FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 83

17.REAL-TIME CUSTOM MACRO

 PROGRAMMING 

B-63944EN/03

 

 

- 620 - 

  - Reference position return 

A movement is made at the rapid traverse rate to the first reference 
position on a specified axis.    Upon completion of reference position 
return, the return completion lamp is turned on. 
 

    Format 

// ZDO ; 
G91 G28 

IP

 0 ; 

ZEND ; 

G91 : G code for incremental command 

IP

 0 : Specify an axis on which reference position return is to 

be performed.   

 

Be sure to specify 0 as the travel distance. 

 

NOTE 

1  Only one axis can be specified in one block. 
2  No intermediate point may be specified.    (Be sure 

to specify 0 as the travel distance.    Otherwise, 
alarm PS0410 is issued.)    If a movement needs to 
be once made to an intermediate point, specify 
positioning with rapid traverse (G00)/machine 
coordinate system selection (G53) then specify this 
command. 

3  The absolute command (G90) cannot be specified. 
4  When using this function, be sure to set bit 0 (RPD) 

of parameter No. 8002 to 0. 

5  Before this command can be specified, a reference 

position must be established.    (With this command, 
do not specify an axis on which a reference position 
is not established.) 

6  Before specifying this command with the T series, 

cancel tool offset and tool-nose radius 
compensation.    Before specifying this command 
with the M series, cancel cutter compensation, tool 
length compensation, and tool offset. 

 

•

 

Rapid traverse override 

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

rapid traverse override signal for an NC statement or the rapid 
traverse override signal 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%. 

 

B-63944EN/03

 PROGRAMMING 

17.REAL-TIME CUSTOM MACRO

 

 

- 621 - 

  - Machine coordinate system selection 

When a position in the machine coordinate system is specified, a 
movement is made to the position on the axis by rapid traverse.    The 
G53 code for machine coordinate system selection is a one-shot G 
code, so that a command in the machine coordinate system is valid in 
the block that specifies G53.  When moving the tool to a 
machine-specific position such as a tool change position, perform 
programming in the machine coordinate system based on G53. 
 

    Format 

// ZDO ; 
G90 G53 

IP

 _ ; 

ZEND ; 

G90  : G code for absolute command 

IP

 _  : Position in machine coordinate system 

 

NOTE 

1  Only one axis can be specified in one block. 
2  The incremental command (G91) cannot be 

specified. 

3  When using this function, be sure to set bit 0 (RPD) 

of parameter No. 8002 to 0. 

4  Before this command can be specified, a reference 

position must be established.    (With this command, 
do not specify an axis on which a reference position 
is not established.) 

5  Before specifying this command with the T series, 

cancel tool offset and tool-nose radius 
compensation.    Before specifying this command 
with the M series, cancel cutter compensation, tool 
length compensation, and tool offset. 

 

•

 

Rapid traverse override 

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

rapid traverse override signal for an NC statement or the rapid 
traverse override signal 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%. 

17.REAL-TIME CUSTOM MACRO

 PROGRAMMING 

B-63944EN/03

 

 

- 622 - 

17.8 

NOTES 

 

  - Address without the decimal point 

In general, an NC address without the decimal point is subject to 
calculator-type decimal point input when bit 0 (DPI) of parameter No. 
3401 or bit 0 (AXDx) of parameter No. 3455 is set to 1.  In other 
cases, an NC address without the decimal point is regarded as a least 
input increment. 
 

  - Indirect axis address specification 

When indirect axis address specification is used, use a direct reference 
argument.    No indirect reference may be used. 
Example) 
 AX[1] 

  Correct 

 AX[#RV[0]] 

Incorrect 

 

 - Diameter specification/radius specification 

For an axis to be controlled with an RTM statement, select radius 
specification.    (Set bit 3 (DIA) of parameter No. 1006 to 0.) 
 

 - Alarm PS0224 

If bit 0 (ZRN) of parameter No. 1005 is set to 0, and an axis control 
command is specified in an NC statement before a reference position 
return operation is not performed even once after power-up, alarm 
PS0224, “ZERO RETURN NOT FINISHED.” is issued.  In axis 
control using an RTM statement, the alarm is not issued even when bit 
0 (ZRN) of parameter No. 1005 is set to 0, unless bit 6 (EZR) of 
parameter No. 8006 is set to 1. 
 

 - Axis removal 

Even when axes are removed, interlock is not applied to the axis being 
controlled by an RTM statement. 
 

  - Stroke limit check before movement 

No stroke limit check before movement is made with a block in an 
RTM statement. 
 

