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GE Fanuc CNC
FAPT Macro Compiler
Programming Manual
www.cnccenter.com
GE Fanuc Automation
Computer Numerical Control Products
July 1997
GFL-001
Caution
Caution notices are used where equipment might be damaged if care is not taken.
Note
Notes merely call attention to information that is especially significant to understanding and
operating the equipment.
This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein
which are not present in all hardware and software systems. GE Fanuc Automation assumes
no obligation of notice to holders of this document with respect to changes subsequently made.
GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory
with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.
B66102E/07
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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.
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WARNING
CAUTION
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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.
NOTE
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Applied when there is a danger of the equipment being damaged, if the approved procedure is not
observed.
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The Note is used to indicate supplementary information other than Warning and Caution.
s1
PREFACE
B66102E/07
Series 0
15A
150A
15B
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Product Name
Series 15A
15 A
Series 15
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Series 15B
15 B
150B
16A
Series 16A
16B
Series 16B
16 B
160B
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160C
16iA
160iA
18A
18B
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180B
18C
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16C
Series 16
Series 16
16C
C
Series 16
16iA
A
Series 18A
Series 18B
18 B
Series 18
Series 18
18C
C
180C
18iA
180iA
Series 18
18iA
A
FANUC Series 20
Series 20
21TA
21TB
210TB
21MB
210MB
21iA
210iA
Series 21A
*1
Series 21B
21 B
Series 21
Series 21
21iA
A
p1
PREFACE
Other manufacturers
products referred to in
this manual
B66102E/07
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Table of Contents
B66102E/07
FEATURES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2
OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. EQUIPMENT CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
7
3.3
PATH SETTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10
3.4
COMPILER SERIES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
12
3.2
3.5
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3.5.1
3.5.2
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1.1
12
12
4. FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
14
4.2
17
4.3
20
4.4
22
23
4.5
23
23
24
25
26
4.6
4.7
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4.5.1
4.5.2
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4.1
32
33
34
35
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Table of Contents
B66102E/07
APPENDIX
39
43
46
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D. COMPILE/LINK EXAMPLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
47
69
INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
E.2
E.3
70
71
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Source File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table Data File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table Conversion List File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
71
71
71
72
72
73
E.3.1
E.3.2
E.3.3
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E.2.2
E.2.3
E.2.4
E.2.5
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E.1
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Link Control File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Link List File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
73
73
73
74
OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
F.2
DEVELOPMENT ENVIRONMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
76
F.3
77
USER MODULES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
78
F.4
75
78
78
79
79
79
F.5
80
F.6
81
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F.4.1
F.4.2
F.4.3
F.4.4
F.4.5
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F.1
F.6.1
F.6.2
81
82
84
F.7
Creating Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Creating Link Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
F.7.1
F.7.2
Creating Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Creating Link Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
84
85
87
G.1
OUTLINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
G.1.1
G.1.2
G.2
88
88
89
90
G.2.1
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91
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G.2.2
G.2.3
G.2.4
G.2.5
G.2.6
G.2.7
G.2.8
105
107
G.4.1
G.4.2
G.4.3
G.4.4
G.5
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting a Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Specifying a Password for the Series 20 Boot System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
107
107
108
108
109
G.5.1
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G.4
94
96
98
100
102
103
104
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G.3
109
H.2
112
113
113
114
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H.2.1
H.2.2
H.2.3
H.2.4
H.2.5
H.2.6
H.2.7
H.2.8
H.3
112
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H.1
115
118
120
121
123
126
127
128
129
I.1
I.2
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132
133
133
134
135
136
137
140
141
143
I.3
PARAMETER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
144
I.4
ALARMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
147
I.2.1
I.2.2
I.2.3
I.2.4
I.2.5
I.2.6
I.2.7
I.2.8
IPL MENU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
149
150
J.2.1
J.2.2
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150
151
Table of Contents
J.2.3
J.2.4
J.2.5
J.2.6
J.2.7
B66102E/07
Loading Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Loading End Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Menu for Transferring Data into FLASH ROM Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Menu for end of Transfer of FLASH ROM Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
151
152
154
155
156
J.3
PARAMETER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
157
J.4
ALARMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
160
162
K.2
163
K.3
164
K.4
166
K.5
170
K.6
171
K.7
174
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K.1
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M.2
EXECUTER PARAMETER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
185
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M.1
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1. GENERAL
B66102E/07
GENERAL
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1. GENERAL
B66102E/07
1.1
FEATURES
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(6) The macro compiler utility, used with the CNC executor RAM
operation function, can transfer a ROM-format file to the CNC
system. This capability allows macro programs to be developed and
debugged without writing ROM.
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(8) A ROM file transmitter function based on the GP-IB interface allows
connection to the FANUC FA Writer for high-speed writing to a
macro ROM verification.
1. GENERAL
B66102E/07
1.2
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OVERVIEW
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1. GENERAL
B66102E/07
Macro Program
(Source file)
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*
MS-DOS
Editor
MACRO
Compiler
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MCOMP0
MCOMP15
(xx.REL)
(xx.LNK)
LINK
Control
file
MLINK
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MACRO
Linker
Macro Library
file
(xx.ROM)
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MROMWT
/MROMVF
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MTRNSC
ROM file
Transmitter
RS-232-C
line
CNC
Series
16/18/20/21-TA
RAM Operation
MMCARD
MMCARD15
RS-232-C line
GP-IB I/F
(xx.MEM)
FANUC
PMC Writer
FA Writer
Memory Card
Reader
/Writer
Macro
cassette
Memory
Card
2. EQUIPMENT CONFIGURATION
B66102E/07
Main memory
OS
(FMR/PC98)
(PC-AT)
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Hard disk
Serial interface
Miscellaneous
(Option)
Printer (Note 1)
GP-IB interface (Note 2)
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EQUIPMENT CONFIGURATION
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CAUTION
1 The macro compiler utility software is installed on hard disk.
This software occupies a hard disk space of about 1M bytes.
In addition, developed macro programs and list files/object
files generated at compile time are output as files on hard
disk. So the size of hard disk depends on the macro
programs developed.
2 The macro compiler utility software is distributed with a
5-inch (2HD) floppy disk. The macro executor is also
distributed with a 5-inch (2HD) floppy disk. A 5-inch floppy
disk drive is needed to install the system and executor files.
NOTE
1 The macro compiler and macro linker output a reference list,
compile list, and link list as MS-DOS text files to hard disk.
For output to the printer, use an MS-DOS/PC-DOS
command.
Text files are output in a format assuming an 80-character,
60-line printer.
2 The FANUC FA-Writer allows high-speed writing to
ROM/verification based on the GP-IB interface. (Note that
only NEC PC98 Series and IBM PC-AT Sereis currently
supports this function.)
B66102E/07
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B66102E/07
INSTALLING THE
SYSTEM FROM THE
FAPT MACRO
COMPILER SYSTEM
FLOPPY DISK
Examples
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3.1
The system floppy disk is set in drive B:, and the system is installed on
the hard disk of drive A:.
> B: \ > MSETUP B: A:
A:\MCOMP
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This operation creates the following directories in drive A:, and the
system software and a sample program are copied to the hard disk.
\TOOL
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\USR
a) \MCOMP\TOOL
The FAPT MACRO Compiler system software, batch files,
document files, and so forth are stored under this directory.
MCOMP0.EXE/MCOMP15.EXE/MLINK.EXE/
System software
RSFMR.BAT
RS-232-C setting batch file for Fujitsu FMR Series
RSPC98.BAT
RS-232-C setting batch file for NEC PC98 Series
RSPCAT.BAT
RS-232-C setting batch file for IBM PC-AT Series
SYSTEM.DEF
System common symbol definition file (for $INCLUDE)
b) \MCOMP\MEX
Library file is stored under this directory.
This file is loaded from the FAPT MACRO Library floppy disk.
c) \MCOMP\USR
Under this directory, create directories used to develop macro
programs.
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Explanation of the
directories
\SAMPL
A:\MCOMP
\TOOL
\MEX
\USR
\SAMPL
\MODEL-A
\MODEL-B
\MODEL-C
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d) \MCOMP\USR\SAMPL
Under this directory, the files including such a link control file,
compiler/link result files, and program files as described in
Appendix D are stored. Use these files as reference information
for development.
B66102E/07
3.2
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INSTALLING THE
EXECUTOR FILE
FROM THE FAPT
MACRO LIBRARY
FLOPPY DISK
This operation loads the executor file under the library directory of the
FAPT MACRO Compiler system installed by the operation of Section
3.1.
As with the FAPT MACRO Compiler system floppy disk, set the FAPT
MACRO Library floppy disk in the floppy disk drive, then activate
ESETUP.BAT on the executor floppy disk.
Examples
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> B:\>ESETUP B: A:
r.c
Set the library floppy disk in drive B:, and the library file is stored in the
system installed on the hard disk of drive A:.
3.3
B66102E/07
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PATH SETTING
10
B66102E/07
3.4
COMPILER SERIES
To match the CNC series, there are two types of the FAPT MACRO
Compiler system:
a) For Series 0/Series 16/Series 18/Series 20/Series 21
b) For Series 15
All functions except the macro compiler are common to the two types of
systems. So when one system is to be installed on a personal computer
where the other system is already installed, copy the macro compiler
software only.
B:\> COPY B:\MCOMP\TOOL\MCOMP0.EXE A:\MCOMP\TOOL
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The macro compiler for Series 0/16/18/20/21 differs form that for Series
15. This means that if the same macro program is compiled, the two
macro compilers do not generate the same object file. So, be sure to use
the macro compiler that matches a development model.
11
B66102E/07
3.5
SPECIFYING
ENVIRONMENT
VARIABLES
3.5.1
3.5.2
Specifying a
Temporary File Output
Destination (MTMP)
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Selecting a
RS232C/GPIB
Interface Control
System (MDEV)
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set MTMP=B:\TEMP
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4. FUNCTIONS
B66102E/07
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FUNCTIONS
13
4. FUNCTIONS
B66102E/07
4.1
MACRO COMPILER
(MCOMP0/MCOMP15)
(1) Operation
The macro compiler can compile macro programs created in the
MS-DOS text file format. The macro compiler outputs an object file
for the macro linker, reference list file, and compile list file.
*1
*2
Source File
Object File
Macro
Object
Program
Program
r.c
MCOMP0
MCOMP15
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(xx.SRC)
(xx.REL)
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*1 file-spec
This specifies a macro program source file. The extension of a
source file name must be .SRC. Source files to be compiled can
be specified in three ways:
.c
Compiles all files whose names start with ABC and have the
extension .SRC,
(3) Selective compilation according to link control file
specification
A:\> MCOMP0 @ABC=>
Compiles all files specified in the link control file (file name:
ABC.LNK).
CAUTION
As described in Section 3.4, even if the same macro
program is compiled, the macro compiler for Series
0/16/18/20/21 creates an object file different from an object
file created by the macro compiler for Series 15. Select the
compiler that matches a development model.
14
4. FUNCTIONS
B66102E/07
*2 [parameters]
This specifies compile conditions.
NR : Outputs no object file. If this parameter is omitted, an
object file with the extension .REL is output.
L1 : Outputs no compile list file. If this parameter is omitted,
a compile list file with the extension .LST is output.
L2 : Outputs no reference list file. If this parameter is omitted,
a reference list file with the extension .REF is output.
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4. FUNCTIONS
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Example)
Compiling TEST.SRC and outputting TEST.REL to B:\OBJ
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4. FUNCTIONS
B66102E/07
4.2
MACRO LINKER
(MLINK)
(1) Operation
According to the specification in a link control file created
beforehand, the macro linker creates a link list file and ROM-format
file for creating a desired macro cassette.
*1
*2
A:\> MLINK file-spec [parameters]
ROM Format File
Link
Control
ROM
File
MLINK
(xx.ROM)
r.c
(xx.LNK)
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Object File
Object
Program
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prog.
1
O0001
2
O0002
(xx.REL)
Size.
00100H
00200H
Macro
Library
file
(xx.MEX)
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*1 file-spec
This specifies a link control file created in a specified format
beforehand. The extension of a link control file name must be
.LNK.
*2 [parameters]
This specifies link conditions.
NR : Outputs no ROM-format file. If this parameter is
omitted, a ROM-format file with the extension .ROM is
output.
NL : Outputs no link list file. If this parameter is omitted, a
link list file with the extension .MAP is output.
Fm : Specifies the destination to which a link list file is output.
See item (4).
Fr : Specifies the destination to which a ROM-format file is
output
4. FUNCTIONS
B66102E/07
Keyword)
CNC=
CNC2=
CNC3=
P9999=
FILE=
Specified path
First path of M series
MPATH2
TPATH1
LPATH1
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MPATH1
TPATH2
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Example)
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:
:
:
:
:
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/:
/: MACRO COMPILER UTILITY LINK FILE (SAMPLE)
/:
/:
FOR F16MB
CNC=A:\MCOMP\MEX\F16MB_07.MEX
/:
P9000=00010000
P9010=100
P9037=5
P9038=8000
JIKKOU-MACRO
/:
FILE=ABC,DEF
FILE=XYZ,UVW
TAIWA-MACRO
/:
FILE=SSS
The example above is for Series 16MB. The compile parameters (Nos. 9000.
9010, 9037, and 9038) are set, and the object files (ABC.REF. DEF.REL,
XYZ.REL, UVW.REL, and SSS.REL) are linked.
The specification of (=0) is assumed for those compile parameters that are
not specified in the link control file.
A link control file is used also as a selective compile control file by the
macro compiler, as described in item (1) in Section 4.1. This function is
useful in compiling all programs to be linked.
A:\> MCOMP0 @ABS
compiles all files specified in the link
control file (file name: ABC.LNK).
(3) Link list file
The link list file is output by the linker, and a library name, compile
parameters, compile program list and size information, erroneous
program numbers, error codes, ROM-format file size information and
so forth are listed.
The name of a link list file is the same as the link control file name,
except that the extension .MAP is assigned to the link list file name.
For output to a printer, for example, use a standard MS-DOS
command.
18
4. FUNCTIONS
B66102E/07
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r.c
(5) Checking the size of ROM format file (Exclusive for Series
16-B/C, 18-B/C, 21-B, 16iA, 18iA, 21iA) at linking macro
A ROM format file that is created by linking (MLINK) is checked for
its size whether it is overflown or not. The size of ROM format file
is set by compile parameter No. 9000 and 9001.
If a prepared ROM format file may exceed the size that was set by
compile parameter 9000 and 9001 as a result of linking, an error is
produced when the macro linker is executed.
ERROR : ROM size over
Bit No.
Address
Compile
parameter
9000
Address
Compile
parameter
#7
#6
#5
#4
#3
#2
#1
M3MB
M2MB
M1MB
M512
M256
M128
#6
#5
#4
#3
#2
#1
#7
9001
nc
M4MB
#0
M4MB
M3MB
M2MB
M1MB
M512
M256
M128
4.0MB
3.0MB
2.0MB
1.0MB
512KB
256KB
128KB
.c
w
w
w
#0
NOTE
1 For the 21-TB (Controller A), always specify 128 KB.
2 For the Series 16, a 128-KB ROM-format file cannot be
specified.
3 For the 21-MB or 21-TB (Controller B), no more than 1.0 MB
can be specified.
(6) Error messages
1) When the Series 16i/18i/21iA Macro library is linked using a
macro linker (MLINK.EXE) of MACRO COMPILER version
03.2 or earlier, the following error will occur:
ERROR:
19
4. FUNCTIONS
B66102E/07
4.3
ROMFORMAT FILE
TRANSMITTER (CNC)
om
(1) Operation
After placing the CNC system in the macro executor receive ready
state, a linked ROM-format file is transferred with the following
command:
A:\> MTRNSC file-spec parameters -F -S
r.c
*1 file-spec
This specifies a ROM-format file to be transferred.
*2 parameters
CNC model
Addressing
Series 16
32
00800000
24
800000
Series 20
24
980000
Series 21-TA
24
3A0000
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Series 18
.c
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4. FUNCTIONS
B66102E/07
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.c
nc
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r.c
21
4. FUNCTIONS
B66102E/07
4.4
(1) Operation
A linked ROM-format file is transferred to the FANUC PMC
Writer or FANUC FA Writer via a RS-232-C line, and is written to
a macro ROM and verified.
A:\> MROMWT file-spec parameters
Write or write/verification
A:\> MROMVF file-spec parameters
Verification
om
ROMFORMAT FILE
TRANSMITTER
(FANUC PMC
WRITER/FANUC FA
WRITER)
(FOR Series 0, 15A,
16A, 18A)
ce
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r.c
*1 file-spec
This specifies a ROM-format file to be transferred.
*2 parameters
-K1xx : Cassette type (1)
-K2xx : Cassette type (2)
-IDxxxx: ID code
-VCxx : Sets Vcc (with MROMWT only).
-VPxx : Sets Vpp (with MROMWT only).
-Pxx : Sets pulse width (with MROMWT only).
-VF
: Writes a ROM-format file, then verifies it (with
MROMWT only).
For detailed information, see Appendix C.
Example: The file SAMPL.ROM is written to a Series 0 512K-byte
ROM cassette, then is verified.
A:\> MROMWT SAMPL.ROM K110 K223 ID50B2
VCC0 VP64 -P01 -VF
.c
nc
22
4. FUNCTIONS
B66102E/07
4.5
SERIAL INTERFACE
UTILITY
4.5.1
(1) Operation
A macro program is read from the CNC/SYSTEM P via a RS-232-C
line, then is stored in an MS-DOS text file for the macro compiler.
A macro program is transferred from the CNC/SYSTEM P after the
command below is entered and the personal computer is placed in
receive ready state.
A:\> MPLOADA file-spec
om
r.c
1* file-spec
This specifies the name of a text file for storing a macro program.
Example: A macro program is read to
A:\MCOMP\USR\TEST\ABC.SRC.
ce
nt
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CAUTION
Select the ISO code as output code when transferring a
macro program from the CNC/SYSTEM P.
4.5.2
(1) Operation
A macro program output with the parameter -L3 described in Section
4.1 can be output to the CNC/SYSTEM P via a RS-232-C line. After
the CNC/SYSTEM P is placed in program read ready state, a macro
program is transferred by the command below.
nc
.c
*1 file-spec
This specifies a macro program file to be transferred.
