FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 68

16.CUSTOM MACRO

PROGRAMMING

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- Dynamic reference tool compensation value #118051-#118450 (Attribute: R/W)

The dynamic reference tool compensation value in the rotary head
dynamic tool compensation function can be obtained by reading
system variables #118051 to #118450. The dynamic reference tool
compensation value can also be obtained by assigning values to the
system variables.

Variable

number

Variable name

Controlled axis

Dynamic tool

offset number

#118051
#118052

#118100

[#_DOFS1[1]]
[#_DOFS1[2]]

[#_DOFS1[50]]

1st axis dynamic reference tool compensation value
2nd axis dynamic reference tool compensation value

50th axis dynamic reference tool compensation value

(G43.2H1)

#118101
#118102

#118150

[#_DOFS2[1]]
[#_DOFS2[2]]

[#_DOFS2[50]]

1st axis dynamic reference tool compensation value
2nd axis dynamic reference tool compensation value

50th axis dynamic reference tool compensation value

(G43.2H2)

#118151
#118152

#118200

[#_DOFS3[1]]
[#_DOFS3[2]]

[#_DOFS3[50]]

1st axis dynamic reference tool compensation value
2nd axis dynamic reference tool compensation value

50th axis dynamic reference tool compensation value

(G43.2H3)

#118201
#118202

#118250

[#_DOFS4[1]]
[#_DOFS4[2]]

[#_DOFS4[50]]

1st axis dynamic reference tool compensation value
2nd axis dynamic reference tool compensation value

50th axis dynamic reference tool compensation value

(G43.2H4)

#118251
#118252

#118300

[#_DOFS5[1]]
[#_DOFS5[2]]

[#_DOFS5[50]]

1st axis dynamic reference tool compensation value
2nd axis dynamic reference tool compensation value

50th axis dynamic reference tool compensation value

(G43.2H5)

: :

#118401
#118402

#118450

[#_DOFS8[1]]
[#_DOFS8[2]]

[#_DOFS8[50]]

1st axis dynamic reference tool compensation value
2nd axis dynamic reference tool compensation value

50th axis dynamic reference tool compensation value

(G43.2H8)

NOTE

When variables exceeding the number of control
axes are specified, the alarm PS0115, “VARIABLE
NO. OUT OF RANGE” occurs.

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- Feedrate reduction ratio for rapid traverse overlap #100851-#100900 (Attribute:

R/W)

The feedrate reduction ratio for rapid traverse overlap can also be
changed by setting values to the system variables #100851 to
#100900.

Variable number

Variable name

Controlled axis

#100851

#100852

#100900

[#_ROVLP[1]]

[#_ROVLP[2]]

[#_ROVLP[50]]

1st axis feedrate reduction ratio for rapid
traverse overlap
2nd axis feedrate reduction ratio for rapid
traverse overlap
:
50th axis feedrate reduction ratio for rapid
traverse overlap

- Switching between P-CODE variables and system variables (#10000 or later)

#8570 (Attribute: R/W)

This system variable allows read/write operations of P-CODE
variables (#10000 to #89999) for the macro executor function. For
details on P-CODE variables, refer to the Macro Compiler / Macro
Executor Programming Manual (B-63943EN-2).
System variable #8570 can be used to make variables #10000 or later
correspond to either P-CODE variables or system variables.

#8570 setting

Specified variable

Corresponding variable

#8570 = 1

#10000

#89999

P-CODE variables (#10000)

P-CODE variables (#89999)

#8570 = 0

#10000

#89999

System variables (#10000)

System variables (#89999)

Example

#8570 = 0 ;

#10001 = 123 ;

→

Writing to system variable

#10001 (tool compensation)

#8570 = 1 ;

#10001 = 456 ;

→

Writing to P-CODE variable

#10001 (tool compensation)

NOTE

1 Variable #8570 can be used only when the macro

executor function is enabled.

2 System variables (#10000 or later) always

correspond to system variables specified by their
variable names even when #8570 is 1.

