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FANUC 6T/M-A,B,E

. FANUC 6T/M, 2003-2007.

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, ,
.
, :
, , .
FANUC 6T/M ,
SIEMENS, SINIMERIK 6T/M.
, ,
1979 1986 .
3-5 55-60% FANUC 6T/M.
?
, , ,
. Fujitsu
Fanuc, ,
, .
, , .

, ,
. ,
, Fanuc.
,
DMA. ,
,
,
/ . ,
.
FANUC 6T/M
, , -
, 1982 .FANUC.
, ,
,
. ,
, ,
FANUC 6T/M. -
, ,
.

. FANUC 6T/M, 2003-2007.

1. FANUC 6T/M-B,E
1. Master PCB. .
A20B-0007-0010 Edit 1A
A20B-0008-0410 Edit 2A,B
A16B-1000-0030 Edit 2B Level II
A16B-1000-0220 Edit 2B Level II
Main Data BUS
).

6 RAM + 56 .
12 RAM
28 RAM
28 RAM, 4-
ROM (

A16B-1000-0220 ROM
, 0 5,
, 10 15.
A16B-1000-0030. ,
ROM A16B-1000-0220
A16B-1000-0030,
. ,
ROM , ,
A16B-1000-0220.

SLAVE.
2. CRT
A20B-0007-0070 CRTC-A

Master PCB
A20B-0007-0010

3. PUNCH
A20B-0007-0060/61 Master PCB A20B-0007-0010.
4. CRT/PUNCH
A20B-0008-0430
9 -
A16B-1200-0170
, 12 -
A16B-1200-0310
, 14
A16B-1200-0170 A16B-1200-0310
, M9C,
. A16B-1200-0170
, ,
,
. ,
A16B-1200-0310 ,
, .
, 14
.
3

. FANUC 6T/M, 2003-2007.

5. ROM
A20B-0008-0420
120 -, 16 PLC-A
A20B-0008-0480
120 -, 16 PLC-A
A16B-1200-0150
184 -, 16 PLC-A
A16B-1200-0630
184 -, 16 PLC-A
A16B-1200-0450
248 -+32 RAM
ROM .
HSF-ROM
960 -+64 RAM
ROM
, / RAM ,
CPU.
. ROM,
.
HSF-ROM
.FANUC ,
.

HSF-ROM

( ) 20-40%.
6.
A87L-0001-0015
20 ., 64, 8
A87L-0001-0016
40 ., 64, 16
A87L-0001-0017
80 ., 256, 32
A87L-0001-0018
320 ., 256, 128
A87L-0001-0084
320 ., 1, 128
A87L-0001-0085
640 ., 1, 256
A87L-0001-0086
1280 ., 1, 512
SRAM ( )
A16B-2201-0135
A87L-0001-0015/16
A16B-2201-0134
A87L-0001-0017
A16B-2201-0133
A87L-0001-0018
A16B-2201-0132
A87L-0001-0084
A16B-2201-0131
A87L-0001-0085
A16B-2201-0130
A87L-0001-0086
(SRAM)
,
,
15-20% , .
4

. FANUC 6T/M, 2003-2007.

, SRAM ,
.
FANUC 6T/M
.

( ,
2 ,
, , ...).
.
SKU-2120
320 ., 128 ( RAM)
SKU-2140
1280 ., 512 ( RAM)
,
. , ,
256 1
SYSTEM ERROR 900 902, ,
.

.
, ,
ROM,
.
RESET
ROM
. Tulip Memory MEMEX,
, RAM.

.
.
SRAM.
.
Sw

. . Sw

. . Sw

. .

M01

512 (1)

M21

128(256) M49

512 (1)

M02

512 (1)

M22

128(256) M51

512 (1)

M03

512 (1)

M25

128(256) M52

512 (1)

M04

512 (1)

M26

128(256) M53

512 (1)

. FANUC 6T/M, 2003-2007.

Sw

. . Sw

. . Sw

. .

M05

512 (1)

M27

128(256) M54

512 (1)

M06

128(256) M28

128(256) M55

512 (1)

M07

512 (1)

M30

128(256) M57

512 (1)

M08

512 (1)

M31

128(256) M59

512 (1)

Vers.05,06-128K

M09

512 (1)

M33

(256).

512

M5C

512 (1)

(1)
M10

512 (1)

M35

128(256) M5E

512 (1)

M12

512 (1)

M37

512 (1)

M5F

512 (1)

M14

128(256) M39

512 (1)

M61

512 (1)

M15

128(256) M40

128(256) M63

512 (1)

M16

128(256) M42

128(256) M71

512 (1)

M1A

512 (1)

M44

128(256) M73

512 (1)

M1B

512 (1)

M45

512 (1)

M75

512 (1)

M1C

512 (1)

M46

128(256) M76

512 (1)

M1D

512 (1)

M47

512 (1)

M79

512 (1)

M7C

512 (1)

M98

512 (1)

MAF

512 (1)

M81

128(256) M99

512 (1)

MB1

512 (1)

M83

128(256) M9C

512 (1)

MB3

512 (1)

M85

128(256) MA1

512 (1)

MB7

512 (1)

M87

512 (1)

MA3

512 (1)

MCC

512 (1)

M93

512 (1)

MA5

512 (1)

MF1

512 (1)

. FANUC 6T/M, 2003-2007.

Sw

. . Sw

. . Sw

. .

M95

512 (1)

MA7

512 (1)

MF3

512 (1)

M97

512 (1)

MAC

512 (1)

MF5

512 (1)

901 06 , 902
07 ,
1 512. , 900,
, 256,
128 (A87L-0001-0018).
7. PLC
A20B-0008-0440
A20B-0008-0451
A16B-1200-0420
A20B-1000-0570

24 ROM PLC
RAM PLC
PLC-G
PLC-G

8. .
A20B-0008-0461
A20B-0008-0090
A20B-0008-0470
A20B-0008-0471
A16B-1200-0160
A16B-1200-0161
A16B-1200-0180

/ .
4-5 .
4 .
4 .
4-5 .
4-5 .
Heidenhain
(EXE ).

, .
, A20B-0008-0470 A16B1200-0160,
.
9. .
A20B-0007-0441
A20B-0007-0030
A16B-1000-0131
A16B-1000-0380
A16B-1000-0390

PCB-K
MDI Serial I/O PCB-L
MDI PCB-K
PCB-K
MDI PCB-K
7

. FANUC 6T/M, 2003-2007.

A16B-1000-0500

MDI Serial I/O PCB-L

MDI ,
, A16B-1000-0380, A16B-1000-0390, A16B-1000-0500

. MDI ,
- , ,
.
10. .
A20B-1000-0480

A20B-1000-0480 , 14
A16B-1200-0310.
A20B-1000-0480 A16B-1200-0170.
A02B-0033-C033/034.
11.
A20B-0007-0040/41
A20B-0008-0540
(Connection Unit)
. , A20B-0008-0540
(Receiver)
.
12. DNC
A20B-0007-0460
DNC PCB-N

Drip Feed ( )
.
13.
A14B-0061-B001
A14B-0061-B002

: +5; +_15; +24


: +5; +_15; +24

(B001) (B002) .

. FANUC 6T/M, 2003-2007.


14. .
A20B-0006-0900
Main PCB
A20B-0006-0910

A20B-0006-0940

+5V
15. TMX-86
PA16B-6937-0940
FANUC 3T/M, 6T/M
.
===========================================================
:
,
FANUC 6T/M,

.

. FANUC 6T/M, 2003-2007.

2. FANUC 6M-A,B,E.
(Master PCB).
-
,
.
MPU (AA2).
i8086: 20 , 16 .
(LOCAL BUS)
(AB1). AB00-AB19. :
- (LOCAL BUS)
(Write);
- (LOCAL
BUS) (Read).
(Data Transceiver).
- , i8087
RAM (AB3) RAM DATA BUS;
- , 74LS640
(AB2) MAIN DATA BUS
EXTENDED BUS (AH5).
Bus Controller (AA2).
i8288 20- ,
/ MPU,
( S0-S2).
Clock Generator (AA1)
i8284 18-
15 18, .
PIC (AA4)
i8259A 2-9
INTR, ( ) MPU
.
10

. FANUC 6T/M, 2003-2007.

, ADDRES BUS, DATA BUS.


AB00-AB19.
:
- RAM, *DC00 - *DC15 RAM, ,
(Serial Transfeer);
- , *DB00 - *DB15 ROM, , ,
DPL , PTR, ...
RAM.

BMU
MPU

RAM
Shift
Register

DMA Direct Memory Access. .


RAM
, DMA.
RAM MPU,
ROM, DMA,
.

12 RAM (AD2).
RAM 2B.

0E800h-0F7FFh

2 8

HM6116LP3

4
4
4
16

0F800h-107FFh
10800h-117FFh
..

4 1

i2141L-4

01A 4- HM472114AP-2,
1 * 4, . 02B
2, HM6116LP-3 i2141L-4
,
HM6264LP-15 16 (8*2). ,
11

. FANUC 6T/M, 2003-2007.

RAM. :
SYSTEM ERROR 910 ( ) 911 (
).
(BMU) BUBBLE MEMORY UNIT.
, ,

(PARAMETER),

(OFFSET),
(SETTING DATA),
(PROGRAM), (MACRO VAL) ... FANUC
6T/M-B,E DMA.
, ,
.
SYSTEM ERROR 904.
. ,
ROM.
.
:
- 64;
. 32
- 256;
. 128
- 1.
. 512
FANUC 6T/M
2,
.
, Hitachi
, 512.
(PIT) Programable Interval Timer (AA7).
i8253-5.
.
2ms, 8ms.

