Computer Numerical Controls: 15i / 150i - Model A A Customer S Board

GE Fanuc Automation Europe
Computer Numerical Controls
15i / 150i - Model A

A Customer‘s Board
Descriptions
B-63322EN-2/01
TECHNOLOGY AND MORE

B-63322EN-2/01 DEFINITION OF WARNING, CAUTION, AND NOTE
DEFINITION OF WARNING, CAUTION, AND NOTE

This manual includes safety precautions for protecting the user and
preventing damage to the machine. Precautions are classified into
Warning and Caution according to their bearing on safety. Also,
supplementary information is described as a Note. Read the Warning,
Caution, and Note thoroughly before attempting to use the machine.
WARNING
Applied when there is a danger of the user being
injured or when there is a damage of both the user
being injured and the equipment being damaged if
the approved procedure is not observed.
CAUTION
Applied when there is a danger of the equipment
being damaged, if the approved procedure is not
observed.
NOTE
The Note is used to indicate supplementary
information other than Warning and Caution.
• Read this manual carefully, and store it in a safe place.
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B-63322EN-2/01 Table of Contents
Table of Contents
DEFINITION OF WARNING, CAUTION, AND NOTE................................

NOTE ................................................................
........................................................................
........................................ s-1
1 OVERVIEW................................
OVERVIEW................................................................
................................................................................................
................................................................................................
.........................................................................
......................................... 1
2 HARDWARE CONFIGURAT
CONFIGURATION
ION ................................................................
................................................................................................
......................................................................
...................................... 2
2.1 OVERVIEW .................................................................................................................................... 3
3 SOFTWARE CONFIGURAT
CONFIGURATION
ION ................................................................
................................................................................................
.......................................................................
....................................... 4
3.1 OVERVIEW .................................................................................................................................... 5
3.2 RAM ADDRESS AREA ASSIGNMENT........................................................................................ 6
3.3 SOFTWARE CONFIGURATION .................................................................................................. 7
4 COMMUNICATION BETWEEN
BETWEEN THE CNC AND CUSTOMER'S BOARD ...................................
................................... 10
4.1 APPLICATION SOFTWARE PROCESSING ............................................................................. 11
4.2 PARAMETERS FOR APPLICATIONS ....................................................................................... 12
4.3 INPUT/OUTPUT SIGNALS FOR TRANSFER WITH APPLICATION SOFTWARE ............. 13
5 CNC/CUSTOMER'S BOAR
BOARDD WINDOW ................................................................
..........................................................................................
.......................................................... 14
5.1 OVERVIEW .................................................................................................................................. 15
5.2 CNC/CUSTOMER'S BOARD ADDRESS MAP........................................................................... 15
5.3 TIMING CHARTS ........................................................................................................................ 16
5.4 DETAILED DATA DESCRIPTIONS .......................................................................................... 20
6 SYSTEM CALLS ................................................................

................................................................................................
...............................................................................................
............................................................... 26
6.1 INTERRUPT DISABLE ............................................................................................................... 27
6.2 INTERRUPT ENABLE ................................................................................................................ 27
6.3 MESSAGE OUTPUT (CHARACTER STRING) ......................................................................... 27
6.4 MESSAGE OUTPUT (INTEGER: DECIMAL NUMBER) ........................................................ 28
6.5 MESSAGE OUTPUT (INTEGER: HEXADECIMAL NUMBER) ............................................. 29
6.6 MESSAGE OUTPUT (REAL NUMBER) .................................................................................... 29
6.7 DEBUG DISPLAY (SCREEN CLEAR) ....................................................................................... 30
6.8 DEBUG DISPLAY (DISPLAY POINTER MOVE) ..................................................................... 30
6.9 DEBUG DISPLAY (CHARACTER STRING) ............................................................................. 31
6.10 DEBUG DISPLAY (INTEGER: DECIMAL NUMBER) ............................................................ 31
6.11 ARBITRATION FOR CONTINUOUS UPDATE ........................................................................ 32
6.12 CACHE CONTROL ...................................................................................................................... 33
7 DEVELOPMENT SUPPORT FUNCTIONS ................................................................

....................................................................................
.................................................... 35
8 CONTROL PARAMETERS ................................................................

................................................................................................
..............................................................................
.............................................. 37
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Table of Contents B-63322EN-2/01
9 DEVELOPMENT ENVIRONMENT
ENVIRONMENT ................................................................
................................................................................................
................................................................ 39
9.1 OVERVIEW .................................................................................................................................. 40
10 CAUTIONS FOR CODING................................

CODING................................................................
................................................................................................
...............................................................................
............................................... 41
10.1 OVERVIEW .................................................................................................................................. 42
11 LED INDICATORS ................................................................

................................................................................................
...........................................................................................
........................................................... 44
11.1 OVERVIEW .................................................................................................................................. 45
12 CUSTOMER'S BOARD MA
MANIPULATION
NIPULATION ................................................................
......................................................................................
...................................................... 46
12.1 DEDICATED CUSTOMER'S BOARD PARAMETERS ............................................................. 47
12.2 DEVELOPMENT SUPPORT FUNCTIONS ............................................................................... 58
12.2.1 Monitor Function ............................................................................................................. 59
12.2.2 Memory Display Function ............................................................................................... 61
12.2.3 Breakpoint Function........................................................................................................ 63
12.2.4 Data Output Function ..................................................................................................... 65
12.2.5 Data Escape Function ..................................................................................................... 67
12.2.6 Message Function ............................................................................................................ 72
12.2.7 Debug Display Function .................................................................................................. 74
12.2.8 Waveform Diagnosis Function ........................................................................................ 75
12.3 MANIPULATION PARAMETERS.............................................................................................. 77
12.4 MISCELLANEOUS ...................................................................................................................... 83
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B-63322EN-2/01 1. OVERVIEW
1 OVERVIEW
The customer's board incorporates a high-speed RISC CPU for running
application software created by a machine tool builder to implement
his/her own functions.
The use of a customer's board requires the machine tool builder's
options as well as the basic options.
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2. HARDWARE CONFIGURATION B-63322EN-2/01
2 HARDWARE CONFIGURATION
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B-63322EN-2/01 2. HARDWARE CONFIGURATION
2.1 OVERVIEW
The hardware of the customer's board is configured as shown below:
Main board
Flash
memory
FANUC BUS
Customer's
board Code area
(1.25 Mbytes)
Data communication
area (512 Kbytes)
Data area
(2 Mbytes)
Fig. 2.1 (a) Hardware block diagram
<1> Application software can use about 1 Mbyte in the code area (of
the 1 Mbyte, 512 bytes are used by the CNC system) and 1.5
Mbytes in the data area. (See Section 3.2, "RAM Area Address
Assignment.")
<2> When the power is switched on, the customer's board system
software and application software are transferred from flash
memory to the code area.
<3> Upon the completion of step <2>, the software on the customer's
board starts running.
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3. SOFTWARE CONFIGURATION B-63322EN-2/01
3 SOFTWARE CONFIGURATION
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B-63322EN-2/01 3. SOFTWARE CONFIGURATION
3.1 OVERVIEW
Customer's board system software

This software is the system nucleus that runs on the customer's board.
It is offered by FANUC. It performs the processing needed when the
power is switched on. It also calls application software created by the
machine tool builder.
In this specification manual, the customer's board system software may
be abbreviated to the "system."
Customer's board application software

This software is created by the machine tool builder. It runs on the
customer's board to implement the unique functions of the machine tool
builder.
In this specification manual, the customer's board application software
may be abbreviated to the "application."
CNC-side system software

This software runs on the CNC itself.
In this specification manual, the CNC-side system software may be
abbreviated to the "CNC-side system" or simply the "CNC side." On
the other hand, the term "board side" collectively refers to the above-
mentioned system and application.
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3.2 RAM ADDRESS AREA ASSIGNMENT
The RAM areas on the customer's board are assigned addresses as

shown below:
To the FANUC bus
02000000H to 0203ffffH
System code area (256 Kbytes)
Code area
(1.25 Mbytes),
02040000H to 0213ffffH
which cannot
Application code area (1 Mbyte)
be referenced
from the CNC
02400000H to 0247ffffH
CNC/customer's board window (512 Kbytes)
This window is used as an area for communication
between the CNC main board and customer's board.
02480000H to 024fffffH Data area

System data area (512 Kbytes) (2.5 Mbytes),
which can be
referenced
02500000H to 0267ffffH from the CNC
Application data area (1.5 Mbytes)
Fig. 3.2 (a) Customer's board RAM area address assignment
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3.3 SOFTWARE CONFIGURATION
System software
Initialization at System manager System call

Start
power-on actual
processing
System call
library
Application software
Task information table Power-on

time process
Power-on time start address
High-level task start address
Normal-level task start address
Normal-level High-level
process process
Fig. 3.3 (a) Customer's board software configuration
<1> The FANUC-offered customer's board system software performs:

• Power-on time initialization
• System management
• System call processing
<2> The power-on time initialization includes hardware initialization,
after which the system manager is started.
<3> The system manager calls the normal-level and high-level
processes in the application software according to the task
information table.
High-level and normal-level processes

The high-level process is called at 8 ms intervals.
The normal-level process is performed while the high-level process is
not being performed.
CAUTION
The high-level process must be terminated within 8
ms. Otherwise, a system alarm condition may occur.
-7-
System calls
When an application uses a system-provided process, it calls the
corresponding function from a system call library.
FANUC offers header files for calling functions from the system call
library. The header files are used for developing application software.
NOTE
The entity of the system call library currently exists in
the system software. (The application software calls
system call library functions directly from the system
software side.)
In the future, however, the entity of the system call
library may be partially prepared in the application
software side.
Task information table

The task information table must be prepared in the second 512-byte
section of the application code area. Its configuration is listed below.
02040200H
Offset Description Size
+ 0000H Task information for task No. 1 32 bytes
+ 0020H Task information for task No. 2 32 bytes
: : :
: : :
+ 01E0H Task information for task No. 16 32 bytes
Contents of task information

