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FL-net Board Operators manual Page 41

Operators manual
B-63434EN/02 DESCRIPTION 2.CYCLIC TRANSMISSION
- 33 -
2.6 Notes on Allocation in the PMC Area
When allocating common memory area 1 and area 2 in the PMC area,
observe the following caution.
Example of setting
When the common memory areas of the following sizes are allocated
for nodes #A, #B (local node), #C, and #D:
Node #A: Area 1→A1 words Area 2→A2 words
Node #B: Area 1→B1 words Area 2→B2 words
Node #C: Area 1→C1 words Area 2→C2 words
Node #D: Area 1→D1 words Area 2→D2 words
CAUTION
For reasons related to the specifications of the FANUC
FL-net board, set the size of common memory area 1
and area 2 of the local node that are allocated in the
PMC area and the size of common memory area 1
and area 2 of another node that are allocated in the
PMC area so that the total size of them is 1024 words
or less.
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Contents Summary of FL-net Board Operators manual

  • Page 1GE Fanuc Automation Europe Computer Numerical Controls FL - Net Board Operator’s Manual B-63434EN/02 TECHNOLOGY AND MORE
  • Page 2
  • Page 3B-63434EN/02 SAFETY PRECAUTIONS SAFETY PRECAUTIONS This section describes the safety precautions related to the use of CNC units, to ensure safe operation of machines fitted with FANUC CNC units. Read this section carefully before attempting to use any funcction described in this manaul. Users ahoul
  • Page 4SAFETY PRECAUTIONS B-63434EN/02 1 DEFINITION OF WARNING, CAUTION, AND NOTE This manual includes safety precautions for protecting the user and preventing damage to the machine. Precautions are classified into Warning and Caution according to their bearing on safety. Also, supplementary information i
  • Page 5B-63434EN/02 SAFETY PRECAUTIONS 2 GENERAL WARNINGS AND NOTES WARNING 1. Before operating the machine, thoroughly check the entered data. Operating the machine with incorrect data may result in the machine behaving unexpectedly, possibly causing damage to the workpiece and/or machine itself, or injur
  • Page 6SAFETY PRECAUTIONS B-63434EN/02 WARNING 7. The operator’s manual and programming manual supplied with a CNC unit provide an overall description of the machine’s functions, including any optional functions. Note that the optional functions will vary from one machine model to another. Therefore, some
  • Page 7B-63434EN/02 Table of Contents Table of Contents                   
  • Page 8Table of Contents B-63434EN/02           !  !" # $   
  • Page 9B-63434EN/02 Table of Contents      ,   
  • Page 10I. GENERA
  • Page 11B-63434EN/02 GENERAL 1.GENERAL 1 GENERAL This manual consists of the following parts: About this manual SAFETY PRECAUTIONS Describes the precautions to be observed in reading this manual. I. GENERAL Describes the organization of this manual, applicable models, and related manuals. II. DESCRIPTION De
  • Page 121.GENERAL GENERAL B-63434EN/02 Related manuals The tables below list the manuals related to each model. When reading this manual, refer to the related manuals as well. Manuals related to Series 16i/18i-TA/MA Manual name Specification number Descriptions B-63002EN Connection Manual (Hardware) B-63003
  • Page 13II. DESCRIPTIO
  • Page 14
  • Page 15B-63434EN/02 DESCRIPTION 1.FL-net SPECIFICATIONS 1 FL-net SPECIFICATIONS This section describes the specifications of the FL-net. -7-
  • Page 161.FL-net SPECIFICATIONS DESCRIPTION B-63434EN/02 1.1 What Is the FL-net? The FL-net is an open FA network standardized by the FA Open Promotion Council (JOP) in the Manufacture, Science, and Technology Center (MSTC) Incorporated Foundation, which is an extra-governmental organization of the Ministry
  • Page 17B-63434EN/02 DESCRIPTION 1.FL-net SPECIFICATIONS Two communication functions available according to the application The FL-net supports both the common memory function and message communication function. The common memory function uses cyclic data transmission to allow the nodes to always share the
  • Page 181.FL-net SPECIFICATIONS DESCRIPTION B-63434EN/02 High reliability Each node can participate in or be disconnected from the FL-net at any time. So, the power to each node can be turned on or off without restraint to provide high maintainability. The masterless token method allows communication to be
  • Page 19B-63434EN/02 DESCRIPTION 1.FL-net SPECIFICATIONS 1.2 FANUC FL-net Functions Cyclic transmission With the FANUC FL-net, part of large-capacity common memory can be allocated in the PMC R area or D area to allow the user program to read and write data in the FL-net common memory.  