RS232C.
(AI2) MB8739AE
, 26 8- ,
.
MB8739AE.
- 16.384;
- 8ms;
- DDA , ;
- , CPU;
- ;
12

. FANUC 6T/M, 2003-2007.

- - ;
- ;
- - .
FANUC 6T/M-B,E

NMI

- ;
- RAM;
- Watch Dog ;
- .


Di


(TRALM)


0E7E3h

(PTR)

2ms

PIT

8ms

PIT


Command End


Command End.

ESR

DO
(*IRQ3)

DO
(*IRQ2)

13

. FANUC 6T/M, 2003-2007.

- 2-9 i8259A
INTR, ( ) MPU
.
- (NMI)
CPU.
.
(56), , RAM, .
PLC, RAM, .
(64).
(64).
.
TMX86-monitor.
(64).

0h
1h
2h
3h
4h
0Eh
0Fh

i8086
: CS = 0FFFFh, IP = 0000. ,
CPU 0FFFF0h,
(JMP FAR <Begin>)
. ,
0Fh,
. ROM
FANUC 6T/M-B,E .

A20B-0008-0480

01FF0h

03, 0Fh

A16B-1200-0630

03FF0h

0Fh

A16B-1200-0150

03FF0h

0Fh

A16B-1200-0450


i8086


(0,02,03, 0Fh)

14

. FANUC 6T/M, 2003-2007.

CPU i8086,
ROM .. 0FFFF0h
.
01A,
ROM . ROM

0 (56),
, 0FF0h.

.
. Clock and Power On Clear (AA1)
AA1
EBLOSS EROM Board Loss. EROM.
*RESET
Reset Signal. (, 0-).
Clear .
CLK0-3
5 . 200ns,
67ns.
*CLK1-3 5 ( ).
*PCL0
Power On Clear. .
.
.
*PCL1-5 Power On Clear. .
Clear .
AA2
READY
Ready for CPU. CPU, 1: CPU .
.
NMI
Non Maskable Interrupt. .
INTR
i8259A PIC.
*RQGTO Request/Grant. /. CPU
.
1. CPU STOP .
2. CPU *RQGTO
(Halt).
3. .
4. CPU
STOP .

15

. FANUC 6T/M, 2003-2007.

3
*RQGTO

AA2
*AD00 - *AD19
Address/Data Bus 00-19 bit. 20-
/. .
AD00-AD15 , AD16-AD19
.
*BHEP Bus High Enable Pulse. .
________16 bit________
MSB
LSB
High byte

Low byte

Odd Address Even Address

Address Bus

*BHEP

Odd
Address

Even
Address

Odd/ Even
Both

Not Used

16

. FANUC 6T/M, 2003-2007.

AA2
QS0, QS1
Queue Status. .
.
MPU 6-
.
CPU

S0-S2 Status Signals. .


FANUC 6T/M CPU i8086
MAX, Read/Write .
Read/Write i8288,
S0-S2.
.
DTR
Data Transmit/Receive. / .
.
1: CPU -> I/O (Write Cycle).
0: I/O -> CPU (Read Cycle).
ALE
Address Latch Enable. .
.

17

. FANUC 6T/M, 2003-2007.

Local Bus
ALE
Address Bus

AA2
DEN
Data Enable. .
(74LS640, i8287).
*INTA Interrupt Acknowledge. .
PIC Programable Interrupt Controller.
*MRDC Memory Read Command. .
*MWTC Memory Write Command. .
*AMWC Adwanced Memory Write Command.
.

STB2 Read/Write Strobe. /.


MRDC+MWTC
STB
Read/Write Strobe. /.
MRDC+AMWC
MRDW Extended Memory Read Command.
.
*MRDDL
Memory Write Command Delayed.
.

18

. FANUC 6T/M, 2003-2007.

(.AB5C7)
74LS155

Address decode signal

*RE7E1

*MRDDL

2C


*RE7E1. , .
, . :

*RE7E1

*WE7C4

*MRDC,
,
, *MRDDL,
.
*MRDC

*MRDDL

1t

19

. FANUC 6T/M, 2003-2007.

Bus Ready Control. . (AA3)



().

T1

T2

Tw

T3

Tw

T4

RAM

EROM, PTR, MDi, CRT, ...

EROM

PIC, *INTA, BMU, POS LSI, PIT


READY:
0 = ADROM & (*SEL8M) & FATM OR (*MOSDV) & ADRAM;
1 = ADROM & (*SEL8M) & (*FATM) OR (*MOSDV) & (*ADRAM);
2 = ADROM & SEL8M & FATM;
3 = ADROM & (*SEL8M) & (*FATM) OR MOSDV & (*ADRAM).

20

. FANUC 6T/M, 2003-2007.

21

. FANUC 6T/M, 2003-2007.

22

. FANUC 6T/M, 2003-2007.

AA3
*BAGE Bus Address Gate Enable. .
0: .
*ADRAM Address RAM. RAM.
*ADROM Address ROM. ROM.
*ADBM Address Bubble Memory. .
SEL8M 8MHz Select. 8.
*FATM Fast Access Time. .

ROM. (0)
READY CPU.
RDYDMD
Ready DMA Delayed. DMA .
MOSDV
MOS Device. .
RDYDMA
Ready Direct Memory Acces. DMA.
RDYBTH
Ready Bit Operation High byte. ,
.
RDYBTL
Ready Bit Operation Low byte. ,
.
, 4-
.
EXRDY External Ready. ( ).
RDYEP Ready Engineer Panel. .
READY Ready Signal. . CPU
1.

Interrupt Control Logic. (AA4).


*WE7C4

*IRQ3

*IRQ3

*IRQ3

*IRQ2

*DB06

*DB07
*DB07
WE7C4

*DB06 Soft DO
*IRQ3
23

. FANUC 6T/M, 2003-2007.

I8259A *IRQ3 (.
).
AA4
*ADPIC
Address Programable Interrupt Controller. PIC.
*MRDDL2
Memory Write Command Delayed2.
2.
IRQ9 Serial I/O Transfer Alarm. /
.
*IRQ8 PTR Sprocket. .
EXIRQ Interrupt from Option Board. .
*IRQ6 Interrupt from Timer 2ms. 2ms.
ITP
Interrupt from Timer 8ms. 8ms.
.
IRQBM Bubble Memory Command End. ,
.
*PFI
Power OFF. ,
, , .
*WDALM
Watch Dog Timer Alarm.
Watch Dog,
CPU.
*PALMH RAM Parity Alarm High byte. RAM
. (Sys.Error 911).
*PALML RAM Parity Alarm Low byte. RAM
. (Sys.Error 910).
*NMIEP
Engineer Panel Service Request.
.
NMI
Non Maskable Interrupt. .
NMI = PALMH + PALML + NMIEP + WDALM + PFI

(0) .

Power Input and Engineer Panel Interface.


(AA5).
EN
Enable (All DC outputs are normal). ,
.
*PF
Power OFF. .

24

. FANUC 6T/M, 2003-2007.

16.384Mhz Clock and Watch Dog Timer.


16.384 Watch Dog . (AA6).
PRDYO2
Position Control Ready Signal.
.
*LEVEL5

5.
*C16M0-1, C16Mx

.
*C8M 8.192.

(0). 16.384 ( AA6)
*WDALM
Watch Dog Timer Alarm. Watch Dog .
5 (*LEVEL5)
32ms.
*WDTO
Watch Dog.

Timer and Baudrate Generator. (AA7).


*ITP ( ), *IRQ6 ( 2ms) *BAUD
( ) PIT i8253-5.
*IRQ8 ( )
*TSP.
DO0I-DO7I Data Bus for MOS Devices. .
*ADPIT
Address Programmable Interval Timer. PIT.
C614K Clock 614.4Khz. 614.4.
*WE7C4
ICSR (. 2
FANUC 6T/M).
*TMR1 *IRQ6 (2ms).
*TSP .
FDTO PTR Feed. .
*ITP
.
*ITPX .
*BAUD .

25

. FANUC 6T/M, 2003-2007.

Address Latch and Buffer. (AB1)


, (Local Bus)
74LS373.

Main Data Bus Trasceiver. /


(AB2).

CPU

/ 74LS640.
AB3.

RAM Data Bus Trasceiver and Output Control. /


RAM (AB3).
CPU RAM,
/ i8287.
*ENTS, *ENTR.
*ENTR RAM Data Bus Enable Signal.
RAM.
*ENTS Main Data Bus Enable Signal.
.
DO00-DO15 RAM Data Bus. RAM.
ADBSF
Address Base Software. (03FFFh, Fxxxx).
*ADRAM
Address RAM. RAM.
*ADBM
Address Bubble Memory. .
*BAGE
Bus Address Gate Enable. .

Address Decoder. (AB4).


:
- ;
- (RAM,ROM)
/, /
;
- ;
- CPU.

26

. FANUC 6T/M, 2003-2007.

*SS
EROM Board Special Select. ROM
(0Fxxxx). ROM ( Main
Board, 1A),
, ,
,
.
AB4
ADBSF
Address Basic Software. (03FFFFh, 0Fxxxxh).
BS
EROM Board Select. EROM (0-3FFFFh).
ROM, (0Fxxxxh).
*ADBIT
Address Bit Operation. (4xxxxh).
*ADEX
Address Expanded Bus. (000001FFFFh). Slave,
, PLC-B, CRTC/Puncher, Additional Axis.
*ADIO Address I/O Ports. /. (. 2
FANUC 6T/M).
*ADRAM0 Address for RAM0. RAM0 (0E800h-0F7FFh).
*ADRAM1 Address for RAM1. RAM1 (0F800h-107FFh).
*ADRAM2 Address for RAM2. RAM2 (10800h-117FFh).
*ADRAM
Address for Total RAM. RAM (0E800h-117FFh).
*ADIO2
Address I/O Ports. /. (.
2 FANUC 6T/M).