 - Others 

For the axis being controlled by an RTM statement, the functions 
disabled for PMC axis control cannot be used. 
 

  - Other disabled functions 

For the axis being controlled by an RTM statement, the functions 
listed below as examples are disabled. 
Do not specify these functions for the axis being controlled by an 
RTM statement. 
- Feed-forward 
- Advanced preview feed-forward 
- Fine acceleration/deceleration 
- Automatic corner deceleration 

B-63944EN/03

 PROGRAMMING 

17.REAL-TIME CUSTOM MACRO

 

 

- 623 - 

- One-digit F code feed 
- Scaling 
- Coordinate system rotation 
- Polar coordinate interpolation 
- Balance cutting 
- Feed stop 
- Constant surface speed control 
- Positioning function based on optimal acceleration, etc. 
 

 CAUTION 

 

In an RTM statement, do not specify an axis used 
with any of the following functions: 

 

- Axis synchronous control 

Be sure to set the axis synchronous control 
selection signal (SYNCn) and axis synchronous 
control manual feed selection signal (SYNCJn) of 
the axis to 0. 

 

- Synchronous/composite control, superimposed 

control 

 

- Index table indexing 

 

- Three-dimensional coordinate system conversion 

 

- Rigid tapping 

 

- Compound machining 

 

- Polygon turning 

 

- Cs contour control 

 

- AI contour control I/II 

 

17.REAL-TIME CUSTOM MACRO

 PROGRAMMING 

B-63944EN/03

 

 

- 624 - 

17.9 

LIMITATION 

 
Major general notes on RTM commands are provided below. 
 

 - Background drawing 

The RTM command has no effect in background drawing.  Do not 
specify an RTM command during background drawing. 
 

  - Interrupt-type custom macro 

In an interrupt-type custom macro, no RTM command can be coded. 
 

 - Macro executor 

In a macro executor, no RTM command can be coded. 
Moreover, no macro executor can be coded from an RTM command. 
In a series of programs, do not code a macro executor (execution 
macro) and RTM command at the same time. 
In addition, observe the following: 

•

  Do not code an RTM command in a program that uses an 

execution macro. 

•

 

Do not call an execution macro from a program with an RTM 
command coded. 

•

 

Do not code an RTM command in an execution macro. 

•

 

Do not use an execution macro as an RTM command trigger. 

 

 - Sequence number 

No sequence number can be coded in an RTM command.    No RTM 
command can be searched for a sequence number. 
 

  - Optional block skip 

Optional block skip is unusable. 
A slash (/) that appears in the middle of <expression> (enclosed in [ ] 
on the right-hand side of an arithmetic/logical expression) is regarded 
as a division operator; it is not regarded as an optional block skip 
code. 
 

 - Single block 

When an RTM command is used, a single block stop generally occurs 
according to an NC statement, regardless of the values of bit 5 (SBM) 
of parameter No. 6000 and bit 7 (SBV) of parameter No. 6000.  
However, no single block stop occurs according to G65 for real time 
macro call. 
 

 - Processing 

If there are many RTM statements between NC statements, the 
command flow may break. 
 

 - DNC operation 

DNC operation is disabled. 

 

B-63944EN/03

 PROGRAMMING 

17.REAL-TIME CUSTOM MACRO

 

 

- 625 - 

  - Operation in each event 

If an event such as an emergency stop or alarm occurs during 
execution of an RTM command, the NC command and RTM 
command generally operate as indicated below. 
 

Event NC 

command 

RTM command consisting of 

a macro command 

RTM command including an axis 

control command 

PS alarm issued in 
NC command 
execution 

Operation stops 
when the block 
involving the PS 
alarm cause starts. 

The RTM command stops 
when the NC command stops. 

If the RTM statement being executed 
when the NC command stops is an axis 
control command, operation on the axis 
stops when the block stops. 

Alarm issued in 
RTM command 
execution 

Operation stops with 
the alarm. 

The RTM statement stops at 
that point.  Other RTM 
commands stop when the NC 
command stops. 

The RTM statement stops at that point.   
Other RTM commands stop operation 
on the axis when axis control by the 
RTM statement being executed when 
the NC statement stops ends. 

Single block (SBK 
signal) 

Operation stops 
when the command 
being executed 
ends. 

The RTM command is 
suspended when the NC 
command stops. 
When the NC command 
restarts, the RTM command 
restarts. 

If the RTM statement being executed 
when the NC command stops is an axis 
control statement, operation on the axis 
stops when the block ends. 

