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FANUC Series 16i/18i/21i-MB/TB Improvement of Program Restart Specifications Additional Manual Page 12

Additional Manual
2.2.4 Continue of synchronization at emergency stop or servo off
In the current specifications, the synchronization is canceled at
emergency stop or servo off.
When the parameter FCN (No.13421#1) is set to "1", the synchronization
is enabled to continue. (This function enables independently of the
parameter FRS (No.13421#0) )
In this case, if emergency stop or servo off occurs, the difference, between
the machine position of slave axis and the synchronous position
calculated from the relation of the master axis, is set to the position error
of the slave axis.
Therefore, if the emergency stop or servo off is released, the slave axis
moves to the right synchronous position.
When the flexible synchronous control between axes in the different
paths in multi-paths system is active, even if emergency stop or servo off
occurs in one path, the synchronization is still continued.
Edit
12/22
Data Si
g
nature
Descri
p
tion
Improvement of Program restart Specifications
A-90024EN
Drawing No.
Page
Modification
02
Date
Mar/26/05.
Desig.
M. Kobayashi
Apprv.
T. Endo
May/10/05.
FANUC Series 16i/18i/21i-MB/TB
Title
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Contents Summary of FANUC Series 16i/18i/21i-MB/TB Improvement of Program Restart Specifications Additional Manual

  • Page 1FANUC Series 16i/18i/21i -MB/TB Improvement of Program restart Specifications Contents 1. IMPROVEMENT OF PROGRAM RESTART .............................................................................. 2 1.1 GENERAL ......................................................................................
  • Page 21. Improvement of Program restart 1.1 General This function enables the following functions in the program restart. - M/S/T/B codes, which are found in search of the block to be restarted, can be output into MDI program. And M/S/T/B functions can be executed by MDI program. - In case that the system
  • Page 38) Change to the MDI mode, and then check the MDI program. If need, modify the MDI program, and then press the cycle start button. (When program restart signal SRN becomes “0” and program restart MDI program output completed signal SQMPR becomes “1”, PMC ladder can select the MDI m
  • Page 41.2.2 M/S/T/B codes output into MDI program M/S/T/B codes, which are found in search of the block to be restarted, can be automatically output into MDI program by CNC. Caution - Up to 50 M/S/T/B codes or addresses of arguments for macro call can be output. - If there is no M/S/T/B code to be output,
  • Page 5(Example) Block to be restarted is N100 in a program O100. Setting of M code groups: - M10, M11 : Group 2 - M120, M220, M320 : Group 3 - M51 : Group 0 (No group) O0100; M10 -- Group 2 : M11 -- Group 2 : M120 -- Group 3 M codes to be output : M51 -- Group 0 M10 : M10 -- Group 2 M51 : M220 -- Group 3
  • Page 61.2.3 Output of M code used to call sub program/custom macro program In M/S/T/B codes output into MDI program, M code used to call sub program and M code used to call custom macro program and arguments can be output into the MDI program. Caution - The MDI program, into which M/S/T/B codes are output
  • Page 7Caution The result of conversion is expressed by up to 8 digits, decimal point and minus sign. If the result cannot be expressed by 8 digits, P/S alarm 5373 occurs. (Example) The following arguments cannot be converted into 8 digits, and P/S alarm 5373 occurs. - M20 A[12345678.*10.] ; (123456780. ,
  • Page 82) Move the cursor to the target axis by up and down-arrow keys then input the movement order of the axis. Caution - When the axis movement sequence is changed in the program restart screen, also value of parameter No.7310 changes. - If the input value is “0” or exceeds controlled axis number, warni
  • Page 92. Program restart for Flexible synchronous control (FS16i/18i-B) 2.1 General Program restart function is enabled at the program with the M code which changes synchronization mode of flexible synchronous control. 2.2 Details 2.2.1 Setting of parameter When parameter FRS (No.13421#0) is set to "1", P
  • Page 10(3) If a command to the axis which was slave axis is specified after the cancel of synchronization and before specifying the absolute command to the axis which was slave axis, P/S alarm No.5377 occurs. (Example) C : Master axis, A : Slave axis O0002 ; N10 C0 A0 ; N20 M133 ; <------- Synchronization
  • Page 11(3) When the flexible synchronization mode is on at the program restart block, the distance to go of the slave axis becomes "0". And "*********" is displayed at the destination of the slave axis. (Example) C : Master axis, A : Slave axis (4) In case that a block after turning off synchronization is
  • Page 122.2.4 Continue of synchronization at emergency stop or servo off In the current specifications, the synchronization is canceled at emergency stop or servo off. When the parameter FCN (No.13421#1) is set to "1", the synchronization is enabled to continue. (This function enables independently of the p
  • Page 133. Program restart for Cs contour control axis Generally, Cs contour control mode must be on and the reference point of Cs contour control axis must be established before starting program restart operation. However, when Cs-axis coordinate establishment function is used and parameter CCS (No.7300#5)
  • Page 145. Program restart for Dynamic Diameter/Radius switch function (M series) In case that program restart is performed on the program using Dynamic Diameter/Radius switch function, set parameter DRM (No.13114#6) to 1. And Diameter/Radius mode must be switched by two M codes, which are specified in para
  • Page 156. Caution in program restart (1) When parameter INT (No.13117#4) is set to 1, interference check for cutter compensation C (M series) or tool nose radius compensation (T series) can be suppressed during program restart. (2) When parameter SQB (No.13117#6) is set to 1, program restart by specifying
  • Page 167. Parameter #7 #6 #5 #4 #3 #2 #1 #0 7300 CCS [Data type] Bit CCS When a spindle used for Cs contour control is in spindle mode, or when reference point of Cs contour control axis is not established, program restart is 0: Not available. 1: Available. 7310 Movement sequence to program restart positio
  • Page 173419 M-code of diameter mode [Data type] Byte [Valid Data range] 1 to 255 It is recognized that the first axis is a diameter mode during the program search of program restart when parameter DRM (No.13114#6) is set to "1". Value 0 is invalid. 3420 M-code of radius mode [Data type] Byte [Valid Data ra
  • Page 18SQB Program restart by specifying a block number is 0: Available 1: Not available SQP Program restart P-Type is 0: Available 1: Not available #7 #6 #5 #4 #3 #2 #1 #0 13421 FRF FCN FRS [Data type] Bit FRS Program restart at the program with the M code which changes synchronization mode of flexible sy
  • Page 198. Signal Program restart signal SRN [Classification] Input signal [Function] Selects program restart. [Operation] When the program restart signal is set to “1” to search for the sequence number of the block to be restarted, the CRT screen changes to the program restart screen. When the prog
  • Page 20Program restart MDI program output completed signal SQMPR [Classification] Output signal [Function] Indicates M/S/T/B codes output into MDI program is completed. [Operation] The program restart MDI program output completed signal becomes “1” when: - M/S/T/B codes output into MDI program is c
  • Page 21Memory protection signal KEY3, KEY1 [Classification] Input signal [Function] Enables MDI program editing. [Operation] In M/S/T/B output into MDI program by program restart, KEY3 or KEY1 signal enables MDI program editing. When parameter KEY (No.3290#7) is set to 0, KEY3 is available.
  • Page 229. Alarm No. Message Meaning of data 5373 AURGUMENT CONVERSION In MDI program output for ERROR program restart, macro call argument cannot be converted into 8 digits. 5374 FSC MODE MISMATCH IN The current mode of flexible RESTART synchronous control is different from the mode at the program restart