Address Decoder. (AB5).


*RE7E0-*RE7E7
.
*WE7C0-*WE7C7 .
*RE7C8-*RE7CE .
*WE7CC-*WE7CE .
(. 2 FANUC 6T/M).

ROM Board Interface. ROM (AC1).


*FATM
Fast Acess Time. .
*ROMAV
ROM Available. ROM .
EBLOSS
EROM Board Loss. ROM ().
*DTR Data Transmit/Receive. / . (0: ).
*A01x-*A17x Address Bus. .

27

. FANUC 6T/M, 2003-2007.

RAM Read Write Control. / RAM. (AD1)


RAM CPU,
, /
/, RAM DMA.
AD1
CH1
1 DMA .
*WRDMA
RAM Write Strobe in DMA. RAM DMA.
*INHWR
Inhibit *WE (Write Enable) in CH2 DMA.
2 DMA. DMA
RAM /,
(Connection Unit) MDI
(. 1
FANUC 6T/M).
WRBIT
Write Bit Operation (Write Enable in Bit Operation).
.
*RDDMA
RAM Read Strobe in DMA. RAM DMA.
*RWBITH
RAM Chip select control High byte in Bit Operation.
.
*RWBITL
RAM Chip select control Low byte in Bit Operation.
.
*DAGE
DMA Address Gate Enable. DMA.
*BHEC
Bus High Enable.
*WERAM
RAM Write Enable. RAM.
*CSRP0H-1L Parity RAM Chip Select. RAM.
*OERAM
RAM Output Enable. RAM.
*CSR0H
RAM Chip Select High byte (0E800h-0F7FFh)
RAM (0E800h-0F7FFh).
*CSR0L
RAM Chip Select Low byte (0E800h-0F7FFh)
RAM (0E800h-0F7FFh).
*CSR1H
RAM Chip Select High byte (0F800h-107FFh)
RAM (0F800h-107FFh).
*CSR1L
RAM Chip Select Low byte (0F800h-107FFh)
RAM (0F800h-107FFh).
*CSR2H
RAM Chip Select High byte (10800h-117FFh)
RAM (10800h-117FFh).
*CSR2L
RAM Chip Select Low byte (10800h-117FFh)
RAM (10800h-117FFh).
: RAM DMA
, .
,

28

. FANUC 6T/M, 2003-2007.

CPU. RAM ,
A00C-A12C.
AD1, RAM
(RAM Chip Select) (RAM Write Enable).

CPU

Buffer

Data Bus

Address
Multiplex
Address
Latch

Address

RAM

DMA
Controller
MB14231

Address
Counter
MB14232

Read/Write

Control

Wait (Not READY)

CPU RAM DMA ,


DMA,
*BAGEDL1 (*WERAM)
RAM.
AD1A4
CH1 (Bubble memory)

*WERAM


DMA BMU

*WRDMA
DMA wrte pulse

29

. FANUC 6T/M, 2003-2007.

AD1A4
*INHWR
. (0: )


-
:
*INHWR 0
*WERAM

*WRDMA

Parity Generator Checker. - (AD3).


.

OERAM

Write Data

1C0
1C1

1Q

8 7 6 5 4 3 2 1 0
D A T A IN

2C0
2C1

20

21

DD
DIPH To parity RAM

RAM.
, RAM , 0,
OERAM (AD3-B2) 74LS280 (AD3D5,D6) Data In 8 0. ODD
0 DIPH (L) RAM
. RAM , 1,
OERAM (AD3-B2) 74LS280
Data In 8 1, DIPH
(L) , RAM .

30

. FANUC 6T/M, 2003-2007.

OERAM

DOP1H
DOP0H

Read Out
1Q

DOP1L
DOP0L

20

8 7 6 5 4 3 2 1 0
D A T A IN

21

ODD

*PALMH

, RAM 1, 74LS280
Data In 8 1, RAM
(.. ) ODD 1
(AD3E8,A28).

DMA Controller Circuit. DMA (AE1,AE2).


RAM DMA
,
. FANUC.
,
RAM<->BMU, RAM<->Serial I/O
.
.

CPU

RAM

DMA

BMU

Controller

Serial
I/O

31

. FANUC 6T/M, 2003-2007.

, CPU RAM,
,
/ ( ). CPU
( ) :
(/),
, /
(, ;
, ). DRQ
( DMA) DMA , ,
DACK, DMA .
DMA .
1. .
Read/Write :
- CH1
;
- CH2
/;
- RAM.
2. .

Address BUS

*BAGE

DMA Address
Generator

MB14232
CH1

Address

DMA Address

*DAGE

DMA
Controller

RAM

MB14231
*Count

DMA .
CH1, (
) *COUNT, DMA ,
DMA ( ,
+1). *BAGE (
). DMA *DAGE ( DMA
).
32

. FANUC 6T/M, 2003-2007.

*BAGE

*DAGE

1t

1t
DMA Cycle

DATA Bus

CPU

Buffer
CH1 BMU
Address Multiplex
CH2 Ser. I/O

Address
Latch

DRQ

RAM

DACK
Address
Address
Counter
MB14232

R/W
Control

DMA
Controller
MB14231

WAIT (Ready Signal)

DMA.
DMA MB14231,
DMA .

33

. FANUC 6T/M, 2003-2007.

34

. FANUC 6T/M, 2003-2007.

35

. FANUC 6T/M, 2003-2007.

36

. FANUC 6T/M, 2003-2007.

37

. FANUC 6T/M, 2003-2007.

*BAGE (1), (Main


Bus) , *DAGE , ,
DMA .
RAM.
- *RAMRD RAM
. RAM RAM (RAM Data
Bus);
- *CH1WR *CH2WR (0);
- *RAMRD (1);
- DMA ;
- ;
- DACK 1 2 (1);
- DMA 4- ALE, RAM
(DMA ).
DMA ( ALE),
:
- ;
- CPU .
DRQ1 75sec/byte (),
4 ALE, DMA.
DRQ2 72(4*18) sec/word DMA
4- CPU.
CPU Bus Cycle

4t
DMA Cycle

AE1
TRQBM
Transfer Request Bubble Memory (DMA Request 1).
(DMA 1).
DRQ2
DMA Request 2 (Serial I/O). DMA 2
( /).
CH1RW
CH1 Read/Write. 1 /.
DRQ .
DMARW (CH2RW) Di Do
( ).
SEL8M
8.
38

. FANUC 6T/M, 2003-2007.

*BF0-3
RAM.
RAM 64 ,
( ./., , ,
...).
15

14

13

12

11

10

*BF3-0

64

*TAKBM Bubble Memory Transfer Acknowledge.


.
*DACK2 DMA Acknowledge 2.
/.
*CH1RD,CH1WR Bubble Memory Read/Write. / .
*CH2RD,CH2WR Serial
I/O
Read/Write.
/
/.
4 (T1-T4).
READY T3 READY=1,
T4, READY=0 Tw.
READY Tw.
READY=1 T4.
T1: (Local Bus)
ALE
(0). ALE .
T2: / i8288
(*MRDC, *AMWC, ...).
T3(Tw):
T4:

(Ready).

/ (1).

39

. FANUC 6T/M, 2003-2007.

Bit Operation Controller. (AE3).



.
.
19 18 17 16 15 14 13 12

11 10 9

RAM 0E800h-0EFFFh

0-7
*CPL 0:
0100:

:
; *
; @
; 7
; 0E802h 5

MOV AL, 49800h


AND AL, 4C800h
MOV 4D802h, AL

7 6

0E800h

5 4 3
@

2 1

0E801h
0E802h

,
i8086.

40

. FANUC 6T/M, 2003-2007.

CPU
Accumulator

15


High byte

Low byte

15

MB14233 2

MB14233 1

41

. FANUC 6T/M, 2003-2007.

Bit Operation (Read Cycle). ( ).

Inhibit *ENTR=1 (AB3F9)

Local Bus

CPU

READY

RAM Data Bus

Buffer

Bit 7,15

MB14233

MPX

RAM

1 Wait Cycle

Read
Strobe.

Chip
Select

OE

Sequenser

From 8288
*MRDC

Read

AB15
*CPL

AB12-AB14
Bit Position

8- RAM, ,
(Local Bus)
7(15) .
RAM (Read).

42

. FANUC 6T/M, 2003-2007.

Inhibit *ENTR=1 (AB3F9)

RAM Data Bus

Buffer

Buffer

8 bit

CPU

Latch

RAM

Bit 7,15

----

AB15 *CPL

Sequenser
4 wait
Cycles

*AMVTC
Write

Decoder

MB14233

Write Strobe
*WE

AB12-AB14
Bit Destignation

Bit Operation (Bit Write Cycle). (


).
:
1. RAM 8- MB14233;
2. , ,
RAM.

Serial I/O Interface. /.


/
/ (MDi),
, DPL (LED-),
.
43

. FANUC 6T/M, 2003-2007.

.
, 15
, MDi, ...
- A20B-0047-0C800,

, .
MASTER

CPU

SLAVE

MDi/CRT

Master PCB

Key Board
Flip-Flop

RAM

Scanning
Circuit

DMA Trasfer
16 bit

Shift Register

Shift Register

Connection Unit
Shift Register

Differential Driver
Shift Register

Latch

Scanning
Circuit

Reed Relay

RV03

Machine

44

. FANUC 6T/M, 2003-2007.