*2 parameters
Fffff : Outputs fields (null code) before and after a macro
program. By ffff, specify the number of fields to be
output.
CR
23
4. FUNCTIONS
B66102E/07
4.6
ROMFORMAT FILE
TRANSMITTER
(FANUC FA WRITER,
GPIB INTERFACE)
(FOR Series 0, 15A,
16A, 18A)
(1) Operation
A linked ROM-format file is transferred to the FANUC FA Writer via
a GP-IB interface, and is written to a macro cassette and verified.
Since a linked ROM-format file is transferred to the FANUC FA
Writer via a GP-IN interface, the file can be written to a macro cassette
and verified at higher speed than when the file is transferred via a
RS-232-C line (Section 4.4).
Write or write/verification
om
r.c
Verification
*1 file-spec
This specifies a ROM-format file to be transferred.
*2 parameters
-K1xx : Cassette type (1)
-K2xx : Cassette type (2)
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-IDxxxx : ID code
-VF
nc
.c
24
4. FUNCTIONS
B66102E/07
4.7
(1) Operation
Convert a ROM-format file created by the macro linker (MLINK) to
the memory-card format file which can be loaded from the memory
card using the boot function of the Series 15-B/16-B/20.
A:\> MMCARD file-spec
(Series 16B/16C/18B/18C/20/21-B/
16iA/18iA/21iA)
A:\> MMCARD15 filespec (Series 15B)
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*1 file-spec
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r.c
CONVERSION TO A
MEMORY CARD
FORMAT (MMCARD)
(THIS FUNCTION IS
USED IN THE Series
15B/16B/16C/18B
/18C/20/21B/
16iA/18iA/21iA.)
Series 16-B/16C/
18-B/18C/20/
21-B/16iA/
18iA/21iA
Source File
Object File
MCOMP0
Macro
Program
(xxx.SRC)
Object
Program
(xxx.REL)
MCOMP15
ROM File
MLINK
(xxx.ROM)
.c
Link
Control
(xxx.LNK)
nc
(Sereis 15-B)
Link Control File
Macro
Library
(xxx.MEX)
MMCARD
MMCARD15
Series 16-B/16C/
18-B/18C/20/
21-B/16iA/
18iA/21iA
(Sereis 15-B)
To memory card
COPY A:xxx.MEM F:
(F: Memory card device number)
Memory
Card File
(xxx.MEM)
Memory Card
25
B66102E/07
om
G00 X#101;
:
r.c
O0001 #101=1;
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nt
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:
%
(2) One line can contain only one block. The end of block (EOB) is
represented by a semicolon (;). All data after a semicolon on a line
is regarded as a comment.
nc
#100=#101; COMMENT
G00 X123. Y234. ; G01 ; =>
G01 ; after ; is regarded as comment.
.c
/: comment
/:
O0001 ;
/: comment
G00 ...;
;/: comment
M99;
%
26
B66102E/07
yyyyyy
32
om
Maximum number of
characters
r.c
Example)
ce
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@COUNT1 #100
@ON
=1
@OFF
=0
@CURSOR #8505
@RETURN M99
/:
O0001 ;
CURSOR ON ;
COUNT1 = COUNT1+1 ;
RETURN ;
==>> O0001 ;
#8505 =1 ;
#100 = #100+1 ;
M99 ;
.c
nc
Version 1.4 or
previous versions
Version 2.1 or
subsequent versions
32
27
B66102E/07
Example)
O0002 ;
GOTO 100 ;
IF[#100 LE 0]GOTO 200 ;
N200 ;
N100 M99 ;
om
@COUNT1 #100
>JUMP1 100
>SKIP
200
/:
O0002 ;
==>
GOTO JUMP1 ;
IF[COUNT1 LE 0]GOTO SKIP ;
SKIP ;
JUMP1 M99 ;
r.c
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.c
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28
B66102E/07
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r.c
Example)
Program file
/:
$EJECT
Advances reference list page.
/:
O0003 ;
D
ce
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nc
Format:
WHILE[operation-expression] DOx ;
ENDx ;
.c
Example)
The left macro instructions are equivalent to the right macro
instructions.
WHILE[#100]DO1; WHILE[#100 NE 0]DO1;
D
END1;
END1;
B66102E/07
IF[<condition>&&<condition>&&<condition>&&
<condition>] THEN<MACRO stmnt>;
IF[<condition>||<condition>||<condition>||
<condition>]GOTO xxx;
IF[<condition>&&<condition>||<condition>]
GOTO xxx ;
OK
OK
NG
Example)
IF[#100 EQ 1 && #101 GT 0] GOTO 100 ;
IF[#100 E Q1 ||#101 NE 1 || #102 GT 10 ] THEN #102=1 ;
r.c
IF[...]GOTO 999 ;
om
(c) IF/THEN/ELSE/ENDIF
The syntax of an IF statement has been enhanced. Structured
programming is possible using IF/THEN/ELSE/ENDIF.
The following shows the formats of syntactically valid IF
statements.
IF[...]THEN Macro-st ;
ce
nt
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IF[...]THEN ;
Statement ;
D
*Statement:
Macro or NC statement
ENDIF ;
IF[...]THEN ;
Statement ;
D
nc
.c
ELSE ;
Statement ;
D
D
ENDIF ;
B66102E/07
IF [...] THEN ;
IF [...] THEN ;
Statement ;
om
r.c
ELSE ;
IF [...] THEN ;
Statement ;
ENDIF ;
ENDIF ;
Statement ;
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ELSE ;
Statement ;
ENDIF ;
.c
nc
CAUTION
When only a single macro statement is to be executed, the
macro statement can be specified immediately after
THEN/ELSE. In this case, no ENDIF statement is usually
required. However, an ENDIF statement is required when
IF [...] THEN Macro-st ; is specified just before ELSE or
ENDIF of the previous nesting as shown below:
IF [...] THEN ;
IF [...] THEN Macro-st ;
IF [...] THEN Macro-st ;
ELSE ;
31
B66102E/07
ce
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nc
.c
32
B66102E/07
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r.c
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nc
(b) Select the master mode rather than the slave mode.
The master mode must be selected because the GP-IB control
function is performed on the personal computer.
(c) Others
For other settings, refer to the operators manual of each GP-IB
board.
33
B66102E/07
om
r.c
To use this file, use the external file reference function described in
Section 5.7. For a usage example, see Appendix D.
ce
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$INCLUDE \MCOMP\TOOL\SYSTEM.DEF
.c
nc
34
B66102E/07
r.c
om
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nc
.c
Example)
S-Line
1
2
3
4
5
6
G-Line
0001
0002
0003
0004
@ABC #100
/:
O1000 ;
ABD = 0 ;
M99 ;
%
35
r.c
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nc
.c
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APPENDIX
APPENDIX
B66102E/07
.c
nc
ce
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r.c
om
$NOLIST
/:
/:
**************************************************************
* System common symbol define.
(V01.01 1991.05.10)
*
/:
**************************************************************
/:
/:
/:
/:
No.01 Control instruction code.
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/:
@CALL
M98P
/: Sub program call.
@RETURN
M99
/: Return to main program.
@RETURNP
M99P
/: Return to main program with sequence No.
/:
@DISPLAY
G243
/: Charactor display.
Format.
@FORM
F
/:
Data.
@DATA
D
/:
No Zero suppress.
@NSUP
Z0
/:
Zero suppress.
@ZSUP
Z1
/:
/:
@ELASE
G202
/: CRT elase.
Graphic elase.
@ELASEGR
G202P1 /:
Charactor elase.
@ELASECH
G202P2 /:
Graphic & Charactor elase.
@ELASEAL
G202P3 /:
/:
@COLOR
G240
/: Display color select.
Black.
@BLACK
G240P0 /:
Red.
@RED
G240P1 /:
Green.
@GREEN
G240P2 /:
Yellow.
@YELLOW
G240P3 /:
Blue.
@BLUE
G240P4 /:
Perple.
@PERPLE
G240P5 /:
Sky-blue.
@SKYBL
G240P6 /:
White.
@WHITE
G240P7 /:
/:
@DRLINEK
G244
/: Graphic Line kind select.
Draw start point.
@DRSTART
G242
/:
Liner line display.
@DRLINE
G01
/:
Circle display(CW).
@DRCW
G02
/:
Circle display(CCW).
@DRCCW
G03
/:
/:
@PMCDATA
G310
/: PMC relay/data write.
/:
@PAMAKE
G320
/: CNC Prog. accsess. (Prog. make)
(Prog. delete)
@PADELET
G321
/:
(Block read)
@PAREAD
G325
/:
(Block write)
@PAWRITE
G326
/:
(Block delete)
@PABDELT
G327
/:
/:
39
@RSOPEN
@RSCLOSE
@RSRECV
@RSSEND
@RSVARRD
@RSVARWT
@RSFUNC
/: RS232C open.
/:
close.
/:
reacive 1ch.
/:
Data send.
/:
Variable data read.
/:
Variable data write.
/:
FANUC casseto control.
G330
G331
G335
G336
G337
G338
G339
om
/:
/: MDI-KEY IN CONTROL.
/:
No Data read.
/:
Numeric Data read.
/:
Address+Numeric Data read.
@KEYCODE
@PAGEDW
@PAGEUP
@CURDW
@CURUP
@ALTER
@INSRT
@DELET
@INPUT
@START
@RESET
#8501
1
2
3
4
5
6
7
8
9
10
/: MDI-KEY IN CODE.
/:
Page Down
KEY pushed.
/:
Page Up
/:
Cursor Down
/:
Cursor Up
/:
Alter
/:
Insert
/:
Delete
/:
Input
/:
Start/Output
/:
Reset
@SFTLF
@SFT1
@SFT2
@SFT3
@SFT4
@SFT5
@SFTRT
11
12
13
14
15
16
17
ce
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@KEYCONT
#8502
@NOREAD
#8502=0
@NUMREAD
#8502=1
@ADRREAD
#8502=2
/:
/:
/:
/:
/:
/:
/:
Soft
Soft
Soft
Soft
Soft
Soft
Soft
key
key
key
key
key
key
key
left
1
2
3
4
5
right
(9CRT)
(9CRT)
(9CRT)
(9CRT)
(9CRT)
(9CRT)
(9CRT)
/:
/:
/:
/:
/:
/:
/:
/:
/:
/:
/:
/:
Soft
Soft
Soft
Soft
Soft
Soft
Soft
Soft
Soft
Soft
Soft
Soft
key
key
key
key
key
key
key
key
key
key
key
key
left
1
2
3
4
5
6
7
8
9
10
right
(14CRT)
(14CRT)
(14CRT)
(14CRT)
(14CRT)
(14CRT)
(14CRT)
(14CRT)
(14CRT)
(14CRT)
(14CRT)
(14CRT)
.c
/:
nc
/:
/:
B66102E/07
r.c
/:
/:
/:
/:
APPENDIX
@SFTFLF
@SFTF1
@SFTF2
@SFTF3
@SFTF4
@SFTF5
@SFTF6
@SFTF7
@SFTF8
@SFTF9
@SFTF10
@SFTFRT
@KEYDATA
20
21
22
23
24
25
26
27
28
29
30
31
#8503
/: MDI-KEY IN DATA.
40
APPENDIX
B66102E/07
@KEYADRS
@KEYARRY
#8504
#8552
/: MDI-KEY IN ADDRESS.
/: MDI-KEY SPECIAL READ DATA VAR. No.
@CURSOR
@CURSORX
@CURSORY
#8505
#8506
#8507
@CHRPROG
@CRTFUNC
#8509
#8510
@ARRY2BS
@ARRY3BS
@ARRY1CT
@ARRY2CT
@ARRYTOP
#8512
#8513
#8516
#8517
#8519
/:
/:
/:
/:
/:
Arrey
Arrey
Arrey
Arrey
Arrey
@PAPROGN
@PABLOKN
@PAVARNO
@PAPNTVN
@PAERROR
#8520
#8521
#8522
#8523
#8529
/:
/:
/:
/:
/:
CNC
CNC
CNC
CNC
CNC
@RSERROR
#8539
/: RS232C INTERFACE
@CUTTIME
@CUTLENG
#8553
#8554
/: Cutting Time.
/: Cutting length.
@WINDIDX
@WINDDAT
#8998
#8999
/: Window Index.
/: Window Data.
/:
/:
CONTORL
CONTORL
CONTORL
CONTORL
CONTORL (Top variable No.)
/:
/:
/:
r.c
(PROGRAM No.)
(BLOCK
No.)
(DATA VAR. No.)
(POINT DATA VAR. No.)
(RETURN CODE)
(RETURN CODE)
nc
.c
/:
/:
/:
/:
ACCSECE.
ACCSECE.
ACCSECE.
ACCSECE.
ACCSECE.
ce
nt
e
/:
PROG.
PROG.
PROG.
PROG.
PROG.
@ABSMT1
@ABSMT2
@ABSMT3
@ABSMT4
@ABSMT5
@ABSMT6
#5021
#5022
#5023
#5024
#5025
#5026
om
/:
/: Machine Position.
41
fanction control.
control.
1st
2nd
om
ce
nt
e
/:
/:
/:
/:
#5027
#5028
#5041
#5042
#5043
#5044
#5045
#5046
#5047
#5048
#5061
#5062
#5063
#5064
#5065
#5066
#5067
#5068
B66102E/07
r.c
@ABSMT7
@ABSMT8
@ABSOT1
@ABSOT2
@ABSOT3
@ABSOT4
@ABSOT5
@ABSOT6
@ABSOT7
@ABSOT8
@ABSKP1
@ABSKP2
@ABSKP3
@ABSKP4
@ABSKP5
@ABSKP6
@ABSKP7
@ABSKP8
APPENDIX
.c
nc
/:
$LIST
42
APPENDIX
B66102E/07
The table below indicates the error codes that may occur in compile
processing.
Error code
om
0202
There is no program.
1001
1002
1003
1004
1005
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nt
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r.c
0201
1007
1008
1009
100A
100B
100C
100D
100E
100F
1010
.c
nc
1006
1011
1012
1013
1014
1015
1016
1201
1202
1203
1204
1205
1206
43
APPENDIX
B66102E/07
Meaning
Closing bracket (]) cannot be found for function [<expression>].
1208
1209
120A
1401
1402
1403
1404
1405
1406
1407
ce
nt
e
r.c
om
1207
1409
140A
140B
140C
Alphabetic character string not identifiable as control command or function are present.
140D
.c
nc
1408
140E
140F
1410
1411
1412
1413
1414
*).
1415
1601
1602
1603
1604
1605
1606
1607
44
APPENDIX
B66102E/07
Meaning
Number after GOTO contains decimal point.
1681
1682
1683
1684
1801
.c
nc
ce
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r.c
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1608
45
C. ROM WRITE/VERIFICATION
PARAMETER TABLE
APPENDIX
B66102E/07
Cassette type
K1xx
K2xx
IDxxxx
VCxx
VPxx
Pxx
64Kbyte
K110
K223
ID40B0
Omitted
Omitted
Omitted
Series 0
128Kbyte
K110
K226
ID50B0
Omitted
Omitted
Omitted
Series 0
256Kbyte
K110
K223
ID40B1
VCC0
VP64
P01
Series 0
512Kbyte
K110
K223
ID50B2
VCC0
VP64
P01
Series 0
1M byte
K110
K223
ID40B2
VCC0
VP64
P01
Series 15
256Kbyte
K110
K223
ID60BD
VCC0
VP64
P01
Series 15
512Kbyte
K110
K223
ID80BD
VCC0
VP64
P01
Series 16A
256Kbyte
K111
K230
IDFFF4
Omitted
Omitted
Omitted
Series 16A
512Kbyte
K111
K230
IDFFF3
Omitted
Omitted
Omitted
Series 16A
1M byte
K111
K230
IDFFF2
Omitted
Omitted
Omitted
Series 16A
2M byte
K111
Series 18A
128Kbyte
K110
Series 18A
256Kbyte
K110
Series 18A
512Kbyte
K110
Series 18A
1M byte
K110
Series 18A
2M byte
K110
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r.c
om
Series 0
K231
IDFFF1
Omitted
Omitted
Omitted
K230
IDFFF5
Omitted
Omitted
Omitted
K230
IDFFF4
Omitted
Omitted
Omitted
K230
IDFFF3
Omitted
Omitted
Omitted
K230
IDFFF2
Omitted
Omitted
Omitted
K231
IDFFF1
Omitted
Omitted
Omitted
nc
Example 1)
A Series 0 128K-byte ROM cassette is written to and verified.
.c
Example 2)
A Series 15 512K-byte ROM cassette is written to and verified.
46
D. COMPILE/LINK EXAMPLE
APPENDIX
B66102E/07
COMPILE/LINK EXAMPLE
om
X:\MCOMP\USR\SAMPL
r.c
Details of sample:
Times required for instruction execution by each of the conversational
macros are measured:
ce
nt
e
1. #100 = #101+#102 ;
2. #100 = #101 AND #102 ;
3. #100 = SIN[#101] ;
File
File
File
File
File
File
.c
nc
=
=
=
=
=
=
MAIN.REF
MAIN.LST
MAIN.REL
SUB1.REF
SUB1.LST
SUB1.REL
47
D. COMPILE/LINK EXAMPLE
APPENDIX
B66102E/07
.c
nc
ce
nt
e
r.c
om
/:
/: SAMPLE Program.
/:
/:
Conversation MACRO Execution-Time Test Program.
(Vol 01.01 1997.03.14)
/:
/:
/:
/:
( MAIN Program )
/:
/:
/: Symbol define.
/:
/:
System common symbole FILE Include.
/:
$INCLUDE \MCOMP\TOOL\SYSTEM.DEF
/:
/:
@LOOPCT
#500
/: TEST Loop count.
@TIMESAV #501
/: No-operatinon Time save.
@TSTTIME #502
/: Measured Time save.
/:
/:
@COUNT
#100
/: Loop counter work.
@WORK
#100
/: Work regster.
/:
/:
>LOOP
100
/: GOTO Sequense No. define.
>FIN
999
/:
/:
$EJECT
/:
/:
No. O1000 : Main program.
