Fanuc Pmc-Model Sa1/Sb7 Supplemental Programming Manual (LADDER Language)

FANUC PMC-MODEL SA1/SB7
Supplemental Programming Manual

(LADDER Language)
Type of applied technical documents
FANUC PMC-MODEL PA1/PA3/SA1/SA2/SA3/SA5/SB/SB2/SB3/

Name SB4/SB5/SB6/SC/SC3/SC4/NB/NB2/NB6
Programming Manual (LADDER Language)
Spec. No. /Ed. B-61863E/14
Summary of Change
New, Add,
Applicable
Group Name/Outline Correct,
Date
Delete
• Compatibility of PMCs for Series 16i/18i/21i-
Basic MODEL A and B
• PMC Parameter Format Add Aug., 2001
Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
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01 01.07.25 Nagashima New registration B-61863E/14-3
EDIT DATE DESIG. DESCRIPTION 1/23

FANUC Series 16i/18i/21i-MODEL B
PMC-SA1/SB7 Supplemental Ladder

Programming Manual
Contents
1 Summary............................................................................................................................................... 3
2 Applied Software .................................................................................................................................. 3
3 Compatibility of PMCs for Series 16i/18i/21i-MODEL A and B ........................................................ 4
4 PMC Parameter Format ...................................................................................................................... 14
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1 Summary
This manual contains the specification about the difference between Series 16i/18i/21i-MODEL A and
Series 16i/18i/21i-MODEL B when you use Series 16i/18i/21i-MODEL B. The following items are
described in this manual.
• Compatibility of PMCs for Series 16i/18i/21i-MODEL A and B
• PMC Parameter Format
Other specifications and operations about PMC- SA1/SB7 are described in the following manual.
Manual Spec. Reference item
FANUC PMC-MODEL PA1/PA3/ B-61863E PMC-SA1/SB7
SA1/SA2/SA3/SA5/SB/SB2/SB3/SB4/SB5/SB6/
SC/SC3/SC4/NB/NB2/NB6
Ladder Language Programming Manual
The following abbreviation is used in this document.

Series Abbr.
FANUC PMC-MODEL SB7 PMC-SB7
FANUC PMC-MODEL SA1 PMC-SA1
2 Applied Software
The information contained in this document is applicable to the following software.
Software Series Version
PMC-SB7 Control Software 406G 03 or later
PMC-SA1 Control Software 406H 02 or later
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The following replaces “L.3 Compatibility with Series 16i/18i/21i-MODEL A”
3 Compatibility of PMCs for Series 16i/18i/21i-MODEL A and B
(1) Differences between PMC-SA5/SB5/SB6 and PMC-SB7
The following list shows the difference of each PMC models. It is possible to convert ladder for PMC-SA5,
PMC-SB5, and PMC-SB6 into PMC-SB7. As for opposite compatibility, there are some restrictions such
as the range of PMC address. The ladder for PMC-SB7 therefore cannot be converted into other PMC
models.
Series 16i/18i/21i-A 16i/18i/21i-B

SA5 SB5 SB6 SB7
PMC PMC/CNC F0 to F255 - F511 - F767
address interface(F,G) G0 to G255 - G511 - G767
PMC/Machine X0 to X127 X200 - Compatible
interface(X,Y) Y0 to Y127 Y200 -
Keep relay(K) K17 to K19 K900 to K909 K900 to K919
for system software
Basic instruction Compatible
Functional END3 Not available Available
instruction CTRB
MOVD
DISP Available Not available
Note)
This list does not contain the addition of reserved area of PMC address.
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(2) The conversion of ladder from PMC-SA5/SB5/SB6 into PMC-SB7 (source program)
When you want to change ladder from PMC- SA5/SB5/SB6 to PMC-SB7, you can convert the source
program using FAPT LADDER-III. Please refer to following manual for details.
FAPT LADDER-III OPERATOR’S MANUAL B-66234EN
“10.3 CONVERTING SEQUENCE PROGRAM BETWEEN PMC MODELS”
The sequence of the conversion is as follows.
i) Convert a source program into the mnemonic file by FAPT LADDER-III.

