FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 77

16.CUSTOM MACRO

PROGRAMMING

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Return from a custom macro interrupt

To return control from a custom macro interrupt to the interrupted
program, specify M99.  A sequence number in the interrupted
program can also be specified using address P.    If this is specified,
the program is searched from the beginning for the specified sequence
number.    Control is returned to the first sequence number found.

NOTE

When an M99 block consists only of address O, N,

P, L, or M, this block is regarded as belonging to
the previous block in the program. Therefore, a
single-block stop does not occur for this block. In
terms of programming, the following <1> and <2>
are basically the same. (The difference is whether
Gxx is executed before M99 is recognized.)

<1> Gxx Xxxx ;
M99

;

<2> Gxx Xxxx M99 ;

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- Custom macro interrupt and modal information

A custom macro interrupt is different from a normal program call.    It
is initiated by an interrupt signal (UINT) during program execution.
In general, any modifications of modal information made by the
interrupt program should not affect the interrupted program.
For this reason, even when modal information is modified by the
interrupt program, the modal information before the interrupt is
restored when control is returned to the interrupted program by M99.

When control is returned from the interrupt program to the interrupted
program by M99 Pxxxxxxxx, however, modal information can again
be controlled by the program. In this case, the new continuous
information modified by the interrupt program is passed to the
interrupted program.

In this case, take the following action as required:
<1> The interrupt program provides modal information to be used

after control is returned to the interrupted program.

<2> After control is returned to the interrupted program, modal

information is specified again as necessary.

{

∆∆∆∆

M96 Pxxxxxxxx ;

{

xxxxxxxx ;

Interrupt signal (UINT)

Modify modal information

(Without P specification)

Modal information remains
unchanged before and after
the interrupt.

M99 (Pxxxxxxxx) ;

(With P specification)

The new modal information modified by the interrupt program is present.

Nxxxxxxxx ;

Fig. 16.13 (e) Custom macro interrupt and modal information

16.CUSTOM MACRO

PROGRAMMING

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Modal information when control is returned by M99

The modal information present before the interrupt becomes valid.
The new modal information modified by the interrupt program is
made invalid.

Modal information when control is returned by M99 Pxxxxxxxx

The new modal information modified by the interrupt program
remains valid even after control is returned.

Modal information which was valid in the interrupted block

The old modal information which was valid in the interrupted block
can be read using custom macro system variables #4401 to #4530.

System variable

Modal information which was valid when a custom

macro interrupt was generated

#4401

#4421
#4502
#4507
#4508
#4509
#4511
#4513
#4514
#4515
#4519
#4520
#4530

G code (group 01)
:
G code (group 21)
B code
D code
E code
F code
H code
M code
Sequence number
Program number
S code
T code
Additional workpiece coordinate system number

System variable

Modal information which was valid when a custom

macro interrupt was generated

#4401

#4421
#4508
#4509
#4513
#4514
#4515
#4519
#4520
#4530

G code (group 01)
:
G code (group 21)
E code
F code
M code
Sequence number
Program number
S code
T code
Additional workpiece coordinate system number

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- System variables (position information values) for the interrupt program

Position information can be read as follows.

Macro

variable

Condition

Position information

value

Until the first NC statement appears

Coordinates of point A

After an NC statement with no move
command appears

Coordinates of point A'

#5001 or
above

After an NC statement with a move
command appears

Coordinates of the end
point of the move
command

#5021 or
above

Machine coordinates of
point B'

#5041 or
above

Workpiece

coordinates

of point B'

A’

Interrupt generated

Programmed tool path

Offset vector

Tool center path

- Custom macro interrupt and custom macro modal call

When the interrupt signal (UINT) is input and an interrupt program is
called, the custom macro modal call is canceled (G67). However,
when G66 is specified in the interrupt program, the custom macro
modal call becomes valid. When control is returned from the
interrupt program by M99, the modal call is restored to the state it was
in before the interrupt was generated. When control is returned by
M99 Pxxxxxxxx;, the modal call in the interrupt program remains
valid.

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PROGRAMMING

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Custom macro interrupt and program restart

In program restart, when the interrupt signal (UINT) is input during
dry run recovery after a search, the interrupt program is called after
restart of all axes is completed.
That is, interrupt type II is assumed regardless of the parameter
setting.

NOTE

1 Alarm PS1101 occurs in the following cases:

<1> An interrupt is generated in the programmable

mirror image (G51.1) mode and another G51.1
is specified in the interrupt program.

<2>

An interrupt is generated in the coordinate
system rotation (G68) mode and another G68
is specified in the interrupt program.

