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FANUC Series 0i-MODEL F Plus. CONNECTION MANUAL (FUNCTION) - page 166

8. MULTI-PATH CONTROL

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Address P to be specified in the same block as that containing a waiting M code can be set in either of
two ways:
-

When the bit 1 (MWP) of parameter No. 8103 is set to 0 :
Waiting with a binary value specification

When the bit 1 (MWP) of parameter No. 8103 is set to 1 :
Waiting with a path number combination specification

Waiting specified with binary values

When bit 1 (MWP) of parameter No. 8103 is set to 0, the value specified at address P is assumed to be
obtained using binary values. The following table lists the path numbers and corresponding binary values.

Path number

Binary value (decimal number)

2 or

Loader path 1(1 control path)

Loader path 1 (2 control paths) or

Loader path 2(1 control path)

Loader path 2 (2 control paths)

The bit position of each path in binary representation is shown below.

Path 1( 2

= 1 )

Path 2 or
Loader path( 2

= 2 )

Loader path( 2

= 4 )

Loader path( 2

= 8 )

To make all of paths 1, 2, and 3 wait for one another, the P value is obtained as follows:
Binary value of path 1

1 (0000 0000 0000 0001)

Binary value of path 2

2 (0000 0000 0000 0010)

Binary value of path 3

4 (0000 0000 0000 0100)

Sum

7 (0000 0000 0000 0111)

All of the three paths can be made to wait for one another by specifying P7 together with an M code for
waiting.

Waiting specified with a combination of path numbers

When bit 1 (MWP) of parameter No. 8103 is set to 1, the value specified at address P is assumed to be a
combination of path numbers. The following table lists the path numbers and corresponding values.

Path number

Value (decimal number)

2 or

Loader path 1(1 control path)

Loader path 1 (2 control paths) or

Loader path 2(1 control path)

Loader path 2 (2 control paths)

To make all of paths 1, 2, and 3 wait for one another, the P value is a number consisting of 1, 2, and 3.
Example) P123
There are no restrictions on the order in which the numeric characters are specified, the following six
possible values can be specified:

P123, P132, P213, P231, P312, P321

Path numbers specified in combination in different orders for different paths are effective as long as the
numbers of the relevant paths are specified.

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Example)

The following are treated as the same P value and these paths can be made to wait for one another:

M200P123 for path 1, M200P231 for path 2, and M200P321 for path 3

Program example

When the value specified at P is obtained using binary values

Assume that the no-wait signal NOWT <G0063.1> for path 2 (NMWT<G1063.7> for a system with three
or more paths) is set to "1" and M101 to M103 (parameter No. 8110 = 101 and parameter No. 8111 =
103) are set as M codes for waiting. In this case, programs O100, O200, and O300 for individual paths
are executed as follows:

O0300;

G50 X Z ;

G00 X Z T0303;

M102 P7; ................. <2>

O0100;

G50 X Z ;

G00 X Z T0101;

M03 S1000;

M101 P3; .................. <1>

G01 X Z F ;

M102 P7; .................. <2>

M103 P7; .................. <3>

O0200;

G50 X Z ;

G00 X Z T0202;

M03 S2000;

M101 P3; .................. <1>

G01 X Z F ;

M102 P7; .................. <2>

M103 P7; .................. <3>

.
.
.

G00 X Z ;

M103 P7; .................. <3>

G00 X Z ;

G01 X Z F ;

.
.

<<Waiting (M102)>>

<<Waiting (M103)>>

Path 1

Path 2

Path 3

<1> M101 P3; (making paths 1 and 2 wait for each other)

When the no-wait signal for path 2 is set to "0", paths 1 and 2 wait for each other. Because the signal
is set to "1", however, paths 1 and 2 ignore the M code for waiting and immediately execute the next
block.

<2> M102 P7; (making paths 1, 2, and 3 wait for one another)

In this example, path 3 waits for processing on paths 1 and 2 to terminate. Because the no-wait
signal for path 2 is set to "1", however, path 3 assumes that waiting is completed when processing on
path 1 terminates, and executes the next block.

