FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 121

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memorized. When the program specified here is called from the main program whose restart block
information is memorized, restart block information is memorized.

NOTE

The folder cannot be used. Restart block information is not memorized when the
program number is within the range, regardless of a folder.

(2)

One touch macro call
Restart block information is not memorized by setting bit 0 (OMC) of parameter No.7330=1 while a
one-touch macro is being executed. Restart block information of a subprogram called from one
touch macro is not memorized, either.

Example

If parameter No.7335=7900 and No.7336=20 are set when program O7900-O7919 is used as a program
for the tool retract, the relation between the main program number and the memorization of restart block
information is as follows.

Main program number

Restart block information

O0001 — O7988

Memorized

O7900 — O7919

Not memorized

O7920 — O9999

Memorized

For instance, when O0001 is executed, restart block information about O0001 is memorized.
Restart block information about O0001 is kept, even if O0001 is interrupted on the way and O7901 for
tool retract is selected as a main program and executed.
The program can be easily restarted by using kept restart block information if O0001 is selected again as
a main program after the tool retract program is executed.
Restart block information about O0001 is overwritten, when O0001 is interrupted on the way and O0002
is newly executed as a main program, and restart block information on O0002 is memorized.

Parameter

7330

OMC

[Input type] Parameter input

[Data type] Bit path

#0 OMC

While executing One-touch macro, restart block information on Quick program restart is :

Memorized.

Not memorized.

7335

The first O number of program not memorized in program restart memory

[Input type] Parameter input

[Data type] 2-word path

[Valid data range] 1 to 99999999

Set the first number of the program that is not memorized as restart block information
in quick program restart function.

7336

The number of programs not memorized in program restart memory

[Input type] Parameter input

[Data type] 2-word path

[Valid data range] 1 to 32767

Set the number of the programs that is not memorized as restart block information in
quick program restart function.

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Example)
When parameter No.7335=7900 and No.7336=20 are set, the program of
O7900-O7919 (20 programs) is treated as a program not memorized in the program
restart memory. When these programs are executed as the main program, restart block
information is not memorized.

5.7.4

Improvement of Storing in Program Restart Memory

Overview

In Quick program restart, the storing the block information in the program restart memory can be disabled
by the input signal of PMC or the system variable.

Explanation

In this function, the storing the block information in the program restart memory can be disabled by the
input signal of PMC or the system variable. Therefore, the storing of useless block information as a restart
point can be controlled, and useful restart points can be stored in the program restart memory more.

Signal

The storing the block information in the program restart memory can be disabled by program restart
memory storing disabled signal QRSTD<Gn517.6>.
When this signal is set to “0”, block information is stored in the program restart memory.
When this signal is set to “1”, block information is not stored in the program restart memory.
If the state of QRSTD is “1” when an automatic operation begins, the program restart memory is not
cleared and the storing in the program restart memory is disabled until end of the automatic operation.

System variable

The storing the block information in the program restart memory can be disabled by the system variable
#151171 of custom macro.
When #151171 is set to 0, the block information is stored in the program restart memory.
When #151171 is set to 1, the block information is not stored in the program restart memory.
#151171 is cleared to 0 by a reset operation. When an automatic operation begins, the program restart
memory is cleared without depending on #151171.

System variable

number

System variable

name

Attribute

Description

#151171

[#_QRSTD]

R/W

The control to store the block information in the program
restart memory.

Use program restart memory storing disabled signal QRSTD<Gn517.6> in an automatic operation that
should not use program restart function.
The system variable #151171 is effective when the storing the block information in the program restart
memory temporarily is disabled while the program execution.

Example

1. Set program restart memory storing disabled signal QRSTD<Gn517.6> to “1”.
2. Another program O1000 is selected, and executed.
3. Set program restart memory storing disabled signal QRSTD<Gn517.6> to “0”.
4. Program O0001 when the processing interrupts is selected because restart block information when the

processing interrupts remains,

and program restart is executed.

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This usage is effective for the program name (Program name is not a number or DNC operation) that
cannot be set to parameter No.7335 and No.7336.

In program O0002, when you would like to disable to store in the program restart memory during
executing program O9001 called by a macro call, the program is made as follows.
O0002 ;

O9001 ;

G28 X0.0 ;

#151171=1 ; It disables to store in the program restart memory.

Mxx ;

#100=#1+#2 ;

G00 G91 X#100 ;

G65 P9001 L2 A1.0 B2.0 ;

: This section is not stored in the

program restart memory.
:

Myy ;

M30 ;

G00 G91 Y#100 ;

#151171=0 ; It enables to store in the program restart memory.

M99 ;

It is possible to substitute by program restart memory storing disabled signal QRSTD<Gn517.6>, but the
program can be executed at high speed or more by using the system variable if storing and not storing
restart memory are switched in the program.

Signal

Program restart memory storing disabled signal QRSTD <Gn517.6>

[Classification] Input signal

[Function] It is selected whether to store a block information in the program restart memory.

[Operation] When this signal is set to “0”, block information is stored in the program restart memory.

When this signal is set to “1”, block information is not stored in the program restart

memory.

Signal address

Gn517

QRSTD

Alarm and message

Number

Message

Description

PS0110

OVERFLOW :INTEGER

The tolerance of the system variable was exceeded.

Note

Use M code without buffering when you change program restart memory storing disabled signal
QRSTD <Gn517.6 > during an automatic operation. Moreover, whether the block of this M code is
stored in program restart memory is decided by the state of the signal when read in advance.

System variable #151171 can be written only 0 or 1. When other values are written, the alarm
(PS0110) "OVERFLOW :INTEGER" occurs.

