FANUC Series 16i/160i/160is-MB, Series 18i/180i/180is-MB5, Series 18i/180i/180is-MB. Operator's Manual

B-63534EN/02

APPENDIX

A. TAPE CODE LIST

TAPE CODE LIST

ISO code

EIA code

Meaning

Without

With

Character

CUSTOM

MACURO B

MACRO B

Number

Address A

Address B

Address C

Address D

Address E

Address F

Address G

Address H

Address I

Address J

Address K

Address L

Address M

Address N

Address O

Address P

Address Q

Address R

Address S

Address T

Address U

Address V

Address W

Address X

Address Y

Address Z

1153

A. TAPE CODE LIST

APPENDIX

B-63534EN/02

ISO code

EIA code

Meaning

Without

With

CUSTOM

Character

MACRO

DEL

Del

Delete

(deleting a mispunch)

NUL

Blank

No punch. With EIA

code, this code cannot

be used in a significant

information section.

Backspace

Tab

Tabulator

LF or NL

CR or EOB

End of block

Carriage return

Space

Absolute rewind stop

(

(2-4-5)

Control out

(start of comment)

)

(2-4-7)

Control in

(end of comment)

Plus sign

∆

–

Minus sign

Colon (address O)

Optional block skip

Period (decimal point)

Parameter

Sharp

(No. 6012)

Dollar sign

∆

Ampersand

∆

’

___

Apostrophe

∆

Parameter

∆

Asterisk

(No. 6010)

Comma

;

Semicolon

∆

Left angle bracket

∆

Parameter

∆

Equal sign

(No. 6011)

Right angle bracket

∆

Question mark

∆

Commercial at mark

∆

”

Quotation mark

∆

[

Parameter

∆

Left square bracket

(No. 6013)

]

Parameter

∆

Right square bracket

(No. 6014)

1154

B-63534EN/02

APPENDIX

A. TAPE CODE LIST

NOTE

The symbols used in the remark column have the following meanings.

(Space) : The character will be registered in memory and has a specific meaning.

It it is used incorrectly in a statement other than a comment, an alarm occurs.

The character will not be registered in memory and will be ignored.

∆

The character will be registered in memory, but will be ignored during program

execution.

The character will be registered in memory. If it is used in a statement other than

a comment, an alarm occurs.

If it is used in a statement other than a comment, the character will not be

registered in memory. If it is used in a comment, it will be registered in memory.

Codes not in this table are ignored if their parity is correct.

Codes with incorrect parity cause the TH alarm. But they are ignored without generating the

TH alarm when they are in the comment section.

A character with all eight holes punched is ignored and does not generate TH alarm in EIA code.

1155

B. LIST OF FUNCTIONS AND

TAPE FORMAT

APPENDIX

B-63534EN/02

LIST OF FUNCTIONS AND TAPE FORMAT

Some functions cannot be added as options depending on the model.

In the tables below,

:presents a combination of arbitrary axis

addresses using X,Y,Z,A,B and C (such as X_Y_Z_A_).

x = 1st basic axis (X usually)

y = 2nd basic axis (Y usually)

z = 3rd basic axis (Z usually)

Functions

Illustration

Tape format

Positioning (G00)

G00

P_ ;

Start point

Linear interpolation (G01)

G01

P_ F_;

Start point

Start

point

G02

Circular interpolation

G17

X_ Y_

F_ ;

I_ J_

(G02, G03)

G03

G02

G18

X_ Z_

F_ ;

G03

I_ K_

(x, y)

(x,

G03

G02

G19

Y_ Z_

F_ ;

G03

J_ K_

Start

point

G02

Helical interpolation

G17

X_ Y_

α_ F_ ;

(G02, G03)

G03

I_ J_

G02

G18

X_ Z_

α_ F_ ;

G03

I_ K_

(xyz)

G02

Start

G19

Y_ Z_

α_ F_ ;

point

(x, y)

G03

J_ K_

(In case of X-Y plane)

α : Any axis other than circular

interpolation axes.

1156

B. LIST OF FUNCTIONS AND

B-63534EN/02

APPENDIX

TAPE FORMAT

Functions

Illustration

Tape format

Dwell (G04)

G04

;

High-speed cycle

See II 19.1

G05 P10_L_;

machining (G05)

P10_:Number of the machining

cycle to be called first:

(P10001 to P10999)

:Repetition count of the

machining cycle

(L1 to L999/L1 applies when

this parameter is omitted.)

High-speed remote bufferA

See II 19.3.1

G05: Turns binary input operation

(G05)

on.

Subsequently, enter data for binary

input operation.

If, in data for binary input operation,

the amounts of travel along all axes

are specified as 0, binary input op-

eration is turned off.

High-speed remote bufferB

See II 19.3.2

G05 P01: Turns binary input opera-

(G05)

tion on.

Subsequently, enter data for binary

input operation.

If, in data for binary input operation,

the amounts of travel along all axes

are specified as 0, binary input op-

eration is turned off.

High-precision contour

See II 19.8

G05 P10000; Starts high-precision

control (G05)

contour control mode

G05 P0;

Ends high-precision

contour control mode

AI high-precision contour

See II 22.1

G05 P10000; Starts AI high-preci-

control (G05)

sion contour control mode

G05 P0;

Ends AI high-preci-

sion contour control mode

AI nano high-precision

See II 22.1

G05 P10000; Starts AI nano high-

contour control (G05)

precision contour control mode

G05 P0;

Ends AI nano high-

precision contour control mode

(Note)

For all of the high precision contour

control, AI high precision contour

control, and AI nano high precision

contour control functions, the same

command format is used.

(G05P10000)

Which function to apply depends on

the option specification.