  • Page 201.FL-net SPECIFICATIONS DESCRIPTION B-63434EN/02       For details of message transmission, see Chapter 3, "Message Transmission," in "Description." - 12 -
  • Page 21B-63434EN/02 DESCRIPTION 2.CYCLIC TRANSMISSION 2 CYCLIC TRANSMISSION This chapter details how to use the cyclic data transmission function of the FL-net function with the Series 16i/18i/21i-A and with the Power Mate i. - 13 -
  • Page 222.CYCLIC TRANSMISSION DESCRIPTION B-63434EN/02 2.1 Common Memory Area 1 Cyclic Transmission Those areas of common memory area 1 that are to be used for data exchange can be allocated in the PMC R area in direct image. An area to be allocated needs to be set beforehand. If the setting of an allocatio
  • Page 23B-63434EN/02 DESCRIPTION 2.CYCLIC TRANSMISSION 2.2 Common Memory Area 2 Cyclic Transmission When the data of common memory area 2 is exchanged, DI areas need to be set separately from DO areas. In any case, a DI/DO area needs to be allocated in the PMC area beforehand. If the setting of a DI/DO allo
  • Page 242.CYCLIC TRANSMISSION DESCRIPTION B-63434EN/02 4) Until FFh is written to the switch flag, the CNC writes the DO data in the PMC area specified by Pa40 (allocation address (for DO)) to common memory area 2, using the same DO offset.  ( ( (%7 2222<,   2222<  --!# 2222< (#(!.9
  • Page 25B-63434EN/02 DESCRIPTION 2.CYCLIC TRANSMISSION 2.2.2 DI data allocation 2.2.2.1 Dynamic DI data allocation of common memory area 2 The user program switches to the DI data area for a target node and reads the DI data for the node. By specifying a node number, the DI data from the node and status inf
  • Page 262.CYCLIC TRANSMISSION DESCRIPTION B-63434EN/02  ( ( (%7 2222<,   2222<  --!# 2222< (#(!.9 2222<5  --!#   ( (      0 (%% 2222 4.#'5-1(3 ( ($    :( (  ( ! .#(#(-  #5  !  ( ! .#(#(-  (%$      #5  ! :#; 
  • Page 27B-63434EN/02 DESCRIPTION 2.CYCLIC TRANSMISSION NOTE 1 When node information or DI data is dynamically changed for dynamic DI data allocation of common memory area 2, the DO offset is also changed. To change only the DI data, carefully change the setting not to change another value. 2 Information on
  • Page 282.CYCLIC TRANSMISSION DESCRIPTION B-63434EN/02 2.2.2.2 Static DI data allocation of common memory area 2 This allocation method fixes the DI data area. With this method, an area larger than that allocated with the dynamic allocation method can be allocated in the PMC area. Only node status informati
  • Page 29B-63434EN/02 DESCRIPTION 2.CYCLIC TRANSMISSION  ( ( (%7 2222<,   2222<  --!# 2222< (#(!.9 2222<5  --!#   ( (      0 (%% 2222 4.#'5-1(3 ( ($    :( (  ( ! .#(#(-  #5  !  ( ! .#(#(-  (%$      #5  ! (%;  
  • Page 302.CYCLIC TRANSMISSION DESCRIPTION B-63434EN/02 NOTE 1 As shown in the above example, the area specified by Pa46 (area 2 static allocation data size (in words)) can contain the local node transmit data area. In this case, the corresponding PMC area can be specified for Pa40 (allocation address (for D
  • Page 31B-63434EN/02 DESCRIPTION 2.CYCLIC TRANSMISSION Information on other nodes and DI data are allocated in the PMC area as follows: (%$ 8 + <, : -+?'; < (%@(#"+-# < AA+(#"+-# <  '## FA link layer state: 5 !    , < : -+?';         
  • Page 322.CYCLIC TRANSMISSION DESCRIPTION B-63434EN/02 2.2.2.4 Timing of switching between conditions on data exchange with common memory area 2 In data exchange between common memory area 2 and the PMC area, the user can switch between data (nodes information) exchange conditions. The timing of data switch
  • Page 33B-63434EN/02 DESCRIPTION 2.CYCLIC TRANSMISSION 2.3 Node State Monitoring 2.3.1 Allocation of local node state The state of the local node can be monitored by allocating the 6-byte state code of the local node in the PMC R area. If a negative value is set in Pa20 (local node information address), loc
  • Page 342.CYCLIC TRANSMISSION DESCRIPTION B-63434EN/02 FA link state: 5 !    , < : -+?';                                          
  • Page 35B-63434EN/02 DESCRIPTION 2.CYCLIC TRANSMISSION Table 2-3 Upper Layer State Item Description U_ERR_CODE Currently, not supported. U_ERR Currently, not supported. RUN/STOP The RUN/STOP state of the PMC ladder program is set. Current RCT value: 5 !    , < 4; ,; ; ; ;  ; !; 5;
  • Page 362.CYCLIC TRANSMISSION DESCRIPTION B-63434EN/02 2.3.2 Allocation of a list of participating nodes A list of the numbers of the nodes participating in the network can be allocated in the PMC R area to monitor the participation state. When a negative number is set in Pa21 (participating node informatio
  • Page 37B-63434EN/02 DESCRIPTION 2.CYCLIC TRANSMISSION 2.4 Byte List of Cyclic Data A byte list in a common memory area is related with a byte list in the PMC area as described below. Common memory area 1 and the PMC area      0( ("  #+# "* + 8 + <,,,,  7 <,,  7 <,,, !5 7 <, 7 <, 7 <, !
  • Page 382.CYCLIC TRANSMISSION DESCRIPTION B-63434EN/02 2.5 Data Concurrency With the FANUC FL-net function, when a ladder program handles input/output signals, the data concurrency is guaranteed in long-data (4-byte-data) units and in word-data (2-byte-data) units under the following constraints. Data concu
  • Page 39B-63434EN/02 DESCRIPTION 2.CYCLIC TRANSMISSION When handling data input from the FL-net, note the following points: NOTE 1 When the PMC R area or D area is used as the input data area, the synchronous buffer in the PMC is not used. For this reason, input data may change during ladder 1 scan. In othe
  • Page 402.CYCLIC TRANSMISSION DESCRIPTION B-63434EN/02 Measures to guarantee the concurrency of multiple-byte data An example of handling input data of multiple-byte on the second ladder level to guarantee its concurrency is given below. To establish the concurrency of data tens to hundreds of bytes long, i
  • Page 41B-63434EN/02 DESCRIPTION 2.CYCLIC TRANSMISSION 2.6 Notes on Allocation in the PMC Area When allocating common memory area 1 and area 2 in the PMC area, observe the following caution. CAUTION For reasons related to the specifications of the FANUC FL-net board, set the size of common memory area 1 and
  • Page 422.CYCLIC TRANSMISSION DESCRIPTION B-63434EN/02 Example: Allocating DO data of local node B and DI data of node C in the PMC area Assume that the size of allocation of area 1 in the PMC area is 512 words (all of common memory area 1). Also assume that the size of DO data in area 2 of the local node t
  • Page 43B-63434EN/02 DESCRIPTION 3.MESSAGE TRANSMISSION 3 MESSAGE TRANSMISSION This chapter details how to use the message transmission function of the FL-net function with the Series 16i/18i/21i-A with the Power Mate i. - 35 -
  • Page 443.MESSAGE TRANSMISSION DESCRIPTION B-63434EN/02 3.1 List of Message Transmission Services The message transmission function of the FANUC FL-net function supports the services listed in Table 3-1. Table 3-1 List of Services Supported Message service item Client function Server function Byte block rea
  • Page 45B-63434EN/02 DESCRIPTION 3.MESSAGE TRANSMISSION 3.2 Procedure of the Message Transmission Function The function for transmitting messages other than transparent messages involves a client function and server function. For a message transmitted from the client, the server returns a response message.