3 When an attempt is made to access a variable that

cannot be used with P-CODE variables (#10000 or
later), an alarm PS0115 occurs.

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16.3

ARITHMETIC AND LOGIC OPERATION

Various operations can be performed on variables. Program an
arithmetic and logic operation in the same way as for a general
arithmetic expression.
#i=<expression>

<Expression>

The expression to the right of the arithmetic and logic operation
contains constants and/or variables combined by a function or
operator. Variables #j and #k below can be replaced with a constant.
If a constant used in an expression has no decimal point, it is assumed
to end with a decimal point.

Table 16.3 (a) Arithmetic and logic operation

Type of operation

Operation

Description

<1> Definition or

replacement

#i=#j

Definition or replacement of a variable

<2> Addition-type

operations

#i=#j+#k
#i=#j-#k
#i=#j OR #k
#i=#j XOR #k

Addition
Subtraction
Logical OR (bit by bit of 32 bits)
Exclusive OR (bit by bit of 32 bits)

<3> Multiplication-type

operations

#i=#j*#k
#i=#j/#k
#i=#j AND #k
#i=#j MOD #k

Multiplication
Division
Logical AND (bit by bit of 32 bits)
Remainder (A remainder is obtained after #j and #k
are rounded to their nearest whole numbers. When
#j is a negative value, #i is assumed to be a negative
value.)

<4> Functions

#i=SIN[#j]
#i=COS[#j]
#i=TAN[#j]
#i=ASIN[#j]
#i=ACOS[#j]
#i=ATAN[#j]
#i=ATAN[#j]/[#k]
#i=ATAN[#j,#k]
#i=SQRT[#j]
#i=ABS[#j]
#i=BIN[#j]
#i=BCD[#j]
#i=ROUND[#j]
#i=FIX[#j]
#i=FUP[#j]
#i=LN[#j]
#i=EXP[#j]
#i=POW[#j,#k]
#i=ADP[#j]

Sine (in degrees)
Cosine (in degrees)
Tangent (in degrees)
Arc sine
Arc cosine
Arc tangent (one argument), ATN can also be used.
Arc tangent (two arguments), ATN can also be used.
Arc tangent (two arguments), ATN can also be used.
Square root, SQR can also be used.
Absolute value
Conversion from BCD to binary
Conversion from binary to BCD
Rounding off, RND can also be used.
Rounding down to an integer
Rounding up to an integer
Natural logarithm
Exponent using base e (2.718...)
Power (#j to the #kth power)
Addition of a decimal point

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Explanation
- Angle units

The units of angles used with the SIN, COS, ASIN, ACOS, TAN, and
ATAN functions are degrees. For example, 90 degrees and 30
minutes is represented as 90.5 degrees.

- ARCSIN #i = ASIN[#j];

•

The solution ranges are as indicated below:

When the NAT bit (bit 0 of parameter 6004) is set to 0: 270

When the NAT bit (bit 0 of parameter 6004) is set to 1: -90

•

When #j is beyond the range of -1 to 1, an alarm PS0119 is issued.

•

A constant can be used instead of the #j variable.

- ARCCOS #i = ACOS[#j];

•

The solution ranges from 180

to 0

•

When #j is beyond the range of -1 to 1, an alarm PS0119 is issued.

•

A constant can be used instead of the #j variable.

- ARCTAN #i = ATAN[#j]/[#k]; (two arguments)

•

ATAN[#j,#k] is equivalent to ATAN[#j]/[#k].

•

When point (#k,#j) on plane X-Y is given, this function returns the

value of the arc tangent for the angle made by the point.

•

A constant can be used instead of the #j variable.

•

The solution ranges are as follows:

When the NAT bit (bit 0 of parameter 6004) is set to 0: 0

360

Example:

When #1 = ATAN[-1]/[-1]; is specified, #1 is 225.0.

When the NAT bit (bit 0 of parameter 6004) is set to 1: -180

180

Example:

When #1 = ATAN[-1]/[-1]; is specified, #1 is -135.0.