MASTER

CPU

SLAVE

MDi/DPL

Master PCB

Key Board

Strobe

Display Circuit
LED Type

RAM

Scanning
Circuit

Shift Register
DMA Trasfer
16 bit

Shift Register

Shift Register

Connection Unit
Shift Register

Differential Driver
Shift Register

Latch

Scanning
Circuit

Reed Relay

RV03

Machine

AF1
SDO
Serial Data Output. .
SDI
Serial Data Input. .
STB
Strobe (Used as Clock). .
STA
Start Signal (Once 32 words). .
MSRDY Master Ready. .
SLRDY Slave Ready .
*DB14 Information to Software (*5MHz for Baud Rate Setting).
(*5
RS232C).
45

. FANUC 6T/M, 2003-2007.

*DB12 Initial Load (Load when Pin is grounded).


... ( GND).
AF2
TRSTA Transfer Start (Software DO).
(
). DO , DMA
DO.
DO.
*SFTEN Shift Enable. .
*CH2WR
Write Data to Shift Reg by DMA.
DMA.
*CH2RD
Read from Shift Reg by DMA.
DMA.
AF1
SLAVE ,
(Master) ( TRSTA).
AF2
C250K *CLK2 *SEL8M. 250,
1:1. TRFRATE
(MB14236).
DMA .
[ DO] -> .
RAM DMA,

. .
[ DI] -> MDi .

,
DMA RAM.

46

. FANUC 6T/M, 2003-2007.

DMA

DO

DMA

DO

DMA DO

DI

16 Words

DI

DMA

DI

DMA DMA

DO

16 Words

SLAVE -> MASTER.


SLAVE SDII (AF2C2),
SR .
, ,
(16 ).
SR1 (15- ) QA (D40).
SOUT ( 12) SLAVE
SDOO (AF2F10) .
SLAVE, ,
(Alarm Bit) (0) .
SIN ( 13)
(0), ALARM ( 10) .

MASTER -> SLAVE.


QH ( 17) D37 16-
SR16 ( 14) .
SOUT ( 12), SLAVE SDOO.

SLAVE *SDII .
, , AL
(0) SOUT SLAVE.
AF3
.
(A29) , DMA.
DMA, RAM.
(A29) AF3C7 TRALMT ( )
IRQ9. CPU.

47

. FANUC 6T/M, 2003-2007.

48

. FANUC 6T/M, 2003-2007.

49

. FANUC 6T/M, 2003-2007.

50

. FANUC 6T/M, 2003-2007.

51

. FANUC 6T/M, 2003-2007.

52

. FANUC 6T/M, 2003-2007.

*TRWAIT
(0),
. (
).
AG1
*BMOEH
.
*BMOEL
.

BMU Output Enable High Byte.


BMU Output Enable Low Byte.

AG2
*TRQBM
Transfer Request Bubble Memory. (DMA Request 1).
.
*IRQBM
Interrupt Request Bubble Memory. (Command End).
.
*FMABM
Free Mode Acknowledge Bubble Memory (Answer to
*FMEBM). .
B256KBM
1 256.
C1BM
0.
C2BM
1.
*CSBM
.
*A01x-*A03x (RS0BM-RS2BM).
*TAKBM
.
*FMEBM
Free Mode Enable BMU.
. *FMEBM=(Sw2 ON)*(Software DO, *FME).
*ERSBM
Erase Bubble Memory. .
*PDBM
Power Down BMU. .
*PORBM
Power ON Reset BMU. .
, ,

NMI (PFI).

Paper Tape Reader Interface. (AH1).


P1-P8
*REEL
*TER
RDT
*RWT
SP
FDT

.
. REEL=0
REEL=1
.
.
.
.
.
53

. FANUC 6T/M, 2003-2007.

*RVT

AH1
OPT

( ).
OPT=1 : .
OPT=0 : .
*RWDT
.
*CLT
.
CLR
( ).
RMT (Remote Mode).
*ALM
( ).
RMT (Remote Mode).
RMT
.

(AH2).
*RSX-RS4
*DD1-DD8
*DWT

.
.
.

(AH3).
PA, *PA
PB, *PB
SC, *SC
ZDX-ZDZ
HA
HB

, A.
, B.
, .
.
. A.
. B.

54

. FANUC 6T/M, 2003-2007.

MB14234

*HBV

*HAV

*PHPV

7-

*NHPV

*CLR

*RD

D6
D5
D4
D3
D2
D1
D0

*CLK

Connection Unit PCB. (DA1-DD2).


Master -> Connection Unit (. - DI/DO).
SDO 16-
, STB.
STB (0)
.
. 16
AL (Alarm)
. (Alarm) ,
16 , .

Connection Unit -> Master. (. - DI/DO).


.
SO SRIN.
55

. FANUC 6T/M, 2003-2007.

,
DOUT .

, .
SDO DIN. SRIN DIN
( ). (Alarm), DOUT (
) (0). SDI
. , RAM,
.

/.

PLC

RAM

Machine Tool (MT)

0E800h

DO
DI
0E830h

Base
Software

Base
Software

DO
DI

56

. FANUC 6T/M, 2003-2007.

PLC-A

RAM

Machine Tool (MT)

0E800h

DO
*OT,*DEC

DI

*ESP

PLC
Software

0E830h

Base
Software

DO
DI

0E800h

DO

DI

Connection Unit 1

Connection Unit 2

MDI/DPL

Connection Unit 1

Connection Unit 2

MDI/DPL

57

. FANUC 6T/M, 2003-2007.

PLC-B

RAM

0E800h

Machine
Tool
(MT)

DO

DO

DI

DI
PC-B

0E840h

Software

DO

DO

DI

DI

NC RAM

Basic
Software

PC-B RAM

Machine
Tool

(MT)

DO

DO
PLC-B
Software
2

DO

DO

Basic
Software

1)
2)
3)
4)
5)

NC RAM.
PLC.
PLC.
NC RAM.
.
58

. FANUC 6T/M, 2003-2007.

Machine
Tool

DI

DI

(MT)

PLC-B
Software
4

DI

DI

Basic
Software

1)
2)
3)
4)
5)

.
PLC.
PLC.
NC RAM.
.

59

. FANUC 6T/M, 2003-2007.

60

. FANUC 6T/M, 2003-2007.

DSCG .
. DSCG
Digital Sine Cosine Generator
INDUCTOSIN Inc., ,
, ,
.
(1) DSCG.
,

V1 = V0 cos sin t
V2 = V0 sin sin t
1 2
:
V1 = W1 d 1 / dt
V2 = W1 d 2 / dt

W1 .

VE = W2 d / dt (2 cos 1 sin ) = (W2 / W1) V0 (sin cos cos sin ) sin t


2 = kV0 sin () sin t

61

. FANUC 6T/M, 2003-2007.

2
V2

V1
:
W2

- ;
-
1 2 0;
- 1 ;
- .


:
.

/4 V0

/2

3/2

V(t) = V0 cos sin t

.
62

. FANUC 6T/M, 2003-2007.

/4 V0

/2

3/2

V(t) = V0 sin sin t


.
, , ,
VE 0V,
.

63

. FANUC 6T/M, 2003-2007.

64

. FANUC 6T/M, 2003-2007.

65

. FANUC 6T/M, 2003-2007.

Sin, Cos
16384KHz/
0

90

180

270

360

90

Cos

=0
Sin

Cos

=30
Sin

Cos

=90
Sin

Cos

=120
Sin

Cos

=180
Sin

Cos

=210
Sin

66

. FANUC 6T/M, 2003-2007.

180

270

67

. FANUC 6T/M, 2003-2007.

FANUC 6T/M

AA1

CLK

5. 200ns, Min 130ns/65ns

AA5

+5v
+15v
-15v
+24v

+5
+15
-15
+24

AA6

*C16M

16. 61ns, Min 20ns/35ns

AA6

WD

Watch Dog. GND

AA7

*ITP

8ms. 2s

AF1

LOAD

. GND

AG2

*DRQ1

DMA (*TRQBM)

AI1

*DOT

DO Master

AI6

VREF5
VREFC
VREFD

5
2.5
2.08

AI8

*DIT

CRC ROM.
GND

AI9

VCMD
(:X,Y,Z)

68

. FANUC 6T/M, 2003-2007.

AI9

TAHO
(:X,Y,Z)

AI9

SG

CA1

+12v

RS232 +12

CA1

+5v

+5 Master Board

CA1

GND

()

CA2

CLKC

CA2

*CLKS

CB2

-12v

-12 RS232

CC6

HSYNC

CC6

VSYNC

CC6

DTC

CC6

VIDEO

DD1

SG

DD2

+5v

+5

69

. FANUC 6T/M, 2003-2007.

DD2

+24v

+24

DD2

GND

()

HA4

*PCM4,5

HA4

*NCM4,5

HB1

VCMD4,5

4- 5-

HB1

TAHO4,5


4- 5-

HB4

VREF5
VREFC
VREFD

5
2.5
2.08

HF2

VCMD4,5

4- 5-

HF4

TP11H
TP12H
TP13H
TP14H

HF4

TP7H
TP8H
TP5H
TP9H
TP6H

/
.. .. -
V/F ()
.. , GND

HF5

VREF5
VREFC
VREFD

5
2.5
2.08

70

. FANUC 6T/M, 2003-2007.

JA2,JC2

NA2

NB1-3

NC1-3

OSC

+5v
+15v
-15v
GND
TP7X-Z
TP8X-Z
TP5X-Z
TP9X-Z
TP6X-Z
TP11
TP12
( :X,Y,Z)
TP13
TP14
( :X,Y,Z)


500. 2ms, .0.1ms
+5
+15
-15
()
/
.. .. -
V/F ()
.. , GND

71

. FANUC 6T/M, 2003-2007.

72

. FANUC 6T/M, 2003-2007.

