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Address

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

X0

DI[8]

DI[7]

DI[6]

DI[5]

DI[4]

X1

DI[16]

DI[15]

DI[14]

DI[13]

DI[12]

X2

DI[24]

DI[23]

DI[22]

DI[21]

DI[20]

X3

DI[32]

DI[31]

DI[30]

DI[29]

DI[28]

X4

DI[40]

DI[39]

DI[38]

DI[37]

DI[36]

X5

DI[48]

DI[47]

DI[46]

DI[45]

DI[44]

X6

DI[56]

DI[55]

DI[54]

DI[53]

DI[52]

X7

DI[64]

DI[63]

DI[62]

DI[61]

DI[60]

X8

DI[72]

DI[71]

DI[70]

DI[69]

DI[68]

X9

DI[80]

DI[79]

DI[78]

DI[77]

DI[76]

X10

DI[88]

DI[87]

DI[86]

DI[85]

DI[84]

X11

DI[96]

DI[95]

DI[94]

DI[93]

DI[92]

X12

DI[104]

DI[103]

DI[102]

DI[101]

DI[100]

X13

DI[112]

DI[111]

DI[110]

DI[109]

DI[108]

X14

DI[120]

DI[119]

DI[118]

DI[117]

DI[116]

X15

DI[128]

DI[127]

DI[126]

DI[125]

DI[124]

X16

DI[136]

DI[135]

DI[134]

DI[133]

DI[132]

X17

DI[144]

DI[143]

DI[142]

DI[141]

DI[140]

X18

DI[152]

DI[151]

DI[150]

DI[149]

DI[148]

X19

DI[160]

DI[159]

DI[158]

DI[157]

DI[156]

X20

DI[168]

DI[167]

DI[166]

DI[165]

DI[164]

X21

DI[176]

DI[175]

DI[174]

DI[173]

DI[172]

X22

DI[184]

DI[183]

DI[182]

DI[181]

DI[180]

X23

DI[192]

DI[191]

DI[190]

DI[189]

DI[188]

X24

DI[200]

DI[199]

DI[198]

DI[197]

DI[196]

X25

DI[208]

DI[207]

DI[206]

DI[205]

DI[204]

X26

DI[216]

DI[215]

DI[214]

DI[213]

DI[212]

X27

DI[224]

DI[223]

DI[222]

DI[221]

DI[220]

X28

DI[232]

DI[231]

DI[230]

DI[229]

DI[228]

X29

DI[240]

DI[239]

DI[238]

DI[237]

DI[236]

X30

DI[248]

DI[247]

DI[246]

DI[245]

DI[244]

X31

DI[256]

DI[255]

DI[254]

DI[253]

DI[252]

X32

DI[264]

DI[263]

DI[262]

DI[261]

DI[260]

X33

DI[272]

DI[271]

DI[270]

DI[269]

DI[268]

X34

DI[280]

DI[279]

DI[278]

DI[277]

DI[276]

X35

DI[288]

DI[287]

DI[286]

DI[285]

DI[284]

X36

DI[296]

DI[295]

DI[294]

DI[293]

DI[292]

X37

DI[304]

DI[303]

DI[302]

DI[301]

DI[300]

X38

DI[312]

DI[311]

DI[310]

DI[309]

DI[308]

X39

DI[320]

DI[319]

DI[318]

DI[317]

DI[316]

X40

DI[328]

DI[327]

DI[326]

DI[325]

DI[324]

X41

DI[336]

DI[335]

DI[334]

DI[333]

DI[332]

X42

DI[344]

DI[343]

DI[342]

DI[341]

DI[340]

X43

DI[352]

DI[351]

DI[350]

DI[349]

DI[348]

X44

DI[360]

DI[359]

DI[358]

DI[357]

DI[356]

X45

DI[368]

DI[367]

DI[366]

DI[365]

DI[364]

X46

DI[376]

DI[375]

DI[374]

DI[373]

DI[372]

X47

DI[384]

DI[383]

DI[382]

DI[381]

DI[380]

X48

DI[392]

DI[391]

DI[390]

DI[389]

DI[388]

X49

DI[400]

DI[399]

DI[398]

DI[397]

DI[396]

X50

DI[408]

DI[407]

DI[406]

DI[405]

DI[404]

X51

DI[416]

DI[415]

DI[414]

DI[413]

DI[412]

X52

DI[424]

DI[423]

DI[422]

DI[421]

DI[420]

X0X127 --DI[1]DI[1024](General
Digital Input)

X53

DI[432]

DI[431]

DI[430]

DI[429]

DI[428]

X54

DI[440]

DI[439]

DI[438]

DI[437]

DI[436]

X55

DI[448]

DI[447]

DI[446]

DI[445]

DI[444]

X56

DI[456]

DI[455]

DI[454]

DI[453]

DI[452]

X57

DI[464]

DI[463]

DI[462]

DI[461]

DI[460]

X58

DI[472]

DI[471]

DI[470]

DI[469]

DI[468]

X59

DI[480]

DI[479]

DI[478]

DI[477]

DI[476]

X60

DI[488]

DI[487]

DI[486]

DI[485]

DI[484]

X61

DI[496]

DI[495]

DI[494]

DI[493]

DI[492]

X62

DI[504]

DI[503]

DI[502]

DI[501]

DI[500]

X63

DI[512]

DI[511]

DI[510]

DI[509]

DI[508]

X64

DI[520]

DI[519]

DI[518]

DI[517]

DI[516]

X65

DI[528]

DI[527]

DI[526]

DI[525]

DI[524]

X66

DI[536]

DI[535]

DI[534]

DI[533]

DI[532]

X67

DI[544]

DI[543]

DI[542]

DI[541]

DI[540]

X68

DI[552]

DI[551]

DI[550]

DI[549]

DI[548]

X69

DI[560]

DI[559]

DI[558]

DI[557]

DI[556]

X70

DI[568]

DI[567]

DI[566]

DI[565]

DI[564]

X71

DI[576]

DI[575]

DI[574]

DI[573]

DI[572]

X72

DI[584]

DI[583]

DI[582]

DI[581]

DI[580]

X73

DI[592]

DI[591]

DI[590]

DI[589]

DI[588]

X74

DI[600]

DI[599]

DI[598]

DI[597]

DI[596]

X75

DI[608]

DI[607]

DI[606]

DI[605]

DI[604]

X76

DI[616]

DI[615]

DI[614]

DI[613]

DI[612]

X77

DI[624]

DI[623]

DI[622]

DI[621]

DI[620]

X78

DI[632]

DI[631]

DI[630]

DI[629]

DI[628]

X79

DI[640]

DI[639]

DI[638]

DI[637]

DI[636]

X80

DI[648]

DI[647]

DI[646]

DI[645]

DI[644]

X81

DI[656]

DI[655]

DI[654]

DI[653]

DI[652]

X82

DI[664]

DI[663]

DI[662]

DI[661]

DI[660]

X83

DI[672]

DI[671]

DI[670]

DI[669]

DI[668]

X84

DI[680]

DI[679]

DI[678]

DI[677]

DI[676]

X85

DI[688]

DI[687]

DI[686]

DI[685]

DI[684]

X86

DI[696]

DI[695]

DI[694]

DI[693]

DI[692]

X87

DI[704]

DI[703]

DI[702]

DI[701]

DI[700]

X88

DI[712]

DI[711]

DI[710]

DI[709]

DI[708]

X89

DI[720]

DI[719]

DI[718]

DI[717]

DI[716]

X90

DI[728]

DI[727]

DI[726]

DI[725]

DI[724]

X91

DI[736]

DI[735]

DI[734]

DI[733]

DI[732]

X92

DI[744]

DI[743]

DI[742]

DI[741]

DI[740]

X93

DI[752]

DI[751]

DI[750]

DI[749]

DI[748]

X94

DI[760]

DI[759]

DI[758]

DI[757]

DI[756]

X95

DI[768]

DI[767]

DI[766]

DI[765]

DI[764]

X96

DI[776]

DI[775]

DI[774]

DI[773]

DI[772]

X97

DI[784]

DI[783]

DI[782]

DI[781]

DI[780]

X98

DI[792]

DI[791]

DI[790]

DI[789]

DI[788]

X99

DI[800]

DI[799]

DI[798]

DI[797]

DI[796]

X100

DI[808]

DI[807]

DI[806]

DI[805]

DI[804]

X101

DI[816]

DI[815]

DI[814]

DI[813]

DI[812]

X102

DI[824]

DI[823]

DI[822]

DI[821]

DI[820]

X103

DI[832]

DI[831]

DI[830]

DI[829]

DI[828]

X104

DI[840]

DI[839]

DI[838]

DI[837]

DI[836]

X105

DI[848]

