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FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 142

3.MANUAL OPERATION

OPERATION

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CAUTION

1 When the Linear scale with distance-coded

reference marks (serial) is used, please set bit 3
(SDCx) of parameter No.1818 to 1.

2 On the Linear scale with distance-coded reference

marks (serial), the axis does not stop until three
reference marks are detected. If this procedure is
started at the position near the scale end, CNC can
not detect three reference marks and the axis does
not stop until over travel alarm occurs. Please care
to start at the position that has enough distance
from scale end.

And if establishment of reference position is failed,
the establishment is retried. Then axis does not
stop until still more three reference marks are
detected. So please set the maximum move
amount (detection unit : parameter No.14010) not
to reach the scale end.

Scale end

Reference marks

Start point (Bad)

Start point (Good)

3 On flexible synchronization control mode,

reference position can't be established.

4 Straightness compensation function

When the reference point establishment of moving
axis is executed after the establishment of
compensation axis, the compensation axis is
moved by straightness compensation amount
when the reference point of moving axis is
established.

5 It is not available to use this function and the

temporary absolute coordinate setting together.

6 The reference point cannot be established during

twin table synchronous operation or single
operation.

7 Angular axis control cannot be performed together

with synchronous control, composite control, or
superposition control.

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OPERATION

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3.12

MANUAL HANDLE RETRACE

Overview

In this function, the program can be executed both forward and
backward with a manual handle (manual pulse generator) under
automatic operation.
Therefore, errors of a program, interference, and so on can be checked
easily by working a machine actually.

- Checking mode

In this mode, the program can be executed forward and backward and
the program can be checked.
To change to the checking mode, it is necessary to change the mode to
the memory mode (MEM mode), and the checking mode signal
MMOD<Gn067.2> is set to "1". This function makes the data to
execute the program backward when the program is executed forward
in the checking mode.
To work a machine synchronizing with a pulse generated by a manual
handle in the checking mode, the manual handle check signal MCHK
<Gn067.3> is set to "1" in addition to the above-mentioned. As a
result, it becomes possible to check the program with a manual handle.

NOTE

During the checking mode, it is not possible to
change the parameter and offset.

- Forward movement with a manual handle

The "forward movement" is that the program is executed forward by
turning a manual handle in the positive direction (when the manual
handle check signal is set to "1".) or in no relation to rotation of a
manual handle (when the manual handle check signal is set to "0".).
When the manual handle check signal is set to "1", the execution
speed of the program is proportional to the number of rotations of a
manual handle. The program is executed forward rapidly when a
manual handle is turned to the positive direction rapidly. And, the
program is executed forward slowly when a manual handle is turned
to the positive direction slowly. The distance magnification traveled
per pulse from manual handle can be switched as same as a usual
manual handle feed function.
When the manual handle check signal is set to "0", the execution of
the program is controlled as same as an automatic operation.

3.MANUAL OPERATION

OPERATION

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- Backward movement

The "backward movement " is that the program executed forward once
is executed backward by turning a manual handle in the negative
direction.
The program can be executed backward only for the block executed
forward. And, the number of blocks for it is about 190 blocks. This
block number changes by the content of the commanded program.
The program is executed backward rapidly when a manual handle is
turned to the negative direction rapidly. And the program is executed
backward slowly when a manual handle is turned to the negative
direction slowly. The distance traveled per pulse from manual handle
can switch magnification as well as a usual manual handle feed.

NOTE

In the system which exceeds 4 paths and 20
axes, the maximum number of blocks which can
move backward becomes about 97 blocks.

Explanation
- Control by the manual handle
Program execution start

The checking mode signal MMOD<Gn067.2> is set to "1" in the
memory mode (MEM mode) in order to change the checking mode.
Then, the program execution is begun by turning ST signal from "1"
to "0".
If the manual handle check signal MCHK <Gn067.3> is set to "1" at
this time, the execution of the program is controlled by a manual
handle. The program is executed synchronizing with rotation of a
manual handle.
When a manual handle check signal MCHK<Gn067.3> is set to "0", it
is controlled as usual execution.
When check mode signal MMOD<Gn067.2> is set to "1" during the
operation of the program, it is enabled a check mode from the block
that next buffering is done.
That is, even if check mode signal set to "1", check mode is not
always enabled at once.
When check mode is enabled, check mode confirmation signal
MMMOD<Fn091.3> is set to "1".

NOTE

After the signal MMOD is turned to "0" during the
execution of the program, the program cannot be
executed forward and backward.

