61992e PDF

GFZ-61992E B-61992E
GE Fanuc CNC
DNC2
Descriptions Manual
Presented By: CNC Center

For Product Needs Please Visit:
http://www.cnccenter.com/
OR Email:
sales@cnccenter.com
OR Call:
1-800-963-3513
GE Fanuc CNC Manuals
www.cnccenter.com
GE Fanuc Automation
Computer Numerical Control Products
DNC 2
Descriptions Manual
GFZ-61992E/02
October 1997
GFL-001
Warnings, Cautions, and Notes

as Used in this Publication
Warning
Warning 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.
Caution
Caution notices are used where equipment might be damaged if care is not taken.
Note
Notes merely call attention to information that is especially significant to understanding and
operating the equipment.
This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein
which are not present in all hardware and software systems. GE Fanuc Automation assumes
no obligation of notice to holders of this document with respect to changes subsequently made.
GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory
with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.
PowerMotion is a trademark of GE Fanuc Automation North America, Inc.
Copyright 1997 GE Fanuc Automation North America, Inc.

All Rights Reserved.
Table of Contents
B61992E/02
I. GENERAL
1. GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1
OUTLINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
om
II. PROTOCOL
1. LAYERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
2. PHYSICAL LAYER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
PHYSICAL INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
2.2
SYNCHRONOUS METHOD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
2.3
COMMUNICATION MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
2.4
COMMUNICATION SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
2.5
MAXIMUM CABLE LENGTH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
2.6
RS232C INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
2.7
RS422 INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16
3. DATA LINK LAYER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
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2.1
3.1
TRANSMISSION CONTROL CHARACTERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19
3.2
MESSAGE FORMAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
3.3
TRANSMISSION CHARACTERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
3.4
DATA LINK PROTOCOL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21
nc
Establishing a Data Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sending a Datagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Receiving a Datagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.c
3.4.1
3.4.2
3.4.3
3.4.4
4. APPLICATION LAYER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21
21
22
22
23
FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
24
4.2
DATAGRAM SYNTAX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
25
4.1
Configuration of Datagram Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service Functions Specified with Datagram Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notation of the Datagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.3.1 Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1
4.2.2
4.2.3
4.2.4
26
27
29
29
4.2.3.2
Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
29
4.2.3.3
Data type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
29
4.2.3.4
Delimiter in the data section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
30
4.2.3.5
Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
30
4.2.3.6 Continuation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Details of the Data Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.4.1 Downloading a part program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
30
31
31
4.2.4.2
Uploading a part program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
32
4.2.4.3
Deleting a part program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
33
4.2.4.4
Reading the directory of part programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
34
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Table of Contents
B61992E/02
Free area in program memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
34
4.2.4.6
Reading a tool position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
35
4.2.4.7
Servo delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
36
4.2.4.8
Acceleration/deceleration delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
37
4.2.4.9
Machine interface signals (For Series 15 only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
38
4.2.4.10 Current program number and sequence number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
38
4.2.4.11 Reading a CNC parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
39
4.2.4.12 Writing a CNC parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
40
4.2.4.13 Reading pitch error compensation data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
41
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4.2.4.5
42
4.2.4.15 Reading a tool offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
43
4.2.4.16 Writing a tool offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
4.2.4.17 Reading custom macro variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
4.2.4.18 Writing a custom macro variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
46
4.2.4.19 Reading tool life management data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
47
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4.2.4.14 Writing pitch error compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
48
4.2.4.21 Reading an actual feedrate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
49
4.2.4.22 Reading A/D conversion data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
49
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4.2.4.20 Reading modal information for automatic operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.4.23 Reading alarm information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
50
4.2.4.24 Reading status information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
51
4.2.4.25 Operator messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
53
4.2.4.26 Reading PMC data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
54
4.2.4.27 Writing PMC data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
55
4.2.4.28 Selecting a part program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
57
57
4.2.4.30 Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
58
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4.2.4.29 Executing a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.31 Reading a system ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DATAGRAM PROTOCOL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1
4.3.1.2 Interrupt command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Interrupt Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2.1 Interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2
Error Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1.1 Negative acknowledgment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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4.3
58
59
59
59
59
60
60
III. COMMUNICATION PROGRAM LIBRARY
1. OUTLINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
63
2. CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
64
3. INSTALLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
65
3.1
SUPPLIED PROGRAMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
66
3.2
INSTALLATION PROCEDURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
67
3.3
COMPILATION AND LINKING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
68
c2

B61992E/02
4. FUNCTION SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
69
4.1
USE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
70
4.2
NOTES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
71
4.3
FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
72
4.4
DETAILS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
73
5. EXAMPLE OF USING THE COMMUNICATION PROGRAM . . . . . . . . . . . . . . . . . 100
om
6. ERROR CODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

6.1
VALUES RETURNED BY FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
103
6.2
COMMUNICATION ERROR INFORMATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
103
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7. ERROR LOG INFORMATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

7.1
DETAILS OF THE ERROR LOG FILE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
105
7.2
SIMPLE ERROR LOG BROWSING FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
107
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APPENDIX
A. CONNECTOR SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

A.1
FANUC Series 0 (A02B0098J055) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
112
A.2
FANUC Series 15A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
113
A.3
FANUC Series 15B AND Series 16/18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
114
B. PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
FANUC Series 0 (UPPER ROW: Series 0TC, LOWER ROW: Series 0MC) . . . . . . . . . . . . . . . . .
B.2
Series 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
120
B.3
FANUC Series 16/18/21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
123
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B.1
117
.c
C. DATA LINK LAYER MATRIX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
D. APPLICATION LAYER MATRIX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

E. ALARM MESSAGES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Series 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
E.1
E.2
Series 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
130
130
F. ERROR CODES DETAILING NEFATIVE RESPONSE . . . . . . . . . . . . . . . . . . . . . . 131

G. MAINTENANCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
G.1
DESCRIPTIONS OF INDICATION BY LEDS (Series 15A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

G.1.1
G.1.2
134
Blinking LED Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Nonblinking LED Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
134
135
G.2
SYSTEM ERROR MESSAGES (Series 15A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
136
G.3
LED INDICATORS (Series 15B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
137
G.4
SYSTEM ERROR MESSAGES (Series 15B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
138
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Table of Contents
G.5
B61992E/02
TROUBLESHOOTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
G.5.1
G.5.2
139
MAP Log Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

G.5.1.1 Log messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
139
139
G.5.1.2 Log message format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
139
140
H. MODAL DATA AND CORRESPONDING INTERNAL CODES . . . . . . . . . . . . . . . 141
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I. COMMUNICATION PARAMETER STRUCTURE . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

J. ERROR CODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
K. DEMONSTRATION PROGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
PREPARATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
K.2.1
K.2.2
K.2.3
K.3
146
147
Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Compiling and Linking Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting the Communication Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
147
147
148
OVERVIEW OF OPERATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
150
K.3.1
K.3.2
K.3.3
K.3.4
K.4
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OUTLINE OF FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Starting and Exiting the Demonstration Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Machining Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
150
150
151
152
MENU LAYOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
153
K.4.1
K.4.2
K.4.3
Main Menu Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Command Entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Machining Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
153
154
158
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L. PMC ADDRESS
(Series 15A AND ADDRESS SPECIFICATION TYPE OF Series 15B) . . . . . 159
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M. DNC2 TOOL POST SELECTION (Series 15TTB) . . . . . . . . . . . . . . . . . . . . . . . . . 160

OUTLINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
161
M.2
ASWITCHING OF TARGET TOOL POST FOR INPUT/

OUTPUT BY THE HOST COMPUTER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
162
M.1
EXAMPLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
163
M.4
PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
164
M.5
CONNECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
165
M.3
N. DNC2 SCREEN (Series 16/18) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

N.1
COMMUNICATION OPERATION SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
167
N.2
COMMUNICATION SERVICE SCREEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
168
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I. GENERAL
GENERAL
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1. GENERAL
I. GENERAL
B61992E/02
1. GENERAL
I. GENERAL
1.1
B61992E/02
The FANUC DNC2 is a communication protocol enabling data

transmission between the FANUC CNC unit and a personal computer by
connecting them via the RS-232-C or RS422 interface.
The FANUC DNC2 has the following features:
OUTLINE
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(1) This protocol is based on the communication protocol LSV2 used by

some CNC manufacturers in Europe, and has a three-layer structure
so that software can easily be established even with a personal
computer.
The RS-232-C interface is used to connect a personal computer with
the FANUC CNC. The RS-422 interface can also be used to improve
the transmission rate.
FANUC CNC
Personal computer
Application layer
Data link layer
Application layer
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User
application program
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CNC control program
Physical layer
Data link layer
Physical layer
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RS-232-C/RS-422
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NOTE
The FANUC DNC2 provides compatibility with the LSV2
protocol for the physical and data link layers. The following
table shows the compatibility of the application layer.
1.1 Compatibility of Application Layer between DNC2 and LSV2
Service function
Compatibility
Service functions supported by both DNC2

and LSV2
Compatible
Service functions supported by DNC2 but

not by LSV2
The DNC2 specifications have been

extended.
Service functions supported by LSV2 but

not by DNC2
DNC2 does not support these functions.
(2) This protocol is used for one-to-one (point-to-point) communication

between one FANUC CNC unit and one personal computer.
The protocol cannot provide multi-point communication between
one personal computer and more than one CNC unit.
1. GENERAL
I. GENERAL
B61992E/02
(3) This protocol provides the various service functions listed in the
following table. These functions enable automatic machining with
data communication between the FANUC CNC and personal
computer.
Service function
Service function
Downloading a part program
Writing CNC
d t
data
Uploading a part program

Deleting a part program
CNC parameter
Pitch error compensation
Tool offset
Reading the directory of part programs
Custom macro variable

Displaying an operator message
Reading
Machine position
d t
CNC data
Absolute position
Reading PMC data
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Reading information on a free area
Writing PMC data
Skip position
Memory operati control

tion
t l
Servo delay
Selecting a program
Start
DNC operation control
Machine interface signal

status
Reset
Current program No.
Alarm notification
Report on change in the internal status of the

CNC
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Current sequence No.
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Acceleration/deceleration
delay
CNC parameter
Pitch error compensation

Tool offset
Tool life management data

Modal data for automatic
operation
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Actual speed
A/D conversion data

Alarm information
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Status information
Providing information on CNC system identification
1. GENERAL
I. GENERAL
B61992E/02
This manual applies to the following models:

Abbreviation
0MC
FANUC Series 0TC
0TC
FANUC Series 15MA
15MA
FANUC Series 15TA
15TA
FANUC Series 15TTA
15TTA
FANUC Series 15MB
15MB
FANUC Series 15TB
15TB
FANUC Series 15TTB
15TTB
FANUC Series 16MA
16MA
FANUC Series 16TA
16TA
FANUC Series 16GSA
16GSA
FANUC Series 16GCA
16GCA
FANUC Series 16MB
16MB
FANUC Series 16TB
16TB
FANUC Series 16MC
16MC
FANUC Series 16TC
16TC
FANUC Series 16iMA
16iMA
FANUC Series 16iTA
16iTA
FANUC Series 18MA
18MA
FANUC Series 18TA
18TA
FANUC Series 18GSA
18GSA
FANUC Series 18GCA
18GCA
FANUC Series 18MB
18MB
FANUC Series 18TB
18TB
Series 0
0C
C
Series 15
Series 15B
Series 16
16A
A
Series 16
16B
B
18TC
FANUC Series 18iMA
18iMA
FANUC Series 18iTA
18iTA
FANUC Series 21iMA
21iMA
FANUC Series 21iTA
21iTA
Series 16i
16 A
A
Series 18
18A
A
Series 18
18B
B
Series 18
Series 18
18C
C
Series 18i
18 A
A
Series 21i
21 A
A
Series 21
For details of the functions supported by the Series 15TTA/TTB, see

Section II4.2.2.
These functions cannot be used with the 2path control of the Series
16/18.
Series 16
Series 16
16C
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18MC
FANUC Series 18TC
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FANUC Series 18MC
Series 0
Series 15A
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FANUC Series 0MC
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Model
2. CONFIGURATION
I. GENERAL
B61992E/02
CONFIGURATION
Option
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The requirements for the DNC2 function are as follows:

Hardware
DNC2 board
RS232C/RS422 cable
Host computer (supporting MSDOS or PCDOS)
Host computer
DNC2 host software (A08B9001J530)
* Library software for the host computer. Specify this software
as necessary.
CNC software options
Series 0
Series 15
Series
16/18/21
DNC2 basic function
External data input/output
Operator message display
Stored pitch error compensation
Read/write of pitch error

compensation
Custom macro (custom

macro B for the Series
0/16/18)
Read/write of custom
macro variables
Tool life management
Read of tool life management data
Background editing
DNC2 basic function
I/O unit external control
DNC2 basic function
Read/write of PMC data
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DNC2
Application
:
n:
:
:
Required
Optional
Not required
Standard
PCB for the remote buffer
CNC
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PMC
RS-232-C or RS-422 cable
DNC2 ROM
Host computer
DNC2
communication
program library
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II. PROTOCOL
1. LAYERS
II. PROTOCOL
B61992E/02
LAYERS
This protocol consists of the following three layers:
(3) Application layer
FANUC CNC
Application program
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Application program
Host computer
or
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(2) Data link layer
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(1) Physical layer
Application layer
Data link layer
Data link layer
Physical layer
Physical layer
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Application layer
RS-232-C/RS-422
11
2. PHYSICAL LAYER
B61992E/02
PHYSICAL LAYER
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II. PROTOCOL
12
2. PHYSICAL LAYER
II. PROTOCOL
B61992E/02
2.1
RS-232-C or RS-422 interface
PHYSICAL
INTERFACE
2.2
Asynchronous transmission
SYNCHRONOUS
METHOD
LSB
b1
b2
b3
b4
b5
2.3
:
:
:
:
b8
Start bit (one bit)

Data bit (seven or eight bits)
Parity bit (none or even)
Stop bit (one or two bits)
Half-duplex transmission
COMMUNICATION
MODE
2.4
(1) RS-232-C : 19200 bps max.
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COMMUNICATION
SPEED
(2) RS-422
: 86400 bps max.
When the communication speed to be used is 38400 bps or more,
synchronization with a receive clock is required. Prepare the TT
(*TT) and RT (*RT) signals.
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2.5
SP
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ST
b1 to b8
P
SP
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ST
MSB
(1) RS-232-C : 100m (for 4800 bps or less)

50m (9600 bps or more)
(2) RS-422
: 800m (9600 bps or less)

50m (19200 bps or more)
MAXIMUM CABLE
LENGTH
13
2. PHYSICAL LAYER
II. PROTOCOL
2.6
B61992E/02
(1) Connection between devices
RS232C
INTERFACE
CNC unit
Host computer
SD
RD
RD
RS
RS
ER
DR
CD
ER
DR
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CS
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SD
FG
CD
SG
FG
When CS is not used, connect it with RS. When DR is not used,

connect it with ER. Always connect CD with ER.
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NOTE
When using IBM PCAT, connect RS and CS in the CNC.
(IBM PCAT is a registered trademark of IBM Corporation.)
14
2. PHYSICAL LAYER
II. PROTOCOL
B61992E/02
(2) Signals
Name
RS-232-C
circuit No.
Input/
output
Description
SD
103
Output
RD
104
Input
Send data
RS
105
Output
Request to send
This signal is used to report whether the CNC is
ready to receive data. When the ER signal and
this signal are on, the remote buffer is ready to
receive data.
CS
106
Input
Clear to send
This signal is used to check whether the host
computer is busy. When the DR signal and this
signal are on, the host computer is assumed to
be ready to receive data.
DR
107
Input
Data set ready

When this signal is on, the host computer is
assumed to be ready.
The signal is generally connected to the ER
signal at the host computer. When it is off during data transmission, an alarm is issued. If
this signal is not used, be sure to connect it with
the ER signal at the CNC unit.
ER
108.2
Output
See Section 2.2 for the bit confi

figuration.
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Receive data
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CNC ready
When this signal is on, the CNC is assumed to
be ready to operate.
The signal is generally connected to the DR
the DR signal at the CNC unit.
109
Input
Signal quality detection

Since this signal is not used for connecting the
CNC unit with the host computer, connect it
with the ER signal at the CNC unit.
SG
102
Signal ground
FG
101
Protective ground
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CD
Function
Signal condition
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NOTE
The on and off states of each signal conform to the
following:
15
Less than 3V
+3V or more
Off
On
Marking
Spacing
2. PHYSICAL LAYER
II. PROTOCOL
2.7
RS422 INTERFACE
B61992E/02
(1) Connection between devices

CNC unit
Host computer
SD
*SD
*SD
RD
RD
*RD
*RD
RS
RS
CS
*CS
TR
*TR
RR
CS
*CS
TR
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*RS
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SD
16
*TR
RR
*RR
TT
TT
*TT
*TT
RT
RT
*RT
*RT
SG
SG
FG
FG
2. PHYSICAL LAYER
II. PROTOCOL
B61992E/02
(2) Signals
Name
RS-422
circuit No.
Input/
output
Description
SD
103
Output
RD
104
Input
Send data
RS
105
Output
Request to send
This signal is used to report whether the CNC is
ready to receive data. When the TR signal and
this signal are on, the remote buffer is ready to
receive data.
CS
106
Input
Clear to send
This signal is used to check whether the host
computer is busy. When the RR signal and this
signal are on, the host computer is assumed to
be ready to receive data.
TR
108.2
Output
Terminal ready
When this signal is on, the CNC is assumed to
be ready to operate.
The signal is generally connected to the RR
the RR signal at the CNC unit.
DM
109
Input
See Section 3.2 for the bit confi

figuration.
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Receive data
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Receiver ready
When this signal is on, the host computer is
assumed to be ready.
The signal generally indicates that the host
computer is ready to send data to the CNC unit.
If this signal is not used, be sure to connect it
with the TR signal at the CNC unit.
113
Output
Transmission timing
Send clock output terminal at the CNC unit.
When a baud rate of 38400 or more is used, be
sure to connect the terminal with the RT signal
at the host computer.
RT
115
Input
Reception timing
Send clock input terminal at the CNC unit.
When a baud rate of 38400 or more is used, be
sure to connect the terminal with the TT signal
at the host computer.
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TT
102
Signal ground
FG
101
Protective ground
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SG
NOTE
The on and off states of each signal conform to the
following:
Function
Signal condition
A<B
A>B
Off
On
Marking
Spacing
A
Sending terminal
B
A
Receiving terminal
B
17
3. DATA LINK LAYER
II. PROTOCOL
B61992E/02
DATA LINK LAYER
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The CNC unit and the host computer can operate on equal terms with each
other under this protocol. If a contention occurs, however, the CNC is
given priority over the host computer in data transmission.
18
3. DATA LINK LAYER
II. PROTOCOL
B61992E/02
3.1
Table 3.1 lists the transmission control characters (TCCs).
TRANSMISSION
CONTROL
CHARACTERS
3.1 Transmission Control Characters

Code (Hex)
Tcc
Meaning
ISO
ENQ
05H
05H
Request to send
NAK
15H
95H
Negative acknowledgment
DLE 0
10H 30H
90H 30H
Acknowledgment
Acknowledgment
10H 31H
90H B1H
10H 02H
90H 82H
DLE ETX
10H 03H
90H 03H
EOT
04H
84H
Datagram start
Datagram end
End of transmission
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DLE 1
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ASCII
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3. DATA LINK LAYER
II. PROTOCOL
B61992E/02
3.2
MESSAGE FORMAT
DLE
STX
Datagram
DLE, STX, and ETX :

DLE, STX, and BCC :
DLE
ETX
BCC
Transmission control characters

Block Check Character (1 byte)
Fig.3.2 Message Format
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(1) Datagram
The datagram consists of command and data sections.
The length of the command section is four characters.
The length of the data section is variable and can contain up to 256
characters.
The maximum length is fixed to 80 characters.
The datagram does not contain the communication control characters.
The datagram must contain the command section. However, the data
section can be omitted.
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(2) Block check character (BCC)

The BCC is obtained by exclusive ORing all characters of the
datagram excluding DLE and STX.
3.3
These characters are usually ASCII code but can also be ISO code.
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TRANSMISSION
CHARACTERS
20
3. DATA LINK LAYER
II. PROTOCOL
B61992E/02
3.4
DATA LINK
PROTOCOL
Establishing a Data
Link
(A)
Data link establishment

ENQ
Datagram transmission
DLE0
Termination
(A)
EOT
EOT
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Timeout
ENQ
NAK
Other
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Initial
state
The master device that needs to send the datagram establishes the data
link.
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3.4.1
Error
(Note) The underlined characters indicate the response from the receiving (slave) device.
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Fig.3.4.1 Establishing the Data Link
3.4.2
Data
link
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Sending a Datagram
Termination
Sending the datagram
DLE]STX]Datagram]DLE]ETX]BCC
DLE1
EOT
NAK/DLE0
Other
Timeout
ENQ
Error
(Note) The underlined characters indicate the response from the receiving (slave) device.
Fig.3.4.2 Sending a Datagram
21
3. DATA LINK LAYER
II. PROTOCOL
B61992E/02
3.4.3
Receiving a Datagram
Datagram reception
Data link
establishment
Termination
ENQ
Other
Timeout
Other
(A)
ENQ
DLE0
DLE STX .. DLE ETX BCC
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Initial
state
DLE1
NAK
(A)
Error
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ENQ
Timeout
Other
EOT
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Error
(Note) The underlined characters indicate the response from the sending (master) device.
Fig.3.4.3 Receiving a Datagram
3.4.4
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Datagram communication ends with transmission control character EOT.
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Termination
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4. APPLICATION LAYER
II. PROTOCOL
B61992E/02
APPLICATION LAYER
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This chapter outlines the application layer. For more details, see the
description given later.
23
II. PROTOCOL
4.1
B61992E/02
Table 4.1 lists the service functions.
FUNCTIONS
Table 4.1 Service Functions

H: Host computer
C: CNC
Direction
of
transmission
Function
Description
Remarks
H$C
Downloads a part program with the specified number from the

host to the CNC.
Uploading a part program
H$C
Uploads a part program with the specified number from the

CNC to the host.
H!C
Deletes a part program with the specified number.
Reading the directory information on a part

program
H!C
Reads the program number registered in the tape storage size

area.
Reading
CNC
data
Machine position
H!C
Reads the machine position for the specified axis.
Absolute position
H!C
Reads the absolute position for the specified axis.
Skip position
H!C
Reads the skip position for the specified axis.
Servo delay
H!C
Reads servo delay for the specified axis.
Acceleration/deceleration delay
H!C
Reads acceleration/deceleration delay for the specified axis.
Diagnosis
H!C
Reads the states of the DI/DO signals with the specified numbers.
Current program No.
H!C
Reads the current program number.
H!C
Reads the current sequence number.
H!C
Reads the value of the CNC parameter with the specified number.
H!C
Reads pitch error compensation data with the specified number.
H!C
Reads tool offset with the specified number.
H!C
Reads the custom macro variable with the specified number.
H!C
Reads tool life management data with the specified tool group
number.
H!C
Reads the previous, current, or next modal data according to

the specified parameters.
CNC parameter
Pitch error compensation data
Tool offset
Tool life management data
r.c
H!C
Read the actual feedrate.
H!C
Reads A/D data with the specified number.
H!C
Reads alarm information.
H!C
Reads status information.
CNC parameter
H!C
Writes the specified data to the parameter with the specified

number.
Pitch error compensation data
H!C
Writes the specified data to the pitch error compensation

parameter with the specified number.
Tool offset
H!C
Writes the specified data to the tool offset parameter with the
specified number.
Actual speed
nc
Modal data for automatic operation
ce
nt
e
Current sequence No.
om
Downloading a part program
H!C
Writes the specified data to the custom macro variable with the
specified number.
H!C
Displays the specified message number and the message on

the CRT.
PMC data
H!C
Reads and writes PMC data with the specified address.
Memory operation control
H!C
1) Selects a part program.

2) Starts a CNC cycle.
DNC operation control
H!C
1) Selects a part program.

