LaderEditor XRC

Motoman XRC Controller
Concurrent I/O
Editor
Users Manual
Part Number:
Release Date:
Document Status:
145011-1
December 5, 2006
Final
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
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The information contained within this document is the proprietary property of Motoman, Inc., and may not be
copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.
2006 by MOTOMAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications without
notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
Section
9.5
9.6
9.7
9.8
9.9
Page
Connecting and Disconnecting Lines between Ladder Instructions ............................. 9-3
9.5.1 Connecting with a Line ................................................................................... 9-3
9.5.2 Disconnecting Two Instructions ...................................................................... 9-4
Setting Relay No., Register No. and Constants ............................................................ 9-5
9.6.1 How to Set Relay No., Register No., and Constants ........................................ 9-5
Inputting Relay No. and Register No. Names ............................................................... 9-6
9.7.1 How to Input Relay No. and Register No. Names ............................................ 9-6
Inserting Edited Matrix Columns and Rows ................................................................. 9-7
9.8.1 Inserting a Column ......................................................................................... 9-8
9.8.2 Inserting a Row in the Edit Matrix ................................................................... 9-9
Deleting Columns and Rows from the Editing Matrix ................................................. 9-10
9.9.1 Deleting a Column........................................................................................ 9-10
9.9.2 Deleting a Row .............................................................................................. 9-11
9.9.3 Clear the Current Rung ................................................................................. 9-11
10 INSERTING A NEW RUNG ........................................................................................................ 10-1

11 SAVING EDITED RUNGS .......................................................................................................... 11-1
11.1 Changing an Edited Ladder Rung ............................................................................... 11-1
11.2 Inserting an Edited Ladder Rung ................................................................................ 11-1
12 CUTTING, COPYING AND PASTING RUNGS ........................................................................... 12-1
12.1 Cutting a Ladder Diagram Rung ................................................................................. 12-1
12.2 Copy a Ladder Diagram Rung .................................................................................... 12-1
12.3 Pasting a Ladder Diagram Rung................................................................................. 12-1
12.4 Inserting and Pasting a Ladder Diagram Rung ........................................................... 12-1
13 CHECKING LADDER CONTENTS ............................................................................................. 13-1
14 PRINTING ................................................................................................................................. 14-1
14.1 Printing a Ladder Diagram ......................................................................................... 14-1
14.2 Printing List of Used Relay Nos. ................................................................................ 14-2
14.3 Printing Register List ................................................................................................. 14-2
14.4 Printing Relay No. State Table .................................................................................... 14-3
14.5 Printing Alarms and Messages .................................................................................. 14-4
15 HEADER INFORMATION ........................................................................................................... 15-1
15.1 Ladder Name and System Register Editing ................................................................ 15-1
16 ALARM AND MESSAGE INFORMATION .................................................................................. 16-1
16.1 Alarm and Message in System Section ...................................................................... 16-1
17 SWITCHING BETWEEN USER SECTION AND SYSTEM SECTION ........................................... 17-1
17.1 User Section and System Section .............................................................................. 17-1
17.2 Inputting Password .................................................................................................... 17-1
18 LABEL FILE ............................................................................................................................... 18-1
18.1 What is Label File? ..................................................................................................... 18-1
18.2 Reading Label File ..................................................................................................... 18-1
18.3 Storing Label File ....................................................................................................... 18-3
18.3.1 How to Store it Manually .............................................................................. 18-3
18.3.2 How to Store it Automatically ........................................................................ 18-3
18.4 Label Template File .................................................................................................... 18-3
Concurrent I/O Editor Users Manual
ii
MOTOMAN
Page
Section
19 RELAY LABELS AND RUNG COMMENTS ................................................................................ 19-1

20 NAVIGATION FUNCTIONS ....................................................................................................... 20-1
20.1 Go to Rung ................................................................................................................. 20-1
20.2 Instructions Set Value Navigation .............................................................................. 20-1
20.3 Output Relay Search................................................................................................... 20- 2
20.4 History Jump ............................................................................................................. 20-3
21 CROSS REFERENCE FUNCTIONS 1
21.1 Instruction Use Table ................................................................................................. 21-1
21.2 Relay Use Table ......................................................................................................... 21-3
22 OTHER SETTINGS 1
22.1 Setting Color .............................................................................................................. 22-1
22.2 Setting Font ............................................................................................................... 22- 2
22.3 Storing Work in Progress ........................................................................................... 22-2
22.4 Auto Save Current Rung Function .............................................................................. 22-3
22.5 Toggling Label Display .............................................................................................. 22-3
22.6 Password Protection .................................................................................................. 22- 4
23 USER INFORMATION MANAGEMENT...................................................................................... 23- 1
APPENDIX A
APPENDIX B
MOTOMAN
iii
NOTES
iv
MOTOMAN
Section 1
INTRODUCTION
The Motoman Concurrent I/O Editor software is designed to graphically display ladder
programs as signal connection diagrams. Concurrent I/O Editor supports editing by drag
and drop operation making creating and editing ladder programs much easier.
1.1
About this Document

This manual provides general and detailed information about the safe and effective use of
Motoman Concurrent I/O Editor software.
1.2
Reference to Other Documentation

For additional information refer to the following:
1.3
Concurrent I/O Parameters Manual (P/N 142102-1)
Operators Manual for General Purpose (P/N 142099-1)
Operators Manual for Handling (P/N 142100-1)
Operators Manual for Spot Welding (P/N 142101-1)
Operators Manual for Arc Welding (P/N 142098-1)
Vendor manuals for system components not manufactured by Motoman.
Customer Service Information

If you are in need of technical assistance, contact the Motoman service staff at
(937) 847-3200. Please have the following information ready before you call:
Concurrent I/O Editor version
Operating system (Windows NT)
System configuration (hard disk capacity, memory, software, etc.)
Description of difficulty (take note of any error messages)
1-1
MOTOMAN
NOTES
MOTOMAN
1-2
Section 2
SAFETY
2.1
Introduction
It is the purchaser's responsibility to ensure that all local, county, state,
and national codes, regulations, rules, or laws relating to safety and safe
operating conditions for each installation are met and followed.
We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard
for Industrial Robots and Robot Systems. This information can be obtained from the
Robotic Industries Association by requesting ANSI/RIA R15.06. The address is as
follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
Ultimately, the best safeguard is trained personnel. The user is responsible for providing
personnel who are adequately trained to operate, program, and maintain the robot cell.
The robot must not be operated by personnel who have not been trained!
We recommend that all personnel who intend to operate, program, repair, or use the robot
system be trained in an approved Motoman training course and become familiar with the
proper operation of the system.
This safety section addresses the following:
Standard Conventions (Section 2.2)
General Safeguarding Tips (Section 2.3)
Mechanical Safety Devices (Section 2.4)
Installation Safety (Section 2.5)
Programming Safety (Section 2.6)
Operation Safety (Section 2.7)
Maintenance Safety (Section 2.8)
2-1
MOTOMAN
2.2
Standard ConventionsThis manual includes information essential to the safety

of personnel and equipment. As you read through this manual, be alert to the four signal
words:
DANGER
WARNING
CAUTION
NOTE
Pay particular attention to the information provided under these headings which are
defined below (in descending order of severity).
DANGER!
Information appearing under the DANGER caption concerns the protection
of personnel from the immediate and imminent hazards that, if not
avoided, will result in immediate, serious personal injury or loss of life in
addition to equipment damage.
WARNING!
Information appearing under the WARNING caption concerns the
protection of personnel and equipment from potential hazards that can
result in personal injury or loss of life in addition to equipment damage.
CAUTION!
Information appearing under the CAUTION caption concerns the protection
of personnel and equipment, software, and data from hazards that can
result in minor personal injury or equipment damage.
NOTE: Information appearing in a NOTE caption provides additional information which is helpful in
understanding the item being explained.
MOTOMAN
2-2
2.3
General Safeguarding Tips

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the operation
of this equipment. All personnel involved with the operation of the equipment must
understand potential dangers of operation. General safeguarding tips are as follows:
2.4
Improper operation can result in personal injury and/or damage to the equipment.
Only trained personnel familiar with the operation of this robot, the operator's
manuals, the system equipment, and options and accessories should be permitted to
operate this robot system.
Do not enter the robot cell while it is in automatic operation. Programmers must
have the teach pendant when they enter the robot cell.
Improper connections can damage the robot. All connections must be made within
the standard voltage and current ratings of the robot I/O (Inputs and Outputs).
The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in
use.
In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use

lockout/tagout procedures during equipment maintenance. Refer also to Section
1910.147 (29CFR, Part 1910), Occupational Safety and Health Standards for
General Industry (OSHA).
Mechanical Safety Devices

The safe operation of the robot, positioner, auxiliary equipment, and system is ultimately
the user's responsibility. The conditions under which the equipment will be operated
safely should be reviewed by the user. The user must be aware of the various national
codes, ANSI/RIA R15.06 safety standards, and other local codes that may pertain to the
installation and use of industrial equipment. Additional safety measures for personnel
and equipment may be required depending on system installation, operation, and/or
location. The following safety measures are available:
Safety fences and barriers
Light curtains
Door interlocks
Safety mats
Floor markings
Warning lights
Check all safety equipment frequently for proper operation. Repair or replace any nonfunctioning safety equipment immediately.
2-3
MOTOMAN
2.5
Installation Safety
Safe installation is essential for protection of people and equipment. The following
suggestions are intended to supplement, but not replace, existing federal, local, and state
laws and regulations. Additional safety measures for personnel and equipment may be
required depending on system installation, operation, and/or location. Installation tips are
as follows:
2.6
Be sure that only qualified personnel familiar with national codes, local codes, and
ANSI/RIA R15.06 safety standards are permitted to install the equipment.
Identify the work envelope of each robot with floor markings, signs,
and barriers.
Position all controllers outside the robot work envelope.
Whenever possible, install safety fences to protect against unauthorized entry into
the work envelope.
Eliminate areas where personnel might get trapped between a moving robot and
other equipment (pinch points).
Provide sufficient room inside the workcell to permit safe teaching and
maintenance procedures.
Programming Safety
understand potential dangers of operation. Programming tips are as follows:
MOTOMAN
Any modifications to PART 1 of the MRC controller PLC can cause severe
personal injury or death, as well as damage to the robot! Do not make any
modifications to PART 1. Making any changes without the written permission of
Motoman will VOID YOUR WARRANTY!
Some operations require standard passwords and some require special passwords.
Special passwords are for Motoman use only. YOUR WARRANTY WILL BE
VOID if you use these special passwords.
Back up all programs and jobs onto a floppy disk whenever program changes are
made. To avoid loss of information, programs, or jobs, a backup must always be
made before any service procedures are done and before any changes are made to
options, accessories, or equipment.
The concurrent I/O (Input and Output) function allows the customer to modify the
internal ladder inputs and outputs for maximum robot performance. Great care
must be taken when making these modifications. Double-check all modifications
under every mode of robot operation to ensure that you have not created hazards or
dangerous situations that may damage the robot or other parts of the system.
2-4
2.7
Only trained personnel familiar with the operation, manuals, electrical design, and
equipment interconnections of this robot should be permitted to operate the system.
Inspect the robot and work envelope to be sure no potentially hazardous conditions
exist. Be sure the area is clean and free of water, oil, debris, etc.
Be sure that all safeguards are in place.
Check the E-STOP button on the teach pendant for proper operation before
programming.
Carry the teach pendant with you when you enter the workcell.
Be sure that only the person holding the teach pendant enters the workcell.
Test any new or modified program at low speed for at least one full cycle.
Operation Safety
understand potential dangers of operation. Operation tips are as follows:
Be sure that only trained personnel familiar with the operation of this robot, the
operator's manuals, the system equipment, and options and accessories are
permitted to operate this robot system.
Check all safety equipment for proper operation. Repair or replace any nonfunctioning safety equipment immediately.
Inspect the robot and work envelope to ensure no potentially hazardous conditions
exist. Be sure the area is clean and free of water, oil, debris, etc.
Ensure that all safeguards are in place.
have the teach pendant when they enter the cell.
The robot must be placed in Emergency Stop (E-STOP) mode whenever not in use.
This equipment has multiple sources of electrical supply. Electrical

