FANUC Series 30+-MODEL B

FANUC Series 31+-MODEL B

FANUC Series 32+-MODEL B
FANUC Series 35+-MODEL B

PMC
PMC
PROGRAMMING MANUAL

B-64513EN/01
 • No part of this manual may be reproduced in any form.
• All specifications and designs are subject to change without notice.

The products in this manual are controlled based on Japan’s “Foreign Exchange and
Foreign Trade Law”. The export of Series 30i/300i/300is-MODEL A, Series
31i/310i/310is-MODEL A5 from Japan is subject to an export license by the government of
Japan. Other models in this manual may also be subject to export controls.
Further, re-export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.

In this manual we have tried as much as possible to describe all the various matters.
However, we cannot describe all the matters which must not be done, or which cannot be
done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in this manual should be
regarded as ”impossible”.
B-64513EN/01 DEFINITION OF WARNING, CAUTION, AND NOTE

DEFINITION OF WARNING, CAUTION, AND NOTE

This manual includes safety precautions for protecting the user and preventing damage to the machine.
Precautions are classified into Warning and Caution according to their bearing on safety. Also,
supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly
before attempting to use the machine.

WARNING
Applied when there is a danger of the user being injured or when there is a
danger of both the user being injured and the equipment being damaged if the
approved procedure is not observed.

CAUTION
Applied when there is a danger of the equipment being damaged, if the
approved procedure is not observed.

NOTE
The Note is used to indicate supplementary information other than Warning and
Caution.

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

s-1
B-64513EN/01 TABLE OF CONTENTS

TABLE OF CONTENTS
DEFINITION OF WARNING, CAUTION, AND NOTE .................................s-1
1 OVERVIEW OF PMC .............................................................................. 1
1.1 WHAT IS PMC?............................................................................................. 1
1.1.1 Basic Configuration of PMC ....................................................................................1
1.1.2 I/O Signals of PMC ..................................................................................................1
1.1.3 PMC Signal Addresses .............................................................................................2
1.2 WHAT IS LADDER LANGUAGE? ................................................................. 5
1.2.1 Ladder Diagram Format ...........................................................................................5
1.2.2 Signal Name (Symbol Name)...................................................................................5
1.2.3 Comment ..................................................................................................................6
1.2.4 Graphic Symbols of Relays and Coils......................................................................6
1.2.5 Line Number and Net Number .................................................................................6
1.2.6 Difference Between Relay Sequence Circuit and Ladder Sequence Program .........7
1.2.7 Specification of Extended Symbol and Comment....................................................8
1.3 SEQUENCE PROGRAM CREATION PROCEDURE .................................. 11
1.3.1 Determining Specification......................................................................................11
1.3.2 Creating Ladder Diagram .......................................................................................11
1.3.3 Editing Sequence Program .....................................................................................11
1.3.4 Transferring and Writing Sequence Program to PMC ...........................................12
1.3.5 Checking Sequence Program..................................................................................13
1.3.6 Storage and Management of Sequence Program....................................................13
1.4 EXECUTION OF SEQUENCE PROGRAM ................................................. 14
1.4.1 Execution Procedure of Sequence Program ...........................................................15
1.4.2 Repetitive Operation...............................................................................................16
1.4.3 Processing Priority (1st Level, 2nd Level, and 3rd Level).....................................16
1.4.4 Structured Sequence Program ................................................................................18
1.4.4.1 Implementation .................................................................................................. 18
1.4.4.2 Subprogramming and nesting ............................................................................ 23
1.4.4.3 Notes on using subroutines................................................................................ 27
1.4.5 Synchronization Processing of I/O Signals ............................................................29
1.4.6 Interlock .................................................................................................................34
1.4.7 Notes on I/O Signals Updated by Other Than PMC ..............................................34
1.5 MULTI-PATH PMC FUNCTION................................................................... 35
1.5.1 Execution Order and Execution Time Percentage..................................................37
1.5.2 Interface Between CNC and PMC .........................................................................39
1.5.3 Multi-Path PMC Interface ......................................................................................40
1.5.4 Common PMC Memory Mode of Multi-Path PMC...............................................41
1.6 Communication Method for External I/O Device .......................................... 43
1.6.1 I/O Link i and I/O Link ..........................................................................................43
1.6.2 Setting I/O Address for I/O Link i..........................................................................44
1.6.3 Setting I/O Address for I/O Link............................................................................45

