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FANUC 6T/M-A,B,E

. FANUC 6T/M, 2003-2007.


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.
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FANUC 6T/M ,
SIEMENS, SINIMERIK 6T/M.
, ,
1979 1986 .
3-5 55-60% FANUC 6T/M.
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, , ,
. 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 6 RAM + 56 .
A20B-0008-0410 Edit 2A,B 12 RAM
A16B-1000-0030 Edit 2B Level II 28 RAM
A16B-1000-0220 Edit 2B Level II 28 RAM, 4-
Main Data BUS 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)


5

. 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 24 ROM PLC


A20B-0008-0451 RAM PLC
A16B-1200-0420 PLC-G
A20B-1000-0570 PLC-G

8. .

A20B-0008-0461 / .
A20B-0008-0090 4-5 .
A20B-0008-0470 4 .
A20B-0008-0471 4 .
A16B-1200-0160 4-5 .
A16B-1200-0161 4-5 .
A16B-1200-0180 Heidenhain
(EXE ).

, .
, A20B-0008-0470 A16B-
1200-0160,
.

9. .

A20B-0007-0441 PCB-K
A20B-0007-0030 MDI Serial I/O PCB-L
A16B-1000-0131 MDI PCB-K
A16B-1000-0380 PCB-K
A16B-1000-0390 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 : +5; +_15; +24


A14B-0061-B002 : +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

0F800h-107FFh 4
4
10800h-117FFh 16

.. 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

- ;
- RAM;
NMI
- Watch Dog ; Di
- .


9 (TRALM) 0E7E3h

8 (PTR)

6 2ms PIT

5 8ms PIT


Command End.
4 Command End
ESR
DO
3
(*IRQ3)

DO
2
(*IRQ2)

13

. FANUC 6T/M, 2003-2007.


- 2-9 i8259A
INTR, ( ) MPU
.
- (NMI)
CPU.

0h (56), , RAM, .
1h PLC, RAM, .
2h (64).
3h (64).
4h .
0Eh TMX86-monitor.
0Fh (64).

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

1 2 4

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 1 0 0 1
*BHEP 0 1 0 1

Odd Even Odd/ Even


Address Address 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 T3 Tw Tw T4

0 RAM

1 EROM, PTR, MDi, CRT, ...

2 EROM 8

3 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
*DB06

*DB07 *IRQ3 *IRQ2


*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. (0-
3FFFh, 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. (0-
3FFFFh, 0Fxxxxh).
BS EROM Board Select. EROM (0-3FFFFh).
ROM, (0Fxxxxh).
*ADBIT Address Bit Operation. (4xxxxh).
*ADEX Address Expanded Bus. (00000-
1FFFFh). 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
RAM

Address

DMA
Address Controller
Counter MB14231
MB14232
Read/Write
Control

Wait (Not READY)

CPU RAM DMA ,


DMA,
*BAGEDL1 (*WERAM)
RAM.

AD1A4

CH1 (Bubble memory)


*WERAM



*WRDMA
DMA wrte pulse
DMA BMU

29

. FANUC 6T/M, 2003-2007.


AD1A4

*INHWR
. (0: )
-
:
*INHWR 0
*WERAM
*WRDMA

Parity Generator Checker. - (AD3).

OERAM
Write Data
1C0

1C1 1Q

2C0 8 7 6 5 4 3 2 1 0
2C1
D A T A IN
20 21
DD

DIPH To parity RAM

RAM.
, RAM , 0,
OERAM (AD3-B2) 74LS280 (AD3-
D5,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 Read Out


DOP0H 1Q

DOP1L
DOP0L 8 7 6 5 4 3 2 1 0
20 21
D A T A IN

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
Address

DMA Address DMA Address


Generator
MB14232 *DAGE

CH1 DMA RAM


Controller
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
Buffer
CPU
CH1 BMU
Address Multiplex
CH2 Ser. I/O
Address
Latch RAM DRQ

DACK
Address

Address DMA
Counter Controller
MB14232
R/W MB14231
Control

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 9 8 7 6 5 4 3 2 1 0

*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): (Ready).

T4: / (1).

39

. FANUC 6T/M, 2003-2007.


Bit Operation Controller. (AE3).

.
19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

RAM 0E800h-0EFFFh


0-7
*CPL 0:

0100:

MOV AL, 49800h ; *


AND AL, 4C800h ; @
MOV 4D802h, AL ; 7
; 0E802h 5

7 6 5 4 3 2 1 0

0E800h @ *
0E801h

0E802h

,
i8086.

