FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 123

5. AUTOMATIC OPERATION

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Example-1 (When the bit 6 (TNR) of parameter No.7002 is set to 0):
Assuming that the compensation value is updated from OFS

to OFS

after exchanging the tool at the

manual retract position. When the recovery operation is started, the updated compensation value OFS

used, the tip point of new tool and old tool is the same position in the retract position. (Refer to the figure
Fig. 5.8.1 (a))

1.Retract Operation

2. Manual retract Operation

Retract Point

OFS

Manual retract Point

3.Recovery Operation

In case of TNR=0

OFS

→

OFS

4.Re-positioning Operation

Fig. 5.8.1 (a)

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Example-2 (When the bit 6 (TNR) of parameter No.7002 is set to 1):
Assuming that the compensation value is updated from OFS

to OFS

after exchanging the tool in the

manual retract position. When the recovery operation is started, the updated compensation value OFS

not used. After re-positioning operation, the updated compensation value OFS

is used (Refer to the

figure Fig. 5.8.1 (b))

1.Retract Operation

2. Manual retract Operation

Retract Point

OFS

Manual retract Point

3.Recovery Operation

In case of TNR=1

OFS

→

OFS

4.Re-positioning Operation

Fig. 5.8.1 (b)

Parameter

7002

TRO

TNR

[Input type] Parameter input

[Data type] Bit path

#6 TNR

When the updated compensation value in the tool retract and recover function is effective

(the bit 7 (TRO) of parameter No.7002 is set to 1)
0: The updated compensation value is effective in the recovery operation.
1: The updated compensation value is effective in the re-positioning operation.

#7 TRO

When the compensation value is updated while the tool retract and recover function is
executing,
0: The updated compensation value is invalid.
1: The updated compensation value is effective.

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Notes

NOTE

1 The compensation considered by this function is as follows. Neither the cutter

compensation nor the tool nose radius compensation is considered.
Machining system : Tool length compensation G43/G44 (wear/geometry),

Tool Offset G43.7/G44.7 (wear /geometry)

Lathe system

: When the Extended Tool Selection is not used (the bit 3

(TCT) of parameter No.5040 is set to 0)
Tool compensation T code (wear /geometry)

When the Extended Tool Selection is not used (the bit 3

(TCT) of parameter No.5040 is set to 1)

Tool length compensation G43/G44 (wear /geometry),

Tool Offset G43.7/G44.7 (wear /geometry)

2 The compensation value can be changed only in the retract position or the

manual retract position.

3 When the tool length compensation B is used, the vertical axis against the plane

from which the tool retract and recover is executed is compensated. This plane is
not a same plane when G43/G44 is instructed (In case machining system)

4 When the tool length compensation C is used and G43 or G44 is commanded,

the compensated axis is indefinite. Therefore this function cannot be used in this
case.

5 This function cannot be used during the movement to the reference position by

the G28/G30 command or the G53 command is executing.

5.9

MANUAL INTERVENTION AND RETURN

Overview

If you use feed hold to stop the tool from moving an axis during automatic operation and restarts the tool
after manual intervention, for example, for checking a cutting surface, the tool can resume automatic
operation after automatically returning to the pre-intervention position.
This function is optional.

Explanation

Setting bit 0 (MIT) of parameter No. 7001 enables manual intervention and return.
The sequence of manual intervention and return is as follows:

1.

The N1 block cuts a workpiece.

Tool

Stop the tool using feed hold in the middle of the N1 block (at point A).

Point A

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Retract the tool to point B by manual operation, then restart the machine.

Point A

Point B

Manual intervention

After the tool automatically returns to point A by non-linear interpolation type positioning at the dry
run feedrate, the remaining move command of the N1 block is executed.

Point A

Point B

Return (Non-linear interpolation type positioning)

WARNING

Manual intervention must be performed correctly with meticulous care, following
the machining direction and the shape of the workpiece, not to damage the
workpiece, machine, and/or tool.

Point A

Point B

Return (Non-linear interpolation type positioning)

Point A

Point B

Manual intervention

Manual absolute on/off

In manual absolute off mode, the tool does not return to the stop position. Instead, the tool moves
according to the manual absolute on/off function.

Return feedrate

For the return operation, the dry run feedrate is used, and the jog feedrate override function is enabled.
When manual rapid traverse selection signal RT <G019.7> is 1, the return feedrate is not dry run feedrate
but rapid traverse rate.

Return operation

Return operation is performed according to non-linear interpolation type positioning.

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Single block

If the single block stop switch is on during return operation, the tool stops at the stop position once and
restarts movement when cycle start is executed again.

Cancellation

If a reset, alarm, or emergency stop occurs during manual intervention or return operation, the manual
intervention and return function is cancelled.

MDI mode

The manual intervention and return function can be used in the MDI mode as well.

Relation to other functions

In other functions such as canned cycle, the manual intervention and return function is effective.

PMC axis control

If intervention is performed under PMC axis control after feed-holding of automatic operation, return
operation does not apply to the axis moving under PMC axis control when the return operation starts.
If the return operation is started with the axis under PMC axis control being stopped after having
completed the PMC axis control command, however, the return operation is performed by the amount of
movement by PMC axis control.
When PMC axis control is used for an axis unrelated to the program command, set bit 0 of parameter No.
10410 to 1 to exclude the axis completely from return operation by the manual intervention and return
function.

Parameter

7001

MIT

[Input type] Parameter input

[Data type] Bit path

#0 MIT

Manual intervention and return function is:

Disabled.

Enabled.