AI contour control (G05.1)

See II 19.7

G05.1 Q1; AI contour control mode

G05.1 Q0; AI contour control mode

off

1157

B. LIST OF FUNCTIONS AND

TAPE FORMAT

APPENDIX

B-63534EN/02

Functions

Illustration

Tape format

AI nano contour control

See II 19.7

G05.1 Q1; AI nano contour control

(G05.1)

mode on

G05.1 Q0; AI nano contour control

mode off

(Note)

For both of the AI contour control

and AI nano contour control func-

tions, the same command format is

used. (G05.1 Q1)

Which function to apply depends on

the option specification. If, however,

the AI nano contour control option is

specified, AI contour control can be

issued by appropriately setting NAM

(bit 0 of parameter No. 7503).

Cylindrical interpolation

G07 IP r ; Cylindrical interpolation

(G07.1)

mode on

r : Radius of cylinder

G07 IP 0 ; Cylindrical interpolation

mode off

Advanced preview control

G08 P1:

(G08)

Look-ahead control mode on

G08 P0:

Look-ahead control mode off

Velocity

Exact stop (G09)

G01

IP_;

G09

G02

G03

Time

In-position check

Change of offset

Tool offset memory A

value by program

G10 L11 P_R_;

(G10)

Tool offset memory B

G10 L10 P_R_;(Geomerty offset

value)

G10 L11 P_R_;(Wear offset

value)

Tool offset memory C

G10 L10 P_R_;(Geomerty offset

value/H)

G10 L11 P_R_;(Wear offset

value/H)

G10 L12 P_R_;(Geomerty offset

value/D)

G10 L13 P_R_;(Wear offset

value/D)

Local coordinate

Polar coordinate

G17 G16 Xp_ Yp_ .

;

(G15, G16)

G18 G16 Zp_ Xp_ .

;

G19 G16 Yp_ Zp_ .

;

G15 ; Cancel

(x y)

Work coordinate system

1158

B. LIST OF FUNCTIONS AND

B-63534EN/02

APPENDIX

TAPE FORMAT

Functions

Illustration

Tape format

Plane section

G17 ;

(G17, G18, G19)

G18 ;

G19 ;

Inch/millimeter

G20 ;

Inch input

conversion (G20, G21)

G21 ;

Millimeter input

Stored stroke check

(XYZ)

G22 X_Y_Z_I_J_K_;

(G22, G23)

G23 Cancel;

(IJK)

Spindle speed

G25;

fluctuation detection

Spindle speed fluctuation

(G25, G26)

detection off

G26; P_Q_R;

Spindle speed fluctuation

detection on

Reference position return

G27

P_ ;

check (G27)

Start point

Reference position

(G28)

G28

P_ ;

Reference position return

(G28)

Intermediateposition

G30

P_ ;

2nd, reference position re-

turn (G30)

2nd reference

position (G30)

Start point

Reference position

G29

P_ ;

Return from reference

position to start point

(G29)

Intermediateposition

1159

B. LIST OF FUNCTIONS AND

TAPE FORMAT

APPENDIX

B-63534EN/02

Functions

Illustration

Tape format

Skip function (G31)

G31

P_ F_;

Skip signal

Start point

Thread cutting (G33)

G33

P_ F_;

!F : Lead

G41

Cutter compensation C

G17

ÇÇÇ

G41

(G40 - G42)

G18

D_ ;

G42

G40

ÇÇÇ

G19

ÇÇÇ

D : Tool offset

ÇÇÇ

G42

G40 : Cancel

Tool

Ç Ç

G41.1 (G151)

Normal direction control

Left

(G40.1, G41.1, G42.1)

G42.1 (G152)

(G150, G151, G152)

Normal direction control

Right

G40.1 (G150)

Normal direction control

Cancel

G43

Tool length offset A

Z_ H_ ;

(G43, G44, G49)

Offset

G44

G43

H_ ;

G44

H : Tool offset

G49 : Cancel

G17

G43

Tool length offset B

G18

H_ ;

(G43, G44, G49)

G19

G44

G17

G43

G18

H_ ;

G19

G44

H : Tool offset

G49 : Cancel

Tool length offset C

G43

(G43, G44, G49)

α_ H_ ;

G44

α : Address of an arbitrary axis

H : Tool offset

G49 : Cancel

G 45

Increase

G45

Tool offset

G46

_ D_;

(G45 - G48)

G 46

Decrease

G47

G48

Double

G 47

increase

D : Tool offset

G 48

Double

decrease

Offset value

1160

B. LIST OF FUNCTIONS AND

B-63534EN/02

APPENDIX

TAPE FORMAT

Functions

Illustration

Tape format

P₄

P₃

Scaling (G50, G51)

G51 X_ Y_ Z_

I_ J_ K_

P₄’

P₃’

P, I, J, K : Scaling magnification

X, Y, Z : Control position of scaling

G50 ; Cancel

P₁’

P₂’

P₁

P₂

Mirror

Programmable mirror

G51.1

_ ;

image (G50.1, G51.1)

G50.1 ; ……Cancel

Setting of local

G52

IP_ ;

Local coordinate

coordinate system

system

(G52)

Work coordinate

system

Command in machine

G53

IP_ ;

coordinate system

(G53)

Selection of work

G54

coordinate system

Work zero

P_ ;

(G54 - G59)

point

G59

offset

Work coordinate

system

Machine coordinate system

Single direction

G60

P_ ;

positioning (G60)

Cutting mode/Exact

G64_ ; Cutting mode

stop mode, Tapping

G61_ ; Exact stop mode

mode, Automatic

G63_ ; Tapping mode

corner override

G64

G62_ ; Automatic corner override

G61

One-shot call

Custom macro

(G65, G66, G67)

G65 P_ L_

Macro

<Argument assignment> ;

O_ ;

P : Program No.

