Efics Intro 3.50

Fics-Ⅲ(PⅢ)
Introduction
[Table of Contents]
[1: Outline] ................................................................................ 1
[1-1: Outline of Fics-Ⅲ(PⅢ)] .......................................................... 1
[1-2: Outline of high-speed Serial Communications Interface System].................. 2
[1-2-1: Fics-Ⅲ(PⅢ) Multi Unit System] ............................................. 3
[1-2-2: Error stop according to Fics-Atoms series unit] ............................ 3
[1-3: Robot Terminal and Programmable Terminal] ....................................... 4
[1-4: Terminal Controller] .............................................................. 4
[1-5: Fics mode and user mode] .......................................................... 4
[1-6: Note at Fics-Ⅲ(PⅢ) Setup]....................................................... 5
[2: Software Structure] .................................................................... 6
[2-1: Option Software] ................................................................... 6
[3: Mode of Fics-Ⅲ(PⅢ) ] ................................................................. 7
[3-1: Manual (Jog-Operation and Programming) mode] .................................... 7
《Initial Screen》 .................................................................... 7
《Manual Mode》 ....................................................................... 7
《Manual Output Check》 ............................................................... 7
《Programming (data) mode》 .......................................................... 7
《Open and Save EEPROM data》 ........................................................ 7
《Remote Servo Adjustment》 .......................................................... 7
《Edig PD (Point Data)》System equipped with Fics-PⅢ or point data option ....... 7
[3-1-1: Initial Screen] ............................................................... 8
[3-1-2: MANU mode] .................................................................... 9
[3-1-2-1: JOG Operation and Origin-Return] ....................................... 9
《Information related to Origin-Return》...................................... 10
《Object of Sotware Limit》 .................................................... 10
[3-1-2-2: JOG Operation Method] .................................................. 11
[3-1-2-3: Overrun Input at Manual Mode] ......................................... 11
[3-1-2-4: <JOG> KEY and Screen Display] ......................................... 11
[3-1-2-5: JOG Operation in Manual mode by digital input] ....................... 12
[3-1-3: Manual Output Check] ........................................................ 13
[3-1-3-1: Output Check Function by Digital Input]............................... 13
[3-1-4: Open and Save EEPROM data [EEPROM]] ........................................ 13
[3-1-5: Adjustment of Servo Driver] ................................................. 14
[3-1-5-1: PTP data setting for Automatic Shuttle Operation] .................... 14
[3-1-5-2: Parameter setting during Automatic Shuttle Operation] ............... 14
[3-2: Auto-running mode] ............................................................... 15
[3-2-1: Key Input of auto-running mode] ............................................ 16
[3-2-2: Start Auto-running of program] ............................................. 17
[3-2-3: Stop and reset error during auto-running] ................................. 17
[3-3: Mode Switch] ...................................................................... 18
[3-3-1: Mode Switch between manual and auto] ....................................... 18
[4: Details of DO controlled with System] ................................................ 19
[5: Related Matters] ....................................................................... 20
[5-1: Variable, Flag] ................................................................... 20
[5-1-1: Positioning by the variable]................................................ 20
0
[5-1-2: Special variables, flags] ................................................... 20
[5-1-3: System Variable] ............................................................. 20
[6: Communication] ......................................................................... 21
[6-1: Atom-Remote/RT1 Ver.2] ........................................................... 21
[6-2: RS232C Communication] ............................................................ 21
[6-3: Communication with WinFics]...................................................... 21
[6-3-1: Project-ID] .................................................................. 21
[7: Errors and Trouble Shooting].......................................................... 22
[7-1: Request when an error occurs] ................................................... 22
[7-2: List of Errors] ................................................................... 22
[7-2-1: Errors with Alarms] ......................................................... 22
[7-2-2: Errors without Alarms] .......................................................... 22
[7-2-3: Errors occur at all times] .................................................. 23
[7-2-3-1: Emergency Stop (EMERGENCY)] ............................................ 23
[7-2-3-2: IOM disconnection Error (IOM LOOP ERROR)] ............................ 23
[7-2-4: Errors when the Power is Switched on] ...................................... 23
[7-2-4-1: Memory Check Error] .................................................... 24
[7-2-4-2: ROM Check Error] ........................................................ 25
[7-2-4-3: Communication Error at Power supply ON(COMM ERR)] .................... 26
《Power-ON sequence of Fics-Atoms series》 ................................... 26
[7-2-5: Error during program input or parameter setting] .......................... 27
[7-2-6: Error during JOG-operation or AUTO-operation] ............................. 27
[7-2-6-1: Error stop during AUTO-operation] ..................................... 27
[7-2-6-2: Error-reset during Auto-Operation] .................................... 28
[7-2-6-3: Error stop according to Fics-Atoms series unit] ...................... 28
[7-2-7: Errors Occur in AUTO-mode] .................................................. 29
[7-2-8: Servo Driver Error] ......................................................... 30
[7-2-9: Other Errors] ................................................................ 30
[Appendix-1 Software Configuration Diagram].............................................. 31
《Software Configuration example of Fics system using RT1》 ......................... 31
《Software Configuration example of Fics system using TPCx》 ........................ 32
[List of Fics-Ⅲ(PⅢ) error Ver.3.10 specification] .......................................... 33
【：Setting of Auto reset and Auto offset of ABS encoder】 ................................ 35
The specification of this system is subject to change for improvement without notice.
1
[1: Outline]
[1-1: Outline of Fics-Ⅲ(PⅢ)]
Fics-Ⅲ is an operating system of positioning controller developed for more simple and more
friendly operations of Fics series, intelligent position control system of high-quality and low-cost.
Fics-Ⅲhas the positioning data as a coordinate value of the motor, and the coordinate value of the
motor is used in the positioning control. Fics-PⅢhas positioning data as a point number, and the
point number is used in the positioning control. The coordinate value of the motor is stored in the
point number. Fics-Ⅲ(PⅢ) is used to explain in this manual only because the programming
method of PTP command and palletizing function is different in Fics-Ⅲ and Fics- PⅢ as explained
by [Programming].
Fics series is roughly split into the following two kinds depending on the configuration type of
hardware.
・ Serial Interface:
controls serial communication type servo driver, Atom and AtomR.
・ Pulse Interface:
controls AC Turbo series, pulse motor driver, and pulse input type driver.
Serial Interface system is described in this manual.
In Fics-Ⅲ(PⅢ), Robot Terminal RT1 and RT3, Programmable Terminal PT3, Touch Terminal
TT4,TT5 etc.(TTx hereafter), Touch Panel Controller TPC1, TPC4, and TPC5 etc.(TPCx
hereafter) are used as a programming console. RT1 uses LCD screen of 4*20, and RT3 and PT3
use 15*20 (or 7*20). TTx and TPCx use LCD screen of 30*40.
Hereafter, RT1 and TPCx are used as examples for explanation in this manual.
Products other than Robot Terminal including Programmable Terminal, the operation panel
function is user-friendly because of graphical user interface in addition to the programming console
function. User can create operation panel on PC by using drawing tool WinPANEL under
Windows.
Any model adopts both interactive method with Menu & Help and field input method. The main
features of Fics-Ⅲ(PⅢ) are simple operation and easy programming, which realize almost free
from referring manuals. Although it is a position controller for general purpose, Fics-Ⅲ is quite
convenient as though for exclusive use. Also, various kinds of software are provided for
programming of many applications.
In addition, not only the developments of systems combining several optional software in【2-1：
Optional Software】, but those of exclusive control systems based on the original specifications
are acceptable with short terms and low cost.
Intro-1
[1-2: Outline of high-speed Serial Communications Interface System]
DYNAX provides following 2 kinds as high-speed serial communications interface system.
・ Fics-Atoms Series:
High-speed serial Connection of Fics-Atoms series
communication
RS485 of 625Kbps JP1
JP2
is used for controller CORPORATION

Serial Controller SB Ver.3.5
and servo driver’s

interfaces. DYNAX Fics-RT1
I/O
HOST
high efficient AC
servo positioning RS422(forIOM) RT1
driver Atom series, 汎用入出力
Fics-IOM/ Fics-IOM/
micro step pulse 16 ・ 16CN 16 ・ 16CN
DSUB9P DSUB9P
RS485
motor driver
RS232C
Atom-PDS series, or DSUB9P
pulse output station RS232C PT
Atom-PS series is
controlled by the
LAN② LAN①
serial network. 主電源 Atom-
SLIM
Atom-
mini DSUB9P DSUB9P
Atom-MFB having Atom DynaFics
analog input/output WinFics can be connected by RS232C

function can be
connected, and a smart control of various multifunction systems becomes possible.
・ Fics-Sring Series:
High-speed serial
Connection of Fics-Sring series
communication
SRing of 2.5Mbps is JP1
JP2
used for controller CORPORATION

Serial Controller SB Ver.3.5
and servo driver’s

interfaces. DYNAX Fics-RT1
I/O
HOST
AC servo positioning
driver AtomR series RS422(forIOM)
is controlled up to 8 Fics-IOM/ Fics-IOM/
RT1
16 ・16CN 汎用入出力
16・ 16CN
axes by serial
SRing(RS422)
network. Up to 16 DSUB9P DSUB9P
axes can be RS232C

DSUB9P
controlled by TPC1.
DynaFics
The interpolation Atom R-
Atom R-
主電源 mini RS232C
control of high SLIM
accuracy becomes Atom R
possible by adopting
high-speed serial communication control ASIC of DYNAX original protocol. System
construction which needs interpolation control is possible.
High-speed serial communication is adapted to digital input/output in both system so that DI256
andDO256 points can be controlled by I/O module IOM.
Fics-Sring Series is used for particular control like winding machine control etc. Hereafter,
Fics-Atoms series is used as an example for explanation in this manual since it is used usually.
Intro-2
[1-2-1: Fics-Ⅲ(PⅢ) Multi Unit System]
The basic axis composition of the programming of Fics-Ⅲ(PⅢ) is 6 axes or less. The basic
configuration of the programming is called a Unit. System control of more than 7 axes can be done
by using the multi unit system.
RT1,PT3
TTx,TPCx
Fics-Atoms
Serial commnication
controller
Unit-1
RS485 Multi drop
Atom - +OV Atom - +OV Atom - +OV Atom - +OV Atom-