2) Starts downloading and starts a CNC cycle.
Reset
H!C
Resets the CNC.
Alarm notification
HzC
Reports the alarm in the CNC to the host.
Status notification
HzC
Reports the internal status of the CNC to the host.
System ID
H!C
Reads the model name and version of the CNC.
A/D conversion data

Alarm information
Writing
CNC
data
.c
Status information
Operator message
24
II. PROTOCOL
B61992E/02
4.2
.c
nc
ce
nt
e
r.c
om
DATAGRAM SYNTAX
The datagram consists of the command section and the omissible data
section. The command section contains four characters. The data section
contains variable-length data. The maximum length of the data section
is specified by the CNC parameter. Subsections 4.2.1 and 4.2.2 list and
explain the datagram commands. Subsection 4.2.4 describes the data
section.
25
II. PROTOCOL
B61992E/02
4.2.1
Configuration of
Datagram Commands
Table 4.2.1 Configuration of datagram commands
Listing catalog
DI
Catalog request
LI
Clear
MC
Operation mode
Receive
Transmit
Prepare to send
PT
Prepare to receive
PR
A
Second entry
r.c
om
Fist entry
h/c
h/c
h/c
h/c
A/D Conversion data
AD
h/c
Acc./Dec error
AE
h/c
Actual feedrate
AF
h/c
Alarm status
AL
h/c
Abort (Break down)
BD
h/c
Clear control (Reset)
CC
h/c
NC Start
CS
h/c
Operator message
DI
h/c
Command error
ER
10
End of message
FD
h/c
ce
nt
e
h/c
11
Free memory
FR
h/c
h/c
12
System Identifier
ID
h/c
h/c
13
Modal data
MD
h/c
h/c
14
Machine I/F signal
MI
h/c
h/c
15
Machine position
MP
h/c
h/c
16
Macro variable
MV
h/c
17
Next block
18
Not position
19
Incorrect number
20
Function ready
21
Parameter
22
PMC data
23
Pitch error
24
Part program
25
Part program number
PN
26
Ready to receive
RR
27
Ready to transmit
RT
28
Servo following error
SE
29
Select part program
SL
30
Sequence number
SN
h/c
h/c
31
Skip position
SP
h/c
h/c
h/c
h/c
nc
h/c
NB
h/c
NP
h/c
h/c
NR
h/c
OK
h/c
h/c
PD
h/
h/c
h/c
PE
h/c
h/c
h/c
PM
h/c
h/c
h/c
.c
h/c
h/c
PA
w
w
h/c
h/c

h/c
h/c
Status
ST
33
Tool life data
TL
34
Tool offset
TO
35
Absolute position
WP

h/c
h/c
h/c
h/c
h/c
h/c
32
h/c
h/c
NOTE
h/
/c
Blank

h/c
h/c
h/c
h/c
h/c
h/c
h/c
:
:
:
:
Command from the host to the CNC

Command from the CNC to the host
Space character in ASCII or ISO code
Command modified or added by FANUC
26
II. PROTOCOL
B61992E/02
4.2.2
(1) Commands from the host
Service function
Datagram command
Downloading
<PR><PM><nn>
Uploading
<PT><PM><nn>
Deleting a program
<MC><PM><nn>
Directory information
<LI><PM> [<nn>]
Free area size
<T ><FR>
Reading a tool position
<T ><WP | MP | SP> [<0Xmm>]
Reading servo delay
<T ><SE> [<0Xmm>]
Reading acceleration/deceleration delay
<T ><AE> [<0Xmm>]
Reading a machine interface signal
<T ><MI><nn>[<:><mm> ]
10
Reading a program or
sequence number
<T ><PN | SN>
11
Reading a CNC parameter
<PT><PA><nn> [<,><0Xmm> ]
12
Writing a CNC parameter
<PR><PA>
13
Reading pitch error compensation
<PT><PE><mm> [<:><nn> ]
r.c
om
ce
nt
e
Service Functions
Specified with
Datagram Commands
Writing pitch error compensation
<PR><PE>
15
Reading a tool offset
<PT><TO><mm> [<:><n>] <,><0Xkk>
16
Writing a tool offset
<PR><TO>
17
Reading a macro variable
<PT><MV><mm> [<:><nn> ]
18
Writing a macro variable
<PR><MV>
19
Reading tool life management data
<PT><TL><mm> [<:><nn> ]
20
Reading modal information for automatic operation
<T ><MD><mm>
21
Reading an actual speed
<T ><AF><0Xmm>
22
Reading A/D conversion

data
<T ><AD><nn> [ [<,><0Xmm> ] <,><nn> [<,><0Xmm> ] ]
23
Reading alarm information
<T ><AL>
24
Reading status information
<T ><ST> | <M ><ST> [<0Xmm>]
25
Displaying an operator
message
<M ><DI><nn><,><display message text>
26
Reading PMC data
<PT><PD><0Xaa | mm><,><nn>
27
Writing PMC data
<PR><PD>
28
Selecting a program
<M ><SL><nn>
29
Executing a program
<M ><CS> [<nn>]
30
Resetting the CNC
<M ><CC>
31
Reading a system ID
<T ><ID>
.c
nc
14
NOTE
With the Series 15TTA/TTB, nineteen functions are
supported; none of these are related to the head. These
functions are functions 1 to 9, 11 to 14, 22, 25 to 27, 30, and
31.
27
II. PROTOCOL
B61992E/02
(2) Commands from the CNC

Service function
Datagram command
Downloading
<PT><PM><nn>
Uploading
<PR><PM><nn>
Deleting a program
Directory information
Free area size
Reading servo delay
Reading acceleration/deceleration delay
Reading machine interface signals
10
Reading a program or sequence number
11
Reading a CNC parameter
12
13
Reading pitch error compensation
14
Writing pitch error compensation
15
16
17
Reading a macro variable
18
Writing a macro variable
19
Reading tool life management data
20
Reading modal information for automatic

operation
21
Reading an actual speed
22
Reading A/D conversion data
23
Reading alarm information
24
Reading status information
25
Displaying an operator message
26
Reading PMC data
27
Writing PMC data
r.c
om

nc
ce
nt
e
Selecting a program
29
Executing a program
30
Resetting the CNC
31
Reading a system ID
.c
28
NOTE
The service functions marked with an asterisk (*) are not
supported.
<R ><ST><0Xss> | <R ><AL><0Xaa>
28
II. PROTOCOL
B61992E/02
4.2.3
Notation of the
Datagram
4.2.3.1
<>
[]
: Datagram entry
: Brackets for a datagram entry (A datagram entry enclosed in
these brackets can be omitted.)
{}
: Braces for a datagram entry (A datagram entry enclosed in these
braces must not be omitted.)
|
: Delimiter for datagram entries
0X
: Prefix of hexadecimal data
Blank : Space character in ASCII or ISO code
4.2.3.2
Format
Data section
ce
nt
e
Command section
r.c
om
Symbols
2 bytes
2 bytes
Variable length
1st entry
2nd entry
Additional information field
nc
The length of the data section is variable. The maximum length is

specified by the CNC parameter. The parameter can specify the length
from 80 to 256 characters.
4.2.3.3
(1) First entry

UI : Unsigned integer
SI : Signed integer
CH : Character
UR : Unsigned real number
SR : Signed real number
HX : Hexadecimal number
.c
Data type
The data type used in Subsection 4.2.4 is shown below.
Hexadecimal data must begin with 0X.

Data of UI and UR types can contain no sign. The positive sign of a
positive value is omitted.
29
II. PROTOCOL
B61992E/02
(2) Second entry

The second entry indicates the maximum number of digits or
characters for each data type.
The digits and characters do not contain a sign or a decimal point,
however.
Example)
(Correct)
(Incorrect)
9999 to 9999
99999999. to 99999999.
0X19A5
ABCDEFGH or ABC EF
12345
123.4567895
0XFF1234
ABCDEFGHI
om
SI:4
SR:9
HX:4
CH:8
4.2.3.4
Delimiter in the data
section
4.2.3.5
ce
nt
e
r.c
(3) Third entry

When the value is clearly determined, this entry indicates the range
and limit values.
Example)
UI
: 2/1 to 15
Unsigned integer
: First entry
Maximum of two digits : Second entry
Range from 1 to 15
: Third entry
Only a comma (,) and colon (:) can be used as a delimiter. A space is
ignored except when it is used for charactertype data.
The end of the data section is assumed to be a delimiter.
ASCII or ISO code is available. The code to be used in the datagram is

specified by the CNC parameter.
nc
Code
4.2.3.6
.c
Continuation
The data section can be continued only for the datagram of the response
to the <PR> or <PT> command.
If the length of the data section exceeds the maximum length, the data is
divided into more than one datagram when it is transmitted.
Continuation in the data section is not limited except for group data that
consists of multiple data items. (The group data cannot be divided when
it is transmitted.)
Example)
Correct)
<R ><PM><G01X100.Y1>
<R ><PM><23.4Z50.0F200;>
G01X100.Y123.4Z50.0F200;
Incorrect)
<R ><TO><N10D15H5N11D16>
<R ><TO><H6N12D17H7>
N11D16H6 cannot be divided when it

is transmitted.
N D H is a group data item.
<R ><PD><N0X100P0XAAN0X101> N P is a group data item.

<R ><PD><P0X55>
30
II. PROTOCOL
B61992E/02
4.2.4
Details of the Data
Section
4.2.4.1
(1) Function
1) This command transfers a part program to the CNC according to
the commands issued by the host computer.
2) This command transfers a part program to the CNC according to
the commands issued by the CNC.
om
Downloading a part
program
Host
<PR><PM><nn>
r.c
(2) Datagram transmission

1) Commands issued by the host computer
CNC
<M ><RR>
<R ><PM><program>
ce
nt
e
<T ><NB>
<R ><PM><program>
<T ><NB>
<T ><FD>
<M ><OK>
2) Commands issued by the CNC

Host
CNC
<PT><PM><nn>
nc
<M ><RT>
<T ><NB>
<R ><PM><program>
<T ><NB>
.c
<R ><PM><program>
<T ><NB>
<T ><FD>
<M ><OK>
(3) Parameters
1) nn
: Program number (UI: 4)

Only a program can be uploaded using this parameter.
2) program: Program statement (CH: 256)
This statement is in the tape output format.
The program consists of the following:
%; 0nn;
Part program
; M30; %
NOTE
The above program number nn must be the same as nn in
command <PT | PR> <PM> <nn>. The semicolon (;)
functions as end of block. Actually, the semicolon is a EOB
code defined in the CNC such as an LF code (0AH).
31
II. PROTOCOL
B61992E/02
om
(4) Negative acknowledgment

1) M_NR [0XF61F]:
The program with the same number has already been found.
2) M_NP [0XF62D]:
The program is writeprotected.
3) M_NP [0XFDFB]:
An alarm is raised in the CNC. (For Series 0/16/18/21)
4) T_BD [0XF61E]:
Insufficient free area in memory
5) Note
Release background edit mode and simultaneous edit mode
(Series 15 only) in advance.
4.2.4.2
r.c
(1) Function
1) This command transfers a part program from the CNC according
to the commands issued by the host computer.
2) This command transfers a part program from the CNC according
to the commands issued by the CNC.
ce
nt
e
Uploading a part
program

1) Commands issued by the host computer
Host
CNC
<PT><PM><nn>
<M ><RT>
<T ><NB>
<R ><PM><program>
nc
<T ><NB>
<R ><PM><program>
<T ><NB>
<T ><FD>
.c
<M ><OK>
2) Commands issued by the CNC

Host
CNC
<PR><PM><nn>
<M ><RR>
<R ><PM><program>
<T ><NB>
<R ><PM><program>
<T ><NB>
<T ><FD>
<M ><OK>
<M ><OK>
(3) Parameters
1) nn : Program number (UI: 4)
Only a program can be downloaded using this parameter.
2) program: Program statement (CH: 256)
This statement is in the tape output format.
See 2) in (3) of Subsection 4.2.4.1.
32
II. PROTOCOL
B61992E/02

1) M_NR [0XF625] :
2) M_NP [0XFDFB] :
No program is found.
An alarm occurred in the CNC.
(For Series 0 only)
4.2.4.3
(1) Function
This command deletes a part program from memory.
Host
<MC><PM><nn>
CNC
r.c
om
(5) Note
Release background edit mode and simultaneous edit mode (Series
15 only) in advance.
<M ><OK>
ce
nt
e
(3) Parameter
nn : Program number (SI: 4)
If nn is 9999, all programs are deleted.
(5) Notes
1) In Series 15, the currently selected program cannot be deleted if
the command for deleting all programs is issued in the memory
mode.
2) Release background edit mode and simultaneous edit mode
(Series 15 only) in advance.
.c
nc

1) M_NR [0XFB9D]:
The program with nn is not found, or no programs are found.
2) M_NP [0XFB98]:
The program is protected by a parameter or key switch.
3) M_NP [0XFB93]:
The program is being used (selected or executed). If the
program is being selected in the edit mode, it can be deleted.
4) M_NP [0XFBA7]:
Alarm state (for Series 0)
nn is no 9999, and the system is not in the edit mode.
(for Series 15/16/18/21)
33
II. PROTOCOL
B61992E/02
4.2.4.4
Reading the directory of
part programs
(1) Function
This command reads the directory of part programs in memory.
Host
CNC
<LI><PM> [<nn>]
<M ><RT>
<T ><NB>
<T ><FD>
<M ><OK>
om
<DI><PM><nn> [<<,><nn>>. . .]
<T ><NB>
ce
nt
e
r.c
(3) Parameter
nn: Program number (UI: 4)
If the program number is omitted, all program numbers are
reported.
If the program number is specified, the host computer checks
whether the program is found in program memory.
nc

1) T_NP [0XFC02]:
The specified program is not found. (For Series 0/16/18/21)
2) T_NP [0XFC03]:
The specified program is not found. (For Series 15)
3) T_NP [0XFC02]:
No program is found. (When no program)
4.2.4.5
(1) Function
This command issues a request from the host computer to the CNC
for sending data on the size of the free area in program memory in
bytes.
.c
Free area in program

memory

Host
CNC
<T ><FR>
<R ><FR><nn>
<M ><OK>
(3) Parameter
nn : Size of the free area in program memory (UI: 9)
None
34
II. PROTOCOL
B61992E/02
4.2.4.6
(1) Function
This command reads the current tool position.
1) Absolute coordinate position
2) Machine coordinate position
3) Skip position
CNC
om
Host
<T ><WP | MP | SP>
[<0Xmm>]
<R ><WP | MP | SP><PP>

[<,><pp>]..
Absolute coordinate position

Machine coordinate position
Skip signal detection position
ce
nt
e
NOTE
<T><WP> :
<T><MP> :
<T><SP> :
r.c
<M ><OK>
(3) Parameters
1) mm: Axis request flag (HX: 4)
If mm is omitted, all axis positions are transferred.
0X indicates that mm must be specified in hexadecimal.
15 14 13 12
11 10 9
.c
nc
Bit
0
1st axis
2nd axis
15th axis
Not used
If 0X3F is specified, the 1st to 6th axis positions are transferred.
2) pp : Tool position data (SR: 9)

a) pp is repeated in ascending order of axis numbers.
b) The number in pp varies according to the axis request
flag.

M_NR [0XFFCC]: No specified axis is found.
(5) Note
When the tool position read function is being used with the Series 15,
bit 1 (POS) of parameter 2204 must be set to 1.
With the Series 15, when absolute coordinates and machine
coordinates are to be read, POS of parameter 2204 must be set to 1.
35
II. PROTOCOL
B61992E/02
4.2.4.7
(1) Function
This command reads the current servo delay.
Servo delay

Host
CNC
<T ><SE> [<0Xmm>]

<R ><SE><ee> [<,><ee>]..
om
<M ><OK>
15 14 13 12
11 10 9
ce
nt
e
Bit
r.c
(3) Parameters
3
0
1st axis
2nd axis
15th axis
Not used
2) ee : Tool position data (SR: 9)

a) ee is repeated in ascending order of axis numbers.
b) The number in ee varies according to the axis request
flag.
.c
nc

36
II. PROTOCOL
B61992E/02
4.2.4.8
(1) Function
This command reads the current acceleration/deceleration delay.
Acceleration/
deceleration delay

Host
CNC
<T ><AE> [<0Xmm>]

<R ><AE><ee> [<,><ee>]..
om
<M ><OK>
15 14 13 12
11 10 9
ce
nt
e
Bit
r.c
(3) Parameters
3
0
1st axis
2nd axis
15th axis
Not used
2) ee : Current acceleration/deceleration delay (SR: 9)

a) ee is repeated in ascending order of axis numbers.
b) The number in ee varies according to the axis request
flag.
.c
nc

37
II. PROTOCOL
B61992E/02
4.2.4.9
(1) Function
This command reads the machine interface signals (DI/DO) specified
with diagnosis numbers.
Machine interface
signals
(For Series 15 only)

Host
CNC
om
<T ><MI><mm>
[<:><nn> ]
<R ><MI><0Xdd> [<,><0Xdd>]..
<M ><OK>
ce
nt
e
r.c
(3) Parameters
1) mm: First diagnosis number to be read (UI: 3)
2) nn : Last diagnosis number to be read (UI: 3/mm < nn)
The DI/DO signal data items from mm to nn are
transmitted.
If nn is omitted, one signal data item is transmitted.
3) dd : DI/DO signal data (HX: 2)
The data is transmitted in hexadecimal.
M_NR [0XFFCA]: The diagnosis number is incorrect.
nc
(5) Note
The maximum number of DI/DO data items are limited to L/5 by the
length of the datagram.
(L is the length of the datagram.)
4.2.4.10
(1) Function
This command reads the current program number and sequence
number.
.c
Current program number

and sequence number

Host
CNC
<T ><PN | SN>

<R ><PN | SN> <nn>
<M ><OK>
NOTE
<M><PN>: Reads the program number.
<M><SN>: Reads the sequence number.
(3) Parameter
nn : Current program number (UI: 4) or the latest sequence number
specified in the program (UI: 4 for Series 0/16/18/21 or UI: 5
for Series 15)
None
38
II. PROTOCOL
B61992E/02
4.2.4.11
(1) Function
This command reads a CNC parameter.
Reading a CNC
parameter

Host
CNC
<PT><PA><nn> [<,><OXmm>]
<M ><RT>
<T ><NB>
om
<R ><PA><Nnn>< <Pvv> |

<Ax><Pvv> [<Ax><Pvv> ]..
<T ><NB>
<T ><FD>
<M ><OK>
ce
nt
e
r.c
(3) Parameters
1) nn : Number of the parameter to be read (UI: 4)
2) mm : Axis request flag (HX: 4)
mm must be specified when the parameter is of axis type.
3) Nnn : nn is the parameter number. (UI:4)
4) Pvv : vv is the parameter value. (SI:10)
5) Ax : x is the axis exponent. (UI: 2/1 to 15)
If nn is of axis type, Ax is transmitted.
.c
nc

1) M_NR [0XFBA5]:
The parameter number is incorrect.(For Series 0 only)
2) M_NR [0XFBA4]:
The parameter number is incorrect.(For Series 15 only)
3) M_NR [0XFBA3]:
The axis exponent parameter (0Xmm) is invalid.
(For Series 15 only)
39
II. PROTOCOL
B61992E/02
4.2.4.12
(1) Function
This command writes a CNC parameter.
Host
CNC
<PR><PA>
<M ><PR>
<R ><PA><Nnn> <Pvv> |<Ax><Pvv> [<Ax><Pvv> ]..>
om
<T ><NB>
<R ><PA><Nnn>< <Pvv> |<Ax><Pvv> [<Ax><Pvv> ]..>
<T ><NB>
<T ><FD>
<M ><OK>
ce
nt
e
r.c
(3) Parameters
1) Nnn : nn is the parameter number. (UI: 4)
2) Pvv : nn is the parameter value. (SI: 10)
3) Ax : x is the axis exponent. (UI: 2/1 to 15)
If nn is of axis type, Ax is transmitted.
.c
nc

1) M_NP [0XFB98]:
The parameter is writeprotected or locked.
(For Series 15/16/18/21)
2) M_NR [0XFBA45]:
The parameter is invalid. (For Series 0/16/18/21)
3) M_NR [0XFBA4]:
40
II. PROTOCOL
B61992E/02
4.2.4.13
(1) Function
This command reads pitch error compensation data.
Reading pitch error

compensation data

Host
CNC
<PT><PE><mm> [<:><nn> ]
<M ><RT>
<T ><NB>
om
<R ><PE><Nnn><Pvv>
[<Nnn><Pvv> ]..
<T ><NB>
<T ><FD>
<M ><OK>
ce
nt
e
r.c
(3) Parameters
1) mm : First pitch error compensation number to be read (UI: 4)
With the Series 15/16/18/21, the number starts with 0.
With the Series 0, the number starts with 1000. (This
number is the same as the parameter number.)
2) nn : Last pitch error compensation number to be read
(UI: 4 / 1mm < nn9999)
3) Nnn : nn is the pitch error compensation number. (UI: 4)
4) Pvv : vv is the compensation corresponding to the specified
pitch error compensation number. (SI: 1 / 7vv7)
nc

M_NR [0XFFCA]:
The parameter value is invalid, or no option is found
(for Series 0 only).
.c
(5) Note
This command can read only the pitch error compensation from the
CNC. To read other parameters, use the <PT><PA> command.
41
II. PROTOCOL
B61992E/02
4.2.4.14
(1) Function
This command writes pitch error compensation.
Writing pitch error

compensation

Host
CNC
<PR><PE>
<M ><RR>
<R ><PE><Nnn><Pvv>[<Nnn><Pvv>]..
om
<T ><NB>
<R ><PE><Nnn><Pvv>[<Nnn><Pvv>]..
<T ><NB>
<T ><FD>
<M ><OK>
ce
nt
e
r.c
(3) Parameters
1) Nnn : nn is the pitch error compensation number. (UI: 4)
2) Pvv : Compensation corresponding to the specified pitch error
compensation number (SI: 1 / 7vv7)
1) M_NR [0XFBA5]:
2) M_NR [0XFBA4]:
The parameter is invalid. (For Series 15)
3) M_NP [0XFB9E]:
No option is found. (For Series 0/16/18/21)
.c
nc
(5) Note
This command can write only the pitch error compensation into the
CNC. To write other parameters, use the <PR> <PA> command.
42
II. PROTOCOL
B61992E/02
4.2.4.15
(1) Function
This command reads a tool offset.
Host
CNC
<PT><TO><mm> [<:><nn> ]
<M ><RT>
<T ><NB>
om
<R ><TO> {<Nnn> <Dvv> [<Kvv>

[<Hvv><Lvv]]
(3)
|<Xvv><Zvv><Rvv><Yvv><Qvv> (3)
[<Uvv><Wvv><Pvv><Vvv>]>}.. (3)
<T > <NB>
<T ><FD>
r.c
<M > <OK>
ce
nt
e
(3) Parameters
1) mm: First tool offset number to be read (UI: 4)
2) nn : Last tool offset number to be read
(UI: 4 / 1mm <nn9999)
3) kk : Offset request flag (HX: 4)
bit
:Wear offset
:Geometry offset
:Wear offset
:Wear offset
:Wear offset
:Wear offset
:Virtual tool tip direction
:Not used
:Wear offset
:Geometry offset
:Geometry offset
:Geometry offset
:Geometry offset
:Geometry offset
:Not used
:Not used
.c
nc
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
D:
K:
X:
Z:
R:
Y:
:
Cutter compensation
Cutter compensation
Offset along the X axis
Offset along the Z axis
Tool tip radius compensation
Offset along the Y axis
Q
H:
L:
U:
W:
P:
V:
Tool length offset

Tool length offset
Offset along the X axis
Offset along the Z axis
Tool tip radius compensation
Offset along the Y axis
NOTE
(D, K, H, L) : Offsets for the milling machine
(X, Z, R, Y, Q, U, W, P, V) : Offsets for the lathe
Both the offset request flags must be mutually exclusive
when they are set.
Example) 0X3F00 : Incorrect
0X3C7C: Correct
43
II. PROTOCOL
Tool offset number (UI: 4)

Cutter wear offset for the milling machine (SR: 9)
Cutter geometry offset for the milling machine (SR: 9)
Tool length wear offset for the milling machine (SR: 9)
Tool length geometry offset for the milling machine (SR:9)
Wear offset along the X axis for the lathe (SR: 9)
Wear offset along the Z axis for the lathe (SR: 9)
Tool tip radius wear offset for the lathe (SR: 9)
Wear offset along the Y axis for the lathe (SR:9)
Virtual tool tip direction for the lathe (UI: 1 / 0xvvx7)
Geometry offset along the X axis for the lathe (SR: 9)
Geometry offset along the Z axis for the lathe (SR: 9)
Tool tip radius geometry offset for the lathe (SR: 9)
Geometry offset along the Y axis for the lathe (SR: 9)
om
4) Nnn :
5) Dvv :
Kvv :
Hvv :
Lvv :
Xvv :
Zvv :
Rvv :
Yvv :
Qvv :
Uvv :
Wvv :
Pvv :
Vvv :
B61992E/02
r.c

1) M_NR [0XFFCA]:
The offset number is incorrect. (mm, nn, or 0Xkk)
2) M_NR [0XFFC9]:
Combination of offsets in incorrect.
ce
nt
e
(5) Note
Table 4.2.4.15 describes how the tool compensation memory type
and request flag are specified.
Table 4.2.4.15 Relationships between Tool Compensation Memory Type and Request Flag
15
14
12
Memory
type
T
Series0
M
T
Series15
Series
16/18/21
10
: Ignored
: Specifiable
: Not specifiable
44
0
M
11
.c
Model
12
nc
Request flag
b : Standard
o : Option
II. PROTOCOL
B61992E/02
4.2.4.16
(1) Function
This command writes a tool offset.

