NOTE 1 Relay search, relay coil search, and functional instruction
search are started from the current screen. If the relay, relay coil, or instruction is not found by the end of the ladder program, search is performed from the beginning of the ladder program to the step at which search was started. If still not found, ”NOT FOUND” is displayed.
2 Display of some instructions may differ from that for FAPT LADDER.
N0105 NOT FOUND AND X0000.2
P–G, personal–computer FAPT LADDER Ladder mnemonics editing
(a) RD.NOT.STK
(b) TMR timer–number
(c) DEC code–signal–address (PRM) decode–instruction
RD.N.STK
SUB 03 TMR P001 timer–number
SUB 04 DEC P001 code–signal–address P002 decode–instruction
The above also applies when modifying the ladder mnemonics.
1 Changing an instruction
(a) Display the instruction to be changed.
(b) Enter a new instruction.
(c) Press the <ALTER> key.
(Example) <OR>, <Y32.4>, <ALTER>
N1234 AND R0123.4
Before change
N1234 OR Y0032.4
After change
NOTE If changing the instruction causes the memory capacity to be exceeded, the <ALTER> key is ignored without changing the instruction.
2 Deleting an instruction
(a) Display the instruction to be deleted.
(b) Press the <DELET> key. The instruction is deleted and the next instruction is displayed.
11.4.3 Modifying the Ladder Mnemonics
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11. PMC PROGRAMMER (DPL/MDI) (ONLY FOR THE Power Mate–D/F/H) B–61863E/10PMC PROGRAMMER (CRT/MDI)
528
3 Inserting an instruction
(a) Display the instruction after which an instruction is to be inserted.
(b) Enter the instruction to be inserted.
(c) Press the <INSRT> key.
(Example) <AND>, <STK>, <INSRT>
N1234 AND R0123.4
Before insertion
N1234 AND.STK
After insertion
NOTE If inserting the instruction causes the memory capacity to be exceeded, the <INSRT> key is ignored without inserting the instruction.
4 Deleting the ladder program
(a) Enter <–9999>.
(b) Press the <DELET> key.
The whole ladder program is deleted.
1 Press the <CAN> or <WRITE> key.
2 ”EXECUTING” is displayed.
N0001 EXECUTING
3 The PMC editing menu appears.
11.4.4 Ending Ladder Mnemonics Editing
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11. PMC PROGRAMMER (DPL/MDI) (ONLY FOR THE Power
Mate–D/F/H)PMC PROGRAMMER (CRT/MDI)
529
NOTE 1 If the sequence program contains an error, the PMC editing
menu is not displayed but an error message appears on the screen. (Example) Error message
Pressing the <↑> or <↓> cursor key displays the ladder mnemonics editing screen.
2 Pressing the <POS>, <PRGRM>, <VAR>, <DGNOS/PARAM>, or <ALARM> key during the editing of the sequence program displays the CNC screen by forcibly terminating editing even if the program contains an error.
3 If the PMC parameter keep relay K19#0 is set to 1, the screen for writing a sequence program to flash ROM is displayed upon the completion of editing. (This is applicable to the Power Mate–H only).
Write a sequence program into flash ROM as explained in Section 11.7.
END FUNCTION MISSING
DEVICE=F–ROM >WRITE Y/N [YES]
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11. PMC PROGRAMMER (DPL/MDI) (ONLY FOR THE Power Mate–D/F/H) B–61863E/10PMC PROGRAMMER (CRT/MDI)
530
Selecting RUN/STOP on the PMC programmer menu displays the sequence program start/stop screen.
1 Display the PMC programmer menu.
2 Display the RUN/STOP item by pressing the <↓> or <↑> key.
PMC PRG MENU 1/3 >RUN/STOP
3 Press the <INPUT> or <READ> key. The sequence program start/stop screen appears.
LADDER RUN/STOP MONITOR [RUN]
4 The current execution state of the sequence program is displayed on the screen. Pressing the <↓> or <↑> key switches the state between running and stopped.
5 Pressing the <CAN> or <WRITE> key displays the PMC programmer menu.
NOTE When the sequence program cannot be started(RUN), the alarm of PMC occurred. Please confirm the alarm status referring to ”11.11 Error List”.
11.5 STARTING AND STOPPING THE SEQUENCE PROGRAM (RUN/STOP)
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11. PMC PROGRAMMER (DPL/MDI) (ONLY FOR THE Power
Mate–D/F/H)PMC PROGRAMMER (CRT/MDI)
531
Displayed error message Error description (operator action)
1 COIL NOTHING No coil is specified for a functional instruction using a coil.
2 COM FUNCTION MISSING The use of the COM (SUB9) functional instruction is incorrect.
3 END FUNCTION MISSING The END1 or END2 functional instruction is missing (or ERROR NET).
4 JUMP FUNCTION MISSING The use of the JMP (SUB10) functional instruction is incorrect.
5 LADDER BROKEN The ladder program is corrupted.
6 OBJECT BUFFER OVER The user program RAM is full. (Note) (Perform condensation or reduce the size of the ladder program.)
7 PLEASE CLEAR ALL The sequence program has become unrecov- erable due to power–off during editing.
8 1ST LEVEL EXEC TIME OVER The ladder first level is too great.
NOTE Use a memory card for ladder diagram editing or the CONDENSE function of FAPT LADDER (for personal computers). These methods may, however, not be effective.
11.6 ERROR MESSAGES (FOR LADDER MNEMONICS EDITING)
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11. PMC PROGRAMMER (DPL/MDI) (ONLY FOR THE Power Mate–D/F/H) B–61863E/10PMC PROGRAMMER (CRT/MDI)
532
Selecting I/O on the PMC programmer menu displays the screen for storing the sequence program into flash EEPROM. Before attempting to store the sequence program into flash EEPROM, place the CNC in the emergency stop state.
(1) Display the PMC programmer menu.
(2) Display the I/O item by pressing the <↓> or <↑> key.
PMC PRG MENU 4/4 >I/O
(3) Press the <INPUT> or <WRITE> key. The sequence program storage screen appears. Pressing the <↓> or <↑> key switches display between [YES] and [NO].
DEVICE=F–ROM >WRITE!Y/N[YES]
DEVICE=F–ROM >WRITE!Y/N[NO ]
<↑>
<↓>
(4) When [NO] is displayed, pressing the <INPUT> key displays the sequence program storage screen. When [YES] is displayed, pressing the <INPUT> key starts writing the sequence program into flash EEPROM. ”EXECUTING” is displayed during writing.
WRITE TO F–ROM EXECUTING
”EXECUTING” BLINKS.
Once the sequence program has been written normally, ”COMPLETE” is displayed.
WRITE TO F–ROM COMPLETE
NOTE If an error occurs, an error message appears on the screen.
Example error message
NOT EMG STOP
To return to the sequence program storage screen, press the <↑> or <↓> key.
(5) Pressing the <CAN> key displays the PMC programmer menu.
11.7 STORING THE SEQUENCE PROGRAM INTO FLASH EEPROM (I/O) (ONLY FOR THE Power Mate–H)
Example
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11. PMC PROGRAMMER (DPL/MDI) (ONLY FOR THE Power
Mate–D/F/H)PMC PROGRAMMER (CRT/MDI)
533
The table below lists the details of the errors which may occur during storage into F–ROM using the DPL/MDI (only for the Power Mate–H).
Error message Description
PROGRAM DATA ERROR
The ladder data in RAM is invalid. Alternatively, there is no RAM or ROM.
SIZE ERROR The program exceeds the maximum size which can be written into F–ROM.
NOT EMG STOP The CNC is not in the emergency stop state.
OPEN ERROR The OPEN processing has failed.
ERASE ERROR The ERASE processing has failed. The F–ROM cannot be erased. Alternatively, the F–ROM is defective.
WRITE ERROR The WRITE processing has failed. The F–ROM cannot be written. Alternatively, the F–ROM is defective.
11.8 ERROR DETAILS
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11. PMC PROGRAMMER (DPL/MDI) (ONLY FOR THE Power Mate–D/F/H) B–61863E/10PMC PROGRAMMER (CRT/MDI)
534
� Method of Inputting/Outputting Ladder
(1) Select “Diagnose screen” by key in <DGNOS> key.
(2) Key in <READ>key or <WRITE> key.
(3) Turn on <F8> key from the office programmer menu screen, and key in menu number “5<NL>” or “3<NL>”.
� Method of Inputting Ladder and PMC–Parameter.
(1) Select “Diagnose screen” by key in <DGNOS>key.
(2) Key in <NO.>key and optionally key in [File No.].
(3) Key in <READ>key.
CAUTION In case of input PMC–Parameter, it is necessary to set following conditions. (a)Emergency stop condition, and NC–Parameter PWE=1. (b)Stop condition the Ladder program.
� Method of Outoutting Ladder.
(1) Select “Diagnose screen” by key in <DGNOS>key.
(2) Key in <NO.>key and optionally key in [Files No.].
(3) Key in <WRITE>.
� Method of Outputting PMC–Patameter.
(1) Select “PMC STATUS screen” by key in <DIGNOS>key.
(2) Key in <No.> key and optionally key in [File No.].
(3) Key in <WRITE>.
CAUTION In case of output PMC–Parameter, it is necessary to set following condition. (a)Edit mode. (b)Stop condition the Ladder program.
11.9 INPUT/OUTPUT LADDER/PMC–PARA METER BY MDI/DPL
11.9.1 Input/Output Method to Office Programmer (P–g Mate/Mark II) (Fixed 9600bit/Sec.)
11.9.2 Input/Output Method to FANUC FLOPPY CASSETE (Fixed 4800bit/sec.)
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B–61863E/10
11. PMC PROGRAMMER (DPL/MDI) (ONLY FOR THE Power
Mate–D/F/H)PMC PROGRAMMER (CRT/MDI)
535
The on–line debugging function enables the monitoring and modification of ladder programs and signal status on personal computer’s screen using a personal computer connected to the Power Mate through an RS–232C cable.
FANUC FAPT LADDER–II is necessary to use the on–line debugging function. (This software is a programming system for developing FANUC PMC sequence programs which operate on IBM PC/AT and compatible computers.)
Software name Specification Personal computer
FAPT LADDER–II A08B–9201–J503 IBM PC/AT and compatible
In this section, only the parameter of on–line monitor driver for Power Mate–H and attention in use is described. Other points(connection of cable with personal computer, details of the operation, etc.) are described in the following manual.
Name of Manual Spec.No. Reference Items
FAPT LADDER–II OPERATOR’S MANUAL B–66184EN On–line function
When using the on–line debugging function to connect a personal computer to the PMC, first start the driver that provides the communication function of the PMC. When starting or stopping the driver, it is necessary to set either of the following parameters.
� Parameter screen for on–line monitor(�PARAMETERS FOR ONLINE MONITOR�)
Pressing the [MONIT] then [ONLINE] soft keys on the PMC menu screen causes the on–line monitor parameter screen to appear.
Parameter�RS–232C� = �USE� : On–line monitor driver is used.
�NOT USE�: On–line monitor driver is not used.
NOTE The CRT/MDI is necessary when the parameter is set on the ”PARAMETERS FOR ONLINE MONITOR” screen.
� Parameter in the Power Mate–H (No.0101#6)
#7 #6 #5 #4 #3 #2 #1 #0
0101
#6 = 0 : On–line monitor driver is not used. 1 : On–line monitor driver is used.
When either of the following conditions consists, the on–line monitor driver is started.
�Parameter ”RS–232C” is ”USE”
�Bit 6 of parameter No.0101 is ”1”
11.10 ON–LINE DEBUGGING FUNCTION (ONLY FOR Power Mate–H)
11.10.1 Starting and Stopping the On–line Debugging Function
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11. PMC PROGRAMMER (DPL/MDI) (ONLY FOR THE Power Mate–D/F/H) B–61863E/10PMC PROGRAMMER (CRT/MDI)
536
CAUTION 1 The on–line monitor driver occupies the line while it is
operating. In this state, other input/output functions cannot use the line. If other input/output functions use the line, it is necessary to display the above–mentioned parameter and stop the on–line monitor driver.
2 While the on–line monitor driver is operating, the following functions cannot be used. �[PMCLAD], [I/O], [EDIT], [SYSPRM] on CRT/MDI �[EDIT], [SYSTEM PARAM], [I/O] on DPL/MDI
3 In case of operating NC, the screen display of NC(Position, etc.) might be slow when using input/output functions(Load from PMC, Store to PMC, etc.). There is no problem in the operation of NC. It is recommended to using input/output functions while NC is not operating.
4 When the screen made by C language executor is displayed, the communication speed decreases. It is recommended to use input/output functions after moving to other screens(Position, etc.).
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11. PMC PROGRAMMER (DPL/MDI) (ONLY FOR THE Power
Mate–D/F/H)PMC PROGRAMMER (CRT/MDI)
537
If in alarm is issued in the PMC, the alarn message is displayed on the CRT (PMC ALARM MESSAGE screeen). But in case of DPL/MDI, it is displayed only by R–relay status (ON or Off). Refer to the “APPENDIX L.ALARM MESSAGE LIST” for more information.
(1) Error ststus at power on or PROGRAM DOWN LOAD.
0
1 ER01 PROGRAM DATA ERROR (RAM)
2
3 ER03 PROGRAM SIZE ERROR (OPTION)
4 ER04 LADDER OBJECT TYPE ERROR
5
6
7 ER07 NO OPTION (LADDER STEP)
R9044
7 6 5 4 3 2 1 0
0 ER16 RAM CHECK ERROR (PROGRAM RAM)
1 ER17 PROGRAM PARITY
2 ER18 PROGRAM DATA ERROR BY I/O
3 ER19 LADDER DATA ERROR
4 ER20 SYMBOL/COMMENT DATA ERROR
5 ER21 MESSAGE DATA ERROR
6 ER22 PROGRAM NOTHING
7 ER23 PLEASE TURN OFF POWER
R9046
7 6 5 4 3 2 1 0
11.11 ERROR LIST
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IV. STEP SEQUENCE FUNCTION
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B–61863E/10 1. GENERALSTEP SEQUENCE FUNCTION
541
1 GENERAL
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1. GENERAL B–61863E/10STEP SEQUENCE FUNCTION
542
The ladder method is most often used for programming the sequence control governed by a programmable controller. This method, shown in Fig.1.1(a) , was derived from relay-panel control circuits. Since it has been in use for years, many sequence control engineers are already familiar with it. This method is also used in PMC sequence programming.
����1.1 (a) Ladder method
The greater the number of functions implemented by the PMC for a CNC system, the larger and the more complicated the sequence program becomes. A large-scale system requires a larger program and a greater number of processes, making it hard for the ladder method to control the overall process. This is because the ladder method does not describe the order of control. While the ladder method is suitable for describing partial control, it is hard to apply it to the description of the flow of control overall.
To overcome this problem, structured programming has been introduced into sequence control. A PMC that supports the subprogram function enables the use of modular programs. As shown in Fig.1.1(b), a large-scale program is divided into subprograms for each function, simplifying the unit of processing. Since the programmer determines how to divide the main program into subprograms and the control flow used to call the subprograms, however, the programs are not necessarily easy-to-understand by other programmers.
CALL
CALL
Subprogram Subprogram
����1.1 (b) Module method
1.1 STEP SEQUENCE METHOD
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B–61863E/10 1. GENERALSTEP SEQUENCE FUNCTION
543
Given these conditions, a step sequence method has been created to describe programs structurally. It is well-suited to the control of entire processes and provides an easy-to-understand visualized flow of the process. The step sequence programming features the direct representation of the control flow on a flow chart, as shown in Fig.1.1(c). Each block of processing is described as a subprogram, using the ladder method. The entire program is then created by combining these subprograms.
Transition
Step 1
Step 2
Subprogram of ladder diagram
Drawing flow
����1.1(c) Step sequence method
The step sequence method has the following features:
(1) Increased programming efficiency � Since the flow of processes can be programmed directly, simple,
correct programming is enabled, reducing the time required for programming.
� Even for complicated control, programming proceeds from the main flow to detailed flow in each process, creating a structured, top-down program, which is easy-to-understand by persons other than the original creator.
� Structured modules can be used again easily. (2) Easy debugging and maintenance � Graphical display enables the operator to easily understand the
execution state of a program visually. � Erroneous steps in a program can be found easily. � A part of a program can be easily modified.
(3) High-speed program � Since only the subprograms required for a certain process are
executed, the cycle time is reduced. (4) Transition from ladder programs � Since steps and transitions consist of conventional ladder programs,
conventional ladder programs can be converted to new step sequence programs, without discarding ladder-program resources.
In step sequence programming, a sequence control program is divided into two types of subprograms, steps and transitions. Steps describe processes. Transitions connect steps and determine whether the transition conditions from one step to another evaluate true. As shown in Fig.1.1(d), a step sequence program is described using graphical symbols.
