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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 70

2. PREPARATIONS FOR OPERATION

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Note

NOTE

1 Bit 7 (BFA) of parameter No. 1300 can be used to specify whether to stop the tool

before it enters the forbidden area or when it enters the area.

2 The stroke check is checked with finer accuracy than the displayed coordinate

value. Therefore, even if the coordinates on the boundary are displayed, OT
alarms may occur.

Reference item

Manual name

Item name

OPERATOR’S MANUAL (B-64694EN)

Stroke check

2.3.3

Stored Stroke Check 1 Area Expansion

Overview

In stored stroke check 1, up to eight different forbidden areas can be defined and selected.
Since the number of selectable forbidden areas increases, different forbidden areas can be used for
different machine specifications.

Explanation

The boundary of the forbidden area in stored stroke check 1 is defined by specifying coordinate values I
and II with parameters Nos. 1320, 1321, 1326, and 1327.

In this function, coordinate values III to VIII can be defined by parameters Nos. 1350 to 1361 in addition
to coordinate values I and II above. The stored stroke check 1 select signal can be used to switch between
these coordinate values of the forbidden area.

The relationship between  the states of the signals and the stroke parameters (coordinate values) to be
selected are shown below.

EXLM3

EXLM2

EXLM

Stroke parameter to be selected

Coordinate value I (No. 1320 / No. 1321)

Coordinate value II (No. 1326 / No.1327)

Coordinate value III (No. 1350 / No.1351)

Coordinate value IV (No. 1352 / No.1353)

Coordinate value V (No. 1354 / No.1355)

Coordinate value VI (No. 1356 / No.1357)

Coordinate value VII (No. 1358 / No.1359)

Coordinate value VIII (No. 1360 / No.1361)

Except for switching of forbidden areas by the signal selection above, the specification of stored stroke
check 1 is used basically.
When the axis direction dependent stored stroke check 1 switch signals are enabled (when bit 0 (DLM) of
parameter No.1301 is set to 1), this function is disabled.

Signal

Stored stroke check 1 select signals

EXLM<Gn007.6>, EXLM2<Gn531.6>, EXLM3<Gn531.7>

[Classification] Input signal

[Function] Switches between stroke parameters in stored stroke check 1 area expansion.

[Operation] The relationship between the states of stored stroke check 1 select signals EXLM3,

EXLM2, and EXLM and the stroke parameters to be selected are shown below.

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EXLM3

EXLM2

EXLM

Stroke parameter to be selected

Coordinate value I (No. 1320 / No. 1321)

Coordinate value II (No. 1326 / No.1327)

Coordinate value III (No. 1350 / No.1351)

Coordinate value IV (No. 1352 / No.1353)

Coordinate value V (No. 1354 / No.1355)

Coordinate value VI (No. 1356 / No.1357)

Coordinate value VII (No. 1358 / No.1359)

Coordinate value VIII (No. 1360 / No.1361)

Signal address

Gn007

EXLM

Gn531

EXLM3

EXLM2

Parameter

1300

LMS

[Input type] Setting input

[Data type] Bit path

#2 LMS

The stored stroke check 1 select signal (EXLM3, EXLM2, or EXLM when stored stroke

check 1 area expansion is used) is
0:

Disabled

Enabled

NOTE

When bit 0 (DLM) of parameter No. 1301 is set to 1, the stored
stroke check 1 select signal EXLM (EXLM3, EXLM2, or EXLM when
stored stroke check 1 area expansion is used) is made invalid.

1320

Coordinate value I of stored stroke check 1 in the positive direction on each axis

1321

Coordinate value I of stored stroke check 1 in the negative direction on each axis

1326

Coordinate value II of stored stroke check 1 in the positive direction on each axis

1327

Coordinate value II of stored stroke check 1 in the negative direction on each axis

1350

Coordinate value III of stored stroke check 1 in the positive direction on each axis

1351

Coordinate value III of stored stroke check 1 in the negative direction on each axis

1352

Coordinate value IV of stored stroke check 1 in the positive direction on each axis

1353

Coordinate value IV of stored stroke check 1 in the negative direction on each axis

1354

Coordinate value V of stored stroke check 1 in the positive direction on each axis

1355

Coordinate value V of stored stroke check 1 in the negative direction on each axis

1356

Coordinate value VI of stored stroke check 1 in the positive direction on each axis

1357

Coordinate value VI of stored stroke check 1 in the negative direction on each axis

1358

Coordinate value VII of stored stroke check 1 in the positive direction on each axis

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1359

Coordinate value VII of stored stroke check 1 in the negative direction on each axis

1360

Coordinate value VIII of stored stroke check 1 in the positive direction on each axis

1361

Coordinate value VIII of stored stroke check 1 in the negative direction on each axis

[Input type] Parameter input

[Data type] Real axis

[Unit of data] mm, inch, deg (machine unit)

