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FANUC Series Series 16i-TB, Series 18i-TB, Series 160i-TB, Series 180i-TB. OPERATOR’S MANUAL - page 11

B-63524EN/01

PROGRAMMING

14. COMPENSATION FUNCTION

WARNING

1

When a G28, G30, or G30.1 command is executed when

all-axis machine lock is applied, a vector perpendicular to

the direction in which the tool moves is created at the

intermediate position. In this case, the tool does not move

to the reference position and the offset vector is not

canceled. When bit 2 (CCN) of parameter No. 5003 is set

to 0 or each-axis machine lock is applied, the offset vector

is canceled.

Example 1)

When bit 2 (CCN) of parameter No. 5003 is set to 1.

[FS15 type]

(G42 G01)

s

G28

s G01

G01

r

Reference position or

s

s

floating reference position

Intermediate position

Example 2)

When bit 2 (CCN) of parameter No. 5003 is set to 0 and

all-axis machine lock is applied

[FS15 type]

(G42 G01)

s

G28

s

G01

G01

r

s

Reference position or

s

floating reference position

Intermediate position

2

When a compensation axis is specified in a G28, G30, or

G30.1 command in tool-tip radius compensation mode, the

vectors for other compensation axes are also canceled.

This also applies when bit 2 (CCN) of parameter No. 5003

is set to 1.

(The FS15 cancels only the vector for the

specified axis. Note that the FS15 type cancellation differs

from the actual FS15 specification in this point.)

[FS15 type]

s

s

s

G00

r

G00

(G41 G00 X_ Z_)

Intermediate

Reference position or

G28 Z_

position

floating reference position

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14. COMPENSATION FUNCTION

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NOTE

1

When an axis not included in the tool-tip radius

compensation plane is specified in a G28, G30, or G30.1

command, a vector perpendicular to the direction in which

the tool moves is created at the end of the preceding block

and the tool does not move. Offset mode is automatically

resumed from the next block (in the same way as when two

or more blocks specifying no movement are consecutively

executed).

Example)

When bit 2 (CCN) of parameter No. 5003 is set to 1.

[FS15 type]

G28(30/30.1)Y_

r

s

(G41 G01 X_ Z_)

G01

G01

s

G01

s

2

When a G28, G30, or G30.1 command is specified as a

start-up block, a vector perpendicular to the direction in

which the tool moves is created at the intermediate position.

The vector is then canceled at the reference position. The

next block creates an intersection vector.

Example 1)

When bit 2 (CCN) of parameter No. 5003 is set to 1.

[FS15 type]

s

G01

s

G01

G42 G28

G01

s

r

s

Reference position or

Intermediate position

floating reference position

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14. COMPENSATION FUNCTION

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Examples

D G39 without I, J, and K

(In offset mode)

X-axis

N1 Z10.0 ;

N2 G39 ;

N3 X-10.0 ;

Z-axis

Block N1

Offset vector

Block N2

(10.0, 0.0)

Block N3

Programmed

path

Tool-tip center

path

(10.0, -10.0)

D G39 with I, J, and K

(In offset mode)

X-axis

N1 Z10.0 ;

N2 G39 I-1.0 K2.0 ;

N3 X-10.0 Z20.0 ;

Z-axis

Offset vector

Block N1

Block N2

Block N3

Programmed

path

(10.0, 0.0)

(I=-1.0, K=2.0)

Tool-tip center path

(20.0, -10.0)

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PROGRAMMING

14. COMPENSATION FUNCTION

Tool compensation values include tool geometry compensation values

14.5

and tool wear compensation (Fig. 14.5 (a)).

TOOL

Tool compensation can be specified without differentiating compensation

COMPENSATION

for tool geometry from that for tool wear.

VALUES, NUMBER

OF COMPENSATION

Point on the program

Point on the program

VALUES, AND

ENTERING VALUES

Imaginary tool

FROM THE

X axis

geometry

Offset

PROGRAM (G10)

offset

value on

value

X axis

X axis

wear

Actual

offset

tool

value

Z axis

Z axis

wear

geometry

Offset

offset

offset

value on

value

value

Z axis

Fig. 14.5 (a) Difference the

Fig. 14.5 (b) Not difference the

tool geometry offset from tool

tool geometry offset from tool

wear offset

wear offset

Tool compensation values can be entered into CNC memory from the

MDI panel (see section III-9.1) or from a program.

A tool compensation value is selected from the CNC memory when the

corresponding code is specified after address T in a program.

