GE Fanuc Automation. FAPT Macro Compiler for Personal Computer. Computer Numerical Control Products. Programming Manual

Transcription

1 GE Fanuc Automation Computer Numerical Control Products FAPT Macro Compiler for Personal Computer Programming Manual GFZ-66102E/10 March 2002

2 Warnings, Cautions, and Notes as Used in this Publication GFL-001 Warning Warning notices are used in this publication to emphasize that hazardous voltages, currents, temperatures, or other conditions that could cause personal injury exist in this equipment or may be associated with its use. In situations where inattention could cause either personal injury or damage to equipment, a Warning notice is used. Caution Caution notices are used where equipment might be damaged if care is not taken. Note Notes merely call attention to information that is especially significant to understanding and operating the equipment. This document is based on information available at the time of its publication. While efforts have been made to be accurate, the information contained herein does not purport to cover all details or variations in hardware or software, nor to provide for every possible contingency in connection with installation, operation, or maintenance. Features may be described herein which are not present in all hardware and software systems. GE Fanuc Automation assumes no obligation of notice to holders of this document with respect to changes subsequently made. GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or usefulness of the information contained herein. No warranties of merchantability or fitness for purpose shall apply. Copyright 2002 GE Fanuc Automation North America, Inc. All Rights Reserved.

3 B 66102E/07 DEFINITION OF WARNING, CAUTION, AND NOTE 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 is described as a Note. Read the Warning, Caution, and Note thoroughly before attempting to use the machine. WARNING Applied when there is a danger of the user being injured or when there is a danger of both the user being injured and the equipment being damaged if the approved procedure is not observed. CAUTION Applied when there is a danger of the equipment being damaged, if the approved procedure is not observed. NOTE The Note is used to indicate supplementary information other than Warning and Caution. Read this manual carefully, and store it in a safe place. s 1

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5 B 66102E/10 PREFACE The models covered by this manual, and their abbreviations are : Product Name Abbreviations FANUC Series 0 MODEL A, B, C 0 A/B/C Series 0 A/B/C FANUC Series 0i MODEL A 0i A Series 0i A Series 0 FANUC Series 15 MODEL A 15 A FANUC Series 150 MODEL A 150 A Series 15 A FANUC Series 15 MODEL B 15 B FANUC Series 150 MODEL B 150 B Series 15 B Series 15 FANUC Series 15i MA 15i MA FANUC Series 150i MA 150i MA Series 15i A FANUC Series 16 MODEL A 16 A Series 16 A FANUC Series 16 MODEL B 16 B FANUC Series 160 MODEL B 160 B Series 16 B FANUC Series 16 MODEL C 16 C Series 16 C FANUC Series 160 MODEL C 160 C Series 16 FANUC Series 16i A 16i A FANUC Series 160i A 160i A Series 16i A FANUC Series 16i B 16i B FANUC Series 160i B 160i B Series 16i B FANUC Series 18 MODEL A 18 A Series 18 A FANUC Series 18 MODEL B 18 B FANUC Series 180 MODEL B 180 B Series 18 B FANUC Series 18 MODEL C 18 C Series 18 C FANUC Series 180 MODEL C 180 C Series 18 FANUC Series 18i A 18i A FANUC Series 180i A 180i A Series 18i A FANUC Series 18i B 18i B FANUC Series 180i B 180i B Series 18i B FANUC Series 20 Series 20 FANUC Series 20i Series 20i Series 20 p 1

6 PREFACE B 66102E/10 Product Name Abbreviations FANUC Series 21 TA 21 TA Series 21 A FANUC Series 21 TB 21 TB * 1 FANUC Series 210 TB FANUC Series 21 MB 210 TB 21 MB Series 21 B FANUC Series 210 MB 210 MB Series 21 FANUC Series 21i A FANUC Series 210i A FANUC Series 21i B FANUC Series 210i B 21i A 210i A 21i B 210i B Series 21i A Series 21i B *1 The Series 21 TB is available in two models: control unit A and control unit B. The manual may refer to these models as the 21 TB (controller A) or 21 TB (controller B) in those cases where their functions differ. Other manufacturers products referred to in this manual IBM and PC DOS are registered trademarks of International Business Machines Corporation. MS DOS is a registered trademark of Microsoft corporation. All other product names identified throughout this manual are trademarks or registered trademarks of their respective companies. p 2

7 B 66102E/10 Table of Contents DEFINITION OF WARNING, CAUTION, AND NOTE s 1 PREFACE p 1 1. GENERAL FEATURES OVERVIEW EQUIPMENT CONFIGURATION SYSTEM INSTALLATION (SETUP) INSTALLING THE SYSTEM FROM THE FAPT MACRO COMPILER SYSTEM FLOPPY DISK INSTALLING THE EXECUTOR FILE FROM THE FAPT MACRO LIBRARY FLOPPY DISK PATH SETTING COMPILER SERIES SPECIFYING ENVIRONMENT VARIABLES Selecting a RS 232 C/GPIB Interface Control System (MDEV) Specifying a Temporary File Output Destination (MTMP) FUNCTIONS MACRO COMPILER (MCOMP0/MCOMP15/MCOMP15I) MACRO LINKER (MLINK) ROM FORMAT FILE TRANSMITTER (CNC) (FOR SERIES 16/18/20/21T A) ROM FORMAT FILE TRANSMITTER (FANUC PMC WRITER/FANUC FA WRITER) (FOR SERIES 0, 15 A, 16 A, 18 A) SERIAL INTERFACE UTILITY Macro Program Input Macro Program Output ROM FORMAT FILE TRANSMITTER (FANUC FA WRITER, GP IB INTERFACE) (FOR SERIES 0, 15 A, 16 A, 18 A) CONVERSION TO A MEMORY CARD FORMAT (MMCARD) (THIS FUNCTION IS USED IN THE SERIES 15 B/16 B/16 C/18 B/18 C/20/21 B/16i A/18i A/21i A/ 16i B/18i B/21i B/0i A.) SYMBOLIC MACRO PROGRAM RS 232 C INTERFACE SETTING GP IB INTERFACE SETTING (FOR SERIES 0, 15 A, 16 A, 18 A) SYSTEM COMMON SYMBOL DEFINITION FILE HOW TO VIEW REFERENCE LIST/COMPILE LIST c 1