/:
O1000
;
NUMREAD
; Numeric data input.
CURSOR OFF
; Cursol OFF
DISPLAY X0 Y0 B0 (EXECUTION TIME TEST)
; MENU display.
X2 Y2
(1.#101=#102+#103)
;
X2 Y3
(2.#101=#102 AND #103);
X2 Y4
(3.#101=SIN[#102])
;
;
LOOP DISPLAY X8 Y11 B1 (SELECT TEST NO.)
;
IF [KEYCODE NE INPUT]GOTO FIN
; INPUT key push ?
IF [KEYDATA LT 1]GOTO FIN
;
0 < DATA < 3 chk.
IF [KEYDATA GT 3]GOTO FIN
;
; No-ope. Time GET.
COUNT = LOOPCT
;
Loop counter set.
TIMER1 = 0
;
Timer initialize.
WHILE[COUNT GT 0]DO1
;
COUNT = COUNT -1
;
No-operation loop.
END1
;
TIMESAV = TIMER1
;
;
48
APPENDIX
B66102E/07
TAIWAP1 = KEYDATA*100+1000
D. COMPILE/LINK EXAMPLE
.c
nc
ce
nt
e
r.c
om
49
D. COMPILE/LINK EXAMPLE
APPENDIX
B66102E/07
(F0/F16)
Page 1
MAIN.SRC
nc
ce
nt
e
r.c
/:
/: SAMPLE Program.
/:
/:
Conversation MACRO Execution-Time Test Program.
/:
(Vol 01.01
/:
/:
/:
( MAIN Program )
/:
/:
/: Symbol define.
/:
/:
System common symbole FILE Include.
/:
$INCLUDE \MCOMP\TOOL\SYSTEM.DEF
$NOLIST
/:
/:
@LOOPCT
#500
/: TEST Loop count.
@TIMESAV #501
/: No-operatinon Time save.
@TSTTIME #502
/: Measured Time save.
/:
/:
@COUNT
#100
/: Loop counter work.
@WORK
#100
/: Work regster.
/:
/:
>LOOP
100
/: GOTO Sequense No. define.
>FIN
999
/:
/:
$EJECT
.c
S-Line G-Line
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
om
50
1997.03.14)
D. COMPILE/LINK EXAMPLE
APPENDIX
B66102E/07
(F0/F16)
Page 2
MAIN.SRC
.c
nc
ce
nt
e
r.c
om
S-Line G-Line
219
/:
220
/:
No. O1000 : Main program.
221
/:
222
0001
O1000
;
223
0002
NUMREAD
;
Numeric data input.
224
0003
CURSOR OFF
;
Cursol OFF
225
0004
DISPLAY X0 Y0 B0 (EXECUTION TIME TEST)
;
MENU display.
226
0005
X2 Y2
(1.#101=#102+#103)
;
227
0006
X2 Y3
(2.#101=#102 AND #103);
228
0007
X2 Y4
(3.#101=SIN[#102])
;
229
0008
;
230
0009
LOOP DISPLAY X8 Y11 B1 (SELECT TEST NO.)
;
231
0010
IF [KEYCODE NE INPUT]GOTO FIN
;
INPUT key push ?
232
0011
IF [KEYDATA LT 1]GOTO FIN
;
0 < DATA < 3 chk.
233
0012
IF [KEYDATA GT 3]GOTO FIN
;
234
0013
;
No-ope. Time GET.
235
0014
COUNT = LOOPCT
;
Loop counter set.
236
0015
TIMER1 = 0
;
Timer initialize.
237
0016
WHILE[COUNT GT 0]DO1
;
238
0017
COUNT = COUNT -1
;
No-operation loop.
239
0018
END1
;
240
0019
TIMESAV = TIMER1
;
Sample time save.
241
0020
;
242
0021
TAIWAP1 = KEYDATA*100+1000
;
Jump To TEST progra.
243
0022
;
O1x00:x=key in data.
244
0023
;
245
0024
FIN RETURNP LOOP
;
END of conv. MACRO.
246
/:
247
/:
248
$EJECT
51
D. COMPILE/LINK EXAMPLE
(F0/F16)
APPENDIX
B66102E/07
Page 3
MAIN.SRC
.c
nc
ce
nt
e
r.c
om
S-Line G-Line
249
/:
250
/:
251
/:
No. O1001 : Answer display sub program.
252
/:
253
/:
LOOPCT
: TEST Loop count.
254
/:
TIMESAV : No-operatinon Time.
255
/:
TSTTIME : Measured Time.
256
/:
257
0025
O1001
;
258
0026
DISPLAY X5 Y4 B0 (SANPLE COUNTER)
;
Loop count display.
259
0027
X20 Y4 FORM 6 ZSUP DATA LOOPCT
;
260
0028
;
261
0029
X5 Y6
(TOTAL TIME)
;
Total measuer Time
262
0030
X20 Y6 DATA [TSTTIME-TIMESAV] K1 (MSEC);
263
0031
;
264
0032
WORK = [TSTTIME-TIMESAV] / LOOPCT
;
1 operation Time
265
0033
X5 Y8
(ONE OPERATION)
;
266
0034
X20 Y8 FORM 5.2 DATA WORK
K1 (MSEC) ;
267
0035
;
268
0036
RETURN
;
Return to main.
269
/:
270
/:
271
0037
%
52
display.
display.
D. COMPILE/LINK EXAMPLE
APPENDIX
B66102E/07
(F0/F16)
Page 4
MAIN.SRC
om
258
266
r.c
Line No.
268
245
225, 230,
259, 266
259, 262,
259
242
223
231
231
232, 233,
224
236, 240
224
235, 259,
240, 262,
262, 264
235, 237,
264, 266
230, 245
231, 232,
242
264
264
ce
nt
e
Define
M99
M99P
G243
F
D
Z1
#8500
#8502=1
#8501
8
#8503
#8505
#3001
=0
#500
#501
#502
#100
#100
100
999
238, 238
233, 245
.c
nc
Symbol
RETURN
RETURNP
DISPLAY
FORM
DATA
ZSUP
TAIWAP1
NUMREAD
KEYCODE
INPUT
KEYDATA
CURSOR
TIMER1
OFF
LOOPCT
TIMESAV
TSTTIME
COUNT
WORK
LOOP
FIN
53
D. COMPILE/LINK EXAMPLE
APPENDIX
B66102E/07
-----------------------------------
(F0/F16)
14-Mar-1997 16:27:43
Macro Compiler V01.01
Page 1
MAIN.SRC
om
G-Line P-Line
0001
1
O1000;
0002
2
#8502=1;
0003
3
#8505=0;
0004
4
G243X0Y0B0(*0045 0058 0045 0043 0055 0054 0049 004F004E
004D 0045 0020 0054 0045 0053 0054*);
0005
5
X2Y2(*0031 002E 0023 0031 0030 0031 003D 0023 0031 0030
0031 0030 0033*);
0006
6
X2Y3(*0032 002E 0023 0031 0030 0031 003D 0023 0031 0030
004E 0044 0020 0023 0031 0030 0033*);
0007
7
X2Y4(*0033 002E 0023 0031 0030 0031 003D 0053 0049 004E
0030 0032 005D*);
0008
8
;
0009
9
N100G243X8Y11B1(SELECT TEST NO.);
0010
10
IF[#8501NE8]GOTO999;
0011
11
IF[#8503LT1]GOTO999;
0012
12
IF[#8503GT3]GOTO999;
0013
13
;
0014
14
#100=#500;
0015
15
#3001=0;
0016
16
WHILE[#100GT0]DO1;
0017
17
#100=#100-1;
0018
18
END1;
0019
19
#501=#3001;
0020
20
;
0021
21
#8500=#8503*100+1000;
0022
22
;
0023
23
;
0024
24
N999M99P100;
.c
nc
ce
nt
e
r.c
----------------------------------------------------------------------
54
D. COMPILE/LINK EXAMPLE
APPENDIX
B66102E/07
(F0/F16)
14-Mar-1997 16:27:46
Macro Compiler V01.01
Page 2
MAIN.SRC
:
:
:
:
:
:
:
:
:
(F0/F16)
14-Mar-1997 16:27:46
Macro Compiler V01.01
Page 3
MAIN.SRC
r.c
#100
#500
#501
#3001
#8500
#8501
#8502
#8503
#8505
om
O1001;
G243X5Y4B0(SANPLE COUNTER);
X20Y4F6Z1D#500;
;
X5Y6(TOTAL TIME);
X20Y6D[#502-#501]K1(MSEC);
;
#100=[#502-#501]/#500;
X5Y8(ONE OPERATION);
X20Y8F5.2D#100K1(MSEC);
;
M99;
%
ce
nt
e
P-Line
1
2
3
4
5
6
7
8
9
10
11
12
13
nc
G-Line
0025
0026
0027
0028
0029
0030
0031
0032
0033
0034
0035
0036
0037
.c
Page 4
MAIN.SRC
:
:
:
:
8,
3,
6,
6,
10,
8,
8,
8,
55
D. COMPILE/LINK EXAMPLE
APPENDIX
B66102E/07
.c
nc
ce
nt
e
r.c
om
/:
/: SAMPLE Program.
/:
/:
Conversation MACRO Execution-Time Test Program.
/:
(Vol 01.01 1997.03.14)
/:
/:
/:
( SUB Program )
/:
/:
/: Symbol define.
/:
/:
System common symbole FILE Include.
/:
$INCLUDE \MCOMP\TOOL\SYSTEM.DEF
/:
/:
@LOOPCT
#500
/: TEST Loop count.
@TIMESAV #501
/: No-operatinon Time save.
@TSTTIME #502
/: Measured Time save.
/:
/:
@COUNT
#100
/: Loop counter work.
@MAINPR
1000
/: MAIN Program No.
@DISPSUB 1001
/: Answer display SUB Program.
/:
/:
>LOOP
100
/: GOTO Sequense No. define.
>FIN
999
/:
/:
$EJECT
/:
/:
/:
(#101=#102+#103) Operation Time Test.
/:
/:
No. O1100 : SUB program.
/:
/:
O1100
;
NOREAD
; NO data read.
;
DISPLAY X2 Y2 B0 (#101=#102+#103 TEST)
; Operation code disp.
;
COUNT = LOOPCT
; Loop counter set.
TIMER1 = 0
; Timer initialize.
WHILE[COUNT GT 0]DO1
;
#101 = #102 + #103
; (Time Measure)
COUNT = COUNT -1
;
END1
;
;
TSTTIME = TIMER1
; Measure Time save.
CALL
DISPSUB
; Measure Time disp.
56
TAIWAP1 = MAINPR
RETURN
/:
/:
$EJECT
/:
/:
/:
/:
/:
/:
/:
O1200
NOREAD
;
;
; RESET key wait.
;
;
;
;
om
D. COMPILE/LINK EXAMPLE
APPENDIX
B66102E/07
r.c
.c
nc
ce
nt
e
;
; NO data read.
;
DISPLAY X2 Y2 B0 (#101=#102 AND #103 TEST); Operation code disp.
;
COUNT = LOOPCT
; Loop counter set.
TIMER1 = 0
; Timer initialize.
WHILE[COUNT GT 0]DO1
;
#101 = #102 AND #103
; (Time Measure)
COUNT = COUNT -1
;
END1
;
;
TSTTIME = TIMER1
; Measure Time save.
;
CALL
DISPSUB
; Measure Time disp.
;
LOOP DISPLAY X8 Y11 B1 (PUSH RESET KEY)
;
IF[KEYCODE EQ RESET]GOTO FIN
; RESET key wait.
RETURNP LOOP
;
;
FIN TAIWAP1 = MAINPR
;
RETURN
;
/:
/:
$EJECT
/:
/:
/:
(#101=SIN[#102]) Operation Time Test.
/:
/:
No. O1300 : SUB program.
/:
/:
O1300
;
NOREAD
; NO data read.
;
DISPLAY X2 Y2 B0 (#101=SIN[#102])
; Operation code disp.
COUNT = LOOPCT
TIMER1 = 0
;
; Loop counter set.
; Timer initialize.
57
D. COMPILE/LINK EXAMPLE
APPENDIX
TSTTIME = TIMER1
CALL
DISPSUB
TAIWAP1 = MAINPR
RETURN
;
; (Time Measure)
;
;
;
; Measure Time save.
;
; Measure Time disp.
;
;
; RESET key wait.
;
;
;
;
.c
nc
ce
nt
e
r.c
om
WHILE[COUNT GT 0]DO1
#101 = SIN[#102]
COUNT = COUNT -1
END1
B66102E/07
58
D. COMPILE/LINK EXAMPLE
APPENDIX
B66102E/07
--------------------------------------
(F0/F16)
Page 1
SUB1.SRC
om
nc
ce
nt
e
r.c
/:
/: SAMPLE Program.
/:
/:
Conversation MACRO Execution-Time Test Program.
/:
(Vol 01.01
/:
/:
/:
( SUB Program )
/:
/:
/: Symbol define.
/:
/:
System common symbole FILE Include.
/:
pINCLUDE \MCOMP\TOOL\SYSTEM.DEF
pNOLIST
/:
/:
@LOOPCT
#500
/: TEST Loop count.
@TIMESAV #501
/: No-operatinon Time save.
@TSTTIME #502
/: Measured Time save.
/:
/:
@COUNT
#100
/: Loop counter work.
@MAINPR
1000
/: MAIN Program No.
@DISPSUB 1001
/: Answer display SUB Program.
/:
/:
>LOOP
100
/: GOTO Sequense No. define.
>FIN
999
/:
/:
$EJECT
.c
S-Line G-Line
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
59
1997.03.14)
D. COMPILE/LINK EXAMPLE
(F0/F16)
B66102E/07
Page 2
SUB1.SRC
G-Line
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
0014
0015
0016
0017
0018
0019
0020
0021
0022
TSTTIME = TIMER1
CALL
DISPSUB
nc
ce
nt
e
COUNT = LOOPCT
TIMER1 = 0
WHILE[COUNT GT 0]DO1
#101 = #102 + #103
COUNT = COUNT -1
END1
NO data read.
r.c
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
om
/:
/:
/:
/:
/:
/:
/:
O1100
NOREAD
TAIWAP1 = MAINPR
RETURN
.c
/:
/:
$EJECT
S-Line
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
APPENDIX
60
(F0/F16)
Page 3
SUB1.SRC
G-Line
;
;
;
DISPLAY X2 Y2 B0 (#101=#102 AND #103 TEST);
;
COUNT = LOOPCT
;
TIMER1 = 0
;
WHILE[COUNT GT 0]DO1
;
#101 = #102 AND #103
;
COUNT = COUNT -1
;
END1
;
;
TSTTIME = TIMER1
;
;
CALL
DISPSUB
;
;
LOOP DISPLAY X8 Y11 B1 (PUSH RESET KEY)
;
IF[KEYCODE EQ RESET]GOTO FIN
;
RETURNP LOOP
;
;
FIN TAIWAP1 = MAINPR
;
RETURN
;
/:
/:
$EJECT
NO data read.
r.c
0023
0024
0025
0026
0027
0028
0029
0030
0031
0032
0033
0034
0035
0036
0037
0038
0039
0040
0041
0042
0043
0044
om
/:
/:
/:
/:
/:
/:
/:
O1200
NOREAD
ce
nt
e
nc
.c
S-Line
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
D. COMPILE/LINK EXAMPLE
APPENDIX
B66102E/07
61
D. COMPILE/LINK EXAMPLE
(F0/F16)
B66102E/07
Page 4
SUB1.SRC
G-Line
0045
0046
0047
0048
0049
0050
0051
0052
0053
0054
0055
0056
0057
0058
0059
0060
0061
0062
0063
0064
0065
0066
0067
TSTTIME = TIMER1
CALL
DISPSUB
nc
ce
nt
e
COUNT = LOOPCT
TIMER1 = 0
WHILE[COUNT GT 0]DO1
#101 = SIN[#102]
COUNT = COUNT -1
END1
NO data read.
r.c
DISPLAY X2 Y2 B0 (#101=SIN[#102])
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
om
/:
/:
/:
/:
/:
/:
/:
O1300
NOREAD
TAIWAP1 = MAINPR
RETURN
.c
S-Line
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
APPENDIX
62
D. COMPILE/LINK EXAMPLE
APPENDIX
B66102E/07
(F0/F16)
Page 5
SUB1.SRC
#8500
#8502=0
#8501
10
#3001
LOOPCT
TSTTIME
COUNT
#500
#502
#100
MAINPR
DISPSUB
LOOP
1000
1001
100
FIN
999
305
312
309
262, 275, 294,
311
292
308
308
265, 271, 297,
296
303
236, 236, 264,
268, 296, 298,
311
305
275, 277, 307,
.c
nc
TAIWAP1
NOREAD
KEYCODE
RESET
TIMER1
Line No.