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3.MANUAL OPERATION

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Control with the manual handle

The value of the parameter No.6410 and the scale factors decide the
moving speed of the machine by one pulse generated by a manual
handle.
When a manual handle is turned, the actual movement speed of the
machine is as follows.
[Feedrate command value]

[Number of the handle pulse per a

second]

[Handle magnification]

([Parameter setting value]/100)

(8/1000)

(mm/min or inch/min)
Example) When feedrate command value is 30mm/min, handle
magnification is 100, parameter No.6410 is set to 1 and manual pulse
generator is rotated at 100 pulse/rev, the feedrate of axis is decided as
follow.
[Feedrate]=30[mm/min]

100[pulse/s]

100

(1/100)

(8/1000)[s]

=24[mm/min]

When the feedrate exceeds the override 100% feedrate by turning a
manual handle rapidly, the feedrate is clamped at the speed of override
100%. That is, if the pulse of the following formula exceeds "1", the
feedrate is clamped.
[Number of the handle pulse per a second]

[Handle magnification]

([Parameter setting value]/100)

(8/1000)

The rapid traverse feedrate is clamped at 10%. However, the feedrate
of the rapid traverse is clamped at 100% when bit 0 (HDRPD) of
parameter No.6400 is set to "1".
And if parameter No.6405 is set to an optional value, it can be
clamped to override by nearly optional value.
When the parameter No.6405 is set to larger value than "100", it is
clamped to nearly 100%.
When parameter No.6405 is set to "0", the setting of bit 0 (RPO) of
parameter No.6400 becomes valid.
The single block signal and the feed hold signal are effective in the
checking mode. When the execution of a program is stopped by the
single block stop or the feed hold stop, it is necessary to turn ST signal
from "1" to "0" in order to restart the program.
In the block with the movement and the block of dwell, the execution
speed of the program can be controlled by turning a manual handle.
As for the block of neither movement nor dwell such as the block of
only address M, S, T, and F, the program advances to the following
block even if a manual handle does not turn.
The rotation of the spindle does not synchronize with a pulse of a
manual handle. During the checking mode, the spindle rotates at the
specified rotation speed. As for the feed per revolution, a program is
executed at the feedrate which was converted from the rotation speed
of the spindle to the corresponding feed per minute inside CNC.

NOTE

The manual handle used by this function is always
the first. The 2nd and 3rd manual handle cannot be
used in this function.

3.MANUAL OPERATION

OPERATION

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Forward movement and backward movement with a manual handle

The program is executed forward when a manual handle is turned to
the positive direction. And, the program is executed backward when a
manual handle is turned to the negative direction.
The program is executed backward as soon as a manual handle is
turned to the negative direction in executing the program forward.
When a manual handle keeps being turned in a negative direction, the
program is executed backward and the execution stops in the block of
O number. Then, if a manual handle is turned to the positive direction,
the program is executed forward again.
Even if a manual handle controls the program execution, the program
is executed forward in no relation to a pulse generated by a manual
handle on setting the manual handle check signal to "0".

Program end

When the block of M2 or M30 is executed, the manual handle retrace
ends. It is not possible to execute the program backward from the
block of M2 or M30.
When the execution of the program ends, RESET signal must be set to
"1", and the checking mode signal and the manual handle check signal
must be set to "0".
In 2 path control system, FIN signal must not be set to "1" when the
block of M2 or M30 is executed in only one of paths. After the block
of M2 or M30 has been executed in both paths, FIN signal is set to "1".
(Except for the block of waiting M code is commanded before M2 or
M30 in both paths.)

- Notice of the operation

Dry-run can not operate during the checking mode. Dry-run signal
must be set to "0".
Automatic operation starts immediately with the feedrate commanded
by the program, when the checking mode signal or the synchronous
operation with handle signal is turned off during executing the
program in the checking mode.
The edit of the program and the change of the parameter and the offset
must not be done.

- Backward movement of each code

All modal information of G, T, S-code is memorized in executing the
program forward. And, the memorized data of the modal G, T, S-code
are used in executing the program backward.
As for M-codes, they are grouped and the modal information is
managed by parameter No.6411 to 6490. Therefore, M-code can be
executed backward according to the information. As for the modal
information of the M-code, a change in each group is memorized in
the execution data.
As for the codes except for G, M, S, and T, the same code is output
between forward movement and backward movement.

