5-axis Function(RTCP)

Application Manual
Contents
1 INTRODUCTION TO FIVE-AXIS MACHINE ................................................ 1

1.1 FEATURES................................................................................................. 1
1.1.1 More Compatible to Workpiece .......................................................... 1
1.1.2 High Efficiency .................................................................................. 1
1.1.3 High Precision .................................................................................... 1
1.1.4 Enhancement of Tool Stiffness ........................................................... 1
1.2 MACHINE TYPES ....................................................................................... 3
1.2.1 Head-Head ......................................................................................... 3
1.2.2 Table-Table ........................................................................................ 4
1.2.3 Head-Table......................................................................................... 4
1.3 DEFINITIONS OF ROTARY AXES ................................................................. 5
1.3.1 Head-Head ......................................................................................... 5
1.3.2 Table-Table ........................................................................................ 6
1.3.3 Head-Table......................................................................................... 6
1.4 PARAMETERS ............................................................................................ 7
2 ROTATION TOOL CENTER POINT（RTCP）.............................................21

2.1 DESCRIPTION ...........................................................................................21

2.2 COMMAND FORMAT .................................................................................22
2.3 LIMITATION .............................................................................................22
2.4 EXAMPLE.................................................................................................22
3 SMOOTH TOOL CENTER POINT（STCP）.................................................24

3.1 DESCRIPTION ...........................................................................................24

3.2 COMMAND FORMAT .................................................................................24
3.3 LIMITATION .............................................................................................24
3.4 RELATED PARAMETERS ............................................................................24

4 MANUAL RTCP ..............................................................................................26

4.1 DESCRIPTION ...........................................................................................26

4.1.1 R518 .................................................................................................26
4.1.2 R519 .................................................................................................26
4.1.3 Tool Coordinate System ....................................................................26
4.2 NOTE .......................................................................................................29
4.3 EXAMINATION .........................................................................................29
4.3.1 R518 .................................................................................................29
4.3.2 R519 .................................................................................................30
5 FEATURE COORDINATE ..............................................................................31

5.1 DESCRIPTION ...........................................................................................31

5.1.1 Definition of Euler Angles.................................................................32
5.2 COMMAND FORMAT .................................................................................34
5.3 LIMITATION .............................................................................................34
5.4 RELATED PARAMETERS ............................................................................34
5.5 EXAMPLE 1 ..............................................................................................35
5.6 EXAMPLE 2 ..............................................................................................38
5.6.1 Description of Machining ..................................................................38
5.6.2 How To Modify The NC File ............................................................39
5.6.2.1 Setting Origin of Feature Coordinate .............................................40
5.6.2.2 Setting Euler Angles of Feature Coordinate ...................................41
5.6.2.3 Tool Alignment .............................................................................42

6 TEACHING OF FEATURE COORDINATE ...................................................43

6.1 MAIN-MACHINE INTERFACE.....................................................................43

6.2 DESCRIPTION ...........................................................................................45
6.2.1 Three-Point Teaching ........................................................................45
6.2.2 Tool Orientation Teaching .................................................................46
6.2.3 Euler Angles Teaching ......................................................................47
6.2.4 Double-Vector Teaching ...................................................................48

7 ERROR MEASUREMENT AND COMPENSATION ......................................49

7.1 DESCRIPTION OF ERRORS .........................................................................49

7.1.1 Linear Axis Errors .............................................................................50
7.1.2 Rotary Axis Errors ............................................................................50
7.2 PARAMETERS RELATED TO ERROR COMPENSATION ..................................52

8 TROUBLESHOOTING ....................................................................................54

8.1 LIST OF ALARMS ......................................................................................54

8.2 DESCRIPTION OF TROUBLESHOOTING........................................................54

9 PURCHASE SELECTION ...............................................................................56

9.1 HARDWARE .............................................................................................56

9.2 SOFTWARE...............................................................................................56
9.3 MODEL ....................................................................................................56

10 Q & A ...........................................................................................................57
11 MODIFICATION HISTORY .......................................................................59
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1 Introduction to Five-axis Machine

The milling machine equipped with two more axes, besides the three
linear axes, X, Y and Z, and exercising with five axes simultaneously
named five-axis machine.
This document provides the specifications of five-axis machine and
functions offered by Syntec controller. The objective is to make users know
more information about five-axis machine.
1.1 Features
1.1.1 More Compatible to Workpiece
With an increase in DOF, since the two additional rotary axes, the
machine tool can work on workpieces of complex geometry. For example,
contour surface on the opposite side of clamped workpiece can be
accomplished.(See Figure 1)

Figure 1

1.1.2 High Efficiency

Five-axis machine can adjust the tool orientation based on the contour
surface, hence, avoid the using of tool tip while machining curved surface
or tilted plane with ball-end miller. By doing so, not only the expectancy
life of tool is improved, but also the efficiency and quality of machining are
advanced.
1.1.3 High Precision
It can machine even the opposing side of parts and complete the task in
single setup, therefore time can be saved and precision isn’t affected
negatively because of multi-setup.
1.1.4 Enhancement of Tool Stiffness
When machining cavities, for example, somewhere deep in the
clamped, there’s a need to extend the tool, for avoiding the collision
between the holder and workpiece, but the longer the tool exposed, the
lower forward- and sided-stiffness it has. (See Figure 2) However, in the
same situation, the tool of five-axis machine can be adjusted, then having
higher stiffness and better machining precision for the shorter exposed
length of tool.(See Figure 3)
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Figure 2

Figure 3
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1.2 Machine Types

Based on the different setup of rotary axes, five-axis machine can
be sorted as follows:

a. Head-Head (Spindle Type)

b. Table-Table (Table Type)
c. Head-Table (Mix Type)

Head-Head Table-Table Head-Table

Figure 4

1.2.1 Head-Head
Head-Head type possess that both rotary axes are laid on the spindle,
and the two axes are identified as combination of C-axis and A-axis/ B-axis.
In some special cases, there’s a combination of A-axis and B-axis.
Since there’s no rotary axis on the table, it can load heavily. For the
reason, the dimension of a machine is often large to accommodate
large-sized parts. In conclusion, its base is much heavier than spindle-end,
in other words, it can keep stable in work.
With the two more rotary axes and the spindle itself, Head-Head type
consists of three axes on the spindle-end, so the accurately fabricated
components are very necessary. On the other hand, with the arrangement on
the spindle, the loading capability of it is lowered, consequently, this kind of
machine is not suitable for heavily cutting and high-speed feeding.
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1.2.2 Table-Table
Table-Table type possess that both rotary axes are laid on the table, and
the two axes are identified as combination of C-axis and A-axis/ B-axis. In
some special cases, there’s a combination of A-axis and B-axis.
Compared to the Head-Head type, the stiffness of the spindle for
Table-Table type is higher, hence, it’s suitable for heavily cutting and
high-speed feeding. However, it’s a trade-off that it just can bear lighter
workpieces and can’t machine flexibly as the Head-Head type.

