FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 76

16.CUSTOM MACRO

PROGRAMMING

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- Reset

With a reset operation, local variables and common variables #100 to
#199 are cleared to null values. They can be prevented from clearing
by setting bit 6 (CCV) of parameter No.6001. System variables #100
to #199 are not cleared.
A reset operation clears any called states of custom macro programs
and subprograms, and any DO states, and returns control to the main
program.

- Display of the PROGRAM RESTART

As with M98, the M and T codes used for subprogram calls are not
displayed.

- Feed hold

When a feed hold is enabled during execution of a macro statement,
the machine stops after execution of the macro statement. The
machine also stops when a reset or alarm occurs.

- DNC operation

The control commands (such as GOTO and WHILE-DO) cannot be
executed during DNC operation.
However, this restriction is removed when a program registered in
program memory is called during DNC operation.

- Constant values that can be used in <expression>

+0.00000000001 to +999999999999
-999999999999 to -0.00000000001

The number of significant digits is 12 (decimal).
If this range is exceeded, an alarm PS0012 occurs.

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16.13

INTERRUPTION TYPE CUSTOM MACRO

When a program is being executed, another program can be called by
inputting an interrupt signal (UINT) from the machine.
This function is referred to as an interruption type custom macro
function. Program an interrupt command in the following format:

Format

M96Pxxxxxxxx ;

Enables custom macro interrupt

M97 ;

Disables custom macro interrupt

Explanation

Use of the interruption type custom macro function allows the user to
call a program during execution of an arbitrary block of another
program. This allows programs to be operated to match situations
which vary from time to time.
(1) When a tool abnormality is detected, processing to handle the

abnormality is started by an external signal.

(2) A sequence of machining operations is interrupted by another

machining operation without the cancellation of the current
operation.

(3) At regular intervals, information on current machining is read.

Listed above are examples like adaptive control applications of
the interruption type custom macro function.

Interrupt signal
(UINT) **

Interrupt signal
(UINT) *

M96 Pxxxxxxxx;

Nxxxxxxxx ;

M97 ;

M99 (Pxxxxxxxx) ;

O xxxxxxxx;

Fig 16.13 (a) Interruption type custom macro function

When M96Pxxxx is specified in a program, subsequent program
operation can be interrupted by an interrupt signal (UINT) input to
execute the program specified by Pxxxx. When the interrupt signal
(UINT, marked with an asterisk (*) in Fig 16.13 (a)) is input during
execution of the interrupt program or after M97, it is ignored.

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16.13.1

Specification Method

Explanation
- Interrupt conditions

A custom macro interrupt is available only during program execution.
It is enabled under the following conditions

•

When memory operation, DNC operation, or MDI operation is

selected

•

When STL (start lamp) is on

•

When a custom macro interrupt is not currently being processed

A macro interrupt cannot be performed during manual operation.

- Specification

Generally, the custom macro interrupt function is used by specifying
M96 to enable the interrupt signal (UINT) and M97 to disable the
signal.
Once M96 is specified, a custom macro interrupt can be initiated by
the input of the interrupt signal (UINT) until M97 is specified or the
CNC is reset.    After M97 is specified or the CNC is reset, no custom
macro interrupts are initiated even when the interrupt signal (UINT) is
input.  The interrupt signal (UINT) is ignored until another M96
command is specified.

The interrupt signal (UINT) becomes valid after M96 is specified.
Even when the signal is input in M97 mode, it is ignored.    When the
signal input in M97 mode is kept on until M96 is specified, a custom
macro interrupt is initiated as soon as M96 is specified (only when the
status-triggered scheme is employed); when the edge-triggered
scheme is employed, the custom macro interrupt is not initiated even
when M96 is specified.

NOTE

For the status-triggered and edge-triggered

schemes, see Item "Custom macro interrupt signal
(UINT)" of II-16.13.2.

