FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 82

 

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FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 82

 

 

17.REAL-TIME CUSTOM MACRO

 PROGRAMMING 

B-63944EN/03

 

 

- 612 - 

 - Reset 

Even when the CNC is reset by an MDI reset, the external reset signal 
(ERS), or the reset and rewind signal (RRW), the axis control 
command of an RTM statement does not stop immediately but stops at 
the time of termination of the block currently being executed.    When 
the emergency stop state is set, however, the RTM statement also 
stops immediately. 
During execution of the axis control command of an RTM statement, 
the real time macro being executed can be stopped independently of 
the NC statement by setting the group-by-group reset signal (ECLRg) 
for PMC axis control corresponding to the axis to 1.    To stop also the 
axis control command of an RTM statement when the CNC is reset, 
control the reset signal (ECLRg) for PMC axis control of the related 
group by monitoring the reset signal (RST). 
 

 - Alarm stop 

Even when a PS alarm is issued with an NC statement, the axis control 
command of the RTM statement being executed does not stop 
immediately but stops at the time of termination of the block currently 
being executed.    Moreover, even when an overtravel alarm is issued 
for an axis other than the axis controlled by the RTM statement being 
executed, the RTM statement being executed does not stop 
immediately but stops at the time of termination of the block currently 
being executed. 
 

 - Alarm reset 

When the group-by-group alarm signal (EIALg) for PMC axis control 
corresponding to the axis specified by an RTM statement is set to 1, 
correct the cause of the alarm, then reset the CNC, and reset PMC axis 
control with the reset signal (ECLRg) for PMC axis control of the 
related group. 
(Tip) 
 

In the following cases, the alarm signal (EIALg) is set to 1: 
(1)  When a servo alarm is issued 
(2)  When an overtravel alarm is issued 
(3)  When P/S0130 alarm is issued 
(4)  When P/S0139 alarm is issued 
 

 - Interlock 

In an RTM statement, the interlock signal (*IT) for an NC statement, 
interlock signal for each axis (*ITn), interlock signal for each axis 
direction (+ITn/-ITn) are invalid.    Instead, the axis control temporary 
stop signal (ESTPg) for PMC axis control is valid in an RTM 
statement.  When temporarily stopping the axis controlled by an 
RTM statement, control the corresponding axis control temporary stop 
signal (ESTPg) for PMC axis control. 
 
The cutting block start interlock signal *CSL (G8.1) and the block 
start interlock signal *BSL (G8.3) are invalid. 
 

B-63944EN/03

 PROGRAMMING 

17.REAL-TIME CUSTOM MACRO

 

 

- 613 - 

 - Machine lock 

The same machine lock signals (all axes/each axis) as used with an 
NC statement are used.  However, by disabling machine lock for 
PMC axis control with the following parameters, machine lock can be 
disabled for the axis being controlled by an RTM statement: 
    Bit 0 (MLE) of parameter No. 8001 
    Bit 1 (MLS) of parameter No. 8006 
 

 - Dry run 

With bit 2 (OVE) of parameter No. 8001, whether to use the dry run 
signal (DRN) for an NC statement or the dry run signal (EDRN) for a 
PMC axis can be chosen.    When enabling a dry run feedrate for rapid 
traverse in an RTM statement, set bit 3 (RDE) of parameter No. 8001 
to 1.    If a feed command specifying a feedrate is specified when the 
manual rapid traverse selection signal (RT or ERT) is set to 1, the 
cutting feedrate is used as the feedrate during dry run.  ("Dry run 
feedrate 

×

 maximum manual feedrate override value" is not 

applicable.) 

 

 - In-position check 

In the in-position state, the in-position signal (EINPg) is set to 1. 
When bit 6 (NCI) of parameter No. 8004 is set to 1, no in-position 
check is made during axis control based on an RTM statement.    The 
setting of bit 5 (NCI) of parameter No. 1601 for an NC statement is 
invalid.    (However, the in-position signal (INPx) for an NC statement 
is affected by the value of NCI.) 
 