+ 0000H Task start address 4 bytes
+ 0004H Task type (1 = interrupt and 0 = task) 4 bytes
+ 0008H Level 4 bytes
+ 000CH Stack area start addres 4 bytes
+ 0010H Stack area end address 4 bytes
+ 0014H Reserved for future use 12 bytes
NOTE
The CNC-side system uses the first 512-byte section of
the application code area. So, no application can use it.
This structure of the task information table is intended to allow for

future expansion. At present, set it with the data listed below:
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Task Task start address Task type Level

Task No. 1 Start address of power-on time 0 0
process
Task No. 2 Start address of high-level process 1 3
Task No. 3 Start address of normal-level 0 1
process
Load the fields for task Nos. 4 to 16 and reserved for future use with 0.
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4. COMMUNICATION BETWEEN THE CNC AND CUSTOMER'S BOARD B-63322EN-2/01
4 COMMUNICATION BETWEEN THE CNC

AND CUSTOMER'S BOARD
- 10 -
B-63322EN-2/01 4. COMMUNICATION BETWEEN THE CNC AND CUSTOMER'S BOARD
4.1 APPLICATION SOFTWARE PROCESSING
(a) Power-on time processing

The application software is requested to perform the following power-
on time processing when called from the system-side process.
• Initialization, such as parameter-related operations for running
software
• Setting a ready flag (RRDY2) for high-level data transfer 2 to 1 (this
flag controls data transfer from the application to the CNC), and, if
necessary, simultaneously setting high-level data
CAUTION
The system-side software initializes (clears to 0) the
work area. The application software should not
initialize it.
(b) High-level task process

The application software's high-level task process, called from the
system side, must control:
• Ready flags for high-level data transfer 1 and 2
• Routines that must be executed at regular (8 ms) intervals to
implement unique functions.
(c) Normal-level task process

• The normal-level task process implements unique functions for the
machine tool builder.
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4. COMMUNICATION BETWEEN THE CNC AND CUSTOMER'S BOARD B-63322EN-2/01
4.2 PARAMETERS FOR APPLICATIONS
The parameters listed below are available for application software.

The application software can use these parameters for its own
purposes.
The memory storing these parameters is backed up by battery.
If any of these parameters is re-set by switching on the power, using the
MDI, or executing G10, the new data is transferred to the
CNC/customer's board window.
An area for the parameters is assigned separately from that for ordinary
NC parameters. It is set with data from a dedicated screen. In addition,
these parameters are written and read separately from ordinary NC
parameters.
Number of
No. Data type Valid data range
parameters
0000 to 0015 16 Bit 0 to 1
1000 to 1255 256 Integer -999999999 to +999999999
2000 to 2063 64 Integer axis -999999999 to +999999999
3000 to 3127 128 Real number Nine digits in machine units for
the basic axis
4000 to 4019 20 Real number Nine digits in machine units
axis
CAUTION
If the following CNC parameters are re-set, the
application software parameters of types real number
and real number axis must be cleared to 0 and re-set
on the CNC side.
• Parameter INM (bit 1 of No. 1002)
• Parameter ROT (bit 0 of No. 1006)
• Parameter No. 1012
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B-63322EN-2/01 4. COMMUNICATION BETWEEN THE CNC AND CUSTOMER'S BOARD
4.3 INPUT/OUTPUT SIGNALS FOR TRANSFER WITH

APPLICATION SOFTWARE
Sixty-four dedicated input signals and as many output signals are

provided at the addresses shown below for data transfer between the
application software and PMC.
The application software can use these input and output signals for its
own purpose.
PMC Input/output signals Customer's board
Copy 64 dedicated G signals
64 dedicated G signals
64 dedicated F signals
Copy
64 dedicated F signals
Fig. 4.3 (a) Input/output signals
PMC → CNC
#7 #6 #5 #4 #3 #2 #1 #0
G180
G181
G182
G183
G184
G185
G186
G187
CNC → PMC
#7 #6 #5 #4 #3 #2 #1 #0
F180
F181
F182
F183
F184
F185
F186
F187
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5. CNC/CUSTOMER'S BOARD WINDOW B-63322EN-2/01
5 CNC/CUSTOMER'S BOARD WINDOW
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B-63322EN-2/01 5. CNC/CUSTOMER'S BOARD WINDOW
5.1 OVERVIEW
The CNC/customer's board windows are used for data communication

between the CNC-side process and the application software.
The CNC/customer's board windows are grouped according to the type
of data being exchanged, as listed below.
CNC/customer's board windows

Data to be exchanged CNC side Board side
<1> Flags for controlling the transfer of data to application software Read/Write Read/Write
<2> Signals input to application software Write Read
<3> Parameters Write Read
<4> Diagnostic data Read/Write Read/Write
<5> Flags for controlling transfer of data from application software Read/Write Read/Write
<6> Signals output from application software Read Write
5.2 CNC/CUSTOMER'S BOARD ADDRESS MAP
Start address 02400000H

+ 0000H Flags for controlling transfer of data to application software 8 bytes
+ 0080H Signals input to application software 8 bytes
+ 0090H Application parameters 12048 bytes
+ 2FA0H Diagnostic data 16 bytes
+ 2FB0H Reserved for future use 4176 bytes
+ 4000H Flags for controlling transfer of data from application software 8 bytes
+ 4080H Signals output from application software 8 bytes
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5.3 TIMING CHARTS
(a) Transfer 1 synchronized with the high-level process (CNC-side process →

application-side process)
In transfer 1 synchronized with the high-level process, the following
data is transferred from the CNC side to the application side.
• Signals input to the application software
: Reading data from the CNC/customer's board window
: Writing data to the CNC/customer's board window
n n+1 n+2
CNC side
CRDY1
RRDY1
Application
side n-1 n n+1
(n) interval (n + 1) interval (n + 2) interval
Fig. 5.3 (a) Transfer 1 synchronized with the high-level process
• When the CNC-side process transfers data to the application software

via the CNC/customer's board window, it sets data in the
CNC/customer's board window if the result of an exclusive OR
operation between CRDY1 and RRDY1 is 0.
• After setting the data, the CNC-side process inverts CRDY1.
• Before reading data from the CNC/customer's board window, the
application software is requested to confirm that the result of an
exclusive OR operation between CRDY1 and RRDY1 is 1.
• The application software is requested to read data from the
CNC/customer's board window.
• After reading the data, the application software is requested to invert
RRDY1.
• CRDY1 and RRDY1 can take values 0 and 1. Inverting a flag
involves changing its value from 0 to 1 or vice versa.
- 16 -
NOTE
1 The CNC side cannot write the next data before the
application side completes reading of the current data.
Keeping the CNC side waiting may reduce its
throughput. Once it has started the high-level process,
therefore, the application side should complete data
reading as quickly as possible by copying the data to
another area.
2 In the first high-level process performed after the power
is switched on, the application must ignore any high-level
data received from the CNC side.
(No data is set, because there is no "previous" high-level
process.)
- 17 -
(b) Transfer 2 synchronized with the high-level process (application-side process

→ CNC-side process)
In transfer 2 synchronized with the high-level process, the following
data is transferred from the application side to the CNC side.
• Signals output from the application software
: Reading data from the CNC/customer's board window

: Writing data to the CNC/customer's board window
n n+1 n+2
Application
side
RRDY2
CRDY2
CNC side
n-1 n n+1
(n) interval (n + 1) interval (n + 2) interval
Fig. 5.3 (b) Transfer 2 synchronized with the high-level process
• When the application software transfers data to the CNC via the
CNC/customer's board window, it is requested to confirm that the
result of an exclusive OR operation between CRDY2 and RRDY2 is
1 before setting data in the CNC/customer's board window .
• The application side is requested to invert RRDY2, after setting the
data.
• Before reading data from the CNC/customer's board window, the
CNC-side process confirms that the result of an exclusive OR
operation between CRDY2 and RRDY2 is 1.
• After reading data, the CNC-side process inverts RRDY2.
• CRDY2 and RRDY2 can take values 0 and 1. Inverting a flag
involves changing its value from 0 to 1 or vice versa.
CAUTION
If the CNC-side process is kept waiting before it can
read data from the CNC/customer's board window, a
system alarm condition may occur.
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(c) Timing of application parameter transfer
<CNC side>
PRMWT
Parameter writing
<Application side>
PRMWE
Parameter reading
Fig. 5.3 (c) Application parameter transfer
• When the CNC-side process writes parameters to the CNC/customer's

board window, it sets PRMWT to 1.
• The application is requested to set the PRMWE to 1, after which it
becomes ready to read the parameters. After confirming that
PRMWE is 1, the CNC-side process performs the actual writing.
• The application must not read the parameters when the PRMWT is 1.
• After writing the parameters to the CNC/customer's board window,
the CNC-side process resets PRMWT to 0.
• When PRMWT is 0, the application side can read the parameters.
• The application is requested to reset PRMWE to 0, after it has read
the parameters from the CNC/customer's board window.
NOTE
It is not guaranteed that the CNC will complete
parameter writing within 8 ms. When the application
side uses a high-level process for parameter reading, if
parameter writing by the CNC has not ended, the
application must not wait in the current process. Instead,
it must wait in the next process.
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5.4 DETAILED DATA DESCRIPTIONS
Data transfer control flag (CNC side → application side)
02400000H
+0H +1H +2H +3H
CRDY1 CRDY2
Reserved for future use
High-level data transfer 2 ready flag
02400004H
+0H +1H +2H +3H
PRMWT   

Parameter write flag
(a) CRDY1 (high-level data transfer 1 ready flag)

[Related data] • Signals input to application software
This flag is read-only data for the application software.
See Fig. 5.3 (a), "Transfer 1 synchronized with the high-Level
process," for details of the timing descriptions.
(b) CRDY2 (high-level data transfer 2 ready flag)

