B-85314EN-1 01 (Alpha-DiA5 Custom PMC) PDF

FANUC ROBODRILL @-D14M+A5
FANUC ROBODRILL @-D14L+A5

FANUC ROBODRILL @-D14S+A5
FANUC ROBODRILL @-D21M+A5
FANUC ROBODRILL @-D21L+A5
FANUC ROBODRILL @-D21S+A5
CUSTOM PMC FUNCTION
OPERATOR'S MANUAL
WARNING
To use the products explained herein safely, read carefully and understand
completely all the descriptions about safety at the beginning of this manual
and those about the functions you are going to use. Failing to follow any
safety precaution or any direction described herein may lead to death or
injury. Always keep this manual near your product, so you can reference
it whenever necessary.
B-85314EN-1/01
WARNING
Before starting to install, operate, or maintain the product, carefully read and
understand the "SAFETY PRECAUTIONS." Failing to follow any of these safety
precautions and other cautions stated herein may lead to death or injury.
The model covered by this manual, and its abbreviation is:
Product name Abbreviation

FANUC ROBODRILL α-D14 (M,L,S) i A5 α-D14 i A5
FANUC ROBODRILL α-D21 (M,L, S) i A5 α-D21 i A5
Controller: A04B-0102- B201, B301, B302
FANUC Series 31i-B5
Mechanical Unit: A04B-0099-B101, B103, B111, B113
A04B-0102- B101,B102, B103, B104, B105, B106,
B111, B112, B113, B114, B115, B116
To help prevent accidents that may occur due to incorrect handling, this operator's manual indicates
cautions with marks. The meaning of each mark is explained below. Before starting to read the text of
the cautions, be sure to understand the meaning of the corresponding marks.
Indicates that incorrect handling will invite an imminent danger of death or
DANGER:
serious injury.
WARNING: Indicates that incorrect handling may lead to death or serious injury.
CAUTION: Indicates that incorrect handling may lead to light or moderate injury.
Indicates that incorrect handling may lead to damage not only to the product
CAUTION:
of interest but also to other properties.
ATTENTION: Describes precautions for protecting the product of interest from damage.
SUPPLEMENT: Describes information for effective and efficient use of the product of interest.
• No part of this manual may be reproduced in any form.

• All specifications and designs are subject to change without notice.
The products in this manual are controlled based on Japan’s “Foreign Exchange and Foreign
Trade Law”. The export of α-D14MiA5/D14LiA5/D14SiA5, α-D21MiA5/D21LiA5/D21SiA5
from Japan is subject to an export license by the government of Japan. Other models in this
manual may also be subject to export controls. Further, re-export to another country may be
subject to the license of the government of the country from where the product is re-exported.
Furthermore, the product may also be controlled by re-export regulations of the United States
government. Should you wish to export or re-export these products, please contact FANUC
for advice.
In this manual, we have tried to describe as many matters as possible.

However, we cannot describe all the matters which must not be done or which cannot be
done, because there are so many possibilities. Therefore, matters which are not especially
described as possible in this manual should be regarded as "impossible." If you wander
whether a specific matter is possible, ask FANUC.
B-85314EN-1/01 PREFACE
PREFACE
1 PURPOSES OF THE MACHINE
The FANUC ROBODRILL α-DiA5 series is a machine tool that operates under control of a CNC
(computer numerical control unit). It can be used for drilling, tapping, light milling, milling, and boring.
It should not be used for any other purposes.
2 DEFINITION OF USERS
2.1 Operators
In this manual, the term operator refers to a person who operates the machine.
The operator must read this manual and become familiar with its contents. If the operator operates the
machine without becoming familiar with its contents, the operator and the people around the machine
may be in serious danger.
The operator is not allowed to carry out maintenance work that involves:
(1) Removal of a cover that requires a tool for its removal (fixed cover)
(2) Installation and movement of the machine
2.2 Daily Maintenance and Preventive Maintenance Personnel

These personnel must have completed ROBODRILL course at the Robomachine Department at the
FANUC School or must have equivalent knowledge and must also be qualified by the company or
organization to which they belong.
Daily maintenance and preventive maintenance personnel must observe the "Cautions on Maintenance,"
described below.
Cautions that Person in charge of routine maintenance and preventive maintenance must
observe during maintenance
p-1
PREFACE B-85314EN-1/01
WARNING
1 Before removing a cover for maintenance purposes, be sure to set the control
unit cabinet door circuit breaker for the machine to its off position. Otherwise, an
unexpected behavior of the machine may lead to injury or an electric shock.
2 Before switching on the power with a cover removed for maintenance purposes,
make sure that no one is beside the machine. Otherwise, an unexpected
behavior of the machine may lead to injury or an electric shock.
3 Before starting maintenance work, post a notice near the control unit cabinet
door circuit breaker to indicate that no one except the worker of interest is
allowed to switch on the power.
4 Before switching on the power and operating the machine during or after
maintenance work, make sure that no tool or the like is left in the machine.
Otherwise, when the machine runs, it may strike the tool or the like toward
people around the machine.
5 When making electrical adjustments with a cover removed, use a tool with a
sufficient electrical protection (for example, a screwdriver made of plastic).
Otherwise, there is a risk of an electrical shock.
6 After maintenance work, make sure that all components, including screws, that
were removed for maintenance purposes are back in place. Otherwise, safety
devices may fail to function, or injury may occur, because of a malfunction or
electric shock.
7 When replacing maintenance parts, be sure to keep the control unit cabinet door
circuit breaker set to its off position. Otherwise, there may occur damage to the
maintenance parts or an electrical shock.
8 The person in charge of routine maintenance and preventive maintenance shall
not be engaged in replacement of the CNC memory backup battery or
fluorescent lamps within the machine. Only the maintenance engineer is
allowed to replace such electrical components. Work by any person with no
sufficient knowledge may disable safety devices from working, resulting in an
unexpected behavior of the machine that may cause injury or an electric shock.
9 Be sure to close and lock the control unit cabinet door upon completion of
maintenance work to prevent fluid such as coolant or chippings from entering the
unit. Similarly, be sure to close the covers of the operator's panel and cable duct
and securely tighten the mounting screws of the covers.
2.3 Maintenance Personnel

These personnel must have sufficient knowledge of machinery or electricity to perform maintenance
properly, must have completed a maintenance course at the FA or Robomachine Department of the
FANUC School or must have equivalent knowledge, and must also be qualified by the company or
organization to which they belong.
Maintenance personnel perform work including:
(1) Installation and movement of the machine

(2) Repair of the machine (replacement of mechanical units and replacement of electric components that
require setup and adjustment after being replaced)
Maintenance personnel must observe the "Caution on Maintenance," described above. Experienced
maintenance personnel, in particular, should avoid accidents due to carelessness or overconfidence.
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B-85314EN-1/01 PREFACE
3 ORGANIZATION OF THIS MANUAL

This manual covers the following models:
Model name Abbreviation

Control unit: A04B-0102-B201, B301, B302
FANUC Series 31i-B5
Mechanical unit: A04B-0099-B101, B103, B111, B113
A04B-0102-B101, B102, B103, B104, B105, B106,
B111, B112, B113, B114, B115, B116
The manuals for this machine include the following:

(1) FANUC ROBODRILL α-D14iA5/D21iA5 Series OPERATOR'S MANUAL (B-85314EN):
Describes how to use and maintain this machine.
(2) FANUC ROBODRILL α-D14iA5/D21iA5 Series CUSTOM PMC FUNCTION OPERATOR'S
MANUAL (B-85314EN-1): This manual. Describes how to operate the custom PMC function, as
well as programming.
(3) FANUC Series 31i-MODEL B OPERATOR'S MANUAL (B-64484EN): Describes how to operate
numerical control (NC) units and how to create programs.
(4) FANUC ROBODRILL α-D14iA5/D21iA5 Series MAINTENANCE MANUAL (B-85315EN):
Describes alarms, how to perform troubleshooting, and how to replace parts.
(5) FANUC Series 31i-MODEL B MAINTENANCE MANUAL (B-64485EN): Describes how to
perform troubleshooting and adjustment on numerical control (NC) units.
Before using this machine, read the necessary parts of manual (1).
For daily handling and for reference, use manuals (1) and (3).
Use manuals (4) and (5) for troubleshooting, replacement of parts, and adjustment of machine sections.
Descriptions in manuals (1), (2), and (4) have priority over those in manuals (3) and (5). In you find any
contradiction, assume that the description in manuals (1), (2), and (4) applies.
This manual contains minimum requirements for using the custom PMC function.
If you require more detailed explanation, see the following manual:
FANUC Series 30i-MODEL B, Series 31i-MODEL B, Series 32i-MODEL B, Series

35i-MODEL B
PMC PROGRAMMING MANUAL (B-64513EN)
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B-85314EN-1/01 TABLE OF CONTENTS
TABLE OF CONTENTS
PREFACE ....................................................................................................p-1
1 OUTLINE ................................................................................................. 1
2 EXPLANATION OF TERMS.................................................................... 3
3 NOTES .................................................................................................... 4
4 SPECIFICATIONS................................................................................... 5
5 INPUT/OUTPUT SPECIFICATIONS ....................................................... 6
5.1 STANDARD INPUT/OUTPUT SPECIFICATIONS......................................... 6
5.2 OPTIONAL INPUT/OUTPUT SPECIFICATIONS ........................................ 10
5.2.1 I/O Unit Model-A...................................................................................................10
5.2.2 I/O Link Connection Unit.......................................................................................22
5.2.3 Additional I/O Unit for Sub-Operator's Panel ........................................................22
5.2.3.1 Terminal Module B............................................................................................ 29
5.2.4 Additional I/O Unit (I/O Module + Terminal Module)..........................................37
5.2.5 Optional I/O Module Connection...........................................................................46
5.2.6 Parameter Setting When Optional I/O Modules Are Used.....................................46
6 ADDRESSES AVAILABLE TO CUSTOM PMC.................................... 47

7 INPUTTING ALPHABETIC CHARACTERS ......................................... 48
8 EDITING ................................................................................................ 50
8.1 STARTING AN EDITING SESSION ............................................................ 50
8.2 EDITING LADDER PROGRAMS................................................................. 51
8.2.1 Switching to the Edit Screen ..................................................................................51
8.2.2 Editing Ladder Programs........................................................................................53
8.3 EDITING ALARM AND OPERATOR MESSAGES ...................................... 65
8.4 EDITING SYMBOLS AND COMMENTS ..................................................... 68
8.5 ENDING AN EDITING SESSION ................................................................ 70
9 CONFIRMATION................................................................................... 71
9.1 DISPLAYING THE LADDER PROGRAM STATUS ..................................... 71
9.2 SIGNAL DIAGNOSIS................................................................................... 73
10 SETTING PMC PARAMETERS ............................................................ 74
11 INPUT/OUTPUT OF EDIT DATA .......................................................... 78
11.1 OPERATION ON THE INPUT/OUTPUT SCREEN...................................... 78
11.2 OPERATION ON THE BOOT SCREEN ...................................................... 81
12 INTERFACE SIGNALS BETWEEN SYSTEM AND CUSTOM LADDER
PROGRAMS.......................................................................................... 84
12.1 BASIC SIGNALS ....................................................................................... 105
12.2 MACHINE STATUS ................................................................................... 105
12.3 FRONT AUTOMATIC DOOR CONTROL .................................................. 106
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TABLE OF CONTENTS B-85314EN-1/01
12.4 EXTERNAL WORKPIECE NUMBER SEARCH FUNCTION ..................... 108

12.5 EXTERNAL PROGRAM NUMBER SEARCH FUNCTION......................... 110
12.6 EXTERNAL M CODE BCD OUTPUT FUNCTION..................................... 113
12.7 M CODE OUTPUT FUNCTION (M80 TO M89) ......................................... 116
12.8 INTERRUPT TYPE CUSTOM MACRO FUNCTION (OPTION)................. 117
12.9 RESET AND REWIND FUNCTION ........................................................... 117
12.10 ALARM OUTPUT 2.................................................................................... 117
12.11 TOOL LIFE MANAGEMENT...................................................................... 118
12.12 ADDITIONAL AXIS CLAMP CONTROL .................................................... 120
12.13 OPERATOR'S PANEL............................................................................... 121
12.14 OPERATION MODE SWITCHING ............................................................ 122
12.15 PRODUCTION MANAGEMENT ................................................................ 123
12.16 MACHINE STATUS OUTPUT ................................................................... 124
12.17 COOLANT, MACHINE INTERIOR CLEANING COOLANT, CENTER
THROUGH COOLANT, AND AIR BLOW .................................................. 125
12.18 COMPLETION OF MACHINING................................................................ 125
12.19 FRONT DOOR LOCK CONTROL ............................................................. 126
12.20 AUTOMATIC SIDE DOOR CONTROL ...................................................... 126
12.21 AI TOOL MONITOR................................................................................... 127
12.22 SPINDLE ................................................................................................... 127
12.23 SCREEN DISPLAY.................................................................................... 128
12.24 POSITION SWITCH .................................................................................. 128
12.25 CONTROL SIGNAL FOR EACH SERVO AXIS ......................................... 129
12.26 CUSTOM MACROS .................................................................................. 130
12.27 M FUNCTION CODE SIGNALS ................................................................ 131
12.28 OPERATION CONTROL ........................................................................... 131
12.29 ALARM AND OPERATOR MESSAGE DISPLAY ...................................... 132
12.30 MACHINE INTERIOR LAMP ..................................................................... 132
12.31 POWER-OFF............................................................................................. 132
12.32 OVERRIDE CONTROL ............................................................................. 133
12.33 ROBOT INTERFACE................................................................................. 134
12.34 Count of Periodical Maintenance Customize Item ..................................... 136
12.35 BLOCK SKIP ............................................................................................. 136
13 USING TYPICAL FUNCTIONAL INSTRUCTIONS ............................. 137
14 SETTING PARAMETERS ................................................................... 143
15 ALARM AND ERROR MESSAGES LIST ........................................... 144
15.1 Messages That May Be Displayed on the PMC Alarm Screen .................. 144
15.2 PMC System Alarm Messages .................................................................. 152
15.3 Operation Errors ........................................................................................ 157
15.4 I/O Communication Error Messages.......................................................... 172
APPENDIX
A CUSTOM PMC EDITING WITH FANUC LADDER-III ......................... 181
A.1 CONVERSION TO A SOURCE FILE ........................................................ 182
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B-85314EN-1/01 TABLE OF CONTENTS
A.2 LADDER PROGRAM EDITING ................................................................. 185

A.2.1 Title Editing..........................................................................................................185
A.2.2 Ladder Editing......................................................................................................186
A.2.3 Symbol and Comment Editing .............................................................................187
A.2.4 Message Editing ...................................................................................................188
A.2.5 I/O Module Editing ..............................................................................................189
A.2.6 System Parameter Editing ....................................................................................189
A.3 LADDER PROGRAM COMPILATION AND LOADING FILE CREATION . 190
A.4 CUSTOM LADDER PROGRAM CREATION............................................. 193
A.5 EDITING ALARM AND OPERATOR MESSAGES .................................... 205
A.5.1 Ladder Program Message Editing ........................................................................205
B FORCED INPUT/OUTPUT FUNCTION............................................... 209

B.1 OVERVIEW ............................................................................................... 209
B.2 SETTING/OPERATION FOR ENABLING FORCED INPUT/OUTPUT ...... 213
B.3 SCREEN DISPLAY.................................................................................... 214
B.4 OPERATING THE FORCED INPUT/OUTPUT SCREEN AND MODIFYING
THE VALUES OF SIGNALS ...................................................................... 215
C CUSTOM LADDER PROGRAM COMMENT SWITCHING PROCEDURE
............................................................................................................. 218
C.1 OVERVIEW ............................................................................................... 218
C.2 SYSTEM PARAMETER SETTING ............................................................ 218
D MULTI-LANGUAGE DISPLAY FUNCTION ........................................ 220
D.1 CREATING MESSAGE DATA FOR MULTI-LANGUAGE DISPLAY.......... 221
D.2 CREATING MESSAGE DATA FOR THE MAIN BODY OF THE LADDER
PROGRAM ................................................................................................ 223
D.3 CONVERTING MESSAGE DATA.............................................................. 225
D.3.1 Converting Message Data for Multi-Language Display.......................................225
D.3.2 Converting the Ladder Program ...........................................................................226
D.4 INCORPORATING MEMORY CARD FORMAT FILES INTO THE CNC... 227
D.5 CONVERTING A MEMORY CARD FORMAT FILE TO A MNEMONIC
FORMAT FILE ........................................................................................... 227
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B-85314EN-1/01 1.OUTLINE
1 OUTLINE
The custom PMC function allows customers to create sequence programs on their own. The features of
the function include:
(1) Does not require hardware. (Low cost and increased maintainability)
• The sequence program controller is built into the machine and, therefore, does not require any
installation space, unlike in conventional systems.
• Interfacing with ROBODRILL is at the software level and, therefore, does not require any
signal lines, unlike in conventional systems. You can easily perform more advanced control by
using a variety of interface signals.
• You can control external devices by using the terminal block for the ROBODRILL installed as
standard. (16 inputs and 16 outputs)
You can add more additional I/O signals, if required. (Optional)
(2) Variety of software functions
• You can display your own alarm and operator messages on the ROBODRILL screen.
• LEDs and other indicators for alarms are not required.
• Full debugging functions are provided, such as the display of the operating status of created
ladder programs, signal diagnosis, and trace (which displays changes in signal states with the
passage of time).
• Parameters such as variable timers and keep relays can be set on the screen.
ROBODRILL ROBODRILL
System ladder
Sequencer
program
External device Custom PMC External device
Conventional system using a commercially System using the custom PMC function
available sequencer
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1.OUTLINE B-85314EN-1/01
(3) Independent system ladder program (ROBODRILL controller: first PMC) and custom PMC (jig
controller: second PMC)
• You can edit or input and output only custom PMC portions.
• You can set any symbols and comments for all addresses. (The symbols and comments that
have been set are displayed when the second PMC is selected. However, they are not displayed
on the parameter and other screens that are common to the first and second PMCs.)
• You can enable the display of alarms and messages simply by making message settings only
for the main body of a ladder program. (You can enable the display of the alarms and
messages without having to set message data (separate from the main body of the ladder
program) for the multi-language display function.)
ROBODRILL
System ladder
Independent data program
Custom PMC Can be input and

output individually
Custom PMC Custom PMC
Ladder program Ladder program

section section
+ +
Message Message Message data for

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

display function function
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B-85314EN-1/01 2.EXPLANATION OF TERMS
2 EXPLANATION OF TERMS
Custom ladder program: Sequence program created by a customer to control jigs and so forth (second
PMC)
System ladder program: Sequence program prepared beforehand to exercise basic control on the
ROBODRILL (first PMC)
PMC: Hardware system software for performing control, editing, and other
operations on custom and system ladder programs
Soft key: Twelve buttons displayed at the bottom of the LCD panel
QUICK screen: Application screen dedicated to ROBODRILL
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3.NOTES B-85314EN-1/01
3 NOTES
(1) Make sure that edited custom PMC (second PMC) ladder programs are attached to the machine. In
addition, supply those ladder programs to your FANUC sales or service person.
(2) Do not reference, or write to, addresses other than those specified.
(3) Do not edit the system ladder program (first PMC).
(4) When the I/O module allocation needs to be modified, be familiar with the specifications before
making any addition or change.
(5) Before installing edited custom PMC data in the machine, check the series and edition of the system
ladder program. If the interface signals for use with a newly added system ladder program are used,
the machine may not operate normally when the series and edition of the system ladder program
currently used is older.
(6) Do not use the following functional instructions:
END1 (SUB1), END2 (SUB2), END (SUB64), WINDR (SUB51), SPCNT (SUB46), WINDW
(SUB52), MMCWR (SUB98), MMCWW (SUB99), AXCTL (SUB53)
(7) Before pulling out and inserting a memory card, turn the power OFF.
(8) To use the custom PMC function, set the following PMC parameter bit. (See Chapter 10,
"SETTING PMC PARAMETERS.")
Parameter Value Function

K15#7 1 Makes the custom PMC function available.
0 Makes the custom PMC function unavailable.
where K: Keep relay, #7: Seventh bit
(9) The custom PMC function of the D14/21iA5 does not require the ladder edit card. Editing is always
permitted as long as the machine is in the emergency stop state. To disable custom PMC editing,
use the following PMC parameter bit.
Parameter Value Function

K14#0 1 Disables custom PMC editing.
0 Enables custom PMC editing.
(10) The M code used with a custom PMC function must always be the first M code.
(11) As ladder editing software for the personal computer, use FANUC LADDER-III Version 6.30 or
later.
(12) The maximum allowable custom PMC program size (flash ROM size) is 128 KB. Not only ladder
programs but also comments and messages consume the memory. Ensure that the maximum
allowable program size is not exceeded.
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B-85314EN-1/01 4.SPECIFICATIONS
4 SPECIFICATIONS
Programming language Ladder program
Type of program Second PMC
Number of instructions 14 basic instructions, 84 functional instructions
Basic instruction processing time 9.1 nsec /step
Program size Approx. 16000 steps
Maximum allowable program size (Flash ROM size) 128 KB
Number of usable subprograms 3500
No. of inputs/ outputs Inputs 16 as standard
(The number of inputs can be expanded to up to 48 by
adding terminal blocks.)
Up to 1024 inputs can be added as options.)
Outputs 16 as standard
(The number of inputs can be expanded to up to 32 by
adding terminal blocks.)
Up to 1024 outputs can be added as options.)
Internal relay Non-hold type 1000 bytes (8000 points)
Message relay 50 bytes (400 points)
Special auxiliary relay 100 points
Timer Variable 80 points
Fixed 140 points
Counter 30 points
Keep relay 10 bytes (80 points)
Data table 1000 bytes/8000 items (if used with an internal relay of the
hold type)
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5.INPUT/OUTPUT SPECIFICATIONS B-85314EN-1/01
5 INPUT/OUTPUT SPECIFICATIONS
5.1 STANDARD INPUT/OUTPUT SPECIFICATIONS
You can use 16 inputs and 16 outputs of standard terminal block XT1.
You can add terminal blocks XTC1 (16 inputs and 16 outputs) and XTC2 (16 inputs) to expand the
number of inputs to up to 48 and that of outputs to up to 32.
To use these inputs and outputs, display the QUICK screen, 6:MAINTENANCE/SETTING, then 13.
EXT. INTERFACE, and set "1:FOR CUSTOM PMC" in the input/output signal setting field.
Refer to the "ROBODRILL α-D14/21iA5 OPERATOR'S MANUAL (B-85314EN)" for details.
Refer to the "ROBODRILL α- D14/21iA5 SERIES MAINTENANCE MANUAL (B-85315EN)" for the
specifications of the terminal blocks and connection cables.
Wiring PCB unit: A04B-0102-C210#STA
[DI01]
16 inputs (X0.0 to X1.7)

Terminal block [XTC1]
16 outputs (Y0.0 to Y1.7)
Terminal block [XTC2] 16 inputs (X2.0 to X3.7)
[DI02]
Terminal block [XT1] 16 inputs (X4.0 to X5.7)

16 outputs (Y4.0 to Y5.7)
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B-85314EN-1/01 5.INPUT/OUTPUT SPECIFICATIONS
Connection diagram from connector panel PC board to 50-pin terminal block (XT1)
Terminal size: M3.5, Maximum terminal width: 6.8mm
Name Address Signal Destination 01 X 4.0 02 X 4.1

UDI01 X 4.0 User DI01 XT1-01 03 +24E 04 +24E
UDI02 X 4.1 User DI02 XT1-02 05 X 4.2 06 X 4.3
UDI03 X 4.2 User DI03 XT1-05 07 X 4.4 08 X 4.5
UDI04 X 4.3 User DI04 XT1-06 09 +24E 10 +24E
UDI05 X 4.4 User DI05 XT1-07 11 X 4.6 12 X 4.7
UDI06 X 4.5 User DI06 XT1-08 13 X 5.0 14 X 5.1
UDI07 X 4.6 User DI07 XT1-11 15 +24E 16 +24E
UDI08 X 4.7 User DI08 XT1-12 17 X 5.2 18 X 5.3
19 X 5.4 20 X 5.5
UDI09 X 5.0 User DI09 XT1-13 21 +24E 22 +24E
UDI10 X 5.1 User DI10 XT1-14 23 X 5.6 24 X 5.7
UDI11 X 5.2 User DI11 XT1-17 25 Y 2.0 26 Y 2.1
UDI12 X 5.3 User DI12 XT1-18 27 0V 28 0V
UDI13 X 5.4 User DI13 XT1-19 29 Y 2.2 30 Y 2.3
UDI14 X 5.5 User DI14 XT1-20 31 Y 2.4 32 Y 2.5
UDI15 X 5.6 User DI15 XT1-23 33 0V 34 0V
UDI16 X 5.7 User DI16 XT1-24 35 Y 2.6 36 Y 2.7
37 Y 3.0 38 Y 3.1
UDO01 Y 2.0 User DO01 XT1-25 39 0V 40 0V
UDO02 Y 2.1 User DO02 XT1-26 41 Y 3.2 42 Y 3.3
UDO03 Y 2.2 User DO03 XT1-29 43 Y 3.4 44 Y 3.5
UDO04 Y 2.3 User DO04 XT1-30 45 0V 46 0V
UDO05 Y 2.4 User DO05 XT1-31 47 Y 3.6 48 Y 3.7
UDO06 Y 2.5 User DO06 XT1-32 49 0V 50 +24E
UDO07 Y 2.6 User DO07 XT1-35

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Connection diagram from DI01 to 50-pin terminal block (XTC1)

Name Address Signal Destination 01 X0.0 02 X0.1

UDI17 X0.0 User DI17 XTC1-01 03 +24E 04 +24E
UDI18 X0.1 User DI18 XTC1-02 05 X0.2 06 X0.3
UDI19 X0.2 UserDI19 XTC1-05 07 X0.4 08 X0.5
19 X1.4 20 X1.5
UDI27 X1.2 User DI27 XTC1-17 25 Y0.0 26 Y0.1
UDI28 X1.3 User DI28 XTC1-18 27 0V 28 0V
37 Y1.0 38 Y1.1
UDO17 Y0.0 User DO17 XTC1-25 39 0V 40 0V
UDO18 Y0.1 User DO18 XTC1-26 41 Y1.2 42 Y1.3
UDO20 Y0.3 User DO20 XTC1-30 45 0V 46 0V
UDO22 Y0.5 User DO22 XTC1-32 49 0V 50 +24E
UDO23 Y0.6 User DO23 XTC1-35

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Connection diagram from DI02 to 34-pin terminal block (XTC2)
Name Address Signal Destination 01 X2.0 02 X2.1

19 X3.4 20 X3.5
UDI45 X3.4 User DI45 XTC2-19 29 +24E 30 0V
UDI46 X3.5 UserDI46 XTC2-20 31 0V 32 0V
UDI48 X3.7 User DI48 XTC2-24
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5.2 OPTIONAL INPUT/OUTPUT SPECIFICATIONS
5.2.1 I/O Unit Model-A

By installing an I/O Unit Model-A, you can add up to 96 inputs and 64 outputs in the case of standard
setting.
The expansion section is in module units, so that you can select the modules that meet your specifications.
You can add up to five modules (two output modules and three input modules).
Vertical type
Interface module
Slots 1, 2, and 3: for use only with input modules
○ ○
Slot 1 Slot 2
Slot 3 Slot 4 Slot 5
○ ○
Slots 4 and 5: for use only with output modules
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Horizontal type
1 2 3 4 5
Slots 1, 2, and 3: for use only with Slots 4 and 5: for use only
input modules with output modules
Interface module
(Specifications of input/output modules)

Classificati Name No. of Type Voltage used Common Shape of connection
on signals
Input module AID16C 16 Insulated, DC input 24 V d.c. 0V Terminal block (M3.5)
AID16D 16 Insulated, DC input 24 V d.c. 24 V Terminal block (M3.5)
AID32E1 32 Insulated, DC input 24 V d.c. 0/24 V MR connector made by
HONDA TSUSHIN
KOGYO CO., LTD.
AID32E2 32 Insulated, DC input 24 V d.c. 0/24 V Flat cable connector
Output AOD08C 8 Insulated, DC output 12-24 V d.c. 0V Terminal block (M3.5)
module AOD08D 8 Insulated, DC output 12-24 V d.c. 24 V Terminal block (M3.5)
AOD16C 16 Insulated, DC output 12-24 V d.c. 0V Terminal block (M3.5)
AOD16D 16 Insulated, DC output 12-24 V d.c. 24 V Terminal block (M3.5)
AOD32C1 32 Insulated, DC output 12-24 V d.c. 0V MR connector made by
HONDA TSUSHIN
KOGYO CO., LTD.
AOD32C2 32 Insulated, DC output 12-24 V d.c. 0V Flat cable connector
AOD32D1 32 Insulated, DC output 12-24 V d.c. 24 V MR connector made by
HONDA TSUSHIN
KOGYO CO., LTD.
AOD32D2 32 Insulated, DC output 12-24 V d.c. 24 V Flat cable connector
AOR08G 8 Relay output 250 V a.c. / 30 V d.c. - Terminal block (M3.5)
AOR16G 16 Relay output 250 V a.c. / 30 V d.c. - Terminal block (M3.5)
In the case of standard setting, the following addresses can be used:

Signal classification Expansion section slot No. of signals Signal address
(see the above figure and the
figure on the previous page)
Input signal Slot 1 16, 32 X200.0 to X203.7
(up to 96 inputs) Slot 2 16, 32 X204.0 to X207.7
Slot 3 16, 32 X208.0 to X211.7
Output signal Slot 4 8, 16, 32 Y200.0 to Y203.7
(up to 64 outputs) Slot 5 8, 16, 32 Y204.0 to Y207.7
- 11 -
01 01
02 02
A0 A0
03 03
A1 A1
04 04
A2 A2
05 05
A3 A3
06 06
A4 A4
07 07
A5 A5
08 08
A6 A6
09 09
A7 A7
10 10
B0 B0
11 11
B1 B1
12 12
B2 B2
13 13
B3 B3
14 14
B4 B4
15 15
B5 B5
16 16
B6 B6
17 17
B7 B7
18 18
19 19
20 20
[AID16C] [AID16D]
[Address allocation]
Slot 1 Slot 2 Slot 3
A0 X 200.0 X 204.0 X 208.0
A1 X 200.1 X 204.1 X 208.1
A2 X 200.2 X 204.2 X 208.2
A3 X 200.3 X 204.3 X 208.3
A4 X 200.4 X 204.4 X 208.4
A5 X 200.5 X 204.5 X 208.5
A6 X 200.6 X 204.6 X 208.6
A7 X 200.7 X 204.7 X 208.7
B0 X 201.0 X 205.0 X 209.0

B1 X 201.1 X 205.1 X 209.1
B2 X 201.2 X 205.2 X 209.2
B3 X 201.3 X 205.3 X 209.3
B4 X 201.4 X 205.4 X 209.4
B5 X 201.5 X 205.5 X 209.5
B6 X 201.6 X 205.6 X 209.6
B7 X 201.7 X 205.7 X 209.7
- 12 -
50 41
49 40
16 07
A0 C0
32 24
A1 C1
48 39
A2 C2
15 06
A3 C3
31 23
A4 C4
47 38
A5 C5
30 22
A6 C6
46 37
A7 C7
45 36
29 21
12 03
B0 D0
28 20
B1 D1
44 35
B2 D2
11 02
B3 D3
27 19
B4 D4
43 34
B5 D5
10 01
B6 D6
42 33
B7 D7
[AID32E1]
Slot 1 Slot 2 Slot 3 Slot 1 Slot 2 Slot 3
A0 X 200.0 X 204.0 X 208.0 C0 X 202.0 X 206.0 X 210.0
A1 X 200.1 X 204.1 X 208.1 C1 X 202.1 X 206.1 X 210.1
A2 X 200.2 X 204.2 X 208.2 C2 X 202.2 X 206.2 X 210.2
A3 X 200.3 X 204.3 X 208.3 C3 X 202.3 X 206.3 X 210.3
A4 X 200.4 X 204.4 X 208.4 C4 X 202.4 X 206.4 X 210.4
A5 X 200.5 X 204.5 X 208.5 C5 X 202.5 X 206.5 X 210.5
A6 X 200.6 X 204.6 X 208.6 C6 X 202.6 X 206.6 X 210.6
A7 X 200.7 X 204.7 X 208.7 C7 X 202.7 X 206.7 X 210.7
B0 X 201.0 X 205.0 X 209.0 D0 X 203.0 X 207.0 X 211.0

B1 X 201.1 X 205.1 X 209.1 D1 X 203.1 X 207.1 X 211.1
B2 X 201.2 X 205.2 X 209.2 D2 X 203.2 X 207.2 X 211.2
B3 X 201.3 X 205.3 X 209.3 D3 X 203.3 X 207.3 X 211.3
B4 X 201.4 X 205.4 X 209.4 D4 X 203.4 X 207.4 X 211.4
B5 X 201.5 X 205.5 X 209.5 D5 X 203.5 X 207.5 X 211.5
B6 X 201.6 X 205.6 X 209.6 D6 X 203.6 X 207.6 X 211.6
B7 X 201.7 X 205.7 X 209.7 D7 X 203.7 X 207.7 X 211.7
- 13 -
B24 B12
A24 A12
B23 B11
A0 C0
A23 A11
A1 C1
B22 B10
A2 C2
A22 A10
A3 C3
B21 B09
A4 C4
A21 A09
A5 C5
B20 B08
A6 C6
A20 A08
A7 C7
B18 B06
A18 A06
B17 B05
B0 D0
A17 A05
B1 D1
B16 B04
B2 D2
A16 A04
B3 D3
B15 B03
B4 D4
A15 A03
B5 D5
B14 B02
B6 D6
A14 A02
B7 D7
[AID32E2]
Slot 1 Slot 2 Slot 3 Slot 1 Slot 2 Slot 3
A0 X 200.0 X 204.0 X 208.0 C0 X 202.0 X 206.0 X 210.0
A1 X 200.1 X 204.1 X 208.1 C1 X 202.1 X 206.1 X 210.1
A2 X 200.2 X 204.2 X 208.2 C2 X 202.2 X 206.2 X 210.2
A3 X 200.3 X 204.3 X 208.3 C3 X 202.3 X 206.3 X 210.3
A4 X 200.4 X 204.4 X 208.4 C4 X 202.4 X 206.4 X 210.4
A5 X 200.5 X 204.5 X 208.5 C5 X 202.5 X 206.5 X 210.5
A6 X 200.6 X 204.6 X 208.6 C6 X 202.6 X 206.6 X 210.6
A7 X 200.7 X 204.7 X 208.7 C7 X 202.7 X 206.7 X 210.7
B0 X 201.0 X 205.0 X 209.0 D0 X 203.0 X 207.0 X 211.0

B1 X 201.1 X 205.1 X 209.1 D1 X 203.1 X 207.1 X 211.1
B2 X 201.2 X 205.2 X 209.2 D2 X 203.2 X 207.2 X 211.2
B3 X 201.3 X 205.3 X 209.3 D3 X 203.3 X 207.3 X 211.3
B4 X 201.4 X 205.4 X 209.4 D4 X 203.4 X 207.4 X 211.4
B5 X 201.5 X 205.5 X 209.5 D5 X 203.5 X 207.5 X 211.5
B6 X 201.6 X 205.6 X 209.6 D6 X 203.6 X 207.6 X 211.6
B7 X 201.7 X 205.7 X 209.7 D7 X 203.7 X 207.7 X 211.7
- 14 -
01 01
02 02
03 03
04 04
LOAD A0 LOAD A0
05 05
06 06
LOAD A1 LOAD A1
07 07
08 08
LOAD A2 LOAD A2
09 09
10 10
LOAD A3 LOAD A3
11 11
12 12
LOAD A4 LOAD A4
13 13
14 14
LOAD A5 LOAD A5
15 15
16 16
LOAD A6 LOAD A6
17 17
18 18
LOAD A7 LOAD A7
19 19
20 20
[AOD08C] [AOD08D]
Slot 4 Slot 5
A0 Y 203.0 Y 207.0
A1 Y 203.1 Y 207.1
A2 Y 203.2 Y 207.2
A3 Y 203.3 Y 207.3
A4 Y 203.4 Y 207.4
A5 Y 203.5 Y 207.5
A6 Y 203.6 Y 207.6
A7 Y 203.7 Y 207.7
- 15 -
01 01
02 02
LOAD A0 LOAD A0
03 03
LOAD A1 LOAD A1
04 04
LOAD A2 LOAD A2
05 05
LOAD A3 LOAD A3
06 06
LOAD A4 LOAD A4
07 07
LOAD A5 LOAD A5
08 08
LOAD A6 LOAD A6
09 09
LOAD A7 LOAD A7
10 10
11 11
12 12
LOAD B0 LOAD B0
13 13
LOAD B1 LOAD B1
14 14
LOAD B2 LOAD B2
15 15
LOAD B3 LOAD B3
16 16
LOAD B4 LOAD B4
17 17
LOAD B5 LOAD B5
18 18
LOAD B6 LOAD B6
19 19
LOAD B7 LOAD B7
20 20
[AOD16C] [AOD16D]
Slot 4 Slot 5
A0 Y 202.0 Y 206.0
A1 Y 202.1 Y 206.1
A2 Y 202.2 Y 206.2
A3 Y 202.3 Y 206.3
A4 Y 202.4 Y 206.4
A5 Y 202.5 Y 206.5
A6 Y 202.6 Y 206.6
A7 Y 202.7 Y 206.7
B0 Y 203.0 Y 207.0
B1 Y 203.1 Y 207.1
B2 Y 203.2 Y 207.2
B3 Y 203.3 Y 207.3
B4 Y 203.4 Y 207.4
B5 Y 203.5 Y 207.5
B6 Y 203.6 Y 207.6
B7 Y 203.7 Y 207.7
- 16 -
50 08
49 07
LOAD A0 LOAD C0
16 24
LOAD A1 LOAD C1
32 39
LOAD A2 LOAD C2
48 06
LOAD A3 LOAD C3
15 23
LOAD A4 LOAD C4
31 38
LOAD A5 LOAD C5
47 22
LOAD A6 LOAD C6
30 37
LOAD A7 LOAD C7
46 40
50 41
13 04
12 03
LOAD B0 LOAD D0
28 20
LOAD B1 LOAD D1
44 35
LOAD B2 LOAD D2
11 02
LOAD B3 LOAD D3
27 19
LOAD B4 LOAD D4
43 34
LOAD B5 LOAD D5
10 01
LOAD B6 LOAD D6
42 33
LOAD B7 LOAD D7
29 21
45 36
[AOD32C1]
Slot 4 Slot 5 Slot 4 Slot 5
A0 Y 200.0 Y 204.0 C0 Y 202.0 Y 206.0
A1 Y 200.1 Y 204.1 C1 Y 202.1 Y 206.1
A2 Y 200.2 Y 204.2 C2 Y 202.2 Y 206.2
A3 Y 200.3 Y 204.3 C3 Y 202.3 Y 206.3
A4 Y 200.4 Y 204.4 C4 Y 202.4 Y 206.4
A5 Y 200.5 Y 204.5 C5 Y 202.5 Y 206.5
A6 Y 200.6 Y 204.6 C6 Y 202.6 Y 206.6
A7 Y 200.7 Y 204.7 C7 Y 202.7 Y 206.7
B0 Y 201.0 Y 205.0 D0 Y 203.0 Y 207.0