ii) Change the system parameters in the mnemonic file for PMC-SB7 by text editor.
iii) Create a new source program for PMC-SB7 by FAPT LADDER-III.
• If you want to change the model PMC-SA5/SB5/SB6 to model PMC-SB7, change the item
“PMC TYPE” to ”PMC-SB7”.
• If the mnemonic file has insufficient parameters for PMC-SB7, the initial values are set with
conversion for the source program.
• The mnemonic file format of the system parameter for PMC-SB7 is as follows.
%@0
2 BINARY 2. Counter type (BINARY or BCD)
3 NO 3.Operator panel (YES or NO)
4 PMC-SB7 4. PMC type
7 150 7. Ladder execution ratio (150%)*
%
Note
The default value is 150. The meaning is described in “(7) Addition of LADDER EXEC in
the system parameter (PMC-SB7)”
iv) Convert the mnemonic file to the source program and overwrite it on the new source program for
PMC-SB7.
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(3) The ladder programs depend on execution time (PMC-SB7)
As the execution speed of instructions become fast, the following items about execution timing may be
changed.
- The execution cycle of both first and second level of ladder
- The timing of the execution cycle of first level of ladder according to the partition of second level ladder
- The timing between ladder execution and I/O transfer
The working test of the machine is necessary.
(4) Change of sequence program size (PMC-SB7)

As described in chapter 3.4, the used size of system and symbol/comment are changed. Generally, the
program size for PMC-SB7 becomes bigger than one for PMC-SA5/SB5/SB6 even if the same source
program is converted. If the program size exceed the capacity of the flash ROM, please change the ladder
step option or reduce the symbol and comment.
(5) Operation/display of screens (PMC-SB7)

The operation of the PMC screens for PMC-SB7 is almost same as PMC-SA5/SB5/SB6. Some screens,
however, are changed for the improvement of operations and some functions. Please refer to “4. SCREEN
OPARATION FOR PMC-SA1/SB7”.
(6) Input/output of PMC parameters (PMC-SB7)