73

. FANUC 6T/M, 2003-2007.

74

. FANUC 6T/M, 2003-2007.

75

. FANUC 6T/M, 2003-2007.

76

. FANUC 6T/M, 2003-2007.

FANUC 6T/M.
PLC-B-> (MT).
FANUC 6T/M

000

OP

SA

5
STL

SPL

ZP4

ZPZ

ZPY

0
ZPX

0E800h

ZPX, ZPY, ZPZ, ZP4 .


SPL .
STL .
SA .
OP .

001

MA

FMF

5
SSP/TAP

4
SRV

3
DEN

2
FWD

RST

AL

0E801h

AL .
RST .
FWD .
DEN .
SRV .
SSP/TAP .
FMF .
MA .
7

002

5
DST

BF

TF

SF

EF

MF

M18

M14

M12

0E802h

MF .
EF .
SF S.
TF T.
BF B.
DST .

003

M28

M24

5
M22

4
M21

M11- M18 .
M11- M18 .
77

. FANUC 6T/M, 2003-2007.

M11

0E803h

FANUC 6T/M

004

R08

R07

R06

R05

R04

R03

R02

R01

0E804h

R01- R08 .

005

M00

M01

M02

M30

R12

R11

R10

R09

0E805h

R09- R12 .
M30 .
M02 .
M01 .
M00 .

006

S28

S24

S22

S21

S18

S14

S12/HIGH

S11/LWG

0E806h

S11/LWG, S12/HIGH, S14, S18 S.


S21- S28 S.

007

T28

T24

T22

T21

T18

T14

T12

T11

UO2

UO1

0E807h

T11-T18 T.
T21- T28 T.

008

UO7

UO6

5
UO5

UO4

UO3

UO0

0E808h

UO0-UO7 .
7
009

UO15

6
UO14

5
UO13

4
UO12

3
UO11

2
UO10

1
UO9

UO8-UO15 .
78

. FANUC 6T/M, 2003-2007.

0
UO8

0E809h

FANUC 6T/M

.
7
010

EREND

5
TLCHB

4
TLCHA

0
0E80Ah

ESEND

ESEND .
TLCHA .
TLCHB .
EREND .

011

T48

T44

T42

T41

T38

T34

T32

T31

0E80Bh

T31-T38 T.
T41-T48 T.
7

013

ZP25

ZP5

0E80Dh

ZP5 5- .
ZP25 2- 5- .

014

B38

B34

B32

B31

B28

B24

B22

B21

0E80Eh

B21-B28 B.
B31-B38 B.

015

B18

B14

B12

B11

ZP24

ZP2Z

ZP2Y

ZP2X, ZP2Y, ZP2Z, ZP24 - 2- .


B11-B18 B.

79

. FANUC 6T/M, 2003-2007.

ZP2X

0E80Fh

MDI/DPL c 0E810h 0E81Fh


FANUC 6T/M
7

D28

D24

D22

D21

D18

D14

D12

D11

0E810h

D11-D18 - D.
D21-D28 - D.

D48

D44

D42

D41

D38

D34

D32

D31

0E811h

D31-D38 - D.
D41-D48 - D.
7

4th

6
L

0E812h

0
J

D68

D64

D62

D61

D58

D54

D52

D51

0E813h

0E814h

D51-D58 - D.
D61-D68 - D.

D88

D84

D82

D81

D78

D74

D72

D71

D71-D78 - D.
D81-D88 - D.
80

. FANUC 6T/M, 2003-2007.

0E815h

FANUC 6T/M

7
PC

MIS

6
N28

N24

N22

N21

PRM

DGN

N18

N14

0
S

0E816h

OFS

0E817h

1
SET

1
N12

0
N11

0E818h

D11-D18 - N.
D21-D28 - N.
7

6
N48

N44

N42

N41

3
N38

2
N34

1
N32

0
N31

0E819h

D31-D38 - N.
D41-D48 - N.
7

SGN

6
DP7

DP6

ALN

DTN

SQN

BUF

PAR

LBK

ALM

RDY

DP5

DP4

DP3

POS

DP2

DP1

81

. FANUC 6T/M, 2003-2007.

0
ABS

DP0

0E81Ah

0E81Bh

0E81Eh

(MT) ->PLC-B.
FANUC 6T/M

.
7
032

HX

6
*SVFX

5
*DECX

4
*ITX

-X

+X

1
*-LX

0
*+LX

0E820h

*+LX, *-LX .
+X, -X .
*ITX .
*DECX .
*SVFX .
HX .

7
033

HY

6
*SVFY

5
*DECY

4
*ITY

-Y

+Y

1
*-LY

0
*+LY

0E821h

*+LY, *-LY .
+Y, -Y .
*ITY .
*DECY .
*SVFY .
HY .

7
034

HZ

6
*SVFZ

5
*DECZ

4
*ITZ

-Z

+Z

*-LZ

-4

+4

*-L4

0
*+LZ

0E822h

*+LZ, *-LZ .
+Z, -Z .
*ITZ .
*DECZ .
*SVFZ .
HZ .

7
035

H4

6
*SVF4

5
*DEC4

4
*IT4

*+L4, *-L4 .
82

. FANUC 6T/M, 2003-2007.

0
*+L4

0E823h

+4, -4 .
*IT4 .
*DEC4 .
*SVF4 .
H4 .
FANUC 6T/M

.
7
036

MLK

6
DLK

5
ZNG

4
OVC

3
SBK

2
BDT1

1
DRN

0
AFL

0E824h

AFL .
DRN .
BDT1 .
SBK .
OVC .
ZNG Z.
DLK .
MLK .

037

ZRN

SRN

5
ABS

4
SAR

FIN

ST

MIY

0
MIX

0E825h

MIX X.
MIY - Y.
ST .
FIN - .
SAR .
ABS - / .
SRN .
ZRN .
7
038

ERS

6
RRW

5
*SP

*ESP

GST

SPC

SPB

SPA, SPB, SPC .


GST .
*ESP .
*SP .
RRW .
ERS .

83

. FANUC 6T/M, 2003-2007.

0
SPA

0E826h

FANUC 6T/M

.
7
039

RT

6
ROV2

5
ROV1

4
JV16

JV8

JV4

JV2

JV1

0E827h

JV1-JV16 ().
ROV1, ROV2 .
RT , .

040

MP4

MP2

5
MP1

4
FV16

FV8

FV4

FV2

0
FV1

0E828h

FV1-FV16 - .
MP1, MP2, MP4 , .

041

KEY

EDT

5
MEM

2
J

1
H

0
S

0E829h

S .
H - .
J - , .
D - .
T - .
MEM - .
EDT - .
KEY ().
7
042

*SSTP

6
SOR

5
*-EDCZ

4
*-EDCY

3
*-EDCX

2
*+EDCZ

1
*+EDCY

0
*+EDCX

0E82Ah

*+EDCX, *+EDCY, *+EDCZ, *-EDCX, *-EDCY, *-EDCZ .


SOR .
*SSTP .
7
043

F1D

6
SKIP

5
MI4

4
WN16

3
WN8

2
WN4

1
WN2

WN1-WN16 .
MI4 .
SKIP .
F1D F1.
84

. FANUC 6T/M, 2003-2007.

0
WN1

0E82Bh

FANUC 6T/M

.
7
044

WZS

WSS

WC4

WC2

WC1

0E82Ch

WC1-WC4 WSS WZS 7


045

BDT7
/AGSTB

6
AG24

5
BDT6/
AG22

4
AG21

3
BDT5/
AG18

2
BDT4/
AG14

BDT2/AG11-BDT7/AGSTB
.

047

1
BDT3/
AG12

0
BDT2/
AG11

0E82Dh

UI7

UI6

UI5

UI4

UI3

UI2

UI1

UI0

0E82Fh

UI0-UI7 .
7
050

5
BDT9/
AGJ

5NG

BDT8/
AGST

GRB

GRA

0E832h

GRA, GRB .
BDT8/AGST, BDT9/AGJ /
.
5NG 5- .
7
051

4NG

POS

UC4

2
UCZ

1
UCY

0
UCX

0E833h

UCX, UCY, UCZ, UC4 POS 4NG - 4- .

052

ED7

ED6

5
ED5

ED4

ED3

ED2

ED1

ED0-ED7 .
85

. FANUC 6T/M, 2003-2007.

0
ED0

0E834h

FANUC 6T/M

.
7
053

ED15

ED14

ED13

4
ED12

ED11

ED10

ED9

ED8

0E835h

ED8-ED15 - .

054

ESTB

EA6

EA5

EA4

EA3

EA2

EA1

UI9

UI8

EA0

0E836h

EA0-EA6, ESTB - .

055

UI15

UI14

UI13

4
UI12

UI11

UI10

0E837h

UI8-UI15 - .

MDI/CRTC c 0E838h 0E83Fh


7

6
7

5
6

7
I

7
L

W
4-th

EOB

2
G

2
F

0E838h

0
9

1
N

1
K

86

. FANUC 6T/M, 2003-2007.

0E839h

0
O

0E83Ah

0
J

0E83Bh

FANUC 6T/M

.
7

(ABS)

7
B

POS

READ

CURSD

D/H

PRG

6
PUNCH

OFS

5
INPUT

4
CURSU

3
PAGED

2
PAGEU

CMD

SET

START

ORGIN

2
AUX

1
MACRO

2
PRM

1
ALM

ALT

INS

0
RES

0E83Ch

0
MENU

0E83Dh

0
DGN

0E83Eh

0
DLT

0E83Fh

(NC)->PLC-B.

064

OP

SA

5
STL

SPL

ZP4

ZPZ

ZPY

0
ZPX

0E840h

ZPX, ZPY, ZPZ, ZP4 .