241, 273,
248, 280,
245, 277,
230, 243,
307
247, 279,
228, 260,
244, 276,
244, 276,
233, 239,
303
232, 264,
239, 271,
232, 234,
266, 268,
300, 300
247, 279,
241, 273,
243, 245,
309
244, 247,
311
r.c
Define
M98P
M99
M99P
G243
ce
nt
e
Symbol
CALL
RETURN
RETURNP
DISPLAY
om
63
D. COMPILE/LINK EXAMPLE
APPENDIX
B66102E/07
(F0/F16)
14-Mar-1997 16:27:57
Macro Compiler V01.01
Page 1
SUB1.SRC
nc
ce
nt
e
r.c
O1100;
#8502=0;
;
G243X2Y2B0(*0023 0031 0030 0031 003D 0023 0031 0030 0032 002B 0023 0031
0045 0053 0054*);
;
#100=#500;
#3001=0;
WHILE[#100GT0]DO1;
#101=#102+#103;
#100=#100-1;
END1;
;
#502=#3001;
;
M98P1001;
;
N100G243X8Y11B1(PUSH RESET KEY);
IF[#8501EQ10]GOTO999;
M99P100;
;
N999#8500=1000;
M99;
.c
G-Line P-Line
0001
1
0002
2
0003
3
0004
4
0030 0033 0020 0054
0005
5
0006
6
0007
7
0008
8
0009
9
0010
10
0011
11
0012
12
0013
13
0014
14
0015
15
0016
16
0017
17
0018
18
0019
19
0020
20
0021
21
0022
22
om
----------------------------------------------------------------------
64
D. COMPILE/LINK EXAMPLE
APPENDIX
B66102E/07
#100
#101
#102
#103
#500
#502
#3001
#8500
#8501
#8502
:
:
:
:
:
:
:
:
:
:
6, 8, 10, 10,
9,
9,
9,
6,
13,
7, 13,
21,
18,
2,
14-Mar-1997 16:27:59
Macro Compiler V01.01
Page 3
SUB1.SRC
r.c
(F0/F16)
om
ce
nt
e
O1200;
#8502=0;
;
G243X2Y2B0(*0023 0031 0030 0031 003D 0023 0031 0030 0032 0020 0041 004E
0030 0033 0020 0054 0045 0053
nc
;
#100=#500;
#3001=0;
WHILE[#100GT0]DO1;
#101=#102AND#103;
#100=#100-1;
END1;
;
#502=#3001;
;
M98P1001;
;
N100G243X8Y11B1(PUSH RESET KEY);
IF[#8501EQ10]GOTO999;
M99P100;
;
N999#8500=1000;
M99;
.c
G-Line P-Line
0023
1
0024
2
0025
3
0026
4
0044 0020 0023 0031
0054*);
0027
5
0028
6
0029
7
0030
8
0031
9
0032
10
0033
11
0034
12
0035
13
0036
14
0037
15
0038
16
0039
17
0040
18
0041
19
0042
20
0043
21
0044
22
65
D. COMPILE/LINK EXAMPLE
APPENDIX
B66102E/07
#100
#101
#102
#103
#500
#502
#3001
#8500
#8501
#8502
:
:
:
:
:
:
:
:
:
:
6, 8, 10, 10,
9,
9,
9,
6,
13,
7, 13,
21,
18,
2,
14-Mar-1997 16:28:01
Macro Compiler V01.01
Page 5
SUB1.SRC
r.c
(F0/F16)
om
ce
nt
e
O1300;
#8502=0;
;
G243X2Y2B0(*0023 0031 0030 0031 003D 0053 0049 004E 005B 0023 0031 0030
nc
;
#100=#500;
#3001=0;
WHILE[#100GT0]DO1;
#101=SIN[#102];
#100=#100-1;
END1;
;
#502=#3001;
;
M98P1001;
;
N100G243X8Y11B1(PUSH RESET KEY);
IF[#8501EQ10]GOTO999;
M99P100;
;
N999#8500=1000;
M99;
%
.c
G-Line P-Line
0045
1
0046
2
0047
3
0048
4
0032 005D*);
0049
5
0050
6
0051
7
0052
8
0053
9
0054
10
0055
11
0056
12
0057
13
0058
14
0059
15
0060
16
0061
17
0062
18
0063
19
0064
20
0065
21
0066
22
0067
23
66
D. COMPILE/LINK EXAMPLE
APPENDIX
B66102E/07
6, 8, 10, 10,
9,
9,
6,
13,
7, 13,
21,
18,
2,
om
#100
#101
#102
#500
#502
#3001
#8500
#8501
#8502
r.c
--------------------------------------
.c
nc
ce
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/:
/:
Conversation MACRO Sample program
LINK control file.
/:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/:
/: Library file FS0-MC
/:
CNC=\MCOMP\MEX\F0MC_07.MEX
/:
/: compile parameter P9000 - P9009 and P9010 - P9059
/:
P9000=10000010
P9001=00000001
P9002=00100000
P9003=00000001
P9037=5
P9038=1000
/:
/: Link files
/:
FILE=MAIN
FILE=SUB1
/:
67
D. COMPILE/LINK EXAMPLE
APPENDIX
B66102E/07
--------------------------------------
Page 1
SAMPL.MAP
---------- Library List -----------------------------------------------FILE NAME
LIBRARY NAME
om
NO
\MCOMP\MEX\F0MC_07.MEX
1
LIBRARY
0-MC MACRO
=
=
=
=
=
=
10000010
00000001
00100000
00000001
5
1000
ce
nt
e
P9000
P9001
P9002
P9003
P9037
P9038
r.c
PROG
MAIN.REL
nc
SUB1.REL
01000
01001
01100
01200
01300
SIZE
0000FAH
000091H
0000A3H
0000A7H
00009CH
.c
68
B66102E/07
.c
nc
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r.c
om
69
E.1
B66102E/07
INTRODUCTION
om
r.c
(2) Convert a source file to the table data file in the Super CAP/Super
CAP II M table format using the macro converter (MCONV).
Example: MCONV JZH_PARA
JZH_PARA: Name of source program file for table data
ce
nt
e
(3) Compile the source programs to object files using the macro compiler
(MCOMPO).
Example: MCOMPO MACHINE
MACHINE: Source program file name
(4) Use the macro linker (MLINK) to convert the object and table data
files to ROMformat files.
Example: MLINK BJ64_J
BJ64_J: Link control file name
nc
NOTE
A FANUC standard macro program is provided only after a
confidentiality agreement with a machine tool builder has
been signed.
.c
For the syntax of menu definition programs, refer to the Super CAP M
Programming Manual (B-62153E).
70
B66102E/07
E.2
MACRO CONVERTER
(MCONV)
E.2.1
Outline
om
MCONV
(***.TBL)
r.c
(***.DAT)
Table data
ce
nt
e
(***.LST)
E.2.2
Operation
nc
(1) file-spec
Specifies the name of a source file to be converted. Specify a file
name in one of the two ways below:
D Directly specify a file name or file names
(Examples)
A:\>MCONV ABC DEF GHI
.c
E.2.3
Source File
A:\>MCONV @XYZ
E.2.4
B66102E/07
E.2.5
.c
nc
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r.c
om
72
B66102E/07
E.3
CONVERSION OF
TABLE DATA WITH
THE MACRO LINKER
(MLINK)
E.3.1
The table data file output by the macro converter can be converted
together with the object file output by the macro compiler to ROM-format
files with the macro linker.
om
Outline
E.3.2
r.c
E.3.3
.c
nc
ce
nt
e
The link list file to be output by the linker contains a table data file name,
program numbers, and program size as well as macro program functions.
The file name is the same as that of the link control file but the extension
is replaced with MAP.
73
B66102E/07
.c
nc
ce
nt
e
r.c
om
APPENDIX
74
APPENDIX
B66102E/07
F.1
OVERVIEW
om
.c
nc
ce
nt
e
r.c
NOTE
The modular function can be used with the modular CAP
only.
75
F.2
APPENDIX
B66102E/07
DEVELOPMENT
ENVIRONMENT
om
(2) Peripherals
D Memory card adapter
D 4Mbyte flash memory card (Intel iMC004FLSA)
(3) FAPT macro compiler (for personal computers)
D A08B9001J760#EN07 (for FANUC Series 16i)
D A08B9001J765#EN07 (for FANUC Series 18i)
r.c
.c
nc
ce
nt
e
(5) NC
D NC system supporting modular CAP
D Macro capacity of at least 3M bytes
D FROM module with sufficient capacity to transfer the CAP
control module and user modules
76
APPENDIX
B66102E/07
F.3
The CAP control module is a MEM file that is provided in place of the
conventional library file. The CAP control module is loaded into the
CNC.
The CAP control module contains the following programs:
D CAP system control program
D FANUC standard macro program (Super CAP II T only)
.c
nc
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r.c
om
CAP CONTROL
MODULE
77
APPENDIX
B66102E/07
F.4
USER MODULES
F.4.1
The following macro libraries are provided for creating the user modules:
om
ce
nt
e
r.c
NOTE
1 F16?P1.MEX and F16?P1C.MEX are used to create user
module 1.
2 F16?P2.MEX is used to create user module 2.
F.4.2
Developing a User
Module
nc
#6
#5
#4
#3
#2
#1
9000
LD6
M3MB
M2MB
M1MB
M512
M256
M128
.c
w
w
w
Bit No.
Address
#0
M512
M256
M128
512KB
256KB
128KB
APPENDIX
B66102E/07
NOTE
Specify the user module series/edition display.
F.4.3
User modules 1 and 2 must be loaded into FROM separately from the
CAP control module.
The CAP control module and user modules 1 and 2 have the following file
names on the FROM.
D CAP control module
ff
r.c
om
When a single user program is divided into two modules, specify the same
compile parameters (except parameter 9000) in the link files for user
modules 1 and 2.
ce
nt
e
D User module 1
ff
nc
D User module 2
P2ff
.c
F.4.4
F.4.5
(1) User modules 1 and 2 should not have identical user program
numbers. If the modules have identical program numbers, the
program specified in user module 2 takes priority.
(2) Identical compile parameters must be specified in user modules 1 and
2 (except for compile parameter 9000).
(3) The total size of user modules 1 and 2 must not exceed the following:
D Super CAP II T: 768K bytes
D Super CAP II M: 1.625M bytes
79
APPENDIX
B66102E/07
F.5
(1) The PCODE loading function cannot be used with modular CAP.
(2) No program can be executed with the user modules only. The CAP
control module is necessary.
.c
nc
ce
nt
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r.c
om
RESTRICTIONS
IMPOSED ON THE
SYSTEM
80
APPENDIX
B66102E/07
F.6
CREATING SAMPLE
USER MODULES
FOR SUPER CAP II T
D Example
Create a 256Kbyte user module 1 and link it with the user programs
of CAPS and auxiliary processes. Create a 512Kbyte user module
2 and link it with a userdeveloped machining macro program.
F.6.1
Creating Programs
om
(1) Edit the string file (CAPS.SRC) to change the title of the Super CAP
T basic menu screen and the series and edition of the standard macro
displayed on the system configuration screen.
Character string of the series and edition of
D Before editing
the user program displayed on the conversa-
ce
nt
e
r.c
D After editing
nc
.c
81
APPENDIX
B66102E/07
F.6.2
.c
nc
ce
nt
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r.c
om
/*
/* Conversation MACRO Sample program
LINK control file.
/*
/*
/* executer file FS16TI for VGA
/*
Macro library for user module 1
CNC =F16ITP1.MEX
SERN =USR1
Add these lines to the link file to display the
VERN =0001
series and edition of user module 1.
SYSTEM=TPATH1
/*
/* compile parameter P9000 P9009 and P9010 P9059
/*
P9000=10000100
Specify a size of 256K bytes.
P9001=10000001
P9002=11000000
P9003=10001001
P9007=01000000
P9009=00000100
Common part shared by user programs 1
and 2
P9013=200
P9021=208
P9022=209
P9023=320
P9024=321
P9030=27
P9031=28
P9033=97
P9037=7
P9044=2044
P9038=4999
/*
/* Link files
/*
String file: The string file is also included in the
FILE=CAPS
Super CAP control module. A program speciFILE=O1004
fied in a user module takes priority.
FILE=O1005
FIEL=O1006
82
APPENDIX
B66102E/07
nc
ce
nt
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r.c
om
/*
/*
Conversation MACRO Sample program
LINK control file.
/*
/*
/* executer file FS16TI for VGA
/*
Macro library for user module 2
CNC =F16ITP2.MEX
SERN =USR2
Add these lines to the link file to display the seVERN =0001
ries and edition of user module 2.
SYSTEM=TPATH1
/*
/* compile parameter P9000 P9009 and P9010 P9059
/*
Specify a size of 512K bytes.
P9000=10001000
P9001=10000001
P9002=11000000
P9003=10001001
P9007=01000000
P9009=00000100
Common part shared by user programs 1
and 2
P9013=200
P9021=208
P9022=209
P9023=320
P9024=321
P9030=27
P9031=28
P9033=97
P9037=7
P9044=2044
P9038=4999
/*
/* Link files
/*
FILE=USR_PRG
.c
83
F.7
CREATING SAMPLE
USER MODULES
FOR SUPER CAP II M
APPENDIX
B66102E/07
D Example
Create a 1.375Mbyte user module 1 and link it with a conversational
macro program and C program. Create a 256Kbyte user module 2
and link it with a userdeveloped auxiliary macro program.
F.7.1
Creating Programs
r.c
om
ce
nt
e
.c
nc
NOTE
A FANUC standard macro program is provided only after a
confidentiality agreement with a machine tool builder has
been signed.
84
APPENDIX
B66102E/07
F.7.2
.c
nc
ce
nt
e
r.c
om
/*
/*
Conversation MACRO Sample program
LINK control file.
/*
85
APPENDIX
B66102E/07
ce
nt
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P9009=00000010
P9033=12
/*
/* Link files
/*
FILE=AUX_PRG
r.c
om
/*
/*
Conversation MACRO Sample program LINK control file.
/*
/*
/* executer file FS16MI for VGA
/*
Macro library for user module 2
CNC =F16IMP2.MEX
SERN =USR2
Add these lines to the link file to display the
VERN =0001
series and edition of user module 2.
SYSTEM=MPATH1
/*
/* compile parameter P9000 P9009 and P9010 P9059
/*
P9000=10000100
Specify a size of 256K bytes.
P9001=00000001
P9002=11000000
Common part shared by user programs
P9003=10000000
1 and 2
P9007=10000000
.c
nc
86
APPENDIX
B66102E/07
.c
nc
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r.c
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87
APPENDIX
B66102E/07
The boot system of first loads the CNC system software (flash RAM
DRAM), then starts execution of the CNC software so that other software
can be executed. (Some models run the CNC system software entirely in
flash memory or EPROM, without using DRAM.)
G.1
OUTLINE
om
r.c
ce
nt
e
G.1.1
nc
.c
Hold down the two keys until the boot system screen appears.
(2) If flash memory does not contain a file required to start the CNC
If the file required to start the CNC (NC BASIC) is not found in flash
memory, or if that file is damaged, the BOOT SYSTEM menu is
automatically displayed when the CNC is powered on.
88
APPENDIX
B66102E/07
G.1.2
System File and User
File
The boot system manages files in flash memory by dividing them into two
main groups: system files and user files. These two groups have the
following characteristics:
CNC and servo control software provided by FANUC
D User files
.c
nc
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r.c
om
D System files
89
When the boot system is started, the MAIN MENU screen appears. The
contents of this screen are described below:
1.
2.
3.
4.
5.
6.
7.
10.
60M1 - 05
END
MESSAGE
om
OPERATION AND
CORRESPONDING
SCREENS
B66102E/07
[ SELECT ][
YES
r.c
G.2
APPENDIX
][
NO
][
UP
][
DOWN
ce
nt
e
: Screen title. The series and edition of the boot system are indicated
at the right end.
nc
: Function used to terminate the boot system and start the CNC
: Brief guidance message or error message
Press the [UP] or [DOWN] soft key to select the desired function. After
positioning the cursor to the desired function, press the [SELECT] soft
key. Before executing a function, the system my request confirmation
from the operator by having him/her press the [YES] or [NO] soft key.
.c
D Operating procedure
D Basic operation
Position the
cursor.
[UP]
[DOWN]
Select a
function
[SELECT]
Return to
original state
90
Check the
selection
[YES]
[NO]
Execute
the
Select END
function
APPENDIX
B66102E/07
G.2.1
SYSTEM DATA
LOADING Screen
Description
om
This screen is used to read a system or user file from a memory card and
write it to flash memory.
Screen configuration
1/1
ce
nt
e
r.c
MESSAGE
SELECT MODE AND HIT SELECT KEY.
[ SELECT ][
YES
][
NO
][
UP
][
DOWN
: Screen title. The page number (n) and total number of pages (m) are
displayed in n/m format at the right end.
nc
Operation
.c
: Message
(1) Position the cursor to the file to be read from the memory card into
flash memory. Then, press the [SELECT] soft key.
Up to eight file names can be listed on a single page. If nine or more
files are stored on the memory card, the ninth and subsequent files are
displayed on other pages. To display the next page, press the [ ] soft
key. To display the previous page, press the [ ] soft key. END is
displayed on the last page.
(2) When a file is selected, the system prompts the operator to confirm
loading of that file.
MESSAGE
LOADING OK ? HIT YES OR NO.
(3) To load the file, press the [YES] soft key. To cancel, press the [NO]
key.
MESSAGE
LOADING FROM MEMORY CARD.
91
APPENDIX
B66102E/07
(4) When the function terminates normally, the system displays the
following message. Press the [SELECT] soft key. If an error occurs,
see Appendix (B).
MESSAGE
LOADING COMPELETE. HIT SELECT KEY.
Others
r.c
MESSAGE
LOADING FROM MEMORY CARD.
z
ADDRESS 001:000022FF
om
ce
nt
e
indicated.)
nc
.c
NC BASIC
DG SERVO
GRAPHIC
NC OPTN
PMC
PCD
CEX
PMC-
PMC@
Contents
Basic
Servo
Graphic
Optional
PMC control software, etc.
P-CODE macro file/OMM
C-language executor
Ladder software
Loader ladder software
File type
System file
System file
System file
System file
System file
User file
User file
User file
User file
Contents
NC BASIC
DG SERVO
OPT LANG
Basic
Servo
Optional
P-CODE macro file/OMM
Ladder software
PCD
PMC-
File type
System file
System file
System file
User file
User file
APPENDIX
B66102E/07
D Series 21
File name
Contents
Basic (:1)
Servo (:1)
Graphic (:1)
Optional (:1)
PMC control software, etc. (:1)
P-CODE macro file/OMM
Ladder software
Loader ladder software (:2)
PMC
PCD
PMC-
PMC@
System file
System file
System file
System file
System file
User file
User file
User file
om
NC BASIC
DG SERVO
GRAPHIC
NC OPTN
File type
.c
nc
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r.c
93
APPENDIX
B66102E/07
G.2.2
SYSTEM DATA CHECK
Screen
Description
om
This screen is used to list files in flash memory, together with the number
of 128-KB management units constituting each file and the series and
edition of the software.
ce
nt
e
r.c
Screen configuration
MESSAGE
SELECT FILE AND HIT SELECT KEY.
[ SELECT ][
YES
][
NO
][
UP
][
DOWN
nc
: Screen title.
.c
: Message
94
APPENDIX
B66102E/07
Operation
(1) Select the file for which details are required. For example, select 1
NC BASIC.
