FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 70

16.CUSTOM MACRO

PROGRAMMING

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- Relational operators

Relational operators each consist of two letters and are used to
compare two values to determine whether they are equal or one value
is smaller or greater than the other value. Note that the equal sign (=)
and inequality sign (>, <) cannot be used as a relational operator.

Table 16.6 (a) Relational operators

Operator Meaning

EQ Equal

to(=)

Not equal to(

≠

)

GT Greater

than(>)

Greater than or equal to(

≥

)

LT Less

than(<)

Less than or equal to(

≤

)

Sample program

The sample program below finds the total of numbers 1 to 10.

O9500;

#1=0;................................ Initial value of the variable to hold the sum

#2=1;................................ Initial value of the variable as an addend
N1 IF[#2 GT 10] GOTO 2; ... Branch to N2 when the addend is greater than
10
#1=#1+#2;........................ Calculation to find the sum

#2=#2+1;.......................... Next addend
GOTO 1; .......................... Branch to N1

N2 M30;............................... End of program

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16.6.4

Repetition (WHILE Statement)

Specify a conditional expression after WHILE. While the specified
condition is satisfied, the program from DO to END is executed. If
the specified condition is not satisfied, program execution proceeds to
the block after END.

If the
condition
is not
satisfied

WHILE [conditional expression] DO m ; (m=1,2,3)

END m ;
:

Processing

If the
condition
is satisfied

Explanation

While the specified condition is satisfied, the program from DO to
END after WHILE is executed. If the specified condition is not
satisfied, program execution proceeds to the block after END.    The
same format as for the IF statement applies.    A number after DO and
a number after END are identification numbers for specifying the
range of execution.    The numbers 1, 2, and 3 can be used.    When a
number other than 1, 2, and 3 is used, an alarm PS0126 occurs.

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- Nesting

The identification numbers (1 to 3) in a DO-END loop can be used as
many times as desired. Note, however, when a program includes
crossing repetition loops (overlapped DO ranges), an alarm PS0124
occurs.

Processing

1. The identification numbers (1 to

3) can be used as many times
as required.

WHILE [ … ] DO 1 ;

END 1 ;
:

Processing

WHILE [ … ] DO 1 ;

END 1 ;
:

2. DO ranges cannot

overlap.

Processing

WHILE [ … ] DO 1 ;

END 1 ;

Processing

WHILE [ … ] DO 2 ;
:

END 2 ;

3. DO loops can be nested to a

maximum depth of three levels.

WHILE [ … ] DO 1 ;
:

WHILE [ … ] DO 2 ;
:

WHILE [ … ] DO 3 ;

Processing

END 3 ;
:

END 2 ;
:

END 1 ;

4. Control can be transferred

to the outside of a loop.

WHILE [ … ] DO 1 ;

END 1 ;

IF [ … ] GOTO n ;

5. Branches cannot be made to a

location within a loop.

WHILE [ … ] DO 1 ;
:

END 1 ;

IF [ … ] GOTO n ;
:

Nn … ;

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Limitation
- Infinite loops

When DO m is specified without specifying the WHILE statement, an
infinite loop ranging from DO to END is produced.

- Processing time

When a branch to the sequence number specified in a GOTO
statement occurs, the sequence number is searched for. For this
reason, processing in the reverse direction takes a longer time than
processing in the forward direction. Therefore, in the case of
processing in the reverse direction, use the WHILE statement for
repetition to reduce processing time.

- Undefined variable

In a conditional expression that uses EQ or NE, a <null> and zero
have different effects. In other types of conditional expressions, a
<null> is regarded as zero.

Sample program

The sample program below finds the total of numbers 1 to 10.

O0001;
#1=0;
#2=1;
WHILE[#2 LE 10]DO 1;
#1=#1+#2;
#2=#2+1;
END 1;
M30;

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16.7

MACRO CALL

A macro program can be called using the following methods. The
calling methods can roughly be divided into two types: macro calls
and subprogram calls.
A macro program can also be called during MDI operation in the same
way.

Macro call

Simple call (G65)
Modal call (G66, G66.1, G67)
Macro call using a G code
Macro call using an M code
Subprogram call using an M code
Subprogram call using a T code
Subprogram call using an S code
Subprogram call using a second auxiliary function code
Subprogram call using a specific code

Limitation
- Call nesting

Macro calls can be nested to a depth of up to five levels and
subprogram calls can be nested to a depth of up to ten levels; calls can
be nested to a depth of up to 15 levels in total.

- Differences between macro calls and subprogram calls

Macro call (G66, G66.1, Ggg, or Mmm) differs from subprogram call
(for example M98, Mmm, or Ttt) as described below.

•

With a macro call, an argument (data passed to a macro) can be

specified. A subprogram call does not have this capability.

•

If a macro call block contains another NC command (such as G01

X100.0 G65 Pp), an alarm PS0127 occurs.

•

If a subprogram call block contains another NC command (such as

G01 X100.0 M98 Pp), the subprogram is called after the command
is executed.

