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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 115

5. AUTOMATIC OPERATION

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STEP

Command state

Forward

Backward

Backward Re-forward Re-forward Re-forward Re-forward

Execution state

in Path1

Forward

Backward

Backward Re-forward Re-forward Re-forward Re-forward

Execution state

in Path2

Forward

Backward

Stop

Wait P1

Wait P1,4 Re-forward Re-forward

Execution state

in Path3

Forward

Backward

Stop

Wait P1

Wait P1,4 Wait P1,2,4 Re-forward

Execution state

in Path4

Forward

Backward

Stop

Wait P1

Re-forward Re-forward Re-forward

However, when bit 4 (HMP) of parameter No. 6400 is 0 (even if a path is prohibited from changing
movement direction, the other paths can still change it), if operation is performed in the condition shown
in the example below, re-forward movement may not keep the same motion as in forward movement.

Example)

Conditions of the programs of the individual paths
Path1 ... In backward movement, there is a block that prohibits a change to forward movement.
Path2 ... In backward movement, there is neither block that prohibits backward movement nor block

that prohibits a change to forward movement.

Path3 ... In backward movement, there is a block that prohibits backward movement.

In the above conditions, the following operation is performed.

STEP1: Forward movement is performed to position A in the figure.
STEP2, STEP3: Backward movement is performed to position C in the figure. Path 3 is prohibited from

moving backward at position B.

STEP4, STEP5: Re-forward movement is performed to position A in the figure. Since path 1 is

prohibited from changing its direction, only path 2 performs re-forward movement.
Even when path 2 performs re-forward movement to position B, path 3 does not start
re-forward movement.

STEP1

Program

start

Block that prohibits a

direction change

STEP2

STEP3

STEP4

STEP5

Block that prohibits backward

movement

Path1

Path2

Path3

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To keep synchronization in re-forward movement, perform backward movement of path 1 until path 1
passes by block D, which prohibits a direction change, and start re-forward movement of path 1.
In this case, if bit 4 (HMP) of parameter No.6400 is set to 1 (if a path is prohibited from changing its
movement direction, the other paths cannot also change their direction), the other paths cannot change
their direction until path 1 passes by the position D.

STEP1’: Forward movement is performed to position A in the figure.
STEP2’,STEP3’: Backward movement is performed to position D in the figure. Path 3 is prohibited from

moving backward at position B.

STEP4’,STEP5: Re-forward movement is performed to position A in the figure. When path 1 and path 2

perform re-forward movement to position B, path 3 starts re-forward movement.

Parameter

6400

HMP

[Input type] Parameter input

[Data type] Bit path

#4 HMP

When inversion or backward movement is inhibited in other paths:

Inversion or backward movement is not inhibited for the currently executed path.

Inversion or backward movement is inhibited also for the currently executed path.

18000

RTW

[Input type] Parameter input

[Data type] Bit

#1 RTW

At the start of a re-forward movement operation of the manual handle retrace function in

a multi-path system,
0:

The re-forward movement operation is performed immediately on each path.

Those paths for which reverse movement are prohibited are synchronized at the stop
position.

STEP1’

Program

start

Block that prohibits a

direction change

STEP2’

STEP3’

STEP4’

STEP5’

Block that prohibits

backward movement

Path1

Path2

Path3

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5.3.8

Extension of the Manual Handle Retrace Function

Overview

In manual handle retrace function, the following operations that were impossible so far become available.
(1)  Forward movement of rigid tapping
(2)  Forward movement of threading
(3)  Forward movement of PMC axis control
(4)  Backward movement of the orientation by the G00 command on the Cs contour control axis
(5)  Backward movement of polygon turning with two spindles
(6)  Backward movement of balance cutting
This function is included in the multi-path manual handle retrace function.

Explanation

Rigid tapping

•

When the bit 0 (HRA) of parameter No.6403 is set to 0 (Conventional specification)
(1) When rigid tapping starts during forward movement, handle operation is disabled and rigid

tapping is executed at a speed of 100% override.

(2) Backward movement cannot be performed in the rigid tapping mode. In addition, when the

rigid tapping block is reached after rigid tapping is completed in forward movement, backward
movement cannot be done any more.

•

When the bit 0 (HRA) of parameter No.6403 is set to 1 (Extensional specification)
(1) In tapping during forward movement, the operation is performed at a speed according to handle

operation.

(2) Backward movement in rigid tapping is the same movement as in the case where bit 0 (HRA)

of parameter No. 6403 is 0.

Thread cutting

•

When the bit 0 (HRA) of parameter No.6403 is set to 0 (Conventional specification)
(1) When the threading block is reached during forward movement, handle operation become

disabled and the operation is performed at a speed of 100% override.

(2) Backward movement cannot be performed during threading. In addition, when the threading

block is reached during backward movement after threading is completed in forward movement,
backward movement cannot be done any more.

