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FANUC Series 16i/18i/21i-TA/TB Additional Manual Page 6

Additional Manual
A-76286E
Sheet
Title
Draw
No.
16 Apr.19.'04 Addition or Modification of 16)
15 Jul.02.'02 Y.Takeuchi Improvement of status display T.Endo
14 Jun.21.'02 Y.Takeuchi Improvement of status display T.Endo
13 May.27.'02 Y.Takeuchi Addition of status display and improvement of S/T code output T.Endo
12 Mar.18.'02 Y.Takeuchi Availability of direction change movement in auxiliary function T.Endo
11 Jan.22.'02 Y.Takeuchi Availability of Angular axis control and Advanced preview control T.Endo
10 Oct.03.'01 Y.Takeuchi Addition or Modification of "5. About function improvement" T.Endo
Ed.. Date Design Description
Date May.02.’97 Desig. K.Ishida Apprv. T.Nakazato
FANUC Series 16i/18i/21i-TB/TB
Manual Handle Retrace
Specifications
6/40
2.2 Backward movement of each code
All modal information of G, T, S-code is memorized in executing the program forward. And,
their memorized data of the modal G, T, S-code is used in executing the program backward.
As for M-codes, they are grouped and their 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 in between forward
movement and backward movement.
2.2.1 G-code
Modal information on previous block is executed when G code that changes modal
information is commanded in executing the program backward. G-code with a movement is
traced 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.
(Refer to '2.4 Backward movement prohibition')
The G-codes in the G-code system B and C are same.
2.2.2 M-code
A modal information of M-code of the previous block in M codes grouped by the parameter
setting is output.
As for M code not set at the parameter, the same one between in backward movement
and in forward movement is output.
2.2.3 S and T-code
A modal value of the previous block is output.
G00 G01 G02 G03 G04 G22 G23
G25 G26 G28 G30 G40 G41 G42
G50 G53 G65 G70 G71 G72 G73
G74 G75 G80 G83 G86 G87 G89
G90 G94 G96 G97 G98 G99
(G-code system A)
1)
1)
1)
1)
1)
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Contents Summary of FANUC Series 16i/18i/21i-TA/TB Additional Manual

  • Page 1FANUC Series 16i/18i/21i-TA/TB Manual Handle Retrace Specifications 16 Apr.19.'04 Addition or Modification of 16) 15 Jul.02.'02 Y.Takeuchi Improvement of status display T.Endo FANUC Series 16i/18i/21i-TB/TB 14 Jun.21.'02 Y.Takeuchi Improvement of status display T.Endo Title Manual Handle Retrace Spe
  • Page 21. General 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. 1.1 Checking mode In this mode, the
  • Page 31.3 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 blo
  • Page 42.1.2 Control with the manual handle (manual pulse generator) The value of the parameter No.6410 and the scale factors decide the moving amount of the machine by one pulse generated by a manual handle. When a manual handle is turned, the actual movement amount of the machine is as follows. [Feedrate
  • Page 52.1.3 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 ma
  • Page 62.2 Backward movement of each code All modal information of G, T, S-code is memorized in executing the program forward. And, their memorized data of the modal G, T, S-code is used in executing the program backward. As for M-codes, they are grouped and their modal information is managed by parameter
  • Page 72.3 Direction change prohibition The direction change prohibition is a state not being changed for the direction where the program is executed. In the state, even if the rotating direction of a manual handle is reversed, the reversed rotation is disregarded. A manual handle must be rotate in the sam
  • Page 82.5 Others 2.5.1 Movement command + M,S,T-code When M,S,T-codes and movement commands are in the same block., the timing outputting codes changes between in forward movement and in backward movement. Example) O0001 ; M5 S0 F0 ; G53 X0 Z0 ; (1) G1 W100 M3 S100 F1. ; (2) G0 U50. W50. ; (3) M2 ; [Forwa
  • Page 92.5.2 Non linear interpolation type positioning In the non-linear interpolation type positioning, the route is different between in forward movement and in backward movement. X The route of forward movement The route of backward movement Z Notice: Please use the interpolation type positioning to war
  • Page 102.5.8 Axis control by PMC The movement of axis control by PMC cannot be controlled by this function. 2.5.9 B-Axis control 16) B-axis control doesn't support backward movement. In the block of B-axis control by forward movement, the handle pulse becomes invalid and it is always executed by 100% of ov
