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

5. AUTOMATIC OPERATION

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13117

SQP

SQB

INT

[Input type] Parameter input

[Data type] Bit path

#4 INT

During a program restart, the interference check on cutter/tool nose radius compensation

is:
0:

Enabled.

Disabled.

#6 SQB

A program restart with a block number specification is:

Enabled.

Disabled.

#7 SQP

A program restart with the P type is:

Enabled.

Disabled.

13421

FRS

[Input type] Parameter input

[Data type] Bit path

NOTE

Set these parameters for the first path only. It will be effective to all
paths.

#0 FRS

In a program containing an M code for turning the flexible synchronization mode on/off,

a program restart is:

Disabled.

Enabled.

Alarm and message

Number

Message

Description

PS0060

SEQUENCE NUMBER
NOT FOUND

In the program restart sequence number specification, the specified
sequence number could not be found.
Check the restart block.

PS0071

DATA NOT FOUND

In the program restart block number specification, the specified block
number could not be found.
Check the restart block.

PS0094

P TYPE NOT ALLOWED
(COORD CHG)

P type cannot be specified when the program is restarted. (After the
automatic operation was interrupted, the coordinate system setting
operation was performed.) Perform the correct operation according to
the Operator's Manual.

PS0095

P TYPE NOT ALLOWED
(EXT OFS CHG)

P type cannot be specified when the program is restarted. (After the
automatic operation was interrupted, the external workpiece offset
amount changed.) Perform the correct operation according to the
Operator's Manual.

PS0096

P TYPE NOT ALLOWED
(WRK OFS CHG)

P type cannot be specified when the program is restarted. (After the
automatic operation was interrupted, the workpiece offset amount
changed.) Perform the correct operation according to the Operator's
Manual.

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Number

Message

Description

PS0097

P TYPE NOT ALLOWED
(AUTO EXEC)

P type cannot be directed when the program is restarted. (After power
ON, after emergency stop or alarms PS0094 to 0097 reset, no automatic
operation is performed.) Perform automatic operation.

PS0098

G28 FOUND IN
SEQUENCE RETURN

A command of the program restart was specified without the reference
position return operation after power ON or emergency stop, and G28
was found during search. Perform the reference position return.

PS0099

MDI EXEC NOT ALLOWED
AFT. SEARCH

After completion of search in program restart, a move command is given
with MDI.

PS5374

FSC MODE MISMATCH IN
RESTART

The current flexible synchronization mode differs from the flexible
synchronization mode specified in a programmed command in the
program restart block.
Check the restart block.

PS5375

FSC MODE CAN NOT
CHANGED

The flexible synchronization mode was changed during the execution of
program restart.
Check the restart block.

PS5378

INVALID RESTART
BLOCK

The block specified as the restart block after the flexible synchronization
mode was canceled was not a block after an absolute command for the
axis specified as the slave axis.
Check the restart block.

SR5020

PARAMETER OF
RESTART ERROR

An invalid value is set in parameter No. 7310, which specifies the axis
order in which the tool is moved along axes to the machining restart
position in dry run. A value ranging from 1 to the number of controlled
axes may be set in this parameter.

DS0024

UINT SIGNAL WAS
ILLEGALLY INPUT

An interruption type custom macro was called during movement to the
program restart position.
Please do not call the interruption type custom macro.

Warning

WARNING

As a rule, the tool cannot be returned to a correct position under the following
conditions.

Special care must be taken in the following cases since none of them cause an
alarm:
-  Manual operation is performed when the manual absolute mode is OFF.
-  Manual operation is performed when the machine is locked.
-  When the mirror image is used. However, P type return is possible for a block

that switched between ON and OFF most recently or a subsequent block. In
this case, the mirror image signal status present when the program was
interrupted must be maintained.

- When no coordinate system is set up at the beginning of a program in which

main commands are executed in the incremental mode.

- When manual intervention is performed in the course of axis movement for

returning operation.

- When the program restart is commanded for a block between the block for

skip cutting and subsequent absolute command block.

- When program restart is specified in the machine lock state, then the machine

lock is canceled.

- When program restart specified for an intermediate block for a multiple

repetitive canned cycle

- In general, when a coordinate system is set up, changed, or shifted after the

search operation ends, the tool cannot be returned to a correct position.

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Caution

CAUTION

1 Keep the following in mind when restarting a program including macro variables.

- Common variable

When the program is restarted, the previous values are inherited as common
variables without being preset automatically. Before restarting the program,
initialize the appropriate variables to the original values used at start of the
previous automatic operation.

- System variable

The following system variables are not updated during search for restart:
  #5021 to #5040 and #100051 to #100100 ABSMT
  #5041 to #5060 and #100101 to #100150 ABSOT
  #5061 to #5080 and #100151 to #100200 ABSKP

- DI/DO

At restart of the program, DI can be read by a system variable, but DO cannot
be output.

- Clock

When the program is being restarted, the clock time can be obtained by a
system variable, but the time cannot be preset.