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1. GENERAL B–61863E/10STEP SEQUENCE FUNCTION
544
[ ] Step A
Transition B
Starts execution. Waits for machining request. (Process 1)
Machining request? �When machining is requested
Step C
Transition D Loading completed? �Once loading has been completed
Step E
Transition F Machining completed? �Once machining has been completed
Step G
Transition H Unloading completed? �Once unloading has been completed
Step I
Holds a workpiece on the pallet. (Process 2)
Machines the workpiece. (Process 3)
Unloads the workpiece to the pallet. (Process 4)
Moves the pallet. (Process 5)
����1.1 (d) Example of machining the workpiece
As shown in this example, the program flow from process 1 through process 5 is expressed visually. Detailed programs related to the movements performed aspart of each process, and the signals used for determining whether transition conditions for proceeding to the next step are satisfied, are not described here. To program complicated control flows, many other functions are supported, such as divergence, jump, and nesting functions. The details of these functions are described later.
Step sequence programming is suitable for creating programs which control processes sequentially. Programs used for controlling a unit which operates according to a certain sequence, such as a loader, ATC, and other peripheral units, are best suited to step sequence programming. For programs which control units with no particular sequence, such as that of the operator’s panel which is always monitoring the emergency stop signal or mode signals, however, are not well-suited to step sequence programming. The PMC supports the advantages of both methods, ladder and step sequence programming, by calling subprograms written according to a step sequence and those written as a ladder, from the main program.
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B–61863E/10 1. GENERALSTEP SEQUENCE FUNCTION
545
This manual uses the graphical symbols listed in Table 1.2 to describe step sequence flowcharts. Depending on the character font being used, the actually displayed symbols may differ slightly from those listed here. These graphical symbols are described in the subsequent chapters.
����� 1.2 List of graphical symbols
Display of Display
Contents Display of
programming manual CNC Device
FAPT LADDER of Personal Computer
Step
Sn Sn Sn
Initial Step [ ] Sn [ ] Sn [ ] Sn
Transition Pn Pn Pn
Divergence of Selective Sequence
Convergence of Selective Sequence
Divergence of Simultaneous Sequence
Convergence of Simultaneous Sequence
Jump
→ Ln > Ln > Ln
Label
→ Ln < Ln < Ln
Block Step ] Sn ] Sn ] Sn
Initial Block Step [ ] Sn [ ] Sn [ ] Sn
End of Block Step
1.2 GRAPHICAL SYMBOLS
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1. GENERAL B–61863E/10STEP SEQUENCE FUNCTION
546
Follow the procedure below to create a step sequence program. Use a personal computer on which the FAPT LADDER software package is installed to code (edit) a program. Use a CNC to execute, debug and correct the ladder subprogram.
(1) Create step sequence program (editing)
(2) Create a subprogram of ladder diagram (editing)
(3) Compile
(4) Transfer to the CNC device (with the memory card or RS232C)
(5) Write to the FlashROM
(6) Execute
(7) Diagnosis and debugging
(8) Correct a subprogram of ladder diagram (editing)
Personal Computer
FAPT LADDER
software (5) Write to the FlashROM
PMC- RB4/RB6/ RC4/NB2
�
RS232C
Memory
card
CNC device
(4) Transfer to the CNC device
FlashROM
(1) Create Step Sequence program
(editing)
(2) Create a subprogram of ladder
diagram (editing)
(3) Compile
(6) Execute
(7) Diagnosis and debugging
(8) Correct a subprogram of ladder diagram (editing)
����1.3 Programming to create a program
Table1.3 lists the step sequence functions supported by a personal computer (on which the FAPT LADDER software package is installed) and CNC.
1.3 PROGRAMMING
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B–61863E/10 1. GENERALSTEP SEQUENCE FUNCTION
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����� 1.3 Step sequence functions
� : usable
Functions PMC-RB4/RB6 PMC-RC4 PMC-NB2
FAPT LADDER
of PERSONAL COMPUTER
Display and edit of a program
� Display of subprogram list � � � � � Create a new subprogram � � Delete a subprogram � � Edit a subprogram of StepSequence form
�
� Edit a subprogram of ladder diagram � � � � � Compile � � Decompile �
Input and output
� Input and output with a memory card � � � � � Input and output with RS232C � � � � � Write to a FlashROM � � �
Execution of program
� execution of a ladder diagram � � � � execution of Step Sequence program � � �
Diagnosis and debugging (note1)
� Diagnosis of Step Sequence program � � � � Diagnosis of a ladder diagram � � � � Set and display a monitoring timer � � �
NOTE While step sequence functions are being used, some of the diagnosis and debug functions supported by the ladder method cannot be used. For details, see 6.4 (Support Functions).
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2. STEP SEQUENCE BASICS B–61863E/10STEP SEQUENCE FUNCTION
548
2 STEP SEQUENCE BASICS
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B–61863E/10 2. STEP SEQUENCE BASICSSTEP SEQUENCE FUNCTION
549
A step sequence program is created using a variety of graphical symbols, as shown in Fig.2.1(a). The main terms used in the step sequence are described below.
L1 (Jump)
(Block)
[ ] S1 (Initial Step)
L1 (Label)
P100 (Transition)
S2 (Step)
P101 (Transition)
S3
(Divergence of Selective Sequence)
(Divergence of Simultaneous Sequence)
(Convergence of Simultaneous Sequence)
(Convergence of Selective Sequence)
] S10 (Block Step)
����2.1(a) Step sequence elements
2.1 TERMINOLOGY
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2. STEP SEQUENCE BASICS B–61863E/10STEP SEQUENCE FUNCTION
550
(1) Step
Sn (Pm)
A step indicates a process, which is the basic processing unit in a step sequence program. In a step, specify the S address (Sn), which is a step number, and P address (Pm), which indicates a subprogram (action program) specifying the details of processing in each step.
(2) Step state transition
When a step sequence program is executed, the process proceeds as program processing advances, the state of each step changs accordingly. Each step can assume any of the logical states listed in Table 2.1, its state changes as shown in Fig.2.1(b). Activation refers to the changing of a step from the inactive state to the active state. Inactivation refers to the changing of a step from the active state to the inactive state.
��� � 2.1 Step state
State Processing Display
Active Execution Activated step. The action program (subprogram) is being executed.
Sn
Inactive Transition to halt
Transition from execution to halt. The action program (subprogram) is executed once only, then the step automatically transits to halt.
Sn Halt Not activated state.
The action program (subprogram) has not yet been executed.
Sn
Inactivate (halt status)
Activate (active status)
Inactivate (transition to halt)
� ��2.1(b) Step state transition
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B–61863E/10 2. STEP SEQUENCE BASICSSTEP SEQUENCE FUNCTION
551
(3) Transition
Pn
A transition denotes the transition conditions. When these evaluate true, the step of the corresponding state changes from the inactive to active state or vice the reverse. Specify the P address (Pn), which indicates a subprogram describing the transition conditions in detail.
As shown in Fig.2.1(c), step S2 changes its state from inactive to active when the conditions described in transition P10 evaluate true, while step S2 changes its state from active to inactive when the conditions described in transition P20 evaluate true.
Executing step1 Executing step2 Executing step3
S1 (step 1) S1 (step1) S1 (step1)
P10 (Condition is true)
S2 (step2)
P20 P20 (Condition is true)
S3 (step3)
P10
S2 (step2)
S3 (step3)
P20
P10
S2 (step2)
S3 (step3)
����2.1(c) Transition of step state by the transition
Note that the step immediately before a transition must be active in order to switch the next step from inactive to active when the conditions specified in the transition evaluate true. As shown in Fig.2.1(d), step S3 does not change to the active state, even when transition P20 evaluates true, if step S1 is active and step S2 is inactive. An active state passes from a certain step to the next step when the corresponding transition conditions evaluate true, the execution of the step sequence program advancing one step.
Executing step1 Executing step1
S1 (step1) S1 (step1)
P10
S2 (step2)
P20 (Condition is true)
P20
S3 (step3)
P10
S2 (step2)
S3 (step3)
����2.1(d) Transition of step state by transition
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2. STEP SEQUENCE BASICS B–61863E/10STEP SEQUENCE FUNCTION
552
(4) Initial Step
[ ] Sn (Pm)
While a normal step can be activated by a transition, the initial step is activated automatically when execution of the program starts, as shown in Fig.2.1(e).
Stopping program (STOP) Executing program (RUN)
S1 (step1) S1 (step1)
P10
S2 (step2)
P20 P20
S3 (step3)
P10
S2 (step2)
S3 (step3)
[ ] [ ]
����2.1(e) Activate of initial step
Although the initial step, which is usually executed first, is often placed at the top of a program, it can also be specified at some point within a program. It is always activated first. After being deactivated once, it can be subsequently be activated again. In this case, it acts in the same way as a normal step.
(5) Divergence and Convergence of Selective Sequence
To describe a complicated sequence, selective sequences can be used. A selective sequence offers multiple choices, from among which the condition becomes true first activates the corresponding step, as shown in Fig.2.1(f). The divergent paths join to generate the mai sequence.
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B–61863E/10 2. STEP SEQUENCE BASICSSTEP SEQUENCE FUNCTION
553
S1
(Divergence of selective sequence)
P23P21 P22 S21 S22 S23
(Convergence of selective sequence)
When transition P21 evaluates true
�
When transition P22 evaluates true
�
S1
(true)
S21 S22 S23
S2
(true)
S21 S22 S23
����2.1(f) Selective sequence
(6) Divergence and Convergence of Simultaneous Sequence
A Simultaneous sequence can be used to execute multiple processes simultaneously. In a Simultaneous sequence, as shown in Fig.2.1(g), one transition activates multiple steps. The activated multiple steps are executed independently. Once all steps along the multiple paths have been completed, the divergent paths join to generate the main sequence.
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2. STEP SEQUENCE BASICS B–61863E/10STEP SEQUENCE FUNCTION
554
(Divergence of simultaneous sequence)
(Convergence of simultaneous sequence)
S21 S22 S23
S31 S32 S33
S4
P10 S1
When transition P10 evaluates true
�
S21 S22 S23
S31 S32 S33
S4
P10 (true) S1
����2.1(g) Simultaneous sequence
(7) Jump and Label
The jump function is used to describe a non-serial sequence, such as a repeated loop. As shown in Fig.2.1(h), when a jump designation is activated, the sequence jumps to the step having the corresponding jump destination label, after which that step is activated. To specify a label number, the L address is used in the same way as a jump instruction in ladder programming. A jump can be made to a previous or subsequent step.
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B–61863E/10 2. STEP SEQUENCE BASICSSTEP SEQUENCE FUNCTION
555
Executing step3 Executing step1
P10 P10
P20 P20
L1 (Jump)
L1 L1 (Label)
S1 (step1)
P30 (Condition ��� is true)
P30
L1
S1 (step1)
S2 (step2) S2 (step2)
S3 (step3) S3 (step3)
����2.1(h) Jump and Label
(8) Block
A block refers to a group of consecutive steps and transitions. A block can be a step sequence program. The more complicated the sequence becomes, the larger and more complex the block is. A program can be divided into multiple blocks in the same way as for subprograms in ladder programming, based on the concept of modular programming. Each block is identified by a P address, which corresponds to the subprogram number in ladder programming.
A block is executed as the main program in a step sequence, or called from another step sequence program as a subprogram.
Block (P1) Block (P2)
[ ] [ ]
����2.1(i) Block
(9) Calling block
To execute a block as the main program in a step sequence, call the block with the CALLU (SUB 66) or CALL (SUB65) instruction in the same way as for ladder subprogram calling from the second level ladder program.
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2. STEP SEQUENCE BASICS B–61863E/10STEP SEQUENCE FUNCTION
556
CALLU P2
CALLU P3
[ ]
[ ]
Ladder (Second level) Block2 (P2)
Block3 (P3)
����2.1(j) Calling block
(10) Block step (calling step sequence program)
] Sn (Pm)
To call a block from the step sequence program as a subprogram, specify a block step in the step sequence program which calls the block, as shown in Fig.2.1(k). This is called bloc nesting.
(P2)
S231
S232
S233
Block (P1) Block (P2)
[ ]
] S23
[ ]S1
S21 S22
S3
����2.1(k) Block nesting
The program shown in Fig.2.1(k) is equivalent to in Fig.2.1(l). which does not use a block step.
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B–61863E/10 2. STEP SEQUENCE BASICSSTEP SEQUENCE FUNCTION
557
S1
S21
S232
S233
S3
Block (P1)
[ ]
S22 S231
����2.1(l) Program without block step
(11)End of block step
Use an end block step to terminate nested-block-step calling and to return to the calling sequence.
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2. STEP SEQUENCE BASICS B–61863E/10STEP SEQUENCE FUNCTION
558
First level (Ladder diagram)
Second level (Ladder diagram) CALL
Third level (Ladder diagram)
END1 (SUB 1) function
CALL
END2 (SUB 2) function
END3 (SUB 48) function
Subprogram P1 (Ladder diagram)
Subprogram P2
(Step sequence)
Subprogram P3 (Ladder diagram)
Subprogram P4
(Step Sequence)
[ ]
[ ]
Subprogram Pn
END (SUB 64) function
� �
Editing (source program)
Compile Executing (ROM format program)
����2.2(a) Structure of program
2.2 EXECUTION OF STEP SEQUENCE
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B–61863E/10 2. STEP SEQUENCE BASICSSTEP SEQUENCE FUNCTION
559
In the step sequence method, a program is created (edited) in units of subprograms. The edited source program is compiled andconverted to an executable ROM-format program, thenlinked, as shown in Fig.2.2(a). A ROM-format program is a kind of a modular program, created using conventional subprograms. A step sequence block is also a type of a subprogram. Step sequence blocks are linked to the end of the first level to third level ladder programs, together with other ladder subprograms.
In the same way as in the ladder method, a program is activated at certain intervals, namely every 8 ms, as shown in Fig.2.2(b). The first level and second level ladders are executed for a certain period (T ms), then the third level ladder is executed for the remaining time. The period in which the first level and second level ladders are executed varies with the PMC model and the setting of the system parameter (LADDER EXEC). Whether the third level ladder can be used depends on the PMC model.
8msec 8msec 8msec
T msec T msec T msec
�division �division �finished
First level
Second level
Third level (depends on the PMC model)
tn-8 tn+0 tn+8 tn+16
����2.2(b) Execution of program cyclically
After the first level ladder has been executed, the second level ladder i executed for the remaining time. If the second level ladder cannot be fully executed within one execution period, it is suspended part-way, with the remainder being executed in the nextperiod. This type of execution is called divided execution. Where the second level ladder is divided varies with the execution time of the first level ladder and that of the executed instructions of the second level ladder. Divided execution is divided into two types, divided system and undivided system. In the divided system, the position where the second level ladder is divided is determined in advance, a divided instruction code being inserted at that position. In the undivided system, in contrast, where the second level ladder is divided is not determined in advance, the ladder being automatically divided upon the determined period elapsing. A PMC which allows step sequence programming executes the second level ladder in undivided system.
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2. STEP SEQUENCE BASICS B–61863E/10STEP SEQUENCE FUNCTION
560
In divided execution, the second level ladder is executed at an interval that is a multiple of 8 ms (e. g., 8, 16, 24 ms). Input signals referenced in the second level ladder, such as addresses X and F, are refreshed in synchronization with the execution period for the second level ladder, so that they do not change during the execution.
All subprograms, created using either the ladder or step sequence method, are called from the second level ladder. Hence, the execution time of the second level ladder includes those of ladder subprograms, step sequence programs (blocks), steps, and transitions. Since only the activated step and the transition which checks the transition condition from the step to the next step are executed in a step sequence program, the second level ladder is executed much more frequently than may be expected from the total number of steps.
P4
P6
R0. 0
LEVEL1 (Ladder diagram)
LEVEL2 (Ladder diagram)
CALLU P2
CALL P1
LEVEL3 (Ladder diagram)
P1 (Ladder diagram)
P2 (Step sequence)
L1
S1 (P3)
S2 (P5)
P3 (Ladder diagram)
P4 (Ladder diagram)
[ ]
L1
����2.2(c) Execution of step sequence
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B–61863E/10 2. STEP SEQUENCE BASICSSTEP SEQUENCE FUNCTION
561
In the step sequence program shown in Fig.2.2(c), when step S1 is activated, subprograms are executed according to the timing illustrated in Fig.2.2(d).
Third level
Subprogram
Step
8msec
T msec
LEVEL1
LEVEL2
P2 P1
P3 P4
Transition
LEVEL3
First level
Second level
����2.2(d) Timing of execution of step sequenceprogram
In this case, step sequence program P2, step P3, transition P4, and ladder subprogram P1 are executed. Step P5 and transition P6 are not executed.
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3. CONFIGURATION AND OPERATION OF STEP-SEQUENCE PROGRAMS B–61863E/10STEP SEQUENCE FUNCTION
562
3 CONFIGURATION AND OPERATION OF STEP- SEQUENCE PROGRAMS
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3. CONFIGURATION AND OPERATION OF STEP-SEQUENCE
PROGRAMSSTEP SEQUENCE FUNCTION
563
A step is a unit of processing in a program.
[Display]
Sn (Pm)
[Contents]
� Define a step number (Sn), necessary for controlling execution, and subprogram number (Pm) specifying actua processing, for a step.
� Assign a step number to a step.
� The same step number cannot be used twice in a program.
� A step has three logical states: the execution, transition to halt, and halt states. The execution state is also called the active state. The transition to halt and halt states are collectively called the inactive state.
State Contents of operation Display Sn.0note1)
Activate Execution Activated step. The action program (subprogram) is being executed.