2 PMC SPECIFICATIONS........................................................................ 47
2.1 SPECIFICATIONS....................................................................................... 47
2.1.1 Basic Specifications ...............................................................................................47
2.1.2 Total Ladder Steps of Multi-path PMC..................................................................50
2.1.3 Determination of PMC Memory Type ...................................................................51
2.1.4 Program Capacity ...................................................................................................52
2.1.5 Used Memory Size of Sequence Program..............................................................53
c-1
TABLE OF CONTENTS B-64513EN/01

2.1.6 PMC Addresses ......................................................................................................54

2.1.7 Basic Instructions ...................................................................................................56
2.1.8 Functional Instructions (Arranged in Sequence of Instruction Group) ..................57
2.1.9 Functional Instructions (Arranged in Sequence of SUB No.) ................................64
2.2 PMC SIGNAL ADDRESSES........................................................................ 70
2.2.1 Addresses for Signals Between the PMC and CNC (F, G) ....................................70
2.2.2 Addresses of Signals Between the PMC and Machine (X, Y) ...............................71
2.2.3 Internal Relay Addresses (R)..................................................................................73
2.2.4 System Relay Addresses (R9000, Z0)....................................................................74
2.2.5 Extra Relay Addresses (E)......................................................................................79
2.2.6 Message Display Addresses (A).............................................................................84
2.2.7 Timer Addresses (T)...............................................................................................85
2.2.8 Counter Addresses (C) ...........................................................................................86
2.2.9 Keep Relay Addresses (K) .....................................................................................88
2.2.10 Nonvolatile Memory Control Address (K).............................................................89
2.2.11 System Keep Relay Addresses (K).........................................................................90
2.2.12 Data Table Addresses (D) ......................................................................................97
2.2.13 Addresses for Multi-path PMC Interface (M, N) .................................................102
2.2.14 Subprogram Number Addresses (P) .....................................................................102
2.2.15 Label Number Addresses (L) ...............................................................................102
2.3 PMC PARAMETERS ................................................................................. 103
2.3.1 Cautions for Reading from/Writing to Nonvolatile Memory ...............................104
2.3.2 PMC Parameter Format........................................................................................105
2.4 PARAMETERS FOR THE PMC SYSTEM................................................. 113
2.4.1 Setting Parameters ................................................................................................113
2.4.2 PMC System Parameters ......................................................................................115
2.4.3 CNC Parameters Related to the PMCs .................................................................116
2.5 COMPATIBILITY BETWEEN PMC MEMORY TYPE ................................ 129
2.5.1 Compatibility between PMC Memory-A and PMC Memory-B ..........................129
2.5.2 Compatibility between PMC Memory-B and PMC Memory-C/D.......................129
2.5.3 Compatibility with PMC Memory-C and PMC Memory-D ................................130
2.6 COMPATIBILITY WITH CONVENTIONAL MODELS ................................ 131
2.6.1 Compatibility with Series 30i/31i/32i-A PMC.....................................................131
2.6.2 Compatibility between 30i/31i/32i-A DCSPMC and 30i/31i/32i/35i-B
DCSPMC..............................................................................................................131
2.6.3 Compatibility with the PMCs for the 16i/18i/21i-B.............................................132
2.6.4 Compatibility with the PMCs for the 15i-A/B .....................................................133
2.6.5 Compatibility with series 0i-D PMC....................................................................134
2.6.6 Compatibility between 0i-D DCSPMC and 30i/31i/32i/35i-B DCSPMC ...........134
2.6.7 Compatibility between 35i-B PMC and PMC-SB5/SB6 for Power Mate i-D .....135
2.6.8 The Convert Method of Source Program Using FANUC LADDER-III..............137
2.7 PMC MESSAGE MULTI-LANGUAGE DISPLAY FUNCTION.................... 139
2.7.1 Usage of PMC Message Multi-Language Display Function................................139
2.7.2 Multi-Language Display.......................................................................................141
2.7.3 Maximum Number of Message ............................................................................142
2.7.4 Display of European Characters...........................................................................143
2.7.5 Display of Simplified Chinese and Korean (Hangul Characters).........................144
2.8 BATTERY BACKUP DATA ........................................................................ 146
3 COMMUNICATION WITH I/O DEVICE ............................................... 148
3.1 I/O Link i and I/O Link ................................................................................ 148
3.2 WHAT IS THE I/O LINK?........................................................................... 149
3.2.1 Configuration of an I/O Link................................................................................150
c-2
B-64513EN/01 TABLE OF CONTENTS
3.2.2 Numbers of Input Points and of Output Points of the I/O Link ...........................151
3.2.3 Assignment Method .............................................................................................152
3.2.3.1 Assignment Method for I/O Unit-MODEL A ................................................. 157
3.2.3.2 Assignment Method for I/O Unit-MODEL B.................................................. 159
3.2.3.3 Assignment Method for Distribution I/O Connection Panel I/O Modules and
Distribution I/O Operator's Panel I/O Modules ............................................... 161
3.2.3.4 Assignment Method for the Power Mate ......................................................... 166
3.2.3.5 Assignment Method for I/O Link Connection Units ....................................... 167
3.2.3.6 Assignment Method for a Handy Machine Operator's Panel........................... 169
3.2.3.7 Assignment Method for an AS-i Converter Unit............................................. 170
3.2.3.8 FS0 Operator's Panel ....................................................................................... 171
3.2.4 Setting I/O Address For I/O Link Channel...........................................................179
3.2.4.1 Outline ............................................................................................................. 179
3.2.4.2 Assignment Method......................................................................................... 179
3.2.4.3 Dual Assignment of I/O Link Channel ............................................................ 180
3.2.5 Selectable I/O Link Assignment Function ...........................................................184
3.2.5.1 Outline ............................................................................................................. 184
3.2.5.2 Example ........................................................................................................... 186
3.2.5.3 Notes................................................................................................................ 190
3.3 WHAT IS I/O Link i ? ................................................................................. 191
3.3.1 Configuration of I/O Link i ..................................................................................192
3.3.2 Input / Output Points ............................................................................................193
3.3.3 Update Cycle of Signals .......................................................................................194
3.3.4 Safety I/O .............................................................................................................196
3.3.5 I/O Link i Selectable Assignment Data Function.................................................197
3.3.6 Assignment Method of I/O Link i ........................................................................199
3.3.7 Directions for Use of I/O Link i in Dual Check Safety Function.........................203
3.4 I/O Link / I/O Link i CONNECTION CHECK FUNCTION ........................... 205