1.2.3 Head-Table
Head-Table type possess that the two rotary axes are laid on the
spindle and table, and identified as A-axis or B-axis and C-axis, separately.
In some special cases, the one on the table may appear as A-axis or B-axis.
When it comes to the flexibility, dimensions of machine, weight of
workpiece, machining accuracy, Head-Table type is between the two types
mentioned above. However, since the requirement of precision is not so
demanded as the other, so it can get the upper hand on the cost.
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1.3 Definitions of Rotary Axes

There’s a Master & Slave relationship between the two rotary axes
defined for controller. In order to make the controller compute correctly, the
definition of rotary axes should be clear. Otherwise, the controller may
generate abnormal contours.
The definitions of rotary axes of three types are as follows:

1.3.1 Head-Head
See Figure 5, the slave is attached to the master in the viewpoint of
mechanism. However, the movement of the slave doesn’t contribute to the
angle of the master. Instead, rotation of the master will influence the state of
the slave. With the idea, there’s no difficulty differentiating them.

Figure 5
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1.3.2 Table-Table
Same as the Head-Head type, the character of axes can be recognized
easily. (See Figure 6)

Figure 6

1.3.3 Head-Table
The definition of the type is unable to clearly be given, usually, top to
down is adapted: the rotary axis on the spindle is identified as the master,
and the one set up on the table as the slave. (See Figure 7)

Figure 7
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1.4 Parameters
This section includes parameters related to the functions of Syntec
controller and five-axis machine.

Initial
Pr. Description Range Unit Take effect
value
3001 *Organization for five axis machine [0,3] - 0 Reboot

Value of Pr.3001:
0: idle
1: Head-Head
2: Table-Table
3: Head-Table

Initial
Pr. Description Range Unit Take effect
value
3002 Direction of Tool [0,3] - 0 Press Reset

Value of Pr.3002:
About the tool orientation (from tool tip to tool holder) under the
situation that all the angles of rotary axis are 0o, please refer to Figure 8.
0: idle
1: positive X-coordinate.
2: positive Y-coordinate.
3: positive Z-coordinate.

Figure 8
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Initial
Pr. Description Range Unit Take effect
value
Incline Angle of direction of Tool
3003 [0,360000] BLU 0 Press Reset
(RA)

The function of Pr.3003 is to modify the angular errors resulting from

the incorrect installation of tool or spindle.

Value of Pr.3002 is set 1:

Pr.3003 represents the angle between the projection of tool orientation
on the X-Y plane and the positive X-coordinate.

Value of Pr.3002 is set 2:

Pr.3003 represents the angle between the projection of tool orientation
on the Y-Z plane and the positive Y-coordinate.

Value of Pr.3002 is set 3:

Pr.3003 represents the angle between the projection of tool orientation
on the X-Z plane and the positive Z-coordinate.

Take the situation that Pr.3002 is set 3 for example, the definition of
Pr.3003(RA) is as Figure 9.

Figure 9
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Initial
Pr. Description Range Unit Take effect
value
Incline Angle of direction of Tool
3004 [0,360000] BLU 0 Press Reset
(RB)

The function of Pr.3004 is to modify the angular errors resulting from

the incorrect installation of tool or spindle.

Value of Pr.3002 is set 1:

Pr.3004 represents the angle between the projection of tool orientation
on the Y-Z plane and the positive Y-coordinate.

Value of Pr.3002 is set 2:

Pr.3004 represents the angle between the projection of tool orientation
on the X-Z plane and the positive Z-coordinate.

Value of Pr.3002 is set 3:

Pr.3004 represents the angle between the projection of tool orientation
on the X-Y plane and the positive X-coordinate.

Take the situation that Pr.3002 is set 3 for example, the definition of
Pr.3004(RB) is as Figure 10.

Figure 10
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Initial
Pr. Description Range Unit Take effect
value
3005 First rotation axis [0,3] - 0 Press Reset
3006 Second rotation axis [0,3] - 0 Press Reset

Pr.3005 and 3006 define that which linear axis is paralleled with the
centerline of rotary axis.
Value of Pr.3005 and 3006:
0: idle.
1: pivot around X-axis.
2: pivot around Y-axis.
3: pivot around Z-axis.

Initial
Pr. Description Range Unit Take effect
value
3007 Rotation direction of first rotation axis [0,2] - 0 Press Reset
Rotation direction of second rotation
3008 [0,2] - 0 Press Reset
axis

Value of Pr.3007 and 3008:

0: idle.
1: right-hand rule.
2: left-hand rule.

In usual, two rotary axes of Head-Head type are both adapted to the
right-hand rule, and Table-Table type are both adapted to the left-hand rule.
However, ascertaining which to apply physically gets more precise.
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Initial
Pr. Description Range Unit Take effect
value
starting point of rotation angle of first
3009 [0,360000] BLU 0 Press Reset
rotation axis
terminal point of rotation angle of first
3010 [0,360000] BLU 0 Press Reset
rotation axis
starting point of rotation angle of
3011 [0,360000] BLU 0 Press Reset
second rotation axis
terminal point of rotation angle of
3012 [0,360000] BLU 0 Press Reset
second rotation axis

The group of parameters should accommodate Pr.3007 and 3008 to

determine the direction, if there’s alarm related to the range of angle, please
examine whether the determined direction is correct.

With the right-hand rule, take C-axis as example, point the thumb to
positive Z-axis, and take the view from positive to negative, in other words,
top to down. Next, find the range of action of rotary axis, see Figure 11:

If Area 1, which swept from 150o of Cartesian Coordinate to 30o , is

attainable to rotary axis, Pr.3011 and 3012 should be set 150000 and 30000,
separately.

On the contrary, if Area 2 is attainable to rotary axis, Pr.3011 and 3012

should be set 30000 and 150000, separately.

Note: The definition of angle will be reversed if the rule is changed to

left-hand one. For example, 90o in the right-hand rule becomes 270 o in the
left-hand rule, and 270o in the right-hand rule becomes 90o in the left-hand
rule.