G65 P_L _ ;

L : Number of repeatition

M99 ;

Modal call

G66

P_L_

<Argument

G67 ; Cancel

assignment>;

1161

B. LIST OF FUNCTIONS AND

TAPE FORMAT

APPENDIX

B-63534EN/02

Functions

Illustration

Tape format

Coordinate system

G17 X_ Y_

rotation (G68, G69)

G68

R α ;

G18 Z_ X_

G19 Y_ Z_

(x y)

G69 ; Cancel

(In case of X-Y plane)

G80 ;

Cancel

Canned cycles

Refer to II.14. FUNCTIONS TO

(G73, G74, G80 - G89)

SIMPLIFY PROGRAMMING

G73

G74

G76

X_ Y_ Z_ P_ Q_ R_ F_ K_ ;

G81

G89

G90_ ; Absolute command

Absolute/incremental

programming (G90/G91)

G91_ ; Incremental command

G90_ G91_ ;

Combined use

Change of workpiece

G92

_ ; Change of workpiece

ÇÇ

coordinate system (G92)

coordinate system

Maximum spindle speed

G92 S_ ; Constant surface speed

clamp (G92)

control

Maximum spindle speed

clamp

G92.1

Workpiece coordinate

system preset (G92.1)

Feed per minute, Feed

mm/min

inch/min

G94 F_ ; Feed per munute

per revolution (G94, G95)

mm/rev

inch/rev

G95 F_ ; Feed per revolution

G96 S_ ; Constant surface speed

Constant surface speed

Surface speed (m/min or

control on (surface speed

control (G96, G97)

feet/min)

specification)

Spindle

G97 S_ ; Constant surface speed

speed

control off (spindle

N (min^-1)

speed specification)

G98

G98_ ;

Initial point return / R point

Initial

return (G98, G99)

level

G99_ ;

G99

R level

Z point

1162

B-63534EN/02

APPENDIX

C. RANGE OF COMMAND VALUE

RANGE OF COMMAND VALUE

Linear axis

D In case of millimeter

Increment system

input, feed screw is

IS-B

IS-C

millimeter

Least input increment

0.001 mm

0.0001 mm

Least command increment

0.001 mm

0.0001 mm

Max. programmable dimension

±99999.999 mm

±9999.9999 mm

Max. rapid traverse Note

240000 mm/min

100000 mm/min

Feedrate range Note

1 to 240000 mm/min

1 to 100000 mm/min

Incremental feed

0.001, 0.01, 0.1,

0.0001, 0.001, 0.01,

1 mm/step

0.1 mm/step

Tool compensation

0 to ±999.999 mm

0 to ±999.9999 mm

Dwell time

0 to 99999.999 sec

D In case of inch input,

Increment system

feed screw is millimeter

IS-B

IS-C

Least input increment

0.0001 inch

0.00001 inch

Least command increment

0.001 mm

0.0001 mm

Max. programmable dimension

±9999.9999 inch

±393.70078 inch

Max. rapid traverse Note

240000 mm/min

100000 mm/min

Feedrate range Note

0.01 to 9600

0.01 to 4000

inch/min

Incremental feed

0.0001, 0.001, 0.01,

0.00001, 0.0001,

0.1 inch/step

0.001, 0.01 inch/step

Tool compensation

0 to ±99.9999 inch

Dwell time

0 to 99999.999 sec

0 to 9999.9999 sec

1163

C. RANGE OF COMMAND VALUE

APPENDIX

B-63534EN/02

D In case of inch input,

Increment system

feed screw is inch

IS-B

IS-C

Least input increment

0.0001 inch

0.00001 inch

Least command increment

0.0001 inch

0.00001 inch

Max. programmable dimension

±9999.9999 inch

Max. rapid traverse Note

9600 inch/min

4000 inch/min

Feedrate range Note

0.01 to 9600

0.01 to 4000

inch/min

Incremental feed

0.0001, 0.001, 0.01,

0.00001, 0.0001,

0.1 inch/step

0.001, 0.01 inch/step

Tool compensation

0 to ±99.9999 inch

Dwell time

0 to 99999.999 sec

0 to 9999.9999 sec

D In case of millimeter

Increment system

input, feed screw is inch

IS-B

IS-C

Least input increment

0.001 mm

0.0001 mm

Least command increment

0.0001 inch

0.00001 inch

Max. programmable dimension

±99999.999 mm

±9999.9999 mm

Max. rapid traverse Note

9600 inch/min

4000 inch/min

Feedrate range Note

1 to 240000 mm/min

1 to 100000 mm/min

Incremental feed

0.001, 0.01, 0.1, 1

0.0001, 0.001, 0.01,

mm/step

0.1 mm/step

Tool compensation

0 to ±999.999 mm

0 to ±999.9999 mm

Dwell time

0 to 99999.999 sec

0 to 9999.9999 sec

1164

B-63534EN/02

APPENDIX

D. NOMOGRAPHS

D.1

The leads of a thread are generally incorrect in δ₁ and δ₂, as shown in Fig.

D.1 (a), due to automatic acceleration and deceleration.

INCORRECT

Thus distance allowances must be made to the extent of δ₁ and δ₂ in the

THREADED LENGTH

program.

Fig. D.1 (a) Incorrect thread position

Explanations

D How to determine δ₂

d₂ + T₁V

(mm)

(1)

V+

60^RL

T₁

: Time constant of servo system (sec)

: Cutting speed (mm/sec)

Time constant T₁ (sec) of

: Spindle speed (rpm)

the servo system: Usually

: Thread feed (mm)

0.033 s.

