FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 146

4.AUTOMATIC OPERATION

 OPERATION 

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4.5 

EXTERNAL SUBPROGRAM CALL (M198) 

 
During memory operation, you can call and execute a subprogram 
registered in an external device (such as a Memory Card, Handy File, 
or Data Server) connected to the CNC. 
 

Format 

M198 Pxxxxxxxx Lyyyyyyyy ; 

 

 

↑

   

 

 

   

 

↑

 

Pxxxxxxxx :  Program number (or file number) 
Lyyyyyyyy :  Number of repetitive calls 
When address L is omitted, the number of repetitive calls is 
assumed to be 1.

 

FS16 compatible command format 
(The following command format is valid only when a 4-digit 
program number is used.) 

M198 Pxxxx yyyy ; 

 

 

   

↑

   

 

↑

 

xxxx :  Number of repetitive calls 
yyyy :  Program number (or file number) 
When the number of repetitive calls is omitted, it is assumed 
to be 1. 

 

Explanation 

M code M198 specifies an external subprogram call.    You can also 
call an external subprogram using an M code set in parameter No. 
6030.    (When an M code other than M198 is set as an M code for 
calling an external subprogram, M198 is executed as a normal M 
code.) 
 
Specify a program number (file number) registered in an external 
device at address P.    If the specified program number (file number) is 
not registered in the connected external device, an alarm (PS1079) is 
issued. 
 

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Example) 

M198 P0123 L3;   

This command specifies that the subprogram having 
external subprogram number O0123 is to be called three 
times repeatedly. 
The subprogram is called from the main program and 
executed as follows: 

Main program

               

Sub program

 

 

1 2

3

N0010 ... ;
N0020 ... ;
N0030 M198 P0123 L3 ;
N0040 ... ;
N0050   ; 
N0060 ... ;

0123 ... ; 
N1020 ... ; 
N1030 ... ; 
N1040 ... ; 
N0050 ... ; 
N1060 ... M99 ; 

 

 

  - Program number call 

You can also specify a subprogram call with its program number 
instead of the file number by the setting of bit 2 (SBP) of parameter 
No. 3404. 
 

NOTE 

1  An external subprogram call can be specified only 

during program operation in the MEM mode and 
cannot be specified in the MDI mode. 

2  An external subprogram call is available for the 

following external devices: 

External device name

Program 

number call 

File number call

Handy File 

Available 

Available 

FLOPPY CASSTTE 

Available 

Available 

Memory Card 

Available 

Unavailable 

Data Server 

Available 

Unavailable 

3  To perform a subprogram call using a Memory 

Card as the external device, set bit 7 (MNC) of 
parameter No. 138 to 1 and I/O channel (parameter 
No. 0020) to 4. 

 

A program number call is always enabled 
regardless of the setting of bit 2 (SBP) of 
parameter No. 3404. 

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NOTE 

4  An external device subprogram call cannot be 

performed from a subprogram called using another 
external device subprogram call.    (An alarm 
(PS1080) is issued.) 
 

 

Main program 
 (internal memory)
 
 
M198 

Sub program 
(External device) 
 
 
M198 

Sub program 
(External device) 
 
 
 

Cannot be 
called.  
(Alarm) 

Can be called.

 

5  A subprogram registered in internal memory can be 

called from a subprogram called using an external 
device subprogram call.    From the called 
subprogram in internal memory, another external 
device subprogram call cannot be performed.    (An 
alarm (PS1080) is issued.) 

 

Main program 
 (internal memory)
 
 
M198 

Sub program 
(External 
device) 
 
 
M98 

Can be called.

Sub program 
 (internal 
memory) 
 
 
M198 

Sub program 
(External 
device) 
 
 
 

Cannot be called.   
(Alarm)

 

Can be called.

 

6  A call using the external device subprogram call 

function is counted as one level of subprogram 
nesting. 

7  In a multipath system, an external device 

subprogram call cannot be performed 
simultaneously from multiple paths. 

