O Codes

1. Use of O-codes

O-codes provide for flow control in NC programs. Each block has an associated number, which is the number used after O. Care must be taken to properly match the O-numbers. O codes use the letter O not the number zero as the first character in the number like O100 or o100. o-codes are also sometimes called o-words and these terms are interchangeable.

Not	Using the lower case o makes it easier to distinguish from a 0 that might have been mistyped. For example o100 is easier to see than O100 that it is not a 0.

2. Numbering

Numbered o-codes must have a unique number for each subroutine,

Numbering Example

(the start of o100)
o100 sub
(notice that the if-endif block uses a different number)
  (the start of o110)
  o110 if [#2 GT 5]
    (some code here)
  (the end of o110)
  o110 endif
  (some more code here)
(the end of o100)
o100 endsub

3. Comments

Comments on the same line as the o-word should not be used as the behavior can change in the future.

The behavior is undefined if:

The same number is used for more than one block.
Other words are used on a line with an o-word.
Comments are used on a line with an o-word.

4. Subroutines

Subroutines starts at oNNN sub and ends at oNNN endsub. The lines between oNNN sub and oNNN endsub are not executed until the subroutine is called with oNNN call. Each subroutine must use a unique number.

Subroutine Example

o100 sub
  G53 G0 X0 Y0 Z0 (rapid move to machine home)
o100 endsub

(the subroutine is called)
o100 call
M2

See G53, G0 and M2 sections for more information.

O- Return

Inside a subroutine, o- return can be executed. This immediately returns to the calling code, just as though o- endsub was encountered.

O- Return Example

o100 sub
  (test if parameter #2 is greater than 5)
  o110 if [#2 GT 5]
    (return to top of subroutine if test is true)
    o100 return
  o110 endif
    (this only gets executed if parameter #2 is not greater than 5)
    (DEBUG, parameter 1 is [#1])
o100 endsub

See the Binary Operators and Parameters sections for more information.

O- Call

o- Call takes up to 30 optional arguments, which are passed to the subroutine as #1, #2 , …, #N. Parameters from #N+1 to #30 have the same value as in the calling context. On return from the subroutine, the values of parameters #1 through #30 (regardless of the number of arguments) will be restored to the values they had before the call. Parameters #1 - #30 are local to the subroutine.

Because 1 2 3 is parsed as the number 123, the parameters must be enclosed in square brackets. The following calls a subroutine with 3 arguments:

O- Call Example

o100 sub
  (test if parameter #2 is greater than 5)
  o110 if [#2 GT 5]
    (return to top of subroutine if test is true)
    o100 return
  o110 endif
    (this only gets executed if parameter #2 is not greater than 5)
    (DEBUG, parameter 1 is [#1])
    (DEBUG, parameter 3 is [#3])
o100 endsub

o100 call [100] [2] [325]

Subroutine bodies may not be nested. They may only be called after they are defined. They may be called from other functions, and may call themselves recursively if it makes sense to do so. The maximum subroutine nesting level is 10.

Subroutines can change the value of parameters above #30 and those changes will be visible to the calling code. Subroutines may also change the value of global named parameters (i.e. parameters whose names begin with the underscore character "_").

4.1. Fanuc-Style Numbered Programs

Numbered programs (both main and subprograms), the M98 call and M99 return M-codes, and their respective semantic differences are an alternative to the rs274ngc subroutines described above, provided for compatibility with Fanuc and other machine controllers.

Numbered programs are enabled by default, and may be disabled by placing DISABLE_FANUC_STYLE_SUB = 1 in the [RS274NGC] section of the .ini file.

Not	Numbered main and subprogram definitions and calls differ from traditional rs274ngc both in syntax and execution. To reduce the possibility of confusion, the interpreter will raise an error if definitions of one style are mixed with calls of another.

