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< ROBODRILL @-D+BADV series

Custom PMC Function

OPERATOR'S MANUAL

WARNING
To use the products explained herein safely, read carefully and understand
completely all the descriptions about safety at the beginning of this manual and
those about the functions you are going to use. Failing to follow any safety
precaution or any direction described herein may lead to death or injury.
Always keep this manual near your product, so you can reference it whenever
necessary.

B-85444EN-3/03
 WARNING
Before starting to install, operate, or maintain the product, carefully read and understand
the "SAFETY PRECAUTIONS." Failing to follow any of these safety precautions and
other cautions stated herein may lead to death or injury.

Target models
The following table shows the models covered by this manual along with their abbreviations.

Model Name Abbreviation

Standard version

FANUC ROBODRILL α-D14MiB5, α-D14(L, S)iB5

FANUC ROBODRILL α-D21MiB5, α-D21(L, S)iB5
Control unit : A04B-0103-B201#STA,
A04B-0103-B301, B303, B305, B307
FANUC Series 31i-B5
Mechanical unit : A04B-0099-B101, B103, B111, B113 α-DiB5 series

A04B-0102-B101, B102, B103, B104, B105, B106,

B111, B112, B113, B114, B115, B116
A04B-0102-B121, B122, B123, B124, B125, B126,
B131, B132, B133, B134, B135, B136
α-DiB5/α-DiB series
FANUC ROBODRILL α-D14MiB, α-D14(L, S)iB
FANUC ROBODRILL α-D21MiB, α-D21(L, S)iB
Control unit : A04B-0103-B201#STB,
A04B-0103-B302, B304, B306, B308
FANUC Series 31i-B
Mechanical unit : A04B-0099-B101, B103, B111, B113 α-DiB series

A04B-0102-B101, B102, B103, B104, B105, B106,

B111, B112, B113, B114, B115, B116
A04B-0102-B121, B122, B123, B124, B125, B126,
B131, B132, B133, B134, B135, B136

Advanced version

FANUC ROBODRILL α-D14MiB5ADV, α-D14(L, S)iB5ADV

FANUC ROBODRILL α-D21MiB5ADV, α-D21(L, S)iB5ADV
Control unit : A04B-0104-B201#STA,
α-DiB5ADV series
A04B-0103-B301, B303, B305, B307
FANUC Series 31i-B5
Mechanical unit : A04B-0104-B001, B002, B003 α-DiB5ADV/α-DiBADV
FANUC ROBODRILL α-D14MiBADV, α-D14(L, S)iBADV series
FANUC ROBODRILL α-D21MiBADV, α-D21(L, S)iBADV
Control unit : A04B-0104-B201#STB,
α-DiBADV series
A04B-0103-B302, B304, B306, B308
FANUC Series 31i-B
Mechanical unit : A04B-0104-B001, B002, B003
Danger levels
The following table shows the notations used in this manual to indicate the severity of risks and levels
of dangers.

To help prevent accidents that may occur due to incorrect handling, this operator's manual indicates cautions with
marks. The meaning of each mark is explained below. Before starting to read the text of the cautions, be sure to
understand the meaning of the corresponding marks.
Indicates that incorrect handling will invite an imminent danger of death or serious
DANGER:
injury.

WARNING: Indicates that incorrect handling may lead to death or serious injury.

CAUTION: Indicates that incorrect handling may lead to light or moderate injury.

NOTE: Describes precautions for protecting the product of interest from damage or
information for effective and efficient use of the product of interest.

Symbols
The following symbols are used in this manual.
(For symbols used on the warning labels on the machine, see "Chapter 7, WARNING LABELS" in
"SAFETY PRECAUTIONS".)

This symbol indicates mandatory

This symbol indicates prohibited actions.
actions.

This symbol indicates the possibility of a This symbol indicates the possibility of
risk to a person or damage to property if an injury from getting caught in rotating
the instruction is ignored. portions if the instruction is ignored.
This symbol indicates the possibility of an This symbol indicates the possibility of
injury from getting caught in the machine an explosion or fire if the instruction is
if the instruction is ignored. ignored.

This symbol indicates the possibility of This symbol indicates the possibility of
chips, coolant, or damaged tool flying receiving an electrical shock if the
out/scattering if the instruction is ignored. instruction is ignored.

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

- The design and specifications of this product are subject to change without notice.

The products in this manual are controlled based on Japan's "Foreign Exchange and
Foreign Trade Law". The export of FANUC ROBODRILL α-D14MiB5/D14LiB5/D14SiB5,
α-D21MiB5/D21LiB5/D21SiB5, α-D14MiB/D14LiB/D14SiB, α-D21MiB/D21LiB/D21SiB,
α-D14MiB5ADV/D14LiB5ADV/D14SiB5ADV, α-D21MiB5ADV/D21LiB5ADV/D21SiB5ADV,
α-D14MiBADV/D14LiBADV/D14SiBADV, α-D21MiBADV/D21LiBADV/D21SiBADV from Japan is
subject to an export license by the government of Japan. Other models in this manual
may also be subject to export controls. Further, re-export to another country may be
subject to the license of the government of the country from where the product is re-
exported. Furthermore, the product may also be controlled by re-export regulations of
the United States government. Should you wish to export or re-export these products,
please contact FANUC for advice.
In this manual, we have tried to describe as many matters as possible.
However, we cannot describe all the matters which must not be done or which cannot
be done, because there are so many possibilities. Therefore, matters which are not
specifically described as possible in this manual should be regarded as "impossible."
If you wonder whether a specific matter is possible, ask FANUC.

This manual, written in English, is the ‘Original instructions’. The other language
manuals are a translation from the English one.
B-85444EN-3/03 SAFETY PRECAUTIONS

SAFETY PRECAUTIONS
Before you start to use the machine, be sure to carefully read this section about safety precautions and the
descriptions about the functions you are going to use and fully understand them. Otherwise, an accident
may occur.
Use the machine only after you understand them fully.
When using the ROBODRILL, follow all national and local regulations applicable to safety, health, and
environment hygiene.

1. SAFETY FUNCTIONS OF THE MACHINE

The ROBODRILL α-DiB5/α-DiB series, α-DiB5ADV/α-DiBADV series adopt a door interlock system that
stops the machine when the door is open. This is to protect the operator from dangerous situations. The
door interlock system consists of an electromagnetic lock switch, control circuit, and software.
An internal light that lights the machining area (normally an optional feature; standard feature for safety
standard-compatible models) is installed inside the splash guard.
The following provides an outline of the machine and its safety devices.
Cable carrier Internal light
Electromagnetic lock switch

Fixed cover Signal lamp

Operator's
panel

Emergency stop
button
Fixed cover

Window

Front door (splash guard)

Fixed cover
Fig. 1 (a) α-D14/21M/LiB5, α-D14/21M/LiB, α-D14/21M/LiB5ADV, α-D14/21M/LiBADV

Cable carrier Fixed cover

Internal light
Electromagnetic
Signal lamp
lock switch

Operator's
panel

Window Emergency stop

button

Fixed cover

Front door (splash guard) Fixed cover

Fig. 1 (b) α-D14/21SiB5, α-D14/21SiB, α-D14/21SiB5ADV, α-D14/21SiBADV

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SAFETY PRECAUTIONS B-85444EN-3/03

(A) Electromagnetic lock switch

The electromagnetic lock switch is located in the upper section on the front door.
Opening the front door causes the spindle, X-, Y-, and Z-axes, and additional axes (if any) to stop
operating. Once they have stopped, the electromagnetic lock switch releases the door lock, making it
possible to open the front door.

(B) Mode select lock function

The machines designed for use in Europe and China have a software-controlled mode select lock
function.

(C) Fixed cover

A fixed cover is located around each movable part of the machine.

(D) [Emergency Stop] button

The [Emergency Stop] button is located in the lowest section on the operator's panel.
You can stop all the machine operations by pressing the [Emergency Stop] button.
Pressing the [Emergency Stop] button is the first thing you should do once a failure occurs. Make it
possible to press the [Emergency Stop] button whenever necessary. Do not hang anything on the
button nor cover it with anything.
Before you reset the Emergency Stop button, remove the cause of the abnormality. Otherwise, the
dangerous condition may recur, possibly leading to injury.

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B-85444EN-3/03 SAFETY PRECAUTIONS

2. PRECAUTIONS FOR USE

Before you start to install, operate, or maintain the machine, read the safety
precautions described in this section carefully. Failing to follow any of these safety
precautions herein or other cautions provided in the OPERATOR'S MANUAL may
lead to death or injury.

DANGER

You could get caught in the machine, possibly leading to injury. Do not
put your body, hand, or foot close to any movable parts.

1 When running the machine with the front door kept open, be careful to prevent any
portion of your body from touching the movable parts, such as the table. Otherwise, you
may get caught, possibly leading to injury.
2 Do not put your whole body into the machine. If you do so, it is difficult for others to
notice that you are working on the machine. Therefore, they may fail to recognize you
working inside the machine and may start the machine. If you have no choice but to
enter the machine, perform lock out or use other precautions to prevent others from
starting the machine. In addition, fix the door so that you will not be trapped inside the
machine.
3 Do not adjust the coolant nozzle during operation. Doing so may cause injury.
4 The operator is not allowed to open the front door even if the power is OFF. Opening
the front door disables safety devices, possibly leading to injury.
5 If you are an operator and need to open the front door while the power is OFF, ask a
maintenance engineer. Opening the front door with no sufficient knowledge may lead to
injury because of an unexpected behavior of the machine.
6 Before you open the front door, make sure that the Z-axis (spindle head) will not move
down. In rare cases, the Z-axis brake gets out of order, thus letting the Z-axis move
down. Even after you have opened the front door, be aware that the Z-axis may move
down. If you have to work underneath the Z-axis, pop it up by inserting a piece of wood
between the Z-axis and table beforehand to prevent it from moving down in case the
brake should get out of order.
7 Pay attention not to get your head or hand caught in the automatic door (optional). If the
machine has the optional automatic door mechanism, the front and side doors can be
automatically opened and closed in response to program commands or external signals.
Be careful not to get caught in the door during work.
8 When removing the Z-axis motor, be careful not to let the Z-axis (spindle head) move
down. Since the Z-axis brake is in the motor, removing the motor allows the Z-axis to
move down, you may get caught, possibly leading to injury. When removing the motor,
fix the table and Z-axis with packing materials.
9 Check that the Z-axis motor is properly installed before removing the packaging material
that secures the table and the Z-axis. If the packaging material is removed without the
Z-axis motor installed, the Z-axis may move down and you may get caught, possibly
leading to injury.
10 Do not perform automatic operation with the coupling bolts for the Z-axis loose.
Otherwise, the ball screw may break, which may cause the Z-axis (spindle head) to go
down in the worst case.
11 When the power supply is turned ON, be sure to press the [Emergency Stop] button
before installing a workpiece or jig, attaching a tool to the turret, or performing other
work inside the machine. Otherwise, you may be injured if the machine starts running.
12 When you turn OFF the interlock with the pallet changer provided by KAWATA TEC
(optional), each operation is not interlocked, possibly leading to collision, crushing or
other accident. After completing the work, turn ON the interlock and hand the key to the
maintenance engineer for storage.
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SAFETY PRECAUTIONS B-85444EN-3/03

DANGER

You could get caught in rotating portions, possibly leading to

injury. Do not put your body, hand, or foot close to any rotating
portions.

1 When the power is ON, do not forcibly disable the electromagnetic lock switch on
the front door. Doing so enables you to enter the machining area even when the
tool is rotating, possibly leading to injury. When the power is ON, use the [Door
Open/Close] button to open or close the front door.
2 For ROBODRILL α-DiB5 series and α-DiB5ADV series, one or two servo motors
can be controlled as the fourth and/or fifth axes (additional axes).
For ROBODRILL α-DiB series and α-DiBADV series, one servo motor can be
controlled as the fourth axis (additional axes). The additional axis must be
installed on the table. Otherwise, it is impossible for the fixed cover or front door
to protect the operator from the motion of the additional axis, possibly leading to
injury.
3 To avoid accidents, such as getting caught in the machine, always wear safe
clothing as stated below when working.
• Wear a cap. Long hair should be tucked into the cap as it can get caught in
the machine or hinder vision.
• Wear safety shoes.
• Wear protective glasses.
• Button up the sleeves of outer clothes.
• Do not wear necklaces, bracelets, or the like.
• Do not wear scarves, mufflers, or the like.
4 Before opening the front door with the power switched OFF, make sure that the
spindle is not rotating. When the spindle is rotating, switching OFF the power
prevents the spindle from stopping in a controlled manner, thus letting the
spindle keep rotating under its own inertia; chips may fly out or you might
accidentally touch the rotating spindle leading to injury. When the power is
switched OFF, only the maintenance engineer is allowed to open the front door.

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B-85444EN-3/03 SAFETY PRECAUTIONS

DANGER

An explosion or fire could occur. Watch for explosions and fires

when machining a workpiece made of combustible metal.
1 When machining a combustible metal, use a coolant appropriate for machining
combustible metals.
If fire breaks out during machining of a combustible metal, in particular, using a
water-soluble coolant, the water reacts with the combustible metal, possibly
leading to explosive combustion due to hydrogen gas or vapor explosion.
2 Do not machine any combustible metal such as magnesium with a machine
equipped with an automatic fire-extinguisher for general fires. If the automatic
fire-extinguisher operates, the agent in the extinguisher reacts with the
combustible metal, possibly leading to explosive combustion due to hydrogen
gas or vapor explosion.
3 A ROBODRILL equipped with an automatic fire-extinguisher can only be used to
machine fire-extinguishable materials with the extinguisher. If the ROBODRILL is
used to machine other materials, the extinguisher cannot be expected to
extinguish fire, possibly leading to fire or explosion due to chemical reactions.
The fire-extinguishable materials of each type of automatic fire-extinguisher are
listed below.
[Materials allowed on a machine with an automatic fire-extinguisher for general
fires]
• Resins • Formed plastics • Wood • Fibers • Water-soluble coolants
(cutting fluids) • Water-insoluble combustible liquids (hazardous materials
almost insoluble in water such as kerosene, class 3 petroleum (with an
inflammation point of 70 to 200 °C), class 4 petroleum (with an inflammation
point of 200 to 250 °C), fire-resistant coolants (cutting fluids) (with an
inflammation point of 250 °C or higher), machine oils, and lubricants)
[Materials allowed on a machine with an automatic fire-extinguisher for
combustible metal fires]
• Hazardous substances belonging to the second category (flammable solids)
and third category (spontaneously flammable substances and substances which
emit flammable gases when contacting with water) in the hazardous substance
categories of the Fire Defense Law
(for all combustible metals including magnesium, aluminum, and titanium, use an
automatic fire-extinguisher for combustible metal fires).
• Resins • Formed plastics • Wood • Fibers • Water-soluble coolants
(cutting fluids) • Water-insoluble combustible liquids (hazardous materials
almost insoluble in water such as kerosene, class 3 petroleum (with an
inflammation point of 70 to 200 °C), class 4 petroleum (with an inflammation
point of 200 to 250 °C), fire-resistant coolants (cutting fluids) (with an
inflammation point of 250 °C or higher), machine oils, and lubricants) •
Water-soluble combustible liquids (such as alcohol)
4 When using a mist collector or dust chamber together with a machine tool that
machines combustible metals, the mist collector or dust chamber must be
specific to combustible metals. Otherwise, a fire or explosion may occur within
the mist collector or dust chamber.

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SAFETY PRECAUTIONS B-85444EN-3/03

DANGER

An explosion or fire could occur. Watch for explosions and fires

when machining a workpiece made of combustible metal.
5 Do not use any ROBODRILL equipped with an automatic fire-extinguisher if the
fire-extinguishing agent container is in rust, has flaw or is damaged, or the
container cap is loose. The fire-extinguisher may burst.
6 Do not install any automatic fire-extinguisher at any location subject to high
temperatures and high humidity.
7 On automatic fire-extinguishers, do not use any fire-extinguishing agent
containers that were produced five or more years ago. Do not improperly discard
or leave any fire-extinguishing agent containers or pressurized containers
unattained. It is likely that they may burst.
8 When the ROBODRILL is used to machine carbon- or graphite-made
workpieces, it is likely that, if fine carbon or graphite powder resulting from
machining gets dry, it may lead to dust explosion or rapid combustion. Be very
careful when processing or handling such powder.
9 Use specified batteries and replace them in the correct way. If a battery is
installed in a wrong way, it can explode, leading to injury.
10 After operation of the automatic fire-extinguisher for combustible metal fires, do
not apply water or cutting liquid onto the chips or the ejected fire-extinguishing
agent. Applying water or cutting liquid onto chips or the ejected fire-extinguishing
agent to cool it down or wash it away may cause a reaction with the combustible
metal leading to an explosion.
11 Do not use any coolant with a low inflammation point (such as class 2 petroleum,
with an inflammation point of below 70 °C). Otherwise, a fire may occur. Class 3
petroleum (with an inflammation point of 70 to 200 °C), class 4 petroleum (with
an inflammation point of 200 to 250 °C), and burn-resistant coolants (with an
inflammation point of 250 °C or higher) can also catch fire. When using these
liquids, exercise care on the way and method of using them, for example, by
suppressing generation of oily smoke.
12 Do not get burnable or flammable material (such as thinner, gasoline, paper,
wood chip, cloth, fiber, or spray) close to the machine (including the power and
connection cables) or leave it near the machine. Otherwise, heat or sparks
generated in cutting may let it catch fire.
13 During machining using a coolant, be careful to supply a sufficient amount of
coolant properly. If a coolant is not supplied properly, sparks, frictional heat, and
others may be generated depending on the cutting condition, possibly letting
chips of a combustible workpiece or the coolant catch fire. Clean the chip tray
and filter in the coolant tank so that a sufficient amount of coolant is supplied
properly and remove any clogging in the filter. If the amount of the coolant in the
coolant tank is insufficient, replenish the coolant in the tank immediately.
Periodically check that the coolant pump runs normally.
14 Always maintain a sufficient amount of coolant for machining. If there is no
sufficient coolant, a resultant temperature rise may cause a fire or damage to the
tool and workpiece.

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B-85444EN-3/03 SAFETY PRECAUTIONS

DANGER

An explosion or fire could occur. Watch for explosions and fires

when machining a workpiece made of combustible metal.
15 When using a mist collector or dust chamber together with the ROBODRILL with
an automatic fire-extinguisher, be sure to attach a fire prevention dumper to the
duct section. Otherwise, fire spark may enter such parts, causing fire to spread
in case of a fire.
16 Watch for fires when handling flammable workpieces.
17 Watch for fires when using a water-insoluble coolant.
18 Use the machine with appropriate tools and under appropriate cutting conditions.
Cutting under an unreasonable cutting condition or with a worn tool may lead to
fire because of heat generated during cutting. It can also break the tool and
cause sparks, which may let chips and the water-insoluble coolant catch fire.
Use appropriate tools and appropriate cutting conditions while referencing
materials supplied by tool manufacturers.
19 If a tool breaks, stop cutting immediately. Otherwise, any tool chip left in the
workpiece may grind against the rest of the tool on the Z-axis (spindle head),
causing sparks, which may let chips and the water-insoluble coolant catch fire.
20 Do not use the machine under any cutting condition that may cause sparks.
Otherwise, a fire may break out. Sufficiently check the program and settings
beforehand and make sure that the tool will not be overloaded or interfere with
jigs.
21 Sweep away chips. A pileup of chips in the machine can increase the risk of a
fire. Periodically sweep inside the machine to avoid a pileup of chips.
22 Keep mist of oil or dust from stirring up around the machine. Otherwise, sparks
may let it catch fire.
23 When machining a combustible workpiece or using a water-insoluble coolant,
always monitor the machine status. The automatic fire-extinguisher is designed
for temporary use for the initial stage of fire. Always monitor the machine status
so that an appropriate action can be taken immediately in case fire should break
out.
24 Machining a combustible metal without using any coolant may generate sparks,
frictional heat, and others depending on the cutting condition or due to a worn
tool, having a high risk of letting chips catch fire.
25 Rig a fire-extinguisher near the machine in case of fires. It is also recommended
to equip the machine with an automatic fire-extinguisher.
26 Periodically clean the piping and wiring (sensors and nozzle in particular) in the
automatic fire-extinguisher. In particular, chips and cutting fluid adhered to the
sensors and nozzle can prevent detection of a fire and emission of
fire-extinguishing agent.
27 We recommend you to install a ceiling cover. In case fire should break out, the
ceiling cover may be able to prevent or retard the spread of fire to the building, to
let the fire die down because of a reduction in the amount of oxygen within the
splash guard, and to enhance the effect of the automatic fire-extinguisher.

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SAFETY PRECAUTIONS B-85444EN-3/03

WARNING

Chips, coolant, and broken tools may fly out. Be careful not to get
hit by any flying objects on your body or eyes.
1 Be sure to check that the following problems have not occurred before operating
the machine. Otherwise, flying objects (such as tool, processed item, jig, or
machine part) from inside the machine can crash through the splash guard,
causing injury during machine operation due to the crash of movable parts,
loosening of the processed item or jig, damage of machine part or other causes.
• Incorrect machine operation or machining preparation
• Incorrect machining program creation (such as inappropriate machining
conditions or collision between the workpiece and he jig)
• Damage of machine part
• Unfixed part, tool, other manual tools, or other item left inside the machine
If machine parts are damaged, be sure to immediately stop the operation and
contact our service department.
2 If the splash guard is deformed or damaged, stop the machine operation,
replace parts, and check that the movable parts do not collide with each other or
cause other problems during machine operation. If you continue to use the
machine as is, flying objects from inside the machine may cause injury.
3 During operation, keep as much distance as possible from the machine. Flying
objects such as damaged tool or jig may deform the splash guard and cause
injury.
4 When operating the machine with the front door open, be careful not to let the
spindle or the tool attached to it come into contact with the table, jig, workpiece
or other item. This may cause the tool or workpiece to get damaged or fly out,
leading to injury.
5 Before you start to switch ON the air blower with the front door kept open, wear
protective glasses. Otherwise, chips may get into your eyes, possibly leading to
loss of vision.
6 If the polycarbonate of the front or side window is damaged, immediately replace
the polycarbonate or door. When a lattice type window is installed, if the ABS
sheet, which protects the polycarbonate, is damaged, immediately replace the
door. Otherwise, objects flying from the inside of the machine can crash through
the window, possibly leading to injury.
7 A high-speed spindle mounted on the ROBODRILL must meet the following
requirements. Otherwise, safety devices, such as the interlock, may fail to
operate, possibly leading to injury.
• Register the number of the tool to be mounted in the parameter and confirm
that the parameter setting matches the location where the high-speed spindle
holder is mounted. If the parameter setting differs from the mounted location,
safety measures during operation or work by the ROBODRILL become
insufficient, possibly leading to injury.
• To operate the machine with the front door (safety door) of the ROBODRILL
kept open, make sure that the high-speed spindle motor does not rotate. If
the front door is opened with the high-speed spindle motor rotating, injury
may occur. Be sure to use the high-speed spindle control amplifier from
YUKIWA SEIKO INC. (for the FANUC ROBODRILL). Otherwise, safety is not
ensured.
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B-85444EN-3/03 SAFETY PRECAUTIONS

WARNING

Chips, coolant, and broken tools may fly out. Be careful not to get
hit by any flying objects on your body or eyes.
• Prepare a circuit that shuts down the power between the motor and control
unit when the door of the machine is opened.
• Use a high-speed spindle having a speed detector.
8 The operator is not allowed to remove any fixed cover, such as those on the
front and side doors. Some portions inside the fixed covers are rotating or
moving at high-speed. Removing any fixed cover has the following risks.
• You may accidentally touch portions rotating or moving at high-speed.
• A broken tool or workpiece chips may fly out.
• Chips may fly out.
• Coolant may splatter from the machine.
• Noise may leak out.
9 Before switching on the power and operating the machine during or after
maintenance work, make sure that no tool or the like is left in the machine.
Otherwise, when the machine runs, any tool or the like may get caught in the
machine or the machine may strike the tool or the like toward people around the
machine.
10 When replacing the filter regulator and oil mist filter mantle (element)
a) Before starting auto drain maintenance, turn OFF the main circuit breaker on
the control unit cabinet. Otherwise, you may get injured due to an
unpredictable motion.
b) Before removing the bowl, stop the supply of compressed air to remove any
residual pressure and make sure that there is no pressure inside the bowl. If
there remains compressed air, the bowl can be blown off, resulting in human
injury or death.
c) Do not remove the bowl guard. If the bowl is damaged, broken pieces can
scatter, resulting in human injury or death.
11 Do not detach the coolant hose during operation. The toxic coolant may spout
out and splash onto the human body. Before detaching the coolant hose, switch
OFF the power and make sure that the pump is at rest.
12 When you hear noise from the X-axis or Y-axis cover during operation,
immediately stop the machine and inspect the cover. If you operate the machine
with a damaged cover, the cover can crash through the splash guard, possibly
leading to injury.
13 Do not use tools that exceed the predetermined dimensions and weight of the
ROBODRILL. In addition, do not use tools under conditions beyond the use
conditions predetermined by their manufacturers (such as the maximum speed).
Tools may come off from the spindle, deforming the splash guard and leading to
injury. For the dimensions and weight of the tools predetermined for the
ROBODRILL, see "Chapter 4, TOOLS" in the OPERATOR'S MANUAL (Basic
Version).

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SAFETY PRECAUTIONS B-85444EN-3/03

WARNING
There is a risk of an electrical shock. Do not touch any portion
through which current flows or splash liquid onto that portion.

1 When installing the machine, keep the main circuit breaker on the control unit
cabinet in its off position.
2 When making electrical adjustments with a cover removed, use a tool with
sufficient electrical protection (for example, a screwdriver made of plastic).
Otherwise, you may receive an electrical shock.
3 If a power or connection cable gets damaged, immediately stop using the
machine. Otherwise, you may receive an electrical shock, or fire may occur. Do
not start using the machine until a maintenance engineer replaces the damaged
cable.
4 Do not switch ON the power for the machine with any cable detached.
Otherwise, you may receive an electrical shock.
5 Before opening the control unit cabinet door, for example, to replace fuses or
batteries, be sure to switch OFF the power with the main circuit breaker in the
control unit cabinet. Otherwise, you may receive an electrical shock.
6 Before connecting the power cable, turn OFF the switchboard breaker.
Otherwise, you may receive an electrical shock.
7 Keep in mind that setting the main circuit breaker in the control unit cabinet to its
OFF position does not remove the power from its primary side. Also keep in
mind that, even if the main circuit breaker is in its OFF position, there is a risk of
an electrical shock on any component connected to the primary side of the main
circuit breaker, including the following:
• External power transformer connected to the primary side of the circuit
breaker
• Nonstandard peripheral equipment connected to the primary side of the
circuit breaker
• Automatic fire-extinguisher connected to the primary side of the circuit
breaker
8 There may remain a voltage on some portions in the control unit cabinet even
after the main circuit breaker is set to its OFF position, possibly leading to an
electrical shock. Do not touch any portion in the control unit cabinet unless you
have sufficient knowledge about electricity.
There may remain a voltage also on each motor and their power lines. Before
starting maintenance work on these parts, wait for at least 20 minutes after the
power has been shut OFF.
9 Do not touch the inside of the control unit cabinet with a wet hand. Otherwise,
you may receive an electrical shock.
10 Do not splash liquid onto the operator's panel or control unit cabinet. Otherwise,
you may receive an electrical shock.
11 Avoid using any coolant or lubricant (such as grease or oil) that can unmake
polycarbonate, nitrile rubber (NBR), hydrogenated nitrile rubber (HNBR),
fluorocarbon rubber, nylon, acrylate resin, ABS resins, and polypropylene (PP).
Dilution water rich with residual chlorine can unmake these substances. As the
ROBODRILL uses these substances for sealant and covers, such sealant
properties may be lost, possibly leading to an electrical shock due to fault current
or a burn due to lack of grease resulting from a spill.
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B-85444EN-3/03 SAFETY PRECAUTIONS

WARNING
There is a risk of an electrical shock. Do not touch any portion
through which current flows or splash liquid onto that portion.

12 The operator is not allowed to open the control unit cabinet door. Some portions
in the cabinet have high voltage, having a risk of an electrical shock. If the
operator has to switch ON the power, use the main circuit breaker in the control
unit cabinet or the power switch (on the operator's panel).
13 Before removing the cover of the automatic fire-extinguisher control box, be sure
to turn OFF the circuit breaker of the automatic fire-extinguisher in the control
unit cabinet. If you remove the cover with the power to the automatic
fire-extinguisher kept ON, you may receive an electrical shock. Keep in mind that
turning OFF the main circuit breaker in the control unit cabinet does not remove
the power from the automatic fire-extinguisher.
14 Do not touch the controller terminals of the automatic fire-extinguisher. It is likely
that the fire-extinguisher power may be ON even if the main circuit breaker in the
control unit cabinet is in its OFF position. Before touching the controller
terminals, make sure that the automatic fire-extinguisher power is OFF.
Otherwise, you may receive an electrical shock.
15 When replacing maintenance parts (except the battery for Absolute Pulsecoder),
be sure to keep the main circuit breaker in the control unit cabinet in its OFF
position. Otherwise, the replaced parts may be damaged, or you may receive an
electrical shock.
16 Provide sufficient space around the cable carrier. If sufficient space is not
allowed between the cable carrier and the ceiling, walls, beams, or other
installations (for example, a non-FANUC material prepared by the customer,
such as a ceiling cover) of a building in which the machine is installed, a broken
power cable in the cable carrier has a higher risk of a fire or electrical shock.
17 When assembling the Z-axis motor to the machine, keep the power for the
machine main body switched OFF. Otherwise, you may be injured or receive an
electrical shock unexpectedly.
18 After maintenance work, make sure that all components, including screws, that
were removed for maintenance purposes are back in place. Otherwise, safety
devices may fail to function, or you may get injured due to a malfunction or an
electrical shock.
19 The person in charge of routine maintenance and preventive maintenance shall
not be engaged in replacement of the CNC memory backup battery. Only the
maintenance engineer is allowed to replace such batteries. Work by any person
with no sufficient knowledge may disable safety devices from working, possibly
resulting in an unexpected behavior of the machine that may cause injury or an
electrical shock.
20 Do not touch parts in the amplifier, connected cables or other items while the DC
link charge display LED on the servo amplifier is lit because it is dangerous.
Otherwise, you may receive an electric shock.

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SAFETY PRECAUTIONS B-85444EN-3/03

WARNING
Other Dangers

1 Do not get close to the ROBODRILL if you are using a pacemaker. Otherwise, the
pacemaker may be adversely affected.
2 Do not touch the following portions of the machine during operation and for a
while after operation because they may be very hot. The temperature of these
portions may become very high with a risk of burn injury. Use protective
equipment, such as heat-resistant gloves, if you cannot avoid touching them.
• X-, Y-, Z-, turret (only for α-DiB5ADV/α-DiBADV series), and additional axis servo
motors
• Spindle motor
• Coolant motor
3 Do not touch the following portions of the machine when the power is ON and for
a while after the power is switched OFF because they may be very hot. The
temperature of these portions may become very high with a risk of burn injury.
Use protective equipment, such as heat-resistant gloves, if you cannot avoid
touching them.
• Power line
• Heat generating/releasing portions (such as servo amplifier and stabilized
power supply) in the control unit cabinet
• Motors
4 Coolants and lubricants (such as grease and oil) are harmful. Take the following
precautions. For additional precautions and measures to be taken if they have
come in contact with the human body or been inhaled, follow the instructions
stated on the package of the products or those from the respective
manufacturers, such as SDS.
• Do not inhale vapor or mist of any of these substances.
• Do not expose the skin (especially, cuts) directly to any of these substances
more than necessary.
• Wear protective glasses to protect the eyes from these substances.
• Do not drink any of these substances.
5 Do not use any rotten coolant or lubricant (such as grease or oil) as it is quite
harmful. As for how you can tell that a coolant or lubricant is rotten, contact its
manufacturer. Store or dispose of such coolant or lubricant according to the
instructions from the manufacturer.
6 To use the Ethernet function for the first time, set up an IP address and other data
carefully and perform communication tests sufficiently after consulting with your
network administrator. Be very careful because specifying the IP address and
other data incorrectly can have an adverse effect, such as a communication
failure, to the entire network and can also cause other machines to malfunction.
7 Before starting to use the machine, be sure to perform grounding to prevent radio
disturbance and electrical leakage. Class C grounding (with a grounding
resistance of 10 Ω or less) defined in the electric facility standards is required.
Ground the machine separately from other machines (one-point grounding).
8 Do not change any parameter unless you have sufficient knowledge. Changing a
parameter may disable the interlock, leading to a higher risk of injury. After
changing any parameter, make sure that the interlock functions properly.

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B-85444EN-3/03 SAFETY PRECAUTIONS

WARNING
Other Dangers

9 To lift the machine, use a crane and rope or cable with a load capacity not less
than the mass of the ROBODRILL main body to be lifted. Listed below are the
mass of the main body of each ROBODRILL model. The value enclosed in
parentheses is the total mass including all options.
• α-D14/21MiB5, α-D14/21MiB 2000kg (2500 kg)
• α-D14/21LiB5, α-D14/21LiB 2100kg (2600 kg)
• α-D14/21SiB5, α-D14/21SiB 1950kg (2250 kg)
• α-D14/21MiB5ADV, α-D14/21MiBADV 2200kg (2700 kg)
• α-D14/21LiB5ADV, α-D14/21LiBADV 2300kg (2800 kg)
• α-D14/21SiB5ADV, α-D14/21SiBADV 2150kg (2450 kg)
When lifting the machine, make sure that it stays in balance.
When lifting the machine with the jig attached, consider the weight of the jig.
When lifting the machine, check that there are no tools, jigs or other items that
can fall or move during transportation.
10 Perform inspections and maintenance periodically. Be sure to perform inspection
of items described in the MAINTENANCE MANUAL (Basic Version). Otherwise,
any defect in the machine may lead to death, injury, or damage to the machine.
11 When exchanging maintenance parts, follow the applicable descriptions in this
manual. Using noncompliant parts or the wrong replacement method may cause
a defect in the machine, possibly leading to injury.
12 Before you remove a cover for maintenance purposes, be sure to turn off the
main circuit breaker in the control unit cabinet for the machine.
13 Before performing installation or maintenance of each option, turn OFF the main
circuit breaker in the control unit cabinet and the circuit breaker of each option.
14 When turning ON the power with the cover removed for maintenance, check that
there is no other person near the machine.
15 Before starting maintenance work, post a notice near the main circuit breaker in
the control unit cabinet to indicate that no one except the authorized maintenance
personnel is allowed to switch ON the power.
16 When working in a high place, use a ladder and secure a footing to reduce the
risk of a fall. Do not climb the machine or any other thing (such as a chair or desk)
that is not intended for use as a step ladder. Otherwise, you may lose balance,
possibly leading to an accident.
17 Before inspecting the X/Y/Z-axis telescopic covers, be sure to turn OFF the
power. Otherwise, you may get injured due to an unpredictable motion.
18 When transporting or lifting the machine, keep it in the specified transportation
position. Otherwise, the machine may fall down, possibly leading to injury.
19 Before you start to install the ROBODRILL, make sure that the main circuit
breaker in the control unit cabinet is in its OFF position to shut OFF power for
safety purposes. In addition, stop supplying air to the machine.
20 Read "Safety Precautions for Installation" carefully and follow the steps stated in
it. Failing to follow these steps may lead to injury or death.
21 Before you start to mount the tool length switch, make sure that the main circuit
breaker in the control unit cabinet is in its OFF position for safety purposes. In
addition, stop supplying air to the machine.

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SAFETY PRECAUTIONS B-85444EN-3/03

WARNING
Other Dangers

22 Clean chips from the splash guard to prevent large amounts of chips from
accumulating. If fire occurs when large amounts of chips are accumulated, it may
become impossible to distinguish the fire completely with the automatic
fire-extinguisher.
23 After operation of the automatic fire-extinguisher, leave the machine untouched
without removing ejected fire-extinguishing agent until chips and the machine
have completely cooled down. You may get burned if you touch hot burned chips.
Remove the burned chips and fire-extinguishing agent once they have completely
cooled down (you do not feel heat when you place your hands over the
fire-extinguishing agent).
24 When doing cleanup work after operation of the automatic fire-extinguisher, be
sure to wear protective equipment such as protective gloves, goggles, and a
mask. Otherwise, during the cleanup work after fire extinction, there is a risk that
you may burn yourself if you carelessly touch hot chips or parts, and there is also
a risk for you to be injured if fire-extinguishing agent or chips enter your eyes or
mouth.
[First-aid actions against fire-extinguishing agent]
Take the actions listed below, immediately contact a doctor, and follow the
doctor's directions.
When fire-extinguishing agent was inhaled
• Lie quietly in an environment where air is clean.
• Wash the nasal cavity with lukewarm water and gargle the throat.
When fire-extinguishing agent contacted the skin
• Wash away the agent with water or soap-and-water solution.
When fire-extinguishing agent entered the eye
• If the fire-extinguishing agent contacted the eye, wash it down with a large
quantity of water and submit to medical treatment.
When fire-extinguishing agent was swallowed
• If the victim is conscious, have his or her mouth rinsed out with water.
• Make them throw up the agent and submit to medical treatment quickly.
Protecting personnel providing first aid
• The deliverer shall wear appropriate protective equipment so that he or she
will not touch the fire-extinguishing agent.
* For explanations about how to handle other types of fire-extinguishing agents,
refer to the "Material Safety Data Sheet" attached to the automatic
fire-extinguisher in use.
25 Before performing work at closing time, be sure to turn OFF the power.
Otherwise, you may get injured due to an unpredictable motion.
26 When greasing, turn OFF the power. Otherwise, you may get injured due to an
unpredictable motion.
27 Before switching any setting terminal on the HDI I/F unit for the high-speed skip
function, turn OFF the power to the machine. Otherwise, there is a risk of an
electrical shock or burn injury.

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B-85444EN-3/03 SAFETY PRECAUTIONS

WARNING
Other Dangers

28 When you hear noise from the spindle, the bearing of the spindle may be
damaged. If you continue to use the machine with a damaged bearing, the
temperature of the spindle may become abnormally high, possibly leading to fire
caused by overheated parts. Especially when the alarm SP9002 "EX DEVIATION
SPEED" occurs along with the noise, immediately stop using the machine.

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SAFETY PRECAUTIONS B-85444EN-3/03

CAUTION
1 Before you use coolant or lubricant (such as grease or oil), obtain the latest
MSDS provided by the manufacturer and make sure to thoroughly read and
understand the product properties and precautions. Handling coolant or lubricant
without following such precautions or disposal information may lead to
circumstances that will adversely affect the human body or environment.
2 If a coolant or lubricant (such as grease or oil) comes into contact with your
hand, wipe it off immediately. Otherwise, it makes the hand very slippery, making
it difficult to handle workpieces or operate the equipment; possibly leading to
injury and damage to the workpieces.
3 The table can hold up to the following weight including jigs and workpieces. Be
careful not to exceed this maximum loading weight. If it is exceeded, the table may
get damaged, possibly leading to injury and damage to the workpiece and jig.
• α-D14/21M/LiB5, α-D14/21M/LiB 300kg
• α-D14/21SiB5, α-D14/21SiB 200kg
• α-D14/21M/LiB5ADV, α-D14/21M/LiBADV 400kg
• α-D14/21SiB5ADV, α-D14/21SiBADV 200kg
4 Be careful when handling workpieces, no matter whether they are yet to be
machined or have already been machined, because they have sharp edges and
burrs. Otherwise, you may get injured. Wear protective equipment such as
gloves.
5 When using or exchanging tools, be careful not to get injured with their sharp
edge. When handling tools, wear protective equipment such as gloves.
6 When handling chips, be careful not to get injured. Wear protective equipment
such as gloves.
7 When disposing of tools, follow all regulations applicable to handling of
dangerous articles. Unconsidered disposal may lead to injury to others who
touch the wastes.
8 When using a coolant or lubricant (such as grease or oil), check the instructions
from its manufacturer and use it by exercising care sufficiently on its use
conditions and method according to the instructions. Otherwise, coolants and
lubricants can adversely affect human bodies, the machine, and environment.
Some types of coolant or lubricant and some of their combinations can lead to
poor lubrication or sludge development on the LM guide or ball screw, causing
possible endurance degradation. Before you start to use a coolant, check it
carefully with its manufacturer.
9 If a coolant or lubricant (such as grease or oil) spills on the floor, wipe it off
immediately. Otherwise, the floor becomes very slippery, possibly leading to the
risk of fall and injury.
10 Periodically clean the machine so that chips will not block the coolant outlet or
chip tray. Coolant leakage can make the floor slippery, possibly leading to the
risk of fall and injury.
11 As for storage of coolants and lubricants (such as grease and oil), follow the
instructions from their manufacturers. When disposing of them, follow all
regulations applicable to industrial wastes.
12 Use a crane to mount or dismount an object that apparently weighs 20 kg or
more, that cannot be lifted with your hands, or that you feel heavy when you try
to lift it. Lifting heavy objects may place great stress on your back or let it fall
from your hands, possibly leading to injury.

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B-85444EN-3/03 SAFETY PRECAUTIONS

CAUTION
13 Sufficiently illuminate the shop floor where the machine is installed so that you
can see the machine and parts clearly. Working in a dark place can lead to
incorrect operation, possibly causing an accident. The shop floor must be
illuminated with at least 500 lx. An optional internal light is available.
14 Do not directly look into the internal light. Be very careful to protect your eyes by
turning the light OFF when lighting is not necessary, etc.
15 Do not work in an unnatural posture, reaching out to mount or dismount
workpieces on the table when it is far away from you. Doing so may place great
stress on your back or let workpieces fall, possibly leading to injury
unexpectedly. When working with workpieces on the table, bring the table
sufficiently toward you beforehand.
16 Pressing the Emergency Stop button is the first thing you should do once a
failure occurs. Make it possible to press the Emergency Stop button whenever
necessary. Do not hang anything on the button nor cover it with anything.
17 Before you reset the Emergency Stop button, remove the cause of the
abnormality. Otherwise, a dangerous condition may recur, possibly leading to
injury.
18 Connect any related external equipment to the emergency stop function
securely. If an accident occurs, a poor connection may disable the emergency
stop device from operating normally, possibly leading to injury or damage to
tools.
19 Install the machine on a flat, sufficiently strong floor. Otherwise, the machine
may jolt during operation, possibly leading to injury. The floor on which the
machine is installed must satisfy all of the following conditions:
2 2
• The floor must have a load resistance of 29.4 kN/m (3 tf/m ) or more.
• The floor is completely flat, with no protuberance or indent.
• The floor must not deteriorate with age and in regular use.
To maintain stable machining accuracy and fully realize machining performance,
the following conditions are recommended:
2 2
• Load resistance: 49.0 kN/m (5 tf/m ) or more
2 2
• Compressive strength: 36 N/mm (367 kgf/cm ) or more
20 Connect piping securely to prevent coolant from leaking out. If coolant leaks, the
floor becomes very slippery, thereby causing injury due to falling.
21 When an inner coolant control unit is used, if the shower gun is pointed towards
the outside of the splash guard, spilled coolant makes the floor slippery, which
can cause injury due to falling.
22 Do not directly point the shower gun or inner coolant control unit towards the
seam of the sheet metal on the splash guard or the seam between the splash
guard and casting. Otherwise, the coolant may spill out of the machine and
make the floor slippery, which can cause injury due to falling.
23 If operating the automatic door with the cover removed for inevitable inspection
reasons, be careful not to jam your fingers in the door.
24 When you operate the robot using the CNC of the ROBODRILL with the robot
interface 2 (optional), you cannot perform an operation that requires a high
response because of the characteristic of control. Therefore, be very careful
when operating the robot.

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SAFETY PRECAUTIONS B-85444EN-3/03

CAUTION
25 Before you start machining, securely attach the workpiece to the jig. Also keep
the jig stationary on the table. If you fail to fix the workpiece securely, it may
come off the jig and fly out during work, possibly leading to damage to the
workpiece and machine.
26 Before starting work, make sure that the tool is securely attached to the tooling
and that the tooling does not rattle. Otherwise, the tool may come off, possibly
leading to damage to the workpiece and machine.
27 Before starting work, make sure that the tool is not worn out or broken.
Otherwise, chips of the tool may fly out, possibly leading to damage to the
machine.
28 Before starting work, make sure that the tooling is securely attached to the turret
grip as directed (see "Chapter 6.4.2, Removal/Installation Procedure" in the
OPERATOR'S MANUAL (Basic Version)) and that the tooling does not rattle.
Otherwise, the tooling may come off and fly out, possibly damaging the
workpiece and machine.
29 The weight of a tooling to be mounted on the turret is 2 kg or less and the total
weight of 14/21 tools is 15 kg/23 kg or less. To mount a tool with a weight of 2 kg
or more (up to 3 kg), set the tool weight to 3 kg. The factory-adjusted tool weight
is 3 kg for safety. If the setting is inappropriate, the tooling may come off and fly
out, possibly damaging the workpiece and machine.
30 The weight of a tooling to be mounted on the turret is 2 kg or less and the total
weight of 14/21 tools is 15 kg/23 kg or less. To mount a tool with a weight of 2 kg
or more (up to 3 kg), set the tool weight to 3 kg. To mount a tool with a weight of
3 kg or more (up to 4 kg), set the tool weight to 4 kg (The tool weight can be set
to 4 kg in α-DiB5ADV/α-DiBADV series only. For the α-DiB5/α-DiB series, tools
that weigh more than 3 kg cannot be used.) (see "Chapter 5, TOOLS" in the
"Part I, OUTLINE" in the OPERATOR'S MANUAL (Detailed Version)). The
factory-adjusted tool weight is 3 kg for safety. If the setting is inappropriate, the
tooling may come off and fly out, possibly damaging the workpiece and machine.
31 Before starting a test run or automatic operation, make sure that:
• The DDR (optional) and DDR-T (optional), tool length measurement switch
(optional), other rotation table, and jig are securely fixed on the table.
• The workpiece is securely attached to the jig.
In particular, if you are using the jig of an air cylinder type, check that the
specified air pressure is supplied. If machining is performed without fixing the
DDR, DDR-T, tool length measurement switch, other rotation table, workpiece,
or jig securely, they may come off and fly out, possibly damaging the workpiece
and machine.
32 Check that the workpiece or tool does not collide with the machine main body, jig
or other item in the machining program to be used before starting a test run or
automatic operation. A collision may damage the workpiece, tool, or machine. If
a collision occurs, immediately abort the operation and inspect the collided part.
If the machine part of the ROBODRILL has collided, be sure to contact our
service department.

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B-85444EN-3/03 SAFETY PRECAUTIONS

NOTE
1 When using a ceiling cover, be sure to use a mist collector. Otherwise, mist of
coolant can fill the inside of the machine, possibly causing the machine to be out
of order. In addition, hot air from the spindle motor can also fill the inside of the
machine, possibly causing the machine to be out of order.
2 Make sure that proper greasing and oiling are applied to the ball screws and LM
guides along each axis. Otherwise, the ball screw or LM guide may be damaged.
The lubrication pump device hose between the table and saddle is a
consumable item. If the hose is damaged, replace it immediately.
3 After making sure that the lock is completely released, open the front door.
An attempt to open the door when the lock is not released makes an excessive
impact on the electromagnetic lock switch, possibly leading to damage to the
switch.
4 When opening or closing the front door, do so slowly (at or below 300 mm/s).
Opening or closing the front door rapidly may damage the machine.
5 If a cushion rubber on the front door is damaged or missing, replace it with, or
install, a new one promptly. Using the machine with the cushion rubber damaged
or missing may damage the machine.
6 When installing a jig on the table, make sure that the load is applied uniformly
over the table surface. Nonuniform load on the table may lead to damage to a
ball screw or LM guide. It may also affect the precision.
7 Be careful not to generate rust in the machine. Rust may be generated on a part
on which painting is not applied such as the table surface or telescopic cover
depending on the environment. Rust generated in the machine may interfere
with the movement of a movable part, resulting in damage to the machine. For
dry cutting, in particular, periodically apply a rust inhibitor so as not to generate
rust.
8 Using the machine to grind workpieces or to cut ceramic-, carbon-, or
graphite-made workpieces may result in sealing materials being adversely
affected by fine polishing or cutting powder, possibly damaging the spindle, ball
screw, LM guide, or other parts earlier than their service life. If you want to use it
for such purposes after understanding these cautions, please contract for
fare-paying periodic maintenance.
9 Manage the coolant according to the directions from its manufacturer properly as
for its pH, the way its undiluted solution is mixed with dilution water, the salinity
concentration of the dilution water, and the frequency at which the coolant is
replaced. Otherwise, the machine may get rust or corroded, leading to machine
failure.
10 Even when using a recommended coolant or lubricant (such as grease or oil),
observe the instructions from its manufacturer. It may adversely affect the
machine parts and painting depending on the way it is used.

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SAFETY PRECAUTIONS B-85444EN-3/03

NOTE
11 Do not use any type of coolant listed below since it can adversely affect the
machine, possibly leading to machine failure:
• Coolants containing highly active sulfur: Some coolants may contain highly
active sulfur. If this type of coolant enters inside the machine, it can corrode
copper, silver, and other metals, possibly causing damage to parts.
• Highly penetrative synthetic coolants: Some coolants containing polyalkylene
glycol have a high permeability and may cause insulation degradation, poor
lubrication, or component failure when it enters inside the machine.
• High-alkali, water-soluble coolants: Some coolants to which alkanolamines
and other agents are added to increase the pH value may be strongly
alkaline, which have a pH of 10 or more even with the working solution. This
type of coolant can cause damage to resin and other materials if adhered to
them for a long time.
• Coolants containing chlorine: Some coolants containing chlorine (for
example, chloride components, such as chlorinated paraffin) affect materials
such as resin and rubber badly, leading to possible defective parts.
12 Sweep off chips from the inside of the machine frequently. Check the inside of
each axis cover and casting for any chips semiannually. If chips are found inside
any axis cover or casting, remove them.
13 To prevent coolant and other liquids, and chips from entering the inside of the
control unit, be sure to close and lock the control unit cabinet door. For the same
purpose, be sure to close the covers of the operator's panel and cable duct and
tighten the cover mounting screws securely. Keep the operator's panel and cable
duct cover from any cutting fluid splash.
14 When installing the machine, provide a service access clearance. See the floor
plan shown in "3.3.1 Installing Leveling Bolts and Blocks" in the OPERATOR'S
MANUAL (Basic Version) for explanations about the service access clearance.
15 Do not apply any load to the splash guard by, for example, putting your hand on
it during machining. Otherwise, the machining accuracy will be adversely
affected.
16 Do not aim the inner coolant control unit nozzle at the gap of the cover around
each movable part, LM guide, ball screw, motor, or other parts. The lubricant is
flushed and coolant enters the inside of the machine, probably causing machine
failure.
17 When you perform machining on a certain portion for a long time, in which the
travel distance of the Z-axis is very small, the oil film may break down locally at
certain locations such as the Z-axis bearing, LM guide, ball screw, etc. causing
machine failure. In such cases, we recommend that you add a movement in
which the Z-axis periodically moves approximately 150 mm to the program.
18 The tooling pull stud shall be tightened with a torque recommended by the
tooling manufacturer. If the tightening torque is too high/low, it may cause
deformation or loosening of the tooling, possibly leading to machine damage or
poor accuracy.

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B-85444EN-3/03 SAFETY PRECAUTIONS

NOTE
19 The spindle air purge pressure is factory-set to a recommended value. When
performing periodical inspection, check that the spindle air purge regulator (at
the rear of the machine) is set within the recommended pressure range to avoid
any cutting fluid to enter inside the spindle. Otherwise, this may cause spindle
failure. Additionally, if the spindle air purge pressure is outside the
recommended pressure range, turn the knob of the spindle air purge regulator to
adjust the pressure to the recommended setting value (0.08 MPa).
20 When the display unit is a touch panel, directly touch the screen to perform
operations. You can perform operations with your bare hand or with a glove. You
can also use the touch panel dedicated pen provided by FANUC for better
operations. When you use your fingers to operate, be careful not to press the
panel too hard. Otherwise, you may damage the circuit inside the touch panel, or
the glass may break. Never press the screen with a pen that has a sharp tip or a
screwdriver, poke the screen with a sharp item such as the tip of a screwdriver,
or tap the screen with a hard item such as the handle of a screwdriver. This may
damage the surface of the display unit, possibly leading to failure.
21 Never press the buttons on the operator's panel with a pen that has a sharp tip
or a screwdriver. This may damage the operator's panel, possibly leading to
failure.
22 If you do not turn ON the CNC for several months, the rechargeable battery unit
(optional) runs out and the machine cannot perform backup. (The backup period
depends on the axis configuration.) If backup cannot be performed, you must
restore the SRAM data and the servomotor zero point to start the machine. If
you plan not to turn ON the CNC for a long time, back up the SRAM data.
23 When you secure a jig or workpiece onto the table, the table or secured
workpiece may be deformed if you tighten with a bolt or due to other causes.
Therefore, when securing a workpiece, be careful of the deformation of table or
workpiece.

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SAFETY PRECAUTIONS B-85444EN-3/03

The following greases and lubricants are recommended:

Component to be
Brand Manufacturer Timing of application
lubricated
GUIDE RAIL
CAM FOLLOWER
TURRET GEAR At the time of
SHOWA SHELL (α-DiB5/α-DiB series only) maintenance
ALVANIA GREASE S2
SEKIYU K. K. SPINDLE GEAR
(α-DiB5/α-DiB series only)
SPINDLE TOOL CLAMP When exchanging Tool
SPRINGS clamp springs
At the time of
MULTEMP LRL3 KYODO YUSHI BALL SCREW (X, Y, Z)
maintenance
TURRET MECHANISM When overhauling Turret
MOLYSPEED GREASE NO. 1 SUMICO
INSIDE mechanism
ANTIRUST P- 2800 GUIDE RAIL (X, Y, Z)
At the time of packing,
JXTG Nippon Oil & TAPERED PORTION OF
transportation, and
ANTIRUST P- 3600 Energy Corporation THE SPINDLE
storage.
TABLE SURFACE
Mobil Vactra Oil No.2(SLC) Mobil Oil corp.
JXTG Nippon Oil & Replenish when the
UNIWAY EV68 GUIDE RAIL (X, Y, Z)
Energy Corporation leavings in the pump
BALL SCREW (X, Y, Z)
SHOWA SHELL becomes scarce.
Shell Tonna S3M 68
SEKIYU K.K.
FANUC specification:
A90L-0001-0534#LHLX1007
(LUBE specification: LHLX100-7,
When the grease level
volume 700cm3=700 mL) GUIDE RAIL (X, Y, Z)
LUBE low alarm is issued for
FANUC specification: BALL SCREW (X, Y, Z)
the greasing unit
A90L-0001-0534#LHLX1004
(LUBE specification: LHLX100-4,
volume 400cm3=400mL)

The following coolants are recommended:

Property Manufacturer Product name
Soluble Yushiro Chemical Industry Yushiroken FGE350 (*)
Castrol Alusol B
JXTG Nippon Oil & Energy Corporation Unisoluble EM-B
Blaser Swisslube Blasocut 2000 CF
* Yushiro Chemical Industry Yushiroken FGE350 falls under the control of the Pollutant Release and
Transfer Register (PRTR) law.
FGE350PR, which does not fall under the control of this law, is recommended for use in Japan.

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B-85444EN-3/03 SAFETY PRECAUTIONS

3. PRECAUTIONS FOR INSTALLATION

WARNING
Read "Precautions for Installation" and "Part II, INSTALLATION" in the
OPERATOR'S MANUAL (Detailed Version) carefully and follow those steps.
Failing to follow these steps may lead to injury or death.

No person other than the "maintenance engineer" of the ROBODRILL shall move or install it.
Moving or installing the ROBODRILL requires understanding of it in details.
The term "maintenance engineer" refers to those who have working knowledge about machinery and
electricity for maintenance and have finished the maintenance course provided by the FA department or
ROBOMACHINE department at the FANUC Training Center or who have equivalent knowledge and
have been certified by the company they work for.
Fork lift or crane operators in charge of moving the ROBODRILL shall have the relevant license.

WARNING
1 When removing the Z-axis motor, be careful not to let the Z-axis (spindle head)
move down. Since the Z-axis brake is in the motor, removing the motor allows
the Z-axis to move down, causing a risk that you may be caught and lead to
injury. When removing the motor, fix the table and Z-axis with packing materials.
2 To lift the machine, use a crane and rope or cable with a load capacity not less
than the mass of the ROBODRILL main body to be lifted. Listed below are the
mass of the main body of each ROBODRILL model. The value enclosed in
parentheses is the total mass including all options.
• α-D14/21MiB5, α-D14/21MiB 2000kg (2500 kg)
• α-D14/21LiB5, α-D14/21LiB 2100kg (2600 kg)
• α-D14/21SiB5, α-D14/21SiB 1950kg (2250 kg)
• α-D14/21MiB5ADV, α-D14/21MiBADV 2200kg (2700 kg)
• α-D14/21LiB5ADV, α-D14/21LiBADV 2300kg (2800 kg)
• α -D14/21SiB5 ADV , α-D14/21SiBADV 2150kg (2450 kg)
When lifting the machine, make sure that it stays in balance.
When lifting the machine with the jig attached, consider the weight of the jig.
When lifting the machine, check that there are no tools, jigs or other items that
can fall or move during transportation.
3 Before starting to use the machine, be sure to perform grounding to prevent
radio disturbance and electrical leakage. Class C grounding (with a grounding
resistance of 10 Ω or lower) defined in the electric facility standards is required.
Ground the machine separately from other machines (one-point grounding).

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SAFETY PRECAUTIONS B-85444EN-3/03

CAUTION
1 Install the machine on a flat, sufficiently strong floor. Otherwise, the machine
may jolt during operation, possibly leading to injury. The floor on which the
machine is installed must satisfy all of the following conditions:
2 2
• The floor must have a load resistance of 29.4 kN/m (3 tf/m ) or more.
• The floor is completely flat, with no protuberance or indent.
• The floor must not deteriorate with age and in regular use.
To maintain stable machining accuracy and fully realize machining performance,
the following conditions are recommended:
2 2
• Load resistance: 49.0 kN/m (5 tf/m ) or more
2 2
• Compressive strength: 36 N/mm (367 kgf/cm ) or more
2 Sufficiently illuminate the shop floor where the machine is installed so that you
can see the machine and parts clearly. Working in a dark place can lead to
incorrect operation, possibly causing an accident. The shop floor must be
illuminated with at least 500 lx. An optional internal light is available.

NOTE
1 Pay attention to how the machine is transported and packed.
• Fix the Z-axis (spindle head) and table with packing materials.
• Apply a rust inhibitor to the specified portions of the machine (see lubricants
recommended in "Chapter 2, PRECAUTIONS FOR USE" in SAFETY
PRECAUTIONS").
• Fix the turret mechanism with nylon ties.
• Check that there are no tools, jigs or other items that can fall or move during
transportation.
2 Allow a service access clearance (see the floor plan shown in "Section 3.3.1
INSTALLING LEVELING BOLTS AND BLOCKS" in the OPERATOR'S MANUAL
(Basic Version)) in the area where the machine is installed.

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B-85444EN-3/03 SAFETY PRECAUTIONS

4. PRECAUTIONS DURING MAINTENANCE

WARNING
1 Before you remove a cover for maintenance purposes, be sure to set the main
circuit breaker in the control unit cabinet for the machine to its OFF position.
Otherwise, you may be injured or receive an electrical shock from unexpected
machine motion.
2 When turning ON the power with the cover removed for maintenance, check that
there is no other person near the machine. Otherwise, you may be injured or
receive an electrical shock from unexpected machine motion.
3 Before starting maintenance work, post a notice near the main circuit breaker in
the control unit cabinet to indicate that no one except the authorized
maintenance personnel is allowed to switch ON the power.
4 Before switching on the power and operating the machine during or after
maintenance work, make sure that no tool or the like is left in the machine.
Otherwise, when the machine runs, it may strike the tool or the like toward
people around the machine.
5 When making electrical adjustments with a cover removed, use a tool with
sufficient electrical protection (for example, a screwdriver made of plastic).
Otherwise, you may receive an electrical shock.
6 After maintenance work, make sure that all components, including screws, that
were removed for maintenance purposes are back in place. Otherwise, safety
devices may fail to function, or you may get injured due to a malfunction or an
electrical shock.
7 When replacing maintenance parts (except the battery for the absolute pulse
coder), be sure to keep the main circuit breaker in the control unit cabinet in its
OFF position. Otherwise, the replaced parts may be damaged, or you may
receive an electrical shock.
8 The person in charge of routine maintenance and preventive maintenance shall
not be engaged in replacement of the CNC memory backup battery. Only the
maintenance engineer is allowed to replace such batteries. Work by any person
with no sufficient knowledge may disable safety devices from working, possibly
resulting in an unexpected behavior of the machine that may cause injury or an
electrical shock.
9 To prevent coolant and other liquids, and chips from entering the inside of the
control unit, be sure to close and lock the control unit cabinet door after
maintenance work is completed. For the same purpose, be sure to close the
covers of the operator's panel and cable duct and tighten the cover mounting
screws securely.

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SAFETY PRECAUTIONS B-85444EN-3/03

Lock Out and Tag Out

"Lock out" is performed to avoid any dangerous circumstance caused by unexpected start of the machine
or release of stored energy while workers perform maintenance and inspection on the machine.
"Tag out" is performed to strictly prevent other workers from accidentally turning the operation handle
ON by placing plates on the locked out circuit breaker to indicate and warn others not to operate the
machine.
The main circuit breaker on the control unit cabinet of the ROBODRILL can be locked out and tagged
out.
The padlocks and tags used for lock out and tag out shall be prepared beforehand by the customer.

Perform the following steps:

(1) Turn OFF the main circuit breaker while the door of the control unit cabinet is closed.
(2) Pull out the lock plate and lock a padlock.
Use a padlock with a diameter of 4.0 to 8.0 mm.

Fig. 4 (a) Main Circuit Breaker

(3) Place a tag onto the lock plate or padlock.

Tag (example)

Fig. 4 (b) Position to Attach Tag

(4) To release the lock out or tag out, make sure to notify all workers about the release and evacuate all
workers from potentially high-risk areas when machine is powered ON.

You will not be able to turn the machine ON during a lockout. You will not be able to open the control
unit cabinet door as well.

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B-85444EN-3/03 SAFETY PRECAUTIONS

5. WORKING AREA
When you use the ROBODRILL, the area permitted to access will be restricted according to the level of
the worker (operator, person in charge of routine maintenance and preventive maintenance, or
maintenance engineer).
Note that the shaded area in each figure below indicates those areas where access is prohibited for
operators.

Recommended 4150

2650

Recommended
109

140

1000
600
R501 R470

1180 528

Recommended 3250
810 268

2850
1190

250 Recomm
Recommen ended
ded 1000 1000
365

420
330

840 655 250

225
R360
350

20

α-D14/21LiB5, α-D14/21LiB

Recommended 2980
Recommended 3600

2100
1480
109

140

Recommend

Recommend
39

70
ed 1000

ed 1100
600

R501 R470
530

R501 R470 Recommended 3520

825 250
250 250
Recommended 3520

535 268
268
2850

250
2950

Recommen
1190

Recommen
Recomm ded 1000 ded 1000
1190

250 ended
Recommen 1000
ded 1000
365

420
365

420
330

365

70
840 380 250 840 250

225
R360 225
350

R324
350
20

47

α-D14/21MiB5, α-D14/21MiB α-D14/21SiB5, α-D14/21SiB

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SAFETY PRECAUTIONS B-85444EN-3/03

Recommended
4150

2650

120

Recommended
89

980
580
R501 R470

528

Recommended 3250
1155

800 268

2850
1190
250

Recommended Recommended

365
420 1000
1000

330
840 655 250

225
R360

350

20
α-D14/21LiB5ADV, α-D14/21LiBADV
Recommended 3600 Recommended 2980

2100
1480
Recommended 980

Recommended
120
89

19

50

1080
580

510
R501 R470
R501 R470

875 250
250 250
Recommended 3250

Recommended 3520
535 268
268
2850

250

2950
1190

Recommended Recommended
1190

1000 1000
250 Recommended
Recommended 1000
1000
365

420
365

420
330

365

70
840 380 250 840 250

225
R360 225
350

R324
350
20

47

α-D14/21MiB5ADV, α-D14/21MiBADV α-D14/21SiB5ADV, α-D14/21SiBADV

Fig. 5 Working Area

6. NOISE
FANUC has internally conducted measurement tests to confirm that the level of noise emitted from the
ROBODRILL during normal operation is 70 dB or lower.

The EU Directive 2003/10/EC stipulates the limit value for daily (8 hours) noise exposure levels at the
workplace at 87 dB (A) Leq. However, it also requires that protective equipment (hearing protectors
including ear plugs and ear muffs) shall be prepared when the noise level exceeds 80 dB, and such
protective equipment shall be worn by workers when the level exceeds 85 dB.
Therefore, hearing protectors are not mandatory for normal operation performed within our assumed
range; however, you must provide and wear hearing protectors such as ear plugs and ear muffs when the
noise level during operation exceeds 85 dB depending on your operational environment, etc.

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B-85444EN-3/03 SAFETY PRECAUTIONS

7. WARNING LABELS
Warning labels are posted to prompt the items to which attention must be paid during daily work.
The machine bears warning labels at the locations stated below. See the subsequent pages for details of
each warning label.
Keep all warning labels visible and readable. Do not stain, scratch, or remove warning labels.
If any warning label is missing or illegible, contact a FANUC service representative or a dealer nearby.

α-D14/21iB5, α-D14/21iB

α-D14/21iB5ADV, α-D14/21iBADV
Fig. 7 (a) Warning Label Location inside the Machine

Warning label C
Warning label D

Fig. 7 (b) Warning Label Location on the Control Unit Cabinet (Behind the Machine)

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SAFETY PRECAUTIONS B-85444EN-3/03

Warning Warning
label E label E

Warning Warning
label F label F

Warning Warning
label G
label G

Left: α-D14/21M/LiB5, α-D14/21M/LiB (front view) Right: α-D14/21SiB5, α-D14/21SiB (side view)
Left: α-D14/21M/LiB5ADV, α-D14/21M/LiBADV (front view) Right: α-D14/21SiB5ADV, α-D14/21SiBADV (side view)

Fig. 7 (c) Warning Label Locations on the Front Surface of the Machine

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B-85444EN-3/03 SAFETY PRECAUTIONS
Warning label A
[Location] This warning label is posted on the turret cover.

A rotating turret or falling Z-axis (spindle head) may cause injury.

Pay attention to the tool that is rotating or moving down.

To work with workpieces on the table, bring the table sufficiently
toward you beforehand.
When exchanging workpieces, do not get close to the turret.

Warning label B
[Location] This warning label is posted on locations such as the
side of a spindle motor or a servo motor.

There may be a risk of burn injury from touching hot parts.

Keep hands away from high temperature parts.

Use a protector, such as heat-resistant gloves, if you cannot avoid
touching them.

Warning label C
[Location] This warning label is posted on the control unit cabinet
door or other sections of the machine.

There are electrical shock hazards that may cause death or serious
injury.

Pay attention to high voltage.

Do not use the machine unless you have sufficient knowledge.

Warning label D
[Location] This warning label is posted on the control unit cabinet door.
Warning in Japanese Warning in English Warning in Chinese

1 Be careful of high voltage.

2 Before you perform maintenance, turn OFF the main power and shut OFF all external power
sources. Only engineers who completed the ROBODRILL maintenance course provided by the
FANUC Training Center are allowed to perform maintenance while power is ON.
3 Before you open the control unit cabinet, turn OFF the main breaker and wait 20 minutes.
Residual voltages will be present during this period.
4 Before you turn ON the power, be sure to connect the earth of the machine.
5 Before you perform maintenance of the high voltage area, be sure to check remaining voltage.

If these safety instructions are not followed, you may receive an electrical shock or may be seriously injured.

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SAFETY PRECAUTIONS B-85444EN-3/03

Warning label E* Only for machines with an automatic door

(optional)
[Location] This warning label is posted on the front surface of the
machine.

The automatic door may behave unexpectedly, causing a risk that

your arm or body may get caught.

Be careful to avoid getting caught in the automatic door.

Warning label F
[Location] This warning label is posted on the front surface of the machine.
Warning in Japanese Warning in English Warning in Chinese

1 Before you start to install, operate, or maintain the machine, read and fully understand the
precautions described in the OPERATOR'S MANUAL (Basic Version).
2 You could get caught in the machine, possibly leading to injury. Do not put your body, hand, or foot
close to any movable parts.
3 You could get caught in rotating portions, possibly leading to injury. Do not put your body, hand, or
foot close to any rotating portions.
4 An explosion or fire could occur. Watch for explosions and fires when machining a workpiece made
of combustible metal.
5 Chips, coolant, and broken tools may fly out. Be careful not to get hit by any flying objects on your
body or eyes.
6 There is a risk of an electrical shock. Do not touch any portion through which current flows or
splash liquid onto that portion.
7 Other danger is described in the OPERATOR'S MANUAL (Basic Version). For details, see the
OPERATOR'S MANUAL (Basic Version).
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B-85444EN-3/03 SAFETY PRECAUTIONS
Warning label G
[Location] This warning label is posted on the front surface of the machine.
Machine with an automatic fire-extinguisher for Machine with an automatic fire-extinguisher for
combustible metal (optional) or no automatic general fires (optional):
fire-extinguisher:
Warning in Warning in Warning in Warning in Warning in Warning in
Japanese English Chinese Japanese English Chinese

When handling flammable workpieces, keep a Do not machine magnesium or other combustible metal!
fire-extinguisher appropriate for materials to be If the automatic fire-extinguisher operates, the agent
machined available. in the extinguisher reacts with the combustible metal,
Use different fire-extinguishing agents for fire possibly leading to explosion.
caused by a combustible metal and other types of
fire. The use of a fire-extinguisher that cannot
extinguish combustible metal fires to extinguish a
fire caused by a combustible metal such as
magnesium may cause an explosion.
If you plan to machine a combustible metal and install a mist collector, be sure to use a mist collector
dedicated to combustible metal machining to prevent fire or explosion in it.
Watch for fires when machining flammable workpieces or using a water-insoluble coolant.
• Keep a fire-extinguisher available during work. Always watch the status of the machine operation.
• Sweep off chips.
• Use appropriate tools and under proper cutting conditions.
• Perform a safety check before starting automatic operation.
• Be careful to supply a sufficient amount of coolant properly.

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B-85444EN-3/03 PREFACE

PREFACE
1. INTENDED USE OF THE PRODUCT
The ROBODRILL α-DiB5/α-DiB series, α-DiB5ADV/α-DiBADV series are machine tools that operate
under the control of a Computer Numerical Control (CNC) unit. It can be used for drilling, tapping, light
milling, milling, and boring.
It should not be used for any other purposes.

2. DEFINITION OF USERS

2.1 Operator
In this manual, the term "operator" refers to a person who operates the machine.
The operator must read this manual to understand the contents of the manual. If the operator uses the
machine without understanding the contents of the manual, the operator or people around the operator
may be in serious danger.
The operator can perform whatever is described in "Chapter 1, DAILY MAINTENANCE" in the "Part V,
MAINTENANCE" in the OPERATOR'S MANUAL (Detailed Version) or "Chapter 3, DAILY
MAINTENANCE" in the MAINTENANCE MANUAL (Basic Version). The operator is not allowed to
carry out any maintenance work that involves:
(1) Any work that becomes possible only after any cover that requires a tool for removal (i.e., fixed
cover) is removed.
(2) Installing the machine or moving it from one place to another.
(3) Repairing the machine.
(4) Work described in "Chapter 2, PERIODICAL MAINTENANCE" in "Part V, MAINTENANCE" in
the OPERATOR'S MANUAL (Detailed Version) or "Chapter 4, PERIODICAL MAINTENANCE"
in the MAINTENANCE MANUAL (Basic Version).

2.2 Person in Charge of Routine Maintenance and Preventive

Maintenance
The person in charge of routine maintenance and preventive maintenance should have completed the
FANUC ROBODRILL course provided by the FANUC Training Center or have the equivalent
knowledge and have been certified by the company he/she works for.
The person in charge of routine maintenance and preventive maintenance is allowed to carry out:
(1) Any work that becomes possible only after any cover that requires a tool for removal (i.e., fixed
cover) is removed.
(2) Work other than those described in Subsections 2.6.1.1 and 2.6.1.2 in "Chapter 2, INTERVAL
MAINTENANCE" in "Part V MAINTENANCE" in the OPERATOR'S MANUAL (Detailed
Version) or Subsections 4.6.1.1 and 4.6.1.2 in "Chapter 4, INTERVAL MAINTENANCE" in the
MAINTENANCE MANUAL (Basic Version).

The person in charge of routine maintenance and preventive maintenance must read this manual to
understand the contents of the manual. If he/she operates the machine without understanding the contents
of the manual, it is likely that serious danger may arise to him/her and those around him/her.
The person in charge of routine maintenance and preventive maintenance is not allowed to carry out any
maintenance that involves:
(1) Installing the machine or moving it from one place to another.
(2) Repairing the machine.

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PREFACE B-85444EN-3/03

(3) Work described in Subsections 2.6.1.1 and 2.6.1.2 in "Chapter 2, INTERVAL MAINTENANCE" in
"Part V, MAINTENANCE" in the OPERATOR'S MANUAL (Detailed Version) or Subsections
4.6.1.1 and 4.6.1.2 in "Chapter 4, INTERVAL MAINTENANCE" in the MAINTENANCE
MANUAL (Basic Version).
The person in charge of routine maintenance and preventive maintenance must observe the cautions
described in "Chapter 4, PRECAUTIONS DURING MAINTENANCE" in the "SAFETY
PRECAUTIONS".

2.3 Maintenance Engineer

The person in charge of maintenance should have sufficient knowledge about machinery and electricity
for maintenance and have finished the maintenance course provided by the FA department or
ROBOMACHINE department at the FANUC Training Center or who have equivalent knowledge and
have been certified by the company he/she works for.
Maintenance engineers are allowed to be engaged in:
(1) Installing the machine or moving it from one place to another.
(2) Repairing the machine.
(3) Work described in Subsections 2.6.1.1 and 2.6.1.2 in "Chapter 2, INTERVAL MAINTENANCE" in
"Part V, MAINTENANCE" in the OPERATOR'S MANUAL (Detailed Version) or Subsections
4.6.1.1 and 4.6.1.2 in "Chapter 4, INTERVAL MAINTENANCE" in the MAINTENANCE
MANUAL (Basic Version).

The maintenance engineer must read this manual to understand the contents of the manual. If the
maintenance engineer uses the machine without understanding the contents of the manual, the
maintenance engineer or people around the maintenance engineer may be in serious danger.
Be sure to observe the cautions described in "Chapter 4, PRECAUTIONS DURING MAINTENANCE"
in the "SAFETY PRECAUTIONS". Experienced maintenance engineers in particular shall be aware that
they may get involved in accidents that can occur due to inattention or overconfidence.