 - Manual absolute 

The manual absolute signal (*ABSM) is invalid. 
 

 - External deceleration 

By setting bit 0 (EDC) of parameter No. 8005 to 1, the external 
deceleration function can be used also for the axis being controlled by 
an RTM statement.  Note, however, that the external deceleration 
function is unusable for feed with a specified feedrate (feed per 
revolution).  For an external deceleration rate, the external 
deceleration rate setting for rapid traverse (parameter No. 1427, No. 
1441, and No. 1444) is valid, regardless of the type of feed. 
The external deceleration function for the axis being controlled by an 
RTM statement is also valid for feed with a specified feedrate (feed 
per minute), regardless of the settings of bit 4 (EDP) of parameter No. 
1005 and bit 5 (EDM) of parameter No. 1005. (The enabling of rapid 
traverse only is impossible.) 
 

17.REAL-TIME CUSTOM MACRO

 PROGRAMMING 

B-63944EN/03

 

 

- 614 - 

 - Mirror image 

At enabling mirror image for the axis being controlled by an RTM 
statement, set bit 0 (EMR) of parameter No. 8008 to 1, and set either 
bit 0 (MIRx) of parameter No.0012 or mirror image signal MIx to '1'. 
Programmable mirror image is not available. 
 

NOTE 

1  The same group as the PMC axis control group 

used for axis control cannot be executed with an 
RTM statement. 

2  No NC statement can specify an axis being 

controlled by an RTM statement. 

3  An alarm is issued if, during execution of an RTM 

statement, an attempt is made to execute another 
RTM statement with the same ID.    In the program 
below, for example, the RTM statement of (1) 
operates using the NC statement of (2) as a 
trigger, and the RTM statement of (3) operates 
using the NC statement of (4) as a trigger.    An 
alarm is issued if (1) is still operating when (4) is 
started after completion of the interpolation of (2).       
//1 ZDO ;                     
G91 G00 A100. ;  (1)  RTM statement 
ZEND ;                     
G01 X30. Y20. ;  (2)  NC statement 
//1 ZDO ;                     
G91 G00 B100. ;  (3)  RTM statement 
ZEND ;                     
X40. Y50. ; 

(4)  NC statement 

4  When T series G code system A is used, address 

words (such as U, W, H, and V) for incremental 
commands must not be coded. Otherwise, alarm 
PS0413 is issued. 

5  An RTM statement for performing axis control 

proceeds to the next command at the end of 
distribution. For example, in the program below, 
#RV[0] counts up at the time X50. distribution ends 
and deceleration starts. 

 

  // ZDO ; 

 

  G00 X50. ; 

  #RV[0]=#RV[0]+1 

; 

  ZEND 

; 

 

B-63944EN/03

 PROGRAMMING 

17.REAL-TIME CUSTOM MACRO

 

 

- 615 - 

Command details 
 - Rapid traverse 

A movement is made at a rapid traverse rate on an axis from the 
current position to the point separated by a specified value. 
 

    Format 

// ZDO ; 
G91 G00 

IP

 _ ; 

ZEND ; 

G91  : G code for incremental command 

IP

 _  : Travel distance 

 

NOTE 

1  Only one axis can be specified in one block. 
2  The absolute command (G90) cannot be specified. 
3  The rapid traverse overlap function cannot be 

used. 

4  When using this function, be sure to set bit 0 

(RPD) of parameter No. 8002 to 0. 

 

•

 

Rapid traverse override 

 

With bit 2 (OVE) of parameter No. 8001, whether to use the 
rapid traverse override signal (ROV) for an NC statement or the 
rapid traverse override signal (EROV) dedicated to PMC axis 
control can be chosen. 

NOTE 

 

Even if bit 4 (RF0) of parameter No. 1401 is set to 
1, rapid traverse does not stop with a cutting feed 
override of 0%. 

 

  - Feed with a specified feedrate (feed per minute) 

A movement is made at a feedrate specified in F on an axis from the 
current position to the point separated by a specified value. 
 