The value is used for tool offset or tool nose radius compensation.

See subsec. II-14.1.2 for details.

14.5.1

Tool Compensation

and Number of Tool

Compensation

D Valid range of tool

Table 14.5.1 (a) shows the valid input range of tool compensation values.

compensation values

Table 14.5.1 (a) Valid range of tool compensation values

Tool compensation value

Increment system

Metric input (mm)

Inch input (inch)

IS-B

-999.999 to +999.999 mm

-99.9999 to +99.9999 inch

IS-C

-999.9999 to +999.9999

-99.99999 to +99.99999

mm

inch

The maximum tool wear compensation can be changed by setting

parameter No. 5013.

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14. COMPENSATION FUNCTION

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D Seven-digit tool offset

The number of digits used to specify a tool geometry/wear compensation

specification

value can be expanded by selecting the option which enables seven-digit

tool offset specification. When this option is used, tool compensation

values can be specified using up to seven digits for IS-B and eight digits

for IS-C. The valid data range for tool compensation values will thus be

as listed in Table 14.5.1(b).

Table 14.5.1 (b)

Increment system

Tool compensation value

Metric input (mm)

Inch input (inch)

IS-B

0 to "9999.999 mm

0 to "999.9999 inch

IS-C

0 to "9999.9999 mm

0 to "999.99999 inch

(0 to "4000.0000 mm)

(0 to "160.00000 inch)

NOTE

1

The range enclosed in parentheses applies when automatic

inch/metric conversion is enabled (bit 0 (OIM) of parameter

No. 5006 is set to 1).

2

The option enabling seven-digit tool offset specification

cannot be used for B-axis offsets for B-axis control.

D Number of tool

The memory can hold 16, 32, 64, or 99 tool compensation values.

compensation

NOTE

With the two-path control, the number of specified tool

compensation values equals the number of tool

compensations for each tool post.

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PROGRAMMING

14. COMPENSATION FUNCTION

14.5.2

Offset values can be input by a program using the following command :

Changing of Tool

Offset Value

(Programmable Data

Input ) (G10)

Format

G10 P_ X_ Y_ Z_ R_ Q_ ;

or

G10 P_ U_ V_ W_ C_ Q_ ;

P : Offset number

0

: Command of work coordinate system shift value

1-64 : Command of tool wear offset value

Command value is offset number

10000+(1-64) : Command of tool geometry offset value

(1-64) : Offset number

X : Offset value on X axis (absolute)

Y : Offset value on Y axis (absolute)

Z : Offset value on Z axis (absolute)

U : Offset value on X axis (incremental)

V : Offset value on Y axis (incremental)

W: Offset value on Z axis (incremental)

R : Tool nose radius offset value (absolute)

R : Tool nose radius offset value (incremental)

Q: Imaginary tool nose number

In an absolute command, the values specified in addresses X, Y , Z, and

R are set as the offset value corresponding to the offset number specified

by address P. In an incremental command, the value specified in

addresses U, V, W, and C is added to the current offset value

corresponding to the offset number.

NOTE

1

Addresses X, Y, Z, U, V, and W can be specified in the same

block.

2

Use of this command in a program allows the tool to

advance little by little. This command can also be used input

offset values one at a time from a program by specifying this

command successively instead of inputting these values

one at a time from the MDI unit.

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14. COMPENSATION FUNCTION

D Feedrate and alarm

The tool, when moving from the stating position toward the measurement

position predicted by x_a or z_a in G36 or G37, is fed at the rapid traverse

rate across area A. Then the tool stops at point T (x_a-γ_x or z_a-γ_z) and

moves at the measurement feedrate set by parameter (No. 6241) across

areas B, C, and D. If the approach end signal turns on during movement

across area B, alarm is generated. If the approach end signal does not turn

on before point V, and tool stops at point V and P/S alarm (No. 080) is

generated.

Predicted measurement position

F_R

F_P

U

V

X, Z

A

B

C

D

S (x_s, z_s)

T

ε

ε

γ

|x_a-x_s|. |z_a-z_s|

U (x_a, z_a)

Starting position

F_R : Rapid traverse rate

F_P : Measurement feedrate (set by parameter(No.6241))

Fig. 14.6 Feedrate and Alarm

D G code

If bit 3 (G36) of parameter No. 3405 has been set to 1, G37.1 and G37.2

are used as the G codes for automatic tool compensation for the X- and

Z-axes, respectively.