<3> M103 P7; (making paths 1, 2, and 3 wait for one another)

In this example, paths 1 and 2 wait for processing on path 3 to terminate. Because the no-wait signal
for path 2 is set to "1", however, path 2 does not wait for processing on path 3 to terminate and
executes the next block, but path 1 waits for path 3.

When the value specified at P is obtained using path numbers in combination

Assume that the no-wait <G0063.1> signal for path 2 (NMWT<G1063.7> for a system with three or more
paths) is set to "1" and M101 to M103 (parameter No. 8110 = 101 and parameter No. 8111 = 103) are set
as M codes for waiting. In this case, programs O100, O200, and O300 for individual paths are executed as
follows:

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O0300;

G50 X Z ;

G00 X Z T0303;

M102 P123; ............. <2>

O0100;

G50 X Z ;

G00 X Z T0101;

M03 S1000;

M101 P12; ................ <1>

G01 X Z F ;

M102 P123; .............. <2>

M103 P123; .............. <3>

O0200;

G50 X Z ;

G00 X Z T0202;

M03 S2000;

M101 P12; ................ <1>

G01 X Z F ;

M102 P123; .............. <2>

M103 P123; .............. <3>

.
.
.

G00 X Z ;

M103 P123; .............. <3>

G00 X Z ;

G01 X Z F ;

.
.

<<Waiting (M102)>>

<<Waiting (M103)>>

Path 1

Path 2

Path 3

<1> M101 P12; (making paths 1 and 2 wait for each other)

<2> M102 P123; (making paths 1, 2, and 3 wait for one another)

<3> M103 P123; (making paths 1, 2, and 3 wait for one another)

Signal

You can invalidate waiting by using the no-wait signal.
The waiting M code of a path for which the no-wait signal is "1" is ignored by other paths, thereby
invalidating waiting. You use this signal if you are to perform automatic operation with a program
containing a waiting M code, but you want to keep a certain path stopped while performing automatic
operation in the other paths. For the path that you want to keep stopped, set the no-wait signal to "1".

No-wait signal

NOWT<G0063.1>(for path common signal interface)

NMWT<Gn063.7>(for path individual signal interface)

[Classification] Input signal

[Function] Specifies whether to synchronize the paths by the waiting M code.

[Operation] When this signal turns to "1" the paths are not synchronized by the M code. The M code

for waiting specified in a machining program is ignored.
When this signal turns to "0", the paths are synchronized by the M code. When the M
code for waiting is specified for one path, the CNC waits for the corresponding M code of
another path to be issued, then starts executing the next block.

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Waiting signal

WATO<F0063.6>(for path common signal interface)

WATO<Fn063.6>(for path individual signal interface)

[Classification] Output signal

[Function] Indicates that the M code is waiting for a path.

[Output cond.] These signals are "1" as long as:

One path is waiting for another path. That is, the signal stays "1" for the period from
when the M code for waiting is issued to one path to when the corresponding M
code is issued to another path.

This signal is "0" as long as:
-

Neither of the paths are waiting for the other.

NOTE

When the path common signal interface (bit 0 (MWT) of parameter
No. 8103 = 1) is used, F0063.6=1 results even if path 2 is placed in
the wait state.

So, when the wait state needs to be checked with each path, use
the path individual signal interface (bit 0 (MWT) of parameter No.
8103 = 0).

Signal address

For path common signal interface

G0063

NOWT

F0063

WATO

For path individual signal interface

Gn063

NMWT

Fn063

WATO

Parameter

8103

MWP

MWT

[Input type] Parameter input

[Data type] Bit

NOTE

When at least one of these parameters is set, the power must be
turned off before operation is continued.

#0 MWT

As the signal interface for the waiting M code:

The path individual signal interface is used.

The path common signal interface is used.

This parameter can be selected only when 2-path control is used.

#1 MWP

To specify a P command for the waiting M code/balance cut:

A binary value is used as conventionally done.

A path number combination is used.

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8110

Waiting M code range (minimum value)

8111

Waiting M code range (maximum value)

[Input type] Parameter input

[Data type] 2-word

[Valid data range] 0 ,100to99999999

A range of M code values can be set by specifying a minimum waiting M code value
(parameter No. 8110) and a maximum waiting M code value (parameter No. 8111).
(parameter No. 8110)

≤

(waiting M code)

≤

(parameter No. 8111)

Set 0 in these parameters when the waiting M code is not used.