40

. FANUC 6T/M, 2003-2007.


CPU

Accumulator

15 7


High byte Low byte

15 7

MB14233 2 MB14233 1

41

. FANUC 6T/M, 2003-2007.


Bit Operation (Read Cycle). ( ).

Inhibit *ENTR=1 (AB3F9)

Local Bus Buffer RAM Data Bus


CPU

READY RAM
Bit 7,15 MB14233 MPX

1 Wait Cycle

Read
Strobe.
OE
Chip
Sequenser Select
From 8288
*MRDC
Read

AB15 AB12-AB14
*CPL
Bit Position

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

42

. FANUC 6T/M, 2003-2007.


Inhibit *ENTR=1 (AB3F9)

CPU Buffer RAM Data Bus

Buffer
8 bit
Latch RAM

----
Bit 7,15

AB15 *CPL

Sequenser
4 wait Write Strobe
Cycles *AMVTC Decoder *WE
Write MB14233

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 SLAVE

Master PCB MDi/CRT


CPU 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 SLAVE

Master PCB MDi/DPL


CPU 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 DI DMA DI DMA DMA DO

16 Words 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 BMU Output Enable High Byte.
.
*BMOEL 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 . REEL=0
REEL=1
*TER .
RDT .
*RWT .
SP .
FDT .
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 , A.
PB, *PB , B.
SC, *SC , .
ZDX-ZDZ .
HA . A.
HB . B.

54

. FANUC 6T/M, 2003-2007.


MB14234


*HAV

*HBV

*PHPV


*NHPV 7-

-
*CLR D6
D5
D4
D3
D2


D1
*RD 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 DO
Software

DI

56

. FANUC 6T/M, 2003-2007.


PLC-A RAM
Machine Tool (MT)

0E800h
DO

*OT,*DEC

*ESP DI
PLC
0E830h
Software
Base DO
Software

DI

0E800h
Connection Unit 1 4

Connection Unit 2 4
DO

MDI/DPL 8

Connection Unit 1 6

Connection Unit 2 6
DI

MDI/DPL 4

57

. FANUC 6T/M, 2003-2007.


PLC-B RAM
0E800h
Machine DO DO
Tool
(MT)

DI DI
PC-B
0E840h
Software
DO DO

DI DI

NC RAM Basic PC-B RAM


Software

Machine 5 4
Tool DO DO
(MT)

PLC-B
3
Software

2
DO DO

Basic
Software

1) NC RAM.
2) PLC.
3) PLC.
4) NC RAM.
5) .

58

. FANUC 6T/M, 2003-2007.


.

Machine 1 2
Tool DI DI
(MT)

PLC-B
3
Software

DI 4 DI

Basic
Software

1) .
2) PLC.
3) PLC.
4) NC RAM.
5) .

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

2
V2
1
1

V1 1

:
W2 - ;
-
1 2 0;
- 1 ;
k - .

/4 V0

3/2
/2
2 t

. V(t) = V0 cos sin t

.
62

. FANUC 6T/M, 2003-2007.


V

/4 V0

3/2
/2
2 t

. 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 90 180 270

Cos

=0
Sin

Cos

=30
Sin

Cos

=90
Sin

Cos

=120
Sin

Cos

=180
Sin

Cos

=210
Sin

66

. FANUC 6T/M, 2003-2007.


67

. FANUC 6T/M, 2003-2007.


FANUC 6T/M



AA1 CLK 5. 200ns, Min 130ns/65ns

+5v +5
+15v +15
AA5
-15v -15
+24v +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

VREF5 5
AI6 VREFC 2.5
VREFD 2.08

CRC ROM.
AI8 *DIT
GND

VCMD
AI9 .
(:X,Y,Z)

68

. FANUC 6T/M, 2003-2007.





TAHO
AI9
(:X,Y,Z)

AI9 SG

CA1 +12v RS232 +12

CA1 +5v +5 Master Board

CA1 GND ()

CA2 CLKC 8

CA2 *CLKS 8

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-

VREF5 5
HB4 VREFC 2.5
VREFD 2.08

HF2 VCMD4,5 4- 5-

TP11H
TP12H
HF4
TP13H
TP14H
TP7H /
TP8H .. .. -
HF4 TP5H V/F ()
TP9H .. , GND
TP6H

VREF5 5
HF5 VREFC 2.5
VREFD 2.08

70

. FANUC 6T/M, 2003-2007.