Host
CNC
<PR><TO>
om
<M ><RR>
<R ><TO>{<Nnn><Dvv>[<Kvv>
[<Hnn><Lvv>]] |
<Xvv><Zvv><Rvv><Yvv><Qvv>
[<Uvv><Wvv><Pvv><Vvv>]>}..
<T ><NB>
<T ><FD>
r.c
<M ><OK>
(3) Parameters
See 3) and 4) in item (3) of Subsection 4.2.4.15.
4.2.4.17
Reading custom macro
variables
ce
nt
e

1) M_NR [0XFBA3] :
The compensation number is incorrect. (For Series 0 only)
2) M_NR [0XFBA4] :
The compensation number is incorrect. (For Series 15 only)
(1) Function
This command reads custom macro variables.
nc

Host
CNC
<PT><MV><mm> [<:><nn>]
<M ><RT>
.c
<T ><NB>
<R ><MV><Nnn><Pvv>
[<Nnn><Pvv>] ..
<T ><NB>
<T ><FD>
<M ><OK>
(3) Parameters
1) mm : First custom macro variable number to be read (UI:5)
2) nn : Last custom macro variable number to be read
(UI:5 / mm < nn)
3) Nnn : nn is the custom macro variable number. (UI:5)
4) Pvv : Value of custom macro variable nn (SR:9)
M_NR[0XFFCA] :
The custom macro variable number is incorrect, or no option is
found.
45
II. PROTOCOL
B61992E/02
4.2.4.18
Writing a custom macro
variable
(1) Function
This command writes a value in the specified custom macro variable.
Host
CNC
<PR><MV>
om
<M ><RR>
<R ><MV><Nnn><Pvv>
[<Nnn><Pvv>] ..
<T ><NB>
<R ><MV><Nnn><Pvv>
[<Nnn><Pvv>] ..
<T ><NB>
<T ><FD>
<M ><OK>
r.c
<M ><OK>
ce
nt
e
(3) Parameters
1) Nnn : nn is the custom macro variable number. (UI:5)
2) Pvv : Value of custom macro variable nn (SR:9)
nc

1) M_NR [0XFBA5] :
The custom macro variable number is incorrect.
(For Series 0/16/18/21)
2) M_NR [0XFFA4] :
The custom macro variable number is incorrect.
(For Series 15)
3) M_NR [0XFB9E] :
No option is found.
.c
(5) Note
With the Series 0, the custom macro variables in which data can be
written are #100 to #149 and #500 to #531 of custom macro A (integer
data). Data cannot be written into the extended area.
46
II. PROTOCOL
B61992E/02
4.2.4.19
(1) Function
This command reads tool life management data with the specified
group number.
Reading tool life

management data

Host
CNC
<PT><TL><mm> [<:><nn>]
om
<M ><RT>
<T ><NB>
<R ><TL> {<Pnn><Lvv>[<Qnn>]

[<Ttt><Hhh><Ddd><Ccc>]..} ..
<T ><NB>
<T ><FD>
r.c
<M ><OK>
First tool group number to be read (UI:4)

Last tool group number to be read (UI:4 / mm < nn)
nn is the tool group number. (UI:4)
Tool life value (minutes or times) (UI:10)
Qnn: nn is the life count value of the tool currently being
used. (UI: 5) The unit is the number of times the tool has
been used or the total usage time (in minutes), one of
which is specified with a parameter of the CNC.
Tool number (UI:4)
H code (UI:4)
D code (UI:4)
Tool information (UI:1/0 to 3)
0 : Currently selected tool
1 : The tool is already registered.
2 : The tool is already exhausted.
3 : The tool was skipped.
ce
nt
e
(3) Parameters
1) mm :
2) nn :
3) Pnn :
4) Lnn :
5) Qnn :
Ttt
Hhh
Ddd
Ccc
:
:
:
:
.c
nc
6)
7)
8)
9)

M_NR [0XFFCA] :
Group number nn is not yet defined, or no option is found.
(5) Note
If the tool life management data cannot be transmitted with one
datagram, the datagram is divided into multiple parts. The data is then
transmitted using multiple datagrams having the same group number
P, the same tool life L, and the same tool life count type Q.
<T ><NB>
<R ><TL>{<Pnn><<Lvv>[<Qnn>][<Ttt><Hhh><Ddd><Ccc>]..}..
<T ><NB>
<R ><TL>{<Pnn><<Lvv>[<Qnn>][<Ttt><Hhh><Ddd><Ccc>]..}..
.
.
47
II. PROTOCOL
B61992E/02
4.2.4.20
Reading modal
information for
automatic operation
(1) Function
This command reads the previous, current, or next modal data.
Host
CNC
<T ><MD><mm>
om
<R ><MD> [<Ggg.vv>] [<Ggg.vv>]..

[<Ddd>] [<Eee>] [<Hhh>]
[<Lll>] [<Mmm>] [<Nnn>]
[<Ooo>] [<Sss>] [<Ttt>]
[<Fff>]
<M ><OK>
ce
nt
e
r.c
(3) Parameters
1) mm
: Block selection (UI:1, any of 0, 1, and 2)
0 : Previous block
1 : Current block
2 : Next block
2) Ggg.vv : Modal data of G code
gg : G code group number (UI:2)
vv : Internal G code (UI:2)
VV must be specified using two digits.
3) Ddd to Fff : Modal data required in the selected block
Ddd | Hhh | Lll :
Mmm
:
Nnn
:
Ooo | Sss | Ttt :
Eee | Fff
:
UI:4
UI:3
UI:5
UI:4
UR:9
nc

None
.c
(5) Note
If no modal data is specified, only the <R ><MD > command is
transmitted, and the data section is omitted.
For internal G code values, see the table in Appendix H.
48
II. PROTOCOL
B61992E/02
4.2.4.21
(1) Function
This command reads the feedrate of each axis or the composite
feedrate of all axes.
Reading an actual
feedrate
Host
CNC
<T ><AF> [<0Xmm>]

<R ><AF><vv> [ <,><vv>..]
om
<M ><OK>
ce
nt
e
r.c
(3) Parameters
1) mm: Axis request flag (hexadecimal) (HX:4)
This parameter is available for Series 15 only.
For the function of the parameter, see item (3) in
Subsection 4.2.4.8.
If mm is omitted, the composite feedrate of all axes is
transmitted.
2) vv : Feedrate of each axis (UR:9)
vv is transmitted in ascending order of axis numbers.
(1_>2_>3_>...)
M_NR [0XFFCC] : The axis parameter is invalid.
4.2.4.22
Reading A/D conversion
data
(1) Function
This command reads A/D conversion data.
nc
Host
CNC
<T ><AD><nn> [<,><0Xmm>]

[<,><nn>[<,><0Xmm>]]..
<R ><AD><vv> [<,><vv>] ..
.c
<M ><OK>
(3) Parameters
1) nn : A/D conversion data selection (UI:3)
0 to 1 : General-purpose analog input (Series 15)
0 to 3 : General-purpose analog input (Series 0)
100 : Voltage to which the analog input value of the load
current for the 1st spindle is onverted
101 : Voltage to which the analog input value of the load
current for the 2nd spindle is converted
200 : Voltage to which the load current for an NC control
axis is converted.
The 2nd parameter, 0Xmm, is required for this case.
2) mm: Axis request flag (HX:4)
For the function of this parameter, see item (3) in
Subsection 4.2.4.8.
3) vv : Read voltage obtained by conversion (SI:10)
10 * (voltage ] 128)/128 volts

1) M_NR [0XFFC9] : The axis request flag is omitted.
2) M_NP [0XFB94] : Alarm status (for Series 0/16/18/21)
49
II. PROTOCOL
B61992E/02
4.2.4.23
(1) Function
This command reads alarm information.
Reading alarm
information

Host
CNC
<T ><AL>
<R ><AL><0Xaa> [<,><cc>] ..
om
<M ><OK>
ce
nt
e
r.c
(3) Parameters
aa : Alarm information (HX:4)
Bit
0 : Background PS alarm
(PS alarm stands for program setting alarm.)
1 : Foreground PS alarm
2 : Overheat alarm
3 : Not determined
4 : Not determined
5 : SW alarm (parameter input enable)
6 : OT alarm (overheat label/spindle alarm)
7 : PMC error
8 : External alarm
9 : Not determined
10 : Fatal PS alarm
11 : Not determined
12 : Servo alarm
13 : I/O alarm
14 : PW alarm (Power off request)
15 : Not determined
.c
nc

None
50
II. PROTOCOL
B61992E/02
4.2.4.24
(1) Function
This command reads status information.
Reading status
information

1) Request from the host computer
Host
CNC
<T ><ST>
om
<R ><ST><0Xss> [<,><0Xaa>]

<M ><OK>
2) Automatic transmission to the host

Host
CNC
r.c
Setting the automatic transmission mode

<M ><ST> [<0Xmm>]
<M ><OK>
<R ><ST><0Xss>
ce
nt
e
<M ><OK>
<R ><AL><0Xdd> [<,><cc>]..
<M ><OK>
.c
nc
(3) Parameters
1) mm: Mask bit for information to be transmitted (HX:4)
Each bit corresponds to the ss bit.
1 : Masked (not transmitted)
0 : Not masked (transmitted)
The initial value is 0XFFFF.
If mm is omitted, all the bits are enabled (transmitted).
2) ss : CNC status (HX:4)
Bit
0 : Rewind (RWD)
1 : Alarm (AL)
2 : Rest (RST)
3 : Automatic operation currently stopped (SPL)
4 : Automatic operation currently started (STL)
5 : Automatic operation in process (OP)
6 : Servo ready (SA)
7 : CNC ready (MA)
8 : Not used
9 : Not used
10 : Not used
11 : Not used
12 : M00 output (M00)
13 : M01 output (M01)
14 : M02 output (M02)
15 : M30 output (M30)
3) aa : Alarm information (HX:4)
For the alarm information, see the parameter described in
Subsection 4.2.4.23.
When AL of code ss is 1, alarm status code aa is transmitted
after the code ss.
51
II. PROTOCOL
B61992E/02
r.c
om
4) dd : Alarm information (HX:4)

Value
2 : Overheat alarm
3 : Not determined
4 : Not determined
5 : SW alarm (parameter input enable)
6 : OT alarm (overheat label/spindle alarm)
7 : PMC error
8 : External alarm
9 : Not determined
A : Fatal PS alarm
B : Not determined
C : Servo alarm
D : I/O alarm
E : PW alarm (Power off request)
F : Not determined
10 : Battery alarm
ce
nt
e

None
.c
nc
(5) Notes
1) In automatic notification mode, <R ><ST> or <R ><AL> is
automatically transmitted from the CNC.
<R ><AL> is transmitted only when an alarm is issued.
2) In automatic notification mode, no commands other than
<M><ST> can be transmitted from the host.
3) When the status is updated while the host is issuing another
request (such as a request to download a program), information
about the first status change is posted to the host by automatic
notification from the CNC after the termination of the preceding
request.
This is because the DNC2 protocol cannot handle more than one
request at any one time. So, automatic notification processing is
held during processing of the preceding request.
Example
Start
End
Download
Automatic
notification
Information of this
status change is
not posted.
Status
change
Notification processing is held during this time.
(Creation of notification data)

Time
Reading status command can be transmitted from the host when

accurate notification of status change is needed.
52
II. PROTOCOL
B61992E/02
4.2.4.25
(1) Function
This command displays the operator messages on the Screen of the
CNC.
Operator messages

Host
CNC
<M ><DI><nn><,><message>
om
<M ><OK>
ce
nt
e
r.c
(3) Parameters
1) nn
: Message number (SI:1 / 1 to 5 or 1 to 5)
Five different messages can be displayed at a time
because the CNC has five message areas.
If nn is negative, the old message on the Screen is
cleared, and a new message stored in the first area is
displayed first. If nn is positive, a new message is
added and displayed after the old message on the
Screen.
Each message area can contain up to 128 characters.
2) message : Message in ASCII code to be displayed on the
Screen (CH:32)
Up to 32 characters of the message can be displayed
at a time.
.c
nc

M_NR [0XFFC9] : The message number is incorrect.
53
II. PROTOCOL
B61992E/02
4.2.4.26
(1) Function
Data in the PMC area is read.
Reading PMC data

a) Type A
Host
CNC
om
<PT><PD><0Xaa |mm|ammmm>
<, ><nn>
<M ><RT>
<T ><NB>
<R ><PD> {<N0Xaa |Nmm|

Nammmm><P0Xvv> [<P0Xvv>]..}..
<T ><NB>
r.c
<R ><PD> {<N0Xaa |Nmm|

Nammmm><P0Xvv> [<P0Xvv>]..}..
<T ><NB>
<T ><FD>
<N ><OK>
ce
nt
e
b) Type B
Host
CNC
<T ><PD><0Xaa|mm|ammmm>
<R ><PD>
<N0Xaa|Nmm|Nammmm><P0Xvv>
<M ><OK>
(3) Parameters
1) aa
.c
nc
: PMC address (HX: 8) (applicable to the Series 15

PMCNA only (address specification type))
The address is specified with eight hexadecimal
characters by prefixing 0X41 to the 6digit physical
address, given in the list of relationships between
PMC addresses and physical addresses in Section
3.3.2 of the FANUC PMCMODEL N
Programming Manual (B61013E2).
Example: For F000, specify 0X41FFE200.
mm
: PMC data number (UI:4) (applicable to the Series 0
only (data number specification type))
Refer to FANUC Series 0MC Connection
Manual(B61393E) and FANUC PMC MODEL
K/L/M Programming Manual(B55193E).
Specify the numeric part of the PMC address, which
is the PMC address less the initial alphabetic
character.
Example: For F148, specify 148.
For R700, specify 700.
ammmm : PMC data number (<a> <mmmm>) (Series 16/18,
and PMCNA, NB, NB2 of Series 15 (data number
specification type))
a
: PMC data address (UI: 1)
0A 3F
6R 9Y
1C 4G 7T
2D 5K 8X
mmmm : PMC data number (UI: 4)
Example: For D500, specify 20500.
54
II. PROTOCOL
B61992E/02
NOTE
The PMC data number must consist of five numeric
characters if address <a> is a nonzero value.
om
2) nn
: Number of bytes to be read from address aa (UI:2/1 nn 32)
3) NOXaa : Starting address of read data (POXvv) (HX: 8)
4) POXvv : PMC data value (HX: 2)
The value is posted for each byte.
r.c

M_NR [0XFFCA]:
The PMC address or PMC data number is invalid.
4.2.4.27
(1) Function
Data is written into the PMC area.
The host computer communicates with the PMC application
software.
FANUC does not define the meanings of the addresses in RAM.
These depend on the settings made between the host computer and
CNC.
ce
nt
e
Writing PMC data

a) Type A
Host
CNC
nc
<PR><PD>
<M ><RR>
<R ><PD> {<N0Xaa|Nmm|Nammmm>

<P0Xvv> [<P0Xvv>]..}..
<T ><NB>
.c

<P0Xvv> [<P0Xvv>]..}..
<T ><NB>
<T ><FD>
<M ><OK>
b) Type B
Host
CNC

<P0Xvv> [<P0Xvv>]..}..
<M ><OK>
(3) Parameters
1) aa
: PMC address (HX: 8) (applicable to the Series 15

PMCNA only (address specification type))
characters by prefixing 0X41 to the 6digit physical
address, given in the list of relationships between PMC
addresses and physical addresses in Section 3.3.2 of
the FANUC PMCMODEL N Programming
Manual (B61013E2).
Example: For F000, specify 0X41FFE200.
55
II. PROTOCOL
B61992E/02
: PMC data number (UI: 4) (applicable to the Series

0 only (data number specification type))
Refer to FANUC Series 0MC Connection Manual
(B61393E) and FANUC PMC MODELK/L/M
Programming Manual (B55193E).
Specify the numeric part of the PMC address, which
is the PMC address less the initial alphabetic
character.
Example: For F148, specify 148.
ammmm : PMC data number (<a> <mmmm>) (Series 16/18,
and PMCNA, NB, NB2 of Series 15 (data number
specification type))
a
: PMC data address (UI: 1)
0A 3F
6R 9Y
1C 4G 7T
2D 5K 8X
mmmm : PMC data number (UI: 4)
Example: For D500, specify 20500.
r.c
om
mm
ce
nt
e
NOTE
The PMC data number must consist of five numeric
characters if address <a> is a nonzero value.
2) POXvv: Byte written in the PMC RAM (HX: 2)
nc

1) M_NR [0XFFCA]:
The PMC address or PMC data number is invalid.
2) M_NR [0XFBA3]:
The PMC address or PMC data number is beyond the
allowable range.
.c
(5) Note
It is recommended that the data access direction for each PMC RAM
be determined explicitly between the host computer and PMC.
Otherwise, when the host computer and PMC attempt to write data
to the same RAM address at the same time, a contention occurs (if two
units attempt to write the same address at the same time, the write
processing being performed by one of the two units will fail).
56
II. PROTOCOL
B61992E/02
4.2.4.28
Selecting a part program
(1) Function
This command selects a part program on tape storage.
Host
CNC
<M ><SL><nn>
(3) Parameter
nn : Part program number (UI:4)
om
<M ><OK>
ce
nt
e
r.c

1) M_NR [0XFC0C] :
Program nn is not found.
2) M_NR [0XFC08] :
Alarm status (for Series 0 only), or the program is running.
3) M_NR [0XFC09] :
The system is not in the AUTO mode. (For Series 0 only)
(5) Note
With the Series 15, only memory mode (MEM) and edit mode (EDIT)
are valid. In other modes, the sequence terminates normally, but
program selection is not performed.
4.2.4.29
(1) Function
This command selects and executes a program.
nc
Executing a program

Host
CNC
.c
<M ><CS> [<nn>]

<M ><OK>
(3) Parameter
nn : Part program number (UI:4)
If this parameter is specified, the CNC selects part program nn
and executes it. If it is omitted, the CNC executes the currently
selected part program.
1) M_NR [0XFC0C] :
Program nn is not found.
2) M_NR [0XFC09] :
The mode is incorrect. (Neither AUTO mode nor MEM mode)
3) M_NR [0XFC0A] :
Program nn is already being executed, or the CNC is in the
alarm status.
4) M_NR [0XFC08] :
Selecting the program was rejected.
The command for selecting program nn is issued again
during automatic operation.
57
II. PROTOCOL
B61992E/02
4.2.4.30
(1) Function
This command resets the CNC. It functions in the same way as the
external reset (ERS) signal of the machine interface.
Reset

Host
CNC
<M ><CC>
(3) Parameters
None
r.c

None
4.2.4.31
(1) Function
This command reads information on the system ID.
ce
nt
e
Reading a system ID
om
<M ><OK>

Host
CNC
<T ><ID>
<R ><ID><model name><,><revision>
<M ><OK>
.c
nc
(3) Parameters
1) model name : CNC model name
F15M9A/F15M14/F15T9A/F15T14
(Series 15)
FS0MC/FS0TC (Series 0)
F16MA/F16TA/F18MA/F18TA
(Series 16/18A)
F16MB/F16TB/F18MB/F18TB
(Series 16/18B)
F16MC/F16TC/F18MC/F18TC
(Series 16/18C)
F16iMA/F16iTA/F18iMA/F18iTA/
F21iMA/F21iTA (Series 16i/18i/21iA)
2) revision
: CNC DNC2 software revision
1.0 (Series 15)
1.1 (Series 0/16/18/21)

None
58
II. PROTOCOL
B61992E/02
4.3
This section describes the datagram protocol between the FANUC CNC
and the host computer.
DATAGRAM
PROTOCOL
4.3.1
The DNC2 has six negative acknowledgments and one interrupt

command for handling errors.
Error Handling
om
4.3.1.1
(1) Syntax
Negative
acknowledgment
<T_BD | M_ER | M_NR | M_NP | T_NP | M_IL> [<0Xeeee>]
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(2) Functions
T_BD: Sent if the datagram protocol is incorrect. See Appendix D.
M_ER: Sent if a syntax error is detected in the datagram.
M_NR: Sent if the number given in the data section of the preceding
datagram is incorrect.
M_NP: Sent if executing commands in the preceding datagram is
rejected.
T_NP: Sent if the CNC cannot access the requested data.
M_IL: Sent if errors other than the above occur.
(3) Error code
eeee : This four-digit hexadecimal code indicates the cause of the
error. The parameter specifies whether the code is output.
See Appendixes B and F.
4.3.1.2
.c
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(4) Protocol
The receiving device sends a negative acknowledgment to the
sending device. The negative acknowledgment indicates that an error
occurred in the receiving terminal.
The device that sent the negative acknowledgment and the device that
received it must interrupt transmission immediately and return to the
initial state.
Interrupt command
(1) Syntax
<T_BD>
(2) Function
The interrupt command forcibly terminates processing currently
being transmitted. Either the CNC unit or the host computer can send
this command at any time.
(3) Protocol
As soon as the terminal receives the interrupt command, it interrupts
transmission and returns to the initial state. When the terminal is in
the initial state, it ignores the interrupt command. This command is
used to forcibly return the application layer to the initial state.
59
II. PROTOCOL
B61992E/02
4.3.2
Interrupt Procedure
4.3.2.1
Interrupt
Sending device
CASE : A
Command A11
om
The datagram transmission procedure can generally be started in the idle

state.
Unless both the CNC and the host terminate the current datagram
transmission procedure, they cannot start a new transmission procedure.
In other words, they cannot interrupt the datagram transmission
procedure as shown in Fig. 4.3.2.1.
Receiving device
r.c
Response A11
Command B11
Response B11
Command B12
Interrupt by the
sending device
Response B12
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Command A12
Response A12
CASE : B
Command A21
Response A21
Response B21
Command B21
Response B22
Command B22
Command A22
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Response A22
60
Fig.4.3.2.1 Example of Interrupts
Interrupt byy the

receiving
de ice
device
om
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III. COMMUNICATION PROGRAM

LIBRARY

LIBRARY
B61992E/02
1. OUTLINE
OUTLINE
om
This manual explains the use and installation of the communication

program library for a personal computer. They are specified in the DNC2
protocol developed for DNC communication between a FANUC CNC
and personal computer (PC), or between a CNC and host computer.
r.c
This library cannot be used on its own. Be sure to create application

programs and link them with this library. For creating and linking
application programs, see Section 3.3.
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The demonstration program (sample application program) supplied with

this system permits simple control of the CNC.
For use of the demonstration program, see Appendix K.
63

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2. CONFIGURATION
B61992E/02
CONFIGURATION
IBM PC series
r.c
Others
PC, AT, PS/2

PCDOS Ver. 3.1 or later
MSC compiler Ver. 5.0 or later
The communication package library alone uses 134K
bytes of memory.
: Use of the demonstration program requires the CGA
interface.
om
Model :
OS
:
Compiler:
Memory :
ce
nt
e
NEC PC98 series

Model : Model VM and all subsequent models (except the
highresolution mode)
OS
: MSDOS Ver. 3.1 or later
Compiler: MSC compiler Ver. 5.0 or later
Memory : The MSDOS 3.1 system alone uses 60K bytes of
memory. The MSDOS 3.3B system alone uses 89K
bytes of memory. The communication package library
alone uses 134K bytes of memory.
Others : Only the RS232C standard port is supported.
Fujitsu FMR series
FMR50/60/70
MSDOS Ver. 3.1 or later
MSC compiler Ver. 5.0 or later
The communication package library alone uses 134K
bytes of memory.
: The demonstration program is designed for high
resolution
Others
NOTE
Memory requirements vary somewhat depending on
whether the config.sys file contains the specifications of
files and buffers. Memory requirements are also increased
by the size of device drivers such as print.sys, if included.
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Model :
OS
:
Compiler:
Memory :
64

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B61992E/02
INSTALLATION
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3.
65

LIBRARY
3.
3.1
The FANUC DNC2 communication program library is stored in one

volume of floppy disk shown below. The contents of the floppy disk are
shown in the figure below.
The libraries are all created for large models.
SUPPLIED
PROGRAMS
DNC2 communication program library directory
LIB
DNC2DFF.H
Header file
DNC2NECL.LIB
NEC PC9801 library
DNC2IBML.LIB
IBM PC/AT library
DNC2FMRL.LIB
Fujitsu FMR library
om
B61992E/02
Demonstration program directory
DEMO
Source program directory
SRC
D2_DEMO.H
r.c
D2_GLB.H
D2_PRT.H
D2DTEXT.H
D2DTGLB.C
D2_UTNEC.C
D2_UTIBM.C
D2_UTFMR. C
IBM_DEMO.MAK
98_DEMO.MAK
FMR_DEMO.MAK
DEMOIBM. EXE
IBM PC series makefile
NEC PC98 series makefile
Fujitsu FMR series makefile
Executable file of IBM PC/AT demonstration program
nc
DNC2SYS.CFG
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DEMO_MAN.C
D2_DEMO.C
Error log directory
LOG
LOG.EXE
.c
SRC
Executable file of DNC2 communication program library error log inspection program
Source file of error log inspection program
The programs stored in the DEMO directory are designed with

the Series 0MC specified as the CNC, to make the user
familiar with DNC2. These programs do not run normally even
when compiled and linked.
Use these programs merely for reference to understand the
use of the DNC2 communication library.
LOG.C
66

LIBRARY
B61992E/02
3.
3.2
This section explains the procedure for installing the library.
INSTALLATION
PROCEDURE
Copy the header file and the library for the model to be used to the
directory (the directory to be compiled) in which application files exist.
The following shows the method for copying files from the floppy disk
in drive A to the DNC2 directory in the hard disk in drive C.
om
C>CD \DNC2
C>COPY A: \LIB \DNC2DEF. H C:
C>COPY A: \LIB \DNC2IBML. LIB C:
.c
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NOTE
For IBM PC/AT, replace the yen signs with backslashes.
67

LIBRARY
3.
3.3
COMPILATION AND
LINKING
B61992E/02
(1) Compiler
The object compiler is version 5.0 or a later version of the MSC
compiler produced by Microsoft.
#include dnc2def. h
om
(2) Application program setup

This library only executes single functions (commands). It requires
a main program which executes different types of functions in
combination. The main program is called an application program.
When creating an application program, be sure to include the header
file DNC2DEF. H at the beginning. (Insert the following line at the
beginning of each file.)
r.c
If the header file is not included, functions in this library cannot be

called correctly.
ce
nt
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(3) Setting environment variables

The following three environment variables must be set for
compilation to start normally. (For environment variables, refer to the
PCDOS or MSDOS manual.)
PATH
: Directory in which the compiler exists
LIB
: Directory in which the standard library of the
compiler exists
INCLUDE : Directory in which the include file of the compiler
exists
Check that these environment variables are set correctly.
Set environment variables as follows if the directory structure is as
shown below.
MSC \
BINR \
LIB \
INCLUDE \
:
:
:
Compiler
Standard library
Include file
.c
nc
C:\
C>SET PATH = C: \MSC \BINR

C>SET LIB = C: \MSC \LIB
C>SET INCLUDE = C: \MSC \INCLUDE
(4) Compilation and linking

For large models, an application program is compiled as follows,
where the name of the file containing the application program is
<APLI. C>.
C>CL AL APLI. C DNC2IBML. LIB
After compilation, the application program is automatically linked

and an executable file <APLI. EXE> is generated.
For details of compiler options and compilation, refer to the MSC
compiler manual.
68

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B61992E/02
FUNCTION SPECIFICATIONS
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4. FUNCTION SPECIFICATIONS
69
4.1

LIBRARY
B61992E/02
Call functions in the calling format shown in Section 4.4. If the types of
arguments agree, it does not matter whether the variable names differ.
USE
The return values of functions are always of the short type. As required,
convert them to a proper type (cast) for use.
Example) test( )
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ce
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om
{
short ans;
char ch;
short ax;
bouble dt [15];
:
:
ch = 0;
bit = 0x01;
:
:
if (( ans = D_servo (ch, bit, &dt [0])) << 0) {
/* Error handling */
if (ans == 1) {
:
} else if (ans == 2) {
:
:
}
}
:
:
}
70

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B61992E/02
4.2
(1) These functions do not return until communication with the NC unit
terminates completely.
Note that downloading/uploading or other timeconsuming processes
disable other processes.
NOTES
(2) Specify in uppercase a program number or any other character string

used as an argument to call a function.
Message output can be input in both uppercase and lowercase.
om
(3) Specify the name of an inputoutput file with an absolute path or a

path relative to a current directory.
(4) Since the functions that output results to files open files in the
overwrite mode, the contents of existing files are deleted.
r.c
(5) Before calling functions that output results to memory, allocate a free
space large enough to store results. The functions assume that an area
for storing results is allocated.
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(6) Arguments selected by numbers (mode of D_tool_pos()) can be

specified directly by numeric values, or by defined names. (The latter
is recommended.)
When specifying arguments by defined names, be sure to include
dnc2def.h.
Example) #include dnc2def.h
...
D_tool_pos(0,MACHINE_POS,0x13,&tooldat [0 ] );
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(7) The types of variables used in the function specifications are

described below.
char
: Onebyte signed integer or 7bit character
uchar : Onebyte unsigned integer or 8bit character
short : Twobyte signed integer
ushort : Twobyte unsigned integer
long
: Fourbyte signed integer
double : Eightbyte signed real number
71

LIBRARY
4.3
Functions of the communication package are shown below.

