YASKAWA yasnac i80m Instruction Manual page 343

NOTE
O
A single block
must
be allocated
to
M90
or
M91P. If
a motion command is in the same
block. ALM112 "M90/M91 FORMAT ERROR" occurs.
Interrupt signal while interrupt program is executed
If an interrupt signal is
input
in the M91 Mode, it is disregarded while
the interrupt program is
being executed.
ALM114 "M90/M9I COMMAND ERROR"
Neither M90 nor M91
can
be used
in
a program
started by programmed interrupt. If the
command
is used,
ALM114 "M90/M91
COMMAND ERROR"
occurs.
Macro local variable level
M91
can be used
in
a sub-program or macro
program.
An interrupt
program is
not
counted for the
program nesting level, therefore it does
not
vary the
macro
local variable level.
Specifying destination
The M99 command in an interrupting
program
returns to
the block
next
to
the inter¬
rupted block. To specify returning
to
other block, use M99P.
When returning
to
the first program by M99, the modal infomation
before interrupt is
restored.
When returning
to
the first program by M99P.
the modal
information
updated in the
interrupting
program is retained.
When
interrupt input occurs during block
stop
If interrupt signal is input during block
stop,
interrupting
program
is started when
operation is restarted by cycle
start.
Programmed interrupt input during high-speed cutting
Programmed interrupt is disregarded during high-speed cutting.
Specifying interrupting program
start sequence number
Use command Q in
a
M91P block
to
specify the
sequence
number
at
which the interrupt¬
ing
program
is
to
1» started.
Modal information
at
interrupt
Modal
information is retained
even
if a programmed interrupt occurs and the interrupt¬
ing
program
is started. When
the interrupting program is stopped
and the first
program
is restarted by M99, the modal information
at
the time of interrupt is restored.
The
current
coordinate
system
of the first program is
not
restored.
When
the interrupting
program
is
stopped
and the first
program
is restarted by M99P,the
modal information
in the interrupting program is retained.
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