PROGRAMMING MANUAL PMC FANUC Series 0 -MODEL D FANUC Series 0 Mate-MODEL D PDF

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* FANUC Series 0 -MODEL D FANUC Series 0 * Mate-MODEL D PMC PROGRAMMING MANUAL B-64393EN/02 • No part of this manual may be reproduced in any form. • All specifications and designs are subject to change without notice. The products in this manual are controlled based on Japan’s “Foreign Exchange and...

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* FANUC Series 0 * Mate-MODEL D FANUC Series 0 -MODEL D

PMC PROGRAMMING MANUAL

B-64393EN/02

• No part of this manual may be reproduced in any form. • All specifications and designs are subject to change without notice. The products in this manual are controlled based on Japan’s “Foreign Exchange and Foreign Trade Law”. The export from Japan may be subject to an export license by the government of Japan. Further, re-export to another country may be subject to the license of the government of the country from where the product is re-exported. Furthermore, the product may also be controlled by re-export regulations of the United States government. Should you wish to export or re-export these products, please contact FANUC for advice. 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”. This manual contains the program names or device names of other companies, some of which are registered trademarks of respective owners. However, these names are not followed by ® or ™ in the main body.

B-64393EN/02

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.

s-1

TABLE OF CONTENTS

B-64393EN/02

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

OVERVIEW OF PMC .............................................................................. 1 1.1

WHAT IS PMC?............................................................................................. 1 1.1.1 1.1.2 1.1.3

1.2

WHAT IS LADDER LANGUAGE? ................................................................. 5 1.2.1 1.2.2 1.2.3 1.2.4 1.2.5 1.2.6 1.2.7

1.3

Ladder Diagram Format ...........................................................................................5 Signal Name (Symbol Name)...................................................................................6 Comment ..................................................................................................................6 Graphic Symbols of Relays and Coils......................................................................7 Line Number and Net Number .................................................................................7 Difference Between Relay Sequence Circuit and Ladder Sequence Program .........8 Specification of Extended Symbol and Comment....................................................9

SEQUENCE PROGRAM CREATION PROCEDURE .................................. 12 1.3.1 1.3.2 1.3.3 1.3.4 1.3.5 1.3.6

1.4

Basic Configuration of PMC ....................................................................................1 I/O Signals of PMC ..................................................................................................1 PMC Signal Addresses .............................................................................................2

Determining Specification......................................................................................12 Creating Ladder Diagram .......................................................................................12 Editing Sequence Program .....................................................................................12 Transferring and Writing Sequence Program to PMC ...........................................13 Checking Sequence Program..................................................................................14 Storage and Management of Sequence Program....................................................14

EXECUTION OF SEQUENCE PROGRAM ................................................. 15 1.4.1 1.4.2 1.4.3 1.4.4

Execution Procedure of Sequence Program ...........................................................16 Repetitive Operation...............................................................................................17 Processing Priority (1st Level, 2nd Level, and 3rd Level).....................................17 Structured Sequence Program ................................................................................19 1.4.4.1 1.4.4.2 1.4.4.3

1.4.5 1.4.6 1.4.7

1.5

2

Implementation .................................................................................................. 19 Subprogramming and nesting ............................................................................ 24 Notes on using subroutines................................................................................ 28

Synchronization Processing of I/O Signals ............................................................30 Interlock .................................................................................................................34 Notes on I/O Signals Updated by Other Than PMC ..............................................34

PMC/L FUNCTION FOR Series 0i-D/0i Mate-D .......................................... 35

PMC SPECIFICATIONS........................................................................ 36 2.1

SPECIFICATIONS....................................................................................... 36 2.1.1 2.1.2 2.1.3 2.1.4 2.1.5 2.1.6 2.1.7 2.1.8

2.2

Basic Specifications ...............................................................................................36 Program Capacity ...................................................................................................39 Sequence Program Memory Capacity ....................................................................40 Data Size for PMC Message Multi-Language Display ..........................................40 PMC Addresses ......................................................................................................41 Basic Instructions ...................................................................................................43 Functional Instructions (Arranged in Sequence of Instruction Group) ..................44 Functional Instructions (Arranged in Sequence of SUB No.) ................................51