4 LADDER LANGUAGE ........................................................................ 206

4.1 BASIC INSTRUCTIONS ............................................................................ 206
4.1.1 Details of the Basic Instructions...........................................................................208
4.1.2 RD Instruction ......................................................................................................210
4.1.3 RD.NOT Instruction .............................................................................................211
4.1.4 WRT Instruction...................................................................................................212
4.1.5 WRT.NOT Instruction..........................................................................................213
4.1.6 AND Instruction ...................................................................................................214
4.1.7 AND.NOT Instruction..........................................................................................215
4.1.8 OR Instruction ......................................................................................................216
4.1.9 OR.NOT Instruction .............................................................................................217
4.1.10 RD.STK Instruction..............................................................................................218
4.1.11 RD.NOT.STK Instruction ....................................................................................219
4.1.12 AND.STK Instruction ..........................................................................................220
4.1.13 OR.STK Instruction..............................................................................................221
4.1.14 SET Instruction.....................................................................................................223
4.1.15 RST Instruction ....................................................................................................224
4.1.16 RDPT Instruction .................................................................................................225
4.1.17 ANDPT Instruction ..............................................................................................227
4.1.18 ORPT Instruction .................................................................................................228
4.1.19 RDPT.STK Instruction .........................................................................................229
4.1.20 RDNT Instruction.................................................................................................230
4.1.21 ANDNT Instruction..............................................................................................232
4.1.22 ORNT Instruction.................................................................................................233
4.1.23 RDNT.STK Instruction ........................................................................................234
4.1.24 PUSH Instruction / POP Instruction.....................................................................235
c-3
TABLE OF CONTENTS B-64513EN/01