[Related data] • Signals output from application software
This flag is read-only data for the application software.
See Fig. 5.3 (b), "Transfer 2 synchronized with the high-level
process," for detailed timing descriptions.
(c) PRMWT (parameter write flag)

[Related data] Application parameters
See Fig. 5.3 (c), "Application parameter transfer," for detailed timing
descriptions.
- 20 -
Data transfer control flag (application side → CNC side)
02404000H
+0H +1H +2H +3H
RRDY1 RRDY2  

02404004H
+0H +1H +2H +3H
PRMWE   

Ready to write parameters flag
(a) RRDY1 (high-level data transfer 1 ready flag)

[Related data] • Signals input to application software
The application software is requested to control this flag according to
the timing chart shown in Fig. 5.3 (a), "Transfer 1 synchronized with
the high-level process."
(b) RRDY2 (high-level data transfer 2 ready flag)

[Related data] • Signals output from application software
The application software is requested to control this flag according to
the timing chart shown in Fig. 5.3 (b), "Transfer 2 synchronized with
the high-level process."
(c) PRMWE (ready to write parameters flag)

[Related data] Application parameters
See Fig. 5.3 (c), "Application parameter transfer," for detailed timing
descriptions.
- 21 -
Signals input to application software (CNC side → application side)
The input signals are transferred in synchronization with the high-level

process.
See Fig. 5.3 (a), "Transfer 1 synchronized with the high-level process,"
for detailed explanations about how to transfer these signals.
02400080H
+ 0000H Input signal (G180) 1 byte
Signals output from application software (application side → CNC side)
The output signals are transferred in synchronization with the high-

level process.
See Fig. 5.3 (b), "Transfer 2 synchronized with the high-level process,"
for detailed explanations about how to transfer these signals.
02404080H
+ 0000H Output signal (F180) 1 byte
- 22 -
Application parameters (CNC side → application side)
If any of the application parameters is re-set by switching on the power,

by using the MDI, or by executing G10, the new data is transferred to
the CNC/customer's board window.
See Fig. 5.3 (c), "Application parameter transfer," for detailed
explanations about how to transfer the data.
The application parameters are listed below.
Number of
parameters
0000 to 0015 16 Bit 0 to 1
1000 to 1255 256 Integer -999999999 to +999999999
3000 to 3127 128 Real number Nine digits in machine units for
the basic axis
4000 to 4019 20 Real number Nine digits in machine units
axis
CAUTION
If the following CNC parameters are re-set, the
application parameters of types real number and real
number axis must be cleared to 0 and re-set on the
CNC side.
02400090H
+ 0000H 16 bit parameters (No. 0000 to No. 0015) 16 bytes
+ 0010H 256 LONG parameters (No. 1000 to No. 1255) 1024 bytes
+ 0410H 64 LONG axis parameters (No. 2000 to No. 2063) 6144 bytes
+ 1C10H 128 real number parameters (No. 3000 to No. 3127) 1024 bytes
+ 2010H 20 real number axis parameters (No. 4000 to No. 4019) 3840 bytes
- 23 -
• Bit parameters
02400090H
Offset Data No. Description Size
+ 0000H 0000 Bit parameter No. 1 1 byte
: : : 1 byte
: : : 1 byte
+ 000FH 0015 Bit parameter No. 16 1 byte
• LONG parameters
024000A0H
+ 0000H 1000 LONG parameter No. 1 4 bytes
: : : :
: : : :
+ 03FCH 1255 LONG parameter No. 256 4 bytes
• LONG axis parameters

024004A0H
+ 0000H 2000 LONG axis parameter No. 1 (first axis) 4 bytes
+ 0004H 2000 LONG axis parameter No. 1 (second axis) 4 bytes
+ 0008H 2000 LONG axis parameter No. 1 (third axis) 4 bytes
: : : :
: : : :
+ 005CH 2000 LONG axis parameter No. 1 (twenty-fourth axis) 4 bytes
+ 0060H 2001 LONG axis parameter No. 2 (first axis) 4 bytes
: : : :
: : : :
+ 17FCH 2063 LONG axis parameter No. 64 (twenty-fourth axis) 4 bytes
• Real number parameters

02401CA0H
+ 0000H 3000 Real number parameter No. 1 8 bytes
: : : :
: : : :
+ 03F8H 3127 Real number parameter No. 127 8 bytes
- 24 -
• Real number axis parameters

024020A0H
+ 0000H 4000 Real number axis parameter No. 1 (first axis) 8 bytes
+ 0008H 4000 Real number axis parameter No. 1 (second axis) 8 bytes
+ 0010H 4000 Real number axis parameter No. 1 (third axis) 8 bytes
: : : :
: : : :
+ 00B8H 4000 Real number axis parameter No. 1 (twenty-fourth 8 bytes
axis)
+ 00C0H 4001 Real number axis parameter No. 2 (first axis) 8 bytes
: : : :
: : : :
+ 0EF8H 4019 Real number axis parameter No. 64 (twenty-fourth 8 bytes
axis)
Diagnostic data (CNC side ↔ application side)
02402FA0H
+ 0000H (1) High-level task processing time (µs) 4 bytes
+ 0004H (2) High-level task peak processing time (µs) 4 bytes
(Maximum permissible time that can elapse after power-on)
• High-level task processing time

The system software sets the high-level task processing time in µs
units.
• High-level task peak processing time

The system software sets the high-level task processing time in µs
units.
This processing time is the maximum permissible time that can elapse
after power-on.
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6. SYSTEM CALLS B-63322EN-2/01
6 SYSTEM CALLS
- 26 -
B-63322EN-2/01 6. SYSTEM CALLS
The following system call functions are offered in a library.
6.1 INTERRUPT DISABLE
[Function name] sc_irt_mask

[Function] Disables interrupts.
[Format] void sc_irt_mask();
[Input] None.
[Output] None.
[Result] ----
[Note] The high-level process can start only when interrupts are enabled. If
you disabled interrupts, using this function, enable them as soon as you
finish the necessary processing.
6.2 INTERRUPT ENABLE
[Function name] sc_irt_enbl

[Function] Enables interrupts.
[Format] void sc_irt_enbl();
[Input] None.
[Output] None.
[Result] ----
[Note]
6.3 MESSAGE OUTPUT (CHARACTER STRING)
[Function name] sc_print_str

[Function] Displays a message (character string).
[Format] int sc_print_str (char *str);
[Input] char *str: Pointer to a character string to be output.
[Output] 0 : Normal end.
Nonzero : Abnormal end (the specified character string contains
an unusable code).
[Result] The output message can be viewed on the CNC-side message function
screen.
[Note] See the attached table for details on the codes that can be used with this
function.
One function call can output up to 36 characters.
If the specified character string consists of more than 36 characters, the
excessive characters are ignored.
The character string must end with '\0' (0x00).
Specifying '\n' (0x0a) causes a line feed.
- 27 -
6.4 MESSAGE OUTPUT (INTEGER: DECIMAL NUMBER)
[Function name] sc_print_dec

[Function] Displays a message (integer) in decimal notation.
[Format] int sc_print_dec (int num, int dgt);
[Input] int num : Number to be output.
int dgt : Number of digits to be displayed (1 to 11)
Nonzero : Abnormal end (the value specified as the number of digits
to be displayed is invalid).
screen.
[Note] The display is right-justified.
If the number of digits in the actual number to be displayed is smaller
than the value specified as the number of digits to be displayed, blanks
are output to the positions corresponding to the insufficient digits.
If the number of digits in the actual number to be displayed is larger
than the value specified as the number of digits to be displayed, the
specified value is ignored, and the actual number is output left-
justified.
- 28 -
6.5 MESSAGE OUTPUT (INTEGER: HEXADECIMAL NUMBER)
[Function name] sc_print_hex

[Function] Displays a message (integer) in hexadecimal notation.
[Format] int sc_print_hex (unsigned int num, int dgt, int sup);
[Input] Unsigned int num : Number to be output.
int sup : Whether to suppress zeros in the display (0 = not suppress
and 1 = suppress).
to be displayed or the value specified for zero suppression
is invalid).
screen.
[Note] The display is right-justified.
actual display varies according to whether zero suppression is specified,
as follows:
• If zero suppression is not specified, as many zeros as the number of
insufficient digits are output.
• If zero suppression is specified, as many blanks as the number of
insufficient digits are output.
specified value is ignored, and the actual number is output left-
justified.
6.6 MESSAGE OUTPUT (REAL NUMBER)
[Function name] sc_print_float

[Function] Displays a message (real number).
[Format] int sc_print_float (double num);
[Input] double num: Number to be output.
Nonzero : Abnormal end
screen.
[Note] The display is represented in exponential format (with up to 15
significant digits).
If the message is non-numeric, it is displayed as NaN. If it is infinite, it
is displayed as +Infinite or -Infinite.
Example) 1234567890.12345 is displayed as
+0.123456789012345E10.
- 29 -
6.7 DEBUG DISPLAY (SCREEN CLEAR)
[Function name] sc_screen_clr

[Function] Clears the entire debug display screen.
[Format] void sc_screen_clr();
[Input] None.
[Output] None.
screen.
[Note] See the attached figure for explanations about the configuration of the
screen.
The display pointer is moved to (0, 0).
6.8 DEBUG DISPLAY (DISPLAY POINTER MOVE)
[Function name] sc_screen_move