interconnections are made between the controller, external servo box, and other
equipment. Disconnect and lockout/tagout all electrical circuits before making any
modifications or connections.
All modifications made to the controller will change the way the robot operates and
can cause severe personal injury or death, as well as damage the robot. This
includes controller parameters, ladder parts 1 and 2, and I/O (Input and Output)
modifications. Check and test all changes at slow speed.
2-5
MOTOMAN
2.8
Maintenance Safety
understand potential dangers of operation. Maintenance tips are as follows:
MOTOMAN
Do not perform any maintenance procedures before reading and understanding the
proper procedures in the appropriate manual.
Check all safety equipment for proper operation. Repair or replace any nonfunctioning safety equipment immediately.
Back up all your programs and jobs onto a floppy disk whenever program changes
are made. A backup must always be made before any servicing or changes are
made to options, accessories, or equipment to avoid loss of information, programs,
or jobs.
have the teach pendant when they enter the cell.
The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in
use.
Be sure all safeguards are in place.
Use proper replacement parts.
This equipment has multiple sources of electrical supply. Electrical

interconnections are made between the controller, external servo box, and other
equipment. Disconnect and lockout/tagout all electrical circuits before making any
modifications or connections.
All modifications made to the controller will change the way the robot operates and
can cause severe personal injury or death, as well as damage the robot. This
includes controller parameters, ladder parts 1 and 2, and I/O (Input and Output)
modifications. Check and test all changes at slow speed.
Improper connections can damage the robot. All connections must be made within
the standard voltage and current ratings of the robot I/O (Inputs and Outputs).
2-6
Section 3
INTRODUCTION TO CONCURRENT I/O EDITOR
3.1
Hardware Requirements for Concurrent I/O Editor

Concurrent I/O Editor operates with the configurations shown below.
Table 3-1 Hardware Requirements for Concurrent I/O Editor
OS
Microsoft Windows 95 /98 /NT4.0
Required
Memory
16 Mbytes or more
CPU
Pentium or Pentium compatible processor
Hardware Disk
Capacity for
Installation
20 Mbytes or more
Disk Drive
Hard disk drive and CD-ROM drive
Display
Supported by MS-Windows
Mouse
Supported by MS-Windows
Robot
Controller
YASNAC XRC
Hardware Lock Used under single user registration.

Key
If a conversion adapter is required, refer to Section 3.2, Hardware
Lock Key for details.
NOTE: A personal computer and OS are not included with this software.
For XRC ladders, refer to the XRC Concurrent I/O and Parameter manual (P/N 142102-1)
3.2
Hardware Lock Key

The hardware security key supplied with Concurrent I/O Editor must be installed on your
computer or the software will not function. The hardware key attaches to the computers
parallel port connector. This port is commonly used to connect printers and other
peripheral devices to your computer. To attach the hardware key, proceed as follows:
1. Turn power off from PC.
2. Disconnect any printer currently connected to your computers parallel port.
3. Carefully insert the hardware key into the parallel connector. If the key does not fit,
do not force it. The key should fit snugly but does not require significant force to
insert.
NOTE: Consult the documentation that came with your PC if you are unsure which connector is the parallel port.
3-1
MOTOMAN
4. Connect your printer cable to the free end of the hardware key. The key will not
interfere with the operation of your printer.
Proper use of the hardware key is extremely important! Performing tape backups,
file transfers, I/O control, or using parallel communication cables between devices
with the key installed may permanently damage the key.
Observe the following guidelines to protect your hardware key:
Remove the hardware key from the computer if the parallel port is used for any
operation other than printing. The key may not operate properly if attached to
anything other than a parallel port (e.g. SCSI adapter).
It is highly recommended that the key(s) be insured for the full value of the
software package. Lost or stolen keys cannot be replaced. If the key is lost, users
will have no alternative but to purchase a new copy of the software. If the key is
accidentally damaged, return it to Motoman for replacement. There is a charge for
key replacement.
WARNING!
Do not install or remove the hardware key while the computer is

powered ON. "Hotswapping" the hardware key during power on may
result in damage to the key.
Do not use the hardware key in-series with bi-directional
communications (printers) or damage may occur.
3.3
Concurrent I/O Editor
3.3.1
What is Concurrent I/O Editor?

The robot controller (YASNAC XRC) has a concurrent I/O function that processes I/O
related control independently from the manipulator, and in parallel with the manipulator
operation. Concurrent I/O Editor is used to graphically display ladder programs with the
above function as a signal connection diagram, or to edit commands by drag and drop
operation using the mouse.
MOTOMAN
3-2
3.3.2
Features of Concurrent I/O Editor
Ladder mnemonic code can be edited with an image of a ladder diagram.

Mnemonic Code
Ladder Diagram
STR-NOT #7027
AND
#7012
STR
#7027
AND-NOT #7012
OR-STR
STR-NOT #4057
OR
#5055
OR
#8011
AND-STR
AND-NOT #7026
OUT
#7027
?D?D?D?D?D?D
Edit ing, St oring
With the ladder preview display, the entire ladder program can be easily
previewed.
Simple drag and drop operation can edit connections between ladder Instructions.
Cross-reference function is enriched.
Information such as relay number use state or the place where an arbitrary relay
number is used can be referenced easily.
History jump function is available.
This function records the history of jumping to other rungs, and easily returns to the
previous rung before jumping.
Jump
Rung 10
Jump back
Jump
Rung 15
Jump
Rung 40
Jump back
Rung 3
Jump back
Printing function is enriched.

Cross-reference information can also be printed, as well as ladder diagrams. This
function is very useful when a created ladder is stored as reference material.
3-3
MOTOMAN
3.4
Terms
The following terms are frequently used in this manual.
Table 3-1 Terms
Terms
Description
Set Value
Value set to ladder parts such as relay numbers, register numbers or constants
Rung
One line indicates one section divided with OUT codes in a ladder mnemonic. Normally,
there is one OUT part per rung (excluding when GRP parts are used).
Current Ladder
File
The ladder file containing the ladder diagram which the editor displays on the left side
window of the main dialog box.
Current Ladder
The ladder diagram being edited and displayed on the left side window of the main
dialog box.
Current Rung
The rung available for editing, which is shown on the right side window of the main
dialog box
Current Section
The section of the ladder diagram being edited and displayed on the left side window of
the main dialog box.
Relay List
Table of all the possible relay numbers, indicating for each one, the numbers of the rungs
containing the relay, whether it is normally open, normally closed, and the rung comment
or relay label associated with the relay
Register List
Table of the register numbers used in the Current Ladder, indicating for each one, which
instruction uses the register, which rung contains the instruction, and the comment
associated with each register.
Comment
A 32 character long string associated with a relay or register, only displayed in the Relay
List, or Register List.
Label
A 16 character long string associated with a relay; displayed below each relay symbol on
the ladder diagram if the View>Relay Labels toggle is turned on
Relay State Table A table listing all possible relay numbers and specifying if each number is used in the
user section of the ladder, the system section of the ladder, or both.
Label File
A text file containing all the relay labels, register labels, relay (and rung) comments, and
register comments.
Header
Information
Initial values of system variables, listed at the beginning of the Ladder File.
Ladder File
The text file containing the mnemonic instructions which define a Concurrent I/O ladder.
Rung Comment
The relay comment associated with the output relay of a rung.
Edit Window
The right hand side window of the main dialog box, the window in which drag and drop
editing features are applied to the current rung.
Ladder Window The left hand side window of the main dialog box, the window that displays the entire
Current Section of the Current Ladder.
Instruction
MOTOMAN
A relay or operation indicated by a symbol on a rung in the ladder diagram.
3-4
Section 4
CONCURRENT I/O EDITOR BASIC DISPLAY
The following shows the basic display of Concurrent I/O Editor. The basic display is
divided into two displays: ladder preview display and ladder editing display. Editing
is available as referring to the ladder diagram before and after the ladder diagram in the
editing row.
Menu
Tool bar
Ladder edi ting

display
Ladder preview display
Figure 4-1 Basic Display
4-1
MOTOMAN
NOTES
MOTOMAN
4-2
Section 5
FLOWCHART OF BASIC EDITING
The following shows the basic flowchart of ladder editing.
Ge t a ladder program f ile or CMOS. HEX

f ile f rom t he XRC.
Deskt op syst em
Star t up t he Ladder Edi tor 3 2.
Open t he ladder program or CMOS. HEX

f ile f rom [ file ] - [Open] menu.
Yes
Input t he password at t he manager' s
level in [ Op tion] - [ Sys tem] - [ Input
Password ] menu.
Editing t he sys tem

ladder?
No
Syst em ladder is displayed in [Opt ion] [ Ladder Sec tion] - [ Sys tem Ladder] .
Selec t t he edi ting line ( ladder image lis t

display) .
Edi ting operat ions such as par ts addit ion,

part s connect ing, relay No. set ting, et c.
No
Yes
Complet e ladder diagram

edi ting?
Compile.
No
Yes
Store dat a.
Change or insert t he line in [ Edi t] - [Saving
Modi fied Rungs] - [Overwri te ] or [Edit ] [Saving Modi fied Rungs] - [ Inser t] menu.
Comple te Lader Edit or 32 .
Editing anot her line?