(2) The numbers of management units in the selected file are listed,
together with the series and edition of the software. After checking
the list, press the [SELECT] soft key and return to the file selection
screen.
om
000
001
002
003
004
005
006
007
MESSAGE
HIT SELECT KEY.
.c
nc
Others
r.c
B0A1
B0A1
B0A1
B0A1
B0A1
B0A1
B0A1
B0A1
ce
nt
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0
1
2
3
4
5
6
7
95
APPENDIX
B66102E/07
G.2.3
SYSTEM DATA
DELETE Screen
Description
ce
nt
e
r.c
om
Screen configuration
MESSAGE
SELECT FILE AND HIT SELECT KEY.
[ SELECT ][
YES
][
NO
][
UP
][
DOWN
: Screen title.
nc
Operation
.c
: Message
(1) Position the cursor to the name of the file to be deleted. Press the
[SELECT] soft key.
(2) The system displays the following confirmation message:
MESSAGE
DELETE OK ? HIT YES OR NO.
(3) To delete the file, press the [YES] key. To cancel, press the [NO] key.
MESSAGE
DELETE ROM FILE IN FLASH MEMORY.
(4) When the deletion terminates normally, the system displays the
following message. Press the [SELECT] key.
MESSAGE
DELETE COMPLETE. HIT SELECT KEY.
96
APPENDIX
B66102E/07
Others
.c
nc
ce
nt
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r.c
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97
APPENDIX
B66102E/07
G.2.4
SYSTEM DATA SAVE
Screen
Description
om
This screen is used to write a user file from flash memory to a memory
card. This function supports the writing of user files only. System files
cannot be written from flash memory to a memory card.
ce
nt
e
r.c
Screen configuration
MESSAGE
SELECT FILE AND HIT SELECT KEY.
[ SELECT ][
YES
][
NO
][
UP
][
DOWN
nc
: Screen title.
.c
: Message
Operation
(1) Position the cursor to the name of the file to be saved, then press the
[SELECT] soft key.
(2) The system displays the following confirmation message:
MESSAGE
SAVE OK ? HIT YES OR NO.
(3) To save the file, press the [YES] key. To cancel, press the [NO] key.
MESSAGE
WRITING FLASH ROM FILE TO MEMORY CARD.
SAVE FILE NAME : PMC RA.000
98
APPENDIX
B66102E/07
(4) When saving terminates normally, the system displays the following
message. Press the [SELECT] key. The name of the file written to
the memory card is displayed. Check the file name.
MESSAGE
FILE SAVE COMPLETE. HIT SELECT KEY.
SAVE FILE NAME : PMC RB.000
om
Others
(1) Difference between a system file and user file for SYSTEM DATA
SAVE
SYSTEM DATA SAVE protects system files so that they cannot be
copied easily. User files are not protected.
Memory card
NC_BASIC.XXX
DG_SERVO.XXX
NC1_OPTN.XXX
PMCRB.XXX
PCD_0.5M.XXX
PCM_1.0M.XXX
PCD_1.5M.XXX
ce
nt
e
Flash memory
NC BASIC
DG SERVO
NC1 OPTN
PMC-RB
PCD 0.5M
PCD 1.0M
PCD 1.5M
r.c
D Series 20
nc
Flash memory
NC BASIC
DG SERVO
OPT LANG
PMC-RA
PCD 0.5M
PCD 1.0M
PCD 1.5M
Memory card
NC_BASIC.XXX
DG_SERVO.XXX
OPT_LANG.XXX
PMCRA.XXX
PCD_0.5M.XXX
PCM_1.0M.XXX
PCD_1.5M.XXX
.c
D Series 21
Flash memory
NC BASIC
DG SERVO
NC1 OPTN
PMC-RA
PCD 128k
PCD 256k
PCD 0.5M
PCD 1.0M
Memory card
NC_BASIC.XXX
DG_SERVO.XXX
NC1_OPTN.XXX
PMCRA.XXX
PCD_128k.XXX
PCD_256k.XXX
PCD_0.5M.XXX
PCM_1.0M.XXX
APPENDIX
B66102E/07
G.2.5
SRAM DATA BACKUP
Screen
This screen is used for the batch saving and restoring of parameters,
programs, and other data to be retained after the CNC is turned off to/from
a memory card.
Screen configuration
om
Description
SRAM SIZE
FILE NAME
512K( BASIC )
SRAM_5A.FDB
ce
nt
e
:
:
r.c
MESSAGE
SELECT MENU AND HIT SELECT KEY.
[ SELECT ][
YES
][
NO
][
UP
][
DOWN
nc
: Screen title.
: Menu
.c
: File name
: Message
Operation
[Backing up data]
(1) Select 1. SRAM BACKUP. The following confirmation message
is displayed. To back up the data, press the [YES] key.
MESSAGE
BACKUP SRAM DATA OK ? HIT YES OR NO.
(2) The FILE NAME: field displays the name of the file that is being
written to the memory card. The writing time depends on the amount
of free space on the memory card. Generally, to write the SRAM
BASIC file (512KB) takes about 2 minutes.
MESSAGE
SRAM DATA WRITING TO MEMORY CARD.
100
APPENDIX
B66102E/07
[Restoring data]
(1) Select 2. RESTORE SRAM. The system displays the following
message. Press the [YES] key.
om
MESSAGE
MESSAGE
r.c
(2) The system displays the following message while the file is being
restored.
RESTORE SRAM DATA FROM MEMORY CARD.
ce
nt
e
Others
nc
1.0MB
1.5MB
2.5MB
SRAM0_5A.FDB
SRAM1_0A.FDB
SRAM1_5A.FDB
SRAM2_5A.FDB
SRAM1_0B.FDB
SRAM1_5B.FDB
SRAM2_5B.FDB
.c
w
w
w
Size of SRAM
File
number
2
3
SRAM1_5C.FDB SRAM2_5C.FDB
SRAM2_5D.FDB
SRAM2_5E.FDB
D Series 20, 21
Size of SRAM
128KB
SRAM128K.XXX
256KB
SRAM256K.XXX
256KB
SRAM256K.XXX
512KB
SRAM512K.XXX
CNC
Series 20
Series 21
APPENDIX
B66102E/07
G.2.6
MEMORY CARD FILE
DELETE Screen
Description
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Screen configuration
SYSTEM DATA LOADING
FILE DIRECTORY
B0A1E01.ROM
B0A1E02.ROM
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1/1
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END
MESSAGE
SELECT FILE AND HIT SELECT KEY
[ SELECT ][
YES
][
NO
][
UP
][
DOWN
: Screen title. The current page number (n) and the total number of
pages (m) are displayed in n/m format at the right-hand end.
nc
Operation
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: Message
(1) Select the name of the file to be deleted from the memory card by
pressing the [SELECT] key.
(2) The system displays the following confirmation message. Press the
[YES] key.
MESSAGE
DELETE OK ? HIT YES OR NO.
(3) Upon normal deletion of the file, the system displays the following
message. Press the [SELECT] key.
MESSAGE
DELETE COMPLETE. HIT SELECT KEY.
Others
D When nine or more files are stored to the memory card
Display the desired page, by following the procedure in the section
describing the use of the SYSTEM DATA LOADING screen.
102
APPENDIX
B66102E/07
G.2.7
MEMORY CARD
FORMAT Function
Description
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Operation
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(4) Upon the completion of formatting, the system displays the following
message. Press the [SELECT] key.
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MESSAGE
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103
APPENDIX
B66102E/07
G.2.8
End of BOOT SYSTEM
This function is used to terminate the boot system and activate the CNC.
Operation
On the MAIN MENU screen, select 9. END. The system displays the
ARE YOU SURE? HIT YES OR NO message. To terminate the boot
system and activate the CNC, press the [YES] soft key. If the [NO] key
is pressed, the boot system is not terminated.
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Description
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MESSAGE
YES
][
NO
][
UP
][
DOWN
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YES
][
NO
][
UP
][
DOWN
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D If the NC BASIC system file is normal, the system reads the system
file into DRAM (for Series 16-B/C, 18-B/C, or 20) then starts the NC
basic system. During reading, the following message blinks:
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MESSAGE
LOADING BASIC TO DRAM
[ SELECT ][
YES
][
NO
][
UP
][
DOWN
YES
][
NO
][
UP
][
DOWN
104
YES
][
NO
][
UP
][
DOWN
APPENDIX
B66102E/07
G.3
ERROR MESSAGES
AND REQUIRED
ACTIONS
Message
The contents of flash memory containing boot software was destroyed. Replace the CPU card.
The memory card becomes full in the middle of SRAM backup operation. Replace the card with a memory card containing enough
free space.
DELETE ERROR.
HIT SELECT KEY.
An attempt to delete a file from flash ROM was unsuccessful. Retry the
deletion. If the second attempt also fails, the flash ROM may have
been damaged or destroyed. Replace the flash ROM module.
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There is insufficient free flash ROM to store the selected file. Delete
any unnecessary files from flash ROM.
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FLASH ROM MODULE NOT EXIST. The flash ROM module is not mounted on that CNC system. Put the
HIT SELECT.
flash ROM module on the board.
The flash ROM module ID is illegal. Check the drawing No. of the flash
ROM module.
The SRAM module ID is illegal. Check the drawing No. of the SRAM
module.
LOADING ERROR.
HIT SELECT KEY.
The selected file cannot be read into flash memory. The selected file
or the header information for flash ROM may have been damaged or
destroyed.
105
APPENDIX
Message
M
B66102E/07
The extension number added to a file name exceeds 031. Delete any
unnecessary backup files from the memory card.
MEMORY CARD BATTERY ALARM. The memory cards battery is exhausted. Replace the battery.
HIT SELECT.
The memory card is full. Delete any unnecessary files from the
memory card. Alternatively, replace the memory card with another
card having sufficient free space.
The use of this memory card is not supported. Use only FANUC
recommended memory cards, as described in the order list.
The memory card could not be accessed. Check that the memory card
is normal.
The memory card is not inserted into its slot. Check that the memory
card is pushed fully home.
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MEMORY CARD PROTECTED.HIT Although writing to the memory card was selected, the write inhibit
SELECT KEY.
switch is set. Disable the write inhibit switch.
ce
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Note) Check that the memory cards battery is not exhusted, that its
circuitry has not been damaged, and that it is securely inserted
into its slot.
MEMORY CARD TYPE IS NOT Write has been attempted to an incompatible flash memory card. Use
AVAILABLE.
only the flash ROM cards recommended by FANUC. Recommended
flash ROM cards are listed in the ordering list.
Access to a memory card failed. The memory cards battery may have
gone dead, the memory card may have been damaged electrically, or
the memory card may not be inserted in the slot securely.
Access to the memory card has failed. Check whether the memory
card is defective.
nc
PLEASE FORMAT FLASH TYPE It is not possible to delete only specific files from a flash ROM card, due
CARD.HIT SEL.
to the characteristics of the memory used. To delete a file it is necessary to delete all files on the card, by using the FORMAT function.
NMI OCCURRED.
PLEASE POWER OFF.
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Note) Check that the memory cards battery is not exhusted, that its
circuitry has not been damaged, and that it is securely inserted
into its slot.
106
APPENDIX
B66102E/07
G.4
SETTING A MACRO
PASSWORD
(Series 20)
G.4.1
Overview
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The Series 20 can easily read a file from flash memory and write it to a
memory card. Security for the P-CODE file of a user-created macro
executor is important. Assigning a password to the P-CODE file at a link
(MLINK) affords security against the unauthorized reading of that file.
MLINK of personal computer compiler V02.3 or later, which supports a
function for specifying a password is used to achieve this.
G.4.2
Password
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107
APPENDIX
B66102E/07
G.4.3
Setting a Password
Specify a password in the MLINK link control file (extension .LNK). The
five digits immediately subsequent to PASS= constitute the password.
In the example below, the password is 15243.
(Example)
MACRO COMPILER UTILITY LINK FILE
(SAMPLE)
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/:
/:
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/:
/:
CNC=A:\MCOMP\MEX\F20M.MEX
/:
P9001=0000001
P9010=100
P9037=5
P9038=8000
/: JIKKOU-MACRO
FILE=ABC,DEF
FILE=XYZ,UVW
/:
FILE=SSS
/: P-CODE FILE PASSWORD
PASS=15243
G.4.4
The Series 20 boot system can read a macro executor P-CODE file having
the password from flash memory only when the password is entered.
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Specifying a Password
for the Series 20 Boot
System
The system displays the message and assigns numbers 1 to 5 to the soft
keys. When a valid password is entered, the P-CODE file can be written
to a memory card.
<
>
108
zSoft keys
APPENDIX
B66102E/07
G.5
FREE AREA IN
FLASH MEMORY
(Series 20)
Using the SYSTEM DATA CHECK screen, check the capacity of the
flash memory module installed in the Series 20.
Module size
2MB
16
3MB
24
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G.5.1
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4MB
32
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NC BASIC
Basic
10
OPT LANG
Option
DG SERVO
Servo
PMC-RA
Lodder
PCD 0.5M
PCD 1.0M
PCD 1.5M
12
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w
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Number of
management units
Contents
24
Number of management
units in the module
109
20
Total number of
management units used
4
Number of free
management units
APPENDIX
B66102E/07
1 NC BASIC(10)
2 DG SERVO( 1)
3 PMC-RA
( 1)
4 PCD 0.5M( 4)
5 OPT LANG( 4)
Management unit
number
File
NC BASIC
000
009
NC BASIC
10
009
010
DG SERVO
010
DG SERVO
011
PMC-RA
011
PMC-RA
012
PCD 0.5M
012
Free
013
PCD 0.5M
013
Free
014
PCD 0.5M
014
Free
015
PCD 0.5M
015
Free
016
OPT LANG
016
OPT LANG
017
OPT LANG
017
OPT LANG
018
OPT LANG
018
OPT LANG
3
4
021
OPT LANG
NC BASIC
10
019
OPT LANG
020
Free
Free
020
Free
Free
020
Free
020
Free
Free
023
Free
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022
nc
020
NC BASIC
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000
:
019
File
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Management unit
number
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The files are written into the 3MB flash memory module as shown below:
Noncontiguous
free areas
If P-CODE macro file PCD 0.5M is deleted, eight management units (1MB)
become free in flash memory. As the free management units are separated
in flash memory, the 1-MB P-CODE macro file PCD 1.0M cannot be read
into flash memory. (Use the SYSTEM DATA CHECK screen to determine
whether the management unit numbers of the files are contiguous.)
If non-contiguous free areas are found, use the SYSTEM DATA SAVE
function to save the OPT LANG file, sandwiched between two free areas,
to a memory card. Then, delete the OPT LANG file from flash memory.
Re-read the file from the memory card into flash memory. The file will
now be placed next to the PMC-RA file, with a continuous free area of
1MB reserved.
NOTE
The OPT LANG system file is deleted in this example only
for ease of explanation. Actually, the user cannot delete a
system file.
110
H. BOOT SYSTEM
(FOR Series 16/18/21)
APPENDIX
B66102E/07
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111
H. BOOT SYSTEM
(FOR Series 16/18/21)
H.1
APPENDIX
B66102E/07
The boot system load the CNC system software (flash RAMDRAM),
then starts it so that software can be executed.
The boot system provides the following maintenance functions for the
CNC:
Registering a file in flash ROM
Reads a file from a memory card, in FAT format, into flash ROM.
Checking a file (series and edition) in flash ROM
Deleting a file from flash ROM
Batch saving and restoration of files of parameters and programs
backed up by battery (SRAM area), to and from a memory card
Saving a file in flash ROM to a memory card
Formatting of a memory card
Deleting a file from a memory card
This manual describes the activation of the boot system, as well as the
screen displays and operation for the functions listed above.
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OVERVIEW
H.1.1
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CAUTION
This control unit supports the use of a memory card as an
input/output device. When a flash card is used, however,
data can be written to a FANUCrecommended card only.
Data can be read in the same way as with an ordinary SRAM
card, provided the data has been saved in FAT format. Note
that, when a flash card is used, the card capacity is reduced
by 128KB.
See the order list for details of the supported memory card
types.
Hold down the two keys until the boot system screen appears.
If soft keys are not provided (for example, when a touch pad is being
used), use the MDI numeric keys. Hold down the 6
keys until the boot system screen appears.
1.
2.
3.
4.
5.
6.
7.
112
and 7
H. BOOT SYSTEM
(FOR Series 16/18/21)
APPENDIX
B66102E/07
2 When the flash memory does not contain a file required to start the
CNC
Immediately after the CNC is turned on, the boot system starts
transferring files from flash ROM to DRAM. If, for some reason, a
file required to start the CNC (NC basic) is not in flash ROM or has
been destroyed, the boot system is automatically started.
The boot system organizes files in flash ROM into two main groups :
system files and user files. These two file types have the following
characteristics :
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H.1.2
D User files
H.1.3
Boot Slot
Configuration Screen
D Screen configuration
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D System files
(1)
NO.
0.
1.
2.
3.
BOARD
MAIN
PMCRE
CAPII
LCB
FROM
4MB
6MB
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nc
(2)
D Operation
(3)
60M102
SRAM
1.0MB
256KB
512KB
512KB
MESSAGE
SELECT SLOT AND HIT SELECT KEY.
[ SELECT ][ YES ][ NO ][ UP
][
DOWN
113
H. BOOT SYSTEM
(FOR Series 16/18/21)
H.2
SCREEN
CONFIGURATION
AND OPERATING
PROCEDURE
APPENDIX
B66102E/07
When the boot system is first started, the MAIN MENU screen is
displayed. This screen is described below :
(2)
(3)
(4)
(5)
(6)
(7)
(8)
1.
2.
3.
4.
5.
6.
7.
(9)
10.END
60M1-01
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MESSAGE
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(1)
(10)
][
DOWN
nc
(1) : Screen title. The series and edition of the boot system appear at
the right end.
(2) : Function for writing data to flash ROM.
(3) : Function for checing the edition of a file in ROM.
(4) : Function for deleting a file from flash ROM.
(5) : Function for making a backup copy of the data stored on the memory
card.
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D Operating procedure
Press the [UP] or [DOWN] soft key to select the desired function. After
positioning the cursor to the desired function, press the [SELECT] soft
key. Before executing a function, the system my request confirmation
from the operator by having him/her press the [YES] or [NO] soft key.