[Function] Moves the display pointer on the debug display screen.
[Format] int sc_screen_move (int x, int y, int inc);
[Input] int x : Specifies the X-coordinate direction.
int y : Specifies the Y-coordinate direction.
int inc : Specifies whether the display position is specified in absolute
or incremental format (0 = absolute and 1 = incremental).
Nonzero : Abnormal end (the specified X-/Y-coordinate or the
absolute/incremental specification is invalid).
[Result] ----
[Note] If "absolute" is specified, the display pointer is equal to the coordinates
specified in the arguments. If "incremental" is specified, the display
pointer is obtained by adding the coordinates specified in the
arguments to the current display pointer.
If "absolute" is specified, the ranges of X- and Y-coordinate values that
can be specified are between 0 and 75 and between 0 and 16,
respectively.
If "incremental" is specified, the ranges of X- and Y-coordinate values
that can be specified are between -75 and +75 and between -16 and +16,
respectively. It is impossible to specify a value that would cause the
coordinates to fall outside the edges of the screen.
- 30 -
6.9 DEBUG DISPLAY (CHARACTER STRING)
[Function name] sc_screen_str

[Function] Displays a character string, starting at the position indicated by the
display pointer.
[Format] int sc_screen_str (char *str);
[Input] char *str: Pointer to the character string to be output.
[Output] 0 : Normal end
Nonzero : Abnormal end (the specified character string contains a
usable code).
screen.
[Note] After a character string is output, the display pointer is updated by the
number of characters in the output character string.
See the attached table for the codes that can be used in this function.
One function call can output up to 76 characters.
If the specified character string consists of more than 76 characters, the
excessive characters are ignored.
The character string must end with '\0' (0x00).
Specifying '\n' (0x0a) causes a line feed. Performing a line feed causes
the line to be cleared to the end of line.
6.10 DEBUG DISPLAY (INTEGER: DECIMAL NUMBER)
[Function name] sc_screen_dec

[Function] Displays an integer in decimal notation, starting at the position
indicated by the display pointer.
[Format] int sc_screen_dec (int num, int dgt);
[Input] int num : Number to be output
[Output] 0 : Normal end
to be displayed is invalid).
screen.
[Note] After the data is output, the display pointer is updated by the number of
characters in the output data.
The display is right-justified.
than the value specified as the number of digits to be displayed, blanks
are output to the positions corresponding to the insufficient digits.
specified value is ignored, and the actual number is output, left-
justified.
- 31 -
6.11 ARBITRATION FOR CONTINUOUS UPDATE
[Function name] sc_access_wait

[Function] Conducts arbitration between the application software and the CNC
side, if the application software attempts to continuously update an area
that may be accessed by the CNC side.
[Format] void sc_access_wait();
[Input] None.
[Output] None.
[Result] ----
[Note] See Chapter 10, "Cautions for Coding," for details.
- 32 -
6.12 CACHE CONTROL
[Function name] sc_cache_off

[Function] Turns off the data or instruction cache in the processor.
[Format] void sc_cache_off (int kind);
[Input] int kind: Cache specification (0 = data cache and 1 = instruction cache)
[Output] None.
[Result] ----
[Note] This function can be called only from task No. 1 (for power-on time
processing).
The cache control specified using this function is effective for all tasks
except task No. 1.
NOTES
(1) Never call a system call function related to message
output or debug display access when interrupts are
disabled.
(2) System call functions (1) to (10) cannot be called from
task No. 1 (for power-on time processing).
(3) A debug display on the screen may take a high
occupancy ratio for a bus to the same data. Avoid
frequent updates.
As a guideline, limit the number of times that a system
call related to debug display to within several times per
start cycle of task No. 2.
(4) Do not use a cache control system call for any purpose
other than temporarily turning off the cache for
debugging. After you finish debugging, delete all
system calls related to cache control.
Turning off the cache makes the processor slow,
resulting an increase in the time required for the high-
level process and therefore leading to a system error.
0 1 2 3 4 5 6 7 8 9 a b c d e f
00 NL LF
10
20 SP ! “ # $ % & ‘ ( ) * + , - . /
30 0 1 2 3 4 5 6 7 8 9 : ; < = > ?
40 @ A B C D E F G H I J K L M N O
50 P Q R S T U V W X Y Z [ \ ] ^ _
60
to
f0
Codes usable in message output and debug display
- 33 -
X-coordinate
0 75
0
(0,0)
Y-
corrdinate
(75,16)
16
Debug display screen configuration
- 34 -
B-63322EN-2/01 7. DEVELOPMENT SUPPORT FUNCTIONS
7 DEVELOPMENT SUPPORT FUNCTIONS
- 35 -
7. DEVELOPMENT SUPPORT FUNCTIONS B-63322EN-2/01
The following debugging functions are supported:
Monitor function
This function displays the statuses of DI/DO data (G180 to G187/F180
to F187), diagnostic data (processing time and peak time of task No. 2),
and data transfer flags (data transfer 1, data transfer 2, and parameter
transfer). The peak time diagnostic data can be preset.
Memory display function

This function displays the contents of the application data area on the
CUSTOMER'S BOARD (MONITOR) screen.
Breakpoint function
This function enables an address within the application code area on
the customer's board to be specified. It also checks whether an
instruction at the specified address has been executed.
Data output function

This function enables start and end addresses in the application data
area to be specified and outputs data from between the specified start
and end addresses to a memory card in binary form.
Data escape function

This function saves data from the interface into a system buffer at
regular intervals (each time task No. 2 is started).
Message function
This function writes user program-specified data into a system buffer
as directed using a system call function.
The function also displays the written data on the CUSTOMER'S
BOARD (MESSAGE) screen.
Debug display function

This function displays user program-specified data on the
CUSTOMER'S BOARD (DEBUG SCREEN) screen as directed using
a system call function.
Waveform diagnosis function
This function displays data from a specified address on the WAVE
DIAGNOSIS (PARAMETER) screen.
- 36 -
B-63322EN-2/01 8. CONTROL PARAMETERS
8 CONTROL PARAMETERS
- 37 -
8. CONTROL PARAMETERS B-63322EN-2/01
#7 #6 #5 #4 #3 #2 #1 #0
1011 NCB
[Input type] Parameter input

[Data type] Bit axis
NOTE
After setting this parameter, switch the power off and
then back on again.
#2 NCB Specifies whether a specific axis is to be used on the customer's board,

as follows:
0: Axis to be used on the customer's board
1: Axis not to be used on the customer's board
- 38 -
B-63322EN-2/01 9. DEVELOPMENT ENVIRONMENT
9 DEVELOPMENT ENVIRONMENT
- 39 -
9. DEVELOPMENT ENVIRONMENT B-63322EN-2/01
9.1 OVERVIEW
Machine tool builders are requested to create application software for

the customer's board.
•Use a commercially available personal computer for program

development (such as editing, compilation, and load file (MEM file)
creation).
•Refer to the separately provided manual for explanations on how to
create MEM files.
Commercially available items to be prepared:

(1) Personal computer (IBM PC-AT or compatible)
(2) Microsoft Windows NT/95
(3) Compiler
D-C++/Power PC (Windows version) developed by Diab Data
NOTE
The above items may have to satisfy some conditions,
such as the compiler version. Before purchasing them,
check with FANUC.
- 40 -
B-63322EN-2/01 10. CAUTIONS FOR CODING
10 CAUTIONS FOR CODING
- 41 -
10. CAUTIONS FOR CODING B-63322EN-2/01
10.1 OVERVIEW
When creating application programs, observe the following cautions:
1. Do not perform division by zero.

2. When using data of type float or double, do not perform an
arithmetic operation on that data with NaN (nonnumeric) held.
3. Before converting data from type float or double to an integral
type, make sure that the resulting data will not fall outside the
valid data range of the target integral type.
4. The following restrictions are imposed on the alignment of
variables to be placed.
One-byte variable : No restriction
Two-byte variable : The least significant digit of the address
must be 0, 2, 4, 8, a, c, or e.
Four-byte variable : The least significant digit of the address
must be 0, 4, 8, or c.
Eight-byte variable : The least significant digit of the address
must be 0 or 8.
5. Stack area size
When switching tasks, the system software saves contexts into the
stack for the task that is currently being executed. The stack size
used for the saved data is about 1 Kbyte.
Therefore, the stack must be large enough to hold these contexts.
6. If more than 500 updates are performed on the same variable in an
area accessed from the CNC side, it may lower the processing
speed of the CNC side or lead to a system alarm condition.
Therefore, issue the sc_access_wait system call at least once
every 500 updates.
(Example) In the following example, variable count is updated
more than 500 times.
extern int count;
for ( ; ; ) {
count ++;
if ( count > 100000 ) break;
}
- 42 -
B-63322EN-2/01 10. CAUTIONS FOR CODING
The coding in the above example must be changed as follows:

extern int count;
static int count2;
count2 = 0;
for ( ; ; ) {
count ++;
count2 ++;
if ( count > 100000 ) break;
if ( count2 >= 500 ) {
sc_access_wait ();
count2 = 0;
}
}
WARNING
If an application program performs one of the following
operations, the CNC may behave in an unexpected
manner.
• Access to data in an area other than the
CNC/customer's board window or application data
area.
• Change to data in the CNC/customer's board window
at a point in time other than that specified.
• Execution of a program other than an application
program (except system calls)
- 43 -
11. LED INDICATORS B-63322EN-2/01
11 LED INDICATORS
- 44 -
B-63322EN-2/01 11. LED INDICATORS
11.1 OVERVIEW
The customer's board has the LED indicators shown below.