+OV
ORG Atom-
+OV
ORG Atom +OV
ORG ORG ORG ORG PS -OV
PS -OV ORG
SLIM -OV SLIM -OV SLIM -OV SLIM -OV 電源一体型 -OV
P uls e m oto r dr ive
5V PS 5V PS
Power supply
Separete type Main
Power Supply
AC100V/200V
■Main feature of Multi Unit System

◇Up to 5 units are configurable
◇Up to 6 axes are configurable for each unit
◇Station number is continuously allocated to all axes
◇Select unit with <MODE> key in manual mode or system mode
◇Select unit according to the program number when auto-running
■Parameter set according to Unit
◇[PARAM]
◇[CONFG]-[AXIS]
■Unit setting screen: [SYS]→[CONFG]→[UNIT]
Please refer to [6-1-1: Setting of Unit information] for setting of unit information.
[1-2-2: Error stop according to Fics-Atoms series unit]

In multi unit system, it can be regarded each unit as one robot or whole units
as one robot. When the error like emergency stop occurs, whether to stop all
motor operations (regards whole units as one robot) or stop only motor operation
in the unit (regards each unit as one robot) is different depending on the system.
User can select which system to use. Please refer to [7-2-6-3: Error stop
according to Fics-Atoms series unit].
Intro-3
[1-3: Robot Terminal and Programmable Terminal]
DYNAX provides various terminals. All terminals can be connected to Fics series.
Robot Terminal: RT1, RT3 etc.
It can be used as operation terminal (or pendant) of Fics system. Programming, parameter
setting, manual operation, and auto-running can be operated.
Programmable Terminal: PT3, TT4, TT5 etc.
Graphical user interface can be used in addition to possible operations in Robot Terminal. User
can make custom screen that can be used as operation panel.
Programmable terminal includes terminals other than robot terminal, programmable terminal
PT3, and touch terminal TT4, TT5, etc.
[1-4: Terminal Controller]
DYNAX provides various products of integrated combination of each terminal and Fics series for
wire-saving, space-saving, and low-cost.
Terminal Controller: TC1, TC3 etc.
It is an integrated combination of robot terminal and Fics series. Operability is same as the
system of robot terminal connected to Fics series.
Touch Panel Controller: TPC1, TPC4, TPC5 etc.
It is an integrated combination of touch terminal and Fics series. Operability is same as the
system of touch terminal connected to Fics series.
[1-5: Fics mode and user mode]
Operability is different when
Fics System is connected to Fics system screen
robot terminal and Fics system screen
programmable terminal.
Fics mode Fics mode User mode
Screen display of the terminal
becomes user mode and user
screen is displayed first when Robot Terminal Programmable terminal
programmable terminal is connecting system connecting system
connected.
Fics Mode:
Programming, parameter setting, manual operation, and auto-running can be operated.
Mode switching by I/O (refer to [3-3-1]) is invalid when it is connected to programmable
terminal.
User Mode:
Switching operation mode, checking I/O, and data setting can be operated on the user
screen. It enables graphical user interface and custom screen can be made by using
drawing tool WinPANEL.
It is possible to shift from user mode to Fics mode at the use of programmable terminal.
Programming cannot be done on the user screen usually. However, all functions of Fics system like
programming, various parameter settings, and manual operation can be used in Fics mode.
The system of programmable terminal connection has password function when it shifts to the Fics
mode in order to prevent the change in the system data.
Intro-4
[1-6: Note at Fics-Ⅲ(PⅢ) Setup]
Following is a general method of starting up controller of Fics-Atoms series. Please set each
parameter by referring to system manual of Fics-Ⅲ(PⅢ) besides the following.
１．Jumper for battery backup switch must be closed.
⇒ Refer to each controller’s catalog for the number and the place of jumper.
２．Initialization of Program parameter
⇒ Refer to [6-3: System setting of Software configuration] in system manual of Fics-Ⅲ(P
Ⅲ).
Please do not initialize it if program parameter has already been set to Fics-Ⅲ(PⅢ) when it is
shipped from DYNAX.
３．Check station number and motor number of driver Atom series.
Set the station number by rotary switch attached to the driver. Set the motor number by
Remote/RT1(refer to [8-3-12] Motor Type in the manual of Atom series.)
４．Set the number of axes
Set it with Unit information. Set the number of axes of each unit after setting the maximum
number of units when using multi units.
⇒ Refer to [6-1-1: Setting of Unit Information] in system manual of Fics-Ⅲ(PⅢ).
５．Setting of coordinate system
Set the unit and encoder type.
⇒ Refer to [6-2-1: Setting parameter of Machine coordinate system], [6-2-3-1: Motor
Parameter] in system manual of Fics-Ⅲ(PⅢ).
６．Setting of Machine system parameter
Set lead pitch, gear ratio
⇒ Refer to [6-2-1: Setting parameter of Machine coordinate system] in system manual of
Fics-Ⅲ(PⅢ)
７．Link the module number to IOM type when using IOM module.
⇒ Refer to [5-3-1: I/O allocation setting of IOM(I/O module)] in system manual of Fics-Ⅲ
(PⅢ).
８．Set each parameter of the system like parameter of motor axis and speed parameter and take the
match with the system.
９．Save to EEPROM after the parameter setting.
⇒Refer to [3-1-4: Open and save EEPROM data]
Intro-5
[2: Software Structure]
The general software configuration of Fics-Ⅲ(PⅢ) is a tree structure like [Appendix 1: Software
Configuration Diagram]. Each branch of the tree structure is displayed in the function key menu of
the LCD screen display. You can reach to the desired menu easily by pressing function keys
<F1>-<F6>. Press <CLR> key to return to the upper menu.
[2-1: Option Software]
【HOST】
Program downloading, uploading, and step execution can be online-controlled from the host
computer by RS232C or DPRAM(Dual Port RAM).
【Fics-PT】
Various touch panels can be connected by this option. Touch panel controller of TPCx has it
as standard equipment.
【CAMBIOS】
The multi axis synchronization can be controlled in the serial communication system.
It can be operated by giving a minute distance of each axis from the host.
【CK】
It is used to control the robot of a special mechanism. Usually, JOG and PTP control
independently control the motor. It is used when the linear motion cannot be done by
controlling the motor independently. JOG and PTP control routine are independent as a
user routine and can be made uniquely by the user.
【DDA】《Interpolation Control》Fics-Sring series
Straight line, circle and arc are interpolated. The interpolation of circle and arc is done by
specifying 3 points on the circumference of circle.
Speed can be controlled freely at each interpolation. Also, arbitrary plane can be selected in
the system more than 3 axes. It is possible to move each interpolation without stopping.
External device can be controlled sequentially at the accurate position during interpolation
movement by specifying output instruction at the switch of consecutive interpolation
subprogram.
【COIL】Fics-Sring Series
The command for the winding machine control is added, and the traverse control and Karage
control can be done easily.
【TABLE】
Tabular form can be input in the programming.
【PLC】
DYNAX provides Ladder MotionⓇ system besides Fics-Atoms series as a high-speed serial
communication controller. They can be operated at the same time on the same controller. In
this case, motor is controlled in robot language Fics-Ⅲ(PⅢ), and I/O is controlled in Ladder
program o f background processing. In general, the complex system by combination of robot
controller and sequencer can be constructed on a single controller. Since all interfaces of
Fics-Ⅲ(PⅢ) and Ladder MotionⓇ are done on an internal memory, less trouble system can
be achieved in addition to wire-saving, space-saving, and low-cost.
Intro-6
[3: Mode of Fics-Ⅲ(PⅢ) ]
The following 3 mode are available in Fics-Ⅲ(PⅢ) as a main mode.
-AUTO- : Auto-running mode
-MANU- : Manual mode
-SYS- : System mode
■Manual (Jog-Operation and Programming) mode
Program copy, parameter setting of servo driver, output check function and the manual operation of
motor axis can be done in manual mode.
There is a programming (data) mode as a submode in the manual mode.
Operation check of various I/O devices can be done easily since the screen for operating ON/OFF of
digital output by manual is prepared.
■Auto-running mode
The program made in the programming mode can be executed in auto-running mode. Refer to [3-2:
Auto-running mode] for more detail.
■System mode
Various parameter of Fics-Atoms controller can be set in system mode (the parameter of driver Atom
series is changed at the same time).
When programming, we recommend configuring various setting first in system mode. Refer to
[System manual] for more detail.
[3-1: Manual (Jog-Operation and Programming) mode]
Besides the manual operation of motor axis, following various operations can be done in manual
mode.
《Initial Screen》
This is an initial screen of Fics-Atoms controller at power supply on. Initial screen is displayed when
the robot terminal is connected. The status of Fics-Atoms controller is initial state though the user
screen is displayed when the programmable terminal is connected.
《Manual Mode》
Motor axis can be operated manually.
《Manual Output Check》
Operation of various I/O devices can be checked easily by turning the digital output ON and OFF.
《Programming (data) mode》
Input and edit the program data in the programming mode. Refer to [Programming Manual] for more
detail.
《Open and Save EEPROM data》
Program, parameter, and point data created in the programming mode can be saved in EEPROM
(Flash Memory). Data can be retrieved from EEPROM and restored even if backup data on RAM is
destroyed due to some troubles. Parameter setting, program and point data should be saved in
EEPROM. Refer to [3-1-4: Open and Save EEPROM data] for more detail.
《Remote Servo Adjustment》
Parameter of servo driver can be adjusted while shuttle operation. Origin-return does not need to be
done.
《Edit PD (Point Data)》System equipped with Fics-PⅢ or point data option
Teaching of the point data can be operated when origin-return is completed. Refer to [Programming
Manual] for more detail.
Intro-7
[3-1-1: Initial Screen]
Various modes in Fics system can be selected and operated on the initial screen at power supply
ON. Fics-Atoms controller becomes initial screen status when changing to Manual-mode from
Auto-mode or System-mode.
Mode can be changed from User-mode to Fics-mode when using programmable terminal, and
initial screen is displayed. Functions like programming, various parameter setting, and JOG
operation etc. can be operated in Fics-mode.
The system is changed to AUTO-mode after processing Origin-Return if it is in initial screen
status.
Programmable terminal can be used as User’s operation panel. The password function can be used
to prevent the change in system data when it shifts to the Fics-mode.
Below is the sample of initial screen when using RT1 or TPCx.
-AUTO- AUTO MANU SYS