PMC SIGNAL ADDRESSES........................................................................ 57 2.2.1 2.2.2 2.2.3 2.2.4

Addresses for Signals Between the PMC and CNC (F, G) ....................................57 Addresses of Signals Between the PMC and Machine (X, Y) ...............................58 Internal Relay Addresses (R)..................................................................................59 System Relay Addresses (R9000) ..........................................................................60 c-1

TABLE OF CONTENTS 2.2.5 2.2.6 2.2.7 2.2.8 2.2.9 2.2.10 2.2.11 2.2.12 2.2.13 2.2.14

2.3

2.5.3 2.5.4 2.5.5 2.5.6

3

Compatibility between 0i-D PMC and PMC-SB7 for 0i-C....................................99 Compatibility between 0i-D / 0i Mate-D PMC/L and PMC-SA1 for 0i-C / 0i Mate-C..............................................................................................................100 Compatibility between 0i-D PMC and 30i/31i/32i-A PMC.................................101 Compatibility between 0i-D/0i Mate-D PMC/L and 32i-A PMC/L.....................101 Compatibility between 0i-D DCSPMC and 30i/31i/32i-A DCSPMC .................102 The Convert Method of Source Program Using FANUC LADDER-III..............102

PMC MESSAGE MULTI-LANGUAGE DISPLAY FUNCTION.................... 104 2.6.1 2.6.2 2.6.3 2.6.4 2.6.5

2.7

Setting Parameters ..................................................................................................94 PMC System Parameters ........................................................................................96 CNC Parameters Related to the PMCs ...................................................................97

COMPATIBILITY WITH CONVENTIONAL MODELS .................................. 99 2.5.1 2.5.2

2.6

Cautions for Reading from/Writing to Nonvolatile Memory .................................86 PMC Parameter Format..........................................................................................87

PARAMETERS FOR THE PMC SYSTEM................................................... 94 2.4.1 2.4.2 2.4.3

2.5

Extra Relay Addresses (E)......................................................................................64 Message Display Addresses (A).............................................................................68 Timer Addresses (T)...............................................................................................69 Counter Addresses (C) ...........................................................................................70 Keep Relay Addresses (K) .....................................................................................72 Nonvolatile Memory Control Address (K).............................................................73 System Keep Relay Addresses (K).........................................................................74 Data Table Addresses (D) ......................................................................................79 Subprogram Number Addresses (P) .......................................................................84 Label Number Addresses (L) .................................................................................84

PMC PARAMETERS ................................................................................... 85 2.3.1 2.3.2

2.4

B-64393EN/02

Usage of PMC Message Multi-Language Display Function................................104 Multi-Language Display.......................................................................................106 Maximum Number of Message ............................................................................107 Display of European Characters...........................................................................107 Display of Simplified Chinese and Korean (Hangul Characters).........................108

DATA BACKED UP BY THE BATTERY .................................................... 110

I/O LINK............................................................................................... 112 3.1

WHAT IS THE I/O LINK?........................................................................... 112 3.1.1 3.1.2

3.2

ASSIGNMENT METHOD .......................................................................... 115 3.2.1 3.2.2 3.2.3 3.2.4 3.2.5 3.2.6 3.2.7 3.2.8

3.3

Assignment Method for I/O Unit-MODEL A ......................................................120 Assignment Method for I/O Unit-MODEL B ......................................................122 Assignment Method for Distribution I/O Connection Panel I/O Modules and Distribution I/O Operator's Panel I/O Modules....................................................125 Assignment Method for the Power Mate..............................................................130 Assignment Method for I/O Link Connection Units ............................................131 Assignment Method for a Handy Machine Operator's Panel ...............................133 Assignment Method for an AS-i Converter Unit..................................................134 FS0 Operator's Panel ............................................................................................136

SELECTABLE I/O LINK ASSIGNMENT FUNCTION................................. 144 3.3.1 3.3.2 3.3.3

3.4

Configuration of an I/O Link................................................................................113 Numbers of Input Points and of Output Points of the I/O Link ...........................114

Outline ..................................................................................................................144 Example................................................................................................................147 Notes.....................................................................................................................151