SPL .
STL .
SA .
OP .

065

MA

FMF

5
SSP/TAP

4
SRV

3
DEN

2
FWD

RST

AL

AL .
RST .
FWD .
DEN .
SRV .
SSP/TAP .
FMF .
MA .
87

. FANUC 6T/M, 2003-2007.

0E841h

FANUC 6T/M

.
7

066

5
DST

BF

TF

SF

EF

MF

M18

M14

M12

0E842h

MF .
EF .
SF S.
TF T.
BF B.
DST .

067

M28

M24

5
M22

4
M21

M11

0E843h

M11- M18 .
M11- M18 .

068

R08

R07

R06

R05

R04

R03

R02

R01

0E844h

R01- R08 .

069

M00

M01

5
M02

4
M30

R12

R11

R10

R09

0E845h

R09- R12 .
M30 .
M02 .
M01 .
M00 .

070

S28

S24

S22

S21

S18

S14

S12/HIGH

S11/LWG

S38

S34

S32

S31

S28

S24

S22

S21

S11/LWG, S12/HIGH, S14, S18 S


/ S.
S21- S28/ S31- S38 S/ S.
88

. FANUC 6T/M, 2003-2007.

0E846h

FANUC 6T/M

071

T28

T24

T22

T21

T18

T14

T12

T11

0E847h

T11-T18 T.
T21- T28 T.
7
074

EREND

5
TLCHB

TLCHA

0E84Ah

ESEND

ESEND .
TLCHA .
TLCHB .
EREND .

075

T48

T44

T42

T41

T38

T34

T32

T31

0E84Bh

T31-T38 T.
T41-T48 T.
7
078

B38/S28

6
B34/S24

5
B32/S22

4
B31/S21

B28/S18

B24/S14

B22/S12

B21/S11

0E84Eh

B21/S11-B28/S18 B/ S.
B31/S21-B38/S28 B/ S.
7
079

B18/S58

6
B14/S54

5
B12/S52

4
B11/S51

3
ZP24

2
ZP2Z

1
ZP2Y

ZP2X, ZP2Y, ZP2Z, ZP24 - 2- .


B11/S51-B18/S58 B/ S.

89

. FANUC 6T/M, 2003-2007.

0
ZP2X

0E84Fh

080

UO7

UO6

5
UO5

4
UO4

3
UO3

UO2

UO1

0
UO0

0E850h

UO0-UO7 .
7
081

UO15

6
UO14

5
UO13

4
UO12

3
UO11

UO10

UO9

0
UO8

0E851h

UO8-UO15 .
7

082

1
ZP25

0
ZP5

0E852h

ZP5 5- .
ZP25 2- 5- .
7

083

MZNG

M38

M34

M32

0
M31

0E853h

M31-M38 .
MZNG . Z.

0E854h 0E857h.
7
084

MMLK

6
MDLK

5
MMI4

4
MMI5

3
MSBK

MBDT1

MDRN

0
MAFL

0E854h

AFL .
DRN .
BDT1 .
SBK .
MMI5 5- .
MMI4 4- .
DLK .
MLK .
7
085

5
MBDT9

1
MIY

MBDT8

90

. FANUC 6T/M, 2003-2007.

0
MIX

0E855h

MIX X.
MIY - Y.
MBDT8, MBDT9 - .

7
086

MBDT7

MBDT6

3
MBDT5

2
MBDT4

1
MBDT3

0
MBDT2

0E856h

MBDT2-MBDT7 .
7

087

0
0E857h

MABS
MABS - / .
PLC-B ->(CNC).
7

096

HX

*SVFX

4
*ITX

-X

+X

0
0E860h

+X, -X .
*ITX .
*SVFX .
HX .
7
097

HY

*SVFY

4
*ITY

-Y

+Y

0
0E861h

+ Y, -Y .
*ITY .
*SVFY .
HY .
7
098

HZ

6
*SVFZ

4
*ITZ

-Z

+Z

+ Z, -Z .
*ITZ .
*SVFZ .
HZ .
91

. FANUC 6T/M, 2003-2007.

0
0E862h

7
099

H4

*SVF4

4
*IT4

-4

+4

0
0E863h

+ 4, -4 .
*IT4 .
*SVF4 .
H4 .
7
100

MLK

6
DLK

5
ZNG

4
OVC

3
SBK

2
BDT1

1
DRN

0
AFL

0E864h

AFL .
DRN .
BDT1 .
SBK .
OVC .
ZNG Z.
DLK .
MLK .

101

ZRN

SRN

5
ABS

4
SAR

FIN

ST

MIY

0
MIX

0E865h

MIX X.
MIY - Y.
ST .
FIN - .
SAR .
ABS - / .
SRN .
ZRN .
7
102

ERS

6
RRW

5
*SP

*ESP

GST

SPC

SPB

SPA, SPB, SPC .


GST .
*ESP .
*SP .
RRW .
ERS .
92

. FANUC 6T/M, 2003-2007.

0
SPA

0E866h

7
103

RT

6
ROV2

5
ROV1

4
JV16

JV8

JV4

JV2

JV1

0E867h

JV1-JV16 ().
ROV1, ROV2 .
RT , .

104

MP4

MP2

5
MP1

4
FV16

FV8

FV4

FV2

0
FV1

0E868h

FV1-FV16 - .
MP1, MP2, MP4 , .

105

KEY

EDT

5
MEM

2
J

1
H

0
S

0E869h

S .
H - .
J - , .
D - .
T - .
MEM - .
EDT - .
KEY ().
7
106

*SSTP

6
SOR

5
*-EDCZ

4
*-EDCY

3
*-EDCX

2
*+EDCZ

1
*+EDCY

0
*+EDCX

0E86Ah

*+EDCX, *+EDCY, *+EDCZ, *-EDCX, *-EDCY, *-EDCZ .


SOR .
*SSTP .
7
107

F1D

6
SKIP

5
MI4

4
WN16

3
WN8

2
WN4

1
WN2

WN1-WN16 .
MI4 .
SKIP .
F1D F1.

93

. FANUC 6T/M, 2003-2007.

0
WN1

0E86Bh

108

R08I

R07I

5
R06I

4
R05I

3
R04I

2
R03I

1
R02I

0
R01I

0E86Ch

R01I- R08I .
7
109

SIND

R14I

3
R12I

2
R11I

1
R10I

0
R09I

0E86Dh

R09I- R14I .
SIND .
7
110

TLSKP

TLRST

TL08

TL04

TL02

TL01

0E86Eh

TL01-TL08 .
TLRST .
TLSKP .
7
114

5
BDT9/
AGJ

5NG

BDT8/
AGST

1
GRB

0
GRA

0E872h

GRA, GRB .
BDT8/AGST, BDT9/AGJ /
.
5NG 5- .
7
115

4NG

POS

UC4

2
UCZ

1
UCY

0
UCX

0E873h

UCX, UCY, UCZ, UC4 POS 4NG - 4- .

116

ED7

ED6

5
ED5

ED4

ED3

ED2

ED1

ED0-ED7 .
94

. FANUC 6T/M, 2003-2007.

0
ED0

0E874h

7
117

ED15

6
ED14

5
ED13

4
ED12

3
ED11

ED10

ED9

ED8

0E875h

ED8-ED15 - .

118

ESTB

EA6

5
EA5

EA4

EA3

EA2

EA1

0
EA0

0E876h

EA0-EA6, ESTB - .
7
119

6
H5

*SVF5

*IT5

-5

0
0E877h

+5

+ 5, -5 .
*IT5 .
*SVF5 .
H5 .
7

120

UINT

TL64

TL32

TL16

0E878h

TL16-TL64 .
UINT .
7
121

BDT7
/AGSTB

6
AG24

5
BDT6/
AG22

4
AG21

3
BDT5/
AG18

2
BDT4/
AG14

BDT2/AG11-BDT7/AGSTB
.

122

1
BDT3/
AG12

0
BDT2/
AG11

UI7

UI6

UI5

UI4

UI3

UI2

UI1

UI0

UI0-UI7 .

95

. FANUC 6T/M, 2003-2007.

0E879h

0E87Ah

123

UI15

UI14

5
UI13

4
UI12

3
UI11

UI9

UI8

UI10

0E87Bh

UI8-UI15 .
7
124

5
ZNGE

4
MLKE

3
MI4E

MIYE

MIXE

MIX X.
MIY - Y.
MI4E - 4- .
MLKE - .
ZNGE Z.

========================================================
2 , Base Software.
:
Write Pulse for CRT-A Display Register [WR], CRTAWPR

./

96

. FANUC 6T/M, 2003-2007.

0E87Ch

FANUC 6T/M.
FANUC 6T/M
7

GV28

GV24

GV22

GV21

GV18

GV14

GV12

GV11

0E5E0h

BCD of Software Eng.Panel Register [WR], BCDNSEPN


7

GV48

GV44

GV42

GV41

GV38

GV34

GV32

GV31

0E5E2h

BIN of Software Eng.Panel Register (Low) [WR], BINSEPNL


7

GV68

GV64

GV62

GV61

GV58

GV54

GV52

GV51

0E5E4h

BIN of Software Eng.Panel Register (Midle) [WR], BINSEPNM


7
X

6
X

GV78

GV74

GV72

GV71

0E5E6h

BIN of Software Eng.Panel Register (High) [WR], BINSEPNH


7
GH28

GVH4

GVH2

GH21

GH18

GH14

GH12

GH11

0E5E8h

BCD of Software Eng.Panel Register [WR], BCDNSEPN1


7
GH48

GH44

GH42

GH41

GH38

GH34

GH32

GH31

BIN of Software Eng.Panel Register (Low) [WR], BINSEPNL1

97

. FANUC 6T/M, 2003-2007.

