Fanuc Symbol CAPi T Operators Manual

B–63304EN/02
7.AUTO COLLISION AVOIDANCE
FUNCTION (15TTFB ONLY)
PROGRAMMING AND
OPERATION BY Symbolic FAPT
205
(c) After inserting M500 to (a), as a result of execution from the
beginning of the program again, suppose that the interference
occurred while executing N103 and N202 blocks.
When the turret 1 is prior to 2, the waiting M code M501 is inserted
next to the N103 block at the side of the turret 1. M501 is inserted
before the N202 block at the side of the turret 2. However, M500
is deleted because M500 and M501 continue. M500 is deleted
from the program for the turret 1 if M500 is deleted in the program
for the turret 2 and becomes in the following.
Program for the turret 1 Program for the turret 2
. .
. .
N101 X_ _ _ Z_ _ _ ; N202 X_ _ _ Z_ _ _ ;
N102 X_ _ _ Z_ _ _ ; M 500 ; Deletion
M 500 ; Deletion M 501 ; Insertion
N103 X_ _ _ Z_ _ _ ; N202 X_ _ _ Z_ _ _ ;
M 501 ; Insertion N203 X_ _ _ Z_ _ _ ;
. .
(d)After inserting M500 to (a), as a result of executing from the
beginning of the program again, suppose that the interference
occurred because the turret 1 is moved by M102 block to the turret
2 which stops according to the waiting M code M500. When the
turret 1 is prior to the 2, the waiting M code (M501) is inserted next
to the N102 block at the side of the turret 1.
M501 is inserted before N201 block at the side of turret 2 according
to algorithms of item (1) (c). Consequently, M500 is deleted
because M500 is deleted from program for the turret 2 if M500 is
deleted in program for the turret 1 and becomes in the following.
Program for the turret 1 Program for the turret 2
. .
. .
N101 X_ _ _ Z_ _ _ ; M 501 ; Insertion
N102 X_ _ _ Z_ _ _ ; N201 X_ _ _ Z_ _ _ ;
M 501 ; Insertion M 500 ; Deletion
M 500 ; Deletion N202 X_ _ _ Z_ _ _ ;
N103 X_ _ _ Z_ _ _ ; N203 X_ _ _ Z_ _ _ ;
. .
Turret 1
Turret 2
Fig. 7.1 (c)
(3)Completion condition of the auto collision avoidance function

Leave a Reply

Your email address will not be published. Required fields are marked *