Sn 1
Inactivate Transition to halt
Transition from execution to halt. The action program (subprogram) is executed once only, then the step automatically transits to halt.
Sn 0
Stop Not activated state. The action program (subprogram) has not yet been executed. Sn
0
NOTE Sn. 0 Refer to 4.(2)
Example) State transition of Step B
Transition A
Inactivate (halt state)
Step B Transition A
Transition C Activate (execution state)
Transition C
Inactivate (transition to halt)
(Execute one time)
3.1 STEP
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3. CONFIGURATION AND OPERATION OF STEP-SEQUENCE PROGRAMS B–61863E/10STEP SEQUENCE FUNCTION
564
[Example]
After the M7 code is decoded, control is transferred to the next step using a DEC functional instruction.
DEC F0
711
F7.0
S1 (P1) Subprogram P1
MF R0.0
�
P101 Subprogram P101
R0.0
TRSET
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B–61863E/10
3. CONFIGURATION AND OPERATION OF STEP-SEQUENCE
PROGRAMSSTEP SEQUENCE FUNCTION
565
An initial step is automatically activated when execution of the program starts. Once it has been activated, it operates in the same way as a normal step. The program can be returned to this step through other steps.
[Display]
[ ] Sn (Pm)
[Contents]
� Define a step number (Sn), necessary for controlling execution, and subprogram number (Pm) specifying the actual processing, for an initial step.
� All initial steps are activated when the other steps are not activated.
� Each block must contain at least one initial step. No limit is applied to the number of initial steps contained in a block.
� A block having no initial step cannot be executed if called.
� Assign a step number to an initial step.
� The same step number cannot be used more than once in a program.
� In parallel branch, one initial step is required for each path. (See example 2.)
[Example1]
[ ] L1
S1
P101
S2
P102
L1
When a program is executed, step P1, specified by an initial step, is activated first.
Initial step S1 is executed in the same way as normal step once S1 has been executed.
3.2 INITIAL STEP
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3. CONFIGURATION AND OPERATION OF STEP-SEQUENCE PROGRAMS B–61863E/10STEP SEQUENCE FUNCTION
566
Example2
[ ]
L1
S4
P110
L1
When a program is executed, steps S3 and S4, specified by an initial step, are activated first.
Once steps S3 and S4 have been executed, initial steps S3 and S4 are executed in thesame way as normal step when the program starts from step S1.
S1
P101
S2
P102
[ ]
S5
S3
P103
A transition specifies the conditions governing the transition from the step to the next step.
[Display]
Pn
[Contents]
� Only one transition is required between steps.
� Transition between steps is performed as described below.
S1
P102
P101
S2
While S1 is activate, only S1 and P101 are executed. Other steps and transition are not executed. When the transition P102 evaluates true unles S2 is not being executed, the state is ignored.
When the transition P101 evaluates true, control passes fro S1 to S2. In this case, when the condition i true, S1 is terminated regardless of the state of S1, and S2 is activated.
� When a signal is set to 1 in a transition, it remains the state even if the control is transferred to the subsequentstep. To set the signal to 0, use another subprogram to do so.
[Example]
Refer an example described on the Step function (3.1).
3.3 TRANSITION
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B–61863E/10
3. CONFIGURATION AND OPERATION OF STEP-SEQUENCE
PROGRAMSSTEP SEQUENCE FUNCTION
567
A selective sequence branches to two or more sequences. When the transition evaluates true, the corresponding step is activated.
[Display]
[Contents]
� Transitions are placed after a divergence of selective sequence.
� The step connected to the transition for which the conditions are true is first activated.
� When the conditions for any transition are true simultaneously, the leftmost step is activated.
� A selective sequence can create up to 16 paths.
[Example]
[ ] S1
P100
S2
P101
S3
When the conditions for P101 are satisfied earlier than those of P102, step S3 is activated.
It combines two or more divergent paths to the main sequence.
[Display]
[Contents]
The number of divergent paths must match that of the convergent paths.
[Example]
S2
P102
S4
P103
S3 While step S3 is executed, the transition P103 evaluates true, thus step S4 is activated.
3.4 DIVERGENCE OF SELECTIVE SEQUENCE
3.5 CONVERGENCE OF SELECTIVE SEQUENCE
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3. CONFIGURATION AND OPERATION OF STEP-SEQUENCE PROGRAMS B–61863E/10STEP SEQUENCE FUNCTION
568
A simultaneous sequence branches to two or more sequences, and all steps are activated simultaneously.
[Display]
[Contents]
� A transition must be placed before a divergence of simultaneous sequence.
� All branched steps are activated simultaneously, then executed.
� A simultaneous sequence can create up to 16 paths.
[Example]
[ ] S1
P101
S2 S3
When the transition P101 evaluates true, step S2 and S3 are activated simultaneously.
3.6 DIVERGENCE OF SIMULTANEOUS SEQUENCE
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3. CONFIGURATION AND OPERATION OF STEP-SEQUENCE
PROGRAMSSTEP SEQUENCE FUNCTION
569
It combines two or more divergent paths to the main sequence.
[Display]
[Contents]
� A convergence of simultaneous sequence is processed as follows.
S10
P120
S21
When the transition P120 evaluates true, step S10 and S20 are terminated and step S21 is activated.
S20
� Wait processing is processed as follows. case1 )
S10
P109
S20
When the transition P109 evaluates true unless both of step S11 and S16 are active, control does not pass to step S20.
When the transition P109 evaluates true while both of S11 and S16 are active, S11 and S16 are terminated and S20 is activated. In the case, P109 provides the termination conditions for both S11 and S16.
P110
S11
S15
P115
S16
case2 )
S11
P110
S20
To specify the termination conditions for S11 and S16 separately, place the condi- tions in P111 and P116 and specify two dummy steps, S12 and S17, as shown
A dummy step also requires a step number and subprogram number. Alsospecify a dummy transition condition, which becomes always true, in P110.
P111
S12 (dummy)
S16
P116
S17 (dummy)
3.7 CONVERGENCE OF SIMULTANEOUS SEQUENCE
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3. CONFIGURATION AND OPERATION OF STEP-SEQUENCE PROGRAMS B–61863E/10STEP SEQUENCE FUNCTION
570
A jump controls the execution of steps non-sequentially, together with a transition.
[Display]
Ln
[Contents]
� Specify a jump destination label (Ln).
� The step to which control is transferred (jumped) is activated.
� The jump destination must be within the same program.
� A jump cannot be performed from outside a simultaneous sequence to within the simultaneous sequence, or from within a simultaneous sequence to outside.
� A jump cannot be performed between parallel-branched paths.
[Example]
[ ] S1
P101
S2
When steps S4 and S5 ar executed and the transition P110 evaluates true, the program is repeated from initial step S1.
L1
P102
S4
P110
L1
S3
P103
S5
A label specifies the jump destination.
[Display]
Ln
[Contents]
Specify the jump destination label (Ln).
[Example]
Refer to an example described on the jump function (3.8).
3.8 JUMP
3.9 LABELww
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3. CONFIGURATION AND OPERATION OF STEP-SEQUENCE
PROGRAMSSTEP SEQUENCE FUNCTION
571
A block step specifies the step sequence subprogram to be executed.
[Display]
] Sn (Pm)
[Contents]
Define a step number (Sn), which controls the execution of a bloc step, and a sub-program (Pm) specifying the actual process, for a block step.
NOTE � Assign a step number to a block step. � The same step number cannot be used twice in a program. � A transition must be placed after a block step.
Example)
� Transition P102 cannot be omitted due to the syntax of the step sequence method. Specify a dummy transition, which becomes always true, for transition P102.
� Transition P121 must specify the transition condition for the termination of the step S21. � When the conditions of transitions P102 and P121 are switched, step S21 will not be correctly
executed.
]
S1
P101
S2 (P2)
P102
S3
P2
S20
P120
S21
P121
equal
S1
S3
S20
P120
S21
P121
P101
3.10 BLOCK STEP
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3. CONFIGURATION AND OPERATION OF STEP-SEQUENCE PROGRAMS B–61863E/10STEP SEQUENCE FUNCTION
572
This is an initial step on the block step.
[Display]
[ ] Sn (Pm)
[Contents]
� Define a step number (Sn), necessary for controlling execution, and subprogram number (Pm)specifying the actual processing, for an initial step.
� This step has the same function and graphical symbol asan initial step.
This terminates a block step.
[Display]
[Contents]
� Use this step to terminate a block step.
� Each block requires at least one end block step. No limit is applied to the number of end block steps.
[Example]
P103P100
P102
S2
[ ] S1
3.11 INITIAL BLOCK STEP
3.12 END OF BLOCK STEP
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B–61863E/10 4. EXTENDED LADDER
INSTRUCTIONSSTEP SEQUENCE FUNCTION
573
4 EXTENDED LADDER INSTRUCTIONS To enable the specification of steps and transitions, the components of a step sequence program, by means of the ladder method, the following signals and functional instructions are provided. These signals and instructions can only be used in subprograms in which step sequence step and transitions are specified.
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4. EXTENDED LADDER INSTRUCTIONS B–61863E/10STEP SEQUENCE FUNCTION
574
[Function]
� This instruction describes that the conditions for a transition have been true.
� This instruction is used in a subprogram which is called from a transition.
[Format]
TRSET (SUB122)
ACT
[Contens]
� This address is used to read the logical state of a specified step. 0 : Transition to halt state, or halt state 1 : Execution state
� This address is used for creating a program in which detailed transitions of the execution states between steps are considered. Specify the number of the step to be read.
Example) To reference the state of the step S100 S100. 0
� This address allows any subprogram to reference the state of any step. � Data cannot be written into state signal Sn. 0. � A ladder can be configured for the TRSET transition instruction
using state signal Sn. 0. Referencing state signal Sn. 0, however, adversely affects the portability and comprehensibility. Use this feature sparingly.
[Example]
This address is used to reference the activation states of steps in a step in which this address has been specified, and performs complicated wait processing in a program including a simultaneous sequence.
P1 P4
P2 P1
Sub program S5.0
S2 TRSETS5
S1 S4
S3 S6
In case of starting the executing of S2 and S6 synchronously:
4.1 FUNCTIONAL INSTRUCTION TRSET
4.2 PMC ADDRESS (S ADDRESS)
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B–61863E/10 5. SPECIFICATION OF STEP
SEQUENCESTEP SEQUENCE FUNCTION
575
5 SPECIFICATION OF STEP SEQUENCE
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5. SPECIFICATION OF STEP SEQUENCE B–61863E/10STEP SEQUENCE FUNCTION
576
Contents/Kind of PMC PMC-RB4/RB6/RC4/NB2
Number of subprogram Up to 2000 (P1 to P2000)
Number of step Up to 1000 (S1 to S1000)
Number of label Up to 9999 (L1 to L9999)
Number of jump in block Up to 256
Nesting depth of block step Up to 8 levels
Size of block 64 lines � 32 columns
Number of paths Up to 16 paths
����
����
����
Up to 16 paths
����
����
Up to 16 paths
5.1 SPECIFICATION
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B–61863E/10 5. SPECIFICATION OF STEP
SEQUENCESTEP SEQUENCE FUNCTION
577
� One transition must exist between step and step.
S1 (P10) sub prog
CALL P10
CALL P11
Correct
S2 (P11)
S1 (P10)
S2 (P11)
P1 or S1
The step S1 calls to subprogram P10, P11.
� The transition shall never be repeated even at the point of the divergence and the convergence.
Correct
P10P2 P1
P11P2 P2
P12
S12
S2
S3
P1
S1
P10
P11
S10
S10
S1
S3
S2
S12
P10
S10
Correct
5.2 GENERAL RULES
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5. SPECIFICATION OF STEP SEQUENCE B–61863E/10STEP SEQUENCE FUNCTION
578
� When a simultaneous sequence is specified in another simultaneous sequence, one convergence must not be used for each sequence.
Correct
S5 S5 (dumy)
P1 P3
P2 P2
S3
P1
S3
S2
S4
S1S1 S2
S4
S6
� When a selective sequence is specified in a simultaneous sequence, dummy steps must be required both after the divergence and before convergence.
Correct
S4
P1
P2
P3
S1
S2
P4
P5
S3
S6
P1
S1
P2
P3
S3
P4
P5
S4
S2 (dummy)
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B–61863E/10 5. SPECIFICATION OF STEP
SEQUENCESTEP SEQUENCE FUNCTION
579
� In case of branching again immediately after the convergence, a step/transition is required between the divergence and convergence.
P2
P10
P10 P100 (dummy)
P1
S1 S2
S3 S10
Correct
S100 (dummy)
S10S3
S2S1
P11P2 P2
P100 (dummy )
S10S2
S100 (dummy)
S2
S12
P11
S10
S13
S13S12
Correct
� Immediately after the block step, a dummy transition which is always true is needed.
P10 When block step S11 is used, transition P11 and P101 cannot be omitted
note) P11 is a dummy transition. The transition condition of P11 must always be true.
P11
S100
S11
S101
S12
]
S10 [ ]
P100
P101
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5. SPECIFICATION OF STEP SEQUENCE B–61863E/10STEP SEQUENCE FUNCTION
580
� The divergence must be terminated with the same type of convergence.
P2
P3
S2
P4
P5
S3
P2
P3
S2
P4
P5
S3
P2
P3
S2 S3
P2
P3
S2 S3
Correct
Correct
� The number of convergences must match that of divergences.
CorrectS2
S4
P3
P1
S3
P2
L1 S2
S4
P3
P1
S3
P2
L1
� The number of convergences must match that of divergences, even at the end of a block step.
Correct
S2
P3
P1 P2
S2
P3
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B–61863E/10 5. SPECIFICATION OF STEP
SEQUENCESTEP SEQUENCE FUNCTION
581
� It is not possible to jump to the other subprogram.
P100
L1
P101
P11
S10
S100 P10
Sub–program P1
Sub–program P2
S101
S11
S102
S12
P20
S20
L1
� It is not possible to jump from a simultaneous sequence to another simultaneous sequence.
S1
P1
S2
P2
S3
P3
S4 L1
S10
P10
L1
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5. SPECIFICATION OF STEP SEQUENCE B–61863E/10STEP SEQUENCE FUNCTION
582
� It is not allowed to jump from inside of the simultaneous sequence to outside.
L1
L1 S1
P1
S2
P2
S3
S10
P10
S11
S20
P20
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B–61863E/10 5. SPECIFICATION OF STEP
SEQUENCESTEP SEQUENCE FUNCTION
583
The use of the following functional instructions is restricted in steps and transitions.
Group Description Functionalinstructions
A The instructions operate when a signal changes CTR (SUB5) CTRC (SUB60)
Con- dition
Multiple functional instructions having the same number are used.
CTRC (SUB60) TMR (SUB3) TMRB (SUB24) TMRC (SUB54)
Prob- lem
Not activated. Correct operation cannot be guaranteed.
TMRC (SUB54) DIFU (SUB57) DIFD (SUB58)
B Restriction due to the interface. WINDR (SUB51) WINDW (SUB52)
Con- dition
Data is input or output by using two subprograms. WINDW (SUB52) DISP (SUB49) DISPB (SUB41) EXIN (SUB40)Prob-
lem Invalid return value. Not terminated.
EXIN (SUB40)
(1) Functional instructions of group A
Since these functional instructions operate when the corresponding signals change, they may not operate correctly when called from multiplesteps.
Example)
While multiple CTR functional instructions are used, when control passes from S1 to S2 with ACT of CTR not set to off, CTR is not counted when called from step S2.
CTR 1
S1 (P100)
Subprogram P100 R0.0
( )
S2 (P100)
X1.0
Subprogram P1 X1.0
TRSET
P1
5.3 EXCLUSIVE CONTROL FOR FUNCTIONAL INSTRUCTIONS
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5. SPECIFICATION OF STEP SEQUENCE B–61863E/10STEP SEQUENCE FUNCTION
584
Correct program
Divide the subprogram so that ACT of CTR is called after it is set to off.
CTR 1
CTR 1
S1 (P100)
Subprogram P100
R0.0 ( )
S2 (P102)
X1.0
S3 (P100)
Subprogram P101
X1.0
TRSET
S4 (P102)
Subprogram P102
R9091.0
Subprogram P103 R9091.1
TRSET
P101
P103
P103
P101
R0.0 ( )
(2) Functional instructions of group B
While an instruction is being executed through the interface with the NC, other same instructions cannot be executed. PMC control software does not receive the process when the instruction is not at a same position (net).
If ACT is set to on and off in different instructions (or subprograms), these processes are not terminated.
NOTE In the window instructions (WINDR and WINDW), low-speed-type is included the functional instructions of group B.
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B–61863E/10 5. SPECIFICATION OF STEP
SEQUENCESTEP SEQUENCE FUNCTION
585
Example)
S2 (P101)
P1
S1 (P100)
Subprogram P100
R9091.1
WINDR R10
Subprogram P1
R0.0 TRSET
Subprogram P101 R9091.0
WINDR R10
R0.0 ( )
R0.0 ( )
Correct program
Correct the program so that ACT is set to on and off within one subprogram.