Load t he ladder program f ile or
CMOS. HEX f ile t o t he BRC.
Figure 5-1 Ladder Editing Operation Flow
5-1
MOTOMAN
NOTES
MOTOMAN
5-2
Section 6
STARTING AND ENDING CONCURRENT I/O EDITOR
6.1
How to Start
To start up Concurrent I/O Editor, open the [Start] menu in the Windows tool bars, and
select "Concurrent I/O Editor" from [Program] [Motoman] [Concurrent I/O Editor].
When Concurrent I/O Editor starts normally, the display in Figure 6-1Figure will appear.
Figure 6-1
6.2
Startup Display
How to End
Select [File] [Exit] in the main Concurrent I/O Editor menu to close Concurrent I/O
Editor.
6-1
MOTOMAN
NOTES
MOTOMAN
6-2
Section 7
READING AND STORING EDITED LADDER FILES
7.1
Reading Ladder Data

To perform ladder editing, read in the ladder program to be edited by Concurrent I/O
Editor. The following two types of files can be edited by Concurrent I/O Editor:
7.1.1
Ladder program file (text file)
CMOS file (binary file)
How to Read Ladder Data

1. Select [File] [Open] menu (or
button). The [Open] dialog box appears.
Figure 7-1 [Open] Dialog Box

2. To read in a ladder program file, select the ladder program file and click the [Open]
button.
3. To read in a CMOS file, select CMOS file (*.HEX) from [Files of type] combo
box in [Open] dialog box in Figure 7-1. When the list of CMOS. HEX files
appears, select the CMOS file to be edited, and click the [Open] button.
7-1
MOTOMAN
7.2
Reading Several Ladder Files

The Concurrent I/O Editor is an MDI (Multi Document Interface) application capable of
reading several ladder program files simultaneously. To select the ladder program to be
edited, select the file name displayed in the [Window] menu, or select the window with
the targeted ladder program among overlapping windows by selecting [Window] [Cascade].
Figure 7-2 Overlapping Editing Windows
MOTOMAN
7-2
7.3
Saving Edited Data

When ladder editing is completed, save the information in a file. Before saving, be sure
to check the ladder if ladder data was edited. Data may not be stored completely if
you do not check the ladder before saving.
7.3.1
How to Save Edited Data

1. Select [File] [Save] to store the overwritten data on an existing file.
2. Selecting [File] [Save As] displays the [Save As] dialog box. Set an arbitrary file
name to the data to be stored.
To store the file, the following three types of file forms are available, depending on the
method used to read in a file.
Storing when a Ladder Program File (CIOPRG.LST) is Open
When a ladder program file is read in, only a ladder program file (text file) can be stored
in an output file form.
Storing when a CMOS File (CMOS.HEX) is Open
When a CMOS file is read in, the data can be stored in the two types of file forms, a
ladder program file (text file) and a CMOS file (binary file), as an output file.
Storing a Ladder Program that is Being Edited
A ladder program being edited cannot be stored if it has a detected error, even if checked.
The ladder program being edited can be stored as a rough draft. For details, refer to
Section 22.3, Storing Work in Progress.
7-3
MOTOMAN
NOTES
MOTOMAN
7-4
Section 8
CREATING A LADDER DIAGRAM
To create a new ladder program, use the standard ladder program as the base for editing.
The standard ladder program is supplied as a template.
8.1
How to Create a Ladder Diagram

1. Selecting [File] [New] displays the dialog box shown in Figure 8-1Figure .
Figure 8-1 [Select standard ladder template] Dialog Box

2. Select the template to be used and click the [Open] button.
8-1
MOTOMAN
NOTES
MOTOMAN
8-2
Section 9
EDITING A LADDER DIAGRAM
NOTE: The Concurrent I/O Editorsoftware application is limited to compiling a total of 10 instructions in series
on any line, (rung), of ladder code. Any additional instructions will be rejected by the software as an error.
The software will not allow you to compile and save the program, even though the XRC Robot Controller
will accept and execute more instructions in series. Additionally, there is a limit to the number of parallel,
or branched instructions, to a total of five. Again, the XRC may be using and compiling more branched
instructions than the software application allows.
9.1
Ladder Instructions Specifications

The Concurrent I/O Editor supports the new ladder codes employed for the XRC. For
details on ladder instructions, refer to the [Ladder Instructions Specifications] of [Help]
menu. All ladder diagrams are edited in the Basic Display, as shown in Figure 4-1.
9.2
Selecting a Ladder Edited Rung

A ladder diagram is edited in the ladder editing display, and the rung to be displayed in
the ladder editing display is selected in the ladder preview display, as shown in
Figure 9-1. In the ladder preview display, images of the ladder diagrams of all the
rungs can be viewed set in the current ladder section (either system or user section).
Scroll bar
Ladder diagram
image at 1 8t hrung
Figure 9-1 Ladder Preview Display

9-1
MOTOMAN
To refer to the ladder diagram of a rung that is not displayed on the display, use the scroll
bar.
In the ladder preview display, left-click the mouse to select the rung to be edited. The
ladder editing display with the ladder diagram of the selected rung appears.
9.3
Adding New Ladder Instructions

New ladder instructions can be added when editing a ladder diagram. Add ladder
instructions in the following manner.
9.3.1
How to Add New Ladder Instructions

1. Enter the instruction addition mode (select instructions to be added):
Selecting [Tools] [Add Instructions] displays the list of ladder instructions to be
added. Select the ladder instructions, or select the instructions to be added from the
ladder instructions tool bar.
Example Adding the ladder instructions of the NC contact
Select [Tools] [Add Instructions] [STR-NOT], or tool bar
2. Set new instructions on the matrix to be added in the ladder editing display:
When the ladder instructions to be added are determined, the mouse form changes
in the ladder editing display. The selected ladder instructions appear at the side
of the mouse pointer. Left-click on the matrix location where the ladder instructions
are to be added.
???? may appear for the added ladder instructions. This is because the relay
number or register number is not set for these ladder instructions. This is not an
error. Set the relay number or register number, refer to Section 9.6, Setting Relay
number, Register number and Constants.
9.4
Deleting Ladder Instructions

Delete the ladder instructions in the following manner.
9.4.1
How to Delete Ladder Instructions

1. Enter the instruction deletion mode:
Select [Tools] [Edit Instructions] [Delete Instructions], or select from the Edit
Toolbar (refer to Figure 4-1).
2. Select the ladder instructions to be deleted in the ladder editing display:
Left-click on the matrix location where the ladder instructions are to be deleted in
the ladder editing display.
MOTOMAN
9-2
9.5
Connecting and Disconnecting Lines between Ladder

Instructions
Ladder instructions on a certain matrix are connected to ladder instructions on another
matrix with a line. The connection method of the line determines the ladder process. The
following paragraph describes how to connect and disconnect the line between ladder
instructions.
9.5.1
Connecting with a Line

Connect ladder instructions with a line in the following manner:
1. Left-click the mouse on the first ladder instruction.
2. While pressing the mouse, drag the mouse to the second ladder instruction.
3. Release the left button at the second ladder instruction.
Two instructions are connected by a drag and drop operation.
Step1
Step2
Step3
Figure 9-2 Line Connection Process

Ladder Instructions Connection Terminals
Ladder instructions have IN and OUT terminals. A connecting line connects the IN and
OUT terminals. A drop and drag operation determines which are IN and which are OUT
terminals and connects them automatically. However, when two connection ladder
instructions are placed vertically, as shown in Figure 9-3, the user must decide to connect
the IN or OUT side.
Figure 9-3 Vertically Placed Instructions
9-3
MOTOMAN
In Figure 9-4, the mouse pointer is dragged from the center of a ladder instruction and
dropped on the IN side of the other instruction, to make the connecting line on the IN
side. Dropping on the IN side creates a line that connects to the IN side of the other
ladder instruction. On the other hand, dropping on the OUT side creates a line that
connects to the other OUT side.
Cent er of ladder part s
In (Input ) side
Out (Out put ) side
Figure 9-4 Connection on IN Side
9.5.2
Disconnecting Two Instructions

Erase the line between ladder instructions to disconnect them in the following manner:
1. Right-click the mouse on the first ladder instruction.
2. While pressing the mouse, drag the mouse to the second ladder instruction.
3. Release the right button at the second ladder instruction.
Two instructions are disconnected by a right-click, drag and drop operation.
Step1
Step2
Step3
Figure 9-5 Disconnection Process
MOTOMAN
9-4
9.6
Setting Relay No., Register No. and Constants

Relay number, register number and constants can be set for each ladder instruction. Set
these values in the following manner.
9.6.1
How to Set Relay No., Register No., and Constants

1. Enter the set value input mode:
Select [Tools] [Edit Instructions] [Edit Instruction Parameters], or select
from the Edit Toolbar (refer to Figure 4-1).
2. Select the ladder instructions to which the set values are input in the ladder
editing display:
Left-click on the ladder instructions in the ladder editing display. The set value
input dialog box appears.
Select t y pe of set value.
Figure 9-6 [Input Value] Dialog Box

NOTE: The number of setting items in the [Input Value] dialog box differs depending on the ladder instructions.
3. Input the set values:
Select the type of the set value in the combo box of the [Input Value] dialog box,
and then input a value suitable for the type of the set value. Click [OK] to set the
values.
Setting Values Using a Pop-up Menu
Set values can also be set using a pop-up menu. The pop-up menu appears by rightclicking the mouse.
1. Right-click on the ladder instructions to which the set values are input, and select
the pop-up menu:
Right-click the mouse on the ladder instructions to which the set values are input in
the ladder editing display, and the pop-up menu appears. Select the [Edit
instruction parameters], and the [Input Value] dialog box appears.
2. Input the set values:
Input the set values in the [Input Value] dialog box.
9-5
MOTOMAN
9.7
Inputting Relay No. and Register No. Names

Names can be set for the relay numbers and register Nos.. When editing name, a new
name can be input or name information read from the external name file can be edited.
Set the name for a relay number or a register number in the following manner.
9.7.1
How to Input Relay No. and Register No. Names

1. Enter name input mode:
Select [Tools] [Edit Instructions] [Edit Labels and Comments], or select
from the Edit Toolbar (refer to Figure 4-1).
2. Select the ladder instructions where the number of the name to be selected is set:
Left-click the mouse on the ladder instructions where the number of the name to be
selected is set in the ladder editing display. The [Input name] dialog box appears.
Figure 9-7 [Input name] Dialog Box

The relay number or register number appears in the number selection list box as shown
below.
Relay No.
: #xxxx, W#xxxx
Register No. : Mxxx
NOTE: Some ladder instructions have several relay numbers or register numbers In this case, several numbers
appear in the number selection list box.
Verify that the targeted relay numbers or register numbers appear and are selected in the
relay number selection list box.
MOTOMAN
9-6
3. Set the Descriptions:

Two types of descriptions, a label and a comment can be used. They are treated as
follows with Concurrent I/O Editor.
Label: Appears below the relay number or register number in the ladder editing
display (refer to Section 22.5, Toggling Label Display).
Comment: While you may assign a comment to any relay or register instruction,
Concurrent I/O Editordisplays comments for output relays only. The comments for
output relays are shown in the Edit Window in the space labeled Rung Comment,
and in the Preview Window in the column labeled Rung Comment.
4. When settings are complete, click the [Update] button. This button records the
setting information.
Setting Names Using a Pop-up Menu
Names can be also set in the following manner using the pop-up menu.
1. Select the ladder instructions where the relay number or register number of the
name to be edited is set:
Right-click the mouse on the ladder instructions where the relay number or register
number of the name to be edited is set in the ladder editing display. The pop-up
menu appears. Select [Input Name]. The [Input name] dialog box appears.
2. Edit the name:
Edit the displayed name for a relay number or register number in the [Input name]
dialog box.
9.8
Inserting Edited Matrix Columns and Rows

Usually new ladder instructions are inserted in blank positions of the editing matrix.
Sometimes the desired position for an instruction is already occupied, as shown in
Figure 9-8. In this case, you must insert a column or row in order to add the instruction to
the rung.
Insert instruction here.
Figure 9-8 No Space in Matrix

9-7
MOTOMAN
9.8.1
Inserting a Column
Insert a column in the following manner.
1. Enter the column insertion mode:
Select [Tools] [Edit Instructions] [Edit Entire Column] [Insert Column(s)].
Or select
from the edit tool bar (refer to Figure 4-1).
2. Left click the column to the right of the new columns desired position.
Figure 9-9 Result of Column Insertion