Alarm and message

Number

Message

Description

PS0160

MISMATCH WAITING
M-CODE

<1> When different M codes are specified for path 1 and path 2 as

waiting M codes without a P command.

<2> When the waiting M codes are not identical even though the P

commands are identical

<3> When the waiting M codes are identical and the P commands are

not identical (This occurs when a P command is specified with
binary value.)

<4> When the number lists in the P commands contain a different

number even though the waiting M codes are identical (This occurs
when a P command is specified by combining path numbers.)

<5> When a waiting M code without a P command (2-path waiting) and a

waiting M code with a P command (3-or-more-path waiting) were
specified at the same time

<6> When a waiting M code without a P command was specified for 3 or

more paths.

PS0161

ILLEGAL P OF WAITING
M-CODE

<1> When address P is negative
<2> When a P value inappropriate for the system configuration was

specified

<3> When a waiting M code without a P command (2-path waiting) was

specified in the system having 3 or more paths.

An alarm occurs in all the paths in which an alarm-related waiting M code has been executed, bringing
them into a single block stop and placing them in the automatic operation stop state.
At this time, the paths other than the alarm-related ones are stopped immediately, entering the automatic
operation idle state.

Caution

CAUTION

1  Be sure to specify a waiting M code in an independent block.
2  Unlike other M codes, waiting M codes are not output to PMCs.
3  If you want to independently operate one path only, you need not delete that

waiting M code. Using the no-wait signal (NOWT for a 2-path system and NMWT
for a 3-path system), you can invalidate the waiting M code specified in the
machining program. For details, refer to the manual issued by the machine tool
builder.

4 To use a waiting M code in mode for multiple M commands in a single block, the

M code must be specified as the first M code.

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Reference item

Manual name

Item name

OPERATOR’S MANUAL (B-64694EN)

WAITING FUNCTION FOR PATHS

8.3

WAITING M CODES OF HIGH-SPEED TYPE

Overview

Waiting M codes of high-speed type are useful function to reduce the cycle time of a program operation.

Specification

In order to use Waiting M codes of high-speed type, it is necessary to set the range of the M codes to
parameters Nos.8114 and 8115.
The usage of these type M codes is similar to normal waiting M codes. For instance, the ways to set a
path by address P and to use a no-wait signal or so on are the same.

Format

;

: Number of an M code for waiting

: (1) In the binary value specification mode, specify the sum of the binary values

corresponding to the numbers of paths which are to wait for one another.

(2) In the path number specification mode, specify the numbers of all paths that

are to wait for one another in combination.

NOTE

1 Specify a waiting M code only in a block.
2 The irrelevant command, which is specified with a waiting M code in a block, is

ignored.

Detail

Specifying the path by address P

The way to specify the path by address P is the same as normal waiting M codes.

Waiting signal

Waiting signal WATO<F0063.6> (for path common signal interface) and WATO<Fn063.6> (for path
individual signal interface) are output like normal waiting M codes.

No-wait signal

No-wait signal NOWT<G0063.1> (for path common signal interface) and NMWT<Gn063.7> (for path
individual signal interface) are effective like normal waiting M codes.

Waiting M codes of high-speed type invalid signal

Waiting M codes of high-speed type are treated as normal waiting M codes when waiting M codes of
high-speed type invalid signal NHSW<G0579.6> is set to "1".

Limitation

Display of the currently executing program

Instead of the block of waiting M code, the block before waiting M code is displayed as the currently
executing program during waiting of high-speed type.

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Function code signal and strobe signal

As for waiting M code of high-speed type, the function code signal and strobe signal are not output.

Modal display

Waiting M codes of high-speed type are not displayed as the information of M code modal.

Condition to treat waiting M codes of high-speed type as normal waiting M codes

When one of the following conditions is satisfied, waiting M codes of high-speed type are treated as
normal waiting M codes.

-

Waiting M codes of high-speed type invalid signal is set to "1".

The single-block operation is enabled.

Waiting M codes of high-speed type are specified in the same block as the program number.

In manual handle retrace function, the checking mode synchronizing an operation with a manual
handle pulse is selected.

Animation or path drawing of dynamic graphic display is operated.