B1 Y 201.1 Y 205.1 D1 Y 203.1 Y 207.1
B2 Y 201.2 Y 205.2 D2 Y 203.2 Y 207.2
B3 Y 201.3 Y 205.3 D3 Y 203.3 Y 207.3
B4 Y 201.4 Y 205.4 D4 Y 203.4 Y 207.4
B5 Y 201.5 Y 205.5 D5 Y 203.5 Y 207.5
B6 Y 201.6 Y 205.6 D6 Y 203.6 Y 207.6
B7 Y 201.7 Y 205.7 D7 Y 203.7 Y 207.7
- 17 -
B19 B07
B23 B11
LOAD A0 LOAD C0
A23 A11
LOAD A1 LOAD C1
B22 B10
LOAD A2 LOAD C2
A22 A10
LOAD A3 LOAD C3
B21 B09
LOAD A4 LOAD C4
A21 A09
LOAD A5 LOAD C5
B20 B08
LOAD A6 LOAD C6
A20 A08
LOAD A7 LOAD C7
A24 A12
B24 B12
B13 B01
B17 B05
LOAD B0 LOAD D0
A17 A05
LOAD B1 LOAD D1
B16 B04
LOAD B2 LOAD D2
A16 A04
LOAD B3 LOAD D3
B15 B03
LOAD B4 LOAD D4
A15 A03
LOAD B5 LOAD D5
B14 B02
LOAD B6 LOAD D6
A14 A02
LOAD B7 LOAD D7
A18 A06
B18 B06
[AOD32C2]
A0 Y 200.0 Y 204.0 C0 Y 202.0 Y 206.0
A1 Y 200.1 Y 204.1 C1 Y 202.1 Y 206.1
A2 Y 200.2 Y 204.2 C2 Y 202.2 Y 206.2
A3 Y 200.3 Y 204.3 C3 Y 202.3 Y 206.3
A4 Y 200.4 Y 204.4 C4 Y 202.4 Y 206.4
A5 Y 200.5 Y 204.5 C5 Y 202.5 Y 206.5
A6 Y 200.6 Y 204.6 C6 Y 202.6 Y 206.6
A7 Y 200.7 Y 204.7 C7 Y 202.7 Y 206.7
B0 Y 201.0 Y 205.0 D0 Y 203.0 Y 207.0

B1 Y 201.1 Y 205.1 D1 Y 203.1 Y 207.1
B2 Y 201.2 Y 205.2 D2 Y 203.2 Y 207.2
B3 Y 201.3 Y 205.3 D3 Y 203.3 Y 207.3
B4 Y 201.4 Y 205.4 D4 Y 203.4 Y 207.4
B5 Y 201.5 Y 205.5 D5 Y 203.5 Y 207.5
B6 Y 201.6 Y 205.6 D6 Y 203.6 Y 207.6
B7 Y 201.7 Y 205.7 D7 Y 203.7 Y 207.7
- 18 -
50 41
49 40
16 07
LOAD A0 LOAD C0
32 24
LOAD A1 LOAD C1
48 39
LOAD A2 LOAD C2
15 06
LOAD A3 LOAD C3
31 23
LOAD A4 LOAD C4
47 38
LOAD A5 LOAD C5
30 22
LOAD A6 LOAD C6
46 37
LOAD A7 LOAD C7
18 09
45 36
29 21
12 03
LOAD B0 LOAD D0
28 20
LOAD B1 LOAD D1
44 35
LOAD B2 LOAD D2
11 02
LOAD B3 LOAD D3
27 19
LOAD B4 LOAD D4
43 34
LOAD B5 LOAD D5
10 01
LOAD B6 LOAD D6
42 33
LOAD B7 LOAD D7
14 05
[AOD32D1]
A0 Y 200.0 Y 204.0 C0 Y 202.0 Y 206.0
A1 Y 200.1 Y 204.1 C1 Y 202.1 Y 206.1
A2 Y 200.2 Y 204.2 C2 Y 202.2 Y 206.2
A3 Y 200.3 Y 204.3 C3 Y 202.3 Y 206.3
A4 Y 200.4 Y 204.4 C4 Y 202.4 Y 206.4
A5 Y 200.5 Y 204.5 C5 Y 202.5 Y 206.5
A6 Y 200.6 Y 204.6 C6 Y 202.6 Y 206.6
A7 Y 200.7 Y 204.7 C7 Y 202.7 Y 206.7
B0 Y 201.0 Y 205.0 D0 Y 203.0 Y 207.0

B1 Y 201.1 Y 205.1 D1 Y 203.1 Y 207.1
B2 Y 201.2 Y 205.2 D2 Y 203.2 Y 207.2
B3 Y 201.3 Y 205.3 D3 Y 203.3 Y 207.3
B4 Y 201.4 Y 205.4 D4 Y 203.4 Y 207.4
B5 Y 201.5 Y 205.5 D5 Y 203.5 Y 207.5
B6 Y 201.6 Y 205.6 D6 Y 203.6 Y 207.6
B7 Y 201.7 Y 205.7 D7 Y 203.7 Y 207.7
- 19 -
B24 B12
A24 A12
B23 B11
LOAD A0 LOAD C0
A23 A11
LOAD A1 LOAD C1
B22 B10
LOAD A2 LOAD C2
A22 A10
LOAD A3 LOAD C3
B21 B09
LOAD A4 LOAD C4
A21 A09
LOAD A5 LOAD C5
B20 B08
LOAD A6 LOAD C6
A20 A08
LOAD A7 LOAD C7
A19 A07
B18 B06
A18 A06
B17 B05
LOAD B0 LOAD D0
A17 A05
LOAD B1 LOAD D1
B16 B04
LOAD B2 LOAD D2
A16 A04
LOAD B3 LOAD D3
B15 B03
LOAD B4 LOAD D4
A15 A03
LOAD B5 LOAD D5
B14 B02
LOAD B6 LOAD D6
A14 A02
LOAD B7 LOAD D7
A13 A01
[AOD32D2]
A0 Y 200.0 Y 204.0 C0 Y 202.0 Y 206.0
A1 Y 200.1 Y 204.1 C1 Y 202.1 Y 206.1
A2 Y 200.2 Y 204.2 C2 Y 202.2 Y 206.2
A3 Y 200.3 Y 204.3 C3 Y 202.3 Y 206.3
A4 Y 200.4 Y 204.4 C4 Y 202.4 Y 206.4
A5 Y 200.5 Y 204.5 C5 Y 202.5 Y 206.5
A6 Y 200.6 Y 204.6 C6 Y 202.6 Y 206.6
A7 Y 200.7 Y 204.7 C7 Y 202.7 Y 206.7
B0 Y 201.0 Y 205.0 D0 Y 203.0 Y 207.0

B1 Y 201.1 Y 205.1 D1 Y 203.1 Y 207.1
B2 Y 201.2 Y 205.2 D2 Y 203.2 Y 207.2
B3 Y 201.3 Y 205.3 D3 Y 203.3 Y 207.3
B4 Y 201.4 Y 205.4 D4 Y 203.4 Y 207.4
B5 Y 201.5 Y 205.5 D5 Y 203.5 Y 207.5
B6 Y 201.6 Y 205.6 D6 Y 203.6 Y 207.6
B7 Y 201.7 Y 205.7 D7 Y 203.7 Y 207.7
- 20 -
01 01
V
02 02
A0
V LOAD
03 03
A0 A1
LOAD LOAD
04 04
A2
V LOAD
05 05
A1 A3
LOAD LOAD
06 06
V V
07 07
A2 A4
LOAD LOAD
08 08
A5
V LOAD
09 09
A3 A6
LOAD LOAD
10 10
A7
LOAD
11 11
V
12 12
B0
V LOAD
13 13
A4 B1
LOAD LOAD
14 14
B2
V LOAD
15 15
A5 B3
LOAD LOAD
16 16
V V
17 17
A6 B4
LOAD LOAD
18 18
B5
V LOAD
19 19
A7 B6
LOAD LOAD
20 20
B7
LOAD
[AOR08G] [AOR16G]
AOR08G AOR16G
A0 Y 203.0 Y 207.0 Y 202.0 Y 206.0
A1 Y 203.1 Y 207.1 Y 202.1 Y 206.1
A2 Y 203.2 Y 207.2 Y 202.2 Y 206.2
A3 Y 203.3 Y 207.3 Y 202.3 Y 206.3
A4 Y 203.4 Y 207.4 Y 202.4 Y 206.4
A5 Y 203.5 Y 207.5 Y 202.5 Y 206.5
A6 Y 203.6 Y 207.6 Y 202.6 Y 206.6
A7 Y 203.7 Y 207.7 Y 202.7 Y 206.7
B0 Y 203.0 Y 207.0
B1 Y 203.1 Y 207.1
B2 Y 203.2 Y 207.2
B3 Y 203.3 Y 207.3
B4 Y 203.4 Y 207.4
B5 Y 203.5 Y 207.5
B6 Y 203.6 Y 207.6
B7 Y 203.7 Y 207.7
- 21 -
5.2.2 I/O Link Connection Unit

Signal classification Signal address
Input signal (128 inputs) X212.0 to X227.7
Output signal (128 outputs) Y212.0 to Y227.7
5.2.3 Additional I/O Unit for Sub-Operator's Panel

Signal classification Connector on I/O module No. of signals Signal address
Input signal (48 inputs) CE56 24 X240.0 to X242.7
CE57 24 X243.0 to X245.7
Output signal (32 outputs) CE56 16 Y240.0 to Y241.7
CE57 16 Y242.0 to Y243.7
Connector table
CE56 CE57
A B A B
01 0V +24A 01 0V +24A
02 X240.0 X240.1 02 X243.0 X243.1
03 X240.2 X240.3 03 X243.2 X243.3
04 X240.4 X240.5 04 X243.4 X243.5
05 X240.6 X240.7 05 X243.6 X243.7
06 X241.0 X241.1 06 X244.0 X244.1
07 X241.2 X241.3 07 X244.2 X244.3
08 X241.4 X241.5 08 X244.4 X244.5
09 X241.6 X241.7 09 X244.6 X244.7
10 X242.0 X242.1 10 X245.0 X245.1
11 X242.2 X242.3 11 X245.2 X245.3
12 X242.4 X242.5 12 X245.4 X245.5
13 X242.6 X242.7 13 X245.6 X245.7
14 DICOM0 14 DICOM5
15 15
16 Y240.0 Y240.1 16 Y242.0 Y242.1
17 Y240.2 Y240.3 17 Y242.2 Y242.3
18 Y240.4 Y240.5 18 Y242.4 Y242.5
19 Y240.6 Y240.7 19 Y242.6 Y242.7
20 Y241.0 Y241.1 20 Y243.0 Y243.1
21 Y241.2 Y241.3 21 Y243.2 Y243.3
22 Y241.4 Y241.5 22 Y243.4 Y243.5
23 Y241.6 Y241.7 23 Y243.6 Y243.7
24 DOCOM DOCOM 24 DOCOM DOCOM
25 DOCOM DOCOM 25 DOCOM DOCOM
Note) +24A on CE56-B01 and CE57-B01 are 24V d.c. internal power supply from wiring PCB.
Do not connect 24V d.c. external power supply there.
- 22 -
Additional I/O units for sub-operator's panel: Connection of input signals (1)
I/O module
A20B-2004-0691
+24A CPD1
(01) +24A
(02) 0V
CE56
(B01)
(A01)
X240.0 (A02)
RV
X240.1 (B02)
RV
X240.2 (A03)
RV
X240.3 (B03)
RV
X240.4 (A04)
RV
X240.5 (B04)
RV
X240.6 (A05)
RV
X240.7 RV (B05)
(DICOM0) (A14)
X241.0 (A06)
RV
X241.1 (B06)
RV
X241.2 (A07)
RV
X241.3 RV (B07)
X241.4 (A08)
RV
X241.5 RV (B08)
X241.6 (A09)
RV
X241.7 (B09)
RV
- 23 -
CE56
X242.0 (A10)
RV
X242.1 (B10)
RV
X242.2 (A11)
RV
X242.3 (B11)
RV
X242.4 (A12)
RV
X242.5 (B12)
RV
X242.6 (A13)
RV
X242.7 (B13)
RV
- 24 -
Additional I/O units for sub-operator's panel: Connection of input signals (2)
I/O module
A20B-2004-0691
+24A CPD1
(01) +24A
(02) 0V
CE57
(B01)
(A01)
X243.0 (A02)
RV
X243.1 (B02)
RV
X243.2 (A03)
RV
X243.3 (B03)
RV
X243.4 (A04)
RV
X243.5 (B04)
RV
X243.6 (A05)
RV
X243.7 RV (B05)
X244.0 (A06)
RV
X244.1 RV (B06)
X244.2 (A07)
RV
X244.3 RV (B07)
X244.4 (A08)
RV
X244.5 RV (B08)
X244.6 (A09)
RV
X244.7 (B09)
RV
- 25 -
CE57
X245.0 (A10)
RV
X245.1 (B10)
RV
X245.2 (A11)
RV
X245.3 (B11)
RV
X245.4 (A12)
RV
X245.5 (B12)
RV
X245.6 (A13)
RV
X245.7 (B13)
RV
(B14)
(DICOM5)
NOTE
X240.0 through X240.7 and X245.0 through X245.7 are DI pins for which a
common voltage can be selected. That is, by connecting the DICOM0
CE56(A14) or DICOM5 CE57(B14) pin to the +24V d.c. power supply, a DI
signal can be input with its logical state reversed. If, however, a cable is
connected to ground, it has the same effect as inputting an ON state DI signal.
To prevent this from occurring,the connection of the DICOM0 CE56(A14) and
DICOM5 CE57(B14) pins to the 0V power supply is recommended whereever
possible.For the unconnected pins at the addresses for which the common
voltage is fixed, the input is “0”. For the unconnected pins at the addresses for
which a common voltage can be selected, the input is “0” when the DICOMx
common select pin is connected to the 0 V power supply or “1” when it is
connected to the +24 V d.c. power supply. Connect DICOM0 and DICOM5
when used. When addresses from X240.0 to X240.7 and X245.0 to X245.7 are
not used, connect DICOM0 and DICOM5 to the 0V power supply.
- 26 -
Additional I/O units for sub-operator's panel: Connection of output signals

(1)
I/O module
A20B-2004-0691
CE56 24V d.c. EXTERNAL

DOCOM POWER SUPPLY
(A24),(B24)
(A25),(B25)
V+ 0V
0V
Y240.0 (A16)
DV
Y240.1 DV (B16)
Y240.2 DV (A17)
Y240.3 (B17)
DV
Y240.4 (A18)
DV
Y240.5 DV (B18)
Y240.6 (A19)
DV
Y240.7 (B19)
DV
Y241.0 (A20)
DV
Y241.1 (B20)
DV
Y241.2 (A21)
DV
Y241.3 (B21)
DV
Y241.4 (A22)
DV
Y241.5 (B22)
DV
Y241.6 (A23)
DV
Y241.7 DV (B23)
Connect the 24 V d.c. external power supply to CE56 or CE57.

It need not be connected to both CE56 and CE57.
- 27 -
Additional I/O units for sub-operator's panel: Connection of output signals

(2)
I/O module
A20B-2004-0691
CE57 24V d.c. EXTERNAL

DOCOM POWER SUPPLY
(A24),(B24)
(A25),(B25) V+ 0V
0V
Y242.0 (A16)
DV
Y242.1 DV (B16)
Y242.2 DV (A17)
Y242.3 (B17)
DV
Y242.4 (A18)
DV
Y242.5 DV (B18)
Y242.6 (A19)
DV
Y242.7 (B19)
DV
Y243.0 (A20)
DV
Y243.1 (B20)
DV
Y243.2 (A21)
DV
Y243.3 (B21)
DV
Y243.4 (A22)
DV
Y243.5 (B22)
DV
Y243.6 (A23)
DV
Y243.7 DV (B23)
Connect the 24 V d.c. external power supply to CE56 or CE57.

It need not be connected to both CE56 and CE57.
- 28 -
5.2.3.1 Terminal Module B

This module is connected to additional I/O units for the sub-operator's panel to relay input/output signals
via a screw terminal block. Up to two terminal modules can be mounted.

Signal classification Terminal Module No. of signals Signal address
Input signal (48 inputs) 1st module (#1) 24 X240.0 to X242.7
2nd module (#2) 24 X243.0 to X245.7
Output signal (32 outputs) 1st module (#1) 16 Y240.0 to Y241.7
2nd module (#2) 16 Y242.0 to Y243.7
Wiring PCB
A16B-1110-0520
JD1A
24V d.c. external

power supply
(DOCOM)
JD1B
JD1A
CE56 24 inputs
CE70 (X240.0 to X242.7)
16 outputs
(Y240.0 to Y241.7)
Terminal module B#1
A03B-0815-C022
24 inputs
CE57 CE70 (X243.0 to X245.7)
16 outputs
CPD1 (Y242.0 to Y243.7)
24V d.c. power supply
Terminal module B#2
from Wriing PCB (+24A)
I/O module A03B-0815-C022
A20B-2002-0691
* Connect the 24 V d.c. external power supply to #1 or #2. It need not be connected to both #1 and #2.
- 29 -
Pin layout of terminal module B (#1) [Connection between CE56 and CE70]
CE70 (HIROSE HIF3CB-50PA-2.54DSA)
A1 0V B1 +24A
A2 X240.0 B2 X240.1
A3 X240.2 B3 X240.3
A4 X240.4 B4 X240.5
A5 X240.6 B5 X240.7
A6 X241.0 B6 X241.1
A7 X241.2 B7 X241.3
A8 X241.4 B8 X241.5
A9 X241.6 B9 X241.7
A10 X242.0 B10 X242.1
A11 X242.2 B11 X242.3
A12 X242.4 B12 X242.5
A13 X242.6 B13 X242.7
A14 DICOM0 B14
A15 B15
A16 Y240.0 B16 Y240.1
A17 Y240.2 B17 Y240.3
A18 Y240.4 B18 Y240.5
A19 Y240.6 B19 Y240.7
A20 Y241.0 B20 Y241.1
A21 Y241.2 B21 Y241.3
A22 Y241.4 B22 Y241.5
A23 Y241.6 B23 Y241.7
A24 DOCOM B24 DOCOM
A25 DOCOM B25 DOCOM
XT70A (YOSHIDA PX7-32A) XT70B (YOSHIDA PX7-32A)

17 0V 17 +24A
1 0V 1 +24A
18 DICOM0 18 X242.4
2 DICOM0 2 X242.6
19 X240.0 19 X242.5
3 X240.2 3 X242.7
20 X240.1 20 0V
4 X240.3 4 0V
21 DICOM0 21 Y240.0
5 DICOM0 5 Y240.2
22 X240.4 22 Y240.1
6 X240.6 6 Y240.3
23 X240.5 23 0V
7 X240.7 7 0V
24 +24A 24 Y240.4
8 +24A 8 Y240.6
25 X241.0 25 Y240.5
9 X241.2 9 Y240.7
26 X241.1 26 0V
10 X241.3 10 0V
27 +24A 27 Y241.0
11 +24A 11 Y241.2
28 X241.4 28 Y241.1
12 X241.6 12 Y241.3
29 X241.5 29 0V
13 X241.7 13 0V
30 +24A 30 Y241.4
14 +24A 14 Y241.6
31 X242.0 31 Y241.5
15 X242.2 15 Y241.7
32 X242.1 32 DOCOM
16 X242.3 16 0V
NOTE
+24A on CE70-B01, XT70A-8, 11, 14, 24, 27, and 30 are 24V d.c. internal power
supply from wiring PCB. Do not connect 24V d.c. external power supply there.
DOCOM on XT70B-32 should be connected to 24V d.c. external power supply, but
no need to connect external power supply to both module #1 and module #2.
As for DICOM0, see the circuit diagram on later pages.
- 30 -
Pin layout of terminal module B (#2) [Connection between CE57 and CE70]
CE70 (HIROSE HIF3CB-50PA-2.54DSA)
A1 0V B1 +24A
A2 X243.0 B2 X243.1
A3 X243.2 B3 X243.3
A4 X243.4 B4 X243.5
A5 X243.6 B5 X243.7
A6 X244.0 B6 X244.1
A7 X244.2 B7 X244.3
A8 X244.4 B8 X244.5
A9 X244.6 B9 X244.7
A10 X245.0 B10 X245.1
A11 X245.2 B11 X245.3
A12 X245.4 B12 X245.5
A13 X245.6 B13 X245.7
A14 B14 DICOM5
A15 B15
A16 Y242.0 B16 Y242.1
A17 Y242.2 B17 Y242.3
A18 Y242.4 B18 Y242.5
A19 Y242.6 B19 Y242.7
A20 Y243.0 B20 Y243.1
A21 Y243.2 B21 Y243.3
A22 Y243.4 B22 Y243.5
A23 Y243.6 B23 Y243.7
A24 DOCOM B24 DOCOM
A25 DOCOM B25 DOCOM

17 0V 17 +24A
1 0V 1 +24A
18 DICOM5 18 X245.4
2 DICOM5 2 X245.6
19 X243.0 19 X245.5
3 X243.2 3 X245.7
20 X243.1 20 0V
4 X243.3 4 0V
21 DICOM5 21 Y242.0
5 DICOM5 5 Y242.2
22 X243.4 22 Y242.1
6 X243.6 6 Y242.3
23 X243.5 23 0V
7 X243.7 7 0V
24 +24A 24 Y242.4
8 +24A 8 Y242.6
25 X244.0 25 Y242.5
9 X244.2 9 Y242.7
26 X244.1 26 0V
10 X244.3 10 0V
27 +24A 27 Y243.0
11 +24A 11 Y243.2
28 X244.4 28 Y243.1
12 X244.6 12 Y243.3
29 X244.5 29 0V
13 X244.7 13 0V
30 +24A 30 Y243.4
14 +24A 14 Y243.6
31 X245.0 31 Y243.5
15 X245.2 15 Y243.7
32 X245.1 32 DOCOM
16 X245.3 16 0V
NOTE
+24A on CE70-B01, XT70A-8, 11, 14, 24, 27, and 30 are 24V d.c. internal power
supply from wiring PCB. Do not connect 24V d.c. external power supply there.
DOCOM on XT70B-32 should be connected to 24V d.c. external power supply, but
no need to connect external power supply to both module #1 and module #2.
As for DICOM5, see the circuit diagram on later pages.
- 31 -
Input signal (DI) circuit diagram of terminal module B #1
I/O module A20B-2004-0691 Wiring PCB

+24A CPD1 XS09 +24A
(01) (A05)
(02) (B05)
Terminal module B#1

CE56 CE70
(B01) (B01)
(A01) (A01)
XB1
+24 0V
XT70A
(18)
X240.0 (A02) (A02) (19)
RV
X240.1 (B02) (B02) (20)
RV
(2)
X240.2 (A03) (A03) (3)
RV
X240.3 (B03) (B03) (4)
RV
(21)
X240.4 (A04) (A04) (22)
RV
X240.5 (B04) (B04) (23)
RV
(5)
X240.6 (A05) (A05) (6)
RV
X240.7 (B05) (B05) (7)
RV
XB2
+24 0V
(A14) (A14)
DICOM0
(24)
X241.0 (A06) (A06) (25)
RV
X241.1 (B06) (B06) (26)
RV
(8)
X241.2 (A07) (A07) (9)
RV
X241.3 (B07) (B07) (10)
RV
(27)
X241.4 (A08) (A08) (28)
RV
X241.5 (B08) (B08) (29)
RV
(11)
X241.6 (A09) (A09) (12)
RV
X241.7 (B09) (B09) (13)
RV
+24A
0V
- 32 -
I/O module A20B-2004-0691 Terminal module B#1
+24A
XT70A
CE56 CE70 (30)
X242.0 (A10) (A10) (31)
RV
X242.1 (B10) (B10) (32)

RV
(14)
X242.2 (A11) (A11) (15)
RV
X242.3 (B11) (B11) (16)

RV
XT70B
(17)
X242.4 (A12) (A12) (18)
RV
X242.5 (B12) (B12) (19)

RV
(1)
X242.6 (A13) (A13) (2)
RV
X242.7 (B13) (B13) (3)

RV
NOTE
X240.0 to X240.7 are DI pins that allows common signal selection. Specifically,
when setting terminal XB1 is set to 0 V and setting terminal XB2 is set to +24,
and DICOM0 is connected to 24V d.c., DI signals with logic inverted can be
input. In this case, if a cable ground-fault accident occurs, a state equivalent to
the DI signal ON state is observed. From the point of view of safety, setting
terminal XB1 should be set to +24 and XB2 be set to 0 V, where possible, so
that 0 V is applied to DICOM0.
- 33 -
Input signal (DI) circuit diagram of terminal module B #2
I/O module A20B-2004-0691 Wiring PCB

+24A CPD1 XS09 +24A
(01) (A05)
(02) (B05)
Terminal module B#2

CE57 CE70
(B01) (B01)
(A01) (A01)
XT70A
(30)
X243.0 (A02) (A02) (19)
RV
X243.1 (B02) (B02) (20)
RV
(14)
X243.2 (A03) (A03) (3)
RV
X243.3 (B03) (B03) (4)
RV
XT70B(17)
X243.4 (A04) (A04) XT70A(22)
RV
X243.5 (B04) (B04) (23)
RV
XT70B(1)
X243.6 (A05) (A05) XT70A(6)
RV
X243.7 (B05) (B05) (7)
RV
(24)
X244.0 (A06) (A06) (25)
RV
X244.1 (B06) (B06) (26)
RV
(8)
X244.2 (A07) (A07) (9)
RV
X244.3 (B07) (B07) (10)
RV
(27)
X244.4 (A08) (A08) (28)
RV
X244.5 (B08) (B08) (29)
RV
(11)
X244.6 (A09) (A09) (12)
RV
X244.7 (B09) (B09) (13)
RV
+24A
0V
- 34 -
I/O module A20B-2004-0691 Terminal module B#2
0V
+24A
XB1
+24 0V
XT70A
CE57 CE70 (18)
X245.0 (A10) (A10) (31)
RV
X245.1 (B10) (B10) (32)

RV
(2)
X245.2 (A11) (A11) (15)
RV
X245.3 (B11) (B11) (16)

RV
(21)
X245.4 (A12) (A12) XT70B(18)
RV
X245.5 (B12) (B12) (19)

RV
XT70A(5)
X245.6 (A13) (A13) XT70B(2)
RV
X245.7 (B13) (B13) (3)

RV
XB2
+24 0V
DICOM5 (B14) (B14)
NOTE
X245.0 to X245.7 can be selected as common DI; that is, by setting pin XB1 to
"0V" and XB2 to "+24" to connect DICOM5 to 24V d.c., the logic of the DI signal
can be inverted before being input. If, in this case, a ground fault occurs in the
cable, the DI signal is regarded to be in the ON state. For safety, therefore, we
recommend that you set pin XB1 to "+24" and XB2 to "0V" to connect DICOM5
to 0V whenever possible.
- 35 -
Output signal (DO) circuit diagram of terminal module B #2 address enclosed in ()
I/O module A20B-2004-0691 Terminal module B#1(#2)
0V
DOCOM CE56, (CE57) CE70
(A24),(B24) (A24),(B24) XT70B External 24 VDC
power supply
(A25),(B25) (A25),(B25) (32)
(＋)
(16)
(－)
XT70A
(1)(17)
XT70B
(20)
Y240.0 (Y242.0) (A16) (A16) (21)

Relay
DV
Y240.1 (Y242.1) (B16) (B16) (22)
DV Relay
(4)
Y240.2 (Y242.2) DV (A17) (A17) (5)
Y240.3 (Y243.3) DV (B17) (B17) (6)

(23)
Y240.4 (Y242.4) (A18) (A18) (24)
DV
Y240.5 (Y242.5) DV (B18) (B18) (25)
(7)
Y240.6 (Y242.6) (A19) (A19) (8)
DV
Y240.7 (Y242.7) DV (B19) (B19) (9)
(26)
Y241.0 (Y243.0) (A20) (A20) (27)
DV
Y241.1 (Y243.1) (B20) (B20) (28)
DV
(10)
Y241.2 (Y243.2) (A21) (A21) (11)
DV
Y241.3 (Y243.3) (B21) (B21) (12)
DV
(29)
Y241.4 (Y243.3) (A22) (A22) (30)
DV
Y241.5 (Y243.5) (B22) (B22) (31)
DV
(13)
Y241.6 (Y243.6) (A23) (A23) (14)
DV
Y241.7 (Y243.7) (B23) (B23) (15)
DV
Connect the 24 V d.c. external power supply to #1 or #2.

It need not be connected to both #1 and #2.
- 36 -
5.2.4 Additional I/O Unit (I/O Module + Terminal Module)

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

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

A16B-1110-0520
JD1A
24 V d.c. external power supply 1
Inter-module connection cable 24 V d.c. external power supply 2
(Both are additionally required.)
JD1B
24 inputs
CB150 XP150
(X228.0 to X230.7)
CA52 16 outputs
I/O module B1 (Y228.0 to Y229.7)
Terminal module #1
A03B-0824-C001 A03B-0815-C020
CA53
Flat cables 24 inputs
CB150 XP150 (X231.0 to X233.7)
CA52 16 outputs
(Y230.0 to Y231.7)
1st I/O module E1 (#1) Terminal module #2
A03B-0824-C003 A03B-0815-C020
CA53
24 inputs
CB150 XP150
(X234.0 to X236.7)
CA52 16 outputs
(Y232.0 to Y233.7)
2nd I/O module E1 (#2) Terminal module #3
A03B-0824-C003 A03B-0815-C020
CA53 24 inputs
CB150 XP150 (X237.0 to X239.7)
CA52 16 outputs
(Y234.0 to Y235.7)
3rd I/O module E1 (#3) Terminal module #4
A03B-0815-C020
A03B-0824-C003
- 37 -
Mounting diagram
Flat cables
I/O module B1
A03B-0824-C001
3rd I/O module E1 (#3) 2nd I/O module E1 (#2) 1st I/O module E1 (#1)
A03B-0824-C003 A03B-0824-C003 A03B-0824-C003
- 38 -
Connector table of terminal module #1 connected to I/O module B1

XP150 (HIROSE HIF3CB-50PA-2.54DSA)
A1 +24V2 B1 Y229.0
A2 +24V2 B2 Y228.0 Number of signals and addresses
A3 0V B3 0V 24 inputs (X228.0 to X230.7)
A4 Y229.1 B4 Y229.2
16 outputs (Y228.0 to Y229.7)
A5 Y228.1 B5 Y228.2
A6 0V B6 0V
A7 Y229.3 B7 Y229.4
A8 Y228.3 B8 Y228.4
A9 0V B9 DICOM0
A10 Y229.5 B10 Y229.6
A11 Y228.5 B11 Y228.6
A12 X229.0 B12 X229.1
A13 Y229.7 B13 X230.0
A14 Y228.7 B14 X228.0
A15 X229.2 B15 X229.3
A16 X230.1 B16 X230.2
A17 X228.1 B17 X228.2
A18 X229.4 B18 X229.5
A19 X230.3 B19 X230.4
A20 X228.3 B20 X228.4
A21 X229.6 B21 X229.7
A22 X230.5 B22 X230.6
A23 X228.5 B23 X228.6
A24 X230.7 B24 +24V1
A25 X228.7 B25 +24V1

17 +24V2 17 +24V2
1 0V 1 +24V2
18 DICOM 18 X230.4
2 DICOM 2 X230.6
19 X228.0 19 X230.5
3 X228.2 3 X230.7
20 X228.1 20 0V
4 X228.3 4 0V
21 DICOM 21 Y228.0
5 DICOM 5 Y228.2
22 X228.4 22 Y228.1
6 X228.6 6 Y228.3
23 X228.5 23 0V
7 X228.7 7 0V
24 +24V2 24 Y228.4
8 +24V2 8 Y228.6
25 X229.0 25 Y228.5
9 X229.2 9 Y228.7
26 X229.1 26 0V
10 X229.3 10 0V
27 +24V2 27 Y229.0
11 +24V2 11 Y229.2
28 X229.4 28 Y229.1
12 X229.6 12 Y229.3
29 X229.5 29 0V
13 X229.7 13 0V
30 +24V2 30 Y229.4
14 +24V2 14 Y229.6
31 X230.0 31 Y229.5
15 X230.2 15 Y229.7
32 X230.1 32 +24V1
16 X230.3 16 0V
NOTE
+24V1 on XP150-B24, B25 and XT150B-32 are I/O module control power supply,
and should be connected to 24 V d.c. exterrnal power supply 1.
+24V2 on XP150-A1, XT150A-8, 11, 14, 17, 24, 27, 30, XT150B-1 and 17 are
signal power supply, and should be connected to 24 V d.c. external power supply 2.
As for DICOM0 and DICOM, see the circuit diagram on later pages.
- 39 -
Connector table of terminal module #2 connected to 1st I/O module E1 (#1)

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

17 +24V2 17 +24V2
1 0V 1 +24V2
18 DICOM 18 X233.4
2 DICOM 2 X233.6
19 X231.0 19 X233.5
3 X231.2 3 X233.7
20 X231.1 20 0V
4 X231.3 4 0V
21 DICOM 21 Y230.0
5 DICOM 5 Y230.2
22 X231.4 22 Y230.1
6 X231.6 6 Y230.3
23 X231.5 23 0V
7 X231.7 7 0V
24 +24V2 24 Y230.4
8 +24V2 8 Y230.6
25 X232.0 25 Y230.5
9 X232.2 9 Y230.7
26 X232.1 26 0V
10 X232.3 10 0V
27 +24V2 27 Y231.0
11 +24V2 11 Y231.2
28 X232.4 28 Y231.1
12 X232.6 12 Y231.3
29 X232.5 29 0V
13 X232.7 13 0V
30 +24V2 30 Y231.4
14 +24V2 14 Y231.6
31 X233.0 31 Y231.5
15 X233.2 15 Y231.7
32 X233.1 32 +24V1
16 X233.3 16 0V
NOTE
- 40 -
Connector table of terminal module #3 connected to 2nd I/O module E1 (#2)

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

17 +24V2 17 +24V2
1 0V 1 +24V2
18 DICOM 18 X236.4
2 DICOM 2 X236.6
19 X234.0 19 X236.5
3 X234.2 3 X236.7
20 X234.1 20 0V
4 X234.3 4 0V
21 DICOM 21 Y232.0
5 DICOM 5 Y232.2
22 X234.4 22 Y232.1
6 X234.6 6 Y232.3
23 X234.5 23 0V
7 X234.7 7 0V
24 +24V2 24 Y232.4
8 +24V2 8 Y232.6
25 X235.0 25 Y232.5
9 X235.2 9 Y232.7
26 X235.1 26 0V
10 X235.3 10 0V
27 +24V2 27 Y233.0
11 +24V2 11 Y233.2
28 X235.4 28 Y233.1
12 X235.6 12 Y233.3
29 X235.5 29 0V
13 X235.7 13 0V
30 +24V2 30 Y233.4
14 +24V2 14 Y233.6
31 X236.0 31 Y233.5
15 X236.2 15 Y233.7
32 X236.1 32 +24V1
16 X236.3 16 0V
NOTE
- 41 -
Connector table of terminal module #4 connected to 3rd I/O module E1 (#3)

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

17 +24V2 17 +24V2
1 0V 1 +24V2
18 DICOM 18 X239.4
2 DICOM 2 X239.6
19 X237.0 19 X239.5
3 X237.2 3 X239.7
20 X237.1 20 0V
4 X237.3 4 0V
21 DICOM 21 Y234.0
5 DICOM 5 Y234.2
22 X237.4 22 Y234.1
6 X237.6 6 Y234.3
23 X237.5 23 0V
7 X237.7 7 0V
24 +24V2 24 Y234.4
8 +24V2 8 Y234.6
25 X238.0 25 Y234.5
9 X238.2 9 Y234.7
26 X238.1 26 0V
10 X238.3 10 0V
27 +24V2 27 Y235.0
11 +24V2 11 Y235.2
28 X238.4 28 Y235.1
12 X238.6 12 Y235.3
29 X238.5 29 0V
13 X238.7 13 0V
30 +24V2 30 Y235.4
14 +24V2 14 Y235.6
31 X239.0 31 Y235.5
15 X239.2 15 Y235.7
32 X239.1 32 +24V1
16 X239.3 16 0V
NOTE
- 42 -
< Input signal (DI) circuit diagram >

Connector panel I/O module Terminal module
CB150 XP150
+24V1 (18) (B24) XT150B DC24V Power 1
(50) (B25) (32)
+24V1 0V
XB1
+24 0V XT150A DC24V Power 2
(17)
+24V2 0V
(18)
Xm+0.0 (42) (B14) (19)
RV
Xm+0.1 (43) (A17) (20)
RV
(2)
Xm+0.2 (44) (B17) (3)
RV
Xm+0.3 (45) (A20) (4)
RV
(21)
Xm+0.4 (46) (B20) (22)
RV
Xm+0.5 (47) (A23) (23)
RV
(5)
Xm+0.6 (48) (B23) (6)
RV
Xm+0.7 (49) (A25) (7)
RV
XB2
+24 0V
DICOM0 (24) (B09)
(24)
Xm+1.0 (25) (A12) (25)
RV
Xm+1.1 (26) (B12) (26)
RV
(8)
Xm+1.2 (27) (A15) (9)
RV
Xm+1.3 (28) (B15) (10)
RV
(27)
Xm+1.4 (29) (A18) (28)
RV
Xm+1.5 (30) (B18) (29)
RV
(11)
Xm+1.6 (31) (A21) (12)
RV
Xm+1.7 (32) (B21) (13)
RV
(19),(20), (A03),(B03),
(21),(22), (A06),(B06), XT150A (1),
(23) (A09) XT150B (16)
+24V2
0V
- 43 -
+24V2
XT150A
CB150 XP150 (30)
Xm+2.0 (10) (B13) (31)
RV
Xm+2.1 (11) (A16) (32)

RV
(14)
Xm+2.2 (12) (B16) (15)
RV
Xm+2.3 (13) (A19) (16)

RV XT150B
(17)
Xm+2.4 (14) (B19) (18)
RV
Xm+2.5 (15) (A22) (19)

RV
(1)
Xm+2.6 (16) (B22) (2)
RV
Xm+2.7 (17) (A24) (3)

RV
+24V2
Basic module: Xm = 228

Expansion module 1:Xm = 231
NOTE
Xm+0.1 to Xm+0.7 can be selected as common DI; that is, by setting pin XB1 to
"0V" and XB2 to "+24" to connect DICOM to +24V, the logic of the DI signal can
be inverted before being input. If, in this case, a ground fault occurs in the cable,
the DI signal is regarded to be in the ON state. For safety, therefore, we
recommend that you set pin XB1 to "+24" and XB2 to "0V" to connect DICOM to
0V whenever possible.
The setting terminals are factory-set as follows:
Setting terminal XB1: +24
Setting terminal XB2: 0V
- 44 -
< Output signal (DO) circuit diagram >

+24V2
0V
+24V2 CB150 XP150
(01),(33) (A01),(A02) XT150B
(20)
Yn+0.0 (34) (B02) (21)

Relay
DV
Yn+0.1 (35) (A05) (22)
DV Relay
(4)
Yn+0.2 (36) (B05) (5)
DV
Yn+0.3 (37) (A08) (6)
DV
(23)
Yn+0.4 (38) (B08) (24)
DV
Yn+0.5 (39) (A11) (25)
DV
(7)
Yn+0.6 (40) (B11) (8)
DV
Yn+0.7 (41) (A14) (9)
DV
(26)
Yn+1.0 (02) (B01) (27)
DV
Yn+1.1 (03) (A04) (28)
DV
(10)
Yn+1.2 (04) (B04) (11)
DV
Yn+1.3 (05) (A07) (12)
DV
(29)
Yn+1.4 (06) (B07) (30)
DV
Yn+1.5 (07) (A10) (31)
DV
(13)
Yn+1.6 (08) (B10) (14)
DV
Yn+1.7 (09) (A13) (15)
DV
Basic module: Yn = 228