  • Page 463.MESSAGE TRANSMISSION DESCRIPTION B-63434EN/02 The format of each interface area is described below. Transmit interface for the client and transparent messages The interface area specified by Pa50 (interface allocation address) has the format shown below. 7 0 (*+ +0 Transmission request/response
  • Page 47B-63434EN/02 DESCRIPTION 3.MESSAGE TRANSMISSION Table 3-2 Transmit Interface Items Interface item Description Direction Transmission Flag set by the user program to request message U→S request/response transmission, and set by the CNC to post the reception of S→U flag(Note 1) a response message or t
  • Page 483.MESSAGE TRANSMISSION DESCRIPTION B-63434EN/02 CAUTION Ensure that while the transmission request/response flag is set to 0001h, the user program does not rewrite the data in this interface area. Otherwise, message transmission may not be terminated normally. NOTE 1 When a service is terminated nor
  • Page 49B-63434EN/02 DESCRIPTION 3.MESSAGE TRANSMISSION Table 3-3 Error Codes of the Transmit Interface Error code Description 8101h A specified node number is incorrect. 8102h A specified transaction code is incorrect. 8103h An area specified as a transmit/receive buffer in the PMC R area exceeds the allow
  • Page 503.MESSAGE TRANSMISSION DESCRIPTION B-63434EN/02 Receive interface for transparent messages The interface area specified by Pa52 (transparent receive message allocation address) has the format shown below. 7 0 (*$ +0 Receive flag +2 Transmission source node number +3 (Reserved) +4 Transaction code
  • Page 51B-63434EN/02 DESCRIPTION 3.MESSAGE TRANSMISSION 3.3 Procedure for Message Transmission Operation This section describes the procedure of operations between the user program and system required to perform the message data transmission client function and transparent message function. 3.3.1 Procedure
  • Page 523.MESSAGE TRANSMISSION DESCRIPTION B-63434EN/02 3.3.2 Procedure for operating the transparent message transmission function  ( !<(  # !!(3# ( ! .!!. !. ! < 3 ( 0!# "/  ( !<(  # !!(3 < <( (#. ('5 !#(# ! -1(3 .! '1( ) $/  ( ! .!!.  @ !# 7/ 5'6. 3 #5(# #5 -1(3←+
  • Page 53B-63434EN/02 DESCRIPTION 3.MESSAGE TRANSMISSION 3.4 Message Transmission Client Function This section describes the detailed interface of each service of the message transmission client function. 3.4.1 Byte block read Request message Response message (*++0 7 0 7 0 Transmission request +0 Response
  • Page 543.MESSAGE TRANSMISSION DESCRIPTION B-63434EN/02 Table 3-5 Byte Block Read Interface Items Interface item Description Direction Transaction code Request message: 65003 U→S Response message: 65203 S→U Offset address on Request message: Offset address on virtual address U→S virtual address space of byt
  • Page 55B-63434EN/02 DESCRIPTION 3.MESSAGE TRANSMISSION 3.4.2 Byte block write Request message Response message (*++0 7 0 7 0 Transmission request +0 Response flag flag 0001h +2 +2 Request status +3 +3 Response status +4 Cancel flag +4 +5 Destination node +5 number +6 (Reserved) +6 (Reserved) +8 Transacti
  • Page 563.MESSAGE TRANSMISSION DESCRIPTION B-63434EN/02 Table 3-6 Byte Block Write Interface Items Interface item Description Direction Transaction code Request message: 65004 U→S Response message: 65204 S→U Offset address on Request message: Offset address on virtual address U→S virtual address space of by
  • Page 57B-63434EN/02 DESCRIPTION 3.MESSAGE TRANSMISSION 3.4.3 Word block read Request message Response message (*++0 7 0 7 0 Transmission request +0 Response flag flag 0001h +2 +2 Request status +3 +3 Response status +4 Cancel flag +4 +5 Destination node +5 number +6 (Reserved) +6 (Reserved) +8 Transactio
  • Page 583.MESSAGE TRANSMISSION DESCRIPTION B-63434EN/02 Table 3-7 Word Block Read Interface Items Interface item Description Direction Transaction code Request message: 65005 U→S Response message: 65205 S→U Offset address on Request message: Offset address on virtual address U→S virtual address space of wor
  • Page 59B-63434EN/02 DESCRIPTION 3.MESSAGE TRANSMISSION 3.4.4 Word block write Request message Response message (*++0 7 0 7 0 Transmission request +0 Response flag flag 0001h +2 +2 Request status +3 +3 Response status +4 Cancel flag +4 +5 Destination node +5 number +6 (Reserved) +6 (Reserved) +8 Transacti
  • Page 603.MESSAGE TRANSMISSION DESCRIPTION B-63434EN/02 Table 3-8 Word Block Write Interface Items Interface item Description Direction Transaction code Request message: 65006 U→S Response message: 65206 S→U Offset address on Request message: Offset address on virtual address U→S virtual address space of wo
  • Page 61B-63434EN/02 DESCRIPTION 3.MESSAGE TRANSMISSION 3.5 Message Transmission Server Function 3.5.1 Error code list In response to a request from a client, the message data transmission server function automatically returns a response message without involving the user program. If the message transmissio
  • Page 623.MESSAGE TRANSMISSION DESCRIPTION B-63434EN/02 3.5.2 Virtual address space allocation Virtual address space used to read/write byte block and read/write word block is allocated in the PMC area as described below. Virtual address space for byte block data Table 3-10 Virtual Address Space for Byte Bl
  • Page 63B-63434EN/02 DESCRIPTION 3.MESSAGE TRANSMISSION 3.6 Transparent Message Transmission Function With the FANUC FL-net function, a transparent message of a transaction code (50000 to 59999) can be used as a transparent message for data transmission/reception by the user program. This section details th
  • Page 643.MESSAGE TRANSMISSION DESCRIPTION B-63434EN/02 Table 3-12 Transparent Transmit Message Interface Items Interface item Description Direction Transaction code !,,,,)!4444 U→S Data size Size of transparent data to be transmitted (in words) U→S Transmit data Start address of an area in the PMC R are
  • Page 65B-63434EN/02 DESCRIPTION 3.MESSAGE TRANSMISSION 3.6.2 Transparent message reception Reception notification Reception confirmation message message 7 0 7 0 (*$+0 Receive flag +0 Completion flag 0001h +2 Transmission source +2 node number +3 (Reserved) +3 +4 Transaction code +4 Transaction code 50000
  • Page 663.MESSAGE TRANSMISSION DESCRIPTION B-63434EN/02 3.7 Server Function of Transmitting a Message with Confirmation When an ordinary byte block read/write or word block read/write service of the message transmission server function is executed, data is exchanged with the client without user-program inte