Examples

Tool number T1

50

300

Programmed

X-axis

zero point

Z-axis measurement

measurement

position

position

380

100

ÇÇ

ÇÇ

800

ÇÇ

Offset value

Offset value

(Before measurement) (After measurement)

X 100.0

98.0

Z0

4.0

G50 X760.0 Z1100.0 ;

Programming of absolute zero point

(Coordinate system setting)

S01 M03 T0101 ;

Specifies tool T1, offset number 1, and spindle

revolution

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14. COMPENSATION FUNCTION

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G36 X200.0 ;

Moves to the measurement position

If the tool has reached the measurement position

at X198.0

; since the correct measurement

position is 200 mm, the offset value is altered by

198.0-200.0=-2.0mm.

G00 X204.0 ;

Refracts a little along the X axis.

G37 Z800.0 ;

Moves to the Z-axis measurement position.

If the tool has reached the measurement position

at X804.0, the offset value is altered by

804.0-800.0=4.0mm.

T0101 ;

Further offsets by the difference.

The new offset value becomes valid when the T

code is specified again.

WARNING

1

Measurement speed(Fp), γ, and ε are set as parameters (Fp : No.6241, γ : No.6251,

ε : No.6254) by machine tool builder. ε must be positive numbers so that γ>ε.

2

Cancel the tool nose radius compensation before G36, G37.

3

When a manual movement is inserted into a movement at a measurement feedrate, return the

tool to the position before the inserted manual movement for restart.

4

When using the optional tool nose radius compensation function, the tool offset amount is

determined considering the value of tool nose R. Make sure that tool nose radius value is set

correctly.

Example) When the tool nose center coincides with the start point.

A

Actual

Movement coinsidering

movement

tool nose radius value

B

Tool nose radius value

C Measurement position

The tool actually moves from point A to point B, but the tool offset value is determined assuming

that the tool moves to point C considering the tool nose radius value.

NOTE

1

When there is no T code command before G36 or G37, P/S alarm No.81 is generated.

2

When a T code is specified in the same block as G36 or G37, P/S alarm No.82 is generated.

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PROGRAMMING

14. COMPENSATION FUNCTION

With the coordinate rotation function, it is possible to rotate a figure

14.7

specified in a program. For example, a program that produces patterns

COORDINATE

of a figure rotated at increasingly larger angles can be created as a pair of

ROTATION

subprograms, one of which defines a figure, the other of which calls the

(G68.1, G69.1)

figure definition subprogram by specifying rotation. This method is

useful for reducing the program development time and the size of the

program.

X

Rotation

center

Rotation angle

Z

Format

G17

G18

G68.1 α_ β_ R_ ;

Starts rotating the coordinates

G19

Coordinate rotation mode

(the coordinates are rotated)

G69.1 ;

Cancels coordinate rotation

G17 (G18 or G19) :

Selects a plane where the figure to be rotated is

α, β :

Specify two coordinates (from among X, Y, and Z) of the rotation cen-

ter that match G17, G18, and G19. The values specified as the coor-

dinates of the rotation center must always be absolute values.

R:

Specifies the rotation angle as an absolute value. Counterclockwise

rotation is assumed to be positive. However, setting bit 0 (RIN) of

parameter No. 5400 enables the use of an incremental value.

Incremental units of the angle: 0.001 degrees

Specifiable range: -360,000 to +360,000

X

Rotation angle R (incremental value)

Rotation

Rotation angle R (absolute value)

center

(α, β)

Z

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14. COMPENSATION FUNCTION

Examples

D Tool nose radius and

G68.1 and G69.1 can be specified during tool nose radius compensation,

coordinate rotation

provided that the coordinate rotation plane coincides with the tool nose

radius compensation plane.

N1 G50 X0 Z0 G69.1 G01 ;

N2 G42 X1000 Z1000 F1000 T0101 ;

N3 G68 R-30000 ;

N4 Z3000 ;

N5 G03 U1000 R1000 ;

N6 G01 Z1000 ;

N7 U-1000 ;

N8 G69.1 G40 X0 Z0 ;

Program before rotation

Program after rotation

30°

(0, 0)

Tool path

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14. COMPENSATION FUNCTION

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D Repetitive coordinate

Coordinate rotation can be repeated by calling a registered subprogram

rotation

more than once, but with increasingly greater rotation angles.

