Fanuc Symbol CAPi T Operators Manual

B–63304EN/02
7.AUTO COLLISION AVOIDANCE
FUNCTION (15TTFB ONLY)
PROGRAMMING AND
OPERATION BY Symbolic FAPT
203
(1)General
This function can edit the program to prevent the interference around
the same position by inserting the waiting M code automatically to the
executing program when the two turrets interfere with each other.
Algorithms of the insertion of the waiting M code is as follows.
(a) The operator decides which of the turret is prior when the
interference occurs. (A turret of either one side can be always made
to take priority according to the setting of the system parameter.)
(b)The program which the turret has priority inserts the waiting M
code next to the executing block (which executes when the
interference occurs). The program which the turret has no priority
inserts the waiting M code before the executing block.
(c) When the executing block is the waiting M code at the side of the
posterior program, it is invalid to insert the waiting M code before
the executing block as two waiting M codes continue.
(d)Two waiting M codes continue as a result of the insertion of the
waiting M code, the first waiting M code is deleted to simplify the
program. After deletion, the waiting M code of the same number
is searched and deleted in another turret program.
However, the actual machining does not have quite the effect if the
waiting M code is not deleted and continue.
(2)Example
The following programs are thought.
Program for the turret 1 Program for the turret 2
. .
. .
N100 X_ _ _ Z_ _ _ ; N200 X_ _ _ Z_ _ _ ;
N101 X_ _ _ Z_ _ _ ; N201 X_ _ _ Z_ _ _ ;
N102 X_ _ _ Z_ _ _ ; N202 X_ _ _ Z_ _ _ ;
N103 X_ _ _ Z_ _ _ ; N203 X_ _ _ Z_ _ _ ;
. .
. .
Fig. 7.1 (a)
7.1
EXPLANATION OF
FUNCTIONS

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