8 Table of Contents B 66102E/10 A. SYSTEM COMMON SYMBOL DEFINITION (\MCOMP\TOOL\SYSTEM.DEF). 39 B. COMPILE ERROR CODE TABLE C. ROM WRITE/VERIFICATION PARAMETER TABLE D. COMPILE/LINK EXAMPLE E. MACRO CONVERTER (MCONV) OPERATION GUIDE FOR THE FANUC SERIES 16/18 SUPER CAP M/SUPER CAP II M E.1 INTRODUCTION E.2 MACRO CONVERTER (MCONV) E.2.1 Outline E.2.2 Operation E.2.3 Source File E.2.4 Table Data File E.2.5 Table Conversion List File E.3 CONVERSION OF TABLE DATA WITH THE MACRO LINKER (MLINK) E.3.1 Outline E.3.2 Link Control File E.3.3 Link List File F. CREATING PROGRAMS BY USING SUPER CAP II M/ SUPER CAP II T WITH SERIES 16i/18i F.1 OVERVIEW F.2 DEVELOPMENT ENVIRONMENT F.3 CAP CONTROL MODULE F.4 USER MODULES F.4.1 Macro Libraries for Developing User Modules F.4.2 Developing a User Module F.4.3 Transferring the User Module to F ROM F.4.4 Executing the User Program F.4.5 Restrictions and Notes on Developing the User Module F.5 RESTRICTIONS IMPOSED ON THE SYSTEM F.6 CREATING SAMPLE USER MODULES FOR SUPER CAP II T F.6.1 Creating Programs F.6.2 Creating Link Files F.7 CREATING SAMPLE USER MODULES FOR SUPER CAP II M F.7.1 Creating Programs F.7.2 Creating Link Files G. BOOT SYSTEM (FOR SERIES 16 B/C, 18 B/C, 20, 21 B, 0i A) G.1 OUTLINE G.1.1 Starting the BOOT SYSTEM G.1.2 System File and User File G.2 OPERATION AND CORRESPONDING SCREENS G.2.1 System Data Loading Screen G.2.2 System Data Check Screen c 2

9 B 66102E/10 G.2.3 System Data Delete Screen G.2.4 System Data Save Screen G.2.5 SRAM Data Backup Screen G.2.6 Memory Card File Delete Screen G.2.7 Memory Card Format Function G.2.8 End of Boot System G.3 ERROR MESSAGES AND REQUIRED ACTIONS G.4 SETTING A MACRO PASSWORD (SERIES 20) G.4.1 Overview G.4.2 Password G.4.3 Setting a Password G.4.4 Specifying a Password for the Series 20 Boot System G.5 FREE AREA IN FLASH MEMORY (SERIES 20) G.5.1 Determining the Cause of the No space State H. BOOT SYSTEM (FOR SERIES 16i/18i/21i) H.1 OVERVIEW H.1.1 Starting the Boot System H.1.2 System Files and User Files H.1.3 Boot Slot Configuration Screen H.2 SCREEN CONFIGURATION AND OPERATING PROCEDURE H.2.1 System Data Loading Screen H.2.2 System Data Check Screen H.2.3 System Data Delete Screen H.2.4 System Data Save Screen H.2.5 SRAM Data Backup Screen H.2.6 Memory Card File Delete Screen H.2.7 Memory Card Format Function H.2.8 Load Basic System Function H.3 ERROR MESSAGES AND REQUIRED ACTIONS I. P CODE LOADER FUNCTION (FOR SERIES 16 B/C, 18 B/C, 21 TA, SERIES 16i/18i/21i A/B) I.1 OUTLINE I.2 PROCESSING BY P CODE LOADER FUNCTION I.2.1 Starting the P-code Loader Function I.2.2 RAM Initialization Screen I.2.3 Loading Start Screen I.2.4 Loading Screen I.2.5 Loading End Screen I.2.6 Flash ROM Transfer Screen (Except Series 21) I.2.7 Flash ROM Transfer End Screen (Except Series 21) I.2.8 Notes I.3 PARAMETER I.4 ALARMS J. P CODE LOADER FUNCTION (FOR SERIES 20) J.1 IPL MENU J.2 PROCESSING FLOW FOR THE P CODE LOADER FUNCTION J.2.1 RAM Initializing Menu J.2.2 Loading Start Menu J.2.3 Loading Menu c 3