  • Page 67B-63434EN/02 DESCRIPTION 3.MESSAGE TRANSMISSION Table 3-1 Receive Message Interface Items Interface item Description Direction Receive flag When a message is received, this flag is set S→U to 0001h after the interface items below are set. Transmission Number of the node which transmitted a S→U sourc
  • Page 683.MESSAGE TRANSMISSION DESCRIPTION B-63434EN/02 3.7.2 Response message transmission  ( ! .!!.  @ !#  ( ! .!!. !!(3 ' <1#.  !!(3 (*+ 8                   + 8                   + <, <,    ! )$A(%)*(#. ,,,0 < < D=--#
  • Page 69B-63434EN/02 DESCRIPTION 3.MESSAGE TRANSMISSION 3.7.3 Virtual address space allocation Virtual address space used for byte block read/write and word block read/write with confirmation is allocated in the PMC area as described below. Virtual address space for byte block data with confirmation Table 3
  • Page 703.MESSAGE TRANSMISSION DESCRIPTION B-63434EN/02 3.8 Byte List of Message Data The order of data transmission on the network in message transmission is related with the byte list in the PMC area as shown below. Byte block data and the PMC area 3"1()&@'##  #+# 8 + 8 + <,, 7 <,, 7 <,  7 <
  • Page 71III. OPERATIO
  • Page 72B-63434EN/02 OPERATION 1.PARAMETER SETTING 1 PARAMETER SETTING This chapter describes the parameters required to operate the FL-net function with the Series 16i/18i/21i-A,and with the Power Mate i and the method of setting the parameters. - 65 -
  • Page 731.PARAMETER SETTING OPERATION B-63434EN/02 1.1 Overview The parameters for the FL-net function are divided into five major groups: (1) Basic parameters (2) State monitoring parameters (3) Area 1 allocation parameters (4) Area 2 allocation parameters (5) Message allocation parameters Each parameter i
  • Page 74B-63434EN/02 OPERATION 1.PARAMETER SETTING (3) Area 1 allocation parameters Table 1-3 Area 1 Allocation Parameters Parameter name Description Index number Allocation address Start address of an area in the PMC R area Pa30 (shared for DI/DO) allocated to area 1 Area 1 address Start address of area 1
  • Page 751.PARAMETER SETTING OPERATION B-63434EN/02 For each FL-net function used, the parameters below need to be set. A. Cyclic transmission of common memory area 1 Basic parameters Area 1 allocation parameters B. Cyclic transmission of common memory area 2 Basic parameters Area 2 allocation parameters C.
  • Page 76B-63434EN/02 OPERATION 1.PARAMETER SETTING 1.2 Setting of Parameters Before the FL-net function can be used, the parameters described below must be set. 1.2.1 Series 16i/18i/21i-A Procedure (1) Press the SYSTEM key, then press soft key [PMC] to switch to the PMC screen. (2) Press soft keys [PMCDGN],
  • Page 771.PARAMETER SETTING OPERATION B-63434EN/02 (3) Pressing soft key [PRMTR] displays screen 1-2. If data is already registered, the data is displayed. (4) With the MDI keys and soft keys, enter/update data. Screen 1-2 FL-net Parameter Setting Screen (for the 10.4" LCD) (5) Only when a parameter for whi
  • Page 78B-63434EN/02 OPERATION 1.PARAMETER SETTING Setting item Each setting item is described below. Basic parameters The basic parameters are used to set the FL-net function itself. Table 1-6 Basic Parameters Item Description IP ADDRESS IP address of the local node. The host address section (last numeric
  • Page 791.PARAMETER SETTING OPERATION B-63434EN/02 State monitoring parameters The state monitoring parameters are used to allocate areas in the PMC area to which the states of the local node and other nodes are posted. Table 1-7 State Monitoring Parameters Item Description OWN STATUS Specify the start addr
  • Page 80B-63434EN/02 OPERATION 1.PARAMETER SETTING Area 2 allocation parameters The area 2 allocation parameters are used for allocation-related settings to enable data exchange between common memory area 2 and the PMC R area. Table 1-9 Area 2 Allocation Parameters Item Description AREA2 DO: Start address o
  • Page 811.PARAMETER SETTING OPERATION B-63434EN/02 is performed for each node. On the other hand, when a value other than 0 is set for AREA2 SIZE, data starting at AREA2 ADDR in common memory area 2 is expanded to an area in the PMC area that is specified by ALLOCATION+4, and dynamic DI data change cannot b
  • Page 82B-63434EN/02 OPERATION 1.PARAMETER SETTING Message allocation parameters The message allocation parameters are used to allocate a message transmit interface area in the PMC R area. Table 1-10 Message Allocation Parameters Item Description MESSAGE: Start address of an interface area in the PMC R area
  • Page 831.PARAMETER SETTING OPERATION B-63434EN/02 Basic method of parameter input The basic method of parameter input is described below. Procedure (1) Set the CNC mode to the MDI mode. (2) Display the parameter setting screen of screen 1-2. (3) With the cursor keys, move the cursor to a desired item. (4)
  • Page 84B-63434EN/02 OPERATION 1.PARAMETER SETTING (B) Enter the parameter 192.168.250.10 through the MDI keys. (C) Execute the input of the parameter by pressing soft key [INPUT] or function key INPUT . This operation saves the parameter in nonvolatile memory of the CNC. - 77 -
  • Page 851.PARAMETER SETTING OPERATION B-63434EN/02 1.2.2 Power Mate i-MODEL D/H Procedure When the CRT/MDI or FANUC touch panel is used as the LCD, set parameters in the same way as for the Series 16i/18i/21i-A. When the DPL/MDI Operation Package is used as the LCD, set values for parameters Nos. 30000 and
  • Page 86B-63434EN/02 OPERATION 1.PARAMETER SETTING 30010 Node name: 1st character 30011 Node name: 2nd character 30012 Node name: 3rd character 30013 Node name: 4th character 30014 Node name: 5th character 30015 Node name: 6th character 30016 Node name: 7th character 30017 Node name: 8th character 30018 Nod
  • Page 871.PARAMETER SETTING OPERATION B-63434EN/02 [Valid data range] 0 - 50 [Index number] Pa16 State monitoring parameters 30026 Local node informatino address [Data type] Word [Valid data range] 0 - (only an even address) [Index number] Pa20 30027 Participating node information address [Data type] Byte [
  • Page 88B-63434EN/02 OPERATION 1.PARAMETER SETTING 30036 Area 2 data exchange condition allocation address [Data type] Word [Valid data range] 0 - (only an even address) [Index number] Pa43 30037 Switch flag allocation address [Data type] Word [Valid data range] 0 - (only an even address) [Index number] Pa4