D Basic operation
Position the
cursor.
[UP]
[DOWN]
Select a
function
[SELECT]
Return to
original state
114
Check the
selection
[YES]
[NO]
Execute
the
Select END
function
H. BOOT SYSTEM
(FOR Series 16/18/21)
APPENDIX
B66102E/07
H.2.1
System Data Loading
Screen
D Description
This screen is used to read a system or user file from a memory card into
flash ROM.
(2)
FILE DIRECTORY
B1F1A_B.MEM
B1F1A_AI.MEM
END
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(3)
1/1
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(1)
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D Screen configuration
MESSAGE
(4)
][
DOWN
(1) : Screen title. The page number (n) and total number of pages (m)
are displayed, in n/m format, at the right end.
nc
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(4) : Message
D Operating procedure
1 Position the cursor to the file to be read from the memory card and
written to flash ROM. Then, press the [SELECT] soft key.
A single page can list up to eight file names. If the memory card
contains nine or more files, the remaining files are displayed on
another page.
To display the next page, press the
To display the previous page, press the
is displayed on the last page.
soft key.
soft key. The END option
115
H. BOOT SYSTEM
(FOR Series 16/18/21)
APPENDIX
B66102E/07
3 To start loading, press the [YES] soft key. To cancel, press the [NO]
key.
MESSAGE
LOADING FROM MEMORY CARD.
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D Others
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MESSAGE
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nc
File name
NC BASIC
DG SERVO
GRAPHIC
NCj OPTN
PMCj
PCD
CEX
PMC -
PMC@
Contents
Basic
Servo
Graphic
Optional
PMC control software, etc.
PCODE macro file/ OMM
Clanguage executor
Ladder software
Ladder software for the loader
File type
System file
System file
System file
System file
System file
User file
User file
User file
User file
116
H. BOOT SYSTEM
(FOR Series 16/18/21)
APPENDIX
B66102E/07
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Format
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First executor
(Standard/Super
CAP)
Standard : Depends on
the compile
parameter
SCAP : A fixed
value is
embedded.
M : M series
T : T series
L : Loader
1 : First path
2 : Second path
w
w
M : M series
T : T series
1 : First path
2 : Second path
P2path-number attribute size
Depends on the compile parameter
Third executor
(Super CAP only)
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Second executor
(Super CAP only)
M : M series
T : T series
1 : First path
2 : Second path
Description
PD1Msize
PD2Msize
PD1Tsize
PD2Tsize
PD1Lsize
P11Msize
P12Msize
P21Msize
P22Msize
P11Tsize
P12Tsize
P21Tsize
P22Tsize
117
H. BOOT SYSTEM
(FOR Series 16/18/21)
APPENDIX
B66102E/07
H.2.2
System Data Check
Screen
D Description
This screen is used to list files in flash ROM, together with the
corresponding numbers of 128KB management units in each file and the
series and edition of the software.
(3)
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(4)
1/1
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(1)
(2)
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D Screen configuration
MESSAGE
(5)
][
DOWN
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118
H. BOOT SYSTEM
(FOR Series 16/18/21)
APPENDIX
B66102E/07
D Operating procedure
1 Select the file whose details are required. For example, select 1 NC
BASIC (10).
2 The numbers of management units in the selected file are listed,
together with the series and edition of the software in each
management unit. After checking the listed data, select the
[SELECT] soft key to return to the file selection screen.
B1F1
B1F1
B1F1
B1F1
B1F1
B1F1
B1F1
B1F1
801A
802A
841A
842A
881A
882A
8C1A
8C2A
000
001
002
003
004
005
006
007
MESSAGE
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D Others
Internal managementunit
number
ROM number and edition
Series
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0
1
2
3
4
5
6
7
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119
H. BOOT SYSTEM
(FOR Series 16/18/21)
APPENDIX
B66102E/07
H.2.3
System Data Delete
Screen
D Description
D Screen configuration
MESSAGE
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(4)
(5)
1/1
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(3)
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(1)
(2)
][
DOWN
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D Operating procedure
MESSAGE
DELETE OK ? HIT YES OR NO.
3 To start the deletion, press the [YES] key. To cancel, press [NO].
MESSAGE
DELETING ROM FILE IN FLASH MEMORY.
120
H. BOOT SYSTEM
(FOR Series 16/18/21)
APPENDIX
B66102E/07
D Others
D Description
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H.2.4
SYSTEM DATA SAVE
Screen
This screen is used to write a user file in flash ROM to a memory card.
Only user files can be saved from flash ROM to a memory card. System
files cannot be saved.
(1)
(2)
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(3)
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D Screen configuration
(4)
MESSAGE
nc
(5)
DOWN
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][
121
H. BOOT SYSTEM
(FOR Series 16/18/21)
D Operating procedure
APPENDIX
B66102E/07
Position the cursor to the name of the file to be deleted. Press the
[SELECT] soft key.
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MESSAGE
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MESSAGE
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D Others
nc
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Flash ROM
File name in
Memory card
PMCRB
PMC 0.5M
PMC 1.0M
PMC 1.5M
CEX1.0M
CEX 2.0M
PMC_RB. XXX
PCD_0.5M.XXX
PCD_10M.XXX
PCD_15M.XXX
CEX_10M.XXX
CEX_20M.XXX
H. BOOT SYSTEM
(FOR Series 16/18/21)
APPENDIX
B66102E/07
H.2.5
SRAM DATA BACKUP
Screen
This screen is used to collectively save and restore parameters, programs,
and other data, retained after the CNC power in SRAM is turned off, to
and from a memory card.
D Screen configuration
(4)
SRAM SIZE
FILE NAME
:
:
256K (BASIC)
SRAM256A. FDB
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(5)
(6)
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(1)
(2)
(3)
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D Description
(7)
Screen title
Names of accessing board
Menu
Returning to the previous menu
Size of SRAM mounted on the CNC
File name
Message
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nc
(1) :
(2) :
(3) :
(4) :
(5) :
(6) :
(7) :
MESSAGE
123
][
DOWN
H. BOOT SYSTEM
(FOR Series 16/18/21)
APPENDIX
B66102E/07
D Operating procedure
[Backing up data]
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MESSAGE
BACKUP SRAM DATA OK ? HIT YES OR NO.
SRAM SIZE
FILE NAME
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MESSAGE
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MESSAGE
RESTORE SRAM DATA OK ? HIT YES OR NO.
124
H. BOOT SYSTEM
(FOR Series 16/18/21)
APPENDIX
B66102E/07
D Others
SRAM256A.FDB
0.5MB
SRAM0_5A.FDB
1.0MB
SRAM1_0A.FDB
SRAM1_0B.FDB
2.0MB
SRAM2_0A.FDB
SRAM2_0B.FDB
SRAM2_0C.FDB
SRAM2_0D.FDB
3.0MB
SRAM3_0A.FDB
SRAM3_0B.FDB
SRAM3_0C.FDB
SRAM3_0D.FDB
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256KB
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Number
of
files
SRAM
size
SRAM3_0E.FDB
SRAM3_0F.FDB
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The backup file for SRAM on the PMCRE, CAPII, or LCB board
will have the following extension:
Board
MAIN
PMCRE
CAPII
LCB
Extension
FDB
PMC
CAP
LCB
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nc
CAUTION
If data such as parameters was restored from a memory
card to SRAM in a system using an absolute pulse coder,
set bit 4 (APZ) of parameter No. 1815 to 0, and set the
reference point again.
125
H. BOOT SYSTEM
(FOR Series 16/18/21)
APPENDIX
B66102E/07
H.2.6
MEMORY CARD FILE
DELETE Screen
D Description
D Screen configuration
(2)
1/1
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(3)
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(1)
(4)
MESSAGE
][
DOWN
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(1) : Screen title. Tlhe current page number (n) and the total number
of pages (m) are displayed, in n/m format, at the right end.
(2) : Files on the memory card
(3) : Option for returning to the previous menu
(4) : Message
D Operating procedure
1 Press the [SELECT] key to select the name of the file to be deleted
from the memory card.
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3 When a file has been deleted normally, display the following message.
Press the [SELECT] key.
MESSAGE
DELETE COMPLETE. HIT SELECT KEY.
126
H. BOOT SYSTEM
(FOR Series 16/18/21)
APPENDIX
B66102E/07
H.2.7
MEMORY CARD
FORMAT Function
This function is used to format a memory card. Memory cards must be
formatted before they can be used for the first time or before they can be
reused after their data has been destroyed or lost because of, for example,
battery failure.
D Operating procedure
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D Description
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4 When a card has been formatted normally, the system display the
D following message.
D Press the [SELECT] key.
MESSAGE
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127
H. BOOT SYSTEM
(FOR Series 16/18/21)
APPENDIX
B66102E/07
H.2.8
LOAD BASIC SYSTEM
Function
The function is used to terminate the boot system and activate the CNC.
D Operating procedure
From the MAIN MENU screen, select 9. END. The system displays
the ARE YOU SURE? HIT YES OR NO message. To terminate the
boot system and activate the CNC, press the [YES] soft key. Press the
[NO] soft key, and you will be brought back to the main menu.
MESSAGE
ARE YOU SURE ? HIT YES OR NO.
YES
][
NO
][
UP
][
DOWN
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[ SELECT ][
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D Description
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MESSAGE
CHECK CNC BASIC SYSTEM.
[ SELECT ][
YES
][
NO
][
UP
][
DOWN
nc
[ SELECT ][
YES
][
NO
][
UP
][
DOWN
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If the contents of the NC BASIC SYSTEM file are found to have been
damaged or destroyed, the system returns to the processing selection
state, in exactly the same way as when the [NO] soft key is pressed.
2 If the [NO] soft key is pressed, the system returns to the processing
selection state as shown below :
SYSTEM MONITOR MAIN MENU
1.
2.
3.
4.
5.
6.
7.
60M1-01
10.END
MESSAGE
SELECT MENU AND HIT SELECT KEY.
[ SELECT ][ YES ][ NO ][ UP
128
][
DOWN
H. BOOT SYSTEM
(FOR Series 16/18/21)
APPENDIX
B66102E/07
H.3
ERROR MESSAGES
AND REQUIRED
ACTIONS
Message
The contents of flash memory containing boot software was destroyed. Replace the CPU card.
The memory card becomes full in the middle of SRAM backup operation. Replace the card with a memory card containing enough
free space.
DELETE ERROR.
HIT SELECT KEY.
An attempt to delete a file from flash ROM was unsuccessful. Retry the
deletion. If the second attempt also fails, the flash ROM may have
been damaged or destroyed. Replace the flash ROM module.
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There is insufficient free flash ROM to store the selected file. Delete
any unnecessary files from flash ROM.
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FLASH ROM MODULE NOT EXIST. The flash ROM module is not mounted on that CNC system. Put the
HIT SELECT.
flash ROM module on the board.
The flash ROM module ID is illegal. Check the drawing No. of the flash
ROM module.
The SRAM module ID is illegal. Check the drawing No. of the SRAM
module.
LOADING ERROR.
HIT SELECT KEY.
The selected file cannot be read into flash memory. The selected file
or the header information for flash ROM may have been damaged or
destroyed.
129
H. BOOT SYSTEM
(FOR Series 16/18/21)
APPENDIX
Message
M
B66102E/07
The extension number added to a file name exceeds 031. Delete any
unnecessary backup files from the memory card.
MEMORY CARD BATTERY ALARM. The memory cards battery is exhausted. Replace the battery.
HIT SELECT.
The memory card is full. Delete any unnecessary files from the
memory card. Alternatively, replace the memory card with another
card having sufficient free space.
The use of this memory card is not supported. Use only FANUC
recommended memory cards, as described in the order list.
The memory card could not be accessed. Check that the memory card
is normal.
The memory card is not inserted into its slot. Check that the memory
card is pushed fully home.
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MEMORY CARD PROTECTED.HIT Although writing to the memory card was selected, the write inhibit
SELECT KEY.
switch is set. Disable the write inhibit switch.
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Note) Check that the memory cards battery is not exhusted, that its
circuitry has not been damaged, and that it is securely inserted
into its slot.
MEMORY CARD TYPE IS NOT Write has been attempted to an incompatible flash memory card. Use
AVAILABLE.
only the flash ROM cards recommended by FANUC. Recommended
flash ROM cards are listed in the ordering list.
Access to a memory card failed. The memory cards battery may have
gone dead, the memory card may have been damaged electrically, or
the memory card may not be inserted in the slot securely.
Access to the memory card has failed. Check whether the memory
card is defective.
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PLEASE FORMAT FLASH TYPE It is not possible to delete only specific files from a flash ROM card, due
CARD.HIT SEL.
to the characteristics of the memory used. To delete a file it is necessary to delete all files on the card, by using the FORMAT function.
NMI OCCURRED.
PLEASE POWER OFF.
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Note) Check that the memory cards battery is not exhusted, that its
circuitry has not been damaged, and that it is securely inserted
into its slot.
130
APPENDIX
B66102E/07
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131
APPENDIX
B66102E/07
I.1
CAN
and
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OUTLINE
PROG
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132
APPENDIX
B66102E/07
I.2
I.2.1
Starting the P-code
Loader Function
(2)
(3)
Loading screen
(4)
(5)
(6)
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(1)
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PROCESSING BY
PCODE LOADER
FUNCTION
CAN
and
PROG
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turns the CNC on. Keep these keys held down until the MACRO
COMPILER/EXECUTOR P-CODE LOADER title appears on the
screen.
133
APPENDIX
B66102E/07
I.2.2
om
When a Series 16/18B/C having two-path control is being used, the path
selection screen is displayed subsequent to the title screen, as shown
below.
By pressing the M or S address key, select path 1 or 2.
If the 0 key is pressed, P-CODE loader processing is terminated and the
Series 16/18B/C system is activated.
RAM Initialization
Screen
(DATA TRANSFER)
I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
(MAPPING - 1MB)
= 0
= 0
=11
= 1
= 1
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(I/O PARAMETERS)
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(MAPPING - 1MB)
I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
134
APPENDIX
B66102E/07
I.2.3
After the RAM is initialized, the screen for starting loading is displayed.
I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
(MAPPING - 1MB)
= 0
= 0
=11
= 1
= 1
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(I/O PARAMETERS)
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Once the PC is ready for data transfer, press the 1 key. The system enters
the loading wait state.
After this screen has been displayed, execute the data transfer command
on the PC, then start data transfer.
MACRO COMPILER/EXECUTER P-CODE LOADER
(I/O PARAMETERS)
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I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
135
= 0
= 0
=11
= 1
= 1
(DATA TRANSFER)
ADR000000H:00
(MAPPING - 1MB)
I.2.4
APPENDIX
B66102E/07
Loading Screen
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When the CNC receives data, the data reception state is indicated, as
shown below.
Under the DATA TRANSFER field, the data being transferred together
with its address, are displayed.
For Series 16/18-B/C, an asterisk corresponds to about 16K bytes for
DRAM areas of up to 2M bytes or about 32K bytes for DRAM areas of
up to 3M bytes. For Series 21-TA, an asterisk corresponds to about 8K
bytes.
MACRO COMPILER/EXECUTER P-CODE LOADER
= 0
= 0
=11
= 1
= 1
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I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
(DATA TRANSFER)
ADRxxxxxxH:xx
(MAPPING - 1MB)
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(I/O PARAMETERS)
136
APPENDIX
B66102E/07
I.2.5
Loading End Screen
= 0
= 0
=11
= 1
= 1
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I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
(DATA TRANSFER)
ADRxxxxxxH:xx
(MAPPING - 1MB)
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(I/O PARAMETERS)
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NO
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= 0
= 0
=11
= 1
= 1
(DATA TRANSFER)
ADRxxxxxxH:xx
(MAPPING - 1MB)
When the 1 key is pressed, the P-CODE loader function is terminated and
the CNC is started.
If a Series 16/18B/C with two-path control is being used, the following
message is displayed.
To return to the path selection screen, press the 1 key.
137
APPENDIX
B66102E/07
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I/O UNIT
= 0
BAUDRATE
=11
STOP BIT
= 1
INPUT CODE
= 1
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I/O UNIT
= 0
BAUDRATE
=11
STOP BIT
= 1
INPUT CODE
= 1
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138
APPENDIX
B66102E/07
(Abnormal termination)
MACRO COMPILER/EXECUTER P-CODE LOADER
(I/O PARAMETERS)
= 0
= 0
=11
= 1
= 1
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I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
(DATA TRANSFER)
ADRxxxxxxH:xx
(MAPPING - 1MB)
(ERROR OCCURED)
ILLEGAL CHARACTER
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LOADING RESTART ?
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I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
(MAPPING - 1MB)
= 0
= 0
=11
= 1
= 1
Press the 1 key to terminate the P-CODE loader processing and start the
CNC.
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(I/O PARAMETERS)
139
B66102E/07
While data is being transferred from RAM to the flash ROM, the
following screen is displayed:
MACRO COMPILER/EXECUTER P-CODE LOADER
(I/O PARAMETERS)
I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
= 0
= 0
=11
= 1
= 1
(DATA TRANSFER)
ADRxxxxxxH:xx
(MAPPING - 1MB)
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I.2.6
APPENDIX
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140
APPENDIX
B66102E/07
I.2.7
Flash ROM Transfer
End Screen (for Series
16/18B/C)
This screen indicates whether the data transfer to flash ROM terminated
normally.
(Normal termination)
MACRO COMPILER/EXECUTER P-CODE LOADER
= 0
= 0
=11
= 1
= 1
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I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
(DATA TRANSFER)
ADRxxxxxxH:xx
(MAPPING - 1MB)
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(I/O PARAMETERS)
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Press the 1 key to terminate P-CODE processing and start the CNC.
If a Series 16/18B/C with twopath control is being used, the following
message is displayed.
MACRO COMPILER/EXECUTER P-CODE LOADER
I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
= 0
= 0
=11
= 1
= 1
(DATA TRANSFER)
ADRxxxxxxH:xx
(MAPPING - 1MB)
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(I/O PARAMETERS)
APPENDIX
B66102E/07
(Abnormal termination)
MACRO COMPILER/EXECUTER P-CODE LOADER
I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
= 0
= 0
=11
= 1
= 1
(DATA TRANSFER)
ADRxxxxxxH:xx
(MAPPING - 1MB)
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(I/O PARAMETERS)
(ERROR OCCURED)
UNKNOWN F-ROM MODULE OR NOT MOUNTED
: YES(PUSH 1 KEY)
: NO (PUSH CAN KEY)
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LOADING RESTART ?