D How to determine δ₁

d₁ + {t-T₁ ) T₁ exp(-

)}V

(2)

T₁

a + exp(-

)

(3)

T₁

Time constant T₁ (sec) of

T₁

: Time constant of servo system (sec)

the servo system: Usually

: Cutting speed (mm/sec)

0.033 s.

The lead at the beginning of thread cutting is shorter than the specified

lead L, and the allowable lead error is ∆L. Then as follows.

a+DL

When the value of HαI is determined, the time lapse until the thread

accuracy is attained. The time HtI is substituted in (2) to determine δ₁:

Constants V and T₁ are determined in the same way as for δ₂. Since the

calculation of δ₁ is rather complex, a nomography is provided on the

following pages.

1167

D. NOMOGRAPHS

APPENDIX

B-63534EN/02

First specify the class and the lead of a thread. The thread accuracy, α,

D How to use nomograph

will be obtained at (1), and depending on the time constant of cutting feed

acceleration/ deceleration, the δ₁ value when V = 10mm / s will be

obtained at (2). Then, depending on the speed of thread cutting, δ₁ for

speed other than 10mm/ s can be obtained at (3).

δ₁(V=10mm/

sec)

V=20mm/

V=40mm/

sec

Time constant of

servo system

(2)

T₁

(3)

(1)

T₂

δ₁

See the graph in reference later in

the manual for an actual example.

Fig. D.1 (b) Nomograph

NOTE

The equations for δ₁, and δ₂ are for when the acceleration/

deceleration time constant for cutting feed is 0.

1168

B-63534EN/02

APPENDIX

D. NOMOGRAPHS

D.2

SIMPLE

CALCULATION OF

INCORRECT THREAD

LENGTH

δ2

δ1

Fig. D.2 (a) Incorrect threaded portion

Explanations

D How to determine δ₂

d₂ +^LR

1800 *

(mm)

R : Spindle speed (min^-1)

* When time constant T of the

L : Thread lead (mm)

servo system is 0.033 s.

D How to determine δ₁

d₁ +^LR

(-1-lna)

1800 *

(mm)

+ d₂(-1-lna)

(mm)

R : Spindle speed (min^-1)

* When time constant T of the

L : Thread lead (mm)

servo system is 0.033 s.

Following a is a permited value of thread.

-1-lna

0.005

4.298

0.01

3.605

0.015

3.200

0.02

2.912

Examples

R=350rpm

L=1mm

a=0.01

then

d₂ +³⁵⁰

+ 0.194

(mm)

1800

d₁ + d₂

3.605 + 0.701 (mm)

1169

B-63534EN/02

APPENDIX

D. NOMOGRAPHS

D.3

When servo system delay (by exponential acceleration/deceleration at

cutting or caused by the positioning system when a servo motor is used)

TOOL PATH AT

is accompanied by cornering, a slight deviation is produced between the

CORNER

tool path (tool center path) and the programmed path as shown in Fig. D.3

(a).

Time constant T₁ of the exponential acceleration/deceleration is fixed to

V₂

Programmed path

Tool path

V₁

Fig. D.3 (a) Slight deviation between the tool path and

the programmed path

This tool path is determined by the following parameters:

• Feedrate (V₁, V₂)

• Corner angle (q)

• Exponential acceleration / deceleration time constant (T₁) at

cutting (T₁ = 0)

• Presence or absence of buffer register.

The above parameters are used to theoretically analyze the tool path and

above tool path is drawn with the parameter which is set as an example.

When actually programming, the above items must be considered and

programming must be performed carefully so that the shape of the

workpiece is within the desired precision.

In other words, when the shape of the workpiece is not within the

theoretical precision, the commands of the next block must not be read

until the specified feedrate becomes zero. The dwell function is then used

to stop the machine for the appropriate period.

1171

D. NOMOGRAPHS

APPENDIX

B-63534EN/02

Analysis

The tool path shown in Fig. D.3 (b) is analyzed based on the following

conditions:

Feedrate is constant at both blocks before and after cornering.

The controller has a buffer register.

(The error differs with the reading

speed of the tape reader, number of characters of the next block, etc.)

V_Y2

φ₂

V_X2

V_Y1

φ₁

V_X1

Fig. D.3 (b) Example of tool path

D Description of conditions

and symbols

VX1 + V cos f₁

VY1 + V sin f₁

VX2 + V cos f₂

VY2 + V sin f₂

: Feedrate at both blocks before and after cornering

V_X1 : X-axis component of feedrate of preceding block

V_Y1 : Y-axis component of feedrate of preceding block

V_X2 : X-axis component of feedrate of following block

V_Y2 : Y-axis component of feedrate of following block

: Corner angle

φ₁

: Angle formed by specified path direction of preceding block

and X-axis

φ₂

: Angle formed by specified path direction of following block

and X-axis

1172

B-63534EN/02

APPENDIX

D. NOMOGRAPHS

D Initial value calculation

Y₀

X₀

Fig. D.3 (c) Initial value

The initial value when cornering begins, that is, the X and Y coordinates

at the end of command distribution by the controller, is determined by the

feedrate and the positioning system time constant of the servo motor.

X₀ + VX1(T₁ ) T₂)

Y₀ + VY1(T₁ ) T₂)

T₁:Exponential acceleration / deceleration time constant. (T=0)

T₂:Time constant of positioning system (Inverse of position loop gain)

D Analysis of corner tool

The equations below represent the feedrate for the corner section in

path

X-axis direction and Y-axis direction.

