MODEL PA1/PA3/SA1/SA2/SA3/SA5/SB/SB2/SB3/SB4

SB5/SB6/SB7/SC/SC3/SC4/NB/NB2/NB6

LADDER LANGUAGE

PROGRAMMING MANUAL

B-61863E/14
 No part of this manual may be reproduced in any form.
All specifications and designs are subject to change without notice.

The export of this product is subject to the authorization of the government of the country
from where the product is exported.

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.
B61863E/14 DEFINITION OF WARNING, CAUTION, AND NOTE

DEFINITION OF WARNING, CAUTION, AND NOTE

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

WARNING

Applied when there is a danger of the user being injured or when there is a danger of both the user
being injured and the equipment being damaged if the approved procedure is not observed.

CAUTION

Applied when there is a danger of the equipment being damaged, if the approved procedure is not
observed.

NOTE

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

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

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B61863E/14 PREFACE

PREFACE

This programming manual describes the method of generating

ladder sequence programs for PMC.
It also describes the operation methods of CRT/MDI and
SYSTEM P series for sequence programming.
Renaming of PMC This manual presents programming descriptions for the PMC
Models models listed in the following table. Note that some models have
been renamed; in the product name column, the old names are
enclosed in parentheses, while the new names appear above the
old names. However, the previous specifications are still applied
to the renamed models. Thus, when using the renamed models,
users should:
Read the old names shown in this manual as the new names.
Read the old names appearing on the units as the new names.

Applicable models The models covered by this manual, and their abbreviations are :

Product Name Abbreviations Applicable CNC

FANUC PMCMODEL PA1 PMCPA1 FANUC Power MateMODEL D
FANUC Series 21MODEL A

FANUC PMCMODEL PA3 PMCPA3 FANUC Power MateMODEL D/F/H

FANUC Series 21MODEL A

FANUC PMCMODEL SA1 (Note 1) PMCSA1 FANUC Series 18MODEL A/B

(Old Name : FANUC PMCMODEL RA1) (PMCRA1) FANUC Series 20MODEL A
FANUC Series 21MODEL B
FANUC Series 20iMODEL A
FANUC Series 0iMODEL A
FANUC Series 21iMODEL A/B
Loader control function (Note 2)

FANUC PMCMODEL SA2 (Note 1) PMCSA2 FANUC Series 18MODEL A

(Old Name : FANUC PMCMODEL RA2) (PMCRA2)

FANUC PMCMODEL SA3 (Note 1) PMCSA3 FANUC Series 18MODEL A

(Old Name : FANUC PMCMODEL RA3) (PMCRA3) FANUC Series 20MODEL A
FANUC Series 21MODEL B
FANUC Series 0iMODEL A

FANUC PMCMODEL SA5 (Note 1) PMCSA5 FANUC Series 21iMODEL A

(Old Name : FANUC PMCMODEL RA5) (PMCRA5)

FANUC PMCMODEL SB (Note 1) PMCSB FANUC Series 16MODEL A

(Old Name : FANUC PMCMODEL RB) (PMCRB)
FANUC PMCMODEL SB2 (Note 1) PMCSB2
(Old Name : FANUC PMCMODEL RB2) (PMCRB2)

FANUC PMCMODEL SB3 (Note 1) PMCSB3 FANUC Series 16MODEL A/B

(Old Name : FANUC PMCMODEL RB3) (PMCRB3) FANUC Series 18MODEL B

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 PREFACE B61863E/14

Product Name Abbreviations Applicable CNC

FANUC PMCMODEL SB4 (Note 1) PMCSB4 FANUC Series 16MODEL B
(Old Name : FANUC PMCMODEL RB4) (PMCRB4) FANUC Series 18MODEL B

FANUC PMCMODEL SB5 (Note 1) PMCSB5 FANUC Series 16MODEL C

(Old Name : FANUC PMCMODEL RB5) (PMCRB5) FANUC Series 18MODEL C
FANUC Series 16iMODEL A
FANUC Series 18iMODEL A
FANUC Power Mate iMODEL D/H

FANUC PMCMODEL SB6 (Note 1) PMCSB6 FANUC Series 16MODEL C

(Old Name : FANUC PMCMODEL RB6) (PMCRB6) FANUC Series 18MODEL C
FANUC Series 16iMODEL A
FANUC Series 18iMODEL A
FANUC Series 21iMODEL A
FANUC Power Mate iMODEL D/H

FANUC PMCMODEL SB7 PMCSB7 FANUC Series 16iMODEL B

FANUC Series 18iMODEL B
FANUC Series 21iMODEL B

FANUC PMCMODEL SC (Note 1) PMCSC FANUC Series 16MODEL A

(Old Name : FANUC PMCMODEL RC) (PMCRC)

FANUC PMCMODEL SC3 (Note 1) PMCSC3 FANUC Series 16MODEL A/B/C

(Old Name : FANUC PMCMODEL RC3) (PMCRC3) FANUC Series 18MODEL B/C

FANUC PMCMODEL SC4 (Note 1) PMCSC4 FANUC Series 16MODEL B/C

(Old Name : FANUC PMCMODEL RC4) (PMCRC4) FANUC Series 18MODEL B/C

FANUC PMCMODEL NB PMCNB FANUC Series 15MODEL B

FANUC PMCMODEL NB2 PMCNB2

FANUC PMCMODEL NB6 PMCNB6 FANUC Series 15iMODEL A

NOTE
1 These models have been renamed; in the product name
column, the old names are enclosed in parentheses, while
the new names appear above the old names. However, the
previous specifications are still applied to the renamed
models.
Thus, when using the renamed models, users should :
Read the old names shown in this manual as the new
names.
Read the old names appearing on the units as the new
names.
2 PMCSA1 is applied to the loader control side of a CNC
having the loader control function.
The CNC models having the loader control function are as
follows :
FANUC Series 16MODEL A/B/C
FANUC Series 18MODEL A/B/C
FANUC Series 21MODEL B
FANUC Series 16i/18i/21iMODEL A/B

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B61863E/14 PREFACE

Other manuals However, it does not include all items required for sequence
programming. For those required for sequence programming
refer to the following manuals.

Name of manual Reference items Application

FANUC Power Mate-MODEL D/F Interface between PMC and CNC PMC-PA1
CONNECTION MANUAL (B-62833EN) PMC-PA3
FANUC Power Mate-MODEL H Interface between PMC and CNC PMC-PA3
CONNECTION MANUAL (B62683EN)
FANUC Power Mate i-MODEL D/H Interface between PMC and CNC PMC-SB5
CONNECTION MANUAL (FUNCTION) (B63733EN1) PMC-SB6
FANUC Series 16/18 Interface between PMC and CNC PMC-SA1
CONNECTION MANUAL (B-61803E) PMC-SA2
PMC-SA3
PMC-SB
PMC-SB2
PMC-SB3
PMC-SC
PMC-SC3
FANUC Series 16/18/160/180-MODEL B Interface between PMC and CNC PMC-SB3
CONNECTION MANUAL (FUNCTION) (B-62443E-1) PMC-SB4
PMC-SC3
PMC-SC4
FANUC Series 16/18/160/180-MODEL C Interface between PMC and CNC PMC-SB5
CONNECTION MANUAL (FUNCTION) (B-62753EN-1) PMC-SB6
PMC-SC3
PMC-SC4
FANUC Series 16i/18i/21i/160i/180i/210iMODEL A Interface between PMC and CNC PMC-SA1
CONNECTION MANUAL (FUNCTION) (B-63003EN-1) PMC-SA5
PMC-SB5
PMC-SB6
FANUC Series 16i/18i/21i/160i/180i/210iMODEL B Interface between PMC and CNC PMC-SB7
CONNECTION MANUAL (FUNCTION) (B-63523EN-1)
FANUC Series 20FA/TA Interface between PMC and CNC PMC-SA1
CONNECTION MANUAL (B62173E) PMC-SA3
FANUC Series 21/210MODEL B Interface between PMC and CNC PMC-SA1
CONNECTION MANUAL (FUNCTION) (B62703EN1) PMC-SA3
FANUC Series 15-MODEL B Interface between PMC and CNC PMC-NB
BMI INTERFACE PMC-NB2
CONNECTION MANUAL (B-62073E-1)
FANUC Series 15i/150i-MODEL A Interface between PMC and CNC PMC-NB6
CONNECTION MANUAL (FUNCTION) (B63323EN1)
FANUC PMC C language programming PMC-SC
C LANGUAGE PROGRAMMING MANUAL PMC-SC3
(B-61863E-1) PMC-SC4
PMC-NB
PMC-NB2

Other application The models covered for reference by this manual, and their
model names abbreviations are:

Product name Abbreviation CNC for

FANUC PMC-MODEL P PMC-P FANUC Power Mate-MODEL C

FANUC PMC-MODEL NA PMC-NA FANUC Series 15-MODEL B

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B61863E/14 Table of Contents
DEFINITION OF WARNING, CAUTION, AND NOTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . s1

PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . pI

I. PMC SEQUENCE PROGRAM

1. SEQUENCE PROGRAM CREATING PROCEDURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.1 SPECIFICATION OF PMCs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 SUMMARY OF SPECIFICATION OF LADDER PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1.3 WHAT IS A SEQUENCE PROGRAM? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
1.4 CREATION OF INTERFACE SPECIFICATIONS (STEPS 1 TO 3) . . . . . . . . . . . . . . . . . . . . . . . . . 37
1.5 CREATION OF LADDER DIAGRAM (STEP 4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
1.6 CODING (STEP 5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
1.7 SEQUENCE PROGRAM ENTRY (STEPS 6, 7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
1.8 SEQUENCE PROGRAM CHECK AND WRITE INTO ROM (STEPS 8 TO 11) . . . . . . . . . . . . . . 39
1.9 STORAGE AND CONTROL OF SEQUENCE PROGRAM (STEPS 12 TO 14) . . . . . . . . . . . . . . . 40

2. SEQUENCE PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.1 EXECUTION PROCEDURE OF SEQUENCE PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
2.2 REPETITIVE OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.3 PRIORITY OF EXECUTION (1ST LEVEL, 2ND LEVEL AND 3RD LEVEL) . . . . . . . . . . . . . . . 44
2.4 SEQUENCE PROGRAM STRUCTURING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
2.5 PROCESSING I/O SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
2.5.1 Input Signal Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
2.5.2 Output Signal Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
2.5.3 I/O Signals to CNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
2.5.4 Difference of Status of Signals between 1st Level and 2nd Level . . . . . . . . . . . . . . . . . . . . . . . 53
2.6 INTERLOCKING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
2.7 SEQUENCE PROGRAM PROCESSING TIME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
2.8 SEQUENCE PROGRAM MEMORY CAPACITY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

3. ADDRESS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
3.1 ADDRESSES BETWEEN PMC AND CNC (PMCNC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
3.2 ADDRESSES BETWEEN PMC AND MACHINE TOOL (PMCMT) . . . . . . . . . . . . . . . . . . . . . . 75
3.2.1 Addresses Between PMC and Machine Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
3.2.2 Assignment of I/O Module Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
3.2.3 I/O Link Connection Unit Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
3.2.4 I/O Unit MODEL B Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
3.2.5 Power Mate Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
3.2.6 FS16iLA Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
3.2.7 Distribution I/O Connection I/O Module and Distribution I/O Operators Panel
I/O Module Assignment Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
3.3 INTERNAL RELAY ADDRESSES (R) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
3.3.1 Area Managed by the System Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

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 Table of contents B61863E/14

3.4 ADDRESSES FOR MESSAGE SELECTION DISPLAYED ON CRT (A) . . . . . . . . . . . . . . . . . . . 102

3.5 ADDRESS OF COUNTER (C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
3.6 ADDRESS OF KEEP RELAY AND NONVOLATILE MEMORY CONTROL (K) . . . . . . . . . . . . 106
3.7 ADDRESS OF DATA TABLE (D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
3.8 TIMER ADDRESSES (T) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
3.9 LABEL ADDRESSES (JMPB, JMPC, LBL) (L) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
3.10 SUBPROGRAM NUMBERS (CALL, CALLU, SP) (P) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

4. PMC BASIC INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

4.1 DETAILS OF BASIC INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
4.1.1 RD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
4.1.2 RD. NOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
4.1.3 WRT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
4.1.4 WRT. NOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
4.1.5 AND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
4.1.6 AND. NOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
4.1.7 OR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
4.1.8 OR. NOT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
4.1.9 RD. STK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
4.1.10 RD. NOT. STK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
4.1.11 AND. STK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
4.1.12 OR. STK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
4.1.13 SET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
4.1.14 RST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

5. FUNCTIONAL INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

5.1 END1 (1ST LEVEL SEQUENCE PROGRAM END) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
5.2 END2 (2ND LEVEL SEQUENCE PROGRAM END) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
5.3 END3 (END OF 3RD LEVEL SEQUENCE) (PMCSC/SC3/SC4/NB/NB2/NB6/NB7 ONLY) . . 159
5.4 TMR (TIMER) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
5.5 TMRB (FIXED TIMER) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
5.6 TMRC (TIMER) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
5.7 DEC (DECODE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
5.8 DECB (BINARY DECODING) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
5.9 CTR (COUNTER) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
5.10 CTRB (Fixed counter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
5.11 CTRC (COUNTER) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
5.12 ROT (ROTATION CONTROL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
5.13 ROTB (BINARY ROTATION CONTROL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
5.14 COD (CODE CONVERSION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
5.15 CODB (BINARY CODE CONVERSION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
5.16 MOVE (LOGICAL PRODUCT TRANSFER) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
5.17 MOVOR (DATA TRANSFER AFTER LOGICAL SUM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
5.18 COM (COMMON LINE CONTROL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
5.19 COME (COMMON LINE CONTROL END) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
5.20 JMP (JUMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
5.21 JMPE (JUMP END) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

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5.22 PARI (PARITY CHECK) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210

5.23 DCNV (DATA CONVERSION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
5.24 DCNVB (EXTENDED DATA CONVERSION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
5.25 COMP (COMPARISON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
5.26 COMPB (COMPARISON BETWEEN BINARY DATA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
5.27 COIN (COINCIDENCE CHECK) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
5.28 SFT (SHIFT REGISTER) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
5.29 DSCH (DATA SEARCH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
5.30 DSCHB (BINARY DATA SEARCH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
5.31 XMOV (INDEXED DATA TRANSFER) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
5.32 XMOVB (BINARY INDEX MODIFIER DATA TRANSFER) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
5.33 ADD (ADDITION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
5.34 ADDB (BINARY ADDITION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
5.35 SUB (SUBTRACTION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
5.36 SUBB (BINARY SUBTRACTION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
5.37 MUL (MULTIPLICATION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
5.38 MULB (BINARY MULTIPLICATION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
5.39 DIV (DIVISION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
5.40 DIVB (BINARY DIVISION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
5.41 NUME (DEFINITION OF CONSTANT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
5.42 NUMEB (DEFINITION OF BINARY CONSTANTS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
5.43 DISP (MESSAGE DISPLAY) (PMCSB/SB2/SB3/SB4/SB5/SB6/SC/SC3/SC4 ONLY) . . . . . . . . 258
5.44 DISPB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
5.45 EXIN (EXTERNAL DATA INPUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
5.46 WINDR (READING CNC WINDOW DATA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
5.47 WINDW (WRITING CNC WINDOW DATA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
5.48 ARBITRARY FUNCTIONAL INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
5.49 MMCWR (READING MMC WINDOW DATA) (OTHER THAN PMCPA1/PA3) . . . . . . . . . . . 297
5.50 MMCWW (WRITING MMC WINDOW DATA) (OTHER THAN PMCPA1/PA3) . . . . . . . . . . . 299
5.51 MOVB (TRANSFER OF 1 BYTE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
5.52 MOVW (TRANSFER OF 2 BYTES) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
5.53 MOVN (TRANSFER OF AN ARBITRARY NUMBER OF BYTES) . . . . . . . . . . . . . . . . . . . . . . . 303
5.54 MOVD (TRANSFER OF 4 BYTES) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
5.55 DIFU (RISING EDGE DETECTION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
5.56 DIFD (FALLING EDGE DETECTION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
5.57 EOR (EXCLUSIVE OR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
5.58 LOGICAL AND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
5.59 LOGICAL OR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
5.60 NOT (LOGICAL NOT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
5.61 MMC3 R (MMCIII WINDOW DATA READ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
5.62 MMC3W (MMCIII WINDOW DATA WRITE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
5.63 SPCNT (SPINDLE CONTROL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
5.64 END (END OF A LADDER PROGRAM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
5.65 CALL (CONDITIONAL SUBPROGRAM CALL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
5.66 CALLU (UNCONDITIONAL SUBPROGRAM CALL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
5.67 SP (SUBPROGRAM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
5.68 SPE (END OF A SUBPROGRAM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333

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5.69 JMPB (LABEL JUMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334

5.70 JMPC (LABEL JUMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
5.71 LBL (LABEL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
5.72 AXCTL (AXIS CONTROL BY PMC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
5.73 PSGNL (POSITION SIGNAL OUTPUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
5.74 PSGN2 (POSITION SIGNAL OUTPUT 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
5.75 NOP (NO OPERATION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

6. NONVOLATILE MEMORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

6.1 TIMER, COUNTER, KEEP RELAY, NONVOLATILE MEMORY CONTROL, DATA TABLE . 354
6.2 READING AND WRITING OF NONVOLATILE MEMORY DATA . . . . . . . . . . . . . . . . . . . . . . . 356
6.3 PMC DATA TABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357

7. LADDER DIAGRAM FORMAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362

7.1 ADDRESSES, SIGNAL NAMES, COMMENTS, AND LINE NUMBERS . . . . . . . . . . . . . . . . . . 363
7.1.1 Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363
7.1.2 Signal Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
7.1.3 Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
7.1.4 Line Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
7.2 SYMBOLS USED IN THE LADDER DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
7.3 LADDER DIAGRAM FORMAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
7.4 INFINITE NUMBER OF RELAY CONTACTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367

8. MISCELLANEOUS ITEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368

9. SEQUENCE PROGRAM STRUCTURING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369

9.1 EXAMPLES OF STRUCTURED PROGRAMMING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
9.1.1 Implementation Techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
9.1.2 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371
9.1.3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
9.2 SUBPROGRAMMING AND NESTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
9.2.1 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
9.2.2 Execution Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
9.2.3 Creating a Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
9.3 CAUTIONS FOR SUBROUTINES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378

10. JMP INSTRUCTIONS WITH LABEL SPECIFICATION . . . . . . . . . . . . . . . . . . . . . . . . 380

10.1 SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
10.2 RESTRICTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385

11. INTERRUPTTYPE PMC FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391

11.1 OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
11.2 SETTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
11.3 INTERRUPT PROCESSING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
11.3.1 Interrupt Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394

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11.3.2 Input/Output Signal Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395

11.3.3 Response Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
11.3.4 Execution Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396
11.3.5 Interrupt Enable/Disable/Clear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396
11.3.6 Cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
11.4 SEQUENCE PROGRAM EXAMPLES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400

II. PMC OPERATION (CRT/MDI)

1. GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
1.1 FOR MDI UNITS OTHER THAN STANDARD MDI UNITS
(FOR FS20 PMCSA1 AND SA3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412
1.2 AUTOMATIC OPERATION WHEN THE POWER IS TURNED ON . . . . . . . . . . . . . . . . . . . . . . 412
1.3 CLEARING THE SEQUENCE PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412
1.4 LOADING THE STANDARD LADDER (FOR Power MateD/F PMCPA1 AND PA3) . . . . . . . 413
1.5 FS15i PMCNB6 OPERATING PROCEDURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413
1.6 FS16i/18i/21iB PMCSA1/SB7 OPERATING PROCEDURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413
1.7 LADDER PASSWORD FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414
1.8 PMC OPERATION FOR LOADER CONTROL FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417

2. PMC MENU SELECTION PROCEDURE BY SOFTKEY . . . . . . . . . . . . . . . . . . . . . . . . 418

3. PMC I/O SIGNAL DISPLAY AND INTERNAL RELAY DISPLAY (PMCDGN) . . . . . . 424
3.1 DISPLAYING TITLE DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
3.2 DISPLAY OF SIGNAL STATUS (STATUS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427
3.3 ALARM SCREEN (ALARM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428
3.4 TRACE FUNCTION (TRACE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
3.4.1 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
3.4.2 Parameter Setting Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
3.4.3 Starting or Stopping the Trace Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430
3.4.4 Trace Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
3.4.5 Automatic Tracing Function at Power on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
3.5 DISPLAYING THE CONTENTS OF MEMORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432
3.5.1 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432
3.5.2 Function for Storing Data in Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
3.6 FUNCTION FOR DISPLAYING SIGNAL WAVEFORMS (ANALYS) . . . . . . . . . . . . . . . . . . . . . 434
3.6.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434
3.6.2 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434
3.6.3 Parameter Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435
3.6.4 Signal Diagnosis Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438
3.6.5 Reading Signals Automatically at Power on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439
3.7 DISPLAYING THE RUNNING STATE OF A USER TASK (USRDGN) . . . . . . . . . . . . . . . . . . . . 440
3.8 DISPLAYING AND SETTING THE CONFIGURATION STATUS OF I/O
DEVICES (IOCHK) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
3.8.1 I/O Link Connecting Check Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444
3.8.2 I/O LinkII Parameter Setting Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446

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3.9 FORCED INPUT/OUTPUT FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449

3.9.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
3.9.2 Setting/Operation for Enabling Forced Input/Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
3.9.3 Screen Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454
3.9.4 Modifying the Values of Signals by Forced Input/Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
3.9.5 Setting/Clearing OVERRIDE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458

4. PMC PARAMETERS SETTING AND DISPLAY (PMCPRM) . . . . . . . . . . . . . . . . . . . . . 460

4.1 OUTLINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461
4.2 INPUT PMC PARAMETERS FROM MDI PANEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462
4.2.1 Multiple Data Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462
4.3 SETTING AND DISPLAY SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
4.3.1 Timer Screen (TIMER) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
4.3.2 Counter Screen (COUNTR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
4.3.3 Keep Relay (KEEPRL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
4.3.4 Data Table (DATA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470
4.4 SETTING SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472
4.4.1 Other Setting Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
4.5 NOTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 478

5. PMC LADDER DIAGRAM DISPLAY (PMCLAD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479

5.1 LADDER DIAGRAM DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480
5.2 DUMP DISPLAY ON LADDER DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481
5.3 PARAMETER DISPLAY ON LADDER DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 482
5.3.1 The Value of Functional Instruction Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 483
5.4 SYMBOL AND COMMENT DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485
5.5 SEARCH OF SPECIFIED RELAY COIL POINTS IN LADDER DIAGRAM . . . . . . . . . . . . . . . . 486
5.6 STOP OF LADDER DIAGRAM DISPLAY BY TRIGGER OF SIGNAL . . . . . . . . . . . . . . . . . . . . 487
5.7 DIVIDING DISPLAY OF LADDER DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
5.8 ONLINE EDIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490

6. USER PMC SCREEN (PMCMDI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492

6.1 FOR THE FS16 (PMCSC OR PMCSC3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
6.2 FOR THE FS15 (PMCNB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493

III. PMC PROGRAMMER (CRT/MDI)

1. GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
1.1 ABOUT THE FS15i PMCNB6 PROGRAMMER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498
1.2 ABOUT THE FS16i/18i/21iB PMCSA1/SB7 PROGRAMMER . . . . . . . . . . . . . . . . . . . . . . . . . 498

2. COMPONENT UNITS AND CONNECTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499

2.1 COMPONENT UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
2.2 CONNECTING COMPONENT UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505

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3. SELECTION OF PROGRAMMER MENUS BY SOFTKEYS . . . . . . . . . . . . . . . . . . . . . 506

4. SPECIFYING AND DISPLAYING SYSTEM PARAMETERS (SYSPRM) . . . . . . . . . . . 508

5. EDITING OF SEQUENCE PROGRAM (EDIT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515

5.1 SPECIFYING AND DISPLAYING TITLE DATA (TITLE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
5.1.1 Entering Title Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
5.1.2 Deleting Title Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
5.1.3 Editing Character Strings of Title Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517
5.2 SEQUENCE PROGRAM GENERATION (LADDER) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519
5.2.1 Sequence Program Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
5.2.2 Alteration of Sequence Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524
5.2.3 Insert of Sequence Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524
5.2.4 Delete of Sequence Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527
5.2.5 Search of Sequence Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
5.2.6 Copying the Sequence Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
5.2.7 Moving the Sequence Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531
5.2.8 Editing Symbol Data and Comment at Once . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532
5.2.9 Address Change of Sequence Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532
5.3 I/O UNIT ADDRESS SETTING (MODULE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
5.4 SYMBOL DATA SETTING (SYMBOL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537
5.4.1 Symbol Data and Comment Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 538
5.4.2 Symbol Data Search (SRCH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 538
5.4.3 Delete of Symbol Data and Comment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 538
5.4.4 Editing Character Strings of Symbol Data and Comment Data . . . . . . . . . . . . . . . . . . . . . . . . 539
5.4.5 Function for Editing Symbol Data and Comment Data at One Time . . . . . . . . . . . . . . . . . . . 539
5.4.6 Function of Copying Symbol and Comment Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 540
5.5 MESSAGE DATA SETTING (MESSAGE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541
5.5.1 Message Data Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542
5.5.2 Searching for an Address (SRCH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542
5.5.3 Editing a Character String in Message Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542
5.5.4 Input with a Katakana Identification Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543
5.5.5 Copying Message Data (COPY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543
5.5.6 Inputting a Multibyte Character (D.CHAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543
5.5.7 Displaying Input Code (DSPMOD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543
5.6 CLEARING THE SEQUENCE PROGRAM AND CONDENSATION OF
THE SEQUENCE PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544
5.6.1 Clearing the Sequence Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544
5.6.2 Compress the Sequence Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545
5.6.3 Clearing the PMC Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545
5.7 CROSS REFERENCE DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 546
5.7.1 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 546
5.7.2 Parameter Setting Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547

6. EXECUTION OF A SEQUENCE PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551

6.1 START AND STOP OF A SEQUENCE PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 552

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6.2 STARTING THE SEQUENCE PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553

6.3 FORCIBLY STOPPING THE SEQUENCE PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553

7. WRITING, READING, AND VERIFYING THE SEQUENCE PROGRAM

AND PMC PARAMETER DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554
7.1 OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555
7.1.1 C Input/Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556
7.2 SET ITEMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557
7.3 OPERATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559
7.3.1 Transfer to and from a FANUC LADDER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559
7.3.2 Transfer to and from a FANUC FD Cassette . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559
7.3.3 Storage to Flash ROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561
7.3.4 Storage to a Memory Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
7.3.5 Data Input to and Output from other Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 569
7.3.6 Setting the Transfer Speed ([SPEED] Soft Key) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 570
7.3.7 Transfer to and from a ROM WRITER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571
7.3.8 Notes on Using an MDI Keyboard without Cursor Keys
(when using the FS20 PMCMODEL SA1/SA3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572
7.4 I/O ERROR MESSAGES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573
7.5 SEQUENCE PROGRAM COPY FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575
7.5.1 Copy Title Data [CPYTTL] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575
7.5.2 Copy a Ladder Program [CPYLAD] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575
7.5.3 Copy Symbol Data and Comment Data [CPYSYM] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575
7.5.4 Copy Message Data [CPYMSG] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575
7.5.5 Copy the Sequence Programs [CPYALL] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576
7.5.6 Copy I/O Module Data [CPYMDL] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576
7.6 RESTRICTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576

8. FUNCTIONS FOR DISPLAYING MEMORY AREAS AND DEBUGGING

THE PROGRAM (MONIT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
8.1 DISPLAYING THE GDT (GLOBAL DESCRIPTOR TABLE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578
8.1.1 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578
8.1.2 Descriptions of Displayed Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580
8.2 DISPLAYING THE MEMORY ALLOCATION INFORMATION OF A USER
PROGRAM CODED IN C. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581
8.2.1 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581
8.2.2 Displayed Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583
8.3 DEBUGGING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
8.3.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
8.3.2 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
8.3.3 Parameter Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585
8.3.4 Screen for Displaying Traced Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588
8.3.5 Enabling Automatic Debugging at Poweron . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588
8.3.6 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588
8.4 LADDER DEBUGGING FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589
8.4.1 Screen of Ladder Debugging Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589
8.4.2 Soft Key Menu of Ladder Debugging Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590

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8.4.3 Step Operation [STEP] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591

8.4.4 Stop Function of Break with Condition [BRKCTL] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592
8.5 ONLINE FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 594
8.5.1 Online Setting Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595
8.5.2 Setting of online connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595
8.5.3 Online Function by Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 599
8.5.4 Communication Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602
8.5.5 About Connection Log of Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603

9. ERROR MESSAGES (FOR EDIT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605

10. ERROR MESSAGES (FOR I/O) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607

11. PMC PROGRAMMER (DPL/MDI) (ONLY FOR THE Power Mate) . . . . . . . . . . . . . . 608
11.1 SELECTING THE PMC PROGRAMMER MENU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610
11.2 SETTING AND DISPLAYING SYSTEM PARAMETERS (SYSTEM PARAM) . . . . . . . . . . . . . . 611
11.3 EDITING THE SEQUENCE PROGRAM (EDIT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612
11.4 EDITING LADDER MNEMONICS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613
11.4.1 Starting Ladder Mnemonics Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613
11.4.2 Confirming the Ladder Mnemonics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614
11.4.3 Modifying the Ladder Mnemonics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 616
11.4.4 Ending Ladder Mnemonics Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618
11.5 STARTING AND STOPPING THE SEQUENCE PROGRAM (RUN/STOP) . . . . . . . . . . . . . . . . . 619
11.6 ERROR MESSAGES (FOR LADDER MNEMONICS EDITING) . . . . . . . . . . . . . . . . . . . . . . . . . 620
11.7 STORING THE SEQUENCE PROGRAM INTO FLASH EEPROM (I/O)
(ONLY FOR THE Power MateH AND Power Mate iD/H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 621
11.8 ERROR DETAILS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 622
11.9 INPUT/OUTPUT LADDER/PMCPARAMETER BY MDI/DPL . . . . . . . . . . . . . . . . . . . . . . . . . . 623
11.9.1 Input/Output Method to Office Programmer (Pg Mate/Mark II) (Fixed 9600bit/Sec.) . . . . . 623
11.9.2 Input/Output Method to FANUC FLOPPY CASSETTE (Fixed 4800bit/Sec.) . . . . . . . . . . . . 623
11.10 ONLINE DEBUGGING FUNCTION (ONLY FOR Power MateD/H and Power Mate iD/H) . 624
11.10.1 Starting and Stopping the Online Debugging Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 624
11.11 ERROR LIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 626

IV. PMCNB6 MANIPULATION

1. OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629

2. SOFT KEYBASED PMC MENU SELECTION PROCEDURE . . . . . . . . . . . . . . . . . . . 630

2.1 PMC BASIC MENU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 631
2.2 PMC SCREEN TRANSITION AND RELATED SOFT KEYS . . . . . . . . . . . . . . . . . . . . . . . . . . . . 633

3. DISPLAYING PMC INPUT/OUTPUT SIGNALS AND

INTERNAL RELAY (PMCDGN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 635
3.1 TITLE DATA DISPLAY (TITLE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 636

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3.2 TITLE DATA EDITOR SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637

3.3 SIGNAL STATUS DISPLAY (STATUS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 638
3.4 ALARM SCREEN (ALARM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 639
3.5 TRACE SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 640
3.5.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 640
3.5.2 Setting of Trace Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641
3.5.3 Execution of Trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647
3.5.4 Operation after Execution of Trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 648
3.5.5 Comparison With the Function of FS15B (PMCNB/NB2) . . . . . . . . . . . . . . . . . . . . . . . . . 650
3.6 I/O LINK MONITOR AND ALLOCATION OF I/O UNIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 654
3.6.1 I/O Link Monitor screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 655
3.6.2 I/O Unit Allocation Viewer screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 657
3.6.3 I/O Unit Allocation Editor screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 658

4. PMC DATA SETTING AND DISPLAY (PMCPRM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 662

4.1 OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 663
4.2 METHOD FOR ENTERING PMC PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 664
4.3 CONTINUOUS DATA ENTRY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 665
4.4 TIMER SCREEN (TIMER) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 666
4.5 COUNTER SCREEN (COUNTR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 667
4.6 KEEP RELAY SCREEN (KEEPRL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 668
4.7 DATA TABLE (DATA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 670

5. SETTING MENU (SETING) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 672

5.1 SCREEN FOR DISPLAYING GENERAL SETTINGS (GENERAL) . . . . . . . . . . . . . . . . . . . . . . . 673
5.2 SCREEN FOR DISPLAYING THE SETTING DATA RELATED TO
EDITING AND DEBUGGING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 674
5.3 SCREEN FOR SETTING/DISPLAYING ONLINE MONITOR PARAMETERS (ONLINE) . . . . . 675
5.4 SCREEN FOR DISPLAYING SETTING DATA RELATED TO C LANGUAGE FUNCTION . . . 677

6. LADDER DIAGRAM MONITOR AND EDITOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 678

6.1 LADDER DIAGRAM MONITOR SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 681
6.1.1 Screen Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 682
6.1.2 Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 684
6.1.3 Functional Instruction Data Table Viewer Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 688
6.1.4 Setting Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 691
6.1.5 Display Format for Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 698
6.1.6 Functional Instructions of Special Monitor for Mat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 701
6.2 LADDER DIAGRAM EDITOR SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 702
6.2.1 Screen Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 704
6.2.2 Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 705
6.2.3 Setting Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 710
6.2.4 Error Messages and Their Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 715
6.2.5 How to Correct LADDER Program that Never Stops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 720
6.3 NET EDITOR SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 721
6.3.1 Screen Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 722
6.3.2 Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 723

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6.3.3 Functional Instruction List Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 727

6.3.4 Functional Instruction Data Table Editor Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 728
6.3.5 Error Messages and Their Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 732
6.3.6 Structure of Valid Net . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 734
6.4 PROGRAM LIST VIEWER SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 735
6.4.1 Screen Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 736
6.4.2 Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 739
6.4.3 Setting Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 740
6.5 PROGRAM LIST EDITOR SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 742
6.5.1 Screen Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 743
6.5.2 Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 745
6.5.3 Setting Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 746
6.6 COLLECTIVE MONITOR FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 747
6.6.1 Structures of Collective Monitor Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 748
6.6.2 Operations of Collective Monitor Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 749
6.6.3 How to Pick Up a Ladder Diagram Net . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 750

7. PASSWORD PROTECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 752

7.1 SPECIFICATIONS OF PASSWORD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 753
7.2 PASSWORD AND SWITCHING SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 754
7.2.1 Using One of RPassword and RWPassword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 754
7.2.2 Using Both of RPassword and RWPassword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 755

8. WRITING, READING, AND COMPARING SEQUENCE PROGRAMS

AND PMC PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 756
8.1 I/O SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 757
8.2 OUTPUTTING TO AND INPUTTING FROM MEMORY CARDS . . . . . . . . . . . . . . . . . . . . . . . . 760
8.3 MEMORY CARD LIST SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 764
8.4 OUTPUTTING TO AND INPUTTING FROM FLASH ROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 766
8.5 OUTPUTTING TO AND INPUTTING FROM FLOPPY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 769
8.6 FLOPPY LIST SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 773
8.7 OUTPUTTING TO AND INPUTTING FROM OTHER INPUT/OUTPUT DEVICES . . . . . . . . . 774
8.8 PORT SETTING SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 777
8.9 I/O SCREEN ERROR MESSAGES (PMCNB6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 779

9. STARTING AND STOPPING SEQUENCE PROGRAMS . . . . . . . . . . . . . . . . . . . . . . . . 783

V. FS16i/18i/21iB PMCSA1/SB7 MANIPULATION

1. SCREEN OPERATION FOR PMCSA1/SB7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 787
1.1 SCREEN OPERATION FOR PMCSA1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 788
1.1.1 Structure of Software Key in PMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 788
1.1.2 Addition of System Keep Relays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 788
1.2 SCREEN OPERATION FOR PMCSB7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 789
1.2.1 Structure of Software Key in PMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 789

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1.2.2 Expansion of Symbol Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 790

1.2.3 Addition of System Keep Relays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 790

2. SETTING FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 791

2.1 SWITCHING SCREENS FOR SETTING PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 792
2.2 SETTING SCREEN OF GENERAL FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 793
2.3 CAUTION SCREEN OF THE SETTING PARAMETER FOR THE SELECTABLE
I/O LINK ASSIGNMENT FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 795
2.4 SETTING PARAMETER SCREEN FOR THE SELECTABLE I/O LINK
ASSIGNMENT FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 796
2.5 PROGRAMMER PROTECTION FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 797
2.5.1 PROGRAMMER ENABLE (PMCSB7: K900.1, PMCSA1: K17.1) . . . . . . . . . . . . . . . . . . 798
2.5.2 HIDE PMC PROGRAM (PMCSB7: K900.0, PMCSA1: K17.0) . . . . . . . . . . . . . . . . . . . . . 798
2.5.3 EDIT ENABLE (PMCSB7: K901.6, PMCSA1: K18.6) . . . . . . . . . . . . . . . . . . . . . . . . . . . 799
2.5.4 ALLOW PMC STOP (PMCSB7: K902.2, PMCSA1: K19.2) . . . . . . . . . . . . . . . . . . . . . . . 799
2.5.5 RAM WRITE ENABLE (PMCSB7: K900.4, PMCSA1: K17.4) . . . . . . . . . . . . . . . . . . . . . 800
2.5.6 DATA TBL CNTL SCREEN (PMCSB7: K900.7, PMCSA1: K17.7) . . . . . . . . . . . . . . . . . 800
2.5.7 IO GROUP SELECTION (K906.1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 800
2.6 EXAMPLE FOR SETTING PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 801

3. LADDER DIAGRAM MONITOR (PMCSB7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 803

3.1 LADDER DIAGRAM MONITOR SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 805
3.1.1 Screen Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 806
3.1.2 Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 808
3.1.3 Setting the Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 812
3.1.4 Display Format for Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 818
3.2 FUNCTIONAL INSTRUCTION DATA TABLE VIEWER SCREEN . . . . . . . . . . . . . . . . . . . . . . . 821
3.2.1 Screen Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 822
3.2.2 Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 822
3.3 PROGRAM LIST VIEWER SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 824
3.3.1 Detail Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 824
3.3.2 Brief Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 826
3.3.3 Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 827
3.3.4 Setting Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 828

4. COLLECTIVE MONITOR FUNCTION (PMCSB7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 831

4.1 CALLING SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 832
4.2 SCREEN CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 833
4.3 SCREEN OPERATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 834
4.4 ALARM MESSAGE AND COUNTERMEASURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 837

5. LADDER DIAGRAM EDITOR FUNCTION (PMCSB7) . . . . . . . . . . . . . . . . . . . . . . . . . 838

5.1 LADDER DIAGRAM EDITOR SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 839
5.2 SCREEN CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 840
5.3 SCREEN OPERATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 841
5.4 SETTING SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 844

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5.5 NET EDITOR SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 846

5.5.1 Screen Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 846
5.5.2 Screen Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 847
5.6 STRUCTURE OF VALID NET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 852
5.7 FUNCTIONAL INSTRUCTION LIST SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 853
5.8 FUNCTIONAL INSTRUCTION DATA TABLE EDITOR SCREEN . . . . . . . . . . . . . . . . . . . . . . . 854
5.9 PROGRAM LIST EDITOR SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 855
5.9.1 Screen Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 856
5.9.2 Setting Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 857
5.10 ALARM MESSAGE AND COUNTERMEASURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 858

6. SIGNAL TRACE FUNCTION (PMCSB7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 864

6.1 SIGNAL TRACE SCREEN (INITIAL SCREEN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 865
6.2 SETTING OF TRACE PARAMETER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 866
6.3 SETTING OF SAMPLING ADDRESS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 868
6.4 EXECUTION OF TRACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 870
6.5 OPERATION AFTER EXECUTION OF TRACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 871
6.6 AUTOMATIC START OF TRACE SETTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 874

7. SELECTABLE I/O LINK ASSIGNMENT FUNCTION (PMCSB7) . . . . . . . . . . . . . . . . 875

7.1 OUTLINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 876
7.2 EXAMPLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 879
7.3 NOTES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 883

8. SYSTEM PARAMETER (PMCSB7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 884

9. I/O LINK CONNECTING CHECK SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 886

10. ONLINE FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 887

10.1 ONLINE SETTING SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 888
10.2 SETTING OF ONLINE CONNECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 889
10.2.1 How to Set at PMC Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 889
10.2.2 Setting of Online Connection by NC Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 890
10.3 ONLINE FUNCTION BY ETHERNET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 891
10.3.1 Setting of Ethernet Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 891
10.3.2 Starting online communication by offline programmer (Ethernet connection) . . . . . . . . . . . . 892
10.4 COMMUNICATION STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 895
10.5 ABOUT CONNECTION LOG OF ETHERNET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 897

VI. STEP SEQUENCE FUNCTION

1. GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 901
1.1 STEP SEQUENCE METHOD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 902
1.2 GRAPHICAL SYMBOLS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 905

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1.3 PROGRAMMING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 906

2. STEP SEQUENCE BASICS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 908

2.1 TERMINOLOGY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 909
2.2 EXECUTION OF STEP SEQUENCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 918

3. CONFIGURATION AND OPERATION OF STEPSEQUENCE PROGRAMS . . . . . . 922

3.1 STEP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 923
3.2 INITIAL STEP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 925
3.3 TRANSITION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 926
3.4 DIVERGENCE OF SELECTIVE SEQUENCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 927
3.5 CONVERGENCE OF SELECTIVE SEQUENCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 927
3.6 DIVERGENCE OF SIMULTANEOUS SEQUENCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 928
3.7 CONVERGENCE OF SIMULTANEOUS SEQUENCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 929
3.8 JUMP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 930
3.9 LABEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 930
3.10 BLOCK STEP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 931
3.11 INITIAL BLOCK STEP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 932
3.12 END OF BLOCK STEP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 932

4. EXTENDED LADDER INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 933

4.1 FUNCTIONAL INSTRUCTION TRSET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 934
4.2 PMC ADDRESS (S ADDRESS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 934

5. SPECIFICATION OF STEP SEQUENCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 935

5.1 SPECIFICATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 936
5.2 GENERAL RULES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 937
5.3 EXCLUSIVE CONTROL FOR FUNCTIONAL INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . 943

6. CRT/MDI OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 946

6.1 DISPLAYING OF SEQUENCE PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 947
6.1.1 Program Configuration List (Main Screen) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 947
6.1.2 Step Sequence Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 948
6.1.3 Ladder Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 950
6.2 TIMER SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 953
6.2.1 Time Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 953
6.2.2 Monitoring Elapsed Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 954
6.3 MONITOR TIME SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 955
6.4 EDITING FUNCTION OF LADDER DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 957
6.4.1 Program Configuration List (Main Screen) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 957
6.4.2 Step Sequence Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 958
6.4.3 Ladder Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 960
6.5 CORRESPONDING FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 962
6.6 COMPATIBILITY OF LADDER DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 963

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VII. PMC PROGRAMMER (SYSTEM P series)

1. GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 967

2. FUNCTIONS OF PROCESSING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 968

3. COMPONENT UNITS AND CONNECTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 970

3.1 COMPONENT UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 971
3.2 CONNECTIONS OF UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 972
3.3 KEYBOARD OF SYSTEM P SERIES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 975
3.3.1 LOAD Key (System Program Loading Key) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 976
3.3.2 F Keys (F1 to F0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 976
3.3.3 R Keys (R0 to R3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 977
3.3.4 Data Keys and Screen Scroll Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 978
3.4 SETTING OF I/O DEVICE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 979

4. OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 981
4.1 GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 982
4.2 PREPARATION BEFORE OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 984
4.2.1 System Floppy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 984
4.2.2 Limitations with the SYSTEM P Mate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 984
4.2.3 Loading of Floppy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 984
4.2.4 FANUC LADDER System Floppy Loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 985
4.2.5 Programmer Menu Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 986
4.2.6 Parameter Setting and Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 987
4.3 PROGRAM EDITING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 990
4.3.1 Data Display and Setting (Title, Symbol, Ladder Program, Comment,
Message, I/O Module) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 990
4.3.2 Programming from Keyboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 996
4.3.3 Alter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 997
4.3.4 Insert . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1000
4.3.5 Delete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1001
4.3.6 Location Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1001
4.3.7 Display of Ladder Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1003
4.3.8 Help Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1004
4.3.9 Editing end . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1004
4.4 INPUT OF PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1005
4.4.1 Source Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1005
4.4.2 ROM Format Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1007
4.5 OUTPUT OF PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1010
4.5.1 Source Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1010
4.5.2 Paper Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1013
4.5.3 ROM Format Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1014
4.6 COLLATION OF PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1017
4.6.1 Collation of Source Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1017
4.6.2 ROM Format Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1017

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4.7 DELETION OF PROGRAMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1018

4.8 SPECIAL USES OF THE R3 KEY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1019
4.9 DIRECT EDITING BY LADDER DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1020
4.9.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1020
4.9.2 Limitations in SYSTEM P Mate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1020
4.9.3 Selection of Program Menu by Soft Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1020
4.9.4 Sequence Program Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1022
4.9.5 Substitution of Sequence Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1025
4.9.6 Additions to Sequence Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1025
4.9.7 Deleting a Sequence Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1028
4.9.8 Searching a Sequence Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1029
4.9.9 Copying a Sequence Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1031
4.9.10 Moving a Sequence Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1032
4.9.11 Symbol Data Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1033
4.9.12 Compressed Input by [COMAND] Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1034
4.9.13 Ending Edit of a Sequence Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1034
4.10 INPUT/OUTPUT OF LADDER PROGRAM WITH PG AND FLOPPY
CASSETTE/FA CARD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1035
4.10.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1035
4.10.2 Setting I/O Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1035
4.10.3 Program Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1035
4.10.4 Program Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1036
4.10.5 Program Collation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1037

5. FILE EDITING FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1038

5.1 GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1039
5.2 CONFIGURATION OF COMMAND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1042
5.3 FDLIST COMMAND FILE ATTRIBUTE DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1043
5.4 RENAME COMMAND FILE ATTRIBUTE CHANGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1044
5.5 SCRATCH COMMAND DELETION OF FILES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1045
5.6 CONDENSE COMMAND RELEASE OF DELETED AREA . . . . . . . . . . . . . . . . . . . . . . . . . 1045
5.7 REMOVE COMMAND FILE COPY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1046

APPENDIX
A. ERROR CODES LIST (FOR FANUC LADDER PG) . . . . . . . . . . . . . . . . . . . . . . . . . . 1051

B. WINDOW FUNCTION DESCRIPTION (PMCPA1/PA3/

SA1/SA2/SA3/SA5/SB/SB2/SB3/SB4/SB5/SB6/SB7/SC/SC3/SC4) . . . . . . . . . . . . 1054
B.1 FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1055
B.2 LOWSPEED RESPONSE AND HIGHSPEED RESPONSE OF WINDOW FUNCTION . . . . 1055
B.3 LIST OF WINDOW FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1056
B.4 FORMATS AND DETAILS OF CONTROL DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1059
B.4.1 Reading CNC System Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1060
B.4.2 Reading a Tool Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1062

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B.4.3 Writing a Tool Offset (:Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1064

B.4.4 Reading a Workpiece Origin Offset Value (not Supported by the Power MateD or F) . . . 1066
B.4.5 Writing a Workpiece Origin Offset Value (:Lowspeed Response)
(not Supported by the Power MateD or F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1068
B.4.6 Reading a Parameter (:Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1070
B.4.7 Writing a Parameter (:Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1072
B.4.8 Reading Setting Data (:Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1074
B.4.9 Writing Setting Data (:Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1076
B.4.10 Reading a Custom Macro Variable (:Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . 1078
B.4.11 Writing a Custom Macro Variable (:Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . 1081
B.4.12 Reading the CNC Alarm Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1083
B.4.13 Reading the Current Program Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1088
B.4.14 Reading the Current Sequence Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1090
B.4.15 Reading the Actual Velocity of Controlled Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1092
B.4.16 Reading the Absolute Position (Absolute Coordinates) of Controlled Axes . . . . . . . . . . . . . 1094
B.4.17 Reading the Machine Position (Machine Coordinates) of Controlled Axes . . . . . . . . . . . . . 1096
B.4.18 Reading a Skip Position (Stop Position of Skip Operation (G31)) of Controlled Axes . . . . 1098
B.4.19 Reading the Servo Delay for Controlled Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1100
B.4.20 Reading the Acceleration/Deceleration Delay on Controlled Axes . . . . . . . . . . . . . . . . . . . . 1102
B.4.21 Reading Modal Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1104
B.4.22 Reading Diagnosis Data (:Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1109
B.4.23 Reading A/D Conversion Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1111
B.4.24 Reading Tool Life Management Data (Tool Group No.) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1115
B.4.25 Reading Tool Life Management Data (Number of Tool Groups) . . . . . . . . . . . . . . . . . . . . . 1117
B.4.26 Reading Tool Life Management Data (Number of Tools) . . . . . . . . . . . . . . . . . . . . . . . . . . . 1119
B.4.27 Reading Tool Life Management Data (Tool Life)
(not Supported by the Power Mate D, F, or Series 21TA) . . . . . . . . . . . . . . . . . . . . . . . . . 1121
B.4.28 Reading Tool Life Management Data (Tool Life Counter) . . . . . . . . . . . . . . . . . . . . . . . . . . 1123
B.4.29 Reading Tool Life Management Data (Tool Length Compensation No. (1): Tool No.) . . . . 1125
B.4.30 Reading Tool Life Management Data (Tool Length Compensation
No. (2): Tool Order No.) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1127
B.4.31 Reading Tool Life Management Data (Cutter Compensation No. (1): Tool No.) . . . . . . . . . 1129
B.4.32 Reading Tool Life Management Data (Cutter Compensation No. (2): Tool Order No.) . . . . 1131
B.4.33 Reading Tool Life Management Data (Tool Information (1) : Tool No.) . . . . . . . . . . . . . . . 1133
B.4.34 Reading Tool Life Management Data (Tool Information (2): Tool Order No.) . . . . . . . . . . . 1135
B.4.35 Reading Tool Life Management Data (Tool No.) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1137
B.4.36 Reading the Actual Spindle Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1139
B.4.37 Entering Data on the Program Check Screen (:Lowspeed Response)
(not available for Power MateD/F, Series 21TA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1141
B.4.38 Reading Clock Data (Date and Time) (not available for Power MateF) . . . . . . . . . . . . . . . 1143
B.4.39 Entering Torque Limit Data for the Digital Servo Motor (:Lowspeed Response) . . . . . . 1145
B.4.40 Reading Load Information of the Spindle Motor (Serial Interface) . . . . . . . . . . . . . . . . . . . . 1147
B.4.41 Reading a Parameter (not available for Power MateD/F, Series 21TA) . . . . . . . . . . . . . . 1150
B.4.42 Reading Set Data (not available for Power MateD/F, Series 21TA) . . . . . . . . . . . . . . . . . 1151
B.4.43 Reading Diagnosis Data (not available for Power MateD/F, Series 21TA) . . . . . . . . . . . . 1152
B.4.44 Reading a Character String of the CNC Program Being Executed in the Buffer . . . . . . . . . 1153
B.4.45 Reading the Relative Position on a Controlled Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1155
B.4.46 Reading the Remaining Travel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1157

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B.4.47 Reading CNC Status Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1159

B.4.48 Reading Value of the Pcode Macro Variable (:Lowspeed Response) . . . . . . . . . . . . . . . 1161
B.4.49 Writing Value of the Pcode Macro Variable (:Lowspeed Response) . . . . . . . . . . . . . . . . 1163
B.4.50 Reading the Tool Life Management Data (Tool Life Counter Type) . . . . . . . . . . . . . . . . . . . 1165
B.4.51 Registering the Tool Life Management Data (Tool Group) (:Lowspeed Response) . . . . . 1167
B.4.52 Writing the Tool Life Management Data (Tool Life) (:Lowspeed Response) . . . . . . . . . 1169
B.4.53 Writing the Tool Life Management Data (Tool Life Counter) (:Lowspeed Response) . . 1171
B.4.54 Writing the Tool Life Management Data (Tool Life Counter Type)
(:Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1173
B.4.55 Writing the Tool Life Management Data
(Tool Length Offset Number (1) : Tool Number) (:Lowspeed Response) . . . . . . . . . . . . 1175
B.4.56 Writing the Tool Life Management Data (Tool Length Offset Number (2) :
Tool Operation Sequence Number) (:Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . 1177
B.4.57 Writing the Tool Life Management Data (Cutter Compensation Number (1) :
Tool Number) (:Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1179
B.4.58 Writing the Tool Life Management Data (Cutter Compensation Number (2) :
Tool Operation Sequence Number) (:Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . 1181
B.4.59 Writing the Tool Life Management Data
(Tool Condition (1) : Tool Number) (:Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . 1183
B.4.60 Writing the Tool Management Data
(Tool Condition (2) : Tool Operation Sequence Number) (:Lowspeed Response) . . . . . . 1185
B.4.61 Writing the Tool Life Management Data (Tool Number) (:Lowspeed Response) . . . . . . 1187
B.4.62 Reading the Estimate Disturbance Torque Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1189
B.4.63 Reading the Current Program Number (8digit Program Numbers)
(not available for Power MateD/F, Series 21TA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1193
B.4.64 Reading Tool Life Management Data (Tool Group Number) . . . . . . . . . . . . . . . . . . . . . . . . 1195
B.4.65 Reading Tool Life Management Data (Tool Length Offset Number 1) . . . . . . . . . . . . . . . . . 1197
B.4.66 Reading Tool Life Management Data (Tool Diameter Offset Number 1) . . . . . . . . . . . . . . . 1199
B.4.67 Reading Tool Life Management Data (Tool Information 1) . . . . . . . . . . . . . . . . . . . . . . . . . 1201
B.4.68 Writing (Registering) Tool Life Management Data (Tool Group Number)
(:Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1203
B.4.69 Writing Tool Life Management Data (Tool Length Offset Number 1)
(:Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1206
B.4.70 Writing Tool Life Management Data (Tool Radius Offset Number 1)
(:Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1208
B.4.71 Writing Tool Life Management Data (Tool Information 1) (:Lowspeed Response) . . . . . 1210
B.4.72 Reading Actual Spindle Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1213
B.4.73 Reading Fine Torque Sensing Data (Statistical Calculation Results) . . . . . . . . . . . . . . . . . . 1217
B.4.74 Reading Fine Torque Sensing Data (Store Data) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1219
B.4.75 Specifying the Number of the Program for I/O Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1227
B.4.76 Preset of relative coordinate (:Lowspeed response)
(not available for Power Mate and Series 21TA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1229
B.4.77 Deleting the Tool life Management Data (Tool group) (:Lowspeed response) . . . . . . . . . 1232
B.4.78 Deleting the Tool life Management Data (Tool data) (:Lowspeed response) . . . . . . . . . . 1234
B.4.79 Deleting the Tool life Management Data (Tool life counter and Tool condition)
(:Lowspeed response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1236
B.4.80 Writing the Tool life Management Data (Arbitrary group number)
(:Lowspeed response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1238
B.4.81 Writing the Tool life Management Data (Remaining tool life) (:Lowspeed response) . . . 1240
B.4.82 Reading the Current Screen Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1242

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B.4.83 Reading Detailed Alarm Information (:Lowspeed type) . . . . . . . . . . . . . . . . . . . . . . . . . . 1245

C. WINDOW FUNCTION DESCRIPTION (PMCNB/NB2/NB6) . . . . . . . . . . . . . . . . . . . 1249

C.1 FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1250
C.2 LOWSPEED RESPONSE AND HIGHSPEED RESPONSE OF WINDOW FUNCTION . . . . 1251
C.2.1 Functional Instruction WINDR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1252
C.2.2 Functional Instruction WINDW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1254
C.3 FORMAT AND DETAILS OF THE CONTROL DATA OF
THE WINDR FUNCTIONAL INSTRUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1256
C.3.1 Reading a Tool Offset (Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1256
C.3.2 Reading a Workpiece Origin Offset Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1258
C.3.3 Reading a Parameter (Setting Data) (Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . 1259
C.3.4 Reading a Custom Macro Variable (Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . 1260
C.3.5 Reading the CNC Alarm Status (Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1261
C.3.6 Reading the Current Program Number (Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . 1262
C.3.7 Reading the Current Sequence Number (Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . 1263
C.3.8 Reading the Actual Velocity of Controlled Axes (Lowspeed Response) . . . . . . . . . . . . . . . 1264
C.3.9 Reading the Absolute Position on a Controlled Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1264
C.3.10 Reading the Machine Position (Machine Coordinates) of Controlled Axes . . . . . . . . . . . . . 1266
C.3.11 Reading a Skip Position (Stop Position of Skip Operation (G31)) of Controlled Axes
(Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1267
C.3.12 Reading the Servo Delay for Controlled Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1268
C.3.13 Reading the Acceleration/Deceleration Delay on Controlled Axes . . . . . . . . . . . . . . . . . . . . 1268
C.3.14 Reading Modal Data (Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1269
C.3.15 Reading Diagnosis Data (Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1275
C.3.16 Reading A/D Conversion Data for the Feed Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1276
C.3.17 Reading the Tool Life Management Data (Tool Group Number) (Lowspeed Response) . . 1278
C.3.18 Reading the Tool Life Management Data (Number of Tool Groups)
(Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1279
C.3.19 Reading Tool Life Management Data (Number of Tools) (Lowspeed Response) . . . . . . . . 1279
C.3.20 Reading Tool Life Management Data (Tool Life) (Lowspeed response) . . . . . . . . . . . . . . 1280
C.3.21 Reading Tool Life Management Data (Tool Life Counter) (Lowspeed Response) . . . . . . . 1280
C.3.22 Reading Tool Life Management Data (Tool Life Counter Type) (Lowspeed Response) . . 1281
C.3.23 Reading Tool Life Management Data (Tool Length Compensation No.1)
(Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1282
C.3.24 Reading Tool Life Management Data (Tool Length Compensation No.2)
(Lowspeed response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1283
C.3.25 Reading Tool Life Management Data (Cutter Compensation No.1)
(Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1284
C.3.26 Reading Tool Life Management Data (Cutter Compensation No.2)
(Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1285
C.3.27 Reading Tool Life Management Data (Tool Information 1) (Lowspeed Response) . . . . . . 1286
C.3.28 Reading Tool Life Management Data (Tool Information 2) (Lowspeed Response) . . . . . . 1287
C.3.29 Reading Tool Life Management Data (Tool Number) (Lowspeed Response) . . . . . . . . . . . 1287
C.3.30 Reading Clock Data (Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1288
C.3.31 Reading the Relative Position on a Controlled Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1289
C.3.32 Reading the Remaining Travel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1290
C.3.33 Reading an Estimate Disturbance Torque Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1291

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C.3.34
Reading the Machining Time (Lowspeed Response) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1292
C.3.35
Reading the Load Current (A/D Conversion Data) for the Spindle Motor . . . . . . . . . . . . . . 1293
C.3.36
Reading the Tool Offset Data According to the Specified Tool Number . . . . . . . . . . . . . . . 1294
C.3.37
Reading Tool Life Management Data (Tool Group Numbers) (Lowspeed Type) . . . . . . . . 1295
C.3.38
Reading Tool Life Management Data (Tool Length Compensation Number 1)
(Lowspeed Type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1296
C.3.39 Reading Tool Life Management Data (Cutter Compensation Number 1)
(Lowspeed Type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1297
C.3.40 Reading Tool Life Management Data (Tool Information 1) (Lowspeed Type) . . . . . . . . . . 1298
C.3.41 Reading Real Parameters (Lowspeed Type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1299
C.3.42 Reading the actual Machine Position (Machine Coordinates) of Controlled Axes. . . . . . . . 1300
C.3.43 Reading Fine Torque Sensing Data (Statistical Calculation Results). . . . . . . . . . . . . . . . . . . 1301
C.3.44 Reading Fine Torque Sensing Data (Store Data) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1302
C.3.45 Reading detailed information of CNC alarm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1306
C.4 FORMAT AND DETAILS OF THE CONTROL DATA OF THE
WINDW FUNCTIONAL INSTRUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1309
C.4.1 Writing a Tool Offset Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1310
C.4.2 Writing a Parameter (Setting Data) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1311
C.4.3 Writing a Custom Macro Variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1312
C.4.4 Writing a Data on the Program Check Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1313
C.4.5 Writing the Torque Limit Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1314
C.4.6 Writing the Tool Life Management Data (Tool Group Number) . . . . . . . . . . . . . . . . . . . . . . 1315
C.4.7 Writing the Tool Life Management Data (Tool Life) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1315
C.4.8 Writing the Tool Life Management Data (Tool Life Counter) . . . . . . . . . . . . . . . . . . . . . . . . 1316
C.4.9 Writing the Tool Life Management Data (Tool Life Counter Type) . . . . . . . . . . . . . . . . . . . 1316
C.4.10 Writing the Tool Life Management Data (Tool Length Compensation Number 1) . . . . . . . . 1317
C.4.11 Writing the Tool Life Management Data (Tool Length Compensation Number 2) . . . . . . . . 1317
C.4.12 Writing the Tool Life Management Data (Cutter Compensation Number 1) . . . . . . . . . . . . 1318
C.4.13 Writing the Tool Life Management Data (Cutter Compensation Number 2) . . . . . . . . . . . . 1318
C.4.14 Writing the Tool Life Management Data (Tool Information 1) . . . . . . . . . . . . . . . . . . . . . . . 1319
C.4.15 Writing the Tool Life Management Data (Tool Information 2) . . . . . . . . . . . . . . . . . . . . . . . 1319
C.4.16 Writing the Tool Life Management Data (Tool Number) . . . . . . . . . . . . . . . . . . . . . . . . . . . 1320
C.4.17 Writing the Tool Offset Data According to the Specified Tool Number . . . . . . . . . . . . . . . . 1321
C.4.18 Writing the Superposition Move Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1322
C.4.19 Writing the Feedrate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1324
C.4.20 Writing Tool Life Management Data (Tool Group Numbers) . . . . . . . . . . . . . . . . . . . . . . . . 1325
C.4.21 Writing Tool Life Management Data (Tool Length Compensation Number 1) . . . . . . . . . . . 1326
C.4.22 Writing Tool Life Management Data (Cutter Compensation Number 1) . . . . . . . . . . . . . . . 1327
C.4.23 Writing Tool Life Management Data (Tool Information 1) . . . . . . . . . . . . . . . . . . . . . . . . . . 1328
C.4.24 Writing Real Parameters (Lowspeed Type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1329

D. WINDOW FUNCTION DESCRIPTION (FS16/16iLA) . . . . . . . . . . . . . . . . . . . . . . . . . 1330

D.1 OUTLINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1331
D.2 FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1332
D.2.1 Transfer Between Data Area and Nonvolatile Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1332
D.2.2 Reading of the Comment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1336
D.2.3 Reading and Writing the Laser Command Data and Laser Setting Data . . . . . . . . . . . . . . . . 1337

E. WINDOW FUNCTION DESCRIPTION (FS16W) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1340

E.1 READING THE WIRE DIAMETER OFFSET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1341

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E.2 WRITING THE WIRE DIAMETER OFFSET (:LOWSPEED RESPONSE) . . . . . . . . . . . . . . 1343

E.3 READING THE PARAMETER (:LOWSPEED RESPONSE) . . . . . . . . . . . . . . . . . . . . . . . . . . 1345
E.4 WRITING THE PARAMETER (:LOWSPEED RESPONSE) . . . . . . . . . . . . . . . . . . . . . . . . . . 1347
E.5 READING SETTING DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1352
E.6 WRITING SETTING DATA (LOWSPEED TYPE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1353
E.7 READING THE CNC ALARM STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1356
E.8 READING MODEL DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1357
E.9 READING MACHINING DISTANCES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1361
E.10 READING THE MEASURED POINT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1362
E.11 WRITING THE MEASURED POINT (:LOWSPEED RESPONSE) . . . . . . . . . . . . . . . . . . . . 1364

F. WINDOW FUNCTION DESCRIPTION (FS16PA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1365

F.1 READING OF TOOL SETTING DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1366
F.1.1 Data Number, Data Attribute, Data Length, Data Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1368
F.2 WRITING OF TOOL SETTING DATA (LOWSPEED RESPONSE) . . . . . . . . . . . . . . . . . . . . . 1370
F.3 READING TOOL SETTING DATA BY SPECIFYING TOOL NUMBER . . . . . . . . . . . . . . . . . . 1372
F.4 OTHER WINDOW FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1374

G. SIGNAL ADDRESS CONVERSION (FROM THE PMCMODEL

L/M TO THE PMCMODEL SB/SC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1375
G.1 GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1376
G.2 FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1376
G.3 CONVERSION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1376
G.4 MODIFYING THE CONVERTED SEQUENCE PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1377
G.4.1 Modification Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1377

H. CONNECTING THE OPERATORS PANEL FOR FS 0 WITH FS16,

FS18, FS21, OR Power Mate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1378
H.1 GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1379
H.2 CONNECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1382
H.2.1 Connecting the I/O Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1382
H.2.2 Connecting the I/O Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1382
H.3 SIGNALS FOR CONNECTING THE OPERATORS PANEL . . . . . . . . . . . . . . . . . . . . . . . . . . . 1383
H.3.1 Emergency Stop Signal (*ESP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1383
H.3.2 Override Signals (*OV1 to *OV8) and Program Protect Key Signal (KEY) . . . . . . . . . . . . 1383
H.3.3 Key Switch Signals (Xn, Xn+2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1383
H.3.4 LED Signals (Ym) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1384
H.4 SPECIFYING ADDRESSES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1386
H.4.1 Parameter Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1386
H.4.2 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1386

I. EDITING FOR Power MateMODEL D (PMCPA1/PA3) . . . . . . . . . . . . . . . . . . . . . . . 1388

I.1 OUTLINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1389
I.2 COMPATIBILITY WITH CNC BASIC SOFTWARE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1389
I.3 PMC PROGRAMMER (CRT/MDI OR PDP/MDI) [LADDER EDITING FUNCTION] . . . . . . . 1390
I.3.1 Component Units and Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1390

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I.3.1.1 Component units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1391

I.3.1.2 Connection of components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1392
I.3.1.3 Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1392
I.3.2 Specification and Display of System Parameters (SYSPRM) . . . . . . . . . . . . . . . . . . . . . . . . 1393
I.3.3 Condense . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1393
I.4 SYSTEM DIAGRAM OF SOFT KEY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1395

J. APPLICABLE FANUC LADDER EDITIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1396

J.1 FANUC LADDER, FANUC LADDERII, FANUC LADDERIII,
LADDER EDITING PACKAGES FANUC LADDERIII (IBM PC/AT)
A08B9210J505, LADDER EDITING PACKAGE (WINDOUS) (IBM PC/AT)
A08B9210J511) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1397
J.2 FANUC LADDER (SYSTEM P SERIES) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1399

K. LEVEL UP OF INPUT/OUTPUT FUNCTION WITH MEMORY CARD . . . . . . . . . . . . 1401

K.1 OUTLINE OF LEVELED UP CONTENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1402
K.2 OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1403
K.2.1 CNC Offline Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1403
K.2.2 Offline Programmer CNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1405
K.2.3 Note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1406
K.3 NB/NB2 DATA COMPATIBILITY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1408
K.3.1 Data Transfer Between NB (4047 Series) and FANUC LADDER . . . . . . . . . . . . . . . . . . . . 1408
K.3.2 Data Transfer Between NB/NB2 (4048 Series) and FANUC LADDER . . . . . . . . . . . . . . . . 1408
K.3.3 Data Transfer Between NB (4047 Series) and NB (4048 Series) . . . . . . . . . . . . . . . . . . . . . 1409

L. MIGRATION OF LADDER PROGRAMS BETWEEN DIFFERENT MODELS . . . . . 1410

L.1 MIGRATION OF LADDER PROGRAMS FROM Power MateD/H TO Power Mate iD/H . . . 1411
L.2 MIGRATION FROM THE PMCNB/NB2 TO THE PMCNB6 . . . . . . . . . . . . . . . . . . . . . . . . . . 1413
L.3 MIGRATION FROM THE PMCSA5/SB5/SB6 TO THE PMCSB7 . . . . . . . . . . . . . . . . . . . . . . 1414
L.3.1 Addition of System Parameter Ladder Execution Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1415
L.4 MIGRATION FROM THE SERIES 0 AND SERIES 21B TO SERIES 0i . . . . . . . . . . . . . . . . . . 1416
L.4.1 Compatible With Series 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1416
L.4.2 Compatibility With Series 21MODEL B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1420
L.4.3 Limited Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1420

M. ALARM MESSAGE LIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1421

M.1 ALARM MESSAGE (PMCPA1/PA3/SA1/SA2/SA3/SA5/SB/SB2/SB3/SB4/SB5/
SB6/SC/SC3/SC4/NB/NB2/NB6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1422
M.2 ALARM MESSAGE (PMCSB7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1429
M.3 SYSTEM ALARM MESSAGES (PMCSC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1434
M.4 SYSTEM ALARM MESSAGES (C LANGUAGE FUNCTION FOR PMCNB/NB2/NB6) . . . . 1436
M.5 SYSTEM ALARM MESSAGES (PMCSB5/SB6/NB6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1437
M.6 PMC SYSTEM ALARM MESSAGES (PMCSB7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1439

N. EXAMPLE OF STEP SEQUENCE PROGRAMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1441

O. STEP SEQUENCE CORRESPONDED C LANGUAGE . . . . . . . . . . . . . . . . . . . . . . . . 1445

O.1 WHILE STATEMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1446

c22
B61863E/14 Table of contents

O.2 DOWHILE STATEMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1448

O.3 FOR STATEMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1450
O.4 IF ELSE STATEMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1452
O.5 SWITCH STATEMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1454

P. CHINESE CHARACTER CODE, HIRAGANA CODE, AND SPECIAL

CODE LIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1457

c23
I. PMC SEQUENCE PROGRAM
 1. SEQUENCE PROGRAM
B61863E/14 PMC SEQUENCE PROGRAM CREATING PROCEDURE

1 SEQUENCE PROGRAM CREATING PROCEDURE

The procedure for creating the sequence program when the CNC machine
tool is controlled by use of the PMC is shown in Fig. 1.
Proceed according to the flow shown in Fig. 1.
The procedure is briefly explained below.

Start of control system

development

Decide the control object (machine, CNC)

Decide the specifications of control

operations
D Calculate the number of DI/DO points
D Estimate the control scale

Create the interface specifications

DI/DO terminal allocation

Create the ladder diagram

Create the addrss table

Entry method of the

sequence program

Key-in
Offline programmer
Specification of the
programmer

NC Enter the sequence program with the offline

programmer key

Store the sequence program into the PMC

RAM board by using the keys of the In necessary correct with the offline
CRT/MDI programmer key 5

If necessary correct with the keys of the When the debugging connect the offline
CRT/MDI programmer to CNC and transfer the
sequence program to Debugging RAM

No
Is there a simulator?

Yes

Debug the sequence program with the

simulator 6

Yes
Should the program be
corrected?
No

Fig. 1 Sequence program creating procedure (1/2)

3
1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

Correct with Perform system operation

Debugging RAM 7
the keys of the
CRT/MDI

Yes Should the program

be corrected?

Write into the ROM using the

ROM writer 8

Perform system operation 9

Yes Should the program

be corrected?

No
10
Store the sequence program:
(1) Store in the disk of the offline
programmer
(2) Store in ROM

Output the ladder diagram of the

sequence program to the printer 11

Make sure that the maintenance

drawing is attached to the machine 12

End

Fig. 1 Sequence program creating procedure (2/2)

4
 1. SEQUENCE PROGRAM
B61863E/14 PMC SEQUENCE PROGRAM CREATING PROCEDURE

1.1 Table 1.1 shows the specification of PMCs.

Note that the program size, processing speed, available function
SPECIFICATION OF commands, internal addresses, and nonvolatile memory addresses of
PMCs some PMCs are different from those of other PMCs.

Table 1.1 PMC specifications (1)

Type of PMC
Specification PMC-PA1 PMC-PA3
of PMC
Program method language Ladder Ladder
Number of ladder level 2 2
1st level execution period 8 ms 8 ms
Mean processing time of 4. 5 * 0. 15
basic command (s/ step) (s/ step)
Program capacity
D Ladder (step) (Note 1,3) Approx. 3, 000 Approx. 5, 000
Approx. 12,000
(Only for Power
Mate D/H) D Power Mate D Data size of each modules
D Symbol, Comment (Note 2,3) 1 to 128KB 1 to 128KB
D Message (Note 3) 0.1 to 64KB 0.1 to 64KB Program size
MEMORY- Total
D Language only capacity
MODULE OnePath TwoPath
Command Basic command 12 kinds 14 kinds control control
Function command 47 kinds 64 kinds
Internal relay (R) 1100 byte 1118 byte A 256KB 62KB 24KB
Message request (A) 25 byte 25 byte
Keepmemory B 512KB 128KB 64KB
D Variable timer (T) 80 byte 80 byte
D Counter (C) 80 byte 80 byte
C 768KB 128KB 128KB
D Keep relay (K) 20 byte 20 byte
D Data table (D) 1860 byte 1860 byte
It is impossible that make the data more than the total
Subprogram (P) 512 programs capacity of each modules.
Label (L) 9999 labels
Fixed timer Timer No. 100 Timer No. 100 D Power Mate F
devices specified devices specified
Program size
I/O
D I/O Link (Note 4) (I) 1024 points max. 1024 points max.
(Master) (O) 1024 points max. 1024 points max. 64KB
D I/O Link (Note 7) (I) 64 points max. 64 points max.
(Slave) (O) 64 points max. 64 points max. D Power Mate H
D I/O card (I) 32 points max. 32 points max.
(O) 24 points max. 24 points max. Program size
Sequence program
SRAM SRAM
(Note 5) 128KB

5
1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

NOTE
1 This is the number of ladder steps for the program only with basic instructions. The use of
functional instructions may vary the number of ladder steps.
2 The size of a symbol and that of a comment are fixed to 1KB.
The size of a message is fixed to 0.1KB.
The maximum size of a symbol and that of a comment are 64KB each.
3 These have no limit of size for each. However, the total size of sequence program (the sum total
of ladder, symbols/comments, messages, etc.) never exceed the storage size of sequence
program. The size of them influences the capacity of others.
4 I/O Link Master function is not available in the Power MateMODEL F.
5 FLASH ROM is used in the Power MateMODEL H.
6 As values indicated with an asterisk (*) in the table, former versions of the programming manual
and catalogs have listed the mean processing time of basic commands, but this manual lists
the execution time for one step. The actual ladder program execution performance (speed) of
each PMC has not been changed.
7 Up to 256/256 points of Input/Output points are available or I/O Link (Slave) in the Power
MateMODEL D/H.

6
 1. SEQUENCE PROGRAM
B61863E/14 PMC SEQUENCE PROGRAM CREATING PROCEDURE

Table 1.1 PMC specifications (2)

Type of PMC
PMCSA1 PMCSA2 PMCSA3
Specification
of PMC
Program method language Ladder Ladder Ladder
Number of ladder level 2 2 2
1st level execution period 8 ms 8 ms 8 ms
Mean processing time of basic 5.0 1.5 * 0. 15
command (s/ step) (s/ step) (s/ step)
Program capacity
D Ladder (step) (Note 1,3) Approx. 3, 000 Approx. 3, 000 Approx. 3, 000
Approx. 5, 000 Approx. 5, 000 Approx. 5, 000
Approx. 8, 000 Approx. 8, 000
Approx.12, 000 Approx.12, 000
D Symbol, Comment 1 to 128KB 1 to 128KB 1 to 128KB
(Note 2,3)
D Message (Note 3) 0. 1 to 64KB 0. 1 to 64KB 0. 1 to 64KB
D Language only
Command Basic command 12 kinds 12 kinds 14 kinds
Functioncommand 49 kinds 48 kinds 66 kinds
1100 byte 1118 byte 1118 byte
Internal relay (R) 25 byte 25 byte 25 byte
Message request (A)
Keepmemory 80 byte 80 byte 80 byte
D Variable timer (T)
80 byte 80 byte 80 byte
D Counter (C)
20 byte 20 byte 20 byte
D Keep relay (K)
D Data table (D) 1860 byte 1860 byte 1860 byte
Subprogram (P) 512 programs
Label (L) 9999 labels
Fixed timer Timer No. 100 Timer No. 100 Timer No. 100
devices specified devices specified devices specified
I/O
D I/O link (I) 1024 points max. 1024 points max. 1024 points max.
(O) 1024 points max. 1024 points max. 1024 points max.
D I/O card (I) 156 points max. 156 points max. 156 points max.
(O) 120 points max. 120 points max. 120 points max.
Sequence program EPROM EPROM EPROM
1Mbit1 (128KB) 1Mbit1 (128KB) 1Mbit1 (128KB)
(Note 4) (Note 4)

NOTE
1 This is the number of ladder steps for the program only with basic instructions. The use of
functional instructions may vary the number of ladder steps.
2 The size of a symbol and that of a comment are fixed to 32KB.
The size of a message is fixed to 2.1KB.
The maximum size of a symbol and that of a comment are 64KB each.
3 These have no limit of size for each. However, the total size of sequence program (the sum total
of ladder, symbols/comments, messages, etc.) never exceed the storage size of sequence
program. The size of them influences the capacity of others.
4 FLASH ROM is used in the FANUC Series 20.
5 As values indicated with an asterisk (*) in the table, former versions of the programming manual
and catalogs have listed the mean processing time of basic commands, but this manual lists
the execution time for one step. The actual ladder program execution performance (speed) of
each PMC has not been changed.
6 Application PMC for FANUC Series 16MODEL A loader control function is PMCSA1.

