FANUC Series 30i/300i/300is-MODEL A. Machining Center System. User's manual - page 149

4.AUTOMATIC OPERATION

 OPERATION 

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 WARNING 

 

As a rule, the tool cannot be returned to a correct position under 
the following conditions. 

 

Special care must be taken in the following cases since none of 
them cause an alarm: 

- Manual operation is performed when the manual absolute mode 

is OFF. 

- Manual operation is performed when the machine is locked. 
- When the mirror image is used.    However, P type return is 

possible for a block that switched between ON and OFF most 
recently or a subsequent block.    In this case, the mirror image 
signal status present when the program was interrupted must be 
maintained. 

- When no coordinate system is set up at the beginning of a 

program in which main commands are executed in the 
incremental mode. 

- When manual operation is performed in the course of axis 

movement for returning operation. 

- When the program restart is commanded for a block between the 

block for skip cutting and subsequent absolute command block. 

- When program restart is specified in the machine lock state, then 

the machine lock is canceled. 

- When program restart specified for an intermediate block for a 

multiple repetitive canned cycle 

- In general, when a coordinate system is set up, changed, or 

shifted after the search operation ends, the tool cannot be 
returned to a correct position. 

 

 CAUTION 

 

Keep the following in mind when restarting a program including 
macro variables. 

 

- Common variable 

When the program is restarted, the previous values are inherited 
as common variables without being preset automatically.    Before 
restarting the program, initialize the appropriate variables to the 
original values used at start of the previous automatic operation. 

 - 

DI/DO 

At restart of the program, DI can be read by a system variable, but 
DO cannot be output. 

 - 

Clock 

When the program is being restarted, the clock time can be 
obtained by a system variable, but the time cannot be preset. 

 

- Tool offset and workpiece origin offset 

When the program is being restarted, the offset can be read by a 
system variable, but change of the offset is allowed only for the Q 
type.  

 

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4.9 

TOOL RETRACT AND RECOVER 

 
The tool can be retracted from a workpiece to replace the tool, if 
damaged during machining, or to check the status of machining. Then, 
the tool can be returned to restart machining efficiently. 

 

Procedure for tool retract and recover 

Procedure1 - Programming 

Specify a retraction axis and distance in command G10.6IP_ 
beforehand. In the sample program below, the N20 block specifies 
that the Z-axis is the retraction axis and the retraction distance is to be 
50 mm. 

 

N30

N10

(Sample program) 
N10 G91 Z-50.    ; 
N20 G10.6 Z50.    ; 
N30 G01 X150. F500.    ; 

X 

Z

Y

 

 

Procedure 2 - Retract 

Suppose that the TOOL WITHDRAW switch on the machine 
operator's panel is turned on when the tool is positioned at point A 
during execution of the N30 block. 

N30

A

Machine operator's panel 

TOOL BEING 
WITHDRAWN 

RETRACTION 

POSITION 

TOOL 
WITHDRAW 

TOOL  
RETURN 

 

 
Next, the tool withdrawal mode is set and the TOOL BEING 
WITHDRAWN LED goes on.  At this time, automatic operation is 
temporarily halted.  The tool is then retracted by the programmed 
distance.  If point A is the end point of the block, retraction is 
performed after automatic operation is stopped.    Retraction is based 
on linear interpolation.  The dry run feedrate is used for retraction.  
Upon completion of retraction, the RETRACT POSITION LED on 
the operator's panel goes on. 
 

4.AUTOMATIC OPERATION

 OPERATION 

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N30

A

Point E

Machine operator's panel 

TOOL BEING
WITHDRAWN 

RETRACTION 

POSITION 

TOOL 
WITHDRAW 

TOOL  
RETURN 

 

 
During retraction, the screen displays PTRR and STRT. 

 

 

•

 

PTRR blinks in the field for indicating states such as the program 
editing status. 

•

 

STRT is displayed in the automatic operation status field. 

•

   MTN is displayed in the field for indicating status such as 

movement along an axis. 

 

Procedure 3 - Withdrawal 

Set the manual operation mode, then withdraw the tool.    For manual 
operation, either jog feed incremental feed, handle feed, or manual 
numerical command is possible. 

 

3

X

Y 

Z 

1

2

4

5

6 

7 

8 

9

10 

11 

12 

Point E

Point A

 

 

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Procedure 4 - Return 

After withdrawing the tool and any additional operation such as 
replacing the tool, move the tool back to the previous retraction 
position.  To return the tool to the retraction position, return the 
mode to automatic operation mode, then turn the TOOL RETURN 
switch on the operator's panel on then off again.    The tool returns to 
the retraction position at the dry run feedrate, regardless of whether 
the dry run switch is on or off. 
When the tool has returned to the retraction position, the 
RETRACTION POSITION LED comes on. 

X

Y 

Z 

9

Point A

Point E

1

2

5

3

6 

4

7 

10 

8 

11 

12

 
During return operation, the screen displays PTRR and MSTR. 