Set bit 0 (RIN) of parameter No. 5400 to 1 to specify the rotation

angle as being incremental. (G code A, radius programming along

the X-axis)

G50 X0 Z0 G18 ;

G01 F200 T0101 ;

M98 P2100 ;

M98 P2200 L7 ;

G00 X0 Z0 M30 ;

O2200 ;

G68.1 X0 Z0 R45.0 ;

G90 M98 P2100 ;

M99 ;

O2100 ;

G01 G42 X-10.0 Z0 ;

X-10.0 Z4.142 ;

X-7.071 Z7.071 ;

G40 M99 ;

Programmed tool path

(0, 0)

Tool path with an

offset

(0, -10.0)

Subprogram

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PROGRAMMING

15. CUSTOM MACRO

CUSTOM MACRO

15

Although subprograms are useful for repeating the same operation, the

custom macro function also allows use of variables, arithmetic and logic

operations, and conditional branches for easy development of general

programs such as pocketing and user-defined canned cycles. A

machining program can call a custom macro with a simple command, just

like a subprogram.

Machining program

Custom macro

O0001 ;

O9010 ;

:

#1=#18/2 ;

:

G01 X#1 Z#1 F0.3 ;

:

G02 X#1 Z-#1 R#1 ;

G65 P9010 R50.0 L2 ;

:

:

:

:

:

M30 ;

M99 ;

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An ordinary machining program specifies a G code and the travel distance

15.1

directly with a numeric value; examples are G100 and X100.0.

VARIABLES

With a custom macro, numeric values can be specified directly or using

a variable number. When a variable number is used, the variable value

can be changed by a program or using operations on the MDI panel.

#1=#2+100 ;

G01 X#1 F0.3 ;

Explanation

D Variable representation

When specifying a variable, specify a number sign (#) followed by a

variable number. General-purpose programming languages allow a name

to be assigned to a variable, but this capability is not available for custom

macros.

Example: #1

An expression can be used to specify a variable number. In such a case,

the expression must be enclosed in brackets.

Example: #[#1+#2-12]

D Types of variables

Variables are classified into four types by variable number.

Table 15.1 Types of variables

Variable

Type of

Function

number

variable

#0

Always

This variable is always null. No value can be

null

assigned to this variable.

#1 - #33

Local

Local variables can only be used within a

variables

macro to hold data such as the results of op-

erations. When the power is turned off, local

variables are initialized to null. When a macro

is called, arguments are assigned to local vari-

ables.

#100 - #149

Common

Common variables can be shared among dif-

variables

ferent macro programs. When the power is

(#199)

turned off, variables #100 to #149 are initial-

#500 - #531

ized to null. Variables #500 to #531 hold data

even when the power is turned off. As an op-

(#999)

tion, common variables #150 to #199 and

#532 to #999 are also available. However,

when these values are using, the length of the

tape that can be used for storage decreases

by 8.5 m.

#1000 or later

System

System variables are used to read and write a

variables

variety of NC data items such as the current

position and tool compensation values.

NOTE

Common variables #150 to #199 and #532 to #999 are

optional.

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15. CUSTOM MACRO

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(b)Operation

< vacant > is the same as 0 except when replaced by < vacant>

When #1 = < vacant >

When #1 = 0

#2 = #1

#2 = #1

#

#

#2 = < vacant >

#2 = 0

#2 = #1*5

#2 = #1*5

#

#

#2 = 0

#2 = 0

#2 = #1+#1

#2 = #1 + #1

#

#

#2 = 0

#2 = 0

(c) Conditional expressions

< vacant > differs from 0 only for EQ and NE.

When #1 = < vacant >

When #1 = 0

#1 EQ #0

#1 EQ #0

#

#

Established

Not established

#1 NE 0

#1 NE 0

#

#

Established

Not established

#1 GE #0

#1 GE #0

#

#

Established

Established

#1 GT 0

#1 GT 0

#

#

Not established

Not established

D Custom macro variables

With the two-path control, macro variables are provided for each tool

common to tool posts

post. Specifying parameter Nos. 6036 and 6037 allows some of the

(two-path control)

common variables to be used for all tool posts.

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15. CUSTOM MACRO

D Displaying variable

values

VARIABLE

O1234 N12345

NO.

DATA

NO.

DATA

100 123.456108

101 0.000 109

102

110

103 ******** 111

104

112

105

113

106

114

107

115

ACTUAL POSITION (RELATIVE)

X

0.000

Y

0.000

Z

0.000

B

0.000

MEM **** *** ***

18:42:15

[ MACRO ] [ MENU ] [ OPR

] [

] [ (OPRT) ]

D When the value of a variable is blank, the variable is null.