Through the expansion of size of the PMC parameters (T/C/K/D areas), the data format of the PMC
parameters on PMC I/O screen is changed. As for the details of the data format, refer to “4 PMC-MODEL
SB7 Parameter Format”
- The PMC parameters output from PMC-SA5/SB5/SB6 can be input to PMC-SB7.
- The PMC parameters output from PMC-SB7 cannot be input to PMC-SA5/SB5/SB6.
The extra relay address (E) is available as PMC address. The PMC parameters for PMC-SB7 contain the E
addresses. When the PMC parameters for PMC-SB7 are input, the E addresses are overwritten.
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(7) Addition of “LADDER EXEC” in the system parameter (PMC-SB7)
In PMC-SB7, according to addition of ladder level 3, the system parameter “LADDER EXEC” is added.
Specify the ladder execution ratio of both level 1 and level 2 in this parameter.
Defaut value 150 Setting range 1 to 150
- In case that you don’t use level 3 ladder, set the parameter to maximum value (150).
- In case that you use level 3 ladder, level 3 ladder may not run well under the maximum value (150). Set
the parameter to decrease the ladder execution time of level1 and level 2.
The ladder execution time of level1 and level2 is calculated as following formula.
“LADDER EXEC”
“Ladder execution time of level1 and level2” = 5msec x
100
The ladder execution time of level3 is calculated as following formula.
“Ladder execution time of level3” = 7.5msec – “Ladder execution time of level1 and level2”.
For example, in case that “100” is set to the parameter, the ladder execution time of level1 and levle2 is
assigned 5msec in ladder execution cycle(8msec) and the ladder execution time of level3 is assigned
2.5msec.
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(8) Addition/Change of Setting Parameters/System Keep Relays
The following setting parameters and keep relays are added.
Keep relays 16i/18i/21i-A 16i/18i/21i-B Applied Software
PMC- PMC-SA1/SB7
SA1/SA5/SB5/SB6
K901.6/K18.6 - EDIT ENABLE 406G/01 or later
406H/01 or later
K902.2/K19.2 - ALLOW PMC STOP 406G/01 or later
406H/01 or later
K906.1 Saved in the nonvolatile I/O GROUP SELECTION 406G/02 or later
memory “SA1” does not apply
K902.6/K19.6 - HIDE PMC PARAM 406G/03 or later
406H/02 or later
K902.7/K19.7 - PROTECT PMC PARAM 406G/03 or later
406H/02 or later
The meanings of the following keep relays are changed for the improvement of the signal trace function.
Keep relay 16i/18i/21i-A 16i/18i/21i-B Applied Software
PMC-SA5/SB5/SB6 PMC-SB7
K900.5/K17.5 Signal trace function Signal trace function for offline 406G/01or later
starts automatically. programmer starts automatically.
K900.6/K17.6 Signal Analysis function Signal analysis function for 406G/01or later
starts automatically. offline programmer starts
automatically.
K906.5 - Signal trace function for 406G/01or later
embedded screen starts
automatically.
The meanings of the following setting parameters/keep relays are changed for the reinforcement of the
programmer protection function.
Keep relay 16i/18i/21i-A 16i/18i/21i-B Applied software
PMC- PMC-SB7
SA1/SA5/SB5/SB6
K900.0/K17.0 Hide ladder program. Hide PMC program 406G/01or later
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The allocations of following keep relays are changed for the I/O link assignment function with 2 channels.
(PMC-SB6/SB7)
Keep relays 16i/18i/21I-A 16i/18i/21i-B Applied Software
PMC-SB6 PMC-SB7
K904~K905 Effective group selection for - PMC-SB7 does not
channel 1 for single channel applied.
composition
Effective group selection for
channel 2 for dual channel
composition
K910~K911 - Effective group selection 406G/02 or later
for channel 1
K912~K913 - Effective group selection 406G/02 or later
for channel 2
As for the details of the each setting parameter, refer to “V.2. Setting Function”
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(9) Addition of PMC alarm (PMC-SB7)
The number of groups of I/O Link defined in the sequence program is compared with the number of groups of
actually connected I/O devices. If the selectable I/O link assignment function is used, the number of selected I/O
groups is compared to the number of groups of actually connected I/O devices. When the number of groups does
not match, the following PMC alarm occurs.
Alarm message Contents Solution

ER97 IO LINK FAILURE(CHx The allocation of the I/O 1) Check the connection of the cable leading to
yyGROUP) module in group yy does the I/O device in group yy.
not match the actual I/O 2) Check that the I/O device was turned on before
device configuration. the CNC
3) Check the setting data of the I/O link
assignment function.
4) Check the setting parameter of the selectable
I/O link assignment function.
Note
All I/O devices connected with the channel on which this alarm occurs are not linked.
And the sequence program runs regardless of this alarm.
This function is controlled by K906.2.

K906.2 = 0: Connection check of I/O link is effective. (Initial value)
K906.2 = 1: Connection check of I/O link is not effective. (Same as 16i/18i/21i-A)
Caution
When the I/O devices are linked on the several abnormal status, for example, a failure of the I/O devices,
a failure of the I/O device’s connection and a change of the setting of the I/O devices by unintentional
operation, there is possibility that the machine may not work normally. If this function is effective, it is
possible to inspect the abnormality of the I/O devices in power on. It is recommended that this setting is
set to initial value (0) to troubleshoot the I/O devices easily.
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(10) PMC C Language program
As for the conversion of C language applications from Series 16i/18i/21i-A to Series 16i/18i/21i-B, see
the description below. The C language library“A08B-9201-J701” is applied in version 14 or later. As for
the details, refer to “B-61863-1/06-1”.
• Action for modifications of library function specification

The following functions in “III PMC LIBRARY” are not available to Series 16i/18i/21i-B because PMC
memory is extended for PMC-SB7 on Series 16i/18i/21i-B and because there are the sections which these
conventional functions can not access.
5.1 pl_memc, pl_mems, pl_meml, pl_memuc, pl_memus, pl_memul
5.2 pl_membrd
5.3 pl_membwrt
Please use following functions instead of them.

