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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 71

2. PREPARATIONS FOR OPERATION

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1324

Coordinate value of stored stroke check 3 in the positive direction on each axis

1325

Coordinate value of stored stroke check 3 in the negative direction on each axis

[Input type] Setting input

[Data type] Real axis

[Unit of data] mm, inch, deg (machine unit)

[Min. unit of data] Depend on the increment system of the applied axis
[Valid data range] 9 digit of minimum unit of data (refer to standard parameter setting table (A))

(When the increment system is IS-B, -999999.999 to +999999.999)
Set the coordinate value of stored stroke check 3 on each axis in the + or - direction in the
machine coordinate system.

NOTE

1 Specify diameter values for any axes for which diameter

programming is specified.

2 The area inside the area set by parameters Nos. 1324 and 1325 is a

prohibited area.

3402

G23

[Input type] Parameter input

[Data type] Bit path

#7 G23

When the power is turned on

G22 mode (stored stroke check 2 on)

G23 mode (stored stroke check 2 off)

10345

L2D

[Input type] Parameter input

[Data type] Bit

#1 L2D

When the forbidden area of the stored stroke check 2, 3 (Parameter No.1322, 1323) is set

or it is changed by G22 command, the setting value for axes with diameter specification
is:
0:

Half of command value

Command value

Alarm and message

Number

Message

Description

OT0502

+ OVERTRAVEL ( SOFT 2 ) A movement in the positive direction exceeded stored stroke check 2.

Alternatively, in the chuck and tail stock barrier, an entry to the forbidden
area was made during movement in the positive direction.

OT0503

- OVERTRAVEL ( SOFT 2 )

A movement in the negative direction exceeded stored stroke check 2.
Alternatively, in the chuck and tail stock barrier, an entry to the forbidden
area was made during movement in the negative direction.

OT0504

+ OVERTRAVEL ( SOFT 3 ) A movement in the positive direction exceeded stored stroke check 3.

OT0505

- OVERTRAVEL ( SOFT 3 )

A movement in the negative direction exceeded stored stroke check 3.

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Caution

CAUTION

1 If the two points for specifying a forbidden area are identical, all areas are

handled as movable areas in case of stored stroke check 2 that the inside area is
forbidden (bit 0 (OUT) of parameter No. 1300 = 0), or stored stroke check 3. And
all areas except the specified point are handled as forbidden areas in case of
stored stroke check 2 that the outside area is forbidden (the parameter OUT = 1).

2 Even if the two points for specifying a forbidden area are erroneously set, the

rectangular parallelepiped having the points as vertices is assumed as a
boundary.

3 Since an axis without the reference position return function has no forbidden

areas, there are no alarms about forbidden areas for the axis.

Note

NOTE

1 For checks 1,2 and 3, bit 7 (BFA) of parameter No. 1300 can be used to specify

whether to stop the tool before it enters the forbidden area or when it enters the
area.

2 Because checking is made with higher precision than the precision of indicated

coordinates, an OT alarm may be issued even when coordinates on a boundary
is indicated.

Reference item

Manual name

Item name

OPERATOR’S MANUAL (B-64694EN)

Stroke check

2.3.5

Stroke Limit Check before Move

During automatic operation, before the movement specified by a given block is started, whether the tool
enters the forbidden area defined by stored stroke check 1, 2, or 3 is checked by determining the position
of the end point from the current position of the machine and a specified amount of travel. If the tool is
found to enter the forbidden area defined by a stored stroke limit, the tool is stopped immediately upon
the start of movement for that block, and an alarm is displayed.

2. PREPARATIONS FOR OPERATION

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CAUTION

Whether the coordinates of the end point, reached as a result of traversing the
distance specified in each block, are in a forbidden area is checked. In this case,
the path followed by a move command is not checked. However, if the tool enters
the forbidden area defined by stored stroke check 1, 2, or 3, an alarm is issued.

Example 1)

The tool is stopped at point a according to stored stroke
check 1 or 2.

Immediately upon movement commencing from the start
point, the tool is stopped to enable a stroke limit check
before moving to be performed before movement.

Forbidden area defined by stored stroke
check 1 or 2

Start point

Forbidden area defined by stored stroke
check 1 or 2

End point

Example 2)

End
point

End point

Start point

Immediately upon movement commencing from the start
point, the tool is stopped to enable a stroke limit check
before moving to be performed before movement.

The tool is stopped at point a according to stored
stroke check 2 or 3.

