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Special Relay for Model Management in Fics-IV User Programming     13. Sub-Program (User Program) Select Relay and DM     14. Command Registration Table (DM and Relay)     15. List of Touch Switch Key Code           Introduction     The Fics-PT Option is the software interface protocol between Dynaservo touch panel (including Fics-Atoms TPC1 touch screen controller) and Dynaservo motion control software Fics-IV. The information exchange between the two is accomplished through DM memory.           1. Summary of Fics-IV DM Allocations     Usage DM No. Data Type Data Length Remark Current Unit DM0031 Digit Display BCD 1   TPC1 System DI-JOG DM0032 Relay   System Use Error Unit DM0033-DM0034 Digit Display     Error Message No. DM0035 Digit Display     Error Message DM0036-DM0043 Text Display 16 Characters   Lamp DM0044-DM0075 Relay   DO:01-DO:64 Touch Switch DM0076-DM0107 Relay   DI:01-DI;64 DI Monitor DM0108-DM0139 Relay   DI:01-DI:64 Current Position Monitor (22 axis) DM0140-DM0249 Text Display 10 Characters   Current Program DM0297 Digit Display BCD 3 digits   Current Step DM0298 Digit Display BCD 4 digits   Total Steps in Current Program DM0299 Digit Display BCD 4 digits   Flag Variables DM0300-DM0305 Relay   FLAG01-FLAG96 Variables DM0306-DM0497 Long   VAR01-VAR96 MON Variables DM0498-DM0689 Long   MON01-MON96 Error History (16 errors) DM0690-DM0817 Text Display 16 Characters   Fics Mode ("Auto/Manu..") DM0818-DM0819 Text Display 4 Characters   Auto Mode ("Auto/Step...") DM0820-DM0821 Text Display 4 Characters   Coil Winding Principle Axis Speed DM0822-DM0823 Digit Display BCD 5 digits   Coil Winding Total Number of Turns DM0824-DM0825 Digit Display BCD 5 digits   Speed Overwrite (JOG) DM0826 Digit Input Decimal 3 digits   Speed Overwrite (PTP) DM0827 Digit Input Decimal 3 digits   Speed Overwrite (DDA) DM0828 Digit Input Decimal 3 digits   Current Tool No. DM0829 Digit Display BCD 2 digits   Current Tool Name DM0830-DM0837 Text Display 16 Characters   Current Tool PGM No. DM0838 Digit Display BCD 3 digits   Tool PGM Step No. DM0839 Digit Display   BCD 4 digits   Program Execution Info DM1000-DM1089 Text Display   Auto Execution Monitor Instruction  Parameter DM2048-DM2067       Password DM2048 Text Input     Point No., X Speed Overwrite (rate) Timer Value DM2048 Digit Input     Arch Motion Percentage Y Speed Overwrite (rate) DM2050 Digit Input     Z Speed Overwrite (rate) DM2052 Digit Input     W Speed Overwrite (rate) DM2054 Digit Input     U Speed Overwrite (rate) DM2056 Digit Input     V Speed Overwrite (rate) DM2058 Digit Input     Selected Command Text DM2068 Text Display 16 Characters   Program Display Buffer DM5500-DM5780 Text Display 40 Characters each row   Main Tool Select DM2100-DM2590       Sub Prog (tool) Select DM2600-DM3090       Instruction Text (Main) DM2068-DM2075       Tool Name DM2100-DM2599       Sub Program DM2600-DM3099       Instruction Text (Sub) DM3100-DM3899               