[Min. unit of data] Depend on the increment system of the applied axis

[Valid data range] 9 digit of minimum unit of data (refer to standard parameter setting table (A))

(When the increment system is IS-B, -999999.999 to +999999.999)
Set the coordinate value of stored stroke check 1 on each axis in the + or - direction in the
machine coordinate system.
The stored stroke check 1 select signal (EXLM3, EXLM2, EXLM) and the stroke
parameter to be selected have the following relationships:

EXLM3

EXLM2

EXLM

Stroke parameter to be selected

Coordinate value I (No. 1320 / No. 1321)

Coordinate value II (No. 1326 / No. 1327)

Coordinate value III (No. 1350 / No. 1351)

Coordinate value IV (No. 1352 / No. 1353)

Coordinate value V (No. 1354 / No. 1355)

Coordinate value VI (No. 1356 / No. 1357)

Coordinate value VII (No. 1358 / No. 1359)

Coordinate value VIII (No. 1360 / No. 1361)

NOTE

1 Specify diameter values for any axes for which diameter

programming is specified.

2 The outside of the area set with each parameter is treated as the

inhibition area.

3 The stored stroke check 1 select signal (EXLM3, EXLM2, EXLM) is

valid only when bit 2 (LMS) of parameter No. 1300 is 1.

4 When axis direction dependent stored stroke check 1 is enabled

(with bit 0 (DLM) of parameter No. 1301 set to 1), stroke parameter
switching by the stored stroke check 1 select signal (EXLM3,
EXLM2, EXLM) is disabled.

Alarm and message

Number

Message

Description

OT0500

+ OVERTRAVEL ( SOFT 1 )

Exceeded the stored stroke check 1 when moving in the +
direction.

OT0501

- OVERTRAVEL ( SOFT 1 )

Exceeded the stored stroke check 1 when moving in the -
direction.

Note

NOTE

The basic notes are the same as those of stored stroke check 1.

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2.3.4

Stored Stroke Check 2, 3

Overview

For stored stroke check 2, the outside or inside of the area specified by parameters or a program is defined
as the forbidden area. As a limit position, specify a distance from the origin of the machine coordinate
system. This function is enabled the after reference point establishes at power-on. When the limits are
specified in a program, they can be set for the X-, Y-, and Z-axes. For this reason, the forbidden area can
be changed according to the workpiece. Whether to define the inside or outside of the specified area as
the forbidden area is determined by setting the corresponding parameter.

Fig. 2.3.4 (a) Stored stroke check 2

For stored stroke check 3, the inside of the area set by parameters is defined as the forbidden area.

(X1, Y1, Z1...)

(X2, Y2, Z2...)

The forbidden area is the
inside of the specified area.

Fig. 2.3.4 (b) Stored stroke check 3

Explanation

Three areas which the tool cannot enter can be specified with stored stroke check 1, stored stroke check 2,
and stored stroke check 3.

Fig. 2.3.4 (c) Stroke check

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The following shows the areas which the tool cannot enter for each stored stroke check.
-

Stroke check 1: Outside

Stroke check 2: Outside or inside (switchable)

Stroke check 3: Inside

When the tool moves into the forbidden area, an alarm is displayed and the tool is decelerated and
stopped.
When the tool enters a forbidden area and an alarm is generated, the tool can be moved in the reverse
direction from which the tool came.

Stored stroke check 2

Parameters Nos. 1322 and 1323 or commands set these boundaries. Inside or outside the area of the limit
can be set as the forbidden area. Bit 0 (OUT) of parameter No. 1300 selects either inside or outside as the
forbidden area.
In case of program command a G22 command forbids the tool to enter the forbidden area, and a G23
command permits the tool to enter the forbidden area.
Each of G22; and G23; should be commanded independently of another commands in a block.
The command below creates or changes the forbidden area:

(I, J, K)

(X, Y, Z)

X>I, Y>J, Z>K

G 22X_Y_Z_I_J_K_;

Fig. 2.3.4 (d) Creating or changing the forbidden area using a program

When setting the area by parameters, points A (Parameter No.1322) and B (Parameter No.1323) in the
figure below must be set.

X1>X2, Y1>Y2, Z1>Z2

A (X1, Y1, Z1)

B (X2, Y2, Z2)

Fig. 2.3.4 (e)

Creating or changing the forbidden area using a parameters

The values X1, Y1, Z1, X2, Y2, and Z2, which are set by parameters Nos. 1322 and 1323, must be
specified by the distance from the machine coordinate system (machine increment). The values X, Y, Z, I,
J, and K, which are set by a G22 command, must be specified by the distance in the least input increment
(input increment).
When data is set by the program command, the command valued is converted in the machine increment
and it set to the corresponding parameter (No.1322 and No.1323).