If you ever suspect a malfunction, check the states of these LED
indicators.
1 2 3 4
STATUS¡¡¡¡ ← Green
ALARM ¡¡¡ ← Red
The following descriptions use an empty circle (¡), solid circle (●),
and a star (★) to indicate that the corresponding LED is off, on, or
blinking, respectively.
(1) Normal state and normal end of power-on time processing

STATUS : ●¡¡¡
ALARM : ¡¡¡
(2) If an alarm condition occurs (indicated on the STATUS LED

indicators)
No. STATUS NC status
0 ¡¡¡¡ The power is not on.
2 ¡●¡¡ There is no software in the application side.
There is an error in the task information table.
An optional parameter has not been set.
D ●¡●● DRAM test error.
F ●●●● The power is on, but the processor has not started.
No. STATUS NC status

A ¡★¡★ ROM parity error on the system side.
B ★★¡★ ROM parity error on the application side.
E ¡★★★ A system alarm condition has occurred.
(3) If an alarm condition occurs (indicated by the ALARM LED

indicators)
No. ALARM NC status
3 ●●¡ SYSEMG condition (an NMI error has occurred).
4 ¡¡● DRAM parity error.
5 ●¡● Failure in the processor core power supply.
(4) Miscellaneous
If there is no system-side software when the customer's board is
installed, or if there is an error in the software, the nine LED
indicators in the CNC side blink, resulting in the CNC being
stopped.
- 45 -
12. CUSTOMER'S BOARD MANIPULATION B-63322EN-2/01
12 CUSTOMER'S BOARD MANIPULATION
- 46 -
B-63322EN-2/01 12. CUSTOMER'S BOARD MANIPULATION
12.1 DEDICATED CUSTOMER'S BOARD PARAMETERS
Overview
The dedicated customer's board parameters are those dedicated to

customer's board control. They can be:
• Referenced from the customer's board side,
• Output to and input from external units,
• Rewritten from the MDI, and
• Rewritten from a part program, using a G10L55 command.
If a dedicated customer's board parameter is updated at power-on, the

new data is transferred to the customer's board side.
Machine tool builders can define the dedicated customer's board
parameters at they desire.
The dedicated customer's board parameters are listed below:
Table 12.1 (a) Dedicated customer's board parameters

Number of
parameters
0000 to 0015 16 Bit 0 to 1
1000 to 1255 256 Integer -99999999 to +999999999
3000 to 3127 128 Real number 9 digits in machine units for
the basic axis
4000 to 4019 20 Real number axis 9 digits in machine units
CAUTION
If the following CNC parameters were re-set, the
application software parameters of types real number
and real number axis must be cleared to 0 and re-set
on the CNC side.
- 47 -
Displaying dedicated customer's board parameters
The dedicated customer's board parameters are displayed on the

CUSTOMER'S BOARD (PARAMETER) screen. They can be set up,
input from, and output to external units, also using this screen. To
display the CUSTOMER'S BOARD (PARAMETER) screen, press the
function menu key, then soft key [CUSTOM BOARD].
Next, press the Chapter key and then the [PARAMETER] soft key.
Fig. 12.1 (a) CUSTOMER'S BOARD (PARAMETER) screen
NOTE
If the set data does not fall within the valid data
range, "+OVERFLOW" or "-OVERFLOW" is
displayed.
- 48 -
Setting dedicated customer's board parameters
• Selecting the mode

Select MDI mode, or press the emergency stop button to bring the CNC
to an emergency stop.
• Positioning the cursor

Move the cursor to the desired dedicated customer's board parameter.
Method 1 PAGE
Use the PAGE page keys and the cursor
keys to move the cursor.
Method 2
(1) Press soft key [NUMBER SEARCH].
(2) Key in the desired parameter number.
(3) Press soft key [EXECUTE].
Method 3
(1) Key in the desired parameter number.
(2) Press soft key [NUMBER SEARCH].
• Inputting a value to be set

Method 1
(1) Press soft key [INPUT].
(2) Key in the value to be set.
Method 2
(2) Press soft key [INPUT].
Method 3
(2) Press the INPUT key.
• Bit on: 1
Pressing soft key [ON:1] sets a bit of a bit parameter to 1. The bit is
selected by the cursor.
If all bits are selected by the respective cursors, all bits are set to 1.
- 49 -
• Bit off: 0
Pressing soft key [OFF:0] resets a bit of a bit parameter to 0. The bit is
selected by the cursor.
If all bits are selected by the respective cursors, all bits are reset to 0.
NOTE
1. Setting the data triggers a parameter transfer to the
customer's board side. The data setting session
ends even before parameter transfer is finished.
(The CNC side terminates the data setting session
without waiting until the parameter transfer to the
customer's board side has been completed.)
2. When parameter PWW (bit 0 of parameter No.
2460) = 0, a warning is issued if an automatic
operation is started before parameter transfer ends.
Outputting dedicated customer's board parameters
Output procedures
The following paragraphs describe how to output the settings of the
dedicated customer's board parameters to a floppy disk.
Method 1 (with neither output file name nor file number specified)
(1) Display the CUSTOMER'S BOARD (PARAMETER)
screen.
(2) Select MDI mode.
(3) Press soft key [PUNCH].
Method 2 (with an output file name specified)

screen.
(4) Press soft key ["FILE NAME].
(5) Key in a file name.
(6) Press soft key [FILE NAME"].
Method 3 (with a file number specified, No. 1)

screen.
(4) Press soft key [(FILE#)].
(5) Key in a file number.
- 50 -

screen.
(4) Press the address key.
N

screen.
N
NOTE
If dedicated customer's board parameter output
method 1 (with neither output file name nor file
number specified) is used with a FANUC Floppy
Cassette, FANUC FA Card, FANUC Handy File, or
a memory card, the file name is fixed to
"CSTM_BD.TXT."
Inputting dedicated customer's board parameters
• Input procedures
The following paragraphs describe how to input the dedicated
customer's board parameters from a floppy disk to the CNC memory.
Method 1 (with neither the input file name nor input file number
specified)
screen.
(3) Bring the CNC to an emergency stop.
(4) Press soft key [READ].
Method 2 (with an input file specified using a file name)

screen.
- 51 -

Method 3 (with an input file specified using a file number, No. 1)

screen.
(5) Press soft key [(FILE#)].

screen.
N

screen.
N
NOTE
1. Upon detecting the end of data input, the CNC
starts transferring parameters to the customer's
board side. It terminates the data input session
even before parameter transfer is completed.
(The CNC side terminates the data input session
without waiting for parameter transfer to the
customer's board side to complete.)
2. When parameter PWW (bit 0 of parameter No.
2460) = 0, a warning is issued if automatic operation
is started before parameter transfer ends.
- 52 -
Output format of dedicated customer's board parameters
The dedicated customer's board parameters are categorized according

to their data types, as follows:
• Bit
• Integer
• Integer axis
• Real number
• Real number axis
A parameter of type bit is represented using 8 binary digits. Each digit

corresponds to one bit. The range of values that parameters of types
integer, integer axis, real number, and real number axis can take varies
depending on the parameter types. See Table 12.1 (a), "Dedicated
customer's board parameters," for the range of values that each
parameter type can take.
• Keywords
The letters listed below are used as keywords.
A value that follows each keyword has the meaning indicated below.
Keyword Meaning of a value following a keyword

N Parameter number.
A Controlled axis number specified in a parameter of type
axis (1 or greater)
P Parameter value
• Format of parameters of type bit

N ***** P ******** ;
A number that follows letter N is a parameter number.

An eight-digit binary number that follows letter P represents the value
(0 or 1) of bits. The first digit, as counted from the right, corresponds to
bit 0, and the eighth digit, to bit 7. Leading zeros cannot be omitted.
The semicolon represents an end-of-block code. (It is LF in ISO code
and CR in EIA code.)
Example
N00010P00000001;
Parameter No. 10
Parameter value Bit 0 is 1, and the other bits are 0.
- 53 -
• Format of parameters of type integer

N ***** P ****** ;

A number that follows letter P is the value (integer) of the parameter.
Example
N01000P31515;
Parameter No. 1000
Parameter value 31515
• Format of parameters of type integer axis
N ***** A ** P ****** A ** P ****** ... ... ;

A number that follows letter A is a controlled axis number (1 or
greater)
A number that follows letter P is the value (integer) of the parameter.
Example
N02020A1P88A2P89A3P90A4P66......;
Parameter No. 2020
Parameter value First axis : 88
Second axis : 89
Third axis : 90
Fourth axis : 66
•
• Format of parameters of type real number

N ***** P ****** ;

A number that follows letter P is the value (real number) of the
parameter.
Example
N03001P5000.000;
Parameter No. 3001
Parameter value 5000.000
- 54 -
• Format of parameters of type real number axis

N ***** A ** P ****** A ** P ****** ... ... ;

A number that follows letter A is a controlled axis number (1 or
greater)
A number that follows letter P is the value (real number) of the
parameter.
Example
N04012A1P50.000A2P60.000A3P70.000A4P0.000A
5P0.000 ........;
Parameter No. 4012
Parameter value First axis : 50.000
Second axis : 60.000
Third axis : 70.000
Fourth axis : 0.000
Fifth axis : 0.000
•
- 55 -
Programmable input of dedicated customer's board parameters
• Overview
The values of the dedicated customer's board parameters can be
modified from programs.
• Command format
Format
G10L55; Selects the input mode for dedicated customer's board
parameters.
N_R_; Inputs parameters of a type other than type axis.
N_P_R_; Inputs parameters of type axis.
:
:
G11; Deselects input mode.
Descriptions of symbols
N_: Dedicated customer's board parameter number.
R_: Value to be set in a dedicated customer's board parameter.
P_: Axis number (to be specified when inputting a parameter of type
axis).
• Explanation
• Parameter setting (R_)

Specifies a value to be set in a dedicated customer's board parameter.
For a parameter of type real number, a decimal point is used with R_.
• Axis number (P_)