Expansion module 1:Yn = 230
- 45 -
5.2.5 Optional I/O Module Connection

JD1A
Wiring PCB
Optional I/O modules must be connected in series by using the I/O Link interface. Connect the modules
in the following sequence:
In the case of standard setting, connect the modules in the sequence indicated below.
Wiring PCB: JD1A

|
Group 0: I/O Unit Model-A
|
Group 1: I/O Link Connection Unit
|
Group 2: Additional I/O-1
|
Group 3: Additional I/O Units for Sub-Operator’s Panel
Example: I/O Link Connection Unit and additional I/O units for the sub-operator's panel.
Wiring PCB: JD1A

|
Group 1: I/O Link Connection Unit
|
Group 3: Additional I/O Units for Sub-Operator’s Panel
• Connect the modules in the ascending order of group numbers starting from the connector panel.
• Unused modules need not be connected.
5.2.6 Parameter Setting When Optional I/O Modules Are Used

When using optional I/O modules, set the following parameters:
K932#0=1 I/O Unit Model-A
K932#1=1 I/O Link connection unit
K932#2=1 Additional I/O-1
K932#3=1 Additional I/O units for sub-operator's panel
SUPPLEMENT
The screen for setting keep relays in the nine hundreds can be displayed by
pressing the emergency stop button.
- 46 -
B-85314EN-1/01 6.ADDRESSES AVAILABLE TO CUSTOM PMC
6 ADDRESSES AVAILABLE TO CUSTOM

PMC
The following addresses are available to custom PMC.
Address
Symbol Function Editing Address
type
X --- Input from external device to Input only X0.0 to X5.7 (CH1)
custom PMC X200.0 to X327.7 (CH2)
Y --- Output from custom PMC to Input and output Y0.0 to Y3.7 (CH1)
external device Y200.0 to Y327.7 (CH2)
R Work register Input and output R2000.0-R2999.7
SI**_* Input from system ladder Input only See Chapter 12.
program to custom PMC
SO**_* Output from custom PMC to Input and output
system ladder program
A --- Alarm operator message Input and output A100.0 to A149.7
display request
D --- Non-volatile memory (allows Input and output D7000 to D7999
setting of parameters) D7000.0 to D7999.7
K --- Non-volatile register (allows Input and output K35#0 to K44#7
setting of parameters)
Timers and counters can use the following numbers.
Timer/Counter No.
Timer Variable timer 121 to 200 (T240 to T398)
Fixed timer 1 to 140
Counter 40 to 69 (C156 to C274)
The following subprogram numbers can be used:

Subprogram number P1500 to P5000
The following special auxiliary relay numbers can be used:

Common to DIFU/DIFD 1 to 100
- 47 -
7.INPUTTING ALPHABETIC CHARACTERS B-85314EN-1/01
7 INPUTTING ALPHABETIC CHARACTERS

To input alphabetic characters, use the corresponding soft keys (in the case of the standard operator's
panel)
Press the <alphabetic letter input> key on the operator's panel.
× Press
Soft keys are displayed as follows.
[In half mode]
O G F M S T X Y Z ;
H I J K P Q R < > ;
ABC/
N / B C D FULL ALTER DELETE ;
abc
[In full mode]
A B C D E F G H I J
K L M N O P Q R S T
U V W X Y Z SPACE < > ;
+ - * / = ? # & @ ;
( ) [ ] , " ' _ \ ;
ABC/
: % $ ! ∼ HALF ALTER DELETE ;
abc
× ×
Use the rightmost and leftmost soft keys to change the alphabetic characters.
- 48 -
B-85314EN-1/01 7.INPUTTING ALPHABETIC CHARACTERS
To switch between half and full modes, use the procedure below.
[Switch from half mode to full mode]

ABC/
N / B C D FULL ALTER DELETE ;
abc
× Press
[Switch from full mode to half mode]

ABC/
: % $ ! ∼ HALF ALTER DELETE ;
abc
× Press
× Press
To leave alphabetic character input mode, press the <alphabetic letter input> key again on the operator's
panel.
- 49 -
8.EDITING B-85314EN-1/01
8 EDITING
You can edit ladder and other programs on the PMC screen.
CAUTION
With this series, the second PMC is the custom PMC use area. When editing
ladder programs, messages, symbols, comments, and so forth, check that "2ND
PMC" is indicated in the upper-left corner of the screen.
Never perform editing or deleting with the first PMC.
8.1 STARTING AN EDITING SESSION

[Turn the power ON]
↓
[Press the emergency stop button]
↓
[Display the PMC screen] (If the QUICK screen is displayed, press the <QUICK/NC> button on the
operator's panel to display the CNC screen.)
Display the CNC SYSTEM-SYSTEM screen.
or →
Press the above keys:

↓
Press the rightmost soft key [+] several times until the following soft keys are displayed:
Each soft key corresponds to functions as listed below. Display a desired screen.
PMC MAINTE: Displays the signal status, and sets the trace function and PMC parameters.
PMC LADDER: Lists and edits a ladder program.
PMC CONFIG: Lists and edits titles, messages, and comments.
- 50 -
B-85314EN-1/01 8.EDITING
8.2 EDITING LADDER PROGRAMS
8.2.1 Switching to the Edit Screen

[Switch to the ladder diagram screen]
Press soft key [PMC LADDER].
Press the soft key [(OPRT)].
↓
Press the soft key [SWITCH PMC] to switch to the second PMC. (Press this soft key several times if
necessary.)
↓
Check that "2ND PMC" is indicated in the upper-left corner of the screen.
- 51 -
[Select the edit area]

Move the cursor to "CUSTOM" (P1500) by using the cursor keys on the operator's panel then press the
soft key [ZOOM].
If the second PMC is already selected, move the cursor to "CUSTOM" (P1500) then press the soft key
[LADDER].
- 52 -
[Switch to PMC LADDER DIAGRAM EDITOR]

To switch to PMC LADDER DIAGRAM EDITOR, press soft key [EDIT] on PMC LADDER
DIAGRAM MONITOR. (The [EDIT] key is displayed only in the emergency stop state.)
8.2.2 Editing Ladder Programs

Ladder programs may be created between "SUB71" and "SUB72".
May be created in
this area.
Press the rightmost soft key [+] to change the displayed soft keys.
CAUTION
Never delete or edit functional instructions "SUB71" and "SUB72".
Do not create ladder programs outside the "SUB71" to "SUB72" area.
- 53 -
Menu on the LADDER DIAGRAM EDITOR screen

Soft key Function
LIST Lists ladder programs. (Not used.)
SEARCH MENU Displays the search menu in the soft key area.
CREATE Displays the PMC LADDER NET EDITOR screen to add a new net at the cursor position.
ZOOM Reflects the results of the edit operations performed so far in the currently executed ladder
program. If the changes are reflected normally, the edited version of the ladder program will
be executed immediately.
CREATE NET Displays the PMC LADDER NET EDITOR screen to edit the net at the cursor position.
AUTO Executes the function which automatically enters unused addresses or parameter numbers.
SELECT Used to specify more than one net to perform an edit operation such as [DELETE], [CUT],
and [COPY]. Press soft key [SELECT] to specify the start of the range to be selected, then
use the cursor movement keys or the search function to specify the end of the range. After
selecting nets, press the desired edit soft key to perform that edit operation.
DELETE Deletes a selected net. When deleted, the net will be lost. If you want to restore the deleted
net, you must use soft key [RESTRE] to return the entire ladder program to the state in which
it was before the edit operation.
CUT Removes a selected net and places it in the clipboard. To paste the net, use soft key
[PASTE].
COPY Makes a copy of a selected net and place it in the clipboard. To paste the copy, use soft key
[PASTE].
PASTE Inserts the net placed in the clipboard with [CUT] or [COPY] at the cursor position.
Pressing soft key [PASTE] when a net is selected with [SELECT] causes the selected net to
be replaced by the one placed in the clipboard with [CUT] or [COPY].
CHANGE ADRS Displays the address conversion soft keys to use the address conversion function.
ADRS MAP Calls the ADDRESS MAP screen to check the reference of the used addresses.
UPDATE Reflects the results of the edit operations performed so far in the currently executed ladder
program. When the changes are reflected normally, the edited version of the ladder program
will be executed immediately.
RESTRE Cancels the results of the edit operations performed so far and returns the ladder program to
the state in which it was when the system switched to the PMC LADDER DIAGRAM EDITOR
screen or to the state in which it was when [UPDATE] was last used. After having performed
a wrong edit operation, you can use this key if recovery is difficult to accomplish.
SCREEN SETING Calls the setup screen of the PMC LADDER DIAGRAM EDITOR screen. You can change
various types of settings related to ladder diagram edit operations.
START/STOP Controls the execution of the ladder program. Soft key [RUN] starts the execution of the
ladder program, and soft key [STOP] stops its execution.
CANCEL EDIT Cancels the results of the edit operations performed so far and returns the ladder program to
the state in which it was when the system switched to the LADDER DIAGRAM EDITOR
screen or when [UPDATE] was last used. Displays the LADDER DIAGRAM MONITOR
screen.
EXIT EDIT Reflects the results of the edit operations performed so far and terminates editing.
You cannot move to another screen during edit operation of a ladder diagram by pressing
any function key such as the SYSTEM key unless you terminate editing.
- 54 -
[Create/add a new net]

(1) Switch to PMC LADDER DIAGRAM EDITOR. (See Subsection 8.2.1.)
Position the cursor on SUB72. Alternatively, position the cursor on the net immediately below the
position at which you want to add a new net. Press soft key [CREATE].
The PMC LADDER NET EDITOR screen is displayed.
(2) Create a ladder program using the variety of instructions displayed as soft keys.
To set an address, press the <alphabetic letter input> key on the operator's panel; this causes
alphabetic letters to be displayed as soft keys, enabling you to enter alphabetic letters using these
soft keys.
For the operator's panel with the full keyboard: Use the alphabetic keys on the operator's panel to
enter alphabetic letters.
- 55 -
Menu on the NET EDITOR screen

Instruction Function
Reads the signal state of a specified address.
Reads the signal state of a specified address and inverts it.
Writes the state of a logic operation result to a specified address.
Inverts the state of a logic operation result and writes it to a specified address.
FUNC Selects a functional instruction.
Connects one step to another.
Deletes a basic or functional instruction.
Connects or disconnects instructions entered in parallel. (Left side of an instruction)
Connects or disconnects instructions entered in parallel. (Right side of an instruction)
AUTO Executes the function which automatically enters unused addresses or parameter
numbers.
Writes the state of a logic operation result to a specified address to keep it.
Resets a kept output.
TABLE Displayed if the cursor is positioned on the functional instruction COD (SUB7) or CODB
(SUB27). It is used to change the contents of the data table of these functional
instructions.
RESTRE Returns the currently edited net to the state in which it was when editing started.
NEXT NET Terminates the editing of the current net and allows you to edit the next net.
When you have called the NET EDITOR screen using soft key [ZOOM] on the LADDER
DIAGRAM EDITOR screen, the system terminates changing the current net and enables
the next net to be edited.
When you have called the NET EDITOR screen using soft key [CREATE NET] on the
LADDER DIAGRAM EDITOR screen, the system terminates creating the current net,
inserts the created net, and immediately enters the status in which a new net is created
(empty net status).
INSLIN Inserts a blank line at the current cursor position. The ladder diagram located below the
cursor position will be shifted downward by one line. If a blank line is inserted in the
middle of a functional instruction, the functional instruction will be expanded vertically,
expanding the space between input conditions.
INSCLM Inserts a blank column at the current cursor position. The ladder diagram at the right of the
cursor position moves right one column.
APPCLM Inserts a blank column at the right of the current cursor position. The ladder diagram at the
right of the cursor position moves right one column and the ladder diagram is extended
horizontally if necessary.
CANCEL EDIT Returns the net currently being edited to the state at the start of the editing and displays
the LADDER DIAGRAM MONITOR screen.
EXIT Analyzes the net being edited and stores it in the ladder program. If any error is found in
the net, the NET EDITOR screen remains displayed and an error message is displayed.
- 56 -
(3) To enter a functional instruction, first press soft key [FUNC].
Then, position the cursor on the functional instruction you want to enter and press soft key
[SELECT]. This causes the functional instruction to be inserted into the NET EDITOR screen,
allowing you to specify various parameters (timer No. and time in the case of SUB24 fixed timer).
(4) Ladder programs such as those shown below cannot be created.
The output coil has conditional branching.

→
× {
- 57 -
[Modify the ladder program]

(1) Delete an entered instruction:
Position the cursor on the instruction you want to delete, and press soft key .
To delete an instruction entered in parallel, follow the procedure below.
Position the cursor on the instruction you want to delete, and press soft key .
Then, press soft key .
- 58 -
• To delete a functional instruction, follow the procedure below.

Position the cursor on the desired functional instruction No.
Press soft key .
This causes the functional instruction to be deleted, separating nets. Use soft key to connect
the nets.
• To delete a net, follow the procedure below.

Exit the NET EDITOR screen and call the LADDER DIAGRAM EDITOR screen.
Position the cursor on the net you want to delete, and press soft key [DELETE].
- 59 -
(2) Add an instruction:

Call the NET EDITOR screen. Position the cursor on the location where you want to add an
instruction. Press soft key or to add an instruction, then set an address.
If required, before adding a functional instruction, use soft key to delete the net from the
location at which the instruction is to be added, reserving the space for the functional instruction.
- 60 -
• To add a functional instruction between instructions or between nets, follow the procedure
below.
Press the rightmost soft key. This changes the soft key menu.
To add an instruction between nets or between instructions entered in parallel:
Move the cursor below the position at which you want to add an instruction, then press
soft key [INSLIN].
To add an instruction between instructions entered in series:
Move the cursor to the right or left of the position at which an instruction is to be added.
To insert an instruction to the right of the cursor position, press soft key [APPCLM]; to
insert it to the left of the cursor position, press soft key [INSCLM].
Add an instruction to the created space.
- 61 -
(3) Copy or move a net.

Exit the NET EDITOR screen and call the LADDER DIAGRAM EDITOR screen. Position the
cursor on the net you want to copy. Press soft key [SELECT]. Use the cursor or other keys to
specify the copy area. After specifying the area, press soft key [COPY]. Move the cursor to the
position at which you want to copy the net, and press soft key [PASTE].
(4) Switch the display format:

Exit the NET EDITOR screen and call the LADDER DIAGRAM EDITOR screen.
Press the rightmost soft key, and the soft key menu will change. Press soft key [+]. This allows you
to change the various settings for ladder diagram display.
- 62 -
Item Description
ADDRESS NOTATION Used to specify whether to display addresses in the ladder diagram as symbols or
addresses. Those addresses for which no symbols have been defined will always be
displayed as addresses.
FUNCTION STYLE Used to switch the functional instruction display format.
COMPACT: Reduces the functional instruction display area to a minimum. The
address parameter monitor is not displayed.
WIDE: Reserves a wide area for displaying the current address parameter value
monitor.
TALL: Reserves a tall area for displaying the current address parameter value
monitor.
SHOW COMMENT OF Used to switch the format in which comments are to be displayed below contacts.
CONTACT NONE: Displays no comments. This allows more contacts to be displayed on the
screen.
1 LINE: Displays comments below contacts in a 7-single-byte-character x 1-line format.
2 LINE: Displays comments below contacts in a 7-single-byte-character x 2-line format.
SHOW COMMENT OF Used to specify whether to display comments at coil positions.
COIL YES: Displays comments on the right of the ladder diagram.
NO: Displays no comments. This allows more relays to be displayed horizontally.
Comments can be displayed.
SHOW CURSOR Used to specify whether to display the cursor.
YES: Displays the cursor. The cursor movement keys are sued to move the cursor.
For a search, the cursor will move to a found object such as a relay.
NO: Does not display the cursor. The up and down cursor movement keys are used
to directly move the screen display position.
SUBPROGRAM NET Used to select a method of assigning numbers to the nets to be displayed.
NUMBER LOCAL: Assigns 1 to the first net of the subprogram currently opened. The net
number display is the display range/number of nets in the entire subprogram
currently opened.
GLOBAL: Assigns 1 to the first net of all ladder programs (second PMC). The net
number display is the display range/subprogram range.
WRAP SEARCH Used to specify whether to continue the search starting at the beginning of the ladder
ENABLED program when the end of the ladder program is reached in a search process.
YES: If the end of the ladder program is reached in a forward search, continues the
search at the beginning. If the beginning is reached in a backward search,
continues the search at the end.
NO: At the point when the end or beginning of the ladder program is reached,
assumes the search to be a failure if no match is found, displaying an error
message.
PROGRAM LIST Used to specify whether to display the subprograms on the PROGRAM LIST EDITOR
ORDER screen in the order of program numbers or symbols.
FRAME NET ON Used to specify whether to display functional instructions END1, END2, SP, and SPE
SUBPROGRAM when the contents of a program are displayed using the [ZOOM] key on the
DISPLAY PROGRAM LIST MONITOR/EDITOR screen.
HEAVY LINES IN Used to specify the thickness of the lines in the ladder diagram.
LADDER DIAGRAM YES: Uses heavy lines in the ladder diagram. The shape of each relay is a little larger.
NO: Uses light lines in the ladder diagram. The shape of each relay is a little smaller.
ON/OFF CHANGE OF Used to specify whether to change the shape of each relay according to its status.
RELAY SHAPE YES: Changes the shape of each relay according to its status. This setting is valid
only when "HEAVY LINES IN LADDER DIAGRAM" is set to "YES".
NO: Does not change the shape of each relay.
ADDRESS COLOR Used to set the color of symbols and addresses.
DIAGRAM COLOR Used to set the color of the ladder diagram.
ACTIVE RELAY COLOR Used to set the color of a relay when it is ON.
PARAMETER COLOR Used to set the color of functional instruction parameters in the monitor display section.
COMMENT COLOR Used to set the color of comments.
- 63 -
Pressing soft key [INIT] causes all settings to be changed to their defaults. After changing settings,
press soft key [EXIT] to return to the LADDER DIAGRAM EDITOR or NET EDITOR screen.
(5) Search for an instruction:

Press soft key [SEARCH]. This changes the soft key menu.
Item Description
TOPBTM Causes a jump to the beginning of the ladder program. If the beginning is already displayed,
causes a jump to the end.
SEARCH Searches for the address or net number corresponding to an entered character string, displaying
it if it is found. If a number is entered, the system interprets it as a net number.
If a character string other than a number is entered, the system examines to see if the character
string has been defined as a symbol. If it has been defined as a symbol, the system searches for
the address represented by that symbol. If it has not been defined as a symbol, the system
interprets it as a character string representing an address. If succeeding in interpreting it
correctly, the system searches for the address.
W-SRCH Searches for the write coil in which the entered character string is used.
F-SRCH Accepts a functional instruction No. or functional instruction name as input and searches for the
functional instruction.
PREV Repeats the last successful search operation in the backward direction.
NEXT Repeats the last successful search operation in the forward direction.
GLOBAL Switches the search target between all ladder programs (second PMC) and the subprogram
currently opened. The current search target is displayed at the rightmost position.
The system ladder programs (LV1, LV2, P1-P1499) are protected, so that the system ladder
programs cannot be search targets even if "GLOBAL" is selected.
Pressing soft key [EXIT] causes the search menu to be exited.
- 64 -
8.3 EDITING ALARM AND OPERATOR MESSAGES

CAUTION
English messages are set in this section because the multi-language display
function is used for ladder messages.
Press the emergency stop button.
Press soft key [PMC CONFIG].
Press the rightmost soft key [+]. (Press this soft key several times in some cases.)
Press soft key [MESAGE].
Press soft key [(OPRT)].
Press soft key [EDIT] (soft key [EDIT] is displayed only in the emergency stop state).
The message "DO YOU WANT TO STOP THIS PMC PROGRAM?" is displayed. Press soft key [YES].
(The ladder program stops.)
- 65 -
The MESSAGE DATA EDITOR screen is displayed.
Use soft key [SEARCH], <page> keys and the <cursor> keys appropriately to search for the address to
which a message is to be entered.
- 66 -
Position the cursor on the target address and press soft key [ZOOM].
Position the cursor on the number setting field and enter the alarm or message number. Move the cursor
to the message setting field, enter the message, and press soft key [EXIT ZOOM].
After the termination of editing, press soft key [EXIT EDIT].

The message "DO YOU WANT TO RUN THIS PMC PROGRAM?" is displayed.
Press soft key [YES]. (The ladder program starts.)
- 67 -
8.4 EDITING SYMBOLS AND COMMENTS

Press soft key [PMC CONFIG].
Press soft key [SYMBOL].
Press oft key [(OPRT)].
Press soft key [EDIT] (soft key [EDIT] is displayed only in the emergency stop state.)
The message "DO YOU WANT TO STOP THIS PMC PROGRAM?" is displayed. Press soft key [YES].
(The ladder program stops.)
- 68 -
The SYMBOL & COMMENT DATA EDITOR screen is displayed.
If you want to change a symbol or comment at an address, use soft key [SEARCH].
If you want to add a new symbol or comment, use soft key [NEW ENTRY].
Move the cursor to move the yellow cursor from the symbol field to the program field. Set required data
in each field.
After the termination of editing, press soft key [EXIT EDIT].

The message "DO YOU WANT TO RUN THIS PMC PROGRAM?" is displayed.
Press soft key [YES]. (The ladder program starts.)
- 69 -
8.5 ENDING AN EDITING SESSION

Edited ladder programs and other data are lost if you just turn the power off. After editing, write the data
to the flash ROM. Use the following procedure:
Press soft key [PMC MAINTE].
Press soft key [I/O].
The PMC I/O DATA screen is displayed.

Select the following items and press soft key [(OPRT)]:
PMC = “PMC2”
DEVICE = “FLASH ROM”
FUNCTION = “WRITE”
KIND OF DATA = “SEQUENCE PROGRAM”
Press soft key [EXEC]. Writing edited data to the flash ROM starts.
"COMPLETE" is displayed to indicate completion.
- 70 -
B-85314EN-1/01 9.CONFIRMATION
9 CONFIRMATION
9.1 DISPLAYING THE LADDER PROGRAM STATUS
You can display the ladder program status screen. Use the following procedure:
Press soft key [PMC LADDER].
↓
Press the soft key [(OPRT)].
↓
Press the soft key [SWITCH PMC] to switch to the second PMC. (Press this soft key several times if
necessary.)
↓
Check that "2ND PMC" is indicated in the upper-left corner of the screen.
- 71 -
9.CONFIRMATION B-85314EN-1/01
Move the cursor to "CUSTOM" (P1500) then press the soft key [ZOOM].
If the second PMC is already selected, move the cursor to "CUSTOM" (P1500) then press the soft key
[LADDER] or press [(OPRT)] then [ZOOM]. The ladder diagram screen is displayed.
↓
Soft key Function

LIST Lists ladder programs.
SEARCH MENU Displays the search menu in the soft key area.
SWITCH Switches to the select monitor screen.
SWITCH PMC Switches to the first PMC, second PMC, and dual check.
SCREEN Calls the setup screen of the LADDER DIAGRAM MONITOR screen.
SETING The settings are the same as those on the LADDER DIAGRAM EDITOR screen.
- 72 -
B-85314EN-1/01 9.CONFIRMATION
9.2 SIGNAL DIAGNOSIS

You can display the logic status of each signal. Use the following procedure:
Press soft key [PMC MAINTE].
Press soft key [SIGNAL STATUS].

The SIGNAL STATUS screen is displayed.
"1" is displayed when the corresponding signal is ON. "0" is displayed when it is OFF.
Enter the address or symbol you want to reference and press soft keys [(OPRT)] → [SEARCH], and
information for that address is displayed.
CAUTION
With this series, the second PMC is the custom PMC use area.
If the second PMC is not selected, the signal status screen, when displayed,
does not display symbols set with the custom PMC. So, check that "2ND PMC"
is indicated in the upper-left corner of the screen.
- 73 -
10.SETTING PMC PARAMETERS B-85314EN-1/01
10 SETTING PMC PARAMETERS

CAUTION
With this series, the second PMC is the custom PMC use area. However, the
PMC parameters are common to the first PMC and second PMC. So, do not use
addresses other than the usable ones.
To set the parameters for timers, counters, keep relays, and data tables, use the following procedure:
(Switch the operation mode to MDI mode.)

× Press
Press or →
(The CNC SETTING screen is displayed.)
↓
Press soft key [SETTING].
↓
Set "PARAMETER WRITE" to “1:ENABLE”.
Press or →
(The CNC SYSTEM screen is displayed.)
- 74 -
B-85314EN-1/01 10.SETTING PMC PARAMETERS
Press the rightmost soft key [+] several times, then soft key [PMC MAINTE].
↓
Press the rightmost soft key [+] several times again until the following soft keys are displayed.
↓
For timers: Press soft key [TIMER].
Use the cursor and page keys to move the cursor, and enter the setting time.
- 75 -
10.SETTING PMC PARAMETERS B-85314EN-1/01
For counters: Press soft key [COUNTR].
Use the cursor and page keys to move the cursor, and enter the value.
For keep relays: Press soft key [KEEP RELAY].
Use the cursor and page keys to move the cursor, and enter the values.
- 76 -
B-85314EN-1/01 10.SETTING PMC PARAMETERS
For data tables: Press soft key [DATA].
The DATA TABLE CONTROL screen is displayed.

To change the data type, position the cursor on the TYPE field and change the setting.
Press soft key [(OPRT)], then soft key [ZOOM].
Use the cursor and page keys and soft key [SEARCH] to move the cursor, and enter the value.
- 77 -
11.INPUT/OUTPUT OF EDIT DATA B-85314EN-1/01
11 INPUT/OUTPUT OF EDIT DATA

11.1 OPERATION ON THE INPUT/OUTPUT SCREEN
Connect either a memory card or Handy File (RS-232C).
Press or →
(The CNC SYSTEM screen is displayed.)
↓
Press the rightmost soft key [+] several times, then soft key [PMC MAINTE].
↓
Press the rightmost soft key [+] several times again and press soft key [I/O].
↓
The PMC I/O DATA screen is displayed.
- 78 -
B-85314EN-1/01 11.INPUT/OUTPUT OF EDIT DATA
Input operation (from an external device to the ROBODRILL)

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

PMC PMC2
DEVICE MEMORY CARD / FLOPPY
FUNCTION READ
KIND OF DATA ―――(Cannot be specified.)
The type of read data is automatically determined
FILE NAME Specify a file name in the MS-DOS format (up to eight characters for the file name
with up to three characters for the extension).
Pressing [(OPRT)] → [LIST] displays a list of files on the memory card. Position
the cursor on the file you want to read and press the [SELECT] key to select the
file.
(3) Press the [(OPRT)] key, then the [EXEC] key. Reading the file starts.
When an attempt is made to read a file, the following message is displayed, asking whether to read
the file:
READING MESSAGE DATA (SEQUENCE PROGRAM) (PMC2)
<CAUTION>Special care must be exercised to read a sequence program or PMC parameters.
* Reading an inappropriate file may cause unexpected operation of the machine.
* When a sequence program is read during operation, the program automatically stops.
Do you want to read this file?
To continue with the operation, press the [EXEC] key.

(The ladder program being executed automatically stops.)
(4) After the completion of reading in step <3>, write each type of data to the flash ROM. Make the
following settings:
Setting item Data

PMC PMC2
DEVICE FLASH ROM
FUNCTION WRITE
KIND OF DATA SEQUENCE PROGRAM (for ladder data)
MESSAGES (for message data)
FILE NAME ―――(Not set)
(5) Press the [(OPRT)] key → [EXEC] key to execute data writing. "COMPLETE" is displayed to
indicate completion.
WARNING
When data is read during the execution of a ladder program, the ladder program
automatically stops. Special care must be exercised to stop a ladder program.
If a ladder program is stopped at an inappropriate timing or in an inappropriate
machine state, the machine may perform unexpected operation. In the ladder
program stopped state, the safety mechanism and monitoring functions of the
ladder program also stop. Be sure to confirm that "the machine is in an
appropriate state" and that "no one is near the machine" before stopping the
ladder program.
- 79 -
On the PMC I/O DATA screen, pressing soft keys [(OPRT)] → [PORT SETTING] displays the
communication setting screen.
Output operation (from the ROBODRILL to an external device)

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

PMC PMC2
DEVICE MEMORY CARD/FLOPPY
FUNCTION WRITE
KIND OF DATA SEQUENCE PROGRAM (for ladder data)
MESSAGES (for message data)
FILE NAME Specify a file name in the MS-DOS format (up to eight characters for the
file name with up to three characters for the extension).
Pressing [(OPRT)] → [NEW FILE] specifies:
PMC2_LAD.000 (for ladder data)
PMC2_MSG.000 (for message data)
(2) Press the [(OPRT)] key, then the [EXEC] key. Outputting a message file starts, with the specified
file name.
CAUTION
No message data is set at the time of shipment from the factory. Therefore, no
message file can be output.
- 80 -
11.2 OPERATION ON THE BOOT SCREEN

(1) Turn the power OFF.
(2) Insert a memory card into the memory card insertion slot located on the left side of the LCD. (Make
sure that the label on the memory card is facing to the right, and push it in until it snaps into place.)
(3) Press and hold down the soft keys shown in the figure below, and turn on the power ON.
(Keep holding down the keys until the screen shown under (4) is displayed.)
× ×
[Turn power ON while holding them down]
(4) The boot screen is displayed.

SYSTEM MONITOR MAIN MENU 60W4 - 05
1.END
2.USER DATA LOADING
3.SYSTEM DATA LOADING
4.SYSTEM DATA CHECK
5.SYSTEM DATA DELETE
6.SYSTEM DATA SAVE
7.SRAM DATA UTILITY
8.MEMORY CARD FORMAT
*** MESSAGE ***

SELECT MENU AND HIT SELECT KEY.
[SELECT][ YES ][ NO ][ UP ][ DOWN ]
(5) Input operation (from a memory card to the ROBODRILL)

(a) On the main menu, use the [UP] and [DOWN] keys to move the cursor to "2.USER DATA
LOADING" and press the [SELECT] key.
SYSTEM DATA LOADING

MEMORY CARD DIRECTORY (FREE[KB]: 5123)
1 PMC2.MEM 131200 2011-09-26 08:56
2 PMC2_MSG.MEM 131200 2011-09-26 08:58
3 END
*** MESSAGE ***

(b) Use the [UP] and [DOWN] keys to position the cursor on either of the following files and press
[SELECT]:
Example:
"PMC2.MEM" (for ladder data)
"PMC2_MSG.MEM" (for message data)
(c) When a file is selected, the message "LOADING OK ? HIT YES OR NO" is displayed,
asking whether to read the file. Press [YES].
- 81 -
(d) When reading terminates normally, the message "LOADING COMPLETE. HIT SELECT
KEY." is displayed. Press the [SELECT] key.
(e) Use the [UP] and [DOWN] keys to select "END" and press the [SELECT] key. You exit the
SYSTEM DATA LOADING screen.
(6) Output operation (from the ROBODRILL to a memory card)
(a) On the main menu, use the [UP] and [DOWN] keys to move the cursor to "6.SYSTEM DATA
SAVE" and press the [SELECT] key.
(b) On the SYSTEM DATA SAVE screen, press the rightmost soft key [>] and display the page
containing either of the following items:
"PMC2" (for ladder data)
"M2PMCMSG" (for message data)
SYSTEM DATA SAVE

FROM DIRECTORY
1 NC BAS-1(0008)
2 NC BAS-2(0008)
3 NC BAS-3(0008)
4 NC BAS-4(0008)
5 DGD0SRVO(0003)
6 PS0B (0006)
7 PMC1 (0003)
8 END
*** MESSAGE ***

SELECT FILE AND HIT SELECT KEY.
(c) Use the [UP] and [DOWN] keys to position the cursor on either of the following files and press
[SELECT]:
"PMC2" (for ladder data)
"M2PMCMSG" (for message data)
(d) The confirmation message "SYSTEM DATA SAVE OK ? HIT YES OR NO." is displayed.
Press [YES]. Outputting the message file starts.
(e) When the output to the memory card terminates normally, the following message is displayed.
Press the [SELECT] key.
"FILE SAVE COMPLETE. HIT SELECT KEY."
"SAVE FILE NAME : PMC2.000" (for ladder data)
"SAVE FILE NAME : M2PMCMSG.000" (for messages)
When the memory card contains a file with the same name, the number of the extension is
incremented by one. (***.001 - ***.002)
(f) Position the cursor on "END" and press the [SELECT] key to exit the SYSTEM DATA SAVE
screen.
- 82 -
(7) Existing the boot screen
Use the [UP] and [DOWN] keys to position the cursor on "1.END" and press the [SELECT] key.
SYSTEM MONITOR MAIN MENU 60W4 - 05
1.END
2.USER DATA LOADING
3.SYSTEM DATA LOADING
4.SYSTEM DATA CHECK
5.SYSTEM DATA DELETE
6.SYSTEM DATA SAVE
7.SRAM DATA UTILITY
8.MEMORY CARD FORMAT
*** MESSAGE ***

The confirmation message "ARE YOU SURE ? HIT YES OR NO." is displayed. Press the [YES]
key. This causes you to exit the boot screen, displaying the CNC or QUICK screen.
CAUTION
No message data is set at the time of shipment from the factory. Therefore,
M2PMCMSG cannot be output.
- 83 -
12. INTERFACE SIGNALS BETWEEN SYSTEM
AND CUSTOM LADDER PROGRAMS B-85314EN-1/01
12 INTERFACE SIGNALS BETWEEN SYSTEM

AND CUSTOM LADDER PROGRAMS
[System ladder → Custom ladder]
Address Symbol Function Note
R 1300.0 SI0_0 Always ON. 12.1
R 1300.1 SI0_1 Always OFF. 12.1
R 1300.2 SI0_2 ON in a single scanning cycle at the start of 12.1
operation.
R 1300.3 SI0_3 1.0-second clock pulse 12.1
R 1300.6 SI0_6 (Not used)

R 1302.0 SI2_0 Selected program No. 2∧0 12.2


R 1304.0 SI4_0 Tool No. 2∧0 12.2

R 1304.1 SI4_1 Tool No. 2∧1 12.2
R 1304.2 SI4_2 Tool No. 2∧2 12.2
R 1304.3 SI4_3 Tool No. 2∧3 12.2
R 1304.4 SI4_4 Tool No. 2∧4 12.2
R 1304.5 SI4_5 Tool No. 2∧5 12.2
R 1304.6 SI4_6 Tool No. 2∧6 12.2
R 1304.7 SI4_7 Tool No. 2∧7 12.2
- 84 -
B-85314EN-1/01 AND CUSTOM LADDER PROGRAMS

R 1305.0 SI5_0 /M code BCD 2∧0*1 12.6
R 1305.1 SI5_1 M80 output/M code BCD 2∧1*1 12.7/12.6
R 1306.0 SI6_0 M87 output/data read request 12.7/12.6

R 1306.1 SI6_1 M88 output/distribution completion 12.7/12.6
R 1306.2 SI6_2 M89 output/BCD data parity check 12.7/12.6
R 1306.3 SI6_3
R 1306.4 SI6_4 /M code BCD 2∧0*100 12.6
R 1306.5 SI6_5 /M code BCD 2∧1*100 12.6
R 1306.6 SI6_6 /M code BCD 2∧2*100 12.6
R 1306.7 SI6_7 /M code BCD 2∧3*100 12.6
R 1307.0 SI7_0 Machine status output 1 (END1 output) 12.16

R 1307.3 SI7_3 Cycle start (in progress) 12.2
R 1307.4 SI7_4 Condition of feed hold 12.2
R 1307.5 SI7_5 Condition of alarm 12.2
R 1307.6 SI7_6 Condition of reset 12.2
R 1307.7 SI7_7 Condition of emergency stop 12.2
R 1308.0 SI8_0 MEM mode selection 12.14

R 1308.1 SI8_1 MDI mode selection 12.14
R 1308.2 SI8_2 Handle mode selection 12.14
R 1308.3 SI8_3 Jog mode selection 12.14
R 1308.4 SI8_4 Reference mode selection 12.14
R 1308.5 SI8_5 Edit mode selection 12.14
R 1308.6 SI8_6 Program stoppage 12.2
R 1308.7 SI8_7 Production completion 12.15
R 1309.0 SI9_0 End of selection 12.5

R 1309.1 SI9_1 (Reserved)
R 1309.2 SI9_2 Battery alarm 12.2
R 1309.3 SI9_3 End of program 12.18
R 1309.4 SI9_4 Machine interior coolant output ON 12.17
R 1309.5 SI9_5 Splash guard door closed state 12.19
R 1309.6 SI9_6 Automatic side door closed state 12.20
R 1309.7 SI9_7 Automatic side door open state 12.20
- 85 -

R 1310.0 SI10_0 Door open (M60) 12.3
R 1310.1 SI10_1 Automatic door closed state 12.3
R 1310.2 SI10_2 Automatic door open state 12.3
R 1310.3 SI10_3 Warning level detection 12.21
R 1310.4 SI10_4 Breakage level detection 12.21
R 1310.5 SI10_5 Spindle stop 12.22
R 1310.6 SI10_6 Auto mode 12.2
R 1310.7 SI10_7 Tool life end (tool group) 12.11
R 1311.0 SI11_0 Coolant output ON 12.17

R 1311.1 SI11_1 Automatic door open request output 12.3
R 1311.2 SI11_2 Automatic door close request output 12.3
R 1311.3 SI11_3 Air blow output 12.17
R 1311.4 SI11_4 Production completion 1 12.15
R 1311.5 SI11_5 Production completion 2 12.15
R 1311.6 SI11_6 Advance notice of tool life 12.11
R 1311.7 SI11_7 Center through coolant output ON 12.17
R 1312.0 SI12_0 Display in Japanese 12.23

R 1312.1 SI12_1 Display in German 12.23
R 1312.2 SI12_2 Display in French 12.23
R 1312.4 SI12_4 Display in Italian 12.23
R 1312.5 SI12_5 Display in Korean 12.23
R 1312.6 SI12_6 Display in Spanish 12.23
R 1312.7 SI12_7 Display in English 12.23
R 1313.0 SI13_0 Position switch 1 12.24

R 1314.0 SI14_0 Movement along the X-axis 12.25

R 1314.1 SI14_1 Movement along the Y-axis 12.25
R 1314.2 SI14_2 Movement along the Z-axis 12.25
R 1314.3 SI14_3 Movement along the 4-th axis 12.25
R 1314.4 SI14_4 Movement along the 5-th axis 12.25
R 1314.5 SI14_5 Low air pressure 12.2
R 1314.6 SI14_6
R 1314.7 SI14_7 Emergency stop button 12.2
- 86 -

R 1315.0 SI15_0 Completion of X-axis reference position return 12.25
R 1315.1 SI15_1 Completion of Y-axis reference position return 12.25
R 1315.2 SI15_2 Completion of Z-axis reference position return 12.25
R 1315.3 SI15_3 Completion of 4th-axis reference position return 12.25
R 1315.4 SI15_4 Completion of 5th-axis reference position return 12.25
R 1315.5 SI15_5 Completion of machining 12.18
R 1315.6 SI15_6 Feedrate override 100% 12.2
R 1315.7 SI15_7 Spindle speed override 100% 12.2

