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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 167

8. MULTI-PATH CONTROL

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Block start interlock signal

Block start interlock signal

*BSL<Gn008.3> is invalid for waiting M codes of high-speed type. However,

block start interlock signal

*BSL<Gn008.3> is valid in the condition to treat waiting M codes of

high-speed type as normal waiting M codes.

Real-time custom macro

Execution timing of each real time macro statement is delayed compared with normal waiting M codes
when real time macro command is executed during the waiting by waiting M codes of high-speed type.
Please use normal waiting M codes for the waiting which is executed with real time macro command at
the same time.

Signal

Waiting M codes of high-speed type invalid signal NHSW<G0579.6>

[Classification] Input signal

[Function] Waiting M codes of high-speed type are invalidated.

[Operation] When this signal becomes "1":

M codes setting by parameters Nos.8114 and 8115 are treated as normal waiting M codes.
When this signal becomes "0":
M codes setting by parameters Nos.8114 and 8115 are treated as waiting M codes of
high-speed type.

NOTE

This signal cannot be changed during operating a program.
The state of signal at cycle start is kept.

No-wait signal

NOWT<G0063.1> (for path common signal interface)
NMWT<Gn063.7> (for path individual signal interface)

[Classification] Input signal

[Function] Specifies whether to synchronize the paths by the waiting M code or not.

[Operation] When this signal turns to "1", inter-path synchronization by the M code is not performed.

The waiting M code specified in a machining program is ignored.
When this signal turns to "0", inter-paths synchronization by the M code is performed.
When the waiting M code is specified in one path, the CNC waits for the corresponding
M code of another path to be issued, then starts executing the next block.

Waiting signal

WATO<F0063.6> (for path common signal interface)

WATO<Fn063.6> (for path individual signal interface)

[Classification] Output signal

[Function] Indicates that the M code is waiting for another path.

[Output cond.] These signals are "1" as long as:

A path is waiting for another path. That is, the signal stays "1" for the period from
when the path issues the M code for waiting to when another path issues the
corresponding M code.

This signal is "0" as long as:
-

Neither of the paths is waiting for the other.

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NOTE

1 Waiting signal might not be output when waiting is released in a

very short time.

2 Waiting signal might keep being output at 16ms or less, just after

waiting has been released.

Parameter

8114

Top number of waiting M codes of high-speed type

[Input type] Parameter input

[Data type] 2-word

[Valid data range] 0, 100 to 99999999

Set the top number of waiting M codes of high-speed type.
Waiting M codes of high-speed type cannot be used when the setting value is 0 or out of
range.

8115

Number of waiting M codes of high-speed type

[Input type] Parameter input

[Data type] word

[Valid data range] 0 to 32767

Set the number of waiting M codes of high-speed type.
Waiting M codes of high-speed type cannot be used when the setting value is 0 or out of
range.

NOTE

Set the range of waiting M codes of high-speed type not to overlap
with the range of other waiting M codes. The M codes are regarded
as waiting M codes of high-speed type if overlapping.

11279

HMA

[Input type] Parameter input

[Data type] Bit

#7 HMA

When waiting M codes of high-speed are specified during Relation of cutter

compensation, :
0:

alarm occurs.

alarm not occurs.

NOTE

1 Processing time of waiting M codes of high-speed type during

Relation of cutter compensation is equal with waiting M codes
setting by parameter No.8110 and 8111 when setting this
parameter to 1.

2 Waiting M codes of high-speed type during Relation of cutter

compensation are treated with non-buffering and non-movement
block when setting this parameter to 1. Please note enough about
the function which changes operation by the non-movement block
(For example, cutter compensation and tool nose radius
compensation or etc.)

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Alarm and message

Number

Message

Description

PS0051

MISSING MOVE AFTER CNR/CHF

Improper movement or the move distance was specified in the
block next to the chamfering or corner R block. Modify the
program.

PS0160

MISMATCH WAITING M-CODE

1. When different M codes were specified in path 1 and path

2 as waiting M codes without a P command.

2. When the waiting M codes were not the same even though

the P commands were the same.