An axis number (P_) is used with a parameter of type axis to determine
the sequence in which the parameter is to appear on the CUSTOMER'S
BOARD (PARAMETER) screen.
For example, P2 specifies that the parameter is to appear in the second
place on the screen.
NOTE
1. Any NC command other than that listed above
cannot be used in the dedicated customer's board
parameter input mode.
2. In the dedicated customer's board parameter input
mode, the entry of a pocket calculator-type decimal
point is invalid for address R.
3. Specifying G11 triggers parameter transfer to the
customer's board side. The execution of the G11
block does not end until parameter transfer ends. If
a reset occurs before the end of the parameter
transfer, the execution of the G11 block is forced to
end, but the parameter transfer is continued.
- 56 -
• Exercises
1. Setting bit 0 of parameter No. 0000 of type bit
G10L55; Selects input mode for dedicated customer's

board parameters.
N0000 R00000001; Sets data.
2. Changing the values of the Z axis (third axis) and A axis (fourth
axis) in parameter No. 4000 of type real number axis
G10L55; Selects input mode for dedicated customer's

board parameters.
N4000 P3 R45.0; Changes the value of the Z axis.
N4000 P4 R12.0; Changes the value of the A axis.
- 57 -
12.2 DEVELOPMENT SUPPORT FUNCTIONS
Overview
The development support functions help machine tool builders develop

customer's board control software.
The following development support functions are available:

• Monitor function
• Memory display function
• Breakpoint function
• Data output function
• Data escape function
• Message function
• Debug display function
For functions other than the monitor and memory display functions,
parameter SCR (bit 1 of parameter No. 2460) can be used to specify
whether to display the related data.
- 58 -
12.2.1 Monitor Function
• Overview
The monitor function displays the following data:
• Input/output signals (G180 to G187/F180 to F187)
• Diagnostic data
• Data transfer control flag
Monitor function display and manipulation
To display the CUSTOMER'S BOARD (MONITOR) screen, press the

function menu key, and then press the [CUSTOM BOARD] soft key.
Next, press the Chapter key and then the [MONITOR] soft key.
Fig. 12.2.1 (a) CUSTOMER'S BOARD (MONITOR) screen
• DI/DO SIGNAL
These boxes display the input/output signals (G180 to G187/F180 to
F187) dedicated to the customer's board.
• DIAGNOSIS
These boxes display diagnostic data values.
TIME 1 displays the processing time for task No. 2 (in µs units).
TIME 2 displays the peak processing time for task No. 2 (in µs units).
TIME 2 can be preset by pressing soft key [COUNTER PRESET].
- 59 -
• CONTROL FLAG
These boxes display the states of the control flags for data transfer
between the CNC and board sides.
NOTE
The displayed values reflect only the instantaneous
states of the control flags. The displayed values
may not necessarily match the current states of the
control flags.
- 60 -
12.2.2 Memory Display Function
• Overview
The memory display function displays the contents of the customer's
board side memory.
Memory display function display and manipulation
To display the CUSTOMER'S BOARD (MEMORY) screen, press the

Next, press the Chapter key and then the [MEMORY] soft key.
Fig. 12.2.2 (a) CUSTOMER'S BOARD (MEMORY) screen
The CUSTOMER'S BOARD (MEMORY) screen displays the display

start addresses, data (16 bytes × 16 lines), and ASCII-coded character
data (16 bytes × 16 lines). (If the double-display format is used,
however, character data is not displayed.)
One page displays 256 bytes of data, starting at start addresses.
- 61 -
• Address specification
To specify an address, input a physical address on the customer's board,
and the press the [ADDRESS SEARCH] soft key.
If the input address data is invalid, a warning is issued.
• Data length switching

Pressing soft key [BYTE], [WORD], [LONG], or [DOUBLE] switches
the data length.
If [BYTE], [WORD], or [LONG] is pressed, the displayed data is a 1-,
2-, or 4- byte hexadecimal number, respectively. If [DOUBLE] is
selected, the displayed data is represented in exponential form with up
to 15 significant digits.
If the data is non-numeric, it is displayed as NaN. If it is infinite, it is
displayed as +Infinite or -Infinite.
Example of display) +0.123456789012345E10.
The above data means: 1234567890.12345
• Page switching PAGE

Pressing the PAGE keys switches to the previous or next display
page of the addresses.
NOTE
Never specify an address that does not exist on the
customer's board. Before switching to another
display page of addresses, check that the target
addresses exist on the customer's board.
If this caution is not observed, a system alarm
condition may occur.
- 62 -
12.2.3 Breakpoint Function
• Overview
The breakpoint function checks whether the processor has executed an
instruction at a specified address on the customer's board.
Breakpoint function display
To display the CUSTOMER'S BOARD (BREAK POINT) screen,

press the function menu key, and then press the [CUSTOM BOARD]
soft key.
Next, press the Chapter key and then the [BREAK POINT] soft key.
Fig. 12.2.3 (a) CUSTOMER'S BOARD (BREAK POINT) screen
• BREAK POINT
This box displays the address that is currently specified for an
instruction to be checked. (The address is a physical address on the
customer's board.)
• STATUS
This box indicates whether the instruction at the specified address has
been executed.
• BREAK
This box indicates whether the check has started or ended.
- 63 -
Breakpoint function manipulation
• Address specification
Key in a physical address that exists on the customer's board, then press
soft key [INPUT].
The specified address is displayed as a breakpoint.
If the specified address data is invalid, a warning is issued.
• Check start
After specifying an address, press soft key [START].
The BREAK box changes to "START" and, simultaneously, the
STATUS box changes to "×."
When the processor executes the instruction at the specified address,
the BREAK box changes to "END," and the STATUS box changes to
"¡."
If no address is specified normally, a warning is issued.
• Check end
Press the [END] soft key.
The BREAK box changes to "END" and, simultaneously, the STATUS
box changes to "×."
The check ends automatically also when:
<1> Another address is specified, or
<2> The processor executes the instruction at the specified address
after the check begins. (In this case, the STATUS box remains set
to "¡.")
NOTE
The specified address must be within the
application code area.
- 64 -
12.2.4 Data Output Function
• Overview
The data output function outputs data between the specified addresses
on the customer's board to a memory card in binary form.
Data output function display
To display the CUSTOMER'S BOARD (DATA OUTPUT) screen,

press the function menu key, then press the [CUSTOM BOARD] soft
key.
Next, press the Chapter key and then the [DATA OUTPUT] soft key.
Fig. 12.2.4 (a) CUSTOMER'S BOARD (DATA OUTPUT) screen
• START ADDRESS
This box displays the start address for data to be punched. (The address
is a physical address on the customer's board.)
• END ADDRESS
This box displays the end address of the data to be punched. (The
address is a physical address on the customer's board.)
- 65 -
Data output function manipulation
• Start address specification

Press the cursor keys to position the cursor to the "START
ADDRESS." Key in a physical address on the customer's board, then
press the [INPUT] soft key.
The specified address is displayed in the START ADDRESS box.
• End address specification

Press the cursor keys to position the cursor to "END
ADDRESS." Key in a physical address on the customer's board, then
press the [INPUT] soft key.
The specified address is displayed in the END ADDRESS box.
• Data output
First, select a memory card slot as an output destination unit, and then
insert a formatted memory card into the memory card slot.
Method 1 (with no output file name specified)

Method 2 (with an output file name specified)

If a start or end address is not specified normally, a warning is issued.
NOTE
1. Specify a memory card as a data output destination
unit.
2. Each specified address must be within the data
area on the customer's board.
A buffer area for the data escape and message
functions described later can also be used with the
data output function.
3. Satisfy the condition: Start address < end address
4. If data output method 1 (with no output file name
specified) is used, the file name is fixed to
"CSTM_MEM.DAT."
- 66 -
12.2.5 Data Escape Function
• Overview
The data escape function saves the data between the specified
addresses on the customer's board to a save area at regular intervals (8
ms).
Data escape function display
To display the CUSTOMER'S BOARD (ESCAPE) screen, press the

function menu key, and then press soft key [CUSTOM BOARD].
Next, press the Chapter key and soft key [DATA ESCAPE].
Fig. 12.2.5 (a) CUSTOMER'S BOARD (ESCAPE) screen
• NO. 1 to NO. 5
Up to five sets of data can be specified for saving.
The escape start/end address and enable/disable attribute can be
specified for each set.
• (0:OFF 1:ON)
These boxes indicate whether each data set is enabled for saving.
Values 0 and 1 correspond to "disabled" and "enabled," respectively.
• START ADDRESS
These boxes specify the start addresses of data to be saved. (Each
address is a physical address on the customer's board.)
- 67 -
• END ADDRESS
These boxes specify the end addresses of the data to be saved.
(Each address is a physical address on the customer's board.)
• BUFFER AREA
These boxes display the area to which data is to be saved.
(The addresses are physical addresses on the customer's board.)
• TOP
This box displays the address to which the next data item is to be saved.
(The address is a physical address on the customer's board.)
• BOTTOM
This box displays the address where the oldest data item is held.
(The address is a physical address on the customer's board.)
• MODE
This box displays the mode in which the save area is to be used.
• STATUS
This box indicates whether data saving has started or ended.
Data escape function manipulation
• Start address specification

Press the cursor keys to position the cursor to "START
ADDRESS." Key in a physical address on the customer's board, and
then press the [INPUT] soft key.
The specified address is displayed in the START ADDRESS box.
• End address specification

Press the cursor keys to position the cursor to "END
ADDRESS." Key in a physical address on the customer's board, and
then press the [INPUT] soft key.
The specified address is displayed as the end address.
- 68 -
• Specifying sets to be used