Column Insertion Restriction
The editing matrix has a maximum of 10 columns. During a column insertion, the
columns to the right of the insertion point shift one position to the right. Once, a column
containing an instruction shifts to the 9th position, then you cannot insert columns. You
must delete a column, before inserting another column.
Instruction in
9th column
Figure 9-10 Maximum Column Insertion
MOTOMAN
9-8
9.8.2
Inserting a Row in the Edit Matrix

Insert a row in the following manner.
1. Enter the row insertion mode:
Select [Tool] [Edit Instructions] [Edit Entire Row] [Insert Row(s)].
Or select
from the Instruction Tool Bar.
2. Left click the row below where a row is to be inserted.
Figure 9-11 Result of Row Insertion

Row Insertion Restriction
The editing matrix has a maximum of 8 rows. During a row insertion, the rows below the
insertion point shift one position down. Once a row containing an instruction shifts to the
8th position, no more rows can be inserted. You must delete a row before inserting
another row.
9-9
MOTOMAN
Instruction in
8th row
Figure 9-12 Disabled Row Insertion
9.9
Deleting Columns and Rows from the Editing Matrix
9.9.1
Deleting a Column
Delete a column in the following manner.
1. Enter the column deletion mode:
Select [Tools] [Edit Instructions] [Edit Entire Column] [Delete Column(s)].
Or select
2. Left-click the column to be deleted.
Figure 9-13 Result of Column Deletion

This action shifts the remaining columns to the left.
NOTE: Deleting a column deletes all the ladder instructions it contains.
MOTOMAN
9-10
9.9.2
Deleting a Row
Delete a row in the following manner.
1. Enter row deletion mode.
Select [Tool] [Edit Instructions] [Edit Entire Row] [Delete row(s)].
Or select
2
Left-click the row to be deleted.
This action shifts all the remaining rows up.
Figure 9-14 Result of Row Deletion

NOTE: Deleting a row deletes all the ladder instructions it contains.
9.9.3
Clear the Current Rung

The contents of the ladder editing display can be cleared when editing. This function is
useful when the current display is to be re-edited from the beginning.
from the Edit Toolbar (refer to Figure
Select [Edit] [Clear Current Rung]. Or select
4-1).
9-11
MOTOMAN
NOTES
MOTOMAN
9-12
Section 10
INSERTING A NEW RUNG
A new rung can be inserted anywhere in the ladder. Change the default instructions
placed in the new rung to the correct ladder information. The new rung is inserted below
the current rung shown in the ladder edit display.
Select [Edit] [Insert New Rung], or select
4-1).
from the main tool bar (refer to Figure
Figure 10-1 Inserting a New Rung
10-1
MOTOMAN
NOTES
MOTOMAN
10-2
Section 11
SAVING EDITED RUNGS
Be sure to select [Overwrite] or [Insert] for the contents edited in the ladder editing
display before editing another rung. Without this operation, the contents edited
immediately before will be deleted. Concurrent I/O Editor checks the ladder information
that is being currently edited when a new current rung is chosen. If the [Overwrite] or
[Insert] is not selected, an editing confirmation message appears (refer to Section 22.4,
Auto Save Current Rung Function, for automatic updating).
Figure 11-1 [Confirmation] Dialog Box

Normally, the operator uses the menu or tool button to perform [Overwrite] or [Insert].
11.1
Changing an Edited Ladder Rung

Overwrite the contents edited in the ladder editing display on the rung currently being
edited, in the following manner.
Select [Edit] [Save Current Rung] [Overwrite], or select
(refer to Figure 4-1).
11.2
from the main tool bar
Inserting an Edited Ladder Rung

Insert the contents edited in the ladder editing display into the next rung of the rung
currently being edited, in the following manner. Therefore, the ladder data after the
inserting rung will be shifted backward.
Select [Edit] [Save Current Rung] [Insert], or select
to Figure 4-1).
11-1
from the main tool bar (refer
MOTOMAN
NOTES
MOTOMAN
11-2
Section 12
CUTTING, COPYING AND PASTING RUNGS
12.1
Cutting a Ladder Diagram Rung

Cut the rung selected in the ladder preview display. The ladder information of the cut
rung can be pasted to another place in the ladder by pressing [Paste Rung] or [Insert
Cut\Copied Rung].
Select the rung to be cut in the ladder preview display, and select [Edit] [Cut
Rung]. Or select from the main tool bar (refer to Figure 4-1).
NOTE: To select several rungs simultaneously, hold down the [SHIFT] or [CTRL] key when selecting rungs.
12.2
Copy a Ladder Diagram Rung

Copy the rung selected in the ladder preview display. The ladder information of the
copied rung can be pasted to another place in the ladder by pressing [Paste Rung] or
[Insert Cut\Copied Rung].
Select the rung to be copied in the ladder preview display. Then select [Edit] [Copy
NOTE: To select several rungs simultaneously, hold down the [SHIFT] or [CTRL] key when selecting rungs.
12.3
Pasting a Ladder Diagram Rung

Paste the cut or copied contents of a rung over an existing rung in the Current Ladder.
When several ladder list files are open simultaneously, the cut or copied contents can be
pasted onto a rung in another ladder list file.
Select the rung to be overwritten in the ladder preview display, and select [Edit]
[Paste Rung]. Or select
from the main tool bar (refer to Figure 4-1).
NOTE: This function is disabled if several rungs were cut or copied by pressing [Cut Rung] or [Copy Rung] in
the operation immediately before. After selecting only one rung and pressing [Cut Rung] or [Copy Rung],
try pasting again.
12.4
Inserting and Pasting a Ladder Diagram Rung

Insert the cut or copied contents of the rung into a new rung below the Current Rung.
Therefore, the ladder data after the inserting/pasting rung will be shifted backward. When
several ladder list files are open simultaneously, the ladder diagram can be inserted and
pasted onto another ladder list file.
Select a rung in the ladder preview display. Then select [Edit] [Insert Cut\Copied
12-1
MOTOMAN
NOTES
MOTOMAN
12-2
Section 13
CHECKING LADDER CONTENTS
Be sure to check the ladder information of each rung after editing. [Check the Ladder]
performs final checking such as the relay number overlapping check, etc. to load the
information to the controller.
NOTES: Without this operation, the edited data cannot be correctly stored.
Because [Check the Ladder] processes the system section and the user section of the ladder program,
it is unnecessary to change to a system ladder or a user ladder.
Select [Tools] [Check the Ladder], or select
4-1).
13-1
from the main tool bar (refer to Figure
MOTOMAN
NOTES
MOTOMAN
13-2
Section 14
PRINTING
14.1
Printing a Ladder Diagram

Print an image of a ladder diagram. For each rung, the image also lists the numbers of all
rungs in both user and system sections that use the same relays.
Select [File] [Print] [Ladder Diagram] [System Section (or User Section)].
Rung No.
Rung No. using #7 054

f or an OUT t erminal
Printing range
Lis t of rung Nos.

using #70 66
User sec tion rung No.

Sys tem sect ionrung No.
Used ladder par ts
Figure 14-1 Ladder Image Printing
14-1
MOTOMAN
14.2
Printing List of Used Relay Nos.

Print the list of used relay numbers and the rung numbers referring to each relay number
as a list. List information of the reference rungs appears as the system section and user
section together.
Select [File] [Print] [Relay List] [System Section (or User Section)].
Relay No.
Relay name
Printing
range
List of rung Nos.

using #5070
User section rung No.
System section rung No.
Used ladder parts
Figure 14-2 Printing Relay List
14.3
Printing Register List

Print the list of used register numbers and rung numbers referring to each register number
in a list. List information of the reference rungs appears as the system section and user
section together.
Select [File] [Print] [Register List] [System Section (or User Section)].
Register No.
Printing
range
List of rung Nos.
using M069
System section rung No.
Used ladder parts
Figure 14-3 Printing Register List
MOTOMAN
14-2
14.4
Printing Relay No. State Table

Print the relay number use state in the matrix display.
Select [File] [Print] [Relay State Table].
Relay numbers for the system section and user section appear together, indicated by the
following symbols.
S: Relay numbers used in a system section
U: Relay numbers used in a user section
B: Relay numbers used in both system and user sections
A relay number in a matrix is regarded as YYYY + X when the vertical is YYYY and
the horizontal axis value is X.
Relay No. mat rix
Print ing
range
Used in a user sec tion
Used in bo th user and

sys tem sections
Used in a system section
Figure 14-4 Printing Relay State Table
14-3
MOTOMAN
14.5
Printing Alarms and Messages

Select [File] [Print] [Alarms and Messages].
First language
Second language
Alarm selection
No. information
Alarm display,
information
relay
Relay No.
Figure 14-5 Printing Alarm List
MOTOMAN
14-4
Figure 14-6 Printing Message List

The following describes the items of printed information. Alarms and messages can be
printed. Since each display item is the same, this paragraph describes printing of the
alarm list as an example.
Alarm System Section and User Section
Alarms can be defined in both the user and system sections of a ladder. The listing
identifies each group of alarms by the heading:
[Alarm (USER SECTION)]
or
[Alarm (SYSTEM SECTION)]
14-5
MOTOMAN
Alarm Selection Relay No. Information

Relay number information is displayed to help select an unused alarm. For example, a
system section alarm is specified by turning the following four relays ON/OFF.
4020, 4021, 4022, 4023
When printing, this information appears as the following word.
_Type Selection Signal Relay No._
When each relay number is actually used in a code, the rung number appears.
Alarm Display Relay No. Information
Relay number information becomes a trigger to help display an alarm appears. For
example, in the system section the relay number that becomes a display trigger is 4010.
When printing, this information appears with the following word.
_Request Signal Relay No._
When each relay number is actually used in a code, the rung number appears.
MOTOMAN
14-6
Section 15
HEADER INFORMATION
15.1
Ladder Name and System Register Editing

Edit the ladder program names and system registers.
Select [Edit] [Header Information], or select
from the main tool bar (refer to Figure 4-1).
Figure 15-1 [Header Information] Dialog Box

[Name] combo box
Selects a ladder name. Normally, select one from the list in the combo box. A name can
be entered directly. However, an improper name interrupts the loading to the
controller.
System registers
Sets the number of system registers.
15-1
MOTOMAN
NOTES
MOTOMAN
15-2
Section 16
ALARM AND MESSAGE INFORMATION
Edit the alarms and messages of the current section of the ladder.
Select [Edit] [Messages and Alarms], or select
Figure 4-1).
from the main tool bar (refer to
Message list
Edit ing area
Figure 16-1 [Message Information] Dialog Box

Click the tag to select the alarm and message.
Language combo box
Each message has a first and a second languages. Select your desired language from the
language combo box.
Editing area
Click the message to be edited in the message list, and the same message appears in the
editing area. Edit the message in this area. When editing is completed, press the
[Change] button.
16.1
Alarm and Message in System Section

If the user account level does not reach the management level, only the information in the
user section appears in the message list. To display or edit the information in the system
section, change the user account level (refer to Section 17.2, Inputting Password or
Section 23, User Information Management).
16-1
MOTOMAN
NOTES
MOTOMAN
16-2
Section 17
SWITCHING BETWEEN USER SECTION AND
SYSTEM SECTION
End-users of this product must have permission to access the System Portion of the XRC
Concurrent I/O Ladder Program. Permission to access the System Portion of the XRC
Concurrent I/O Ladder is granted with the release of a proprietary password, which is
usually reserved for MINC Integrator Partners, or Motoman and Yaskawa employees, on
a need to know basis. Contact your Motoman representative at 1-800-847-3200 for
assistance obtaining permission to access all of the XRC Concurrent I/O Ladder program.
17.1
User Section and System Section

A ladder program has a system section and a user section. If the user has a user account
that can edit the system section, the user can switch between the system section and the
user section for editing in the following manner.
Select [Options] [Current Ladder Section] [System Section (or User Section)], or
select
(or
) from the main tool bar (refer to Figure 4-1).
Since the user account is set to the lowest level as default when a ladder program or
CMOS file is read in, the menu command [System Section] is normally disabled. Input
the password as described in 16.2 Inputting Password to enable the command.
17.2
Inputting Password
The current user account level can be changed by inputting the password.
1. Select [Options] [Access Control] [Enter Password].
Figure 17-1 [Input Password] Dialog Box

NOTE: [Account Level] indicates the current user account level.
2. Input the password to [Input Password]. The input password always appears with an
asterisk (*). After the password input is completed, click the [OK] button.
17-1
MOTOMAN
NOTES
MOTOMAN
17-2
Section 18
LABEL FILE
18.1
What is Label File?