  • Page 891.PARAMETER SETTING OPERATION B-63434EN/02 [Index number] Pa53 30060 Interface PMC area allocation address [Data type] Word [Valid data range] 68(D) or 82(R) [Index number] Pa50 30061 Receive message PMC area allocation address [Data type] Word [Valid data range] 68(D) or 82(R) [Index number] Pa52 N
  • Page 90B-63434EN/02 OPERATION 2.MAINTENANCE SCREEN 2 MAINTENANCE SCREEN This chapter describes the screens used for maintenance of the FL-net function with the Series 16i/18i/21i-A and with the Power Mate i. - 83 -
  • Page 912.MAINTENANCE SCREEN OPERATION B-63434EN/02 2.1 Participating Node Management Table The FL-net participating node monitor screen allows the user to reference the parameters of each node participating in the FL-net network. Procedure (1) Press function key SYSTEM , then press soft key [PMC] to switch
  • Page 92B-63434EN/02 OPERATION 2.MAINTENANCE SCREEN 3) [N.NODE]: Displays the parameters of the node immediately after the currently displayed node. (6) When this screen is displayed, the information about the local node is first displayed. (7) When the 9.5" LCD is used, all information cannot be displayed
  • Page 932.MAINTENANCE SCREEN OPERATION B-63434EN/02 Table 2-1 explains the items displayed on the screen. Table 2-1 Participating Node Management Table Item Description NODE NO. Node number of the node about which information is currently displayed AREA1 ADDR Start address of the node in common memory area
  • Page 94B-63434EN/02 OPERATION 2.MAINTENANCE SCREEN 2.2 Network Management Table The FL-net network management table screen allows the user to reference the parameters of each node in the FL-net network management table. Procedure (1) Press function key SYSTEM , then press soft key [PMC] to switch to the PM
  • Page 952.MAINTENANCE SCREEN OPERATION B-63434EN/02 Table 2-2 explains the items displayed on the screen. Table 2-2 Network Management Table Item Description TOKEN NODE Node number of the node that currently holds the token MIN FRAME Maximum value of the allowable minimum frame intervals of all nodes partic
  • Page 96B-63434EN/02 OPERATION 2.MAINTENANCE SCREEN 2.3 Log Information Management Table The FL-net log information management table screen allows the user to reference the network log information of the local node. Procedure (1) Press function key SYSTEM , then press soft key [PMC] to switch to the PMC scr
  • Page 972.MAINTENANCE SCREEN OPERATION B-63434EN/02 Table 2-3 explains the items displayed on the screen. Table 2-3 Log Information Management Table Item Description TOTAL SEND COUNT SEND Number of transmitted frames SEND ERROR COUNT SERR Number of transmission errors TOTAL RECEIVE COUNT RECV Number of rece
  • Page 98B-63434EN/02 OPERATION 2.MAINTENANCE SCREEN When the 9.5" LCD is used, the name of each item is limited to four characters as shown below. Screen 2-5 FL-net Log Information Management Table Screen (9.5" LCD) - 91 -
  • Page 992.MAINTENANCE SCREEN OPERATION B-63434EN/02 2.4 Power Mate i-MODEL D/H Procedure When the CRT/MDI or FANUC touch panel is used as the LCD, reference maintenance information in the same way as for the Series 16i/18i/21i-A. When the DPL/MDI Operation Package is used as the LCD, maintenance information
  • Page 100B-63434EN/02 OPERATION 2.MAINTENANCE SCREEN 8007 MIN FRAME [Data type] Byte [Unit of data] 100 μsec Minimum allowable frame time interval of the node 8008 RCT [Data type] Word [Unit of data] 1 msec Allowable refresh cycle time of the node 8009 NODE NAME [Data type] Byte (10-byte data) Node name of t
  • Page 1012.MAINTENANCE SCREEN OPERATION B-63434EN/02 Manufacturer type of the local node 8024 STATUS [Data type] Byte Status of the local node 8025 LKS [Data type] Byte State of the FA link of the local node 8026 ULS [Data type] Word State of the upper layer of the local node 8027 AREA1 ADDR [Data type] Word
  • Page 102B-63434EN/02 OPERATION 2.MAINTENANCE SCREEN Node number of the node that currently holds the token 8041 MIN FRAME [Data type] Byte [Unit of data] 100 μsec Maximum value of the minimum allowable frame time intervals of all nodes participating in the network 8042 RCT [Data type] Word [Unit of data] 1
  • Page 1032.MAINTENANCE SCREEN OPERATION B-63434EN/02 8054 CYCLIC DATA ERROR COUNT [Data type] Double word Number of errors in cyclic transmission 8055 MESSAGE RETRY COUNT [Data type] Double word Number of retrials for message transmission 8056 MESSAGE RETRY OVER COUNT [Data type] Double word Number of operat
  • Page 104B-63434EN/02 OPERATION 2.MAINTENANCE SCREEN [Data type] Double word Number of disconnections of the local node from the network because the token is not passed to the local node 8066 OTHER NODE DISCONNECT COUNT [Data type] Double word Number of recognitions that other nodes are disconnected from the
  • Page 1053.EXAMPLE OF CONNECTION OPERATION B-63434EN/02 3 EXAMPLE OF CONNECTION This chapter describes an example of connection using the FL-net function with the Series 16i/18i/21i-A with the Power Mate i. - 98 -
  • Page 106B-63434EN/02 OPERATION 3.EXAMPLE OF CONNECTION 3.1 Example of Configuration Using the example of configuration shown below, this section describes the setting of each parameter. Ethernet Series 16i -A Series 18i -A Power Mate i -D Node No.10 Node No.20 Node No.30 Fig. 3-1 Example of FL-net Configura
  • Page 1073.EXAMPLE OF CONNECTION OPERATION B-63434EN/02 3.2 Example of Parameter Settings Assume that the address map of the PMC R area of each node is as shown below. Then, the parameters of each node are set as indicated in Table 3-1 through Table 3-4. PMC R area R0000 R0100 Node No. 10 R0108 Common memory
  • Page 108B-63434EN/02 OPERATION 3.EXAMPLE OF CONNECTION Table 3-1 Parameters of Node No. 10 Item Setting Item Setting IP ADDRESS 192.168.250.10 AREA2 DI: - NODE NAME NODE#10 ALLOCATION R0300 AREA1 ADDR 16 ALLOC PTR D0000 AREA1 SIZE 4 CHANGE FLG R0299 AREA2 ADDR 0 AREA2 ADDR 0 AREA2 SIZE 64 AREA2 SIZE 0 TOKEN
  • Page 1093.EXAMPLE OF CONNECTION OPERATION B-63434EN/02 Table 3-3 Parameters of Node No. 30 (CRT/MDI) Item Setting Item Setting IP ADDRESS 192.168.250.30 AREA2 DI: - NODE NAME NODE#30 ALLOCATION R0300 AREA1 ADDR 24 ALLOC PTR D0000 AREA1 SIZE 4 CHANGE FLG R0299 AREA2 ADDR 160 AREA2 ADDR 0 AREA2 SIZE 64 AREA2
  • Page 110B-63434EN/02 OPERATION 3.EXAMPLE OF CONNECTION 3.3 Image of Data Exchange When data exchange is performed with the examples of configuration and parameter settings described earlier, the illustration below shows how the data of each node is viewed in the PMC R area of each node. Node No. 10 Node No.
