Fanuc Power Mate i-D/H Operator Manual

The inter–path wait function can be specified using a ”9xx” M code in a part program for each path.
αx M9mm Pp Qq Rr;
αx : A move command can also be specified. If a move command is specified, a value of Q
can specify whether to start movement after a specified wait condition is satisfied or im-
mediately when a wait condition is satisfied provided that the wait condition only pertains
to the distance yet to be traveled.
M9mm : Two or more wait conditions (events) can be awaited simultaneously. To prevent an incor-
rect combination of wait–event relationship, a ”9xx” M code is used to specify an ID number.
The same M code must be specified for paths that wait for the same condition. The M
function is processed internally. It is not output to the PMC.
Pp : Specifies what paths to wait. Usually, two to eight paths can be specified. The data of P
is given using the code listed below.
(The table below lists the codes for up to path 6. For path 7 and up, make a calculation
according to the general expression below.)
(General form)
(Kn=0:n No wait in path n
1:n Wait in path n)
P
8
n1
Kn * 2
n–1
PROGRAMMING
(Power Mate i–H)
2. MULTIPATH CONTROL
B–63174EN/03
230
Path Path Path
P 6 5 4 3 2 1 P 6 5 4 3 2 1 P 6 5 4 3 2 1
01
02
03
04
05
06
07
08
09
10
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
O
O
O
X
X
X
O
O
O
O
X
X
X
X
O
O
X
X
O
O
X
X
O
O
X
O
X
O
X
O
X
O
X
21
22
23
24
25
26
27
28
29
30
X
X
X
X
X
X
X
X
X
X
O
O
O
O
O
O
O
O
O
O
X
X
X
O
O
O
O
O
O
O
O
O
O
X
X
X
X
O
O
O
X
O
O
X
X
O
O
X
X
O
O
X
O
X
O
X
O
X
O
X
41
42
43
44
45
46
47
48
49
50
O
O
O
O
O
O
O
O
O
O
X
X
X
X
X
X
X
O
O
O
O
O
O
O
O
O
O
X
X
X
X
X
X
O
O
O
O
X
X
X
X
O
O
X
X
O
O
X
X
O
O
X
O
X
O
X
O
X
O
X
11
12
13
14
15
16
17
18
19
20
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
O
O
O
O
O
O
O
O
O
O
X
X
X
X
X
X
O
O
O
O
X
X
X
X
O
O
X
X
O
O
X
X
O
O
X
O
X
O
X
O
X
O
X
O
X
31
32
33
34
35
36
37
38
39
40
X
O
O
O
O
O
O
O
O
O
O
X
X
X
X
X
X
X
X
X
O
X
X
X
X
X
X
X
X
O
O
X
X
X
X
O
O
O
O
X
O
X
X
O
O
X
X
O
O
X
O
X
O
X
O
X
O
X
O
X
51
52
53
54
55
56
57
58
59
60
O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
X
X
X
X
X
O
O
O
O
O
X
O
O
O
O
X
X
X
X
O
O
X
X
O
O
X
X
O
O
X
O
X
O
X
O
X
O
X
O
X
O : Waiting path
X : Nonwaiting path
61
62
63
O
O
O
O
O
O
O
O
O
O
O
O
X
O
O
O
X
O
Format

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