Fanuc Symbol CAPi T Operators Manual

PROGRAMMING AND
OPERATION BY Symbolic FAPT
B–63304EN/02
7. AUTO COLLISION AVOIDANCE
FUNCTION (15TTFB ONLY)
204
Turret 1
Turret 2
Fig. 7.1 (b)
(a) When the turret 1 executes the N102 block, the turret 2 executes the
N202 block, suppose that the interference occurs. At this time, the
animation drawing screen becomes as Fig.7.1(b). When the turret
1 is prior to the turret2 (the priority is specified at FAPT side
screen), the waiting M code is automatically inserted next to the
N102 block and before the N202 block. The program is edited as
follows. In the following example, the initial value of the waiting
M code is set to M500.
Program for the turret 1 Program for the turret 2
. .
. .
N101 X_ _ _ Z_ _ _ ; N201 X_ _ _ Z_ _ _ ;
N102 X_ _ _ Z_ _ _ ; M 500 ; Insertion
M 500 ; Insertion N202 X_ _ _ Z_ _ _ ;
N103 X_ _ _ Z_ _ _ ; N203 X_ _ _ Z_ _ _ ;
. .
(b)Opposite to (a), when the turret 2 is prior to 1, the waiting M code
is automatically inserted before the N102 block and next to the
N202 block.
Program for the turret 1 Program for the turret 2
. .
. .
N101 X_ _ _ Z_ _ _ ; N201 X_ _ _ Z_ _ _ ;
M 500 ; Insertion N202 X_ _ _ Z_ _ _ ;
N102 X_ _ _ Z_ _ _ ; M 500 ; Insertion
N103 X_ _ _ Z_ _ _ ; N203 X_ _ _ Z_ _ _ ;
. .
The interference occurs at once as this, M code is automatically
inserted. However, NC operation cannot be continued. At the time
of when M code is inserted, the program is rewound automatically
and executes from the lead again.

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