R 1317.0 SI17_0 Door open (M61) 12.3

R 1317.1 SI17_1 Door open (M62) 12.3
R 1317.2 SI17_2 Door open (M63) 12.3
R 1317.3 SI17_3 Door open (M64) 12.3
R 1317.4 SI17_4 Door open (M65) 12.3
R 1317.5 SI17_5 Alarm output 2 12.10
R 1317.6 SI17_6 Operation-enabled state 12.2
R 1317.7 SI17_7 (Not used)
R 1318.0 SI18_0 Establishment of X-axis reference position 12.25

R 1318.1 SI18_1 Establishment of Y-axis reference position 12.25
R 1318.2 SI18_2 Establishment of Z-axis reference position 12.25
R 1318.3 SI18_3 Establishment of 4th-axis reference position 12.25
R 1318.4 SI18_4 Establishment of 5th-axis reference position 12.25
R 1318.5 SI18_5 Tool group reset request reception 12.11
R 1318.6 SI18_6 Tool group reset error 12.11
R 1318.7 SI18_7
R 1319.0 SI19_0 Completion of X-axis reference position return (When ZPX is ON at the
completion of G27 or G28)
R 1319.1 SI19_1 Completion of Y-axis reference position return (When ZPY is ON at the
R 1319.2 SI19_2 Completion of Z-axis reference position return (When ZPZ is ON at the
R 1319.3 SI19_3 Completion of 4th-axis reference position return (When ZP4 is ON at the completion
of G27 or G28)
R 1319.4 SI19_4 Completion of 5th-axis reference position return (When ZP5 is ON at the completion
of G27 or G28)
R 1319.5 SI19_5
R 1319.6 SI19_6
R 1319.7 SI19_7
- 87 -

R 1320.0 SI20_0 S command 2^0 12.22
R 1320.1 SI20_1 S command 2^1 12.22
R 1320.2 SI20_2 S command 2^2 12.22
R 1320.3 SI20_3 S command 2^3 12.22
R 1320.4 SI20_4 S command 2^4 12.22
R 1320.5 SI20_5 S command 2^5 12.22
R 1320.6 SI20_6 S command 2^6 12.22
R 1320.7 SI20_7 S command 2^7 12.22
R 1321.0 SI21_0 S command 2^8 12.22

R 1321.1 SI21_1 S command 2^9 12.22
R 1321.2 SI21_2 S command 2^10 12.22
R 1321.3 SI21_3 S command 2^11 12.22
R 1321.4 SI21_4 S command 2^12 12.22
R 1321.5 SI21_5 S command 2^13 12.22
R 1321.6 SI21_6 S command 2^14 12.22
R 1321.7 SI21_7 S command 2^15 12.22
R 1322.0 SI22_0 S command 2^16 12.22

R 1322.1 SI22_1 S command 2^17 12.22
R 1322.2 SI22_2 S command 2^18 12.22
R 1322.3 SI22_3 S command 2^19 12.22
R 1322.4 SI22_4 S command 2^20 12.22
R 1322.5 SI22_5 S command 2^21 12.22
R 1322.6 SI22_6 S command 2^22 12.22
R 1322.7 SI22_7 S command 2^23 12.22
R 1323.0 SI23_0 S command 2^24 12.22

R 1323.1 SI23_1 S command 2^25 12.22
R 1323.2 SI23_2 S command 2^26 12.22
R 1323.3 SI23_3 S command 2^27 12.22
R 1323.4 SI23_4 S command 2^28 12.22
R 1323.5 SI23_5 S command 2^29 12.22
R 1323.6 SI23_6 S command 2^30 12.22
R 1323.7 SI23_7 S command 2^31 12.22
R 1324.0 SI24_0 M03 command 12.22

R 1324.1 SI24_1 M05 command 12.22
R 1324.2 SI24_2 Spindle rotation button ON 12.22
R 1324.3 SI24_3 Center through coolant pump on 12.17
R 1324.4 SI24_4 Center through coolant on 12.17
R 1324.5 SI24_5 Air purge on 12.17
R 1324.6 SI24_6 Automatic fire extinguishing device error ON when the automatic fire
extinguishing device is faulty or the
power is off. (Option)
R 1324.7 SI24_7 Start of the automatic fire extinguishing device ON when the automatic fire
extinguishing device starts.
(Option)
- 88 -

R 1325.0 SI25_0 Input signal for custom macro (#1100) 12.26




- 89 -

R 1331.0 SI31_0 Clamp request (5th axis) 12.12

R 1331.1 SI31_1 Unclamp request (5th axis) 12.12
R 1331.2 SI31_2 Clamped (5th axis) 12.12
R 1331.3 SI31_3 Clamp request (4th axis) 12.12
R 1331.4 SI31_4 Unclamp request (4th axis) 12.12
R 1331.5 SI31_5 Clamped (4th axis) 12.12
R 1331.6 SI31_6
R 1331.7 SI31_7
R 1332.0 SI32_0 Selected tool group No. 2^0 12.11

R 1333.0 SI33_0 Tool life of group 1 12.11


- 90 -

R 1335.0 SI35_0 Advance notice of tool life of group 1 12.11

R 1337.0 SI37_0 Display in Chinese (Simplified) 12.23

R 1337.1 SI37_1 Display in Portuguese 12.23
R 1337.2 SI37_2 Display in Russian 12.23
R 1338.0 SI38_0 Tool clamp signal 12.2

R 1338.1 SI38_1 Tool change signal 12.2
R 1338.2 SI38_2 Turret recovery mode 12.2
R 1338.3 SI38_3 Single block 12.2
R 1338.4 SI38_4 Rapid traverse LOW 12.2
R 1338.5 SI38_5 Rapid traverse 25% 12.2
R 1339.0 SI39_0 Tap return mode 12.2

R 1339.1 SI39_1 Condition of reset ON while the reset button on the
operator's panel is being pressed.
R 1339.2 SI39_2
R 1339.3 SI39_3
R 1339.4 SI39_4
R 1339.5 SI39_5
R 1339.6 SI39_6
R 1339.7 SI39_7
- 91 -





- 92 -





- 93 -





- 94 -





- 95 -





- 96 -



R 1428.0 SI78_0 Robot system being started 12.33

R 1428.1 SI78_1 Cycle stop mode 12.33
R 1428.2 SI78_2 System stop mode 12.33
R 1428.3 SI78_3 System start 12.33

R 1429.1 SI79_1 Taper cleaning coolant ON signal When the taper cleaning coolant
valve and pump are ON
R 1429.2 SI79_2 Machining coolant ON signal When the machining coolant valve
and pump are ON
R 1429.3 SI79_3 Teach mode signal 12.33
R 1429.4 SI79_4 Front door open signal 12.33
R 1429.5 SI79_5 Interaction mode signal 12.33
R 1429.6 SI79_6
R 1429.7 SI79_7
- 97 -

R 1430.3 SI80_3 Probe signal error ON when a touch probe failure is
detected between M38 and M39.
R 1430.5 SI80_5
R 1430.6 SI80_6
R 1430.7 SI80_7
R 1431.0 SI81_0 When menu operation "1. TOOL CHANGE" is

selected
R 1431.1 SI81_1 When menu operation "2. AXES MOVEMENT" is
selected
R 1431.2 SI81_2 When menu operation "3. SPINDLE REV." is
selected
R 1431.3 SI81_3 When menu operation "4. REF. POINT" is
selected
R 1431.4 SI81_4 When menu operation "5. CANCEL" is selected
R 1431.5 SI81_5 When menu operation "6. EXT. SIGNAL" is
selected
R 1431.6 SI81_6 When menu operation "7. CLAMP" is selected
R 1431.7 SI81_7 When menu operation "8. NC LANGUAGE" is
selected
R 1432.0 SI82_0 Error signal at tool registration/runout ON when a failure is detected (tool
measurement runout detection function).
R 1432.1 SI82_1 Excessive tool runout signal ON when there is excessive tool
runout (tool runout detection
function).
R 1432.2 SI82_2
R 1432.3 SI82_3
R 1432.4 SI82_4
R 1432.5 SI82_5
R 1432.6 SI82_6
R 1432.7 SI82_7
- 98 -
[CNC → Custom ladder]

F 0010.0 M code 2^0 12.27
F 0010.1 M code 2^1 12.27
F 0010.2 M code 2^2 12.27
F 0010.3 M code 2^3 12.27
F 0010.4 M code 2^4 12.27
F 0010.5 M code 2^5 12.27
F 0010.6 M code 2^6 12.27
F 0010.7 M code 2^7 12.27
F 0011.0 M code 2^8 12.27

F 0011.1 M code 2^9 12.27
F 0011.2 M code 2^10 12.27
F 0011.3 M code 2^11 12.27
F 0011.4 M code 2^12 12.27
F 0011.5 M code 2^13 12.27
F 0011.6 M code 2^14 12.27
F 0011.7 M code 2^15 12.27
F 0012.0 M code 2^16 12.27

F 0012.1 M code 2^17 12.27
F 0012.2 M code 2^18 12.27
F 0012.3 M code 2^19 12.27
F 0012.4 M code 2^20 12.27
F 0012.5 M code 2^21 12.27
F 0012.6 M code 2^22 12.27
F 0012.7 M code 2^23 12.27
F 0013.0 M code 2^24 12.27

F 0013.1 M code 2^25 12.27
F 0013.2 M code 2^26 12.27
F 0013.3 M code 2^27 12.27
F 0013.4 M code 2^28 12.27
F 0013.5 M code 2^29 12.27
F 0013.6 M code 2^30 12.27
F 0013.7 M code 2^31 12.27
- 99 -
[Custom ladder → System ladder]

R 1350.0 SO0_0 Workpiece No./program No. search 2^0*1 12.4/12.5
R 1350.4 SO0_4 /Program No. search 2^0*10 12.5

R 1352.0 SO2_0 Data read request 12.5

R 1352.1 SO2_1 External start 12.28
R 1352.2 SO2_2 External hold 12.28
R 1352.3 SO2_3 External reset 12.28
R 1352.4 SO2_4 External emergency stop 12.28
R 1352.5 SO2_5 Completion (FIN) 12.6
R 1352.6 SO2_6 Single block mode ON 12.28
R 1352.7 SO2_7 Dry run mode ON 12.28
R 1353.0 SO3_0 Door close request 12.3

R 1353.1 SO3_1 External door open control 12.3
R 1353.2 SO3_2 External door close control 12.3
R 1353.3 SO3_3 DNC operation 12.28
R 1353.4 SO3_4 Custom macro interrupt 12.8
R 1353.5 SO3_5 Reset & rewind 12.9
R 1353.6 SO3_6 Automatic side door open request 12.20
R 1353.7 SO3_7 Automatic side door close request 12.20
R 1354.0 SO4_0 Disabling of machine operator's panel start 12.13

button
R 1354.1 SO4_1 X-axis interlock 12.25
R 1354.2 SO4_2 Y-axis interlock 12.25
R 1354.3 SO4_3 Z-axis interlock 12.25
R 1354.4 SO4_4 4-th axis interlock 12.25
R 1354.5 SO4_5 5-th axis interlock 12.25
R 1354.6 SO4_6 Door interlock 12.20
R 1354.7 SO4_7 (Reserved)
- 100 -

R 1355.0 SO5_0 Alarm message display in progress 12.29
R 1355.1 SO5_1 Operator message display in progress 12.29
R 1355.2 SO5_2 Machine status output 1 request 12.16
R 1355.5 SO5_5 Disabling of ROBODRILL operator's panel 12.13
R 1355.6 SO5_6 Operator message display in progress 2 12.29
R 1355.7 SO5_7 Lamp check function ON 12.13

R 1357.0 SO7_0 Tool breakage 12.11

R 1357.1 SO7_1 Block skip ON (/, /1) 12.35
R 1357.2 SO7_2 Switching of operation mode (to MEM mode) 12.14
R 1357.3 SO7_3 Switching of operation mode (to MDI mode) 12.14
R 1357.4 SO7_4 Switching of operation mode (to handle mode) 12.14
R 1357.5 SO7_5 Switching of operation mode (to edit mode) 12.14
R 1357.6 SO7_6 Machine interior lamp ON 12.30
R 1357.7 SO7_7 Machine interior cleaning coolant control 12.17
R 1358.0 SO8_0 4-axis clamp (M10) signal output command 12.12

R 1358.1 SO8_1 4-axis unclamp (M11) signal output command 12.12
R 1358.2 SO8_2 5-axis clamp (M68) signal output command 12.12
R 1358.3 SO8_3 5-axis unclamp (M69) signal output command 12.12
R 1358.4 SO8_4 Counter 1 (production count) reset 12.15
R 1358.5 SO8_5 Counter 1 (total production count) reset 12.15
R 1358.6 SO8_6 Counter 2 (production count) reset 12.15
R 1358.7 SO8_7 Counter 2 (total production count) reset 12.15
R 1359.0 SO9_0 Counter screen display 12.15

R 1359.1 SO9_1
R 1359.2 SO9_2 Alarm output 2 stoppage 12.10
R 1359.3 SO9_3 Door unlock 12.19
R 1359.4 SO9_4 Tool group reset request 12.11
R 1359.5 SO9_5 Power OFF request 12.31
R 1359.6 SO9_6 No spindle rotating 12.22
R 1359.7 SO9_7 Low air pressure message cancel The message is not displayed
when this signal is ON.
- 101 -
[Custom ladder→ System ladder]

R 1360.3 SO10_3
R 1360.4 SO10_4 Clamp check (4th axis) 12.12
R 1360.5 SO10_5 Unclamp check (4th axis) 12.12
R 1360.6 SO10_6 Clamp check (5th axis) 12.12
R 1360.7 SO10_7 Unclamp check (5th axis) 12.12

R 1362.0 SO12_0 Output signal for custom macro (#1000) 12.26


R 1364.0 SO14_0 Tool group No. specification 2^0 12.11

- 102 -

R 1365.0 SO15_0 Spindle override 2^0 12.32
R 1366.0 SO16_0 Cutting override 2^0 12.32

R 1367.0 SO17_0 Robot teach in progress 12.33

R 1367.1 SO17_1 Interaction/independent operation switch 12.33
R 1367.2 SO17_2 System start 12.33
R 1367.3 SO17_3 Robot operation screen display 12.33
R 1367.4 SO17_4 Cycle stop command 12.33
R 1367.5 SO17_5 System stop command 12.33
R 1367.6 SO17_6 Robot reset 12.33
R 1367.7 SO17_7 Peripheral device ready 12.33
R 1368.0 SO18_0 Automatic side door open 12.33

R 1368.1 SO18_1 Automatic side door closed 12.33
R 1368.2 SO18_2 Detection of the center through coolant lower OFF when the lower limit is
limit detected.
R 1368.3 SO18_3 Detection of an abnormal center through coolant OFF when an abnormal pressure is
pressure (upper limit) detected.
R 1368.4 SO18_4 Detection of clogging of the center through filter OFF when clogging is detected.
R 1368.5 SO18_5 Detection of an abnormal center through coolant OFF when an abnormal pressure is
pressure (lower limit) detected.
R 1368.6 SO18_6 Overheating of the center through coolant pump ON when overheating is detected.
R 1368.7 SO18_7 Detection of clogging of the center through OFF when clogging is detected.
suction filter
R 1369.0 SO19_0 Center through coolant pump on/off command 12.17

R 1369.1 SO19_1 Center through coolant on/off command 12.17
R 1369.2 SO19_2 Air purge on/off command 12.17
R 1369.3 SO19_3 Spindle air blow Air of the spindle blows for ON.
R 1369.7 SO19_7 Start of the lubrication pump Pump is executing for ON.
- 103 -

R 1370.2 SO20_2 System being started 12.33
R 1370.4 SO20_4 Automatic power-off disable signal ON when the automatic power-off
function is disabled.
R 1370.5 SO20_5 Rapid traverse LOW selection ON when rapid traverse LOW is
selected. Turn on this signal for
approx. 100 ms.
R 1370.6 SO20_6 Rapid traverse 100% selection ON when rapid traverse 100% is
selected. Turn on this signal for
approx. 100 ms.
R 1370.7 SO20_7

R1372.0 SO22_0 (Reserved)

R1373.0 SO23_0 Customizing item 1 count signal 12.34

R 1374.0 SO24_0 Optional block skip (/2) 12.35

- 104 -
12.1 BASIC SIGNALS

Address Symbol Function
Always ON SI0_0 (R1300.0) Always ON during ladder program operation.
Always OFF SI0_1 (R1300.1) Always OFF during ladder program operation.
ON in a single scanning SI0_2 (R1300.2) ON only during a single scan cycle (4 ms) when the ladder
cycle at the start of program starts.
operation
1.0-second clock pulse SI0_3 (R1300.3) Repeats on and off at intervals of about 1 second.
0.1-second clock pulse SI0_4 (R1300.4) Repeats on and off at intervals of about 0.1 seconds.
0.5-second clock pulse SI0_5 (R1300.5) Repeats on and off at intervals of about 0.5 seconds.
12.2 MACHINE STATUS

Number of the program SI2_0 (R1302.0)- The main program number currently selected on the
being executed SI3_7 (R1303.7) ROBODRILL is output as binary data.
Example) When O1000 is selected:
Addresses: R1303 R1302
Bits: 76543210 76543210
Data: 00000011 11101000
Tool number SI4_0 (R1304.0)- The number (magazine number) of the tool currently mounted
SI4_7 (R1304.7) on the spindle is output as binary data.
Example) When T14 is mounted:
Address: R1304
Bits: 76543210
Data: 00001110
Cycle start in progress SI7_3 (R1307.3) ON during automatic operation (including MDI operation).
Feed hold status SI7_4 (R1307.4) ON when the stop button lamp on the operator's panel is on
(in the status such as feed hold stop).
Alarm state SI7_5 (R1307.5) ON when an alarm is issued.
Reset in progress SI7_6 (R1307.6) ON in the reset status (such as when the reset key on the
operator's panel is pressed, M30 or M02 is specified, or the
machine is in the emergency stop state).
Emergency stop state SI7_7 (R1307.7) OFF in the emergency stop state.
Program stop state SI8_6 (R1308.6) ON in the automatic operation stop state (when "STOP" is
displayed for the status display on the CNC screen).
Battery alarm state SI9_2 (R1309.2) ON when the voltage of the CNC memory battery is lower
than or equal to the specified value.
Auto mode SI10_6 (R1310.6) ON when the handle, jog, or manual reference position return
mode is not selected.
ON during memory or DNC operation when K06#7 is 1.
Low air pressure SI14_5 (R1314.5) ON when the pressure of air supplied to the ROBODRILL is
lower than the specified value.
Emergency stop button SI14_7 (R1314.7) OFF when the emergency stop button on the operator's panel
is pressed (the hardware emergency stop circuit is turned
OFF).
Feedrate override 100% SI15_6 (R1315.6) ON when the cutting feedrate override switch is placed in the
100% position.
Spindle speed override SI15_7 (R1315.7) ON when the spindle speed override is 100%.
100%
- 105 -

Operation enabled state SI17_6 (R1317.6) ON when all of the following conditions are satisfied:
<1> The front door is closed.
<2> Door interlock (SO4.6) is OFF.
<3> Feed hold is not in progress.
<4> The automatic mode is set.
<5> The machine is not in the alarm or emergency stop state.
<6> Reset is not in progress.
Tool clamp signal SI38_0 (R1338.0) ON when the tool is clamped.
Tool change signal SI38_1 (R1338.1) ON when the tool is changed.
Turret recovery mode SI38_2 (R1338.2) ON when the turret is recovered.
Single block SI38_3 (R1338.3) ON when single block is set to ON.
Rapid traverse LOW SI38_4 (R1338.4) ON when the rapid traverse rate is set to LOW.
Rapid traverse 25% SI38_5 (R1338.5) ON when the rapid traverse rate is set to 25%.
Tap return mode SI39_0 (R1339.0) ON during tap return operation (ON while the tap return screen
of the maintenance setting screen is displayed).
12.3 FRONT AUTOMATIC DOOR CONTROL

Door open (M60) SI10_0 (R1310.0) Specifying each M code causes the front automatic door
Door open (M61) SI17_0 (R1317.0) to open.
Door open (M62) SI17_1 (R1317.1) Each signal is turned ON when the door opens to the limit
Door open (M63) SI17_2 (R1317.2) position.
Door open (M64) SI17_3 (R1317.3)
Door open (M65) SI17_4 (R1317.4)
Automatic door closed state SI10_1 (R1310.1) ON when the front automatic door is in the closed limit
position (the close limit proximity switch is ON and the
open limit proximity switch is OFF).
Automatic door open state SI10_2 (R1310.2) ON when the front automatic door is in the open limit
position (the open limit proximity switch is ON and the
close limit proximity switch is OFF).
Automatic door open request SI11_1 (R1311.1) ON when automatic door open is specified.
output
Automatic door close request SI11_2 (R1311.2) ON when automatic door close is specified.
output

Door close request SO3_0 (R1353.0) When M60 to M65 is specified, turning this signal ON
causes the front automatic door to close and restarts
operation.
Turn this signal ON for about 100 ms when specifying the
relevant command.
External door open control SO3_1 (R1353.1) Opens the front automatic door. The door is
automatically unlocked. (Door unlock control is not
needed.)
relevant command.
- 106 -

External door close control SO3_2 (R1353.2) Closes the front automatic door. Operation is not
restarted after the door is closed.
relevant command.
[Front automatic door control using M60 to M65]
Opening and closing the automatic door with an M code
Specify M60 to
M65 command
Open automatic
door
Output "door open" signal
Is door close request

signal input?
Close automatic
door
Restart of
operation
In auto (MEM) or MDI mode, issuing a code M60 to M65 causes the automatic door to open.
When the door is open, inputting the appropriate signal to the machine causes the door to close and
operation to restart.
Door open signal: SI10_0, SI17_0 to SI17_4

Door close request signal: SO3_0
CAUTION
1 The door close request signal (from a custom ladder program to a system ladder
program) is effective only when an M60 to M65 command is being executed.
The signal is ignored if the machine is reset or if an M60 to M65 command is not
being executed.
2 When an M60 to M65 command is being executed, the operator message "2001
THE DOOR OF THE SPLASH GUARD IS OPEN." is not displayed even if the
door is open.
3 When the robot system standard package option is used, the M60 to M65
functions cannot be used.
- 107 -
12.4 EXTERNAL WORKPIECE NUMBER SEARCH FUNCTION

This function allows you to store several machining programs in program storage memory in advance, so
that you can call the desired program later by using a means such as a rotary switch.
Selecting the desired program number using a means such as a rotary switch first and then pressing the
cycle start button causes the specified program to be selected, starting automatic operation.
Program numbers O0001 to O0015 can be selected.
To use the external workpiece number search function, display the QUICK screen,
6:MAINTENANCE/SETTING, 13.EXT. INTERFACE, then FUNCTION SELECTION, and set "EXT.
WORK No. SEARCH" for PROGRAM SELECTION.

Workpiece No. SO0_0 (R1350.0) Specifies the number of a program to be started as binary
search - data.
SO0_3 (R1350.3)
[Relationship between the signal states and the program numbers to be selected]
Switch 4 Switch 3 Switch 2 Switch 1 Program number to be
(SO0_3) (SO0_2) (SO0_1) (SO0_0) selected
0 0 0 0 None selected
0 0 0 1 O0001
0 0 1 0 O0002
0 0 1 1 O0003
0 1 0 0 O0004
0 1 0 1 O0005
0 1 1 0 O0006
0 1 1 1 O0007
1 0 0 0 O0008
1 0 0 1 O0009
1 0 1 0 O0010
1 0 1 1 O0011
1 1 0 0 O0012
1 1 0 1 O0013
1 1 1 0 O0014
1 1 1 1 O0015
- 108 -
CAUTION
1 This function is available only in automatic operation (MEM mode). It cannot be
used in MDI operation.
2 The effective program numbers are O0001 to O0015.
3 You do not necessarily store in memory the programs corresponding to all
numbers.
4 If the program corresponding to a selected number is not found in memory,
alarm message DS0059, "PROGRAM NUMBER NOT FOUND" is issued when
the function is initiated.
5 When the function is initiated in the automatic operation stop status (single block
stop) or automatic operation halt status (feed hold), no program selection is
executed; the current program restarts where it was stopped.
6 To restart a program at an intermediate point, perform a sequence number
search in automatic operation mode (MEM mode), then initiate the function.
Then, no program number selection is executed, but the program restarts where
it was stopped.
7 When the function is initiated with all the signals being turned OFF, no program
number selection is executed, but the currently selected program is executed.
To execute automatic operation with a program number other than O0001 to
O0015, use the steps below:
• Perform a program number search (on the screen).
• Turn all the program selection switch signals to "OFF".
• Press the operation start button.
8 This function cannot be used together with the external program number search
function.
9 When a selected program is being edited in the background by the program
editing function of the CNC, alarm message DS0059 "PROGRAM NUMBER
NOT FOUND" is issued.
- 109 -
12.5 EXTERNAL PROGRAM NUMBER SEARCH FUNCTION

This function allows you to supply a single program number from an external device such as a sequencer
to ROBODRILL, so that that program can be called from the memory in the ROBODRILL control unit.
Program numbers O0001 to O9999 can be selected.
The program number to be selected can be specified using a 4-digit BCD code.
To use the external program number search function, display the QUICK screen,
6:MAINTENANCE/SETTING, 13.EXT. INTERFACE, then FUNCTION SELECTION, and set "EXT.
PROG. No. SEARCH" for PROGRAM SELECTION.
[Interface]
(Custom ladder → System ladder)
Signal Address Function
Workpiece No. SO0_0(R1350.0) Specifies the number of a program to be started as binary data.
search -
SO0_3(R1350.3)
Program number SO0_0 (R1350.0) A program number is specified as a BCD code.
data signal SO0_1 (R1350.1) 1 digit in Those bits that are always 0 need not used.
SO0_2 (R1350.2) BCD You can omit them according to the program
SO0_3 (R1350.3) numbers used.
SO0_4 (R1350.4)
SO0_5 (R1350.5) 10 digits in BCD
SO0_6 (R1350.6)
SO0_7 (R1350.7)
SO1_0 (R1351.0)
SO1_1 (R1351.1) 100 digits in BCD
SO1_2 (R1351.2)
SO1_3 (R1351.3)
SO1_4 (R1351.4)
1000 digits in BCD
SO1_5 (R1351.5)
SO1_6 (R1351.6)
SO1_7 (R1351.7)
Data read request SO2_0 (R1352.0) When this signal is output, ROBODRILL reads the program
signal number specified with the program number data signal.
External start SO2_1 (R1352.1) After the program number is selected (while an end-of-selection
signal signal is being output from the custom ladder program),
outputting this signal causes automatic operation to start. This
signal must be a pulse signal of 200 ms or longer.
(Automatic operation starts at the falling edge of the pulse signal.)
- 110 -
(System ladder → Custom ladder)

End-of-selection SI9_0 (R1309.0) This signal indicates that program number data reading and
signal program number selection are completed and the machine is now
ready for an automatic operation start.
When this signal is output, turn the data read request signal OFF.
First confirm that this signal has been output, then start automatic
operation using the external start signal.
This signal is turned OFF in the following cases:
• Operation start
• Reset
• Selection of a new program number
[Timing chart for an external program number search]
Program number data signal Number setting
Data read request signal ON
External start signal ON
End of selection ON
Number Automatic
ROBODRILL operation reading Selection operation
- 111 -
CAUTION
1 This function cannot be used together with the external workpiece number
search function.
2 When the function is initiated in the automatic operation stop status (single
block stop) or automatic operation halt status (feed hold), no program selection
is executed; the current program restarts where it was stopped.
3 If there is no program corresponding to the selected number in memory, an
alarm (alarm message: DS0059 PROGRAM NUMBER NOT FOUND) is issued
when an attempt is made to read the program number data.
4 If the data for the program number to be selected is 0, alarm message "DS1128
DI.EIDLL OUT OF RANGE " is issued. Before the data read request signal is
turned ON, be sure to set a number.
5 You can protect programs with program numbers O8000 to O8999 with the
appropriate NC parameter bit setting. (NC parameter No. 3202#0 (NE8))
Programs with program numbers O9000 to O9999 are protected with the
appropriate parameter setting. (NC parameter No. 3202#4 (NE9))
6 When a selected program is being edited in the background by the program
editing function of the CNC, alarm message DS1130 "SEARCH REQUEST NOT
ACCEPTED" is issued.
7 This function cannot be used during an emergency stop or reset.
- 112 -
12.6 EXTERNAL M CODE BCD OUTPUT FUNCTION

This function outputs a specified M code number.
By performing the operation corresponding to the specified M code, an external device can be interlocked
with ROBODRILL.
An M code number is output as a 3-digit BCD code.
To use the external M code BCD output function, display the QUICK screen, 6:MAINTENANCE/
SETTING, 13.EXT. INTERFACE, then FUNCTION SELECTION, and set "ON" for "M CODE
OUTPUT BY BCD".
- 113 -
[Interface]
M code number SI5_0 (R1305.0) A specified M code is output as a BCD code.
data signal SI5_1 (R1305.1) 1 digit in BCD Not all data need not necessarily be read.
SI5_2 (R1305.2) You can omit reading according to the M codes
SI5_3 (R1305.3) used.
SI5_4 (R1305.4)
SI5_5 (R1305.5) 10 digits in BCD
SI5_6 (R1305.6)
SI5_7 (R1305.7)
SI6_4 (R1306.4)
SI6_5 (R1306.5)
SI6_6 (R1306.6) 100 digits in BCD
SI6_7 (R1306.7)
Data read request SI6_0 (R1306.0) This signal indicates that the M code number data signal is being
signal output.
Read the M code number while this signal is being output.
Distribution SI6_1 (R1306.1) This signal indicates that an auxiliary function (M, S, or T code) is
completion signal specified and the movement along each axis is completed. (This signal
is not usually used.)
BCD output data SI6_2 (R1306.2) The result of a parity check is output.
parity check signal Parity of specified M
Check
Parity check code
signal
K04#5 = 0 K04#5 = 1
Even parity 0 Odd Even
check 1 Even Odd
K01#1 = 0
Odd parity check 0 Even Odd
K01#1 = 1 1 Odd Even
K01#1: Selection between even and odd parity checks
K04#5: Selection between parity check result output states

Completion signal S02_5 (R1352.5) After the operation of the external device is completed, input this
(FIN) signal.
When the signal is input, ROBODRILL ends M code output, proceeding
to the next block of the program. Turn this signal OFF at the end of the
M code output.
- 114 -
[Timing chart for external M code BCD output]
M code number data signal ON ON
Data read request signal ON ON
Completion signal ON ON
ROBODRILL operation M code specification M code specification
CAUTION
1 This function cannot be used together with the M code output function.
2 Never use the M codes used by FANUC.(From M00 to M199)
3 When using multiple M code commands, specify the external M code at the first
M code position.
- 115 -
12.7 M CODE OUTPUT FUNCTION (M80 TO M89)

This function outputs the signal corresponding to a specified M code.

M81 output SI5_2 (R1305.2) A 100-ms pulse signal is output. (Pulse type)
M82 output SI5_3 (R1305.3)
M83 output SI5_4 (R1305.4) ON when M83 is specified or OFF when M84 is specified. (ON1
type)
M84 output SI5_5 (R1305.5)
M80 output SI5_1 (R1305.1) ON when the corresponding M code is specified. (FIN type)
M85 output SI5_6 (R1305.6) OFF when the completion (FIN) signal (SO2_5) is turned ON.
M86 output SI5_7 (R1305.7)
M87 output SI6_0 (R1306.0)
M88 output SI6_1 (R1306.1)
M89 output SI6_2 (R1306.2)
(Pulse type) (ON1 type)
M code M code
specification M81 specification M83 M84
Signal output ON Signal output ON
(FIN type)
M code
M81
specification
Signal output ON
Completion
External device Operation
signal
If an M code of the pulse or ON1 type is specified, the machine automatically proceeds to the next block
of the program after the output (or stoppage) of the signal.
If an M code of the FIN type is specified, the machine waits for the input of an external completion signal,
then proceeds to the next block of the program after the input of the signal.
CAUTION
Usually, M84 (SI5_5) is not output.
It is output if all M codes M80 to M89 are set to the FIN type.
(Display the QUICK screen, 6:MAINTENANCE/SETTING, 13.EXT. INTERFACE,
then FUNCTION SELECTION, and set FIN TYPE.)
In this case, M81 to M83 are also set to the FIN type.
- 116 -
12.8 INTERRUPT TYPE CUSTOM MACRO FUNCTION

(OPTION)
During the execution of a program, this signal can be turned ON to call another program. For details of
the interrupt type custom macro function, refer to the CNC operator's manual.

Custom macro interrupt SO3_4 (R1353.4) Starts an interrupt type custom macro.
12.9 RESET AND REWIND FUNCTION

Reset & rewind SO3_5 (R1353.5) When this signal is ON, the ROBODRILL performs the
following operations:
• Decelerates and stops the machine along the controlled
axis along which it is moving.
• Enters the reset state.
Cancels the alarms that can be released.
• Rewinds the currently selected main program to its top
(not in the MDI mode).
12.10 ALARM OUTPUT 2

This signal is mainly used to control the buzzer when an alarm is issued.
Alarm output 2 SI17_5(R1317.5) ON when an alarm is issued.
OFF when an alarm is released.
OFF when the alarm output 2 stop signal (SO9_2) is turned ON.
OFF when K06#2 is 1 and the time specified for timer T06 has
elapsed.

Alarm output 2 SO9_2 (R1359.2) When alarm output 2 (SI17_5) is ON, turning this signal ON turns
stop alarm output 2 (SI17_5) OFF.
Turn this signal ON for about 100 ms when specifying the relevant
command.
- 117 -
12.11 TOOL LIFE MANAGEMENT

(1) Reset of a tool group (counter)
A specified tool group (counter) can be reset.
Tool group (counter) SO14_0 (R1364.0) The number of the tool group (counter) to be reset is
number ⏐ specified as binary data. (0 to 14)
SO14_7 (R1364.7) If 0 is specified, the currently selected tool group is assumed.
Tool group (counter) reset SO9_4 (R1359.4) When this signal is output, ROBODRILL resets the tool group
request (counter).
Turn this signal ON after specifying a tool group (counter)
number.
Keep it ON until the reset request reception signal (SI18_5) is
turned ON.
Turn it OFF as soon as the reset request reception signal is
turned ON.

Tool group (counter) reset SI18_5 (R1318.5) This signal indicates that ROBODRILL has accepted a tool
request reception group (counter) reset request.
Turn the reset request signal (SO9.4) OFF after this signal is
turned ON.
This signal is turned OFF when the reset request signal
(SO9_4) is turned OFF.
Tool group (counter) reset SI18_6 (R1318.6) This signal indicates that an error occurred during an attempt
error to reset a tool group (counter).
This signal is turned OFF when the reset request signal
(SO9_4) is turned OFF.
SUPPLEMENT
To specify 0 as the tool group (counter) number (to specify the currently selected
tool group), specify tool group selection (M06 T1xx) after power-on, then issue a
reset request.
If a reset request is issued without specifying tool group selection, an error
(SI18_6 = ON) occurs.
Tool group number Group number specification
Tool group reset request ON
Tool group reset request reception ON
Tool group reset error ON
- 118 -
(2) Information about the life of each tool group (counter) and the currently selected tool group
(counter) number
Information about the life of each tool group (counter) can be indicated.
The group (counter) number of the tool currently used can be indicated.
Currently selected tool SI32_0 (R1332.0) The currently selected tool group (counter) number is indicated
group (counter) number ⏐ as binary data.
SI32_7 (R1332.7) 0 is indicated if tool group selection (M06 T1**) has not been
specified since power-on.
Tool life end SI33_0 (R1333.0) Whether the currently selected tool group (counter) is in the
⏐ life end state is indicated. A signal of 1 indicates the life end
SI34_7 (R1334.7) state.
SI50_0 (R1400.0)
⏐
SI63_7 (R1413.7)
Near tool life end SI35_0 (R1335.0) Whether the currently selected tool group (counter) is in the
⏐ near life end state is indicated. A signal of 1 indicates the near
SI36_7 (R1336.7) life end state.
SI64_0 (R1414.0) 1 can also indicate the life end state.
⏐
SI77_7 (R1427.7)
(3) Others
Tool life end (tool SI10_7 (R1310.7) ON when at least one of the registered tool groups (counters) is
group) in the life end state.
Near tool life end SI11_6 (R1311.6) ON when the use count (or time) for the currently used tool group
(counter) reaches the value set for advance notice of tool life
end.

Tool breakage SO7_0 (R1357.0) When the tool life management function is used and this signal is
ON, the currently used tool is assumed to reach its tool life end. If
a spare tool is registered to the tool group, the new tool is used at
the next tool replacement. If no spare tool is registered, an alarm is
issued at the end of machining.
command.
- 119 -
12.12 ADDITIONAL AXIS CLAMP CONTROL

(1) I/O signals for additional axis clamp control can be assigned with custom PMC.
Clamp check SO10_4 Outputs the clamp state of the additional axis (4th axis) to the
(4th axis) (R1360.4) system ladder program.
Unclamp check SO10_5 Outputs the unclamp state of the additional axis (4th axis) to the
Clamp check SO10_6 Outputs the clamp state of the additional axis (5th axis) to the
Unclamp check SO10_7 Outputs the unclamp state of the additional axis (5th axis) to the
Clamp request SI31_0 Clamp command for the additional axis (5th axis)
(5th axis) (R1331.0) Turned ON when the M68 command is issued.
Unclamp request SI31_1 Unclamp command for the additional axis (5th axis)
(5th axis) (R1331.1) Turned ON when the M69 command is issued.
Clamped SI31_2 Clamp/unclamp command for the additional axis (5th axis)
(5th axis) (R1331.2) Turned ON when the M68 command is issued and OFF when the
M69 command is issued.
Clamp request SI31_3 Clamp command for the additional axis (4th axis)
(4th axis) (R1331.3) Turned ON when the M10 or M71 command is issued.
Unclamp request SI31_4 Unclamp command for the additional axis (4th axis)
(4th axis) (R1331.4) Turned ON when the M11 or M72 command is issued.
Clamped SI31_5 Clamp/unclamp command for the additional axis (4th axis)
(4th axis) (R1331.5) Turned ON when the M10 or M71 command is issued and OFF when
the M11 or M72 command is issued.
(Sample ladder program)
X4.0 SO10_4
SI31_3 Y2.0
To use this function, set PMC parameter, keep relay K14#3 to 1.
(2) Specifying a command to clamp or unclamp an additional axis.

