When the total size is exceed the 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 expanded even if the total size
is under the specified memory capacity. In this case, stop the simultaneous
operations and retry the modification one by one.

3 Above memory size does not include the memory for DCS PMC. The memory size

of DCS PMC is 128KB.

- 74 -