Figure 11
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Initial
Pr. Description Range Unit Take effect
value
3013 Tool Holder Offset [0,999999999] BLU 0 Press Reset

Pr.3013 is enabled only that the spindle-end is equipped with a rotary

shaft. Tool holder offset is defined as the distance between the control
point(centerline of rotary axis of spindle-end) and the termination of spindle.
About the definitions of tool holder and length of tool, please refer to Figure
12.

Control Point

Tool holder offset

(Pr3013)

Tool length

Figure 12
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Initial
Pr. Description Range Unit Take effect
value
A-component of Offset for first
3015 [-360000,360000] BLU 0 Press Reset
rotation axis
B-component of Offset for first
3016 [-360000,360000] BLU 0 Press Reset
rotation axis
C-component of Offset for first
3017 [-360000,360000] BLU 0 Press Reset
rotation axis
A-component of Offset for second
3018 [-360000,360000] BLU 0 Press Reset
rotation axis
B-component of Offset for second
3019 [-360000,360000] BLU 0 Press Reset
rotation axis
C-component of Offset for second
3020 [-360000,360000] BLU 0 Press Reset
rotation axis

The functions of Pr.3015 to 3020 are to modify the errors of

mechanical coordinate resulting from the tilting of rotary axes.

Pr.3015 to 3020, the offset between the two rotary axes and A, B, and
C, should be filled in based on the setting of Pr.3005 and 3006.

For example, if the master is C-axis, the values of Pr.3015 to 3017 are
AOC, BOC, and COC, separately. (See Figure 13)

Figure 13

* About AOC, BOC, and COC showed on the picture above, please
refer to Chapter 7.
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Values of Pr.3015 to 3020 are the components of compensation of

angle:

Compensation of angle = ideal angle - actual angle

For example, see the figure below:

Figure 14

C-axis and B-axis in figure 13 are identified as the master and slave,
separately.(Pr.3005=3、Pr.3006=2)
∠COC=50o, ∠BOB=30o

Ideal angle of C-axis – Actual angle of C-axis = 0o – 50o = -50o

Ideal angle of B-axis – Actual angle of B-axis = 0o – 30o = -30o

Consequently,
Pr3017 = -50000(BLU)
Pr3019 = -30000(BLU)

* About BOB and COC mentioned above, please refer to Chapter 7.

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Initial
Pr. Description Range Unit Take effect
value
x-component of Offset from tool holder
3021 [0,999999999] BLU 0 Press Reset
to second rotation axis
y-component of Offset from tool holder
3022 [0,999999999] BLU 0 Press Reset
to second rotation axis
z-component of Offset from tool holder
3023 [0,999999999] BLU 0 Press Reset
to second rotation axis

Pr.3021 to 3023, related to the setting of geometry of five-axis

mechanism, are applied to the Head-Head type, please see Figure 15.

Assume that the offset from the spindle to the Slave is (a, b, c), then
Pr.3021 corresponds to a, Pr.3022 to b, and Pr.3023 to c.

Normally, the Slave of Head-Head type is concentric with the spindle,

hence, a, b, and c can be set 0 directly. If the errors are taken into account,
they should be measured, and compensated additionally.

Figure 15
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Initial
Pr. Description Range Unit Take effect
value
x-component of Offset from second
3024 [0,999999999] BLU 0 Press Reset
rotation axis to first rotation axis
y-component of Offset from second
3025 [0,999999999] BLU 0 Press Reset
rotation axis to first rotation axis
z-component of Offset from second
3026 [0,999999999] BLU 0 Press Reset
rotation axis to first rotation axis

Pr.3024 to 3026, related to the setting of geometry of five-axis

mechanism, are applied to the Head-Head type, please see Figure 16.

Assume that the offset from the Slave to the Master is (d, e, f), then
Pr.3024 corresponds to d, Pr.3025 to e, and Pr3026 to f.

Normally, the two rotary axes of Head-Head type are concentric with
the spindle, hence, d, e, and f can be set 0 directly. If the errors are taken
into account, they should be measured, and compensated additionally.

(d, e, f)

Figure 16
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Initial
Pr. Description Range Unit Take effect
value
x-component of Offset from first
3031 [0,999999999] BLU 0 Press Reset
rotation axis to second rotation axis
y-component of Offset from first
3032 [0,999999999] BLU 0 Press Reset
rotation axis to second rotation axis
z-component of Offset from first
3033 [0,999999999] BLU 0 Press Reset
rotation axis to second rotation axis

Pr.3031 to 3033, related to the setting of geometry of five-axis

mechanism, are applied to the Table-Table type, please see Figure 17.

Assume that the offset from the Master to the Slave is (a, b, c), then
Pr.3031 corresponds to a, Pr.3032 to b, and Pr.3033 to c.

Normally, the two rotary axes of Table-table type are concentric, hence,
a and b can be set 0 directly, but c should be measured separately.

(a, b, c)

Figure 17
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Initial
Pr. Description Range Unit Take effect
value
x-component of Offset from machine to
3034 [0,999999999] BLU 0 Press Reset
first rotation axis
y-component of Offset from machine to
3035 [0,999999999] BLU 0 Press Reset
first rotation axis
z-component of Offset from machine to
3036 [0,999999999] BLU 0 Press Reset
first rotation axis

Pr.3034 to 3036, related to the setting of geometry of five-axis

mechanism, are applied to the Table-Table type, please see Figure 18.

Assume that the offset from any reference point on machine to the
Master is (d, e, f), then Pr.3034 corresponds to d, Pr.3035 to e, and Pr.3036
to f.

The machine origin point is usually regarded as reference point, and

therefore the setting of d, e, and f can be determined by finding out the
mechanical coordinate of centerline of the master.

(d, e, f)

Figure 18
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Initial
Pr. Description Range Unit Take effect
value
x-component of Offset from tool holder
3041 [0,999999999] BLU 0 Press Reset
to first rotation axis
y-component of Offset from tool holder
3042 [0,999999999] BLU 0 Press Reset
to first rotation axis
z-component of Offset from tool holder
3043 [0,999999999] BLU 0 Press Reset
to first rotation axis
x-component of Offset from machine to
3044 [0,999999999] BLU 0 Press Reset
second rotation axis
y-component of Offset from machine to
3045 [0,999999999] BLU 0 Press Reset
second rotation axis
z-component of Offset from machine to
3046 [0,999999999] BLU 0 Press Reset
second rotation axis

Pr.3041 to 3046, related to the setting of geometry of five-axis

mechanism, are applied to the Head-Table type, please see Figure 19.