 

 

•

 

PTRR blinks in the field for indicating states such as program 
editing status. 

•

 

MSTR is displayed in the automatic operation status field. 

•

  MTN is displayed in the field for indicating states such as 

movement along an axis. 

 

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Procedure 5 - Repositioning 

While the tool is at the retraction position (point E in the figure below) 
and the RETRACTION POSITION LED is on, press the cycle start 
switch.  The tool is then repositioned at the point where retraction 
was started (i.e. where the TOOL WITHDRAW switch was turned on).   
Repositioning is based on linear interpolation.    The dry run feedrate 
is used for repositioning. 

N30  A

Point E

 

Upon completion of repositioning, the tool withdraw mode is 
cancelled, and the TOOL BEING WITHDRAWN LED goes off and 
restart N30. 
 

Limitation 

1  If the origin, presetting, workpiece origin offset value (or 

external workpiece origin offset value), or workpiece coordinate 
shift amount (for a lathe system) is changed after the retraction 
position is specified with G10.6 in the absolute mode, the change 
is not reflected in the retraction position.  After such changes 
are made or the workpiece origin offset value (or external 
workpiece origin offset value) or workpiece coordinate shift 
amount (for a lathe system) is changed, respectively the 
retraction position with G10.6. 

2 

When retracting the tool manually in the tool withdrawal mode, 
do not use the machine lock, mirror-image, or scaling function. 

 

 WARNING 

 

The retraction axis and retraction distance 
specified in G10.6 must be changed in an 
appropriate block according to the figure being 
machined.    Be very careful when specifying the 
retraction distance; an incorrect retraction distance 
may damage the workpiece, machine, or tool. 

 

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4.9.1 

Retract 

 

Explanation 
  - When no retraction distance is specified 

If no retraction distance or direction required for retraction are 
specified, retraction is not performed when the TOOL WITHDRAW 
switch on the operator's panel is turned on.    Instead, the block being 
executed in automatic operation is interrupted (automatic operation is 
held or stopped).  In this state, the tool can be withdrawn and 
returned. 

N30  Point APoint E

 

 

  - Retraction from the automatic operation hold or stop state 

When the single block switch is turned on during automatic operation, 
or the TOOL WITHDRAW switch is turned on after the automatic 
operation hold or stop state is set by feed hold:  Retraction is 
performed, then the automatic operation hold or stop state is set again. 
 

 - Stopping retraction 

During retraction, feed hold operation is ignored.  However, reset 
operation is enabled (retraction is stopped at reset).    When an alarm 
is issued during retraction, the retraction is stopped immediately. 
 

  - Repositioning immediately after retraction 

After retraction is completed, tool repositioning can be started without 
performing the withdraw and return operations. 
 

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4.9.2 

Withdrawal 

 

Explanation 
 - Axis selection 

To move the tool along an axis, select the corresponding axis selection 
signal.    Never specify axis selection signals for two or more axes at a 
time. 
 

 - Path memorization 

When the tool is moved in manual operation along an axis, the control 
unit memorizes up to ten paths of movements.    If the tool is stopped 
after being moved along a selected axis and is then moved along 
another selected axis, the position where this switch takes place is 
memorized.    After ten paths have been memorized, the control unit 
does not memorize any additional switching points. 
 

 - Reset 

Upon reset, memorized position data is lost and the tool withdraw 
mode is cancelled. 
 

NOTE 

 

If an attempt is made to move the tool 
simultaneously along two axes using the manual 
numeric command in the tool withdrawal mode, an 
alarm (PS0015) is issued. 

 

4.9.3 

Return 

 

Explanation 
 - Return path 

When there are more than ten return paths, the tool first moves to the 
tenth position, then to the ninth position, then to the eighth position, 
and so forth until the retraction position is reached. 
 

 - Single block 

The single block switch is enabled during return operation.  If the 
single block switch is turned off, continuous return operation is 
performed.    If the single block switch is turned off, the tool stops at 
each memorized position.  In this case, return operation can be 
resumed by turning the TOOL RETURN switch on then off again. 
 

  - Interruption of return operation 

When an alarm is issued during return operation, return operation 
stops. 
 

 - Feed hold 

The feed hold function is enabled during return operation. 
 

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4.9.4 

Repositioning 

 

Explanation 
 - Feed hold 

The feed hold function is disabled during repositioning. 
 

  - Operation after completion of repositioning 

The operation after completion of repositioning depends on the 
automatic operation state present when the TOOL WITHDRAW 
switch is turned on. 
 
1 

When automatic operation is being started 
After completion of repositioning, the interrupted execution of 
the block is resumed. 

2 

When automatic operation is held or stopped 
After completion of repositioning, the tool stops once at the 
repositioned point, then the original automatic operation hold or 
stop state is set.  When the cycle start switch is pressed, 
automatic operation is resumed.