4.2 FUNCTIONAL INSTRUCTIONS ................................................................ 236

4.2.1 Format of the Functional Instructions ..................................................................236
4.3 TIMER ....................................................................................................... 241
4.3.1 TMR (On-delay Timer: SUB 3) ...........................................................................242
4.3.2 TMRB (Fixed On-delay Timer: SUB 24) ............................................................244
4.3.3 TMRBF (Fixed Off-delay Timer: SUB 77)..........................................................246
4.3.4 TMRC (On-delay Timer: SUB 54).......................................................................248
4.3.5 TMRST (Stop Watch Timer (1ms Accuracy) : SUB 221)
TMRSS (Stop Watch Timer (1sec Accuracy) : SUB 222)...................................251
4.4 COUNTER ................................................................................................. 255
4.4.1 CTR (Counter: SUB 5).........................................................................................256
4.4.2 CTRB (Fixed Counter: SUB 56) ..........................................................................261
4.4.3 CTRC (Counter: SUB 55) ....................................................................................263
4.4.4 CTRD (Counter (4 Bytes Length) : SUB 223).....................................................265
4.5 DATA TRANSFER..................................................................................... 268
4.5.1 MOVB (Transfer of 1 Byte: SUB 43) ..................................................................269
4.5.2 MOVW (Transfer of 2 Bytes: SUB 44) ...............................................................270
4.5.3 MOVD (Transfer of 4 Bytes: SUB 47) ................................................................271
4.5.4 MOVN (Transfer of an Arbitrary Number of Bytes: SUB 45) ............................272
4.5.5 MOVE (Logical Product Transfer: SUB 8)..........................................................273
4.5.6 MOVOR (Data Transfer After Logical Sum: SUB 28)........................................275
4.5.7 XMOVB (Binary Index Modifier Data Transfer: SUB 35) .................................276
4.5.8 XMOV (Indexed Data Transfer: SUB 18) ...........................................................284
4.5.9 MOVBT (Bit Transfer: SUB 224)........................................................................286
4.5.10 SETNB (Data Setting (1 Byte Length) : SUB 225)
SETNW (Data Setting (2 Bytes Length) : SUB 226)
SETND (Data Setting (4 Bytes Length) : SUB 227)............................................289
4.5.11 XCHGB (Data Exchange (1 Byte Length) : SUB 228)
XCHGW (Data Exchange (2 Bytes Length) : SUB 229)
XCHGD (Data Exchange (4 Bytes Length) : SUB 230) ......................................291
4.5.12 SWAPW (Data Swap (2 Bytes Length) : SUB 231)
SWAPD (Data Swap (4 Bytes Length) : SUB 232) .............................................293
4.5.13 DSCHB (Binary Data Search: SUB 34) ...............................................................296
4.5.14 DSCH (Data Search: SUB 17) .............................................................................299
4.6 TABLE DATA............................................................................................. 301
4.6.1 TBLRB (Reading Data from Table (1 Byte Length) : SUB 233)
TBLRW (Reading Data from Table (2 Bytes Length) : SUB 234)
TBLRD (Reading Data from Table (4 Bytes Length) : SUB 235).......................302
4.6.2 TBLRN (Reading Data from Table (Arbitrary Bytes Length) : SUB 236)..........305
4.6.3 TBLWB (Writing Data to Table (1 Byte Length) : SUB 237)
TBLWW (Writing Data to Table (2 Bytes Length) : SUB 238)
TBLWD (Writing Data to Table (4 Bytes Length) : SUB 239) ...........................308
4.6.4 TBLWN (Writing Data to Table (Arbitrary Bytes Length) : SUB 240) ..............311