4th-axis clamp (M10) SO8_0 (R1358.0) Specifies the command to clamp the additional axis (4th
signal output command axis).
Turn this signal ON for about 100 ms.
4th-axis unclamp (M11) SO8_1 (R1358.1) Specifies the command to unclamp the additional axis
signal output command (4th axis).
5th-axis clamp (M68) SO8_2 (R1358.2) Specifies the command to clamp the additional axis (5th
signal output command axis).
5th-axis unclamp (M69) SO8_3 (R1358.3) Specifies the command to unclamp the additional axis
signal output command (5th axis).
- 120 -
12.13 OPERATOR'S PANEL

(1) Disabling the operator's panel
This function disables the ROBODRILL operator's panel.
To use this function, set PMC parameter keep relay K16#0 to 1.
Signal description Address Function
Disabling of ROBODRILL SO5_5 (R1355.5) Turning on this signal disables the ROBODRILL operator's
operator's panel panel.
Turning on this signal causes the ROBODRILL to behave as follows:
• Some buttons and keys on the ROBODRILL operator's panel become unusable.
<DOOR OPEN/CLOSE> key is also made unusable (optionally).
However, <EMERGENCY STOP> button, < FEED HOLD > button, <RESET> key, soft key and
MDI keys (ALPHABET, FIGURE AND ETC.) remain usable.
• "OPERATION MODE" switches to "AUTOMATIC OPERATION (MEMORY) MODE."
If OPERATION MODE switching is impossible (for example, for "EMERGENCY STOPPING" or
"MODE SELECTION LOCKING"), however, switching to "AUTOMATIC OPERATION MODE"
does not occur.
• For "SPINDLE ROTATING" "IN COOLANT" "CUTTING AIR BLOW" and "CENTER
THROUGH COOLANT OUTPUT" each output is stopped (optionally)
• "DRY RUN MODE" and "SINGLE BLOCK MODE" are canceled.
• The M01 stop function is canceled (optionally).
• The cutting override value is fixed at 100% regardless of the dial setting on the operator's panel.
• The spindle override value is fixed at 100%.
• The rapid traverse override value is fixed at 100%.
• If this signal is issued when the machine is running, it becomes valid after the machine stops.
• The diagnosis message "THE OPERATOR'S PANEL IS UNAVAILABLE." appears.
[PMC parameter, keep relay]
Parameter Function
K16#0 Operator's panel disable function 0 : Disables 1 : Enables
K16#1 While the operator's panel is in the disabled state, the M01 stop button
0 : Disables 1 : Enables
K16#2 While the operator's panel is in the disabled state, the door open/close button
K16#3 While the operator's panel is disabled, spindle rotation and coolant supply
0 : Canceled 1 : Not canceled
K16#4 While the operator's panel is disabled, the skip key
(2) Disabling the start button

Disabling of the machine SO4_0 (R1354.0) When this signal is ON, the start button on the ROBODRILL
operator's panel start operator's panel is disabled. External start (SO2_1) is
button available regardless of the status of this signal.
During turret recovery operation and menu operation, the
start button is available regardless of the status of this signal.
- 121 -
(3) Checking the lamps

Lamp check function ON SO5_7 (R1355.7) When this signal is ON, all LEDs and status indication lamps
(machine status output 1, 2, and 3) on the ROBODRILL
operator's panel are turned on.
12.14 OPERATION MODE SWITCHING

MEM mode selection SI8_0 (R1308.0) ON while the corresponding mode is selected.
MDI mode selection SI8_1 (R1308.1) The status of MEM mode selection (SI8_0) is related as
Handle mode selection SI8_2 (R1308.2) follows:
Jog mode selection SI8_3 (R1308.3) When K14#2 is 0: Memory mode and remote mode
Reference mode selection SI8_4 (R1308.4) When K14#2 is 1: Only memory mode
Edit mode selection SI8_5 (R1308.5)
(Custom ladder →System ladder)

Switching of operation mode SO7_2 (R1357.2) Switches to the corresponding operation mode.
(to the MEM mode) Turn the signal ON for about 100 ms.
Switching of operation mode SO7_3 (R1357.3)
(to the MDI mode)
(to the handle mode)
(to the edit mode)
- 122 -
12.15 PRODUCTION MANAGEMENT

Production SI8_7 (R1308.7) ON when the number of products indicated by counter 1 or 2 on the
completion counter screen displayed from the QUICK screen is greater than or
equal to the scheduled number of products.
Production SI11_4 (R1311.4) ON when the number of products indicated by counter 1 on the
completion 1 counter screen displayed from the QUICK screen is greater than or
Production SI11_5 (R1311.5) ON when the number of products indicated by counter 2 on the
completion 2 counter screen displayed from the QUICK screen is greater than or

Counter 1 S08_4 (R1358.4) Resets the corresponding counter.
(production count) Turn the signal ON for about 100 ms.
reset
Counter 1 (total S08_5 (R1358.5)
production count)
reset
Counter 2 S08_6 (R1358.6)
(production count)
reset
Counter 2 (total S08_7 (R1358.7)
production count)
reset
Counter screen S09_0 (R1359.0) Turning this signal ON displays the counter screen.
display Turning this signal OFF displays the previous screen again.
- 123 -
12.16 MACHINE STATUS OUTPUT

The same signals as those of the relay contacts used for control of status indication lamps and others are
output. Each machine status output signal can be turned ON according to a desired condition.

Machine status output SI7_0 (R1307.0) The same signals as those of the relay contacts used for control
1, 2, 3 (END1, 2, 3 - of status indication lamps and others are output. These signals
output) SI7_2(R1307.2) are set to the ON type even if blinking is selected as a screen
setting.
Select the status of each signal on MACHINE STATUS
OUTPUT displayed by selecting 6:MAINTENANCE/SETTING,
then 13.EXT. INTERFACE from the QUICK screen.
[Signal status]
ALARM: ON when an alarm is issued.
OPERATOR MESSAGE: ON when an operator message is
displayed.
PROGRAM EXECUTING: ON during the execution of a
program.
PROGRAM END: ON after the end of program
operation (execution of M00, M01,
M02, or M30).
PRODUCT COMPLETED: ON at the completion of production
(production management function on
the QUICK screen).
FEED HOLD: ON when the stop button lamp on the
operator's panel is ON.
NOTICE OF TOOL LIFE: ON when the remaining use count for
the last tool in the tool group is
smaller than or equal to the count for
advance notice.

Machine status output SO5_2 (R1355.2) The relay contacts used for control of status indication lamps
1, 2, 3 request - and others are turned ON. When a signal is ON, the
SO5_4 (R1355.4) corresponding relay contact is ON.
Since the ON/OFF status of these relay contacts is also
controlled by the system ladder program, the relay contact may
remain ON even when the corresponding signal is OFF. To
control these relay contacts only by the custom ladder program,
set all MACHINE STATUS OUTPUT items to OFF. MACHINE
STATUS OUTPUT is displayed by selecting
6:MAINTENANCE/SETTING, then 13.EXT. INTERFACE from
the QUICK screen.
- 124 -
12.17 COOLANT, MACHINE INTERIOR CLEANING COOLANT,

CENTER THROUGH COOLANT, AND AIR BLOW
Machine interior cleaning SI9_4 (R1309.4) ON when machine interior cleaning coolant pump ON is
coolant output ON specified.
Coolant output ON SI11_0 (R1311.0) ON when coolant ON is specified.
Air blow ON SI11_3 (R1311.3) ON when air blow ON is specified.
Center through coolant output SI11_7 (R1311.7) ON when center through coolant ON is specified.
ON
Center through coolant pump SI24_3 (R1324.3) ON when center through coolant pump ON is specified.
ON
Center through coolant ON SI24_4 (R1324.4) ON when center through coolant ON is specified.
Air purge ON SI24_5 (R1324.5) ON when air purge ON is specified.

Machine interior cleaning SO7_7 (R1357.7) Controls the machine interior cleaning coolant. Turning
coolant ON/OFF this signal OFF stops the machine interior cleaning
coolant output.
Since the ON/OFF status of the machine interior cleaning
coolant is also controlled by the system ladder program,
the machine interior coolant may not be output by turning
this signal ON.
This signal is not effective when "MACHINE INTERIOR
CLEANING COOLANT" is set to OFF on the standard
selection screen displayed by selecting
6:MAINTENANCE/SETTING on the QUICK screen.
This signal is enabled when K14#4 is 1.
Center through coolant pump SO19_0 (R1369.0) The corresponding device is turned ON or OFF.
ON/OFF Turn this signal ON for about 100 ms when specifying the
Center through coolant SO19_1 (R1369.1) relevant command. When the command is specified, the
ON/OFF status of each device is changed as follows:
Center through Air purge SO19_2 (R1369.2) When it is OFF: ON
ON/OFF When it is ON: OFF
12.18 COMPLETION OF MACHINING

End of program SI9_3 (R1309.3) ON when M00, M01, M02, or M30 is specified. (M01 is valid only
when the temporary stop key on the operator's panel is ON.)
Completion of SI15_5 (R1315.5) ON when M00, M01, M02, or M30 is specified.
machining OFF when the next operation starts, the reset key on the
operator's panel is pressed, the emergency stop button is
pressed, or the manual mode is selected.
- 125 -
12.19 FRONT DOOR LOCK CONTROL

Splash guard door SI9_5 (R1309.5) ON when the front door is locked.
closed state

Door unlock SO9_3 (R1359.3) When the front door is locked, turning this signal ON unlocks the
door. When the front door is unlocked and is not open, turning
this signal ON locks the door. When the front door is open, this
signal is not effective. Turn this signal ON for about 100 ms when
specifying the relevant command.
12.20 AUTOMATIC SIDE DOOR CONTROL

Automatic side door SI9_6 (R1309.6) ON when the automatic side door is in the closed limit position (the
closed state proximity switch is ON).
Automatic side door SI9_7 (R1309.7) ON when the automatic side door is in the open limit position (the
open state proximity switch is ON).

Automatic side door SO3_6 (R1353.6) While this signal is ON, the air valve for opening the automatic side
open request door is ON. (System side control is not exercised.)
Automatic side door SO3_7 (R1353.7) While this signal is ON, the air valve for closing the automatic side
close request door is ON. (System side control is not exercised.)
Door interlock SO4_6 (R1354.6) Turning this signal ON stops program operation, spindle rotation,
coolant output, and other operations in the same way as when the
front door is opened.
- 126 -
12.21 AI TOOL MONITOR

Warning level SI10_3 (R1310.3) ON when the AI tool monitor is used and the load on the spindle
detection during machining exceeds the warning level.
OFF when the reset key on the operator's panel is pressed.
OFF when tool replacement is specified. (when K08#6 is 1)
When K08#7 is 1, the value set in data table D12 is compared with
the load on the spindle while the spindle is rotating. When the load
on the spindle exceeds the setting, this signal is turned ON
regardless of whether the AI tool monitor function is used.
Breakage level SI10_4 (R1310.4) ON when the AI tool monitor is used and the load on the spindle
detection during machining exceeds the breakage level.
OFF when the reset key on the operator's panel is pressed.
OFF when tool replacement is specified. (when K08#6 is 1)
When K08#7 is 1, the value set in data table D14 is compared with
the load on the spindle while the spindle is rotating. When the load
on the spindle exceeds the setting, this signal is turned ON
regardless of whether the AI tool monitor function is used.
12.22 SPINDLE
Spindle stop SI10_5 (R1310.5) ON when the spindle stops (forward or reverse spindle rotation is
not specified).
S command SI20_0 (R1320.0) The specified S code is output as binary data.
- Example) When S8000 is specified
SI23_7 (R1323.7) Addresses: R1323 R1322 R1321 R1320
Bits: 76543210 76543210 76543210 76543210
Data: 00000000 00000000 00011111 01000000
M03 command SI24_0 (R1324.0) ON when the M03 command is specified.
M05 command SI24_1 (R1324.1) ON when the M05 command is specified.
Spindle rotation SI24_2 (R1324.2) On when the spindle rotation/stop button on the operator's panel is
button ON pressed.

No spindle rotating SO9_6 (R1359.6) Spindle rotation is disabled while this signal is ON.
When the spindle is rotating, turning this signal ON stops the
rotation of the spindle. When this signal is ON, specifying spindle
rotation causes an alarm.
- 127 -
12.23 SCREEN DISPLAY

Display in Japanese SI12_0 (R1312.0) ON when the corresponding display language is set.
Display in German SI12_1 (R1312.1)
Display in French SI12_2 (R1312.2)
Display in Italian SI12_4 (R1312.4)
Display in Korean SI12_5 (R1312.5)
Display in Spanish SI12_6 (R1312.6)
Display in English SI12_7 (R1312.7)
Display in Chinese SI37_0 (R1337.0)
(Simplified)
Display in Portuguese SI37_1 (R1337.1)
Display in Russian SI37_2 (R1337.2)
12.24 POSITION SWITCH

When the tool is positioned within the operation range specified for NC parameters along a servo axis, the
corresponding signal is turned ON.
(Example 1)
To turn position switch 1 ON within a range between 100.000 and 200.000 along the X-axis:
No. 6910 = 1, No. 6930 = 200.000, No. 6950 = 100.000
(Example 2)
To turn position switch 2 ON within a range between -100.000 and -200.000 along the Y-axis:
No. 6911 = 2, No. 6931 = -100.000, No. 6951 = -200.000

Position switch 1 SI13_0 (R1313.0) Axis specification: No. 6910
Maximum value in the operation range: No. 6930
Minimum value in the operation range: No. 6950
- 128 -
12.25 CONTROL SIGNAL FOR EACH SERVO AXIS

Movement along the X- SI14_0 (R1314.0) ON when the tool is moving along the corresponding axis.
axis ON when the corresponding axis is selected in handle mode.
Movement along the Y- SI14_1 (R1314.1)
axis
Movement along the Z- SI14_2 (R1314.2)
axis
Movement along the SI14_3 (R1314.3)
4th axis
Movement along the SI14_4 (R1314.4)
5th axis
Completion of X-axis SI15_0 (R1315.0) ON at the completion of one of the following operations:
reference position • Manual reference position return
return • Automatic reference position return (G28)
Completion of Y-axis SI15_1 (R1315.1) • Reference position return check (G27)
reference position OFF when the tool moves from the reference position along the
return corresponding axis or the machine enters the emergency stop or
Completion of Z-axis SI15_2 (R1315.2) servo alarm state.
reference position Not turned ON when the tool moves to the machine zero point
return manually or according to the G00 or G01 command and when
Completion of 4th-axis SI15_3 (R1315.3) the tool is positioned at the machine zero point along the
reference position corresponding axis at the termination of tool replacement.
return
Completion of 5h-axis SI15_4 (R1315.4)
reference position
return
Establishment of X- SI18_0 (R1318.0) ON when the reference position is established along the
axis reference position corresponding axis.
Establishment of Y- SI18_1 (R1318.1) OFF when the reference position is lost.
axis reference position OFF until the reference position is determined by the absolute
Establishment of Z-axis SI18_2 (R1318.2) position detector at power-on.
reference position
Establishment of 4th- SI18_3 (R1318.3)
axis reference position
Establishment of 5th- SI18_4 (R1318.4)
axis reference position

X-axis interlock SO4_1 (R1354.1) Turning these signals OFF inhibits the movement along the
Y-axis interlock SO4_2 (R1354.2) corresponding axes.
Z-axis interlock SO4_3 (R1354.3) When a signal is turned OFF while the tool is moving, the tool
4th-axis interlock SO4_4 (R1354.4) decelerates and stops along the corresponding axis. When the
5th-axis interlock SO4_5 (R1354.5) signal is turned ON, the tool restarts moving.
These signals are effective when K14#5 is 1.
- 129 -
12.26 CUSTOM MACROS

Input signal for SI25_0 (R1325.0) ON when macro statement #11**=1 (**: 00 to 15) is executed. OFF
custom macro when #11**=0 is specified.
(#1100), (#1132) When #1132=nn (nn: 2-byte data) is specified, the value of nn is
(#1101), (#1132) SI25_1 (R1325.1) output to SI25_0 to SI26_7 as binary data.
(#1102), (#1132) SI25_2 (R1325.2)
(#1103), (#1132) SI25_3 (R1325.3)
(#1104), (#1132) SI25_4 (R1325.4)
(#1105), (#1132) SI25_5 (R1325.5)
(#1106), (#1132) SI25_6 (R1325.6)
(#1107), (#1132) SI25_7 (R1325.7)
(#1108), (#1132) SI26_0 (R1326.0)
(#1109), (#1132) SI26_1 (R1326.1)
(#1110), (#1132) SI26_2 (R1326.2)
(#1111), (#1132) SI26_3 (R1326.3)
(#1112), (#1132) SI26_4 (R1326.4)
(#1113), (#1132) SI26_5 (R1326.5)
(#1114), (#1132) SI26_6 (R1326.6)
(#1115), (#1132) SI26_7 (R1326.7)
Input signals for SI27_0 (R1327.0) When #1133=nn (nn: 4-byte data) is specified, the value of nn is
custom macro - output to SI27_0 to SI30_7 as binary data.
(#1133) SI30_7 (R1330.7)

Output signal for SO12_0 (R1362.0) Turning each signal ON sets the corresponding system variable
custom macro #1000 to #1015 to 1.
(#1000), (#1032) When the signal is OFF, the corresponding system variable is set to
(#1001), (#1032) SO12_1 (R1362.1) 0.
(#1002), (#1032) SO12_2 (R1362.2) Outputting binary data (2-byte data) to SO12_0 to SO13_7 sets the
(#1003), (#1032) SO12_3 (R1362.3) data in #1032.
(#1004), (#1032) SO12_4 (R1362.4) Cannot be used when a pallet changer of KAWATATEC or a tool
(#1005), (#1032) SO12_5 (R1362.5) monitor of Nodeman is attached.
(#1006), (#1032) SO12_6 (R1362.6)
(#1007), (#1032) SO12_7 (R1362.7)
(#1008), (#1032) SO13_0 (R1363.0)
(#1009), (#1032) SO13_1 (R1363.1)
(#1010), (#1032) SO13_2 (R1363.2)
(#1011), (#1032) SO13_3 (R1363.3)
(#1012), (#1032) SO13_4 (R1363.4)
(#1013), (#1032) SO13_5 (R1363.5)
(#1014), (#1032) SO13_6 (R1363.6)
(#1015), (#1032) SO13_7 (R1363.7)
- 130 -
12.27 M FUNCTION CODE SIGNALS

The number of the specified M code (first M code) is output as binary data.
Use these signals together with functional instruction No. 25: binary decode processing for M code
decode and other processing.
(CNC → Custom ladder)

M code F10.0 - F13.7 The number of the specified M code is output as binary data.
Example) When M200 is specified:
Addresses : F13 F12 F11 F10
Bits: 76543210 76543210 76543210 76543210
Data: 00000000 00000000 00000000 11001000
12.28 OPERATION CONTROL

External start SO2_1 (R1352.1) In the memory, remote, or MDI operation mode, turning this signal
ON, then OFF starts operation.
When the machine has a front automatic door and "OPEN DOOR
WITH START BUTTON" of automatic door control is set to ON,
operation starts after the front automatic door is closed. (only
during memory or remote operation)
command.
External hold SO2_2 (R1352.2) Turning this signal OFF during operation causes the tool to
decelerate and stop along each servo axis. When this signal is
OFF, memory operation, remote operation, MDI operation, and tool
replacement cannot be started.
Effective when K14#7 is 1.
External reset SO2_3 (R1352.3) Turning this signal ON causes the ROBODRILL to perform the
following operations:
• Decelerates and stops the tool along the controlled axis along
which it is moving.
• Enters the reset state.
Cancels the alarms that can be released.
External SO2_4 (R1352.4) Turning this signal OFF puts the ROBODRILL into the emergency
emergency stop stop state. This signal provides emergency stop control at the
software level. Examine emergency stop control at the hardware
level as required.
Single block mode SO2_6 (R1352.6) Turning this signal ON puts the ROBODRILL into the single block
ON operation mode. Effective when K08#3 is 1. At this time, the single
operation button on the operator's panel is disabled.
Dry run mode ON SO2_7 (R1352.7) Turning this signal ON puts the machine in the dry run operation
mode. Effective when K08#4 is 1. At this time, the dry operation
button on the operator's panel is disabled.
DNC operation SO3_3 (R1353.3) When the memory operation mode is selected, turning this signal
ON puts the machine in the remote operation mode.
- 131 -
12.29 ALARM AND OPERATOR MESSAGE DISPLAY

Alarm message SO5_0 (R1355.0) Turn this signal ON when an alarm message is displayed on the
display in progress custom PMC.
When this signal is ON, the system ladder program assumes that an
alarm message is displayed. The status indication lamps (machine
status output 1, 2, 3) are turned ON. (when on or blinking is
selected for alarms)
Operator message SO5_1 (R1355.1) Turn this signal ON when an operator message is displayed on the
When this signal is ON, the system ladder program assumes that an
operator message is displayed. The status indication lamps
(machine status output 1, 2, 3) are turned ON. (when on or blinking
is selected for operator messages)
This signal is not used when operator message display in progress
2 (SO5_6) is used.
Operator message SO5_6 (R1355.6) Turn this signal ON when an operator message is displayed on the
2 When this signal is ON, the system ladder program assumes that an
operator message is displayed. The status indication lamps
(machine status output 1, 2, 3) are not turned ON.
This signal is not used when operator message display in progress
(SO5_1) is used.
12.30 MACHINE INTERIOR LAMP

Machine interior SO7_6 (R1357.6) Turning this signal ON turns the machine interior lamp on. Turning
lamp ON this signal OFF turns the lamp off.
Effective when K08#0 is 1. At this time, the machine interior lamp
ON/OFF switch on the screen is disabled.
12.31 POWER-OFF
Power OFF request SO9_5 (R1359.5) Turns the ROBODRILL control power OFF.
command.
When the command is specified during operation, the control power
is turned OFF after the tool stops moving along axes and the spindle
stops rotating.
- 132 -
12.32 OVERRIDE CONTROL

(1) Spindle override
Spindle override SO15_0 (R1365.0) The spindle override is specified as binary data.
command - An override of 0% to 254% can be specified.
SO15_7 (R1365.7) When a value of 0 or 255 is specified, an override of 0% is assumed.
When no data is set in R1365 by the custom ladder program at
power-on, the data indicating an override of 100% is automatically
set.
Example) To specify 100%
Address: R1365
Bits: 76543210
Data: 01100100
(2) Cutting feed override

(Custom ladder →System ladder)
Cutting feed SO16_0 (R1366.0) The cutting feed override is specified as binary data.
override command - Specify the data [255 – (override-to-be-specified)].
SO16_7 (R1366.7) An override of 0% to 254% can be specified.
When a value of 0 or 255 is specified, an override of 0% is assumed.
When no data is set in R1366 by the custom ladder program at
power-on, the data indicating an override of 100% is automatically
set.
Example) To specify 100%, set 155.
Address: R1366
Bits: 76543210
Data: 10011011
- 133 -
12.33 ROBOT INTERFACE

(1) When only the automatic side door is controlled

Automatic side door SI9_6 (R1309.6) ON when the automatic side door (safety gate) is in the closed limit
closed state position (the proximity switch for the closed limit position is ON).
Automatic side door SI9_7 (R1309.7) ON when the automatic side door (safety gate) is in the open limit
open state position (the proximity switch for the open limit position is ON).
System start SI78_3 (R1428.3) ON while the system start button is pressed (robot interface X17.4
= 1).
Teach mode SI79_3 (R1429.3) ON when the teach mode is set (robot interface X16.6 = 0).
Front door open SI79_4 (R1429.4) ON when the front door is open (X8.1 = 0).
Interaction mode SI79_5 (R1429.5) ON when interaction is selected (robot interface X17.2 = 1 or
SO17_1 = 1).

Teach mode SO17_0 (R1367.0) When this signal is set to ON, the ROBODRILL assumes that
robot teach operation is in progress (valid when K19#0 = 1).
Interaction/independe SO17_1 (R1367.1) When this signal is set to ON, the ROBODRILL is placed in the
nt operation switch interaction mode. (When using this signal, do not use the X17.2
signal of the robot interface.)
Automatic side door SO18_0 (R1368.0) When this signal is set to ON, the automatic side door (safety
open gate) is opened. When using this signal, ensure that this signal
is ON for about 100 ms.
Automatic side door SO18_1 (R1368.1) When this signal is set to ON, the automatic side door (safety
closed gate) is closed. When using this signal, ensure that this signal is
ON for about 100 ms.
System being started SO20_2 (R1370.2) When this signal is set to ON, the "system being started" lamp is
lamp turned on. (Robot interface Y7.1 is set to ON.)
(2) When the automatic side door and robot system are controlled

Robot system being SI78_0 (R1428.0) ON when system operation is being started.
started
Cycle stop mode SI78_1 (R1428.1) ON when the cycle stop mode is set with the soft key [CYCLE
STOP] pressed on the robot operation screen or with the cycle
stop command output from the custom PMC.
OFF when the cycle stop mode is terminated or canceled.
System stop mode SI78_2 (R1428.2) ON when the system stop mode is set with the soft key [SYSTEM
STOP] pressed on the robot operation screen or with the system
stop command output from the custom PMC.
OFF when the system stop mode is terminated or canceled.
Teach mode SI79_3 (R1429.3) ON when the teach mode is set (robot interface X16.6 = 0).
Front door open SI79_4 (R1429.4) ON when the front door is open (X8.1 = 0).
Interaction mode SI79_5 (R1429.5) ON when interaction is selected (robot interface X17.2 = 1 or
SO17_1 = 1).
- 134 -

Teach mode SO17_0 (R1367.0) This signal is used when an address other then the robot teach in-
progress signal (X225.7) of the robot system is to be used or when a
condition is to be added.
When this signal is set to ON, the ROBODRILL assumes that robot
teach operation is in progress. (This signal is valid when K19#0 =
1.)
Interaction/independ SO17_1 (R1367.1) This signal provides the same function as the
ent operation switch interaction/independent input (X17.2) of the robot interface. When
this signal is set to ON, the robot system is placed in the interaction
mode.
(When using this signal, do not use X17.2.)
Robot system start SO17_2 (R1367.2) This signal provides the same function as the system start input
(X17.4) of the robot interface. When this signal is set to ON, system
operation is started. When using this signal, ensure that this signal
is ON for about 100 ms.
(This signal is valid when K25#3 = 1.)
Robot operation SO17_3 (R1367.3) When this signal is set to ON, the robot operation screen is
screen display displayed.
When this signal is set to OFF, the screen display returns to the
previous screen.

Robot system cycle SO17_4 (R1367.4) This signal provides the same function as the soft key [CYCLE
stop command STOP] on the robot operation screen. When this signal is set to ON,
the cycle stop mode is set. When this signal is set to ON during the
cycle stop mode, the cycle stop mode is canceled. When using this
signal, ensure that this signal is ON for about 100 ms.
(This signal is valid when K25#0 = 1. When this signal is valid, the
[CYCLE STOP] key cannot be used.)
Robot system stop SO17_5 (R1367.5) This signal provides the same function as the soft key [SYSTEM
command STOP] on the robot operation screen. When this signal is set to ON,
the system stop mode is set. When this signal is set to ON during
the system stop mode, the system stop mode is canceled. When
using this signal, ensure that this signal is ON for about 100 ms.
[SYSTEM STOP] key cannot be used.)
Robot reset SO17_6 (R1367.6) This signal provides the same function as the soft key [ROBOT
RESET] on the robot operation screen. When this signal is set to
ON, the reset signal is output to the robot. When using this signal,
ensure that this signal is ON for about 100 ms.
[ROBOT RESET] key cannot be used.)
Peripheral device SO17_7 (R1367.7) This signal posts the ready state of the peripheral device in the robot
ready system. Ensure that this signal is set to ON when the peripheral
device is ready. When this signal is OFF, system operation cannot
be started.
(This signal is valid when K21#4 = 1.)
Automatic side door SO18_0 (R1368.0) When this signal is set to ON, the automatic side door (safety gate)
open is opened. When using this signal, ensure that this signal is ON for
about 100 ms.
Automatic side door SO18_1 (R1368.1) When this signal is set to ON, the automatic side door (safety gate)
closed is closed. When using this signal, ensure that this signal is ON for
about 100 ms.
- 135 -
12.34 Count of Periodical Maintenance Customize Item

At the Periodical Maintenance Screen, cumulative value of customize item can be counted with the
desired condition by using following custom signal.

Customizing item 1 SO23_0 (R1373.0) When “CUSTOM (TIME)” is selected as Count type, count the time
count signal during the corresponding custom signal is ON.
Customizing item 2 SO23_1 (R1373.1) When “CUSTOM (COUNT)” is selected as Count type, count the
count signal number of the corresponding custom signal is changed from OFF to
Customizing item 3 SO23_2 (R1373.2) ON.
count signal
Customizing item 4 SO23_3 (R1373.3) When using “CUSTOM (COUNT)” as Count type, corresponding
count signal signal is turned on more than 500 msec by custom ladder. If that
Customizing item 5 SO23_4 (R1373.4) time is short, counting number may be skipped.
count signal
Customizing item 6 SO23_5 (R1373.5)
count signal
count signal
count signal
12.35 BLOCK SKIP

Effective when K08#1 is 1. At this time, the block skip buttons on the screen (standard operator's panel)
and operator's panel (operator's panel with the full keyboard) are disabled.

Block skip ON SO7_1 (R1357.1) Turning this signal ON enables the block skip (/, /1) function.
( /, /1 )
Block skip ON SO24_0 (R1374.0) Turning this signal ON enables the block skip ( /2 ) function.
( /2 )
( /3 )
( /4 )
( /5 )
( /6 )
( /7 )
( /8 )
( /9 )
- 136 -
B-85314EN-1/01 13.USING TYPICAL FUNCTIONAL INSTRUCTIONS
13 USING TYPICAL FUNCTIONAL

INSTRUCTIONS
(Variable timer) Functional instruction No.: 3
Do not write any instructions

in this area.
Timer No.
Timer start Timer relay

condition
• After the set time has passed, the specified timer relay turns ON.
• The effective timer Nos. are 121 to 200.
• For a timer relay, you can specify any desired address.
• Set the desired timer value on the PMC parameter - Timer screen.
• The effective set times are 0 to 262136 (ms), in 8-ms increments.
(Fixed timer) Functional instruction No.: 24
Timer No.

in this area.
Time that the

timer is set for
Timer start Timer relay
condition
• After the set time has passed, the specified timer relay turns ON.
• The effective timer Nos. are 1 to 140.
• For a timer relay, you can specify any desired address.
• The effective set times are 0 to 262136 (ms), in 8-ms increments.
- 137 -
13.USING TYPICAL FUNCTIONAL INSTRUCTIONS B-85314EN-1/01
(Rising edge detection) Functional instruction No.: 57

in this area.
Start condition Register No.

Output
• If the start condition turns ON, the output turns ON for a single scanning cycle.
• The effective register Nos. are 1 to 100. The same register No. may be specified only once.
• The valid register No. range is the same as that for the falling edge detection function (SUB58).
(Falling edge detection) Functional instruction No.: 58
??

in this area.
Start condition Register No.

Output
• If the start condition turns OFF, the output turns ON for a single scanning cycle.
• The effective register Nos. are 1 to 100. The same register No. may be specified only once.
• The valid register No. range is the same as that for the rising edge detection function (SUB57).
- 138 -
(Counter) Functional instruction No.: 5

in this area.
Counter No.
Countup output
Control condition Control Function

CN0 0 Starts the counter with 0.
1 Starts the counter with 1.
UPDOWN 0 Up counter
1 Down counter
RST 0 Cancels a reset.
1 Resets a counter.
ACT 0 Deactivates a timer.
1 Activates a timer.
• The output turns ON when the setting becomes equal to the count.
• The effective counter Nos. are 40 to 69.
• To control RST and ACT, use a pulse signal. RST and ACT function at the rising edge of a pulse
signal.
• For the counter output, you can specify any desired address.
• Enter the desired setting on the PMC parameter - Counter screen.
• The effective counter settings are 0 to 32767.
- 139 -
(Jump) Functional instruction No.: 10

(Jump end) Functional instruction No.: 30
Do not write any instructions in this area.
Start condition Number of coils to jump over
Do not write any instructions in these areas.
• If the start condition turns ON, control jumps over the specified number of coils without executing
them at all.
• If specifying the number of coils, do not use JMPE (SUB30).
• If the number of coils is set to 0, control jumps over the JMP (SUB10) to JMPE (SUB30) section.
• Control jumps over any functional instructions.
(Common line control) Functional instruction No.: 9

(Common line control end) Functional instruction No.: 29
Do not write any instructions in this area.
Start condition No. of coils to be turned off
Do not write any instructions in these areas.
• If the start condition turns OFF, the specified number of coils are turned OFF.
• If specifying the number of coils, do not use COME (SUB29).
• If the number of coils is set to 0, the COM (SUB9) to COME (SUB29) section are turned OFF.
• Any functional instructions will be executed even if the start condition with the COM instruction is
OFF, but the output of the execution results will be turned OFF.
• In a range specified with a COM, you cannot specify another COM.
• The output of WRT.NOT (inverted output of logic operation result) will be "1" if the start condition
with the COM instruction is OFF.
- 140 -
(Binary decoding) Functional instruction No.: 25
Start
condition
The following explanation is limited to those cases in which specified M codes are to be decoded.
Parameter Function
A Format specification Set a format in the format of 0nn4, where nn specifies that 8 x nn M codes are
to be decoded.
nn may be 0 to 99.
If 0 is specified, eight M codes will be decoded.
Examples:
To decode M200 to M205, set 0014(14).
B Code data address Set F10.
C Decoding instruction No. Specify the number of the first M code to be decoded.
Example: To decode M codes starting with M200, set 200.
D Decoding result output Specify an unused internal relay (R address).
address If the nn in the format specification is 0 or 1, 1 bytes is required; otherwise,
consecutive nn bytes are required.
In the above examples:

If M200 is specified, R2100.0 is ON.
:
- 141 -
(Conditional subprogram call) Functional instruction No.: 65

(Unconditional subprogram call) Functional instruction No.: 66
Subprogram number called

Call condition
• If the conditional subprogram call instruction CALL (SUB65) is specified, the specified subprogram
is called only when the call condition is ON.
• If the unconditional subprogram call instruction CALLU (SUB66) is specified, the specified
subprogram is called unconditionally.
- 142 -
B-85314EN-1/01 14.SETTING PARAMETERS
14 SETTING PARAMETERS
Parameter Function
K03#6 Center through coolant pump control 0: Not controlled 1: Controlled
K08#0 ON/OFF control of the lamp inside the 0: Not controlled 1: Controlled
machine
K08#1 Block skip ON/OFF control 0: Not controlled 1: Controlled
K08#3 Single-block ON/OFF control 0: Not controlled 1: Controlled
K08#4 Dry run ON/OFF control 0: Not controlled 1: Controlled
K14#0 Custom PMC editing 0: Enabled 1: Disabled
K14#1 Spindle/cutting override control by custom 0: Not controlled 1: Controlled
PMC
K14#2 Signal "ON" condition of S18.0 0: Memory mode and 1: Memory mode only
remote mode
K14#3 Additional axis clamp control signal 0: Standard address 1: Allocated with custom
PMC
K14#4 Machine interior cleaning coolant control 0: Not controlled 1: Controlled
K14#5 Interlock control for each axis 0: Not controlled 1: Controlled
K14#6 Emergency stop control 0: Not controlled 1: Controlled
K14#7 Feed hold control 0: Not controlled 1: Controlled
K15#7 Custom PMC function 0: Not controlled 1: Controlled
K16#0 Operator's panel disable function 0: Not controlled 1: Controlled
K16#1 While the operator's panel is in the disabled 0 : Disables 1 : Enables
state, the M01 stop button
K16#2 While the operator's panel is in the disabled 0 : Disables 1 : Enables
state, the door open/close button
K16#3 While the operator's panel is disabled, 0 : Canceled 1 : Not canceled
spindle rotation and coolant supply
K16#4 While the operator's panel is disabled, the 0 * Disables 1 : Enables
skip key
K19#0 Teaching signal control 0: Not controlled 1: Controlled
K25#0 Cycle stop control 0: Not controlled 1: Controlled
K25#1 System stop control 0: Not controlled 1: Controlled
K25#2 Robot reset control 0: Not controlled 1: Controlled
K25#3 System startup control 0: Not controlled 1: Controlled
K : PMC parameter, keep relay

#* : *-th bit
- 143 -
15.ALARM AND ERROR MESSAGES LIST B-85314EN-1/01
15 ALARM AND ERROR MESSAGES LIST

15.1 Messages That May Be Displayed on the PMC Alarm
Screen
The following table lists the PMC alarm messages that may be displayed on the PMC alarm screen.
Alarm number Faulty location/corrective action Contents

ER01 PROGRAM DATA <1> Enter the sequence program again. The sequence program is invalid.
ERROR <2> If this error recurs even after you have
entered the sequence program again, the
error may be due to a hardware fault. In
that case, contact us.
ER02 PROGRAM SIZE <1> Reduce the size of the sequence The sequence program is too
OVER program. large to load into the save area.
<2> Contact us, and specify a ladder step The sequence program is invalid.
count option that allows you to set a
larger program size.
ER03 PROGRAM SIZE <1> Reduce the size of the sequence The sequence program exceeds
ERROR(OPTION) program. the size specified by the ladder
<2> Contact us, and specify a ladder step step count option.
count option that allows you to set a
ER04 PMC TYPE Change the sequence program so that it The PMC type specified in the
UNMATCH specifies the adequate PMC type, by using the sequence program does not
programmer. match the type of the PMC
actually in use.
ER08 OBJECT UNMATCH Contact us. An unsupported function is used
in the sequence program.
ER09 PMC LABEL CHECK <1> Turn on the power of the CNC again, by The nonvolatile memory of the
ERROR. PLEASE TURN ON holding down the 'O' and 'Z' keys at the PMC system needs to be
POWER AGAIN WITH same time. initialized in such cases as when
PRESSING 'O'&'Z'. (CLEAR <2> Replace the backup batteries. you have changed the PMC
PMC SRAM) model.
ER17 PROGRAM PARITY <1> Enter the sequence program again. The parity of the sequence
<2> If this error recurs even after you have program is invalid.
entered the sequence program again, the
error may be due to a hardware fault. In
that case, contact us.
ER18 PROGRAM DATA Enter the sequence program again. Reading sequence program was
ERROR BY I/O interrupted.
ER19 LADDER DATA Display the LADDER DIAGRAM EDITOR During editing the ladder, the
ERROR screen again, and terminate the editing screen display is switched to a
operation by pressing the [EXIT] soft key. CNC screen by the operation of a
function key.
ER22 NO PROGRAM Enter the sequence program again. The sequence program is empty.
ER27 LADDER FUNC. PRM Correct the sequence program; change the An out-of-range parameter
IS OUT OF RANGE parameter number specified in a functional number is specified in the TMR,
instruction to a value that is within the TMRB, TMRBF, CTR, CTRB,
allowable range. DIFU, or DIFD functional
instruction.
ER33 I/O Link ERROR(CHn) Contact us; replace the faulty hardware. The LSI for the I/O Link is faulty.
(Note3)
- 144 -
B-85314EN-1/01 15.ALARM AND ERROR MESSAGES LIST

ER34 ER34 I/O Link ERROR <1> Check the cable connections to the An I/O device communication
(CHn Gxx) devices of group xx. error occurred on the slave side
(Note1)(Note3) <2> Check whether the power of each I/O of group xx.
device has been turned on before the
CNC.
<3> Replace any device of group xx in which
the PMC control module is embedded.
ER35 TOO MUCH OUTPUT Reduce the output data count of group xx. The output data count of I/O Link
DATA IN GROUP(CHn Gxx) group xx exceeds the upper limit
(Note1)(Note3) (33 bytes).
Or the output data count of I/O
Link i group “xx” exceeds the
upper limit (65 bytes for the
normal I/O, 29 bytes for the
safety I/O).
The superfluous data is regarded
as invalid.
ER36 TOO MUCH INPUT Reduce the input data count of group xx. The input data count of I/O Link
DATA IN GROUP(CHn Gxx) group xx exceeds the upper limit
(Note1)(Note3) (33 bytes).
Or the input data count of I/O
Link i group “xx” exceeds the
upper limit (65 bytes for the
normal I/O, 29 bytes for the
safety I/O). The superfluous data
is regarded as invalid.
ER37 TOO MUCH SLOT IN Correct the slot number to a value of 10 or The slot number for the I/O Link
BASE(CHn) less. exceed the upper limit (10). The
(Note3) slot number larger than 11 is
regarded as invalid.
ER38 MAX SETTING <1> In case of I/O Link, reduce the total The I/O area for the I/O Link is
OUTPUT DATA OVER(CHn amount of output data of all groups to 128 insufficient.
Gxx) bytes or less. (The area allocated to the group
(Note1)(Note3) <2> In case of I/O Link i, reduce the total “xx” and later on the output side
amount of output data of all groups to 256 is regarded as invalid.)
bytes or less. In case of I/O Link i, The I/O area
is insufficient in the normal
update cycle mode.
ER39 MAX SETTING INPUT <1> In case of I/O Link, reduce the total The I/O area for the I/O Link is
DATA OVER(CHn xx) amount of input data of all groups to 128 insufficient.
(Note1)(Note3) bytes or less. (The area allocated to the group
<2> In case of I/O Link i, reduce the total “xx” and later on the input side is
amount of input data of all groups to 256 regarded as invalid.)
bytes or less. In case of I/O Link i, The I/O area
is insufficient in the normal
update cycle mode.
ER43 PROGRAM DATA <1> Store sequence program which is The sequence program is invalid.
ERROR(PT/NT) compiled again after recompilations using
FANUC LADDER-III.
<2> If you see the same alarm again after
<1>, contact us.
ER45 NO OPTION Add a required function block option. No function block option is
(FUNCTION BLOCK) specified.
- 145 -

