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[PDF] 61863e Ladder Language Programming Manualpdf - CENTER OF

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GE Fanuc Automation

Computer Numerical Control Products

PMC Model PA1/PA3/SA1/SA2/SA3/SA5/SB/SB2/

SB3/SB4/SB5/SB6/SC/SC3/SC4/NB/NB2/NB6

Ladder Language

Programming Manual

GFZ-61863E/12March 1999

GFL-001

Warnings, Cautions, and Notes

as Used in this Publication WarningWarning notices are used in this publication to emphasize that hazardous voltages, currents, temperatures, or other conditions that could cause personal injury exist in this equipment or may be associated with its use. In situations where inattention could cause either personal injury or damage to equipment, a

Warning notice is used.

CautionCaution notices are used where equipment might be damaged if care is not taken. Note Notes merely call attention to information that is especially significant to understanding and operating the equipment. This document is based on information available at the time of its publication. While efforts have been made to be accurate, the information contained herein does not purport to cover all details or variations in hardware or software, nor to provide for every possible contingency in connection with installation, operation, or maintenance. Features may be described herein which are not present in all hardware and software systems. GE Fanuc Automation assumes no obligation of notice to holders of this document with respect to changes subsequently made. GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or usefulness of the information contained herein. No warranties of merchantability or fitness for purpose shall apply. ©Copyright 1999 GE Fanuc Automation North America, Inc.

All Rights Reserved.

B±61863E/12DEFINITION OF WARNING, CAUTION, AND NOTE s±1

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.

B±61863E/12PREFACE

p±1

PREFACE

This programming manual describes the method of generating ladder sequence programs for PMC. It also describes the operation methods of CRT/MDI and

SYSTEM P series for sequence programming.

This manual presents programming descriptions for the PMC models listed in the following table. Note that some models have been renamed; in the product name column, the old names are enclosed in parentheses, while the new names appear above the old names. However, the previous specifications are still applied to the renamed models. Thus, when using the renamed models, users should: wRead the old names shown in this manual as the new names. wRead the old names appearing on the units as the new names. The models covered by this manual, and their abbreviations are :

Product Nameyccoeenhcndg-ylllnahcleVu

u

FANUC PMC±MODEL PA1lsuelyI-y

-uVldmeoVshcees1t/:Vt -y -uVueone-VoIes1t/:Vy -y -uVlsues1t/:Vlyylsuelyy-y -uVldmeoVshcees1t/:VtK-Ka-y -uVueone-VoIes1t/:Vy -y -uVlsues1t/:VuyI U dceVIg U1l V hheVcV-y -uVlsues1t/:VyyIglsueuyIUlsueyyIg-y -uVueone-VIwes1t/:VyKm-y -uVueone-Vou-y -uVueone-VoIes1t/:Vm-y -uVueone-VoIi±MODEL A

Loader control function (Note 2)

-y -uVlsues1t/:Vuyo U dceVIg U1l V hheVcV-y -uVlsues1t/:VyyoglsueuyoUlsueyyog-y -uVueone-VIwes1t/:Vy -y -uVlsues1t/:Vuyy U dceVIg U1l V hheVcV-y -uVlsues1t/:VyyyglsueuyyUlsueyyyg-y -uVueone-VIwes1t/:Vy-y -uVueone-Vou-y -uVueone-VoIes1t/:Vm -y -uVlsues1t/:Vuyl U dceVIg U1l V hheVcV-y -uVlsues1t/:VyylglsueuylUlsueyylg-y -uVueone-VoIi±MODEL A -y -uVlsues1t/:Vum U dceVIg U1l V hheVcV-y -uVlsues1t/:VymglsueumUlsueymg-y -uVueone-VI.es1t/:Vy -y -uVlsues1t/:Vumo U dceVIg U1l V hheVcV-y -uVlsues1t/:VymoglsueumoUlsueymog -y -uVlsues1t/:Vumy U dceVIg U1l V hheVcV-y -uVlsues1t/:VymyglsueumyUlsueymyg-y -uVueone-VI.es1t/:VyKm-y -uVueone-VIwes1t/:Vm -y -uVlsues1t/:Vum2 U dceVIg U1l V hheVcV-y -uVlsues1t/:Vym2glsueum2Ulsueym2g-y -uVueone-VI.es1t/:Vm-y -uVueone-VIwes1t/:Vm

Renaming of PMC

Models

Applicable models

B±61863E/12

PREFACE

p±2

Product Name Applicable CNCAbbreviations

FANUC PMC±MODEL SB5 (Note 1)

(Old Name : FANUC PMC±MODEL RB5)lsueumlUlsueymlg-y -uVueone-VI.es1t/:Vu-y -uVueone-VIwes1t/:Vu -y -u ueone- I.i±s1t/: y -y -uVlsues1t/:Vum. U dceVIg U1l V hheVcV-y -uVlsues1t/:Vym.glsueum.Ulsueym.g -y -uVueone-VI.ies1t/:Vy -y -uVueone-VIwi±MODEL A