==Fics-PIII[V3.10]==
DYNAX Corporation
Copyright(C) 94-2004
Initial Screen(RT1）
Initial Screen(TPCx Fics mode）
補足 After processing Origin-Return, the system is changed to Auto-mode if current program is main
program. It not main program, ‘NOT MAIN PROGRAM’ error occurs.
Note ・Change to Auto-mode before processing the Origin-Return causes ‘ORIGIN ERROR’.
・<START> key before changing to Auto-mode causes ‘Not Ready’ error.
・‘COMM ERR (STNnn)’ implies it cannot communicate with the servo driver(nn: station number of
driver). Please make sure the communication cable is connected correctly or the status of servo
driver is normal.
・‘MOTOR ERR(99) X’ error, where X indicates axis name such as X, Y etc., implies that the servo
driver in error status. Check the status of servo driver and correct the error.
・‘IOM LOOP ERROR’ occurs when IOM is not connected. However, the error is not displayed when
system variable 83≠0 because the IOM disconnection is not checked.
■Ratio setting of Override of Speed （１）Initial Screen

Override ratio of JOG and PTP speed can be （２）Auto-mode Screen
assigned from 0 to 99% by input of <MODE> （３）Data Edit Screen
（４）Setting Screen of Software Limit / Origi
key. The initial value when the power is n-Offset
supplied is set 0%, which means it is the value （５）PD Data Edit Screen
set by system parameter.
Setting screen of speed override rate
The changed ratio is effective until the
power is set OFF.
Speed of system parameter setting is used for JOG operation because it needs a certain
amount of speed. On the other hand, teaching operation requires fine- tuning so that
the small parameter is set for the accurate positioning.
In PTP operation, regular speed can be set after checking the correct operation by speed
override.
Intro-8
[3-1-2: MANU mode]
JOG operation of the motor
axis and Origin-Return can be -MANU-AUTO DATA COPY
operated in MANU-mode. <JOG>
It becomes programming X=+xxxx.xxmm
mode when [DATA] menu is
selected in MANU-mode.
Y=-yyyy.yymm
Refer to [Programming
Manual] for more detail. MANU-mode screen (TPCx)
MANU-mode screen (RT1)
[3-1-2-1: JOG Operation and Origin-Return]

The following keys can be input besides the switch of the processing mode by menu selection.
①<ORG> KEY（or Digital Input<DI:01-3>）: Execute Origin-Return
②<jog> KEY（<←X>,<X→>,<←Y>,<Y→> etc.）: Execute JOG Operation
③<MODE>KEY: Switch Unit. <MODE> KEY is used for assigning override speed in
other screens. (Refer to [3-1-1])
補足 ‘ORIGIN ERROR’ is displayed if Origin-Return is not done when [AUTO] menu is selected.
If current program is sub program, the main program executed just before is displayed.
※Current program is the program selected in the programming mode or the program at the end of
AUTO-mode.
Note ・Switch Unit by pressing <MODE> KEY on MANU-mode screen.

・Override of speed can be set by pressing <MODE> KEY on the initial screen.
・In order to teach point data or program by teaching operation, Origin-Return needs to be completed.
《Execute Origin-Return》
Origin-Return is executed by either of the followings.
①「DI:01-3(Origin-Return by digital input)」is input.
②<ORG> KEY is pressed.
③C5OG command is received by HOST correspondence.
《Time chart of Origin-Return》
Origin-Return
<DI:01-3>
<ORG>KEY
In Operation
<DO:01-0>
Under
Suspension
<DO:01-1>
Origin-Return
Completed
<DO:01-2>
補足 The signal of Origin-Return becomes ON once Origin-Return is executed.

There is no need to execute Origin-Return again since Fics-Atom series preserve coordinate value as
long as Atom is power supply ON.
《Origin-Return Method》
There are 2 patterns in Origin-return: all axes Origin-return or program origin-return. It
can be selected at ORIGIN parameter. (Refer to [6-2-3-3: Origin-Return Parameter])
Origin-Return program is written in the program number 999 when program
Origin-Return is selected. Origin-Return can be executed at an arbitrary sequence.
Intro-9
《Information related to Origin-Return》
Origin-Return is to set the coordinate system of Fics system to a reference position of the
machine system. Programmed positional data indicates the position of machine by
Origin-Return, and accurate positioning can be executed by Auto mode.
Followings are terms for further understanding of Origin-Return.
■Type of Origin-Return
・All axes Origin-Return: Origin-Return all axes at the same time
・Program Origin-Return: Execute PGM=999(Program 999 written by user)
Origin-return type can be selected at [ORIGIN] parameter or [SEQUENCE/SEQ]
parameter. (Refer to [6-2-3-3: Origin-Return Parameter] in System Manual) It
can be assumed the program composed only of NOP command although Program
Origin-Return usually includes Origin-Return at each axis.
■Mechanical Origin-Return
Origin-Return executed by using origin sensor mounted on the machine.
■Necessity of Origin-Return ‘NEED’ / ‘NEEDLESS’
Necessity of Origin-Return is displayed by ‘NEED’ or ‘NEEDLESS’. Select
‘NEEDLESS’ and do not execute Origin-Return when ABS encoder.
■Completion of Origin-Return
It shows the status where the Origin-Return is completed normally.
■Fixation of coordinates position
It shows the coordinates are fixed.
・When Origin-Return ‘NEED’ is selected
The coordinates position has not been fixed when Origin-Return is incomplete. It
is fixed after Origin-Return is completed normally.
・When Origin-Return ‘NEEDLESS’ is selected
The coordinate value is fixed at the time power supply is ON. However, the
origin becomes a new standard if Origin-Return is executed anew. The
coordinate value is fixed at the time power supply is ON when ABS encoder.
■Origin Offset
It is for changing the origin of axis which the coordinates position has been fixed.
■Software Limit
It is for restricting the range of movement of axis where the coordinates position is
fixed.
《Object of Software Limit》
The following axes where the coordinates position is fixed become the object of Software
Limit.
Software Limit check is not executed if the coordinates position of the axis is not fixed.
◇Axis moved by JOG Operation (includes teaching)
◇Axis moved by PTP Operation
◇Traverse axis of Coil operation
Note PTP Operation can be written in Origin-Return program (PGM=999). Please not that the Software
Limit Check is not executed for the axes which coordinates position is not fixed.
Intro-10
[3-1-2-2: JOG Operation Method]
JOG Operation can be executed by pressing <jog> KEY (<←X>,<X→>,<←Y>,<Y→> etc.).
■Type of JOG Operation
The following 3 operations can be executed by JOG Operation. The coordinate value of
LCD screen displays current position in any operation. Refer to [2-1-1: Speed
Parameter] in System Manual.
①One-Shot Operation: Only the distance (One-Shot) specified in Speed Parameter
moves to the specified direction when <JOG> KEY is pressed
and released instantaneously.
②JOG Operation: It keeps moving to the specified direction at the speed specified in
Speed Parameter when <JOG> KEY is kept pressing.
③High-Speed JOG Operation: It keeps moving to the specified direction at higher
speed when <JOG> KEY is kept pressing more than 1.5
seconds. The speed at this time is the one specified in Speed
Parameter [FAST].
[3-1-2-3: Overrun Input at Manual Mode]
It decelerates to stop and the diagram below is displayed when overrun sensor is input while
JOG operation. It cannot be moved to the overrun direction.
OVR X+
Though the overrun is not an error by itself, it is treated as an error and an alarm signal is
displayed by Fics system. This alarm signal can be checked on LCD screen of
programmable terminal.
Note ・Origin-Return needs to be reexecuted when using pulse interface driver (Atom-PS,Atom-PDS etc.)
though the overrun in Manual mode is not an error.
・There is no need to reexecute Origin-Return when using Fics-Atoms series because the coordinate
value is maintained at all times as long as Atom is power supply ON.
[3-1-2-4: <JOG> KEY and Screen Display]

<JOG> KEY of all axes might not be prepared on the terminal due to too many axes. The
number of axes especially increases in multi unit system. At this time, change the relation
between <JOG> KEY and motor axis by switching the unit.
Axes are displayed by switching the screen because all axes cannot be displayed on one
screen when using small screen like RT1.
①Press <JOG> KEY
The screen including the axis is displayed automatically when the axis like <←X>,<X→
>,<←Y>,<Y→> etc. is pressed, and Manual operation of its axis becomes possible.
②Press <ENT> KEY
Screen can be switched. The composition of the axis changes.
Note Press <MODE> KEY on Manual mode screen for switching the unit.
Intro-11
[3-1-2-5: JOG Operation in Manual mode by digital input]
JOG Operation by digital input can be enabled in Manual mode.
Current unit becomes operation object when multi unit system.
It is only valid in user mode when using touch panel controller (TPCx).
Input port number and Bit number is set in system variable [SYS71] and JOG operation
mode is set in [SYS72].
Also, valid/invalid JOG operation can be set in [SYS43/SYS44].
《Input Port Number・Bit Number》[SYS71]
(e.g.1) Allocate from DI:02-0 [SYS71]=0200
(e.g.2) Allocate from DI:03-4 [SYS71]=0304
*This function is invalid when input port number is 0 or bit number is other than 0-7.
《JOG Operation Mode》[SYS72]
There are axis switching mode and each axis allocation mode in JOG Operation.
■Axis Switching mode [SYS72] =0000 or 0001
Each axis (X, Y, Z, W, U, V) and JOG Operation (JOG+, JOG-) are allocated separately
and JOG is operated by a little number of inputs.
Set [SYS72]=0000 when selecting axis from 0
Set [SYS72]=0001 when selecting axis from 1
■Each axis allocation mode［SYS72］=0002
Each axis (X, Y, Z, W, U, V) and JOG Operation (JOG+, JOG-) are allocated together
and JOG can be operated by multi axes simultaneously.
《Select validity of JOG Operation》[SYS43/SYS44]
JOG Operation by digital input can be specified as either valid or invalid. Set input port
number in [SYS43] and set input Bit number in [SYS44]. If the state of the input is
ON (1), JOG Operation by digital input becomes invalid. However, when input
port number of [SYS43] is 0, it is always considered JOG Operation is valid.
Axis Switching Mode Each Axis Allocation Mode

