FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 60

15.COMPENSATION FUNCTION

PROGRAMMING

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- Combination with tool center point control

If bit 5 (WKP) of parameter No. 19696 = 0 (table coordinate system
command), starting tool center point control with the table rotation
axis position not set at 0 usually causes the workpiece coordinate
system to be fixed at the table with it in the startup state, thus making
it the table coordinate system.
If tool center point control is carried out in the workpiece setting error
compensation mode, this specification becomes ineffective, and the
table coordinate system is set up on the assumption that the workpiece
coordinate system is fixed at the table with the table rotation axis
position being at 0.

- Speed in the workpiece setting error compensation mode

When workpiece setting error compensation is performed in a
machine of table rotation or composite type, processing equivalent to
tool center point control is carried out so that tool movement as
viewed from the table can be controlled.
In this case, control point movement is calculated by assuming that the
tool tip moves at the specified speed. If the resulting control point
speed exceeds the specified speed, the feedrate is clamped at the
specified speed.

Conversely, if the control point speed is lower than the specified speed,
it is likely that the tool may move at a speed lower than the specified
speed.

Center point movement (at specified speed F) viewed
from the table

Control point movement as viewed from the table

Workpiece setting error
compensation
(Rotation axis position
is also compensated)

Table rotation

Actual control point
movement

If this speed is about to exceed the specified speed,
the feedrate is clamped at the specified speed.

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16.CUSTOM MACRO

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CUSTOM MACRO

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.

O0001 ;
    :
    :
    :
G65 P9010 R50.0 L2 ;
    :
    :
M30 ;

Machining program

Custom macro

O9010 ;
#1=#18/2 ;
G01 G42 X#1 Y#1 F300 ;
02 X#1 Y-#1 R#1 ;
    :
    :
    :
M99 ;

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16.1

VARIABLES

An ordinary machining program specifies a G code and the travel
distance directly with a numeric value; examples are G100 and
X100.0.
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 F300 ;

Explanation
- Variable representation

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

#i (i = 1, 2, 3, 4, .....)
[Example] #5
#109
#1005

A variable can also be represented as follows using <expression>
described in the section about arithmetic and logic operation
commands.

#[<expression>]
[Example] #[#100]
#[#1001-1]
#[#6/2]

Variable #i shown in the following can be replaced with a variable of
#[<expression>].

- Types of variables

Variables can be classified as local variables, common variables, and
system variables according to the variable number. Each of those
variables has its own usage and characteristics. Read-only system
constants are also provided.

- Range of variable values

Local and common variables can have a value in the following ranges.
If the result of calculation exceeds the range, an alarm PS0111 is
issued.
When bit 0 (F16) of parameter No.6008 = 0

Maximum value: approx.

308

Minimum value: approx.

-308

Numeric data handled by a custom macro conforms to the IEEE
standard and is handled as a double-precision real number. An
error resulting from operation depends on the precision.

When bit 0 (F16) of parameter No.6008 = 1

Maximum value: approx.

Minimum value: approx.

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- Local variable (#1-#33)

A local variable is a variable that is used locally in a macro.    That is,
local variable #i used by a macro called at a certain time is different
from that used by a macro called at another time, regardless of
whether the two macros are the same.    Therefore, for example, when
macro A calls macro B during multiple calls or the like, it is
impossible for macro B to corrupt a local variable used by macro A by
erroneously using the variable.
A local variable is used to pass arguments. For information on
correspondence between arguments and addresses, see the section
about macro calling commands.    The initial state of a local variable
to which no arguments are passed is <null> and the user can freely use
the variable. The attribute of a local variable is READ/WRITE
enabled.

- Common variable (#100-#199, #500-#999)

A common variable is shared among the main program, subprograms
called by the main program, and macros while a local variable is used
locally in a macro.    That is, #i used by a macro is the same as that used
by another macro.    Therefore, a resultant common variable obtained by
using a macro can be used by another macro. The attribute of a
common variable is basically READ/WRITE enabled.  However, the
common variable can be protected (its attribute is set to READ only) by
specifying its variable number using parameters No.6031 and No.6032.
A common variable can be freely used by the user even when its usage
is not defined by the system.    The number of common variables can be
specified by selecting one of the following options.