DI[847]

DI[846]

DI[845]

DI[844]

X106

DI[856]

DI[855]

DI[854]

DI[853]

DI[852]

X107

DI[864]

DI[863]

DI[862]

DI[861]

DI[860]

X108

DI[872]

DI[871]

DI[870]

DI[869]

DI[868]

X109

DI[880]

DI[879]

DI[878]

DI[877]

DI[876]

X110

DI[888]

DI[887]

DI[886]

DI[885]

DI[884]

X111

DI[896]

DI[895]

DI[894]

DI[893]

DI[892]

X112

DI[904]

DI[903]

DI[902]

DI[901]

DI[900]

X113

DI[912]

DI[911]

DI[910]

DI[909]

DI[908]

X114

DI[920]

DI[919]

DI[918]

DI[917]

DI[916]

X115

DI[928]

DI[927]

DI[926]

DI[925]

DI[924]

X116

DI[936]

DI[935]

DI[934]

DI[933]

DI[932]

X117

DI[944]

DI[943]

DI[942]

DI[941]

DI[940]

X118

DI[952]

DI[951]

DI[950]

DI[949]

DI[948]

X119

DI[960]

DI[959]

DI[958]

DI[957]

DI[956]

X120

DI[968]

DI[967]

DI[966]

DI[965]

DI[964]

X121

DI[976]

DI[975]

DI[974]

DI[973]

DI[972]

X122

DI[984]

DI[983]

DI[982]

DI[981]

DI[980]

X123

DI[992]

DI[991]

DI[990]

DI[989]

DI[988]

X124

DI[1000]

DI[999]

DI[998]

DI[997]

DI[996]

X125

DI[1008]

DI[1007]

DI[1006]

DI[1005]

DI[1004]

DI[1016]
DI[1015]
DI[1014]
DI[1013]
X1000X1004 --UI[1]UI[40] (User X126
DI[1024]
DI[1023]
DI[1022]
DI[1021]
Operator Panel Inputs) This area X127
corresponds to UOP input ports. If
the system has an integrated
Correspondence between UI and PMC address
PMC, UI becomes general output Address
Bit 7
Bit 6
Bit 5
Bit 4
port as same as DI. Please use X1000
UI[8]
UI[7]
UI[6]
UI[5]
the system
X1001
UI[16]
UI[15]
UI[14]
UI[13]
interface (G1000G1255) to use
X1002
UI[24]
UI[23]
UI[22]
UI[21]
the function of UOP.
X1003
UI[32]
UI[31]
UI[30]
UI[29]
However, do not use the system
X1004
UI[40]
UI[39]
UI[38]
UI[37]
interface if a Standard PMC
program is used
to transfer system interface to
UOPs. The Standard PMC
program is loaded
with the PMC option. This program
should be used for the bases of all
PMC
Correspondence between WI and PMC address
programs that use external I/O
devices for UOPs.
Address
Bit 7
Bit 6
Bit 5
Bit 4

DI[1012]

X1005X1009 --WI[1]WI[40]
(Weld
Digital Inputs)

DI[1020]

Bit 3
UI[4]
UI[12]
UI[20]
UI[28]
UI[36]

Bit 3

X1005

WI[8]

WI[7]

WI[6]

WI[5]

WI[4]

X1006

WI[16]

WI[15]

WI[14]

WI[13]

WI[12]

X1007

WI[24]

WI[23]

WI[22]

WI[21]

WI[20]

X1008

WI[32]

WI[31]

WI[30]

WI[29]

WI[28]

X1009

WI[40]

WI[39]

WI[38]

WI[37]

WI[36]

Correspondence between WSTI and PMC address


X1010X1014--Wsti[1]Wsti[40]
(Wire
Stick Inputs)

Address

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

X1010

WSTI[8]

WSTI[7]

WSTI[6]

WSTI[5]

WSTI[4]

X1011

WSTI[16]

WSTI[15]

WSTI[14]

WSTI[13]

WSTI[12]

X1012

WSTI[24]

WSTI[23]

WSTI[22]

WSTI[21]

WSTI[20]

X1013

WSTI[32]

WSTI[31]

WSTI[30]

WSTI[29]

WSTI[28]

X1014

WSTI[40]

WSTI[39]

WSTI[38]

WSTI[37]

WSTI[36]

Correspondence between LDI and PMC address


Address

X1015X1019--LDI[1]LDI[40]
(Laser
Digital Inputs)

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

X1015X1019--LDI[1]LDI[40]
(Laser
Digital Inputs)

X1015

LDI[8]

LDI[7]

LDI[6]

LDI[5]

LDI[4]

X1016

LDI[16]

LDI[15]

LDI[14]

LDI[13]

LDI[12]

X1017

LDI[24]

LDI[23]

LDI[22]

LDI[21]

LDI[20]

X1018

LDI[32]

LDI[31]

LDI[30]

LDI[29]

LDI[28]

X1019

LDI[40]

LDI[39]

LDI[38]

LDI[37]

LDI[36]

Correspondence between RI and PMC address


X1020X1024--RI[1]RI[40]
(Robot
Digital Inputs)

X1025X1026--SI[1]SI[16]
(Standard
Operator Panel Inputs)

Address

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

X1020

RI[8]

RI[7]

RI[6]

RI[5]

RI[4]

X1021

RI[16]

RI[15]

RI[14]

RI[13]

RI[12]

X1022

RI[24]

RI[23]

RI[22]

RI[21]

RI[20]

X1023

RI[32]

RI[31]

RI[30]

RI[29]

RI[28]

X1024

RI[40]

RI[39]

RI[38]

RI[37]

RI[36]

Correspondence between SI and PMC address


Address

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

X1025

SI[7]

SI[6]

SI[5]

SI[4]

SI[3]

X1026

SI[15]

SI[14]

SI[13]

SI[12]

SI[11]

Bit 2

Bit 1

Bit 0

DI[3]

DI[2]

DI[1]

DI[11]

DI[10]

DI[9]

DI[19]

DI[18]

DI[17]

DI[27]

DI[26]

DI[25]

DI[35]

DI[34]

DI[33]

DI[43]

DI[42]

DI[41]

DI[51]

DI[50]

DI[49]

DI[59]

DI[58]

DI[57]

DI[67]

DI[66]

DI[65]

DI[75]

DI[74]

DI[73]

DI[83]

DI[82]

DI[81]

DI[91]

DI[90]

DI[89]

DI[99]

DI[98]

DI[97]

DI[107]

DI[106]

DI[105]

DI[115]

DI[114]

DI[113]

DI[123]

DI[122]

DI[121]

DI[131]

DI[130]

DI[129]

DI[139]

DI[138]

DI[137]

DI[147]

DI[146]

DI[145]

DI[155]

DI[154]

DI[153]

DI[163]

DI[162]

DI[161]

DI[171]

DI[170]

DI[169]

DI[179]

DI[178]

DI[177]

DI[187]

DI[186]

DI[185]

DI[195]

DI[194]

DI[193]

DI[203]

DI[202]

DI[201]

DI[211]

DI[210]

DI[209]

DI[219]

DI[218]

DI[217]

DI[227]

DI[226]

DI[225]

DI[235]

DI[234]

DI[233]

DI[243]

DI[242]

DI[241]

DI[251]

DI[250]

DI[249]

DI[259]

DI[258]

DI[257]

DI[267]

DI[266]

DI[265]

DI[275]

DI[274]

DI[273]

DI[283]

DI[282]

DI[281]

DI[291]

DI[290]

DI[289]

DI[299]

DI[298]

DI[297]

DI[307]

DI[306]

DI[305]

DI[315]

DI[314]

DI[313]

DI[323]

DI[322]

DI[321]

DI[331]

DI[330]

DI[329]

DI[339]

DI[338]

DI[337]

DI[347]

DI[346]

DI[345]

DI[355]

DI[354]

DI[353]

DI[363]

DI[362]

DI[361]

DI[371]

DI[370]

DI[369]

DI[379]

DI[378]

DI[377]

DI[387]

DI[386]

DI[385]

DI[395]

DI[394]

DI[393]

DI[403]

DI[402]

DI[401]

DI[411]

DI[410]

DI[409]

DI[419]

DI[418]

DI[417]

DI[427]

DI[426]

DI[425]

DI[435]

DI[434]

DI[433]

DI[443]

DI[442]

DI[441]

DI[451]

DI[450]

DI[449]

DI[459]

DI[458]

DI[457]

DI[467]

DI[466]

DI[465]

DI[475]

DI[474]

DI[473]

DI[483]

DI[482]

DI[481]

DI[491]

DI[490]

DI[489]

DI[499]

DI[498]

DI[487]

DI[507]

DI[506]

DI[505]

DI[515]

DI[514]