[SYS72=0000 or SYS72=0001] [SYS72=0002]
(e.g.)Allocate from DI:02-0 (e.g.) Allocate from DI:02-0
〈DI：2〉 0 JOG＋〈DI：2〉 0 Ｘ JOG＋
1 JOG− 1 JOG−
2 Select Axis (2０) 2 Ｙ JOG＋
3 〃 (2１) 3 JOG−
4 〃 (2２) 4 Ｚ JOG＋
5 JOG−
Select Axis Decimal [SYS72]=0000 [SYS72]=0001 6 Ｗ JOG＋
22 21 20 number Axis Axis
7 JOG−
００００ X −
〈DI：3〉 0 Ｕ JOG＋
００１１ Y X
０１０２ Z Y 1 JOG−
０１１３ W Z 2 Ｖ JOG＋
１００４ U W 3 JOG−
１０１５ V U
１１０６ − V
１１１７ − −
*When the number of axes used by motor i
*JOG Operation (JOG+, JOG-) is invalid when ‘-’i s small, the input of axis that does not
s displayed on the above table. correspond can be used as a universal i
nput.
Intro-12
[3-1-3: Manual Output Check]
Output Check function can switch an arbitrary output port ON and OFF by one key. ON/OFF
of ‘Port-Bit’ specified in ‘pp-b’ is switched by [OUT1] menu. (Usually, <F1> menu is
used.)
OUT1: pp-b ON
☆pp = Port number, b = Bit number
Note ・Once port number and Bit number are input, they do not change until next change.
・Output check function becomes invalid when pp = 00.
[3-1-3-1: Output Check Function by Digital Input]

In the manual mode and programming mode, the output can be checked by controlling digital
output depending on the state of the digital input (DI).
Refer to [5-5:Manual I/O setting] in System Manual for the setting of digital I/O.
■Output Method by digital input
・ON/OFF: State of digital input signal is output as an output signal.
・ON: Output signal is turned ON when the state of digital input signal is ON.
・OFF : Output signal is turned OFF when the state of digital input signal is ON.
[3-1-4: Open and Save EEPROM data [EEPROM]]
Program, parameter, and point data created in Fics-Ⅲ(PⅢ) can be saved to EEPROM and open
from it.
Below message appears by selecting the object (program, parameter, point data) and the process
(saving, loading) from menu.
■Save to EEPROM
Below message appears
Save to EEPROM?
Saving to EEPROM is executed by pressing <ENT> Key.
■Loading from EEPROM
Below message appears
Load from EEPROM?
Loading from EEPROM is executed by pressing <ENT> Key.
Intro-13
[3-1-5: Adjustment of Servo Driver]
Parameter (servo gain) of servo driver is usually adjusted by driving the motor. In this mode,
following operation can be done with the terminal.
・Parameter setting for Automatic Shuttle Operation
・Automatic Shuttle Operation
・Parameter setting of Driver
It is very convenient because the parameter can be changed and the operating state can be
monitored while automatic shuttle operation.
[3-1-5-1: PTP data setting for Automatic Shuttle Operation]
Gain of servo parameter can be adjusted while executing automatic shuttle operation in each
axis. Shuttle operation between reference position and target position is started when
<START> KEY is pressed after PTP data setting. Servo parameter can be set on this servo
parameter setting screen displayed while driving.
Please connect Fics-Atoms controller with servo driver (Atom) when use. Parameter of
servo driver is changed with Fics –Atoms controller’s parameter.
Setting Item Description
Target Position U-turn position of shuttle operation. It can be set by both numeric input
and teaching by JOG Key.
Max Speed Maximum spe4ed of shuttle operation. Unit is [rpm]
Acceleration/ Acceleration/Deceleration time until maximum speed.
Deceleration Time Acceleration time and Deceleration time are the same.
Speed Curve Curve setting for the speed control (0:Trapezoidal, 1:S-Curve)
WAIT Time Stop time when direction of shuttle operation changes.
Note Start Position: Current Motor Position (It is a position moved by <JOG> Key when it starts imm
ediately after moving with JOG key. This Start Position becomes target position at
this time.)
Reference Position: Position where it stops after <STOP> Key pressed. Position of axis where [A
tom] menu is selected or [RESET] menu is selected.
[3-1-5-2: Parameter setting during Automatic Shuttle Operation]

PTP shuttle operation is started automatically with <START> Key if the data of preceding
clause is set. Parameter of servo driver (Atom) can be changed during this shuttle operation.
The values of parameters can be changed by moving cursor to the desired position such as G, P,
I, D using cursor move key (←, →).
[P.+] : increase the parameter on cursor by 1
[P.-] : decrease the parameter on cursor by 1
Refer to Driver Manual for more detail.
Parameter Function Setting Range
G Gain adjustment of the entire control system （0∼15）
P Proportional gain adjustment of control system （0∼15）
I Integration gain adjustment of control system （0∼15）
D Differentiation gain adjustment of control system （0∼15）
g G parameter range. Divide the value of G parameter by the （1,2,4,8,16）
value of g parameter.
p P parameter range. Divide the value of P parameter by the （1,2,4,8,16）
value of p parameter.
i I parameter range. Multiply the value of I parameter by the （1,2,4,8,16）
value of I parameter.
d D Parameter range. Divide the value of D parameter by the （1,2,4,8,16）
value of d parameter.
G/LOW Gain Adjustment when stopping. （0∼15）
Note 16 of g,p,i,d is displayed as ‘H’
Intro-14
[3-2: Auto-running mode]
The program made in the programming mode can be executed in auto-running mode. Current
program number, step number and the content are displayed on auto-running screen (the next
step number is displayed when the last operation is suspended). The program is executed from
the displayed step number when the program is operated from this state.
■Operation mode of auto-running mode
Operation mode changes by pressing [MODE] menu on auto-running mode screen.
-AUTO- Continuous Operation Mode
The program is executed continuously from the display step
-STEP- Step Operation Mode
Execute only the display step and go to next step
-DEMO- Demo Operation Mode
The program is executed continuously, ignoring I/O command in the
program.
■Switch Operation mode
Operation mode of auto-running can be switched by digital input.
《Assign Input Port, Bit》
Assign port number and Bit number to system variable (refer to 【3-3: Setting of system
variable】in System Manual). Initial value is all 0, and there is no switching by DI. It
becomes demo operation if demo, continuous motion, step are all ON.
Each signal becomes the following priority levels.
Demo operation > Continuous motion operation > Step operation
[SYS23] Demo operation signal input port number
[SYS24] Demo operation signal input Bit number
[SYS25] Continuous motion operation signal input port number
[SYS26] Continuous motion operation signal input Bit number
[SYS27] Step operation signal input port number
[SYS28] Step operation signal input Bit number
■Check the state of auto-running mode externally
Bit of port number becomes ON during auto-running mode by setting output port number
to system variable [SYS45] and Bit number to [SYS46]. It becomes OFF in case of
other modes (manual, programming, system mode etc.)
■Method of switch to auto-running mode
It can be switched to auto-running mode by following 3 methods.
・Select [AUTO] menu on the initial screen
・Complete Origin-Return if current program is the main program
・Process digital input
It becomes auto-running mode if Bit of the port is ON by setting output port number to
system variable [SYS21] and Bit number to [SYS22].
It is effective only with user mode when using touch panel controller (TPCx).
Note PGM.EMPTY error is displayed when only END line is in the current program.
■From Origin-Return to auto-running mode

The below message appears and homing (Origin-Return process) starts when
Origin-Return command (<ORIGIN> Key or digital input <DI:01-3>) is input on the
initial screen.
Origin Processing
After completing Origin-Return, it becomes auto-running mode when the current program is the
main program, but the step number is reset to 1.
Intro-15
■One of the following requirements needs to be fulfilled in order to switch to auto-running
mode.
・Origin-Return is completed -> Lamp of <ORG> Key lights up.
・’NEEDLESS’ is set to all axes at Origin parameter. -> Lamp of <ORG> Key does
not light up.
(Refer to [6-2-3-3: Parameter related to Origin-Return] in System Manual)
・The current program is the main program.
Note ・Step number is reset to ‘0001’ after Origin-Return is completed.
・It cannot be switched to auto-running mode and ‘ORIGIN ERROR’ or ‘NOT MAIN PROGRAM’ is
displayed when any of the above requirement is not fulfilled.
《ORIGIN ERROR》
It becomes ‘ORIGIN ERROR X (X: axis name)’ error when PTP, interpolation, or coil
operation is executed on the axis which the coordinate position has not been fixed. The error
does not occur in below situation because the coordinates position is fixed.
①ORIGIN NEEDLESS is selected (It has been fixed since power supply ON)
②At the time when mechanical Origin-Return is completed normally when ORIGIN NEED
is selected.
■Switch to auto-running mode when Origin-Return (NEED) / (NEEDLESS)
Setting Switch to auto-running mode
‘NEED’ Switchable if Origin-return is completed
‘NEEDLESS’ Switchable if all axes are set unnecessary
[3-2-1: Key Input of auto-running mode]
The following key inputs are available besides menu selection
■Key Operation
1. Execute Origin-Return by pressing <ORG> Key or digital input of <DI:01-3>
2. Display the data of next step number by pressing <ENT> Key
3. Display the data of previous step number by pressing <+/-> Key
4. Execute auto-running by pressing <START> Key or digital input of <DI:01-1>
Note If current program is subprogram, let the main program when auto-running is executed be current program.
At this time, the step number of current program is assumed to be ‘0001’.
Intro-16
[3-2-2: Start Auto-running of program]
■Start Program
Auto-running is started in selected mode from currently displayed step when <START>
Key is pressed or digital input of <DI:01-1> is input on auto-running mode screen.
Usually, digital input of <DI:01-1> is used for starting the program. However, Start
signal can be added by setting input port number to [SYS07] and input Bit number
to [SYS08].
■Suspend Program
Program can be suspended by pressing <STOP> Key or inputting <DI:01-2> during
auto-running. The program stops after the step operation ends.
Usually, digital input of <DI:01-2> is used for suspending the program. However, Stop
signal can be added by setting input port number to [SYS15] and input Bit
number to [SYS16].
■Restart Program
Next step is displayed after the program stops. Auto-running is restarted by pressing
<START> Key or inputting digital input of <DI:01-1>.
■Time chart of auto-running
External
Start-up
<DI:01-0>
<START>
Key
In operation
<DO:01-0>
Under
suspension
<DO:01-1>
[3-2-3: Stop and reset error during auto-running]