ER46 MESSAGE DATA Save the corrected sequence program or The message data in the
UPDATE ERROR. message data for multi-language display to F- sequence program or the
PLEASE TRUN OFF ROM. Moreover, turn the power off/on. message data for multi-language
POWER AFTER SAVING display cannot be updated. It is
DATA. necessary to turn off/on the
power. The ladder program
cannot be executed when this
alarm occurs.
ER47 ILLEGAL OVERRIDE The override mode of the force I/O function is The override function is enabled
FUNCTION SETTING (TOO available in 3 or less PMC paths in same time. in four or more PMC paths.
MANY PMC PATHS) In some PMC paths, make the function invalid.
Moreover, turn the power off/on.
ER48 STEP SEQUENCE Remove the setting of exceeding setting time The activated condition of step
TIME OVER(xxH) on the STEP SEQUENCE TIME MONITOR sequence exceeds the time limit,
SETTING screen. which is set on the STEP
SEQUENCE TIME MONITOR
SETTING screen.
ER50 PMC EXECUTION Check CNC parameter Nos. 11900 to 11904. The execution order setting of the
ORDER ERROR multi-PMC function is invalid.
ER51 PMC EXECUTION Check CNC parameter Nos. 11905 to 11909. The execution percentage setting
PERCENTAGE ERROR of the multi-PMC function is
invalid.
ER52 I/O Link CHANNEL Check CNC parameter Nos. 11910 to 11912. The I/O Link channel assignment
ASSIGNMENT ERROR to the PMC system is invalid.
(Note3)
ER54 NC-PMC I/F Check CNC parameter Nos. 11920 to 11929. The interface assignment
ASSIGNMENT ERROR between NC and PMC is invalid.
ER55 LEVEL1 EXECUTION Check CNC parameter No. 11930. The ladder level 1 execution
CYCLE ERROR cycle setting is invalid.
ER57 MULTI-PATH PMC I/F Check CNC parameter No. 11932. The assignment of multi-path
ASSIGNMENT ERROR PMC interface is invalid.
ER58 PMC MEMORY TYPE Check CNC parameter No.11940 to No.11944. The setting of PMC Memory
SETTING ERROR Type is invalid.
ER60 I/O Link i Contact us. Exchange of the hardware. The LSI for I/O Link i is faulty.
ERROR(CHn)
(Note3)
ER61 I/O Link i ERROR(CHn <1> Check the cable connected to the device The connection error occurred in
Gxx) of group “xx”. the slave of group “xx”.
(Note1) (Note3) <2> Check the power supply of the I/O device
if the power is turned on earlier than the
power of CNC.
<3> Exchange the I/O device in group “xx” in
which PMC control module is built.
ER62 I/O Link i DCS ERROR Contact us. Exchange of the hardware. The LSI for I/O Link i DCS is
(Note3) faulty.
ER63 I/O Link CHANNEL <1> Change the channel configuration in order Total I/O points are over
SETTING ERROR to reduce the I/O points. As for the 4096/4096 points in system.
(Note3) communication method for each channel, For the I/O Link, the I/O points
specify the CNC parameter No. 11933#0 are 1024/1024 points for one
and 1. channel. For the I/O Link i,
2048/2048 points for one
channel.
ER64 I/O Link i TOO MANY Reduce the number of connected I/O devices 25 or more of I/O devices are
CONNECTED to 24 or less. connected in channel “n”.
GROUPS(CHn)
(Note3)
- 146 -

ER65 I/O Link i TOO MANY Reduce the number of connected I/O modules 257 or more of I/O modules are
SLOTS(CHn) to 256 or less. connected in channel “n”.
(Note3)
ER66 I/O Link i PMC Enter the PMC address or size again so that The address X(Y)”nnnn”
ADDRESS OVERLAPPED any address is not used by multiple PMCs that assigned in PMC path “m” is
(PMCm X(Y)nnnn) share PMC memory. assigned to another PMC path
(Note3) that is shared the common
memory with PMC path “m”.
ER67 I/O Link i TOO MANY Reduce the group number of safety I/O. The total group number of safety
SAFETY I/O GROYPS I/O in PMC paths exceed 4 or the
(Note3) total group number of safety I/O
in DSCPMC exceed 4 for I /O
Link i.
ER68 I/O Link i TOO MANY When there are some groups which is set to In the channel n, the
ASSIGNMENTS IN HIGH high-speed update cycle mode in I/O Link i, transmission size exceeds the
SPEED MODE (CHn,Gyy) Correct the transmission timing. Refer to limit of high-speed mode for I/O
(Note1) (Note3) subsection “3.4.6”. Link i. The assignment of group
“yy” or later cannot be performed.
ER69 I/O Link i Correct the assignment data of I/O Link i. The address of false PMC path is
ASSIGNMENT ADDRESS assigned in group “yy” of channel
INVALID(CHn Gyy) “n” of I/O Link i assignment data.
(Note2)(Note3)
ER70 PMC ADDRESS <1> Delete the assignment data for I/O Link i There is a PMC address block
BLOCK OVERLAPPED or correct the assignment address. which is assigned in both I/O Link
BETWEEN I/O Link AND I/O <2> Correct the X/Y address block of the I/O and I/O Link i.
Link i(PMCm X(Y)nnnn) Link channel. (The setting of Machine
(Note3) signal interface of PMC configuration
parameter)
<3> Check the communication method of I/O
Link. (NC parameter 11933#0,#1)
<4> Check the setting of the selectable
assignment data function for I/O Link i.
ER71 I/O Link i STATUS Correct the configuration of I/O devices and The total of the status alarms for
ALARM LENGTH OVER IN reduce the total of the status alarms to I/O devices connected with group
GROUP(CHn Gxx) 64bytes or less. “xx” of channel “n” exceeds 64
(Note1)(Note3) bytes
ER89 EDITING I/O Finish the edit of I/O configuration data. I/O configuration data is invalid
CONFIGURATION DATA IS because that the editing of the
NOT COMPLETED I/O configuration data is in the
midst.
ER90 TOO LARGE I/O Reduce the I/O configuration data file. I/O configuration data is larger
CONFIGURATION DATA than the save area or invalid.
(Note3)
ER91 I/O CONFIGURATION <1> Input I/O configuration data file again. The parity of I/O configuration
DATA PARITY <2> When re-input cannot solve this error, the data is invalid.
(Note3) hardware may be failure. Contact us.
ER92 I/O CONFIGURATION Input I/O configuration data file again. Reading of I/O configuration file
DATA ERROR BY I/O is interrupted.
ER93 UNSUPPORTED I/O Correct the type of I/O configuration data and The type of I/O configuration data
CONFIGURATION DATA input again. is invalid.
(Note3)
ER94 I/O CONFIGURATION Re-compile the I/O configuration data by FL- Data configuration of I/O
DATA ERROR III. Moreover, input again. configuration data is abnormal.
(Note3)
- 147 -

ER95 I/O DEVICE When this alarm occurs on a well-worked This alarm occurs when actual
MISMATCH(CHn) machine, the causes may be following: I/O devices connected to CNC
(Note3) <1> Disconnection of communication cable or differ from the I/O configuration
contact fault. data registered in the “I/O Device
<2> The power of an I/O device is turned off. Monitor” screen. The ladder
Or the power on is delayed. program runs regardless of the
<3> The failure of an I/O device. occurrence of this alarm.
<4> The power of some I/O devices remain
when the power of CNC is turned off/on.
Turn the power all of I/O devices off/on
When this alarm occurs during a debugging of

sequence program, the following causes also
come up.
<5> The configuration (type, order or number)
of the I/O devices is wrong.
<6> Invalid I/O configuration data is registered.
You can confirm the error I/O device in the “I/O
Device Monitor” screen.
ER96 I/O Link MAX GROUP <1> Check the PMC paths and addresses of When dual assignment of I/O
OVER(CHn) first and second blocks of n channel on Link channel is used, total groups
(Note3) configuration parameter setting screen. of first and second block exceeds
<2> Check the total groups of first and second 16 groups.
block on I/O module assignment. The ladder program runs
<3> Check the parameter setting of regardless of the occurrence of
"Selectable I/O Link assignment this alarm.
function".
ER97 I/O Link FAILURE(CHn When this alarm occurs on a well-worked This alarm occurs when less I/O
Gxx) machine, the cause may be following. devices are connected.
(Note1) (Note3) <1> The failure of the cable or contact from This alarm occurs when a total
group (“xx” – 1) to “xx”. group count of the I/O module
<2> The power of an I/O device of group “xx” assignment are different with one
or later is turned off. Or the power on is of connected device count.
delayed. The ladder program runs
<3> The failure of an I/O device of group “xx” regardless of the occurrence of
or (“xx” – 1). this alarm.
<4> The power of some I/O devices remain
Turn the power all of I/O devices off/on
If this alarm occurs during a debugging of

sequence program, the following causes also
come up.
<5> The group number of I/O device is invalid.
<6> The mistake of the assignment setting of
I/O modules.
<7> The mistake of the parameter setting of
"Selectable I/O Link assignment function"
<8> The mistake of the machine signal
interface setting.
You can confirm the details of the error in the
“I/O Device Monitor” screen.
WN02 OPERATE PANEL Correct the Series 0 operator's panel address The Series 0 operator's panel
ADDRESS that is set in the PMC system parameter. address that is set in the PMC
ERROR system parameter is invalid.
- 148 -

WN03 ABORT NC- Modify the ladder program and turn on the The ladder program was stopped
WINDOW/EXIN power of the CNC again. Refer to subsection while communication was in
“4.15” for details. progress between CNC and
PMC.
This alarm may cause the
WINDR, WINDW, EXIN, and
DISPB functional instructions to
malfunction.
WN07 LADDER SP Correct the sequence program so that the There are too many levels of
ERROR(STACK) subprogram has eight or fewer levels of nesting (levels more than 8) for
nesting. the CALL or CALLU functional
instruction to call the
subprogram.
WN09 SEQUENCE If you want to use the current sequence You have changed the sequence
PROGRAM IS NOT program next time you power on the system, program using the LADDER
WRITTEN TO FLASH ROM write the sequence program to flash ROM. If DIAGRAM EDITOR screen or
you have made any unwanted change to the DATA I/O screen, but you have
sequence program by mistake, read the not yet written the changed
original sequence program from flash ROM. sequence program to flash ROM.
If you shut down the system
without writing the changed
sequence program to flash ROM,
the changes you have made will
be lost next time you turn on the
power.
WN10 NO OPTION(STEP <1> Add the step sequence option. No step sequence option was
SEQUENCE) <2> Arrange so that the step sequence found when the system
subprogram will not be called. attempted to execute a step
sequence.
WN11 INCOMPATIBLE Compile the sequence program again with An incompatible functional
FUNCTION FANUC LADDER-III or Ladder Editing instruction is used in the
Package. sequence program.
WN57 OVERRIDE The Override function is for debugging only. The Override function is
FUNCTION IS ACTIVE So, please disable the function when shipping activated.
the machine.
WN58 UNSUPPORTED Correct the sequence program with Ladder An unsupported functional
FUNCTION editing function on PMC screen. instruction is used in the
sequence program. The
functional instruction was
skipped.
WN59 MESSAGE FILE Correct the error in the message file for multi- In the message file for multi-
SYMBOL UNDEFINED language display. language display, a symbol that
does not exist in the ladder is
defined.
WN60 MESSAGE FILE Correct the error in the message file for multi- In the message file for multi-
SYMBOL INVALID language display. language display, a symbol other
than an A address is defined.
WN61 MESSAGE FILE Correct the error in the message file for multi- The A address area has a
ADDRESS DUPLICATE language display. duplicate definition between a
symbol and address or between
symbols.
WN62 MESSAGE FILE Correct the error in the message file for multi- A message number differs
NUMBER ERROR language display. between the ladder and message
file for multi-language display at
the same A address.
- 149 -

WN63 MESSAGE FILE IS If you want to use the current message file for You have changed the message
NOT WRITTEN TO FLASH multi-language display next time you power on data for multi-language display
ROM the system, write the message file to flash using DATA I/O screen, but you
ROM. have not yet written the changed
message data to flash ROM. If
you shut down the system
without writing the changed
message data to flash ROM, the
changes you have made will be
nowhere next time you turn on
the power.
WN64 MESSAGE FILE SIZE <1> Reduce the size of the message file for The message file for multi-
OVER multi-language display. language display is too large to
<2> Contact us and specify an option for a load into the save area.
larger size. The message file for multi-
language display is invalid.
WN65 MESSAGE FILE Contact us. An unsupported function is used
MISMATCH in the message file for multi-
language display.
WN66 MESSAGE FILE <1> Enter the message file for multi-language The parity of the message file for
PARITY display again. multi-language display is invalid.
<2> If this error recurs even after you have
entered the message file for multi-
language display again, the error may be
due to a hardware fault. In that case,
contact us.
WN67 MESSAGE FILE Enter the message file for multi-language Reading the message file for
ERROR BY I/O display again. multi-language display was
interrupted.
WN68 I/O CONFIGURATION If you want to make updated I/O configuration The I/O configuration data was
DATA IS NOT WRITTEN TO data effective, write the data to Flash ROM. updated in the I/O configuration
FLASH ROM editor screen or data I/O screen
but the data has not been written
to Flash ROM yet. The data will
be lost if the save operation is not
performed.
- 150 -

WN69 I/O Link i DO ALARM Check DO of the relevant device. The DO alarm (ex. a short circuit
(CHn Gxx Syy zz : PMCm with the ground) occurs at byte
Ybbb = **H ) “zz” of slot “yy” of group “xx” in
(Note1) channel “n”.
Y “bbbb” of PMC path ”m” is the

address at which the alarm
occurred.
DCSPMC Y”bbbb” is the address
for DCSPMC.
Display of “PMC*Y****” is the
case of occurrence of
unassigned address.
The “**H” shows some bits at

which the alarm occurs by
hexadecimal.
(Ex. “PMC1Y115=28H” shows
the alarm occurs at Y115.3 and
Y115.5 in PMC1. “28H” means
“00101000” in binary. )
For the details of the alarm of I/O
devices, refer to the
“CONNECTION MANUAL
(HARDWARE)”.
WN70 I/O Link i STATUS Check the alarm information of applied I/O The status alarm except for the
ALARM (CHn Gxx Syy zz = device. DO alarm occurs at byte “zz” of
**H) slot “yy” of group “xx” in channel
(Note1) “n”.
The “**H” shows some bits at
which the alarm occurs by
hexadecimal.
For the details of the alarm of I/O
devices, refer to the
“CONNECTION MANUAL
(HARDWARE)”.
NOTE
1 The displayed group number in ER34, ER35, ER36, ER38, ER39, ER61, ER68,
ER71, ER97, WN69 and WN70 is wiring number of I/O device.
2 The group number displayed in ER69 is the number of I/O Link i assignment
data.
3 When some PMC alarms related to I/O Link and I/O Link i occur, all of I/O
devices in all of channels do not be liked with the CNC.
- 151 -
15.2 PMC System Alarm Messages

Error Messages when SYS_ALM199 (PMC General)
PC004 CPU INVALID INSTRUCTION This alarm may be due to a main A CPU error occurred in the PMC
-----< ERROR POSITION >----- board fault. system.
MAIN BOARD
-----------------------------------------
PC006 CPU INVALID SLOT
INSTRUCTION
-----< ERROR POSITION >-----
MAIN BOARD
-----------------------------------------
PC009 CPU ADDRESS ERROR
MAIN BOARD
-----------------------------------------
PC010 DMA ADDRESS ERROR
MAIN BOARD
-----------------------------------------
PC012 CPU USER BREAK
EXCEPTION
MAIN BOARD
-----------------------------------------
PC030 RAM PARITY A RAM parity error occurred in
PC030 S-RAM PARITY the PMC system.
MAIN BOARD
-----------------------------------------
PC060 BUS ERROR A bus error occurred in the PMC
-----< ERROR POSITION >----- system.
MAIN BOARD
-----------------------------------------
PC070 ILLEGAL LADDER SPE (PMCn) A stack error occurred with the
PC070 LADDER SPE(PMCm) SPE functional instruction of the
-----< ERROR POSITION >----- ladder program of n path.
MAIN BOARD
-----------------------------------------
PC071 ILLEGAL LADDER FBE (PMCn) A stack error occurred with the
-----< ERROR POSITION >----- FBE functional instruction of the
MAIN BOARD ladder program of path n.
-----------------------------------------
PC072 STACK OVERFLOW (TASK:xx) A stack error occurred. (detected
PC072 STACK OVERFLOW (INT:xx) by the software).
MAIN BOARD
-----------------------------------------
PC080 SYSTEM EMERGENCY System emergency state of the
-----< ERROR POSITION >----- PMC LSI.
MAIN BOARD
-----------------------------------------
- 152 -

PC090 SYSTEM EMERGENCY CPU error (unexpected NMI)
(SOFTWARE) occurs in PMC control software.
PC090 NON MASKABLE INTERRUPT
(SOFTWARE)
PC090 NON MASKABLE INTERRUPT
(UNKNOWN)
MAIN BOARD
-----------------------------------------
PC093 UNEXPECTED INTERRUPT
(xx)
MAIN BOARD
-----------------------------------------
PC094 UNEXPECTED TRAP A trap exception of unknown
EXCEPTION (xx) cause occurred with the PMC
-----< ERROR POSITION >----- control software.
MAIN BOARD
-----------------------------------------
PC095 MESSAGE CRC ERROR RAM check error occurred.
(PMCn)
MAIN BOARD
-----------------------------------------
PC096 LADDER CODE ERROR (___)
MAIN BOARD
-----------------------------------------
PC097 LADDER CRC ERROR (PMCm)
MAIN BOARD
-----------------------------------------
PC098 PMC SOFTWARE CRC ERROR
PC098 PMC SOFTWARE ECC ERROR
(_____:_)
MAIN BOARD
-----------------------------------------
PC501 CNC/PMC INTERFACE ERROR The read or write operation
(PATHn) between CNC and PMC failed
MAIN BOARD
-----------------------------------------
- 153 -
Error Messages when SYS_ALM197 (PMC General)

PC070 ILLEGAL LADDER SPE This alarm may be due to a CPU A stack error occurred with the
(DCSPMC) card fault. SPE functional instruction of the
-----< ERROR POSITION >----- ladder program of DCSPMC.
CPU CARD
-----------------------------------------
PC071 ILLEGAL LADDER FBE A stack error occurred with the
(DCSPMC) FBE functional instruction of the
-----< ERROR POSITION >----- ladder program of DCSPMC.
CPU CARD
-----------------------------------------
PC095 MESSAGE CRC ERROR RAM check error occurred.
(DCSPMC)
CPU CARD
-----------------------------------------
PC097 LADDER PARITY ERR
(DCSPMC)
CPU CARD
-----------------------------------------
Error Messages when SYS_ALM196 (PMC Watch Dog)

PC073 WATCH-DOG ALARM(CNC<- This alarm may be due to a main The PMC CPU is not running.
>PMC) board fault.
MAIN BOARD
-----------------------------------------
Error Messages when SYS_ALM195 (I/O Link)

PC050 I/O Link ER1 CHn:GRxx:yy <1> Check the I/O device of group An I/O Link communication error
COMMUNICATION ALARM AT CHn : “xx” in channel “n” occurred.
GROUP xx – Instantaneous power failure “n” is a channel number (1 to 3).
-----< ERROR POSITION>----- – Unstable power line “xx” is a group number (0 to 15).
CHn / GROUPxx <2> Check the I/O Link cable “yy” is a internal error code.
---------------------------------------- between JD1B of group “xx” This error occurs when the
and JD1A of group “xx-1” communication with the device of
– faulty wiring group “xx” in channel “n” is
– incomplete contact stopped.
<3> The I/O Link device of group The causes are as follows:
“xx” in channel “n” is faulty. – Instantaneous power failure,
unstable voltage or unstable
power line of the device
– Faulty wiring or incomplete
contact of communication cable
– Faulty device
Please note that It may not show
an accurate group number with
some conditions of the problem.
- 154 -

PC051 I/O Link ER2 CHn:yy:xx:ww:vv <1> When you use an I/O Unit- An I/O Link communication error
COMMUNICATION ALARM AT CHn Model A, no base extension occurred.
-----< ERROR POSITION>----- unit is connected corresponding “n” is a channel number (1 to 3).
CHn to an I/O assignment data. “yy”, “xx”, “ww” and “vv” are
---------------------------------------- Check connection of I/O internal error code.
devices and I/O assignment There are various causes as for
data. this error.
<2> When you use Power Mate as
I/O Link slave device and/or
Servo Motor Beta series I/O
Link option, some system alarm
occurs in such devices.
<3> A Communication may be
influenced by noise. Check the
ground wire and the shield of
the communication cables.
<4> The output of the I/O Link
devices is short-circuited.
<5> The power of the I/O Link
master and/or slave devices is
faulty.
– Instantaneous power failure
– Unstable power line
<6> Incomplete contact of the
communication cable
<7> Faulty wiring of the
communication cable
<8> Check the grounding of the
shield wire of the earth terminal
or the communication cable of
I/O devices.
<9> I/O Link devices are faulty.
<10>I/O Link master is faulty.
n=1,2: main board
n=3: CPU card
Error Messages when SYS_ALM194 (I/O Link i)

PC052 I/O Link I Change the main board. A RAM parity error occurred in
PMC LSI RAM PARITY ERROR PMC LSI on the main board.
-----< ERROR POSITION>----------------
MAIN BORAD
---------------------------------------------------
PC053 I/O Link I Change the I/O device of the unit. A RAM parity error occurred in
SLAVE LSI RAM PARITY ERROR “y”th unit (group “x”) of channel
-----< ERROR POSITION>---------------- “n”.
CHn / UNITy(GROUPx) : “Unit name”
(Note1)
---------------------------------------------------
PC054 I/O Link I Check the power supply of the I/O A power disconnection alarm
ABNORMAL POWER SUPPLY unit. occurred in the “y”th unit (group
-----< ERROR POSITION>---------------- “x”) of channel “n”.
(Note)
---------------------------------------------------
- 155 -

PC055 I/O Link I Check whether any noise is inserted A communication error occurred
I/O Link I SENDING DATA FAILURE between the CNC and 1st unit. between the CNC and 1st unit
-----< ERROR POSITION>---------------- Check the ground status of the (group 0) of channel “n”.
CHn / CNC <-> UNIT1(GROUP0) slave device and the contact of the
CNC : MAIN BOARD connection cable.
UNIT1 : “Unit name” (Note1)
---------------------------------------------------
PC055 I/O Link I Check whether there any noise is A communication error occurred
I/O Link I SENDING DATA FAILURE inserted between the “y-1”th unit between the “y-1”th unit (group “x-
-----< ERROR POSITION>---------------- (group “x-1”) and “y”th unit (group 1”) and the “y”th unit (group “x”) of
CHn / UNITy-1(GROUPx-1) <-> “x”). Check the ground status of the channel “n”.
UNITy(GROUPx) slave device and the contact of the
UNITy –1 : “Unit name” (Note1) connection cable.
UNITy : “Unit name” (Note1)
---------------------------------------------------
PC056 I/O Link I Check whether there is Connection error occurred
I/O Link I DISCONNECTION disconnection or incomplete contact between the CNC and 1st unit
-----< ERROR POSITION>---------------- for the cable between the CNC and (group 0) of channel “n”.
CHn / CNC <-> UNIT1(GROUP0) 1st unit (group 0).
CNC : MAIN BOARD
---------------------------------------------------
PC056 I/O Link I Check whether there is Connection error occurred
I/O Link I DISCONNECTION disconnection or incomplete contact between the “y-1”th unit (group “x-
-----< ERROR POSITION>---------------- of the cable between the “y-1”th unit 1”) and “y”th unit (group “x”) of
CHn / UNITy-1(GROUPx-1)<-> (group “x-1”) and “y”th unit (group channel “n”.
UNITy(GROUPx) “x”).
UNITy –1 : “Unit name” (Note1)
---------------------------------------------------
PC057 I/O Link I Change the I/O device of the unit. If A hardware failure of the safety
SAFETY I/O ALARM the error still occurs, change the I/O occurred between the CNC
-----< ERROR POSITION >----- main board. and the “y”th unit.
UNITy : “unit name” (Note 1)
-----------------------------------------
PC058 I/O Link I Change the I/O device of the unit. A hardware failure occurred on
SLAVE LSI EXTERNAL ALARM the “y”th unit (group “x”) of
-----< ERROR POSITION>---------------- channel “n”.
(Note1)
---------------------------------------------------
NOTE
1 When an unknown unit is connected, the hardware ID is displayed.
2 For some I/O devices, one unit such as a safety I/O unit may consist of two
groups. If a connection failure occurs between groups containing units of the
same type, PC058 instead of PC056 indicating a connection failure occurs as a
unit failure.
- 156 -
15.3 Operation Errors

Error messages that may be displayed on the PMC LADDER DIAGRAM
VIEWER screen
Message Faulty location/corrective action Contents
INPUT INVALID Input a valid address or numeric The input address or numeric value is
value. invalid.
LADDER PROGRAM IS Enter the password. The screen cannot be displayed
PROTECTED BY PASSWORD because the program is protected by
the password.
ILLEGAL SUBPROGRAM NAME Input a existent subprogram number A nonexistent subprogram number or
or symbol. symbol is specified.
SYMBOL UNDEFINED Input a defined symbol or bit address. An undefined symbol character string
is specified.
THE NET IS NOT FOUND The specified net is not found.
THE ADDRESS IS NOT FOUND The specified address is not found.
THE FUNCTIONAL The specified functional instruction is
INSTRUCTION IS NOT FOUND not found.
WRITE COIL NEEDS BIT Specify a bit address for the write coil You entered a byte address when
ADDRESS search. specifying an address used for the
write coil search.
SOME NETS ARE DISCARDED The system cannot pick up all the The system failed to pick up all the
nets. Choose the nets to pick up, by nets because there were 128 nets or
using the LADDER DIAGRAM more to be picked up.
VIEWER display screen, and then
perform the net pickup operation
manually.
PROGRAM IS BEING Disconnect the online communication The ladder data cannot be displayed
MODIFIED with FANUC LADDER-III. Stop other because online communication with
applications from accessing the FANUC LADDER-III is in progress or
ladder data. another application is accessing the
ladder data.
THIS FUNCTION IS Cancel the protection by the This function is protected by the
PROTECTED programmer protection function or 8- programmer protection function or 8-
level protection function. level protection function.
CANNOT EDIT FUNCTION Use FANUC LADDER-III to edit You tried to edit the FB body
BLOCK function block. program.
- 157 -

EDITOR screen
THIS NET IS PROTECTED When you are editing data on a per-
subprogram basis, you cannot edit
the subprogram frame nets (END1,
END2, END3, SP, and SPE).
TOO LARGE DATA TO COPY Reduce the range of data to copy. The selected range of data exceeds
Perform the copy operation several the size of the copy buffer.
times, copying a smaller range of data
at a time.
TOO LARGE DATA TO PASTE Reduce the size of data to paste. An attempt was made to paste data
whose size exceeded the free space
of the sequence program.
BIT ADDRESS IS REQUIRED Make sure that the address types An attempt was made to alter a bit
match for the alteration operation. address to a byte address.
BYTE ADDRESS IS REQUIRED Make sure that the address types An attempt was made to alter a byte
match for the alteration operation. address to a bit address.
ILLEGAL PMC ADDRESS Check the address to be input, and • A character string was entered that
then enter it correctly. was unacceptable as a PMC
address.
• A wildcard (*) was specified in an
inappropriate manner.
• Either "OLD ADDRESS" or "NEW
ADDRESS" was not entered.
THIS ADDRESS IS READ-ONLY Enter a write-permitted address. • An attempt was made to alter a
write coil address to a write-
prohibited bit address.
• An attempt was made to alter an
address set in an output parameter
of a functional instruction to a write-
prohibited bit address.
THE ADDRESS TYPE ARE Check the types of the address in The type of the addresses in "OLD
MISMATCHED "OLD ADDRESS" and "NEW ADDRESS" does not match that in
ADDRESS" and, if necessary, enter "NEW ADDRESS".
the correct address or addresses.
***** DOSE NOT HAVE SYMBOL Define symbol data in "OLD No symbol data is defined for "OLD
ADDRESS". ADDRESS".
***** ALREADY HAS SYMBOL Make sure that the address types Symbol data is already defined for
match for the alteration operation. "NEW ADDRESS".
CANNOT CUT FUNCTION Use FANUC LADDER-III to edit You tried to cut the net including the
BLOCK function block. function block.
Cut nets which do not include any
function block.
CANNOT COPY FUNCTION Use FANUC LADDER-III to edit You tried to copy the net including the
BLOCK function block. function block.
Copy nets which do not include any
function block.
CANNOT EDIT FUNCTION Use FANUC LADDER-III to edit You tried to edit the FB body
BLOCK function block. program.
CANNOT INPUT AT THIS Use NET EDITOR screen. You tried to set an address in the
SCREEN output section that is omitted in the
function block.
CANNOT EDIT INPUT/OUTPUT An address in the input section of an
PARAM ADDRESS input/output parameter in the function
block cannot be changed.
- 158 -

NO CONSTANT TO When the input parameter of the
PARAMETER OF PLURAL function block is plural data type, any
TYPE constant cannot be set.

EDITOR screen (when updating)
OVERLAPPED COM If COME is missing, add it in proper There is no COME that corresponds
position. If the COM is unnecessary, to this COM.
remove it.
END IN COM If COME is missing, add it in proper END,END1,END2, or END3 is found
END1 IN COM position. If COM is unnecessary, between COM and COME.
END2 IN COM remove it.
JMPE IN COM JMPE and corresponding JMP must JMPE is found between COM and
have same COM/COME status. Review COME, and JMP and corresponding
JMP range and COM range, to adjust JMPE have different COM/COME
not to overlap with each other: it is status.
possible that one range includes the
other completely.
SP/SPE IN COM If COME is missing, add it in proper SP or SPE is found between COM
position. If the COM is unnecessary, and COME.
remove it.
COME WITHOUT COM If COM is missing, add it in proper There is no COM that corresponds to
position. If the COME is unnecessary, this COME.
remove it.
COME NOT FOUND AFTER If COME is missing, add it in proper There is no COME that corresponds
COM position. If the COM is unnecessary, to this COM.
remove it.
DUPLICATE CTR NUMBER If some of them are unnecessary, Plural CTRs have the same number
(WARN) remove them. If all of them are as their parameter. (This is warning.)
necessary, assign other number to
parameter of them to make them
unique. (If two or more instructions with
same parameter number will never be
active simultaneously at one time, the
Ladder program has a possibility to work
correctly, however, it is recommended
from safety and maintenance points of
view, that all these instructions should
have different parameter number with
each other.)
ILLEGAL CTR NUMBER If unnecessary, remove it. Assign CTR has parameter number that is
correct number not to exceed the out of range.
maximum number defined by each PMC
model.
- 159 -

DUPLICATE DIFU/DIFD If some of them are unnecessary, Plural DIFUs or DIFDs have the same
NUMBER remove them. If all of them are number as their parameter. (This is
(WARN) necessary, assign other number to warning.)
each other.)
ILLEGAL DIFU/DIFD NUMBER If unnecessary, remove it. Assign DIFU or DIFD has parameter number
correct number not to exceed the that is out of range.
model.
NO END Add END, END1, END2 or END3 in END, END1, END2 or END3 is not
NO END1 proper position. found.
NO END2
NO END3
DUPLICATE END1 Remove extra END1, END2 or END3. Multiple END1, END2 or END3 are
DUPLICATE END2 found.
DUPLICATE END3
GARBAGE AFTER END Remove unnecessary nets, and move There are some nets after END,
GARBAGE AFTER END2 necessary nets to proper position so END2 or END3, which will not be
GARBAGE AFTER END3 that they will be executed. executed.
OVERLAPPED JMP If JMPE is missing, add it in proper There is no JMPE that corresponds to
position. If the JMP is unnecessary, this JMP.
remove it.
JMP/JMPE TO BAD COM JMP and corresponding JMPE must JMP and corresponding JMPE have
LEVEL have same COM/COME status. Review different COM/COME status.
JMP range and COM range, to adjust
not to overlap with each other: it is
other completely.
COME IN JMP COME and corresponding COM must COME is found between JMP and
have same JMP/JMPE status. Review JMPE, and COM and corresponding
COM range and JMP range, to adjust COME have different JMP/JMPE
not to overlap with each other: it is status.
other completely.
END IN JMP If JMPE is missing, add it in proper END,END1,END2, or END3 is found
END1 IN JMP position. If JMP is unnecessary, remove between JMP and JMPE.
END2 IN JMP it.
END3 IN JMP
SP/SPE IN JMP If JMPE is missing, add it in proper SP or SPE is found between JMP and
position. If the JMP is unnecessary, JMPE.
remove it.
JMPB OVER COM BORDER JMPB and its destination must have JMPB and its destination differ in
same COM/COME status. Review range COM/COME status.
of JMPB and COM range, to adjust not
to overlap with each other: it is possible
that one range includes the other
completely.
- 160 -

JMPB OVER LEVEL JMPB can only jump to the same JMPB jumps to different program
program level, or within a subprogram. If level.
the JMPB is unnecessary, remove it. If
LBL for the JMPB is missing, add it in
proper position. If it should be JMPC,
correct it.
LBL FOR JMPB NOT FOUND If JMPB is unnecessary, remove it. If Can not find proper LBL for JMPB.
LBL is missing, add it in proper position.
JMPC IN BAD LEVEL JMPC is used to jump from a JMPC is used in other than
subprogram to level 2. If the JMPC is subprogram.
unnecessary, remove it. If it should be
JMPB or JMP, correct it.
LBL FOR JMPC NOT FOUND If JMPC is unnecessary, remove it. If Can not find proper LBL for JMPC.
LBL is missing, add it in proper position:
JMPC jumps into level 2.
LBL FOR JMPC IN BAD JMPC is used to jump from a Destination of JMPC is not level 2.
LEVEL subprogram to level 2. If the JMPC is
unnecessary, remove it. If another LBL
of same L-address that the JMPC is
intended to jump exists in the
subprogram, assign different L-address
to these two LBLs. If it should be JMPB
or JMP, correct it.
JMPC INTO COM LBL for JMPC must be located out of JMPC jumps to LBL between COM
any COM and COME pair. If the JMPC and COME.
is unnecessary, remove it. If the LBL is
located wrong, move it to correct
position. If the L-address of JMPC is
wrong, correct it.
JMPE WITHOUT JMP If JMP is missing, add it in proper There is no JMP that corresponds to
position. If the JMPE is unnecessary, this JMPE.
remove it.
JMPE NOT FOUND AFTER If JMPE is missing, add it in proper There is no JMPE that corresponds to
JMP position. If the JMP is unnecessary, this JMP.
remove it.
TOO MANY LBL Remove unnecessary LBLs. If this error There are too many LBLs.
still occurs, adjust the construction of
program to use less LBLs.
DUPLICATE LBL If some of these LBLs are unnecessary, Same L-address is used in plural
remove them. If all of these LBLs is LBLs.
necessary, assign other L-addresses to
them to make all LBLs unique.
OVERLAPPED SP If SPE is missing, add it in proper There is no SPE that corresponds to
position. If the SP is unnecessary, this SP.
remove it.
SPE WITHOUT SP If SP is missing, add it in proper There is no SP that corresponds to
position. If the SPE is unnecessary, this SPE.
remove it.
SPE NOT FOUND AFTER SP If SPE is missing, add it in proper There is no SPE that corresponds to
position. If the SP is unnecessary, this SP.
remove it.
END IN SP If SPE is missing, add it in proper END is found between SP and SPE.
position. If END is in wrong place, move
it to proper position.
- 161 -

DUPLICATE P ADDRESS If some of these SPs are unnecessary, Same P-address is used in plural
remove them. If all of these SPs is SPs.
necessary, assign other P-addresses to
them to make all SPs unique.
DUPLICATE TMRB/TMRBF If some of them are unnecessary, Plural TMRBs/TMRBFs have the
NUMBER remove them. If all of them are same number as their parameter.
(WARN) necessary, assign other number to (This is warning.)
each other.)
ILLEGAL TMRB/TMRBF If unnecessary, remove it. Assign TMRB/TMRBF has parameter
NUMBER correct number not to exceed the number that is out of range.
model.
DUPLICATE TMR NUMBER If some of them are unnecessary, Plural TMRs have the same number
(WARN) remove them. If all of them are as their parameter. (This is warning.)
necessary, assign other number to
each other.)
ILLEGAL TMR NUMBER If unnecessary, remove it. Assign TMR has parameter number that is
correct number not to exceed the out of range.
model.
NO SUCH SUBPROGRAM If it calls wrong subprogram, correct it. If Subprogram that is called by
the subprogram is missing, create it. CALL/CALLU is not found.
UNAVAILABLE Confirm that this ladder program is Unsupported instruction for this PMC
INSTRUCTION correct one. If this program is correct model is found.
one, all these unsupported instructions
have to be removed.
SP IN BAD LEVEL SP can be used at top of a subprogram. SP is found in wrong place.
Correct it so that no SP exists in other
place.
LADDER PROGRAM IS This ladder program must be all cleared Ladder program may be broken by
BROKEN once, and remake ladder program. some reason.
NO WRITE COIL Add proper write coil. Write coil is necessary, but is not
found.
CALL/CALLU IN BAD LEVEL CALL/CALLU must be used in Level 2 CALL/CALLU is used in wrong place.
or in subprograms. Do not use any other
places.
- 162 -