3. MODEL NAME
The following table shows the models covered by this manual along with their abbreviations.

■ Standard version
- ROBODRILL α-DiB5 series
Model Name Abbreviation
FANUC ROBODRILL α-D14MiB5 α-D14MiB5
α-D14 (L,S) iB5 α-D14(L, S)iB5
α-DiB5 series
FANUC ROBODRILL α-D21M iB5 α-D21MiB5
α-D21 (L,S) iB5 α-D21(L, S)iB5

Name FANUC Series 31i -B5

Control unit
Spec. No. A04B-0103-B201#STA, A04B-0103-B301, B303, B305, B307
A04B-0099-B101, B103, B111, B113
A04B-0102-B101, B102, B103, B104, B105, B106, B111, B112, B113, B114,
Mechanical
Spec. No. B115, B116
unit
A04B-0102-B121, B122, B123, B124, B125, B126, B131, B132, B133, B134,
B135, B136

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B-85444EN-3/03 PREFACE

- ROBODRILL α-DiB series

Model Name Abbreviation
FANUC ROBODRILL α-D14MiB α-D14MiB
α-D14 (L,S) iB α-D14(L, S)iB
α-DiB series
FANUC ROBODRILL α-D21M iB α-D21MiB
α-D21 (L,S) iB α-D21(L, S)iB
Name FANUC Series 31i -B
Control unit
Spec. No. A04B-0103-B201#STB, A04B-0103-B302, B304, B306, B308
A04B-0099-B101, B103, B111, B113
A04B-0102-B101, B102, B103, B104, B105, B106, B111, B112, B113, B114,
Mechanical
Spec. No. B115, B116
unit
A04B-0102-B121, B122, B123, B124, B125, B126, B131, B132, B133, B134,
B135, B136

■ Advanced version
- ROBODRILL α-DiB5ADV series
Model Name Abbreviation
FANUC ROBODRILL α-D14MiB5ADV α-D14MiB5ADV
α-D14 (L,S) iB5ADV α-D14(L, S)iB5ADV
α-DiB5ADV series
FANUC ROBODRILL α-D21M iB5ADV α-D21MiB5ADV
α-D21 (L,S) iB5ADV α-D21(L, S)iB5ADV

Name FANUC Series 31i -B5

Control unit
Spec. No. A04B-0104-B201#STA, A04B-0103-B301, B303, B305, B307
Mechanical A04B-0104-B001, B002, B003
Spec. No.
unit

- ROBODRILL α-DiBADV series

Model Name Abbreviation
FANUC ROBODRILL α-D14MiBADV α-D14MiBADV
α-D14 (L,S) iBADV α-D14(L, S)iBADV
α-DiBADV series
FANUC ROBODRILL α-D21M iBADV α-D21MiBADV
α-D21 (L,S) iBADV α-D21(L, S)iBADV

Name FANUC Series 31i -B

Control unit
Spec. No. A04B-0104-B201#STB, A04B-0103-B302, B304, B306, B308
Mechanical A04B-0104-B001, B002, B003
Spec. No.
unit

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PREFACE B-85444EN-3/03

4. RELATED MANUALS
The related manuals of ROBODRILL α-DiB5/α-DiB series, α-DiB5ADV/α-DiBADV series are as listed
below.
Manual for the machine main unit
Standard version (α-DiB5/α-DiB series)
Specification drawing No.
No. Manual type Description
α-DiB5 series α-DiB series
(1) OPERATOR'S MANUAL B-85444EN B-85454EN Describes the basics of how to use and
(Basic Version) maintain the machine.
(2) MAINTENANCE MANUAL B-85445EN B-85455EN Describes the basics of how to maintain
(Basic Version) the machine
(3) OPERATOR'S MANUAL B-85444EN-1 B-85454EN-1 Describes how to use and maintain the
(Detailed Version) machine.
(4) MAINTENANCE MANUAL B-85445EN-1 B-85455EN-1 Describes alarms, how to perform
(Detailed Version) troubleshooting, and how to replace parts.
Advanced version (α-DiB5ADV/α-DiBADV series)
Specification drawing No.
No. Manual type α-DiB5ADV α-DiBADV Description
series series
(1) OPERATOR'S MANUAL B-85474EN B-85484EN Describes the basics of how to use and
(Basic Version) maintain the machine.
(2) MAINTENANCE MANUAL B-85475EN B-85485EN Describes the basics of how to maintain
(Basic Version) the machine
(3) OPERATOR'S MANUAL B-85474EN-1 B-85484EN-1 Describes how to use and maintain the
(Detailed Version) machine.
(4) MAINTENANCE MANUAL B-85475EN-1 B-85485EN-1 Describes alarms, how to perform
(Detailed Version) troubleshooting, and how to replace parts.
Common for standard/advanced version
No. Manual type Specification drawing No. Description
(5) CUSTOM PMC FUNCTION B-85444EN-3 Describes how to operate the custom PMC
OPERATOR'S MANUAL function, as well as programming.
(6) Robot Interface 2 B-85444EN-4 Describes the setup and operation
OPERATOR'S MANUAL methods when building a system by
combining ROBODRILL and the Robot
using the Robot Interface 2 function.
Manual for the CNC installed in the machines
No. Manual type Specification drawing No. Description
(7) FANUC Series 31i –MODEL B-64484EN Describes how to operate the Computer
B OPERATOR'S MANUAL Numerical Control (CNC) unit and how to
create programs.
(8) FANUC Series 31i –MODEL B-64485EN Describes troubleshooting or adjustment
B MAINTENANCE MANUAL procedures for the Computer Numerical
Control (CNC) unit.
Manual for iHMI
No. Manual type Specification drawing No. Description
(9) iHMI Home Screen B-64644EN Describes how to operate the Home
OPERATOR'S MANUAL Screen of iHMI used in the Computer
Numerical Control (CNC) unit.
(10) iHMI CNC Operation Screen B-64644EN-1 Describes how to operate the CNC
OPERATOR'S MANUAL Operation Screen of iHMI used in the
Computer Numerical Control (CNC) unit.

Before using this machine, read the necessary parts of manual (1).
For daily handling and for reference, use manuals (1), (2), (3), and (5).
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B-85444EN-3/03 PREFACE
Use manuals (4) and (8) for troubleshooting, replacement of parts, and adjustment of machine sections.
The NC used in this machine is a control unit designed specifically for the machine. For details about the
classification of the basic specifications and optional specifications that can be used, refer to a copy of the
order specifications.
Descriptions in manuals (1), (2), (3), and (4) have priority over those in manuals (7) and (8). If you find
any contradiction, assume that the description in manuals (1), (2), (3), and (4) applies.

5. DECLARATION OF CONFORMITY
For the CE mark specifications of this product, we designed and inspected the product according to the
following directives and this product is self-certified as compliant with the EC directives.

<Machinery Directive>
Machinery Directive: 2006/42/EC
EN ISO 12100:2010 (Safety of machinery - General principles for design - Risk
assessment and risk reduction)
EN 12417:2001 (Machine tools - Safety - Machining centers)
EN 60204-1:2006+A1:2009 (Safety of machinery - Electrical equipment of machines -
Part 1: General requirements)

<EMC Directive>
EMC Directive: 2014/30/EU
EN 50370-1:2005 (Electromagnetic compatibility (EMC) - Product family standard for
machine tools - Part 1: Emission)
EN 55011:2016 (Industrial, scientific and medical equipment - Radio-frequency
disturbance characteristics - Limits and methods of measurement) (Group 1, Class A)
EN 50370-2:2003 (Electromagnetic compatibility (EMC) - Product family standard for
machine tools - Part 2: Immunity)

* Conformity to these directives becomes invalid if technical or operational modifications are

introduced without the consent of the manufacturer or used in combination with non-standard
devices/components.

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PREFACE B-85444EN-3/03

6. NOTES ON THE ADMINISTRATIVE MEASURES FOR

PREVENTING POLLUTION OF ELECTRIC AND ELECTRONIC
INFORMATION PRODUCTS
This chapter provides the names and amount of toxic or hazardous substances or elements contained in
products regulated by the Chinese Administrative Measures for Preventing Pollution of Electric and
Electronic Information Products (Chinese RoHS Directive).

6.1 Names and Amount of Toxic or Hazardous Substances or

Element Contained in Products
Product name Toxic or hazardous substance or element
Hexavalent Polybrominate Polybrominated
Lead Mercury Cadmium
chromium d biphenyl diphenyl ether
Pb Hg Cd
Cr(VI) PBB PBDE
Mechanical Main  ○   ○ ○
unit mechanical
unit
Axis drive  ○   ○ ○
unit
Spindle and  ○   ○ ○
ATC units
Cables  ○ ○ ○ ○ ○
Electric Locker in  ○ ○ ○ ○ ○
unit the control
unit
Operator's  ○ ○ ○ ○ ○
panel
section
Cables  ○ ○ ○ ○ ○

○: The amount of the relevant toxic or hazardous substance in all the homogeneous materials for the
relevant equipment is equal to or below the limit stipulated by the GB/T 26572.
×: The amount of the relevant toxic or hazardous substance in at least one of the homogeneous
materials for the relevant equipment is above the limit stipulated by the GB/T 26572.

6.2 Environmental Protection Validity Period

The environmental protection validity period is 20 years after manufacturing under proper conditions of
use.
See "Section 3.1, INSTALLATION REQUIREMENTS" in "Chapter 3, INSTALLATION" in the
OPERATOR'S MANUAL (Basic Version).

7. CONTACT
Company name : FANUC CORPORATION
Address : 3580 Shibokusa, Oshino-mura, Minamitsurugun, Yamanashi, 401-0597, Japan
Telephone : +81-555-84-5555

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B-85444EN-3/03 TABLE OF CONTENTS

TABLE OF CONTENTS
SAFETY PRECAUTIONS ............................................................................... 1

PREFACE ....................................................................................................p-1

1 WHAT IS CUSTOM PMC? ...................................................................... 1

1.1 OUTLINE ....................................................................................................... 1
1.2 EXPLANATION OF TERMS .......................................................................... 2
1.3 NOTES .......................................................................................................... 3
1.4 SPECIFICATIONS ......................................................................................... 4
2 PROCEDURE FOR USE ......................................................................... 5
2.1 DESIGNING CUSTOM PMC (DETERMINING SPECIFICATIONS) .............. 6
2.1.1 Designing Circuits and I/O Parameters .................................................................... 6
2.1.2 Checking and Preparation before Circuit Wiring ..................................................... 8
2.2 WIRING CIRCUITS AND CHECKING SIGNAL OPERATIONS..................... 9
2.2.1 Wiring Circuits ......................................................................................................... 9
2.2.2 Checking Signal Operations ................................................................................... 10
2.3 CREATING A LADDER PROGRAM ............................................................ 18
2.3.1 Procedure for Creating a Ladder Program.............................................................. 18
2.3.2 Setting for Writing.................................................................................................. 27
2.4 MAKING AND CHECKING SETTINGS ....................................................... 28
2.5 CHECKING OPERATIONS ......................................................................... 35
2.5.1 Checking Operations .............................................................................................. 35
2.5.2 Debugging .............................................................................................................. 35

3 INPUT/OUTPUT SPECIFICATIONS ..................................................... 37

3.1 I/O SIGNAL REQUIREMENTS .................................................................... 37
3.2 STANDARD INPUT/OUTPUT SPECIFICATIONS ....................................... 39
3.3 OPTIONAL INPUT/OUTPUT SPECIFICATIONS ........................................ 42
3.3.1 I/O Unit-MODEL A ............................................................................................... 42
3.3.2 I/O Link Connection Unit....................................................................................... 54
3.3.3 Sub-Operator’s Panel I/O Module .......................................................................... 54
3.3.3.1 Terminal module B ............................................................................................ 62
3.3.3.2 Specifications of the terminal module B ............................................................ 70
3.3.4 Additional I/O Unit (I/O Module + Terminal Module) .......................................... 71
3.3.4.1 Terminal module ................................................................................................ 72
3.3.4.2 Specifications of the terminal module ............................................................... 80
3.3.5 I/O Unit-MODEL B ............................................................................................... 81
3.3.5.1 Overview ........................................................................................................... 81
3.3.5.2 Connection between the interface unit and the I/O unit .................................... 82
3.3.5.3 Setup of the interface unit .................................................................................. 84
3.3.5.4 Setup of the I/O unit .......................................................................................... 85
3.3.5.5 Specifications of I/O unit (BIPZ88A)................................................................ 86
3.3.5.6 Analog current input (BIPADI4) and analog voltage input (BIPADV4) .......... 90
3.3.6 Multi Sensor Unit ................................................................................................... 95
3.3.6.1 Overview ........................................................................................................... 95
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3.3.6.2 Connection to the terminal block ....................................................................... 96

3.3.6.3 Specifications of general purpose analog input ................................................. 99
3.4 ADDRESSES AVAILABLE TO CUSTOM PMC ......................................... 102
4 CONNECTING CIRCUIT WIRING ....................................................... 103
4.1 STANDARD TERMINAL BLOCK XT1 (R/L) and XTC1 ............................. 103
4.2 I/O UNIT-MODEL A ................................................................................... 104
4.3 I/O LINK CONNECTION UNIT................................................................... 105
4.4 SUB-OPERATOR’S PANEL I/O MODULE AND TERMINAL MODULE B ... 106
4.5 ADDITIONAL I/O UNIT (I/O MODULE + TERMINAL MODULE) ............... 107
4.6 MULTI SENSOR UNIT .............................................................................. 109
4.7 I/O Unit-MODEL B ..................................................................................... 109
4.8 OPTIONAL I/O MODULE CONNECTION ................................................. 110
4.9 PARAMETER SETTING WHEN OPTIONAL I/O MODULES ARE USED . 111
5 CREATING, EDITING, AND EXECUTING PROGRAMS .................... 112
5.1 EDITING .................................................................................................... 112
5.1.1 Starting an Editing Session................................................................................... 112
5.1.2 Editing Ladder Programs...................................................................................... 113
5.1.2.1 Switching to the edit screen ............................................................................. 113
5.1.2.2 Editing ladder programs .................................................................................. 115
5.1.3 Editing Alarm and Operator Messages................................................................. 127
5.1.4 Editing Symbols and Comments .......................................................................... 130
5.1.5 Ending an Editing Session .................................................................................... 132
5.2 CONFIRMATION ....................................................................................... 133
5.2.1 Displaying the Ladder Program Status ................................................................. 133
5.2.2 Signal Diagnosis ................................................................................................... 134
5.3 SETTING PMC PARAMETERS................................................................. 135
5.4 INPUT/OUTPUT OF EDIT DATA............................................................... 140
5.4.1 Operation on the Input/Output Screen.................................................................. 140
5.4.2 Operation on the Boot Screen .............................................................................. 143
5.5 SETTING PARAMETERS.......................................................................... 148
5.6 EXECUTING AND DEBUGGING CUSTOM PMC ..................................... 149
6 INTERFACE SIGNALS BETWEEN SYSTEM AND CUSTOM
LADDER PROGRAMS ........................................................................ 150
6.1 BASIC SIGNALS ....................................................................................... 150
6.2 MACHINE STATUS ................................................................................... 150
6.3 FRONT AUTOMATIC DOOR CONTROL .................................................. 151
6.4 EXTERNAL WORKPIECE NUMBER SEARCH FUNCTION ..................... 153
6.4.1 Setting the Function.............................................................................................. 153
6.5 EXTERNAL PROGRAM NUMBER SEARCH FUNCTION......................... 155
6.5.1 Setting the Function.............................................................................................. 155
6.5.2 Interface ................................................................................................................ 156
6.5.3 Timing Chart for an External Program Number Search ....................................... 157
6.6 EXTERNAL M CODE BCD OUTPUT FUNCTION ..................................... 158
6.6.1 Setting the Function.............................................................................................. 158
6.6.2 Interface ................................................................................................................ 158
6.6.3 Timing Chart for External M Code BCD Output ................................................. 159
6.7 M CODE OUTPUT FUNCTION (M80 TO M89) ......................................... 160
6.8 INTERRUPT TYPE CUSTOM MACRO FUNCTION .................................. 161
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6.9 RESET AND REWIND FUNCTION ........................................................... 161

6.10 ALARM OUTPUT 2.................................................................................... 161
6.11 TOOL LIFE MANAGEMENT ...................................................................... 162
6.11.1 Reset of a Tool Group (Counter) .......................................................................... 162
6.11.2 Information about the Life of Each Tool Group (Counter) and the Currently
Selected Tool Group (Counter) Number .............................................................. 163
6.11.3 Others ................................................................................................................... 163
6.12 ADDITIONAL AXIS CLAMP CONTROL .................................................... 164
6.12.1 I/O Signals for Additional Axis Clamp Control ................................................... 164
6.12.2 Additional Axis Clamp/Unclamp Commands ...................................................... 165
6.13 OPERATOR'S PANEL ............................................................................... 165
6.13.1 Disabling the Operator's Panel ............................................................................. 165
6.13.2 Disabling the Start Button .................................................................................... 166
6.13.3 Checking the Lamps ............................................................................................. 166
6.14 OPERATION MODE SWITCHING ............................................................ 166
6.15 PRODUCTION MANAGEMENT ................................................................ 167
6.16 MACHINE STATUS OUTPUT ................................................................... 168
6.17 COOLANT, MACHINE INTERIOR CLEANING COOLANT, CENTER
THROUGH COOLANT, AND AIR BLOW .................................................. 169
6.18 COMPLETION OF MACHINING................................................................ 169
6.19 FRONT DOOR LOCK CONTROL ............................................................. 170
6.20 AUTOMATIC SIDE DOOR CONTROL ...................................................... 170
6.21 AI TOOL MONITOR................................................................................... 171
6.22 SPINDLE ................................................................................................... 171
6.23 SCREEN DISPLAY .................................................................................... 172
6.24 POSITION SWITCH .................................................................................. 172
6.25 CONTROL SIGNAL FOR EACH SERVO AXIS ......................................... 173
6.26 CUSTOM MACROS .................................................................................. 174
6.27 M FUNCTION CODE SIGNALS ................................................................ 175
6.28 OPERATION CONTROL ........................................................................... 176
6.29 ALARM AND OPERATOR MESSAGE DISPLAY ...................................... 177
6.30 MACHINE INTERIOR LAMP ..................................................................... 177
6.31 POWER-OFF ............................................................................................. 177
6.32 OVERRIDE CONTROL ............................................................................. 178
6.32.1 Spindle Override................................................................................................... 178
6.32.2 Cutting Feed Override .......................................................................................... 178
6.33 ROBOT INTERFACE 2 .............................................................................. 179
6.33.1 When Only the Automatic Side Door is Controlled ............................................. 179
6.33.2 When the Automatic Side Door and Robot System are Controlled ..................... 179
6.34 COUNT OF PERIODICAL MAINTENANCE CUSTOMIZE ITEM ............... 181
6.35 BLOCK SKIP ............................................................................................. 181
6.36 OPERATION LEVELS ............................................................................... 182
6.37 WARM UP OPERATION FUNCTION ........................................................ 182
6.38 LIST OF INTERFACE SIGNALS ............................................................... 183
7 USING TYPICAL FUNCTIONAL INSTRUCTIONS ............................. 205
7.1 (VARIABLE TIMER) FUNCTIONAL INSTRUCTION: NO.3 ....................... 205
7.2 (FIXED TIMER) FUNCTIONAL INSTRUCTION: NO.24 ............................ 206
7.3 (RISING EDGE DETECTION) FUNCTIONAL INSTRUCTION: NO.57 ...... 207
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7.4 (FALLING EDGE DETECTION) FUNCTIONAL INSTRUCTION: NO.58 ... 208

7.5 (COUNTER) FUNCTIONAL INSTRUCTION: NO.5 ................................... 209
7.6 (JUMP) FUNCTIONAL INSTRUCTION: NO.10／
(JUMP END) FUNCTIONAL INSTRUCTION: NO.30 ................................ 210
7.7 (COMMON LINE CONTROL) FUNCTIONAL INSTRUCTION: NO.9/
(COMMON LINE CONTROL END) FUNCTIONAL INSTRUCTION:
NO.29 ........................................................................................................ 211
7.8 (BINARY DECODING) FUNCTIONAL INSTRUCTION: NO.25 ................. 212
7.9 (CONDITIONAL SUBPROGRAM CALL) FUNCTIONAL INSTRUCTION:
NO.65/
(UNCONDITIONAL SUBPROGRAM CALL) FUNCTIONAL INSTRUCTION:
NO.66 ........................................................................................................ 213
8 EXAMPLES OF HOW CUSTOM PMC IS USED................................. 214
8.1 SUB-OERATOR’S PANEL I/O MODULE/TURNING ON OF LAMPS ........ 215
8.1.1 Requirement Specifications .................................................................................. 215
8.1.2 Preconditions ........................................................................................................ 215
8.1.3 Work Procedure .................................................................................................... 217
8.2 I/O Unit-MODEL A/CONTROL OF A MISTO COLLECTOR ...................... 221
8.2.1 Requirement Specifications .................................................................................. 221
8.2.2 Preconditions ........................................................................................................ 221
8.2.3 Work Procedure .................................................................................................... 222
8.3 WIRING PCB I/O MODULE/CONTROL OF MACHINING PROGRAMS ... 226
8.3.1 Requirement Specifications .................................................................................. 226
8.3.2 Preconditions ........................................................................................................ 226
8.3.3 Work Procedure .................................................................................................... 227

9 CUSTOM PMC EDITING WITH FANUC LADDER-III ......................... 235

9.1 CONVERSION TO A SOURCE FILE ........................................................ 236
9.2 LADDER PROGRAM EDITING ................................................................. 239
9.2.1 Title Editing.......................................................................................................... 239
9.2.2 Ladder Editing ...................................................................................................... 240
9.2.3 Editing Symbols and Comments .......................................................................... 241
9.2.4 Message Editing ................................................................................................... 242
9.2.5 I/O Module Editing .............................................................................................. 243
9.2.6 System Parameter Editing .................................................................................... 243
9.3 LADDER PROGRAM COMPILATION AND LOADING FILE CREATION ... 244
9.4 CUSTOM LADDER PROGRAM CREATION ............................................. 246
9.4.1 Procedure for Creating a Custom Ladder Program .............................................. 247
9.5 EDITING ALARM AND OPERATOR MESSAGES .................................... 258
9.5.1 Ladder Program Message Editing ........................................................................ 258

APPENDIX
A ALARM AND ERROR MESSAGES LIST ........................................... 265
A.1 MESSAGES THAT MAY BE DISPLAYED ON THE PMC ALARM
SCREEN .................................................................................................... 265
A.2 PMC SYSTEM ALARM MESSAGES ......................................................... 273
A.2.1 Error Messages when SYS_ALM199 (PMC General)......................................... 273
A.2.2 Error Messages when SYS_ALM197 (PMC General)......................................... 275
A.2.3 Error Messages when SYS_ALM196 (PMC Watch Dog) ................................... 275
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A.2.4 Error Messages when SYS_ALM195 (I/O Link) ................................................. 276
A.2.5 Error Messages when SYS_ALM194 (I/O Link i)............................................... 277
A.3 OPERATION ERRORS ............................................................................. 279
A.3.1 Error Messages that may be Displayed on the PMC LADDER DIAGRAM
VIEWER Screen................................................................................................... 279
A.3.2 Error Messages that may be Displayed on the PMC LADDER DIAGRAM
EDITOR Screen ................................................................................................... 279
A.3.3 Error Messages that may be Displayed on the PMC LADDER DIAGRAM
EDITOR Screen (when updating) ........................................................................ 281
A.3.4 Error Messages that may be Displayed on the PMC NET EDITOR Screen ........ 285
A.3.5 Error Messages that may be Displayed on the TITLE DATA EDITOR Screen ..... 287
A.3.6 Error Messages that may be Displayed on the SYMBOL & COMMENT
DATA EDITOR Screen ....................................................................................... 287
A.3.7 Error Messages that may be Displayed on the MESSAGE DATA EDITOR
Screen ................................................................................................................... 289
A.3.8 Error Messages that may be Displayed on the I/O MODULE EDITOR Screen .. 290
A.3.9 Error messages that may be displayed on the I/O CONFIGURATION EDITOR
(I/O Link i assignment) screen ............................................................................. 291
A.3.10 Error Messages that may be Displayed on the SYSTEM PARAMETER Screen... 293
A.3.11 Error Messages that may be Displayed on the SIGNAL STATUS Screen .......... 293
A.3.12 Error Messages that may be Displayed on the SYSTEM PARAMETER Screen... 293
A.3.13 Error Messages that may be Displayed on the SIGNAL TRACE Screen ............ 294
A.3.14 Error Messages that may be Displayed on the trace setting Screen ..................... 295
A.3.15 Error Messages that may be Displayed on the I/O Diagnosis Screen .................. 296
A.4 I/O COMMUNICATION ERROR MESSAGES ........................................... 297
A.4.1 Error Messages Displayed during Memory Card I/O Operation .......................... 297
A.4.2 Error Messages Displayed during USB Memory I/O Operation .......................... 298
A.4.3 Error Messages Displayed during Flash ROM I/O Operation ............................. 299
A.4.4 Error Messages Displayed During FLOPPY or Other Input/Output Device I/O
Operation. ............................................................................................................. 300
A.4.5 Common Error Messages that may be Displayed on Individual Devices during
the I/O Operations ................................................................................................ 301

B FORCED INPUT/OUTPUT FUNCTION ............................................... 302

B.1 OVERVIEW ............................................................................................... 302
B.1.1 Forced Input/Output Mode ................................................................................... 302
B.1.2 OVERRIDE Mode ............................................................................................... 304
B.2 SETTING/OPERATION FOR ENABLING FORCED INPUT/OUTPUT ...... 306
B.2.1 Operation for Enabling FORCING Mode ............................................................ 306
B.2.2 Operation for Enabling OVERRIDE Mode ......................................................... 306
B.3 SCREEN DISPLAY .................................................................................... 307
B.4 OPERATING THE FORCED INPUT/OUTPUT SCREEN AND
MODIFYING THE VALUES OF SIGNALS ................................................. 308
B.4.1 Operations Using Soft keys .................................................................................. 308
B.4.2 Screen Operations Using Other Keys ................................................................... 309

C CUSTOM LADDER PROGRAM COMMENT SWITCHING

PROCEDURE ...................................................................................... 311
C.1 OVERVIEW ............................................................................................... 311
C.2 SYSTEM PARAMETER SETTING ............................................................ 311
D MULTI-LANGUAGE DISPLAY FUNCTION ........................................ 313
D.1 CREATING MESSAGE DATA FOR MULTI-LANGUAGE DISPLAY .......... 314
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D.2 CREATING MESSAGE DATA FOR THE MAIN BODY OF THE LADDER
PROGRAM ................................................................................................ 316
D.3 CONVERTING MESSAGE DATA.............................................................. 318
D.3.1 Converting Message Data for Multi-Language Display....................................... 318
D.3.2 Converting the Ladder Program ........................................................................... 319
D.4 INCORPORATING MEMORY CARD FORMAT FILES INTO THE CNC ... 320
D.5 CONVERTING A MEMORY CARD FORMAT FILE TO A MNEMONIC
FORMAT FILE ........................................................................................... 320
E ADDRESS ALLOCATION OF I/O UNIT MODEL-A ............................ 322
E.1 METHOD FOR CHANGE THE SETTING OF I/O Link i DIRECTLY AT
THE MACHINE .......................................................................................... 322
E.2 METHOD FOR CHANGE THE SETTING OF I/O Link i USING FANUC
LADDER-III ................................................................................................ 329

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B-85444EN-3/03 1. WHAT IS CUSTOM PMC?

1 WHAT IS CUSTOM PMC?

This chapter describes an outline of custom PMC.

1.1 OUTLINE
The custom PMC function allows customers to create sequence programs on their own. The features of
the function include:

Does not require hardware (low cost and improved maintainability)

• The sequence program controller is built into the machine and, therefore, does not require any
installation space, unlike in conventional systems.
• Interfacing with ROBODRILL is at the software level and, therefore, does not require any signal
lines, unlike in conventional systems. You can easily perform more advanced control by using a
variety of interface signals.
• You can control external devices by using the terminal block included with the ROBODRILL as
standard equipment (16 inputs and 16 outputs).
• You can expand your system by using additional I/O signals, if required (optional).

Variety of software functions

• You can display your own alarm and operator messages on the ROBODRILL screen.
• LEDs and other indicators for alarms are not required.
• Full debugging functions are provided, such as the display of the operating status of created ladder
programs, signal diagnosis, and trace (which displays changes in signal states with the passage of
time).
• Parameters such as variable timers and keep relays can be set on the screen.

ROBODRILL ROBODRILL
System ladder
Sequencer
program

External device Custom PMC External device

Conventional system using a commercially System using the custom PMC function
Fig. 1.1 (a) Comparison between a conventional system and a system using custom PMC

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1. WHAT IS CUSTOM PMC? B-85444EN-3/03

Independent system ladder program (ROBODRILL controller: first PMC) and custom
PMC (jig controller: second PMC)
• You can edit or input and output only custom PMC portions.
• You can set any symbols and comments for all addresses.
• The symbols and comments that have been set are displayed when the second PMC is selected.
(However, they are not displayed on the parameter and other screens that are common to the first
and second PMCs.)
• You can enable the display of alarms and messages simply by making message settings only for the
main body of a ladder program. (You can enable the display of the alarms and messages without
having to set message data (separate from the main body of the ladder program) for the
multi-language display function.)

ROBODRILL

System ladder
Independent data program

Can be input and

Custom PMC
output individually

Fig. 1.1 (b) Relationship between a system ladder program and custom PMC

Custom PMC Custom PMC

Ladder program Ladder program

section section
＋ ＋
Message data for
Message Message multi-language
display function

Without multi-language display function With multi-language display function

Fig. 1.1 (c) Multi-language display function

1.2 EXPLANATION OF TERMS

This manual uses the following terms:

Custom ladder Sequence program created by a customer to control jigs and so forth (second PMC)
program
System ladder Sequence program prepared beforehand to exercise basic control on the ROBODRILL
program (first PMC)
PMC Hardware system software for performing control, editing, and other operations on custom and
system ladder programs
Soft key Twelve buttons displayed at the bottom of the LCD panel (only for an LCD with no touch panel)
QUICK screen Special application screen for the ROBODRILL

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B-85444EN-3/03 1. WHAT IS CUSTOM PMC?

1.3 NOTES
Follow the following precautions:

• Make sure that edited custom PMC (second PMC) ladder programs are attached to the machine. In
addition, supply those ladder programs to your FANUC sales or service person.
• Do not reference, or write to, addresses other than those specified.
• Do not edit the system ladder program (first PMC).
• When the I/O module allocation needs to be modified, be familiar with the specifications before
making any addition or change.
• Before installing edited custom PMC data in the machine, check the series and edition of the system
ladder program. If the interface signals for use with a newly added system ladder program are used,
the machine may not operate normally when the series and edition of the system ladder program
currently used is older.
• Do not use the following functional instructions:
END1(SUB 1), END2(SUB 2), END(SUB64), WINDR(SUB51), SPCNT(SUB46),
WINDW(SUB52), MMCWR(SUB98), MMCWW(SUB 99), and AXCTL(SUB53)
• Before pulling out and inserting a memory card, turn the power OFF.
• To use the custom PMC function, set the following PMC parameter bit. (refer to Section 5.3,
"SETTING PMC PARAMETERS.")

Table 1.3 (a) Parameter to be set to use the custom PMC function
Parameter Value Function
K15#7 1 Makes the custom PMC function available.
0 Makes the custom PMC function unavailable.
K: keep relay, #7: seventh bit

• The custom PMC function of the α-DiB5/α-DiB series, and α-DiB5ADV/α-DiBADV series do not
require the ladder edit card. Editing is always permitted as long as the machine is in the emergency
stop state. To disable custom PMC editing, use the following PMC parameter bit.

Table 1.3 (b) Parameter to be set to disable custom PMC editing

Parameter Value Function
K14#0 1 Disables custom PMC editing.
0 Enables custom PMC editing.

• The M code used with a custom PMC function must always be the first M code.
• M00 to M199 are M codes exclusively for ROBODRILL. Use M200 or later M codes.
• As ladder editing software for the personal computer, use FANUC LADDER-III Version 6.30 or
later.
• The maximum allowable custom PMC program size (flash ROM size) is 128 KB. Not only ladder
programs but also comments and messages consume the memory. Ensure that the maximum
allowable program size is not exceeded.
• For α-DiB series, use Z0 as a system relay. R9000 cannot be used.

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1. WHAT IS CUSTOM PMC? B-85444EN-3/03

1.4 SPECIFICATIONS
The specifications are listed and described below:

Table 1.4 List of specifications

Programming language Ladder program
Type of program Second PMC
Number of instructions 14 basic instructions, 84 functional instructions
Basic instruction processing time 9.1 ns
(per step)
Program size Approx. 16000 steps
Maximum allowable program size 128 KB
(Flash ROM size)
Number of usable subprograms 3500
No. of inputs/ Inputs 16 as standard
outputs (The number of inputs can be expanded to up to 32 by adding terminal
blocks.)
Up to 1024 inputs can be added as options.)
Outputs 16 as standard
(The number of inputs can be expanded to up to 32 by adding terminal
blocks.)
Up to 1024 outputs can be added as options.)
Internal relay Non-hold type 1000 bytes (8000 points)
Message relay 50 bytes (400 points)
Special auxiliary relay 100 points
Timer Variable 80 points
Fixed 1000 points
Counter 30 points
Keep relay 10 bytes (80 points)
Data table 1000 bytes/8000 items (if used with an internal relay of the hold type)

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2 PROCEDURE FOR USE

This chapter describes the procedure for using custom PMC by using a simple system as an example.
A system that turns on a lamp attached to a button when it is pressed is assumed here.
The procedure for using custom PMC is as follows:

Design custom PMC Determine requirement specifications for a

(Determine specifications) system to be built by using custom PMC.
Design circuits and I/O Determine specifications for I/O parameters
parameters and circuits that can be used in custom PMC
to build that system.
Design circuits and I/O parameters according
to the specifications.
Obtain sensors, buttons, and other
components according to the circuit design.
Obtain optional equipment as needed.
Refer to Section 2.1, “DESIGNING CUSTOM
PMC (DETERMINING SPECIFICATIONS).”
↓
Wire circuits and check Turn off the power and wire the circuits
signal operations according to the above circuit design.
Then, energize them and check signal
operations.
Refer to Section 2.2, “WIRING CIRCUITS
AND CHECKING SIGNAL OPERATIONS.”
↓
Create a ladder program Create a ladder program according to the
above requirement specifications.
Refer to Section 2.3, “CREATING A LADDER
PROGRAM.”
↓
Make and check settings Make settings for using custom PMC.
Refer to Section 2.4, “MAKING AND
CHECKING SETTINGS.”
↓
Check operations Check operations to confirm that the system
operates as specified in the requirement
specifications.
Debug it as needed.
Refer to Section 2.5, “CHECKING
OPERATIONS.”

Fig. 2 Procedure for using custom PMC

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2.1 DESIGNING CUSTOM PMC (DETERMINING

SPECIFICATIONS)
Determine requirement specifications for a system to be built by using custom PMC and design circuits
and I/O parameters.
As shown in the specifications for custom PMC in "Table 1.4 List of specifications", custom PMC can
control up to 1024 input signals and up to 1024 output signals.
By controlling these signals through a ladder program, they can be used for various applications.
One possible application is a system that cools a workpiece (to be cut) with coolant when a sensor detects
it.
This chapter assumes a system that uses a button as an external device and turns on a lamp attached to it
when it is pressed.
ROBODRILL
System ladder
program

Press the button

Custom Button
PMC
Lamp

Turn on the lamp

Fig. 2.1 Configuration to turn on a lamp when a button is pressed

2.1.1 Designing Circuits and I/O Parameters

Design circuits and I/O parameters according to the requirement specifications with reference to Table
2.1.1 List of DI/DO that can be used with the custom PMC function.

Procedure for determining specifications and design

1 Set how the external device should operate according to the requirement specifications.
For example, you may want to place 3 sensors and cool a workpiece with 3 coolants according to
input from these sensors.
Example:
A button with a lamp is used as an external device, and the lamp is turned on when the button is
pressed.
A momentary type, a-contact button, in which electricity is conducted through the contact inside the
button when the button is pressed, is assumed.

ROBODRILL
System ladder
program

Custom External device

PMC

Fig. 2.1.1 (a) Setting how the external device should operate

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2 Set necessary I/O parameters (how many inputs and outputs are needed) according to the requirement
specifications. In this step, consider a ladder program to be created too.
Example:
One input (DI) is needed to indicate when the button is pressed, and one output (DO) is needed to
turn on the lamp.
Reference:
For details about how to create a ladder program, refer to Chapter 5, “CREATING, EDITING, AND
EXECUTING A PROGRAM,” Chapter 7, “USING TYPICAL FUNCTIONAL INSTRUCTIONS,”
and Chapter 8, “EXAMPLES OF HOW CUSTOM PMC IS USED.”

ROBODRILL
System ladder
program
Press the button (DI)

Button
Custom
PMC
Lamp

Turn on the lamp (DO)

Fig. 2.1.1 (b) Setting necessary I/O parameters (how many inputs and outputs are needed)

3 Select an appropriate compatible device to be used with custom PMC for the numbers of inputs and
outputs with reference to Table 2.1.1.
Example:
As the total number of inputs and outputs is two, select the screw terminal block on the wiring PCB
(XT1 (R/L)).
Reference:
In selecting a compatible device to be used with custom PMC, consider the number of inputs and
outputs and the necessity of expansion.
In this example, the number of inputs and outputs does not exceed 16 and there is no need for device
expansion. Thus, the screw terminal block on the wiring PCB (XT1 (R/L)) was selected. For
details about selection of a compatible device, refer to Chapter 3, “INPUT/OUTPUT
SPECIFICATIONS.”

Table 2.1.1 List of DI/DO that can be used with the custom PMC function
Signal Device expansion Setting Compatible device
Classification Address No. of I/O Classification Address
I/O
units
DI X4.0 to X5.7 16 Screw terminal block on
Unnecessary Unnecessary Unnecessary the wiring PCB: XT1
DO Y2.0 to Y3.7 16
(R/L)
DI X0.0 to X1.7 16 Connector on the wiring
Unnecessary Necessary Unnecessary
DO Y0.0 toY1.7 16 PCB: DI01
DI X200.0 to X211.7 96 Necessary
Necessary *1 I/O Unit-MODEL A
DO Y200.0 to Y207.7 64 K932#0
DI X212.0 to X227.7 128 Necessary
Necessary Unnecessary I/O Link Connection Unit
DO Y212.0 to Y227.7 128 K932#1
DI X228.0 to X239.7 96 Necessary
Necessary Necessary Wiring PCB I/O
DO Y228.0 to Y235.7 64 K932#2
DI X240.0 to X245.7 48 Necessary
Necessary Necessary Sub operator’s panel I/O
DO Y240.0 to Y243.7 32 *2

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Signal Device expansion Setting Compatible device

Classification Address No. of I/O Classification Address
I/O
units
DI X246.0 to X277.7 256 Necessary
Necessary Unnecessary Multi sensor unit
DO Y246.0 to Y247.7 16 K932#4
DI X278.0 to X301.7 192 Necessary
Necessary Unnecessary I/O Unit-MODEL B
DO Y278.0 to Y301.7 192 K932#5

*1 The necessity of expansion depends on the input module or the output module to be used.
*2 Set K932#3 in I/O Link i configuration file for version 47H9/02 or earlier; and set K932#7 for version
47H9/03 or later.

4 Allocate I/O parameters (DI and DO).

Example:
Allocate I/O parameters as follows: DI: X5.0, DO: Y3.7.
Reference:
In allocating I/O parameters, consider how they are used in the ladder program as well as the terminal
block or I/O selected as the compatible device.
In this example, the I/O parameters were selected from those of the screw terminal block on the
wiring PCB (XT1 (R/L)) that can be used (DI: X4.0 to X5.7, DO: Y2.0 to Y3.7). The I/O
parameters depend on the compatible device selected. For details about allocation of I/O parameters,
refer to Chapter 3, “INPUT/OUTPUT SPECIFICATIONS.”

5 Consider a ladder program to be created according to the requirement specifications.

Example:
X0005.0 Y0003.7

Fig. 2.1.1 (c) Example of a ladder program for this example

Reference:
In allocating I/O parameters, consider how they are used in the ladder program as well as the terminal
block or I/O selected as the compatible device.
In this example, the I/O parameters were selected from those of the screw terminal block on the
wiring PCB (XT1 (R/L)) that can be used (DI: X4.0 to X5.7, DO: Y2.0 to Y3.7). The I/O
parameters depend on the compatible device selected. For details about allocation of I/O parameters,
refer to Chapter 3, “INPUT/OUTPUT SPECIFICATIONS.”

2.1.2 Checking and Preparation before Circuit Wiring

Before writing circuits in the next process, check the details of custom PMC for the ROBODRILL to be
used.
Obtain devices according to the circuit design.

Are the I/O parameters (DI/DO) to be used available?

Usually, you do not need to check the availability of I/O parameters if you create new custom PMC.
However, if you create additional custom PMC for the existing ROBODRILL, check whether or not the
I/O parameters (DI/DO) to be used can be used.
In this example, confirm that X5.0 (DI) and Y3.7 (DO) to be used are “NOT USED.”

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If the availability of I/O parameters must be checked, confirm that with reference to the procedure for
checking signal operations in Subsection 2.2.2, “Checking Signal Operations.”

Obtaining devices according to the circuit design

Obtain external devices such as sensors and buttons according to the circuit design.
Refer to compatible devices in Chapter 3, “INPUT/OUTPUT SPECIFICATIONS.”
Obtain optional equipment too as needed.
In this example, you do not need to obtain optional equipment as the screw terminal block on the wiring
PCB is used.

2.2 WIRING CIRCUITS AND CHECKING SIGNAL

OPERATIONS
Turn off the power and wire the circuits according to the above circuit design.
Then, energize them and check signal operations.

2.2.1 Wiring Circuits

Wire the circuits according to the above circuit design.

Procedure for wiring circuits

1 Turn off the device.

WARNING
Turn off the breaker on the switchboard too. Otherwise, there is a risk of an
electrical shock.

2 Wire the circuits according to the circuit design.

CAUTION
Select appropriate wires (wire size, rated voltage, and contact material), switch
setting specifications, and lamp specifications.

Example:
In this example, the screw terminal block on the wiring PCB is used. Thus, wire DI (input from the
button) to X5.0 of the terminal block and DO (output to the button) to Y3.7 of the terminal block as
shown below:

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Wiring PCB unit

A04B-0103-C210#STA/#STB

Terminal block [XT1L] Terminal block [XT1R]

16 inputs (X4.0 to X5.7) 16 outputs (Y4.0 to Y5.7)

Wire DO to Y3.7 Output to the button lamp

Wire DI to X5.0 Input from button pressing
Fig. 2.2.1 Wiring DI (input from the button) to X5.0 of the terminal block and DO (output to the button) to Y3.7
of the terminal block

Table 2.2.1 Example of connection to the terminal block

Terminals of the device to be
Wiring PCB
connected
XT1L-13(X5.0) Button contact terminal 1
XT1L-15(+24E) Button contact terminal 2
XT1R-24(Y3.7) Lamp terminal +
XT1R-22(0V) Lamp terminal -

Reference:
Wire circuits appropriately for the compatible device selected with reference to Chapter 4,
“CONNECTING CIRCUIT WIRING.”

3 After wiring the circuits, bring the device back to its original state.
Close the cover properly.

2.2.2 Checking Signal Operations

Check signal operations to confirm that the wired circuits work properly.

Procedure for checking signal operations

The procedure for checking signal operations for this example is described below:
• Turn on/off DI (input from the button) allocated to X5.0 of the terminal block.
• Turn on/off DO (output to the button) allocated to Y3.7.
Check signals according to the circuits wired in your system.

1 Turn on the device.

Wait until a screen appears.

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2 Select the maintenance screen on the iHMI home screen
The CNC screen appears.

Fig. 2.2.2 (a) CNC screen

3 Select the 13. EXT. INTERFACE button on the QUICK screen.

The 6. MAINTENANCE/SETTING - 13. EXT. INTERFACE screen appears.

Fig. 2.2.2 (b) 6. MAINTENANCE/SETTING screen

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4 Select “Y3.7” by using the cursor keys (↓/↑) on the 13. EXT. INTERFACE screen.

Fig. 2.2.2 (c) 13. EXT. INTERFACE screen

5 After selecting “Y3.7,” press the soft key [TEST].

Fig. 2.2.2 (d) 13. EXT. INTERFACE screen

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6 In test mode, press the soft key [ON].

Fig. 2.2.2 (e) 13. EXT. INTERFACE screen

7 Confirm that “Y3.7” is turned “ON” on the screen and ON is output to the external device.

Fig. 2.2.2 (f) Confirming that ON is output

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In this example, confirm that the lamp comes on.

ROBODRILL
System ladder
program

Custom
PMC Lamp

Y3.7=ON -> Turn on the lamp

Fig. 2.2.2 (g) Confirming that the lamp comes on when Y3.7 is ON

8 Press the soft key [EXIT] to exit test mode.

You are returned to the 6. MAINTENANCE/SETTING - 13. EXT. INTERFACE screen.

Fig. 2.2.2 (h) 13. EXT. INTERFACE screen

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9 Press the soft key [INPUT SIGNAL] to check input signals.
The INPUT SIGNAL LIST screen appears.

Fig. 2.2.2 (i) 13. EXT. INTERFACE screen

10 Select “X5.0” by using the cursor keys (↓/↑).

Fig. 2.2.2 (j) Selecting “X5.0” by using the cursor keys (↓/↑)

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11 Turn on the signal from the external device and confirm that it is turned “ON” on the screen.

Fig. 2.2.2 (k) Confirming that the signal is turned “ON” on the screen.

In this example, press the button (turn on the signal) and confirm that the signal is turned “ON” on
the screen.

ROBODRILL
System ladder
program

Custom Button
PMC

Press the button -> X5.0=ON

Fig. 2.2.2 (l) Confirming that the signal is turned “ON” on the screen when the button is pressed

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12 Press the soft key [EXIT] to return to the 6. MAINTENANCE/SETTING screen.

Fig. 2.2.2 (m) 13. EXT. INTERFACE screen

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2.3 CREATING A LADDER PROGRAM

Create a ladder program according to the requirement specifications.

2.3.1 Procedure for Creating a Ladder Program

Create a ladder program by following the procedure described below.
Here, the procedure for creating a program for this example that detects when a button with a lamp is
pressed and turns on the lamp is described.

1 Press the button on the screen for maintenance.

The PARAMETERS screen appears.

Fig. 2.3.1 (a) PARAMETERS screen

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2 Press the soft key [PMC LADDER] on the PARAMETERS screen.
The PMC LADDER screen appears.

Fig. 2.3.1 (b) PARAMETERS screen

3 Press the soft key [SWITCH PMC].

The PMC2 screen appears.

Fig. 2.3.1 (c) PMC LADDER screen

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4 Select “CUSTOM” on the PMC2 screen by using the cursor keys.

The PMC LADDER DIAGRAM MONITOR screen appears.

Fig. 2.3.1 (d) PMC2 screen

5 Select the soft key [ZOOM].

The PMC LADDER DIAGRAM MONITOR screen appears.

Fig. 2.3.1 (e) PMC2 screen

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6 Press the soft key [EDIT] on the PMC LADDER DIAGRAM MONITOR screen.
The PMC LADDER DIAGRAM EDITOR screen appears.

Fig. 2.3.1 (f) PMC LADDER DIAGRAM MONITOR screen

7 Select [SUB 72] on the PMC LADDER DIAGRAM MONITOR screen and press the soft key
[CREATE NET].
The PMC LADDER NET EDITOR screen appears.

Fig. 2.3.1 (g) PMC LADDER DIAGRAM MONITOR screen

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8 Create a ladder program on the PMC LADDER NET EDITOR screen.

Press the soft key to read signals from the button.
The symbol is inserted.

Fig. 2.3.1 (h) PMC LADDER NET EDITOR screen

9 Enter “X5.0.”
The entry appears in the address field.

Fig. 2.3.1 (i) Entering “X5.0”

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10 Press the soft key to send signals to the lamp.

The symbol is inserted.

Fig. 2.3.1 (j) PMC LADDER NET EDITOR Screen

11 Enter “Y3.7.”
The entry appears in the address field.

Fig. 2.3.1 (k) Entering “Y3.7”

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12 Press the soft key [+] to perform the next operation.

Different soft keys appear.

Fig. 2.3.1 (l) PMC LADDER NET EDITOR screen

13 Press the soft key [EXIT CREATE] to finish additional editing.

The PMC LADDER DIAGRAM EDITOR screen appears.

Fig. 2.3.1 (m) PMC LADDER NET EDITOR screen

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14 Press the soft key [+] to perform the next operation.
Different soft keys appear.

Fig. 2.3.1 (n) PMC LADDER DIAGRAM EDITOR screen

15 Press the soft key [EXIT EDIT] to finish editing.

A message to prompt you to confirm update appears.

Fig. 2.3.1 (o) PMC LADDER DIAGRAM EDITOR screen

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16 Press the soft key [YES] to update the program.

A message to prompt you to confirm update appears.

Fig. 2.3.1 (p) PMC LADDER DIAGRAM EDITOR screen

17 Click the soft key [YES] to write the program on flash ROM.
The edited ladder program is written on flash ROM.

Reference
You can make a setting so as not to write the program on flash ROM. For more
details, refer to Subsection 2.3.2, “Setting for Writing.”

Fig. 2.3.1 (q) PMC LADDER DIAGRAM EDITOR screen

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2.3.2 Setting for Writing

You can set whether to save a program on flash ROM after creating it.

Procedure for setting PMC setting data

Follow the procedure below to show the setting screen and set whether to save programs on flash ROM.
Reference:
SAVE AFTER EDITING is set to NO at the factory.
When you create or edit a ladder program for custom PMC, you should set SAVE AFTER EDITING to
YES.
However, a ladder program need not always be saved to flash ROM (you may not want to save a program
after debugging). In such a case, set SAVE AFTER EDITING to NO. Now, programs are not
automatically written on flash ROM.

1 In the PMC main menu, press the soft key [PMC CONFIG] and then the soft key [SETTING] to show
the SETTINGS FOR GENERAL FUNCTIONS screen.

Fig. 2.3.2 SETTINGS FOR GENERAL FUNCTIONS screen

2 To enable saving on flash ROM, set SAVE AFTER EDITING to YES by using the cursor keys.

Table 2.3.2 Setting SAVE AFTER EDITING

SAVE AFTER EDITING Description
YES Automatically writes edited programs. A message to prompt your
confirmation appears.
NO Does not automatically write edited programs. A message to prompt your
confirmation does not appear.

3 After changing the setting, press the soft key [<] to return to the PMC CONFIG screen.

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2.4 MAKING AND CHECKING SETTINGS

Make settings for using custom PMC.
Make settings in order that addresses used in circuits and a ladder program can be used in custom PMC.
Also make settings to enable custom PMC.

Procedure for using addresses in custom PMC

Follow the procedure below to make settings in order that addresses used in circuits and a ladder program
can be used in custom PMC.
Described below is the procedure for setting the addresses X5.0 and Y3.7 used in the circuits and ladder
program for custom PMC in this example.

1 Select 13. EXT. INTERFACE on the 6. MAINTENANCE/SETTING screen.

The EXT. INTERFACE screen appears.

Fig. 2.4 (a) 6. MAINTENANCE/SETTING screen

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2 Press the soft key [INPUT SIGNAL] on the EXT. INTERFACE screen to show the INPUT
SIGNAL LIST screen.
Select “X5.0” by using the cursor keys and then enter “1.”
“NOT USED” changes into “CUSTOM PMC.”

Fig. 2.4 (b) 13. EXT. INTERFACE screen

3 Press the soft key [OUTPUT SIGNAL].

The OUTPUT SIGNAL LIST screen appears.

Fig. 2.4 (c) 13. EXT. INTERFACE screen

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4 Select “Y3.7” by using the cursor keys and then enter “1.”
“NOT USED” changes into “CUSTOM PMC.”

Fig. 2.4 (d) OUTPUT SIGNAL LIST screen

5 Press the soft key [EXIT] to finish setting addresses.

6 The MAINTENANCE/SETTING screen appears.

Fig. 2.4 (e) OUTPUT SIGNAL LIST screen

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Procedure for enabling custom PMC

Set the following keep relays to enable custom PMC.
 K0014#0: Set to “0.”
 K0015#7: Set to “1.”

1 Press the button on the screen for maintenance.

The PARAMETERS screen appears.

Fig. 2.4 (f) PARAMETERS screen

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2 Press the soft key [PMC MAINTE] on the PARAMETERS screen.

The PMC MAINTENANCE screen appears.

Fig. 2.4 (g) PARAMETERS screen

3 Press the soft key [+] to perform the next operation.

Different soft keys appear.

Fig. 2.4 (h) PMC SIGNAL STATUS screen

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4 Press the soft key [KEEP RELAY] to show keep relays.
The PMC PARAM (KEEP RELAY) screen appears.

Fig. 2.4 (i) PMC SIGNAL STATUS screen

5 Confirm that #0 of the address K0014 is “0.”

If not, set it to “0.”

Fig. 2.4 (j) Confirming that #0 of the address K0014 is “0”

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6 Next, select #7 of the address K0015 by using the cursor keys and then enter “1.”

Fig. 2.4 (k) PMC PARAM (KEEP RELAY) screen

7 Confirm that #7 of the address K0015 is “1.”

Fig. 2.4 (l) PMC PARAM (KEEP RELAY) screen

8 Press the soft key [SWITCH PMC] to finish setting.

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2.5 CHECKING OPERATIONS

Check operations to confirm that the system operates as specified in the requirement specifications.
Debug it as needed.

2.5.1 Checking Operations

Check whether or not the system operates as specified in the requirement specifications.
The procedure for checking operations for this example is described below:

Procedure for checking operations

The requirement specifications for this example require that a lamp should be turned on when a button is
pressed.
Check the operations as follows:

1 Turn on the device.

Wait until a screen appears.
2 Confirm that the lamp is turned on when the button is pressed.
ROBODRILL
System ladder
program

Custom Button with a

PMC lamp

Press the button -> The lamp is turned

Fig. 2.5.1 Confirming that the lamp is turned on when the button is pressed

3 Confirm that the lamp is turned off when the button is released.

2.5.2 Debugging
If a function that uses custom PMC does not work properly, follow the procedure below to debug it:

Procedure for debugging

1 Check whether or not the ladder program has been designed and created properly.
Reference:
Refer to Chapter 5, “CREATING, EDITING, AND EXECUTING A PROGRAM,” Chapter 6,
“INTERFACE SIGNALS BETWEEN SYSTEM AND CUSTOM LADDER PROGRAMS,” Chapter
7, “USING TYPICAL FUNCTIONAL INSTRUCTIONS,” Chapter 8, “EXAMPLES OF HOW
CUSTOM PMC IS USED,” and “PMC PROGRAMMING MANUAL B-64513EN”
2 Check whether or not the wiring has been designed and performed properly.
Reference:
Refer to Chapter 4, “CONNECTING CIRCUIT WIRING” and “MAINTENANCE MANUAL
(Detailed Version) B-85445EN-1 and B-85455EN-1.”
3 Check whether or not the requirement specifications are proper.
Reference:

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Refer to Chapter 1, “WHAT IS CUSTOM PMC?,” Chapter 3, “INPUT/OUTPUT

SPECIFICATIONS,” “PMC PROGRAMMING MANUAL B-64513EN,” and MAINTENANCE
MANUAL (Detailed Version) B-85445EN-1 and B-85455EN-1.”

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3 INPUT/OUTPUT SPECIFICATIONS
Standard and optional input and output specifications are described.

3.1 I/O SIGNAL REQUIREMENTS

[Output signals]
An output signal is intended to drive a relay, LED, or other devices and uses a transistor as the driver.

(a) Output signal requirements [0 V, common] Current drain type

Output signal specifications Maximum output current: 200 mA
(including instantaneous current)
Maximum voltage: 24 V (28.8 V max)
Saturation voltage: 1.0 V (max)
Leakage current at power off: 20 µA or below
(b) Output circuit
ロボドリル
ROBODRILL

+24E

DV Y□.□
負荷
Load

0V

0V

(c) Countermeasures against an inductive load

● Do not repeatedly turn the power ON and OFF within a short period of time. Keep the power
ON or OFF for at least 1 second.
● If the inductive load is connected to an output, connect a protection device such as surge killer
or diode to the load in parallel. For reference, the transition time may be delayed when the
protection circuit is connected. If this poses a problem, connect the CR snubber circuit.
● To connect a capacitor or another capacitive load, connect a resistance in series to limit inrush
current.

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

[Input signals]
(a) Contacts must satisfy the following requirements:
Contact capacity: DC30V 16 mA or above
Leakage current between contacts when the circuit is opened:
1 mA or below (voltage: 26.4 V)
Voltage drop between contacts when the circuit is closed:
2 V or below (current: 8.5 mA) (including cable voltage drop)

(b) Input circuit

ロボドリル
ROBODRILL
入力機器
Input device
+24E
+24E
X□.□ 接点出力
Contact output
RV

+24E

X□.□ PNPtransistor
PNP
RV トランジスタ
output
出力
0V

0V

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS

3.2 STANDARD INPUT/OUTPUT SPECIFICATIONS

You can use 16 inputs and 16 outputs of standard terminal block XT1.
By adding the XTC1 terminal block (with 16 inputs and 16 outputs), up to 32 inputs and up to 32 outputs
can be used.

To use these inputs and outputs, display the QUICK screen, 6:MAINTENANCE/SETTING, then 13.
EXT. INTERFACE, and set “1:FOR CUSTOM PMC” in the input/output signal setting field.
For more details, refer to OPERATOR’S MANUAL (Detailed Version). For details about the
specifications of the terminal block and connection cables, refer to MAINTENANCE MANUAL
(Detailed Version).”

Wiring PCB unit

A04B-0103-C210#STA/#STB

[DI01]

Terminal block [XTC1]

16 inputs (X0.0 to X1.7)

16 outputs (Y0.0 to Y1.7)

Terminal block [XT1L] Terminal block [XT1R]

16 inputs (X4.0 to X5.7) 16 outputs (Y2.0 to Y3.7)
Fig. 3.2 Wiring PCB unit and standard terminal block

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

Table 3.2 (a) Connection diagram from connector panel PC board to 50-pin terminal block (XT1)
(Terminal size: M3, Maximum terminal width:6.0mm)

Name Address Signal Destination XT1L-01 X 4.0 XT1L-02 X 4.1

UDI01 X 4.0 User DI01 XT1L-01 XT1L-03 +24E XT1L-04 +24E
UDI02 X 4.1 User DI02 XT1L-02 XT1L-05 X 4.2 XT1L-06 X 4.3
UDI03 X 4.2 User DI03 XT1L-05 XT1L-07 X 4.4 XT1L-08 X 4.5
UDI04 X 4.3 User DI04 XT1L-06 XT1L-09 +24E XT1L-10 +24E
UDI05 X 4.4 User DI05 XT1L-07 XT1L-11 X 4.6 XT1L-12 X 4.7
UDI06 X 4.5 User DI06 XT1L-08 XT1L-13 X 5.0 XT1L-14 X 5.1
UDI07 X 4.6 User DI07 XT1L-11 XT1L-15 +24E XT1L-16 +24E
UDI08 X 4.7 User DI08 XT1L-12 XT1L-17 X 5.2 XT1L-18 X 5.3
XT1L-19 X 5.4 XT1L-20 X 5.5
UDI09 X 5.0 User DI09 XT1L-13 XT1L-21 +24E XT1L-22 +24E
UDI10 X 5.1 User DI10 XT1L-14 XT1L-23 X 5.6 XT1L-24 X 5.7
XT1L-25 +24E XT1L-26 0V
UDI11 X 5.2 User DI11 XT1L-17 XT1R-01 Y 2.0 XT1R-02 Y 2.1
UDI12 X 5.3 User DI12 XT1L-18 XT1R-03 0V XT1R-04 0V
UDI13 X 5.4 User DI13 XT1L-19 XT1R-05 Y 2.2 XT1R-06 Y 2.3
UDI14 X 5.5 User DI14 XT1L-20 XT1R-07 Y 2.4 XT1R-08 Y 2.5
UDI15 X 5.6 User DI15 XT1L-23 XT1R-09 0V XT1R-10 0V
UDI16 X 5.7 User DI16 XT1L-24 XT1R-11 Y 2.6 XT1R-12 Y 2.7
XT1R-13 Y 3.0 XT1R-14 Y 3.1
UDO01 Y 2.0 User DO01 XT1R-01 XT1R-15 0V XT1R-16 0V
UDO02 Y 2.1 User DO02 XT1R-02 XT1R-17 Y 3.2 XT1R-18 Y 3.3
UDO03 Y 2.2 User DO03 XT1R-05 XT1R-19 Y 3.4 XT1R-20 Y 3.5
UDO04 Y 2.3 User DO04 XT1R-06 XT1R-21 0V XT1R-22 0V
UDO05 Y 2.4 User DO05 XT1R-07 XT1R-23 Y 3.6 XT1R-24 Y 3.7
UDO06 Y 2.5 User DO06 XT1R-08 XT1R-25 +24E XT1R-26 0V
UDO07 Y 2.6 User DO07 XT1R-11
UDO08 Y 2.7 User DO08 XT1R-12

UDO09 Y 3.0 User DO09 XT1R-13

UDO10 Y 3.1 User DO10 XT1R-14
UDO11 Y 3.2 User DO11 XT1R-17
UDO12 Y 3.3 User DO12 XT1R-18
UDO13 Y 3.4 User DO13 XT1R-19
UDO14 Y 3.5 User DO14 XT1R-20
UDO15 Y 3.6 User DO15 XT1R-23
UDO16 Y 3.7 User DO16 XT1R-24

NOTE
Set each address to a signal that corresponds to the purpose of use by referring
to Section 14.4 in Part IV in the OPERATOR'S MANUAL (Detailed Version).

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS
Table 3.2 (b) Connection diagram from DI01 to 50-pin terminal block (XTC1)
Terminal size: M3, Maximum terminal width: 6.0 mm

Name Address Signal Destination A01 X0.0 B01 X0.1

UDI17 X0.0 User DI17 A01 A02 +24E B02 +24E
UDI18 X0.1 User DI18 B01 A03 X0.2 B03 X0.3
UDI19 X0.2 User DI19 A03 A04 X0.4 B04 X0.5
UDI20 X0.3 User DI20 B03 A05 +24E B05 +24E
UDI21 X0.4 User DI21 A04 A06 X0.6 B06 X0.7
UDI22 X0.5 User DI22 B04 A07 X1.0 B07 X1.1
UDI23 X0.6 User DI23 A06 A08 +24E B08 +24E
UDI24 X0.7 User DI24 B06 A09 X1.2 B09 X1.3
A10 X1.4 B10 X1.5
UDI25 X1.0 User DI25 A07 A11 +24E B11 +24E
UDI26 X1.1 User DI26 B07 A12 X1.6 B12 X1.7
UDI27 X1.2 User DI27 A09 A13 Y0.0 B13 Y0.1
UDI28 X1.3 User DI28 B09 A14 0V B14 0V
UDI29 X1.4 User DI29 A10 A15 Y0.2 B15 Y0.3
UDI30 X1.5 User DI30 B10 A16 Y0.4 B16 Y0.5
UDI31 X1.6 User DI31 A12 A17 0V B17 0V
UDI32 X1.7 User DI32 B12 A18 Y0.6 B18 Y0.7
A19 Y1.0 B19 Y1.1
UDO17 Y0.0 User DO17 A13 A20 0V B20 0V
UDO18 Y0.1 User DO18 B13 A21 Y1.2 B21 Y1.3
UDO19 Y0.2 User DO19 A15 A22 Y1.4 B22 Y1.5
UDO20 Y0.3 User DO20 B15 A23 0V B23 0V
UDO21 Y0.4 User DO21 A16 A24 Y1.6 B24 Y1.7
UDO22 Y0.5 User DO22 B16 A25 0V B25 +24E
UDO23 Y0.6 User DO23 A18
UDO24 Y0.7 User DO24 B18

UDO25 Y1.0 User DO25 A19

UDO26 Y1.1 User DO26 B19
UDO27 Y1.2 User DO27 A21
UDO28 Y1.3 User DO28 B21
UDO29 Y1.4 User DO29 A22
UDO30 Y1.5 User DO30 B22
UDO31 Y1.6 User DO31 A24
UDO32 Y1.7 User DO32 B24

NOTE
Set each address to a signal that corresponds to the purpose of use by referring
to Section 14.4 in Part IV in the OPERATOR'S MANUAL (Detailed Version).

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

3.3 OPTIONAL INPUT/OUTPUT SPECIFICATIONS

As optional I/O specifications, the I/O Unit-MODEL A, the I/O Link connection unit, the sub-operator's
panel I/O module, additional I/O modules (wiring PCB I/O module + terminal module), the I/O
Unit-MODEL B, and the multi sensor unit are described.

3.3.1 I/O Unit-MODEL A

By installing an I/O Unit MODEL-A, you can add up to 96 inputs and 64 outputs in the case of standard
setting.
The expansion section is in module units, so that you can select the modules that meet your specifications.
You can add up to five modules (two output modules and three input modules).

Interface module
Slots 1, 2, and 3: for use only with input modules

○ ○

Slot 1 Slot 2

Slot 3 Slot 4 Slot 5

○ ○

Slots 4 and 5: for use only with output modules

Fig. 3.3.1 (a) I/O Unit-MODEL A (vertical type base unit)

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS
Table 3.3.1 (a) Specifications of input/output modules
Classification Name No. of Type Voltage used Common Shape of connection
signals
Input module AID16C 16 Insulated, DC input DC24V 0V Terminal block (M3.5)
AID16D 16 Insulated, DC input DC24V 24 V Terminal block (M3.5)
AID32E1 32 Insulated, DC input DC24V 0/24 V MR connector made
by HONDA TSUSHIN
KOGYO CO., LTD.
AID32E2 32 Insulated, DC input DC24V 0/24 V Flat cable connector
Output AOD08C 8 Insulated, DC output DC12-24V 0V Terminal block (M3.5)
module AOD08D 8 Insulated, DC output DC12-24V 24 V Terminal block (M3.5)
AOD16C 16 Insulated, DC output DC12-24V 0V Terminal block (M3.5)
AOD16D 16 Insulated, DC output DC12-24V 24 V Terminal block (M3.5)
AOD32C1 32 Insulated, DC output DC12-24V 0V MR connector made
by HONDA TSUSHIN
KOGYO CO., LTD.
AOD32C2 32 Insulated, DC output DC12-24V 0V Flat cable connector
AOD32D1 32 Insulated, DC output DC12-24V 24 V MR connector made
by HONDA TSUSHIN
KOGYO CO., LTD.
AOD32D2 32 Insulated, DC output DC12-24V 24 V Flat cable connector
AOR08G 8 Relay output AC250V / － Terminal block (M3.5)
DC30V
AOR16G 16 Relay output AC250V / － Terminal block (M3.5)
DC30V

In the case of standard setting, the following addresses can be used:

Table 3.3.1 (b) Signal addresses that can be used

Signal classification Expansion section slot No. of signals Signal address
(see the above Fig. and the
Fig. on the previous page)
Input signal Slot 1 16, 32 X200.0 to X203.7
(up to 96 inputs) Slot 2 16, 32 X204.0 to X207.7
Slot 3 16, 32 X208.0 to X211.7
Output signal Slot 4 8, 16, 32 Y200.0 to Y203.7
(up to 64 outputs) Slot 5 8, 16, 32 Y204.0 to Y207.7

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

01 01

02 02
A0 A0
03 03
A1 A1
04 04
A2 A2
05 05
A3 A3
06 06
A4 A4
07 07
A5 A5
08 08
A6 A6
09 09
A7 A7
10 10
B0 B0
11 11
B1 B1
12 12
B2 B2
13 13
B3 B3
14 14
B4 B4
15 15
B5 B5
16 16
B6 B6
17 17
B7 B7
18 18

19 19

20 20

[AID16C] [AID16D]
Fig. 3.3.1 (b) Input module terminals (AID16C and AID16D)

Table 3.3.1 (c) Input module address allocation (AID16C and AID16D)
Slot 1 Slot 2 Slot 3
A0 X 200.0 X 204.0 X 208.0
A1 X 200.1 X 204.1 X 208.1
A2 X 200.2 X 204.2 X 208.2
A3 X 200.3 X 204.3 X 208.3
A4 X 200.4 X 204.4 X 208.4
A5 X 200.5 X 204.5 X 208.5
A6 X 200.6 X 204.6 X 208.6
A7 X 200.7 X 204.7 X 208.7

B0 X 201.0 X 205.0 X 209.0

B1 X 201.1 X 205.1 X 209.1
B2 X 201.2 X 205.2 X 209.2
B3 X 201.3 X 205.3 X 209.3
B4 X 201.4 X 205.4 X 209.4
B5 X 201.5 X 205.5 X 209.5
B6 X 201.6 X 205.6 X 209.6
B7 X 201.7 X 205.7 X 209.7

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS
50 41

49 40

16 07
A0 C0
32 24
A1 C1
48 39
A2 C2
15 06
A3 C3
31 23
A4 C4
47 38
A5 C5
30 22
A6 C6
46 37
A7 C7

45 36

29 21

12 03
B0 D0
28 20
B1 D1
44 35
B2 D2
11 02
B3 D3
27 19
B4 D4
43 34
B5 D5
10 01
B6 D6
42 33
B7 D7

[AID32E1]
Fig. 3.3.1 (c) Input module terminals (AID32E1)

Table 3.3.1 (d) Input module address allocation (AID32E1)

Slot 1 Slot 2 Slot 3 Slot 1 Slot 2 Slot 3
A0 X 200.0 X 204.0 X 208.0 C0 X 202.0 X 206.0 X 210.0
A1 X 200.1 X 204.1 X 208.1 C1 X 202.1 X 206.1 X 210.1
A2 X 200.2 X 204.2 X 208.2 C2 X 202.2 X 206.2 X 210.2
A3 X 200.3 X 204.3 X 208.3 C3 X 202.3 X 206.3 X 210.3
A4 X 200.4 X 204.4 X 208.4 C4 X 202.4 X 206.4 X 210.4
A5 X 200.5 X 204.5 X 208.5 C5 X 202.5 X 206.5 X 210.5
A6 X 200.6 X 204.6 X 208.6 C6 X 202.6 X 206.6 X 210.6
A7 X 200.7 X 204.7 X 208.7 C7 X 202.7 X 206.7 X 210.7

B0 X 201.0 X 205.0 X 209.0 D0 X 203.0 X 207.0 X 211.0

B1 X 201.1 X 205.1 X 209.1 D1 X 203.1 X 207.1 X 211.1
B2 X 201.2 X 205.2 X 209.2 D2 X 203.2 X 207.2 X 211.2
B3 X 201.3 X 205.3 X 209.3 D3 X 203.3 X 207.3 X 211.3
B4 X 201.4 X 205.4 X 209.4 D4 X 203.4 X 207.4 X 211.4
B5 X 201.5 X 205.5 X 209.5 D5 X 203.5 X 207.5 X 211.5
B6 X 201.6 X 205.6 X 209.6 D6 X 203.6 X 207.6 X 211.6
B7 X 201.7 X 205.7 X 209.7 D7 X 203.7 X 207.7 X 211.7

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

B24 B12

A24 A12

B23 B11
A0 C0
A23 A11
A1 C1
B22 B10
A2 C2
A22 A10
A3 C3
B21 B09
A4 C4
A21 A09
A5 C5
B20 B08
A6 C6
A20 A08
A7 C7

B18 B06

A18 A06

B17 B05
B0 D0
A17 A05
B1 D1
B16 B04
B2 D2
A16 A04
B3 D3
B15 B03
B4 D4
A15 A03
B5 D5
B14 B02
B6 D6
A14 A02
B7 D7

[AID32E2]
Fig. 3.3.1 (d) Input module terminals (AID32E2)

Table 3.3.1 (e) Input module address allocation (AID32E2)

Slot 1 Slot 2 Slot 3 Slot 1 Slot 2 Slot 3
A0 X 200.0 X 204.0 X 208.0 C0 X 202.0 X 206.0 X 210.0
A1 X 200.1 X 204.1 X 208.1 C1 X 202.1 X 206.1 X 210.1
A2 X 200.2 X 204.2 X 208.2 C2 X 202.2 X 206.2 X 210.2
A3 X 200.3 X 204.3 X 208.3 C3 X 202.3 X 206.3 X 210.3
A4 X 200.4 X 204.4 X 208.4 C4 X 202.4 X 206.4 X 210.4
A5 X 200.5 X 204.5 X 208.5 C5 X 202.5 X 206.5 X 210.5
A6 X 200.6 X 204.6 X 208.6 C6 X 202.6 X 206.6 X 210.6
A7 X 200.7 X 204.7 X 208.7 C7 X 202.7 X 206.7 X 210.7

B0 X 201.0 X 205.0 X 209.0 D0 X 203.0 X 207.0 X 211.0

B1 X 201.1 X 205.1 X 209.1 D1 X 203.1 X 207.1 X 211.1
B2 X 201.2 X 205.2 X 209.2 D2 X 203.2 X 207.2 X 211.2
B3 X 201.3 X 205.3 X 209.3 D3 X 203.3 X 207.3 X 211.3
B4 X 201.4 X 205.4 X 209.4 D4 X 203.4 X 207.4 X 211.4
B5 X 201.5 X 205.5 X 209.5 D5 X 203.5 X 207.5 X 211.5
B6 X 201.6 X 205.6 X 209.6 D6 X 203.6 X 207.6 X 211.6
B7 X 201.7 X 205.7 X 209.7 D7 X 203.7 X 207.7 X 211.7

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS

01 01

02 02

03 03

04 04
LOAD A0 LOAD A0
05 05

06 06
LOAD A1 LOAD A1
07 07

08 08
LOAD A2 LOAD A2
09 09

10 10
LOAD A3 LOAD A3
11 11

12 12
LOAD A4 LOAD A4
13 13

14 14
LOAD A5 LOAD A5
15 15

16 16
LOAD A6 LOAD A6
17 17

18 18
LOAD A7 LOAD A7
19 19

20 20

[AOD08C] [AOD08D]
Fig. 3.3.1 (e) Output module terminals (AOD08C and AOD08D)

Table 3.3.1 (f) Output module address allocation (AOD08C and AOD08D)
Slot 4 Slot 5
A0 Y 200.0 Y 204.0
A1 Y 200.1 Y 204.1
A2 Y 200.2 Y 204.2
A3 Y 200.3 Y 204.3
A4 Y 200.4 Y 204.4
A5 Y 200.5 Y 204.5
A6 Y 200.6 Y 204.6
A7 Y 200.7 Y 204.7

NOTE
At α-DiB5/α-DiB series and α-DiB5ADV/α-DiBADV series, address allocation are
changed.
When using I/O Unit MODEL-A with the same address allocation as α-iE series and α-iF
series, refer to “Appendix F.”