■Error occurs during auto-running
Error message is displayed and auto-running is stopped.
■Reset error
Error can be reset by error reset command (<CLR> Key or digital input of <DI:01-4)).
Auto-running can be restarted by error reset.
Note Refer to [7-2-6: Errors in JOG operation or AUTO operation] for more detail.
Intro-17
[3-3: Mode Switch]
In Fics-Ⅲ(PⅢ), mode can be switched by digital input in addition to mode change by each
terminal.
[3-3-1: Mode Switch between manual and auto]
The mode can be switched by digital input by setting port number and bit number of digital
input to system variable (refer to [3-3: Setting of system variable] in System Manual).
It is only effective in the user mode when using Touch Panel Controller (TPCx).
Change signals between manual and auto modes (1 bit each of digital inputs) implies mode
OFF in case of 0 and mode ON in case of 1. As alternative switch is usually used to
change, the case of both modes ON will not occur. However, manual mode has the
priority so that auto mode is only when manual mode is OFF and auto mode is ON.
Initial values are all set to 0 and cannot be switched by DI.
■Assignment of input port and bit
Port number and bit number can be assigned in system variable. Initial values are all set
to 0 and cannot be switched by DI. Signal of manual mode switch cannot be used
alone. It becomes manual mode when both manual and auto mode are ON. When
manual mode is selected by digital input, the mode remains in manual mode even if
auto mode is selected by function key etc. since digital input has the priority.
[SYS19] Port number to switch to Manual mode
[SYS20] Bit number to switch to Manual mode
[SYS21] Port number to switch to Auto mode
[SYS22] Bit number to switch to Auto mode
Note These digital inputs are ignored during system mode, programming mode, or auto-running mode.
When DYNAX programmable terminal is connected, mode switching by the digital input is
invalidated because Fics mode is used for debugging.
Intro-18
[4: Details of DO controlled with System]
DO controlled with system is turned ON/OFF depending on the state variation (event) of the
system. It is shown by a list below.
《Meaning of the Codes》 ○: ON ●: OFF ―: hold
DO Program Program Origin-Return Overrun Alarm ON
Event Running Stopping Completed
At power Supply ON
Initialize parameters
Adjust servo driver ● ○ ● ● ●
Load parameter
（EEPROM,DynaFics）
Change Origin-Return
Parameter
MANU Normal ― ― ― ● ―
Operation
Mode Overrun ― ― ― ○ ―
Origin-Retur Start ○ ● ● ― ―
n
Stop Origin-return by PGM=999 is only valid and ‘PGM=999 stopped’ error occurs
End ● ○ ○ ― ―
Auto-running Start ○ ● ― ― ―
Mode Stop ● ○ ― ― ―
Restart ○ ● ― ― ―
End ● ○ ― ― ―
Other ― ― ― ― ―
Error Occur ● ○ ○ ○
*1 Only when
overrun
Reset ● ○ ● ●
■When Emergency Stop Program is not set Light is switched off when below
・All general outputs are turned OFF errors occur
after error reset ‘MOTOR ERROR (08)’
‘MOTOR ERROR (14)’
■When Emergency Stop Program is set
‘COMM ERR (STNxx)’
・ON/OFF is executed after the
emergency stop program
・General output is not turned OFF after error reset
■State of standard output at power supply ON
Program
running
<DO:01-0> OFF
Program
stopping
<DO:01-1> ON
Origin-Return
Completed
<DO:01-2> OFF
Overrun
<DO:01-3> OFF
Alarm
<DO:01-4> OFF
↑
Power supply ON
Intro-19
[5: Related Matters]
[5-1: Variable, Flag]
Variables or flags can be used in the program. Conditional branching can be executed depending on
the condition of the variable or the flag. Also, calculated result can be stored in the variable. User
can set and refer 96 variables and flags as shown below.
No. Description in Program Value Recital
- VAR00 None No variable specification
Variable
96 VAR01∼VAR96 −2147483648∼
＋2147483647
1 FLAG00 0 or 1 Set by Fics system
Flag
96 FLAG01∼FRAG96 0 or 1
You can access to the variable and the flag from any task or program when multitasking. It can
be used as information transmission between programs.
■Special variable, Special flag (Refer to [5-1-2: Special variables, flags])
In the variable and the flag, there is something used for a special usage. Please do not use
these special variables and flags as general variables and flags in the program.
■System variable (Refer to [5-1-3: System variable])
The system variable is prepared besides a usual variable.
Various settings are defined in this system variable to attain special feature. System variable
cannot be changed while programming. It can only be changed in the system mode.
Please read the description of the corresponding function thoroughly when changing system
variable.
[5-1-1: Positioning by the variable]
Positioning of the motor can be executed by using the variable value. However, because the
variable value always executes positioning as data of the pulse coordinate system, attention
is necessary. Arithmetic processing is needed for converting into pulse coordinate system
when executing positioning by setting data variables to millimeter coordinate system and
rotating coordinate system.
■How to move 10.00mm by using the variable
Set 10000 to the variable when the settings are LEAD=010.000mm/r,
ENCODER=2500p/r. and TIMES=4 because the number of encoder pulse/rotation is
2500×4＝10000.
[5-1-2: Special variables, flags]
■VAR96
It is used by Fics system as operation management of the palette when using palette
command in the program.
Unuse Palette Command: can be used as a general variable
Use Palette Command: Do not use VAR96
■FLAG00
FLAG00 always shows the state of the PTP Operation. PTP operation is during execution
when FLAG00 is ‘1’ and not during execution when FLAG00 is ‘0’.
The state of the positioning can be checked in the program.
FLAG00 cannot check the content by the check function of the flag of the system mode.
It is referable only in the program.
[5-1-3: System Variable]
The system variable for setting special I/O is prepared in Fics-Ⅲ(PⅢ). System variables
are from 1 to 96, and the setting can be checked and changed in the system mode (Refer to [3-3:
System variable setting] in System Manual).
System variable cannot be changed in the program.
Intro-20
[6: Communication]
[6-1: Atom-Remote/RT1 Ver.2]
In Fics-Atoms series, all operations like programming and parameter setting can usually be
executed by connected terminal.
In Fics-Atoms series, there are motor number and station number as parameters set directly by
the driver (Atom series). These data should be called hardware fixation parameter. Usually,
parameter is set by connecting the setting device (RT2 or RT1) to the driver (Atom series).
However, Atom series connected serially can be set by using RT1 connected with Fics-Atoms
series.
Terminal becomes Remote/RT1 mode by pressing <SHIFT> + <MODE> keys on initial
screen. It can be used like Atom is connected directly to RT1 by setting station number of Atom.
Refer to Atom series manual for more detail.
[6-2: RS232C Communication]
In Fics-Ⅲ(PⅢ), the communication with host computer by RS232C is possible. For this
communication, Fics-Ⅲ(PⅢ) should be in the initial state.
①WinFics communication: data exchange with programming tool WinFics
②HOST communication control: data exchange with host computer and others
③Touch panel option: data exchange with touch panel
(It is built in standard in touch panel controller (TPCx))
④WinPANEL communication: download the drawing data from WinPANEL
⑤Option for connection with sequencer: data exchange with sequencer
[6-3: Communication with WinFics]
WinFics is a programming tool for PC of Fics-Ⅲ(PⅢ) that is a software system of efficient
positioning control. Programming and parameter setting can be done on PC and they can be
downloaded to the controller. Various data can be managed on PC by uploading it from the
controller.
Programming and parameter data of Fics-Atoms controller can be transferred to WinFics by
communicating from initial screen ([3-1-1: Initial Screen]) and vice versa. Data can be saved to
the file on PC and programming data can be loaded to Fics-Atoms controller.
Please refer to WinFics manual for more detail.
[6-3-1: Project-ID]
Project-ID function is installed in Fics-Atoms controller. Mistakes can be minimized when
developing and maintaining multi systems by matching Project-ID and Project name.
Project name is written to Fics-Atoms controller as Project-ID, and the consistency between
WinFics and Fics-Atoms controller is ensured.
When software with different options is used together, download of incorrect programs or
parameters can be avoided beforehand.
Please refer to [1-2:Project Management] in WinFics manual for Project-ID.
Intro-21
[7: Errors and Trouble Shooting]
For troubleshooting, the correct understanding of the situation when the error occurs is very
important. In order to lessen the losses, it is recommended to write down the exact phenomena and
process of the error in detail.
[7-1: Request when an error occurs]

As it is common that the extraordinary phenomena sometimes have some regularity, finding out
the regularity correctly will lead fast recovery. The following information items obtained
when the error occurs will be very helpful in repairs and maintenance.
Items Contents
When? ・year, month, day, hour
・lapse time after the power is switched on
・power failure?
・during the system adjustment?
・during system operation? (lapse time after system starts?)
Where? ・in continuous running? ・which mode?
・in manual operation? ・during data input?
・is the motor rotating?
Phenomena? ・alarm is raised? ・the screen faded away?
・the power fell down?
Status? ・contents of parameters ・contents of programs
・position of the action part ・sound from motor
・stats of external machines
Reappearance? ・reappearance? (if so, in which condition?)
・occurred before? (if so, what’s the treatment at that time)
[7-2: List of Errors]

[7-2-1: Errors with Alarms]
When an error occurs, some error messages appear at the bottom line on the screen to wait for
the treatment of the operator. Moreover, the error occurrence is signaled to bits
<DO:01-4>(alarm ON). You can reset the error status by pressing <CLR> key when using
robot terminal RT1 and touch panel controller TPCx. Error reset signal <DI:01-4>(error
reset) has the same effect.
The error-reset signal is recognized as an input at the leading edge.
Maximum of 16 errors can be stored and referred at any time.
[7-2-2: Errors without Alarms]
In the following cases, no alarm raised.
Phenomena Measures
1 No display on LCD (or CRT) ・Check if the power is supplied normally.
・Check the signal cable.
2 Motor is slipping out from the correct ・Check the wiring of motor and encoder.
position. ・Check the earth cable of controller.
・Check the voltage of the power supply.
・Check if there is an instantaneous down of the power.
・Check if there is a strong noise source nearby.
・Check if there are some back-lash or looseness in power-transfer units.
(such as the bolts of coupling and gear, etc.)
3 Continuous vibration of motor ・Adjust GAIN etc.
・Check if there are looseness or back-lash in the power transfer units.
4 No rotation of motor ・Check the number of axes and the setting of USE/NOUSE
The coordinates values on screen have
no change
5 Incorrect direction of motor rotation Refer to [6-2-3-1][6-2-3-2] in System Manual
Intro-22
[7-2-3: Errors occur at all times]
Emergency stop and IOM status are always monitored in Fics-Atoms controller.
Messages Contents Notes (References)
EMERGENCY Emergency stop signal is input Clear the error by <CLR> Key or <DI:01-4>
input after error reset.
IOM LOOP Power of IOM is switched off or IOM cable Check if the power of IOM is supplied normally.
ERROR is not connected. Check if IOM cable is connected normally.
[7-2-3-1: Emergency Stop (EMERGENCY)]