VX1

V_X(t) + (VX2-VX1)[1-

T₁-T₂ {T1 exp(

T₁)^-T2 exp(

T₂

VX1

+ VX2[1-

T₁-T₂ {T1 exp(

T₁)^-T2 exp(

T₂

V_Y(t) +^VY¹-VY²

{T₁ exp(-

)} ) VY2

T₁-T₂

T₁)^-T2 exp(-T

Therefore, the coordinates of the tool path at time t are calculated from the

following equations:

X(t) + ŕ

V_X(t)dt-X₀

+^VX²-VX¹

{T₁₂ exp(-

exp(-

)}-VX2(T₁ ) T₂-t)

T₁-T₂

T₁)^-T22

T₂

Y(t) + ŕ

V_Y(t)dt-Y₀

+^VY²-VY¹

{T₁₂ exp(-

exp(-

)}-VY2(T₁ ) T₂-t)

T₁-T₂

T₁)^-T22

T₂

1173

D. NOMOGRAPHS

APPENDIX

B-63534EN/02

D.4

When a servo motor is used, the positioning system causes an error

between input commands and output results. Since the tool advances

RADIUS DIRECTION

along the specified segment, an error is not produced in linear

ERROR AT CIRCLE

interpolation. In circular interpolation, however, radial errors may be

CUTTING

produced, sepecially for circular cutting at high speeds.

This error can be obtained as follows:

Command path

Actual path

Dr +

(T₁₂ ) T₂₂(1 * a²))^V2

(1)

: Maximum radius error (mm)

: Feedrate (mm/s)

: Circle radius (mm)

T₁

: Exponential acceleration/deceleration time constant (sec)

at cutting (T=0)

T₂

: Time constant of positoning system (sec).

(Inverse of positon loop gain)

: Feed forward coefficient (%)

In the case of bell-shaped acceleration/deceleration and linear acceleration/

deceleration after cutting feed interpolation, an approximation of this radius

error can be obtained with the following expression:

Linear acceleration/deceleration after cutting feed interpolation

Dr + ǒ 1

24^T12 )2T22(1*a2)Ǔ

Bell-shaped acceleration/deceleration after cutting feed interpolation

Dr + ǒ 1

48^T12 )2T22(1*a2)Ǔ

Thus, the radius error in the case of bell-shaped acceleration/deceleration

and linear acceleration/deceleration after interpolation is smaller than in

case of exponential acceleration/deceleration by a factor of 12, excluding

any error caused by a servo loop time constant.

Since the machining radius r (mm) and allowable error ∆r (mm) of the

workpiece is given in actual machining, the allowable limit feedrate v

(mm /sec) is determined by equation (1).

Since the acceleration/deceleration time constant at cutting which is set

by this equipment varies with the machine tool, refer to the manual issued

by the machine tool builder.

1174

E. STATUS WHEN TURNING POWER ON,

B-63534EN/02

APPENDIX

WHEN CLEAR AND WHEN RESET

STATUS WHEN TURNING POWER ON, WHEN CLEAR

AND WHEN RESET

Parameter CLR (No. 3402#6) is used to select whether resetting the CNC

places it in the cleared state or in the reset state (0: reset state/1: cleared

state).

The symbols in the tables below mean the following :

f:The status is not changed or the movement is continued.

×:The status is cancelled or the movement is interrupted.

Item

When turning power on

Cleared

Reset

Setting

Offset value

data

Data set by the MDI

setting operation

Parameter

Various

Programs in memory

data

Contents in the buffer

f : MDI mode

storage

× : Other mode

Display of sequence

f (Note 1)

number

One shot G code

Modal G code

Initial G codes.

(The G20 and G21 codes return to

(G20/G21 are not

the same state they were in when

changed.)

the power was last turned off.)

Zero

S, T, M

K (Number of repeats)

Work coordinate value

Zero

1175

E. STATUS WHEN TURNING POWER ON,

WHEN CLEAR AND WHEN RESET

APPENDIX

B-63534EN/02

Item

When turning power on

Cleared

Reset

Action in

Movement

opera-

Dwell

tion

Issuance of M, S and

T codes

Tool length compensa-

Depending on

f : MDI mode

tion

parameter

Other modes depend

LVK(No.5003#6)

on parameter

LVK(No.5003#6).

Cutter compensation

f : MDI mode

× : Other modes

Storing called subpro-

× (Note 2)

f : MDI mode

gram number

× : Other modes

(Note 2)

Output

CNC alarm signal

Extinguish if there is no cause for

Extinguish if there is

signals

the alarm

no cause for the

no cause for the alarm

alarm

Reference position

return completion LED

(× : Emergency

(× : Emergency stop)

stop)

S, T and B codes

M code

M, S and T strobe sig-

nals

Spindle revolution sig-

nal (S analog signal)

CNC ready signal

Servo ready signal

ON (When other than servo

ON (When other

ON (When other than

alarm)

than servo alarm)

servo alarm)

Cycle start LED (STL)

Feed hold LED (SPL)

NOTE

When heading is performed, the main program number is displayed.

When a reset is performed during execution of a subprogram, control returns the head of main

program.

Execution cannot be started from the middle of the subprogram.