7
1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

Table 1.1 PMC specifications (3)

Type of PMC
Specification PMCSB1 PMCSB2 PMCSB3
of PMC
Program method language Ladder Ladder Ladder
Number of ladder level 2 2 2
1st level excution period 8 ms 8 ms 8 ms
Mean processing time of basic 1.0 1.0 * 0. 15
command (s/ step) (s/ step) (s/ step)
Program capacity
D Ladder (step) (Note 1,3,4) Approx. 5, 000 Approx. 5, 000 Approx. 5, 000
Approx. 8, 000 Approx. 8, 000 Approx. 8, 000
Approx.12, 000 Approx.12, 000 Approx.12, 000
Approx.16, 000 Approx.16, 000 Approx.16, 000
Approx.24, 000 Approx.24, 000
D Symbol, Comment 1 to 128KB 1 to 128KB 1 to 128KB
(Note 2,4)
D Message (Note 4) 0.1 to 64KB 0.1 to 64KB 0.1 to 64KB
D Language only
Command Basic command 12 kinds 12 kinds 14 kinds
Functioncommand 49 kinds 49 kinds 68 kinds
Internal relay (R) 1100 byte 1118 byte 1618 byte
Message request (A) 25 byte 25 byte 25 byte
Keepmemory
D Variable timer (T)
D Counter (C) 80 byte 80 byte 80 byte
D Keep relay (K) 80 byte 80 byte 80 byte
D Data table(D) (D) 20 byte 20 byte 20 byte
Subprogram (P) 1860 byte 1860 byte 3000 byte
Label (L)
Fixed timer 512 programs
9999 labels
Timer No. 100 Timer No. 100 Timer No. 100
devices specified devices specified devices specified

I/O
D I/O link (I) 1024 points max. 1024 points max. 1024 points max.
(O) 1024 points max. 1024 points max. 1024 points max.
D I/O card (I) 156 points max. 156 points max. 156 points max.
(Note 5) (O) 120 points max. 120 points max. 120 points max.
Sequence program EPROM EPROM EPROM
1Mbit1 (128KB) 1Mbit1 (128KB) 1Mbit1 (128KB)
ROM MODULE ROM MODULE
256KB (Note 3) 256KB (Note 3)

NOTE
1 This is the number of ladder steps for the program only with basic instructions. The use of
functional instructions may vary the number of ladder steps.
2 The size of a symbol and that of a comment are fixed to 32KB.
The size of a message is fixed to 2.1KB.
The maximum size of a symbol and that of a comment are 64KB each.
3 When the number of steps of the PMC-SB2, SB3 ladder program is approx. 24,000, the
capacity of the ROM module must be 256KB.
4 These have no limit of size for each. However, the total size of sequence program (the sum total
of ladder, symbols/comments, messages, etc.) never exceed the storage size of sequence
program. The size of them influences the capacity of others.
5 As values indicated with an asterisk (*) in the table, former versions of the programming manual
and catalogs have listed the mean processing time of basic commands, but this manual lists
the execution time for one step. The actual ladder program execution performance (speed) of
each PMC has not been changed.

8
 1. SEQUENCE PROGRAM
B61863E/14 PMC SEQUENCE PROGRAM CREATING PROCEDURE

Table 1.1 PMC specifications (4)

Type of PMC
Specification PMCSC PMCSC3 PMCNB
of PMC

Program method language Ladder Ladder Ladder

C-language C-language C-language

Number of ladder level 3 3 3

1st level execution period 8 ms 8 ms 8 ms

Mean processing time of basic 0.15 0.15 0.15

command (s/ step) (s/ step) (s/ step)

Program capacity
D Ladder (step) (Note 1,3) Approx. 16,000 Approx. 16,000 Approx. 8,000
Approx. 24,000 Approx. 24,000 Approx. 16,000
(Note 4)
Approx. 24,000
(Note 4)
D Symbol, Comment 1 to 128KB 1 to 128KB 1 to 128KB
(Note 2,3)
D Message (Note 3) 0.1 to 64KB 0.1 to 64KB 0.1 to 64KB
D Language only 896KB max. 896KB max. 896KB max.

Command Basic command 12 kinds 14 kinds 14 kinds

Functioncommand 51 kinds 68 kinds 68 kinds

Internal relay (R) 1600 byte 1618 byte 1618 byte

Message request (A) 25 byte 25 byte 25 byte
Keepmemor
D Variable timer (T) 80 byte 80 byte 80 byte
D Counter (C) 80 byte 80 byte 80 byte
D Keep relay (K) 20 byte 20 byte 20 byte
D Data table (D) 3000 byte 3000 byte 3000 byte
Subprogram (P) 512 programs 512 programs
Label (L) 9999 labels 9999 labels
Fixed timer Timer No. 100 Timer No. 100 Timer No. 100
devices specified devices specified devices specified

I/O
D I/O link (I) 1024 points max. 1024 points max. 1024 points max.
(O) 1024 points max. 1024 points max. 1024 points max.
D I/O card (I) 156 points max. 156 points max.
(O) 120 points max. 120 points max.

Sequence program ROM MODULE ROM MODULE Flash ROM

128KB (16,000 128KB (16,000 64KB
steps option) steps option) (8,000 steps)
256KB (24,000 256KB (24,000 128KB
steps option) steps option) (16,000 steps)
512KB (24,000 512KB (24,000 256KB
steps option) steps option) (24,000 steps)
1MB (24,000 1MB (24,000 512KB
steps option) steps option) (24,000 steps)
1MB
(24,000 steps)

9
1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

NOTE
1 This is the number of ladder steps for the program only with
basic instructions. The use of functional instructions may
vary the number of ladder steps.
2 The size of a symbol and that of a comment of PMC-SC/SC3
are fixed 32KB. The size of message of PMC-SC/SC3 is
fixed 2.1KB. The size of a symbol and that of a comment
of PMC-NB are fixed 28KB. The size of message of
PMC-NB is fixed 2.1KB. The maximum size of a symbol and
that of a comment are 64KB each.
3 These have no limit of size for each. However, the total size
of sequence program (the sum total of ladder,
symbols/comments, messages, etc.) never exceed the
storage size of sequence program. The size of them
influences the capacity of others.
4 When the number of steps of the PMC-NB ladder program
is not less than 8,000, the OPTION DRAM is required.
(A02B-0162-J151, J152)

10
 1. SEQUENCE PROGRAM
B61863E/14 PMC SEQUENCE PROGRAM CREATING PROCEDURE

Table 1.1 PMC specifications (5)

Series 18
Series 16MODEL B/Series 18MODEL B
Model MODEL B
PMCSB3 PMCSC3 PMCSB4 PMCSC4 PMCSA1

Programming method Ladder

Ladder Ladder
Ladder Clanguage Ladder
language Clanguage Step sequence
Step sequece

Number of ladder level 2 3 2 3 2

Level-1 Cycle Time 8 ms 8 ms 8 ms 8 ms 8 ms
Basic Instruction Execution Time * 0.1 0.1 * 0.1 0.1 5.0
(s/ step) (s/ step) (s/ step) (s/ step) (s/ step)

Program capacity
D Ladder (step) (Note 1,3) Approx. 5, 000 Approx. 5, 000 Approx. 3, 000
Approx. 8, 000 Approx. 8, 000 Approx. 5, 000
Approx.12, 000 Approx.12, 000
Approx.16, 000 Approx.16, 000 Approx.16, 000 Approx.16, 000
Approx.24, 000 Approx.24, 000 Approx.24, 000 Approx.24, 000
D Symbol/Comment (Note 2,3) 1 to 128KB 1 to 128KB 1 to 128KB 1 to 128KB 1 to 128KB
D Message (Note 3)
D Language only 0.1 to 64KB 0.1 to 64KB 0.1 to 64KB 0.1 to 64KB 0.1 to 64KB
max. 896KB max. 896KB

Instruction (Basic) 14 kinds 14 kinds 14 kinds 14 kinds 12 kinds

(Functional) 67 kinds 69 kinds 67 kinds 69 kinds 49 kinds

Internal relay (R) 1618 byte 1618 byte 3200 byte 3200 byte 1100 byte
Message request (A) 25 byte 25 byte 125 byte 125 byte 25 byte
Non-volatile
D Var. Timer (T) 80 byte 80 byte 300 byte 300 byte 80 byte
D Counter (C) 80 byte 80 byte 200 byte 200 byte 80 byte
D Keep relay (K) 20 byte 20 byte 50 byte 50 byte 20 byte
D Data table (D) 3000 byte 3000 byte 8000 byte 8000 byte 1860 byte
Subprogram (P) 512 programs 512 programs 2000 programs 2000 programs
Label (L) 9999 labels 9999 labels 9999 labels 9999 labels
Fixed timer Timer No. 100 Timer No. 100 Timer No. 100 Timer No. 100 Timer No. 100
devices specified devices specified devices specified devices specified devices specified

Input/output
D I/O link (I) Max. 1024 points max. 1024 points max. 1024 points max. 1024 points max. 1024 points max.
(O) Max. 1024 points max. 1024 points max. 1024 points max. 1024 points max. 1024 points max.
D I/O card (I) Max. 312 points max. 312 points max. 312 points max. 312 points max. 312 points max.
(Note 4) (O) Max. 240 points max. 240 points max. 240 points max. 240 points max. 240 points max.
Sequence program Flash ROM Flash ROM Flash ROM Flash ROM Flash ROM
storage media 128KB (16,000 128KB (16,000 128KB (16,000 128KB (16,000 128KB
steps option or steps option) steps option or steps option)
less) 256KB (24,000 less) 256KB (24,000
256KB (24,000 steps option) 256KB (24,000 steps option)
steps option) 512KB (24,000 steps option) 512KB (24,000
steps option) steps option)
1MB (24,000 1MB (24,000
steps option) steps option)

11
1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

NOTE
1 This is the number of ladder steps for the program only with basic instructions. The use of
functional instructions may vary the number of ladder steps.
2 The size of a symbol and that of a comment are fixed 32KB. The size of message is fixed 2.1KB.
The maximum size of a symbol and that of a comment are 64KB each.
3 These have no limit of size for each. However, the total size of sequence program (the sum total
of ladder, symbols/comments, messages, etc.) never exceed the storage size of sequence
program. The size of them influences the capacity of others.
4 That is the maximum number when 2 I/O cards (with 156 inputs/120 outputs) are used.
5 As values indicated with an asterisk (*) in the table, former versions of the programming manual
and catalogs have listed the mean processing time of basic commands, but this manual lists
the execution time for one step. The actual ladder program execution performance (speed) of
each PMC has not been changed.
6 Application PMC for FANUC Series 16MODEL B loader control function is PMCSA1.

12
 1. SEQUENCE PROGRAM
B61863E/14 PMC SEQUENCE PROGRAM CREATING PROCEDURE

Table 1.1 PMC specifications (6)

Series 16MODEL C/Series 18MODEL C

Model
PMCSB5 PMCSC3 PMCSB6 PMCSC4

Programming method Ladder

Ladder Ladder
Ladder Clanguage
language Clanguage Step sequence
Step sequece

Number of ladder level 2 3 2 3

Level-1 Cycle Time 8 ms 8 ms 8 ms 8 ms

Basic Instruction Execution Time * 0.1 0.1 * 0.1 0.1

(s/ step) (s/ step) (s/ step) (s/ step)

Program capacity
D Ladder (step) (Note 1,3) Approx. 3, 000 Approx. 3, 000
Approx. 5, 000 Approx. 5, 000
Approx. 8, 000 Approx. 8, 000
Approx.12, 000 Approx.12, 000
Approx.16, 000 Approx.16, 000 Approx.16, 000 Approx.16, 000
Approx.24, 000 Approx.24, 000 Approx.24, 000 Approx.24, 000
Approx.32, 000 Approx.32, 000
D Symbol/Comment (Note 2,3) 1 to 128KB 1 to 128KB 1 to 128KB 1 to 128KB
D Message (Note 3) 0.1 to 64KB 0.1 to 64KB 0.1 to 64KB 0.1 to 64KB
D Language only max. 896KB max. 896KB

Instruction (Basic) 14 kinds 14 kinds 14 kinds 14 kinds

(Functional) 67 kinds 69 kinds 67 kinds 69 kinds

Internal relay (R) 1618 byte 1618 byte 3200 byte 3200 byte
Message request (A) 25 byte 25 byte 125 byte 125 byte
Non-volatile
D Var. Timer (T) 80 byte 80 byte 300 byte 300 byte
D Counter (C) 80 byte 80 byte 200 byte 200 byte
D Keep relay (K) 20 byte 20 byte 50 byte 50 byte
D Data table (D) 3000 byte 3000 byte 8000 byte 8000 byte
Subprogram (P) 512 programs 512 programs 2000 programs 2000 programs
Label (L) 9999 labels 9999 labels 9999 labels 9999 labels
Fixed timer Timer No. 100 Timer No. 100 Timer No. 100 Timer No. 100
devices specified devices specified devices specified devices specified

Input/output
D I/O link (I) Max. 1024 points max. 1024 points max. 1024 points max. 1024 points max.
(O) Max. 1024 points max. 1024 points max. 1024 points max. 1024 points max.
D I/O card (I) Max. 312 points max. 312 points max. 312 points max. 312 points max.
(Note 4) (O) Max. 240 points max. 240 points max. 240 points max. 240 points max.

Sequence program Flash ROM Flash ROM Flash ROM Flash ROM
storage media 128KB (16,000 128KB (16,000 steps 128KB (16,000 128KB (16,000 steps
steps option or less) option) steps option or less) option)
256KB (24,000 steps 256KB (24,000 steps 256KB (24,000 steps 256KB (24,000 steps
option) option) option) option)
512KB (24,000 steps 512KB (24,000 steps
option) option)
1MB (24,000 steps 1MB (24,000 steps
option) option)

13
1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

NOTE
1 This is the number of ladder steps for the program only with basic instructions. The use of
functional instructions may vary the number of ladder steps.
2 The size of a symbol and that of a comment are fixed 32KB. The size of message is fixed 2.1KB.
The maximum size of a symbol and that of a comment are 64KB each.
3 These have no limit of size for each. However, the total size of sequence program (the sum total
of ladder, symbols/comments, messages, etc.) never exceed the storage size of sequence
program. The size of them influences the capacity of others.
4 That is the maximum number when 2 I/O cards (with 156 inputs/120 outputs) are used.
5 Application PMC for FANUC Series 16MODEL C loader control function is PMCSA1.

14
 1. SEQUENCE PROGRAM
B61863E/14 PMC SEQUENCE PROGRAM CREATING PROCEDURE

Table 1.1 PMC specifications (7)

Series 21MODEL B/
Model Series 210MODEL B
PMCSA1 PMCSA3
Programming method
Ladder Ladder
language

Number of ladder level 2 2

1st level excution period 8 ms 8 ms

Mean processing time of basic command 5.0 * 0.15

(s/ step) (s/ step)

Program capacity
D Ladder (step) (Note 1,4) Approx. 3, 000 Approx. 3, 000
Approx. 5, 000 Approx. 5, 000
Approx. 8, 000
Approx.12, 000
Approx.16, 000
D Symbol/Comment (Note 2,4) 1 to 128KB 1 to 128KB
(Note 4)
D Message 0.1 to 64KB 0.1 to 64KB
D Language only

Command Basic command 12 kinds 14 kinds

Functioncommand 49 kinds 66 kinds

Internal relay (R) 1100 byte 1118 byte

Message request (A) 25 byte 25 byte
Keepmemory
D Variable timer (T) 80 byte 80 byte
D Counter (C) 80 byte 80 byte
D Keep relay (K) 20 byte 20 byte
D Data table (D) 1860 byte 1860 byte
Subprogram (P) 512 programs
Label (L) 9999 labels
Fixed timer Timer No. 100 Timer No. 100
devices specified devices specified

I/O
D I/O link (I) 1024 points max. 1024 points max.
(O) 1024 points max. 1024 points max.
D I/O card (I) 96 points max. 96 points max.
(O) 72 points max. 72 points max.
(Note 5) (Note 5)

Sequence program Flash ROM Flash ROM

128KB (Note 3) 128KB (Note 5)

15
1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

NOTE
1 This is the number of ladder steps for the program only with
basic instructions. The use of functional instructions may
vary the number of ladder steps.
2 The size of a symbol and that of a comment are fixed 32KB.
The size of message is fixed 2.1KB. The maximum size of
a symbol and that of a comment are 64KB each.
3 When extended memory is not specified in the 4082 series
(ordering drawing No.: A02B0210H020 or
A02B0210H022), the program capacity is 64KB.
4 These have no limit of size for each. However, the total size
of sequence program (the sum total of ladder,
symbols/comments, messages, etc.) never exceed the
storage size of sequence program. The size of them
influences the capacity of others.
5 Output points of I/O card in 4082 series are following ;
PMCSA1 : 64points, PMCSA3 : 64points
6 As values indicated with an asterisk (*) in the table, former
versions of the programming manual and brochure have
listed the mean processing time of basic commands, but this
manual lists the execution time for one step. The actual
ladder program execution performance (speed) of each
PMC has not been changed.
7 Application PMC for FANUC Series 21B loader control
function is PMCSA1.

16
 1. SEQUENCE PROGRAM
B61863E/14 PMC SEQUENCE PROGRAM CREATING PROCEDURE

Table 1.1 PMC specifications (8)

FANUC Series 16i/160i/18i/180i

Model PMCSA5 PMCSB5 PMCSB6
(Loader control)
Programmingmethod Ladder Ladder Ladder step sequence

Number of ladder levels 2 2 2

Firstlevel execution period 8 ms 8 ms 8 ms

Basic instruction processing time 5.0 sec/step 0.085 sec/step 0.085 sec/step

Program capacity
D Ladder (step) (Note 1,2) About 3,000 About 3,000 About 3,000
About 5,000 About 5,000 About 5,000
About 8,000 About 8,000 About 8,000
About 12,000 About 12,000 About 12,000
About 16,000 About 16,000
About 24,000 About 24,000
About 32,000
D Symbol & Comment (Note 2) 1KB to 128KB 1KB to 128KB 1KB to 128KB
D Message (Note 2) 0.1KB to 64KB 0.1KB to 64KB 0.1KB to 64KB

Instruction (Basic instruction) 12 14 14

(Functional instruction) 48 66 67

Internal relay (R) 1100 bytes 1618 bytes 3200 bytes

Message request (A) 25 bytes (200 points) 25 bytes (200 points) 125 bytes (1000 points)
Nonvolatile memory
D Variable timer (T) 80 bytes (40 each) 80 bytes (40 each) 300 bytes (150 each)
D Counter (C) 80 bytes (20 each) 80 bytes (20 each) 200 bytes (50 each)
D Keep replay (K) 20 bytes 20 bytes 50 bytes
D Data table (D) 1,860 bytes 3,000 bytes 8,000 bytes
Subprogram (P) 512 each 2000 each
Label (L) 9999 each 9999 each
Fixed timer 100 each 100 each 100 each
(Timer number specification)

I/O
D I/O link (Input) 1024 points maximum 1024 points maximum 2048 points maximum
(Note 4) (Note 5)
(Output) 1024 points maximum 1024 points maximum 2048 points maximum
(Note 5)

Sequence program storage media Flash ROM Flash ROM Flash ROM
128KB 128KB (16,000 128KB (16,000
steps option or less) steps option or less)
256KB (24,000 256KB (24,000
steps option or less) steps option)
384KB(32,000/40,000
steps option)

17
1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

NOTE
1 This is the number of ladder steps for the program only with basic instructions. The use of
functional instructions may vary the number of ladder steps.
2 These have no limit of size for each. However, the total size of sequence program (the sum total
of ladder, symbols/comments, messages, etc.) never exceed the storage size of sequence
program. The size of them influences the capacity of others.
3 The PMCSA1 can be used with the loader control function of the FANUC Series
16i/18i/21i/160i/180i/210i.
4 For I/O of the FANUC Series 16i/18i/21i/160i/180i/210i, only the I/O link is used.
5 1024 points maximum (channel 1)+1024 points maximum (channel 2)= 2048 points maximum.
You can use the I/O Link channel 2 only when CNC hardware support the I/O Link 2channel
and optional I/O Link expansion is provided with CNC.

18
 1. SEQUENCE PROGRAM
B61863E/14 PMC SEQUENCE PROGRAM CREATING PROCEDURE

Table 1.1 PMC specifications (9)

FANUC Series
FANUC Series 21i/210i
21i/210i
Model
PMCSA1 PMCSA5 PMCSA5 PMCSB6
(Loader control)
Ladder
Programmingmethod Ladder Ladder Ladder
Step sequence

Number of ladder levels 2 2 2 2

Firstlevel execution period 8 ms 8 ms 8 ms 8 ms

Basic instruction 5.0 sec/ step 5.0 sec/ step 0.085 sec/ step 0.085 sec/ step
processing time

Program capacity About 3,000 About 3,000 About 3,000 About 3,000
D Ladder (step) About 5,000 About 5,000 About 5,000 About 5,000
(Note 1,2) About 8,000 About 8,000 About 8,000
About 12,000 About 12,000 About 12,000
About 16,000 About 16,000
About 24,000
About 32,000
D Symbol & Comment 1KB to 128KB 1KB to 128KB 1KB to 128KB 1KB to 128KB
(Note 2)
D Message (Note 2) 0.1KB to 64KB 0.1KB to 64KB 0.1KB to 64KB 0.1KB to 64KB

Instruction
(Basic instruction) 12 12 14 14
(Functional instruction) 49 49 66 67

Internal relay (R) 1100 bytes 1100 bytes 1118 bytes 3200 bytes
Message request (A) 25 bytes (200 points) 25 bytes (200 points) 25 bytes (200 points) 125 bytes (1000 points)
Nonvolatile memory
D Variable timer (T) 80 bytes (40 each) 80 bytes (40 each) 80 bytes (40 each) 300 bytes (150 each)
D Counter (C) 80 bytes (20 each) 80 bytes (20 each) 80 bytes (20 each) 200 bytes (50 each)
D Keep replay (K) 20 bytes 20 bytes 20 bytes 50 bytes
D Data table (D) 1860 bytes 1,860 bytes 1860 bytes 8,000 bytes
Subprogram (P) 512 each 2000 each
Label (L) 9999 each 9999 each
Fixed timer 100 each 100 each 100 each 100 each
(Timer number
specification)

I/O
D I/O link (Input) 1024 points maximum 1024 points maximum 1024 points maximum 2048 points maximum
(Note 4) (Note 5)
(Output) 1024 points maximum 1024 points maximum 1024 points maximum 2048 points maximum
(Note 5)

Sequence program storage Flash ROM Flash ROM Flash ROM Flash ROM
media 128KB 128KB 128KB 128KB (16,000
steps option or less)
256KB (24,000
steps option)
384KB(32,000/40,000
steps option)

19
1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

NOTE
1 This is the number of ladder steps for the program only with basic instructions. The use of
functional instructions may vary the number of ladder steps.
2 These have no limit of size for each. However, the total size of sequence program (the sum total
of ladder, symbols/comments, messages, etc.) never exceed the storage size of sequence
program. The size of them influences the capacity of others.
3 The PMCSA1 can be used with the loader control function of the FANUC Series
16i/18i/21i/160i/180i/210i.
4 For I/O of the FANUC Series 16i/18i/21i/160i/180i/210i, only the I/O link is used.
5 1024 points maximum (channel 1)+1024 points maximum (channel 2)= 2048 points maximum.
You can use the I/O Link channel 2 only when CNC hardware support the I/O Link 2channel
and optional I/O Link expansion is provided with CNC.

20
 1. SEQUENCE PROGRAM
B61863E/14 PMC SEQUENCE PROGRAM CREATING PROCEDURE

Table 1.1 PMC specifications (10)

FUNAC Power Mate iMODEL D/H

Model
PMCSB5 PMCSB6
Programmingmethod Ladder Ladder step sequence
Number of ladder levels 2 2
Level1 cycle time 8 ms 8 ms
Basic instruction execution time 0.085 0.085
( sec/step) ( sec/step)
Program capacity
D Ladder (step) (Note 1,2) Approx. 5,000 Approx. 5,000
Approx. 12,000 Approx. 12,000
Approx. 16,000 Approx. 16,000
Approx. 24,000 Approx. 24,000
Approx. 32,000

D Symbol/Comment (Note 2) 1 to 128KB 1 to 128KB

D Message (Note 2) 0.1 to 64KB 0.1 to 64KB
Instruction (Basic) 14 kinds 14 kinds
(Functional) 67 kinds 67 kinds

Internal relay (R) 1618 bytes 3200 bytes

Message request (A) 25 bytes (200 points) 125 bytes (200 points)
Nonvolatile
D Var.timer (T) 80 bytes (40 points) 300 bytes (150 points)
D Counter (C) 80 bytes (20 points) 200 bytes (50 points)
D Keep replay (K) 20 bytes 50 bytes
D Data table (D) 3000 bytes 8000 bytes
Subprogram (P) 512 programs 2000 programs
Label (L) 9999 labels 9999 labels
Fixed timer Timer No.100 Timer No.100
devices specified devices specified
Input/Output
D I/O Link (I) Max. 1024 points max. 1024 points max.
(master) (O) Max. 1024 points max. 1024 points max.
D I/O Link (I) Max. 256 points max. 256 points max.
(slave) (O) Max. 256 points max. 256 points max.
D Builtin I/O (I) Max. 32 points max. 32 points max.
(O) Max. 24 points max. 24 points max.
Sequence program storage media Flash ROM Flash ROM
128KB (16,000 128KB (16,000
steps option or less) steps option or less)
256KB (24,000 256KB (24,000
steps option) steps option)
384KB (32,000
steps option)

NOTE
1 This is the number of ladder steps for the program only with
basic instructions. The use of functional instructions may
vary the number of ladder steps.
2 These have no limit of size for each. However, the total size
of sequence program (the sum total of ladder, symbols/
comments, messages, etc.) never exceed the storage size
of sequence program. The size of them influences the
capacity of others.

21
1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

Table 1.1 PMC specifications (11)

Series 15MODEL B
Model PMCNB PMCNB2
(4048 Series)
Programmingmethod language Ladder Ladder
Clanguage Clanguage
Step sequence
Number of ladder level 3 3
Level1 Cycle Time 8 ms 8 ms
Basic instruction 0.1 0.1
Execution Time (s/step) (s/step)
Program capacity Approx. 8,000 Approx. 8,000
S Ladder(step) (Note 1,2) Approx.16,000 Approx.16,000
Approx.24,000 Approx.24,000
S Symbol/Comment 1 to 128KB 1 to 128KB
(Note 2)
S Message (Note 2) 0.1 to 64KB 0.1 to 64KB

S Language only max. 896KB max. 896KB

Instruction (Basic) 14 kinds 14 kinds

(Function) 69 kinds 69 kinds
Internal relay (R) 1618 bytes 3200 bytes
Message request (A) 25 bytes 125 bytes
Nonvolatile
S Var.Timer (T) 80 bytes 300 bytes

S Counter (C) 80 bytes 200 bytes

S Keep relay (K) 20 bytes 50 bytes

S Data table (D) 3000 bytes 8000 bytes

Subprogram (P) 512 programs 2000 programs

Label (L) 9999 labels 9999 labels

Fixed timer Max 100 timers Max 100 timers

specified by specified by
timer No. timer No.
Input/output
S I/O link (I) max 1024 points. max 1024 points.
(O) max 1024 points. max 1024 points.
S I/O card (I)
(O)
Sequence program Flash ROM Flash ROM
storage media 64 KB (8,000 64 KB (8,000
steps) steps)
128 KB (16,000 128 KB (16,000
steps) steps)
256 KB (24,000 256 KB (24,000
steps) steps)
512 KB (24,000 512 KB (24,000
steps) steps)
1 MB (24,000 1 MB (24,000
steps) steps)

22
 1. SEQUENCE PROGRAM
B61863E/14 PMC SEQUENCE PROGRAM CREATING PROCEDURE

NOTE
1 This is the number of ladder steps for the program only with
basic instructions. The use of functional instructions may
vary the number of ladder steps.
2 These have no limit of size for each. However, the total size
of sequence program (the sum total of ladder, symbols/
comments, messages, etc.) never exceed the storage size
of sequence program. The size of them influences the
capacity of others.
3 Please refer to (4) for PMCNB(4047 Series).
The abovementioned table is a value for PMCNB/NB2
(4048 Series).

23
1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

Table 1.1 PMC specifications (12)

FANUC Series 15i

Model
PMCNB6
Programmingmethod Ladder
step sequence (optional)
Number of ladder levels 3
Firstlevel execution period 8 ms
Basic instruction processing time 0.085 sec/step
Program capacity
S Ladder (step) (Note 1,2) About 32,000 maximum
S Symbol/comment(Note 2) 1 to 128KB
S Message (Note 2) 0.1 to 64KB
Instruction (Basic instruction) 14
(Functional instruction) 64
Internal relay (R) 3200 byte
Message request (A) 125 bytes (1000 points)
Nonvolatile memory
S Variable timer (T) 300 bytes (150 points)
S Counter (C) 200 bytes (50 points)
S Keep relay (K) 50 byte
S Data table (D) 8000 byte
Subprogram (P) 2000 each
Label (L) 9999 each
Fixed timer 100 each (timer number specification)
I/O
S I/O link (Input) 1024 points maximum
(Note 3) (Output) 1024 points maximum
Sequence program storage media Flash ROM
128KB (16,000steps option or less)
256KB (24,000 steps)
384KB (32,000steps option)

NOTE
1 This is the number of ladder steps for the program only with
basic instructions. The use of functional instructions may
vary the number of ladder steps.
2 These have no limit of size for each. However, the total size
of sequence program (the sum total of ladder,
symbols/comments, messages, etc.) never exceed the
storage size of sequence program. The size of them
influences the capacity of others.
3 The one and only I/O of the FANUC Series 15i is the I/O
Link.

24
 1. SEQUENCE PROGRAM
B61863E/14 PMC SEQUENCE PROGRAM CREATING PROCEDURE

Table 1.1 PMC specifications (13)

Series 21iB Series 16i/18i/21iB

Model PMCSA1 PMCSA1 PMCSB7
(Loader control)
Programmingmethod Ladder Ladder Ladder Clanguage
Number of ladder levels 2 2 3
Firstlevel execution period 8 ms 8 ms 8 ms
Basic instruction processing time 5.0 sec/step 5.0 sec/step 0.033 sec/step
Program capacity
S Ladder (step) (Note 1,2) About 3,000 About 3,000 About 3,000
About 5,000 About 5,000 About 5,000
About 8,000 About 8,000
About 12,000 About 12,000
About 16,000
About 24,000
About 32,000
About 40,000
About 48,000
About 64,000
S Symbol & comment (Note 2) 1 to 128KB 1 to 128KB 1KB or more
S Message (Note 2) 0.1 to 64KB 0.1 to 64KB 8KB or more
Instruction (Basic instruction) 12 12 14
(Functionalinstruction) 48 48 69
Internal Relay (R) 1100 bytes 1,100 byte 8,500 byte
Extra Relay (E) 8,000 byte
Message Request (A) 200 points (25 byte) 200 points (25 byte) 2,000 points (500 byte,
2 bit/point)
Nonvolatile Memory
S Data Tables (D) 1,860 byte 1,860 byte 10,000 byte
S Variable Timers (T) 80 bytes (20 each) 40 points (80 byte) 250 points (1,000 byte,
4 byte/point)
S Fixed Timers 20 bytes 100 points 500 points (Timer number
specify)
S Counters (C) 1860 bytes 20 points (80 byte) 100 points (400 byte,
4 byte/point)
Fixed Counters (C) 100 points (200 byte,
2 byte/point)
S Keep Relays (K) 20 byte 120 byte
Subprograms (P) 100 each 2000
Labels (L) 9999
I/O I/O link
S Input 1024 points maximum 1024 points maximum 2048 points maximum (Note 3)
S Output 1024 points maximum 1024 points maximum 2048 points maximum (Note 3)
Sequence program storage media Flash ROM Flash ROM Flash ROM
128KB 128KB 128KB (16,000steps option or
less)
256KB (24,000steps option)
384KB(32,000/40,000steps
option)
512KB (48,000steps option)
768KB (64,000steps option)

25
1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

NOTE
1 This is the number of ladder steps for the program only with basic instructions. The use of
functional instructions may vary the number of ladder steps.
2 These have no limit of size for each. However, the total size of sequence program (the sum total
of ladder, symbols/comments, messages, etc.) never exceed the storage size of sequence
program. The size of them influences the capacity of others.
3 Maximum of basic input/output points are 1024/1024 points. I/O Link expansion option extends
the maximum to 2048/2048 points.

26
 1. SEQUENCE PROGRAM
B61863E/14 PMC SEQUENCE PROGRAM CREATING PROCEDURE

Table 1.1 PMC specifications (14)

Series 0iA
Model
PMCSA1 PMCSA3
Programmingmethod Ladder Ladder
Number of ladder levels 2 2
Level1 cycle time 8 ms 8 ms
Basic instruction execution time 5.0 sec/step 0.15 sec/step
Program capacity
S Ladder (step) (Note 1) Approx. 3,000 Approx. 3,000
Approx. 5,000 Approx. 5,000
Approx. 8,000
Approx. 12,000
Approx. 16,000
S Symbol/Comment (Note 2,3) 1 to 128KB 1 to 128KB
S Message (Note 2,3) 0.1 to 64KB 0.1 to 64KB
Instruction (Basic) 12 kinds 14 kinds
(Functional) 49 kinds 66 kinds
Internal relay (R) 1100 bytes 1118 bytes
Message request (A) 25 bytes (200 points) 25 bytes (200 points)
Nonvolatile
S Var.timer (T) 80 bytes (40 each) 80 bytes (40 each)
S Counter (C) 80 bytes (20 each) 80 bytes (20 each)
S Keep replay (K) 20 bytes 20 bytes
S Data table (D) 1860 bytes 1860 bytes
Subprogram (P) 512 programs
Label (L) 9999 labels
Fixed timer Timer No.100 devices specified Timer No.100 devices specified
Input/Output
S I/O Link (I) Max. 1024 points maximum 1024 points maximum
(master) (O) Max. 1024 points maximum 1024 points maximum
S Builtin I/O (I) Max. 96 points max. 96 points max.
(O) Max. 64 points max. 64 points max.
Flash ROM Flash ROM
128KB 128KB

NOTE
1 This is the number of ladder steps for the program only with basic instructions. The use of
functional instructions may vary the number of ladder steps.
2 These have no limit of size for each. However, the total size of sequence program (the sum total
of ladder, symbols/comments, messages, etc.) never exceed the storage size of sequence
program. The size of them influences the capacity of others.
3 The size of a symbol and that of a comment are fixed 32KB. The size of message is fixed 2.1KB.
The maximum size of a symbol and that of a comment are 64KB each.

27
1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

1.2
SUMMARY OF
SPECIFICATION OF
LADDER PROGRAM Table 1.2 Summary of specification of ladder program (1)

Model PMCPA1 PMCPA3 PMCP

PMC Interfaces between the PMC and CNC Compatible Incompatible
address (F and G) (Note 2)

Interfaces between the PMC and Compatible Incompatible

machine (X and Y) (Note 2)

Others (R, A, C, K, D, T) Compatible Incompatible

Ladder ROM format (object) Incompatible (Note 1)

program
compatibility Source format (mnemonic) Compatible Incompatible
(Note 2)

System Divided system Not provided (Note 3) Provided

Undivided system Provided Not provided

Basic commands Compatible

Function DISP (SUB49) Not provided (Note 4) Provided

commands
COM Coil count specification Not provided (Note 5) Provided
(SUB9)
COME (SUB29) specification Provided

JMP Coil count specification Not provided (Note 5) Provided

(SUB10)
JMPE (SUB30) specification Provided

NOTE
1 The same ROM cannot be shared by different models. The
ROM must be rewritten using the offline programmer.
2 It is possible that convert the signal address by the
operation of SIGNAL ADDRESS CONVERSION
(APPENDIX G).
3 The setting item of system parameter IGNORE DEVIDE
CODE is not provided.
4 Use the DISPB (SUB41) command instead.
5 The range of the COM (SUB9) and JMP (SUB10)
commands cannot be specified with the number of coils.
Specify the range with the COME (SUB29) and JMPE
(SUB30) commands. If specify the number of coils, no error
messages will be displayed while editing, but ALARM093
will be displayed when send the data to RAM.

28
 1. SEQUENCE PROGRAM
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Table 1.2 Summary of specification of ladder program (2)

PMC
PMC SB3/ PMC
PMC PMC PMC PMC PMC
Model SA3/ SB4/ SC3/
SA1 SA2 SB SB2 SC
SA5 SB5/ SC4
SB6
PMC address Interfaces between the PMC and CNC (F and
Compatible (Note 8)
G)
Interfaces between the PMC and machine (X
Compatible
and Y)
Subprogram, label (P and L) Not
Not provided Provided Not provided Provided Provided
provided
Others (R, A, C, K, D, T) Compatible (Note 1)
Ladder ROM format (object) Incompatible (Note 2)
program
compatibility Source format (mnemonic) Compatible (Note 3)

System Divided system

Not provided (Note 4) Provided
Not provided
Provided
Not
(Note 4) provided
Undivided system Provided
Structuring Sub program
Unusable Usable Unusable Usable
Un-
Usable
usable
Basic commands Compatible
Function END3 (SUB48) Not provided Provided
commands DISP (SUB49) Not provided (Note 5) Provided
COM Coil count specification Not
Not provided
(SUB9) Not provided (Note 6) Provided Provided provided
(Note 6)
(Note 6)
COME (SUB29) specification Provided
JMP Coil count specification Not
Not provided
(SUB10) Not provided (Note 6) Provided Provided provided
(Note 6)
(Note 6)
JMPE (SUB30) specification Provided
FNC9X (SUB9X) Not provided Provided
MMCWR (SUB98), MMCWW (SUB99)
Provided (Note 7) Provided
MMC3R (SUB88), MMC3W (SUB89) (Note 7)
MOVB (SUB43), MOVW (SUB44) , Not
MOVN (SUB45)
Not provided Provided Not provided Provided
provided
Provided

DIFU (SUB57), DIFD (SUB58) Not

Not provided Provided Not provided Provided
provided
Provided

AND (SUB60), OR (SUB61) Not

NOT (SUB62), EOR (SUB59)
Not provided Provided Not provided Provided
provided
Provided

Function Commands for subprogram

command END (SUB64) , Not
Not provided Provided Not provided Provided
provided
Provided
(for structured CALL (SUB65), CALLU (SUB66) ,
programming) SP (SUB71), SPE (SUB72)
Extended jump command
Not
JMPB (SUB68), JMPC (SUB73) Not provided Provided Not provided Provided
provided
Provided
LBL (SUB69)

29
1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

NOTE
1 The internal relay and the data table in nonvolatile memory
for the PMC-SB3, SC, SC3 are extended, compared with
those for other models.
2 The same ROM cannot be shared by different models. The
ROM must be rewritten using the offline programmer.
However, the ROM for the PMCSA2 can be used for the
PMCSA3 and the ROM for the PMCSB2 can be used for
the PMCSB3.
3 The program can be converted by reinputting it after it is
output in a source format.
4 The setting item of system parameter IGNORE DEVIDE
CODE is not provided.
5 Use the DISPB (SUB41) command instead.
6 The range of the COM (SUB9) and JMP (SUB10)
commands cannot be specified with the number of coils.
Specify the range with the COME (SUB29) and JMPE
(SUB30) commands.
7 For the FS18A (PMCSA1/SA2/SA3), only the MMCIII can
be used. For the FS18B, the MMCIII and MMCIV can be
used.
For the FS21B (PMCSA1/SA3), the MMCIV can be used.
For the FS16i/18i/21i, the MMCIV can be used.
For the FS16C/18C, the MMCIV can be used.
8 In the PMCSB4, SB6, and SC4, interface extension is
made. The extended portion of the interface is not
compatible with other PMCs.

30
 1. SEQUENCE PROGRAM
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Table 1.2 Summary of specification of ladder program (3)

Model PMC PMC PMC

NA NB NB2
Series (4046) (4047) (4048)
(4048)
PMC address Interfaces between the PMC and CNC (F and G) Incompatible

Interfaces between the PMC and machine Compatible

(X and Y)
Subprogram, label (P and L) Not
Provided
provided

Others (R, A, C, K, D, T) Compatible (Note 1)

Ladder ROM format (object) Incompatible (Note 2)

program
compatibility Source format (mnemonic) Compatible (Note 3)

System Divided system Provided Not provided

Undivided system Not Provided

provided

Structuring Subprogram Usable Unusable

Step sequence Unusable Usable

Basic commands Compatible

Function END3 (SUB48) Provided

commands
DISP (SUB49) Provided Not provided

COM Coil count spesification Provided Not provided

(SUB9)
COME (SUB29) specification Provided

JMP Coil count specification Provided Not provided

(SUB10)
JMPE (SUB30) specification Provided

FNC9X (SUB9X) Provided

LIBRY (SUB60), LEND (SUB61) Provided Not provided

MMCWR (SUB98), MMCWW (SUB99)

MMC3R (SUB88), MMC3W (SUB89)
MOVB (SUB43), MOVW (SUB44)
Not
MOVN (SUB45) provided
Provided
DIFU (SUB57), DIFD (SUB58)
AND (SUB60), OR (SUB61)
NOT (SUB62), EOR (SUB59)
Function S Command for subprogram
command END (SUB64) , CALL (SUB65) , CALLU Not
Provided
(for structured (SUB66) , provided
programming) SP (SUB71) , SPE (SUB72)
S Extended jump command Not
Provided
JMPB (SUB68) , JMPC (SUB73) , LBL (SUB69) provided

NOTE
1 Management of internal relay address and that of datatable
are different between the PMCNB/NB2 and the PMCNA.
2 The same ROM cannot be shared by different models.
The ROM must be rewritten using the offline programmer.
3 The data can be converted by outputting in the source
format and then inputting again.
Moreover, a part of functional instruction is not compatible
between PMCNB/NB2 and PMCNA.

31
1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

Table 1.2 Ladder Compatibility (4)

FANUC Series 15B FANUC Series 15i

Model
PMCNB PMCNB2 PMCNB6
PMC address PMCCNC interface (F, G) Compatible(NOTE 1)
PMCmachine interface (X, Y) Compatible
Area used by management software (K) K17 to K19 K900 to K909
Ladder ROM format (object) Not compatible Compatible(NOTE 2)
compatibility
Source format (mnemonic) Compatible
Basic instruction Compatible
Functional FNC9X(SUB9X) Yes No
instruction MMC3R(SUB88)
MMC3W(SUB89)
MMCWR(SUB98)
MMCWW(SUB99)

User program (C) Yes Yes(NOTE 3)

User program (step sequence) No Yes Yes (optional)
Sequence program automatic operation K17#2=1 K900#2=1 K900#2=0

NOTE
1 Compatibility is not maintained for the interface unique to
the Series 15i.
2 The PMCNB6 of the Series 15i is highly compatible with
the PMCNB2 of the Series 15B. The PMCNB2 and
PMCNB6 differ from each other in:
(1)Execution timedependent ladder
As instruction execution becomes faster, the following
changes may occur in the execution timing:
S Change in the execution cycle of the second ladder
level
S Change in timing for the secondlevel split and
firstlevel execution
S Change in timing for ladder execution and I/O transfer
(2)Window functions
The functional instructions that can be used vary
between the PMCNB2 and PMCNB6. See Chapter 5,
PMC Functional Instructions in Part I, PMC Sequence
Program.
(3)Screen manipulation
The operating procedure for the PMC screen for the
PMCNB6 of the 15i varies slightly from that for the
PMCNB2 of the 15B.
See Chapter 7, PMCNB6 Screen Manipulation, in
Part II, PMC Manipulation.
(4)Step sequence
For the PMCNB6, the step sequence is optional.
3 The C option is necessary.

32
 1. SEQUENCE PROGRAM
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Table 1.2 Ladder Compatibility (5)

16i/18i/21iA 16i/18i/21iB
Model
SA5 SB5 SB6 SB7
PMC address PMCCNC interface (F, G) F0 to F255 Expanded to F0 Expanded to F0
G0 to G255 to F511 and G0 to F767 and G0
to G511 to G767
PMCmachine interface (X, Y) X0 to X127 X200 to X327 Compatible
Y0 to Y127 and Y200 to
Y327 are added.
Area used by management software (K) K17 to K19 Changed to Expanded to
K900 to K909 K900 to K919
Basic instruction Compatible
Function END3 No Yes
instruction CTRB (additional)
MOVD
DISP Yes No

The above table lists the differences to be noted on upward conversion to

the PMCSB5, PMCSB6, or PMCSB7. Simple conversion in the
reverse direction cannot be performed generally because functions such
as the PMC address ranges are limited.

33
1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

CAUTION
1 The above table does not contain simple addition of reserved areas for PMC addresses that
are not used by the ladder.
2 Execution timedependent ladder
As instruction execution becomes faster, the following changes may occur in the execution
timing:
S Change in the execution cycle of the second ladder level
S Change in timing for the secondlevel split and firstlevel execution
S Change in timing for ladder execution and I/O transfer
A ladder which can be operated on the 16i/18i/21iA must also be checked for operation on
the 16i/18i/21iB system.
3 Changes in memory capacities required for a sequence program (PMCSB7)
As described in Section 2.8, the memory capacities required for the system and
symbol/comment data have been changed. As a result, the capacity of flash ROM is increased
as compared with the PMCSA5/SB5/SB6, even for the same source program. If a created
sequence program exceeds the capacity of flash ROM, add the step count option or delete
unnecessary symbols and comments.
4 Screen display and operation
The PMCSB7 has much the same screen display/operation system as the
PMCSA5/SB5/SB6. Some operations for the PMCSA5/SB5/SB6 have been modified to
improve operability and functionality, however. The same goes for the PMCSA1. For details,
see Chapter 1, SCREEN OPERATION FOR PMCSA1/SB7 in Part V.
5 PMC parameter input/output (PMCSB7)
With increase in size of a PMC parameter (T, C, K, and D areas), the data format used for
inputting PMC parameters from a memory card or floppy disk (FANUC Handy File) or outputting
them to it on the PMC I/O screen has been extended.
S PMC parameters output by the PMCSA5/SB5/SB6 can be read by the PMCSB7.
S PMC parameters output by the PMCSB7 cannot be read by the PMCSA5/SB5/SB6.
An extension relay (E area) has been added as a PMC address. A PMC parameter input or
output by the PMCSB7 contains the E area. If a PMC parameter output by the PMCSB7 is
read, the E area is initialized to the status when the PMC parameter is output.

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 1. SEQUENCE PROGRAM
B61863E/14 PMC SEQUENCE PROGRAM CREATING PROCEDURE

1.3 This is paragraph outlines functions of a sequence program before

explaining the programming work.
WHAT IS A
SEQUENCE A sequence program is a program for sequence control of machine tools
and other systems.
PROGRAM?
A program is defined as a processing procedure to enable CPU to execute
arithmetic processing.
This program is converted into a format (machine language instructions)
to enable CPU to execute decoding and arithmetic processing, and stored
into the RAM or ROM memory.
The CPU reads out instructions of the program stored into the memory
at high speed every instruction, and executes the program by arithmetic
operation.
The programming of a sequence program begins with the production of
a ladder diagram which serves as a processing procedure for arithmetic
processing by CPU.
This ladder program is produced using PMC instructions.
After producing the ladder diagram, the processing sequence of this
ladder diagram is converted into machine language instructions, and
stored into the memory (program input).
Conversion into the machine language instructions and storage into the
memory are done by the PMC programmer. The PMC programmer is a
function to produce a program.
The sequence program being stored into the memory is sequentially read
out into the PMCs CPU every instruction at high speed and executed.
Fig. 1.3 shows this relation.
The CPU reads out input circuit signals of address X0.0 by RD X0.0
instruction, and sets them into an operation register. Then, the CPU
executes AND operation with internal relay states at address R10.0
according to the AND R10.1 instruction, and sets these results into the
operation register.
The CPU executes instructions at high speed and outputs arithmetic
results to the address Y0.0 output circuit.

35
1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

PMC (Programmable Machine Controller)

CPU

Sequence program memory

A B D W RD X0.0
Sequence
AND R10.1
X0.0 R10.1 R20.3 Y0.0 program input
C OR X6.1
AND.NOT R20.3
X6.1
WRT Y0.0

Controlled system, such as machine

tools and other systems
Input circuit
X0.0
X6.1

Output circuit
Y0.0

Internal relay (RAM)

R10.1
R20.3

Fig. 1.3 Execution of sequence program by PMC

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 1. SEQUENCE PROGRAM
B61863E/14 PMC SEQUENCE PROGRAM CREATING PROCEDURE

1.4 After deciding the control object specifications and calculating the
number of input/output signal points, create the interface specifications.
CREATION OF Use the input/output signal interface tables in the CONNECTING
INTERFACE MANUAL for the creation of the interface specifications. Enter the signal
SPECIFICATIONS names (within six characters) in the input/output signal interface table
according to the type of the connected signals. For the input/output
(STEPS 1 TO 3)
signals, see CONNECTION MANUAL.

1.5 Express the control operations decided by step 2 by use of the ladder
diagram (relay circuit diagram). For the functions of the timer, counter,
CREATION OF etc. which cannot be expressed with the relay symbols (i.e. the functional
LADDER DIAGRAM instructions), express them with the symbols assigned to the functional
(STEP 4) instructions.
In the offline programmer and built-in editing function, the sequence
program can be entered in the ladder diagram format from the keys of the
CRT/MDI panel or from the keys of the keyboard of the SYSTEM P
series.
Also, the entered sequence program can be output to the printer in the
ladder diagram format using the SYSTEM P series.
Therefore, entry can be performed while the ladder diagram is created on
the CRT screen at the time of sequence program entry. Thus no ladder
diagram may be prepared in advance.
However, in order to shorten the time occupied by the equipment for the
creation of the sequence program or to efficiently create the sequence
program, it is recommended to prepare the ladder diagram in advance.
The ladder diagram is used as a maintenance diagram by the personnel in
charge of maintenance in FANUC, the machine tool builder and end user
in the world. Therefore, the ladder diagram must be easy to understand.
Signal names (max. six characters) can be entered to the input/output
signals, comments (max. 30 characters) can be entered to the relay coil,
and comments (max. 30 characters) can be entered to the input/output
signals of the address tables at the time of entry of the sequence program.
Be sure to enter understandable signal names and comments as much as
possible.

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1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

1.6 In the coding, the contents of control expressed in the ladder diagram are
converted into PMC instructions. In the case of using the offline
CODING (STEP 5) programmer or ladder diagram editting, since sequence program entry can
be performed in the simple ladder diagram format, it is normally
unnecessary to perform coding.
Coding is necessary only when the sequence program is punched on a
paper tape and entered from the paper tape.
Examples of the ladder diagram and the coding are shown in Fig. 1.6.

FIN
MF MF SF TF
Miscellaneous
function
F7.0 F 7.0 F 7.2 F 7.3 finish signal
SF G4.3

F7.2
TF MFIN SFIN TFIN

F7.3 R211.7 R211.5 R211.6

Address number,
Step number Instruction Remark
bit number
850 RD F7.0 MF
851 OR F7.2 SF
852 OR F7.3 TF
853 RD.NOT.STK F7.0 MF
854 OR R211.7 MFIN
856 AND.STK
857 RD.NOT.STK F7.2 SF
858 OR R211.5 SFIN
859 AND.STK
860 RD.NOT.STK F7.3 TF
861 OR R211.6 TFIN
862 AND.STK
863 WRT G4.3 FIN

Fig. 1.6

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 1. SEQUENCE PROGRAM
B61863E/14 PMC SEQUENCE PROGRAM CREATING PROCEDURE

1.7 The sequence program can be entered in five ways as follows:

SEQUENCE (1) Entry with CRT/MDI keys
PROGRAM ENTRY The sequence program is entered in the ladder diagram format by
pressing the keys of the CRT/MDI.
(STEPS 6, 7)
(2) Entry with keys of SYSTEM P series keyboard
The sequence program is entered in the mnemonic symbol by
pressing the keys of SYSTEM P series keyboard.
(3) Entry from PPR of SYSTEM P series
The sequence program punched on a paper tape is read out of the PPR
and stored in the memory of the SYSTEM P series.
(4) Entry form floppy disk of SYSTEM P series
This method is used when a completed sequence program is slightly
changed. The sequence program written in the floppy disk is stored
in the memory of SYSTEM P series.
(5) Entry form ROM Writer
This method is used when a completed sequence program is slightly
changed. The sequence program written in the ROM is stored from
the PMC Writer or FA Writer into P-G or Debugging RAM.

1.8 Check the sequence program and write it into the ROM after check is over.
The sequence program can be checked in two ways.
SEQUENCE
PROGRAM CHECK (1) Check by simulator
Instead of the machine, connect a simulator (consisting of lamps and
AND WRITE INTO switches). Instead of using input signals from the machine, enter
ROM (STEPS 8 TO 11) signals by turning on and off the switches according to the machine
movement. Check the output signals on the basis of the activation
of the lamps.
(2) Check by system operation
Perform checks by connecting the machine. Since it sometimes
happens that unexpected operations may be executed depending on
a sequence program, arrange for safety before starting operations.
(3) Writing into ROM
When check of the sequence program is over, write the sequence
program into the ROM. The ROMs to be used are as follows. Then,
the ROM into the CNC unit, and deliver it as a regular product to an
end user. Writing of the sequence program into the ROM,
maintenance and control thereof shall be performed by the machine
tool builder. For this purpose, FANUC provides the PMC Writer or
FA Writer as the ROM writer and the ROM or the ROM module that
is the PC board on which a ROM chip is mounted. Be sure to use
these devices for entering a sequence program in ROMs.

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1. SEQUENCE PROGRAM
CREATING PROCEDURE PMC SEQUENCE PROGRAM B61863E/14

1.9 (1) Storage and control of sequence program

After debugging, the sequence program should be stored and
STORAGE AND controlled by the machine tool builder. It can be stored in the
CONTROL OF following ways:
SEQUENCE (a) Storing in ROM
PROGRAM The sequence program can be stored in the ROM. For control,
(STEPS 12 TO 14) enter the drawing number, edition number, etc. of the machine
tool builder into the label provided in the ROM, and attach it to
the ROM for control. The same control is necessary for the ROM
for product.
(b) Storing in floppy disk
The sequence program can be stored in the floppy disk with
offline programmer. Many programs can be stored in one floppy
disk.
(c) Storing in paper tape
The sequence program can be stored in the form of a paper tape.
(d) Storing in FANUC floppy disk cassette
The sequence program can be stored in floppy disk cassette.
(2) Compiling and control of maintenance drawing
The sequence program can be output to the printer in the ladder
diagram format using the offline programmer or built-in editing
function. Be sure to attach the ladder diagram to the machine as a
maintenance drawing together with the machine tool magnetic
circuit diagrams, etc.

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B61863E/14 PMC SEQUENCE PROGRAM 2. SEQUENCE PROGRAM

2 SEQUENCE PROGRAM

Since PMC sequence control handled by software and operates on

principles different from a general relay circuit, the sequence control
method must be fully understood in order to design the PMC sequence.

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2. SEQUENCE PROGRAM PMC SEQUENCE PROGRAM B61863E/14

2.1 In a general relay sequence circuit, each relay operates at approximately

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

A C
E

Fig. 2.1 (a) Circuit examples

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

A
C

(A)

(P.B)
A
C

A C
B

(B)

Fig. 2.1 (b) Circuit examples

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

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

43
2. SEQUENCE PROGRAM PMC SEQUENCE PROGRAM B61863E/14

2.3 A sequence program consists of three parts: 1st level sequence, 2nd level
sequence and 3rd level sequence. The 3rd level sequence part is added
PRIORITY OF to the models usable the 3rd level sequence. (see Fig. 2.3 (a)).
EXECUTION Sequence program
(1ST LEVEL, 2ND
1st level sequence part Specifies the end of the
LEVEL AND 3RD SUB 1
1st level sequence part.
LEVEL) Division 1

Division 2
2nd level sequence part

SUB 2 Division n

3rd level sequence part Specifies the end of the

SUB 48 2nd level sequence part.

(Only the models usable the 3rd level sequence)

Specifies the end of the 3rd level sequence part.

Fig. 2.3 (a) Construction of sequence program

The 1st level sequence part operates every 8 ms (highspeed sequential
operation).
If the 1st level sequence part is long, the total operating time, including
the 2nd level sequence part, is extended. Therefore the 1st level sequence
part must be programmed to be processed in as short time as possible.
The 2nd level sequence part operates every 8n ms. Here n is a dividing
number for the 2nd level sequence part. The 2nd level sequence part is
divided automatically when the sequence program is transferred to the
RAM for debugging in the CNC unit or it is written on ROM after the
program is created. The time for one cycle of the sequence program is
then displayed on the offline programmer screen.
The 3rd level sequence part operates during idle time of PMC.
(1) Division of the 2nd level sequence part
The 2nd level sequence part must be divided in order to execute the
1st level sequence part. For example a sequence program is executed
in the following sequence when the dividing number is n. (See Fig.
2.3 (b), 2.3 (c) )
After the last 2nd level sequence part (division n) is executed, the
sequence program is executed again from the beginning. Thus, when
the dividing number is n, the cycle of execution is 8mms (8msn).
The 1st level sequence operates every 8 msec, and the 2nd level
sequence every 8n msec. If the steps of the 1st level sequence is
increased, the steps of the 2nd level sequence operating within 8 msec
becomes less, thereby increasing the dividing number and making
the processing time longer. Therefore, it is desirable to program so
as to reduce the 1st level sequence to a minimum.
In the, PMCSA1, SA2, SB and SB2, 1.25 ms of 8 ms is assigned
to execution of the 1st and 2nd level sequences. The remaining time
is assigned to NC processing.
In the PMCSC, 5 ms of 8 ms is assigned to execution of the 1st and
2nd level sequences. The standard setting value is 5 ms when system
parameter LADDER EXEC = 100%. The remaining time is assigned
to execution of the 3rd level sequence and the program.

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B61863E/14 PMC SEQUENCE PROGRAM 2. SEQUENCE PROGRAM

8ms 8ms 8ms

1st level 1.25ms 1.25ms 1.25ms

Division 1 Division 2 Division n Division 1

2nd level

NC processing

Fig. 2.3 (b) Sequence in which the Sequence Program Is Executed (PMCSA1, SA2, SB and SB2)

8ms 8ms 8ms

1st level 5ms 5ms 5ms

2nd level Division 1 Division 2 Division n Division 1

3rd level, program execution,

and displaying the PMC screen

Fig. 2.3 (c) Sequence in which the Sequence Program Is Executed (PMCSC)
(2) 1st level sequence part
Only shortwidth pulse signals are processed. These signals include
emergency stop, overtravel of each axis, reference point return
deceleration, external deceleration, skip, measuring position arrival
and feed hold signals.
(3) 3rd level sequence
The purpose of the 3rd level sequence is to execute such programs
as display processing or control status monitor having no direct
relation to the machine control (operator message, alarm display,
etc.), to lighten the load of the 2nd level program having a direct
relation to the machine control by transferring former programs to the
3rd level, and to shorten the PMC execution time (cycle time).
For PMCRC, when 3rd level program is not used, command SUB
48 (END3) following SUB 2 instruction.
(4) Divided system and undivided system
There is a model can use the divided system and undivided system
among the PMCs. In the divided system, a ladder program is divided
before being executed if all ladder program run regardless of the
sequence state (see Fig. 2.3 (d)).
For an actual ladder program, not all ladder program run. The PMC
cannot therefore be used effectively.
The PMC can execute the ladder program in the system for terminating
one cycle of the program using the time to execute the actual ladder
program (undivide system) as well as in the divided system.
The time required for the one cycle can be reduced by the effective
use of jump instructions in the ladder program.
Since the sequence using many functional instructions requires a lot
of processing time, the undivided system should be specified so that
the PMC is used more effectively (see Fig. 2.3 (e)).
To operate the PMC in the undivided system, set system parameter
IGNORE DIVIDE CODE to YES.
The PMC model usable only the undivided system, does not have
setting system parameter IGNORE DIVIDE CODE. It is always

45
2. SEQUENCE PROGRAM PMC SEQUENCE PROGRAM B61863E/14

operated under the undivided system.

A
Functional
instruction

B
Functional
instruction

C
Functional
instruction

The ladder program is divided if all functional instructions are

executed regardless of execution of an actual ladder program.

Fig. 2.3 (d) Divisions in the divided system

A
Functional
instruction

B
Functional
instruction

C
Functional
instruction

Execution of an actual ladder program when A = 0, B = 1, and C = 0.

Fig. 2.3 (e) Execution of a ladder program

(a) Example of effective use of the undivided system
Example 1)
Many M codes are usually used. Since more than one M code
is not used in the same block, the decoded M code is divided
into several parts. Machine instructions are used as these
decoded parts.
The M code is divided into M codes having two digits such
as M21, M22, M24, M28, and so on.
Example 2)
To reduce the number of ROM types using the same ladder
program for multiple machines, a PMC parameter must be
specified so that any of the following ladder program run.

Ladder A (Ladder common to all machines)

(Selected by a PMC parameter)

(Ladders dedicated
Ladder B1 Ladder B2 Ladder B3 to each machine)

Fig. 2.3 (f)

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B61863E/14 PMC SEQUENCE PROGRAM 2. SEQUENCE PROGRAM

(5) Construction of sequence program in the case of using Subprogram.

1st level sequence part

END1 (SUB 1)

2nd level sequence part

END2 (SUB 2)

3rd level sequence part

(Only about the PMC
model usable the 3rd
level sequence)
END3 (SUB 48)

SP
D Sub program must be written between 2nd
D level program and 3rd level program.

SPE

SP

Sub program

SPE

SP

SPE

End of sequence program END D The end of sequence program is expressed

D by END command.

Fig. 2.3 (g)

47
2. SEQUENCE PROGRAM PMC SEQUENCE PROGRAM B61863E/14

2.4 : Can be used

SEQUENCE : Cannot be used

PROGRAM PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

STRUCTURING
With the conventional PMC, a ladder program is described sequentially.
By employing a ladder language that allows structured programming, the
following benefits are derived:
D A program can be understood and developed easily.
D A program error can be found easily.
D When an operation error occurs, the cause can be found easily.
Three major structured programming capabilities are supported.
(1) Subprogramming
A subprogram can consist of a ladder sequence as the processing unit.

Job A D D D f

FUNC D D D f
Job B
D
D
D

(2) Nesting
Ladder subprograms created in (1) above are combined to structure
a ladder sequence.
Main Program Sub Program1 Sub Program2

Job A Job A1 Job A11

D
D
Job B D Job A12

Job An

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B61863E/14 PMC SEQUENCE PROGRAM 2. SEQUENCE PROGRAM

(3) Conditional branch

The main program loops and checks whether conditions are satisfied.
If a condition is satisfied, the corresponding subprogram is executed.
If the condition is not satisfied, the subprogram is skipped.
Main Program Sub Program1

PROCESS11 PROCESS11
STATE1 PROCESS1

PROCESS12
STATE2 PROCESS2

D PROCESS13
D
D

For details, see Chapter 9.

49
2. SEQUENCE PROGRAM PMC SEQUENCE PROGRAM B61863E/14

2.5 Input signals (M function, T function, etc.) from the CNC and those (cycle
start, feed hold, etc.) from the machine tool are sent to the PMC.
PROCESSING I/O
SIGNALS Signals for the CNC (cycle start, feed hold, etc.) and those for the machine
tool (tunret rotation, spindle stop, etc.) are output from the PMC.
Fig. 2.4 shows the relationship between these signals and the PMC.
Input signals are entered in the input memory of PMC and output signals
are issued from PMC.
As shown in Fig. 2.5, the input signals are synchronized only in the 2nd
level sequence part.

CNC PMC
Input memory of CNC Sequence program

Input signals from 1st level

CNC sequence part

Transmitted at the
start of 2nd level 2nd level synchronous
input signal memory

Input signals from

CNC
Transmitted every 8 ms

Input signals from 2nd level

machine tool
sequence part

Output memory of CNC

Output signals to
CNC

MT
Output signalmemory

Output signals to Output signals to the

machine tool machine

Input signal memory

Input signals from Input signals from 3rd level

machine tool machine sequence part
(Only PMCSC)
Transmitted
every 2 ms

Fig. 2.5 PMC I/O signals

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B61863E/14 PMC SEQUENCE PROGRAM 2. SEQUENCE PROGRAM

2.5.1 (1) Input memory of CNC

Input Signal The input signals from CNC are loaded in memory of CNC and are
Processing transferred to the PMC at intervals of 8 ms.
Since the 1st level and the 3rd level sequence part directly refer to
these signals and process operations, these signals do not
synchronize with input signals from the CNC.
See item 2.5.3.
(2) Input signals from machine tool (DI/DO card)
Input signals from the machine tool are transferred to the input signal
memory from the input circuit (DI/DO card). 1st level and 3rd level
sequence part directly processes by reading signals loaded in the
input signal memory.
(3) Input signal memory
The input signal memory stores signals transferred from the machine
tool at intervals of 2 ms period.
The PMC 1st level sequence part and 3rd level sequence part are used
to read and process signals stored in this memory.
In this case, state of signals set in the input signal memory
synchronizes with that of 1st level sequence part but not with that of
3rd level sequence part.
See item 2.5.3.
(4) 2nd level synchronous input signal memory
The 2nd level synchronous input signal memory stores signals
processed by the 2nd level sequence section.
State of the signals set in this memory synchronizes with that of the
2nd level sequence part.
Input signal memory and input signals from the CNC are transferred
to the 2nd level synchronous input signal memory only at the
beginning of execution of the 2nd level sequence section. Therefore,
the status of the 2nd level synchronous input signal memory does not
change from the beginning to end of the execution of the 2nd level
sequence part.
Programmer function makes the processing so that the 1st level
sequence section and 3rd level sequence section use the input signal
memory and input signals from the CNC side and the 2nd level
sequence section uses the 2nd level synchronous input signal
memory.

2.5.2 (1) CNC output memory

Output Signal The output signals are transferred from the PMC to the CNC output
Processing memory at intervals of 8 ms.
(2) Output signals to machine tool (DI/DO card)
Output signals to the machine tool are transferred from the PMC
output signal memory to the machine tool.
(3) Output signal memory
The output signal memory is set by the PMC sequence program.
Signals stored in this memory are transferred to the machine side at
a 2 ms period.

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2. SEQUENCE PROGRAM PMC SEQUENCE PROGRAM B61863E/14

NOTE
The status of the CNC input memory, input signals from
machine, CNC output memory and output signals to
machine can be checked by using the PC selfdiagnosis
function.
The selfdiagnosis number specified is the address number
used by the sequence program.

2.5.3 Signals input from the CNC are transferred to the PMC at intervals of 8
I/O Signals to CNC ms.
Signals output to the CNC are transferred from the PMC at intervals of
8 ms.
PMC I/O signals are generally transferred at intervals of 8 ms.
In this case, note that state of the input signals from the CNC does not
synchronize with that of the 1st level sequence program and the 2nd level
sequence program. By this reason, if an input signal from the CNC may
change while execution of the 1st level sequence program, for example,
some trouble may occur like example in Fig. 2.5.3 (a).
To avoid such trouble, write the state of signal TF in an internal relay at
the start of the 1st level sequence, then the 1st level sequence program
shall refer to the internal relay as signal TF. See Fig. 2.5.3 (b).
TF W1

TF W2

END 1

If after TF=0 is load, signal state changes to TF=1,

state of W1=1 and W2=1 may momentary occur

Fig. 2.5.3 (a)

TF TFM

TFM W1

TFM W2

END 1

Make signal TF synchronized one, and state of

W1=1 and W2=1 may not occur.

Fig. 2.5.3 (b)

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2.5.4 The status of the same input signal may be different in the 1st level and
Difference of Status of 2nd level sequences. That is, at 1st level, processing is performed using
input signal memory and at 2nd level, processing is performed using the
Signals between 1st 2nd level synchronous input signal memory. Therefore, it is possible for
Level and 2nd Level a 2nd level input signal to delay by a cycle of 2nd level sequence execution
at the worst, compared with a 1st level input signal.
This must be kept in mind when writing the sequence program.
A.M ON (short time width pulse signal)
Signal statesO B OFF
C OF

Differences drawn in Fig. 2.5.4 (a) and Fig. 2.5.4 (b) when the 1st level
sequence has been executed are as follows:
(a) Fig. 2.5.4 (a)
W2 may not be 1 even when W1=1. (Because the A.M signal may
be different at the 1st and 2nd levels.)
(b) Fig. 2.5.4 (b)
If W1=1, W2=1.
When performing the sequence shown in Fig. 2.5.4 (a), proceed
as follows:
At 1st level, perform a highspeed sequence when the A.M signal
changes (operating).
At 2nd level, perform sequence processing when the A.M signal
does not change (stopped).

A.M B A.M B

W1 W1

1st Level

END 1 END 1

A.M C W1 C

2nd Level W2 W2

Fig. 2.5.4 (a) Fig. 2.5.4 (b)

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2. SEQUENCE PROGRAM PMC SEQUENCE PROGRAM B61863E/14

2.6 Interlocking is externally important in sequence control safety.

Interlocking with the sequence program is necessary. However,
INTERLOCKING interlocking with the end of the electric circuit in the machine tool
magnetics cabinet must not be forgotten. Even though logically
interlocked with the sequence program (software), the interlock will not
work when trouble occurs in the hardware used to execute the sequence
program. Therefore, always provide an interlock inside the machine tool
magnetics cabinet panel to ensure operator safety and to protect the
machine from damage.

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B61863E/14 PMC SEQUENCE PROGRAM 2. SEQUENCE PROGRAM

2.7 The exact sequence processing time is displayed on the CRT screen when
the sequence programs have been completed. The time is 2nd level
SEQUENCE sequence division number n x 8 ms.
PROGRAM This section explains how to estimate processing times that are important
PROCESSING TIME in sequence control when the ladder diagram, the basis of sequence
program control, is almost complete.
(1) Processing time calculation units
Sequence processing time estimation is based on the basic
instructions (AND, OR, etc.). The execution time for a functional
instruction is given in the execution constant column of the
Functional Instruction Table. Converted to a basic instruction; that
is the number of basic instructions that a functional instruction is
equivalent to.
Processing time is determined for the above using the equation in
item below.
(2) Processing time estimation equation
The number of division (n) in the 2nd level sequence is determined
and the processing time is calculated using the following equations:
Sequence processing time =
n (number of division) 8 msec
(LT) sec
n= +1
(ET)sec (HT)sec
(n is an integer, fractions are omitted)
(a) (HT) is the execution time for the 1st level sequence section.
(HT)={(number of steps in basic instruction)+(sum of functional
instruction execution time constants) 10} (IT) sec
Execution time constant for END.1 (206) must be included in HT.
(b) (LT) is the execution time for the 2nd level sequence section.
(LT)={(number of steps in basic instruction)+(sum of functional
instruction execution time constants) 10} (IT) sec
END.2 execution time (127) must be included.
(c) (ET) is the execution time assigned to the 1st and 2nd level parts
out of 8 ms.
For PMCSB
(ET) = 1.25 ms = 1250s
For PMCSC (standard setting when LADDER EXEC = 100%)
(ET) = 5 ms = 5000s
(d) IT) is the execution constant for calculating the processing time.
The value is as follows:
(IT) = 0.15s

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2. SEQUENCE PROGRAM PMC SEQUENCE PROGRAM B61863E/14

(3) Processing time calculation example

(a) 1st level sequence
Basic instruction: 100 steps
Functional instruction:
CTR: 2 times,
COMPB: 2 times
CTR execution time constant: 26
COMPB execution time constant: 24
END.1 execution time constant: 206
HT={100+(26 2+24 2+206) 10} 0.15 =474 sec
(b) 2nd level sequence
Basic instruction: 6,000 steps
Functional instruction:
TMR: 35 times,
DECB: 25 times,
ROTB: 2 times
TMR execution time constant: 23
DECB execution time constant: 20
ROTB execution time constant: 33
END.2 execution time constant: 32
LT={6,000+(23 35+20 25+33 2+32) 10} 0.15=3004.5msec
(c) Determination of the number of divisions (n)
3004.5 sec
n= +1 = 4.87
1250sec 474 sec

(d) Processing time calculation

Sequence processing time=4 (number of division) 8 msec=32
msec

NOTE
For the PMCSB/SC, see the execution time constant of
each function instruction in Table 5 (b) in Section I5, PMC
FUNCTION INSTRUCTIONS.

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B61863E/14 PMC SEQUENCE PROGRAM 2. SEQUENCE PROGRAM

2.8 The following tables list memory capacities required for a sequence
program. Create a sequence program so that the total capacity of these
SEQUENCE items does not exceed the sequence program memory capacity.
PROGRAM MEMORY
CAPACITY
Table 2.8 (a) PMCSB7

Memory capacity
Type Item
(Note 1)

Ladder (Note 2) Basic instruction 4 bytes

Functional instruction 4 bytes

Functional instruction parameter 4 bytes

Symbol/comment One symbol or comment 24 bytes

(Note 2)
One halfwidth character in a comment 1 byte (Note 3)

Message (Note 2) One halfwidth alphanumeric character in 1 byte (Note 4)

a message

Others System used area About 15K bytes

Table 2.8 (b) PMCSB4/SB6/SC4/NB2/NB6

Memory capacity
Type Item
(Note 1)

Ladder (Note 2) Basic instruction 4 bytes

Functional instruction 4 bytes

Functional instruction parameter 4 bytes

Symbol/comment One symbol or comment 12 bytes

(Note 2)
One halfwidth character in a comment 1 byte

Message (Note 2) One halfwidth alphanumeric character in 1 byte (Note 4)

a message

Others System used area About 4K bytes

Table 2.8 (c) PMCSB6 (I/O links expanded)

Memory capacity
Type Item
(Note 1)

Ladder (Note 2) Basic instruction 4 bytes

Functional instruction 4 bytes

Functional instruction parameter 4 bytes

Symbol/comment One symbol or comment 12 bytes

(Note 2)
One halfwidth character in a comment 1 byte

Message (Note 2) One halfwidth alphanumeric character in 1 byte (Note 4)

a message

Others System used area About 9.5K bytes

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2. SEQUENCE PROGRAM PMC SEQUENCE PROGRAM B61863E/14

Table 2.8 (d) PMCSA1/SA3/SA5/SB/SB2/SB3/SB5/SC/SC3/PA1/PA3/NB

Memory capacity
Type Item
(Note 1)

Ladder (Note 2) Basic instruction 4 bytes

Functional instruction 4 bytes

Functional instruction parameter 4 bytes

Symbol/comment One symbol or comment 10 bytes

(Note 2)
One halfwidth character in a comment 1 byte

Message (Note 2) One halfwidth alphanumeric character in 1 byte (Note 4)

a message

Others System used area About 2K bytes

NOTE
1 The total capacity of a sequence program (including all
items such as ladder, symbols/comments, and messages)
cannot exceed the capacity of the sequence program
storage memory. If the ladder, symbol/comment, or
message area is large, the size of another area may be
limited.
2 The PMC programmer may adjust arrangement of the areas
in the sequence program memory to improve processing
efficiency. As a result, up to 1K (1024) bytes may be added
to the total capacity of each type of data.
3 A fullwidth character requires double the capacity.
4 For each of halfwidth katakana characters and special
characters, and fullwidth hiragana characters, kanji
characters, and special characters, a capacity of 1 byte is
required per digit of the notation (including characters
preceding and following the character such as @) by
character code input. For details of notation by character
code input, refer to the paragraph describing DISPB in
Chapter 5, FUNCTIONAL INSTRUCTIONS.

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B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

3 ADDRESS

An address shows a signal location. Addresses include input/output

signals with respect to the machine, the input/output signals with respect
to the CNC, the internal relays, the counters, the keep relays (PMC
parameters), and data table. Each address consists of an address number
(for every 8 signals) and a bit number (0 to 7). Enter the symbol table
showing the relationship between the signal names and the addresses into
the programmer by using the keys of the CRT/MDI or the keys of the
keyboard of the offline programmer as in the case of the sequence
program.
For programming, see Chapter III, IV and V.
(1) Addresses related to PMC
Four types of addresses as shown in Fig. 3 are necessary for creation
of the PMC sequence program.

Internal relay

Machine
Note) CNC (MT)
signal PMC signal

Nonvolatile memory
(1) Counter
(2) Keep relay
(3) Data table
(4) Variable Timer

Fig. 3 Addresses related to PMC

(a) The input/output signals with respect to the PMC, which are
indicated by the solid lines, are transferred via the receiver and the
driver of the I/O board.
(b) The input/output signals with respect to the PMC, which are
indicated by the broken lines, are transferred only in the memory
such as the RAM.
All of these signals can be displayed on the CRT/MDI panel.
(2) Address regulations
The address comprises the address number and the bit number in the
format as shown below.

59
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

X 127. 7

Bit number (0 to 7)
Address number (within four numerics after alphabet)

An alphabet must be specified at the beginning of the address number

to indicate the type of the signal as shown in Table 3. When
specifying the address in the byte unit by the functional instruction,
specify X127. In this case, . and the bit number are not necessary.

Table 3 Alphabetic characters in address numbers (1)

Model
Character Signal description Power Mate - D Power Mate- F Power Mate- H
PMC PA1 PMC- PA3 PMC- PA3 PMC- PA3
X Signal from the machine to the X0 to X127 X1000 to X1005 X0 to X127
PMC (MT to PMC) (I/O Link Master) X1020 to X1027 (I/O Link Master)
X1000 to X1003 (Slave) X1000 to X1003
(Builtin l/O Card) (Builtin I/O Card)
X1020 to X1051 X1020 to X1051
(I/O Link Slave) (I/O Link Slave)
Y Signal from the PMC to the Y0 to Y127 Y1000 to Y1003 Y0 to Y127
machine (PMC to MT) (I/O Link Master) Y1020 to Y1027 (I/O Link Master)
(Caution 3) Y1000 to Y1002 (Slave) Y1000 to Y1002
(Builtin I/ O Card) (Builtin l/O Card)
Y1020 to Y1051 Y1020 to Y1051
(I/O Link Slave) (I/O Link Slave)
F Signal from the NC to the PMC F0 to F255 F0 to F255 F0 to F255
(NC to PMC) F1000 to F1255
(Dual path control)
G Signal from the PMC to the NC G0 to G255 G0 to G255 G0 to G255
(PMC to NC) G1000 to G1255
(Dual path control)
R Internal relay (Caution 1) R0 to R999 R0 to R999 R0 to R999 R0 to R999
R9000 to R9000 to R9000 to R9117 R9000 to R9117
R9099 R9117
A Message request signal A0 to A24 A0 to A24 A0 to A24
C Counter C0 to C79 C0 to C79 C0 to C79
K Keep relay (Caution 2) K0 to K19 K0 to K19 K0 to K19
T Variable timer T0 to T79 T0 to T79 T0 to T79
D Data table D0 to D1859 D0 to D1859 D0 to D1859
L Label Number L1 to L9999 L1 to L9999 L1 to L9999
P Subprogram Number P1 to P512 P1 to P512 P1 to P512

CAUTION
1 R9000 to R9117 are areas reserved for the PMC system
program; these areas cannot be used for output by a
sequence program.
2 K17 to K19 are areas reserved for the PMC system
program; these areas cannot be used for output by a
sequence program.
3 I/O Link Master function is not available in the Power
MateMODEL F.
You cannot use the address X0127 and Y0127.