2. DI Port Mapping     The ON/OFF status of touch switches etc. on screen of touch panel is directly mapped to DI ports of Fics-IV. PLC No. 15 14 13 12 11 10 9 8 Bit 7 6 5 4 3 2 1 0 Bit DM0076** Fics-I/O port <DI:02> Fics-I/O port <DI:01> DM0077** Fics-I/O port <DI:04> Fics-I/O port <DI:03> DM0078** Fics-I/O port <DI:06> Fics-I/O port <DI:05> DM0079** Fics-I/O port <DI:08> Fics-I/O port <DI:07> DM0080** Fics-I/O port <DI:10> Fics-I/O port <DI:09> DM0081** Fics-I/O port <DI:12> Fics-I/O port <DI:11> DM0082** Fics-I/O port <DI:14> Fics-I/O port <DI:13> DM0083** Fics-I/O port <DI:16> Fics-I/O port <DI:15> DM0084** Fics-I/O port <DI:18> Fics-I/O port <DI:17> DM0085** Fics-I/O port <DI:20> Fics-I/O port <DI:19> DM0086** Fics-I/O port <DI:22> Fics-I/O port <DI:21> DM0087** Fics-I/O port <DI:24> Fics-I/O port <DI:23> DM0088** Fics-I/O port <DI:26> Fics-I/O port <DI:25> DM0089** Fics-I/O port <DI:28> Fics-I/O port <DI:27> DM0090** Fics-I/O port <DI:30> Fics-I/O port <DI:29> DM0091** Fics-I/O port <DI:32> Fics-I/O port <DI:31> Switches on touch panel and Fics-I/O module (Fics-IOM) share ports <DI:01> - <DI:32>. When either the touch switch is ON, or the hardware DI bit of Fics-I/O module is ON, the corresponding DI bit is ON. Ex. To assign a touch switch for turning ON/OFF bit 1 of Fics-I/O <DI:01> port, simply draw a touch switch on touch panel and specify its PLC No. (Relay No.) as DM007601.           3. DI Monitoring     To monitor the ON/OFF status of DI, use the following DM. For example, to monitor the ON/OFF status of DI:01-1, place a lamp on touch panel and assign the Relay No. of the lamp as DM010801. The DM shown here are only for DI monitoring, not for DI input. PLC No. 15 14 13 12 11 10 9 8 Bit 7 6 5 4 3 2 1 0 Bit DM0108** Fics-I/O port <DI:02> Fics-I/O port <DI:01> DM0109** Fics-I/O port <DI:04> Fics-I/O port <DI:03> DM0110** Fics-I/O port <DI:06> Fics-I/O port <DI:05> DM0111** Fics-I/O port <DI:08> Fics-I/O port <DI:07> DM0112** Fics-I/O port <DI:10> Fics-I/O port <DI:09> DM0113** Fics-I/O port <DI:12> Fics-I/O port <DI:11> DM0114** Fics-I/O port <DI:14> Fics-I/O port <DI:13> DM0115** Fics-I/O port <DI:16> Fics-I/O port <DI:15> DM0116** Fics-I/O port <DI:18> Fics-I/O port <DI:17> DM0117** Fics-I/O port <DI:20> Fics-I/O port <DI:19> DM0118** Fics-I/O port <DI:22> Fics-I/O port <DI:21> DM0119** Fics-I/O port <DI:24> Fics-I/O port <DI:23> DM0120** Fics-I/O port <DI:26> Fics-I/O port <DI:25> DM0121** Fics-I/O port <DI:28> Fics-I/O port <DI:27> DM0122** Fics-I/O port <DI:30> Fics-I/O port <DI:29> DM0123** Fics-I/O port <DI:32> Fics-I/O port <DI:31>           4. DO Port Mapping     PLC No. 15 14 13 12 11 10 9 8 Bit 7 6 5 4 3 2 1 0 Bit DM0044** Fics-I/O port <DO:02> Fics-I/O port <DO:01> DM0045** Fics-I/O port <DO:04> Fics-I/O port <DO:03> DM0046** Fics-I/O port <DO:06> Fics-I/O port <DO:05> DM0047** Fics-I/O port <DO:08> Fics-I/O port <DO:07> DM0048** Fics-I/O port <DO:10> Fics-I/O port <DO:09> DM0049** Fics-I/O port <DO:12> Fics-I/O port <DO:11> DM0050** Fics-I/O port <DO:14> Fics-I/O port <DO:13> DM0051** Fics-I/O port <DO:16> Fics-I/O port <DO:15> DM0052** Fics-I/O port <DO:18> Fics-I/O port <DO:17> DM0053** Fics-I/O port <DO:20> Fics-I/O port <DO:19> DM0054** Fics-I/O port <DO:22> Fics-I/O port <DO:21> DM0055** Fics-I/O port <DO:24> Fics-I/O port <DO:23> DM0056** Fics-I/O port <DO:26> Fics-I/O port <DO:25> DM0057** Fics-I/O port <DO:28> Fics-I/O port <DO:27> DM0058** Fics-I/O port <DO:30> Fics-I/O port <DO:29> DM0059** Fics-I/O port <DO:32> Fics-I/O port <DO:31> Lamps on touch panel  and Fics-IO module share the same output ports <DO:01> - <DO:10>, while <DO:11> and <DO:32> are outputs  only for touch panel. Ex. To display, on touch panel, the ON/OFF status of DO:01-1 (DO channel 01, bit 1), simply draw a lamp and set its PLC No. as DM004401.           5. FLAG01-FLAG96 Variables Mapping     The Fics-IV FLAG variables are mapped to controllers as follows. PLC No. 15 14 13 12 11 10 9 8 Bit 7 6 5 4 3 2 1 0 Bit DM0300 F16 F15 F14 F13 F12 F11 F10 F09 F08 F07 F06 F05 F04 F03 F02 F01 DM0301 F32 F31 F30 F29 F28 F27 F26 F25 F24 F23 F22 F21 F20 F19 F18 F17 DM0302 F48 F47 F46 F45 F44 F43 F42 F41 F40 F39 F38 F37 F36 F35 F34 F33 DM0303 F64 F63 F62 F61 F60 F59 F58 F57 F56 F55 F54 F53 F52 F51 F50 F49 DM0304 F80 F79 F78 F77 F76 F75 F74 F73 F72 F71 F70 F69 F68 F67 F66 F65 DM0305 F96 F95 F94 F93 F92 F91 F90 F89 F88 F87 F86 F85 F84 F83 F82 F81 The ON/OFF status of the FLAGs can also be set with touch switches on touch panel. To read touch switches status into FLAG, use Fics-IV PT-RD command. To write FLAG status onto TPC screen, use Fics-IV PT-WT command. PT-RD and PT-WT commands can be used in system tasks. Ex. The PLC number of F10 is DM030009           6. VAR01-VAR96 Mapping     The Fics-IV VARiables are mapped to Fics controllers as follows. PLC No. 15 14 13 12 11 10 9 8 Bit 7 6 5 4 3 2 1 0 Bit   DM0306 2nd byte 1st byte VAR01   4th byte 3rd byte DM0308 2nd byte 1st byte VAR02   4th byte 3rd byte DM0310     VAR03 DM0312     VAR04 DM0314     VAR05 DM0316     VAR06 DM0318     VAR07 DM0320     VAR08 DM0322     VAR09 DM0324     VAR10 DM0326     VAR11 DM0328     VAR12 DM0330     VAR13 DM0332     VAR14 DM0334     VAR15 DM0336     VAR16 DM0338     VAR17 DM0340     VAR18 DM0342     VAR19 DM0344     VAR20 DM0346     VAR21 DM0348     VAR22 DM0350     VAR23 DM0352     VAR24 DM0354     VAR25 DM0356     VAR26 DM0358     VAR27 DM0360     VAR28 DM0362     VAR29 DM0364     VAR30 DM0366     VAR31 DM0368     VAR32 DM0370     VAR33 DM0372     VAR34 DM0374     VAR35 DM0376     VAR36 DM0378     VAR37 DM0380     VAR38 DM0382     VAR39 DM0384     VAR40 DM0386     VAR41 DM0388     VAR42 DM0390     VAR43 DM0392     VAR44 DM0394     VAR45 DM0396     VAR46 DM0398     VAR47 DM0400     VAR48 DM0402     VAR49 DM0404     VAR50 DM0406     VAR51 DM0408     VAR52 DM0410     VAR53 DM0412     VAR54 DM0414     VAR55 DM0416     VAR56 DM0418     VAR57 DM0420     VAR58 DM0422     VAR59 DM0424     VAR60 DM0426     