JA2,JC2 OSC 500. 2ms, .0.1ms

+5v +5
+15v +15
NA2
-15v -15
GND ()
TP7X-Z /
TP8X-Z .. .. -
NB1-3 TP5X-Z V/F ()
TP9X-Z .. , GND
TP6X-Z
TP11
TP12
( :X,Y,Z)
NC1-3
TP13
TP14
( :X,Y,Z)

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.


1

FANUC 6T/M.

PLC-B-> (MT).

. FANUC 6T/M

7 6 5 4 3 2 1 0
000 OP SA STL SPL ZP4 ZPZ ZPY ZPX 0E800h

ZPX, ZPY, ZPZ, ZP4 .


SPL .
STL .
SA .
OP .

7 6 5 4 3 2 1 0
001 MA FMF SSP/TAP SRV DEN FWD RST AL 0E801h

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

7 6 5 4 3 2 1 0
002 DST BF TF SF EF MF 0E802h

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

7 6 5 4 3 2 1 0
003 M28 M24 M22 M21 M18 M14 M12 M11 0E803h

M11- M18 .
M11- M18 .
77

. FANUC 6T/M, 2003-2007.


. FANUC 6T/M

7 6 5 4 3 2 1 0
004 R08 R07 R06 R05 R04 R03 R02 R01 0E804h

R01- R08 .

7 6 5 4 3 2 1 0
005 M00 M01 M02 M30 R12 R11 R10 R09 0E805h

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

7 6 5 4 3 2 1 0
006 S28 S24 S22 S21 S18 S14 S12/HIGH S11/LWG 0E806h

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


S21- S28 S.

7 6 5 4 3 2 1 0
007 T28 T24 T22 T21 T18 T14 T12 T11 0E807h

T11-T18 T.
T21- T28 T.

7 6 5 4 3 2 1 0
008 UO7 UO6 UO5 UO4 UO3 UO2 UO1 UO0 0E808h

UO0-UO7 .

7 6 5 4 3 2 1 0
009 UO15 UO14 UO13 UO12 UO11 UO10 UO9 UO8 0E809h

UO8-UO15 .

78

. FANUC 6T/M, 2003-2007.


. FANUC 6T/M

7 6 5 4 3 2 1 0
010 EREND TLCHB TLCHA ESEND 0E80Ah

ESEND .
TLCHA .
TLCHB .
EREND .

7 6 5 4 3 2 1 0
011 T48 T44 T42 T41 T38 T34 T32 T31 0E80Bh

T31-T38 T.
T41-T48 T.

7 6 5 4 3 2 1 0
013 ZP25 ZP5 0E80Dh

ZP5 5- .
ZP25 2- 5- .

7 6 5 4 3 2 1 0
014 B38 B34 B32 B31 B28 B24 B22 B21 0E80Eh

B21-B28 B.
B31-B38 B.

7 6 5 4 3 2 1 0
015 B18 B14 B12 B11 ZP24 ZP2Z ZP2Y ZP2X 0E80Fh

ZP2X, ZP2Y, ZP2Z, ZP24 - 2- .


B11-B18 B.

79

. FANUC 6T/M, 2003-2007.


MDI/DPL c 0E810h 0E81Fh

FANUC 6T/M

7 6 5 4 3 2 1 0

D28 D24 D22 D21 D18 D14 D12 D11 0E810h

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

7 6 5 4 3 2 1 0

D48 D44 D42 D41 D38 D34 D32 D31 0E811h

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

7 6 5 4 3 2 1 0

4th Z Y X G N O 0E812h

7 6 5 4 3 2 1 0

L R Q P F K J I 0E813h

7 6 5 4 3 2 1 0

D68 D64 D62 D61 D58 D54 D52 D51 0E814h

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

7 6 5 4 3 2 1 0

D88 D84 D82 D81 D78 D74 D72 D71 0E815h

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

. FANUC 6T/M, 2003-2007.


FANUC 6T/M

7 6 5 4 3 2 1 0

PC MIS D H B M T S 0E816h

7 6 5 4 3 2 1 0

PRM DGN SET OFS 0E817h

7 6 5 4 3 2 1 0

N28 N24 N22 N21 N18 N14 N12 N11 0E818h

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

7 6 5 4 3 2 1 0

N48 N44 N42 N41 N38 N34 N32 N31 0E819h

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

7 6 5 4 3 2 1 0

SGN ALN DTN SQN POS ABS 0E81Ah

7 6 5 4 3 2 1 0

BUF PAR LBK ALM RDY 0E81Bh

7 6 5 4 3 2 1 0

DP7 DP6 DP5 DP4 DP3 DP2 DP1 DP0 0E81Eh

81

. FANUC 6T/M, 2003-2007.