FANUC Power Mate i±MODEL D/H

-y -uVlsues1t/:Vuu U dceVIg U1l V hheVcV-y -uVlsues1t/:VyuglsueuuUlsueyug-y -uVueone-VI.es1t/:Vy -y -uVlsues1t/:Vuuy U dceVIg U1l V hheVcV-y -uVlsues1t/:VyuyglsueuuyUlsueyuyg-y -uVueone-VI.es1t/:VyKmKu-y -uVueone-VIwes1t/:VmKu -y -uVlsues1t/:Vuu2 U dceVIg U1l V hheVcV-y -uVlsues1t/:Vyu2glsueuu2Ulsueyu2g-y -uVueone-VI.es1t/:VmKu-y -uVueone-VIwes1t/:VmKu -y -uVlsues1t/:V mlsue m-y -uVueone-VIles1t/:Vm -y -uVlsues1t/:V molsue mo -y -uVlsues1t/:V m.lsue m.-y -uVueone-VIli±MODEL A NOTE

1 These models have been renamed; in the product name

column, the old names are enclosed in parentheses, while the new names appear above the old names. However, the previous specifications are still applied to the renamed models. Thus, when using the renamed models, users should : wRead the old names shown in this manual as the new names. wRead the old names appearing on the units as the new names.

2 PMC±SA1 is applied to the loader control side of a CNC

having the loader control function. The CNC models having the loader control function are as follows :

FANUC Series 16±MODEL A/B/C

FANUC Series 18±MODEL A/B/C

FANUC Series 21±MODEL B

FANUC Series 16i±MODEL A

FANUC Series 18i±MODEL A

B±61863E/12PREFACE

p±3 However, it does not include all items required for sequence programming. For those required for sequence programming refer to the following manuals.

Name of manualyemeoegaeVnceh-ylllnahcndg

FANUC Power Mate-MODEL D/F

CONNECTION MANUAL (B-62833EN)pgceomhaeVcecmeegVlsuVhg Vu ulsublyIlsublyy -y -uVldmeoVshcebs1t/:Va u1 /utp1 Vsy -y:VUme.o.wy/ gpgceomhaeVcecmeegVlsuVhg Vu ulsublyy -y -uVldmeoVshceVi-MODEL D/H CONNECTION MANUAL (FUNCTION) (B±63733EN±1)pgceomhaeVcecmeegVlsuVhg Vu ulsubumllsubum. -y -uVueone-VI.KIw u1 /utp1 Vsy -y:VUmb.Iwuy/gpgceomhaeVcecmeegVlsuVhg Vu -y -uVueone-VI.KIwKI.uKIwubs1t/:Vm u1 /utp1 Vsy -y:VU-- utp1 gVUmb.o22y/bIgpgceomhaeVcecmeegVlsuVhg Vu ulsubumylsubum2lsubuuylsubuu2 -y -uVueone-VI.KIwKI.uKIwubs1t/:Vu u1 /utp1 Vsy -y:VU-- utp1 gVUmb.oRly/ bIgpgceomhaeVcecmeegVlsuVhg Vu ulsubumllsubum.lsubuuylsubuu2 -y -uVueone-VI.i/18i/21i/160i/180i/210i±MODEL A CONNECTION MANUAL (FUNCTION) (B-63003EN-1)pgceomhaeVcecmeegVlsuVhg Vu ulsubuyIlsubuyllsubumllsubum. -y -uVueone-Voue-yKtyV u1 /utp1 Vsy -y:VUme.oIRy/gpgceomhaeVcecmeegVlsuVhg Vu ulsubuyIlsubuyy -y -uVueone-VoIKoIues1t/:VmV u1 /utp1 Vsy -y:VU-- utp1 gVUme.oRuy/ eIgpgceomhaeVcecmeegVlsuVhg Vu ulsubuyIlsubuyy -y -uVueone-VIlbs1t/:VVm mspVp t/y-yu/ u1 /utp1 Vsy -y:VUmb.ouRy/bIgpgceomhaeVcecmeegVlsuVhg Vu ulsub mlsub mo -y -uVlsubs1t/:VyuKyuyKyu2K m uV:y i-yi/Vly1iyyssp iVsy -y: mlsub mo The models covered for reference by this manual, and their abbreviations are:

Product nameyccoeenhcndgu

uVmdo

FANUC PMC-MODEL Plsubl-y

-uVVldmeoVVshcebs1t/:VVu -y -uVVlsubs1t/:VV ylsub y-y -uVVueone-VVIlbs1t/:VVm

Other manuals

Other application

model names

B±61863E/12Table of Contents

c±1

Volume 1

t/-p ptp1 V1-V a yy p imVuy-tp1 mVy tV

1t/ -eIYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYV

pYVVlsuVu/.-/ u/Vly1iyys

IYVu/.-/

u/Vly1iyysVuy/ytp iVly1u/t-y/ yYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYVYV

1.1 SPECIFICATION OF PMCs 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 SUMMARY OF SPECIFICATION OF LADDER PROGRAM 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 WHAT IS A SEQUENCE PROGRAM? 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 CREATION OF INTERFACE SPECIFICATIONS (STEPS 1 TO 3) 24. . . . . . . . . . . . . . . . . . . . . . . . .