Numbered Subprogram Simple Example

o1 (Example 1)    ; Main program 1, "Example 1"
M98 P100          ; Call subprogram 100
M30               ; End main program

o100              ; Beginning of subprogram 100
  G53 G0 X0 Y0 Z0 ; Rapid move to machine home
M99               ; Return from subprogram 100

o1 (Title)

The optional main program beginning block gives the main program the number 1. Some controllers treat an optional following parenthesized comment as a program title, Example 1 in this example, but this has no special meaning in the rs274ngc interpreter.

M98 P- <L->

Call a numbered subprogram. The block M98 P100 is analogous to the traditional o100 call syntax, but may only be used to call a following numbered subprogram defined with o100…M99. An optional L-word specifies a loop count.

M30

The main program must be terminated with M02 or M30 (or M99; see below).

O- subprogram definition start

Marks the start of a numbered subprogram definition. The block o100 is similar to o100 sub, except that it must be placed later in the file than the M98 P100 calling block.

M99 return from numbered subroutine

The block M99 is analogous to the traditional o100 endsub syntax, but may only terminate a numbered program (o100 in this example), and may not terminate a subroutine beginning with the o100 sub syntax.

The M98 subprogram call differs from rs274ngc o call in the following ways:

The numbered subprogram must follow the M98 call in the program file. The interpreter will throw an error if the subprogram precedes the call block.
Parameters #1, #2, …, #30 are global and accessible in numbered subprograms, similar to higher-numbered parameters in traditional style calls. Modifications to these parameters within a subprogram are global modifications, and will be persist after subprogram return.
M98 subprogram calls have no return value.
M98 subprogram call blocks may contain an optional L-word specifying a loop repeat count. Without the L-word, the subprogram will execute once only (equivalent to M98 L1). An M98 L0 block will not execute the subprogram.

In rare cases, the M99 M-code may be used to terminate the main program, where it indicates an endless program. When the interpreter reaches an M99 in the main program, it will skip back to the beginning of the file and resume execution at the first line. An example use of an endless program is in a machine warm-up cycle; a block delete program end /M30 block might be used to stop the cycle at a tidy point when the operator is ready.

Numbered Subprogram Full Example

o1                             ; Main program 1
  #1 = 0
  (PRINT,X MAIN BEGIN:  1=#1)
  M98 P100 L5                  ; Call subprogram 100
  (PRINT,X MAIN END:  1=#1)
M30                            ; End main program

o100                           ; Subprogram 100
  #1 = [#1 + 1]
  M98 P200 L5                  ; Call subprogram 200
  (PRINT,>> o100:  #1)
M99                            ; Return from Subprogram 100

o200                           ; Subprogram 200
  #1 = [#1 + 0.01]
  (PRINT,>>>> o200:  #1)
M99                            ; Return from Subprogram 200

In this example, parameter #1 is initialized to 0. Subprogram o100 is called five times in a loop. Nested within each call to o100, subprogram o200 is called five times in a loop, for 25 times total.

Note that parameter #1 is global. At the end of the main program, after updates within o100 and o200, its value will equal 5.25.

5. Looping

The while loop has two structures: while/endwhile, and do/while. In each case, the loop is exited when the while condition evaluates to false. The difference is when the test condition is done. The do/while loop runs the code in the loop then checks the test condition. The while/endwhile loop does the test first.

While Endwhile Example

(draw a sawtooth shape)
G0 X1 Y0 (move to start position)
#1 = 0 (assign parameter #1 the value of 0)
F25 (set a feed rate)
o101 while [#1 LT 10]
  G1 X0
  G1 Y[#1/10] X1
  #1 = [#1+1] (increment the test counter)
o101 endwhile
M2 (end program)

Do While Example

#1 = 0 (assign parameter #1 the value of 0)
o100 do
  (debug, parameter 1 = #1)
  o110 if [#1 EQ 2]
    #1 = 3 (assign the value of 3 to parameter #1)
    (msg, #1 has been assigned the value of 3)
    o100 continue (skip to start of loop)
  o110 endif
  (some code here)
  #1 = [#1 + 1] (increment the test counter)
o100 while [#1 LT 3]
(msg, Loop Done!)
M2

Inside a while loop, o- break immediately exits the loop, and o- continue immediately skips to the next evaluation of the while condition. If it is still true, the loop begins again at the top. If it is false, it exits the loop.