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B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

Table 3 Alphabetic characters in address numbers (2)

Model
Character Signal description FS20A FS18A
PMC-SA1 PMC-SA3 PMC-SA1 PMC-SA2 PMC-SA3
X Signal from the machine to the X0 to X127 X0 to X127
PMC (MT to PMC) X1000 to X1013 (Caution 1) X1000 to X1019
Y Ssignal from the PMC to the Y0 to Y127 Y0 to Y127
machine (PMC to MT) Y1000 to Y1013 (Caution 1) Y1000 to Y1014
F Signal from the NC to the PMC F0 to F255 F0 to F255
(NC to PMC) F1000 to F125 F1000 to F1255
G Signal from the PMC to the NC G0 to G255 G0 to G255
(PMC to NC) G1000 to G1255 G1000 to G1255
R Internal relay (Caution 2) R0 to R999 R0 to R999 R0 to R999 R0 to R999
R9000 to R9099 R9000 to R9117 R9000 to R9099 R9000 to R9117
A Message request signal A0 to A24 A0 to A24
C Counter C0 to C79 C0 to C79
K Keep relay (Caution 3) K0 to K19 K0 to K19
D Data table D0 to D1859 D0 to D1859
T Variable timer T0 to T79 T0 to T79
L Label number L1 to L9999 L1 to L9999
P Subprogram number P1 to P512 P1 to P512

CAUTION
1 X1000 to X1007 and Y1000 to Y1007 are configured as a
matrix.
2 R9000 to R9117 are areas reserved for the PMC system
program; these areas cannot be used for output by a
sequence program.
3 K17 to K19 are areas reserved for the PMC system
program; these areas cannot be used for output by a
sequence program.

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3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

Table 3 Alphabetic characters in address numbers (3)

Chara Model
Signal description
cter PMC-SB PMC-SB2 PMC-SB3 PMC-SC PMC-SC3 PMC-NB
X Signal from the machine to the X0 to X127 X0 to X127
PMC (MT to PMC) X1000 to X1039
Y Signal from the PMC to the Y0 to Y127 Y0 to Y127
machine (PMC to MT) Y1000 to Y1029
F Signal from the NC to the PMC F0 to F255 F0 to F319
(NC to PMC) F1000 to F1255
G Signal from the PMC to the NC G0 to G255 G0 to G511
(PMC to NC) G1000 to G1255
R Internal relay (Caution 1) R0 to R999 R0 to R999 R0 to R1499 R0 to R1499 R0 to R1499 R0 to R1499
R9000 to R9000 to R9000 to R9000 to R9000 to R9000 to
R9099 R9117 R9117 R9099 R9117 R9117
A Message request signal A0 to A24
C Counter C0 to C79
K Keep relay (Caution 2) K0 to K19
D Data table D0 to D1859 D0 to D2999
T Variable timer T0 to T79
L Label number L1 to L9999 L1 to L9999
P Subprogram number P1 to P512 P1 to P512

CAUTION
1 R9000 to R9117 are areas reserved for the PMC system
program; these areas cannot be used for output by a
sequence program.
2 K17 to K19 are areas reserved for the PMC system
program; these areas cannot be used for output by a
sequence program.

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B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

Table 3 Alphabetic characters in address numbers (4)

Model
Signal descrip- Series
Character Series 16-MODEL B/Series 18-MODEL B
tion 18-MODEL B
PMC-SB3 PMC-SC3 PMC-SB4 PMC-SC4 PMC-SA1
X Signal from the X0 to X127 X0 to X127
machine to the PMC X1000 to X1019 X1000 to X1019
(MT to PMC) X1020 to X1039 X1020 to X1039
Y Signal from the PMC Y0 to Y127 Y0 to Y127
to the machine (PMC Y1000 to Y1014 Y1000 to Y1014
to MT) Y1020 to Y1034 Y1020 to Y1034
F Signal from the NC to F0 to F255 F0 to F255 F0 to F511 F0 to F511 F0 to F255
the PMC (NC to F1000 to F1255 F1000 to F1255 F1000 to F1511 F1000 to F1511 F1000 to F1255
PMC) F2000 to F2511 F2000 to F2511
G Signal from the PMC G0 to G255 G0 to G255 G0 to G511 G0 to G511 G0 to G255
to the NC (PMC to G1000 to G1255 G1000 to G1255 G1000 to G1511 G1000 to G1511 G1000 to G1255
NC) G2000 to G2511 G2000 to G2511
R Internal relay R0 to R1499 R0 to R1499 R0 to R2999 R0 to R2999 R0 to R999
R9000 to R9117 R9000 to R9117 R9000 to R9199 R9000 to R9199 R9000 to R9099
A Message request A0 to A24 A0 to A24 A0 to A124 A0 to A124 A0 to A24
signal
C Counter C0 to C79 C0 to C79 C0 to C199 C0 to C199 C0 to C79
K Keep relay K0 to K19 K0 to K19 K0 to K39 K0 to K39 K0 to K19
K900 to K909 K900 to K909
T Data table T0 to T79 T0 to T79 T0 to T299 T0 to T299 T0 to T79
D Variable timer D0 to D2999 D0 to D2999 D0 to D7999 D0 to D7999 D0 to D1859
L Label number L1 to L9999 L1 to L9999 L1 to L9999 L1 to L9999
P Subprogram number P1 to P512 P1 to P512 P1 to P2000 P1 to P2000

63
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

Table 3 Alphabetic characters in address numbers (5)

Model
Character Signal description Series 16-MODEL C/Series 18-MODEL C
PMC-SB5 PMC-SC3 PMC-SB6 PMC-SC4
X Signal from the machine to the PMC (MT to X0 to X127
PMC) X1000 to X1019
X1020 to X1039
Y Signal from the PMC to the machine (PMC Y0 to Y127
to MT) Y1000 to Y1014
Y1020 to Y1034
F Signal from the NC to the PMC (NC to F0 to F255 F0 to F255 F0 to F511 F0 to F511
PMC) F1000 to F1255 F1000 to F1255 F1000 to F1511 F1000 to F1511
F2000 to F2511 F2000 to F2511
G Signal from the PMC to the NC (PMC to G0 to G255 G0 to G255 G0 to G511 G0 to G511
NC) G1000 to G1255 G1000 to G1255 G1000 to G1511 G1000 to G1511
G2000 to G2511 G2000 to G2511
R Internal relay R0 to R1499 R0 to R1499 R0 to R2999 R0 to R2999
R9000 to R9117 R9000 to R9117 R9000 to R9199 R9000 to R9199
A Message request signal A0 to A24 A0 to A24 A0 to A124 A0 to A124
C Counter C0 to C79 C0 to C79 C0 to C199 C0 to C199
K Keep relay K0 to K19 K0 to K19 K0 to K39 K0 to K39
K900 to K909 K900 to K909
T Data table T0 to T79 T0 to T79 T0 to T299 T0 to T299
D Variable timer D0 to D2999 D0 to D2999 D0 to D7999 D0 to D7999
L Label number L1 to L9999 L1 to L9999 L1 to L9999 L1 to L9999
P Subprogram number P1 to P512 P1 to P512 P1 to P2000 P1 to P2000

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B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

Table 3 Alphabetic characters in address numbers (6)

Model
Character Signal description Series 21/210-MODEL B
PMC-SA1 PMC-SA3
X Signal from the machine to the X0 to X127
PMC (MT to PMC) X1000 to X1011
Y Signal from the PMC to the Y0 to Y127
machine (PMC to MT) Y1000 to Y1008 (Note)
F Signal from the NC to the PMC F0 to F255
(NC to PMC) F1000 to F1255
G Signal from the PMC to the NC G0 to G255
(PMC to NC) G1000 to G1255
R Internal relay R0 to R1999 R0 to R1499
R9000 to R9099 R9000 to R9117
A Message request signal A0 to A24
C Counter C0 to C79
K Keep relay K0 to K19
D Data table D0 to D1859
T Variable timer T0 to T79
L Label number L1 to L9999
P Subprogram number P1 to P512

NOTE
The Y addresses for the 4082 series are Y0 to Y127 and
Y1000 to Y1007.

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3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

Table 3 Alphabetic characters in address numbers (7)

Model
Sym-
Type of signal FANUC Series 16i/160i/18i/180iA
bol
PMCSB5 PMCSB6
X Signal from the machine to PMC X0 to X127 X0 to X127
(MT PMC) (Note 1) X200 to X327 (Note 2)
(Note 1)
Y Signal from the PMC to machine Y0 to Y127 Y0 to Y127
(PMC MT) (Note 1) Y200 to Y327 (Note 2)
(Note 1)
F Signal from the NC to PMC F0 to F255 F0 to F511
(NC PMC) F1000 to F1255 F1000 to F1511
F2000 to F2511
G Signal from the PMC to NC G0 to G255 G0 to G511
(PMC NC) G1000 to G1255 G1000 to G1511
G2000 to G2511
R Internal relay R0 to R1499 R0 to R2999
R9000 to R9117 R9000 to R9199
A Message request signal A0 to A24 A0 to A124
C Counter C0 to C79 C0 to C199
K Keep relay K0 to K19 K0 to K39
K900 to K909
D Variable timer T0 to T79 T0 to T299
T Data table D0 to D2999 D0 to D7999
L Label number L1 to L9999 L1 to L9999
P Subprogram number P1 to P512 P1 to P2000

NOTE
1 The addresses (X1000 and up, Y1000 and up) cannot be assigned for I/O. Never use X1000
and up, or Y1000 and up.
2 I/O of the I/O Link channel 2 can be assigned to the addresses (X200 to X327, Y200 to Y327).
You can use the I/O Link channel 2 only when CNC hardware support the I/O Link 2channel
and optional I/O Link expansion is provided with CNC. And to assign to these areas, it is
necessary to use programming software that supports the I/O Link expansion.

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B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

Table 3 Alphabetic characters in address numbers (8)

Model
Sym-
Type of signal FANUC Series 21i/210iA
bol
PMCSA1 PMCSA5 PMCSB6
X Signal from the machine to PMC X0 to X127 (Note 1) X0 to X127 (Note 1)
(MT PMC) X200 to X327 (Note 2)

Y Signal from the PMC to machine Y0 to Y127 (Note 1) Y0 to Y127 (Note 1)

(PMC MT) Y200 to Y327 (Note 2)

F Signal from the NC to PMC F0 to F255 F0 to F511

(NC PMC) F1000 to F1255 F1000 to F1511
F2000 to F2511
G Signal from the PMC to NC G0 to G255 G0 to G511
(PMC NC) G1000 to G1255 G1000 to G1511
G2000 to G2511
R Internal relay R0 to R999 R0 to R999 R0 to R2999
R9000 to R9099 R9000 to R9117 R9000 to R9199
A Message request signal A0 to A24 A0 to A124
C Counter C0 to C79 C0 to C199
K Keep relay K0 to K19 K0 to K39
K900 to K909
D Variable timer T0 to T79 T0 to T299
T Data table D0 to D1859 D0 to D7999
L Label number L1 to L9999 L1 to L9999
P Subprogram number P1 to P512 P1 to P2000

NOTE
1 The addresses (X1000 and up, Y1000 and up) cannot be assigned for I/O. Never use X1000
and up, or Y1000 and up.
2 I/O of the I/O Link channel 2 can be assigned to the addresses (X200 to X327, Y200 to Y327).
You can use the I/O Link channel 2 only when CNC hardware supports the I/O Link 2channel
and optional I/O Link expansion is provided with CNC. And to assign to these areas, it is
necessary to use programming software that supports the I/O Link expansion.

67
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

Table 3 Alphabetic characters in address numbers (9)

Model
Sym-
Signal description FANUC Power Mate iMODEL D/H
bol
PMCSB5 PMCSB6
X Input signal from the machine to the X0 to X127 (I/O Link Master) X0 to X127 (I/O Link Master)
PMC (MT to PMC) X1000 to X1003 (Builtin I/O) X1000 to X1003 (Builtin I/O)
X1020 to X1051 (I/O Link Slave) X1020 to X1051 (I/O Link Slave)
Y Output signal from the PMC to the Y0 to Y127 (I/O Link Master) Y0 to Y127 (I/O Link Master)
machine (PMC to MT) Y1000 to Y1003 (Builtin I/O) Y1000 to Y1003 (Builtin I/O)
Y1020 to Y1051 (I/O Link Slave) Y1020 to Y1051 (I/O Link Slave)
F Input signal from the NC to the PMC F0 to F255 F0 to F511
(NC to PMC) F1000 to F1255 F1000 to F1511
F2000 to F2511
G Output signal from the PMC to the G0 to G255 G0 to G511
NC (PMC to NC) G1000 to G1255 G1000 to G1511
G2000 to G2511
R Internal relay R0 to R1499 R0 to R2999
R9000 to R9117 R9000 to R9199
A Message request signal A0 to A24 A0 to A124
C Counter C0 to C79 C0 to C199
K Keep relay K0 to K19 K0 to K39
K900 to K909
T Variable timer T0 to T79 T0 to T299
D Data table D0 to D2999 D0 to D7999
L Label number L1 to L9999 L1 to L9999
P Subprogram number P1 to P512 P1 to P2000

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B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

Table 3 Alphabetic characters in address numbers (10)

Model
Series 15-MODEL B
Character Signal description
PMC-NB
PMC-NB2
(4048)
X Input signal from the machine to X0 to X127
the PMC (MT to PMC)
Y Output signal from the PMC to Y0 to Y127
the machine (PMC to MT)
F Input signal from the NC to the F0 to F319
PMC (NC to PMC)
G Output signal from the PMC to the G0 to G511
NC (PMC to NC)
R Internal relay R0 to R1499 R0 to R1499
R9000 to R9099 R9000 to R9117
A Message request signal A0 to A24 A0 to A124
C Counter (Nonvolatile memory) C0 to C79 C0 to C199
K Keep relay (Nonvolatile memory) K0 to K19 K0 to K39
K900 to K909
D Data table (Nonvolatile memory) D0 to D2999 D0 to D7999
T Variable timer T0 to T79 T0 to T299
(Nonvolatile memory)
L Label number L1 to L9999
P Subprogram number P1 to P512 P1 to P2000

CAUTION
1 R9000 to R9199 are areas reserved for the PMC system
program;
these areas cannot be used for output by a sequence
program.
2 K17 to K19 or K900 to K909 are areas reserved for the PMC
system program;
these areas cannot be used for output by a sequence
program.
3 Please refer to (3) PMCNB(Series 4047).

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3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

Table 3 Alphabetic Characters for PMC Address Number (11)

Model
Character Signal description FANUC Series 15i
PMCNB6
X Input signal from machine to PMC X0 to X127
(MTPMC)
Y Output signal from PMC to machine Y0 to Y127
(PMCMT)
F Input signal from the NC to PMC F0 to F511
(NCPMC)
G Output signal from the PMC to NC G0 to G511
(PMCNC)
R Internal relay R0 to R2999
R9000 to R9199
A Message request signal A0 to A124
C Counter C0 to C199
K Keep relay K0 to K39
K900 to K909
T Variable timer T0 to T299
D Data table D0 to D7999
L Label number L1 to L9999
P Subprogram number P1 to P2000

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B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

Table 3 Alphabetic Characters for PMC Address Number (12)

Control type
Address Type of signal Series 16i/18i/21iB
PMCSA1 PMCSB7
X Input signal from machine tool to X0 to X127 X0 to X127
PMC (MTPMC) X200 to X327*1
X1000 to X1127*2
Y Output signal from PMC to Y0 to Y127 Y0 to Y127
machine tool (PMCMT) Y200 to Y327*1
Y1000 to Y1127*2
F Input signal from NC to PMC F0 to F255 F0 to F767*3
(NCPMC) F1000 to F1767*4
F2000 to F2767*4
F3000 to F3767*5
G Output signal from PMC to NC G0 to G255 G0 to G767*3
(PMCNC) G1000 to G1767*4
G2000 to G2767*4
G3000 to G3767*5
R Internal relay R0 to R999 R0 to R7999
R0 to R9099 R9000 to R9499*6
E Extra relay*7 E0 to E7999
A Message request A0 to A24 A0 to A249
Message display state*8 A9000 to A9249
C Counter C0 to C79 C0 to C399
C5000 to C5199*9
K Keep relay K0 to K19 K0 to K99
K900 to K919*10
T Variable timer T0 to T79 T0 to T499
T9000 to T9499*11
D Date table D0 to D1859 D0 to D9999
L Label number L1 to L9999
P Subprogram number P1 to P2000

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3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

CAUTION
1 These addresses are used for channel 2 of I/O Link. I/O link
expansion option is necessary.
2 This area is reserved for PMC. I/O can not be assigned in
it.
Dont use it in sequence program.
3 This area contains PMC reserve. Actual available
addresses depend on the configuration of CNC system.
4 This area is used for multi path system. It contains PMC
reserve. Actual available addresses depend on the
configuration of CNC system.
5 This area is for PMC reserve. Dont use it in sequence
program.
6 This area is used for PMC system software as special relay.
Please use these according to the explanation of each
address.
7 This area can be used equally as internal relay(R).
These relays (E) are nonvolatile type. However, these can
be input/output to/from memory card, etc, as PMC
parameter.
8 These addresses are message display state signals that
have onetoone correspondence to message display
request signal. It is impossible to write into these addresses.
9 This area is used for counter instruction (CTRB) that
requires preset value as fixed number.
10 This area is used for PMC control software. Please use
these signals according to each explanation.
11 This area is for PMC reserve. Dont use it in sequence
program.

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B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

Table 3 Alphabetic Characters for PMC Address Number (12)

FANUC Series 0i
Character Signal description
PMCSA1 PMCSA3
X Signal from machine to PMC X0 to X127
(MTPMC) X1000 to X1011

Y Signal from PMC to machine Y0 to Y127

(PMCMT) Y1000 to Y1008
F Signal from NC to PMC F0 to F255
(NCPMC) F1000 to F1255
G Signal from PMC to NC G0 to G255
(PMCNC) G1000 to G1255
R Internal relay R0 to R999 R0 to R999
R9000 to R9099 R9000 to R9117
A Message request signal A0 to A24
C Counter C0 to C79
K Keep relay K0 to K19
T Variable timer T0 to T79
D Data table D0 to D1859
L Label number L1 to L9999
P Subprogram number P1 to P512

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3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

3.1 Addresses of the interfaces are outlined below. For details, see
CONNECTING MANUAL of Series 16.
ADDRESSES
BETWEEN PMC AND (1) Basic machine interface
CNC (PMCNC) (a) PMCzCNC related signals
The addresses for Series 15 are from F0 to F511, for the others are
from F0 to F255.
For details of the signals, see CONNECTING MANUAL of
CNC.
(b) PMC!CNC related signals
The addresses for Series 15 are from G0 to G511, for the others
are from G0 to G255.
For details of the signals, see CONNECTING MANUAL of
CNC.

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B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

3.2
ADDRESSES
BETWEEN PMC AND
MACHINE TOOL
(PMCMT)

3.2.1 (1) When the FANUC I/O Link is used

Addresses Between (a) PMC MT
PMC and Machine Tool Addresses of channel 1 are from X0 to X127.
Addresses of channel 2 are from X200 to X327. (PMCSB6/SB7
for Series 16i /160i /18i /180i /21i /210i)
(b) PMC MT
Addresses of channel 1 are from Y0 to Y127.
Addresses of channel 2 are from Y200 to Y327. (PMCSB6/SB7
for Series 16i /160i /18i /180i /21i /210i)
Up to 1024 input and 1024 output points can be assigned to any
address of each channel within the above range in byte units.
(2) When the builtin I/O card is used (except Series 15)
(a) PMC MT
Addresses are from X1000 to X1019.
(b) PMC MT
Addresses are from X1000 to X1014.
The addresses in the above range are always specified. They cannot
therefore be changed when the I/O points are assigned to them.
(3) NC signals whose addresses are fixed and that are input from the
machine tool
Be sure to assign the following signals to be input from the machine tool
to the specified addresses because the NC unit refers to the following
fixed addresses during processing.

NOTE
If both I/O Link and builtin I/O card are provided, the
address of the I/O card is valid.
(Except Series 15)

75
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

Table 3.2.1 (a) Input signals whose addresses are fixed (Series 16/Series 18)

Address
Signal Symbol When the I/O Link When the builtin
is used I/O card is used
T Signal indicating that Xaxis measurement position is reached XAE X4.0 X1004.0
system
Signal indicating that Zaxis measurement position is reached ZAE X4.1 X1004.1
Function B for directly entering the measurement value of tool +MIT1 X4.2 X1004.2
compensation in the positive X direction
Function B for directly entering the measurement value of tool MIT1 X4.3 X1004.3
compensation in the negative X direction
Function B for directly entering the measurement value of tool +MIT2 X4.4 X1004.4
compensation in the positive Z direction
Function B for directly entering the measurement value of tool MIT2 X4.5 X1004.5
compensation in the negative Z direction
M Signal indicating that Xaxis measurement position is reached XAE X4.0 X1004.0
system
Signal indicating that Yaxis measurement position is reached YAE X4.1 X1004.1
Signal indicating that Zaxis measurement position is reached ZAE X4.2 X1004.2
Common Skip signal SKIP X4.7 X1004.7
Emergency stop signal *ESP X8.4 X1008.4
Deceleration signal for 1st axis reference position return *DEC1 X9.0 X1009.0
Deceleration signal for 2nd axis reference position return *DEC2 X9.1 X1009.1
Deceleration signal for 3rd axis reference position return *DEC3 X9.2 X1009.2
Deceleration signal for 4th axis reference position return *DEC4 X9.3 X1009.3
Deceleration signal for 5th axis reference position return *DEC5 X9.4 X1009.4
Deceleration signal for 6th axis reference position return *DEC6 X9.5 X1009.5
Deceleration signal for 7th axis reference position return *DEC7 X9.6 X1009.6
Deceleration signal for 8th axis reference position return *DEC8 X9.7 X1009.7

If the NC is a TT system, the signals for tool post 2 listed in Table 3.2.1
(b) are always assigned to the following addresses.
In addition, the system does not have the signals for tool post 1, DEC5
to DEC8 (X9.4 to X9.7).

Table 3.2.1 (b) Input signals whose addresses are fixed (TT) (Series 16/Series 18)

Address
Signal Symbol When the I/O Link is When the builtin
used I/O card is used
TT Signal indicating that Xaxis measurement position is reached XAE X13.0 X1013.0
system
Signal indicating that Zaxis measurement position is reached ZAE X13.1 X1013.1
Function B for directly entering the measurement value of tool +MIT1 X13.2 X1013.2
compensation in the positive X direction
Function B for directly entering the measurement value of tool MIT1 X13.3 X1013.3
compensation in the negative X direction
Function B for directly entering the measurement value of tool +MIT2 X13.4 X1013.4
compensation in the positive Z direction
Function B for directly entering the measurement value of tool MIT2 X13.5 X1013.5
compensation in the negative Z direction
Skip signal SKIP X13.7 X1013.7
Deceleration signal for 1st axis reference position return *DEC1 X7.0 X1007.0
Deceleration signal for 2nd axis reference position return *DEC2 X7.1 X1007.1
Deceleration signal for 3rd axis reference position return *DEC3 X7.2 X1007.2
Deceleration signal for 4th axis reference position return *DEC4 X7.3 X1007.3

76
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

Table 3.2.1 (c) Input signals whose addresses are fixed (Series 15)

Emergency Skip signal Measurement position reached signal

Type of I/O unit
stop address address AE1 (XAE) AE2 (ZAE)
Connection unit X6.4 X11.6 X8.3 X8.4
I/O unit X6.4 X11.6 X8.3 X8.4

3.2.2 The sequence program addresses of each module should be decided by the
machine tool builder. These decided addresses are set to the programmer
Assignment of I/O
memory by using programmer.
Module Addresses
The address information being set to the programmer is written together
with a sequence program into ROM when a sequence program is written
into ROM. No I/O address is changeable in the written stage of the
address information into ROM. These addresses are determined by the
connecting position (group number and base number) of the I/O base unit,
each module position (slot number) mounted inside the I/O base unit and
each module name.
Fig. 3.2.2 (a) and Fig. 3.2.2 (b) indicate the configuration of the I/O base
unit.
For the specifications and details of connections of the I/O interface
module, I/O module, CPU module, and other modules, see Connection
Manual of each CNC.

PMC

I/O control Group

unit I/O Unit I/O Unit
#0

AIF01A AIF01B

Base#0 Base#1

Fig. 3.2.2 (a)

77
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

PMC

I/O control Group

unit I/O Unit I/O Unit
#0

AIF01A AIF01B

Base#0 Base#1

Group
I/O Unit I/O Unit
#1

AIF01A AIF01B

Base#0 Base#1

Power Group
Mate #2
Base#0

Connection unit Group

#3
Base#0

Possible to connect max. 16 groups

Max. 2 Base/Group
Max. 10 Slot/Base

Fig. 3.2.2 (b)

(1) Group No.
Up to two I/O units can be connected using the additional I/O
interface module AIF01B, based on I/O interface AIF01A. Up to two
I/O units extended from AIF01A are called a group. When only one
interface module is not enough to accommodate the required I/O
modules, or when multiple I/O units are separately located remote
from the machine, connect the first AIF01A and the second AIF01A
with the cable. Up to 16 groups of I/O units can be connected.
(2) Base No.
In one group, there are 2 max. I/O base units. The I/O unit with the
I/O interface module IF01A is assigned to base No. 0 and another is
assigned to base No.1.
(3) Slot No.
A maximum of 5 or 10 I/O modules can be mounted on the I/O base
unit ABU05A, ABU10A, respectively. The module mounting
position on the I/O base unit is expressed with slot Nos. In each base
unit, the mounting position of the I/O interface module is assigned
to slot No. 0, and slot No. 1, 2, 3 ... are assigned in order from the left.
In the case of I/O base unit (BU10B) for 10 slots, slot No. 1, 2 follow
slot No. 8. The last slot No. 1, 2 are assigned for the next base
address. Each module can be mounted on an arbitrary slot. It is
possible to mount modules by skipping some slots.

78
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

(4) Module name

For module names, see Table 3.2.2 (a) to (c).
An actual module name begins with A. When specifying a module,
omit the first letter A from the module name.
Example) When specifying module AID16D, enter ID16D.

Table 3.2.2 (a) Input modules

Number Indica-
Input Module name Rated Rated cur-
Polarity Response time of input Terminal tion
format (Actual module name) voltage rent
points by LED
Noninsulat ID32A Not
24VDC 7.5mA Both 20 ms max. 32 Connector
ion DC input (AID32A) provided
ID32B Not
24VDC 7.5mA Both 2 ms max. 32 Connector
(AID32B) provided
Insulation ID16C
24VDC 7.5mA NEG 20 ms max. 16 Terminal board Provided
DC input (AID32C)
ID16D
24VDC 7.5mA POS 20 ms max. 16 Terminal board Provided
(AID32D)
ID32E Not
24VDC 7.5mA Both 20 ms max. 32 Connector
(AID32E) provided
ID32F Not
24VDC 7.5mA Both 2 ms max. 32 Connector
(AID32F) provided
Noninsulat IA16G 100 to 14.5mA ON : 20ms max
16 Terminal board Provided
ion DC input (AIAHG) 120VAC (AC120V) OFF : 45ms max

Polarity NEG : 0 V common (current output)

POS : 24 V common (current output)

Table 3.2.2 (b) Output modules

Number Number
Output Module name Rated Rated Indication
Polarity of of points/ Terminal Fuse
format (Actual module name) voltage current by LED
points common
Insulation OD08C 12 to 24 Terminal
2A NEG 8 8 Provided Provided
DC output (AOD08C) VDC board
OD08D Terminal
2A POS 8 8 Provided Provided
(AOD08D) board
OD16C Terminal Not
0.5A NEG 16 8 Provided
(AOD16C) board provided
OD16D Terminal Not
0.5A POS 16 8 Provided
(AOD16D) board provided
OD32C Not
0.3A NEG 32 8 Connector Not provided
(AOD32C) provided
OD32D Not
0.3A POS 32 8 Connector Not provided
(AOD32D) provided
AC output OA05E 100 to Terminal
2A 5 1 Provided Provided
(AOA05E) 240 VAC board
OA08E Terminal
1A 8 4 Provided Provided
(AOA08E) board
OA12E 100 to Terminal
0.5A 12 6 Provided Provided
(AOR12G) 120 VAC board
Relay OR08G 250 VAC/ Terminal Not
4A 8 1 Provided
output (AOR08G) 30 VDC board provided
max.
OR16G Terminal Not
2A 16 4 Provided
(AOR16G) board provided

Polarity NEG : 0 V common (current output)

POS : 24 V common (current output)

79
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

Table 3.2.2 (c) Other modules

Module name Occupied

Name Specifications
(actual module name) address
FANUC CNC SYSTEM FS04A Input: 4 bytes FANUC Series 0C
FANUC Power Mate Output: 4 bytes (with FANUC I/O Link supported)
FANUC Power MateMODEL
FS08A Input: 8 bytes
A/B/C/D/E/F/H
Output: 8 bytes
OC02I Input: 16 bytes FANUC Power MateMODEL D/H
OC02O Output: 16 bytes
OC03I Input: 32 bytes
OC03O Output: 32 bytes
Analog input module AD04A Input: 8 bytes
(AAD04A)
Analog output module DA02A Output: 4 bytes
(ADA02A)
Connection unit (one piece) CN01I Input: 12 bytes
Connection unit (two pieces) CN01O Output: 8 bytes
Connection unit (one piece) CN02I Input: 24 bytes
Connection unit (two pieces) CN02O Output: 16 bytes
Operators panel connection unit I/O card E OC01I Input: 12 bytes Ordering information:
A16B22000660 (sink type)
OC01O Output: 8 bytes A16B22010730 (source type)

Operators panel connection unit I/O card D /8 Input: 8 bytes Ordering information:
A16B22000661 (sink type)
/4 Output: 4 bytes A16B22010731 (source type)

Machine operators panel interface unit OC02I Input: 16 bytes

OC02O Output: 16 bytes
OC03I Input: 32 bytes
OC03O Output: 32 bytes
I/O Link connection unit /V Input: V bytes Specify the same value (1 to 8) as the
Output: V bytes number of input or output bytes in V.
OC02I Input: 16 bytes
OC02O Output: 16 bytes
OC03I Input: 32 bytes
OC03O Input: 32 bytes
Area for the I/O Unit MODEL B #V Input: V bytes Specify 1 to 10 bytes in V.
Output: V bytes
## Input: 4 bytes Specify an area for reading information
about whether the power of each unit in the
I/O Unit MODEL B is on.
Special modules /V Input: V bytes Specify the same value (1 to 8) as the
Special modules, which are not listed in Output: V bytes number of input or output bytes in V.
Tables 3.2.2 (a) to (c)
OC02I Input: 16 bytes Used when the number of input or output
bytes is 9 to 16.
OC02O Output: 16 bytes
OC03I Input: 32 bytes Used when the number of input or output
bytes is 17 to 32.
OC03O Output: 32 bytes

80
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

Module name Occupied

Name Specifications
(actual module name) address
Distribution I/O connector panel I/O CM03I (/3) Input 3 bytes Basic unit only
modules(NOTES 3, 4)
CM06I (/6) Input 6 bytes Expansion unit 1 is used.
CM09I Input 9 bytes Expansion unit 2 is used.
CM12I (OC01I) Input 12 bytes Expansion unit 3 is used.
CM13I Input 13 bytes The first MPG unit is used.
CM14I Input 14 bytes The second MPG unit is used.
CM15I Input 15 bytes The third MPG unit is used.
CM16I (OC02I) Input 16 bytes DO alarm detection is used.
CM02O (/2) Output 2 bytes Basic unit only
CM04O (/4) Output 4 bytes Expansion unit 1 is used.
CM06O (/6) Output 6 bytes Expansion unit 2 is used.
CM08O (/8) Output 8 bytes Expansion unit 3 is used.
Distribution I/O operators panel I/O CM06I (/6) Input 6 bytes
modules(NOTES 3, 4)
CM13I Input 13 bytes The first MPG unit is used.
CM14I Input 14 bytes The second MPG unit is used.
CM15I Input 15 bytes The third MPG unit is used.
CM16I (OC02I) Input 16 bytes DO alarm detection is used.
CM04O (/4) Output 4 bytes
CM08O (/8) Output 8 bytes
External I/O card A, D for Power Mate /6 Input 6 bytes
/4 Output 4 bytes
External I/O card B, E for Power Mate OC01I Input 12 bytes
OC01O Output 8 bytes

81
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

NOTE
1 See Section 3.2.3, I/O Link connection unit assignment
method, for how to assign the I/O Link connection unit.
2 See Section 3.2.4, I/O Link MODEL B assignment
method, for how to assign the I/O Link MODEL B.
3 See Section 3.2.7, Distribution panel I/O connection panel
I/O module and distribution I/O operators panel I/O module
assignment method, for how to assign the connection
panel I/O module and operators panel I/O module.
4 If the version of the programming system (FANUC
LADDER, FANUC LADDERII) is too old to match a module
above, use the compatible module indicated in
parentheses. When a compatible module having the same
number of points is not available, use a compatible module
having a greater number of points.
5 On the PMCSB6/SB7 for Series 16i/18i/21i/160i/180i/
210i, when programming software supports the I/O Link
expansion, up to 16 groups of I/O Module can be assigned
to the I/O Link channel 2 area. To link the I/O Link channel
2 actually, the option of the I/O Link expansion is necessary.

CAUTION
For I/O Unit MODEL A, to use 3, 5, 6, or 7 bytes for
assignment, change the module name as follows.
Do not use 10241, /3, /5, /6, or /7 for the module name.
Module name
Before change After change
10241 /4
/3 /4
/5 /8
/6 /8
/7 /8

82
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

(5) How to set address to each module

The character and the mount position of each module is now decided
with the group number, base number, slot number, and module name,
so the address of each module can now be decided, corresponding
these data and the input/output addresses. After display the I/O unit
address screen as shown below on the programmers CRT, set
necessary data on the screen, Then the module address is now
assigned. The occupying DI/DO points (bytes) of each module are
stored in the programmer, so just assign the address of the head byte
of each module, and the addresses of the other bytes in the module
are automatically assigned by the programmer.
For instance, when the module ID32A is assigned address X5 as in
Fig. 3.2.2 (c), the necessary 4 bytes are automatically secured. For
details on operation, see Chapters III, IV, Programmer. The
input/output addresses of each module can be freely decided in this
method at the machine tool builder, so the address can be decided
when making the ladder diagram, as long as it does not duplicate with
the addresses of each module.

ADDRESS GROUP BASE SLOT NAME

X000
X001
X002
X003
X004
X005 0 0 5 ID32A
X006 0 0 5 ID32A
Automatical X007 0 0 5 ID32A
set X008 0 0 5 ID32A
X009

Fig. 3.2.2 (c) I/O unit address screen

NOTE
When assigning Connection unit 1, Connection unit 2 or
Connection unit for operators panel, set base number to 0
and slot number to 1.

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3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

(6) Notes when setting addresses

(a) The head bytes of the analog input module (AD04A) and analog
output module (DA02A) must be assigned to even number addresses
of input address (XVVV), and output address (YVVV) each.
When reading the A/Dconverted digital value from the input
address (XVVV) or when writing the D/Aconverting value to the
output address (YVVV), readout and writein must always be
done in word (16 bits) units.

ADDRESS GROUP BASE SLOT NAME

X000 0 0 1 ID16C
X001 0 0 1 ID16C
X002 0 0 2 ID16D
X003 0 0 2 ID16D
X004 1 0 1 IA16G
X005 1 0 1 IA16G
X006 1 0 2 IA16G
X007 1 0 2 IA16G
X008 2 0 1 ID16D
X009 2 a 0 1 ID16D

Fig. 3.2.2 (d)

3.2.3 Concept:
I/O Link Connection In conventional data transfer, when data is to be transferred between CNC
Unit Assignment A and CNC B, the I/O units indicated by (a) (figure below) must be
connected with each other. (In this case, data can be transferred using any
I/O unit.)

CNC A I/ O Unit I/ O Unit CNC B

Model A Model A

(a)
I/ O Unit
Model A
$ I/ O Unit
Model A

I/ O Unit I/ O Unit
Model A Model A

The I/O link connection unit replaces these I/O units, thus eliminating the
need to connect them with, for example, cables.

84
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

CNC A I/ O Unit I/ O Unit CNC B

Model A Model A

This portion is replaced by an I/O link

connection unit.
(a)
I/ O Unit
Model A $ I/ O Unit
Model A

I/ O Unit I/ O Unit
Model A Model A

Consequently, when the I/O link connection unit is used, the connections
become as shown below.

CNC A I/ O Unit I/ O Unit CNC B

Model A Model A

I/O Link
connection unit

I/ O Unit I/ O Unit
Model A Model A

Method of assignment: The assignment data depends on what type of I/O unit is to be replaced
with an I/O link connection unit.
Occupied
Input unit name at the time of assignment Output unit name at the time of assignment
address
1 to 8 / V (V represents a number from 1 to 8.) / V (V represents a number from 1 to 8.)
16 OC02I OC02O
32 OC03I OC03O

Setting: When a connection unit that occupies 16byte addresses is attached to the
input side in GROUP = 1, enter 1.0.1.OC02I.

NOTE
On the PMCSB6/SB7 for Series 16i/18i/21i/160i/180i/
210i, when programming software supports the I/O Link
expansion, I/O Link connection unit can be assigned to the
I/O Link channel 2 area. To link the I/O Link channel 2
actually, the option of the I/O Link expansion is necessary.

85
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

3.2.4 D Related hardware publications:

I/O Unit MODEL B FANUC I/O UnitMODEL B Connection and Maintenance Manual
(B62163E)
Assignment
I/O Unit MODEL Bs can be used together with a Power Mate operator
panel interface unit, connection unit, and I/O Unit MODEL As.
In this case, the I/O Unit MODEL Bs occupy one group; that is, no other
type of unit can be present in that group.
An example of connection is shown below.

I/ O LINK
MASTER

[GROUP] =0
Power Mate

[BASE] =0, [SLOT] =1

[GROUP] =1

Operators panel
interface unit

[BASE] =0, [SLOT] =1

[GROUP] =2

SLOT No. SLOT No.

I/O Unit A I/O Unit A

[GROUP] =3

[BASE] =0 [BASE] =1

I/O unit model B

interface unit
I/O unit model B I/O unit model B
DI/DO unit DI/DO unit
(Unit No.=1) (Unit No.=20)

[BASE] =0, [SLOT] =1 [BASE] =0, [SLOT] =20

I/O unit model B I/O unit model B

DI/DO unit DI/DO unit
(Unit No.=5) (Unit No.=10)

[BASE] =0, [SLOT] =5 [BASE] =0, [SLOT] =10

I/O unit model B I/O unit model B

DI/DO unit DI/DO unit
(Unit No.=30) (Unit No.=9)

[BASE] =0, [SLOT] =30 [BASE] =0, [SLOT] =9

86
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

Method of assignment: Specify a group number in [GROUP]. Always specify 0 in [BASE].

Specify the unit number of an I/O unit model B in [SLOT]. But when you
assign the poweron/off intormation, specify 0 in [SLOT].
The data specified by [SLOT] and [NAME] is as follows:
[SLOT] = 0, 1, ...30:
Unit number (1 to 30) of an I/O unit model B DI/DO unit
[NAME]: Addresses occupied by an I/O unit model B
Input/output size of ([base unit] Assigned
Occupied address
+ [extended unit]) name
1 byte #1 Input/output: 1 byte
2 bytes #2 Input/output: 2 bytes
3 bytes #3 Input/output: 3 bytes
4 bytes #4 Input/output: 4 bytes
6 bytes #6 Input/output: 6 bytes
8 bytes #8 Input/output: 8 bytes
10 bytes #10 Input/output: 10 bytes
Poweron/off information ## Input: 4 bytes

Setting: When an I/O unit model B assigned unit number 10 and occupying an area
of 3 bytes is attached to the input with GROUP = 1, enter 1.0.10.#3.

NOTE
On the PMCSB6/SB7 for Series 16i/18i/21i/160i/180i/
210i, when programming software supports the I/O Link
expansion, I/O UnitMODEL B can be assigned to the I/O
Link channel 2 area. But total number of groups of channel
1 and channel 2 of I/O Unit MODEL B available at the same
time is up to 8 when I/O device is connected to channel 2.
To link the I/O Link channel 2 actually, the option of the I/O
Link expansion is necessary.

3.2.5 When a Power MateD/H or Power Mate iD/H is used as I/O Link slave,
it need to be assigned on the I/O Link master side.
Power Mate On the I/O link slave side, fixed addresses are used, so that no address
Assignment needs to be assigned. (See Table 3 for the addresses used.)
An example of connection is shown below.

I/ O LINK
MASTER

[GROUP] =0
Operators panel
interface unit

[BASE] =0, [SLOT] =1

[GROUP] =1

Power Mate

[BASE] =0, [SLOT] =1

87
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

Method of assignment: Specify a group number in [GROUP].

Always specify 0 in [BASE].
Always specify 1 in [SLOT].
The data specified by [NAME] is as follows:
I/O points Input unit name at the Output unit name at the
(input/output) time of assignment time of assignment
32/32 FS04A FS04A
64/64 FS08A FS08A
128/128 OC02I OC02O
256/256 OC03I OC03O

Setting: When a Power MateD of 256/256 points is connected with group 1, input
the undermentioned assignment data.
Input side : 1.0.1.OC03I
Output side : 1.0.1.OC03O

NOTE
On the PMCSB6/SB7 for Series 16i/18i/21i/160i/180i/
210i, when programming software supports the I/O Link
expansion, Power MateD/H or Power Mate iD/H can be
assigned to the I/O Link channel 2 area. To link the I/O Link
channel 2 actually, the option of the I/O Link expansion is
necessary.

3.2.6 On the FS16iLA, the laser oscillator is connected as part of the I/O Link.
FS16iLA Assignment 3 groups (DI/DO=256/256 points) are used for the laser oscillator
interface. 13 groups, 768/768 points (X0 to X95, Y0 to Y95) of the I/O
Link channel 1 can be used for the ladder diagram. 16 groups, 1024/1024
points (X200 to X327, Y200 to Y327) of the I/O Link channel 2 can be
used for the ladder diagram. For details on the laser oscillator connection,
see the FS16i Series CONNECTION MANUAL (B63003EN), FANUC
I/O Link connection.

Connection Example

FS16iLA

I/ O LINK
MASTER

Max. 13 groups

X0 to X95
Operators panel I/O module Y0 to Y95

Max. 3 groups

Laser oscillator

88
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

Method of Assignment Specify 0 to 12 in [GROUP].

For details on how to assign [BASE] and [SLOT], see 3.2.2 Assignment
of I/O Module Addresses.

CAUTION
1 Addresses X96 to X127 and Y96 to Y127 cannot be used
in ladder diagrams.
2 When addresses X96 to X127 and Y96 to Y127 are
assigned, I/O points are not linked.
3 Connect the laser group to the end of the I/O link.
4 The I/O Link restart function cannot be used.
5 The OVERRIDE mode of the forced I/O function cannot be
used.
6 PMCSB5 does not support a laser.

3.2.7 To assign connection panel I/O and operators panel I/O modules to the
Distribution I/O I/O Link, set the group number with an I/O Link serial number (use a
smaller number toward the I/O Link master CNC, like 0, 1, and 2). Also,
Connection I/O Module set the base number and slot number to 0 and 1, respectively. If a
and Distribution I/O combination of the basic module and expansion modules is used as the
Operators Panel I/O connection panel I/O module, assign all the modules in one I/O Link
Module Assignment group as one unit. Unlike the I/O Unit MODELA, it is unnecessary to
Methods specify a slot number. An assignment example is shown below.

Assignment example
Example

CNC

JD1A

72 input points (16 generalpurpose points + 56 matrix points) and

56 output points (X4 and higher, Y0 and higher)
Operators panel I/O
module MPG
A20B20020470
JD1B
JD1A
MPG

96 input points and 64 output points (X20 and higher, Y10 and higher)
Connection Expansion Expansion Expansion
panel I/O module 1 module 2 module 3
basic module
JD1B
JD1A

24 input points and 16 output points (X100 and higher, Y100 and higher)
Connection
panel I/O
basic module
JD1B
JD1A

89
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

Group Base Slot Name

X004 0 0 1 CM14I

X020 1 0 1 CM12I

X100 2 0 1 CM03I

Y000 0 0 1 CM08O

Y010 1 0 1 CM08O

Y100 2 0 1 CM02O

Assignment name To assign the connection panel I/O and operators panel I/O modules for
the I/O Link, it is necessary to use programming software that supports
these modules. If the programming software does not support the
modules, use compatible names for assignment described later.

Connection panel I/O Refer to the following manuals for an explanation of how the connection
panel I/O module signals are mapped:
D FANUC Series 16i/18i Connection Manual (Hardware)
B63003EN
D FANUC Series 21i Connection Manual (Hardware) B63083EN
D FANUC Series 15i Connection Manual (Hardware) B63323EN
D FANUC Power Mate i Connection Manual (Hardware) B63173EN
The assignment that is made for different configurations (such as basic
module configuration and combination basic/expansion module
configuration) is explained below.

CAUTION
Expansion modules must be connected in ascending order
with respect to the module number (1, 2, then 3). An
expansion module number cannot be skipped.

Basic module Expansion Expansion

module 1 module 2
JD1B
JD1A

It is impossible to assign expansion module 2 without

expansion module 1, which will be installed later, as shown
above.

(1) Basic module only

24 input points and 16 output points

Basic module

JD1B
JD1A

90
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

(a) If DO alarm detection is not used

D No manual pulse generator:
Input X = CM03I and output Y = CM02O
D One manual pulse generator:
Input X = CM13I and output Y = CM02O
(b) If DO alarm detection is used
D Input X = CM16I and output Y = CM02O no matter how
many manual pulse generators are used
(2) Basic module + expansion module 1

48 input points and 32 output points

Basic module Expansion

module 1
JD1B
JD1A

(a) If DO alarm detection is not used

D No manual pulse generator:
Input X = CM06I and output Y = CM04O
(b) If DO alarm detection is used
D Input X = CM16I and output Y = CM04O no matter how
many manual pulse generators are used
(3) Basic module + expansion module 1 + expansion module 2

72 input points and 48 output points

Basic module Expansion Expansion

module 1 module 2
JD1B
JD1A

(a) If DO alarm detection is not used

D No manual pulse generator:
Input X = CM09I and output Y = CM06O
D One manual pulse generator:
Input X = CM13I and output Y = CM06O
(b) If DO alarm detection is used
D Input X = CM16I and output Y = CM06O no matter how
many manual pulse generators are used
(4) Basic module + expansion module 1 + expansion module 2 +
expansion module 3

96 input points and 64 output points

Basic module Expansion Expansion Expansion

module 1 module 2 module 3
JD1B
JD1A

91
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

(a) If DO alarm detection is not used

D No manual pulse generator:
Input X = CM12I and output Y = CM08O
D One manual pulse generator:
Input X = CM13I and output Y = CM08O
D Two manual pulse generators:
Input X = CM14I and output Y = CM08O
D Three manual pulse generators:
Input X = CM15I and output Y = CM08O
(b) If DO alarm detection is used
D Input X = CM16I and output Y = CM08O no matter how
many manual pulse generators are used

Operators panel I/O Refer to the following manuals for an explanation how the operators
module panel I/O module signals are mapped:
D FANUC Series 16i/18i Connection Manual (Hardware)
B63003EN
D FANUC Series 21i Connection Manual (Hardware) B63083EN
D FANUC Series 15i Connection Manual (Hardware) B63323EN
D FANUC Power Mate i D/H Connection Manual (Hardware)
B63173EN
(1) Operators panel I/O module
(A20B20020470 supporting matrix inputs)

16 generalpurpose input points + 56 matrix input points

56 matrix output points

Operators panel I/O

module
JD1B
JD1A

(a) If DO alarm detection is not used

D No manual pulse generator:
Input X = CM12I and output Y = CM08O
D One manual pulse generator:
Input X = CM13I and output Y = CM08O
D Two manual pulse generators:
Input X = CM14I and output Y = CM08O
D Three manual pulse generators:
Input X = CM15I and output Y = CM08O
(b) If DO alarm detection is used
D Input X = CM16I and output Y = CM08O no matter how
many manual pulse generators are used
(2) Operators panel I/O modules
(A20B20020520 and A20B20020521)

92
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

48 input points
32 output points

Operators panel I/O

module
JD1B
JD1A

(a) If DO alarm detection is not used

D No manual pulse generator:
Input X = CM06I and output Y = CM04O
D One manual pulse generator:
Input X = CM13I and output Y = CM04O
D Two manual pulse generators:
Input X = CM14I and output Y = CM04O
D Three manual pulse generators:
Input X = CM15I and output Y = CM04O
(b) If DO alarm detection is used
D Input X = CM16I and output Y = CM04O no matter how
many manual pulse generators are used
(3) Distribution I/O machine operators panels (A20B80010721,
A20B80010720, and A20B80010210)

8 override (and other) signal input points + 24 generalpurpose input points + 64

matrix input points
64 output matrix points

Operators panel I/O

module
JD1B
JD1A

(a) If DO alarm detection is not used

D No manual pulse generator:
Input X = CM12I and output Y = CM08O
D One manual pulse generator:
Input X = CM13I and output Y = CM08O
D Two manual pulse generators:
Input X = CM14I and output Y = CM08O
D Three manual pulse generators:
Input X = CM15I and output Y = CM08O
(b) If DO alarm detection is used
D Input X = CM16I and output Y = CM08O no matter how
many manual pulse generators are used

93
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

Compatible names for If your programming unit does not support the connection I/O or
assignment operators panel I/O module, use the following compatible names for I/O
Link assignment.
Assignment name Compatible name

CM03I /3

CM06I /6

CM09I OC01I

CM12I OC01I

CM13I OC02I

CM14I OC02I

CM15I OC02I

CM16I OC02I

CM02O /2

CM04O /4

CM06O /6

CM08O /8

NOTE
On the PMCSB6/SB7 for Series 16i/18i/21i/160i/180i/
210i, when programming software supports the I/O Link
expansion, I/O Connection, I/O Module and Operators
Panel I/O Module can be assigned to the I/O Link channel
2 area. But Manual Pulse Generator can not be assigned to
channel 2 area.

94
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

3.3 In each model, the following signals (bytes) can be used as internal relays.
This area is cleared to zero when the power is turned on.
INTERNAL RELAY
ADDRESSES (R)
Model PA1 PA3

Number of 1100 1118

bytes

Model SA1 SA2 SA3/SA5

Number of
1100 1118 1118
bytes

Model SB SB2 SB3/SB5 SB4/SB6 SB7

Number of
1100 1118 1618 3200 8500
bytes

Model SC SC3 SC4

Number of
bytes 1600 1618 3200

Model NB NB2 NB6

Number of
bytes 1618 3200 3200

95
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

Address number
7 6 5 4 3 2 1 0

R0 PMCPA1 PMCSB3 PMCSB4 PMCSB7

PMCPA3 PMCSB5 PMCSB6
R1 PMCSA1 PMCSC PMCSC4
PMCSA2 PMCSC3 PMCNB2
PMCSA3 PMCNB PMCNB6
PMCSA5
PMCSB
PMCSB2

R999

R1499

R2999
.
.

R7999

R9099 PMCPA1 PMCPA3 PMCSB4 PMCSB7

PMCSA1 PMCSA2 PMCSB6
PMCSB PMCSA3 PMCSC4
PMCSC PMCSA5 PMCNB2
PMCSB2 PMCNB6
PMCSB3
R9099 PMCSB5
PMCSC3
PMCNB

R9117

R9199
.
.

R9499

96
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

3.3.1 (1) R9000 (Operation output register for the ADDB, SUBB, MULB,
Area Managed by the DIVB, and COMPB functional instructions)
System Program 7 6 5 4 3 2 1 0
R9000

The result is 0.
The result is a negative
value.
The result overflows.

(2) R9000 (Error output for the EXIN, WINDR, WINDW, MMCWR,
MMCWW, MMC3R, and MMC3W functional instructions)
7 6 5 4 3 2 1 0
R9000

The instruction ended

in error.

(3) R9002 to R9005 (Operation output registers for the DIVB functional
instruction)
The data remaining after the DIVB functional instruction is executed
is output.
(4) R9010 to R9027 (Interface area for the FNC9x functional
instruction) (PMCSC only)
The area is provided as an interface between the FNC9x functional
instruction to be executed and a desired function.
7 6 5 4 3 2 1 0

R9010 Contents of the command to

97 96 95 94 93 92 91 90 be executed
R9011 Data output when the
97 96 95 94 93 92 91 90 processing is completed
R9012

R9013 Addresses of the control data for SUB90

R9014

R9015
Addresses of the control data for SUB91

R9026
Addresses of the control data for SUB97
R9027

97
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

(5) R9100 to R9117 (Interface area for the FNC9x functional

instruction) (PMCSC3/SC4/NB/NB2 only)
The area is provided as an interface between the FNC9x functional
instruction to be executed and a desired function.
7 6 5 4 3 2 1 0
Contents of the command
R9100 97 96 95 94 93 92 91 90 to be executed

R9101 Data output when the

97 96 95 94 93 92 91 90 processing is completed
R9102

R9103 Addresses of the control data for SUB90

R9104

R9105
Addresses of the control data for SUB91

R9116
Addresses of the control data for SUB97
R9117

(6) R9091 (System timer)

4 signals can be used as system timer.
The specifications of every signal are as following.
7 6 5 4 3 2 1 0
R9091

always OFF
always ON

Cyclic signal of 200 ms

(104 ms ON, 96 ms OFF)

Cyclic signal of 1 second.

(504 ms ON, 496 ms OFF)

CAUTION
In the beginning, every signal is OFF.
The signals of R9091.0 and R9091.1 are always set at the
beginning of 1st level in every cycle.
Every pulse signal (ONOFF) includes 8 ms errors.

98
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

R9091. 5

104ms 96ms

200ms

R9091. 6

504ms 496ms

1 second

(7) RUN to STOP Transition Signal, STOP to RUN Transition Signal

and RUN Status Signal (PMCSB7)
(a) Overview
(i) RUN to STOP transition signal and STOP to RUN
transition signal
The RUN to STOP transition signal and the STOP to RUN
transition signal for LADDER program execution are to
handle these events in a LADDER program.
(ii) RUN status signal
RUN status signal is to notify the status of LADDER and
PMC C program execution to other systems or programs, such
a network board, C executor program, FOCAS1 Ethernet or
HSSB library etc.
(b) Address
7 6 5 4 3 2 1 0
R9015

R9015.0:STOP to RUN
transition signal
(LADDER program use only)

R9015.1:RUN to STOP
transition signal
(LADDER program use only)

7 6 5 4 3 2 1 0
R9091

R9091.2:RUN status signal

0 : LADDER is stopping.
1 : LADDER is running.

99
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

(c) Behavior

LADDER execution RUN

STOP

R9015.0 1
STOP to RUN signal 0

R9015.1 1
RUN to STOP signal 0

R9091.2 1
RUN status signal 0

One Scan
of LADDER

(i) STOP to RUN transition signal (R9015.0)

When a STOP to RUN event is detected on system software,
this signal will be turned on during the 1st scan of LADDER
program after LADDER started. This signal has individual
status corresponding the scan of each LADDER execution
level like R9000. This signal is completely turned on during
whole of the 1st scan in any execution level of LADDER
program.
When does a STOP to RUN event happen?
LADDER starting at every power on cycle
pressing a RUN softkey on a PMC screen
RUN commanded by FANUC LADDERIII or
LADDER EDITING PACKAGE
Referring this signal in a LADDER program, you can recognize
and handle a STOP to RUN transition event. You can program
a preprocessing for LADDER execution.

NOTE
This signal is available only in LADDER program. Dont refer
this signal on other systems or programs, such a network
board, C executor program, FOCAS1 Ethernet or HSSB
liberally etc. because this signal has individual status in
each LADDER execution.

(ii) RUN to STOP transition signal (R9015.1)

When a RUN to STOP event is detected on system software, this
signal will be turned off during the last scan of LADDER
program before LADDER stopped. This signal has individual
status corresponding the scan of each LADDER execution level
like R9000. This signal is completely turned off during the last
scan before any execution level of LADDER program stops.
When does a RUN to STOP event happen?
pressing a STOP softkey on a PMC screen
STOP commanded by FANUC LADDERIII or
LADDER EDITING PACKAGE

100
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

pressing a EDIT>IOMDL softkey on a PMC screen

pressing a EDIT>MESAGE softkey on a PMC
screen
pressing a EDIT>SYMBOL softkey on a PMC
screen
pressing a EDIT>CLEAR softkey on a PMC screen
pressing a SYSPRM softkey on a PMC screen
storing a LADDER or PMC C language program to PMC
on PMC I/O screen
storing a LADDER program to PMC using FANUC
LADDERIII or LADDER EDITING PACKAGE
Referring this signal in a LADDER program, you can recognize
and handle a RUN to STOP transition event. You can program
a postprocessing for LADDER execution (i.e. preprocessing
for stopping of LADDER execution). For example, set or reset
any appropriate signals into certain condition for the safety.

NOTE
1 This signal is available only in LADDER program. Dont refer
this signal on other systems or programs, such a network
board, C executor program, FOCAS1 Ethernet or HSSB
liberally etc. because this signal has individual status in
each LADDER execution level.
2 You can not handle this event using this signal at a power off
sequence and system alarm of CNC in which the execution
of LADDER and I/O scanning are completely shut down.

(iii) RUN status signal (R9091.2)

Referring this signal on other systems or programs, such a
network board, C executor program, FOCAS1 Ethernet or
HSSB liberally etc. you can know the status of LADDER and
PMC C language program execution.
(d) Example of use
(i) Calling a subprogram at RUN to STOP condition.
R9015.1

SUB65 Pxxxx
CALL

(ii) Forcing off a specified output signal programmed in 1st level

at RUN to STOP transition.

Input R9015.1 Output

101
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

3.4 This area is used as message display request. In each model, the following
number of messages can be used. Where Number of Messages =
ADDRESSES FOR Number of Bytes  8
MESSAGE This area is cleared to zero when the power is turned on. For information
SELECTION about using the message, see the subsection 5.43.
DISPLAYED ON CRT
(A) Model PA1 PA3

Number of bytes 25 25

Number of messages 200 200

Model SA1 SA2 SA3/

SA5

Number of bytes 25 25 25

Number of messages 200 200 200

SB3/ SB4/
Model SB SB2 SB7
SB5 SB6

Number of bytes 25 25 25 125 500

Number of messages 200 200 200 1000 2000

Model SC SC3 SC4

Number of bytes 25 25 125

Number of messages 200 200 1000

Model NB NB2 NB6

Number of bytes 25 125 125

Number of messages 200 1000 1000

102
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

Address number

7 6 5 4 3 2 1 0

A0 PMCPA1 PMCSB4 PMCSB7

PMCPA3 PMCSB6
PMCSA1 PMCSC4
A1 PMCSA2 PMCNB2
PMCSA3 PMCNB6
PMCSA5
PMCSB
PMCSB2
PMCSB3
PMCSB5
PMCSC
PMCSC3
PMCNB

A24

A124

A249

Fig. 3.4 Address of message display reguest

103
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

3.5 This area is used as counters. In each model, the following number of
counters can be used. Where Number of Counters = Number of Bytes
ADDRESS OF /4
COUNTER (C) Since this area is nonvolatile, the contents of the memory do not disappear
even when the power is turned off.

Model PA1 PA3

Number of bytes 80 80

Number of counters 20 20

SA3/
Model SA1 SA2 SA5

Number of bytes 80 80 80

Number of counters 20 20 20

SB3/ SB4/ SB7

Model SB SB2
SB5 SB6

Number of bytes 80 80 80 200 400

Number of counters 20 20 20 50 100

Model SC SC3 SC4

Number of bytes 80 80 200

Number of counters 20 20 50

Model NB NB2 NB6

Number of bytes 80 200 200

Number of counters 20 50 50

104
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

Address number

7 6 5 4 3 2 1 0

PMCPA1 PMCSB4 PMCSB7

C0 Preset value
PMCPA3 PMCSB6

C1 PMCSA1 PMCSC4
Counter PMCSA2 PMCNB2
No. 1 PMCSA3 PMCNB6
C2 current value
PMCSA5
C3 PMCSB
PMCSB2
PMCSB3
PMCSB5
PMCSC
PMCSC3
C76 Preset value PMCNB

C77 Counter
No. 20
C78 current value

C79

C196 Preset value

C197 Counter
No. 50
C198 current value

C199

C396 Preset value

C397 Counter
No. 100
C398 current value

C399

Fig. 3.5 Address of Counter

105
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

3.6 The area is used as keep relays and PMC parameters. In each model, the
following number of bytes can be used. Since this area is nonvolatile, the
ADDRESS OF KEEP contents of the memory do not disappear even when the power is turned
RELAY AND off.
NONVOLATILE
MEMORY CONTROL Model PA1 PA3
(K)
Number of bytes 20 20
Nonvolatile memory
control address K16 K16

PMC control software K17 K17

parameter to to
K19 K19

SA3/
Model SA1 SA2 SA5

Number of bytes 20 20 20
Nonvolatile memory
control address K16 K16 K16

PMC control software K17 K17 K17

parameter to to to
K19 K19 K19

SB3/ SB4/ SB7

Model SB SB2
SB5 SB6

Number of bytes 20 20 20 50 120

Nonvolatile memory
control address K16 K16 K16 K16 K16

PMC control software K17 K17 K17 K900 K900

parameter to to to to to
K19 K19 K19 K909 K919

Model SC SC3 SC4

Number of bytes 20 20 50
Nonvolatile memory
control address K16 K16 K16

PMC control software K17 K17 K900

parameter to to to
K19 K19 K909

Model NB NB2 NB6

Number of bytes 20 50 50

Nonvolatile memory K16 K16 K16

control address
PMC control software K17 K900 K900
parameter to to to
K19 K909 K909

106
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

Address number

7 6 5 4 3 2 1 0
K0
PMCPA1 PMCSB4 PMCSB7
PMCPA3 PMCSB6
PMCSA1 PMCSC4
K1 PMCSA2 PMCNB2
PMCSA3 PMCNB6
PMCSA5
PMCSB
PMCSB2
PMCSB3
PMCSB5
PMCSC
PMCSC3
PMCNB

K19

K39

K99

K900
PMCSB4 PMCSB7
PMCSB6
PMCSC4
PMCNB2
PMCNB6

K909

K919

Fig. 3.6 Address of keep relay and nonvolative memory control

For the information about using Nonvolatile memory control, see the
section 6.1.
PMC control software parameter area is used by PMC control software.
For more information about PMC control software parameter, see the
section II 4.3.

107
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

3.7 Data table is the area of nonvolatile memory. In each model, the following
number of bytes can be used.
ADDRESS OF DATA
TABLE (D)
Model PA1 PA3

Number of bytes 1860 1860

SA3/
Model SA1 SA2
SA5
Number of bytes 1860 1860 1860

SB3/ SB4/
Model SB SB2 SB7
SB5 SB6
Number of bytes 1860 1860 3000 8000 10000

Model SC SC3 SC4

Number of bytes 3000 3000 8000

Model NB NB2 NB6

Number of bytes 3000 8000 8000

108
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

Address number

7 6 5 4 3 2 1 0

D0 PMCPA1 PMCSB3 PMCSB4 PMCSB7

PMCPA3 PMCSB5 PMCSB6
D1 PMCSA1 PMCSC PMCSC4
PMCSA2 PMCSC3 PMCNB2
PMCSA3 PMCNB PMCNB6
PMCSA5
PMCSB
PMCSB2
D1859

D2999

D7999

D9999

Fig. 3.7 Address of data table

109
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

3.8 This area is used by TMR instruction as variable timers. In each model,
the following number of timers can be used. Where Number of timers
TIMER ADDRESSES = Number of Bytes / 2
(T) Since this area is nonvolatile, the contents of the memory do not disappear
even when the power is turned off.

Model PA1 PA3

Number of bytes 80 80

Number of timers 40 40

SA3/
Model SA1 SA2 SA5

Number of bytes 80 80 80

Number of timers 40 40 40

SB3/ SB4
Model SB SB2 SB7
SB5 SB6

Number of bytes 80 80 80 300 500

Number of timers 40 40 40 150 250

Model SC SC3 SC4

Number of bytes 80 80 300

Number of timers 40 40 150

Model NB NB2 NB6

Number of bytes 80 300 300

Number of timers 40 150 150

110
B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

Address number

7 6 5 4 3 2 1 0

Timer PMCPA1 PMCSB4 PMCSB7

T0
No. 1 PMCPA3 PMCSB6
T1 PMCSA1 PMCSC4
PMCSA2 PMCNB2
Timer PMCSA3 PMCNB6
T2
No. 2 PMCSA5
T3 PMCSB
PMCSB2
PMCSB3
PMCSB5
PMCSC
PMCSC3
Timer PMCNB
T78
No. 40
T79

Timer
T298
No. 150
T299

Timer
T498
No. 250
T499

Fig. 3.8 Timer address

111
3. ADDRESS PMC SEQUENCE PROGRAM B61863E/14

3.9 Label addresses are used to specify jump destination labels (positions in
a sequence program) in the JMPB and JMPC instructions. The same label
LABEL ADDRESSES number can appear in different LBL instructions in the same sequence
(JMPB, JMPC, LBL) program as long as it is unique in the program unit (main program,
(L) subprogram). In each model, the following number of label can be used.

Model PA1 PA3

Number of labels 9999

SA3/
Model SA1 SA2 SA5

Number of labels 9999

SB3/ SB4/
Model SB SB2 SB5 SB6 SB7

Number of labels 9999 9999 9999

Model SC SC3 SC4

Number of labels 9999 9999

Model NB/ NB6

NB2
Number of labels 9999 9999

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B61863E/14 PMC SEQUENCE PROGRAM 3. ADDRESS

3.10 Subprogram numbers are used to specify jump destination subprogram

labels in the CALL and CALLU instructions. Subprogram number must
SUBPROGRAM be unique in the entire sequence program. In each model, the following
NUMBERS (CALL, number of subprograms can be used.
CALLU, SP) (P)
Model PA1 PA3

Number of subprograms 512

SA3/
Model SA1 SA2 SA5

Number of subprograms 512

SB3/ SB3/
Model SB SB2 SB5 SB6 SB7

Number of subprograms 512 2000 2000

Model SC SC3 SC4

Number of subprograms 512 2000

Model NB NB2 NB6

Number of subprograms 512 2000 2000

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4. PMC BASIC INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

4 PMC BASIC INSTRUCTIONS

Designing a sequence program begins with writing a ladder diagram. The

ladder diagram is written using relay contact symbols and functional
instruction code. (These will be described later.) Logic written in the
ladder diagram is entered as a sequence program in the Programmer.
There are two sequence program entry methods. One is the entry method
with the mnemonic language (PMC instructions such as RD, AND and
OR). The other is the relay symbol method ( , and ) in which the
sequence program is entered by using the relay contact symbols and the
functional instruction symbols of the ladder diagram. When the relay
symbol method is used, the ladder diagram format can be used and
programming can be performed without understanding the PMC
instructions (basic instructions such as RD, AND and OR).
Actually, however, the sequence program entered by the relay symbol
method is also internally converted into the instruction corresponding to
the PMC instruction. When the sequence program is punched on a paper
tape and then entered to the programmer, programming must be
performed with the PMC instructions.
Also, the meanings of the functional instructions described later must be
understood fully. See Subsection 4.1 and Section 5.
On how to enter the sequence program into the programmer by using the
PMC instructions and relay symbols, see Chapter III or V.
The following should be noted first before reading the explanation on
PMC instructions.
This manual describes the entry method using mnemonic language.
(1) Signal address
Relay coils and contacts written in a ladder diagram are each given
an address, represented with an address number and a bit number.
(See Fig. 4 (a)) It is possible for the head zero. For details of address,
see Section 3.

Signal name
Relay name

A B
RO
X8.1 R12.6
C R9.0

Y20.4 Bit number

Address number

Fig. 4 (a) Address of signal

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(2) Type
There are two types of PMC instructions, basic and functional.
(a) Basic instruction
Basic instructions are most often used when designing sequence
programs. They perform onebit operations, such as AND, or
OR. There are 12 types.
(b) Functional instruction
Functional instructions ease programming of machine
movements that are difficult to program with basic instructions.
Refer to Chapter V about the type of functional instruction.
(3) Storage of logical operation results
A register is provided for storing the intermediate results of a logical
operation during operation of a sequence program. This register
consists of 9 bits. (See Fig. 4 (b) ) .

Stack register (which temporarily stores the inter- The result of an operation
mediate result of an operation) currently being executed
enters here.

ST8 ST7 ST6 ST5 ST4 ST3 ST2 ST1 ST0

Fig. 4 (b)
Execution of an instruction (RD.STK or the like) to temporarily store the
intermediate results of an operation as in the above figure, shifts left and
stacks the status stored so far; conversely, execution (AND.STK or the
like) to retrieve a stacked signal shifts it right. The signal stacked last is
retrieved first.
Refer to explanations of each instruction for concrete applications and
operations.

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4.1 The type of instructions and contents of processing are listed in the Table
4.1 (a).
DETAILS OF BASIC
INSTRUCTIONS Information format 1:
This is used when writing instructions on a coding sheet, punching out
them on a paper tape or displayed on the CRT/MDI or offline programmer.
Information format 2:
This is used when inputting instructions through programmer.
This format is to simplify an input operation.
RN, for instance, means RD.NOT and represents an input operation using
both keys, R and N.
Details of each basic instruction will be given here.

Table 4.1 (a) Basic instruction and processing

Instruction
No. Format 1 Format 2 Contents of processing
(coding) (keys of FANUC LADDER)
1 RD R Reads the status of a specified signal and sets it in ST0.

2 RD.NOT RN Inverts the logical status of a specified signal, reads and sets it in ST0.

3 WRT W Outputs the results of logical operations (status of ST0) to a specified

address.

4 WRT.NOT WN Inverts the results of logical operations (status of ST0) and outputs it to a
specified address.

5 AND A Induces a logical product.

6 AND.NOT AN Inverts the status of a specified signal and induces a logical product.

7 OR O Induces a logical sum.

8 OR.NOT ON Inverts the status of a specified signal and induces a logical sum.

9 RD.STK RS Shifts the stack register left one bit, read and sets the status of a specified
signal in ST0.

10 RD.NOT.STK RNS Shifts the stack register left one bit reads the inveried logical status of a
specified signal, and sets it in ST0.

11 AND.STK AS Sets the logical product of ST0 and ST1, and shifts the stack register right
one bit.

12 OR.STK OS Sets the logical sum of ST0 and ST1, and shifts the stack register right by one
bit.

13 SET SET Calculates the logical OR of the contents of ST0 and the status of the signal
at the specified address and outputs the result to the specified address.

14 RST RST Calculates the logical AND of the inverted contents of ST0 and the specified
address and outputs the result to the address.

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Basic instructions available on each models are as shown in the Table

4.1 (b).

Table 4.1 (b) Basic instruction

Model
PMC- PMC- PMC- PMC- PMC- PMC- PMC- PMC- PMC-
PA1 PA3 SA1/ SB/ SC SA3/ SB3/ SC3/ NB/
No. Instruction SA2 SB2 SA5 SB4/ SC4 NB2/
SB5/ NB6
SB6/
SB7
1 RD f f f f f f f f f

2 RD.NOT f f f f f f f f f

3 WRT f f f f f f f f f

4 WRT.NOT f f f f f f f f f

5 AND f f f f f f f f f

6 AND.NOT f f f f f f f f f

7 OR f f f f f f f f f

8 OR.NOT f f f f f f f f f

9 RD.STK f f f f f f f f f

10 RD.NOT.STK f f f f f f f f f

11 AND.STK f f f f f f f f f

12 OR.STK f f f f f f f f f

13 SET f f f f f

14 RST f f f f f

: Cannot be used f : Can be used

NOTE
SET/RST are not available on PMCSA3 for Series 20.

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4. PMC BASIC INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

4.1.1 (1) Format

RD (Address)

Bit number

Address number

(2) Reads the status (1 or 0) of a signal at a specified address and sets it

in ST0.
(3) Is used when beginning coding with contact A ( ). See the ladder
diagram of Fig. 4.1.1 and entries in the coding sheet of Table 4.1.1
for an example of using the RD instruction.
(4) The signal read by the RD instruction may be any signal entered as
the logical condition for one coil (output).

A B C
W1

X10.1 X2.0 R2.1 R200.0

D G

W2
X5.1 R5.4 R200.1
E

Y5.2
F

Y5.3

Fig. 4.1.1 Ladder diagram

Table 4.1.1 Coding for Fig. 4.1.1

Coding sheet Status of operating result

Step
Instruction Address No. Bit No. Remarks ST2 ST1 ST0
Number
1 RD X10 . 1 A A
2 AND X2 . 0 B A.B
3 AND . NOT R2 . 1 C A.B.C
4 WRT R200 . 0 W1 output A.B.C
5 RD X5 . 1 D D
6 OR . NOT Y5 . 2 E D+E
7 OR Y5 . 3 F D+E+F
8 AND R5 . 4 G (D+E+F)@G
9 WRT R200 . 1 W2 output (D+E+F)@G
10

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4.1.2 (1) Format

RD. NOT (Address)

Bit number

Address number

(2) Inverts the status of a signal at a specified address and set it in ST0.
(3) Is used when beginning coding with contact B ( ). See the ladder
diagram of Fig. 4.1.2 and entries in the coding sheet of Table 4.1.2
for an example of using the RD.NOT instruction.
(4) The signal read by the RD.NOT instruction may be any contact B
entered as the logical condition of one coil.

A B C
W1

R1.1 F2.2 F3.3 R210.1

D G

W2
G5.1 R10.5
E R210.2

X4.2
F

Y10.7

Fig. 4.1.2 Ladder diagram

Table 4.1.2 Coding for Fig. 4.1.2

Coding sheet Status of operating result

Step
Instruction Address No. Bit No. Remarks ST2 ST1 ST0
Number
1 RD. NOT R1 . 1 A A
2 AND . NOT F2 . 2 B A.B
3 AND . NOT F3 . 3 C A@B@C
4 WRT R210 . 1 W1 output A@B@C
5 RD. NOT G5 . 1 D D
6 OR . NOT X4 . 2 E D+E
7 OR Y10 . 7 F D+E+F
8 AND R10 . 5 G (D+E+F)@G
9 WRT R210 . 2 W2 output (D+E+F)@G

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4.1.3 (1) Format

WRT (Address)

Bit number

Address number

(2) Outputs the results of logical operations, that is, the status of ST0 to
a specified address.
(3) The results of one logical operation can also be output to two or more
addresses. How to use the WRT instruction in this case is shown in
Fig. 4.1.3 and Table 4.1.3.

A C

W1
R220.1 G2.2 Y11.1
B
W2
X4.2
Y14.6

Fig. 4.1.3 Ladder diagram

Table 4.1.3 Coding for Fig. 4.1.3

Coding sheet Status of operating result

Step
Instruction Address No. Bit No. Remarks ST2 ST1 ST0
Number
1 RD R220 . 1 A A
2 OR X4 . 2 B A+B
3 AND G2 . 2 C (A+B)@C
4 WRT Y11 . 1 W1 output (A+B)@C
5 WRT Y14 . 6 W2 output (A+B)@C

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4.1.4 (1) Format

WRT. NOT (Address)

Bit number

Address number

(2) Inverts the results of logical operations, that is, the status of ST0 and
outputs it to a specified address. Fig. 4.1.4 and Table 4.1.4 show an
example on using the WRT.NOT instruction.

A C

W1
R220.1 G2.2 Y11.1
B
W2
X4.2 Y14.6

Fig. 4.1.4 Ladder diagram

Table 4.1.4 Coding for Fig. 4.1.4

Coding sheet Status of operating result
Step
Instruction Address No. Bit No. Remarks ST2 ST1 ST0
Number
1 RD R220 . 1 A A
2 OR X4 . 2 B A+B
3 AND G2 . 2 C (A+B) C
4 WRT Y11 . 1 W1 output (A+B) C
5 WRT. NOT Y14 . 6 W2 output (A+B) C

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4.1.5 (1) Format

AND (Address)

Bit number

Address number

(2) Induces a logical product.

(3) See Fig. 4.1.1 and Table 4.1.1 for an example of using the AND
instruction.

4.1.6 (1) Format

AND. NOT (Address)

Bit number

Address number

(2) Inverts the status of a signal at a specified address and induces a

logical product.
(3) See Fig. 4.1.1 and Table 4.1.1 for an example of using the AND.NOT
instruction.

4.1.7 (1) Format

OR (Address)

Bit number

Address number

(2) Induces a logical sum.

(3) See Fig. 4.1.1 and Table 4.1.1 for an example of using the OR
instruction.

4.1.8 (1) Format

OR. NOT (Address)

Bit number

Address number

(2) Inverts the status of a signal at a specified address and induces a

logical sum.
(3) See Fig. 4.1.1 and Table 4.1.1 for an example of using the OR.NOT
instruction.

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4.1.9 (1) Format

RD. STK (Address)

Bit number

Address number

(2) Stacks the intermediate results of a logical operations. After shifting

the stack register left one bit, sets a signal at a specified address to
ST0.
(3) Is used when the signal to be specified is contact A ( ).
(4) See Fig. 4.1.9 and Table 4.1.9 for an example of using the RD.STK
instruction.

A B
W1
X1.1 Y1.2 Y15.0
C D

X1.3 Y1.4
E F

R2.1 R3.5

Fig. 4.1.9 Ladder diagram

Table 4.1.9 Coding for Fig. 4.1.9

Coding sheet Status of operating result

Step
Instruction Address No. Bit No. Remarks ST2 ST1 ST0
Number
1 RD X1 . 1 A A
2 AND Y1 . 2 B A@B
3 RD. STK X1 . 3 C A@B C
4 AND Y1 . 4 D A@B C@D
5 OR. STK A@B+C@D
6 RD. STK R2 . 1 E A@B+C@D E
7 AND R3 . 5 F A@B+C@D E@F
8 OR.STK A@B+C@D+E@F
9 WRT Y15 . 0 W1 output A@B+C@D+E@F
10

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4. PMC BASIC INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

4.1.10 (1) Format

RD. NOT. STK (Address)

Bit number

Address number

(2) Stacks the intermediate results of a logical operations. Shifts the

stack register left one bit, inverts the status of a signal at a specified
address and sets it in ST0.
(3) Is used when the signal to be specified is contact B ( ).
(4) See Fig. 4.1.10 and Table 4.1.10 for an example of using the
RD.NOT.STK instruction.