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142
APPENDIX
B66102E/07
I.2.8
Notes
(1) The Series 16/18B/C uses either channel 1 or 2 for input and output
during loading. The Series 16/18B/C cannot use another channel for
loading. The Series 21-TA use channel 1.
(2) Either ASCII or ISO data can be transferred. EIA data is not
supported.
The ASI bit (bit 3 of parameter 101, 111, or 121) specifies whether
ASCII or ISO data is being used.
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(3) The I/O parameters on the loading screen indicate the values of the
RS-232-C parameters related to (1) and (2) above. The parameters
cannot be specified using the loading screen.
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(4) Even if the PLD bit (bit 1 of parameter 8701) for overwrite loading
is set to 1, the operation of the macro compiler determines whether
both the P-CODE and executor sections are transferred or if only the
P-CODE section is transferred.
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(5) When no data is written to the FLASH ROM or data is deleted from
the FLASH ROM, set the PLD bit (bit 1 of parameter 8701) to 0 so
that the data including the executor section is loaded.
143
I.3
APPENDIX
B66102E/07
Address
PARAMETER
0020
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Setting Entry
[Data type]
: Byte
[Data range]
: 0 to 3
Select an I/ O device used.
0 : Select a device connected to channel 1.
(I/O device connected to JD5A on MAIN CPU BOARD)
1 : Select a device connected to channel 1.
(I/O device connected to JD5A on MAIN CPU BOARD)
2 : Select a device connected to channel 2. (For Series 16/18)
(I/O device connected to JD5B on MAIN CPU BOARD)
I/O device usable with P- CODE LOADER is either channel 1 or 2.
NOTE
The Series 21-TA use channel 1.
Bit No.
#7
#6
#5
#4
#3
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Address
0101
#2
ASI
[Data type]
SB2
#1
#0
SB2
: Bit
: Number of stop bits:
0 : 1 bit
1 : 2 bits
: Input data code:
0 : ISO
1 : ASCII
ASI
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NOTE
EIA code cannot be used for P-CODE LOADER.
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Address
0102
[Data type]
: Byte
Set a specification number of I/O device when I/O Channel=0 according
to Table 1.
Table 1
Set value
0
1
2
3
RS232C
FANUC CASSETTE ADAPTOR 1 (FANUC CASSETTE B1/B2)
FANUC CASSETTE ADAPTOR 3 (FANUC CASSETTE F1)
FANUC PROGRAM FILE Mate
FANUC FA CARD ADAPTOR
FANUC FLOOPY CASSETTE ADAPTOR
FANUC SYSTEM P-MODEL H
Unused
Portable tape reader
FANUC PPR
FANUC SYSTEM PMODEL G
FANUC SYSTEM PMODEL H
4
5
6
APPENDIX
B66102E/07
Address
0103
[Data type]
: Byte
Set a baud rate of I/O device for I/O CHANNEL=0 according to Table 2.
Table 2
Set
Baud rate
Set
50
20
100
300
10
4800
110
600
11
9600
150
1200
12
19200
Set
Baud rate
2400
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Baud rate
Set the same baud rate as the personal computer for P-CODE LOADER.
#7
#6
0111
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Bit No.
Address
#5
#4
#3
#2
#1
ASI
#0
SB2
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[Data type]
: Bit
These parameters are those for I/O CHANNEL=1. Meaning of each bit
is the same as parameter No. 0101.
Address
0112
[Data type]
: Byte
Set specification number of I/O device when I/O CHANNEL=1
according to Table 1.
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Address
0113
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[Data type]
: Byte
Baud rate of I/O device when I/O CHANNEL=1 according to Table 2.
Address
Bit No.
#7
0121
#6
#5
#4
#3
#2
ASI
#1
#0
SB2
[Data type]
: Bit
These parameters are those for I/O CHANNEL=2. The meaning of each
bit is the same as parameter No. 101.
Address
0122
[Data type]
: Byte
Set the specification number of I/O device for I/O CHANNEL=2
according to Table 1.
145
APPENDIX
B66102E/07
Address
0123
[Data type]
: Byte
Set baud rate of I/O device for I/O CHANNEL=2 according to Table 2.
Bit No.
Address
#7
#6
#5
#4
#3
#2
8701
#1
#0
PLD
: Bit
: P-CODE Loader of Macro Compiler/Executer
0 : Clears RAM and rewrites all contents.
1 : Do not clear RAM and overwrites it.
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[Data type]
PLD
146
APPENDIX
B66102E/07
I.4
ALARMS
Message
Meaning
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3) An area of the capacity specified with the macro capacity option cannot
be allocated in D-RAM.
4) The area allocated with the macro capacity option is being used by the C
executor.
Reader/puncher control 1 option is not selected.
ILLEGAL CHANNEL
ILLEGAL CHARACTER
OVERRUN
Overrun error.
FRAMING ERROR
Framing error.
Communication error.
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PARITY ERROR
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There is no header that is used for writing data in F-ROM. There may be no
-s instruction in transfer command.
ILLEGAL ID INFORMATION
NO SPACE
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ERASE ERROR
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PROGRAM ERROR
147
APPENDIX
B66102E/07
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148
APPENDIX
B66102E/07
J.1
IPL MENU
FS20 IPL MENU
FILE CLEAR
P CODE LOADER
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1
2
END
MESSAGE
SELECT ITEM AND HIT [SELECT] KEY.
UP
][
DOWN
][
][
][ SELECT ]
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(a) Select a mode by pressing the [UP] and [DOWN] soft keys, then
press the [SELECT] soft key.
FILE CLEAR
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1.
149
J.2
B66102E/07
J.2.1
RAM Initializing Menu
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PROCESSING FLOW
FOR THE PCODE
LOADER FUNCTION
APPENDIX
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(DATA TRANSFER)
I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
(MAPPING - 1MB)
nc
(I/O PARAMETERS)
= 0
= 1
=11
= 1
= 1
][
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150
][
][
][
APPENDIX
B66102E/07
J.2.2
Loading Start Menu
I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
(MAPPING - 1MB)
= 0
= 1
=11
= 1
= 1
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(I/O PARAMETERS)
][
][
YES
][
NO
][
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[ YES ] :
[ NO
] :
J.2.3
Loading Menu
nc
Once preparations for data transfer have been completed on the personal
computer, press the [YES] soft key. The CNC enters the data reception
wait state. To start data transfer, execute the data transfer command (see
Section 4.3) from the personal computer.
When the CNC receives data, the data reception state is indicated, as
shown below.
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Under the DATA TRANSFER field, the data being transferred together
with its address, are displayed.
(DATA TRANSFER)
ADR xxxxxxH:xx
(MAPPING - 1MB)
= 0
= 1
=11
= 1
= 1
][
151
][
][
][
APPENDIX
B66102E/07
J.2.4
Loading End Menu
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= 0
= 1
=11
= 1
= 1
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I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
(DATA TRANSFER)
ADR xxxxxxH:xx
(MAPPING - 1MB)
][
YES
][
NO
][
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[ YES ] :
[ NO
] :
nc
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(I/O PARAMETERS)
I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
(DATA TRANSFER)
ADR xxxxxxH:xx
(MAPPING - 1MB)
= 0
= 1
=11
= 1
= 1
(ERROR OCCURED)
ILLEGAL CHARACTER
LOADING RESTART ? : YES/NO
[
][
[ YES ] :
][
YES
][
NO
][
NOTE
Reloading data is started after DRAM is initialized.
[ NO
] :
APPENDIX
B66102E/07
NOTE
The IPL menu reappears after DRAM is initialized.
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153
J.2.5
Menu for Transferring
Data into FLASH ROM
Memory
APPENDIX
B66102E/07
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I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
(DATA TRANSFER)
ADR xxxxxxH:xx
(MAPPING - 1MB)
][
][
][
][
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154
APPENDIX
B66102E/07
J.2.6
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I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
(DATA TRANSFER)
ADR xxxxxxH:xx
(MAPPING - 1MB)
[ END ] :
][
][
][
][
END
(Abnormal termination)
nc
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(I/O PARAMETERS)
I/O CHANNEL
I/O UNIT
BAUDRATE
STOP BIT
INPUT CODE
(DATA TRANSFER)
ADR xxxxxxH:xx
(MAPPING - 1MB)
= 0
= 1
=11
= 1
= 1
(ERROR OCCURED)
ILLEGAL CHARACTER
LOADING RESTART ? : YES/NO
[
][
][
YES
][
NO
][
155
APPENDIX
B66102E/07
J.2.7
Notes
(1) The Series 20 uses either channel 1 or 2 for input and output during
loading. The Series 20 cannot use another channel for loading.
(2) Either ASCII or ISO data can be transferred. EIA data is not
supported.
The ASI bit (bit 3 of parameter 101, 111, or 121) specifies whether
ASCII or ISO data is being used.
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(3) The I/O parameters on the loading screen indicate the values of the
RS-232-C parameters related to (1) and (2) above. The parameters
cannot be specified using the loading screen.
r.c
(4) Even if the PLD bit (bit 1 of parameter 8701) for overwrite loading
is set to 1, the operation of the macro compiler determines whether
both the P-CODE and executor sections are transferred or if only the
P-CODE section is transferred.
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(5) For the first loading after the RAM module is mounted, set the PLD
bit (bit 1 of parameter 8701) to 0 so that the data including the
executor section is loaded.
156
APPENDIX
B66102E/07
J.3
PARAMETER
Address
0020
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Setting Entry
Data type
: Byte
Data range
: 0 to 3
Select an I/ O device used.
0 : Select a device connected to channel 1.
(I/O device connected to JD5A on MAIN CPU BOARD)
1 : Select a device connected to channel 1.
(I/O device connected to JD5A on MAIN CPU BOARD)
2 : Select a device connected to channel 2.
(I/O device connected to JD5B on MAIN CPU BOARD)
I/O device usable with P- CODE LOADER is either channel 1 or 2.
Bit No.
Address
#7
#6
0101
#5
#4
#3
#2
#1
ASI
: Bit
: Number of stop bits:
0 : 1 bit
1 : 2 bits
: Input data code:
0 : ISO
1 : ASCII
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Data type
SB2
#0
SB2
ASI
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NOTE
EIA code cannot be used for P-CODE LOADER.
Address
0102
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Data type
: Byte
Set a specification number of I/O device when I/O Channel=0 according
to Table 1.
Table 1
Set value
RS232C
Unused
FANUC PPR
FANUC SYSTEM P-MODEL G
FANUC SYSTEM P-MODEL H
APPENDIX
B66102E/07
Address
0103
Data type
: Byte
Set a baud rate of I/O device for I/O CHANNEL=0 according to Table 2.
Table 2
Baud rate
Set
50
100
110
150
Baud rate
Set
Baud rate
2400
20
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Set
300
10
4800
600
11
9600
1200
12
19200
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Set the same baud rate as the personal computer for PCODE LOADER.
Bit No.
Address
#7
#6
0111
#5
#4
#3
#2
#1
ASI
#0
SB2
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nt
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Data type
: Bit
These parameters are those for I/O CHANNEL=1. Meaning of each bit
is the same as parameter no. 101.
Address
0112
nc
Data type
: Byte
Set specification number of I/O device when I/O CHANNEL=1
according to Table 1.
Address
0113
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Data type
: Byte
Baud rate of I/O device when I/O CHANNEL=1 according to Table 2.
Address
Bit No.
#7
#6
#5
0121
#4
#3
#2
ASI
#1
#0
SB2
Data type
: Bit
These parameters are those for I/O CHANNEL=2. The meaning of each
bit is the same as parameter no. 101.
Address
0122
Data type
: Byte
Set the specification number of I/O device for I/O CHANNEL=2
according to Table 1.
Address
0123
Data type
: Byte
Set baud rate of I/O device for I/O CHANNEL=2 according to Table 2.
158
APPENDIX
B66102E/07
Bit No.
Address
#7
#6
#5
#4
#3
#2
8701
#1
#0
PLD
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Data type
: Bit
PLD : P-CODE Loader of Macro Compiler/Executer
0 : Clears RAM of macro compiler and rewrites all contents.
1 : Do not clear RAM of macro compiler and overwrites it.
159
APPENDIX
B66102E/07
J.4
ALARMS
Message
Meaning
Macro executer option is not
equipped.
ILLEGAL CHANNEL
ILLEGAL CHARACTER
OVERRUN
Overrun error.
FRAMING ERROR
Framing error.
Communication error.
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PARITY ERROR
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NO SPACE
ERASE ERROR
PROGRAM ERROR
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ILLEGAL ID INFORMATION
160
APPENDIX
B66102E/07
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161
APPENDIX
B66102E/07
K.1
The boot system of the Series 15-B first loads the CNC system software
(Flash Memory (F-ROM) DRAM), then starts execution of the CNC
software so that other software can be executed.
The Series 15-B boot system supports the following system maintenance
functions:
OUTLINE
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CAUTION
1 Memory card handling
A memory card can be inserted or removed while the power
is on. While the boot system is running, however, insert or
remove a memory card only while the main menu is
displayed.
2 ROM cassette handling
Turn off the power before attempting to insert or remove a
ROM cassette.
162
APPENDIX
B66102E/07
K.2
MEMORY CARD
SPECIFICATIONS
AND RESTRICTIONS
(a) Specifications
For the Series 15-B boot system, commercially available memory
cards conforming to the following specification can be used:
Format : JEIDA Ver. 4 or above
Capacity : 512K bytes or more (for macro compilers)
MEM-format file
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256K bytes
512K bytes
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r.c
NOTE
A MEM-format file cannot be split and saved to two or more
memory card. Always prepare a memory card having a
capacity greater than the size of the MEM-format file to be
saved. Two or more MEM-format files can be saved to a
single memory card.
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nc
163
APPENDIX
B66102E/07
K.3
The starting procedure depends on whether a MEM-format file is loaded
from a memory card into F-ROM or whether a ROM-format file is loaded
from a ROM cassette.
STARTING THE
BOOT SYSTEM
Starting procedure
Main menu item
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Page Up key, Page Down key: Turn the power on while holding down
the Page Up and Page Down keys.
, : Turn the power on while holding down the and cursor
keys.
In both cases, the following boot system title screen appears.
END
END 6014 H
0000
0000
0023
PASS
: sEND
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RAM TEST
:
ROM TEST
:
DRAM ID
:
SRAM ID
:
FROM (CNC)
:
FROM (PMC)
:
CNC DATA SEARCH
164
APPENDIX
B66102E/07
After power-on, releasing the pressed keys causes the following boot
system main menu to be displayed:
SYSTEM MONITOR
SYSTEM DATA LOADING
SYSTEM DATA CHECK
SYSTEM DATA SAVE
FILE DATA BACKUP
END
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1.
2.
3.
4.
5.
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MESSAGE
SELECT MODE AND HIT INPUT KEY
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165
APPENDIX
B66102E/07
K.4
(1) Insert the memory card in the memory card interface of the CNC unit.
PMC
r.c
Series 15-B
PSU
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REGISTERING A
MEMFORMAT FILE,
STORED ON A
MEMORY CARD,
INTO FROM
ce
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Memory card
(2) Turn on the power of the CNC unit while holding down the page-up
and page-down keys. Then the boot system is activated. Refer to
K.3. STARTING THE BOOT SYSTEM.
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nc
NOTE
The PMC slot is used as the memory card interface. The
memory card can be inserted or removed while the power
is turned on. When the boot system is active, make sure that
the main menu [see Fig. K.3 (b)] is displayed on the screen
before inserting or removing the memory card. Otherwise,
proper access is not made, and the contents of the memory
card files may be destroyed.
166
APPENDIX
B66102E/07
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(3) Select 2. SYSTEM DATA CHECK using the cursor keys and press
the input key. The contents of F-ROM are retrieved, and the
following information is displayed on the screen:
r.c
MESSAGE
SELECT FILE AND HIT INPUT KEY
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Check this screen to see if any MEM format file are (hereinafter called a
PCODE file) registered. If a MEM format file is already registered, its file
name is displayed (see the table below).
Table K.4 R CODE file names
File name
Description
PCD 512A
nc
PCD 256A
PCD 256M
PCD 512M
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167
APPENDIX
B66102E/07
(6) When the file has been successfully deleted, the message DELETE
COMPLETED appears. Press the input key. The DATA CHECK
DIRECTORY screen [Fig. K.4 (b)] 1 is then displayed again.
Confirm that the P-CODE file is no longer listed.
(7) Select END and press the input key. The main menu [Fig. K.3 (b)]
is then displayed again.
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(8) Select 1. SYSTEM DATA LOADING using the cursor keys, then
press the input key. The directories in the memory card are listed on
the screen.
Title
LADDER1. ROM
LADDER2. ROM
TEST. DAT
MACRO. ROM
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1.
2.
3.
4.
END
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MESSAGE
SELECT FILE AND HIT INPUT KEY
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CAUTION
If a ROM cassette error occurs, check the title. When the
boot system has been activated by holding down the
page-up and page-down keys, the title should read:
SYSTEM DATA LOADING.
If this title is not displayed, turn off the system power once,
then turn it on again.
(9) Select the P-CODE file using the cursor keys, then press the input key.
(10)The message OK? INPUT/CANCEL appears. To register the
selected program, press the input key. To not register the selected file
cancel, press the cancel key. The DATA LOADING DIRECTORY
screen [see Fig. K.4 (c)] is then displayed again.
CAUTION
The boot system registers any file having the acceptable
format. Once registration has started, it cannot be halted.
If no backup file exists on a memory card or another storage
medium, the previously saved data of the file cannot be
restored in any way. To avoid such inadvertent registration
of files, make sure that the correct file has been selected
before registering it. Also, back up files at appropriate
intervals.
168
APPENDIX
B66102E/07
(11) When the file has been successfully registered, the message
PROGRAM COMPLETED appears. Press the input key. The
DATA LOADING DIRECTORY screen [see Fig. K.4 (c)] is then
displayed again.