No.
Function
Description
Part program download
PRPM
D_download_wait
Waits for download request and starts downloading a part program.
PTPM
wait
D_upload
Part program upload
PTPM
4
5
D_delete
Deletes part programs.

Reads part program directory information for
one program.
MCPM
LIPM
D_alldir
Reads part program directory information for all

programs (file type).
LIPM
D_alldir_mem
Reads part program directory information for all

programs (memory type).
LIPM
8
9
D_freemem
Reads the size of the free area

Reads the tool position.
T FR
T MP
T WP
T SP
D_fdir
D_tool_pos
10
11
12
D_servo
13
D_exec_num
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D_download
D_AccDec
T SE
T AE
T MI
Reads the numbers of the program and block

being executed.
T PN
T SN
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D_diagnose
Reads the servo delay.

Reads the acceleration/deceleration delay.
Reads the machine interface signal.
14
15
16
D_parameter_r
17
18
D_pitch_r
19
20
21
D_pitch_w
22
23
D_offset_r_mem
24
25
26
D_offset_w_mem
27
28
D_variable_w
D_parameter_w
D_parameter_w_mem
D_pitch_r_mem
D_pitch_w_mem
D_offset_r
PTPA
PRPA
PRPA
Reads pitch error data (file type).

Reads pitch error data (memory type).
PTPE
PTPE
Writes pitch error data (file type).

Writes pitch error data (memory type).
Reads the tool offset (file type).
PRPE
PRPE
PTTO
Reads the tool offset (memory type).

Writes the tool offset (file type).
PTTO
PRTO
PRTO
PTMV
PTMV
Writes custom macro variables (file type).

Writes custom macro variables (memory type).
PRMV
PRMV
PTTL
PTTL
29
30
D_toollife
Reads the tool life management data (file type).

Reads the tool life management data (memory
type).
31
D_modal
Reads automatic operation continuousstate

information (file type).
T MD
32
D_modal_mem
Reads automatic operation continuousstate

information (memory type).
T MD
33
34
35
D_actualspeed
Reads the actual speed.

Reads A/D conversion data.
Reads alarm information.
T AF
T AD
T AL
36
37
38
D_status
D_PMCdata_r
Reads status information.

Message output
Reads PMC data.
T ST
T DI
PTPD
T PD
39
D_PMCdata_w
Writes PMC data.
PRPD
R PD
40
D_select
Searches for a program number.
M SL
41
42
43
D_start
D_systemID
Cycle start
Reset
Reads system ID.
M CS
M CC
T ID
44
D_initial
Initializes the communication port.
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D_offset_w
Reads CNC parameters.

Writes CNC parameters (file type).
Writes CNC parameters (memory type).
Writes the tool offset (memory type).

Reads custom macro variables (file type).
Reads custom macro variables (memory type).
w
w
w
Send
command
r.c
FUNCTIONS
B61992E/02
D_variable_r
D_variable_r_mem
D_variable_w_mem
D_toollife_mem
D_ADconcert
D_alarm
D_message
D_reset
72

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B61992E/02
4.4
This section explains the functions in detail.
DETAILS
For an explanation of the return value (negative acknowledgment)

specific to each function, see Appendix J.
The functions correspond to the service functions explained in Section
4.2.4 of II4 almost on a onetoone basis. Therefore, see Section 4.2.4.
1) Function
: D_download Part program download
Calling format : short D_download (char ch_no, uchar
*file_name, char *prg_no)
: char ch_no
Cannel number (0 to 3) <numeric value>
om
Arguments
uchar *file_name
Name of file being downloaded

<haracter string>
char *prg_no
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Program number (o0001 to o9999)

<character string>
Return value : = 0
Normal
= FFFF Communication error
= FFFE File open error
= FFFD File read error
= FFF0 Sequence error
Others See Appendix F.
Outline
: Transfers part programs from a host computer to
the CNC.
* Release background edit mode and simultaneous edit mode (Series
: D_download_wait
Waits for download request and starts download
of part program.
Calling format : short D_download_wait (char ch_no)
Arguments
: char ch_no
Channel number (0 to 3) <numeric value>
Normal
Return value : = 0
= FFFD File read error
Outline
: Waits for a download request from the CNC.
On receiving a download request, determines the
file name as <0xxxx.PRG> from the requesting
program number and starts download. (For
example, if the program number is 1, the file name
is <O0001.PRG>.)
This function terminates after downloading one
file.
This function is used to start downloading when a
CNC cycle is started as in DNC operation.
.c
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2) Function
The general procedures for DNC operation are

explained below.
(1) Put the system in the tape mode (for Series 15
only)
(2) Use the PMC data read function to check that
the CNC has become ready.
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B61992E/02
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(3) Select the program to perform DNC

operation using D_select. (Series 15)
For Series 0, set the number of the program
to perform DNC operation by the MAP
parameter screen DNC FILE SELECTION in
advance.
(4) Issue the instructions for starting the cycle to
the CNC by the PMC data write function. The
PMC ladder program monitors the directions
and starts the CNC cycle. (Although the cycle
can also be started by D_start, this method is
better as it is possible to check whether the
machine has been set up.)
(5) Call this function. Control is returned from
the function when DNC operation terminates
normally or abnormally.
Perform 5 as soon as possible after 4. Otherwise,
a timeout will occur.
3) Function
: D_upload Part program upload
Calling format : short D_upload (char ch_no, uchar
ce
nt
e
*file_name, char *prg_no)

: char ch_no
Arguments
uchar *file_name
Name of file being uploaded

<character string>
char *prg_no
4) Function
: D_delete Deletes part programs.
Calling format : short D_delete
(char ch_no, char *prg_no)
Arguments
: char ch_no
char *prg_no
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<character string>
Return value : = 0
Normal
= FFFC File write error
Outline
: Transfers part programs from a host computer to
the CNC.
Return value
Outline
74

<character string>
[o**** for all programs]
: =0
Normal
=1
No program (for Series 15 only)
: Directs the CNC to delete part programs.
(The specified programs or all programs are
deleted.)

LIBRARY
B61992E/02
: If all programs are deleted when the CNC is

FANUC Series 15, the selected programs are not
deleted unless the system is in the edit mode. A
return value indicating abnormal termination is
returned.
The recommended method for deleting all part
programs is to change to the edit mode using the
PMC data write function, delete the part programs,
then return to the original mode, or to select a small
dummy program for deletion.
5) Function
: D_fdir
om
Note
Reads part program directory

information for one program.
Calling format : short D_fdir
: char ch_no
r.c
Arguments
char *prg_no
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Return value

<character string>
: =0
The specified program exists.
: Reads a part program from the CNC and checks
that the program exists.
Outline
6) Function
: D_alldir

information for all programs.
Calling format : short D_alldir
(char ch_no, uchar *file_name)
.c
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Arguments
uchar *file_name
Directory storage file name
Number of programs
w
w
: char ch_no
long
<numeric value>
Program number
char [6]<character string>
Program number
char [6]
Program number
char [6]
Return value
: =0
The specified program exists.

Communication error
File open error
File write error
Sequence error
: Reads all part programs from the CNC and writes
the program numbers to a file.
=
=
=
=
Outline
75
FFFF
FFFE
FFFC
FFF0

LIBRARY
7) Function
B61992E/02
: D_alldir_mem

information for all programs.
Calling format : short D_alldir_mem

(char ch_no, long size, char *data)
Arguments
: char ch_no
Channel number (0 to 3)
<numeric value>
long size
Buffer size <numeric value>
char *data Directory storage buffer
Number of programs
<numeric value>
long
char [6]<character string>
Program number
char [6]
Program number
char [6]
: =0
r.c
Return value
om
Program number
Program exists.
Communication error
Sequence error
Outline
: Reads all part programs from the CNC and stores
the program numbers in the buffer.
8) Function
: D_freemem
Reads the size of the free area.
Calling format : short D_freemem
ce
nt
e
= FFFF
= FFF0
(char ch_no, long *size)
Arguments
: char ch_no
long *size
mode, short axis, double *data)
Arguments
: char ch_no
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Area for storing free area size

<numeric value>
Return value : = 0
Normal
Outline
: Directs the CNC to read the size of the free area and
returns the size.
9) Function
: D_tool_pos Reads the tool position.
Calling format : short D_tool_pos (char ch_no, char
char mode
1 [WORK_POS]
<numeric value>
Reading of absolute position
2 [MACHINE_POS] Reading of machine
position
3 [SKIP_POS] Reading of skip position
short axis
Axis specification
<numeric value>
(Turns on the bits corresponding to axes. Bits 0
to 14.)
Bit
14 13 12
11 10 9
0
1st axis
2nd axis
15th axis
76

LIBRARY
B61992E/02
double *data
Tool position data storage buffer

double
Second-axis data
double
15th-axis data
double
: =0
Normal
Communication error
Sequence error
: Reads either the absolute position, machine
position, or skip position, and stores the data for
the specified axes in the corresponding positions.
Data of axes that are not specified is undefined.
om
Return value
First-axis data
= FFFF
= FFF0
r.c
Outline
10)Function
: D_servo Reads the servo delay.
Calling format : short D_servo (char ch_no,
short
ce
nt
e
axis, double *data)

: char ch_no
Arguments
short axis
Axis specification
<numeric value>
to 14.)
14 13 12
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Bit
Return value
11 10 9
77
double *data
0
2nd axis
15th axis
Servo delay buffer

double
Second-axis data
double
15th-axis data
double
: =0
1st axis
First-axis data
Normal
Communication error
Sequence error
: Reads the servo delay and stores the data of the
specified axes in the corresponding positions.
Data of axes that are not specified is undefined.
= FFFF
= FFF0
Outline

LIBRARY
11)Function
B61992E/02
: D_AccDec
Reads the acceleration/deceleration

delay.
Calling format : short D_AccDec (char ch_no, short

axis, double *data)
Arguments
: char ch_no
short axis
Axis specification
<numeric value>
to 14.)
14 13 12
11 10 9
om
Bit
1st axis
2nd axis
15th axis
double *data
double
r.c
First-axis data
Servo delay buffer
ce
nt
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Second-axis data
15th-axis data
Return value
double
double
: =0
Normal
Communication error
Sequence error
Outline
: Reads the acceleration/deceleration delay and
stores the data of the specified axes in the
corresponding positions. Data of axes that are not
specified is undefined.
12)Function
: D_diagnose Reads machine interface signal.
Calling format : short D_diagnose
Arguments
w
w
(char ch_no, short start_no, short

stop_no, uchar *data)
: char ch_no
<numeric value>
short start_no
Start diagnose number (1 to 999)

<numeric value>
.c
nc
= FFFF
= FFF0
short stop_no
Stop diagnose number

<numeric value>
(0 to 999. When 0, omit this argument.)
uchar *data DI/DO signal data buffer
DI/DO data
uchar Start diagnose number
DI/DO data
uchar
DI/DO data
uchar Stop diagnose number
Return value
: =0
= FFFF
= FFFB
= FFF0
Others
78
Normal
Communication error
Diagnose number error (M_NR)
Sequence error
See Appendix F.

LIBRARY
B61992E/02
Outline
: Reads the machine interface signal data and

returns data from the start of operation until it
stops. If a stop diagnose number is omitted, only
the data corresponding to the start diagnose
number if returned.
13)Function
: D_exec_num Reads the number of the program
or block being executed.
Calling format : long D_exec_num (char ch_no, char
type, long *number)
: char ch_no
Arguments
<numeric value>
om
char type
1 [PROG_NUM] Program number

<numeric value>
2 [SEQ_NUM] Sequence number
long *number
ce
nt
e
r.c
Program/sequence number storage buffer

<numeric value>
Return value : = 0
Normal
Outline
: Reads the number of the program or block being
executed by the CNC and returns it. If no program
number or sequence number is defined or no
program or block is being executed, zero is
returned.
14)Function
: D_parameter_r Reads CNC parameters.
Calling format : short D_parameter_r
Parameter number
14 13 12
<numeric value>
short axis
=0 Without axis specification

<numeric value>
00 With axis specification
(Turns on the bits corresponding to axies. Bits 0
to 14.)
11 10 9
0
1st axis
Bit
<numeric value>
short p_no
.c
nc
Arguments
(char ch_no, short p_no, short axis,

long *data)
: char ch_no
2nd axis
15th axis
long *data
With axis specification
Without axis specification
First-axis data
long
Second-axis data
long
15th-axis data
long
79
Servo delay buffer
Parameter value
long

LIBRARY
Return value
B61992E/02
: =0
Normal
Communication error
Sequence error
: Directs the CNC to read CNC parameters and
returns the parameter or the parameters
corresponding to the specified axes. Data of axes
that are not specified is undefined.
= FFFF
= FFF0
Outline
15)Function
: D_parameter_w Writes CNC parameters.
Calling format : short D_parameter_w
om
(char ch_no, uchar *file_name)
Arguments
: char ch_no
<numeric value>
uchar *file_name
Name of write parameter file

short
Data
Parameter No.
short
Data
Axis specification
short
r.c
No. of data items

00 With axis specification (Turns on the bits corresponding
to the specified axies.)
ce
nt
e
Data
With axis specificaiton
CNCPARAM
Data
First-axis data
long
Parameter value
long
Second-axis data
15th-axis data
Bit 14 13 12 11 10 9
Return value
Outline
Note
80
8 7
0
1st axis
2nd axis
15th axis
typedef struct {
short no;
short axis;
long dt [15]
} CNCPARAM;
: =0
Normal
Communication error
File open error
File read error
Sequence error
: Writes the parameters stored in the file or the
parameters corresponding to the specified axes to
the CNC. Data of axes not specified is ignored.
: For the effective timing of updating parameters,
refer to the CNC operators manual.
=
=
=
=
.c
nc
Axis specification
Free
long_14
FFFF
FFFE
FFFD
FFF0

LIBRARY
B61992E/02
16)Function
: D_parameter_w_mem Writes CNC parameters.
Calling format : short D_parameter_w_mem (char ch_no,
short cout, CNCPARAM *data)
Arguments
: char ch_no
<numeric value>
short count
Parameter data count
<numeric value>
CNCPARAM *data
Data
Parameter No.
short
Data
Axis specification
short

00 With axis specification (Turns on the bits corresponding
to the specified axies.)
Data
CNCPARAM
Data
om
Write parameter buffer
With axis specificaiton

long
Parameter value
long
r.c
First-axis data
Second-axis data
Free
long_14
ce
nt
e
15th-axis data
Axis specification
Bit 14 13 12 11 10 9
8 7
0
1st axis
2nd axis
15th axis
nc
typedef struct {
short no;
short axis;
long dt [15]
} CNCPARAM;
: =0
Normal
Communication error
Sequence error
Outline
: Writes the parameter stored in the buffer or the
parameters corresponding to axes to the CNC.
Data of axes not specified is ignored.
Note
: For the effective timing of updating parameters,
refer to the CNC operators manual.
17)Function
: D_pitch_r
Reads pitch error data
Calling format : short D_pitch_r
= FFFF
= FFF0
.c
Return value

stop_no, uchar *file_name)
: char ch_no
Arguments
<numeric value>
short start_no
Start correction position number

<numeric value>
(1 to 9999)
short stop_no
Stop correction position number

<numeric value>
uchar *file_name
Name of pitch error data file

81

LIBRARY
B61992E/02
Pitch error data
char Start correction position number
Pitch error data
char
Pitch error data
char Stop correction position number
Return value
: =0
Normal
Communication error
File open error
File wite error
Sequence error
: Directs the CNC to read pitch error data and sends
the data from the start number to the stop number
stored in the file. If the stop correction position
number is omitted, only the data corresponding to
the start correction position number is returned.
=
=
=
=
r.c
Outline
FFFF
FFFE
FFFC
FFF0
om
ce
nt
e
18)Function
: D_pitch_r_mem Reads pitch error data.
Calling format : short D_pitch_r_mem
stop_no, long size, char *data)
: char ch_no
Arguments
<numeric value>
short start_no

<numeric value>
(1 to 9999)
.c
nc
short stop_no

<numeric value>
long size
char *data Pitch error data buffer
Pitch error data
Pitch error data
char
Pitch error data
Return value
: =0
Normal
Communication error
Sequence error
: Directs the CNC to read pitch error data and stores
the data from the start number to the stop number
in the buffer. If the stop correction position
number is omitted, only the data corresponding to
the start correction position number is returned.
= FFFF
= FFF0
Outline
82

LIBRARY
B61992E/02
19)Function
: D_pitch_w
Writes pitch error data
Calling format : short D_pitch_w
: char ch_no
Arguments
<numeric value>
short start_no
short stop_no
om

<numeric value>
(1 to 9999)
<numeric value>
(1 to 9999)
uchar *file_name
r.c
Name of write pitch error data file
Pitch error data

Pitch error data
ce
nt
e
char
Pitch error data
Return value
: =0
Normal
Communication error
File open error
File read error
Sequence error
: Writes the pitch error data stored in the file from
the start number to stop number to the CNC.
=
=
=
=
nc
Outline
FFFF
FFFE
FFFD
FFF0
Arguments

stop_no, char *data)
: char ch_no
<numeric value>
short start_no
.c
20)Function
: D_pitch_w_mem Writes pitch error data.
Calling format : short D_pitch_w_mem

<numeric value>
(1 to 9999)
short stop_no

<numeric value>
(1 to 9999)
char *data
Write pitch error data buffer

Pitch error data
Pitch error data
char
Pitch error data
83

LIBRARY
Return value
B61992E/02
: =0
Normal
Communication error
Sequence error
: Writes the pitch error data stored in the buffer from
the start number to stop number to the CNC.
= FFFF
= FFF0
Outline
21)Function
: D_offset_r Reads tool offset.
Calling format : short D_offset_r (char ch_no, short
Arguments
ushort
om
start_no,
short
stop_no,
type, uchar *file_name)
: char ch_no
<numeric value>
short start_no
Start offset number (1 to 9999)

<numeric value>
r.c
short stop_no
Stop offset number <numeric value>

ushort type
ce
nt
e
Offset type specification

<numeric value>
(Detailed information will be described later.
Millingtype and lathetype offsets cannot be
specified together.)
For the setting conditions, see Table 4.2.4.15 in
Section I4.2.4.15 (5).
uchar *file_name
Data storage file name
nc
Data
Start offset number
Data
.c
Data
The data structure is as shown

by type 1 or 2 below.
Stop offset number
Type 1 (milling offset)
Type 2 (lathe offset)
double
double
double
double
double
double
double
double
double
double
double
double
long
typedef struct{ typedef

double d;
double k;
double h;
double l;
} MEAL_OFFSET;
(Milling offset)
struct {
double x;
double z;
double r;
double y;
double u;
double w;
double p;
double v;
double q;
} TRUN_OFFSET;
(Lathe offset)
84

LIBRARY
B61992E/02
Return value
: =0
=
=
=
=
FFFF
FFFE
FFFC
FFF0
Others
Normal
Communication error
File open error
File write error
Sequence error
See Appendix F.
: Directs the CNC to read tool offsets on a milling

machine or lathe and stores the data from the start
number to stop number in a file. If a stop number
is omitted, only the data corresponding to the start
number is returned.
om
Outline
Details of offset type

Bit
D:
K:
X:
Z:
R:
Y:
Cutter compensation
Cutter compensation
X-axis offset quantity
Z-axis offset quantity
Tool tip R offset
Y-axis offset quantity
H:
L:
U:
W:
P :
V:
Tool length offset

Tool length offset
X-axis offset quantity
Z-axis offset quantity
Tool tip R offset
Y-axis offset quantity
ce
nt
e
r.c
0 = Wear compensation
1 = Geometric compensation
6 = Virtual tool tipQ
7 = Not used
9 = Geomertic compensation
14 = Not used
15 = Not used
H, D, L, K
: Milling machine offset
X, Z, R, Y, Q, U, W, P, V : Lathe offset
nc
22)Function
: D_offset_r_mem
Reads tool offset.
Arguments

stop_no, ushort type, long size,
char *data)
: char ch_no
<numeric value>
short start_no
.c
Calling format : short D_offset_r_mem

<numeric value>
short stop_no
Stop offset number

<numeric value>
ushort type Offset type <numeric value>
(Milling type and lathe type cannot be specified
at the same time.)
For the bit structure, see the tool offset read file.
long size
Buffer size
char *data Data storage buffer.
(Memory size (in bytes) usable for the receive
data storage buffer)
For the data structure, see the tool offset read file.
Return value
: =0
= FFFF
= FFF0
Others
85
Normal
Communication error
Sequence error
See Appendix F.

LIBRARY
Outline
B61992E/02
: Directs the CNC to read tool offsets on a milling

machine or lathe and stores the data from the start
number to stop number in a file. If a stop number
is omitted, only the data corresponding to the start
number is returned.
23)Function
: D_offset_w Writes tool offset.
Calling format : short D_offset_w (char ch_no, short
start_no,
short
stop_no,
type, uchar *file_name)
: char ch_no
Arguments
<numeric value>
om
ushort
short start_no
Start coffset number (1 to 9999)

<numeric value>
short stop_no
r.c
Stop offset number (1 to 9999)

<numeric value>
ushort type
ce
nt
e

<numeric value>
at the same time.)
uchar *file_name
Write data storage file name.