Up to five sets of addresses can be specified for saving.
After setting a desired set of start and end addresses, set the cursor to
"(0:ON 1:OFF)," using the cursor keys, and then press the
[ON:1] soft key.
If the start or end address is not specified normally, a warning is issued.
If the set selected by the cursor is not to be used, press soft key [OFF:0].
If the start or end address in a set is changed, the set is automatically
deselected.
• Saving start
After selecting data, press soft key [START].
The STATUS box changes to "START."
If no effective set has been set up, a warning is issued.
• Saving end
Press soft key [END].
The STATUS box changes to "END."
Data saving is stopped automatically when:
<1> The set, address, or mode specification is changed.
<2> In single mode, the save area is used up.
• MODE
This box is used to specify the method for using the save area.
There are two modes: Single and ring. The modes can be switched by
pressing the [BUFFER SINGLE] or [BUFFER RING] soft key.
The Mode box displays the currently selected mode.
See the following descriptions for explanations about the differences
between the single and ring modes.
• Presetting
Pressing the [POINTER PRESET] soft key sets both the top and
bottom addresses to the start address of the buffer area.
If saving is started by pressing the [START] soft key, presetting is
performed automatically before actual saving begins.
Presetting can also be performed during data saving.
- 69 -
Save area
The BUFFER AREA boxes indicate the location where data is to be

saved.
In single mode, saving ends once the buffer area is full.
In ring mode, the buffer area is used in a ring manner. When there is no
free space in the buffer area, a new data item is overwritten in the space
occupied by the oldest data item, thus causing the oldest data item to be
discarded.
The unit of discarded old data becomes equal to the total of data saved
in every cycle.
The TOP box displays the address for the next data item to be saved.
The BOTTOM box displays the address for the oldest data item.
• Examples
Buffer use in single mode
0x02c00000 Bottom Start of buffer
area
Space used
Top
Space yet to be
used
0x02ffffff End of buffer
area
Buffer use in ring mode

0x02c00000 Start of buffer
Space used area
Space yet to be Top

used
Bottom
Space used
0x02ffffff End of buffer
area
- 70 -
Saving
Data saving is performed immediately before task No. 2 is started.
In every cycle, data between the addresses in each effective set is saved
sequentially (from set 1 to set 5).
• Examples
Effective set
Set 2 Start address 0x02400000 End address
0x02400003
Set 4 Start address 0x02400100 End address
0x0240010f
On the above assumption:
In every cycle, twenty bytes are saved in the following sequence:

0x02400000 to 0x02400003 (3 bytes) and then 0x02400100 to
0x0240010f (16 bytes)
NOTE
1. Satisfy: Start address < end address
2. Data saving places a heavy burden on the system.
If the saving of a large amount of data is specified,
the burden on the system becomes very heavy,
possibly leading to a system alarm condition.
Therefore, keep the data to be saved to the
minimum required amount.
- 71 -
12.2.6 Message Function
• Overview
The message function displays the message data output from the
Message function display
To display the CUSTOMER'S BOARD (MESSAGE) screen, press the

Next, press the Chapter key and then the [MESSAGE] soft key.
Fig. 12.2.6 (a) CUSTOMER'S BOARD (MESSAGE) screen
• Message display
The message display boxes display the messages output by the
Up to the latest 28 rows of message data are displayed.
• BUFFER AREA
These boxes display the area (buffer area) in which message data is to
be stored. (Each address is a physical address on the customer's board.)
• TOP
This box displays the address to which the next message data item is to
be stored. (The address is a physical address on the customer's board.)
• BOTTOM
This box displays the address where the oldest message data item is
stored. (The address is a physical address on the customer's board.)
- 72 -
• UPDATE
This box indicates whether message data display update has started or
ended.
Message function manipulation
• Presetting
Pressing the [POINTER PRESET] soft key sets both the top and
bottom addresses to the start address of the buffer area.
• Display updating
Pressing the [UPDATE START] soft key causes the message display to
be updated.
Pressing the [UPDATE STOP] soft key causes the message display
update to be stopped.
Buffer storing continues, however.
(Display processing is stopped, but buffer storing is not.)
Storage area
The BUFFER AREA boxes indicate where message data is stored.

The buffer area is used in a ring manner. When there is no free space in
the buffer area, a new data item is written over the oldest data item, thus
discarding the oldest data item.
Old data is discarded in line units.
The TOP box displays the address where the next message data item is
to be stored.
The BOTTOM box displays the address where the oldest message data
item is stored.
• Example
0x02b00000 Start of buffer
Space used area
Space yet to be Top

used
Bottom
Space used
0x02bfffff End of buffer
area
- 73 -
12.2.7 Debug Display Function
• Overview
The debug display function displays a simple debugging screen created
using the customer's board control software.
Debug display function display
To display the CUSTOMER'S BOARD (DEBUG SCREEN) screen,

press the function menu key, and then press the [CUSTOM BOARD]
soft key.
Next, press the Chapter key and the [DEBUG SCREEN] soft key.
Fig. 12.2.7 (a) CUSTOMER'S BOARD (DEBUG SCREEN) screen
- 74 -
12.2.8 Waveform Diagnosis Function
• Overview
The "Contents of specified memory" have been added as traceable data
to the conventional waveform diagnosis function.
Refer to the "FANUC Series 15i/150i-MA Maintenance Manual
(63325EN)" for detailed descriptions about the waveform diagnosis
function.
Setting
• Trace data setting

To select the contents of specified memory, specify 11 as a trace data
type on pages 2 and 3 of the WAVE DIAGNOSIS (PARAMETER)
screen.
Specify the memory to be traced on page 4 of the WAVE DIAGNOSIS

(PARAMETER) screen.
Fig 12.2.8 (a) Trace data setting
• BOARD SELECT
This box is used to specify the board to be traced, as follows:
0: CNC MAIN board
1: Customer's board
- 75 -
• ACCESS SIZE
This box is used to specify the amount of memory to be accessed for
tracing at any one time.
0: One-byte length (signed)
1: One-byte length (unsigned)
2: Two-byte length (signed)
3: Two-byte length (unsigned)
4: Four-byte length (signed)
• ADDRESS
This box is used to specify a memory address for tracing. The address
is represented in hexadecimal notation.
If the customer's board is selected, a physical address on the customer's
board is specified.
NOTE
1. When the customer's board is selected, the
specified address must be a physical address within
the data area on the customer's board.
2. If an invalid address or access size is specified, a
system alarm condition may occur.
3. The board selection, access size, and address can
be specified only when 11 is specified as the trace
data type.
• Input/output format
The following data types have been added.
T 9 0 B * I * R * * … * ;
Address
Access size
Board selection
- 76 -
NOTE
1. The traced data is clamped within the following
range:
-999999999 ≤ data ≤ 999999999
2. The following restrictions are imposed on the least
significant digit of the address according to the
access size:
One-byte length: No restriction
Two-byte length: Addresses 0, 2, 4, 6, 8, A, C, and
E
Four-byte length: Addresses 0, 2, 4, 8, and C
3. To output the traced memory contents to an
external unit, select the FS15i type. Selecting the
FS15B type will lead to a warning.
12.3 MANIPULATION PARAMETERS
#7 #6 #5 #4 #3 #2 #1 #0
2460 SCR PWW

[Data type] Bit
#0 PWW Specifies whether to issue a warning if parameter transfer to the

customer's board has not been completed when an automatic operation
is started, as follows:
0: Issued
1: Not issued
#1 SCR Specifies whether to display the customer's board development support

function screen, as follows:
0: Not displayed
1: Displayed
- 77 -
4601 File output format

[Data type] Integer
[Valid data range] 0 to 1
This parameter specifies a format to be used in outputting data traced
by the waveform diagnosis function to an external input/output unit, as
follows:
0: FS15i format
1: FS15B format (old format)
NOTE
If the data to be output is traced memory contents,
be sure to reset this parameter to 0.
4730 Target board specification 1

[Data type] Integer
This parameter specifies which board is to be subjected to specified-
memory tracing using trace data 1 of the waveform diagnosis function,
as follows:
0: CNC MAIN board
1: Customer's board
4731 Access size specification 1

[Data type] Integer
This parameter specifies an access size for which specified-memory
tracing is to be performed using trace data 1 of the waveform diagnosis
function.
0: One-byte length (signed)
1: One-byte length (unsigned)
2: Two-byte length (signed)
3: Two-byte length (unsigned)
4: Four-byte length (signed)
NOTE
If the specified access size is invalid, a system
alarm condition may occur.
- 78 -
4732 Memory address specification 1

[Data type] Integer
This parameter specifies a memory address at which specified-memory
tracing is to be performed using trace data 1 of the waveform diagnosis
function.
NOTE
Always specify an existing address. If the specified
address is invalid, a system alarm condition may
occur.

[Data type] Integer
This parameter specifies which board is to be subjected to the
specified-memory tracing to be performed using trace data 2 of the
waveform diagnosis function.
Also see the description of parameter No. 4730 for the setting of this
parameter.

[Data type] Integer
This parameter specifies an access size by which specified-memory
trace is to be performed using trace data 2 of the waveform diagnosis
function.
Also see the description of parameter No. 4731 for the setting of this
parameter.
NOTE
- 79 -

[Data type] Integer
function.
NOTE
occur.

[Data type] Integer
This parameter specifies the board for which specified-memory trace is
to be performed using trace data 3 of the waveform diagnosis function.
Also see the descriptions of parameter No. 4730 for the setting of this
parameter.

[Data type] Integer
This parameter specifies an access size by which specified-memory
function.
parameter.
NOTE
- 80 -

[Data type] Integer
function.
NOTE
occur.

[Data type] Integer
This parameter specifies the board on which specified-memory trace is
to be performed using trace data 4 of the waveform diagnosis function.
parameter.