VAR61 DM0428     VAR62 DM0430     VAR63 DM0432     VAR64 DM0434     VAR65 DM0436     VAR66 DM0438     VAR67 DM0440     VAR68 DM0442     VAR69 DM0444     VAR70 DM0446     VAR71 DM0448     VAR72 DM0450     VAR73 DM0452     VAR74 DM0454     VAR75 DM0456     VAR76 DM0458     VAR77 DM0460     VAR78 DM0462     VAR79 DM0464     VAR80 DM0466     VAR81 DM0468     VAR82 DM0470     VAR83 DM0472     VAR84 DM0474     VAR85 DM0476     VAR86 DM0478     VAR87 DM0480     VAR88 DM0482     VAR89 DM0484     VAR90 DM0486     VAR91 DM0488     VAR92 DM0490     VAR93 DM0492     VAR94 DM0494     VAR95 DM0496 2nd byte 1st byte VAR96   4th byte 3rd byte The value of VARiables in Fics-IV can be displayed on touch panel by using "Digit Display/Input" object of WinPANEL. Data entered from touch panel is transferred to Fics-IV with "PT-RD" command, and the VAR** data in Fics-IV is transferred to touch panel with "PT-WT" command. Data range should be between -9999999 to 99999999. Note that VARiables are long integers with sign.           7. MON01-MON96 Mapping     The Fics-IV MONitor varables are mapped to Fics controllers as follows. PLC No. 15 14 13 12 11 10 9 8 Bit 7 6 5 4 3 2 1 0 Bit   DM0498 2nd byte 1st byte MON01   4th byte 3rd byte DM0500 2nd byte 1st byte MON02   4th byte 3rd byte ..... ..... ...... ....   ...... ..... DM0688 2nd byte 1st byte MON96   4th byte 3rd byte The value of MON variables in Fics-IV can be displayed on touch panel by using "Digit Display/Input" object of WinPANEL. Data entered from touch panel is transferred to Fics-IV with "PT-RD" command, and the MON** data in Fics-IV is transferred to touch panel with "PT-WT" command. Data range should be between -9999999 to 99999999. Note that MON variables are long integers with sign.           8. Current Position Monitoring     Axis No.1 DM0140 Output Format: +/- 0000.00mm (For mm unit) +/-000000 (For pulse unit) +/-000.0 Deg (For tilt unit) Text Display 10 Characters Axis No.2 DM0145   ... ... ... ...       Axis No.16 DM0215       The current position of each axis in system configuration can be monitored.     9. Error Message     Fics-IV error messages are mapped to DM0036- DM0043 (16 byte string). To display messages of Fics controllers on touch panel, create a string with 16 NULL characters and assign the PLC No. as DM0036.           10. Error History     In Fics-IV, up to 16 error history is stored in the following DM memory with the newest error stored in DM0690. Error History DM Data Type Data Length No.1 DM0690 Text Display 16 Charaters No.2 DM0698     No.3 DM0706     ....       