DI[513]

DI[523]

DI[522]

DI[521]

DI[531]

DI[530]

DI[529]

DI[539]

DI[538]

DI[537]

DI[547]

DI[546]

DI[545]

DI[555]

DI[554]

DI[553]

DI[563]

DI[562]

DI[561]

DI[571]

DI[570]

DI[569]

DI[579]

DI[578]

DI[577]

DI[587]

DI[586]

DI[585]

DI[595]

DI[594]

DI[593]

DI[603]

DI[602]

DI[601]

DI[611]

DI[610]

DI[609]

DI[619]

DI[618]

DI[617]

DI[627]

DI[626]

DI[625]

DI[635]

DI[634]

DI[633]

DI[643]

DI[642]

DI[641]

DI[651]

DI[650]

DI[649]

DI[659]

DI[658]

DI[657]

DI[667]

DI[666]

DI[665]

DI[675]

DI[674]

DI[673]

DI[683]

DI[682]

DI[681]

DI[691]

DI[690]

DI[689]

DI[699]

DI[698]

DI[697]

DI[707]

DI[706]

DI[705]

DI[715]

DI[714]

DI[713]

DI[723]

DI[722]

DI[721]

DI[731]

DI[730]

DI[729]

DI[739]

DI[738]

DI[737]

DI[747]

DI[746]

DI[745]

DI[755]

DI[754]

DI[753]

DI[763]

DI[762]

DI[761]

DI[771]

DI[770]

DI[769]

DI[779]

DI[778]

DI[777]

DI[787]

DI[786]

DI[785]

DI[795]

DI[794]

DI[793]

DI[803]

DI[802]

DI[801]

DI[811]

DI[810]

DI[809]

DI[819]

DI[818]

DI[817]

DI[827]

DI[826]

DI[825]

DI[835]

DI[834]

DI[833]

DI[843]

DI[842]

DI[841]

DI[851]

DI[850]

DI[849]

DI[859]

DI[858]

DI[857]

DI[867]

DI[866]

DI[865]

DI[875]

DI[874]

DI[873]

DI[883]

DI[882]

DI[881]

DI[891]

DI[890]

DI[889]

DI[899]

DI[898]

DI[897]

DI[907]

DI[906]

DI[905]

DI[915]

DI[914]

DI[913]

DI[923]

DI[922]

DI[921]

DI[931]

DI[930]

DI[929]

DI[939]

DI[938]

DI[937]

DI[947]

DI[946]

DI[945]

DI[955]

DI[954]

DI[953]

DI[963]

DI[962]

DI[961]

DI[971]

DI[970]

DI[969]

DI[979]

DI[978]

DI[977]

DI[987]

DI[986]

DI[985]

DI[995]

DI[994]

DI[993]

DI[1003]

DI[1002]

DI[1001]

DI[1011]

DI[1010]

DI[1009]

DI[1019]

DI[1018]

DI[1017]

Bit 2

Bit 1

Bit 0

UI[3]

UI[2]

UI[1]

UI[11]

UI[10]

UI[9]

UI[19]

UI[18]

UI[17]

UI[27]

UI[26]

UI[25]

UI[35]

UI[34]

UI[33]

Bit 2

Bit 1

Bit 0

WI[3]

WI[2]

WI[1]

WI[11]

WI[10]

WI[9]

WI[19]

WI[18]

WI[17]

WI[27]

WI[26]

WI[25]

WI[35]

WI[34]

WI[33]

Bit 2

Bit 1

Bit 0

WSTI[3]

WSTI[2]

WSTI[1]

WSTI[11]

WSTI[10]

WSTI[9]

WSTI[19]

WSTI[18]

WSTI[17]

WSTI[27]

WSTI[26]

WSTI[25]

WSTI[35]

WSTI[34]

WSTI[33]

Bit 2

Bit 1

Bit 0

LDI[3]

LDI[2]

LDI[1]

LDI[11]

LDI[10]

LDI[9]

LDI[19]

LDI[18]

LDI[17]

LDI[27]

LDI[26]

LDI[25]

LDI[35]

LDI[34]

LDI[33]

Bit 2

Bit 1

Bit 0

RI[3]

RI[2]

RI[1]

RI[11]

RI[10]

RI[9]

RI[19]

RI[18]

RI[17]

RI[27]

RI[26]

RI[25]

RI[35]

RI[34]

RI[33]

Bit 2

Bit 1

Bit 0

SI[2]

SI[1]

SI[0]

SI[10]

SI[9]

SI[8]

The Y area corresponds to the digital output ports of the robot controller. The
The Y area can not be used in any function command. If you
specify Y area in a function command, the PMC program
causes an error in the controller, and the PMC program can
not be started.
To use the Y area in a function command, copy the value of
this area to internal relay by basic command, and use the
internal relay in a function command.
PMC uses this area to output information to external I/O devices.
Correspondence between DO and PMC address

Y0Y127--DO[1]
DO[1024]
(General Digital Output)

Address

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Y0

DO[8]

DO[7]

DO[6]

DO[5]

DO[4]

Y1

DO[16]

DO[15]

DO[14]

DO[13]

DO[12]

Y2

DO[24]

DO[23]

DO[22]

DO[21]

DO[20]

Y3

DO[32]

DO[31]

DO[30]

DO[29]

DO[28]

Y4

DO[40]

DO[39]

DO[38]

DO[37]

DO[36]

Y5

DO[48]

DO[47]

DO[46]

DO[45]

DO[44]

Y6

DO[56]

DO[55]

DO[54]

DO[53]

DO[52]

Y7

DO[64]

DO[63]

DO[62]

DO[61]

DO[60]

Y8

DO[72]

DO[71]

DO[70]

DO[69]

DO[68]

Y9

DO[80]

DO[79]

DO[78]

DO[77]

DO[76]

Y10

DO[88]

DO[87]

DO[86]

DO[85]

DO[84]

Y11

DO[96]

DO[95]

DO[94]

DO[93]

DO[92]

Y12

DO[104]

DO[103]

DO[102]

DO[101]

DO[100]

Y13

DO[112]

DO[111]

DO[110]

DO[109]

DO[108]

Y14

DO[120]

DO[119]

DO[118]

DO[117]

DO[116]

Y15

DO[128]

DO[127]

DO[126]

DO[125]

DO[124]

Y16

DO[136]

DO[135]

DO[134]

DO[133]

DO[132]

Y17

DO[144]

DO[143]

DO[142]

DO[141]

DO[140]

Y18

DO[152]

DO[151]

DO[150]

DO[149]

DO[148]

Y19

DO[160]

DO[159]

DO[158]

DO[157]

DO[156]

Y20

DO[168]

DO[167]

DO[166]

DO[165]

DO[164]

Y21

DO[176]

DO[175]

DO[174]

DO[173]

DO[172]

Y22

DO[184]

DO[183]

DO[182]

DO[181]

DO[180]

Y23

DO[192]

DO[191]

DO[190]

DO[189]

DO[188]

Y24

DO[200]

DO[199]

DO[198]

DO[197]

DO[196]

Y25

DO[208]

DO[207]

DO[206]

DO[205]

DO[204]

Y26

DO[216]

DO[215]

DO[214]

DO[213]

DO[212]

Y27

DO[224]

DO[223]

DO[222]

DO[221]

DO[220]

Y28

DO[232]

DO[231]

DO[230]

DO[229]

DO[228]

Y29

DO[240]

DO[239]

DO[238]

DO[237]

DO[236]

Y30

DO[248]

DO[247]

DO[246]

DO[245]

DO[244]

Y31

DO[256]

DO[255]

DO[254]

DO[253]

DO[252]

Y32

DO[264]

DO[263]

DO[262]

DO[261]

DO[260]

Y33

DO[272]

DO[271]

DO[270]

DO[269]

DO[268]

Y34

DO[280]

DO[279]

DO[278]

DO[277]

DO[276]

Y35

DO[288]

DO[287]

DO[286]

DO[285]

DO[284]

Y36

DO[296]

DO[295]

DO[294]

DO[293]

DO[292]

Y37

DO[304]

DO[303]

DO[302]

DO[301]

DO[300]

Y38

DO[312]

DO[311]

DO[310]

DO[309]

DO[308]

Y39

DO[320]

DO[319]

DO[318]

DO[317]

DO[316]

Y40

DO[328]

DO[327]

DO[326]

DO[325]

DO[324]

Y41

DO[336]

DO[335]

DO[334]

DO[333]

DO[332]

Y42

DO[344]

DO[343]

DO[342]

DO[341]

DO[340]

Y43

DO[352]

DO[351]

DO[350]

DO[349]

DO[348]

Y44

DO[360]

DO[359]

DO[358]

DO[357]

DO[356]