Feed hold (*SP 
signal) 

A gradual stop 
occurs. 

The RTM command stops 
when the NC command stops. 
When the NC command 
restarts, the RTM command 
restarts. 

If the RTM statement being executed 
when the NC command stops is an axis 
control statement, operation on the axis 
stops when the block ends. 

NC command 
stopped by a reset 
(ERS signal) 

A gradual stop 
occurs, and the 
command also 
ends. 

The RTM command stops 
when the NC command stops. 

If the RTM statement being executed 
when the NC command stops is an axis 
control command, operation on the axis 
stops when the block ends. 

Emergency stop 

An immediate stop 
occurs, and the 
command also 
ends. 

The command immediately 
ends. 

Operation on the axis immediately 
stops, and the command also 
immediately ends. 

End of the NC 
command 

- 

If the RTM command being 
executed is a one-shot RTM 
command, the command ends.
If the RTM command being 
executed is a modal RTM 
command, the command 
continues execution. 

If the one-shot RTM command being 
executed when the NC command ends 
is an axis control command, operation 
on the axis stops when the block ends. 

Machine lock 
(MLK signal) 

The NC command is 
valid. 

The RTM command operates. 

The RTM command can be enabled.   
For details, see the description of the 
axis control command. 

Dry run (DRN 
signal) 

The NC command is 
valid. 

The RTM command operates. 

The RTM command can be enabled.   
For details, see the description of the 
axis control command. 

Interlock (*IT 
signal) 

The NC command is 
valid. 

The RTM command operates. 

The RTM command can be enabled.   
For details, see the description of the 
axis control command. 

 

 PROGRAMMING 

B-63944EN/03

 

 

- 626 - 

18. PROGRAMMABLE 

PARAMETER INPUT (G10) 

18 

PROGRAMMABLE PARAMETER INPUT 
(G10) 

 

Overview 

The values of parameters and pitch error compensation data can be 
entered in a program. This function is used for setting pitch error 
compensation data when attachments are changed or the maximum 
cutting feedrate or cutting time constants are changed to meet 
changing machining conditions. 
 

Format 
  - Prameter entry mode 

G10L52 ; 

Parameter entry mode setting

 

N_R_ ; 

For parameters other than the axis type or spindle type

N_P_R_ ; 

For axis type or spindle type parameters

 

    : 
G11 ; 

Parameter entry mode cancel

 

N_ : Parameter number 
R_  : Parameter setting value (Leading zeros can be omitted.) 
P_  : Axis number 1 to maximum controlled axis number (to be 

specified when an axis type parameter or spindle type parameter 
is specified) 

 

NOTE 

 

G10L52 cannot be used to enter pitch error compensation 
data. 

 

  - Pitch error compensation data entry mode 

G10L50 ; 

Pitch error compensation data entry mode setting

 

N_R_ ; 

Pitch error compensation data entry

 

N_P_R_ ; 

For axis type parameters

 

    : 
G11 ; 

Pitch error compensation data entry mode cancel

 

N_  : Compensation position number for pitch errors compensation 

+10,000 

R_  : Pitch error compensation data 

 

NOTE 

 

G10L50 cannot be used to enter parameter. 

 

B-63944EN/03

 PROGRAMMING 

 

 

- 627 - 

18.PROGRAMMABLE

PARAMETER INPUT (G10)

Explanation 
  - Setting value (R_) 

Do not use a decimal point in the setting (R_) of a parameter or pitch 
error compensation data.    As the value of R, a custom macro variable 
can be used. 
When a parameter of real type is used, set an integer value in (R_) 
according to the increment system of the parameter. 
 

  - Axis number (P_) 

As the axis number (P_), specify the order of a controlled axis to be 
displayed on the CNC display screen, by using an axis type parameter. 
For example, specify P2 for the control axis which is displayed 
second. 
For a spindle type also, specify the order of an axis to be display on 
the CNC display screen. 
 

 WARNING 

1  Do not fail to perform reference position return 

manually after changing the pitch error 
compensation data or backlash compensation 
data.    Without this, the machine position can 
deviate from the correct position. 

2  The canned cycle mode must be cancelled before 

entering of parameters. When not cancelled, the 
drilling motion may be activated. 

 

 CAUTION 

 

Compatibility with the Series 16

i

/18

i

/21

i

: 

 

This model has parameters that are not compatible 
with the Series 16

i

/18

i

/21

i

.    So, before using this 

function, make a check according to the Parameter 
Manual (B-63950EN) of this model. 

 

NOTE 

 

Other NC statements cannot be specified while in 
parameter input mode.