Assume that the offset from the spindle to the Master is (a, b, c), then
Pr.3041 corresponds to a, Pr.3042 to b, and Pr.3043 to c.

Assume that the offset from any reference point on machine to the
Slave is (d, e, f), then Pr.3044 corresponds to d, Pr.3045 to e, and Pr.3046 to
f.
At the situation that the Master is concentric with the spindle, a, b, and
c can be set 0 directly. If errors are taken into account, they should be
measured, and compensated additionally. d, e, f should be measured with
corresponding manner based on the character of the Slave(A-, B-, or
C-axis).
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(a, b, c)

(d, e, f)

Figure 19

Initial
Pr. Description Range Unit Take effect
value
407 HPCC smoothing tolerance [2~20] um 2 Press Reset

Initial
Pr. Description Range Unit Take effect
value
3051 enable smooth RTCP function [0,1] - 0 Press Reset
0: switch off STCP;
1: switch on STCP
While Pr.3051 is set 1, the argument L can be ignored.

Initial
Pr. Description Range Unit Take effect
value
first rotation axis smooth
3052 [0,360000] 0.001deg 0 Press Reset
tolerance
second rotation axis smooth
3053 [0,360000] 0.001deg 0 Press Reset
tolerance
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2 Rotation Tool Center Point（RTCP）

2.1 Description
RTCP is the function specific characterized by the five-axis machine.
While machining with RTCP, the controlled target, originally tool holder,
changes to the tool tip.
In the time RTCP hadn’t been released, generating corresponding NC
files required the utility of CAM and length of tool. But each NC file is
provided to specific value of the tool length, so there’s a need to generate it
again to compensate the wear and tear of tool.
After the development of RTCP, CAM software only has to compute
the coordinates of geometry of workpiece, and the controller will take the
length of tool and wear and tear into account automatically. On the basis of
that, no matter how the length of tool is changing, its tip still works on the
contour of the part. Please refer to the Figure 20, the orange trace is the
track of tool holder without RTCP, and the blue one is the track of tip of
tool with RTCP. Usually, offset between the two traces is the length of
exposed tool, which is varying while machining. As a result, the approach
which does not take these factors into consideration cannot get its
machining precision upper hand.
Consequently, mating RTCP to the using of five-axis machine is
ideally suggested for the high machining precision and efficiency.

Figure 20
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2.2 Command Format

G43.4 H_;
G49;

G43.4: switch on RTCP;

G49: switch off RTCP;
H: No. of tool length compensation;

2.3 Limitation
1. G41 and G42 should repel each other.
2. G43 and G44 should repel each other.
3. The length of tool should be set to the length of exposed tool, and
the value is positive.
4. Must set G49 before the instructions G53, G28, G29, and G30,
otherwise, machine may perform abnormally.

2.4 Example
The two NC files listed below are different at the appearance of
instruction G43.4, the first lack of G43.4 does not switch on RTCP, in
contrast with that, the second switches on the function with G43.4.

NC file plays without RTCP:

G00 X0 Y0 Z0 B0 C0
G01 X50. Y0 Z0 B-45. C0

Figure 21 shows the movement of machine without RTCP

NC file plays with RTCP:

G43.4 H1
G00 X0 Y0 Z0 B0 C0
G01 X50. Y0 Z0 B-45. C0

Figure 22 shows the movement of machine with RTCP.

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Figure 21

Figure 22
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3 Smooth Tool Center Point（STCP）

3.1 Description
After STCP is switched on, the system will smooth the path of tool tip
and the orientation of tool to make the machining process and surface of
part smoother in addition to the function of RTCP. (See Figure 23)

Figure 23

3.2 Command Format

G43.4 H_ [L_];
G49;

G43.4: switch on RTCP;

H: No. of tool length compensation;
L1: switch on STCP;
L0: switch off STCP;
G49: switch off both RTCP and STCP;

Attaching argument L behind G43.4 can decide whether STCP is

switched on. L1 represents STCP is switched on, and L0 switched off.
While Pr.3051 is set 1, the argument L can be ignored.

3.3 Limitation
1. STCP should be mated to RTCP, and HPCC simultaneously.
(Option 11 & 12)
2. Under the STCP mode, the instruction is limited to those related, or
the alarm, COR-107 The format of G5.1/G05 is incorrect, would be
triggered.

3.4 Related Parameters

Initial
Pr. Description Range Unit Take effect
value
407 HPCC smoothing tolerance [2~20] um 2 Press Reset
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3051 enable smooth RTCP function [0,1] - 0 Press Reset

first rotation axis smooth
3052 [0,360000] 0.001deg 0 Press Reset
tolerance
second rotation axis smooth
3053 [0,360000] 0.001deg 0 Press Reset
tolerance
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4 Manual RTCP
We can also utilize PLC components to switch on/off RTCP under
Manual manipulation.(e.g. Hand-wheel, jog, and incremental jog)

4.1 Description
Manual RTCP is controlled by the registers R518 and R519.

4.1.1 R518
R518 is a register to choose coordinate while manually manipulating
the linear axes. The setting value and corresponding coordinate is explained
as follows：
1. R518 = 0: Shift linear axes manually, and it will act based on the
mechanical coordinate.
2. R518 = 1: Shift linear axes manually, and it will act based on the
program coordinate (or workpiece coordinate).
3. R518 = 2: Shift linear axes manually, and it will act based on the
tool coordinate.

4.1.2 R519
R519 is a register exclusively used for the five-axis manual operation.
There’s no effect while used on a non-five-axis machine. Under the function
of five-axis manual operation,
R519 = 0: switch off RTCP
R519 = 1: switch on RTCP
After the startup of RTCP, the program coordinate of tool tip is fixed, but
the posture or direction of tool/table varies with the pivoting of rotary axis.
Please see Figure below.

R519 = 0 R519 = 1
Figure 24
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4.1.3 Tool Coordinate System

While all the rotary angles are 0o, the definition of tool orientation is as
follows. Figure 25 is the situation that Pr.3002 is 3 and all the rotary angles
are 0o.