10 Table of Contents B 66102E/10 J.2.4 Loading End Menu J.2.5 Menu for Transferring Data into FLASH ROM Memory J.2.6 Menu for end of Transfer of FLASH ROM Memory J.2.7 Notes J.3 PARAMETER J.4 ALARMS K. BOOT SYSTEM (FOR SERIES 15 B/15i A) K.1 OUTLINE K.2 MEMORY CARD SPECIFICATIONS AND RESTRICTIONS K.3 STARTING THE BOOT SYSTEM K.4 REGISTERING A MEM FORMAT FILE, STORED ON A MEMORY CARD, INTO F ROM K.5 SAVING A MEM FORMAT FILE FROM F ROM TO A MEMORY CARD K.6 REGISTERING A ROM FORMAT FILE, STORED ON A ROM CASSETTE, INTO F ROM K.7 TYPES OF FILES IN F ROM L. NAME OF MACRO LIBRARY M. PARAMETERS M.1 SERIES 15i COMPILE PARAMETERS M.2 PARAMETERS OTHER THAN SERIES 15i M.2.1 Compile Parameters M.2.2 Executer Parameter N. SUPER CAP T/SUPER CAP II T LOADING TO FLASH ROM N.1 SYSTEM INSTALLATION (SETUP) N.2 COMPILING N.3 LINKING N.4 WRITE TO THE MEMORY CARD N.5 LOADING TO FLASH ROM MODULE c 4

11 B 66102E/10 1. GENERAL 1 The MACRO Compiler/Executor function stores programs created using custom macros (macro programs) in ROM so that machine tool builders can implement their own conversational screens. The FAPT MACRO Compiler is a macro compiler utility to implement the MACRO Compiler/Executor function on personal computers available on the market. The FAPT MACRO Compiler is applicable to the following CNC systems: 1) Series 0 2) Series 15 3) Series 16 4) Series 18 5) Series 20 6) Series 21 This manual describes the procedure to store macro programs in ROM by using the macro compiler utility. For the syntax rule for creating macro programs, refer to the manuals listed below. 1) FANUC Series 0/0-Mate Programming Manual (Macro compiler/macro executor) (B-61393E-1) 2) FANUC Series 15 Programming Manual (Macro compiler/macro executor) (B-61213E-1) 3) FANUC Series 15 MODEL B Programming Manual (Macro Compiler/Macro executor) (B 62073E 2) 4) FANUC Series 0i/16/18/20/21 Programming Manual (Macro compiler/macro executor) (B-61803E-1) 5) FANUC Series 15i MODEL A Programming Manual (Macro Compiler/Macro executor) (B 63323EN 2) 1

12 1. GENERAL B 66102E/ FEATURES (1) Macro programs can be edited using a commercially available screen editor that operates under the MS-DOS environment. (2) The symbolic macro compiler function allows macro programs to be coded in symbolic format, and also allows comments to be coded. (3) A program that references macro variables in array format can be created. (4) Compile list output makes macro program development, debugging, and maintenance much easier. (5) A linker (linkage editing) function is employed which allows partial compilation and also facilitates the development and maintenance of macro programs common to several models. (6) The macro compiler utility, used with the CNC executor RAM operation function, can transfer a ROM-format file to the CNC system. This capability allows macro programs to be developed and debugged without writing ROM. (7) Linker output (ROM-format file) operation is separated from writing to a macro ROM by the ROM file transmitter with the FANUC PMC-Writer/FA-Writer. With this feature, the same macro ROM can be created at any time by preserving ROM-format files. (8) A ROM file transmitter function based on the GP-IB interface allows connection to the FANUC FA Writer for high-speed writing to a macro ROM verification. 2

13 B 66102E/10 1. GENERAL 1.2 OVERVIEW The FAPT MACRO Compiler/Executor function enables the FANUC CNC users to develop their own macro programs in a macro language, store the macro programs in ROM as a macro ROM by using the macro compiler, and execute the macro programs with the macro executor function of the FANUC CNC systems. (See the conceptual diagram on the next page.) The macro compiler utility enables macro program development, compilation, and writing to a macro ROM on a personal computer operating under the MS-DOS or PC-DOS. The macro compiler utility functions are listed below. (1) Macro compiler Symbolic macro program analysis Macro program compilation Object program output Reference list/compile list output (2) Macro linker Linkage editing of specified object programs and macro executor/compile parameters ROM-format file output Link list output (3) ROM file transmitter (CNC) ROM-format file transfer to the CNC Macro executor RAM operation (4) ROM file transmitter (FANUC PMC Writer/FANUC FA Writer) Writing ROM-format files to a macro cassette Verifying a macro cassette against the ROM-format files (5) Serial interface utility Reading/transferring programs from the CNC/FANUC SYSTEM P (6) ROM file transmitter (FANUC FA Writer (GP-IB interface) Writing ROM-format files to a macro cassette Verifying a macro cassette against the ROM-format files (7) Memory card format conversion Converting macro programs to a format capable of accepting write from a memory card The macro compiler utility is distributed with a 5-inch (2HD) floppy disk as an MS-DOS/PC-DOS package utility. The utility does not provide functions such as those for editing macro programs, and saving and restoring programs to and from floppy disks. For these functions, use MS-DOS/PC-DOS commands and editors available on the market. 3

14 1. GENERAL B 66102E/10 MS-DOS Editor * Create a macro program using an editor. (An editor is not supplied.) Macro Program (Source file) * The macro program (source file) must be in standard MS-DOS text format. LINK Control file (xx.lnk) MCOMP0 MCOMP15 MCOMP15I MACRO Compiler (xx.rel) Macro Program (Obj file) * The macro compiler generates an object file. It also creates reference and compile lists at the same time as the object file. * The object file is linked based on a link control file to generate a ROM-format file. The editor creates the link control file (xx.mex). MLINK MLINK15I MACRO Linker Macro Library file * FANUC supplies a macro library for each CNC model. (xx.rom) ROM format file * The ROM-format file contains macros in binary form output by the linker for a macro cassette. MTRNSC ROM file Transmitter RS-232-C line CNC Series 16/18/20/21-TA RAM Operation MROMWT /MROMVF FANUC PMC Writer FA Writer Macro cassette RS-232-C line GP-IB I/F MMCARD MMCARD15 MMCARD15I Memory Card file Converter Memory Card Reader /Writer Memory Card (xx.mem) * The ROM format file is executed on the CNC using the following methods: The file is transferred to CNC through RS-232-C to execute RAM operation (Series 16/18/20/21-TA). The file is transferred to FANUC PMC Writer/ FA Writer, written in macro cassetter or ROM, then executed (Series 0/15-A/16-A/18-A). The file is converted in Memory card format, transferred to CNC from memory card, then executed (Series 15-B/16-B/18-B/16-C/18-C /20/21 B/15i A/16i A/18i A/21i A/16i B/ 18i B/21i B). Fig.1.2 MACRO Compiler Utility Function Conceptual Diagram 4