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

01 01

02 02
LOAD A0 LOAD A0
03 03
LOAD A1 LOAD A1
04 04
LOAD A2 LOAD A2
05 05
LOAD A3 LOAD A3
06 06
LOAD A4 LOAD A4
07 07
LOAD A5 LOAD A5
08 08
LOAD A6 LOAD A6
09 09
LOAD A7 LOAD A7
10 10

11 11

12 12
LOAD B0 LOAD B0
13 13
LOAD B1 LOAD B1
14 14
LOAD B2 LOAD B2
15 15
LOAD B3 LOAD B3
16 16
LOAD B4 LOAD B4
17 17
LOAD B5 LOAD B5
18 18
LOAD B6 LOAD B6
19 19
LOAD B7 LOAD B7
20 20

[AOD16C] [AOD16D]
Fig. 3.3.1 (f) Output module terminals (AOD16C and AOD16D)

Table 3.3.1 (g) Output module address allocation (AOD16C and AOD16D)
Slot 4 Slot 5
A0 Y 200.0 Y 204.0
A1 Y 200.1 Y 204.1
A2 Y 200.2 Y 204.2
A3 Y 200.3 Y 204.3
A4 Y 200.4 Y 204.4
A5 Y 200.5 Y 204.5
A6 Y 200.6 Y 204.6
A7 Y 200.7 Y 204.7

B0 Y 201.0 Y 205.0
B1 Y 201.1 Y 205.1
B2 Y 201.2 Y 205.2
B3 Y 201.3 Y 205.3
B4 Y 201.4 Y 205.4
B5 Y 201.5 Y 205.5
B6 Y 201.6 Y 205.6
B7 Y 201.7 Y 205.7

NOTE
At α-DiB5/α-DiB series and α-DiB5ADV/α-DiBADV series, address allocation are
changed.
When using I/O Unit MODEL-A with the same address allocation as α-iE series and α-iF
series, refer to “Appendix F.”
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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS
17 08

16 07
LOAD A0 LOAD C0
32 24
LOAD A1 LOAD C1
48 39
LOAD A2 LOAD C2
15 06
LOAD A3 LOAD C3
31 23
LOAD A4 LOAD C4
47 38
LOAD A5 LOAD C5
30 22
LOAD A6 LOAD C6
46 37
LOAD A7 LOAD C7
49 40

50 41

13 04

12 03
LOAD B0 LOAD D0
28 20
LOAD B1 LOAD D1
44 35
LOAD B2 LOAD D2
11 02
LOAD B3 LOAD D3
27 19
LOAD B4 LOAD D4
43 34
LOAD B5 LOAD D5
10 01
LOAD B6 LOAD D6
42 33
LOAD B7 LOAD D7
29 21

45 36

[AOD32C1]
Fig. 3.3.1 (g) Output module terminals (AOD32C1)

Table 3.3.1 (h) Output module address allocation (AOD32C1)

Slot 4 Slot 5 Slot 4 Slot 5
A0 Y 200.0 Y 204.0 C0 Y 202.0 Y 206.0
A1 Y 200.1 Y 204.1 C1 Y 202.1 Y 206.1
A2 Y 200.2 Y 204.2 C2 Y 202.2 Y 206.2
A3 Y 200.3 Y 204.3 C3 Y 202.3 Y 206.3
A4 Y 200.4 Y 204.4 C4 Y 202.4 Y 206.4
A5 Y 200.5 Y 204.5 C5 Y 202.5 Y 206.5
A6 Y 200.6 Y 204.6 C6 Y 202.6 Y 206.6
A7 Y 200.7 Y 204.7 C7 Y 202.7 Y 206.7

B0 Y 201.0 Y 205.0 D0 Y 203.0 Y 207.0

B1 Y 201.1 Y 205.1 D1 Y 203.1 Y 207.1
B2 Y 201.2 Y 205.2 D2 Y 203.2 Y 207.2
B3 Y 201.3 Y 205.3 D3 Y 203.3 Y 207.3
B4 Y 201.4 Y 205.4 D4 Y 203.4 Y 207.4
B5 Y 201.5 Y 205.5 D5 Y 203.5 Y 207.5
B6 Y 201.6 Y 205.6 D6 Y 203.6 Y 207.6
B7 Y 201.7 Y 205.7 D7 Y 203.7 Y 207.7

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

B19 B07

B23 B11
LOAD A0 LOAD C0
A23 A11
LOAD A1 LOAD C1
B22 B10
LOAD A2 LOAD C2
A22 A10
LOAD A3 LOAD C3
B21 B09
LOAD A4 LOAD C4
A21 A09
LOAD A5 LOAD C5
B20 B08
LOAD A6 LOAD C6
A20 A08
LOAD A7 LOAD C7
A24 A12

B24 B12

B13 B01

B17 B05
LOAD B0 LOAD D0
A17 A05
LOAD B1 LOAD D1
B16 B04
LOAD B2 LOAD D2
A16 A04
LOAD B3 LOAD D3
B15 B03
LOAD B4 LOAD D4
A15 A03
LOAD B5 LOAD D5
B14 B02
LOAD B6 LOAD D6
A14 A02
LOAD B7 LOAD D7
A18 A06

B18 B06

[AOD32C2]
Fig. 3.3.1 (h) Output module terminals (AOD32C2)

Table 3.3.1 (i) Output module address allocation (AOD32C2)

Slot 4 Slot 5 Slot 4 Slot 5
A0 Y 200.0 Y 204.0 C0 Y 202.0 Y 206.0
A1 Y 200.1 Y 204.1 C1 Y 202.1 Y 206.1
A2 Y 200.2 Y 204.2 C2 Y 202.2 Y 206.2
A3 Y 200.3 Y 204.3 C3 Y 202.3 Y 206.3
A4 Y 200.4 Y 204.4 C4 Y 202.4 Y 206.4
A5 Y 200.5 Y 204.5 C5 Y 202.5 Y 206.5
A6 Y 200.6 Y 204.6 C6 Y 202.6 Y 206.6
A7 Y 200.7 Y 204.7 C7 Y 202.7 Y 206.7

B0 Y 201.0 Y 205.0 D0 Y 203.0 Y 207.0

B1 Y 201.1 Y 205.1 D1 Y 203.1 Y 207.1
B2 Y 201.2 Y 205.2 D2 Y 203.2 Y 207.2
B3 Y 201.3 Y 205.3 D3 Y 203.3 Y 207.3
B4 Y 201.4 Y 205.4 D4 Y 203.4 Y 207.4
B5 Y 201.5 Y 205.5 D5 Y 203.5 Y 207.5
B6 Y 201.6 Y 205.6 D6 Y 203.6 Y 207.6
B7 Y 201.7 Y 205.7 D7 Y 203.7 Y 207.7

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS
50 41

49 40

16 07
LOAD A0 LOAD C0
32 24
LOAD A1 LOAD C1
48 39
LOAD A2 LOAD C2
15 06
LOAD A3 LOAD C3
31 23
LOAD A4 LOAD C4
47 38
LOAD A5 LOAD C5
30 22
LOAD A6 LOAD C6
46 37
LOAD A7 LOAD C7
18 09

45 36

29 21

12 03
LOAD B0 LOAD D0
28 20
LOAD B1 LOAD D1
44 35
LOAD B2 LOAD D2
11 02
LOAD B3 LOAD D3
27 19
LOAD B4 LOAD D4
43 34
LOAD B5 LOAD D5
10 01
LOAD B6 LOAD D6
42 33
LOAD B7 LOAD D7
14 05

[AOD32D1]
Fig. 3.3.1 (i) Output module terminals (AOD32D1)

Table 3.3.1 (j) Output module address allocation (AOD32D1)

Slot 4 Slot 5 Slot 4 Slot 5
A0 Y 200.0 Y 204.0 C0 Y 202.0 Y 206.0
A1 Y 200.1 Y 204.1 C1 Y 202.1 Y 206.1
A2 Y 200.2 Y 204.2 C2 Y 202.2 Y 206.2
A3 Y 200.3 Y 204.3 C3 Y 202.3 Y 206.3
A4 Y 200.4 Y 204.4 C4 Y 202.4 Y 206.4
A5 Y 200.5 Y 204.5 C5 Y 202.5 Y 206.5
A6 Y 200.6 Y 204.6 C6 Y 202.6 Y 206.6
A7 Y 200.7 Y 204.7 C7 Y 202.7 Y 206.7

B0 Y 201.0 Y 205.0 D0 Y 203.0 Y 207.0

B1 Y 201.1 Y 205.1 D1 Y 203.1 Y 207.1
B2 Y 201.2 Y 205.2 D2 Y 203.2 Y 207.2
B3 Y 201.3 Y 205.3 D3 Y 203.3 Y 207.3
B4 Y 201.4 Y 205.4 D4 Y 203.4 Y 207.4
B5 Y 201.5 Y 205.5 D5 Y 203.5 Y 207.5
B6 Y 201.6 Y 205.6 D6 Y 203.6 Y 207.6
B7 Y 201.7 Y 205.7 D7 Y 203.7 Y 207.7

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

B24 B12

A24 A12

B23 B11
LOAD A0 LOAD C0
A23 A11
LOAD A1 LOAD C1
B22 B10
LOAD A2 LOAD C2
A22 A10
LOAD A3 LOAD C3
B21 B09
LOAD A4 LOAD C4
A21 A09
LOAD A5 LOAD C5
B20 B08
LOAD A6 LOAD C6
A20 A08
LOAD A7 LOAD C7
A19 A07

B18 B06

A18 A06

B17 B05
LOAD B0 LOAD D0
A17 A05
LOAD B1 LOAD D1
B16 B04
LOAD B2 LOAD D2
A16 A04
LOAD B3 LOAD D3
B15 B03
LOAD B4 LOAD D4
A15 A03
LOAD B5 LOAD D5
B14 B02
LOAD B6 LOAD D6
A14 A02
LOAD B7 LOAD D7
A13 A01

[AOD32D2]
Fig. 3.3.1 (j) Output module terminals (AOD32D2)

Table 3.3.1 (k) Output module address allocation (AOD32D2)

Slot 4 Slot 5 Slot 4 Slot 5
A0 Y 200.0 Y 204.0 C0 Y 202.0 Y 206.0
A1 Y 200.1 Y 204.1 C1 Y 202.1 Y 206.1
A2 Y 200.2 Y 204.2 C2 Y 202.2 Y 206.2
A3 Y 200.3 Y 204.3 C3 Y 202.3 Y 206.3
A4 Y 200.4 Y 204.4 C4 Y 202.4 Y 206.4
A5 Y 200.5 Y 204.5 C5 Y 202.5 Y 206.5
A6 Y 200.6 Y 204.6 C6 Y 202.6 Y 206.6
A7 Y 200.7 Y 204.7 C7 Y 202.7 Y 206.7

B0 Y 201.0 Y 205.0 D0 Y 203.0 Y 207.0

B1 Y 201.1 Y 205.1 D1 Y 203.1 Y 207.1
B2 Y 201.2 Y 205.2 D2 Y 203.2 Y 207.2
B3 Y 201.3 Y 205.3 D3 Y 203.3 Y 207.3
B4 Y 201.4 Y 205.4 D4 Y 203.4 Y 207.4
B5 Y 201.5 Y 205.5 D5 Y 203.5 Y 207.5
B6 Y 201.6 Y 205.6 D6 Y 203.6 Y 207.6
B7 Y 201.7 Y 205.7 D7 Y 203.7 Y 207.7

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS

01 01
V
02 02
A0
V LOAD
03 03
A0 A1
LOAD LOAD
04 04
A2
V LOAD
05 05
A1 A3
LOAD LOAD
06 06
V V
07 07
A2 A4
LOAD LOAD
08 08
A5
V LOAD
09 09
A3 A6
LOAD LOAD
10 10
A7
LOAD
11 11
V
12 12
B0
V LOAD
13 13
A4 B1
LOAD LOAD
14 14
B2
V LOAD
15 15
A5 B3
LOAD LOAD
16 16
V V
17 17
A6 B4
LOAD LOAD
18 18
B5
V LOAD
19 19
A7 B6
LOAD LOAD
20 20
B7
LOAD

[AOR08G] [AOR16G]
Fig. 3.3.1 (k) Output module terminals (AOR08G and AOR16G)

Table 3.3.1 (l) Output module address allocation (AOR08G and AOR16G)
AOR08G AOR16G
Slot 4 Slot 5 Slot 4 Slot 5
A0 Y 200.0 Y 204.0 Y 200.0 Y 204.0
A1 Y 200.1 Y 204.1 Y 200.1 Y 204.1
A2 Y 200.2 Y 204.2 Y 200.2 Y 204.2
A3 Y 200.3 Y 204.3 Y 200.3 Y 204.3
A4 Y 200.4 Y 204.4 Y 200.4 Y 204.4
A5 Y 200.5 Y 204.5 Y 200.5 Y 204.5
A6 Y 200.6 Y 204.6 Y 200.6 Y 204.6
A7 Y 200.7 Y 204.7 Y 200.7 Y 204.7

B0 Y 201.0 Y 205.0
B1 Y 201.1 Y 205.1
B2 Y 201.2 Y 205.2
B3 Y 201.3 Y 205.3
B4 Y 201.4 Y 205.4
B5 Y 201.5 Y 205.5
B6 Y 201.6 Y 205.6
B7 Y 201.7 Y 205.7

NOTE
At α-DiB5/α-DiB series and α-DiB5ADV/α-DiBADV series, address allocation are changed.
When using I/O Unit MODEL-A with the same address allocation as α-iE series and α-iF
series, refer to “Appendix F.”

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

3.3.2 I/O Link Connection Unit

The I/O Link connection unit is used to exchange I/O signals with other machine tools with FANUC CNC
installed.
In standard settings, the following 128 input and 128 output signal addresses can be used:

Table 3.3.2 Signal addresses of the I/O Link connection unit that can be used
Signal classification Signal address
Input signal (128 inputs) X212.0 to X227.7
Output signal (128 outputs) Y212.0 to Y227.7

3.3.3 Sub-Operator’s Panel I/O Module

By mounting the sub-operator’s panel I/O module on the operator’s panel or the control unit cabinet,
input and output signals can be added.
In standard settings, the following 48 input and 32 output signal addresses can be used:

Table 3.3.3 (a) Signal addresses of the sub-operator’s panel I/O module
Signal Connector on No. of signals Signal address
classification I/O module
Input signal (48 CE56 24 X240.0 to X242.7
inputs) CE57 24 X243.0 to X245.7
Output signal (32 CE56 16 Y240.0 to Y241.7
outputs) CE57 16 Y242.0 to Y243.7

Table 3.3.3 (b) Connector table

CE56 CE57
A B A B
01 0V +24A 01 0V +24A
02 X240.0 X240.1 02 X243.0 X243.1
03 X240.2 X240.3 03 X243.2 X243.3
04 X240.4 X240.5 04 X243.4 X243.5
05 X240.6 X240.7 05 X243.6 X243.7
06 X241.0 X241.1 06 X244.0 X244.1
07 X241.2 X241.3 07 X244.2 X244.3
08 X241.4 X241.5 08 X244.4 X244.5
09 X241.6 X241.7 09 X244.6 X244.7
10 X242.0 X242.1 10 X245.0 X245.1
11 X242.2 X242.3 11 X245.2 X245.3
12 X242.4 X242.5 12 X245.4 X245.5
13 X242.6 X242.7 13 X245.6 X245.7
14 DICOM0 14 DICOM5
15 15
16 Y240.0 Y240.1 16 Y242.0 Y242.1
17 Y240.2 Y240.3 17 Y242.2 Y242.3
18 Y240.4 Y240.5 18 Y242.4 Y242.5
19 Y240.6 Y240.7 19 Y242.6 Y242.7
20 Y241.0 Y241.1 20 Y243.0 Y243.1
21 Y241.2 Y241.3 21 Y243.2 Y243.3
22 Y241.4 Y241.5 22 Y243.4 Y243.5
23 Y241.6 Y241.7 23 Y243.6 Y243.7
24 DOCOM DOCOM 24 DOCOM DOCOM
25 DOCOM DOCOM 25 DOCOM DOCOM

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS

Sub-operator’s panel I/O module: Connection of input signals (1)

I/O module: A20B-2004-0691
+24A CPD1
(01) +24A

(02) 0V

CE56
(B01)
(A01)

X240.0 (A02)
RV
X240.1 (B02)
RV
X240.2 (A03)
RV
X240.3 (B03)
RV
X240.4 (A04)
RV
X240.5 (B04)
RV
X240.6 (A05)
RV
X240.7 (B05)
RV

DICOM (A14)

X241.0 (A06)
RV
X241.1 (B06)
RV
X241.2 (A07)
RV
X241.3 (B07)
RV
X241.4 (A08)
RV
X241.5 (B08)
RV
X241.6 (A09)
RV
X241.7 (B09)
RV

Fig. 3.3.3 (a) Connection of input signals (CE56) (1)

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

CE56
X242.0 (A10)
RV

X242.1 (B10)
RV

X242.2 (A11)
RV

X242.3 (B11)
RV

X242.4 (A12)
RV

X242.5 (B12)
RV

X242.6 (A13)
RV

X242.7 (B13)
RV

Fig. 3.3.3 (b) Connection of input signals (CE56) (2)

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS

Sub-operator’s panel I/O module: Connection of input signals (2)

I/O module: A20B-2004-0691

+24A CPD1
(01) +24A
(02)
0V

CE57
(B01)
(A01)

X243.0 (A02)
RV
X243.1 (B02)
RV
X243.2 (A03)
RV
X243.3 (B03)
RV
X243.4 (A04)
RV
X243.5 (B04)
RV
X243.6 (A05)
RV
X243.7 (B05)
RV

DICOM (B14)

X244.0 (A06)
RV
X244.1 (B06)
RV
X244.2 (A07)
RV
X244.3 (B07)
RV
X244.4 (A08)
RV
X244.5 (B08)
RV
X244.6 (A09)
RV
X244.7 (B09)
RV

Fig. 3.3.3 (c) Connection of input signals (CE57) (1)

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

CE57
X245.0 (A10)
RV

X245.1 (B10)
RV

X245.2 (A11)
RV

X245.3 (B11)
RV

X245.4 (A12)
RV

X245.5 (B12)
RV

X245.6 (A13)
RV

X245.7 (B13)
RV

Fig. 3.3.3 (d) Connection of input signals (CE57) (2)

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS

Sub-operator’s panel I/O module: Connection of output signals (1)

DOCOM CE56 24V d.c. EXTERNAL

(A24),(B24) POWER SUPPLY
(A25),(B25)
V+ 0V

0V

Y240.0 (A16)
DV
Y240.1 (B16)
DV
Y240.2 (A17)
DV
Y240.3 (B17)
DV
Y240.4 (A18)
DV
Y240.5 (B18)
DV
Y240.6 (A19)
DV
Y240.7 (B19)
DV

Y241.0 (A20)
DV
Y241.1 (B20)
DV
Y241.2 (A21)
DV
Y241.3 (B21)
DV
Y241.4 (A22)
DV
Y241.5 (B22)
DV
Y241.6 (A23)
DV
Y241.7 (B23)
DV

Fig. 3.3.3 (e) Connection of output signals (CE56)

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

NOTE
1 Connect the 24 V d.c. external power supply to CE56 or CE57. It need not be
connected to both CE56 and CE57.
2 The 24 V d.c. external power supply can use +24E of the wiring PCB unit.
However, note that the maximum capacity of +24E is 1 A.

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS

Sub-operator’s panel I/O module: Connection of output signals (2)

CE57 24V d.c. EXTERNAL

DOCOM
(A24),(B24) POWER SUPPLY
(A25),(B25)
V+ 0V

0V

Y242.0 (A16)
DV
Y242.1 (B16)
DV
Y242.2 (A17)
DV
Y242.3 (B17)
DV
Y242.4 (A18)
DV
Y242.5 (B18)
DV
Y242.6 (A19)
DV
Y242.7 (B19)
DV

Y243.0 (A20)
DV
Y243.1 (B20)
DV
Y243.2 (A21)
DV
Y243.3 (B21)
DV
Y243.4 (A22)
DV
Y243.5 (B22)
DV
Y243.6 (A23)
DV
Y243.7 (B23)
DV

Fig. 3.3.3 (f) Connection of output signals (CE57)

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

NOTE
1 Connect the 24 V d.c. external power supply to CE56 or CE57. It need not be
connected to both CE56 and CE57.
2 The 24 V d.c. external power supply can use +24E of the wiring PCB unit.
However, note that the maximum capacity of +24E is 1 A.

3.3.3.1 Terminal module B

This module is connected to the sub-operator's panel I/O module to relay input/output signals via a screw
terminal block. Up to 48 input signals and 32 output signals can be mounted.
In the case of standard setting, the following addresses can be used:

Table 3.3.3.1 Signal addresses of the terminal module B that can be used
Signal classification Terminal Module No. of signals Signal address
Input signal (48 inputs) 1st module (#1) 24 X240.0 to X242.7
2nd module (#2) 24 X243.0 to X245.7
Output signal (32 1st module (#1) 16 Y240.0 to Y241.7
outputs) 2nd module (#2) 16 Y242.0 to Y243.7

Wiring PCB
A16B-3100-0120
A16B-3100-0121

JD1A

24V d.c. external

power supply
(DOCOM)
JD1B

JD1A

* To be obtained
additionally

CE56
CE70 DI = 24 inputs

DO = 16 outputs
Terminal module B#1
A03B-0815-C022

CE57 CE70 DI = 24 inputs

24V d.c. power
supply from DO = 16 outputs
Wiring PCB CPD1(IN)
(+24A) Terminal module B#2
24V d.c. power A03B-0815-C022
supply from CPD1(OUT)
Wiring PCB
(+24A)
Sub-operator’s panel I/O
module
A20B-2004-0691

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS

Pin layout of terminal module B (#1) [Connection between CE56 and CE70]
CE70 (HIROSE HIF3CB-50PA-2.54DSA)
A1 0V B1 +24A
A2 X240.0 B2 X240.1
A3 X240.2 B3 X240.3
A4 X240.4 B4 X240.5
A5 X240.6 B5 X240.7
A6 X241.0 B6 X241.1
A7 X241.2 B7 X241.3
A8 X241.4 B8 X241.5
A9 X241.6 B9 X241.7
A10 X242.0 B10 X242.1
A11 X242.2 B11 X242.3
A12 X242.4 B12 X242.5
A13 X242.6 B13 X242.7
A14 DICOM0 B14
A15 B15
A16 Y240.0 B16 Y240.1
A17 Y240.2 B17 Y240.3
A18 Y240.4 B18 Y240.5
A19 Y240.6 B19 Y240.7
A20 Y241.0 B20 Y241.1
A21 Y241.2 B21 Y241.3
A22 Y241.4 B22 Y241.5
A23 Y241.6 B23 Y241.7
A24 DOCOM B24 DOCOM
A25 DOCOM B25 DOCOM

XT70A (YOSHIDA PX7-32A) XT70B (YOSHIDA PX7-32A)

1 0V 1 +24A
2 DICOM 2 X242.6
3 X240.2 3 X242.7
17 0V 17 +24A
4 X240.3 4 0V
18 DICOM 18 X242.4
5 DICOM 5 Y240.2
19 X240.0 19 X242.5
6 X240.6 6 Y240.3
20 X240.1 20 0V
7 X240.7 7 0V
21 DICOM 21 Y240.0
8 +24A 8 Y240.6
22 X240.4 22 Y240.1
9 X241.2 9 Y240.7
23 X240.5 23 0V
10 X241.3 10 0V
24 +24A 24 Y240.4
11 +24A 11 Y241.2
25 X241.0 25 Y240.5
12 X241.6 12 Y241.3
26 X241.1 26 0V
13 X241.7 13 0V
27 +24A 27 Y241.0
14 +24A 14 Y241.6
28 X241.4 28 Y241.1
15 X242.2 15 Y241.7
29 X241.5 29 0V
16 X242.3 16 0V
30 +24A 30 Y241.4
31 X242.0 31 Y241.5
32 X242.1 32 DOCOM

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

Pin layout of terminal module B (#2) [Connection between CE57 and CE70]

CE70 (HIROSE HIF3CB-50PA-2.54DSA)

A1 0V B1 +24A
A2 X243.0 B2 X243.1
A3 X243.2 B3 X243.3
A4 X243.4 B4 X243.5
A5 X243.6 B5 X243.7
A6 X244.0 B6 X244.1
A7 X244.2 B7 X244.3
A8 X244.4 B8 X244.5
A9 X244.6 B9 X244.7
A10 X245.0 B10 X245.1
A11 X245.2 B11 X245.3
A12 X245.4 B12 X245.5
A13 X245.6 B13 X245.7
A14 B14 DICOM5
A15 B15
A16 Y242.0 B16 Y242.1
A17 Y242.2 B17 Y242.3
A18 Y242.4 B18 Y242.5
A19 Y242.6 B19 Y242.7
A20 Y243.0 B20 Y243.1
A21 Y243.2 B21 Y243.3
A22 Y243.4 B22 Y243.5
A23 Y243.6 B23 Y243.7
A24 DOCOM B24 DOCOM
A25 DOCOM B25 DOCOM

XT70A (YOSHIDA PX7-32A) XT70B (YOSHIDA PX7-32A)

1 0V 1 +24A
2 DICOM 2 X245.6
3 X243.2 3 X245.7
17 0V 17 +24A
4 X243.3 4 0V
18 DICOM 18 X245.4
5 DICOM 5 Y242.2
19 X243.0 19 X245.5
6 X243.6 6 Y242.3
20 X243.1 20 0V
7 X243.7 7 0V
21 DICOM 21 Y242.0
8 +24A 8 Y242.6
22 X243.4 22 Y242.1
9 X244.2 9 Y242.7
23 X243.5 23 0V
10 X244.3 10 0V
24 +24A 24 Y242.4
11 +24A 11 Y243.2
25 X244.0 25 Y242.5
12 X244.6 12 Y243.3
26 X244.1 26 0V
13 X244.7 13 0V
27 +24A 27 Y243.0
14 +24A 14 Y243.6
28 X244.4 28 Y243.1
15 X245.2 15 Y243.7
29 X244.5 29 0V
16 X245.3 16 0V
30 +24A 30 Y243.4
31 X245.0 31 Y243.5
32 X245.1 32 DOCOM

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS

<Input signal (DI) circuit diagram> [connection between CE56 and CE70]

Sub-operator’s panel I/O module Wiring PCB

+24A CPD1 XS23 +24A
(01) (A05)
(02) (B05)

Terminal module B#1

CE56 CE70
(B01) (B01)
(A01) (A01)
XB1
+24 0V
XT70A
(18)
X240.0 (A02) (A02) (19)
RV
X240.1 (B02) (B02) (20)
RV
(2)
X240.2 (A03) (A03) (3)
RV
X240.3 (B03) (B03) (4)
RV
(21)
X240.4 (A04) (A04) (22)
RV
X240.5 (B04) (B04) (23)
RV
(5)
X240.6 (A05) (A05) (6)
RV
X240.7 (B05) (B05) (7)
RV
XB2
+24 0V
(A14) (A14)
DICOM0
(24)
X241.0 (A06) (A06) (25)
RV
X241.1 (B06) (B06) (26)
RV
(8)
X241.2 (A07) (A07) (9)
RV
X241.3 (B07) (B07) (10)
RV
(27)
X241.4 (A08) (A08) (28)
RV
X241.5 (B08) (B08) (29)
RV
(11)
X241.6 (A09) (A09) (12)
RV
X241.7 (B09) (B09) (13)
RV
+24A

0V

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

Sub-operator’s panel I/O module Terminal module B#1

+24A
XT70A
CE56 CE70 (30)
X242.0 (A10) (A10) (31)
RV

X242.1 (B10) (B10) (32)

RV
(14)
X242.2 (A11) (A11) (15)
RV

X242.3 (B11) (B11) (16)

RV
XT70B
(17)
X242.4 (A12) (A12) (18)
RV

X242.5 (B12) (B12) (19)

RV
(1)
X242.6 (A13) (A13) (2)
RV

X242.7 (B13) (B13) (3)

RV

NOTE
X240.0 to X240.7 are DI pins that allows common signal selection. Specifically,
when setting terminal XB1 is set to 0 V and setting terminal XB2 is set to +24, and
DICOM0 is connected to 24V d.c., DI signals with logic inverted can be input. In
this case, if a cable ground-fault accident occurs, a state equivalent to the DI
signal ON state is observed. From the point of view of safety, setting terminal
XB1 should be set to +24 and XB2 be set to 0 V, where possible, so that 0 V is
applied to DICOM0.

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS

<Input signal (DI) circuit diagram> [connection between CE57 and CE70]

Sub-operator’s panel I/O module Wiring PCB

+24A CPD1 XS23 +24A
(01) (A05)
(02) (B05)

Terminal module B#2

CE57 CE70
(B01) (B01)
(A01) (A01)

XT70A
(30)
X243.0 (A02) (A02) (19)
RV
X243.1 (B02) (B02) (20)
RV
(14)
X243.2 (A03) (A03) (3)
RV
X243.3 (B03) (B03) (4)
RV
XT70B(17)
X243.4 (A04) (A04) XT70A(22)
RV
X243.5 (B04) (B04) (23)
RV
XT70B(1)
X243.6 (A05) (A05) XT70A(6)
RV
X243.7 (B05) (B05) (7)
RV

(24)
X244.0 (A06) (A06) (25)
RV
X244.1 (B06) (B06) (26)
RV
(8)
X244.2 (A07) (A07) (9)
RV
X244.3 (B07) (B07) (10)
RV
(27)
X244.4 (A08) (A08) (28)
RV
X244.5 (B08) (B08) (29)
RV
(11)
X244.6 (A09) (A09) (12)
RV
X244.7 (B09) (B09) (13)
RV
+24A

0V

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

Sub-operator’s panel I/O module Terminal module B#2

0V
+24A
XB1
+24 0V
XT70A
CE57 CE70 (18)
X245.0 (A10) (A10) (31)
RV

X245.1 (B10) (B10) (32)

RV
(2)
X245.2 (A11) (A11) (15)
RV

X245.3 (B11) (B11) (16)

RV
(21)
X245.4 (A12) (A12) XT70B(18)
RV

X245.5 (B12) (B12) (19)

RV
XT70A(5)
X245.6 (A13) (A13) XT70B(2)
RV

X245.7 (B13) (B13) (3)

RV
XB2
+24 0V
DICOM5 (B14) (B14)

NOTE
X245.0 to X245.7 can be selected as common DI; that is, by setting pin XB1 to
“0V” and XB2 to “+24” to connect DICOM5 to 24V d.c., the logic of the DI signal
can be inverted before being input. If, in this case, a ground fault occurs in the
cable, the DI signal is regarded to be in the ON state. For safety, therefore, we
recommend that you set pin XB1 to “+24” and XB2 to “0V” to connect DICOM5 to
0V whenever possible.

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS
< Output signal (DO) circuit diagram> #2 address enclosed in ()

Sub-operator’s panel I/O module Terminal module B1#2

0V
DOCOM CE56, (CE57) CE70
(A24),(B24) (A24),(B24) XT70B 24 V d.c.
(A25),(B25) (A25),(B25) (32) external
(+) power
supply
(16) (-)
XT70A
(1)(17)
XT70B
(20)

Y240.0 (Y242.0) (A16) (A16) (21)

Relay
DV
Y240.1 (Y242.1) (B16) (B16) (22)
DV Relay
(4)
Y240.2 (Y242.2) (A17) (A17) (5)
DV
Y240.3 (Y243.3) (B17) (B17) (6)
DV
(23)
Y240.4 (Y242.4) (A18) (A18) (24)
DV
Y240.5 (Y242.5) (B18) (B18) (25)
DV
(7)
Y240.6 (Y242.6) (A19) (A19) (8)
DV
Y240.7 (Y242.7) (B19) (B19) (9)
DV

(26)
Y241.0 (Y243.0) (A20) (A20) (27)
DV
Y241.1 (Y243.1) (B20) (B20) (28)
DV
(10)
Y241.2 (Y243.2) (A21) (A21) (11)
DV
Y241.3 (Y243.3) (B21) (B21) (12)
DV
(29)
Y241.4 (Y243.3) (A22) (A22) (30)
DV
Y241.5 (Y243.5) (B22) (B22) (31)
DV
(13)
Y241.6 (Y243.6) (A23) (A23) (14)
DV
Y241.7 (Y243.7) (B23) (B23) (15)
DV

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

NOTE
1 Connect the 24 V d.c. external power supply to CE56 or CE57. It need not be
connected to both CE56 and CE57.
2 The 24 V d.c. external power supply can use +24E of the wiring PCB unit.
However, note that the maximum capacity of +24E is 1 A.

3.3.3.2 Specifications of the terminal module B

The terminal module B can be mounted by using screws or a DIN rail.

Screw hole

(In mm)

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS

3.3.4 Additional I/O Unit (I/O Module + Terminal Module)

I/O modules, terminal modules, and connection cables can be used to relay input/output signals via a
screw terminal block. You can expand the number of inputs to up to 96 and the number of outputs to up
to 64.

In the case of standard setting, the following addresses can be used:

Table 3.3.4 Signal addresses of additional I/O units that can be used
Signal Wiring PCB I/O module Terminal module No. of Signal address
classification signals
Input signal I/O module B1 1st module (#1) 24 X228.0 to X230.7
(96 inputs) 1st I/O module E1 (#1) 2nd module (#2) 24 X231.0 to X233.7
2nd I/O module E1 (#2) 3rd module (#3) 24 X234.0 to X236.7
3rd I/O module E1 (#3) 4th module (#4) 24 X237.0 to X239.7
Output signal I/O module B1 1st module (#1) 16 Y228.0 to Y229.7
(64 outputs) 1st I/O module E1 (#1) 2nd module (#2) 16 Y230.0 to Y231.7
2nd I/O module E1 (#2) 3rd module (#3) 16 Y232.0 to Y233.7
3rd I/O module E1 (#3) 4th module (#4) 16 Y234.0 to Y235.7

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

3.3.4.1 Terminal module

This terminal module is connected to the wiring PCB I/O module through a cable and can relay 24 input
signals and 16 output signals via a terminal block. You can expand the number of inputs to up to 96 and
the number of outputs to up to 64.

Wiring PCB I/O Link cable

A16B-3100-0120
A16B-3100-0121

JD1A
24 V d.c. external
power supply 1
24 V d.c. external
power supply 2
(Both are additionally
required.)
JD1B

CB150 XP150
CA52

I/O module B1 Terminal module

A03B-0824-C001 A03B-0815-C020

CA53
Flat cables (34P)
CB150 XP150
CA52

1st I/O module E1 (#1) Terminal module

A03B-0824-C003 A03B-0815-C020
I/O signals

CA53
CB150 XP150
CA52

2nd I/O module E1 (#2) Terminal module

A03B-0824-C003 A03B-0815-C020

CA53
CB150 XP150
CA52

3rd I/O module E1 (#3) Terminal module

A03B-0824-C003 A03B-0815-C020

Cable connecting between modules

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS

The I/O module B1 [A03B-0824-C001] is used as a terminal module

Table 3.3.4.1 (a) Signal addresses that can be used when the I/O module B1 [A03B-0824-C001]
is used as a terminal module

XP150 (HIROSE HIF3CB-50PA-2.54DSA)

A1 +24V2 B1 Y229.0
A2 +24V2 B2 Y228.0 Number of signals and addresses
A3 0V B3 0V
A4 Y229.1 B4 Y229.2 24 inputs (X228.0 to X230.7)
A5 Y228.1 B5 Y228.2 16 outputs (Y228.0 to Y229.7)
A6 0V B6 0V
A7 Y229.3 B7 Y229.4
A8 Y228.3 B8 Y228.4
A9 0V B9 DICOM0
A10 Y229.5 B10 Y229.6
A11 Y228.5 B11 Y228.6
A12 X229.0 B12 X229.1
A13 Y229.7 B13 X230.0
A14 Y228.7 B14 X228.0
A15 X229.2 B15 X229.3
A16 X230.1 B16 X230.2
A17 X228.1 B17 X228.2
A18 X229.4 B18 X229.5
A19 X230.3 B19 X230.4
A20 X228.3 B20 X228.4
A21 X229.6 B21 X229.7
A22 X230.5 B22 X230.6
A23 X228.5 B23 X228.6
A24 X230.7 B24 +24V1
A25 X228.7 B25 +24V1

XT150A（YOSHIDA PX7-32A） XT150B（YOSHIDA PX7-32A）

1 0V 17 +24V2 1 +24V2 17 +24V2

2 DICOM 18 DICOM 2 X230.6 18 X230.4
3 X228.2 19 X228.0 3 X230.7 19 X230.5
4 X228.3 20 X228.1 4 0V 20 0V
5 DICOM 21 DICOM 5 Y228.2 21 Y228.0
6 X228.6 22 X228.4 6 Y228.3 22 Y228.1
7 X228.7 23 X228.5 7 0V 23 0V
8 +24V2 24 +24V2 8 Y228.6 24 Y228.4
9 X229.2 25 X229.0 9 Y228.7 25 Y228.5
10 X229.3 26 X229.1 10 0V 26 0V
11 +24V2 27 +24V2 11 Y229.2 27 Y229.0
12 X229.6 28 X229.4 12 Y229.3 28 Y229.1
13 X229.7 29 X229.5 13 0V 29 0V
14 +24V2 30 +24V2 14 Y229.6 30 Y229.4
15 X230.2 31 X230.0 15 Y229.7 31 Y229.5
16 X230.3 32 X230.1 16 0V 32 +24V1

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

The 1st I/O module E1 (#1) [A03B-0824-C003] is used as a terminal module

Table 3.3.4.1 (b) Signal addresses that can be used when the 1st I/O module E1 (#1) [A03B-0824-C003]
is used as a terminal module.

XP150 (HIROSE HIF3CB-50PA-2.54DSA)

A1 +24V2 B1 Y231.0
A2 +24V2 B2 Y230.0 Number of signals and addresses
A3 0V B3 0V
A4 Y231.1 B4 Y231.2 24 inputs (X231.0 to X233.7)
A5 Y230.1 B5 Y230.2 16 outputs (Y230.0 to Y231.7)
A6 0V B6 0V
A7 Y231.3 B7 Y231.4
A8 Y230.3 B8 Y230.4
A9 0V B9 DICOM0
A10 Y231.5 B10 Y231.6
A11 Y230.5 B11 Y230.6
A12 X232.0 B12 X232.1
A13 Y231.7 B13 X233.0
A14 Y230.7 B14 X231.0
A15 X232.2 B15 X232.3
A16 X233.1 B16 X233.2
A17 X231.1 B17 X231.2
A18 X232.4 B18 X232.5
A19 X233.3 B19 X233.4
A20 X231.3 B20 X231.4
A21 X232.6 B21 X232.7
A22 X233.5 B22 X233.6
A23 X231.5 B23 X231.6
A24 X233.7 B24 +24V1
A25 X231.7 B25 +24V1

XT150A (YOSHIDA PX7-32A) XT150B (YOSHIDA PX7-32A)

1 0V 17 +24V2 1 +24V2 17 +24V2

2 DICOM 18 DICOM 2 X233.6 18 X233.4
3 X231.2 19 X231.0 3 X233.7 19 X233.5
4 X231.3 20 X231.1 4 0V 20 0V
5 DICOM 21 DICOM 5 Y230.2 21 Y230.0
6 X231.6 22 X231.4 6 Y230.3 22 Y230.1
7 X231.7 23 X231.5 7 0V 23 0V
8 +24V2 24 +24V2 8 Y230.6 24 Y230.4
9 X232.2 25 X232.0 9 Y230.7 25 Y230.5
10 X232.3 26 X232.1 10 0V 26 0V
11 +24V2 27 +24V2 11 Y231.2 27 Y231.0
12 X232.6 28 X232.4 12 Y231.3 28 Y231.1
13 X232.7 29 X232.5 13 0V 29 0V
14 +24V2 30 +24V2 14 Y231.6 30 Y231.4
15 X233.2 31 X233.0 15 Y231.7 31 Y231.5
16 X233.3 32 X233.1 16 0V 32 +24V1

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS

The 2nd I/O module E1 (#2) [A03B-0824-C003] is used as a terminal module

Table 3.3.4.1 (c) Signal addresses that can be used when the 2nd I/O module E1 (#2) [A03B-0824-C003]
is used as a terminal module

XP150 (HIROSE HIF3CB-50PA-2.54DSA)

A1 +24V2 B1 Y233.0
A2 +24V2 B2 Y232.0
A3 0V B3 0V Number of signals and addresses
A4 Y233.1 B4 Y233.2
24 inputs (X234.0 to X236.7)
A5 Y232.1 B5 Y232.2
A6 0V B6 0V 16 outputs (Y232.0 to Y233.7)
A7 Y233.3 B7 Y233.4
A8 Y232.3 B8 Y232.4
A9 0V B9 DICOM0
A10 Y233.5 B10 Y233.6
A11 Y232.5 B11 Y232.6
A12 X235.0 B12 X235.1
A13 Y233.7 B13 X236.0
A14 Y232.7 B14 X234.0
A15 X234.2 B15 X235.3
A16 X236.1 B16 X236.2
A17 X234.1 B17 X234.2
A18 X235.4 B18 X235.5
A19 X236.3 B19 X236.4
A20 X234.3 B20 X234.4
A21 X235.6 B21 X235.7
A22 X236.5 B22 X236.6
A23 X234.5 B23 X234.6
A24 X236.7 B24 +24V1
A25 X234.7 B25 +24V1

XT150A (YOSHIDA PX7-32A) XT150B (YOSHIDA PX7-32A)

1 0V 17 +24V2 1 +24V2 17 +24V2

2 DICOM 18 DICOM 2 X236.6 18 X236.4
3 X234.2 19 X234.0 3 X236.7 19 X236.5
4 X234.3 20 X234.1 4 0V 20 0V
5 DICOM 21 DICOM 5 Y232.2 21 Y232.0
6 X234.6 22 X234.4 6 Y232.3 22 Y232.1
7 X234.7 23 X234.5 7 0V 23 0V
8 +24V2 24 +24V2 8 Y232.6 24 Y232.4
9 X235.2 25 X235.0 9 Y232.7 25 Y232.5
10 X235.3 26 X235.1 10 0V 26 0V
11 +24V2 27 +24V2 11 Y233.2 27 Y233.0
12 X235.6 28 X235.4 12 Y233.3 28 Y233.1
13 X235.7 29 X235.5 13 0V 29 0V
14 +24V2 30 +24V2 14 Y233.6 30 Y233.4
15 X236.2 31 X236.0 15 Y233.7 31 Y233.5
16 X236.3 32 X236.1 16 0V 32 +24V1

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

The 3rd I/O module E1 (#3) [A03B-0824-C003] is used as a terminal module

Table 3.3.4.1 (d) Signal addresses that can be used when the 3rd I/O module E1 (#3) [A03B-0824-C003]
is used as a terminal module

XP150 (HIROSE HIF3CB-50PA-2.54DSA)

A1 +24V2 B1 Y235.0
A2 +24V2 B2 Y234.0
A3 0V B3 0V Number of signals and addresses
A4 Y235.1 B4 Y235.2
24 inputs (X237.0 to X239.7)
A5 Y234.1 B5 Y234.2
A6 0V B6 0V 16 outputs (Y234.0 to Y235.7)
A7 Y235.3 B7 Y235.4
A8 Y234.3 B8 Y234.4
A9 0V B9 DICOM0
A10 Y235.5 B10 Y235.6
A11 Y234.5 B11 Y234.6
A12 X238.0 B12 X238.1
A13 Y235.7 B13 X239.0
A14 Y234.7 B14 X237.0
A15 X238.2 B15 X238.3
A16 X239.1 B16 X239.2
A17 X237.1 B17 X237.2
A18 X238.4 B18 X238.5
A19 X239.3 B19 X239.4
A20 X237.3 B20 X237.4
A21 X238.6 B21 X238.7
A22 X239.5 B22 X239.6
A23 X237.5 B23 X237.6
A24 X239.7 B24 +24V1
A25 X237.7 B25 +24V1

XT150A (YOSHIDA PX7-32A) XT150B (YOSHIDA PX7-32A)

1 0V 17 +24V2 1 +24V2 17 +24V2

2 DICOM 18 DICOM 2 X239.6 18 X239.4
3 X237.2 19 X237.0 3 X239.7 19 X239.5
4 X237.3 20 X237.1 4 0V 20 0V
5 DICOM 21 DICOM 5 Y234.2 21 Y234.0
6 X237.6 22 X237.4 6 Y234.3 22 Y234.1
7 X237.7 23 X237.5 7 0V 23 0V
8 +24V2 24 +24V2 8 Y234.6 24 Y234.4
9 X238.2 25 X238.0 9 Y234.7 25 Y234.5
10 X238.3 26 X238.1 10 0V 26 0V
11 +24V2 27 +24V2 11 Y235.2 27 Y235.0
12 X238.6 28 X238.4 12 Y235.3 28 Y235.1
13 X238.7 29 X238.5 13 0V 29 0V
14 +24V2 30 +24V2 14 Y235.6 30 Y235.4
15 X239.2 31 X239.0 15 Y235.7 31 Y235.5
16 X239.3 32 X239.1 16 0V 32 +24V1

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS

< Input signal (DI) circuit diagram >

I/O module for wiring PCB Terminal module

CB150 XP150
24 V d.c. external
+24V1 (18) (B24) XT150B power supply 1
(50) (B25) (32)
+24V1 0V
XB1
+24 0V XT150A 24 V d.c. external
power supply 2
(17)
+24V2 0V
(18)
Xm+0.0 (42) (B14) (19)
RV
Xm+0.1 (43) (A17) (20)
RV
(2)
Xm+0.2 (44) (B17) (3)
RV
Xm+0.3 (45) (A20) (4)
RV
(21)
Xm+0.4 (46) (B20) (22)
RV
Xm+0.5 (47) (A23) (23)
RV
(5)
Xm+0.6 (48) (B23) (6)
RV
Xm+0.7 (49) (A25) (7)
RV
XB2
+24 0V
DICOM0 (24) (B09)
(24)
Xm+1.0 (25) (A12) (25)
RV
Xm+1.1 (26) (B12) (26)
RV
(8)
Xm+1.2 (27) (A15) (9)
RV
Xm+1.3 (28) (B15) (10)
RV
(27)
Xm+1.4 (29) (A18) (28)
RV
Xm+1.5 (30) (B18) (29)
RV
(11)
Xm+1.6 (31) (A21) (12)
RV
Xm+1.7 (32) (B21) (13)
RV
(19),(20), (A03),(B03),
(21),(22), (A06),(B06), XT150A (1),
(23) (A09) XT150B (16)
+24V2

0V

Fig. 3.3.4.1 (a) Input signal (DI) circuit diagram (1)

NOTE
1 +24V represents a control power supply for the wiring PCB I/O module. It must also be
turned on when the device is turned on (with the ON/OFF button on the operator’s panel).
2 The 24 V d.c. external power supply can use +24E of the wiring PCB unit. However, note
that the maximum capacity of +24E is 1 A.

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

I/O module for wiring PCB Terminal module

+24V2
XT150A
CB150 XP150 (30)
Xm+2.0 (10) (B13) (31)
RV

Xm+2.1 (11) (A16) (32)

RV
(14)
Xm+2.2 (12) (B16) (15)
RV

Xm+2.3 RV (13) (A19) (16)

XT150B
(17)
Xm+2.4 RV (14) (B19) (18)

Xm+2.5 (15) (A22) (19)

RV
(1)
Xm+2.6 (16) (B22) (2)
RV

Xm+2.7 (17) (A24) (3)

RV
+24V2

Basic module: Xm = 228

Expansion module 1: Xm = 231
Expansion module 2: Xm = 234
Expansion module 3: Xm = 237

Fig. 3.3.4.1 (b) Input signal (DI) circuit diagram (2)

NOTE
Xm+0.1 to Xm+0.7 can be selected as common DI; that is, by setting pin XB1 to “0V” and
XB2 to “+24” to connect DICOM to +24V, the logic of the DI signal can be inverted before
being input. If, in this case, a ground fault occurs in the cable, the DI signal is regarded
to be in the ON state. For safety, therefore, we recommend that you set pin XB1 to
“+24” and XB2 to “0V” to connect DICOM to 0V whenever possible.
The setting terminals are factory-set as follows:
Setting terminal XB1: +24
Setting terminal XB2: 0V

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS

< Output signal (DO) circuit diagram >

I/O module for wiring PCB Terminal module

+24V2
0V
DOCOM CB150 XP150
(01),(33) (A01),(A02) XT150B
(20)

Yn+0.0 (34) (B02) (21)

Relay
DV
Yn+0.1 (35) (A05) (22)
DV Relay
(4)
Yn+0.2 (36) (B05) (5)
DV
Yn+0.3
DV (37) (A08) (6)
(23)
Yn+0.4 (38) (B08) (24)
DV
Yn+0.5 (39) (A11) (25)
DV
(7)
Yn+0.6 (40) (B11) (8)
DV
Yn+0.7 (41) (A14) (9)
DV

(26)
Yn+1.0 (02) (B01) (27)
DV
Yn+1.1 (03) (A04) (28)
DV
(10)
Yn+1.2 (04) (B04) (11)
DV
Yn+1.3 (05) (A07) (12)
DV
(29)
Yn+1.4 (06) (B07) (30)
DV
Yn+1.5 (07) (A10) (31)
DV
(13)
Yn+1.6 (08) (B10) (14)
DV
Yn+1.7 (09) (A13) (15)
DV

Basic module: Yn = 228

Expansion module 1: Yn = 230
Expansion module 2: Yn = 232
Expansion module 3: Yn = 234

Fig. 3.3.4.1 (c) Output signal (DO) circuit

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

3.3.4.2 Specifications of the terminal module

The terminal module can be mounted by using screws or a DIN rail.

Screw hole

(In mm)

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS

3.3.5 I/O Unit-MODEL B

3.3.5.1 Overview
The IP67 specifications of the I/O Unit-MODEL B (hereinafter “I/O Unit-B”) have the following
features:
● The unit is dustproof and waterproof in conformity to the IP67.
● As an M12 connector that conforms to the standards is used, commercially available sensors can be
easily connected.
● The push-pull type of M12 connector from Harting is adopted to connect sensors and actuators. You
can connect the M12 connector with a single operation by using the push-pull type of connector
from Harting on the cable side as well.
● You can skip wiring work because the distribution link (I/O Unit-B communication) cable contains
the control power line. Be sure to use this cable as it is dedicated to the I/O unit of the I/O Unit-B
that conforms to the IP67 specifications.

NOTE
The I/O Unit-B IP67 specifications support the IP67 standards. However, these
specifications only satisfy the provision of being waterproof for a short period of
time and do not guarantee waterproof performance in an atmosphere where
cutting fluid or other liquid splashes on the unit directly. Ensure that the unit
surface is not constantly wet with the cutting fluid or other liquid and prevent liquid
from accumulating around the unit.
The IP67 standards are met only when a cable or cap is attached to all the
connectors.

Table 3.3.5.1 Signal addresses that can be used

Signal Slot No. of signals Signal address (input) Signal address
classification (output)
Slot 1 Up to 64/64 X278.0 to X285.7 Y278.0 to Y285.7
Input/output
Slot 2 Up to 64/64 X286.0 to X293.7 Y286.0 to Y293.7
signal
Slot 3 Up to 64/64 X294.0 to X301.7 Y294.0 to Y301.7

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

3.3.5.2 Connection between the interface unit and the I/O unit
To use the I/O Unit-B in the ROBODRILL, connect it as shown below. The control power for the I/O unit is
supplied from the interface unit through the dedicated communication cable.

Wiring PCB
A16B-3100-0120
A16B-3100-0121

XS23

JD1A

Distribution link
(Cable dedicated to the I/O unit
JD1B

JD1A

of the I/O Unit-B that conforms

to the IP67 specifications)

24V
0V
FG1 Slot 1
S1+
S1－
24V
0V I/O unit
FG2 Slot 2 (IP67 specifi-
cations)
S2+
S2－

FG3
S3+
S3－ Slot 3

Interface unit
IP67

Fig. 3.3.5.2 Connection when using the I/O Unit-B

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS
Connection of the interface unit

Communication cable dedicated to the I/O

Unit-B IP67 specifications
Crimp terminal on one side and M12
connector on the other side

S+ S- 0V 24V
Two-stage screw FG
terminal block
White

Black

Green

Gray

Orange
Cross-section view of cable

Signal line

Black
Braided shield A
Inter-
vention Braided shield B
material White
S2+ S2- FG2 S4+ S4- FG4 24V 24V
S1+ S1- FG1 S3+ S3- FG3 0V 0V Gray Orange

Sheath Power line

Color of wire Signal name

JD1B White S+
Black S-
Orange 24V
JD1A Gray 0V
Green FG

When processing the cable, bundle Braided

Interface unit shield A and Braided shield B.

Connection of the I/O unit

Table 3.3.5.2 Connector section of I/O Unit-B

Connector name Pin layout (I/O unit side) Connector specifications
(I/O unit side)

1 2
IN0-3, OUT0-3 (BIPZ88A)
Female A coding M12 connector
5
AD0-3 (BIPADI4, BIPADV4)
4 3
Use the male A coding M12 connector on the cable side.
A one-touch connector from Harting (product name: PushPull) can be also used in addition to the
standard M12 connector.

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

3.3.5.3 Setup of the interface unit

Set R of the DIP switch on the interface unit BIF04B1 to ON. Be sure to set R of unused communication
channels to ON as well.

Interface unit
S2+ S2- FG2 S4+ S4- FG4 24V 24V
S1+ S1- FG1 S3+ S3- FG3 0V 0V

DIP switches
ALARM LED

LINK LED
JD1B

JD1A

LED FUSE FUSE

LED
Fig. 3.3.5.3 Setup of Interface Unit

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3.3.5.4 Setup of the I/O unit

Set the unit numbers and the ON/OFF state of the terminating resistor with the DIP switches. When you
remove the DIP switch cover, you can see the DIP switches and fuses.

DIP switch cover

Fig. 3.3.5.4 (a) Position of DIP switches

To remove the DIP switch cover, pinch the part circled in the figure below and pull it towards the front. After
completing the setup, return the cover to the original position.

Fig. 3.3.5.4 (b) Removal of DIP switch cover

Set up the switches as shown below.

Switch display Description OFF ON
16, 8, 4, 2, 1 Slot number setting 0 1
R Terminating resistor OFF ON

Fig. 3.3.5.4 (c) Setup of DIP switches

Table 3.3.5.4 Settings of DIP switches

Setting No.
Slot number
16 8 4 2 1 R
1 OFF OFF OFF OFF ON ON
2 OFF OFF OFF ON OFF ON
3 OFF OFF OFF ON ON ON

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

3.3.5.5 Specifications of I/O unit (BIPZ88A)

Table 3.3.5.5 (a) Electrical specifications of I/O unit
Digital input
Number of inputs BIPZ88A x 8
Common BIPZ88A x 8/1 common
Rated input voltage DC24V (+10%, -10%)
Rated input current 7.5 mA on average
Polarity Sink type
Voltage and current at power on DC15V or above, 4 mA or above
Voltage and current at power off DC5V or below, 1.5 mA or below
Response time Delay time of the receiver: 2 ms (max)
In addition, it is necessary to consider the I/O link transfer time between
the CNC and the I/O unit and the ladder scan cycle time (in the CNC).

Digital output
Number of outputs BIPZ88A x 8
Common BIPZ88A x 4/1 common
Rated output voltage DC12 to 24 V (+20%, -15%)
Rated output current 2 A/pt (4 A/common)
Polarity Source type
Maximum voltage drop at power on 0.18 V (load current × 0.09 Ω)
Maximum leakage current at power off 0.1 mA
Output protection function Overheat and overcurrent protection, short-circuiting protection, and
disconnection detection apply to every output.
Disconnection detection current Up to 100 mA
Response time Delay time of the driver: 50 μs (max)
In addition, it is necessary to consider the I/O link transfer time between
the CNC and the I/O unit and the ladder scan cycle time (in the CNC).

● Behavior of the DO when the output protection function operates

The internal circuit in this unit has the overheat and overcurrent protection function for the DO
driver. If the DO driver in the internal circuit abnormally heats up due to some causes such as an
abnormal increase in load current caused by a cable ground fault, the output protection circuit in the
unit of the DO driver (for each driver) is triggered and turns OFF the output from the affected DO
driver. When the driver cools down after the output is turned OFF, the protection function is
automatically reset and the output is turned ON. However, if the cause that triggered the output
protection circuit is not resolved, the same DO driver will overheat again and the output will be
turned OFF again. The output continues to be turned ON and OFF repeatedly until the cause is
resolved.
This output module uses the DI to show the DO where the abnormality is detected when the
protection function turns OFF the output. If an abnormality is detected, “1” and “0” are repeated for
the DI of the bit corresponding to the DO. When the protection function is running, turn OFF the DO
and system and remove the cause of the overload.

Table 3.3.5.5 (b) Signal addresses that can be used in the I/O unit
Input Slot 1 Slot 2 Slot 3
DI0 X278.0 X286.0 X294.0
DI1 X278.1 X286.1 X294.1
DI2 X278.2 X286.2 X294.2
DI3 X278.3 X286.3 X294.3
DI4 X278.4 X286.4 X294.4
DI5 X278.5 X286.5 X294.5
DI6 X278.6 X286.6 X294.6
DI7 X278.7 X286.7 X294.7

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The status alarm input (ST) is provided in case an abnormal phenomenon such as short-circuiting occurs
in the DO. If an abnormality occurs, the address of the ST is set to "1."

Table 3.3.5.5 (c) Addresses corresponding to the status alarm

Output Slot 1 (ST) Slot 2 (ST) Slot 3 (ST)
DO0 Y278.0 (X279.0) Y286.0 (X287.0) Y294.0 (X295.0)
DO1 Y278.1 (X279.1) Y286.1 (X287.1) Y294.1 (X295.1)
DO2 Y278.2 (X279.2) Y286.2 (X287.2) Y294.2 (X295.2)
DO3 Y278.3 (X279.3) Y286.3 (X287.3) Y294.3 (X295.3)
DO4 Y278.4 (X279.4) Y286.4 (X287.4) Y294.4 (X295.4)
DO5 Y278.5 (X279.5) Y286.5 (X287.5) Y294.5 (X295.5)
DO6 Y278.6 (X279.6) Y286.6 (X287.6) Y294.6 (X295.6)
DO7 Y278.7 (X279.7) Y286.7 (X287.7) Y294.7 (X295.7)

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

BIPZ88A

OUT0
1○
O 2○O1 Ｌ
IN0 3○0V
DICOM○1 O 4○O0 Ｌ
I1○2 Ｉ 5○FG
0V○3 Shield
I0○4 Ｉ
FG○5 OUT1
Shield 1○
O 2○O3 Ｌ
IN1 3○0V
DICOM○1 O 4○O2 Ｌ
I3○2 Ｉ
5○FG
0V○3 Shield
I2○4 Ｉ
FG○5 OUT2
Shield 1○
O 2○O5 Ｌ
IN2 3○0V
DICOM○1 O 4○O4 Ｌ
I5○2 Ｉ
5○FG
0V○3 Shield
I4○4 Ｉ
FG○5 OUT3
Shield 1○
O 2○O7 Ｌ
IN3 3○0V
DICOM○1 O 4○O6 Ｌ
I7○2 Ｉ
5○FG
0V○3 Shield Power supply
Protection for control
I6○4 Ｉ circuit
2A
FG○5 Fuse LNKIN
Shield 1○24V
1■
External power
Power
supply supply
2○S+
2■
+
PWR IN circuit 3○S-
3■
DOCOM1 ■1 4○0V
4■
-
0V ■2 Shield
Interface unit or
+ DOCOM0 ■3 previous unit
- 0V ■4 LNKOUT
External power FG ■5 1○24V
supply Shield Control 2○S+
circuit
3○S-
4○0V
Shield To next unit

Fig. 3.3.5.5 (a) Circuit diagram of I/O unit BIPZ88A

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Mounting hole part

Fig. 3.3.5.5 (b) Outline drawing of I/O unit BIPZ88A

NOTE
The mounting hole part at the bottom edge of the unit is movable. As the range of
movement is 1 mm in the vertical direction, the mounting pitch is 166.9 ± 0.5 mm.

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

3.3.5.6 Analog current input (BIPADI4) and analog voltage input

(BIPADV4)
Table 3.3.5.6 (a) Electrical specifications of input unit
Unit name BIPADI4 BIPADV4
Number of input 4 channels
channels
Analog input range DC -20 to +20 mA DC -10 to +10 V
(Input resistance: 250 Ω) (Input resistance: 4.7 MΩ)
Digital output 16-bit binary two's complement notation
Input/output support
Current input Digital output Voltage input Digital output
+20 mA +16000 +10 V +32000
+10 mA +8000 +5 V +16000
0 mA 0 0V 0
-10 mA -8000 -5 V -16000
-20 mA -16000 -10 V -32000
Resolution 1.25 μA 0.3125 mV
Total precision ±1.0% (of the full scale) ±0.5% (of the full scale)
Maximum input voltage ±30 mA ±15 V
or current
Input filter delay time 2 ms (500 Hz)
Conversion time 2 ms or less
Note) The conversion time here only refers to the conversion time in the module. The
actual response time is the sum of this conversion time and the scan time
determined depending on the system.
24 V for external output 400 mA/unit (total of 4 channels) With the short-circuiting and overcurrent protection
function

Table 3.3.5.6 (b) Signal addresses that can be used in the input unit
Slot 1 Slot 2 Slot 3
Channel 0 X278.0 to 279.7 X286.0 to 287.7 X294.0 to 295.7
Channel 1 X280.0 to 281.7 X288.0 to 289.7 X296.0 to 297.7
Channel 2 X282.0 to 283.7 X290.0 to 291.7 X298.0 to 299.7
Channel 3 X284.0 to 285.7 X292.0 to 293.7 X300.0 to 301.7

- Area occupied by the PMC: Input 8 bytes

Table 3.3.5.6 (c) Details of input addresses
Bit
Address
7 6 5 4 3 2 1 0
X278 D07-0 D06-0 D05-0 D04-0 D03-0 D02-0 D01-0 D00-0 Channel 0
X279 D15-0 D14-0 D13-0 D12-0 D11-0 D10-0 D09-0 D08-0
X280 D07-1 D06-1 D05-1 D04-1 D03-1 D02-1 D01-1 D00-1 Channel 1
X281 D15-1 D14-1 D13-1 D12-1 D11-1 D10-1 D09-1 D08-1
X282 D07-2 D06-2 D05-2 D04-2 D03-2 D02-2 D01-2 D00-2 Channel 2
X283 D15-2 D14-2 D13-2 D12-2 D11-2 D10-2 D09-2 D08-2
X284 D07-3 D06-3 D05-3 D04-3 D03-3 D02-3 D01-3 D00-3 Channel 3
X285 D15-3 D14-3 D13-3 D12-3 D11-3 D10-3 D09-3 D08-3

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS
D00-n (n is 0, 1, 2, or 3 and indicates the channel number) corresponds to the weight of 20. D15-n
corresponds to the weight of 215.
However, D15-n corresponds to the sign bit of two's complement notation. (See the table below.)

Table 3.3.5.6 (d) Conversion from analog value to digital value

Digital value Analog value
Decimal Hexadecimal Binary notation Current input [mA] Voltage input [V]
notation notation (D15 to D00)
32767 7FFFh 0111 1111 1111 1111 Out of specifications
Out of specifications
32000 7D00h 0111 1101 0000 0000 10.0000000
16000 3E80h 0011 1110 1000 0000 20.00000 5.0000000
1 0001h 0000 0000 0000 0001 0.00125 0.0003125
0 0000h 0000 0000 0000 0000 0.00000 0.0000000
-1 FFFFh 1111 1111 1111 1111 -0.00125 -0.0003125
-16000 C180h 1100 0001 1000 0000 -20.00000 -5.0000000
-32000 8300h 1000 0011 0000 0000 -10.0000000
Out of specifications
-32768 8000h 1000 0000 0000 0000 Out of specifications

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

BIPADI4

AD0
Sensor power
supply 24VOUT○1
+ +
Current AD0 IN+○2 Current-to-
source - - voltage
COM○3 conversion
GND
AD0 IN-○4
FG○5
Shield

AD1
Sensor power
supply 24VOUT○1
+ +
Current AD1 IN+○2
Current-to-
source - - COM○3 voltage
conversion
GND
AD1 IN-○4
FG○5
Shield

AD converter
Multiplexer
AD2
Sensor power
supply
+ 24VOUT○1
+
Current AD2 IN+○2
source - - Current-to-
COM○3 voltage
GND conversion
AD2 IN-○4
FG○5
Shield

AD3
Sensor power
supply 24VOUT○1
+ +
Current AD3 IN+○2
source - - Current-to-
COM○3 voltage
GND conversion
AD3 IN-○4
FG○5
Shield
Power supply Protection
circuit
for control 2A
LNKIN Fuse
■1
24V○1
Interface unit or ■2
S+○2 Power
previous unit
■3
S-○3 supply
circuit
■4
0V○4
Shield
Control
circuit
LNKOUT
24V○1
S+○2
To next unit
S-○3
0V○4
Shield

Fig. 3.3.5.6 (a) Circuit diagram of the analog current input unit BIPADI4

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BIPADI4

AD0
Sensor power
supply 24VOUT○1
+ +
Current AD0 IN+○2
source - - COM○3
GND
AD0 IN-○4
FG○5
Shield

AD1
Sensor power
supply 24VOUT○1
+ +
Current AD1 IN+○2
source - - COM○3
GND
AD1 IN-○4
FG○5
Shield

AD converter
Multiplexer
AD2
Sensor power
supply
+ 24VOUT○1
+
Current AD2 IN+○2
source - -
COM○3
GND
AD2 IN-○4
FG○5
Shield

AD3
Sensor power
supply 24VOUT○1
+ +
Current AD3 IN+○2
source - -
COM○3
GND
AD3 IN-○4
FG○5
Shield
Power supply Protection
circuit
for control 2A
LNKIN Fuse
■1
24V○1
Interface unit or ■2
S+○2
previous unit Power
■3
S-○3 supply
circuit
■4
0V○4
Shield
Control
circuit
LNKOUT
24V○1
S+○2
To next unit
S-○3
0V○4
Shield

Fig. 3.3.5.6 (b) Circuit diagram of the analog current input unit BIPADI4

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

Although the figure below shows the BIPADI4, the BIPADV4 has the same dimensions.

Mounting hole part

Fig. 3.3.5.6 (c) Outline drawing of the analog current input unit BIPADI4 and analog voltage input unit
BIPADV4

NOTE
The mounting hole part at the bottom edge of the unit is movable. As the range of
movement is 1 mm in the vertical direction, the mounting pitch is 166.9 ± 0.5 mm.

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS

3.3.6 Multi Sensor Unit

3.3.6.1 Overview
The multi sensor unit is an I/O unit that collectively addresses the input of sensors that monitor the
machine state.
Two general purpose analog input channels can be used as optional input terminals in the ROBODRILL.

Wiring PCB I/O unit at the later

stage
A16B-3100-0120
A16B-3100-0121

JD1A JD1B
XS23
JD1B

JD1A

Multi sensor unit Analog voltage or current CH1

Analog voltage or current CH2

CPD1

Fig. 3.3.6.1 Connection of the multi sensor unit

Table 3.3.6.1 Signal addresses that can be used

Signal classification Channel Signal address (input)
CH1 X258.0 to X259.7
Analog voltage signal
CH2 X260.0 to X261.7

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

3.3.6.2 Connection to the terminal block

This section shows the name of each section in the multi sensor. The T1 section is the connection terminal
block for general purpose analog input.

Fig. 3.3.6.2 (a) Terminal layout of the multi sensor unit

The figure below shows the arrangement of signals for general purpose analog input in the T1 section.

Indication on the Pin No. Signal

cable side name
J 1 JMP0
+ 2 INP0
- 3 INM0
C 4 COM0
F 5 FG0I
F 6 FG0O
7
J 8 JMP1
+ 9 INP1
- 10 INM1
C 11 COM1
F 12 FG1I
F 13 FG1O
14

Fig. 3.3.6.2 (b) Terminal arrangement for general purpose analog input in the T1 section

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B-85444EN-3/03 3. INPUT/OUTPUT SPECIFICATIONS
The method to connect to the terminal block is described below.
(1) Insert a straight-head screwdriver with a tip that is about 2.5 mm wide into the clamp on the terminal
block to open the fixing bracket.

(2) Insert the cable with rod terminal.

(3) Pull the screwdriver out of the clamp to complete the wiring.

CAUTION
Note that gouging the clamp with the screwdriver may damage the terminal block.

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

The method to attach and remove the terminal block is described below.
Loosen the fixing screws at both edges of the terminal block to remove the terminal block from the
module.

Maximum tightening torque of fixing screw: 0.4 Nm

The table below lists the appropriate size of wires and rod terminals connected to the terminal block for
general purpose analog input and temperature input.

Table 3.3.6.2 Appropriate size of rod terminal

Rod terminal specifications
Wire dimensions ΦD3
ΦD2
Insulating cover

L1
The dimensions in
L2 the table below are
those of products
from Weidmueller.
ΦD1
Cross-secti JIS VSF JIS IV UL1007 UL1015 Peeling Total length Metal Inner Inner Outer
onal area of KIV length of L1 (mm) section diameter of diameter of diameter of
wire (mm2) (mm2) (mm2) (AWG) (AWG) wire (mm) length L2 conductive sheath sheath
(mm) section D1 section D2 section D3
(mm) (mm) (mm)
0.5 - - 20 - 10 14 8 1 2.6 3.1
12 16 10
0.75 0.5 - 18 20 10 14 8 1.2 2.8 3.3
12 16 10
1.0 0.75 0.9 - 18 10 14 8 1.4 3 3.5
12 16 10

CAUTION
Use the rod terminal for long-term reliability.

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3.3.6.3 Specifications of general purpose analog input

Table 3.3.6.3 (a) Electrical specifications of general purpose analog input
General purpose analog input
Number of input 2 channels (differential input)
channels
Analog input range DC -10 to +10 V (Input resistance: 4.7 MΩ) Voltage or current input can be selected
DC -20 to +20 mA (Input resistance: 250 Ω) for each channel through wiring.
Digital output 12-bit signed binary (2's complement form)
Input/output support
Analog input 12-bit digital output
Voltage input V Current input mA LSB
+ 10 + 2000 (7D0 H)
+5 + 20 + 1000 (3E8 H)
0 0 0 (000 H)
-5 - 20 - 1000 (C18 H)
- 10 - 2000 (830 H)

Resolution Voltage input per LSB: + 5 mV, current input per LSB: + 20 µA
Total precision Voltage input: ± 0.5%, current input: ± 1.0% (of the full scale)
Maximum input rating Voltage input: ± 11 V, current input: ± 30 mA
Minimum update time It is necessary to consider the I/O link transfer time between the CNC and the I/O unit and
the ladder scan cycle time (in the CNC).

- DI assignment byte configuration

Table 3.3.6.3 (b) Addresses for the multi sensor unit

Address in the X area Channel
X258.0 to 259.7 CH1
X260.0 to 261.7 CH2

- DI assignment byte configuration: CH1 (CH2 has the same bit configuration.)
#7 #6 #5 #4 #3 #2 #1 #0
X258 DA7 DA6 DA5 DA4 DA3 DA2 DA1 DA0
X259 Indefinite Indefinite Indefinite Indefinite DA11 DA10 DA9 DA8

- Details of each DI bit

Symbol Data name Details
Data format: 12-bit signed binary (two's complement format)
DA0 corresponds to the weight of 20. DA10 corresponds to the
General purpose weight of 210.
DA0-11
analog input value DA11 corresponds to the sign bit of two's complement notation.

Data range: -2048 to +2047

CAUTION
1 When the PMC program references the DI of each channel, ensure that the program
reads data in words (16 bits).
2 The values for the upper bytes #7, 6, 5, 4 are indefinite. Mask these bits during use.

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

Voltage or current input can be selected as the general purpose analog input by connecting the terminal
(JMP).
In the wiring example below, CH1 is used as voltage input and CH2 is used as current input.

Label display Inside of the unit

Signal name 250Ω
Pin No
For voltage input
CH1 J ○T1-1 JMP0
Voltage
＋ + ○T1-2 INP0
source
－ - ○T1-3 INM0

GND C ○T1-4 COM0

F ○T1-5 FG0I
F ○T1-6 FG0O
○T1-7
Note 4
Note 3

Note 2
Internal
circuit
Note 1
250Ω
For current input
CH2 J ○T1-8 JMP1
Current
＋ + ○T1-9 INP1
source
－ - ○T1-10 INM1
GND C ○T1-11 COM1
F ○T1-12 FG1I
F ○T1-13 FG1O
○T1-14

Fig. 3.3.6.3 (a) Circuit diagram of general purpose analog input in the multi sensor unit

CAUTION
1 Short-circuiting JMPn and INPn (n = 0 or 1) turns the channel into current input.
2 Use a twisted pair shield cable for connection.
3 Although the shield wire is connected to FGnI and grounded to FGnO in the
above figure, you can connect the shield to the frame ground by directly using the
cable clamp flange without using FGnI and FGnO.
4 When the voltage source (current source) has the GND terminal as shown in the
above figure, connect COMn to that terminal. If there is no GND terminal, connect
INMn and COMn in the unit as indicated by the dotted line in the above figure.
The COMn of all channels are connected to the common ground in the unit.

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Pull this up by 5 mm when removing it from the DIN rail.

Fig. 3.3.6.3 (b) Outline drawing of multi sensor unit

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3. INPUT/OUTPUT SPECIFICATIONS B-85444EN-3/03

3.4 ADDRESSES AVAILABLE TO CUSTOM PMC

The following addresses are available to custom PMC.

Table 3.4 (a) Addresses available to custom PMC

Address
Symbol Function Editing Address
type
X --- Input from external device to custom PMC Input only X0.0 to X1.7 (CH1)
X4.0 to X5.7 (CH1)
X200.0 to X327.7 (CH2)
Y --- Output from custom PMC to external device Input and Y0.0 to Y3.7 (CH1)
output Y200.0 to Y327.7 (CH2)
R Work register Input and R2000.0 to R2999.7
output
SI**_* Input from system ladder program to Input only Refer to Chapter 6.
custom PMC
SO**_* Output from custom PMC to system ladder Input and
program output
A --- Alarm operator message display request Input and A100.0 to A149.7
output
D --- Non-volatile memory (allows setting of Input and D7000 to D7999
parameters) output D7000.0 to D7999.7
K --- Non-volatile register (allows setting of Input and K35#0 to K44#7
parameters) output

Timers and counters can use the following numbers.

Table 3.4 (b) Timers and counters that can be used in custom PMC
Timer/Counter No.
Timer Variable timer 121 to 200 (T240 to T398)
Fixed timer 1 to 1000
Counter 40 to 69 (C156 to C274)

The following subprogram numbers can be used:

Table 3.4 (c) Subprograms that can be used in custom PMC

Subprogram number P1500 to P5000

The following special auxiliary relay numbers can be used:

Table 3.4 (d) Special auxiliary relays that can be used in custom PMC
Common to DIFU/DIFD 1 to 2000

NOTE
For α-DiB series, use Z0 as a system relay. R9000 cannot be used.
Only the above addresses are available for communication functions (such as CC-Link,
FL-net, EtherNet / IP, DeviceNet, PROFIBUS, PROFINET IO, and Modbus/TCP). Do not
use any other address.

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4 CONNECTING CIRCUIT WIRING

This chapter describes how to connect circuit wiring. The methods for connecting the standard terminal
block and the optional I/O Unit Model-A, I/O Link connection unit, sub-operator's panel I/O module,
additional I/O units (wiring PCB I/O module + terminal module), multi sensor unit, and I/O
Unit-MODEL B are described.
For details about the signal addresses for wiring circuits, refer to Chapter 3, “INPUT/OUTPUT
SPECIFICATIONS.” For details about the specifications of the terminal block and connection cables,
refer to MAINTENANCE MANUAL (Detailed Version).

4.1 STANDARD TERMINAL BLOCK XT1 (R/L) and XTC1

Connect the circuits of the XT1 (R/L) standard terminal block and the XTC1 terminal block with
reference to the following mounting diagram.
For details about connection to the terminals of the terminal blocks, refer to Section 3.2, “STANDARD
INPUT/OUTPUT SPECIFICATIONS.”
For details about how to switch between PNP and NPN, refer to MAINTENANCE MANUAL (Detailed
Version).

[DI01]

[K22]

Additional terminal
block (XTC1)

Optional mounting board

Fig. 4.1 Mounting diagram of the additional terminal block (XTC1)

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4. CONNECTING CIRCUIT WIRING B-85444EN-3/03

4.2 I/O UNIT-MODEL A

Connect the circuits of the I/O Unit-MODEL A with reference to the following mounting diagram.
For details about the addresses of the I/O Unit-MODEL A, refer to Subsection 3.3.1, “I/O Unit-MODEL
A.”

[K107] JD1A

XS23-3

[K108]

Interface module

Vertical type base unit

Fig. 4.2 Mounting diagram of the vertical type base unit

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4.3 I/O LINK CONNECTION UNIT

Connect the circuits of the I/O Link connection unit with reference to the following mounting diagram.
For details about the addresses of the I/O Link connection unit, refer to Subsection 3.3.2, “I/O Link
Connection Unit.”