Interrupt signal
(UINT)

Effective interrupt
input signal

When UINT is kept on

1
0

M96

M97

M96

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16.13.2

Details of Functions

Explanation
- Subprogram-type interrupt and macro-type interrupt

There are two types of custom macro interrupts: Subprogram-type
interrupts and macro-type interrupts. The interrupt type used is
selected by bit 5 (MSB) of parameter No.6003.

(a) Subprogram-type interrupt: When bit 5 (MSB) of parameter

No.6003 is set to 1

An interrupt program is called as a subprogram.

This means that the levels of local variables remain unchanged
before and after the interrupt.

This interrupt is not included in the nesting level of subprogram
calls.

(b) Macro-type interrupt: When bit 5 (MSB) of parameter No.6003

is set to 0

An interrupt program is called as a custom macro.

This means that the levels of local variables change before and
after the interrupt.

The interrupt is not included in the nesting level of custom macro
calls.

When a subprogram call or a custom macro call is performed
within the interrupt program, this call is included in the nesting
level of subprogram calls or custom macro calls.

Arguments cannot be passed from the current program even
when the custom macro interrupt is a macro-type interrupt. The
local variables immediately after interruption are all cleared to
null.

- M codes for custom macro interrupt control

In general, custom macro interrupts are controlled by M96 and M97.
However, these M codes, may already being used for other purposes
(such as an M function or macro M code call) by some machine tool
builders.
For this reason, bit 4 (MPR) of parameter No.6003 is provided to set
M codes for custom macro interrupt control.
When specifying this parameter to use the custom macro interrupt
control M codes set by parameters, set parameters Nos.6033 and 6034
as follows:
Set the M code to enable custom macro interrupts in parameters
Nos.6033, and set the M code to disable custom macro interrupts in
parameter 6034.
When specifying that parameter-set M codes are not used, M96 and
M97 are used as the custom macro control M codes regardless of the
settings of parameters Nos.6033 and 6034.
The M codes used for custom macro interrupt control are processed
internally (they are not output to external units). However, in terms
of program compatibility, it is undesirable to use M codes other than
M96 and M97 to control custom macro interrupts.

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Custom macro interrupts and NC statements

When performing a custom macro interrupt, the user may want to
interrupt the NC statement being executed, or the user may not want to
perform the interrupt until the execution of the current block is
completed. Bit 2 (MIN) of parameter No.6003)is used to select
whether to perform interrupts even in the middle of a block or to wait
until the end of the block. The type of interrupt performed even in
the middle of a block is called type I and the type of interrupt
performed at the end of the block is called type II.

CAUTION

For interrupt type I, operation after control is

returned differs depending on whether the interrupt
program contains an NC statement.

When the program number block contains EOB (;),

it is assumed to contain an NC statement.

(Program containing an
NC statement)

O0013;
#101=#5041;
#102=#5042;
#103=#5043;
M99;

(Program containing no
NC statement)

O0013#101=#5041;
#102=#5042;
#103=#5043;
M99;

Type I (when an interrupt is performed even in the middle of a block)

(i) When the interrupt signal (UINT) is input, any movement or

dwell being performed is stopped immediately and the interrupt
program is executed.

(ii) If there are NC statements in the interrupt program, the command

in the interrupted block is lost and the NC statement in the
interrupt program is executed. When control is returned to the
interrupted program, the program is restarted from the next block
after the interrupted block.

(iii) If there are no NC statements in the interrupt program, control is

returned to the interrupted program by M99, then the program is
restarted from the command in the interrupted block.

Interrupt signal
(UINT) input

Custom macro interrupt

Execution in progress

Normal program

CNC command restart;
when there are no NC statements
in the interrupt program

Interrupted by macro interrupt

Fig. 16.13 (b) Custom macro interrupt and NC command (type I)

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Type II (when an interrupt is performed at the end of the block)

(i) If the block being executed is not a block that consists of several

cycle operations such as a drilling canned cycle and automatic
reference position return (G28), an interrupt is performed as
follows:

When an interrupt signal (UINT) is input, macro statements in
the interrupt program are executed immediately unless an NC
statement is encountered in the interrupt program. NC
statements are not executed until the current block is completed.

