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FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 69

16.CUSTOM MACRO

PROGRAMMING

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Example:

When an attempt is made to assign the following values to variables #1
and #2:

#1=9876543210123.456

#2=9876543277777.777

the values of the variables become:

#1=9876543200000.000

#2=9876543300000.000

In this case, when #3=#2-#1; is calculated, #3=100000.000 results. (The
actual result of this calculation is slightly different because it is performed
in binary.)

•

Also be aware of errors that can result from conditional

expressions using EQ, NE, GE, GT, LE, and LT.

Example:

IF[#1 EQ #2] is effected by errors in both #1 and #2, possibly resulting in
an incorrect decision.

Therefore, instead find the difference between the two variables with

IF[ABS[#1-#2]LT0.001].

Then, assume that the values of the two variables are equal when the

difference does not exceed an allowable limit (0.001 in this case).

•

Also, be careful when rounding down a value.

Example:

When #2=#1*1000; is calculated where #1=0.002;, the resulting value of
variable #2 is not exactly 2 but 1.99999997.

Here, when #3=FIX[#2]; is specified, the resulting value of variable #3 is
not 2.0 but 1.0.

In this case, round down the value after correcting the error so that the
result is greater than the expected number, or round it off as follows:

#3=FIX[#2+0.001]

#3=ROUND[#2]

- Brackets

Brackets ([ ]) are used to enclose an expression.
Note that parentheses ( ) are used for comments.

- Divisor

When a divisor of zero is specified in a division, an alarm PS0112
occurs.

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16.4

INDIRECT AXIS ADDRESS SPECIFICATION

Overview

When the custom macro function is enabled, you can use
AX[(axis-number)] in an axis address specification to indirectly
specify an axis with its axis number and not to directly specify it with
its axis name.
You can also use AXNUM[(axis-name)] to obtain the axis number for
an axis name.

Explanation
- Indirect axis address

You can use indirect axis address AX[ ] to specify an axis with its axis
number. (An equal sign (=) is always required following AX[ ].)

AX[(axis-number)] = (numeric-value) ;

(axis-number): 1 to the number of controlled axes (number of

controlled axes for each path in a multipath system)

(numeric-value):

Value specified for the axis specified with its axis
number

If an invalid axis number is specified, an alarm PS0331 occurs. If a
value is put in a decimal place, the number is rounded off to an integer
and the result is treated as the axis number.
You can also specify a variable (local, common, or system variable)
for (axis-number). To specify an operation using a variable name in
(axis-number), however, enclose the variable name with brackets ([ ]).

1. AX[1]=100.0;

Specifies a value of 100.000 for the first axis.

2. AX[#500]=200.0;

Specifies a value of 200.000 for the axis having the axis number
indicated by the value stored in #500.

3. AX[#500+1]=300.0;

Specifies a value of 300.000 for the axis having the axis number
obtained by adding 1 to the value stored in #500.

4. SETVN 500 [ABC];

AX[#ABC]=400.0;

Specifies a value of 400.000 for the axis having the axis number
indicated by the value stored in #ABC (#500).

5. SETVN 500 [ABC];

AX[[#ABC]+1]=500.0;

Specifies a value of 400.000 for the axis having the axis number
obtained by adding 1 to the value stored in #ABC (#500).

6. SETVN 500 [ABC];

AX[#ABC+1]=500.0;

Alarm PS0331 occurs.

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- AXNUM function

You can use AXNUM[ ] to obtain an axis number.

AXNUM[(axis-name)];

If an invalid axis name is specified, an alarm PS0332 occurs.

When the number of controlled axes is 3, the name of the first axis

is X, that of the second axis is Y, and that of the third axis is Z

1. #500=AXNUM[X];

A value of 1 is stored in #500.

2. #501=AXNUM[Y];

A value of 2 is stored in #501.

3. #502=AXNUM[Z];

A value of 3 is stored in #502.

4. #503=AXNUM[A];

Alarm PS0332 occurs.

Example

Examples when the name of the first axis is X, that of the second axis
is Y, and that of the third axis is Z1

N10 SETVN 500[AXIS1,AXIS2,AXIS3] ;
N20 [#AXIS1]=AXNUM[X] ;
N30 [#AXIS2]=AXNUM[Y] ;
N40 [#AXIS3]=AXNUM[Z1] ;
N50 G92 AX[#AXIS1]=0 AX[#AXIS2]=0 AX[#AXIS3]=0 ;
N60 G90G01F1000. ;
N70 AX[#AXIS1]=100.0 AX[#AXIS2]=100.0 AX[#AXIS3]=100.0 ;
N80 G02 AX[#AXIS1]=100. 0 AX[#AXIS2]= 0.0 R50.0 ;
N90 M02;

Limitation

When the custom macro function is enabled, AX and AXN cannot be
used as an extended axis name. AX is assumed to be AX[ ] and
AXN is assumed to be AXNUM[ ].

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16.5

MACRO STATEMENTS AND NC STATEMENTS

The following blocks are referred to as macro statements:

•

Blocks containing an arithmetic or logic operation (=)

•

Blocks containing a control statement (such as GOTO, DO, END)

•

Blocks containing a macro call command (such as macro calls by

G65, G66, G66.1, G67, or other G codes, or by M codes)

Any block other than a macro statement is referred to as an NC
statement.

Explanation
- Differences from NC statements

•

Even when single block mode is on, the machine does not stop.

Note, however, that the machine stops in the single block mode
when bit 5 of parameter SBM No. 6000 is 1.

•

Macro blocks are not regarded as blocks that involve no movement

in the cutter compensation mode.