[K32] JD1A

XS23-6

[K119]

CP1

JD1B

I/O Link
connection unit

[K230]

Fig. 4.3 Mounting diagram of the I/O Link connection unit

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4. CONNECTING CIRCUIT WIRING B-85444EN-3/03

4.4 SUB-OPERATOR’S PANEL I/O MODULE AND TERMINAL

MODULE B
Connect the circuits of the sub-operator’s panel I/O module and the terminal module B with reference to
the following mounting diagrams.
For details about connection to and the addresses of the sub-operator’s panel I/O module and the terminal
module B, refer to Subsection 3.3.3, “Sub-Operator's Panel I/O Module” and Subsection 3.3.3.1,
“Additional I/O Unit for Sub-Operator's Panel.”
JD1A

[K34]

[K35]

XS23-5

JD1B

Sub-operator's panel
CPD1
I/O module

Fig. 4.4 (a) Mounting diagram of the sub-operator’s panel I/O module on
the back of the operator’s panel
(Left: front view of the inside of the control unit cabinet, right: back of the operator’s panel)

JD1A

[K206]

[K205]

JD1B
CPD1
XS23-5
Sub-operator's panel
I/O module

Fig. 4.4 (b) Mounting diagram of sub-operator’s panel I/O module inside the control unit cabinet
(Left: front view of the inside of the control unit cabinet, right: right side wall inside the control unit cabinet)

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CE57
(upper)
CE56 (lower) Sub-operator's panel
I/O module

Optional
mounting
board

[K38]
Terminal
module B

Fig. 4.4 (c) Mounting diagram of the terminal module B inside the control unit cabinet
(Left: front view of the inside of the control unit cabinet, right: right side wall inside the control unit cabinet)

4.5 ADDITIONAL I/O UNIT (I/O MODULE + TERMINAL

MODULE)
Connect the circuits of the additional I/O units (wiring PCB I/O module + terminal module) with
reference to the following mounting diagrams.
JD1A

[K27]

Wiring PCB I/O

module (base)

[K26]

JD1B

Wiring PCB I/O Terminal

module
module
(expansion)

For details about connection to and the addresses of the additional I/O units (wiring PCB I/O module +
terminal module), refer to Subsection 3.3.4, “Additional I/O Unit (Wiring PCB I/O Module + Terminal
Module).”

Fig. 4.5 (a) Mounting diagram of the wiring PCB I/O modules and terminal modules

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Flat cable

3rd I/O module E1 (#3) 2nd I/O module E1 (#2) 1st I/O module E1 (#1) I/O module B1
A03B-0824-C003 A03B-0824-C003 A03B-0824-C003 A03B-0824-C001

Fig.4.5 (b) Arrangement of wiring PCB I/O modules

Fig. 4.5 (c) Wiring to wiring PCB I/O modules

(Left: basic module, right: expansion modules)

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4.6 MULTI SENSOR UNIT

Connect the circuits of the multi sensor unit with reference to the following mounting diagram.
For the addresses of the multi sensor unit, refer to Subsection 3.3.6, "Multi Sensor Unit."

JD1A

XS23-4~6

[K131]
JD1A

XS23-4~6
[K130]

JD1B JD1B

CPD1
CPD1
Fig. 4.6 Mounting diagram of the multi sensor unit
(Left: multi sensor unit, right: inside of the control unit cabinet)

4.7 I/O Unit-MODEL B

Connect the circuits of the I/O Unit -MODEL B with reference to the following mounting diagrams.
For the addresses of the I/O Unit -MODEL B, refer to Subsection 3.3.5, "I/O Unit-MODEL B."

JD1A
XS23-4~6 24V
XS23-4~6
0V
[K133]
JD1A

0-V, 24-V
terminal

[K132] JD1B
JD1B

Fig. 4.7 Mounting diagram of the I/O Unit-MODEL B

(Left: I/O Unit-MODEL B, right: inside of the control unit cabinet)

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4.8 OPTIONAL I/O MODULE CONNECTION

Optional I/O modules must be connected in series by using the I/O Link interface.

Procedure for connection

1 Connect the modules in the ascending order of group numbers starting from the connector panel.
2 Unused modules need not be connected.

JD1A

Wiring PCB: JD1A

|
Group 0: I/O Unit-MODEL A
|
Group 1: I/O Link Connection Unit
|
Group 2: Wiring PCB I/O Module
|
Wiring PCB Group 3: Sub-Operator’s Panel I/O Module
|
Group 4: Multi Sensor Unit
|
Group 5: I/O Unit-MODEL B

Fig. 4.8 (a) Procedure for connection for standard settings

Example: when the I/O Link connection unit and additional I/O units for
sub-operator’s panel are added

Wiring PCB: JD1A

|
Group 1: I/O Link Connection Unit
|
Group 3: Sub-Operator’s Panel I/O Module
|
Group 4: Multi Sensor Unit
|
Group 5: I/O Unit-MODEL B

Fig. 4.8 (b) Procedure for connection when the I/O Link connection unit and additional I/O units for
sub-operator’s panel are added

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4.9 PARAMETER SETTING WHEN OPTIONAL I/O MODULES

ARE USED
When using optional I/O modules, set the following parameters:

K932#0=1: I/O Unit-MODEL A

K932#1=1: I/O Link connection unit
K932#2=1: Wiring PCB I/O module
K932#3=1: Sub-operator's panel I/O module
K932#4=1: Multi sensor unit
K932#5=1: I/O Unit-MODEL B

NOTE
1 The screen for setting keep relays in the nine hundreds can be displayed by pressing the
emergency stop button.
2 Use K932#3 in the I/O Link i setting file for version 47H9/02 or earlier. Set K932#7 for
version 47H9/03 or later.

Reference:
For details about how to set parameters, refer to Section 5.3, “SETTING PMC PARAMETERS” and
Chapter 8, “EXAMPLES OF HOW CUSTOM PMC IS USED.”

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5 CREATING, EDITING, AND EXECUTING

PROGRAMS
This chapter describes how to create, edit, and execute ladder programs.

5.1 EDITING
You can edit ladder and other programs on the PMC screen.

CAUTION
With this series, the second PMC is the custom PMC use area. When editing
ladder programs, messages, symbols, comments, and so forth, check that "2ND
PMC" is indicated in the upper-left corner of the screen.
Never perform editing or deleting with the first PMC.

5.1.1 Starting an Editing Session

Edit a ladder program as follows:

1 Turn the power ON.

2 Press the emergency stop button.
3 Open the PMC screen.
Reference:
If the QUICK screen is displayed, press the <QUICK/NC> button on the operator's panel to display
the CNC screen.
The CNC SYSTEM-SYSTEM screen appears.
4 Press the <SYSTEM> key on the operator's panel.
5 Press the <N. PAGE> key on the operator's panel.
6 Press the rightmost soft key [+] several times until the following soft keys are displayed:

Fig. 5.1.1 Soft keys

Each soft key corresponds to functions as listed below. Display a desired screen.

PMC MAINTE: Displays the signal status, and sets the trace function and PMC parameters.
PMC LADDER: Lists and edits a ladder program.
PMC CONFIG: Lists and edits titles, messages, and comments.

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5.1.2 Editing Ladder Programs

5.1.2.1 Switching to the edit screen
Switch to the edit screen as follows:

Switch to the ladder diagram screen

1 Press soft key [PMC LADDER].

Fig. 5.1.2.1 (a) Key [PMC LADDER]

The PMC LADDER DIAGRAM MONITOR screen appears.

Fig. 5.1.2.1 (b) PMC LADDER DIAGRAM MONITOR screen

2 Press the soft key [(OPRT)].

Fig. 5.1.2.1 (c) Key [(OPRT)]

3 Press the soft key [SWITCH PMC] to switch to the second PMC. (Press this soft key several times
if necessary.)

Fig. 5.1.2.1 (d) Key [SWITCH PMC]

4 Check that "2ND PMC" is indicated in the upper-left corner of the screen.

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Select the edit area

1 Move the cursor to "CUSTOM" (P1500) by using the cursor keys on the operator's panel then press
the soft key [ZOOM].

Fig. 5.1.2.1 (e) Key [ZOOM]

2 If the second PMC is already selected, move the cursor to "CUSTOM" (P1500) then press the soft
key [LADDER].

Fig. 5.1.2.1 (f) Key [LADDER]

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Switch to PMC LADDER DIAGRAM EDITOR

1 Press the soft key [EDIT] on the LADDER DIAGRAM MONITOR screen.
The PMC LADDER DIAGRAM EDITOR screen appears (The [EDIT] key is displayed only in the
emergency stop state).

Fig. 5.1.2.1 (g) Key [Edit]

5.1.2.2 Editing ladder programs

Ladder programs may be created between "SUB71" and "SUB72".

Fig. 5.1.2.2 (a) Area in which a program is to be created

Press the rightmost soft key [+] to change the displayed soft keys.

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Fig. 5.1.2.2 (b) Rightmost key [+] to change the displayed soft keys

CAUTION
Never delete or edit functional instructions "SUB71" and "SUB72".
Do not create ladder programs outside the "SUB71" to "SUB72" area.

Table 5.1.2.2 (a) Menu on the LADDER DIAGRAM EDITOR screen

Soft key Function
LIST Lists ladder programs. (Not used.)
SEARCH MENU Displays the search menu in the soft key area.
CREATE Displays the PMC LADDER NET EDITOR screen to add a new net at the cursor position.
ZOOM Reflects the results of the edit operations performed so far in the currently executed ladder
program. If the changes are reflected normally, the edited version of the ladder program will
be executed immediately.
CREATE NET Displays the PMC LADDER NET EDITOR screen to edit the net at the cursor position.
AUTO Executes the function which automatically enters unused addresses or parameter numbers.
SELECT Used to specify more than one net to perform an edit operation such as [DELETE], [CUT], and
[COPY]. Press soft key [SELECT] to specify the start of the range to be selected, then use
the cursor movement keys or the search function to specify the end of the range. After
selecting nets, press the desired edit soft key to perform that edit operation.
DELETE Deletes a selected net. When deleted, the net will be lost. If you want to restore the deleted
net, you must use soft key [RESTRE] to return the entire ladder program to the state in which it
was before the edit operation.
CUT Removes a selected net and places it in the clipboard. To paste the net, use soft key
[PASTE].
COPY Makes a copy of a selected net and place it in the clipboard. To paste the copy, use soft key
[PASTE].
PASTE Inserts the net placed in the clipboard with [CUT] or [COPY] at the cursor position.
Pressing soft key [PASTE] when a net is selected with [SELECT] causes the selected net to be
replaced by the one placed in the clipboard with [CUT] or [COPY].
CHANGE ADRS Displays the address conversion soft keys to use the address conversion function.
ADRS MAP Calls the ADDRESS MAP screen to check the reference of the used addresses.
UPDATE Reflects the results of the edit operations performed so far in the currently executed ladder
program. When the changes are reflected normally, the edited version of the ladder program
will be executed immediately.
RESTRE Cancels the results of the edit operations performed so far and returns the ladder program to
the state in which it was when the system switched to the PMC LADDER DIAGRAM EDITOR
screen or to the state in which it was when [UPDATE] was last used. After having performed
a wrong edit operation, you can use this key if recovery is difficult to accomplish.
SCREEN Calls the setup screen of the PMC LADDER DIAGRAM EDITOR screen. You can change
SETING various types of settings related to ladder diagram edit operations.
START/STOP Controls the execution of the ladder program. Soft key [RUN] starts the execution of the
ladder program, and soft key [STOP] stops its execution.
CANCEL EDIT Cancels the results of the edit operations performed so far and returns the ladder program to
the state in which it was when the system switched to the LADDER DIAGRAM EDITOR screen
or when [UPDATE] was last used. Displays the LADDER DIAGRAM MONITOR screen.
EXIT EDIT Reflects the results of the edit operations performed so far and terminates editing.
You cannot move to another screen during edit operation of a ladder diagram by pressing any
function key such as the SYSTEM key unless you terminate editing.

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Create/add a new net

Switch to the LADDER DIAGRAM EDITOR screen (See Subsection 5.1.2.1).

1 Position the cursor on SUB72.Alternatively, position the cursor on the net immediately below the
position at which you want to add a new net.
2 Press soft key [CREATE].
The PMC LADDER NET EDITOR screen is displayed.

Fig. 5.1.2.2 (c) PMC LADDER NET EDITOR Screen

Creating a ladder program using instructions displayed as soft keys

Setting addresses
Use the alphabetic keys on the operator's panel to enter alphabetic letters.

Fig. 5.1.2.2 (d) Setting an address

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Table 5.1.2.2 (b) Menu on the NET EDITOR screen

Instruction Function
Reads the signal state of a specified address.
Reads the signal state of a specified address and inverts it.
Writes the state of a logic operation result to a specified address.
Inverts the state of a logic operation result and writes it to a specified address.
FUNC Selects a functional instruction.
Connects one step to another.
Deletes a basic or functional instruction.
Connects or disconnects instructions entered in parallel. (Left side of an instruction)
Connects or disconnects instructions entered in parallel. (Right side of an instruction)
AUTO Executes the function which automatically enters unused addresses or parameter numbers.
S Writes the state of a logic operation result to a specified address to keep it.

R Resets a kept output.

TABLE Displayed if the cursor is positioned on the functional instruction COD (SUB7) or CODB
(SUB27). It is used to change the contents of the data table of these functional instructions.
RESTRE Returns the currently edited net to the state in which it was when editing started.
NEXT NET Terminates the editing of the current net and allows you to edit the next net.
When you have called the NET EDITOR screen using soft key [ZOOM] on the LADDER
DIAGRAM EDITOR screen, the system terminates changing the current net and enables the
next net to be edited.
When you have called the NET EDITOR screen using soft key [CREATE NET] on the LADDER
DIAGRAM EDITOR screen, the system terminates creating the current net, inserts the created
net, and immediately enters the status in which a new net is created (empty net status).
INSLIN Inserts a blank line at the current cursor position. The ladder diagram located below the cursor
position will be shifted downward by one line. If a blank line is inserted in the middle of a
functional instruction, the functional instruction will be expanded vertically, expanding the space
between input conditions.
INSCLM Inserts a blank column at the current cursor position. The ladder diagram at the right of the
cursor position moves right one column.
APPCLM Inserts a blank column at the right of the current cursor position. The ladder diagram at the right
of the cursor position moves right one column and the ladder diagram is extended horizontally if
necessary.
CANCEL EDIT Returns the net currently being edited to the state at the start of the editing and displays the
LADDER DIAGRAM MONITOR screen.
EXIT Analyzes the net being edited and stores it in the ladder program. If any error is found in the
net, the NET EDITOR screen remains displayed and an error message is displayed.

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Entering functional instructions

1 Press the soft key [FUNC].
2 Then, position the cursor on the functional instruction you want to enter and press soft key [SELECT].
This causes the functional instruction to be inserted into the NET EDITOR screen.
Set various parameters (timer No. and time in the case of SUB24 fixed timer).

Fig. 5.1.2.2 (e) Entering a functional instruction

CAUTION
Ladder programs such as those shown below cannot be created.

Fig. 5.1.2.2 (f) Ladder program that cannot be created

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Modify the ladder program

Deleting an instruction entered

1 Position the cursor on the instruction you want to delete.

2 Press soft key .

Fig. 5.1.2.2 (g) Deleting an instruction entered

Deleting an instruction entered in parallel

1 Position the cursor on the instruction you want to delete.

2 Press soft key .
3 Then, press soft key .

Fig. 5.1.2.2 (h) Deleting an instruction entered in parallel

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Deleting a functional instruction

1 Position the cursor on the desired functional instruction No.

2 Press soft key .
3 This causes the functional instruction to be deleted, separating nets. Use soft key to connect
the nets.

Fig. 5.1.2.2 (i) Deleting a functional instruction

Deleting a net

1 Exit the NET EDITOR screen and open the LADDER DIAGRAM EDITOR screen.
2 Position the cursor on the net you want to delete, and press soft key [DELETE].

Fig. 5.1.2.2 (j) Deleting a net

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Adding an instruction

1 Open the NET EDITOR screen.

2 Position the cursor on the location where you want to add an instruction.
3 Press soft key or to add an instruction, then set an address.

Fig. 5.1.2.2 (k) Adding an instruction

Adding a functional instruction

1 Before adding a functional instruction, use the soft key to delete the net from the location at
which the instruction is to be added, reserving the space for the functional instruction.
2 Then, add the functional instruction.

Adding a functional instruction between instructions or between nets

1 Press the rightmost soft key [+].

This changes the soft key menu.

Adding an instruction between nets or between instructions entered in parallel

1 Move the cursor below the position at which you want to add an instruction, then press soft key
[INSLIN].

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Adding an instruction between instructions entered in series

1 Move the cursor to the right or left of the position at which an instruction is to be added.
2 To insert an instruction to the right of the cursor position, press the soft key [APPEND COL
UMN]; to insert it to the left of the cursor position, press the soft key [INSERT COLUMN].
Insert it to the left of the cursor position, press soft key [INSCLM].
3 Add an instruction to the created space.

Fig. 5.1.2.2 (l) Adding a functional instruction between instructions or between nets

Copying or moving a net

1 Exit the NET EDITOR screen and open the LADDER DIAGRAM EDITOR screen.
2 Position the cursor on the net you want to copy.
3 Press soft key [SELECT].
4 Use the cursor or other keys to specify the copy area.
5 After specifying the area, press soft key [COPY].
6 Move the cursor to the position at which you want to copy the net, and press soft key [PASTE].

Fig. 5.1.2.2 (m) Copying or moving a net

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Switching the display format

1 Exit the NET EDITOR screen and open the LADDER DIAGRAM EDITOR screen.
2 Press the rightmost soft key [+].
The soft key menu will change.
3 Press the soft key [SCREEN SETTING].
This allows you to change the various settings for ladder diagram display. Refer to Table 5.1.2.2 (c)
Setting items in PMC LADDER DIAGRAM MONITOR.

Fig. 5.1.2.2 (n) Switching the display format

Table 5.1.2.2 (c) Setting items in PMC LADDER DIAGRAM MONITOR

Item Description
ADDRESS Used to specify whether to display addresses in the ladder diagram as symbols or
NOTATION addresses. Those addresses for which no symbols have been defined will always be
displayed as addresses.
FUNCTION STYLE Used to switch the functional instruction display format.
COMPACT: Reduces the functional instruction display area to a minimum. The address
parameter monitor is not displayed.
WIDE: Reserves a wide area for displaying the current address parameter value
monitor.
TALL: Reserves a tall area for displaying the current address parameter value
monitor.
SHOW COMMENT Used to switch the format in which comments are to be displayed below contacts.
OF CONTACT NONE: Displays no comments. This allows more contacts to be displayed on the
screen.
1 LINE: Displays comments below contacts in a 7-single-byte-character x 1-line format.
2 LINE: Displays comments below contacts in a 7-single-byte-character x 2-line format.
SHOW COMMENT Used to specify whether to display comments at coil positions.
OF COIL YES: Displays comments on the right of the ladder diagram.
NO: Displays no comments. This allows more relays to be displayed horizontally.
Comments can be displayed.
SHOW CURSOR Used to specify whether to display the cursor.
YES: Displays the cursor. The cursor movement keys are sued to move the cursor.
For a search, the cursor will move to a found object such as a relay.
NO: Does not display the cursor. The up and down cursor movement keys are used to
directly move the screen display position.

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Item Description
SUBPROGRAM NET Used to select a method of assigning numbers to the nets to be displayed.
NUMBER LOCAL: Assigns 1 to the first net of the subprogram currently opened. The net number
display is the display range/number of nets in the entire subprogram currently
opened.
GLOBAL: Assigns 1 to the first net of all ladder programs (second PMC). The net
number display is the display range/subprogram range.
WRAP SEARCH Used to specify whether to continue the search starting at the beginning of the ladder
ENABLED program when the end of the ladder program is reached in a search process.
YES: If the end of the ladder program is reached in a forward search, continues the
search at the beginning. If the beginning is reached in a backward search,
continues the search at the end.
NO: At the point when the end or beginning of the ladder program is reached, assumes
the search to be a failure if no match is found, displaying an error message.
PROGRAM LIST Used to specify whether to display the subprograms on the PROGRAM LIST EDITOR
ORDER screen in the order of program numbers or symbols.
FRAME NET ON Used to specify whether to display functional instructions END1, END2, SP, and SPE
SUBPROGRAM when the contents of a program are displayed using the [ZOOM] key on the PROGRAM
DISPLAY LIST MONITOR/EDITOR screen.
HEAVY LINES IN Used to specify the thickness of the lines in the ladder diagram.
LADDER DIAGRAM YES: Uses heavy lines in the ladder diagram. The shape of each relay is a little larger.
NO: Uses light lines in the ladder diagram. The shape of each relay is a little smaller.
ON/OFF CHANGE OF Used to specify whether to change the shape of each relay according to its status.
RELAY SHAPE YES: Changes the shape of each relay according to its status. This setting is valid only
when "HEAVY LINES IN LADDER DIAGRAM" is set to "YES".
NO: Does not change the shape of each relay.
ADDRESS COLOR Used to set the color of symbols and addresses.
DIAGRAM COLOR Used to set the color of the ladder diagram.
ACTIVE RELAY Used to set the color of a relay when it is ON.
COLOR
PARAMETER COLOR Used to set the color of functional instruction parameters in the monitor display section.
COMMENT COLOR Used to set the color of comments.

Pressing soft key [INIT] causes all settings to be changed to their defaults.
4 After changing settings, press the soft key [EXIT].
You will be returned to the LADDER DIAGRAM EDITOR or NET EDITOR screen.

Searching for an instruction

1 Press soft key [SEARCH].

This changes the soft key menu.
2 Search for an instruction with reference to Table 5.1.2.2 (d) Menu items for searching for an
instruction.
3 To exit the search menu, press the soft key [EXIT].

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Fig. 5.1.2.2 (o) Searching for an instruction

Table 5.1.2.2 (d) Menu items for searching for an instruction

Item Description
TOPBTM Causes a jump to the beginning of the ladder program. If the beginning is already
displayed, causes a jump to the end.
SEARCH Searches for the address or net number corresponding to an entered character string,
displaying it if it is found. If a number is entered, the system interprets it as a net
number.
If a character string other than a number is entered, the system examines to see if the
character string has been defined as a symbol. If it has been defined as a symbol, the
system searches for the address represented by that symbol. If it has not been
defined as a symbol, the system interprets it as a character string representing an
address. If succeeding in interpreting it correctly, the system searches for the
address.
W-SRCH Searches for the write coil in which the entered character string is used.
F-SRCH Accepts a functional instruction No. or functional instruction name as input and
searches for the functional instruction.
PREV Repeats the last successful search operation in the backward direction.
NEXT Repeats the last successful search operation in the forward direction.
GLOBAL Switches the search target between all ladder programs (second PMC) and the
subprogram currently opened. The current search target is displayed at the rightmost
position.
The system ladder programs (LV1, LV2, P1-P1499) are protected, so that the system
ladder programs cannot be search targets even if "GLOBAL" is selected.

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5.1.3 Editing Alarm and Operator Messages

CAUTION
English messages are set in this section because the multi-language display
function is used for ladder messages.

1 Press the emergency stop button.

2 Press soft key [PMC CONFIG].

Fig. 5.1.3 (a) Key [PMC CONFIG]

3 Press the rightmost soft key [+]. (Press this soft key several times in some cases.)

Fig. 5.1.3 (b) Key [+]

4 Press soft key [MESAGE].

Fig. 5.1.3 (c) Key [MESAGE]

5 Press soft key [(OPRT)].

Fig. 5.1.3 (d) Key [(OPRT)]

6 Press soft key [EDIT] (soft key [EDIT] is displayed only in the emergency stop state).

Fig. 5.1.3 (e) Key [EDIT]

7 The message "DO YOU WANT TO STOP THIS PMC PROGRAM?" is displayed. Press soft key
[YES]. (The ladder program stops.)

Fig. 5.1.3 (f) Message

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The MESSAGE DATA EDITOR screen is displayed.

Fig. 5.1.3 (g) MESSAGE DATA EDITOR screen

8 Use soft key [SEARCH], <page> keys and the <cursor> keys appropriately to search for the address
to which a message is to be entered.

9 Position the cursor on the target address and press soft key [ZOOM].

Fig. 5.1.3 (h) Searching for an address

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10 Position the cursor on the number setting field and enter the alarm or message number.
11 Move the cursor to the message setting field, enter the message, and press soft key [EXIT ZOOM].

Fig. 5.1.3 (i) Entering a message

12 After the termination of editing, press soft key [EXIT EDIT].

The message "DO YOU WANT TO RUN THIS PMC PROGRAM?" is displayed.
Press soft key [YES]. (The ladder program starts.)

Fig. 5.1.3 (j) Key [EXIT EDIT]

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5.1.4 Editing Symbols and Comments

Edit symbols and comments as follows:

1 Press the emergency stop button.

2 Press soft key [PMC CONFIG].

Fig. 5.1.4 (a) Key [PMC CONFIG]

3 Press the rightmost soft key [+]. (Press this soft key several times in some cases.)

Fig. 5.1.4 (b) Key [+]

4 Press soft key [SYMBOL].

Fig. 5.1.4 (c) Key [SYMBOL]

5 Press oft key [(OPRT)].

Fig. 5.1.4 (d) Key [(OPRT)]

6 Press soft key [EDIT] (soft key [EDIT] is displayed only in the emergency stop state.)

Fig. 5.1.4 (e) Key [EDIT]

7 The message "DO YOU WANT TO STOP THIS PMC PROGRAM?" is displayed. Press soft key
[YES]. (The ladder program stops.)

Fig. 5.1.4 (f) Key [YES]

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The SYMBOL & COMMENT DATA EDITOR screen is displayed.

Fig. 5.1.4 (g) SYMBOL & COMMENT DATA EDITOR screen

8 If you want to change a symbol or comment at an address, use soft key [SEARCH].
9 If you want to add a new symbol or comment, use soft key [NEW ENTRY].
10 Move the cursor to move the yellow cursor from the symbol field to the program field. Set required
data in each field.
11 After the termination of editing, press soft key [EXIT EDIT].
The message "DO YOU WANT TO RUN THIS PMC PROGRAM?" is displayed.
Press soft key [YES]. (The ladder program starts.)

Fig. 5.1.4 (h) Key [YES]

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5.1.5 Ending an Editing Session

Edited ladder programs and other data are lost if you just turn the power off. After editing, write the
data to the flash ROM. Use the following procedure:

1 Press the emergency stop button.

2 Press soft key [PMC MAINTE].

Fig. 5.1.5 (a) Key [PMC MAINTE]

3 Press soft key [I/O].

Fig. 5.1.5 (b) Key [I/O]

4 The PMC I/O DATA screen is displayed.

Select the following items and press soft key [(OPRT)]:
PMC= "PMC2"
DEVICE = "FLASH ROM"
FUNCTION = "WRITE"
KIND OF DATA = "SEQUENCE PROGRAM"

Fig. 5.1.5 (c) PMC Data I/O screen

5 Press soft key [EXEC]. Writing edited data to the flash ROM starts.
"COMPLETE" is displayed to indicate completion.

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5.2 CONFIRMATION

5.2.1 Displaying the Ladder Program Status

You can display the ladder program status screen. Use the following procedure:

1 Press soft key [PMC LADDER].

Fig. 5.2.1 (a) Key [PMC LADDER]

2 Press the soft key [(OPRT)].

Fig. 5.2.1 (b) Key [(OPRT)]

3 Press the soft key [SWITCH PMC] to switch to the second PMC. (Press this soft key several times
if necessary.)

Fig. 5.2.1 (c) Key [SWITCH PMC]

4 Check that "2ND PMC" is indicated in the upper-left corner of the screen.

5 Move the cursor to "CUSTOM" (P1500) then press the soft key [ZOOM].

Fig. 5.2.1 (d) Checking that "2ND PMC" is shown on the screen

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6 If the second PMC is already selected, move the cursor to "CUSTOM" (P1500) then press the soft
key [LADDER] or press [(OPRT)] then [ZOOM]. The ladder diagram screen is displayed.

Fig. 5.2.1 (e) LADDER DIAGRAM MONITOR screen

Table 5.2.1 Function keys on the LADDER DIAGRAM MONITOR screen

Soft key Function
LIST Lists ladder programs.
SEARCH MENU Displays the search menu in the soft key area.
SWITCH Switches to the select monitor screen.
SWITCH PMC Switches to the first PMC, second PMC, and dual check.
SCREEN SETING Calls the setup screen of the LADDER DIAGRAM MONITOR screen.
The settings are the same as those on the LADDER DIAGRAM EDITOR screen.

5.2.2 Signal Diagnosis

You can display the logic status of each signal. Use the following procedure:

1 Press soft key [PMC MAINTE].

Fig. 5.2.2 (a) Key [PMC MAINTE]

2 Press the rightmost soft key [+]. (Press this soft key several times in some cases.)

Fig. 5.2.2 (b) Key [+]

3 Press soft key [SIGNAL STATUS].

The SIGNAL STATUS screen is displayed.
"1" is displayed when the corresponding signal is ON. "0" is displayed when it is OFF.
4 Enter the address or symbol you want to reference and press soft keys [(OPRT)] → [SEARCH], and
information for that address is displayed.
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Fig. 5.2.2 (c) SIGNAL STATUS screen

CAUTION
With this series, the second PMC is the custom PMC use area.
If the second PMC is not selected, the signal status screen, when displayed, does
not display symbols set with the custom PMC. So, check that "2ND PMC" is
indicated in the upper-left corner of the screen.

5.3 SETTING PMC PARAMETERS

CAUTION
With this series, the second PMC is the custom PMC use area. However, the
PMC parameters are common to the first PMC and second PMC. So, do not
use addresses other than the usable ones.

Setting timers, counters, keep relays, and data tables

Set these parameters as follows:

1 Press the <MDI MENU> key on the operator's panel.

Switch the operation mode to MDI mode.

2 Press the <OFFSET SETTING> key or the <3 SET> key and then the <N. PAGE> key on the
operator's panel.
The CNC SETTING screen appears.

3 Press soft key [SETTING].

Fig. 5.3 (a) Key [SETTING]

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4 Set "PARAMETER WRITE" to "1:ENABLE".

Fig. 5.3 (b) Setting "PARAMETER WRITE" to "1:ENABLE"

5 Press the <SYSTEM> key or the <0 SYSTEM> key and then the <N. PAGE> key on the operator's
panel.
The CNC SYSTEM screen appears.

6 Press the rightmost soft key [+] several times, then soft key [PMC MAINTE].

Fig. 5.3 (c) Key [PMC MAINTE]

7 Press the rightmost soft key [+] several times again until the following soft keys are displayed.

Fig. 5.3 (d) Showing soft keys

For timers
1 Press soft key [TIMER].

Fig. 5.3 (e) Key [TIMER]

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2 Use the cursor and page keys to move the cursor, and enter the setting time.

図 5.3 (f) Entering a setting time

For counters
1 Press soft key [COUNTR].

Fig. 5.3 (g) Key [COUNTER]

2 Use the cursor and page keys to move the cursor, and enter the value.

Fig. 5.3 (h) Entering a counter value

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For keep relays

1 Press soft key [KEEP RELAY].

Fig. 5.3 (i) Key [KEEP RELAY]

2 Use the cursor and page keys to move the cursor, and enter the values.

Fig. 5.3 (j) Entering a keep relay value

For data tables

1 Press soft key [DATA].
The DATA TABLE CONTROL screen is displayed.

Fig. 5.3 (k) Key [DATA]

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2 To change the data type, position the cursor on the TYPE field and change the setting.

Fig. 5.3 (l) DATA TABLE CONTROL screen

3 Press soft key [(OPRT)], then soft key [ZOOM].

Fig. 5.3 (m) Key [ZOOM]

4 Use the cursor and page keys and soft key [SEARCH] to move the cursor, and enter the value.

Fig. 5.3 (n) Entering a data table value

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5.4 INPUT/OUTPUT OF EDIT DATA

5.4.1 Operation on the Input/Output Screen

Connect either a memory card or Handy File (RS232C).

1 Press the <SYSTEM> key or the <0 SYSTEM> key and then the <N. PAGE> key on the operator's
panel.
The CNC SYSTEM screen appears.

2 Press the rightmost soft key [+] several times, then soft key [PMC MAINTE].

Fig. 5.4.1 (a) Key [PMC MAINTE]

3 Press the rightmost soft key [+] several times again and press soft key [I/O].

Fig. 5.4.1 (b) Key [I/O]

The PMC I/O DATA screen is displayed.

Fig. 5.4.1 (c) PMC DATA I/O screen

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Input operation (from an external device to the ROBODRILL)

To input data from an external device into the ROBODRILL, follow the procedure below:

WARNING
When data is read during the execution of a ladder program, the ladder program
automatically stops. Special care must be exercised to stop a ladder program.
If a ladder program is stopped at an inappropriate timing or in an inappropriate
machine state, the machine may perform unexpected operation. In the ladder
program stopped state, the safety mechanism and monitoring functions of the
ladder program also stop. Be sure to confirm that "the machine is in an
appropriate state" and that "no one is near the machine" before stopping the
ladder program.

1 Place the machine in the MDI mode and press the emergency stop button to place the machine in the
emergency stop state.
2 On the I/O DATA screen, move the item and data selection cursors and make the following settings:

Table 5.4.1 (a) Settings for reading a file

Setting item Data
PMC PMC2
DEVICE MEMORY CARD / FLOPPY
FUNCTION READ
KIND OF DATA ―――(Cannot be specified.)
The type of read data is automatically determined
FILE NAME Specify a file name in the MS-DOS format (up to eight characters for the file name with
up to three characters for the extension).
Pressing [(OPRT)] → [LIST] displays a list of files on the memory card. Position the
cursor on the file you want to read and press the [SELECT] key to select the file.

3 Press the [(OPRT)] key, then the [EXEC] key.

Reading the file starts.

4 When an attempt is made to read a file, the following message is displayed, asking whether to read
the file:

READING MESSAGE DATA (SEQUENCE PROGRAM) (PMC2)

<CAUTION>Special care must be exercised to read a sequence program or PMC
parameters.
* Reading an inappropriate file may cause unexpected operation of the machine.
* When a sequence program is read during operation, the program automatically stops.
Do you want to read this file?

5 To continue with the operation, press the [EXEC] key.

The ladder program being executed automatically stops.

After reading data in step 5, the data must be written on flash ROM.

6 Make the following settings on the PMC DATA I/O screen:

Table 5.4.1 (b) Settings for writing on flash ROM

Setting item Data
PMC PMC2
DEVICE FLASH ROM
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Setting item Data

FUNCTION WRITE
KIND OF DATA SEQUENCE PROGRAM (for ladder data)
MESSAGES (for message data)
FILE NAME ―――(Not set)

7 Press the [(OPRT)] key → [EXEC] key to execute data writing. "COMPLETE" is displayed to
indicate completion.

8 Press the soft key [(OPRT)] and then the soft key [PORT SETTING] on the PMC DATA I/O screen.
The communication setting screen appears.

Fig. 5.4.1 (d) Communication setting screen

Output operation (from the ROBODRILL to an external device)

To output data from the ROBODRILL to an external device, follow the procedure below:

CAUTION
No message data is set at the time of shipment from the factory. Therefore, no
message file can be output.

1 Output operation (from the ROBODRILL to an external device)

Table 5.4.1 (c) Settings for writing a file

Setting item Data
PMC PMC2
DEVICE MEMORY CARD/FLOPPY
FUNCTION WRITE
KIND OF DATA SEQUENCE PROGRAM (for ladder data)
MESSAGES (for message data)
FILE NAME Specify a file name in the MS-DOS format (up to eight characters for the file name
with up to three characters for the extension).
Pressing [(OPRT)] → [NEW FILE] specifies:
PMC2_LAD.000 (for ladder data)
PMC2_MSG.000 (for message data)

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2 Press the [(OPRT)] key, then the [EXEC] key.
Outputting a message file starts, with the specified file name.

5.4.2 Operation on the Boot Screen

This subsection describes how to input and output edit data on the boot screen.

Opening/closing the boot screen

1 Turn the power OFF.

2 Insert a memory card into the memory card insertion slot located on the left side of the LCD.
Make sure that the label on the memory card is facing to the right, and push it in until it snaps into
place.
3 Turn the power ON while holding down the and keys.
Hold down these keys until BOOT SYSTEM starts.
The boot screen is displayed.

Fig. 5.4.2 (a) Boot screen (main menu)

Input or output data on this screen.

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4 To close the boot screen, position the cursor on "Close" by using the soft key <TAB>, and press the
key <INPUT>. (The same result can also be obtained by inserting a mouse to the USB port,
positioning the cursor on the button you want to execute, and then clicking the button.)

Fig. 5.4.2 (b) Selecting "Close"

5 When you select "Close," the following screen appears. Press the keys <0> then <INPUT> to finish
BOOT SYSTEM and start CNC.

Fig. 5.4.2 (c) Screen that appears after you select [Close]

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Input operation (from a memory card to the ROBODRILL)

1 On the main menu, position the cursor on "Load" and press the <INPUT> key.

Fig. 5.4.2 (d) LOAD screen

2 Use the <UP> and <DOWN> keys to position the cursor on "PMC2.MEM" (for ladder data) or
"PMC2_MSG.MEM" (for message data) and press the <INPUT> key.
(The file names are examples.)
3 Use the <TAB> key to select "Close" and press the <INPUT> key. You exit the Load screen.

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Output operation (from the ROBODRILL to a memory card)

CAUTION
• No message data is set at the time of shipment from the factory. Therefore,
M2PMCMSG cannot be output.

1 On the main menu, use the <TAB> key to move the cursor to "SAVE" and press the <INPUT> key.
2 On the SYSTEM DATA SAVE screen, use the <UP> and <DOWN> keys to position the cursor on
"PMC2" (for ladder data) or "M2PMCMSG" (for message data) and press the <INPUT> key.

Fig. 5.4.2 (e) SYSTEM DATA SAVE screen

3 Use the <TAB> key to select "Close" and press the <INPUT> key. You exit the Save screen.

When the memory card contains a file with the same name, the number of the extension is
incremented by one. (***.001 - ***.002).

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Deleting message data

If you have installed the message data of the Second PMC in order to use the multi-language message
display function and want to stop using the function, delete the message data following the steps below.

1 On the main menu, move the cursor to Delete and press the <INPUT> key.

Fig. 5.4.2 (f) DELETE screen

2 Place the cursor on the "M2PMCMSG" file using the <UP> and <DOWN> keys, and press the
<INPUT> key.

3 Select "Close" using the <TAB> key, and press the <INPUT> key to exit the Delete screen.

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5.5 SETTING PARAMETERS

Parameters that can be set in custom PMC are listed below:

Table 5.5 List of parameter settings

Parameter Function
K03#6 Center through coolant pump control 0: Not controlled 1: Controlled
K08#0 ON/OFF control of the lamp inside the 0: Not controlled 1: Controlled
machine
K08#1 Block skip ON/OFF control 0: Not controlled 1: Controlled
K08#3 Single-block ON/OFF control 0: Not controlled 1: Controlled
K08#4 Dry run ON/OFF control 0: Not controlled 1: Controlled
K14#0 Custom PMC editing 0: Enabled 1: Disabled
K14#1 Spindle/cutting override control by custom 0: Not controlled 1: Controlled
PMC
K14#2 Signal "ON" condition of S18.0 0: Memory mode and 1: Memory mode only
remote mode
K14#3 Additional axis clamp control signal 0: Standard address 1: Allocated with custom
PMC
K14#4 Machine interior cleaning coolant control 0: Not controlled 1: Controlled
(High power version: The interior cleaning
coolant mean the lower cleaning coolant and
the wall coolant)
K14#5 Interlock control for each axis 0: Not controlled 1: Controlled
K14#6 Emergency stop control 0: Not controlled 1: Controlled
K14#7 Feed hold control 0: Not controlled 1: Controlled
K15#7 Custom PMC function 0: Not controlled 1: Controlled
K16#0 Operator's panel disable function 0: Not controlled 1: Controlled
K16#1 While the operator's panel is in the disabled 0 : Disables 1 : Enables
state, the M01 stop button
K16#2 While the operator's panel is in the disabled 0 : Disables 1 : Enables
state, the door open/close button
K16#3 While the operator's panel is disabled, 0 : Canceled 1 : Not canceled
spindle rotation and coolant supply
K16#4 While the operator's panel is disabled, the 0 * Disables 1 : Enables
skip key
K19#0 Teaching signal control 0: Not controlled 1: Controlled
K25#0 Cycle stop control 0: Not controlled 1: Controlled
K25#1 System stop control 0: Not controlled 1: Controlled
K25#2 Robot reset control 0: Not controlled 1: Controlled
K25#3 System startup control 0: Not controlled 1: Controlled
K66#4 ON/OFF control of M01 stop 0: Not controlled 1: Controlled

K : PMC parameter, keep relay

#* : *-th bit

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5.6 EXECUTING AND DEBUGGING CUSTOM PMC

This section describes how to execute and debug custom PMC.

Procedure for executing custom PMC

Create custom PMC with reference to Chapter 2, "PROCEDURE FOR USE."

1 Determine requirement specifications for custom PMC.

Refer to Chapter 2, "PROCEDURE FOR USE" and Chapter 8, "EXAMPLES OF HOW CUSTOM
PMC IS USED."

2 Determine specifications for custom PMC to satisfy the requirement specifications.

Refer to Chapter 2, "PROCEDURE FOR USE," Chapter 3, "INPUT/OUTPUT SPECIFICATIONS,"
and Chapter 8, "EXAMPLES OF HOW CUSTOM PMC IS USED."

3 Wire circuits according to the specifications for custom PMC.

Refer to Chapter 2, "PROCEDURE FOR USE," Chapter 4, "CONNECTING CIRCUIT WIRING,"
and Chapter 8, "EXAMPLES OF HOW CUSTOM PMC IS USED."

4 Create a ladder program according to the specifications for custom PMC.

Refer to Chapter 2, "PROCEDURE FOR USE," Chapter 5, "CREATING, EDITING, AND
EXECUTING PROGRAMS," Chapter 6, "INTERFACE SIGNALS BETWEEN SYSTEM AND
CUSTOM LADDER PROGRAMS," Chapter 7, "USING TYPICAL FUNCTIONAL
INSTRUCTIONS," and Chapter 8, "EXAMPLES OF HOW CUSTOM PMC IS USED."

5 Execute custom PMC.

Check whether or not it operates as specified in the requirement specifications.

Procedure for debugging

If custom PMC does not operate as expected, follow the procedure below to debug it:

1 Check whether or not the ladder program satisfies the requirement specifications.

2 Check whether or not the circuits have been wired according to the requirement specifications and
whether or not the external device works properly.

3 Check whether or not signals from and to the circuits are as specified in the requirement
specifications.

4 Check whether or not the requirement specifications can be satisfied by custom PMC.

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6 INTERFACE SIGNALS BETWEEN SYSTEM

AND CUSTOM LADDER PROGRAMS
This chapter describes the details and functions of interface signals between a system ladder program and
a custom ladder program allocated to addresses of type R (R 1300.0 to R 1443.3), which are addresses
that can be used in custom PMC.

6.1 BASIC SIGNALS

The details and functions of basic signals are listed below:

Table 6.1 Basic signals [System ladder → Custom ladder]

Address Symbol Function
Always ON SI0_0 (R1300.0) Always ON during ladder program operation.
Always OFF SI0_1 (R1300.1) Always OFF during ladder program operation.
ON in a single SI0_2 (R1300.2) ON only during a single scan cycle (4 ms) when the ladder program
scanning cycle at starts.
the start of
operation
1.0-second clock SI0_3 (R1300.3) Repeats on and off at intervals of about 1 second.
pulse
0.1-second clock SI0_4 (R1300.4) Repeats on and off at intervals of about 0.1 seconds.
pulse
0.5-second clock SI0_5 (R1300.5) Repeats on and off at intervals of about 0.5 seconds.
pulse

6.2 MACHINE STATUS

The details and functions of signals related to machine status are listed below:

Table 6.2 Machine status [System ladder → Custom ladder]

Address Symbol Function
Number of the SI2_0 (R1302.0)- The main program number currently selected on the ROBODRILL is
program being SI3_7 (R1303.7) output as binary data.
executed Example) When O1000 is selected:
Addresses: R1303 R1302
Bits: 76543210 76543210
Data: 00000011 11101000
Tool number SI4_0 (R1304.0)- The number (magazine number) of the tool currently mounted on the
SI4_7 (R1304.7) spindle is output as binary data.
Example) When T14 is mounted:
Address: R1304
Bits: 76543210
Data: 00001110
Cycle start in progress SI7_3 (R1307.3) ON during automatic operation (including MDI operation).
Feed hold status SI7_4 (R1307.4) ON when the stop button lamp on the operator's panel is on (in the
status such as feed hold stop).
Alarm state SI7_5 (R1307.5) ON when an alarm is issued.
Reset in progress SI7_6 (R1307.6) ON in the reset status (such as when the reset key on the operator's
panel is pressed, M30 or M02 is specified, or the machine is in the
emergency stop state).

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Address Symbol Function

Emergency stop state SI7_7 (R1307.7) OFF in the emergency stop state.
Program stop state SI8_6 (R1308.6) ON in the automatic operation stop state (when "STOP" is displayed
for the status display on the CNC screen).
Battery alarm state SI9_2 (R1309.2) ON when the voltage of the CNC memory battery is lower than or
equal to the specified value.
Auto mode SI10_6 (R1310.6) ON when the handle, jog, or manual reference position return mode
is not selected.
ON during memory or DNC operation when K06#7 is 1.
Low air pressure SI14_5 (R1314.5) ON when the pressure of air supplied to the ROBODRILL is lower
than the specified value.
Emergency stop SI14_7 (R1314.7) OFF when the emergency stop button on the operator's panel is
button pressed (the hardware emergency stop circuit is turned OFF).
Feedrate override SI15_6 (R1315.6) ON when the cutting feedrate override switch is placed in the 100%
100% position.
Spindle speed SI15_7 (R1315.7) ON when the spindle speed override is 100%.
override 100%
Operation enabled SI17_6 (R1317.6) ON when all of the following conditions are satisfied:
state <1> The front door is closed.
<2> Door interlock (SO4.6) is OFF.
<3> Feed hold is not in progress.
<4> The automatic mode is set.
<5> The machine is not in the alarm or emergency stop state.
<6> Reset is not in progress.
Tool clamp signal SI38_0 (R1338.0) ON when the tool is clamped.
Tool change signal SI38_1 (R1338.1) ON when the tool is changed.
Turret recovery mode SI38_2 (R1338.2) ON when the turret is recovered.
Single block SI38_3 (R1338.3) ON when single block is set to ON.
Rapid traverse LOW SI38_4 (R1338.4) ON when the rapid traverse rate is set to LOW.
Rapid traverse 25% SI38_5 (R1338.5) ON when the rapid traverse rate is set to 25%.
Rapid traverse 50% SI38_6 (R1338.6) ON when the rapid traverse rate is set to 50%.
Rapid traverse SI38_7 (R1338.7) ON when the rapid traverse rate is set to 100%.
100%
Tap return mode SI39_0 (R1339.0) ON during tap return operation (ON while the tap return screen of the
maintenance setting screen is displayed).

6.3 FRONT AUTOMATIC DOOR CONTROL

The details and functions of signals related to front automatic door control are listed below:

Table 6.3 (a) Front automatic door control [System ladder → Custom ladder]
Address Symbol Function
Door open (M60) SI10_0 (R1310.0) Specifying each M code causes the front automatic door to open.
Door open (M61) SI17_0 (R1317.0) Each signal is turned ON when the door opens to the limit position.
Door open (M62) SI17_1 (R1317.1)
Door open (M63) SI17_2 (R1317.2)
Door open (M64) SI17_3 (R1317.3)
Door open (M65) SI17_4 (R1317.4)
Automatic door SI10_1 (R1310.1) ON when the front automatic door is in the closed limit position (the
closed state close limit proximity switch is ON and the open limit proximity switch
is OFF).
Automatic door open SI10_2 (R1310.2) ON when the front automatic door is in the open limit position (the
state open limit proximity switch is ON and the close limit proximity switch
is OFF).

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Address Symbol Function

Automatic door open SI11_1 (R1311.1) ON when automatic door open is specified.
request output
Automatic door SI11_2 (R1311.2) ON when automatic door close is specified.
close request output

Table 6.3 (b) Front automatic door control [Custom ladder→ System ladder]
Address Symbol Function
Door close request SO3_0 (R1353.0) When M60 to M65 is specified, turning this signal ON causes the
front automatic door to close and restarts operation.
Turn this signal ON for about 100 ms when specifying the relevant
command.
External door open SO3_1 (R1353.1) Opens the front automatic door. The door is automatically
control unlocked. (Door unlock control is not needed.)
Turn this signal ON for about 100 ms when specifying the relevant
command.
External door close SO3_2 (R1353.2) Closes the front automatic door. Operation is not restarted after the
control door is closed.
Turn this signal ON for about 100 ms when specifying the relevant
command.

[Front automatic door control using M60 to M65]

Front automatic door control using M60 to M65 is described below:

Opening and closing the automatic door with an M code

Specify M60 to
In auto (MEM) or MDI mode, issuing a code M60 to
M65 command
指令
M65 causes the automatic door to open.

Open When the door is open, inputting the appropriate

automatic door signal to the machine causes the door to close and
operation to restart.
Output "door open" Door open signal: SI10_0, SI17_0 to SI17_4
signal Door close request signal: SO3_0

Is door close request

signal input?

Close
automatic door

Restart of
operation

Fig. 6.3 Front automatic door control using M60 to M65

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CAUTION
• The door close request signal (from a custom ladder program to a system ladder
program) is effective only when an M60 to M65 command is being executed.
The signal is ignored if the machine is reset or if an M60 to M65 command is not
being executed.
• When an M60 to M65 command is being executed, the operator message "2001
THE DOOR OF THE SPLASH GUARD IS OPEN." is not displayed even if the
door is open.
• When the robot system standard package option is used, the M60 to M65
functions cannot be used.

6.4 EXTERNAL WORKPIECE NUMBER SEARCH FUNCTION

This function allows you to store several machining programs in program storage memory in advance, so
that you can call the desired program later by using a means such as a rotary switch.
Selecting the desired program number using a means such as a rotary switch first and then pressing the
cycle start button causes the specified program to be selected, starting automatic operation.
Program numbers O0001 to O0015 can be selected.

6.4.1 Setting the Function

1 Select 6:MAINTENANCE/SETTING on the QUICK Screen.
2 Select 13.EXT. INTERFACE.
3 Select FUNCTION SELECTION.
4 Set EXT. WORK No. SEARCH for PROGRAM SELECTION.

Fig. 6.4.1 EXT. INTERFACE – FUNCTION SELECTION screen (EXT. WORK No. SEARCH)

Table 6.4.1 (a) Workpiece No. search [Custom ladder→ System ladder]
Address Symbol Function
Workpiece No. SO0_0 (R1350.0) Specifies the number of a program to be started as binary data.
search -
SO0_3 (R1350.3)

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Table 6.4.1 (b) Relationship between the signal states and the program numbers to be selected
Switch 4 Switch 3 Switch 2 Switch 1 Program number
(SO0_3) (SO0_2) (SO0_1) (SO0_0) to be selected
0 0 0 0 None selected
0 0 0 1 O0001
0 0 1 0 O0002
0 0 1 1 O0003
0 1 0 0 O0004
0 1 0 1 O0005
0 1 1 0 O0006
0 1 1 1 O0007
1 0 0 0 O0008
1 0 0 1 O0009
1 0 1 0 O0010
1 0 1 1 O0011
1 1 0 0 O0012
1 1 0 1 O0013
1 1 1 0 O0014
1 1 1 1 O0015

CAUTION
• This function is available only in automatic operation (MEM mode). It cannot be
used in MDI operation.
• The effective program numbers are O0001 to O0015.
• You do not necessarily store in memory the programs corresponding to all
numbers.
• If the program corresponding to a selected number is not found in memory, alarm
message DS0059, "PROGRAM NUMBER NOT FOUND" is issued when the
function is initiated.
• When the function is initiated in the automatic operation stop status (single block
stop) or automatic operation halt status (feed hold), no program selection is
executed; the current program restarts where it was stopped.
• To restart a program at an intermediate point, perform a sequence number
search in automatic operation mode (MEM mode), then initiate the function.
Then, no program number selection is executed, but the program restarts where
it was stopped.
• When the function is initiated with all the signals being turned OFF, no program
number selection is executed, but the currently selected program is executed.
To execute automatic operation with a program number other than O0001 to
O0015, use the steps below:
• Perform a program number search (on the screen).
• Turn all the program selection switch signals to "OFF".
• Press the operation start button.
• This function cannot be used together with the external program number search
function.
• When a selected program is being edited in the background by the program
editing function of the CNC, alarm message DS0059 "PROGRAM NUMBER NOT
FOUND" is issued.

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6.5 EXTERNAL PROGRAM NUMBER SEARCH FUNCTION

This function allows you to supply a single program number from an external device such as a sequencer
to ROBODRILL, so that that program can be called from the memory in the ROBODRILL control unit.
Program numbers O0001 to O9999 can be selected.
The program number to be selected can be specified using a 4-digit BCD code.

6.5.1 Setting the Function

1 Select 6:MAINTENANCE/SETTING on the QUICK screen.
2 Select 13.EXT. INTERFACE.
3 Select FUNCTION SELECTION.
4 Set EXT. PROG. No. SEARCH for PROGRAM SELECTION.

Fig. 6.5.1 EXT. INTERFACE – FUNCTION SELECTION screen (EXT. PROG. No. SEARCH）

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6.5.2 Interface
Table 6.5.2 (a) Program No. search (Custom ladder → System ladder)
Signal Address Function
Workpiece No. SO0_0(R1350.0) Specifies the number of a program to be started as binary data.
search -
SO0_3(R1350.3)

Signal Address Function

Program number SO0_0 (R1350.0) 1 digit in A program number is specified as a BCD code.
data signal SO0_1 (R1350.1) BCD Those bits that are always 0 need not used.
SO0_2 (R1350.2) You can omit them according to the program
SO0_3 (R1350.3) numbers used.
SO0_4 (R1350.4) 10 digits in BCD
SO0_5 (R1350.5)
SO0_6 (R1350.6)
SO0_7 (R1350.7)
SO1_0 (R1351.0)
100 digits in BCD
SO1_1 (R1351.1)
SO1_2 (R1351.2)
SO1_3 (R1351.3)
SO1_4 (R1351.4)
SO1_5 (R1351.5) 1000 digits in BCD
SO1_6 (R1351.6)
SO1_7 (R1351.7)

Data read request SO2_0 (R1352.0) When this signal is output, ROBODRILL reads the program
signal number specified with the program number data signal.
External start signal SO2_1 (R1352.1) After the program number is selected (while an end-of-selection
signal is being output from the custom ladder program), outputting
this signal causes automatic operation to start. This signal must
be a pulse signal of 200 ms or longer.
(Automatic operation starts at the falling edge of the pulse signal.)

Table 6.5.2 (b) Program No. search (System ladder → Custom ladder)
Signal Address Function
End-of-selection SI9_0 (R1309.0) This signal indicates that program number data reading and
signal program number selection are completed and the machine is now
ready for an automatic operation start.
When this signal is output, turn the data read request signal OFF.
First confirm that this signal has been output, then start automatic
operation using the external start signal.
This signal is turned OFF in the following cases:
• Operation start
• Reset
• Selection of a new program number

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6.5.3 Timing Chart for an External Program Number Search

Program number data signal Number setting

Data read request signal ON

External start signal ON

End of selection ON

Number Selection Automatic

ROBODRILL operation reading operation

Fig. 6.5.3 Timing chart for external program number search

CAUTION
• This function cannot be used together with the external workpiece number search
function.
• When the function is initiated in the automatic operation stop status (single block
stop) or automatic operation halt status (feed hold), no program selection is
executed; the current program restarts where it was stopped.
• If there is no program corresponding to the selected number in memory, an alarm
(alarm message: DS0059 PROGRAM NUMBER NOT FOUND) is issued when
an attempt is made to read the program number data.
• If the data for the program number to be selected is 0, alarm message "DS1128
DI.EIDLL OUT OF RANGE" is issued. Before the data read request signal is
turned ON, be sure to set a number.
• You can protect programs with program numbers O8000 to O8999 with the
appropriate NC parameter bit setting. (NC parameter No. 3202#0 (NE8))
Programs with program numbers O9000 to O9999 are protected with the
appropriate parameter setting. (NC parameter No. 3202#4 (NE9))
• When a selected program is being edited in the background by the program
editing function of the CNC, alarm message DS1130 "SEARCH REQUEST NOT
ACCEPTED" is issued.
• This function cannot be used during an emergency stop or reset.

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6.6 EXTERNAL M CODE BCD OUTPUT FUNCTION

This function outputs a specified M code number.
By performing the operation corresponding to the specified M code, an external device can be interlocked
with ROBODRILL.
An M code number is output as a 3-digit BCD code.

6.6.1 Setting the Function

1 Select 6:MAINTENANCE/SETTING on the QUICK screen.
2 Select 13.EXT. INTERFACE.
3 Select FUNCTION SELECTION.
4 Set ON for M CODE OUTPUT BY BCD.

Fig. 6.6.1 EXT. INTERFACE – FUNCTION SELECTION screen (M CODE OUTPUT BY BCD)

6.6.2 Interface
Table 6.6.2 (a) External M code BCD output (System ladder → Custom ladder)
Signal Address Function
M code number data SI5_0 (R1305.0) A specified M code is output as a BCD code.
signal SI5_1 (R1305.1) 1 digit in BCD Not all data need not necessarily be read.
SI5_2 (R1305.2) You can omit reading according to the M
SI5_3 (R1305.3) codes used.
SI5_4 (R1305.4)
SI5_5 (R1305.5)
SI5_6 (R1305.6) 10 digits in BCD
SI5_7 (R1305.7)
SI6_4 (R1306.4)
SI6_5 (R1306.5) 100 digits in BCD
SI6_6 (R1306.6)
SI6_7 (R1306.7)
Data read request SI6_0 (R1306.0) This signal indicates that the M code number data signal is being
signal output.
Read the M code number while this signal is being output.
Distribution SI6_1 (R1306.1) This signal indicates that an auxiliary function (M, S, or T code) is
completion signal specified and the movement along each axis is completed. (This
signal is not usually used.)

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Signal Address Function

BCD output data SI6_2 (R1306.2) The result of a parity check is output.
parity check signal Parity of specified M code
Check
Parity check
signal K04#5 = 0 K04#5 = 1
Even parity check 0 Odd Even
K01#1 = 0 1 Even Odd
Odd parity check 0 Even Odd
K01#1 = 1 1 Odd Even

K01#1: Selection between even and odd parity checks

K04#5: Selection between parity check result output states

Table 6.6.2 (b) External M code BCD output (Custom ladder → System ladder)
Signal Address Function
Completion signal S02_5 (R1352.5) After the operation of the external device is completed, input this
(FIN) signal.
When the signal is input, ROBODRILL ends M code output,
proceeding to the next block of the program. Turn this signal OFF
at the end of the M code output.
Do not turn on this signal while executing M codes (M00 to M199)
for ROBODRILL.

6.6.3 Timing Chart for External M Code BCD Output

M code number data signal ON ON

Data read request signal ON ON

Completion signal ON ON

ROBODRILL operation M code specification M code specification

Fig. 6.6.3 Timing chart for external M code BCD output

CAUTION
• This function cannot be used together with the M code output function.
• M codes from M00 to M199 are reserved for ROBODRILL. When using the
external M code BCD output function, use M200 or later M codes.
• When using multiple M code commands, specify the external M code at the first
M code position.

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6.7 M CODE OUTPUT FUNCTION (M80 TO M89)

This function outputs the signal corresponding to a specified M code.

Table 6.7 M code output (M80 to M89) (System ladder → Custom ladder)
Address Symbol Function
M81 output SI5_2 (R1305.2) A 100-ms pulse signal is output. (Pulse type)
M82 output SI5_3 (R1305.3)
M83 output SI5_4 (R1305.4) ON when M83 is specified or OFF when M84 is specified. (ON1
type)
M84 output SI5_5 (R1305.5)
M80 output SI5_1 (R1305.1) ON when the corresponding M code is specified. (FIN type)
M85 output SI5_6 (R1305.6) OFF when the completion (FIN) signal (SO2_5) is turned ON.
M86 output SI5_7 (R1305.7)
M87 output SI6_0 (R1306.0)
M88 output SI6_1 (R1306.1)
M89 output SI6_2 (R1306.2)

If an M code of the pulse or ON1 type is specified, the machine automatically proceeds to the next block
of the program after the output (or stoppage) of the signal.
If an M code of the FIN type is specified, the machine waits for the input of an external completion signal,
then proceeds to the next block of the program after the input of the signal.

(Pulse type) (ON1 type)

M code M code
specification M81 specification M83 M84

Signal output ON Signal output ON

(FIN type)

M code
specification M81

Signal output ON

Completion
External device Operation
signal

Fig. 6.7 M code output

CAUTION
• Usually, M84 (SI5_5) is not output.
• It is output if all M codes M80 to M89 are set to the FIN type.
(Display the QUICK screen, 6:MAINTENANCE/SETTING, 13.EXT. INTERFACE,
then FUNCTION SELECTION, and set FIN TYPE.)
• In this case, M81 to M83 are also set to the FIN type.

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6.8 INTERRUPT TYPE CUSTOM MACRO FUNCTION

During the execution of a program, this signal can be turned ON to call another program. For details of
the interrupt type custom macro function, refer to the CNC operator's manual.

Table 6.8 Interrupt type custom macro (Custom ladder → System ladder)
Address Symbol Function
Custom macro SO3_4 (R1353.4) Starts an interrupt type custom macro.
interrupt

6.9 RESET AND REWIND FUNCTION

This function resets the running program and rewinds the main program to its top.

Table 6.9 Reset and rewind (Custom ladder → System ladder)

Address Symbol Function
Reset & rewind SO3_5 (R1353.5) When this signal is ON, the ROBODRILL performs the following
operations:
• Decelerates and stops the machine along the controlled axis
along which it is moving.
• Enters the reset state.
Cancels the alarms that can be released.
• Rewinds the currently selected main program to its top (not in the
MDI mode).

6.10 ALARM OUTPUT 2

This signal is mainly used to control the buzzer when an alarm is issued.

Table 6.10 (a) Alarm output 2 (System ladder → Custom ladder)

Address Symbol Function
Alarm output 2 SI17_5(R1317.5) ON when an alarm is issued.
OFF when an alarm is released.
OFF when the alarm output 2 stop signal (SO9_2) is turned ON.
OFF when K06#2 is 1 and the time specified for timer T06 has
elapsed.

Table 6.10 (b) Alarm output 2 (Custom ladder → System ladder)

Address Symbol Function
Alarm output 2 stop SO9_2 (R1359.2) When alarm output 2 (SI17_5) is ON, turning this signal ON turns
alarm output 2 (SI17_5) OFF.
Turn this signal ON for about 100 ms when specifying the relevant
command.

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6.11 TOOL LIFE MANAGEMENT

6.11.1 Reset of a Tool Group (Counter)

These signals reset a specified tool group (counter).

Table 6.11.1 (a) Counter reset (Custom ladder → System ladder)

Signal Address Function
Tool group SO14_0 (R1364.0) The number of the tool group (counter) to be reset is specified as
(counter) number  binary data. (0 to 14)
SO14_7 (R1364.7) If 0 is specified, the currently selected tool group is assumed.
Tool group SO9_4 (R1359.4) When this signal is output, ROBODRILL resets the tool group
(counter) reset (counter).
request Turn this signal ON after specifying a tool group (counter) number.
Keep it ON until the reset request reception signal (SI18_5) is turned
ON.
Turn it OFF as soon as the reset request reception signal is turned
ON.

Table 6.11.1 (b) Counter rest (System ladder → Custom ladder)

Signal Address Function
Tool group SI18_5 (R1318.5) This signal indicates that ROBODRILL has accepted a tool group
(counter) reset (counter) reset request.
request reception Turn the reset request signal (SO9.4) OFF after this signal is turned
ON.
This signal is turned OFF when the reset request signal (SO9_4) is
turned OFF.
Tool group SI18_6 (R1318.6) This signal indicates that an error occurred during an attempt to
(counter) reset reset a tool group (counter).
error This signal is turned OFF when the reset request signal (SO9_4) is
turned OFF.

CAUTION
To specify 0 as the tool group (counter) number (to specify the currently selected tool
group), specify tool group selection (M06 T1xx) after power-on, then issue a reset
request.
If a reset request is issued without specifying tool group selection, an error (SI18_6 =
ON) occurs.

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Tool group number

Group number specification

Tool group reset request ON

Tool group reset request reception ON

Tool group reset error ON

Fig. 6.11.1 Counter reset error

6.11.2 Information about the Life of Each Tool Group (Counter) and
the Currently Selected Tool Group (Counter) Number
These signals notify information about the life of each tool group (counter) and the currently used tool
group (counter) number.

Table 6.11.2 Notification of information about life and the counter number (System ladder → Custom ladder)
Signal Address Function
Currently selected SI32_0 (R1332.0) The currently selected tool group (counter) number is indicated as
tool group (counter)  binary data.
number SI32_7 (R1332.7) 0 is indicated if tool group selection (M06 T1**) has not been
specified since power-on.
Tool life end SI33_0 (R1333.0) Whether the currently selected tool group (counter) is in the life end
 state is indicated. A signal of 1 indicates the life end state.
SI34_7 (R1334.7)
SI50_0 (R1400.0)

SI63_7 (R1413.7)
Near tool life end SI35_0 (R1335.0) Whether the currently selected tool group (counter) is in the near life
 end state is indicated. A signal of 1 indicates the near life end
SI36_7 (R1336.7) state.
SI64_0 (R1414.0) 1 can also indicate the life end state.

SI77_7 (R1427.7)

6.11.3 Others
These are other signals that can be used for tool groups.

Table 6.11.3 (a) Others (System ladder → Custom ladder)

Signal Address Function
Tool life end (tool SI10_7 (R1310.7) ON when at least one of the registered tool groups (counters) is in
group) the life end state.
Near tool life end SI11_6 (R1311.6) ON when the use count (or time) for the currently used tool group
(counter) reaches the value set for advance notice of tool life end.

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Table 6.11.3 (b) Others (Custom ladder → System ladder)

Signal Address Function
Tool breakage SO7_0 (R1357.0) When the tool life management function is used and this signal is
ON, the currently used tool is assumed to reach its tool life end. If a
spare tool is registered to the tool group, the new tool is used at the
next tool replacement. If no spare tool is registered, an alarm is
issued at the end of machining.
Turn this signal ON for about 100 ms when specifying the relevant
command.

6.12 ADDITIONAL AXIS CLAMP CONTROL

6.12.1 I/O Signals for Additional Axis Clamp Control

These are I/O signals for additional axis clamp control allocated in custom PMC.
To use this function, set the PMC parameter keep relay K14#3 to 1.

Table 6.12.1 I/O signals for additional axis clamp control

Signal Address Function
Clamp check SO10_4 Outputs the clamp state of the additional axis (4th axis) to the system
(4th axis) (R1360.4) ladder program.
Unclamp check SO10_5 Outputs the unclamp state of the additional axis (4th axis) to the
(4th axis) (R1360.5) system ladder program.
Clamp check SO10_6 Outputs the clamp state of the additional axis (5th axis) to the system
(5th axis) (R1360.6) ladder program.
Unclamp check SO10_7 Outputs the unclamp state of the additional axis (5th axis) to the
(5th axis) (R1360.7) system ladder program.
Clamp request SI31_0 Clamp command for the additional axis (5th axis)
(5th axis) (R1331.0) Turned ON when the M68 command is issued.
Unclamp request SI31_1 Unclamp command for the additional axis (5th axis)
(5th axis) (R1331.1) Turned ON when the M69 command is issued.
Clamped SI31_2 Clamp/unclamp command for the additional axis (5th axis)
(5th axis) (R1331.2) Turned ON when the M68 command is issued and OFF when the M69
command is issued.
Clamp request SI31_3 Clamp command for the additional axis (4th axis)
(4th axis) (R1331.3) Turned ON when the M10 or M71 command is issued.
Unclamp request SI31_4 Unclamp command for the additional axis (4th axis)
(4th axis) (R1331.4) Turned ON when the M11 or M72 command is issued.
Clamped SI31_5 Clamp/unclamp command for the additional axis (4th axis)
(4th axis) (R1331.5) Turned ON when the M10 or M71 command is issued and OFF when
the M11 or M72 command is issued.

X4.0 SO10_4

SI31_ Y2.0
Fig. 6.12.1 Sample ladder program

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6.12.2 Additional Axis Clamp/Unclamp Commands

These signals serve as additional axis clamp or unclamp commands.

Table 6.12.2 Clamp/unclamp commands

Signal Address Function
4th-axis clamp (M10) SO8_0 (R1358.0) Specifies the command to clamp the additional axis (4th axis).
signal output command Turn this signal ON for about 100 ms.
4th-axis unclamp (M11) SO8_1 (R1358.1) Specifies the command to unclamp the additional axis (4th axis).
signal output command Turn this signal ON for about 100 ms.
5th-axis clamp (M68) SO8_2 (R1358.2) Specifies the command to clamp the additional axis (5th axis).
signal output command Turn this signal ON for about 100 ms.
5th-axis unclamp (M69) SO8_3 (R1358.3) Specifies the command to unclamp the additional axis (5th axis).
signal output command Turn this signal ON for about 100 ms.

6.13 OPERATOR'S PANEL

6.13.1 Disabling the Operator's Panel

This signal disables the ROBODRILL operator's panel.
To use this function, set PMC parameter keep relay K16#0 to 1.

Table 6.13.1 (a) Disabling the operator’ panel (Custom ladder → System ladder)
Signal description Address Function
Disabling of SO5_5 (R1355.5) Turning on this signal disables the ROBODRILL operator's panel.
ROBODRILL
operator's panel

Turning on this signal causes the ROBODRILL to behave as follows:

• Some buttons and keys on the ROBODRILL operator's panel become unusable.
<DOOR OPEN/CLOSE> key is also made unusable (optionally).
However, <EMERGENCY STOP> button, < FEED HOLD > button, <RESET> key, soft key and
MDI keys (ALPHABET, FIGURE AND ETC.) remain usable.
• "OPERATION MODE" switches to "AUTOMATIC OPERATION (MEMORY) MODE."
If OPERATION MODE switching is impossible (for example, for "EMERGENCY STOPPING" or
"MODE SELECTION LOCKING"), however, switching to "AUTOMATIC OPERATION MODE"
does not occur.
• For "SPINDLE ROTATING" "IN COOLANT" "CUTTING AIR BLOW" and "CENTER
THROUGH COOLANT OUTPUT" each output is stopped (optionally)
• "DRY RUN MODE" and "SINGLE BLOCK MODE" are canceled.
• The M01 stop function is canceled (optionally).
• The cutting override value is fixed at 100% regardless of the dial setting on the operator's panel.
• The spindle override value is fixed at 100%.
• The rapid traverse override value is fixed at 100%.
• If this signal is issued when the machine is running, it becomes valid after the machine stops.
• The diagnosis message "THE OPERATOR'S PANEL IS UNAVAILABLE." appears.

Table 6.13.1 (b) PMC parameter, keep relay

Parameter Function
K16#0 Operator's panel disable function 0 : Disables 1 : Enables
K16#1 While the operator's panel is in the disabled state, the M01 stop button
0 : Disables 1 : Enables
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Parameter Function
K16#2 While the operator's panel is in the disabled state, the door open/close button
0 : Disables 1 : Enables
K16#3 While the operator's panel is disabled, spindle rotation and coolant supply
0 : Canceled 1 : Not canceled
K16#4 While the operator's panel is disabled, the skip key
0 : Disables 1 : Enables

6.13.2 Disabling the Start Button

This signal disables the start button.

Table 6.13.2 Disabling the start button (Custom ladder → System ladder)
Signal Address Function
Disabling of the SO4_0 (R1354.0) When this signal is ON, the start button on the ROBODRILL
machine operator's operator's panel is disabled. External start (SO2_1) is available
panel start button regardless of the status of this signal.
During turret recovery operation and menu operation, the start
button is available regardless of the status of this signal.

6.13.3 Checking the Lamps

This signal controls the lamp check function.

Table 6.13.3 Checking the lamps (Custom ladder → System ladder)

Signal Address Function
Lamp check SO5_7 (R1355.7) When this signal is ON, all LEDs and status indication lamps
function ON (machine status output 1, 2, and 3) on the ROBODRILL operator's
panel are turned on.

6.14 OPERATION MODE SWITCHING

These signals switch between operation modes.

Table 6.14 (a) Operation mode switching (System ladder → Custom ladder)
Signal Address Function
MEM mode selection SI8_0 (R1308.0) ON while the corresponding mode is selected.
MDI mode selection SI8_1 (R1308.1) Cannot be used when playback is enabled.
Handle mode selection SI8_2 (R1308.2) The status of MEM mode selection (SI8_0) is related as
Jog mode selection SI8_3 (R1308.3) follows:
Reference mode selection SI8_4 (R1308.4) When K14#2 is 0: Memory mode and remote mode
Edit mode selection SI8_5 (R1308.5) When K14#2 is 1: Only memory mode

Table 6.14 (b) Operation mode switching (Custom ladder →System ladder)
Signal Address Function
Switching of operation mode SO7_2 (R1357.2) Switches to the corresponding operation mode.
(to the MEM mode) Turn the signal ON for about 100 ms.
Switching of operation mode SO7_3 (R1357.3)
(to the MDI mode)
Switching of operation mode SO7_4 (R1357.4)
(to the handle mode)
Switching of operation mode SO7_5 (R1357.5)
(to the edit mode)

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6.15 PRODUCTION MANAGEMENT

These are signals related to production management.

Table 6.15 (a) Production management on the QUICK screen (System ladder → Custom ladder)
Signal Address Function
Production completion SI8_7 (R1308.7) ON when the number of products indicated by counter 1 or 2 on the
counter screen displayed from the QUICK screen is greater than or
equal to the scheduled number of products.
Production completion SI11_4 (R1311.4) ON when the number of products indicated by counter 1 on the
1 counter screen displayed from the QUICK screen is greater than or
equal to the scheduled number of products.
Production completion SI11_5 (R1311.5) ON when the number of products indicated by counter 2 on the
2 counter screen displayed from the QUICK screen is greater than or
equal to the scheduled number of products.

Table 6.15 (b) Production management on the QUICK screen (Custom ladder → System ladder)
Signal Address Function
Counter 1 (production S08_4 (R1358.4) Resets the corresponding counter.
count) reset Turn the signal ON for about 100 ms.
Counter 1 (total S08_5 (R1358.5)
production count)
reset
Counter 2 (production S08_6 (R1358.6)
count) reset
Counter 2 (total S08_7 (R1358.7)
production count)
reset
Counter screen S09_0 (R1359.0) Turning this signal ON displays the counter screen.
display Turning this signal OFF displays the previous screen again.
(This signal cannot be used when the iHMI screen is displayed.)

Table 6.15 (c) Production management on the iHMI screen (System ladder → Custom ladder)
Signal Address Function
Production completion SI84_4 (R1434.4) ON when the number of products indicated by counter 1, 2, or 3 on
the counter screen displayed from the QUICK screen is greater than
or equal to the scheduled number of products.
Production completion SI84_5 (R1434.5) ON when the number of products indicated by counter 1 on the
1 counter screen displayed from the QUICK screen is greater than or
equal to the scheduled number of products.
Production completion SI84_6 (R1434.6) ON when the number of products indicated by counter 2 on the
2 counter screen displayed from the QUICK screen is greater than or
equal to the scheduled number of products.
Production completion SI84_7 (R1434.7) ON when the number of products indicated by counter 3 on the
3 counter screen displayed from the QUICK screen is greater than or
equal to the scheduled number of products.

Table 6.15 (d) Production management on the iHMI screen (Custom ladder → System ladder)
Signal Address Function
Counter 1 (production SO29_2 (R1379.2) Resets the corresponding counter.
count) reset Turn the signal ON for about 100 ms.
Counter 2 (production SO29_3 (R1379.3)
count) reset
Counter 3 (production SO29_4 (R1379.4)
count) reset
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6.16 MACHINE STATUS OUTPUT

The same signals as those of the relay contacts used for control of status indication lamps and others are
output. Each machine status output signal can be turned ON according to a desired condition.

Table 6.16 (a) MACHINE STATUS OUTPUT (System ladder → Custom ladder)
Signal Address Function
Machine status SI7_0 (R1307.0) The same signals as those of the relay contacts used for control of
output 1, 2, 3 | status indication lamps and others are output. These signals are set
(END1, 2, 3 output) SI7_2(R1307.2) to the ON type even if blinking is selected as a screen setting.
Select the status of each signal on MACHINE STATUS OUTPUT
displayed by selecting 6:MAINTENANCE/SETTING, then 13.EXT.
INTERFACE from the QUICK screen.
[Signal status]
ALARM: ON when an alarm is issued.
OPERATOR MESSAGE: ON when an operator message is
displayed.
PROGRAM EXECUTING: ON during the execution of a program.
PROGRAM END: ON after the end of program operation
(execution of M00, M01, M02, or M30).
PRODUCT COMPLETED: ON at the completion of production
(production management function on the
QUICK screen).
FEED HOLD: ON when the stop button lamp on the
operator's panel is ON.
NOTICE OF TOOL LIFE: ON when the remaining use count for the
last tool in the tool group is smaller than
or equal to the count for advance notice.