Label file is a name information file to add a name to a relay number or register number
used in the ladder program.
18.2
Reading Label File

Label file is read in at either one of the following times.
When a ladder program file or CMOS file is open

When a name file is read in from the menu
Label files are read in automatically or manually in the case of _ or _ respectively.

Prepare the label file in the same file as the ladder program file or the CMOS file. (It is
not necessary to prepare a label file.
Reading Label File Automatically (With Label File)
When reading in a ladder program file or a CMOS file, Concurrent I/O Editor
automatically reads in the label file, too. The label file automatically read in is
determined by the ladder name of the ladder program used as a keyword (refer to Section
15.1, Ladder Name and System Register Editing).
Example
Ladder program name
: ARCWELD
Read in file name
: ARCWELD.NAM
Reading Label File Automatically (Without Label File)

If the desired label file is not available when automatically reading the label file,
Concurrent I/O Editor performs the operation in the following manner.
1. Selects a file suitable for the desired ladder program from the label template file
prepared in default.
2. Copies the selected template file to the same directory as the ladder program file.
3. Reads in the copied template file as a label file.
In this case, Ladder Edit 32 refers to the ladder names to be read in to select the template
file.
However, when the user changes the ladder name of the ladder program file, Concurrent
I/O Editor may not find any file name that coincides with the ladder label template file.
In such a case, the [Select label template] dialog box (Figure 18-1) appears.
18-1
MOTOMAN
Figure 18-1 [Select Label Template] Dialog Box

Select the template suitable for the desired ladder program. Clicking the [Cancel] button
stops the automatic reading of the label file.
The following shows the simple flowchart of the automatic reading.
Ladder file read-in

Read-in name file de termined
Name f ile searched
Found
No t found
No t found
Name t emplat e file searched
Name templat e file selection dialog box displayed
Found
Selected
Name template f ile

copied t o the targeted
direct ory
Not select ed
Name template copied

with name changed t o
t he targe ted directory
( Ladder name: nam)
Name file read-in
Completed
MOTOMAN
18-2
18.3
Storing Label File

Store the edited label information by one of the following two methods.
18.3.1
Stores it manually.
Stores it automatically.
How to Store it Manually

1. Select [File] [Save Relay Label File]. When the [Save As] dialog box appears,
input an arbitrary name for the label file to store it. Normally, the file name is
stored in the following format.
Example
Ladder name. NAM
NOTE: For the ladder names, refer to Section 15, Header Information.
18.3.2
How to Store it Automatically

1. Setting the option stores the label file automatically.
18.4
Label Template File

Label template file is installed automatically when Concurrent I/O Editor is setup. The
following folder is created in the folder where the Concurrent I/O Editor execution
module exists, and the label template file is stored in this folder: TEMPLATE.
18-3
MOTOMAN
NOTES
MOTOMAN
18-4
Section 19
RELAY LABELS and RUNG COMMENTS
The relay name list display function and register name list display function can display
the name list for all relay numbers and register Nos.. All the data of the read-in name
files can be cross referenced. This list display dialog box has the editing function. The
name information of an arbitrary relay or register number can be edited.
Select [Edit] [Relay Labels and Rung Comments]. The [Relay Labels and Rung
Comments] dialog box appears, as shown in Figure 19-1. (Some machines take time
to display it.)
Figure 19-1 [Relay Labels and Rung Comments] Dialog Box

By selecting any desired relay number from the list, the currently set data appears in the
[Relay No.], [Label] and [Comment] text boxes. Edit the data here. After editing, click
the [Update] button to register the edited data.
If the [Label] and the [Comment] are similar for two or more relay numbers, change only
the [Relay No.], and then click the [Update] button. The previously entered text remains.
Because the names are similar, change only the characters that are different. The entire
name does not have to be re-entered.
Select [Edit] [Register Labels]. The [Register Labels] dialog box appears as in Figure
19-2. (Some machines take time to display it.)
19-1
MOTOMAN
Figure 19-2 [Register Labels] Dialog Box

Editing procedure is the same as that of Relay Labels and Rung Comments Display.
Normally, edit a relay or register name by opening the [Input name] dialog box on the
ladder diagram. However, relay numbers or register numbers not used for ladder
diagrams cannot be less of edited. These lists can be used to edit the names for all the
relay or register numbers regardless whether or not they are used on the ladder diagram.
MOTOMAN
19-2
Section 20
NAVIGATION FUNCTIONS
20.1
Go to Rung
This function jumps to the specified rung No..
1. Select [Edit] [Go to Rung], or select
to Figure 4-1).
(black) from the navigation tool bar (refer
When the dialog box shown in Figure 20-1 appears, enter the desired rung number and
click the [OK] button.
Figure 20-1
20.2
Go To Rung Dialog Box
Instructions Set Value Navigation

This function searches for values such as relay numbers, register numbers, and constants
set to the ladder instructions, and then jumps to the rung with the set values.
1. Select [Edit] [Find Input Relays, Registers, or Constants] [Specify Parameter],
or select (brown) from the navigation tool bar (refer to Figure 4-1).
2. When the dialog shown in Figure 20-2 appears, enter the type of the value and the
set value to be searched and click the [OK] button.
Figure 20-2
Set Value Searching Dialog Box
20-1
MOTOMAN
Previous/Next Navigation
Previous search and next search functions can be used for searching for instructions set
values only.
For Previous search, select [Edit] [Find Input Relays, Registers, or Constants]
[Backward], or select (brown) from the navigation tool bar (refer to Figure 4-1).
For next search, select [Edit] [Find Input Relays, Registers, or Constants]
[Forward], or select (brown) from the navigation tool bar.
Backward Search
Backward search is a function to search for the set value in front of the current rung (in
the direction of smaller rung No.).
Forward Search
Next search is a function to search for the set value behind the current rung (in the
direction of greater rung No.).
Unless new set values are entered by pressing [Edit]-[Find Input Relays, Registers, or
Constants]-[Specify Parameter], the set values to be searched for do not change.
This function can be used to easily know where and how the set values are used.
20.3
Output Relay Search

The Find Output Relays function searches only for the relay number set to the OUT
instructions of the ladder instructions and jumps there. Other ladder instructions can not
be searched for.
1. Select [Edit] [Find Output Relays]. Or select
(refer to Figure 4-1).
from the navigation tool bar
2. When the dialog box shown in Figure 20-3 appears, input the relay number to be
searched for and click the [OK] button.
Figure 20-3
Find Output Relays Dialog Box
This function can be used to analyze the conditions in which the relay used in the rung
turns ON retroactively.
MOTOMAN
20-2
20.4
History Jump
The history jump function stores the sequence of past moves to rungs and easily returns
to the previous jump source.
This function does not exist as a menu item; Only available as a tool bar button.
How to Operate
Select
or
from the navigation tool bar (refer to Figure 4-1).
These buttons allow you to move backwards or forwards through the sequence of past
rung selections. Normally, this function is disabled. When jumps are performed, this
function becomes enabled.
Application
When searching with one of the Find commands, move to a new rung. After editing or
analysis, this history jump function can easily return to the previous rung.
20-3
MOTOMAN
NOTES
MOTOMAN
20-4
Section 21
CROSS REFERENCE FUNCTIONS
21.1
Instruction Use Table

The Instruction Use Table displays which rung and for which ladder instruction the
specified set value is used.
1. Select [Tools] [Instruction Use Table]. The dialog box shown in Figure 21-1
appears.
Figure 21-1 [Enter Relay, Register, or Constant] Dialog Box

2. After inputting the targeted set value type and the value, click the [OK] button. The
[Instruction Use Table] appears.
Figure 21-2 [Instruction Use Table] Dialog Box

[Relay, Register, or Constant) List Box
The list contains the set values to be searched for. Normally, there is only one item.
However, since more than two items may appear occasionally, select one.
21-1
MOTOMAN
[InstructionType] Tree
The tree consists of ladder instructions. Selecting this tree item can limit the rung
numbers displayed in the [Rungs Containing Item] matrix.
For example, selecting STR displays only the rung numbers containing the #7025
STR instruction.
[Rungs Containing Item] Matrix
Displays the rung numbers referring to the set values selected in the [Relay, Register, or
Constant] (reference data) list box. The rung number appears in red if the detected rung
number is within the system section, and in blue if it is within the user section.
Application
Set values in the ladder instructions may be referenced by several other rungs. In such
cases, this function is useful to analyze where it is used or to know how it is used in other
rungs.
Moving to a Rung Using the Rungs Containing Item Matrix
As shown in Figure 21-3, double-clicking the desired rung number on the matrix makes
that rung the current rung.
Double-click t he
mat rix.
Figure 21-3 Rungs Containing Item Matrix of Instruction Use Table

Even if a rung jump is performed by double-clicking, the [Instruction Use Table] dialog
box does not disappear. Another jump to another rung can be performed.
MOTOMAN
21-2
21.2
Relay Use Table

This function displays which relay numbers are used or not used in the ladder program
that is being edited.
Select [Tools] [Relay Use Table]. The dialog box shown in Figure 21-4 appears.
Figure 21-4 [Relay Use Table] Dialog Box

Use State Display Matrix
Relay numbers used are displayed in the following colors:
Red
: Used in a system section.
Blue
: Used in a user section.
Purple
: Used in both system and user sections.
In the matrix, the vertical axis displays the 10th or higher digits of the relay numbers in
units of 10, while the horizontal axis displays the 1st digit of the relay Nos.. Therefore,
in the case of the use state display matrix in Figure 21-4, the left top matrix is the relay
number 7007.
Clicking the colored matrix displays the rung numbers (containing that relay) in the
[Used In Rungs] list box.
[1st Digit] Combo box
The use state appears in the use state display matrix in units of 1000. Select the group
of 1000s in the [1st Digit] combo box.
[Enter Number] Input Box
Inputting the relay number in this input box and clicking the [Find] button displays the
specified relay number in the matrix display.
21-3
MOTOMAN
[Used In Rungs] List Box

In this list box, the rung information referring to the relay number selected in the use
state display matrix appears in the format shown in Figure 21-5.
S:0008 -|/ |Ladder part s

Line No.
S: Syst em ladder
U: User ladder
Figure 21-5 Format of [Used in Rungs] List Box