- NC statements that have the same property as macro statements

•

NC statements that include a subprogram call command (such as

subprogram calls by M98 or other M codes, or by T codes) and not
include other command addresses except an O, file name, N, P, or
L address have the same property as macro statements.

•

NC statements that include M99 and those do not include other

command addresses except an O, file name, N, P, or L address
have the same property as macro statements.

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16.6

BRANCH AND REPETITION

In a program, the flow of control can be changed using the GOTO
statement and IF statement. Three types of branch and repetition
operations are used:

Branch and

GOTO

(unconditional branch)

repetition

(conditional branch: if ..., then...)

WHILE

(repetition while ...)

16.6.1

Unconditional Branch (GOTO Statement)

A branch to sequence number n occurs. When a sequence number
outside of the range 1 to 99999999 is specified, an alarm PS1128
occurs. A sequence number can also be specified using an
expression.

GOTOn ;

n: Sequence number (1 to 99999999)

Example:
GOTO

GOTO

#10;

WARNING

Do not specify multiple blocks with the same

sequence number in a single program. It is very
dangerous to specify such blocks because the
destination of a branch from the GOTO statement is
undefined.

NOTE

1 A backward branch takes more time as compared

with a forward branch.

2 In the destination of GOTOn, that is, the block with

sequence number n, the sequence number must
appear at the beginning of the block. If the
sequence number is not at the beginning of the
block, a branch cannot be made.

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16.6.2

GOTO Statement Using Stored Sequence Numbers

When the GOTO statement is executed in a custom macro control
command, a sequence number search is made for sequence numbers
stored at previous execution of the corresponding blocks at a high
speed.
As a "sequence number stored at previous execution of the
corresponding block", a unique sequence number within the same
program or the sequence number of a subprogram call with which the
block was executed is stored.
The storage type differs depending on the values of the following
parameters.
(1) When bit 1 (MGO) of parameter No. 6000 is set to 1

•

Fixed type: Up to 20 sequence numbers stored at execution

of the corresponding blocks from the start of
operation

(2) When bit 4 (HGO) of parameter No. 6000 is set to 1

•

Variable type: Up to 30 sequence numbers stored at execution

of the corresponding blocks before execution of
the GOTO statement

•

History type: Up to 10 sequence numbers stored by a

sequence number search previously made using
the GOTO statement

The stored sequence numbers are canceled in the following cases:

•

Immediately after power-on

•

After a reset

•

Operation after program registration or editing (including

background editing and MDI program editing)

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A branch to
N10 before
the GOTO
statement
occurs.

A branch to
N10 after the
GOTO
statement
occurs.

WARNING

Do not specify multiple blocks with the same

sequence number in a single program.

It is very dangerous to specify the sequence number

of the branch destination before and after the GOTO
statement and execute the GOTO statement because
the branch destination changes according to the
values of the parameters as shown below:

When bit 1 (MGO) or 4 (HGO) of

parameter No. 6000 is set to 1

When both bits 1 (MGO) and 4
(HGO) of parameter No. 6000
are set to 0

                :
          N10;
                :
GOTO10;
                :
          N10;

            :
      N10;
            :
GOTO10;
            :
      N10;

When bit 1 (MGO) or 4 (HGO) of parameter No. 6000
is set to 1 and the GOTO statement is executed, the
sequence number of the branch destination may not be
contained in the sequence numbers stored at previous
execution of the corresponding blocks. In this case, a
branch to the sequence number in a block following the
GOTO statement occurs (the destination is the same
as when both bits are set to 0).

NOTE

When an external program is read and executed by

DNC operation, the executed sequence numbers are
not stored.

When a program registered in memory is executed by

a subprogram call, the sequence numbers are stored.

CAUTION

According to the restrictions on the GOTO statement,

no branch to a sequence number within a DO-END
loop cannot be made. If a program in which a
branch to a sequence number within a loop occurs is
executed, operation may differ depending on whether
the GOTO statement using stored sequence numbers
is used.

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16.6.3

Conditional Branch (IF Statement)

Specify a <conditional expression> after IF.

IF[<conditional expression>]GOTOn

If the specified <conditional expression> is satisfied (true), a branch to
sequence number n occurs. If the specified condition is not satisfied,
the next block is executed.

If the value of variable #1 is greater than 10, a branch to sequence number

N2 occurs.

IF[<conditional expression>]THEN

If the specified <conditional expression> is satisfied (true), a macro
statement specified after THEN is executed.
Only a single macro statement is executed.

If the values of #1 and #2 are the same, 0 is assigned to #3.

IF[#1 EQ #2] THEN#3=0 ;

If the values of #1 and #2 are the same and those of #3 and #4 are also

the same, 0 is assigned to #5.

IF[[#1 EQ #2] AND [#3 EQ #4]] THEN#5=0 ;

If the values of #1 and #2 are the same or those of #3 and #4 are the

same, 0 is assigned to #5.

IF[[#1 EQ #2] OR [#3 EQ #4]] THEN#5=0 ;

Explanation
- <Conditional expression>

<Conditional expressions> are divided into <simple conditional
expressions> and <complex conditional expressions>. In a <simple
conditional expression>, a relational operator described in Table 16.6
(a)

is specified between two variables or between a variable and

constant to be compared. An <expression> can be used instead of a
variable. With a <complex conditional expression>, an AND
(logical AND), OR (logical OR), or XOR (exclusive OR) operation is
performed for the results (true or false) of multiple <simple
conditional expressions>.

If the condition

is not satisfied

IF [#1 GT 10] GOTO 2 ;

N2 G00 G91 X10.0 ;

Processing

If the condition is satisfied

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