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        FicsIII/IV
            FicsIII/IV Palletizing
            Fics-PT Option
        Ladder Motion
     
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    		•  Systems
    		 
     Fics-III/Fics-IV Programming Language
     
  •  
    		•  Features
     
  •  
    		•  Basic System Setting Commands
     
  •  
    		•  Basic Programming Commands
     
  •  
    		•  List of Commands
       
  • Motion Control Commands
  • Flow Control and I/O Control Commands
    •  
  •  
    		•  Tips
     
  •  
    		•  Palletizing Programming
     
  •  
    		•  Fics-PT Option
     
  •  
    		•  Applications
       
  • Pick and Place
  • Coil Winding
  • Palletizing
  • Interpolation
    •      
     
  •  
    		•  Features
       
  • Multi-tasking (8 tasks)
  • Up to 16 axes servo control (simultaneous start)
  • Point-to-point control with +/- 1 pulse accuracy
  • High-speed communication with drives (RS485@625kbps, RS422@2.5Mbps)
  • 3D linear and 2D arc&circular interpolation
  • Support incremental (10,000P/R) and 17 bits absolute encoders (32,768 P/R)
  • Basic-like easy programming robot language
  • 96 variables for arithmetic
  • 96 system variables for system customization
  • 96 flags for arithmetic and task communication
  • 96 monitor variables for production management
  • Palletizing & matrix functions
  • Coil winding software
  • Tree-structured commands
  • Easy I/O operation (manual I/O operation)
  • I/O Check
  • Programmable homing sequence
  • Windows based and menu-driven programming software WinFics
  • Easy interface with Dynaservo touch screen and terminals
  • User programming in natural languages
  • EEPROM for program and parameter save
    •      
     
  •  
    		•  Basic System Setting Commands
       
         
     
  •  
    		•  Basic Programming Commands
       
         
     
  •  
    		•  Motion Control Commands
       
    ORIGIN perform homing of the specified axes, one axis at a time or simultaneously
    PTP . ABS move to the specified absolute position
    PTP . INC move to the specified incremental position
    PTP -> ABS move to the specified absolute position but can excute the next command which follows without waiting for the completion of this PTP
    PTP -> INC move to the specified incremental position but can excute the next command which follows without waiting for the completion of the current PTP
    SPEED specify the speed of the next PTP command
    IN-AXIS set the current position of axes into VARiables
    TASK start the excution of a task program
    CALL excute a sub-program or a matrix program
    PALLET CLEAR point to the starting position of the palletizing matrix.
    PALLET CHECK check the completion of the palletizing matrix
    PALLET excute the palletizing program by one step
    MATRIX specify the type of the palletizing matrix
    TYPE-A fetch type-A table data
    TYPE-B fetch type-B table data
    TYPE-C fetch type-C table data
    TABLE create table data
    LINE 2-D linear interpolation
    LINE-3 3-D linear interpolation
    LINE-4 4-D linear interpolation
    ARC 2-D arc interpolation
    CIRCLE 2-D circular interpolation
    COIL coil winding by specifying tranverse width, pitch and turns
    VP-SPD variable pitch coil winding
    BIND coil winding with binding (tie-up)
    TRACK coil winding for any 2-D shapes of coils
         
     
  •  
    		•  Flow Control and I/O Control Commands
       
    IF DI :nn-m THEN GOTO branches if the specified DI bit turns ON or OFF
    IF VARnn THEN GOTO branches if the specified VARIABLE satisfies certain conditions
    IF FLAGnn THEN GOTO branches if the specified FLAG is 1 or 0
    IF DO:nn-m THEN GOTO branches if the specified DO bit turns ON or OFF
    IF DI:nn-m THEN STOP MOVING stops PTP if the specified DI bit turns ON or OFF
    IF MONnn THEN GOTO branches if the specified MONITOR variable satisfies certain conditions
    REPEAT JUMP ** TIMES TO STEP *** repeats ** times to the specified program step ***
    GOTO STEP jumps unconditionally to the specified program step
    OUT turns ON or OFF the specified digital output bit
    ATOM-DI inputs the DI bit of the Atoms-MFB module
    ATOM-DO outputs the DO bit of the Atoms-MFB module
    ATOM-AI reads the analog inputs of the Atoms-MFB module
    ATOM-AO writes to the analog outputs of the Atoms-MFB module
    VAR performs arithmetic operation of VARIABLEs
    VARnn = LOW (HIGH, BCD) DI:?? input the lower 4 bit (higher 4 bits, BCD) of the specified DI channel
    MONnn operations of MONitor variables
    FLAG assigns 1 or 0 to FLAGs
    TIMER START MONnn start MONitor variable timer
    TIMER STOP MONnn stop MONitor variable timer
    REM remarks
    MESSAGE outputs messages
    NOP no operation
         