10410

NRT

[Input type] Parameter input

[Data type] Bit axis

#0 NRT

In tool retract and recover or manual intervention and return, the axis is:

Subject to tool retract and recover or manual intervention and return.

Not subject to tool retract and recover or manual intervention and return.

Alarm and message

Number

Message

Description

PS5219

CAN NOT RETURN

Manual intervention and return cannot be performed
during execution of 3-dimensional coordinate system
conversion, tilted working plane indexing.

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Limitations

Enabling/disabling of manual intervention and return function

Manual intervention and return function is enabled in the feed hold state (feed hold lamp signal
SPL<Fn000.4> is set to "1").
Manual intervention and return function is disabled in automatic operation stop state (single block stop,
feed hold stop with no travel distance remaining, etc.) and the operation is performed according to the
manual absolute on/off function.

Offset

When the tool is replaced using manual intervention for a reason such as tool damage, even if the amount
of offset is changed when restarting in the middle of the interrupted block, the change is not reflected in
machining.

Machine lock, mirror image, and scaling

When performing manual intervention and return, never use the machine lock, mirror image, or scaling
function.

3-dimensional coordinate system conversion, tilted working plane indexing

Alarm PS5129 is issued when manual intervention and the return is attempted during execution of
3-dimensional coordinate system conversion, tilted working plane indexing.

Parking

Do not switch the parking signal during manual intervention and return (for example, after feed hold stop).
The tool may not return in the right position when the parking signal is switched during manual
intervention and return.

Manual intervention and return by multi-path system

If cycle start is executed at the same time on two or more paths in a multi-path system, the path that
performed manual intervention does return operation. However, the path that did not perform manual
intervention restarts processing without doing return operation.

Axis for which return operation is not performed

When the axis is in the following conditions, return operation of the axis is not performed.
-

Spindle positioning

Tapping

Slave axis of axis synchronous control

Slave axis of synchronous control

Spindle control by servo motor

Polygon axis

NOTE

Under synchronous control, manual intervention and return can be performed for

the slave axis only when bit 2 (PKUx) of parameter No. 8162 is 1 and the master
axis is parking.

Feed hold during return operation

Feed hold is not effective during return operation.

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5.10

RETRACE

Overview

The tool can retrace the path along which the tool has moved so far (reverse execution). Furthermore,
the tool can move along the retraced path in the forward direction (forward reexecution). After forward
reexecution is performed until the tool reaches the position at which reverse execution started,
machining is continued as programmed.

NOTE

This function is optional.

Procedure

Forward execution

→

reverse execution

To perform forward execution of a program, set the reverse execution signal RVS<Gn007.0> to “0”, then
perform a cycle start operation. If the reverse execution signal RVS is set to “1”, reverse execution or the
end of reverse execution results.
To perform reverse execution of a program, use one of the following methods:
1)

Set the reverse execution signal RVS to “1” during forward execution of a block.

Perform a single block stop operation during forward execution, then set the reverse execution signal
RVS to “1”.

Perform a feed hold stop operation during forward execution, then set the reverse execution signal
RVS to “1”.

When method 1) is used, reverse execution starts after the end of the block being executed (after
execution up to the single block stop position). Reverse execution does not start as soon as the reverse
execution signal RVS is set to on.

Fig. 5.10 (a)

When method 2) is used, performing a cycle start operation starts reverse execution from the position at
which a single block stop takes place.

Single block stop
Reverse execution signal RVS = 1
Cycle start

Cycle start (start of forward execution)

Start of reverse execution

Forward
Reverse

Fig. 5.10 (b)

When method 3) is used, performing a cycle start operation starts reverse execution from the position at
which a feed hold stop takes place.

Forward
Reverse

Reverse execution signal RVS = 1

Cycle start (start of forward execution)

Start of reverse execution

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Feed hold stop
Reverse execution signal RVS = 1
Cycle start

Cycle start (start of forward execution)

Start of reverse execution

Forward
Reverse

Fig. 5.10 (c)

Reverse execution

→

forward reexecution

To perform forward reexecution of a program, use one of the following three methods:
1)

Set the reverse execution signal RVS to 0 during reverse execution of a block.

Set the reverse execution signal RVS to 0 after a single block stop takes place during reverse
execution.

Set the reverse execution signal RVS to 0 after a feed hold stop takes place during reverse execution.

When method 1) is used, forward reexecution starts after the block being executed ends (after execution
up to the position at which a single block stop takes place). Forward reexecution does not start as soon as
the reverse execution signal RVS is set to 0.

Cycle start (start of forward execution)

Start of forward Reverse execution signal RVS = 0
reexecution

Forward
Reverse
Forward
reexecution

Start of reverse execution

Fig. 5.10 (d)

When method 2) is used, performing a cycle start operation starts forward reexecution from the position
at which a single block stop takes place.

Cycle start (start of forward execution)

Start of forward reexecution

Forward
Reverse
Forward reexecution

Start of reverse execution

Restart of forward execution

Fig. 5.10 (e)

When method 3) is used, performing a cycle start operation starts forward reexecution from the position
at which a feed hold stop takes place.

Feed hold stop
Reverse execution signal RVS = 0
Cycle start

Cycle start (start of forward execution)

Start of forward reexecution

Forward
Reverse
Forward reexecution

Start of reverse execution

Fig. 5.10 (f)

Reverse execution

→

end of reverse execution

→

forward reexecution

When a block to be executed is no longer present during reverse execution (when reverse execution has
been performed up to the block where forward execution started, or when forward execution has not yet
been performed), the reverse execution end state is entered, and operation stops.

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