c-4
B-64513EN/01 TABLE OF CONTENTS
4.6.5 DSEQB (Searching Data from Table(=)(1 Byte Length):SUB 241)
DSEQW (Searching Data from Table(=)(2 Bytes Length):SUB 242)
DSEQD (Searching Data from Table(=)(4 Bytes Length):SUB 243)
DSNEB (Searching Data from Table(≠)(1 Byte Length):SUB 244)
DSNEW (Searching Data from Table(≠)(2 Bytes Length):SUB 245)
DSNED (Searching Data from Table(≠)(4 Bytes Length):SUB 246)
DSGTB (Searching Data from Table(>)(1 Byte Length):SUB 247)
DSGTW (Searching Data from Table(>)(2 Bytes Length):SUB 248)
DSGTD (Searching Data from Table(>)(4 Bytes Length):SUB 249)
DSLTB (Searching Data from Table(<)(1 Byte Length):SUB 250)
DSLTW (Searching Data from Table(<)(2 Bytes Length):SUB 251)
DSLTD (Searching Data from Table(<)(4 Bytes Length):SUB 252)
DSGEB (Searching Data from Table( )(1 Byte Length):SUB 253)
DSGEW (Searching Data from Table( )(2 Bytes Length):SUB 254)
DSGED (Searching Data from Table( )(4 Bytes Length) :SUB 255)
DSLEB (Searching Data from Table( )(1 Byte Length) :SUB 256)
DSLEW (Searching Data from Table( )(2 Bytes Length) :SUB 257)
DSLED (Searching Data from Table( )(4 Bytes Length) :SUB 258)................314
4.6.6 DMAXB (Maximum Data (1 Byte Length): SUB 259)
DMAXW (Maximum Data (2 Bytes Length) : SUB 260)
DMAXD (Maximum Data (4 Bytes Length) : SUB 261) ....................................318
4.6.7 DMINB (Minimum Data (1 Byte Length): SUB 262)
DMINW (Minimum Data (2 Bytes Length): SUB 263)
DMIND (Minimum Data (4 Bytes Length): SUB 264) .......................................321
4.7 COMPARISON .......................................................................................... 324
4.7.1 Signed Binary Comparison (=)
EQB (1 Byte Length: SUB 200)
EQW (2 Bytes Length: SUB 201)
EQD (4 Bytes Length: SUB 202).........................................................................325
4.7.2 Signed Binary Comparison (≠)
NEB (1 Byte Length: SUB 203)
NEW (2 Bytes Length: SUB 204)
NED (4 Bytes Length: SUB 205).........................................................................327
4.7.3 Signed Binary Comparison (>)
GTB (1 Byte Length: SUB 206)
GTW (2 Bytes Length: SUB 207)
GTD (4 Bytes Length: SUB 208).........................................................................329
4.7.4 Signed Binary Comparison (<)
LTB (1 Byte Length: SUB 209)
LTW (2 Bytes Length: SUB 210)
LTD (4 Bytes Length: SUB 211) .........................................................................331
4.7.5 Signed Binary Comparison ( )
GEB (1 Byte Length: SUB 212)
GEW (2 Bytes Length: SUB 213)
GED (4 Bytes Length: SUB 214).........................................................................333
4.7.6 Signed Binary Comparison ( )
LEB (1 Byte Length: SUB 215)
LEW (2 Bytes Length: SUB 216)
LED (4 Bytes Length: SUB 217) .........................................................................335
4.7.7 Signed Binary Comparison (Range)
RNGB (1 Byte Length: SUB 218)
RNGW (2 Bytes Length: SUB 219)
RNGD (4 Bytes Length: SUB 220)......................................................................337
c-5
TABLE OF CONTENTS B-64513EN/01