3. When the waiting M codes were the same and the P

commands were not the same (This case occurs when a P
command was specified with binary value.)

4. When the number lists in the P commands contain a

different number even though the waiting M codes were
the same (This case occurs when a P command was
specified by combining path numbers.)

5. When a waiting M code without a P command (2-path

waiting) and a waiting M code with a P command
(3-or-more-path waiting) were specified at the same time

6. When a waiting M code without a P command was

specified for 3 or more paths.

7. When waiting was executed between waiting M codes of

high-speed type and waiting M codes of high-speed type
which are treated as normal waiting M codes.

8. When waiting M codes of high-speed type were specified

as waiting function by specifying start point.

PS0161

ILLEGAL P OF WAITING M-CODE

1. When the value of address P was negative.
2. When a P value inappropriate for the system configuration

was specified.

3. When a waiting M code without a P command (2-path

waiting) was specified in the system having 3 or more
paths.

PS0312

ILLEGAL COMMAND IN DIRECT
DRAWING DIMENSIONS
PROGRAMMING

Direct input of drawing dimensions was commanded in an
invalid format.
An attempt was made to specify an invalid G code during
direct input of drawing dimensions.
Two or more blocks not to be moved exist in consecutive
commands that specify direct input of drawing dimensions.
Although non-use of commas (,) (bit 4 of parameter No. 3405
= 1) was specified for direct input of drawing dimensions, a
comma was specified.

8.4

INTERFERENCE CHECK FOR EACH PATH

Overview

When tool posts on individual paths machine the same workpiece simultaneously, the tool posts can
approach each other very closely. If the tool posts interfere with each other due to a program error or any
other setting error, a serious damage such as a tool or machine destruction can occur.
The function "interference check for each path" decelerates and stops the tool posts on individual paths
before they actually make contact with each other if a command is issued and they will interfere with
each other as the result.

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Bit 7 (IFP) of parameter No. 8140 can be used to specify whether to make a two-path interference check
or multipath interference check.

Tool post 2

Tool post 1

Fig. 8.4 (a)

The contours and shapes of the tool posts on individual paths are checked to determine whether or not
interference occurs.

Explanation

Data Setting for the Interference check for each path

To make a path interference check, data including the relationships between the tool posts on individual
paths and interference forbidden areas (that is, tool shapes) needs to be set. The method of such data
setting is described below.

Setting the positions for reference points of tool posts on individual paths

X described below is the axis for which 1 (X-axis of the three basic axes) is set in parameter No. 1022
and Z is the axis for which 3 (Z-axis of the three basic axes) is set in the parameter. If an invalid value is
set in this parameter, a path interference check is not made.

(1) Setting the reference points for a two-path interference check

When bit 7 (IFP) of parameter No. 8140 is set to 0, a two-path interference check is made.
When reference point return operation is completed with all axes (X1, Z1, X2, Z2), the reference point of
tool post 1 is set at the origin of the ZX plane coordinate system. At this time, the position of the
reference point of tool post 2 is set in a parameter.

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Tool post 2

Tool post 1

Reference point

Fig. 8.4 (b)

In the ZX plane coordinate system at the origin of which the reference point of tool post 1 is set, set the X
coordinate (

) of the reference point of tool post 2 in parameter No. 8151, and its Z coordinate (

) in

parameter No. 8152.
The unit of setting is the least command increment. For an axis subject to diameter specification, a
diameter value is to be specified.
Measure (

) and (

) when reference point return operation is completed with the four axes (X1, Z1, X2,

Z2) (when the tools are in their reference points). When relative coordinate parameters Nos. 8151 and
8152 of the tool posts are to be updated, reference point return operation must always be completed with
the four axes beforehand. Otherwise, the internally memorized relational positions of the tool posts are
not updated to new parameter values.

Setting the relationship between the coordinate systems for a two-path
interference check

Set the relationship between the coordinate systems of the two tool posts using TY0 and TY1 (bits 0 and
1 of parameter No. 8140), with tool post 1 used as the reference.