  • Page 111
  • Page 112IV. CONNECTIO
  • Page 113
  • Page 114B-63434EN/02 CONNECTION 1.INSTALLATION 1 INSTALLATION This chapter provides information required for installation of the FL- net board. - 107 -
  • Page 1151.INSTALLATION CONNECTION B-63434EN/02 1.1 Specifications The specifications of the FL-net board are described below. For the stand-alone type Series 16i/18i/21i-MODEL A Name FL-net board Ordering code A02B-0265-J272 Board drawing A20B-8100-0530 number Applicable FANUC 16i/160i-TA (stand-alone type)
  • Page 116B-63434EN/02 CONNECTION 1.INSTALLATION 1.2 Installation This section describes information about the installation of the FL-net board. The FL-net board can be installed in any mini-slot of a one-slot or three-slot basic unit. CD38N - 109 -
  • Page 1172.CONNECTION OF THE COMMUNICATION FUNCTION CONNECTION B-63434EN/02 2 CONNECTION OF THE COMMUNICATION FUNCTION This chapter provides information required for Ethernet connection of the FL-net board. CAUTION 1 Before attaching or detaching a cable to the FL-net board, turn off the power to the CNC, an
  • Page 118B-63434EN/02 CONNECTION 2.CONNECTION OF THE COMMUNICATION FUNCTION 2.1 Connection to Ethernet The FL-net board has a 10BASE-T interface. For connection to a 10BASE5 system, a media converter or hub (concentrator) is used. A typical example of connection is shown below. Transceiver cable Hub (concent
  • Page 1192.CONNECTION OF THE COMMUNICATION FUNCTION CONNECTION B-63434EN/02 2.2 Routing of the Ethernet Cable The Ethernet cable can be routed only from the front of the control unit. For connector location information, see the outside drawing of each board. Radius of 70 mm or more 10BASE-T Ethernet cable Cl
  • Page 120B-63434EN/02 CONNECTION 2.CONNECTION OF THE COMMUNICATION FUNCTION 2.3 Pin Allocation of the 10BASE-T Connector (CD38N) CD38N Pin No. Signal Meaning 1 TX+ Transmission + 2 TX- Transmission - 3 RX+ Reception + 4 Not used 5 Not used 6 RX- Reception - 7 Not used 8 Not used - 113 -
  • Page 1212.CONNECTION OF THE COMMUNICATION FUNCTION CONNECTION B-63434EN/02 2.4 Twisted Pair Cable Specifications 2.4.1 Cable connection Referring to the operator’s manual of a device used, select an appropriate cable. An example of straight cable connection between the FL-net board 10BASE-T interface CD38N
  • Page 122B-63434EN/02 CONNECTION 2.CONNECTION OF THE COMMUNICATION FUNCTION An example of cross cable connection between the FL-net board 10BASE-T interface CD38N and a mediate converter (or hub) is given below. FL-net board Media converter CD38N or hub 1 TX+ RJ-45 1 TX+ 2 TX- modular connector 2 TX- 3 RX+ 3
  • Page 1232.CONNECTION OF THE COMMUNICATION FUNCTION CONNECTION B-63434EN/02 2.4.2 Cable wire As twisted pair cables for 10BASE-T, unshielded cables (UTP cables) are available on the market. For improved protection against noise in an FA environment, however, use a common shielded category-5 twisted pair cabl
  • Page 124B-63434EN/02 CONNECTION 2.CONNECTION OF THE COMMUNICATION FUNCTION 0&)'=&)+%-5##('&)AA+-+#''/%+ 0-0#00%&@--%-, $$  0)=-%''%#$+%- 5 ±,$$ ・(#$+-%-#&C  !   9 ・ %(+-%-#&C  3#-')0 -#'#+' :D=%?#( ) 0 &)
  • Page 1252.CONNECTION OF THE COMMUNICATION FUNCTION CONNECTION B-63434EN/02 2.4.3 Connector Specifications As a connector used with a twisted pair cable for Ethernet, an 8-bit modular connector called RJ-45 is used. Use the following connector or equivalent: Specification Manufacturer Remarks For solid wire
  • Page 126B-63434EN/02 CONNECTION 2.CONNECTION OF THE COMMUNICATION FUNCTION 2.4.4 Hub Recommended hub Manufacturer name Specification Remarks Contec Co., Ltd. RT-1008H 10BASE-T Eight ports This hub is not for FA. Use the hub in a dust-proof cabinet. Contact points Manufacturer name Contact point Contec Co.,
  • Page 1272.CONNECTION OF THE COMMUNICATION FUNCTION CONNECTION B-63434EN/02 2.5 Noise Protection 2.5.1 Signal line separation The wiring of Ethernet cables belongs to group C. For the method of separation from group A wiring and group B wiring, refer to "Connection Manual: Hardware (B-63003EN)" of each CNC.