EMERGENCY error occurs when emergency stop switch or <DI：01-0> of RT1, TPCx etc.
is input.
Emergency stop error during manual or auto operation causes to stop operation, and
EMERGENCY is displayed. The position of the driver is not guaranteed so that
Origin-Return is needed.
EMERGENCY
[7-2-3-2: IOM disconnection Error (IOM LOOP ERROR)]

IOM LOOP ERROR occurs when the power of IOM is switched off or IOM cable is not
connected.
IOM LOOP ERROR
Moreover, the status of the disconnection error can be output to the built-in DO. Set output
port number to [SYS87] and output bit number to [SYS88]
Please refer to [5-3-2: Digital I/O (DI/DO) built-in on main unit] in System Manual for IOM
assignment.
Note ・IOM LOOP ERROR is not checked when [SYS83]≠0

・Disconnection error of IOM cannot be confirmed by DO output with the models that do
not have DO built-in.(Fics-Atoms AT Ver.2, Fics-Atoms VME, Fics-Atoms TPC1 etc.)
・The disconnection output of DO is effective with the models (Fics-Atoms PCI Ver.3,
Fics-Atoms F104, Fics-Atoms Compact, etc.) having built-in I/O in D-Sub25 bin
connector when built-in I/O is set to use ([SYS69≠0]).
[7-2-4: Errors when the Power is Switched on]

In Fics-Ⅲ(PⅢ), memory check error (refer to [7-2-4-1: Memory Check Error]) and ROM
check error (refer to [7-2-4-2: ROM Check Error]) occur when the power is switched on.
Please reset the error by pressing <CLR> Key when error occurred at power supply ON.
Setting might be wrong if the error reset doesn’t work. Please check the setting in system mode.
PGM Check ERROR Incorrect status in the program area. It Reset the error by pressing <CLR> Key.
occurs either when an old version Reload the program data from EEPROM.
program has been loaded or when the 【3-1-4: Open and Save EEPROM data】
memory has been damaged
PRM Check ERROR Incorrect status in the parameter area. It Reset the error by pressing <CLR> Key.
occurs either when an old version Reload the program data from EEPROM.
program has been loaded or when the 【3-1-4: Open and Save EEPROM data】
memory has been damaged.
COMM Communication error occurs (xx is a station Check the communication cable between
ERR(STNxx) number) controller and driver.
Check the station number of the driver.
BATTERY CHECK A shortage of the battery capacity for Change to a new battery.
memory backup. An alarm sign is blinking on bits <DO:01-4>
ROM Check ROM and hardware are mismatched. Refer to 【8: Version Display】in System Manual.
ERROR Hardware needs to be returned when adding
options to Fics-Ⅲ(PⅢ) software.
EMERGENCY Emergency stop signal is input. Clear the error by <CLR> Key or <DI:01-4>
IOM LOOP ERROR Power of IOM is switched off or IOM cable is Check if the power of IOM is supplied normally.
not connected. Check if IOM cable is connected normally.
Intro-23
[7-2-4-1: Memory Check Error]
In Fics-Ⅲ(PⅢ), it is checked whether the memory status of Fics-Atoms controller is correctly
maintained at power supply ON. Program area and parameter area are checked individually. The
following error messages are displayed when it is not correct.
Program Area: PGM Check ERROR
Parameter Area: PRM Check ERROR

Point data area is checked when Fics-PⅢ or point data option is mounted.
Point data Area: PD Check ERROR
Memory status is corrected forcibly by pressing <CLR> Key when these messages are
displayed. When above errors occur, EEPROM content initializes if it is correct. ROM
content initializes if EEPROM content is wrong.
Note After older version of program is loaded from file or WinFics, it can be used in new version by
correcting memory status forcibly.
■When the memory is crashed
Another error might occur when logical consistency is not ensured even if the memory
status is corrected forcibly by <CLR> Key.
■How to load parameter and program into memory at power supply ON
Program and parameter in EEPROM can be loaded forcibly to the memory by the
setting of [SYS65] and [SYS66] despite the memory status at power supply ON.
[SYS65]≠0: Parameter is loaded into memory
[SYS66]≠0: Program and point data are loaded into memory.
Intro-24
[7-2-4-2: ROM Check Error]
In Fics system, the consistency between ROM (It may be a flash memory. Memory where
system program is stored) and hardware is checked at power supply ON. ‘ROM Check
ERROR’ is displayed when the consistency is not ensured for some reason.
Please initialize EEPROM by inputting Project<ID> because it becomes ‘ROM Check
ERROR’ when system program is loaded or ROM is replaced.
EEPROM part might be a flash memory depending on the model. Please regard it as
synonymous with nonvolatile memory
《Operating Procedure》
Power Supply
ON
Consistency ＮＧ
Check
ＯＫ ROM Check Error
Special proess or
Wait until error i s cleared by <ID> input
Special
Input Project<ID>
Process
Initialization of Initialization of
(EEPROM) (EEPROM)
Option infomation Option Information
Initializaiton of ＮＧ
Check checksum of
RAM & EEPROM
EEPROM in program area
Program and parame ter
ＯＫ Initialize when RA M
contents are OK
Initialize RAM & E EPROM
by ROM contents wh en NG
ＮＧ
Check checksum of
EEPROM in paramete r area
Initialize when RA M
ＯＫ
contents are OK
Initialize RAM & E EPROM
by ROM contents wh en NG
Intro-25
[7-2-4-3: Communication Error at Power supply ON (COMM ERR)]
The controller side (Fics-Atoms series) begins the communication with the driver (Atom
series) after power supply ON and the initialization (about one second later). The
communication error occurs if driver is powered off at this time.
COMM ERR
《Power-ON sequence of Fics-Atoms series》
The communication error occurs when power activation of driver (Atom series) is later than
of controller side (Fics-Atoms series). To avoid this communication error, communication
processing can be suspended until the signal that driver is ready is input by using digital input
signal. Port and Bit of digital input signal (driver ready signal) used are specified by the
following system variable. After receiving the driver ready signal, Fics-Atoms controller begins
the communication with the driver after the delay time of 0.5 seconds. *** POWER ON *** is
displayed for the wait time of driver ready signal input.
Fics-Atoms controller begins the communication with the driver at about one second after the
power activation when the value is not set to the following system variables.
■Setting of Fics system variable
[SYS03] Driver Ready Input Port Number
[SYS04] Driver Ready Input Bit Number
Fics-Atoms Ver.2.20
Fics-Atoms must initiate communications after Atom is switched on.
Atom Ver.3.1
Note This function is effective in the above-mentioned version or later.

■e.g.：When you want to begin the communication with the driver after <DI:01-5> i
s turned ON, set
[SYS03]＝01
[SYS04]＝05
Intro-26
[7-2-5: Error during program input or parameter setting]
NUMBER Step number specified does not exist. Check the program.
ERROR Tried to delete the ‘”END” step.
PGM AREA Overflow of program memory. Delete unwanted programs
OVER Refer to Programming manual
【1-5-4: Delete Step Data】
【1-5-6: Delete Program】
PROGRAM Incorrect status in the program area. It is necessary to initialize the program.
ERROR It is checked at the program selection and copy Refer to 【6-3-1: Initialization of program
process.
area】in System Manual.
PARAM ERROR The value of parameter setting is illegal. It is necessary to initialize the parameter.
[7-2-6: Error during JOG-operation or AUTO-operation]

When the error mentioned below occurs, Origin-Return is needed because the position of the
driver becomes uncertain.
PGM=999 stopped The program for the Origin-Return Execute Origin-Return again.
(PGM=999) has been interrupted.
EMERGENCY The emergency stop signal is input. Clear the error by <CLR> Key or <DI:01-4>
OVER-RUN Overrun signal is input Restart the auto-operation after clearing the
alarm and executing Origin-Return.
In case of manual operation, the driver has
reached to the mechanical-limit position.
IOM LOOP Power of IOM is switched off or IOM cable is Check if the power of IOM is supplied
ERROR not connected. normally.
Check if IOM cable is connected normally.
■Error check by sensor
In Fics series, it is assumed that signal ‘1’ shows the output of the sensor ON and ‘0’ shows
OFF.
Refer to 【５：I/O Parameter】in System manual and check if the sensor is connected
correctly and it works properly.
Even though the LCD display is ‘0’ corresponding ON-state of the sensor while it is ‘1’
corresponding OFF-state of the sensor, exchange of the correspondence is possible only by
changing parameters without changing the external circuit such as exchanging relay contact
type B with type A.
Refer to 【5-1-1: Contact input logical setting of DI】in System manual.
The initial value (the value just after [6-3-1, 6-3-2: Initialization]) is set off (‘0’)
corresponding to the open-connection (unconnected) status.
■Errors of emergency stop or errors related to motor are detected except in SYS-mo
de
When such errors are displayed on the Initial Screen, by pressing the <CLR> key, the
screen is automatically changed to the -SYS-mode to check input bit and to invert it
logically. When the cause of error is reset, the screen is not changed to the -SYS-mode by
error-reset signal <DI:01-4> of external input
[7-2-6-1: Error stop during AUTO-operation]
■When error occurs during Auto-Operation
Error message is displayed and Auto-operation is
stopped. By the emergency stop input or overrun,
motor control is immediately rapid slow down (half of
declaration time), and b3ecomes motor free.
Intro-27
[7-2-6-2: Error-reset during Auto-Operation]
Error can be reset by error-reset command (<CLR> Key or digital input of <DI:01-4)).
Auto-running can be restarted by error reset.
Note It is necessary to restart from the Origin-Return because the following errors are equated to emergency
stop.
・EMERGENCY ・MOTOR ERROR(08) ・MOTOR ERROR(14) ・COMM ERR(STNxx)
■Program number and Step number at error clear
・-AUTO-/-DEMO- mode at error clear
Step number = 0001 of main program at start of Auto-operation is displayed.
・-STEP- mode at error clear
Step number of error program is displayed.
Note Program number and step number are not changed when TIME OVER error though in
-AUTO-/-DEMO- mode.
■Time chart of Error-Reset
Error
<DO:01-4>
Reset
<DI:01-4>
Or <CLR>
KEY
[7-2-6-3: Error stop according to Fics-Atoms series unit]

