FANUC CNC Variables
The FANUC CNC Driver supports the following variables as device variables.
Alarms
Alarms are listed in the Variables panel under an INT4 variable called Alarms. Each bit of the Alarms variable is exposed as its own variable. The meaning of each bit is as follows:
Series 15/15i
| Value | Description | Type |
|---|---|---|
| #00 | Background P/S | (BG) |
| #01 | Foreground P/S | (PS) |
| #02 | Overheat alarm (only Series 15) | (OH) |
| #03 | Sub-CPU error (only Series 15) | (SB) |
| #04 | Synchronized error | (SN) |
| #05 | Parameter switch on | (SW) |
| #06 | Overtravel, External data | (OT) |
| #07 | PMC error | (PC) |
| #08 | External alarm message (1) | (EX) |
| #09 | (Not used) | |
| #10 | Serious P/S | (SR) |
| #11 | (Not used) | |
| #12 | Servo alarm | (SV) |
| #13 | I/O error | (IO) |
| #14 | Power off parameter set | (PW) |
| #15 | System alarm (only Series 15i) | (SY) |
Series 16/18/21, 16i/18i/21i, 0i-A/B/C, Power Mate i
| Value | Description |
|---|---|
| #00 | P/S100 |
| #01 | P/S000 |
| #02 | P/S101 |
| #03 | P/S alarm except above |
| #04 | Overtravel alarm |
| #05 | Overheat alarm |
| #06 | Servo alarm |
| #07 | System alarm |
| #08 | APC alarm |
| #09 | Spindle alarm |
| #10 | P/S alarm(No.5000,..), Punch press alarm |
| #11 | Laser alarm |
| #12 | (Not used) |
| #13 | Rigid tap alarm |
| #14 | (Not used) |
| #15 | External alarm message |
Series 16i/18i-W
| Value | Description | Type |
|---|---|---|
| #00 | P/S alarm | #00 |
| #01 | Overtravel alarm | #01 |
| #02 | Servo alarm | #02 |
| #03 | (Not used) | #03 |
| #04 | Overtravel alarm | #04 |
| #05 | Stroke limit - 1 | #05 |
| #06 | Stroke limit - 2 | #06 |
| #07 | Edit alarm | #07 |
| #08 | APC alarm | #08 |
| #09 | (Not used) | #09 |
| #10 | P/S 5000 ... alarm | #10 |
| #11 | (Not used) | #11 |
| #12 | (Not used) | #12 |
| #13 | (Not used) | #13 |
| #14 | External alarm message | #14 |
| #15 | Reverse control alarm | #15 |
Series 30i, 0i-D/F, PMi-A
| Value | Description | Type |
|---|---|---|
| #00 | Parameter switch on | (SW) |
| #01 | Power off parameter set | (PW) |
| #02 | I/O error | (IO) |
| #03 | Foreground P/S | (PS) |
| #04 | Overtravel, External data | (OT) |
| #05 | Overheat alarm | (OH) |
| #06 | Servo alarm | (SV) |
| #07 | Data I/O error | (SR) |
| #08 | Macro alarm | (MC) |
| #09 | Spindle alarm | (SP) |
| #10 | Other alarm (DS) | (DS) |
| #11 | Alarm concerning Malfunction prevent functions | (IE) |
| #12 | Background P/S | (BG) |
| #13 | Synchronized error | (SN) |
| #14 | (reserved) | |
| #15 | External alarm message | (EX) |
PMC Variables
PMC data can be read directly off the CNC using the “PMC” variable tree. All PMC variable ranges are automatically enumerated from the connected CNC. The PMC Address indicates the type of PMC variables within it.
| Address | Description |
|---|---|
| G | Signal to PMC->CNC |
| F | Signal to CNC->PMC |
| Y | Signal to PMC->machine |
| X | Signal to machine->PMC |
| A | Message demand |
| R | Internal relay |
| T | Changeable timer |
| K | Keep relay |
| C | Counter |
| D | Data table |
| M | Signal input from other PMC path |
| N | Signal output to other PMC path |
| E | Extended relay |
Modal Variables
Modal data like G codes can be read using the “Modal” variable tree. Each modal group is made up of 6 variables describing the modal block.