S2 (P101)
P1
S1 (P100)
Subprogram P100 R9091.1
CALLU P2
Subprogram P1 R0.0
TRSET
Subprogram P101 R9091.0
CALLU P2
Subprogram P2 R0.1
WINDR R10
R0.0 ( )
R0.0 ( )
R0.0 ( )ww
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6. CRT/MDI OPERATION B–61863E/10STEP SEQUENCE FUNCTION
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6 CRT/MDI OPERATION The following operations are supported to enable the diagnosis and debugging of a step sequence program.
(1) Displaying the sequence diagram
(2) Displaying the run time of the step sequence program
(3) Monitoring the run time of the step sequence program
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The diagnosis and debugging of a step sequence program have four screens.
(1) Program configuration list (main screen)
(2) Step sequence screen
(3) List screen
(4) Ladder screen
Press the [STPSEQ] key and display the program configuration list.
STPSEQ <<MAIN>> PROGRAM:(STEP SEQUENCE DEMO PROGRAM) MONIT RUN P0001 ( ) SUB PROGRAM NO.1
LEVEL1 LEVEL2 LEVEL3 � P0001 � P0002 � P0004 � P0005 � P0006 � P0007 � P0008 � P0009 � P0014 � P0015 � P0016 � P0017 � P0021 � P0022 � P0024 � P0025 � P0026 �]P0027 ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ � P0101 � P0202 �]P0304 �]P0405 �]P0406 �]P0407
[ UP ] [ DOWN ] [ TIME ] [ P–ADRS ] [ ZOOM ]
Items displayed on the screen
Display Contents Display by [ZOOM] key
LEVEL1 Ladder first level Ladder diagram
LEVEL2 Ladder second level Ladder diagram
LEVEL3 Ladder third level note1) Ladder diagram
� Pxxx Subprogram Ladder diagram
�] Pxxx Subprogram Step sequence diagram
Pxxx indicates a subprogram number.
NOTE The third level ladder can be omitted.
[ZOOM] key
To display the contents of a program, position the cursor to the program number and press the [ZOOM] key. The step sequence diagram (Fig.6.1.2 (b)) or ladder diagram (Fig.6.1.3 (c) is automatically displayed according to the type of the program.
[TIME] key
Press the [TIME] key to display the time display screen (Fig.6.2.1) and time monitor screen (Fig.6.3).
[P–ADRS/P–SYMB] key
Displays the addresses specified to subprograms, using addresses or symbols, if symbols have been assigned. When the [P–ADRS] key ispressed, the addresses are displayed. When the [P–SYMB] key is pressed, the symbols are displayed.
6.1 DISPLAYING OF SEQUENCE PROGRAM
6.1.1 Program Configuration List (Main Screen)
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6. CRT/MDI OPERATION B–61863E/10STEP SEQUENCE FUNCTION
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(1) Position the cursor to a program indicated by�], then press the [ZOOM] key.
STPSEQ <<MAIN>> PROGRAM:(STEP SEQUENCE DEMO PROGRAM) MONIT RUN P0407 (MAIN ) STEP SEQUENCE NO.1
LEVEL1 LEVEL2 LEVEL3 � P0001 � P0002 � P0004 � P0005 � P0006 � P0007 � P0008 � P0009 � P0014 � P0015 � P0016 � P0017 � P0021 � P0022 � P0024 � P0025 � P0026 �]P0027 ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ � P0101 � P0202 �]P0304 �]P0405 �]P0406 �]P0407
[ UP ] [ DOWN ] [ TIME ] [ P–ADRS ] [ ZOOM ]
����6.1.2(a) Program configuration list (main screen)
Example)
When the cursor is positioned to �] P0407 and press the [ZOOM] key, the subprogram P407 isdisplayed.
(2) Displayed Step Sequence
Activated steps are indicated by red� (highlighted � on a monochrome display). (In this manual, activated steps are indicated by �.)
PCLAD <<STPSEQ>> PROGRAM:(STEP SEQUENCE DEMO PROGRAM) MONIT RUN S0001 P0001(ROTATE) ROTATE THE WORK TIP P0407 1– 1 <– L1 [ ] S1 P1
[ MAIN ] [ CHANGE ] [ TIME ] [ P–ADRS ] [ ZOOM ]
] S2 S10
P2
S3
P3 S4
P10
S11
P11
S15
P13
S13
P14 S14 P15
P20
S21
P21 S23 P22
S20
S24
L2
P23 L2
P30
S31
P31
S32
S30
L4
<–
<–
–>
����6.1.2(b) Step sequence screen
6.1.2 Step Sequence Screen
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Meaning of display Display Contents Display by [ZOOM] key
[�] Sxxx Initial step Ladder diagram
� Sxxx Step Ladder diagram
�] Sxxx Block step Step sequence diagram
+ Pxxx Transition Ladder diagram
Selective sequence Cannot zoom.
Simultaneous sequence Cannot zoom.
L2 Jump Cannot zoom.
L2 Label Cannot zoom.
Pxxx means the subprogram number. [ZOOM] key
To display the contents of a program, position the cursor to the program number and press the [ZOOM] key. The step sequence diagram (Fig.6.1.2(b)) or ladder diagram (Fig.6.1.3(c)) is automatically displayed according to the type of the program.
[MAIN] key
Press the [MAIN] key to return to the program configuration list. [CHANGE] key
Press the [CHANGE] key to list the subprograms referenced in the step sequence program.
[TIME] key
Press the [TIME] key to display the time display screen (Fig. 6.2.1). [P–ADRS/P–SYMB/S–ADRS/S–SYMB] key
Displays the addresses specified with steps and transitions, using addresses or symbols, if symbols have been assigned. And the display of steps is changed to display the S addresses or P addresses.
Press the [P–ADRS] key to display the addresses of P addresses. Press the [P–SYMB] key to display the symbols of P addresses. Press the [S–ADRS] key to display the addresses of S addresses. Press the [S–SYMB] key to display the symbols of S addresses.
(3) Displaying the list screen While the step sequence screen is displayed and press the [CHANGE] key, a list screen of the subprograms referenced in this step sequence program is displayed.
PCLAD <<LIST>> PROGRAM:(STEP SEQUENCE DEMO PROGRAM) MONIT RUN S0001 P0001 (ROTATE) ROTATE THE WORK TIP �] P0001 �] P0002 �] P0004 �] P0005 �] P0006 �] P0007
� P0008 � P0009 � P0014 � P0015 � P0016 � P0017 � P0021 � P0022 � P0024 � P0025 � P0026 �]P0027 ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ � P0101 �]P0202 �]P0304 �]P0405 �]P0406 �]P0407
[ UP ] [ DOWN ] [ ] [ ] [ ZOOM ]
[ MAIN ] [ CHANGE ] [ ] [ ] [ ]
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6. CRT/MDI OPERATION B–61863E/10STEP SEQUENCE FUNCTION
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[ZOOM] soft ke
To display a program, position the cursor to the program number and press the [ZOOM] key. The step sequence screen (Fig.6.1.2(b)) or ladder screen (Fig.6.1.3(c)) is automatically displayed according to the type of the program.
[MAIN] key
Press the [MAIN] key to return to the program configuration list. [TIME] key
Press the [TIME] key to display the time display screen (Fig. 6.2.1). [P–ADRS/P–SYMB] key
Displays the addresses specified to subprograms, using addresses or symbols, if symbols have been assigned. When the [P–ADRS] key is pressed, the addresses are displayed. When the [P–SYMB] key is pressed, the symbols are displayed.
[CHANGE] key
Press the [CHANGE] key to return to the step sequence diagram.
(1) Position the cursor to a program indicated by�, then press the [ZOOM] key.
STPSEQ <<MAIN>> PROGRAM:(STEP SEQUENCE DEMO PROGRAM) MONIT RUN
LEVEL1 LEVEL2 LEVEL3 � P0001 � P0002 � P0004 � P0005 � P0006 � P0007 � P0008 � P0009 � P0014 � P0015 � P0016 � P0017 � P0021 � P0022 � P0024 � P0025 � P0026 �]P0027 ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ � P0101 �]P0202 �]P0304 �]P0405 �]P0406 �]P0407
[ UP ] [ DOWN ] [ TIME ] [ P–ADRS ] [ ZOOM ]
����6.1.3(a) Program configuration list (main screen)
Example) When the cursor is positioned to LEVEL1, press the[ZOOM] key, the first level ladder is displayed.
PCLAD <<STPSEQ>> PROGRAM:(STEP SEQUENCE DEMO PROGRAM) MONIT RUN S0001 P0001 (ROTATE) ROTATE THE WORK TIP P0100 4– 2 <– L1 [ ] S1 P1
[ MAIN ] [ CHANGE ] [ TIME ] [ P–ADRS ] [ ZOOM ]
] S2
S10
P2
S3
P10
S11
P13
S13
P20
S21
S20
L2
P30
S31
S30
L4
<–
<–
����6.1.3(b) Step Sequence screen
6.1.3 Ladder Screen
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B–61863E/10 6. CRT/MDI OPERATIONSTEP SEQUENCE FUNCTION
591
Example)
When the cursor is positioned to “P2”, press the [ZOOM] key, subprogram P2 is displayed.
(2) Ladder Screen
The signals currently set to on are displayed in white (highlighted on a monochrome display).
LADDER * STEP SEQUENCE DEMO PROGRAM * NET 0031–0033 MONIT RUN
[ SEARCH ] [ ADRESS ] [ TRIGER ] [ WINDOW ] [ ]
FIN ( )
MOVN
MOVN
SUB 45
END1
SUB 1
FIN
R9091.1
/ WINDR
20 D10 R10
20 R10 D10
R10
FIN
[ DUMP ] [ DPARA ] [ ] [ ONLEDT ] [ ]
����6.1.3(c) Ladder screen
[SEARCH] key
Used for search within a subprogram.
NEXT
F–SRCH
RET
SEARCH ADRESS TRIGER WINDOW
TOP BOTTOM SRCH W–SRCH N- SRCH
[TOP] key
Displays the top of a subprogram.
[BOTTOM] key
Displays the bottom of a subprogram.
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6. CRT/MDI OPERATION B–61863E/10STEP SEQUENCE FUNCTION
592
[SRCH] key
Searches for the specified address.
[W-SRCH] key
Displays the ladder in which the specified address is used as a coil address.
[N-SRCH] key
Displays the ladder having the specified net number, at the top of the screen.
[F-SRCH] key
Displays the specified functional instruction, at the to of the screen.
[ADRESS/SYMBOL] key
Displays the addresses specified with relays and coils, using addresses or symbols, if symbols have been assigned. When the [ADRESS] key is pressed, the addresses are displayed. When the [SYMBOL] key is pressed, the symbols are displayed.
[TRIGER] key
With a manual operation or a signal trigger function, a renewal screen of a ladder monitoring function is stopped. By this function, the signal status when one signal is changed is certainly checked.
[WINDOW] key
Splits the screen into two sections, allowing the display of two ladder positions in a subprogram.
[DUMP] key
Displays the contents of addresses at the bottom of the screen.
[DPARA] key
Displays the data specified with functional instructions.
[ONLEDT] key
While a sequence program is executing, a part of the ladder diagram can be changed.
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B–61863E/10 6. CRT/MDI OPERATIONSTEP SEQUENCE FUNCTION
593
The elapsed time of a step sequence program is displayed.
STPSEQ <<STATUS>> PROGRAM:(STEP SEQUENCE DEMO PROGRAM) MONIT RUN
STEP NO. STATUS ELAPSE MONITOR STEP NO. STATUS. S0001( ) EXEC 1000000 T(1) OVER S0010(TILE ) EXEC S0002( ) EXEC 100 T(3) S0011( ) S0003( ) EXEC 10000 T(4) S0012( ) S0004( ) 1000000 S0013( ) ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅
[ UP ] [ DOWN ] [ SEARCH ] [ RESET ] [ MONIT ]
����6.2.1 Time screen
Meaning of display
Display Contents
STEP NO. Step number S0001 : Step number (123456) : symbol display
STATUS Step state EXEC : Active space : Inactive
ELAPSE Actual elapsed time (per msec) The time is increasing during active state.
MONITOR Monitor time T (1) : monitoring time number OVER : An elapsed time is over monitoring time
[UP] [DOWN] key
Scrolls the screen up or down, in units of pages, to display the operation time of other steps. Acts in the same way as the page up or down key.
[MONIT] key
Displays the screen used for setting the timer to monitor the operation time. (See 6.3)
[SEARCH] key
Search and display the specified step number.
example) Display the S100 address.
Key in ”100” and press the [SEARCH] key.
[RESET] key
For all of monitoring steps, the error status which occurred by the monitoring function is canceled.
To cancel the status per steps, press the [DELETE] key on the monitor time screen. (Please refer to 6.3 Monitor Time Screen below)
6.2 TIMER SCREEN
6.2.1 Time Screen
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6. CRT/MDI OPERATION B–61863E/10STEP SEQUENCE FUNCTION
594
When an activated state remains set for longer than the specified time, the state may be determined as being erroneous. The elapsed time can be specified for up to eight steps.
When an activated state remains set for longer than the specified time,
(1) OVER is displayed at the corresponding step number on the STPSEQ/TIME screen.
(2) Execution of the ladder continues.
(3) The bit of address R9118 which corresponds with the step number is set to
1. The processes for the error status can be program by the ladder diagram. And the following message is displayed on the PMC/ALARM screen.
”ER48 STEP SEQUENCE TIME OVER (xxH)”
”xx” displays the content of address R9118 in hexadecimal code. Time N b
Corresponding Add
Time N b
Corresponding AddNumber Address Number Address
1 R9118.0 5 R9118.4
2 R9188.1 6 R9118.5
3 R9188.2 7 R9188.6
4 R9188.3 8 R9188.7
6.2.2 Monitoring Elapsed Time
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Operation time limits can be specified for a step sequence program. Up to eight steps can be monitored.
STPSEQ<<MONITOR>> PROGRAM:(STEP SEQUENCE DEMO PROGRAM) MONIT RUN
NO. STEP NO. ELAPSE MONITOR T(1) S0001( ) 1000000 2000 T(2) S0010(MOVE ) 100 1000 T(3) S0002( ) 100 2000 T(4) S0003( ) 10000 20000 T(5) T(6) T(7) T(8)
[ DELETE ] [ ] [ ] [ ] [ ]
����6.3 monitor time screen
Meaning of display
Display Meaning
NO. Monitor time number T (1) : means monitor time 1.
STEP NO. Step number S0001 : Step number (123456) : symbol display
ELAPSE Actual elapsed time (per msec) The time is increasing during active state.
MONITOR Monitor time (per msec)
[DELETE] key
Delete the definition of monitor time.
Operation
Definition of monitor
(1) Position the cursor at the input position and input a step (or symbol).
NO. STEP NO. ELAPSE MONITOR T(1) S0001( ) 1000000 2000 T(2) S0010(MOVE )
Key in “MOVE” and push [INPUT] key.
(2) Position the cursor at the input position and define a monitor time.
NO. STEP NO. ELAPSE MONITOR T(1) S0001( ) 1000000 2000 T(2) S0010(MOVE ) 1000 100
Keyin “100” and push [INPUT] key.
6.3 MONITOR TIME SCREEN
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596
Deletion of monitor
Position the cursor at the deletion and press [DELETE] key.
NO. STEP NO. ELAPSE MONITOR T(1) S0001( ) 1000000 2000 T(2) S0010(MOVE ) 100 1000
Alteration of monitor
Position the cursor at the alteration position and input again.
NO. STEP NO. ELAPSE MONITOR T(1) S0001( ) 1000000 2000 T(2) S0100( ) 2000 1000
Key in “S100” and push <INPUT> key.
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597
The display and editing of a step sequence program per subprogram aresupported. A step sequence program is allowed to be displayed and a ladder diagram is allowed to be displayed and edited.
Press the [EDIT] and [LADDER] key and display the program configuration list.
STPSEQ <<MAIN>> PROGRAM:(STEP SEQUENCE DEMO PROGRAM) MONIT STOP P0001 ( ) SUB PROGRAM NO.1
LEVEL1 LEVEL2 LEVEL3 � P0001 � P0002 � P0004 � P0005 � P0006 � P0007 � P0008 � P0009 � P0014 � P0015 � P0016 � P0017 � P0021 � P0022 � P0024 � P0025 � P0026 �]P0027 ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ � P0101 � P0202 �]P0304 �]P0405 �]P0406 �]P0407
[ UP ] [ DOWN ] [ ] [ P–ADRS ] [ ZOOM ]
Items displayed on the screen
Display Contents Display by [ZOOM] key
LEVEL1 Ladder first level Ladder diagram
LEVEL2 Ladder second level Ladder diagram
LEVEL3 Ladder third level (Note) Ladder diagram
� Pxxx Subprogram Ladder diagram
�] Pxxx Subprogram Step sequence diagram
Pxxx indicates a subprogram number.
NOTE The third level ladder can be omitted.
[ZOOM] key
To display the contents of a program, position the cursor to the program number and press the [ZOOM] key. The step sequence diagram (Fig. 6.4.2 (b)) or ladder diagram (Fig. 6.4.3 (c)) is automatically displayed according to the type of the program.
[P–ADRS/P–SYMB] key
Displays the addresses specified to subprograms, using addresses or symbols, if symbols have been assigned. When the [P–ADRS] key is pressed, the addresses are displayed. When the [P–SYMB] key is pressed, the symbols are displayed.