Emergency stop by the error occurrence can be selected in the setting of [SYS61] can be
selected in the setting of [SYS61] either by each unit or by the entire system.
For multi unit system, when the error occurs in a certain unit and other units are not in a
hazardous situation (the inconvenience is caused if other units stops suddenly on
the contrary), it is effective.
●Stop by each unit at driver error［SYS61］≠0
Emergency stop is executed only for the unit where driver error occurs. The unit without
the error occurrence stops after completing the step under operation or the PTP
operation.
It is effective when you want to make other units work even if the error occurs in a
certain unit. Auto-operation can be restarted by error-reset after operations of all
units stop though error message is immediately displayed when the error occurs.
Error cannot be reset until operations of all unit stop.
Note In case of HOST mode
・When the driver error occurs, R2 command showing error occurrence is reported immediately
by the controller side (Fics-Atoms series). However, A4 command for resetting the error
cannot be sent until the operations of all unit stop.
・Operation stop command CAN becomes invalid when the error occurs.
・Emergency stop of running unit can be executed by emergency stop command EM until
operations of all units stop from the error occurrence.
・During MA/MR command, the end message of the unit is reported after the error-reset. All
axes in the unit of controller side (Fics-Atoms series) are immediately stopped when the
error occurred in another unit before error-reset. Error is reported after the error-reset of the
first error.
●All axes stop at driver error［SYS61］＝0
Other drivers under operation are stopped when driver error occurred.
It is effective for stopping other units rapidly when the error occurred in a certain unit.
Intro-28
[7-2-7: Errors Occur in AUTO-mode]
ORIGIN ERROR Origin-Return has not been completed. Execute Origin-Return, or set “ORIGIN
PTP, interpolation, wiring command etc. are executed on NEEDLESS”.
the axis of undefined coordinates position.
TIME OVER Some input conditions are not satisfied in a specified Check conditional branching command,
time. wait time, and the digital input signals.
【 2-3-5:conditional branching 】 in
Programming Manual
【5-1：Input check】in system manual
GOTO STEP ERROR Step No. used in GOTO command does not exist. Check the program.
STACK OVERFLOW No. of nest structure in CALL command is over ten, or Check the nest structure of the program.
No. of PALLET program is over ten. 【 2-3-3:Input CALL command 】 in
Programming Manual
RECURSIVE CALL Program is called by itself before executing CALL Correct the program
command.
CALL NO.ERROR Subprogram Number in CALL command does not exist. Correct the program.
【 2-3-3-1:Restrictions of Program
used by CALL command 】 in
Programming Manual.
NOT SUB PROGRAM Program No. to be executed is a main program. Same as above
CH NO.ERROR Incorrect Port number in OUT command or conditional Check the program and external I/O
branch command signal
PGM. EMPTY No executable steps. Check the program and the Program
No. of boot program.
【6-3-5-2：Setting function of Boot
program, emergency stop program】
in System Manual.
BARRIER ERR Object coordinates values are beyond the specified Check the program (position data)
software limit. 【2-2-1：Setting of Software limit】in
System Manual
VAR/FLAG NO. ERR No. of variables or flags is out of range. Check the program.
（Variable 1∼96）（Flag 1∼96）
PGM NOT DEFINED Program to be executed does not exist. Check the program
VAR POS OVERFLOW Values of the variables used as coordinates are beyond Check the program.
the range of 3 bytes (-8388608∼8388607)
VAR.CALC.ERR Variable calculation errors such as overflow or divided by Check the program and variable value
zero.
PALLET EXEC.ERR Command other than PTP and MATRIX exits in PALLET Check the program.
program.
PALLET NO.ERR Specified program No. in PALLET command does not Check the program.
exist.
BCD CODE error Incorrect BCD code of the value for assignment to DI Check the program and the status of external
I/O signal
【5-1: Input check】in System Manual
ILLEGAL COMMAND Command to be executed is not installed as an option. Check the software option
【8: Display of Version】in System Manual.
CALL EXEC. ERR The return of CALL is incorrect (Bug in the system) Please contact us about the situation.
Intro-29
[7-2-8: Servo Driver Error]
MOTOR ERROR Alarm signal is generated by servo driver.
NOT READY X Servo driver is not ready. Check the controller and driver are
connected correctly. X means the name
of axis.
■The main causes of motor errors are:
◇troubles in motor itself
◇troubles in servo driver (Setting of motor No. is needed for DYNAX driver)
◇troubles in cable between motor and servo driver
The causes and measures are as follows
NO Causes Measures
1 Motor overload ・Reduce mechanical load
・Change the Slow down the speed and acceleration/deceleration parameters to
slow down
・Check the mechanical parts after the power is switched off
（such as gear printing, ball-screw printing, brake and clutch）
・Exchange motor
2 Insulation of motor becomes ・Clean up the inside of motor with compressed clean air in case of brush-type
wrong motor
・Exchange motor
3 Motor encoder is wrong ・Exchange motor. Check the No. of motor.
4 Motor deGauss ・Exchange motor.
5 Inappropriate servo adjustment ・Adjust parameters of servo driver.
6 Damage of servo driver ・Exchange servo driver
7 Looseness of connectors used ・Check insertion parts of connectors.
for motor
8 Cable between motor and servo ・Check the connector parts
driver is wrong ・Repair wiring
[7-2-9: Other Errors]