NOTE

1 Waiting between waiting M codes of high-speed type and waiting M codes of

high-speed type treated as normal waiting M codes cannot be executed when
setting bit 7 (HMA) of parameter No.11279 to 0. In this case, alarm (PS0160)
“MISMATCH WAITING M-CODE” occurs.
Example)

When either path 1 or path 2 is under the single block operation and waiting
by "waiting M code of high-speed type" is executed between path 1 and
path2, alarm (PS0160) occurs.

2 Waiting between waiting M codes of high-speed type and waiting M codes of

high-speed type treated as normal waiting M codes can be executed when
setting bit 7 (HMA) of parameter No.11279 to 1. And, waiting M codes of
high-speed type can be specified during Relation of cutter compensation by
setting bit 7 (HMA) of parameter No.11279 to 1. In this case, waiting M codes of
high-speed type are not work at a high-speed, waiting M codes of high-speed
type are treated as normal waiting M codes, and the processing time of waiting
M codes of high-speed type is equal with normal waiting M codes.

Auxiliary function output in moving axis

Waiting is not executed even if waiting M code of high-speed type is specified, when Auxiliary function
output in moving axis (G50.9) is given in the same block. In this case, M code is treated as a normal
auxiliary function.

Manual handle retrace function

In Manual handle retrace function, a backward movement cannot be executed while the block of waiting
M codes of high-speed type  is executing.  The backward movement ends  when an operation enters  the
next block of waiting M code of high-speed type during the backward movement.  And  ‘RVED’  is
displayed.
However, in the checking mode synchronizing with a manual handle pulse, the backward movement can
be executed when  waiting M code of high-speed type was executed once during  forward movement,
because the M code is treated as a normal M code in this case.

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Retrace

The backward movement cannot be executed by Retrace function in the block of waiting M codes of
high-speed type. The backward movement ends when the next block of waiting M code of high-speed
type just starts executing during the backward movement. And ‘RVED’ is displayed.

Waiting function by specifying start point

Waiting M codes of high-speed type cannot act as a waiting function by specifying start point. Alarm
(PS0160) occurs when such a command is specified. Use normal waiting M codes to use waiting function
by specifying start point.

Relation of cutter compensation

Waiting M codes of high-speed type cannot be specified during the following cutter compensation
functions. Alarm (PS0160) occurs when such a command is specified. Set the bit 7 (HMA) of parameter
No.11279 to 1, or use normal waiting M codes during the following cutter compensation functions.
- Cutter compensation and tool nose radius compensation

NOTE

Waiting M codes of high-speed type cannot be specified just after the cancel
command of cutter compensation, tool nose radius compensation. Moreover,
waiting M codes of high-speed type cannot be specified while the vector of cutter
compensation is being held.

Multiple repetitive canned cycle

Waiting M codes of high-speed type cannot be specified during Multiple repetitive canned cycle G70 to
G73. Alarm (PS0160) occurs when such a command is specified. Use normal waiting M codes during
Multiple repetitive canned cycle G70 to G73.

Chamfering and corner R, Optional chamfering and corner R and Direct drawing
dimension programming

In the condition to treat waiting M codes of high-speed type as normal waiting M codes, alarm (PS0051)
“MISSING MOVE AFTER CNR/CHF” occurs when waiting M codes of high-speed type are specified
during Chamfering and corner R or Optional chamfering and corner R. And alarm (PS0312) “ILLEGAL
COMMAND IN DIRECT DRAWING DIMENSIONS PROGRAMMING” occurs when waiting M codes
of high-speed type are specified during Direct drawing dimension programming.

Quick program restart

When the program is interrupted by reset or etc. while executing waiting of high-speed type, the previous
block of waiting M codes is regarded as the last restart point, instead of the block of waiting M codes.

Output to the PMC

Waiting M codes are not output to the PMC unlike the other M codes.

Occurring alarm while waiting

The state of cycle start lamp signal STL<Fn000.5> is as follows when an alarm occurs while waiting.

Cycle start lamp signal STL<Fn000.5>

When alarms PS, SR or IO occurs.

When other alarms occurs.

Waiting M codes of normal

STL = 1

STL = 0

Waiting M codes of high-speed type

STL = 0

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