15 B 66102E/10 2. EQUIPMENT CONFIGURATION 2 (1) Personal computer: (Fujitsu : FMR Series) (NEC : PC98 Series) (IBM : PC-AT Series) Main memory OS (FMR/PC98) (PC-AT) Hard disk Floppy disk drive Serial interface Miscellaneous (Option) 640K bytes or more MS-DOS Version 3.1 and later PC-DOS Version 3.3 and later About 1M bytes is required for install the system (Caution 1) 5-inch floppy disk drive (2HD) 3.5-inch floppy disk drive (2HD) for 15i/16i/18i/21i (Caution 2) RS-232-C serial interface Printer (Note 1) GP-IB interface (Note 2) (2) FANUC PMC-Writer or FANUC FA-Writer Serial interface (RS-232-C) GP-IB interface (option/fanuc FA-Writer only) CAUTION 1 The macro compiler utility software is installed on hard disk. This software occupies a hard disk space of about 1M bytes. In addition, developed macro programs and list files/object files generated at compile time are output as files on hard disk. So the size of hard disk depends on the macro programs developed. 2 The macro compiler utility software is distributed with a 5-inch (2HD) or 3.5-inch (2HD) floppy disk for series 15i/16i/18i/21i floppy disk. The macro executor is also distributed with a 5-inch (2HD) or 3.5-inch (2HD) floppy disk for series 15i/16i/18i/21i floppy disk. A 5-inch or 3.5-inch floppy disk drive is needed to install the system and executor files. NOTE 1 The macro compiler and macro linker output a reference list, compile list, and link list as MS-DOS text files to hard disk. For output to the printer, use an MS-DOS/PC-DOS command. Text files are output in a format assuming an 80-character, 60-line printer. 2 The FANUC FA-Writer allows high-speed writing to ROM/verification based on the GP-IB interface. (Note that only NEC PC98 Series and IBM PC-AT Sereis currently supports this function.) 5

16 3. SYSTEM INSTALLATION (SETUP) B 66102E/10 3 The FAPT MACRO Compiler software is distributed with two 5-inch (2HD) floppy disks or 3.5-inch (2HD) floppy disk for series 15i/16i/18i/21i. To use the software, load the software to the hard disk from the system floppy disks. No. Name 1 FAPT MACRO Compiler system floppy disk 2 FAPT MACRO Library system floppy disk To install the system, some knowledge of the hardware and software of a personal computer to be used is needed. In particular, the user should be familiar with the handling of basic MS-DO/PC-DOS commands and files such as CONFIG.SYS and AUTOEXEC.BAT. 6

17 B 66102E/10 3. SYSTEM INSTALLATION (SETUP) 3.1 INSTALLING THE SYSTEM FROM THE FAPT MACRO COMPILER SYSTEM FLOPPY DISK This operation installs the FAPT MACRO Compiler system software on the hard disk. First set the FAPT MACRO Compiler system floppy disk in the floppy disk drive, then activate MSETUP.BAT on the floppy disk. >?: \ > MSETUP <in> <out>? : : The root directory of the system floppy disk contains MSETUP.BAT. <in> : Specify the name of the drive containing the system floppy disk. <out> : Specify the drive name of the hard disk to hold the system. Examples The system floppy disk is set in drive B:, and the system is installed on the hard disk of drive A:. > B: \ > MSETUP B: A: This operation creates the following directories in drive A:, and the system software and a sample program are copied to the hard disk. A:\MCOMP \TOOL \MEX \USR \SAMPL Explanation of the directories a) \MCOMP\TOOL The FAPT MACRO Compiler system software, batch files, document files, and so forth are stored under this directory. MCOMP0.EXE/MCOMP15.EXE/MLINK.EXE/ System software RSFMR.BAT RS-232-C setting batch file for Fujitsu FMR Series RSPC98.BAT RS-232-C setting batch file for NEC PC98 Series RSPCAT.BAT RS-232-C setting batch file for IBM PC-AT Series SYSTEM.DEF System common symbol definition file (for $INCLUDE) b) \MCOMP\MEX Library file is stored under this directory. This file is loaded from the FAPT MACRO Library floppy disk. c) \MCOMP\USR Under this directory, create directories used to develop macro programs. A:\MCOMP \TOOL \MEX \USR \SAMPL \MODEL-A \MODEL-B \MODEL-C 7

18 3. SYSTEM INSTALLATION (SETUP) B 66102E/10 d) \MCOMP\USR\SAMPL Under this directory, the files including such a link control file, compiler/link result files, and program files as described in Appendix D are stored. Use these files as reference information for development. 8