4.7.8 COMPB (Comparison Between Binary Data: SUB 32).......................................339

4.7.9 COMP (Comparison: SUB 15).............................................................................342
4.7.10 COIN (Coincidence Check: SUB 16)...................................................................344
4.8 BIT OPERATION ....................................................................................... 346
4.8.1 DIFU (Rising Edge Detection: SUB 57) .............................................................348
4.8.2 DIFD (Falling Edge Detection: SUB 58) ............................................................349
4.8.3 EOR (Exclusive OR: SUB 59) ............................................................................350
4.8.4 AND (Logical AND: SUB 60) ............................................................................352
4.8.5 OR (Logical OR: SUB 61) ..................................................................................354
4.8.6 NOT (Logical NOT: SUB 62).............................................................................356
4.8.7 PARI (Parity Check: SUB 11).............................................................................358
4.8.8 SFT (Shift Register: SUB 33) .............................................................................360
4.8.9 EORB (Exclusive OR (1 Byte Length) : SUB 265)
EORW (Exclusive OR (2 Bytes Length) : SUB 266)
EORD (Exclusive OR (4 Bytes Length) : SUB 267) ...........................................362
4.8.10 ANDB (Logical AND (1 Byte Length) : SUB 268)
ANDW (Logical AND (2 Bytes Length) : SUB 269)
ANDD (Logical AND (4 Bytes Length) : SUB 270) ...........................................365
4.8.11 ORB (Logical OR (1 Byte Length) : SUB 271)
ORW (Logical OR (2 Bytes Length) : SUB 272)
ORD (Logical OR (4 Bytes Length) : SUB 273) .................................................368
4.8.12 NOTB (Logical NOT (1 Byte Length) : SUB 274)
NOTW (Logical NOT (2 Bytes Length) : SUB 275)
NOTD (Logical NOT (4 Bytes Length) : SUB 276) ............................................371
4.8.13 SHLB (Bit Shift Left (1 Byte Length) : SUB 277)
SHLW (Bit Shift Left (2 Bytes Length) : SUB 278)
SHLD (Bit Shift Left (4 Bytes Length) : SUB 279).............................................373
4.8.14 SHLN (Bit Shift Left (Arbitrary Bytes Length) : SUB 280)................................376
4.8.15 SHRB (Bit Shift Right (1 Byte Length) : SUB 281)
SHRW (Bit Shift Right (2 Bytes Length) : SUB 282)
SHRD (Bit Shift Right (4 Bytes Length) : SUB 283) ..........................................379
4.8.16 SHRN (Bit Shift Right (Arbitrary Bytes Length) : SUB 284) .............................382
4.8.17 ROLB (Bit Rotation Left (1 Byte Length) : SUB 285)
ROLW (Bit Rotation Left (2 Bytes Length) : SUB 286)
ROLD (Bit Rotation Left (4 Bytes Length) : SUB 287) ......................................385
4.8.18 ROLN (Bit Rotation Left (Arbitrary Bytes Length) : SUB 288) .........................388
4.8.19 RORB (Bit Rotation Right (1 Byte Length) : SUB 289)
RORW (Bit Rotation Right (2 Bytes Length) : SUB 290)
RORD (Bit Rotation Right (4 Bytes Length) : SUB 291)....................................391
4.8.20 RORN (Bit Rotation Right (Arbitrary Bytes Length) : SUB 292) .......................394
4.8.21 BSETB (Bit Set (1 Byte Length) : SUB 293)
BSETW (Bit Set (2 Bytes Length) : SUB 294)
BSETD (Bit Set (4 Bytes Length) : SUB 295).....................................................397
4.8.22 BSETN (Bit Set (Arbitrary Bytes Length) : SUB 296) ........................................399
4.8.23 BRSTB (Bit Reset (1 Byte Length) : SUB 297)
BRSTW (Bit Reset (2 Bytes Length) : SUB 298)
BRSTD (Bit Reset (4 Bytes Length) : SUB 299).................................................402
4.8.24 BRSTN (Bit Reset (Arbitrary Bytes Length) : SUB 300) ....................................404
4.8.25 BTSTB (Bit Test (1 Byte Length) : SUB 301)
BTSTW (Bit Test (2 Bytes Length) : SUB 302)
BTSTD (Bit Test (4 Bytes Length) : SUB 303) ...................................................407
4.8.26 BTSTN (Bit Test (Arbitrary Bytes Length) : SUB 304) ......................................409
4.8.27 BPOSB (Bit Search (1 Byte Length) : SUB 305)
BPOSW (Bit Search (2 Bytes Length) : SUB 306)
BPOSD (Bit Search (4 Bytes Length) : SUB 307)...............................................412
c-6