Pr.3002 Orientation of tool Vertical of tool-1 Vertical of tool-2

1 +X +Y +Z
2 +Y +Z +X
3 +Z +X +Y

Figure 25

While the rotary angle is non-zero, the tool axis direction means the
direction from tool tip to tool holder, not the positive Z.
The function of tool coordinate only applied to the situation that there’s
any rotary axis equipped on the spindle.(e.g. Head-Head or Head-Table type)
On the other hand, the tool orientation of Table-Table type is fixed, hence,
the tool coordinate doesn’t change anymore.
In the case that all the rotary angles are 0, the tool coordinate and
mechanical coordinate overlap. While the rotary axes start rotating, the tool
coordinate rotates as well. Please see Figure 26, the left one demonstrates
that the tool pivots around X-axis and the right demonstrates the
corresponding tool coordinate after that.
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Figure 26
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4.2 Note
1. R518 is only related to linear axes, no matter what value is set to
R518, the actions of rotary axes would be the same.
2. R519 is only related to rotary axes, hence, no matter what value is
set to R519, the actions of linear axes would be the same.
3. Before the use of Manual RTCP, remember to add two R bit,
R518 and R519 into the PLC file to enable the function.
4. To change the coordinate for linear axes, you have to not only
change the value of R518, but also execute G43.4 under MDI
mode, then switch back to hand-wheel mode.
5. To switch on manual RTCP, you need to not only set R519 to 1,
but also execute G43.4 under MDI mode, then switch back to
hand-wheel mode.
6. After manual RTCP is switched on, manual operation of rotary
axes only results in the changing of mechanical coordinates, the
program coordinate of X,Y and Z won’t change.
4.3 Examination
4.3.1 R518
 Head-Head

R518 should set to 2 because the tool coordinate is variable while the
program coordinate (workpiece coordinate) is not.

Rotate the rotary axes to any angles to change the orientation of the
tool, then the tool coordinate would rotate with rotary axes, hence, the linear
axes would follow the X, Y, and Z directions of new coordinate. If not, it
means the five-axis function hasn’t been switched on yet.

 Table-Table

R518 should set to 1 because the program coordinate (workpiece

coordinate) is variable while tool coordinate is not.

Rotate the table to any angle to change the direction of workpiece

coordinate, then the linear axes would follow the X, Y, Z directions of new
workpiece coordinate while moving them. If not, it means the five-axis
function hasn’t been switched on yet.

 Head-Table

R518 can be set 1 or 2. The test manner can refer to previous two
sections.
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4.3.2 R519
To switch on RTCP, please set R519 1, and execute G43.4.

 Head-Head

Shift the spindle or tool to the appropriate position and pivot rotary
axes, if the tool length compensation is executed correctly, the tool tip
won’t move, but rotary axes has rotated to some angles. If there’s no tool
compensation, the end of tool holder would stand still.
In the process of rotation, the program coordinate of X, Y and Z are
fixed while those of rotary axes would vary. However, mechanical
coordinate of X, Y, Z and rotary axes would vary. For example, rotate
B-axis, then mechanical coordinate of X and Z would change
simultaneously, while program coordinate of X and Z are fixed, and the
mechanical coordinate and program coordinate of B-axis would change.

 Table-Table

Shift the spindle or tool to the appropriate position and pivot rotary
axes, if the tool length compensation is executed correctly, the relative
position between tool tip and working table wouldn’t change. If there’s no
tool compensation, the fixed relative position is between the end of tool
holder and working table.

In the process of rotation, the program coordinate of X, Y and Z are

fixed while those of rotary axes would vary. However, the mechanical
coordinate of X, Y, Z and rotary axes would vary. For example, rotate
B-axis, then mechanical coordinate of X and Z would change
simultaneously, while program coordinate of X and Z are fixed, and the
mechanical coordinate and program coordinate of B-axis would change.

 Head-Table

Please refer to the previous two sections about Head-Head and

Table-Table type.
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5 Feature Coordinate
5.1 Description
The function of Feature Coordinate is to make the tool align to the
tilted working plane(TWP) and machine on it, then the machine can
accomplish machining on tilted working plane as on horizontal surface.
TWP should be defined by workpiece coordinate G54, in other words,
the origin of TWP is set relative to G54 coordinate, while the angle of TWP
should computed from Euler angles. The relationship between these three
can refer to Figure 27.

Figure 27
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5.1.1 Definition of Euler Angles

Euler angle, I, J and K, can be decided by the direction of rotation
based on right-hand rule. Their definitions are interpreted as follows.

Definition of Euler angle I is rotary angle pivoting around Z-axis. See

Figure 28, after the coordinate pivots around Z-axis by angle I, it becomes a
new one X’Y’Z.

Figure 28

Next, on the basis of X’Y’Z coordinate, Euler angle J can be defined

from the rotary angle pivoting around X’-axis. As Figure 29, after X’Y’Z
coordinate pivots around X’-axis by angle J, it becomes a new one X’Y’’Zc.
The Zc in X’Y’’Zc coordinate is the Z-axis of TWP.

Figure 29

Finally, on the basis of X’Y’’Zc coordinate, Euler angle K can be

defined from the rotary angle pivoting around Zc-axis. As Figure 30, after
X’Y’’Zc coordinate pivots around Zc-axis by angle K, it becomes a new
one XcYcZc.
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Figure 30
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5.2 Command Format

The reference coordinate of program will transfer into TWP based on
G68.2. Before executing G69, all the instructions will be regarded as TWP
instructions, based on the X, Y, and Z of TWP.
After G68.2 is executed, there’s a need to use G53.1 to align the
spindle orientation to TWP.

Description of format:

G68.2 X_ Y_ Z_ I_ J_ K_;
G69;

G68.2: switch on TWP;

G69: switch off TWP;
X_ Y_ Z_: origin of TWP(relative to the origin of G54 coordinate);
I_ J_ K_: Euler angles of TWP;

5.3 Limitation
1. G68.2 can be executed many times.
2. Each setting is relative to G54 coordinate.
3. G53.1 should not be executed before G68.2.
4. Positive tool length is needed, and G43 has to follow behind
G53.1.
5. Tool compensation on TWP can work correctly only while
executing G49 before switching on G68.2 mode.

5.4 Related Parameters

Input
Pr. Description Unit Details
range
0：The setting of G68.2 won’t be
reserved when you press reset or
reboot.
feature coordinate 1 ：Reserve the setting of G68.2
3014 [0,2] -
persist mode after press reset, while not after
reboot.
2 ：Reserve the setting of G68.2
after press reset and reboot.
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5.5 Example 1
Take the NC file below as example to illustrate the basic movements of
feature coordinate.