19 B 66102E/10 3. SYSTEM INSTALLATION (SETUP) 3.2 INSTALLING THE EXECUTOR FILE FROM THE FAPT MACRO LIBRARY FLOPPY DISK This operation loads the executor file under the library directory of the FAPT MACRO Compiler system installed by the operation of Section 3.1. As with the FAPT MACRO Compiler system floppy disk, set the FAPT MACRO Library floppy disk in the floppy disk drive, then activate ESETUP.BAT on the executor floppy disk. >?:\>ESETUP <in> <out>? : : The root directory of the library floppy disk contains ESETUP.BAT. <in> : Specify the name of the drive containing the library floppy disk. <out> : Specify the drive name of the hard disk holding the system. Examples Set the library floppy disk in drive B:, and the library file is stored in the system installed on the hard disk of drive A:. > B:\>ESETUP B: A: 9

20 3. SYSTEM INSTALLATION (SETUP) B 66102E/ PATH SETTING All system software is contained under the \MCOMP\TOOL directory. So specify this directory by path setting with AUTOEXEC.BAT. 10

21 B 66102E/10 3. SYSTEM INSTALLATION (SETUP) 3.4 COMPILER SERIES To match the CNC series, there are three types of the FAPT MACRO Compiler system: a) For Series 0/Series 16/Series 18/Series 20/Series 21 b) For Series 15 A/15 B c) For Series 15i A These Compiler systems are for the respective series only. Compiling the same macro program using these compiler systems generates different object codes. For this reason, be sure to use the execution files (macro compiler/linker/memory card converter) and library files suitable to the development model. (The library file names are given in Appendix L.) If multiple systems are to be installed on the same personal computer, it is recommended that a separate directory be used for each CNC series. CNC Series and Corresponding Software (See also Fig. 4.7.) Memory card CNC series Macro compiler Macro linker format converter 0/16/18/20/21 MCOMP0 MMCARD *1 MLINK 15 A/15 B MCOMP15 MMCARD15 *2 15i A MCOMP15I MLINK15I MCARD15I *1 MMCARD is for the Series 16 B/16 C/16i A/16i B/18 B/18C/18i A/18i B/20/ 21 B/21i A/21i B/0i A only. *2MMCARD15 is for the Series 15 B only. 11

22 3. SYSTEM INSTALLATION (SETUP) B 66102E/ SPECIFYING ENVIRONMENT VARIABLES Selecting a RS 232 C/GPIB Interface Control System (MDEV) A macro program or a ROM-format file is transferred via the RS-232-C/GPIB interface. The interface control systems vary between personal computer manufacturers. Control software including MPOUT, MROMWT, and MROMWTG is therefore designed to determine the control system according to the setting of the MDEV environment variable. Specify the MDEV environment variable as follows in AUTOEXEC.BAT before using control software. Setting of the MDEV environment variable set MDEV=PC98 : For the NEC PC98 Series set MDEV=FMR : For the Fujitsu FMR Series set MDEV=IBM : For the IBM PC Series When no MDEV environment variable is specified, control software runs in the control system for the NEC PC98 Series Specifying a Temporary File Output Destination (MTMP) The macro compiler or macro linker generates or deletes some temporary files (work files) for compiling or linking. The destination to which the temporary files are output can be specified with the MTMP environment variable. Setting of the MTMP environment variable set MTMP=B:\TEMP If the temporary file output destination is specified as a RAM disk, compiling or linking time can be reduced. When no MTMP environment variable is specified, temporary files are generated in the current directory for compiling or linking and deleted after compiling or linking 12

23 B 66102E/10 4. FUNCTIONS 4 13

24 4. FUNCTIONS B 66102E/ MACRO COMPILER (MCOMP0/MCOMP15/ MCOMP15i) (1) Operation The macro compiler can compile macro programs created in the MS-DOS text file format. The macro compiler outputs an object file for the macro linker, reference list file, and compile list file. *1 *2 A:\> MCOMP0 file-spec [parameters] ==> (For Series 0/16/18/20/21) A:\> MCOMP15 file-spec [parameters] ==> (For Series 15 A/B) A:\> MCOMP15I file-spec [parameters] ==> (For Series 15i A) Source File Object File Macro Program (xx.src) MCOMP0 MCOMP15 MCOMP15I Object Program (xx.rel) Reference List File(xx.REF) Compile List File (xx.lst) MACRO COMPILER 1 O0001; 2 #100=#101+10; *1 file-spec This specifies a macro program source file. The extension of a source file name must be.src. Source files to be compiled can be specified in three ways: (1) Compilation of a single file A:\> MCOMP0 ABC=> Compiles ABC.SRC. (2) Compilation of multiple cards by using a wild card A:\> MCOMP0 ABC*=> Compiles all files whose names start with ABC and have the extension.src, (3) Selective compilation according to link control file specification A:\> Compiles all files specified in the link control file (file name: ABC.LNK). CAUTION As described in Section 3.4, even if the same macro program is compiled, the macro compiler for Series 0/16/18/20/21 creates an object file different from an object file created by the macro compiler for Series 15 and Series 15i. Select the compiler that matches a development model. 14