Application
When various relay numbers are to be added or changed, this function is useful to use any
unused relay Nos..
Moving to a Rung Using the Relay Use Table
As shown in Figure 21-6, double-clicking a rung number in the Used In Rungs list box
makes that rung the current rung.
Double-click t he
list it em.
Figure 21-6 Used In Rungs List Box of Relay Use Table

Even if a rung jump is performed by double-clicking an item, the [Relay Use Table]
dialog box does not disappear. Another jump to another rung can be performed.
MOTOMAN
21-4
Section 22
OTHER SETTINGS
22.1
Setting Color
Set the colors of the information displayed in the ladder editing display.
1. Select [Options] [Color Scheme]. The dialog box shown in Figure 22-1 appears.
Figure 22-1 [Color] Dialog Box

2. Select each item. The dialog box shown in Figure 22-2 appears. Select and set any
desired color.
Figure 22-2 [Color] Dialog Box
22-1
MOTOMAN
22.2
Setting Font
Set the character font in the ladder editing display. Fonts can be set individually for the
editing display and the preview display.
1. Select [Options] [Font] [Edit Window], or [Options] [Font] [Preview
Windows]. The dialog box shown in Figure 22-3 appears.
Figure 22-3 [Font] Dialog Box

2. Select any desired font name, the font style and size. Then click the [OK] button.
22.3
Storing Work in Progress

Concurrent I/O Editor saves only the ladder programs that pass Check the Ladder
syntax tests. However, the procedure may be interrupted temporarily during editing. To
store a ladder program that has not been checked, it can be stored as a rough draft.
1. Select [File] [Save as Rough Draft].
2. When the [Save File] dialog box appears, use an arbitrary file name to store it.
NOTE: Even if the reading source is a CMOS file, a rough draft can only output a text file as a ladder program file.
MOTOMAN
22-2
22.4
Auto Save Current Rung Function

If an attempt to move to another rung is made without selecting [Edit] [Save Current
Rung] - [Overwrite] or [Insert] when the data has been edited in the ladder editing
display, either the [Ask Before Saving] dialog box appears or the rung is updated
automatically.
For automatic updating, select either [Overwrite Current Rung] or [Insert New Rung].
Displaying the [Ask Before Saving] dialog box
Select [Option] [Auto Save Current Rung] [Ask Before Saving] to place checkmark
in the box.
Updating automatically
Select [Option] [Auto Save Current Rung] [Ask Before Saving] to remove the
checkmark. When the checkmark is removed, select either [Option] [Auto Save
Current Rung] [Overwrite Current Rung] or [Option] [Auto Save Current Rung]
[Insert New Rung] .
22.5
Toggling Label Display

A label can appear along with the relay number or register number corresponding to it in
the ladder editing display.
Select [View] [Relay Labels] to place checkmark in the box.
Figure 22-4
22-3
Label Display
MOTOMAN
22.6
Password Protection
Password protection can be applied to Concurrent I/O Editor.
Select [Options] [Access Control] - [User Manager] and check the Require Password
to Start Ladder Editor option.
When Concurrent I/O Editor is closed and reopened, you are prompted to enter your
password before Concurrent I/O Editor is run.
There are five possible user levels requiring a password, as shown below.
MOTOMAN
22-4
Section 23
USER INFORMATION MANAGEMENT
This application manages the user account to specify the users. Some data is only
handled by users at the upper account level. To handle such data, a password is required
for logging-in.
The users shown in Table 23-1 are registered as a default. Normally, a password is
assigned to each user.
Table 23-1 Default User List
Name
Manager
User Name
admin
Operat or
user
Back-up operat or
backup
Concurrent I/O Editor does not allow any users other than default users to be set.
However, whether the password is input or not when the application starts up can be set.
Select [Options] [Access Control] [User Manager]. The dialog box shown in
Figure 23-1 appears.
Figure 23-1 [User Manager] Dialog Box

How to Manage
With Concurrent I/O Editor, the [Manage type] cannot be changed. It always functions
as [Easy].
23-1
MOTOMAN
Require Password to Start Ladder Editor
Check Box
Placing a checkmark in this check box can display the input dialog box for the password
during the next startup of Concurrent I/O Editor.
MOTOMAN
23-2
APPENDIX A
Description of Menu
Menu
Command
Subcommand
Shortcut
File
New
N, Ctrl+N
Open
Close
O, Ctrl+O
C
Save
S, Ctrl+S
Save As
Save As Rough
Draft
Open Relay
Label File
Save Relay
Label File
Save As Text
Files
R
L
Function
_
Creates a new ladder by modifying a standard
ladder.\nNew.
Opens an existing ladder file. \nOpen
Closes the current ladder and label files.
Prompts to save if files are not saved. \nClose
Overwrites file with current ladder file. "Check
the Ladder" must be performed first. \nSave
Saves the job file under a new name. "Check the
Ladder" must be performed first.
Stores without a "Check the Ladder". Auto Save
Current Rung" option cannot be "Ask Before
Saving.
Reads a text file (*.NAM), assigns relay labels
and relay-rung comments to current ladder file.
Stores the relay label information in a file with
an *.NAM extension
T
Ladder Diagram
D
User
Section
System
Section
Relay List
U
S
Writes to a text file, the Ladder Diagram for the

user section of the Current Ladder.
Writes to a text file, the Ladder Diagram for the
system section of the Current Ladder
R
User
Section
System
Section
Register List
U
S
Writes to a text file, the Relay List for the user

section of the current ladder.
Writes to a text file, the Relay List for the
system section of the current ladder.
L
User
Section
System
Section
Relay State
Table
Alarms and
Messages
U
S
S
A
Print
Ladder Diagram
User
Section
System
Section
Relay List
User
Section
System
Section
Register List
User
Section
System
Section
P
D
U, Ctrl+P
S
R
U
S
L
U
S
Writes to a text file, the Register List for the

user section of the current ladder.
Writes to a text file, the Register List for the
Writes to a text file, the relay state table.
Writes to a text file, alarms and messages of the
user and system sections.
Makes a hardcopy of the ladder diagram for the

Makes a hardcopy of the ladder diagram for the
system section of the Current Ladder.
_
Makes a hardcopy of the Relay List for the user
section of the Current Ladder.
Makes a hardcopy of the Relay List for the
_
Makes a hardcopy of the Register List for the
Makes a hardcopy of the Register List for the
Menu
Command
Subcommand
Shortcut
Relay State
Table
Alarms and
Messages
Prints the relay state table.
Prints alarms and messages.
Print Preview
Ladder Diagram
User
Section
System
Section
V
D
U
Function
Displays and prints the ladder diagram for the

user section of the current ladder.
Displays and prints the ladder diagram for the
_
Displays and prints the relay list for the user
Displays and prints the relay list for the system
_
Displays and prints the register list for the user
Displays and prints the register list for the
Displays and prints the relay state table.
Displays and prints alarms and messages.
Print Setup
Exit
Displays printer settings including printer

options, paper size, and orientation.
Closes Ladder Editor 32.
Relay List
User
Section
System
Section
Register List
User
Section
System
Section
Relay State
Table
Alarms and
Messages
Edit
S
R
U
S
L
U
S
E
U,Ctrl+Z
R,Ctrl+Y
N, Ctrl+E
Undo
Redo
Insert New
Rung
Cut Rung
T, Ctrl+X
Copy Rung
C, Ctrl+C
Paste Rung
P, Ctrl+V
Insert
Cut\Copied
Rung
Save Current
Rung
I, Ctrl+I
Clear Current
Rung
Find Input
Relays,
Registers, or
Constants
S
Overwrite
Insert
A
D
_
Cancels the effects of the last operation. \nUndo
Repeats the last operation. \nRedo
Left - Click on a rung to insert a new one below
it. The new rung contains default instructions.
\nInsert New Rung.
Left Click on a rung to store it for an
overwrite or insert operation, then delete it from
the ladder. \nCut Rung
Left Click on a rung to store it for an
overwrite or insert operation. \nCopy Rung
Left Click on a rung to paste the contents of
[Cut] or [Copy] its place. Lose original. \nPaste
Rung
Left Click on a rung to paste the contents of
[Cut] or [Copy] in a new rung below it. Shift
down other rungs. \nInsert Cut or Copied Rung
_
Overwrites the current rung with the currently
edited ladder diagram information. \nOverwrite
Modified Rungs..
Inserts new rung below cdurrent rung,
overwrites new rung with currently edited
ladder diagram info. \nInsert Modified Rungs.
Deletes all instructions in the current rung.
\nClear Current Rung.
_
Menu
Command
Subcommand
Shortcut
Specify
Parameter
S,Ctrl+R
Backward
B,Ctrl+B
Forward
F,Ctrl+F
Find Output
Relays
Go to Rung
O
G
Go to Previous
Rung
Go to Next
Rung
Go to First
Rung
Go to Last
Rung
Header
Information..
Messages and
Alarms
Relay Labels
and Rung
Comments
Register Labels
E, Up
Arrow
X, Down
Arrow
F,Ctrl+
Home
L,
Ctrl+End
H
M
Y
View
Main Toolbar
Navigation
Toolbar
Instruction
Toolbar
Edit Toolbar
Status Bar
Relay Labels
Toggles Instruction toolbar display
E
S
R
Toggles edit toolbar display

Toggles Status toolbar display
Toggles relay labels display shown in edit
window.
_
Checks for syntax errors in the current ladder.
\nCheck the Ladder
_
E
D, Ctrl+D
Edit Entire Row

Insert
Row(s)
Delete
Row(s)
Edit Entire
Column
Makes the first rung of the ladder, the current

rung. \nJump to First Rung
Makes the last rung of the ladder, the current
rung. \nJump to Last Rung
Displays and permits editing of header
information. \nEdit Header Info
Displays and permits editing of message and
alarm information. \nEdit Messages and Alarms
Displays and permits editing of relay labels and
rung comments.
V
M
N
C,Alt+C
Delete Instructions
Selects the next rung.
Displays and permits editing of register labels

and comments.
_
Toggles main toolbar display
Toggles navigation toolbar display
Tools
Check the
Ladder
Edit
Instructions
Function
Input the number of Relay, Register or Constant
that you wish to find. \nFind a Relay, Register
or Constant.
Finds the previous instance of an input relay,
register, or constant. \nFind Relays Backward.
Finds the next instance of an input relay,
register, or constant. \nFind Relays Forward.
Specify an output relay number in order to move
to the rung containing it. \nFind Output Relays.
Specify a rung number to make it the current
rung. \nGo to Rung
Selects the previous rung
R
I
Click on an instruction of the current rung to

remove it permanently from the rung. \nDelete
Instructions
_
Click on a row to insert an empty row above it.
Shift down all existing rows below the new row.
\nInsert Rows(s)
Click on a row to delete it. Shift up all existing
rows below it. \nDelete Row(s)
C
Insert
Column
(s)
Click on a column to insert an empty column to

the left of it. Shift right all existing columns.
\nInsert Column(s)
Menu
Command
Subcommand
Shortcut
Delete
Column
(s)
Edit Instruction
Parameters
Edit Labels and
Comments
Quit the Editing