- ARCTAN #i = ATAN[#j]; (one argument)

•

When ATAN is specified with one argument, this function returns

the main value of arc tangent (-90

≤

ATAN[#j]

≤

). In other

word, this function returns the same value as ATAN in calculator
specifications.

•

To use this function as the dividend of a division, be sure to

enclose it with brackets ([]). If this function is not enclosed,
ATAN[#j]/[#k] is assumed.

Example:

#100 = [ATAN[1]]/10 ; : Divides ATAN with one argument by 10.

#100 = ATAN[1]/[10] ; : Executes ATAN with two arguments.

#100 = ATAN[1]/10 ; : Assumes ATAN with two arguments, but issues

an alarm PS1131 because the X coordinate
specification is not enclosed with brackets ([]).

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- Natural logarithm #i = LN[#j];

•

When the antilogarithm (#j) is zero or smaller, an alarm PS0119 is

issued.

•

A constant can be used instead of the #j variable.

- Exponential function #i = EXP[#j];

•

When the result of the operation overflows, an alarm PS0119 is

issued.

•

A constant can be used instead of the #j variable.

- ROUND function

•

When the ROUND function is included in an arithmetic or logic

operation command, IF statement, or WHILE statement, the
ROUND function rounds off at the first decimal place.

Example:

When #1=ROUND[#2]; is executed where #2 holds 1.2345, the value of
variable #1 is 1.0.

•

When the ROUND function is used in NC statement addresses, the

ROUND function rounds off the specified value according to the
least input increment of the address.

Example:

Creation of a drilling program that cuts according to the values of variables
#1 and #2, then returns to the original position

Suppose that the increment system is 1/1000 mm, variable #1 holds

1.2345, and variable #2 holds 2.3456. Then,

G00 G91 X-#1; Moves 1.235 mm in negative direction.

G01 X-#2 F300; Moves 2.346 mm in negative direction.

G00 X[#1+#2]; Since 1.2345 + 2.3456 = 3.5801 in positive direction, the

travel distance is 3.580, which does not return the tool to
the original position.

This difference comes from whether addition is performed before

or after rounding off. G00X-[ROUND[#1]+ROUND[#2]]; must
be specified to return the tool to the original position.

- Add decimal point (ADP) function

•

ADP[#n] (n = 1 to 33) can be executed to add a decimal point to an

argument passed with no decimal point, in the subprogram.

Example:
In the subprogram called with G65 P_X10;, the value of ADP[#24] is a

value to which a decimal point is added at its end (that is, 10.). Use this
function when you do not want to consider the increment system in the
subprogram. When bit 4 (CVA) of parameter No. 6007 is set to 1,
however, the ADP function cannot be used because any argument is
converted to 0.01 the moment it is passed.

NOTE

For compatibility among programs, it is

recommended that the ADP function be not used,
and decimal points be added in the argument
specification for a macro call.

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- Rounding up and down to an integer (FUP and FIX)

With CNC, when the absolute value of the integer produced by an
operation on a number is greater than the absolute value of the original
number, such an operation is referred to as rounding up to an integer.
Conversely, when the absolute value of the integer produced by an
operation on a number is less than the absolute value of the original
number, such an operation is referred to as rounding down to an
integer. Be particularly careful when handling negative numbers.

Example:

Suppose that #1=1.2 and #2=-1.2.

When #3=FUP[#1] is executed, 2.0 is assigned to #3.

When #3=FIX[#1] is executed, 1.0 is assigned to #3.

When #3=FUP[#2] is executed, -2.0 is assigned to #3.

When #3=FIX[#2] is executed, -1.0 is assigned to #3.

- Abbreviations of arithmetic and logic operation commands

When a function is specified in a program, the first two characters of
the function name can be used to specify the function.

Example:
ROUND

→

FIX

→

NOTE

POW cannot be abbreviated.

- Priority of operations

<1> Functions
<2> Operations such as multiplication and division (*, /, AND)
<3> Operations such as addition and subtraction (+, -, OR, XOR)

Example) #1=#2+#3*SIN[#4];

<1>, <2> and <3> indicate the order of

operations.