| Address | Description |
|---|---|
| Previous Block G Code | Previously commanded G Code. |
| Previous Block Flag | Previously commanded G Code block flag. |
| Active Block G Code | Currently commanded G Code. |
| Active Block Flag | Current commanded G Code block flag. |
| Next Block G Code | The G code that will be commanded next. |
| Next Block Flag | The next commands G Code block flag. |
The bits of the flag variables are described below…
| Flag Bit | Description |
|---|---|
| #3 | Command differs from the previous block (only Series 30i, 0i-D/F, PMi-A) |
| #4 | There is a command of a decimal point. |
| #5 | Negative |
| #6 | 1 digit |
| #7 | There is a command in the present block. |
Status Variables
Status variables are listed under the “Status” variable tree. All statuses are read as numbers and their meanings are listed below.
Series 15/15i
* In case of multi-path, there are difference of path for only Status of axis movement, dwell, and Status of M,S,T,B function. As for the other status, there is no difference.
aut
AUTOMATIC mode selection
| Status | Description |
|---|---|
| 0 | ****(No selection) |
| 1 | MDI |
| 2 | TAPE(Series 15), DNC(Series 15i) |
| 3 | MEMory |
| 4 | EDIT |
| 5 | TeacH IN |
manual
MANUAL mode selection
| Value | Description |
|---|---|
| 0 | ****(No selection) |
| 1 | REFerence |
| 2 | INC·feed |
| 3 | HaNDle |
| 4 | JOG |
| 5 | AnGular Jog |
| 6 | Inc+Handl |
| 7 | Jog+Handl |
run
Status of automatic operation
| Value | Description |
|---|---|
| 0 | STOP |
| 1 | HOLD |
| 2 | STaRT |
| 3 | MSTR(jog mdi) |
| 4 | ReSTaRt(not blinking) Except under manual mode and under cutter radius compensation outside corner |
| 5 | PRSR(program restart) |
| 6 | NSRC(sequence number search) |
| 7 | ReSTaRt(blinking) Under manual mode or under cutter radius compensation outside corner |
| 8 | ReSET |
| 9 | (Not used) |
| 10 | (Not used) |
| 11 | (Not used) |
| 12 | (Not used) |
| 13 | HPCC(during RISC operation) |
edit
Status of program editing
| Value | Description |
|---|---|
| 0 | ****(Not editing) |
| 1 | EDIT |
| 2 | SeaRCH |
| 3 | VeRiFY |
| 4 | CONDense |
| 5 | READ |
| 6 | PuNCH |
motion
Status of axis movement,dwell
| Value | Description |
|---|---|
| 0 | *** |
| 1 | MoTioN |
| 2 | DWeLl |
| 3 | Wait (waiting:only TT) |
mstb
Status of M,S,T,B function
| Value | Description |
|---|---|
| 0 | *** |
| 1 | FIN |
emergency
Status of emergency
| Value | Description |
|---|---|
| 0 | (Not emergency) |
| 1 | EMerGency |
write
Status of writing backupped memory
| Value | Description |
|---|---|
| 0 | (Not writing) |
| 1 | @(writing) |
labelskip
Status of label skip
| Value | Description |
|---|---|
| 0 | Label SKip |
| 1 | (Not label skip) |
alarm
Status of alarm
| Value | Description |
|---|---|
| 0 | (No alarm) |
| 1 | ALarM |
warning
Status of warning
| Value | Description |
|---|---|
| 0 | (No warning) |
| 1 | WaRNing |
battery
Status of battery
| Value | Description |
|---|---|
| 0 | (Normal) |
| 1 | BATtery low(backupped memory) |
| 2 | BATtery low(absolute position detector) |
Series 16/18/21, 16i/18i/21i, 0i, 30i/31i/32i, Power Mate i, PMi-A
hdck (30i/31i/32i, 0i-D/F only)
Status of manual handle re-trace
| Value | Description |
|---|---|
| 0 | Invalid of manual handle re-trace |
| 1 | M.H.RTR.(Manual handle re-trace) |