Y45

DO[368]

DO[367]

DO[366]

DO[365]

DO[364]

Y46

DO[376]

DO[375]

DO[374]

DO[373]

DO[372]

Y47

DO[384]

DO[383]

DO[382]

DO[381]

DO[380]

Y48

DO[392]

DO[391]

DO[390]

DO[389]

DO[388]

Y49

DO[400]

DO[399]

DO[398]

DO[397]

DO[396]

Y50

DO[408]

DO[407]

DO[406]

DO[405]

DO[404]

Y51

DO[416]

DO[415]

DO[414]

DO[413]

DO[412]

Y52

DO[424]

DO[423]

DO[422]

DO[421]

DO[420]

Y53

DO[432]

DO[431]

DO[430]

DO[429]

DO[428]

Y54

DO[440]

DO[439]

DO[438]

DO[437]

DO[436]

Y55

DO[448]

DO[447]

DO[446]

DO[445]

DO[444]

Y56

DO[456]

DO[455]

DO[454]

DO[453]

DO[452]

Y57

DO[464]

DO[463]

DO[462]

DO[461]

DO[460]

Y58

DO[472]

DO[471]

DO[470]

DO[469]

DO[468]

Y59

DO[480]

DO[479]

DO[478]

DO[477]

DO[476]

Y60

DO[488]

DO[487]

DO[486]

DO[485]

DO[484]

Y61

DO[496]

DO[495]

DO[494]

DO[493]

DO[492]

Y62

DO[504]

DO[503]

DO[502]

DO[501]

DO[500]

Y63

DO[512]

DO[511]

DO[510]

DO[509]

DO[508]

Y64

DO[520]

DO[519]

DO[518]

DO[517]

DO[516]

Y65

DO[528]

DO[527]

DO[526]

DO[525]

DO[524]

Y66

DO[536]

DO[535]

DO[534]

DO[533]

DO[532]

Y67

DO[544]

DO[543]

DO[542]

DO[541]

DO[540]

Y68

DO[552]

DO[551]

DO[550]

DO[549]

DO[548]

Y69

DO[560]

DO[559]

DO[558]

DO[557]

DO[556]

Y70

DO[568]

DO[567]

DO[566]

DO[565]

DO[564]

Y71

DO[576]

DO[575]

DO[574]

DO[573]

DO[572]

Y72

DO[584]

DO[583]

DO[582]

DO[581]

DO[580]

Y73

DO[592]

DO[591]

DO[590]

DO[589]

DO[588]

Y74

DO[600]

DO[599]

DO[598]

DO[597]

DO[596]

Y75

DO[608]

DO[607]

DO[606]

DO[605]

DO[604]

Y76

DO[616]

DO[615]

DO[614]

DO[613]

DO[612]

Y77

DO[624]

DO[623]

DO[622]

DO[621]

DO[620]

Y78

DO[632]

DO[631]

DO[630]

DO[629]

DO[628]

Y79

DO[640]

DO[639]

DO[638]

DO[637]

DO[636]

Y80

DO[648]

DO[647]

DO[646]

DO[645]

DO[644]

Y81

DO[656]

DO[655]

DO[654]

DO[653]

DO[652]

Y82

DO[664]

DO[663]

DO[662]

DO[661]

DO[660]

Y83

DO[672]

DO[671]

DO[670]

DO[669]

DO[668]

Y84

DO[680]

DO[679]

DO[678]

DO[677]

DO[676]

Y85

DO[688]

DO[687]

DO[686]

DO[685]

DO[684]

Y86

DO[696]

DO[695]

DO[694]

DO[693]

DO[692]

Y87

DO[704]

DO[703]

DO[702]

DO[701]

DO[700]

Y88

DO[712]

DO[711]

DO[710]

DO[709]

DO[708]

Y89

DO[720]

DO[719]

DO[718]

DO[717]

DO[716]

Y90

DO[728]

DO[727]

DO[726]

DO[725]

DO[724]

Y91

DO[736]

DO[735]

DO[734]

DO[733]

DO[732]

Y92

DO[744]

DO[743]

DO[742]

DO[741]

DO[740]

Y93

DO[752]

DO[751]

DO[750]

DO[749]

DO[748]

Y94

DO[760]

DO[759]

DO[758]

DO[757]

DO[756]

Y95

DO[768]

DO[767]

DO[766]

DO[765]

DO[764]

Y96

DO[776]

DO[775]

DO[774]

DO[773]

DO[772]

Y97

DO[784]

DO[783]

DO[782]

DO[781]

DO[780]

Y98

DO[792]

DO[791]

DO[790]

DO[789]

DO[788]

Y99

DO[800]

DO[799]

DO[798]

DO[797]

DO[796]

Y100

DO[808]

DO[807]

DO[806]

DO[805]

DO[804]

Y101

DO[816]

DO[815]

DO[814]

DO[813]

DO[812]

Y102

DO[824]

DO[823]

DO[822]

DO[821]

DO[820]

Y103

DO[832]

DO[831]

DO[830]

DO[829]

DO[828]

Y104

DO[840]

DO[839]

DO[838]

DO[837]

DO[836]

Y105

DO[848]

DO[847]

DO[846]

DO[845]

DO[844]

Y106

DO[856]

DO[855]

DO[854]

DO[853]

DO[852]

Y107

DO[864]

DO[863]

DO[862]

DO[861]

DO[860]

Y108

DO[872]

DO[871]

DO[870]

DO[869]

DO[868]

Y109

DO[880]

DO[879]

DO[878]

DO[877]

DO[876]

Y110

DO[888]

DO[887]

DO[886]

DO[885]

DO[884]

Y111

DO[896]

DO[895]

DO[894]

DO[893]

DO[892]

Y112

DO[904]

DO[903]

DO[902]

DO[901]

DO[900]

Y113

DO[912]

DO[911]

DO[910]

DO[909]

DO[908]

Y114

DO[920]

DO[919]

DO[918]

DO[917]

DO[916]

Y115

DO[928]

DO[927]

DO[926]

DO[925]

DO[924]

Y116

DO[936]

DO[935]

DO[934]

DO[933]

DO[932]

Y117

DO[944]

DO[943]

DO[942]

DO[941]

DO[940]

Y118

DO[952]

DO[951]

DO[950]

DO[949]

DO[948]

Y119

DO[960]

DO[959]

DO[958]

DO[957]

DO[956]

Y120

DO[968]

DO[967]

DO[966]

DO[965]

DO[964]

Y121

DO[976]

DO[975]

DO[974]

DO[973]

DO[972]

Y122

DO[984]

DO[983]

DO[982]

DO[981]

DO[980]

Y123

DO[992]

DO[991]

DO[990]

DO[989]

DO[988]

Y124

DO[1000]

DO[999]

DO[998]

DO[997]

DO[996]

Y125

DO[1008]

DO[1007]

DO[1006]

DO[1005]

DO[1004]

Y126

DO[1016]

DO[1015]

DO[1014]

DO[1013]

DO[1012]

Y127

DO[1024]

DO[1023]

DO[1022]

DO[1021]

DO[1020]

This area is corresponds to UOP output ports. If the system has an integrated
PMC, UO becomes general output port as same as DO. Please use system
interface (F1000F1255) to use the function of UOP.
However, do not use the system interface if the Standard PMC program is used
to transfer System Interface to UOPs. The Standard PMC program is loaded
Y1000Y1004--UO[1] with the PMC option. This program should be used for the bases of all PMC
UO[40] (User
programs that use external I/O devices for UOPs.
Operator Panel
Correspondence between UO and PMC address
Outputs)
Address

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Y1000

UO[8]

UO[7]

UO[6]

UO[5]

UO[4]

Y1001

UO[16]

UO[15]

UO[14]

UO[13]

UO[12]

Y1002

UO[24]

UO[23]

UO[22]

UO[21]

UO[20]

Y1003

UO[32]

UO[31]

UO[30]

UO[29]

UO[28]

Y1004

UO[40]

UO[39]

UO[38]

UO[37]

UO[36]

Correspondence between WSTO and PMC address


Address Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Y1005Y1009--WO[1] Y1010 WSTO[8] WSTO[7] WSTO[6] WSTO[5] WSTO[4] WSTO[3] WSTO[2] WSTO[1]
Y1011 WSTO[16] WSTO[15] WSTO[14] WSTO[13] WSTO[12] WSTO[11] WSTO[10] WSTO[9]
WO[40] (Weld
Digital Outputs)
Y1012 WSTO[24] WSTO[23] WSTO[22] WSTO[21] WSTO[20] WSTO[19] WSTO[18] WSTO[17]
Y1013 WSTO[32] WSTO[31] WSTO[30] WSTO[29] WSTO[28] WSTO[27] WSTO[26] WSTO[25]
Y1014 WSTO[40] WSTO[39] WSTO[38] WSTO[37] WSTO[36] WSTO[35] WSTO[34] WSTO[33]