No.16 DM0810               11. Program Execution Info     In Fics-IV, auto execution program information can be accessed from the following DM Data format: "PPP NNNN IF******" PPP: Program No. NNNN: Step No. Program DM Data Type Data Length Main Prog DM1000 Text Display 20 Characters Task Prog1 DM1010     Task Prog2 DM1020             Task Prog8 DM1080               12. Special Relay for Model Management in Fics-IV User Programming     Relay for editing purpose: Relay No. Name Description 12000 Command Set Set the selected command 12001 Position Jump to PD teaching screen if current step is POINT command 12002 Insert Insert a step before current step 12003 Delete Delete current 12004 UP Show previous page 12005 DOWN Show the next page 12006   Move cursor to the previous step 12007   Move cursor to the next step 12008 FROM PGM COPY FROM 12009 TO PGM COPY TO 12010 PGM-DEL PGM DELETE 12011 CANCEL Cancel PGM-COPY, DEL etc. 12100 OVERWRITE SET Set speed overwrite 12101 HST-CLR Clear error history Relay Name Relay No. Tool Select Relay 12200-12250 Manual Program Selection Relay 12600-12650 Instruction Select Relay 13000-13100           13. Sub-Program (User Program) Select Relay and DM     Model  No Relay No DM No PGM No Step No Example of Model Name Text 1 12600 2600 2608 2609 MODEL #01 VP001 2 12601 2610 2618 2619 MODEL #02 VP002 3 12602 2620 2628 2629 MODEL #03 VP003 4 12603 2630 2638 2639   5 12604 2640 2648 2649   6 12605 2650 2658 2659   7 12606 2660 2668 2669   8 12607 2670 2678 2679   9 12608 2680 2688 2689   10 12609 2690 2698 2699   ....           50 12901 3090 3098 3099                         14. Command Registration Table (DM and Relay)     No. Relay No DM No. for Command Text Command Parameter 1 Parameter 2 Parameter 3 Parameter 4 Example of Command 1 13000 3100 TIMER         TIMER 2 13001 3108 SPEED         SPEED 3 13002 3116 POINT |> X**     POINT |> (X**) 4 13003 3124 POINT |> *Y*     POINT |> (*Y*) 5 13004 3132 POINT |> **Z     POINT |> (**Z) 6 13005 3140 POINT |> XY*     POINT |> (XY*) 7 13006 3148             8 13007 3156             9 13008 3164             10 13009 3172             11 13010 3180 CALL 301       PICK UP 12 13011 3188 OUT 3 1 OFF   MOLD OPEN 13 13012 3196 IN 5 2 1 43 VERIFY MLD OPEN 14 13013 3204 OUT 3 1 ON   MOLD CLOSE 15 13014 3212 IN 5 1 1 42 VERIFY MLD CLOSE 16 13015 3220 CALL 302       PLACE DOWN ...                 100 13603 3892                       15. List of Touch Switch Key Code     Char RT1code (HEX) DynaPANEL Output Code HEX DEC 0   30 48 1   31 49 2   32 50 3   33 51 4   34 52 5   35 53 6   36 54 7   37 55 8   38 56 9   39 57 Next Field   02 02 Prev Field   03 03 CLR   01 01 BS   08 08 ENT   0D 13 HOME   0C 12         PT3 Select Next TouchSwitch   12 18 PT3 Select Previous TouchSwitch   13 19 PT3 Up Field   18 24 PT3 Down Field   19 25 PT3 Left Field   1A 26 PT3 Right Field   1B 27 PT3 Move to the First TouchSwitch   1C 28 PT3 Enter the TouchSwitch   1D 29 PT3 Turn ON the Relay of the selected TouchSwitch   1E 30 PT3 Turn OFF the Relay of the selected TouchSwitch   1F 31 A   41 65 B   42 66 C   43 67 D   44 68 E   45 69 F   46 70 G   47 71 H   48 72 I   49 73 J   4A 74 K   4B 75 L   4C 76 M   4D 77 N   4E 78 O   4F 79 P   50 80 Q   51 81 R   52 82 S   53 83 T   54 84 U   55 85 V   56 86 W   57 87 X   58 88 Y   59 89 Z   5A 90         Point Data   7F 127 Tool Selection   7E 126 Overwrite Setting   7D 125