N1 G90 G54 G01 X0 Y0 Z50. F1000;

N2 G68.2 X100. Y100. Z50. I30. J15. K20.;
N3 G01 X0 Y0 Z50. F1000;
N4 G53.1;
N5 G43 H1;
N6 G01 X0 Y0 Z0;

There’s interpretation line by line below:

N1 G90 G54 G01 X0 Y0 Z50. F1000;

Cutting with F1000 to Z50 of G54.

Figure 31
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N2 G68.2 X100. Y100. Z50. I30. J15. K20.;

Assign the point that (100, 100, 50) away from the origin of G54 as the
origin of TWP coordinate and set the Euler angles I30, J15, K20. After
G68.2 is executed, the program coordinate will be change to TWP
coordinate.

Figure 32

N3 G01 X0 Y0 Z50. F1000;

Cutting with F1000 to Z50. of TWP coordinate, but the tool orientation
stands still.

Figure 33
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N4 G53.1;
Point the tool orientation to Z-axis of TWP coordinate automatically.

Figure 34

N5 G43 H1;
Compensate the tool length, and the control point shift to the tool tip.

N6 G01 X0 Y0 Z0;
Cutting to X0 Y0 Z0 of TWP coordinate.

Figure 35
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5.6 Example 2
The key of TWP machining is the assignment of TWP, which can be
accomplished in two blocks. Except for that, the other parts are the same as
three-axis machining, hence, generating the TWP machining program by
using the CAM five-axis module is not the only solution. Below, we will
introduce how to modify three-axis machining program to make it become
TWP machining program.

5.6.1 Description of Machining

As Figure 36, there’s a workpiece with 100mm in length, 100mm in
width, its height is insignificant, and it wears on two inclined 15 o plane,
which had been carved one line of words with each one having the same
depth.

Figure 36
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5.6.2 How To Modify The NC File

There’s a carving NC file below generated by CAM, the origin of
program coordinate is at the lower left corner, see Figure 37.

G71
G17 G40 G49 G90 G80
G91 G28 Z0.0G90 G54 G00 X11.4608 Y24.1067
G43 G00 Z10. H01
S20000 M03
G01 X11.4608 Y24.1067 F1000.
Z-.15
………(Omitted)

Figure 37

After setting up G54, insert the instruction of TWP coordinate (blue

typeface), then you can carry out TWP machining. See the NC file below.

G71
G17 G40 G49 G90 G80
G91 G28 Z0.0G90 G54 G00 X11.4608 Y24.1067
G68.2X100.Y0.Z-26.7I0.J15.K90.
G53.1
G43 G00 Z10. H01
S20000 M03
G01 X11.4608 Y24.1067 F1000.
Z-.15
………(Omitted)

Next three sections will focus on the explanation of blue typeface.

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5.6.2.1 Setting Origin of Feature Coordinate

The origin of TWP is set relatively to the origin of G54, while the
direction is insignificant.
Take Face 1 for example, there are offsets on X- and Z-coordinate
between the origin of G54 and TWP.(See Figure 38 and Figure 39)
Consequently, X100. Y0 Z-26.7(100*sin15o) is typed on.
On the Face 2, the setting of origin would become X0. Y100. Z-26.7.

Figure 38

Figure 39
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5.6.2.2 Setting Euler Angles of Feature Coordinate

See Figure 40, while the direction of program coordinate is different

from mechanical coordinate, there’s a need in transferring mechanical
coordinate into TWP coordinate with Euler angles. The transfer sequence is
Z→X→Z, so the Euler angles on Face 1 are 0o, 15o, and 90o, separately, and
on Face 2 are 0o, -15o, 270o.

Figure 40
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5.6.2.3 Tool Alignment

Please keep in mind that after the setting of the origin and Euler angles,
the tool alignment instruction G53.1 should be executed, otherwise, the tool
orientation will be wrong, and so is the path of tool tip.

Executing G53.1 on the Table-Table type machine, the table would

rotate to the situation that the working plane is aligned with the tool. On the
other hand, on the Head-Head type, the rotary axes on spindle side rotate.
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6 Teaching of Feature Coordinate

6.1 Main-Machine Interface

The path to this teaching page is "F1 Position" => "F6 Tilt work plane
teach". After entering it, you can see the teaching page as below. (See
Figure 41)

Figure 41
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Description of each block:

1. Choose teaching mode: Change teaching mode by inputting the
value
2. Value setting: Set the value according to different teaching mode
3. State display: Display current tool length compensation situation
and coordinate system situation.
4. Function button:

F1 Latch G54 Coord.: set the current absolute coordinate to the space
with button

F2 Teach Finish: switch the coordinate state to teaching TWP

coordinate, but it should be done before G69 takes effect

F8 Cancel Tilt Work Plane: the coordinate state is switched back to

G69

[Note]
1. If you want to use Latch G54 Coord., you have to execute G43.4,
G43, or G44 to choose the tool. However, while mode of the tool
length compensation is G49, the teaching is unable to use.
2. Latch G54 Coord. is available only under G69 mode.
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6.2 Description
6.2.1 Three-Point Teaching
Input the coordinates on the TWP and define the directions of X, Y,
and Z of the plane.

Figure 42

Setting text:

Description Teachable Details

P1 Origin of TWP Yes Define the origin of TWP.
The line connection to the origin is defined as the positive
direction of X-axis of TWP. After setting P1 and P2, the
The second
P2 Yes
point of TWP origin and X-axis of TWP can be obtained. X-axis will
divide the plane into two sections, positive and negative Y.
The third point Determine the positive Y of TWP.
P3 Yes
of TWP

Note:
If the input three points are collinear, the teaching would fail and G69
mode stands still.
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6.2.2 Tool Orientation Teaching

Utilize current tool orientation to define the directions of X-, Y-, and
Z-axis of TWP.

Figure 43

Setting text:
Description Teachable Details
Define the origin of TWP. If viewing from tool holder to

P1 Origin of TWP Yes tip, then the right side is the direction of X and Spindle
axis is defined as Z, the Cartesian coordinate is defined.
After rotating I angle, the coordinate will become the
Rotary angle
I
of tool directions of X, Y, and Z of TWP.
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6.2.3 Euler Angles Teaching

Set the Euler angle to define X-, Y-, and Z-axis of TWP.

Figure 44

Setting text:

Description Teachable Details

P1 Origin of TWP Yes Define the origin of TWP.
First Euler Please refer to 5.1.1.
I
angle
Second Euler Please refer to 5.1.1.
J
angle
Third Euler Please refer to 5.1.1.
K
angle
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6.2.4 Double-Vector Teaching

Set the directions of X- and Z-axis to define the TWP.