25 B 66102E/10 4. FUNCTIONS *2 [parameters] This specifies compile conditions. NR : Outputs no object file. If this parameter is omitted, an object file with the extension.rel is output. L1 : Outputs no compile list file. If this parameter is omitted, a compile list file with the extension.lst is output. L2 : Outputs no reference list file. If this parameter is omitted, a reference list file with the extension.ref is output. L3 : Outputs a macro program file. If this parameter is omitted, no macro program file is output. A macro program file is output with the extension.prg. PR : Makes no symbolic macro program analysis. Specify this parameter when a program coded in standard macro program format is to be compiled. No reference list file is output. Even if this parameter is not specified, a macro program can be compiled without trouble. However, this parameter can save time required to make a symbolic macro program analysis and can also save space for reference list file output. Fo : Specifies a destination to which an object file is output. See item (7). Fr : Specifies a destination to which a reference list file is output. Fl : Specifies a destination to which a compile list file is output. Fp : Specifies a destination to which a macro program file is output. (2) Macro program source file A macro program source file must be created in MS-DOS text file format. At this time, be sure to assign the file name extension.src. The macro compiler can compile a macro program coded in symbolic format. For detailed information, see Chapter 5. The macro compiler can also compile a program coded in standard macro program format. In this case, specify the command parameter -PR. This parameter can save time required to make a symbolic macro program analysis and can also save space for reference list file output. (3) Object file An object file output by the compiler is subject to processing by the macro linker. The name of an object file is the same as the source file name, except that the extension.rel is assigned to the object file. (4) Reference list file The reference list file is a list file output from macro program analysis processing. A source program, errors, error codes, symbol name cross reference information are listed. The name of a reference list file is the same as the source file name, except that the extension.ref is assigned to the reference list file. For output to a printer, for example, use a standard MS-DOS command. 15

26 4. FUNCTIONS B 66102E/10 (5) Compile list file A compile list file is output as a result of macro program compilation after symbolic macro program analysis. A source program, errors, error codes, variable cross reference information, object file size information, and so forth are listed. The name of a compile list file is the same as the source file name, except that the extension.lst is assigned to the compile list file. For output to a printer, for example, use a standard MS-DOS command. (6) Macro program file By specifying the command parameter -L3, a macro program after macro program analysis processing can be preserved as a file. The name of a macro program file is the same as the source file name, except that the extension.prg is assigned to the macro program file. By using the serial interface utility described in Section 4.5, this file can be output to the CNC/FANUC SYSTEM P via a RS-232-C line. (7) Specifying the destinations to which the compiler outputs files The directory of the destinations to which the compiler outputs files can be specified as desired according to compiling conditions. However, this function is only effective for FAPT MACRO Compiler Version 02.1 and later versions. Fo: Specifies a destination to which an object file is output. Fr : Specifies a destination to which a reference list file is output. Fl : Specifies a destination to which a compile list file is output. Fp: Specifies a destination to which a macro program file is output. Example) Compiling TEST.SRC and outputting TEST.REL to B:\OBJ MCOMP0 TEST -FoB:\OBJ 16

27 B 66102E/10 4. FUNCTIONS 4.2 MACRO LINKER (MLINK) (1) Operation According to the specification in a link control file created beforehand, the macro linker creates a link list file and ROM-format file for creating a desired macro cassette. *1 *2 A:\> MLINK file-spec [parameters] ==> (For Series 0/16/18/20/21/15 A/15 B) A:\> MLINK15I file-spec [parameters] ==> (For Series 15i A) Link control File ROM Format File Link Control (xx.lnk) MLINK MLINK15I ROM File (xx.rom) Object File Link List File(xx.MAP) Object Program (xx.rel) MACRO LINKER prog. Size. 1 O H 2 O H Macro Library file (xx.mex) *1 file-spec This specifies a link control file created in a specified format beforehand. The extension of a link control file name must be.lnk. *2 [parameters] This specifies link conditions. NR : Outputs no ROM-format file. If this parameter is omitted, a ROM-format file with the extension.rom is output. NL : Outputs no link list file. If this parameter is omitted, a link list file with the extension.map is output. Fm : Specifies the destination to which a link list file is output. See item (4). Fr : Specifies the destination to which a ROM-format file is output 17

28 4. FUNCTIONS B 66102E/10 (2) Link control file The link control file specifies a library file name, compile parameters, and object file names subject to linkage. As with a source file, a link control file must be created in MS-DOS text file format. At this time, be sure to assign the file name extension.lnk. In a link control file, a library file name, compile parameters, and object file names subject to linkage are defined using keywords. A comment line can be provided by using. Keyword) CNC= : 1st library file name for each CNC model See Appendix CNC2= : 2nd library file name for each CNC model L for details. CNC3= : 3rd library file name for each CNC model P9999= : Compile parameters 9000 to 9059 FILE= : Object file (Multiple object files can be specified with each name delimited by a comma.) HFILE= : Intel 32-bit hexadecimal file (Multiple object files can be specified with each name delimited by a comma.) SYSTEM= : path name (Series 16i/18i/21i/15i) SYSTEM value MPATH1 MPATH2 TPATH1 TPATH2 LPATH1 Example) Specified path First path of M series Second path of M series First path of T series Second path of T series First path of loader MACRO COMPILER UTILITY LINK FILE (SAMPLE) FOR F16MB CNC=A:\MCOMP\MEX\F16MB_07.MEX P9000= P9010=100 P9037=5 P9038=8000 JIKKOU-MACRO FILE=ABC,DEF FILE=XYZ,UVW TAIWA-MACRO * MPATH1 is fixed for series 15i A FILE=SSS The example above is for Series 16 MB. The compile parameters (Nos , 9037, and 9038) are set, and the object files (ABC.REF. DEF.REL, XYZ.REL, UVW.REL, and SSS.REL) are linked. The specification of (=0) is assumed for those compile parameters that are not specified in the link control file. A link control file is used also as a selective compile control file by the macro compiler, as described in item (1) in Section 4.1. This function is useful in compiling all programs to be linked. A:\> compiles all files specified in the link control file (file name: ABC.LNK). 18