Forbidden area defined by stored stroke
check 2 or 3

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2. PREPARATIONS FOR OPERATION

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Explanation

This function is enabled by setting bit 7 (PLC) of parameter No. 1301 to 1.
When a stroke limit check before moving is performed, whether to check the movement performed by a
G31 (skip) block and G37 (automatic tool length measurement) block can be determined using (bit 2
(NPC) of parameter No. 1301).

Limitation

Machine lock

If machine lock is applied at the start of movement, no stroke limit check made before movement is
performed.

G23

When stored stroke check 2 is disabled (G23 mode), no check is made to determine whether the tool
enters the forbidden area defined by stored stroke check 2.

Program restart

When a program is restarted, an alarm is issued if the restart position is within a forbidden area.

A block consisting of multiple operations

If a block consisting of multiple operations (such as a canned cycle) is executed, an alarm is issued at the
start point of any operation whose end point falls within an inhibited area.

Cylindrical interpolation mode

In cylindrical interpolation mode, no check is made.

Polar coordinate interpolation mode

In polar coordinate interpolation mode, no check is made.

3-dimensional coordinate system conversion

In 3-dimensional coordinate system conversion mode, no check is made.

PMC axis control

No check is made for a movement based on PMC axis control.

Parameter

1301

PLC

NPC

[Input type] Setting input

[Data type] Bit path

#2 NPC

As part of the stroke limit check performed before movement, the movement specified in

G31 (skip) and G37 (automatic tool length measurement) blocks is:
0:

Checked

Not checked

#7 PLC

Stroke check before movement is:

Not performed

Performed

2. PREPARATIONS FOR OPERATION

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Alarm

Number

Message

Description

OT0510

+ OVERTRAVEL ( PRE-CHECK )

The block end point was found in the + side stroke limit
prohibition area during a stroke check before movement.
Modify the program.

OT0511

- OVERTRAVEL ( PRE-CHECK )

The block end point was found in the - side stroke limit
prohibition area during a stroke check before movement.
Modify the program.

2.3.6

Check of the Tool Path between Blocks by Stroke Limit Check
before Move

By setting bit 0 (SBA) of parameter No.1302 to 1, whether the tool enters the forbidden area defined by
Stored stroke limit 1, 2, or 3 is checked on the tool path of movement command in addition to checking
the end point. (Hereinafter, this check is called “check of the tool path between blocks”.)
Check of the tool path between blocks is effective in Positioning (G00), Liner interpolation (G01),
Circular interpolation (G02, G03), High-speed reference position return (G28, G30), or Selecting a
machine coordinate system (G53).
If the tool enters the forbidden area defined by stored stroke check 1, 2, or 3, an alarm is issued when
check of the tool path between blocks is not effective.

Fig. 2.3.6 (a) Check of the tool path between blocks

Explanation

Plane selection axes

When one axis or both axes among the selection axes of selected plane (G17, G18 or G19 plane) not exist
(Hereinafter, this selection axes are called “plane selection axes”.), check of the tool path between blocks
is not executed.

Target axis of check of the tool path between blocks

Check of the tool path between blocks is executed on the 3-dimension which is composed by the two axes
of plane selection axes and the one axis other than plane selection axes (Hereinafter, this axis is called
“plane non-selection axis”).

When forbidden area is outside.

When forbidden area is inside.

: Forbidden area

Forbidden area defined by
stored stroke check 1 or 2

Forbidden area defined by
stored stroke check 2 or 3

Start point

End point

End
point

Immediately upon movement commencing from the start point, the tool is stopped to enable a stroke
limit check before moving to be performed before movement.

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2. PREPARATIONS FOR OPERATION

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Fig. 2.3.6 (b) Target axis of check of the tool path between blocks

Normally, the basic axis other than plane selection axes in basic coordinate system is set to plane
non-selection axis.

Example 1)
When X-Y plane (G17) is selected with the
following axis configuration, plane selection
axes are X axis and Y axis, and plane
non-selection axis is Z axis. (Fig. 2.3.6 (c))
No.1022

(X)=1: X axis of the basic three axes
(Y)=2: Y axis of the basic three axes
(Z)=3: Z axis of the basic three axes
(W)=7: Axis parallel to Z axis
(A)=0: Rotary axis

However, there are the following exceptions.

(1) The basic axis other than plane selection axes in basic coordinate system

does not exist.

(1) - 1 When parallel axis does not exist.

In this case, check of the tool path between blocks is executed on the plane composed by plane
selection axes.

Example 2)
When X-Y plane (G17) is selected with
the following axis configuration, plane
selection axes are X axis and Y axis,
and plane non-selection axis does not
exist. (Fig. 2.3.6 (d))
No.1022

(X)=1: X axis of the basic three axes
(Y)=2: Y axis of the basic three axes
(A)=0: Rotary axis

: Forbidden area

Plane selection axis

Plane non-selection
axis

Plane selection axis

Plane non-selection
axis

When forbidden area is outside.