D The mark ******** indicates an overflow (when the absolute

value of a variable is greater than 99999999) or an underflow (when

the absolute value of a variable is less than 0.0000001).

Limitations

Program numbers, sequence numbers, and optional block skip numbers

cannot be referenced using variables.

Example:

Variables cannot be used in the following ways:

O#1;

/#2G00X100.0;

N#3Z200.0;

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15. CUSTOM MACRO

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System variables can be used to read and write internal NC data such as

15.2

tool compensation values and current position data. Note, however, that

SYSTEM VARIABLES

some system variables can only be read. System variables are essential

for automation and general-purpose program development.

Explanations

D Interface signals

Signals can be exchanged between the programmable machine controller

(PMC) and custom macros.

Table 15.2 (a) System variables for interface signals

Variable

Function

number

#1000-#1015

A 16-bit signal can be sent from the PMC to a custom

macro. Variables #1000 to #1015 are used to read a sig-

#1032

nal bit by bit. Variable #1032 is used to read all 16 bits of

a signal at one time.

#1100-#1115

A 16-bit signal can be sent from a custom macro to the

PMC. Variables #1100 to #1115 are used to write a signal

#1132

bit by bit. Variable #1132 is used to write all 16 bits of a

signal at one time.

#1133

Variable #1133 is used to write all 32 bits of a signal at one

time from a custom macro to the PMC.

Note, that values from -99999999 to +99999999 can be

used for #1133.

For detailed information, refer to the connection manual

(B-63523EN-1).

D Tool compensation

When the system does not differentiate tool geometry compensation from

values

tool wear compensation, use variable numbers for wear compensation.

Table 15.2 (b) System variables for tool compensation memory C

X axis

Z axis

Tool nose radius

Y axis

compensation

compensation

compensation

compensation

Imaginary

Compensation

value

value

value

value

tool nose

number

position T

Geome-

Geome-

Geome-

Geome-

Wear

Wear

Wear

Wear

try

try

try

try

1

#2001

#2701

#2101

#2801

#2201

#2901

#2301

#2401

#2451

:

:

:

:

:

:

:

:

:

:

49

:

#2749

:

#2849

:

:

:

#2449

#2499

:

:

:

:

:

:

64

#2064

#2164

#2264

#2964

#2364

Table 15.2 (c) System variables for 99 tool compensation values

X axis

Z axis

Tool nose radius

Y axis

compensation

compensation

compensation

compensation

Imaginary

Compensation

value

value

value

value

tool nose

number

position T

Geome-

Geome-

Geome-

Geome-

Wear

Wear

Wear

Wear

try

try

try

try

1

#10001

#15001

#11001

#16001

#12001

#17001

#13001

#14001

#19001

:

:

:

:

:

:

:

:

:

:

:

:

:

:

:

:

:

:

:

:

99

#10099

#15099

#11099

#16099

#12099

#17099

#13099

#14099

#19099

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15. CUSTOM MACRO

Workpiece coordinate

A workpiece coordinate system shift amount can be read. The amount can

system shift amount

also be changed by entering a value.

Controlled axis

Workpiece coordinate system shift amount

X axis

#2501

Z axis

#2601

D Macro alarms

Table 15.2 (d) System variable for macro alarms

Variable

Function

number

#3000

When a value from 0 to 200 is assigned to variable #3000,

the CNC stops with an alarm. After an expression, an alarm

message not longer than 26 characters can be described.

The CRT screen displays alarm numbers by adding 3000 to

the value in variable #3000 along with an alarm message.

Example:

#3000=1(TOOL NOT FOUND);

→ The alarm screen displays “3001 TOOL NOT FOUND.”

D Time information

Time information can be read and written.

Table 15.2 (e) System variables for time information

Variable

Function

number

#3001

This variable functions as a timer that counts in 1-millisecond

increments at all times. When the power is turned on, the

value of this variable is reset to 0. When 2147483648 milli-

seconds is reached, the value of this timer returns to 0.

#3002

This variable functions as a timer that counts in 1-hour incre-

ments when the cycle start lamp is on. This timer preserves

its value even when the power is turned off. When

9544.371767 hours is reached, the value of this timer returns

to 0.

#3011

This variable can be used to read the current date (year/

month/day). Year/month/day information is converted to an

apparent decimal number. For example, March 28, 1993 is

represented as 19930328.