Correspondence between LDO and PMC address


Y1015Y1019-LDO[1]LDO[40]
(Laser Digital Outputs)

Address

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Y1015

LDO[8]

LDO[7]

LDO[6]

LDO[5]

LDO[4]

Y1016

LDO[16]

LDO[15]

LDO[14]

LDO[13]

LDO[12]

Y1017

LDO[24]

LDO[23]

LDO[22]

LDO[21]

LDO[20]

Y1018

LDO[32]

LDO[31]

LDO[30]

LDO[29]

LDO[28]

Y1019

LDO[40]

LDO[39]

LDO[38]

LDO[37]

LDO[36]

Correspondence between RO and PMC address


Y1020Y1024--RO[1]
RO[40] (Robot
Digital Outputs)

Address

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Y1020

RO[8]

RO[7]

RO[6]

RO[5]

RO[4]

Y1021

RO[16]

RO[15]

RO[14]

RO[13]

RO[12]

Y1022

RO[24]

RO[23]

RO[22]

RO[21]

RO[20]

Y1023

RO[32]

RO[31]

RO[30]

RO[29]

RO[28]

Y1024

RO[40]

RO[39]

RO[38]

RO[37]

RO[36]

Correspondence between SO and PMC address


Y1025Y1026--SO[1]
SO[16] (SOP
Outputs)

Address

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Y1025

SO[7]

SO[6]

SO[5]

SO[4]

SO[3]

Y1026

SO[15]

SO[14]

SO[13]

SO[12]

SO[11]

SO[8]

SO[7]

SO[6]

SO[5]

SO[4]

SO[16]

SO[15]

SO[14]

SO[13]

SO[12]

Bit 2

Bit 1

Bit 0

DO[3]

DO[2]

DO[1]

DO[11]

DO[10]

DO[9]

DO[19]

DO[18]

DO[17]

DO[27]

DO[26]

DO[25]

DO[35]

DO[34]

DO[33]

DO[43]

DO[42]

DO[41]

DO[51]

DO[50]

DO[49]

DO[59]

DO[58]

DO[57]

DO[67]

DO[66]

DO[65]

DO[75]

DO[74]

DO[73]

DO[83]

DO[82]

DO[81]

DO[91]

DO[90]

DO[89]

DO[99]

DO[98]

DO[97]

DO[107]

DO[106]

DO[105]

DO[115]

DO[114]

DO[113]

DO[123]

DO[122]

DO[121]

DO[131]

DO[130]

DO[129]

DO[139]

DO[138]

DO[137]

DO[147]

DO[146]

DO[145]

DO[155]

DO[154]

DO[153]

DO[163]

DO[162]

DO[161]

DO[171]

DO[170]

DO[169]

DO[179]

DO[178]

DO[177]

DO[187]

DO[186]

DO[185]

DO[195]

DO[194]

DO[193]

DO[203]

DO[202]

DO[201]

DO[211]

DO[210]

DO[209]

DO[219]

DO[218]

DO[217]

DO[227]

DO[226]

DO[225]

DO[235]

DO[234]

DO[233]

DO[243]

DO[242]

DO[241]

DO[251]

DO[250]

DO[249]

DO[259]

DO[258]

DO[257]

DO[267]

DO[266]

DO[265]

DO[275]

DO[274]

DO[273]

DO[283]

DO[282]

DO[281]

DO[291]

DO[290]

DO[289]

DO[299]

DO[298]

DO[297]

DO[307]

DO[306]

DO[305]

DO[315]

DO[314]

DO[313]

DO[323]

DO[322]

DO[321]

DO[331]

DO[330]

DO[329]

DO[339]

DO[338]

DO[337]

DO[347]

DO[346]

DO[345]

DO[355]

DO[354]

DO[353]

DO[363]

DO[362]

DO[361]

DO[371]

DO[370]

DO[369]

DO[379]

DO[378]

DO[377]

DO[387]

DO[386]

DO[385]

DO[395]

DO[394]

DO[393]

DO[403]

DO[402]

DO[401]

DO[411]

DO[410]

DO[409]

DO[419]

DO[418]

DO[417]

DO[427]

DO[426]

DO[425]

DO[435]

DO[434]

DO[433]

DO[443]

DO[442]

DO[441]

DO[451]

DO[450]

DO[449]

DO[459]

DO[458]

DO[457]

DO[467]

DO[466]

DO[465]

DO[475]

DO[474]

DO[473]

DO[483]

DO[482]

DO[481]

DO[491]

DO[490]

DO[489]

DO[499]

DO[498]

DO[487]

DO[507]

DO[506]

DO[505]

DO[515]

DO[514]

DO[513]

DO[523]

DO[522]

DO[521]

DO[531]

DO[530]

DO[529]

DO[539]

DO[538]

DO[537]

DO[547]

DO[546]

DO[545]

DO[555]

DO[554]

DO[553]

DO[563]

DO[562]

DO[561]

DO[571]

DO[570]

DO[569]

DO[579]

DO[578]

DO[577]

DO[587]

DO[586]

DO[585]

DO[595]

DO[594]

DO[593]

DO[603]

DO[602]

DO[601]

DO[611]

DO[610]

DO[609]

DO[619]

DO[618]

DO[617]

DO[627]

DO[626]

DO[625]

DO[635]

DO[634]

DO[633]

DO[643]

DO[642]

DO[641]

DO[651]

DO[650]

DO[649]

DO[659]

DO[658]

DO[657]

DO[667]

DO[666]

DO[665]

DO[675]

DO[674]

DO[673]

DO[683]

DO[682]

DO[681]

DO[691]

DO[690]

DO[689]

DO[699]

DO[698]

DO[697]

DO[707]

DO[706]

DO[705]

DO[715]

DO[714]

DO[713]

DO[723]

DO[722]

DO[721]

DO[731]

DO[730]

DO[729]

DO[739]

DO[738]

DO[737]

DO[747]

DO[746]

DO[745]

DO[755]

DO[754]

DO[753]

DO[763]

DO[762]

DO[761]

DO[771]

DO[770]

DO[769]

DO[779]

DO[778]

DO[777]

DO[787]

DO[786]

DO[785]

DO[795]

DO[794]

DO[793]

DO[803]

DO[802]

DO[801]

DO[811]

DO[810]

DO[809]

DO[819]

DO[818]

DO[817]

DO[827]

DO[826]

DO[825]

DO[835]

DO[834]

DO[833]

DO[843]

DO[842]

DO[841]

DO[851]

DO[850]

DO[849]

DO[859]

DO[858]

DO[857]

DO[867]

DO[866]

DO[865]

DO[875]

DO[874]

DO[873]

DO[883]

DO[882]

DO[881]

DO[891]

DO[890]

DO[889]

DO[899]

DO[898]

DO[897]

DO[907]

DO[906]

DO[905]

DO[915]

DO[914]

DO[913]

DO[923]

DO[922]

DO[921]

DO[931]

DO[930]

DO[929]

DO[939]

DO[938]

DO[937]

DO[947]

DO[946]

DO[945]

DO[955]

DO[954]

DO[953]

DO[963]

DO[962]

DO[961]

DO[971]

DO[970]

DO[969]

DO[979]

DO[978]

DO[977]

DO[987]

DO[986]

DO[985]

DO[995]

DO[994]

DO[993]

DO[1003]

DO[1002]

DO[1001]

DO[1011]

DO[1010]

DO[1009]

DO[1019]

DO[1018]

DO[1017]

Bit 2

Bit 1

Bit 0

UO[3]

UO[2]

UO[1]

UO[11]

UO[10]

UO[9]

UO[19]

UO[18]

UO[17]

UO[27]

UO[26]

UO[25]

UO[35]

UO[34]

UO[33]

WSTO[2] WSTO[1]
O[11] WSTO[10] WSTO[9]
O[19] WSTO[18] WSTO[17]
O[27] WSTO[26] WSTO[25]
O[35] WSTO[34] WSTO[33]

Bit 2

Bit 1

Bit 0

LDO[3]

LDO[2]

LDO[1]

LDO[11]

LDO[10]

LDO[9]

LDO[19]

LDO[18]

LDO[17]

LDO[27]

LDO[26]

LDO[25]

LDO[35]

LDO[34]

LDO[33]

Bit 2

Bit 1

Bit 0

RO[3]

RO[2]

RO[1]

RO[11]

RO[10]

RO[9]

RO[19]

RO[18]

RO[17]

RO[27]

RO[26]

RO[25]

RO[35]

RO[34]

RO[33]

Bit 2

Bit 1

Bit 0

SO[2]

SO[1]

SO[0]

SO[10]

SO[9]

SO[8]

SO[3]

SO[2]

SO[1]

SO[11]

SO[10]

SO[9]

?
?