| 2 | NO RVRS.(Backward movement prohibition) |
| 3 | NO CHAG.(Direction change prohibition) |
tmmode
T/M mode selection (only with compound machining function)
| Value | Description |
|---|---|
| 0 | T mode |
| 1 | M mode |
aut
AUTOMATIC/MANUAL mode selection
| Value | Description |
|---|---|
| 0 | MDI |
| 1 | MEMory |
| 2 | **** |
| 3 | EDIT |
| 4 | HaNDle |
| 5 | JOG |
| 6 | Teach in JOG |
| 7 | Teach in HaNDle |
| 8 | INC·feed |
| 9 | REFerence |
| 10 | ReMoTe |
run
Status of automatic operation
| Value | Description |
|---|---|
| 0 | ****(reset) |
| 1 | STOP |
| 2 | HOLD |
| 3 | STaRT |
| 4 | MSTR(during retraction and re-positioning of tool retraction and recovery, and operation of JOG MDI) |
| 0 | ****(reset) |
| 1 | STOP |
| 2 | HOLD |
| 3 | STaRT |
| 4 | MSTR(during retraction and re-positioning of tool retraction and recovery, and operation of JOG MDI) |
| 0 | ****(reset) |
| 1 | STOP |
| 2 | HOLD |
| 3 | STaRT |
motion
Status of axis movement, dwell
| Value | Description |
|---|---|
| 0 | *** |
| 1 | MoTioN |
| 2 | DWeLl |
mstb
Status of M,S,T,B function
| Value | Description |
|---|---|
| 0 | ***(Others) |
| 1 | FIN |
emergency
Status of emergency
| Value | Description |
|---|---|
| 0 | (Not emergency) |
| 1 | Emergency |
| 2 | Reset |
| 3 | WAIT(FS35i only) |
alarm
Status of alarm
| Value | Description |
|---|---|
| 0 | ***(Others) |
| 1 | Alarm |
| 2 | Battery low |
| 3 | FAN(NC or Servo amplifier) |
| 4 | PS Warning |
| 5 | warning |
| 6 | Insulate warning |
| 7 | Encoder warning |
| 8 | PMC alarm |
edit
Status of others
In case of 0i-D, the meaning of status(16,21,23,42,44,46) is changed according to the parameter No.13104#0.(same as 30i)
M series (including Power Mate i)
| Value | Description |
|---|---|
| 0 | ****(Not editing) |
| 1 | EDIT(during editing) |
| 2 | Search(during searching) |
| 3 | OUTPUT(during output) |
| 4 | INPUT(during input) |
| 5 | COMPARE((during comparing) |
| 6 | Label Skip(label skip status)(30i, 0i-D/F are unused.) |
| 7 | Restart(during program restart) |
| 8 | HPCC(during RISC operation)(FS16i/18i only) |
| 9 | PTRR(during tool retraction and recovery mode) |
| 10 | RVRS(during retracing) |
| 11 | RTRY(during reprogressing) |
| 12 | RVED(end of retracing) |
| 13 | HANDLE(during handle overlapping)(30i, 0i-D/F are unused.) |
| 14 | Offset(during tool length measurement mode) |
| 15 | Work Offset(during work zero point measurement mode) |
| 16 | AICC(during AI contour control) AICC(during AI contour control)(0i-D:No.13104#0=1) AI APC(during AI advanced preview control)(0i-D:No.13104#0=0) |
| 17 | Memory Check(checking tape memory)(30i, 0i-D/F are unused.) |
| 18 | Customer’s BoarD(during customer's board control)(30i, 0i-D/F are unused.) |
| 19 | SAVE(saving fine torque sensing data)(30i, 0i-D/F are unused.) |
| 20 | AI NANO(during AI Nano contour control)(30i, 0i-D/F are unused.) |
| 21 | AI APC(during AI advanced preview control) (21i-MA)(0i-D:No.13104#0=1) |
| 22 | MBL APC(during multi blocks advanced preview control) (0i-MA only) |
| 23 | NANO HP(Running of AI High-precision Contour Control) AICC 2(during AI contour control II)(30i, 0i-F) AICC 2(during AI contour control II)(0i-D:No.13104#0=1) AICC(during AI contour control)(0i-D:No.13104#0=0) |
| 24 | AI HPCC(Running of AI Nano High-precision Contour Control) |
| 25 | 5-AXIS(Running of 5-axes machining) |