6.4 EDITING FUNCTION OF LADD ER DIAGRAM
6.4.1 Program Configuration List (Main Screen)
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6. CRT/MDI OPERATION B–61863E/10STEP SEQUENCE FUNCTION
598
(1) Position the cursor to a program indicated by ¢¢], then press the [ZOOM] key.
LADDER <<MAIN>> PROGRAM:(STEP SEQUENCE DEMO PROGRAM) MONIT STOP P0407 ( ) STEP SEQUENCE NO.1
LEVEL1 LEVEL2 LEVEL3 � P0001 � P0002 � P0004 � P0005 � P0006 � P0007 � P0008 � P0009 � P0014 � P0015 � P0016 � P0017 � P0021 � P0022 � P0024 � P0025 � P0026 �]P0027 ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ � P0101 � P0202 �]P0304 �]P0405 �]P0406 �]P0407
[ UP ] [ DOWN ] [ TIME ] [ P–ADRS ] [ ZOOM ]
����6.4.2 (a) Program configuration list (main screen)
Example)
When the cursor is positioned to �] P0407 and press the [ZOOM] key , the subprogram P407 is displayed.
(2) Displayed Step Sequence
Activated steps are indicated by red � (highlighted � on a monochrome display). (In this manual, activated steps are indicated by �.)
] S2 S10
P2
S3
P3 S4
P10
S11
P11
S15
P13
S13
P14 S14 P15
P20
S21
P21 S23 P22
S20
S24
L2
P23 L2
P30
S31
P31
S32
S30
L4
<–
<–
–>
LADDER <<STPSEQ>> PROGRAM:(STEP SEQUENCE DEMO PROGRAM) MONIT STOP S0001 P0001(ROTATE) ROTATE THE WORK TIP P0407 1– 1
<– L1 [ ] S1
P1
[ MAIN ] [ CHANGE ] [ ] [ P–ADRS ] [ ZOOM ]
����6.4.2 (b) Step sequence screen
6.4.2 Step Sequence Screen
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Meaning of display Display Contents Display by [ZOOM] key
[�] Sxxx Initial step Ladder diagram
� Sxxx Step Ladder diagram
�] Sxxx Block step Step sequence diagram
+ Pxxx Transition Ladder diagram
Selective sequence Cannot zoom.
Simultaneous sequence Cannot zoom.
L2 Jump Cannot zoom.
L2 Label Cannot zoom.
Pxxx means the subprogram number.
[ZOOM] key
To display the contents of a program, position the cursor to the program number and press the [ZOOM] key. The step sequence diagram (Fig. 6.4.2 (b)) or ladder diagram (Fig. 6.4.3 (c)) is automatically displayed according to the type of the program.
[MAIN] key
Press the [MAIN] key to return to the program configuration list.
[CHANGE] key
Press the [CHANGE] key to list the subprograms referenced in the step sequence program.
[P–ADRS/P–SYMB/S–ADRS/S–SYMB] key
Displays the addresses specified with steps and transitions, using addresses or symbols, if symbols have been assigned.
And the display of steps is changed to display the S addresses or P addresses. Press the [P–ADRS] key to display the addresses of P addresses. Press the [P–SYMB] key to display the symbols of P addresses. Press the [S–ADRS] key to display the addresses of S addresses. Press the [S–SYMB] key to display the symbols of S addresses.
(3) Displaying the list screen
While the step sequence screen is displayed and press the [CHANGE] key, a list screen of the subprograms referenced in this step sequence program is displayed.
LADDER <<LIST>> PROGRAM:(STEP SEQUENCE DEMO PROGRAM) MONIT STOP S0001 P0001 (ROTATE) ROTATE THE WORK TIP �] P0001 �] P0002 �] P0004 �] P0005 �] P0006 �] P0007
� P0008 � P0009 � P0014 � P0015 � P0016 � P0017 � P0021 � P0022 � P0024 � P0025 � P0026 �]P0027 ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ � P0101 � P0202 �]P0304 �]P0405 �]P0406 �]P0407
[ UP ] [ CHANGE ] [ ] [ P–ADRS ] [ ZOOM ]
[ZOOM] soft key
To display a program, position the cursor to the program number and press the [ZOOM] key. The step sequence screen (Fig. 6.4.2 (b)) or ladder screen (Fig. 6.4.3 (c)) is automatically displayed according to the type of the program.
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6. CRT/MDI OPERATION B–61863E/10STEP SEQUENCE FUNCTION
600
[MAIN] key
Press the [MAIN] key to return to the program configuration list.
[CHANGE] key
Press the [CHANGE] key to return to the step sequence diagram.
[P–ADRS/P–SYMB] key
Displays the addresses specified to subprograms, using addresses or symbols, if symbols have been assigned. When the [P–ADRS] key is pressed, the addresses are displayed. When the [P–SYMB] key is pressed, the symbols are displayed.
(1) Position the cursor to a program indicated by �, then press the [ZOOM] key.
LADDER <<MAIN>> PROGRAM:(STEP SEQUENCE DEMO PROGRAM) MONIT STOP
LEVEL1 LEVEL2 LEVEL3 � P0001 � P0002 � P0004 � P0005 � P0006 � P0007 � P0008 � P0009 � P0014 � P0015 � P0016 � P0017 � P0021 � P0022 � P0024 � P0025 � P0026 �]P0027 ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ � P0101 � P0202 �]P0304 �]P0405 �]P0406 �]P0407
[ UP ] [ DOWN ] [ ] [ P–ADRS ] [ ZOOM ]
����6.4.3 (a) Program configuration list (main screen)
Example)
When the cursor is positioned to LEVEL1, press the [ZOOM] key, the first level ladder is displayed.
LADDER <<STPSEQ>> PROGRAM:(STEP SEQUENCE DEMO PROGRAM) MONIT STOP S0001 P0001 (ROTATE) ROTATE THE WORK TIP P0100 4– 2 <– L1 [ ] S1 P1
[ MAIN ] [ CHANGE ] [ ] [ P–ADRS ] [ ZOOM ]
] S2
S10
P2
S3
P10
S11
P13
S13
P20
S21
S20
L2
P30
S31
S30
L4
<–
<–
����6.4.3 (b) Step Sequence screen
Example)
When the cursor is positioned to ”P2”, press the [ZOOM] key, the subprogram P2 is displayed.
6.4.3 Ladder Screen
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(2) Ladder Screen
LADDER NET 0031–0033 MONIT STOP
FIN ( )
MOVN
MOVN
SUB 45
END1
SUB 1
FIN
R9091.1
/ WINDR
20 D10 R10
20 R10 D10
R10
FIN
����6.4.3(c) Ladder screen
Please refer to the following manual about the operations of editing a ladder diagram.
FANUC PMC MODEL PA1/PA3/RA1/RA2/RA3/RB/RB2/RB3/ RB4/RC/RC3/RC4/NB
LADDER LANGUAGE PROGRAMMING MANUAL (B–61863E)
III PMC PROGRAMMER(CRT/MDI) 5.2 Sequence Program Generation(LADDER)
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6. CRT/MDI OPERATION B–61863E/10STEP SEQUENCE FUNCTION
602
The following ladder diagnosis and debugging functions can be used together with the step sequence functions.
� : can be used ∆ : can be used on condition
� : cannot be used
Functions PMC-RB4/ RB6
PMC-RC4 PMC-NB2
PMC Ladder diagram display (PMCLAD) � � �
PMC I/O signal display (PMCDGN) Title screen (TITLE) Signal status screen (STATUS) Alarm screen (ALARM) Trace screen (TRACE) Contents of Memory (MEMORY) Signal Waveforms screen (ANALYS) Running State of a User Task (USRDGN)
�
�
�
�
�
∆ caution1 �
�
�
�
�
�
�
�
�
�
�
�
�
�
�
PMC Parameters screen (PMCPRM) Timer screen (TIMER) Counter screen (COUNTR) Keep relay screen (KEEPRL) Data table screen (DATA) Simple setting screen (SETING)
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
Step Sequence screen (STPSEQ) Displaying Step Sequence screen Displaying Ladder screen
SEARCH Display address and symbol Trigger function (TRIGER) Divided screen function (WINDOW) Contents of memory (DUMP) Contents of parameter (DPARA) online editting (ONLEDT)
Time screen (TIME) Monitor time screen (MONIT)
�
�
�
�
�
�
�
�
∆ �
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
Execute or stop the sequence program (RUN) � � �
Edit function (EDIT) Title screen (TITLE) Ladder diagram (LADDER) Symbol screen (SYMBOL) Message screen (MESAGE) Definition of I/O (MODULE) Cross reference (CROSS) Memory clear (CLEAR)
caution1 ∆ ∆ ∆ ∆ ∆ ∆ ∆
�
�
�
�
�
�
�
�
�
�
�
�
�
�
Input and output FAPT LADDER (HOST) Floppy cassette (FDCAS) FlashROM (F-ROM) Memory card (M-CARD) Other I/O device (OTHERS)
�
�
�
∆ caution2 �
�
�
�
�
�
�
�
�
�
�
System Parameter (SYSPRM) ∆ caution1 � �
Debug function (MONIT) Ladder debug function (DBGLAD) Descriptor table screen (GDT) User memory screen (USRMEM) User program debug function (DEBUG)
caution1 �
�
�
�
�
�
�
�
�
�
�
�
CAUTION 1 An Editor card is needed. 2 It is possible to use while an Editor card is not mounted.
6.5 CORRESPONDING FUNCTION
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B–61863E/10 6. CRT/MDI OPERATIONSTEP SEQUENCE FUNCTION
603
The PMC-RB4 and PMC-RC4 can be used with either the ladder method or step sequence method. When a step sequence program is transferred to the old version of the PMC, ER08 OBJECT UNMATCH is displayed on the PMC/ALARM screen.
The model setting of FAPT LADDER determines whether the ladder or step sequence method is used. The STEP SEQUENCE item has been added to the system parameter screen for future expansion. Specify the parameter according to the model setting of FAPT LADDER.
To create a program with the built-in edit function, after the parameter has been set execute CLEAR ALL. Alternatively, while holding down “X” and “O” key, turn the power off and on.
When the step sequence method is used: STEP SEQUENCE = YES.
When the ladder method is used: STEP SEQUENCE = NO.
PMC SYSTEM PARAMETER (1/2) MONIT STOP
COUNTER DATA TYPE = BINARY / BCD
STEP SEQUENCE = YES / NO
>
[BINARY] [ BCD ] [ ] [ ] [ ]
����6.6 (a) PMC-RB4/RB6 System parameter screen (first page)
PMC SYSTEM PARAMETER (2/2) MONIT STOP
FS0 OPERATOR PANEL = YES / NO
KEY DI ADDRESS =
LED DO ADDRESS =
KEY BIT IMAGE ADDRESS =
LED BIT IMAGE ADDRESS =
>
[ YES ] [ NO ] [ ] [ ] [ ]
����6.6 (b) PMC-RB4/RB6 System parameter screen (second page)
6.6 COMPATIBILITY OF LADDER DIAGRAM
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6. CRT/MDI OPERATION B–61863E/10STEP SEQUENCE FUNCTION
604
PMC SYSTEM PARAMETER (1/2) MONIT STOP
COUNTER DATA TYPE = BINARY / BCD
LADDER EXEC = % (1–150)
LANGUAGE EXEC RATIO = % (0–99)
LANGUAGE ORIGIN = H (LANGUAGE AREA = H, SIZE = KB)
STEP SEQUENCE = YES / NO
>
[BINARY] [ BCD ] [ ] [ ] [ ]
����6.6 (c) PMC-RC4/NB2 System parameter screen (first page)
PMC SYSTEM PARAMETER (2/2) MONIT STOP
FS0 OPERATOR PANEL = YES / NO
KEY DI ADDRESS =
LED DO ADDRESS =
KEY BIT IMAGE ADDRESS =
LED BIT IMAGE ADDRESS =
>
[ YES ] [ NO ] [ ] [ ] [ ]
����6.6 (d) PMC-RC4/NB2 System parameter screen (second page)
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V. PMC PROGRAMMER (SYSTEM P series)
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B–61863E/10 1. GENERALPMC PROGRAMMER (SYSTEM P series)
607
1 GENERAL The FAPT LADDER system can easily prepare sequence programs, symbol data, titles, and message of PMC-RB and PMC-RC, and also easily define addresses of the modules to be installed in an I/O unit by using SYSTEM P series.
Major functions of this FAPT LADDER are as described below.
(1) Input, display and editing of sequence programs
(2) Transfer of sequence programs (including write into EPROM for PMC or ROM module.)
(3) Collation of sequence programs
(4) Program error display
The SYSTEM P series is used in the stage of preparing a sequence program only and separated from PMC after the sequence program has been completed. The SYSTEM P series can be connected to PMC only when the PMC is operated with the RAM card and cannot be connected when PMC is operated with a EPROM for PMC or ROM module.
ROM for PMC module input/output
EPROM for PMC input/output
EPROM for PMC input/output
List output
Paper tape input/output
or
Floppy input/output
SYSTEM P series
(FAPT LADDER)
series 16/18/20/21 /Power Mate-D
PMC card
Machine tool
DI/DO card
PPR
PMC WRITER
PRINTER
Sequence program figure output
FA WRITER
System floppy loading
FAPT LADDER PMC-RB/RC
FAPT LADDER PMC-RA1/RA2
����1
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2. FUNCTIONS OF PROCESSING B–61863E/10PMC PROGRAMMER (SYSTEM P series)
608
2 FUNCTIONS OF PROCESSING (1) Input of sequence programs
Input sequence programs using the following units when sequence programs are loaded into the memory of the SYSTEM P series.
a) SYSTEM P series keyboard
b) PPR tape reader (paper tape)
c) Floppy
d) PMC memory
e) EPROM for PMC or ROM module
(2) Sequence program display
Sequence programs can be displayed on the 12” graphic display of SYSTEM P series as follows.
a) Sequence programs can be displayed using mnemonic symbols.
b) Sequence programs can also be displayed in the ladder diagram format.
(3) Editing of sequence programs
A sequence program can be edited by using the SYSTEM P series keyboard in the following three ways.
a) Alteration
b) Insertion
c) Deletion
(4) Transfer of sequence programs
Sequence programs can be transferred as follows.
a) From SYSTEM P series memory to PMC memory
b) From PMC memory to SYSTEM P series memory
c) From SYSTEM P series memory to floppy
d) From floppy to SYSTEM P series memory
e) From SYSTEM P series memory to EPROM or ROM module for PMC (Write into EPROM for PMC or ROM module)
f) From EPROM for PMC or ROM module to SYSTEM P series memory
(5) Collation of sequence programs
Sequence programs can be checked by collating them between the following memories.
a) SYSTEM P series memory - PMC memory
b) SYSTEM P series memory - floppy
c) SYSTEM P series memory - EPROM for PMC or ROM module
d) SYSTEM P series memory - paper tape
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B–61863E/10 2. FUNCTIONS OF
PROCESSINGPMC PROGRAMMER (SYSTEM P series)
609
(6) Hard copy
a) Since FANUC PPR is connectable to SYSTEM P series, the paper tape output and list output (mnemonic symbol) are obtainable.
b) A ladder diagram can be printed out.
(7) Program error display
Sequence program errors are displayed on the screen of the SYSTEM P series.
Error codes are displayed at the lower right of the screen as ALARM=XXX. Refer to list of error codes in Appendix.
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3. COMPONENT UNITS AND CONNECTIONS B–61863E/10PMC PROGRAMMER (SYSTEM P series)
610
3 COMPONENT UNITS AND CONNECTIONS
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B–61863E/10 3. COMPONENT UNITS AND
CONNECTIONSPMC PROGRAMMER (SYSTEM P series)
611
(1) SYSTEM P series
This system serves as a programmer to generate and edit sequence programs.
(2) Series 16
This system transfers a generated sequence program to CNC.
(3) FANUC PPR
This PPR inputs/outputs a sequence program by using a paper tape, and also output a source list to the printer.
(4) FANUC printer
This printer prints out the sequence program.
(5) FANUC PMC writer
This unit is used for writing a sequence program to the EPROM for PMC or ROM module when the sequence program has been completed.
(6) FANUC FA Writer
This unit is used for writing data to the EPROM or ROM module for the PMC after a sequence program has been created.
3.1 COMPONENT UNITS
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3. COMPONENT UNITS AND CONNECTIONS B–61863E/10PMC PROGRAMMER (SYSTEM P series)
612
For details of the connections of SYSTEM P series unit power supply, PPR, and other units as well as their operation, refer to the following operator’s manuals.
SYSTEM P-G Mark II: B-66014E
SYSTEM P-G Mate: B-66003E
This chapter mainly describes the connections between SYSTEM P series and I/O devices.
����3.2(a) External view of SYSTEM P Mark II
3.2 CONNECTIONS OF UNITS
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B–61863E/10 3. COMPONENT UNITS AND
CONNECTIONSPMC PROGRAMMER (SYSTEM P series)
613
����3.2(b) External view of SYSTEM P Mate
Since a volatile RAM is employed as the SYSTEM P series memory, all programs (FAPT LADDER system programs and sequence program) being loaded into memory are operation should be started with the input of FAPT LADDER system programs (called system loading).