    Format 

// ZDO ; 
G94 G91 G01 

IP

 _ F_ ; 

ZEND ; 

    G94 :  G code for feed per minute 
    G91 :  G code for incremental command 
   

IP

 __: Travel distance 

    F__ :  Feedrate command (mm/min or inch/min) 

 

17.REAL-TIME CUSTOM MACRO

 PROGRAMMING 

B-63944EN/03

 

 

- 616 - 

NOTE 

1  Only one axis can be specified in one block. 
2  The absolute command (G90) cannot be specified. 
3  The block overlap function cannot be used. 
4  When IS-A is used, a feedrate below 10 mm/min is 

discarded. 

5  The feedrate cannot be clamped to a 

parameter-set maximum cutting feedrate. 

6  No time is added to the cumulative cutting time. 
7  Even if this command is executed, the cutting 

in-progress signal is not output.   

8  The operation between blocks for feed with a 

specified feedrate is performed in the cutting 
mode. 

9  For this command, the feedrate arrival signal SAR 

(G029.4) cannot be used. 

 

•

 

Feedrate specification range 

 

The table below indicates the feedrate specification range. 

Linear axis 

 

Metric input 

(mm/min) 

Inch input 
(inch/min) 

Rotation axis 

(deg/min) 

IS-A

10. to 240000. 

0.1 to 6553.5 

10. to 240000. 

IS-B

1. to 65535. 

0.01 to 655.35 

1. to 65535. 

IS-C

0.1 to 6553.5 

0.001 to 65.535 

0.1 to 6553.5 

IS-D

0.01 to 655.35 

0.0001 to 6.5535 

0.01 to 655.35 

IS-E

0.001 to 65.535 

0.00001 to 0.65535 

0.001 to 65.535 

 

NOTE 

1  Be sure to set the following parameters to 0: 
        Bit 3 (F10) of parameter No. 8002 
        Bit 4 (EFD) of parameter No. 8006 
        Bit 4 (PF1) of parameter No. 8002 
        Bit 5 (PF2) of parameter No. 8002 

When a value other than 0 is set, the feedrate 
specification range changes, depending on the set 
parameter. 

2  A value less than the lowest feedrates indicated 

above is discarded. 

 

•

 Feedrate 

override 

 

With bit 2 (OVE) of parameter No. 8001, whether to use the 
feedrate override signal (*FV) for an NC statement or the 
feedrate override signal (*EFOV) dedicated to PMC axis control 
can be chosen. 

 

B-63944EN/03

 PROGRAMMING 

17.REAL-TIME CUSTOM MACRO

 

 

- 617 - 

NOTE 

1  The second feedrate override function cannot be 

used. 

2  The feedrate override function cannot be disabled 

using #3004. 

 

•

 Override 

cancel 

    With bit 2 (OVE) of parameter No. 8001, whether to use the 

feedrate override cancel signal (OVC) for an NC statement or the 
feedrate override cancel signal (EOVC) dedicated to PMC axis 
control can be chosen. 

 

•

 

Operation between blocks 

    If feed with a specified feedrate is performed in succession in 

RTM statements, no stop occurs between blocks, but the next 
block is executed.  With the accumulated pulse zero check 
signal (ELCKZg) for PMC axis control, an accumulated pulse 
zero check can be made between blocks specifying feed with a 
specified feedrate. 

 

NOTE 

1  The error detect signal (SMZ) cannot be used. 
2  With the accumulated pulse zero check signal 

(ELCKZg) for PMC axis control, an accumulated 
pulse zero check can be made between blocks 
specifying feed with a specified feedrate for feed on 
the same axis only. 

 

•

 

Acceleration/deceleration time constant 

 

For an acceleration/deceleration time constant to be used for feed 
with a specified feedrate in an RTM statement when exponential 
acceleration/deceleration is used, whether to use the time 
constant for an NC statement or the time constant dedicated to 
PMC axis control can be chosen using parameter No. 8030. 