G0G127GO[
1]
GO[64]
(Group
Outputs)

G128G255AO[
1]AO[64]
(Analog
Outputs)

G1000
G1255

Upper

Lower

Upper

Lower

GO[1]

G1

G0

GO[5]

G9

G8

GO[2]

G3

G2

GO[6]

G11

GO[9]

G17

G10

G16

GO[10]

G19

GO[13]

G18

G25

G24

GO[14]

G27

G26

GO[17]

G33

G32

GO[18]

G35

G34

GO[21]

G41

G40

GO[22]

G43

G42

GO[25]

G49

G48

GO[26]

G51

G50

GO[29]

G57

G56

GO[30]

G59

G58

GO[33]

G65

G64

GO[34]

G67

G66

GO[37]

G73

G72

GO[38]

G75

G74

GO[41]

G81

G80

GO[42]

G83

G82

GO[45]

G89

G88

GO[46]

G91

G90

GO[49]

G97

G96

GO[50]

G99

G98

GO[53]

G105

G104

GO[54]

G107

G106

GO[57]

G113

G112

GO[58]

G115

G114

GO[61]

G121

G120

GO[62]

G123

G122

Upper

Lower

Upper

Lower

AO[1]

G129

G128

AO[2]

G131

G130

AO[5]

G137

G136

AO[6]

G139

G138

AO[9]

G145

G144

AO[10]

G147

G146

AO[13]

G153

G152

AO[14]

G155

G154

AO[17]

G161

G160

AO[18]

G163

G162

AO[21]

G169

G168

AO[22]

G171

G170

AO[25]

G177

G176

AO[26]

G179

G178

AO[29]

G185

G184

AO[30]

G187

G186

AO[33]

G193

G192

AO[34]

G195

G194

AO[37]

G201

G200

AO[38]

G203

G202

AO[41]

G209

G208

AO[42]

G211

G210

AO[45]

G217

G216

AO[46]

G219

G218

AO[49]

G225

G224

AO[50]

G227

G226

AO[53]

G233

G232

AO[54]

G235

G234

AO[57]

G241

G240

AO[58]

G253

G242

AO[61]

G249

G248

AO[62]

G251

G250

This area is used to interface between the robot controller system and the PMC
program. The PMC program can control the robot controller system by using
this area.
You can assign the G1000.0G1003.7 area to DI, DO, GI, GO, UI and UO as
rack 33, slot 7 start point 132. The correspondence of the G area address to

The G0127 area corresponds to the robot controller group output (GO), and
the G128255 area corresponds to the analog output (AO). One port of GO
and AO uses two bytes of the G area. An even address corresponds to the
upper byte, and an odd address corresponds to the lower byte.

G0255 can be used by the function command MOVW only.


If the other function command or any basic command uses
G0255, the PMC program causes an error, and the PMC
program can not be started.
You must specify an even address of the G0255 area for the
function command MOVW. If you specify an odd address of
G0255 for the function command MOVW, the PMC
program causes an error.
To use the G0255 area in a basic command or other
function command, copy the value of this area to the internal
relay by using MOVW, and use the internal relay in the basic
command or other function command.
Correspondence between GO and PMC address

G0
G127-GO[1]
GO[64]
(Group
Outputs)

Upper

Lower

Upper

Lower

GO[1]

G1

G0

GO[2]

G3

G2

GO[5]

G9

G8

GO[6]

G11

G10

GO[9]

G17

G16

GO[10]

G19

G18

GO[13]

G25

G24

GO[14]

G27

G26

GO[17]

G33

G32

GO[18]

G35

G34

GO[21]

G41

G40

GO[22]

G43

G42

GO[25]

G49

G48

GO[26]

G51

G50

GO[29]

G57

G56

GO[30]

G59

G58

GO[33]

G65

G64

GO[34]

G67

G66

GO[37]

G73

G72

GO[38]

G75

G74

GO[41]

G81

G80

GO[42]

G83

G82

GO[45]

G89

G88

GO[46]

G91

G90

GO[49]

G97

G96

GO[50]

G99

G98

GO[53]

G105

G104

GO[54]

G107

G106

GO[57]

G113

G112

GO[58]

G115

G114

GO[61]

G121

G120

GO[62]

G123

G122

Correspondence between AO and PMC address

G128
G255-AO[1]
AO[64]
(Analog
Outputs)

Upper

Lower

Upper

Lower

AO[1]

G129

G128

AO[2]

G131

G130

AO[5]

G137

G136

AO[6]

G139

G138

AO[9]

G145

G144

AO[10]

G147

G146

AO[13]

G153

G152

AO[14]

G155

G154

AO[17]

G161

G160

AO[18]

G163

G162

AO[21]

G169

G168

AO[22]

G171

G170

AO[25]

G177

G176

AO[26]

G179

G178

AO[29]

G185

G184

AO[30]

G187

G186

AO[33]

G193

G192

AO[34]

G195

G194

AO[37]

G201

G200

AO[38]

G203

G202

AO[41]

G209

G208

AO[42]

G211

G210

AO[45]

G217

G216

AO[46]

G219

G218

AO[49]

G225

G224

AO[50]

G227

G226

AO[53]

G233

G232

AO[54]

G235

G234

AO[57]

G241

G240

AO[58]

G253

G242

AO[61]

G249

G248

AO[62]

G251

G250

This area is used to interface between the robot controller system and the PMC
G1000 program. The PMC program can control the robot controller system by using
G1255--

G1000
G1255--

this area.

G10001255 area is system interface output.


Address

Name

Initial value Function

G1000.0

IMSTP

Same as IMSTP in UOP

G1000.1

HOLD

Same as HOLD in UOP

G1000.2

SFSPD

Same as SFSPD in UOP

G1000.3

CSTOPI

Same as CSTOPI in UOP

G1000.4

RESET

Same as RESET in UOP

G1000.5

START

Same as START in UOP

G1000.6

HOME

Same as HOME in UOP

G1000.7

ENBLE

Same as ENBLE in UOP

G1001.0

PNS1

Same as RSR1/PNS1 in UOP

G1001.1

PNS2

Same as RSR2/PNS2 in UOP

G1001.2

PNS3

Same as RSR3/PNS3 in UOP

G1001.3

PNS4

Same as RSR4/PNS4 in UOP

G1001.4

PNS5

Same as PNS5 in UOP

G1001.5

PNS6

Same as PNS6 in UOP

G1001.6

PNS7

Same as PNS7 in UOP

G1001.7

PNS8

Same as PNS8 in UOP

G1002.0

PNSTRB

Same as PNSTROBE in UOP

G1002.1

PSTART

Same as PRODSTART in UOP

G1002.2 G1007.7

Reserved

G1008.0 G1011.7
UALM1 UALM32

When a value of this area is 1, a corresponding user alarm occurs. For example, user alarm 1 occ

G1012.0 G1255.7

Reserved

nd the PMC

Upper

Lower

Upper

Lower

GO[3]

G5

G4

GO[7]

G13

G12

GO[4]

G7

G6

GO[8]

G15

GO[11]

G21

G14

G20

GO[12]

G23

GO[15]

G22

G29

G28

GO[16]

G31

G30

GO[19]

G37

G36

GO[20]

G39

G38

GO[23]

G45

G44

GO[24]

G47

G46

GO[27]

G53

G52

GO[28]

G55

G54

GO[31]

G61

G60

GO[32]

G63

G62

GO[35]

G69

G68

GO[36]

G71

G70

GO[39]

G77

G76

GO[40]

G79

G78

GO[43]

G85

G84

GO[44]

G87

G86

GO[47]

G93

G92

GO[48]

G95

G94

GO[51]

G101

G100

GO[52]

G103

G102

GO[55]

G109

G108

GO[56]

G111

G110

GO[59]

G117

G116

GO[60]

G119

G118

GO[63]

G125

G124

GO[64]

G127

G126

Upper

Lower

Upper

Lower

AO[3]

G133

G132

AO[4]

G135

G134

AO[7]

G141

G140

AO[8]

G143

G142

AO[11]

G149

G148

AO[12]

G151

G150

AO[15]

G157

G156

AO[16]

G159

G158

AO[19]

G165

G164

AO[20]

G167

G166

AO[23]

G173

G172

AO[24]

G175

G174

AO[27]

G181

G180

AO[28]

G183

G182

AO[31]

G189

G188

AO[32]

G191

G190

AO[35]

G197

G196

AO[36]

G199

G198

AO[39]

G205

G204

AO[40]

G207

G206

AO[43]

G213

G212

AO[44]