<3> An interrupt is generated in the scaling (G51)

mode and another G51 is specified in the
interrupt program.

2 In program restart, do not input the interrupt signal

(UINT) during dry run recovery after a search.

NOTE

1 Alarm PS1101 occurs in the following cases:

<1> An interrupt is generated in the programmable

mirror image (G51.1) mode and another G51.1
is specified in the interrupt program.

<2>

An interrupt is generated in the coordinate
system rotation (G68.1) mode and another
G68.1 is specified in the interrupt program.

<3> An interrupt is generated in the scaling (G51)

mode and another G51 is specified in the
interrupt program.

2 No interruption type custom macro can be used

during execution of a multiple repetitive canned
turning cycle.

3 In program restart, do not input the interrupt signal

(UINT) during dry run recovery after a search.

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17.REAL-TIME CUSTOM MACRO

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REAL-TIME CUSTOM MACRO

Chapter 17, "REAL-TIME CUSTOM MACRO", consists of the
following sections:

17.1  TYPES OF REAL TIME MACRO COMMANDS................581
17.2 VARIABLES..........................................................................588
17.3  ARITHMETIC AND LOGICAL OPERATION....................596
17.4  CONTROL ON REAL TIME MACRO COMMANDS ........598
17.5 MACRO

CALL ......................................................................605

17.6 OTHERS.................................................................................607
17.7 AXIS CONTROL COMMAND.............................................608
17.8 NOTES ...................................................................................622
17.9 LIMITATION.........................................................................624

17.REAL-TIME CUSTOM MACRO

PROGRAMMING

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Overview

Used with an NC program, the real time custom macro function
controls peripheral axes and signals.

If a macro statement is used together with an NC statement, a program
using the conventional custom macro function executes the macro
statement immediately when the macro statement is read. So, the
macro statement cannot be executed independently of the NC
statement.
On the other hand, the real time custom macro function enables the
following control operations when a real time macro command (RTM
command) is coded in an NC program.

•

A real time macro command starts operation in synchronism with
the NC statement and is executed independently. During NC
program execution, a real time macro command can be executed
at the same time.

•

PMC interface signals can be read and written (with a restriction).

In an NC program, a motion using a signal as a trigger can be
coded.

•

Variables dedicated to a real time macro command can be read
and written.

•

A real time macro command can exercise axis control. (The
option is required.)

•

Multiple real time macro commands can be executed at the same
time. Multiple real time custom macro statements can be coded
in an NC program and can be controlled independently of each
other.

By using a real time custom macro, control on signals and peripheral
axes can be programmed.
The example below turns on and off a signal and performs operation
on a peripheral axis when machining points are passed.

During movement for machining along the X-axis in the figure above:
<1> When point Xa is passed, the G99.5 signal is set to 1.

→

Real time macro command 1

<2> When point Xb is passed, positioning is started on peripheral axis

→

Real time macro command 2

<3> When point Xc is passed, the G99.5 signal is set to 0.

→

Real time macro command 3

Signal

OFF

Peripheral axis Y

X-axis machining direction

Xa=30

Xb=50

Xc=80

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The operation above is programmed using real time macro commands.

Program
O0001 ;
G92 X0 ;
//1 ZEDGE [#100101 GE 30. ] #IOG[99,5] = 1 ;
//2 ZEDGE [#100101 GE 50.] ZDO ;
G91 G00 Y100 ;
ZEND ;
//3 ZEDGE [#100101GE 80. ] #IOG[99,5] = 0 ;
G90 G01 X200. F150 ;
M30 ;

The timing is as follows. (‘**’ represents the satisfaction of the
condition.)

coordinate

Peripheral

axis

operation

G99.5

signal

NC statement (machining)

G90 G01 X200. F150

Real time macro command 1

//1 ZEDGE [#100101 GE 30.]

#IOG[99,5] = 1 ;

Real time macro command 2

//2 ZEDGE [#100101 GE 50. ]

ZDO ;

G91 G00 Y100 ;

ZEND ;

Real time macro command 3

//3 ZEDGE [#100101 GE 80. ]

#IOG[99,5] = 0 ;

Explanation

To use the real time custom macro function, a real time macro
command (RTM command) is coded in an NC program.

- Real time macro command (RTM command)

The real time macro command (RTM command) is a macro command
that starts execution in phase with an NC statement in the program.
After the execution of a real time macro command starts, the RTM
command operates independently of the NC statement.
An RTM command is a statement dedicated to the real time custom
macro function.
An RTM command consists of a set of one or more real time macro
statements (RTM statements).

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