0E5EAh

FANUC 6T/M
7

GH68

GH64

GH62

GH61

GH58

GH54

GH52

GH51

0E5ECh

BIN of Software Eng.Panel Register (Midle) [WR], BINSEPNM1


7
X

6
X

GH78

GH74

GH72

GH71

0E5EEh

BIN of Software Eng.Panel Register (High) [WR], BINSEPNH1


7
DB7

6
DB6

5
DB5

4
DB4

3
DB3

DB2

DB1

0
DB0

0E5F0h

Data of CRT-A Display Register (Low) [WR], CRTADATL


DB0- DB7 CRT-A, A20B-0007-0070
7
X

AB2

AB1

AB0

0
DB8

0E5F1h

Data of CRT-A Display Register (High) [WR], CRTADATH


DB8 CRT-A, A20B-0007-0070.
AB0 - AB2 CRT-A, A20B0007-0070.

7
X

WP

Write Pulse for CRT-A Display Register [WR], CRTAWPR


WP (Write Pulse) CRTC-A, A20B-0007-0070.

98

. FANUC 6T/M, 2003-2007.

0E5F2h

FANUC 6T/M
7
X

4
RA4

RA3

RA2

RA1

0
RA0

0E5F4h

Register Address for CRTC Display [WR], RACRTC


RA0-RA4 (Register Address for CRTC) CRTC.
7

RD7

RD6

5
RD5

4
RD4

RD3

RD2

RD1

0
RD0

0E5F6h

Register Data for CRTC Display [WR], RDCRTC


RD0-RD7 (Register Data for CRTC) CRTC.
7

RES

MHE

BLK

1
X

RS1

0
RS0

0E5F8h

Control Register for CRTC Display [WR], CNTRCRT


RS0,RS1 (Character Size) .
BLK (CRT Blanking) CRTC .
MHE (Memory High Enable) .
RES (Reset CRTC) CRTC.
7

D7

D6

5
D5

4
D4

D3

D2

D1

0
D0

0E760h

Timer 8253 Counter #0 Data [RD/WR], TCNT0DAT


7

D7

D6

5
D5

4
D4

D3

D2

D1

0
D0

0E762h

Timer 8253 Counter #1 Data [RD/WR], TCNT1DAT


7

D7

D6

5
D5

4
D4

D3

D2

D1

Timer 8253 Counter #2 Data [RD/WR], TCNT2DAT


99

. FANUC 6T/M, 2003-2007.

0
D0

0E764h

FANUC 6T/M
7
SC1

SC0

RL1

RL0

M2

M1

M0

BCD

D2

D1

0E766h

Timer 8253 Control [RD/WR], TCNTRLR


7

D7

D6

5
D5

4
D4

3
D3

0
D0

0E780h

PIC 8259 Read (IRR,ISR), Write (ICW1,OCW2,OCW3) Data [RD/WR],


PICRWD
7

D7

D6

5
D5

4
D4

3
D3

D2

D1

0
D0

0E782h

PIC 8259 Read (IRM), Write (ICW2,ICW3,ICW4,OCW1) Data [RD/WR],


PICRWD1
7
*RMT

*ALM

*CLR

CLT

3
*RWDT

*OPT

*RWT

*FDT

0E7C0h

PTR Control Register [WR], PTRCNTL


*FDT (Feed Forward) .
*RWT (Rewerse) . 0 ,
.
*OPT (Operation) . 1,
. 0, .
*RWDT (Rewind) .
CLT (Clear) ( ).
*CLR - (Clear) ( ).
*ALM (Alarm) , DNC .
*RMT - (Remote) DNC .

7
*FME

*ERASE

*BRW

4
BBC

3
*BF3

2
*BF2

1
*BF1

Bubble Memory Interface [WR], OBMUI.


100

. FANUC 6T/M, 2003-2007.

0
*BF0

0E7C1h

*FME - (Free Mode Enable),


/. .
*ERASE . 0
.
*BRW - / .
BBC - . 1.
*BF0 -*BF3 DMA .
0. .

DMA.
RAM DMA

*BF3

*BF2

*BF1

*BF0

0E800h

0E840h

0E880h

0E8C0h

0E900h

0E940h

0E980h

0E9C0h

0EA00h

0EA40h

0EA80h

0EAC0h

0EB00h

0EB40h

0EB80h

0EBC0h

6
X

AXM2

AXL2

AXM1

AXM0

AXL1

AXL0

Command Pulse Output Axiss Select Register [WR], CPOAXS. 6-7


.
101

. FANUC 6T/M, 2003-2007.

0E7C2h

AXL0, AXL1, AXM0, AXM1 X,Y,Z.


AXL2, AXM2 4,5
FANUC 6T/M
7

6
X

TRST

*MSRDY

TRWT

*LED3

*LED2

*LED1

*LED0

0E7C3h

System Control & Led Display Register [WR], SCLDR. 7


.
*LED0-*LED4 .
TRWT (TX Wait) .
*MSRDY (Master Ready) .
TRST (TX Start) .
7

*IRQ2

*IRQ3

CLWAL

ITPE

0E7C4h

Internal Control Service Register [WR], ICSR. 1-4,5 .


ITPE (ITP Enable) .
CLWAL (Clear WB Alarm) -
.
*IRQ3 (Soft Interrupt 3) 3.
*IRQ2 ( Soft Interrupt 2) 2.
7

4
X

*DWT

3
*DD8

2
*DD4

1
*DD2

0
*DD1

0E7C5h

Position Display Data Register [WR], DATPD. 5-7 .


*DD1-*DD8 (Position Display Data) .
*DWT (Data Write) .

7
*PRDY

6
CMDZ

*ENB5

*CLWB
*TDO

3
*ENB4

2
*ENBZ

1
*ENBY

Servo Control Register [WR], SVCNT

102

. FANUC 6T/M, 2003-2007.

0
*ENBX

0E7C6h

*ENBX, *ENBY, *ENBZ, *ENB4 (Servo Enable X,Y,Z,4)


.
*CLWB/*TDO (Clear WB4 Alarm) 4- .(Test DO)
DO:MASTER.
*ENB5 (Servo Enable 5th) 5- .
CMDZ (Velocity Command Zero) .
*PRDY (Position Control Ready) .
FANUC 6T/M
7

6
X

CLPA

2
X

DSCGZ

1
DSCGY

0
DSCGX

0E7C7h

DSCG & RAM Parity Register [WR] DSCGRPR. 3-5,7


.
DSCGX, DSCGY, DSCGZ (Digital Sinus Cosinus Generator/ Position Coder)
-/
.
CLPA (Clear Parity Error) .

7
WBALY

PCY

FBBY

4
FBAY

3
WBALX

2
PCX

1
FBBX

0
FBAX

XY Axes Status Register [RD], XYASTR. 713.


FBAX (Feed Back Signal Phase A for Axis X)
X.
FBBX (Feed Back Signal Phase B for Axis X) B
X.
PCX X.
WBALX X.
FBAY (Feed Back Signal Phase A for Axis Y)
Y.
FBBY (Feed Back Signal Phase B for Axis Y) B
Y.
PCY Y.
WBALY Y.

103

. FANUC 6T/M, 2003-2007.

0E7C8h

E2532/2764

WDTO

*HB

*HA

WBALZ

PCZ

1
FBBZ

0
FBAZ

0E7CAh

MPG & Z Axis Status Register [RD], MPZASTR. 714.


FBAZ (Feed Back Signal Phase A for Axis Z)
Z.
FBBZ (Feed Back Signal Phase B for Axis Z) B
Z.
PCZ Z.
WBALZ Z.
*HA (MPG Signal Phase A) A
.
*HB (MPG Signal Phase B) B
.
WDTO (Watch Dog Timer Output) Watch Dog .
E2532/E2764 (EPROM Chips) EPROM (
Main Board ROM).
7

DA7

DA6

DA5

DA4

DA3

DA2

1
DA1

0
DA0

0E7CCh

General Purpose Interface Data Register [RD/WR], GPIDR .


DA0- DA7 GPI .
7

6
X

5
X

4
X

CHK

2
X

*STB

1
*RW

0
*ALP

0E7CEh

General Purpose Interface Control [RD/WR], GPICNTR. 3-7


.
*ALP (Address Latch) GPI .
*RW (Read/Write) /.
*STB (Strobe) .
CHK (Check PWB Version) PWB.
7
D7

D6

D5

D4

D3

D2

D1

D0

Measuring Counter Interface Data Register[RD/WR], MCIDR .


104

. FANUC 6T/M, 2003-2007.

0E7D0h

FANUC 6T/M
7

6
X

5
X

4
X

3
X

2
X

*STB

*RW

*ALP

0E7D2h

Measuring Counter Interface Control [WR], MCICNTR. 3-7


.

7
*P8

*P7

*P6

*P5

*P4

*P3

*P2

*P1

0E7E0h

PTR Data Register [RD], PTRDAT . 711.


*P1-*P8 (PTR Data) .
7

*FMA

B256K

C1

C2

2
X

1
X

0
X

Bubble Memory Interface [RD], IBMUI. 702. 0-3


.
*FMA / (Free Mode
Ascnowlege).
B256K , 256 .
C1,C2
1 4-.
B256K

C1

C2

20

A87L-0001-0015

40

A87L-0001-0016

80

A87L-0001-0017

320

A87L-0001-0018

105

. FANUC 6T/M, 2003-2007.