<1>

<2>

<3>

- Bracket nesting

Brackets are used to change the order of operations. Brackets can be
used to a depth of five levels including the brackets used to enclose a
function. When a depth of five levels is exceeded, an alarm PS0118
occurs.

Example) #1=SIN [ [ [#2+#3] *#4 +#5] *#6];

<1> to <5> indicate the order of operations.

<1>

<2>

<3>

<4>

<5>

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Limitation

•

Caution concerning decreased precision

When bit 0 (F16) of parameter No. 6008 is set to 0

•

Addition and subtraction

Note that when an absolute value is subtracted from another

absolute value in addition or subtraction, the relative error may
become 10

-15

or greater.

For example, assume that #1 and #2 have the following true values

in the process of operation.

(The following values are examples in the process of operation and

cannot actually be specified from any program.)

#1=9876543210.987654321

#2=9876543210.987657777

You cannot obtain the following result with operation #2-#1:

#2-#1=0.000003456

This is because the precision of custom macro variables is 15

decimal digits. With this precision, the values of #1 and #2
become:

#1=9876543210.987650000

#2=9876543210.987660000

(Precisely, the actual values are slightly different from the above

values because they are internally processed in binary.) Therefore,
the result is:

#2-1=0.000010000

A large error occurs.

•

Logical

expressions

Be aware of errors that can result from conditional expressions

using EQ, NE, GT, LT, GE, and LE because they are processed
basically in the same way as addition and subtraction. For
example, if the following statement is used to decide whether #1 is
equal to #2 in the above example, a correct decision may not be
resulted because errors may occur:

IF [#1 EQ #2]

Evaluate the difference between #1 and #2 with:

IF [ABS [#1-#2]LT 0.1]

Then, assume that the values are equal when the difference does

not exceed the allowable error range.

•

Trigonometric

functions

The absolute error is guaranteed for trigonometric functions.

However, the relative error is 10

-15

or greater. Carefully perform

multiplication or division after executing a trigonometric function.

•

FIX

function

When using the FIX function for the result of an operation, be

careful with the precision. For example, when the following
operations are performed, the value of #3 may not always be 2.

N10

#1=0.002;

N20

#2=#1*1000;

N30

#3=FIX[#2];

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This is because an error may occur in operation N20 and the result

may not be

#2=2.0000000000000000

but a value a little smaller than 2 such as the following:

#2=1.9999999999999997

To prevent this, specify N30 as follows:

N30

#3=FIX[#2+0.001];

Generally, specify the FIX function as follows:

FIX[expression]

→

FIX[expression

±ε

]

(Specify

when the value of the expression is positive or -

when

it is negative, and 0.1, 0.01, 0.001, ... for

as required.)

NOTE

The operation result of exponential function

#i=EXP[#j]; overflows when #j exceeds about 790.

When bit 0 (F16) of parameter No. 6008 is set to 1

Errors may occur when operations are performed.

Table 16.3 (b) Errors involved in operations

Operation

Average

error

Maximum

error

Type of error

a = b*c

1.55

-10

4.66

-10

a = b / c

4.66

-10

1.88

-9

a = b

1.24

-9

3.73

-9

Relative error(*1)

a = b + c
a = b – c

2.33

-10

5.32

-10

(*2)

a = SIN [ b ]
a = COS [ b ]

5.0

-9

1.0

-8

a = ATAN [ b ] / [ c ]

1.8

-6

3.6

-6

Absolute error(*3)

degrees

NOTE

1 The relative error depends on the result of the

operation.

2 Smaller of the two types of errors is used.
3 The absolute error is constant, regardless of the

result of the operation.

4 Function TAN performs SIN/COS.
5 Note that, in the case of natural logarithm #i=LN[#j];

and exponential function #i=EXP[#j];, the relative
error may become 10

-8

or greater.

The operation result of exponential function
#i=EXP[#j]; overflows when #j exceeds about 110.

•

The precision of variable values is about 8 decimal digits. When

very large numbers are handled in an addition or subtraction, the
expected results may not be obtained.

MIN

b c

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