- Tool offset and workpiece origin offset

When the program is being restarted, the offset can be read by a system
variable, but change of the offset is allowed only for the Q type.

2 The M, S, T, and B (second auxiliary function) codes specified in the over store

mode are not displayed on the program restart screen.

3 In the over store mode, the over store mode is not cancelled even though the

operation mode is changed to a mode other than the MEM mode or RMT mode,
but a value cannot be input in the over store item.

Reference item

Manual name

Item name

OPERATOR’S MANUAL (B-64694EN)

Program restart

5.6.1

Auxiliary Function Output in Program Restart Function

Overview

This function provides the following features for program restart:

•

M/S/T/B codes found during a search through a block to be restarted for operation are output to the
program restart screen and an MDI program. Then the M/S/T/B functions can be executed from the
MDI program.

•

On a system having the M-code grouping feature, M codes are grouped. When they are output to the
above MDI program, only the M code specified last, among the M codes in the same group, is
output to the program restart screen and MDI program.

•

M codes for calling subprograms/custom macros and their arguments are also output to the MDI
program.

•

The order in which individual axes move the tool to the machining restart position can be not only
conventionally parameter-set but also set from the program restart screen.

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Explanation

Program restart procedure

Follow the procedure below to restart a program using this function:

1.

Turn on the program restart switch. (Set program restart signal SRN <Gn006.0> to 1.)

Display a program you want to restart and search for the beginning of the program.

Enter the sequence number (Nxxxx) or block number (Bxxxx) of a block you want to restart, then
press the soft key [P TYPE] or [Q TYPE].

Upon completion of searching the block, the program restart screen will be displayed.

The M/S/T/B codes found by the search are output to the MDI program. At this time, program restart
MDI program output completion signal SQMPR <Fn316.6> becomes 1. (For details, see "M/S/T/B
code output to the MDI program".)

On the program restart screen, set the order in which individual axes moves the tool to the
machining restart position.
(For details, see "Specifying the order in which axes move the tool to the machining restart
position".)

Turn off the program restart switch. (Set program restart signal SRN <Gn006.0> to 0.) At this time,
the number to the left of each axis name under "DISTANCE TO GO" blinks, and the program restart
underway signal <Fn002.4> becomes 1.

Switch to MDI mode and check the MDI program. Fix the MDI program as required, then execute
cycle start. When the execution of the MDI program is started, the program restart MDI program
output completion signal SQMPR <Fn316.6> becomes 0. (When program restart signal SRN
<Gn006.0> is 0 and program restart MDI program output completion signal SQMPR <Fn316.6> is 1,
the PMC ladder can be used to switch to MDI mode and execute cycle start.)

When the execution of the MDI program is completed, return to MEM mode. (Upon completion of
MDI program execution, program restart MDI program execution completion signal SQMPRE
<Fn316.7> becomes 1. When SQMPRE is 1, the PMC ladder can be used to return to MEM mode.)

10. Check whether the distance in "DISTANCE TO GO" is correct and whether the tool does not hit the

workpiece or any other object when moving to the machining restart position. If the tool hits
anything, move the tool manually to a position free from interference.

11. Press the cycle start button. The tool moves on each axis in the order set in step 6 to the machining

restart position at the dry run feedrate, then restarts machining.

NOTE

1 In steps 4, 7, and 11, the warning "ORDINAL NUMBER ERROR (RESTART)" is

displayed if the order in which individual axes move the tool is set incorrectly.

2 If the warning occurs in step 4 or 7, you can perform the step that follows.
3 If the warning occurs in step 11, cycle start cannot be executed.

In this case, correct the order in which axes move the tool to the program restart
position, then perform step 11 again.

Protecting the MDI program

If you set bit 5 (PMP) of parameter No. 13117 to 1 and memory protect signal KEY3 <G0046.5> or
KEY1 <G0046.3> to 0, the output MDI program remains protected until switching to MEM mode after
the execution of the MDI program is completed. (That is, the MDI program is protected after the program
restart MDI program output completion signal SQMPR <Fn316.6> becomes 1 until the program restart
MDI program execution completion signal SQMPRE <Fn316.7> becomes 0.) You cannot edit the MDI

program being protected. If you press

, or

, the warning "WRITE PROTECT" is

displayed.

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NOTE

1 When bit 7 (KEY) of parameter No. 3290 is set to 0, KEY3 is used to protect the

MDI program. When the bit is set to 1, KEY1 is used instead.

2 When the 8-level data protection function is enabled, whether MDI program

editing is allowed or not depends on the setting of that function. (It does not
depend on the memory protect key setting.)

Signal

Memory protect signals KEY3 <G0046.5>, KEY1 <G0046.3>

[Classification] Input signal

[Function] Enables MDI program editing.

[Operation] KEY1 or KEY3 enables editing of the MDI program of MSTB code output by the

"auxiliary function output in program restart" function.
When bit 7 (KEY) of parameter No. 3290 is 0, KEY3 is enabled. When the bit 1, KEY1
is enabled instead.

Program restart MDI program output completion signal SQMPR <Fn316.6>

[Classification] Output signal

[Function] Reports that M/S/T/B code output to the MDI program for program restart has been

completed.