Figure 45

Setting text:
Description Teachable Details
P1 origin of TWP Yes Define the origin of TWP.

Xc X-axis of TWP Define components of X-axis of TWP on G54 coordinate.

Zc Z-axis of TWP Define components of Z-axis of TWP on G54 coordinate.

[Note]
If there’re the situations below, the teaching would fail：
1. Input X-axis isn’t orthogonal to Z-axis.
2. Input X- or Z-axis is zero.
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7 Error Measurement and Compensation

There will be more errors in the mechanism since the two more rotary
axes, meanwhile, in addition to the linear shift, other sophisticated errors
will be involved. Whether the errors are compensated properly can
influence the accuracy of parts at different levels.

7.1 Description of Errors

The errors related to five-axis machine can be divided into Position
Error and Component Error. The former, resulting from the differences
between actual position and ideal one of each axis, is static and its value is
constant. The other, formed by the differences between actual path and ideal
path of each axis, is dynamic, and the magnitude of it is the function of
position.
According to ISO 230-1 regulations, these two errors are named with
three letters, which corresponds to some meaning respectively, like EAX or
XOC. The definition of the letters for position error and component error
are different from each other.

Position error:
The first letter: direction of error
The second letter: fixed as O, representing position error
The third letter: axis under consideration

Component error:
The first letter: fixed as E, representing component error
The second letter: direction of error
The third letter: axis under consideration

The list below demonstrates the number of five-axis errors. The grand
total for that is 43.

Type of error Error of each Number of Number of

axis axes errors
Position 3
error
Linear axis
Component 6 3 18
error
Position 5 2 10
error
Rotary axis
Component 6 2 12
error
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7.1.1 Linear Axis Errors

Position error of linear axis is verticality of mechanism. Please refer to
Figure 46, the ideal angle between two of X-, Y-, and Z-axis is 90o, but in
actual, there may be errors result from the inaccuracy of components or
inappropriate installation.

Figure 46

The component error of linear axis is function of position, includes the

offset of position and rotary angle. Each linear axis has three linear errors
and three rotary errors. So, there’s eighteen errors in three axes. Take X-axis
as example, see Figure 47.

Figure 47
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7.1.2 Rotary Axis Errors

The position error includes the offset in the direction of the other two
axes and rotary errors in three axes. So, there’re ten errors in two rotary
axes. Take C-axis as example, see Figure 48.

Figure 48

The component error of rotary axis is the function of position of tool

tip, that is to say, the error varies with tool length or distance between the
machining point and centerline of rotary axis. Each rotary axis has six errors,
half from linear dimensions, and the other from rotary ones. So, there’s
twelve errors in two axes. Take C-axis for example, see Figure 49.

Figure 49
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7.2 Parameters Related to Error Compensation

The items painted on red are the errors can be compensated by Syntec
controller.

Linear axis Rotary axis（any two of A-, B-, and

C-axis）
Position Component error Position error Component error
error
X-axis Y-axis Z-axis B-axis C-axis B-axis C-axis
AOY EXX EYY EZZ XOB XOC EXB EXC
COY EYX EXY EXZ ZOB YOC EYB EYC
BOZ EZX EZY EYZ AOB AOC EZB EZC
EAX EAY EAZ BOB BOC EAB EAC
EBX EBY EBZ COB COC EBB EBC
ECX ECY ECZ ECB ECC

EXX, EYY, EZZ, EBB, and ECC, categorized as pitch error, can be
compensated by the pitch error compensation function of Syntec controller,
and those should be filled into Pr.8001 to 10000. About the detail, please
refer to the pitch error compensation document of Syntec controller.

XOB, ZOB, XOC, and YOC, which demanded to be measured by

devices, are positioning error of centerline of rotary axis.

The parameters of Syntec controller, related to the positioning error

compensation, are the combination of errors between each axis and the
dimensions of mechanism. Both of them are compensated together. For
example, assume the distance between rotary centerline of the master and
slave axis in the step of initial design is 150mm, and the measured one is
150.03mm, in other words, there’s 0.03mm error happened. While typing
the value into Syntec Controller, just input 150.03, you don’t need to input
150 and 0.03 respectively.

Up to now, Syntec controller has offered Pr.3015 to 3020 to execute

AOB, BOB, COB, AOC, BOC, and COC.

The list below demonstrates all the corresponding parameters. Pr.3021

to 3026 are exclusively used for Head-Head type, Pr.3031 to 3036 are for
Table-Table, and Pr.3041 to 3046 are for Head-Table. Each group of
parameters is divided into X-, Y-, and Z-component in detail.
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Initia
Pr. Description Range Unit l Take effect
value
x-component of Offset from tool holder to
3021 [0,999999999] BLU 0 Press Reset
second rotation axis
y-component of Offset from tool holder to
3022 [0,999999999] BLU 0 Press Reset
second rotation axis
z-component of Offset from tool holder to
3023 [0,999999999] BLU 0 Press Reset
second rotation axis
x-component of Offset from second rotation axis
3024 [0,999999999] BLU 0 Press Reset
to first rotation axis
y-component of Offset from second rotation axis
3025 [0,999999999] BLU 0 Press Reset
to first rotation axis
z-component of Offset from second rotation axis
3026 [0,999999999] BLU 0 Press Reset
to first rotation axis
x-component of Offset from first rotation axis to
3031 [0,999999999] BLU 0 Press Reset
second rotation axis
y-component of Offset from first rotation axis to
3032 [0,999999999] BLU 0 Press Reset
second rotation axis
z-component of Offset from first rotation axis to
3033 [0,999999999] BLU 0 Press Reset
second rotation axis
x-component of Offset from machine to first
3034 [0,999999999] BLU 0 Press Reset
rotation axis
y-component of Offset from machine to first
3035 [0,999999999] BLU 0 Press Reset
rotation axis
z-component of Offset from machine to first
3036 [0,999999999] BLU 0 Press Reset
rotation axis
x-component of Offset from tool holder to first
3041 [0,999999999] BLU 0 Press Reset
rotation axis
y-component of Offset from tool holder to first
3042 [0,999999999] BLU 0 Press Reset
rotation axis
z-component of Offset from tool holder to first
3043 [0,999999999] BLU 0 Press Reset
rotation axis
x-component of Offset from machine to second
3044 [0,999999999] BLU 0 Press Reset
rotation axis
y-component of Offset from machine to second
3045 [0,999999999] BLU 0 Press Reset
rotation axis
z-component of Offset from machine to second
3046 [0,999999999] BLU 0 Press Reset
rotation axis
3051 enable smooth RTCP function [0,1] 0 Press Reset
3052 first rotation axis smooth tolerance [0,360000] 0.001deg 0 Press Reset
3053 second rotation axis smooth tolerance [0,360000] 0.001deg 0 Press Reset
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8 Troubleshooting
8.1 List of Alarms
Coordinate alarm 70: Invalid G Code
Coordinate alarm 100: Controller model not support this G Code
Coordinate alarm 107: The format of G5.1/G05 is incorrect
Coordinate alarm 151: Rotation angle for first axis enters the illegal
range
Coordinate alarm 152: Rotation angle for second axis enters the illegal
range
Coordinate alarm 153: no solution for this tool direction
Coordinate alarm 154: no five axis function
Coordinate alarm 155: Tool invalid setting of five axis
Coordinate alarm 156: Invalid axis direction setting of five axis