If the SYSTEM P series power supply is turned off halfway in the curse of inputting a sequence program from the keyboard, the sequence program must be stored in advance, and this FAPT LADDER provides an output function to a floppy for this purpose.
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3. COMPONENT UNITS AND CONNECTIONS B–61863E/10PMC PROGRAMMER (SYSTEM P series)
614
Adaptor for 1M-bit EPROMs
ROM module for the PMC
EPROM for the PMC
Adaptor for ROM modules
(FANUC FA WRITER)
EPROM for the PMC
FANUC PRINTER
Rear panel of the SYSTEM P Mark II
(FANUC PMC WRITER)
Prints sequence program figures.
CN2 CN1
CN4 CN3
FANUC PPR
1 Tape input 2 Tape printout 3 List output
PMC-RA1/RA2/RB/RC
Adaptor for 40-pin ROMs
FANUC ROM WRITER
����3.2(c) Connection of SYSTEM P series with each unit
(1) Connect FANUC PPR to connector CN1.
(2) Connect FANUC PMC writer or FANUC FA writer to connector CN2.
(3) Connect FANUC printer to connector CN3.
(4) Connect connector CN4 to PMC-RA1/RA2/RB/RB2/RC. It is connected to a channel preset by a PMC I/O. For details, refer to ”Setting and display of I/O in PMC programmer (CRT/MDI) in III”.
Connector JD5A on MAIN PCB � 1 CHANNEL
Connector JD5B on MAIN PCB � 2 CHANNEL
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B–61863E/10 3. COMPONENT UNITS AND
CONNECTIONSPMC PROGRAMMER (SYSTEM P series)
615
Figs. 3.3(a) - (b) show the panel of the SYSTEM P series keyboard.
It is not necessary to memorize the meanings of keys on the keyboard.
Descriptions of these keys and menus are displayed on the SYSTEM P series screen by operation, and you can easily operate the SYSTEM P series board while monitoring the SYSTEM P series screen.
In this chapter, you should understand an outline of functions of these keys.
Soft keys
Standard keyboard
Function keys
Numeric keypad
Function keys
����3.3(a) Panel of the SYSTEM P Mark II key board
Function keys
Data input keys
����3.3(b) Panel of the SYSTEM P Mate key board
3.3 KEYBOARD OF SYSTEM P SERIES
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3. COMPONENT UNITS AND CONNECTIONS B–61863E/10PMC PROGRAMMER (SYSTEM P series)
616
This key is used to load the FAPT LADDER system program into the SYSTEM P series memory through a floppy disk at the first time after turning on power.
F key is used to select an I/O device among I/O devices connected at that time.
These F keys are provided with an LED. When depressing a key, the LED lights, and when depressing the key once more, the LED goes out. The lighting condition of of this LED indicates that an I/O has been designated. No I/O device is operable when its corresponding LED is not lighting.
The correspondence between F keys and I/O devices is as shown below. (I) shows an input, while (O) shows an output.
(1) <F1> key: FANUC PPR paper tape reader (I)
(2) <F2> key: Floppy disk input (I)
(3) <F3> key: Not used
(4) <F4> key: Display of ladder diagram on SYSTEM P series screen (O)
(5) <F5> key: FANUC PPR printer (O)
(6) <F6> key: FANUC PPR paper tape puncher (O)
(7) <F7> key: Floppy disk output (O)
(8) <F8> key: PMC-PA1/PA2/RA1/RA2/RB/RB2/RC (I/O)
(9) <F9> key: FANUC PMC writer, FANUC FA writer (I/O)
(10) <F10> key: FANUC printer (O)
(The ladder diagram is printed on the printer.)
(11) <F13> key: FANUC Floppy Cassette/FANUC FA Card adapter (I)
(12) <F14> key: FANUC Floppy Cassette/FANUC FA Card adapter (O)
Combination of F key and menu number of FAPT LADDER decided which function is to be executed.
3.3.1 LOAD Key (System Program Loading Key)
3.3.2 F Keys (F1 to F0)
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B–61863E/10 3. COMPONENT UNITS AND
CONNECTIONSPMC PROGRAMMER (SYSTEM P series)
617
Four R keys <R0> to <R3> are provided. The meaning of these keys differ according to the screen conditions at their operating time, even in case of the same key.
(1) R key menu screen
This screen is obtained just after loading a FAPT LADDER system program (1/2) or when pressing <NL> key only in a menu screen. Refer to Fig. 4.2.2.
<R0> FAPT ladder start.
. A menu screen appears.
<R1> Editing a ladder diagram starts.
<R2> Not used in FAPT ladder. (Not accepted when pressing these keys)
<R3> Request key (see 4.8)
Press NL keys, if a wrong key was pressed by mistake. The screen is reset to the condition before pressing the wrong R key.
(2) Other than R key menu screen
<R0> This key operation is accepted when EDIT is displayed at the lower left part of the screen (called EDIT screen hereafter) during sequence program editing. The screen is switched to the sequence program, symbol, message, I/O module, and title, each time this R key is pressed.
<R1> 1 When this key is pressed during printing of a ladder diagram on an external printer, the printer stops every page to be ready for key entry.
2 When this key is pressed during data transfer between SYSTEM P series and PMC-RB/RC, data transfer is stopped.
3 The signal display in a sequence program is alternately selected to symbols and addresses, each time this R1 is pressed during the display of the sequence program on the screen.
<R2> Data on the last page are displayed, each time this key is pressed on the EDIT screen.
<R3> 1 Data on the next page are displayed, each time this key is pressed on the EDIT screen.
2 Transfer is aborted when this key is pressed during ROM data transfer between SYSTEM P series and PMC-WRITER or floppy.
3.3.3 R Keys (R0 to R3)
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3. COMPONENT UNITS AND CONNECTIONS B–61863E/10PMC PROGRAMMER (SYSTEM P series)
618
Data keys are used to enter data. To switch the output of such keys between the upper character and lower-character, use the [SHIFT] key or [LOCK] key. Pressing the [SHIFT] key together with an arbitrary key changes the output of the arbitrary key to the upper character, and pressing the [LOCK] key changes the output of all keys to upper character. To release the upper character mode, press the [LOCK] key again. Special keys are described below.
(1) <NL> key
Data entry from the SYSTEM P series keyboard are input into SYSTEM P series by depressing <NL> key. Two <NL> keys are located on the keyboard for easily operation.
(2) <CAN> key
Data being entered from the keyboard are cancelled.
(3) BS key
Data being entered from the keyboard are sequentially deleted leftward, each time this key is depressed.
(4) Arrow keys <�> <�> <�> <�>
These keys are accepted only when a ladder diagram is being displayed on the screen, and used for scrolling the ladder diagram.
NOTE None of [INS] [DEL] [CHG] [AUX] keys and K key is employable in the FAPT LADDER.
3.3.4 Data Keys and Screen Scroll Key
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B–61863E/10 3. COMPONENT UNITS AND
CONNECTIONSPMC PROGRAMMER (SYSTEM P series)
619
(1) SYSTEM P series Mate
An initial I/O device setting of ’FAPT LADDER’ for SYSTEM P series Mate is as follows.
����� 3.4(a) FAPT LADDER (Mate) of table
Channel I/O device F key
CN1 PMC-RAM F8
CN2 PMC WRITER FA WRITER
F9
CN3 External printer F10
Alter the setting of the I/O device by under-mentioned ’IO command’ when using FANUC PPR.
i) Press the R3 key in the menu screen of R keys.
’REQUEST =’ is displayed in the left bottom of screen and becomes the state which can be typed in.
ii) Type in IO PPR, CN1 <NL>.
PPR is allocated to channel 1.
iii) Type in as follows when channel 1 allocation is returned to PMC-RAM.
IO, NC, CN1, F8, BR10 <NL>
(2) SYSTEM P Mark II
The initial setting of I/O devices of FAPT LADDER for the SYSTEM P Mark II is as follows.
����� 3.4(b) FAPT LADDER (Mark II)
Channel I/O device F key
CN1 FANUC PPR F1, F5, F6
CN2 PMC WRITER FA WRITER
F9
CN3 External printer F10
CN4 PMC-RAM F8
(3) When a FANUC Floppy Cassette or FANUC FA Card adapter is used, change the setting of the I/O device by executing the following I/O command:
i) Press the [R3] key on the menu screen for the [R] keys.
Then REQUEST = appears at the lower left of the screen allowing data to be entered.
ii) Type IO BCA, CN2, F13, F14, then press the <NL> key. The FANUC Floppy Cassette or FA Card adapter is allocated to channel 2.
iii) To initialize the setting of channel 2 again, type IO AUX, CN2, F9, then press the <NL> key.
(4) Setting of the ROM writer
The PMC-RA1, -RA2 or -RB uses one of 1MB EPROM (27C1024).
The PMC-RC uses one of ROM module (128KB, 256KB, or 512KB).
3.4 SETTING OF I/O DEVICE
(Setting method of IO command)
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3. COMPONENT UNITS AND CONNECTIONS B–61863E/10PMC PROGRAMMER (SYSTEM P series)
620
For this reason, when the PMC-RA1, -RA2 or -RB is used, both the FA Writer and PMC Writer can be used. When the PMC-RC is used, only the FA Writer is available.
When the PMC-RA1, -RA2 or -RB is used, the ROM writer used can be selected on the REQUEST screen as follows.
1 On the REQUEST screen, enter WRITER then press the <NL> key.
2 The following message appears. To select the FA Writer, enter 0 or press the <NL> key. To select the PMC Writer, enter 1.
SET KIND OF ROM WRITER (0:FA WRITER, 1:PMC WRITER) WRITER=
The current setting of the ROM writer can be checked on the system parameter screen.
(1) PMC Writer
The PMC Writer is required when the PMC-RA1, -RA2, -RB or RB2 is available. To use a 1MB EPROM (27C1024), the 1M EPROM adapter (A13B0147-B001) is required. Set the EPROM select switch to the 271024 position before using the 1M EPROM adapter.
(2) FA Writer
When the FA Writer is used with the PMC-RA1, -RA2 or -RB, the EPROM adapter (1MB) for the FA Writer is required. When the FA writer is used with the PMC-RC, the ROM module adapter is required.
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B–61863E/10 4. OPERATIONPMC PROGRAMMER (SYSTEM P series)
621
4 OPERATION
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4. OPERATION B–61863E/10PMC PROGRAMMER (SYSTEM P series)
622
Various operations of FAPT ladder are done onthe specified screen.
Fig. 4.1 shows the relation between various operations and corresponding screens.
00 or NL key-in after parameter set-ting.
E NL key-in
Key-in NL
SYSTEM P
Power on
FAPT ladder system loading
FAPT ladder R0, R1, R2, R3
00 or NL key-in
Menu screen
Key-in R3
REQUEST=
SYSTEM P series power on
Visual identification characters
FAPT ladder system floppy loading
Visual identification characters R key menu screen
Edit screen
01 key-in
Source program input screen (PTR, FD, KB)
ROM program input screen (FD, RAM cassette)
Source program output screen (PTP, FD, PRT)
ROM program output screen (FD, RAM cassette)
Source program verify screen (PTR, FD)
ROM program verify screen (FD, RAM cassette)
Unused Clear screen
Parame- ter set- ting screen
E NL key-in when an alarm occurred or when processing was aborted halfway.
Automatic return when processing has been terminated normally.
Key-in R0
Parameter screen
Key-in R1
Ladder diagram direct editing
Key-in R2
Unused
Key-in NL
02 key-in 03 key-in 04 key-in 05 key-in 06 key-in 07 key-in 08 key-in 09 key-in 10 key-in
����4.1(a) Relation between various operations and screens
4.1 GENERAL
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B–61863E/10 4. OPERATIONPMC PROGRAMMER (SYSTEM P series)
623
SYSTEM P power on
Load system floppy
Editing
Debug using PMC-RAM
Write a sequence program into EPROM for PMC or ROM module
SYSTEM P series power off
Is dedug completed?
YES
Sequence program input, title, symbol, comment, message I/O module
NO
Set necessary system parameters.
START
END
Operate the system after loading EPROM for PMC or ROM module to CNC
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4. OPERATION B–61863E/10PMC PROGRAMMER (SYSTEM P series)
624
The system floppy disk contains the system of FAPT LADDER for PMC-RA1/RA2/RB/RB2/RC.
To apply the FAPT LADDER system for PMC-RA1/RA2/RB/RB2/RC to the SYSTEM P Mate will overlay each of the following functions.
� The function to display the ladder diagram on the screen and output it on an external printer, which is operated using the menu numbers 03 and F4 or 04 to F10.
� The function to input/output the ROM formatted program and make its comparison, which is operated combining the menu numbers 03, 05 or 07 and F2, F7, F8, F9, F13 or F14.
� Ladder diagram direct editing, which is operated by pressing <R1> key on the R key menu screen and executing ladder diagram direct editing.
The SYSTEM P Mate has less memory than the SYSTEM P Mark II and cannot load the system program on the system floppy disk at a time. The remainder left unloaded will be loaded automatically when each of the functions above is used. However, only in the case the system floppy disk has not been installed into the drive, the message ”MOUNT SYSTEM FLOPPY DISK” is displayed as follows:
SET SYSTEM FD & KEY I ’OK’ OR ’NO’ FDD =OK ODRIVEJ (VOL =01) FDD =
Install the system floppy disk into the drive #0 or #1 and key in ’OK 0’ or ’OK 1’. If the system floppy disk is installed into the drive #0, it is possible to key in only ’OK’ without specifying the drive number.
FAPT LADDER system programs are loaded into the floppy. Also, sequence programs can be written from SYSTEM P series into the floppy or input from the floppy.
The loading method of the floppy is described in detail in the operator’s manual for SYSTEM P series.
The following describes the loading direction of the floppy.
Loading direction of floppy
4.2 PREPARATION BEFORE OPERATION
4.2.1 System Floppy
4.2.2 Limitations with the SYSTEM P Mate
4.2.3 Loading of Floppy
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B–61863E/10 4. OPERATIONPMC PROGRAMMER (SYSTEM P series)
625
Drive No. 0
CRT
Drive No. 1
����4.2.3 Loading direction of floppy
(1) Turn on the SYSTEM P series power supply.
(2) Set the system floppy or prepared exclusive system floppy into the floppy disk.
(3) Continue depressing <LOAD> key for 2 to 3 seconds on the keyboard.
(4) The system loading is started. After this system loading, ”FAPT LADDER” is displayed on the CRT screen and R key menu also appears.
This R key menu screen is shown in Fig. 4.2.6.
After this screen is displayed, take out system floppy or exclusive system floppy.
����4.2.4 R key menu screen
4.2.4 FAPT LADDER System Floppy Loading
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4. OPERATION B–61863E/10PMC PROGRAMMER (SYSTEM P series)
626
A programmer menu screen (hereinafter called menu screen) is displayed by pressing <R0> key from the R key menu screen. Key in a menu number to be executed Fig. 4.2.5 shows the menu screen. The parameter setting screen is displayed by pressing <R0> key just after loading the 1/2 system floppy.
Set parameters as required, referring to 4.2.6.
Proceed to the menu screen by pressing <NL> key.
Parameters are displayable and settable from the menu screen, too.
Programmer menu screen (The programmer menu and function keys are displayed.)
The following figure shows the screen to be displayed when the programmer key (R0) is pressed.
The programmer menu, function keys with I/O indication, and statuses are displayed on this screen.
SET I/O KEY & KEY IN ONE OF THE FOLLOWING NO.S WHICH YOU WANT.
NO. ITEMS
01 EDIT LADDER PROGRAM.
02 INPUT LADDER PROGRAM FROM PTR OR FD.
03 INPUT ROM DATA FROM FD, PMC-RAM OR ROM.
04 OUTPUT LADDER PROGRAM TO PTP. FD OR PRINTER.
05 OUTPUT ROM DATA TO FD, PMC-RAM OR ROM.
06 COMPARE LADDER PROGRAM WITH PTR OR FD.
07 COMPARE ROM DATA WITH FD, PMC-RAM OR ROM.
08 (UNUSED)
09 CLEAR OF TITLE, SYMBOL, LADDER OR MESSAGE DATA.
10 PARAMETER SET.
00 END EDIT & DISPLAY.
F1 : PTR (I) . F4 : GRP (O) SYMBOL =00.0KB SCAN TIME=OOOMS
F2 : FD (I) . F10 : FPRT (O) LADDER =00.0KB
F5 : PRT (O) MESSAGE=00.0KB
F6 : PTP (O) ROM MODULE=A
F7 : FD (O) END SEQ.NO=00000
F8 : PMC (I/O) ERR SEQ.NO=00000
F9 : ROM (I/O) ERR BLOCK =00000 ALARM=00
NO. =
Capacity of area used for symbols and comment data
A period of the sequence program
Capacity of a ladder program
Capacity of message data
The number of the last step in the sequence program
The number of a step at which an error occurred The number of an error occurred
The number of blocks in which an error was detected
Enter a menu number.
����4.2.5 Programmer menu screen
4.2.5 Programmer Menu Screen
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Set parameters before inputting a sequence program without fail. Set necessary parameters by changing from the menu screen to the parameter setting screen (Fig.4.2.6), provided that the parameter setting screen is automatically displayed just after loading the system floppy.