Functions
Q, Ctrl+Q
Add
Instructions
A
STR
Shift +S
STR-NOT
Shift +N
GRP
Shift +G
TMR
Shift +T
CNT
Shift + C
OUT
Shift + O
ADD
Shift + A
SUB
Shift + U
MUL
Shift + M
DIV
Shift + V
MOD
Shift + D
BIN
BCD
MOV
WAND
WOR
WXOR
Function
Click on a column to delete the column. Shift all
existing columns to the left. \nDelete
Column(s).
Click on an instruction to change values of its
variables. \nEdit Instruction Parameters.
Click on a relay to modify the address label and
the rungs comment. \nEdit Labels and
Comments.
Exits from any of the Ladder Editor functions
that add/delete instructions, rows, columns, etc..
\nQuit Edit Functions
_
Inserts STORE to start a rung or store the
intermediate result of a logical operation.
\nNormally Open Relay.
Inserts STORE NOT to start a rung or store the
intermediate result of a logical operation.
\nNormally Closed Relay
Inserts GSTR and GOUT to transfer 8 bit data
word from 1st relay to 2nd relay. \nGroup Store
Group Output.
Inserts ON DELAY TIMER, subtracts 0.1 sec.
Counts from set value & stores result.
\nTimer.
Inserts COUNTER, waits until sum reaches set
value, then turns output ON. \nCounter
Inserts OUTPUT relay to end a rung. Relay
may be external or internal. \nOutput Relay
Inserts ADD to sum contents of S1 and S2, then
store result in D, when input turns ON. \nSum
Inserts SUB to subtract S2 from S1, then store
result in D, when input turns ON. \nSubtract
Inserts MUL to multiply contents of S1 and S2,
then store product in D, when input turns ON.
\nMultiply
Inserts DIV to divide S1 by S2, then store
quotient in D, when input turns ON. \nDivide
Inserts MOD to divide S1 by S2, then store
modulus of quotient in D, when input turns ON.
\nModulus
Inserts BIN to read Binary Code Decimal value
in S & store it as a Binary value in D. \nConvert
BCD to Binary
Inserts BCD to read Binary value in S & store it
as a Binary Code Decimal value in D. \nConvert
Binary to BCD
Inserts MOV to read contents of register S &
store it in register D, when input turns ON.
\nMove Data from Register to Register
Inserts WAND to do bitwise, logical AND on
binary no. in S1 & S2, & store the resulting
binary in D. \nBitwise Logical AND
Inserts WOR to do bitwise, logical OR on
binary in D. \ nBitwise Logical OR
Inserts WOR to do bitwise, exclusive OR on
binary in D. \ nBitwise Exclusive OR
Menu
Command
Subcommand
Shortcut
WNOT
SHL
SHR
ROL
Shift + R
ROR
PLS
PLF
Instruction Use
Table
Relay Use
Table
Output Relay
Use Table
R
O
Options
Enter Password
O
A
E
User Manager
Access Control
Current Ladder
Section
C
User
System
Color Scheme
Font
Edit Window
Preview
Windows
Auto Save
Current Rung
File
Management
F
E
P
Function
Inserts WNOT to logically negate each bit of the
binary no. in S1 & store the resulting binary in
D. \nBitwise Negation
Inserts SHL to shift to the left by Shift Count
places, the bits in the word in S, put 0 in lowest
bit. \nShift Bits Left
Inserts SHR to shift to the right by Shift Count
places, the bits in the word in S, put 0 in highest
bit. \nShift Bits Right
Inserts ROL to shift to the left by Shift Count
places, the bits in S, highest bit moves to lowest
bit. \nRotate Bits Left
Inserts ROR to shift to the right by Shift Count
places, the bits in S, lowest bit moves to highest
bit. \nRotate Bits Right
Inserts PLS to output one scanning pulse when
the input changes from OFF to ON. \nLeading
Edge Triggered Pulse
Inserts PLF to output one scanning pulse when
the input changes from ON to OFF. \ nFalling
Edge Triggered Pulse
Lists rungs containing a specific relay, or
constant. Filter results by instruction type.
\nInstruction Use Table
Displays for all relay numbers: ladder section,
rung no., and whether normally open or closed.
Displays for output relays: ladder section and
rung number containing the output relay.
_
_
Displays dialog box used to input a password
and to view current access level.
Displays dialog box for editing user types and
toggling startup password requirement.
_
Makes the user section of the current ladder the
current section. \nEdit User Section
Makes the system section of the current ladder
the current section. Restricted access \nEdit
System Section
Allows changing colors of pointers and labels
displayed in the edit window..
_
Allows changing font used to display labels and
numbers in the edit window.
Allows changing font used to display labels and
numbers in the preview windows.
R
Ask Before Saving
Overwrite Current
Rung
Insert New Rung
O
I
M
Displays dialog box offering update options

when choosing new current rung.
Replaces modified current rung in original
position in ladder.
Places modified current rung below original
position. Shifts other rungs down.
Menu
Command
Window
Cascade
Tile
Arrange Icons
Help
Help Topics
Search
Keyword
Using Help
About
Subcommand
Shortcut
W
C
T
A
H
T
S
U
A
Function
_
Arranges windows so they overlap.
Arranges windows as non-overlapping tiles.
Arranges icons of minimized windows at the
bottom of the main window.
_
Opens Help. \nHelp Topics
Searches online help for a keyword.
Displays instructions about how to use Help.
Displays program information, version number
and copyright.
APPENDIX B
Description of Tool Bars
Main Tool Bar
Button
Function
Creates a new ladder by modifying a standard ladder.\nNew.
Opens an existing ladder file. \nOpen
Overwrites file with current ladder file. "Check the Ladder"
must be performed first. \nSave
Left Click on a r ung to store it for an overwrite or insert
operation, then delete it from the ladder. \nCut Rung
Left Click on a r ung to store it for an overwrite or insert
operation. \nCopy Rung
Left C lick on a rung to paste the contents of [Cut] or
[Copy] its place. Lose original. \nPaste Rung
Left C lick on a rung to paste the contents of [Cut] or
[Copy] in a new rung below it. S hift down other rungs.
\nInsert Cut or Copied Rung
Cancels the effects of the last operation. \nUndo
Repeats the last operation. \nRedo
Left - Click on a rung to insert a new one below it. The new
rung contains default instructions. \nInsert New Rung.
Overwrites the current rung with the currently edited ladder
diagram information. \nOverwrite Modified Rungs..
Inserts new rung below cdurrent rung, overwrites new rung
with currently edited ladder diagram info. \nInsert Modified
Rungs.
Checks for syntax errors in the current ladder. \nCheck the
Ladder
Lists rungs containing a specific relay, or c onstant. Filter
results by instruction type. \nInstruction Use Table
Displays and permits editing of header information. \nEdit
Header Info.
Displays and permits editing of message and alarm
information. \nEdit Messages and Alarms
Makes the user section of the current ladder the current
section. \nEdit User Section
Makes the system section of the current ladder the current
section. Restricted access \nEdit System Section
Opens Help. \nHelp Topics
Selection
[File] - [New]
[File] - [Open]
[File] - [Save]
[Edit] - [Cut Rung]
[Edit] - [Copy Rung]
[Edit] - [Paste Rung]
[Edit] - [Insert Cut\Copied
Rung]
[Edit] - [Undo]
[Edit] - [Redo]
[Edit] - [Insert new rung]
[Edit] - [Save Current Rung]
[Overwrite]
[Edit] - [Save Current Rung]
[Insert]
[Tools] - [Check the Ladder]
[Edit] - [Instruction Use Table]
[Edit] - [Header Information]
[Edit] - [Messages and Alarms]
[Options] - [Current Ladder
Section] - [User]
[Options] - [Current Ladder
Section] - [System]
[Help] - [Help Topics]
Edit ToolBar
Function
Selection
Click on an instruction of the current rung to remove it

permanently from the rung. \nDelete Instructions
Click on a row to insert an empty row above it. Shift down
all existing rows below the new row. \nInsert Rows(s)
Click on a row to delete it. Shift up all existing rows below
it. \nDelete Row(s)
Click on a column to insert an empty column to the left of it.
Shift right all existing columns. \nInsert Column(s)
[Tools] - [Edit Instructions] [Delete Instructions]

[Tools] - [Edit Instructions] - [Edit
Entire Row] - [Insert Row(s)]
Entire Row] - [Delete Row(s)]
Entire Column] - [Insert
Column(s)]
Entire Column] - [Delete
Column(s)]
Instruction Parameters]
Labels and Comments]
[Edit] - [Clear Current Rung]
Button
Click on a c olumn to delete the column. Shift all existing

columns to the left. \nDelete Column(s).
Click on an instruction to change values of its variables.
\nEdit Instruction Parameters.
Click on a relay to modify the address label and the rungs
comment. \nEdit Labels and Comments.
Deletes all instructions in the current rung. \nClear Current
Rung.
Navigation Tool Bar

Button
Function
Specify an output relay number in order to move to the rung
containing it. \nFind Output Relays.
Input the number of Relay, Register or Constant that you
wish to find. \nFind a Relay, Register or Constant.
Finds the previous instance of an input relay, register, or
constant. \nFind Relays Backward.
Finds the next instance of an input relay, register, or
constant. \nFind Relays Forward.
Specify a rung number to make it th e current rung. \nGo to
Rung
Makes the first rung of the ladder, the current rung. \nJump
to First Rung
Makes the last rung of the ladder, the current rung. \nJump to
Last Rung
Jumps backward in the jump history.
Jumps forward in the jump history.
Selection
[Edit] - [Find Output Relays]
[Edit] - [Find Input Relays,
Registers, or Constants] [Specify
Parameter]
Registers, or Constants]
[Backward]
Registers, or Constants] [Forward]
[Edit] - [Go to Rung...]
[Edit] - [Go to First Rung]
[Edit] - [Jump End line]
Instruction Tool Bar

Button
Function
Inserts STORE to start a r ung or store the intermediate
result of a logical operation. \nNormally Open Relay.
Inserts STORE NOT to start a rung or store the
intermediate result of a logical operation. \nNormally
Closed Relay
Inserts GSTR and GOUT to transfer 8 bit data word from
1st relay to 2nd relay. \nGroup Store Group Output.
Inserts ON DELAY TIMER, subtracts 0.1 sec. Counts
from set value & stores result. \nTimer.
Inserts COUNTER, waits until sum reaches set value,
then turns output ON. \nCounter
Inserts OUTPUT relay to end a rung. Relay may be
external or internal. \nOutput Relay
Inserts ADD to sum contents of S1 and S2, then store
result in D, when input turns ON. \nSum
Inserts SUB to subtract S2 from S1, then store result in D,
when input turns ON. \nSubtract
Inserts MUL to multiply contents of S1 and S2, then store
product in D, when input turns ON. \nMultiply
Inserts DIV to divide S1 by S2, then store quotient in D,
when input turns ON. \nDivide
Inserts MOD to divide S1 by S2, then store modulus of
quotient in D, when input turns ON. \nModulus
Inserts BIN to read Binary Code Decimal value in S &
store it as a Binary value in D. \nConvert BCD to Binary
Inserts BCD to read Binary value in S & store it a s a
Binary Code Decimal value in D. \nConvert Binary to
BCD
Inserts MOV to read contents of register S & store it in
register D, when input turns ON. \nMove Data from
Register to Register
Inserts WAND to do bitwise, logical AND on binary no.
in S1 & S 2, & s tore the resulting binary in D. \nBitwise
Logical AND
Inserts WOR to do bitwise, logical OR on binary no. in
S1 & S2, & store the resulting binary in D. \ nBitwise
Logical OR
Inserts WOR to do bitwise, exclusive OR on binary no. in
S1 & S2, & store the resulting binary in D. \ nBitwise
Exclusive OR
Inserts WNOT to logically negate each bit of the binary
no. in S 1 & store the resulting binary in D. \nBitwise
Negation
Inserts SHL to shift to the left by Shift Count places, the
bits in the word in S, put 0 in lowest bit. \nShift Bits Left
Inserts SHR to shift to the right by Shift Count places, the
bits in the word in S, put 0 in highest bit. \nShift Bits
Right
Inserts ROL to shift to the left by Shift Count places, the
bits in S, highest bit moves to lowest bit. \nRotate Bits
Left
Inserts ROR to shift to the right by Shift Count places, the
bits in S, lowest bit moves to highest bit. \nRotate Bits
Right.
Inserts PLS to output one scanning pulse when the input
changes from OFF to ON. \nLeading Edge Triggered
Pulse
Inserts PLF to output one scanning pulse when the input
changes from ON to OFF. \ nFalling Edge Triggered
Pulse
Selection
[Tools] - [Add Instructions] - [STR]
[Tools] - [Add Instructions] - [STR-NOT]
[Tools] - [Add Instructions] - [GRP]