8.2 Description of Troubleshooting

1. Code 70: Check if Pr.3001 is set up correctly.

2. Code 100: Check if RTCP option is enabled. If it is enabled

already and the alarm is given, please examine if the controller
model is 200MA-5.

3. Code 107: Under STCP mode, there’s only five axes can be
ordered, if some non-RTCP instructions are given(e.g. movement
of the sixth axis), then the alarm is given. If there’s alarm, please
modify the NC file and switch off STCP, then proceed on the
movement of additional axes.

4. Code 151: Check if Pr.3009 and 3010 are set up correctly. The
setting of them is related to Pr.3007. On the occasion of alarm,
please examine the setting of these three parameters.

5. Code 152: Check if Pr.3011 and 3012 are set up correctly. The
setting of them is related to Pr.3008. On the occasion of alarm,
please examine the setting of these three parameters.

6. Code 153: The target position is not attainable to the tool. The
situation may result from that the five-axis parameters do not fit
the mechanism. Please examine all the five-axis parameters.

7. Code 154：Pr.3001 is not set up before the using of G53.1.

8. Code 155：Check if Pr.3002 is set up correctly, or examine the

setting of Pr.3005 and 3006. When the slave of Head-Head type is
in parallel with spindle or the master of Table-Table type is in
parallel with spindle, system will give the alarm.
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9. Code 156：Check if all the axial parameters are set up(Pr.21~),

Pr.3005, 3006, 3007, 3008 are set up correctly, or the name of
axes(Pr.321~) are corresponding to Pr.3005 and 3006.
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9 Purchase Selection

9.1 Hardware
The RTCP function can be installed only on 200MA-5 controller. If
there’s any demand for hardware, contact to us, please.

9.2 Software
If you want to use RTCP function, the software of controller should be
upgraded at least to version 10.115.XX. If there’s any demand for the latest
version of it, contact to us, please.

9.3 Model
Please use the model code of 200MA-5. Otherwise, the alarm COR100
will be given.
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10 Q&A
1. Why should positive tool length be applied to five-axis machine?
What is positive tool length?
Ans: The tool length compensation definition in five-axis machine is
different from three-axis. The tool length compensation in three-axis
machine is usually used for coping with the offset between mechanical
and workpiece coordinates, while the value is usually negative, hence,
it’s named negative tool length. However, the value is nothing
connected to the tool length. While the 5-axis machine is in work, it
involves rotary axes, not only the shift of X-, Y-, and Z-axis, but also
the orientation and position of tool should be taken into consideration,
otherwise, there may be collision in the machine, hence, the actual tool
length has to be offered to the controller. The actual tool length must
be positive, consequently, it’s named positive tool length.

2. How to set up G54 in five-axis machine?

Ans: The setting of X- and Y-coordinate of G54 in 5-axis machine and
3-axis machine are the same. Difference of the setting of G54 between
both type is that the Z-coordinate of three-axis machine is determined
by the tool tip while five-axis one by the end of tool holder.
Consequently, subtract the actual tool length from the original
Z-coordinate. However, there are many measurement methods, depend
on the situation and choose one of them by yourself.

3. How to decide the positive/negative sign of offset between

centerlines of rotary axes?
Ans: Find the start and end of offset on the basis of definition of
mechanical parameters, and judge the sign of the offset according to
positive directions of X-, Y-, and Z-axis. Finally, set up depend on the
result obtained.

4. How much resolution of rotary axis is reasonable?

Ans: Basically, the magnitude of resolution isn’t limited specifically,
the rotary shaft may be from DD motor or gearbox. If the workpiece is
distanced form centerline, the angular error would be amplified, in that
situation, resolution should be increased.

5. How to set up the type of rotary axis (Pr221~)?

Ans: No matter the order is positive or negative, 1 or 2 can satisfy
the situation basically. The definition of rotary axis type can refer
to Syntec parameter document.

6. How to confirm RTCP or Feature Coordinate had been enabled?

Ans: Press F4 => F4, the state of G code on the screen would display
G43.4, G49, G68.2 or G69. You can judge the mode whether being
switched on or not.
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7. How to compensate the backlash of rotary axis?

Ans: Measuring or calculating the angular backlash, fill in Pr.1241~
directly. For example, if the backlash is 0.5o, then input 500. Remember that
the value of Pr.1221~ should be set 1.

8. What is static error? How to cope with it?

Ans: While RTCP mode is enabled, controller will compute the
coordinates according to the parameters related to five-axis function.
Whether the parameters related to the construction of mechanical chain are
correct would affect the accuracy between ideal coordinates and actual
position of machine(Pr.3021~3046). In other words, the inaccuracy would
make the actual tool tip unable to overlap with the one computed by the
controller. These errors are determined while the angles of rotary axes are
decided, so we name it static error.

9. What is dynamic error? How to cope with it?

Ans: Compared to static error, dynamic one appears in the pivoting
process of rotary axis, that is to say, the situation that four or five axes
works simultaneously. Common cause is that the bad matching of linear and
rotary axis, then cause the following errors. In that situation, you can adjust
the gain depending on the errors (Pr.181~), or switch on SPA(Pr.3808) to
reduce the following error.
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11 Modification History

Ver. Modification Record Date Editor Reviewer Approved

First edition.
01 Correspond to Chinese version 2014/08/25 TC Chen JW Lee SA Yang
V1.7.