#3012

This variable can be used to read the current time (hours/min-

utes/seconds). Hours/minutes/seconds information is con-

verted to an apparent decimal number. For example, 34 min-

utes and 56 seconds after 3 p.m. is represented as 153456.

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D Automatic operation

The control state of automatic operation can be changed.

control

Table 15.2 (f) System variable (#3003) for automatic operation control

#3003

Single block

Completion of an auxiliary

function

0

Enabled

To be awaited

1

Disabled

To be awaited

2

Enabled

Not to be awaited

3

Disabled

Not to be awaited

D When the power is turned on, the value of this variable is 0.

D When single block stop is disabled, single block stop operation is not

performed even if the single block switch is set to ON.

D When a wait for the completion of auxiliary functions (M, S, and T

functions) is not specified, program execution proceeds to the next

block before completion of auxiliary functions. Also, distribution

completion signal DEN is not output.

Table 15.2 (g) System variable (#3004) for automatic operation control

#3004

Feed hold

Feedrate Override

Exact stop

0

Enabled

Enabled

Enabled

1

Disabled

Enabled

Enabled

2

Enabled

Disabled

Enabled

3

Disabled

Disabled

Enabled

4

Enabled

Enabled

Disabled

5

Disabled

Enabled

Disabled

6

Enabled

Disabled

Disabled

7

Disabled

Disabled

Disabled

D

When the power is turned on, the value of this variable is 0.

D

When feed hold is disabled:

(1) When the feed hold button is held down, the machine stops in the

single block stop mode. However, single block stop operation is

not performed when the single block mode is disabled with

variable #3003.

(2) When the feed hold button is pressed then released, the feed hold

lamp comes on, but the machine does not stop; program execution

continues and the machine stops at the first block where feed hold

is enabled.

D

When feedrate override is disabled, an override of 100% is always

applied regardless of the setting of the feedrate override switch on the

machine operator’s panel.

D

When exact stop check is disabled, no exact stop check (position

check) is made even in blocks including those which do not perform

cutting.

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D Settings

Settings can be read and written. Binary values are converted to decimals.

#3005

#15

#14

#13

#12

#11

#10

#9

#8

Setting

FCV

#7

#6

#5

#4

#3

#2

#1

#0

Setting

SEQ

INI

ISO

TVC

#9 (FCV)

: Whether to use the FS15 tape format conversion capability

#5 (SEQ) : Whether to automatically insert sequence numbers

#2 (INI) : Millimeter input or inch input

#1 (ISO): Whether to use EIA or ISO as the output code

#0 (TVC)

: Whether to make a TV check

D Stop with a message

Execution of the program can be stopped, and then a message can be

displayed.

Variable number

Function

#3006

When “#3006=1 (MESSAGE);” is commanded in the

macro, the program executes blocks up to the immediate-

ly previous one and then stops.

When a message of up to 26 characters, which is en-

closed by a control-in character (“(”) and control-out

character (“)”), is programmed in the same block, the

message is displayed on the external operator message

screen.

D Mirror image

The mirror-image status for each axis set using an external switch or

setting operation can be read through the output signal (mirror-image

check signal). The mirror-image status present at that time can be

checked. (See Section 4.7 in III.)

The value obtained in binary is converted into decimal notation.

#3007

#7

#6

#5

#4

#3

#2

#1

#0

Setting

8th axis

7th axis

6th axis

5th axis

4th axis

3th axis

2th axis

1th axis

0 (mirror-image function is disabled)

For each bit,

or

is indicated.

1 (mirror-image function is enabled)

Example : If #3007 is 3, the mirror-image function is enabled for the first and second axes.

D When the mirror-image function is set for a certain axis by both the

mirror-image signal and setting, the signal value and setting value are

ORed and then output.

D When mirror-image signals for axes other than the controlled axes are

turned on, they are still read into system variable #3007.

D System variable #3007 is a write-protected system variable. If an

attempt is made to write data in the variable, P/S 116 alarm “WRITE

PROTECTED VARIABLE” is issued.

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D Number of machined

The number (target number) of parts required and the number (completion

parts

number) of machined parts can be read and written.

Table 15.2 (h) System variables for the number of parts required and the

number of machined parts

Variable number

Function

#3901

Number of machined parts (completion number)

#3902

Number of required parts (target number)

NOTE

Do not substitute a negative value.

D Modal information

Modal information specified in blocks up to the immediately preceding

block can be read.