[Tools] - [Add Instructions] - [TMR]
[Tools] - [Add Instructions] - [CNT]
[Tools] - [Add Instructions] - [OUT]
[Tools] - [Add Instructions] - [ADD]
[Tools] - [Add Instructions] - [SUB]
[Tools] - [Add Instructions] - [MUL]
[Tools] - [Add Instructions] - [DIV]
[Tools] - [Add Instructions] - [MOD]
[Tools] - [Add Instructions] - [BIN]
[Tools] - [Add Instructions] - [BCD]
[Tools] - [Add Instructions] - [MOV]
[Tools] [WAND]
[Add
Instructions]
[Tools] - [Add Instructions] - [WOR]
[Tools] [WXOR]
[Add
Instructions]
[Tools] [WNOT]
[Add
Instructions]
[Tools] - [Add Instructions] - [SHL]

[Tools] - [Add Instructions] - [SHR]
[Tools] - [Add Instructions] - [ROL]
[Tools] - [Add Instructions] - [ROR]
[Tools] - [Add Instructions] - [PLS]
[Tools] - [Parts] - [PLF]
Name File Format

The following shows the format of a name file.
//TYPE:ARCWELD : Ladder name
///0240
: Relay block No.
ssssssss,LLLLLLLL : Name of 0240
AAAAA,BBBBBBB
: Name of 0241
,
,
_ For eight items
,
,
,
IN192,IN192(FAN Alarm) : Name of 0247
///1240
: Next relay block No.
,
,
,
,
Arestart, arc off restart processing memory reset: 1
restart, restart processing reset: 1
Inching, inching: 1
Retract, retract: 1
_
_
//REGISTER:
M069=ssssssss,LLLLLLLLL
M090=,ARC ANS ERROR (PRE-SENT VALUE)
M091=,STICK-ING CHECK (PRE-SENT VALUE)
M092=,NO STICK-ING CHECK (PRE-SENT VALUE)
_
_
_Relay Name:_
Short name : Within 8 characters
Long name : Within 60 characters
_Register Name:_
M000 = Short name, long name
Short name : Within 8 characters
Long name : Within 60 characters
M must be added to the first character in the name.
: Specify register name section

: Register name
INDEX
A
About this Document, 1-1
Adding New Ladder Instructions, 9-2
Alarm and Message in System Section, 16-1
Alarm and Message Information, 16-1
Alarm Display Relay No. Information, 14-6
Alarm Selection Relay No. Information, 14-6
Alarm System Section and User Section, 14-5
Application, 21-2, 20-3, 21-4
Auto Save Current Rung Function, 22-3
F
Features of Concurrent I/O Editor, 3-3
[1st Digit] Combo box, 21-3
Flowchart of Basic Editing, 5-1
Forward Search, 20-2
G
General Safeguarding Tips, 2-3
Go to Rung, 20-1
Connecting and Disconnecting Lines between

Ladder Instructions, 9-3
Connecting with a Line, 9-3
Copy a Ladder Diagram Rung, 12-1
Creating a Ladder Diagram, 8-1
Cross Reference Functions, 21-1
Customer Service Information, 1-1
Cutting a Ladder Diagram Rung, 12-1
Cutting, Copying, and Pasting Rungs, 12-1
Hardware Lock Key, 3-1

Hardware Requirements for Concurrent I/O Editor, 3-1
Header Information, 15-1
History Jump, 20-3
How to Add New Ladder Instructions, 9-2
How to Create a Ladder Diagram, 8-1
How to Delete Ladder Instructions, 9-2
How to End, 6-1
How to Input Relay No. and Register No. Names, 9-6
How to Manage, 23-1
How to Operate, 20-3
How to Read Ladder Data, 7-1
How to Save Edited Data, 7-3
How to Set Relay No., Register No., and Constants, 9-5
How to Start, 6-1
How to Store it Automatically, 18-3
How to Store it Manually, 18-3
B
Backward Search, 20-2
C
Changing an Edited Ladder Rung, 11-1
Checkjing Ladder Contents, 13-1
Clear the Current Rung, 9-11
Column Insertion Restriction, 9-8
Deleting a Column, 9-10

Deleting a Row, 9-11
Deleting Columns and Rows from the Editing Matrix, 9-10
Deleting Ladder Instructions, 9-2
Disconnecting Two Instructions, 9-4
Displaying the [Ask Before Saving] dialog box, 22-3
E
Editing a Ladder Diagram, 9-1
Editing area, 16-1
[Enter Number] Input Box, 21-3
Inputting Password, 17-1

Inputting Relay No. and Register No. Names, 9-6
Inserting a Column, 9-8
Inserting a New Rung, 10-1
Inserting a Row in the Edit Matrix, 9-9
Inserting an Edited Ladder Rung, 11-1
Inserting and Pasting a Ladder Diagram Rung, 12-1
Inserting Edited Matrix Columns and Rows, 9-7
Installation Safety, 2-4
[InstructionType] Tree, 21-2
Instruction Use Table, 21-1
MOTOMAN
INDEX
I - continued
Instructions Set Value Navigation, 20-1

Introduction, 1-1, 2-1
Introduction to Ladder Editor, 3-1
Reading and Storing Edited Ladder Files, 7-1

Reading Label File, 18-1
Reading Label File Automatically (With Label File), 18-1
Reading Label File Automatically (Without Label File), 18-1
Reading Ladder Data, 7-1
Reading Several Ladder Files 7-2
Reference to Other Documentation, 1-1
Relay Labels and Rung Comments, 19-1
[Relay, Register, or Constant) List Box, 21-1
Relay Use Table, 21-3
Row Insertion Restriction, 9-9
"Require Password to Start Ladder Editor" Check Box, 23-2
[Rungs Containing Item] Matrix, 21-2
L
Label File, 18-1
Label Template File, 18-3
Concurrent I/O Editor, 3-2
Concurrent I/O Editor Basic Display, 4-1
Ladder Instructions Connection Terminals, 9-3
Ladder Instructions Specifications, 9-1
Ladder Name and System Register Editing, 15-1
Language combo box, 16-1
M
Maintenance Safety, 2-6
Mechanical Safety Devices, 2-3
Moving to a Rung Using the Relay Use Table, 21-4
Moving to a Rung Using the Rungs
Containing Item Matrix, 21-2
N
[Name] combo box, 15-1
Navigation Functions, 20-1
O
Operation Safety, 2-5
Other Settings, 22-1
Output Relay Search, 20-2
P
Password Protection, 22-4
Pasting a Ladder Diagram Rung, 12-1
Previous/Next Navigation, 20-2
Printing, 14-1
Printing a Ladder Diagram, 14-1
Printing Alarms and Messages, 14-4
Printing List of Used Relay Nos., 14-2
Printing Register List, 14-2
Printing Relay No. State Table, 14-3
Programming Safety, 2-4
MOTOMAN
S
Safety, 2-1
Saving Edited Data, 7-3
Saving Edited Rungs, 11-1
Selecting a Ladder Edited Rung, 9-1
Setting Color, 22-1
Setting Font, 22-2
Setting Names Using a Pop-up Menu, 9-7
Setting Relay No., Register No. and Constants, 9-5
Setting Values Using a Pop-up Menu, 9-5
Standard Conventions, 2-2
Starting and Ending 32, 6-1
Storing a Ladder Program that is Being Edited,7- 3
Storing Label File, 18-3
Storing when a CMOS File (CMOS.HEX) is Open, 7-3
Storing when a Ladder Program File (CIOPRG.LST)
is Open, 7-3
Storing Work in Progress, 22-2
Switching Between User Section and System Section, 17-1
System Registers, 15-1
T
Terms, 3-4
Toggling Label Display, 22-3
INDEX
U
Updating automatically, 22-3
Use State Display Matrix, 21-3
[Used In Rungs] List Box, 21-4
User Information Management, 23-1
User Section and System Section, 17-1
W
What is Label File?, 18-1
What is Concurrent I/O Editor?, 3-2
MOTOMAN

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10 INSERTING A NEW RUNG ........................................................................................................ 10-1

Concurrent I/O Editor Users Manual

19 RELAY LABELS AND RUNG COMMENTS ................................................................................ 19-1

Concurrent I/O Editor Users Manual

Concurrent I/O Editor Users Manual

About this Document

Reference to Other Documentation

Concurrent I/O Parameters Manual (P/N 142102-1)

Operators Manual for General Purpose (P/N 142099-1)

Operators Manual for Handling (P/N 142100-1)

Operators Manual for Spot Welding (P/N 142101-1)

Operators Manual for Arc Welding (P/N 142098-1)

Vendor manuals for system components not manufactured by Motoman.

Customer Service Information

Concurrent I/O Editor version

Operating system (Windows NT)

System configuration (hard disk capacity, memory, software, etc.)

Description of difficulty (take note of any error messages)

Concurrent I/O Editor Users Manual

Concurrent I/O Editor Users Manual

Standard Conventions (Section 2.2)

General Safeguarding Tips (Section 2.3)

Mechanical Safety Devices (Section 2.4)

Installation Safety (Section 2.5)

Programming Safety (Section 2.6)

Operation Safety (Section 2.7)

Maintenance Safety (Section 2.8)

Concurrent I/O Editor Users Manual

Standard ConventionsThis manual includes information essential to the safety

Concurrent I/O Editor Users Manual

General Safeguarding Tips

In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use

Mechanical Safety Devices

Safety fences and barriers

Concurrent I/O Editor Users Manual

Position all controllers outside the robot work envelope.

Concurrent I/O Editor Users Manual

Be sure that all safeguards are in place.

Ensure that all safeguards are in place.

This equipment has multiple sources of electrical supply. Electrical

Concurrent I/O Editor Users Manual

Be sure all safeguards are in place.

Use proper replacement parts.

This equipment has multiple sources of electrical supply. Electrical

Concurrent I/O Editor Users Manual

Hardware Requirements for Concurrent I/O Editor

Microsoft Windows 95 /98 /NT4.0

Pentium or Pentium compatible processor

Hard disk drive and CD-ROM drive

Hardware Lock Used under single user registration.

Hardware Lock Key

Concurrent I/O Editor Users Manual

Do not install or remove the hardware key while the computer is

Concurrent I/O Editor