(MT) ->PLC-B.

. FANUC 6T/M

7 6 5 4 3 2 1 0
032 HX *SVFX *DECX *ITX -X +X *-LX *+LX 0E820h

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

7 6 5 4 3 2 1 0
033 HY *SVFY *DECY *ITY -Y +Y *-LY *+LY 0E821h

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

7 6 5 4 3 2 1 0
034 HZ *SVFZ *DECZ *ITZ -Z +Z *-LZ *+LZ 0E822h

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

7 6 5 4 3 2 1 0
035 H4 *SVF4 *DEC4 *IT4 -4 +4 *-L4 *+L4 0E823h

*+L4, *-L4 .

82

. FANUC 6T/M, 2003-2007.


+4, -4 .
*IT4 .
*DEC4 .
*SVF4 .
H4 .

. FANUC 6T/M

7 6 5 4 3 2 1 0
036 MLK DLK ZNG OVC SBK BDT1 DRN AFL 0E824h

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

7 6 5 4 3 2 1 0
037 ZRN SRN ABS SAR FIN ST MIY MIX 0E825h

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

7 6 5 4 3 2 1 0
038 ERS RRW *SP *ESP GST SPC SPB SPA 0E826h

SPA, SPB, SPC .


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

83

. FANUC 6T/M, 2003-2007.


FANUC 6T/M
.

7 6 5 4 3 2 1 0
039 RT ROV2 ROV1 JV16 JV8 JV4 JV2 JV1 0E827h

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

7 6 5 4 3 2 1 0
040 MP4 MP2 MP1 FV16 FV8 FV4 FV2 FV1 0E828h

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

7 6 5 4 3 2 1 0
041 KEY EDT MEM T D J H S 0E829h

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

7 6 5 4 3 2 1 0
042 *SSTP SOR *-EDCZ *-EDCY *-EDCX *+EDCZ *+EDCY *+EDCX 0E82Ah

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


SOR .
*SSTP .

7 6 5 4 3 2 1 0
043 F1D SKIP MI4 WN16 WN8 WN4 WN2 WN1 0E82Bh

WN1-WN16 .
MI4 .
SKIP .
F1D F1.

84

. FANUC 6T/M, 2003-2007.


. FANUC 6T/M

7 6 5 4 3 2 1 0
044 WZS WSS WC4 WC2 WC1 0E82Ch

WC1-WC4 -
WSS -
WZS -

7 6 5 4 3 2 1 0
045 BDT7 BDT6/ BDT5/ BDT4/ BDT3/ BDT2/
AG24 AG21 0E82Dh
/AGSTB AG22 AG18 AG14 AG12 AG11

BDT2/AG11-BDT7/AGSTB /
.

7 6 5 4 3 2 1 0
047 UI7 UI6 UI5 UI4 UI3 UI2 UI1 UI0 0E82Fh

UI0-UI7 .

7 6 5 4 3 2 1 0
050 BDT9/ BDT8/
5NG GRB GRA 0E832h
AGJ AGST

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

7 6 5 4 3 2 1 0
051 4NG POS UC4 UCZ UCY UCX 0E833h

UCX, UCY, UCZ, UC4 -


POS -
4NG - 4- .

7 6 5 4 3 2 1 0
052 ED7 ED6 ED5 ED4 ED3 ED2 ED1 ED0 0E834h

ED0-ED7 .

85

. FANUC 6T/M, 2003-2007.


. FANUC 6T/M

7 6 5 4 3 2 1 0
053 ED15 ED14 ED13 ED12 ED11 ED10 ED9 ED8 0E835h

ED8-ED15 - .

7 6 5 4 3 2 1 0
054 ESTB EA6 EA5 EA4 EA3 EA2 EA1 EA0 0E836h

EA0-EA6, ESTB - .

7 6 5 4 3 2 1 0
055 UI15 UI14 UI13 UI12 UI11 UI10 UI9 UI8 0E837h

UI8-UI15 - .

MDI/CRTC c 0E838h 0E83Fh

7 6 5 4 3 2 1 0

7 6 5 4 3 2 1 0 0E838h

7 6 5 4 3 2 1 0

/ C EOB - . 9 8 0E839h

7 6 5 4 3 2 1 0
W
I Z Y X G N O 0E83Ah
4-th

7 6 5 4 3 2 1 0

L M T S R F K J 0E83Bh

86

. FANUC 6T/M, 2003-2007.


