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If you perform mastering after temporary mastering as described above, master count of
the axes which have an interaction with the recently mastered axis will change. This causes
unexpected position change. Therefore, after performing mastering, verify that master count
of the axes that did not require mastering stayed the same as the original. If this value has
changed, enter the original value which was documented before.

15.19 GROUP MASK EXCHANGE

15.19.1 Overview
Group Mask Exchange is used to copy a teach pendant program into a new program with a different
group mask than an original program. The position data from the original teach pendant program
will be copied into another group in the new teach pendant program. You can copy multiple group
programs from a single robot or dual robots.
Note This feature does not validate the logic of the output program, its positional data, or the
program header (except group mask information). The resulting program might also require some
position touchup.
Table 1543. Group Mask Exchange Screen Items
ITEM

DESCRIPTION

Original Program

Select the name of the original program from which

to copy the group mask.

New Program

Select the name of the new program to which the

group mask will be copied.

Copy Orig Grp[x] to New Grp[x]

Select a motion group in the original program to copy

to the new program motion groups where x identifies
the group number.

15.19.2 Setting Up Group Mask Exchange

Procedure 15-35 Copying a Program Using Group Mask Exchange
1.

Press MENU.

2.

Select UTILITIES.

3.

Press F1, [TYPE].

4. Select Group Exchg and press ENTER. You will see a screen similar to the following.

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Group Exchange
G1
JOINT 10 %
Program Selection
1/8
1 Orig Prog : (*,*,*,*,*) [SIDE_A ]
2 New Prog : (*,*,*,*,*) [SIDE_A ]
Group Selection
New Prog Group
3 Copy Orig Grp[1] to New Grp[0]
4 Copy Orig Grp[2] to New Grp[0]
5 Copy Orig Grp[3] to New Grp[0]
6 Copy Orig Grp[4] to New Grp[0]
7 Copy Orig Grp[5] to New Grp[0]

Note If a program is currently selected, it is used as the default for the original and new program
displayed in lines 1 and 2 above.
5. To select a different original program, press F3, [CHOICE].
6. To rename the new program, move the cursor to line 2 and press ENTER. You can then
choose a method to rename the program and type the new program name. You must then identify
the new group for the copy to take place.
7. To select a motion group in the original program to copy to the new program motion groups:
a. Move the cursor to the first New group [#] to copy.
b. Type a group number, and press ENTER.
Note If any of the entries for New Group [#] are left at 0, this group will be deleted
from the new program.
8. To clear a single entry, press NEXT, > and then press F1, CLEAR.
9. To clear all entries, press NEXT, > and then press SHIFT and F1, CLEAR.
Note If lines 1 and 2 are changed, the New Grp column in lines 3 through 7 are cleared.
10. When you have finished identifying the groups to be copied, press F2, EXEC.
Note If the new program exists when you press F2, EXEC, you must confirm the overwrite
operation before the execute takes place.

15.19.3 Troubleshooting Group Mask Exchange

Prompt messages will be displayed during Group Mask Exchange setup. Use Table 1544 to
determine the cause of a problem, and to solve it.

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Table 1544. Group Mask Exchange Troubleshooting

Prompt Message

Possible Cause

Solution

%s not aborted, abort program ?

%s is the name of the

program. The original or
new program is Running or
Paused.

Press F4 for Yes to ABORT program.

Press F5 for NO and operation will be
canceled

Group %d does not exist in Orig

program

%d is the original program

group number. The group
number does not exist in
original program. This group
number can not be copied to
new program.

Set new group number to 0 or to a new

group number for %d number.

Group %d does not exist on

controller

%d is the original program

group number. The group
number does not exist on the
controller. This group number
cannot be copied on this
controller.

Set the new group number to 0 or to a

new group number for %d number.

New Grp %d axis do not match

Orig Grp %d

%d is the group number for

new program and original
program. The original group
cannot be copied to new
group.

Set the new group number to 0 or to a

new group number for %d number of
original group.

New Grp %d is an INDEXER

cannot copy

%d is the new program group

number. New program group
is an INDEXER and cannot
be copied.

Set new group number to 0 for %d

number of new group.

New Program could not be created

1) Answering NO to Overwrite.

1) Overwrite the existing program or

change the new program name.

2) Refer to the error message

posted in the alarm log.

2) Refer to the Error Code Manual for

error remedy information.

New Program created successfully

This message is a status

message only.

None

No New Grps specified

All New Grps are "0"

You must specify a New Grp to execute

Group Mask Exchange.

Orig Grp %d is an INDEXER

cannot copy

%d is the original program

group number. Original
program group is an
INDEXER and cannot be
copied.

Set new group number to 0 for %d

number of original group.

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Table 1544. Group Mask Exchange Troubleshooting (Contd)

Prompt Message

Possible Cause

Solution

Program exist, Overwrite ?

The new program exists on

the controller.

Press F4, YES, to overwrite the program

on the controller. Press F5, NO, to cancel
the operation.

Program names match

Original and new program

name are the same.

Change the original or the new program

name.

Robot types do not match, Orig

Grp %d

%d is the original program

group number. Robot types
do not match and cannot
be copied. Robots must
be copied to robots; nobots
must be copied to nobots;
positioners must be copied to
positioners.

Set new group number to 0 or to a new

group number for %d number of original
group.

WORKING

The utility is copying the

program

Wait for the utility to complete the copy.

15.20 HIGH SPEED INPUT FUNCTIONS

15.20.1 Overview
The following High Speed Input Functions are available:

Frequency Interface
High Speed Scanning (for Line Tracking Part Detect)
Position Snap and Map

15.20.2 Frequency Interface

Outputs are supplied as system variables that are accessible by the FANUC Robotics Software.
The following outputs are supplied:

Frequency Reading (x1000 Hz)

Total Pulse Count
Standard Operator Panel Input (SOPIN)

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