5.4 pl_memc2, pl_mems2, pl_meml2, pl_memuc2, pl_memus2, pl_memul2
5.5 pl_membrd2
5.6 pl_membwrt2
To keep the compatibility of source program according to each PMC model having the different PMC
addresses, it is recommended to use above functions from 5.4 to 5.6.
• Action for different operation timing

With Series 16i/18i/21i-B, the ladder is made faster when compared with Series 16i/18i/21i-A. So, the C
language application depending on the ladder program execution speed may not operate as it is. Check
the operation design.
(11) NC Parameter number 24 (PMC-SA1/SB7)

You can enable and disable the online connection for Ethernet, HSSB and RS-232C by NC parameter No.24
without setting on the PMC online monitor setting screen.
When you used the Ladder Editing Package or the FAPT LADDER-III on the Open CNC or the system
with the Ethernet option on the 16i/18i/21i-A, the high speed I/F (HSSB or Ethernet) has been effective with
the initial value “0” automatically.
On 16i/18i/21i-B, the initial value does not make “High Speed I/F” effective.
The 16i/18i/21i-B has the Ethernet function as a basic, and it is impossible to distinguish by the option. So,
the initial value is modified.
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If you use the Ladder Editing Package or FAPT LADDER-III (through the Ethernet), please set this parameter
to “10”, or set this parameter to “0” and set “HIGH SPEED I/F “ to “USE” in the online setting screen. If you
do not use these software, please keep the initial value.
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The contents of NC Parameter No.24
NC
Parameter Meaning on 16i/18i/21i-A Meaning on 16i/18i/21i-B
No.24
Disables “RS-232C” and enables “HIGH The settings on the online monitor setting screen
SPEED I/F”. are effective.
0 However, enables “HIGH SPEED I/F” if the
LADDER EDITING PACKAGE or the
Ethernet option exists.
Enables “Channel 1 of RS-232C” and Enables “Channel 1 of RS-232C” and disables
1
disables “HIGH SPEED I/F”. “HIGH SPEED I/F”.
Enables “Channel 2 of RS-232C” and Enables “Channel 2 of RS-232C” and disables
2
disables “HIGH SPEED I/F”. “HIGH SPEED I/F”.
Disables “RS-232C” and enables “HIGH SPEED
I/F”.
10 Reserve (Don’t use this setting.) However, enables “HIGH SPEED I/F” if the
LADDER EDITING PACKAGE or the Ethernet
option exists.
Enables “Channel 1 of RS-232C” and “HIGH Enables “Channel 1 of RS-232C” and “HIGH
11
SPEED I/F”. SPEED I/F”.
Enables “Channel 2 of RS-232C” and “HIGH Enables “Channel 2 of RS-232C” and “HIGH
12
SPEED I/F”. SPEED I/F”.
3∼10
Reserve (Don’t use this setting.) Reserve (Don’t use this setting.)
13∼254
Terminates communication forcibly. Terminates communication forcibly.
255
It is the same effect as soft key [EMG ST]. It is the same effect as soft key [EMG ST].
As for the details, refer to ”V.10. Online function”.
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Addition of “M.3 PMC Parameter Format”
4 PMC Parameter Format
4.1 General
This is the specification for the format to output the PMC nonvolatile parameter to I/O device.
4.2 Format for PMC-MODEL SA1/SA5/SB5/SB6
(1) Timer(T)
[Format]
N60xxx Pnnnnn; Setting value of timer
N: The numbers of timer address plus 60000.
The range:
PMC-SA1/SA5/SB5: N60000 to N60078
PMC-SB6: N60000 to N60298
P: The timer value with decimal numeric. The effective values are from 0 to 32767.
(Example)
N60000 P1; Timer Number 1 T0
……..
(2) Counter(C)
[Format]
N61xxx Pnnnnn; Counter Reset Value, Counter Current Value
N: The numbers of counter address plus 61000.
The range:
PMC-SA1/SA5/SB5: N61000 to N61078
PMC-SB6: N61000 to N61198
P: The counter value with decimal numeric. The effective values are from 0 to 32767. Counter
Preset value and Counter Current value are output alternately. Binary data are always
output regardless of the setting of BCD format or binary format.
(Example)
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N61000 P7; Counter Number 1 C0
N61002 P7; C2
…….
N61078 P0; C78
(3) Keep relay(K)