. FANUC 6T/M

7 6 5 4 3 2 1 0

(ABS) POS CURSD CURSU PAGED PAGEU ORGIN RES 0E83Ch

7 6 5 4 3 2 1 0

B D/H Q P AUX MACRO MENU 0E83Dh

7 6 5 4 3 2 1 0

PRG OFS CMD SET PRM ALM DGN 0E83Eh

7 6 5 4 3 2 1 0

READ PUNCH INPUT START ALT INS DLT 0E83Fh

(NC)->PLC-B.

7 6 5 4 3 2 1 0
064 OP SA STL SPL ZP4 ZPZ ZPY ZPX 0E840h

ZPX, ZPY, ZPZ, ZP4 .


SPL .
STL .
SA .
OP .

7 6 5 4 3 2 1 0
065 MA FMF SSP/TAP SRV DEN FWD RST AL 0E841h

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

87

. FANUC 6T/M, 2003-2007.


. FANUC 6T/M

7 6 5 4 3 2 1 0
066 DST BF TF SF EF MF 0E842h

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

7 6 5 4 3 2 1 0
067 M28 M24 M22 M21 M18 M14 M12 M11 0E843h

M11- M18 .
M11- M18 .

7 6 5 4 3 2 1 0
068 R08 R07 R06 R05 R04 R03 R02 R01 0E844h

R01- R08 .

7 6 5 4 3 2 1 0
069 M00 M01 M02 M30 R12 R11 R10 R09 0E845h

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

7 6 5 4 3 2 1 0
070 S28 S24 S22 S21 S18 S14 S12/HIGH S11/LWG 0E846h

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.


. FANUC 6T/M

7 6 5 4 3 2 1 0
071 T28 T24 T22 T21 T18 T14 T12 T11 0E847h

T11-T18 T.
T21- T28 T.

7 6 5 4 3 2 1 0
074 EREND TLCHB TLCHA ESEND 0E84Ah

ESEND .
TLCHA .
TLCHB .
EREND .

7 6 5 4 3 2 1 0
075 T48 T44 T42 T41 T38 T34 T32 T31 0E84Bh

T31-T38 T.
T41-T48 T.

7 6 5 4 3 2 1 0
078 B38/S28 B34/S24 B32/S22 B31/S21 B28/S18 B24/S14 B22/S12 B21/S11 0E84Eh

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

7 6 5 4 3 2 1 0
079 B18/S58 B14/S54 B12/S52 B11/S51 ZP24 ZP2Z ZP2Y ZP2X 0E84Fh

ZP2X, ZP2Y, ZP2Z, ZP24 - 2- .


B11/S51-B18/S58 B/ S.

89

. FANUC 6T/M, 2003-2007.


7 6 5 4 3 2 1 0
080 UO7 UO6 UO5 UO4 UO3 UO2 UO1 UO0 0E850h

UO0-UO7 .

7 6 5 4 3 2 1 0
081 UO15 UO14 UO13 UO12 UO11 UO10 UO9 UO8 0E851h

UO8-UO15 .

7 6 5 4 3 2 1 0
082 ZP25 ZP5 0E852h

ZP5 5- .
ZP25 2- 5- .

7 6 5 4 3 2 1 0
083 MZNG M38 M34 M32 M31 0E853h

M31-M38 .
MZNG . Z.

0E854h 0E857h.

7 6 5 4 3 2 1 0
084 MMLK MDLK MMI4 MMI5 MSBK MBDT1 MDRN MAFL 0E854h

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

7 6 5 4 3 2 1 0
085 MBDT9 MBDT8 MIY MIX 0E855h

90

. FANUC 6T/M, 2003-2007.


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

7 6 5 4 3 2 1 0
086 MBDT7 MBDT6 MBDT5 MBDT4 MBDT3 MBDT2 0E856h

MBDT2-MBDT7 .

7 6 5 4 3 2 1 0
087 MABS 0E857h

MABS - / .

PLC-B ->(CNC).

7 6 5 4 3 2 1 0
096 HX *SVFX *ITX -X +X 0E860h

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

7 6 5 4 3 2 1 0
097 HY *SVFY *ITY -Y +Y 0E861h

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

7 6 5 4 3 2 1 0
098 HZ *SVFZ *ITZ -Z +Z 0E862h

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

. FANUC 6T/M, 2003-2007.


