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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 264

12. PROGRAM COMMAND

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[Example] When parameter No. 6047 = 90000000, parameter No. 6048 = 4000, and parameter No.

6049 = 100 are set, a set of 100 custom macro calls (simple calls) is defined as follows:
M90000000

→

O4000

M90000001

→

O4001

M90000002

→

O4002

:
M90000099

→

O4099

NOTE

1 When the following conditions are satisfied, all calls using these

parameters are disabled:
1) When a value not within the specifiable range is set in each

parameter

2) (Value of parameter No. 6048 + value of parameter No. 6049 -

1) > 9999

2 If a range of M codes set by these parameters duplicate M codes

specified in parameter No. 6080 through No. 6089, the calls
specified by parameter No. 6080 through 6089 are made
preferentially.

6050

G code that calls the custom macro of program number 9010

6059

G code that calls the custom macro of program number 9019

[Input type] Parameter input

[Data type] Word path

[Valid data range] (-9999 to 9999 : excluding 0, 5, 65, 66 and 67)

Set the G codes used to call the custom macros of program numbers 9010 to 9019.
However, note that when a negative value is set in this parameter, it becomes a modal call.
For example, if this parameter is set to -11, the modal call mode is entered by G11.
Whether the modal call is equivalent to G66 or G66.1 depends on bit 3 (MGE) of
parameter No. 6007.

6060

G code with a decimal point used to call the custom macro of program number 9040

6069

G code with a decimal point used to call the custom macro of program number 9049

[Input type] Parameter input

[Data type] Word path

[Valid data range] -999 to 999

Set the G codes used to call the custom macros of program numbers 9040 to 9049.
However, note that when a negative value is set in this parameter, it becomes a modal call.
For example, if this parameter is set to -11, the modal call mode is entered by G11.
Whether the modal call is equivalent to G66 or G66.1 depends on bit 3 (MGE) of
parameter No. 6007. Set G codes in the format Gm.n. The value expressed by (m

10+n)

is set in the parameter. The values m and n must satisfy the following relationships: 0 ≤m

≤99, 0 ≤n ≤9.

NOTE

Parameter Nos. 6060 to 6069 are valid when bit 0 (DPG) of
parameter No. 6007 is set to 1.

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6071

M code used to call the subprogram of program number 9001

6079

M code used to call the subprogram of program number 9009

[Input type] Parameter input

[Data type] 2-word path

[Valid data range] 3 to 99999999 (excluding 30, 98 and 99)

These parameters set the M codes that call the subprograms of program numbers 9001 to
9009.

NOTE

If the same M code is set in these parameters, the younger number
is called preferentially. For example, if 100 is set in parameter No.
6071 and 6072, and programs O9001 and O9002 both exist,
O9001 is called when M100 is specified.

6080

M code used to call the custom macro of program number 9020

6089

M code used to call the custom macro of program number 9029

[Input type] Parameter input

[Data type] 2-word path

[Valid data range] 3 to 99999999 (excluding 30, 98 and 99)

Set the M codes used to call the custom macros of program numbers 9020 to 9029. The
simple call mode is set.

NOTE

1 If the same M code is set in these parameters, the younger number

is called preferentially. For example, if 200 is set in parameters
Nos. 6081 and 6082, and programs O9021 and O9022 both exist,
O9021 is called when M200 is specified.

2 If the same M code is set in a parameters Nos. 6071 to 6079 used

to call subprograms and in a parameters Nos. 6080 to 6089 used
to call custom macros, a custom macro is called preferentially. For
example, if 300 is set in parameters Nos. 6071 and 6081, and
programs O9001 and O9021 both exist, O9021 is called when
M300 is specified.

6090

ASCII code that calls the subprogram of program number 9004

6091

ASCII code that calls the subprogram of program number 9005

[Input type] Parameter input

[Data type] Byte path

[Valid data range] 65(A:41H) to 90(Z:5AH)

These parameters set the ASCII codes that call subprograms in decimal.
The settable addresses are indicated below.