•

When the bit 0 (HRA) of parameter No.6403 is set to 1 (Extensional specification)
(1) In threading during forward movement, the operation is performed at a speed according to

handle operation.

(2) Backward movement in threading is the same movement as in the case where bit 0 (HRA) of

parameter No. 6403 is 0.

WARNING

In rigid tapping or threading during manual handle retrace, the workpiece cannot
be actually machined.

PMC axis control

•

When the bit 1 (HRB) of parameter No.6403 is set to 0 (Conventional specification)
(1) The PMC axis operates independently of handle operation.

•

When the bit 1 (HRB) of parameter No.6403 is set to 1 (Extensional specification)
(1) In PMC axis control during forward movement, the PMC axis is operated at a speed according

to handle operation but, backward movement cannot be performed.

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NOTE

1 Even when the axis specified by the program moves backward, the axis specified

by PMC axis control cannot move backward. Therefore, the relative position
between the axis specified by the program and the axis specified by PMC axis
control changes when backward movement is performed while the axis that is
specified by PMC axis control is operating. In this case, it is necessary to add the
following PMC ladder process.
- When the axis specified by PMC axis control is operating, prohibit the

backward movement of the axis specified by the program using reverse
movement prohibition signal MRVM <Gn531.1>.

2 Alarm PS0130 occurs when one of the following operations is executed.

(1) In the backward movement, when PMC axis control is specified for the axis

specified by the program in the previous block.

(2) During PMC axis control, when a direction change is performed for the axis

specified by the program in the previous block.

3 In the skip (03h), continuous feed (06h), speed command (10h), torque control

(11h), and auxiliary function (12h,13h,14h) of PMC axis control, even if bit 1
(HRB) of parameter No. 6403 is set to 1, the axis operates independently of
handle operation.

WARNING

During the manual handle retrace, if a reset is made when a command by PMC
axis control is not completed, the command by the program stops, but the
command by PMC axis control continues. In this case, even if bit 1 (HRB) of
parameter No. 6403 is set to 1, the command by PMC axis control operates
independently of handle operation. Make a reset after confirming that the
command by the PMC axis control is completed.

Orientation of Cs contour control axis

•

When the bit 2 (HRC) of parameter No.6403 is set to 0 (Conventional specification)
(1) Backward movement cannot be performed in orientation movement by the first G00 command

after the Cs contour control mode is turned on. Therefore, when the above G00 command is
reached during backward movement, backward movement cannot be done any more.

(2) Backward movement can be performed in the reference point return command (G28) of the Cs

contour control axis, but the processing proceeds to the previous block without performing
orientation movement.

•

When the bit 2 (HRC) of parameter No.6403 is set to 1 (Extensional specification)
(1) Backward movement can be performed in the orientation operation by the G00 command, but

the processing proceeds to the previous block without performing orientation movement as in
G28 command.

(2) The reference point return command (G28) of the Cs contour control axis performs the same

movement as in the case where bit 2 (HRC) of parameter No. 6403 is 0.

WARNING

The workpiece cannot be actually machined because the orientation movement
of G00 and G28 is not executed during backward movement in Cs contour
control.

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Polygon machining with two spindles

•

When the bit 3 (HRD) of parameter No.6403 is set to 0 (Conventional specification)
(1) Axes other than the polygonal synchronization axes operate at the speed according to handle

operation even in the polygon machining mode. However, backward move cannot be
performed in the block specified in the polygonal machining mode.

(2) When the polygon machining block (G50.2) is reached in backward movement after the

polygon machining is completed in forward movement, backward movement cannot be done
any more.

•

When the bit 3 (HRD) of parameter No.6403 is set to 1 (Extensional specification)
(1) It is possible to move backward or re-forward in the block specified in the polygonal machining

mode. When backward movement is performed during polygon machining, however, if the
polygon machining-on block (G51.2) is reached, backward movement cannot be done any
more.

(2) The operation when the polygon machining block (G50.2) is reached in backward movement

after the polygon machining is completed in forward movement the same as in the case where
bit 3 (HRD) of parameter No. 6403 is 0.

WARNING

In the threading and polygon machining between two spindles, the spindle
operates at a speed of override 100% instead of the speed according to handle
operation. Therefore, the workpiece cannot be actually machined.

(Example) Treading during the manual handle retrace

Tool (Handle operation)

Workpiece (Spindle override 100%)

The threads may be incorrectly cut in manual

handle operation

Workpiece (spindle override 100%)

Balanced cutting

•

When the bit 4 (HRE) of parameter No.6403 is set to 0 (Conventional specification)
(1) In the balance cutting mode, axes operate at the speed according to handle operation, but

backward movement cannot be performed.

(2) When the balance cutting block (G69) is reached in backward movement after the balance

cutting is completed in forward movement, backward movement cannot be done any more.