(a) 100 common variables (specified only with the custom macro

option)

The common variables #100 to #149 and #500 to #549 can be
used. The variables #100 to #149 are cleared during
power-down, but the variables #500 to #549 are retained during
power-down.

(b) 600 common variables (specified with the custom macro

option or custom macro common variable addition option)

The common variables #100 to #199 and #500 to #999 can be
used. The variables #100 to #199 are cleared during
power-down, but the variables #500 to #999 are retained during
power-down.

- Write protection of a common variable

Multiple common variables (#500 to #999) can be protected (their
attributes are set to READ only) by setting variable numbers in
parameters No.6031 and No.6032. This protection is enabled for
both Input/All Clear by MDI on the macro screen and write operation
by a macro program. If the NC program specifies WRITE operation
(used in the left side) for a common program in the set range, an alarm
PS0116 is issued.

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- System variable

A variable whose usage does not vary in the system. The attribute of
a system variable is READ only, WRITE only, or READ/WRITE
enabled depending on the nature of a system variable.

- System constant

A system constant can be referenced as with a variable even though its
value is fixed. The attribute of a system constant is READ only.

- Omission of the decimal point

When a variable value is defined in a program, the decimal point can
be omitted.

[Example]

When #1 = 123; is defined, the actual value of variable #1 is 123.000.

- Referencing variables

The value following an address can be replaced with a variable.
When programming as <address>#i or <address>-#i, the variable
value or the complement of it is used as the specified value of the
address.

[Example] F#33 is the same as F1.5 when #33 = 1.5.

Z-#18 is the same as Z-20.0 when #18 = 20.0.

G#130 is the same as G3 when #130 = 3.0.

A variable cannot be referenced using address/, :, or O and N.

[Example] Programming such as O#27 or N#1 is not allowed.

n (n = 1 to 9) in the optional block skip /n cannot be a variable.

A variable number cannot be specified by a direct variable.

[Example] When replacing 5 in #5 with #30, specify #[#30] instead of ##30.

No values exceeding the maximum allowable value for each
address can be specified.

[Example] When #140 = 120, G#140 exceeds the maximum allowable

value.

When a variable is used as address data, the variable is
automatically rounded off to the number of significant figures of
each address or less.

[Example] For a machine with an increment system of 1/1000 mm (IS-B),

when #1 = 12.3456, G00 X#1; becomes G00 X12.346;.

If <expression>, described later, is used, the value following an
address can be replaced with <expression>.

<address>[<expression>] or <address>-[<expression>]

The program code shown above indicates the value of <expression> or
the complement of the value is used as an address value. Note that a
constant with no decimal point, enclosed in brackets ([ ]), is assumed
to have a decimal point at the end.

[Example] X[#24+#18*COS[#1]]

Z-[#18+#26]

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- Undefined variable

When the value of a variable is not defined, such a variable is referred
to as a "null" variable. Variables #0 and #3100 are always null
variables. They cannot be written to, but they can be read.

(a) Quotation

When an undefined variable is quotated, the address itself is also
ignored.

Original command

G90 X100 Y#1

Equivalent command when #1 = <null>

G90 X100

Equivalent command when #1 = 0

G90 X100 Y0

(b) Definition/replacement, addition, multiplication

When a local variable or common variable is directly replaced
with <null>, the result is <null>. When a system variable is
directly replaced with <null> or the result of calculation
including <null> is replaced, a variable value of 0 is assumed.

Original expression

(local variable)

#2=#1 #2=#1*5 #2=#1+#1

Replacement result

(when #1 = <null>)

<null> 0

Replacement result (when #1 = 0)

Original expression

(common variable)

#100=#1

#100=#1*5 #100=#1+#1

Replacement result

(when #1 = <null>)

<null> 0

Replacement result (when #1 = 0)

Original expression

(system variable)

#2001=#1 #2001=#1*5 #2001=#1+#1

Replacement result

(when #1 = <null>)

0 0 0

Replacement result (when #1 = 0)

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

<null> is equal to 0 for GE, GT, LE, and LT.