A B E F
W1
X1.0 X1.1 Y1.2 Y1.3 Y15.7
C D G H

R1.4 R1.5 X1.6 Y1.7

Fig. 4.1.10 Ladder diagram

Table 4.1.10 Coding for Fig. 4.1.10

Coding sheet Status of operating result
Step Address
Instruction Bit No. Remarks ST2 ST1 ST0
Number No.
1 RD X1 . 0 A A
2 AND. NOT X1 . 1 B A@B
3 RD.NOT.STK R1 . 4 C A@B C
4 AND. NOT R1 . 5 D A@B C@D
5 OR. STK A@B+C@D
6 RD. STK Y1 . 2 E A@B+C@D E
7 AND Y1 . 3 F A@B+C@D E@F
8 RD.STK X1 . 6 G A@B+C@D E@F G
9 AND. NOT Y1 . 7 H A@B+C@D E@F G@H
10 OR. STK A@B+C@D E@F+G@H
11 AND. STK (A@B+C@D)@(E@F+G@H)
12 WRT Y15 . 7 W1 output (A@B+C@D)@(E@F+G@H)
13
14

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4.1.11 (1) Format

AND. STK (Address)

Bit number

Address number

(2) Induces a logical product from the operation results in ST0 and ST1,
sets the result in ST1, and shifts the stack register right one bit.
(3) See Fig. 4.1.10 and Table 4.1.10 for an example of using the
AND.STK instruction.

4.1.12 (1) Format

OR. STK (Address)

Bit number

Address number

(2) Induces a logical sum from the operation results in ST0 and in ST1,
sets the result in ST1, and shifts the stack register right one bit.
(3) See Fig. 4.1.9 and Table 4.1.9 or Fig. 4.1.10 and Table 4.1.10 for
examples of using the OR.STK instruction.

NOTE
In Table 4.1.9 putting OR.STK at step 5 between steps 7
and 8 brings about the same result. But it is recommended
to code as shown in Table 4.1.9, because coding OR.STK
or AND.STK in succession is prone to cause an error.

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4. PMC BASIC INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

4.1.13 (1) Format

SET (Address)

Bit No.

Address No.

(2) Logical sum of the logical operation result ST0 with the content of
the specified address is outputted to the same address.
(3) Refer to the figure below for an example of using the SET instruction.

A C
(S)
R0.0 Y0.0

X0.0

Fig. 4.1.13 Ladder diagram

Table 4.1.13 Coding for Fig. 4.1.13

Coding sheet Status of operating result
Step
Instruction Address No. Bit No. Remarks ST2 ST1 ST0
Number
1 RD R0 . 0 A A C
2 OR X0 . 0 B A+B C
Y0.0
3 SET Y0 . 0 (A+B) +C
output

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B61863E/14 PMC SEQUENCE PROGRAM 4. PMC BASIC INSTRUCTIONS

(4) Remarks
The use of the PMCPA3, SA2, SA3, SB2, SB3, and SC3 is
restricted as follows:
(a) Restriction of using
Do not use SET/RST like the following example 1, use them
alone like the following example 2.

R0.0 Y0.0 R0.0 Y0.0

(S) (S)

X0.0 Y0.1 X0.0

f
R0.0 Y0.1
D
D f
D
D
D X0.0
D
D
D

END2 END2

Example 1 Example 2

D The relation between COM and COME.

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

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4. PMC BASIC INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

4.1.14 (1) Format

RST (Address)

Bit No.

Address No.

(2) Logical product of inverted logical operation result ST0 with the
content of the specified address is outputted to the same address.
(3) Refer to the figure below for an example of using the RST
instruction.

A C

(R)
R0.0 Y0.0

X0.0

Fig. 4.1.14 Ladder diagram

Table 4.1.14 Coding for Fig. 4.1.14

Coding sheet Status of operating result
Step
Instruction Address No. Bit No. Remarks ST2 ST1 ST0
Number
1 RD R0 . 0 A A C
2 OR X0 . 0 B A+B C
Y0.0
3 SET Y0 . 0 (A+B) +C
output

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B61863E/14 PMC SEQUENCE PROGRAM 4. PMC BASIC INSTRUCTIONS

(4) Remarks
The use of the PMCPA3, SA2, SA3, SB2, SB3, and SC3 is
restricted as follows:
(a) Restriction of using
Do not use SET/RST like the following example 1, use them
alone like the following example 2.
R0.0 Y0.0 R0.0 Y0.0

(S) (S)

X0.0 Y0.1 X0.0

f
.
R0.0 Y0.1
.
f
.
X0.0
. .

. .

END2 END2

Example 1 Example 2

D The relation between COM and COME.

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

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5 FUNCTIONAL INSTRUCTIONS

In preparing a sequence program, some functions such as the function for

controlling rotation via the shorter path, are difficult to program with
basic instructions, which perform only onebit logical operations.
Therefore, functional instructions are available to facilitate
programming. See Table 5 (a).
Table 5 (a) Types and processing of functional instructions (1)

Instruction Model
Format 2 Processing
Format 1 Format 3 PMC PMC
(paper tape
(Ladder) (program input) PA1 PA3
punch program)
END1 SUB1 S1 End of a firstlevel ladder program f f

END2 SUB2 S2 End of a secondlevel ladder program f f

END3 SUB48 S48 End of a thirdlevel ladder program

TMR TMR S3 or TMR Timer processing f f

TMRB SUB24 S24 Fixed timer processing f f

TMRC SUB54 S54 Timer processing f f

DEC DEC S4 or DEC Decoding f f

DECB SUB25 S25 Binary decoding f f

CTR SUB5 S5 Counter processing f f

CTRC SUB55 S55 Counter processing f f

ROT SUB6 S6 Rotation control f f

ROTB SUB26 S26 Binary rotation control f f

COD SUB7 S7 Code conversion f f

CODB SUB27 S27 Binary code conversion f f

MOVE SUB8 S8 Data transfer after logical AND f f

MOVOR SUB28 S28 Data transfer after logical OR f f

MOVB SUB43 S43 Transfer of 1 byte f

MOVW SUB44 S44 Transfer of 2 bytes f

MOVN SUB45 S45 Transfer of an arbitrary number of bytes f

COM SUB9 S9 Common line control f f

: Cannot be used f : Can be used

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

Table 5 (a) Types and processing of functional instructions (2)

Instruction Model
Format 2 Processing
Format 1 Format 3 PMC PMC
(paper tape
(Ladder) (program input) PA1 PA3
punch program)
COME SUB29 S29 End of common line control f f

JMP SUB10 S10 Jump f f

JMPE SUB30 S30 End of a jump f f

JMPB SUB68 S68 Label jump 1 f

JMPC SUB73 S73 Label jump 2 f

LBL SUB69 S69 Label f

PARI SUB11 S11 Parity check f f

DCNV SUB14 S14 Data conversion f f

DCNVB SUB31 S31 Extended data conversion f f

COMP SUB15 S15 Comparison f f

COMPB SUB32 S32 Binary comparison f f

COIN SUB16 S16 Coincidence check f f

SFT SUB33 S33 Shift register f f

DSCH SUB17 S17 Data search f f

DSCHB SUB34 S34 Binary data search f f

XMOV SUB18 S18 Indexed data transfer f f

XMOVB SUB35 S35 Binary indexed data transfer f f

ADD SUB19 S19 Addition f f

ADDB SUB36 S36 Binary addition f f

SUB SUB20 S20 Subtraction f f

SUBB SUB37 S37 Binary subtraction f f

MUL SUB21 S21 Multiplication f f

MULB SUB38 S38 Binary multiplication f f

DIV SUB22 S22 Division f f

DIVB SUB39 S39 Binary division f f

NUME SUB23 S23 Constant definition f f

NUMEB SUB40 S40 Binary constant definition f f

DISP SUB49 S49 Message display

DISPB SUB41 S41 Extended message display f f

EXIN SUB42 S42 External data input f f

WINDR SUB51 S51 Window data read f f

WINDW SUB52 S52 Window data write f f

: Cannot be used f : Can be used

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

Table 5 (a) Types and processing of functional instructions (3)

Instruction Model
Format 2 Processing
Format 1 Format 3 PMC PMC
(paper tape
(Ladder) (program input) PA1 PA3
punch program)
PSGNL SUB50 S50 Position signal output f f

PSGN2 SUB63 S63 Position signal output 2 f f

DIFU SUB57 S57 Rising edge detection f

DIFD SUB58 S58 Falling edge detection f

EOR SUB59 S59 Exclusive OR f

AND SUB60 S60 Logical AND f

OR SUB61 S61 Logical OR f

NOT SUB62 S62 Logical NOT f

END SUB64 S64 End of a subprogram f

CALL SUB65 S65 Conditional subprogram call f

CALLU SUB66 S66 Unconditional subprogram call f

SP SUB71 S71 Subprogram f

SPE SUB72 S72 End of a subprogram f

AXCTL SUB53 S53 PMC axes control f f

NOP SUB70 S70 No operation n

: Cannot be used f : Can be used n : Can be used (with some restrictions)

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

Table 5 (a) Types and processing of functional instructions (4)

Model
Instruc- SUB
Processing PMC PMC PMC PMC PMC PMC PMC PMC
PMC
PMC
tion number NB/
SA1 SA2 SA3 SB SB2 SB3 SC SC3 NB6
NB2

END1 1 End of a firstlevel ladder program f f f f f f f f f f

END2 2 End of a secondlevel ladder program f f f f f f f f f f

END3 48 End of a thirdlevel ladder program f f f f

TMR 3 Timer processing f f f f f f f f f f

TMRB 24 Fixed timer processing f f f f f f f f f f

TMRC 54 Timer processing f f f f f f f f f f

DEC 4 Decoding f f f f f f f f f f

DECB 25 Binary decoding f f f f f f f f f f

CTR 5 Counter processing f f f f f f f f f f

CTRC 55 Counter processing f f f f f f f f f f

ROT 6 Rotation control f f f f f f f f f f

ROTB 26 Binary rotation control f f f f f f f f f f

COD 7 Code conversion f f f f f f f f f f

CODB 27 Binary code conversion f f f f f f f f f f

MOVE 8 Data transfer after Logical AND f f f f f f f f f f

MOVOR 28 Data transfer after logical OR f f f f f f f f f f

MOVB 43 Transfer of 1 byte f f f f f

MOVW 44 Transfer of 2 bytes f f f f f

MOVN 45 Transfer of an arbitrary number of bytes f f f f f

COM 9 Common line control f f f f f f f f f f

COME 29 End of common line control f f f f f f f f f f

JMP 10 Jump f f f f f f f f f f

JMPE 30 End of a jump f f f f f f f f f f

JMPB 68 Label jump 1 f f f f f

JMPC 73 Label jump 2 f f f f f

LBL 69 Label f f f f f

PARI 11 Parity check f f f f f f f f f f

DCNV 14 Data conversion f f f f f f f f f f

DCNVB 31 Binary data conversion f f f f f f f f f f

COMP 15 Comparison f f f f f f f f f f

COMPB 32 Binary comparison f f f f f f f f f f

COIN 16 Coincidence check f f f f f f f f f f

SFT 33 Shift register f f f f f f f f f f

DSCH 17 Data search f f f f f f f f f f

DSCHB 34 Binary data search f f f f f f f f f f

: Cannot be used f : Can be used

133
5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

Table 5 (a) Types and processing of functional instructions (5)

Model
Instruc- SUB
Processing PMC PMC PMC PMC PMC PMC PMC PMC
PMC
PMC
tion number NB/
SA1 SA2 SA3 SB SB2 SB3 SC SC3 NB6
NB2

XMOV 18 Indexed data transfer f f f f f f f f f f

XMOVB 35 Binary indexed data transfer f f f f f f f f f f

ADD 19 Addition f f f f f f f f f f

ADDB 36 Binary addition f f f f f f f f f f

SUB 20 Subtraction f f f f f f f f f f

SUBB 37 Binary subtraction f f f f f f f f f f

MUL 21 Multiplication f f f f f f f f f f

MULB 38 Binary multiplication f f f f f f f f f f

DIV 22 Division f f f f f f f f f f

DIVB 39 Binary division f f f f f f f f f f

NUME 23 Constant definition f f f f f f f f f f

NUMEB 40 Binary constant definition f f f f f f f f f f

DISP 49 Message display f f f f f

DISPB 41 Extended message display f f f f f f f f f f

EXIN 42 External data input f f f f f f f f f f

SPCNT 46 Spindle control f f

WINDR 51 NC window data read f f f f f f f f f f

WINDW 52 NC window data write f f f f f f f f f f

FNC9X 9X Arbitrary functional instruction (X = 0 to 7) f f

MMC3R 88 MMC3 window data read f f f f f f f f f

MMC3W 89 MMC3 window data write f f f f f f f f f

MMCWR 98 MMC window data read f f f f f f f f f f

MMCWW 99 MMC window data write f f f f f f f f f f

DIFU 57 Rising edge detection f f f f f

DIFD 58 Falling edge detection f f f f f

EOR 59 Exclusive OR f f f f f

AND 60 Logical AND f f f f f

OR 61 Logical OR f f f f f

NOT 62 Logical NOT f f f f f

END 64 End of a subprogram f f f f f

CALL 65 Conditional subprogram call f f f f f

CALLU 66 Unconditional subprogram call f f f f f

SP 71 Subprogram f f f f f

SPE 72 End of a subprogram f f f f f

134
B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

Model
Instruc- SUB
Processing PMC PMC PMC PMC PMC PMC PMC PMC
PMC
PMC
tion number NB/
SA1 SA2 SA3 SB SB2 SB3 SC SC3 NB6
NB2

AXCTL 53 PMC axes control f f f f f f f f

NOP 70 No operation n f

: Cannot be used f : Can be used n : Can be used (with some restrictions)

135
5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

Table 5 (a) Types and processing of functional instructions (6)

Model
SUB Series 16/18-MODEL Series 18-
Name Processing Series 16/18-MODEL B
number B/C MODEL B
PMC-SB3 PMC-SB4 PMC-SC3 PMC-SC4 PMC-SA1
END1 1 First level program end f f f f f
END2 2 Second level program end f f f f f
END3 48 Third level program end f f
TMR 3 Timer processing f f f f f
TMRB 24 Fixed timer processing f f f f f
TMRC 54 Timer processing f f f f f
DEC 4 Decoding f f f f f
DECB 25 Binary decoding f f f f f
CTR 5 Counter processing f f f f f
CTRC 55 Counter processing f f f f f
ROT 6 Rotation control f f f f f
ROTB 26 Binary rotation control f f f f f
COD 7 Code conversion f f f f f
CODB 27 Binary code conversion f f f f f
MOVE 8 ANDed data transfer f f f f f
MOVOR 28 ORed data transfer f f f f f
MOVB 43 Byte data transfer f f f f
MOVW 44 Word data transfer f f f f
MOVN 45 Block data transfer f f f f
COM 9 Common line control f f f f f
COME 29 Common line control end f f f f f
JMP 10 Jump f f f f f
JMPE 30 Jump end f f f f f
JMPB 68 Label jump 1 f f f f
JMPC 73 Label jump 2 f f f f
LBL 69 Label f f f f
PARI 11 Parity check f f f f f
DCNV 14 Data conversion f f f f f
DCNVB 31 Extended data conversion f f f f f
COMP 15 Comparison f f f f f
COMPB 32 Binary comparison f f f f f
COIN 16 Coincidence check f f f f f
SFT 33 Shift register f f f f f
DSCH 17 Data search f f f f f
DSCHB 34 Binary data search f f f f f
XMOV 18 Indexed data transfer f f f f f
XMOVB 35 Binary indexed data transfer f f f f f
ADD 19 Addition f f f f f
: Cannot be used f : Can be used

136
B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

Table 5 (a) Types and processing of functional instructions (7)

Model
SUB Series 16/18-MODEL Series 18-
Name Processing Series 16/18-MODEL B
number B/C MODEL B
PMC-SB3 PMC-SB4 PMC-SC3 PMC-SC4 PMC-SA1
ADDB 36 Binary Addition f f f f f
SUB 20 Subtraction f f f f f
SUBB 37 Binary subtraction f f f f f
MUL 21 Multiplication f f f f f
MULB 38 Binary multiplication f f f f f
DIV 22 Division f f f f f
DIVB 39 Binary division f f f f f
NUME 23 Definition of constant f f f f f
NUMEB 40 Definition of binary constant f f f f f
DISP 49 Message display n n n n
DISPB 41 Extended message display f f f f f
EXIN 42 External data input f f f f f
AXCTL 53 PMC axis control f f f f f
WINDR 51 Window data read f f f f f
WINDW 52 Window data write f f f f f
FNC9X 9X Arbitrary functional ins. f f
MMC3R 88 MMC3 window data read f f f f f
MMC3W 89 MMC3 window data write f f f f f
MMCWR 98 MMC2 window data read f f f f f
MMCWW 99 MMC2 window data write f f f f f
DIFU 57 Rising edge detection f f f f
DIFD 58 Falling edge detection f f f f
EOR 59 Exclusive OR f f f f
AND 60 Logical production f f f f
OR 61 Logical Add f f f f
NOT 62 Logical Negation f f f f
END 64 End of subprograms f f f f
CALL 65 Conditional subprogram call f f f f
CALLU 66 Unconditional subprogram call f f f f
SP 71 Subprogram f f f f
SPE 72 End of a subprogram f f f f
NOP 70 No operation n n n

: Cannot be used f : Can be used n : Can be used (with some restrictions)

CAUTION
On the PMCSB3/SB4/SC3/SC4, DISP is provided only for the compatibility with Series 16/18 MODEL
A. On the Series 16/18 MODEL B, it is recommended to use DISPB instead of DISP because some
extended functions such as high speed display and display of double sized character are available only
with DISPB. On the Series 16/18 MODEL B, if both DISP and DISPB are used in the same sequence
program, double sized character can not be displayed by DISPB.

137
5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

Table 5 (a) Types and processing of functional instructions (8)

Model
SUB
Name Processing Series 16-MODEL C/Series 18-MODEL C
number
PMC-SB5 PMC-SB6
END1 1 First level program end f f
END2 2 Second level program end f f
END3 48 Third level program end
TMR 3 Timer processing f f
TMRB 24 Fixed timer processing f f
TMRC 54 Timer processing f f
DEC 4 Decoding f f
DECB 25 Binary decoding f f
CTR 5 Counter processing f f
CTRC 55 Counter processing f f
ROT 6 Rotation control f f
ROTB 26 Binary rotation control f f
COD 7 Code conversion f f
CODB 27 Binary code conversion f f
MOVE 8 ANDed data transfer f f
MOVOR 28 ORed data transfer f f
MOVB 43 Byte data transfer f f
MOVW 44 Word data transfer f f
MOVN 45 Block data transfer f f
COM 9 Common line control f f
COME 29 Common line control end f f
JMP 10 Jump f f
JMPE 30 Jump end f f
JMPB 68 Label jump 1 f f
JMPC 73 Label jump 2 f f
LBL 69 Label f f
PARI 11 Parity check f f
DCNV 14 Data conversion f f
DCNVB 31 Extended data conversion f f
COMP 15 Comparison f f
COMPB 32 Binary comparison f f
COIN 16 Coincidence check f f
SFT 33 Shift register f f
DSCH 17 Data search f f
DSCHB 34 Binary data search f f
XMOV 18 Indexed data transfer f f
XMOVB 35 Binary indexed data transfer f f
ADD 19 Addition f f
: Cannot be used f : Can be used

138
B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

Table 5 (a) Types and processing of functional instructions (9)

Model
SUB
Name Processing Series 16-MODEL C/Series 18-MODEL C
number
PMC-SB5 PMC-SB6
ADDB 36 Binary Addition f f
SUB 20 Subtraction f f
SUBB 37 Binary subtraction f f
MUL 21 Multiplication f f
MULB 38 Binary multiplication f f
DIV 22 Division f f
DIVB 39 Binary division f f
NUME 23 Definition of constant f f
NUMEB 40 Definition of binary constant f f
DISP 49 Message display (Caution) n n
DISPB 41 Extended message display f f
EXIN 42 External data input f f
AXCTL 53 PMC axis control f f
WINDR 51 Window data read f f
WINDW 52 Window data write f f
FNC9X 9X Arbitrary functional ins.
MMC3R 88 MMC3 window data read f f
MMC3W 89 MMC3 window data write f f
MMCWR 98 MMC2 window data read f f
MMCWW 99 MMC2 window data write f f
DIFU 57 Rising edge detection f f
DIFD 58 Falling edge detection f f
EOR 59 Exclusive OR f f
AND 60 Logical production f f
OR 61 Logical Add f f
NOT 62 Logical Negation f f
END 64 End of subprograms f f
CALL 65 Conditional subprogram call f f
CALLU 66 Unconditional subprogram call f f
SP 71 Subprogram f f
SPE 72 End of a subprogram f f
NOP 70 No operation n n
: Cannot be used f : Can be used n : Can be used (with some restrictions)

CAUTION
On the PMCSB5/SB6, DISP is provided only for the compatibility with Series 16 MODEL A/B. On the
Series 16/18 MODEL C, it is recommended to use DISPB instead of DISP because some extended
functions such as high speed display and display of double sized character are available only with DISPB.
On the Series 16/18 MODEL C, if both DISP and DISPB are used in the same sequence program, double
sized character can not be displayed by DISPB.

139
5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

Table 5 (a) Types and processing of functional instructions (10)

Model
SUB Series 21-MODEL B
Name Processing
number Series 0i-MODEL A
PMC-SA1 PMC-SA3
END1 1 First level program end f f
END2 2 Second level program end f f
END3 48 Third level program end
TMR 3 Timer processing f f
TMRB 24 Fixed timer processing f f
TMRC 54 Timer processing f f
DEC 4 Decoding f f
DECB 25 Binary decoding f f
CTR 5 Counter processing f f
CTRC 55 Counter processing f f
ROT 6 Rotation control f f
ROTB 26 Binary rotation control f f
COD 7 Code conversion f f
CODB 27 Binary code conversion f f
MOVE 8 ANDed data transfer f f
MOVOR 28 ORed data transfer f f
MOVB 43 Byte data transfer f
MOVW 44 Word data transfer f
MOVN 45 Block data transfer f
COM 9 Common line control f f
COME 29 Common line control end f f
JMP 10 Jump f f
JMPE 30 Jump end f f
JMPB 68 Label jump 1 f
JMPC 73 Label jump 2 f
LBL 69 Label f
PARI 11 Parity check f f
DCNV 14 Data conversion f f
DCNVB 31 Extended data conversion f f
COMP 15 Comparison f f
COMPB 32 Binary comparison f f
COIN 16 Coincidence check f f
SFT 33 Shift register f f
DSCH 17 Data search f f
DSCHB 34 Binary data search f f
XMOV 18 Indexed data transfer f f
XMOVB 35 Binary indexed data transfer f f
ADD 19 Addition f f
: Cannot be used f : Can be used

140
B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

Table 5 (a) Types and processing of functional instructions (11)

Model
SUB Series 21-MODEL B
Name Processing
number Series 0i-MODEL A
PMC-SA1 PMC-SA3
ADDB 36 Binary Addition f f
SUB 20 Subtraction f f
SUBB 37 Binary subtraction f f
MUL 21 Multiplication f f
MULB 38 Binary multiplication f f
DIV 22 Division f f
DIVB 39 Binary division f f
NUME 23 Definition of constant f f
NUMEB 40 Definition of binary constant f f
DISP 49 Message display
DISPB 41 Extended message display f f
EXIN 42 External data input f f
AXCTL 53 PMC axis control f f
WINDR 51 Window data read f f
WINDW 52 Window data write f f
FNC9X 9X Arbitrary functional ins.
MMC3R 88 MMC3 window data read f f
MMC3W 89 MMC3 window data write f f
MMCWR 98 MMC2 window data read f f
MMCWW 99 MMC2 window data write f f
DIFU 57 Rising edge detection f
DIFD 58 Falling edge detection f
EOR 59 Exclusive OR f
AND 60 Logical production f
OR 61 Logical Add f
NOT 62 Logical Negation f
END 64 End of subprograms f
CALL 65 Conditional subprogram call f
CALLU 66 Unconditional subprogram call f
SP 71 Subprogram f
SPE 72 End of a subprogram f
NOP 70 No operation
: Cannot be used f : Can be used

141
5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

Table 5 (a) Types and Processing of Functional Instructions (6) Part 1

Model
SUB
Name Processing Series 16i MODEL A/Series 18i MODEL A
number
PMCSB5 PMCSB6
END1 1 First level program end f f
END2 2 Second level program end f f
END3 48 Third level program end
TMR 3 Timer processing f f
TMRB 24 Fixed timer processing f f
TMRC 54 Timer processing f f
DEC 4 Decoding f f
DECB 25 Binary decoding f f
CTR 5 Counter processing f f
CTRC 55 Counter processing f f
ROT 6 Rotation control f f
ROTB 26 Binary rotation control f f
COD 7 Code conversion f f
CODB 27 Binary code conversion f f
MOVE 8 ANDed data transfer f f
MOVOR 28 ORed data transfer f f
MOVB 43 Transfer of one byte f f
MOVW 44 Transfer of two bytes f f
MOVN 45 Transfer of arbitrary bytes f f
COM 9 Common line control f f
COME 29 Common line control end f f
JMP 10 Jump f f
JMPE 30 Jump end f f
JMPB 68 Label jump 1 f f
JMPC 73 Label jump 2 f f
LBL 69 Label specification f f
PARI 11 Parity check f f
DCNV 14 Data conversion f f
DCNVB 31 Binary data conversion f f
COMP 15 Comparison f f
COMPB 32 Binary comparison f f
COIN 16 Coincidence check f f
SFT 33 Shift register f f
DSCH 17 Data search f f
DSCHB 34 Binary data search f f
XMOV 18 Indexed data transfer f f
XMOVB 35 Binary indexed data transfer f f
ADD 19 BCD addition f f

: Cannot be used f : Can be used

142
B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

Table 5 (a) Types and Processing of Functional Instructions (6) Part 2

Model
SUB
Name Processing Series 16i MODEL A/Series 18i MODEL A
number
PMCSB5 PMCSB6
ADDB 36 Binary addition f f
SUB 20 BCD subtraction f f
SUBB 37 Binary subtraction f f
MUL 21 BCD multiplication f f
MULB 38 Binary multiplication f f
DIV 22 BCD division f f
DIVB 39 Binary division f f
NUME 23 Definition of constant f f
NUMEB 40 Definition of binary constant f f
DISP 49 Message display (Caution) n n
DISPB 41 Extended message display f f
EXIN 42 External data input f f
AXCTL 53 PMC axis control f f
WINDR 51 Window data read f f
WINDW 52 Window data write f f
FNC9X 9X Arbitrary functional instruction
MMC3R 88 MMC3 window data read
MMC3W 89 MMC3 window data write
MMCWR 98 MMC2 window data read f f
MMCWW 99 MMC2 window data write f f
DIFU 57 Rising edge detection f f
DIFD 58 Falling edge detection f f
EOR 59 Exclusive OR f f
AND 60 Logical product f f
OR 61 Logical add f f
NOT 62 Logical negation f f
END 64 End of subprograms f f
CALL 65 Conditional subprogram call f f
CALLU 66 Unconditional subprogram call f f
SP 71 Subprogram f f
SPE 72 End of a subprogram f f
NOP 70 No operation f f

: Cannot be used f : Can be used n : Can be used (with some restrictions)

143
5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

CAUTION
With PMCSB5/SB6 of the Series 16i/18i MODEL A, the DISP instruction can be used only to ensure
compatibility with the Series 16 MODEL A/B.
With the Series 16i/18i MODEL A, FANUC recommends the use of the DISPB instruction that provides
extended functions such as highspeed display and kanji character display.
With the Series 16i/18i MODEL A, if both the DISP instruction and DISPB instruction are used in the same
sequence program, the kanji display function of the DISPB instruction cannot be used.

144
B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

Table 5 (a) Types and Processing of Functional Instructions (7) Part 1

Model
SUB
Name Processing Series 21i MODEL A
number
PMCSA1 PMCSA5
END1 1 First level program end f f
END2 2 Second level program end f f
END3 48 Third level program end
TMR 3 Timer processing f f
TMRB 24 Fixed timer processing f f
TMRC 54 Timer processing f f
DEC 4 Decoding f f
DECB 25 Binary decoding f f
CTR 5 Counter processing f f
CTRC 55 Counter processing f f
ROT 6 Rotation control f f
ROTB 26 Binary rotation control f f
COD 7 Code conversion f f
CODB 27 Binary code conversion f f
MOVE 8 ANDed data transfer f f
MOVOR 28 ORed data transfer f f
MOVB 43 Transfer of one byte f
MOVW 44 Transfer of two bytes f
MOVN 45 Transfer of arbitrary bytes f
COM 9 Common line control f f
COME 29 Common line control end f f
JMP 10 Jump f f
JMPE 30 Jump end f f
JMPB 68 Label jump 1 f
JMPC 73 Label jump 2 f
LBL 69 Label specification f
PARI 11 Parity check f f
DCNV 14 Data conversion f f
DCNVB 31 Binary data conversion f f
COMP 15 Comparison f f
COMPB 32 Binary comparison f f
COIN 16 Coincidence check f f
SFT 33 Shift register f f
DSCH 17 Data search f f
DSCHB 34 Binary data search f f
XMOV 18 Indexed data transfer f f
XMOVB 35 Binary indexed data transfer f f
ADD 19 BCD addition f f

: Cannot be used f : Can be used

145
5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

Table 5 (a) Types and Processing of Functional Instructions (7) Part 2

Model
SUB
Name Processing Series 21i MODEL A
number
PMCSA1 PMCSA5
ADDB 36 Binary addition f f
SUB 20 BCD subtraction f f
SUBB 37 Binary subtraction f f

MUL 21 BCD multiplication f f

MULB 38 Binary multiplication f f

DIV 22 BCD division f f

DIVB 39 Binary division f f

NUME 23 Definition of constant f f

NUMEB 40 Definition of binary constant f f

DISP 49 Message display

DISPB 41 Extended message display f f
EXIN 42 External data input f f

AXCTL 53 PMC axis control f f

WINDR 51 Window data read f f

WINDW 52 Window data write f f

FNC9X 9X Arbitrary functional instruction

MMC3R 88 MMC3 window data read

MMC3W 89 MMC3 window data write

MMCWR 98 MMC2 window data read f f

MMCWW 99 MMC2 window data write f f
DIFU 57 Rising edge detection f

DIFD 58 Falling edge detection f

EOR 59 Exclusive OR f

AND 60 Logical product f

OR 61 Logical add f

NOT 62 Logical negation f

END 64 End of subprograms f

CALL 65 Conditional subprogram call f

CALLU 66 Unconditional subprogram call f
SP 71 Subprogram f

SPE 72 End of a subprogram f

NOP 70 No operation f f

: Cannot be used f : Can be used

146
B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

Table 5 (a) Types and Processing of Functional Instructions (8) Part 1

Model
Com-
SUB Series 16i /18i /21i
mand Description Series 21iMODEL B
Name Number MODEL B
PMCSA1 PMCSB7
END1 1 1st Level program end f f
END2 2 2nd Level program end f f
END3 48 3rd Level program end f
TMR 3 Timer f f
TMRB 24 Fixed timer f f*2
TMRC 54 Timer f f*2
DEC 4 Decode f f
DECB 25 Binary decode f f
CTR 5 Counter f f
CTRB 56 Fixed counter f*1
CTRC 55 Counter f f
ROT 6 Rotational control f f
ROTB 26 Binary rotational control f f
COD 7 Code conversion f f
CODB 27 Binary code conversion f f
MOVE 8 Move ANDed data f f
MOVOR 28 Move ORed data f f
MOVB 43 Move 1 byte f
MOVW 44 Move 2 bytes (Word) f
MOVD 47 Move 4 bytes (Double word) f*1
MOVN 45 Move arbitrary bytes f
COM 9 Common line control f f
COME 29 Common line control end f f
JMP 10 Jump f f
JMPE 30 Jump end f f
JMPB 68 Label jump 1 f
JMPC 73 Label jump 2 f
LBL 69 Label f
PARI 11 Parity check f f
DCNV 14 Data convert f f
DCNVB 31 Binary data convert f f
COMP 15 Comparison f f
COMPB 32 Binary comparison f f
COIN 16 Coincidence check f f
SFT 33 Shift register f f
DSCH 17 Data search f f
DSCHB 34 Binary data search f f

: Not available f : Available

147
5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

Table 5 (a) Types and Processing of Functional Instructions (8) Part 2

Model
Com-
SUB Series 16i /18i /21i
mand Description Series 21iMODEL B
Name Number MODEL B
PMCSA1 PMCSB7
XMOV 18 Indexed data transfer f f
XMOVB 35 Binary indexed data transfer f f
ADD 19 Addition f f

ADDB 36 Binary addition f f

SUB 20 Subtraction f f

SUBB 37 Binary Subtraction f f

MUL 21 Multiplication f f

MULB 38 Binary Multiplication f f

DIV 22 Division f f

DIVB 39 Binary division f f

NUME 23 Define constant f f
NUMEB 40 Define binary constant f f

DISP 49 Display message *3

DISPB 41 Display message f f*2

EXIN 42 External data input f f

SPCNT 46 Spindle control *3

AXCTL 53 PMC axis control f f

WINDR 51 CNC window data read f f

WINDW 52 CNC window data write f f

FNC9X 9X Arbitrary functional instruction (X=0 to 7) f*4
MMC3R 88 MMC3 window data read *3

MMC3W 89 MMC3 window data write *3

MMCWR 98 MMC window data read f f

MMCWW 99 MMC window data write f f

PSGNL 50 Position signal output *3

PSGN2 63 Position signal output 2 *3

DIFU 57 Rising edge detection f

DIFD 58 Falling edge detection f

EOR 59 Exclusive OR f
AND 60 Logical AND f

OR 61 Logical OR f
NOT 62 Logical NOT f

END 64 End of ladder program f

CALL 65 Conditional subprogram call f

CALLU 66 Unconditional subprogram call f

SP 71 Subprogram f

: Not available f : Available

148
B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

Table 5 (a) Types and Processing of Functional Instructions (8) Part 3

Model
Com-
SUB Series 16i /18i /21i
mand Description Series 21iMODEL B
Name Number MODEL B
PMCSA1 PMCSB7
SPE 72 End of subprogram f
NOP 70 No operation (Net comment) f f

: Not available f : Available

NOTE
1 These are new functions that are added to PMCSB7.
2 These specifications are improved for PMCSB7.
3 These are ignored like NOP if these are programmed in ladder. Therefore, you can use these
functions to keep compatibility of your ladder program for several machines. You must certainly
keep ACT=0 in case of some functions that need ACT input.
4 This is effective when you use PMC C language option.

149
5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

The execution time constant is a ratio of the execution time of a functional

instruction to the execution time of 10 basic instruction steps (1.5 s).
Execution time constants are used when a ladder program is executed in
the separate mode.

Table 5 (b) Execution Time Constants of Functional Instructions (1)

Instruc- SUB Model

Processing
tion Number PMCSB PMCSC
END1 1 End of a firstlevel ladder program 171 1033

END2 2 End of a secondlevel ladder program 26 45

END3 48 End of a thirdlevel ladder program - 0

TMR 3 Timer processing 19 33

TMRB 24 Fixed timer processing 19 34

TMRC 54 Timer processing 17 29

DEC 4 Decoding 21 28

DECB 25 Binary decoding 16 23

CTR 5 Counter processing 21 35

CTRC 55 Counter processing 18 26

ROT 6 Rotation control 37 53

ROTB 26 Binary rotation control 27 39

COD 7 Code conversion 20 29

CODB 27 Binary code conversion 19 29

MOVE 8 Data transfer after Logical AND 19 27

MOVOR 28 Data transfer after logical OR 13 19

COM 9 Common line control 11 14

COME 29 End of common line control 0.1 0.1

JMP 10 Jump 12 16

JMPE 30 End of a jump 9 11

PARI 11 Parity check 13 19

DCNV 14 Data conversion 25 37

DCNVB 31 Binary data conversion 132 233

COMP 15 Comparison 22 36

COMPB 32 Binary comparison 20 31

COIN 16 Coincidence check 21 36

SFT 33 Shift register 15 22

DSCH 17 Data search 237 287

DSCHB 34 Binary data search 351 596

XMOV 18 Indexed data transfer 26 38

XMOVB 35 Binary indexed data transfer 27 37

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

Table 5 (b) Execution Time Constants of Functional Instructions (2)

Instruc- SUB Model

Processing
tion Number PMCSB PMCSC
ADD 19 Addition 22 33

ADDB 36 Binary addition 25 39

SUB 20 Subtraction 21 32

SUBB 37 Binary subtraction 25 39

MUL 21 Multiplication 42 63

MULB 38 Binary multiplication 28 45

DIV 22 Division 44 66

DIVB 39 Binary division 33 53

NUME 23 Constant definition 18 25

NUMEB 40 Binary constant definition 13 20

DISP 49 Message display 51 93

DISPB 41 Extended message display 177 297

EXIN 42 External data input 29 49

WINDR 51 NC window data read 101 293

WINDW 52 NC window data write 101 293

FNC9X 9X Arbitrary functional instruction (X=0 to 7) - 21

MMC3R 88 MMC3 window data read 342 375

MMC3W 89 MMC3 window data write 385 421

MMCWR 98 MMC window data read 100 293

MMCWW 99 MMC window data write 100 293

151
5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

Execution time constant: This constant represents how many times the execution time of a
functional instruction corresponds to the execution time of 10 basic
instructions (about 1.5s) . The execution time of a basic instruction is
about 0.15 s.
The general format and restrictions common to each functional
instruction are given below, details on each instructions will follow later.
Refer to this paragraph without fail, since it covers the provisions on using
a functional instruction and other important items.
(1) Format
Since the functional instructions cannot be represented with relay
symbols, the format shown in Fig. 5 (a) must be used. The format
includes control conditions, an instruction, parameters, W1, R9000
to R9005 (Functional instruction operation result register).

Control conditions
Parameter (Note)
A B
(3)
I
n
L0 L1 s
C D t
(2) r Para
(2) (3) (4)

u meter
R 2.4 R 3.1 c
t (1) W1
RST
(1) i
o R 10.1
n
R 5.7
ACT
(0)
(E1)
R 7.1

7 6 5 4 3 2 1 0
R9000

R9001

R9002

R9003

R9004

R9005

Fig. 5 (a) Function instruction format

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Table 5 (c) Coding of function instruction

Coding sheet Status of operating result

Step Address
Instruction Bit No. Remarks ST3 ST2 ST1 ST0
Number No.
1 RD R1 . 0 A A
2 AND R1 . 1 B A@B
3 RD. STK R2 . 4 C A@B C
4 AND. NOT R3 . 1 D A@B C@D
5 RD. STK R5 . 7 RST A@B C@D RST
6 RD. STK R7 . 1 ACT A@B C@D RST ACT
7 SUB ff Instruction A@B C@D RST ACT
8 (PRM) (Note 2) ffff Parameter 1 A@B C@D RST ACT
9 (PRM) ffff Parameter 2 A@B C@D RST ACT
10 (PRM) ffff Parameter 3 A@B C@D RST ACT
11 (PRM) ffff Parameter 4 A@B C@D RST ACT
12 WRT R10 . 1 W1 output A@B C@D RST W1

NOTE
1 Numbers in parentheses under control conditions indicate
the position of the stored register.
2 (PRM) of steps 8 to 11 under Instruction means that P must
be input when a parameter is input from the programmer,
and PRM is not required to be input when a parameter is
input from a paper tape.

(2) Control condition

The number and meaning of control conditions vary with each
functional instruction. The control conditions are entered in the stick
register as shown in Table 5 (b). The sequence is fixed and cannot
be changed or omitted.

CAUTION
For the functional instructions, with a RST as a control
condition, the RST has the highest priority. Accordingly
when RST=1, the RST processing is done even when
ACT=0.

(3) Instruction
The types of instructions are shown in Table 5 (a). The Programmer
has exclusive keys for functional instructions TMR and DEC. They
are input by T and D keys, respectively. The other functional
instructions are given by S key and a following number. When
instructions are input by relay symbols, software keys are used to
input them. Refer to chapter III or V for details.
(4) Parameter
Unlike basic instructions, functional instructions can handle numeric
values. Thus the reference data or addresses containing data are
entered under Parameter. The number and meaning vary with each
functional instruction. The P key is used to enter parameters in the
Programmer.

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(5) W1
The operation results of a functional instruction, when represented with
one bit of 1 or 0, is output to W1 whose address can be determined freely
by the programmer. Its meaning varies with each functional instruction.
Note that some functional instructions have no W1.
(6) Data to be processed
Data handled by functional instructions are of binary coded decimal
(BCD) code and binary code.
In the conventional PMCs, the numeric data is processed mainly
based on the BCD code. However, in the PMCSB/SC, it is
recommended to handle all pieces of numeric data with the binary
code. The reasons for this are:
(a) In the Series 16, the numeric data (M, S, T, B code) between the
CNC and the PMC should be of the binary code.
(b) Numeric data on which the CPU performs processing must be in
binary format. When numeric data is always processed in binary
format, therefore, neither BCDtobinary nor binarytoBCD
conversion is necessary, thus enabling faster PMC processing.
(c) When the data is of the binary code, the range of the numeric data
processable becomes wide. Also, negative numeric data can be
processed easily, and the arithmetic operation functions are
strengthened. The binary numeric data is handled, as a rule, on
the basis of 1 byte (128 to+127), 2 bytes (32768 to +32767),
and 4 bytes (99999999 to +99999999).
(d) When various numeric data items are entered or displayed using
the keys on the CRT/MDI panel, all the numeric data items in
binary are conveniently specified or displayed in decimal.
Therefore, no problem arises, though the data stored in the
internal memory is of the binary code. Pay attention to this only
when referring to the memory by the sequence program. See (7).
In the functional instructions, binary data is mainly handled.
(7) Example of numeric data
(a) BCD code data
The basic data handled with the BCD code is of 1 byte (0 to 99)
or 2 bytes (0 to 9999). The BCD 4digit data is entered into two
bytes of continuous addresses as shown below.
Example: When BCD data 1234 is stored to addresses R250
and R251.
7 6 5 4 3 2 1 0

R250 0 0 1 1 0 1 0 0

3 4

7 6 5 4 3 2 1 0

R251 0 0 0 1 0 0 1 0

1 2
Specify smaller address R250 by a functional instruction.
(Note) The low order digits are entered to the smaller address.

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(b) Binary code data

The basic data handled with the binary code is of 1 byte (128 to
+127), 2 bytes (32,768 to +32,767) and 4 bytes (99,999,999 to
+99,999,999). The data is stored at addresses R200, R201, R202
and R203 as shown below.

1 byte data (128 to +127) Example: 1 byte data

7 6 5 4 3 2 1 0
R200 " 26 25 24 23 22 21 20 7 6 5 4 3 2 1 0
0 0 0 0 0 0 0 1 (+1)
0 : Positive
1 : Negative

2 byte data (32,768 to + 32,767) 1 1 1 1 1 1 1 1 (1)

7 6 5 4 3 2 1 0
R200 27 26 25 24 23 22 21 20

0 1 1 1 1 1 1 1 (+127)
R201 " 214 213 212 211 210 29 28

4 byte data (99999999 to +99999999) 1 0 0 0 0 0 0 1 (127)

7 6 5 4 3 2 1 0
R200 27 26 25 24 23 22 21 20

R201 215 214 213 212 211 210 29 28

R202 223 222 221 220 219 218 217 216

R203 " 230 229 228 227 226 225 224

By a functional instruction, specify smaller address R200.

A negative value is set by the twos complement code.

(8) Addresses of numerical data handled in the function instructions

When numerical data handled in the function instructions are 2 bytes
or 4 bytes, addresses of numerical data specified by parameters of
function instructions are better to take even numbers.
The use of even addresses slightly reduces the execution time of
functional instructions.
These parameters of the functional instructions mainly handling
binary data are marked with an asterisk as follows.

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* When 2byte or 4byte data is handled, assigning even addresses to addresses marked with *
reduces the time required to execute functional instructions.

A + B = C Error output

RST
ADDB
* * *
ffff ffff ffff ffff
W1
ACT Address Address Address for
Specifying for an for an outputting
(SUB36)
a format augend addend the sum

Fig. 5 (b)
In even addresses, the number after R is even with internal relays, and
the number after D is even in data tables.
(9) Functional instruction calculation result register (R9000 to R9005)
(See Fig. 5 (c))
The result of calculation of the functional instruction is set in the
register.
This register is used commonly to the functional instructions.
Therefore, refer to the information in the register immediately after the
functional instruction is executed. Otherwise, the previous information
disappears when the next functional instruction is executed.
The calculation information in the register cannot be transferred
between different levels of the sequence program. For example, it is
impossible to read the set information by referring to registers
R9000s by the 2nd level program. When the subtraction instruction
(SUBB) is executed by the 1st level program.
The calculation information set in the register is guaranteed up to the
point just before the functional instruction for setting the next
calculation information is executed between the same level of
programs. The calculation information set in this register differs
according to the functional instruction. It can be read out by the
sequence program, but cannot be written.
7 6 5 4 3 2 1 0
R9000

R9001

R9002

R9003

R9004

R9005

Fig. 5 (c)
This register is a 6 byte register (R9000 to R9005), and the data of
1 bit unit or 1 byte unit can be referred to.
When reading the data of bit 1 of R9000, specify RD R9000.1.

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5.1
END1 (1ST LEVEL
SEQUENCE
PROGRAM END)

5.1.1 Must be specifies once in a sequence program, either at the end of the 1st
Function level sequence, or at the beginning of the 2nd level sequence when there
is no 1st level sequence.

5.1.2 Fig. 5.1.2 shows the format of END.1 and Table 5.1.2 shows the coding.
Format

END1
(SUB 1)

Fig. 5.1.2 Format of END.1

Table 5.1.2 Coding of END.1

Coding sheet
Step Address Bit
Instruction Remarks
Number Number Number
SUB 1 End of 1st level

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5.2
END2 (2ND LEVEL
SEQUENCE
PROGRAM END)

5.2.1 Specify at the end of the 2nd level sequence.

Function

5.2.2 Fig.5.2.2 shows the expression format and Table 5.2.2 shows the coding
Format format.

END2
(SUB 2)

Fig. 5.2.2 Format of END.2

Table 5.2.2 Coding of END.2

Coding sheet
Step Address Bit
Instruction Remarks
Number Number Number
SUB 2 2nd level sequence program end

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5.3
END3 (END OF 3RD
LEVEL SEQUENCE)
(PMCSC/SC3/SC4/
NB/NB2/NB6/NB7
ONLY)
5.3.1 Specify this command at the end of the 3rd level sequence program, i.e.
it indicates the end of the sequence program. If there is no 3rd level
Function
sequence program, specify this command immediately after END.2
command.

5.3.2 Fig.5.3.2 shows description format and Table 5.3.2 shows coding format.
Format

END3
(SUB 48)

Fig. 5.3.2 END.3 description format

Table 5.3.2 END.3 coding format

Coding sheet
Step Address Bit
Instruction Remarks
Number Number Number
SUB 48 End of 3rd level program

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5.4
TMR (TIMER)

5.4.1 This is an ondelay timer.

Function

5.4.2 Fig.5.4.4 (a) shows description format and Table 5.4.4 shows coding
Format format.

5.4.3 ACT=0: Turns off the timer relay (TMff).

Control Condition ACT=1: Initiates the timer.

5.4.4 When the time preset is reached with ACT=1 as shown in Fig.5.4.4 (b),
Timer Relay (TMff) the timer relay turns on. The address of the timer relay is determined by
designer.
Timer relay

ACT

TMR ff TMff

fff.f
fff.f

Timer number
Control condition Instruction

Fig. 5.4.4 (a) Format of TMR

Table 5.4.4 Coding of TMR

Step Address Bit

Instruction Remarks
Number Number Number
1 RD ffff. f ACT
2 TMR ff
3 WRT fff. f TMff

ACT
TMff
T
T indicates the time set in this timer
command.

Fig. 5.4.4 (b) Operation of the timer

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5.4.5 The timer can be set via the CRT/MDI unit of the CNC (See Chapter II).
Setting Timers The setting time is every 48 ms for timer number 1 to 8 and every 8 ms
for timer number 9 to 40. A time less than 48 ms is discarded for timer
number 1 to 8. The time set by timers 9 to 40 is every 8 ms. Any
remainder is discarded. For example, if 38 ms is set, the remainder 6
(38=8 4+6) is discarded, and only 32 ms is actually set.

Model PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4

Type of timer

48 ms timer 1 to 8 1 to 8 1 to 8 1 to 8 1 to 8 1 to 8 1 to 8 1 to 8 1 to 8 1 to 8
number

8 ms timer number 9 to 40 9 to 40 9 to 40 9 to 40 9 to 40 9 to 40 9 to 40 9 to 40 9 to 40 9 to 150

Model SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

Type of timer

48 ms timer 1 to 8 1 to 8 1 to 8 1 to 8 1 to 8 1 to 8 1 to 8 1 to 8 1 to 8
number

8 ms timer number 9 to 40 9 to 150 9 to 250 9 to 40 9 to 40 9 to 150 9 to 40 9 to 150 9 to 150

5.4.6
Timer Accuracy

Type of timer Setting time Error

48 ms timer 48 ms to 1572.8 s 0 to +48 ms

8 ms timer 8 ms to 262.1 s 0 to +8 ms

Variation in time is caused only by operation time of the Timer

Instruction. For example, when a timer instruction is used in the 2nd level
sequence part, the variation does not include the delay time (Max. 2nd
level sequence one cycle time) until the sequence actuates after the set
time is reached.

5.4.7 Set the timer number.

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

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5.5
TMRB (FIXED TIMER)

5.5.1 This timer is used as a fixed ondelay timer. The variable timer in section
Function 5.4 sets time of the timer into the nonvolatile memory, and can be reset
via the CRT/MDI when necessary.
Time present in this fixed timer is written to the ROM together with the
sequence program, so the timer time once set cannot be changed unless
the whole ROM is exchanged.

5.5.2 The format is expressed as follows (Fig.5.5.2).

Format

Timer relay

ACT TMRB fff f f

TMB
(SUB24) Timer Preset fff
number time

Fig. 5.5.2 Format of TMRB

5.5.3 ACT=0: Turns off timer relay

Control Conditions (TMBfff).
ACT=1: Start timer.

5.5.4 As shown in Fig.5.5.4, timer relay is set ON after certain time preset in
Timer Relay the parameter of this instruction pasts after ACT=1.
The designer will decide the address of the internal relay in the timer relay.
(TMBfff)
ACT
TMB
T
T indicates the time set in this timer
command.

Fig. 5.5.4 Timer operation

5.5.5 (a) Timer number

Sets timer number (1 to 100) of the fixed timers.
Parameter
For the PMCSB7, set a number between 1 and 500.

WARNING
If the same timer number is used more than once or if a timer
number out of the valid range is used, operation is
unpredictable.

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(b) Preset time is 8 to 262,136 ms.

Processing is done every 8 ms in this fixed timer.
The preset time is therefore integral times of 8 ms and the odds are
omitted.
For example, when set 38 ms, 38=8 4+6, the odd 6 is omitted, and
the preset time becomes 32 ms.
The range of the preset time is 8 to 262,136 ms.
For the PMCSB7, preset time is 1 to 32,760,000 msec (about 546
minutes).

5.5.6 Time varies 0 to level 1 sweep interval from the setting time.
Precision of the Timer The varing time in this timer is caused only the error occurred when the
timer instruction performs operation process.
Error caused by sequence program processing time (time of 1 cycle of the
second level), etc. are not included.

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5.6
TMRC (TIMER)

5.6.1 This is the ondelay timer.

A timer setting time is set at an arbitrary address. The selection of an
Function
address determines whether the timer is a variable timer or fixed timer.
No limit is imposed on the number of timers provided areas can be
allocated.

5.6.2 Fig.5.6.2 and Table 5.6.2 show the expression format and the coding
Format format, respectively.

TMRC f ffff ffff

ACT
TM
Time set Time ff
Timer time resister
(SUB54) accuracy address address

Fig. 5.6.2 TMRC expression format

Table 5.6.2 TMRC coding format

Step Address Bit

Instruction Remarks
Number Number Number
1 RD ffff. f
2 SUB 54 TMRC command
3 (PRM) f Timer accuracy
4 (PRM) fff Timer set time address
5 (PRM) ffff Timer register address
6 WRT ffff. f TMff

5.6.3 ACT=0 : Turns off the timer relay

(TMff).
Control Condition
ACT=1 : Starts the timer.

5.6.4
Timer Accuracy Timer precision Setting value Setting time Error
8 ms 0 1 to 262,136 1 to +8 ms
48 ms 1 1 to 1,572,816 1 to +48 ms
1 s (Note) 2 1 to 32,767 1 to +1 s
10 s (Note) 3 1 to 327,670 1 to +10 s
1 m (Note) 4 1 to 32,767 1 to +1 m

NOTE
This function is usable only with the following models:
FS16C/18C PMCSB5/SB6
FS16i/18i PMCSB5/SB6
FS21i PMCSA5

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

For PMCSB7 :
Timer accuracy Setting number The range of setting time (Note) Margin of error
8msec 0 8msec to about 262.1sec 0 to + Level 1 Sweep Interval
48msec 1 48msec to about 26.2 min 0 to + Level 1 Sweep Interval
1sec 2 1sec to about 546 min 0 to + Level 1 Sweep Interval
10sec 3 10sec to about 91 h 0 to + Level 1 Sweep Interval
1min 4 1min to about 546 h 0 to +1sec
1msec 5 1msec to about 32.7 sec 0 to + Level 1 Sweep Interval
10msec 6 10msec to about 327.7 sec 0 to + Level 1 Sweep Interval
100msec 7 100msec to about 54.6 min 0 to + Level 1 Sweep Interval

NOTE
The range of the value is 0 to 32767.

5.6.5 Sets the first address of the timer set time field.
The continuous 2byte memory space is required for the timer set time
Timer Set Time
field.
Address Field D is normally used as this field.

Timer set time + 0

TIME
Timer set time + 1

Time : Timer set time

(1 to 32,767)

The timer set time is converted into the binary value in 8 ms (48 ms) units.
The timer set time is shown as follows:
8 ms 8 to 262,136 ms
48 ms 48 to 1,572,816 ms
1s 1 to 32,767s
10 s 1 to 327,670s
1m 1 to 32,767m

5.6.6 Set the start address of a timer register area.

Timer Register A timer register area must be allocated to a continuous fourbyte memory
area starting from the set address. Normally, the R area is used as a timer
Address register area. This area should be used by the PMC system, and therefore
should not be used by the sequence program.

Timer register + 0

Timer register + 1
Timer register
Timer register + 2

Timer register + 3

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5.6.7 As shown in Fig. 5.6.7, after ACT is set to 1, the timer relay is turned on
Timer Relay (TMff) once the time specified in this command has elapsed.

ACT
TM ff
T
T indicates the time set in this timer
command.

Fig. 5.6.7 Timer operation

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5.7
DEC (DECODE)

5.7.1 Outputs 1 when the twodigit BCD code signal is equal to a specified
Function number, and 0 when not. Is used mainly to decode M or T function.

5.7.2 Fig.5.7.2 and Table 5.7.2 show the expression format and Table 5.7.2
Format show the coding format.

Decoding result output

ACT

DEC ffff ffff W1

fff. f fff. f

Decode ff ff
Control condition Instruction
instruction Number of digits
instruction
Address of decode signal Number of digits instruction

Fig. 5.7.2 Format of DEC

Table 5.7.2 Coding of DEC

Step Address Bit

Instruction Remarks
Number Number Number
1 RD fff. f ACT
2 DEC ffff
3 (PRM) ffff
4 WRT fff. f W1, Decoding result output

5.7.3 ACT=0 : Turns the decoding result output off (W1).

ACT=1 : Performs decoding.
Control Condition
When the specified number is equal to the code signal, W1=1;
when not, W1=0.

5.7.4 Specify the address containing twodigit BCD code signals.

Code Signal Address

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

f f f f

Number of digits specification

Number specification

(i) Number:
Specify the decode number.
Must always be decoded in two digits.
(ii) Number of digits:
01 : The highorder digit of two decimal digits is set to 0 and
only the loworder digit is decoded.
10 : The loworder digit is set to 0 and only the highorder digit
is decoded.
11 : Two decimal digits are decoded.

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

DEC R200 3011 W1

R100.0 R103.1 R228.1

Fig. 5.7.6 Ladder diagram using the DEC instruction

Table 5.7.6 Coding for Fig.5.7.6

Coding sheet

Step Address Bit

Instruction Remarks
Number Number Number
1 RD R100.0
2 AND R103.1
3 DEC R200
4 (PRM) 3011
5 WRT R228 . 1

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5.8
DECB (BINARY
DECODING)

5.8.1 DECB decodes one, two, or fourbyte binary code data. When one of the
Function specified eight consecutive numbers matches the code data, a logical high
value (value 1) is set in the output data bit which corresponds to the
specified number. When these numbers do not match, a logical low value
(value 0) is set.
Use this instruction for decoding data of the M or T function.
In PMCSB5/SB6/SB7 for Series 16i/160i/18i/180i/Power Mate i and
PMCSA5 for Series 21i/210i, the setting of the format specification
parameter is extended. With this setting, DECB can decode multiple
(8 n) bytes.
For the details of the setting of a format specification parameter, refer to
5.8.4 Parameters.

5.8.2
Format

DECB ffff Decode result output

ffff 7 6 5 4 3 2 1 0
Code
data
(SUB 25) Decode designating
number +0
1, 2 or 4byte
binary code data Decode designating
+1
number

Decode designating +7
number
Decode designating numbers
Eight numbers, each of which is added by 0, 1, 2, . . . , and 7 to the specified number
are decoded.
When number 62 is specified, for example, eight numbers of 62 to 69 are decoded.
If code data is 62, 0 bit of output data is turned on; if 69, 7th bit is turned on.

Fig. 5.8.2 (a) Function of DECB (basic specification)

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DECB ffff Decode result output

ffff 7 6 5 4 3 2 1 0
Code
data
(SUB 25) Decode designating
number +0

15 14 13 12 11 10 9 8
1, 2 or 4byte
binary code data Decode designating
number +8

8n1 8(n1)

Decode designating
number +(8n1)

Decode designating numbers

8n numbers, each of which is added by 0, 1, 2, . . . , and (8n1) to the specified
number are decoded. (n is set by the format specification parmeter)
When number 62 is specified, for example, 8n numbers of 62 to 62+8n1 are
decoded.
If code data is 62, 0 bit of output data+0 is turned on; if 77, 7th bit of output data+1 is
turned on.

Fig. 5.8.2 (b) Function of DECB (extended specification)

(only for PMCSB5/SB6/SB7 for Series 16i/160i/18i/180i Power Mate i, PMCSA5 for Series 21i/210i,
and PMCNB6 for Series 15i)

Fig.5.8.2 (c), (d) show the expression format.

*
ACT DECB f ffff ffff ffff
ffff

(SUB 25) Format Code Decode Decode

specifi data designa result
cation address tion output
address

Fig. 5.8.2 (c) Expression format of DECB (basic specification)

*
ACT DECB ffff ffff ffff ffff
ffff

(SUB 25) Format Code Decode Decode

specifi data designa result
cation address tion output
address

Fig. 5.8.2 (d) Expression format of DECB (extended specification)

(only for PMCSB5/SB6/SB7 for Series 16i/160i/18i/180i Power Mate i, PMCSA5/SB6/SB7 for Series 21i/210i,
and PMCNB6 for Series 15i)

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5.8.3 (a) Command (ACT)

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

5.8.4 (a) Format specification

Set the size of code data to the 1st digit of the parameter.
Parameters
0001 : Code data is in binary format of 1 byte length
0002 : Code data is in binary format of 2 byte length
0004 : Code data is in binary format of 4 byte length
In PMCSB5/SB6/SB7 for Series 16i/160i/18i/180i Power Mate i
and PMCSA5 for Series 21i/210i, when setting format specification
in the following extended format, DECB can decode multiple (8 n)
bytes by 1 instruction.
0nn1 : In case of decoding multiple (8 nn) bytes and code
data is binary format of 1 byte length
0nn2 : In case of decoding multiple (8 nn) bytes and code
data is binary format of 2 byte length
0nn4 : In case of decoding multiple (8 nn) bytes and code
data is binary format of 4 byte length
The nn is the numerical value from 02 to 99. When setting 00 or 01,
it works for decoding 8 numbers.

Format specification (extended specification) :

0 n n x

The byte length setting of code data

1 : 1 byte length
2 : 2 byte length
4 : 4 byte length
The multiple decoding number setting
0001 :
It decodes 8 continuous numbers.
The decode result output address needs a memory of 1 byte length.
0299 :
It decodes multiple (8 nn) continuous numbers.
The decode result output address needs a memory of nn bytes length.

(b) Code data address

specifies an address at which code data is stored.
(c) Number specification decode designation
Specifies the first of the 8 continuous numbers to be decoded.
(d) Decode result address
Specifies an address where the decoded result shall be output.
A onebyte area is necessary in the memory for the output.
In PMCSB5/SB6/SB7 for Series 16i/160i/18i/180i Power Mate i
and PMCNB6 for Series 15i, when executing this instruction in
extended specification, the area of setting by the format specification
for the nn bytes is necessary.

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5.9
CTR (COUNTER)

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

WARNING
When a incollect BCD data was set to a BCD type counter,
the morement of CTR cannot be sured.
If changing the counter type, be sure to reconfigure the
counter data.

This counter has the following functions to meet various applications.

(a) Preset counter
Outputs a signal when the preset count is reached. The number can
be preset from the CRT/MDI panel, or set in the sequence program.
(b) Ring counter
Upon reaching the preset count, returns to the initial value by issuing
another count signal.
(c) Up/down counter
The count can be either up or down.
(d) Selection of initial value
Selects the initial value as either 0 or 1.
A combination of the preceding functions results in the ring counter
below.

8 1
7 2

6 3
5 4

Presetting : 8
Initial value : 1

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

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5.9.2 Fig.5.9.2 show the expression format and Table 5.9.2 show the coding
Format format.

CN0

fff. f CTR ffff

(SUB 5)
UPDOWN Count up output

fff. f
W1
RST
fff. f
fff. f
ACT

fff. f Counter number

Instruction (SUB 5)
Control condition

Fig. 5.9.2 Format of CRT instruction

Table 5.9.2 Coding for Fig.5.9.2

Coding sheet Memory status of control condition

Step Address
Instruction Bit No. Remarks ST3 ST2 ST1 ST0
Number No.
1 RD fff . f CN0 CN0
2 RD. STK fff . f UPDOWN CN0 UPDOWN
3 RD. STK fff . f RST CN0 UPDOWN RST
4 RD. STK fff . f ACT CN0 UPDOWN RST ACT
5 SUB 5 CTR instruction CN0 UPDOWN RST ACT
6 (PRM) ff Counter number CN0 UPDOWN RST ACT
7 WRT fff . f W1 output number CN0 UPDOWN RST W1

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5.9.3 (a) Specify the initial value. (CN0)

Control Conditions CN0=0: Begins the value of the counter with 0.
0, 1, 2, 3 n.
CN0=1: Begins the value of the counter with 1 (0 is not used).
1, 2, 3 n.
(b) Specify up or down counter.
UPDOWN=0:
Up counter. The counter begins with 0 when CN0=0;
1 when 1.
UPDOWN=1:
Down counter. The counter begins with the preset value.
(c) Reset (RST)
RST=0: Releases reset.
RST=1: Enables reset.
W1 becomes 0. The integrated value is reset to the initial value.

NOTE
Set RST to 1, only when reset is required.

(d) Count signal (ACT)

1

Count Count

0: Counter does not operate. W1 does not change.

ACT
1: Count is made by catching the rise of ACT.

5.9.4
Counter Number

Model PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4

Counter number 1 to 20 1 to 20 1 to 20 1 to 20 1 to 20 1 to 20 1 to 20 1 to 20 1 to 20 1 to 50

Model SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

Counter number 1 to 20 1 to 50 1 to 100 1 to 20 1 to 20 1 to 50 1 to 20 1 to 50 1 to 50

The preset value and cumulative value that can be set are as follows:
Binary counter: 0 to 32767
BCD counter: 0 to 9999

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

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

5.9.6 [Example 1]
As a preset counter (See Fig.5.9.6 (a))
Examples of Using the
The number of workpieces to be machined is counted. When the number
Counter reaches the preset count, a signal is output.
D L1 is a circuit to make logic 1.
D Since the count ranges from 0 to 9999, contact B of L1 is used for
making CN0=0.
D Since it is to be up counter, contract B of L1 is used make
UPDOWN=0.
D The reset signal of the counter uses input signal CRST.M from the
machine tool.
D The count signal is M30X, which was decoded from the CNC
output M code. M30X contains contact B of CUP to prevent
counting past the preset value, as long as reset is not enabled after
countup.

L1

L1
R200.1
L1 R200.1

R200.1
L1
(3) (1)
(CN0)
R200.1
L1
(2)
(UPDOWN) CTR 0001
(SUB 5)
R200.1
CUP Count up output
CRST.M
(1)
(RST) Y6.1
X36.0
CUP M30X
(0)
(ACT)
Y6.1 R200.3

Fig. 5.9.6 (a) Ladder diagram for the counter, example 1

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[Example 2]
Use of the counter to store the position of a rotor. (See Fig.5.9.6 (b))

L1
1
R200.1
R200.1
L1

R200.1
L1
(3)
(CN0)
R200.1
REV
(2)
(UPDOWN)
CTR 0002
R200.1
L1 (SUB 5)
(1)
(RST) R200.0
R200.1
POS
(0)
(ACT)
X36.0

Fig. 5.9.6 (b) Ladder diagram for the counter, example 2

4
3 5

2
6

1 7

12 8

11 9
10

Fixed position for indexing

Fig. 5.9.6 (c) Indexing for a rotor

Fig.5.9.6 (b) shows a ladder diagram for a counter to store the position of
a rotor of Fig.5.9.6 (c).
(1) Control conditions
(a) Count start number
When a 12angle rotor shown in Fig.5.9.6 (c) is used, the count
starting number is 1. Contact A of L1 is used for making CN0=1.
(b) Specify up and down
The signal REV changes according to the then direction of
rotation. It becomes 0 for forward rotation and 1 for reverse
rotation. Thus, the counter is an up counter for forward rotation
and a down counter for reverse rotation.
(c) Reset
In this example, since W1 is not used, RST=0, and contact B of
L1 is used.

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(d) Count signal

The count signal POS turns on and off 12 times each time the rotor
rotates once.
(2) Counter number and W1
In this example, the second counter is used. The result of W1 is not
used, but its address must be determined.
(3) Operation
(a) Setting the preset value
Since the rotor to be controlled is 12angle as shown in Fig.5.9.6
(c), 12 must be preset in the counter. It is set from the CRT/MDI
panel.
(b) Setting the current value
When the power is turned on, the position of the rotor must be
equated with the count on the counter. The count is set via the
CRT/MDI panel. Once a current value is set, then correct current
positions will be loaded to the counter every time.
(c) The POS signal turns on and off each time the rotor rotates.
The number of times of the POS signal turns on and off is counted
by the counter, as below.
1, 2, 3, . . . 11, 12, 1, 2, . . .
for forward rotation
1, 12, 11, . . . 3, 2, 1, 12 . . .
for reverse rotation

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5.10 PMCSB7
CTRB (FIXED O
COUNTER)

5.10.1 CTRB is used as a counter. Numerical data such as preset values and count
Functions values can be used with binary format. This counter has the following
functions to meet various applications.
(a) Preset counter
Preset the count value. If the count reaches this preset value, outputs
to show that.
(b) Ring counter
This is the ring counter which is reset to the initial value when the
count signal is input after the count reaches the preset value.
(c) Up/down counter
This is the reversible counter to be used as both up counter and down
counter.
(d) Selection of initial value
Either 0 or 1 can be selected as the initial value.

5.10.2 Fig.5.10.2 and Table 5.10.2 show the expression format and the cording
Format format, respectively.

CN0

UPDOWN
OOOO.O
CTRB O....O
Counter
(SUB56) Preset Value
Number W1
RST

ACT

Fig. 5.10.2 CTRB expression format

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Table 5.10.2 CTRB cording format

Step Address Bit

Instruction Remarks
number number number
1 RD OOOO.O CN0
2 RD.STK OOOO.O UPDOWN
3 RD.STK OOOO.O RST
4 RD.STK OOOO.O ACT
5 SUB 56 CTRB command
6 (PRM) OOO Counter Number
7 (PRM) O...O Preset Value
8 WRT OOOO.O W1

5.10.3 (a) Specifying the initial value (CN0)

Control Condition CN0=0 : The counter value starts with 0. 0,1,2,3,.......,,n
CN0=1 : The counter value starts with 1. 1,2,3,4.........,n
(b) Specifying up or down (UPDOWN)
UPDOWN=0 : Up counter
The initial value is 0 when CN0=0 or 1 when CN0=1.
UPDOWN=1 : Down counter
The initial value is the preset value.
(c) Reset (RST)
RST=0 : Cancels reset.
RST=1 : Resets. W1 is reset to 0. The accumulated value is reset
to the initial value.
(d) Count signal (ACT)
ACT=0 : The counter does not operated. W1 does not change.
ACT=1 : The counter operates at the rise of this signal.
(3) Counter number
Set 1 to 100 as counter number.
(4) Preset value
Following value can be set as preset value.
Binary counter: 0 to 32767
*CTRB is always binary counter. System parameter is ineffective.
(5) Countup output (W1)
When the counter value reaches the preset value, W1 is set to 1. The
W1 address can be specified arbitrarily.
(6) Accumulate value
The address C5000 are used for accumulate value of the CTRB. One
value has 2 bytes.
Counter number 1 corresponds to C5000 and number 2 corresponds
to C5002.

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5.11
CTRC (COUNTER)

5.11.1 The numeral data of this counter are all binary. This counter has the
following functions and can be used according to the application:
Functions
(a) Preset counter
Preset the count value and if the count reaches this preset value,
outputs to show that.
(b) Ring counter
This is the ring counter which is reset to the initial value when the
count signal is input after the count reaches the preset value.
(c) Up/down counter
This is the reversible counter to be used as both the up counter and
down counter.
(d) Selection of the initial value
Either 0 or 1 can be selected as the initial value.

5.11.2 Fig.5.11.2 and Table 5.11.2 show the expression format and the coding
format, respectively.
Format

CN0
CTRC ffff ffff

UPDOWN
SUB 55

Counter Counter
RST preset value register W1
address address

ACT

Fig. 5.11.2 CTRC expression format

Table 5.11.2 CRTC coding format

Step Address Bit

Instruction Remarks
Number Number Number
1 RD ffff. f CN0
2 RD.STK ffff. f UPDOWN
3 RD.STK ffff. f RST
4 RD.STK ffff. f ACT
5 SUB 55 CRTC command
6 (PRM) ffff Counter preset address
7 (PRM) ffff Counter register address
8 WRT ffff. f W1

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5.11.3 (a) Specifying the initial value (CN0)

Control Conditions CN0=0 : The count value starts with 0. 0, 1, 2, 3, . . . n
CN0=1 : The count value starts with 1. 1, 2, 3, . . . n
(b) Specifying up or down count (UPDOWN)
UPDOWN=0:
Up counter.
The initial value is 0 when CN0=0 or 1 when CN0=1.
UPDOWN=1:
Down counter. The initial value is the preset value.
(c) Reset (RST)
RST=0 : Reset cancelled.
RST=1 : Reset. W1 is reset to 0. The accumulated value is
reset to the initial value.
(d) Count signal (ACT)
ACT=0 : The counter does not operate. W1 does not change.
ACT=1 : The counter operates at the rise of this signal.

5.11.4 The first address of the counter preset value field is set.
Counter Preset Value The continuous 2byte memory space from the first address is required
for this field. Field D is normally used.
Address

Counter preset value+0

CTR: Preset value
CTR
(0 to 32,767)
Counter preset value+1

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

5.11.5 The first address of the counter register field is set.

Counter Register The continuous 4byte memory space from the first address is required
for this field. Field D is normally used.
Address
NOTE
When field R is specified as the counter register address,
the counter starts with count value 0 after powered on.

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5.11.6 If the count value reaches the preset value, W1 is set to 1.

Countup Output (W1) The W1 address can be determined freely.

Counter register +0
CTR Count value
Counter register +1

Counter register +2
WORK WORK : Unusable
Counter register +3

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5.12
ROT (ROTATION
CONTROL)

5.12.1 Controls rotors, such as the tool post, ATC, rotary table, etc., and is used
Function for the following functions.
(a) Selection of the rotation direction via the shorter path
(b) Calculation of the number of steps between the current position and
the goal position
(c) Calculation of the position one position before the goal or of the
number of steps up to one position before the goal

5.12.2 Fig.5.12.2 shows the expression format and Table 5.12.2 shows the
Format coding format.

RN0
(5) (1) (2) (3) (4)

ffff. f
BYT
(4)

ffff. f
DIR Rotating direction
(3) output
ROT
ffff. f (SUB 6) ffff ffff ffff ffff W1
POS
(2) ffff. f

ffff. f
INC
(1)

ffff. f
ACT
(0)

ffff. f
Calculating result output address
Goal position address

Control condition Current position address

Instruction
Rotor indexing address

Fig. 5.12.2 ROT instruction format

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Table 5.12.2 Coding for Fig.5.12.2

Coding sheet Status of operating result
Step Instruc- Address
Bit No. Remarks ST5 ST4 ST3 ST2 ST1 ST0
Number tion No.
1 RD ffff . f RN0 RN0
2 RD. STK ffff . f BYT RN0 BYT
3 RD. STK ffff . f DIR RN0 BYT DIR
4 RD. STK ffff . f POS RN0 BYT DIR POS
5 RD. STK ffff . f INC RN0 BYT DIR POS INC
6 RD. STK ffff . f ACT RN0 BYT DIR POS INC ACT
7 SUB 6 ROT RN0 BYT DIR POS INC ACT
8 (PRM) ffff Rotor indexing number RN0 BYT DIR POS INC ACT
9 (PRM) ffff Current position RN0 BYT DIR POS INC ACT
10 (PRM) ffff Goal position address RN0 BYT DIR POS INC ACT
11 (PRM) ffff Calculating result output address RN0 BYT DIR POS INC ACT
12 WRT fff . f RN0 BYT DIR POS INC W1
13
14
15

5.12.3 (a) Specify the starting number of the rotor.

RN0=0 : Begins the number of the position of the rotor with 0.
Control Conditions
RN0=1 : Begins the number of the position of the rotor with 1.
(b) Specify the number of digits of the process data (position data).
BYT=0 : BCD two digits
BYT=1 : BCD four digits
(c) Select the rotation direction via the shorter path or not.
DIR=0 : No direction is selected. The direction of rotation is
only forward.
DIR=1 : Selected. See (8) for details on the rotation direction.
(d) Specify the operating conditions.
POS=0 : Calculates the goal position.
POS=1 : Calculates the position one position before the goal
position.
(e) Specify the position or the number of steps.
INC=0 : Calculates the number of the position. If the position
one position before the goal position is to be calculated,
specify INC=0 and POS=1
INC=1 : Calculates the number of steps. If the difference
between the current position and the goal position is to
be calculated, specify INC=1 and POS=0.
(f) Execution command
ACT=0 : The ROT instruction is not executed. W1 does not
change.
ACT=1 : Executed. Normally, set ACT=0. If the operation
results are required, set ACT=1.

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5.12.4 Specify the rotor indexing number.

Rotor Indexing Number

5.12.5 Specify the address storing the current position.

Current Position
Address

5.12.6 Specify the address storing the goal position (or command value), for
Goal Position Address example the address storing the CNC output T code.

5.12.7 Calculate the number of steps for the rotor to rotate, the number of steps
Operation Result up to the position one position before, or the position before the goal.
When the calculating result is to be used, always check that ACT=1.
Output Address

5.12.8 The direction of rotation for control of rotation via the shorter path is
Rotating Direction output to W1. When W1=0, the direction is forward (FOR) when 1,
reverse (REV). The definition of FOR and REV is shown in Fig.5.12.8.
Output (W1) If the number given to the rotor is ascending, the rotation is FOR; if
descending, REV. The address of W1 can be determined arbitrarily.
When, however, the result of W1 is to be used, always check that ACT=1.

An example of a 12position rotor

(a) (b)
1 1
12 2 2 12

11 3
3 11
FOR REV REV FOR

10 4 4 10

9 5 5 9

8 6 6 8
7 7

Indexing fixed position Indexing fixed position

Fig. 5.12.8 Rotation direction

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.13
ROTB
(BINARY ROTATION
CONTROL)

5.13.1 This instruction is used to control rotating elements including the tool
Function post, ATC (Automatic Tool Changer), rotary table, etc. In the ROT
command (5.12) a parameter indicating the number of rotating element
indexing positions is a fixed data in programming. For ROTB, however,
you can specify an address for the number of rotating element index
positions, allowing change even after programming. The data handled are
all in the binary format. Otherwise, ROTB is coded in the same way as
ROT.

5.13.2 Fig.5.13.2 shows the expression format of ROTB

Format

RN0

* * * *

DIR

POS
ROTB f ffff ffff ffff ffff
W1

INC

(SUB 26) Format Rotating Current Target Arithm

specific element position position etic
ACT ation indexed address address result
position output
address address

Fig. 5.13.2 Expression format of ROTB

5.13.3 The control conditions do not differ basically from those for ROT
Control Conditions command described in section 5.12. However, BYT has been eliminated
from ROTB (it forms part of the ROTB parameters).
For the reset, see ROT.

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5.13.4 (a) Format

Parameters Specifies data length (1, 2, or 4 bytes). Use the first digit of the
parameter to specify the number of bytes.
1 : 1 byte
2 : 2 bytes
4 : 4 bytes
All numerical data (number of indexed positions for the rotating
elements, current address, etc.) are in the binary format.
Therefore, they require the memory space specified by data length.
(b) Rotating element indexed position address
Specifies the address containing the number of rotary element
positions to be indexed.
(c) Other parameters
For the functions and use of the other parameters, see Section 5.12.

5.13.5 See Section 5.12.

Output for Rotational
Direction (W1)

5.13.6 Fig. 5.13 (b) illustrates a ladder diagram for a 12position rotor to be
controlled for rotation via the shorter path and for deceleration at the
Example of Using the
position one position before the goal.
ROTB Instruction
D The goal position is specified with CNC 32B of binary code (address
F26 to F29).
D The current position is entered with the binary code signal (address
X41) from the machine tool.
D The result of calculating the position one position before the goal is
output to address R230 (work area).
D Operation starts with the output TF (address F7.3) from the CNC.
D The coincidence check instruction (COIN) is used to detect the
deceleration and stop positions.