I/O LINK CONNECTION CHECK FUNCTION ........................................... 152 c-2

TABLE OF CONTENTS

B-64393EN/02

4

LADDER LANGUAGE ........................................................................ 153 4.1

BASIC INSTRUCTIONS ............................................................................ 154 4.1.1 4.1.2 4.1.3 4.1.4 4.1.5 4.1.6 4.1.7 4.1.8 4.1.9 4.1.10 4.1.11 4.1.12 4.1.13 4.1.14 4.1.15 4.1.16 4.1.17 4.1.18 4.1.19 4.1.20 4.1.21 4.1.22 4.1.23 4.1.24

4.2

FUNCTIONAL INSTRUCTIONS ................................................................ 182 4.2.1

4.3

TMR (On-delay Timer: SUB 3) ...........................................................................188 TMRB (Fixed On-delay Timer: SUB 24) ............................................................190 TMRBF (Fixed Off-delay Timer: SUB 77)..........................................................192 TMRC (On-delay Timer: SUB 54).......................................................................194 TMRST (Stop Watch Timer (1ms Accuracy) : SUB 221) TMRSS (Stop Watch Timer (1sec Accuracy) : SUB 222)...................................197

COUNTER ................................................................................................. 201 4.4.1 4.4.2 4.4.3 4.4.4

4.5

Format of the Functional Instructions ..................................................................182

TIMER ....................................................................................................... 187 4.3.1 4.3.2 4.3.3 4.3.4 4.3.5

4.4

Details of the Basic Instructions...........................................................................156 RD Instruction ......................................................................................................158 RD.NOT Instruction .............................................................................................159 WRT Instruction...................................................................................................160 WRT.NOT Instruction..........................................................................................161 AND Instruction ...................................................................................................162 AND.NOT Instruction..........................................................................................163 OR Instruction ......................................................................................................164 OR.NOT Instruction .............................................................................................165 RD.STK Instruction..............................................................................................166 RD.NOT.STK Instruction ....................................................................................167 AND.STK Instruction ..........................................................................................168 OR.STK Instruction..............................................................................................169 SET Instruction.....................................................................................................171 RST Instruction ....................................................................................................172 RDPT Instruction .................................................................................................173 ANDPT Instruction ..............................................................................................174 ORPT Instruction .................................................................................................175 RDPT.STK Instruction .........................................................................................176 RDNT Instruction.................................................................................................177 ANDNT Instruction..............................................................................................178 ORNT Instruction.................................................................................................179 RDNT.STK Instruction ........................................................................................180 PUSH Instruction POP Instruction ....................................................................................................181

CTR (Counter: SUB 5).........................................................................................202 CTRB (Fixed Counter: SUB 56) ..........................................................................208 CTRC (Counter: SUB 55) ....................................................................................210 CTRD (Counter (4 Bytes Length) : SUB 223).....................................................212

DATA TRANSFER..................................................................................... 215 4.5.1 4.5.2 4.5.3 4.5.4 4.5.5 4.5.6 4.5.7 4.5.8 4.5.9

MOVB (Transfer of 1 Byte: SUB 43) ..................................................................216 MOVW (Transfer of 2 Bytes: SUB 44) ...............................................................217 MOVD (Transfer of 4 Bytes: SUB 47) ................................................................218 MOVN (Transfer of an Arbitrary Number of Bytes: SUB 45) ............................219 MOVE (Logical Product Transfer: SUB 8)..........................................................220 MOVOR (Data Transfer After Logical Sum: SUB 28)........................................222 XMOVB (Binary Index Modifier Data Transfer: SUB 35) .................................223 XMOV (Indexed Data Transfer: SUB 18) ...........................................................231 MOVBT (Bit Transfer: SUB 224)........................................................................234

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TABLE OF CONTENTS 4.5.10 4.5.11 4.5.12 4.5.13 4.5.14

4.6

SETNB (Data Setting (1 Byte Length) : SUB 225) SETNW (Data Setting (2 Bytes Length) : SUB 226) SETND (Data Setting (4 Bytes Length) : SUB 227)............................................237 XCHGB (Data Exchange (1 Byte Length) : SUB 228) XCHGW (Data Exchange (2 Bytes Length) : SUB 229) XCHGD (Data Exchange (4 Bytes Length) : SUB 230) ......................................240 SWAPW (Data Swap (2 Bytes Length) : SUB 231) SWAPD (Data Swap (4 Bytes Length) : SUB 232) .............................................243 DSCHB (Binary Data Search: SUB 34) ...............................................................246 DSCH (Data Search: SUB 1...