(ii) If the block being executed consists of several cycle operations,

an interrupt is performed as follows:

When the last movement in the cycle operations is started, macro
statements in the interrupt program are executed unless an NC
statement is encountered. NC statements are executed after all
cycle operations are completed.

Custom macro interrupt

Execution in progress

Normal program

NC statement in the interrupt
program

Interrupt signal (UINT) input

Fig. 16.13 (c) Custom macro interrupt and NC command (type II)

NOTE

During execution of a program for cycle operations,
interrupt type II is performed regardless of whether
bit 2 (MIN) of parameter No. 6003 is set to 0 or 1.
Cycle operations are available for the following
functions:
<1> Automatic reference position return
<2> Tool radius

⋅

tool nose radius compensation

(generating multiple blocks using the specified
block such as when the tool moves around the
outside of an acute angle)

<3> Canned cycle
<4>   Automatic tool length measurement
<5>   Optional chamfering/corner R
<6> Exponential interpolation
<7>   Normal direction control
<8>   Cutting point interpolation for cylindrical

interpolation

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NOTE

⋅

tool nose radius compensation

(generating multiple blocks using the specified
block such as when the tool moves around the
outside of an acute angle)

<3> Canned cycle (No interruption type custom

macro can be used during execution of a
multiple repetitive canned turning cycle,
however.)

<4> Automatic tool length measurement
<5> Chamfering/corner R
<6> Exponential interpolation
<7> Cutting point interpolation for cylindrical

interpolation

- Conditions for enabling and disabling the custom macro interrupt signal

The interrupt signal becomes valid after execution starts of a block
that contains M96 for enabling custom macro interrupts.    The signal
becomes invalid when execution starts of a block that contains M97.
While an interrupt program is being executed, the interrupt signal
becomes invalid.    The signal become valid when the execution of the
block that immediately follows the interrupted block in the main
program is started after control returns from the interrupt program.
In type I, if the interrupt program consists of only macro statements,
the interrupt signal becomes valid when execution of the interrupted
block is started after control returns from the interrupt program.

- Custom macro interrupt signal (UINT)

There are two schemes for custom macro interrupt signal (UINT)
input: The status-triggered scheme and edge-triggered scheme.
When the status-triggered scheme is used, the signal is valid when it is
on. When the edge triggered scheme is used, the signal becomes
valid on the rising edge when it switches from off to on status.
One of the two schemes is selected with bit 3 (TSE) of parameter
No.6003.

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When the status-triggered scheme is selected by this parameter, a
custom macro interrupt is generated if the interrupt signal (UINT) is
on at the time the signal becomes valid.  By keeping the interrupt
signal (UINT) on, the interrupt program can be executed repeatedly.

When the edge-triggered scheme is selected, the interrupt signal
(UINT) becomes valid only on its rising edge.  Therefore, the
interrupt program is executed only momentarily (in cases when the
program consists of only macro statements). When the
status-triggered scheme is inappropriate, or when a custom macro
interrupt is to be performed just once for the entire program (in this
case, the interrupt signal may be kept on), the edge-triggered scheme
is useful.

Except for the specific applications mentioned above, use of either
scheme results in the same effects.    The time from signal input until a
custom macro interrupt is executed does not vary between the two
schemes.

In the example shown in Fig 16.13 (d), an interrupt is executed four
times when the status-triggered scheme is used; when the
edge-triggered scheme is used, the interrupt is executed just once.

Interrupt signal (UINT)

Status-triggered scheme

Edge-triggered scheme

Interrupt
execution

Interrupt execution

Fig. 16.13 (d) Custom macro interrupt signal

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