     
  •  
    		•  Tips
       
    • 999 programs
    • 2000 steps in total
    • No.999 specifies homing sequence
    • No.998: System task, automatic start at power-on
    • support 8 tasks
    • divided into main program area and subprogram area: 0-99: main program, 100-997 subprogram by default.
    • communication between tasks: using FLAG variables
    • start tasks: TASK nnn START, "nnn" must be a subprogram.
    • "CALL", "PALT", "STOP by DI" commands cannot be used in task programs. Other commands OK.
    • Task programs (except 998) stop when main program stops.
    • Programs and parameters are memorized in SRAM which are battery-backuped (3 years), but can be saved in FLASH memory.
    • 96 variables for programming use (VAR01-VAR96, VAR96 is used by system)
    • Arithmetic:
      VARnn = CONST or VARmm
      VARnn = VARmm CONST or VARii
      VARnn = VARmm - CONST or VARii
      VARnn = VARmm * CONST or VARii
      VARnn = VARmm / CONST or VARii
      VARnn = BCD DI:xx
    • VARnn can only be substituted by integers
    • For PTP using VARnn, VARnn corresponds to the pulse number.
    • 96 Monitor variables used for production management
      Variable No. Description Unit
      MON80 (system use: Power-ON timer) 1 sec
      MON81 (system use: automatic opertion time) 1 sec
      MON82 (system use: 1 cycle duct time) 1 sec
      MON83 (system use: unused)  
      MON84 (system use: decrement timer) 10 msec
      MON85 system use: decrement timer) 10 msec
      MON86 (system use: decrement timer) 10 msec
      MON87 (system use: increment timer) 10 msec
      MON88 (system use: increment timer) 10 msec
      MON89 (system use: increment timer) 10 msec
      MON90 (system use: reserved)  
      MON91 (system use: reserved)  
      MON92 (system use: reserved)  
      MON93 (system use: reserved)  
      MON94 (system use: for I/O wait command)  
      MON95 (system use: for I/O wait command)  
      MON96 (system use: for I/O wait command)  
         
     
  •  
    		•  Pick and Place
       
         
        001: PTP ABS X=0mm, Y=0mm, Z=0mm
    002: IF IN 03-01 = OFF THEN GOTO 002
    003: PTP ABS Y = +15mm
    004: PTP ABS Z = +30mm
    005: OUT 05-01 = ON
    006: PTP ABS Z = +0mm
    007: PTP ABS Y = +0mm
    008: PTP ABS X = +200mm
    009: PTP ABS Y = +15mm
    010: PTP ABS Z = +30mm
    011: OUT 05-01 = OFF
    012: PTP ABS Z = +0mm
    013: PTP ABS Y = +0mm
    014: PTP ABS X = +0mm
    015: GOTO 002
    016: END
         
     
  •  
    		•  Coil Winding
       
         
        PGM=001

    001: VAR80 = 0
    002: PTP ABS X = +70mm
    003: CALL 800
    004: PTP INC Y = +40
    005: VAR80 = VAR80 + 1
    006: IF VAR80 < 9 THEN GOTO 003
    007: PTP ABS X = +50mm
    008: END

    PGM = 800
    001: LAYER p = +0.1mm 25T L = 6
    002: END
         
     
  •  
    		•  Palletizing
        PGM=002
    0001 PTP . ABS +0000.00 +0000.00 +0000.00 PTP move to home
    0002 CALL 200 call pallet matrix 200
    0003 OUT 01-7:ON pick up object (assume ON/OFF switch is connected to bit 7)
    0004 PTP . ABS  +0050.00 +0050.00 +0010.00 PTP move in absolute coordinate
    0005 CALL 201 call pallet matrix 201
    0006 OUT 01-7:OFF place object
    0007 TIMER = 01.00sec wait for 1 second
    0008 GOTO 0001 goto step 1
    0009 END  

    PGM=200
    0001 MATRIX G81INC X=0010.00 Y=0010.00 Xn=04 Ym=03 4 row and 3 column matrix of the type G81
    0002 END  

    PGM=201
    0001 MATRIX G84INC X=0020.00 Y=0020.00 Xn=04 Ym=03 4 row and 3 column matrix of the type G84
    0002 END  
         
     
  •  
    		•  Interpolation
        Write a "D" letter using linear and arc interpolations.

    PGM=001
    0001 REM Demostration the LINE and ARC commands Remark
    0002 ORIGIN (XY) Homing  XY axes
    0003 PTP . ABS  +0010.00 +10.00 PTP move to the absolute position
    0004 LINE INC e:+0000.00 +0020.00 V=01 Linear interpolation (V stands for speed no.)
    0005 ARC INC c:+0020.00 +0010.00 V=01
    e:+0000.00 +0000.00    		 Arc interpolation
    END