•

In any macro call block, the machine does not stop in the single

block mode.

If a subprogram call block contains another NC command (such as

G01 X100.0 M98 Pp), the machine stops in the single block mode.

•

With a macro call, the level of local variables changes. With a

subprogram call, the level of local variables does not change.
(See "Local variable levels" in Limitation of Subsection 16.7.1.)

- Called program and folders to be searched

The order in which folders are called depends on the method of calling
a macro or subprogram.
Folders are searched in sequence and the program found first is called.
For details, see the "Managing Programs" chapter.

Subprogram call

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16.7.1

Simple Call (G65)

When G65 is specified, the custom macro specified at address P is
called. Data (argument) can be passed to the custom macro program.

P : Number of the program to call

: Repetition count (1 by default)

Argument : Data passed to the macro

O0001 ;
:
G65 P9010 L2 A1.0 B2.0 ;
:
M30 ;

O9010 ;
#3=#1+#2 ;
IF [#3 GT 360] GOTO 9 ;
G00 G91 X#3 ;
N9 M99 ;

G65 P p L

<argument-

specification> ;

Explanation
- Call

•

After G65, specify at address P the program number of the custom

macro to call.

•

When a number of repetitions is required, specify a number from 1

to 999999999 after address L. When L is omitted, 1 is assumed.

•

By using argument specification, values are assigned to

corresponding local variables.

- Argument specification

Two types of argument specification are available. Argument
specification I uses letters other than G, L, O, N, and P once each.
Argument specification II uses A, B, and C once each and also uses I,
J, and K up to ten times. The type of argument specification is
determined automatically according to the letters used.

•

Argument specification I

Address

Variable

number

A
B
C
D
E
F
H

#1
#2
#3
#7
#8
#9
#11

I
J
K
M
Q
R
S

#4
#5
#6
#13
#17
#18
#19

T
U
V
W
X
Y
Z

#20
#21
#22
#23
#24
#25
#26

Address

Variable

number

Address

Variable

number

•

Addresses G, L, N, O, and P cannot be used in arguments.

•

Addresses that need not be specified can be omitted. Local

variables corresponding to an omitted address are set to null.

•

Addresses do not need to be specified alphabetically. They

conform to word address format.

I, J, and K need to be specified alphabetically, however.
Argument specification I is always used for I, J, and K by setting

bit 7 (IJK) of parameter No. 6008 to 1

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Example

- When bit 7 (IJK) of parameter No. 6008 is 0,

I_J_K_ means that I = #4, J = #5, and K = #6 while
K_J_I_ means K = #6, J = #8, and I= #10 because
argument specification II is used.

- When bit 7 (IJK) of parameter No. 6008 is 1,

K_J_I_ means that I = #4, J = #5, and K = #6,
which is the same as with I_J_K_, because
argument specification I is used.

•

Argument specification II

Argument specification II uses A, B, and C once each and uses I, J,

and K up to ten times. Argument specification II is used to pass
values such as three-dimensional coordinates as arguments.

Address

Variable

number

A
B
C
I

#1
#2
#3
#4
#5
#6
#7
#8
#9
#10
#11

#12
#13
#14
#15
#16
#17
#18
#19
#20
#21
#22

#23
#24
#25
#26
#27
#28
#29
#30
#31
#32
#33

Address

Variable

number

Address

Variable

number

•

Subscripts of I, J, and K for indicating the order of argument

specification are not written in the actual program.

NOTE

When bit 7 (IJK) of parameter No. 6008 is 1,

argument II cannot be used.

Limitation
- Format

G65 must be specified before any argument.

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- Mixture of argument specifications I and II

The CNC internally identifies argument specification I and argument
specification II. If a mixture of argument specification I and
argument specification II is specified, the type of argument
specification specified later takes precedence.

[Example]
G65 A1.0 B2.0 I-3.0 I4.0 D5.0 P1000 ;

(Variables)
#1:1.0
#2:2.0
#3:
#4:-3.0
#5:
#6:
#7:4.0 5.0

When both the I4.0 and D5.0 arguments are commanded for variable
#7 in this example, the latter, D5.0, is valid.

- Position of the decimal point

The units used for argument data passed without a decimal point
correspond to the least input increment of each address.

CAUTION

The value of an argument passed without a
decimal point may vary according to the system
configuration of the machine. It is good practice to
use decimal points in macro call arguments to
maintain program compatibility.

- Extended axis name

The axis address of an extended axis name cannot be specified as an
argument. If an attempt is made to specify it, alarm PS0129 is issued.

When a value is specified with no decimal point, the number of
decimal places is determined as follows.

Address

For a non-axis

address

For an axis

address

D, E, H, M, S, or T

Q or R

(NOTE 2)

A, C, I, J, K, X, Y, or Z

(NOTE 2)

(NOTE 3)

B, U, V

(NOTE 1)

, or W

(NOTE 3)

Second auxiliary function

(NOTE 4)

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