Only items specified in the offset type are
written.
nc
NOTE
The offset type is specified for all write data. Be sure to input
the data specified in type.
Outline
.c
Return value
86
: =0
Normal
Communication error
File open error
File read error
Sequence error
: Writes the offsets on milling machines or lathes
stored in a file from the start number to stop
number to the CNC.
=
=
=
=
FFFF
FFFE
FFFD
FFF0

LIBRARY
B61992E/02
24)Function
: D_offset_w_mem Writes tool offset.
Calling format : short D_offset_w_mem
stop_no, ushort type, char *data)
: char ch_no
Arguments
<numeric value>
short start_no

<numeric value>
short stop_no
ushort type
om
Stop offset number (1 to 9999)

<numeric value>
ce
nt
e
r.c

<numeric value>
at the same time.)
char *data Write data buffer.
Only items specified in the offset type are
written.
NOTE
The offset type is specified for all write data. Be sure to input
the data specified in type.
Return value
: =0
Normal
Communication error
Sequence error
: Writes offsets on milling machines or lathes stored
in a file from the start number to stop number to the
CNC.
= FFFF
= FFF0
nc
Outline
: D_variable_r
Reads custom
variables.
macro
Calling format : short D_variable_r

(char ch_no, long start_no,
: char ch_no
Arguments
long
<numeric value>
long start_no
Start macro variable number

<numeric value>
.c
25)Function
long stop_no
Stop macro variable number<numeric value>

(When 0, omit this operand.)
uchar *file_name
Macro variable data storage file name

Variable data
double Start macro variable number
Variable data
double
Variable data
double Stop macro variable number
87

LIBRARY
Return value
: =0
Normal
Communication error
File open error
File write error
Sequence error
: Directs the CNC to read macro variables and stores
the data from the start number to stop number in a
file to return the data. If the stop number is
omitted, only the data corresponding to the start
number is returned.
=
=
=
=
FFFF
FFFE
FFFD
FFF0
om
Outline
B61992E/02
26)Function
: D_variable_r_mem
Reads custom macro

variables.
Calling format : short D_variable_r_mem
(char ch_no, long start_no, long

stop_no, long size, double *data)
: char ch_no
r.c
Arguments
<numeric value>
long start_no

<numeric value>
ce
nt
e
long stop_no

long size Buffer size
<numeric value>
double *data
Macro variable data buffer
Variable data
double
Variable data
nc
Variable data
Outline
.c
Return value
88
: =0
Normal
Communication error
Sequence error
In the case of empty, 0 is returned.
: Directs the CNC to read macro variables and stores
the data from the start number to stop number in
buffer to return the data. If the stop number is
omitted, only the data corresponding to the start
number is returned.
= FFFF
= FFF0

LIBRARY
B61992E/02
27)Function
: D_variable_w
Writes custom
variables.
macro
Calling format : short D_variable_w

(char ch_no, long start_no,
: char ch_no
Arguments
long
<numeric value>
long start_no

<numeric value>
long stop_no
om

uchar *file_name
Macro variable data storage file name
Variable data
double
r.c
Variable data
ce
nt
e
Variable data
Return value
: =0
=
=
=
=
Normal
FFFF Communication error

FFFE File open error
FFFD File read error
FFF0 Sequence error

: Writes the macro variable data from the start
number to stop number stored in a file to the CNC.
28)Function
: D_variable_w_mem Writes custom macro
variables.
Calling format : short D_variable_w_mem (char ch_no,
nc
Outline
.c
Arguments
long start_no, long stop_no, double

*data)
: char ch_no
<numeric value>
long start_no

<numeric value>
long stop_no

Macro variable data buffer
double *data
Variable data
Variable data
double
Variable data
Return value
: =0
Normal
Communication error
Sequence error
: Writes the macro variable data from the start
number to stop number stored in the buffer to the
CNC.
= FFFF
= FFF0
Outline
89

LIBRARY
B61992E/02
29)Function
: D_toollife Reads tool life management data.
Calling format : short D_toollife
: char ch_no
Arguments
<numeric value>
short start_no
Start group number
<numeric value>
short stop_no
om
Stop group number

<numeric value>
uchar *file_name
Tool life management data storage file name

Group count
long
Group number
short
Group data
Tool life counter
short
Group data
Tool life value
r.c
file_name
long
Data count
Tool number
short
Data
H code
short
Data
D code
short
TOOLLIFE
C code
short
Data
ce
nt
e
Group data
short
TOOLCODE
nc
typedef struct{ typedef

short g_no;
short type;
long life;
short d_cnt;
} TOOLLIFE;
Outline
.c
Return value
90
: =0
struct {
short no;
short hcode;
short dcode;
short ccode;
} TOOLCODE;
Normal
Communication error
File open error
File write error
Sequence error
: Directs the CNC to read tool life management data
and stores the data from the start number to stop
number in a file. If the stop number is omitted,
only the data corresponding to the start number is
returned.
=
=
=
=
FFFF
FFFE
FFFC
FFF0

LIBRARY
B61992E/02
30)Function
: D_toollife_mem Reads tool life management

data.
Calling format : short D_toollife_mem (char ch_no,
short start_no, short stop_no, long
size, long *count, TOOLLIFE *data)
: char ch_no
Arguments
<numeric value>
short start_no
Start group number
<numeric value>
short stop_no
long *count
om
Stop group number

<numeric value>
long size
Read group data count storage address
TOOLLIFE *data
Group data
Group number
short
Tool life counter
short
ce
nt
e
Group data
Tool life value

Data count
short
Tool number
short
Data
H code
short
Data
D code
short
TOOLLIFE
C code
short
Return value
Outline
.c
long
Data
nc
Group data
r.c
Tool life management data buffer
91
TOOLCODE
: =0
Normal
Communication error
Sequence error
: Directs the CNC to read tool life management
data, stores the data from the start number to stop
number in buffer, and returns the data along with
the number of group data items stored in the buffer.
If the stop number is omitted, only the data
corresponding to the start number is returned.
= FFFF
= FFF0

LIBRARY
B61992E/02
31)Function : D_modal Reads

automatic
information.
Calling format : short D_modal
(char ch_no,
*file_name)
: char ch_no
Arguments
short
operation
modal
select,
uchar
<numeric value>
short select
om
0 [LAST_BLOCK] Preceding block

<numeric value>
1 [ACTIVE_BLOCK] Current block
2 [BUFF_BLOCK] Next block
uchar *file_name
Modal data storage file name
Number of
data items
short
long
0,1,2
Address
G,D,E,H,L,M,N,O,S,T,F (character)
char
Data type char
Data
1:
2:
3:
4:
Data
char <numeric>X2
short
long
double
Data
MODALHEAD
MODALDATA
Type 1
Type 2
Numeric
(gg)
Empty
MODALDOUBLE
MODALSHORT
c;
s;
l;
d;
double
MODALLONG
8
MODALDOUBLE
typedef
struct {
char dt1;
char dt2;
short rsv1;
long rsv2;
} MODALCHAR;
typedef
struct {
long dt;
long rsv;
} MODALLONG;
typedef
struct {
short dt;
short rsv1;
long
rsv2;
} MODALSHORT;
typedef
struct {
double dt;
} MODALDOUBLE;
Type 4
Note) For an explanation of gg and vv, see Appendix A.8.
} dat;
} MODALDAT;
long
Empty
nc
struct {
short sel;
long d_cnt;
} MODALHEAD;
struct {
char addr;
char type;
union {
MODLCHAR
MODALSHORT
MODALLONG
MODALDOUBLE
.c
typedef
gg: G group code

vv: Group internal code
Type 3
short
Numeric
(vv)
typedef
G (G gg. vv)
D/H/L/M/O/S/T
N
E/F
ce
nt
e
Fixed
length
(8 bytes)
r.c
Block select
file_name
Return value
: =0
Normal
Communication error
File open error
File write error
Sequence error
: Reads modal data and writes the read data to a file.
=
=
=
=
Outline
92
FFFF
FFFE
FFFC
FFF0

LIBRARY
B61992E/02
32)Function
: D_modal_mem Reads automatic operation modal

information.
Calling format : short D_modal_mem
(char ch_no, short select, long
size,long *count, MODALDATA *data)
: char ch_no
Arguments
<numeric value>
short select
om
0 [LAST_BLOCK] Preceding block

<numeric value>
1 [ACTIVE_BLOCK] Current block
2 [BUFF_BLOCK] Next block
long size
long *count Read data count storage address
MODALDATA *data Modal data buffer
Data type char
Data
Data
Fixed
length
(8 bytes)
Data
MODALHEAD
MODALDATA
G,D,E,H,L,M,N,O,S,T,F (character)
1:
2:
3:
4:
char <numeric>X2
short
long
double
G (G gg. vv)
D/H/L/M/O/S/T
N
E/F
Type 1
Type 2
Numeric
(gg)
Type 3
long
Numeric
(vv)
gg: G group code

vv: Group internal code
ce
nt
e
char
r.c
0,1,2
Address
Type 4
double
Empty
MODALSHORT
nc
MODALDOUBLE
MODALLONG
8
MODALDOUBLE
Note) For gg and vv, see Appendix A.8.
Outline
: =0
Normal
Communication error
Sequence error
: Reads modal data, stores the read data in the buffer,
and returns the data along with the number of data
items stored.
= FFFF
= FFF0
33)Function
: D_actualspeed Reads actual speed.
Calling format : short D_actualspeed (char ch_no,
.c
Return value
short axis, double *data)

: char ch_no
Arguments
<numeric value>
short axis
Axis specification
<numeric value>
to 14.)
Bit
14 13 12
11 10 9
0
1st axis
2nd axis
15th axis
93

LIBRARY
B61992E/02
Actual speed data buffer
double *data
Return value
First-axis data
double
Second-axis data
double
15th-axis data
double
: =0
Normal
Communication error
Sequence error
: Directs the CNC to read the actual speed and stores
data of specified axes in buffer. Data of axes that
are not specified is undefined.
r.c
Outline
om
= FFFF
= FFF0
34)Function
: D_ADconvert Reads A/D conversion data.
Calling format : short D_ADconvert (char ch_no, short
select, short axis,double *data)
: char ch_no
Arguments
ce
nt
e
<numeric value>
short select
0 [G_PURPOSE] General input

(Axis is required: Bit 0 to 5)
100 [SPINDLE_1] Spindle 1 <numeric value>
101 [SPINDLE_2) Spindle 2
200 [AXIS_VOLTS] Axis data
(Axis is required: Bit 0 to 14)
nc
short axis
Axis specification
<numeric value>
(Turns on bits corresponding to axes or general
input.)
.c
Bit 14 13 12 11 10 9
Type 1
General input 1
8 7
0
Fiest axis/general input 1
Second axis/general input 2
15th axis
double *data
A/D conversion data storage buffer.

Data types are types 1 to 3.
Type 2
Data
double
Type 3
double
First-axis data
double
General input 2
double
Second-axis data
double
General input 6
double
15th-axis data
double
Return value
: =0
Normal
Communication error
Sequence error
: Directs the CNC to read general input data, data for
spindles 1 and 2, or axis data, and returns the data
for each type. General input or axis data that is not
specified is undefined.
= FFFF
= FFF0
Outline
94

LIBRARY
B61992E/02
35)Function
: D_alarm Reads alarm information.
Calling format : short D_alarm
(char ch_no, ushort *alarm)
: char ch_no
Arguments
<numeric value>
ushort *alarm
ce
nt
e
r.c
om
Alarm status storage area <numeric value>

Bit
0 Background P.S. alarm
1 Foreground P.S. alarm
2 Overheat alarm
3 Undefined
3 Undefined
4 Undefined
5 SW alarm (parameters can be input)
6 OT alarm (overtravel/spindle alarm)
7 PMC error
8 External alarm
9 Undefined
10 Serious P.S. alarm
11 Undefined
12 Servo alarm
13 I/O alarm
14 PW alarm
15 Undefined
: =0
Normal
: Directs the CNC to read alarm information and
returns the information with bit patterns.
Return value
Outline
nc
36)Function
: D_status Reads status information.
Calling format : short D_status (char ch_no, ushort
.c
Arguments
*status, ushort *alarm)

: char ch_no
<numeric value>
ushort *status
CNC status storage area

<numeric value>
Bit
0 RWD rewind
1 AL alarm
2 RST reset
3 SPL automatic operation stopped
4 STL automatic operation activated
5 OP automatic operation
6 SA servo setup complete
7 MA CNC setup complete
8 Not used
9 Not used
10 Not used
11 Not used
12 M00 : M00 output
13 M01 : M01 output
14 M02 : M02 output
15 M30 : M30 output
ushort *alarm
Alarm status storage area <numeric value>

(For details, see the alarm information read
function.)
95

LIBRARY
Return value
B61992E/02
: =0
Normal
Communication error
Sequence error
Outline
: Directs the CNC to read status information and
returns the status information in the form of a bit
pattern. When the alarm bit in the status
information is on, returns alarm information at the
same time.
37)Function
: D_message
Message output
Calling format : short D_message (char ch_no, char
om
= FFFF
= FFF0
buf_no, uchar *message)

: char ch_no
Arguments
char buf_no
Message buffer number
<numeric value>
<numeric value>
r.c
uchar *message
ce
nt
e
Output message
<character string>
(A maximum of 32 characters. Terminate the
text with a null code.)
Return value : = 0
Normal
Outline
: Outputs a message to the CNC.
38)Function
: D_PMCdata_r Reads PMC data.
Calling format : short D_PMCdata_r
(char
ch_no,
long
addr,
short
length, short status, uchar *data)
: char ch_no
Arguments
<numeric value>
.c
nc
long addr
96
PMC RAM address or data number

<numeric value>
PMC RAM address (Series 15A and address
specification type of Series 15B)
characters by prefixing 0X41 to the 6digit
physical address, given in the list of relationships
between PMC addresses and physical addresses in
Section 3.3.2 of the FANUC PMCMODEL N
Programming Manual (B610132).
Example : For F000, specify 0X41FFE200.
Data number (Series 0)
Refer to the FANUC Series 0 Connection
Manual(B-61393) and FANUC PMC MODELK/L/M Programming Manual(B55193).
Specify the numeric part of the PMC address,
which is the PMC address less the initial
alphabetic character.
Example : For F148, specify 148.
Data number (Data number specification type of
Series 15B and Series 16/18/21)
See Section 4.2.4.26.
Specify the numeric value corresponding to the
first alphabetic character of a PMC address, plus
a 4digit decimal number.
Example : For R123, specify 60123.

LIBRARY
B61992E/02
short length
Data length (1 to 32)

<numeric value>
short status
1 : RAM address, 2 : Data number
<numeric value>
uchar *data PMC data buffer
uchar
PMC data
uchar
om
PMC data
PMC data
Return value
: =0
max. 32
Normal
Communication error
Sequence error
See Appendix F.
r.c
= FFFF
= FFF0
uchar
Others
: Directs the CNC to read PMC data and returns as

much PMC data as specified by the data length,
beginning at the specified address.
This function is generally used for handshaking
with the PMC. The CNC status can be obtained by
reading the DO signal of the CNC.
ce
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Outline
39)Function
: D_PMCdata_w
Writes PMC data.
Calling format : short D_PMCdata_w

(char
ch_no,
long
addr,
short
length, short status, uchar *data)
.c
nc
Arguments
: char ch_no
<numeric value>
long addr
PMC RAM address or data number

<numeric value>
For an explanation of how to specify the RAM
address and data number, see the description of
the D_PMCdata_r function in 38).
short length
Data length (1 to 32)
<numeric value>
short status
1 : RAM address, 2 : Data number

<numeric value>
uchar *data Write PMC data buffer
Return value
PMC data
uchar
PMC data
uchar
PMC data
uchar
: =0
= FFFF
= FFF0
Others
97
max. 32
Normal
Communication error
Sequence error
See Appendix F.

LIBRARY
Outline
B61992E/02
: Writes as much PMC data as specified by the data

length beginning at the specified address to the
CNC.
This function is generally used to give directions
to the PMC. This function permits handshaking
with the PMC in combination with the PMC data
read function.
40)Function
: D_select Searches for a program number.
Calling format : short D_select
Arguments
om

: char ch_no
char *prg_no
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Outline
Program number searched for

<character string>
(o0000 to o9999)
: =0
Normal
: Directs the CNC to search for a program number.
In the tape mode, this function specifies the
program number for performing a DNC operation.
r.c
Return value
<numeric value>
* Release background edit mode and simultaneous edit mode (Series

* With the Series 15, the sequence terminates normally in any mode,
but the function is made effective only in edit mode and memory
mode.
nc
41)Function
: D_start Cycle start
Calling format : short D_start
Return value
Outline
.c
Arguments
98
: char ch_no
<numeric value>
char *prg_no
Program number to be started

<character string>
(o0000 to o9999)
If o0000 or a null code is entered, the program
already selected is started.
: =0
Normal
: Specifies a program number for the CNC and starts
the program. If the program number is omitted, the
CNC starts the executable program specified in the
program number search function.
If a complex condition check is required at cycle
start, avoid starting a program using this function.
Use the PMC data write function instead.

LIBRARY
B61992E/02
42)Function
: D_reset Reset
Calling format : short D_reset (char ch_no)
Arguments
: char ch_no
<numeric value>
Normal
Return value : = 0
Outline
: Directs the CNC to reset the system.
om
43)Function
: D_systemID Reads system ID.
Calling format : short D_system ID (char ch_no, uchar
*name, uchar *revision)
Arguments
: char ch_no
uchar *name
<numeric value>
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r.c
CNC model name

<character string>
(A maximum of 32 characters. Terminate the
model name with a null code.)
uchar *revision Version <character string>
(A maximum of eight characters. Terminate the
version with a null code.)
: =0
Normal
: Directs the CNC to read the system ID. Returns the
CNC model name and DNC2 software version.
This function indicates the type of CNC
connected.
Return value
Outline
Return value
Outline
.c
nc
44)Function
: D_initial
Initializes communication port.
Calling format : short D_initial (char ch_no)
Arguments
: char ch_no
<numeric value>
99
(sys_table)
Initialization parameter
: =0
Normal
= FFFF Initialization error
= FFFE Parameter error
: Initializes the specified communication port.
5. EXAMPLE OF USING
5. THE COMMUNICATION
5. PROGRAM

LIBRARY
B61992E/02
EXAMPLE OF USING THE COMMUNICATION PROGRAM
This section describes a simple example in which the functions in the

communication program library are used, using list 51.
om
(1) Include the required files (5 and 6).

Enclose the include files required in the standard library of the
compiler in < > and include files of this library in double quotation
marks.
ce
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r.c
(2) Initialize the communication port (14 to 20).

Communication parameters can be reset to values different from
the initial values as shown in lines 14 and 15. (For initial values and
reset values, see Appendix B.1.)
Call the initialization library and store the result in ans. (Line 16)
When the result of initialization is not normal, output a message
(line 18) and terminate the program. (Line 19)
.c
nc
(3) Download the NC program (22 to 34).

Call the download library and store the result in ans. (Line 22)
Download the program with port number 0, download file name
pr_file.dat, and program number 0001.
Display a message according to the result. (Lines 23 to 34)
100
5. EXAMPLE OF USING
THE COMMUNICATION
PROGRAM

LIBRARY
B61992E/02
LIST 51
/****************************************/
/* Example of coding */
/****************************************/
Set communication speed to 9600 bps */

No parity bit is set */
Initialize port 0 */
/* Is initialization successful? */
/* Initialization error */
/* Return to DOS */
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sys_table.port [0].speed = 4;
/*
systable.port [0].parity = 1;
/*
ans = D_initial (0);
/*
if (ans ! = 0) {
printf (Initialization error \n)
exit(l);
}
r.c
main( );
main( )
{
short ans;
om
#include<stdio.h>
#includednc2def.h
.c
nc
ans = D_download (0, pr_file.dat, O0001);/*Download */

if (ans == 0) {
/* Check the result */
printf (Download termination \n); /* Normal termination */
} else if (ans == 0xfffe) {
printf (No file is found \n)
/* File not found */
exit(l);
} else if (ans == 0xfffd) {
printf (The file cannot be read \n)/* File read error */
exit(l);
} else {
printf (Download failure \n)
/* Communication error, other errors */
exit(l);
}
return 0;
}
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
1
2
3
4
5
6
7
8
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
101

LIBRARY
6. ERROR CODES
ERROR CODES
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B61992E/02
102

LIBRARY
6.1
VALUES RETURNED
BY FUNCTIONS
6.2
COMMUNICATION
ERROR
INFORMATION
6. ERROR CODES
The return values 0FFFFh to 0FFCFh (absolute values of 1 to 49) output

from functions in this library indicate errors detected within the library.
The return values of 0FFCEh or less (absolute values of 50 or greater)
indicate errors output when a negative response is sent from the CNC.
For details of the error codes of this library, see Appendix J.
If values returned from functions indicate communication error

(0FFFFh), the details of the cause are stored in the variable
dnc_link_error. Refer to it an necessary.
The following values are returned to short dnc link error from the
functions:
short dnc_link_error
11
12
13
14
21
:
:
:
:
:
Timeout
Retry over
Busy (during text transmission, a response to ENQ was NAK)
Protocol error (when receiving text, other data was received
when waiting for ENQ)
Warning (when receiving text, a timeout occurred when
waiting for EOT. However, text is normally received.)
Line disconnected
Overrun error
Framing error
Parity error
ISO code parity error
r.c
:
:
:
:
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1
2
3
4
om
B61992E/02
.c
nc
The communication error having code 1 occurs when the

receivedisabled state occurs for each retry within the timeout period set
for receiving or sending each character. As soon as this error is detected,
processing is discontinued.
This does not apply while waiting for a download request
(D_download_wait) or while waiting for a command from the CNC. In
these cases the system keeps waiting for a command even though a
timeout occurs.
The communication error having code 2 occurs when a retry is made in
the data link layer level for any cause other than timeout and the defined
number of retries is repeated. As soon as this error is detected, processing
is stopped.
The communication errors having codes 3 to 9 are data link layer protocol
errors. As soon as these errors occur, processing is stopped.
The communication errors having codes 10 or more are communication
line errors. As soon as these errors are detected, processing is stopped.
103
7. ERROR LOG INFORMATION

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B61992E/02
ERROR LOG INFORMATION
om
When an error occurs in this library, the error, the time it occurred, and
other information can be saved in a file. A function called the logging
function, is provided for saving this information.
There are the following four types of logs depending on the cause of the
error:sequence error log, protocol error log, phase trace log, and
communication error log.
r.c
To use the logging function, set the appropriate log ON/OFF switch of
system parameter to 1 : ON.
.c
nc
ce
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e
This logging function is used to check programs. Normally, do not use it.
Since phase trace logs are taken at all times, the file inputoutput time
increases, affecting the timeout period. Therefore, use the logging
function carefully.
104

LIBRARY
DETAILS OF THE
ERROR LOG FILE
(1) Sequence error log

When a command is sent to the NC and a response to the command
is not the normal sequence, the sequence data is logged.
The log file name is <sequence.log> and its contents are as shown
below.
When the appropriate log switch of the system parameter table is not
ON, logging is not performed.
Sequence error log file (file name : sequence.log)
Current pointer
short
Buffer size
short
Log data
char [ 2] Stored as an ASCII character string.
Day
char [ 2]
Hours
char [ 2]
Minutes
char [ 2]
Seconds
char [ 2]
Send command
character string
Error response
character string
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LOGHD
Month
om
7.1
r.c
B61992E/02
char [ 4]
char [ 4]
LOGSEQ
nc
(2) Protocol error log

In the data link layer, when protocol does not terminate normally
during text send/receive, the error is logged.
The log file name is <protocol.log> and its contents are as shown
below.
Protocol error log file (file name : protocol.log)
short
Buffer size
short
.c
Current pointer
Log data
LOGHD
Month
char [ 2]
Day
char [ 2]
Hours
char [ 2]
Minutes
char [ 2]
Seconds
char [ 2]
Communication type
(*1)
char [ 1]
Phase number
char [ 1]
Event number
char [ 1]
Free
char [ 1]
Error number
char [ 2]
LOGPROTC
105
*1 Communication type
1: Send
2: Receive
3: Clear

LIBRARY
B61992E/02
short
Buffer size
short
Log data
Communication type (*1)
char [ 1]
Transferor phase number
char [ 1]
Event number
char [ 1]
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Current pointer
Transferee phase number
char [ 1]
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LOGTRACE
LOGHD
om
(3) Phase trace log

Phase transition is traced during text send/receive in the data link
layer and the phase number is logged.
The log file name is <phtrace.log> and its contents are as shown
below.
Phase trace log file (file name : phtrace.log)
1: Send
2: Receive
nc
(4) Communication error log

When an error such as an overrun error occurs while sending or
receiving one character, or when a send/receive timeout occurs, the
error is logged.
The log file name is <comerror.log> and its contents are as shown
below.
Communication error log file (file name : comerror.log)
short
.c
Current pointer
Buffer size
Log data
LOGHD
short
Month
char [ 2]
Day
char [ 2]
Hours
char [ 2]
Minutes
char [ 2]
Seconds
char [ 2]
Communication type
(*1)
char [ 1]
Free
char [ 1]
Error type (*2)
char [ 2]
LOGCOM
106
1: Send
2: Receive
3: Clear
*2 Error type
1 : Timeout
11 : Line disconnected
12 : Overrun
13 : Framing error
14 : Parity error
21 : ISO code parity error

LIBRARY
B61992E/02
7.2
SIMPLE ERROR LOG
BROWSING
FUNCTION
The command <log.exe> simplifies the browsing of the contents of

each log file.
A simple help message is displayed by entering C>log ?.
The method for browsing each log file is described below.
(1) Sequence error log
The information shown below is displayed by entering C>log
seq, enabling sequence error logs to be browsed.
Date
time
20:24:53
20:26:02
Time
Number
send
recv
<PRPM> <M NR>
<PTPA> <T BD>
r.c
number mon day

[ 1] 04/10
[ 2] 04/10
[ 3]
om
===== Log file dump [sequence.log] =====

File pointer : 40 [ 3]
Data byte length [next number]
Log buff size : 2048(bype)
File size
Send command character string
Error response character string
ce
nt
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(2) Protocol error log

pro, enabling protocol error logs to be browsed.
===== Log file dump [protocol.log] =====
File size
nc
number mon day

[ 1]
4/13
[ 2]
4/13
[ 3]
4/19
[ 4]
4/19
[ 5]
Date
.c
Number
time
type pha evt err
17:50:24 <2: 5
2> < 5>
17:50:48 <2: 5
2> < 5>
14:54:24 <3: 0
0> < 0>
14:54:31 <1: 1
1> <11>
Time
Error number
Event number
Phase number
Communication type
[1: Send, 2: Receive, 3: Intialization]
107