SP IN LEVEL3 If END3 is located wrong, move it to SP is found in level 3.
correct position. If the SP is
unnecessary, remove it.
CS/CM/CE IN COM If COME is missing, add it in proper CS,CM or CE is found between COM
position. If the COM is unnecessary, and COME.
remove it.
CS/CM/CE IN BAD LEVEL CS, CM or CE must be used in Level 2 CS,CM, or CE is used in wrong place.
or in subprograms. Do not use any other
places.
CM/CE WITHOUT CS If CS is missing, add it in proper There is no CS that corresponds to
position. If the CM or CE is this CM or CE.
unnecessary, remove it.
INSTRUCTION EXCEPT CM If CE is missing, add it in proper Instruction except CM is found
IN CS position. If the instruction other than CM between CS and CE.
is unnecessary, remove it.
OVERLAPPED CS If CE is missing, add it in proper There is no CE that corresponds to
position. If the CS is unnecessary, this CS.
remove it.
FB BODY PROGRAM IS The ladder program must be deleted FB body program is broken.
BLOKEN and remake it.
Error messages that may be displayed on the PMC NET EDITOR screen
ILLEGAL FUNCTIONAL Specify the name of an available The entered name of functional
INSTRUCTION NAME functional instruction. instruction is invalid.
TOO MANY FUNCTION IN Only one functional instruction is Too many functional instructions are
ONE NET allowed to constitute a net. If necessary, in one net.
divide the net into plural nets.
TOO LARGE NET Divide the net into plural nets so that Net is too large. When a net is
step number in a net may become converted into the object, the net
small. exceeds 256 steps.
NO INPUT FOR OPERATION Coil without input, or coil connected to No signal is provided for logical
output of functional instruction that has operation.
no output, causes this error. If coil is not
necessary, remove it. If necessary,
connect it to meaningful input.
OPERATION AFTER Output of functional instruction can not No logical operation with functional
FUNCTION IS FORBIDDEN be connected to a contact, nor to instruction output is permitted, except
conjunction with other signal that will be write coils.
implemented by logical-or operation.
WRITE COIL IS EXPECTED Write coil is not found even if it is Write coil is expected, but not found.
expected. Add proper write coil to the
net.
BAD COIL LOCATION Coil can be located only at rightmost Coil is located in bad position.
column. Any coil located at other place
must be erased once, and place
necessary coils in correct place.
SHORT CIRCUIT Find contact with terminals connected Some contacts are connected with
by short circuit, and correct connections. short circuit. CTR has a parameter
number that is out of the range.
FUNCTION AFTER Functional instruction can not be used in Functional instruction is used in
DIVERGENCE IS output section of net. If necessary, output section of net.
FORBIDDEN divide the net into plural nets.
- 163 -

ALL COIL MUST HAVE SAME Left terminals of all coils in a net must When a net contains more than one
INPUT be connected to same input point. coil, the coils should not have any
contact beside them affects only of
the coils.
BAD CONDITION INPUT Check the connection of all condition Some condition input of functional
inputs of the functional instruction. instruction is not connected correctly.
Especially for functional instruction that
has more than one condition input,
check if connections to condition inputs
interfere with each other.
NO CONNECTION Correct the connection where is not The elements ,such as contacts and
connected. coils, are not connected..
NET IS TOO COMPLICATED Examine every connection, and find Net is too complicated to analyze.
unnecessarily bending connection, or
coils that are connected to different
point.
PARAMETER IS NOT Enter all of the relay addresses, and Relay with blank address, or blank
SUPPLIED parameters of functional instructions. parameter of functional instruction, is
found.
TOO LARGE DATA FOR NET- Change for being to modify net by The net data in net editor screen is
EDITOR [NEXT NET] soft key. too large.
TOO MANY FUNCTIONS FOR Change for being to modify net by There are too many functional
NET-EDITOR [NEXT NET] soft key. instructions in net editor screen.
BAD DIAGRAM STRUCTURE Examine every connection, and find the Circuit is too complicated to analyze.
error of connection of relay or functional
instruction.
NOT SUPPORT ENHANCED Replace other functional instruction The ladder net Structure of extended
LADDER DIAGRAM which supports Structure of extended type net contains a functional
type net. instruction which does not support
Or, change the ladder net construction Structure of extended type net.
not to be Structure of extended type net.
TOO COMPLICATED The circuit lines branched from a The circuit construction around
CIRCUIT conditional input for some functional functional
AROUND FUNCTION instruction must reach the right power instruction is too complicated.
line without joining the output line from
the functional instruction.
Refer to 8.3.4.3.
CONNECT OUTPUT TO COIL Connect the output of the functional The output of the functional
DIRECTLY instruction directly to a coil. instruction is not
connected directly to a coil.
SINGLE COIL IS EXPECTED This functional instruction must have A functional instruction has multiple
single coil directly connected to the coils
output. connected to its output which are
prohibited.
INVALID CIRCUIT FOR FB Specify the name of contact and coil for The functional instruction is
PARAMETER the parameter of function block. connected to the parameter of
function block.
NO CONNECTION Connect the broken connection. The connection is broken.
PARAMETER IS NOT Specify an address. The address is not assigned to the
SUPPLIED input section and the coil of output
section of a function block.
CAN NOT PLACE FB AND Delete the functional instruction placed A functional instruction is placed on
FUNCTION IN ONE NET on the same net as the function block. the same net as the function block.
NO ASSIGNMENT TO FB Specify a contact. The contact is not assigned in the
CONTACT input section for a BOOL type of the
function block.
- 164 -
Error messages that may be displayed on the TITLE DATA EDITOR screen
TOO MANY Make sure that the entered character The number of characters in the entered
CHARACTERS string is within the allowable input length. character string exceeds the allowable
input length. Some of the characters are
discarded.
PROGRAM IS BEING Disconnect the online communication with The title data cannot be displayed
MODIFIED FANUC LADDER-III. Stop other because online communication with
applications from accessing the title data. FANUC LADDER-III is in progress or
another application is accessing the title
data.
THIS FUNCTION IS Cancel the protection by the programmer This function is protected by the
PROTECTED protection function or 8-level protection programmer protection function or 8-level
function. protection function.
Error messages that may be displayed on the SYMBOL & COMMENT DATA
EDITOR screen
TOO MANY Make sure that the entered address is The number of characters in the entered
CHARACTERS within the allowable input length. address exceeds the allowable address
input length.
ADDRESS IS Enter data in a batch correctly, as No address was entered during the batch
REQUIRED instructed in "Editing a set of symbol and input of address, symbol, and comment
comment data" in Subsection 9.2.2. data using the SYMBOL & COMMENT
EDITOR screen.
ILLEGAL PMC Enter an address correctly. The specified address is invalid, or the
ADDRESS entered address character string
contains a space or spaces.
THE ADDRESS Specify another address. An already registered address was
ALREADY HAS AN entered.
ENTRY
THE SYMBOL NAME IS Specify another symbol. An already registered symbol was
ALREADY USED entered.
PMC ADDRESS MUST Enter a PMC address in the ADDRESS No PMC address was entered when new
BE ENTERED field. symbol/comment data is registered.
TOO LONG SYMBOL Make sure that the symbol consists of 16 The entered symbol exceeds the
NAME characters or less. specified number of characters.
TOO LONG COMMENT Make sure that the comment consists of 30 The entered comment exceeds the
STRING characters or less. specified number of characters.
THE STRING IS NOT Specify another character string for the The search was done for the specified
FOUND search. character string but did not find it.
OUT OF SPACE Create free space for the sequence The symbol/comment editing area has no
program, by deleting unnecessary ladder free space.
or message data.
PROGRAM IS BEING Disconnect the online communication with The symbol/comment data cannot be
MODIFIED FANUC LADDER-III. Stop other displayed because online communication
applications from accessing the with FANUC LADDER-III is in progress
symbol/comment data. or another application is accessing the
symbol/comment data.
PROTECTED protection function or 8-level protection programmer protection function or 8-level
function. protection function.
BAD SYMBOL NAME Change the symbol name. The symbol name is invalid.
- 165 -

CANNOT EDIT Use FANUC LADDER-III to change the The symbol whose PMC address is
ADDRESS AUTO symbol. assigned automatically by compiling
ASSIGNED SYMBOL FANUC LADDER-III, can not edit.
ILLEGAL DATA TYPE Enter a correct data type. The specified data type is invalid.
ILLEGAL PROGRAM Enter a correct program name. The specified program is invalid.
NAME
LINE FEED IS NOT Line feed code can be entered in comment Line feed code cannot be entered in this
AVAILABLE IN THIS data only. Do not enter it in other data. data.
DATA
LINE FEED IS NOT Enter Line feed code in the insert or Line feed code cannot be entered in this
AVAILABLE IN THIS overwrite mode. mode.
MODE
NO SYMBOL. Symbol name is required for local symbol. The specified program is ignored
PROGRAM SETTING IS because no symbol is specified.
IGNORED
NOTHING TO PASTE You need to copy or cut character strings You try to paste character strings without
before you paste them. copying or cutting ones.
TOO LARGE DATA TO Shorten the character string to copy or cut. The character strings is too long to copy
PASTE or cut.
UNAVAILABLE Do not copy or cut characters which The characters which can not be used at
CHARACTERS WAS cannot be used at pasted position. pasted position, were omitted.
OMITTED.
Error messages that may be displayed on the MESSAGE DATA EDITOR

screen
INPUT INVALID Correct the message number. The format of the message number is
Enter ";" in the 5th digit position in the invalid, or the delimiter code -
batch message input process. semicolon (;) - was not entered in the
batch message input process.
ILLEGAL NUMBER Enter a four-digit number as the message The entered message number contains
number. any nonnumeric character, or a number
shorter than four digits was entered.
THE NUMBER IS OUT OF Enter the number in the range from 0 to The entered message number is out of
RANGE 4095 for the message number of the range.
format with path number, and 1000 to
9999 for the message number of other
format.
CLOSING "@" IS NOT When entering kana or other Japanese One of the @ sign pair is missing.
FOUND characters, make sure that they are
enclosed within a pair of @ signs.
BAD NUMBER OF Enter a character string correctly between The number of characters entered
CHARACTERS IN "@-@" a pair of @ signs. between the pair of @ signs is not even.
ILLEGAL CHARACTER IN Enter a character string correctly between One or more invalid character codes
"@-@" a pair of @ signs. exist between the pair of @ signs.
BAD NUMBER OF Enter a two-byte code correctly between The number of characters in the two-
CHARACTERS FOR 2- @02 and 01@. byte code (characters entered between
BYTE CODE @02 and 01@) is not a multiple of four.
ILLEGAL 2-BYTE CODE Enter a two-byte code correctly between The two-byte code (characters entered
@02 and 01@. between @02 and 01@) contains one
or more characters other than the JIS
codes.
CLOSING CONTROL Enter the closing control code. The two-byte code (characters entered
CODE "01" IS NOT between @02 and 01@) lacks the
FOUND closing control code (01).
CONTROL CODE "XX" IS Remove any repeated control code. The starting control code (02), closing
REPEATED control code (01), and/or umlaut code
(0D) is repeated.
- 166 -

CLOSING "]" IS NOT Make sure that the "[" and "]" codes are The delimiter codes for numerical data
FOUND entered in pairs. are not entered in pairs.
BAD NUMERICAL DATA Specify the numerical data correctly. The format of the numerical data is
FORMAT invalid.
BAD PMC ADDRESS FOR Enter an available address. The address section of the numerical
NUMERIAL DATA data is invalid.
PROGRAM IS BEING Disconnect the online communication The message data cannot be displayed
MODIFIED with FANUC LADDER-III. Stop other because online communication with
applications from accessing the message FANUC LADDER-III is in progress or
data. another application is accessing the
message data.
PROTECTED protection function or 8-level protection programmer protection function or 8-
function. level protection function.
Error messages that may be displayed on the I/O MODULE EDITOR screen
GROUP NUMBER IS TOO Specify 15 or a smaller value as the The entered group number is too large.
LARGE group number.
BASE NUMBER IS TOO Specify base number 0 for I/O Unit-B (##, The entered base number is too large.
LARGE #1 - #10).
SLOT NUMBER IS TOO Specify 30 or a smaller value as the slot The entered slot number is too large.
LARGE number for I/O Unit-B (##, #1 - #10).
For other I/O units, specify 10 or a
smaller value.
SLOT NUMBER IS TOO Specify 0 or a large value as the slot The entered slot number is too small.
SMALL number for I/O Unit-B (##, #1 - #10).
For other I/O units, specify 1 or a larger
value.
I/O UNIT NAME Check the I/O unit name or address. The input I/O unit is assigned to the Y
MISMATCH address, or the output I/O unit is
assigned to the X address.
ILLEGAL I/O UNIT NAME Enter an I/O unit that is listed in Tables The entered I/O unit name is invalid.
3.2 (a) to 3.2 (c) in Chapter 3.
NOT ENOUGH SPACE Enter the data again after creating free There is not enough free address space
space by deleting the data allocated for the size of the I/O unit you are going
behind the current cursor position or by to assign.
other adequate means. This error also occurs if you attempt to
assign the I/O unit to an already
allocated address space.
PROGRAM IS BEING Disconnect the online communication The I/O module data cannot be
MODIFIED with FANUC LADDER-III. Stop other displayed because online
applications from accessing the I/O communication with FANUC LADDER-
module data. III is in progress or another application
is accessing the I/O module data.
PROTECTED protection function or 8-level protection programmer protection function or 8-
function. level protection function.
- 167 -
Error messages that may be displayed on the I/O CONFIGURATION EDITOR

screen
TOO MANY GROUPS (CHx) Delete any unnecessary group, then A new group cannot be created
create a new group. because the maximum number of
groups per channel is exceeded.
TOO MANY SLOTS (CHx) Delete any unnecessary slot, then A new slot cannot be created because
create a new slot. the maximum number of slots per
channel (256 slots) is exceeded.
TOO MANY SLOTS IN A Delete any unnecessary slot, then A new slot cannot be created because
GROUP (CHx, Gyy) create a new slot. the maximum number of slots per
channel (32 slots) is exceeded.
NO SLOT(Gxx) Add a slot. There is no slot in group Gxx.
SLOT NUMBER IS Enter a slot number. No slot number is entered for a slot.
REQUIRED
SLOT NUMBER DUPLICATE Change the slot number used more More than one slot data item having the
than once. same slot number is found in the same
group.
CAN NOT DELETE MPG Turn the MPG flag off in the group No MPG slot can be deleted in the slot
SLOT setting screen. setting screen.
ILLEGAL SLOT NUMBER Enter a slot number not greater than The entered slot number is greater than
32. 32.
ILLEGAL PMC ADDRESS Enter a correct PMC address again. The entered PMC address is invalid.
Alternatively, no PMC address is
entered.
ILLEGAL SIZE Enter a correct size again. The entered size is outside the PMC
address range.
Alternatively, a value of 0 is entered as
the size.
SLOT HAS NO ASSIGNMENT Enter a PMC address and size. For a slot, a PMC address or size is not
entered for both DI and DO.
ILLEGAL COMMENT Enter a correct comment again. An entered comment does not conform
to the extended symbol and comment
format.
PMC ADDRESS Enter the PMC address or size so that Address PMCm X(Y)nnnn is also
OVERLAPPED (PMCm it is set only once. assigned to another slot in I/O Link i
X(Y)nnnn) assignment data.
TOO MANY OUTPUT POINTS Reduce the number of output points of The number of output points of the I/O
(CHx, Gyy) the group. Link i group set for Gyy of CHx exceeds
the upper limit (65 bytes by default or
29 bytes for the safety I/O device).
TOO MANY INPUT POINTS Reduce the number of input points of The number of input points of the I/O
(CHx, Gyy) the group. Link i group set for Gyy of CHx exceeds
the upper limit (65 bytes by default or
29 bytes for the safety I/O device).
TOO MANY OUTPUT POINTS Reduce the number of output points in Warning message. The number of I/O
(CHx) the channel. Link i output points set in CHx exceeds
the upper limit.
TOO MANY INPUT POINTS Reduce the number of input points in Warning message. The number of I/O
(CHx) the channel. Link i input points set in CHx exceeds
the upper limit.
TOO MANY CHARACTERS Enter a comment within the input field. The number of characters in an entered
comment exceeds the input width.
THE ADDRESS IS NOT The specified address is not found.
FOUND
INPUT INVALID Enter a correct numeric value. A numeric value is invalid.
- 168 -

I/O CONFIG DATA IS Enter an I/O configuration file again. I/O Link i assignment data is invalid.
BROKEN
TOO MANY SAFETY I/O Reduce the number of I/O Link i Warning message. More than four I/O
GROUPS safety I/O groups. Link i safety I/O groups are specified
either on the PMC or DCS side in the
entire system.
TOO MANY ASSIGNMENTS When a group in the high-speed Warning message. In CHn, group yy
(H.SPEED)(CHn,Gyy) transfer cycle mode is connected to and following exceed the transfer
I/O Link i, correct assignment so that capacity limit in transfer timing
the assignment for each group is assignment processing when the high-
performed within the quartered speed mode of I/O Link i is used.
transfer timing with referencing
Subsection 3.6.4 “Transfer Cycle”.
BASIC GROUP INVALID Correct the number of basic groups The number of basic groups for the I/O
for the I/O assignment selection assignment selection function of I/O
function of I/O Link i.(0 to 24) Link i is invalid.
UNAVAILABLE ADDRESS Use addresses X0/Y0 and following. Addresses X200/Y200, X400/Y400, or
FOR DCSPMC X600/Y600 and following are assigned
to a group for which DCSPMC is
specified for the PMC path.
THIS DATA IS BEING Disconnect the online communication I/O configuration data cannot be
applications from accessing the I/O communication with FANUC LADDER-
configuration data. III is in progress or another application
is accessing the I/O configuration data.
INTERNAL Contact us, and report the displayed This error occurs due to an internal
ERROR(0xCxxxxxxx) message correctly. factor. An error code is indicated in
parentheses.
Error messages that may be displayed on the SYSTEM PARAMETER screen

INPUT INVALID Enter a numerical value correctly, as The entered numerical value or its input
instructed in Section 9.8. format is invalid.
SYMBOL UNDEFINED Enter a defined symbol or bit address. An undefined symbol character string
was entered.
PROGRAM IS BEING Disconnect the online communication The system parameter data cannot be
applications from accessing the communication with FANUC LADDER-
system parameter data. III is in progress or another application
is accessing the system parameter
data.
Error messages that may be displayed on the SIGNAL STATUS screen

INPUT INVALID Enter a numerical value correctly, as The entered numerical value or its input
instructed in "Screen operations using format is invalid.
other keys" in Subsection 7.1.2.
was entered.
- 169 -
Error messages that may be displayed on the PMC PARAM screen

INPUT INVALID Enter a numerical value correctly, as The entered numerical value or its
instructed in Section 7.3. input format is invalid.
MUST BE IN EMERGENCY Set a mode to MDI or emergency The status of NC is not MDI mode or
STOP OR IN MDI MODE stop. emergency stop.
PWE MUST BE ON Set the “PWE” to ”1” in NC setting The “PWE” in NC setting screen
screen. is ”0”.
EITHER PWE OR KEY4 MUST Set the “PWE” to ”1” in NC setting The “PWE” in NC setting screen is ”0”
BE ON screen or set the key “KEY4” to “1”. or the program protect key “KEY4”
is ”0”.
Error messages that may be displayed on the SIGNAL TRACE screen

TRACE FUNCTION IS Wait until FANUC LADDER-III or FANUC LADDER-III or some other
ALREADY IN USE some other application finishes using application is currently using the trace
the trace function before executing it. function.
NO SAMPLING ADDRESS Specify a bit address as a sampling No sampling address is specified in
address in the trace parameter. the trace parameter.
NO STOP TRIGGER ADDRESS Specify a bit address as the stop The stop trigger address is not
trigger address in the trace specified in the trace parameter.
parameter.
NO SAMPLING TRIGGER Specify a bit address as the sampling The sampling trigger address is not
ADDRESS trigger address in the trace specified in the trace parameter.
parameter.
USB MEMORY IS USED BY Terminate another function that is The USB memory is being used by
OTHER FUNCTION. using the USB memory, then perform another function.
operation again.
USB MEMORY IS NOT READY. Check whether a USB memory is No USB memory is inserted.
inserted.
USB MEMORY IS FULL. Delete any unnecessary files and The USB memory is full.
allocate a required capacity.
USB MEMORY HAS BEEN Insert the USB memory, then execute A USB memory is removed while it is
REMOVED input/output operation again. being accessed.
USB MEMORY IS NOT Replace the USB memory with The inserted USB memory cannot be
FORMATTED another one. recognized.
USB HARDWARE ERROR Replace the USB memory with This error occurs due to a USB
(xxxxxxxxxx) another one. If this error still occurs hardware failure. An error code is
after replacement, contact us, and indicated in parentheses.
report the displayed message
correctly.
INTERNAL ERROR (xxxxxxxxxx) Contact us, and report the displayed This error occurs due to an internal
message correctly. factor. An error code is indicated in
parentheses.
- 170 -
Error messages that may be displayed on the trace setting screen

INPUT INVALID Enter a numerical value that is within A nonnumeric value or an out-of-
the specified data range of the range parameter value was entered.
relevant trace parameter.
was entered.
BIT ADDRESS IS REQUIRED Specify a bit address as the stop or A byte address was specified as the
sampling trigger address. stop or sampling trigger address.
INVALID STOP TRIGGER Enter a PMC signal address that can The bit address entered as the stop
ADDRESS be used as the stop trigger address. trigger address is invalid.
INVALID SAMPLING TRIGGER Enter a PMC signal address that can The bit address entered as the
ADDRESS be used as the sampling trigger sampling trigger address is invalid.
address.
UNSUPPORTED TRACE This file cannot be handled. Set data Unsupported trace setting file was
SETTING FILE in the TRACE SETING screen. read.
INVALID SETTING VALUE (LINE Output the trance setting file again. An invalid setting was found.
n) Alternatively, set data in the TRACE The file may be broken.
SETING screen.
SAMPLING TIME/FRAME WAS Check the data on the TRACE The values were adjusted according
ADJUSTED SETING screen. to the read data. (This is warning.)
UNKNOWN SETTING WAS Check the read trace data. An unknown trace setting item was
SKIPPED(LINE n) found and ignored. (This is warning.)
INVALID SAMPLING ADDRESS Check the read trace data. An invalid sampling address was
WAS FOUND found. (This is warning.)
TOO MANY SAMPLING Check the read trace data. The number of sampling addresses
ADDRESSES exceeds the upper limit. (This is
warning.)
THE FILE IS NOT TRACE This file cannot be read. Specify a An attempt was made to read a file
SETTING FILE correct file. which was not a trace setting file.
FILE NAME CONTAINS Correct file name. “FORFANUC” cannot be used in the
RESERVED WORD. top of the file name.
operation again. Another function is formatting the
USB memory.
inserted.
USB MEMORY HAS BEEN Insert the USB memory, then execute A USB memory is removed while it is
REMOVED input/output operation again. being accessed.
USB MEMORY IS NOT Replace the USB memory with The inserted USB memory cannot be
FORMATTED another one. recognized.
FILE NAME IS INVALID. Correct the file name. An invalid character was found in a
file name.
FOLDER NAME CANNOT BE A folder name is specified. Specify an An attempt was made to read or write
SPECIFIED. appropriate file name. a folder.
after replacement, contact the indicated in parentheses.
FANUC service center, and report the
displayed message correctly.
parentheses.
- 171 -
Error messages that may be displayed on the I/O Diagnosis screen

ENTER STRING TO SEARCH. Enter a string before starting a No search string is specified.
search.
I/O DIAGNOSIS FUNCTION IS NOT To use the I/O diagnosis function, The I/O diagnosis function cannot
SUPPORTED update the PMC system software. be used because the PMC system
software is an older version.
INPUT INVALID Check the entered string. The entered string is invalid.
LADDER PROGRAM IS BROKEN Check the information displayed on The program is broken.
the PMC alarm screen and reload
the program.
NO GROUP FORMAT. Use [GROUP] on the I/O diagnosis No group display is set.
(setting) screen.
PROGRAM IS BEING MODIFIED. Retry after completing the function The program cannot be referenced
that is using the program. because it is being used by another
function.
REACHED TO THE END OF To make another search, specify a The search has been completed
SYMBOL DATA. string again. until the end of the data has been
reached.
SYMBOL ORDER IS NOT Use the FANUC LADDER-III to The format of this program does not
AVAILABLE. convert the program to one with the allow sorting and display in symbol
extended symbol & comment order.
function.
THE GROUP IS NOT FOUND Check the specified group. The specified group is not found.
FORCING IS PROTECTED ON Disable the programmer protection The forced input/output function is
THIS PATH. function. currently protected on the selected
PMC path.
THE STRING IS NOT FOUND Check the specified string. The specified string is not found.
15.4 I/O Communication Error Messages

The error messages that may appear on the I/O screen and their meanings and actions are listed below.
Error messages displayed during memory card I/O operation

MEMORY CARD IS NOT Check whether a memory card is No memory card is installed.
READY installed.
MEMORYCARD IS FULL Delete files to create available space. There is no available space in the
memory card.
MEMORYCARD IS WRITE Release the write protection of the The memory card is write-protected.
PROTECTED memory card.
MEMORYCARD IS NOT Format the memory card. The memory card cannot be
FORMATTED recognized.
TOO MANY FILES IN Delete unnecessary files to reduce the There are too many files.
MEMORYCARD number of files.
FILE NOT FOUND On the list screen, check the file name The specified file cannot be found.
or file number.
FILE IS READ-ONLY Check the attributes of the file. Write to the specified file is not
permitted.
FILE NAME IS INVALID Specify the file name in MS-DOS form. The file name is illegal.
COULD NOT FORMAT The NC cannot format this memory The memory card cannot be
MEMORY CARD card. Use another unit such as a formatted.
personal computer to format the
memory card.
UNSUPPORTED Replace the memory card with another This memory card is not supported.
MEMORYCARD one.
CAN NOT DELETE FILE Check the attributes of the file. An error occurred when a file was
deleted from the memory card.
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MEMORYCARD BATTERY Replace the battery of the memory The battery of the memory card has
ALARM card. become weak.
THIS FILE NAME IS ALREADY Change the file name to another one. The file name is already used.
USED
MEMORYCARD ACCESS Replace the memory card with another The memory card cannot be
ERROR one. accessed.
DIFFERENCE FOUND File comparison detected a
mismatch.
MEMORY CARD IS LOCKED BY Wait until the PMC user completes Another PMC user is using the
OTHER FUNCTION processing, then retry. memory card.
MEMORY CARD HEADER ROM This file cannot be read. Check the An attempt was made to read a file,
DATA ID IS ILLEGAL type of the file. but its ROM data ID was illegal.
FILE NUMBER CAN NOT If the file does not exist, the key entry is The file number cannot be selected.
SELECTED invalid. If this error occurs even when
the cursor is placed at a file name,
contact the FANUC service center.
THE FILE NUMBER DOES NOT Check the total number of files on the The entered file number is not
EXIST list screen. present. The entered number
exceeds the total number of files.
FILE NUMBER IS RESTRICTED Enter a numeric value not exceeding A value up to 128 can be entered as
TO "128" 128. the file number.
MEMORY CARD IS USED BY Retry after terminating the other Some other function is currently
OTHER FUNCTION function that is currently using the using the memory card.
memory card.
MEMORY CARD IS WRITE Cancel the write protection of the The memory card is write protected.
PROTECTED memory card, or use another memory
card that is not write protected.
UNSUPPORTED MEMORY Use another memory card. This is an unsupported type of
CARD memory card.
COULD NOT DELETE FILE Check the read/write permission The file cannot be deleted.
attribute of the file.
TRACE FILE NUMBER IS OVER Delete unnecessary old trace result file No more trace result file can be
or files. created because the maximum trace
result file number (file extension)
has been reached.
UNSUPPORTED TRACE This file is Invalid. Set data in the Unsupported trace setting file was
SETTING FILE TRACE SETING screen. read.
INVALID SETTING VALUE (LINE Output the trance setting file again. Invalid setting value was found.
n) Alternatively, set data in the TRACE The file may be broken.
SETING screen.
SAMPLING TIME/FRAME WAS Check the data on trace setting screen. It was adjusted according to the
ADJUSTED contents. (This is warning.)
UNKNOWN SETTING WAS Check the read trace data. An unknown trace setting item was
SKIPPED(LINE n) found and ignored. (This is warning.)
INVALID SAMPLING ADDRESS Check the read trace data. An invalid sampling address was
WAS FOUND found. (This is warning.)
TOO MANY SAMPLING Check the read trace data. The number of sampling addresses
ADDRESSES exceeds the upper limit. (This is
warning.)
INTERNAL ERROR (xxxxxxxxxx) Contact us, and report the displayed An error due to an internal factor
message correctly. occurred. Details on the error are
displayed in parentheses.
- 173 -
Error messages displayed during USB memory I/O operation

FILE NAME CONTAINS Correct file name. The string “FORFANUC” cannot be
RESERVED WORD. used in the top of the file name.
USB MEMORY HAS BEEN Insert the USB memory, then execute A USB memory is removed while it
REMOVED input/output operation again. is being accessed.
inserted.
operation again.
THIS FILE NAME IS ALREADY Follow the message, and overwrite An existing file name is specified as
USED. OVERWRITE IT? the file or specify another file name to the write destination.
write data.
FILE NOT FOUND Check the file name or number on the The specified file was not found.
file list screen.
USB MEMORY IS FULL. Delete any unnecessary files and The USB memory is full.
allocate a required capacity.
FILE IS READ-ONLY. Specify another file or check the file The specified file is read-only.
attribute and delete the read-only
attribute.
USB MEMORY IS NOT Replace the USB memory with The inserted USB memory cannot
FORMATTED another one. be recognized.
FILE NAME IS INVALID. Correct the file name. An invalid character was found in a
file name.
DIFFERENCE FOUND File comparison detected a
mismatch.
THE FILE NUMBER DOES NOT Check the total number of files on the The entered file number is not
EXIST list screen. found. The entered number is
greater than the total number of
files.
FILE NUMBER IS RESTRICTED Enter a numeric value not greater A value up to 128 can be entered as
TO "128" than 128. the file number.
FOLDER CANNOT BE <1> The specified number indicates a <1> The specified number indicates
SPECIFIED. folder. Enter an appropriate a folder.
number. <2> An attempt was made to select
<2> No folder can be selected in the a folder in the file list screen.
file list screen.
THIS FILE CANNOT BE <1> The file name corresponding to <1> The file name corresponding to
SPECIFIED. the specified file number consists of the specified file number consists
more than 32 characters. Enter an of more than 32 characters.
appropriate number. <2> An attempt was made to select
<2> No file having a file name a file having a file name consisting
consisting of more than 32 of more than 32 characters.
characters can be selected in the
file list screen.
after replacement, contact us, and indicated in parentheses.
report the displayed message
correctly.
parentheses.
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Error messages displayed during flash ROM I/O operation

NOT IN EMG STOP MODE Place the system in the emergency The system is not in the emergency
stop state. stop state.
INVALID SEQUENCE Check the program. The transfer program is illegal.
PROGRAM
DIFFERENCE FOUND A file comparison detected a
mismatch.
FLASH ROM IS LOCKED BY Wait until the PMC user completes Another PMC user is using the flash
OTHER FUNCTION processing, then retry. ROM.
FLASH ROM HEADER ROM This file cannot be read. Check the An attempt was made to read a file,
DATA ID IS ILLEGAL type of the file. but its ROM data ID was illegal.
FLASH ROM IS USED BY Retry after ending another function Flash ROM is in use by another
OTHER FUNCTION that uses flash ROM. function.
INTERNAL ERROR (xxxxxxxxxx) Contact us, and report the displayed An error due to an internal factor
message correctly. occurred. Details on the error are
displayed in parentheses.
Error messages displayed during FLOPPY or other input/output device I/O

operation.
ILLEGAL PMC PARAMETER Specify a file of the PMC parameter The specified file is not of the PMC
FORMAT format. Also, check the specified file parameter format.
to see whether its content is not
disrupted.
ILLEGAL HANDY FILE FORMAT Specify a file of the handy file format. The specified file is not of the handy
Also, check the specified file to see file format.
whether its content is not disrupted.
UNKNOWN FILE FORMAT Specify file of recognizable format Cannot recognize the format of
such as PMC parameter format, or specified file.
check the contents of the file.
FILE NAME OR FILE NUMBER Specify file name or file number for Need file name or file number to
IS REQUIRED the operation. identify file to read, compare, or
delete.
COMMUNICATION TIMEOUT Check the communication parameters Communication with the I/O device
such as baud rate, and retry to has been timeout.
communicate.
I/O DEVICE IS NOT ATTACHED Check the power of I/O device is ON. Any I/O device is not connected, or
OR IN ERROR STATUS Check the I/O device is connected. some error has occurred in it.
Check the cable that connects I/O
device with PMC is correct one. If
some error has occurred in I/O
device, solve it.
RECEIVED BAD DATA: CHECK Check the PMC's communication Invalid data has been received.
THE COMMUNICATION parameters such as baud rate match
PARAMETERS the ones of I/O device.
RECEIVED DATA HAS Check the communication parameters Too many data have received at
OVERRUN about flow control. once.
OTHERS FUNCTION IS USING Use the other channel, or stop the Others function is using this channel.
THIS CHANNEL function.
BAD COMMUNICATION Check the communication parameters Setting parameters of communication
PARAMETER such as baud rate. are not correct.
OTHER FUNCTION IS USING Wait until function that using I/O Another function such as FANUC
I/O FUNCTION function do finish, or stop the function. LADDER-III is using I/O function.
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UNKNOWN HANDY FILE Check the file. The received data is not a program of
FORMAT DATA the PMC system or is a program of
some other incompatible type.
ILLEGAL BAUD RATE SETTING Set a valid baud rate. The set baud rate is invalid.
ILLEGAL CHANNEL NUMBER Set a valid channel number. The set channel number is invalid.
ILLEGAL PARITY BIT SETTING Set a valid parity bit. The set parity bit is invalid.
ILLEGAL STOP BIT SETTING Set a valid stop bit. The set stop bit is invalid.
ILLEGAL WRITE CODE Set a valid output code. The set output code is invalid.
SETTING
SEQUENCE PROGRAM IS IN Wait until On-line function, do finish Can not input/output of sequence
USE BY ONLINE FUNCTION the using I/O function. In general, program, because On-line function is
both of I/O function and On-line using sequence program.
function should not be used at the
same time.
Common error messages that may be displayed on individual devices during

the I/O operations
ERROR OCCURS IN Check the PMC alarm screen and Data cannot be output because there
SEQUENCE PROGRAM correct the indicated program error is an error in the ladder program.
accordingly.
UNKNOWN DATA TYPE Check the file. The PMC type of the input data is
unknown.
MUST BE IN EMERGENCY Set to emergency stop. The status of NC is not emergency
STOP stop when reading PMC parameter.
PWE MUST BE ON Set the “PWE” to ”1” in NC setting The “PWE” in NC setting screen is ”0”
screen. when reading PMC parameter.
MUST BE IN EDIT MODE Set to the EDIT mode. The mode is not EDIT when reading
PMC parameter.
THIS FUNCTION IS NOT Check the related settings. There are not all the settings that are
ALLOWED needed to use this function.
PMC PARAMETER IS LOCKED Retry after terminating the other The PMC parameter is currently used
BY OTHER FUNCTION function that is currently using the by some other function and cannot be
PMC parameter. referenced by this function.
THIS DEVICE IS USED BY Retry after terminating the other The specified device is currently used
OTHER FUNCTION function that is currently using the by some other function and cannot be
specified device. used by this function.
PMC PARAMETER IS Retry after terminating the other The PMC parameter is currently used
PROTECTED BY OTHER function that is currently using the by some other function and cannot be
FUNCTION PMC parameter. changed by this function.
LADDER TYPE UNMATCH Specify a program of a valid type. The specified program is of a different
type and cannot be read.
TOO LARGE SEQUENCE Check the file. Or, change to a step The ladder program is too large to
PROGRAM number option that allows you to set a read.
SEQUENCE PROGRAM IS Retry after terminating the other The ladder program is currently used
USED BY OTHER FUNCTION function that is currently displaying by some other function and cannot be
the ladder program. referenced by this function.
INVALID I/O CONFIGURATION Read correct I/O configuration file. Invalid I/O configuration data was
DATA read and any of the following
operations was performed:
- Writing it to the memory card
- Comparing it with a memory card file
USB
- Writing it to flash ROM
-Comparing it with flash ROM
- 176 -

TOO LARGE I/O Check the I/O configuration file. The I/O configuration file is too large
CONFIGURATION DATA to read.
I/O CONFIGURATION DATA IS Terminate another function that is I/O configuration data is being used
USED BY OTHER FUNCTION using the I/O configuration data, then by another function (such as FANUC
execute operation again. LADDER-III).
- 177 -
APPENDIX
A. CUSTOM PMC EDITING
B-85314EN-1/01 APPENDIX WITH FANUC LADDER-III
A CUSTOM PMC EDITING WITH FANUC

LADDER-III
On the personal computer, custom PMC editing can be performed using the programming system for
sequence program development FANUC LADDER-III.
For the method of operating FANUC LADDER-III, refer to the following manual:
FANUC LADDER-III Operator’s Manual (B-66234EN)
Use the procedure below when performing custom PMC editing with FANUC LADDER-III.
(1) Backup of a ladder program

From the ROBODRILL, back up a ladder program (PMC2) to be edited.
(2) File conversion/decompilation (MEM file → LAD file)
Convert the backed-up ladder program to a file that can be edited using FANUC LADDER-III.
(3) Editing
Edit the ladder program, message data, and so forth.
(4) Compilation/file conversion (LAD file → MEM file)
Compile the edited ladder program and convert it to a file that can be loaded into the ROBODRILL.
(5) Loading of the ladder program
Load the ladder program to the ROBODRILL by using a memory card or Handy File.
(When using the multi-language display function, see Appendix D, "MULTI-LANGUAGE DISPLAY
FUNCTION".)
CAUTION
• FANUC LADDER-III ver. 6.30 or later is required.
• To edit custom PMC for the ROBODRILL using FANUC LADDER-III, set
"exparam" in the %%%FLSET file in the folder in which FANUC LADDER-III has
been installed to "1".
[%%%FLSET file]
;=================================================
; FANUC LADDER-III Initial Setting File
; ( `key word =' <= 9 characters )
;=================================================
;
*V; ====== System information ======
;
…
exparam = 1; ← Set "1"

;
*M; === Mnemonic options definition ===
…
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WITH FANUC LADDER-III APPENDIX B-85314EN-1/01
On the system parameter setting screen of FANUC LADDER-III, confirm that "2 Channel" is checked in
"Selectable I/O Link Assignment".
A.1 CONVERSION TO A SOURCE FILE

(1) Back up the ladder program of the ROBODRILL from the machine. (See Chapter 11.)
(2) Copy the backed up ladder program onto the hard disk of the personal computer.
(Example: Copy the ladder program into the C:\PMC folder.)
(3) Activate FANUC LADDER-III.
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(4) Select [File] → [Open].

