Fanuc Power Mate i-D/H Operator Manual

3. HIGH–SPEED RESPONSE
FUNCTION
PROGRAMMING
(Power Mate i–H)
B–63174EN/03
269
In high–speed response function, all programs are compiled before
execution. When a sub–program is compiled, the value of modal G code
can not be fixed because a program that calls this sub–program is not
identified. In order to fix a modal value, give the command of the group
01 G code (G00/G01), the group 03 G code (G90/G91) and F in the
following case. If not give, an alarm 1063 occurs in compiling.
The first motion command in a sub–program (If there is no motion
command in a sub–program, it is not necessary to set modal data.)
The first motion command after return from a sub–program (If there
is no motion command hereafter, it is not necessary to set modal data.)
When a main–program (O8000 to O8031) is started execution, the value
of modal G code is always as follows.
Group 01: G00
Group 03: G91
In high–speed response mode, plural programs can be executed at a time.
But, when the same axis or M–code with the same M–code group number
is specified in plural programs executed at the same time, an alarm 1001
occurs.
When sub–program call is executed, the conflict between ”the axes and
the M–code group number included in a main–program and
sub–programs” and ”those included in other main program group” are
checked. If the conflict is detected when a program is executed, an alarm
1001 occurs.
M98P___
M99
M98P___
M99
M98P___
M99
Axis group of path 1 Axis group of path 2
(1) X, Y (11) X, V
(2) X, Y, A (12) X, V, C
(3) X, Y, A, B (13) X, V
(4) X, Y, A
(5) X, Y
Example)
Path 1
Main program1 Sub–program 11 Sub–program 12
Command axis
(X,Y)
(1)
(5)
Command axis
(A)
(2)
(4)
Command axis
(B)
(3)
Path 2
Main program 2 Sub–program 21
Command axis
(X,V)
(11)
(13)
Command axis
(C)
(12)
Modal G code in case
sub–program call
Restriction
Execution of plural
programs
simultaneously

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