6. Conditional

The if conditional consists of a group of statements with the same o number that start with if and end with endif. Optional elseif and else conditions may be between the starting if and the ending endif.

If the if conditional evaluates to true then the group of statements following the if up to the next conditional line are executed.

If the if conditional evaluates to false then the elseif conditions are evaluated in order until one evaluates to true. If the elseif condition is true then the statements following the elseif up to the next conditional line are executed. If none of the if or elseif conditions evaluate to true then the statements following the else are executed. When a condition is evaluated to true no more conditions are evaluated in the group.

If Endif Example

(if parameter #31 is equal to 3 set S2000)
o101 if [#31 EQ 3]
  S2000
o101 endif

If ElseIf Else EndIf Example

(if parameter #2 is greater than 5 set F100)
o102 if [#2 GT 5]
  F100
o102 elseif [#2 LT 2]
(else if parameter #2 is less than 2 set F200)
  F200
(else if parameter #2 is 2 through 5 set F150)
o102 else
  F150
o102 endif

Several conditions may be tested for by elseif statements until the else path is finally executed if all preceding conditions are false:

If Elseif Else Endif Example

(if parameter #2 is greater than 5 set F100)
o102 if [#2 GT 5]
  F100
(else if parameter #2 less than 2 set F200)
o102 elseif [#2 LT 2]
  F20
(parameter #2 is between 2 and 5)
o102 else
  F200
o102 endif

7. Repeat

The repeat will execute the statements inside of the repeat/endrepeat the specified number of times. The example shows how you might mill a diagonal series of shapes starting at the present position.

Example with repeat

(Mill 5 diagonal shapes)
G91 (Incremental mode)
o103 repeat [5]
... (insert milling code here)
G0 X1 Y1 (diagonal move to next position)
o103 endrepeat
G90 (Absolute mode)

8. Indirection

The o-number may be given by a parameter and/or calculation.

Indirection Example

o[#101+2] call

Computing values in O-words

For more information on computing values see the following sections:

9. Calling Files

To call a separate file with a subroutine name the file the same as your call and include a sub and endsub in the file. The file must be in the directory pointed to by PROGRAM_PREFIX or SUBROUTINE_PATH in the INI file. The file name can include lowercase letters, numbers, dash, and underscore only. A named subroutine file can contain only a single subroutine definition.

Named File Example

o<myfile> call

Numbered File Example

o123 call

In the called file you must include the oxxx sub and endsub and the file must be a valid file.

Called File Example

(filename myfile.ngc)
o<myfile> sub
  (code here)
o<myfile> endsub
M2

Not	The file names are lowercase letters only so o<MyFile> is converted to o<myfile> by the interpreter. More information about the search path and options for the search path are in the INI configuration section.

10. Subroutine return values

Subroutines may optionally return a value by an optional expression at an endsub or return statement.

Return value example

o123 return [#2 *5]
...
o123 endsub [3 * 4]

A subroutine return value is stored in the <_value> predefined named parameter , and the <_value_returned> predefined parameter is set to 1, to indicate a value was returned. Both parameters are global, and are cleared just before the next subroutine call.

11. Errors

The following statements cause an error message and abort the interpreter:

a return or endsub not within a sub definition
a label on repeat which is defined elsewhere
a label on while which is defińed elsewhere and not referring to a do
a label on if defined elsewhere
a undefined label on else or elseif
a label on else, elseif or endif not pointing to a matching if
a label on break or continue which does not point to a matching while or do
a label on endrepeat or endwhile no referring to a corresponding while or repeat

To make these errors non-fatal warnings on stderr, set bit 0x20 in the [RS274NGC]FEATURE= mask ini option.