(Operation in step 1 is not required in the procedure below.)
1 Key in menu number “10 <NL>” from the menu screen.
 The screen is switched, and the parameter setting screen shown in Fig. 4.2.6 is displayed. The initial value of each parameter is as shown in Fig. 4.2.6.
KEY IN ONE OF THE FOLLOWING NO.S WHICH YOU WANT TO SET PARA,S.
NO. ITEMS CURRENT PARAMETERS
01 (UNUSED) ; 02 COUNTER DATA TYPE ; BINARY 03 OPERATOR PANEL ; NO KEY/LED ADDRESS ; / KEY/LED BIT IMAGE ADRS. ; / 04 PMC TYPE ; PMC-RC 05 LANGUAGE ORIGIN ; 000000H 06 (UNUSED) ; 07 LADDER EXEC. ; 100% (1-150%) 08 (UNUSED) ; 09 IGNORE DIVIDE CODE ; NO 10 (UNUSED) ; 00 NOTHING TO SET
; ROM WRITER=FA WRITER NO.=
����4.2.6 Parameter setting screen (PMC-RC)
2 Key in “00 <NL>” to proceed to the menu screen, if displayed parameters are employed as they are.
3 Set parameters according to the following procedure when it is necessary to change the displayed parameters.
No operation is required for an item in which no change is required.
a) Set a counter data type. The initial value is set to the binary format.
1 Key in “02 <NL>”
2 Select a binary or BCD notation, and key in the corresponding number “@@<NL>”.
b) OPERATOR PANEL
Specifies whether the operator’s panel is used.
The initial value is already set to NO (unused).
1 Enter 03 and press the <NL> key.
2 The following message appears at the lower left of the screen.
EXAMPLE 0:NO, 1:YES OP PANEL=
3 To disable the operator’s panel, enter 0 and press the <NL> key. To enable the operator’s panel, enter 1 and press the <NL> key.
4.2.6 Parameter Setting and Display
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4. OPERATION B–61863E/10PMC PROGRAMMER (SYSTEM P series)
628
4 Selecting YES in step 3 displays the following message:
SET KEY/LED ADDRESS (KEY ADRS, LED ADRS.) ADDR=
5 Enter a Y-address to specify the KEY address and a Y-address to specify the LED address. For example, enter X0,Y0 and press the <NL> key.
6 Entering data as shown above displays the following message:
SET KEY/LED IMAGE ADDRESS (KEY ADRS, LED ADRS.) ADDR=
7 Enter addresses other than X- and F-addresses. For example, enter R0,R10 and press the <NL> key.
c) Select the type of PMC.
The initial value has been set to the PMC-RB or -RA1.
1 Type 04 and press the <NL> key.
2 The following message appears at the lower left of the screen:
EXAMPLE 0:PMC-RB, 1:PMC-RC PMC TYPE= or EXAMPLE 0:PMC-RA1, 1:PMC-RA2 PMC TYPE=
3 To select the PMC-RB or -RA1, enter 0 and press the <NL> key. To select the PMC-RC or -RA2, enter 1 and press the <NL> key.
4 When the type of PMC is changed, all data items including ladder data are cleared. The following message is displayed for confirmation:
CLEAR ALL DATA TO CHANGE PMC TYPE (0:NO, 1:YES) CLEAR/KEEP=
5 To cancel changing the type of the PMC, enter 0 and press the <NL> key. To change the type of the PMC, enter 1 and press the <NL> key.
d) LANGUAGE ORIGN (for PMC-RC only)
The initial value is already set to 0.
1 Enter 05 and press the <NL> key.
2 Enter @@@@@@ (hexadecimal) and press the <NL> key to specify the first address of the TCB in a C program.
e) LADDER EXEC (only for PMC-RC)
The parameter value for LADDER EXEC is fixed to 100% for the PMC-RB. For the PMC-RC, the parameter value can be set as follows.
1 key in “07 <NL>”.
2 Key in “@@@ <NL>” by numeric characters within a range of 1% to 150%.
After setting, key in “@@ <NL>” or “<NL>” to set the menu screen.
This parameter is not supported for PMC-RA1, PMC-RA2, PMC-RB or PMC-RB2.
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629
f) IGNORE DIVIDE CODE (only for PMC-RB/RC)
It is possible to select whether to execute a ladder program by dividing it into smaller units or without dividing it.
This parameter can be specified as follows for PMC-RB and PMC-RC:
1 Enter 09 and press the <NL> key.
2 To execute the ladder program by dividing it into smaller units, enter 0 and press the <NL> key. To execute it without dividing it, enter 1 and press the <NL> key.
This parameter is not supported for PMC-RA1 or PMC-RA2.
The ladder program is always executed without being divided.
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4. OPERATION B–61863E/10PMC PROGRAMMER (SYSTEM P series)
630
Display the EDIT screen by keying in ”1 <NL>” from the menu screen. Press <R0> by necessary times until a desired screen appears from the title to I/O module. The screen is switched in the sequence shown in Fig. 4.3.1, each time <R0> key is pressed.
Individual screens are reset to the menu screen by ”E <NL>”. In this paragraph, only the input and editing operation of each data from the keyboard is described.
For the I/O operations using a paper tape or a floppy, see 4.4 and 4.5.
(1) Title data (title data list screen).
Set the following data on sequence program as a comment.
R0 R0
R0
Key in ’1 NL ’Menu screen
Ladder program list screen
Title data list screen
I/O module data list screen
Message data list screen
EDIT screen
R0
R0
Symbol & comment list screen
����4.3.1(a) Switching sequence of data display screen
*** TITLE DATA LIST *** 01 MACHINE TOOL BUILDER NAME 02 MACHINE TOOL NAME 03 PMC & NC NAME FANUC PMC-MODEL RB & F16MA 04 PMC PROGRAM NO. 05 EDITION NO. 06 PROGRAM DRAWING NO. 07 DATE OF PROGRAMMING 08 PROGRAM DESIGNED BY 09 ROM WRITTEN BY 10 REMARKS
PMC CONTROL PROGRAM SERIES : 4061 EDITION : 01
MEMORY USED : 00.0 KBYTE SCAN TIME : 008 MSEC
0003 ALTERED EDIT
����4.3.1(b) Title data list screen
4.3 PROGRAM EDITING
4.3.1 Data Display and Setting (Title, Symbol, Ladder Program, Comment, Message, I/O Module)
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631
a) MACHINE TOOL BUILDER NAME
Set the machine tool builder name (max. 32 characters).
Key in “A1 @@@..........@@@ NL”.
Machine tool builder name to be set
Example) “A1 ***MACHINE(LTD) NL”
b) MACHINE TOOL NAME
Set the machine tool name (max. 32 characters).
Key in “A2 @@@..........@@@ NL”.
Machine tool name to be set
Example) ”A2 ***MACHINE NL”
c) CNC & PMC NAME
Set the CNC and PMC name (max. 32 characters).
Key in “A3 @@@..........@@@ NL”.
NC and PMC name to be set
Example) “A3 F16MA.&.PMC-N NL”
d) PMC PROGRAM NO.
Set the sequence program number (max. 4 characters).
Key in “A4 @@@@ NL”.
Number to be set
Example) “A4 0001 NL”
e) EDITION NO.
Set the edition number (max. 2 characters).
Key in “A5 @@ NL”.
Edition number to be set
Example) “A5 G NL”
f) PROGRAM DRAWING NO.
Set the sequence program drawing number (max. 32 characters).
Key in “A6 @@@...........@@@ NL”.
Drawing number to be set
Example) “A6 0001-0002-000A NL”
g) DATE OF PROGRAMMING
Set the sequence programming date (max. 16 characters).
Key in “A7 @@..........@@ NL”.
Date to be set
Example) “A7 1990.10.23 NL”
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4. OPERATION B–61863E/10PMC PROGRAMMER (SYSTEM P series)
632
h) PROGRAM DESIGNED BY
Set the sequence program designer name (max. 32 characters).
Key in “A8 @@@..........@@@ NL”.
Name to be set
Example) “A8 MR.***&MISS *** NL”
i) ROM WRITTEN BY
Set the name of the programmer who wrote a program into ROM cassette (max. 32 characters).
Key in “A9 @@@..........@@@ NL”.
Name to be set
Example) “A9 MR.***&MISS *** NL”
j) REMARKS
Set remarks (memo) (max. 32 characters).
Key in “A10 @@..........@@ NL”.
Remarks to be set
Example) “A10 MEMO-COMMENT NL”
Set title data about all items in the above format for both entry and alteration.
All characters are settable so long as they can be keyed in from the SYSTEM P series keyboard. Set easy-to-understand data about individual items.
(2) Symbol and comment data (SYMBOL & COMMENT LIST screen).
A symbol means a signal name to be attached to each PMC I/O signal. The comment data is a comment statement of the signal name.
The symbol is optionally settable within maximum 6 characters, while the comment data are optionally settable within maximum 30 characters.
a) Input from keyboard (Insert)
Key in “G0.1 SYMNAM COMMENT NL”.
Symbol name Address
Comment data
Mode selection(IS..., AS...) and line selection (I..., A...) need not be specified when symbols or comment data are input or edited. Also addresses (G, F, X, Y,...) can be entered in any sequence.
b) Alter
The operation is completely the same as that described in 2) a).
c) Insert
The operation is completely the same as that described in 2) a).
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d) Delete
i) Delete every line
Key in “D@@@ NL”.
Line number to be deleted
ii) Sequential delete
Key in “D@@@@,@@@ NL”.
Delete start line number Delete end line number
e) Search
i) Search by line number
Key in “L@@@@ NL”.
Line number to be searched
ii) Search by symbol name
Key in “L@@@@ SYMNAM NL”.
Line number with which the search is to be started
Symbol name to be searched
iii) Address search
Key in “L@@@@ F0.1 NL”.
Line number with which the search is to be started
Address to be searched
(3) Message data (MESSAGE DATA LIST screen)
Message data are alarm and operator message data to be displayed by using functional instruction DISPB (SUB 41).
***MESSAGE DATA LIST*** 0001 A00.0 0123456··········89XY 0002 ABCD······ 0003 0004 0005 0006 0007 0008 0009 A00.1 · · · EDIT =
Address
Line number
Message data
����4.3.1(c) Message data list screen
Maximum 255 characters are entered to one address as message data. Input message data every maximum 32 characters/line by dividing them into 8 lines.
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4. OPERATION B–61863E/10PMC PROGRAMMER (SYSTEM P series)
634
a) Input and alter from keyboard Set message data in the alter format for both entry and alter. All characters are settable so long as they can be keyed in from the SYSTEM P series keyboard. Key in message data every line in the following format.
“A @@@ MESSAGE-DATA1 NL”.
Message data (maximum 32 characters)
Line number (maximum 3 digits)
A means alter.
b) Delete Delete message data every line in the following format. Key in “D@@@ NL”.
Line number to be deleted
c) Search Search message data by address.
“A@@.@ NL”
Address of message data to be searched
(4) I/O module data (I/O MODULE DATA LIST screen) I/O module data are used for determining addresses in a sequence program of each I/O module.
***I/O MODULE DATA LIST*** ADDRESS GROUP BASE SLOT NAME X000 X001 X002 X003 · · · ·
����4.3.1(d) I/O module data list screen
a) Input and alter from keyboard Set I/O module data in the following format when inputting or altering them from the keyboard. Key in I/O module data in the format of:
“@@@ @ @ @@ @@@@@ NL”
I/O module name (maximum 5 digits)
Slot number (maximum 2 digits within a range of 1 to 10)
Base number (1 digit within a range of 0 to 3)
Group number (1 digit within a range of 0 to 15)
Address (input X0, Y0, ...)
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635
b) Delete
Delete I/O module data every address by specifying it as follows:
Key in “@@@@ NL”.
Address of I/O module data to be deleted (input X0, Y0, ...)
NOTE 1 If the same slot number is specified when the group and
base numbers are equal to each other, alarm No. 88 occurs. 2 If an output module is specified at an input address or an
input module is specified at an output address, alarm No. 87 occurs.
3 If a module is set doubly to a preset address, alarm No. 81 occurs.
Example) When two IO modules, b are set as shown in the following figure;
d.
a.
address group base slot name
X000 2 0 1 FS08A
X001 2 0 1 FS08A
X002 2 0 1 FS08A
X003 2 0 1 FS08A
X004 2 0 1 FS08A
X005 2 0 1 FS08A
X006 2 0 1 FS08A
X007 2 0 1 FS08A
X008
X009 2 1 8 ID16C
X010 2 1 8 ID16C
X011
X012
X013
X014 2 1 8 ID16C
X015 2 1 8 ID16C
b.
c.
If an attempt is made to set a module to X014 like c., alarm No. 88 oc- curs due to the reason in 1).
If an attempt is made to set an output module to X006 like d., alarm No. 87 occurs due to the reason in 2).
If an attempt is made to set input module ID32B to X006 like d., alarm No. 81 occurs due to the reason in 3). In this case, this input module must be set after deleting a. and b. modules once.
The module names (FS08A, CT01A, etc.) used for input and output in common are out of the objects of check in 1) and 2).
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4. OPERATION B–61863E/10PMC PROGRAMMER (SYSTEM P series)
636
Input a sequence program from the keyboard.
Set the EDIT screen (LADDER PROGRAM LIST screen).
Press menu number ”1 <NL>” on the menu screen, or press <R0> key on the symbol or I/O module screen. Turn off all F keys at this time.
Key in ”IS0 <NL>” (Insert Succession) to set the sequential insert mode, and then, input a sequence program.
”*IS MODE*” is displayed at the lower right part of the screen. key in desired instructions sequentially in the following format.
1 IS0 <NL> (Sequential input start command)
� *IS MODE* is displayed at the lower right part of the screen.
2 R X0.1 <NL>
3 W R1.1 <NL>
4 IE <NL> (Sequential input end command)
� *IS MODE* display disappears from the lower right part of the screen.
NOTE 1 Instructions to be keyed in are entered by abbreviated
symbols as shown above for the purpose of preventing a key-in failure and improving the operability by reducing the number of key-in times. It is also allowable to input these instructions by using their full names, like ”RD X0.1 <NL>”. Table 4.3.2 shows the correspondence between abbreviated symbols and full names.
2 No severe format checking is performed for mnemonic program. For example, the following program may be correct with mnemonic programming. However this program cannot be displayed as ladder diagram nor printed out on the printer.
Usually do not program as shown below:
Wrong program
4.3.2 Programming from Keyboard
(Key in sequence)
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����� 4.3.2 Keyboard input format and screen display format
Input format from keyboard (Simple symbol)
Display format on screen (Full name)
R X0. 1 RD X0. 1
RN X0. 2 RD. NOT X0. 2
RNS X0. 3 RD.NOT.STK X0. 3
W R0. 4 WRT R0. 4
WN R0. 5 WRT.NOT R0.5
O Y1. 0 OR Y1. 0
ON Y1. 1 OR.NOT Y1.1
OS OR. STK
AG2. 0 AND G2. 0
AN G2. 1 AND.NOT G2. 1
AS AND. STK
T 5 TMR 5
D F0 DEC F0
S 5 SUB 5
P 1234 (Parameter)
Correct a generated sequence program by alter operation.
Set the EDIT screen (LADDER PROGRAM LIST screen) first and display the generated source program. Turn off all F keys at this time.
a) Alter every instruction
Key in “A @@@@@ R X0.1 NL”
Instruction to be altered
Line number of the instruction to be altered (maximum 5 digits)
A means alter.
b) Sequential alter
i) Key in ”AS@@@@@ NL” (Alter Succession) to set the sequential alter mode.
@@@@@: Line number to be sequentially altered (maximum 5 digits) “AS MODE” is displayed at the lower right part of the screen.
ii) Instructions are sequentially altered starting with the Line specified by @@@@@, each time the key-in operation is done in the “R X0.1 <NL>” format.
iii) After sequential alter, key in “AE <NL>” (Alter End).
Example) Example of sequential alter of sequence program For altering all step numbers 20 to 23;
(Key in sequence)
1 AS20 <NL> (Sequential alter start command) � *AS MODE* is displayed at the
lower right part of screen. 00020 RD Y0.1 2 R Y0.1 <NL>
4.3.3 Alter
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4. OPERATION B–61863E/10PMC PROGRAMMER (SYSTEM P series)
638
00021 WRT R0.13 W R0.1 <NL> 00022 RD F1.1 4 R Y1.2 <NL> 00023 WRT R1.15 W R1.2 <NL>
6 AE <NL> (Sequential alter end command) � *AS MODE* display disappears
from the lower right part of the screen.
c) Wiring change function
All of address used in Ladder Program is changed to a new address independently of a command. Only bit address can be changed.
Type in ’CA Address 1 Address 2 <NL>
A new address
A previous address to be changed
Abbreviation of CHANGE ALL
(Symbol can not be changed)
Example) ’CA R0.1 R1.2 <NL>’ — All ”R0.1” used in Ladder Program is changed
to ”R1.2”.
NOTE If an address is specified which can not be changed to a new address, an alarm 09 occurs when the specified line will be changed. In that case, previous lines correctly changed to that line can be acceptable.