[Operation] 1)

This signal becomes 1 when:

•

M/S/T/B code output to the MDI program for program restart has been
completed.

NOTE

If there is no M/S/T/B code to be output, no MDI program is created.
In that case, SQMPR does not become 1.

This signal becomes 0 when:

•

The execution of the MDI program is started.

•

Program restart operation terminates before the execution of the MDI program
is started.

•

A reset occurs before the execution of the MDI program is started.

Program restart MDI program execution completion signal SQMPE <Fn316.7>

[Classification] Output signal

[Function] Reports that the execution of the MDI program output upon program restart has

terminated.

[Output cond.] 1)

This signal becomes 1 when:

•

The execution of the MDI program output upon program restart has terminated.

This signal becomes 0 when:

•

The machine switches to MEM mode after the MDI program output upon
program restart has been executed.

•

A reset occurs after the MDI program output upon program restart has been
executed.

NOTE

To use the SQMPR and SQMPRE signals, the "auxiliary function
output in program restart" function is required.

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Signal address

G0046

KEY3

KEY1

Fn316

SQMPE

SQMPR

Parameter

3290

KEY

[Input type] Parameter input

[Data type] Bit path

#7 KEY

For memory protection keys:

The KEY1, KEY2, KEY3, and KEY4 signals are used.

Only the KEY1 signal is used.

NOTE

1 The functions of the signals depend on whether KEY=0 or KEY=1.

When KEY = 0:

- KEY1: Enables a tool offset value, workpiece zero point offset

value, and workpiece shift value to be input.

- KEY2: Enables setting data, macro variables, and tool life

management value to be input.

- KEY3: Enables program registration and editing.
- KEY4: Enables PMC data (counter and data table) to be input.

When KEY = 1:

- KEY1: Enables program registration and editing, and enables

PMC parameter input.

- KEY2 to KEY4: Not used

2 When a multi-path system is used, the setting for path 1 is followed.

13117

PMP

[Input type] Parameter input

[Data type] Bit path

#5 PMP

To the MDI program that is output due to a program restart, the memory protection

signals KEY1 and KEY3 are:
0:

Not effective.

Effective.

NOTE

When 0 is set in bit 7 (KEY) of parameter No. 3290, KEY3 is used to
protect the MDI program. When 1 is set in the parameter, KEY1 is
used.

Notes

To use this function, be sure to set bit 7 (MOU) of parameter No. 7300 to 0.

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Reference item

Manual name

Item name

OPERATOR’S MANUAL (B-64694EN)

"Auxiliary function output in program restart" function

5.6.2

Approach for Each Arbitrary Axis in Program Restart

Overview

For the approach to the program restart position in program restart, the following functions are
implemented. These functions allow the operator to sequentially determine the order in which the tool
moves along axes with operations on the screen according to the situation including obstacles.

•

On the program restart screen, enter the axis name of an arbitrary axis and press soft key [MOVE
AXIS] to set an axis along which to move the tool to the program restart position. Then, execute
cycle start. The tool moves to the program restart position along the target axis at the dry run
feedrate. After the tool moves to the program restart position along all axes, executing cycle start
restarts machining.

•

When the tool has moved to the program restart position along not all of axes (including the case
where the tool does not move along any axis), executing cycle start moves the tool to the program
restart position at the dry run feedrate. At this time, the tool moves sequentially along the axes in the
order specified in parameter No. 7310. Machining is then restarted.

Parameter

7310

Ordinal number of an axis along which a movement is made in dry run after program restart

[Input type] Setting input

[Data type] Byte axis

[Valid data range] 1 to (Number of controlled axes)

This parameter sets the ordinal number of an axis along which a movement to the restart
point is made in dry run after the program is restarted.

WARNING

1 When there is two or more axes which has the same setting value in

this parameter, the movement to the restart point is not executed in
the second or more axis.

2 When the quick program restart is effective and bit 6 (SAV) of

parameter No.11250 is set 1, the movement to the restart point is
not done in the axis which this parameter is set negative value(-1 to
-(Number of controlled axes)).

NOTE

When this parameter is 0, alarm SR5020, "PARAMETER OF
RESTART ERROR" or the warning "ORDINAL NUMBER ERROR
(RESTART)" is displayed.

11250

OAA

[Input type] Parameter input

[Data type] Bit path

# 7 OAA

In the program restart function, the approach to the program restart position for each

arbitrary axis is:
0:

Not used.

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Used.

Warning and message

Warning message

Description

THERE IS NO SPECIFIED NAME
OF AXIS

An invalid axis was specified as an input value.
Enter a correct axis name.

WRONG MODE

The CNC mode is invalid.
In the MEM or DNC mode, set or cancel an axis.

COMMAND ILLEGAL USE

The program restart coordinates are not set.

The tool starts moving to the program restart position along another axis.

No axis is set. (only for cancellation)

Reference item

Manual name

Item name

OPERATOR’S MANUAL (B-64694EN)

Program Restart

FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 117