[Data type] Integer
This parameter specifies the access size by which specified-memory
function.
parameter.
NOTE
- 81 -

[Data type] Integer
This parameter specifies the memory address at which specified-
memory trace is to be performed using trace data 4 of the waveform
diagnosis function.
NOTE
occur.
- 82 -
12.4 MISCELLANEOUS
(1) Displaying the software series and edition

The software series and edition of the customer's board control
software can be viewed on the system configuration screen.
For the software of the customer's board control system side, the
software and series are displayed by "CUSTOM (SYSTEM)."
For the software of the application side, they are displayed by
"CUSTOM (USER)."
- 83 -
B-63322EN-2/01 INDEX
INDEX
APPLICATION SOFTWARE ..................................13
Ａ
INTERRUPT DISABLE ...............................................27
APPLICATION SOFTWARE PROCESSING.............. 11
INTERRUPT ENABLE ................................................27
ARBITRATION FOR CONTINUOUS UPDATE........... 32
Ｌ
Ｂ
LED INDICATORS......................................................44
Breakpoint Function ................................................... 63
Ｍ
Ｃ
MANIPULATION PARAMETERS ...............................77
CACHE CONTROL..................................................... 33
Memory Display Function ...........................................61
CAUTIONS FOR CODING ......................................... 41
Message Function ......................................................72
CNC/CUSTOMER'S BOARD ADDRESS MAP........... 15
MESSAGE OUTPUT (CHARACTER STRING)...........27
CNC/CUSTOMER'S BOARD WINDOW..................... 14
MESSAGE OUTPUT (INTEGER
COMMUNICATION BETWEEN THE CNC AND
DECIMAL NUMBER) .................................. 28
CUSTOMER'S BOARD .......................................... 10
HEXADECIMAL NUMBER)........................ 29
CONTROL PARAMETERS......................................... 37
MESSAGE OUTPUT (REAL NUMBER) .....................29
CUSTOMER'S BOARD MANIPULATION................... 46
MISCELLANEOUS .....................................................83
Ｄ Monitor Function .........................................................59
Data Escape Function ................................................ 67 Ｏ

Data Output Function ................................................. 65
OVERVIEW ..................................1, 3, 5, 15, 40, 42, 45
DEBUG DISPLAY (CHARACTER STRING)............... 31
Ｐ
DEBUG DISPLAY (DISPLAY POINTER MOVE) ........ 30
DEBUG DISPLAY (INTEGER PARAMETERS FOR APPLICATIONS........................12
DECIMAL NUMBER) .................................. 31
Ｒ
DEBUG DISPLAY (SCREEN CLEAR)........................ 30
RAM ADDRESS AREA ASSIGNMENT ........................6
Debug Display Function ............................................. 74
DEDICATED CUSTOMER'S BOARD PARAMETERS47 Ｓ

DETAILED DATA DESCRIPTIONS............................ 20
SOFTWARE CONFIGURATION ..............................4, 7
DEVELOPMENT ENVIRONMENT ............................. 39
SYSTEM CALLS.........................................................26
DEVELOPMENT SUPPORT FUNCTIONS........... 35, 58
Ｔ
Ｈ
TIMING CHARTS........................................................16
HARDWARE CONFIGURATION.................................. 2
Ｗ
Ｉ
Waveform Diagnosis Function ...................................75
INPUT/OUTPUT SIGNALS FOR TRANSFER WITH
i-1
Revision Record
FANUC Series 15i/150i-MODEL A Customer’s Board DESCRIPTIONS (B-63322EN-2)
01 Mar., 2000
Edition Date Contents Edition Date Contents

EUROPEAN HEADQUARTERS – BELGIUM / NETHERLANDS
GRAND-DUCHÉ DE LUXEMBOURG GE Fanuc Automation Europe S.A.
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Zone Industrielle Postbus 7230 - NL-4800 GE Breda
L-6468 Echternach Minervum 1603A - NL-4817 ZL Breda
( (+352) 727979 - 1 ( (+31) 76-5783 201 (CNC)
2 (+352) 727979 - 214 ( (+31) 76-5783 212 (PLC)
2 (+31) 76-5870 181
CZECH REPUBLIC FRANCE
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U studanky 3 39, rue du Saule Trapu, BP 219
CZ-170 00 Praha 7 F-91882 Massy Cedex
( (+420) 2 333 72 502 (CNC) ( (+33) 1 69 75 86 39 (CNC)
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2 (+420) 2 333 70 821 2 (+33) 1 69 75 86 49
GERMANY GERMANY
GE Fanuc Automation GmbH GE Fanuc Eberle Automation GmbH
Bernhäuser Straße 22 Ernst-Weyden-Str. 7
D-73765 Neuhausen a.d.F D-51105 Köln (Cologne)
( (+49) 7158 187 400 ( (+49) 221-83904-53
2 (+49) 7158 187 455 (CNC) 2 (+49) 221-83904-55
2 (+49) 7158 187 466 (PLC)
GERMANY GERMANY
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Elberfelderstr. 45 Obere Hauptstr. 72
D-40724 Hilden D-09244 Lichtenau
( (+49) 2103 247410 (Laser/CNC) ( (+49) 37208 695 20(CNC)
2 (+49) 2103 247420 (Laser/CNC) ( (+49) 37208 695 30 (PLC)
2 (+49) 37208 695 55
GERMANY GERMANY
GE Fanuc Automation Deutschland GmbH GE Fanuc Eberle Automation GmbH
Bensheimer Str. 61 Südwestpark 48
D-65428 Rüsselsheim D-90449 Nürnberg
( (+49) 6142 357600 ( (+49) 911 9672 100 (PLC)
2 (+49) 6142 357611 2 (+49) 911 9672 200 (PLC)
GERMANY SWEDEN
GE Fanuc Eberle Automation GmbH GE Fanuc Automation Nordic AB
Reichenbergerstr. 6 Hammarbacken 4
D-33605 Bielefeld S-19149 Sollentuna
( (+49) 521 92445 0 (PLC) ( (+46) 8 444 5520
2 (+49) 521 92445 30 (PLC) 2 (+46) 8 444 5521
ITALY ITALY
GE Fanuc Automation Italia S.r.l. GE Power Controls Italia S.p.a
Piazza Tirana 24/4B Via Tortona 27
I-20147 Milano I-20144 Milano
( (+39) 02 417 176 (CNC) ( (+39) 02 4242 280 (PLC)
2 (+39) 02 419 669 (CNC) 2 (+39) 02 4242 511 (PLC)
SPAIN SPAIN
GE Fanuc Automation España S.A. GE Power Controls Ibérica S.L.
Polígono Industrial Olaso Calle Marqués de Comillas, 1
Calle Olaso, 57 - Locales 10 y 11 E-08225 Terrassa (Barcelona)
E-20870 Elgoibar ( (+34) 93 736 58 28 (PLC)
( (+34) 943 74 82 90 (CNC) 2 (+34) 93 788 24 03 (PLC)
2 (+34) 943 74 44 21 (CNC)
SWITZERLAND UNITED KINGDOM
GE Fanuc Automation GE Fanuc Automation (UK) Ltd.
Filiale Suisse/Niederlassung Schweiz Unit 1 - Mill Square
Erlenstrasse 35a Featherstone Road
CH-2555 Brügg b. Biel Wolverton Mill South
( (+41) 32 366 63 63 (CNC) Milton Keynes MK12 5BZ
( (+41) 32 366 63 33 (PLC) ( (+44) 1908 84 4000
2 (+41) 32 366 63 64 (CNC) 2 (+44) 1908 84 4001
2 (+41) 32 366 63 34 (PLC)
06/00
• No part of this manual may be reproduced in any form.
• All specifications and designs are subject to change without prior notice.
The export of this product is subject to the authorization of the government of the
country from where the product is exported.
In this manual we have tried as much as possible to describe all the various
matters.
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”.

Computer Numerical Controls: 15i / 150i - Model A A Customer S Board

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Computer Numerical Controls: 15i / 150i - Model A A Customer S Board

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GE Fanuc Automation Europe

Computer Numerical Controls

15i / 150i - Model A

TECHNOLOGY AND MORE

DEFINITION OF WARNING, CAUTION, AND NOTE

• Read this manual carefully, and store it in a safe place.

DEFINITION OF WARNING, CAUTION, AND NOTE................................

6 SYSTEM CALLS ................................................................

7 DEVELOPMENT SUPPORT FUNCTIONS ................................................................

8 CONTROL PARAMETERS ................................................................

10 CAUTIONS FOR CODING................................

11 LED INDICATORS ................................................................

The hardware of the customer's board is configured as shown below:

Fig. 2.1 (a) Hardware block diagram

Customer's board system software

Customer's board application software

CNC-side system software

3.2 RAM ADDRESS AREA ASSIGNMENT

The RAM areas on the customer's board are assigned addresses as

To the FANUC bus

02480000H to 024fffffH Data area

Fig. 3.2 (a) Customer's board RAM area address assignment

3.3 SOFTWARE CONFIGURATION

Initialization at System manager System call

Task information table Power-on

High-level task start address

Normal-level task start address

Fig. 3.3 (a) Customer's board software configuration

<1> The FANUC-offered customer's board system software performs:

High-level and normal-level processes

Task information table

Contents of task information

This structure of the task information table is intended to allow for

Task Task start address Task type Level

4 COMMUNICATION BETWEEN THE CNC

4.1 APPLICATION SOFTWARE PROCESSING

(a) Power-on time processing

(b) High-level task process

(c) Normal-level task process

4.2 PARAMETERS FOR APPLICATIONS

The parameters listed below are available for application software.

4.3 INPUT/OUTPUT SIGNALS FOR TRANSFER WITH

Sixty-four dedicated input signals and as many output signals are

PMC Input/output signals Customer's board

Copy 64 dedicated G signals

Fig. 4.3 (a) Input/output signals

5 CNC/CUSTOMER'S BOARD WINDOW

The CNC/customer's board windows are used for data communication

CNC/customer's board windows

5.2 CNC/CUSTOMER'S BOARD ADDRESS MAP

Start address 02400000H

5.3 TIMING CHARTS

(a) Transfer 1 synchronized with the high-level process (CNC-side process →

(n) interval (n + 1) interval (n + 2) interval

Fig. 5.3 (a) Transfer 1 synchronized with the high-level process

• When the CNC-side process transfers data to the application software

(b) Transfer 2 synchronized with the high-level process (application-side process

: Reading data from the CNC/customer's board window

(n) interval (n + 1) interval (n + 2) interval

Fig. 5.3 (b) Transfer 2 synchronized with the high-level process

(c) Timing of application parameter transfer

Fig. 5.3 (c) Application parameter transfer