Table 15.2 (i) System variables for modal information

Variable

Function

number

#4001

G00, G01, G02, G03, G33, G34

(Group 01)

#4002

G96, G97

(Group 02)

#4003

(Group 03)

#4004

G68, G69

(Group 04)

#4005

G98, G99

(Group 05)

#4006

G20, G21

(Group 06)

#4007

G40, G41, G42

(Group 07)

#4008

G25, G26

(Group 08)

#4009

G22, G23

(Group 09)

#4010

G80 - G89

(Group 10)

#4011

(Group 11)

#4012

G66, G67

(Group 12)

#4014

G54-G59

(Group 14)

#4015

(Group 15)

#4016

G17 - G19

(Group 16)

:

:

:

#4022

(Group 22)

#4109

F code

#4113

M code

#4114

Sequence number

#4115

Program number

#4119

S code

#4120

T code

Example:

When #1=#4001; is executed, the resulting value in #1 is 0, 1, 2, 3,

or 33.

When a modal information reading system variable corresponding to a G

code group which cannot be used is specified, a P/S alarm is issued.

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D Current position

Position information cannot be written but can be read.

Table 15.2 (j) System variables for position information

Variable

Position

Coordinate

Tool com-

Read

number

information

system

pensation

operation

value

during

movement

#5001-#5008

Block end point

Workpiece

Not

Enabled

coordinate

included

system

#5021-#5028

Current position

Machine

Included

Disabled

coordinate

system

#5041-#5048

Current position

Workpiece

coordinate

#5061-#5068

Skip signal position

system

Enabled

#5081, #5082

Tool offset value

Disabled

#5101-#5108

Deviated servo

position

D The first digit (from 1 to 8) represents an axis number.

D The tool offset value currently used for execution rather than the

immediately preceding tool offset value is held in variables #5081 to

5088.

D The tool position where the skip signal is turned on in a G31 (skip

function) block is held in variables #5061 to #5068. When the skip

signal is not turned on in a G31 block, the end point of the specified

block is held in these variables.

D When read during movement is “disabled,” this means that expected

values cannot be read due to the buffering (preread) function.

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D Workpiece coordinate

Workpiece zero point offset values can be read and written.

system compensation

Table 15.2 (k) System variables for workpiece zero point offset values

values (workpiece zero

point offset values)

Variable

Function

number

#5201

First-axis external workpiece zero point offset value

:

:

#5208

Eighth-axis external workpiece zero point offset value

#5221

First-axis G54 workpiece zero point offset value

:

:

#5228

Eighth-axis G54 workpiece zero point offset value

#5241

First-axis G55 workpiece zero point offset value

:

:

#5248

Eighth-axis G55 workpiece zero point offset value

#5261

First-axis G56 workpiece zero point offset value

:

:

#5268

Eighth-axis G56 workpiece zero point offset value

#5281

First-axis G57 workpiece zero point offset value

:

:

#5288

Eighth-axis G57 workpiece zero point offset value

#5301

First-axis G58 workpiece zero point offset value

:

:

#5308

Eighth-axis G58 workpiece zero point offset value

#5321

First-axis G59 workpiece zero point offset value

:

:

#5328

Eighth-axis G59 workpiece zero point offset value

NOTE

To use variables #5201 to #5328, the workpiece coordinate

system option is necessary.

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The operations listed in Table 15.3 (a) can be performed on variables. The

15.3

expression to the right of the operator can contain constants and/or

ARITHMETIC AND

variables combined by a function or operator. Variables #j and #K in an

LOGIC OPERATION

expression can be replaced with a constant. Variables on the left can also

be replaced with an expression.

Table 15.3 (a) Arithmetic and logic operation

Function

Format

Remarks

Definition

#i=#j

Sum

#i=#j+#k;

Difference

#i=#j-#k;

Product

#i=#j*#k;

Quotient

#i=#j/#k;

Sine

#i=SIN[#j];

An angle is specified in de-

grees. 90 degrees and 30

Arc sine

#i=ASIN[#j];

minutes is represented as

Cosine

#i=COS[#j];

90.5 degrees.

Arc cosine

#i=ACOS[#j];

Tangent

#i=TAN[#j];

Arctangent

#i=ATAN[#j]/[#k];

Square root

#i=SQRT[#j];

Absolute value

#i=ABS[#j];

Rounding off

#i=ROUND[#j];

Rounding down

#i=FIX[#j];

Rounding up

#i=FUP[#j];

Natural logarithm

#i=LN[#j]

Exponential function

#i=EXP[#j];

OR

#i=#j OR #k;

A logical operation is per-

formed on binary numbers

XOR

#i=#j XOR #k;

bit by bit.