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A
A Logic 1
R0228.0 R0228.0
A

R0228.0
A (4)
ROTB 4 D0000 X0041 F0026 R0230
(SUB 26) CR Shorter
R0228.0 CCW path or not
A R0228.1
(3) Refer Rotor Current Goal Calcula
ence indexing position position tion
R0228.0 data number address address result
format output
A address
(2)

R0228.0
A (1)

R0228.0
CWM CCWM
TF (0)

F0007.3 Y0005.6 Y0005.6

TF (0) COMPB 1004 R0230 X0041

(SUB 32) Refer Refer Compari
F0007.3 ence ence son
data data data
TF format address
Deceleration
TDEC position
detection
R9000.0 F0007.3 R0228.2
TDEC TF
DECM Deceleration
command
R0228.2 F0007.3 Y0005.5
TCOMPB DECM

R0228.3 Y0005.5
TF (0)
COMPB 1004 F0026 X0041
(SUB 32) Refer Refer Compari
F0007.3 ence ence son
data data data
TF format address Goal position
TCO (stop position)
MPB detection
R9000.0 F0007.3 R0228.3
CRCCW TCOMPB
TF
CWM Forward
rotation
F0007.3 R0228.1 R0228.3 Y0005.6 command
TF CRCCW TCOMPB
CCWM Reverse
rotation
F0007.3 R0228.1 R0228.3 Y0005.6 command

Fig. 5.13.6 Example of a ladder diagram for the ROTB instruction

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5.14
COD
(CODE CONVERSION)

5.14.1 Converts BCD codes into an arbitrary two or fourdigits BCD numbers.
Function For code conversion shown in Fig.5.14.1 the conversion input data
address, conversion table, and convert data output address must be
provided.
Set a table address, in which the data to be retrieved from the conversion
table is contained, to conversion table input data address in a twodigits
BCD number. The conversion table is entered in sequence with the
numbers to be retrieved in the two or fourdigits number. The contents
of the conversion table of the number entered in the conversion input data
address is output to the convert data output address. As shown in
Fig.5.14.1, when 3 is entered in the conversion input data address, the
contents 137 located at 3 in the conversion table is output to the convert
data output address.

Table internal address Conversion table

Conversion input 0
data address 3
1

ffff
Specifies table internal 2

number (BCD twodigits).
3 137

Convert data
output address
ffff
Data of the specified table internal address is
output to this address.
n

Fig. 5.14.1 Code conversion diagram

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5.14.2 Fig.5.14.2 shows the format for the COD instruction and Table 5.14.2
Format shows the coding format.

BYT

ffff. f
COD Error output
RST
(SUB 7) ffff ffff ffff
W1
ffff. f
ACT

ffff. f Converted data output

address
Conversion input data address
Size of table data
Control condition Instruction

Conversion data table

Table address Convert data

1 f f f f
2 f f f f
3 f f f f
4 f f f f

Fig. 5.14.2 COD instruction

Table 5.14.2 Coding for Fig.5.14.2

Coding sheet Memory status of control condition

Step Instruc- Address
Bit No. Remarks ST3 ST2 ST1 ST0
Number tion No.
1 RD fff . f BYT BYT
2 RD. STK fff . f RST BYT RST
3 RD. STK fff . f ACT BYT RST ACT
4 SUB 7 COD instruction

5 (PRM) ffff Size of table data (1)

6 (PRM) ffff Conversion input data address (2)

7 (PRM) ffff Convert data output address (3)

8 (PRM) ffff Convert data at table address 0 (4)

9 (PRM) ffff Convert data at table address 1 (5)

10 : : :

11 WRT fff . f Error output W1

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

5.14.3 (a) Specify the data size.

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

5.14.4 A conversion table data address from 0 to 99 can be specified.

Size of Table Data Specify n+1 as the size of table when n is the last table internal number.

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

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

5.14.7 If an error occurs in the conversion input address during execution of the
COD instruction, W1=1 to indicate an error.
Error Output (W1)
For example, W1=1 results if a number exceeding the table size specified
in the sequence program is specified as the conversion input address.
When W1=1, it is desirable to effect an appropriate interlock, such as
having the error lamp on the machine tool operators panel light or
stopping axis feed.

5.14.8 The size of the conversion data table is from 00 to 99.

Conversion Data Table The conversion data can be either BCD two digits or four digits, which
is specified depends on the control conditions

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5.15
CODB (BINARY
CODE CONVERSION)

5.15.1 This instruction converts data in binary format to an optional binary

Function format 1byte, 2byte, or 4byte data.
Conversion input data address, conversion table, and conversion data
output address are necessary for data conversion; as shown in Fig.5.15.1.
Compared to the 5.14 COD Function Instruction, this CODB function
instruction handles numerical data 1, 2 and 4byte length binary format
data, and the conversion table can be extended to maximum 256.

Table address Conversion table

Conversion
2 0
data address
ffff

Specify table address 1
here.(binaryformat1 byte)

2
(Note 1) This table data is binary

format 2byte data.

3
Conversion data

(Note 2) Conversion table is written
output address 1250
in the ROM together
ffff
Data stored in the specified together with the program,
table address is output to because it is defined in the
this address sequence program.

n
n : max. 255

Fig. 5.15.1 Code conversion diagram

5.15.2 Fig.5.15.2 shows the expression format of CODB.

Format

RST *
Error output
CODB f fff ffff ffff

W1
ACT (SUB 27) Format Number Conversi Conversi
designa of on input on data
tion conver data output
sion address address
table
data

Fig. 5.15.2 Expression format of CODB

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5.15.3 (a) Reset (RST)

Control Conditions RST=0 : Do not reset.
RST=1 : Reset error output W1 (W1=0).
(b) Activate command (ACT)
ACT=0 : Do not execute CODB instruction
ACT=1 : Execute CODB instruction.

5.15.4 (a) Format designation

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

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

5.15.6 If there are any abnormality when executing the CODB instruction,
Error Output (W1) W1=1 and error will be output.

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5.16
MOVE
(LOGICAL PRODUCT
TRANSFER)

5.16.1 ANDs logical multiplication data and input data, and outputs the results
Function to a specified address. Can also be used to remove unnecessary bits from
an eightbit signal in a specific address, etc.
(Logical multiplication data) (Input data) to a specified address
The input data is one byte (eight bits).
7 6 5 4 3 2 1 0
Input data 0 0 0 0 0 0 0 0

Logical f f f f f f f f
multiplicationdata
Loworder fourbit logical
multiplication data
Highorder fourbit
logical multiplication data

5.16.2 Fig.5.16.2 shows the expression format and Table 5.16.2 shows the
Format coding format.

ACT
MOVE (1) (2) (3) (4)
(SUB 8) ffff ffff ffff ffff
ffff. f

Output address

Control condition Input data address

Loworder 4bit logical multiplication data

Highorder 4bit logical multiplication data

Fig. 5.16.2 Move instruction format

Table 5.16.2 Coding for Fig.5.16.2

Coding sheet Memory status of control condition

Step Instruc- Address
Bit No. Remarks ST3 ST2 ST1 ST0
Number tion No.
1 RD fff . f ACT ACT
2 SUB 8 MOVE instruction
3 (PRM) ffff Highorder 4bit logical
multiplication data (1)
4 (PRM) ffff Loworder 4bit logical
multiplication data (2)
5 (PRM) ffff Input data address (3)
6 (PRM) ffff Output data address (4)

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5.16.3 ACT=0 : Move instruction not executed.

Execution Command ACT=1 : Executed.

5.16.4 If a code signal and another signal coexist at address X35 for an input
Example of Using the signal from the machine tool, to compare the code signal and a code signal
at another address, the rest of signals in address X35 becomes an obstacle.
MOVE Instruction Thus, the MOVE instruction can be used to output only the code signal
at address X35 address R210.

7 6 5 4 3 2 1 0
Address X35

Code signal

Another signa

Logical multiplication data 0 0 0 1 1 1 1 1

Loworder fourbit logical multiplication data

Highorder fourbit logical multiplication data

Address R210 0 0 0

Code signal

A MOVE (1) (2) (3) (4)

(SUB 8) 0001 1111 X035 R210
R228.1

Fig. 5.16.4 MOVE instruction ladder diagram

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5.17
MOVOR
(DATA TRANSFER
AFTER LOGICAL
SUM)

5.17.1 This instruction ORs the input data and the logical sum data and
transfers the result to the destination.
Function
Input data Logical sum data
OR

Output data

5.17.2 Fig.5.17.2 shows the expression format of MOVOR.

Format

MOVOR ffff ffff ffff

ACT

(SUB 28) Input data Logical Output

address sum data address
address

Fig. 5.17.2 Expression format of MOVOR

5.17.3 (a) Command (ACT)

Control Conditions ACT=0: Do not execute MOVOR.
ACT=1: Execute MOVOR.

5.17.4 (a) Input data address

Parameters Specifies the address for the input data.
(b) Logical sum data address
Specifies the address of the logical sum data with which to OR the
transferred data.
(c) Output address
This is the address to contain the logical sum obtained. It is also
possible to obtain the logical sum (OR) of the input and the logical
sum data and output the result in the logical sum data address. For
this, you must set the logical sum data address for the output address.

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5.18
COM (COMMON LINE
CONTROL)
5.18.1
: Can be used
COM (Common Line
: Cannot be used
Control) PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

f f

This function can be used for specifying the number of coils only on the
PMCSB/SC. On other PMCs, specify 0 for the number of coils and use
the common line control end instruction to use this function. For how to
use the instruction, see Subsection 5.18.4.

5.18.1.1 The specified number of coils or the coils in a region up to the common
Function line control end instruction (COME) are turned off. (See Fig.5.18.1.1)
Relay number specification is set when a numeric other than zero is
specified in a parameter for the number of turned off coils.
Specification of the region up to the common line control end instruction
is set when zero is specified for the number of turned off coils.
When the common line control end instruction is programmed in the relay
number specification, error is indicated when programming is completed.

ACT COM ffff

Number of
SUB 9
turnedoff
coils

0 to 9999
0 : Region specification
Other than 0 : Numeric specification

COME
Effective only when the number of
SUB 29 turnedoff coils is set to zero.

Fig. 5.18.1.1 Function of COM

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5.18.1.2 Fig.5.18.1.2 (a) shows the expression format of COM

Format

COM ffff

SUB 9 Number of
turnedoff
coils

Fig. 5.18.1.2 (a) Expression format of COM

ACT COM 2

(a)

A B
W1
ACT=1
11.0 11.1
(b) C

W2
D

(a) When COM ACT=1, execution

B F G begins with the step after COM.
(b) When COM ACT=0, coil W1 and coil
W3 W2 are turned OFF unconditionally,
ACT=0 and execution begins with the next
step after W2.

Fig. 5.18.1.2 (b) Ladder diagram for the COM instruction

5.18.2 ACT=0 : The specified number of coils or the coils within the region
specified are unconditionally turned off (set to 0).
Control Conditions
ACT=1 : No processing is performed.
Processing is performed from the step next to the COM instruction.

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5.18.3 (a) Number of turnedoff coils

Parameter Specify 0 to 9999.
0 : Region specification
Other than 0: Coil number specification

ACT A B
W1

ACT C
W2

E F G
W3

Fig. 5.18.3 (a) Relay circuit example

CAUTION
1 A functional instruction in a range specified by COM executes processing,
regardless of COM ACT. However, if COM ACT=0, the coil of the execution result becomes 0.
2 Another COM instruction cannot be specified in the range specified by the COM instruction.
3 If COM ACT=0, the coil written in by a WRT. NOT instruction in a range specified by COM
becomes 1 unconditionally.
4 The number of coils cannot be specified in PMCSA2, or PMCSB2. Assume the number of
coils to be 0 and specify the region with the common line control end (COME) command.

ACT
COM 3

A B
W1 Regardless of the ACT condition of the
COM instruction, if ACT1=1, the input
data of MOVE function is transferred to
Highord Loworde Input Output the output address
ACT1 er 4bit r 4bit data address
MOVE logical logical address
multiplicat multiplicat
ion data ion data

D Reference Comparis
data on data
COIN (address) (address) W2 When ACT=0 in the COM instruction,
ACT2 W2=0 unconditionally.

E
W3

Fig. 5.18.3 (b)

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5.18.4
: Can be used
COM (Common Line
: Cannot be used
Control) PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

f f f f f f f f f f f f f f f f f f f

5.18.5 The COM instruction controls the coils in a range up to a common line
Function control end instruction (COME). (See Fig.5.18.5) Specify 0 as the
number of coils, and specify a range to be controlled using the common
line end instruction.
When the common line end instruction is not specified, the message COM
FUNCTION MISSING is displayed.
ACT

COM 0

SUB 9

Valid range of
the COM
f instruction

COME

SUB 29

Fig. 5.18.5 Function of COM

5.18.6 Fig.5.18.6 shows the expression format of the functional instruction

COM.
Format
ACT
COM 0

SUB 9

Fig. 5.18.6 Expression Format of COM

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

5.18.8 (a) Specify 0. (Range specification only)

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

ACT
COM 0

SUB 9

ON OUT1

OFF OUT2

Then, for the coil OUTx, this Ladder diagram has the same
effect as the following Ladder diagram:
ON ACT OUT1

OFF ACT OUT2

So, the functional instructions in the range specified with a

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

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5.18.9 Do not create a program in which a combination of JMP and JMPE

Caution instructions is used to cause a jump to and from a sequence between the
COM and COME instructions; the ladder sequence may not be able to
operate normally after the jump.

JMP instruction
COM instruction

Prohib-
ited
JMP instruction
COM instruction

Prohib-
COME instruction ited
JMPE instruction

COME instruction

JMPE instruction

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5.19
COME (COMMON
LINE CONTROL END)

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

5.19.2 Fig.5.19.2 shows the expression format of COME

Format
COME

SUB 29

Fig. 5.19.2 Expression format of COME

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5.20
JMP (JUMP)

5.20.1
: Can be used
JMP (Jump)
: Cannot be used
PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

f f

This function can be used for specifying the number of coils only on the
PMCSB/SC. On other PMCs, specify 0 for the number of coils and use
the jump end instruction to use this function. For how to use the
instruction, see Subsection 5.20.7.

5.20.2 This instruction jumps the specified number of coils or the logic
Function instructions (including the functional instructions) contained within the
region up to the jump end instruction (JMPE).
Coil number specification is set when a numeral other than zero is
specified in the parameter for the number of coils.
Specification of the region up to the jump end instruction is set when zero
is set for the number of coils. Nesting of jump instructions is not allowed.

ACT JMP ffff

SUB 10 Number
of jumped
coils

0 to 9999
0 : Region specification
Other tha 0 : Coil number specification

JMPE
Effective only when the number of
SUB 30 jumped coils is set to zero.

Fig. 5.20.2

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5.20.3
Format
ACT JMP ffff

Number
SUB 10 of jumped
coils

5.20.4 ACT=0 : Nojump.Processing begins with the step after the JMP instruction.
ACT=1 : The logic instructions contained within the specified number of
Control Conditions
coils or the specified region are jumped. Processing is performed
from the next step.

5.20.5 (a) Number of jumped coils

Parameter Specify 0 to 9999.
0 : Region specification jump
Other than 0 : Coil number specification jump
When the jump end instruction is programmed in the coil number
specification, error is indicated when programming is completed.
Table 5.20.5 JMP instruction coding
Step Instruc- Address Bit Remarks
Number tion Number Number
1 RD fff. f ACT
2 SUB 10 JMP instruction
3 (PRM) ffff Number of coils to be jumped

NOTE
The number of coils can be specified only for the
PMCSB/SC. Assume the number of coils to be 0 and specify
the region with the jump end (JMPE) command.

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5.20.6 Fig.5.20.6 shows a ladder diagram for the JMP instruction. When
Operation ACT=0, the next step to the JMP instruction is executed. When ACT=1,
logical operations are skipped according to the specified number of coils.
Note that, when ACT=1, even if signal A changes from 1 to 0 or vice versa
as shown in Fig.5.20.6, W1 remains in a status before ACT=1. Similarly,
W2 remains unchanged, even if signals B, C, and D change. If a sequence
is executed in ladder split mode, even the use of the JMP instruction does
not reduce the execution time of the sequence (see Section I.2.3,
Processing Priority).

ACT
JMP
2
(SUB 10)

A
W1
ACT=0
10.1 20.1
B
W2
C

E F
W3
ACT=1

Fig. 5.20.6 Ladder diagram for the JMP instruction

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5.20.7
: Can be used
JMP (Jump)
: Cannot be used
PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

f f f f f f f f f f f f f f f f f f f

5.20.7.1 The JMP instruction causes a departure from the normal sequence to
Function executing instructions. When a JMP instruction is specified, processing
jumps to a jump and instruction (JMPE) without executing the logical
instructions (including functional instructions) in the range delimited by
a jump end instruction (JMPE). (See Fig.5.20.7.1) Specify 0 as the
number of coils, and specify a range to be skipped using the jump end
instruction.
When the jump end instruction is not specified, the message JUMP
FUNCTION MISSING is displayed.
ACT
JMP 0

SUB 10

Valid range of the

f
JMP instruction

JMPE

SUB 30

Fig. 5.20.7.1 Function of JMP

5.20.7.2 Fig.5.20.7.2 shows the expression format of the functional instruction

Format JMP.

ACT
JMP 0

SUB 10

Fig. 5.20.7.2 Expression format of JMP

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5.20.7.3 ACT=1 : The logical instructions (including functional instructions) in

Control Conditions the specified range are skipped; program execution proceeds to
the next step.
ACT=0 : The same operation as when JMP is not used is performed.

5.20.7.4 (a) Specify 0. (Range specification only)

Parameters
NOTE
JMP instruction operation
When ACT = 1, processing jumps to a jump end instruction
(JMPE); the logical instructions (including functional
instructions) in the specified jump range are not executed.
When the Ladder program is executed in the nonseparate
mode, this instruction can reduce the Ladder execution
period (scan time).

5.20.8 Do not create a program in which a combination of JMP and JMPE

Caution instructions is used to cause a jump to and from a sequence between the
COM and COME instructions; the ladder sequence may not be able to
operate normally after the jump.

JMP instruction
COM instruction

Prohib- JMP instruction

COM instruction ited

COME instruction
JMPE instruction Prohib-
ited

COME instruction

JMPE instruction

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5.21
JMPE (JUMP END)

5.21.1 This instruction indicates the division in the region specification of the
Function jump instruction (JMP).
It cannot be used alone. It must be used together with the JMP instruction.

5.21.2
Format
JMPE

SUB 30

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5.22
PARI
(PARITY CHECK)

5.22.1 Checks the parity of code signals, and outputs an error if an abnormality
Function is detected. Secifies either an even or oddparity check. Only onebyte
(eight bits) of data can be checked.

5.22.2 Fig.5.22.2 shows the expression format and Table 5.22.2 shows the
Format coding format.

O.E (2)

ffff. f Error output

PARI
RST (1)
(SUB 11) ffff W1

ffff. f
ffff. f
ACT (0)

ffff. f

Check data address

Control condition Instruction

Fig. 5.22.2 PARI instruction format

Table 5.22.2 PARI instruction coding

Coding sheet Memory status of control condition
Step Addres
Number Instruction s No. Bit No. Remarks ST3 ST2 ST1 ST0

1 RD fff. f ACT O.E

2 RD. STK fff. f ACT O.E RST
3 RD. STK fff. f ACT O.E RST ACT
4 SUB 11 PARI instruction
5 (PRM) ffff Check data address
6 ffff. f Error output W1

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5.22.3 (a) Specify even or odd.

Control Conditions O.E=0 : Evenparity check
O.E=1 : Oddparity check
(b) Reset
RST=0 : Disables reset.
RST=1 : Sets error output W1 to 0. That is, when a parity error
occurs, setting RST to 1 results in resetting.
(c) Execution command
ACT=0 : Parity checks are not performed. W1 does not alter.
ACT=1 : Executes the PARI instruction, performing a parity
check.

5.22.4 If the results of executing the PARI instruction is abnormal, W1=1 and
Error Output (W1) an error is posted. The W1 address can be determined arbitrarily.

5.22.5 Fig.5.22.5 shows oddparity checking of a code signal entered at address

Example of Using the X036.
PARI Instruction

7 6 5 4 3 2 1 0
Address X036 0

6bit code signal

Oddparity bit

A
A
R228.0
A R228.0

R228.0
A (2)

R228.0
PARI
ERST.M
(1)
(SUB 11) X036 ERR
X32.7

TF (0)

F7.3

Fig. 5.22.5 Ladder diagram for the PARI instruction

NOTE
For bits 0 to 7, bits other than those for the parity check must
be 0.

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5.23
DCNV
(DATA CONVERSION)

5.23.1 Converts binarycode into BCDcode and vice versa.

Function

5.23.2 Fig.5.23.2 shows the expression format and Table 5.23.2 shows the
Format coding format.

BYT (3)
(1) (1)
fff. f DCNV

CNV (2)
(SUB 14) ffff ffff

fff. f Error output

RST (1)
W1
fff. f
fff. f
ACT (0)

fff. f
Conversion result output address
Instruction Input data address
Control condition

Fig. 5.23.2 DCNV instruction format

Table 5.23.2 DCNV instruction coding

Coding sheet Memory status of control condition

Step Instruc- Address
Bit No. Remarks ST3 ST2 ST1 ST0
Number tion No.
1 RD f fff . f BYT BYT
2 RD. STK fff . f CNV BYT CNV
3 RD. STK fff . f RST BYT CNV RST
4 RD. STK fff . f ACT BYT CNV RST ACT
5 SUB 14 DCNV instruction

6 (PRM) ffff (1) Input data address

7 (PRM) ffff (2) Conversionresult output address

8 WRT fff . f W1 error output W1

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5.23.3 (a) Specify data size.

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

5.23.4 W1=0 : Normal

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

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5.24
DCNVB (EXTENDED
DATA CONVERSION)

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

5.24.2 Fig.5.24.2 shows the expression format of DCNVB

Format
SIN
* *

CNV

DCNVB f ffff ffff

W1
RST
(SUB 31)

Format Input data Convers

specifica address ion result
ACT tion
output
address

Fig. 5.24.2 Expression format of DCNVB

5.24.3 (a) Sign of the data to be converted (SIN)

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

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5.24.4 (a) Format specification

Parameters Specify data length (1,2, or 4 bytes).
Use the first digit of the parameter to specify byte length.
1 : one byte
2 : two bytes
4 : four bytes
(b) Input data address
Specify the address containing the input data address.
(c) Address for the conversion result output
Specify the address to output the data converted to BCD or binary
format.

5.24.5 W1=0 : Correct conversion

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

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

7 6 5 4 3 2 1 0

R9000

Negative

Overflow
(data exceeds the number of bytes specified)

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5.25
COMP
(COMPARISON)

5.25.1 Compares input and comparison values.

Function

5.25.2 Fig.5.25.2 shows the expression format and Table 5.25.2 shows the
Format coding format.

BYT COMP
f ffff ffff
(SUB 15) Comparison
fff.f result output
W1
ACT
ffff.f
fff.f

Instruction Comparison value

Control condition Input value

Input data format

(constant or address)

Fig. 5.25.2 COMP instruction format

Table 5.25.2 COMP instruction coding

Coding sheet Memory status of control condition
Step Instruc- Address
Bit No. Remarks ST3 ST2 ST1 ST0
Number tion No.
1 RD fff . f BYT BYT
2 RD. STK fff . f ACT BYT ACT
3 SUB 15 COMP instruction
4 (PRM) f Input data format
5 (PRM) ffff Input data
6 (PRM) ffff Comparison data address
7 WRT fff . f W1: Comparison result output W1

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5.25.3 (a) Specify the data size.

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

5.25.4 0 : Specifies input data with a constant.

1 : Specifies input data with an address
Input Data Format
Not specify input data directly, but specify an address storing input
data.

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

5.25.6 Specifies the address storing the comparison data.

Comparison Data
Address

5.25.7 W1=0 : Input data > Comparison data

W1=1 : Input data x Comparison data
Comparison Result
Output

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5.26
COMPB
(COMPARISON
BETWEEN BINARY
DATA)

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

5.26.2 Fig.5.26.2 shows the expression format of COMPB.

Format

* *

ACT COMPB ffff ffff ffff

Format Input data Address of

SUB 32 specifi (address) data to be
cation compared

Fig. 5.26.2 Expression format of COMPB

5.26.3 (a) Command (ACT)

Control Conditions ACT=0 : Do not execute COMPB.
ACT=1 : Execute COMPB.

5.26.4 (a) Format specification

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

0 0

Specification of data length

1 : 1 byte length data
2 : 2 byte length data
Specification of format 4 : 4 byte length data
0 : Constants
1 : Address

(b) Input data (address)

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

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5.26.5 The data involved in the operation are set in this register. This register is
Operation Output set with data on operation. If register bit 1 is on, they indicate the
following:
Register (R9000)
7 6 5 4 3 2 1 0

R9000

Zero (input data=data compared)

Negative (input data<data compared)

Overflow

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.27
COIN (COINCIDENCE
CHECK)

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

5.27.2 Fig.5.27.2 shows the expression format and Table 5.27.2 shows the
Format coding format.

BYT (1) COIN (1) (2) (3)

Result
fff.f W1
(SUB 16) f ffff ffff Output
ACT (0)
ffff.f
fff.f

Comparison value
Instruction Input value
Control conditions address

Input value format (constant or address)

Fig. 5.27.2 COIN instruction format

Table 5.27.2 COIN instruction coding

Coding sheet Memory status of control condition
Step Instruc- Address
Bit No. Remarks ST3 ST2 ST1 ST0
Number tion No.
1 RD fff . f BYT BYT
2 RD. STK fff . f ACT BYT ACT
3 SUB 16 COIN instruction
4 (PRM) f Reference value format
5 (PRM) ffff Reference value
6 (PRM) ffff Comparison value address
7 WRT fff . f W1: Checking result output W1

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5.27.3 (a) Specify the data size.

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

5.27.4 0 : Specifies input data as a constant.

1 : Specifies input data as an address.
Input Data Format.

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

5.27.6 Specifies the address storing the comparison data.

Comparison Data
Address

5.27.7 W1=0 : Input data 0 Comparison data

Comparison Result W1=1 : Input data = Comparison data
Output

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.28
SFT
(SHIFT REGISTER)

5.28.1 This instruction shifts 2byte (16bit) data by a bit to the left or right.
Note that W1=1 when data 1 is shifted from the left extremity (bit 15)
Function
in left shift or from the right extremity (bit 0) in right shift.

5.28.2
Format
DIR
SFT *

CONT ffff

RST Address of W1
shift data

ACT
(SUB 33)

5.28.3 (a) Shift direction specification (DIR)

DIR=0 : Left shift
Control Conditions
DIR=1 : Right shift
(b) Condition specification (CONT)
CONT=0:
On 1 bit shifts by one bit in the specified direction.
The condition of an adjacent bit (eighter right or left adjacent bit
according to the specification of shift direction DIR) is set to the
original bit position of the on 1 bit.
Also, 0 is set to bit 0 after shifting in the left direction or set to hit
15 after shifting in the right direction.
In case of leftward shift;

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Left shift

Bit shifts leftward every bit

Shift out at bit 15

Zero is set to bit 0.

CONT=1:
Shift is the same as above, but 1s are set to shifted bits.

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Left shift
0 0 0 0 0 0 1 1 1 1 0 0 1 1 0 0

Each bit shifts leftward. Status 1 remains unchanged

(c) Reset (RST)

The shifted out data (W1=1) is reset (W1=0).
RST=0 : W1 is not reset.
RST=1 : W1 is reset (W1=0).
(d) Actuation signal (ACT)
Shift processing is done when ACT=1. For shifting one bit only,
execute an instruction when ACT=1, and then, set ACT to 0
(ACT=0).

5.28.4 (a) Shift data addresses

Parameters Sets shift data addresses. These designated addresses require a
continuous 2byte memory for shift data.
Bit numbers are represented by bit 0 to 15 as shown below. When
addresses are designated for programming, an address number is
attached every 8 bits, and the designable bit numbers are 0 to 7.

7 6 5 4 3 2 1 0
Designated address

15 14 13 12 11 10 9 8

Designated address +1

5.28.5 W1=0 : 1 was not shifted out because of the shift operation.
Shifted Out W1=1 : 1 was shifted out because of the shift operation.

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.29
DSCH
(DATA SEARCH)

5.29.1 DSCH is only valid for data tables (see section 6.3) which can be used by
Function the PMC. DSCH searches the data table for a specified data, outputs an
address storing it counting from the beginning of the data table. If the data
cannot be found, an output is made accordingly.
Table internal number Data table
0

1
Search data
2
100 100

Search data result output

Fig. 5.29.1

NOTE
Parameter of this functional instruction and the data table
heading address specified here are table internal number 0.
The table internal number specified here, however, is
different from that mentioned in 6.3.

5.29.2 Fig.5.29.2 shows the expression format and Table 5.29.2 shows the
Format coding format.

BYT (2)
DSCH (1) (2) (3) (4)
ffff.f Search data
RST (1) ffff ffff ffff ffff presence/absence
W1 output address
ffff.f (SUB 17)
ffff.f
ACT (0)

ffff.f
Instruction
Search result output address
Control condition Search data address

Data table heading address

Number of data of the data table (Table capacity)

Fig. 5.29.2 DSCH instruction format

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Table 5.29.2 DSCH instruction coding

Coding sheet Memory status of control condition
Step Instruc- Address
Bit No. Remarks ST3 ST2 ST1 ST0
Number tion No.
1 RD fff . f BYT BYT
2 RD. STK fff . f RST BYT RST
3 RD. STK fff . f ACT BYT RST ACT
4 SUB 17 DSCH instruction
5 (PRM) ffff Number of data of the data table
6 (PRM) ffff Data table heading address
7 (PRM) ffff Search data address
8 (PRM) ffff Search result output address
9 WRT fff . f Search data presence/absence output adress W1

5.29.3 (a) Specify data size.

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

5.29.4 Specifies the size of the data table. If the beginning of the data table is 0
Number Of Data of the and the end is n, n+1 is set as the number of data of the data table.
Data Table

5.29.5 Addresses that can be used in a data table are fixed. When preparing a data
Data Table Head table, the addresses to be used must be determined beforehand, specify the
head address of a data table here.
Address

5.29.6 Indicates the address of the data to be searched.

Search Data Address

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

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

5.29.8 W1=0 : The data to be searched exists.

W1=1 : The data to be searched does not exist.
Search Data
Presence/Absence
Output

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

5.30
DSCHB (BINARY
DATA SEARCH)

5.30.1 Alike the DSCH instruction of Section 5.29, this function instruction
Function instructs data search in the data table.
There are two differences; the numerical data handled in this instruction
are all in binary format; and number of data (table capacity) in the data
table can be specified by specifying the address, thus allowing change in
table capacity even after writing the sequence program in the ROM.

Table number Data table

0
Search data
1
100 100
2
3
Search result output
2

Fig. 5.30.1

5.30.2
Format

RST DSCHB
* * * * Search result
f ffff ffff ffff ffff
(SUB 34) W1
Storage Data table Search Output
address of head data address of
ACT number of address address search
Format data in result
designa data table
tion

Fig. 5.30.2

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.30.3 (a) R eset (RST)

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

5.30.4 (a) Format designation

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

5.30.5 W1=0 : Search data found.

W1=1 : Search data not found.
Search Result (W1)

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

5.31
XMOV (INDEXED
DATA TRANSFER)

5.31.1 Reads or rewrites the contents of the data table. Like the DSCH
Function instruction, XMOV is only valid for data tables which can be used by the
PMC.

NOTE
The data table heading address specified here is table
internal number 0. The table internal number specified here,
however, is different from that mentioned in 6.3.

Data table
Table internal number
0

Input or output data
1 3
2

Table internal storing

2
input or output data

n
1 Read out data from the data table.
2 Write data in the data table.

Fig. 5.31.1 Reading and writing of data

5.31.2 Fig.5.31.2 shows the expression format and Table 5.31.2 shows the
Format coding format.

BYT (3)
(1) (2) (3) (4)
ffff.f XMOV
RW (2)
ffff ffff ffff ffff
ffff.f Error output
RST (1) (SUB 18)
W1
ffff.f
ACT (0) ffff.f

ffff.f
Instruction Address storing tabel internal number
Address storing input/output data
Control condition Data table heading address
Number of data of the data table (Table capacity)

Fig. 5.31.2 XMOV instruction format

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

Table 5.31.2 XMOV instruction coding

Coding sheet Memory status of control conditions
Step Instruc- Address
Bit No. Remarks ST3 ST2 ST1 ST0
Number tion No.
1 RD fff . f BYT BYT
2 RD. STK fff . f RW BYT RW
3 RD. STK fff . f RST BYT RW RST
4 RD. STK fff . f ACT BYT RW RST ACT
5 SUB 18 XMOV instruction
6 (PRM) ffff Number of data of the data table
7 (PRM) ffff Data table heading address
8 (PRM) ffff Address storing input/output data
9 (PRM) ffff Address storing table internal number
10 WRT fff . f Error output W1

5.31.3 (a) Specify the number of digits of data.

BYT=0 : Data stored in the data table, BCD in two digits long.
Control Conditions
BYT=1 : Data stored in the data table, BCD in four digits long.
(b) Specify read or write
RW=0 : Data is read from the data table.
RW=1 : Data is write in the data table.
(c) Reset
RST=0 : Release reset.
RST=1 : Enables reset, that is, sets W1 to 0.
(d) Execution command
ACT=0 : The XMOV instruction is not executed. W1 does not
change.
ACT=1 : The XMOV instruction is executed.

5.31.4 Specifies the size of the data table. If the beginning of the data table is 0
Number of Data Of the and the end is n, n+1 is set as the number of data of the data table.
Data Table

5.31.5 Address that can be used in a data table are fixed. When preparing a data
Data Table Head table, the addresses to be used must be determined beforehand, and the
head address placed in that data table .
Address

5.31.6 The input/output data storage address is the address storing the specified
Address Storing data, and is external to the data table. The contents of the data table is read
or rewritten.
Input/Output Data

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5.31.7 The table internal number storage address is the address storing the table
Address Storing the internal number of the data to be read or rewritten.
This address requires memory specified by the formaat designation
Table Internal Number (BYT).

5.31.8 W1=0 : There is no error.

W1=1 : There is an error.
Error Output
An error occurs if a table internal number exceeding the
previously programmed number of the data table is specified.

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.32
XMOVB (BINARY
INDEX MODIFIER
DATA TRANSFER)

5.32.1 Alike the XMOV instruction of Section 5.31, this function instruction
Function instructs reading and rewriting of data in the data.
There are two differences; the numerical data handled in this instruction
are all in binary format; and number of data (table capacity) in the data
table can be specified by specifying the address, thus allowing change in
table capacity even after writing the sequence program in the ROM.
In PMCSB5/SB6/SB7 for Series 16i/160i/18i/180i/Power Mate i,
PMCSA5 for Series 21i/210i, and PMCNB6 for Series 15i the setting
of the format specification parameter is extended. With this setting,
XMOVB can read/write the multiple data in 1 instruction. For the details
of the setting of a format specification parameter, refer to 5.32.4
Parameters.
(a) Read data from data table

The number of data table elements : M (It specifies the storage address of number
of data table elements)

DT[0] D I 3 S B

DT[1] A Index:I Input/Output data:S

DT[2]

DT[3] B

DT[4]

DT[5] C

DT[M1]

Data table:DT

The operation of the instruction :

DT[I] S

Fig. 5.32.1 (a) Read data from data table (basic specification)

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

The number of data table elements : M (It specifies the storage address of number
of data table elements)
The number of index array elements : N (It specifies the format specification)

DT[0] D I[0] 1 S[0] A

DT[1] A I[1] 3 S[1] B

DT[2] I[2] 5 S[2] C

DT[3] B I[3] 0 S[3] D

DT[4]
I[N1] S[N1]
DT[5] C
Index Input/Output
array:I data array:S
DT[M1]

Data table:DT

The operation of the instruction :

DT[I[n]] S[n] (n=0,1,2, . . . ,N1)

Fig. 5.32.1 (b) Read data from data table (expended specification)
(only for PMCSB5/SB6/SB7 for Series 16i/160i/18i/180i Power Mate i,
PMCSA5/SB6/SB7 for Series 21i/210i, and PMCNB6 for Series 15i)
(b) Write data to data table

The number of data table elements : M (It specifies the storage address of number
of data table elements)

S B I 3 DT[0]

Input/Output data:S Index:I DT[1]

DT[2]

DT[3] B

DT[4]

DT[5]

DT[M1]

Data table:DT

The operation of the instruction :

S DT[I]

Fig. 5.32.1 (c) Write data to data table (basic specification)

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The number of data table elements : M (It specifies the storage address of number
of data table elements)
The number of index array elements : N (It specifies the format specification)

S[0] A I[0] 1 DT[0] D

S[1] B I[1] 3 DT[1] A

S[2] C I[2] 5 DT[2]

S[3] D I[3] 0 DT[3] B

DT[4]
S[N1] I[N1]
DT[5] C
Input/Output Index
data array:S array:I
DT[M1]

Data table:DT

The operation of the instruction :

S[n] DT[I[n]] (n=0,1,2, . . . ,N1)

Fig. 5.32.1 (d) Write data to data table (expended specification)

(only for PMCSB5/SB6/SB7 for Series 16i/160i/18i/180i Power Mate i,
PMCSA5/SB6/SB7 for Series 21i/210i, and PMCNB6 for Series 15i)

5.32.2
Format

RW

XMOVB f ffff ffff ffff ffff

RST Storage Data I/O data Table
address table storage number
of W1
head address storage
Format number address address
ACT of data
designa in data
(SUB 35) tion table
DT[ ] S I

Fig. 5.32.2 (a) XMOVB instruction format

RW

XMOVB ffff ffff ffff ffff ffff

RST Storage Data I/O data Table
address table storage number
of W1
head address storage
Format number address address
ACT of data
designa in data
(SUB 35) tion table
DT[ ] S[ ] I[ ]

Fig. 5.32.2 (b) XMOVB (expended specification)

(only for PMCSB5/SB6/SB7 for Series 16i/160i/18i/180i Power Mate i, PMCSA5 for Series 21i/210i,
and PMCNB6 for Series 15i)

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5.32.3 (a) Read, write designation (RW)

Control Conditions RW=0 : Read data from data table.
RW=1 : Write data to data table.
(b) Reset (RST)
RST=0 : Reset release.
RST=1 : Reset. W1=0.
(c) Activation command (ACT)
ACT=0: Do not execute XMOVB instruction.
There is no change in W1.
ACT=1: Execute XMOVB instruction.

5.32.4 (a) Format designation

Specifies data length. Specify byte length in the first digit of the
Parameters
parameter.
0001 :1byte long data
0002 :2byte long data
0004 :4byte long data

In PMCSB5/SB6/SB7 for Series 16i/160i/18i/180i/Power Mate i,

PMCSA5/SB6/SB7 for Series 21i/210i, and PMCNB6 for Series
15i when setting format specification in the following extended
format, XMOVB can read/write multiple data in data table in 1
instruction. Specifies data length (1, 2, or 4) to the 1st digit as
abovementioned. Specifies the number of the index array elements
to the 2nd and 3rd digit. Specifies 0 to the 4th digit.
0nn1 : In case of reading/writing multiple (nn) data in data
table by 1 byte length
0nn2 : In case of reading/writing multiple (nn) data in data
table by 2 byte length
0nn4 : In case of reading/writing multiple (nn) data in data
table by 4 byte length

The nn is the numerical value from 02 to 99. When setting 00 or 01,

it works as the basic specification in which one data transfer is
performed by one instruction.

Format specification (extended specification) :

0 n n x

The byte length setting

1 : 1 byte length
2 : 2 byte length
4 : 4 byte length
The number of the index array elements
0001 :
It works as the basic specification.
0299 :
Read/Write multiple (nn) data from/to data table.

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(b) Storage address of number of data table elements

Set to the memory at the byte length which set the number of the data
table elements in (a) Format specification and set the address to this
parameter. The effective range of number of data table elements is
as follows with the byte length which set in (a) Format
specification.
1 byte length : 1 to 255
2 byte length : 1 to 32767
(Actually, set a value below the size of the D area.)
4 byte length : 1 to 99999999
(Actually, set a value below the size of the D area.)
(c) Data table head address
Sets head address in the data table.
The memory of (byte length) (number of data table elements)
which was set in (a) Format specification and (b) Storage address
of number of data table elements is necessary.
(d) Input/Output data storage address
In case of the reading, set the address of the memory which stores a
reading result. In case of the writing, set the address of the memory
which stores a writing result. The memory with the byte length
which set in (a) Format specification is necessary.
In PMCSB5/SB6/SB7 for Series 16i/160i/18i/180i Power Mate i,
PMCSA5/SB6/SB7 for Series 21i/210i, and PMCNB6 for Series
15i when setting format specification in the extended format, set the
head address of the array. (In case of the reading, set the head address
of the array in which a reading result is stored. In case of the writing,
set the head address of the array in which a writing result is stored.)
The memory of (byte length) (number of index array elements)
which was set in (a) Format specification is necessary.
(e) Index storage address
Set the address of the memory in which an index value is stored. The
memory with the byte length set in (a) Format specification is
necessary. The effective range of number of data in index is as
follows according to the byte length set in (A) Format
specification.
Actually, set the value which is smaller than the value to set in (b)
Storage address of number of data table elements to the index.
When setting an index value above the value to set in (b) Storage
address of number of data table elements, it causes an error output
W1=1 in instruction execution.
1 byte length : 0 to 254
2 byte length : 0 to 32766
4 byte length : 0 to 99999998
In PMCSB5/SB6/SB7 for Series 16i/160i/18i/180i Power Mate i,
PMCSA5/SB6/SB7 for Series 21i/210i, and PMCNB6 for Series
15i when setting format specification in the extended format, set an
address at the head of the array in which an index value is stored. The
memory of (byte length) (number of data in index array) which
was set in (a) Format specification is necessary.

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5.32.5 W1=0 : No error

Error Output (W1) W1=1 : Error found. In the case where the index value set in (e) Index
storage address exceeds the value set in (b) Storage address
of number of data table elements, it becomes W1=1. The
reading or writing of the data table isnt executed.
In PMCSB5/SB6/SB7 for Series 16i/160i/18i/180i Power
Mate i, PMCSA5/SB6/SB7 for Series 21i/210i, and
PMCNB6 for Series 15i when setting format specification in
the extended format, in the case the value set in (b) Storage
address of number of data table elements, it becomes W1=1.
The reading or writing of a data table is executed for the normal
index values but not executed as for the wrong index values.

5.32.6 (a) Read data from data table (extended specification)

Example for Extended
Specification
The number of data table elements : R0=9
The number of index array elements : 4

RW=0

XMOVB 0041 R0 R100 R200 D0

RST=0
W1

ACT=1

R100 D D0 2 R200 A

R101 D1 5 R201 B

R102 A D2 8 R202 C

R103 D3 0 R203 D

R104 Index array Input/Output

data array
R105 B

R106

R107

R108 C

Data table
The operation of the instruction :
(1) R102 R200
(2) R105 R201
(3) R108 R202
(4) R100 R203

Fig.5.32.6 (a) Example for XMOVB (extended specification)

(only for PMCSB5/SB6/SB7 for Series 16i/160i/18i/180i Power Mate i, PMCSA5/SB6/SB7 for Series 21i/210i,
and PMCNB6 for Series 15i)

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(b) Write data to data table (extended specification)

The number of data table elements : R0=9

The number of index array elements : 4

RW=1

XMOVB 0041 R0 R200 R100 D0

RST=0
W1

ACT=1

R100 A D0 2 R200 D

R101 B D1 5 R201

R102 C D2 8 R202 A

R103 D D3 0 R203

Input/Output Index array R204

data array
R205 B

R206

R207

R208 C

Data table

The operation of the instruction :

(1) R100 R202
(2) R101 R205
(3) R102 R208
(4) R103 R200

Fig. 5.32.6 (b) Example for XMOVB (extended specification)

(only for PMCSB5/SB6/SB7 for Series 16i/160i/18i/180i Power Mate i and PMCSA5/SB6/SB7 for Series 21i/210i)

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5.33
ADD (ADDITION)

5.33.1 Adds BCD twoor fourdigit data.

Function

5.33.2 Fig.5.33.2 shows the expression format and Table 5.33.2 shows the
Format coding format.

A + B = C
BYT (2)
ADD (1) (2) (3) (4)
ffff.f
Error output
RST (1) f ffff ffff ffff W1
ffff.f (SUB 19)
ACT fff.f
(0)

ffff.f
Instruction
Sum output address

Control conditions Addend

Summand address

Format of addend (Constant or address)

Fig. 5.33.2 ADD instruction format

Table 5.33.2 DSCH instruction coding
Coding sheet Memory status of control conditions
Step Instruc- Address
Bit No. Remarks ST3 ST2 ST1 ST0
Number tion No.
1 RD fff . f BYT BYT
2 RD. STK fff . f RST BYT RST
3 RD. STK fff . f ACT BYT RST ACT
4 SUB 19 ADD instruction
5 (PRM) f Addend format
6 (PRM) ffff Summand address
7 (PRM) ffff Addend (address)
8 (PRM) ffff Sum output address
9 WRT fff . f Error output W1

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5.33.3 (a) Specify the number of digits of data.

Control Conditions BYT=0 : Data is BCD two digits long.
BYT=1 : Data is BCD four digits long.
(b) Reset
RST=0 : Release reset.
RST=1 : Resets error output W1, that is, sets W1 to 0.
(c) Execution command
ACT=0 : The ADD instruction is not executed.
ACT=1 : The ADD instruction is executed.

5.33.4 0 : Specifies addend with a constant.

1 : Specifies addend with an address.
Data Format of Addend

5.33.5 Set the address storing the summand.

Summand Address

5.33.6 Addressing of the addend depends on 5.32.4.

Addend (Address)

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

Sum Output Address

5.33.8 If the sum exceeds the data size specified in 5.32.3a), W1=1 is set to
Error Output indicate an error.

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5.34
ADDB
(BINARY ADDITION)

5.34.1 This instruction performs binary addition between 1, 2, and 4byte

Function data. In the operation result register (R9000), operating data is set besides
the numerical data representing the operation results. The required
number of bytes is necessary to store each augend, the added, and the
operation output data.

5.34.2
Format

A + B = C Error output
RST
ADDB * * *
ffff ffff ffff ffff
W1
ACT
Format Augend Addend Result
(SUB 36) specifi address address or (sum)
cation constant address

5.34.3 (a) Reset (RST)

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

241
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5.34.4 (a) Format specification

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

0 0

Data length specification

1 : 1 byte length data
2 : 2 bytes length data
4 : 4 bytes length data

Format specification
0 : Constant data
1 : Address data

(b) Augend address

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

5.34.5 W1=0 : Operation correct

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

5.34.6 This register is set with data on operation. If register bit is on, they signify
Operation Output the following operation data:
Register (R9000) 7 6 5 4 3 2 1 0

R9000

Zero

Negative

Overflow

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5.35
SUB (SUBTRACTION)

5.35.1 Subtracts BCD twoor fourdigit data.

Function

5.35.2 Fig.5.35.2 shows the expression format and Table 5.35.2 shows the
Format coding format.

BYT (2)
SUB (1)
ffff.f Error output
RST (1)
f ffff ffff ffff W1
ffff.f (SUB 20)
ffff.f
ACT (0)

ffff.f
Instruction Difference output address

Control condition Subtrahend (address or constant)

Subtrahend (data address)

Minuend data format

Fig. 5.35.2 SUB Instruction format

Table 5.35.2 SUB instruction format

Coding sheet Memory status of control conditions
Step Instruc- Address
Bit No. Remarks ST3 ST2 ST1 ST0
Number tion No.
1 RD fff . f BYT BYT
2 RD. STK fff . f RST BYT RST
3 RD. STK fff . f ACT BYT RST ACT
4 SUB 20 SUB instruction
5 (PRM) ffff Data format of subtrahend
6 (PRM) ffff Minuend address
7 (PRM) ffff Subtrahend (address)
8 (PRM) ffff Difference output address
9 WRT fff . f Error output W1

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5.35.3 (a) Specification of the number of digits of data.

Control Conditions BYT=0 : Data BCD two digits long
BYT=1 : Data BCD four digits long

5.35.4 RST=0 : Release reset.

RST=1 : Resets error output W1, that is, sets W1 to 0.
Reset

5.35.5 ACT=0 : The SUB instruction is not executed. W1 does not change.
ACT=1 : The SUB instruction is executed.
Execution Command

5.35.6 0 : Specifies subtrahend with a constant.

Data Format of 1 : Specifies subtrahend with an address.
Subtrahend

5.35.7 Set the address storing the minuend.

Minuend Address

5.35.8 Addressing of the subtrahend depends on 5.35.6.

Subtrahend (Address)

5.35.9 Sets the address to which the difference is output.

Difference Output
Address

5.35.10 W1 is set 1 to indicate an error if the difference is negative.

Error Output

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

5.36
SUBB (BINARY
SUBTRACTION)

5.36.1 This instruction subtracts one data from another, both data being in the
Function binary format of 1, 2 or 4 bytes.
In the operation result register (R9000), operation data is set besides the
numerical data representing the operation. A required number of bytes is
necessary to store the subtrahend, minuend, and the result (difference).

5.36.2
Format

A B = C Error output
RST
SUBB * * *
ffff ffff ffff ffff

ACT W1
Format Menuend Subtrahend Differenc
address addressor e output
(SUB 37) specifi
constant address
cation

5.36.3 (a) Reset (RST)

RST=0 : Release reset
Control Conditions
RST=1 : Resets error output W1. (Set W1 to 0.)
(b) Command (ACT)
ACT=0 : Do not execute SUBB. W1 does not change now.
ACT=1 : Execute SUBB.

245
5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.36.4 (a) Format specification

Parameters Specifies data length (1, 2, and 4 bytes) and the format for the
subtrahend (constant or address).

0 0

Data length specification

1 : 1 byte length data
2 : 2 bytes length data
4 : 4 bytes length data
Format specification
0 : Constant data
1 : Address data

(b) Minuend address

Address containing the minuend.
(c) Minuend data (address)
Specification in (a) determines the format of the minuend.
(d) Result output address
Specifies the address to contain the result of operation.

5.36.5 W1=0 : Operation correct

Error Output (W1) W1=1 : Operation incorrect
W1 goes on (W1=1) if the result of subtraction exceeds the specified data
length.

5.36.6 This register is set with data on operation. If register bit is on, they signify
Operation Output the following operation data:
Register (R9000) 7 6 5 4 3 2 1 0

R9000

Zero

Negative
Overflow

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5.37
MUL
(MULTIPLICATION)

5.37.1 Multiplies BCD twoor fourdigit data. The product must also be BCD
Function twoor fourdigit data.

5.37.2 Fig.5.37.2 shows the expression format and Table 5.37.2 shows the
Format coding format.

A B = C
BYT (2)
MUL (1) (2) (3) (4)
fff.f Error output
RST (1) f ffff ffff ffff W1
fff.f (SUB 21)
(0) ffff.f
ACT

fff.f
Instruction
Product output address

Control conditions Multiplier (address or constant)

Multiplicand address

Data format of multiplier (constant or address)

Fig. 5.37.2 MUL instruction format

Table 5.37.2 MUL instruction coding

Coding sheet Memory status of control conditions

Step Instruc- Address
Bit No. Remarks ST3 ST2 ST1 ST0
Number tion No.
1 RD fff . f BYT BYT
2 RD. STK fff . f RST BYT RST
3 RD. STK fff . f ACT BYT RST ACT
4 SUB 21 MUL instruction
5 (PRM) ffff Data format of multiplier
6 (PRM) ffff Multiplicand address
7 (PRM) ffff Multiplier (address)
8 (PRM) ffff Product output address
9 WRT fff . f Error output W1

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5.37.3 (a) Specify the number of digits of data.

Control Conditions BYT=0 : Data is BCD two digits long.
BYT=1 : Data is BCD four digits long.
(b) Reset
RST=0 : Releases reset.
RST=1 : Resets error output W1, that is, sets W1 to 0.
(c) Execution command
ACT=0 : The MUL instruction is not executed. W1 does not
change.
ACT=1 : The MUL instruction is executed.

5.37.4 0 : Specifies multiplier with a constant.

1 : Specifies multiplier with an address.
Data Format of
Multiplier

5.37.5 Sets the address storing the multiplicand.

Multiplicand Address

5.37.6 Addressing of the multiplier depends on 4).

Multiplier (Address)

5.37.7 Set the address to which the product is output.

Product Output
Address

5.37.8 W1=1 is set to indicate an error if the product exceeds the size specified
Error Output in 5.37.3a).

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

5.38
MULB (BINARY
MULTIPLICATION)

5.38.1 This instruction multiplies 1, 2, and 4byte binary data items. In the
Function operation result register (R9000), operation data is set besides the
numerical data representing the operation.
A required number of bytes is necessary to store multiplicand, multiplier,
and the result (product).

5.38.2
Format

A B = C Error output
RST
MULB * * *
ffff ffff ffff ffff

ACT W1
Format Multipli Multiplier Product
(SUB 38) specifi cand address or output
cation address constant address

5.38.3 (a) Reset (RST)

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

249
5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.38.4 (a) Format specification

Parameters Specifies data length (1, 2, and 4 bytes) and the format for the
multiplier (constant or address).

0 0

Data length specification

1 : 1 byte length data
2 : 2 bytes length data
4 : 4 bytes length data

Format specification
0 : Constant data
1 : Address data

(b) Multiplicand address

Address containing the multiplicand.
(c) Multiplier data (address or constant)
Specification in (a) determines the format of the multiplier.
(d) Result output address
Specifies the address to contain the result of operation.

5.38.5 W1=0 : Operation correct

Error Output (W1) W1=1 : Operation incorrect
W1 goes on (W1=1) if the result of multiplication exceeds the specified
data length.

5.38.6 This register is set with data on operation. If register bit is on, they signify
Operation Output the following operation data:
Register (R9000) 7 6 5 4 3 2 1 0
R9000

Zero

Negative

Overflow

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5.39
DIV (DIVISION)

5.39.1 Divides BCD twoor fourdigit data. Remainders are discarded.

Function

5.39.2 Fig.5.39.2 shows the expression format and Table 5.39.2 shows the
Format coding format.

BYT (2)
DIV (1) (2) (3) (4)
ffff.f Error output
RST (1)
f ffff ffff ffff W1
ffff.f (SUB 22)
(0) fff.f
ACT

ffff.f
Instruction
Quotient output address

Control conditions Divisor (address or constant)

Dividend address

Data format of divider

Fig. 5.39.2 DIV instruction format

Table 5.39.2 DIV instruction coding

Coding sheet Memory status of control conditions

Step Instruc- Address
Bit No. Remarks ST3 ST2 ST1 ST0
Number tion No.
1 RD fff . f BYT BYT
2 RD. STK fff . f RST BYT RST
3 RD. STK fff . f ACT BYT RST ACT
4 SUB 22 DIV instruction
5 (PRM) ffff Data format of divider
6 (PRM) ffff Dividend address
7 (PRM) ffff Divider (address)
8 (PRM) ffff Quatient output address
9 WRT fff . f Error output W1

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.39.3 (a) Specify the number of digits of data.

Control Conditions BYT=0 : Data is BCD two digits long.
BYT=1 : Data is BCD four digits long.
(b) Reset
RST=0 : Releases reset.
RST=1 : Resets error output W1, that is, sets W1 to 0.
(c) Execution command
ACT=0 : The DIV instruction is not executed. W1 does not change.
ACT=1 : The DIV instruction is executed.

5.39.4 0 : Specifies divisor data by constant.

1 : Specifies divisor data by address.
Divisor Data Format
Designation

5.39.5 Sets the address storing the dividend.

Dividend Address

5.39.6 Addressing of the divisor depends on 5.39.4.

Divisor (Address)

5.39.7 Sets the address to which the quotient is output.

Quotient Output
Address

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

Error Output

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

5.40
DIVB (BINARY
DIVISION)

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

5.40.2
Format

A / B = C Error data
RST
* * *
DIVB ffff ffff ffff ffff

Divisor W1
ACT
Format Dividend (address) Quotient
SUB 39 specifi address or address
cation constant

5.40.3 (a) Reset (RST)

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

253
5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.40.4 (a) Format specification

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

0 0

Data length specification

1 : 1 byte length data
2 : 2 bytes length data
4 : 4 bytes length data
Format specification
0 : Constant data
1 : Address data

(b) Dividend address

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

5.40.5 W1=0 : Operation correct

Error Putput (W1) W1=1 : Operation incorrect
W1 goes on (W1=1) if the divisor is 0.

5.40.6 This register is set with data on operation. If register bit is on, they signify
Operation Output the following operation data:
Register (R9000) 7 6 5 4 3 2 1 0
R9000

Zero

Negative

5.40.7 Depending on its length, the remainder is stored in one or more of

Remainder Output registers R9002 to R9005.
Address

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

5.41
NUME (DEFINITION
OF CONSTANT)

5.41.1 Defines constants, when required. In this case, constants are defined with
this instructions.
Function

5.41.2 Fig.5.41.2 shows the expression format and Table 5.41.2 shows the
Format coding format.

BYT (1) (2)

(1) NUME

fff.f ffff ffff

ACT (0)
(SUB 23)
fff.f

Instruction Constant Constant outputaddress

Control condition

Fig. 5.41.2 NUME instruction format

Table 5.41.2 NUME instruction coding

Coding sheet Memory status of control conditions

Step Instruc- Address
Bit No. Remarks ST3 ST2 ST1 ST0
Number tion No.
1 RD fff . f BYT BYT
2 RD. STK fff . f ACT BYT ACT
3 SUB 23 NUME instruction

4 (PRM) ffff Constant

5 (PRM) ffff Constant output address

5.41.3 (a) Specify the number of digits of a constant.

BYT=0 : Constant is BCD two digits long.
Control Conditions
BYT=1 : Constant is BCD four digits long.
(b) Execution command
ACT=0 : The NUME instruction is not executed.
ACT=1 : The NUME instruction is executed.

5.41.4 Sets the constant as the number of digits specified in Item (a) in Subsec.
Constant 5.41.3.

5.41.5 Sets the address to which the constant defined in Subsec. 5.41.4 is output.
Constant Output
Address

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.42
NUMEB (DEFINITION
OF BINARY
CONSTANTS)

5.42.1 This instruction defines 1, 2, or 4bytes long binary constant. Data

Function entered in decimal during programming is converted into binary data
during program execution. The binary data is stored in the specified
memory address(es).
In PMCSA5/SB5/SB6/SB7 for Series 16i/160i/18i/180i/21i/210i,
Power Mate i and PMCNB6 for Series 15i/150i, the setting of the format
specification parameter is extended. With this setting, NUMEB can store
multiple data by 1 instruction. This extended specification is effective
when initializing a large memory area with value. For the details of the
setting of a format specification parameter, refer to 5.41.4 Parameters.

5.42.2
Format

NUMEB
ACT
f ffff ffff

Format Constant
(SUB 40) specifi Constant output
cation address

Fig. 5.42.2 (a) NUMBER instruction format

NUMEB
ACT
ffff ffff ffff

Format Constant
(SUB 40) specifi Constant output
cation address

Fig. 5.42.2 (b) Expression format of NUMEB (extended specification)

(only for PMCSA5/SB5/SB6/SB7 for Series 16i/160i/18i/180i /21i/210i
Power Mate i and PMCNB6 for Series 15i/150i)

5.42.3 (a) Command (ACT)

ACT= 0 : Do not execute NUMEB.
Control Conditions
ACT= 1 : Execute NUMEB.

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5.42.4 (a) Format specification

Parameters Specifies data length (1, 2, or 4 bytes).
Use the first parameter digit to specify byte length:
0001 : Binary data of 1 byte length
0002 : Binary data of 2 byte length
0004 : Binary data of 4 byte length
In PMCSA5/SB5/SB6/SB7 for Series 16i/160i/18i/180i/21i/210i
Power Mate i and PMCNB6 for Series 15i/150i, when setting
format specification in the following extended format, NUMEB can
store multiple data by 1 instruction.
Specify data length (1, 2, or 4) to the 1st digit as abovementioned.
Specify the number of the array in which is a constant to the 2nd and
3rd digit is defines.
Specify 0 to the 4th digit.
0nn1 : In case of defining multiple (nn) data by 1 byte length
0nn2 : In case of defining multiple (nn) data by 2 byte length
0nn4 : In case of defining multiple (nn) data by 4 byte length
The nn is the numerical value from 02 to 99. When setting 00 or 01,
it works as the basic specification that works for one data.

Format specification (extended specification) :

0 n n x

The byte length setting of constant

1 : 1 byte length
2 : 2 byte length
4 : 4 byte length
Number of data in the array
0001 :
It defines constant at 1 memory.
0299 :
It defines constants at multiple (nn) memory.

(b) Constant
Defined constants in decimal format. Set a constant data within the
effective range for the byte length which is set in (a) Format
specification.
(c) Constant output address
Specifies the address of the area for output of the binary data. The
memory of the number of bytes which is set in (a) Format
specification is necessary.
In PMCSA5/SB5/SB6/SB7 for Series 16i/160i/18i/180i/21i/210i
Power Mate i and PMCNB6 for Series 15i/150i, when setting
format specification in the extended format, it is necessary to reserve
memory of (byte length) (number of array elements which define
constant) which was set in (a) Format specification.

257
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5.43
DISP (MESSAGE
DISPLAY)
(PMCSB/SB2/SB3/
SB4/SB5/SB6/SC/
SC3/SC4 ONLY)

5.43.1 DISP is used to display messages on the CRT screen, CNC of which enters
alarm status. Message data to be displayed is specified after the
Function
parameters of the functional instruction. One DISP functional instruction
can define up to 16 types of message. Display is performed by setting the
control condition ACT to 1. In order to display and then clear a message,
set the displayrequest bit corresponding to the message data number to
1 and 0, respectively.
Up to one alarm message (message data putting the CNC in alarm status)
can be displayed on one screen. When one message is cleared, a message
is displayed. Similarly, each time one of the message is displayed. One
operator message (message data not putting the CNC in alarm status) can
be displayed on a screen. When an operator message is cleared in a state
when four operator messages are displayed, the subsequent operator
message is displayed.

5.43.2 Fig.5.43.2 shows the instruction format and Table 5.43.2 shows the
Format coding format.

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

(1) (2) (3) Process end

DISP
ACT
(SUB 49) ffff ffff ffff W1

fff. f

Message control address

Control condition
Number of data of one message data
Instruction
Total sum of data of message data

Message data

Message number
1

Message data 1
Message characters

m
Message number
1

Message data 2
Message characters

Message number
1

Message data n
Message characters

1 x n x 16

Fig. 5.43.2 DISP instruction format

259
5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

Table 5.43.2 DISP instruction coding

Coding sheet Memory status of control

conditions
Step Instruc- Address
Bit No. Remarks ST2 ST1 ST0
Number tion No.
RD fff . f ACT ACT
SUB 49 DISP ACT
(PRM) ffff Total sum of data of message data
(PRM) ffff Number of data of one message item
(PRM) ffff Message control address
(PRM) ffff Message number
(PRM) ffff 2
(PRM) ffff 3
: : : Message characters
: : :
(PRM) ffff m
(PRM) ffff Message number
(PRM) ffff 2
(PRM) ffff 3
: : : Message characters
: : :
(PRM) ffff m
: : :
: : :
(PRM) ffff Message number
(PRM) ffff 2
(PRM) ffff 3
: : : Message characters
: : :
(PRM) ffff m
WRT ffff Process end (W1) W1

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

5.43.3 ACT=0: Nothing is processed. W1 does not change.

Control Condition ACT=1: The specified message data is displayed or cleared.
ACT must remain 1 until processing end is reported by W1.

5.43.4 (a) Total sum of message data of data:

Parameters m n
(b) Number of data of one massage data:
m Note)
(c) Message control address: Specifies the address of the RAM of
internal relay area (see 5.43.7 for details).

NOTE
The number of data used by each message data item, m,
must be the same. Since 00 is ignored, it can be set for
unnecessary data. For example, for particular messages
with a different number of displayed characters, set 00 so
that the number of data, m, are the same.

261
5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.43.5 (a) Message number:

Message Data The specified number produces an appropriate event as follows.
1000 to 1999 (alarm message):
The CNC is put in alarm status and the number and following data
are displayed. The maximum number of the displayed characters
is up to 32, except for the message number. When an alarm status
occurs, the operation being executed stops. To release the alarm
status, set the displayrequest bit (see Fig.5.43.7) to 0.
2000 to 2099 (operator message):
The CNC is not put in alarm status and the number and following
data are displayed. The maximum number of the displayed
characters is 255, except for the message number.
2100 to 2999 (operator message):
The CNC is not put in alarm status and the number is not displayed.
Only the following data (up to 255 characters) is displayed.
50005999 (alarm messages on path 2):
Path 2 is placed in the alarm state. A displayed message number is
a specified number from which 4000 is subtracted. The number of
displayed characters excluding this number is 32 or less. If the
alarm state arises during axis movement, a gradual stop occurs. The
alarm state can be released by setting the display request bit to 0.
70007999 (alarm messages on path 3):
Path 3 is placed in the alarm state. The displayed message number
is a specified number from which 6000 is subtracted. The number
of displayed characters excluding this number is 32 or less. If the
alarm state arises during axis movement, a gradual stop occurs. The
alarm state can be released by setting the display request bit to 0.

NOTE
If all characters in the operator message are kana
characters, up to 254 kana characters are displayed.

(b) Message character

An alphanumeric character is specified with a twodigit decimal
(two characters per step). Table 5.43.6 shows the correspondence
between characters and specified numbers.
The above message data is always specified because it is written on
ROM. The message data cannot therefore be changed as desired.
However, arbitrary numeric data of up to four BCD digits can be
displayed according to the specified variable data. The spindle tool
number which changes whenever ACT tools are changed and the
number of the tool at the toolchange position can be displayed, for
example. For specifying variable data, see 5.42.10 below.

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5.43.6 W1=0 : Processing ends. Normally, W1=0. If W1=0 after W1=1,

Error Output (W1) processing ends.
W1=1 : In process. W1=1 when ACT=1.

Table 5.43.6 Correspondince between characters and specified numbers

Specified Corresponding Specified Corresponding Specified Corresponding Specified Corresponding
number character number character number character number character
32 (space) 64 160 192
33 65 161 193
34 66 162 194
35 67 163 195
36 68 164 196
37 69 165 197
38 70 166 198
39 71 167 199
40 72 168 200
41 73 169 201
42 74 170 202
43 75 171 203
44 76 172 204
45 77 173 205
46 78 174 206
47 79 175 207
48 80 176 208
49 81 177 209
50 82 178 210
51 83 179 211
52 84 180 212
53 85 181 213
54 86 182 214
55 87 183 215
56 88 184 216
57 89 185 217
58 90 186 218
59 91 187 219
60 92 188 220
61 93 189 221
62 94 190 222
63 95 191 223
*1) minus *2) Under bar *3) Long bar

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5.43.7 The parameters and message data used by this functional instruction are
Parameters and as follows.
Message Data
SUB49
Total sum of data of message data
Parameter Number of data of one message item
R200 Message control address
(Specify a message to be displayed, using an address of RAM in the internal relay area is
taken to here, R200 is taken.)

Message 1
data Message data 2 is displayed on the CRT screen

Message RAM 7 6 5 4 3 2 1 0
data 2
address
R200 0 0 0 0 0 0 1 0
Display request
Message R201 0 0 0 0 0 0 0 0
data 3
R202 0 0 0 0 0 0 1 0
Display state
R203 0 0 0 0 0 0 0 0

Two bytes of R200 and R201, the address specified in the message control address and
that address plus +1, (display request), are required to specify a message to be displayed.
Even if the number of message data items is small, two bytes are always required. 0 is set to
unnecessary data. 0 is set automatically when the CNC is powered on.
Two bytes of R202 and R203, the specified address plus +2 and the same address plus +3,
(displayed state), show the message displayed on the CRT screen.
Message
n When there is more than one display request, only a prescribed number of message are
data
displayed on the CRT screen. Actually displayed messages are known by the displayed
state. The displayed state is set automatically in the two bytes of the displayed state and can
be referred to by the sequence program. Those bytes must not be written in.

One DISP functional instruction requires the four consecutive bytes

following the address specified in the above message control address
in order to check the display request and displayed status.
When messages are displayed or cleared, message data 1 to n (n x
16) and displayrequest bits correspond to each other as shown in
Fig.5.43.7.
To display and clear a message data item, set the corresponding bit
to 1 and 0, respectively, and the control condition ACT to 1.
If the sequence program checks messages displayed on the screen,
message data 1 to n and displayrequest bits correspond to each other
as shown in Fig.5.43.7.
Message data for which 1 is set among the 16 displayed status bits,
is the message data currently being displayed.

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

Note) 7 6 5 4 3 2 1 0
Message Message Message Message Message Message Message Message
Specified
data data data data data data data data
address
Display 8 7 6 5 4 3 2 1
request Message Message Message Message Message Message Message Message
Specified
data data data data data data data data
address
16 15 14 13 12 11 10 9
Message Message Message Message Message Message Message Message
Specified
data data data data data data data data
address +2
Display 8 7 6 5 4 3 2 1
state Message Message Message Message Message Message Message Message
Specified
data data data data data data data data
address +3
16 15 14 13 12 11 10 9

Fig. 5.43.7 Correspondence between message data and display request/displayed status

NOTE
Specified address means an address specified in the
message control address of a DISP instruction parameter.

5.43.8 (a) CNC external data input function

Remarks on Using the The DISP instruction displays messages using external data input
DISP Instruction function or external message display, which involves external
worknumber search, external tool offset, external work coordinate
system shift, etc. as well as message display. The DISP instruction
cannot display messages when any of these functions is being
executed. To check this, EPCA (any address in internal relay area)
and EPCB (any address in control relay area) are used as interlock
signal. The sequence program sets EPCA to 1 while the message is
displayed, and to 0 upon competion of processing. The sequence
program sets EPCB to 1 while any function other than the above is
being processed, and to 0 upon completion of processing.
When EPCB = 1, messages must not be displayed (DISP ACT must
not be 1). Set ACT to 1 after making sure that EPCB = 0.
When the function other than message display is executed, execute
after making sure that EPCA = 0. DISP instruction and external data
input function (external tool offset, external work number search)
must be programmed in the same sequence level.
(b) External data input function address
During DISP instruction execution (EPCA = 1), the PMC CNC
interface of the external data input function must not be used for
processing of external tool offset, external worknumber search or
external work coordinate system shifting. If EPCA = 1, use the JUMP
instruction, for example, to skip writing data, so that nothing is
written in the interface.

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(c) ACT and W1 of the DISP instruction

(a) Timing of ACT ON
If EPCB = 0, ACT may be set to 1 with any timing. For instance,
when all displayrequest bits are off or when the status displayed
on the screen and the display requests are the same, that is, when
there are no new display requests, even if ACT = 1, the DISP
instruction processes nothing and the operation terminates (W1
= 0).
Even if another displayrequest bit is set on and ACT is set to 1
with a prescribed number of messages (four alarm messages or
one operator messages) displayed on the screen, no message is
displayed for that request, but W1 = 0 after W1 = 1 and W1 = 1
again during execution of the next cycle. In other words, W1 only
changes back and forth between 1 and 0.
(b) Using two or more DISP instructions
If EPCB = 0, ACT of each DISP instruction may be turned on
simultaneously. Until the DISP instruction whose ACT was set
to 1 earlier, has been completed (W1 = 0), executing of the next
DISP instruction is kept waiting. W1 of the DISP instruction kept
waiting remains 0 at this time. Consequently, no messages more
than those specified number are displayed, as discussed in 5.42.1.
From (a) and (b) above, set ACT to 1 whenever EPCB = 0. Do not
set ACT to 1 when EPCB = 1.

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5.43.9 (a) Display three types of messages with the following conditions.
Examples of Using The SPER = 1 and SPINDLE ALARM (Message data 1)
ATCER = 1 and ACT ALARM (Message data 2)
DISP Instruction WORK = 1 and WORK SET UP (Message data 3)

[Message data specified]

7 6 5 4 3 2 1 0

AddressR220 0 0 0 0 0 MSI AL2 AL1

Display request
R221 0 0 0 0 0 0 0 0

R222 0 0 0 0 0
Display state
SPER R223 0 0 0 0 0 0 0 0
AL1

R220.0
ATCER D SPINDLE ALARM Message data 1 : AL1
AL2 D ATC ALARM Message data 2 : AL2
D WORK SET UP Message data 3 : MS1
R220.1
WORK
MS1

R220.2

EPCB
ACT Whenever EPCB=0, ACT=1

R201.2

DISP Total One Control Messa

sum messag ge
ACT
SUB of es 10 addres
W1 When ACT=1, promptly R1=1, display being begun.
49 message
s
R201.2 s When display is completed, automatically W1=0.
R220
30 R201.3

1 1010 SPINDLE ALARM

2 1020 ATC ALARM
3 2100 WORK SET UP

W1
EP Interlock signal for external data input function
R201.3 CA
R295.0

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

Step Instruc-
Number tion Address No. Bit No. Remarks ST2 ST1 ST0

RD R201.2 ACT
SUB 49
(PRM) 30 Total sum of data of message data
(PRM) 10 Number of data of one message
(PRM) R220 Message control address
(PRM)
(PRM) 1010 Message No.
8380 SP
7378 IN
6876 DL
6932 E_ Message data 1
6576 AL (10 data m=10)
6582 AR
7700 M
(Note1)
0000
0000
1020 Message No.
6584 AT
6732 C_
6576 AL
Message data 2
6582 AR
(10 data m=10)
7700 M
0000
0000
0000
0000
2100 Message No.
8779 W0
8275 RK
3200 _
Message data 3
0192
(10 data m=10)
0222
0221
0196
0222
(PRM) 0216
ACT
WRT R201.3 Process end (W1) W1
RD R201.3 W1
WRT R295.0 W1

Fig. 5.43.9 (a)

NOTE
1 00 is ignored data.
2 Display example (The following is displayed on the screen in message data 1).
1010 SPINDLE ALARM

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

(b) Using three DISP instructions and one external tool offset

EPCB
ACT Set ACT to 1 whenever no external tool offset is
being precessed (EPCB=0)

DISP
ACT
W1 1st DISP instruction

DISP
ACT
W2 2nd DISP instruction

DISP
ACT
W3 3rd DISP instruction

W1
EP
CA Use as external tool offset interlock.
W2 EPCA=1 during execution of each DISP
instruction. When EPCA=0, see (8), (iii)
W3

ACT
JMP n Use a JMP instruction, for example, so that no
Jump
external data input interface (addresses) may be
DISP instruction (EPCA=1).

W3

Processing W3
of
external tool offset
Writing into external data input interface

En
External tool
offset start EPCA
condition EP
Always turn EPCB off on completion of external tool
CB
External tool EPCB offset. completion is when processing has been
offset end exactly completed and NC signal REND=0.
condition

Fig. 5.43.9 (b)

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5.43.10 Conform to the following instruction format. Variable data, i.e., any
Variable Data Display numeric value of up to four BCD digits, can be displayed.
by Specifying Variable
Data SUB49 Instruction format

ffff Total number of steps in message data

ffff Number of steps in one message data item

ffff Message control address

ffff Message number

Message characters

ffff
990m Variable data specification
VVVV Variable data address
ffff Message number

Message characters

ffff
ffff Message number
990m Variable data specification
VVVV Variable data address

Message characters
990m Variable data specification
VVVV Variable data address

NOTE
1 One step is used at variable data specification 990m.
2 The number of steps is the same for each message data
item. The number of characters to be displayed varies
according to the value specified for m.
3 Multiple variable data items can be used in one message
data item.

(1) Specifying variable data

990m

Specifies the number of digits in the variable data.

(1xmx4)

Variable data

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

(2) Variable data address

VVVV: Address of the area in which variable data is stored
(3) Variable data
Specify variable data consisting of up to four BCD digits (the number
of digits specified for m) to be displayed at the address specified by
the variable data address using the sequence program.
For example, variable data 1234 is specified at variable data address
R300 in BCD as shown below:
AddressR300 0011 0100

R301 0001 0010

(4) Example
To display TOOL NO 123
SUB49
0007 Total number of steps in message data
0007 Number of steps in one message data item
R300 Message control address
2100 Message number
8479 TO
7396 OL
3278 N
7932 O
9903 Variable data specification
R350 Variable data address

AddressR350 0011 0100

R351 0001 0010

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5.44
DISPB

5.44.1 This instruction displays messages on the CNC screen. You can also
Function specify the message number to generate an alarm in the CNC. This
instruction supports special functions (numerical data display and kanji
character display) in addition to the same basic functions as those of the
message display instruction (DISP), described in Section 5.43.
However, it performs a special additional function, namely, it displays
numerical data.
You can program up to 2000 messages. You must use the special message
addresses in your program (see Chapter 3, Address) to simplify use of
the messages. The following are the features of this function.
(a) In the program you define the total number of messages by using
DISPB, and set ACT=1.It does not matter if ACT is already set at 1.
If, however, ACT = 0, DISPB will not process the messages at all.
When ACT = 1, messages are displayed according to the contents of
the message display request memory (addresses A) and the message
data table.
When multiple messages are requested simultaneously, all the
messages may not be displayed. The display of messages depends on
the number of messages which can be displayed in CNC screen.
In PMCSB7, the status of the messages which is displayed actually
in CNC screen is shown in the message display status memory.
Relation between the message display request memory address and
the message data table appears in Table 5.44.1(a).
Message data table
Message display request memory (RAM) Number of message data table (written in ROM)
Address
7 6 5 4 3 2 1 0 (Messagedata corresponding
A0 A0.0 to address A0.0)
A1
(Messagedata corresponding
A2
A0.1 to address A0.1)

(Maximum) A2
(Messagedata corresponding
(Maximum) A24.7
to address A24.7)

Fig. 5.44.1(a) Message display request memory and message data table

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

Message display request memory Message data table

7 6 5 4 3 2 1 0 A000.0 (Message data corresponding

A0 0 0 0 0 0 0 1 1 to address A000.0)
A1 0 0 0 0 0 0 0 0 A000.1 (Message data corresponding
A2 0 0 0 0 0 0 0 0 to address A000.1)
|
| ================================
|
=============================
A249 1 0 0 0 0 0 0 0
A249.7
(Message data corresponding
to address A249.7)

Message display status memory

7 6 5 4 3 2 1 0 NC message screen
A9000 0 0 0 0 0 0 1 1 xxxx:(Message of A000.0)
A9001 0 0 0 0 0 0 0 0 yyyy:(Message of A000.1)
A9002 0 0 0 0 0 0 0 0
zzzz:(Message of A249.7)
|
| XXXXXXXXXXXXXXXXXXX
|

A9249 1 0 0 0 0 0 0 0 [ ][ ][ ][ ][ ]

Fig. 5.44.1(b) Message display request memory, message display status memory and Message data table in
PMCSB7

(i) Message display request memory (RAM)

The message display request memory consists bits at A addresses
on each PMC model. One bit corresponds to one type of message
data.
If you want to display a message on the CRT screen, set the
corresponding display request memory 1. Set 0 to erase the
message of CNC screen.
(ii) Message display status memory (PMCSB7)
This memory locates at the address A9000 to A9249 and has
2000bits. Each bit corresponds to a message. While displaying a
message in CNC screen, the corresponding bit is set to 1. The
ladder can not write on this memory.
(iii) Message data table
This table stores messages corresponding to the message display
request bits. The table is stored in the EPROM together with the
sequence program. Message data table numbers correspond to the
message display request memory addresses.
The message data table capacity is prepared by the maximum
capacity of a message, or, 255 characters (255 bytes). Produce a
message data within this capacity.
A character prepared in CRT/MDI key consists of one byte, and
4 bytes are necessary for a message number (consisting of 4
characters) in the next item. A character not covered by the

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CRT/MDI keys requires two bytes (a halfwidth kana character)

or four bytes (a kanji character or other fullwidth character). For
details, see Section 5.44.6.
(iv) Message number
This message number consisting of 4 digits must always be
defined at the start of each message data. The CRT display is as
specified below by this message number.
D FS16M/T, FS18M/T, FS15B, FS15i, FS20, Power
MateD (single path control), Power MateF and Power
MateH
Message CNC Display contents
number screen
1000 to 1999 Alarm message Alarm message
screen D CNC is turned to alarm state.
2000 to 2099 Operator Operator message
message screen
2100 to 2999 Operator message (without message number)
D Only message data, no message number, is
displayed.