(12)Select END and press the input key. The main menu [Fig. K.3 (b)]
is then displayed again.
(13)Select 2. SYSTEM DATA CHECK to retrieve the contents of
F-ROM. After confirming that the P-CODE file has been registered,
press the input key to return the main menu [Fig. K.3 (b)].
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(14)Select END on the main menu and press the input key. The blinking
message LOADING CNC DATA appears. The CNC starts up
about ten seconds later.
(15)Make sure that the registered P-CODE file operates normally.
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(16)Remove the memory card from the memory card interface. The card
can be removed even when the CNC power is on.
169
APPENDIX
B66102E/07
K.5
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(1) Insert the memory card in the memory card interface of the CNC unit
to activate the boot system. See steps 1 and 2 of Sec.K.4, Procedure
for registering a P-CODE file in a memory card to F-ROM.
(2) Select 3. SYSTEM DATA SAVE using the cursor keys, then press
the input key. The contents of F-ROM are retrieved, and the
following information is displayed on the screen:
r.c
SAVING A
MEMFORMAT FILE
FROM FROM TO A
MEMORY CARD
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MESSAGE
SELECT FILE AND HIT INPUT KEY
(3) Select one of the P-CODE files listed below using the cursor, then
press the input key.
File name
Description
PCD 512A
PCD 256M
PCD 512M
nc
PCD 256A
.c
NOTE
System files, such as the CNC program or the micro
compiler, cannot be saved (if you attempt to save one of
these files, the message PROTECT FILE is displayed).
(4) The message INPUT FILE NAME appears. Input the file name
using the MDI key. A file must be named according to MS-DOS file
naming rules; that is, a file name consisting of up to eight characters
followed by a three-character or shorter extension. During file name
input:
D The cursor can be moved using the cursor ( and ) keys.
D The cancel key functions as the backspace key.
D Pressing the reset key displays the DATA SAVE DIRECTORY
screen [Fig. K.5] again.
D Characters are input in the overwrite mode.
(5) After inputting the file name, press the input key to save the file.
(6) If the save operation terminates normally, the message SAVE
COMPLETED appears. Press the input key. The DATA SAVE
DIRECTORY screen [Fig. K.5] is then displayed again.
(7) Select END and press the input key. The main menu [Fig. K.3 (b)]
is then displayed again.
170
APPENDIX
B66102E/07
K.6
REGISTERING A
ROMFORMAT FILE,
STORED ON A ROM
CASSETTE, INTO
FROM
(1) Connect the ROM cassette into which the program has been written
using System P or a personal computer to the ROM cassette adapter
(A20B-2000-0760).
om
ROM
cassette
Fig. K.6 (a) Connection of the ROM Cassette to the ROM Cassette Adapter
r.c
(2) Turn off the power of the CNC unit, then insert the ROM cassette
adapter into the mini slot of the CNC unit. The mini slot is on the PSU
and is protected with a cover when not in use.
PSU
Series 15-B
ROM cassette
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nc
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PMC
Fig. K.6 (b) Connection of the ROM Cassette Adapter to the CNC Unit
CAUTION
Be sure to turn off the power of the CNC unit before inserting
or removing the ROM cassette. Inserting or removing the
adapter while the CNC power is on can not only damage the
CNC unit and the ROM cassette but can also destroy
battery-retained data, such as NC programs and
parameters.
171
APPENDIX
B66102E/07
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(3) Turn on the power of the CNC unit while holding down the cursor (
and ) keys, and the boot system is activated. Refer to K.3
STARTING THE BOOT SYSTEM.
(4) Check the contents of F-ROM. If a P-CODE file is already registered,
delete it. For the deletion procedure, see 2 Procedure for registering
a P-CODE file in a memory card to F-ROM, steps (3) to (7) in
Sec.K.4.
(5) Select SYSTEM DATA LOADING using the cursor keys, then
press the input key. The following contents of the ROM cassette are
read and displayed on the screen:
Title
ROM type
ce
nt
e
r.c
Format file
MESSAGE
SELECT FILE AND HIT INPUT KEY
Fig. K.6 (c) DATA LOADING DIRECTORY Screen (for ROM Cassette)
nc
The type of mounted ROM cassette (ROM format file) is displayed (see the table
below). If the displayed ROM cassette type does not agree with that of the
connected ROM cassette, check the ROM cassette.
ROM cassette/ROM format file
.c
w
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Description
CAUTION
If an alarm related to the memory card occurs or when
displaying memory card directories, confirm the title. When
the CNC unit has been activated with the cursor ( and )
keys pressed down, the title should read:
SYSTEM DATA LOADING (CASSETTE)
If this title is not displayed, activate the CNC unit again.
(6) The message OK? INPUT/CANCEL appears. To register the
P-CODE file, press the input key. To not resister the P-CODE file,
press the cancel key. Then the main menu [Fig. K.3 (b)] is then
displayed again.
(7) When the file has been successfully registered, the message
PROGRAM COMPLETED appears. Press the input key. The
main menu [Fig. K.3 (b)] is then displayed again.
172
APPENDIX
B66102E/07
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CAUTION
Avoid using the CNC unit while the ROM cassette remains
in its mini slot. If the CNC unit is used without removing the
ROM cassette, the data stored in the ROM cassette takes
precedence, disabling the use of the micro compiler and
P-CODE file program resident in F-ROM.
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173
APPENDIX
B66102E/07
K.7
The following table lists the macro compiler/executer file names
displayed on the SYSTEM DATA CHECK screen:
Displayed name
Type
Description
MCR-CMPA
MCR-CMPM
PCD 256A
PCD 512A
PCD 256M
PCD 512M
r.c
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TYPES OF FILES IN
FROM
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Type Symbols:
S : System file supplied by FANUC. The following operations cannot
be performed on system files:
D Saving to a memory card
D Deletion from F-ROM
NOTE
The system files are necessary when a custom macro
program is directly compiled by the Series 15-B.
Data file created by the user. All supported file access operations
can be performed.
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U:
174
B66102E/07
APPENDIX
A08B9001J600#ZZ03
FOMC_xx.MEX
FOTC_xx.MEX
FOTTC_xx.MEX
A08B9001J610#ZZ03
F16MA_xx.MEX
F16TA_xx.MEX
F16TTS xx.MEX
F16LR_xx.MEX
F16MB_xx.MEX
F16MMB xx.MEX
F16TB_xx.MEX
F16TTB xx.MEX
F16LTB xx.MEX
F16LMB xx.MEX
F16MC_xx.MEX
F16MMC xx.MEX
F16TC_xx.MEX
F16TTC xx.MEX
F16LTC xx.MEX
F16LMC xx.MEX
A08B9001J625#ZZ03
A08B9001J613#ZZ03
F16LA_xx.MEX
F16PA_xx.MEX
F16WA_xx.MEX
F16LB_xx.MEX
F16PB_xx.MEX
Series 16LA
Series 16PA
Series 16WA
Series 16LB
Series 16PB
A08B9001J620#ZZ03
F15_A_xx.MEX
F15_B_xx.MEX
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nc
Series 18MA
Series 18TA
Series 18TTA (Sub side)
For loader control (Model A)
Series 18MB
Series 18TB
Series 18TB (Sub side)
For T Series loader control (Model B)
For M Series loader control (Model B)
Series 18MC
Series 18TC
Series 18TC (Sub side)
For T Series loader control (Model C)
For M Series loader control (Model C)
w
w
MACRO LIBRARY
(15A)
Series 16MA
Series 16TA
Series 16TTA (Sub side)
For loader control (Model A)
Series 16MB
Series 16MB (Sub side)
Series 16TB
Series 16TB (Sub side)
For T Series loader control (Model B)
For M Series loader control (Model B)
Series 16MC
Series 16MC (Sub side)
Series 16TC
Series 16TC (Sub side)
For T Series loader control (Model C)
For M Series loader control (Model C)
F18MA_xx.MEX
F18TA_xx.MEX
F18TTSxx.MEX
F18LR_xx.MEX
F18MB_xx.MEX
F18TB_xx.MEX
F18TTBxx.MEX
F18LTBxx.MEX
F18LMBxx.MEX
F18MC_xx.MEX
F18TC_xx.MEX
F18TTCxx.MEX
F18LTCxx.MEX
F18LMCxx.MEX
MACRO LIBRARY
(16 P/L/W)
Series 0MC
Series 0TC
Series 0TC (Sub side)
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Remarks
r.c
System name
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F15_C_xx.MEX
F15_D_xx.MEX
F15_E_xx.MEX
175
A08B9001J640#ZZ03
MACRO LIBRARY
(21MB)
A08B9001J690#ZZ03
MACRO LIBRARY
(21TA)
A08B9001J633#ZZ03
MACRO LIBRARY
(21TB)
A08B9001J639#ZZ03
Remarks
Series 15B W/O sub 256K byte
Series 15B W/O sub 512K byte
Series 15B with sub (Main side 256K
byte)
Series 15B with sub (Sub side 256K
byte)
Series 15B with sub (Main side 512K
byte)
Series 15B with sub (Sub side 512K
byte)
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MACRO LIBRARY
(15B)
Specification
B66102E/07
F20MA_xx.MEX
F21MB_xx.MEX
PMDT_xx.MEX
F21TA_xx.MEX
F21TB_xx.MEX
F21TBN_xx.MEX
F21LTB_xx.MEX
A08B9001J670#ZZ03
MACRO LIBRARY
(20F GP)
A08B9001J671#ZZ03
DZ71_xx.EE1
DZ71_xx.EE2
MACRO LIBRARY
(20F GB)
A08B9001J672#ZZ03
DZ72_xx.MEX
MACRO LIBRARY
(20F GPB)
A08B9001J673#ZZ03
DZ73_xx.EX1
DZ73_xx.EX2
A08B9001J675#ZZ03
DZ75_xx.MEX
MACRO LIBRARY
(20T GP)
A08B9001J676#ZZ03
DZ76_xx.EX1
DZ76_xx.EX2
MACRO LIBRARY
(20T GP)
A08B9001J677#ZZ03
DZ77_xx.MEX
MACRO LIBRARY
(20T GPB)
A08B9001J678#ZZ03
DZ78_xx.EX1
DZ78_xx.EX2
nc
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MACRO LIBRARY
(20F G)
MACRO LIBRARY
(20T G)
DZ70_xx.MEX
r.c
System name
APPENDIX
NOTE
xx in a library file name indicates the edition of the library.
176
APPENDIX
B66102E/07
CNC=
CNC2=
F15_A_xx.MEX
nothing
F15_A_xx.MEX
nothing
/ 256Kbyte
F15_B_xx.MEX
F15_C_xx.MEX
/ 512Kbyte
F15_D_xx.MEX
F15_E_xx.MEX
CNC3=
nothing
CNC=
CNC2=
F15B_Axx.MEX
nothing
F15B_Bxx.MEX
nothing
/ 256Kbyte
F15B_Cxx.MEX
F15B_Dxx.MEX
/ 512Kbyte
F15B_Exx.MEX
F15B_Fxx.MEX
CNC3=
nothing
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Series 15B
177
M. PARAMETERS
APPENDIX
B66102E/07
PARAMETERS
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178
M. PARAMETERS
APPENDIX
B66102E/07
M.1
COMPILE
PARAMETERS
Bit No.
Address
Compile
parameter
#7
9000
#6
#5
#4
#3
#2
#1
M3MB
M2MB
M1MB
M512
M256
M128
#6
#5
#2
#1
#0
Bit No.
Address
#4
#3
#0
M4MB
M4MB
M3MB
M2MB
4.0MB
3.0MB
2.0MB
1.0MB
512KB
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9001
M1MB
M512
M256
M128
256KB
128KB
r.c
Compile
parameter
#7
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NOTE
1 For the 21-TB (controller A), always specify 128 KB.
2 For the Series 16, a 128-KB ROM-format file cannot be
specified.
3 For the 21-MB or, 21-TB (controller B), no more than 1.0 MB
can be specified.
Bit No.
#7
#6
#5
#4
#3
#2
#1
#0
9002
EXT1
PWSR
DAUX
XDIL
EVF
ACL2
ACL1
TCAL
nc
Address
TCAL
.c
ACL1
EVF
ACL2
=0:
=1:
=0:
=1:
=0:
=1:
=0:
=1:
XDIL
=0:
=1:
DAUX = 0 :
=1:
PWSR = 0 :
=1:
EXT1 = 0:
= 1:
179
M. PARAMETERS
APPENDIX
B66102E/07
Bit No.
Address
#7
9003
#6
#5
PTCR
KY20
#4
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CAUTION
When EXT1=1, part program memory reduces by 1.63m
D Series 16/18A (part program storage of up to 80m)
D Series 20 (part program storage of up to 80m)
D Series 21MB (D201 series, part program storage of up
to 80m)
D Series 21TB (control unit A)
#3
#2
#1
HRGR
#0
ONMSK
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r.c
#7
nc
Address
9004
CUTLG NOP_B
#5
#4
HRGC
#3
#2
IMB
#1
#0
SP_G_C SP_G_B
SP_G_B, SP_G_C
00 : Standard G code system
01 : G code system B
10 : G code system C
11 : G code system C
IMG
= 0 : 16-T type (Special G code)
= 1 : 16-G type (Special G code)
HRGC = 0 : 9I high resolusion monochrome CRT, standard
= 1 : 9I high resolution monochrome CRT, brightness
modulation mode setting (paint)
NOP_B = 0 : When no other address is specified in a block that calls
a subprogram by a T or M code, the block is executed.
= 1 : The block is not executed.
CUTLG = 0 : Does not count cutting distance
= 1 : Count cutting distance
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#6
180
M. PARAMETERS
APPENDIX
B66102E/07
Bit No.
Address
#7
9005
TMACC
#6
#5
#4
#3
#2
#1
#0
AXCLS
AX4CL
AX3CL
AX2CL
AX1CL
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AX1CL = 0 :
=1:
AX2CL = 0 :
=1:
AX3CL = 0 :
=1:
AX4CL = 0 :
=1:
AXCLS = 0 :
Bit No.
Address
#7
9006
NNUM
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w
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#5
#4
#3
#2
#1
#0
STDM
KEYC
DIOC
nc
DIOC
#6
181
M. PARAMETERS
APPENDIX
B66102E/07
Bit No.
Address
#7
#6
#5
#4
9007
TIDSP
#3
#2
US19WK TIVR2
#1
#0
TIVR1
TIDSP
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r.c
TIVR1
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NOTE
This setting is validated only for the PATH-2 cassette.
Both TTDSP and CNCHG (No. 9006, #4) cannot be set to
1 at the same time.)
Bit No.
Address
#7
9008
HRGCC
#5
HCARG
#4
#3
#2
#1
#0
AX8CL
AX7CL
AX6CL
AX5CL
nc
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w
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#6
182
M. PARAMETERS
APPENDIX
B66102E/07
Address
M code that calls sub-program O9001
9011
9012
9013
9022
9023
9032
9033
9034
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9010
9035
9036
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nc
Parameters 9035 and 9036 specify the bit signal of the internal PMC relay
(R area) that determines the control mode of the interlock function for a
single axis direction.
Signal number (0 to 999): Specifies the number of the internal PMC
relay (R area).
Signal position (0 to 7): Specifies the bit position of the signal.
Example) When parameters 9035 and 9036 are set to 900 and 7
respectively
The interlock function for a single axial direction is validated when the
internal PMC relay (R900, #7) is set to 1 in the JOG or HNDL mode.
183
M. PARAMETERS
APPENDIX
B66102E/07
Address
9037
9038
9039
9040
(CUSTOM screen 2)
9041
(CUSTOM screen 3)
9042
9043
9044
9045
9046
9047
9048
Distance by which the graphics coordinate system is shifted on the conversational macro screen (in the X direction)
9049
Distance by which the graphics coordinate system is shifted on the conversational macro screen (in the Y direction)
ce
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r.c
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(CUSTOM screen 1)
#7
nc
Address
9100
MSFT
#6
#5
#4
C9WN
DLMT
VKLM
#3
#2
#1
#0
VGCL
VGAR
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M. PARAMETERS
APPENDIX
B66102E/07
M.2
Bit No.
EXECUTER
PARAMETER
Address
#7
9000
L2R
#6
#5
#4
#3
#2
#1
#0
MKG
RSC
EXS
STP
NDP
SQN
nc
ce
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r.c
om
.c
9002
9003
185
M. PARAMETERS
APPENDIX
B66102E/07
Bit No.
Address
#7
#6
#5
#4
#3
#2
#1
#0
9010
MA8
MA7
MA6
MA5
MA4
MA3
MA2
MA1
r.c
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ce
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MA1 = 1 :
=0:
MA2 = 1 :
=0:
MA3 = 1 :
=0:
MA4 = 1 :
=0:
MA5 = 1 :
=0:
MA6 = 1 :
=0:
MA7 = 1 :
=0:
MA8 = 1 :
=0:
nc
NOTE
When compilation parameter bit 4 of No. 9005 (AXCLS) is
set to 1, MA1 masks O9031, MA2 masks O9032, MA3
masks O9033, and so on.
Address
#7
Bit No.
#6
#5
#4
#3
#2
9011
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186
#1
#0
MTC
Index
B66102E/07
[A]
[F]
Features, 2
[B]
Functions, 13
om
[G]
r.c
[C]
CAP Control Module, 77
[H]
ce
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Compile/Link Example, 47
Compiler Series, 11
[I]
Installing the System from the FAPT MACRO Compiler System Floppy Disk, 7
Introduction, 70
IPL Menu, 149
nc
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[L]
Link Control File, 73
Link List File, 73
LOAD BASIC SYSTEM Function, 128
[D]
Development Environment, 76
[E]
[M]
Equipment Configuration, 5
Index
B66102E/07
[S]
om
[N]
Name of Macro Library, 175
Operation, 71
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[O]
nc
[P]
Password, 107
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Path Setting, 10
r.c
[R]
[T]
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User Modules, 78
Jul., 95
Jan.,95
Mar., 94
Mar., 93
Jul., 91
Date
05
04
03
02
01
Edition
Revision Record
Contents
Edition
06
07
Date
Jan.,97
Jul.,97
Contents
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Correction of errors.
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