7 6 5 4 3 2 1 0
099 H4 *SVF4 *IT4 -4 +4 0E863h

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

7 6 5 4 3 2 1 0
100 MLK DLK ZNG OVC SBK BDT1 DRN AFL 0E864h

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

7 6 5 4 3 2 1 0
101 ZRN SRN ABS SAR FIN ST MIY MIX 0E865h

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

7 6 5 4 3 2 1 0
102 ERS RRW *SP *ESP GST SPC SPB SPA 0E866h

SPA, SPB, SPC .


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

92

. FANUC 6T/M, 2003-2007.


7 6 5 4 3 2 1 0
103 RT ROV2 ROV1 JV16 JV8 JV4 JV2 JV1 0E867h

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

7 6 5 4 3 2 1 0
104 MP4 MP2 MP1 FV16 FV8 FV4 FV2 FV1 0E868h

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

7 6 5 4 3 2 1 0
105 KEY EDT MEM T D J H S 0E869h

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

7 6 5 4 3 2 1 0
106 *SSTP SOR *-EDCZ *-EDCY *-EDCX *+EDCZ *+EDCY *+EDCX 0E86Ah

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


SOR .
*SSTP .

7 6 5 4 3 2 1 0
107 F1D SKIP MI4 WN16 WN8 WN4 WN2 WN1 0E86Bh

WN1-WN16 .
MI4 .
SKIP .
F1D F1.

93

. FANUC 6T/M, 2003-2007.


7 6 5 4 3 2 1 0
108 R08I R07I R06I R05I R04I R03I R02I R01I 0E86Ch

R01I- R08I .

7 6 5 4 3 2 1 0
109 SIND R14I R12I R11I R10I R09I 0E86Dh

R09I- R14I .
SIND .

7 6 5 4 3 2 1 0
110 TLSKP TLRST TL08 TL04 TL02 TL01 0E86Eh

TL01-TL08 .
TLRST .
TLSKP .

7 6 5 4 3 2 1 0
114 BDT9/ BDT8/
5NG GRB GRA 0E872h
AGJ AGST

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

7 6 5 4 3 2 1 0
115 4NG POS UC4 UCZ UCY UCX 0E873h

UCX, UCY, UCZ, UC4 -


POS -
4NG - 4- .

7 6 5 4 3 2 1 0
116 ED7 ED6 ED5 ED4 ED3 ED2 ED1 ED0 0E874h

ED0-ED7 .

94

. FANUC 6T/M, 2003-2007.


7 6 5 4 3 2 1 0
117 ED15 ED14 ED13 ED12 ED11 ED10 ED9 ED8 0E875h

ED8-ED15 - .

7 6 5 4 3 2 1 0
118 ESTB EA6 EA5 EA4 EA3 EA2 EA1 EA0 0E876h

EA0-EA6, ESTB - .

7 6 5 4 3 2 1 0
119 H5 *SVF5 *IT5 -5 +5 0E877h

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

7 6 5 4 3 2 1 0
120 UINT TL64 TL32 TL16 0E878h

TL16-TL64 .
UINT .

7 6 5 4 3 2 1 0
121 BDT7 BDT6/ BDT5/ BDT4/ BDT3/ BDT2/
AG24 AG21 0E879h
/AGSTB AG22 AG18 AG14 AG12 AG11

BDT2/AG11-BDT7/AGSTB /
.

7 6 5 4 3 2 1 0
122 UI7 UI6 UI5 UI4 UI3 UI2 UI1 UI0 0E87Ah

UI0-UI7 .

95

. FANUC 6T/M, 2003-2007.


7 6 5 4 3 2 1 0
123 UI15 UI14 UI13 UI12 UI11 UI10 UI9 UI8 0E87Bh

UI8-UI15 .

7 6 5 4 3 2 1 0
124 ZNGE MLKE MI4E MIYE MIXE 0E87Ch

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.


2

FANUC 6T/M.

FANUC 6T/M

7 6 5 4 3 2 1 0

GV28 GV24 GV22 GV21 GV18 GV14 GV12 GV11 0E5E0h

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

7 6 5 4 3 2 1 0

GV48 GV44 GV42 GV41 GV38 GV34 GV32 GV31 0E5E2h

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

7 6 5 4 3 2 1 0

GV68 GV64 GV62 GV61 GV58 GV54 GV52 GV51 0E5E4h

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

7 6 5 4 3 2 1 0

X X X X GV78 GV74 GV72 GV71 0E5E6h

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

7 6 5 4 3 2 1 0

GH28 GVH4 GVH2 GH21 GH18 GH14 GH12 GH11 0E5E8h

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

7 6 5 4 3 2 1 0

GH48 GH44 GH42 GH41 GH38 GH34 GH32 GH31 0E5EAh

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

97

. FANUC 6T/M, 2003-2007.