LIBRARY
B61992E/02
(3) Phase trace log

pha, enabling phase trace logs to be browsed.
number type s__ph event d__ph

[ 1] 1:
1
1 > 2
[ 2] 1:
2
8 > 2
[ 3] 1:
2
8 > 2
[ 4] 1:
2
8 > 2
[ 5]
om
===== Log file dump [Phtrace.log] =====

File size
Transferee phase number

Number
Event number
r.c
Transferrer phase number
Communication type [1: Send, 2: Receive]
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(4) Communication error log

com, enabling communication error logs to be browsed.
===== Log file dump [comerror.log] =====
File size
nc
number mon day

[ 1]
4/10
[ 2]
4/10
[ 3]
4/19
[ 4]
Date
.c
Number
time
type error
20:24:53 <1: 11>
20:26:02 <2: 21>
14:54:31 <1: 11>
Time
Error type (*1)

Communication type
[1: Send, 2: Receive, 3: Intialization]
*1 Error type 1
11
12
13
14
21
108
:
:
:
:
:
:
Timeout
Line disconnected
Overrun
Framing error
Parity error
ISO code parity error
r.c
ce
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nc
.c
om
APPENDIX
APPENDIX
B61992E/02
CONNECTOR SPECIFICATIONS
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nc
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A. CONNECTOR SPECIFICATIONS
111
A.1
FANUC Series 0
(A02B0098J055)
APPENDIX
B61992E/02
(1) RS-232-C
M77 (in the CNC cabinet)
MR-20RMD (male)
14
1
8
RD
SD
15
16
CD
17
ER
H20.F
Cable 1
3
10
Host computer
18
DR
19
CS
5
12
6
13
RS
SG
r.c
20
om
4
11
(2) RS-422
(a) M77 (in the CNC cabinet)
ce
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MR-20RMD (male)
14
CS
SD
*SD
TR
*TR
RS
*RS
SG
15
*CS
16
10
RD
11
*RD
12
RR
13
*RR
17
18
19
Host computer
.c
nc
20
H20.F
Cable 2
If a synchronization reception clock is not necessary, the M77 can

also be used for the RS-422 interface.
To use the M77 for the RS-422 interface, do not wire TT (*TT)
and RT (*RT).
(b) M73 (in the CNC cabinet)
MR-20RMD (male)
14
15
CS
8
TT
*TT
*CS
16
10
RD
11
*RD
12
RR
13
*RR
17
18
19
RT
*RT
20
112
SD
*SD
TR
*TR
RS
*RS
SG
H20.F
Cable 3
Host computer
APPENDIX
B61992E/02
A.2
FANUC Series 15A
(1) RS-232-C
CD4 (in the CNC cabinet)
MR-20RF (female)
14
+24V
1
8
RD
SD
15
16
CD
17
SG
3
10
4
11
DR
12
19
CS
13
20
ER
om
18
RS
r.c
(2) RS-422
CD3 (in the CNC cabinet)
MR-20RM (male)
CS
TT
*TT
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14
15
*CS
16
10
RD
11
*RD
12
RR
13
*RR
17
18
19
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nc
20
113
RT
*RT
SD
*SD
TR
*TR
RS
*RS
SG
A.3
FANUC Series 15B
AND Series 16/18
APPENDIX
B61992E/02
(1) RS232C
RS232C connection signal diagram
CNC option 1 board
Host computer (example)
JD5C (PCREV20MDT)
FG
RD
11 SD
SD
0V
12 0V
RD
DR
13 ER
RS
0V
14 0V
CS
CS
15 RS
DR
0V
16 0V
SG
CD
17
CD
0V
18 *RD
19 (+24)
10 (+24V)
20
15
16
17
18
19
20 ER
21
22
10
29
11
r.c
14
om
(DBM25S)
12
13
24
25
ce
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Connection between RS232C equipment

CNC
SD
Input
RD
RD
nc
SD
.c
0V
RS
RS
CS
CS
ER
ER
DR
DR
CD
CD
SG
SG
FG
FG
Ground
NOTE
When CS is not used, connect CS and RS. When the IBM
PCAT is used as the host computer, connect CS and RS
in the CNC. When DR is not used, connect DR and ER.
Always connect CD and ER.
Host computer
Output
114
APPENDIX
B61992E/02
(2) RS422
RS422 connection signal diagram
CNC option 1 board
Host computer (example)
JD5C (PCREV20MDT)
FG
RD
11 SD
*RD
12 *SD
RT
13 TT
*RT
14 *TT
CS
15 RS
RD
*CS
16 *RS
RS
DM
17 TR
RT
0V
18 *TR
CS
*DM
19 (+24)
20
21
SD
22 *SD
23
24 *RD
25 *RS
om
10 (+24V)
(DBM25S)
10
20
11 DM
r.c
12 TR
RS422 does not use (+24 V).
13
14
15
16
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17 TT
18
19 SG
26 *RT
27 *CS
28
29 *DM
30 *TR
31
32
33
34
35 *TT
36
37
Connection between RS422 equipment

CNC
SD
Input
RD
RD
RS
RS
CS
CS
TR
TR
DM
DM
TT
TT
RT
RT
SG
SG
FG
FG
.c
nc
SD
0V
Ground
Host computer
Output
115
B. PARAMETERS
APPENDIX
B61992E/02
PARAMETERS
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nc
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The following parameters are sent to the DNC2 system only

when the CNC is turned on. After changing any of the
parameters, turn off and on again the power switch of the CNC.
116
B. PARAMETERS
APPENDIX
B61992E/02
B.1
FANUC Series 0
(UPPER ROW: Series
0TC, LOWER ROW:
Series 0MC)
#7
#6
0051
#5
ECLK
#4
#3
NCKCD RSASCI
ECLK
NCKCD RSASCI
#2
#1
PARTY
#0
STP2
PARTY
STP2
r.c
om
ECLK : Reception clock source (for RS-422 only)

0 : Internal
1 : External
When ECLK is on, the M77 connector is used.
NCKCD : Whether to check CD (signal quality detection) in the RS-232-C
0 : Check
1 : No check
RSASCI : Transmission code
0 : ISO code
1 : ASCII code
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NOTE
With the Series 0, use ASCII code.
nc
PARTY : Parity
0 : No parity check
1 : Even parity
STP2 : Number of stop bits
0: 1
1: 2
.c
NOTE
The data length (in bits) is determined according to what is
set in RSASCI and PARTY. If both RSASCI and PARTY are
1, the data is 7 bits long. Otherwise, it is 8 bits long.
#7
#6
0055
#5
#4
#3
RS42
#2
RS42
RS42 : Interface used between the host and remote buffers

0 : RS-232-C interface
1 : RS-422 interface
117
#1
#0
B. PARAMETERS
APPENDIX
0251
B61992E/02
Baud rate
0251
Range of data : 1 to 12 (RS-232-C) or 5 to 15 (RS-422)

If a value out of the valid range is specified, either the maximum or
minimum value is assumed. The default value is 10 (4800 bps).
Value
Baud rate
Value
Baud rate
Value
Baud rate
50
300
100
600
12
19200
110
1200
13
38400
150
2400
14
76800
200
10
4800
15
86400
9600
r.c
0365
11
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Timeout value for the no-response timer
0320
ce
nt
e
Range of data : 1 to 60 (seconds)

If a value out of the valid range is specified, either 1 or 60 is assumed. The
default value is 5 (seconds).
0366
Timeout value for the EOT signal timer
0321
nc

0368
Maximum number of times that a prompt is made regarding an invalid

transmission protocol or no-response in the data link layer
.c
0323
Range of data : 1 to 10 (times)

default value is 5 (times).
0369
0324
Maximum number of times that a message is retransmitted when not

acknowledged.

0370
0325
Maximum number of characters that can be received after transmission

has been stopped (CS off)
Range of data : 10 to 256 (characters)

If a value out of the valid range is specified, either 10 or 256 is assumed.
The default is 256 characters. Since the maximum value that can be set in
this parameter is 255, when 256 is to be specified, set 0.
118
B. PARAMETERS
APPENDIX
B61992E/02
#6
#7
#5
#4
0396
ERCODE
#3
#2
NCKER
ERCODE
NCKER
#1
#0
NCKBCC
NCKBCC
Maximum datagram (data section) length
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0490
r.c
om
NCKBCC : Whether to check the BCC value

0 : Check
1 : No check; the BCC cannot be omitted.
NCKER : Whether to check the ER (RS-232-C)/TR (RS-422) signal
0 : Check
1 : No check
ERCODE : Error code for negative response
1 : Negative response is indicated by an error code consisting of four
hexadecimal digits.
0 : Negative response is not indicated by an error code.
When using the FANUC-created DNC2 communication program library
in the host computer, set this parameter to 1.
0490
nc

The default value is 256 (characters).
This parameter defines a maximum packet length for DNC2 transmission.
The maximum length of a packet is the length specified by parameter
0490 plus nine characters including the first two characters, four
command characters, and the last three characters.
DLF
STX
.c
2 bytes
119
Packet length
Command
Data section
4 bytes
80 to 256 bytes
DLE
ETX
3 bytes
BCC
B. PARAMETERS
APPENDIX
B61992E/02
B.2
Series 15
#7
#6
#5
#4
#3
0000
#2
ISP
#1
#0
(Power must be turned off and on again.)
om
ISP : Transmission code

0 : ISO code
1 : ASCII code
Interface number for the foreground input device
0021
Interface number for the foreground output device
0022
Interface number for the background input device
0023
Interface number for the background output device
r.c
0020
To use DNC2, set this parameter to 4.

#7
#6
#5
#4
NCKCD
#3
ce
nt
e
5000
#2
#1
PARTY
#0
RB422
nc
RB422 : Interface used between the host and remote buffers

0 : RS-232-C
1 : RS-422
PARTY : Parity
0 : Even parity
1 : No parity check
NCKCD : Whether to check CD (signal quality detection) in the RS-232-C
0 : Check
1 : No check
.c
NOTE
The data length (in bits) is determined according to what is
set in RSASCI and PARTY. If both RSASCI and PARTY are
1, the data is 7 bits long. Otherwise, it is 8 bits long.
5070
Minimum baud rate that causes the reception lock pulse to be supplied
from the host
Range of data : 5 to 15
If the baud rate is grater than or equal to the value specified in this
parameter, the reception clock pulse is supplied from the host. The
parameter is valid for the RS-422 interface only.
120
B. PARAMETERS
APPENDIX
B61992E/02
5072
RS-422 stop bit
5082
RS-232-C stop bit

Range of data : 1 to 2
1 : 1 stop bit
2 : 2 stop bits
om
If the value set in the parameter is not 2, 1 is assumed.

5073
RS-422 baud rate
5083
RS-232-C baud rate
r.c
Range of data : 1 to 12 (RS-232-C) or 5 to 15 (RS-422)

If a value out of the valid range is specified, either the maximum or
minimum value is assumed. The default value is 10 (4800 bps).
Baud rate
Value
Baud rate
ce
nt
e
Value
Value
Baud rate
50
300
11
9600
100
600
12
19200
110
1200
13
38400
150
2400
14
76800
200
10
4800
15
86400
5050
Timeout value for the no-response timer
nc

.c
5051
Timeout value for the EOT signal timer

5052
Maximum number of times that a prompt is made regarding an invalid

transmission protocol or no-response in the data link layer

5053
Maximum number of times that a message is retransmitted when not

acknowledged.

121
B. PARAMETERS
APPENDIX
5054
B61992E/02
Maximum number of characters that can be received after transmission

has been stopped (CS off)

5055
Maximum datagram (data section) length
r.c
om

This parameter defines a maximum packet length for DNC2 transmission.
The maximum length of a packet is the length specified by parameter
5055 plus nine characters including the first two characters, four
command characters, and the last three characters.
Packet length
STX
Command
Data section
ce
nt
e
DLF
2 bytes
#7
4 bytes
#6
5056
80 to 256 bytes
#4
PCDAT
#3
ERCODE
ETX
BCC
3 bytes
#2
NCKER
#1
#0
NCKBCC
.c
nc
NCKBCC : Whether to check the BCC value

0 : Check
1 : No check; the BCC cannot be omitted.
NCKER : Whether to check the ER (RS-232-C)/TR (RS-422) signal
0 : Check
1 : No check
ERCODE : Error code for negative response
0 : Negative response is not indicated by an error code.
1 : Negative response is indicated by an error code consisting of four
hexadecimal digits.
When using the FANUC-created DNC2 communication program library
in the host computer, set this parameter to 1.
PCDAT : For PMCNA, PMC data is read and written with:
0 : Address specification type.
1 : Data number specification type.
For PMCNB/NB2, the data number specification type is always used
regardless of the setting of this parameter.
w
w
w
#5
DLE
122
B. PARAMETERS
APPENDIX
B61992E/02
B.3
FANUC Series
16/18/21
The following parameters are transferred to the DNC2 system

only when the CNC is turned on. Therefore, when these
parameter values have been changed, the power to the CNC
must be turned off, then back on.
0020
I/O channel : I/O unit selection
#7
#6
#5
#4
SB2 : The number of stop bits is:

0 : 1 bit.
1 : 2 bits.
ce
nt
e
ASI : Code used for data input is:

0 : ISO code.
1 : ASCII code.
#3
ASI
#2
#1
#0
SB2
#1
PRY
#0
r.c
0131
om
When DNC2 is to be used, set 10 in this parameter.
NOTE
Use ASCII code.
#7
#6
0134
#5
CLK
#4
NCD
#3
#2
nc
PRY : The parity bit is:

0 : Not used.
1 : Used (even parity).
.c
NCD : The CD (signal quality detection) signal (RS232C only) is:

0 : Checked.
1 : Not checked.
CLK : The baud rate clock (RS422 only) is:

0 : The internal clock.
1 : The external clock.
NOTE
The data bit length is determined depending on the RSASC
and PARTY settings. If RSASC and PARTY are both set to
1, the 7bit length is used. In other cases, the 8bit length
is used.
#7
#6
#5
#4
0135
R42 : As the interface:

0 : The RS232C interface is used.
1 : The RS422 interface is used.
123
#3
R42
#2
#1
#0
B. PARAMETERS
APPENDIX
#7
#6
B61992E/02
#5
#4
0140
#3
ECD
#2
NCE
#1
#0
BCC
r.c
om
BCC : The BCC value is:

0 : Checked.
1 : Not checked. (BCC itself cannot be omitted.)
NCE : The ER (RS232C)/TR (RS422) signal is:
0 : Checked.
1 : Not checked.
ECD : Error code for negative acknowledgment
0 : No error code is added to negative acknowledgment.
1 : A 4digit hexadecimal error code is added to negative
acknowledgment.
When using the DNC2 communication library, developed specifically by
FANUC for the host computer, this parameter must always be set to 1.
0133
Baud rate
ce
nt
e
Valid data range : 1 to 12 (RS232C), 5 to 15 (RS422)

If a value that falls outside the valid data range is specified, the maximum
or minimum value is set. The default is 10. (4800 bps).
Value
Baud rate
Value
Baud rate
Value
Baud rate
50
300
11
9600
100
600
12
19200
110
1200
13
38400
150
2400
14
76800
200
10
4800
15
86400
nc
0143
Timeout value of the timer used to check for a response from the host
.c
Valid data range : 1 to 60 seconds

If a value that falls outside the valid range is specified, 1 or 60 is assumed.
The default is 5 seconds.
Timeout value of the timer used to check for the EOT signal from the host
0144
Valid data range : 1 to 60 seconds

The default is 5 seconds.
0146
Maximum allowable number of times a demand is made in the case of

invalid protocol or noresponse state in the data link layer
Valid data range : 1 to 10

The default is 5 times.
0147
Maximum allowable number of times a message is resent in response to NAK
Valid data range : 1 to 10

The default is 3 times.
124
B. PARAMETERS
APPENDIX
B61992E/02
0148
Maximum number of characters that can be received after send stop processing (CS off)
Valid data range : 10 to 255 characters

If a value that falls outside the valid range is specified, 10 or 255 is
assumed. The default is 256 characters.
0149
Maximum length of datagram (data section)
r.c
om
Valid data range : 80 to 256 characters

If a value that falls outside the valid range is specified, 80 or 255 is
assumed. The default is 256 characters.
In DNC2 sending, the maximum packet length is defined by this
parameter.
The maximum packet length is the setting in [No. 0149] plus nine
characters (the sum of the first two characters, the four characters in the
command section, and the last three characters).
Packet length
STX
Command
Data section
ce
nt
e
DLF
4 bytes
.c
nc
2 bytes
125
80 to 256 bytes
DLE
ETX
3 bytes
BCC
C. DATA LINK LAYER MATRIX
DATA LINK LAYER MATRIX
Received
DLE
send DLE0
Na, Nb, Nc=0
ignore
data

same to D

same to D

same to D

same to D
send DLE0
Na, Nb, Nc=0

same to D

same to D

same to D

same to D
to IDLE
state

same to E

same to E

same to D

same to D
wait
DLE
state
(DLE0)
wait
F0G
state
wait
1
state
CNC
send
ENQ
HOST
to wait
ENQ
to DLE wait
retry
over
send
ENQ
Na
0
retry
over
send
ENQ
Nb
0
send
ENQ
retry
over
0
send
ENQ
wait
DLE
state
(DLE STX)
wait
STX
state
Received
ENQ
10
wait
BCC
state
11
w
12

same to C

same to C
Na
retry
over
Nc
0
send EOT
(normal)
Recv.
STX

same to E

same to C

same to C

same to C

same to C Ta
Na : Retry counter A
Nb : Retry counter B
Nc : NAK counter
Recv.
DLE
retry
over
Nc
0
Ta : No response timer
Tb : EOT timer
Recv.
ETX
Recv.
BCC
Recv.
EOT
Recv.
ELSE
Time Out

same to C

same to C

same to C

same to C

same to C Ta
retry
over
Nb
0

same to C
to DLE
wait

same to C

same to C

same to C

same to C Ta
Regard as text
to ETX
wait

same to C

same to C

same to C

same to C
send
DLE0
10
Regard as text

same to C

same to C
to BCC
wait

same to C

same to C
send
DLE0
retry
over
Ta, Nb
send
DLE0
Nb
1
to STX
wait
send
DLE0
wait
ETX
state

same to D
retry
over
Na
0
retry
over
wait
DLE
state
(DLE ETX)

same to C
nc
Trns end
send
EOT
ENQ
to wait
1
Na
retry
over
.c
Matrix state
Trns req.
Na
0
start transmitt
Na, Nb, Nc=0
Nb
0
A, B : Process
m, n: Matrix state number to be changed
B
m
retry
over

same to E
retry
over
to wait
0
evaluate after transmitting is completed
wait
EOT
state
HOST
to wait
ENQ
Event
R
E
C
E
I
V
I
N
G
CNC
send
ENQ
ce
nt
e
retry
over
Nb
Nb
0
Time Out
om
wait
DLE
state
(DLE1)
Received
ELSE
wait ENQ
state
(Host only)
Received
NAK
send ENQ
transmitting
state
Received
1
Trns end
IDLE state
Received ENQ
Received
0
Trns req.
Matrix state
T
R
A
N
S
M
I
T
T
I
N
G
B61992E/02
r.c
Event
APPENDIX
11
BCC valid : send DLE1
send
DLE1
retry
over
12
BCC invalid : 7
to EOT wait
send NAK
12

same to C

same to C

same to C
retry over Nc
0
to
IDLE
0
126

same to C
retry
over
Ta, Nb
send
DLE0
retry
over
Ta, Nc
0
to IDLE
Tb
0
D. APPLICATION LAYER MATRIX
APPENDIX
B61992E/02
APPLICATION LAYER MATRIX
1. PT**/LIPM type
Recv.
R **/
DIPM
Recv.
M OK
Recv.
M NR
Recv.
T NP
IDLE state
T NB wait
M OK wait
PT **
send
M RT
send
M NR/
T NP
send
0
R **/
DIPM
send
T FD
send
T BD
send
M RT wait
T BD
send
R ** wait
T BD
send

same to B
PT**/LIPM
T NB
PR **
send
M PR
send
M NR
M NP
send
R ** wait
M RR wait
T BD
send

same to B
T BD
send
T BD
send
R **
send
T FD
send
M OK wait
T NB
send
Recv.
else
CNC
reset
Datalink
error
T BD send
No operation
T BD
send

same to B
to
IDLE
T BD
send
to
IDLE

same to B
to
IDLE
to
IDLE
to
IDLE

same to B
to
IDLE

same
to B
T NB
send

same to B
M OK
send

same to B

same
to B
T BD
send
to
IDLE
T BD
send
to
IDLE
T BD
send
0
R **
M OK
M NR
T NP
T BD
M RR
M RT
T FD
else
CNC
reset
Datalink
error
T NB
send
1

same to B
to
IDLE

same to B
Recv.
T FD
to
IDLE
to
IDLE
T BD send
T NB wait

same to B
nc
IDLE state
Send
req.
.c
Event
to
IDLE
Recv.
M RT
A, B : Process
m, n: Matrix state number to be changed
2. PR** type
Matrix
state

same to B
0
4
to
IDLE

same to B

same to B
Recv.
M RR
No
operation
T BD send
T BD
send
Recv.
T BD
om
Received
T NB
ce
nt
e
Matrix
state
Received
PT**/LIPM
r.c
Event Receive
req.

same to B
to
IDLE
127
to
IDLE

same to B
0
to
IDLE
PR **
send

same to B
T BD send

same
to B

same to B
to
IDLE
No
operation
to
IDLE
0
to
IDLE
0
No operation
0
M OK
send
0

same to B

same to B

same to B

same
to B
T BD
send
to
IDLE
T BD
send
to
IDLE
T BD
send
to
IDLE
T BD
send
to
IDLE
D. APPLICATION LAYER MATRIX
APPENDIX
B61992E/02
3. T** type
Send
Req.
T **
IDLE state
R **
M OK
M NR
T NP
T **
send
R **
send
M NR/
T NP
send
T BD
T BD send
M OK wait
T BD
send
R ** wait
T BD
send
M OK
send
M NR
send
M ** /MCRM
R **
M NR
M NP

same to B
to
IDLE
to
IDLE
A
0
M OK wait
R ** /
M **
send
M OK
send
M NR
M NP
send
CNC
reset
else
T BD send
T BD send
No
operation
T BD
send
T BD
send
normal
to
IDLE
normal
to
IDLE
to
IDLE

same to B
.c
nc
IDLE state
T BD
128

same to B

same to B
Datalink
error
r.c
Send
Req.
No operation
T BD
send
to
IDLE
ce
nt
e
Event
H
T BD
send
4. M**/R** type
Matrix
state
Datalink
error
to
IDLE

same to B
CNC
reset
No
operation
to
IDLE

same to B
else
No operation
0
T BD
send
to
IDLE
T BD
send
to
IDLE
om
Event
Matrix
state
ALARM MESSAGES
.c
nc
ce
nt
e
r.c
om
E. ALARM MESSAGES
APPENDIX
B61992E/02
129
E. ALARM MESSAGES
APPENDIX
E.1
B61992E/02
E.1 Alarm Messages for Series 0
Series 0
Message
Description
BP/S 071 alarm
A program specified to be deleted or

uploaded was not found.
BP/S 073
BP/S 073 alarm
There is a program with the same name as

a program specified to be downloaded.
BP/S 086
BP/S 086 alarm
Errors that disable communication

(1) Parity error
(2) Flaming error
(3) Overrun error
(4) CD (signal quality detection) low
(5) DR/TR signal low
Remark
Note
om
Code
BP/S 071
ce
nt
e
r.c
NOTE
Recovery from this error can be done by turning off and on
again the ER/TR signal in the host computer or turning off
the power to the CNC.
E.2
E.2 Alarm Messages for Series 15
Code
Message
Description
Remark
SR 960
MAP file transmission error

(channel 1)
A communication error occurred on

channel 1.
a) The operator or the host computer discontinued transmission.
b) Errors that disable communication
(1) Parity error
(2) Flaming error
(3) Overrun error
(4) CD (signal quality detection) low
(5) DR/TR signal low
Note
.c
nc
Series 15
MAP file transmission error

(channel 2)
Same as above
NOTE
Recovery from this error can be done by turning off and on
again the ER/TR signal in the host computer or turning off
the power to the CNC.
SR 970
130
F. ERROR CODES DETAILING

NEFATIVE RESPONSE
APPENDIX
B61992E/02
ERROR CODES DETAILING NEGATIVE RESPONSE
Fig.F Error Codes Detailing Negative Response (1/2)

Meaning
Error code
Command syntax error
FFB9H047H
Command exchange sequence error
M_BD
T_ER
M_NR
om
FEBAH046H
Negative program number other than =9999