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Format

Stored stroke check 2 on

G22 X Y Z I J K ;

X, Y, Z: Coordinate of stored stroke check 2 in the positive direction on each axis
I, J, K: Coordinate of stored stroke check 2 in the negative direction on each axis

Use addresses X, Y, and Z or addresses I, J, and K. Addresses X and I specify the
forbidden area related to the X-axis of the basic three axes. Addresses Y and J specify the
forbidden area related to the Y-axis of the basic three axes. Addresses Z and K specify
the forbidden area related to the Z-axis of the basic three axes. When addresses are
omitted, a stroke check is made based on the values set by parameters.

Stored stroke check 2 off

G23 ;

Stored stroke check 3

Set the boundary with parameters Nos. 1324 and 1325. The area inside the boundary becomes the
forbidden area. The values X1, Y1, Z1, X2, Y2, and Z2 must be set as coordinates (machine increment) in
the machine coordinate system.

Checkpoint for the forbidden area

The parameter setting or programmed value (X, Y, Z, I, J, K) depends on which part of the tool or tool
holder is checked for entering the forbidden area.
If point A is checked in Fig. 2.3.4 (f) and Fig. 2.3.4 (g), the machine coordinates value that corresponds to
distance "a" should be set as the data for the stored stroke limit function. If point B is checked, the
machine coordinates value that corresponds to distance "b" must be set. When checking the tool tip (like
point A), and if the tool length varies for each tool, setting the forbidden area for the longest tool requires
no re-setting and results in safe operation.

The position of the
tool after reference
position return

Forbitten area boundary

Fig. 2.3.4 (f) Setting the forbidden area (turning tool)

The position of the
tool after reference

position return

Forbitten area boundary

Fig. 2.3.4 (g) Setting the forbidden area (rotating tool)

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Forbidden area overlapping

Area can be set in piles.

Fig. 2.3.4 (h) Setting the forbidden area overlapping

Unnecessary limits should be set beyond the machine stroke.

Condition under which each check is enabled

Each check becomes effective after the power is turned on and after reference point establishes.
After the power is turned on, if the reference position is in the forbidden area of each limit, an alarm is
generated immediately. (Only in G22 mode for stored stroke check 2).

Releasing the alarms

If the enters a forbidden area and an alarm is generated, the tool can be moved only in the backward
direction. To cancel the alarm, move the tool backward until it is outside the forbidden area and reset the
system. When the alarm is canceled, the tool can be moved both backward and forward.

Change from G23 to G22 in a forbidden area

When G23 is switched to G22 in the forbidden area, the following results.
<1> When the forbidden area is inside, an alarm is informed in the next move.
<2> When the forbidden area is outside, an alarm is informed immediately.

Timing for displaying an alarm

In stored stroke check 1,2,3, bit 7 (BFA) of parameter No. 1300 selects whether an alarm is displayed
immediately before the tool enters the forbidden area or immediately after the tool has entered the
forbidden area.

Signal

Stroke check 3 release signal RLSOT3<Gn007.4>

[Classification] Input signal

[Function] Selects whether stored stroke check 3 is checked.

[Operation] When this signal is set to “1”, does not check stored stroke check 3.

Signal address

Gn007

RLSOT3

Parameter

1300

BFA

RL3

OUT

[Input type] Setting input

[Data type] Bit path

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#0 OUT

The area inside or outside of the stored stroke check 2 is set as an inhibition area

Inside

Outside

#5 RL3

Stored stroke check 3 release signal RLSOT3 is

Disabled

Enabled

#7 BFA

When the stored stroke check 1, 2, or 3 alarm is issued, an interference alarm is issued

with the inter-path interference check function (T series), or a chuck/tail stock barrier (T
series) alarm is issued:
0:

The tool stops after entering the prohibited area.

The tool stops before the prohibited area.

NOTE

1. This parameter is valid even in AI contour control.
2. This parameter is invalid for the slave axis under axis synchronous

control.

1310

OT3x

OT2x

[Input type] Setting input

[Data type] Bit axis

#0 OT2x

Stored stroke check 2 for each axis is :

Disabled

Enabled

#1 OT3x

Stored stroke check 3 for each axis is :

Disabled

Enabled

1322

Coordinate value of stored stroke check 2 in the positive direction on each axis

1323

Coordinate value of stored stroke check 2 in the negative direction on each axis

[Input type] Setting input

[Data type] Real axis

[Unit of data] mm, inch, deg (machine unit)

[Min. unit of data] Depend on the increment system of the applied axis
[Valid data range] 9 digit of minimum unit of data (refer to standard parameter setting table (A))

(When the increment system is IS-B, -999999.999 to +999999.999)
Set the coordinate value of stored stroke check 2 on each axis in the + or - direction in the
machine coordinate system.

NOTE

1 Specify diameter values for any axes for which diameter

programming is specified.

2 Whether the inside area or outside area is a prohibited area is set

using bit 0 (OUT) of parameter No. 1300.

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