Table 6.16 (b) MACHINE STATUS OUTPUT (Custom ladder → System ladder)
Signal Address Function
Machine status SO5_2 (R1355.2) The relay contacts used for control of status indication lamps and
output 1, 2, 3 | others are turned ON. When a signal is ON, the corresponding
request SO5_4 (R1355.4) relay contact is ON.
Since the ON/OFF status of these relay contacts is also controlled by
the system ladder program, the relay contact may remain ON even
when the corresponding signal is OFF. To control these relay
contacts only by the custom ladder program, set all MACHINE
STATUS OUTPUT items to OFF. MACHINE STATUS OUTPUT is
displayed by selecting 6:MAINTENANCE/SETTING, then 13.EXT.
INTERFACE from the QUICK screen.

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6.17 COOLANT, MACHINE INTERIOR CLEANING COOLANT,

CENTER THROUGH COOLANT, AND AIR BLOW
These are signals related to coolant or air blow.

Table 6.17 (a) Coolant and air blow (System ladder → Custom ladder)
Signal Address Function
Machine interior SI9_4 (R1309.4) ON when machine interior cleaning coolant pump ON is specified.
cleaning coolant (High power version: lower cleaning coolant pump ON or wall
output ON coolant pump ON)
Coolant output ON SI11_0 (R1311.0) ON when coolant ON is specified.
Air blow ON SI11_3 (R1311.3) ON when air blow ON is specified.
Center through SI11_7 (R1311.7) ON when center through coolant ON is specified.
coolant output ON
Center through SI24_3 (R1324.3) ON when center through coolant pump ON is specified.
coolant pump ON
Center through SI24_4 (R1324.4) ON when center through coolant ON is specified.
coolant ON
Air purge ON SI24_5 (R1324.5) ON when air purge ON is specified.

Table 6.17 (b) Coolant and air blow (Custom ladder → System ladder)
Signal Address Function
Machine interior SO7_7 (R1357.7) Controls the machine interior cleaning coolant. Turning this signal
cleaning coolant OFF stops the machine interior cleaning coolant output.
ON/OFF Since the ON/OFF status of the machine interior cleaning coolant is
also controlled by the system ladder program, the machine interior
coolant may not be output by turning this signal ON.
This signal is enabled when K14#4 is 1.
(High power version: The interior cleaning coolant mean the lower
cleaning coolant and the wall coolant)
Center through SO19_0 (R1369.0) The corresponding device is turned ON or OFF.
coolant pump Turn this signal ON for about 100 ms when specifying the relevant
ON/OFF command. When the command is specified, the status of each
Center through SO19_1 (R1369.1) device is changed as follows:
coolant ON/OFF When it is OFF: ON
Center through Air SO19_2 (R1369.2) When it is ON: OFF
purge ON/OFF

6.18 COMPLETION OF MACHINING

These are signals related to the end of a program or the completion of machining.

Table 6.18 COMPLETION OF MACHINING (System ladder → Custom ladder)

Signal Address Function
End of program SI9_3 (R1309.3) ON when M00, M01, M02, or M30 is specified. (M01 is valid only
when the temporary stop key on the operator's panel is ON.)
Completion of SI15_5 (R1315.5) ON when M00, M01, M02, or M30 is specified.
machining OFF when the next operation starts, the reset key on the operator's
panel is pressed, the emergency stop button is pressed, or the
manual mode is selected.

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6.19 FRONT DOOR LOCK CONTROL

These signals control the front door lock.

Table 6.19 (a) FRONT DOOR LOCK CONTROL (System ladder → Custom ladder)
Signal Address Function
Splash guard door SI9_5 (R1309.5) ON when the front door is locked.
closed state

Table 6.19 (b) FRONT DOOR LOCK CONTROL (Custom ladder → System ladder)
Signal Address Function
Door unlock SO9_3 (R1359.3) When the front door is locked, turning this signal ON unlocks the
door. When the front door is unlocked and is not open, turning this
signal ON locks the door. When the front door is open, this signal is
not effective. Turn this signal ON for about 100 ms when specifying
the relevant command.

6.20 AUTOMATIC SIDE DOOR CONTROL

These signals control the device’s automatic side door.

Table 6.20 (a) AUTOMATIC SIDE DOOR CONTROL (System ladder → Custom ladder)
Signal Address Function
Automatic side door SI9_6 (R1309.6) ON when the automatic side door is in the closed limit position (the
closed state proximity switch is ON).
Automatic side door SI9_7 (R1309.7) ON when the automatic side door is in the open limit position (the
open state proximity switch is ON).

Table 6.20 (b) AUTOMATIC SIDE DOOR CONTROL (System ladder → Custom ladder)
Signal Address Function
Automatic side door SO3_6 (R1353.6) While this signal is ON, the air valve for opening the automatic side
open request door is ON. (System side control is not exercised. To include
system side control, such as turning OFF the valves in the case of
an emergency stop, use R1368.0. Refer to 6.33 "ROBOT
INTERFACE 2.")
Automatic side door SO3_7 (R1353.7) While this signal is ON, the air valve for closing the automatic side
close request door is ON. (System side control is not exercised. To include
system side control, such as turning OFF the valves in the case of
an emergency stop, use R1368.1. Refer to 6.33 "ROBOT
INTERFACE 2.")
Door interlock SO4_6 (R1354.6) Turning this signal ON stops program operation, spindle rotation,
coolant output, and other operations in the same way as when the
front door is opened.

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6.21 AI TOOL MONITOR

These are signals related to the AI tool monitor.

Table 6.21 AI TOOL MONITOR (System ladder → Custom ladder)

Signal Address Function
Warning level SI10_3 (R1310.3) ON when the AI tool monitor is used and the load on the spindle
detection during machining exceeds the warning level.
OFF when the reset key on the operator's panel is pressed.
OFF when tool replacement is specified. (when K08#6 is 1)
When K08#7 is 1, the value set in data table D12 is compared with
the load on the spindle while the spindle is rotating. When the load
on the spindle exceeds the setting, this signal is turned ON
regardless of whether the AI tool monitor function is used.
Breakage level SI10_4 (R1310.4) ON when the AI tool monitor is used and the load on the spindle
detection during machining exceeds the breakage level.
OFF when the reset key on the operator's panel is pressed.
OFF when tool replacement is specified. (when K08#6 is 1)
When K08#7 is 1, the value set in data table D14 is compared with
the load on the spindle while the spindle is rotating. When the load
on the spindle exceeds the setting, this signal is turned ON
regardless of whether the AI tool monitor function is used.

6.22 SPINDLE
These are signals related to the spindle.

Table 6.22 (a) SPINDLE (System ladder → Custom ladder)

Signal Address Function
Spindle stop SI10_5 (R1310.5) ON when the spindle stops (forward or reverse spindle rotation is not
specified).
S command SI20_0 (R1320.0) The specified S code is output as binary data.
- Example) When S8000 is specified
SI23_7 (R1323.7) Addresses: R1323 R1322 R1321 R1320
Bits: 76543210 76543210 76543210 76543210
Data: 00000000 00000000 00011111 01000000
M03 command SI24_0 (R1324.0) ON when the M03 command is specified.
M05 command SI24_1 (R1324.1) ON when the M05 command is specified.
Spindle rotation SI24_2 (R1324.2) On when the spindle rotation/stop button on the operator's panel is
button ON pressed.

Table 6.22 (b) SPINDLE (System ladder → Custom ladder)

Signal Address Function
No spindle rotating SO9_6 (R1359.6) Spindle rotation is disabled while this signal is ON.
When the spindle is rotating, turning this signal ON stops the rotation
of the spindle. When this signal is ON, specifying spindle rotation
causes an alarm.

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6.23 SCREEN DISPLAY

These are signals related to languages displayed on the screen.

Table 6.23 SCREEN DISPLAY (System ladder → Custom ladder)

Signal Address Function
Display in Japanese SI12_0 (R1312.0) ON when the corresponding display language is set.
Display in German SI12_1 (R1312.1)
Display in French SI12_2 (R1312.2)
Display in Italian SI12_4 (R1312.4)
Display in Korean SI12_5 (R1312.5)
Display in Spanish SI12_6 (R1312.6)
Display in English SI12_7 (R1312.7)
Display in Chinese SI37_0 (R1337.0)
(Simplified)
Display in SI37_1 (R1337.1)
Portuguese
Display in Russian SI37_2 (R1337.2)
Display in SI37_3 (R1337.3)
Vietnamese
Display in SI37_4 (R1337.4)
Indonesian

6.24 POSITION SWITCH

These are signals related to position switches.
When the tool is positioned within the operation range specified for NC parameters along a servo axis, the
corresponding signal is turned ON.
(Example 1)
To turn position switch 1 ON within a range between 100.000 and 200.000 along the X-axis:
No. 6910 = 1, No. 6930 = 200.000, No. 6950 = 100.000
(Example 2)
To turn position switch 2 ON within a range between -100.000 and -200.000 along the Y-axis:
No. 6911 = 2, No. 6931 = -100.000, No. 6951 = -200.000

Table 6.24 POSITION SWITCH (System ladder → Custom ladder)

Signal Address Function
Position switch 1 SI13_0 (R1313.0) Axis specification: No. 6910
Maximum value in the operation range: No. 6930
Minimum value in the operation range: No. 6950
Position switch 2 SI13_1 (R1313.1) Axis specification: No. 6911
Maximum value in the operation range: No. 6931
Minimum value in the operation range: No. 6951
Position switch 3 SI13_2 (R1313.2) Axis specification: No. 6912
Maximum value in the operation range: No. 6932
Minimum value in the operation range: No. 6952
Position switch 4 SI13_3 (R1313.3) Axis specification: No. 6913
Maximum value in the operation range: No. 6933
Minimum value in the operation range: No. 6953
Position switch 5 SI13_4 (R1313.4) Axis specification: No. 6914
Maximum value in the operation range: No. 6934
Minimum value in the operation range: No. 6954

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Signal Address Function

Position switch 6 SI13_5 (R1313.5) Axis specification: No. 6915
Maximum value in the operation range: No. 6935
Minimum value in the operation range: No. 6955
Position switch 7 SI13_6 (R1313.6) Axis specification: No. 6916
Maximum value in the operation range: No. 6936
Minimum value in the operation range: No. 6956
Position switch 8 SI13_7 (R1313.7) Axis specification: No. 6917
Maximum value in the operation range: No. 6937
Minimum value in the operation range: No. 6957

6.25 CONTROL SIGNAL FOR EACH SERVO AXIS

These signals control servo axes.

Table 6.25 (a) Control of serve axes (System ladder → Custom ladder)
Signal Address Function
Movement along the SI14_0 (R1314.0) ON when the tool is moving along the corresponding axis.
X-axis ON when the corresponding axis is selected in handle mode.
Movement along the SI14_1 (R1314.1)
Y-axis
Movement along the SI14_2 (R1314.2)
Z-axis
Movement along the SI14_3 (R1314.3)
4th axis
Movement along the SI14_4 (R1314.4)
5th axis
Completion of X-axis SI15_0 (R1315.0) ON at the completion of one of the following operations:
reference position • Manual reference position return
return • Automatic reference position return (G28)
Completion of Y-axis SI15_1 (R1315.1) • Reference position return check (G27)
reference position OFF when the tool moves from the reference position along the
return corresponding axis or the machine enters the emergency stop or
Completion of Z-axis SI15_2 (R1315.2) servo alarm state.
reference position Not turned ON when the tool moves to the machine zero point
return manually or according to the G00 or G01 command and when the
Completion of SI15_3 (R1315.3) tool is positioned at the machine zero point along the corresponding
4th-axis reference axis at the termination of tool replacement.
position return
Completion of SI15_4 (R1315.4)
5h-axis reference
position return
Establishment of SI18_0 (R1318.0) ON when the reference position is established along the
X-axis reference corresponding axis.
position OFF when the reference position is lost.
Establishment of SI18_1 (R1318.1) OFF until the reference position is determined by the absolute
Y-axis reference position detector at power-on.
position
Establishment of SI18_2 (R1318.2)
Z-axis reference
position
Establishment of SI18_3 (R1318.3)
4th-axis reference
position

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Signal Address Function

Establishment of SI18_4 (R1318.4)
5th-axis reference
position
Completion of X-axis SI19_0 (R1319.0) [When K55#7=0]
reference position The same signals as those for the addresses from SI15_0
return to SI15_4 (R1315.0 to R1315.4) are output.
Completion of Y-axis SI19_1 (R1319.1)
reference position [When K55#7=1]
return ON in the following case:
Completion of Z-axis SI19_2 (R1319.2) • When the second reference position return (G30) is
reference position completed
return OFF when each axis moves from the reference position or
Completion of SI19_3 (R1319.3) the machine enters the emergency stop or servo alarm
4th-axis reference state.
position return
Completion of SI19_4 (R1319.4)
5th-axis reference
position return

Table 6.25 (b) Control of servo axes (Custom ladder → System ladder)
Signal Address Function
X-axis interlock SO4_1 (R1354.1) Turning these signals OFF inhibits the movement along the
corresponding axes.
Y-axis interlock SO4_2 (R1354.2) When a signal is turned OFF while the tool is moving, the tool
decelerates and stops along the corresponding axis.
Z-axis interlock SO4_3 (R1354.3) When the signal is turned ON, the tool restarts moving.
4th-axis interlock SO4_4 (R1354.4) These signals are effective when K14#5 is 1.
5th-axis interlock SO4_5 (R1354.5)

6.26 CUSTOM MACROS

These are signals for custom macros.

Table 6.26 (a) CUSTOM MACROS (System ladder → Custom ladder)

Signal Address Function
Input signal for SI25_0 (R1325.0) ON when macro statement #11**=1 (**: 00 to 15) is executed.
custom macro OFF when #11**=0 is specified.
(#1100), (#1132) When #1132=nn (nn: 2-byte data) is specified, the value of nn is
(#1101), (#1132) SI25_1 (R1325.1) output to SI25_0 to SI26_7 as binary data.
(#1102), (#1132) SI25_2 (R1325.2)
(#1103), (#1132) SI25_3 (R1325.3)
(#1104), (#1132) SI25_4 (R1325.4)
(#1105), (#1132) SI25_5 (R1325.5)
(#1106), (#1132) SI25_6 (R1325.6)
(#1107), (#1132) SI25_7 (R1325.7)
(#1108), (#1132) SI26_0 (R1326.0)
(#1109), (#1132) SI26_1 (R1326.1)
(#1110), (#1132) SI26_2 (R1326.2)
(#1111), (#1132) SI26_3 (R1326.3)
(#1112), (#1132) SI26_4 (R1326.4)
(#1113), (#1132) SI26_5 (R1326.5)
(#1114), (#1132) SI26_6 (R1326.6)
(#1115), (#1132) SI26_7 (R1326.7)

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Signal Address Function

Input signals for SI27_0 (R1327.0) When #1133=nn (nn: 4-byte data) is specified, the value of nn is
custom macro - output to SI27_0 to SI30_7 as binary data.
(#1133) SI30_7 (R1330.7)

Table 6.26 (b) CUSTOM MACROS (Custom ladder → System ladder)

Signal Address Function
Output signal for SO12_0 (R1362.0) Turning each signal ON sets the corresponding system variable
custom macro #1000 to #1015 to 1.
(#1000), (#1032) When the signal is OFF, the corresponding system variable is set
(#1001), (#1032) SO12_1 (R1362.1) to 0.
(#1002), (#1032) SO12_2 (R1362.2) Outputting binary data (2-byte data) to SO12_0 to SO13_7 sets the
(#1003), (#1032) SO12_3 (R1362.3) data in #1032.
(#1004), (#1032) SO12_4 (R1362.4) Cannot be used when a pallet changer of KAWATATEC or a tool
(#1005), (#1032) SO12_5 (R1362.5) monitor of Nodeman is attached.
(#1006), (#1032) SO12_6 (R1362.6)
(#1007), (#1032) SO12_7 (R1362.7)
(#1008), (#1032) SO13_0 (R1363.0)
(#1009), (#1032) SO13_1 (R1363.1)
(#1010), (#1032) SO13_2 (R1363.2)
(#1011), (#1032) SO13_3 (R1363.3)
(#1012), (#1032) SO13_4 (R1363.4)
(#1013), (#1032) SO13_5 (R1363.5)
(#1014), (#1032) SO13_6 (R1363.6)
(#1015), (#1032) SO13_7 (R1363.7)

6.27 M FUNCTION CODE SIGNALS

This is an M function code signal.
The number of the specified M code (first M code) is output as binary data.
Use these signals together with functional instruction No. 25: binary decode processing for M code
decode and other processing.

Table 6.27 M function code (CNC → Custom ladder)

Signal Address Function
M code F10.0 - F13.7 The number of the specified M code is output as binary data.
Example) When M200 is specified:
Addresses : F13 F12 F11 F10
Bits: 76543210 76543210 76543210 76543210
Data: 00000000 00000000 00000000 11001000

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6.28 OPERATION CONTROL

These are signals related to operation control.

Table 6.28 OPERATION CONTROL (Custom ladder → System ladder)

Signal Address Function
External start SO2_1 (R1352.1) In the memory, remote, or MDI operation mode, turning this signal
ON, then OFF starts operation.
When the machine has a front automatic door and "OPEN DOOR
WITH START BUTTON" of automatic door control is set to ON,
operation starts after the front automatic door is closed. (only
during memory or remote operation)
Turn this signal ON for about 200 ms when specifying the relevant
command.
External hold SO2_2 (R1352.2) Turning this signal OFF during operation causes the tool to
decelerate and stop along each servo axis. When this signal is
OFF, memory operation, remote operation, MDI operation, and tool
replacement cannot be started.
Effective when K14#7 is 1.
External reset SO2_3 (R1352.3) Turning this signal ON causes the ROBODRILL to perform the
following operations:
• Decelerates and stops the tool along the controlled axis along
which it is moving.
• Enters the reset state.
Cancels the alarms that can be released.
External emergency SO2_4 (R1352.4) Turning this signal OFF puts the ROBODRILL into the emergency
stop stop state. This signal provides emergency stop control at the
software level. Examine emergency stop control at the hardware
level as required.
Effective when K14#6 is 1.
Single block mode SO2_6 (R1352.6) Turning this signal ON puts the ROBODRILL into the single block
ON operation mode. Effective when K08#3 is 1. At this time, the
single operation button on the operator's panel is disabled.
Dry run mode ON SO2_7 (R1352.7) Turning this signal ON puts the machine in the dry run operation
mode. Effective when K08#4 is 1. At this time, the dry operation
button on the operator's panel is disabled.
M01 stop ON SO29_5 (R1379.5) Turning this signal ON enables M01 stop. Effective when K66#4 is
1. At this time, the M01 STOP button on the operator's panel is
disabled.
This signal can also be used when the operator’s panel disable
function is enabled.
DNC operation SO3_3 (R1353.3) When the memory operation mode is selected, turning this signal
ON puts the machine in the remote operation mode.

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6.29 ALARM AND OPERATOR MESSAGE DISPLAY

These are signals related to alarms or operator messages displayed.

Table 6.29 ALARM AND OPERATOR MESSAGE DISPLAY (Custom ladder → System ladder)
Signal Address Function
Alarm message SO5_0 (R1355.0) Turn this signal ON when an alarm message is displayed on the
display in progress custom PMC.
When this signal is ON, the system ladder program assumes that an
alarm message is displayed. The status indication lamps
(machine status output 1, 2, 3) are turned ON. (when on or
blinking is selected for alarms)
Operator message SO5_1 (R1355.1) Turn this signal ON when an operator message is displayed on the
display in progress custom PMC.
When this signal is ON, the system ladder program assumes that an
operator message is displayed. The status indication lamps
(machine status output 1, 2, 3) are turned ON. (when on or
blinking is selected for operator messages)
This signal is not used when operator message display in progress
2 (SO5_6) is used.
Operator message SO5_6 (R1355.6) Turn this signal ON when an operator message is displayed on the
display in progress 2 custom PMC.
When this signal is ON, the system ladder program assumes that an
operator message is displayed. The status indication lamps
(machine status output 1, 2, 3) are not turned ON.
This signal is not used when operator message display in progress
(SO5_1) is used.

6.30 MACHINE INTERIOR LAMP

This is a signal related to turning on/off of the machine interior lamp.

Table 6.30 MACHINE INTERIOR LAMP (Custom ladder → System ladder)

Signal Address Function
Machine interior SO7_6 (R1357.6) Turning this signal ON turns the machine interior lamp on. Turning
lamp ON this signal OFF turns the lamp off.
Effective when K08#0 is 1. At this time, the machine interior lamp
ON/OFF switch on the screen is disabled.

6.31 POWER-OFF
This signal requires that the power should be turned off.

Table 6.31 POWER-OFF (Custom ladder → System ladder)

Signal Address Function
Power OFF request SO9_5 (R1359.5) Turns the ROBODRILL control power OFF.
When the command is specified during operation, the control power
is turned OFF after the tool stops moving along axes and the
spindle stops rotating.
This signal cannot be used for 60 seconds after the ladder program
starts operating.

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6.32 OVERRIDE CONTROL

These are signals related to override control.

6.32.1 Spindle Override

Table 6.32.1 Spindle override (Custom ladder → System ladder)
Signal Address Function
Spindle override SO15_0 (R1365.0) The spindle override is specified as binary data.
command - An override of 0% to 254% can be specified.
SO15_7 (R1365.7) When a value of 0 or 255 is specified, an override of 0% is
assumed.
When no data is set in R1365 by the custom ladder program at
power-on, the data indicating an override of 100% is automatically
set.
Effective when K14#1 is 1.
Example) To specify 100%
Address: R1365
Bits: 76543210
Data: 01100100

6.32.2 Cutting Feed Override

Table 6.32.2 Cutting feed override (Custom ladder →System ladder)
Signal Address Function
Cutting feed override SO16_0 (R1366.0) The cutting feed override is specified as binary data.
command - Specify the data [255 – (override-to-be-specified)].
SO16_7 (R1366.7) An override of 0% to 254% can be specified.
When a value of 0 or 255 is specified, an override of 0% is
assumed.
When no data is set in R1366 by the custom ladder program at
power-on, the data indicating an override of 100% is automatically
set.
Effective when K14#1 is 1.
Example) To specify 100%, set 155.
Address: R1366
Bits: 76543210
Data: 10011011

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6.33 ROBOT INTERFACE 2

These are signals related to control of the robot interface 2.

6.33.1 When Only the Automatic Side Door is Controlled

Table 6.33.1 (a) Automatic side door control (System ladder → Custom ladder)
Signal Address Function
Automatic side door SI9_6 (R1309.6) ON when the automatic side door (safety gate) is in the closed limit
closed state position (the proximity switch for the closed limit position is ON).
Automatic side door SI9_7 (R1309.7) ON when the automatic side door (safety gate) is in the open limit
open state position (the proximity switch for the open limit position is ON).
Front door open SI79_4 (R1429.4) ON when the front door is open (X8.1 = 0).
Interaction mode SI79_5 (R1429.5) ON when interaction is selected
(SO17_1 = 1).

Table 6.33.1 (b) Automatic side door control (Custom ladder → System ladder)
Signal Address Function
Interaction/independ SO17_1 (R1367.1) When this signal is set to ON, the ROBODRILL assumes that robot
ent operation switch teach operation is in progress.
Automatic side door SO18_0 (R1368.0) When this signal is set to ON, the automatic side door (safety gate)
open is opened. When using this signal, ensure that this signal is ON for
about 100 ms.
Automatic side door SO18_1 (R1368.1) When this signal is set to ON, the automatic side door (safety gate)
closed is closed. When using this signal, ensure that this signal is ON for
about 100 ms.
Side door full open SO26_0(R1376.0) On when the side door is fully opened (when the servo motor drive
signal is controlled by the robot (K58#6 = 1)).

6.33.2 When the Automatic Side Door and Robot System are
Controlled
Table 6.33.2 (a) Control of the automatic side door and the robot system (System ladder → Custom ladder)
Signal Address Function
Robot system being SI78_0 (R1428.0) ON when system operation is being started.
started
Cycle stop mode SI78_1 (R1428.1) ON when the cycle stop mode is set with the soft key [CYCLE
STOP] pressed on the robot operation screen or with the cycle stop
command output from the custom PMC.
OFF when the cycle stop mode is terminated or canceled.
System stop mode SI78_2 (R1428.2) ON when the system stop mode is set with the soft key [SYSTEM
STOP] pressed on the robot operation screen or with the system
stop command output from the custom PMC.
OFF when the system stop mode is terminated or canceled.
Teach mode SI79_3 (R1429.3) ON when the teach mode is set
(SO17_0 = 1 when K19#0 is 1, and FSI [1] (signal from the robot) =
1 when K19#0 is 0).
Front door open SI79_4 (R1429.4) ON when the front door is open (X8.1 = 0).
Interaction mode SI79_5 (R1429.5) ON when interaction is selected
(SO17_1 = 1).

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Table 6.33.2 (b) Control of the automatic side door and the robot system (Custom ladder → System ladder)
Signal Address Function
Teach mode SO17_0 (R1367.0) This signal is used when an address other then the robot teach
in-progress signal (UO[8] R7200.7) of the robot system is to be
used or when a condition is to be added.
When this signal is set to ON, the ROBODRILL assumes that robot
teach operation is in progress. (This signal is valid when K19#0 =
1.)
Interaction/independ SO17_1(R1367.1) When this signal is set to ON, the robot system is placed in the
ent operation switch interaction mode.
Robot system start SO17_2(R1367.2) When this signal is set to ON, system operation is started. When
using this signal, ensure that this signal is ON for about 100 ms.
(This signal is enabled when K25#1 is 1.)
Robot system cycle SO17_4(R1367.4) This signal provides the same function as the soft key [CYCLE
stop command STOP] on the robot operation screen. When this signal is set to
ON, the cycle stop mode is set. When this signal is set to ON
during the cycle stop mode, the cycle stop mode is canceled.
When using this signal, ensure that this signal is ON for about 100
ms (This signal is enabled when K25#0 is 1. When this signal is
valid, the [CYCLE STOP] key cannot be used).
Robot system stop SO17_5(R1367.5) This signal provides the same function as the soft key [SYSTEM
command STOP] on the robot operation screen. When this signal is set to
ON, the system stop mode is set. When this signal is set to ON
during the system stop mode, the system stop mode is canceled.
When using this signal, ensure that this signal is ON for about 100
ms (This signal is enabled when K25#1 is 1. When this signal is
valid, the [SYSTEM STOP] key cannot be used).
Peripheral device SO17_7(R1367.7) This signal posts the ready state of the peripheral device in the
ready robot system. Ensure that this signal is set to ON when the
peripheral device is ready. When this signal is OFF, system
operation cannot be started.
(This signal is enabled when K21#4 is 1.)
Automatic side door SO18_0(R1368.0) When this signal is set to ON, the automatic side door (safety gate)
open is opened. When using this signal, ensure that this signal is ON for
about 100 ms.
Automatic side door SO18_1(R1368.1) When this signal is set to ON, the automatic side door (safety gate)
closed is closed. When using this signal, ensure that this signal is ON for
about 100 ms.
Workpiece clamp SO25_2(R1375.2) When this signal is set to ON, the workpiece is clamped.
Robot program stop SO25_3(R1375.3) When this signal is set to ON, the robot program is stopped.
(This signal is enabled when K25#2 is 1.)
Robot alarm reset SO25_4(R1375.4) When this signal is set to ON, the robot alarm is reset.
(This signal is enabled when K25#2 is 1.)

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6.34 COUNT OF PERIODICAL MAINTENANCE CUSTOMIZE

ITEM
These are signals related to the counts of periodical maintenance customize items.
At the Periodical Maintenance Screen, cumulative value of customize item can be counted with the
desired condition by using following custom signal.

Table 6.34 Customize items (Custom ladder → System ladder)

Signal Address Function
Customizing item 1 SO23_0 (R1373.0) When “CUSTOM (TIME)” is selected as Count type, count the time
count signal during the corresponding custom signal is ON.
Customizing item 2 SO23_1 (R1373.1) When “CUSTOM (COUNT)” is selected as Count type, count the
count signal number of the corresponding custom signal is changed from OFF to
Customizing item 3 SO23_2 (R1373.2) ON.
count signal
Customizing item 4 SO23_3 (R1373.3) When using “CUSTOM (COUNT)” as Count type, corresponding
count signal signal is turned on more than 500 msec by custom ladder. If that
Customizing item 5 SO23_4 (R1373.4) time is short, counting number may be skipped.
count signal
Customizing item 6 SO23_5 (R1373.5)
count signal
Customizing item 7 SO23_6 (R1373.6)
count signal
Customizing item 8 SO23_7 (R1373.7)
count signal

6.35 BLOCK SKIP

These are signals related to block skip.
These signals are used to control the optional block skip function in a custom ladder program.
Effective when K08#1 is 1.
At this time, the block skip buttons on the screen (standard operator's panel) and operator's panel
(operator's panel with the full keyboard) are disabled.

Table 6.35 BLOCK SKIP (Custom ladder → System ladder)

Signal Address Function
Block skip ON SO7_1 (R1357.1) Turning this signal ON enables the block skip (/, /1) function.
( /, /1 )
Block skip ON SO24_0 (R1374.0) Turning this signal ON enables the block skip (/2) function.
( /2 )
Block skip ON SO24_1 (R1374.1) Turning this signal ON enables the block skip (/3) function.
( /3 )
Block skip ON SO24_2 (R1374.2) Turning this signal ON enables the block skip (/4) function.
( /4 )
Block skip ON SO24_3 (R1374.3) Turning this signal ON enables the block skip (/5) function.
( /5 )
Block skip ON SO24_4 (R1374.4) Turning this signal ON enables the block skip (/6) function.
( /6 )
Block skip ON SO24_5 (R1374.5) Turning this signal ON enables the block skip (/7) function.
( /7 )
Block skip ON SO24_6 (R1374.6) Turning this signal ON enables the block skip (/8) function.
( /8 )
Block skip ON SO24_7 (R1374.7) Turning this signal ON enables the block skip (/9) function.
( /9 )
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6.36 OPERATION LEVELS

These are signals related to operation levels.
These signals are valid when AUTHORIZATION THROUGH EXTERNAL SIGNAL is ON in the
password control screen.
When two or more of these signals are ON, the highest level is authorized.

Table 6.36 Operation levels (Custom ladder → System ladder)

Signal Address Function
Operation level 1 SO6_0(R1356.0) While this signal is ON, operation level 1 is authorized.
authorized
Operation level 2 SO6_1(R1356.1) While this signal is ON, operation level 2 is authorized.
authorized
Operation level 3 SO6_2(R1356.2) While this signal is ON, operation level 3 is authorized.
authorized

6.37 WARM UP OPERATION FUNCTION

These are signals related to the warm up operation function.

Table 6.37 Warm up operation function (System ladder → Custom ladder)

Signal Address Function
Warm up operation SI93_0 (R1443.0) ON when automatic start of the warm up operation is enabled and
automatic start the machine is automatically turned on.
Remains ON until the CNC power is turned OFF.
Warm up operation SI93_1 (R1443.1) ON when the warm up operation program is automatically started.
in progress OFF when the automatic operation state ends (by manual
operations such as feed hold or reset or by program commands
such as M02 or M30).
Scheduled operation SI93_2 (R1443.2) ON when the warm up operation time reaches the scheduled
time reached operation time.
OFF when the automatic operation state ends (by manual
operations such as feed hold or reset or by program commands
such as M02 or M30).
Maximum operation SI93_3 (R1443.3) ON when the warm up operation time reaches the maximum
time reached operation time.
OFF when the CNC enters the reset or automatic operation state.

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6.38 LIST OF INTERFACE SIGNALS

Table 6.38 (a) List of interface signals (System ladder → Custom ladder)
Address Symbol Function Note
R 1300.0 SI0_0 Always ON. 6.1 BASIC SIGNALS
R 1300.1 SI0_1 Always OFF. 6.1 BASIC SIGNALS
R 1300.2 SI0_2 ON in a single scanning cycle at the 6.1 BASIC SIGNALS
start of operation.
R 1300.3 SI0_3 1.0-second clock pulse 6.1 BASIC SIGNALS
R 1300.4 SI0_4 0.1-second clock pulse 6.1 BASIC SIGNALS
R 1300.5 SI0_5 0.5-second clock pulse 6.1 BASIC SIGNALS
R 1300.6 SI0_6 (Not used)
R 1300.7 SI0_7 (Not used)

R 1301.0 SI1_0 (Not used)

R 1301.1 SI1_1 (Not used)
R 1301.2 SI1_2 (Not used)
R 1301.3 SI1_3 (Not used)
R 1301.4 SI1_4 (Not used)
R 1301.5 SI1_5 (Not used)
R 1301.6 SI1_6 (Not used)
R 1301.7 SI1_7 (Not used)

R 1302.0 SI2_0 Selected program No. 2∧0 6.2 MACHINE STATUS

R 1302.1 SI2_1 Selected program No. 2∧1 6.2 MACHINE STATUS
R 1302.2 SI2_2 Selected program No. 2∧2 6.2 MACHINE STATUS
R 1302.3 SI2_3 Selected program No. 2∧3 6.2 MACHINE STATUS
R 1302.4 SI2_4 Selected program No. 2∧4 6.2 MACHINE STATUS
R 1302.5 SI2_5 Selected program No. 2∧5 6.2 MACHINE STATUS
R 1302.6 SI2_6 Selected program No. 2∧6 6.2 MACHINE STATUS
R 1302.7 SI2_7 Selected program No. 2∧7 6.2 MACHINE STATUS
6.2 MACHINE STATUS
R 1303.0 SI3_0 Selected program No. 2∧8 6.2 MACHINE STATUS
R 1303.1 SI3_1 Selected program No. 2∧9 6.2 MACHINE STATUS
R 1303.2 SI3_2 Selected program No. 2∧10 6.2 MACHINE STATUS
R 1303.3 SI3_3 Selected program No. 2∧11 6.2 MACHINE STATUS
R 1303.4 SI3_4 Selected program No. 2∧12 6.2 MACHINE STATUS
R 1303.5 SI3_5 Selected program No. 2∧13 6.2 MACHINE STATUS
R 1303.6 SI3_6 Selected program No. 2∧14 6.2 MACHINE STATUS
R 1303.7 SI3_7 Selected program No. 2∧15 6.2 MACHINE STATUS
6.2 MACHINE STATUS
R 1304.0 SI4_0 Tool No. 2∧0 6.2 MACHINE STATUS
R 1304.1 SI4_1 Tool No. 2∧1 6.2 MACHINE STATUS
R 1304.2 SI4_2 Tool No. 2∧2 6.2 MACHINE STATUS
R 1304.3 SI4_3 Tool No. 2∧3 6.2 MACHINE STATUS
R 1304.4 SI4_4 Tool No. 2∧4 6.2 MACHINE STATUS
R 1304.5 SI4_5 Tool No. 2∧5 6.2 MACHINE STATUS
R 1304.6 SI4_6 Tool No. 2∧6 6.2 MACHINE STATUS
R 1304.7 SI4_7 Tool No. 2∧7 6.2 MACHINE STATUS

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[System ladder → Custom ladder]

Address Symbol Function Note
R 1305.0 SI5_0 /M code BCD 2∧0*1 6.6 EXTERNAL M CODE BCD OUTPUT
FUNCTION
R 1305.1 SI5_1 M80 output/M code BCD 2∧1*1 6.7 M CODE OUTPUT FUNCTION (M80 TO
M89)／
6.6 EXTERNAL M CODE BCD OUTPUT
FUNCTION
R 1305.2 SI5_2 M81 output/M code BCD 2∧2*1 6.7 M CODE OUTPUT FUNCTION (M80 TO
M89)／
6.6 EXTERNAL M CODE BCD OUTPUT
FUNCTION
R 1305.3 SI5_3 M82 output/M code BCD 2∧3*1 6.7 M CODE OUTPUT FUNCTION (M80 TO
M89)／
6.6 EXTERNAL M CODE BCD OUTPUT
FUNCTION
R 1305.4 SI5_4 M83 output/M code BCD 2∧0*10 6.7 M CODE OUTPUT FUNCTION (M80 TO
M89)／
6.6 EXTERNAL M CODE BCD OUTPUT
FUNCTION
R 1305.5 SI5_5 M84 output/M code BCD 2∧1*10 6.7 M CODE OUTPUT FUNCTION (M80 TO
M89)／
6.6 EXTERNAL M CODE BCD OUTPUT
FUNCTION
R 1305.6 SI5_6 M85 output/M code BCD 2∧2*10 6.7 M CODE OUTPUT FUNCTION (M80 TO
M89)／
6.6 EXTERNAL M CODE BCD OUTPUT
FUNCTION
R 1305.7 SI5_7 M86 output/M code BCD 2∧3*10 6.7 M CODE OUTPUT FUNCTION (M80 TO
M89)／
6.6 EXTERNAL M CODE BCD OUTPUT
FUNCTION

R 1306.0 SI6_0 M87 output/data read request 6.7 M CODE OUTPUT FUNCTION (M80 TO
M89)／
6.6 EXTERNAL M CODE BCD OUTPUT
FUNCTION
R 1306.1 SI6_1 M88 output/distribution completion 6.7 M CODE OUTPUT FUNCTION (M80 TO
M89)／
6.6 EXTERNAL M CODE BCD OUTPUT
FUNCTION
R 1306.2 SI6_2 M89 output/BCD data parity check 6.7 M CODE OUTPUT FUNCTION (M80 TO
M89)／
6.6 EXTERNAL M CODE BCD OUTPUT
FUNCTION
R 1306.3 SI6_3
R 1306.4 SI6_4 /M code BCD 2∧0*100 6.6 EXTERNAL M CODE BCD OUTPUT
FUNCTION
R 1306.5 SI6_5 /M code BCD 2∧1*100 6.6 EXTERNAL M CODE BCD OUTPUT
FUNCTION
R 1306.6 SI6_6 /M code BCD 2∧2*100 6.6 EXTERNAL M CODE BCD OUTPUT
FUNCTION
R 1306.7 SI6_7 /M code BCD 2∧3*100 6.6 EXTERNAL M CODE BCD OUTPUT
FUNCTION

R 1307.0 SI7_0 Machine status output 1 (END1 6.6 EXTERNAL M CODE BCD OUTPUT
output) FUNCTION

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Address Symbol Function Note

R 1307.1 SI7_1 Machine status output 2 (END2 6.6 EXTERNAL M CODE BCD OUTPUT
output) FUNCTION
R 1307.2 SI7_2 Machine status output 3 (END3 6.6 EXTERNAL M CODE BCD OUTPUT
output) FUNCTION
R 1307.3 SI7_3 Cycle start (in progress) 6.2 MACHINE STATUS
R 1307.4 SI7_4 Condition of feed hold 6.2 MACHINE STATUS
R 1307.5 SI7_5 Condition of alarm 6.2 MACHINE STATUS
R 1307.6 SI7_6 Condition of reset 6.2 MACHINE STATUS
R 1307.7 SI7_7 Condition of emergency stop 6.2 MACHINE STATUS

R 1308.0 SI8_0 MEM mode selection 6.14 OPERATION MODE SWITCHING

R 1308.1 SI8_1 MDI mode selection 6.14 OPERATION MODE SWITCHING
R 1308.2 SI8_2 Handle mode selection 6.14 OPERATION MODE SWITCHING
R 1308.3 SI8_3 Jog mode selection 6.14 OPERATION MODE SWITCHING
R 1308.4 SI8_4 Reference mode selection 6.14 OPERATION MODE SWITCHING
R 1308.5 SI8_5 Edit mode selection 6.14 OPERATION MODE SWITCHING
R 1308.6 SI8_6 Program stoppage 6.2 MACHINE STATUS
R 1308.7 SI8_7 Production completion 6.5 EXTERNAL PROGRAM NUMBER
SEARCH FUNCTION

R 1309.0 SI9_0 End of selection 6.15 PRODUCTION MANAGEMENT

R 1309.1 SI9_1 (Reserved)
R 1309.2 SI9_2 Battery alarm 6.2 MACHINE STATUS
R 1309.3 SI9_3 End of program 6.18 COMPLETION OF MACHINING
R 1309.4 SI9_4 Machine interior coolant output ON 6.17 COOLANT, MACHINE INTERIOR
(High power version: lower cleaning CLEANING COOLANT, CENTER
coolant output ON or wall coolant THROUGH COOLANT, AND AIR BLOW
output ON)
R 1309.5 SI9_5 Splash guard door closed state 6.19 FRONT DOOR LOCK CONTROL
R 1309.6 SI9_6 Automatic side door closed state 6.20 AUTOMATIC SIDE DOOR CONTROL
R 1309.7 SI9_7 Automatic side door open state 6.20 AUTOMATIC SIDE DOOR CONTROL

[System ladder → Custom ladder]

Address Symbol Function Note
R 1310.0 SI10_0 Door open (M60) 6.3 FRONT AUTOMATIC DOOR CONTROL
R 1310.1 SI10_1 Automatic door closed state 6.3 FRONT AUTOMATIC DOOR CONTROL
R 1310.2 SI10_2 Automatic door open state 6.3 FRONT AUTOMATIC DOOR CONTROL
R 1310.3 SI10_3 Warning level detection 6.21 AI TOOL MONITOR
R 1310.4 SI10_4 Breakage level detection 6.21 AI TOOL MONITOR
R 1310.5 SI10_5 Spindle stop 6.22 SPINDLE
R 1310.6 SI10_6 Auto mode 6.2 MACHINE STATUS
R 1310.7 SI10_7 Tool life end (tool group) 6.11 TOOL LIFE MANAGEMENT

R 1311.0 SI11_0 6.17 COOLANT, MACHINE INTERIOR

CLEANING COOLANT, CENTER
THROUGH COOLANT, AND AIR BLOW
R 1311.1 SI11_1 Coolant output ON 6.3 FRONT AUTOMATIC DOOR CONTROL
R 1311.2 SI11_2 Automatic door open request output 6.3 FRONT AUTOMATIC DOOR CONTROL
R 1311.3 SI11_3 Automatic door close request output 6.17 COOLANT, MACHINE INTERIOR
CLEANING COOLANT, CENTER
THROUGH COOLANT, AND AIR BLOW
R 1311.4 SI11_4 Air blow output 6.15 PRODUCTION MANAGEMENT
R 1311.5 SI11_5 Production completion 1 6.15 PRODUCTION MANAGEMENT
R 1311.6 SI11_6 Production completion 2 6.11 TOOL LIFE MANAGEMENT

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Address Symbol Function Note

R 1311.7 SI11_7 Advance notice of tool life 6.17 COOLANT, MACHINE INTERIOR
CLEANING COOLANT, CENTER
THROUGH COOLANT, AND AIR BLOW

R 1312.0 SI12_0 Display in Japanese 6.23 SCREEN DISPLAY

R 1312.1 SI12_1 Display in German 6.23 SCREEN DISPLAY
R 1312.2 SI12_2 Display in French 6.23 SCREEN DISPLAY
R 1312.3 SI12_3 (Reserved)
R 1312.4 SI12_4 Display in Italian 6.23 SCREEN DISPLAY
R 1312.5 SI12_5 Display in Korean 6.23 SCREEN DISPLAY
R 1312.6 SI12_6 Display in Spanish 6.23 SCREEN DISPLAY
R 1312.7 SI12_7 Display in English 6.23 SCREEN DISPLAY

R 1313.0 SI13_0 Position switch 1 6.24 POSITION SWITCH

R 1313.1 SI13_1 Position switch 2 6.24 POSITION SWITCH
R 1313.2 SI13_2 Position switch 3 6.24 POSITION SWITCH
R 1313.3 SI13_3 Position switch 4 6.24 POSITION SWITCH
R 1313.4 SI13_4 Position switch 5 6.24 POSITION SWITCH
R 1313.5 SI13_5 Position switch 6 6.24 POSITION SWITCH
R 1313.6 SI13_6 Position switch 7 6.24 POSITION SWITCH
R 1313.7 SI13_7 Position switch 8 6.24 POSITION SWITCH

R 1314.0 SI14_0 Movement along the X-axis 6.25 CONTROL SIGNAL FOR EACH SERVO
AXIS
R 1314.1 SI14_1 Movement along the Y-axis 6.25 CONTROL SIGNAL FOR EACH SERVO
AXIS
R 1314.2 SI14_2 Movement along the Z-axis 6.25 CONTROL SIGNAL FOR EACH SERVO
AXIS
R 1314.3 SI14_3 Movement along the 4-th axis 6.25 CONTROL SIGNAL FOR EACH SERVO
AXIS
R 1314.4 SI14_4 Movement along the 5-th axis 6.25 CONTROL SIGNAL FOR EACH SERVO
AXIS
R 1314.5 SI14_5 Low air pressure 6.2 MACHINE STATUS
R 1314.6 SI14_6
R 1314.7 SI14_7 Emergency stop button 6.2 MACHINE STATUS

[System ladder → Custom ladder]

Address Symbol Function Note
R 1315.0 SI15_0 Completion of X-axis reference position 6.25 CONTROL SIGNAL FOR EACH SERVO
return AXIS
R 1315.1 SI15_1 Completion of Y-axis reference position 6.25 CONTROL SIGNAL FOR EACH SERVO
return AXIS
R 1315.2 SI15_2 Completion of Z-axis reference position 6.25 CONTROL SIGNAL FOR EACH SERVO
return AXIS
R 1315.3 SI15_3 Completion of 4th-axis reference 6.25 CONTROL SIGNAL FOR EACH SERVO
position return AXIS
R 1315.4 SI15_4 Completion of 5th-axis reference 6.25 CONTROL SIGNAL FOR EACH SERVO
position return AXIS
R 1315.5 SI15_5 Completion of machining 6.18 COMPLETION OF MACHINING
R 1315.6 SI15_6 Feedrate override 100% 6.2 MACHINE STATUS
R 1315.7 SI15_7 Spindle speed override 100% 6.2 MACHINE STATUS

R 1316.0 SI16_0 (Reserved)

R 1316.1 SI16_1 (Reserved)
R 1316.2 SI16_2 (Reserved)
R 1316.3 SI16_3 (Reserved)

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Address Symbol Function Note

R 1316.4 SI16_4 (Reserved)
R 1316.5 SI16_5 (Reserved)
R 1316.6 SI16_6 (Reserved)
R 1316.7 SI16_7 (Reserved)

R 1317.0 SI17_0 Door open (M61) 6.3 FRONT AUTOMATIC DOOR CONTROL
R 1317.1 SI17_1 Door open (M62) 6.3 FRONT AUTOMATIC DOOR CONTROL
R 1317.2 SI17_2 Door open (M63) 6.3 FRONT AUTOMATIC DOOR CONTROL
R 1317.3 SI17_3 Door open (M64) 6.3 FRONT AUTOMATIC DOOR CONTROL
R 1317.4 SI17_4 Door open (M65) 6.3 FRONT AUTOMATIC DOOR CONTROL
R 1317.5 SI17_5 Alarm output 2 6.10 ALARM OUTPUT 2
R 1317.6 SI17_6 Operation-enabled state 6.2 MACHINE STATUS
R 1317.7 SI17_7 (Not used)

R 1318.0 SI18_0 Establishment of X-axis reference 6.25 CONTROL SIGNAL FOR EACH SERVO
position AXIS
R 1318.1 SI18_1 Establishment of Y-axis reference 6.25 CONTROL SIGNAL FOR EACH SERVO
position AXIS
R 1318.2 SI18_2 Establishment of Z-axis reference 6.25 CONTROL SIGNAL FOR EACH SERVO
position AXIS
R 1318.3 SI18_3 Establishment of 4th-axis reference 6.25 CONTROL SIGNAL FOR EACH SERVO
position AXIS
R 1318.4 SI18_4 Establishment of 5th-axis reference 6.25 CONTROL SIGNAL FOR EACH SERVO
position AXIS
R 1318.5 SI18_5 Tool group reset request reception 6.10 ALARM OUTPUT 2
R 1318.6 SI18_6 Tool group reset error 6.11 TOOL LIFE MANAGEMENT
R 1318.7 SI18_7

R 1319.0 SI19_0 Completion of X-axis reference 6.25 CONTROL SIGNAL FOR EACH SERVO
position return AXIS
R 1319.1 SI19_1 Completion of Y-axis reference 6.25 CONTROL SIGNAL FOR EACH SERVO
position return AXIS
R 1319.2 SI19_2 Completion of Z-axis reference 6.25 CONTROL SIGNAL FOR EACH SERVO
position return AXIS
R 1319.3 SI19_3 Completion of 4th-axis reference 6.25 CONTROL SIGNAL FOR EACH SERVO
position return AXIS
R 1319.4 SI19_4 Completion of 5th-axis reference 6.25 CONTROL SIGNAL FOR EACH SERVO
position return AXIS
R 1319.5 SI19_5
R 1319.6 SI19_6
R 1319.7 SI19_7

R 1320.0 SI20_0 S command 2^0 6.22 SPINDLE

R 1320.1 SI20_1 S command 2^1 6.22 SPINDLE
R 1320.2 SI20_2 S command 2^2 6.22 SPINDLE
R 1320.3 SI20_3 S command 2^3 6.22 SPINDLE
R 1320.4 SI20_4 S command 2^4 6.22 SPINDLE
R 1320.5 SI20_5 S command 2^5 6.22 SPINDLE
R 1320.6 SI20_6 S command 2^6 6.22 SPINDLE
R 1320.7 SI20_7 S command 2^7 6.22 SPINDLE

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[System ladder → Custom ladder]

Address Symbol Function Note
R 1321.0 SI21_0 S command 2^8 6.22 SPINDLE
R 1321.1 SI21_1 S command 2^9 6.22 SPINDLE
R 1321.2 SI21_2 S command 2^10 6.22 SPINDLE
R 1321.3 SI21_3 S command 2^11 6.22 SPINDLE
R 1321.4 SI21_4 S command 2^12 6.22 SPINDLE
R 1321.5 SI21_5 S command 2^13 6.22 SPINDLE
R 1321.6 SI21_6 S command 2^14 6.22 SPINDLE
R 1321.7 SI21_7 S command 2^15 6.22 SPINDLE

R 1322.0 SI22_0 S command 2^16 6.22 SPINDLE

R 1322.1 SI22_1 S command 2^17 6.22 SPINDLE
R 1322.2 SI22_2 S command 2^18 6.22 SPINDLE
R 1322.3 SI22_3 S command 2^19 6.22 SPINDLE
R 1322.4 SI22_4 S command 2^20 6.22 SPINDLE
R 1322.5 SI22_5 S command 2^21 6.22 SPINDLE
R 1322.6 SI22_6 S command 2^22 6.22 SPINDLE
R 1322.7 SI22_7 S command 2^23 6.22 SPINDLE

R 1323.0 SI23_0 S command 2^24 6.22 SPINDLE

R 1323.1 SI23_1 S command 2^25 6.22 SPINDLE
R 1323.2 SI23_2 S command 2^26 6.22 SPINDLE
R 1323.3 SI23_3 S command 2^27 6.22 SPINDLE
R 1323.4 SI23_4 S command 2^28 6.22 SPINDLE
R 1323.5 SI23_5 S command 2^29 6.22 SPINDLE
R 1323.6 SI23_6 S command 2^30 6.22 SPINDLE
R 1323.7 SI23_7 S command 2^31 6.22 SPINDLE

R 1324.0 SI24_0 M03 command 6.22 SPINDLE

R 1324.1 SI24_1 M05 command 6.22 SPINDLE
R 1324.2 SI24_2 Spindle rotation button ON 6.22 SPINDLE
R 1324.3 SI24_3 Center through coolant pump on 6.17 COOLANT, MACHINE INTERIOR
CLEANING COOLANT, CENTER
THROUGH COOLANT, AND AIR
BLOW
R 1324.4 SI24_4 Center through coolant on 6.17 COOLANT, MACHINE INTERIOR
CLEANING COOLANT, CENTER
THROUGH COOLANT, AND AIR
BLOW
R 1324.5 SI24_5 Air purge on 6.17 COOLANT, MACHINE INTERIOR
CLEANING COOLANT, CENTER
THROUGH COOLANT, AND AIR
BLOW
R 1324.6 SI24_6 Automatic fire extinguishing device when the automatic fire extinguishing device is
error faulty or the power is off. (Option)
R 1324.7 SI24_7 Start of the automatic fire when the automatic fire extinguishing device
extinguishing device starts. (Option)

R 1325.0 SI25_0 Input signal for custom macro (#1100) 6.26 CUSTOM MACROS
R 1325.1 SI25_1 Input signal for custom macro (#1101) 6.26 CUSTOM MACROS
R 1325.2 SI25_2 Input signal for custom macro (#1102) 6.26 CUSTOM MACROS
R 1325.3 SI25_3 Input signal for custom macro (#1103) 6.26 CUSTOM MACROS
R 1325.4 SI25_4 Input signal for custom macro (#1104) 6.26 CUSTOM MACROS
R 1325.5 SI25_5 Input signal for custom macro (#1105) 6.26 CUSTOM MACROS
R 1325.6 SI25_6 Input signal for custom macro (#1106) 6.26 CUSTOM MACROS
R 1325.7 SI25_7 Input signal for custom macro (#1107) 6.26 CUSTOM MACROS

- 188 -
 6. INTERFACE SIGNALS BETWEEN SYSTEM
B-85444EN-3/03 AND CUSTOM LADDER PROGRAMS

[System ladder → Custom ladder]

Address Symbol Function Note
R 1326.0 SI26_0 Input signal for custom macro (#1108) 6.26 CUSTOM MACROS
R 1326.1 SI26_1 Input signal for custom macro (#1109) 6.26 CUSTOM MACROS
R 1326.2 SI26_2 Input signal for custom macro (#1110) 6.26 CUSTOM MACROS
R 1326.3 SI26_3 Input signal for custom macro (#1111) 6.26 CUSTOM MACROS
R 1326.4 SI26_4 Input signal for custom macro (#1112) 6.26 CUSTOM MACROS
R 1326.5 SI26_5 Input signal for custom macro (#1113) 6.26 CUSTOM MACROS
R 1326.6 SI26_6 Input signal for custom macro (#1114) 6.26 CUSTOM MACROS
R 1326.7 SI26_7 Input signal for custom macro (#1115) 6.26 CUSTOM MACROS

R 1327.0 SI27_0 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1327.1 SI27_1 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1327.2 SI27_2 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1327.3 SI27_3 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1327.4 SI27_4 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1327.5 SI27_5 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1327.6 SI27_6 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1327.7 SI27_7 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS

R 1328.0 SI28_0 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1328.1 SI28_1 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1328.2 SI28_2 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1328.3 SI28_3 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1328.4 SI28_4 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1328.5 SI28_5 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1328.6 SI28_6 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1328.7 SI28_7 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS

R 1329.0 SI29_0 6.26 CUSTOM MACROS

R 1329.1 SI29_1 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1329.2 SI29_2 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1329.3 SI29_3 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1329.4 SI29_4 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1329.5 SI29_5 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1329.6 SI29_6 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1329.7 SI29_7 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS

R 1330.0 SI30_0 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1330.1 SI30_1 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1330.2 SI30_2 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1330.3 SI30_3 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1330.4 SI30_4 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1330.5 SI30_5 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1330.6 SI30_6 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS
R 1330.7 SI30_7 Input signal for custom macro (#1133) 6.26 CUSTOM MACROS

R 1331.0 SI31_0 Clamp request (5th axis) 6.12 ADDITIONAL AXIS CLAMP CONTROL
R 1331.1 SI31_1 Unclamp request (5th axis) 6.12 ADDITIONAL AXIS CLAMP CONTROL
R 1331.2 SI31_2 Clamped (5th axis) 6.12 ADDITIONAL AXIS CLAMP CONTROL
R 1331.3 SI31_3 Clamp request (4th axis) 6.12 ADDITIONAL AXIS CLAMP CONTROL
R 1331.4 SI31_4 Unclamp request (4th axis) 6.12 ADDITIONAL AXIS CLAMP CONTROL
R 1331.5 SI31_5 Clamped (4th axis) 6.12 ADDITIONAL AXIS CLAMP CONTROL
R 1331.6 SI31_6
R 1331.7 SI31_7

- 189 -
6. INTERFACE SIGNALS BETWEEN SYSTEM
AND CUSTOM LADDER PROGRAMS B-85444EN-3/03

[System ladder → Custom ladder]

Address Symbol Function Note
R 1332.0 SI32_0 Selected tool group No. 2^0 6.11 TOOL LIFE MANAGEMENT
R 1332.1 SI32_1 Selected tool group No. 2^1 6.11 TOOL LIFE MANAGEMENT
R 1332.2 SI32_2 Selected tool group No. 2^2 6.11 TOOL LIFE MANAGEMENT
R 1332.3 SI32_3 Selected tool group No. 2^3 6.11 TOOL LIFE MANAGEMENT
R 1332.4 SI32_4 Selected tool group No. 2^4 6.11 TOOL LIFE MANAGEMENT
R 1332.5 SI32_5 Selected tool group No. 2^5 6.11 TOOL LIFE MANAGEMENT
R 1332.6 SI32_6 Selected tool group No. 2^6 6.11 TOOL LIFE MANAGEMENT
R 1332.7 SI32_7 Selected tool group No. 2^7 6.11 TOOL LIFE MANAGEMENT

R 1333.0 SI33_0 Tool life of group 1 6.11 TOOL LIFE MANAGEMENT

R 1333.1 SI33_1 Tool life of group 2 6.11 TOOL LIFE MANAGEMENT
R 1333.2 SI33_2 Tool life of group 3 6.11 TOOL LIFE MANAGEMENT
R 1333.3 SI33_3 Tool life of group 4 6.11 TOOL LIFE MANAGEMENT
R 1333.4 SI33_4 Tool life of group 5 6.11 TOOL LIFE MANAGEMENT
R 1333.5 SI33_5 Tool life of group 6 6.11 TOOL LIFE MANAGEMENT
R 1333.6 SI33_6 Tool life of group 7 6.11 TOOL LIFE MANAGEMENT
R 1333.7 SI33_7 Tool life of group 8 6.11 TOOL LIFE MANAGEMENT

R 1334.0 SI34_0 Tool life of group 9 6.11 TOOL LIFE MANAGEMENT

R 1334.1 SI34_1 Tool life of group 10 6.11 TOOL LIFE MANAGEMENT
R 1334.2 SI34_2 Tool life of group 11 6.11 TOOL LIFE MANAGEMENT
R 1334.3 SI34_3 Tool life of group 12 6.11 TOOL LIFE MANAGEMENT
R 1334.4 SI34_4 Tool life of group 13 6.11 TOOL LIFE MANAGEMENT
R 1334.5 SI34_5 Tool life of group 14 6.11 TOOL LIFE MANAGEMENT
R 1334.6 SI34_6 Tool life of group 15 6.11 TOOL LIFE MANAGEMENT
R 1334.7 SI34_7 Tool life of group 16 6.11 TOOL LIFE MANAGEMENT

R 1335.0 SI35_0 Advance notice of tool life of group 1 6.11 TOOL LIFE MANAGEMENT
R 1335.1 SI35_1 Advance notice of tool life of group 2 6.11 TOOL LIFE MANAGEMENT
R 1335.2 SI35_2 Advance notice of tool life of group 3 6.11 TOOL LIFE MANAGEMENT
R 1335.3 SI35_3 Advance notice of tool life of group 4 6.11 TOOL LIFE MANAGEMENT
R 1335.4 SI35_4 Advance notice of tool life of group 5 6.11 TOOL LIFE MANAGEMENT
R 1335.5 SI35_5 Advance notice of tool life of group 6 6.11 TOOL LIFE MANAGEMENT
R 1335.6 SI35_6 Advance notice of tool life of group 7 6.11 TOOL LIFE MANAGEMENT
R 1335.7 SI35_7 Advance notice of tool life of group 8 6.11 TOOL LIFE MANAGEMENT

R 1336.0 SI36_0 Advance notice of tool life of group 9 6.11 TOOL LIFE MANAGEMENT
R 1336.1 SI36_1 Advance notice of tool life of group 10 6.11 TOOL LIFE MANAGEMENT
R 1336.2 SI36_2 Advance notice of tool life of group 11 6.11 TOOL LIFE MANAGEMENT
R 1336.3 SI36_3 Advance notice of tool life of group 12 6.11 TOOL LIFE MANAGEMENT
R 1336.4 SI36_4 Advance notice of tool life of group 13 6.11 TOOL LIFE MANAGEMENT
R 1336.5 SI36_5 Advance notice of tool life of group 14 6.11 TOOL LIFE MANAGEMENT
R 1336.6 SI36_6 Advance notice of tool life of group 15 6.11 TOOL LIFE MANAGEMENT
R 1336.7 SI36_7 Advance notice of tool life of group 16 6.11 TOOL LIFE MANAGEMENT

R 1337.0 SI37_0 Display in Chinese (Simplified) 6.23 SCREEN DISPLAY

R 1337.1 SI37_1 Display in Portuguese 6.23 SCREEN DISPLAY
R 1337.2 SI37_2 Display in Russian 6.23 SCREEN DISPLAY
R 1337.3 SI37_3 Display in Vietnamese 6.23 SCREEN DISPLAY
R 1337.4 SI37_4 Display in Indonesia 6.23 SCREEN DISPLAY
R 1337.5 SI37_5 (Reserved)
R 1337.6 SI37_6 (Reserved)
R 1337.7 SI37_7 (Reserved)

- 190 -
 6. INTERFACE SIGNALS BETWEEN SYSTEM
B-85444EN-3/03 AND CUSTOM LADDER PROGRAMS

[System ladder → Custom ladder]

Address Symbol Function Note
R 1338.0 SI38_0 Tool clamp signal 6.2 MACHINE STATUS
R 1338.1 SI38_1 Tool change signal 6.2 MACHINE STATUS
R 1338.2 SI38_2 Turret recovery mode 6.2 MACHINE STATUS
R 1338.3 SI38_3 Single block 6.2 MACHINE STATUS
R 1338.4 SI38_4 Rapid traverse LOW 6.2 MACHINE STATUS
R 1338.5 SI38_5 Rapid traverse 25% 6.2 MACHINE STATUS
R 1338.6 SI38_6 Rapid traverse 50% 6.2 MACHINE STATUS
R 1338.7 SI38_7 Rapid traverse 100% 6.2 MACHINE STATUS

R 1339.0 SI39_0 Tap return mode 6.2 MACHINE STATUS

R 1339.1 SI39_1 Condition of reset ON while the reset button on the operator's
panel is being pressed.
R 1339.2 SI39_2
R 1339.3 SI39_3
R 1339.4 SI39_4
R 1339.5 SI39_5
R 1339.6 SI39_6
R 1339.7 SI39_7

R 1400.0 SI50_0 Tool life of group 17 6.11 TOOL LIFE MANAGEMENT

R 1400.1 SI50_1 Tool life of group 18 6.11 TOOL LIFE MANAGEMENT
R 1400.2 SI50_2 Tool life of group 19 6.11 TOOL LIFE MANAGEMENT
R 1400.3 SI50_3 Tool life of group 20 6.11 TOOL LIFE MANAGEMENT
R 1400.4 SI50_4 Tool life of group 21 6.11 TOOL LIFE MANAGEMENT
R 1400.5 SI50_5 Tool life of group 22 6.11 TOOL LIFE MANAGEMENT
R 1400.6 SI50_6 Tool life of group 23 6.11 TOOL LIFE MANAGEMENT
R 1400.7 SI50_7 Tool life of group 24 6.11 TOOL LIFE MANAGEMENT

R 1401.0 SI51_0 Tool life of group 25 6.11 TOOL LIFE MANAGEMENT

R 1401.1 SI51_1 Tool life of group 26 6.11 TOOL LIFE MANAGEMENT
R 1401.2 SI51_2 Tool life of group 27 6.11 TOOL LIFE MANAGEMENT
R 1401.3 SI51_3 Tool life of group 28 6.11 TOOL LIFE MANAGEMENT
R 1401.4 SI51_4 Tool life of group 29 6.11 TOOL LIFE MANAGEMENT
R 1401.5 SI51_5 Tool life of group 30 6.11 TOOL LIFE MANAGEMENT
R 1401.6 SI51_6 Tool life of group 31 6.11 TOOL LIFE MANAGEMENT
R 1401.7 SI51_7 Tool life of group 32 6.11 TOOL LIFE MANAGEMENT

R 1402.0 SI52_0 Tool life of group 33 6.11 TOOL LIFE MANAGEMENT

R 1402.1 SI52_1 Tool life of group 34 6.11 TOOL LIFE MANAGEMENT
R 1402.2 SI52_2 Tool life of group 35 6.11 TOOL LIFE MANAGEMENT
R 1402.3 SI52_3 Tool life of group 36 6.11 TOOL LIFE MANAGEMENT
R 1402.4 SI52_4 Tool life of group 37 6.11 TOOL LIFE MANAGEMENT
R 1402.5 SI52_5 Tool life of group 38 6.11 TOOL LIFE MANAGEMENT
R 1402.6 SI52_6 Tool life of group 39 6.11 TOOL LIFE MANAGEMENT
R 1402.7 SI52_7 Tool life of group 40 6.11 TOOL LIFE MANAGEMENT

R 1403.0 SI53_0 Tool life of group 41 6.11 TOOL LIFE MANAGEMENT

R 1403.1 SI53_1 Tool life of group 42 6.11 TOOL LIFE MANAGEMENT
R 1403.2 SI53_2 Tool life of group 43 6.11 TOOL LIFE MANAGEMENT
R 1403.3 SI53_3 Tool life of group 44 6.11 TOOL LIFE MANAGEMENT
R 1403.4 SI53_4 Tool life of group 45 6.11 TOOL LIFE MANAGEMENT
R 1403.5 SI53_5 Tool life of group 46 6.11 TOOL LIFE MANAGEMENT
R 1403.6 SI53_6 Tool life of group 47 6.11 TOOL LIFE MANAGEMENT
R 1403.7 SI53_7 Tool life of group 48 6.11 TOOL LIFE MANAGEMENT

- 191 -
6. INTERFACE SIGNALS BETWEEN SYSTEM
AND CUSTOM LADDER PROGRAMS B-85444EN-3/03

[System ladder → Custom ladder]

Address Symbol Function Note
R 1404.0 SI54_0 Tool life of group 49 6.11 TOOL LIFE MANAGEMENT
R 1404.1 SI54_1 Tool life of group 50 6.11 TOOL LIFE MANAGEMENT
R 1404.2 SI54_2 Tool life of group 51 6.11 TOOL LIFE MANAGEMENT
R 1404.3 SI54_3 Tool life of group 52 6.11 TOOL LIFE MANAGEMENT
R 1404.4 SI54_4 Tool life of group 53 6.11 TOOL LIFE MANAGEMENT
R 1404.5 SI54_5 Tool life of group 54 6.11 TOOL LIFE MANAGEMENT
R 1404.6 SI54_6 Tool life of group 55 6.11 TOOL LIFE MANAGEMENT
R 1404.7 SI54_7 Tool life of group 56 6.11 TOOL LIFE MANAGEMENT

R 1405.0 SI55_0 Tool life of group 57 6.11 TOOL LIFE MANAGEMENT

R 1405.1 SI55_1 Tool life of group 58 6.11 TOOL LIFE MANAGEMENT
R 1405.2 SI55_2 Tool life of group 59 6.11 TOOL LIFE MANAGEMENT
R 1405.3 SI55_3 Tool life of group 60 6.11 TOOL LIFE MANAGEMENT
R 1405.4 SI55_4 Tool life of group 61 6.11 TOOL LIFE MANAGEMENT
R 1405.5 SI55_5 Tool life of group 62 6.11 TOOL LIFE MANAGEMENT
R 1405.6 SI55_6 Tool life of group 63 6.11 TOOL LIFE MANAGEMENT
R 1405.7 SI55_7 Tool life of group 64 6.11 TOOL LIFE MANAGEMENT

R 1406.0 SI56_0 Tool life of group 65 6.11 TOOL LIFE MANAGEMENT

R 1406.1 SI56_1 Tool life of group 66 6.11 TOOL LIFE MANAGEMENT
R 1406.2 SI56_2 Tool life of group 67 6.11 TOOL LIFE MANAGEMENT
R 1406.3 SI56_3 Tool life of group 68 6.11 TOOL LIFE MANAGEMENT
R 1406.4 SI56_4 Tool life of group 69 6.11 TOOL LIFE MANAGEMENT
R 1406.5 SI56_5 Tool life of group 70 6.11 TOOL LIFE MANAGEMENT
R 1406.6 SI56_6 Tool life of group 71 6.11 TOOL LIFE MANAGEMENT
R 1406.7 SI56_7 Tool life of group 72 6.11 TOOL LIFE MANAGEMENT

R 1407.0 SI57_0 Tool life of group 73 6.11 TOOL LIFE MANAGEMENT

R 1407.1 SI57_1 Tool life of group 74 6.11 TOOL LIFE MANAGEMENT
R 1407.2 SI57_2 Tool life of group 75 6.11 TOOL LIFE MANAGEMENT
R 1407.3 SI57_3 Tool life of group 76 6.11 TOOL LIFE MANAGEMENT
R 1407.4 SI57_4 Tool life of group 77 6.11 TOOL LIFE MANAGEMENT
R 1407.5 SI57_5 Tool life of group 78 6.11 TOOL LIFE MANAGEMENT
R 1407.6 SI57_6 Tool life of group 79 6.11 TOOL LIFE MANAGEMENT
R 1407.7 SI57_7 Tool life of group 80 6.11 TOOL LIFE MANAGEMENT

R 1408.0 SI58_0 Tool life of group 81 6.11 TOOL LIFE MANAGEMENT

R 1408.1 SI58_1 Tool life of group 82 6.11 TOOL LIFE MANAGEMENT
R 1408.2 SI58_2 Tool life of group 83 6.11 TOOL LIFE MANAGEMENT
R 1408.3 SI58_3 Tool life of group 84 6.11 TOOL LIFE MANAGEMENT
R 1408.4 SI58_4 Tool life of group 85 6.11 TOOL LIFE MANAGEMENT
R 1408.5 SI58_5 Tool life of group 86 6.11 TOOL LIFE MANAGEMENT
R 1408.6 SI58_6 Tool life of group 87 6.11 TOOL LIFE MANAGEMENT
R 1408.7 SI58_7 Tool life of group 88 6.11 TOOL LIFE MANAGEMENT

R 1409.0 SI59_0 Tool life of group 89 6.11 TOOL LIFE MANAGEMENT

R 1409.1 SI59_1 Tool life of group 90 6.11 TOOL LIFE MANAGEMENT
R 1409.2 SI59_2 Tool life of group 91 6.11 TOOL LIFE MANAGEMENT
R 1409.3 SI59_3 Tool life of group 92 6.11 TOOL LIFE MANAGEMENT
R 1409.4 SI59_4 Tool life of group 93 6.11 TOOL LIFE MANAGEMENT
R 1409.5 SI59_5 Tool life of group 94 6.11 TOOL LIFE MANAGEMENT
R 1409.6 SI59_6 Tool life of group 95 6.11 TOOL LIFE MANAGEMENT
R 1409.7 SI59_7 Tool life of group 96 6.11 TOOL LIFE MANAGEMENT

- 192 -
 6. INTERFACE SIGNALS BETWEEN SYSTEM
B-85444EN-3/03 AND CUSTOM LADDER PROGRAMS

[System ladder → Custom ladder]

Address Symbol Function Note
R 1410.0 SI60_0 Tool life of group 97 6.11 TOOL LIFE MANAGEMENT
R 1410.1 SI60_1 Tool life of group 98 6.11 TOOL LIFE MANAGEMENT
R 1410.2 SI60_2 Tool life of group 99 6.11 TOOL LIFE MANAGEMENT
R 1410.3 SI60_3 Tool life of group 100 6.11 TOOL LIFE MANAGEMENT
R 1410.4 SI60_4 Tool life of group 101 6.11 TOOL LIFE MANAGEMENT
R 1410.5 SI60_5 Tool life of group 102 6.11 TOOL LIFE MANAGEMENT
R 1410.6 SI60_6 Tool life of group 103 6.11 TOOL LIFE MANAGEMENT
R 1410.7 SI60_7 Tool life of group 104 6.11 TOOL LIFE MANAGEMENT

R 1411.0 SI61_0 Tool life of group 105 6.11 TOOL LIFE MANAGEMENT
R 1411.1 SI61_1 Tool life of group 106 6.11 TOOL LIFE MANAGEMENT
R 1411.2 SI61_2 Tool life of group 107 6.11 TOOL LIFE MANAGEMENT
R 1411.3 SI61_3 Tool life of group 108 6.11 TOOL LIFE MANAGEMENT
R 1411.4 SI61_4 Tool life of group 109 6.11 TOOL LIFE MANAGEMENT
R 1411.5 SI61_5 Tool life of group 110 6.11 TOOL LIFE MANAGEMENT
R 1411.6 SI61_6 Tool life of group 111 6.11 TOOL LIFE MANAGEMENT
R 1411.7 SI61_7 Tool life of group 112 6.11 TOOL LIFE MANAGEMENT

R 1412.0 SI62_0 Tool life of group 113 6.11 TOOL LIFE MANAGEMENT
R 1412.1 SI62_1 Tool life of group 114 6.11 TOOL LIFE MANAGEMENT
R 1412.2 SI62_2 Tool life of group 115 6.11 TOOL LIFE MANAGEMENT
R 1412.3 SI62_3 Tool life of group 116 6.11 TOOL LIFE MANAGEMENT
R 1412.4 SI62_4 Tool life of group 117 6.11 TOOL LIFE MANAGEMENT
R 1412.5 SI62_5 Tool life of group 118 6.11 TOOL LIFE MANAGEMENT
R 1412.6 SI62_6 Tool life of group 119 6.11 TOOL LIFE MANAGEMENT
R 1412.7 SI62_7 Tool life of group 120 6.11 TOOL LIFE MANAGEMENT

R 1413.0 SI63_0 Tool life of group 121 6.11 TOOL LIFE MANAGEMENT
R 1413.1 SI63_1 Tool life of group 122 6.11 TOOL LIFE MANAGEMENT
R 1413.2 SI63_2 Tool life of group 123 6.11 TOOL LIFE MANAGEMENT
R 1413.3 SI63_3 Tool life of group 124 6.11 TOOL LIFE MANAGEMENT
R 1413.4 SI63_4 Tool life of group 125 6.11 TOOL LIFE MANAGEMENT
R 1413.5 SI63_5 Tool life of group 126 6.11 TOOL LIFE MANAGEMENT
R 1413.6 SI63_6 Tool life of group 127 6.11 TOOL LIFE MANAGEMENT
R 1413.7 SI63_7 Tool life of group 128 6.11 TOOL LIFE MANAGEMENT

R 1414.0 SI64_0 Advance notice of tool life of group 17 6.11 TOOL LIFE MANAGEMENT
R 1414.1 SI64_1 Advance notice of tool life of group 18 6.11 TOOL LIFE MANAGEMENT
R 1414.2 SI64_2 Advance notice of tool life of group 19 6.11 TOOL LIFE MANAGEMENT
R 1414.3 SI64_3 Advance notice of tool life of group 20 6.11 TOOL LIFE MANAGEMENT
R 1414.4 SI64_4 Advance notice of tool life of group 21 6.11 TOOL LIFE MANAGEMENT
R 1414.5 SI64_5 Advance notice of tool life of group 22 6.11 TOOL LIFE MANAGEMENT
R 1414.6 SI64_6 Advance notice of tool life of group 23 6.11 TOOL LIFE MANAGEMENT
R 1414.7 SI64_7 Advance notice of tool life of group 24 6.11 TOOL LIFE MANAGEMENT