0E7E1h

FANUC 6T/M
7

6
SPT

*TERR

*RWT

4
RDT

3
*REEL

PWE

0
X

0E7E2h

PTR Status Register [RD], PTRSTR . 703. 0,1


.
PWE (Parameter Write Enable) ,
.
*REEL (With Reels) .
0. ,
.
RDT (Ready) .
, 1.
AUTO/MANUAL REEL ON/OFF
1.
*RWT (Rewerse) . 0 ,
.
*TERR (Error) .
SPT (Sprocket) .
1.

6
X

*5MHZ

4
LOAD

3
*SLRDY

2
TRALM

1
DIF

0
*6MHZ

0E7E3h

Internal System Status Register [RD], ISSR . 704. 5,7


.
*6MHZ (Clock Frequency) .
DIF (Device In Failure) , .
TRALM (Transfer Alarm) .
*SLRDY (Slave Ready) .
LOAD 0(GND).
*5MHZ (Clock Frequency) .
7
*MPS

*MP6

*MP5

4
*MP4

3
*MP3

2
*MP2

1
*MP1

0
*MP0

Manual Pulse Generator Data Register [RD], MPGDR. 705.


*MP0-*MP6 (Manual Pulse Generator Data) MPG.
*MPS (Manual Pulse Generator Strobe) MPG.
106

. FANUC 6T/M, 2003-2007.

0E7E4h

FANUC 6T/M
7

6
X

5
X

4
X

3
*RS4

*RSZ

*RSY

*RSX

0E7E5h

Position Display Reset Register [RD], PDRR. 706. 4-7


.
*RSX, *RSY, *RSZ, *RS4 (Reset Display X,Y,Z,4)
X,Y,Z,4.
7

*RS5

OHMB

OVL

*VRDY OH

*DIT

MDLB

DSCG

0E7E6h

Test & Servo Status Register [RD], TSSR. 707.


DSCG (Digital Sinus Cousins Generator) 1 ,

DSCG

A20B-0008-0461

/.
MDLB (Model B) Model B.
*DIT (DI for Test) 0(GND) CRC
ROM, RAM, BMU.
OH (Servo Status Over Heat) .
*VRDY (Servo Status Velocity Ready) .
OVL (Servo Status Velocity Overload) .
OHMB (Over Heat Main Board) .
*RS5 (Reset Display 5) 5.
7

6
X

5
X

4
X

3
PALMH

PALML

WDALM

PF

0E7E7h

NMI Source DI Register [RD], NMISDIR. 4-7 .


PF (Power OFF) .
WDALM (Watch Dog Alarm) Watch Dog.
PALML (Parity Alarm Low) .
PALMH (Parity Alarm High) .
7
*RAM

5
X

4
X

3
*SEQ

1
X

0
X

PC-A Status Register [RD], PCSR. 708. 0-2,4-6


.
*SEQ (PC-A Available) PC-A .
107

. FANUC 6T/M, 2003-2007.

0E7E8h

*RAM (RAM for PC-B Connected) RAM PC-B .


FANUC 6T/M
7

6
X

5
X

4
X

3
*PCBH

*OAS0

*05TH

*04TH

0E7EAh

Hardware 4-5 Axes Status Register [RD], HA45SR. 709.


4-7 .
*04TH (Hardware for 4th Axis Available) 4- .
*05TH ( Hardware for 5th Axis Available) 5- .
*OAS0 ( Hardware for S Analog Available) S
.
*PCBH (With PCB-H)
A20B-0007-0090, A20B-0008-0470, A20B-0008-0471. 0 ,
.

6
X

5
X

4
X

*PCBC

1
X

0
X

0E7ECh

CRT Hardware Register [RD], CRTHR. 0-2,4-7 .


*PCBC (With PCB-C Model A CRTC) PCB-C.

7
*CRT/P

6
*GRC/P

*14/9

IRM

DOG

2
*CR9

0
X

FACIT/
ASR

CRT & Graph Hardware Register [RD], CRTGHR. 1 .


FACIT/ASR - FACIT ASR.
*CR9 (9 Inch CRT) 9- CRT.
DOG (Graphic CPUs DO)
IRM (Input Ready) .
*14/9 (14 Inch/9 or 12 Inch) .
*GRC/P (PCB-C 1200-0170 Available) A16B-1200-0170.
*CRT/P -(PCB-C 0008-0430 Available) A20B-0008-0430.

108

. FANUC 6T/M, 2003-2007.

0E7EEh

FANUC 6T/M
7

6
P7

P6

P5

P4

P3

P2

P1

P0

0E7F0h

USART 8251/FACIT Data Register [RD], SERDAT.


P0-P7 (ASR,RS232C
.

DI/DO

Data)

RD/WR

S7

S6

S5

S4

S3

S2

S1

S0

RD

ERR

TE

PR

WR

PI

0E7F2h

USART 8251/FACIT Command/Status Register, SERCNTR.


X .
S0- S7 (DO for Punch Data) .
PR (Puncher Ready) .
TE (Tape End) .
ERR (Error) .
PI (Punch Instruction) .

7
CLDCD

PINH

FACIT

2
X

ASR

1
X

0
X

5MHZ

USART 8251/FACIT Mode Register [WR], SERMODR. 1-3


.
5MHZ (Clock Frequency) .
ASR (ASR Select) ASR.
FACIT (FACIT Select) FACIT.
PINH (Punch Inhibit) .
CLDCD (Clear CD Alarm) CD .

109

. FANUC 6T/M, 2003-2007.

0E7F4h

FANUC 6T/M
7
BR7

BR6

BR5

BR4

BR3

BR2

BR1

DCD

*RXRDY

*TXRDY

BR0

0E7F6h

PC/PUNCH and CRTC/PUNCH Register [RD/WR], PCPR. 1,4-7


.
BR0-BR7 (Model A DO Punch Data) Model A.
*TXRDY (Trans.Ready) .
*RXRDY (Receive Ready) .
DCD (Received Line Signal Detector) .

*CLPTY

*CLTMG

FLG4M

FLG3M

FLG2M

FLG1M

FLG0M

PTYAL

TMGAL

WDAL

FLG4S

FLG3S

FLG2S

FLG1S

FLG0S

0E7F8h

M-M Interface Control Flag Register [RD,WR], MMICFR. 5


.

7
WBA5

WBA4

OVL2

4
*VRDY2

3
OH2

1
X

0
X

Servo Status 4,5th Register [RD], SRV45STR. 719. 0-2



OH2 (Servo Status Over Heat 4/5) 4 5
.
*VRDY2 (Servo Status Velocity Ready 4/5)
4 5 .
OVL2 (Servo Status Velocity Overload) 4
5- .
WBA4 4.
WBA5 5.

110

. FANUC 6T/M, 2003-2007.

0E7FAh

GCD7

GCD6

GCD5

4
GCD4

GCD3

GCD2

1
GCD1

0
GCD0

0E7FCh

Communication Buffer from Main CPU to Graph CPU (FIFO) Register [WR],
FIFMGR.
7

6
1

PC5

FBB5

FBA5

2
1

PC4

1
FBB4

0
FBA4

0E7FEh

Position Feedback Signals 4,5th Register [RD], POSFBS45R.


FBA4 (Feed Back Signal Phase A for Axis 4)
4.
FBB4 (Feed Back Signal Phase B for Axis 4) B
4.
PC4 4.
FBA5 (Feed Back Signal Phase A for Axis 5)
5.
FBB5 (Feed Back Signal Phase B for Axis 5) B
5.
PC5 5.
7

6
X

5
X

8M

4
DORSV

3
PALMCR

2
RWTOC

1
HOLD2

0
HOLD1

15FFEh

PC-B Control Flags Register [WR], PCBCFR. 6,7


7

6
X

5
X

PCRDY

4
X

3
HOLDAM

2
SCSER

1
PALMH

0
PALML

PC-B Status Flags Register [RD], PCBSFR. 4,6,7

===========================================================

111

. FANUC 6T/M, 2003-2007.

15FFEh

FANUC 6T/M

112

. FANUC 6T/M, 2003-2007.

FANUC 6M-B
- ( )
,
. -
,
, ,
.
,
( RAM
SLAVE) .
000

0 - G02,G03
1 -
2 - 32
3 - 12- S 4- (1-V-5)
4 - S 4- 0-5V
5 - G20/G21
6 - B
7 - A
001

0 -
1 -
2 - 3-
3 - (G40-G42)
4 - R (G40-G42)
5 - S4
6 -
7 - T4
002

0 -
1 - 2
2 - F4
3 - 1
4 -
5 - PUNCH
6 -
7 -

113

. FANUC 6T/M, 2003-2007.

003

0 -
1 -
2 -
3 - ISO
4 - (, , )
5 -
6 -
7 - PLC
004

0 - B (G43,44,49)
1 - A (G45-G48)
2 - B
3 - A
5 (G50/G51)
6 - B4
7 -
005

0 - (Work search)
4 - ATCH ( )
6 -
300

0 - 1
1 - 2
2 -
3 - G31
4 - (.309)
5 (Tool life data)
6 - ( .ZRNB), 0 3- 4-
7 - (BDT2-BDT9)
301

0 - -
1 - (G62 .355,356)
2 - 95 195
3 - 3- (G00)
4 -
5 -
7 - G96,97

114

. FANUC 6T/M, 2003-2007.

302

0 - (..383-406)
1 - (G60 ..305,336-339)
2 - 2. 4- .SANG
3 - S-12 B
4 - G68,G69
6 -
7 - - 64 99 ( 40 )
303

0 - / (. 316)
2 - G5
5 - . 5-
6 - 5-
7 - - 384
304

0 -
1
2
4 200
6 MENU
7

=========================================================

, , e-mail: A.Gering@vaz.ru,
A.Gering@tlt.ru

115

. FANUC 6T/M, 2003-2007.