  • Page 113. Parameter and DI / DO 3.1 Parameter 6400 HDMPH HDMC8 HDMC5 HDFWD HDRPD [Data type] Bit type HDRPD In the Manual Handle Retrace function, the rapid traverse feedrate is: 0: clamped by override 10% feedrate. 1: clamped by override 100% feedrate. HDFWD In the Manual Handle Retrace function, the reve
  • Page 12HDMPH When other paths become direction change prohibition or reverse movement prohibition: 0:The executing path does not become direction change prohibition or reverse movement prohibition 1:The executing path becomes direction change prohibition or reverse movement prohibition 6410 The movement va
  • Page 136411 M-code of group A (1) 6412 M-code of group A (2) 6413 M-code of group A (3) 6414 M-code of group A (4) 6415 M-code of group B (1) 6416 M-code of group B (2) 6417 M-code of group B (3) 6418 M-code of group B (4) 6419 M-code of group C (1) 6420 M-code of group C (2) 6421 M-code of group C (3) 642
  • Page 146439 M-code of group H (1) 6440 M-code of group H (2) 6441 M-code of group H (3) 6442 M-code of group H (4) 6443 M-code of group I (1) 6444 M-code of group I (2) 6445 M-code of group I (3) 6446 M-code of group I (4) 6447 M-code of group J (1) 6448 M-code of group J (2) 6449 M-code of group J (3) 645
  • Page 156467 M-code of group O (1) 6468 M-code of group O (2) 6469 M-code of group O (3) 6470 M-code of group O (4) 6471 M-code of group P (1) 6472 M-code of group P (2) 6473 M-code of group P (3) 6474 M-code of group P (4) 6475 M-code of group Q (1) 6476 M-code of group Q (2) 6477 M-code of group Q (3) 647
  • Page 16[Data type] Word type [Valid data range] 0 - 9999 The group of M-code at reverse movement is set. The reverse movement of M-code outputs a modal M-code of the same group set by the parameter. The first M-code of each group is the default value. The M-code of each group returns to default value by re
  • Page 173.2 DI / DO 3.2.1 DI signal G0067 MCHK MMOD MRVM MRVM Reverse movement prohibition signal 0: In checking mode, the reverse movement is permitted. 1: In checking mode, the reverse movement is prohibited. MMOD Checking mode signal 0: Checking mode is not available. 1: If the mode is MEM, checking mode
  • Page 183) When using the M code of waiting function by multi path system, please set JOG override 10) to 0%. At the time of backward movement by the M code for waiting, regardless of the 10) turn of the manual handle, the axis may move. 10) 4) In manual handle retrace function, when check mode signal MMOD<
  • Page 195. About function improvement 10) 5.1 The improvement of the limitation matters about the manual handle retrace beginning 10) 5.1.1 General As written to the clause 2.1, the following limitation matter exists in this function. 1) The check mode signal cannot be set to "1" during execution of the pro
  • Page 20- Backward movement It is not possible to execute backward movement in the executed block before the check mode is enabled. In the above Ex.1, it is not possible to execute backward movement the block of N3 or the block before that. If it is tried to execute backward movement, reverse movement prohi
  • Page 215.2 The improvement about backward movement of M code 10) 5.2.1 General In this function, the block of the M code can be executed backward movement too. However, backward movement cannot be executed according to the kind of the M code. In this improvement, backward movement prohibition is enabled ex
  • Page 225.3 The improvement about the check of path unit by multi path system 10) 5.3.1 Specifications In multi path system, it is available to check path unit by using this function. In the path not to check, please select MEM mode. If the parameter HDMPH(No.6400#4) is set to "1", it is possible to execute
  • Page 235.4 The improvement about parameter optional setting of override value by which rapid traverse feedrate is clamped 10) 5.4.1 Specifications In the parameter HDRPD(No.6400#0), rapid traverse feedrate can be clamped to nearly 10% or 100% override. And if parameter (No.6405) is set to an optional value
  • Page 245.5 The improvement about the execution of measurement G code at the speed of override 100% 10) 5.5.1 Specifications When the parameter MGO(No.6400#6) is set to "1", handle pulse is invalid and it is always executed at 100% override. When the parameter MGO(No.6400#6) is set to "0", this function is
  • Page 255.5.2 Parameter 6400 MG4 MGO [Data type] Bit type MGO In manual handle retrace, during the execution of measurement G code: 0: handle pulse is valid. 1: handle pulse is invalid and it is always executed at 100% override. MG4 In manual handle retrace, when G04 block of multistage skip is enabled (whe