•

When the bit 4 (HRE) of parameter No.6403 is set to 1 (Extensional specification)
(1) It is possible to move backward or re-forward in the block specified in the balance cutting

mode. When backward movement is performed in the balance cutting mode, if the balance
cut-on block (G68) is reached, backward movement cannot be done any more.

(2) The operation when the balance cutting block (G69) is reached in the backward movement after

the balance cutting was completed in forward movement is the same operation as in the case
where bit 4 (HRE) of parameter No. 6403 is 0.

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NOTE

1 In the balance cutting mode, waiting is done so that the block starts at the same

time in each path. Backward movement cannot start during the waiting. After the
waiting is completed and the next block starts, backward movement becomes
possible.

Path 1: Backward movement is disabled

because waiting is under way.

Path 2: Backward movement is

enabled.

Path 2: Backward movement is enabled.

Path 1: Backward movement is enabled.

After waiting is completed

2 In all paths that uses balance cutting, set bit 4 (HRE) of parameter No. 6403 to 1.

Parameter

6403

HRE

HRD

HRC

HRB

HRA

[Input type] Parameter input

[Data type] Bit path

#0 HRA

In rigid tapping and thread cutting, with the manual handle retrace function, program

execution in the forward direction:
0:

Cannot be performed.

Can be performed.

#1 HRB

In PMC axis control, with the manual handle retrace, program execution in the forward

direction:
0:

Cannot be performed.

Can be performed.

#2 HRC

During orientation operation according to G00 for a Cs contour control axis, with the

manual handle retrace function, program execution in the backward direction:
0:

Cannot be performed.

Can be performed.

#3 HRD

In polygon machining with two spindles, with the manual handle retrace function,

program execution in the backward direction:
0:

Cannot be performed.

Can be performed.

#4 HRE

In balanced cutting, with the manual handle retrace function, program execution in the

backward direction:
0:

Cannot be performed.

Can be performed.

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5.4

MANUAL ABSOLUTE ON/OFF

Overview

Whether the distance by which the tool is moved by manual operation (such as jog feed or manual handle
feed) is reflected in the absolute coordinate system can be selected.

When manual absolute turns on

When manual intervention is performed during automatic operation, the distance by which the tool is
moved by manual intervention is reflected in the absolute coordinate system. For this reason, the absolute
and machine coordinate systems are the same before and after manual intervention.
The tool path after manual intervention is determined according to the setting of bit 1 (ABS) of parameter
No. 7001 as follows.

For an absolute command, or incremental command with bit 1 (ABS)
of parameter No. 7001 set to 1, the path indicates the program path.

Manual
interruption

Program path

For an incremental command with bit 1 (ABS) of parameter No. 7001 set to
0, the path is shifted.

Fig. 5.4 (a)

When manual absolute turns off

The distance by which the tool is moved is reflected in the absolute position display during manual
operation.
When the system is reset or restarted in the automatic operation mode after manual operation, however,
the absolute position display indicates the position before manual intervention and the absolute coordinate
system after manual intervention is shifted from the machine coordinate system by the amount of manual
intervention. The tool path after manual intervention is as follows.

Manual
interruption

Program path

The path is shifted regardless of an absolute or incremental command.

Fig. 5.4 (b)

Signal

Manual absolute signal *ABSM<Gn006.2>

[Classification] Input signal

[Function] Turns the manual absolute function on or off.

[Operation] When this signal is set to 0, turns on the manual absolute function.

When this signal is set to 1, turns off the manual absolute function.

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Manual absolute check signal MABSM<Fn004.2>

[Classification] Output signal

[Function] Notifies the state of the manual absolute signal.

[Output cond.] This signal is set to 1 in the following case:

When the manual absolute signal *ABSM is set to 0

This signal is set to 0 in the following case:
-

When manual absolute signal *ABSM is set to 1

Signal address

Gn006

*ABSM

Fn004

MABSM

Parameter

7001

ABS

[Input type] Parameter input

[Data type] Bit path

#1 ABS

For the move command after manual intervention in the manual absolute on state:

Different paths are used in the absolute (G90) and incremental (G91) modes.

The same path (path in the absolute mode) is used in the absolute (G90) and
incremental (G91) modes.

Reference item

Manual name

Item name

OPERATOR’S MANUAL (B-64694EN)

Manual absolute on/off

5.5

OPTIONAL BLOCK SKIP/ADDITION OF OPTIONAL
BLOCK SKIP

Overview

When a slash followed by a number (/n, where n = 1 to 9) is specified at the head of a block, and optional
block skip signals BDT1 to BDT9 are set to 1 during automatic operation, the information contained in
the block for which /n, corresponding to signal BDTn, is specified is ignored (from /n to the end of the
block).
(Example)

/2 N123 X100.0 Y200.0 ;

Table 5.5 (a)

Input signal

Code specified at the head of a block

BDT1
BDT2
BDT3
BDT4
BDT5
BDT6
BDT7
BDT8
BDT9

/ or /1

(Note)

/2
/3
/4
/5
/6
/7
/8
/9

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