5.7.5

Manual Intervention in Quick Program Restart

Overview

In Search method of Quick program restart, tool moves to the restart position automatically. This
movement is executed in the specified order of axes one by one. Traditionally, if manual intervention is

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executed in this movement to avoid interference with mechanical elements and others, reset and selection
of restart block have to be executed again.
By manual intervention in Quick program restart, the movement to restart position can be continued
without reset and selection of restart block even if operation mode change or manual intervention is
executed before the movement is completed.

Explanation

Manual intervention in Quick program restart is enabled by setting the bit 5 (RMI) of parameter
No.11251 to 1. If RMI is set to 0, Quick program restart works traditionally.

Traditional specifications (RMI is set to 0)

If RMI is set to 0, manual intervention is executed before the movement to restart position is completed,
reset and selection of restart block have to be executed again.

Specifications when this function is enabled (RMI is set to 1)

If RMI is set to 1, operation mode is changed before the movement to restart position is completed, the
movement to restart position is executed again from the first axis. Therefore, the movement can be
continued without reset or selection of restart block, even if manual intervention is executed before the
movement is completed.

Example

Example when this function is enabled is following.

(1) Assume that tool is retracted while N2 block is executing.

In this case, restart position is set to the starting position of N2 block when operation is restarted
from interrupt position.

Fig. 5.7.5 (a) Starting of Quick program restart

(2) After reset is executed, N2 block is selected as the restart block and Quick program restart is

executed. The movement to restart position is executed per axis in the specified order. Assume that
operator notices possibility of interference when the movement of first axis is completed, and moves
the tool to the other position by manual intervention.

Fig. 5.7.5 (b) Interference avoidance by manual intervention

(3) After tool retraction of (2), the tool moves to the restart position correctly even if without reset

because the movement to restart position is executed again from first axis.

Movement to
Restart position

Restart position
(Starting position of N2 block)

Tool

Object (Interference may
occurs if 2nd axis moves)

Retract
again

Tool

Object

Avoid
Interference

Restart position
(Starting position of N2 block)

Interrupt

Tool

Retract

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Fig. 5.7.5 (c) Movement to restart position after manual intervention

Parameter

11251

RMI

[Input type] Parameter input

[Data type] Bit

#5 RMI

Manual intervention in Quick program restart is :

Disabled.

Enabled.

Restriction

In case that bit 5 (RMI) of parameter No.11251 is set to 1, modal information is not restored again if it is
changed in MDI mode during interruption of movement to restart position. If modal information have to
be restored again, reset and selection of restart block is needed again.

5.7.6

Tool axis direction approach at program restart

Overview

In Program restart and Quick program restart (Search type), when the program restart is done to the block
of the following function executing, the restart operation of the tool axis direction becomes possible.
This function is valid by bit 2 (TLR) of parameter No.7301 is set to 1. By the parameter (No. 7311), the
approach distance to restart operation starting position of the tool axis direction can be set.

NOTE

1 This function requires "Program restart" function or “Quick program restart”

function. To enable "Program restart" function, set NSQ (bit 2 of parameter
No.8135) to 0.

2 This function is possible only for the tool rotation or mix type machine (the

parameter No. 19680 is set to 2 or 21).

Explanation

- Moved to the restart position

A series of operation example of restart operation of the tool axis direction is shown in Fig. 5.7.6 (a) and
Fig. 5.7.6(b). Moreover, Table 5.7.6 (a) shows the order of restart operation and the content.

Restart position
(Starting position of N2 block)

Tool

Object

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Fig. 5.7.6 (a) Restart movement of tool axis direction (parameter TLR=1) - example 1

Fig. 5.7.6 (b) Restart operation of tool axis direction (parameter TLR=1) - example 2

Parameter No.7311

(2)

(3)

(6)

(4)

(5)

Tool

Machining
restart
position

(1)

Approach
position

Starting position of restart
operation
(Current position)

The order of (1) to (5) is the order of the
parameter (No.7310).
Or, it set by arbitrary axis approach.

Parameter
(No.7311)

(1)

(4)

(2)

(3)

Tool

Machining restart position

Approach
position

Starting position of restart
operation
(Current position)

(5)

(6)

The order of (1) to (5) is the order of the
parameter (No.7310).
Or, it set by arbitrary axis approach.

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Table 5.7.6 (a) Flow of restart movement of tool axis direction

Order

Contents of restart operation

Note

(1)-(5)

The following axes are positioned in order by the
parameter (No. 7310) or arbitrary 1-axis
approach

- Restart operation of rotary axis

- Positioning of the rotary axis becomes a base

of the tool axis direction

- Positioning to approach position with linear

3-axis

- The approach position is a point where the

parameter (No. 7311) leaves the machining
restart position for the tool axis direction

- Restart operation of other axis

(6)

Positioning to machining restart position as tool
axis direction

- Feedrate of restart operation

Restart operation is moved at the dry run rate.

- Tool axis direction approach

In case of that the tool position (position of rotary 2-axis and linear 3-axis) is already at the machining
restart position when restart operation start, the tool axis direction approach is invalid.

- Single block

When the single block signal SBK <Gn046.1> set to 1, the single block stop is done in each of restart
operation, approach position and machining restart position of each axis.

- Functions that cannot be used simultaneously

- Suppress motion of quick program restart
- Quick program restart for multi path system

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 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 to 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.

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19680

Mechanical unit type

[Input type] Parameter input

[Data type] Byte path

[Valid data range] 0 to 21

Specify the type of the mechanical unit.

Parameter

No. 19680

Mechanical

unit type

Controlled rotation

axis

Master and slave

Tool rotation
type

Two rotation axes of
the tool

The first rotation axis is the master, and
the second rotation axis is the slave.

Mixed type

One rotation axis of
the tool + one rotation
axis of the table

The first rotation axis is the tool rotation
axis, and the second rotation axis is the
table rotation axis.

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