When forbidden area is inside.

Fig. 2.3.6 (c) Target axis in Example 1

Z axis

Y axis

X axis

When forbidden area
is outside.

When forbidden area
is inside.

Z axis

Y axis

X axis

Fig. 2.3.6 (d) Target axis in Example 2

Y axis

X axis

Y axis

X axis

When forbidden area
is outside.

When forbidden area
is inside.

2. PREPARATIONS FOR OPERATION

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(1) - 2 When the parallel axis exists.

In this case, the parallel axis of lowest number of intra-path relative axis number which is parallel to
the basic axis other than plane selection axes is set to plane non-selection axis.

Example 3)
When X-Y plane (G17) is selected with
the following axis configuration, plane
selection axes are X axis and Y axis,
and plane non-selection axis is W axis.
(Fig. 2.3.6 (e))
No.1022

(X)=1: X axis of the basic three axes
(Y)=2: Y axis of the basic three axes
(W)=7: Axis parallel to Z axis
(A)=0: Rotary axis

(2) In the state of selecting the plane which includes the plane non-selection axis

direction, the axis movement had been specified.

In this case, the axis which was specified by the plane selection is set to plane non-selection axis.

However, when the axis movement by "List of modes that cannot execute check of the tool path
between blocks" or "List of commands that cannot execute check of the tool path between blocks" is
specified, the axis which was specified by the plane selection is not set to plane non-selection axis. And,
the basic axis other than plane selection axes in the basic coordination system is set to plane
non-selection axis when G code group of plane selection G code clear by reset etc. (Example 4)

Example 4)
When U-Y plane (G17) is selected after
specifying the axis movement in W-X plane
(G18) with the following axis configuration
(Program example 1), plane selection axes
are U axis and Y axis, and plane
non-selection axis is W axis. (Fig. 2.3.6 (f))
No.1022

(X)=1: X axis of the basic three axes
(Y)=2: Y axis of the basic three axes
(Z)=3: Z axis of the basic three axes
(U)=5: Axis parallel to X axis
(W)=7: Axis parallel to Z axis
(A)=0: Rotary axis

Fig. 2.3.6 (e) Target axis in Example 3

W axis

Y axis

X axis

W axis

Y axis

X axis

When forbidden area
is outside.

When forbidden area
is inside.

Fig. 2.3.6 (f) Target axis in Example 4 (U-Y-W)

When forbidden area
is outside.

When forbidden area
is inside.

W axis

Y axis

U axis

W axis

Y axis

U axis

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2. PREPARATIONS FOR OPERATION

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However, plane non-selection axis is
Z axis in the following case. (Fig. 2.3.6 (g))
1. After selecting W-X plane (G18),

U-Y plane (G17) is selected without
specifying the axis movement
(Program example 2).

2. After selecting W-X plane (G18),

U-Y plane (G17) is selected after
specifying only the axis movement by
"List of modes that cannot execute
check of the tool path between blocks" or
"List of commands that cannot execute
check of the tool path between blocks"
(Program example 3).

Afterwards, when G code group of plane
selection G code clears by reset etc.,
plane selection axes are X axis and
Y axis, and plane non-selection axis is
Z axis. (Fig. 2.3.6 (h))

When G code group of plane
selection G code clears by reset
etc..

Fig. 2.3.6 (g) Target axis in Example 4 (U-Y-Z)

When forbidden area
is outside.

When forbidden area
is inside.

Z axis

Y axis U axis

Z axis

Y axis U axis

<Program example 1>
O0001
G18W0X0
G01W10.0X10.0F1000.0

G17U0Y0

<Program example 2>
O0001
G18W0X0

G17U0Y0

<Program example 3>
O0001
G18W0X0
G31W100.0F100.0
G31X100.0F100.0
G17U0Y0

When axis movement of W axis is specified,

When axis movement of W axis is not specified,

plane selection axes are U axis and Y axis, and plane
non-selection axis is W axis.

plane selection axes are U axis and Y axis, and plane
non-selection axis is Z axis.

When axis movement of W axis is specified by G31 command
in case of setting bit 2 (NPC) of parameter No.1301 to 1 or
etc. ,

Fig. 2.3.6 (h) Target axis in Example 4 (Clear state)

Z axis

Y axis X axis

Z axis

Y axis

X axis

When forbidden area
is outside.

When forbidden area
is inside.

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