| 26 | LEN(change the manual active offset value: length offset change mode) |
| 27 | RAD(change the manual active offset value: radius offset change mode) |
| 28 | WZR(change the manual active offset value: workpiece origin offset change mode) |
| 39 | TCP(during tool center point control of 5-axes machining) |
| 40 | TWP(during tilted working plane command) |
| 41 | TCP+TWP(during tool center point control of 5-axes machining and tilted working plane command) |
| 42 | APC(Advanced Preview Control)(16i/18i/21i,0i-C) APC(Advanced Preview Control)(0i-D:No.13104#0=1) |
| 43 | PRG-CHK(High speed program check) |
| 44 | APC(Advanced Preview Control)(0i-D:No.13104#0=0) |
| 45 | S-TCP(during smooth TCP)(30i, 0i-F) |
| 46 | AICC 2(during AI contour control II)(0i-D:No.13104#0=0) |
| 59 | ALLSAVE(High speed program management: the programs saving in progress) |
| 60 | NOTSAVE(High speed program management: by the programs not saved status) |
T series
| Value | Description |
|---|---|
| 0 | ****(Not editing) |
| 1 | EDIT(during editing) |
| 2 | Search(during searching) |
| 3 | OUTPUT(during output) |
| 4 | INPUT(during input) |
| 5 | COMPARE(during comparing) |
| 6 | Label Skip(label skip status)(30i, 0i-D/F are unused.) |
| 7 | Offset(during writing mode of tool length compensation amount) |
| 8 | Work Shift(during writing mode of work shift amount) |
| 9 | Restart(during program restart) |
| 10 | 16i:(Not used), 30i, 0i-F:RVRS(during retracing) |
| 11 | 16i:(Not used), 30i, 0i-F:RTRY(during reprogressing) |
| 12 | 16i:(Not used), 30i, 0i-F:RVED(end of retracing) |
| 13 | (Not used) |
| 14 | PTRR(during tool retraction and recovery mode) |
| 15 | (Not used) |
| 16 | AICC(during AI contour control) AICC(during AI contour control)(0i-D:No.13104#0=1) AI APC(during AI advanced preview control)(0i-D:No.13104#0=0) |
| 17 | Memory Check(checking tape memory)(30i, 0i-D/F are unused.) |
| 18 | (Not used) |
| 19 | SAVE(saving fine torque sensing data)(30i, 0i-D/F are unused.) |
| 20 | AI NANO(during AI Nano contour control)(30i, 0i-D/F are unused.) |
| 21 | HPCC(during RISC operation) |
| 22 | (Not used) |
| 23 | NANO HP(Running of AI High-precision Contour Control) AICC 2(during AI contour control II)(30i, 0i-F) AICC 2(during AI contour control II)(0i-D:No.13104#0=1) AICC(during AI contour control)(0i-D:No.13104#0=0) |
| 24 | AI HPCC(Running of AI Nano High-precision Contour Control) |
| 25 | 5-AXIS(Running of 5-axes machining) |
| 26 | OFSX(change the manual active offset value: X-axis offset change mode) |
| 27 | OFSZ(change the manual active offset value: Z-axis offset change mode) |
| 28 | WZR(change the manual active offset value: workpiece origin offset change mode) |
| 29 | OFSY(change the manual active offset value: Y-axis offset change mode) |
| 31 | TOFS(change the manual active offset value: Tool offset change mode) |
| 39 | TCP(during tool center point control of 5-axes machining) |
| 40 | TWP(during tilted working plane command) |
| 41 | TCP+TWP(during tool center point control of 5-axes machining and tilted working plane command) |
| 42 | APC(Advanced Preview Control)(16i/18i/21i,0i-C) APC(Advanced Preview Control)(0i-D:No.13104#0=1) |
| 43 | PRG-CHK(High speed program check) |
| 44 | APC(Advanced Preview Control)(0i-D:No.13104#0=0) |
| 45 | S-TCP(during smooth TCP)(30i, 0i-F) |