 

NOTE 

 

Look-ahead acceleration/deceleration before 
interpolation cannot be used. 

 

17.REAL-TIME CUSTOM MACRO

 PROGRAMMING 

B-63944EN/03

 

 

- 618 - 

  - Feed with a specified feedrate (feed per revolution) 

A movement is made at a feedrate specified in F on an axis from the 
current position to the point separated by a specified value. 
 

    Format 

// ZDO ; 
G95 G91 G01 

IP

 _ F_ ; 

ZEND ; 

G95  : G code for feed per revolution 
G91  : G code for incremental command 

IP

 _  : Travel distance 

F_ 

: Feedrate command (mm/rev or inch/rev) 

 

NOTE 

1  Only one axis can be specified in one block. 
2  The absolute command (G90) cannot be specified. 
3  The block overlap function cannot be used. 
4  Be sure to set the parameters below to 0.    If a 

value other than 0 is set, the feedrate specification 
range changes, depending on the set parameter. 

         FR1 (bit 6 of parameter No. 8002) 
         FR2 (bit 7 of parameter No. 8002) 
5  The feedrate is clamped to the maximum cutting 

feedrate set in parameter No. 8022.    (Parameter 
No. 1430 for an NC statement is not valid for this 
command.) 

6  To use feed per revolution, a position coder is 

required at all times.    (Bit 0 (NPC) of parameter 
No. 1402 is not applicable to this command.) 

7  No time is added to the cumulative cutting time. 
8  Even if this command is executed, the cutting 

in-progress signal is not output. 

9  The operation between blocks for feed with a 

specified feedrate is performed in the cutting mode 
at all times. 

10 For this command, the feedrate arrival signal SAR 

(G029.4) cannot be used. 

 

•

 

Feedrate specification range 

 

The table below indicates the feedrate specification range. 

Linear axis 

 

Metric input 

(mm/rev) 

Inch input 

(inch/rev) 

Rotation axis 

(deg/rev) 

T series

0.001 to 65.535 

0.000001 to 0.65535 

0.001 to 65.535

M series

0.01 to 500.00 

0.0001 to 6.5535 

0.01 to 500.00 

 

B-63944EN/03

 PROGRAMMING 

17.REAL-TIME CUSTOM MACRO

 

 

- 619 - 

•

 Feedrate 

override 

 

With bit 2 (OVE) of parameter No. 8001, whether to use the 
feedrate override signal (*FV) for an NC statement or the 
feedrate override signal (*EFV) dedicated to PMC axis control 
can be chosen. 

 

NOTE 

1  The second feedrate override function cannot be 

used. 

2  The feedrate override function cannot be disabled 

using #3004. 

 

•

 Override 

cancel 

    With bit 2 (OVE) of parameter No. 8001, whether to use the 

feedrate override cancel signal (OVC) for an NC statement or the 
feedrate override cancel signal (EOVC) dedicated to PMC axis 
control can be chosen. 

 

•

 

Operation between blocks 

    If feed with a specified feedrate is performed in succession in 

RTM statements, no stop occurs between blocks, but the next 
block is executed.  With the accumulated pulse zero check 
signal (ELCKZg) for PMC axis control, an accumulated pulse 
zero check can be made between blocks specifying feed with a 
specified feedrate. 

 

NOTE 

1  The error detect signal (SMZ) cannot be used. 
2  With the accumulated pulse zero check signal 

(ELCKZg) for PMC axis control, an accumulated 
pulse zero check can be made between blocks 
specifying feed with a specified feedrate for feed on 
the same axis only. 

 

•

 

Acceleration/deceleration time constant 

        For an acceleration/deceleration time constant to be used for feed 

with a specified feedrate in an RTM statement when exponential 
acceleration/deceleration is used, whether to use the time 
constant for an NC statement or the time constant dedicated to 
PMC axis control can be chosen using parameter No. 8030. 

 

NOTE 

 

Look-ahead acceleration/deceleration before 
interpolation cannot be used. 

 

 

 

 

 

 

 

 

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