FANUC 6T/M

7 6 5 4 3 2 1 0

GH68 GH64 GH62 GH61 GH58 GH54 GH52 GH51 0E5ECh

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

7 6 5 4 3 2 1 0

X X X X GH78 GH74 GH72 GH71 0E5EEh

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

7 6 5 4 3 2 1 0

DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 0E5F0h

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

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

7 6 5 4 3 2 1 0

X X X X AB2 AB1 AB0 DB8 0E5F1h

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

DB8 CRT-A, A20B-0007-0070.


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

7 6 5 4 3 2 1 0

X X X X X X X WP 0E5F2h

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

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

98

. FANUC 6T/M, 2003-2007.


FANUC 6T/M

7 6 5 4 3 2 1 0

X X X RA4 RA3 RA2 RA1 RA0 0E5F4h

Register Address for CRTC Display [WR], RACRTC

RA0-RA4 (Register Address for CRTC) CRTC.

7 6 5 4 3 2 1 0

RD7 RD6 RD5 RD4 RD3 RD2 RD1 RD0 0E5F6h

Register Data for CRTC Display [WR], RDCRTC

RD0-RD7 (Register Data for CRTC) CRTC.

7 6 5 4 3 2 1 0

RES MHE X X BLK X RS1 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 6 5 4 3 2 1 0

D7 D6 D5 D4 D3 D2 D1 D0 0E760h

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

7 6 5 4 3 2 1 0

D7 D6 D5 D4 D3 D2 D1 D0 0E762h

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

7 6 5 4 3 2 1 0

D7 D6 D5 D4 D3 D2 D1 D0 0E764h

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

99

. FANUC 6T/M, 2003-2007.


FANUC 6T/M

7 6 5 4 3 2 1 0

SC1 SC0 RL1 RL0 M2 M1 M0 BCD 0E766h

Timer 8253 Control [RD/WR], TCNTRLR

7 6 5 4 3 2 1 0

D7 D6 D5 D4 D3 D2 D1 D0 0E780h

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


PICRWD

7 6 5 4 3 2 1 0

D7 D6 D5 D4 D3 D2 D1 D0 0E782h

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


PICRWD1

7 6 5 4 3 2 1 0

*RMT *ALM *CLR CLT *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 6 5 4 3 2 1 0

*FME *ERASE *BRW BBC *BF3 *BF2 *BF1 *BF0 0E7C1h

Bubble Memory Interface [WR], OBMUI.


100

. FANUC 6T/M, 2003-2007.


*FME - (Free Mode Enable),
/. .
*ERASE . 0
.
*BRW - / .
BBC - . 1.
*BF0 -*BF3 DMA .
0. .

DMA.

*BF3 *BF2 *BF1 *BF0 RAM DMA

1 1 1 1 0E800h
1 1 1 0 0E840h
1 1 0 1 0E880h
1 1 0 0 0E8C0h
1 0 1 1 0E900h
1 0 1 0 0E940h
1 0 0 1 0E980h
1 0 0 0 0E9C0h
0 1 1 1 0EA00h
0 1 1 0 0EA40h
0 1 0 1 0EA80h
0 1 0 0 0EAC0h
0 0 1 1 0EB00h
0 0 1 0 0EB40h
0 0 0 1 0EB80h
0 0 0 0 0EBC0h

7 6 5 4 3 2 1 0

X X AXM2 AXL2 AXM1 AXM0 AXL1 AXL0 0E7C2h

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


.
101

. FANUC 6T/M, 2003-2007.


AXL0, AXL1, AXM0, AXM1 X,Y,Z.
AXL2, AXM2 4,5

FANUC 6T/M
7 6 5 4 3 2 1 0

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 6 5 4 3 2 1 0

*IRQ2 *IRQ3 X CLWAL X X X 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 6 5 4 3 2 1 0

X X X *DWT *DD8 *DD4 *DD2 *DD1 0E7C5h

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

*DD1-*DD8 (Position Display Data) .


*DWT (Data Write) .

7 6 5 4 3 2 1 0
*CLWB
*PRDY CMDZ *ENB5 *TDO *ENB4 *ENBZ *ENBY *ENBX 0E7C6h

Servo Control Register [WR], SVCNT

102

. FANUC 6T/M, 2003-2007.