| 59 | ALLSAVE(High speed program management: the programs saving in progress) |
| 60 | NOTSAVE(High speed program management: by the programs not saved status) |
Series 16i/18i-W
aut
AUTOMATIC/MANUAL mode selection
| Value | Description |
|---|---|
| 0 | MDI |
| 1 | MEM |
| 3 | EDT |
| 4 | HAND |
| 5 | JOG |
| 10 | TAPE |
run
Status of automatic operation
| Value | Description |
|---|---|
| 0 | NOT READY |
| 1 | M-READY |
| 2 | C-START |
| 3 | F-HOLD |
| 4 | B-STOP |
motion
Status of axis movement, dwell
| Value | Description |
|---|---|
| 0 | **** |
| 1 | CMTN |
| 2 | CDWL |
mstb
Status of M, S, T, B function
| Value | Description |
|---|---|
| 0 | **** |
| 1 | CFIN |
emergency
(Not used)
alarm
Status of alarm
| Value | Description |
|---|---|
| 0 | ****(Not emergency) |
| 1 | ALARM |
| 2 | BATTERY LOW |
edit
Status of program editing
| Value | Description |
|---|---|
| 0 | ****(Not editing) |
| 1 | EDITING(during search) |
| 2 | SEARCH(during search) |
| 3 | RESTART (during restart) |
| 4 | RETRACE(during retrace) |
Parameters
Parameters are an advanced feature of the Fanuc CNC driver that must be enabled through the device definition. Click the “Use Advanced Properties” checkbox to get to the advanced settings and then set “Parameters” to true to enabled parameter reads. Once the “Parameters” option is enabled “Parameter Write” option will appear. Enable “Parameter Write” to allow writes to parameters.
Parameters are automatically enumerated from the CNC. Each parameter is unique in data type, description and bitmask. See the different parameter variables below.
Unit
| Value | Description |
|---|---|
| 0 | except real number |
| 1 | input unit |
| 2 | output unit |
| 3 | offset unit |
Dimension
| Value | Description |
|---|---|
| 0 | except real number |
| 1 | length unit |
| 2 | angle unit |
| 3 | length + angle unit |
| 4 | velocity unit |
Input
| Value | Description |
|---|---|
| 0 | normal |
| 1 | setting parameter |
| 2 | input prohibit |
Display
| Value | Description |
|---|---|
| bit 0 | symbol exist |
| bit 1 | top of group |
| bit 2 | bottom of group |
| bit 3 | gap required |
Other
| Value | Description |
|---|---|
| bit 0 | unsigned |
| bit 1 | power off required |
| bit 2 | not output |
| bit 3 | not compared |
| bit 4 | loader attribute |
Macros
Macros are an advanced feature of the Fanuc CNC driver that must be enabled through the device definition. Click the “Use Advanced Properties” checkbox to get to the advanced settings and then set “Macros” to true to enabled macro reads. Once the “Macros” option is enabled “Macro Write” option will appear. Enable “Macro Write” to allow writes to macros.
Macros are represented as arrays of FLOAT8 variables. These ranges are automatically enumerated based on the CNC configuration.
PMacros
P Macros are an advanced feature of the Fanuc CNC driver that must be enabled through the device definition. Click the “Use Advanced Properties” checkbox to get to the advanced settings and then set “P Macros” to true to enabled macro reads. Once the “P Macros” option is enabled “P Macro Write” option will appear. Enable “P Macro Write” to allow writes to macros.
P Macros just like Macros are represented as arrays of FLOAT8 variables. These ranges are automatically enumerated based on the CNC configuration.