The Open File window appears.
Set [Files of type] to [All Files (*.*)].
Select the backed up ladder program.
Click the [Open] button.
The following window appears. Click the [OK] button.
(5) Enter the name of a ladder program to be created. (Example: PMC2.LAD)

Select 31i-B PMC for [PMC Type].
Upon completion of setting, click the [OK] button.
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(6) The following window appears. Click the [OK] button.
(7) The window below is displayed. Click the [OK] button without entering the password.
(8) Decompilation is executed. Upon normal completion of decompilation, the decompilation window is
automatically closed to display the screen below. (Ignore warning W-4105.)
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A.2 LADDER PROGRAM EDITING

For the method of operation, refer to "FANUC LADDER-III Operator's Manual (B-66234EN)."
Notes and tips on editing are provided below.
A.2.1 Title Editing

The items "Program Designed By", "ROM Written By", and "Remarks" may be used freely.
Do not edit the other items.
(The screen below provides an example of data set by FANUC at the time of shipment.)
- 185 -
A.2.2 Ladder Editing

• Create a ladder program by using P1500 (CUSTOM) as the main program.
• Subprograms may be added freely. (P1501 to P5000 may be used.)
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A.2.3 Symbol and Comment Editing

• Symbols and comments can be freely added to any addresses.
(On the PMC2 ladder editing/reference screen and signal status screen, set symbols and comments
are displayed. However, on the screens common to PMC1 and PMC2 such as the parameter screen,
symbols and comments of PMC1 are used.)
- 187 -
A.2.4 Message Editing

• Do not add messages to addresses other than the specified addresses (A100.0 to A149.7).
• The table below indicates the usable alarms and operator messages.
Alarm 1900 to 1999

Operator message 2060 to 2099
[When the multi-language display function is not used]

• Messages set here are displayed without modification. When switching the display language, see
Appendix A.5, "EDITING ALARM AND OPERATOR MESSAGES".
[When the multi-language display function is used]

• See Appendix D, "MULTI-LANGUAGE DISPLAY FUNCTION".
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A.2.5 I/O Module Editing

• When the standard settings are used, no modification is needed.
• Before making additions or modifications to addresses for CH2 (X200-X327/Y200-Y327), fully
understand the specifications to assign the addresses correctly.
• I/O Link i has been adopted as an I/O link. When you change the settings, refer to Section 9.10,
"DISPLAYING AND EDITING I/O Link i ASSIGNMENT " in "PMC Programming Manual (B-
64513EN)" or Chapter 15, "CREATION OF I/O Link i ASSIGNMENT DATA" in "FANUC
LADDER-III Operator's Manual (B-66234EN)".
A.2.6 System Parameter Editing

• You need not edit system parameters usually.
• For the method of switching the comment display according to the display language when a ladder
diagram is displayed on the machine screen, see Appendix C, "CUSTOM LADDER PROGRAM
COMMENT SWITCHING PROCEDURE".
- 189 -
A.3 LADDER PROGRAM COMPILATION AND LOADING FILE

CREATION
(1) Select [Tool] → [Compile].
The Compile window appears. Select the [Option1-2] tab.
Check the items below as needed then click the [Exec] button:
• Output Symbol/Comment
• Output First Comment to Output Fourth Comment
• Output Netcomment pointers
• Multiple use check of Function parameter number
• Multiple use check of the symbol address
• Output warning in detail
- 190 -
(2) Check that the error count is 0, then click the [Close] button.
(3) Select [File] → [Export].

The Export window appears.
Select the file type according to the installation mode of the ladder program.
For a memory card: [Memory-card Format File]
For a Handy File: [Handy-file Format File]
After selecting the file type, click the [Next >] button.
- 191 -
(4) Specify the file name of the ladder program to be installed.
After specifying the file name, click the [Finish] button.
(5) When data conversion is complete, the following message appears. Click the [OK] button.
(6) Copy the loading file onto a floppy disk or memory card, then install the file on the ROBODRILL.
(See Chapter 11.)
- 192 -
A.4 CUSTOM LADDER PROGRAM CREATION

When creating a custom ladder program with this series by using a custom ladder program created in the
past, note the following:
• This series differs in the PMC configuration. So, ladder programs created with the old model must
not be installed without modification.
• Even a ladder program created according to the PMC configuration of the new series may not
operate normally when newly added interface signals are used, if the system ladder program version
is earlier. Check whether the interface signals used are usable.
The system ladder program number/version information can be checked on the following
screens:
PMC: Title data screen
NC: System configuration screen
When a custom ladder program that was created with the old model and has a different program
number/version is to be used with this system, extract only necessary portions to create a new second
PMC ladder program.
An example of procedure for creating a custom ladder program usable with this system by using FANUC
LADDER-III (Version 6.30) from a custom ladder program created with an old ROBODRILL model is
described below.
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(1) Open a ladder program created in the past.

Select [File] → [Open File].
Select a saved LAD file or MEM file.

When an LAD file is selected, the program list display window is opened. (Proceed to (2).)
When a MEM file is selected, the message below is displayed. Click [OK].
- 194 -
A window for creating a new ladder program is displayed. Enter a desired program name then click
[OK].
The message below is displayed. Click [OK].
Click [OK] without entering the password.
Decompilation is executed. Upon normal completion, the decompilation window is automatically

closed. (Ignore warning W-4105 if output.)
- 195 -
(2) The following screen is displayed when decompilation is terminated normally.
(3) Open a new ladder program to be created. (At the same time, start another FANUC LADDER-III.)
By using the same procedure as described in (1), open a MEM format ladder program backed up
from the machine of this series.
- 196 -
Enter the program name and specify "31i-B PMC" in PMC Type then click [OK].
↓
The message below is displayed. Click [OK].
↓
The window below is displayed. Click the [OK] button without entering the password.
- 197 -
Decompilation is executed. Upon normal completion, the decompilation window is automatically

closed.
The following screen is displayed when decompilation is terminated normally.
- 198 -
(4) Copy the ladder program.

Open subprogram P1500 of the custom ladder program created previously and select the portion
between SUB71 and SUB72 (not including SUB71 and SUB72) then select [Edit] → [Copy].
(Alternatively, click the right-mouse button then select [Copy].)
- 199 -
Open P1500 of the ladder program to be created newly then move the cursor to the net of SUB72.
- 200 -
Select [Edit] → [Paste].

(Alternatively, click the right-mouse button then select [Paste].)
This completes the copying of the ladder program.

The symbols and comments used in the ladder program are also copied.
(5) Connecting messages

See Appendix A.5, "EDITING ALARM AND OPERATOR MESSAGES".
(6) Connecting symbols and comments

If necessary symbols and comments are not copied together with the ladder program, create a
mnemonic file containing the symbols and comments from the custom ladder program created
previously.
- 201 -
Select [Tool] → [Mnemonic Conversion].

Set Mnemonic File (arbitrary), Convert Data (Symbol&Comment), and Selection Item (Full
Options) then click [OK].
Open a mnemonic file containing the created symbols and comments with a text editor and leave
only those symbols and comments that are used with the custom ladder program then save the file.
(Delete those unnecessary symbols and comments that are used with the system.)
- 202 -
Incorporate the edited file into the new ladder program.

Select [Tool] → [Source Program Conversion].
When only necessary symbols and comments are to be added, "Initialize the following data before
conversion" need not be checked.
(When initializing symbol and comment data, uncheck "Ladder".)
(7) Convert X and Y addresses.

The X and Y addresses may have been changed with each series.
Convert the X and Y addresses to addresses usable with this series according to Chapter 5,
"INPUT/OUTPUT SPECIFICATIONS".
To use the address replacement function, move the cursor to an address to be replaced then select
[Edit] → [Replace]. The window below is displayed. Enter an address before replacement in
"Search string" and set an address after replacement in "Replace string" then click [Replace].
- 203 -
If addresses to be replaced are contiguous, select [Edit] → [Multi-replace...]. The window below is
displayed. Set the start address of addresses before replacement and the start address of addresses
after replacement with [New Data] then click [Exec]. Those addresses are replaced in a batch.
- 204 -
A.5 EDITING ALARM AND OPERATOR MESSAGES

When the PMC message multi-language display function is not used, edit messages on the message
editing screen only.
Create messages according to the descriptions below.
A.5.1 Ladder Program Message Editing

Select "Message" on the FANUC LADDER-III program list screen to open the message editing screen.
The table below indicates the usable alarm numbers, operator message
numbers, and A addresses.
Alarm 1900 to 1999

A address A100.0 to A149.7
- 205 -
Add necessary messages.
To switch the message display language without using the multi-language display function, switch the
message by using a ladder program and the interface signals described in Section 12.23. An example of
program is provided below.
* To switch the message by using this method, the power must be turned off then back on after
switching the display language.
- 206 -
To use messages created previously, open the ladder program previously created then select [Tool] →
[Mnemonic Conversion].
Set Mnemonic File (arbitrary), Convert Data (Message), and Selection Item (Full Options) then click
[OK].
Open a mnemonic file containing the created messages with a text editor and leave only those messages
that are used with the custom ladder program then save the file. (Delete those unnecessary messages that
are used with the system.)
- 207 -
Incorporate the edited file into the new ladder program.

Select [Tool] → [Source Program Conversion].
Set the mnemonic file name then click [OK] to incorporate the message data.
- 208 -
B. FORCED INPUT/OUTPUT
B-85314EN-1/01 APPENDIX FUNCTION
B FORCED INPUT/OUTPUT FUNCTION

B.1 OVERVIEW
This function can forcibly enter a value for the signal of an arbitrary PMC address. With this function, for
example, an X value can be forcibly entered to enable sequence program debugging without using a
machine, and a Y value can be forcibly entered to enable the signal wiring on the machine to be checked
efficiently without using a sequence program.
There are the following two input modes: Forced input/output mode and override mode. Use either of
these modes according to your purpose. This function is added to the SIGNAL STATUS screen.
(1) Forced input/output mode

This mode is applied to all PMC addresses.
However, signals changed by the forced input/output are overwritten when values written or input
by a sequence program are scanned, and therefore the changes made by the forced input/output are
lost.
Machine
I/O addresses
Overwrite X,Y
Overwrite
Ladder G,F,R,T,K,C,D,E
Overwrite
program
Example 1:
When forced input/output is applied to R0 in the following ladder program
X0.0
MOVE 1111
1111
K0
R0
(a) The initial signal status is as follows:

X0.0 = off, K0 = 55H, R0 = 00H
(b) A value of FFH is forcibly input to R0.
X0.0 = off, K0 = 55H, R0 = FFH
(c) When X0.0 is turned on, R0 indicates the result of input from the sequence program.
X0.0 = on, K0 = 55H, R0 = 55H
- 209 -
FUNCTION APPENDIX B-85314EN-1/01
Example 2:
When forced input is applied to X0 in a configuration where I/O Unit-MODEL A is connected
to X0 over an I/O Link
The input value from I/O Unit-MODEL A is transferred to X0 at certain intervals. So, even if
the value of X0 is forcibly modified, X0 is overwritten in the next cycle. Thus, the value of
X0 is restored to the value input from I/O Unit-MODEL A.
1. Input from the machine
I/O Unit-MODEL A NC
X0 = FFh X0 = FFh
2. The value of X0 is forcibly modified to 00h. X0 = 00h
3.Input from the machine in the next cycle
The forcibly modified value is

I/O Unit-MODEL A NC overwritten with the input from the
machine.
X0 = FFh X0 = FFh
Cyclical transfer may also be performed for addresses that are not assigned. So, use the
forced input/output function for X in the forced input/output mode to debug a sequence
program when no I/O device is connected or assigned.
When an I/O device is connected, use the override function described below to debug a
sequence program.
- 210 -
(2) OVERRIDE mode

The state in which values modified by the forced input/output function cannot be overwritten by a
sequence program or machine signals is referred to as override. In the override mode, override can
be set for any X and Y signals. Forced input/output is applied to those X and Y addresses where
override is not set, and also to addresses other than X and Y.
Example:
In this example, the forced input/output function is applied to X0 in a configuration where the
I/O UNIT-MODEL A is connected to X0 with an I/O link.
1. Input from the machine
I/O Unit-MODEL A NC
X0 = FFh X0 = FFh
2. Override is set for X0.
The value transferred from I/O

I/O Unit-MODEL A × NC Unit-MODEL A is invalidated.
X0 = FFh X0 = FFh
3. The value of X0 is forcibly modified to 00h.
I/O Unit-MODEL A × NC
X0 = FFh X0 = 00h
Thus, the forced input function can be used for X addresses in the override mode to debug a
sequence program while an I/O device is connected. When a Y address is placed in the
override state, a value that has been forcibly modified by forced input/output is output to the
I/O device.
- 211 -
CAUTION
1. In OVERRIDE mode, input/output signals are updated at 8-ms intervals in sync
with the ladder level. When an I/O link is used which is usually updated at 2-ms
intervals, an input/output signal timing delay occurs. For this reason, note that a
sequence that depends on input/output signal timing may perform an
unpredictable operation.
2. Note that, when OVERRIDE mode is set, the interval of the second level may be
extended slightly.
3. Even if override is set for a Y address, the resultant value of a ladder operation
before modified by forced input/output is displayed as the coil on/off value in
LADDER DIAGRAM MONITOR screen. A value after modified by the forced
input/output function is output to the I/O device. Note that the on/off indication
on the LADDER DIAGRAM MONITOR screen does not match a value output to
the I/O device.
Example:
In this example, the forced input/output function is used for Y0.0 in the ladder
below in a onfiguration where the I/O UNIT-MODEL A is connected to Y0 with
an I/O link. Before OVERRIDE setting, the on/off indication in dynamic display
matches a value output to the I/O UNIT-MODEL A as shown below
X0.0 Y0.0
I/O Unit-MODEL A NC
Y0.0=off (off) (off)

(LADDER DIAGRAM MONITOR)
If 1 is entered forcibly after setting OVERRIDE for Y0.0, the value modified by
the forced input/output function is output to the I/O UNIT-MODEL A as shown
below.
X0.0 Y0.0
I/O Unit-MODEL A NC
Y0.0=on (off) (off)

(LADDER DIAGRAM MONITOR)
WARNING
Special care must be exercised when a signal with the forced input/output
function. If the forced input/output function is used incorrectly, the operation of
the machine may be unpredictable. Never use this function when persons are
near the machine.
- 212 -
B.2 SETTING/OPERATION FOR ENABLING FORCED

INPUT/OUTPUT
Use the procedures below to set the input/output modes.
(1) Operation for enabling FORCING mode
Use the procedure below.
(a) Turn on the power.
(b) Press the emergency stop button.
(2) Operation for enabling OVERRIDE mode
Use the procedure below.
(a) Turn on the power.
(b) Press the emergency stop button.
(c) Set bit 0 of K906 (keep relay) to 1.
(d) Turn the power off and on again while holding down the emergency stop button.
WARNING
Special care must be exercised when modifying a signal with the forced
input/output function. If the forced input/output function is used incorrectly, the
operation of the machine may be unpredictable. Never use this function when
persons are near the machine.
CAUTION
1 Upon completion of forced input/output operations, reset keep relay K906#0 to 0.
2 Turning on the power with the emergency stop button released resets keep relay
K906#0 to 0. (The OVERRIDE mode is disabled.)
3 The setting of OVERRIDE is not maintained when the power is turned off. When
the power is turned on again, the setting of OVERRIDE is cleared for X and Y
addresses.
4 Do not force input/output operations for any signal other than those (except the F
address) usable with the custom PMC function.
Never force input/output operations especially for X8.4 (emergency stop) or Y6.1
(Z-axis brake control).
- 213 -
B.3 SCREEN DISPLAY

On the FORCED INPUT/OUTPUT screen, the value of a desired signal can forcibly be modified.
On this screen, the following two input modes are available: Forced input/output and override. To
move to the FORCED INPUT/OUTPUT screen, click soft key [FORCED I/O] on the SIGNAL STATUS
screen. The following operations can be performed on the FORCED INPUT/OUTPUT screen:
• Search for a signal: [SEARCH]

• Switch to the decimal display and input mode: [DEC]
• Switch to the hexadecimal display and input mode: [HEX]
• Display the SIGNAL STATUS screen: [EXIT]
• Turn the signal on: [ON]
• Turn the signal off: [OFF]
• Set override: [OVRIDE SET] (*1)
• Clear override for a signal: [OVRIDE RESET] (*1)
• Clear override for all signals: [INIT] (*1)
*1 This soft key is enabled in override mode.
Input mode
Signal status display area
Additional information line
Key input line Message display line
In the input mode section at the right of the title, "OVERRIDE" is displayed as the mode of the forced
input/output function only in the override mode.
In the signal status display area, the signal status of each address is displayed. For X and Y signals, the
status of each bit for which override is set is displayed as follows.
(1) For an X signal

(Input signal from the I/O device) → (Input signal to the ladder program)
In the hexadecimal or decimal display on the right of the screen, the numeric value of the input
signals to the ladder program on the right is displayed.
- 214 -
(2) For a Y signal

(Output signal from the ladder program) → (Output signal to the I/O device)
In the hexadecimal or decimal display on the right of the screen, the numeric value of the output
signals from the ladder program on the left is displayed.
On the message display line at the bottom of the screen, an error message is displayed when
required.
B.4 OPERATING THE FORCED INPUT/OUTPUT SCREEN AND

MODIFYING THE VALUES OF SIGNALS
Soft keys on the FORCED INPUT/OUTPUT screen
Force input/output
Searches for an address. Turns the signal on.

Turns the signal off.
Switches to the decimal

input mode. Switches to the SIGNAL STATUS screen.
Switches to the hexadecimal input mode.
Override
Clears override for a signal.
Switches to the SIGNAL STATUS screen.
Turns the signal on. Sets override.

Searches for an address.
Switches to the Turns the signal off. Clears override for all
decimal input mode. signals.
Switches to the hexadecimal input mode.
- 215 -
Operations using soft keys

(1) [SEARCH] Search for an address
Searches for a byte or bit address.
(2) [DECIMAL] Switch to the decimal input mode
Switches the contents of the byte to the decimal display and input mode.
This soft key is enabled only when the hexadecimal display and input mode is set.
(3) [HEX] Switch to the hexadecimal display and input mode
Switches the contents of the byte to the hexadecimal display and input mode.
This soft key is enabled only when the decimal display and input mode is set.
(4) [EXIT] Switch to the SIGNAL STATUS screen
Terminates the forced input/output function.
(5) [ON] Turn the signal on
Places the signal at the cursor in the on state. Operation in bit or byte units is available depending
on the cursor position.
(6) [OFF] Turn the signal off
Places the signal at the cursor in the off state. Operation in bit or byte units is available depending
on the cursor position.
(7) [OVRSET] Set override
Places the X or Y address at the cursor in the override state. Operation in bit or byte units is
available depending on the cursor position.
This soft key is enabled only in the override mode.
(8) [OVRRST] Clear override for a signal
Clears the override state of the X or Y address at the cursor. Operation in bit or byte units is
available depending on the cursor position.
(9) Clear override for all signals
Clears the override state of all X and Y addresses.
- 216 -
Screen operations using other keys

(1) INPUT key
Use this key to modify the status of a signal or signals.
(a) Setting in bit units
• Enter 1, then press the INPUT key to place the signal in the on state.
• Enter 0, then press the INPUT key to place the signal in the off state.
• Just press the INPUT key to invert the on/off state of the signal.
(b) Setting in byte units
At the byte cursor, enter a binary number consisting of up to 8 digits, then press the INPUT key.
(If an entered number is shorter than 8 digits, the number is entered starting from bit 0.)
Example: When 100 is entered, the number is entered as follows:
Bit number 7 6 5 4 3 2 1 0
0 0 0 0 0 1 0 0
When the cursor is on a HEX or DECIMAL field, hexadecimal or decimal input in byte units is
available.
(c) Continuous data input
Continuous data can be entered vertically. The cursor moves at the end of continuously
entered data.
• Use a semicolon (;, EOB) as the data delimiter.
Example: "1;0;1" + INPUT key
• Use ;= to enter the same value as for the previous data.
Example: "1;=;=;0;=" + INPUT key: 1,1,1,0,0
• Use ;; to skip an address.
Example: "1;;1" + INPUT key: Nothing is entered in the second item.
• Use "R;input-value;count" to enter the same input value as many times as the specified
number.
Example: "R;1;200" + INPUT key: A value of 1 is entered in the vertical 200 fields.
(2) Cursor keys
Use the cursor keys to select a signal whose value is to be modified.
Pressing the cursor left key when the cursor is at bit 7 of an address changes the cursor to the byte
cursor.
Pressing the cursor right key when the cursor is in the HEX or DECIMAL field of an address
changes the cursor to the byte cursor for selecting the entire 1 byte next to the address.
When the cursor is in the HEX or DECIMAL field or is the byte cursor, the values of the entire 1
byte of the address can be modified.
(3) Page keys
Use the page keys to move the display.
Return key operation

On the FORCED INPUT/OUTPUT screen, the return key is disabled.
To terminate the forced input/output mode and display the SIGNAL STATUS screen again, use soft key
[EXIT].
- 217 -
C. CUSTOM LADDER
PROGRAM COMMENT
SWITCHING PROCEDURE APPENDIX B-85314EN-1/01
C CUSTOM LADDER PROGRAM COMMENT

SWITCHING PROCEDURE
C.1 OVERVIEW
When custom ladder program comment display needs to be switched according to the language setting on
the CNC, set the system parameters according to the procedure below by using FANUC LADDER-III.
C.2 SYSTEM PARAMETER SETTING

Use the procedure below to set a comment display language.
(1) Open the custom ladder program with FANUC LADDER-III.

(2) Open the system parameter screen.
- 218 -
C. CUSTOM LADDER
PROGRAM COMMENT
B-85314EN-1/01 APPENDIX SWITCHING PROCEDURE
(3) Click [Language for Comment]. Next, on the [Language for Comment] dialog box, set comment
set numbers to be displayed on the PMC screen for the CNC display language.
Number of display language

settings (comments)
Displays the first comment

when the CNC display
language is English.
Displays the second comment

language is Japanese.
Displays the first comment

language is other than English
and Japanese.
Comment set number

First comment = 0
Second comment = 1
:
CNC display language Delimit a CNC display language from a

number comment set number with a comma.
[CNC display language numbers]

0: English 9: Danish
1: Japanese 10: Portuguese
2: German 11: Polish
3: French 12: Hungarian
4: Chinese (traditional) 13: Swedish
5: Italian 14: Czech
6: Korean 15: Chinese (simplified)
7: Spanish 16: Russian
8: Dutch -1: Other
- 219 -
D. MULTI-LANGUAGE
DISPLAY FUNCTION APPENDIX B-85314EN-1/01
D MULTI-LANGUAGE DISPLAY FUNCTION

With this series, the PMC message multi-language display function is available. When compared with
the conventional multi-language display function using the message shift function, the PMC message
multi-language display function has the features indicated below. For details, refer to "FANUC
LADDER-III Operator's Manual (B-66234)".
• Alarm message and operator message data is stored in a memory card format different from the
format used for conventional ladder programs, and is loaded into the CNC independently of these
ladder programs.
• Multi-language alarm message and operator message data can be defined.
• Multi-language settings can be made without dividing A addresses. This means that all A
addresses can be used for each language to define many messages.
• When the CNC display language setting is changed, the language for alarm messages and operator
messages is switched without turning off the power of the CNC.
To use the PMC message multi-language display function, use the following procedure:
(1) Create a message file for multi-language display.

(2) Add message data to the main body of the ladder program.
(3) Convert the message data to a memory card format file.
(4) Incorporate the created memory card format file into the CNC.
TIP
• Second PMC message files for the multi-language display function to be used
with the custom PMC are not installed on the machine at the time of shipment
from the factory.
• To stop the use of the multi-language display function after a second PMC
message file is installed to use the multi-language display function, the second
PMC message file "M2PMCMSG" needs to be deleted. For the procedure of
deletion, see (7) in Section 11.2, "OPERATION ON THE BOOT SCREEN".
- 220 -
D. MULTI-LANGUAGE
B-85314EN-1/01 APPENDIX DISPLAY FUNCTION
D.1 CREATING MESSAGE DATA FOR MULTI-LANGUAGE

DISPLAY
Create message data by using a text editor on the personal computer.
Here, set message data in a language other than English.
The data format is indicated below.
1. File format
File type = Text file (*.TXT)
Character code = ANSI/Unicode(UTF-16)
(Identification code)
(Title information)
(Comment between lines)
(Message data 1)
(Message data 2)
(Comment between lines)
(Message data 3)
(Message data 4)
:
(Identification code)
2. Identification code
An identification code is used to mark the start and end of message data.
Start: %@4-D
End: %
3. Title information
Enclose title information in double quotation marks.
Up to 256 half-size characters can be entered. (Title information can be omitted.)
4. Comment between lines

Enclose a comment between lines in double quotation marks.
No comment between lines is output to a memory card format file.
- 221 -
D. MULTI-LANGUAGE
5. Message data
Language ID Address Message character string

Example) $1 %A100.0 1900 COOLANT ALARM
(a) Language ID
Specify a language ID for a message character string with "Dollar($)"+"Language ID".
Language ID
1: Japanese 7: Spanish
2: German 10: Portuguese
3: French 15: Chinese (Simplified)
4: Chinese (Traditional) 16: Russian
5: Italian
(b) Address
Be sure to prefix % to an address.
The usable addresses are A100.0 to A149.7.
(c) Message character string

Specify an alarm message number at the beginning then specify an alarm message to be
displayed.
An example of message data is given below. ([@0A@] of title information represents a line feed
code.)
%@4-D
" FANUC ROBODRILL D14/21iA SERIES MESSAGE DATA@0A@ EDITION :
0001@0A@ DATE : 2012/03/29 "
$2 %A100.0 1900 COLLANT ALARM (Note: Added alarm)

$2 %A100.1 2060 COOLANT LEVEL LOW (Note: Added operator message)
: :
$10 %A100.0 1900 COLLANT ALARM (Note: Added alarm)
$10 %A100.1 2060 COOLANT LEVEL LOW (Note: Added operator message)
%
TIP
• In this message data file, set messages in a language other than English.
• Set English message data as message data for the main body of the ladder
program.
- 222 -
D. MULTI-LANGUAGE
D.2 CREATING MESSAGE DATA FOR THE MAIN BODY OF

THE LADDER PROGRAM
Select "Message" on the FANUC LADDER-III program list screen to open the message editing screen.
- 223 -
D. MULTI-LANGUAGE
Add and edit English messages.

Even when no English message is needed, be sure to set alarm numbers.
The table below indicates the usable alarm numbers, operator message
numbers, and A addresses.
Alarm 1900 to 1999

A address A100.0 to A149.7
- 224 -
D. MULTI-LANGUAGE
D.3 CONVERTING MESSAGE DATA
D.3.1 Converting Message Data for Multi-Language Display

Convert a text file (mnemonic file) containing message data for multi-language display to a memory card
format file.
Open the command prompt screen.
Execute the following at the command prompt (as an example where a file created in Section D.1 is
named PMC2_MSG.TXT):
>C:
>CD C:\Program Files\FANUC PMC Programmer\FANUC LADDER-3
>FPMCMSG C:\PMC\PMC2_MSG.TXT /p=2 /o=C:\PMC\PMC2_MSG.MEM
Explanation)
Lines 1 and 2 make a movement to the drive directory where FANUC LADDER-III is installed.
(Modify the move destination to the directory where the software is actually installed.)
Line 3 executes FPMCMSG to convert the mnemonic format message file (PMC2_MSG.TXT) created in
Section D.1 to a second PMC message file (PMC2_MSG.MEM) in the memory card format for
multi-language display that can be loaded with the ROBODRILL.
A message file in the memory card format can be created by creating and executing the following BAT
file:
File name (example): MAKE_MEM.BAT
Contents of a BAT file (example):
C:
CD C:\Program Files\FANUC PMC Programmer\FANUC LADDER-3
FPMCMSG C:\PMC\PMC2_MSG.TXT /p=2 /o=C:\PMC\PMC2_MSG.MEM
- 225 -
D. MULTI-LANGUAGE
NOTE
1 FPMCMSG.exe is stored in the FANUC LADDER-III installation folder
("C\Program Files\FANUC PMC Programmer\FANUC LADDER-3" usually).
2 Usually, the result of command execution is output to the output screen. Use a
"greater than" sign (>) for redirection to a file or printer from the output screen.
3 Line comments other than title information are not output to a memory card
format file.
FPMCMSG is detailed below.
FPMCMSG [drive:][path]message-file1 [+ [drive:][path]message-file2] [+ …]

[/m=[drive:][path]lad-mcard-file] [/l=[drive:][path]lad-file]
/o=[drive:][path] mcard-file
Parameters
[drive:][path]message-file1, [drive:][path]message-file2, …
Specifies the location and name of a source file of multi-language PMC messages.
Multiple files can be specified using a plus sign (+).
If [drive:][path] is omitted, the current folder is assumed.
/m=[drive:][path]lad-mcard-file
A memory card file can be specified to check in detail why messages are not displayed normally.
For lad-mcard-file, specify the name of a memory card file of a PMC sequence program related to the source file of
multi-language PMC messages.
This parameter can be omitted.
/l=[drive:][path]lad-file
A LAD file can be specified to check in detail why messages are not displayed normally.
For lad-file, specify the name of a LAD file related to the source file of multi-language PMC messages.
If the specified LAD file contains no memory card file, the check with this parameter is not performed.
This parameter can be omitted.
Do not execute this tool when the LAD file specified for /L is open on FANUC LADDER-III.
/o=[drive:][path]mcard-file
Specifies the location and name of a multi-language PMC message file (memory card file) to be created.
D.3.2 Converting the Ladder Program

Compile the ladder program with FANUC LADDER-III to create a memory card format file. For details,
see Section A.3.
- 226 -
D. MULTI-LANGUAGE
D.4 INCORPORATING MEMORY CARD FORMAT FILES INTO

THE CNC
Install two memory card format files created in Section D.3 on the CNC.
For installation of the files on the CNC, two methods are available:
• One method writes the files directly to the flash ROM from the boot menu.
• The other method reads the files from the I/O screen of the PMC to the memory then writes the files
to the flash ROM.
For details, see Chapter 11, "INPUT/OUTPUT OF EDIT DATA".
D.5 CONVERTING A MEMORY CARD FORMAT FILE TO A

MNEMONIC FORMAT FILE
When editing message data again by using a memory card format message file for multi-language display,
convert data output from the machine, to a mnemonic format file, according to the following procedure:
(1) Back up a ROBODRILL message file for multi-language display from the machine. (See Chapter
11.)
(2) Copy the backed-up message file for multi-language display to the hard disk of the personal
computer.
(Example: Copy the message file to C:\PMC folder.)
(3) Open the command prompt screen.
- 227 -
D. MULTI-LANGUAGE
(4) Execute the following at the command prompt:
>C:
>CD C:\Program Files\FANUC PMC Programmer\FANUC LADDER-3
>FPMCMSG C:\PMC\PMC2_MSG.000 /o=C:\PMC\PMC2_MSG.TXT
Explanation)
Lines 1 and 2 make a movement to the drive directory where FANUC LADDER-III is installed.
(Modify the move destination to the directory where the software is actually installed.)
Line 3 executes FPMCMSG to convert the memory card format message file (PMC2_MSG.000) to a
mnemonic format file (PMC2_MSG.TXT). (The file name is just an example. Change it to the name
of an actually backed-up message file for multi-language display.)
For repeated conversion, create a BAT file with the contents above.
FPMCMSG is detailed below.
FPMCMSG [drive:][path]mcard-file
[/unicode]
/o=[drive:] [path]message-text-file
Parameters
[drive:][path]mcard-file
Specifies the location and name of a multi-language PMC message file (memory
card file).
/unicode
Outputs the message character strings to a source file in Unicode.
If this parameter is omitted, the message character strings are output in ANSI.
/o=[drive:][path]message-text-file
Specifies the location and name of a source file.
(5) With a text editor, open and edit the file (PMC2_MSG.TXT) converted to the mnemonic format.
- 228 -
B-85314EN-1/01 INDEX
INDEX
<A> <F>
ADDITIONAL AXIS CLAMP CONTROL ................120 FORCED INPUT/OUTPUT FUNCTION....................209
Additional I/O Unit (I/O Module + Terminal Module) ..37 FRONT AUTOMATIC DOOR CONTROL ................106
Additional I/O Unit for Sub-Operator's Panel ................22 FRONT DOOR LOCK CONTROL.............................126
ADDRESSES AVAILABLE TO CUSTOM PMC ........47
AI TOOL MONITOR ..................................................127 <I>
ALARM AND ERROR MESSAGES LIST.................144 I/O Communication Error Messages............................172
ALARM AND OPERATOR MESSAGE DISPLAY...132 I/O Link Connection Unit ..............................................22
ALARM OUTPUT 2....................................................117 I/O Module Editing ......................................................189
AUTOMATIC SIDE DOOR CONTROL ....................126 I/O Unit Model-A...........................................................10
INCORPORATING MEMORY CARD FORMAT
<B> FILES INTO THE CNC...........................................227
BASIC SIGNALS ........................................................105 INPUT/OUTPUT OF EDIT DATA ...............................78
BLOCK SKIP...............................................................136 INPUT/OUTPUT SPECIFICATIONS.............................6
INPUTTING ALPHABETIC CHARACTERS..............48
<C> INTERFACE SIGNALS BETWEEN SYSTEM AND
COMPLETION OF MACHINING ..............................125 CUSTOM LADDER PROGRAMS ...........................84
CONFIRMATION .........................................................71 INTERRUPT TYPE CUSTOM MACRO FUNCTION
CONTROL SIGNAL FOR EACH SERVO AXIS.......129 (OPTION) ................................................................117
CONVERSION TO A SOURCE FILE ........................182
CONVERTING A MEMORY CARD FORMAT FILE <L>
TO A MNEMONIC FORMAT FILE .......................227 Ladder Editing .............................................................186
CONVERTING MESSAGE DATA ............................225 LADDER PROGRAM COMPILATION AND
Converting Message Data for Multi-Language Display225 LOADING FILE CREATION .................................190
Converting the Ladder Program ...................................226 LADDER PROGRAM EDITING................................185
COOLANT, MACHINE INTERIOR CLEANING Ladder Program Message Editing ................................205
COOLANT, CENTER THROUGH COOLANT,
AND AIR BLOW.....................................................125 <M>
Count of Periodical Maintenance Customize Item.......136 M CODE OUTPUT FUNCTION (M80 TO M89).......116
CREATING MESSAGE DATA FOR M FUNCTION CODE SIGNALS ...............................131
MULTI-LANGUAGE DISPLAY ............................221 MACHINE INTERIOR LAMP....................................132
CREATING MESSAGE DATA FOR THE MAIN MACHINE STATUS ...................................................105
BODY OF THE LADDER PROGRAM ..................223 MACHINE STATUS OUTPUT ..................................124
CUSTOM LADDER PROGRAM COMMENT Message Editing...........................................................188
SWITCHING PROCEDURE ...................................218 Messages That May Be Displayed on the PMC Alarm
CUSTOM LADDER PROGRAM CREATION...........193 Screen.......................................................................144
CUSTOM MACROS ...................................................130 MULTI-LANGUAGE DISPLAY FUNCTION ...........220
CUSTOM PMC EDITING WITH FANUC
LADDER-III ............................................................181 <N>
NOTES.............................................................................4
<D>
DISPLAYING THE LADDER PROGRAM STATUS..71 <O>
OPERATING THE FORCED INPUT/OUTPUT
<E> SCREEN AND MODIFYING THE VALUES OF
EDITING .......................................................................50 SIGNALS .................................................................215
EDITING ALARM AND OPERATOR MESSAGES65,205 OPERATION CONTROL ...........................................131
EDITING LADDER PROGRAMS...........................51,53 Operation Errors...........................................................157
EDITING SYMBOLS AND COMMENTS ...................68 OPERATION MODE SWITCHING ...........................122
ENDING AN EDITING SESSION................................70 OPERATION ON THE BOOT SCREEN......................81
EXPLANATION OF TERMS .........................................3 OPERATION ON THE INPUT/OUTPUT SCREEN ....78
EXTERNAL M CODE BCD OUTPUT FUNCTION..113 OPERATOR'S PANEL................................................121
EXTERNAL PROGRAM NUMBER SEARCH Optional I/O Module Connection...................................46
FUNCTION..............................................................110 OPTIONAL INPUT/OUTPUT SPECIFICATIONS ......10
EXTERNAL WORKPIECE NUMBER SEARCH OUTLINE ........................................................................1
FUNCTION..............................................................108 OVERRIDE CONTROL..............................................133
i-1
INDEX B-85314EN-1/01
OVERVIEW .........................................................209,218
<P>
Parameter Setting When Optional I/O Modules Are
Used............................................................................46
PMC System Alarm Messages .....................................152
POSITION SWITCH ...................................................128
POWER-OFF ...............................................................132
PREFACE .................................................................... p-1
PRODUCTION MANAGEMENT...............................123
<R>
RESET AND REWIND FUNCTION ..........................117
ROBOT INTERFACE .................................................134
<S>
SCREEN DISPLAY..............................................128,214
SETTING PARAMETERS..........................................143
SETTING PMC PARAMETERS...................................74
SETTING/OPERATION FOR ENABLING FORCED
INPUT/OUTPUT .....................................................213
SIGNAL DIAGNOSIS...................................................73
SPECIFICATIONS ..........................................................5
SPINDLE .....................................................................127
STANDARD INPUT/OUTPUT SPECIFICATIONS ......6
STARTING AN EDITING SESSION ...........................50
Switching to the Edit Screen ..........................................51
Symbol and Comment Editing .....................................187
System Parameter Editing ............................................189
SYSTEM PARAMETER SETTING............................218
<T>
Terminal Module B ........................................................29
Title Editing .................................................................185
TOOL LIFE MANAGEMENT ....................................118
<U>
USING TYPICAL FUNCTIONAL INSTRUCTIONS 137
i-2
B-85314EN-1/01 REVISION RECORD
REVISION RECORD
Edition Date Contents
01 Jun., 2012
r-1
B-85314EN-1/01
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FANUC ROBODRILL @-D14M+A5

FANUC ROBODRILL @-D14L+A5

CUSTOM PMC FUNCTION

The model covered by this manual, and its abbreviation is:

Product name Abbreviation

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

In this manual, we have tried to describe as many matters as possible.

2.2 Daily Maintenance and Preventive Maintenance Personnel

2.3 Maintenance Personnel

(1) Installation and movement of the machine

3 ORGANIZATION OF THIS MANUAL

Model name Abbreviation

The manuals for this machine include the following:

FANUC Series 30i-MODEL B, Series 31i-MODEL B, Series 32i-MODEL B, Series

6 ADDRESSES AVAILABLE TO CUSTOM PMC.................................... 47

12.4 EXTERNAL WORKPIECE NUMBER SEARCH FUNCTION ..................... 108

A.2 LADDER PROGRAM EDITING ................................................................. 185

B FORCED INPUT/OUTPUT FUNCTION............................................... 209

External device Custom PMC External device

Custom PMC Can be input and

Custom PMC Custom PMC

Ladder program Ladder program

Message Message Message data for

Without multi-language With multi-language display

Parameter Value Function

Parameter Value Function

Wiring PCB unit: A04B-0102-C210#STA

16 inputs (X0.0 to X1.7)

Terminal block [XTC2] 16 inputs (X2.0 to X3.7)

Terminal block [XT1] 16 inputs (X4.0 to X5.7)

Name Address Signal Destination 01 X 4.0 02 X 4.1

UDO09 Y 3.0 User DO09 XT1-37

Connection diagram from DI01 to 50-pin terminal block (XTC1)

Name Address Signal Destination 01 X0.0 02 X0.1

UDO25 Y1.0 User DO25 XTC1-37

Name Address Signal Destination 01 X2.0 02 X2.1

5.2 OPTIONAL INPUT/OUTPUT SPECIFICATIONS

5.2.1 I/O Unit Model-A

Slot 3 Slot 4 Slot 5

Slots 4 and 5: for use only with output modules

(Specifications of input/output modules)

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

B0 X 201.0 X 205.0 X 209.0

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

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

B0 Y 201.0 Y 205.0 D0 Y 203.0 Y 207.0

B0 Y 201.0 Y 205.0 D0 Y 203.0 Y 207.0

B0 Y 201.0 Y 205.0 D0 Y 203.0 Y 207.0

B0 Y 201.0 Y 205.0 D0 Y 203.0 Y 207.0

5.2.2 I/O Link Connection Unit

5.2.3 Additional I/O Unit for Sub-Operator's Panel

Additional I/O units for sub-operator's panel: Connection of output signals

CE56 24V d.c. EXTERNAL

Connect the 24 V d.c. external power supply to CE56 or CE57.

Additional I/O units for sub-operator's panel: Connection of output signals

CE57 24V d.c. EXTERNAL

Connect the 24 V d.c. external power supply to CE56 or CE57.

5.2.3.1 Terminal Module B

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

24V d.c. external

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

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

Input signal (DI) circuit diagram of terminal module B #1