PGM999 NOT FOUND Origin-Return program (PGM=999) is undefined. Refer to 【6-2-3-3：Origin-Returnparameter】
in System Manual.
COMMUNICAT ERR It cannot be connected correctly in communication with Refer to 【 6-4 ： RS232C parameter
WinFics. setting】in System Manual.
NOT MAIN PROGRAM Program No. to be executed is a subprogram. Set the current program.
WRONG STEP (EMG) Non-executable command exists in the program for Refer to【6-3-5-2：Setting function of
emergency stop. boot program and emergency stop
program】in System Manual.
Not Ready <START> is input in the initial and JOG screen. Input <START> after switching to
Auto-operation mode.
EEPROM WRITE ERR An error is occurred during writing to EEPROM
RAM AREA OVER Insufficient RAM Please contact us.
Float calc error Floating-point arithmetic error occurred. Check the operation instruction
ATOM ID ERROR No. of encoder pulse of Atom is not correct Check the Motor number.
XX->A1 ERROR(99) The command (XX is a command name) not accepted by Check the version of the driver.
station number (99) of Atom is sent.
ATOM Ver. ERR 99 Atom of the displayed station number does not support a Same as above
new command
BIOS ERR (XX:YY) Illegal error occurred［System error］. Please contact us about (XX:YY).
Intro-30
[Appendix-1 Software Configuration Diagram]
《Software Configuration example of Fics system using RT1》
AUTO MODE INC/ABS
STEP [AUTO] PMODE
VAR/CON
[MANU] STEP ORDER
MANU [AUTO] PTP AXIS
DATA TIMER
COPY OUT
M1 CALL
GOTO
IF
SERVO
M2 SPEED
VAR
REPT
REM
ORG
M3 MATRIX
MFB
ATOM AXIS
PRM PTP
RESET P.+
P.-
OUT OUT1
OUT2
OUT3
PTP/jog/org
SYS PARAM SPD AXIS
SLOPE AXIS S.LMT AXIS
CURVE CURVE OFF AXIS
POS P-OFF AXIS
NEXT
VAR VAR LAST
FLAG NEXT
SYS NEXT
LAST
MON NEXT NEXT
LIST LAST CH+
DI CH-
I/O CHK EMG NEXT NEXT
DO CH+ LAST
IOM CH-
DI/DO
Atom BRK/STAT/DI/DO/SNSR
AXIS OUT NEXT
MANIO TYPE
CONFG UNIT AXES UNIT
UNIT U.MAX
STN USE AXIS
U.PGM NEXT
AXIS MOTOR/JOG/ORG/MC
AXIS PGM
TYPE PAR
SOFT INIT PD
SAFE PGM NG/OK
PGM NEXT PAR ON/OFF
232C PARTY PD ON/OFF
NEXT CH
HIST ERROR N.+
WARN N.+ N.-
N.+ N.- RESET
ABS
N.- RESET
VER USER OPT
ATOM STN
EEPROM PRM/PD/PGM
LOAD
SAVE
Intro-31
《Software Configuration example of Fics system using TPCx》
AUTO MODE
STEP [AUTO] INC/ABS
[MANU] PMODE
STEP STEP VAR/CON
MANU [AUTO] ORDER
EDIT PTP AXIS
DATA
TIMER
SYS OUT
M1 CALL
GOTO
IF
SERVO
M2 SPEED
VAR
REPT
REM
ORG
M3 MATRIX
COPY MFB
OUT OUT1
OUT2
OUT3
Atom AXIS
P.+
P.-
RESET
USER
SYS PARAM MACHN AXIS
COMMN CURVE
VAR VAR NEXT
UP LAST
FLAG
DOWN UP
DOWN
LEFT
RIGHT
SYS NEXT
LAST
MON NEXT UP
LIST LAST DOWN
UP
DOWN
I/O CHECK EMG DO DI
IOM DI/DO CH+ CH+
Atom CH-
AXIS CH-
NEXT
OUT
MANIO TYPE LAST
CONFG UNIT AXES
AXIS UNIT
AXIS U.MAX
TYPE
USE AXIS
SOFT INIT PGM
SAFE NG/OK PARAM
PGM ON/OF PD
OUT RS232 PARTY
CH
HIST ERROR RESET
VER OPT WARN RESET
EEPROM PgmLD ABS
Atom
PgmSV
ParLD
ParSV
PD LD
USER PD SV
Intro-32
[List of Fics-Ⅲ(PⅢ) error Ver.3.10 specification]
No. Text Error Contents References
01 NUMBER ERROR Step number specified does not exist. 【7-2-5】
02 ORIGIN ERROR Origin-Return has not been completed. 【7-2-7】
03 TIME OVER Some input conditions are not satisfied in a specific time at 【7-2-7】
IF command
04 EMERGENCY Emergency stop signal is input 【7-2-6】
05 PROGRAM ERROR Incorrect status in the program area. 【7-2-4】
06 BIOS ERROR Bugs in the system 【7-2-9】
07 PGM AREA OVER PGM has over 2000 steps 【7-2-5】
08 OVER-RUN Overrun signal is input. 【7-2-6】
09 BARRIER ERROR Object coordinates values are beyond the specified software 【7-2-7】
limit.
10 NO AXIS HARDWARE Extension board for motor axis is not connected. X
11 NOT READY X Driver is not ready. 【7-2-8】
12 MOTOR ERROR(99) X Alarm signal (code=99) is generated by driver 【7-2-8】
13 VAR/FLAG NO. ERR No. of variables or flags is not １∼96 【7-2-7】
14 RAM AREA OVER Insufficient RAM 【7-2-9】
15 TURBO PARAM ERR Turbo parameter communication error X
16 PARAM ERROR Incorrect status in the parameter area. 【7-2-4】
17 COMMUNICATE ERR Error occurred by the communication with HOST 【7-2-9】
18 GOTO STEP ERROR Step No. used in GOTO command is incorrect 【7-2-7】
19 VAR POS OVERFLOW Values of variables used as coordinates are beyond the range 【7-2-7】
of 3 bytes.
20 STACK OVERFLOW No. of nest structure in CALL is over 10 【7-2-7】
21 CALL EXEC. ERR The return of CALL is incorrect (Bug in the system) 【7-2-7】
22 RECURSIVE CALL Program is called by itself 【7-2-7】
23 CALL NO. ERROR Program number in CALL command does not exist 【7-2-7】
24 PALLET EXEC. ERR Command other than PTP and MATRIX exists in PALLET 【7-2-7】
program
25 PALLET NO. ERR Specified program No. in PALLET command does not exist. 【7-2-7】
26 PGM999 NOT FOUND Origin-Return program (PGM=999) does not exist. 【7-2-9】
27 CH NO. ERROR Incorrect Channel number in OUT command 【7-2-7】
28 PGM. EMPTY No executable steps. 【7-2-7】
29 VAR. CALC. ERROR Variable calculation errors such as overflow or divided by 【7-2-7】
zero.
30 ILLEGAL COMMAND Illegal command (option command) 【7-2-7】
31 float calc error Floating-point arithmetic error occurred. X
32 Not Ready Screen where <START> cannot be input 【7-2-9】
33 XX->A3 ERROR(99) The command not accepted by station number (99) of Atom ×
34 PGM NOT DEFINED Program to be executed does not exist 【7-2-7】
35 NOT MAIN Program No. to be executed is a subprogram. 【7-2-9】
PROGRAM
36 PGM=999 stopped. Origin-Return program (PGM=999) has been interrupted 【7-2-6】
37 BCD CODE error Value is illegal as BCD in I/O of variable. 【7-2-7】
38 PGM Check ERROR Checksum in the program area is wrong. 【7-2-4】
39 PRM Check ERROR Checksum in the parameter area is wrong 【7-2-4】
40 ATOM ID ERROR(99) Encoder value of station number (99) of Atom is wrong.. 【7-2-9】
41 COMM ERR (STN99) Communication error occurred at station number (99) of 【7-2-4】
Atom
42 NOT SUB PROGRAM Program to be executed is a main program. 【7-2-7】
43 XX->A1 ERROR(99) The command not accepted by station number (99) of Atom 【7-2-9】
44 ATOM Ver. ERR 99 Station number (99) of Atom does not support a new command. 【7-2-9】
45 BIOS ERR (XX:YY) Illegal error occurred［System error］. 【7-2-9】
46 WRONG STEP(EMG) Non-executable command exists in the program for 【7-2-9】
emergency stop.
47 MOTOR No ERROR Motor number error ×
48 BATTERY CHECK A shortage of the battery capacity for memory backup 【7-2-4】
(alarm display only)
49 EEPROM WRITE ERR Error is occurred during writing to EEPROM 【7-2-9】
Intro-33
50 ROM Check ERROR The consistency between system program and hardware is 【7-2-4】
not ensured.
51 No FicsBios Fics-BIOS is not installed X
52 ADRS TABLE OVER Internal error
53 FICS.PGM I/O ERR Read error loading FICS.PGM file X
54 FICS.PAR I/O ERR Read error loading FICS.PAR file X
100 MTRX. TBL. OVER Number of Matrix table is over 5
《Fics-DDA》
122 DDA SPEED FAST Speed parameter of DDA is too fast
124 Speed Not Exist Speed number of DDA is unregistered
125 Wrong DDA data The first point and the second point are the same points
126 DDA TABLE OVER Insufficient memory for development of DDA execution
127 No.1 = No.3 The first point and the third point are the same points
128 No.2 = No.3 The second point and the third point are the same points or
collinear
142 DDA data short Step of distance that is smaller than resolution is
continuously described.
《Fics-COIL》
134 Wrong TRV Layer The layer data is illegal
135 Pitch too small Coil width is too long or pitch is too small.
136 Pitch too large Coil width is too short or pitch is too large
《Fics-PT》
151 FORMAT error The communication format is not correct
152 CH SYMBOL error DM assignment is wrong
《Fics-TABLE》
161 NOT APPL PROGRAM Program described in the table reference instruction is
illegal.
162 Type mismatch Type of the table reference instruction and reference
program are different
163 STEP No. ERROR The referred step doesn’t exist in the table program.
160 NOT STD PROGRAM TABLE program is executed outside of TABLE command.
《Fics-PⅢ》
160 PD Check ERROR Checksum in PD area is illegal
161 POINT No. ERROR Assignment of POINT number is not correct
162 POINT No. OVER Assignment of POINT number is over 99
163 UNIT No. ERRROR Assignment of UNIT number is not correct
164 PD AREA OVER Point data area is full
165 PSET DATA ERROR Point number of PSET command is not correct
166 POINT NO REF ERR Reference point number is not defined correctly
《Fics-TRACK》
170 TPGM NOT DEFINED Specified interpolation program doesn’t exist
171 TRACK PGM ERROR There is an instruction that cannot be written in the
specified interpolation program.
172 TRACK STEP ERROR There are interpolation instructions other than LINE
instruction /ARC instruction in the specified interpolation
program
173 DDA ORDER MISS The combination of the execution axes in the specified
interpolation program is not matched.
174 TRACK PGM OVER Consecutive TRACK instruction exceeded 32.
175 TRACK DDA OVER The number of total steps of specified interpolation
programs exceeded 64.
Intro-34
【：Setting of Auto reset and Auto offset of ABS encoder】
When adjusting or relocating, settings of reset and origin-offset of ABS encoder can be done
automatically by digital input or ORG key.
Motor coordinates need to be set manually to a standard position of the machine system.
It is an extended function of Origin-Offset setting by system variables ([SYS05][SYS06])

of auto reset of [ABS encoder]
■Auto offset setting by digital input

Reset and origin-offset of ABS encoder can be set by specifying input port number and bit
number to system variables [SYS05] or [SYS06] on each axis.
・Effective only on initial screen and at the error status
・Effective only when the input is turned ON with <SHIFT> key of RT1 is pressed.
《Input port number, bit number》[SYS05]
e.g.1) Allocate from DI:02-0 [SYS05]=0200
e.g.2) Allocate from DI:03-4 [SYS05]=0304
*This function becomes invalid when input port number is 0 or bit number other than
0-7.
Target operation is current unit.
When ABS encoder error (*1) occurs, unit of its axis is set as a current unit.
When not ABS encoder error (*1), Origin-offset is only set.
E.g.) Allocate from DI:02-0
<DI: 2> 0 X axis
1 Y axis
2 Z axis
3 W axis
4 U axis
5 V axis
■Auto offset setting by <ORG> key of RT1

When in ABS encoder error status, reset and Origin-offset of ABS encoder of error axis can
be set by Origin-Return command (<ORG> key or Origin-return by digital input).
・Effective when <ORG> key is input with <SHIFT> key of RT1 is pressed or input of
Origin-Return is turned ON by digital input.
e.g.) Y axis of Unit 3 becomes a target when ‘U3* MOTOR ERR(0A) Y’ error occurs.
(*1) ABS encoder error

OA: ABS encoder system down
0E: ABS encoder over speed
Intro-35

Efics Intro 3.50

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Efics Intro 3.50

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Fics-Ⅲ(PⅢ)

is used for controller CORPORATION

and servo driver’s

pulse output station RS232C PT

Atom-MFB having Atom DynaFics

analog input/output WinFics can be connected by RS232C

used for controller CORPORATION

and servo driver’s

axes can be RS232C

accuracy becomes Atom R

Atom - +OV Atom - +OV Atom - +OV Atom - +OV Atom-

P uls e m oto r dr ive

■Main feature of Multi Unit System

[1-2-2: Error stop according to Fics-Atoms series unit]

-AUTO- AUTO MANU SYS

Initial Screen(TPCx Fics mode）

■Ratio setting of Override of Speed （１）Initial Screen

[3-1-2-1: JOG Operation and Origin-Return]

Note ・Switch Unit by pressing <MODE> KEY on MANU-mode screen.

補足 The signal of Origin-Return becomes ON once Origin-Return is executed.

[3-1-2-4: <JOG> KEY and Screen Display]

Axis Switching Mode Each Axis Allocation Mode

[3-1-3-1: Output Check Function by Digital Input]

[3-1-5-2: Parameter setting during Automatic Shuttle Operation]

Note 16 of g,p,i,d is displayed as ‘H’

■From Origin-Return to auto-running mode

[3-2-3: Stop and reset error during auto-running]

[7-1: Request when an error occurs]

[7-2: List of Errors]

[7-2-3-1: Emergency Stop (EMERGENCY)]

[7-2-3-2: IOM disconnection Error (IOM LOOP ERROR)]

Note ・IOM LOOP ERROR is not checked when [SYS83]≠0

[7-2-4: Errors when the Power is Switched on]

Parameter Area: PRM Check ERROR

ＯＫ ROM Check Error

Fics-Atoms must initiate communications after Atom is switched on.

Note This function is effective in the above-mentioned version or later.

[7-2-6: Error during JOG-operation or AUTO-operation]

[7-2-6-3: Error stop according to Fics-Atoms series unit]

[7-2-9: Other Errors]

It is an extended function of Origin-Offset setting by system variables ([SYS05][SYS06])

■Auto offset setting by digital input

■Auto offset setting by <ORG> key of RT1

(*1) ABS encoder error

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