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FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 143

3.MANUAL OPERATION

OPERATION

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The timing of T-code output of N7 and N8 in O1000 shown in the
example above is as follows.

T33 output

Forward movement :

with T22

T22 output

Backward movement (When parameter STO is set to “0”) :

T33 output

Backward movement (When parameter STO is set to “1”) :

T22 output

- Direction change prohibition

The direction change prohibition is a state not changing the direction
where the program is executed.
In the state, even if the rotating direction of a manual handle is
reversed, the reversed rotation is ignored. A manual handle must be
rotate in the same direction as present direction for removing this
state.
The direction change prohibition can be confirmed by output signal
MNCHG<Fn091.1>.

It becomes the change prohibition state under the following condition.

•

While the block with the code waiting for FIN is executing

•

After a block has done and until the next block begins to operate

•

During thread cutting

•

Modal G code of G68.1, G68 and G51.2

•

The block with the axis that ends movement earlier in the block
with G02 or nonlinear type position (G00) etc.

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- Backward movement prohibition

The backward movement prohibition is a state that the program cannot
be executed from a certain block backward. In this state, the negative
rotation of a manual handle is ignored, and the only positive rotation
is effective. The program must be executed forward by rotating a
manual handle in the positive direction for removing this state.
The backward movement prohibition can be confirmed by output
signal MRVSP<Fn091.2>.
If the following blocks are executed in backward movement,
backward movement is prohibited.

•

Program number block of main program (except subprogram and
macro program)

•

Over the maximum number of the blocks for reverse movement

•

The block including backward movement prohibition G-code

(which is not described in the paragraph "G-code")

•

The block which is executed while in modal including backward
movement prohibition G-code (which is not described in the
paragraph "G-code")

- Status display

In manual handle retrace, the status of manual handle retrace is
displayed on clock display of CNC state display line. This status
display is displayed during the execution of manual handle retrace.
The clock is displayed usually.

When the all condition is filled, "M.H.RTR." is displayed on clock
display of CNC state display line. This status is displayed by the color
of color number 3 (INPUT KEY, O/N NO. and STATUS are the same
color). The screen display is as shown in Fig.3.12(a). When the
following conditions are not full, the clock is displayed.

•

When bit 2 (CHS) of parameter No.6401 is set to "0":
1) Software option of handle manual retrace is enabled.
2) Status display disable/enable bit 6 (HST) of parameter

No.6401 is set to "1".

3) Check mode confirmation signal MMMOD<Fn091.3> is set

to "1".

•

When bit 2 (CHS) of parameter No.6401 is set to "1":
1) Software option of handle manual retrace is enabled.
2) Status display disable/enable bit 6 (HST) of parameter

No.6401 is set to "1".

3)  Cycle start signal STL<Fn000.5> is set to "1".
4)  Check mode signal MMOD<Gn067.2> is set to "1".
5)  Manual handle check signal MCHK<Gn067.3> is set to "1".

3.MANUAL OPERATION

OPERATION

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Fig. 3.12 (a)

"M.H.RTR." status display

Besides, when reverse movement prohibition signal
MRVSP<Fn091.2> is set to "1",
the "NO RVRS." is displayed. This status is displayed by
blinking/reversing in the color of color number 1 (ALARM is the
same color). The screen display is as shown in Fig.3.12(b). When
reverse movement prohibition signal MRVSP<Fn091.2> is set to "0",
the " M.H.RTR." is displayed again.

Fig. 3.12 (b) " NO RVRS." status display

Besides, when direction change prohibition signal
MNCHG<F0091.1> is set to "1" and the direction of program’s
execution is changed by manual handle, this status display changes
from "M.H.RTR." to "NO.CHAG.".

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This status is displayed by blinking/reversing in the color of color
number 3 (INPUT KEY, O/N NO. and STATUS are the same color) .
The screen display is shown as Fig.3.12(c). When the program is
executed in the direction as the same as before by manual handle or
direction change prohibition signal MNCHG<Fn091.1> is set to "0",
the " M.H.RTR." is displayed again.
Moreover, when parameter FWD(No.6400#1) is set to "1" and the
program is executed to change direction by manual handle, this status
display changes from "M.H.RTR." to "NO.CHAG.".

NOTE

When the improvement of direction change
movement in auxiliary function output block is
enabled, the state of direction change prohibition
signal MNCHG<Fn091.1> is set to "1" and direction
change is possible. Therefore please note that the
status display of the direction change prohibition is
displayed though it is possible to direction change.

Fig. 3.12 (c) "NO.CHAG." status display

Limitation
- Movement in automatic operation by DNC operation mode(RMT)

In the automatic operation by DNC operation mode(RMT), the
backward movement is prohibited though the forward movement is
enable.

- Movement in subprogram operation by external subprogram call

In M198 or M-code for subprogram operation by external subprogram
call (parameter No.6030), the backward movement is prohibited
though the forward movement is enable.

3.MANUAL OPERATION

OPERATION

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- Movement command and M,S,T-code

When M,S,T-codes and movement commands are in the same block,
the timing outputting codes changes between in forward movement
and backward movement.

Therefore, M, S, T-codes should be

commanded in backward movement after confirming that "DEN"
signal is set to "1".