1176

F. CHARACTER-TO-CODES

B-63534EN/02

APPENDIX

CORRESPONDENCE TABLE

CHARACTER-TO-CODES CORRESPONDENCE TABLE

Char-

Code

Comment

Code

Comment

acter

065

054

066

055

067

056

068

057

069

032

Space

070

033

Exclamation mark

071

”

034

Quotation mark

072

035

Hash sign

073

036

Dollar sign

074

037

Percent

075

038

Ampersand

076

’

039

Apostrophe

077

(

040

Left parenthesis

078

)

041

Right parenthesis

079

042

Asterisk

080

043

Plus sign

081

044

Comma

082

045

Minus sign

083

046

Period

084

047

Slash

085

058

Colon

086

;

059

Semicolon

087

060

Left angle bracket

088

061

Equal sign

089

062

Right angle bracket

090

063

Question mark

048

064

HAtI mark

049

[

091

Left square bracket

050

092

051

]

094

Right square bracket

052

095

Underscore

053

1177

G. ALARM LIST

APPENDIX

B-63534EN/02

ALARM LIST

1) Program errors (P/S alarm)

Number

Message

Contents

000

PLEASE TURN OFF POWER

A parameter which requires the power off was input, turn off power.

001

TH PARITY ALARM

TH alarm (A character with incorrect parity was input). Correct the tape.

002

TV PARITY ALARM

TV alarm (The number of characters in a block is odd). This alarm will

be generated only when the TV check is effective.

003

TOO MANY DIGITS

Data exceeding the maximum allowable number of digits was input.

(Refer to the item of max. programmable dimensions.)

004

ADDRESS NOT FOUND

A numeral or the sign “ - ” was input without an address at the beginning

of a block. Modify the program .

005

NO DATA AFTER ADDRESS

The address was not followed by the appropriate data but was followed

by another address or EOB code. Modify the program.

006

ILLEGAL USE OF NEGATIVE SIGN

Sign “ .” input error (Sign “ - ” was input after an address with which it

cannot be used. Or two or more “ - ” signs were input.)

Modify the program.

007

ILLEGAL USE OF DECIMAL POINT

Decimal point “ - ” input error (A decimal point was input after an address

with which it can not be used. Or two decimal points were input.)

Modify the program.

009

ILLEGAL ADDRESS INPUT

Unusable character was input in significant area.

Modify the program.

010

IMPROPER G-CODE

An unusable G code or G code corresponding to the function not pro-

vided is specified. Modify the program.

011

NO FEEDRATE COMMANDED

Feedrate was not commanded to a cutting feed or the feedrate was in-

adequate. Modify the program.

014

CAN NOT COMMAND G95

A synchronous feed is specified without the option for threading / syn-

chronous feed.

015

TOO MANY AXES COMMANDED

The number of the commanded axes exceeded that of simultaneously

controlled axes.

020

OVER TOLERANCE OF RADIUS

In circular interpolation (G02 or G03), difference of the distance between

the start point and the center of an arc and that between the end point

and the center of the arc exceeded the value specified in parameter No.

3410.

021

ILLEGAL PLANE AXIS COMMAN-

An axis not included in the selected plane (by using G17, G18, G19) was

DED

commanded in circular interpolation. Modify the program.

022

NO CIRCULAR RADIUS

When circular interpolation is specified, neither R (specifying an arc ra-

dius), nor I, J, and K (specifying the distance from a start point to the cen-

ter) is specified.

025

CANNOT COMMAND F0 IN

F0 (fast feed) was instructed by F1 -digit column feed in circular inter-

G02/G03

polation. Modify the program.

027

NO AXES COMMANDED IN

No axis is specified in G43 and G44 blocks for the tool length offset type

G43/G44

Offset is not canceled but another axis is offset for the tool length offset

type C. Modify the program.

028

ILLEGAL PLANE SELECT

In the plane selection command, two or more axes in the same direction

are commanded.

Modify the program.

1178

B-63534EN/02

APPENDIX

G. ALARM LIST

Number

Message

Contents

029

ILLEGAL OFFSET VALUE

The offset values specified by H code is too large.

Modify the program.

030

ILLEGAL OFFSET NUMBER

The offset values specified by D/H code for tool length offset, cutter com-

pensation or 3-dimensional cutter compensation is too large. Other-

wise, the number specified by P code for the additional workpiece coor-

dinate system is too large.

Modify the program.

031

ILLEGAL P COMMAND IN G10

In setting an offset amount by G10, the offset number following address

P was excessive or it was not specified.

Modify the program.

032

ILLEGAL OFFSET VALUE IN G10

In setting an offset amount by G10 or in writing an offset amount by sys-

tem variables, the offset amount was excessive.

033

NO SOLUTION AT CRC

A point of intersection cannot be determined for cutter compensation C.

Modify the program.

034

NO CIRC ALLOWED IN ST-UP /

The start up or cancel was going to be performed in the G02 or G03

EXT BLK

mode in cutter compensation C. Modify the program.

035

CAN NOT COMMANDED G39

G39 is commanded in cutter compensation B cancel mode or on the

plane other than offset plane. Modify the program.

036

CAN NOT COMMANDED G31

Skip cutting (G31) was specified in cutter compensation mode.

Modify the program.

037

CAN NOT CHANGE PLANE IN CRC

G40 is commanded on the plane other than offset plane in cutter com-

pensation B. The plane selected by using G17, G18 or G19 is changed

in cutter compensation C mode. Modify the program.

038

INTERFERENCE IN CIRCULAR

Overcutting will occur in cutter compensation C because the arc start

BLOCK

point or end point coincides with the arc center.

Modify the program.

041

INTERFERENCE IN CRC

Overcutting will occur in cutter compensation C. Two or more blocks

are consecutively specified in which functions such as the auxiliary

function and dwell functions are performed without movement in the cut-

ter compensation mode. Modify the program.

042

G45/G48 NOT ALLOWED IN CRC

Tool offset (G45 to G48) is commanded in cutter compensation. Modify

the program.

044

G27-G30 NOT ALLOWED IN FIXED

One of G27 to G30 is commanded in canned cycle mode.

CYC

Modify the program.