[Format]
N62xxx Pnnnnnnnn;
N: The numbers of keep relay address plus 62000.
The range:
PMC-SA1/SA5/SB5: N62000 to N62019
PMC-SB6: N62000 to N62039, N62900 to N62909
P: The value of the keep relay with binary numeric. The effective values from N62000 to
N62019are from 00000000 to 11111111. The effective values from N62900 to N62909 are
also from 00000000 to 11111111.
(Example)
N620000 P00000000; K0
N620001 P11111111; K1
……
N620019 P10101010; K19
(4) Data(D)
(i) Data Table Control
[Format]
N63000 Pnn; Number of Table group (1 to 100)
N63002 Pnnnnnnnn; Parameter of the group 1(Binary format)
N63003 Pn; Data type of the group 1 (0,1,2)
N63004 Pnnnn; Data number in the group 1 (PMC-SA1/SA5: 1 to 1860, PMC-SB5:
1 to 3000, PMC-SB6: 1 to 8000)
N63006 Pnnnn; Top address of the data in the group 1 (PMC-SA1/SA5: 0 to 1859,
PMC-SB5: 0 to 2999, PMC-SB6: 0 to 7999)
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N63012 Pnnnn; Data number in the group 2(1 to10000)
N63014 Pnnnn; Top address of the data in the group 2(0 to 9999)
N: The numbers of data table control address plus 63000. The range is from N63000 to
N63800.
P: The values of the data table control.
• Total number of the table group Range: 1 to 100
• Table parameter Range: 00000000 to 11111111
• Data type Range: 0 to 2
• Data number in group Range: PMC-SA1/SA5: 1 to 10000
PMC-SB5: 1 to 3000
PMC-SB6: 1 to 8000
• Top address of data in group Range: 0 to 9999
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(Example)
N63000 P2;
N63002 P00000000;
N63003 P0;
N63004 P10;
N63006 P0;
N63010 P00000001;
N63011 P0;
N63012 P10;
N63014 P10;
(ii)Data Table
[Format]
N64xxx Pnnnnn;
N: The offset of the Data Table address plus 64000.
The range:
PMC-SA1/SA5: N64000 to N65859
PMC-SB5: N64000 to N66999
PMC-SB6: N64000 to N71999
P: The value of the Data Table address with signed decimal numeric. The ranges of the value
depend on the data type of the Data Table and are from -128 to 127 with the 1-byte type,
from -32768 to 32767 with the 2-byte type, from -2147483648 to 2147483647 with the 4-
byte type.
(Example)
N64000 P-128;
N64001 P100;
N64002 P0;
…….
N64010 P1000;
N64012 P-1;
…….
N64992 P50000000;
N64996 P50000000;
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4.3 Format for PMC-MODEL SB7
(1) Header
[Format]
%; (PMC=SB7,MSID=0)
PMC: PMC Series. In PMC-SB7, “SB7” is output.