Address

Parameter setting value

T series

M series

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Address

Parameter setting value

T series

M series

NOTE

1 When address L is set, the number of repeats cannot be specified.
2 Set 0 when no subprogram is called.

6093

Top address of custom macro interface signal R address (input signal)

6094

Top address of custom macro interface signal R address (output signal)

NOTE

When these parameters are set, the power must be turned off before
operation is continued.

[Input type] Parameter input

[Data type] 2-word path

[Valid data range] 0 to maximum address (multiple of 4. 0, 4, 8, ...)

Set the top address of custom macro interface signal R address. 128 signals starting at the
top address are allocated.

[Example]

Parameter

System variable number

Signal to use

Attribute

No.6093=1000

#1068
#1069
#1070
#1071

R1000 to R1003
R1004 to R1007
R1008 to R1011
R1012 to R1015

No.6094=1100

#1168
#1169
#1170
#1171

R1100 to R1103
R1104 to R1107
R1108 to R1111
R1112 to R1115

R/W

The R and R/W attributes of variables represent, respectively, read-only and
read/write enabled.

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NOTE

1 Each value specified with this parameter must be a multiple of 4 (0,

4, 8,

…

). Otherwise, this function is disabled.

2 If a non-existent R address or system relay address is set, the

corresponding system variable becomes invalid. The effective R
address area varies depending on the PMC used and its memory.
Be sure to specify a usable range by checking the specification of
the PMC in use.

3 When setting the parameter, make sure that the input signal

addresses do not overlap with the output signal addresses.

6100

Precision setting for relational operators

[Input type] Parameter input

[Data type] Byte

[Valid data range] 0 to 15

This parameter sets the number of digits after the decimal point in two values to be
compared using the custom macro relational operator. The two values are rounded off to
the specified number of digits before comparison.

NOTE

1 This function is enabled by setting bit 5 (EDP) of parameter No.

6019 to 1.

2 This function is disabled if parameter No. 6100 is set to a value out

of the valid data range.

6210

DSK

[Input type] Parameter input

[Data type] Bit path

#2 DSK

Skip position reading (system variables #5421 to #5440, #100701 to #100750) by the

detection unit is:
0:

Disabled.

Enabled.

8106

CVP

[Input type] Parameter input

[Data type] Bit

# 2 CVP

By a reset in path other than path 1, the custom macro variables common to paths set to

the common variables #100 to #499 cleared by power-off is
0:

not cleared to <null>.

cleared to <null>. (it depend to the bit 6(CCV) of parameter No.6001.)

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NOTE

1 When a reset is made in path 1, it is cleared regardless of the

setting of this parameter. (it depend to the parameter CCV)

2 This parameter is invalid for the path that the bit 0(NC1) of

parameter No.6020 is 1.

11648

ESE

[Input type] Parameter input

[Data type] Bit

#2 ESE

ELSE statement of IF statement is:

Not used

Used. The following specifications are added.
- The following instruction format is added to IF statement.
  - IF[<conditional expression>] THEN; ~ ENDIF;
  - IF[<conditional expression>] THEN Macro statement1;
ELSE Macro statement2;
  - IF[<conditional expression>] THEN; ~ ELSE; ~ ENDIF;
- IF statement multiplexing (nest management) is enable.
- "ELSE", and "ENDIF" are added to reserved words.

11649

Number of custom macro variables common to each path (for #98000 to #98499 )

[Input type] Parameter input

[Data type] Word

[Valid data range] 0 to 500

NOTE

When this parameter is set, the power must be turned off before
operation is continued.

When the custom macro variables common to each path is used, this parameter sets the
number of custom macro common variables to be shared out of common variables
#98000 to #98499. Be sure that the maximum number of available macro common
variables is not exceeded.