Program number format error
FFCCH034H
Specified axis has not been mounted.
M_NR
FFCBH035H
Too many data items were requested.
M_NR
FFCAH036H
No data item can be read.
M_NR
FFC9H037H
Invalid axis command
M_NR
FFC6H03AH
A request is being processed.
T_BD
FFC5H03BH
A request is being canceled.
T_BD
ce
nt
e
r.c
FFCEH032H
FFCDH033H
N_NR
The CNC makes an interrupt request.
T_BD
Timeout
M_NP
FDFEH202H
Channel busy
M_NP
FDFDH203H
Data remaining
M_NP
FDFCH204H
Incorrect file name
T_BD
FDFBH205H
Open request rejected
M_NP
FDFAH206H
Edit request rejected
M_NP
FDF9H207H
CNC busy
M_NP
FC0CH3F4H
A specified file was not found.
M_NR
nc
FF00H100H
FDFFH201H
FC0BH3F5H
A warning occurred during selection of a file.
T_NP
FC0AH3F6H
Start request rejected
M_NP
FC09H3F7H
Not in auto mode
M_NP
FC08H3F8H
File selection request rejected
M_NP
FC07H3F9H
File deletion request rejected
M_NP
FC06H3FAH
File protected
M_NP
FC05H3FBH
File deletion request rejected, or warning occurred during file deletion.
M_NP
FC04H3FCH
Editing request rejected
M_NP
FC03H3FDH
Directory not found
T_NP
FC02H3FEH
Directory read request rejected
T_NP
FC01H3FFH
Invalid directory or file name
T_BD
FBA8H458H
Window library error
M_NP
FBA7H459H
Command not executable
M_NP
FBA6H45AH
Invalid function code
T_BD
.c
w
w
w
Remark
FBA5H45BH
Invalid major data classification
M_NR
FBA4H45CH
Invalid medium data classification
M_NR
FBA3H45DH
Invalid minor data classification
M_NR
FBA2H45EH
Invalid data length
T_BD
FBA1H45FH
Invalid data type
T_BD
FBA0H460H
Invalid data
M_NP
FB9FH461H
Miscellaneous command errors
M_NP
FB9EH462H
No option
M_NP
131
F. ERROR CODES DETAILING

F. NEFATIVE RESPONSE
APPENDIX
B61992E/02
Fig.F Error Codes Detailing Negative Response (2/2)

Error code
Meaning
M_NR
FB9CH464H
File protected
M_NP
FB9BH465H
No directory space
M_NP
FB9AH466H
Insufficient memory space
M_NP
FB99H467H
Read disabled
T_NP
FB98H468H
Write disabled
M_NP
FB97H469H
Write failed
T_BD
FB96H46AH
Read failed
FB95H46BH
Device inoperable
FB94H46CH
System not ready
FB93H46DH
Invalid status
FB92H46EH
Data mismatch
FB46H4BAH
No extended window option
FB45H4BBH
Miscellaneous errors
M_IL
F62DH9D3H
Write protected
M_NP
F62CH9D4H
Protect key locked
M_NP
F62BH9D5H
Invalid mode
M_NP
F62AH9D6H
Invalid address
M_NP
F629H9D7H
Data outside valid range
M_NP
F628H9D8H
Too many digits
M_NP
F627H9D9H
Start disabled
M_NP
F626H9DAH
Input of this parameter is inhibited.
M_NP
F625H9DBH
Data not found
M_NR
F624H9DCH
Background editing in progress
M_NP
F623H9DDH
External I/O unit channel being used
M_NP
F622H9DEH
No program selected
M_NP
F621H9DFH
Editing impossible
M_NP
F620H9E0H
System error
M_NP
F61FH9E1H
A program already exists.
M_NR
om
File not found
T_BD
M_NP
M_NP
M_NP
nc
ce
nt
e
r.c
T_BD
M_NP
F61EH9E2H
Insufficient memory area
T_BD
F61DH9E3H
Not in emergency stop state
M_NP
F61CH9E4H
Already being used
M_NP
F61BH9E5H
Too many programs
M_NP
F61AH9E6H
Outside valid range
M_NP
F619H9E7H
Editing of this word not allowed
M_NP
F618H9E8H
No program number
M_NP
F617H9E9H
Command rejected
M_NP
F616H9EAH
Running program
M_NP
.c
w
w
w
Remark
FB9DH463H
F615H9EBH
Program not allowed to be displayed
M_NP
F614H9ECH
No option found
M_NP
F60BH9F5H
Data missing
M_NP
F606H9FAH
Background editing rejected
M_NP
F605H9FBH
Parameter setting error
M_NP
F604H9FCH
Background NC status error
M_NP
132
MAINTENANCE
.c
nc
ce
nt
e
r.c
om
G. MAINTENANCE
APPENDIX
B61992E/02
133
G. MAINTENANCE
APPENDIX
G.1
DESCRIPTIONS OF
INDICATION BY LEDS
(Series 15A)
G.1.1
B61992E/02
The arrangement of the LEDs is as shown on the right (the door open).
The following table lists the meanings of the LED indications.
0
f f
f f
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When the LEDs are blinking or remain off, they indicate system errors.
The system errors can normally be eliminated by turning the power off
and on again. In some cases, error recovery requires hardware
replacement.
Blinking LED
Indications
No.
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G.1.1 Errors Indicated by Blinking LEDs

LED
indication
Meaning
Code
Message
No
f
f
f
f
An NMI occurred in a module other than the

remote buffer.
F
f
f
f
RAM parity error
Yes
f
F
f
f
F-BUS error
Yes
F
F
f
f
ROM parity error
No
f
f
f
F
Invalid interrupt
An interrupt occurred when should not.
Yes
F
f
f
F
Error on the ID of a remote buffer PCB
No
f
F
f
F
RAM collation error
No
F
F
f
F
Not used
f
f
F
f
DNC2 software error
No
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If the LEDs are on or off with one of the patterns listed above, check the
information described below using the CNC diagnostic menu and report
it to the maintenance personnel: Four words at addresses 46003FEF to
46003FEB (selected from among addresses 46003F80H [46003F00H]
and on) displayed on the screen using INP-NO; enclosed in brackets are
the addresses that can be displayed on a 14-inch CRT screen.
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F ... Off
f ... On
134
G. MAINTENANCE
APPENDIX
B61992E/02
G.1.2
When the LEDs light steadily or remain off, they indicate the state (not
abnormal state) of the remote buffer.
Nonblinking LED
Indications
G.1.2 LED Indications and Their Meanings

No.
LED
indication
Meaning
Code
f
f
f
f
The remote buffer CPU is at halt, immediately after power is applied.
f
F
F
F
CIRR#15=1 wait;
Common Resource Irt. request awaited
F
f
F
F
CIRR#15=0 wait after the remote buffer SFT

has been initialized
f
f
F
F
CNCs PWN#2=1 wait after the remote

buffer module has been initialized; for all
modules, completion of MDL setting
awaited.
F
F
F
f
CIRR#15=1 wait;
completion of IPL awaited
f
F
F
f
CIRR#15=0 wait after remote buffers

PWN#3 = 1; for all modules, completion of
MDL setting awaited
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Message
F
f
F
f
Wait for a request (command) from the CNC
f
f
F
f
DNC2 software is ready.
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135
G. MAINTENANCE
APPENDIX
G.2
B61992E/02
Incase of Series 15A, the following table lists the system error messages
related to the remote buffer.
SYSTEM ERROR
MESSAGES
(Series 15A)
G.2 LED Indications and Their Meanings

LED
Code
indication
Meaning
Message
f
f
RAM PARITY LH (000aaaaa)
f
F
f
f
BUS ERROR (000aaaaa)
f
f
f
F
UNDEFINED IRT 00n

(000aaaaa)
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F
f
F-BUS error occurred.

aaaaa Address (next command) detected when
the error occurred
Invalid interrupt occurred.
000n... Type of the interrupt
the error occurred
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136
RAM parity error occurred.

LH ... L : Even address
H : Odd address
the error occurred
G. MAINTENANCE
APPENDIX
B61992E/02
G.3
LED INDICATORS
(Series 15B)
The Series 15B has LEDs arranged as shown in the figure on the right
(as viewed with the door open). LEDs 3 and 4 are used for DNC2.
Immediately after the power is turned on, LEDs 3 and 4 both light while
the DNC2 CPU is stopped; then, these LEDs normally go off.
OPT1
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STATUS
No.
On
Blink
Meaning
Internal
code
Message
NMI is generated in a module

other than DNC2.
8F
Not
provided
RAM parity error
8E
Provided
Fbus error
8D
Provided
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LED status
No.3
No.4
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The following LED states indicate system errors. Such errors cannot be
recovered unless the power is turned off then back on. Some errors require
hardware replacement.
Blink
On
Blink
Blink
Blink
Off
ROM parity error
8C
Provided
Off
Blink
RAM check error
89
Provided
Blink
Off
This state may indicate the following problems. To determine

the problem, see the message
displayed on the CRT screen.
87
88
8A
8B
Provided
nc
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Off
Blink
LEDs 3 and 4 blink

alternately.
a) DNC2 printed circuit board

failure
<<Applicable to version B and
later printed circuit boards>>
b) Invalid interrupt (An illegal
interrupt is generated.)
c) DNC2 software error
For details of the messages, see Appendix G.4.

If any of the above LED states is observed, record the four words
(46800004 to 4680000B) on from the CNC diagnostic screen, and contact
FANUC.
NOTE
DNC2 RAM ranges from 800000H to 8FFFFFH. Do not try
to display 46900000 and subsequent memory locations.
Otherwise, a system error occurs.
137
G. MAINTENANCE
APPENDIX
G.4
B61992E/02
With the Series 15B, the system error messages related to DNC2 are
explained below.
Internal
code
Message
Meaning
8E
RAM PARITY HL (00aaaaaa)
RAM parity error occurred.

LH... L : Evennumbered address
H : Oddnumbered address
aaaaaa Execution address when
the error occurred (next
instruction)
8D
BUS ERROR (00aaaaaa)
Fbus error occurred.

aaaaaa...Execution address when
the error occurred (next
instruction)
8C
DNC2 ROM PARITY ERROR
8B
UNDEF IRT 00nn (00aaaaaa)

ERRCODE : cccc
8A
DNC2 PCB HARD ERROR

(diimage)
Problem occurred in DNC2 printed circuit board version B or later.

diimage...Status of 7000n4h in com
munication space
89
DNC2 RAM TEST ERROR

(seg : addr)
RAM check error occurred.

seg... Error segment
addr... Error address
88
87
DNC2 SOFT ERROR (id : ee : aaaa)
DNC2 software error occurred.

id...
Error type
ee... Error internal code
aaaa... Execution address when the
error occurred (next instruc
tion)
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SYSTEM ERROR
MESSAGES
(Series 15B)
ROM parity error occurred.
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Invalid interrupt was generated.

00nn... Interrupt type
aaaaaa...Execution address when
the error occurred
cccc... Error code
138
G. MAINTENANCE
APPENDIX
B61992E/02
G.5
TROUBLESHOOTING
G.5.1
MAP Log Messages
G.5.1.1
Datagram communication is always recorded in the log buffer area. The

most recent 500 characters recorded in the log area are displayed on the
CNC MAP log message screen. Figure G.5.1.1 shows a log message
display. This function is supported only by the Series 15.
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Log messages
MAP LOG MESSAGE
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PRPM | M RR | R PM | T NB | R PM | T NB | R PM | T NB | T FD | M OK | LIPM |
M RT | T NB | DIPM | T NB | T FD | M OK |
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Last datagram exchanged

Fig.G.5.1.1 Log Display
G.5.1.2
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Log message format
There are three log message formats. Each log message is separated by
ASCII character | . The meaning of the messages in each format is as
follows:
1) <CCCC>
:
CCCC
Command section of datagram
2) <NNNN0Xeeee>:
NNNN
Negative response (datagram command section)
eeee
Error code (See Appendix F.)
3) <Ennn0Xssdd>:
Ennn
Data link layer error code
See Table G.3.1.2.
ssdd
Details of the error
ss : Status of the data link layer matrix
dd : Error data
Error
code
G.5.1.2 Error codes

Details (0xssdd)
Status (ss)
Explanation
Error data (dd)
E002
0, 1, 2, 3
5, 6, 7, 8
9, A, B, C
Error code of communication error
Communication line disconnection
E009
2, 3, 5, 6
7, 8, 9, A
B
00
Retry limit reached due to timeout
E00C
0, 1, 2, 3
5, 6, 7, 8
C
Invalid TCC(*1)
Retry limit reached due to reception of

invalid character
E010
5, 6, B
Error code
5 : NAK
6 : NAK | DLFO
B : BCC
Retry limit reached due to NAK or DLE0

Retry limit reached due to checksum error
E011
E014
00
Invalid TCC(*1)
Wait for BCC

Retry limit reached due to reception of
invalid character during wait for EOT
*1 TCC stands for Transmission Control Character.
139
G. MAINTENANCE
APPENDIX
B61992E/02
G.5.2
Troubleshooting
No.
Symptom
Check procedure
Commands cannot start operation.
Troubleshoot according to the following procedure.

A prerequisite for normal operation is that the following parame- a) Check whether the LED indication pattern is No. 8 described
in G.1.2.
ters have been set correctly.
b) Check the MAP log message.
(1) Baud rate
If no log message is displayed, check whether:
(2) Stop bits (1 or 2)
(1) Parameters have been set.
(3) External clock baud rate
(2) The power was turned off and on again after the parame(4) Parity (no parity or even parity)
ters were changed.
(5) Transmission code (ASCII/ISO)
(3) The communication is in a satisfactory condition.
(6) Interface (RS-232-C/RS-422)
(7) Maximum datagram length
If a log message is displayed, perform the following:
(8) Interface number
(1) Eliminate the cause of error Ennnn0Xssdd (if displayed).
Series 0 : I/O=10
(2) If a command exchange sequence has not been comSeries 15: No. 20, 21, 22, 23=4
pleted, check which device is the requester or the
responder.
(Note)
If a parameter value is out of the valid range, the
default value is used. Check the default value for each device.
2.
Operation was discontinued halfway through.
Perform the same check as No.1 except for checking of parameters.
3.
Alarm SR960/070 (Series 15) or BP/S86 (Series 0/16/18/21)

occurred.
Check the following:

a) Communication cable and connectors
b) Flaming or overrun error
(1) Baud rate mismatch
(2) Improper stop bit setting
(3) CD (signal quality detection) is off (RS-232-C only).
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1.
140
APPENDIX
B61992E/02
G code
Machining center Lathe (system B)
Group
p
(gg)
10
G98
G99
11
G50
G00
G01
0
1
G02
G03
G02
G03
2
3
G33
G33
G77
G78
4
8
9
G79
10
G17
G18
G19
G97
G96
0
1
2
G90
G91
G90
G91
G22
G22
G23
G23
G93
G94
G95
G94
G95
14
0
1
G20
G21
G41
G42
G41
G42
1
2
1
2
0
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G40
G66
Internal code
(vv)
G98
G99
1
0
G66
G66.1
G67
G66.1
G67
2
0
G96
G97
G68
G69
1
0
G54
G55
G54
G55
0
1
G56
G57
G56
G57
2
3
G58
G59
G58
G59
4
5
G61
G62
G61
G62
1
2
G63
G64
G64
3
0
G68
G69
G18
G17
1
0
G19
G15
G16
G50.1
G50.1
G51.1
G51.1
G40
13
12
G20
G21
G43
G44
G49
G51
0
1
Machining center Lathe (system B)
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G00
G01
15
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G code
Internal code
(vv)
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Group
p
(gg)
MODAL DATA AND CORRESPONDING INTERNAL CODES
r.c
H. MODAL DATA AND CORRESPONDING

INTERNAL CODES
1
0
16
17
G73
G83.1
10
G74
G76
G80
G81
G82
G83
G84
G85
G86
G87
G88
G89
G84.1
G86.1
G80
G81
G82
G83
G84
G85
G86
G87
G88
G89
11
12
0
1
2
3
4
5
6
7
8
9
18
Note))
141
With lathe machines, the same G code is output ffor the

corresponding G codes of individual systems.
systems
I. COMMUNICATION PARAMETER
I. STRUCTURE
APPENDIX
B61992E/02
COMMUNICATION PARAMETER STRUCTURE
om
The following diagram shows the initial values and other valid values for
the communication parameters such as communication speed, parity, and
timeout in the system parameter table <sys_table>. The initial values
are enclosed in braces.
The parameter settings described here must coincide with those in the
CNC.
COMPARAM
Communication speed
Data length
Stop bits
Code
SYSTBL sys_table
Communication
parameters for port 0
Communication
[ 1]: 7 bits, 2: 8 bits
Communication
[ 1]: ASCII, 2: ISO
EOT retry counter [times]
[ 5]
NAK retry counter [times]
[ 3]
Timeout value [seconds]
[ 5]
EOT timeout value [seconds]
[ 5]
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Sequence error log
[ 1]: 1 bits, 2: 2 bits
[ 5]
ENQ noresponse time [s]
[256]
bytes
1: None, [2]: Even
Retry counter [times]
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Communication
Maximum text data

length
1: 1200, 2: 2400,
[3]: 4800, 4: 9600
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Parity
[ 1]: RS-232C
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Communication interface
[10]: Timeout value after ENQ call
LOGDEF
Log on/off switch
Log buffer size
[ 0]: Off, 1: On
[2048] bytes
Protocol error log
Phase trace log
Communication
error log
NOTE
In the communication library provided by FANUC, the
maximum transmission speed is 9600 bps.
142
I. COMMUNICATION PARAMETER
STRUCTURE
APPENDIX
B61992E/02
typedef struct
{
COMPARAM port[4];
short
len;
LOGDEF
seqlog;
LOGDEF
prolog;
LOGDEF
phalog;
LOGDEF
comlog;
} SYSTBL;
struct
sw;
size;
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typedef
short
short
LOGDEF;
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typedef struct
{
char
type;
char
speed;
char
len;
char
parity;
char
stop;
char
code;
short retry;
short eotrty;
short nakrty;
short tmout;
short eotout;
short enqout;
} COMPARAM;
143
J. ERROR CODES
APPENDIX
B61992E/02
ERROR CODES
(1) Error numbers 0FFFFh to 0FFCFh (absolute values 1 to 49)

Name
Communication error
Error related to communication.
Description
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Code
0FFFFh
File open error
A specified file was not found.
File read error
A specified file cannot be read from, for example,

because the disk is damaged.
0FFFCh
File write error
A specified file cannot be written to, for example,

because there is no free space.
0FFF0h
Sequence error
A received command has not been defined in the protocol.
0FFFBh
Error upon reception

of negative acknowledgment
Abnormal number
When M_NR was received from the CNC, there was

no error number, or the error number was abnormal.
When M_NP was received from the CNC, there was
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0FFFAh
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0FFFEh
0FFFDh
0FFF9h
When T_NP was received from the CNC, there was

0FFF1h
When T_BD was received from the CNC, there was

0FFEFh
When T_FD was received from the CNC, there was

0FFEEh
When M_ER was received from the CNC, there was

0FFEDh
When M_IL was received from the CNC, there was no

error number, or the error number was abnormal.
Syntax error of datagram received from the CNC
nc
0FFEB
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(2) Error numbers 0FFCFh and on (absolute values 50 and on)

See descriptions on error codes for negative response in Appendix F.
144
APPENDIX
B61992E/02
DEMONSTRATION PROGRAM
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K. DEMONSTRATION PROGRAM
145
K.1
APPENDIX
B61992E/02
This demonstration program is supplied as a sample program of the

communication library. This program uses several communication
library functions (the downloading, program deletion, and PMC data
read/write functions) to perform simple schedule operation in memory
mode.
OUTLINE OF
FUNCTIONS
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Since the program requires the Series 0MC and a special ladder, merely
executing the program on the supplied floppy disk does not allow
functions 4, 5, 6, 8, and 9 in the command list to be performed correctly.
146
APPENDIX
B61992E/02
K.2
PREPARATION
K.2.1
Copy the following files and the communication program library to the
directory where you are going to compile the program.
No.
DEMO_MAN.C
Main routine of the demonstration program
D2_DEMO.C
Subfunctions of the demonstration program
D2_UTL98.C
Machine-dependent utility routines (for NEC PC-9801) in

the demonstration program
D2_UTIBM.C
Machine-dependent utility routines (for IBN PC) in the

demonstration program
D2DTGLB.C
Message tables for the demonstration program
D2DTEXT.H
Header file (external message table declarations) for the

demonstration program
D2_DEMO.H
Header file (constant declarations) for the demonstration

program
D2_GLB.H
Header file (function prototype declarations) for the demonstration program
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D2_PRT.H
Header file (external function definitions) for the demonstration program
10
DNC2DEF.H
Header file (communication package functions and type

declarations) for the demonstration program
11
DNC2SYS.CFG
File containing communication parameter settings
(1) Preparation
Set up environment variables while referring to setting of
environment variables described in III3.3.
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Compiling and Linking

Programs
Outline of function
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K.2.2
File
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Files
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(2) Compiling and linking

The communication program library contains makefiles for
MAKE.EXE supplied together with the MS-C compiler. Compile
your program using a makefile designed for your computer.
Makefile for IBM PC
: IBM_DEMO.MAK
Makefile for NEC PC-98 : 98_DEMO.MAK
Makefile for Fujitsu FMR : FMR_DEMO.MAK
For the IBM PC, enter:
C>MAKE IBM_DEMO.MAK
An executable file will be generated automatically.
The executable file names are:
DEMOIBM.EXE for IBM PC
DEMO98.EXE for NEC PC-98
DEMOFMR.EXE for Fujitsu FMR
147
K.2.3
APPENDIX
B61992E/02
When the demonstration program is activated, it automatically sets the

communication parameters as defined in DNC2SYS.CFG.
The user can change the communication parameter settings in
DNC2SYS.CFG using a text editor. Any information other than
parameter settings in DNC2SYS.CFG may not be changed, however. Be
careful especially on the character strings, such as HspeedI, in the
beginning. Changing them may hamper normal operation.
Setting the
Communication
Parameters
The details of the contents of the file are as follows:
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(1) How to set the DNC2 system communication parameters

port=0
: Indicates that the following settings belong to port 0.
To generate the parameters for port 1, duplicate all
information from Hport = ...I to HEOT timeout timeI.
type=1
: Communication interface (RS-232-C) cannot be
changed.
speed=3 : Specifies communication speed by number.
1 : 1200bps
2 : 2400bps
3 : 4800bps
4 : 9600bps
Number 1 means a data signal speed of 1200bps.
Select a number from among those listed above that
meets your data communication requirements.
char=1
: Specifies the length of a data character.
1 : 7 bits
2 : 8 bits
Number 1 means the data character is 7 bits long.
Select number 1 or 2 whichever meets your
requirements.
parity=2 : Specifies parity by number.
1 : None
2 : Even
Number 1 means no parity bit is used.
Number 2 specifies even parity.
requirements.
stop bit=1 : Specifies the number of stop bits by number
1 : 1 bit
2 : 2 bits
Number 1 means one bit is used to indicate the end of a
transmitted character.
requirements.
code=1
: Specifies a character coding system used by the NC
equipment.
1 : ASCII
2 : ISO
Number 1 means ASCII.
requirements.
EOT retry count=5 : Specifies the EOT retry count by value.
A value of 0 means retry is repeated infinitely.
NAK retry count=3 : Specifies the NAK retry count by value.
retry count=5
: Specifies the retry count by value.
148
APPENDIX
B61992E/02
timeout time=5
EOT timeout=5
: Specifies timeout interval (seconds) by value.

A value of 0 means timeout will not occur.
: Specifies the EOT timeout (seconds) by value.
A value of 0 means timeout will not occur.
(2) How to set the maximum text data length for the data link layer
Text max lenth=256 : Specifies the maximum text data length for the
data link layer by value (80 to 256).
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(3) How to set up log conditions

To change log conditions, modify values set in the log setting section.
log sequence error : Sequence error log
See the descriptions below for how to set the
parameters.
log protocol error : Protocol error log
parameters.
log phase trace
: Phase trace log
parameters.
log communication error : Communication error log
See the descriptions below for how to
set the parameters.
switch=0 : Specifies by number whether to turn the log switch on
or off.
0 : Not logging
1 : Logging
Number 0 disables logging.
Number 1 enables logging.
This is an option for program debugging.
It should not be used for other purposes.
buff size=2048
: Specifies the maximum log file size in bytes.
149
APPENDIX
B61992E/02
K.3
OVERVIEW OF
OPERATIONS
Starting and Exiting

the Demonstration
Program
After making sure that the executable file containing the demonstration
program (DEMOIBM.EXE or DEMO98.EXE) and the communication
parameter file (DNC2SYS.CFG) are on the current directory, activate the
executable file.
Example)
C>DEMOIBM
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K.3.1
K.3.2
No.
Command
Summary
Set new program
Registers a program.
Invalid during machining
Edit program
Makes changes regarding a

registered program.
Delete program
Deletes a registered program.
Start
Starts machining.
Stop
Stops machining.
Continue
Resumes machining
Valid only during machining
Upload
Uploads a program.
Read PMC data
Reads PMC data.
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Commands
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After a while, the menu appears and command entry is enabled.