R 1415.0 SI65_0 Advance notice of tool life of group 25 6.11 TOOL LIFE MANAGEMENT
R 1415.1 SI65_1 Advance notice of tool life of group 26 6.11 TOOL LIFE MANAGEMENT
R 1415.2 SI65_2 Advance notice of tool life of group 27 6.11 TOOL LIFE MANAGEMENT
R 1415.3 SI65_3 Advance notice of tool life of group 28 6.11 TOOL LIFE MANAGEMENT
R 1415.4 SI65_4 Advance notice of tool life of group 29 6.11 TOOL LIFE MANAGEMENT
R 1415.5 SI65_5 Advance notice of tool life of group 30 6.11 TOOL LIFE MANAGEMENT
R 1415.6 SI65_6 Advance notice of tool life of group 31 6.11 TOOL LIFE MANAGEMENT
R 1415.7 SI65_7 Advance notice of tool life of group 32 6.11 TOOL LIFE MANAGEMENT

- 193 -
6. INTERFACE SIGNALS BETWEEN SYSTEM
AND CUSTOM LADDER PROGRAMS B-85444EN-3/03

[System ladder → Custom ladder]

Address Symbol Function Note
R 1416.0 SI66_0 Advance notice of tool life of group 33 6.11 TOOL LIFE MANAGEMENT
R 1416.1 SI66_1 Advance notice of tool life of group 34 6.11 TOOL LIFE MANAGEMENT
R 1416.2 SI66_2 Advance notice of tool life of group 35 6.11 TOOL LIFE MANAGEMENT
R 1416.3 SI66_3 Advance notice of tool life of group 36 6.11 TOOL LIFE MANAGEMENT
R 1416.4 SI66_4 Advance notice of tool life of group 37 6.11 TOOL LIFE MANAGEMENT
R 1416.5 SI66_5 Advance notice of tool life of group 38 6.11 TOOL LIFE MANAGEMENT
R 1416.6 SI66_6 Advance notice of tool life of group 39 6.11 TOOL LIFE MANAGEMENT
R 1416.7 SI66_7 Advance notice of tool life of group 40 6.11 TOOL LIFE MANAGEMENT

R 1417.0 SI67_0 Advance notice of tool life of group 41 6.11 TOOL LIFE MANAGEMENT
R 1417.1 SI67_1 Advance notice of tool life of group 42 6.11 TOOL LIFE MANAGEMENT
R 1417.2 SI67_2 Advance notice of tool life of group 43 6.11 TOOL LIFE MANAGEMENT
R 1417.3 SI67_3 Advance notice of tool life of group 44 6.11 TOOL LIFE MANAGEMENT
R 1417.4 SI67_4 Advance notice of tool life of group 45 6.11 TOOL LIFE MANAGEMENT
R 1417.5 SI67_5 Advance notice of tool life of group 46 6.11 TOOL LIFE MANAGEMENT
R 1417.6 SI67_6 Advance notice of tool life of group 47 6.11 TOOL LIFE MANAGEMENT
R 1417.7 SI67_7 Advance notice of tool life of group 48 6.11 TOOL LIFE MANAGEMENT

R 1418.0 SI68_0 Advance notice of tool life of group 49 6.11 TOOL LIFE MANAGEMENT
R 1418.1 SI68_1 Advance notice of tool life of group 50 6.11 TOOL LIFE MANAGEMENT
R 1418.2 SI68_2 Advance notice of tool life of group 51 6.11 TOOL LIFE MANAGEMENT
R 1418.3 SI68_3 Advance notice of tool life of group 52 6.11 TOOL LIFE MANAGEMENT
R 1418.4 SI68_4 Advance notice of tool life of group 53 6.11 TOOL LIFE MANAGEMENT
R 1418.5 SI68_5 Advance notice of tool life of group 54 6.11 TOOL LIFE MANAGEMENT
R 1418.6 SI68_6 Advance notice of tool life of group 55 6.11 TOOL LIFE MANAGEMENT
R 1418.7 SI68_7 Advance notice of tool life of group 56 6.11 TOOL LIFE MANAGEMENT

R 1419.0 SI69_0 Advance notice of tool life of group 57 6.11 TOOL LIFE MANAGEMENT
R 1419.1 SI69_1 Advance notice of tool life of group 58 6.11 TOOL LIFE MANAGEMENT
R 1419.2 SI69_2 Advance notice of tool life of group 59 6.11 TOOL LIFE MANAGEMENT
R 1419.3 SI69_3 Advance notice of tool life of group 60 6.11 TOOL LIFE MANAGEMENT
R 1419.4 SI69_4 Advance notice of tool life of group 61 6.11 TOOL LIFE MANAGEMENT
R 1419.5 SI69_5 Advance notice of tool life of group 62 6.11 TOOL LIFE MANAGEMENT
R 1419.6 SI69_6 Advance notice of tool life of group 63 6.11 TOOL LIFE MANAGEMENT
R 1419.7 SI69_7 Advance notice of tool life of group 64 6.11 TOOL LIFE MANAGEMENT

R 1420.0 SI70_0 Advance notice of tool life of group 65 6.11 TOOL LIFE MANAGEMENT
R 1420.1 SI70_1 Advance notice of tool life of group 66 6.11 TOOL LIFE MANAGEMENT
R 1420.2 SI70_2 Advance notice of tool life of group 67 6.11 TOOL LIFE MANAGEMENT
R 1420.3 SI70_3 Advance notice of tool life of group 68 6.11 TOOL LIFE MANAGEMENT
R 1420.4 SI70_4 Advance notice of tool life of group 69 6.11 TOOL LIFE MANAGEMENT
R 1420.5 SI70_5 Advance notice of tool life of group 70 6.11 TOOL LIFE MANAGEMENT
R 1420.6 SI70_6 Advance notice of tool life of group 71 6.11 TOOL LIFE MANAGEMENT
R 1420.7 SI70_7 Advance notice of tool life of group 72 6.11 TOOL LIFE MANAGEMENT

R 1421.0 SI71_0 Advance notice of tool life of group 73 6.11 TOOL LIFE MANAGEMENT
R 1421.1 SI71_1 Advance notice of tool life of group 74 6.11 TOOL LIFE MANAGEMENT
R 1421.2 SI71_2 Advance notice of tool life of group 75 6.11 TOOL LIFE MANAGEMENT
R 1421.3 SI71_3 Advance notice of tool life of group 76 6.11 TOOL LIFE MANAGEMENT
R 1421.4 SI71_4 Advance notice of tool life of group 77 6.11 TOOL LIFE MANAGEMENT
R 1421.5 SI71_5 Advance notice of tool life of group 78 6.11 TOOL LIFE MANAGEMENT
R 1421.6 SI71_6 Advance notice of tool life of group 79 6.11 TOOL LIFE MANAGEMENT
R 1421.7 SI71_7 Advance notice of tool life of group 80 6.11 TOOL LIFE MANAGEMENT

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 6. INTERFACE SIGNALS BETWEEN SYSTEM
B-85444EN-3/03 AND CUSTOM LADDER PROGRAMS

[System ladder → Custom ladder]

Address Symbol Function Note
R 1422.0 SI72_0 Advance notice of tool life of group 81 6.11 TOOL LIFE MANAGEMENT
R 1422.1 SI72_1 Advance notice of tool life of group 82 6.11 TOOL LIFE MANAGEMENT
R 1422.2 SI72_2 Advance notice of tool life of group 83 6.11 TOOL LIFE MANAGEMENT
R 1422.3 SI72_3 Advance notice of tool life of group 84 6.11 TOOL LIFE MANAGEMENT
R 1422.4 SI72_4 Advance notice of tool life of group 85 6.11 TOOL LIFE MANAGEMENT
R 1422.5 SI72_5 Advance notice of tool life of group 86 6.11 TOOL LIFE MANAGEMENT
R 1422.6 SI72_6 Advance notice of tool life of group 87 6.11 TOOL LIFE MANAGEMENT
R 1422.7 SI72_7 Advance notice of tool life of group 88 6.11 TOOL LIFE MANAGEMENT

R 1423.0 SI73_0 Advance notice of tool life of group 89 6.11 TOOL LIFE MANAGEMENT
R 1423.1 SI73_1 Advance notice of tool life of group 90 6.11 TOOL LIFE MANAGEMENT
R 1423.2 SI73_2 Advance notice of tool life of group 91 6.11 TOOL LIFE MANAGEMENT
R 1423.3 SI73_3 Advance notice of tool life of group 92 6.11 TOOL LIFE MANAGEMENT
R 1423.4 SI73_4 Advance notice of tool life of group 93 6.11 TOOL LIFE MANAGEMENT
R 1423.5 SI73_5 Advance notice of tool life of group 94 6.11 TOOL LIFE MANAGEMENT
R 1423.6 SI73_6 Advance notice of tool life of group 95 6.11 TOOL LIFE MANAGEMENT
R 1423.7 SI73_7 Advance notice of tool life of group 96 6.11 TOOL LIFE MANAGEMENT

R 1424.0 SI74_0 Advance notice of tool life of group 97 6.11 TOOL LIFE MANAGEMENT
R 1424.1 SI74_1 Advance notice of tool life of group 98 6.11 TOOL LIFE MANAGEMENT
R 1424.2 SI74_2 Advance notice of tool life of group 99 6.11 TOOL LIFE MANAGEMENT
R 1424.3 SI74_3 Advance notice of tool life of group 100 6.11 TOOL LIFE MANAGEMENT
R 1424.4 SI74_4 Advance notice of tool life of group 101 6.11 TOOL LIFE MANAGEMENT
R 1424.5 SI74_5 Advance notice of tool life of group 102 6.11 TOOL LIFE MANAGEMENT
R 1424.6 SI74_6 Advance notice of tool life of group 103 6.11 TOOL LIFE MANAGEMENT
R 1424.7 SI74_7 Advance notice of tool life of group 104 6.11 TOOL LIFE MANAGEMENT

R 1425.0 SI75_0 Advance notice of tool life of group 105 6.11 TOOL LIFE MANAGEMENT
R 1425.1 SI75_1 Advance notice of tool life of group 106 6.11 TOOL LIFE MANAGEMENT
R 1425.2 SI75_2 Advance notice of tool life of group 107 6.11 TOOL LIFE MANAGEMENT
R 1425.3 SI75_3 Advance notice of tool life of group 108 6.11 TOOL LIFE MANAGEMENT
R 1425.4 SI75_4 Advance notice of tool life of group 109 6.11 TOOL LIFE MANAGEMENT
R 1425.5 SI75_5 Advance notice of tool life of group 110 6.11 TOOL LIFE MANAGEMENT
R 1425.6 SI75_6 Advance notice of tool life of group 111 6.11 TOOL LIFE MANAGEMENT
R 1425.7 SI75_7 Advance notice of tool life of group 112 6.11 TOOL LIFE MANAGEMENT

R 1426.0 SI76_0 Advance notice of tool life of group 113 6.11 TOOL LIFE MANAGEMENT
R 1426.1 SI76_1 Advance notice of tool life of group 114 6.11 TOOL LIFE MANAGEMENT
R 1426.2 SI76_2 Advance notice of tool life of group 115 6.11 TOOL LIFE MANAGEMENT
R 1426.3 SI76_3 Advance notice of tool life of group 116 6.11 TOOL LIFE MANAGEMENT
R 1426.4 SI76_4 Advance notice of tool life of group 117 6.11 TOOL LIFE MANAGEMENT
R 1426.5 SI76_5 Advance notice of tool life of group 118 6.11 TOOL LIFE MANAGEMENT
R 1426.6 SI76_6 Advance notice of tool life of group 119 6.11 TOOL LIFE MANAGEMENT
R 1426.7 SI76_7 Advance notice of tool life of group 120 6.11 TOOL LIFE MANAGEMENT

R 1427.0 SI77_0 Advance notice of tool life of group 121 6.11 TOOL LIFE MANAGEMENT
R 1427.1 SI77_1 Advance notice of tool life of group 122 6.11 TOOL LIFE MANAGEMENT
R 1427.2 SI77_2 Advance notice of tool life of group 123 6.11 TOOL LIFE MANAGEMENT
R 1427.3 SI77_3 Advance notice of tool life of group 124 6.11 TOOL LIFE MANAGEMENT
R 1427.4 SI77_4 Advance notice of tool life of group 125 6.11 TOOL LIFE MANAGEMENT
R 1427.5 SI77_5 Advance notice of tool life of group 126 6.11 TOOL LIFE MANAGEMENT
R 1427.6 SI77_6 Advance notice of tool life of group 127 6.11 TOOL LIFE MANAGEMENT
R 1427.7 SI77_7 Advance notice of tool life of group 128 6.11 TOOL LIFE MANAGEMENT

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6. INTERFACE SIGNALS BETWEEN SYSTEM
AND CUSTOM LADDER PROGRAMS B-85444EN-3/03

[System ladder → Custom ladder]

Address Symbol Function Note
R 1428.0 SI78_0 Robot system being started 6.33 ROBOT INTERFACE 2
R 1428.1 SI78_1 Cycle stop mode 6.33 ROBOT INTERFACE 2
R 1428.2 SI78_2 System stop mode 6.33 ROBOT INTERFACE 2
R 1428.4 SI78_4 (Reserved)
R 1428.5 SI78_5 (Reserved)
R 1428.6 SI78_6 (Reserved)
R 1428.7 SI78_7 (Reserved)

R 1429.0 SI79_0 (Reserved)

R 1429.1 SI79_1 Taper cleaning coolant ON signal When the taper cleaning coolant valve and
pump are ON
R 1429.2 SI79_2 Machining coolant ON signal When the machining coolant valve and pump
are ON
R 1429.3 SI79_3 Teach mode signal 6.33 ROBOT INTERFACE 2
R 1429.4 SI79_4 Front door open signal 6.33 ROBOT INTERFACE 2
R 1429.5 SI79_5 Interaction mode signal 6.33 ROBOT INTERFACE 2
R 1429.6 SI79_6
R 1429.7 SI79_7

R 1430.0 SI80_0 (Reserved)

R 1430.1 SI80_1 (Reserved)
R 1430.2 SI80_2 (Reserved)
R 1430.3 SI80_3 Probe signal error ON when a touch probe failure is detected
between M38 and M39.
R 1430.4 SI80_4 (Reserved)
R 1430.5 SI80_5
R 1430.6 SI80_6
R 1430.7 SI80_7

R 1431.0 SI81_0 When menu operation "1. TOOL

CHANGE" is selected
R 1431.1 SI81_1 When menu operation "2. AXES
MOVEMENT" is selected
R 1431.2 SI81_2 When menu operation "3. SPINDLE
REV." is selected
R 1431.3 SI81_3 When menu operation "4. REF.
POINT" is selected
R 1431.4 SI81_4 When menu operation "5. CANCEL"
is selected
R 1431.5 SI81_5 When menu operation "6. EXT.
SIGNAL" is selected
R 1431.6 SI81_6 When menu operation "7. CLAMP" is
selected
R 1431.7 SI81_7 When menu operation "8. NC
LANGUAGE" is selected

R 1432.0 SI82_0 Error signal at tool ON when a failure is detected (tool runout
registration/runout measurement detection function).
R 1432.1 SI82_1 Excessive tool runout signal ON when there is excessive tool runout (tool
runout detection function).
R 1432.2 SI82_2 Insulation deterioration detection ON when an insulation deterioration of any axis
is detected.
R 1432.3 SI82_3
R 1432.4 SI82_4
R 1432.5 SI82_5

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 6. INTERFACE SIGNALS BETWEEN SYSTEM
B-85444EN-3/03 AND CUSTOM LADDER PROGRAMS

Address Symbol Function Note

R 1432.6 SI82_6
R 1432.7 SI82_7

R 1434.0 SI84_0
R 1434.1 SI84_1
R 1434.2 SI84_2
R 1434.3 SI84_3
R 1434.4 SI84_4 Production completion 6.15 PRODUCTION MANAGEMENT
R 1434.5 SI84_5 Production completion 1 6.15 PRODUCTION MANAGEMENT
R 1434.6 SI84_6 Production completion 2 6.15 PRODUCTION MANAGEMENT
R 1434.7 SI84_7 Production completion 3 6.15 PRODUCTION MANAGEMENT

R1443.0 SI93_0 Warm up operation automatic start 6.37 WARM UP OPERATION FUNCTION
R1443.1 SI93_1 Warm up operation in progress 6.37 WARM UP OPERATION FUNCTION
R1443.2 SI93_2 Scheduled operation time reached 6.37 WARM UP OPERATION FUNCTION
R1443.3 SI93_3 Maximum operation time reached 6.37 WARM UP OPERATION FUNCTION

Table 6.38 (b) List of interface signals [CNC → Custom ladder]

Address Symbol Function Note
F 0010.0 M code 2^0 6.27 M FUNCTION CODE SIGNALS
F 0010.1 M code 2^1 6.27 M FUNCTION CODE SIGNALS
F 0010.2 M code 2^2 6.27 M FUNCTION CODE SIGNALS
F 0010.3 M code 2^3 6.27 M FUNCTION CODE SIGNALS
F 0010.4 M code 2^4 6.27 M FUNCTION CODE SIGNALS
F 0010.5 M code 2^5 6.27 M FUNCTION CODE SIGNALS
F 0010.6 M code 2^6 6.27 M FUNCTION CODE SIGNALS
F 0010.7 M code 2^7 6.27 M FUNCTION CODE SIGNALS

F 0011.0 M code 2^8 6.27 M FUNCTION CODE SIGNALS

F 0011.1 M code 2^9 6.27 M FUNCTION CODE SIGNALS
F 0011.2 M code 2^10 6.27 M FUNCTION CODE SIGNALS
F 0011.3 M code 2^11 6.27 M FUNCTION CODE SIGNALS
F 0011.4 M code 2^12 6.27 M FUNCTION CODE SIGNALS
F 0011.5 M code 2^13 6.27 M FUNCTION CODE SIGNALS
F 0011.6 M code 2^14 6.27 M FUNCTION CODE SIGNALS
F 0011.7 M code 2^15 6.27 M FUNCTION CODE SIGNALS

F 0012.0 M code 2^16 6.27 M FUNCTION CODE SIGNALS

F 0012.1 M code 2^17 6.27 M FUNCTION CODE SIGNALS
F 0012.2 M code 2^18 6.27 M FUNCTION CODE SIGNALS
F 0012.3 M code 2^19 6.27 M FUNCTION CODE SIGNALS
F 0012.4 M code 2^20 6.27 M FUNCTION CODE SIGNALS
F 0012.5 M code 2^21 6.27 M FUNCTION CODE SIGNALS
F 0012.6 M code 2^22 6.27 M FUNCTION CODE SIGNALS
F 0012.7 M code 2^23 6.27 M FUNCTION CODE SIGNALS

F 0013.0 M code 2^24 6.27 M FUNCTION CODE SIGNALS

F 0013.1 M code 2^25 6.27 M FUNCTION CODE SIGNALS
F 0013.2 M code 2^26 6.27 M FUNCTION CODE SIGNALS
F 0013.3 M code 2^27 6.27 M FUNCTION CODE SIGNALS
F 0013.4 M code 2^28 6.27 M FUNCTION CODE SIGNALS
F 0013.5 M code 2^29 6.27 M FUNCTION CODE SIGNALS
F 0013.6 M code 2^30 6.27 M FUNCTION CODE SIGNALS
F 0013.7 M code 2^31 6.27 M FUNCTION CODE SIGNALS

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6. INTERFACE SIGNALS BETWEEN SYSTEM
AND CUSTOM LADDER PROGRAMS B-85444EN-3/03

Table 6.38 (c) List of interface signals [Custom ladder → System ladder]
Address Symbol Function Note
R 1350.0 SO0_0 Workpiece No./program No. search 6.4 EXTERNAL WORKPIECE NUMBER
2^0*1 SEARCH FUNCTION／6.5 EXTERNAL
PROGRAM NUMBER SEARCH
FUNCTION
R 1350.1 SO0_1 Workpiece No./program No. search 6.4 EXTERNAL WORKPIECE NUMBER
2^1*1 SEARCH FUNCTION／6.5 EXTERNAL
PROGRAM NUMBER SEARCH
FUNCTION
R 1350.2 SO0_2 Workpiece No./program No. search 6.4 EXTERNAL WORKPIECE NUMBER
2^2*1 SEARCH FUNCTION／6.5 EXTERNAL
PROGRAM NUMBER SEARCH
FUNCTION
R 1350.3 SO0_3 Workpiece No./program No. search 6.4 EXTERNAL WORKPIECE NUMBER
2^3*1 SEARCH FUNCTION／6.5 EXTERNAL
PROGRAM NUMBER SEARCH
FUNCTION
R 1350.4 SO0_4 /Program No. search 6.5 EXTERNAL PROGRAM NUMBER
2^0*10 SEARCH FUNCTION
R 1350.5 SO0_5 /Program No. search 6.5 EXTERNAL PROGRAM NUMBER
2^1*10 SEARCH FUNCTION
R 1350.6 SO0_6 /Program No. search 6.5 EXTERNAL PROGRAM NUMBER
2^2*10 SEARCH FUNCTION
R 1350.7 SO0_7 /Program No. search 6.5 EXTERNAL PROGRAM NUMBER
2^3*10 SEARCH FUNCTION

R 1351.0 SO1_0 /Program No. search 6.5 EXTERNAL PROGRAM NUMBER

2^0*100 SEARCH FUNCTION
R 1351.1 SO1_1 /Program No. search 6.5 EXTERNAL PROGRAM NUMBER
2^1*100 SEARCH FUNCTION
R 1351.2 SO1_2 /Program No. search 6.5 EXTERNAL PROGRAM NUMBER
2^2*100 SEARCH FUNCTION
R 1351.3 SO1_3 /Program No. search 6.5 EXTERNAL PROGRAM NUMBER
2^3*100 SEARCH FUNCTION
R 1351.4 SO1_4 /Program No. search 6.5 EXTERNAL PROGRAM NUMBER
2^0*1000 SEARCH FUNCTION
R 1351.5 SO1_5 /Program No. search 6.5 EXTERNAL PROGRAM NUMBER
2^1*1000 SEARCH FUNCTION
R 1351.6 SO1_6 /Program No. search 6.5 EXTERNAL PROGRAM NUMBER
2^2*1000 SEARCH FUNCTION
R 1351.7 SO1_7 /Program No. search 6.5 EXTERNAL PROGRAM NUMBER
2^3*1000 SEARCH FUNCTION

R 1352.0 SO2_0 Data read request 6.5 EXTERNAL PROGRAM NUMBER

SEARCH FUNCTION
R 1352.1 SO2_1 External start 6.28 OPERATION CONTROL
R 1352.2 SO2_2 External hold 6.28 OPERATION CONTROL
R 1352.3 SO2_3 External reset 6.28 OPERATION CONTROL
R 1352.4 SO2_4 External emergency stop 6.28 OPERATION CONTROL
R 1352.5 SO2_5 Completion (FIN) 6.6 EXTERNAL M CODE BCD OUTPUT
FUNCTION
R 1352.6 SO2_6 Single block mode ON 6.28 OPERATION CONTROL
R 1352.7 SO2_7 Dry run mode ON 6.28 OPERATION CONTROL

R 1353.0 SO3_0 Door close request 6.3 FRONT AUTOMATIC DOOR

CONTROL

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 6. INTERFACE SIGNALS BETWEEN SYSTEM
B-85444EN-3/03 AND CUSTOM LADDER PROGRAMS

Address Symbol Function Note

R 1353.1 SO3_1 External door open control 6.3 FRONT AUTOMATIC DOOR
CONTROL
R 1353.2 SO3_2 External door close control 6.3 FRONT AUTOMATIC DOOR
CONTROL
R 1353.3 SO3_3 DNC operation 6.28 OPERATION CONTROL
R 1353.4 SO3_4 Custom macro interrupt 6.8 INTERRUPT TYPE CUSTOM MACRO
FUNCTION
R 1353.5 SO3_5 Reset & rewind 6.9 RESET AND REWIND FUNCTION
R 1353.6 SO3_6 Automatic side door open request 6.20 AUTOMATIC SIDE DOOR CONTROL
R 1353.7 SO3_7 Automatic side door close request 6.20 AUTOMATIC SIDE DOOR CONTROL

R 1354.0 SO4_0 Disabling of machine operator's panel 0

start button OPERATOR'S PANEL
R 1354.1 SO4_1 X-axis interlock 6.25 CONTROL SIGNAL FOR EACH
SERVO AXIS
R 1354.2 SO4_2 Y-axis interlock 6.25 CONTROL SIGNAL FOR EACH
SERVO AXIS
R 1354.3 SO4_3 Z-axis interlock 6.25 CONTROL SIGNAL FOR EACH
SERVO AXIS
R 1354.4 SO4_4 4-th axis interlock 6.25 CONTROL SIGNAL FOR EACH
SERVO AXIS
R 1354.5 SO4_5 5-th axis interlock 6.25 CONTROL SIGNAL FOR EACH
SERVO AXIS
R 1354.6 SO4_6 Door interlock 6.20 AUTOMATIC SIDE DOOR CONTROL
R 1354.7 SO4_7 (Reserved)

[Custom ladder → System ladder]

Address Symbol Function Note
R 1355.0 SO5_0 Alarm message display in progress 6.29 ALARM AND OPERATOR MESSAGE
DISPLAY
R 1355.1 SO5_1 Operator message display in progress 6.29 ALARM AND OPERATOR MESSAGE
DISPLAY
R 1355.2 SO5_2 Machine status output 1 request 6.16 MACHINE STATUS OUTPUT
R 1355.3 SO5_3 Machine status output 2 request 6.16 MACHINE STATUS OUTPUT
R 1355.4 SO5_4 Machine status output 3 request 6.16 MACHINE STATUS OUTPUT
R 1355.5 SO5_5 Disabling of ROBODRILL operator's 0
panel OPERATOR'S PANEL
R 1355.6 SO5_6 Operator message display in progress 2 6.29 ALARM AND OPERATOR MESSAGE
DISPLAY
R 1355.7 SO5_7 Lamp check function ON 0
OPERATOR'S PANEL

R 1356.0 SO6_0 Operation level 1 authorized 6.36 OPERATION LEVELS

R 1356.1 SO6_1 Operation level 2 authorized 6.36 OPERATION LEVELS
R 1356.2 SO6_2 Operation level 3 authorized 6.36 OPERATION LEVELS
R 1356.3 SO6_3 (Reserved)
R 1356.4 SO6_4 (Reserved)
R 1356.5 SO6_5 (Reserved)
R 1356.6 SO6_6 (Reserved)
R 1356.7 SO6_7 (Reserved)

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6. INTERFACE SIGNALS BETWEEN SYSTEM
AND CUSTOM LADDER PROGRAMS B-85444EN-3/03

Address Symbol Function Note

R 1357.0 SO7_0 Tool breakage 6.11 TOOL LIFE MANAGEMENT
R 1357.1 SO7_1 Block skip ON (/, /1) 6.35 BLOCK SKIP
R 1357.2 SO7_2 Switching of operation mode (to MEM 6.14 OPERATION MODE SWITCHING
mode)
R 1357.3 SO7_3 Switching of operation mode (to MDI 6.14 OPERATION MODE SWITCHING
mode)
R 1357.4 SO7_4 Switching of operation mode (to handle 6.14 OPERATION MODE SWITCHING
mode)
R 1357.5 SO7_5 Switching of operation mode (to edit 6.14 OPERATION MODE SWITCHING
mode)
R 1357.6 SO7_6 Machine interior lamp ON 6.30 MACHINE INTERIOR LAMP
R 1357.7 SO7_7 Machine interior cleaning coolant 6.17 COOLANT, MACHINE INTERIOR
control CLEANING COOLANT, CENTER
(High power version: The interior THROUGH COOLANT, AND AIR
cleaning coolant mean the lower BLOW
cleaning coolant and the wall coolant)

R 1358.0 SO8_0 4-axis clamp (M10) signal output 6.12 ADDITIONAL AXIS CLAMP CONTROL
command
R 1358.1 SO8_1 4-axis unclamp (M11) signal output 6.12 ADDITIONAL AXIS CLAMP CONTROL
command
R 1358.2 SO8_2 5-axis clamp (M68) signal output 6.12 ADDITIONAL AXIS CLAMP CONTROL
command
R 1358.3 SO8_3 5-axis unclamp (M69) signal output 6.12 ADDITIONAL AXIS CLAMP CONTROL
command
R 1358.4 SO8_4 Counter 1 (production count) reset 6.15 PRODUCTION MANAGEMENT
R 1358.5 SO8_5 Counter 1 (total production count) reset 6.15 PRODUCTION MANAGEMENT
R 1358.6 SO8_6 Counter 2 (production count) reset 6.15 PRODUCTION MANAGEMENT
R 1358.7 SO8_7 Counter 2 (total production count) reset 6.15 PRODUCTION MANAGEMENT

R 1359.0 SO9_0 Counter screen display 6.15 PRODUCTION MANAGEMENT

R 1359.1 SO9_1
R 1359.2 SO9_2 Alarm output 2 stoppage 6.10 ALARM OUTPUT 2
R 1359.3 SO9_3 Door unlock 6.19 FRONT DOOR LOCK CONTROL
R 1359.4 SO9_4 Tool group reset request 6.11 TOOL LIFE MANAGEMENT
R 1359.5 SO9_5 Power OFF request 6.31 POWER-OFF
R 1359.6 SO9_6 No spindle rotating 6.22 SPINDLE
R 1359.7 SO9_7 Low air pressure message cancel The message is not displayed when this
signal is ON.

R 1360.0 SO10_0 (Reserved)

R 1360.1 SO10_1 (Reserved)
R 1360.2 SO10_2 (Reserved)
R 1360.3 SO10_3
R 1360.4 SO10_4 Clamp check (4th axis) 6.12 ADDITIONAL AXIS CLAMP CONTROL
R 1360.5 SO10_5 Unclamp check (4th axis) 6.12 ADDITIONAL AXIS CLAMP CONTROL
R 1360.6 SO10_6 Clamp check (5th axis) 6.12 ADDITIONAL AXIS CLAMP CONTROL
R 1360.7 SO10_7 Unclamp check (5th axis) 6.12 ADDITIONAL AXIS CLAMP CONTROL

[Custom ladder→ System ladder]

Address Symbol Function Note
R 1361.0 SO11_0 (Reserved)
R 1361.1 SO11_1 (Reserved)
R 1361.2 SO11_2 (Reserved)
R 1361.3 SO11_3 (Reserved)
R 1361.4 SO11_4 (Reserved)

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 6. INTERFACE SIGNALS BETWEEN SYSTEM
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Address Symbol Function Note

R 1361.5 SO11_5 (Reserved)
R 1361.6 SO11_6 (Reserved)
R 1361.7 SO11_7 (Reserved)

R 1362.0 SO12_0 Output signal for custom macro (#1000) 6.26 CUSTOM MACROS
R 1362.1 SO12_1 Output signal for custom macro (#1001) 6.26 CUSTOM MACROS
R 1362.2 SO12_2 Output signal for custom macro (#1002) 6.26 CUSTOM MACROS
R 1362.3 SO12_3 Output signal for custom macro (#1003) 6.26 CUSTOM MACROS
R 1362.4 SO12_4 Output signal for custom macro (#1004) 6.26 CUSTOM MACROS
R 1362.5 SO12_5 Output signal for custom macro (#1005) 6.26 CUSTOM MACROS
R 1362.6 SO12_6 Output signal for custom macro (#1006) 6.26 CUSTOM MACROS
R 1362.7 SO12_7 Output signal for custom macro (#1007) 6.26 CUSTOM MACROS

R 1363.0 SO13_0 Output signal for custom macro (#1008) 6.26 CUSTOM MACROS
R 1363.1 SO13_1 Output signal for custom macro (#1009) 6.26 CUSTOM MACROS
R 1363.2 SO13_2 Output signal for custom macro (#1010) 6.26 CUSTOM MACROS
R 1363.3 SO13_3 Output signal for custom macro (#1011) 6.26 CUSTOM MACROS
R 1363.4 SO13_4 Output signal for custom macro (#1012) 6.26 CUSTOM MACROS
R 1363.5 SO13_5 Output signal for custom macro (#1013) 6.26 CUSTOM MACROS
R 1363.6 SO13_6 Output signal for custom macro (#1014) 6.26 CUSTOM MACROS
R 1363.7 SO13_7 Output signal for custom macro (#1015) 6.26 CUSTOM MACROS

R 1364.0 SO14_0 Tool group No. specification 2^0 6.11 TOOL LIFE MANAGEMENT
R 1364.1 SO14_1 Tool group No. specification 2^1 6.11 TOOL LIFE MANAGEMENT
R 1364.2 SO14_2 Tool group No. specification 2^2 6.11 TOOL LIFE MANAGEMENT
R 1364.3 SO14_3 Tool group No. specification 2^3 6.11 TOOL LIFE MANAGEMENT
R 1364.4 SO14_4 Tool group No. specification 2^4 6.11 TOOL LIFE MANAGEMENT
R 1364.5 SO14_5 Tool group No. specification 2^5 6.11 TOOL LIFE MANAGEMENT
R 1364.6 SO14_6 Tool group No. specification 2^6 6.11 TOOL LIFE MANAGEMENT
R 1364.7 SO14_7 Tool group No. specification 2^7 6.11 TOOL LIFE MANAGEMENT

R 1365.0 SO15_0 Spindle override 2^0 6.32 OVERRIDE CONTROL

R 1365.1 SO15_1 Spindle override 2^1 6.32 OVERRIDE CONTROL
R 1365.2 SO15_2 Spindle override 2^2 6.32 OVERRIDE CONTROL
R 1365.3 SO15_3 Spindle override 2^3 6.32 OVERRIDE CONTROL
R 1365.4 SO15_4 Spindle override 2^4 6.32 OVERRIDE CONTROL
R 1365.5 SO15_5 Spindle override 2^5 6.32 OVERRIDE CONTROL
R 1365.6 SO15_6 Spindle override 2^6 6.32 OVERRIDE CONTROL
R 1365.7 SO15_7 Spindle override 2^7 6.32 OVERRIDE CONTROL

R 1366.0 SO16_0 Cutting override 2^0 6.32 OVERRIDE CONTROL

R 1366.1 SO16_1 Cutting override 2^1 6.32 OVERRIDE CONTROL
R 1366.2 SO16_2 Cutting override 2^2 6.32 OVERRIDE CONTROL
R 1366.3 SO16_3 Cutting override 2^3 6.32 OVERRIDE CONTROL
R 1366.4 SO16_4 Cutting override 2^4 6.32 OVERRIDE CONTROL
R 1366.5 SO16_5 Cutting override 2^5 6.32 OVERRIDE CONTROL
R 1366.6 SO16_6 Cutting override 2^6 6.32 OVERRIDE CONTROL
R 1366.7 SO16_7 Cutting override 2^7 6.32 OVERRIDE CONTROL

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6. INTERFACE SIGNALS BETWEEN SYSTEM
AND CUSTOM LADDER PROGRAMS B-85444EN-3/03

[Custom ladder→ System ladder]

Address Symbol Function Note
R 1367.0 SO17_0 Robot teach in progress 6.33 ROBOT INTERFACE 2
R 1367.1 SO17_1 Interaction/independent operation 6.33 ROBOT INTERFACE 2
switch
R 1367.2 SO17_2 System start 6.33 ROBOT INTERFACE 2
R 1367.4 SO17_4 Robot operation screen display 6.33 ROBOT INTERFACE 2
R 1367.5 SO17_5 Cycle stop command 6.33 ROBOT INTERFACE 2
R 1367.7 SO17_7 System stop command 6.33 ROBOT INTERFACE 2

R 1368.0 SO18_0 Automatic side door open 6.33 ROBOT INTERFACE 2

R 1368.1 SO18_1 Automatic side door closed 6.33 ROBOT INTERFACE 2
R 1368.2 SO18_2 Detection of the center through OFF when the lower limit is detected.
coolant lower limit
R 1368.3 SO18_3 Detection of an abnormal center OFF when an abnormal pressure is detected.
through coolant pressure (upper limit)
R 1368.4 SO18_4 Detection of clogging of the center OFF when clogging is detected.
through filter
R 1368.5 SO18_5 Detection of an abnormal center OFF when an abnormal pressure is detected.
through coolant pressure (lower limit)
R 1368.6 SO18_6 Overheating of the center through ON when overheating is detected.
coolant pump
R 1368.7 SO18_7 Detection of clogging of the center OFF when clogging is detected.
through suction filter

R 1369.0 SO19_0 Center through coolant pump on/off 6.17 COOLANT, MACHINE INTERIOR
command CLEANING COOLANT, CENTER
THROUGH COOLANT, AND AIR BLOW
R 1369.1 SO19_1 Center through coolant on/off 6.17 COOLANT, MACHINE INTERIOR
command CLEANING COOLANT, CENTER
THROUGH COOLANT, AND AIR BLOW
R 1369.2 SO19_2 Air purge on/off command 6.17 COOLANT, MACHINE INTERIOR
CLEANING COOLANT, CENTER
THROUGH COOLANT, AND AIR BLOW
R 1369.3 SO19_3 Spindle air blow Air of the spindle blows for ON.
R 1369.4 SO19_4 (Reserved)
R 1369.5 SO19_5 (Reserved)
R 1369.6 SO19_6 (Reserved)
R 1369.7 SO19_7 Start of the lubrication pump Pump is executing for ON.

R 1370.0 SO20_0 (Reserved)

R 1370.1 SO20_1 (Reserved)
R 1370.3 SO20_3 (Reserved)
R 1370.4 SO20_4 Automatic power-off disable signal ON when the automatic power-off function is
disabled.
R 1370.5 SO20_5 Rapid traverse LOW selection ON when rapid traverse LOW is selected.
Turn on this signal for approx. 100 ms.
R 1370.6 SO20_6 Rapid traverse 100% selection ON when rapid traverse 100% is selected.
Turn on this signal for approx. 100 ms.
R 1370.7 SO20_7

R 1371.0 SO21_0 (Reserved)

R 1371.1 SO21_1 (Reserved)
R 1371.2 SO21_2 (Reserved)
R 1371.3 SO21_3 (Reserved)
R 1371.4 SO21_4 (Reserved)
R 1371.5 SO21_5 (Reserved)

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 6. INTERFACE SIGNALS BETWEEN SYSTEM
B-85444EN-3/03 AND CUSTOM LADDER PROGRAMS

Address Symbol Function Note

R 1371.6 SO21_6 (Reserved)
R 1371.7 SO21_7 (Reserved)

[Custom ladder→ System ladder]

Address Symbol Function Note
R 1372.0 SO22_0 (Reserved)
R 1372.1 SO22_1 (Reserved)
R 1372.2 SO22_2 (Reserved)
R 1372.3 SO22_3 (Reserved)
R 1372.4 SO22_4 (Reserved)
R 1372.5 SO22_5 (Reserved)
R 1372.6 SO22_6 (Reserved)
R 1372.7 SO22_7 (Reserved)

R 1373.0 SO23_0 Customizing item 1 count signal 6.34 COUNT OF PERIODICAL

MAINTENANCE CUSTOMIZE ITEM
R 1373.1 SO23_1 Customizing item 2 count signal 6.34 COUNT OF PERIODICAL
MAINTENANCE CUSTOMIZE ITEM
R 1373.2 SO23_2 Customizing item 3 count signal 6.34 COUNT OF PERIODICAL
MAINTENANCE CUSTOMIZE ITEM
R 1373.3 SO23_3 Customizing item 4 count signal 6.34 COUNT OF PERIODICAL
MAINTENANCE CUSTOMIZE ITEM
R 1373.4 SO23_4 Customizing item 5 count signal 6.34 COUNT OF PERIODICAL
MAINTENANCE CUSTOMIZE ITEM
R 1373.5 SO23_5 Customizing item 6 count signal 6.34 COUNT OF PERIODICAL
MAINTENANCE CUSTOMIZE ITEM
R 1373.6 SO23_6 Customizing item 7 count signal 6.34 COUNT OF PERIODICAL
MAINTENANCE CUSTOMIZE ITEM
R 1373.7 SO23_7 Customizing item 8 count signal 6.34 COUNT OF PERIODICAL
MAINTENANCE CUSTOMIZE ITEM

R 1374.0 SO24_0 Optional block skip (/2) 6.35 BLOCK SKIP

R 1374.1 SO24_1 Optional block skip (/3) 6.35 BLOCK SKIP
R 1374.2 SO24_2 Optional block skip (/4) 6.35 BLOCK SKIP
R 1374.3 SO24_3 Optional block skip (/5) 6.35 BLOCK SKIP
R 1374.4 SO24_4 Optional block skip (/6)
R 1374.5 SO24_5 Optional block skip (/7) 6.35 BLOCK SKIP
R 1374.6 SO24_6 Optional block skip (/8) 6.35 BLOCK SKIP
R 1374.7 SO24_7 Optional block skip (/9)

R 1375.0 SO25_0
R 1375.1 SO25_1
R 1375.2 SO25_2 Workpiece clamp 6.33 ROBOT INTERFACE 2
R 1375.3 SO25_3 Robot program stop 6.33 ROBOT INTERFACE 2
R 1375.4 SO25_4 Robot alarm reset 6.33 ROBOT INTERFACE 2
R 1375.5 SO25_5
R 1375.6 SO25_6
R 1375.7 SO25_7

R 1376.0 SO26_0 Side door full open signal 6.33 ROBOT INTERFACE 2

R 1379.0 SO29_0
R 1379.1 SO29_1
R 1379.2 SO29_2 Counter 1 (production count) reset 6.15 PRODUCTION MANAGEMENT
R 1379.3 SO29_3 Counter 2 (production count) reset 6.15 PRODUCTION MANAGEMENT
R 1379.4 SO29_4 Counter 3 (production count) reset 6.15 PRODUCTION MANAGEMENT

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6. INTERFACE SIGNALS BETWEEN SYSTEM
AND CUSTOM LADDER PROGRAMS B-85444EN-3/03

Address Symbol Function Note

R 1379.5 SO29_5 M01 stop ON 6.28 OPERATION CONTROL
R 1379.6 SO29_6
R 1379.7 SO29_7

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B-85444EN-3/03 7. USING TYPICAL FUNCTIONAL INSTRUCTIONS

7 USING TYPICAL FUNCTIONAL

INSTRUCTIONS
7.1 (VARIABLE TIMER) FUNCTIONAL INSTRUCTION: NO.3
After the set time has passed, the specified timer relay turns ON.

Do not write any

instructions in this area.
Timer No.

Timer start condition Timer relay

Fig. 7.1 Functional instruction: No.3

 The effective timer Nos. are 121 to 200.

 For a timer relay, you can specify any desired address.
 Set the desired timer value on the PMC parameter - Timer screen.
 The effective set times are 0 to 262136 (ms), in 8-ms increments.

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7. USING TYPICAL FUNCTIONAL INSTRUCTIONS B-85444EN-3/03

7.2 (FIXED TIMER) FUNCTIONAL INSTRUCTION: NO.24

After the set time has passed, the specified timer relay turns ON.

Timer No.

Do not write any

instructions in this area.

Time that the

timer is set for
Timer start Timer relay
condition

Fig. 7.2 Functional instruction: No.24

 The effective timer Nos. are 1 to 1000.

 For a timer relay, you can specify any desired address.
 The effective set times are 0 to 262136 (ms), in 8-ms increments.

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B-85444EN-3/03 7. USING TYPICAL FUNCTIONAL INSTRUCTIONS

7.3 (RISING EDGE DETECTION) FUNCTIONAL INSTRUCTION:

NO.57
If the start condition turns ON, the output turns ON for a single scanning cycle.

Do not write any

instructions in this area.

Start Register No.

condition Output

Fig. 7.3 Functional instruction: No.57

 The effective register Nos. are 1 to 2000. The same register No. may be specified only
once.
 The valid register No. range is the same as that for the falling edge detection function
(SUB58).

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7. USING TYPICAL FUNCTIONAL INSTRUCTIONS B-85444EN-3/03

7.4 (FALLING EDGE DETECTION) FUNCTIONAL

INSTRUCTION: NO.58
If the start condition turns OFF, the output turns ON for a single scanning cycle.

出力

Do not write any

instructions in this area.

Start Register No.

condition Output

Fig. 7.4 Functional instruction: No.58

 The effective register Nos. are 1 to 2000. The same register No. may be specified only
once.
 The valid register No. range is the same as that for the rising edge detection function
(SUB57).

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B-85444EN-3/03 7. USING TYPICAL FUNCTIONAL INSTRUCTIONS

7.5 (COUNTER) FUNCTIONAL INSTRUCTION: NO.5

The output turns ON when the setting becomes equal to the count.

Do not write any

instructions in this area.

Counter No.
Countup output

Fig. 7.5 Functional instruction: No.5

Table 7.5 Control conditions for functional instruction No. 5

Control condition Control Function
CN0 0 Starts the counter with 0.
1 Starts the counter with 1.
UPDOWN 0 Up counter
1 Down counter
RST 0 Cancels a reset.
1 Resets a counter.
ACT 0 Deactivates a timer.
1 Activates a timer.

 The effective counter Nos. are 40 to 69.

 To control RST and ACT, use a pulse signal. RST and ACT function at the rising edge
of a pulse signal.
 For the counter output, you can specify any desired address.
 Enter the desired setting on the PMC parameter - Counter screen.
 The effective counter settings are 0 to 32767.

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7. USING TYPICAL FUNCTIONAL INSTRUCTIONS B-85444EN-3/03

7.6 (JUMP) FUNCTIONAL INSTRUCTION: NO.10／

(JUMP END) FUNCTIONAL INSTRUCTION: NO.30
If the start condition turns ON, control jumps over the specified number of coils without executing them
at all.

Do not write any instructions in this area.

Start condition Number of coils to jump over

Do not write any instructions in these areas.

Fig. 7.6 Functional instruction: No.10/Functional instruction: No.30

 If specifying the number of coils, do not use JMPE (SUB30).

 If the number of coils is set to 0, control jumps over the JMP (SUB10) to JMPE (SUB30)
section.
 Control jumps over any functional instructions.

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B-85444EN-3/03 7. USING TYPICAL FUNCTIONAL INSTRUCTIONS

7.7 (COMMON LINE CONTROL)

FUNCTIONAL INSTRUCTION: NO.9/
(COMMON LINE CONTROL END)
FUNCTIONAL INSTRUCTION: NO.29
If the start condition turns OFF, the specified number of coils are turned OFF.

Do not write any instructions in this area.

Start condition No. of coils to be turned off

Do not write any instructions in these areas.

Fig. 7.7 Functional instruction: No.9/Functional instruction: No.29

 If specifying the number of coils, do not use COME (SUB29).

 If the number of coils is set to 0, the COM (SUB9) to COME (SUB29) section are turned
OFF.
 Any functional instructions will be executed even if the start condition with the COM
instruction is OFF, but the output of the execution results will be turned OFF.
 In a range specified with a COM, you cannot specify another COM.
 The output of WRT.NOT (inverted output of logic operation result) will be "1" if the start
condition with the COM instruction is OFF.

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7. USING TYPICAL FUNCTIONAL INSTRUCTIONS B-85444EN-3/03

7.8 (BINARY DECODING)

FUNCTIONAL INSTRUCTION: NO.25
The following explanation is limited to those cases in which specified M codes are to be decoded.

C
Start
condition

Fig. 7.8 Functional instruction: No.25

Table 7.8 Parameters for functional instruction No. 25

Parameter Function
A Format specification Set a format in the format of 0nn4, where nn specifies that 8 x nn M codes are to
be decoded.
nn may be 0 to 99.
If 0 is specified, eight M codes will be decoded.
Examples:
To decode M200 to M205, set 0014(14).
To decode M200 to M207, set 0014(14).
To decode M200 to M209, set 0024(24).
To decode M200 to M219, set 0034(34).
B Code data address Set F10.
C Decoding instruction No. Specify the number of the first M code to be decoded.
Example: To decode M codes starting with M200, set 200.
D Decoding result output Specify an unused internal relay (R address).
address If the nn in the format specification is 0 or 1, 1 bytes is required; otherwise,
consecutive nn bytes are required.

In the above examples:

If M200 is specified, R2100.0 is ON.
If M201 is specified, R2100.1 is ON.
If M202 is specified, R2100.2 is ON.
:
If M207 is specified, R2100.7 is ON.

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B-85444EN-3/03 7. USING TYPICAL FUNCTIONAL INSTRUCTIONS

7.9 (CONDITIONAL SUBPROGRAM CALL)

FUNCTIONAL INSTRUCTION: NO.65/
(UNCONDITIONAL SUBPROGRAM CALL)
FUNCTIONAL INSTRUCTION: NO.66
If the conditional subprogram call instruction CALL (SUB65) is specified, the specified subprogram is
called only when the call condition is ON.
If the unconditional subprogram call instruction CALLU (SUB66) is specified, the specified subprogram
is called unconditionally.

Subprogram number called

Call condition

Fig. 7.9 (Conditional subprogram call) Functional instruction: No.65/

(Unconditional subprogram call) Functional instruction: No.66

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8. EXAMPLES OF HOW CUSTOM PMC IS USED B-85444EN-3/03

8 EXAMPLES OF HOW CUSTOM PMC IS

USED
This chapter describes various examples of how custom PMC is used with optional compatible devices.
As examples of how custom PMC is used, cases 2 to 4 below are described in this chapter.
Case 1 is described in Chapter 2, “PROCEDURE FOR USE.”

Table 8 (a) Examples of how custom PMC is used

Case Compatible device Function used in a ladder program Reference
chapter/section
1 Screw terminal block on the wiring PCB: Turns on a lamp when a button is pressed 2
XT1 (R/L)
2 Sub-operator’s panel I/O module and Detects automatic operation status and 8.1
terminal module B outputs to a lamp depending on the state
3 I/O Unit-MODEL A, input module Controls a mist collector connected to the 8.2
AID16D, and relay output module ROBODRILL depending on its state
AOR08G
4 Wiring PCB I/O module (basic module Selects and starts/stops a machining 8.3
and expansion module) program by using buttons in a place
distant from the operator’s panel

The relationship between the compatible devices used in these cases and the signals and settings are as
listed below:

Table 8 (b) Relationship between the compatible devices and the signals and settings
Compatible device Signal Setting
Classification Address No. of signals PMC parameter
(Max) Keep relay
Screw terminal block on DI X4.0–X5.7 16
Not necessary
the wiring PCB: XT1 (R/L) DO Y2.0–Y3.7 16
Connector on the wiring DI X0.0–X1.7 16
Not necessary
PCB : DI01 DO Y0.0–Y1.7 16
I/O Unit-MODEL A DI X200.0–X211.7 96 Necessary
DO Y200.0–Y207.7 64 K932#0
I/O Link connection unit DI X212.0–X227.7 128 Necessary
DO Y212.0–Y227.7 128 K932#1
Wiring PCB I/O module DI X228.0–X239.7 96 Necessary
DO Y228.0–Y235.7 64 K932#2
Sub-operator’s panel I/O DI X240.0–X245.7 48 Necessary
module DO Y240.0–Y243.7 32 *1
Multi sensor unit DI X246.0–X277.7 256 Necessary
DO Y246.0–Y247.7 16 K932#4
I/O Unit-MODEL B DI X278.0–X301.7 192 Necessary
DO Y278.0–Y301.7 192 K932#5

*1 Use K932#3 in the I/O Link i setting file for version 47H9/02 or earlier. Set K932#7 for version
47H9/03 or later.

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B-85444EN-3/03 8. EXAMPLES OF HOW CUSTOM PMC IS USED

8.1 SUB-OERATOR’S PANEL I/O MODULE/TURNING ON OF

LAMPS
This section describes a system that uses the optional sub-operator’s panel I/O module as the compatible
device and connects it to the terminal module B. This system is operated through a program that turns on
4 lamps depending on the device’s state.

8.1.1 Requirement Specifications

The requirement specifications for this system are as follows:

The system turns on different lamps when the device is in the following states:
 When the device is in automatic operation
 When automatic operation has been stopped, the device is in a feed hold state, or it has been brought
into emergency stop.
 When an alarm has been occurring
 When the device is ready for automatic operation
The function of turning on the lamps is enabled/disabled when a certain switch is turned ON and a certain
parameter is turned ON (or by an input signal and parameter).

8.1.2 Preconditions
In order to satisfy the requirement specifications, create custom PMC based on the following
preconditions:

 Use input signals and output signals of the sub-operator’s panel I/O module and of the terminal
module B.
 The sub-operator’s panel I/O module and the terminal module B are included with shipment
(Connect the terminal module B to CE56 of the sub-operator’s panel I/O module).
 The DI and DO of the sub-operator’s panel I/O module are not used.
 Use an alternate type a-contact switch for enabling/disabling the function of turning on the lamps.
 Assign lamps 1 to 4 as follows:
“When the device is in automatic operation” in the requirement specifications: Lamp 1
“When automatic operation has been stopped, the device is in a feed hold state or, it has been brought
into emergency stop” in the requirement specifications: Lamp 2
“When an alarm has been occurring” in the requirement specifications: Lamp 3
“When the device is ready for automatic operation” in the requirement specifications: Lamp 4

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8. EXAMPLES OF HOW CUSTOM PMC IS USED B-85444EN-3/03

JD1A

[K34]

[K35]

XS23-5

JD1B

Sub-Operator's Panel CPD1

I/O Module

JD1A

[K206]

[K205]

JD1B
CPD1
XS23-5
Sub-Operator's Panel I/O
Module

CE57 (top)
CE56 (bottom) Sub-Operator's Panel I/O
Module

Option
mounting
board

[K38]
Terminal
module B

Fig. 8.1.2 Optional sub-operator’s panel I/O module and terminal module B

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B-85444EN-3/03 8. EXAMPLES OF HOW CUSTOM PMC IS USED

8.1.3 Work Procedure

Create custom PMC by following the procedure below:

1 Determine the required numbers of DI and DO signals and of other signals with reference to the
requirement specifications and the preconditions.

Table 8.1.3 (a) Numbers of signals for this system

Signal No. of signals Note
DI 1
DO 4
PMC parameter key relay 1 When a keep relay is used as the parameter for disabling
the function of turning on the lamps
Work register 1 Used to enable/disable the function of turning on the
lamps

2 Determine signal addresses for DI/DO with reference to Chapter 3, “INPUT/OUTPUT

SPECIFICATIONS.”

Table 8.1.3 (b) Signal addresses for DI/DO for this system
Signal Address
DI X240.0
DO Y240.0, Y240.1, Y240.2, Y240.3
PMC parameter keep relay K35#0
Work register R2000.0
Others R1307.3, R1307.4, R1307.5, R1307.7, R1308.6, R1317.6

3 Consider a ladder program with reference to Chapter 6, “INTERFACE SIGNALS BETWEEN

SYSTEM AND CUSTOM LADDER PROGRAMS” and Chapter 7, “USING TYPICAL
FUNCTIONAL INSTRUCTIONS.”

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8. EXAMPLES OF HOW CUSTOM PMC IS USED B-85444EN-3/03

X0240.0 K0035.0 R2000.0

R2000.0 R1307.3 Y0240.0

R2000.0 R1308.6 Y0240.1

R1307.4

R1307.7

R2000.0 R1307.5 Y0240.2

R2000.0 R1317.6 Y0240.3

Fig. 8.1.3 (a) Ladder program for this system

4 Wire the devices with reference to Section 2.2, “WIRING CIRCUITS AND CHECKING SIGNAL
OPERATIONS” and Chapter 4, “CONNECTING CIRCUIT WIRING.”

Reference
 You should create a block diagram and a wiring diagram.
 You should put markings on the both ends of wires between the devices and
especially between the switches and ensure that those diagrams can be
compared against each other.

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B-85444EN-3/03 8. EXAMPLES OF HOW CUSTOM PMC IS USED

JD1A
XS23 Stabilizing
CE70 XT70B-16,32 power supply

JD1B CPD1
XT70B-20,21 Lamp 1
Sub-operator's panel
I/O module XT70B-20,22 Lamp 2
Wiring PCB A20B-2004-0691
A16B-3100-0120
or CE56 XT70B-4,5 Lamp 3
A16B-3100-0121

XT70B-4,6 Lamp 4

XT70A-18,19 Switch 1

Terminal module B
A03B-0815-C022

Connected at the Fanuc factory

Fig. 8.1.3 (b) Block diagram for this system

Terminal module B
XT70B
32
DOCOM + Stabilizing power supply 1
0V
16
‐ DC24V

Lamp 1
21
Y240.0
Lamp 2
Y240.1 22

0V 20

Lamp 3
5
Y240.2
Lamp 4
6
Y240.3
4
0V

XT70A Switch 1
18
X240.0

+24V 19

Fig. 8.1.3 (c) Wiring diagram for this system

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8. EXAMPLES OF HOW CUSTOM PMC IS USED B-85444EN-3/03

Table 8.1.3 (c) Terminal connection for this system

Terminal Module B Terminal of the device connected
XT70B-16 Stabilizing power supply - -
XT70B-32 Stabilizing power supply + -
XT70B-20 Lamp 1 - Lamp 2 -
XT70B-21 Lamp 1 + -
XT70B-22 Lamp 2 + -
XT70B-4 Lamp 3 - Lamp 4 -
XT70B-5 Lamp 3 + -
XT70B-6 Lamp 4+ -
XT70A-18 Contact terminal 1 of switch 1 -
XT70A-19 Contact terminal 2 of switch 1 -

NOTE
Two terminals listed for a single pin in the “Terminal of the device connected”
columns like “Lamp 1” and “Lamp 2” indicate that the pin should be connected to
the both terminals.

5 Check signal operations with reference to Section 2.2, “WIRING CIRCUITS AND CHECKING
SIGNAL OPERATIONS” and Subsection 5.2.2, “Signal Diagnosis.”
• For DI, check input (ON/OFF) from the switch through “X240.0.”
• For DO, check output (ON/OFF) to the lamps through “Y240.0,” “Y240.1,” “Y240.2,” and
“Y240.3.”
• Check the PMC parameter keep repay (K932#3 =1).
Reference: If the optional sub-operator’s panel I/O module is included with shipment, it has been
set to “1.”

6 Create a custom PMC ladder program with reference to Section 2.3,” CREATING A LADDER
PROGRAM” and Chapter 5, “CREATING, EDITING, AND EXECUTING PROGRAMS.”
• Check that the PMC parameter keep relay Kl4#0 is 0.

7 Make settings for custom PMC with reference to Section 2.4, “MAKING AND CHECKING
SETTINGS.”
• Settings on the QUICK screen
In this case, there is no need for making settings on this screen.
• Parameter settings
Set the PMC parameter keep relay as follows:
Kl5#7 = 1
K932#3 = 1 (*)
Reference: If the optional sub-operator’s panel I/O module is included with shipment, they have
been set to “1.”

8 Check the operations of the ladder program with reference to Section 2.5 “CHECKING
OPERATIONS. ”

9 Store the ladder program, the block diagram, and the wiring diagram.

*1 Use K932#3 in the I/O Link i setting file for version 47H9/02 or earlier. Set K932#7 for version
47H9/03 or later.

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8.2 I/O Unit-MODEL A/CONTROL OF A MISTO COLLECTOR

This section describes a system that uses the I/O Unit-MODEL A (vertical type base unit), the AID16D
input module, and the AOR08G relay output module as the optional compatible devices. This system
controls a mist collector connected to the ROBODRILL depending on its state.

8.2.1 Requirement Specifications

The requirement specifications for this system are as follows:

The system controls a mist collector connected to the ROBODRILL depending on its state.
 It puts the mist collector connected to the ROBODRILL into operation when the program is started,
and stops it 10 seconds after the program is stopped.
 When the electromagnetic switch used to control the mist collector trips, the system issues an alarm.
 When the reset button on the operator’s panel is pressed after resetting the trip of the
electromagnetic switch, the alarm is cleared (reset).

ROBODRILL
System ladder
program

Custom I/O Unit-MODEL A Mist collector

PMC

Fig. 8.2.1 Requirement specifications

8.2.2 Preconditions
In order to satisfy the requirement specifications, create custom PMC based on the following
preconditions:

• Use the I/O Unit-MODEL A (vertical type base unit), the AID16D input module, and the AOR08G
relay output module.
• The following options are included one each with the ROBODRILL.
I/O Unit-MODEL A (vertical type base unit): A04B-0103-J211#VER
AID16D input module: A03B-0826-J104
AOR08G relay output module: A03B-0826-J160
• The AID16D input module is mounted on the slot 1 of the vertical base unit.
• Use an electromagnetic switch run by an AV 200 V power supply to control the mist collector.
• Use an a-contact as the trip signal terminals of the electromagnetic switch, continuity between them
is broken when the switch trips.
• Show an alarm and alarm message when the switch trips.
-> When an alarm occurs while the ROBODRILL is in automatic operation, it goes into a feed hold
state.
• Use a variable timer in the ladder program.

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8. EXAMPLES OF HOW CUSTOM PMC IS USED B-85444EN-3/03

[K107] JD1A

XS23-3

[K108]

Interface
module

Vertical base unit

Fig. 8.2.2 I/O Unit-MODEL A (vertical base unit)

8.2.3 Work Procedure

Create custom PMC by following the procedure below:

1 Determine the required numbers of DI and DO signals and of other signals with reference to the
requirement specifications and the preconditions.

Table 8.2.3 (a) Numbers of signals for this system

Signal No. of signals Note
DI 1
DO 1
Timer 1
Alarm operator message display request 1
Alarm or message number 1
Work register 1

2 Determine signal addresses for DI/DO with reference to Chapter 3, “INPUT/OUTPUT

SPECIFICATIONS.”

Table 8.2.3 (b) Signal addresses for DI/DO for this system
Signal Address
DI X200.0
DO Y200.0
Timer T240
Alarm operator message display request A100.0
Alarm or message number 1900
Work register R2000.0
Others R1307.3

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3 Consider a ladder program with reference to Chapter 6, “INTERFACE SIGNALS BETWEEN

SYSTEM AND CUSTOM LADDER PROGRAMS” and Chapter 7, “USING TYPICAL
FUNCTIONAL INSTRUCTIONS.”

R1307.3 R2000.0
SUB3
121
TMR

R1307.3 A0100.0 R2000.0 Y0200.0

Y0200.0

X0200.0 R1339.1 A0100.0

A0100.0 R1335.0

Fig. 8.2.3 (a) Ladder program for this system

4 Wire the devices with reference to Section 2.2, “WIRING CIRCUITS AND CHECKING SIGNAL
OPERATIONS” and Chapter 4, “CONNECTING CIRCUIT WIRING.”

Reference
• You should create a block diagram and a wiring diagram.
• You should put markings on the both ends of wires between the devices and
especially between the switches and ensure that those diagrams can be
compared against each other.

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JD1A
XS23 I/O Unit-MODEL A (vertical base unit)
A03B-0826-J003

Slot 1 Slot 4
CP1 Connected at the Fanuc factory
AID16D AOR08G
JD1B
Wiring PCB
A16B-3100-0120
or
A16B-3100-0121

Stabilizing
power supply

Mist collector

Electromagnetic
AC power supply
switch

Fig. 8.2.3 (b) Block diagram for this system

AID16D
XT70B
1
0V ‐Stabilizing power supply
+ DC24V

Trip signal
2
X200.0 2 1

AOR08G

Y200.0
2 U
V

Coil
2
3 1

V Mist
collector
W

Electromagnetic switch
Fig. 8.2.3 (c) Wiring diagram for this system
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B-85444EN-3/03 8. EXAMPLES OF HOW CUSTOM PMC IS USED

Table 8.2.3 (c) Terminal connection for this system

AID16D Terminal of the device connected
1 Stabilizing power supply - -
2 Trip signal contact terminal 1 of the -
electromagnetic switch

AOR08G Terminal of the device connected

2 U phase of the AC power supply -
3 Coil terminal 1 of the electromagnetic -
switch

5 Check signal operations with reference to Section 2.2, “WIRING CIRCUITS AND CHECKING
SIGNAL OPERATIONS” and Subsection 5.2.2, “Signal Diagnosis.”
• For DI, check input (ON/OFF) through “X200.0.”
• For DO, check output (ON/OFF) through “Y200.0.”
• Check the PMC parameter keep relay (K932#0 = 1).
Reference: If the optional I/O Unit-MODEL A has been included with shipment, it has been set to
“1.”

6 Create a custom PMC ladder program with reference to Section 2.3,” CREATING A LADDER
PROGRAM” and Chapter 5, “CREATING, EDITING, AND EXECUTING PROGRAMS.”
• Check that the PMC keep relay Kl4#0 is 0.

7 Make settings for custom PMC with reference to Section 2.4, “MAKING AND CHECKING
SETTINGS.”
• Settings on the QUICK screen
In this case, there is no need for making settings on this screen.
• Parameter settings
Set the PMC parameter keep relay as follows:
Kl5#7 = 1
K932#0 = 1
Reference: If the optional I/O Unit-MODEL A has been included with shipment, they have been
set to “1.”

Set the PMC parameter timer as follows:

T240 = 10000 (10000 ms = 10 seconds)
• Edit the alarm message
1 Press the emergency stop button
2 Select [SYSTEM], [PMC CONFIG], [MESSAGE], [(OPRT)], and then [EDIT] on the
CNC screen.
3 Enter “1900” in the NO. column and “MIST COLLECTOR THERMAL TRIP” in the
MESSAGE column for A0100.0.

8 Check the operations of the ladder program with reference to Section 2.5 “CHECKING
OPERATIONS.”

9 Store the ladder program, the block diagram, and the wiring diagram.

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8.3 WIRING PCB I/O MODULE/CONTROL OF MACHINING

PROGRAMS
This section describes a system that uses one basic module and one expansion module provided as
additional I/O module as the optional compatible devices. This system selects and starts or stops a
machining program by using buttons in a place distant from the operator’s panel.

8.3.1 Requirement Specifications

The requirement specifications for this system are as follows:

This system selects and starts or stops a machining program by using buttons in a place distant from the
operator’s panel.
• A machining program to be executed is selected from among 3 programs through one of 3 push
button switches (buttons 1 to 3 below).
• When the machining program number to be executed is changed, the system turns on one of 3
lamps that corresponds to the program number.
• When a machining program that does not correspond to any of the push button switches is selected
through the operator’s panel, the system turns off all the 3 lamps.
• It uses another button switch (button 4 below) to start the selected machining program.
• It uses yet another button switch (button 5 below) to stop the selected machining program.

ROBODRILL
Wiring PCB I/O Switch 1 (with a lamp)
System ladder module
program (basic/expansion) Switch 2 (with a lamp)

Switch 3 (with a lamp)

Custom
PMC Terminal module Switch 4 (with a lamp)

Switch 5 (with a lamp)

Fig. 8.3.1 Requirement specifications

8.3.2 Preconditions
In order to satisfy the requirement specifications, create custom PMC based on the following
preconditions:

• Use one wiring PCB I/O basic module and one wiring PCB I/O expansion module.
• The following optional modules are included one each with the ROBODRILL:
 Additional I/O basic module: A04B-0103-J210#USB
 Additional I/O expansion module: A04B-0103-J210#USE
• The buttons 1 to 4 have a lamp and use a momentary type, a-contact.
• The button 5 has a lamp and uses a momentary type, b-contact.
• Associate the buttons 1 to 3 with the following program numbers:
• Button 1: O0010
• Button 2: O0200
• Button 3: O3000
• Use the external program number search function to select a program.

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JD1A

[K27]

Wiring PCB I/O

module (basic)

[K26]

JD1B

Terminal module
Wiring PCB I/O
module (expansion)
Fig. 8.3.2 Optional sub-operator’s panel I/O module and terminal module B

8.3.3 Work Procedure

Create custom PMC by following the procedure below:

1 Determine the required numbers of DI and DO signals and of other signals with reference to the
requirement specifications and the preconditions.

Table 8.3.3 (a) Numbers of signals for this system

Signal No. of signals Note
DI 5
DO 5
Data table 3
Fixed timer 1
Data register 16

2 Determine signal addresses for DI/DO with reference to Chapter 3, “INPUT/OUTPUT

SPECIFICATIONS.”

Table 8.3.3 (b) Signal addresses for DI/DO for this system
Signal Address
DI X228.0, X228.1, X228.2, X228.3, X228.4
DO Y230.0, Y230.1, Y230.2, Y230.3, Y230.4
Data table D7000, D7002, D7004
Fixed timer 1
Data register R2000.0 - R2000.3, R2001.0 - R2001.3, R2002.0 - R2000.2,
R2003.0 - R2003.2
Others R1300.0, R1350.0 - R1351.3, R1352.0, R1352.1, R1308.6, R1309.0, Z0.0

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3 Consider a ladder program with reference to Chapter 6, “INTERFACE SIGNALS BETWEEN

SYSTEM AND CUSTOM LADDER PROGRAMS” and Chapter 7, “USING TYPICAL
FUNCTIONAL INSTRUCTIONS.”
X0228.0 R2000.0
SUB57
1
DIFU

R2000.0 R2000.1 R2000.2 R2001.0

R2001.0

X0228.1 R2000.1
SUB57
2
DIFU

R2000.1 R2000.0 R2000.2 R2001.1

R2001.1

X0228.2 R2000.2
SUB57
3
DIFU
R2000.2 R2000.0 R2000.1 R2001.2

R2001.2

Fig. 8.3.3 (a) Ladder program for this system (1)

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R1300.0 R2002.0
SUB14 D7000
CONV R1350
R1300.0

R1300.0

R2001.0 R1309.0

R1300.0 R2002.1
SUB14 D7002
CONV R1350
R1300.0

R1300.0

R2001.1 R1309.0

R1300.0 R2002.2
SUB14 D7004
CONV R1350
R1300.0

R1300.0

R2001.2 R1309.0

Fig. 8.3.3 (b) Ladder program for this system (2)

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R2002.0
SUB32 1002
COMPB D7000
R1302

R2001.0 Z0.0 R2003.0

R2003.0 Y0230.1

R2002.1
SUB32 1002
COMPB D7002
R1302

R2001.1 Z0.0 R2003.1

R2003.1 Y0230.1

R2002.2
SUB32 1002
COMPB D7004
R1304

R2001.2 Z0.0 R2003.2

R2003.2 Y0230.2

R2001.0 R1309.0 R1352.0

R2001.1

R2001.2

Fig. 8.3.3 (c) Ladder program for this system (3)

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X0228.3 R2001.3 R2000.3

R2000.3

R2000.3 R2001.3
SUB24 1
TMRB 200
R2000.3 R1352.1

R1307.3 Y0230.3

X0228.4 R1352.2

R1308.6 Y0230.4

Fig. 8.3.3 (d) Ladder program for this system (4)

4 Wire the devices with reference to Section 2.2, “WIRING CIRCUITS AND CHECKING SIGNAL
OPERATIONS” and Chapter 4, “CONNECTING CIRCUIT WIRING.”

Reference
 You should create a block diagram and a wiring diagram.
 You should put markings on the both ends of wires between the devices and
especially between the switches and ensure that those diagrams can be
compared against each other.

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Wiring PCB I/O basic module Wiring PCB I/O expansion module
JD1A
A03B-0824-C001 A03B-0824-C003

JD1B
CB150 CB150

Connected at the Fanuc factory

Wiring PCB
A16B-3100-0120
or
A16B-3100-0121
Terminal module #1 Terminal module #2
A03B-0815-C020 A03B-0815-C020

Stabilizing power supply 1

Stabilizing power supply 2

Switch 1 (with a lamp)

Switch 2 (with a lamp)

Switch 3 (with a lamp)

Switch 4 (with a lamp)

Switch 5 (with a lamp)

Fig. 8.3.3 (e) Block diagram for this system

Terminal Module 1
XT150B
32
+24V1 + Stabilizing power supply 1
0V
16
‐ DC24V
XT150A
+24V2 17
+ Stabilizing power supply 2
1
0V ‐ DC24V

+24V2 18

X228.0 19
Switch 1
20
X228.1
Switch 2
2
+24V2
3
X228.2
Switch 3
4
X228.3
Switch 4

+24V2 21

X228.4 22
Switch 5

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B-85444EN-3/03 8. EXAMPLES OF HOW CUSTOM PMC IS USED

Terminal Module 2
XT150B
32
+24V1 + Stabilizing power supply 1
0V 16
‐ DC24V
XT150A
+24V2 17
+ Stabilizing power supply 2
1
0V ‐ DC24V
XT150B
0V 20

Lamp 1
Y230.0 21
Lamp 2
22
Y230.1
4
0V
Lamp 3
Y230.2 5
Lamp 4
6
Y230.3

0V 23
Lamp 5
Y230.4 24

Fig. 8.3.3 (f) Wiring diagram for this system

Table 8.3.3 (c) Terminal connection for this system

Terminal Module 1 Terminal of the device connected
XT150B-16 Stabilizing power supply 1 - -
XT150B-32 Stabilizing power supply 1 + -
XT150A-1 Stabilizing power supply 2 - -
XT150A-17 Stabilizing power supply 2 + -
XT150A-18 Contact terminal 1 of switch 1 Contact terminal 1 of switch 2
XT150A-19 Contact terminal 2 of switch 1 -
XT150A-20 Contact terminal 2 of switch 2 -
XT150A-2 Contact terminal 1 of switch 3 Contact terminal 1 of switch 4
XT150A-3 Contact terminal 2 of switch 3 -
XT150A-4 Contact terminal 2 of switch 4 -
XT150A-21 Contact terminal 1 of switch 5 -
XT150A-22 Contact terminal 2 of switch 5 -

Terminal Module 2 Terminal of the device connected

XT150B-16 Stabilizing power supply 1 - -
XT150B-32 Stabilizing power supply 1 + -
XT150A-1 Stabilizing power supply 2 - -
XT150A-17 Stabilizing power supply 2 + -
XT150B-20 Lamp 1 - Lamp 2 -
XT150B-21 Lamp 1 + -
XT150B-22 Lamp 2 + -

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Terminal Module 2 Terminal of the device connected

XT150B-4 Lamp 3 - Lamp 4 -
XT150B-5 Lamp 3 + -
XT150B-6 Lamp 4 + -
XT150B-23 Lamp 5 - -
XT150B-24 Lamp 5 + -
Note: Two terminals listed for a single pin in the “Terminal of the device connected” columns like
“Contact terminal 1 of switch 1” and “Contact terminal 1 of switch 2” indicate that the pin should
be connected to the both terminals.

5 Check signal operations with reference to Section 2.2, “WIRING CIRCUITS AND CHECKING
SIGNAL OPERATIONS” and Subsection 5.2.2, “Signal Diagnosis.”
• For DI, check input (ON/OFF) from the switches through “X228.0,” “X228.1,” “X228.2,”
“X228.3,” and “X228.4.”
• For DO, check output (ON/OFF) to the lamps through “Y230.0,” “Y230.1,” “Y230.2,”
“Y230.3,” and “Y230.4. ”
• Check the PMC parameter keep repay (K932#2 = 1).
Reference: If the basic module and expansion module are included as additional I/O units with
shipment, it has been set to “1.”

6 Create a custom PMC ladder program with reference to Section 2.3,” CREATING A LADDER
PROGRAM” and Chapter 5, “CREATING, EDITING, AND EXECUTING PROGRAMS.”
• Check that the PMC parameter keep relay Kl4#0 is 0.

7 Make settings for custom PMC with reference to Section 2.4, “MAKING AND CHECKING
SETTINGS.”
• Settings on the QUICK screen
Select the MAINTENANCE/SETTING screen, the 13.EXT. INTERFACE screen, and then
FUNCTION SELECTION, and set “EXT. PROG. No. SEARCH” for PROGRAM
SELECTION.
• Parameter settings
Set the PMC parameter keep relay as follows:
K14#7 = 1
Kl5#7 = 1
K932#2 = 1
Reference: If the basic module and expansion module are included as additional I/O units with
shipment, they have been set to “1.”

Set the PMC parameter data table as follows:

D7000 = 0010
D7002 = 0200
D7004 = 3000

8 Check the operations of the ladder program with reference to Section 2.5 “CHECKING
OPERATIONS.”

9 Store the ladder program, the block diagram, and the wiring diagram.

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9 CUSTOM PMC EDITING WITH FANUC

LADDER-III
On the personal computer, custom PMC editing can be performed using the programming system for
sequence program development FANUC LADDER-III.
For the method of operating FANUC LADDER-III, refer to the following manual:
FANUC LADDER-III OPERATOR'S MANUAL (B-66234EN)

Procedure for editing custom PMC

Use the procedure below when performing custom PMC editing with FANUC LADDER-III.

1 Backup of a ladder program

From the ROBODRILL, back up a ladder program (PMC2) to be edited.
2 Convert/decompile the file. (MEM file → LAD file)
Convert the backed-up ladder program to a file that can be edited using FANUC LADDER-III.
3 Edit the file.
Edit the ladder program, message data, and so forth.
4 Compile/convert the file. (LAD file → MEM file)
Compile the edited ladder program and convert it to a file that can be loaded into the ROBODRILL.
5 Load the ladder program.
Load the ladder program to the ROBODRILL by using a memory card or Handy File.

(When using the multi-language display function, see Appendix E, "MULTI-LANGUAGE DISPLAY
FUNCTION".)

CAUTION
• FANUC LADDER-III ver. 6.30 or later is required.
• To edit custom PMC for the ROBODRILL using FANUC LADDER-III, set
"exparam" in the %%%FLSET file in the folder in which FANUC LADDER-III has
been installed to "1".

[%%%FLSET file]
;======================================================================
; FANUC LADDER-III Initial Setting File
; ( `key word =' <= 9characters )
;======================================================================
;
*V; ======== System information ========
;
~~

exparam = 1; ← Set "1"

;
*M; ======== Mnemonic options definition ========
~~
Fig. 9 (a) %%%FLSET file

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9. CUSTOM PMC EDITING WITH FANUC LADDER-III B-85444EN-3/03

6 On the system parameter setting screen of FANUC LADDER-III, confirm that "2 Channel" is
checked in "Selectable I/O Link Assignment".

Fig. 9 (b) System parameter setting screen

9.1 CONVERSION TO A SOURCE FILE

1 Back up the ladder program of the ROBODRILL from the machine. (See Chapter 11.)
2 Copy the backed up ladder program onto the hard disk of the personal computer.
(Example: Copy the ladder program into the C:¥PMC folder.)
3 Activate FANUC LADDER-III.

Fig. 9.1 (a) Start screen of FANUC LADDER-III

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4 Select [File] → [Open].

The Open File window appears.
5 Set [Files of type] to [All Files (*.*)].
6 Select the backed up ladder program.
7 Click the [Open] button.

Fig. 9.1 (b) Open screen

8 Click the [OK] button.

Fig. 9.1 (c) Confirmation screen

9 Enter the name of a ladder program to be created. (Example: PMC2.LAD)

10 Select 31i-B PMC for [PMC Type].
11 Upon completion of setting, click the [OK] button.

Fig. 9.1 (d) New Program screen

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9. CUSTOM PMC EDITING WITH FANUC LADDER-III B-85444EN-3/03

12 Click the [OK] button.

Fig. 9.1 (e) Confirmation screen

13 Click the [OK] button without entering the password.

Decompilation is executed.

Fig. 9.1 (f) Password screen

Upon normal completion of decompilation, the decompilation window is automatically closed to display
the screen below.
(Ignore warning W-4105.)

Fig. 9.1 (g) FANUC LADDER-III – Program List screen

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9.2 LADDER PROGRAM EDITING

This section describes points to be noted in editing a ladder program.
For the method of operation, refer to "FANUC LADDER-III OPERATOR'S MANUAL (B-66234EN)."

9.2.1 Title Editing

The items "Program Designed By", "ROM Written By", and "Remarks" may be used freely.
Do not edit the other items.
(The screen below provides an example of data set by FANUC at the time of shipment.)

Fig. 9.2.1 Edit Title screen

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9. CUSTOM PMC EDITING WITH FANUC LADDER-III B-85444EN-3/03

9.2.2 Ladder Editing

Create a ladder program by using P1500 (CUSTOM) as the main program.
Subprograms may be added freely. (P1501 to P5000 may be used.)

Fig. 9.2.2 Ladder program edit screen

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9.2.3 Editing Symbols and Comments

Symbols and comments can be freely added to any addresses.
(On the PMC2 ladder editing/reference screen and signal status screen, set symbols and comments are
displayed. However, on the screens common to PMC1 and PMC2 such as the parameter screen,
symbols and comments of PMC1 are used.)

Fig. 9.2.3 Symbol Comment Editing screen

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9. CUSTOM PMC EDITING WITH FANUC LADDER-III B-85444EN-3/03

9.2.4 Message Editing

Do not add messages to addresses other than the specified addresses (A100.0 to A149.7).
The table below indicates the usable alarms and operator messages.

Alarm 1900 to 1999

Operator message 2060 to 2499

Fig. 9.2.4 Message Editing screen

[When the multi-language display function is not used]

Messages set here are displayed without modification. When switching the display language, see 9.5,
EDITING ALARM AND OPERATOR MESSAGES.

[When the multi-language display function is used]

See Appendix E, "MULTI-LANGUAGE DISPLAY FUNCTION".

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9.2.5 I/O Module Editing

When the standard settings are used, no modification is needed.

Before making additions or modifications to addresses for CH2 (X200-X327/Y200-Y327), fully

understand the specifications to assign the addresses correctly.

I/O Link i has been adopted as an I/O link. When you change the settings, refer to Section 9.10,
"DISPLAYING AND EDITING I/O Link i ASSIGNMENT " in "PMC Programming Manual
(B-64513EN)" or Chapter 15, "CREATION OF I/O Link i ASSIGNMENT DATA" in "FANUC
LADDER-III OPERATOR'S MANUAL (B-66234EN)".

9.2.6 System Parameter Editing

You need not edit system parameters usually.
For the method of switching the comment display according to the display language when a ladder
diagram is displayed on the machine screen, see Appendix D, "CUSTOM LADDER PROGRAM
COMMENT SWITCHING PROCEDURE".

Fig. 9.2.6 Edit System Parameter screen

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9.3 LADDER PROGRAM COMPILATION AND LOADING FILE

CREATION
1 Select [Tool] → [Compile].
The Compile window appears.

1-1. Select the [Option1] tab.

Fig. 9.3 (a) Compile (Option 1) screen

1-2. Check the items below as needed then click the [Exec] button:
 Output Symbol/Comment
 Output First Comment to Output Fourth Comment
 Output Netcomment pointers
 Multiple use check of Function parameter number
 Multiple use check of the symbol address
 Output warning in detail

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2 Check that the error count is 0, then click the [Close] button.

Fig. 9.3 (b) Compile (State) screen

3 Select [File] → [Export].

The Export window appears.

3-1. Select the file type according to the installation mode of the ladder program.
 For a memory card: [Memory-card Format File]
 For a Handy File: [Handy-file Format File]
3-2. After selecting the file type, click the [Next >] button.

Fig. 9.3 (c) Export screen

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4 Specify the file name of the ladder program to be installed and click the [Finish] button.
Data conversion is completed, and a confirmation message appears.

Fig. 9.3 (d) Export screen

5 Click the [OK] button.

Fig. 9.3 (e) Confirmation screen

6 Copy the loading file onto a floppy disk or memory card, then install the file on the ROBODRILL.
(See Chapter 5.)

9.4 CUSTOM LADDER PROGRAM CREATION

When creating a custom ladder program with this series by using a custom ladder program created in the
past, note the following:

 This series differs in the PMC configuration. So, ladder programs created with the old model
must not be installed without modification.

 Even a ladder program created according to the PMC configuration of the new series may not
operate normally when newly added interface signals are used, if the system ladder program
version is earlier. Check whether the interface signals used are usable.
The system ladder program number/version information can be checked on the following screens:
PMC : Title data screen
NC : System configuration screen

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Fig. 9.4 (a) TITLE DATA screen Fig. 9.4 (b) SYSTEM CONFIG screen

When a custom ladder program that was created with the old model and has a different program
number/version is to be used with this system, extract only necessary portions to create a new second
PMC ladder program.

9.4.1 Procedure for Creating a Custom Ladder Program

An example of procedure for creating a custom ladder program usable with this system by using FANUC
LADDER-III (Version 6.30) from a custom ladder program created with an old ROBODRILL model is
described below.

Open a ladder program created in the past.

1 Select [File] and then [Open File] to select a ladder program created in the past.

Fig. 9.4.1 (a) Open screen

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2 Select a saved LAD file or MEM file.

When an LAD file is selected, the program list display window is opened. (Proceed to (6).)
When a MEM file is selected, the message below is displayed. Click [OK].

Fig. 9.4.1 (b) Open screen

3 Enter a desired program name then click [OK].

Fig. 9.4.1 (c) New Program screen

4 Click [OK].

Fig. 9.4.1 (d) Confirmation screen

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5 Click [OK] without entering the password.

Decompilation is executed. Upon normal completion, the decompilation window is automatically
closed. (Ignore warning W-4105 if output.)

Fig. 9.4.1 (e) Password screen

6 Check the Program List screen.

Fig. 9.4.1 (f) Program List screen

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9. CUSTOM PMC EDITING WITH FANUC LADDER-III B-85444EN-3/03

Open a new ladder program to be created

1 Open a new ladder program to be created. (At the same time, start another FANUC LADDER-III.)
By using the same procedure as described in (1), open a MEM format ladder program backed up
from the machine of this series.

Fig. 9.4.1 (g) Open screen

2 Enter the program name and specify "31i-B PMC" in PMC Type then click [OK].

Fig. 9.4.1 (h) New Program screen

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3 Click [OK].

Fig. 9.4.1 (i) Confirmation screen

4 Click the [OK] button without entering the password.

Decompilation is executed. Upon normal completion, the decompilation window is automatically
closed.

Fig. 9.4.1 (j) Password screen

5 Check the Program List screen.

Fig. 9.4.1 (k) Program List screen

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9. CUSTOM PMC EDITING WITH FANUC LADDER-III B-85444EN-3/03

Copy a ladder program

1 Copy the ladder program.
1-1. Open subprogram P1500 of the custom ladder program created previously.
1-2. Select the portion between SUB71 and SUB72 (not including SUB71 and SUB72).
1-3. Select [Edit] → [Copy].
(Alternatively, click the right-mouse button then select [Copy].)

Fig. 9.4.1 (l) Ladder program edit screen

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2 Open P1500 of the ladder program to be created newly then move the cursor to the net of SUB72.

Fig. 9.4.1 (m) Ladder program edit screen

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9. CUSTOM PMC EDITING WITH FANUC LADDER-III B-85444EN-3/03

3 Select [Edit] → [Paste].

(Alternatively, click the right-mouse button then select [Paste].)

Fig. 9.4.1 (n) Ladder program edit screen

This completes the copying of the ladder program.

The symbols and comments used in the ladder program are also copied.

NOTE
The α-DiB5/α-DiB series and α-DiB5ADV/α-DiBADV series cannot use R9000 as a
system relay.
When R9000 is used, change it to Z0.
Example) R9000.1 ⇒ Change it to Z0.1

Connecting messages
See 9.5 EDITING ALARM AND OPERATOR MESSAGES.

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Connecting symbols and comments

If necessary symbols and comments are not copied together with the ladder program, create a mnemonic
file containing the symbols and comments from the custom ladder program created previously.

1. Select [Tool] → [Mnemonic Conversion].

2. Set Mnemonic File (arbitrary), Convert Data (Symbol&Comment), and Selection Item (Full Options)
then click [OK].

Fig. 9.4.1 (o) Mnemonic (Mnemonic Conversion) screen

3. Open a mnemonic file containing the created symbols and comments with a text editor and leave only
those symbols and comments that are used with the custom ladder program then save the file.
(Delete those unnecessary symbols and comments that are used with the system.)

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9. CUSTOM PMC EDITING WITH FANUC LADDER-III B-85444EN-3/03

4. Incorporate the edited file into the new ladder program.

4-1. Select [Tool] → [Source Program Conversion].
4-2. Set a mnemonic file name and click [OK] to incorporate the file.

Fig. 9.4.1 (p) Mnemonic (Source Program Conversion) screen

When only necessary symbols and comments are to be added, "Initialize the following data before
conversion" need not be checked. (When initializing symbol and comment data, uncheck "Ladder".)

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Convert X and Y addresses

Convert X and Y addresses.
The X and Y addresses may have been changed with each series.
Convert the X and Y addresses to addresses usable with this series according to Chapter 3,
"INPUT/OUTPUT SPECIFICATIONS".

Using the address replacement function:

1 Move the cursor to an address to be replaced then select [Edit] → [Replace].
2 Enter an address before replacement in "Search string" and set an address after replacement in
"Replace string" then click [Replace].

Fig. 9.4.1 (q) Replace screen

When addresses to be replaced are contiguous:

1 Select [Edit] → [Multi-replace...].
2 Set the start address of addresses before replacement and the start address of addresses after
replacement with [New Data] then click [Exec]. Those addresses are replaced in a batch.

Fig. 9.4.1 (r) Multi Address Replace screen

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9. CUSTOM PMC EDITING WITH FANUC LADDER-III B-85444EN-3/03

9.5 EDITING ALARM AND OPERATOR MESSAGES

When the PMC message multi-language display function is not used, edit messages on the message
editing screen only
Create messages according to the descriptions below.

9.5.1 Ladder Program Message Editing

1. Select "Message" on the FANUC LADDER-III program list screen to open the message editing
screen.

Fig. 9.5.1 (a) Program List screen

The table below indicates the usable alarm numbers, operator message numbers, and A addresses.

Alarm 1900 to 1999

Operator message 2060 to 2499
A address A100.0 to A149.7

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2. Add necessary messages.

Fig. 9.5.1 (b) Message Editing screen

To switch the message display language without using the multi-language display function, switch the
message by using a ladder program and the interface signals described in Section 6.23.
An example of program is provided below.

Fig. 9.5.1 (c) Program (example)

* To switch the message by using this method, the power must be turned off then back on after
switching the display language.

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Use messages created previously

1 Open the ladder program previously created then select [Tool] → [Mnemonic Conversion].
2 Set Mnemonic File (arbitrary), Convert Data (Message), and Selection Item (Full Options) then click
[OK].

Fig. 9.5.1 (d) Mnemonic (Mnemonic Conversion) screen

3 Open a mnemonic file containing the created messages with a text editor and leave only those
messages that are used with the custom ladder program then save the file.
(Delete those unnecessary messages that are used with the system.)

Fig. 9.5.1 (e) Text editor screen (example)

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4 Incorporate the edited file into the new ladder program.

4-1. Select [Tool] → [Source Program Conversion].
4-2. Set the mnemonic file name then click [OK] to incorporate the message data.

Fig. 9.5.1 (f) Mnemonic (Source Program Conversion) screen

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APPENDIX
 A. ALARM AND ERROR
B-85444EN-3/03 APPENDIX MESSAGES LIST

A ALARM AND ERROR MESSAGES LIST

A.1 MESSAGES THAT MAY BE DISPLAYED ON THE PMC
ALARM SCREEN
The following table lists the PMC alarm messages that may be displayed on the PMC alarm screen.

Alarm number Faulty location/corrective action Contents

ER01 PROGRAM DATA ERROR (1) Enter the sequence program The sequence program is invalid.
again.
(2) If this error recurs even after you
have entered the sequence
program again, the error may be
due to a hardware fault. In that
case, contact us.
ER02 PROGRAM SIZE OVER (1) Reduce the size of the sequence The sequence program is too large
program. to load into the save area.
(2) Contact us, and specify a ladder The sequence program is invalid.
step count option that allows you
to set a larger program size.
ER03 PROGRAM SIZE ERROR (1) Reduce the size of the sequence The sequence program exceeds the
(OPTION) program. size specified by the ladder step
(2) Contact us, and specify a ladder count option.
step count option that allows you
to set a larger program size.
ER04 PMC TYPE UNMATCH Change the sequence program so The PMC type specified in the
that it specifies the adequate PMC sequence program does not match
type, by using the programmer. the type of the PMC actually in use.
ER07 NO OPTION (LADDER Contact us, and specify a ladder step Ladder step count option is not
STEP) count option that allows you to set a specified.
larger program size.
ER08 OBJECT UNMATCH Contact us. An unsupported function is used in
the sequence program.
ER09 PMC LABEL CHECK (1) Turn on the power of the CNC The nonvolatile memory of the PMC
ERROR. PLEASE TURN ON again, by holding down the 'O' system needs to be initialized in
POWER AGAIN WITH PRESSING and 'Z' keys at the same time. such cases as when you have
'O'&'Z'. (CLEAR PMC SRAM) (2) Replace the backup batteries. changed the PMC model.
ER17 PROGRAM PARITY (1) Enter the sequence program The parity of the sequence program
again. is invalid.
(2) If this error recurs even after you
have entered the sequence
program again, the error may be
due to a hardware fault. In that
case, contact us.
ER18 PROGRAM DATA ERROR Enter the sequence program again. Reading sequence program was
BY I/O interrupted.
ER19 LADDER DATA ERROR Display the LADDER DIAGRAM During editing the ladder, the screen
EDITOR screen again, and terminate display is switched to a CNC screen
the editing operation by pressing the by the operation of a function key.
[EXIT] soft key.
ER22 NO PROGRAM Enter the sequence program again. The sequence program is empty.

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A. ALARM AND ERROR
MESSAGES LIST APPENDIX B-85444EN-3/03

Alarm number Faulty location/corrective action Contents

ER27 LADDER FUNC. PRM IS Correct the sequence program; An out-of-range parameter number
OUT OF RANGE change the parameter number is specified in the TMR, TMRB,
specified in a functional instruction to TMRBF, CTR, CTRB, DIFU, or DIFD
a value that is within the allowable functional instruction.
range.
ER33 I/O Link ERROR (CHn) Contact us; replace the faulty The LSI for the I/O Link is faulty.
(NOTE 3) hardware.
ER34 I/O Link ERROR (CHn Gxx) (1) Check the cable connections to An I/O device communication error
(NOTE 1) (NOTE 3) the devices of group xx. occurred on the slave side of group
(2) Check whether the power of xx.
each I/O device has been turned
on before the CNC.
(3) Replace any device of group xx
in which the PMC control module
is embedded.
ER35 TOO MUCH OUTPUT DATA Reduce the output data count of The output data count of I/O Link
IN GROUP (CHn Gxx) group xx. group xx exceeds the upper limit (33
(NOTE 1) (NOTE 3) bytes).
Or the output data count of I/O Link i
group “xx” exceeds the upper limit
(65 bytes for the normal I/O, 29
bytes for the safety I/O).
The superfluous data is regarded as
invalid.
ER36 TOO MUCH INPUT DATA IN Reduce the input data count of group The input data count of I/O Link
GROUP (CHn Gxx) xx. group xx exceeds the upper limit (33
(NOTE 1) (NOTE 3) bytes).
Or the input data count of I/O Link i
group “xx” exceeds the upper limit
(65 bytes for the normal I/O, 29
bytes for the safety I/O).
The superfluous data is regarded as
invalid.
ER37 TOO MUCH SLOT IN BASE Correct the slot number to a value of The slot number for the I/O Link
(CHn) 10 or less. exceed the upper limit (10). The slot
(NOTE 3) number larger than 11 is regarded
as invalid.
ER38 MAX SETTING OUTPUT (1) In case of I/O Link, reduce the The I/O area for the I/O Link is
DATA OVER (CHn Gxx) total amount of output data of all insufficient.
(NOTE 1) (NOTE 3) groups to 128 bytes or less. (The area allocated to the group “xx”
(2) In case of I/O Link i, reduce the and later on the output side is
total amount of output data of all regarded as invalid.)
groups to 256 bytes or less. In case of I/O Link i, The I/O area is
insufficient in the normal update
cycle mode.
ER39 MAX SETTING INPUT DATA (1) In case of I/O Link, reduce the The I/O area for the I/O Link is
OVER (CHn Gxx) total amount of input data of all insufficient.
(NOTE 1) (NOTE 3) groups to 128 bytes or less. (The area allocated to the group “xx”
(2) In case of I/O Link i, reduce the and later on the input side is
total amount of input data of all regarded as invalid.)
groups to 256 bytes or less. In case of I/O Link i, The I/O area is
insufficient in the normal update
cycle mode.

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 A. ALARM AND ERROR
B-85444EN-3/03 APPENDIX MESSAGES LIST

Alarm number Faulty location/corrective action Contents

ER43 PROGRAM DATA ERROR (1) Store sequence program which The sequence program is invalid.
(PT/NT) is compiled again after
recompilations using FANUC
LADDER-III.
(2) If you see the same alarm again
after (1), contact us.
ER44 INCOMPATIBLE Contact us; replace with hardware This is a hardware configuration that
HARDWARE that supports the extended PMC does not support the extended PMC
(EXTENDED PMC LADDER ladder instruction function. ladder instruction function.
INSTRUCTION FUNCTION)
ER45 NO OPTION (FUNCTION Add a required function block option. No function block option is specified.
BLOCK)
ER46 MESSAGE DATA UPDATE Save the corrected sequence The message data in the sequence
ERROR. program or message data for program or the message data for
PLEASE TURN OFF POWER multi-language display to F-ROM. multi-language display cannot be
AFTER SAVING DATA. Moreover, turn the power off/on. updated. It is necessary to turn
off/on the power. The ladder
program cannot be executed when
this alarm occurs.
ER47 ILLEGAL OVERRIDE The override mode of the force I/O The override function is enabled in
FUNCTION SETTING (TOO MANY function is available in 3 or less PMC four or more PMC paths.
PMC PATHS) paths in same time.
In some PMC paths, make the
function invalid.
Moreover, turn the power off/on.
ER48 STEP SEQUENCE TIME Remove the setting of exceeding The activated condition of step
OVER (xxH) setting time on the STEP sequence exceeds the time limit,
SEQUENCE TIME MONITOR which is set on the STEP
SETTING screen. SEQUENCE TIME MONITOR
SETTING screen.
ER50 PMC EXECUTION ORDER Check CNC parameter Nos. 11900 The execution order setting of the
ERROR to 11904. multi-PMC function is invalid.
ER51 PMC EXECUTION Check CNC parameter Nos. 11905 The execution percentage setting of
PERCENTAGE ERROR to 11909. the multi-PMC function is invalid.
ER52 I/O Link CHANNEL Check CNC parameter Nos. 11910 The I/O Link channel assignment to
ASSIGNMENT ERROR to 11912. the PMC system is invalid.
(NOTE 3)
ER54 NC-PMC I/F ASSIGNMENT Check CNC parameter Nos. 11920 The interface assignment between
ERROR to 11929. NC and PMC is invalid.
ER55 LEVEL1 EXECUTION CYCLE Check CNC parameter No. 11930. The ladder level 1 execution cycle
ERROR setting is invalid.
ER57 MULTI PATH PMC I/F Check CNC parameter No. 11932. The assignment of multi-path PMC
ASSIGNMENT ERROR interface is invalid.
ER58 PMC MEMORY TYPE Check CNC parameter Nos. 11940 The setting of PMC Memory Type is
SETTING ERROR to 11944. invalid.
ER60 I/O Link i ERROR (CHn) Contact us. Exchange the hardware. The LSI for I/O Link i is faulty.
(NOTE 3)
ER61 I/O Link i ERROR (CHn Gxx) (1) Check the cable connected to The connection error occurred in the
(NOTE 1) (NOTE 3) the device of group “xx”. slave of group “xx”.
(2) Check the power supply of the
I/O device if the power is turned
on earlier than the power of
CNC.
(3) Exchange the I/O device in
group “xx” in which PMC control
module is built.

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A. ALARM AND ERROR
MESSAGES LIST APPENDIX B-85444EN-3/03

Alarm number Faulty location/corrective action Contents

ER62 I/O Link i DCS ERROR Contact us. Exchange the hardware. The LSI for I/O Link i DCS is faulty.
(NOTE 3)
ER63 I/O Link CHANNEL SETTING (1) Change the channel Total I/O points are over 4096/4096
ERROR configuration in order to reduce points in system.
(NOTE 3) the I/O points. As for the For the I/O Link, the I/O points are
communication method for each 1024/1024 points for one channel.
channel, specify the CNC For the I/O Link i, 2048/2048 points
parameter No. 11933#0 and 1. for one channel.
(2) If there is any channel not to be
used, set the bit 5 or bit 6 of
CNC parameter to 1 to disable
the channel.
ER64 I/O Link i TOO MANY Reduce the number of connected I/O 25 or more of I/O devices are
CONNECTED GROUPS (CHn) devices to 24 or less. connected in channel “n”.
(NOTE 3)
ER65 I/O Link i TOO MANY SLOTS Reduce the number of connected I/O 257 or more of I/O modules are
(CHn) modules to 256 or less. connected in channel “n”.
(NOTE 3)
ER66 I/O Link i PMC ADDRESS Enter the PMC address or size again The address X(Y)”nnnn” assigned in
OVERLAPPED (PMCm X(Y)nnnn) so that any address is not used by PMC path “m” is assigned to another
(NOTE 3) multiple PMCs that share PMC PMC path that is shared the
memory. common memory with PMC path
“m”.
ER67 I/O Link i TOO MANY Reduce the group number of safety The total group number of safety I/O
SAFETY I/O GROUPS I/O. in PMC paths exceed 4 or the total
(NOTE 3) group number of safety I/O in
DSCPMC exceed 4 for I /O Link i.
ER68 I/O Link i TOO MANY When there are some groups which In the channel n, the transmission
ASSIGNMENTS IN HIGH SPEED are set to high-speed update cycle size exceeds the limit of high-speed
MODE (CHn,Gyy) mode in I/O Link i, correct the mode for I/O Link i. The assignment
(NOTE 1) (NOTE 3) assignment data so that the of group “yy” or later cannot be
assignment for each group is performed.
performed within a quarter of the
transfer timing by referring to
Subsection 3.3.3, “Signal Transfer
Cycle” in PMC PROGRAMMING
MANUAL (B-64513EN).
ER69 I/O Link i ASSIGNMENT Correct the assignment data of I/O The address of false PMC path is
ADDRESS INVALID(CHn Gyy) Link i. assigned in group “yy” of channel “n”
(NOTE 2) (NOTE 3) of I/O Link i assignment data.
ER70 PMC ADDRESS BLOCK (1) Delete the assignment data for There is a PMC address block which
OVERLAPPED BETWEEN I/O Link I/O Link i or correct the is assigned in both I/O Link and I/O
AND I/O Link I (PMCm X(Y)nnnn) assignment address. Link i.
(NOTE 3) (2) Correct the X/Y address block of
the I/O Link channel. (The
setting of Machine signal
interface of PMC configuration
parameter)
(3) Check the communication
method of I/O Link. (NC
parameter 11933#0,#1)
(4) Check the setting of the
selectable assignment data
function for I/O Link i.

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 A. ALARM AND ERROR
B-85444EN-3/03 APPENDIX MESSAGES LIST

Alarm number Faulty location/corrective action Contents

ER71 I/O Link i STATUS ALARM Correct the configuration of I/O The total of the status alarms for I/O
LENGTH OVER IN GROUP (CHn devices and reduce the total of the devices connected with group “xx” of
Gxx) status alarms to 64 bytes or less. channel “n” exceeds 64 bytes
(NOTE 1)
ER89 EDITING I/O Finish the edit of I/O configuration I/O configuration data is invalid
CONFIGURATION DATA IS NOT data. because that the editing of the I/O
COMPLETED configuration data is in the midst.
ER90 TOO LARGE I/O Reduce the I/O configuration data I/O configuration data is larger than
CONFIGURATION DATA file. the save area or invalid.
(NOTE 3)
ER91 I/O CONFIGURATION DATA (1) Input I/O configuration data file The parity of I/O configuration data
PARITY again. is invalid.
(NOTE 3) (2) When re-input cannot solve this
error, the hardware may be
failure. Contact us.
ER92 I/O CONFIGURATION DATA Input I/O configuration data file Reading of I/O configuration file is
ERROR BY I/O again. interrupted.
ER93 UNSUPPORTED I/O Correct the type of I/O configuration The type of I/O configuration data is
CONFIGURATION DATA data and input again. invalid.
(NOTE 3)
ER94 I/O CONFIGURATION DATA Re-compile the I/O configuration Data configuration of I/O
ERROR data by FL-III, and input it again. configuration data is abnormal.
(NOTE 3)
ER95 IO DEVICE MISMATCH When this alarm occurs on a This alarm occurs when actual I/O
(CHn) well-worked machine, the causes devices connected to CNC differ
(NOTE 3) may be following: from the I/O configuration data
(1) Disconnection of communication registered in the “I/O Device
cable or contact fault. Monitor” screen. The ladder program
(2) The power of an I/O device is runs regardless of the occurrence of
turned off. Or the power on is this alarm.
delayed.
(3) The failure of an I/O device.
(4) The power of some I/O devices
remain when the power of CNC
is turned off/on.
Turn the power all of I/O devices
off/on when the power of CNC is
turned off/on.

When this alarm occurs during a

debugging of sequence program, the
following causes also come up.
(5) The configuration (type, order or
number) of the I/O devices is
wrong.
(6) Invalid I/O configuration data is
registered.
You can confirm the error I/O device
in the “I/O Device Monitor” screen.

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A. ALARM AND ERROR
MESSAGES LIST APPENDIX B-85444EN-3/03

Alarm number Faulty location/corrective action Contents

ER96 I/O Link MAX GROUP OVER (1) Check the PMC paths and When dual assignment of I/O Link
(CHn) addresses of first and second channel is used, total groups of first
(NOTE 3) blocks of n channel on and second block exceeds 16
configuration parameter setting groups.
screen. No I/O devices connected to the
(2) Check the total groups of first channel at which this alarm has
and second block on I/O module occurred are linked with the CNC.
assignment. The ladder program runs regardless
(3) Check the parameter setting of of the occurrence of this alarm.
"Selectable I/O Link assignment
function".
ER97 I/O Link FAILURE (CHn Gxx) When this alarm occurs on a This alarm occurs when less I/O
(NOTE 1) (NOTE 3) well-worked machine, the cause may devices are connected.
be following. This alarm occurs when a total
(1) The failure of the cable or group count of the I/O module
contact from group (“xx” – 1) to assignment are different with one of
“xx”. connected device count.
(2) The power of an I/O device of No I/O devices connected to the
group “xx” or later is turned off. channel at which this alarm has
Or the power on is delayed. occurred are linked with the CNC.
(3) The failure of an I/O device of The ladder program runs regardless
group “xx” or (“xx” – 1). of the occurrence of this alarm.
(4) The power of some I/O devices
remain when the power of CNC
is turned off/on.
Turn the power all of I/O devices
off/on when the power of CNC is
turned off/on.
If this alarm occurs during a
debugging of sequence program, the
following causes also come up.
(5) The group number of I/O device
is invalid.
(6) The mistake of the assignment
setting of I/O modules.
(7) The mistake of the parameter
setting of "Selectable I/O Link
assignment function"
(8) The mistake of the machine
signal interface setting.
You can confirm the details of the
error in the “I/O Device Monitor”
screen.
WN02 OPERATE PANEL Correct the Series 0 operator's panel The Series 0 operator's panel
ADDRESS address that is set in the PMC address that is set in the PMC
ERROR system parameter. system parameter is invalid.
WN03 ABORT NC-WINDOW/EXIN Modify the ladder program and turn The ladder program was stopped
on the power of the CNC again. For while communication was in
details, refer to subsection 4.15 of progress between CNC and PMC.
the PMC PROGRAMMING MANUAL This alarm may cause the WINDR,
(B-64513EN). WINDW, EXIN, and DISPB
functional instructions to
malfunction.

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 A. ALARM AND ERROR
B-85444EN-3/03 APPENDIX MESSAGES LIST

Alarm number Faulty location/corrective action Contents

WN07 LADDER SP Correct the sequence program so There are too many levels of nesting
ERROR(STACK) that the subprogram has eight or (levels more than 8) for the CALL or
fewer levels of nesting. CALLU functional instruction to call
the subprogram.
WN09 SEQUENCE PROGRAM IS If you want to use the current You have changed the sequence
NOT WRITTEN TO FLASH ROM sequence program next time you program using the LADDER
power on the system, write the DIAGRAM EDITOR screen or DATA
sequence program to flash ROM. If I/O screen, but you have not yet
you have made any unwanted written the changed sequence
change to the sequence program by program to flash ROM. If you shut
mistake, read the original sequence down the system without writing the
program from flash ROM. changed sequence program to flash
ROM, the changes you have made
will be lost next time you turn on the
power.
WN10 NO OPTION(STEP (1) Add the step sequence option. No step sequence option was found
SEQUENCE) (2) Arrange so that the step when the system attempted to
sequence subprogram will not execute a step sequence.
be called.
WN11 INCOMPATIBLE FUNCTION Compile the sequence program An incompatible functional
again with FANUC LADDER-III or instruction is used in the sequence
Ladder Editing Package. program.
WN57 OVERRIDE FUNCTION IS The Override function is for The Override function is activated.
ACTIVE debugging only. So, please disable
the function when shipping the
machine.
WN58 UNSUPPORTED Correct the sequence program with An unsupported functional
FUNCTION Ladder editing function on PMC instruction is used in the sequence
screen. program. The functional instruction
was skipped.
WN59 MESSAGE FILE SYMBOL Correct the error in the message file In the message file for
UNDEFINED for multi-language display. multi-language display, a symbol
that does not exist in the ladder is
defined.
WN60 MESSAGE FILE SYMBOL Correct the error in the message file In the message file for
INVALID for multi-language display. multi-language display, a symbol
other than an A address is defined.
WN61 MESSAGE FILE ADDRESS Correct the error in the message file The A address area has a duplicate
DUPLICATE for multi-language display. definition between a symbol and
address or between symbols.
WN62 MESSAGE FILE NUMBER Correct the error in the message file A message number differs between
ERROR for multi-language display. the ladder and message file for
multi-language display at the same
A address.
WN63 MESSAGE FILE IS NOT If you want to use the current You have changed the message
WRITTEN TO FLASH ROM message file for multi-language data for multi-language display using
display next time you power on the DATA I/O screen, but you have not
system, write the message file to yet written the changed message
flash ROM. data to flash ROM. If you shut down
the system without writing the
changed message data to flash
ROM, the changes you have made
will be nowhere next time you turn
on the power.

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A. ALARM AND ERROR
MESSAGES LIST APPENDIX B-85444EN-3/03

Alarm number Faulty location/corrective action Contents

WN64 MESSAGE FILE SIZE OVER (1) Reduce the size of the message The message file for multi-language
file for multi-language display. display is too large to load into the
(2) Contact us and specify an option save area.
for a larger size. The message file for multi-language
display is invalid.
WN65 MESSAGE FILE MISMATCH Contact us. An unsupported function is used in
the message file for multi-language
display.
WN66 MESSAGE FILE PARITY (1) Enter the message file for The parity of the message file for
multi-language display again. multi-language display is invalid.
(2) If this error recurs even after you
have entered the message file for
multi-language display again, the
error may be due to a hardware fault.
In that case, contact us.
WN67 MESSAGE FILE ERROR BY Enter the message file for Reading the message file for
I/O multi-language display again. multi-language display was
interrupted.
WN68 I/O CONFIGURATION DATA If you want to make updated I/O The I/O configuration data was
IS NOT WRITTEN TO FLASH ROM configuration data effective, write the updated in the I/O configuration
data to Flash ROM. editor screen or data I/O screen but
the data has not been written to
Flash ROM yet. The data will be lost
if the save operation is not
performed.
WN69 I/O Link i DO ALARM (CHn Check DO of the relevant device. The DO alarm (ex. a short circuit
Gxx Syy zz: PMCm Ybbb = **H ) with the ground) occurs at byte “zz”
(NOTE 1) of slot “yy” of group “xx” in channel
“n”.
The PMC address assigned to the
DO at which the alarm has occurred
is displayed in “PMCm Ybbb.”
“DCSPMC Ybbb” is the address for
DCSPMC.
Display of “PMC* Y***” is the case of
occurrence of unassigned address.
The “**H” shows some bits at which
the alarm occurs by hexadecimal.
(Ex. “PMC1 Y115 = 28H” shows the
alarm occurs at Y115.3 and Y115.5
in PMC1. “28H” means “00101000”
in binary.)
For the details of the alarm of I/O
devices, refer to the “CONNECTION
MANUAL (HARDWARE)”
(B-64483EN for 30i/31i/32i-B,
B-64523EN for 35i-B).
WN70 I/O Link i STATUS ALARM Check the alarm information of The “**H” shows some bits at which
(CHn Gxx Syy zz = **H) applied I/O device. the alarm occurs by hexadecimal.
(NOTE 1) The bit at which the alarm has
occurred becomes 1.
For the details of the alarm of I/O
devices, refer to the “CONNECTION
MANUAL (HARDWARE)”
(B-64483EN for 30i/31i/32i-B,
B-64523EN for 35i-B).

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NOTE
1 The displayed group number in ER34, ER35, ER36, ER38, ER39, ER61, ER68, ER71,
ER97, WN69 and WN70 is wiring number of I/O device.
2 The group number displayed in ER69 is the number of I/O Link i assignment data.
3 When some PMC alarms related to I/O Link and I/O Link i occur, all of I/O devices in all
of channels do not be liked with the CNC.

A.2 PMC SYSTEM ALARM MESSAGES

A.2.1 Error Messages when SYS_ALM199 (PMC General)

Faulty location/corrective
Message Contents
action
PC004 CPU INVALID INSTRUCTION This alarm may be due to a main A CPU error occurred in the PMC
-----< ERROR POSITION >----- board fault. system.
MAIN BOARD
-----------------------------------------
PC006 CPU INVALID SLOT
INSTRUCTION
-----< ERROR POSITION >-----
MAIN BOARD
-----------------------------------------
PC009 CPU ADDRESS ERROR
-----< ERROR POSITION >-----
MAIN BOARD
-----------------------------------------
PC010 DMA ADDRESS ERROR
-----< ERROR POSITION >-----
MAIN BOARD
-----------------------------------------
PC012 CPU USER BREAK EXCEPTION
-----< ERROR POSITION >-----
MAIN BOARD
-----------------------------------------
PC030 RAM PARITY A RAM parity error occurred in the
PC030 S-RAM PARITY PMC system.
-----< ERROR POSITION >-----
MAIN BOARD
-----------------------------------------
PC060 BUS ERROR A bus error occurred in the PMC
-----< ERROR POSITION >----- system.
MAIN BOARD
-----------------------------------------
PC070 ILLEGAL LADDER SPE (PMCm) A stack error occurred with the
PC070 LADDER SPE(PMCm) SPE functional instruction of the
-----< ERROR POSITION >----- ladder program of n path.
MAIN BOARD
-----------------------------------------
PC071 ILLEGAL LADDER FBE (PMCm) A stack error occurred with the
-----< ERROR POSITION >----- FBE functional instruction of the
MAIN BOARD ladder program of path n.
-----------------------------------------

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MESSAGES LIST APPENDIX B-85444EN-3/03

Faulty location/corrective
Message Contents
action
PC072 STACK OVERFLOW (TASK:xx) A stack error occurred (detected
PC072 STACK OVERFLOW (INT:xx) by the software).
-----< ERROR POSITION >-----
MAIN BOARD
-----------------------------------------
PC080 SYSTEM EMERGENCY System emergency state of the
-----< ERROR POSITION >----- PMC LSI.
MAIN BOARD
-----------------------------------------
PC090 SYSTEM EMERGENCY This alarm may be due to a main CPU error (unexpected NMI)
(SOFTWARE) board fault. occurs in PMC control software.
PC090 NON MASKABLE INTERRUPT
(SOFTWARE)
PC090 NON MASKABLE INTERRUPT
(UNKNOWN)
-----< ERROR POSITION >-----
MAIN BOARD
-----------------------------------------
PC093 UNEXPECTED INTERRUPT (xx) An interruption of unknown cause
-----< ERROR POSITION >----- occurred with the PMC control
MAIN BOARD software.
-----------------------------------------
PC094 UNEXPECTED TRAP A trap exception of unknown
EXCEPTION (xx) cause occurred with the PMC
-----< ERROR POSITION >----- control software.
MAIN BOARD
-----------------------------------------
PC095 MESSAGE CRC ERROR (PMCm) RAM check error occurred.
-----< ERROR POSITION >-----
MAIN BOARD
-----------------------------------------
PC096 LADDER CODE ERROR (___)
-----< ERROR POSITION >-----
MAIN BOARD
-----------------------------------------
PC097 LADDER CRC ERROR (PMCm)
-----< ERROR POSITION >-----
MAIN BOARD
-----------------------------------------
PC098 PMC SOFTWARE CRC ERROR
PC098 PMC SOFTWARE ECC ERROR
(_____:_)
-----< ERROR POSITION >-----
MAIN BOARD
-----------------------------------------
PC501 CNC/PMC INTERFACE ERROR The read or write operation
(PATHx) between CNC and PMC failed
-----< ERROR POSITION >-----
MAIN BOARD
-----------------------------------------

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A.2.2 Error Messages when SYS_ALM197 (PMC General)

Faulty location/corrective
Alarm number Contents
action
PC070 ILLEGAL LADDER SPE This alarm may be due to a CPU A stack error occurred with the
(DCSPMC) card fault. SPE functional instruction of the
-----< ERROR POSITION >----- ladder program of DCSPMC.
CPU CARD
-----------------------------------------
PC071 ILLEGAL LADDER FBE A stack error occurred with the
(DCSPMC) FBE functional instruction of the
-----< ERROR POSITION >----- ladder program of DCSPMC.
CPU CARD
-----------------------------------------
PC095 MESSAGE CRC ERROR RAM check error occurred.
(PMCm)
(DCSPMC)
-----< ERROR POSITION >-----
CPU CARD
-----------------------------------------
PC097 LADDER CRC ERROR
(DCSPMC)
-----< ERROR POSITION >-----
CPU CARD
-----------------------------------------
PC173 WATCH-DOG This alarm may be due to a C The C language board is not
ALARM(CNC<->CLB) language board fault. running.
-----< ERROR POSITION >-----
C LANGUAGE BOARD
-----------------------------------------

A.2.3 Error Messages when SYS_ALM196 (PMC Watch Dog)

Faulty location/corrective
Alarm number Contents
action
PC073 WATCH-DOG This alarm may be due to a main The PMC CPU is not running.
ALARM(CNC<->PMC) board fault.
-----< ERROR POSITION >-----
MAIN BOARD
-----------------------------------------

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MESSAGES LIST APPENDIX B-85444EN-3/03

A.2.4 Error Messages when SYS_ALM195 (I/O Link)

Alarm number Faulty location/corrective action Contents
PC050 I/O LINK ER1 CHn:GRxx:yy (1) Check the I/O device of group An I/O Link communication error
COMMUNICATION ALARM AT CHn: “xx” in channel “n” occurred.
GROUP xx – Instantaneous power failure “n” is a channel number (1 to 3).
-----< ERROR POSITION >----- – Unstable power line “xx” is a group number (0 to 15).
CHn / GROUPxx (2) Check the I/O Link cable “yy” is an internal error code.
----------------------------------------- between JD1B of group “xx” This error occurs when the
and JD1A of group “xx-1” communication with the device of
– faulty wiring group “xx” in channel “n” is
– incomplete contact stopped.
(3) The I/O Link device of group The causes are as follows:
“xx” in channel “n” is faulty. (1) Instantaneous power failure,
unstable voltage or unstable
power line of the device
(2) Faulty wiring or incomplete
contact of communication
cable
(3) Faulty device
Please note that It may not show
an accurate group number with
some conditions of the problem.

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Alarm number Faulty location/corrective action Contents

PC051 I/O LINK ER2 CHn:yy:xx:ww:vv (1) When you use an I/O An I/O Link communication error
COMMUNICATION ALARM AT CHn Unit-Model A, no base occurred.
-----< ERROR POSITION >----- extension unit is connected “n” is a channel number (1 to 3).
CHn corresponding to an I/O “yy”, “xx”, “ww” and “vv” are
----------------------------------------- assignment data. Check internal error code.
connection of I/O devices and A communication error has
I/O assignment data. occurred at the channel n of the
(2) When you use Power Mate as I/O Link.
I/O Link slave device and/or There are various causes as for
Servo Motor Beta series I/O this error.
Link option, some system
alarm occurs in such devices.
(3) A Communication may be
influenced by noise. Check the
ground wire and the shield of
the communication cables.
(4) The output of the I/O Link
devices is short-circuited.
(5) The power of the I/O Link
master and/or slave devices is
faulty.
– Instantaneous power failure
– Unstable power line
(6) Incomplete contact of the
communication cable
(7) Faulty wiring of the
communication cable
(8) Check the grounding of the
shield wire of the earth
terminal or the communication
cable of I/O devices.
(9) I/O Link devices are faulty.
(10) I/O Link master is faulty.
n=1,2: main board
n=3: CPU card

A.2.5 Error Messages when SYS_ALM194 (I/O Link i)

Faulty location/corrective
Alarm number Contents
action
PC052 I/O LINK I Change the main board. A RAM parity error occurred in
PMC LSI RAM PARITY ERROR PMC LSI on the main board.
-----< ERROR POSITION>------------------
MAIN BOARD
------------------------------------------------------
PC053 I/O LINK I Change the I/O device of the unit. A RAM parity error occurred in
SLAVE LSI RAM PARITY ERROR “y”th unit (group “x”) of channel
-----< ERROR POSITION>------------------ “n”.
CHn / UNITy (GROUPx): “Unit name”
(NOTE 1)
------------------------------------------------------

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MESSAGES LIST APPENDIX B-85444EN-3/03

Faulty location/corrective
Alarm number Contents
action
PC054 I/O LINK I Check the power supply of the I/O A power disconnection alarm
ABNORMAL POWER SUPPLY unit. occurred in the “y”th unit (group
-----< ERROR POSITION>------------------ “x”) of channel “n”.
CHn / UNITy(GROUPx): “Unit name”
(NOTE)
------------------------------------------------------
PC055 I/O LINK I Check whether any noise is A communication error occurred
I/O LINK I SENDING DATA FAILURE inserted between the CNC and between the CNC and 1st unit
-----< ERROR POSITION>------------------ 1st unit. Check the ground status (group 0) of channel “n”.
CHn / CNC <-> UNIT1 (GROUP0) of the slave device and the
CNC: MAIN BOARD contact of the connection cable.
UNIT1: “Unit name” (NOTE 1)
------------------------------------------------------
PC055 I/O LINK I Check whether there any noise is A communication error occurred
I/O LINK I SENDING DATA FAILURE inserted between the “y-1”th unit between the “y-1”th unit (group
-----< ERROR POSITION>------------------ (group “x-1”) and “y”th unit (group “x-1”) and the “y”th unit (group
CHn / UNITy-1(GROUPx-1) <-> “x”). Check the ground status of “x”) of channel “n”.
UNITy(GROUPx) the slave device and the contact
UNITy –1: “Unit name” (NOTE 1) of the connection cable.
UNITy: “Unit name” (NOTE 1)
------------------------------------------------------
PC056 I/O LINK I Check whether there is Connection error occurred
I/O LINK I DISCONNECTION disconnection or incomplete between the CNC and 1st unit
-----< ERROR POSITION>------------------ contact for the cable between the (group 0) of channel “n”.
CHn / CNC <-> UNIT1(GROUP0) CNC and 1st unit (group 0).
CNC: MAIN BOARD
UNITy: “Unit name” (NOTE 1)
------------------------------------------------------
PC056 I/O LINK I Check whether there is Connection error occurred
I/O LINK I DISCONNECTION disconnection or incomplete between the “y-1”th unit (group
-----< ERROR POSITION>------------------ contact of the cable between the “x-1”) and “y”th unit (group “x”) of
CHn / UNITy-1(GROUPx-1)<-> “y-1”th unit (group “x-1”) and “y”th channel “n”.
UNITy(GROUPx) unit (group “x”).
UNITy –1: “Unit name” (NOTE 1)
UNITy: “Unit name” (NOTE
1)------------------------------------------------------
PC057 I/O LINK I Change the I/O device of the unit. A hardware failure of the safety
SAFETY I/O ALARM If the error still occurs, change the I/O occurred between the CNC
-----< ERROR POSITION>------------------ main board. and the “y”th unit.
UNITy: “unit name” (NOTE 1)
------------------------------------------------------
PC058 I/O LINK I Change the I/O device of the unit. A hardware failure occurred on
SLAVE LSI EXTERNAL ALARM the “y”th unit (group “x”) of
-----< ERROR POSITION>------------------ channel “n”.
CHn / UNITy(GROUPx): “Unit name”
(NOTE 1)
------------------------------------------------------

NOTE
1 When an unknown unit is connected, the hardware ID is displayed.
2 For some I/O devices, one unit such as a safety I/O unit may consist of two groups. If a
connection failure occurs between groups containing units of the same type, PC058
instead of PC056 indicating a connection failure occurs as a unit failure.

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A.3 OPERATION ERRORS

A.3.1 Error Messages that may be Displayed on the PMC LADDER

DIAGRAM VIEWER Screen
Message Faulty location/corrective action Contents
INPUT INVALID Input a valid address or numeric The input address or numeric value
value. is invalid.
LADDER PROGRAM IS Enter the password. The screen cannot be displayed
PROTECTED BY PASSWORD. because the program is protected
by the password.
ILLEGAL SUBPROGRAM NAME Input a existent subprogram A nonexistent subprogram number
number or symbol. or symbol is specified.
SYMBOL UNDEFINED Input a defined symbol or bit An undefined symbol character
address. string is specified.
THE NET IS NOT FOUND The specified net is not found.
THE ADDRESS IS NOT FOUND The specified address is not found.
THE FUNCTIONAL INSTRUCTION IS The specified functional instruction
NOT FOUND is not found.
WRITE COIL NEEDS BIT ADDRESS Specify a bit address for the write You entered a byte address when
coil search. specifying an address used for the
write coil search.
SOME NETS ARE DISCARDED The system cannot pick up all the The system failed to pick up all the
nets. Choose the nets to pick up, by nets because there were 128 nets
using the LADDER DIAGRAM or more to be picked up.
VIEWER display screen, and then
perform the net pickup operation
manually.
PROGRAM IS BEING MODIFIED. Disconnect the online The ladder data cannot be
communication with FANUC displayed because online
LADDER-III. Stop other applications communication with FANUC
from accessing the ladder data. LADDER-III is in progress or
another application is accessing the
ladder data.
THIS FUNCTION IS PROTECTED Cancel the protection by the This function is protected by the
programmer protection function or programmer protection function or
8-level protection function. 8-level protection function.
CANNOT EDIT FUNCTION BLOCK Use FANUC LADDER-III to edit You tried to edit the FB body
function block. program.

A.3.2 Error Messages that may be Displayed on the PMC LADDER

DIAGRAM EDITOR Screen
Message Faulty location/corrective action Contents
THIS NET IS PROTECTED When you are editing data on a
per-subprogram basis, you cannot
edit the subprogram frame nets
(END1, END2, END3, SP, and
SPE).
TOO LARGE DATA TO COPY Reduce the range of data to copy. The selected range of data exceeds
Perform the copy operation several the size of the copy buffer.
times, copying a smaller range of
data at a time.

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MESSAGES LIST APPENDIX B-85444EN-3/03

Message Faulty location/corrective action Contents

TOO LARGE DATA TO PASTE Reduce the size of data to paste. An attempt was made to paste data
whose size exceeded the free
space of the sequence program.
BIT ADDRESS IS REQUIRED Make sure that the address types An attempt was made to alter a bit
match for the alteration operation. address to a byte address.
BYTE ADDRESS IS REQUIRED Make sure that the address types An attempt was made to alter a byte
match for the alteration operation. address to a bit address.
ILLEGAL PMC ADDRESS Check the address to be input, and • A character string was entered
then enter it correctly. that was unacceptable as a PMC
address.
• A wildcard (*) was specified in an
inappropriate manner.
• Either "OLD ADDRESS" or "NEW
ADDRESS" was not entered.
THIS ADDRESS IS READ-ONLY Enter a write-permitted address. • An attempt was made to alter a
write coil address to a
write-prohibited bit address.
• An attempt was made to alter an
address set in an output
parameter of a functional
instruction to a write-prohibited bit
address.
THE ADDRESS TYPE ARE Check the types of the address in The type of the addresses in "OLD
MISMATCHED "OLD ADDRESS" and "NEW ADDRESS" does not match that in
ADDRESS" and, if necessary, enter "NEW ADDRESS".
the correct address or addresses.
***** DOSE NOT HAVE SYMBOL Define symbol data in "OLD No symbol data is defined for "OLD
ADDRESS". ADDRESS".
***** ALREADY HAS SYMBOL Make sure that the address types Symbol data is already defined for
match for the alteration operation. "NEW ADDRESS".
CANNOT CUT FUNCTION BLOCK Use FANUC LADDER-III to edit You tried to cut the net including the
function block. function block.
Cut nets which do not include any
function block.
CANNOT COPY FUNCTION BLOCK Use FANUC LADDER-III to edit You tried to copy the net including
function block. the function block.
Copy nets which do not include any
function block.
CANNOT EDIT FUNCTION BLOCK Use FANUC LADDER-III to edit You tried to edit the FB body
function block. program.
CANNOT INPUT AT THIS SCREEN Use NET EDITOR screen. You tried to set an address in the
output section that is omitted in the
function block.
CANNOT EDIT INPUT/OUTPUT An address in the input section of
PARAM ADDRESS an input/output parameter in the
function block cannot be changed.
NO CONSTANT TO PARAMETER OF When the input parameter of the
PLURAL TYPE function block is plural data type,
any constant cannot be set.

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A.3.3 Error Messages that may be Displayed on the PMC LADDER

DIAGRAM EDITOR Screen (when updating)
Message Faulty location/corrective action Contents
OVERLAPPED COM If COME is missing, add it in proper There is no COME that
position. If the COM is unnecessary, corresponds to this COM.
remove it.
END IN COM If COME is missing, add it in proper END, END1, END2, or END3 is
END1 IN COM position. If COM is unnecessary, found between COM and COME.
END2 IN COM remove it.
JMPE IN COM JMPE and corresponding JMP must JMPE is found between COM and
have same COM/COME status. COME, and JMP and
Review JMP range and COM range, corresponding JMPE have
to adjust not to overlap with each different COM/COME status.
other: it is possible that one range
includes the other completely.
SP/SPE IN COM If COME is missing, add it in proper SP or SPE is found between COM
position. If the COM is unnecessary, and COME.
remove it.
COME WITHOUT COM If COM is missing, add it in proper There is no COM that corresponds
position. If the COME is unnecessary, to this COME.
remove it.
COME NOT FOUND AFTER COM If COME is missing, add it in proper There is no COME that
position. If the COM is unnecessary, corresponds to this COM.
remove it.
DUPLICATE CTR NUMBER If some of them are unnecessary, Plural CTRs have the same
(WARN) remove them. If all of them are number as their parameter. (This
necessary, assign other number to is warning.)
parameter of them to make them
unique. (If two or more instructions
with same parameter number will
never be active simultaneously at one
time, the Ladder program has a
possibility to work correctly, however,
it is recommended from safety and
maintenance points of view, that all
these instructions should have
different parameter number with each
other.)
ILLEGAL CTR NUMBER If unnecessary, remove it. Assign CTR has a parameter number that
correct number not to exceed the is out of range.
maximum number defined by each
PMC model.

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A. ALARM AND ERROR
MESSAGES LIST APPENDIX B-85444EN-3/03

Message Faulty location/corrective action Contents

DUPLICATE DIFU/DIFD NUMBER If some of them are unnecessary, Plural DIFUs or DIFDs have the
(WARN) remove them. If all of them are same number as their parameter.
necessary, assign other number to (This is warning.)
parameter of them to make them
unique. (If two or more instructions
with same parameter number will
never be active simultaneously at one
time, the Ladder program has a
possibility to work correctly, however,
it is recommended from safety and
maintenance points of view, that all
these instructions should have
different parameter number with each
other.)
ILLEGAL DIFU/DIFD NUMBER If unnecessary, remove it. Assign DIFU or DIFD has a parameter
correct number not to exceed the number that is out of range.
maximum number defined by each
PMC model.
NO END Add END, END1, END2 or END3 in END, END1, END2 or END3 is not
NO END1 proper position. found.
NO END2
NO END3
DUPLICATE END1 Remove extra END1, END2 or END3. Multiple END1, END2 or END3 are
DUPLICATE END2 found.
DUPLICATE END3
GARBAGE AFTER END Remove unnecessary nets, and move There are some nets after END,
GARBAGE AFTER END2 necessary nets to proper position so END2 or END3, which have not
GARBAGE AFTER END3 that they will be executed. been executed.
OVERLAPPED JMP If JMPE is missing, add it in proper There is no JMPE that
position. If the JMP is unnecessary, corresponds to this JMP.
remove it.
JMP/JMPE TO BAD COM LEVEL JMP and corresponding JMPE must JMP and corresponding JMPE
have same COM/COME status. have different COM/COME status.
Review JMP range and COM range,
to adjust not to overlap with each
other: it is possible that one range
includes the other completely.
COME IN JMP COME and corresponding COM must COME is found between JMP and
have same JMP/JMPE status. Review JMPE, and COM and
COM range and JMP range, to adjust corresponding COME have
not to overlap with each other: it is different JMP/JMPE status.
possible that one range includes the
other completely.
END IN JMP If JMPE is missing, add it in proper END, END1, END2, or END3 is
END1 IN JMP position. If JMP is unnecessary, found between JMP and JMPE.
END2 IN JMP remove it.
END3 IN JMP
SP/SPE IN JMP If JMPE is missing, add it in proper SP or SPE is found between JMP
position. If the JMP is unnecessary, and JMPE.
remove it.
JMPB OVER COM BORDER JMPB and its destination must have JMPB and its destination differ in
same COM/COME status. Review COM/COME status.
range of JMPB and COM range, to
adjust not to overlap with each other: it
is possible that one range includes the
other completely.

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Message Faulty location/corrective action Contents

JMPB OVER LEVEL JMPB can only jump to the same JMPB jumps to a different program
program level, or within a subprogram. level.
If the JMPB is unnecessary, remove it.
If LBL for the JMPB is missing, add it
in proper position. If it should be
JMPC, correct it.
LBL FOR JMPB NOT FOUND If JMPB is unnecessary, remove it. If Cannot find proper LBL for JMPB.
LBL is missing, add it in proper
position.
JMPC IN BAD LEVEL JMPC is used to jump from a JMPC is used in other than
subprogram to level 2. If the JMPC is subprogram.
unnecessary, remove it. If it should be
JMPB or JMP, correct it.

LBL FOR JMPC NOT FOUND If JMPC is unnecessary, remove it. If Cannot find proper LBL for JMPC.
LBL is missing, add it in proper
position: JMPC jumps into level 2.
LBL FOR JMPC IN BAD LEVEL JMPC is used to jump from a Destination of JMPC is not level 2.
subprogram to level 2. If the JMPC is
unnecessary, remove it. If another
LBL of same L-address that the JMPC
is intended to jump exists in the
subprogram, assign different
L-address to these two LBLs. If it
should be JMPB or JMP, correct it.
JMPC INTO COM LBL for JMPC must be located out of JMPC jumps to LBL between COM
any COM and COME pair. If the JMPC and COME.
is unnecessary, remove it. If the LBL is
located wrong, move it to correct
position. If the L-address of JMPC is
wrong, correct it.
JMPE WITHOUT JMP If JMP is missing, add it in proper There is no JMP that corresponds
position. If the JMPE is unnecessary, to this JMPE.
remove it.
JMPE NOT FOUND AFTER JMP If JMPE is missing, add it in proper There is no JMPE that
position. If the JMP is unnecessary, corresponds to this JMP.
remove it.
TOO MANY LBL Remove unnecessary LBLs. If this There are too many LBLs.
error still occurs, adjust the
construction of program to use less
LBLs.
DUPLICATE LBL If some of these LBLs are Same L-address is used in plural
unnecessary, remove them. If all of LBLs.
these LBLs is necessary, assign other
L-addresses to them to make all LBLs
unique.
OVERLAPPED SP If SPE is missing, add it in proper There is no SPE that corresponds
position. If the SP is unnecessary, to this SP.
remove it.
SPE WITHOUT SP If SP is missing, add it in proper There is no SP that corresponds to
position. If the SPE is unnecessary, this SPE.
remove it.
SPE NOT FOUND AFTER SP If SPE is missing, add it in proper There is no SPE that corresponds
position. If the SP is unnecessary, to this SP.
remove it.

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MESSAGES LIST APPENDIX B-85444EN-3/03

Message Faulty location/corrective action Contents

END IN SP If SPE is missing, add it in proper There is END before an SPE that
position. If END is in wrong place, corresponds to this SP is found.
move it to proper position.
DUPLICATE P ADDRESS If some of these SPs are Same P-address is used in plural
unnecessary, remove them. If all of SPs.
these SPs is necessary, assign other
P-addresses to them to make all SPs
unique.
DUPLICATE TMRB/TMRBF If some of them are unnecessary, Plural TMRBs/TMRBFs have the
NUMBER remove them. If all of them are same number as their parameter.
(WARN) necessary, assign other number to (This is warning.)
parameter of them to make them
unique. (If two or more instructions
with same parameter number will
never be active simultaneously at one
time, the Ladder program has a
possibility to work correctly, however,
it is recommended from safety and
maintenance points of view, that all
these instructions should have
different parameter number with each
other.)
ILLEGAL TMRB/TMRBF NUMBER If unnecessary, remove it. Assign TMRB/TMRBF has a parameter
correct number not to exceed the number that is out of range.
maximum number defined by each
PMC model.
DUPLICATE TMR NUMBER If some of them are unnecessary, Plural TMRs have the same
(WARN) remove them. If all of them are number as their parameter. (This
necessary, assign other number to is warning.)
parameter of them to make them
unique. (If two or more instructions
with same parameter number will
never be active simultaneously at one
time, the Ladder program has a
possibility to work correctly, however,
it is recommended from safety and
maintenance points of view, that all
these instructions should have
different parameter number with each
other.)
ILLEGAL TMR NUMBER If unnecessary, remove it. Assign TMR has a parameter number that
correct number not to exceed the is out of range.
maximum number defined by each
PMC model.
NO SUCH SUBPROGRAM If it calls wrong subprogram, correct it. Subprogram that is called by
If the subprogram is missing, create it. CALL/CALLU is not found.
UNAVAILABLE INSTRUCTION Confirm that this ladder program is Unsupported instruction for this
correct one. If this program is correct PMC model is found.
one, all these unsupported
instructions have to be removed.
SP IN BAD LEVEL SP can be used at top of a SP is found in wrong place.
subprogram. Correct it so that no SP
exists in other place.
LADDER PROGRAM IS BROKEN This ladder program must be all Ladder program may be broken for
cleared once, and remake ladder some reason.
program.

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 A. ALARM AND ERROR
B-85444EN-3/03 APPENDIX MESSAGES LIST

Message Faulty location/corrective action Contents

NO WRITE COIL Add proper write coil. Write coil is not found where it is
necessary.
CALL/CALLU IN BAD LEVEL CALL/CALLU must be used in Level 2 CALL/CALLU is used in wrong
or in subprograms. Do not use any place.
other places.
SP IN LEVEL3 If END3 is located wrong, move it to SP is found in level 3.
correct position. If the SP is
unnecessary, remove it.
CS/CM/CE IN COM If COME is missing, add it in proper CS, CM or CE is found between
position. If the COM is unnecessary, COM and COME.
remove it.
CS/CM/CE IN BAD LEVEL CS, CM or CE must be used in Level 2 CS, CM, or CE is used in wrong
or in subprograms. Do not use any place.
other places.
CM/CE WITHOUT CS If CS is missing, add it in proper There is no CS that corresponds to
position. If the CM or CE is this CM or CE.
unnecessary, remove it.
INSTRUCTION EXCEPT CM IN CS If CE is missing, add it in proper An instruction other than CM is
position. If the instruction other than found between CS and CE.
CM is unnecessary, remove it.
OVERLAPPED CS If CE is missing, add it in proper There is no CE that corresponds to
position. If the CS is unnecessary, this CS.
remove it.
FB BODY PROGRAM IS BROKEN The ladder program must be deleted FB body program is broken.
and then remade.

A.3.4 Error Messages that may be Displayed on the PMC NET

EDITOR Screen
Message Faulty location/corrective action Contents
ILLEGAL FUNCTIONAL Specify the name of an available The entered name of functional
INSTRUCTION NAME functional instruction. instruction is invalid.
TOO MANY FUNCTION IN ONE NET Only one functional instruction is Too many functional instructions
allowed to constitute a net. If are in one net.
necessary, divide the net into plural
nets.
TOO LARGE NET Divide the net into plural nets so that Net is too large. When a net is
step number in a net may become converted into the object, the net
small. exceeds 256 steps.
NO INPUT FOR OPERATION Coil without input, or coil connected No signal is provided for logical
to output of functional instruction that operation.
has no output, causes this error. If
coil is not necessary, remove it. If
necessary, connect it to meaningful
input.
OPERATION AFTER FUNCTION IS Output of functional instruction No logical operation with functional
FORBIDDEN cannot be connected to a contact, instruction output is permitted,
nor to conjunction with other signal except write coils.
that will be implemented by logical-or
operation.
WRITE COIL IS EXPECTED Write coil is not found even if it is Write coil is expected, but not
expected. Add proper write coil to found.
the net.

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A. ALARM AND ERROR
MESSAGES LIST APPENDIX B-85444EN-3/03

Message Faulty location/corrective action Contents

BAD COIL LOCATION Coil can be located only at rightmost Coil is located in a bad position.
column. Any coil located at other
place must be erased once, and
place necessary coils in correct
place.
SHORT CIRCUIT Find contact with terminals Some contacts are short-circuited.
connected by short circuit, and
correct connections.
FUNCTION AFTER DIVERGENCE IS Functional instruction cannot be Functional instruction is used in
FORBIDDEN used in output section of net. If output section of net.
necessary, divide the net into plural
nets.
ALL COIL MUST HAVE SAME INPUT Left terminals of all coils in a net When a net contains more than
must be connected to same input one coil, the coils should not have
point. any contact beside them affects
only of the coils.
BAD CONDITION INPUT Check the connection of all condition Some condition input of functional
inputs of the functional instruction. instruction is not connected
Especially for functional instruction correctly.
that has more than one condition
input, check if connections to
condition inputs interfere with each
other.
NO CONNECTION Correct the connection where is not The elements ,such as contacts
connected. and coils, are not connected..
NET IS TOO COMPLICATED Examine every connection, and find Net is too complicated to analyze.
unnecessarily bending connection,
or coils that are connected to
different point.
PARAMETER IS NOT SUPPLIED Enter all of the relay addresses, and Relay with blank address, or blank
parameters of functional instructions. parameter of functional instruction,
is found.
TOO LARGE DATA FOR Change the net to be edited using The net data in net editor screen is
NET-EDITOR the [NEXT NET] soft key. too large.
TOO MANY FUNCTIONS FOR Change the net to be edited using There are too many functional
NET-EDITOR the [NEXT NET] soft key. instructions in net editor screen.
BAD DIAGRAM STRUCTURE Examine every connection, and find Circuit is too complicated to
the error of connection of relay or analyze.
functional instruction.
NOT SUPPORT ENHANCED Replace other functional instruction The ladder net Structure of
LADDER DIAGRAM which supports Structure of extended type net contains a
extended type net. functional instruction which does
Or, change the ladder net not support Structure of extended
construction not to be Structure of type net.
extended type net.
TOO COMPLICATED CIRCUIT The circuit lines branched from a The circuit construction around
AROUND FUNCTION conditional input for some functional functional instruction is too
instruction must reach the right complicated.
power line without joining the output
line from the functional instruction.
Refer to 8.3.4.3.
CONNECT OUTPUT TO COIL Connect the output of the functional The output of the functional
DIRECTLY instruction directly to a coil. instruction is not connected directly
to a coil.

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 A. ALARM AND ERROR
B-85444EN-3/03 APPENDIX MESSAGES LIST

Message Faulty location/corrective action Contents

SINGLE COIL IS EXPECTED This functional instruction must have A functional instruction has
single coil directly connected to the multiple coils connected to its
output. output which are prohibited.
INVALID CIRCUIT FOR FB Specify the name of contact and coil The functional instruction is
PARAMETER for the parameter of function block. connected to the parameter of
function block.
NO CONNECTION Connect the broken connection. The connection is broken.
PARAMETER IS NOT SUPPLIED Specify an address. The address is not assigned to the
input section and the coil of output
section of a function block.
CANNOT PLACE FB AND Delete the functional instruction A functional instruction is placed
FUNCTION IN ONE NET placed on the same net as the on the same net as the function
function block. block.
NO ASSIGNMENT TO FB CONTACT Specify a contact. The contact is not assigned in the
input section for a BOOL type of
the function block.

A.3.5 Error Messages that may be Displayed on the TITLE DATA

EDITOR Screen
Message Faulty location/corrective action Contents
TOO MANY CHARACTERS Make sure that the entered The number of characters in the
character string is within the entered character string exceeds
allowable input length. the allowable input length. Some of
the characters are discarded.
PROGRAM IS BEING MODIFIED. Disconnect the online The title data cannot be displayed
communication with FANUC because online communication with
LADDER-III. Stop other applications FANUC LADDER-III is in progress
from accessing the title data. or another application is accessing
the title data.
THIS FUNCTION IS PROTECTED Cancel the protection by the This function is protected by the
programmer protection function or programmer protection function or
8-level protection function. 8-level protection function.

A.3.6 Error Messages that may be Displayed on the SYMBOL &

COMMENT DATA EDITOR Screen
Message Faulty location/corrective action Contents
TOO MANY CHARACTERS Make sure that the entered address The number of characters in the
is within the allowable input length. entered address exceeds the
allowable address input length.
ADDRESS IS REQUIRED Enter data in a batch correctly, as No address was entered during the
instructed in "Editing a set of batch input of address, symbol, and
symbol and comment data" in comment data using the SYMBOL
Subsection 9.2.2, “Editing Symbol & COMMENT EDITOR screen.
and Comment Data” in PMC
PROGRAMMING MANUAL
(B-64513EN).
ILLEGAL PMC ADDRESS Enter an address correctly. The specified address is invalid, or
the entered address character
string contains a space or spaces.
THE ADDRESS ALREADY HAS AN Specify another address. An already registered address was
ENTRY entered.

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A. ALARM AND ERROR
MESSAGES LIST APPENDIX B-85444EN-3/03

Message Faulty location/corrective action Contents

THE SYMBOL NAME IS ALREADY Specify another symbol. An already registered symbol was
USED entered.
PMC ADDRESS MUST BE ENTERED Enter a PMC address in the No PMC address was entered when
ADDRESS field. new symbol/comment data is
registered.
TOO LONG SYMBOL NAME Make sure that the symbol consists The entered symbol exceeds the
of 16 characters or less. specified number of characters.
TOO LONG COMMENT STRING Make sure that the comment The entered comment exceeds the
consists of 30 characters or less. specified number of characters.
THE STRING IS NOT FOUND Specify another character string for The search was done for the
the search. specified character string but did
not find it.
OUT OF SPACE Create free space for the sequence The symbol/comment editing area
program, by deleting unnecessary has no free space.
ladder or message data.
PROGRAM IS BEING MODIFIED. Disconnect the online The symbol/comment data cannot
communication with FANUC be displayed because online
LADDER-III. Stop other applications communication with FANUC
from accessing the LADDER-III is in progress or
symbol/comment data. another application is accessing the
symbol/comment data.
THIS FUNCTION IS PROTECTED Cancel the protection by the This function is protected by the
programmer protection function or programmer protection function or
8-level protection function. 8-level protection function.
BAD SYMBOL NAME Change the symbol name. The symbol name is invalid.
CANNOT EDIT ADDRESS AUTO Use FANUC LADDER-III to change A symbol for which PMC address is
ASSIGNED SYMBOL the symbol. assigned automatically by compiling
FANUC LADDER-III cannot be
edited.
ILLEGAL DATA TYPE Enter a correct data type. The specified data type is invalid.
ILLEGAL PROGRAM NAME Enter a correct program name. The specified program is invalid.
LINE FEED IS NOT AVAILABLE IN Line feed code can be entered in Line feed code cannot be entered in
THIS DATA comment data only. Do not enter it this data.
in other data.
LINE FEED IS NOT AVAILABLE IN Enter Line feed code in the insert or Line feed code cannot be entered in
THIS MODE overwrite mode. this mode.
NO SYMBOL. PROGRAM SETTING Symbol name is required for local The specified program is ignored
IS IGNORED symbol. because no symbol is specified.
NOTHING TO PASTE You need to copy or cut character You try to paste character strings
strings before you paste them. without copying or cutting ones.
TOO LARGE DATA TO PASTE Shorten the character string to copy The character strings is too long to
or cut. copy or cut.
UNAVAILABLE CHARACTERS WAS Do not copy or cut characters which The characters which cannot be
OMITTED. cannot be used at pasted position. used at pasted position, were
omitted.

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B-85444EN-3/03 APPENDIX MESSAGES LIST

A.3.7 Error Messages that may be Displayed on the MESSAGE

DATA EDITOR Screen
Message Faulty location/corrective action Contents
INPUT INVALID Correct the message number. The format of the message number
Enter ";" in the 5th digit position in is invalid, or the delimiter code -
the batch message input process. semicolon (;) - was not entered in
the batch message input process.
ILLEGAL NUMBER Enter a four-digit number as the The entered message number
message number. contains any non-numeric
character.
A number shorter than four digits
was entered.
THE NUMBER IS OUT OF RANGE Enter the number in the range from The entered message number is
0 to 4095 for the message number out of range.
of the format with path number, and
1000 to 9999 for the message
number of other format.
CLOSING “@” IS NOT FOUND When entering kana or other One of the @ sign pair is missing.
Japanese characters, make sure
that they are enclosed within a pair
of @ signs.
BAD NUMBER OF CHARACTERS IN Enter a character string correctly The number of characters entered
“@-@” between a pair of @ signs. between the pair of @ signs is not
even.
ILLEGAL CHARACTER IN “@-@” Enter a character string correctly One or more invalid character
between a pair of @ signs. codes exist between the pair of @
signs.
BAD NUMBER OF CHARACTERS Enter a two-byte code correctly The number of characters in the
FOR 2-BYTE CODE between @02 and 01@. two-byte code (characters entered
between @02 and 01@) is not a
multiple of four.
ILLEGAL 2-BYTE CODE Enter a two-byte code correctly The two-byte code (characters
between @02 and 01@. entered between @02 and 01@)
contains one or more characters
other than the JIS codes.
CLOSING CONTROL CODE “01” IS Enter the closing control code. The two-byte code (characters
NOT FOUND entered between @02 and 01@)
lacks the closing control code (01).
CONTROL CODE “XX” IS Remove any repeated control code. The starting control code (02),
REPEATED closing control code (01), and/or
umlaut code (0D) is repeated.
CLOSING “]” IS NOT FOUND Make sure that the "[" and "]" codes The delimiter codes for numerical
are entered in pairs. data are not entered in pairs.
BAD NUMERICAL DATA FORMAT Specify the numerical data The format of the numerical data is
correctly. invalid.
BAD PMC ADDRESS FOR Enter an available address. The address section of the
NUMERICAL DATA numerical data is invalid.
PROGRAM IS BEING MODIFIED. Disconnect the online The message data cannot be
communication with FANUC displayed because online
LADDER-III. Stop other applications communication with FANUC
from accessing the message data. LADDER-III is in progress or
another application is accessing the
message data.

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A. ALARM AND ERROR
MESSAGES LIST APPENDIX B-85444EN-3/03

Message Faulty location/corrective action Contents

THIS FUNCTION IS PROTECTED Cancel the protection by the This function is protected by the
programmer protection function or programmer protection function or
8-level protection function. 8-level protection function.

A.3.8 Error Messages that may be Displayed on the I/O MODULE

EDITOR Screen
Message Faulty location/corrective action Contents
GROUP NUMBER IS TOO LARGE Specify 15 or a smaller value as the The entered group number is too
group number. large.
BASE NUMBER IS TOO LARGE Specify base number 0 for I/O The entered base number is too
Unit-B (##, #1 - #10). large.
SLOT NUMBER IS TOO LARGE Specify 30 or a smaller value as the The entered slot number is too
slot number for I/O Unit-B (##, #1 - large.
#10).
For other I/O units, specify 10 or a
smaller value.
SLOT NUMBER IS TOO SMALL Specify 0 or a large value as the The entered slot number is too
slot number for I/O Unit-B (##, #1 - small.
#10).
For other I/O units, specify 1 or a
larger value.
I/O UNIT NAME MISMATCH Check the I/O unit name or The input I/O unit is assigned to the
address. Y address, or the output I/O unit is
assigned to the X address.
ILLEGAL I/O UNIT NAME Enter the I/O unit that is described The entered I/O unit name is
in Tables 3.2.3 (a) to 3.2.3 (c) in invalid.
Subsection 3.2.3, “Assigning I/O
Link” of PMC PROGRAMMING
MANUAL (B-64513EN).
NOT ENOUGH SPACE Enter the data again after creating There is not enough free address
free space by deleting the data space for the size of the I/O unit you
allocated behind the current cursor are going to assign.
position or by other adequate This error also occurs if you attempt
means. to assign the I/O unit to an already
allocated address space.
PROGRAM IS BEING MODIFIED. Disconnect the online The I/O module data cannot be
communication with FANUC displayed because online
LADDER-III. Stop other applications communication with FANUC
from accessing the I/O module LADDER-III is in progress or
data. another application is accessing the
I/O module data.
THIS FUNCTION IS PROTECTED Cancel the protection by the This function is protected by the
programmer protection function or programmer protection function or
8-level protection function. 8-level protection function.

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B-85444EN-3/03 APPENDIX MESSAGES LIST

A.3.9 Error messages that may be displayed on the I/O

CONFIGURATION EDITOR (I/O Link i assignment) screen
Message Faulty location/corrective action Contents
TOO MANY GROUPS (CHx) Delete any unnecessary group, A new group cannot be created
then create a new group. because the maximum number of
groups per channel is exceeded.
TOO MANY SLOTS (CHx) Delete any unnecessary slot, then A new slot cannot be created
create a new slot. because the maximum number of
slots per channel (256 slots) is
exceeded.
TOO MANY SLOTS IN A GROUP Delete any unnecessary slot, then A new slot cannot be created
(CHx, Gyy) create a new slot. because the maximum number of
slots per channel (32 slots) is
exceeded.
NO SLOT Add a slot. There is no slot in group Gxx.
SLOT NUMBER IS REQUIRED Enter a slot number. No slot number is entered for a slot.
SLOT NUMBER DUPLICATE Change the slot number used more More than one slot data item having
than once. the same slot number is found in
the same group.
CANNOT DELETE MPG SLOT Turn the MPG flag off in the group No MPG slot can be deleted in the
setting screen. slot setting screen.
ILLEGAL SLOT NUMBER Enter a slot number not greater The entered slot number is greater
than 32. than 32.
ILLEGAL PMC ADDRESS Enter a correct PMC address again. The entered PMC address is
invalid.
Alternatively, no PMC address is
entered.
ILLEGAL SIZE Enter a correct size again. The entered size is outside the
PMC address range.
Alternatively, a value of 0 is entered
as the size.
SLOT HAS NO ASSIGNMENT Enter a PMC address and size. For a slot, a PMC address or size is
not entered for both DI and DO.
ILLEGAL COMMENT Enter a correct comment again. An entered comment does not
conform to the extended symbol
and comment format.
PMC ADDRESS OVERLAPPED Enter the PMC address or size so Address PMCm X(Y)nnnn is also
(PMCm X(Y)nnnn) that it is set only once. assigned to another slot in I/O Link i
assignment data.
TOO MANY OUTPUT POINTS (CHx, Reduce the number of output points The number of output points of the
Gyy) of the group. I/O Link i group set for Gyy of CHx
exceeds the upper limit (65 bytes by
default or 29 bytes for the safety I/O
device).
TOO MANY INPUT POINTS (CHx, Reduce the number of input points The number of input points of the
Gyy) of the group. I/O Link i group set for Gyy of CHx
exceeds the upper limit (65 bytes by
default or 29 bytes for the safety I/O
device).
TOO MANY OUTPUT POINTS (CHx) Reduce the number of output points Warning message. The number of
in the channel. I/O Link i output points set in CHx
exceeds the upper limit.
TOO MANY INPUT POINTS (CHx) Reduce the number of input points Warning message. The number of
in the channel. I/O Link i input points set in CHx
exceeds the upper limit.

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A. ALARM AND ERROR
MESSAGES LIST APPENDIX B-85444EN-3/03

Message Faulty location/corrective action Contents

TOO MANY CHARACTERS Enter a comment within the input The number of characters in an
field. entered comment exceeds the input
width.
THE ADDRESS IS NOT FOUND The specified address is not found.
INPUT INVALID Enter a correct numeric value. A numeric value is invalid.
I/O CONFIG DATA IS BROKEN Enter an I/O configuration file again. I/O Link i assignment data is invalid.
TOO MANY SAFETY I/O GROUPS Reduce the number of I/O Link i Warning message. More than four
safety I/O groups. I/O Link i safety I/O groups are
specified either on the PMC or DCS
side in the entire system.
TOO MANY ASSIGNMENTS When there are some groups which Warning message. In CHn, group
(H.SPEED) (CHn,Gyy) are set to high-speed update cycle yy and following exceed the transfer
mode in I/O Link i, correct the capacity limit in transfer timing
assignment data so that the assignment processing when the
assignment for each group is high-speed mode of I/O Link i is
performed within a quarter of the used.
transfer timing by referring to
Subsection 3.3.3, “Signal Transfer
Cycle” in PMC PROGRAMMING
MANUAL (B-64513EN).
BASIC GROUP INVALID Correct the number of basic groups The number of basic groups for the
for the I/O assignment selection I/O assignment selection function of
function of I/O Link i.(0 to 24) I/O Link i is invalid.
UNAVAILABLE ADDRESS FOR Use addresses X0/Y0 and Addresses X200/Y200, X400/Y400,
DCSPMC following. or X600/Y600 and following are
assigned to a group for which
DCSPMC is specified for the PMC
path.
THIS DATA IS BEING MODIFIED Disconnect the online I/O configuration data cannot be
communication with FANUC displayed because online
LADDER-III. Stop other applications communication with FANUC
from accessing the I/O LADDER-III is in progress or
configuration data. another application is accessing the
I/O configuration data.
INTERNAL ERROR (0xCxxxxxxx) This error occurs due to the
following internal factors.
• There is no MPG slot in group
with MPG.
• There is no MPG slot in group
without MPG.
• There are multiple MPG slots in
the group.
• The value of safety I/O is invalid.
• A number of characters that
exceeds the comment upper limit
is entered.

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B-85444EN-3/03 APPENDIX MESSAGES LIST

A.3.10 Error Messages that may be Displayed on the SYSTEM

PARAMETER Screen
Message Faulty location/corrective action Contents
INPUT INVALID Enter a correct value by referencing The entered numerical value or its
Section 9.8, “DISPLAYING AND input format is invalid.
SETTING SYSTEM
PARAMETERS” of PMC
PROGRAMMING MANUAL
(B-64513EN).
SYMBOL UNDEFINED Enter a defined symbol or bit An undefined symbol character
address. string was entered.
PROGRAM IS BEING MODIFIED. Disconnect the online The system parameter data cannot
communication with FANUC be displayed because online
LADDER-III. Stop other applications communication with FANUC
from accessing the system LADDER-III is in progress or
parameter data. another application is accessing the
system parameter data.
THIS FUNCTION IS PROTECTED Cancel the protection by the This function is protected by the
programmer protection function or programmer protection function or
8-level protection function. 8-level protection function.

A.3.11 Error Messages that may be Displayed on the SIGNAL

STATUS Screen
Message Faulty location/corrective action Contents
INPUT INVALID Enter a numerical value correctly, The entered numerical value or its
as instructed in "Screen operations input format is invalid.
using other keys" in Subsection
7.1.2, “Forced I/O Screen” of PMC
PROGRAMMING MANUAL
(B-64513EN).
SYMBOL UNDEFINED Enter a defined symbol or bit An undefined symbol character
address. string was entered.
THIS FUNCTION IS PROTECTED Cancel the protection by the This function is protected by the
programmer protection function or programmer protection function or
8-level protection function. 8-level protection function.

A.3.12 Error Messages that may be Displayed on the SYSTEM

PARAMETER Screen
Message Faulty location/corrective action Contents
INPUT INVALID Enter a numerical value correctly, The entered numerical value or its
as instructed in Section 7.3, input format is invalid.
“SETTING AND DISPLAYING PMC
PARAMETERS” of PMC
PROGRAMMING MANUAL
(B-64513EN).
MUST BE IN EMERGENCY STOP Set a mode to MDI or emergency The status of NC is not MDI mode
OR IN MDI MODE stop. or emergency stop.
PWE MUST BE ON Set the “PWE” to “1” in NC setting The “PWE” in NC setting screen
screen. is ”0”.

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A. ALARM AND ERROR
MESSAGES LIST APPENDIX B-85444EN-3/03

Message Faulty location/corrective action Contents

EITHER PWE OR KEY4 MUST BE Set the “PWE” to “1” in NC setting The “PWE” in NC setting screen
ON screen or set the program protect is ”0” or the program protect key
key (KEY4) to “1”. “KEY4” is ”0”.
THIS FUNCTION IS PROTECTED Cancel the protection by the This function is protected by the
programmer protection function or programmer protection function or
8-level protection function. 8-level protection function.

A.3.13 Error Messages that may be Displayed on the SIGNAL TRACE

Screen
Message Faulty location/corrective action Contents
TRACE FUNCTION IS ALREADY IN Wait until FANUC LADDER-III or FANUC LADDER-III or some other
USE. some other application finishes application is currently using the
using the trace function before trace function.
executing it.
NO SAMPLING ADDRESS. Specify a bit address as a sampling No sampling address is specified in
address in the trace parameter. the trace parameter.
NO STOP TRIGGER ADDRESS. Specify a bit address as the stop The stop trigger address is not
trigger address in the trace specified in the trace parameter.
parameter.
NO SAMPLING TRIGGER Specify a bit address as the The sampling trigger address is not
ADDRESS. sampling trigger address in the specified in the trace parameter.
trace parameter.
USB MEMORY IS USED BY OTHER Terminate another function that is The USB memory is being used by
FUNCTION. using the USB memory, then another function.
perform operation again.
USB MEMORY IS NOT READY. Check whether a USB memory is No USB memory is inserted.
inserted.
USB MEMORY IS FULL. Delete any unnecessary files and The USB memory is full.
allocate a required capacity.
USB MEMORY HAS BEEN Insert the USB memory, then A USB memory is removed while it
REMOVED execute input/output operation is being accessed.
again.
USB MEMORY IS NOT FORMATTED Replace the USB memory with The inserted USB memory cannot
another one. be recognized.
USB HARDWARE ERROR Replace the USB memory with This error occurs due to a USB
(xxxxxxxxxx) another one. If this error still occurs hardware failure. An error code is
after replacement, contact us, and indicated in parentheses.
report the displayed message
correctly.
INTERNAL ERROR (xxxxxxxxxx) Contact us, and report the This error occurs due to an internal
displayed message correctly. factor. An error code is indicated in
parentheses.

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B-85444EN-3/03 APPENDIX MESSAGES LIST

A.3.14 Error Messages that may be Displayed on the trace setting

Screen
Message Faulty location/corrective action Contents
INPUT INVALID Enter a numerical value that is A nonnumeric value or an
within the specified data range of out-of-range parameter value was
the relevant trace parameter. entered.
SYMBOL UNDEFINED Enter a defined symbol or bit An undefined symbol character
address. string was entered.
BIT ADDRESS IS REQUIRED Specify a bit address as the stop or A byte address was specified as the
sampling trigger address. stop or sampling trigger address.
INVALID STOP TRIGGER Enter a PMC signal address that The bit address entered as the stop
ADDRESS. can be used as the stop trigger trigger address is invalid.
address.
INVALID SAMPLING TRIGGER Enter a PMC signal address that The bit address entered as the
ADDRESS. can be used as the sampling trigger sampling trigger address is invalid.
address.
UNSUPPORTED TRACE SETTING This file cannot be handled. Set Unsupported trace setting file was
FILE data in the TRACE SETTING read.
screen.
INVALID SETTING VALUE (LINE %d) Output the trance setting file again. An invalid setting was found.
Alternatively, set data in the TRACE The file may be broken.
SETTING screen.
SAMPLING TIME/FRAME WAS Check the data on the TRACE The values were adjusted
ADJUSTED SETTING screen. according to the read data. (This is
warning.)
UNKNOWN SETTING WAS Check the read trace data. An unknown trace setting item was
SKIPPED(LINE %d) found and ignored. (This is
warning.)
INVALID SAMPLING ADDRESS WAS Check the read trace data. An invalid sampling address was
FOUND found. (This is warning.)
TOO MANY SAMPLING Check the read trace data. The number of sampling addresses
ADDRESSES exceeds the upper limit. (This is
warning.)
THE FILE IS NOT TRACE SETTING This file cannot be read. Specify a An attempt was made to read a file
FILE correct file. which was not a trace setting file.
FILE NAME CONTAINS RESERVED Correct file name. “FORFANUC” cannot be used in
WORD. the top of the file name.
USB MEMORY IS USED BY OTHER Terminate another function that is The USB memory is being used by
FUNCTION. using the USB memory, then another function.
perform operation again. Another function is formatting the
USB memory.
USB MEMORY IS NOT READY. Check whether a USB memory is No USB memory is inserted.
inserted.
USB MEMORY HAS BEEN Insert the USB memory, then A USB memory is removed while it
REMOVED execute input/output operation is being accessed.
again.
USB MEMORY IS NOT FORMATTED Replace the USB memory with The inserted USB memory cannot
another one. be recognized.
FILE NAME IS INVALID. Correct the file name. An invalid character was found in a
file name.
FOLDER NAME CANNOT BE A folder name is specified. Specify An attempt was made to read or
SPECIFIED. an appropriate file name. write a folder.

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A. ALARM AND ERROR
MESSAGES LIST APPENDIX B-85444EN-3/03

Message Faulty location/corrective action Contents

USB MEMORY DATA CHECK An error was detected by the USB When a file was entered after
ERROR memory data inspection function. enabling the USB memory data
This file cannot be entered. inspection function, a check sum
error was detected.
CHECKSUM DATA FILE NOT Enable the USB memory data When a file was entered after
FOUND. inspection function, and then output enabling the USB memory data
the file again. inspection function, a check sum
data file was not found.
USB HARDWARE ERROR Replace the USB memory with This error occurs due to a USB
(xxxxxxxxxx) another one. If this error still occurs hardware failure. An error code is
after replacement, contact the indicated in parentheses.
FANUC service center, and report
the displayed message correctly.
INTERNAL ERROR (xxxxxxxxxx) Contact us, and report the This error occurs due to an internal
displayed message correctly. factor. An error code is indicated in
parentheses.

A.3.15 Error Messages that may be Displayed on the I/O Diagnosis

Screen
Message Faulty location/corrective action Contents
ENTER STRING TO SEARCH. Enter a string before starting a No search string is specified.
search.
I/O DIAGNOSIS FUNCTION IS NOT To use the I/O diagnosis function, The I/O diagnosis function cannot
SUPPORTED update the PMC system software. be used because the PMC system
software is an older version.
INPUT INVALID Check the entered string. The entered string is invalid.
LADDER PROGRAM IS BROKEN Check the information displayed on The program is broken.
the PMC alarm screen and reload
the program.
NO GROUP FORMAT. Use [GROUP] on the I/O diagnosis No group display is set.
(setting) screen.
PROGRAM IS BEING MODIFIED. Retry after completing the function The program cannot be referenced
that is using the program. because it is being used by another
function.
REACHED TO THE END OF To make another search, specify a The search has been completed
SYMBOL DATA. string again. until the end of the data has been
reached.
SYMBOL ORDER IS NOT Use the FANUC LADDER-III to The format of this program does not
AVAILABLE. convert the program to one with the allow sorting and display in symbol
extended symbol & comment order.
function.
THE GROUP IS NOT FOUND Check the specified group. The specified group is not found.
FORCING IS PROTECTED ON Disable the programmer protection The forced input/output function is
THIS PATH. function. currently protected on the selected
PMC path.
THE STRING IS NOT FOUND Check the specified string. The specified string is not found.

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 A. ALARM AND ERROR
B-85444EN-3/03 APPENDIX MESSAGES LIST

A.4 I/O COMMUNICATION ERROR MESSAGES

The error messages that may appear on the I/O screen and their meanings and actions are listed below.

A.4.1 Error Messages Displayed during Memory Card I/O Operation

Message Faulty location/corrective action Contents
MEMORY CARD IS NOT READY. Check whether a memory card is No memory card is installed.
installed.
MEMORY CARD IS FULL. Delete files to create available There is no available space in the
space. memory card.
WRITE PROTECT Release the write protection of the The memory card is write-protected.
ED memory card.
MEMORY CARD IS NOT Format the memory card. The memory card cannot be
FORMATTED recognized.
TOO MANY FILES IN MEMORY Delete unnecessary files to reduce There are too many files.
CARD the number of files.
FILE NOT FOUND On the list screen, check the file The specified file cannot be found.
name or file number.
FILE IS READ-ONLY. Check the attributes of the file. Write to the specified file is not
permitted.
FILE NAME IS INVALID. Specify the file name in MS-DOS The file name is illegal.
form.
COULD NOT FORMAT MEMORY The NC cannot format this memory The memory card cannot be
CARD. card. Use another unit such as a formatted.
personal computer to format the
memory card.
UNSUPPORTED MEMORY CARD Replace the memory card with This memory card is not supported.
another one.
CANNOT DELETE FILE Check the attributes of the file. An error occurred when a file was
deleted from the memory card.
MEMORY CARD BATTERY Replace the battery of the memory The battery of the memory card has
ALARM. card. become weak.
THIS FILE NAME IS ALREADY Change the file name to another The file name is already used.
USED one.
MEMORY CARD ACCESS ERROR Replace the memory card with The memory card cannot be
another one. accessed.
DIFFERENCE FOUND File comparison detected a
mismatch.
MEMORY CARD IS LOCKED BY Wait until the PMC user completes Another PMC user is using the
OTHER FUNCTION processing, then retry. memory card.
MEMORY CARD HEADER ROM This file cannot be read. Check the An attempt was made to read a file,
DATA ID IS ILLEGAL type of the file. but its ROM data ID was illegal.
FILE NUMBER CANNOT If the file does not exist, the key The file number cannot be selected.
SELECTED entry is invalid. If this error occurs
even when the cursor is placed at a
file name, contact the FANUC
service center.
THE FILE NUMBER DOES NOT Check the total number of files on The entered file number is not
EXIST the list screen. present. The entered number
exceeds the total number of files.
FILE NUMBER IS RESTRICTED TO Enter a numeric value not exceeding A value up to 128 can be entered as
“128” 128. the file number.

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A. ALARM AND ERROR
MESSAGES LIST APPENDIX B-85444EN-3/03

Message Faulty location/corrective action Contents

MEMORY CARD IS USED BY Retry after terminating the other Some other function is currently
OTHER FUNCTION. function that is currently using the using the memory card.
memory card.
MEMORY CARD IS WRITE Cancel the write protection of the The memory card is write protected.
PROTECTED. memory card, or use another
memory card that is not write
protected.
UNSUPPORTED MEMORY CARD. Use another memory card. This is an unsupported type of
memory card.
COULD NOT DELETE FILE. Check the read/write permission The file cannot be deleted.
attribute of the file.
TRACE FILE NUMBER IS OVER Delete unnecessary old trace result No more trace result file can be
file or files. created because the maximum trace
result file number (file extension) has
been reached.
UNSUPPORTED TRACE SETTING This file is Invalid. Set data in the Unsupported trace setting file was
FILE TRACE SETTING screen. read.
INVALID SETTING VALUE Output the trance setting file again. Invalid setting value was found.
(LINE %d) Alternatively, set data in the TRACE The file may be broken.
SETTING screen.
SAMPLING TIME/FRAME WAS Check the data on trace setting Sampling time/frame was adjusted
ADJUSTED screen. according to the contents. (This is
warning.)
UNKNOWN SETTING WAS Check the read trace data. An unknown trace setting item was
SKIPPED(LINE %d) found and ignored. (This is warning.)
INVALID SAMPLING ADDRESS Check the read trace data. An invalid sampling address was
WAS FOUND found. (This is warning.)
TOO MANY SAMPLING Check the read trace data. The number of sampling addresses
ADDRESSES exceeds the upper limit. (This is
warning.)
INTERNAL ERROR (xxxxxxxxxx) Contact us, and report the displayed An error due to an internal factor
message correctly. occurred. Details on the error are
displayed in parentheses.

A.4.2 Error Messages Displayed during USB Memory I/O Operation

Message Faulty location/corrective action Contents
FILE NAME CONTAINS RESERVED Correct file name. The string “FORFANUC” cannot
WORD. be used in the top of the file name.
USB MEMORY HAS BEEN Insert the USB memory, then A USB memory is removed while it
REMOVED execute input/output operation is being accessed.
again.
USB MEMORY IS NOT READY. Check whether a USB memory is No USB memory is inserted.
inserted.
USB MEMORY IS USED BY OTHER Terminate another function that is The USB memory is being used by
FUNCTION. using the USB memory, then another function.
perform operation again.
THIS FILE NAME IS ALREADY Follow the message, and overwrite An existing file name is specified
USED. OVERWRITE IT? the file or specify another file name as the write destination.
to write data.
FILE NOT FOUND Check the file name or number on The specified file was not found.
the file list screen.
USB MEMORY IS FULL. Delete any unnecessary files and The USB memory is full.
allocate a required capacity.

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 A. ALARM AND ERROR
B-85444EN-3/03 APPENDIX MESSAGES LIST

Message Faulty location/corrective action Contents

FILE IS READ-ONLY. Specify another file or check the file The specified file is read-only.
attribute and delete the read-only
attribute.
USB MEMORY IS NOT FORMATTED Replace the USB memory with The inserted USB memory cannot
another one. be recognized.
FILE NAME IS INVALID. Correct the file name. An invalid character was found in a
file name.
DIFFERENCE FOUND File comparison detected a
mismatch.
THE FILE NUMBER DOES NOT Check the total number of files on The entered file number is not
EXIST the list screen. found. The entered number is
greater than the total number of
files.
FILE NUMBER IS RESTRICTED TO Enter a numeric value not greater A value up to 128 can be entered
“128” than 128. as the file number.
FOLDER CANNOT BE SPECIFIED. (1) The specified number indicates (1) The specified number
a folder. Enter an appropriate indicates a folder.
number. (2) An attempt was made to select
(2) No folder can be selected in the a folder in the file list screen.
file list screen.
THIS FILE CANNOT BE SPECIFIED. (1) The file name corresponding to (1) The file name corresponding
the specified file number to the specified file number
consists of more than 32 consists of more than 32
characters. Enter an characters.
appropriate number. (2) An attempt was made to select
(2) No file having a file name a file having a file name
consisting of more than 32 consisting of more than 32
characters can be selected in characters.
the file list screen.
USB HARDWARE ERROR Replace the USB memory with This error occurs due to a USB
(xxxxxxxxxx) another one. If this error still occurs hardware failure. An error code is
after replacement, contact us, and indicated in parentheses.
report the displayed message
correctly.
INTERNAL ERROR (xxxxxxxxxx) Contact us, and report the displayed This error occurs due to an internal
message correctly. factor. An error code is indicated in
parentheses.

A.4.3 Error Messages Displayed during Flash ROM I/O Operation

Message Faulty location/corrective action Contents
NOT IN EMG STOP MODE Place the system in the emergency The system is not in the emergency
stop state. stop state.
INVALID SEQUENCE PROGRAM Check the program. The transfer program is illegal.
DIFFERENCE FOUND A file comparison detected a
mismatch.
FLASH ROM IS LOCKED BY OTHER Wait until the PMC user completes Another PMC user is using the flash
FUNCTION processing, then retry. ROM.
FLASH ROM HEADER ROM DATA ID This file cannot be read. Check the An attempt was made to read a file,
IS ILLEGAL type of the file. but its ROM data ID was illegal.
FLASH ROM IS USED BY OTHER Retry after ending another function Flash ROM is in use by another
FUNCTION. that uses flash ROM. function.
INTERNAL ERROR (xxxxxxxxxx) Contact us, and report the An error due to an internal factor
displayed message correctly. occurred. Details on the error are
displayed in parentheses.

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A. ALARM AND ERROR
MESSAGES LIST APPENDIX B-85444EN-3/03

A.4.4 Error Messages Displayed During FLOPPY or Other

Input/Output Device I/O Operation.
Message Faulty location/corrective action Contents
ILLEGAL PMC PARAMETER Specify a file of the PMC parameter The specified file is not of the PMC
FORMAT format. Also, check the specified file parameter format.
to see whether its content is not
disrupted.
ILLEGAL HANDY FILE FORMAT Specify a file of the handy file The specified file is not of the handy
format. Also, check the specified file file format.
to see whether its content is not
disrupted.
UNKNOWN FILE FORMAT Specify file of recognizable format Cannot recognize the format of
such as PMC parameter format, or specified file.
check the contents of the file.
FILE NAME OR FILE NUMBER IS Specify file name or file number for Need file name or file number to
REQUIRED the operation. identify file to read, compare, or
delete.
COMMUNICATION TIMEOUT Check the communication Communication with the I/O device
parameters such as baud rate, and has been timeout.
retry to communicate.
I/O DEVICE IS NOT ATTACHED OR Check the power of I/O device is Any I/O device is not connected, or
IN ERROR STATUS ON. Check the I/O device is some error has occurred in it.
connected. Check the cable that
connects I/O device with PMC is
correct one. If some error has
occurred in I/O device, solve it.
RECEIVED BAD DATA: CHECK THE Check the PMC's communication Invalid data has been received.
COMMUNICATION PARAMETERS parameters such as baud rate
match the ones of I/O device.
RECEIVED DATA HAS OVERRUN Check the communication Too many data have received at
parameters about flow control. once.
OTHERS FUNCTION IS USING THIS Use the other channel, or stop the Others function is using this
CHANNEL function. channel.
BAD COMMUNICATION Check the communication Setting parameters of
PARAMETER parameters such as baud rate. communication are not correct.
OTHER FUNCTION IS USING I/O Wait until function that using I/O Another function such as FANUC
FUNCTION function do finish, or stop the LADDER-III is using I/O function.
function.
UNKNOWN HANDY FILE FORMAT Check the file. The received data is not a program
DATA of the PMC system or is a program
of some other incompatible type.
ILLEGAL BAUD RATE SETTING Set a valid baud rate. The set baud rate is invalid.
ILLEGAL CHANNEL NUMBER Set a valid channel number. The set channel number is invalid.
ILLEGAL PARITY BIT SETTING Set a valid parity bit. The set parity bit is invalid.
ILLEGAL STOP BIT SETTING Set a valid stop bit. The set stop bit is invalid.
ILLEGAL WRITE CODE SETTING Set a valid output code. The set output code is invalid.
SEQUENCE PROGRAM IS IN USE Wait until On-line function, do finish Cannot input/output of sequence
BY ONLINE FUNCTION the using I/O function. In general, program, because On-line function
both of I/O function and On-line is using sequence program.
function should not be used at the
same time.

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B-85444EN-3/03 APPENDIX MESSAGES LIST

A.4.5 Common Error Messages that may be Displayed on Individual

Devices during the I/O Operations
Message Faulty location/corrective action Contents
ERROR OCCURS IN SEQUENCE Check the PMC alarm screen and Data cannot be output because
PROGRAM. correct the indicated program error there is an error in the ladder
accordingly. program.
UNKNOWN DATA TYPE Check the file. The PMC type of the input data is
unknown.
MUST BE IN EMERGENCY STOP Set to emergency stop. The status of NC is not emergency
stop when reading PMC parameter.
PWE MUST BE ON Set the “PWE” to ”1” in NC setting The “PWE” in NC setting screen
screen. is ”0” when reading PMC
parameter.
MUST BE IN EDIT MODE Set to the EDIT mode. The mode is not EDIT when reading
PMC parameter.
THIS FUNCTION IS NOT ALLOWED. Check the related settings. There are not all the settings that
are needed to use this function.
PMC PARAMETER IS LOCKED BY Retry after terminating the other The PMC parameter is currently
OTHER FUNCTION function that is currently using the used by some other function and
PMC parameter. cannot be referenced by this
function.
THIS DEVICE IS USED BY OTHER Retry after terminating the other The specified device is currently
FUNCTION function that is currently using the used by some other function and
specified device. cannot be used by this function.
PMC PARAMETER IS PROTECTED Retry after terminating the other The PMC parameter is currently
BY OTHER FUNCTION function that is currently using the used by some other function and
PMC parameter. cannot be changed by this function.
LADDER TYPE UNMATCH Specify a program of a valid type. The specified program is of a
different type and cannot be read.
TOO LARGE SEQUENCE Check the file. Or, change to a step The ladder program is too large to
PROGRAM. number option that allows you to set read.
a larger program size.
SEQUENCE PROGRAM IS USED BY Retry after terminating the other The ladder program is currently
OTHER FUNCTION. function that is currently displaying used by some other function and
the ladder program. cannot be referenced by this
function.
INVALID I/O CONFIGURATION DATA Read correct I/O configuration file. Invalid I/O configuration data was
read and any of the following
operations was performed:
- Writing it to the memory card
- Comparing it with a memory card
file
- Writing it to flash ROM
-Comparing it with flash ROM
TOO LARGE I/O CONFIGURATION Check the I/O configuration file. The I/O configuration file is too
DATA large to read.
I/O CONFIGURATION DATA IS Terminate another function that is I/O configuration data is being used
USED BY OTHER FUNCTION using the I/O configuration data, by another function (such as
then execute operation again. FANUC LADDER-III).

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B. FORCED INPUT/OUTPUT
FUNCTION APPENDIX B-85444EN-3/03

B FORCED INPUT/OUTPUT FUNCTION

B.1 OVERVIEW
This function can forcibly enter a value for the signal of an arbitrary PMC address. With this function,
for example, an X value can be forcibly entered to enable sequence program debugging without using a
machine, and a Y value can be forcibly entered to enable the signal wiring on the machine to be checked
efficiently without using a sequence program.
There are the following two input modes: Forced input/output mode and override mode. Use either of
these modes according to your purpose. This function is added to the SIGNAL STATUS screen.

B.1.1 Forced Input/Output Mode

This mode is applied to all PMC addresses.
However, signals changed by the forced input/output are overwritten when values written or input by a
sequence program are scanned, and therefore the changes made by the forced input/output are lost.

Machine
I/O addresses
Overwrite X,Y
Overwrite

Ladder G,F,R,T,K,C,D,E
Overwrite
program

Fig. B.1.1 (a) Forced input/output

Example 1: When forced input/output is applied to R0 in the following ladder

program

X0.0
MOVE 1111
1111
K0
R0

Fig. B.1.1 (b) When forced input/output is applied to R0

The initial signal status is as follows:

X0.0 = off, K0 = 55H, R0 = 00H
A value of FFH is forcibly input to R0.
X0.0 = off, K0 = 55H, R0 = FFH
When X0.0 is turned on, R0 indicates the result of input from the sequence program.
X0.0 = on, K0 = 55H, R0 = 55H
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B-85444EN-3/03 APPENDIX FUNCTION

Example 2: When forced input is applied to X0 in a configuration where I/O

Unit-MODEL A is connected to X0 over an I/O Link
The input value from I/O Unit-MODEL A is transferred to X0 at certain intervals. So, even if the value
of X0 is forcibly modified, X0 is overwritten in the next cycle. Thus, the value of X0 is restored to the
value input from I/O Unit-MODEL A.

1. Input from the machine

I/O Unit-MODEL A NC

X0 = FFh X0 = FFh

2. The value of X0 is forcibly modified to 00h.

X0 = 00h
3.Input from the machine in the next cycle

The forcibly modified value is

I/O Unit-MODEL A NC overwritten with the input from the
machine.

X0 = FFh X0 = FFh

Fig. B.1.1 (c) When forced input is applied to X0

Cyclical transfer may also be performed for addresses that are not assigned. So, use the forced
input/output function for X in the forced input/output mode to debug a sequence program when no I/O
device is connected or assigned.
When an I/O device is connected, use the override function described below to debug a sequence
program.

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B. FORCED INPUT/OUTPUT
FUNCTION APPENDIX B-85444EN-3/03

B.1.2 OVERRIDE Mode

The state in which values modified by the forced input/output function cannot be overwritten by a
sequence program or machine signals is referred to as override. In the override mode, override can be
set for any X and Y signals. Forced input/output is applied to those X and Y addresses where override is
not set, and also to addresses other than X and Y.

Example: In this example, the forced input/output function is applied to X0 in a

configuration where the I/O UNIT-MODEL A is connected to X0 with an I/O link.

1. Input from the machine

I/O Unit-MODEL A NC

X0 = FFh X0 = FFh

2. Override is set for X0.

The value transferred

I/O Unit-MODEL A × NC from I/O Unit-MODEL A
is invalidated.

X0 = FFh X0 = FFh

3. The value of X0 is forcibly modified to 00h.

I/O Unit-MODEL A × NC

X0 = FFh X0 = 00h

Fig. B.1.2 When forced input/output function is applied to X0 (override)

Thus, the forced input function can be used for X addresses in the override mode to debug a sequence
program while an I/O device is connected. When a Y address is placed in the override state, a value that
has been forcibly modified by forced input/output is output to the I/O device.

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 B. FORCED INPUT/OUTPUT
B-85444EN-3/03 APPENDIX FUNCTION

CAUTION
• In OVERRIDE mode, input/output signals are updated at 8-ms intervals in sync
with the ladder level. When an I/O Link is used which is usually updated at 2-ms
intervals, an input/output signal timing delay occurs. For this reason, note that a
sequence that depends on input/output signal timing may perform an
unpredictable operation.
• Note that, when OVERRIDE mode is set, the interval of the second level may be
extended slightly.
• Even if override is set for a Y address, the resultant value of a ladder operation
before modified by forced input/output is displayed as the coil on/off value in
LADDER DIAGRAM MONITOR screen. A value after modified by the forced
input/output function is output to the I/O device. Note that the on/off indication on
the LADDER DIAGRAM MONITOR screen does not match a value output to the
I/O device.
Example: In this example, the forced input/output function is used for Y0.0 in the
ladder below in a configuration where the I/O UNIT-MODEL A is connected to Y0
with an I/O Link. Before OVERRIDE setting, the on/off indication in dynamic
display matches a value output to the I/O UNIT-MODEL A as shown below.
X0.0 Y0.0

I/O Unit-MODEL A NC

(off) (off)
Y0.0=off
(LADDER DIAGRAM MONITOR)

If 1 is entered forcibly after setting OVERRIDE for Y0.0, the value modified by the
forced input/output function is output to the I/O UNIT-MODEL A as shown below.
X0.0 Y0.0

I/O Unit-MODEL A NC

(off) (off)
Y0.0= on
(LADDER DIAGRAM MONITOR)

WARNING
Special care must be exercised when a signal with the forced input/output
function. If the forced input/output function is used incorrectly, the operation of
the machine may be unpredictable. Never use this function when persons are
near the machine.

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B. FORCED INPUT/OUTPUT
FUNCTION APPENDIX B-85444EN-3/03

B.2 SETTING/OPERATION FOR ENABLING FORCED

INPUT/OUTPUT
Use the procedures below to set the input/output modes.

B.2.1 Operation for Enabling FORCING Mode

Use the procedure below.
1 Turn on the power.
2 Press the emergency stop button.

B.2.2 Operation for Enabling OVERRIDE Mode

Use the procedure below.
1 Turn on the power.
2 Press the emergency stop button.
3 Set bit 0 of K906 (keep relay) to 1.
4 Turn the power off and on again while holding down the emergency stop button.

CAUTION
• Special care must be exercised when modifying a signal with the forced
input/output function.
• If the forced input/output function is used incorrectly, the operation of the machine
may be unpredictable. Never use this function when persons are near the
machine.
• Upon completion of forced input/output operations, reset keep relay K906#0 to 0.
• Turning on the power with the emergency stop button released resets keep relay
K906#0 to 0. (The OVERRIDE mode is disabled.)
• The setting of OVERRIDE is not maintained when the power is turned off.
When the power is turned on again, the setting of OVERRIDE is cleared for X and
Y addresses.
• Do not force input/output operations for any signal other than those (except the F
address) usable with the custom PMC function.
Never force input/output operations especially for X8.4 (emergency stop) or Y6.1
(Z-axis brake control).

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 B. FORCED INPUT/OUTPUT
B-85444EN-3/03 APPENDIX FUNCTION

B.3 SCREEN DISPLAY

On the FORCED INPUT/OUTPUT screen, the value of a desired signal can forcibly be modified.
On this screen, the following two input modes are available: Forced input/output and override.
To move to the FORCED INPUT/OUTPUT screen, click soft key [FORCED I/O] on the SIGNAL
STATUS screen.
The following operations can be performed on the FORCED INPUT/OUTPUT screen:
• Search for a signal: [SEARCH]
• Switch to the decimal display and input mode: [DEC]
• Switch to the hexadecimal display and input mode: [HEX]
• Display the SIGNAL STATUS screen: [EXIT]
• Turn the signal on: [ON]
• Turn the signal off: [OFF]
• Set override: [OVRIDE SET] (*)
• Clear override for a signal: [OVRIDE RESET] (*)
• Clear override for all signals: [INIT] (*)
* This soft key is enabled in override mode.

Fig. B.3 (a) FORCED INPUT/OUTPUT screen

In the input mode section at the right of the title, "OVERRIDE" is displayed as the mode of the forced
input/output function only in the override mode.

In the signal status display area, the signal status of each address is displayed. For X and Y signals, the
status of each bit for which override is set is displayed as follows.

• For an X signal (Input signal from the I/O device) → (Input signal to the ladder program)
In the hexadecimal or decimal display on the right of the screen, the numeric value of the input signals to
the ladder program on the right is displayed.

Fig. B.3 (b) For an X signal

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B. FORCED INPUT/OUTPUT
FUNCTION APPENDIX B-85444EN-3/03

• For a Y signal (Output signal from the ladder program) → (Output signal to the I/O device)
In the hexadecimal or decimal display on the right of the screen, the numeric value of the output signals
from the ladder program on the left is displayed.

Fig. B.3 (c) For a Y signal

On the message display line at the bottom of the screen, an error message is displayed when required.

B.4 OPERATING THE FORCED INPUT/OUTPUT SCREEN AND

MODIFYING THE VALUES OF SIGNALS

Soft keys on the FORCED INPUT/OUTPUT screen

Force input/output

Searches for an Turns the Turns the

address. signal on. signal off.

Switches to the Switches to the SIGNAL

decimal input mode. STATUS screen.

Switches to the hexadecimal input mode.

Override
Switches to the SIGNAL
STATUS screen. Sets override.
Turns the
Searches for an Clears override for a
signal on.
address. signal.

Switches to the Turns the Clears override for all

decimal input mode. signal off. signals.

Switches to the hexadecimal input mode.

Fig. B.4 Operating the forced input/output screen and modifying the values of signals

B.4.1 Operations Using Soft keys

[SEARCH] Search for an address
Searches for a byte or bit address.
[DECIMAL] Switch to the decimal input mode
Switches the contents of the byte to the decimal display and input mode.
This soft key is enabled only when the hexadecimal display and input mode is set.
[HEX] Switch to the hexadecimal display and input mode
Switches the contents of the byte to the hexadecimal display and input mode.
This soft key is enabled only when the decimal display and input mode is set.

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[EXIT] Switch to the SIGNAL STATUS screen

Terminates the forced input/output function.
[ON] Turn the signal on
Places the signal at the cursor in the on state. Operation in bit or byte units is available depending
on the cursor position.
[OFF] Turn the signal off
Places the signal at the cursor in the off state. Operation in bit or byte units is available depending
on the cursor position.
[OVRSET] Set override
Places the X or Y address at the cursor in the override state. Operation in bit or byte units is
available depending on the cursor position.
This soft key is enabled only in the override mode.
[OVRRST] Clear override for a signal
Clears the override state of the X or Y address at the cursor. Operation in bit or byte units is
available depending on the cursor position.
This soft key is enabled only in the override mode.
[ ] Clear override for all signals
Clears the override state of all X and Y addresses.
This soft key is enabled only in the override mode.

B.4.2 Screen Operations Using Other Keys

INPUT key
Use this key to modify the status of a signal or signals.
(1) Setting in bit units
• Enter 1, then press the INPUT key to place the signal in the on state.
• Enter 0, then press the INPUT key to place the signal in the off state.
• Just press the INPUT key to invert the on/off state of the signal.
(2) Setting in byte units
At the byte cursor, enter a binary number consisting of up to 8 digits, then press the INPUT key.
(If an entered number is shorter than 8 digits, the number is entered starting from bit 0.)
Example: When 100 is entered, the number is entered as follows:
Bit number 7 6 5 4 3 2 1 0
0 0 0 0 0 1 0 0
When the cursor is on a HEX or DECIMAL field, hexadecimal or decimal input in byte units is
available.
(3) Continuous data input
Continuous data can be entered vertically. The cursor moves at the end of continuously
entered data.
• Use a semicolon (;, EOB) as the data delimiter.
Example: "1;0;1" + INPUT key
• Use ;= to enter the same value as for the previous data.
Example: "1;=;=;0;=" + INPUT key: 1,1,1,0,0
• Use ;; to skip an address.
Example: "1;;1" + INPUT key: Nothing is entered in the second item.
• Use "R;input-value;count" to enter the same input value as many times as the specified
number.
Example: "R;1;200" + INPUT key: A value of 1 is entered in the vertical 200 fields.

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B. FORCED INPUT/OUTPUT
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Cursor keys
Use the cursor keys to select a signal whose value is to be modified.
Pressing the cursor left key when the cursor is at bit 7 of an address changes the cursor to the byte
cursor.
Pressing the cursor right key when the cursor is in the HEX or DECIMAL field of an address
changes the cursor to the byte cursor for selecting the entire 1 byte next to the address.
When the cursor is in the HEX or DECIMAL field or is the byte cursor, the values of the entire 1
byte of the address can be modified.
Page keys
Use the page keys to move the display.
Return key operation
On the FORCED INPUT/OUTPUT screen, the return key is disabled.
To terminate the forced input/output mode and display the SIGNAL STATUS screen again, use soft key
[EXIT].

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 C. CUSTOM LADDER PROGRAM
COMMENT SWITCHING
B-85444EN-3/02 APPENDIX PROCEDURE

C CUSTOM LADDER PROGRAM COMMENT

SWITCHING PROCEDURE
C.1 OVERVIEW
When custom ladder program comment display needs to be switched according to the language setting on
the CNC, set the system parameters according to the procedure below by using FANUC LADDER-III.

C.2 SYSTEM PARAMETER SETTING

Use the procedure below to set a comment display language.

1. Open the custom ladder program with FANUC LADDER-III.

2. Open the Edit System Parameter screen.
3. Click [Language for Comment].
The [Language for Comment] dialog box appears.

Fig. C.2 (a) Edit System Parameter screen

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C. CUSTOM LADDER PROGRAM
COMMENT SWITCHING
PROCEDURE APPENDIX B-85444EN-3/03

4. Set comment set numbers to be displayed on the PMC screen for the CNC display language.

Number of display language

settings (comments)

Displays the first comment

when the CNC display
language is English.

Displays the second

comment when the CNC
display language is
Japanese.

Displays the first comment

when the CNC display
language is other than
English and Japanese.

Comment set number

First comment = 0
Second comment = 1
:

CNC display
language number Delimit a CNC display language from a
comment set number with a comma.

Fig. C.2 (b) [Language for Comment] dialog box

Table C.2 CNC display language number

0: English 9: Danish
1: Japanese 10: Portuguese
2: German 11: Polish
3: French 12: Hungarian
4: Chinese (traditional) 13: Swedish
5: Italian 14: Czech
6: Korean 15: Chinese (simplified)
7: Spanish 16: Russian
8: Dutch -1: Other

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D MULTI-LANGUAGE DISPLAY FUNCTION

With this series, the PMC message multi-language display function is available. When compared with the
conventional multi-language display function using the message shift function, the PMC message
multi-language display function has the features indicated below. For details, refer to "FANUC
LADDER-III Operator's Manual (B-66234EN)".

• Alarm message and operator message data is stored in a memory card format different from the
format used for conventional ladder programs, and is loaded into the CNC independently of these
ladder programs.
• Multi-language alarm message and operator message data can be defined.
• Multi-language settings can be made without dividing A addresses. This means that all A
addresses can be used for each language to define many messages.
• When the CNC display language setting is changed, the language for alarm messages and
operator messages is switched without turning off the power of the CNC.

To use the PMC message multi-language display function, use the following procedure:

1. Create a message file for multi-language display.

2. Add message data to the main body of the ladder program.
3. Convert the message data to a memory card format file.
4. Incorporate the created memory card format file into the CNC.

CAUTION
• Second PMC message files for the multi-language display function to be used with
the custom PMC are not installed on the machine at the time of shipment from the
factory.
• To stop the use of the multi-language display function after a second PMC
message file is installed to use the multi-language display function, the second
PMC message file "M2PMCMSG" needs to be deleted. For the procedure of
deletion, see Subsection 5.4.2, "Operation on the Boot Screen".

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D. MULTI-LANGUAGE
DISPLAY FUNCTION APPENDIX B-85444EN-3/03

D.1 CREATING MESSAGE DATA FOR MULTI-LANGUAGE

DISPLAY
Create message data by using a text editor on the personal computer.
Here, set message data in a language other than English.
The data format is indicated below.

1. File format
File type = Text file (*.TXT)
Character code = ANSI/Unicode(UTF-16)
(Identification code)
(Title information)
(Comment between lines)
(Message data 1)
(Message data 2)
(Comment between lines)
(Message data 3)
(Message data 4)
:
(Identification code)

2. Identification code
An identification code is used to mark the start and end of message data.
Start: %@4-D
End: %

3. Title information
Enclose title information in double quotation marks.
Up to 256 half-size characters can be entered. (Title information can be omitted.)

4. Comment between lines

Enclose a comment between lines in double quotation marks.
No comment between lines is output to a memory card format file.

5. Message data

Language ID Address Message character string

Example $1 %A100.0 1900 COOLANT ALARM

(a) Language ID
Specify a language ID for a message character string with "Dollar($)"+"Language ID".

Table D.1 Language ID

1: Japanese 7: Spanish
2: German 10: Portuguese
3: French 15: Chinese (Simplified)
4: Chinese (Traditional) 16: Russian
5: Italian

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 D. MULTI-LANGUAGE
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(b) Address
Be sure to prefix % to an address.
The usable addresses are A100.0 to A149.7.

(c) Message character string

Specify an alarm message number at the beginning then specify an alarm message to be
displayed.

An example of message data is given below.

([@0A@] of title information represents a line feed code.)
%@4-D
" FANUC ROBODRILL D14/21iA SERIES MESSAGE DATA@0A@ EDITION : 0001@0A@
DATE : 2012/03/29 "

$2 %A100.0 1900 COLLANT ALARM (Note: Added alarm)

$2 %A100.1 2060 COOLANT LEVEL LOW (Note: Added operator message)
: :
$10 %A100.0 1900 COLLANT ALARM (Note: Added alarm)
$10 %A100.1 2060 COOLANT LEVEL LOW (Note: Added operator message)
%

Fig. D.1 Example of message data

CAUTION
• In this message data file, set messages in a language other than English.
• Set English message data as message data for the main body of the ladder
program.

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D. MULTI-LANGUAGE
DISPLAY FUNCTION APPENDIX B-85444EN-3/03

D.2 CREATING MESSAGE DATA FOR THE MAIN BODY OF

THE LADDER PROGRAM
1. Select "Message" on the FANUC LADDER-III program list screen to open the message editing
screen.

Fig. D.2 (a) Program List screen

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 D. MULTI-LANGUAGE
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2. Add and edit English messages.

Fig. D.2 (b) Message Editing screen

Even when no English message is needed, be sure to set alarm numbers.

The table below indicates the usable alarm numbers, operator message numbers, and A addresses.

Alarm 1900 to 1999

Operator message 2060 to 2499
A address A100.0 to A149.7

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D. MULTI-LANGUAGE
DISPLAY FUNCTION APPENDIX B-85444EN-3/03

D.3 CONVERTING MESSAGE DATA

D.3.1 Converting Message Data for Multi-Language Display

Convert a text file (mnemonic file) containing message data for multi-language display to a memory card
format file.

1. Open the command prompt screen.

Fig. D.3.1 Command prompt screen

2. Execute the following at the command prompt.

(Example where a file created in Section D.1 is named PMC2_MSG.TXT)

>>C:
>>CD C:¥Program Files¥FANUC PMC Programmer¥FANUC LADDER-3
>>FPMCMSG C:¥PMC¥PMC2_MSG.TXT /p=2 /o=C:¥PMC¥PMC2_MSG.MEM

Explanation)
• Lines 1 and 2 make a movement to the drive directory where FANUC LADDER-III is installed.
(Modify the move destination to the directory where the software is actually installed.)
• Line 3 executes FPMCMSG to convert the mnemonic format message file (PMC2_MSG.TXT)
created in Section D.1 to a second PMC message file (PMC2_MSG.MEM) in the memory card
format for multi-language display that can be loaded with the ROBODRILL.

A message file in the memory card format can be created by creating and executing the following BAT
file:
File name (example): MAKE_MEM.BAT
Contents of a BAT file (example):

C:
CD C:¥Program Files¥FANUC PMC Programmer¥FANUC LADDER-3
FPMCMSG C:¥PMC¥PMC2_MSG.TXT /p=2 /o=C:¥PMC¥PMC2_MSG.MEM

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CAUTION
• FPMCMSG.exe is stored in the FANUC LADDER-III installation folder
("C¥Program Files¥FANUC PMC Programmer¥FANUC LADDER-3" usually).
• Usually, the result of command execution is output to the output screen. Use a
"greater than" sign (>) for redirection to a file or printer from the output screen.
• Line comments other than title information are not output to a memory card format
file.

FPMCMSG is detailed below.

FPMCMSG [drive:][path]message-file1 [+ [drive:][path]message-file2] [+ …]

[/m=[drive:][path]lad-mcard-file] [/l=[drive:][path]lad-file]
[/p=pmc-path-number] /o=[drive:][path] mcard-file

Parameters
[drive:][path]message-file1, [drive:][path]message-file2, …
Specifies the location and name of a source file of multi-language PMC messages.
Multiple files can be specified using a plus sign (+).
If [drive:][path] is omitted, the current folder is assumed.

/m=[drive:][path]lad-mcard-file
A memory card file can be specified to check in detail why messages are not displayed normally.
For lad-mcard-file, specify the name of a memory card file of a PMC sequence program related to
the source file of multi-language PMC messages.
If [drive:][path] is omitted, the current folder is assumed.
This parameter can be omitted.

/l=[drive:][path]lad-file
A LAD file can be specified to check in detail why messages are not displayed normally.
For lad-file, specify the name of a LAD file related to the source file of multi-language PMC
messages.
If the specified LAD file contains no memory card file, the check with this parameter is not
performed.
If [drive:][path] is omitted, the current folder is assumed.
This parameter can be omitted.
Do not execute this tool when the LAD file specified for /L is open on FANUC LADDER-III.

/p=pmc-path-number
Specifies the PMC system number of the multi-language PMC message file to be created.
(1st system: /p=1, 2nd system: /p=2, 3rd system: /p=3)
Be sure to specify "/p=2" and create a message file for the 2nd PMC.

/o=[drive:][path]mcard-file
Specifies the location and name of a multi-language PMC message file (memory card file) to be
created.
If [drive:][path] is omitted, the current folder is assumed.

D.3.2 Converting the Ladder Program

Compile the ladder program with FANUC LADDER-III to create a memory card format file. For details,
see Section 9.3, "LADDER PROGRAM COMPILATION AND LOADING FILE CREATION"

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D. MULTI-LANGUAGE
DISPLAY FUNCTION APPENDIX B-85444EN-3/03

D.4 INCORPORATING MEMORY CARD FORMAT FILES INTO

THE CNC
Install two memory card format files created in Section D.3 on the CNC.

For installation of the files on the CNC, two methods are available:
• One method writes the files directly to the flash ROM from the boot menu.
• The other method reads the files from the I/O screen of the PMC to the memory then writes the files to
the flash ROM.

For details, see Section 5.4, "INPUT/OUTPUT OF EDIT DATA".

D.5 CONVERTING A MEMORY CARD FORMAT FILE TO A

MNEMONIC FORMAT FILE
When editing message data again by using a memory card format message file for multi-language display,
convert data output from the machine, to a mnemonic format file, according to the following procedure:

1. Back up a ROBODRILL message file for multi-language display from the machine. (See Chapter 5.)
2. Copy the backed-up message file for multi-language display to the hard disk of the personal computer.
(Example: Copy the message file to C:¥PMC folder.)
3. Open the command prompt screen.

Fig. D.5 Command prompt screen

4. Execute the following at the command prompt:

>C:
>CD C:¥Program Files¥FANUC PMC Programmer¥FANUC LADDER-3
>FPMCMSG C:¥PMC¥PMC2_MSG.000 /o=C:¥PMC¥PMC2_MSG.TXT

Explanation)
• Lines 1 and 2 make a movement to the drive directory where FANUC LADDER-III is installed.
(Modify the move destination to the directory where the software is actually installed.)
• Line 3 executes FPMCMSG to convert the memory card format message file (PMC2_MSG.000) to a
mnemonic format file (PMC2_MSG.TXT). (The file name is just an example. Change it to the name
of an actually backed-up message file for multi-language display.)
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 D. MULTI-LANGUAGE
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For repeated conversion, create a BAT file with the contents above.

FPMCMSG is detailed below.

FPMCMSG [drive:][path]mcard-file
[/unicode]
/o=[drive:] [path]message-text-file

Parameters
[drive:][path]mcard-file
Specifies the location and name of a multi-language PMC message file (memory
card file).
If [drive:][path] is omitted, the current folder is assumed.

/unicode
Outputs the message character strings to a source file in Unicode.
If this parameter is omitted, the message character strings are output in ANSI.

/o=[drive:][path]message-text-file
Specifies the location and name of a source file.
If [drive:][path] is omitted, the current folder is assumed.

5. With a text editor, open and edit the file (PMC2_MSG.TXT) converted to the mnemonic format.

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E. ADDRESS ALLOCATION OF
I/O UNIT MODEL-A APPENDIX B-85444EN-3/03

E ADDRESS ALLOCATION OF I/O UNIT

MODEL-A
When using output module with 8 or 16 signals by same address allocation as that in α-iE series and α-iF
series, change the setting of I/O Link i.
Setting of I/O Link i can be changed by following method.

(1) Change the setting directly at the machine.

(2) Change the setting using FANUC LADDER-III

E.1 METHOD FOR CHANGE THE SETTING OF I/O Link i

DIRECTLY AT THE MACHINE
1 Press the Emergency stop button on the Operator’s panel to place the machine in the emergency stop
state.

2 Display CNC system window and press soft key [PMC CONFIG].

Fig. E.1 (a) CNC system window

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 E. ADDRESS ALLOCATION OF
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3 Press the rightmost soft key [+] several times until soft key [I/O Link i] is displayed. Then press soft
key [I/O Link i].

Fig. E.1 (b) PMC configuration window

4 Press soft key [(OPRT)].

Fig. E.1 (c) PMC I/O configuration display window

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E. ADDRESS ALLOCATION OF
I/O UNIT MODEL-A APPENDIX B-85444EN-3/03

5 Press soft key [SWITCH CHANEL] and switch channel to “CHANNEL 2”.

Fig. E.1 (d) PMC I/O configuration display (I/O Link i group setting) window

6 Check the “CHANNEL 2” is displayed at the upper left of screen. Then press soft key [EDIT].

Fig. E.1 (e) PMC I/O configuration display (I/O Link i group setting) window

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 E. ADDRESS ALLOCATION OF
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7 Place the cursor to “GRP 00” and press the soft key [ZOOM].

Fig. E.1 (f) [ZOOM] key

8 Display detail of “GRP 00”. Place the cursor to “Y ADDRESS” and “SIZE” of “SLOT 04/05” using
cursor key or soft key [NEXT SLOT] and change setting.

Fig. E.1 (g) Setting of GRP00

• Using module with 8 output signal (AOD08C, AOD08D, AOR08G)

Table E.1 (a) Setting of 8 output signal (AOD08C, AOD08D, AOR08G)
SLOT Y ADDRESS SIZE
04 Y203 1
05 Y207 1

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E. ADDRESS ALLOCATION OF
I/O UNIT MODEL-A APPENDIX B-85444EN-3/03

• Using module with 16 output signal (AOD16C, AOD16D, AOR16G)

Table E.1 (b) Setting of 16 output signal (AOD16C, AOD16D, AOR16G)
SLOT Y ADDRESS SIZE
04 Y202 2
05 Y206 2

9 Setting is completed, press soft key [EXIT ZOOM].

Fig. E.1 (h) [EXIT ZOOM] key

10 Press soft key [EXIT EDIT].

Fig. E.1 (i) [EXIT EDIT] key

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 E. ADDRESS ALLOCATION OF
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11 Press the leftmost soft key [<] several times until the soft key [PMC MAINTE] is displayed. Then
press soft key [PMC MAINTE].

Fig. E.1 (j) [PMC MAINTE] key

12 Press soft key [I/O].

Fig. E.1 (k) [I/O] key

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E. ADDRESS ALLOCATION OF
I/O UNIT MODEL-A APPENDIX B-85444EN-3/03

13 Move cursor and set as follow. Then press soft key [EXEC].

Table E.1 (c) Setting

DEVICE FLASH ROM
FUNCTION WRITE
KIND OF DATA I/O CONFIGURATION

Fig. E.1 (l) After setting, press [EXECUTE] key

While writing data to FLASH ROM, display “STATUS : WRITING I/O CONFIGURATION”.
When the setting is completed, “COMPLETED” is displayed.

14 Turn the power off and then turn on. Then check the signal is outputted correctly.

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 E. ADDRESS ALLOCATION OF
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E.2 METHOD FOR CHANGE THE SETTING OF I/O Link i

USING FANUC LADDER-III
Outputting I/O Link i data
1 Press the Emergency stop button on the Operator’s panel to place the machine in the Emergency
stop state.

2 Display CNC system window and press soft key [PMC MAINTE].

Fig. E.2 (a) CNC system window

3 Press soft key [I/O].

Fig. E.2 (b) [I/O] key

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E. ADDRESS ALLOCATION OF
I/O UNIT MODEL-A APPENDIX B-85444EN-3/03

4 Move cursor and set as follows. Then press soft key [EXEC] and output data of I/O Link i.

Table E.2 (a) Setting

DEVICE MEMORY CARD (When output data to memory card)
FUNCTION WRITE
KIND OF DATA I/O CONFIGRATION
FILE NAME *.* (When press soft key [NEW NAME], “IOCONF.000”
is set automatically)

Fig. E.2 (c) PMC data I/O window

Enter the data of I/O Link i to PC and edit that data file with FANUC LADDER-III.
1 Select “File” → “Open”, and open the window for opening file

2 With the following setting, click “OPEN”.

Table E.2 (b) Setting
File name Output file name (the following figure shows an
example with IOCONF.000)
File type All Files (*.*)

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 E. ADDRESS ALLOCATION OF
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Fig. E.2 (d) Window to open file

3 Following window is displayed. Click “OK”.

Fig. E.2 (e) FANUC LADDER-III window

4 “New Program” window is displayed. Click “Browse” and then enter the name of file to be saved
and folder. Then click “OK”.
(Following window is the example that save “IOLINK.FIL” file in “C:¥DATA” folder.)

Fig. E.2 (f) “New Program” window

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E. ADDRESS ALLOCATION OF
I/O UNIT MODEL-A APPENDIX B-85444EN-3/03

5 Following window is displayed. Then click “OK”.

Fig. E.2 (g) FANUC LADDE-III window

When the Decompile is completed, following message is displayed.

Decompile start
##### I/O Link i #####
Decompile completed error count = 000000 warning count = 000000

*** Creating Source File ...Done ***

Program Name :IOLINK.FIL
PMC Name :I/O Link i

6 Display FANUC LADDER-III and then double - click “I/O Link I” of the data to be created.

I/O Link i

Fig. E.2 (h) FANUC LADDE-III – [Program List] window

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 E. ADDRESS ALLOCATION OF
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7 Double - click “Slot 4” or “Slot 5” in “CHANNEL 2” of “GROUP0”.

Double-click the Slot

that be changed.

Fig. E.2 (i) FANUC LADDE-III – [I/O Link i Editing] screen

8 “Slot Editing” window is displayed. Then change “Y Address” and “Y Size”.

Fig. E.2 (j) “Slot Editing” window

• Using module with 8 output signal (AOD08C, AOD08D, AOR08G)

Table E.2 (c) Setting of 8 output signal (AOD08C, AOD08D, AOR08G)
Slot Y address Y Size
4 Y203 1
5 Y207 1

• Using module with 16 output signal (AOD16C, AOD16D, AOR16G)

Table E.2 (d) Setting of 16 output signal (AOD16C,AOD16D,AOR16G)
Slot Y address Y Size
4 Y202 2
5 Y206 2

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E. ADDRESS ALLOCATION OF
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Example : Using module with 16 output signal

Fig. E.2 (k) Example of case where module with 16 output signal is used

9 When the setting is completed, click “Compile” at “Tool” menu.

10 Following window is displayed. Enter the name of file and folder and then click “Exec”.
(Following window is an example in which IOCONF.MEM is set.)

Fig. E.2 (l) “Compile” window

When the Compile is completed, following message is displayed.

Compile start
##### I/O Link i #####
Compile completed error count = 000000 warning count = 000000

*** Creating Memory card File ...Done ***

Program Name :IOLINK.FIL
PMC Name :I/O Link i

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 E. ADDRESS ALLOCATION OF
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11 To save the created data to memory card and install that data to machine, at “PMC DATA I/O”
window, set as follows and then press soft key [EXEC]. (Place the machine in the emergency stop
state.)

Table E.2 (e) Setting

DEVICE MEMORY CARD (When the data is read from memory
card)
FUNCTION READ
FILE NAME IOCONF.MEM (When the data file named
“IOCONF.MEM” is read)

Fig. E.2 (m) PMC data I/O screen

12 To write the read data to Flash ROM in succession, set as follows and then press soft key [EXEC].
(Place the machine in the emergency stop state.)

Table E.2 (f) Setting

DEVICE Flash ROM
FUNCTION WRITE
KIND OF DATA I/OCONFIGURATION

Now the setting has completed.

13 Turn the power off and then turn on. Then check that the signal is outputted correctly.

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B-85444EN-3/03 INDEX

INDEX
(COUNTER) FUNCTIONAL INSTRUCTION: NO.5 ......
<A> .................................................................................. 209
ADDITIONAL AXIS CLAMP CONTROL ................ 164 CREATING A LADDER PROGRAM .......................... 18
Additional Axis Clamp/Unclamp Commands .............. 165 CREATING MESSAGE DATA FOR
Additional I/O Unit (I/O Module + Terminal Module) ...... MULTI-LANGUAGE DISPLAY ............................ 314
............................................................................. 71,107 CREATING MESSAGE DATA FOR THE MAIN
ADDRESS ALLOCATION OF I/O UNIT MODEL-A ..... BODY OF THE LADDER PROGRAM .................. 316
.................................................................................. 322 CREATING, EDITING, AND EXECUTING
ADDRESSES AVAILABLE TO CUSTOM PMC ...... 102 PROGRAMS ............................................................ 112
AI TOOL MONITOR .................................................. 171 CUSTOM LADDER PROGRAM COMMENT
ALARM AND ERROR MESSAGES LIST................. 265 SWITCHING PROCEDURE ................................ 311
ALARM AND OPERATOR MESSAGE DISPLAY ... 177 CUSTOM LADDER PROGRAM CREATION .......... 246
ALARM OUTPUT 2 .................................................... 161 CUSTOM MACROS ................................................... 174
Analog current input (BIPADI4) and analog voltage CUSTOM PMC EDITING WITH FANUC
input (BIPADV4) ....................................................... 90 LADDER-III ............................................................ 235
AUTOMATIC SIDE DOOR CONTROL .................... 170 Cutting Feed Override .................................................. 178

<B> <D>
BASIC SIGNALS ........................................................ 150 Debugging ...................................................................... 35
(BINARY DECODING) FUNCTIONAL Designing Circuits and I/O Parameters ............................ 6
INSTRUCTION: NO.25 ........................................... 212 DESIGNING CUSTOM PMC (DETERMINING
BLOCK SKIP............................................................... 181 SPECIFICATIONS) ..................................................... 6
Disabling the Operator's Panel ..................................... 165
<C> Disabling the Start Button ............................................ 166
Checking and Preparation before Circuit Wiring ............. 8 Displaying the Ladder Program Status......................... 133
CHECKING OPERATIONS.......................................... 35
Checking Signal Operations ........................................... 10 <E>
Checking the Lamps ..................................................... 166 EDITING ..................................................................... 112
Common Error Messages that may be Displayed on Editing Alarm and Operator Messages ................. 127,258
Individual Devices during the I/O Operations ....... 301 Editing Ladder Programs ...................................... 113,115
(COMMON LINE CONTROL) FUNCTIONAL Editing Symbols and Comments ........................... 130,241
INSTRUCTION: NO.9/ (COMMON LINE Ending an Editing Session ........................................... 132
CONTROL END) FUNCTIONAL INSTRUCTION: Error Messages Displayed during Flash ROM I/O
NO.29 ....................................................................... 211 Operation .................................................................. 299
COMPLETION OF MACHINING .............................. 169 Error Messages Displayed During FLOPPY or Other
(CONDITIONAL SUBPROGRAM CALL) Input/Output Device I/O Operation. ......................... 300
FUNCTIONAL INSTRUCTION: NO.65/ Error Messages Displayed during Memory Card I/O
(UNCONDITIONAL SUBPROGRAM CALL) Operation .................................................................. 297
FUNCTIONAL INSTRUCTION: NO.66 .................. 213 Error Messages Displayed during USB Memory I/O
CONFIRMATION ....................................................... 133 Operation .................................................................. 298
CONNECTING CIRCUIT WIRING ........................... 103 Error messages that may be displayed on the I/O
Connection between the interface unit and the I/O unit . 82 CONFIGURATION EDITOR (I/O Link i
Connection to the terminal block ................................... 96 assignment) screen ................................................... 291
CONTROL SIGNAL FOR EACH SERVO AXIS ....... 173 Error Messages that may be Displayed on the I/O
CONVERSION TO A SOURCE FILE ........................ 236 Diagnosis Screen ...................................................... 296
CONVERTING A MEMORY CARD FORMAT FILE Error Messages that may be Displayed on the I/O
TO A MNEMONIC FORMAT FILE ....................... 320 MODULE EDITOR Screen ..................................... 290
CONVERTING MESSAGE DATA ............................ 318 Error Messages that may be Displayed on the
Converting Message Data for Multi-Language Display318 MESSAGE DATA EDITOR Screen ..................... 289
Converting the Ladder Program ................................... 319 Error Messages that may be Displayed on the PMC
COOLANT, MACHINE INTERIOR CLEANING LADDER DIAGRAM EDITOR Screen................... 279
COOLANT, CENTER THROUGH COOLANT, Error Messages that may be Displayed on the PMC
AND AIR BLOW ..................................................... 169 LADDER DIAGRAM EDITOR Screen (when
COUNT OF PERIODICAL MAINTENANCE updating) .................................................................. 281
CUSTOMIZE ITEM ................................................ 181

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INDEX B-85444EN-3/03

Error Messages that may be Displayed on the PMC INPUT/OUTPUT SPECIFICATIONS ........................... 37
LADDER DIAGRAM VIEWER Screen .................. 279 Interface ................................................................ 156,158
Error Messages that may be Displayed on the PMC INTERFACE SIGNALS BETWEEN SYSTEM AND
NET EDITOR Screen ............................................... 285 CUSTOM LADDER PROGRAMS....................... 150
Error Messages that may be Displayed on the SIGNAL INTERRUPT TYPE CUSTOM MACRO FUNCTION161
STATUS Screen ....................................................... 293
Error Messages that may be Displayed on the SIGNAL <J>
TRACE Screen ......................................................... 294 (JUMP) FUNCTIONAL INSTRUCTION: NO.10／
Error Messages that may be Displayed on the (JUMP END) FUNCTIONAL INSTRUCTION:
SYMBOL & COMMENT DATA EDITOR Screen .... NO.30 ....................................................................... 210
.................................................................................. 287
Error Messages that may be Displayed on the <L>
SYSTEM PARAMETER Screen ............................. 293 Ladder Editing ............................................................. 240
Error Messages that may be Displayed on the TITLE LADDER PROGRAM COMPILATION AND
DATA EDITOR Screen............................................ 287 LOADING FILE CREATION ................................. 244
Error Messages that may be Displayed on the trace LADDER PROGRAM EDITING ................................ 239
setting Screen ........................................................... 295 Ladder Program Message Editing ................................ 258
Error Messages when SYS_ALM194 (I/O Link i) ....... 277 LIST OF INTERFACE SIGNALS............................... 183
Error Messages when SYS_ALM195 (I/O Link) ......... 276
Error Messages when SYS_ALM196 (PMC Watch <M>
Dog).......................................................................... 275 M CODE OUTPUT FUNCTION (M80 TO M89) ....... 160
Error Messages when SYS_ALM197 (PMC General) . 275 M FUNCTION CODE SIGNALS ............................... 175
Error Messages when SYS_ALM199 (PMC General) . 273 MACHINE INTERIOR LAMP.................................... 177
EXAMPLES OF HOW CUSTOM PMC IS USED ...... 214 MACHINE STATUS ................................................... 150
EXECUTING AND DEBUGGING CUSTOM PMC .. 149 MACHINE STATUS OUTPUT .................................. 168
EXPLANATION OF TERMS ......................................... 2 MAKING AND CHECKING SETTINGS..................... 28
EXTERNAL M CODE BCD OUTPUT FUNCTION .. 158 Message Editing ........................................................... 242
EXTERNAL PROGRAM NUMBER SEARCH MESSAGES THAT MAY BE DISPLAYED ON THE
FUNCTION .............................................................. 155 PMC ALARM SCREEN ....................................... 265
EXTERNAL WORKPIECE NUMBER SEARCH METHOD FOR CHANGE THE SETTING OF I/O
FUNCTION .............................................................. 153 Link i DIRECTLY AT THE MACHINE .............. 322
METHOD FOR CHANGE THE SETTING OF I/O
<F> Link i USING FANUC LADDER-III ...................... 329
(FALLING EDGE DETECTION) FUNCTIONAL Multi Sensor Unit .................................................... 95,109
INSTRUCTION: NO.58 ........................................... 208 MULTI-LANGUAGE DISPLAY FUNCTION ........... 313
(FIXED TIMER) FUNCTIONAL INSTRUCTION:
NO.24 ....................................................................... 206 <N>
FORCED INPUT/OUTPUT FUNCTION .................... 302 NOTES............................................................................. 3
Forced Input/Output Mode ........................................... 302
FRONT AUTOMATIC DOOR CONTROL ................ 151
<O>
OPERATING THE FORCED INPUT/OUTPUT
FRONT DOOR LOCK CONTROL ............................. 170
SCREEN AND MODIFYING THE VALUES OF
<I> SIGNALS ................................................................. 308
I/O COMMUNICATION ERROR MESSAGES ......... 297 OPERATION CONTROL ........................................... 176
I/O Link Connection Unit ....................................... 54,105 OPERATION ERRORS............................................... 279
I/O Module Editing ...................................................... 243 Operation for Enabling FORCING Mode .................... 306
I/O SIGNAL REQUIREMENTS ................................... 37 Operation for Enabling OVERRIDE Mode ................. 306
I/O Signals for Additional Axis Clamp Control ........... 164 OPERATION LEVELS ............................................... 182
I/O Unit-MODEL A ................................................ 42,104 OPERATION MODE SWITCHING ........................... 166
I/O Unit-MODEL A/CONTROL OF A MISTO Operation on the Boot Screen ...................................... 143
COLLECTOR .......................................................... 221 Operation on the Input/Output Screen ......................... 140
I/O Unit-MODEL B ................................................ 81,109 Operations Using Soft keys .......................................... 308
INCORPORATING MEMORY CARD FORMAT OPERATOR'S PANEL ................................................ 165
FILES INTO THE CNC ........................................... 320 OPTIONAL I/O MODULE CONNECTION ............... 110
Information about the Life of Each Tool Group OPTIONAL INPUT/OUTPUT SPECIFICATIONS ...... 42
(Counter) and the Currently Selected Tool Group Others ........................................................................... 163
(Counter) Number .................................................... 163 OUTLINE ........................................................................ 1
INPUT/OUTPUT OF EDIT DATA ............................. 140 OVERRIDE CONTROL .............................................. 178

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B-85444EN-3/03 INDEX
OVERRIDE Mode ....................................................... 304 <T>
Overview ..................................................... 81,95,302,311 Terminal module ............................................................ 72
Terminal module B ........................................................ 62
<P> Timing Chart for an External Program Number Search157
PARAMETER SETTING WHEN OPTIONAL I/O Timing Chart for External M Code BCD Output ......... 159
MODULES ARE USED .......................................... 111 Title Editing ................................................................. 239
PMC SYSTEM ALARM MESSAGES ........................ 273 TOOL LIFE MANAGEMENT .................................... 162
POSITION SWITCH ................................................... 172
POWER-OFF ............................................................... 177 <U>
Preconditions .................................................. 215,221,226 USING TYPICAL FUNCTIONAL INSTRUCTIONS 205
PREFACE .................................................................... p-1
Procedure for Creating a Custom Ladder Program ...... 247 <V>
Procedure for Creating a Ladder Program...................... 18 (VARIABLE TIMER) FUNCTIONAL
PROCEDURE FOR USE ................................................. 5 INSTRUCTION: NO.3............................................. 205
PRODUCTION MANAGEMENT............................... 167
<W>
<R> WARM UP OPERATION FUNCTION ...................... 182
Requirement Specifications............................ 215,221,226 WHAT IS CUSTOM PMC? ............................................ 1
RESET AND REWIND FUNCTION .......................... 161 When Only the Automatic Side Door is Controlled ..... 179
Reset of a Tool Group (Counter) .................................. 162 When the Automatic Side Door and Robot System are
(RISING EDGE DETECTION) FUNCTIONAL Controlled ................................................................. 179
INSTRUCTION: NO.57 ........................................... 207 Wiring Circuits................................................................. 9
ROBOT INTERFACE 2 .............................................. 179 WIRING CIRCUITS AND CHECKING SIGNAL
OPERATIONS ............................................................. 9
<S> WIRING PCB I/O MODULE/CONTROL OF
SAFETY PRECAUTIONS .............................................. 1 MACHINING PROGRAMS .................................... 226
SCREEN DISPLAY .............................................. 172,307 Work Procedure ............................................. 217,222,227
Screen Operations Using Other Keys ........................... 309
Setting for Writing ......................................................... 27
SETTING PARAMETERS .......................................... 148
SETTING PMC PARAMETERS................................. 135
Setting the Function ....................................... 153,155,158
SETTING/OPERATION FOR ENABLING FORCED
INPUT/OUTPUT ..................................................... 306
Setup of the I/O unit ....................................................... 85
Setup of the interface unit .............................................. 84
Signal Diagnosis........................................................... 134
SPECIFICATIONS .......................................................... 4
Specifications of general purpose analog input .............. 99
Specifications of I/O unit (BIPZ88A) ............................ 86
Specifications of the terminal module ............................ 80
Specifications of the terminal module B ........................ 70
SPINDLE ..................................................................... 171
Spindle Override .......................................................... 178
STANDARD INPUT/OUTPUT SPECIFICATIONS .... 39
STANDARD TERMINAL BLOCK XT1 (R/L) and
XTC1 ........................................................................ 103
Starting an Editing Session .......................................... 112
SUB-OERATOR’S PANEL I/O MODULE/TURNING
ON OF LAMPS ........................................................ 215
Sub-Operator’s Panel I/O Module .................................. 54
SUB-OPERATOR’S PANEL I/O MODULE AND
TERMINAL MODULE B ........................................ 106
Switching to the edit screen ......................................... 113
System Parameter Editing ............................................ 243
SYSTEM PARAMETER SETTING............................ 311

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B-85444EN-3/03 REVISION RECORD

REVISION RECORD
Edition Date Contents
03 Mar., 2018 • Addition of the multi sensor unit and I/O Unit-MODEL B
• Addition of the interface signals related to M01 stop and warm up operation
• Correction of the description related to safety precautions
02 Dec., 2016 • Addition of High-performance models
01 Oct., 2016

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