•

When <null> is assigned to #1

Conditional

expression

#1 EQ #0

#1 NE 0

#1 GE #0

#1 GT 0

#1 LE #0

#1 LT 0

Evaluation

result

Established

(true)

Established

(true)

Established

(true)

Not

established

(false)

Established

(true)

Not

established

(false)

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•

When 0 is assigned to #1

Conditional

expression

#1 EQ #0

#1 NE 0

#1 GE #0

#1 GT 0

#1 LE #0

#1 LT 0

Evaluation

result

Not

established

(false)

Not

established

(false)

Established

(true)

Not

established

(false)

Established

(true)

Not

established

(false)

- Specifying a system variable (constant) by its name

A system variable (constant) is specified by its variable number, but it
can also be specified by its predetermined system variable (constant)
name.    A system variable (constant) name begins with an underscore
(_), followed by up to seven uppercase letters, numerics, or
underscores.  For axis-dependent variables (such as coordinates) or
variables having a lot of data of similar types (such as tool
compensation), subscript [n] (n: integer) can be used to specify values.
In this case, n can be specified in <expression> format (calculation
format).
The command format must be specified in [#system-variable-name]
format, as shown below.

[#_DATE]

[Example]

[#_DATE]=20040117 ;

: 2004.01.17 is assigned to #3011 (year

month date).

[#_TIME]=161705

;

16:17:05

is assigned to #3012 (time

minute second).

#101=[#_ABSMT[1]] ;

: #5021 (machine coordinate value of

the 1st axis) is read off and assigned
to #101.

#102=[#_ABSKP[#500*2]]

;

#506x

(skip

position of [#500*2]th axis)

is read off and assigned to #102.

If a value other than an integer is specified for subscript n, a variable
value is referenced, assuming that the fractional portion is rounded
off.

[Example]

[#_ABSIO[1.4999999]]

: This

value

is assumed to be [#_ABSIO[1]],

that is, #5001.

[#_ABSIO[1.5000000]]

: This

value

is assumed to be [#_ABSIO[2]],

that is, #5002.

NOTE

1 When the specified variable name is not registered,

an alarm PS1098 is issued.

2 When a negative or other invalid subscript is

specified, an alarm PS1099 is issued.

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- System constant #0, #3100-#3102 (Attribute: R)

Constants used as fixed values in the system can be used as system
variables. Such constants are called system constants. The system
constants provided are shown below.

Constant

number

Constant

name

Description

#0, #3100

[#_EMPTY] Null

#3101

[#_PI]

Circular constant

= 3.14159265358979323846

#3102

[#_E]

Base of natural logarithm e

= 2.71828182845904523536

- Specifying a common variable by its name

Specifying a variable name set by the SETVN command described
later allows reading from or writing to a common variable.
The command must be specified in the form
[#common-variable-name] such as [#VAR500].

[Example]

X[#POS1] Y[#POS2] ;

: Specifying a position by the variable

name

[#POS1] = #100+#101 ;

: Executing a assignment statement

by the variable name

#[100+[#ABS]] = 500 ;

: Same as above (by a variable

number)

#500 = [1000+[#POS2]*10] ; : Reading a variable by a variable

name

- Setting and specifying the name of a common variable (SETVN)

For the 50 common variables, #500 to #549, a name of up to eight
characters can be specified by using a command as shown below.

SETVN n [VAR500, VAR501, VAR502,......] ;

n represents the starting number of a common variable for which the
name is specified.
VAR500 is the variable name of variable n, VAR501 is the variable
name of variable n+1, and VAR502 is the variable name of variable
number n+2, and so on. Each string is delimited by a comma (,).
All codes that can be used as meaningful information in a program
except control in, control out, [, ], EOB, EOR, and : (colon in a
program number) can be used. However, each name must begin with
an alphabetical character. Variable names are not cleared on
switch-off.
Specifying a set variable name allows reading from or writing to the
common variable. The command must be specified in the form
[#common-variable-name] such as [#VAR500].

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