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Tool post 2

<1> When TY1=0 and TY0=0

Tool post 1

<2> When TY1=0 and TY0=1

Tool post 1

Tool post 2

<3> When TY1=1and TY0=0

Tool post 1

Tool post 2

<4> When TY1=1 and TY0=1

Tool post 1

Tool post 2

Fig. 8.4 (c)

(2) Setting the reference points for a multipath interference check

When bit 7 (IFP) of parameter No. 8140 is set to 1, multipath specifications are used, with which a
multipath interference check is made. When reference position return operation is completed with all axes
on all paths belonging to the same machine group, set the reference point of the tool post on path 1
belonging to the machine group as the origin of the ZX plane coordinate system. Also set the position of
the reference point of the tool post on each of other paths in the coordinate system in parameters Nos.
8141 and 8143 (parameters for the X- and Z-axes are provided for each path).

Tool post 4

Tool post 3

Tool post 2

The tool post on path 1 belonging to the same
machine group is used as the reference tool
post.

Paths belonging to the same machine group

Tool post 1

Reference point

Fig. 8.4 (d)

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In the example, Fig. 8.4 (d), there are the tool posts for four paths belonging to the same machine group.
In the ZX plane coordinate system in which the reference point of tool post 1 on path 1 belonging to the
same machine group is used as the origin, set the X coordinate (

) of the reference point of tool post 2 on

path 2 in parameter No. 8141 for path 2, and its Z coordinate (

) in parameter No. 8143.

In the same way, in the ZX plane coordinate system in which the reference point of tool post 1 is used as
the origin, set the X coordinate (

) of the reference point of tool post 3 on path 3 in parameter No. 8141

for path 3, and its Z coordinate (

) in parameter No. 8143. In the ZX plane coordinate system, set the X

coordinate (

) of the reference point of tool post 4 on path 4 in parameter No. 8141 for path 4, and its Z

coordinate (

) in parameter No. 8143.

The unit of setting is the least input increment. For an axis subject to diameter specification, specify a
diameter value.
Measure (

), (

), and (

) when reference position return operation is completed with all axes

(when the tools are in their reference positions). When updating a value of parameter No. 8141 or 8143
for each path, always perform reference position return operation with all axes on all paths. Otherwise,
the internally stored relational positions of the tool posts are not updated to new parameter values.

Setting the relationship between the coordinate systems for a multipath
interference check

Select one of the following four relationships as the relationship between the coordinate system based on
the reference point of the tool post on path 1 belonging to the same machine group and the position of
each tool post and set it in parameter No. 8158 for the relevant path. The parameter setting indicates the
positional relationship among the tool posts on the paths belonging to the same machine group.

<1> When parameter No. 8158 is set to 0

Tool post

<3> When parameter No. 8158 is set to 2

Tool post

<2> When parameter No. 8158 is set to 1

<4> When parameter No. 8158 is set to 3

Tool post

Fig. 8.4 (e)

For example, the parameter values are set as follows for each of the machine configurations in which the
coordinate systems shown below are used.

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Tool post 2

Tool post 1

<1>

Parameter No. 8158 for tool post 1 is set to 0.
Parameter No. 8158 for tool post 2 is set to 0.

<2>

Parameter No. 8158 for tool post 1 is set to 1.
Parameter No. 8158 for tool post 2 is set to 0.

<3>

Parameter No. 8158 for tool post 1 is set to 2.
Parameter No. 8158 for tool post 2 is set to 0.

<4>

Parameter No. 8158 for tool post 1 is set to 0.
Parameter No. 8158 for tool post 2 is set to 3.

Tool post 1

Tool post 2

Tool post 1

Tool post 2

Fig. 8.4 (f)

Specifying paths for which a multipath interference check is to be made

The following signals can be used to specify whether to make an interference check for the corresponding
paths.

Gn406

ITF04

ITF03

ITF02

ITF01

[Classification] Input signal

For these signals, the number assigned to each bit name indicates a path number.
These signals are available for individual paths (n = 0 to3, an area for signals for 4 paths is reserved). For
each path, specify whether to make an interference check for each of other paths. To make an interference
check, set the bit corresponding to a target path and the bit corresponding to the local path to 1.

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