1.5 CREATION OF LADDER DIAGRAM (STEP 4) 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6 CODING (STEP 5)25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7 SEQUENCE PROGRAM ENTRY (STEPS 6, 7) 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.8 SEQUENCE PROGRAM CHECK AND WRITE INTO ROM (STEPS 8 TO 11) 26. . . . . . . . . . . . . .

1.9 STORAGE AND CONTROL OF SEQUENCE PROGRAM (STEPS 12 TO 14) 27. . . . . . . . . . . . . . .

2. SEQUENCE PROGRAM 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 EXECUTION PROCEDURE OF SEQUENCE PROGRAM 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 REPETITIVE OPERATION 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 PRIORITY OF EXECUTION (1ST LEVEL, 2ND LEVEL AND 3RD LEVEL) 31. . . . . . . . . . . . . . .

2.4 SEQUENCE PROGRAM STRUCTURING 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 PROCESSING I/O SIGNALS 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.1 Input Signal Processing 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.2 Output Signal Processing 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.3 I/O Signals to CNC 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.4 Difference of Status of Signals between 1st Level and 2nd Level 40. . . . . . . . . . . . . . . . . . . . . . .

2.6 INTERLOCKING41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7 SEQUENCE PROGRAM PROCESSING TIME 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8 SEQUENCE PROGRAM MEMORY CAPACITY 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. ADDRESS45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 ADDRESSES BETWEEN PMC AND CNC (PMCNC) 57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 ADDRESSES BETWEEN PMC AND MACHINE TOOL (PMCMT) 58. . . . . . . . . . . . . . . . . . . . . .

3.2.1 Addresses Between PMC and Machine Tool 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2 Assignment of I/O Module Addresses 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.3 I/O Link Connection Unit Assignment 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.4 I/O Unit MODEL B Assignment 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.5 Power Mate±MODEL D/H Assignment 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.6 FS16i±LA Assignment 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.7 Distribution I/O Connection I/O Module and Distribution I/O Operator's Panel

I/O Module Assignment Methods 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 INTERNAL RELAY ADDRESSES (R) 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.1 Area Managed by the System Program 79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B±61863E/12Table of contents

c±23.4 ADDRESSES FOR MESSAGE SELECTION DISPLAYED ON CRT (A) 82. . . . . . . . . . . . . . . . . . . .

3.5 ADDRESS OF COUNTER (C) 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6 ADDRESS OF KEEP RELAY AND NONVOLATILE MEMORY CONTROL (K) 86. . . . . . . . . . . . .

3.7 ADDRESS OF DATA TABLE (D) 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8 TIMER ADDRESSES (T) 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9 LABEL ADDRESSES (JMPB, JMPC, LBL) (L) 91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.10 SUBPROGRAM NUMBERS (CALL, CALLU, SP) (P) 92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4. PMC BASIC INSTRUCTIONS 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 DETAILS OF BASIC INSTRUCTIONS 95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.1 RD97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.2 RD. NOT98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.3 WRT99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.4 WRT. NOT100. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.5 AND101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.6 AND. NOT101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.7 OR101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.8 OR. NOT101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.9 RD. STK102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.10 RD. NOT. STK 103. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.11 AND. STK104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.12 OR. STK104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.13 SET105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.14 RST107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5. FUNCTIONAL INSTRUCTIONS 109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 END1 (1ST LEVEL SEQUENCE PROGRAM END) 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 END2 (2ND LEVEL SEQUENCE PROGRAM END) 132. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 END3 (END OF 3RD LEVEL SEQUENCE) (PMC±SC/SC3/SC4/NB/NB2 ONLY) 133. . . . . . . . . . .

5.4 TMR (TIMER)134. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 TMRB (FIXED TIMER) 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 TMRC (TIMER)138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7 DEC (DECODE)140. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8 DECB (BINARY DECODING) 142. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.9 CTR (COUNTER)145. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10 CTRC (COUNTER) 151. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.11 ROT (ROTATION CONTROL) 154. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.12 ROTB (BINARY ROTATION CONTROL) 157. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.13 COD (CODE CONVERSION) 160. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.14 CODB (BINARY CODE CONVERSION) 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.15 MOVE (LOGICAL PRODUCT TRANSFER) 165. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.16 MOVOR (DATA TRANSFER AFTER LOGICAL SUM) 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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