Example

When 100 is set in parameter No.11649

#98000 to #98099: Variables are shared by all paths

#98100 to #98499: Variables are used by each path independently

NOTE

1 Addition of custom macro common variables 1000 is required.
2 When 0 or a negative value is set, the custom macro variables

common to each path is not used.

3 By parameter NC4(No.11654#0), commonness/independence of

variables can be set for each path.

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11652

Start number of common variables to be protected among the common variables (#98000 to #98499)

11653

End number of common variables to be protected among the common variables (#98000 to #98499)

[Input type] Parameter input

[Data type] 2-Word path

[Valid data range] 0, 98000 to 98499

Among the common variables #98000 to #98499, the range of common variables
specified by this parameter can be protected (by setting their attributes to read-only). If
value is written to protected variable (on the left side), an alarm is issued.

NOTE

Set 0 in both parameter No.11652 and No.11653 not to protect
common variables.

11654

NC4

[Input type] Parameter input

[Data type] Bit path

NOTE

When this parameter is set, the power must be turned off before
operation is continued.

# 0 NC4

The parameter No.11649 (Number of custom macro variables common to each path for

#98000 to #98499) is:
0: Effective.

Among custom macro variable #98000-#98499 in this path, the number set in
parameter No.11649 becomes the number of variables shared between each path.

1: Not effective.

Custom macro variable #98000-#98499 in this path are independent of other path.

NOTE

This parameter for path 1 must be set to 0.

Example

In a 4-path system, when parameters are set as listed below,
custom macro variables #98000 to #98099 for paths 1 to 3 are
used as variables common to these paths, but for path 4, custom
macro variables #98000 to #98099 for the path 4 are used
independently.

Path number

No.11649

NC4

Used custom macro variables

100

Custom macro variables #98000 to #98099 are used

as variables common to these paths, and other

custom macro variables are used independently.

All custom macro variables for path 4 are used

independently.

12. PROGRAM COMMAND

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Alarm and message

Number

Message

Description

PS0077

TOO MANY SUB,MACRO NESTING

The total number of subprogram and macro calls exceeds the
permissible range.
Another subprogram call was executed during an external
memory subprogram call.

PS0110

OVERFLOW :INTEGER

An integer went out of range during arithmetic calculations.

PS0111

OVERFLOW :FLOATING

A decimal point (floating point number format data) went out of
range during arithmetic calculations.

PS0112

ZERO DIVIDE

An attempt was made to divide by zero in a custom macro.

PS0114

ILLEGAL EXPRESSION FORMAT

The format used in an expression in a custom macro
statement is in error. The parameter program format is in
error.

PS0115

VARIABLE NO. OUT OF RANGE

An illegal No. was specified in a local variable, common
variable or a system variable in a custom macro.
A non–existent custom macro variable No. was specified in
the EGB axis skip function (G31.8), or there are not enough
custom macro variables for storing the skip position.

PS0116

WRITE PROTECTED VARIABLE

An attempt was made in a custom macro to use on the left
side of an expression a variable that can only be used on the
right side of an expression.

PS0118

TOO MANY BRACKET NESTING

Too many brackets “[ ]” were nested in a custom macro.
Nesting of [] is up to five times including [] of function.

PS0119

ARGUMENT VALUE OUT OF
RANGE

The value of an argument in a custom macro function is out of
range.

PS0122

TOO MANY MACRO NESTING

The nesting of the custom macro call exceeded the allowable
range.

PS0124

MISSING END STATEMENT

The END instruction corresponding to the DO instruction was
missing in a custom macro.

PS0125

MACRO STATEMENT FORMAT
ERROR

The format used in a macro statement in a custom macro is in
error.

PS0126

ILLEGAL LOOP NUMBER

There is an error in the number of the DO and END
statements of the custom macro, or it exceeds the allowable
range (1 to 3).

PS0127

DUPLICATE NC,MACRO
STATEMENT

An NC statement and macro statement were specified in the
same block.