  • Page 128B-63434EN/02 CONNECTION 2.CONNECTION OF THE COMMUNICATION FUNCTION Prepare the following ground plate: )=%.-&+/0)( +)='+$%#( :*)+.+)='%.; (#$A$)=%.0)( As a ground plate, use an iron plate as thick as 2 mm or more, and plate it with nickel. $$ +)='A(# $$ ,$$ - 121 -
  • Page 1292.CONNECTION OF THE COMMUNICATION FUNCTION CONNECTION B-63434EN/02 !!$$$#2  $$ 5$$  $$ Outline Drawing of the Clamp Ordering code of the clamp: A02B-0124-K001 (8 clamps) - 122 -
  • Page 130B-63434EN/02 CONNECTION 2.CONNECTION OF THE COMMUNICATION FUNCTION 2.5.3 Network installation Even when the grounding condition on the machine side is satisfied, noise generated by a machine may induce a communication error on the communication line, depending on the installation condition and envir
  • Page 1312.CONNECTION OF THE COMMUNICATION FUNCTION CONNECTION B-63434EN/02 NOTE 1 Ensure that the ground system of the personal computer/trunk side is separated from the ground system of the machine system. If ground system separation is impossible because only one grounding point is available, run the pers
  • Page 132V. MAINTENANC
  • Page 133B-63434EN/02 MAINTENANCE 1.HARDWARE 1 HARDWARE This chapter provides hardware information required for the maintenance of the FL-net board. - 127 -
  • Page 1341.HARDWARE MAINTENANCE B-63434EN/02 1.1 Layout of Components Custom Custom LSI LSI MPU TM1 CD38N Name PCB drawing number Remarks FL-net board A20B-8100-0530 - 128 -
  • Page 135B-63434EN/02 MAINTENANCE 1.HARDWARE 1.2 LED Indications and Meanings The FL-net board has four green LEDs (ROS, RES, LNK, and POK) and one red LED (HER) for state indication, and two green LEDs (COM and LIL) and one LED (COL) for communication status indication. The locations and meanings of the LED
  • Page 1361.HARDWARE MAINTENANCE B-63434EN/02 LED indication during normal operation No. LED indication Communication status 1 ROS ☆ Blinks at 1-second intervals when the communication software on the FL-net board operates normally. 2 RES □ Normally, off 3 LNK ■ Turned on when the node participates in the FL-
  • Page 137B-63434EN/02 MAINTENANCE 1.HARDWARE LED indication when an error occurs (ROS, RES, LNK, POK) The LEDs repeat the indications of the LONG pattern and SHORT pattern. In this case, the LONG pattern is turned on for a longer time, and the SHORT pattern is turned on for a shorter time. LED indication No.
  • Page 1381.HARDWARE MAINTENANCE B-63434EN/02 1.3 Setting Pin The FL-net board has a setting pin (TM1) installed. The B side is connected with a jumper plug (factory setting). If the plug is removed, or the setting is changed, the FL-net board does not operate normally. - 132 -
  • Page 139B-63434EN/02 INDEX INDEX   (()&#%))*#(%-)*A#+%&%A#%.)'-  =&%)-, (()&#%))*()&#()'-#!    5   3"1()&@+#'4   3"1()&@/+%  3"%-)* "&(%&##4 3"%-)* --#.##5 7  , 7=14 
  • Page 140INDEX B-63434EN/02 )-)(()&#%)%0 +# +?+=&%))*+#-$%%.# --#./%0 )*%+$#%) %.)*#+#$+-  ?+?%/ , %.%,5 %.#((%-A#+#%)4  A&%*%&#%)-      4 #%& '###(()&#%))*&)$$)$$)+"#+# #+
  • Page 141EUROPEAN HEADQUARTERS – BELGIUM / NETHERLANDS GRAND-DUCHÉ DE LUXEMBOURG GE Fanuc Automation Europe S.A. GE Fanuc Automation Europe S.A. - Netherlands Branch - Zone Industrielle Postbus 7230 - NL-4800 GE Breda L-6468 Echternach Minervum 1603A - NL-4817 ZL Breda (+352) 727979 - 1 (+31) 76-5783 201 (CN
  • Page 142Printed at GE Fanuc Automation S.A. , Luxembour
  • Page 143Modification of FANUC FL-net Board OPERATOR’S MANUAL 1.Type of applied technical documents Name FANUC FL-net Board OPERATOR’S MANUAL Spec.No./Ed. B-63434EN/02 2.Summary of Change Group Name/Outline New Applicable Add Correct Date Delete Basic The following parameter and screen are added. Add Immedia
  • Page 144The additional information of FANUC FL-net Board OPERATOR’S MANUAL Addition of Stand-alone type FANUC Series 16i/18i/21i-TB/MB to the table of Page 3 Applicable models Model Abbreviation Stand-alone type FANUC Series 16i/160i -TA 16i-TA Series 16i-A Stand-alone type FANUC Series 16i/160i -MA 16i-MA
  • Page 145Manuals related to FANUC Series 21i-TB/MB Manual name Specification number Descriptions B-63522EN Connection Manual(Hardware) B-63523EN Connection Manual(Functions) B-63523EN-1 Operator’s Manual(For Lathes) B-63604EN Operator’s Manual(For Milling Centers) B-63614EN Maintenance Manual B-63525EN Param
  • Page 146Addition of Unavailable communication detection flag to FA link state of Page 26 FA link state: 7 6 5 4 3 2 1 0 +1 (Reserved) Node participation flag (1: Participate) Unavailable communication detection flag (1: Detection) Upper layer operation signal error flag (1: Error) Common memory data valid f
  • Page 147Replacement of “2.4. Byte List of Cyclic Data” of Page 29 2.4 Byte List of Cyclic Data The interrelation among the byte lists in a common memory, the PMC area, and FL-net network is described as follows. FL-net network / Common memory / PMC area On FL-net network Common memory PMC area 7 0 15 0 7 0
  • Page 148Addition of the following item 3 to NOTE of Page 40 NOTE 3 When receiving the response message before receiving the ACK frame as the acknowledgement of a request message, Request status(R_STS) may not become 01h. Replacement of “3.8. Byte List of Message Data” of Page 62 3.8 Byte List of Message Dat
  • Page 149Word block data Transparent data On FL-net network Virtual address PMC area 7 0 15 0 7 0 +00 12H +00 3412H +00 34H +01 34H +01 7856H +01 12H +02 56H +02 78H +03 78H +03 56H By setting the bit 1 of the FL-net parameter OPTION1 to 1, a byte list is swapped as follows. On FL-net network Virtual address
  • Page 150Addition of “(6) Option parameter” to Page 66 as follows 1.1 Overview The parameters for FL-net function are divided into five major groups: (1) Basic parameters (2) State monitoring parameters (3) Area 1 allocation parameters (4) Area 2 allocation parameters (5) Message allocation parameters (6) Op