G215

G214

AO[47]

G221

G220

AO[48]

G223

G222

AO[51]

G229

G228

AO[52]

G231

G230

AO[55]

G237

G236

AO[56]

G239

G238

AO[59]

G245

G244

AO[60]

G247

G246

AO[63]

G253

G252

AO[64]

G255

G254

Upper

Lower

Upper

Lower

GO[3]

G5

G4

GO[4]

G7

G6

GO[7]

G13

G12

GO[8]

G15

G14

GO[11]

G21

G20

GO[12]

G23

G22

GO[15]

G29

G28

GO[16]

G31

G30

GO[19]

G37

G36

GO[20]

G39

G38

GO[23]

G45

G44

GO[24]

G47

G46

GO[27]

G53

G52

GO[28]

G55

G54

GO[31]

G61

G60

GO[32]

G63

G62

GO[35]

G69

G68

GO[36]

G71

G70

GO[39]

G77

G76

GO[40]

G79

G78

GO[43]

G85

G84

GO[44]

G87

G86

GO[47]

G93

G92

GO[48]

G95

G94

GO[51]

G101

G100

GO[52]

G103

G102

GO[55]

G109

G108

GO[56]

G111

G110

GO[59]

G117

G116

GO[60]

G119

G118

GO[63]

G125

G124

GO[64]

G127

G126

Upper

Lower

Upper

Lower

AO[3]

G133

G132

AO[4]

G135

G134

AO[7]

G141

G140

AO[8]

G143

G142

AO[11]

G149

G148

AO[12]

G151

G150

AO[15]

G157

G156

AO[16]

G159

G158

AO[19]

G165

G164

AO[20]

G167

G166

AO[23]

G173

G172

AO[24]

G175

G174

AO[27]

G181

G180

AO[28]

G183

G182

AO[31]

G189

G188

AO[32]

G191

G190

AO[35]

G197

G196

AO[36]

G199

G198

AO[39]

G205

G204

AO[40]

G207

G206

AO[43]

G213

G212

AO[44]

G215

G214

AO[47]

G221

G220

AO[48]

G223

G222

AO[51]

G229

G228

AO[52]

G231

G230

AO[55]

G237

G236

AO[56]

G239

G238

AO[59]

G245

G244

AO[60]

G247

G246

AO[63]

G253

G252

AO[64]

G255

G254

alarm occurs. For example, user alarm 1 occurs when G1008.0(UALM1) is 1. If a reset occurs when this area is 1, the user alarm occurs again, and the alarm cannot be

m occurs again, and the alarm cannot be cleared.

R0000.0-R1499.7

R9000.0-R9117.7

K0.0-K19.7

D0-D2999

T0-T79

C0-C79

G0G127
GO[1]GO[64]
(Group
Outputs)

This area is the general internal relay. The value of the R area becomes 0 when
the controller is turned off whether the power failure recovery is enabled or
disabled.
The R area is accessed at DO[11001]DO[23000].
You can assign the R area to DI, DO, GI, GO, UI and UO as rack 33, slot 2
start point 112000.

This area is the PMC system area.


This area does not correspond to any I/O port, and this area can not be assigned
to I/O port.

This area is the keep relay. The value of the K area is kept when the controller
is turned off whether power failure recovery is enabled or disabled.

The K area is accessed at DO[10001]DO[10160].


You can assign the K area to DI, DO, GI, GO, UI and UO as rack 33, slot 1
start point 1160.

The D area is the Data Table. The value of the D area is kept when the
controller is turned off whether power failure recovery is enabled or disabled.
The D area can be accessed as GO[10001]GO[11500]. Every GO port
corresponds to two bytes of the D area.
You can assign the D area to DI, DO, GI, GO, UI and UO as rack 33, slot 3
start point 124000.

The T area is for the timer data of the function command TMR(SUB3). The
value of the T area is kept when the controller is turned off whether power
failure recovery is enabled or disabled.
You can read and set timer data in Timer menu, and you do not need to read
and set the T area directly.
You can assign the T area to DI, DO, GI, GO, UI and UO as rack 33, slot 4
start point 1640. The correspondence of the T area address to the start point
The C area is for the preset data and current data of the function command
CTR(SUB5). The value of the C area is kept when the controller is turned off
whether power failure recovery is enabled or disabled.
You can read and set preset data and current data in the Counter menu, and you
do not need to read and set the C area directly.
You can assign the C area to DI, DO, GI, GO, UI and UO as rack 33, slot 5
start point 1640.

ROBOT Controller I/O Logic Address/PMC Bit Conversion Calculator


INPUT
INPUT
ROBOT Controller
Comment
PMC Bit
PMC
I/O Logic Address
Bit
Enter Source value in yellow box
(DI[x]) (x: 11024)
(X) (x: 0.0-127.7)

DI

Enter Source value in yellow box


(DO[x]) (x: 11024)
(Y) (Y: 0.0-127.7)

DO

Enter Source value in yellow box


(UI[x]) (x: 1-40)

UI

(X) (x: 1000.0-1004.7)

Enter Source value in yellow box


(UO[x]) (x: 140)
(Y) (Y: 1000.0-1004.7)

UO

Enter Source value in yellow box


(RI[x]) (x: 1-40)

RI

(X) (x: 1020.0-1024.7)


Enter Source value in yellow box
(RO[x]) (x: 140)
(Y) (Y: 1020.0-1024.7)

RO
1

TP
PROGRAM
Enter Source value in yellow box
(DO[x]) (x:
11001-23000)
(R[x]) (x: 0.0Enter Source value in yellow box
(DO[x]) (x:
10001-10160)
(K[x]) (x: 0.0Enter Source value in yellow box
(GO[x]) (x:
10001-11500)
DUpper (X) (x(Odd):1~2999)
DLower (X)
(x(Even):0~2998)

DO
11001

DO
10001

GO
10001

0000.0

0002.1

0000.0

0002.3

1000.0

1000.0

1000.0

1000.0

1020.0

1020.0

1020.0

1020.0

PMC
PROGRAM

PMC
PROGRAM

0000.0

0002.1

0000.0

0000.0

D(Lower)

D(Lower)

D(Upper)

D(Upper)

Ver.1.0

ROBOT Controller
I/O Logic Address

DI
18

DO
20

UI
1

UO
1

RI
1

RO
1
TP
PROGRAM

DO
11018

DO
10001

GO
10001

Address

Name

Function

F1000.0

CMDENB

Same as CMDENBL in UOP

F1000.1

SYSRDY

Same as SYSRDY in UOP

F1000.2

PRGRUN

Same as PROGRUN in UOP

F1000.3

PAUSED

Same as PAUSED in UOP

F1000.4

HELD

Same as HELD in UOP

F1000.5

FAULT

Same as FAULT in UOP

F1000.6

ATPRCH

Same as ATPERCH in UOP

F1000.7

TPENBL

Same as TPENBL in UOP

F1001.0

BATALM

Same as BATALM in UOP

F1001.1

BUSY

Same as BUSY in UOP

F1001.2

SNO1

Same as ACK1/SNO1 in UOP

F1001.3

SNO2

Same as ACK2/SNO2 in UOP

F1001.4

SNO3

Same as ACK3/SNO3 in UOP

F1001.5

SNO4

Same as ACK4/SNO4 in UOP

F1001.6

SNO5

Same as SNO5 in UOP

F1001.7

SNO6

Same as SNO6 in UOP

F1002.0

SNO7

Same as SNO7 in UOP

F1002.1

SNO8

Same as SNO8 in UOP

F1002.2

SNACK

Same as SNACK in UOP


Reserved

F1002.3 F1007.7
F1008.0

STEP

This become 1 in single step mode

F1008.1

SYSRST

When reset occurs, this becomes 1 during only one scan. Note: This also becomes 1 at the next scan after G10

F1008.2

TPESTP

When the teach pendant ESTOP button is pressed, this becomes 1. This shows the teach pendant ESTOP b

F1008.3

DEADMN

When the DEADMAN switch is pressed, this becomes 1. This shows the DEADMAN switch status only. Timing

F1008.4

NO_UOP

When UI is not assigned to any I/O device or I/O device that is assigned to UI does not work, this becomes 1.