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- G-code

If G-code that changes modal information is commanded in backward
movement, the modal information of previous block is executed.
Example)
N1G99;
N2G01X_F_;
N3X_Z_;

N4G98; ..................... backward movement starts from this block

N5X_Y_Z_;
If backward movement starts from N4 block, the modal information is
changed from G98 to G99 and G99 is executed from N3.
G-code with a movement is traced along the route opposite to forward
movement.
G-code that can be command in executing the program backward is as
follows.
The other G-codes cannot be command in executing the program
backward.
The G-codes in the G-code system B and C also can be used.

Lathe system
  G00 G01 G02 G03 G04 G22 G23
  G25 G26 G28 G30 G40 G41 G42
  G50 G53 G65 G70 G71 G72 G73
  G75 G80 G83 G85 G87 G89 G90
  G94 G96 G97 G98 G99

(G-code system A)

Machining center system
  G00 G01 G02 G03 G04 G22 G23
  G25 G26 G28 G30 G40 G41 G42
  G43 G44 G49 G53 G65 G73 G76
  G80 G81 G82 G83 G85 G86 G87
  G88 G89 G82 G94 G95 G96 G97

NOTE

1 In Small-Holl Pecking Drilling Cycle(G83),

backward movement is prohibited.

2 In forward movement of Boring Cycle(G88), the

sequence of actions at bottom of holl is shown as
follows (dwell -> stop of spindle motor -> hold
state). But in backward movement, that is (rotation
of spindle -> hold state -> dwell after restart).

3.MANUAL OPERATION

OPERATION

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- M-code

If there is M-code in the same group is commanded in previous blocks,
modal information of the M-code, commanded at the last in previous
blocks, is output.
If no M-code is commanded in previous blocks, the M-code set to the
first parameter in the same M-code group is output.
If M-code is not set to group M-code in parameter, the same M-code
is output in backward movement.
If the parameter RVN(6400#5) is set to "1", the backward movement
is prohibited when the M-code, which is not set to group M-code, is
commanded in backward movement.

NOTE

When setting the parameter RVN, backward
movement prohibition is enabled except the
M-code which was set in the grouping but
backward movement can be enabled for the
following M-code exceptionally.

1. Subprogram Call by M98/M99.

2. Subprogram Call using an M code

3. Macro Call using an M code

4. Waiting M code

Example) Output of M-codes that are set to groups by parameters in
backward movement
Setting of parameters:
No.6400#2=1, #3=0 (5 M-codes/group and 16 groups)
No.6411=100
No.6412=101
No.6413=102
No.6414=103
No.6415=104
No.6416=200
No.6417=201
No.6418=202
No.6419=203
No.6420=204
Program O10 is executed in forward movement from N1 to N15 and
backward movement is executed from N15. In backward movement,
the output of M-codes is shown as next table.

Forward movement

Backward movement

O10;

N1G4X1.;

N2M101; M101

M100

(*1)

N3G4X1.;

N4M204; M204

M200

(*1)

N5G4X1.;

N6M104; M104

M101

(*2)

N7G4X1.;

Group A

Group B

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Forward movement

Backward movement

N8M300; M300

M300

N9G4X1.;

N10M200; M200

M204

(*1)

N11G4X1.;

N12M0; M0

(*3)

N13G4X1.;

N14M102; M102

M104

(*2)

N15G4X1.;

Backward movement starts from this block

M2;

*1 No M-code in the same group is commanded before this block,

so the M-code, which is set in the 1st. parameter of the same
group, is output.

*2 M-code in the same group is commanded before this block, so

the M-code, which is commanded at the last before this block, is
output.

*3 M-code is not set to group M-code, so the same M-code is

output.

- S and T-code

A modal value of the previous block is output.
When movement command and S-code or T-code is commanded in
the same block, the timing of the output of the S-code and T-code is
different. Because, the timing where S-code and T-code are output at
the forward movement is different from that at the backward
movement. By setting bit 7 (STO) of parameter No.6401 to "1", the
timing of the output of S and T code at the forward movement is the
same as the one at the backward movement.

Example)

T-code output timing at the backward movement

T-code is output as follows when the program proceeds
backward after the forward movement to N8 block.

Backward movement

Forward

movement

Parameter

STO=0

Parameter

STO=1

O1000;

N1G98G00X0Z0;

Default T output

N2G00X-10.T11;

T11 output

Default T output

N3G00X100.;

T11

output

N4G00X10.Z20.T22;

T22 output

T11 output

No T code output

N5G00X30.Z30.;

N6G00X-10.Z-20.;

T22

output

N7G00X50.Z40.T33;

T33 output

T22 output

T33 output

N8G04X5.;

(Backward start)

M30;

The “Default T” means a T-code status at N1 block in forward
movement. If the status is T0, “T0” signal is output as “Default T”
in the backward movement.

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