29 B 66102E/10 4. FUNCTIONS (3) Link list file The link list file is output by the linker, and a library name, compile parameters, compile program list and size information, erroneous program numbers, error codes, ROM-format file size information and so forth are listed. The name of a link list file is the same as the link control file name, except that the extension.map is assigned to the link list file name. For output to a printer, for example, use a standard MS-DOS command. (4) Specifying the destinations to which the macro linker outputs files The directory of the destinations to which the macro linker outputs files can be specified as desired according to linking conditions. NOTE This function is effective only for FAPT MACRO Compiler Version 02.1 and later versions. Fm : Specifies a destination to which a link list file is output. Fr : Specifies a destination to which a ROM-format file is output. Example: Generating SAMPL.MAP to directory B:\MAP and SAMPL.ROM to directory C:\ROM MLINK SAMPL -FmB:\MAP -FrC:\ROM Compile parameter Compile parameter (5) Checking the size of ROM format file (Exclusive for Series 16-B/C, 18-B/C, 21-B, 16i A/B, 18i A/B, 21i A/B, 0i A and 15i A) at linking macro A ROM format file that is created by linking (MLINK) is checked for its size whether it is overflown or not. The size of ROM format file is set by compile parameter No and 9001 (No.8500 for series15i A). If a prepared ROM format file may exceed the size that was set by compile parameter 9000 (No.8500 for series15i) and 9001 as a result of linking, an error is produced when the macro linker is executed. ERROR : ROM size over Bit No. Address #7 #6 #5 #4 #3 #2 #1 # M3MB M2MB M1MB M512 M256 M128 Address #7 #6 #5 #4 #3 #2 #1 # M4MB M4MB M3MB M2MB M1MB M512 M256 M MB MB MB MB KB KB KB

30 4. FUNCTIONS B 66102E/10 NOTE 1 For the 21-TB (Controller A), always specify 128 KB. 2 For the Series 16, a 128-KB ROM-format file cannot be specified. 3 For the 21-MB or 21-TB (Controller B), no more than 1.0 MB can be specified. 4 For the 0i A, no more than 512 KB can be specified. Compile parameter Series 15i A Address Bit No. #7 #6 #5 #4 #3 #2 #1 # R10 R05 R10 R05 1.0MB KB KB 0 0 NOTE For the Series 15i A, only the combinations given in the table above are possible. (6) Error messages 1) When the Series 16i/18i/21i A Macro library is linked using a macro linker (MLINK.EXE) of MACRO COMPILER version 03.2 or earlier, the following error will occur: ERROR: Executer#1 is not specified 2) When the SYSTEM keyword is not specified, the following error will occur: ERROR: Can not find SYSTEM define 20

31 B 66102E/10 4. FUNCTIONS 4.3 ROM FORMAT FILE TRANSMITTER (CNC) (FOR Series 16/18/20/21T A) A linked ROM-format file can be transferred to CNC memory via a RS-232-C line, and whether the created ROM-format file operates correctly can be checked using the macro executor RAM operation function of the CNC system. NOTE The Series 0i A or Series 21 B does not support this function. (1) Operation After placing the CNC system in the macro executor receive ready state, a linked ROM-format file is transferred with the following command: A:\> MTRNSC file-spec parameters -F -S *1 file-spec This specifies a ROM-format file to be transferred. *2 parameters CNC model Number of address bits Addressing Series 16 Series 18 Series 20 Series 21-TA A0000 F : Overwriting loader command (See item (3).) S : Not required in the Series 16/18 A. Example: The file SAMPL.ROM is transferred to Series 16-A. A:\> MTRNSC SAMPL.ROM (2) RS-232-C interface For transfer, the RS-232-C serial interface channel at standard port No. 0 is used. Before a RS-232 C interface can be used, it must be set and initialized according to the conditions below. Transfer rate : Value set with the connected CNC system Data length : 7 bits Parity : Enable/even parity Stop bit : Value set with the connected CNC system Xon/off control applied For detailed information, see Chapter 6. (3) Overwriting loader command effective Only a user macro program can be transferred (execution of the overwriting loader function ) by specifying the transfer parameter. First all the files are transferred once, then only the changed user macro program is transferred. This enables the macro program to be debugged. (This function is only effective for FAPT MACRO Compiler Version 02.1 and later versions.) Example) MTRNSC SAMPL.ROM F F : Overwriting loader command When this command is specified, only the macro program (P-code program) is transferred from the ROM-format file; execution control software (executor) is not transferred. 21

32 4. FUNCTIONS B 66102E/10 a) Activate the P-code loader function in the initialization loader function mode specified for the CNC (bit 1 of parameter No = 0) to transfer all files from the personal computer. MTRNSC SAMPL.ROM b) Debug the macro program. c) If an error is found, correct the macro program and compile or link the macro program to create the ROM-format file again. d) Activate the P-code loader function in the overwriting loader function mode specified for the CNC (bit 1 of parameter No = 1). Specifying -F transfers the macro program from the personal computer. MTRNSC SAMPL.ROM F Repeat steps b), c), and d) to debug the macro program. If the library to be linked has been modified according to the software revision, the above procedure must be followed again from step a), transferring all files. 22