045

ADDRESS Q NOT FOUND

In canned cycle G73/G83, the depth of each cut (Q) is not specified. Al-

(G73/G83)

ternatively, Q0 is specified. Correct the program.

046

ILLEGAL REFERENCE RETURN

Other than P2, P3 and P4 are commanded for 2nd, 3rd and 4th refer-

COMMAND

ence position return command.

047

ILLEGAL AXIS SELECT

For startup of three-dimensional tool compensation or three-dimen-

sional coordinate conversion, two or more axes were specified in the

same direction (basic and parallel axes.)

048

BASIC 3 AXIS NOT FOUND

For startup of three-dimensional tool compensation or three-dimen-

sional coordinate conversion, the three basic axes used when X_p,Y_p,

and Z_p are omitted were not specified in parameter No. 1022.

049

ILLEGAL OPERATION (G68/G69)

The commands for three-dimensional coordinate conversion (G68,

G69) and tool length compensation (G43, G44, G45) are not nested.

Modify the program.

050

CHF/CNR NOT ALLOWED IN THRD

Chamfering or corner R is commanded in the thread cutting block.

BLK

Modify the program.

051

MISSING MOVE AFTER CHF/CNR

Improper movement or the move distance was specified in the block

next to the chamfering or corner R block.

Modify the program.

052

CODE IS NOT G01 AFTER CHF/

The block next to the chamfering or corner R block is not G01,G02,or

CNR

G03. Modify the program.

1179

G. ALARM LIST

APPENDIX

B-63534EN/02

Number

Message

Contents

053

TOO MANY ADDRESS COM-

For systems without the arbitary angle chamfering or corner R cutting,

MANDS

a comma was specified. For systems with this feature, a comma was fol-

lowed by something other than R or C Correct the program.

055

MISSING MOVE VALUE IN CHF/

In the arbitrary angle chamfering or corner R block, the move distance

CNR

is less than chamfer or corner R amount.

058

END POINT NOT FOUND

In a arbitrary angle chamfering or corner R cutting block, a specified axis

is not in the selected plane. Correct the program.

059

PROGRAM NUMBER NOT FOUND

In an external program number search, a specified program number

was not found. Otherwise, a program specified for searching is being

edited in background processing. Alternatively, the program with the

program number specified in a one-touch macro call is not found in

memory. Check the program number and external signal. Or discontin-

ue the background eiting.

060

SEQUENCE NUMBER NOT FOUND

Commanded sequence number was not found in the sequence number

search. Check the sequence number.

070

NO PROGRAM SPACE IN

The memory area is insufficient.

MEMORY

Delete any unnecessary programs, then retry.

071

DATA NOT FOUND

The address to be searched was not found. Or the program with speci-

fied program number was not found in program number search.

Check the data.

072

TOO MANY PROGRAMS

The number of programs to be stored exceeded 63 (basic), 125 (option),

200 (option), or

400 (option). Delete unnecessary programs and

execute program registeration again.

073

PROGRAM NUMBER ALREADY IN

The commanded program number has already been used.

USE

Change the program number or delete unnecessary programs and

execute program registeration again.

074

ILLEGAL PROGRAM NUMBER

The program number is other than 1 to 9999.

Modify the program number.

075

PROTECT

An attempt was made to register a program whose number was pro-

tected.

076

ADDRESS P NOT DEFINED

Address P (program number) was not commanded in the block which

includes an M98, G65, or G66 command. Modify the program.

077

SUB PROGRAM NESTING ERROR

The subprogram was called in five folds. Modify the program.

078

NUMBER NOT FOUND

A program number or a sequence number which was specified by ad-

dress P in the block which includes an M98, M99, M65 or G66 was not

found. The sequence number specified by a GOTO statement was not

found. Otherwise, a called program is being edited in background pro-

cessing. Correct the program, or discontinue the background editing.

079

PROGRAM VERIFY ERROR

In memory or program collation,a program in memory does not agree

with that read from an external I/O device. Check both the programs in

memory and those from the external device.

080

G37 ARRIVAL SIGNAL NOT AS-

In the automatic tool length measurement function (G37), the measure-

SERTED

ment position reach signal (XAE, YAE, or ZAE) is not turned on within

an area specified in parameter 6254 (value ε).

This is due to a setting or operator error.

081

OFFSET NUMBER NOT FOUND IN

Tool length automatic measurement (G37) was specified without a H

G37

code. (Automatic tool length measurement function) Modify the pro-

gram.

082

H-CODE NOT ALLOWED IN G37

H code and automatic tool compensation (G37) were specified in the

same block. (Automatic tool length measurement function) Modify the

program.

083

ILLEGAL AXIS COMMAND IN G37

In automatic tool length measurement, an invalid axis was specified or

the command is incremental. Modify the program.

1180

B-63534EN/02

APPENDIX

G. ALARM LIST

Number

Message

Contents

085

COMMUNICATION ERROR

When entering data in the memory by using Reader / Puncher interface,

an overrun, parity or framing error was generated. The number of bits

of input data or setting of baud rate or specification No. of I/O unit is in-

correct.

086

DR SIGNAL OFF

When entering data in the memory by using Reader / Puncher interface,

the ready signal (DR) of reader / puncher was off.

Power supply of I/O unit is off or cable is not connected or a P.C.B. is de-

fective.

087

BUFFER OVERFLOW

When entering data in the memory by using Reader / Puncher interface,

though the read terminate command is specified, input is not interrupted

after 10 characters read. I/O unit or P.C.B. is defective.

088

LAN FILE TRANS ERROR

File data transfer over the OSI-Ethernet was terminated as a result of

(CHANNEL-1)

a transfer error.

