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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]
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]
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]
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]
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]
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]
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]
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.
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
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.
Name
G1000.0
IMSTP
G1000.1
HOLD
G1000.2
SFSPD
G1000.3
CSTOPI
G1000.4
RESET
G1000.5
START
G1000.6
HOME
G1000.7
ENBLE
G1001.0
PNS1
G1001.1
PNS2
G1001.2
PNS3
G1001.3
PNS4
G1001.4
PNS5
G1001.5
PNS6
G1001.6
PNS7
G1001.7
PNS8
G1002.0
PNSTRB
G1002.1
PSTART
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
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 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 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.
DI
DO
UI
UO
RI
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
F1000.1
SYSRDY
F1000.2
PRGRUN
F1000.3
PAUSED
F1000.4
HELD
F1000.5
FAULT
F1000.6
ATPRCH
F1000.7
TPENBL
F1001.0
BATALM
F1001.1
BUSY
F1001.2
SNO1
F1001.3
SNO2
F1001.4
SNO3
F1001.5
SNO4
F1001.6
SNO5
F1001.7
SNO6
F1002.0
SNO7
F1002.1
SNO8
F1002.2
SNACK
F1002.3 F1007.7
F1008.0
STEP
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
F1008.6
F1255.7
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
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).
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
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
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
Type
Description
Range
G0127
Corresponds to GO[164]
G0G255
G128255
Corresponds to AO[164]
G1000G1255
G10001255
Type
Description
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
%M
DO
5003
625.2
16003
DO
%M
1.0
11009
DO
%M
11088
88
10.7
DI
%Q
52
52
6.3
DO
%I
66
2
66
8.1
UI
%Q
6002
1000.1
UO
%I
6001
1000
%AI
GO
40
4021
10021
DO
%I
11.0
10089
10089
RI
%Q
40
5040
1024.7
RO
%I
40
5040
1024.7
SI
%Q
16
7016
1026.7
SO
%I
16
7016
1026.7
WI
%Q
8001
1005.0
WO
%I
8001
1005.0
WSI
%Q
8401
1010.0
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
Fb
(lower byte)
0
Gb
(lower byte)
0
Fb
(lower byte)
8168
Gb
(lower byte)
128