 

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4.6 

MANUAL HANDLE INTERRUPTION 

 
By rotating the manual pulse generator in the automatic operation 
mode (manual data input, DNC operation, or memory operation) or in 
the memory editing mode, handle feed can be superimposed on 
movement by automatic operation.  A handle interruption axis is 
selected using the manual handle interruption axis selection signal. 
The minimum unit of travel distance per scale division is the least 
input increment.    One of four types of magnifiers selected with MP1 
and MP2 <G019.4 and 5> can be applied.  With bit 3 (HIT) of 
parameter No. 7103, the minimum unit of travel distance can be 
further 10 times greater.    A handle feed magnifier is selected using 
the manual handle feed amount selection signal.  (See "MANUAL 
HANDLE FEED".) 

Programmed

depth of cut

Z

X

Tool position after

handle interruption

Tool position
during automatic
operation

Depth of cut
by handle

interruption

Workpiece

 

Fig. 4.6(a)    Manual handle interruption 

 

 WARNING 

 

The travel distance per scale division by manual 
handle interruption is the least input increment as 
with manual handle feed.    With a machine of 
metric input and inch output, for example, the travel 
distance per 254 scale divisions is 0.01 inch.    With 
a machine of inch input and metric output, the 
travel distance per 100 scale divisions is 0.254 
mm. 

 

4.AUTOMATIC OPERATION

 OPERATION 

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- 1128 - 

Explanation 
 - Interruption operation 

1  When the handle interruption axis selection signal for a handle 

interruption axis is set to 1 in the automatic operation mode 
(manual data input, DNC operation, or memory operation) or in the 
memory editing mode, manual handle interruption can be 
performed by rotating the handle of the manual pulse generator. 

 

NOTE 

 

Even when the feedrate override signal sets 0%, 
manual handle interruption can be accepted. 

 
2  For the method of selecting a manual handle interruption axis, refer 

to the relevant manual of the machine tool builder. 

3  The feedrate during manual handle interruption is the sum of 

feedrate used for automatic operation and the feedrate used for 
movement by manual handle interruption.    However, the feedrate 
during manual handle interruption is controlled so that it does not 
exceed the maximum allowable cutting feedrate for the axis. 

 

Example 

 

Suppose that the maximum allowable cutting 
feedrate for an axis is 5 m/min, and that a 
movement is made in the + direction at 2 m/min 
along the axis.    In this case, manual handle 
interruption can be accepted even when the manual 
pulse generator is rotated up to a speed equivalent 
to 3 m/min.    Manual handle interruption by rotation 
in one direction can be accepted even when the 
manual pulse generator is rotated to a speed 
equivalent to 7 m/min. 

 

If the manual pulse generator is rotated to a speed 
beyond the upper limits, those pulses from the 
manual pulse generator that correspond to the 
excess are lost, resulting in a mismatch between the 
scale mark of the manual pulse generator and the 
actually interrupted travel distance. 

 
4  For a magnifier for manual handle interruption, refer to the 

relevant manual of the machine tool builder. 

5 

If the travel direction is reversed as a result of manual handle 
interruption, backlash compensation is performed.  Pitch error 
compensation is performed for the position after interruption. 

6 

In manual handle interruption, only acceleration/deceleration for 
cutting feed is enabled.    By setting bit 0 (MNJ) of parameter No. 
1606 to 1, acceleration/deceleration for both of cutting feed and 
jog feed can be applied to manual handle interruption. 

 

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  - Manual handle interruption and coordinate system 

1 

The amount of manual handle interruption shifts the workpiece 
coordinate systems and the local coordinate system.  So, the 
machine moves, but the coordinates in the workpiece coordinate 
systems and the local coordinate system remain unchanged. 
Regardless of which coordinate system is selected, all workpiece 
coordinate systems and the local coordinate system shift by the 
same amount. 

 

•

 Absolute 

coordinates 

 

→

 Remain unchanged by handle interruption. 

•

 Relative 

coordinates 

 

→

 Change by the amount of handle interruption. 

•

 Machine 

coordinates 

 

→

 Change by the amount of handle interruption. 