*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 5 4 3 2 1 0

X CLPA X X X DSCGZ DSCGY 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 6 5 4 3 2 1 0

WBALY PCY FBBY FBAY WBALX PCX FBBX FBAX 0E7C8h

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.


7 6 5 4 3 2 1 0

E2532/2764 WDTO *HB *HA WBALZ PCZ FBBZ 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 6 5 4 3 2 1 0

DA7 DA6 DA5 DA4 DA3 DA2 DA1 DA0 0E7CCh

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

DA0- DA7 GPI .

7 6 5 4 3 2 1 0

X X X CHK X *STB *RW *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 6 5 4 3 2 1 0

D7 D6 D5 D4 D3 D2 D1 D0 0E7D0h

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

104

. FANUC 6T/M, 2003-2007.


FANUC 6T/M
7 6 5 4 3 2 1 0

X X X X X *STB *RW *ALP 0E7D2h

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


.

7 6 5 4 3 2 1 0

*P8 *P7 *P6 *P5 *P4 *P3 *P2 *P1 0E7E0h

PTR Data Register [RD], PTRDAT . 711.

*P1-*P8 (PTR Data) .

7 6 5 4 3 2 1 0

*FMA B256K C1 C2 X X X X 0E7E1h

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


.

*FMA / (Free Mode


Ascnowlege).
B256K , 256 .
C1,C2
1 4-.

B256K C1 C2

0 1 1 20 A87L-0001-0015

0 0 1 40 A87L-0001-0016

1 1 1 80 A87L-0001-0017

1 0 0 320 A87L-0001-0018

105

. FANUC 6T/M, 2003-2007.


FANUC 6T/M
7 6 5 4 3 2 1 0

SPT *TERR *RWT RDT *REEL PWE X 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.

7 6 5 4 3 2 1 0

X *5MHZ X LOAD *SLRDY TRALM DIF *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 6 5 4 3 2 1 0

*MPS *MP6 *MP5 *MP4 *MP3 *MP2 *MP1 *MP0 0E7E4h

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.


FANUC 6T/M

7 6 5 4 3 2 1 0

X X X X *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 6 5 4 3 2 1 0

*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 5 4 3 2 1 0

X X X X 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 6 5 4 3 2 1 0

*RAM X X X *SEQ X X X 0E7E8h

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


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

. FANUC 6T/M, 2003-2007.


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

FANUC 6T/M

7 6 5 4 3 2 1 0

X X X X *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 ,
.

7 6 5 4 3 2 1 0

X X X X *PCBC X X X 0E7ECh

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

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

7 6 5 4 3 2 1 0
FACIT/
*CRT/P *GRC/P *14/9 IRM DOG *CR9 X ASR
0E7EEh

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.


FANUC 6T/M
7 6 5 4 3 2 1 0

P7 P6 P5 P4 P3 P2 P1 P0 0E7F0h

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

P0-P7 (ASR,RS232C DI/DO Data) /


.

7 6 5 4 3 2 1 0
RD/WR
S7 S6 S5 S4 S3 S2 S1 S0 0E7F2h

RD X X ERR X TE X X PR

WR X X X X X X X PI

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 6 5 4 3 2 1 0

CLDCD PINH FACIT ASR X X X 5MHZ 0E7F4h

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.


FANUC 6T/M

7 6 5 4 3 2 1 0

BR7 BR6 BR5 BR4 BR3 BR2 BR1 BR0 0E7F6h

X X X X DCD *RXRDY *TXRDY X

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) .

7 6 5 4 3 2 1 0

*CLPTY *CLTMG X FLG4M FLG3M FLG2M FLG1M FLG0M 0E7F8h

PTYAL TMGAL WDAL FLG4S FLG3S FLG2S FLG1S FLG0S

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


.

7 6 5 4 3 2 1 0

WBA5 WBA4 OVL2 *VRDY2 OH2 X X X 0E7FAh

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.


7 6 5 4 3 2 1 0

GCD7 GCD6 GCD5 GCD4 GCD3 GCD2 GCD1 GCD0 0E7FCh

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

7 6 5 4 3 2 1 0

1 PC5 FBB5 FBA5 1 PC4 FBB4 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 5 4 3 2 1 0

X X 8M DORSV PALMCR RWTOC HOLD2 HOLD1 15FFEh

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

7 6 5 4 3 2 1 0

X X PCRDY X HOLDAM SCSER PALMH PALML 15FFEh

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

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

111

. FANUC 6T/M, 2003-2007.


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.

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