33 B 66102E/10 4. FUNCTIONS 4.4 ROM FORMAT FILE TRANSMITTER (FANUC PMC WRITER/FANUC FA WRITER) (FOR Series 0, 15 A, 16 A, 18 A) (1) Operation A linked ROM-format file is transferred to the FANUC PMC Writer or FANUC FA Writer via a RS-232-C line, and is written to a macro ROM and verified. A:\> MROMWT file-spec parameters Write or write/verification A:\> MROMVF file-spec parameters Verification *1 file-spec This specifies a ROM-format file to be transferred. *2 parameters -K1xx : Cassette type (1) -K2xx : Cassette type (2) -IDxxxx: ID code -VCxx : Sets Vcc (with MROMWT only). -VPxx : Sets Vpp (with MROMWT only). -Pxx : Sets pulse width (with MROMWT only). -VF : Writes a ROM-format file, then verifies it (with MROMWT only). For detailed information, see Appendix C. Example: The file SAMPL.ROM is written to a Series 0 512K-byte ROM cassette, then is verified. A:\> MROMWT SAMPL.ROM K110 K223 ID50B2 VCC0 VP64 -P01 -VF (2) RS-232-C interface For detailed information, see Chapter 6. 23

34 4. FUNCTIONS B 66102E/ SERIAL INTERFACE UTILITY Macro Program Input (1) Operation A macro program is read from the CNC/SYSTEM P via a RS-232-C line, then is stored in an MS-DOS text file for the macro compiler. A macro program is transferred from the CNC/SYSTEM P after the command below is entered and the personal computer is placed in receive ready state. A:\> MPLOADA file-spec 1* file-spec This specifies the name of a text file for storing a macro program. Example: A macro program is read to A:\MCOMP\USR\TEST\ABC.SRC. A:\> MPLOADA A:\MCOMP\USR\TEST\ABC.SRC CAUTION Select the ISO code as output code when transferring a macro program from the CNC/SYSTEM P Macro Program Output (1) Operation A macro program output with the parameter -L3 described in Section 4.1 can be output to the CNC/SYSTEM P via a RS-232-C line. After the CNC/SYSTEM P is placed in program read ready state, a macro program is transferred by the command below. A:\> MPOUT file-spec parameters *1 file-spec This specifies a macro program file to be transferred. *2 parameters Fffff : Outputs fields (null code) before and after a macro program. By ffff, specify the number of fields to be output. CR : Specifies the output format of the EOB (;). When -CR is omitted:the EOB (;) is converted to LF(0AH)/CR(0DH)/CR(0DH). When -CR is specified:the EOB (;) is converted to LF(0AH). (2) RS-232-C interface For detailed information, see Chapter 6. 24

35 B 66102E/10 4. FUNCTIONS 4.6 ROM FORMAT FILE TRANSMITTER (FANUC FA WRITER, GP IB INTERFACE) (FOR Series 0, 15 A, 16 A, 18 A) (1) Operation A linked ROM-format file is transferred to the FANUC FA Writer via a GP-IB interface, and is written to a macro cassette and verified. Since a linked ROM-format file is transferred to the FANUC FA Writer via a GP-IN interface, the file can be written to a macro cassette and verified at higher speed than when the file is transferred via a RS-232-C line (Section 4.4). A:\> MROMWTG file-spec parameters Write or write/verification A:\> MROMVFG file-spec parameters Verification *1 file-spec This specifies a ROM-format file to be transferred. *2 parameters -K1xx : Cassette type (1) -K2xx : Cassette type (2) -IDxxxx: ID code -VCxx : Sets Vcc (with MROMWTG only). -VPxx : Sets Vpp (with MROMWTG only). -Pxx : Sets pulse width (with MROMWTG only). -VF : Writes a ROM-format file, then verifies it (with MROMWTG only). For detailed information, see Appendix C. Example: The file SAMPL.ROM is written to a Series 0 512K-byte ROM cassette, then is verified. A:\> MROMWTG SAMPL.ROM -K110 -K223 -ID50B2 -VCC0 -VP64 -P01 -VF (2) GP-IB interface For detailed information, see Chapter 7. 25

36 4. FUNCTIONS B 66102E/ CONVERSION TO A MEMORY CARD FORMAT (MMCARD) (THIS FUNCTION IS USED IN THE Series 15 B/16 B/16 C/18 B /18 C/20/21 B/ 16i A/18i A/21i A/ 16i B/18i B/21i B/ 0i A.) (1) Operation Convert a ROM-format file created by the macro linker (MLINK) to the memory-card format file which can be loaded from the memory card using the boot function of the Series 15-B/16-B/20. A:\> MMCARD file-spec (Series 16 B/16 C/18 B/18 C/20/21-B/ 16i A/16i B/18i A/18i B/21i A/21i B) A:\> MMCARD15 file spec (Series 15 B) *1 file-spec This specifies a ROM-format File to be converted without extension. The name of MEM-format file is the same as ROM-format File name with the extension.mem. Example: A:\MCOMP\USR\TEST\SAMPL.ROM is converted into A:\MCOMP\USR\TEST\SAMPL.MEM. A:\> MMCARD15 A:\MCOMP\USR\TEST\SAMPL Series 16-B/16 C/18-B/ 18 C/20/21-B/ 16 A/16 B/18 A/ 18 B/21 A/21 B Source File MCOMP0 Object File Macro Program (xxx.src) Link Control File Link Control (xxx.lnk) MCOMP15 (Sereis 15-B) MCOMP15I (Sereis 15i A) Object Program (xxx.rel) MLINK MLINK15I Series 15 B/16 B/16 C/ 18 B/18 C/20/21-B/ 16 A/16 B/18 A/ 18 B/21 A/21 B ROM File (xxx.rom) Macro Library File (Sereis 15i A) Macro Library (xxx.mex) MMCARD MMCARD15 MMCARD15I Series 16-B/16 C/18-B/ 18 C/20/21-B/ 16 A/16 B/18 A/ 18 B/21 A/21 B/ 0 A (Sereis 15-B) (Sereis 15i A) Memory Card To memory card COPY A:xxx.MEM F: (F: Memory card device number) Memory Card File Memory Card File (xxx.mem) 26