PS0129

USE 'G' AS ARGUMENT

G is used as an argument in a custom macro call. G can be
specified as an argument only in an every-block call (G66.1).

PS1091

DUPLICATE SUB-CALL WORD

More than one subprogram call instruction was specified in
the same block.

PS1092

DUPLICATE MACRO-CALL WORD

More than one macro call instruction was specified in the
same block.

PS1093

DUPLICATE NC-WORD & M99

An address other than O, N, P or L was specified in the same
block as M99 during the macro modal call state.

PS1095

TOO MANY TYPE-2 ARGUMENT

More than ten sets of I, J and K arguments were specified in
the type–II arguments (A, B, C, I, J, K, I, J, K, ...) for custom
macros.

PS1096

ILLEGAL VARIABLE NAME

An illegal variable name was specified. A code that cannot be
specified as a variable name was specified. [#_OFSxx] does
not match the tool offset memory option configuration.

PS1097

TOO LONG VARIABLE NAME

The specified variable name is too long.

PS1098

NO VARIABLE NAME

The specified variable name cannot be used as it is not
registered.

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Number

Message

Description

PS1099

ILLLEGAL SUFFIX [ ]

A suffix was not specified to a variable name that required a
suffix enclosed by [ ].
A suffix was specified to a variable name that did not require a
suffix enclosed by [ ].
The value enclosed by the specified [ ] was out of range.

PS1100

CANCEL WITHOUT MODAL CALL

Call mode cancel (G67) was specified even though macro
continuous–state call mode (G66) was not in effect.

PS1101

ILLEGAL CNC STATEMENT IRT.

An interrupt was made in a state where a custom macro
interrupt containing a move instruction could not be executed.

PS1115

READ PROTECTED VARIABLE

An attempt was made in a custom macro to use on the right
side of an expression a variable that can only be used on the
left side of an expression.

PS1124

MISSING DO STATEMENT

The DO instruction corresponding to the END instruction was
missing in a custom macro.

PS1128

SEQUENCE NUMBER OUT OF
RANGE

The jump destination sequence No. in a custom macro
statement GOTO instruction was out of range (valid range: 1
to 99999999).

PS1129

MISSING IF STATEMENT

There is no “IF” corresponding to "ELSE" and "ENDIF".

PS1130

TOO MANY IF STATEMENT
NESTING

The maximum value of the nesting of IF statement was
exceeded. Up to 10 levels are allowed.

PS1131

MISSING OPEN BRACKET

The number of left brackets ([) is less than the number of right
brackets ()) in a custom macro statement.

PS1132

MISSING CLOSE BRACKET

The number of right brackets (]) is less than the number of left
brackets ([] in a custom macro statement.

PS1133

MISSING '='

An assignment directive (=) is missing in the arithmetic
calculation instruction in a custom macro statement.

PS1137

IF STATEMENT FORMAT ERROR

The format used in the IF statement in a custom macro is in
error.

PS1138

WHILE STATEMENT FORMAT
ERROR

The format used in the WHILE statement in a custom macro is
in error.

PS1139

SETVN STATEMENT FORMAT
ERROR

The format used in the SETVN statement in a custom macro
is in error.

PS1141

ILLEGAL CHARACTER IN VAR.
NAME

The SETVN statement in a custom macro contacts a
character that cannot be used in a variable name.

PS1142

TOO LONG V-NAME (SETVN)

The variable name used in a SETVN statement in a custom
macro exceeds 8 characters (31 characters when the custom
macro variable name expansion function is enabled).

PS1143

BPRNT/DPRNT STATEMENT
FORMAT ERROR

The format used in the BPRINT statement or DPRINT
statement is in error.

Diagnosis data

Diagnosis

1493

Number of macro statement blocks executed by custom and execution macros

[Data type] 2-word

[Unit of data] Block

The number of macro statement blocks executed by custom and execution macros per
1024 ms is displayed.
This data provides an indication of the actual macro statement processing speed.

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