 

(Machine coordinate system)

(Workpiece coordinate system after

 interruption)

(Workpiece coordinate system before

interruption)

 Path after
 interruption

Programmed path

Shift by manual handle
interruption

 

2 

Even when manual handle interruption is performed, the machine 
coordinate system remains unchanged.    The absolute command 
(G53) in the machine coordinate system is not affected by 
manual handle interruption. 

 

(G90G54****)

(G90G53****)

(Machine coordinate system) 

(Workpiece coordinate system after

interruption)

 

(Workpiece coordinate system before

interruption)

 

Path after 
interruption

Programmed path 

Shift by manual handle
interruption 

 

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 OPERATION 

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3  In automatic reference position return (G28), the end point 

(reference position) is not affected by manual handle interruption.   
However, the midpoint is in the workpiece coordinate system, so 
that the position shifted by the amount of interruption becomes 
the midpoint. 

 

  - Cancellation of the amount of interruption 

Operation by which the workpiece coordinate system shifted by 
manual handle interruption from the machine coordinate system is 
returned to the original workpiece coordinate system is referred to 
cancellation of the amount of interruption. 
When the amount of interruption is canceled, the workpiece 
coordinate system is shifted by the amount of manual handle 
interruption, and the amount of interruption is reflected in the absolute 
coordinates. 
 
Interruption shifts the workpiece coordinate system from the machine 
coordinate system. 

(Machine zero point)

Workpiece 

coordinate system 

before interruption 

Workpiece

coordinate 

system after 

interruption 

Position before interruption

Position after 

interruption 

Interruption

Workpiece

origin offset

 

By cancellation, the workpiece coordinate system returns to the state 
present before handle interruption. 

(Machine zero point)

Workpiece 

coordinate system 

after cancellation 

Workpiece

coordinate 

system before 

cancellation 

Position after 

cancellation 

Interruption amount 

cancellation 

Workpiece

origin 

offset 

 

 

In the following cases, the amount of interruption is canceled: 

•

 

When a reset is made (when bit 1 (RTH) of parameter No. 7103 
is set to 1) 

•

 

When emergency stop state is canceled (when bit 1 (RTH) of 
parameter No. 7103 is set to 1) 

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•

 

When a manual reference position return operation is performed 
(when G28 is specified before a reference position is established) 

•

 

When a reference position is set without dogs 

•

 

When the workpiece coordinate system is preset 

 

NOTE 

 

When the amount of interruption is cleared using 
soft keys, only the indication of the amount of 
interruption becomes 0, and the workpiece 
coordinate system remains unchanged. 

 

  -   Clearing the amount of interruption by soft keys   

Clearing of the amount of interruption means that the indication of the 
amount of interruption by manual handle interruption is set to 0.    The 
workpiece coordinate system does not change. 
"Clearing all axes" or "Clearing any axis" is performed on the path for 
which the amount of manual handle interruption is indicated.   
When bit 3 (HLC) of parameter No. 7100 is enabled, soft key 
[INTRPT CANCEL], which is used for this operation, appears.  
When HLC is disabled, soft key [INTRPT CANCEL] does not appear.   
 
To select "Clearing all axes" or "Clearing any axis", follow the 
procedure below. 
 
1 

Press function key 

  on the MDI panel.   

2 

Press function key [HANDLE]. 

 

 
3 

Press function key [(OPRT)]. 

 

 
4 

To prepare for "Clearing all axes" or "Clearing any axis", press 
soft key [INTRPT CANCEL]. 

 

To prepare for "Clearing all axes" or "Clearing any axis", perform one 
of the following. 
 

•

 

Clearing all axes 
Press [INTRPT CANCEL] and then press [ALL AXIS]. 
 

•

 

Clearing any axis 
- 

Enter the axis name and then press [INTRPT CANCEL]. 

- 

Press [INTRPT CANCEL], enter the axis name, and press 
[EXEC]. 

 
 

If an incorrect axis name is entered, a warning message stating 
"FORMAT ERROR" appears.