D FS16TT and FS18TT

Message CNC Display contents
number screen
1000 to 1999 Alarm message Alarm message
screen (The 1st D The 1st tool post side of CNC is turned to alarm
tool post side) state.
2000 to 2099 Operator Operator message
message screen
2100 to 2999 Operator message (without message number)
5000 to 5999 Alarm message Alarm message
screen (The 2nd D The 2nd tool post side of CNC is turned to alarm
tool post side) state.
D The displayed message number is a value by
witch 4000 is subtracted from specified number.

D For 3path control

Message CNC Display contents
number screen
1000 to 1999 Alarm screen Alarm message
(on path 1) D Path 1 is placed in the alarm state.
2000 to 2099 Operator Operator message
2100 to 2999 message screen Operator message (with no message number)
5000 to 5999 Alarm screen Alarm message
(on path 2) D Path 2 is placed in the alarm state.
D The displayed message number is a specified
number from which 4000 is subtracted.
7000 to 7999 Alarm screen Alarm message
(on path 3) D Path 3 is placed in the alarm state.
D The displayed message number is a specified
number from which 6000 is subtracted.

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

D Power MateD (dual path control)

Message CNC Display contents
number screen
1000 to 1999 Alarm message Alarm message
screen (The 1st D The 1st path side of CNC is turned to alarm state.
path side)
2000 to 2099 Operator Operator message
message screen
2100 to 2999 (The 1st path Operator message (without message number)
side)

5000 to 5999 Alarm message Alarm message

screen (The 2nd D The 2nd path side of CNC is turned to alarm state.
path side) D The displayed message number is a value by
witch 4000 is subtracted from specified number.
6000 to 6099 Operator Operator message
message screen D The displayed message number is a value by
(The 2nd path witch 4000 is subtracted from specified number.
side)
6100 to 6999 Operator message (without message number)

Moreover, the DPL/ MDI display with Power Mate is as specified

below by this message number.

D Power MateD (single path control), Power MateF and

Power MateH
Message CNC Display contents
number screen
1000 to 1999 Alarm message Message number
screen D CNC is turned to alarm state.
D Only message number, no message data, is
displayed.
2000 to 2099 Operator Operator message
message screen D Only message data, no message number, is
2100 to 2999 displayed.

D Power MateD (dual path control)

Message CNC Display contents
number screen
1000 to 1999 Alarm message Message number
screen (The 1st D The 1st path side of CNC is turned to alarm state.
path side) D Only message number, no message data, is
displayed.
2000 to 2099 Operator Operator message
message screen D Only message data, no message number, is
2100 to 2999 (The 1st path displayed.
side)

5000 to 5999 Alarm message Message number

screen (The 2nd D The 2nd path side of CNC is turned to alarm state.
path side) D Only message number, no message data, is
displayed.
D The displayed message number is a value by
witch 4000 is subtracted from specified number.
6000 to 6099 Operator Operator message
message screen D Only message data, no message number, is
6100 to 6999 (The 2nd path displayed.
side)

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NOTE
1 The number of message number which you can display at
the same time to the alarm screen on DPL/MDI is up to 3.
2 The number of character which you can display to the
operator message screen on DPL/MDI is up to 32
characters. The message data since the 33rd character is
not displayed.
3 A ~ character (code A0H) is displayed as space character
to the screen on DPL/MDI.
4 The DPL/MDI cannot display kanji (doublebyte) characters.
5 In the FS15i, each alarm message must consist of up to 30
characters.

(b) You need not use numerical codes for message data input. Instead, when
programming, directly key in the characters making up the messages
(from the CRT/MDI keyboard). For the characters that CRT/MDI does
not provide for, you must enter these characters by numerical data with
special symbols @. For details, refer to Subsec. 5.44.6).
(c) Use external data input command (described later) where you must
combine the DISPB instruction with external data input function (for
external tool compensation, external workpiece No. search, etc.).
Such use of the DISPB instruction does not affect the interface of
external data input function though the common interface is used
between DISPB instruction and external data input function.
(d) If you write the message data items in the ROM after programming,
you cannot change them any more (they will become fixed data
items). However, you can still change and display only the numerical
data forming part of the messages if you specify addresses storing the
numerical data as the message data and assign the required numerical
data in these addresses through sequence program.
Use of this function makes it possible for you to display frequently
varying numerical data (such as tool number etc.) during automatic
operations.
(e) A message is displayed on the CNC alarm message/operator message
screen.
When using the DISPB instruction, you must satisfy the following
conditions:
To use DISPB, the optional External Data Input function or External
Message Display is necessary for CNC.

5.44.2
Format
DISPB fff

ACT

(SUB 41) Number of

message

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

5.44.3 ACT=0 : Do not display messages on the CRT.

Conditions ACT=1 : Display the messages on the CRT.

5.44.4 (a) Number of messages

Parameters Specifies the total number of messages (up to 200).

Function PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

Number of 1 to 1 to 1 to 1 to 1 to 1 to 1 to 1 to 1 to 1 to 1 to 1 to 1 to 1 to 1 to 1 to 1 to 1 to 1 to
messages 200 200 200 200 200 200 200 200 200 200 200 1000 2000 200 200 1000 200 1000 1000

5.44.5 To change the numerical data contained within the messages, enter in the
messages the number of digits making up the data and the memory
Numerical Data Display
address to contain the data. To differentiate between the numerical data
from the other message data, write it within [ ] in the message.
Since the brackets, [ ], are used to contain numerical data, they are not
themselves treated as symbols to be included in the messages.
(a) Numerical data format
[Ibid, ffff]

Memory address that the numerical data is stored

The address must be of binary format.

Set the bid data after character I:

b : Number of bytes (1, 2, or 4)
i : Number of digits in the integer part (0 to 8)
d : Number of digits in the fractional part (0 to 8)

NOTE
1 Sum of integer part digits and fractional part digits must be
within 8.
2 Blank is displayed for digits exceeding 8 digits.
3 Do not use any space between the brackets, [ ].

(b) Example
The following message includes 3 digits tool number at the spindle
and the offset data (f.ff) for this tool. And these data are
contained in memory address of 2bytes:
SPINDLE TOOL No. = [I230, VVVV]
OFFSET DATA = [I212, nnnn]

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.44.6 Message characters not covered by the CRT/MDI keys (kanji and
Defining Characters halfwidth kana characters) can be input as follows:
not found in the (a) Halfwidth kana characters
CRT/MDI (i) Data format
Numerical code enclosed by @ and @
(ii) Input method
Enter the numerical codes corresponding to the characters to be
input, by referring to the character code table (Table 5.44.6).
Each character requires two bytes. Characters covered by the
CRT/MDI keys can also be input in this way.
(iii) Example
To input ATC? OK when characters A, T, C, O, and
K are registered in the CRT/MDI unit, enter the following:

NOTE
Spaces are used between each numerical code in example
to understand easily, but do not use them actually.

(b) Kanji (fullwidth) characters

: Can be used
: Cannot be used
Power FS20 FS21B FS0i FS21i FS18A FS16A FS16B FS16C FS16i FS15B FS15i
Mate FS21A FS18B FS18C FS18i

PA1 SA1 SA1 SA1 SA1 SA1 SA2 SB SB2 SC SB3 SC3 SB5 SC3 SB5 NB NB2 NB6
PA3 SA3 SA3 SA3 SA5 SA3 SB3 SC3 SB4 SC4 SB6 SC4 SB6
SB7

f f f f f f f f f f f f

NOTE
1 The PMCSA1 for the FS18A can be used when the PMC management software series is
4071.
2 The PMCSB for the FS16A can be used when the PMC management software series is
4063.
3 The PMCSC/SC3 for the FS16A cannot be used depending on the series and edition of the
CNC software.
4 For the FS16A, set the following CNC parameter:
No. 6300 bit 6 = 0: Kanji characters are used for the DISPB instruction (default).
1: Kanji characters are not used for the DISPB instruction.
When kanji characters are used, the DISP instruction cannot be used.
5 On the CNC, the external data input option or external message option must be selected.

(i) Data format

Numerical code enclosed by @02 and 01@
(ii) Input method
Enter the numerical codes corresponding to the characters to be
input, by referring to the kanji, hiragana, and special code table
in Appendix P. Each character requires four bytes.

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

(iii) Example
To input ATC? OK when characters A, T, C, O, and K are
registered in the CRT/MDI unit, enter the following:
4434 3A3A 01

NOTE
1 To define @, enter @40...@, where 40 is the code
corresponding to @40 . . . . . @
Code for @
2 To renew the message line displayed on the CRT/MDI
screen, input as:@ OA @ at the end of the data.
3 When using numerical codes, @ code occupies 1 byte, and
space code occupies 2 bytes. (Space code = 20, 2 and 0
occupies 1 byte each).
4 The following control codes are used: 02: 2byte code (kanji
and hiragana characters) 01: 1byte code (alphanumeric
and halfwidth kana characters) Do not specify 02 or 01
between @02 and 01@, as follows. The characters may not
be correctly displayed. @02 ... 02 ... 01@ @02 ... 01 ...
01@
5 Spaces are used between each numerical code in example
to understand easily, but do not use them actually.

Table 5.44.6 Character code table

2 3 4 5 A B C D
0 (Space) 0 @ P ~ _ *3)
1 ! 1 A Q
2 # 2 B R
3 # 3 C S
4 $ 4 D T
5 % 5 E U
6 & 6 F V
7 7 G W
8 ( 8 H X
9 ) 9 I Y
A * : J Z
B + ; K [
C , < L
D *1) = M ]
E > N
F / ? O __ *2)
*1) Minus, *2) Under bar, *3) Long bar *4) Dakuten *5) Handakuten

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.44.7 See I9.3 for details.

Notes when this
Functional Instruction
is Used in Subroutine

5.44.8
Foreign Language
Display
Power Mate/ FS20/ FS18A FS16A FS16B FS16C FS21i FS16i FS15B FS15i
FS21A FS21B FS18B FS18C FS18i

PA1 SA1 SA1, SA2 SB, SB2, SB3 SB3 SB4 SB5 SB6 SA1 SB5 SB6 NB NB6
PA3 SA3 SA3 SC, SC3 SC3 SC4 SC3 SC4 SA5 SB7 NB2

f f f

(a) General
In the message data areas corresponding to contiguous message
display request memory locations, message data can be displayed in
any of several languages.
The language in which a message is displayed is selected by shifting
the message display request bit according to the address bit shift
amount set in setting parameter 2.

A0.0 Language 1 When A0.0 is turned on after setting the message

A0.1 Language 2 display request bit shift amount to 2, the message
display request bit is shifted by 2 bits to display
A0.2 Language 3 language 3.
A0.3 Language 4
A0.4 Language 5

The parameters set on the setting parameter 2 screen are listed below.
See II4.4.1 for details.
D MESSAGE SHIFT VALUE
Message display request bit shift amount
D MESSAGE SHIFT START ADDRESS
Start bit address of the message display request bit area to be
shifted
(b) Examples
Example 1:
Message data in any of four languages is set starting at A0.0 in
the order of Japanese, English, Italian, German, Japanese and so
on. The Italian message data is displayed.
Set the parameters as follows:
MESSAGE SHIFT VALUE : 2
MESSAGE SHIFT START ADDRESS : A0.0
(MESSAGE SHIFT VALUE =
0:Japanese/1:English/2:Italian/3:German)
Manipulate A0.0, A0.4, A1.0, A1.4, and so forth with the ladder.

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Message table
A0.0 Japanese 1
When A0.0 is turned on, Italian 1 is
A0.1 English 1 displayed. (The message data is
A0.2 Italian 1 shifted by 2 bits).
A0.3 German 1
A0.4 Japanese 2
When A0.4 is turned on, Italian 2 is
A0.5 English 2 displayed. (The message data is
A0.6 Italian 2 shifted by 2 bits).

A0.7 German 2
; :
Am.n :

Example 2:
As common alarm messages, English message data is displayed
with A0.0 through A9.7. Operator messages are set starting at
A10.0 in the order of Japanese, English, Italian, German and so
on, and German message data is displayed.
Set the parameters as follows:
MESSAGE SHIFT VALUE : 3
MESSAGE SHIFT START ADDRESS : A10.0
(MESSAGE SHIFT VALUE =
0:Japanese/1:English/2:Italian/3:German)
Manipulate A10.0, A10.4, A11.0, A11.4, and so forth with the
ladder.
When any of A0.0 to A9.7 is turned on, the message
corresponding to the bit is displayed.

Message table
A0.0 English A (ALARM)
A0.1 English B (ALARM) When A0.1 is turned on, Eng-
lish B is displayed.
A0.2 English C (ALARM)

A10.0 Japanese 1 (OPE) When A10.0 is turned on, Ger-

man 1 is displayed. (The mes-
A10.1 English 1 (OPE) sage data is shifted by 3 bits).
A10.2 Italian 1 (OPE)
A10.3 German 1 (OPE)
A10.4 Japanese 2 (OPE) When A10.4 is turned on, Ger-
A10.5 English 2 (OPE) man 2 is displayed. (The mes-
sage data is shifted by 3 bits).
A10.6 Italian 2 (OPE)
A10.7 German 2 (OPE)

: :
: :
A m.n :

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Example 3:
As common alarm messages, English message data is displayed
with A0.0 through A9.7. Operator messages are set starting at
A10.0 in the order of Japanese, English, Italian, German and so
on, with 40 successive messages assigned to each language. For
these messages, German message data is displayed.
Set the parameters as follows:
MESSAGE SHIFT VALUE : 120 (40 x 3)
MESSAGE SHIFT START ADDRESS : A10.0
(MESSAGE SHIFT VALUE =
0:Japanese/40:English/80:Italian/120:German)
Manipulate A10.0 through A14.7 with the ladder.
When any of A0.0 to A9.7 is turned on, the message
corresponding to the bit is displayed.

Message table

A0.0 English A (ALARM)

A0.1 English B (ALARM) When A0.1 is turned on, Eng-
A0.2 English C (ALARM) lish B is displayed.

When A10.0 is turned on, Ger-

A10.0 Japanese 1 (OPE)
man 1 is displayed.
A10.1 Japanese 2 (OPE)
When A10.1 is turned on, Ger-
man 2 is displayed.
A15.0 English 1 (OPE)
(The message data is shifted by
A15.1 English 2 (OPE) 120 bits).

A20.0 Italian 1 (OPE)

A20.1 Italian 2 (OPE)

A25.0 German 1 (OPE)

A25.1 German 2 (OPE)

: :
Am.n :

(c) Notes
The same message number should be assigned to a message in each
language that has the same meaning.
Message table
A0.0 1000 English A (ALARM)
A0.1 1001 English B (ALARM)

A10.0 1000 Japanese 1 (OPE)

A10.1 1001 Japanese 2 (OPE)

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5.45
EXIN (EXTERNAL
DATA INPUT)

5.45.1 This instruction is used for external data (external tool compensation,
Function external message function, external program number search, external
workpiece coordinates shift, etc.) input. You must use this instruction
when combining the message display instruction (DISP, DISPB) with the
external data input function. If you are not used DISP or DISPB, you need
not use this instruction either. Instead, use the external data input interface
from PMC to NC directly in your program.
The DISPB instruction uses the interface from PMC to NC provided by
the external data input function during display. The DISP instruction
prevents the interface signal transferred from the PMC to NC from being
changed due to external cutter compensation or others.
You can use the EXIN instruction only when the PMCNC interface is
of BMI (Basic Machine Interface) and optional external data input
function is provided with NC.
An 4byte control data as described below is required for external data
input function (option).
In PMCSA5/SB5/SB6/SB7, the expended specification that needs 6
bytes of control data is supported. With this setting, the extended
operation can use ED16 to ED31 signals (for program number O8 digits
etc.). To use the extended specification, it is necessary to set to NC
parameter 6300#7 (EEXIN)=1.
D NC parameter
(FS16i/18i/21i) #7 #6 #5 #4 #3 #2 #1 #0
6300 EEXIN

data format : bit type

EEXIN : EXIN function of PMC
0 : basic specification
1 : extended specification

NOTE
To use program number O8 digits, the option with program
number O8 digits and NC parameter 6300#7 (EEXIN)=1 are
necessary.

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5.45.2
Format
ACT
EXIN ffff
W1
(SUB 42)
Control data
address

Fig. 5.45.2 EXIN instruction format

5.45.3 ACT=0 : Do not process external data input/output.

ACT=1 : Process external data input/output.
Control Conditions
ACT is to be maintained 1 till the end of external data input/output. After
external data input, reset ACT (W1 = 1).

5.45.4 (a) Control data (except PMCNB/NB2/NB6)

Parameter The control data needs 4 continuous bytes from the specification
address. The path is specified to the 1st byte. The addresses G0 to
G2 of the interface from PMC to NC are specified by after 3 bytes.
For 2nd path, the addresses G1000 to G1002 are specified. Fot 3rd
path, the addresses G2000 to G2002 are specified. (Be sure to set the
strobe signal (ESTB) to ON.)
In PMCSA5/SB5/SB6/SB7, in case of the extended specification
(program number O8 digits etc.), a control data is extended. In this
case, the control data address needs 6 continuous bytes from the
specified address. THe path is specified in the 1st byte. The
addresses G0 to G2 and G210 to G211 of the interface from PMC to
NC are specified in later 5 bytes. For 2nd path, the addresses G1000
to G1002 and G1210 to G1211 are specified. For 3rd path, the
addresses G2000 to G2002 and G2210 to G2111 are specified. (Be
sure to set the strobe signal (ESTB) to ON.)
Basic specification Extended specification
(program number O8 digits etc.)
CTL+0 CTL+0
HEAD NO. HEAD NO.
+1 +1
ED0 to ED7 ED0 to ED7
+2 +2
ED8 to ED15 ED8 to ED15
+3 +3
EA0 to EA6, ESTB ED16 to ED23
+4 +4
ED24 to ED31
+5
EA0 to EA6, ESTB
+6

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[For single path control]

CTL+0 : 0
CTL+1 to CTL+3 : Data to be specified for G0 to G2
In case of the extended specification (program number O8 digits
etc.), it sets CTL+1 to CTL+5 as follows.
CTL+1 to CTL+2 : Data to be specified for G0 to G1
CTL+3 to CTL+4 : Data to be specified for G210 to G211
CTL+5 : Data to be specified for G2
[For multi path control]
(i) 1st path
CTL+0 : 0
CTL+1 to CTL+3 : Data to be specified for G0 to G2
In case of the extended specification (program number O8 digits
etc.), it sets CTL+1 to CTL+5 as follows.
CTL+1 to CTL+2 : Data to be specified for G0 to G1
CTL+3 to CTL+4 : Data to be specified for G210 to G211
CTL+5 : Data to be specified for G2
(ii) 2nd path
CTL+0 : 2
CTL+1 to CTL+3 : Data to be specified for G1000 to G1002
In case of the extended specification (program number O8 digits
etc.), it sets CTL+1 to CTL+5 as follows.
CTL+1 to CTL+2 : Data to be specified for G1000 to G1001
CTL+3 to CTL+4 : Data to be specified for G1210 to G1211
CTL+5 : Data to be specified for G1002
(iii) 3rd path
CTL+0 : 3
CTL+1 to CTL+3 : Data to be specified for G2000 to G2002
In case of the extended specification (program number O8 digits
etc.), it sets CTL+1 to CTL+5 as follows.
CTL+1 to CTL+2 : Data to be specified for G2000 to G2001
CTL+3 to CTL+4 : Data to be specified for G2210 to G2211
CTL+5 : Data to be specified for G2002

NOTE
Refer to the Series 16 or 18 Connection Manual for
detailed data to be specified concerning external data input.

(b) Control data (PMCNB/NB2/NB6)

When the external input function is used.
A consecutive area in eight bytes is necessary as the control data.
In 15 M/ T, set command data in this CTL+0 +7 by the same data
form as G32 39 of BMI interface.
In 15 TT, set command data in this CTL+0 +7 by the same data
form as G112 119 of BMI interface.

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

CTL+0
EISTB, EOREND etc.
+1
EIA0 to EIA7
+2
EID32 to EID39
+3
EID40 to EID47
+4
EID0 to EID7
+5
EID8 to EID15
+6
EID16 to EID23
+7
EID25 to EID31

When the external output function is used.

A consecutive area in 16 bytes is necessary as the control data.
In 15M/T, set command data in first CTL+0 +7 by the same data
form as G3239 of BMI interface. The data output from NC is written
in CTL+8 +15 in the same data form as BMI interface F3239.
In 15TT, set command data in first CTL+0 +7 by the same data form
as G112119 of BMI interface. The data output from NC is written in
CTL+8 +15 in the same data form as BMI interface F112119.

CTL+0 to to
EISTB, EOREND etc CTL+8
+1 EOSTB, EIREND etc
EIA0 to EIA7 +9
+2 EOA0 to EOA7
EID32 to EID39 +10
+3 EOD32 to EOD39
EID40 to EID47 +11
+4 EOD40 to EOD47
EID0 to EID7 +12
+5 EOD0 to EOD7
EID8 to EID15 +13
+6 EOD8 to EOD15
EID16 to EID23 +14
+7 EOD16 to EOD23
EID25 to EID31 +15
EOD25 to EOD31
to to

NOTE
Refer to the following manuals in detail of BMI interface.
FANUC Series 15MODEL B Connection Manual (BMI
interface)
FANUC Series 15i/150iMODEL A Connection Manual
(Function)

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5.45.5 This indicates end of transfer of external data. This transfer end condition
End of Transfer (W1) shows the end of a series of external data input sequence. This functional
instruction executes a series of transfer sequence, and finally sets ESTB
= 0 in the PMC NC interface. As a result, W1 is set to 1 (W1 = 1) after
confirming that EREND = 0.
When W1 = 1, transfer of data is over. Reset ACT now.

CAUTION
1 The EXIN command cannot input multiple external data items
at the same time. Be sure to issue the next EXIN command
(ACT = 1) after external data transfer ends (W1 = 1).
2 Be sure to specify an interlock when the external data input function
is used by commands other than the function commands, DISP,
DISPB, and EXIN.

5.45.6 If any of the following errors occurs during external data input, the bit in
the operation output register is set. In this case, external data transfer ends
Operation Output
(W1 = 1).
Register
7 6 5 4 3 2 1 0
R9000

EXIN error

(Description of errors)
D When the EXIN command (ACT = 1) is started, the strobe signal
(ESTB) or EREND signal is already on. The external data may be
input by commands other than the function commands, DISP,
DISPB, and EXIN.
D An invalid head number was specified for 16TT or 18TT. (Data
other than 0 to 2 was specified.)
D The specification of HEAD.NO is incorrect.
(Data other than 0 to 3 is set for 3path control.)

5.45.7 See I9.3 for details.

Notes when this
Functional Instruction
is Used in Subroutine

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5.46
WINDR (READING
CNC WINDOW DATA)

5.46.1 This function reads various data items via the window between the PMC
Function and the CNC.
The WINDR is classified into two types. One type completes reading
a data during one scan time. Another type completes reading a data during
a few scan time. The former is called the function of a highspeed
response and the latter is called the function of a lowspeed response.

5.46.2
Format

ACT W1

WINDR Control
data
(SUB 51) address

Fig. 5.46.2

5.46.3 ACT=0 : The WINDR function is not executed.

Control Condition ACT=1 :The WINDR function is executed. Using the function of a
highspeed response, it is possible to read the data continuously
by always keeping ACT on. However, using the function of a
lowspeed response, as soon as reading a data is completed,
reset ACT once (ACT=0).

5.46.4 (a) Control data address

Parameter The PMC byte address is used to specify the area where control data
is stored.

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5.46.5
Control Data CTL+0 Function code * Set the control data area by sequence
program before executing the WINDR
+2 Completion code or WINDW.
+4 Data length

+6 Data number

+8 Data attribute
* Only the size of the read data is
+10 Read data necessary for the data area below to to
CTL+10 usually.

+n

See Appendixies B to F WINDOW FUNCTION DESCRIPTION.

CAUTION
1 In the functional instructions WINDR and WINDW, the
control data area may be temporarily rewritten. Therefore,
set the control data area by sequence program before the
WINDR or WINDW is executed even when you specify
the none volatile memory area like D address for the
control data area. Because, when the power supply is
turned off during the control data is rewritten, this rewritten
data may be memorized in a none volatile memory.
Therefore, note that the WINDR or WINDW might be
executed with the wrong control data when the power
supply is turned on next if the control data area is not set by
sequence program.
2 Set the control data in the same program level as the
WINDR or WINDW is executed. If you set the control data
in the different program level, note that the WINDR or
WINDW might not be executed correctly, because the
control data is rewritten during the execution of WINDR or
WINDW.
3 In the diagnosis screen, it might be seen that the value of
control data is changing. This is not abnormal. Because the
display processing and the execution processing of a
sequence program are asynchronously executed.
Therefore, the value when the control data is rewritten
(abovementioned) is occasionally displayed. Even in this
case, the WINDR or WINDW is executed correctly.

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.46.6 W1=0 : W1 is usually reset. The W1=0 indicates that the WINDR
Reading Completion is not executed or the WINDR being executed now.
W1=1 : W1 is set when the reading a data is completed by the reading
(W1) command (ACT=1). If the function of a lowspeed response is
used, as soon as reading a data is completed, reset ACT
(ACT=0).

5.46.7 If an error occurs during execution of the WINDR or WINDW, the

bit in the operation output register is set. At the same time, the reading
Operation Output
completion is set (W1=1). Details of the error are output to the completion
register code (CTL+2) in the control data area. See Appendixies B to F WINDOW
FUNCTION DESCRIPTION.

7 6 5 4 3 2 1 0
R9000

WINDR error

5.46.8 When you use the function of a lowspeed response, there are a few
Notes when this limitation. Refer to I9.3 NOTE FOR SUBROUTINES WHEN YOU
USE SUBROUTINES When you use the function of a highspeed
Functional Instruction response, there is no limitation.
is Used in Subroutine

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5.47
WINDW (WRITING
CNC WINDOW DATA)

5.47.1 This function writes various data items via the window between the PMC
Function and the CNC.

5.47.2
Format

ACT W1

WINDW Control
data
(SUB 52) address

Fig. 5.47.2

5.47.3 ACT=0 : The WINDW function is not executed.

Control Condition ACT=1 :The WINDW function is executed. As soon as writing a data is
completed, reset ACT once (ACT=0).

5.47.4 (a) Control data address

Parameter The PMC byte address is used to specify the area where control data
is stored.

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5.47.5
Control Data * Set the control data area by sequence
CTL+0 Function code
program before executing the
+2 Completion code WINDR or WINDW.

+4 Data length

+6 Data number

+8 Data attribute

+10 Writing data

+42

See Appendixies B to F WINDOW FUNCTION DESCRIPTION.

CAUTION
1 In the functional instructions WINDR and WINDW, the
control data area may be temporarily rewritten. Therefore,
set the control data area by sequence program before the
WINDR or WINDW is executed even when you specify
the none volatile memory area like D address for the
control data area. Because, when the power supply is
turned off during the control data is rewritten, this rewritten
data may be memorized in a none volatile memory.
Therefore, note that the WINDR or WINDW might be
executed with the wrong control data when the power
supply is turned on next if the control data area is not set by
sequence program.
2 Set the control data in the same program level as the
WINDR or WINDW is executed. If you set the control data
in the different program level, note that the WINDR or
WINDW might not be executed correctly, because the
control data is rewritten during the execution of WINDR or
WINDW.
3 In the diagnosis screen, it might be seen that the value of
control data is changing. This is not abnormal. Because the
display processing and the execution processing of a
sequence program are asynchronously executed.
Therefore, the value when the control data is rewritten
(abovementioned) is occasionally displayed. Even in this
case, the WINDR or WINDW is executed correctly.

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5.47.6 W1=0 : W1 is usually reset. The W1=0 indicates that the

Writing Completion WINDW is not executed or the WINDW being executed
now.
(W1) W1=1 : W1 is set when the writing a data is completed by the writing
command (ACT=1). As soon as writing a data is completed,
reset ACT (ACT=0).

5.47.7 If an error occurs during execution of the WINDR or WINDW, the

bit in the operation output register is set. At the same time, the writing
Operation Output
completion is set (W1=1). Details of the error are output to the completion
Register code (CTL+2) in the control data area. See Appendixies B to F WINDOW
FUNCTION DESCRIPTION.

7 6 5 4 3 2 1 0

R9000

WINDW error

5.47.8 When you use the function of a lowspeed response, there are a few
Notes when this limitation. Refer to I9.3 NOTE FOR SUBROUTINES WHEN YOU
USE SUBROUTINES
Functional Instruction
is Used in Subroutine

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5.48
ARBITRARY
FUNCTIONAL
INSTRUCTIONS

5.48.1
FNC 90 to 97
(Arbitrary Functional
Instructions) (Only for
PMCRC/RC3/NB/NB2)

5.48.1.1 These functional instructions (SUB90 to SUB97) are used to execute the
Function arbitrary functional instructions. These instructions consist of the
addresses specifying the start condition, process end output, and control
condition.

5.48.1.2 Fig.5.48.1.2 shows the notation format. Table 5.48.1.2 shows the coding
Format format.

ACT SUB90 ffffffff

W1

FNC 90 Control data

address

Fig. 5.48.1.2 FUNC 90 notation format

Table 5.48.1.2 FUNC 90 coding format

Step Com- Address

Bit No. Remarks
number mand No.
1 RD ffff. f ACT
2 SUB 90 FUNC90 command
3 (PRM) ffff Control data address
4 WRT ffff. f W1

5.48.1.3 (a) Execution command (ACT)

Control Condition This is used as the start condition of an arbitrary functional
instruction.

5.48.1.4 (a) Control data address

Parameter Specifies the first address in the control data area.

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5.48.1.5 Set the control data to be used by an arbitrary functional instruction.

Control Data If the control data is determined as follows, for example, the person who
created the ladder program determines a control address to set the control
data using the ladder program.

Control data 7 2 1 0
addres
CTL + 0 CNO UPDOWN RST

CTL + 1

CTL + 2
Counter number
CTL + 3

5.48.1.6 This is used as the process end output of an arbitrary functional

Process End Output instruction.
(W1)
NOTE
If this functional instruction is displayed by the PCLAD
display function, an arbitrary functional instruction is
displayed as SUB9X, FNC99X.

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5.48.2
Creating an Arbitrary
Function

5.48.2.1 (a) Execution command (ACT)

Arbitrary Functional The contents of the execution command can be referenced by bit 1
at R9010.
Instruction and Interface
(b) Control data address
The address where the control data is stored can be referenced in the
byte address format at R9012 or later.
(c) Process end output (W1)
The data output when the process terminates can be referenced by bit
1 at R9011.

5.48.2.2
Use of the R Field
Execution command data
R9010 97 96 95 94 93 92 91 90

R9011 97 96 95 94 93 92 91 90 Process end output data

R9012 Control data address of SUB90 Byte address

R9014 Control data address of SUB91

R9026 Control data address of SUB97

5.48.2.3 Reference the start condition (ACT) of the arbitrary function by bit 1 at
Creating an Arbitrary R9010. Reference the address at which the control data is stored in the
byte address format by the fields at R9012 and later. Set the end signal
Function
(W1) of an arbitrary function in bit 1 at R9011. For example, to execute
the arbitrary function using SUB90, reference the start condition by
R9010.0. Reference the control data address in the byte address format
by R9012. Set the end signal at R9011.0.

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5.49
MMCWR (READING
MMC WINDOW DATA)
(OTHER THAN
PMCPA1/PA3)

5.49.1 This command reads up to 32 bytes of data via the window between PMC
and MMC. The data can be determined as required between the PMC
Function
ladder program and MMC application program.

5.49.2
Format

MMCWR ffff ffff

ACT
Input data Input data W1
length address
(SUB98) address

Fig. 5.49.2 MMCWR instrument format

Table 5.49.2 MMCWR coding format coding sheet

Step Com- Address

number mand No. Bit No. Remarks

1 RD fff. f ACT
2 SUB 98
3 (PRM) ffff Input data length address
4 (PRM) ffff. Input data address
5 WRT fff. f W1, processing completion

5.49.3 ACT=0 : The MMCWR function is not executed.

Control Condition ACT=1 : The MMCWR function is executed. Hold ACT = 1 until
processing is completed and specify ACT = 0 immediately after
processing is completed (W1 = 1).

5.49.4 (a) Input data length address (two bytes)

Parameters Specifies the length of input data transferred from MMC. When
transfer is completed, the length of data actually transferred is stored.
The maximum data length is 32 bytes.
(b) Input data address
Specifies the area containing data transferred from MMC. An area
large enough for the specified input data length is required.

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5.49.5 W1=0 : This value is usually set. W1 = 1 indicates that processing is

Processing Completion completed. As soon as processing is completed, specify
ACT=0.
(W1) W1=1 : This value is set when data transfer from MMC is completed or
if an error occurs.

5.49.6 If an MMC window transfer error occurs, the bit in the operation output
register is set to indicate the error. If an error occurs, the transferred data
Operation Output
is not stored in the input data area.
Register
7 6 5 4 3 2 1 0

R9000

MMCWR error

5.49.7 The completion status information is specified in R9002 and R9003. The
completion codes and contents, W1, and error bits are as follows:
Completion Status
11 Initialization at MMC is not completed.
Information (W1 = 0, R9000#0 = 0)
10 Processing is in progress (W1 = 0, R9000#0 = 0)
0 Processing is completed.(W1 = 1, R9000#0 = 0)
2 Data length error (W1 = 1, R9000#0 = 1)
(0, a negative value, or a value exceeding 33 bytes was specified
for the data length. The length of data actually transferred
exceeded the specified value.)
6 MMC is not provided (W1 = 1, R9000#0 = 1)

5.49.8 Refer to Sec. I9.3.

Notes when this
Functional Instruction
is Used in Subroutine

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5.50
MMCWW (WRITING
MMC WINDOW DATA)
(OTHER THAN
PMCPA1/PA3)

5.50.1 This command writes data containing up to 32 bytes via the window
Function between PMC and MMC. The data can be determined as required
between the PMC ladder program and MMC application program.

5.50.2
Format

MMCWW ffff ffff

ACT
Output data Output data W1
length address
(SUB99) address

Fig. 5.50.2 MMCWW instruction format

Table 5.50.2 MMCWW coding format coding sheet

Step Com- Address

number mand No. Bit No. Remarks

1 RD fff. f ACT
2 SUB 99
3 (PRM) ffff Output data length address
4 (PRM) ffff. Output data address
5 WRT fff. f W1, processing completion

5.50.3 ACT=0 : The MMCWW function is not executed.

Control Condition ACT=1 : The MMCWW function is executed. Hold ACT = 1 until
processing is completed and specify ACT = 0 immediately after
processing is completed.

5.50.4 (a) Output data length address (two bytes)

Parameters Specifies the length of output data transferred to MMC. The maximum
data length is 32 bytes.
(b) Output data address
Specifies the area storing data to be transferred to MMC. An area
large enough for the specified output data length is required.

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5.50.5 W1=0 : This value is usually set. W1 = 1 indicates that processing is

Processing Completion completed. As soon as processing is completed, specify
ACT=0.
(W1) W1=1 : This value is set when data transfer to MMC is completed or if
an error occurs.

5.50.6 If an MMC window transfer error occurs, the bit in the operation output
register is set to indicate the error. If an error occurs, the transferred data
Operation Output
is not transferred to MMC.
Register
7 6 5 4 3 2 1 0

R9000

MMCWW error

5.50.7 The completion status information is specified in R9002 and R9003. The
completion codes and contents, W1, and error bits are as follows:
Completion Status
11 Initialization at MMC is not completed.(W1 = 0, R9000#0 = 0)
Information 10 Processing is in progress.(W1 = 0, R9000#0 = 0)
0 Processing is completed. (W1 = 1, R9000#0 = 0)
2 Data length error (W1 = 1, R9000#0 = 1)
(0, a negative value, or a value exceeding 33 bytes was specified
for the data length.)
6 MMC is not provided. (W1 = 1, R9000#0 = 1)

5.50.8 Refer to Sec. I9.3.

Notes when this
Functional Instruction
is Used in Subroutine

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5.51 f : Can be used

: Cannot be used
MOVB (TRANSFER PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

OF 1 BYTE) f f f f f f f f f f f f f

5.51.1 The MOVB instruction transfers 1byte data from a specified source
address to a specified destination address.
Function

5.51.2
Format ACT
MOVB Transfer Transfer
source destinatio
address n address
SUB 43

Fig. 5.51.2 MOVB instruction format

5.51.3 (a) Execution specification

ACT=0 : No data is transferred.
Control Conditions
ACT=1 : Onebyte data is transferred.

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5.52 f : Can be used

: Cannot be used
MOVW (TRANSFER PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

OF 2 BYTES) f f f f f f f f f f f f f

5.52.1 The MOVW instruction transfers 2byte data from a specified source
address to a specified destination address.
Function

5.52.2
Format ACT
MOVW Transfer Transfer
source destinatio
address n address
SUB 44

Fig. 5.52.2 MOVB instruction format

5.52.3 (a) Execution specification

ACT=0 : No data is transferred.
Control Conditions
ACT=1 : Twobyte data is transferred.

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5.53 f : Can be used

: Cannot be used
MOVN (TRANSFER PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

OF AN ARBITRARY f f f f f f f f f f f f f

NUMBER OF BYTES)

5.53.1 The MOVN instruction transfers data consisting of an arbitrary number

of bytes from a specified source address to a specified destination address.
Function

5.53.2
Format ACT
MOVN Number of Transfer Transfer
bytes to be source destinatio
transferred address n address
SUB 45

5.53.3 (a) Execution specification

Control Conditions ACT=0 : No data is transferred.
ACT=1 : A specified number of bytes are transferred.

5.53.4 (a) Number of bytes to be transferred

Specify the number of bytes to be transferred. An odd number can
Parameters
also be specified. A number from 1 to 9999 can be specified.

NOTE
With the PMCPA3/SA3/SB3/SB4/SC3/SC4/NB/NB2, a
value from 1 to 200 must be set as the number of transferred
bytes.

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5.54 f : Can be used

: Cannot be used
MOVD (TRANSFER PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

OF 4 BYTES) f

5.54.1 The MOVD instruction transfers 4 bytes data from a specified source
address to a specified destination address.
Function

5.54.2
Format
ACT Transfer Transfer
MOVD
source destination
SUB47
address address

5.54.3 ACT=0: No data is transferred.

Control Conditions ACT=1: A specified number of bytes are transferred.

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5.55 f : Can be used

: Cannot be used
DIFU (RISING EDGE PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

DETECTION) f f f f f f f f f f f f f

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

5.55.2
Format ACT OUT
DIFU Rising f
edge
SUB 57 number

5.55.3 (a) Input signal

Control Conditions On a rising edge (01) of the input signal, the output signal is set to
1.
(b) Output signal
The output signal level remains at 1 for one scanning cycle of the
ladder level where this functional instruction is operating.

5.55.4 (a) Rising edge number

Parameters Model PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2

Rising edge _ 1 to _ _ 1 to 1 to _ _ 1 to 1 to 1 to 1 to 1 to _ 1 to 1 to 1 to 1 to
number 256 256 256 256 500 256 500 1000 256 500 256 500

WARNING
If the same number is used for another DIFU instruction or
a DIFD instruction (described later) in one Ladder diagram,
operation is not guaranteed.

5.55.5
Operation 1 2 3 4 Execution period

ACT

OUT

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5.56 f : Can be used

: Cannot be used
DIFD (FALLING EDGE PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

DETECTION) f f f f f f f f f f f f f

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

5.56.2
Format ACT OUT
DIFD Falling f
edge
SUB 58 number

5.56.3 (a) Input signal

On a falling edge(10)of the input signal, the output signal is set to 1.
Control Conditions
(b) Output signal
The output signal level remains at 1 for one scanning period of the
ladder level where this functional instruction is operating.

5.56.4 (a) Falling edge number

Parameters Model PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2

Falling edge _ 1 to _ _ 1 to 1 to _ _ 1 to 1 to 1 to 1 to 1 to _ 1 to 1 to 1 to 1 to
number 256 256 256 256 500 256 500 1000 256 500 256 500

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

5.56.5
Operation 1 2 3 4 Execution period

ACT

OUT

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5.57 f : Can be used

: Cannot be used
EOR PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

(EXCLUSIVE OR) f f f f f f f f f f f f f

5.57.1 The EOR instruction exclusiveORs the contents of address A with a

constant (or the contents of address B), and stores the result at address C.
Function

5.57.2
Format ACT
EOR Format Address Constant or Address
specification A address B C
SUB 59

5.57.3 (a) Input signal

Control Conditions ACT=0 : The EOR instruction is not executed.
ACT=1 : The EOR instruction is executed.

5.57.4 (a) Format specification

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

Data length specification

Format specification 1 : 1 byte
0 : Constant 2 : 2 bytes
1 : Address specification 4 : 4 bytes

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

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5.57.5 When address A and address B hold the following data:

Operation
Address A 1 1 1 0 0 0 1 1

Address B 0 1 0 1 0 1 0 1

The result of the exclusive OR operation is as follows:

Address C 1 0 1 1 0 1 1 0

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5.58 f : Can be used

: Cannot be used
LOGICAL AND PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

f f f f f f f f f f f f f

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

5.58.2
Format ACT
AND Format Address Constant Address
specification A or C
SUB 60 address B

5.58.3 (a) Input signal

ACT=0 : The AND instruction is not executed.
Control Conditions
ACT=1 : The AND instruction is executed.

5.58.4 (a) Format specification

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

Data length specification

Format specification 1 : 1 byte
0 : Constant 2 : 2 bytes
1 : Address specification 4 : 4 bytes

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

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5.58.5 When address A and address B hold the following data:

Operation
Address A 1 1 1 0 0 0 1 1

Address B 0 1 0 1 0 1 0 1

The result of the AND operation is as follows:

Address C 0 1 0 0 0 0 1 0

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5.59 f : Can be used

: Cannot be used
LOGICAL OR PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

f f f f f f f f f f f f f

5.59.1 The OR instruction ORs the contents of address A with a constant (or the
Function contents of address B), and stores the result at address C.

5.59.2
Format ACT
OR Format Address Constant Address
specification or
A C
address
SUB 61 B

5.59.3 (a) Input signal

ACT=0 : The OR instruction is not executed.
Control Conditions
ACT=1 : The OR instruction is executed.

5.59.4 (a) Format specification

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

Data length specification

Format specification 1 : 1 byte
0: Constant 2 : 2 bytes
1 : Address specification 4 : 4 bytes

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

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5.59.5 When address A and address B hold the following data:

Operation
Address A 1 1 1 0 0 0 1 1

Address B 0 1 0 1 0 1 0 1

The result of the OR operation is as follows:

Address C 1 1 1 1 0 1 1 1

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5.60 f : Can be used

: Cannot be used
NOT (LOGICAL NOT) PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

f f f f f f f f f f f f f

5.60.1 The NOT instruction inverts each bit of the contents of address A, and
stores the result at address B.
Function

5.60.2
Format ACT
NOT Format Address Address B
specification
A
SUB 62

5.60.3 (a) Input signal

ACT=0 : The NOT instruction is not executed.
Control Conditions
ACT=1 : The NOT instruction is executed.

5.60.4 (a) Format specification

Specify a data length (1, 2, or 4 bytes).
Parameters

Data length specification

1 : 1 byte
2 : 2 bytes
4 : 4 bytes

(b) Address A
Input data to be inverted bit by bit. The data that is held starting at
this address and has the data length specified in format specification
is treated as input data.
(c) Address B
Address used to output the result of a NOT operation. The result of
a NOT operation is stored starting at this address, and has the data
length specified in format specification.

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5.60.5 When address A holds the following data:

Operation
Address A 1 1 1 0 0 0 1 1

The result of the NOT operation is as follows:

Address B 0 0 0 1 1 1 0 0

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5.61 f : Can be used

: Can be used (with some restrictions)
MMC3 R : Cannot be used

(MMCIII WINDOW PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

DATA READ) f f f f f f f f f f f f

NOTE
This functional instruction cannot be used with SA1 of the
Series 16i/18i/21iMODEL A/B and Series 15i.

5.61.1 The MMC3R instruction reads MMCIII application data via a

PMCMMC window. Which buffer in the MMCIII is to be read can be
Function
specified. The contents of read data can be freely determined by a PMC
Ladder program and MMCIII application program.

CNC Buffer 1
PMC PMC data Buffer 1 MMCIII
Offset

Data length

Buffer n
n = maximum of 10

5.61.2
Format

ACT W1
MMC3R Buffer Offset from Data length Input data f
specification the beginning
SUB 88 of the buffer

5.61.3 ACT=0 : The MMC3R instruction is not executed.

ACT=1 : Data is read.
Control Conditions
(ACT)

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5.61.4 (a) Address for storing buffer specifications (2 bytes)

Parameters A buffer from which data is to be read is specified. Up to 10 buffers
can be specified. Specify the address where the buffer specification
is held.

NOTE
For the method of buffer registration, refer to the relevant
MMCIII manual.

(b) Address for storing an offset from the beginning of a buffer (2 bytes)
An offset from the beginning of a read buffer is specified. Specify
the address where the offset is held.
(c) Data length storage address (2 bytes)
The length of data to be read from the MMCIII is specified. Specify
the address where the length of data is held. The maximum allowable
data length is 256 bytes.
(d) Input data storage address
Specify the address where data to be read from the MMCIII is
stored. A contiguous area not smaller than the length of data
specified in c) above is required.

5.61.5 W1=0 :When ACT = 0, W1 = 0 is set. If W1 = 0 is set when ACT = 1,

it indicates that read processing is in progress.
Processing Completion
W1=1 :Indicates that read processing has terminated. Whether read
(W1)
processing has terminated normally or abnormally can be
checked with the state of R9000 described below.

5.61.6 When W1 indicates the termination of read processing, a termination state

is set.
Operation Output
Register 7 6 5 4 3 2 1 0

R9000

MMC3R error

MMC3R=0 : Normal termination

MMC3R=1 : Abnormal termination

5.61.7 When ACT = 1, completion status information is set in the operation

register R9002.
Completion Status
Information 11 : MMC initialization not completed (W1=0, R9000#0=0)
0 : Normal termination (W1=1, R9000#0=0)
2 : Data length error (W1=1, R9000#0=1)
The specified length of data is 0, negative data is specified, or
the maximum allowable data length is exceeded.
6 : The MMCIII is not attached. (W1=1, R9000#0=1)
3 : Buffer specification error (W1=1, R9000#0=1)

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5.61.8 Refer to Sec. I9.3.

Notes when this
Functional Instruction
is Used in Subroutine

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5.62 f : Can be used

: Can be used (with some restrictions)
MMC3W : Cannot be used

(MMCIII WINDOW PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

DATA WRITE) f f f f f f f f f f f

NOTE
This functional instruction cannot be used with SA1 of the
Series 16i/18i/21iMODEL A/B and Series 15i.

5.62.1 The MMC3W instruction writes data to MMCIII application data via a
PMCMMC window. Which buffer in the MMCIII is to be written to
Function
can be specified. The contents of write data can be freely determined by
a PMC Ladder program and MMCIII application program.

CNC Buffer 1
PMC PMC data Buffer 1 MMC III
Offset

Data length

Buffer n
n = maximum of 10

5.62.2
Format

ACT W1
MMC3W Buffer Offset from Data length Input data f
specification the
SUB 89 beginning of
the buffer

5.62.3 ACT=0 : The MMC3W instruction is not executed.

Control Conditions ACT=1 : Data is written.
(ACT)

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5.62.4 (a) Address for storing buffer specifications (2 bytes)

Parameters A buffer to which data is to be written is specified. Up to 10 buffers
can be specified. Specify the address where the buffer specification
is held.

NOTE
For the method of buffer registration, refer to the relevant
MMCIII manual.

(b) Address for storing an offset from the beginning of a buffer (2 bytes)
An offset from the beginning of a write buffer is specified. Specify
the address where the offset is held.
(c) Data length storage address (2 bytes)
The length of data to be written to the MMCIII is specified. Specify
the address where the length of data is held. The maximum allowable
data length is 256 bytes.
(d) Output data storage address
Specify the address where data to be written to the MMCIII is
stored. A contiguous area not smaller than the length of data
specified in c) above is required.

5.62.5 W1=0 :When ACT = 0, W1 = 0 is set. If W1 = 0 is set when ACT = 1,

Processing Completion it indicates that write processing is in progress.
(W1) W1=1 :Indicates that write processing has terminated. Whether write
processing has terminated normally or abnormally can be
checked with the state of R9000 described below.

5.62.6 When W1 indicates the termination of write processing, a termination

state is set.
Operation Output
Register 7 6 5 4 3 2 1 0

R9000

MMC3R error

MMC3W=0 : Normal termination

MMC3W=1 : MMC3R = 1: Abnormal termination

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5.62.7 When ACT = 1, completion status information is set in the operation

Completion Status register R9002.
Information 11 : MMC initialization not completed (W1=0, R9000#0=0)
0 : Normal termination (W1=1, R9000#0=0)
2 : Data length error (W1=1, R9000#0=1)
The specified length of data is 0, negative data is specified, or
the maximum allowable data length is exceeded.
6 : The MMCIII is not attached. (W1=1, R9000#0=1)
3 : Buffer specification error (W1=1, R9000#0=1)

5.62.8 Refer to Sec. I9.3.

Notes when this
Functional Instruction
is Used in Subroutine

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5.63 f : Can be used

: Cannot be used
SPCNT PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6
(SPINDLE CONTROL) f f f

5.63.1 SPCNT performs the following processing using spindle speed data
(32bit binary data) that is input from the NC or some other device to the
Function
PMC:
(a) Gear selection (Up to four gears from GR1 to GR4 can be used.)
(b) Calculating a spindle motor rotation command (13bit binary data)
when automatic gear selection is enabled
(c) Calculating a spindle motor rotation command (13bit binary data)
when direct gear selection is enabled
(d) Calculating a spindle motor rotation command when a spindle
override is specified
(e) Clamping the spindle motor speed to an upper or lower limit
As shown in Fig.5.63.1, a spindle motor rotation command is
calculated from the spindle speed data. The maximum value (8191)
of the spindle motor command is equivalent to an analog voltage at
10V.

NOTE
The motor speed is clamped after spindle override is
specified.

Spindle motor rotation command (13bit binary data)

Maximum motor speed (8191)

Upper limit at which the motor
speed is clamped
GR1 GR2 GR3 GR4

Lower limit at which the motor Spindle speed

speed is clamped (min1)
Maximum Maximum Maximum Maximum spindle
spindle speed spindle speed spindle speed for speed for GR4
for GR1 for GR2 GR3

Fig. 5.63.1 Spindle Speeds and Corresponding Spindle Motor Rotation Commands

The spindle motor rotation command is calculated as 13bit binary

data. If the spindle amplifier is a D/A converter provided in the
machine and can only handle 12bit binary data, for example, the
calculated spindle motor rotation command must be halved before
being output (shifted right one bit position in a shift register).

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

(i) Spindle control with automatic gear selection

This functional instruction uses spindle speed data (32bit binary
data) and the maximum spindle speeds set in parameters GR1 to
GR4 of this functional instruction to select a gear, calculate the
spindle motor rotation command for that selected gear, and output
the result to the control data address.
Based on this output information, the sequence program must
perform gear switching as necessary and output the rotation
command to the spindle motor.

Spindle control
Information of GR1 to GR2


Spindle speed
SPCNT
Spindle motor
rotation
command

(ii) Spindle control with direct gear selection

When direct gear selection is set, this functional instruction does
not perform gear selection. A gear to be used is selected by the
sequence program. The target gear must be set at the control data
address, which is a parameter of this functional instruction, using
the sequence program.
According to the set gear, the functional instruction calculates and
outputs a spindle motor rotation command. In this case, the
spindle motor rotation command has a linear relationship with the
spindle speed. The line for the selected gear is assumed to extend
to its lower limit (indicated by a dotted line). See Fig.5.63.1.
Spindle control
Information of GR1 to GR2


Spindle speed
SPCNT Spindle motor
rotation
command

The spindle motor speed can be clamped at the upper and lower
limits also with direct gear specification. When the CNC
performs constant surface speed control, spindle control with
direct gear specification is generally performed.

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5.63.2
Format

CIRC
* * *
SPCNT ffff ffff ffff
OVRD

(SUB46) Spindle speed data Spindle control Control data

ACT
address parameter address address

5.63.3 (a) Direct gear specification (CIRC)

CIRC=0 : Disables direct gear specification.
Control Conditions
(Enables automatic gear selection.)
CIRC=1 : Enables direct gear specification.
(b) Override specification (OVRD)
OVRD=0 : Disables the override function
OVRD=1 : Enables the override function.
(c) Instruction execution specification (ACT)
ACT=0 : The SPCNT instruction is not executed.
ACT=1 : The SPCNT instruction is executed.

5.63.4 (a) Spindle speed data address

Parameters Specifies an evennumbered address at which the spindle speed data
(32bit binary data) is stored.
(b) Spindle control parameter address
Specifies an evennumbered address at which the parameters for
spindle control are stored. Binary data is set in contiguous 24byte
memory locations starting at the specified address.

Spindle control parameter +0

Lower spindle motor speed limit data
Spindle control parameter +4
Upper spindle motor speed limit data
Spindle control parameter +8
Maximum spindle speed for gear 1
Spindle control parameter +12
Maximum spindle speed for gear 2
Spindle control parameter +16
Maximum spindle speed for gear 3
Spindle control parameter +20
Maximum spindle speed for gear 4
Spindle control parameter +24

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

(i) Lower spindle motor speed limit data

Sets the lower spindle motor speed limit obtained from the
following expression:
Minimum speed (rpm) specified for
Lower spindle motor the spindle motor
speed limit data = 8191
Maximum speed (rpm) obtainable by the
spindle motor

A value from 0 to 8191 can be specified as the lower speed limit

data. The maximum spindle motor speed is achieved when 10 V
is applied to the motor.
(ii) Upper spindle motor speed limit data
Sets the upper spindle motor speed limit obtained from the
following expression:
Maximum speed (rpm) specified for
Upper spindle motor the spindle motor
speed limit data = 8191
Maximum speed (rpm) obtainable by
the spindle motor

(iii) Maximum spindle speed for GR1

Sets a maximum spindle speed (min1) for GR1. The maximum
spindle speed must be set in this parameter even when GR1 gear
is not provided. The maximum spindle speed is the speed of the
spindle when the motor operates at its maximum speed.
(iv) Maximum spindle speed for GR2
Sets a maximum spindle speed (min1) for GR2. When GR2 is
not provided, this parameter must be set to 0.
(v) Maximum spindle speed for GR3
Sets a maximum spindle speed (min1) for GR3. When GR3 is
not provided, this parameter must be set to 0.
(vi) Maximum spindle speed for GR4
Sets a maximum spindle speed (min1) for GR4. When GR4 is
not provided, this parameter must be set to 0.
(c) Control data address
Contiguous 4byte memory locations starting at the evennumbered
address specified in the control data address parameter must be
specified.

7 6 5 4 3 2 1 0

Specified address+0 R08 R07 R06 R05 R04 R03 R02 R01
Spindle motor
Specified address+1 R13 R12 R11 R10 R09 rotation command

Specified address+2 GR4 GR3 GR2 GR1 } Spindle gear

} selection
Specified address+3 SOV128 SOV64 SOV32 SOV16 SOV8 SOV4 SOV2 SOV1 } Spindle override

(i) Spindle gear selection

7 6 5 4 3 2 1 0
GR4 GR3 GR2 GR1

[For automatic gear selection]

This functional instruction finds an appropriate gear using the
spindle speed data and the maximum spindle speed for each
gear, then outputs the result to GR1 to GR4.

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

[For direct gear selection]

The sequence program sets the gear to be used in GR1 to GR4.
This functional instruction calculates the spindle motor rotation
commands for all speeds from the upper motor speed limit to the
lower speed limit (extended portion indicated by dotted line). See
Fig. 5.63.1.
(ii) Spindle motor rotation command
7 6 5 4 3 2 1 0
R08 R07 R06 R05 R04 R03 R02 R01
R13 R12 R11 R10 R09

The spindle motor rotation command (13bit binary data)

calculated by this functional instruction is set at these control data
addresses. This instruction specifies a spindle motor rotation
command with a spindle override applied.
(iii) Spindle override
7 6 5 4 3 2 1 0
SOV128 SOV64 SOV32 SOV16 SOV8 SOV4 SOV2 SOV1

The sequence program must set a spindle override in binary. A

spindle override from 0% to 255% can be set in binary.

5.63.5 Spindle control is primarily used to control the spindle speed during
normal cutting. It can, however, also be used to:
Use of Spindle Control
(a) Rotate the spindle motor at a specific speed when the gear is switched
The sequence program can output appropriate 13bit binary data as
a spindle motor rotation command to rotate the spindle motor at a
specific speed, without using this functional instruction.
(b) Rotate the spindle at a specific speed during spindle orientation
This is enabled by specifying appropriate spindle speed data in the
functional instruction (SPCNT). During spindle orientation, the
spindle is rotated at the specified orientation spindle speed with the
currently selected gear (gear selection is not performed). Gear
selection is disabled by setting CIRC to 1 (direct gear specification).

Spindle control
Spindle
speed data Spindle speed data
Information of
GR1 to GR2
sent from
the NC, etc.


Orientation SPCNT
spindle

speed data

Spindle motor
rotation command

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

(c) Control the spindle in a tapping cycle

In a tapping cycle, spindle rotation is reversed at the bottom of a hole.
Using the HIGH gear to reverse the rotation requires a lower analog
voltage than using the LOW gear. So, using the HIGH gear reduces
the machining time.
To widen the usable range of the HIGH gear, set CIRC to 1 to disable
automatic gear selection.
(d) Clamp the spindle speed
When the BMI interface is used between the NC and PMC, spindle
should be controlled by the PMC (sequence program), as described
in the BMI manual.
Clamping the spindle speed is one of the spindle control operations.
The spindle control functional instruction SPCNT (SUB46) can be
used to clamp the spindle speed. The clamping method is outlined
below. For precise control, conform to the specifications of the
machine supplied by the machine tool builder.

Spindle control Spindle motor
Spindle
speed data
GR1 to GR4 rotation command

Spindle
speed limit
data
Spindle motor
limit value

(e) Example
Suppose that the parameters are set as follows:
Minimum speed specified for the spindle motor = 1000 min1
Maximum speed specified for the spindle motor = 35000 min1
Maximum speed obtainable by the spindle motor = 40000 min1
(Maximum speed when 10 V is applied to the spindle motor)
Maximum speed for gear 1 = 25000 min1
Maximum speed for gear 2 = 40000 min1
Maximum speed for gear 3 = 6000 min1
Maximum speed for gear 4 = 100000 min1
Spindle speed data addresses = F10 to F11 (RO0 to RO15)
The specified spindle speed signal is used.
(For details, refer to the BMI connection manual.)
Spindle control parameter addresses = D10 to D33
Control data addresses = R0 to R3

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

(1) Create a functional instruction.

R9091.1 MOVW

F10 R10
SUB44

R9091.1
NUMEB
2 0 R12
SUB40

CIRC
SPCNT R10 D10 R0

OVRD
SUB46

ACT

(2) Set the spindle speed data

Copy the spindle speed data (RO0 to RO15) to spindle speed data
addres specified at the first porameter of SPCNT.

R10 RO0 to 7 Copy from F10

RO8 to 15 Copy from F11
0 Clear by 0
0 Clear by 0

(3) Set the spindle control parameters.

The lower spindle motor speed limit data and the upper spindle
motor speed limit data are obtained as follows (see i) and ii) of b)
in 4)):
Lower spindle motor 1000
speed limit data = 8191 = 204 (min1)
40000

Upper spindle motor 35000

speed limit data = 8191 = 7167 (min1)
40000

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

Then, the spindle control parameters are set as follows:

D10 toD13 204 Lower spindle motor speed limit data

D14 to D17 7167 Upper spindle motor speed limit data
D18 to D21 25000 Maximum spindle speed for gear 1
D22 to D25 40000 Maximum spindle speed for gear 2
D26 to D29 60000 Maximum spindle speed for gear 3
D30 to D33 100000 Maximum spindle speed for gear 4

(4) Calculate the spindle motor rotation command for the spindle
speed

Maximum motor speed (8191)

Lower limit at which the motor
speed is clamped
(7167) GR1 GR2 GR3 GR4

Spindle speed
Lower limit at which the motor
speed is clamped (min1)
Maximum Maximum Maximum spindle Maximum spindle
(204)
spindle speed spindle speed speed for GR3 speed for GR4
for GR1 (25000) for GR2 (60000) (100000)
(40000)

From the above graph, the following table can be obtained:

Table 5.63.5 Maximum and Minimum spindle speeds for each gear

Minimum spindle speed Maximum spindle speed

(min1) (min1)
GR1 625 21877
GR2 21878 35004
GR3 35005 52506
GR4 52507 87499
(When CIRC = 0, OVRD = 0)

Thus, if the spindle speed data is 55000 (min1), when the spindle
override is not applied (OVRD = 0) and the direct gear
specification is not set (CIRC = 0), the spindle motor rotation
command and the spindle gear to be used are obtained as follows:

R0 to R1 Spindlemotor rotation command

4505
R2 8 (GR4) Spindle gear selection

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

5.64 f : Can be used

: Cannot be used
END (END OF A PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

LADDER PROGRAM) f f f f f f f f f f f f f

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

5.64.2
Format
END

SUB 64

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.65 f : Can be used

: Cannot be used
CALL (CONDITIONAL PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

SUBPROGRAM f f f f f f f f f f f f f

CALL)

5.65.1 The CALL functional instruction calls a subprogram. When a

subprogram number is specified in CALL, a jump occurs to the
Function
subprogram if a condition is satisfied.

5.65.2
Format ACT
CALL Subprogram
number
SUB 65

5.65.3 (a) Input signal

Control Conditions ACT=0 : The CALL instruction is not executed.
ACT=1 : The CALL instruction is executed.

5.65.4 (a) Subprogram number

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

ACT
CALL P1

SUB 65

CAUTION
Be careful when using the CALL instruction with the COM,
COME, JMP, or JMPE functional instruction. For details,
see Chapter 9 in Part I.

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5.66 f : Can be used

: Cannot be used
CALLU PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

(UNCONDITIONAL f f f f f f f f f f f f f

SUBPROGRAM
CALL)

5.66.1 The CALLU functional instruction calls a subprogram. When a

Function subprogram number is specified, a jump occurs to the subprogram.

5.66.2
Format
CALLU Subprogram
number
SUB 66

5.66.3 (a) Subprogram number

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

CALLU P1

SUB 66

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.67 f : Can be used

: Cannot be used
SP (SUBPROGRAM) PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

f f f f f f f f f f f f f

5.67.1 The SP functional instruction is used to create a subprogram. A

subprogram number is specified as a subprogram name. SP is used with
Function
the SPE functional instruction (mentioned later) to specify the
subprogram range.

5.67.2
Format
SP Subprogram
number
SUB 71

5.67.3 (a) Subprogram number

Specifies the subprogram number of a subprogram to be coded
Parameters
following this instruction. The subprogram number must be
specified in the P address form. A number from P1 to P512 can be
specified. The specified subprogram number must be unique within
the sequence program.
Function PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

Subprogram P1 to P1 to P1 to P1 to P1 to P1 to P1 to P1 to P1 to P1 to P1 to P1 to P1 to
number P512 P512 P512 P512 P2000 P512 P2000 P2000 P512 P2000 P512 P2000 P2000

Example: When the subprogram number is set to 1

SP P1

SUB 71

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

5.68 f : Can be used

: Cannot be used
SPE (END OF A
PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6
SUBPROGRAM) f f f f f f f f f f f f f

5.68.1 The SPE functional instruction is used to create a subprogram. SPE is

Function used with the SP functional instruction. It specifies the range of a
subprogram. When this functional instruction has been executed, control
is returned to the functional instruction that called the subprogram.

5.68.2
Format
SPE

SUB 72

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.69 f : Can be used

: Cannot be used
JMPB (LABEL JUMP) PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

f f f f f f f f f f f f f

5.69.1 The JMPB functional instruction transfers control to a Ladder immediately

after the label set in a Ladder program. The jump instruction can transfer
Function
control freely before and after the instruction within the program unit (main
program or subprogram) in which the instruction is coded. (See the
description of the LBL functional instruction, which is be explained later.)
As compared with the conventional JMP functional instruction, JMPB
has the following additional functions:
D More than one jump instruction can be coded for the same label.
D Jump instructions can be nested.
Ladder program
Program unit Program unit
LBL AA
LBL AA

JMPB BB

JMPB AA
JMPB AA

JMPB AA LBL BB

5.69.2
Format ACT
JMPB Specification
of the jump
destination
SUB 68 label

5.69.3 ACT=0 : The next instruction after the JMPB instruction is executed.
Control Conditions ACT=1 : Control is transferred to the Ladder immediately after the
specified label.
(ACT)

5.69.4 (a) Label specification

Parameters Specifies the label of the jump destination. The label number must
be specified in the L address form. A value from L1 to L9999 can
be specified.

CAUTION
1 For the specifications of this instruction, see Chapter 10 in
Part I.
2 When this instruction is used to jump back to a previous
instruction, care must be taken not to cause an infinite loop.

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

5.70 f : Can be used

: Cannot be used
JMPC (LABEL JUMP) PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

f f f f f f f f f f f f f

5.70.1 The JMPC functional instruction returns control from a subprogram to the
main program. Be sure to code the destination label in the main program.
Function
The specifications of this JMPC functional instruction are the same as
those of the JMPC functional instruction, except that JMPC always
returns control to the main program.
D More than one jump instruction can be coded for the same label.
Ladder program
Main Main
program program
LBL AA
LBL AA

LBL BB

Subprogram Subprogram

JMPC AA JMPC AA

JMPC AA JMPC BB

5.70.2
Format ACT
JMPC Specification
of the jump
destination
SUB 73 label

5.70.3 ACT=0 : The instruction after the JMPC instruction is executed.

Control Conditions ACT=1 : Control is transferred to the Ladder after the specified label.
(ACT)

5.70.4 (a) Label specification

Parameters Specifies the label of the jump destination. The label number must
be specified in the L address form. A number from L1 to L9999 can
be specified.

CAUTION
1 For the specifications of this instruction, see Chapter 10 in
Part I.
2 When this instruction is used to jump back to a previous
instruction, care must be taken not to cause an infinite loop.

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.71 f : Can be used

: Cannot be used
LBL (LABEL) PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

f f f f f f f f f f f f f

5.71.1 The LBL functional instruction specifies a label in a Ladder program. It

specifies the jump destination for the JMPB and JMPC functional
Function
instructions. (See the explanation of the JMPB and JMPC functional
instructions.)

Ladder program

LBL AA
LBL AA

JMPB BB

JMPB AA
JMPC AA

JMPC AA LBL BB

5.71.2
Format
LBL Label
specification
SUB 69

5.71.3 (a) Label specification

Specifies the jump destination for the JMPB and JMPC functional
Parameters
instructions. The label number must be specified in the L address
form. A label number from L1 to L9999 can be specified. A label
number can be used more than once as long as it is used in a different
program unit (main program, subprogram).

NOTE
For the use of this instruction, see Chapter 10 of Part I.

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

5.72 f : Available
: Unavailable
AXCTL (AXIS PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

CONTROL BY PMC) f f f f f f f f f f f f f f f f

NOTE
1 Option for Axis control by PMC function is required.
2 This functional instruction can not be used on the CNC that
does not have option for Axis control by PMC.

5.72.1 This function simplifies the handshake of DI/DO signal for the axis
Function control by PMC.

5.72.2
Format
RST W1
AXCTL ffff ffff f
Group No. Axis control
ACT (SUB 53) of DI/DO signal data address

Fig. 5.72.2 AXCTL instruction format

Table 5.72.2 AXCTL instruction coding

Step Instruc- Address Bit
Number tion Number Number Remarks

1 RD ffff. f RST
2 RD. STK ffff. f ACT
3 SUB 53 AXCTL command
4 (PRM) ffff Number of DI/DO signal
5 (PRM) ffff Axis control data address
6 WRT ffff. f W1, processing completion

5.72.3 ACT=0 : The AXCTL function is not executed.

If RST is 1, PMC axis control instruction reset processing is performed.
Control Condition
If a modification is made to a ladder program with RST set to 1, the
AXCTL instruction cannot sometimes be executed successively when the
ladder program is executed again.
When modifying a ladder program, set RST and ACT to 0.
ACT=1 : The AXCTL function is executed.
ACT is to be maintained 1 till the end of AXCTL processing.
And reset ACT immediately after the processing is complete
(W1 = 1).
RST=0 : Release reset.
RST=1 : Set the reset signal (ECLRx) to 1. All the buffered commands
are invalidated and the command being executed is stopped.
Set RST at the same time as the reset of CNC when CNC
becomes the state of alarm.

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

NOTE
When RST and ACT become 1 at the same time, RST is
prior to ACT.

5.72.4 (a) Group number of DI/DO signal

Parameters Specify the DI/DO signal group by the number.
1 : group A(G142 to G149, F130 to F132)
2 : group B(G154 to G161, F133 to F135)
3 : group C(G166 to G173, F136 to F138)
; Cannot be used on Power MateD/F
4 : group D(G178 to G185, F139 to F141)
; Cannot be used on Power MateD/F
5 : group E (G226 to G233, F228 to F230)
; Can be used only on Power MateH
6 : group F (G238 to G245, F231 to F233)
; Can be used only on Power MateH
Add 1000 to the above number as follows if you use HEAD2 of
FS16/18TT or 2nd path side of Power MatwD.
1001 : group A (G1142 to G1149, F1130 to F1132)
1002 : group B (G1154 to G1161, F1133 to F1135)
1003 : group C (G1166 to G1173, F1136 to F1138)
; Cannot be used on Power Mate
1004 : group D (G1178 to G1185, F1139 to F1141)
; Cannot be used on Power Mate
When 3rd path side is used with the Series 16i/18i, the following
addresses are used for DI/DO signals:
2001 : Group A (G2142 to G2149, F2130 to F2132)
2002 : Group B (G2154 to G2161, F2133 to F2135)
2003 : Group C (G2166 to G2173, F2136 to F2138)
2004 : Group D (G2178 to G2185, F2139 to F2141)
(b) Group number of DI/DO signal for PMiD/H
1 : Group A(G142 to G149, F130 to F132)
2 : Group B (G154 to G161, F133 to F135)
3 : Group C (G166 to G173, F136 to F138)
4 : Group D(G178 to G185, F139 to F141)
5 : Group E (G464 to G471, F500 to F502)
6 : Group F (G476 to G483, F503 to F505)
7 : Group G(G488 to G495, F506 to F508)
8 : Group H(G500 to G507, F509 to F511)
For 2nd path side of PMiD/H
1001 : Group A (G1142 to G1149, F1130 to F1132)
1002 : Group B (G1154 to G1161, F1133 to F1135)
1003 : Group C (G1166 to G1173, F1136 to F1138)
1004 : Group D (G1178 to G1185, F1139 to F1141)
1005 : Group E (G1464 to G1471, F1500 to F1502)
1006 : Group F (G1476 to G1483, F1503 to F1505)
1007 : Group G (G1488 to G1495, F1506 to F1508)
1008 : Group H (G1500 to G1507, F1509 to F1511)

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

NOTE
With the PMCSB5 (RB5), group E and subsequent groups
cannot be used. The SB6 (RB6) is required to use these
groups.

(c) Axis control data address

Select the addresses of the locations that contain PMC axis control
data.

+0 FANUC reserved Specify 0.

1 Control command Specify the command to set EC0xEC6x.

2 Command data 1 Specify the data to set EIF0xEIF15x.

4 Command data 2 Specify the data to set EID0xEID31x.

6
(x=A / B / C / D)
7

The following functions are available.

Operation Control Command data 1 Command data 2
Rapid traverse 00H Feedrate Total travel amount

Need not to set if CNC

PRM. 8002#0 = 0.
Cutting feed 01H Feedrate (Note 1) Total travel amount
(feed per min.)
Cutting feed (Note 2) 02H Feedrate per Total travel amount
(feed per revolution) revolution
Skip 03H Feedrate Total travel amount
(feed per min.) (Note 2)
Dwell 04H not used Dwell time
Reference pos. return 05H not used not used
Continuous feed (Note 3) 06H Feedrate Feed direction
(Note 4)
1st ref. pos. return 07H Feed rate
2nd ref. pos. return 08H
3rd ref. pos. return 09H Need not to set if CNC not used
4th ref. pos. return 0AH PRM. 8002#0 = 0.
(Note 2)
External pulse 0BH Pulse weighting
synchronization 0DH not used
(Note 2) 0EH
(Note 3) 0FH (Only M series)
Speed command 10H Feedrate not used
(Note 2)
(Note 5)
(Note 6)
Machine coordinate 20H Feedrate Position of machine
positioning. coordinate.
(Rapid traverse) Need not to set if CNC (absolute)
(Note 2) PRM. 8002#0 = 0.
(Note 6)

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

CAUTION
1 When you specify 0 for feedrate, CNC does not work.
Please release this state by RST = 1.
2 It is not available in PMCMODEL PA1/PA3.
3 When you end a continuous feed or external pulse
synchronization, set RST to 1. And, continuous feed cant
be used with buffering inhibits signal = 1. You must set the
signal to 0.
4 Specify the direction by most significant bit of command
data 2.
5 Command control axis must be specified to rotary axis by
setting parameter ROTx (No. 1006#0) to 0.
6 Not applicable to the Power Mate.
However this function applicables to the Power Mate i.
7 For details such as the range of command data, please refer
to the connecting manual for each CNC models.

CAUTION
The above table is not uptodate. For the latest
information, refer to the descriptions about PMC axis control
in the CNC Connection Manual (Functions).

Example 1) In case of cutting feed (feed per min.)

+0 0H Not used (Specify 0).

1 01H Command code for cutting feed. (feed per min.)

2 Feedrate unit : mm/min.

4 Total travel amount

5 unit : 0.001mm

6
(x=A / B / C / D)
7

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

Example 2) In case of machine coordinate positioning.

+0 0H Not used (Specify 0).

1 Command code for machine coordinate

20H positioning.

2 0
or In case of CNC PRM8002#0= 0 not used.
Feedrate =1 Feedrate.
3

(Absolute)
4 Position in machine
coordinate system
5

CAUTION
It is necessary to set the CNC parameters relating to the axis
movement.

5.72.5 W1=0 : It is 0 usually. W1=1 indicates that AXCTL instruction is

completed.
End of Command (W1)
Specify ACT=0 immediately after processing is completed.
(W1=1).
W1=1 : It will become 1 when the command of the axis control by PMC
is buffered on CNC (when EMBUFx=0) or when axis
movement is completed (when EMBUFx=1).

5.72.6 When error occurs by processing the axis control by PMC, the bit of the
Operation Output operation output register will be set. At the same time, processing is over.
Register (R9000) 7 6 5 4 3 2 1 0

R9000

Group number of DI/DO

signal specification error.

NOTE
1 W1 becomes 1 regardless of the state of ACT.
2 It is not related to the state of the alarm signal (EIALx).

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5.72.7 (1) The following signals cannot be operated from this function.
Remarks Please operate by LADDER.
D Axis control stop signal
ESTPx (G142#5, G154#5, G166#5, G178#5)
D Servooff signal
ESOFx (G142#4, G154#4, G166#4, G178#4)
D Block stop signal
ESBKx (G142#3, G154#3, G166#3, G178#3)
D Block stop inhibit signal
EMSBKx (G143#7, G155#7, G167#7, G179#7)
D Controlled axis selection signal
EAX1EAX8 (G136#0 to #7)
D Override signal *FV0E*FV7E (G151#0 to #7)
D Override cancel signal OVCE (G150#5)
D Rapid traverse override signal
ROV2E, ROV1E (G150#1, #0)
D Dry run signal DRNE (G150#7)
D Manual rapid traverse RTE (G150#7)
selection signal
D Skip signal SKIP/ESKIP (X4#7, #6)
D Buffering inhibit signal
EMBUFx (G142#2, G154#2, G166/#2, G178#2)
(x=A/B/C/D)

WARNING
Movement cannot be sured when controlled axis selection
signal (EAXx) is changed in the state of ACT=1.

(2) Buffering inhibit signal (EMBUFx)

0 : The commands are buffered on the CNC.
Even if one command is being executed, the CNC accepts the next
command as long as there is vacancy in the buffer on CNC.
W1 will become 1 when the command of the axis control by PMC
is buffered on CNC.
1 : Prohibits the buffering on CNC.
W1 will become 1 when the movement of the instructed axis
control by PMC is completed.

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5.73 f : Can be used

: Usable in some
PSGNL (POSITION CNC models
SIGNAL OUTPUT) : Cannot be used

PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB5 SB6 SB7 SC SC3 NB NB2 NB6
SB4 SC4
f f

NOTE
The PMCSB5/SB6 can be used only in the Power Mate
iD/H.

5.73.1 This function outputs a signal that indicates the are in which the current
position in the mechanical coordinate system is located. The area is
Function
specified by parameter.