  • Page 151Addition of the explanation about [ERRMSG] to Page 69 (2) Press soft keys [PMCDGN], [I/OCHK], and [FL-NET] in this order. Then, screen 1-1 shown below appears. Screen 1-1 FL-net Main Menu Screen (for the 10.4” LED) This screen also displays the MAC address (Ethernet address) of the FL-net board. Whe
  • Page 152Replacement of Screen 1-2 of Page 70 Screen 1-2 FL-net Parameter Setting Screen (for the 10.4” LCD) TITLE Modification of FANUC FL-net Board OPERATOR’S MANUAL 01 02.05.20 Mutai First issue DRAW.NO. B-63434EN/02-1 EDIT DATE DESIGN DESCRIPTION FANUC LTD. SHEET 10/17
  • Page 153Addition of the following table to Page 75 Option parameters Table 1-12 Option parameters Item Description OPTION1 Bit parameters Bit 0 : When setting 1, Cyclic data is byte-swapped. Bit 1 : When setting 1, Word block data and Transparent data of the message are byte-swapped. Bit 2 : When setting 1,
  • Page 154Modification of Screen 2-3 of Page 87 as follows Screen 2-3 FL-net Network Management Table Screen (10.4” LCD) (4) The above information can be cleared by pressing the [CLEAR] soft key. TITLE Modification of FANUC FL-net Board OPERATOR’S MANUAL 01 02.05.20 Mutai First issue DRAW.NO. B-63434EN/02-1 E
  • Page 155Insertion of the following new chapter after Chapter 2.3 2.4 Error message When a error occurs at the local node, the error of its error is displayed at the Error message screen. Procedure (1) Press function key SYSTEM , then press soft key [PMC] to switch to the PMC screen. (2) Press soft keys [PMC
  • Page 1562.4.1 Contents of Error messages Error messages which are displayed when the communication is not available When the communication is not available at all, the following error messages are displayed. Please correct the problem parameter, and then power off and on CNC. NODE(???) CONFLICT The local no
  • Page 157Error messages which are displayed when data exchange fails When the cyclic data can not be exchanged or the message data can not be transferred, the following error messages are displayed. In that case, please check the parameters written in each explanation. ADDRESS(????, ????) OVERLAPPING The loc
  • Page 158AREA2 DI SIZE IS OUT OF RANGE DI area of area2 is out of the range of PMC address. In that case, DI data is not copied into the specified PMC address. When intending to configure with Static DI data allocation of area2, the sum of (Pa42+(Pa44 * 2 )+4) should be within the range of PMC address. When
  • Page 159Other error message NODE(???) OUT-RING The node number (???) is dropped from the network. DROPPED PACKET(???->???) Because the reception buffer is full, the data of the node number(???->???) can not be received. Please set the larger value into Pa16. TOKEN IS DUPLICATED(???) Because the node number
  • Page 160FANUC FL-net Board OPERATOR’S MANUAL 1.Type of applied technical documents FANUC FL-net Board Name OPERATOR’S MANUAL Spec.No./Ed. B-63434EN/02 2.Summary of Change New, Add, Applicable Group Name/Outline Correct, Date Delete Addition of the setting method of address mapping Basic Correct Immediately
  • Page 161Add the following explanation as Chapter 4 into the “OPERATION” part. 4 SETTING METHOD FOR PMC-SD7 This chapter describes the setting method when PMC-SD7 is used. NOTE 1 When PMC-SD7 is used, Communication setting software 654I series must be Edition 08 or later. 2 When using PMC-SD7, the setting me
  • Page 1624.1 PMC ADDRESS SETTING FOR PMC-SD7 The method of PMC address setting is described below when using PMC-SD7. Screen 4-1 FL-net Parameter Setting Screen (for the 10.4” LCD) When using PMC-SD7, the following parameters are different from them of other PMC. Table 4-1 PMC address related to PMC-SD7 Item
  • Page 163AREA2 DO : The available PMC address is %M and %R. ALLOCATION In case of %M, the available range is from 1 to 63985. But the following condition has to be satisfied. Condition) (16*n)+1 [n=from 0 to 3999] In case of %R, the available range is from 1 to 5000. Examples) “M1”, “M17”, “M63985”, “R1”, “R
  • Page 1644.2 Example of Setting 4.2.1 Example of Configuration Using the example of configuration shown below, this section describes the setting of each parameter. FL-net Series 18i -B Series 18i -B Series 18i -B Node No.10 Node No.20 Node No.30 Fig. 4-1 Example of FL-net Configuration The parameter setting
  • Page 1654.2.2 Example of Parameter Settings Assume that the address map of the PMC %M area of each node is as shown below. Then, the parameters of each node are set as indicated in Table 4-2 through Table 4-4. PMC %M area %M00001 %M00801 Node No.10 %M00865 Common memory area 1 data Node No.20 %M00929 Node N
  • Page 166Table 4-2 Parameters of Node No.10 Item Setting Item Setting IP ADDRESS 192.168.250.10 AREA2 DI: － NODE NAME NODE#10 ALLOCATION %M02401 AREA1 ADDR 16 ALLOC PTR %R00001 AREA1 SIZE 4 CHANGE FLG %M02393 AREA2 ADDR 0 AREA2 ADDR 0 AREA2 SIZE 64 AREA2 SIZE 0 TOKEN WATCH 50 MESSAGE: － MIN FRAME 10 ADDRESS
  • Page 167Table 4-4 Parameters of Node No.30 Item Setting Item Setting IP ADDRESS 192.168.250.30 AREA2 DI: － NODE NAME NODE#30 ALLOCATION %M02401 AREA1 ADDR 24 ALLOC PTR %R00001 AREA1 SIZE 4 CHANGE FLG %M02393 AREA2 ADDR 160 AREA2 ADDR 0 AREA2 SIZE 64 AREA2 SIZE 0 TOKEN WATCH 50 MESSAGE: － MIN FRAME 10 ADDRES
  • Page 1684.2.3 Image of Data Exchange When data exchange is performed with the examples of configuration and parameter settings described before, the illustration below shows how the data of each node is viewed in the PMC %M area of each node. Node No.10 Node No.20 Node No.30 %M00001 %M00001 %M00001 %M00801