To exit the demonstration program, select 10 : End on the command entry
menu. If machining is in progress, press the ESC key to display the menu,
and select 5 : Stop to stop machining. Then, select 10 : End.
Write PMC data
Writes PMC data.
End
Ends demonstration.
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150
Remark
APPENDIX
B61992E/02
K.3.3
(1) Immediately after the demonstration program is started, the
command entry menu appears (see K.4.2). When machining is in
progress, pressing the ESC key causes the program to wait for
command entry.
(2) When the program is in command entry mode, register as many
programs as necessary.
(3) If a program name or other information you entered is incorrect,
correct it using the Edit program command. To delete a registered
program, use the Delete program command.
(4) After all necessary programs have been registered, select the Start
command to trigger machining. This causes the programs to be
downloaded in sequence they were registered.
(5) When a program ends running (always monitored by the Read PMC
data command), it is deleted from the NC memory, and the next
program is downloaded to start machining.
(6) To discontinue machining, press the ESC key to place the program
in command entry mode. Then select the Stop command.
(7) To read out the parameters during machining, press the ESC key to
place the program in command entry mode. Then, select the Read
PMC data command. To resume machining, select the Continue
command.
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Operating Procedure
Demonstration program
Command entry mode
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Register programs
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Error
related to program
registration?
Yes
Select Start command
No
Select Edit program command
Machining
to be discontinued?
Yes
Select Stop command
Yes
Machining to be resumed?
No
End
151
No
APPENDIX
B61992E/02
K.3.4
Machining Procedure
(1) Select the Start command. The lowest-numbered registered program

is downloaded to the NCC.
(2) After the program is downloaded, start it and wait for it to end.
(3) When the end of program execution is detected, the program is
restarted and executed as many times as specified (repetition count).
(5) Steps 2 to 4 are repeated.
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(4) After the program is executed a specified number of times, it is

deleted from the NC, and the next program is downloaded.
Start of machining
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Delete program from NC
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Download program to NC
Start program
No
Program ended?
Yes
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No
152
Repeated
a specified number
of times?
Yes
Prepare for next program
APPENDIX
B61992E/02
K.4
MENU LAYOUT
K.4.1
1
2
3
4
5
6
7
8
12345678901234567890123456789012345678901234567890123456789012345678901234567890
DNC2 Demonstration Program
by GE FANUC LTD.
1:
Current program data display area
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program 9 :
2:
Registered-progr
am display area
3:
4:
Command entry/parameter display area
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2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
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24
25
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Main Menu Format
Registered-programs display area :

Displays the names of the registered programs; up to
four programs can be registered.
Current program data display area :
Displays the details of the program being currently
executed (how many times it has been executed and how
long it took to execute it).
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Command entry/parameter display area :

Displays the command and parameters entered.
153
APPENDIX
B61992E/02
K.4.2
(1) Menu
Command Entry
1
2
3
4
5
6
7
8
12345678901234567890123456789012345678901234567890123456789012345678901234567890
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
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23
24
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by GE FANUC LTD.
1:
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2:
3:
4:
7:Upload
8:Read PMC data
9:Write PMC data
10:End
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1:Set new program

4:Start
2:Edit program
5:Stop
3:Delete program
6:Continue
Select No.9
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This menu appears, when the demonstration program is started or

when the ESC key is pressed during machining.
Entering a number at the right of Select No. causes the next menu
to appear.
(2) Set program command
1
2
3
4
5
6
7
8
12345678901234567890123456789012345678901234567890123456789012345678901234567890
nc
New program file name

New program number
New program repeat count
Sure ?(y/n)y
= aaaaaaaaaaaaaaaaaaaaaaaaaa/aaaaaaaa.aaa
= o9999
= 99
Enter the name of a file containing a program to be registered, the

number of the program, and the number of times (repetition count)
that the program is to be executed.
After a program has been registered, its name is displayed in the
registered-program display area.
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20
21
22
23
24
25
154
APPENDIX
B61992E/02
(3) Edit program command

1
2
3
4
5
6
7
8
12345678901234567890123456789012345678901234567890123456789012345678901234567890
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21
22
23
24
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20
21
22
23
24
25
New program file name

New program number
New program repeat count
Sure ?(y/n)y
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Edit program ? 9
= o9999
= 99
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Enter the number (1 to 4) of a program to be changed.

Enter the new file name, program number, and repetition count.
If the return key is pressed without entering the information
described above, no change occurs.
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(4) Delete program command
1
2
3
4
5
6
7
8
12345678901234567890123456789012345678901234567890123456789012345678901234567890
20
21
22
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24
25
Edit program ? 9
Sure ?(y/n)y
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A specified program is deleted from the registered-program

display area. Any program names displayed below the deleted
program name will not be shifted up.
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(5) Start command

1
2
3
4
5
6
7
8
12345678901234567890123456789012345678901234567890123456789012345678901234567890
20
21
22
23
24
25
Cutting start
Sure ?(y/n)y
Machining is started. Then, data is displayed in the current

program data display area.
Changes regarding the registered programs cannot be made
during machining.
155
APPENDIX
B61992E/02
(6) Stop command

1
2
3
4
5
6
7
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12345678901234567890123456789012345678901234567890123456789012345678901234567890
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Cutting stop
Sure ?(y/n)y
Machining is stopped. Then, changes regarding the registered

programs can be made.
When the Start command is selected again, the lowest-numbered
program is downloaded.
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(7) Continue
1
2
3
4
5
6
7
8
12345678901234567890123456789012345678901234567890123456789012345678901234567890
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21
22
23
24
25
Cutting now
Machining is resumed.
After the ESC key is pressed to display the command entry menu
and interrupt machining, this command is used to resume
machining.
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(8) Upload command
1
2
3
4
5
6
7
8
12345678901234567890123456789012345678901234567890123456789012345678901234567890
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20
21
22
23
24
25
Upload program file name

Upload program number
Sure ?(y/n)y
= o9999
Enter the name of a program file and the number of a program to

be uploaded.
Entering 0* in place of a program number, all programs are
uploaded.
156
APPENDIX
B61992E/02
(9) Read PMC data command

1
2
3
4
5
6
7
8
12345678901234567890123456789012345678901234567890123456789012345678901234567890
PMC RAM number

Data length
Reading now...
20
21
22
23
24
25
= 999999
= 99
number
+0 +1 +2
999999 : 99 99 99
999999 : 99 99 99
Please hit any key
+3
99
99
+4
99
99
+5
99
99
+6
99
99
+7
99
99
+8
99
99
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20
21
22
23
24
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+9
99
99
+A
99
99
+B
99
99
+C
99
99
+D
99
99
+E
99
99
+F
99
99
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Enter a PMC RAM number and data length, and the PMC data
will be displayed.
To resume the command entry menu, press any key.
(10)Write PMC data command
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2
3
4
5
6
7
8
12345678901234567890123456789012345678901234567890123456789012345678901234567890
20
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= 999999
= 99
number
+0 +1
999999 : 99 99
999999 : 99 99
Sure ?(y/n) y
+2
99
99
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20
21
22
23
24
25
PMC RAM number

Data length
Reading now...
+3
99
99
+4
99
99
+5
99
99
+6
99
99
+7
99
99
+8
99
99
+9
99
99
+A
99
99
+B
99
99
+C
99
99
+D
99
99
+E
99
99
+F
99
99
Enter a PMC RAM number and data length, then PMC data.
After all PMC data is entered, it is written to memory.
(11) End command

1
2
3
4
5
6
7
8
12345678901234567890123456789012345678901234567890123456789012345678901234567890
20
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Demonstration end
Sure ?(y/n)y
The demonstration program is terminated, and control is returned

to DOS.
157
APPENDIX
B61992E/02
K.4.3
1
2
3
4
5
6
7
8
12345678901234567890123456789012345678901234567890123456789012345678901234567890

program (1) :
file name :
program no.
repeat count
total count
cutting time
total time
by GE FANUC LTD.
(2)
:
:
:
:
:
1:o (11)< (12) . >

repeat (13)
total (14)
time (15)
2:
(3)
o (4)
(5) / (6)
(7)
(8)
(9)
3:
cutting rate
0%
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1
2
3
4
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12
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100%
4:
(10)
Cutting now
(16)
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Machining Menu
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(1) Number of a program being executed (1 to 4)
(2) NC control command being executed (executing, downloading,

deleting)
(3) Registered-program file name (fully qualified)
(4) Registered-program number
(5) Number of times the program has been executed (execution count)
(6) Specified repetition time
(7) Total execution count (since beginning of machining)
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(8) Machining time (single pass) in hh:mm

(9) Total machining time in hh:mm
(10)Ratio of repeated times to specified repetition count
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(11) Number of a program with registration number 1
(12)File name (with no path indicated) for a program with registration

number 1
(13)Repetition count for a program with registration number 1
(14)Total execution count for a program with registration number 1
(15)Total machining time for a program with registration number 1
(16)Error indication (such as file open error or file read error); if an error
occurs, machining is discontinued, and message HPleas hit any keyI
is displayed. Pressing any key resumes the command entry menu.
158
APPENDIX
B61992E/02
L. PMC ADDRESS (Series 15A AND

ADDRESS SPECIFICATION
TYPE OF Series 15B)
PMC ADDRESS (Series 15A AND ADDRESS

SPECIFICATION TYPE OF Series 15B)
PMC
address
Byte
address
Specified
address
0 41FFE000
511 41FFE1FF
F000
F319
512 41FFE200
831 41FFE33F
Y000
Y127
X000
X127
PMC
ADDRESS
BIT
ADDRESS
G0000.0
G0511.7
0
4095
F0000.0
F0319.7
4096
6655
1024 41FFE400
1151 41FFE47F
Y0000.0
Y0127.7
8192
9215
1152 41FFE480
1279 41FFE4FF
X0000.0
X0127.7
9216
10239
A000
A024
1984 41FFE7C0
2008 41FFE7D8
A000.0
A024.7
15872
16071
R000
R499
2010 41FFE7DA
2509 41FFE9CD
R0000.0
R0499.7
16080
20079
R500
R999
2510 41FFE9CE
3009 41FFEBC1
R0500.0
R0999.7
20080
24079
T000
T079
3024 41FFEBD0
3103 41FFEC1F
T0000.0
T0079.7
24192
24831
K000
K018
3112 41FFEC28
3130 41FFEC3A
K0000.0
K0018.7
24896
25047
C000
C079
3132 41FFEC3C
3211 41FFEC8B
C0000.0
C0079.7
25056
25695
D000
D883
3212 41FFEC8C
4095 41FFEFFF
D0000.0
D0883.7
25696
32767
D0884
D1859
4096 41FFF000
5071 41FFF3CF
D0884.0
D1859.7
32768
40575
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C000
G511
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An address to be accessed is specified with an 8digit hexadecimal

number. (Example: For F000, specify 0X41FFE200.)
The accessible addresses are as follows:
159
M. DNC2 TOOL POST SELECTION

M. (Series 15TTB)
B61992E/02
DNC2 TOOL POST SELECTION (Series 15TTB)
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APPENDIX
160
APPENDIX
B61992E/02
M.1

(Series 15TTB)
When toolpostdependent data is input/output with the DNC2 function

of the Series 15TTB, the target tool post can be selected.
OUTLINE
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This feature allows CNC data for tool posts 1 and 2 to be read and written.
161

M. (Series 15TTB)
APPENDIX
B61992E/02
M.2
ASWITCHING OF
TARGET TOOL POST
FOR INPUT/OUTPUT
BY THE HOST
COMPUTER
HOST
PMC
(1)
R or D area
Ladder
CNC
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(3)
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WHEAD
(2)
(1) Using the PMC data write function of DNC2, the host computer
issues a request for switching to a target tool post for input/output to
the R or D area.
(2) Using the PMC data read function of DNC2, the host computer
confirms that DI signal WHEAD has been changed.
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(3) Using these DNC2 functions, the host computer reads and writes
toolpostdependent data.
162

(Series 15TTB)
APPENDIX
B61992E/02
M.3
An outlined flow for writing data to tool posts 1 and 2 is shown below.
EXAMPLE
Issue a request for switching to tool post 1

to the R or D area.
D_PMCdata_r
Check that DI signal WHEAD indicates tool

post 1 (low).
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D_PMCdata_w
No
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Is DI signal WHEAD low?
D_variable_w_mem
Issue a request for switching to tool post 2

to the R or D area.
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D_PMCdata_w
Write data in a custom macro variable of

tool post 1.
D_PMCdata_r
Check that DI signal WHEAD indicates tool

post 2 (high).
No
nc
Is DI signal WHEAD high?
Yes
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D_variable_w_mem
END
Write data in a custom macro variable of

tool post 2.
End
NOTE
1 All the names in the flowchart are function names of the
DNC2 communication package.
2 For details of each function, see Section III4.4.
3 Directly changing the status of DI signal WHEAD is not
advised. The status of the signal should be changed by a
ladder using, for example, an internal relay.
163

M. (Series 15TTB)
APPENDIX
B61992E/02
M.4
#7
PARAMETERS
#6
2004
#5
#4
DIHD
#3
#2
#1
#0
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Data type : Bit

DIHD : When a DNC1 service function (main program selection, data read, or
CNC data write) involving tool post specification, or a DNC1 service
function (main program start) involving tool post selection is used:
0 : A tool post is specified or selected using a command from the host.
1 : A tool post is specified or selected using a DI signal.
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When a DNC2 service function involving tool post selection is used:

0 : No tool post is selected.
1 : Tool post 1 or 2 is selected using a DI signal.
When using DNC2 with the Series 15TTB, set this bit to 1.
164
APPENDIX
B61992E/02

(Series 15TTB)
Tool post specification signal for NC window input/output WHEAD
CONNECTION
[Type]
Input signal
[Function] When a window function instruction or DNC2 function
instruction is executed, this signal selects tool post 1 or 2.
[Operation] If this signal is low, executing a window function instruction
or DNC2 function instruction causes input/output of the data
related to tool post 1.
If this signal is high, executing a window function
instruction or DNC2 function instruction causes
input/output of the data related to tool post 2.
It takes at least 8 ms for the WHEAD signal to be accepted
by the NC after the signal status is changed.
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M.5
165
N. DNC2 SCREEN (Series 16/18)
B61992E/02
DNC2 SCREEN (Series 16/18)
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APPENDIX
166
APPENDIX
B61992E/02
N.1
COMMUNICATION
OPERATION SCREEN
When DNC operation is performed with the DNC2 function, the program
name set on the communication operation screen is sent to the host.
This screen is displayed by using function key <SYSTEM> then the
[COPER] soft key.
COMMUNICATION OPERATION
O0001 N00000
DNC FOLE SELECTION
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O0001. PRG
12:34:53
][
][ (OPRT) ]
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>_
MDI STOP *** ***
[ COPER ][ CSERV ][
[ STRING ][ INPUT ][ CLEAR ][ INS.CH ][ DEL.CH ]
: Set the name of a program file to be executed

by CNC cycle start in DNC operation mode.
When CNC cycle start is performed in DNC
operation mode (RMT), the program name set
on this screen is sent to the host.
DNC file name format :
Oxxxx.PRG
xxxx
: Program number (4 digits)
Example : When O0010.PRG is set, then a cycle start is performed, the
following instruction is sent from the CNC to host:
CNC
Host
PTPM0010 >
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DNC file selection
167
N.2
COMMUNICATION
SERVICE SCREEN
APPENDIX
B61992E/02
Before automatic notification of status/alarm information to the host can

be performed with the DNC2 function, notification of information must
be enabled by setting the DNC2 parameters on the communication service
screen.
COMMUNICATION PARAMETER
NC APPLICATION NAME
O0001 N00000
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HOST APPLICATION NAME
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This screen is displayed by using function key <SYSTEM> then the ***
F.464 *** soft key.
The communication service screen consists of the three pages. Use the
page keys to switch between the pages described below.
>_
MDI STOP *** ***
[ COPER ][ CSERV ][
12:34:53
][
][ (OPRT) ]
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nc
O0001 N00000
CNC STATUS (UNSOLICITED STATUS)
RISING UPPER word
00000000 11111111
LOWER word
11111111 11111111
FALLING UPPER word
00000000 00000000
LOWER word
01010100 00000010
INFOMATION REPORT MASK
UPPER word
00000000 00000000
LOWER word
00000000 00000000
CNC ALARM(INFORMATION REPORT)
UPPER word
11110001 00000000
LOWER word
01000001 10000111
>_
MDI STOP *** ***
[ COPER ][ CSERV ][
12:34:53
][
][ (OPRT) ]
168
APPENDIX
B61992E/02
PASCAL STACK ADDRESS
UPPER LIMIT
LOWER LIMIT
SERVICE MODE 1
O0001 N00000
00000000
00000000
0000000000000000
SERVICE MODE 2
0000000000000000
FILE REQUEST TIME OUT
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00002000
REMOTE REQUEST TIME OUT
00002000
12:34:53
][
][ (OPRT) ]
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>_
MDI STOP *** ***
[ COPER ][ CSERV ][
nc
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The DNC2 function uses only part of the communication parameters. The
parameters used are as follows:
a) NC application name
: Unused
b) Host application name
: Unused
c) Status notification enabled : Used
d) Status notification mask
: Unused
e) Alarm notification
: Used
f) Pascal stack address
: Unused
g) Service mode 1
: Unused
h) Service mode 2
: Unused
i) File request timeout
: Used
j) Remote request timeout
: Used
k) Status notification enabled
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c) Status notification enabled

This parameter determines whether the host is notified when the CNC
status changes.
Notification of changes in signal status (rise and fall) can be enabled
or disabled.
Bit
0 : Rewind (RWD)
1 : Alarm (AL)
2 : Reset (RST)
3 : Automatic operation stopped (SPL)
4 : Automatic operation being started (STL)
5 : Automatic operation in progress (OP)
6 : Servo ready (SA)
7 : CNC ready (MA)
8 : Unused
9 : Unused
10: Unused
11: Unused
12: M00 output (M00)
169
APPENDIX
B61992E/02
File request timeout

This parameter sets the timeout value used for the time from when a
file request is issued from the host to CNC until the CNC accepts the
request.
If a timeout occurs, the CNC returns an error (M_NP 0XFDFF) to the
host.
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e) Alarm notification
This parameter sets whether to notify the host if an alarm is generated
in the CNC.
Bit
2 : Overheat alarm
3 : Undefined
4 : Undefined
5 : Parameter input enable alarm
6 : Overtravel (OT) alarm
7 : PMC error
8 : External alarm
9 : Undefined
10: Severe PS alarm
11: Undefined
12: Servo alarm
13: I/O alarm
14: Undefined
15: Battery alarm
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NOTE
1 A file request is a request for program downloading or
uploading.
2 The parameter value is set as follows:
Unit
: ms
Range : 16 ms to 9999.9984 s
(If 0 is set, 26 s is assumed.)
j)
Remote request timeout

This parameter sets the timeout value used for the time from when a
remote request is issued from the host to CNC until the CNC accepts
the request.
If a timeout occurs, the CNC returns an error (M_NP 0XFDFF) to the
host.
NOTE
1 A remote request is a request from the host to the CNC
except program downloading and uploading requests.
2 The parameter value is set as follows:
Unit
: ms
Range : 16 ms to 9999.9984 s
(If 0 is set, 26 s is assumed.)
170
Index
B61992E/02
[A]
Details, 73
Details of the Data Section, 31
Acceleration/Deceleration Delay, 37
Details of the Error Log File, 105
Alarm Messages, 129
DNC2 screen (Series 16/18), 166
Application Layer, 23
DNC2 Tool Post Selection (Series 15TTB), 160
Application Layer Matrix, 127
Downloading a Part Program, 31
[B]
Error Codes, 102, 144
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[E]
Blinking LED Indications, 134
Error Codes Detailing Nefative Response, 131

Error Handling, 59
[C]
Error Log Information, 104
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Code, 30
Establishing a Data Link, 21
Command Entry, 154
Example, 163
Commands, 150
Example of Using the Communication Program, 100
Communication Error Information, 103

Communication Operation Screen, 167
Executing a Program, 57
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Communication Mode, 13
[F]
Communication Parameter Structure, 142

Communication Service Screen, 168
Communication Speed, 13
Compilation and Linking, 68
Compiling and Linking Programs, 147
FANUC Series 0 (A02B0098J055), 112

FANUC Series 0 (Upper Row: Series 0TC, Lower
Row: Series 0MC), 117
FANUC Series 15A, 113
FANUC Series 15B and Series 16/18, 114
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Configuration, 7, 64
Configuration of Datagram Commands, 26
FANUC Series 16/18/21, 123
Connection, 165
Files, 147
Format, 29
Continuation, 30
Free Area in Program Memory, 34
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Connector Specifications, 111
Function Specifications, 69
Current Program Number and Sequence Number, 38
Functions, 24, 72
[D]
[I]
Data Link Layer Matrix, 126
Installation, 65
Data Link Protocol, 21
Installation Procedure, 67
Data Type, 29
Interrupt, 60
Datagram Protocol, 59
Interrupt Command, 59
Datagram Syntax, 25
Interrupt Procedure, 60
Data Link Layer, 18
Deleting a Part Program, 33

Delimiter in the Data Section, 30
[L]
Demonstration Program, 145

Layers, 11
Descriptions of Indication by LEDs (Series 15A),

134
LED Indicators (Series 15B), 137
i1
Index
B61992E/02
Log Message Format, 139
Reading a Tool Offset, 43
Log Messages, 139
Reading a Tool Position, 35

Reading A/D Conversion Data, 49
Reading Alarm Information, 50
[M]
Reading an Actual Feedrate, 49
Machine Interface Signals (For Series 15 only), 38
Reading Custom Macro Variables, 45
Machining Menu, 158
Reading Modal Information for Automatic Operation,

48
Machining Procedure, 152
Reading Pitch Error Compensation Data, 41
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Main Menu Format, 153
Reading PMC Data, 54
Maintenance, 133
Reading Status Information, 51
MAP Log Messages, 139
Reading the Directory of Part Programs, 34
Maximum Cable Length, 13
Reading Tool Life Management Data, 47
Menu Layout, 153
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Receiving a Datagram, 22
Message Format, 20
Reset, 58
Modal Data and Corresponding Internal Codes, 141
RS232C Interface, 14
[N]
Negative Acknowledgment, 59
Nonblinking LED Indications, 135
Notation of the Datagram, 29
Notes, 71
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RS422 Interface, 16
[S]
Selecting a Part Program, 57

Sending a Datagram, 21
Series 0, 130
Series 15, 120, 130
Operating Procedure, 151

Operator Messages, 53
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Outline of Functions, 146
nc
[O]
Service Functions Specified with Datagram Commands, 27

Servo Delay, 36
Setting the Communication Parameters, 148
Simple Error Log Browsing Function, 107
Starting and Exiting the Demonstration Program, 150
Overview of Operations, 150
Supplied Programs, 66
Switching of Target Tool Post for Input/Output by the

Host Computer, 162
[P]
Symbols, 29
Synchronous Method, 13
Physical Interface, 13
System Error Messages (Series 15A), 136
Physical Layer, 12
System Error Messages (Series 15B), 138
Parameters, 116, 164
PMC Address (Series 15A and Address Specification

Type of Series 15B), 159
Preparation, 147
[T]
Termination, 22
Transmission Characters, 20
[R]
Transmission Control Characters, 19
Reading a CNC Parameter, 39
Troubleshooting, 139, 140
Reading a System ID, 58
i2
Index
B61992E/02
[U]
[W]
Uploading a Part Program, 32
Writing a CNC Parameter, 40
Use, 70
Writing a Custom Macro Variable, 46

Writing a Tool Offset, 45
[V]
Writing Pitch Error Compensation, 42
Values Returned by Functions, 103
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Writing PMC Data, 55
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Oct., 97
Nov., 91
Date
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Edition
Contents
Addition of Series 16i/18i/21iA
Addition of Series 16A/B/C
Revision Record
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FANUCDNC 2 DESCRIPTIONS (B61992E)
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Contents
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All specifications and designs

are subject to change without
notice.
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No part of this manual may be

reproduced in any form.
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GFZ-61992E B-61992E

Presented By: CNC Center

Warnings, Cautions, and Notes

PowerMotion is a trademark of GE Fanuc Automation North America, Inc.

Copyright 1997 GE Fanuc Automation North America, Inc.

MAXIMUM CABLE LENGTH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. DATA LINK LAYER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TRANSMISSION CONTROL CHARACTERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DATA LINK PROTOCOL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Establishing a Data Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configuration of Datagram Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Delimiter in the data section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Uploading a part program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Deleting a part program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reading the directory of part programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Free area in program memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reading a tool position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Machine interface signals (For Series 15 only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.10 Current program number and sequence number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.11 Reading a CNC parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.12 Writing a CNC parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.13 Reading pitch error compensation data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.15 Reading a tool offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.16 Writing a tool offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.17 Reading custom macro variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.18 Writing a custom macro variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.19 Reading tool life management data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.14 Writing pitch error compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.21 Reading an actual feedrate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.22 Reading A/D conversion data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.20 Reading modal information for automatic operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.23 Reading alarm information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.24 Reading status information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.25 Operator messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.26 Reading PMC data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.27 Writing PMC data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.28 Selecting a part program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4.29 Executing a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.1.2 Interrupt command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

III. COMMUNICATION PROGRAM LIBRARY

COMPILATION AND LINKING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5. EXAMPLE OF USING THE COMMUNICATION PROGRAM . . . . . . . . . . . . . . . . . 100

6. ERROR CODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

VALUES RETURNED BY FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

COMMUNICATION ERROR INFORMATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7. ERROR LOG INFORMATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

DETAILS OF THE ERROR LOG FILE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SIMPLE ERROR LOG BROWSING FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A. CONNECTOR SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

FANUC Series 0 (A02B0098J055) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

FANUC Series 15A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

FANUC Series 15B AND Series 16/18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

FANUC Series 16/18/21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. DATA LINK LAYER MATRIX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

D. APPLICATION LAYER MATRIX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

F. ERROR CODES DETAILING NEFATIVE RESPONSE . . . . . . . . . . . . . . . . . . . . . . 131

DESCRIPTIONS OF INDICATION BY LEDS (Series 15A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Blinking LED Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SYSTEM ERROR MESSAGES (Series 15A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .