FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 182

8. MULTI-PATH CONTROL

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When both signals are set to "1", the loader path 1 is selected.

When both the loader control selection signal and the loader control 2 selection signal are set to "0", a
selected path can be switched between a machining path and a loader path by MDI key operation.

Whenever MDI keys

and

are pressed at the same time, a selected path is switched between

a machining path and a loader path alternately. If the loader path 2 exists, when the loader path 1 is
selected, the loader path 2 is switched by the MDI key operation. In case of switching from a loader path
to a machining path, a machining path which is selected by the path selection signals (HEAD <G0063.0>,
H EAD2 <G0062.7>) is switched.

Example)
4-path system (machining path 1, machining path 2, loader path 1, and loader path 2)
-

In case of selecting the machining path 1 by the path selection signal (HEAD="0", HEAD2="0")

Whenever MDI keys

and

are pressed at the same time, a selected path is switched in

the following order.

Machining path 1

Loader path 1

Loader path 2

Path selection by MDI key operation can be disabled by setting bit 3 (SCD) of parameter No.8106.
When the loader path1 is selected, the loader path selection check signal LC1O<F0297.1> turns to "1".
When the loader path 2 is selected, the loader path 2 selection check signal LC2O<F0297.2> turns to "1".

When the loader path is selected, “LC” is displayed at the lower right of the screen. If the loader path 2
exists, “LC1” is displayed on the loader path 1 and “LC2” is displayed on the loader path 2. Optional path
name can be displayed by setting parameters Nos. 3141 to 3147. A name of the loader path can be
displayed in reverse video by setting bit 1 (LCI) of parameter No.11362.

Waiting M codes

Waiting M codes are available between the loader path and the machining path. The following two
methods for specifying paths which are to wait for one another at address P in the same block in which an
M code for waiting is specified are available and can be selected using bit 1 (MWP) of parameter No.
8103. One method is to specify the paths with the sum of their corresponding binary values. The other is
to specify them with their path numbers in combination.

-

When bit 1 (MWP) of parameter No. 8103 is set to 0:

The sum of the binary values corresponding to the numbers of paths which are to wait for one another is
specified with address P.

Path number

Binary value (decimal number)

Example)
4-path system (machining path 1, machining path 2, loader path 1, and loader path 2)

P5: Machining path 1 and loader path 1 wait for each other. (1+4)

P15: Machining path 1, 2 and loader path 1, 2 wait for one another. (1+2+4+8)

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When bit 1 (MWP) of parameter No. 8103 is set to 1:

A combination of numbers of all paths that are to wait for one another is specified with address P. If
command values are different, when they consist of the same numeric characters, they are treated the
same command.

Example)
4-path system (machining path 1, machining path 2, loader path 1, and loader path 2)

Making machining path 1 and loader path 1 wait for each other: the following 2 commands

P13, P31

Making machining path 1, 2 and loader path 1, 2 wait for one another: the following 24 commands

P1234, P1243, P1324, P1342, P1423, P1432, P2134, P2143, P2314, P2341, P2413, P2431

P3124, P3142, P3214, P3241, P3412, P3421, P4123, P4132, P4213, P4231, P4312, P4321

Example)
In case that M101 and M102 are waiting M codes and parameter MWP is set to 0:

Machining path 1

O100

M101P7

G00X50.0C0.0

M03S2000

G83Z-40.0R-5.0P500F5.0

C90.0

C180.0

C270.0

G80M05

M102P7

・

Machining path 2

O200

M101P7

G00X50.0Z50.0

G01Z20.0F100.0

G00X100.0

M102P7

・

Loader path 1

O300

G00X100.0Z50.0

M101P7

M102P7

・

Waiting

Custom macro common variables between each path

All or part of custom macro common variables #100 to #199 and #500 to #999 can be used as data
common to all paths including the loader path by setting parameter Nos. 6036 (#100 to #199) and 6037
(#500 to #999).

Macro variable No. 119

Macro variable No. 100

100 macro

variables

Machining

path 1

100 macro

variables

Machining

path 2

Shared by all paths

100 macro

variables

Loader

path 1

(Example)
Parameter No. 6036=20

Macro variable No. 120

Macro variable No. 199

Used by each path
independently

Position switch

Up to 24 position switch signals can be output in the loader path. 16 position switch signals (PSW01 to
PSW16) are output to the conventional signal address. The other position switch signals (PSW17 to
PSW24) are output to the address Fn330. The controlled axes corresponding to their position switches are
specified in parameters Nos. 6966 to 6973, and the operating ranges are set in parameters Nos. 6974 to
6989. As to the machining path, up to 16 position switch signals is available conventionally.

8. MULTI-PATH CONTROL

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NOTE

The position switch signals (PSW17 to PSW24) are available only for the loader
path.

Spindle speed control

The loader path does not have spindle speed control. If an S command is executed in the loader path, the
specified value is output directly on the code signals as an auxiliary function.

Tool functions

The loader path does not have tool functions. If a T command is executed in a loader path, the specified
value is output directly on the code signals as an auxiliary function. The loader path does not have a tool
offset number and the tool compensation screen.

C language executer/Macro executer

When a loader path is specified by the C-language executor or the macro executor, use the following path
number.
-

In case that a number of machining path is only 1:

Loader path 1: 2 (the 2nd path in the entire system)

Loader path 2: 3 (the 3rd path in the entire system)

In case that a number of machining path is 2:

Loader path 1: 3 (the 3rd path in the entire system)

Loader path 2: 4 (the 4th path in the entire system)

In case that a number of machining path is 3:

Loader path 1: 4 (the 4th path in the entire system)

Reading of path information by FOCAS2/C language executer

The number of controlled paths (including loader paths) and path attribute can be read by cnc_sysinfo_ex
function of the FOCAS2 library and the C language library of C language executor.

Please refer to the subsection of “the function specification” of FANUC FOCAS1/2 library specifications
(FWLIB32.HTM) included in “FOCAS1/2 library disk” for details of cnc_sysinfo_ex function of the
FOCAS2 library.

Please refer to the subsection of “the CNC/PMC window library” of C language Executor
PROGRAMMING MANUAL (B-63943EN-3) for details of cnc_sysinfo_ex function of the C language
library of C language executor.

- Notes

(1) In a system with a loader path, the following specifications are also the same as them for a

multi-path control system.
-

Alarm

If, during automatic operation, an alarm occurs in a certain path, all paths in the machine group
to which the path belongs will enter the feedhold state and stop. However, the operations in
other paths in the same machine group can be continued without generating an alarm, by
appropriately setting bit 1 (IAL) of parameter No. 8100.

MDI reset key

The reset key on the MDI unit is effective to all paths. Note, however, that the key can be
enabled only for the path selected with the path selection signal, by setting bit 0 (RST) of
parameter No. 8100. (The key is also effective for the loader path which is selected by the
loader control selection signal or MDI key operation)

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(2) Input signals by the X address are not assigned to the 4th path in an entire system. Therefore, when a

loader path is the 4th path in an entire system, the signals must be assigned by setting bit 2 (XSG) of
parameter No. 3008. If the parameter XSG is set to 0, alarm PW0001, “X-ADDRESS IS NOT
ASSIGNED” is issued in the loader path.

Usable G codes

The following table shows the G codes which are available for a loader path. When the G codes which are
not listed in this table are specified in a loader path, alarm PS0010, “IMPRPOER G-CODE” is issued. G
code system for a loader path can be set to a different system for a machining path. Which G code system
is selected is set using bit 7 (GSC) and 6 (GSB) of parameter No. 3401.

Machining

center

system

Lathe system

Function

G code system

G00

Positioning (Rapid traverse)

G01

Linear interpolation (Cutting feed)

G04

Dwell

G04.1

G code preventing buffering

G09

Exact stop

G10

Programmable data input

G11

Programmable data input mode cancel

G20

G70

Input in inch

G21

G71

Input in mm

G22

Stored stroke check function on

G23

Stored stroke check function off

G27

Reference position return check

G28

Return to reference position

G30

2nd, 3rd and 4th reference position return

G31

Skip function

G92

G50

G92

Coordinate system setting

G92.1

G50.3

G92.1

Workpiece coordinate system preset

G52

Local coordinate system setting

G53

Machine coordinate system setting

G54

Workpiece coordinate system 1 selection

G54.1

Additional workpiece coordinate systems

G55

Workpiece coordinate system 2 selection

G56

Workpiece coordinate system 3 selection

G57

Workpiece coordinate system 4 selection

G58

Workpiece coordinate system 5 selection

G59

Workpiece coordinate system 6 selection

G61

Exact stop mode

G63

Tapping mode

G64

Cutting mode

G65

Macro call

G66

Macro modal call

G67

Macro modal call cancel

G94

G98

G94

Feed per minute

G90

Absolute programming

G91

Incremental programming

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Specifications

The following table shows functions which are available for a loader path. The functions which are not
listed in this table are not available. Some of the following functions are optional functions. If required
options are not specified, these functions cannot be used even on a loader path.

Item

Specifications

Controlled axis

Max. feed axes/1 path

4 axes(1 path) / 3 axes(2 paths)

Axis control by PMC

Axis name

Axis name expansion

Incremental system (IS-A, IS-B, IS-C)

HRV2 control

HRV3 control

Inch/metric conversion

Interlock

Machine lock

Emergency stop

Overtravel

Stored stroke check 1

Stored stroke check 2,3

Stroke limit check before move

Mirror image

Follow-up

Servo off/Mechanical handle

Unexpected disturbance torque detection function

Position switch

High speed position switch

Dual check safety

Test mode function for Acceptance Test

Dual check safety is required.

Operation

Automatic operation (memory)

MDI operation

Program restart

Quick program restart

Manual intervention and return

Wrong operation prevention

Dry run

Single block

Jog feed

Manual reference position return

Manual 2nd/3rd/4th reference position return

Reference position setting without DOG

Reference position setting with mechanical stopper

Reference point setting with mechanical stopper by
Grid Method

Manual handle feed

High speed program check

Interpolation functions

Positioning

G00

Exact stop mode

G61

Tapping mode

G63

Cutting mode

G64

Exact stop

G09

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Item

Specifications

Linear interpolation

G01

Dwell

G04, Dwell in seconds

Skip

G31

High-speed skip

Torque limit skip

Reference position return

G28

Reference position return check

G27

2nd reference position return

G30

3rd/4th reference position return

Feed function

Rapid traverse override

F0, 25, 50, 100% or 0

～

100%(1% Step)

Feed per minute

Automatic acceleration/deceleration

Rapid traverse bell-shaped
acceleration/deceleration

Linear acceleration/deceleration after cutting feed
interpolation

Bell-type acceleration/ deceleration after cutting
feed interpolation

Feedrate override

～

254

％

One-digit F code feed

M series only

Jog override

～

655.34

％

External deceleration

Rapid traverse block overlap

Programmable rapid traverse overlap

Smart overlap

In-position check signal

Program input

Optional block skip

Program file name

Absolute/incremental programming

G90/G91

Decimal point programming/ pocket calculator type
decimal point programming

Diameter/radius programming

Rotary axis designation

Coordinate system setting

Workpiece coordinate system

G52

～

G59

Addition of workpiece coordinate system

G54.1, M series only

Workpiece coordinate system preset

G code system (A/B/C)

T series only

Programmable data input

G10

Programmable parameter input

Sub program call

Custom macro

Custom macro common variables between each
path

G code preventing buffering

Macro executor

Macro executor + C language executor

FANUC PICTURE executor

FANUC PICTURE function

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Item

Specifications

Auxiliary function

Auxiliary function

M8 digit

2nd auxiliary function

B8 digit

High-speed M/S/T/B interface

Waiting function

Waiting M codes of high-speed type

Multiple command of auxiliary function

5 commands

Waiting function by specifying start point

Accuracy compensation function

Backlash compensation

Backlash compensation for each rapid traverse
and cutting feed

Stored pitch error compensation

Editing operation

Part program editing

Extended part program editing

Key and program encryption

Password function

Playback

Background editing

Memory card program edit & operation

Multi-path editing function

Setting and display

Optional path name display

Operating monitor screen

Servo setting screen

Servo waveform display

Trouble diagnosis

Machine alarm diagnosis

Software operator's panel

Machine operation menu

Multi-language display

Machining paths and loader paths are displayed in the same
language.

Data protection key

Protection of data at eight levels

Warning function against modification of setting

Graphic display

Data input/output

Reader/puncher interface

External machine zero point shift

External message

External data input

External key input

External workpiece number search

External program number search

Memory card input/output

USB memory input/output

One touch macro call

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Signal

Path selection signals HEAD<G0063.0>, HEAD2<G0062.7>

[Classification] Input signal

[Function] These signals select the path the MDI unit is to be for.

[Operation] Operations from the MDI unit will be on the path specified with a combination of HEAD

and HEAD2. The relations between path selection signal combinations and selectable
paths are as given in the table below.

Path selection signal

Path to be selected

HEAD2<G0062.7>

HEAD<G0063.0>

"0"

Path 1

"0"

"1"

Path 2

"1"

"0"

Path 3

"1"

Path 4

NOTE

The loader path cannot be selected by path selection signals.

Loader control selection signal LCBS<G0251.1>
Loader control 2 selection signal LCB2<G0251.2>

[Classification] Input signal

[Function] These signals switch the object of screen display or MDI operation between a machining

path and a loader path.

[Operation] When LCBS turns to "1", the loader path 1 is subjected to screen display or MDI

operation. When LCB2 turns to "1", the loader path 2 is subjected to screen display or
MDI operation. When both signals are set to "1", the loader path 1 is selected.
When LCBS or LCB2 is set from "1" to "0", a machining path is switched. Selected path
is a machining path which is selected by the path selection signals (HEAD<G0063.0>,
HEAD2<G0062.7>).

NOTE

1 LCB2 is available when loader path 2 is existed.
2 If this signal is set to “0”, a selected path can be switched between the

machining path and the loader path by pressing MDI key

and

at the

same time.

Loader path selection check signal LC1O<F0297.1>
Loader path 2 selection check signal LC2O<F0297.2>

[Classification] Output signal

[Function] These signals indicate that the object of screen display or MDI operation is a loader path.

[Output cond.] These signals are “1” in the following case:

The object of screen display or MDI operation is the corresponding loader path.

These signals are “0” in the following case:
-

The object of screen display or MDI operation is not the corresponding loader path.

LC1O is for the loader path 1, and LC2O for the loader path 2.

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.

[Operation] When this signal turns to “1”, the paths are not synchronized by the M code. The M code

for waiting specified in a machining program is ignored.

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