089

LAN FILE TRANS ERROR

File data transfer over the OSI-Ethernet was terminated as a result of

(CHANNEL-2)

a transfer error.

090

REFERENCE RETURN INCOM-

1. The reference position return cannot be performed normally be-

PLETE

cause the reference position return start point is too close to the ref-

erence position or the speed is too slow. Separate the start point far

enough from the reference position, or specify a sufficiently fast

speed for reference position return.

2. During reference position return with the absolute-position detector,

if this alarm occurs even though condition 1 is satisfied, do the fol-

lowing:

After turning the servo motor for the axis at least one turn, turn the

power off and then on again. Then perform reference position re-

turn.

091

REFERENCE RETURN INCOM-

In the automatic operation halt state, manual reference position return

PLETE

cannot be performed.

092

AXES NOT ON THE REFERENCE

The commanded axis by G27 (Reference position return check) did not

POINT

return to the reference position.

094

P TYPE NOT ALLOWED (COORD

P type cannot be specified when the program is restarted. (After the au-

CHG)

tomatic operation was interrupted, the coordinate system setting opera-

tion was performed.) Perform the correct operation according to th oper-

ator’s manual.

095

P TYPE NOT ALLOWED (EXT OFS

P type cannot be specified when the program is restarted.

(After the

CHG)

automatic operation was interrupted, the external workpiece offset

amount changed.)

096

P TYPE NOT ALLOWED (WRK OFS

P type cannot be specified when the program is restarted. (After the au-

CHG)

tomatic operation was interrupted, the workpiece offset amount

changed.)

097

P TYPE NOT ALLOWED (AUTO

P type cannot be directed when the program is restarted. (After power

EXEC)

ON, after emergency stop or P/S alarm 94 to 97 were reset, no

automatic operation is performed.) Perform automatic operation.

098

G28 FOUND IN SEQUENCE RE-

A command of the program restart was specified without the reference

TURN

position return operation after power ON or emergency stop, and G28

was found during search. Perform the reference position return.

099

MDI EXEC NOT ALLOWED AFT.

After completion of search in program restart, a move command is given

with MDI.

100

PARAMETER WRITE ENABLE

On the PARAMETER(SETTING) screen, PWE(parameter writing en-

abled) is set to 1. Set it to 0, then reset the system.

101

PLEASE CLEAR MEMORY

The power turned off while rewriting the memory by program edit opera-

tion. If this alarm has occurred, press <RESET> while pressing

<PROG>, and only the program being edited will be deleted.

1181

G. ALARM LIST

APPENDIX

B-63534EN/02

Number

Message

Contents

109

FORMAT ERROR IN G08

A value other than 0 or 1 was specified after P in the G08 code, or no

value was specified.

110

DATA OVERFLOW

The absolute value of fixed decimal point display data exceeds the al-

lowable range. Modify the program.

111

CALCULATED DATA OVERFLOW

The result of calculation is out of the allowable range (-10⁴⁷ to -10^-29,

0, and 10^-29 to 10⁴⁷).

112

DIVIDED BY ZERO

Division by zero was specified. (including tan 90°)

113

IMPROPER COMMAND

A function which cannot be used in custom macro is commanded.

Modify the program.

114

FORMAT ERROR IN MACRO

There is an error in other formats than <Formula>.

Modify the program.

115

ILLEGAL VARIABLE NUMBER

A value not defined as a variable number is designated in the custom

macro or in high-speed cycle cutting.

The header contents are improper in a high-speed cycle cutting. This

alarm is given in the following cases:

1. The header corresponding to the specified machining cycle number

called is not found.

2. The cycle connection data value is out of the allowable range

(0 - 999).

3. The number of data in the header is out of the allowable range

(0 - 32767).

4. The start data variable number of executable format data is out of

the allowable range (#20000 - #85535).

5. The storing data variable number of executable format data is out of

the allowable range (#85535).

6. The storing start data variable number of executable format datais

overlapped with the variable number used in the header.

Modify the program.

116

WRITE PROTECTED VARIABLE

The left side of substitution statement is a variable whose substitution

is inhibited. Modify the program.

118

PARENTHESIS NESTING ERROR

The nesting of bracket exceeds the upper limit (quintuple).

Modify the program.

119

ILLEGAL ARGUMENT

The SQRT argument is negative, BCD argument is negative, or other

values than 0 to 9 are present on each line of BIN argument.

Modify the program.

122

QUADRUPLICATE MACRO

A total of four macro calls and macro modal calls are nested. Correct

MODAL-CALL

the program.

123

CAN NOT USE MACRO COMMAND

Macro control command is used during DNC operation.

IN DNC

Modify the program.

124

MISSING END STATEMENT

DO - END does not correspond to 1 : 1. Modify the program.

125

FORMAT ERROR IN MACRO

<Formula> format is erroneous. Modify the program.

126

ILLEGAL LOOP NUMBER

In DOn, 1x n x3 is not established. Modify the program.

127

NC, MACRO STATEMENT IN SAME

NC and custom macro commands coexist.

BLOCK

Modify the program.

128

ILLEGAL MACRO SEQUENCE

The sequence number specified in the branch command was not 0 to

NUMBER

9999. Or, it cannot be searched. Modify the program.

129

ILLEGAL ARGUMENT ADDRESS

An address which is not allowed in <Argument Designation > is used.

Modify the program.

130

ILLEGAL AXIS OPERATION

An axis control command was given by PMC to an axis controlled by

CNC. Or an axis control command was given by CNC to an axis con-

trolled by PMC. Modify the program.

1182

FANUC Series 16i/160i/160is-MB, Series 18i/180i/180is-MB5, Series 18i/180i/180is-MB. Operator's Manual - page 40