5.73.2
Format

ACT PSGNL ffff ffff

Area division Current position

(SUB 50) specification area output

data address address

Fig. 5.73.2 PSGNL instruction format

5.73.3 (a) Execution specification (ACT)

ACT=0 : The PSGNL instruction is not executed.
Control Condition
ACT=1 : The PSGNLnstruction is executed.

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.73.4 (a) Area division specification data address

Parameters Set the top address of area division specification data 29 bytes of
continuous memory are necessary in nonvolatile memory area for
area division specification data.

Area division
(1 : 1st Axis, 2 : 2nd Axis,...)
specification data Axis No.
+0 or
Path No. (1 : 1st Path1st Axis
(1byte) 2 :2nd Path1st Axis)

+1
I
(4bytes)

+5
II
(4bytes)

+9
III
(4bytes)

Area division
+13 specification data
IV
(4bytes)

+17
V
(4bytes)

+21
VI
(4bytes)

+25
VII
(4bytes)

+29

D In case of axisNo. specification

Please set axisNo. to select. (1 byte data of binary format)
(Example) Axis No.=1 : For machine coordinates of the 1st axis
Axis No.=2 : For machine coordinates of the 2nd axis
D In case of path specification (Power MateMODEL D dual path
control)
Please set pathNo. of axis to select. (1 byte data of binary format)
(Example)
Path spec.=1: For machine coordinates of the 1st axis on the 1st path)
Path spec.=2: For machine coordinates of the 1st axis on the 2nd path)
Each area division specification data (I, II, III, ...., VII) is 4bytes
binary format data. (Scale is 0.001mm or 0.001inch)

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

<Example of area division>

I II III IV V VI VII
(1) (2) (3) (4) (5) (6) (7) (8)
)
Total stroke area

As shown in the above diagram, check can be performed for the 8

areas (1) to (8) by dividing the total stroke area by 7 division points.

NOTE
1 Please set the division points data in ascending order (I <
II < .....<VI < VII). If they are not in ascending order, the
sequence program cannot operate normally.
2 Even if you need division points only under 7, you must set
the division specification data for7.

(b) Current position area output address

The address which is output the divided area that the currrent position
in the machine coordinates system located.
Cureent position
7 6 5 4 3 2 1 0
area output address (1) (2) (3) (4) (5) (6) (7) (8)

Corresponding bit is set to 1 indicates the area in which the current

position in the machine coordinates system is located.
(Example)
Bit 0 becomes 1 if the current position in the machine coordinate
system is greater than VII. Bit 1 becomes 1 if the current position
in the machine coordinate system is greater than VI but not greater
than VII.

5.73.5 If an error occurs in position signal output processing, the corresponding

Operation Output bit of the operation output register is set.
Register (R9000) 7 6 5 4 3 2 1 0

R9000

Axis number or path

specification error

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.73.6 This example illustrates how to output the position signal of the current
Example of Using position of the first axis of path 1 in the machine coordinate system (the
area split specification data and current position area output addresses are
Position Signals set to D0321 and R1000, respectively).

ACT PSGNL D0321 R1000

(SUB 50)

Decimal

D0321 1

D0322 300000

D0326 200000

D0330 100000

D0334 0

D0338 100000

D0342 200000

D0346 300000

If ACT = 1 for the above ladder and area split specification data, the
current specification area output (R1000) is as follows:
D R1000.0=1: The current position in the machine coordinate system is
greater than 300.000 mm.
D R1000.1=1: The current position in the machine coordinate system is
greater than 200.000 mm but not greater than 300.000 mm.
D R1000.2=1: The current position in the machine coordinate system is
greater than 100.000 mm but not greater than 200.000 mm.
D R1000.3=1: The current position in the machine coordinate system is
greater than 0 mm but not greater than 100.000 mm.
D R1000.4=1: The current position in the machine coordinate system is
greater than 100.000 mm but not greater than 0 mm.
D R1000.5=1: The current position in the machine coordinate system is
greater than 200.00 mm but not greater than 100.000
mm.
D R1000.6=1: The current position in the machine coordinate system is
greater than 300.000 mm but not greater than 200.000
mm.
D R1000.7=1: The current position in the machine coordinate system is
not greater than 300.000 mm.

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

5.74 f : Can be used

: Usable in some
PSGN2 (POSITION CNC models
: Cannot be used
SIGNAL OUTPUT 2) PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB5 SB6 SB7 SC SC3 NB NB2 NB6
SB4 SC4
f f

NOTE
The PMCSB5/SB6 can be used only in the Power Mate
iD/H.

5.74.1 Turn W1=1 which th ecurrent position in the machine coordinates system
Function is in the area specifified by parameters.

5.74.2
Format
ACT PSGN2 ffff W1
Control data f
(SUB 63) address

Fig. 5.74.2 PSGN2 instruction format

5.74.3 (a) Execution specification (ACT)

ACT=0 : The PSGN2 instruction is not executed.
Control Condition
ACT=1 : The PSGN2 instruction is executed.

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5.74.4 (a) Control data address

Parameters Please set the top address of control data.
For the area specification data, 9bytes of continuous memory area in
the nonvolatile memory is necessary.
Control data+0
Axis No. (1 : 1st Axis, 2 : 2nd Axis,...)
(basic
or
specification)
Path No.
(1 : 1st Path1st Axis
(1byte) 2 :2nd Path1st Axis)

+1
Boundary Point 1
(4bytes)

+5
Boundary Point 2
(4bytes)

+9

D In case of axisNo. specification

Please set axisNo. to select. (1 byte data of binary format)
(Example) Axis No.=1 : For machine coordinates of the 1st axis
Axis No.=2 : For machine coordinates of the 2nd axis
D In case of path specification (Power MateMODEL D two path
control)
Please set pathNo. of axis to select. (1 byte data of binary format)
In the PMCSB5/SB6 for the Power Mate i, control data can be used
under the following expanded specification. Generally, use of the
expanded specification offers faster operation. So it is recommended
that the expanded specification be used.
The control data requires 12 consecutive bytes in nonvolatile
memory.
Control data + 0
(expanded Fixed to 0
(2bytes)
specification)

(0 = path 1, 2 = path 2, ...)

+2
Path specification
(1byte)

+3 (1 = first axis, 2 = second axis, ...)

Axis number
(1byte)

+4
Boundary point 1
(4bytes)

+8
Boundary point 2
(4bytes)

+12

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

D Path specification
A path is specified. (Onebyte data in binary form)
(Example) Path specification = 0: Path 1 is specified.
Path specification = 2: Path 2 is specified.
Path specification = 3: Path 3 is specified.
D Axis number specification
An axis number is specified. (Binary onebyte data)
(Example) Axis number = 1: The machine coordinates for the first
axis are specified.
Axis number = 2: The machine coordinates for the second
axis are specified.
(Boundary points <1> and <2> are binary fourbyte data. Their unit
of measurement is 0.001 mm or 0.001 inch.

CAUTION
Data for both boundary points <1> and <2> must be
specified in ascending order (boundary point 1 x boundary
point 2).

<Example of area division>

1
W1 0

Boundary Point < 1 > Boundary Point < 2 >

Note) Includes
+ F : Boundary Point <1><2>.
F F
Total stroke area

5.74.5 W1=0 : The current position in the machine coordinates system is

outside of the area specified by parameters.
Current Position Area
W1=1 : The current position n the machine coordinates system is inside
Output (W1) of the area specified by parameters.

5.74.6 If an error occurs in position signal output processing, the corresponding

Operation Output bit of the operation output register is set.
In this case, W1 = 0.
Register (R9000)
7 6 5 4 3 2 1 0

R9000

Axis number or path

specification error

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.74.7 D This example illustrates how to output the position signal for the
Example of Using current position of the second axis of path 1 in the machine coordinate
system if it is the position between 100.000 mm and 200.000 mm.
Position Signals (The control data address is set to D0320.)

(Basic specification)

ACT PSGN2 D0320 W1

f
(SUB 63)

Binary Decimal
D0320 00000010 ( 2)
D0321 01100000 (100000)
D0322 01111001
D0323 11111110
D0324 11111111
D0325 01000000 ( 200000)
D0326 00001101
D0327 00000011
D0328 00000000

(Basic specification)

ACT PSGN2 D0320 W1

f
(SUB 63)

Binary Decimal
D0320 00000000 0
D0321 00000000
D0322 00000000 0
D0323 00000010 2
D0324 01100000 100000
D0325 01111001
D0326 11111110
D0327 11111111
D0328 01000000
D0329 00001101 200000
D0330 00000011
D0331 00000000

If ACT = 1 for the above ladder and control data, W1 = 1 when:

100.000 x current position (second axis) in the machine coordinate
system x 200.000 mm

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B61863E/14 PMC SEQUENCE PROGRAM 5. FUNCTIONAL INSTRUCTIONS

5.75 f : Can be used

: Can be used depending of the version of software
NOP (NO : Cannot be used

OPERATION) PMD/H PA1 PA3

FS16/18A SA1 SA2 SA3 SB SB2 SB3 SC SC3

FS16/18B SA1 SB3 SB4

FS16/18 B/C SC3 SC4

FS16/18C SA1 SB5 SB6

FS20 SA1 SA3

FS21B SA1 SA3

FS0i SA1 SA3

FS16i/18i/21i SA1 SA5 SB5 SB6 SB7

PMi
f f f f f
FS15B NB NB2

FS15i NB6
f

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5. FUNCTIONAL INSTRUCTIONS PMC SEQUENCE PROGRAM B61863E/14

5.75.1 During creation of a ladder program using the offline programmer, if the
Function program is compiled with specifying the setting with which a net
comment or form feed code is used and the point of the net comment is
output, position information of the net comment or form feed code is
output as the NOP instruction. This instruction performs no operation
during execution of the ladder.

CAUTION
1 Do not move or delete the NOP instruction using the builtin edit function. During
decompilation, position information of net comments and form feed are lost.
2 For the model which does not support this instruction, always compile a program without
specifying the setting with which the net comment pointers are output. If the NOP instruction
is executed on a model which does not support the instruction, a system error may occur.
Set the following items on the programmer compiler option screen as shown below:
FANUC LADDERII Select [None] for [Net Comment].
FANUC LADDERIII Uncheck [Output Net Comment Pointers].
3 This instruction can be used on the following models on which the listed version or later of
software is installed:
PMD/H PMCPA1 4074/01 to, 4078/06 to
(Cannot be used on series 4075)
FS16B/18B PMCSB3/SB4 4066/08 to
Edit card 4073/06 to
FS16C/18C PMCSA1/SB5/SB6 4067/09 to
Edit card 4090/04 to
FS16B/18B/16C/18C PMCSC3/SC4 4068/08 to
FS15B PMCNB/NB2 4048/06 to, 4049/01 to
(Cannot be used on series 4075)

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B61863E/14 PMC SEQUENCE PROGRAM 6. NONVOLATILE MEMORY

6 NONVOLATILE MEMORY

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6. NONVOLATILE MEMORY PMC SEQUENCE PROGRAM B61863E/14

6.1 Nonvolatile memory is considered nonvolatile if its contents are not

erased when the power is turned off.
TIMER, COUNTER,
KEEP RELAY, (1) Used for the timer
NONVOLATILE Time can be set and displayed from the CRT/MDI panel. The set time
can be read or written by a sequence program instruction.
MEMORY CONTROL,
DATA TABLE (2) Used for the counter
This area is used to store the preset and cumulative values of the
counter. Values can be set and displayed from the CRT/MDI panel.
These values can be read and written by a sequence program
instruction. Refer to section 3.5 for details of addresses.
The data format is two bytes of BCD or binary, and the higher-order
digits are entered at the smaller address.
Whether counter is processed by BCD format or binary format is
selected by a system parameter.

Example) PMC counter addresses are C0 and C1 and the set value
is 1578.

BCD code (1578)

7 6 5 4 3 2 1 0
C0 0 1 1 1 1 0 0 0

7 8

7 6 5 4 3 2 1 0
C1 0 0 0 1 0 1 0 1

1 5

Binary code (1578)

7 6 5 4 3 2 1 0
C0 0 0 1 0 1 0 1 0

27 26 25 24 23 22 21 20

7 6 5 4 3 2 1 0
C1 0 0 0 0 0 1 1 0

215 214 213 212 211 210 29 28

To change low-order digits of the set value by a sequence program

instruction with 1 byte processing, specify C0 as the output address
of the functional instruction parameters to enter new data.

(3) Keep relay

This memory is used as parameters, keep relays, etc. for sequence
control. Setting and display are possible from the CRT/MDI panel
and sequence program instructions can be used for reading and
writing. Since data set or displayed from the CRT/MDI panel is
binary eight bits, each of the eight digits of data is set or displayed
as 0 or 1.

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B61863E/14 PMC SEQUENCE PROGRAM 6. NONVOLATILE MEMORY

(4) Nonvolatile memory control (MWRTF, MWRTF2) (Address K16)

This memory is used when the position of a moving part of the
machine tool, such as a lathe turret, is stored in code (BCD, etc.) and
to maintain it while power is off.
#7 #6 #5 #4 #3 #2 #1 #0
K16 MWRTF2 MWRTF

Setting and display are possible from the CRT/MDI panel, and
sequence program instructions can be used for reading and writing.
If, for example, power is turned off for some reason during rotation
of the turret, the turret stops and a difference between the contents of
the memory storing the position and the actual position of the turret
occurs. When power is turned on again, the machine tool will be out
of sequence. To prevent this, use the nonvolatile memory control, and
a sequence program as follows.
(a) Set MWRTF in nonvolatile memory control to 1 before starting
the turret.
(b) Start the turret.
(c) Set MWRTF to 0 after the turret stops.
(d) MWRTF remains 1 if power is turned off between a) and c).
(e) When power is turned on again, automatically MWRTF2 = 1 and
an error is reported to the sequence program. Thus, the sequence
program processes (a) to (d), check for the error of MWRTF2, and
outputs an alarm when MWRTF2 = 1 (error).
(f) In response, the operator should set MWRTF and MWRTF2 to 0
from the CRT/MDI panel.
(g) Resume operation after the contents of the memory and the turret
position are aligned.
(5) Data table
A sizable amount of numeric data (data table) can be used for
sequence control by the PMC. See section 6.3 for details.

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6. NONVOLATILE MEMORY PMC SEQUENCE PROGRAM B61863E/14

6.2 All the nonvolatile memory data can be read and written by the sequence
program. The memory read and written by the PMC sequence program
READING AND is actually not a nonvolatile memory, but a nonvolatile memory image
WRITING OF (RAM) storing the same data as the nonvolatile memory. When the power
NONVOLATILE supply is turned off, the data in the nonvolatile memory image disappears.
Immediately after the power is turned on, the nonvolatile memory data is
MEMORY DATA
automatically transferred to the nonvolatile memory image. Before the
power is turned off, the data is correctly restored.
When the nonvolatile memory image is rewritten by the sequence
program, the data is automatically transferred to the CMOS or bubble
memory.
When the sequence program rewrite nonvolatile memory image of area,
the rewritten data is automatically transferred to the nonvolatile memory.
Rewriting of nonvolatile memory can also be done by rewriting optional
addresses of the nonvolatile memory image in an optional timing. The
changed data will be automatically transferred to the nonvolatile memory.
Therefore, there is not special processing necessary when the sequence
program writes or reads nonvolatile memory. It will only take some time
to write in the nonvolatile memory (512 ms).

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B61863E/14 PMC SEQUENCE PROGRAM 6. NONVOLATILE MEMORY

6.3 (1) Introduction

PMC DATA TABLE PMC sequence control sometimes requires a sizable amount of
numeric data (herein after referred to as data table. If contents of such
data table are free to set or to read, they can be used as various PMC
sequence control data, such as tool numbers of tools on the ATC
magazine.
Each table size can be set optionally in the memory for data table, and
1-, 2-, or 4-byte binary or BCD format data can be used per each table,
thus consigning a simple-to-use table.
Data in the data table can be set in the nonvolatile memory or
displayed via the CRT/MDI panel.
Data set in the data table can also be easily read or written by the
sequence program using function instructions as data search
(DSCHB), or index modification data transfer (XMOVB).

NOTE
For details of the usable range, see I3.

(2) Configuration of the PMC data table and notes on programming

(a) Configuration of the data table
PMC data table consists of table control data and data table. Table
control data control the size and data format (BCD or binary) of
the tables.
This table control data must first be set from CRT/MDI before
preparing data table. In the sequence program, the table control
data cannot be read or written. When the contents of the
nonvolatile memory are read or written using the Floppy Cassette,
the table control data is read or written together. Fig 6.3 (a) is a
general configuration of the data table, and Fig 6.3 (b) is a detailed
configuration of the data table. Also refer to 3.7 for data table
configuration.
(b) Data table head address
If the data table starts from an odd address, for example, when a
data table is created with an odd number of one-byte data, the
DSCHB instruction operates slower than when the data table
starts from an even address. It is recommended that the starting
address of a data table be an even number.

357
6. NONVOLATILE MEMORY PMC SEQUENCE PROGRAM B61863E/14

Table control data

Data table number

D0
D1
Basic data table
(1860 bytes or 3000 bytes)

Data table

D1859
or
D2999

Fig. 6.3 (a) General configuration of data table

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B61863E/14 PMC SEQUENCE PROGRAM 6. NONVOLATILE MEMORY

Number of
tables

Table parameter

Table 1 Data type

control data
Number of data

Data table head address

Table parameter

Table 2 Data type

control data
Number of data Table control data

Data table head address

Table parameter

Table n Data type

control data
Number of data

Address No. Data table head address

D0 Table number
0 Data
D1
1 Data table 1
D2 :
n1
Table number
0
1
2 Data
3 Data table 2
: Data table
:
n2

Table number

Table number
0 Data
1 Data table n
:
np

(Note)
n1, n2, and np are the last table number
of each data table.

Fig. 6.3 (b) Detailed configuration of data table

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6. NONVOLATILE MEMORY PMC SEQUENCE PROGRAM B61863E/14

(3) Table control data

The table control data controls a data table
If the table control data is not properly set, a data table described in
Item (4) cannot be properly created.
Referring to the description in Item (3), set the table control data, then
create a data table.
(a) Number of groups of tables
Specify the number of groups of data tables in binary.
(b) Control data for table groups 1 to n
Each data table has table control data consisting of the starting
address of the table, table parameters, data type, and the number
of data items.
(i) Starting address of the table
Specify the starting address of the table from D0 to D1859
or D0 to D2999.
(ii) Table parameter
#7 #6 #5 #4 #3 #2 #1 #0
MASK COD

0 : A data table is specified in binary.

COD
1 : A data table is specified in BCD.

0 : The contents of the data table are not protected.
MASK
1 : The contents of the data table are protected.

(iii) Data type

Specify the length of data in the data table.
0 : One byte
1 : Two bytes
2 : Four bytes
(iv) Number of data items
Specify the number of data items used in the data table.
(4) Data table
Data table can be created within the range of the memory (D address)
for the data table and separated some groups. This number of groups
is decided with the number of tables of table control data.
The maximum of the number of table groups.
Except PMCNB max 100 tables
PMCNB max 50 tables

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B61863E/14 PMC SEQUENCE PROGRAM 6. NONVOLATILE MEMORY

Table number

0
1

2
Table 1 (1-byte data)
3

Table 2 (2-byte data)

Each data table can be used in 1, 2 or 4 byte data. Table parameter

of table control data decides whether to use 1 or 2 byte data.
Therefore, 1 table number is taken for a 1-byte data when table data
is 1 byte; 2 byte data when table data is 2 bytes.
(5) Entering data in a data table
Specify a location number in the data table from the CRT/MDI panel,
then enter the data. A number for each location in the table is defined
for each data table group.

NOTE
Reading and Writing of the data table are available from the
sequence program.

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7. LADDER DIAGRAM FORMAT PMC SEQUENCE PROGRAM B61863E/14

7 LADDER DIAGRAM FORMAT

A designer examines and checks the ladder diagram in the process of

design. However, it should be noted that other persons (maintenance
servicemen, for example) read the ladder diagram far longer than the
designer.
Accordingly, the ladder diagram must be written to be easily understood
by all persons.
For this purpose, applicable symbols, writing method, and other methods
are specified as detailed below.

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B61863E/14 PMC SEQUENCE PROGRAM 7. LADDER DIAGRAM FORMAT

7.1 Addresses, signal names, comments, and line numbers must be inserted
into a ladder diagram to enable all users to easily read the ladder diagram.
ADDRESSES,
SIGNAL NAMES,
COMMENTS, AND
LINE NUMBERS

7.1.1 Each address consists of an address number and a bit number, and it is
represented as follows.
Addresses

Bit number (0 to 7)

Address number
(A numeric of 4 digits or less after an alphabetic character)

An alphabetic character is prefixed to the start of each address number to

represent the kinds of signals as shown in Table 7.1.1.

Table 7.1.1 Alphabetic symbols of address numbers

Symbol Type of signal

X Input signal entered from machine tool to PMC (MTPMC)
Y Output signal sent from PMC to machine tool (PMCMT)
F Input signal entered from CNC to PMC (CNCPMC)
G Output signal sent from PMC to CNC (PMCCNC)
R Internal relay
A Message display request
C Counter
K Keep relay
D Data table
T Variable Timer
L Label number
P subprogram number

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7. LADDER DIAGRAM FORMAT PMC SEQUENCE PROGRAM B61863E/14

7.1.2 Suitable symbols shall be attached to I/O signals as signal names

Signal Names according to the following procedure.
(1) The names of all signals containing CNC signals and machine tool
signals are represented within 6 characters.
Alphanumeric characters and special symbols described in this
manual are all employable.
(2) For CNCPMC signal names, signal names shown in the PMC
address table are employable as they are.
(3) CNC signals to be entered from the machine tool and CNC signals
to be sent to the machine tool are identified from each other by
prefixing X or Y to the start of these CNCPMC signal names,
respectively. A single block input signal is represented as XSRK by
prefixing X, while a start lamp output signal is represented as YSTL
by prefixing Y, for example. However, when X or Y is prefixed to the
start of an CNCPMC signal name, certain signal names exceed 6
characters. In such a case, omit the last character from such a signal
name (*SECLPX*SECL)

7.1.3 A comment of within 30 characters can be inserted to a relay coil in a

Comments sequence program and each symbol in a symbol table.
When relay coils are output signals to the machine tool, insert a detailed
description of the signal to all relay coils as the comment to be inserted
to the relay coil. Also insert a detailed description of the signal when other
auxiliary relays are significant in sequence control.
Be sure to insert detailed descriptions of machine toolrelated input
signals, in particular, as comments in symbol tables.
Detailed comments are necessary as it is difficult to guess the meanings
of signals specific to the machine tool by judging the symbol name alone.

7.1.4 A line number should be attached to each line of the ladder diagram. For
Line Numbers details, refer to Sec. 7.3.

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B61863E/14 PMC SEQUENCE PROGRAM 7. LADDER DIAGRAM FORMAT

7.2
Symbol Description
SYMBOLS USED IN
These are the contacts of relays in the PMC, and
THE LADDER A contact
are used for other input from the machine side
DIAGRAM and CNC
B contact

These are input signals from the CNC.

A contact

B contact

These are input signals from the machine side

A contact (including the built-in manual control panel).

B contact

These are timer contacts in the PMC

A contact

B contact

This is a relay coil whose contact is used only in

the PMC.

This is a relay coil whose contact is output to

CNC.

This is a relay coil whose contact is output to the

machine side.

This is the coil of a timer in the PMC.

This is a PMC fucnctional instruction. The actual

form varies depending on the instruction.

NOTE
If the coil is represented by or , the relay is within the
PMC, and the contact uses or .

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7. LADDER DIAGRAM FORMAT PMC SEQUENCE PROGRAM B61863E/14

7.3 (1) Format

The size should be A3 or A4 (JIS standard).
LADDER DIAGRAM
(2) Columns are used for wiring.
FORMAT

3A
3B
Line number

3P

Spindle control

(3) Divide the circuits into several functions. And program the same
function in a single program.
Example) Mode control.spindle control, turret control, APC control.
(4) Assign a line number to each line as follows:

Line symbol (A to Z)

Page number (1 to 999)

(5) Write a relay contact with a signal name of the relay coil, line number
and address.
Signal name

Address
Line number

(6) For complicated timing, timing chart should be on the same page of
the ladder diagram.
(7) The meaning of the code numbers for the S, T, and M functions
should be listed on the ladder diagram.
(8) The 1st level sequence part should be written at the beginning of the
ladder diagram.
(9) The following data should be written on the first page of the ladder
diagram:
(i) The sequence program design number
Machine tool builder shall assign design numbers of sequence
program and ROMs and manage them.
(ii) Description of symbol
(iii) Setting table of timer, counter, and PMC parameters and meaning
of them.
(iv) Description of functional instruction.
(10) Easy-to-understand name should be assigned.

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7.4 A general relay sequence circuit has a finite number of contacts, so several
relays use one contact in common so as to reduce the number of contacts
INFINITE NUMBER used as much as possible.
OF RELAY
CONTACTS

R1

R2

The PMC is considered to have an infinite number of relay contact and

is written as in the figure below.

A
R1

A B

R2

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8 MISCELLANEOUS ITEM

To create a ladder program related to the axis-control function by the

PMC, refer to the subsection, Axis-control function by the PMC, in the
Connecting Manual.

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9 SEQUENCE PROGRAM STRUCTURING

f : Can be used
: Cannot be used
PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

f f f f f f f f f f f f f

With the conventional PMC, a Ladder program is described sequentially.

By employing a Ladder language that allows structured programming, the
following benefits are derived:
D A program can be understood and developed easily.
D A program error can be found easily.
D When an operation error occurs, the cause can be found easily.

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9.1
EXAMPLES OF
STRUCTURED
PROGRAMMING

9.1.1 Three major structured programming capabilities are supported.

Implementation (1) Subprogramming
Techniques A subprogram can consist of a Ladder sequence as the processing
units.

Job A f

FUNC f
Job B

(2) Nesting
Ladder subprograms created in 1 above are combined to structure a
Ladder sequence.
Main Program Sub Program1 Sub Program2

Job A Job A1 Job A11

D
D
Job B D Job A12

Job An

(3) Conditional branch

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

Main Program Sub Program

PROCESS11 PROCESS11
STATE1 PROCESS1

PROCESS12
STATE2 PROCESS2

PROCESS13

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9.1.2 (1) Example

Applications Suppose that there are four major jobs.

If Y0 is 1, a request to machine a workpiece is assumed, and

A processing is performed (with a condition).
A : 1 Pick up a workpiece from a pallet. (A1)
2 Machine the workpiece. (A2)
3 Return the workpiece to the pallet. (A3)
B
B : 4 Move the pallet.

(2) Program structure

Sub Program P1 Sub Program P2 Sub Program P3 Sub Program P4

A A1 A1 A2

B A2 Sub Program P5 Sub Program P6

A3 B
A3

(3) Program description

Main Program

END1

Y0
CALL MAIN Machine a workpiece.

END2

Sub Program P1 (=MAIN)

SP MAIN

CALL A Machine a workpiece.


CALL B Move a pallet.

SPE

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Sub Program P2 (=A)

SP A

CALLU A1 Pick up a workpiece from a pallet.


CALLU A2 Machine the workpiece.


CALLU A3 Return the workpiece to the pallet.

SPE

Sub Program P3 (=A1)

SP A1

Pick up a workpiece
from a pallet. Ladder coding

SPE

Sub Program P4 (=A2)

SP A2

Machine the workpiece. Ladder coding

SPE

Sub Program P5 (=A3)

SP A3

Return the workpiece to Ladder coding
the pallet.
SPE

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Sub Program P6 (=B)

SP B

Move the pallet. Ladder coding

SPE

9.1.3 (1) Main program

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

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9.2
SUBPROGRAMMING
AND NESTING

9.2.1 Conditional JUMP (or unconditional JUMP) is coded in the main

Function program, and the name of a subprogram to be executed is specified. In
the subprogram, the name of the subprogram and a Ladder sequence to
be executed are coded.
When a subprogram is named Pn (program name), and this name is
specified in conditional JUMP, the subprogram is executed by calling it.
A symbol and comment can be added to Pn to assign a subroutine name.
In the example shown in Fig. 9.2.1, the main program calls three
subprograms. These calls are all conditional calls. Subprogram P1 is
named SUBPRO. It calls subprogram PROCS1 unconditionally.
Main Program Sub Program P1 (=SUBPRO)

END1 SP SUBPRO

f
CALL SUBPRO
CALLU PROCS1

CALL P2 f

CALL P3
ADD 0001 f
B 0001
END2 F10

R200

SPE

Fig. 9.2.1 Example of subprogramming and nesting

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

Main Program Sub Program

f
SP SUBPRO
END1
f
A
CALL SUBPRO

END2 SPE

Program cycle

Signal A

Main program

a b c d a
Subprogram

Management
program

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

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9.2.3 Create subprograms in the same way as the first-, second-, and third-level
Creating a Program Ladder programs.
Example of creation

END1
A

CALL SUBPRO

END2

SP SUBPRO

SPE

SP P20

SPE

END Must create

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Inhibit items
(1) Subprograms are nested.

SP SUBPRO

SPE

SPE

(2) A subprogram is created within the first-, second-, or third-level

Ladder program.

END1

SP SUBPRO

END2

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9.3 a) DISPB
CAUTIONS FOR b) EXIN
SUBROUTINES c) WINDR (only low-speed response)
d) WINDW (only low-speed response)
e) MMCWR
f) MMCWW
g) MMC3R
h) MMC3W
When you use the above-mentioned functional instructions, ACT=1 must
be held until the transfer completion information(W1) becomes 1.
Therefore, be careful of the following when using those instructions in
subprograms.
D Do not stop calling the subprogram at the state which has not been
completed yet, that is executed still while using the instructions in the
subprogram.
(In other words, do not set the ACT of the CALL instruction to 0)
If you do it the function of the instructions after that is not
guaranteed.
D Call the subprogram from other subprograms at the state which has
not been completed yet while using the instructions in the
subprogram.
The movement of the above-mentioned functional instruction
after that is not guaranteed so that the last functional instruction
may be processing the instruction.
Then, when the subprogram, in which the above-mentioned functional
instruction is used, is called from two or more places, it is necessary to
control the subprogram exclusively. The case of the WINDR instruction
(low-speed response) is given as an example here.

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Example)
When subprogram is called from two places. (The WINDR
instruction is used)

Main program Subprogram 1 Subprogram 2

C2
JMPB L4 SP S-PRO1 SP S-PRO2

C1 B A B
DATA1 SET JMPB L1 WINDR DATA

C1 ON A
CALL S-PRO1 SPE
A
A C1 CALL S-PRO2

B
C2
JMPB L2
C1
JMPB L3
LBL L1

LBL L4 ON A

C2
DATA2 SET CALLU S-PRO2

C2
CALL S-PRO1 LBL L2

A C2
SPE
C1

LBL L3

Description)
Subprogram 1 controls ACT(A)and W1(B)of WINDR (subprogram 2).
By A controlled in subprogram 1, the main program decides which
relay (C1,C2) to be effective.
When the WINDR instruction is completed, the following data will
be set and the other CALL instruction is started.
It keeps working in this way.

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10 JMP INSTRUCTIONS WITH LABEL SPECIFICATION

f : Can be used
: Cannot be used
PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SB7 SC SC3 SC4 NB NB2 NB6

f f f f f f f f f f f f f

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10.1 (1) Relationship between JMPB/JMPC and LBL

(Forward and backward jumps to the same label are possible.)
SPECIFICATIONS
JMPB A f : Possible

LBL A

f f

JMPB A

JMPC A

CAUTION
The specifications allow backward jumps. A backward
jump, however, may result in an infinite loop or cause the
execution time of the first-level Ladder program to exceed
1.5 ms (or 5 ms). Create a program carefully so an infinite
loop does not occur.

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(2) Same label

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

LBL A

First level LBL B

END1

Second level
LBL C

END2

SP A SP A

LBL C

SPE

SP B

SP B

LBL B

SPE

CAUTION
As mentioned in (8) of Section 10.2, the same label must not
exist in the first- and second-level Ladder programs.

(3) Number of labels

First-and second-level Ladder programs : Up to 256 labels
Subprogram : Up to 256 labels for each subprogram
Label number : L1 to L9999

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(4) Relationship between JMP/JMPE and JMPB/JMPC

(JMPB and JMPC can be used with JMP and JMPE freely.)

JMPB A
f : Possible

JMPE f

LBL A

JMPB D
f
JMPB B

JMP f

LBL B

JMPB C
f
LBL C

JMPE

LBL D

(5) Relationship between CALL/CALLU and JMPB/JMPC

(JMPB and JMPC can be used with CALL and CALLU freely.)

JMPB C f : Possible
f
JMPB A
f
CALL

LBL A

JMPB B
f

CALLU

LBL B

LBL C

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(6) Position of JMPC

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

LBL A f : Possible

f
Second level

END2

SP B

SP A COM

JMPC A

COME

SPE

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10.2 (1) Jump destination of JMPB (1)

(A jump over END1 or END2 is inhibited.)
RESTRICTIONS
f : Possible
LBL A
: Impossible

JMPB B
f

First level LBL B

JMPB C

END1

Second level LBL C

JMPB A

END2

(2) Jump destination of JMPB (2)

(A jump must be performed within a subprogram.)

f : Possible
JMPB A : Impossible
f
LBL A
SP A
JMPB B

SPE

SP B
SP B

LBL B

SPE

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(3) Jump destination of JMPB (3)

(A jump over COM or COME is inhibited.)

JMPB A f : Possible
: Impossible

COME

LBL A

JMPB D

f
JMPB B

COM

LBL B

JMPB C
f
LBL C

COME

LBL D

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(4) Jump destination of JMPC (1)

(A jump to the first-level Ladder program is inhibited.)

f : Possible
LBL A : Impossible

First level

END1

Second level
LBL B
f

END2

SP A

SP A

JMPC B

JMPC A

SPE

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(5) Jump destination of JMPC (2)

(A jump to a label between COM and COME is inhibited.)

: Impossible
COM

LBL A
Second level

COME

END2

SP A
SP A

JMPC A

SPE

(6) Jump destination of JMPC (3)

(Control must not be returned to a label that appears earlier than the
instruction that has called the subprogram.)
: Impossible

LBL A

Second level

CALL A

END2

SP A
SP A

JMPC A

SPE

CAUTION
Although Ladder diagrams can be edited, editing a Ladder
diagram may cause an infinite loop. So, be careful not to
program such processing.

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(7) LBL for JMPB (1)

(There is no LBL in the same subprogram.)

LBL A

Second level

END2

SP A
SP A

JMPB A

SPE

(8) LBL for JMPB (2)

(The same LBL is found in the first- and second-level Ladder
programs.)

JMPB A

First level
LBL A

END1

Second level

LBL A

END

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(9) LBL for JMPC

(There is no LBL in the second-level Ladder program.)

LBL A
Second level

END2

SP A
SP A

JMPC B

SPE

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11 INTERRUPTTYPE PMC FUNCTION

NOTE
This function is available only in the PMCSB5/SB6 for the
Power Mate iH. It requires the interrupttype PMC option.

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11.1 This function enables the discontinuation of the current sequence

program (secondlevel sequence section) and the execution of another
OVERVIEW sequence program (conventional firstlevel sequence section) when
urgent execution of the latter sequence program becomes necessary.
The interrupt program is called for execution on the rising and/or falling
edges of an interrupt input (one of eight points X1003.0 to X1003.7).

[Conventional] [Interrupt]
8ms

Interrupt input signal

(X1003)

Interrupt
First level

Second level Second level

System processing System processing

Fig. 11.1 Sequence program execution order

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11.2 The following NC parameters specify the conditions for the interrupt
input signals.
SETTING
D NC parameters (bit type)

#7 #6 #5 #4 #3 #2 #1 #0
8731 EPMC7 EPMC6 EPMC5 EPMC4 EPMC3 EPMC2 EPMC1 EPMC0

EPMCn Whether to use bit n of X1003 as an interrupttype PMC

0 : Not used.
1 : Used.

#7 #6 #5 #4 #3 #2 #1 #0
8732 UPEG7 UPEG6 UPEG5 UPEG4 UPEG3 UPEG2 UPEG1 UPEG0

UPEGn Whether to use the interrupttype PMC on the rising edge of a signal
defined by bit n of X1003
0 : Not used.
1 : Used.

#7 #6 #5 #4 #3 #2 #1 #0
8733 DWEG7 DWEG6 DWEG5 DWEG4 DWEG3 DWEG2 DWEG1 DWEG0

DEWGn Whether to use the interrupttype PMC on the falling edge of a signal
defined by bit n of X1003
0 : Not used.
1 : Used.
(Example) The following settings specify that the rising edge of bit 0
of X1003, the falling edge of bit 1 of X1003, and both the
rising and falling edges of bit 7 of X1003 be used as
conditions for interrupt program execution.

#7 #6 #5 #4 #3 #2 #1 #0
8731 1 0 0 0 0 0 1 1

#7 #6 #5 #4 #3 #2 #1 #0
8732 1 0 0 0 0 0 0 1

#7 #6 #5 #4 #3 #2 #1 #0
8733 1 0 0 0 0 0 1 0

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11.3
INTERRUPT
PROCESSING

11.3.1 This function uses a conventional firstlevel sequence section as an

Interrupt Program interrupt program.
Only one interrupt program is supported. More than one interrupt input
condition (up to 8 points from bit 0 to bit 7 of X1003) can be specified
as the conditions for executing the interrupt program. In this case, if any
one condition is satisfied, the interrupt program is executed. To define a
different process in the interrupt program for each interrupt input signal,
create the interrupt program by referencing Section 11.4, Sequence
Program Examples.

[Conventionally] [With interrupt used]

Run at 8ms intervals Run on interrupt input

Firstlevel Interrupt program
sequence section

END1(SUB1) END1(SUB1)

Run at 8 x nms intervals Run at 8 x nms intervals

Secondlevel (nonsplit method) Secondlevel (nonsplit method)
sequence section sequence section

END2(SUB2) END2(SUB2)

SP(SUB71) SP(SUB71)

Subprogram Subprogram

SPE(SUB72) SPE(SUB72)

END(SUB64) END(SUB64)

Fig. 11.3.1 Sequence program configuration

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11.3.2 Input/output signals (F, G, X, Y addresses) between the NC and machine

Input/Output Signal are processed asynchronously except for builtin I/O units (X1000 to
X1003, X1007, Y1000 to Y1002). (Usually, processing for NC <> PMC
Processing (F/G), Link master (X0 to X127), and I/O Link slave (X1020 to X1051,
Y1020 to Y1051) is performed at 8, 2, or 8ms intervals, respectively.)
When an interrupttype PMC is used, input signals (X1000 to X1003,
X1007) from a builtin I/O unit are read immediately before the interrupt
program is executed. Output signals (Y1000 to Y1002) to a builtin I/O
unit are written immediately after the interrupt program is executed.
Builtin I/O signals are processed at 8ms intervals even when the
interrupt program is not executed.
The same signal is read from both X1007 and X1003, but signal changes
in X1007 can be read faster. Therefore, ladder programs should use
X1007 rather than X1003 when referencing an input signal.
To enable the interrupt program to judge interrupt input trigger
conditions, the interrupt request status (which of the signals defined by
bit 0 to bit 7 of X1003 causes the interrupt) is output to an internal relay
(R9021).
D Interrupt relay R9021 (interrupt request status)
#7 #6 #5 #4 #3 #2 #1 #0
R9021

This relay indicates the status of an interrupt request corresponding to

each interrupt input signal (bit 0 to bit 7 of X1003).
When a bit is set to 1, it indicates that the corresponding signal is
requesting an interrupt.

11.3.3 The interrupt program is executed within 0.5 ms (software response time)
after an interrupt input signal is received. If there is an interruptinhibited
Response Time
interval, the execution of the interrupt program is deferred by the
corresponding time. If another interrupt input signal is received when the
interrupt program is already running, the newly received signal is kept
waiting until the current execution ends.

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11.3.4 The execution time of the interrupt program must be within about 6 ms,
Execution Time even in the worst case.
If an interrupt program whose execution time is longer than 6 ms is
executed, or if too many interrupt requests are made, a PMC alarm (WN08
INTERRUPT LADDER TIME OVER) is issued.
The maximum execution time of the interrupt program can be checked
using the internal relay (R9022 to R9023).
D Internal relay R9022 to R9023 (interrupt program maximum
execution time)
R9022 Interrupt ladder program maximum execution time [10 s]

This data is the maximum allowable execution time for the interrupt
ladder program. (0 to 655,350 s)
D PMC alarm message (alarm screen)
Alarm message Meaning and response

WN08 INTERRUPT The execution time of the interrupt ladder has ex-
LADDAR TIME OVER ceeded the allowable value (about 6 ms). The
interrupt program is too large, or too many inter-
rupt requests were issued. So, the second level of
the ladder has operated.
(Response) Make the interrupt program smaller,
or reduce the number of interrupt requests.

CAUTION
Check the execution time of the interrupt program with the
internal relay mentioned above, and change the program to
keep the regular interrupt program execution time within 2
ms.

11.3.5 The WINDW machine instruction (with function code 10000) is used to
enable, disable, and clear (that is, nullify all internally stored requests for)
Interrupt
interrupts in the secondlevel program.
Enable/Disable/Clear If an interrupt request arises when an interrupt has been disabled, interrupt
program execution is deferred until an interrupt is enabled.
The secondlevel program is initially in an interrupt disabled state. Any
interrupt request is rejected before the NC preparation completed signal
MA (F1.7) is input. To enable immediately when the power is applied,
execute the WINDW machine instruction (with function code 10000),
using the preparation completed signal MA (F1.7) signal. (See Section
11.4, Sequence Program Examples.)
D Window function (with function code 10000 for enabling, disabling,
and clearing interrupts)
[Description of data]
Interrupttype PMC interrupts are enabled, disabled, and cleared.

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[Input data structure]

Top address+0
(Function code)

10000

+2
(Completion code)

(Need not be set)

+4
(Data length)

(Need not be set)

+6
(Data number)
N N=1 to 3
(N = data specification) 1: Enable interrupts. (All conditions)
2: Disable interrupts. (All conditions)
3: Clear interrupts. (All conditions)
+8
(Data attribute)

(Need not be set)

+10

[Completion code types]

0: Interrupt setting has been completed normally.
3: The specified data number is incorrect. (Data other than 1, 2, or 3 was
specified.)
6: The interrupttype PMC option is not available. Alternatively,
conditions for setting the interrupt input signals specified in the
relevant NC parameters are incorrect.
[Output data structure]

Top address+0
(Function code)

10000

+2
(Completion code)
?
(See the above descriptions
about the completion codes.)
+4
(Data length)
?
(Data at input)

+6
(Data number)
N
(Data at input)

+8
(Data attribute)
?
(Data at input)

+10

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11.3.6 Machine instructions not usable in the interrupt program

Cautions (1) TMR (timer), TMRB (fixed timer), and TMRC (timer)
The least input increment for the timer values is 8 ms, so it may not
be possible to measure time accurately.
(2) CTR (counter), CTRC (counter), DIFU (rising edge detection), DIFD
(falling edge detection)
Because the rising or falling signal edge is handled, it is necessary to
execute the interrupt program twice in order to check for signal
changes. Furthermore, the DIFU and DIFD outputs are held to 1 until
the interrupt program is executed again.
(3) DISPB (message display), EXIN (external data input), lowspeed
WINDR/WINDW (NC window data read/write), and AXCTL (PMC
axis control)
It takes at least two cycles (one cycle = 8 ms) to complete the execution
of each of these instructions. In addition, the execution of the EXIN,
lowspeed WINDR/WINDW, and AXCTL instructions involve
exclusive control. If the interrupt program is terminated before
completion, these instructions are disabled in the secondlevel
sequence program.
(4) CALL (conditional subprogram call) and CALLU (unconditional
subprogram call)
These instructions are unusable, in the same way as the conventional
firstlevel program.

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Continuous interrupt processing

After the interrupt program has been started by a certain interrupt signal,
if another interrupt signal occurs, it is processed after the current interrupt
processing is completed.
(Example) Rising edges of bits 0 and 1 of X1003

Interrupt input signal

(X1003.0)

Interrupt input signal

(X1003.1)

Executed later

Interrupt program

Fig. 11.3.6 (a) Continuous interrupt operations triggered

by different signals

After the interrupt program has been started by a certain interrupt signal,
if the same interrupt signal occurs again, it is ignored.
(Example) Rising edge of bit 0 of X1003

Interrupt input signal

(X1003.0)

Interrupt program This interrupt

request is
ignored.

Fig. 11.3.6 (b) Continuous interrupt operations triggered

by the same signal

If both the rising and falling edges of a certain interrupt input signal are
specified for interrupt, the falling (rising) edge is ignored if it is detected
during the interrupt program execution requested on the rising (falling)
edge. So, it is necessary to complete the interrupt program execution
before the interrupt input signal changes.

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PMC FUNCTION PMC SEQUENCE PROGRAM B61863E/14

11.4 (1) Interrupt program that handles interrupt requests separately

Use of R9021 together with a label jump enables processing interrupt
SEQUENCE requests separately as shown below.
PROGRAM
EXAMPLES
R9021.0 JMPB L0001
SUB68

Sequence program triggered by interrupt

input signal bit 0 of X1003.0
(executed only when bit 0 of R9021.0 = 1)

LBL L0001
SUB69

R9021.1 JMPB L0002

SUB68

Sequence program triggered by interrupt

input signal bit 1 of X1003.1
(executed only when bit 1 of R9021.1 = 1)

LBL L0002
SUB69

END1
SUB1

400
 11. INTERRUPTTYPE
B61863E/14 PMC SEQUENCE PROGRAM PMC FUNCTION

(2) Enabling interrupts immediately when the power is applied

MA(F1.7) DIFU 1 R0.0

MA
SUB57
signal
rising

R0.0 NUMEB 2
SUB40 10000
R100

R0.0 NUMEB 2
SUB40 1
R106

R0.0 R1.0
WINDW R100
Interrupt
SUB52
enable

END2
SUB2

401
11. INTERRUPTTYPE
PMC FUNCTION PMC SEQUENCE PROGRAM B61863E/14

(3) Specifying an interruptdisabled interval

R9091.1 NUMEB 2
SUB40 10000
R100

R9091.1 NUMEB 2
SUB40 1
R106

R9091.1 NUMEB 2
SUB40 10000
R200

R9091.1 NUMEB 2
SUB40 2
R206

R9091.1 R2.0
WINDW R200
Interrupt
SUB52
disable

Interruptdisabledinterval

R9091.1 R1.0
WINDW R100
SUB52 Interrupt
enable

END2
SUB2

402
II. PMC OPERATION (CRT/MDI)
B61863E/14 PMC OPERATION (CRT/MDI) 1. GENERAL

1 GENERAL

The following PMC data can be set and displayed by using the CRT/MDI
panel.
1) PMC I/O signal display and internal relay display (PMCDGN)
PMCDGN has following screens.
a) Title data display
b) Status screen
c) Alarm screen
d) Trace function
e) Memory display
f) Signal Wareform display function
g) User task execution status display function
2) PMC data setting and display (PMCPRM)
The following PMC data are provided.
a) Timer
b) Counter
c) Keep relay
d) Data table
3) Display of sequence program ladder diagram (PMCLAD)
4) PMC screen (PMCMDI) for the user
Press the function key <CUSTOM> on the CRT/MDI panel first.

NOTE
This function key is effective when a user program exists in
the PMCRC.

Switch the NC and PMC menus as described below.

NC screen to PMC screen
Press the SYSTEM function key on the CRT/MDI panel. Selecting the
PMC soft key displays the PMC basic menu.
PMC screen to NC screen
D Pressing the RETURN key (the leftmost key) on the PMC basic
menu screen changes the menu to the NC soft key menu.
D Selecting a function key on the PMC screen changes the screen to the
corresponding NC screen.
Figs. 1 a) to 1 l) show the standard CRT/MDI panels.

NOTE
A key in < > is a function key on the CRT/MDI panel. A key
in [ ] is a soft key described below.

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1. GENERAL PMC OPERATION (CRT/MDI) B61863E/14

a) 9 small monochrome/color CRT/MDI panel for 16TA/18TA

(Horizontal type)

Function keys Address/numeric keys

SHIFT key
Cancel key
INPUT key

Edit keys

HELP key
RESET key

Soft keys Page keys

Cursor control keys

b) 9 monochrome/color CRT/MDI panel for 16TA/18TA

(Horizontal type)

RESET key
HELP key Address/numeric keys

Edit keys

Cancel key

INPUT key

Soft keys Page keys Function keys

Power on/off buttom SHIFT key Cursor control keys

406
B61863E/14 PMC OPERATION (CRT/MDI) 1. GENERAL

c) 10 color LCD/MDI panel for 16TA/18TA (Horizontal type)

Function keys Address/numeric keys

Cancel key
SHIFT key
INPUT key

HELP key
RESET key

Page keys Edit keys

Soft keys
Power on/off buttom Cursor control keys

d) 10 color LCD/MDI panel for 16TA/18TA (Vertical type)

Power on/off buttom

Soft keys

RESET key Function keys

HELP key Edit keys

Cursor control keys

SHIFT key

Address/numeric keys Page keys

INPUT key
Cancel key

407
1. GENERAL PMC OPERATION (CRT/MDI) B61863E/14

e) 14 color CRT/MDI panel for 16TA/18TA (Horizontal type)

RESET key
Address/numeric keys HELP key

SHIFT key

Edit keys

INPUT key
Cancel key
Function keys

Cursor control keys

Power on/off buttom Page keys

Soft keys

f) 14 color CRT/MDI panel for 16TA/18TA (Vertical type)

Soft keys

RESET key
Function keys
HELP key Edit keys
Cursor control keys

Address/numeric keys Page keys

Power on/off buttom INPUT key
SHIFT key Cancel key

408
B61863E/14 PMC OPERATION (CRT/MDI) 1. GENERAL

g) 9 small monochrome/color CRT/MDI panel for

16MA/18MA (Horizontal type)

Function keys Address/numeric keys

SHIFT key
Cancel keys
INPUT key

Edit keys

HELP key
RESET key

Page keys
Soft keys
Cursor control keys

h) 9 monochrome/color CRT/MDI panel for 16MA/18MA

(Horizontal type)

RESET key
HELP key Address/numeric keys

Edit keys

Cancel key

INPUT key

SHIFT key Cursor control keys

Power on/off buttom Soft keys Function keys
Page keys

409
1. GENERAL PMC OPERATION (CRT/MDI) B61863E/14

i) 10 color LDC/MDI panel for 16MA/18MA (Horizontal type)

Function keys Address/numeric keys

Cancel key
SHIFT key
INPUT key

HELP key
RESET key

Page keys Edit keys

Soft keys
Cursor control keys
Power on/off buttom

j) 10 color LCD/MDI panel for 16MA/18MA (Vertical type)

Power on/off buttom

Soft keys

RESET key Function keys

HELP key Edit keys

Cursor control keys

SHIFT key

Address/numeric keys Page keys

INPUT key
Cancel keys

410
B61863E/14 PMC OPERATION (CRT/MDI) 1. GENERAL

k) 14 color CRT/MDI panel for 16MA/18MA (Horizontal type)

RESET key
Address/numeric keys HELP key

SHIFT key

Edit keys

INPUT key
Cancel key
Function keys

Cursor control keys

Power on/off buttom Page keys

Soft keys

l) 14 color CRT/MDI panel for 16MA/18MA (Vertical type)

Soft keys

RESET key
Function keys

HELP key Edit keys

Cursor control keys

Address/numeric keys Page keys

Power on/off buttom
INPUT key
SHIFT key Cancel key

411
1. GENERAL PMC OPERATION (CRT/MDI) B61863E/14

1.1 Note the followings when you input PMCaddress on the original MDI
boards made by MTBs without using Standard MDI Unit supplied by
FOR MDI UNITS FANUC.
OTHER THAN
(1) If the MDI has the keys to input PMCaddress (X, Y, F, G, R, A, C,
STANDARD MDI K, D, T), You can operate as same as FANUC Seires 18
UNITS (FOR FS20 (PMCSA1/SA3).
PMCSA1 AND SA3) (2) If MDI does not have those keys, input PMCaddress as follows.
When inputting PMCaddress (in PCLAD, STATUS and so on), you
can substitute number keys (0 to 9) and a hyphen key () for
PMCaddress capital keys (X, Y, F, G, etc.). PMCaddress capital
keys are corresponding to the number keys as follows.
PMCaddress keys G F Y X A R T K C D
number keys 0 1 2 3 4 5 6 7 8 9

(Example) If you want to input X0.0 [SRCH] , input 30.0 [SRCH] .

1.2 When a valid sequence program is contained in the PMC, automatic

operation can be started immediately after poweron by keep relay
AUTOMATIC setting. This eliminates the need to display the PMC screen and run a
OPERATION WHEN sequence program each time the power is turned on. The keep relay
THE POWER IS setting method depends on the PMC model. See Section 4.3.3.
TURNED ON

1.3 When the power for the CNC is turned on for the first time, a RAM
PARITY or NMI alarm may occur in the PMC. This is caused by invalid
CLEARING THE data in the sequence program storage area in the PMC. The sequence
SEQUENCE program must be cleared to prevent this.
PROGRAM The automatic operation (see 1.2 above) can also be stopped by clearing
the sequence program in the PMC.
The sequence program can be cleared in either of the following two ways:
1. Turn on the power while pressing X and O.
2. Turn on the power, display the PMC screen, and use the programmer
function of the PMC (EDIT/CLEAR).

NOTE
In case of loader control function, turn on the power while
pressing X and 5.

412
B61863E/14 PMC OPERATION (CRT/MDI) 1. GENERAL

1.4 The PMCPA1 and PA3 contained in the Power Mate have a sequence
program called the standard ladder in their ROM to operate the Power
LOADING THE Mate without creating a sequence program.
STANDARD LADDER
Operation)
(FOR Power MateD/F
Parameter in the Power Mate
PMCPA1 AND PA3)
#7 #6 #5 #4 #3 #2 #1 #0
8703 FLA

#0 (FLA) = 0 : The FANUC standard ladder is not used.

1 : The FANUC standard ladder is used.
(1) Set bit 0 (FLA) of NC parameter 8703 to 1.
This generates alarm 000 (poweroff request) in the Power Mate.
(2) Turn off the power, then turn it on again.
If the PMC contains a sequence program (PMC alarm ER22
PROGRAM NOTHING does not occur), turn on the power while
clearing the sequence program (pressing X and O).
(3) The FANUC standard ladder is loaded.

CAUTION
If the sequence program is not cleared in the PMC, the
FANUC standard ladder is not loaded. The existing
sequence program remains.

1.5 See Part IV, PMCNB6 Manipulation for an explanation of how to

operate the FS15i PMCNB6.
FS15i PMCNB6
OPERATING
PROCEDURE

1.6 See Part V, PMCSA1/SB7 Manipulation for an explanation of how to

operate the FS16i/18i/21iB PMCSA1/SB7.
FS16i/18i/21iB
PMCSA1/SB7
OPERATING
PROCEDURE

413
1. GENERAL PMC OPERATION (CRT/MDI) B61863E/14

1.7 A password can be specified for a ladder program. Specified passwords

are stored as sequence program data. A ladder program for which the
LADDER PASSWORD password has been specified cannot be displayed or edited.
FUNCTION Symbols, comments and messages, however, can be displayed and edited
whether a password is specified or not.
(1) Applicable model
PMCSA1/SA5/SB5/SB6 for Series 16i/18i/21iA
PMCSA1/SB3/SB4/SC3/SC4 for Series 16/18MODEL B
PMCSB5/SB6 for Series 16/18MODEL C
PMCSA1/SA3 for Series 21/210MODEL B
PMCNB/NB2 for Series 15MODEL B
(The 4047 series is not supported.)
PMCPA3 for Power MateH
(2) Types of passwords
A password consists of up to eight alphanumeric characters. The
following two types of passwords are used.
Display permissible : R password (READ)
Display and editing permissible : RW password (READ+WRITE)

Table 1.7 (a) Screens requiring password release and corresponding

password types
Selected screen (soft key) Password
PMCLAD READ
ONLEDT READ+WRITE
M.SRCH (display) READ
M.SRCH (input) READ+WRITE
LADDER READ+WRITE
CLRLAD READ+WRITE
CLRALL READ+WRITE
DBGLAD READ
ONLEDT READ+WRITE

Table 1.7 (b) Screens requiring password release and corresponding

password types (DPL/MDI)
Selected screen Password
LADDER READ+WRITE

414
B61863E/14 PMC OPERATION (CRT/MDI) 1. GENERAL

NOTE
1 See the following items for the selected screens listed in
Table 1.7 (a).
PMCLAD : 5. PMC LADDER DIAGRAM DISPLAY
(PMCLAD) in Part II
M.SRCH : 3.5 Display the Contents of Memory
(M.SRCH) in Part II
LADDER : 5.2 Sequence program generation
(LADDER) in Part III
CLRLAD : 5.6.1 Clear the sequence program in Part
III
CLRALL : 5.6.1 Clear the sequence program in Part
III
DBGLAD : 8.4 Ladder Debug Function in Part III
ONLEDT : 5.8 Online Editing in Part II
8.4.2 Soft key menu for ladder debug
function in Part III
2 For an explanation of the selection screen of Table 1.7 (b),
see the following section:
LADDER: III 11.4 Ladder Mnemonic Editing
3 With DPL/MDI of the Power Mate, the use of the following
characters only is supported for clearing passwords:
Alphabetic characters : D, F, G, K, P, T, X, Y
Numeric characters : 0, 1, 2, 3, 4, 5, 6, 7, 8, 9
If a character other than those listed above is used for a
password, the password cannot be cleared using the
DPL/MDI.

(3) Setting a password

Set a password for a ladder program on the editing/password screen
on FANUC LADDER (for personal computers).
(4) Releasing password protection
A ladder program for which the password has been specified cannot
be displayed or edited until the password is input correctly. Once
password protection is released, the protection remains being
released until the power is turned off then on again.
(a) When operation which requires releasing the password
protection is performed, the system displays either of the
following messages to require the protection to be released,
depending on the type of password.
KEY IN PASSWORD(R) READ PASSWORD
KEY IN PASSWORD(R/W) READ+WRITE
PASSWORD
(b) Enter the password and press the [INPUT] key.
*The entered password is not displayed. (Echo back is not
performed.)

415
1. GENERAL PMC OPERATION (CRT/MDI) B61863E/14

(c) When the password is correctly specified, the protection is

released and the corresponding operation becomes available. See
Table 1.6 (a). If the password is incorrectly specified, the
message FALSE PASSWORD is displayed.

NOTE
The sequence program is cleared by turning on the power
with the X and O keys being held down, whether password
protection is specified or not.

(5) Special password

: Usable
: See Note.
n : Not usable
Power FS20/ FS18A FS16A FS16B FS16C FS21i FS16i FS15B
Mate/ FS21B FS18B FS18C FS18i
FS21A

PA1 RA1 SA1, SA2 SB, SB2, SB3 SB3 SB4 SB5 SB6 SC4 SA1 SB5 SB6 NB NB2
PA3 RA3 SA3 SC, SC3 SC3 SC4 SC3 SA5

n f n f f

NOTE
Usable editions
PMCSB4 : Series 4066 Edition 08 or later
PMCSC4 : Series 4068 Edition 07 or later
Edit card : Series 4073 Edition 06 or later

When a password beginning with the character # is set for RW

password, the subprogram after P1500 can be edited in spite of the
protection by this password.

LADDER <<MAIN>> PROGRAM:(STEP SEQUENCE DEMO PROGRAM) MONIT STOP

P1500 ( ) USER PROGRAM NO.1

LEVEL1 LEVEL2 LEVEL3

V P0001 V P0002 V P0004 V P0005 V P0006 V P0007
V P0008 V P0009 V P0014 V P0015 V P0016 V P0017
V P0021 V P0022 V P0024 V P0025 V P0026 V] P0027


V P1500 V P1501 V]P1502

example 1)
When the cursor is positioned to the subprogram P1500 and [ZOOM]
key is pressed, this subprogram P1500 can be edited in spite of the
protection by the password.
example2)
When the cursor is positioned to the subprogram P1 and [ZOOM] key
is pressed, if the protection by the password is not released, the
message KEY IN PASSWORD(R/W) is displayed and this
subprogram can be edited by inputting a correct password.

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B61863E/14 PMC OPERATION (CRT/MDI) 1. GENERAL

1.8 Note the following when PMC of loader control function is operated.
PMC OPERATION D Operate PMC after switching to the screen for the loader control. (The
control of the main and the loader changes by pushing the SHIFT key
FOR LOADER and the HELP key at the same time.)
CONTROL FUNCTION D Connector JD5A of main board is used when communicating with
RS232C.
D When ladder data is input and output to the memory card on the PMC
I/O screen or an edit card is used,the edit card or the memory card is
installed at connector CNMC of the loader board.
D Connector JD1A of loader board is used when using I/O Link function.

417
2. PMC MENU SELECTION
PROCEDURE BY SOFTKEY PMC OPERATION (CRT/MDI) B61863E/14

2 PMC MENU SELECTION PROCEDURE BY SOFTKEY

Pressing the function key <SYSTEM> of CRT/MDI and the PMC soft
key changes the screen to the PMC basic screen. The soft keys are
displayed at the bottom of the screen.
1) PMC basic menu
If the control provides a builtin programmer function, a programmer
basic menu is selected by depressing the next key. The PMC basic
menu and programmer basic menu are alternately selected from each
other by depressing the next key.
For programmer basic menus and operation, see Chapter III PMC
PROGRAMMER.

NOTE
1 In the following description, the relation between soft keys and menu is described based on the
9 CRT/MDI panel. The 10, 14 CRT/MDI panel is provided with 10 soft keys which are those
of the 9 CRT/MDI panel, and thus, it displays many menus as compared with the 9 CRT/MDI
panel.
2 The following operations are necessary for using the builtin programmer function:
Model Operation
PMCSA1/SA2/SA3/SB/SB2/SB3 Mount the editing module.
(FS16/18MODEL A),
PMCSA1(FS16MODEL A loader control) (A02B0120CC160)
PMCPA1/PA3 (Power MateD/H), Mount an editing card.
PMCSA1/SB3/SB4 (FS16/18MODEL B),
PMCSB5/SB6 (FS16/18MODEL C),
PMCSA1/SA5/SB5/SB6
(16i/18i/21iMODEL A),
PMCSA1/SA3 (FS20, FS21/210B),
PMCSA1
(FS16MODEL B/C, 16i/18i/21iMODEL A,
FS21B loadercontrol function)
PMCSC/SC3(FS16/18MODELA), The function is already contained.
PMCSC3/SC4(FS16/18MODELB/C),
PMCNB/NB2(FS15B)
Common to all the models listed above Set bit 1 of K17 to 1.

The FS18MODEL A contains the PMCSA1,SA2,or SA3. The series number is 4070.
The FS20 contains the PMCSA1 or SA3. The series number is 4080.
The FS21/210B contains PMCSA1 or SA3. The series number is 4084.
The FS21B(with loader control) contains PMCSA1. The series number is 4086.

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 2. PMC MENU SELECTION
B61863E/14 PMC OPERATION (CRT/MDI) PROCEDURE BY SOFTKEY

2) Keys on CRT/MDI panel

The following keys are related to PMC operation on CRT/MDI panel.
a) <SYSTEM> key
Selects from CNC menu to PMC basic menu.
b) <PAGE> key
Screen page return key.
c) <PAGE> key
Screen page advance key.

PMC DIAGNOSIS FUNCTIONS MONIT RUN

SELECT ONE OF FOLLOWING SOFT KEYS

PMCLAD : DYNAMIC LADDER DISPLAY

PMCDGN : DIAGNOSIS FUNCTION
PMCPRM : PARAMETER(T/C/K/D)
RUN/STOP: RUN/STOP SEQUENCE PROGRAM
EDIT : EDIT SEQUENCE PROGRAM
Builtin programmer func-
tion I/O : I/O SEQUENCE PROGRAM
SYSPRM : SYSTEM PARAMETER
MONIT : PMC MONITOR

[PMCLAD] [PMCDGN] [PMCPRM] [ ] [ ]

Fig. 2 PMC basic menu screen (9CRT)

NOTE
Without builtin programmer function of PMCSA1, SA2,
SA3, SB, SB2, SB3, SB4, SB5, or SB6 there are
only RUN/STOP and I/O functions.

d) <> key
Cursor shift (upward) key.
e) <> key
Cursor shift (downward) key.
f) <> key
Cursor shift (leftward) key. Search function with this key is
provided in PMCLAD EDIT, LADDER (See chapter II.5 and
Chapter III.5.25 for details).
g) <> key
Cursor shift (rightward) key. Search function with this key is
provided in PMCLAD EDIT, LADDER (See chapter II.5 and
Chapter III.5.25 for details).
h) Soft key
These keys show operating functions corresponding to individual
operations when various PMC operations are done. The soft key
functions change (key menus are selected) according to
operations.

419
2. PMC MENU SELECTION
PROCEDURE BY SOFTKEY PMC OPERATION (CRT/MDI) B61863E/14

i) Next key
This key is used for extending menus of soft keys. By pressing
this key, a menu changes, and by pressing it again, the menu is
reset as before.
j) Return key
Various PMC operations are conducted by pressing soft keys
related to menus.
The menus sequentially change when pressing corresponding
soft key. Use this return key to reset a menu to the original one.
3) Status display
The alarm status and the name of the sequence program storage that
is currently effective are displayed on all the PMC menus.
In addition, PMCSC/SC3/SC4/NB display the states while the
debugging function is used.

Data entry >

Status display DBG RAM ALM
Soft key display [ ] [ ] [ ] [ ] [ ]

D ALM : An alarm occurred in the PMC (For details, see

Section 3.3.)
D RAM : The currently effective sequence program storage
is a RAM module.
D ROM : The currently effective sequence program storage
is a ROM module.
D EPROM: Currently effective sequence program storage is
EPROM. (EPROM for PMCSA1, PMCSA2,
PMCSB, and PMCSB2)
D DBG : A break issued by the debugging function of
PMCSC/SC3/SC4/NB in effective.
D BRK : The break issued by the debugging function of
PMCSC/SC3/SC4/NB has terminated.

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 2. PMC MENU SELECTION
B61863E/14 PMC OPERATION (CRT/MDI) PROCEDURE BY SOFTKEY

4) Relation between PMC menus and soft keys

There are 2 types, A and B, in the series of CNC.
ATYPE

RUN or STOP EDIT I/O SYSPRM MONIT

Chapter II.5 Chapter II.3 Chapter II.4 NEXT

PMCLAD PMCDGN PMCPRM

RET RET RET

TOP TITLE TIMER

BOTTOM STATUS COUNTR

SRCH ALARM KEEPRL

W SRCH TRACE DATA

N SRCH

NEXT NEXT

F SRCH M. SRCH*1

ANALYS*2

USRDGN*3

ADRESS
(SYMBOL)

NOTE
The soft keys indicated by *1, *2, *3 are supported only for
certain models. See the conditions in the description of
each relevant function.

421
2. PMC MENU SELECTION
PROCEDURE BY SOFTKEY PMC OPERATION (CRT/MDI) B61863E/14

BTYPE

RUN or STOP EDIT I/O SYSPRM MONIT

Chapter II.5 Chapter II.3 Chapter II.4 NEXT

PMCLAD PMCDGN PMCPRM

RET RET RET

SEARCH TITLE TIMER

ADRESS STATUS COUNTR

(SYMBOL)
TRIGER ALARM KEEPRL

WINDOW TRACE DATA

SETING

NEXT NEXT

DUMP M. SRCH*1

DPARA ANALYS*2

USRDGN*3

ONLEDT

IOCHK*4

NOTE
The soft keys indicated by *1, *2, *3 are supported only for
certain models. See the conditions in the description of
each relevant function.

The softkey s type for the series of CNC.

CNC type Power Mate FS20 FS18 FS16 FS15B
PMC type PA1 PA3 SA1 SA3 SA1 SA2 SA3 SB SB2 SB3 SC SC3 NB NB2
Softkey type A A A A AB A B AB A B AB AB B B

Type A or B is selected depending on the Series of PMC control software.

Series of PMC control software and type of softkey are related as follows.
Type A Type B
FS16A 4061 4063
FS18A 4070 4071

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 2. PMC MENU SELECTION
B61863E/14 PMC OPERATION (CRT/MDI) PROCEDURE BY SOFTKEY

(Reference) Series of PMC control software is displayed on the

[PMCDGN] and [TITLE] screen as shown below.

PMC CONTROL PROGRAM

SERIES : 4063 EDITION : 08

Series of PMC control software

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3. PMC I/O SIGNAL DISPLAY AND
INTERNAL RELAY DISPLAY
(PMCDGN) PMC OPERATION (CRT/MDI) B61863E/14

3 PMC I/O SIGNAL DISPLAY AND INTERNAL RELAY

DISPLAY (PMCDGN)

PMC I/O signals, internal relays, and other PMC diagnosis are displayed
on the screen by depressing soft key [PMCDGN].

PMCLAD PMCDGN PMCPRM

RET

TITLE STATUS ALARM TRACE

NEXT

M.SRCH ANALYS USRDGN IOCHK

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 3. PMC I/O SIGNAL DISPLAY AND
INTERNAL RELAY DISPLAY
B61863E/14 PMC OPERATION (CRT/MDI) (PMCDGN)

3.1 Title Data refers to the title of the sequence program created by the
machine tool builder.
DISPLAYING TITLE
DATA They consist of the following ten items :
Machine tool builder name (32 characters)
Machine tool name (32 characters)
NC and PMC types (32 characters)
Sequence program number (4 characters)
Version (2 characters)
Sequence program drawing number (32 characters)
Date when the sequence program was created (16 characters)
Sequence program programmer (32 characters)
ROM programmer (32 characters)
Comment (32 characters)
In addition to the title display :
1) Series and version of the PMC control software.
2) Type of the PMC.
3) For Editing module or Editing card, the series and version.
4) Memory areas used for each sequence data, and execution time of
ladder program.
5) Type of PMC control module and PMC sequence program.
6) For the non-dividing system, the present, maximum and minimum
values for the execution time of ladder program.

NOTE
When a C board is installed in the Series 16i/18i, the title
data for C can be displayed. With the arrow keys [] and
[], the user can switch the display between the ladder title
and C title data.

To display the previous or next screen on the 9 CRT/MDI, use the

<PAGE > or <PAGE > key.

PMC TITLE DATA #1 MONIT RUN

PMC PROGRAM NO. : 1234
EDITION NO. : 12
PMC CONTROL PROGRAM
SERIES : 4063 EDITION : 08
(SERIES : 4065 EDITION : 08)
PMC TYPE CONTROL : RB3 PROGRAM : RB3
MEMORY USED : 007.8 KB
LADDER : 007.0 KB
SYMBOL : 000.0 KB
MESSAGE : 000.8 KB
SCAN TIME : 008 MS
SCAN MAX : 016 MS MIN : 008 MS

[TITLE ] [STATUS ] [ALARM ] [TRACE ] [ ]

Fig. 3.1 (a) Title data 1

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3. PMC I/O SIGNAL DISPLAY AND
INTERNAL RELAY DISPLAY
(PMCDGN) PMC OPERATION (CRT/MDI) B61863E/14

PMC TITLE DATA #2 MONIT RUN

MACHINE TOOL BUILDER NAME :

f f

MACHINE TOOL NAME :

f f

CNC & PMC TYPE NAME :

f f

PROGRAM DRAWING NO. :

f f

[TITLE ] [STATUS ] [ALARM ] [TRACE ] [ ]

Fig. 3.1 (b) Title data 2

PMC TITLE DATA #3 MONIT RUN

DATE OF PROGRAMING :
f f

PROGRAM DESIGNED BY :
f f

ROM WRITTEN BY :
f f

REMARKS :
f f

[TITLE ] [STATUS ] [ALARM ] [TRACE ] [ ]

Fig. 3.1 (c) Title data 3

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 3. PMC I/O SIGNAL DISPLAY AND
INTERNAL RELAY DISPLAY
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3.2 The contents at all addresses (X, Y, F, G, R, A, C, K, D, T, M, N)

disignated in programs can be displayed on the CRT screen. This display
DISPLAY OF SIGNAL is all done by 0 and 1 bit patterns, and symbol data is displayed
STATUS (STATUS) together at address bits where symbol data are difined.

TITLE STATUS ALARM TRACE

RET
SEARCH NEXT

M.SRCH ANALYS USRDGN I/O CHK

1 Depress [STATUS] soft key. The CRT screen changes as shown in

Fig. 3.2, and the soft key menu is changed.
2 Depress [SEARCH] key after keying in an address to be displayed.
3 A continuous 8 byte data is displayed by a bit pattern from the
designated address in the top stage of the CRT screen.
4 Depress [SEARCH] key or page key to display another address.

PMC SIGNAL STATUS MONIT RUN

ADDRESS 7 6 5 4 3 2 1 0
EXDAT1 ED7 ED6 ED5 ED4 ED3 ED2 ED1 ED0
G0000 0 0 0 0 0 0 0 0
EXDAT2 ED15 ED14 ED13 ED12 ED11 ED10 ED9 ED8
G0001 0 0 0 0 0 0 0 0
ESTB EA6 EA5 EA4 EA3 EA2 EA1 EA0
G0002 0 0 0 0 0 0 0 0
ERDRQ EOREND
G0003 0 0 0 0 0 0 0 0
MFIN5 MFIN4 MFIN3 MFIN2 MFIN1
G0004 0 0 0 0 0 0 0 0
BFIN AFL TFIN SFIN EFIND MFIN
G0005 0 0 0 0 0 0 0 0
DLK OVC *ABSM BRN SRN
G0004 0 0 0 0 0 0 0 0
RLSOT EXLM2 *FLWP ST STLK RVS
G0007 0 0 0 0 0 0 0 0

[SEARCH] [ ] [ ] [ ] [ ] [ ]

Fig. 3.2 Status display of PMC I/O signals and internal relays

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3.3 If an alarm is issued in the PMC, pressing the PMC soft key displays the
alarm message as shown in Fig. 3.3. ALM blinks at the lower right corner
ALARM SCREEN of the screen.
(ALARM) If a fatal error occurs, a sequence program does not start.

PMC ALARM MESSAGE MONIT STOP

ER00 PROGRAM DATA ERROR (ROM)

ALM

[TITLE ] [STATUS] [ALARM ] [TRACE ] [ ]

Fig. 3.3 Alarm screen

For displayed messages, see the appendix, Alarm Message List.

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3.4 This function checks the signal history which cannot be checked in the
status display. Using one- or two-byte addressing, the function records
TRACE FUNCTION a state when the signal changes. In two-byte addressing, discontinuous
(TRACE) addresses can be set.

3.4.1 Pressing the [TRACE] key on the PMCDGN screen displays the trace
Operation screen when signals are being read. When signals are not being read, the
parameter setting screen for reading signals is displayed. After displaying
either screen, pressing the [TRCPRM] key on the trace screen displays the
parameter setting screen and pressing the [T.DISP] key on the parameter
setting screen displays the trace screen.

TITLE STATUS ALARM TRACE

RET
T.DISP EXEC NEXT

or or
TRCPRM STOP

M.SRCH ANALYS USRDGN

3.4.2 Data to be used for reading signals needs to be specified to check the
Parameter Setting signal history.
Screen 1) Parameters
TRACE MODE : Sets a mode used for reading signals
0 : 1-byte data
1 : 2-byte data (discontinuous addresses can be
specified)
2 : Word data (with continuous addresses)
ADDRESS TYPE : Sets addresses used
0 : PMC address
1 : Physical address
ADDRESS : Sets addresses at which a signal is traced
MASK DATA : Sets a masked bit or bits (signals can be read with
unnecessary bits masked)
Range : 00 to FF
The above trace parameters are retained if the power is turned off.

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3.4.3 EXEC : Starts reading signals

Starting or Stopping
the Trace Function NOTE
1 Pressing the [EXEC] key again clears the results of the
previous trace.
If the trace parameters are not set correctly, the trace is not
performed.
When signals are being sampled using the function for
displaying signal waveforms, the trace is not performed.
2 The result data of the trace is stored latest 256-byte. If the
power is turned off, the results of the trace are cleared.
3 Signals R9000 to R9007 cannot be traced.
4 A signal is traced at intervals of 8 ms. If the signal changes
within 8 ms, the changed signal state cannot be traced.
5 When the trace address type is specified as a physical
address, specify an effective memory address. If an
ineffective address is specified to execute the trace, a
system error may occur.

STOP : Stops reading signals.

PMC SIGNAL TRACE MONIT RUN

TRACE MODE : 1
(0:1BYTE/1:2BYTE/2:WORD)
1ST TRACE ADDRESS CONDITION
ADDRESS TYPE : 1 (0:PMC /1:PHY)
ADDRESS : FFE480
MASK DATA : 11
2ND TRACE ADDRESS CONDITION
ADDRESS TYPE : 0 (0:PMC /1:PHY)
ADDRESS : Y0
MASK DATA : FF

[T.DISP] [ EXEC ] [ ] [ ] [ ]

Fig. 3.4.3 Trace parameter setting screen

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3.4.4 Signal history can be checked using data specified on the parameter
Trace Screen setting screen. The result of the latest trace is displayed at the cursor
position. The cursor moves on the screen as the results of the trace are
obtained. If the cursor moves off the screen, the results of the trace can
be followed by pressing the page key to display the subsequent screen.

PMC SIGNAL TRACE MONIT RUN

1ST ADDRESS = X0000 (FF) 2ND ADDRESS = Y0000 (FF)

NO. 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
0000 . . . . . . . . . . . . . . . .
0001 . . . . . . . . . . . . . . . .
0002 . . . . . . . . . . . . . . . .
0003 . . . . . . . . . . . . . . . .
0004 . . . . . . . . . . . . . . . .
0005 . . . . . . . . . . . . . . . .
0006 . . . . . . . . . . . . . . . .
0007 . . . . . . . . . . . . . . . .
0008 . . . . . . . . . . . . . . . .
0009 . . . . . . . . . . . . . . . .
0010 . . . . . . . . . . . . . . . .
0011 . . . . . . . . . . . . . . . .
0012 . . . . . . . . . . . . . . . .
0013 . . . . . . . . . . . . . . . .
0014 . . . . . . . . . . . . . . . .
0015 . . . . . . . . . . . . . . . .

[TRCPRM ] [ STOP ] [ ] [ ] [ ]

EXEC

Fig. 3.4.4 Trace screen

3.4.5 Trace operation can be started automatically, immediately after

poweron, by setting trace parameters beforehand and by setting the keep
Automatic Tracing
relay to start the trace function automatically upon poweron. The keep
Function at Power on relay setting method depends on the PMC model. See Section 4.3.3.