Example of executing the following programs with lathe system

O0001 ;
M5 S0 F0 ;
G53 X0 Z0 ;................................ (1)
G1 W100 M3 S100 F1. ; ............ (2)
G0 U50. W50. ;........................... (3)
M2 ;

[Forward movement]

(1)G53 X0 Z0

(3) G0 U50 W50

(2) G1 W100.

M3 S100 F1.

The block of (2) moves with M3 S100 F1.

[Backward movement]

(1)G53 X0 Z0

(3) G0 U50. W50.

(2)G1 W100.

M5 S0 F1.

The block of (2) moves with M5 S0 F1.

- Non linear interpolation type positioning

In the non-linear interpolation type positioning, the route is different
between forward movement and backward movement.

The route of forward movement

The route of backward movement

Please use the interpolation type positioning to ward off danger. (Set
the bit 1 (LRP) of parameter No.1401 to "1")

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3.MANUAL OPERATION

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- Threading in forward movement

Threading (G32,G76,G84,G88,G92) is always executed at 100%
override speed. That is to say, a pulse generated by a manual handle is
ignored in executing a threading block. In thread cutting cycle, the
pulse is invalid at the time actually cutting thread, but the one are
valid in the other movements.

- Macro

In macro statement, the setting, operation, and so on of the macro
variable is executed in only first forward movement. That is to say, the
setting, operation, and so on of the macro variable is never executed in
the block executing them once.

- Axis control by PMC

The movement of axis control by PMC cannot be controlled by this
function.

- Multiple path simultaneous check in the multi-path system

When using the manual handle retrace function at the same time in
multiple paths, the timing of block operation may slightly differ
between these paths due to the repetition of forward and backward
motion or differences in the rotation speed of the manual handle. To
synchronize block operation between the paths, use the wait M code.

- Check of path unit by multi-path system

In the multi-path system, the program check of an arbitrary path is
possible. In the path not to check, please select the mode excluding the
MEM mode. Even if bit 4 (HMP) of parameter No.6400 is set to "1",
it is possible to execute the check of forward movement, direction
change and backward movement.
If waiting M code exist in the program, please set No-wait signal of
two path NOWT <Gn063.1>, or No-wait signal of three path
NMWT<Gn063.7> to "1".

- Modal display

In the backward movement with manual handle, the modal display is
updated according to the operation condition of the program.

- Modal information

In the backward movement with manual handle, the state of modal
information is updated according to the operation condition of the
program.

- Change in operation mode

When you change to EDIT mode during the checking mode, the
backward movement and the re-forward movement cannot be
executed in the blocks which have been already executed.

3.MANUAL OPERATION

OPERATION

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- ON/OFF of Manual Handle Retrace mode

When check mode signal MMOD<Gn067.2> is set to "0" and handle
available signal in checking mode MCHK<Gn067.3> is set to "0", the
check mode might not be turned off at once.
Basically, in the middle of block, the check mode doesn't switch from
ON to OFF or from OFF to ON. After the block is ended, the check
mode switches from ON to OFF or from OFF to ON.

- AI contour control

If the checking mode signal MMOD<Gn067.2> is "1", AI contour
control mode(G05.1Q1) is canceled. If AI contour control is canceled,
forward movement and backward movement can be executed.
Furthermore, if the signal MMOD<Gn067.2> is set to "1" in AI
contour control mode, the checking mode is not effective until AI
contour control mode is invalid(G05.1Q0).

- Multi Spindle

During the backward movement, both TYPE-A and TYPE-B multi
spindle control may not be operated exactly.

- Path Table Operation

In path table operation, the backward movement is prohibited.
Furthermore, in forward movement, regardless of manual handle, the
motion is performed as the command of path table operation.

- Execution of measurement G-code with the speed of override 100%

When bit 6 (MGO) of parameter No.6400 is set to "1", a handle pulse
is invalid and it is always executed at 100% override. When bit 6
(MGO) of parameter No.6400 is set to "0", this function is invalid and
a handle pulse is valid.
In the multi-path system, this function is not effective in the execution
of another path and handle pulse is valid in another path. The
measurement G code to which this function is effective is as follows.
1)  G31 for skip
2)  G31, G31P1, G31P2, G31P3, G31P4, G04, G04Q1, G04Q2,

G04Q3 and G04Q4 for multistage skip

3) G31P99 and G31P98 for torque limit skip

When the measurement by G36 and G37 (G37.1 and G37.2 when bit
3(G36) of parameter No.3405 is set to "1") of automatic tool
compensation is executed, a handle pulse is invalid and it is always
executed at 100% override regardless of setting bit 6 (MGO) of
parameter No.6400. At the rapid traverse before measurement, handle
pulse is valid.

When bit 7 (SKF) of parameter No.6200 is set to "0" and bit 2 (SFN)
of parameter No.6207 is set to "0", handle pulse at G31 is invalid and
it is always executed at 100% override regardless of setting bit 6
(MGO) of parameter No.6400.

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3.MANUAL OPERATION

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When bit 7 (MG4) of parameter No.6400 is set to "1" and the software
option of multistage skip is enabled and the setting of parameter from
No.6202 to No.6206 is enabled, the backward movement prohibition
is enabled in G04 block for multistage skip.
The G code to which this function is effective is as follows.
1) G04, G04Q1, G04Q2, G04Q03 and G04Q4 for multistage skip

- Relation to another function

This function cannot coexist with the following functions

•

Retrace

•

Learning control for parts cutting

•

Preview repetitive control

•

Learning

control

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