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B–61863E/10 4. OPERATIONPMC PROGRAMMER (SYSTEM P series)
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1 ‘CA R1.2 X0.1 NL’
Abnormal end of changing.
Normal end of changing?
iii.ii.i. Normal end of changing.
00001 SUB1
00002 RD X0.1
00003 WRT R1.3
00004 RD R1.2
00005 WRT R1.3
00006 RD X0.1
00007 WRT R1.4
00008 RD R1.3
00009 SUB 8
00010 1111
00011 1111
00012 X0
00013 R2
00014 SUB 2
00015 SUB 48
EDIT=�
00001 SUB1
00002 RD X1.7
00003 WRT R1.2
00004 RD R1.2
00005 WRT R1.3
00006 RD X1.7
00007 WRT R1.4
00008 RD R1.2
00009 SUB 8
00010 1111
00011 1111
00012 X0
00013 R2
00014 SUB 2
00015 SUB 48
EDIT=�
This does not apply to byte address.
‘CA X0.1 X1.7 NL ’
00001 SUB1
00002 RD X0.1
00003 WRT R1.5
00004 RD R1.2
00005 WRT R1.3
00006 RD X0.1
00007 WRT R1.2
00008 RD R1.2
00009 SUB 8
00010 1111
00011 1111
00012 R1
00013 R2
00014 SUB 2
00015 SUB 48
EDIT=�
00001 SUB1
00002 RD R1.2
00003 WRT R1.5
00004 RD R1.2
00005 WRT R1.3
00006 RD R1.2
00007 WRT R1.2
00008 RD R1.2
00009 SUB 8
00010 1111
00011 1111
00012 R1
00013 R2
00014 SUB 2
00015 SUB 48
EDIT=�
00001 SUB1
00002 RD X0.1
00003 WRT R1.5
00004 RD X0.1
00005 WRT R1.3
00006 RD X0.1
00007 WRTR1.2
00008 RD R1.2
00009 SUB 8
00010 1111
00011 1111
00012 R1
00013 R2
00014 SUB 2
00015 SUB 48
EDIT=�
2 ‘CA X0.1 R1.2 NL’Alarm No. 09
As shown above, an alarm No. 09 occurs when a ladder program i is changed by an operation of 1 and a ladder program ii will be produced.
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4. OPERATION B–61863E/10PMC PROGRAMMER (SYSTEM P series)
640
Then, it may be impossible to return a ladder program ii to a ladder program i by an operation 2.
All address used in ladder program of specified line number of subsequent, is changed a new address independently of a command.
Only bit address can be changed.
Operate carefully with enough recognition of above.
’C@@@@@ Address 1 Address 2 NL’
A new address
A previous address to be changed
Change start line number
(Symbol cannot be changed)
Example) ’C7 R0.1 R1.2 <NL>’
— All ”R0.1” used in ladder program of 7th line or subsequent, are changed to ”R1.2”.
Insert a new program to the generated sequence program.
Set the EDIT screen (LADDER PROGRAM LIST screen) first.
a) Insert every instruction
Key in “I @@@@@ R X0.1 NL”.
Instruction to be inserted
Line number just before the instruction to be inserted (maximum 5 digits)
I means insert.
b) Sequential insert
i) Key in ”IS@@@@@ <NL>” (Insert Succession) to set the sequential insert mode, and *IS MODE* is displayed at the lower right part of the screen.
@@@@@:Line number just before the instruction to be inserted (maximum 5 digits)
ii) Instructions are sequentially inserted starting with the line next to the line specified by @@@@@, each time the key-in operation is done in the ”R X0.1 NL” format.
iii) After sequential insert, key in ”IE <NL>” (Insert End).
Example) Sequential insert of a sequence program For inserting multiple instructions after step number 20
(Key in sequence)
1 IS20 <NL> (Sequential insert start command) � *IS MODE* is displayed at the
lower right part of screen.
(Special use of wiring change function)
4.3.4 Insert
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B–61863E/10 4. OPERATIONPMC PROGRAMMER (SYSTEM P series)
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00020 RD Y200.0 2 R.S R200.1 <NL> 00021 WRT R300.7 3 R.S R200.2 <NL>
4 R 5 <NL> 5 P 9 <NL> 6 IE <NL> (Sequential insert end
command) � *IS MODE* display disappears
from the lower right part of the screen.
i) Delete every instruction
Key in “D@@@@@ NL”.
Line number to be deleted (maximum 5 digits)
D means delete.
ii) Sequential delete
Key in “D@@@@@,@@@@@ NL”.
Line number to complete delete (maximum 5 digits)
Line number to start delete
Search a sequence number by a line number or instruction
i) Search by line number
Key in “L@@@@@ NL”.
Line number to be searched (maximum 5 digits)
L means location search.
ii) Search by instruction (Search by address)
Key in “L@@@@@ R X0.1 NL”.
Instruction to be searched
Line number with which the search is to be started
NOTE Input data after changing the symbol display into address display by passing R1 key, if the address of the instruction to be searched is defined by a symbol and displayed by the symbol.
4.3.5 Delete
4.3.6 Location Search
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4. OPERATION B–61863E/10PMC PROGRAMMER (SYSTEM P series)
642
iii) Search by instruction (Search by symbol)
Key in “L@@@@@ R ACT NL”.
Instruction to be searched (ACT: Symbol name)
Line number with which the search is to be started
NOTE This search applies to such a case as the address of the instruction to be searched is defined by a symbol and the symbol is displayed.
iv) Search by the bit address or its symbol name
The specified address (only bit address) or its symbol name is searched from the specified line number independently of a command.
Type in ’L@@@@ ????? NL’.
Bit address or its symbol name
Search start line number
Example) ’L1 R1.0 NL’ — Start searching bit address ”R1.0” from 1st line.
’L7 SMB NL’ — Start searching symbol name ”SM BL” defined at
bit address from 7th line.
v) Continuous search
A specified command, address (only bit address) or its symbol name is searched from 2nd line displayed on the screen.
Type in ’L ????? NL’.
Command, bit address or its symbol name to be searched
Type in ’F NL’.
FIND: Search the same command, bit address or its symbol name as that searched just before, from 2nd line displayed on the screen.
Example) ’L R R0.1 <NL>’ — Search the command ”RD R0.1” from 2nd line
displayed on the screen. ’L R0.1 <NL>’ — Search the bit address ”R0.1” from 2nd line displayed
on the screen. ’L SYMBOL <NL>’ — Search the symbol name ”SYMBOL” defined at bit
address from 2nd line displayed on the screen.
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The ladder diagram can be displayed on the programmer function EDIT screen.
Set the screen to EDIT screen (LADDER PROGRAM LIST)
a) Turn on F4 key.
b) Depress <NL> key
The ladder diagram is displayed on the screen.
For displaying the sequence program in the mnemonic format from the ladder diagram, turn off F4 key, and depress <NL> key.
The ladder diagram at an optional point can be displayed by the step number search or instruction search method.
If a ladder diagram cannot be displayed on one screen, it can be displayed by scrolling it leftward, rightward, upward, and downward as shown in the following table.
c) Edition during LADDER diagram display
Sequence programs can be edited even on the LADDER diagram screen display, (This function is convenience when sequence programs are edited with seeing LADDER diagram print out list.) From ’EDIT=’ in the LADDER diagram screen display, sequence programs can be edited by the same operation as in editing programs in the ’LADDER PROGRAM LIST’ screen.
*** LADDER DIAGRAM ***
TMR 1
X0.0 X0.1
X1.0 X1.1
X2.0
X2.1
Y 0.0
Y 0.1
R 40.7
EDIT=
Scroll direction Key
Left (Left ladder on screen is displayed.)
Right (Right ladder on screen is displayed.)
Upper (Upper ladder on the screen is displayed.)
Lower (Lower ladder on the screen is displayed.)
Upper half page
Lower half page
�
4
6 �
2 �
�
8
NL
NL
NL
NL
R2 NL
R2 NL
����4.3.7 Ladder diagram display screen
4.3.7 Display of Ladder Diagram
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4. OPERATION B–61863E/10PMC PROGRAMMER (SYSTEM P series)
644
Example)
* LADDER DIAGRAM *
END1
END2
~ ~
EDIT=
X0.0 Y0.0
1 From ’EDIT=’ IN the left figure, key in as follows. ’ISO NL’ ’R X1.0 NL’ ’W Y1.0 NL’ ’IE NL’
2 Press R0 key to display the ’LADDER PROGRAM LIST’ screen. Two lines ’RDX1.0’ AND ’WRT Y1.0’ are added before ’SUB1 (END1)’.
3 When the LADDER diagram is displayed again, the diagram after adding the above two lines is displayed.
Editing command explanation screen can be displayed from Ladder program edition screen. (LADDER PROGRAM LIST or LADDER DIAGRAM)
key in ’H <NL>’ to display the following screen.
*** HELP LIST *** (@@@@@=SEQUENCE NO.)
<INSERT> I@@@@@ OPERATION CODE : INSERT IS@@@@@ : INSERT SUCCESSION START IE : INSERT SUCCESSION END <ALTER> A@@@@@ OPERATION CODE : ALTER AS@@@@@ : ALTER SUCCESSION START AE : ALTER SUCCESSION END <DELETE> D@@@@(,@@@@@) : DELETE (SUCCESSION END) <LOCATION SEACH> L@@@@@ : SEQUENCE NO. SEARCH L@@@@@ OPERATION CODE : OPERATION CODE SEARCH L@@@@@ <ADDRESS OR SYMBOL> : ADDRESS OR SYMBOL SEARCH L OPERATION CODE : SEARCH FROM DISPLAY 2ND LINE L <ADDRESS OR SYMBOL> : SEARCH FROM DISPLAY 2ND LINE F : FIND FROM DISPLAY 2ND LINE <CHANGE ALL ADDRESS> CA ADDRESS1 ADDRESS2 :CHANGE ALL ADDRESS1 TO ADDRESS2
Key in ”<NL>” to return it to ladder program editing screen.
Key is ”E <NL>” (End) after editing a sequence program, and the EDIT screen is reset to the menu screen.
4.3.8 Help Screen
4.3.9 Editing end
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B–61863E/10 4. OPERATIONPMC PROGRAMMER (SYSTEM P series)
645
Read source programs (parameters, titles, symbols, ladders, messages, and I/O modules) from an input unit designated by an F key on the menu screen, and load them into SYSTEM P series memory.
(1) Paper tape format of source programs Paper tape format of source programs is of ISO code. No EIA code paper tape can be used. a) Parameter date
Feed % @0 CR ± ± ± ± ± % CR Feed
b) Title date
Feed % @1 CR 1 MACHINE TOOL CR ± ± ± ± ± % CR Feed
c) Symbol date
Feed % @2 CR F0.1 SYMBOL COMMENT CR ± ± ± ± % CR Feed
d) Ladder program
Feed % @3 CR RD X0.1 CR ± ± WRT WORK01 CR ± ± % CR Feed
e) Message date
Feed % @4 CR A0.0 MESSAGE = 1 CR ± ± A24.7 MESSAGE = 24 CR % WRT WORK01 CR
CR ~ Feed
f) I/O module date
Feed % @5 CR X 0 0 0 5 ID32C CR ± ± ± ± ± % CR Feed
4.4 INPUT OF PROGRAM
4.4.1 Source Program
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4. OPERATION B–61863E/10PMC PROGRAMMER (SYSTEM P series)
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(2) Input method from PPR reader
1 Turn on F1 key.
2 Key in menu number ”2 <NL>”.
3 The screen is switched, and the entry of a source program is started.
4 After the source program has been normally entered, the screen is automatically reset to the programmer menu screen. If an error was detected during entry, ”PART-” is displayed on the lower left part of the screen. Check error contents, and key in ”E NL”. The screen is reset to the programmer menu screen.
(3) Entry method from floppy
1 Turn on F2 key.
2 Key in menu number ”2 <NL>”.
3 The following message is displayed at the lower part of the screen.
SET FD & KEY IN ”OK” ”KILL” OR ”NO” FD0=OK <DRIVE> <@NAME OR : NUMBER> FD0=
Fig. 4.4.1 shows the menu screen in the floppy entry mode.
[Screen when source programs are input form floppy]
SET I/O KEY & KEY IN ONE OF THE FOLLOWING NO.S WHICH YOU WANT.
NO.ITEMS 01 EDIT LADDER PROGRAM. 02 INPUT LADDER PROGRAM FROM PTR OR FD. 03 INPUT ROM DATA FROM FD. PMC-RAM OR ROM. 04 OUTPUT LADDER PROGRAM TO PTP. FD OR PRINTER. 05 OUTPUT ROM DATA TO FD. PMC-RAM OR ROM. 06 COMPARE LADDER PROGRAM WITH PTR OR FD. 07 COMPARE ROM DATA WITH FD. PMC-RAM OR ROM. 08 (UNUSED) 09 CLEAR OF TITLE. SYMBOL. LADDER OR MESSAGE DATA. 10 PARAMETER SET. 00 END EDIT & DISPLAY. F1 : PTR (I) . F4 : GRP (O) SYMBOL =00.0KB SCAN TIME-OO8MS F2 : FD (I) . F10 : EPRT (O) LADDER =00.0KB F5 : PRT (O) MESSAGE=00.0KB F6 : PTP (O) F7 : FD (O) END SEQ.NO=00000 F8 : PMC (I/O) ERR SEQ.NO=00000 F9 : ROM (I/O) ERR BLOCK =00000 SET FD & KEY IN ’OK’ ’KILL’ OR ’NO’ FD0 = OK ’@FILE NAME’ <DRIVE><@NAME OR NUMBER> NO.=
Example
Key in file names to be input from floppy as shown in the example.
����4.4.1 Floppy input menu screen
4 Insert the floppy into the disk, and enter the following data. Characters in < > need not be keyed in.
OK @LADDER1 NL
File name (provisional file name)
5 The screen is switched, and the entry of source programs is started from the floppy.
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B–61863E/10 4. OPERATIONPMC PROGRAMMER (SYSTEM P series)
647
6 The following procedure is the same as in 4.4.1 2) 4.
7 A file name is inputtable up to maximum 17 characters. All characters on the SYSTEM P series keyboard are employable for this entry. The kinds of capitals are not limited.
”@” (at mark) shows a file name input identifier. Key in it just before the file name as shown in example $$ without fail.
CAUTION If sequence program instructions are sequentially entered while a sequence program is loaded in the SYSTEM P series memory, the instructions are entered into the SYSTEM P series memory following the previously loaded program. Clear SYSTEM P series memory, if a new program is entered from the floppy. (see 4.7) The SYSTEM P series memory is cleared by turning off the SYSTEM P series power supply.
(1) Transfer of sequence program from the PMC-RA1/RA2/RB/RC
The created sequence program is transferred from the PMC-RA1/RA2/RB/RC.
First, connect the SYSTEM P Series and the CNC with a Reader/Puncher interface cable. (Refer to Appendix 1 for details of the cable.) For the method and location of connection, refer to the section ”3.2 Configuration devices and their connection”. In the following procedure, operations 1 to 6 are NC side operations. The keys enclosed in [ ] are soft keys.
1 Pressing soft keys [SYSTEM] and [PMC] displays the PMC screen. Steps 2 to 4 below must be performed when [I/O] is not displayed on the PMC screen. For a 9-inch CRT, press soft key [NEXT] to check that [I/O] is not on the screen.
2 Pressing soft keys [PMCPRM] and [KEEPRL] on the PMC screen displays the keep relay setting screen.
3 Set K17.1 to 1 on the keep relay setting screen.
4 Pressing soft key [RETURN] displays the PMC screen.
5 On the PMC screen, pressing soft key [I/O] displays the I/O screen. For a 9-inch CRT, press soft key [NEXT] before pressing soft key [I/O].
6 Pressing soft key [EXEC] on the I/O screen puts the system in the EXECUTING state.
7 Turn on the F8 key on the SYSTEM P series menu screen. (Turn on the F12 key at the same time when the C-language program is included.)
8 If the menu number ‘3 [NL]’ is keyed in, the message shown below will be displayed. PMC-RA1/RA2/RB/RC is not displayed. Key in the type of ROM module to be used from now on. (Refer to Note 1 when selecting ROM module B, C or D.)
4.4.2 ROM Format Program
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4. OPERATION B–61863E/10PMC PROGRAMMER (SYSTEM P series)
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SELECT THE TYPE OF ROM MODULE ACCORDING TO THE FOLLOWING NO.
ROM MODULE 0:A 1:B, 2:C, 3:D NO.=
By means of the above-described operations, the program transfer is started. The transfer screen is displayed on the SYSTEM P Series screen and the transfer counter counts. The screen returns to the menu screen after the end of transfer.
(2) Input from a floppy disk 1 Turn on the F2 key. (Turn on the F12 key at the same time when
the C language program is included.)
2 If the menu number ‘3 [NL]’ is keyed in, the message shown below will be displayed. PMC-RA1/RA2/RB/RC is not displayed. Key in the type of ROM module to be used from now on. (Refer to Note 1 when selecting ROM module B, C or D.)
SELECT THE TYPE OF ROM MODULE ACCORDING TO THE FOLLOWING NO.
ROM MODULE 0:A 1:B, 2:C, 3:D NO.=
3 The following message is displayed at the lower left part of the screen.