AND

#i=#j AND #k;

Conversion from BCD to BIN

#i=BIN[#j];

Used for signal exchange

to and from the PMC

Conversion from BIN to BCD

#i=BCD[#j];

Explanations

D Angle units

The units of angles used with the SIN, COS, TAN, ASIN, ACOS and

ATAN functions are degrees. For example, 90 degrees and 30 minutes is

represented as 90.5 degrees.

D ARCSIN #i = ASIN[#j];

S The solution ranges are as indicated below:

When the NAT bit (bit 0 of parameter 6004) is set to 0: 270° to 90°

When the NAT bit (bit 0 of parameter 6004) is set to 1: -90° to 90°

S When #j is beyond the range of -1 to 1, P/S alarm No. 111 is issued.

S A constant can be used instead of the #j variable.

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D Rounding up and down

With CNC, when the absolute value of the integer produced by an

to an integer

operation on a number is greater than the absolute value of the original

number, such an operation is referred to as rounding up to an integer.

Conversely, when the absolute value of the integer produced by an

operation on a number is less than the absolute value of the original

number, such an operation is referred to as rounding down to an integer.

Be particularly careful when handling negative numbers.

Example:

Suppose that #1=1.2 and #2=-1.2.

When #3=FUP[#1] is executed, 2.0 is assigned to #3.

When #3=FIX[#1] is executed, 1.0 is assigned to #3.

When #3=FUP[#2] is executed, -2.0 is assigned to #3.

When #3=FIX[#2] is executed, -1.0 is assigned to #3.

D Abbreviations of

When a function is specified in a program, the first two characters of the

arithmetic and logic

function name can be used to specify the function. (See III-9.7)

operation commands

Example:

ROUND → RO

FIX → FI

D Priority of operations

(1) Functions

(2) Operations such as multiplication and division (*, /, AND, MOD)

(3) Operations such as addition and subtraction (+, -, OR, XOR)

Example) #1=#2+#3*SIN[#4];

(1)

(2)

(3)

(1), (2), and (3) indicate the order of operations.

D Bracket nesting

Brackets are used to change the order of operations. Brackets can be used

to a depth of five levels including the brackets used to enclose a function.

When a depth of five levels is exceeded, alarm No. 118 occurs.

Example) #1=SIN [ [ [#2+#3] *#4 +#5] *#6] ;

(1)

(2)

(3)

(4)

(5)

(1) to (5) indicate the order of operations.

Limitations

D Brackets

Brackets ([, ]) are used to enclose an expression. Note that parentheses

are used for comments.

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D Operation error

Errors may occur when operations are performed.

Table 15.3 (b) Errors involved in operations

Operation

Average

Maximum

Type of error

error

error

a = b*c

1.55×10^-10

4.66×10^-10

Relative error(*1)

a = b / c

4.66×10^-10

1.88×10^-9

ε

b

Ǹ

1.24×10^-9

3.73×10^-9

a+ b

(*2)

a = b + c

2.33×10^-10

5.32×10^-10

ε

ε

Min

a = b - c

b

c

a = SIN [ b ]

5.0×10^-9

1.0×10^-8

Absolute error(*3)

a = COS [ b ]

ε

degrees

a = ATAN [ b ] / [ c ]

(*4)

1.8×10^-6

3.6×10^-6

NOTE

1

The relative error depends on the result of the operation.

2

Smaller of the two types of errors is used.

3

The absolute error is constant, regardless of the result of the

operation.

4

Function TAN performs SIN/COS.

S The precision of variable values is about 8 decimal digits. When very

large numbers are handled in an addition or subtraction, the expected

results may not be obtained.

Example:

When an attempt is made to assign the following values to

variables #1 and #2:

#1=9876543210123.456

#2=9876543277777.777

the values of the variables become:

#1=9876543200000.000

#2=9876543300000.000

In this case, when #3=#2-#1; is calculated, #3=100000.000 results.

(The actual result of this calculation is slightly different because

it is performed in binary.)

S Also be aware of errors that can result from conditional expressions

using EQ, NE, GE, GT, LE, and LT.

Example:

IF [#1 EQ #2] is effected by errors in both #1 and #2, possibly

resulting in an incorrect decision.

Therefore, instead find the difference between the two variables

with IF[ABS[#1-#2]LT0.001].

Then, assume that the values of the two variables are equal when

the difference does not exceed an allowable limit (0.001 in this

case).

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