F1008.5

UOPDSB

When Enable UI signals in system configuration menu is


FALSE, this becomes 1.
Reserved

F1008.6
F1255.7

Correspondence between GI and PMC address

F0F127--GI[1]
GI[64] (Group
Inputs)

Upper

Lower

Upper

Lower

GI[1]

F1

F0

GI[2]

F3

F2

GI[5]

F9

F8

GI[6]

F11

F10

GI[9]

F17

F16

GI[10]

F19

F18

GI[13]

F25

F24

GI[14]

F27

F26

GI[17]

F33

F32

GI[18]

F35

F34

GI[21]

F41

F40

GI[22]

F43

F42

GI[25]

F49

F48

GI[26]

F51

F50

GI[29]

F57

F56

GI[30]

F59

F58

GI[33]

F65

F64

GI[34]

F67

F66

GI[37]

F73

F72

GI[38]

F75

F74

GI[41]

F81

F80

GI[42]

F83

F82

GI[45]

F89

F88

GI[46]

F91

F90

GI[49]

F97

F96

GI[50]

F99

F98

GI[53]

F105

F104

GI[54]

F107

F106

GI[57]

F113

F112

GI[58]

F115

F114

GI[61]

F121

F120

GI[62]

F123

F122

Correspondence between AI and PMC address

F128F255--AI[1]
AI[64] (Analog
Inputs)

F1000F1255

Upper

Lower

Upper

Lower

AI[1]

F129

F128

AI[2]

F131

F130

AI[5]

F137

F136

AI[6]

F139

F138

AI[9]

F145

F144

AI[10]

F147

F146

AI[13]

F153

F152

AI[14]

F155

F154

AI[17]

F161

F160

AI[18]

F163

F162

AI[21]

F169

F168

AI[22]

F171

F170

AI[25]

F177

F176

AI[26]

F179

F178

AI[29]

F185

F184

AI[30]

F187

F186

AI[33]

F193

F192

AI[34]

F195

F194

AI[37]

F201

F200

AI[38]

F203

F202

AI[41]

F209

F208

AI[42]

F211

F210

AI[45]

F217

F216

AI[46]

F219

F218

AI[49]

F225

F224

AI[50]

F227

F226

AI[53]

F233

F232

AI[54]

F235

F234

AI[57]

F241

F240

AI[58]

F253

F242

AI[61]

F249

F248

AI[62]

F251

F250

This area is used to interface between the robot controller system and the PMC
program. The PMC program can read the robot controller system status by
using this area.

also becomes 1 at the next scan after G1000.4(RESET) turns on. If the PMC program connects F1008.1(SYSRESET) to G1000.4(RESET), a reset occurs forever.

1. This shows the teach pendant ESTOP button status only. Timing is different from FAULT (F1000.5).
the DEADMAN switch status only. Timing is different from FAULT (F1000.5).

ned to UI does not work, this becomes 1.

d PMC address
Upper

Lower

GI[3]

F5

F4

GI[4]

Upper
F7

GI[7]

F13

F12

GI[8]

F15

GI[11]

F21

F20

GI[12]

F23

GI[15]

F29

F28

GI[16]

F31

GI[19]

F37

F36

GI[20]

F39

GI[23]

F45

F44

GI[24]

F47

GI[27]

F53

F52

GI[28]

F55

GI[31]

F61

F60

GI[32]

F63

GI[35]

F69

F68

GI[36]

F71

GI[39]

F77

F76

GI[40]

F79

GI[43]

F85

F84

GI[44]

F87

GI[47]

F93

F92

GI[48]

F95

GI[51]

F101

F100

GI[52]

F103

GI[55]

F109

F108

GI[56]

F111

GI[59]

F117

F116

GI[60]

F119

GI[63]

F125

F124

GI[64]

F127

and the PMC

Upper

Lower

Upper

Lower

AI[3]

F133

F132

AI[4]

F135

F134

AI[7]

F141

F140

AI[8]

F143

F142

AI[11]

F149

F148

AI[12]

F151

F150

AI[15]

F157

F156

AI[16]

F159

F158

AI[19]

F165

F164

AI[20]

F167

F166

AI[23]

F173

F172

AI[24]

F175

F174

AI[27]

F181

F180

AI[28]

F183

F182

AI[31]

F189

F188

AI[32]

F191

F190

AI[35]

F197

F196

AI[36]

F199

F198

AI[39]

F205

F204

AI[40]

F207

F206

AI[43]

F213

F212

AI[44]

F215

F214

AI[47]

F221

F220

AI[48]

F223

F222

AI[51]

F229

F228

AI[52]

F231

F230

AI[55]

F237

F236

AI[56]

F239

F238

AI[59]

F245

F244

AI[60]

F247

F246

AI[63]

F253

F252

AI[64]

F255

F254

0.4(RESET), a reset occurs forever.

Lower
F6
F14
F22
F30
F38
F46
F54
F62
F70
F78
F86
F94
F102
F110
F118
F126

Type

Description

Range

X0127

Corresponds to DI[11024]

X0X127

X10001004

Corresponds to UI[140]

X1000X1039

X10051009

Corresponds to WI[140]

X10101014

Corresponds to WSTKI[140]

X10151019

Corresponds to LDI[140]

X10201024

Corresponds to RI[140]

X10251026

Corresponds to SI[015]

Type

Description

Range

Y0127

Corresponds to DO[11024]

Y0Y127

Y10001004

Corresponds to UO[140]

Y1000Y1039

Y10051009

Corresponds to WO[140]

Y10101014

Corresponds to WSTKO[140]

Y10151019

Corresponds to LDO[140]

Y10201024

Corresponds to RO[140]

Y10251026

Corresponds to SO[015]

Type

Description

Range

F0127

Corresponds to GI[164]

F0F255

F128255

Corresponds to AI[164]

F1000F1255

F10001255

System interface input

Type

Description

Range

G0127

Corresponds to GO[164]

G0G255

G128255

Corresponds to AO[164]

G1000G1255

G10001255

System interface output

Type

Description

General internal relay

Description

Subprogram number

Range
T0T79

Description

Range
D0D2999

Description

Label number
Type

Range
K0K19

Data Table
Type

Description

Variable timer
Type

Range
C0C79

Keep relay
Type

Description

Counter
Type

R0R1499
R9000R9117

Type
C

Range

Range
L1L9999

Description

Range
P1P512

HMI / PMC Bit Conversion Calculator


Enter value in yellow box when converting from
Quick Panel address (%Mx)

%M

DO

5003

625.2

16003

Enter value in yellow box when converting from


PMC address (Ra.b) (R0.0-R1499.7)

DO

%M

1.0

11009

Enter value in yellow box when converting from


robot Digital output (DO[x]) (x: 11001-23000)

DO

%M

11088

88

10.7

Enter value in yellow box when converting from


robot Digital input (DI[x]) (x: 1-1024)

DI

%Q

52

52

6.3

Enter value in yellow box when converting from


robot Digital input (DO[x]) (x: 1-1024)

DO

%I

66
2

66

8.1

Enter value in yellow box when converting from


robot user input (UI[x]) (x: 1-40)

UI

%Q

6002

1000.1

Enter value in yellow box when converting from


robot user output (UO[x]) (x: 1-40)

UO

%I

6001

1000

Enter value in yellow box when converting from


PMC Data table address (Dx) (x: 0-2998)
(each data table address takes up 2 addresses and
is addressed by even numbers)

%AI

GO

40

4021

10021

Enter value in yellow box when converting from


PMC address (Ka.b) (K0.0-K16.7)

DO

%I

11.0

10089

10089

Enter value in yellow box when converting from


robot input (RI[x]) (x: 1-40)

RI

%Q

40

5040

1024.7

Enter value in yellow box when converting from


robot output (RO[x]) (x: 1-40)

RO

%I

40

5040

1024.7

Enter value in yellow box when converting from


SOP input (SI[x]) (x: 1-16)

SI

%Q

16

7016

1026.7

SO

%I

16

7016

1026.7

Enter value in yellow box when converting from


SOP output (SO[x]) (x: 1-16)

Enter value in yellow box when converting from


WELD input (WI[x]) (x: 1-40)

WI

%Q

8001

1005.0

Enter value in yellow box when converting from


WELD output (WO[x]) (x: 1-40)

WO

%I

8001

1005.0

Enter value in yellow box when converting from


Wire stick input (WSI[x]) (x: 1-40)

WSI

%Q

8401

1010.0

Enter value in yellow box when converting from


Wire stick output (WSO[x]) (x: 1-40)

WSO

%I

8401

1010.0

GI

%AQ

Fa
(upper byte)

GO

%AI

Ga
(upper byte)

AI

%AQ

Fa
(upper byte)

4021

5021

8169

AO

%AI

Ga
(upper byte)

1001

129

Enter value in yellow box when converting from


Group input (GI[x]) (x: 1-64)

Enter value in yellow box when converting from


Group output (GO[x]) (x: 1-64)

Enter value in yellow box when converting from


Analog input (AI[x]) (x: 1-64)

Enter value in yellow box when converting from


Analog output (AO[x]) (x: 1-64)

Fb
(lower byte)
0

Gb
(lower byte)
0

Fb
(lower byte)
8168

Gb
(lower byte)
128