  • Page 265.6 Availability of Angular axis control/Arbitrary angular axis control 11) 5.6.1 Specifications In manual handle retrace, angular axis control/Arbitrary angular axis control is available. 5.6.2 Available edition This improvement is available on and after the following series and edition. FS16i-TA B
  • Page 275.7 Advanced preview control 11) 5.7.1 Specifications When the checking mode signal MMOD is set to "1", advanced preview control (G08P1 of advanced preview control mode) is invalid. And when the checking mode signal MMOD is set to "1" and the manual handle check signal MCHK
  • Page 285.8 About improvement of direction change movement in auxiliary function output block 12) 5.8.1 General In manual handle retrace, when movement command and auxiliary function (M,S,T,B-code) is commanded with the same block, the direction change movement becomes valid. This function is software optio
  • Page 29(3) (4) (5) M CODE Mxxx MOVEMENT COMMAND M CODE SIGNAL M00～M31 STROBE SIGNAL MF PMC SIDE OPERATION DIRECTION CHANGE ENABLE SIGNAL ADCO COMPLETION SIGNAL FIN DISTRIBUTION END SIGNAL DEN 5.8.3 Parameter 6401 ADC [Data type] Bit type ADC In manual handle retrace, when movement command and auxiliary fun
  • Page 30Signal address F0091 ADCO 5.8.5 Notice 1) When auxiliary function single block is executed, please perform ladder sequence of auxiliary function end generally. When the next (or front) block was executed, it is possible to execute direction change. 2) In the case that movement command and auxiliary
  • Page 315.9 About status display of manual handle retrace 13) 5.9.1 General In manual handle retrace, the status of manual handle retrace is displayed on clock display of CNC state display line. This status display is displayed during execution of manual handle retrace. The clock is displayed usually. 5.9.2
  • Page 32Figure 5.9.2.1. "M.H.RTR." status display Besides, when reverse movement prohibition signal MRVSP is set to "1", the "NO RVRS." is displayed. This status is displayed by blinking/reversing in the color of color number 1 (ALARM is same color). The screen display is as shown in Figure 5.9.2.2
  • Page 33Figure 5.9.2.2. " NO RVRS." status display Besides, when direction change prohibition signal MNCHG is set to "1" and the 14) axis is executed to direction change prohibition by manual handle, this status display 14) change from "M.H.RTR" to "NO.CHAG". 14) This status is displayed by blinkin
  • Page 34Figure 5.9.2.3. "NO.CHAG." status display 16 Apr.19.'04 Addition or Modification of 16) 15 Jul.02.'02 Y.Takeuchi Improvement of status display T.Endo FANUC Series 16i/18i/21i-TB/TB 14 Jun.21.'02 Y.Takeuchi Improvement of status display T.Endo Title Manual Handle Retrace Specifications 13 May.27.'02
  • Page 355.9.3 Parameter 6401 HST CHS [Data type] Bit type CHS In manual handle retrace, 16) 0: When the all following condition is filled, the status is displayed. 16) 1) Software option of handle manual retrace is enabled. 16) 2) Status display disable/enable parameter HST(No.6401#6) is set to 16) "1". 16)
  • Page 365.9.4 Available edition This improvement is available on and after the following series and edition. FS16i-TA B1FB-07(G) FS18i-TA BEFB-07(G) FS21i-TA DEFB-07(G) FS16i-TA B1F4-10(J) FS18i-TA BEF4-10(J) FS21i-TA DEF4-10(J) FS16i-TB B1H1-21(U) FS18i-TB BEH1-21(U) FS21i-TB DEH1-21(U) The parameter CHS(N
  • Page 375.10 About improvement concerning the output of S code and T code at the backward movement 13) 5.10.1 General In manual handle retrace, when movement command and S-code or T-code is commanded with the same block, the output timing of the S-code and T-code is different, because the block where S code
  • Page 38The T code output timing of block N7 and N8 in O1000 shown in the example of the previous page is as follows. At forward movement: N6 N7 N8 T33 output At backward movement before this improvement (When parameter STO is set to "0"): N6 N7 N8 T22 output At backward movement after this improvement (Whe
  • Page 395.10.3 Specifications of G28 16) The block of G28 is a special block which is made up in plural blocks internally. Therefore when direction change is executed, the output of the auxiliary function is different from the case of G00 and G01. Example 1: O7000; G00 X10 Z10; G28 U0 W0 M11; M30; In the ca
  • Page 405.10.4 Parameter 6401 STO [Data type] Bit type STO In manual handle retrace, when movement command and S code or T code is commanded with the same block, the timing of output by forward movement and backward movement is: 0: different. 1: same. 5.10.5 Available edition This improvement is available o