MSID: Reserve for FANUC. Always MSID=0.
(2) Timer(T)
[Format]
N60xxxx Pnnnnn; Setting value of timer
N: The numbers of timer address plus 600000. The ranges are from N600000 to N600498 and
from N609000 to N609498.
P: The timer value with decimal numeric. The effective values from N600000 to N600498 are
from 0 to 32767. The effective values from N609000 to N609498 are from 0 to 5.
(Example)
……
N600498 P32767; Timer Number 250 T498
N609000 P0; T9000

N609002 P0; T9002
……
609498 P0; T9498
*Note: The area from N609000 to N609498 is reserve and P0 should be set.
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(3) Counter(C)
[Format]
N61xxxx Pnnnnn; Counter Reset Value, Counter Current Value
N: The numbers of counter address plus 610000. The ranges are from N610000 to N610398
and from N615000 to N615198.
P: The counter value with decimal numeric. The effective values from N610000 to N610398
are from 0 to 32767. Counter Preset value and Counter Current value are output alternately.
The effective values from N615000 to N615198 are from 0 to 32767. Only Current values
are output. Binary data are always output regardless of the setting of BCD format or binary
format.
(Example)
N610002 P7; C2
……
N610398 P0; C398
N615000 P7; Fixed Counter Number 1 C5000

……
(4) Keep relay(K)

[Format]
N62xxxx Pnnnnn;
N: The numbers of keep relay address plus 620000. The ranges are from N620000 to N620099
and from N620900 to N620919.
P: The value of the keep relay with binary numeric. The effective values from N620000 to
N620099 are from 00000000 to 11111111. The effective values from N620900 to N620919
are also from 00000000 to 11111111.
(Example)
N620000 P00000000; K0
N620001 P11111111; K1
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……
N620099 P10101010; K99
N620900 P00000000; K900

N620901 P11111111; K901
……
N620919 P10101010; K919
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(5) Data(D)
(i) Data Table Control
[Format]
N630000 Pnn; Number of Table group (1 to 100)
N630004 Pnnnn; Data number in the group 1 (1 to 10000)
N630006 Pnnnn; Top address of the data in the group 1 (0 to 9999)
N630012 Pnnnn; Data number in the group 2(1 to10000)
N630014 Pnnnn; Top address of the data in the group 2(0 to 9999)
N: The numbers of data table control address plus 630000. The range is from N630000 to
N630800.
P: The values of the data table control.
• Total number of the table group Range: 1 to 100
• Table parameter Range: 00000000 to 11111111
• Data type Range: 0 to 2
• Data number in group Range: 1 to 10000
• Top address of data in group Range: 0 to 9999
(Example)
N630000 P2;
N630002 P00000000;
N630003 P0;
N630004 P10;
N630006 P0;
N630010 P00000001;
N630011 P0;
N630012 P10;
N630014 P10;
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(ii)Data Table
[Format]
N64xxxx Pnnnnn;
N: The offset of the Data Table address plus 640000. The range is from N640000 to N649999.
P: The value of the Data Table address with signed decimal numeric. The ranges of the value
depend on the data type of the Data Table and are from -128 to 127 with the 1-byte type,
from -32768 to 32767 with the 2-byte type, from -2147483648 to 2147483647 with the 4-
byte type.
(Example)
N640000 P-128;
N640001 P100;
N640002 P0;
……
N640010 P1000;
N640012 P-1;
……
N649992 P50000000;
N649996 P50000000;
(6) Extend Memory(E)

[Format]
N69xxxx Pnnnnn;
N: The numbers of the Extend Memory address plus 690000. The range is from N690000 to
N697999.
P: The value of the Extend Memory address with signed decimal numeric. The range of the
value is from -128 to 127.
(Example)
N690000 P-128;
N690001 P100;
.......
N697998 P127;
N697999 P0;
%
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4.4 The difference between PMC-SA1/SA5/SB5/SB6 and PMC-SB7
Regarding the PMC parameters, the PMC-SB7 has the following differences compared with the
PMC-SA1/SA5/SB5/SB6.
• Change of N number (from 60,000 to 600,000)
• Addition of the header
• Extended addresses in PMC-SB7
*Note: The meaning of the value with “P” has not been changed.
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Fanuc Pmc-Model Sa1/Sb7 Supplemental Programming Manual (LADDER Language)

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FANUC PMC-MODEL PA1/PA3/SA1/SA2/SA3/SA5/SB/SB2/SB3/