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3.5
DISPLAYING THE : Standard
: optional
CONTENTS OF : cannot be used
MEMORY n : Can be used for the 4084 series.
Power FS21i FS16A
Power FS20/ FS16A/B FS16C FS16B/C
Mate- FS21B FS18A FS18B FS16A FS16i FS16A /B/C FS15B
Mate-H FS21A FS18B FS18C FS18B/C
D/F FS18i FS18B/C

PA1 PA3 PA3 SA1 SA3 SA1 SA3 SA1 SA2 SA3 SA1 SB SB2 SB3 SB4 SB5 SB6 SA1 SA5 SB5 SB6 SC SC3 SC4 NB NB2

n n

D The ladder editing module is required for the PMCSB/SB2/SB3 of the

Series 16 MODEL A and for the PMCSA1/SA2/SA3 of the Series
18MODEL A.
D This function is provided as a standard function with
PMCSA1/SB3/SB4/SB5/SB6/SC3/SC4 of the Series
16/18MODEL B/C, and PMCSA1/SA3 of the Series 21/210MB.

3.5.1 1) Pressing the [M.SRCH] soft key changes the screen to that shown in
Fig. 3.5.2. The displayed soft keys also change.
Operation
2) Enter a physical address in hexadecimal from which the contents of
the memory are to be displayed. Then pressing the [SEARCH] key
displays 256 bytes of stored data starting from the specified address.
Example) Entering 100000, then pressing the [SEARCH] key
displays the contents of the memory starting from
100000H.
3) An address can be changed using the <PAGE > or <PAGE > key.
4) Pressing either the [BYTE], [WORD], or [D.WORD] soft key
displays data of the corresponding type.

CAUTION
If an address at which the memory is not used is specified,
a system error occurs. Be sure to specify the correct
address.

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3.5.2 To store data in memory, set bit 4 of keep relay K17 to 1, move the cursor
Function for Storing to a position at which the address of the data to be changed in RAM is
displayed, and enter data in units of data type in hexadecimal.
Data in Memory
Example) Entering 0F41, then pressing the [INPUT] key stores 0F41
at the address specified by the cursor.

WARNING
Some values cause a system error.

PMC CONTENTS OF MEMORY MONIT RUN

100000 0000 0000 0000 0000 0000 0000 0000 0000 ................
100010 4142 4344 4546 4748 494A 4B4C 4D4E 4F50 ABCDEFGHIJKLMNOP
100020 2020 2020 2020 2020 2020 2020 2020 2020
100030 5152 5354 5556 5758 595A 2020 2020 2020 QRSTUVWXYZ

100040 0000 0000 0000 0000 0000 0000 0000 0000 ................
100050 0000 0000 0000 0000 0000 0000 0000 0000 ................
100060 0000 0000 0000 0000 0000 0000 0000 0000 ................
100070 0000 0000 0000 0000 0000 0000 0000 0000 ................
100080 4641 4E55 4320 434F 2E2C 5444 0000 0000 FANUC CO.LTD....
100090 0000 0000 0000 0000 0000 0000 0000 0000 ................
1000A0 0000 0000 0000 0000 0000 0000 0000 0000 ................
1000B0 0000 0000 0000 0000 0000 0000 0000 0000 ................

1000C0 0000 0000 0000 0000 0000 0000 0000 0000 ................
1000D0 0000 0000 0000 0000 0000 0000 0000 0000 ................
1000E0 0000 0000 0000 0000 0000 0000 0000 0000 ................
1000F0 0000 0000 0000 0000 0000 0000 0000 0000

>

[ SEARCH ] [ INPUT ] [ ] [ ] [ ]

Fig. 3.5.2 Memory display

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3.6
FUNCTION FOR
DISPLAYING SIGNAL : Standard
: optional
WAVEFORMS : cannot be used
(ANALYS) n : Can be used for the 4084 series.
Power Power FS20/ FS21B FS18A FS18B FS16A FS16A/B FS16C FS21i FS16A FS16A FS16B/C FS15B
MateD/F MateH FS21A FS18B FS18C FS16i /B/C FS18B/C
FS18B/C
FS18i
PA1 PA3 PA3 SA1 SA3 SA1 SA3 SA1 SA2 SA3 SA1 SB SB2 SB3 SB4 SB5 SB6 SA1 SA5 SB5 SB6 SC SC3 SC4 NB NB2

n n

D The ladder edit module is required with PMCSB/SB2/SB3 of the

Series 16MODEL A, and PMCSA2/SA3 of the Series 18MODEL
A.
D The ladder edit card is required with PMCRA1/RB3/RB4 of the Series
16/18MODEL B, PMCSA1/SB5/SB6 of the Series 16/18MODEL
C, PMCSA1/SA3 of the Series 21/210MODEL B, and PMCPA3 of
the Power MateMODELH.
D Work RAM is required with PMCSC/SC3 of the Series 16MODEL
A.
D This function is provided as a standard function with PMCSC3/SC4
of the Series 16/18MODEL B/C.
D The ladder edit card is required with PMCSA5/SB5/SB6 of the Series
16i/18i/21iMODEL A.

3.6.1 1) Maximum number of signals traced at the same time: 16

Specifications 2) Maximum sampling period: 10 s
3) Sampling interval: 8 ms

3.6.2 Pressing the [ANALYS] key on the PMCDGN screen displays the
Operation parameter screen for diagnosing signals. Pressing the [SCOPE] soft key
on the parameter screen displays the screen showing signal diagnosis. To
return to the parameter screen, press the [SGNPRM] soft key.

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TITLE STATUS ALARM TRACE

NEXT

M.SRCH ANALYS USRDGN

RET SCOPE DELETE INIT ADRESS

or
SYMBOL

SGNPRM START T.SRCH ADRESS

or
SYMBOL NEXT

EXCHG SCALE

SELECT CANCEL

RET

TO CANCEL

EXEC CANCEL

3.6.3 To trace the state of a signal, the trace conditions need to be specified on
Parameter Screen the parameter screen. In a 9 screen, a trace address can be specified by
pressing the <PAGE > key. (See Fig. 3.4.4.)
1) Setting parameters
Move the cursor to a parameter to be specified. Enter a value and
press the [INPUT] key. To delete the value of the parameter, move
the cursor to the parameter, then press the [DELETE] soft key.
a) SAMPLING TIME
Specify the maximum trace time in the range of 1 to 10 s.
b) TRIGGER ADDRESS
Specify a trigger address from which the tracing starts on the
PMC address. A symbol name can be used.
c) CONDITION
Specify the conditions at which the tracing starts.
0 : When the [START] key is pressed
1 : When the [START] key is pressed and the trigger address
signal rises
2 : When the [START] key is pressed and the trigger address
signal falls

NOTE
Conditions 1 and 2 are effective when a trigger address is
specified.

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d) TRIGGER MODE
Sampled data for up to 10 seconds is stored in the trace buffer.
A signal is stored in the buffer within 8 ms.
This parameter specifies the starting and end points for obtaining
data.
0 : AFTER
In this mode, signal states are obtained in the period specified
in parameter SAMPLING TIME from the time when the
trigger conditions are satisfied.
1 : ABOUT
In this mode, signal states are obtained in the period specified
in the parameter SAMPLING TIME with the time at the
middle when the trigger conditions are satisfied.
2 : BEFORE
In this mode, signal states are obtained in the period specified
in parameter SAMPLING TIME before the trigger
conditions are satisfied.
3 : ONLY
In this mode, the signal states are obtained only when the
trigger conditions are satisfied.

NOTE
Trigger mode 1 and 2 are effective when condition 1 or 2 is
set.

e) SIGNAL ADDRESS
Specify up to 16 addresses at which the tracing is performed with
PMC addresses or symbol names.
2) Initializing signal diagnosis data
Pressing the [INIT] soft key on the parameter screen initializes
parameter data and trace data.
3) Displaying symbols for trigger addresses and trace addresses
Pressing the [ADRESS] soft key displays trigger and trace addresses
for which symbols are defined and the key changes to the [SYMBOL]
key. Pressing the [SYMBOL] key displays the symbols for trigger
and trace addresses and the key changes to the [ADRESS] key.

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PMC SIGNAL PARAMETER MONIT RUN

SAMPLING TIME : 10(1-10SEC)

TRIGGER ADDRESS : *ESP

CONDITION : 1
(0:START 1:TRIGGER-ON 2:TRIGGER-OFF)

TRIGGER MODE : 1
(0:AFTER 1:ABOUT 2:BEFORE 3:ONLY)

>

[SCOPE ] [DELETE] [INIT ] [ADRESS] [ ]

ADRESS/SYMBOL

Fig. 3.6.3 (a) Parameter setting screen 1

PMC SIGNAL PARAMETER MONIT RUN

SIGNAL ADDRESS

1 : ED0 9 : X0000.0
2 : ED1 10 : X0000.1
3 : ED2 11 : X0000.2
4 : ED3 12 : X0000.3
5 : ED4 13 : X0000.4
6 : ED5 14 : X0000.5
7 : ED6 15 : X0000.6
8 : ED7 16 : X0000.7

>

[SCOPE ] [DELETE] [INIT ] [ADRESS] [ ]

ADRESS/SYMBOL

Fig. 3.6.3 (b) Parameter setting screen 2

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3.6.4 After parameters are specified on the parameter screen, select the signal
Signal Diagnosis diagnosis screen.
Screen Pressing the [START] soft key starts to trace the specified signal.
While the signals are traced, EXECUTING is displayed. When the
tracing is finished, the period in which the specified signal was traced is
displayed on the screen.
When the optional graphic function is provided, the waveform is
displayed by using the graphic function.
When the function is not provided, waveform is displayed with J
indicating the signal is on and _ indicating the signal off.
In the ONLY mode, even when the optional graphic function is
provided,J and _ is used to display the waveform as shown in Fig.
3.6.4.
1) Starting or stopping the data sampling
Pressing the [START] key starts sampling. Pressing the [STOP] key
stops sampling and the sampled data is displayed.
2) Displaying traced data by specifying a period
Enter a period in ms in which traced data is to be displayed. Pressing
the [T.SRCH] key displays the traced data.
Example) Entering 800, then pressing the [T.SRCH] key displays the
waveform from 512 ms to 1024 ms.
3) Displaying symbols for trigger and trace addresses
When symbols are defined for trigger and trace addresses, the
symbols and addresses are displayed
4) Exchanging positions at which traced data is displayed
Pressing the [EXCHG] key moves the cursor to the first traced
address. Position the cursor to the trace address to be exchanged,
using the <> or <> key, then press the [SELECT] key. Next,
position the cursor to the trace address with which the selected trace
address is to be exchanged, then press the [TO] key. Finally, press the
[EXEC] key. The trace data is exchanged.
During the above operation, all other soft keys are disabled until the
[EXEC] key has been pressed. To cancel the exchange, press the
[CANCEL] key.
5) Changing the time division (This function is available when the
graphic function is used.)
When displaying the signal waveform, the time division can be
changed.
Setting 8 . . . . . . 8 ms/divisions
16 . . . . . 16 ms/divisions
32 . . . . . 32 ms/divisions
Pressing only the [SCALE] key increments the minimum scale from
8 to 32 ms, as follows:
6) Shifting traced data upward or downward
Pressing the <PAGE > key shifts traced data upward. Pressing the
<PAGE > key shifts traced data downward.
7) Shifting traced data left or right

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Pressing the key shifts traced data to the left. Pressing the
key shifts traced data to the right.

PMC SIGNAL ANALYSIS(SCOPE) MONIT RUN

SAMPLING TIME : 10 CONDITION : 1
TRIGGER ADDRESS:*ESP TRIGGER MODE: 1

ED0
ED1
ED2
ED3
ED4
ED3

-256 0(MSEC)

[SGNPRM] [START ] [T.SRCH ] [ADRESS ] [ ]

START/STOP ADRESS/SYMBOL

Fig. 3.6.4 Screen displaying signal diagnosis

3.6.5 Since parameter and sampling data is stored in nonvolatile memory, data
Reading Signals is retained when the power is turned off.
Data sampling can be started automatically, immediately after poweron,
Automatically at Power by setting sampling parameters and setting the keep relay beforehand.
on The keep relay setting method depends on the PMC model. See Section
4.3.3.

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3.7 Pressing the [USRDGN] key dynamically displays the running states of
user tasks (including the third level of a ladder program) in the PMC (Fig.
DISPLAYING THE 3.7).
RUNNING STATE OF
: Can be used
A USER TASK : Cannot be used
(USRDGN) PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SC SC3 SC4 NB NB2

(Note)

Work RAM is necessary (A02B-0120-H987 for the PMC-SC and

PMC-SC3 and A02B-0162-J151 or A02B-0162-J152 for the PMC-NB).
For details, refer to the PMC-SC/SC3/SC4/NB Programming Manual
(C language) (B-61863E-1).

NOTE
C language board is required.

PMC MONIT USER TASK #1 MONIT RUN

ID NAME LV STATUS WAIT-INF WAIT-ID

LAD3 10 READY
10 TASK_O1 @ 10 ACTIVE
11 TASK_O2 # 11 READY
12 TASK_O3 12 WAIT TIM
13 TASK_O4 13 WAIT EVT.O 1
14 TASK_O5 14 WAIT EVT.A 3
15 TASK_O6 15 WAIT PKT 2340
16 TASK_O7 STOP
17 TASK8 17 READY

>

[ ][ ][ ][ ][ ]

Fig. 3.7 Screen displaying the running states of user tasks

[Displayed items]

ID NAME LV STATUS WAIT-INF WAIT-ID

11 TASK1 # 13 WAIT EVT.O 10

ID for wait information

Wait information
Running state
Task level
Operation
Task name
Task ID

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1) Operation
Code Description
# RS-232C being used
@ NC command edit being used

2) Running state
Code Description
ACTIVE Running
READY Ready
WAIT Waiting
STOP Task stopped
ERROR The system deleted the task because the task had called library that
is not supported.

3) Wait information
Code Description
TIM Waiting for time-out
EVT.A Waiting for AND condition of event flags
EVT.O Waiting for OR condition of event flags
SEM Waiting for semaphore
MBX.R Waiting for READ of the mail box
MBX.W Waiting for WRITE of the mail box
PKT Waiting for a packet to be received
PCMDI Waiting for the PCMDI command to be issued

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3.8 Check kind of I/O modules connected to I/O Link.

Set communication parameters of I/O LinkII, PROFIBUSDP,
DISPLAYING AND DeviceNet, FLnet.
SETTING THE : Supprted
CONFIGURATION : Not supported

STATUS OF I/O Power

Mate
Power
MateH
Power
Matei
FS21
TA/TB
FS20 FS16/
18A
FS16/
18B
FS16/
18C
FS21B FS16i/
18i/21i
FS15B

D/F/G
DEVICES (IOCHK)

In case of FS16 / 18B / FS21B / Power MateH:

TITLE STATUS ALARM TRACE

NEXT

M.SRCH ANALYS (USRDGN) IOCHK

RET

IOLNK IOLNK2

In case of FS16C / 18C:

TITLE STATUS ALARM TRACE

NEXT

M.SRCH ANALYS (USRDGN) IOCHK

RET

IOLNK IOLNK2 PROFI

In case of FS16i / 18i / 21i/ Power Mate i:

TITLE STATUS ALARM TRACE

NEXT

M.SRCH ANALYS (USRDGN) IOCHK

RET

IOLNK IOLNK2 PROFI FLNET

or
D=NET

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PMC I/O CHECK

SELECT ONE OF FOLLOWING SOFT KEYS

IOLNK : I/O LINK CHECK

IOLNK2 : I/O LINKII SETTING
PROFI : PROFIBUS PARAMETER
D_NET : DEVICENET PARAMETER
FLNET : FLNET SETTING

Fig. 3.8 Menu of I/O check screen

There are following sub screens under the I/O Check screen.
Softkeys are displayed when each function can be used.
Please refer to the manual about requirement of the functions and detail
of the sub screens.
Softkey : Name of sub screen
[IOLNK ] : I/O Link Connecting Check screen
[IOLNK2] : I/O LinkII Parameter Setting screen
.....FANUC I/O LinkII CONNECTING MANUAL
.....(B62714EN)
[PROFI] : PROFIBUSDP Parameter Setting screen
.....FANUC PROFIBUSDP Board OPERATORS
.....MANUAL (B62924EN)
[D_NET] : DeviceNet Parameter Setting screen
.....FANUC DeviceNet Board OPERATORS MANUAL
.....(B63404EN)
[FLNET] : FLnet Parameter Setting screen
.....FANUC FLnet Board OPERATORS MANUAL
.....(B63434EN)
In case of FS15B:

TITLE STATUS ALARM TRACE

NEXT

M.SRCH ANALYS USRDGN IOCHK

Only I/O Link Connecting Check screen is supported.

When [IOCHK]key is pressed, I/O Link Connecting Check screen
isdisplayed directly.

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3.8.1 The I/O Link connecting check screen displays the types and ID codes of
I/O Link Connecting the connected I/O devices for each group. When I/O device is not
connected, NO I/O DEVICE is displayed.
Check Screen If there is a problem of input or output signals for I/O devices, check
connection of I/O Link by referring to this screen.
(1) When CNC hardware dose not support the I/O Link expansion
function.

PMC I/O LINK(1/1)

CHANNEL 1
GROUP ID KIND OF UNIT

00 80 CONNECTION UNIT
01 82 OPERATOR PANEL
02 84 I/O UNIT MODEL A
03 96 CONNECTION UNIT
04 4A POWER MATE

Fig. 3.8.1 (a) Example of the I/O Link screen

Table 3.8.1 I/O devices and ID codes

Displayed I/O device name ID Actual I/O device

CONNECTION UNIT 80 Connection unit
OPERATOR PANEL 82 Operators panel connection unit
I/O-B3 83 Expanded I/O B3
I/O UNIT MODEL A 84 to 87 I/O Unit MODEL A
I/O UNIT MODEL B 9D to 9E I/O Unit MODEL B
POWER MATE 4A Power Mate
FANUC SERVO AMPLIFIER UNIT
series (I/O Link OPTION)
CONNECTION UNIT 96 I/O Link connection unit
I/O MODULE A9 to AA Distributed I/O
OTHER UNIT Other than above

The screen displayed like fig.3.8.1 (a) means that the I/O devices are
composed like following fig.3.8.1 (b).

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CNC Connection Group 0

Unit

Operators
Panel Connec- Group 1
tion Unit

I/O
Group 2
Unit MODEL A

I/O Link
Connection Group 3
Unit

Power Mate
Group 4

Fig. 3.8.1 (b) I/O Link configuration

(2) When CNC hardware supports the I/O Link expansion function.

PMC I/O LINK(1/1)

CHANNEL 1 CHANNEL 2
GROUP ID KIND OF UNIT GROUP ID KIND OF UNIT

00 80 CONNECTION UNIT 00 80 I/O UNIT

MODEL A
01 82 OPERATOR PANEL 01 82 POWER MATE
02 84 I/O UNIT MODEL A 02 84 POWER MATE
03 96 CONNECTION UNIT
04 4A POWER MATE

Fig. 3.8.1 (c) Example of the I/O Link connecting check screen
When the screen is displayed like fig.3.8.1(c), the I/O devices are
composed like following fig.3.8.1 (d)

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Channel 2
CNC
Connection Group 0 I/O
Channel 1 Unit Unit MODEL A

Operators Power Mate

Panel Connec- Group 1
tion Unit

I/O Power Mate

Group 2
Unit MODEL A

I/O Link
Connection Group 3
Unit

Power Mate
Group 4

Fig. 3.8.1 (d) I/O Link configuration

When PMC model is not PMCSB6 for Series 16i /160i /18i /180i /21i /
210i or optional I/O Link expansion is not provided with CNC, NOT
SUPPORTED is displayed on CHANNEL 2.

3.8.2 In case of using the I/O LinkII function, set the following I/O LinkII
I/O LinkII Parameter parameter on this screen. Depending on the kind of I/O LinkII interface
board, master/slave screen is displayed automatically.
Setting Screen Please refer to
FANUC I/O LinkII Operators Manual (B62714EN)
about details of I/O LinkII and each parameter.
(1) Set parameters.
Move the cursor to the parameter by using the cursor key.
Type the data and press the soft key[INPUT] or MDI key<INPUT>.
The set parameter is saved to the I/O LinkII board when the data is
input.
(2) Change channel.
Change the channel by the soft key [PRV.CH],[NXT.CH]. These keys
are not displayed when the single channel is used.
(3) Delete parameter.
Move the cursor to the parameter by using the cursor key.
Press the soft key[DELETE].
(4) Delete all parameters.
Press the soft key[DELALL].
Press the soft key[EXEC] to delete all parameters.
Press the soft key[CANCEL] to cancel the deletion.
(5) Change page.
This screen is composed of two pages when the 9 inch CRT is used.
Change the page by using (PAGE) key of MDI.

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(6) Restart I/O LinkII

Press the soft key [START] to restart I/O LinkII after editing the
parameter.
When the restart is completed normally, LINK STARTED is
displayed.
If the restart fails, START ERROR is displayed. In this case, check
the parameter that is set.
Example of parameter setting of master.

PMC I/O LINKII CH 1 (1/2)

GENERAL:
MAX SLAVE NO. = 03 (131)
SCAN TIME = 0100 (19999)*2MSEC
STATUS ADDRESS = R0500
DI/DO SETTING:
DI/DO MAP MODE = 1 (1,2)
DI/DO DATA SIZE = 16 (064)
DO ADDRESS = R0100
DI ADDRESS = R0150

[INPUT ] [DELETE ] [DELALL] [PRV.CH] [NXT.CH]

PMC I/O LINKII CH 1 (2/2)

MESSAGE I/O SETTING:

MESSAGE SIZE = 032 (0128)
OUTPUT ADDRESS = R0200
INPUT ADDRESS = R0250
STATUS:
REFRESH TIME = 40 MSEC
I/O LINKII = 6546/01 (MASTER)

[INPUT ] [DELETE ] [DELALL] [PRV.CH] [NXT.CH]

Fig. 3.8.2 (a) Example of the I/O LinkII screen.(master)

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Example of parameter setting of slave.

PMC I/O LINKII CH 1 (1/2)

GENERAL:
MAX SLAVE NO. = 03 (131)
STATION NO. = 02 (131)
STATUS ADDRESS = R0900
DI/DO SETTING:
DI/DO MAP MODE = 0 (0,2)
DI/DO DATA SIZE = 16 (064)
DO ADDRESS = R0000
DI ADDRESS = R0032

[INPUT ] [DELETE ] [DELALL] [PRV.CH] [NXT.CH]

PMC I/O LINKII CH 1 (2/2)

MESSAGE I/O SETTING:

MESSAGE SIZE = 032 (0128)
OUTPUT ADDRESS = R0256
INPUT ADDRESS = R0296
STATUS:
I/O LINKII = 6545/01 (SLAVE )

[INPUT ] [DELETE ] [DELALL] [PRV.CH] [NXT.CH]

Fig. 3.8.2 (b) Example of the I/O LinkII screen.(slave)

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3.9
FORCED
INPUT/OUTPUT
: Usable
FUNCTION
n: See Note.
: Not usable

Power Power FS20/ FS18A FS16A FS16B FS16C FS21i FS16i FS15B
Mate Mate iD/H FS21A FS18B FS18C FS18i

PA1 SB5 SA1 SA1, SA2 SB, SB2, SB3 SB3 SB4 SB5 SB6 SA5 SB5 SB6 NB
PA3 SB6 SA3 SA3 SC, SC3 SC3 SC4 SC3 SC4 NB2

n n n n

NOTE
With the FS16i/18i/21i, the edit card or C board are
required.
With the Power Mate iD/H, the edit card is required.
With SA1 of the FS16i/18i/21i, only FORCING mode is
valid.

3.9.1 This function can forcibly enter a value for the signal of an arbitrary PMC
Overview address. With this function, for example, an X value can be forcibly
entered to enable sequence program debugging without using a machine,
and a Y value can be forcibly entered to enable the signal wiring on the
machine to be checked efficiently without using a sequence program.
This function is added to the status display function.

(1) Input mode

Two input modes are available. The user can choose between the two
modes, depending on the application.
(a) FORCING mode
This mode is applicable to all addresses. When input/output scan
is performed by a sequence program, however, a signal modified
by the forced input/output function is overwritten, and the result
of modification made by the forced input/output function is lost.

Machine I/O address

Overwrite X, Y

Overwrite

Overwrite G, F, R, T, K, C, D. .
Ladder

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Example 1:
In this example, the forced input/output function is applied to R0
in the ladder program below.

X0.0
MOVE 1111
1111
K0
R0

a. The initial signal states are as follows:

X0.0 = off, K0 = 55H, R0 = 00H
b. FFH is forcibly entered to R0.
X0.0 = off, K0 = 55H, R0 = FFH
c. When X0.0 is turned on, R0 assumes the result of output by
the sequence program as follows:
X0.0 = on, K0 = 55H, R0 = 55H
Example 2:
In this example, the forced input/output function is applied to X0
in a configuration where the I/O UNITMODEL A is connected
to X0 over an I/O link.
The input value from the I/O UNITMODEL A is transferred to
X0 at certain intervals. So, even if the value of X0 is forcibly
modified, X0 is overwritten in the next cycle. Thus, the value of
X0 is restored to the value input from the I/O UNITMODEL A.

I/O UNITMODEL A NC

X0 = FFH X0 = FFH

The value of X0 is forcibly X0 = 00H

modified to 00H.

In the next cycle, the value of X0 is restored to that

entered from the I/O UNITMODEL A.

I/O UNITMODEL A NC

X0 = FFH X0 = FFH

Cyclical transfer may also be performed for addresses that are not
assigned. So, use the forced input/output function for X in
FORCING mode to debug a sequence program when no machine
is connected or assigned. Use the OVERRIDE mode to debug a
sequence program in the case of I/O connection.

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(b) OVERRIDE mode

That state in which values modified by the forced input/output
function cannot be overwritten by a sequence program or
machine signal is referred to as OVERRIDE mode. In
OVERRIDE mode, OVERRIDE can be set for arbitrary X and Y
signals.
FORCING is applied to those X and Y addresses where
OVERRIDE is not set, and also to addresses other than the X and
Y addresses.

Machine I/O address

Overwrite disabled X, Y
(OVERRIDE)
Overwrite disabled

Overwrite
X, Y
Ladder (NOT OVERRIDE)
G, F, R, T, K, C, D. .

Example:
In this example, the forced input/output function is applied to X0
in a configuration where the I/O UNITMODEL A is connected
to X0 with an I/O link.

I/O UNITMODEL A NC

X0 = FFH X0 = FFH

OVERRIDE is set for X0.

A value transferred from the I/O

UNITMODEL A is invalidated.

I/O UNITMODEL A X NC

X0 = FFH X0 = FFH

Value 00H is forcibly entered to X0.

I/O UNITMODEL A X NC

X0 = FFH X0 = 00H

Thus, the forced input/output function for X addresses in

OVERRIDE mode can be used to debug a sequence program
while a machine is connected.
When a Y address is placed in the OVERRIDE state, a value that
has been forcibly modified by the forced input/output function is
output to the machine.

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CAUTION
1 In OVERRIDE mode, input/output signals are updated at
8ms intervals in sync with the first ladder level. When an
I/O link is used which is usually updated at 2ms intervals,
an input/output signal timing delay occurs. For this reason,
note that a sequence that depends on input/output signal
timing may perform an unpredictable operation.
2 Note that, when OVERRIDE mode is set, the interval of the
second level may be extended slightly.
3 Even if OVERRIDE is set for a Y address, the resultant value
of a ladder operation before being modified by the forced
input/output function is displayed as the coil on/off value in
ladder dynamic display.
A value, after being modified by the forced input/output
function, is output to the machine. So, note that the on/off
indication in ladder dynamic display does not match a value
output to the machine.
Example:
In this example, the forced input/output function is used
for Y0.0 in the ladder below in a configuration where the
I/O UNITMODEL A is connected to Y0 with an I/O link.
Before OVERRIDE setting, the on/off indication in
dynamic display matches a value output to the I/O
UNITMODEL A as shown below.

X0.0 Y0.0
I/O UNITMODEL A NC

Y0.0 = off (Off) (Off)

(Dynamic display)

If 1 is entered forcibly after setting OVERRIDE for Y0.0,

the value modified by the forced input/output function is
output to the I/O UNITMODEL A as shown below.
X0.0 Y0.0
I/O UNITMODEL A NC

Y0.0 = on (Off) (Off)

(Dynamic display)

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3.9.2 Use the procedures below to set the input/output modes.

Setting/Operation for (1) Operation for enabling FORCING mode
Enabling Forced Use the procedure below.
Input/Output (a) Mount an edit card or C board.
(b) Turn on the power.
(c) Set the PROGRAM ENABLE (bit 1 of K17 or bit 1 of K900)
setting parameter to YES.
(2) Operation for enabling OVERRIDE mode
Use the procedure below.
(a) Mount an edit card or C board.
(b) Turn on the power.
(c) Set the PROGRAM ENABLE (bit 1 of K17 or bit 1 of K900)
setting parameter to YES.
(d) Set the OVERRIDE ENABLE setting parameter (OVERRIDE)
to YES.
(e) Turn the power off, then back on.

WARNING
Special care must be exercised when modifying a signal
with the forced input/output function. If the forced
input/output function is used incorrectly, the operation of the
machine may be unpredictable. Never use this function
when persons are near the machine.

CAUTION
1 When shipping a machine, disable this function.
2 This function is disabled by extracting the edit card or setting
the PROGRAM ENABLE setting parameter to NO.
3 The setting of OVERRIDE is not maintained when the
power is turned off. When the power is turned on again, the
setting of OVERRIDE is cleared for all X and Y addresses.

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3.9.3 (1) Soft keys

Screen Display
TITLE STATUS ALARM TRACE

SEARCH FORCE

SEARCH ON OFF STATUS

OVRSET OVRRST INIT

EXEC CANCEL

(2) Details of the soft keys

(a) [SEARCH]
Searches for an address to be displayed.
(b) [ON] (Note 1)
Forcibly changes the value of a signal to 1.
(c) [OFF] (Note 1)
Forcibly changes the value of a signal to 0.
(d) [FORCE]/[STATUS] (Note 1)
Switches between the status display screen and forced
input/output screen.
(e) [OVRSET] (Note 2)
Sets OVERRIDE for a signal.
(f) [OVRRST] (Note 2)
Clears an OVERRIDE setting for a signal.
(g) [INIT] (Note 2)
Clears OVERRIDE for all the X and Y areas.

NOTE
1 The soft key is enabled in FORCING mode.
2 The soft key is enabled in OVERRIDE mode.

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(3) Forced input/output screens

FORCING Mode Status Screen

PMC SIGNAL STATUS MONIT RUN

NO. 7 6 5 4 3 2 1 0
X0000 0 0 0 0 0 0 0 0
X0001 0 0 0 0 0 0 0 1
X0002 0 0 0 0 0 0 1 0
X0003 0 0 0 0 0 1 0 0
X0004 0 0 0 0 1 0 0 0
X0005 0 0 0 1 0 0 0 0
X0006 0 0 1 0 0 0 0 0
X0007 0 1 0 0 0 0 0 0

[SEARCH] [ ] [ ] [ ] [ FORCE ]

FORCING Mode Setting Screen

PMC SIGNAL FORCING MONIT RUN

NO. 7 6 5 4 3 2 1 0
X0000 0 0 0 0 0 0 0 0
X0001 0 0 0 0 0 0 0 1
X0002 0 0 0 0 0 0 1 0
X0003 0 0 0 0 0 1 0 0
X0004 0 0 0 0 1 0 0 0
X0005 0 0 0 1 0 0 0 0
X0006 0 0 1 0 0 0 0 0
X0007 0 1 0 0 0 0 0 0

[SEARCH] [ ON ] [ OFF ] [ ] [STATUS]

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OVERRIDE Mode Status Screen

PMC SIGNAL STATUS OVERRIDE MONIT RUN

NO. 7 6 5 4 3 2 1 0
X0000 0 0 0 0 0 0 0 0
X0001 0 0 0 0 0 0 0 >1
X0002 0 0 0 0 0 0 >1 0
X0003 0 0 0 0 0 >1 0 0
X0004 0 0 0 0 >1 0 0 0
X0005 0 0 0 >1 0 0 0 0
X0006 0 0 >1 0 0 0 0 0
X0007 0 >1 0 0 0 0 0 0

[SEARCH] [ ] [ ] [ ] [ FORCE ]

OVERRIDE Mode Setting Screen

PMC SIGNAL FORCING OVERRIDE MONIT RUN

NO. 7 6 5 4 3 2 1 0
X0000 0 0 0 0 0 0 0 0
X0001 0 0 0 0 0 0 0 0>1
X0002 0 0 0 0 0 0 1>1 0
X0003 0 0 0 0 0 1>1 0 0
X0004 0 0 0 0 0>1 0 0 0
X0005 0 0 0 0>1 0 0 0 0
X0006 0 0 0>1 0 0 0 0 0
X0007 0 1>1 0 0 0 0 0 0

[SEARCH] [ ON ] [ OFF ] [ ] [STATUS]

[OVRSET] [ OVRRST ] [ ] [ INIT ] [ ]

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3.9.4 The method described below applies to both FORCING and OVERRIDE
Modifying the Values of modes.
Signals by Forced (1) Modifying signal values on a bitbybit basis
Input/Output Position the cursor to a desired input bit, then enter a desired value
by using one of the following three methods:
(a) Enter 1, then press the INPUT key or the [ON] soft key.
The signal is forcibly turned on.
(b) Enter 0, then press the INPUT key or the [OFF] soft key.
The signal is forcibly turned off.
(c) Press the INPUT key.
The on/off state of the signal is reversed.

PMC SIGNAL FORCING OVERRIDE MONIT RUN

NO. 7 6 5 4 3 2 1 0
X0000 0 0 0 0 0 0 0 0

(2) Modifying signal values on a bytebybyte basis

Move the cursor to a desired input byte, then enter a desired value by
using one of the following three methods:
(a) Enter a binary number of no more than 8 digits, then press the
INPUT key. (If an entered number is shorter than 8 digits, the
number is entered starting from bit 0.)
Example: When 100 is entered, the number is entered at the
following bit positions:
Bit No. 76543210
00000100
(b) Press the [ON] soft key.
All bits of the specified byte are set to 1.
(c) Press the [OFF] soft key.
All bits of the specified byte are set to 0.

PMC SIGNAL FORCING OVERRIDE MONIT RUN

NO. 7 6 5 4 3 2 1 0
X0000 0 0 0 0 0 0 0 0

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3.9.5 (1) Setting OVERRIDE

OVERRIDE can be set as described below.
Setting/Clearing By using the [OVRSET] soft key, place the desired bit/byte in the
OVERRIDE OVERRIDE state.
(a) Setting OVERRIDE on a bitbybit basis
Move the cursor to the desired bit, then press the [OVRSET] soft
key.

PMC SIGNAL FORCING OVERRIDE MONIT RUN

NO. 7 6 5 4 3 2 1 0
X0000 0 0 0 0 0 0 0 0

Then, the display changes as shown below.

PMC SIGNAL FORCING OVERRIDE MONIT RUN

NO. 7 6 5 4 3 2 1 0
X0000 0 0 0 0 0 0> 0 0 0

(b) Setting OVERRIDE on a bytebybyte basis

Position the cursor to the desired byte, then press the [OVRSET]
soft key.

PMC SIGNAL FORCING OVERRIDE MONIT RUN

NO. 7 6 5 4 3 2 1 0
X0000 0 0 0 0 0 0 0 0

Then, the display changes as shown below.

PMC SIGNAL FORCING OVERRIDE MONIT RUN

NO. 7 6 5 4 3 2 1 0
X0000 0>0 0>0 0>0 0>0 0>0 0>0 0>0 0>0

When OVERRIDE is set, the signal resumes the state existing

before OVERRIDE setting. When OVERRIDE is set for a pulse
signal, for example, the signal state existing when the [OVRSET]
soft key is pressed is overridden.
Each bit for which OVERRIDE is set has > added in the status
display.
In OVERRIDE mode, those signal states that are not in the
OVERRIDE state are also displayed.
For an X signal:
(Input signal from the machine) 0 > 1 (input signal to the
ladder)
For a Y signal
(Output signal from the ladder) 0 > 1 (output signal to the
machine)

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(2) Clearing OVERRIDE

By using the [OVRRST] soft key, clear the OVERRIDE state of the
desired bit/byte.
This operation returns the state of a signal to the state existing before
OVERRIDE setting.
(a) Clearing OVERRIDE on a bitbybit basis
Position the cursor to the desired bit, then press the [OVRRST]
soft key.

PMC SIGNAL FORCING OVERRIDE MONIT RUN

NO. 7 6 5 4 3 2 1 0
X0000 0 0 0 0 0 1> 0 0 0

Then, the display changes as shown below.

PMC SIGNAL FORCING OVERRIDE MONIT RUN

NO. 7 6 5 4 3 2 1 0
X0000 0 0 0 0 0 1 0 0

(b) Clearing OVERRIDE on a bytebybyte basis

Position the cursor to the desired byte, then press the [OVRRST]
soft key.

PMC SIGNAL FORCING OVERRIDE MONIT RUN

NO. 7 6 5 4 3 2 1 0
X0000 1>0 0>1 1>0 0>0 1>0 1>1 1>0 0>1

Then, the display changes as shown below.

PMC SIGNAL FORCING OVERRIDE MONIT RUN

NO. 7 6 5 4 3 2 1 0
X0000 1 0 1 0 1 1 1 0

(c) Clearing OVERRIDE for all X and Y areas

Press the [INIT] soft key. Then, the message CLEAR
OVERRIDES OK? is displayed.
By using the soft key [EXEC]/[CANCEL], execute or cancel the
clearing of OVERRIDE.

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4 PMC PARAMETERS SETTING AND DISPLAY (PMCPRM)

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4.1 Parameters of TIMER, COUNTER, KEEP RELAY and DATA TABLE,

which are nonvolatile, are set and displayed with CRT/MDI panel.
OUTLINE To use this function, press the soft key [PMCPRM] of PMC basic menu
screen.

NOTE
The address and contents of the nonvolatile memory are
described in 3.5 to 3.8 of I3. ADDRESS and I6.
NONVOLATILE MEMORY.

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4.2 1 Place the sequence program in the STOP state.

INPUT PMC 2 When the sequence program is in the RUN state, perform the setting
PARAMETERS FROM below.
MDI PANEL (1) Set NC to MDI mode or Emergency Stop status.
(2) Set PWE of NC setting screen or Program Protect
Signal(KEY4) to 1. (See the following table.)
PWE KEY4
TIMER

COUNTER : Alternative
KEEP RELAY

DATA TABLE : Alternative

3 Press the following soft keys to select the screens.

[TIMER ] : TIMER screen
[COUNTR] : COUNTER screen
[KEEPRL] : KEEP RELAY screen
[ DATA ] : DATA TABLE screen
4 By using cursor keys, move cursor to the position for setting value.
5 Press the INPUT key after typing the value.
6 Set PWE or KEY4 to 0 after setting value.

4.2.1 1 This function is effective on the screen of TIMER, COUNTER,

KEEP RELAY, and DATA TABLE.
Multiple Data Input
2 Up to 10 data can be inputted at once.
3 The cursor is moved to the final data position of inputted data.
(1) Input method
D ; (EOB) is used for separating data.
Press the INPUT key after typing 100; 200; 300.
D ; = is used for inputting the same value as preceding data.
Press the INPUT key after typing 100; =; =; 200; =, and it
becomes 100, 100, 100, 200, 200.
D ; ; is used for skipping an input address.
Press the INPUT key after typing 100; ; 100.
The second data is not inputted.

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4.3
SETTING AND
DISPLAY SCREEN

4.3.1 The TIMER times of the functional instruction TMR(SUB 3) are set and
Timer Screen (TIMER) displayed on this screen.

Page No.(Change pages with the page keys.)

The TIMER No.s used by TIMER instruction
The addresses refered by sequence program

PMC PRM (TIMER) #001 MONIT RUN

NO. ADDRESS DATA NO. ADDRESS DATA TIMER times(See the following table.)
01 T00 2016 11 T20 1000
TIMER Minimum Maximum
02 T02 48 12 T22 8
No.s time time
03 T04 960 13 T24 0
04 T06 1008 14 T26 32 1 to 8 48 (ms) 1572.8 (s)
05 T08 0 15 T28 0
06 T10 0 16 T30 0
07 T12 96 17 T32 2000 9 to 40 or
9 to 150
08 T14 0 18 T34 0 (*1) 8 (ms) 262.136 (s)
09 T16 8 19 T36 8
10 T18 16 20 T38 10000
*1 The usable numbers vary from one model to
another. For details, see Section 5.4 in Part I.
[TIMER ] [COUNTR ] [KEEPRL ] [ DATA ] [ ]

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4.3.2 The maximum(PRESET) values and CURRENT values of the functional

Counter Screen instruction CTR(SUB 5) are set and displayed on this screen.
(COUNTR)
The COUNTER No.s used by CTR instruction
The addresses refered by sequence program
Page No.(Change pages with the page keys.)
The maximum(PRESET) values of COUNTER
(The minimum values are specified in CTR instruction.)

PMC PRM (COUNTER) #001 MONIT RUN

NO. ADDRESS PRESET CURRENT The CURRENT values of COUNTER

01 C00 4 1
02 C04 4 2
03 C08 4 3
04 C12 5 4
05 C16 4 5
06 C20 545 6
07 C24 5 3 09999 in BCD(032767 in Binary) can be set as
08 C28 6 2 the PRESET and CURRENT values.
09 C32 6 1
10 C36 6 4

[TIMER ] [COUNTR ] [KEEPRL ] [ DATA ] [ ]

4.3.3 The KEEP RELAYs and the Data for Controlling nonvolatile memory are
set and displayed on this screen.
Keep Relay (KEEPRL)

PMC PRM (KEEP RELAY) MONIT RUN

The address used by sequence program
NO. ADDRESS DATA NO. ADDRESS DATA
01 K00 00000000 11 K10 00000000
02 K01 00000000 12 K11 00000000
03 K02 00000000 13 K12 00000000
04 K03 00000000 14 K13 00000000
05 K04 00000000 15 K14 00000000
06 K05 00000000 16 K15 00000000
07 K06 00000000 17 K16 00000000
08 K07 00000000 18 K17 00000110
09 K08 00000000 19 K18 00000000
10 K09 00000000 20 K19 00000000
J : This area is reserved for special use. (Note)

[TIMER ] [COUNTR ] [KEEPRL ] [ DATA ] [ ]

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NOTE
1 The Data for Controlling Nonvolatile Memory(K16)
Refer to I6.1(4)Nonvolatile Memory Control.
2 The Data for PMC Management Software(K17,18,19)
Be careful of using the following KEEP RELAYs, because
they are used by PMC Management Software.

The Data for PMC Management Software

Model PA1 PA3
PMC control software data 1 K17 K17
PMC control software data 2 K18 K18
Reserved K19 K19

Model SA1 SA2

PMC control software data 1 K17 K17
PMC control software data 2 K18 K18
Reserved K19 K19

Model SB SB2
PMC control software data 1 K17 K17
PMC control software data 2 K18 K18
Reserved K19 K19

SA3/ SB3/ SB4/

Model
SA5 SB5 SB6
PMC control software data 1 K17 K17 K900
PMC control software data 2 K18 K18 K901
PMC control software data 3 K19 K19 K902
Reserved K903
to
K909

Model SC SC3 SC4

PMC control software data 1 K17 K17 K900
PMC control software data 2 K18 K18 K901
PMC control software data 3 K19 K19 K902
Reserved K903
to
K909

Model NB NB2
PMC control software data 1 K17 K900
PMC control software data 2 K18 K901
PMC control software data 3 K19 K902
Reserved K903
to
K909

PMC control software data 1 (K17 or K900)

#7 #6 #5 #4 #3 #2 #1 #0
K17
or DTBLDSP ANASTAT TRCSTART MEMINP SELCTMDL AUTORUN PRGRAM LADMASK
K900

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#7 DTBLDSP 0 : The PMC parameter data table control screen is

displayed.
1 : The PMC parameter data table control screen is
not displayed.
#6 ANASTAT 0 : In the function for displaying signal waveforms,
sampling starts when the [START] soft key is pressed.
1 : In the function for displaying signal waveforms,
sampling starts automatically when the power is
turned on.
* This bit is effective only for applicable models specified in 3.6,
Function for Displaying Signal Waveforms (ANALYS), in Part
II.
#5 TRCSTAT 0 : In the signal trace function, tracing starts when
the [EXEC] soft key is pressed.
1 : In the signal trace function, tracing starts
automatically when the power is turned on.
#4 MEMINP 0 : Data cannot be entered in the memory content
display function.
1 : Data can be entered in the memory content
display function.
* This bit is effective only for applicable models specified in 3.5,
Display the Contents of Memory (M.SRCH), in Part II.

#3 SELCTMDL 0 : The sequence program stored in ROM (EPROM)

is enabled.
1 : The sequence program stored in the RAM
module or ROM module (only for
PMCSB2/SB3) is enabled.
* This bit enables either the EPROM module or ROM/RAM
module when both modules are provided. It is effective for the
PMCSA1, SA2, SA3, SB, SB2, and SB3. (It is not effective for
the Series 20 or Series 16/18 MODELB.)

#2 AUTORUN 0 : In RAM operation, a sequence program is not

executed when the power is turned on.
1 : In RAM operation, a sequence program is
executed automatically when the power is turned
on (as in ROM operation).
* For the PMC of the Series 16/18 MODELB/C, Series
16i/18i/21iMODEL A, and Power Mate iD/H this bit has the
following meanings.

0 : The sequence program is executed automatically

when the power is turned on.
1 : The sequence program is executed when the
[RUN] soft key is pressed.
#1 PRGRAM 0 : The builtin programmer function is not
operated.
(The programmer menu is not displayed, either.)
1 : The builtin programmer function is operated.
(The programmer menu is displayed.)

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WARNING
Set this bit to 0 before shipment from the factory.
If the bit setting is left as 0, the operator may stop execution
of the ladder diagram by mistake, and cause an accident.

#0 LADMASK 0 : Ladder dynamic display (PCLAD) is performed.

1 : Ladder dynamic display (PCLAD) is not
performed.

PMC control software data 2 (K18 or K901)

#7 #6 #5 #4 #3 #2 #1 #0
K18
or IGNDINT CHKPRTY CALCPRTY TRNSRAM TRGSTAT DBGSTAT IGNKEY
K901

#7 IGNDINT 0 : When the screen is switched to the PCMMDI

screen, the CRT is initialized.
1 : When the screen is switched to the PCMMDI
screen, the CRT is not initialized.
* The flag is used to determine whether PMC control software
initializes the CRT when the screen is switched to the PCMMDI
screen. Design application software sot that the CRT is initialized
when this flag is on.
#5 CHKPRTY 0 : The parity check is performed for the system
ROM and program ROM/RAM.
1 : The parity check is not performed for the system
ROM and program ROM/RAM.
#4 CALCPRTY 0 : The builtin programmer function performs
RAM parity calculation.
1 : The builtin programmer function does not
performs RAM parity calculation.
#3 TRNSRAM 0 : A ladder program is not automatically sent to the
backup RAM after online editing is completed.
1 : A ladder program is automatically sent to the
backup RAM after online editing is completed.
#2 TRGSTAT 0 : The trigger stop function does not automatically
start when the power is turned on.
1 : The trigger stop function automatically starts
when the power is turned on.
#1 DBGSTAT 0 : In the C language debug function, the break
processing does not automatically start when the
power is turned on.
1 : In the C language debug function, the break
processing automatically starts when the power is
turned on.
* This flag is effective for the PMCSC/SC3/SC4.
#0 IGNKEY 0 : Function keys are enabled when the user program
displays the user screen.
1 : Function keys are disabled when the user
program displays the user screen.

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* This flag is effective for the PMCSC/SC3/SC4/NB/NB2, When

this bit is set to 1 in the user screen, the screen cannot be switched
to the NC screen using the function keys. For this reason, a
program that always sets this bit to 0 or that changes the screen
to the NC screen is required.
* Be sure to set this flag to 1 when the CNC screen display function
is used to display the user menu on an open CNC.
PMC control software data 3 (K19 or K902)
K19 #7 #6 #5 #4 #3 #2 #1 #0
or LCDMONO CREJECT FROM
K902
WRT

#3 LCDMONO 0 : Ladderrelated display is brightnessadjusted

when a monochrome LCD is used with the VGA
setting.
1 : Ladderrelated display is not
brightnessadjusted but is displayed in reverse
video when a monochrome LCD is used with the
VGA setting.
#1 CREJECT 0 : A Clanguage program is activated.
1 : A Clanguage program is forcibly not activated.
* The flag is effective for the PMCRC/RC3/RC4.
#0 FROMWRT 0 : The program is not automatically written to
FROM.
1 : After a lodder program on C program has been
edited, the program is automatically written to
FROM.

CAUTION
Be sure to set bits not used in the PMC control software data
to 0.

In case of PMCPA1/PA3
on Power Mate #7 #6 #5 #4 #3 #2 #1 #0
K17 DTBLDSP ANASTAT TRCSTART MEMINP AUTORUN PRGRAM LADMASK

#7 DTBLDSP 0 : The PMC parameter data table control screen is

displayed.
1 : The PMC parameter data table control screen is
not displayed.
#6 ANASTAT 0 : Sampling is started with the signal waveform
display function by using the execution soft key.
1 : Sampling is started with the signal waveform
display function, automatically after the power is
turned on.
(This setting cannot be used with the Power
MateD/F.)
#5 TRCSTAT 0 : Trace operation is started with the signal trace
function by using the trace execution soft key.
1 : Trace operation is started with the signal trace
function, automatically after the power is turned
on.

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#4 MEMINP 0 : Data cannot be entered with the memory contents

display function.
1 : Data can be entered with the memory contents
display function.
(This setting cannot be used with the Power
MateD/F.)
#2 AUTORUN 0 : The sequence program is executed automatically
after the power is turned on.
(This setting cannot be used with the Power
MateD/F. Set to 0.)
1 : The sequence program is executed by using the
sequence program execution soft key.
#1 PRGRAM 0 : The builtin programmer function is not
operated. (The programmer menu is not
displayed either.)
1 : The builtin programmer function is operated.
(The programmer menu is displayed.)
#0 LADMASK 0 : Ladder dynamic display (PMCLAD) is
performed.
1 : Ladder dynamic display (PMCLAD) is not
performed.

#7 #6 #5 #4 #3 #2 #1 #0
K18 CHKPRTY CALCPRTY TRANSRAM TRGSTAT

#5 CHKPRTY 0 : System ROM and program ROM/RAM parity

checks are performed.
1 : System ROM and program ROM/RAM parity
checks are not performed.
#4 CALCPRTY 0 : A RAM parity calculation is performed with the
builtin programmer function.
1 : A RAM parity calculation is not performed with
the builtin programmer function.
#3 TRNSRAM 0 : Upon the completion of online editing, the ladder
program is not automatically transferred to RAM
for editing.
1 : Upon the completion of online editing, the ladder
program is automatically transferred to RAM for
editing. (This setting cannot be used with the
Power MateD/F.)
#2 TRGSTAT 0 : When the power is turned on, the trigger stop
function is not started automatically.
1 : When the power is turned on, the trigger stop
function is started automatically.
(This setting cannot be used with the Power
MateD/F.)

#7 #6 #5 #4 #3 #2 #1 #0
K19 FROMWRT

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#0 FROMWRT 0 : After a ladder is edited, the ladder is not

automatically written to FROM.
1 : After a ladder is edited, the ladder is
automatically written to FROM.
(This setting cannot be used with the Power
MateD/F.)

CAUTION
The unused area of the data for the PMC management
software must always be set to 0.

4.3.4 DATA TABLE consists of two screens, that is, Data Table Controlling
Data Table (DATA) Data screen and Data Table screen.
(1) Data Table Controlling Data Screen
Data Table Controlling Data Screen for controlling Data Table is
displayed by pressing the soft key [DATA].
Group No.s
The top address of Data Table
Table Parameters(Note)
Page No. (Change pages with the page keys)
Data length
(0:1byte, 1:2bytes, 2:4bytes)
PMC DATA TBL CONTROL #001 MONIT RUN

GROUP TABLE COUNT = 16 The number of group of Data Table

NO. ADDRESS PARAMETER TYPE NO. OF DATA The data numbers of each Data Table
001 D0000 00000000 0 20
002 D0020 00000010 0 81
003 D0101 00000001 1 100
004 D0301 00000000 2 50
005 D0501 00000011 0 5
006 D0506 00000000 0 10
007 D0506 00000000 1 10 * You can set the same address in other groups.
008 D0506 00000000 2 10

You can initialize the Data Table setting data. The

[G.DATA] [G.CONT] [NO.SRH] [ ] [ INIT ] initial data is as follows.

PMC DATA TBL CONTROL #001 MONIT RUN

GROUP TABLE COUNT = 1

NO. ADDRESS PARAMETER TYPE NO. OF DATA

001 D0000 00000000 0 1860

002 * 3000:PMCSB3/SB5
/SC/SC3/NB
* 8000:PMCSB4/SB6/NB2
Press this key after typing the group No., and the cursor is moved to the group.
Press this key after typing the number of group, and the Group Table Count is set.
You can change the screen to Data Table.

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NOTE
Table Parameter
#7 #6 #5 #4 #3 #2 #1 #0

0 : Binary
1 : BCD

0 : Available to input
1 : Unavailable to input (Protection mode)

0 : Binary of BCD (The bit 0 is valid

1 : Hexadecimal (The bit 0 is invalid.)

(2) Data Table Screen

If the Data Table Controlling Data is set, Data Table Screen is
displayed by pressing the soft key [G.DATA].
Group No.s

Page No.
(Change pages with the page keys)
PMC PRM (DATA) 001/001 MONIT RUN

NO. ADDRESS DATA The address used by sequence program

001 D0000 10
002 D0001 48
003 D0002 5
004 D0003 64
005 D0004 0
006 D0005 0
007 D0006 48
008 D0007 10
009 D0008 1
010 D0009 1

[C.DATA] [GSRCH] [SEARCH] [ ] [ ]

Press this key after typing the address (ex.D8;D can be omitted), and the cursor
is moved to the address in the current group.

If you search the Data Table in the other group, press this key after typing the
group No., and the cursor is moved to the top of the address in the specified
group.

You can change the screen to Data Table Controlling Data.

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4.4 Part of KEEP RELAY parameters can be set on SETTING Screen.

SETTING SCREEN : Can be used
: Cannot be used
PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SC SC3 SC4 NB NB2

NOTE
: Can be used for the specific series of CNC.
(Series 16 : B005/11 to, B105/08 to, B305/04 to, B009/03
to, All serieses of MODEL C)
(Series 18 : BD03/12 to, BE03/09 to, BG23/03 to,
BG03/06 to, BD09/02 to, BE09/14 to, All serieses of
MODEL C)
PMCPA3 can be used only with Power MateH.

D The display items are different according to the type of CNC.

D The parameter is set by a soft key or the <INPUT> key with 0 or 1.
D Once an item has been set, the cursor moves to the next item.
[PMCSA1/SA3/SB/SB3/SB4 on SETTING screen]

PMC PRM (SETTING) MONIT RUN

PROGRAMMER ENABLE = 0(0:NO 1:YES) (K17. 1)

LADDER START (RAM) = 0(0:MANUAL 1:AUTO) (K17. 2)
SELECT ROM/RAM = 0(0:ROM 1:RAM) (K17. 3)
SIGNAL TRACE START = 0(0:MANUAL 1:AUTO) (K17. 5)
DATA TBL CNTL SCREEN = 0(0:YES 1:NO) (K17. 7)
SIGNAL TRIGGER START = 0(0:MANUAL 1:AUTO) (K18. 2)
TRANS LADDER(ONLEDT) = 0(0:MANUAL 1: AUTO) (K18. 3)

[ NO ] [ YES ] [ ] [ ] [ ]

* The bracketed addresses show the related KEEP RELAYs.

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[PMCSC/SC3/SC4 on SETTING screen]

PMC PRM (SETTING) MONIT RUN

PROGRAMMER ENABLE = 0(0:NO 1:YES) (K17. 1)

LADDER START (RAM) = 0(0:MANUAL 1:AUTO) (K17. 2)
RAM WRITE ENABLE = 0(0:NO 1:YES) (K17. 4)
SIGNAL TRACE START = 0(0:MANUAL 1:AUTO) (K17. 5)
SIGNAL ANALYS START = 0(0:MANUAL 1:AUTO) (K17. 6)
DATA TBL CNTL SCREEN = 0(0:YES 1:NO) (K17. 7)
FUNC KEY INP(CUSTOM) = 0(0:AVAL 1:IGNORE) (K18. 0)
DEBUG FUNC START = 0(0:MANUAL 1:AUTO) (K18. 1)
SIGNAL TRIGGER START = 0(0:MANUAL 1:AUTO) (K18. 2)
TRANS LADDER (ONLEDT)= 0(0:MANUAL 1:AUTO) (K18. 3)
INITPMCMDI SCREEN = 0(0:YES 1:NO) (K18. 7)

[ NO ] [ YES ] [ ] [ ] [ ]

* The bracketed addresses show the related KEEP RELAYs.

[PMCPA3 on SETTING screen]

PMC PRM (SETTING) MONIT RUN

PROGRAMMER ENABLE = 0(0:NO 1:YES) (K17. 1)

LADDER START = 0(0:AUTO 1:MANUAL) (K17. 2)
RAM WRITE ENABLE = 0(0:NO 1:YES) (K17. 4)
SIGNAL TRACE START = 0(0:MANUAL 1:AUTO) (K17. 5)
DATA TBL CNTL SCREEN = 0(0:YES 1:NO) (K17. 7)
SIGNAL TRIGGER START = 0(0:MANUAL 1:AUTO) (K18. 2)

[ NO ] [ YES ] [ ] [ ] [ ]

* The bracketed address show the related KEEP RELAYs

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[PMCNB/NB2 on SETTING screen]

PMC PRM (SETTING) MONIT RUN

NB NB2
PROGRAMMER ENABLE = 0 (0:NO 1:YES) (K17. 1, K900.1)
AUTOMATIC LADDER START = 0 (0:MANUAL 1:AUTO) (K17. 2, K900.2)
RAM WRITE ENABLE IN [M.SRC] = 0 (0:NO 1:YES) (K17. 4, K900.4)
SIGNAL TRACE START = 0 (0:MANUAL 1:AUTO) (K17. 5, K900.5)
SIGNAL ANALYSIS START = 0 (0:MANUAL 1:AUTO) (K17. 6, K900.6)
DATA TABLE CONTROL SCREEN = 0 (0:YES 1:NO) (K17. 7, K900.7)
NC/PC KEY EFFECTIVE = 0 (0:AVAL 1:IGNORE) (K18. 0, K901.0)
DEBUG FUNCTION START = 0 (0:MANUAL 1:AUTO)
(K18. 1, K901.1)
SIGNAL TRIGGER START = 0 (0:MANUAL 1:AUTO)
TRANSFER LADDER (ONLINEEDIT) = 0 (0:MANUAL 1:AUTO) (K18. 2, K901.2)
INITIALIZE PMCMDI SCREEN = 0 (0:YES 1:NO) (K18. 3, K901.3)
WRITE TO FROM (EDIT) = 0 (0:NO 1:YES) (K18. 7, K901.7)
REJECT LANGUAGE = 0 (0:NO 1:YES) (K19. 0, K902.0)
SIGNAL ANALYSIS DISPLAY MODE = 0 (0:GRAPHIC 1:TEXT) (K19. 1, K902.1)
SPECIFY NC WINDOW FORMAT = 0 (0:AUTO 1:MANUAL)
NC WINDOW FORMAT (TOOL DATA) = 0 (0:EXPAND 1:STANDARD)

[ NO ] [ YES ] [ ] [ ] [ ]

* The bracketed addresses show the related KEEP RELAYs.

SIGNAL TRIGGER ENABLE
Displayed in case of PMCNB(4047).
Stop function of ladder diagram display by trigger of signal is set.
The trigger stop function can be used by selecting YES ,and turning
off and on the power.
WRITE TO FROM (EDIT)
Setting to write the LADDER data in FROM, when the edit of
LADDER ends.
When you select YES and then get out of the EDIT screen, a
message confirming if you write to FROM is displayed.
REJECT LANGUAGE
It is setting of the start of the program of C language.
When YES is selected, the program of C language is not started.
SIGNAL ANALYSIS DISPLAY MODE
The display form in the signal waveform display function is set.
The display form can be selected.
Select TEXT and it is displayed by the character.
Select GRAPHIC and it is displayed by the line.
SPECIFY NC WINDOW FORMAT
The form in functional instruction WINDR and WINDW are set.
When AUTO is selected, the format is automatically distinguished
by the state of bit 4 of NC parameter 7401.
When MANUAL is selected, the format is selected by NC
WINDOW FORMAT (TOOL DATA).

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NC WINDOW FORMAT (TOOL DATA)

The format in functional instruction WINDR and WINDW are set.
When MANUAL is selected by SPECIFY NC WINDOW
FORMAT, this item is effective.
The window instruction of a new format can be used by selecting
EXPAND.
(The same meaning as bit 4 of NC parameter 7401 is 1.)
An old window instruction can be used by selecting STANDARD
(The same meaning as bit 4 of NC parameter 7401 is 0.)
GRAY SCALE DISPLAY
This parameter sets the ladderrelated display method when a
monochrome LCD is used. When you find the screen display on the
monochrome LCD not easy to view, change this parameter setting.
When USE is selected, the difference in brightness is used for screen
display.
When UNUSED is selected, reverse video is used for screen display.
NOTE
A change made to this parameter does not become valid
until the power is turned on next. After the setting of this
parameter has been changed, the power must be turned off
then back on for the setting to become effective.

4.4.1 Enable or disable the following function and mode:

Other Setting Screens D Multilanguage display function
D OVERRIDE mode of the forced input/output function
(1) Setting screen display
Each setting screen can be displayed by pressing the [NEXT] or
[PREV] soft key on the setting parameter screen.

[ YES ] [ NO ] [ ] [ PREV ] [ NEXT ]

Setting parameter

[ INPUT ] [ ] [ ] [ PREV ] [ NEXT ]

Setting parameter
(multilanguagedisplay function)

[ YES ] [ NO ] [ ] [ PREV ] [ NEXT ]

Setting parameter (OVERRIDE mode

of the forced input/output function)

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Each setting parameter can be set when the respective conditions are
satisfied.
(a) Multilanguage display function
D The PROGRAM ENABLE setting parameter is set to YES
(bit 1 of K17 or bit 1 of K900 is set to 1).
D The PMC model is SB6.
(b) OVERRIDE mode of the forced input/output function
D The PROGRAM ENABLE setting parameter is set to YES
(bit 1 of K17 or bit 1 of K900 is set to 1)
D The PMC model is SA5, SB5, or SB6.
D The editing function is provided.
(2) Setting operations
(a) Setting the Multilanguage display function
Position the cursor to the each setting item with the arrow keys,
enter the desired data, then press the [INPUT] soft key.

PMC PRM (MESSAGE SHIFT) MONIT RUN

MESSAGE SHIFT VALUE = 0

MESSAGE SHIFT START ADDRESS = A0000.0

[INPUT] [ ] [ ] [ PREV ] [ NEXT ]

(i) Parameters
D MESSAGE SHIFT VALUE
Enter a desired message display request bit shift amount.
A value from 0 to 999 can be entered. The initially displayed
value is 0.
Entered data is maintained even after the power is turned off.
D MESSAGE SHIFT START ADDRESS
Enter a shift start bit address in the message display request
bit area.
An address A value can be entered. The initially displayed
value is A0.0.
Entered data is maintained even after the power is turned off.

NOTE
Data entered for MESSAGE SHIFT START ADDRESS is
valid only when a value other than 0 is entered for
MESSAGE SHIFT VALUE.

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(b) OVERRIDE mode of the forced input/output function

D Set OVERRIDE mode by using the soft key or by entering
0 or 1 followed by the <INPUT> key.

PMC PRM (OVERRIDE) MONIT RUN

OVERRIDE ENABLE = 0 (0:NO 1:YES)

[ NO ] [ YES ] [ ] [ PREV ] [ NEXT ]

OVERRIDE ENABLE 0 : OVERRIDE mode is disabled.

1 : OVERRIDE mode is enabled.

CAUTION
If the setting of this parameter is modified, the new setting
becomes effective when the power is next turned on. After
this parameter has been modified, the power must be
turned off then back on.

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4. PMC PARAMETERS SETTING AND
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4.5 If you make a keyboard without cursor keys, you must move cursor by
searching the address or so. In case of TIMER,COUNTER and KEEP
NOTE RELAY, press the soft key [TIMER],[COUNTR] or [KEEPRL] after
typing the address(Ex.1,2).
In case of Data Table Controlling Data, press the soft key [DATA](or
[NO.SRH] if Data Table screen has already been displayed) after typing
the group No.(Ex.3). In case of the Data Table, press the soft key
[SEARCH] after typing the address in the Data Table screen which
contains the address you want to search(Ex.4).
Ex.1) In case of setting the TIMER NO.11(ADDRESS T20)
1 Press the soft key [TIMER] after typing T20(or T21;T can be
omitted.).
2 Press the INPUT key after typing the value.
Ex.2) In case of setting PRESET and CURRENT values of the
COUNTER NO.02(ADDRESS C04)
1 PRESET Press the soft key [COUNTER] after typing C4 (or
C5;C can be omitted).
CURRENT Press the soft key [COUNTER] after typing
C6 (or C7;C can be omitted).
2 Press the INPUT key after typing the value.

CAUTION
It is not the number(NO.) but the address(ADDRESS) that
you type in searching.

Ex.3) In case of the ADDRESS,PARAMETER,TYPE and NO. OF

DATA of the Data Table Controlling Data NO.002.
1 Press the soft key [NO.SRH] after typing 2, and the cursor is
moved to the ADDRESS position.
2 Press the INPUT key after typing the ADDRESS(ex.D20;D must
not be omitted), and the cursor is automatically moved to the next
position(PARAMETER). The cursor is moved only by pressing
the INPUT key.
3 In the same way, set the PARAMETER,TYPE and NO. OF
DATA. If you finish setting the NO. OF DATA, the cursor is
moved to the position(ADDRESS) in the same line.
Ex.4) In case of setting D22 in the Data Table of the group 2
1 Press the soft key [G.DATA] on the Data Table Controlling Data
screen, and the Data Table screen is displayed.
2 Press the soft key [GSRCH] after typing 2 on the Data Table
screen, and the Data Table of the group 2 is displayed.
3 Press the soft key [SEARCH] after typing D22(D can be omitted).
4 Press the INPUT key after typing the value.

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B61863E/14 PMC OPERATION (CRT/MDI) (PMCLAD)

5 PMC LADDER DIAGRAM DISPLAY (PMCLAD)

Displaying the PMC ladder diagram on CRT/MDI panel is available.

This ladder diagram display function offers functions effectively used for
locating troubles in addition to the simple ladder diagram display.
The following functions are done using the soft keys.
(1) Search and display of optional relay coil on ladder diagrams.

(2) Ladder diagram dynamic display.

(3) Stop of ladder diagram display by trigger of signal (on or off).
(4) Screen-dividing display.
(5) Monitor display of signal condition.
(6) Monitor display of parameter in functional instructions.
(7) ON LINE edit.
For this operation, depress [PMCLAD] soft key of PMC basic menu to
bring the following menu.
ATYPE

PMCLAD PMCDGN PMCPRM

RET

TOP BOTTOM SRCH W-SRCH N-SRCH

Sec. 5.5 Sec. 5.5 Sec. 5.5 Sec. 5.5 Sec.5.5 NEXT

F-SRCH ADRESS
(SYMBOL)
Sec. 5.5 Sec. 5.4

BTYPE

PMCLAD PMCDGN PMCPRM

RET

SEARCH ADRESS TRIGER WINDOW

(SYMBOL)

Sec. 5.5 Sec. 5.4 Sec. 5.6 Sec. 5.7 NEXT

DUMP DPARA ONLEDT

(NDPARA)

Sec. 5.2 Sec. 5.3 Sec. 5.8

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(PMCLAD) PMC OPERATION (CRT/MDI) B61863E/14

5.1 The following functions can be done the ladder diagram display screen.
LADDER DIAGRAM (a) Specified relay coil of ladder diagrams can be searched and
displayed.
DISPLAY
(b) Ladder diagram dynamic display.
The logical on-off states during a sequence program execution are
displayed on a ladder diagram by changing the brightness in case
of a monochrome CRT or by changing colors in case of a color
CRT.
(1) Ladder diagram display
Press [PMCLAD] soft key, then the ladder diagram will be displayed.
Eight relay contacts and relay coils in total are displayed in the
horizontal direction of the CRT screen.
If the number of relay contacts exceed the above value, they are
displayed in 2 or more lines.

Signal name
(Within 6 characters) LADDER MONIT RUN
Address or
symbol name
MA SPDALM X2.4 MACHINE Comments
READY (within 30
characters)
MACHINE
ALARM

9 lines

[SEARCH] [ADRESS ] [TRIGER] [WINDOW] [ ]

[ DUMP ] [ DPARA ] [ ] [ONLEDT] [ ]

Fig. 5.1 Ladder diagram display

NOTE
When online communication is being performed with USE
selected on the online setting screen (see Section III8.5),
pressing the [PMCLAD] soft key displays the message
REJECT (ONLINE MONITOR ACTIVE), disabling access
to the display. In such a case, select NOT USED on the
online setting screen, and stop online communication on
the PC side.

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 5. PMC LADDER DIAGRAM DISPLAY
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5.2 Ladder diagram and signal status dump can be displayed together.
DUMP DISPLAY ON The dump is displayed over 2 lines at the last line of ladder diagram by
LADDER DIAGRAM pressing the [DUMP] soft key.
PAGE keys or [SEARCH] soft key is used for changing of PMC
address.

LADDER *TITLE DATA REMARKS 32 BYTES * NET 00001-00004 MONIT RUN

X1000.0 X1000.0
X1000.1 X1000.2 X1000.1
X1000.3

X1001.0 ACT SUB 3 0002 X1001.0

TMR

X1001.1 X1001.2 X1001.1

X1001.3

ADDRESS DUMP
G0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 .......
G0016 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 .......

[ BYTE ] [ WORD ] [ D.WORD ] [ ] [ ]

The [DUMP] soft key has the following functions.

(1) [BYTE] : Byte type display (1 BYTE)
G0000 00 14 00 00 01 00 00 00 00 00 00 00 00 00 00 00
G0016 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
(2) [WORD] : Word type display (2 BYTE)
G0000 1400 0000 0001 0000 0000 0000 0000 0000
G0016 0000 0000 0000 0000 0000 0000 0000 0000
(3) [D.WORD] : Long word type display (4 BYTE)
G0000 00001400 00000001 00000000 00000000
G0016 00000000 00000000 00000000 00000000

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5. PMC LADDER DIAGRAM DISPLAY
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5.3 The value of parameter of a functional instruction is displayed in the

functional instruction of a ladder diagram.
PARAMETER
DISPLAY ON
LADDER *TITLE DATA REMARKS 32 BYTES * NET 00001-00004 MONIT RUN
LADDER DIAGRAM
X1000.0 X1000.0
X1000.0 RST X1000.3
ABSDE ACT
SUB36 2
ADDB
D0000
[ 0](Content of D0)
1
D0000
[ 0]

[ DUMP ] [ DPARA ] [ ] [ ONLEDT ] [ ]

(NDPARA)

The function of the soft key is as follows :

(1) [DPARA] : The value of parameter is displayed in functional
instruction.
(2) [NDPARA] : The value of parameter is not displayed in functional
instruction.

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 5. PMC LADDER DIAGRAM DISPLAY
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5.3.1
The Value of
Functional Instruction
Parameter Data length of instruction
Functional Data parameter (1: byte, 2: word, 4: d. word) Displaying
No.
instruction no. s form
1 2 3 4 5 6
1 END1 0
2 END2 0
3 TMR (NOTE3) 2 4 4 Binary
4 DEC 1 1 BCD
5 CTR (NOTE4) 2 2 2 Binary
6 ROT 3 2 2 2 BCD
7 COD 2 1 2 BCD
8 MOVE 2 1 1 HEX
9 COM 0
10 JMP 0
11 PARI 1 1
12
13
14 DCNV 2 2 2 (Note 1)
15 COMP 2 2 2 BCD
16 COIN 2 2 2 BCD
17 DSCH 3 2 2 2 BCD
18 XMOV 3 2 2 2 BCD
19 ADD 3 2 2 2 BCD
20 SUB 3 2 2 2 BCD
21 MUL 3 2 2 2 BCD
22 DIV 3 2 2 2 BCD
23 NUME 1 2 BCD
24 TMRB (NOTE3) 1 4 Binary
25 DECB 2 1/2/4 1
26 ROTB 4 1/2/4 1/2/4 1/2/4 1/2/4 Binary
27 CODB 2 1 1/2/4
28 MOVOR 3 1 1 1 HEX
29 COME 0
30 JMPE 0
31 DCNVB 2 1/2/4 1/2/4 (Note1)
32 COMPB 2 1/2/4 1/2/4 Binary
33 SFT 1 HEX
34 DSCHB 4 1/2/4 1/2/4 1/2/4 1/2/4 Binary
35 XMOVB 4 1/2/4 1/2/4 1/2/4 1/2/4 Binary
36 ADDB 3 1/2/4 1/2/4 1/2/4 Binary
37 SUBB 3 1/2/4 1/2/4 1/2/4 Binary
38 MULB 3 1/2/4 1/2/4 1/2/4 Binary
39 DIVB 3 1/2/4 1/2/4 1/2/4 Binary
40 NUMEB 1 1/2/4 Binary
41 DISPB 0
42 EXIN 1 4 HEX
43 MOVB 2 1 1 Binary
44 MOVW 2 2 2 Binary
45 MOVN 2 4 4 Binary
46
47
48 END3 0
49 DISP 1 4 HEX
50 PSGNL 2 1 1 HEX
51 WINDR 1 2 Binary
52 WINDW 1 2 Binary
53 AXCTL 1 4 HEX
54 TMRC (NOTE3) 2 4 4 Binary

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5. PMC LADDER DIAGRAM DISPLAY
(PMCLAD) PMC OPERATION (CRT/MDI) B61863E/14

Data length of instruction

Functional Data parameter (1: byte, 2: word, 4: d. word) Displaying
No.
instruction no. s form
1 2 3 4 5 6
55 CTRC (NOTE4) 2 2 2 Binary
56
57 DIFU 0
58 DIFD 0
59 EOR 3 1/2/4 1/2/4 1/2/4 HEX
60 AND 3 1/2/4 1/2/4 1/2/4 HEX
61 OR 3 1/2/4 1/2/4 1/2/4 HEX
62 NOT 2 1/2/4 1/2/4 HEX
63 PSGN2 1 1 HEX
64 END 0
65 CALL 0
66 CALLU 0
67
68 JMPB 0
69 LBL 0
70
71 SP 0
72 SPE 0
73 JMPC 0
74
Y Y
Y Y
87
88 MMC3R 4 2 2 2 2 Unsign
89 MMC3W 4 2 2 2 2 Unsign
90 FNC90 1 2 Binary
91 FNC91 1 2 Binary
92 FNC92 1 2 Binary
93 FNC93 1 2 Binary
94 FNC94 1 2 Binary
95 FNC95 1 2 Binary
96 FNC96 1 2 Binary
97 FNC97 1 2 Binary
98 MMCWR 2 2 2 Unsign
99 MMCWW 2 2 2 Unsign

NOTE
1 The data length of BCD is displayed for 1 is 2-figures, 2 is
4-figures.
2 The value of parameter is not displayed in this instruction.
3 The timer is displayed the content of timer number (3: TMR,
24: TMRB, 54: TMRC).
4 The counter is displayed the content of counter number (5:
CTR, 55: CTRC).

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5.4 If symbol data and comments are defined to the PMC address, a comment
is displayed for symbol display and relay coil.
SYMBOL AND
COMMENT DISPLAY By pressing soft key [ADRESS], the symbol displayed relay is
address-displayed.
By pressing soft key [SYMBOL], the symbol displayed relay is
symbol-displayed.
(See III. PMC programer, 5. 4 Symbol data setting)

LADDER MONIT RUN

Signal name
Address or
symbol name MA SPDALM X2.4 MACHINE Comments
mments READY
MACHINE
ALARM

[ SEARCH ] [ ADRESS ] [ TRIGER ] [ WINDOW ] [ ]

(SYMBOL)

The function of the soft key [ADRESS] is as follows.

(1) [ADRESS] : is used to display the address name.
(2) [SYMBOL] : is used to display the symbol name.

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5. PMC LADDER DIAGRAM DISPLAY
(PMCLAD) PMC OPERATION (CRT/MDI) B61863E/14

5.5 Specified relay coil points of ladder diagrams can be displayed on the
screen.
SEARCH OF
SPECIFIED RELAY For this operation, press [SEARCH] soft key to bring the following menu.
COIL POINTS IN
LADDER DIAGRAM SEARCH ADRESS TRIGER WINDOW

RET

TOP BOTTOM SRCH W- SRCH N- SRCH

NEXT

F- SRCH

The function of the soft key [SEARCH] is as follows :

(1) [TOP] : Displays the first NET of the ladder from the
beginning of the screen.
(2) [BOTTOM] : Displays the last NET of the ladder from the
beginning of the screen.
(3) [SRCH] : When the address and bit number or symbol name to
be searched are typed in and the [SRCH] key is
pressed, the specified address or symbol is searched
from the top of the current screen. If the specified
relay cannot be found until the last NET of the ladder,
the relay are searched again from the first ladder until
the NET where they started being searched.
(4) [W-SRCH] : This is used for searching a relay coil. Press
[W-SRCH] soft key after keying in an address and bit
number or symbol name. If the same address and bit
number or the same symbol name is detected, the
screen containing it will be displayed.
(5) [N-SRCH] : Displays the ladder with the specified NET number
from the beginning of the screen. Moreover, when
pressing the [N-SRCH] key without keying the NET
number, the display is scrolled down by one NET.
(6) [F-SRCH] : When the functional instruction name or functional
instruction number is typed in and the [F-SRCH] key
is pressed, the functional instruction is searched.

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 5. PMC LADDER DIAGRAM DISPLAY
B61863E/14 PMC OPERATION (CRT/MDI) (PMCLAD)

5.6
STOP OF LADDER : Can be used
: Cannot be us
DIAGRAM DISPLAY PA1 PA3 SA1 SA2 SA3 SA5 SB SB2 SB3 SB4 SB5 SB6 SC SC3 SC4 NB NB2
BY TRIGGER OF